+ python -m lidar_slam /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.5 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters 0.21340201761265806 Centerline is valid? [0, False] SLAMing on 0.066559995 meters 0.215235387290675 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998714e-01 -1.40831713e-03 -7.67359241e-04 3.99255935e-03] [ 1.40785685e-03 9.99998829e-01 -6.00039194e-04 1.48548897e-03] [ 7.68203388e-04 5.98958090e-04 9.99999526e-01 -1.09749573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters 0.2188684367622069 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99997162e-01 -1.99819748e-03 -1.29730432e-03 6.55355831e-03] [ 1.99720203e-03 9.99997711e-01 -7.68167557e-04 1.38139342e-03] [ 1.29883630e-03 7.65574398e-04 9.99998863e-01 -1.87006553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186559995 meters 0.23183176940638422 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997215e-01 -6.87780705e-04 -2.25754608e-03 1.22781860e-02] [ 6.91701863e-04 9.99998253e-01 1.73659098e-03 6.24399306e-03] [ 2.25634774e-03 -1.73814769e-03 9.99995944e-01 -3.08080623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246559995 meters 0.23578437994425727 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99997824 -0.00597784 -0.0027902 0.01471145] [ 0.00597173 0.99997976 -0.00219569 0.00726867] [ 0.00280327 0.00217898 0.9999937 -0.00270458] [ 0. 0. 0. 1. ]] SLAMing on 0.306559995 meters 0.24155955461360953 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 9.99970048e-01 -7.43711329e-03 -2.14310631e-03 3.90783269e-02] [ 7.43499298e-03 9.99971864e-01 -9.95640775e-04 3.90591607e-03] [ 2.15045071e-03 9.79676973e-04 9.99997208e-01 -2.40818012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36655999499999997 meters 0.24080666414070614 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 9.99957583e-01 -8.84387942e-03 -2.57260956e-03 4.11989237e-02] [ 8.84161363e-03 9.99960515e-01 -8.90778888e-04 3.45540741e-03] [ 2.58038592e-03 8.67995084e-04 9.99996294e-01 -1.65197292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42655999499999997 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5465599950000001 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.606559995 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.666559995 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.726559995 meters 0.19352708818755793 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998743 -0.00350303 -0.00358828 0.04784945] [ 0.00352413 0.99997643 0.00589271 0.01063221] [ 0.00356755 -0.00590528 0.9999762 -0.00152402] [ 0. 0. 0. 1. ]] SLAMing on 0.7865599950000001 meters 0.18433153712400113 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998763 -0.00341444 -0.00361789 0.0482508 ] [ 0.00343661 0.99997524 0.00614018 0.01001915] [ 0.00359683 -0.00615254 0.9999746 -0.00152995] [ 0. 0. 0. 1. ]] SLAMing on 0.846559995 meters 0.17384247006637152 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99999696 0.00193458 0.00152735 0.05887868] [-0.00193206 0.99999678 -0.00164339 0.01621021] [-0.00153053 0.00164043 0.99999748 -0.00637611] [ 0. 0. 0. 1. ]] SLAMing on 0.906559995 meters 0.16605200778648624 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99997595 0.00675598 0.00156855 0.05862051] [-0.00676015 0.99997358 0.00267031 0.0166482 ] [-0.00155047 -0.00268085 0.9999952 -0.00623076] [ 0. 0. 0. 1. ]] SLAMing on 0.966559995 meters 0.1604320281305672 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99996139 0.00865574 0.00151866 0.05728866] [-0.00866128 0.9999557 0.00368471 0.01765355] [-0.0014867 -0.00369772 0.99999206 -0.0052553 ] [ 0. 0. 0. 1. ]] SLAMing on 1.026559995 meters 0.15781994827171197 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99996196 0.00861328 0.00137317 0.05786012] [-0.00861751 0.99995806 0.00310215 0.01931256] [-0.00134639 -0.00311387 0.99999425 -0.00582274] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters 0.14886100246051404 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99995494 0.00938275 0.00144292 0.05709901] [-0.00938707 0.99995137 0.0030225 0.02162339] [-0.00141449 -0.0030359 0.99999439 -0.00575653] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters 0.14234442100004024 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 9.99976222e-01 6.80964868e-03 1.08801882e-03 5.73639124e-02] [-6.80880041e-03 9.99976515e-01 -7.81457695e-04 2.29491639e-02] [-1.09331472e-03 7.74031011e-04 9.99999103e-01 -6.27126148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2065599949999999 meters 0.13158889704761692 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99999517 0.00293332 0.00103093 0.05801393] [-0.0029286 0.99998536 -0.00455019 0.02159031] [-0.00104426 0.00454715 0.99998912 -0.00701157] [ 0. 0. 0. 1. ]] SLAMing on 1.266559995 meters 0.12726077108484346 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99999889 0.00108256 0.00102305 0.05990114] [-0.00107692 0.99998432 -0.00549493 0.02070979] [-0.00102898 0.00549382 0.99998438 -0.00830348] [ 0. 0. 0. 1. ]] SLAMing on 1.3265599949999998 meters 0.11801409895466193 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 9.99996553e-01 -1.96723260e-03 1.73908538e-03 9.55399276e-02] [ 1.96550555e-03 9.99997574e-01 9.94231124e-04 1.60483930e-02] [-1.74103705e-03 -9.90809515e-04 9.99997994e-01 -5.97782259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3865599949999998 meters 0.10887454039353292 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 9.99988831e-01 -2.15464918e-03 4.20655708e-03 7.03741307e-02] [ 2.15447492e-03 9.99997678e-01 4.59571768e-05 2.04328921e-02] [-4.20664634e-03 -3.68937418e-05 9.99991151e-01 -5.71504964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4465599949999999 meters 0.10719439359075267 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 9.99988906e-01 -2.24162121e-03 4.14274435e-03 7.06899288e-02] [ 2.24269621e-03 9.99997453e-01 -2.54860322e-04 2.13430770e-02] [-4.14216250e-03 2.64148412e-04 9.99991386e-01 -6.04069879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506559995 meters 0.10370750498563054 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 9.99994617e-01 -3.20203494e-03 7.15733746e-04 1.00682443e-01] [ 3.20166186e-03 9.99994739e-01 5.21789006e-04 1.96000094e-02] [-7.17400767e-04 -5.19494660e-04 9.99999608e-01 -6.36041284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.566559995 meters 0.09779467049561781 Centerline is valid? [False, True] Translation: X:0.08, Y:0.02, Z:-0.01 [[ 0.99998182 -0.00577512 0.00173585 0.07828991] [ 0.0057731 0.99998266 0.00116505 0.01935112] [-0.00174255 -0.00115501 0.99999781 -0.00573658] [ 0. 0. 0. 1. ]] SLAMing on 1.6265599949999998 meters 0.0946271870641236 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.01 [[ 9.99966384e-01 -8.05367646e-03 1.53934866e-03 1.36859611e-01] [ 8.05369934e-03 9.99967568e-01 -8.66310991e-06 1.72651218e-02] [-1.53922896e-03 2.10602700e-05 9.99998815e-01 -7.65572821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters 0.08981186436536773 Centerline is valid? [True, True] Translation: X:0.20, Y:0.02, Z:-0.01 [[ 9.99955388e-01 -8.90831115e-03 3.14083257e-03 1.96168849e-01] [ 8.90840994e-03 9.99960319e-01 -1.74672329e-05 1.90214683e-02] [-3.14055233e-03 4.54462777e-05 9.99995067e-01 -6.79402768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters 0.08687698763448962 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.01 [[ 9.99955841e-01 -8.62375501e-03 3.73452021e-03 2.54625351e-01] [ 8.62389324e-03 9.99962813e-01 -2.09140055e-05 1.98844706e-02] [-3.73420097e-03 5.31191855e-05 9.99993026e-01 -6.46202840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8065599949999998 meters 0.084377659337146 Centerline is valid? [True, True] Translation: X:0.31, Y:0.02, Z:-0.01 [[ 9.99954087e-01 -8.26540051e-03 4.84831839e-03 3.13128266e-01] [ 8.26562383e-03 9.99965839e-01 -2.60237907e-05 2.03091501e-02] [-4.84793767e-03 6.60969719e-05 9.99988246e-01 -7.40812230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8665599949999998 meters 0.08060025560743792 Centerline is valid? [True, True] Translation: X:0.37, Y:0.02, Z:-0.01 [[ 9.99934165e-01 -1.09096484e-02 3.55607233e-03 3.72609361e-01] [ 1.09097849e-02 9.99940486e-01 -1.89768224e-05 1.58890298e-02] [-3.55565366e-03 5.77715571e-05 9.99993677e-01 -8.91879234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters 0.07868939573491515 Centerline is valid? [True, True] Translation: X:0.43, Y:0.02, Z:-0.01 [[ 9.99943169e-01 -9.26206674e-03 5.27945683e-03 4.31082773e-01] [ 9.26234540e-03 9.99957103e-01 -2.83354543e-05 1.73337442e-02] [-5.27896791e-03 7.72339966e-05 9.99986063e-01 -8.59971876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters 0.07527637372337785 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.01 [[ 9.99959648e-01 -7.21819341e-03 5.34784419e-03 4.90901404e-01] [ 7.21844528e-03 9.99973946e-01 -2.77972423e-05 1.48996835e-02] [-5.34750422e-03 6.63992414e-05 9.99985700e-01 -8.84129061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters 0.07392033671283244 Centerline is valid? [True, True] Translation: X:0.55, Y:0.02, Z:-0.01 [[ 9.99967538e-01 -6.44066711e-03 4.84166469e-03 5.51126848e-01] [ 6.44086404e-03 9.99979257e-01 -2.50840985e-05 1.57602813e-02] [-4.84140270e-03 5.62677882e-05 9.99988279e-01 -8.23236519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters 0.07177455591355308 Centerline is valid? [True, True] Translation: X:0.61, Y:0.01, Z:-0.01 [[ 9.99969926e-01 -2.58898412e-03 7.31052451e-03 6.11132314e-01] [ 2.58933092e-03 9.99996647e-01 -3.79743040e-05 1.22146471e-02] [-7.31040169e-03 5.69025291e-05 9.99973277e-01 -7.76134938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters 0.07025334982106625 Centerline is valid? [True, True] Translation: X:0.67, Y:0.01, Z:-0.01 [[ 9.99962729e-01 -9.18072405e-04 8.58473112e-03 6.72543706e-01] [ 9.18489347e-04 9.99999577e-01 -4.46253873e-05 1.19841965e-02] [-8.58468652e-03 5.25087082e-05 9.99963150e-01 -7.60501605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters 0.06838307869364223 Centerline is valid? [True, True] Translation: X:0.73, Y:0.01, Z:-0.01 [[ 9.99950476e-01 1.01781620e-03 9.89997224e-03 7.33495281e-01] [-1.01735370e-03 9.99999481e-01 -5.17536729e-05 1.20461269e-02] [-9.90001978e-03 4.16793365e-05 9.99950993e-01 -7.96705646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters 0.06705392220163313 Centerline is valid? [True, True] Translation: X:0.79, Y:0.01, Z:-0.01 [[ 9.99942016e-01 3.29003769e-03 1.02538335e-02 7.94206305e-01] [-3.28965828e-03 9.99994588e-01 -5.38675013e-05 1.10603947e-02] [-1.02539552e-02 2.01327697e-05 9.99947427e-01 -7.70513202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters 0.06521931969632266 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:-0.01 [[ 9.99922693e-01 7.12051604e-03 1.01934585e-02 8.56332709e-01] [-7.12033710e-03 9.99974649e-01 -5.38461698e-05 1.18525244e-02] [-1.01935835e-02 -1.87388539e-05 9.99948044e-01 -8.33055748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters 0.06489747980514385 Centerline is valid? [True, True] Translation: X:0.92, Y:0.01, Z:-0.01 [[ 9.99895697e-01 1.09189301e-02 9.45364728e-03 9.17340860e-01] [-1.09189417e-02 9.99940385e-01 -5.03928927e-05 1.30332989e-02] [-9.45363394e-03 -5.28361868e-05 9.99955312e-01 -9.12980843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters 0.06371552750447965 Centerline is valid? [True, True] Translation: X:0.98, Y:0.01, Z:-0.01 [[ 9.99927997e-01 1.05196104e-02 5.77399654e-03 9.79048654e-01] [-1.05196066e-02 9.99944667e-01 -3.10208453e-05 1.00804620e-02] [-5.77400338e-03 -2.97215607e-05 9.99983330e-01 -1.19467469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters 0.06298135705788488 Centerline is valid? [True, True] Translation: X:1.04, Y:0.01, Z:-0.01 [[ 9.99951166e-01 7.71817059e-03 6.17223073e-03 1.04082319e+00] [-7.71811148e-03 9.99970214e-01 -3.33953818e-05 6.01444051e-03] [-6.17230464e-03 -1.42442140e-05 9.99980951e-01 -1.20334064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters 0.06248435692474957 Centerline is valid? [True, True] Translation: X:1.10, Y:0.01, Z:-0.01 [[ 9.99938363e-01 8.45244292e-03 7.19904176e-03 1.10253950e+00] [-8.45237879e-03 9.99964277e-01 -3.93324774e-05 6.28988829e-03] [-7.19911704e-03 -2.15189748e-05 9.99974086e-01 -1.07258193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters 0.06131488231104782 Centerline is valid? [True, True] Translation: X:1.17, Y:0.01, Z:-0.01 [[ 9.99922699e-01 7.43588991e-03 9.96514916e-03 1.16594474e+00] [-7.43570720e-03 9.99972353e-01 -5.53853749e-05 5.15316225e-03] [-9.96528549e-03 -1.87168378e-05 9.99950345e-01 -9.80063014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters 0.06077069581495112 Centerline is valid? [True, True] Translation: X:1.23, Y:0.00, Z:-0.01 [[ 9.99911955e-01 6.75740326e-03 1.14201285e-02 1.22830955e+00] [-6.75709854e-03 9.99977168e-01 -6.52675129e-05 4.96875909e-03] [-1.14203088e-02 -1.19051672e-05 9.99934786e-01 -9.61289336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters 0.05973756316504256 Centerline is valid? [True, True] Translation: X:1.29, Y:0.00, Z:-0.01 [[ 9.99915798e-01 4.74992992e-03 1.20762082e-02 1.29137931e+00] [-4.74942186e-03 9.99988719e-01 -7.07495319e-05 1.37879480e-03] [-1.20764081e-02 1.33885672e-05 9.99927077e-01 -1.18304156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters 0.058809670391225095 Centerline is valid? [True, True] Translation: X:1.35, Y:0.00, Z:-0.01 [[ 9.99916471e-01 5.32855741e-03 1.17753299e-02 1.35384925e+00] [-5.32810064e-03 9.99985803e-01 -7.01606901e-05 9.99738813e-04] [-1.17755365e-02 7.41468702e-06 9.99930666e-01 -1.38674469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters 0.059275050420275845 Centerline is valid? [True, True] Translation: X:1.42, Y:0.00, Z:-0.01 [[ 9.99905973e-01 6.52115520e-03 1.20631598e-02 1.41708452e+00] [-6.52075575e-03 9.99978737e-01 -7.24447053e-05 2.00735443e-03] [-1.20633757e-02 -6.22302490e-06 9.99927235e-01 -1.42621950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters 0.05876820497687209 Centerline is valid? [True, True] Translation: X:1.48, Y:0.00, Z:-0.02 [[ 9.99926990e-01 6.89452752e-03 9.92367171e-03 1.47849903e+00] [-6.89426874e-03 9.99976232e-01 -6.02863768e-05 1.08791148e-03] [-9.92385150e-03 -8.13448433e-06 9.99950757e-01 -1.57280440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters 0.059048889499360255 Centerline is valid? [True, True] Translation: X:1.54, Y:0.00, Z:-0.02 [[ 9.99867020e-01 1.21490524e-02 1.08785850e-02 1.53969554e+00] [-1.21490412e-02 9.99926195e-01 -6.71239901e-05 3.32591775e-03] [-1.08785976e-02 -6.50493134e-05 9.99940824e-01 -1.56461986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters 0.05794794289763994 Centerline is valid? [True, True] Translation: X:1.60, Y:0.00, Z:-0.02 [[ 9.99865711e-01 1.21625161e-02 1.09832973e-02 1.60227812e+00] [-1.21625011e-02 9.99926032e-01 -6.81592065e-05 3.27387464e-03] [-1.09833138e-02 -6.54343115e-05 9.99939679e-01 -1.57320340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters 0.05733504192697851 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.00, Z:-0.02 [[ 9.99891035e-01 9.53078989e-03 1.12730826e-02 1.66427903e+00] [-9.53059973e-03 9.99954580e-01 -7.05904564e-05 -2.64070821e-04] [-1.12732433e-02 -3.68564731e-05 9.99936454e-01 -1.62899310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters 0.05763552470263897 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.00, Z:-0.02 [[ 9.99882015e-01 9.50622746e-03 1.20659838e-02 1.72624173e+00] [-9.50599618e-03 9.99954814e-01 -7.65206509e-05 -3.21009867e-04] [-1.20661660e-02 -3.81875734e-05 9.99927200e-01 -1.50126026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters 0.057403908241483705 Centerline is valid? [True, True] Translation: X:1.79, Y:0.00, Z:-0.02 [[ 9.99890334e-01 9.87844742e-03 1.10334022e-02 1.78814556e+00] [-9.87826545e-03 9.99951206e-01 -7.09908015e-05 1.17236057e-04] [-1.10335651e-02 -3.80078595e-05 9.99939128e-01 -1.56597150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters 0.05695099704279524 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.00, Z:-0.02 [[ 9.99883802e-01 1.17568952e-02 9.70351633e-03 1.85055505e+00] [-1.17568400e-02 9.99930884e-01 -6.27327200e-05 -3.09914494e-04] [-9.70358321e-03 -5.13572583e-05 9.99952918e-01 -1.78839726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters 0.057073741690041445 Centerline is valid? [True, True] Translation: X:1.91, Y:0.00, Z:-0.02 [[ 9.99887055e-01 1.30899959e-02 7.38433320e-03 1.91241330e+00] [-1.30899991e-02 9.99914321e-01 -4.79012789e-05 2.01729191e-03] [-7.38432755e-03 -4.87650465e-05 9.99972734e-01 -2.01742090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters 0.057479583532438164 Centerline is valid? [True, True] Translation: X:1.97, Y:0.00, Z:-0.02 [[ 9.99911354e-01 1.19496544e-02 5.87281272e-03 1.97489151e+00] [-1.19496364e-02 9.99928600e-01 -3.81560610e-05 3.41763851e-03] [-5.87284935e-03 -3.20252981e-05 9.99982754e-01 -2.26275652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters 0.057670246190920905 Centerline is valid? [True, True] Translation: X:2.04, Y:0.00, Z:-0.02 [[ 9.99949724e-01 7.57729548e-03 6.56770038e-03 2.03638012e+00] [-7.57717325e-03 9.99971292e-01 -4.34928092e-05 3.48812767e-03] [-6.56784139e-03 -6.27398111e-06 9.99978431e-01 -2.18994472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters 0.05732285384376225 Centerline is valid? [True, True] Translation: X:2.10, Y:0.00, Z:-0.02 [[ 9.99950045e-01 6.77870797e-03 7.34548832e-03 2.09903304e+00] [-6.77852743e-03 9.99977024e-01 -4.94742277e-05 4.97239010e-03] [-7.34565493e-03 -3.19837869e-07 9.99973020e-01 -2.22053598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters 0.05702694944364901 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:-0.02 [[ 9.99963324e-01 3.94210127e-03 7.60329332e-03 2.16147956e+00] [-3.94182235e-03 9.99992230e-01 -5.16692803e-05 6.69517452e-03] [-7.60343793e-03 2.16965537e-05 9.99971093e-01 -2.19507148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters 0.05587244037959014 Centerline is valid? [True, True] Translation: X:2.22, Y:0.00, Z:-0.02 [[ 9.99986765e-01 -1.84730065e-03 4.80181842e-03 2.22336521e+00] [ 1.84748080e-03 9.99998293e-01 -3.30820548e-05 1.11171940e-03] [-4.80174912e-03 4.19528843e-05 9.99988471e-01 -2.28761730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters 0.056867104572029176 Centerline is valid? [True, True] Translation: X:2.28, Y:0.01, Z:-0.02 [[ 9.99892840e-01 -1.39114312e-02 4.55860846e-03 2.28323514e+00] [ 1.39117197e-02 9.99903227e-01 -3.15988604e-05 6.16219801e-03] [-4.55772772e-03 9.50135576e-05 9.99989609e-01 -2.19472018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters 0.057424298842697244 Centerline is valid? [True, True] Translation: X:2.34, Y:0.01, Z:-0.02 [[ 9.99774503e-01 -2.03451945e-02 6.08409047e-03 2.34250432e+00] [ 2.03458300e-02 9.99793001e-01 -4.25646424e-05 1.15689872e-02] [-6.08196509e-03 1.66340914e-04 9.99981491e-01 -2.23870246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters 0.05791945030757575 Centerline is valid? [True, True] Translation: X:2.40, Y:0.01, Z:-0.02 [[ 9.99635448e-01 -2.60359628e-02 7.14839929e-03 2.40266381e+00] [ 2.60369853e-02 9.99660979e-01 -4.99899193e-05 1.36702588e-02] [-7.14467429e-03 2.36094462e-04 9.99974449e-01 -2.22453568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906559995 meters 0.05717062353294482 Centerline is valid? [True, True] Translation: X:2.46, Y:0.01, Z:-0.02 [[ 9.99679994e-01 -2.45041224e-02 6.28158642e-03 2.46254926e+00] [ 2.45048815e-02 9.99699709e-01 -4.39028560e-05 1.20423245e-02] [-6.27862432e-03 1.97818338e-04 9.99980270e-01 -2.15253323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters 0.0573185602136365 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.00, Z:-0.03 [[ 9.99709639e-01 -2.28030587e-02 7.78835549e-03 2.52147744e+00] [ 2.28041731e-02 9.99739950e-01 -5.43006288e-05 -2.03635006e-03] [-7.78509191e-03 2.31891869e-04 9.99969669e-01 -2.50620781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters 0.0570934423891713 Centerline is valid? [True, True] Translation: X:2.58, Y:0.01, Z:-0.03 [[ 9.99719608e-01 -2.25466056e-02 7.23571642e-03 2.58019374e+00] [ 2.25475601e-02 9.99745770e-01 -5.03564331e-05 7.98376776e-03] [-7.23274152e-03 2.13490064e-04 9.99973821e-01 -2.65540822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters 0.05642124040518023 Centerline is valid? [True, True] Translation: X:2.64, Y:0.00, Z:-0.03 [[ 9.99776588e-01 -1.90370920e-02 9.18494959e-03 2.63931339e+00] [ 1.90384795e-02 9.99818750e-01 -6.36478194e-05 4.98576743e-03] [-9.18207315e-03 2.38501074e-04 9.99957815e-01 -2.60100818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters 0.05542660605519594 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99860134e-01 -1.36372357e-02 9.68187637e-03 2.69965466e+00] [ 1.36385239e-02 9.99906989e-01 -6.70378247e-05 -7.44503907e-03] [-9.68006164e-03 1.99074951e-04 9.99953127e-01 -2.54108993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters 0.05554770455908949 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.02, Z:-0.02 [[ 9.99919004e-01 -7.50769544e-03 1.02771875e-02 2.75868978e+00] [ 7.50882363e-03 9.99971806e-01 -7.11947841e-05 -1.55845642e-02] [-1.02763633e-02 1.48358606e-04 9.99947186e-01 -2.40097615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters 0.055444613068343675 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.01, Z:-0.03 [[ 9.99946447e-01 -3.43878845e-03 9.76100372e-03 2.81916603e+00] [ 3.43961227e-03 9.99994082e-01 -6.76125164e-05 -7.80871484e-03] [-9.76071346e-03 1.01182964e-04 9.99952358e-01 -2.69151494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters 0.05567853831426633 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.01, Z:-0.03 [[ 9.99959586e-01 -2.86641065e-03 8.52120989e-03 2.88096781e+00] [ 2.86701842e-03 9.99995888e-01 -5.91101291e-05 -6.90259296e-03] [-8.52100542e-03 8.35382059e-05 9.99963692e-01 -2.92288723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters 0.05540358031949259 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.01, Z:-0.03 [[ 9.99966353e-01 -4.57921392e-05 8.20312270e-03 2.94196767e+00] [ 4.62622524e-05 9.99999997e-01 -5.71193200e-05 -6.71237577e-03] [-8.20312006e-03 5.74968930e-05 9.99966352e-01 -2.99577498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters 0.05452967701672163 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.01, Z:-0.03 [[ 9.99976212e-01 -2.34935225e-04 6.89349619e-03 3.00470626e+00] [ 2.35272011e-04 9.99999971e-01 -4.80446654e-05 -9.39303652e-03] [-6.89348471e-03 4.96653692e-05 9.99976238e-01 -3.01877954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters 0.05481287206078481 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.01, Z:-0.03 [[ 9.99968663e-01 9.09939944e-04 7.86420516e-03 3.06642471e+00] [-9.09531453e-04 9.99999585e-01 -5.55194060e-05 -7.81688012e-03] [-7.86425242e-03 4.83649242e-05 9.99969075e-01 -3.09036983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters 0.05534308276914099 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.01, Z:-0.03 [[ 9.99961272e-01 2.22157844e-03 8.51579070e-03 3.12858826e+00] [-2.22114478e-03 9.99997531e-01 -6.03810157e-05 -7.71605480e-03] [-8.51590382e-03 4.14638732e-05 9.99963738e-01 -3.04694055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters 0.05436618644559476 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.01, Z:-0.03 [[ 9.99977713e-01 -6.12637143e-04 6.64810088e-03 3.19019233e+00] [ 6.12964687e-04 9.99999811e-01 -4.72314299e-05 -1.31980144e-02] [-6.64807069e-03 5.13054284e-05 9.99977900e-01 -3.03906188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters 0.05478123173921021 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.02, Z:-0.03 [[ 9.99963338e-01 -3.35484280e-03 7.87830864e-03 3.25243797e+00] [ 3.35539481e-03 9.99994369e-01 -5.68511668e-05 -1.73148063e-02] [-7.87807355e-03 8.32839185e-05 9.99968964e-01 -2.95019128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters 0.0545949435176354 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.02, Z:-0.03 [[ 9.99966740e-01 -2.96124073e-03 7.59932523e-03 3.31504366e+00] [ 2.96174499e-03 9.99995613e-01 -5.51023602e-05 -1.82491326e-02] [-7.59912872e-03 7.76077909e-05 9.99971123e-01 -2.99344668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters 0.05478359656343568 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.02, Z:-0.03 [[ 9.99970312e-01 -2.02282978e-03 7.43527980e-03 3.37723671e+00] [ 2.02328814e-03 9.99997952e-01 -5.41254079e-05 -1.60267738e-02] [-7.43515508e-03 6.91675144e-05 9.99972356e-01 -3.07865133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters 0.05492495854258169 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.02, Z:-0.03 [[ 9.99974380e-01 -8.62877216e-05 7.15761765e-03 3.43965456e+00] [ 8.66643105e-05 9.99999995e-01 -5.23035874e-05 -1.62517748e-02] [-7.15761310e-03 5.29225574e-05 9.99974383e-01 -3.19907441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters 0.05438759868980332 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.01, Z:-0.03 [[ 9.99962939e-01 3.33599246e-03 7.93678148e-03 3.50152394e+00] [-3.33563473e-03 9.99994435e-01 -5.83099730e-05 -1.18126537e-02] [-7.93693183e-03 3.18336080e-05 9.99968502e-01 -3.21772828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters 0.05357283070213214 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.02, Z:-0.03 [[ 9.99972488e-01 1.06963737e-03 7.34024230e-03 3.56315184e+00] [-1.06926890e-03 9.99999427e-01 -5.41232259e-05 -1.73812163e-02] [-7.34029599e-03 4.62730441e-05 9.99973059e-01 -3.26061575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters 0.05438729145735155 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.02, Z:-0.03 [[ 9.99970891e-01 1.67098147e-03 7.44477388e-03 3.62558952e+00] [-1.67061302e-03 9.99998603e-01 -5.57097330e-05 -1.69104734e-02] [-7.44485657e-03 4.32707752e-05 9.99972286e-01 -3.22279378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters 0.054127912020240164 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.01, Z:-0.03 [[ 9.99970111e-01 2.13038958e-03 7.43223878e-03 3.68799354e+00] [-2.13003333e-03 9.99997730e-01 -5.58484407e-05 -1.45071657e-02] [-7.43234089e-03 4.00158552e-05 9.99972379e-01 -3.25712818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters 0.05485912979785854 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.02, Z:-0.04 [[ 9.99983629e-01 -1.42411563e-03 5.54206652e-03 3.74969652e+00] [ 1.42436815e-03 9.99998985e-01 -4.16170841e-05 -2.12121524e-02] [-5.54200162e-03 4.95103458e-05 9.99984642e-01 -3.61385862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters 0.05610059251345531 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.03, Z:-0.04 [[ 9.99966247e-01 -5.06355022e-03 6.47029722e-03 3.81214678e+00] [ 5.06397613e-03 9.99987177e-01 -4.94444036e-05 -2.59445308e-02] [-6.46996388e-03 8.22081654e-05 9.99979066e-01 -3.58058605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters 0.055946956843447034 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.03, Z:-0.04 [[ 9.99948760e-01 -6.73796474e-03 7.55492402e-03 3.87383236e+00] [ 6.73859514e-03 9.99977294e-01 -5.79900866e-05 -2.54234910e-02] [-7.55436174e-03 1.08896690e-04 9.99971459e-01 -3.55922608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters 0.05596941258075805 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.03, Z:-0.03 [[ 9.99920824e-01 -9.27126522e-03 8.50820640e-03 3.93480684e+00] [ 9.27215760e-03 9.99957010e-01 -6.54449149e-05 -2.82036360e-02] [-8.50723388e-03 1.44329164e-04 9.99963802e-01 -3.46840698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters 0.0560459558304273 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.03, Z:-0.03 [[ 9.99913592e-01 -8.90682274e-03 9.66834877e-03 3.99577398e+00] [ 8.90795869e-03 9.99960321e-01 -7.44339286e-05 -3.21977607e-02] [-9.66730216e-03 1.60552748e-04 9.99953258e-01 -3.35715047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters 0.056091125222760656 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.03, Z:-0.04 [[ 9.99909485e-01 -9.45819171e-03 9.56888629e-03 4.05691580e+00] [ 9.45932844e-03 9.99955257e-01 -7.35416380e-05 -2.96812675e-02] [-9.56776258e-03 1.64050220e-04 9.99954214e-01 -3.57503742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters 0.056566671738214294 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.02, Z:-0.04 [[ 9.99908041e-01 -8.08343087e-03 1.08888436e-02 4.11829815e+00] [ 8.08482323e-03 9.99967314e-01 -8.38575030e-05 -2.32714872e-02] [-1.08878098e-02 1.71884167e-04 9.99940711e-01 -3.88437837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters 0.05702569147161306 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.03, Z:-0.04 [[ 9.99902679e-01 -1.01190039e-02 9.60411527e-03 4.18041502e+00] [ 1.01201829e-02 9.99948787e-01 -7.41609312e-05 -2.98510296e-02] [-9.60287298e-03 1.71349117e-04 9.99953877e-01 -3.95649372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters 0.056810667082033015 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.04, Z:-0.04 [[ 9.99913456e-01 -1.12661198e-02 6.79373155e-03 4.24161107e+00] [ 1.12667379e-02 9.99936527e-01 -5.27023184e-05 -3.53975174e-02] [-6.79270658e-03 1.29240950e-04 9.99976921e-01 -4.17543833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters 0.056428658384745076 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.03, Z:-0.04 [[ 9.99917984e-01 -1.04804326e-02 7.36104890e-03 4.30116371e+00] [ 1.04811377e-02 9.99945070e-01 -5.72144141e-05 -3.35436046e-02] [-7.36004492e-03 1.34361889e-04 9.99972905e-01 -4.20346532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters 0.05596854100536559 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.04, Z:-0.04 [[ 9.99895165e-01 -1.15249056e-02 8.76555924e-03 4.36121411e+00] [ 1.15259444e-02 9.99933572e-01 -6.79993453e-05 -3.54632814e-02] [-8.76419327e-03 1.69023565e-04 9.99961579e-01 -4.24750559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters 0.0564084960239603 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.03, Z:-0.04 [[ 9.99896923e-01 -9.93073444e-03 1.03693514e-02 4.42165533e+00] [ 9.93210184e-03 9.99950672e-01 -8.03802183e-05 -3.25231091e-02] [-1.03680417e-02 1.83361388e-04 9.99946234e-01 -4.18476934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters 0.056392843310441344 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.03, Z:-0.04 [[ 9.99905046e-01 -8.28251833e-03 1.10135530e-02 4.48266542e+00] [ 8.28396186e-03 9.99965684e-01 -8.54543048e-05 -3.46076182e-02] [-1.10124673e-02 1.76682044e-04 9.99939345e-01 -4.09677472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters 0.05397472916165913 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.03, Z:-0.04 [[ 9.99929893e-01 -6.78599181e-03 9.70361791e-03 4.54441118e+00] [ 6.78704380e-03 9.99976965e-01 -7.54856204e-05 -3.00055645e-02] [-9.70288214e-03 1.41339208e-04 9.99952916e-01 -4.34133337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters 0.05436632547220064 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.04, Z:-0.04 [[ 9.99934467e-01 -6.98145946e-03 9.07304944e-03 4.60602485e+00] [ 6.98238916e-03 9.99975620e-01 -7.07954855e-05 -3.81785232e-02] [-9.07233399e-03 1.34142408e-04 9.99958837e-01 -4.47189738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters 0.05366417220993837 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.03, Z:-0.05 [[ 9.99943615e-01 -6.03353474e-03 8.73858602e-03 4.66792015e+00] [ 6.03436358e-03 9.99981791e-01 -6.84844311e-05 -3.45441024e-02] [-8.73801370e-03 1.21212375e-04 9.99961815e-01 -4.72975962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters 0.05438727703138315 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.03, Z:-0.05 [[ 9.99932700e-01 -4.14963688e-03 1.08340395e-02 4.72943783e+00] [ 4.15080405e-03 9.99991382e-01 -8.52476516e-05 -3.24883237e-02] [-1.08335923e-02 1.30211889e-04 9.99941306e-01 -4.64131391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters 0.05207060582673659 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.02, Z:-0.05 [[ 9.99935550e-01 -1.91547054e-03 1.11905143e-02 4.79159663e+00] [ 1.91657933e-03 9.99998159e-01 -8.83598547e-05 -2.16109217e-02] [-1.11903244e-02 1.09801668e-04 9.99937380e-01 -5.03161382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters 0.051681957315485014 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.02, Z:-0.05 [[ 9.99927026e-01 3.18756279e-03 1.16525343e-02 4.85391172e+00] [-3.18670146e-03 9.99994918e-01 -9.24844687e-05 -2.17025873e-02] [-1.16527699e-02 5.53445717e-05 9.99932103e-01 -5.05907429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters 0.051709554893260866 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.02, Z:-0.05 [[ 9.99903004e-01 7.80043221e-03 1.15384137e-02 4.91487246e+00] [-7.79988998e-03 9.99969576e-01 -9.19941336e-05 -1.95719752e-02] [-1.15387802e-02 1.98685328e-06 9.99933426e-01 -5.16605656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters 0.05131693294035527 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.02, Z:-0.05 [[ 9.99863440e-01 1.18024443e-02 1.15673182e-02 4.97741063e+00] [-1.18021633e-02 9.99930348e-01 -9.25557280e-05 -1.86443184e-02] [-1.15676048e-02 -4.39762891e-05 9.99933092e-01 -5.42605953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters 0.051631939253127486 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.02, Z:-0.05 [[ 9.99833165e-01 1.33455697e-02 1.24714787e-02 5.03990917e+00] [-1.33453570e-02 9.99910942e-01 -1.00283376e-04 -1.84634121e-02] [-1.24717063e-02 -6.61696903e-05 9.99922223e-01 -5.46777082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters 0.05182678500268892 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.02, Z:-0.06 [[ 9.99828796e-01 1.41008786e-02 1.19810151e-02 5.10154908e+00] [-1.41007256e-02 9.99900575e-01 -9.72509930e-05 -2.01459167e-02] [-1.19811953e-02 -7.17066632e-05 9.99928220e-01 -5.70945232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters 0.05155287014578973 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.02, Z:-0.06 [[ 9.99801402e-01 1.62485468e-02 1.15386723e-02 5.16341301e+00] [-1.62485352e-02 9.99867979e-01 -9.47631619e-05 -1.89885622e-02] [-1.15386887e-02 -9.27421809e-05 9.99933423e-01 -5.91896649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters 0.05139582675630717 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.02, Z:-0.06 [[ 9.99746420e-01 2.00509936e-02 1.02495594e-02 5.22467543e+00] [-2.00511806e-02 9.99798951e-01 -8.45233620e-05 -1.74013924e-02] [-1.02491935e-02 -1.21013837e-04 9.99947468e-01 -6.03667962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters 0.05133346725817388 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.02, Z:-0.06 [[ 9.99741129e-01 2.04552127e-02 9.96291830e-03 5.28684599e+00] [-2.04554065e-02 9.99790763e-01 -8.24557039e-05 -1.59234440e-02] [-9.96252034e-03 -1.21361185e-04 9.99950365e-01 -6.06450020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters 0.05125810035005723 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.02, Z:-0.06 [[ 9.99744001e-01 2.06166558e-02 9.32124185e-03 5.34853087e+00] [-2.06168272e-02 9.99787448e-01 -7.77131801e-05 -1.95763333e-02] [-9.32086278e-03 -1.14481146e-04 9.99956553e-01 -6.15714654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters 0.05181739124252755 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.02, Z:-0.06 [[ 9.99744252e-01 2.02753662e-02 1.00169631e-02 5.41111762e+00] [-2.02755354e-02 9.99794427e-01 -8.46777992e-05 -1.81766214e-02] [-1.00166208e-02 -1.18443147e-04 9.99949825e-01 -6.14415442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters 0.05173405691616074 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.02, Z:-0.06 [[ 9.99743244e-01 1.94742985e-02 1.15843390e-02 5.47236451e+00] [-1.94744619e-02 9.99810350e-01 -9.87053571e-05 -2.01529921e-02] [-1.15840642e-02 -1.26918755e-04 9.99932894e-01 -6.15745493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters 0.05171248772020239 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.02, Z:-0.06 [[ 9.99731481e-01 1.95281189e-02 1.24747423e-02 5.53439945e+00] [-1.95282998e-02 9.99809299e-01 -1.07324534e-04 -2.14948103e-02] [-1.24744592e-02 -1.36314791e-04 9.99922182e-01 -6.20495029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters 0.05182812582009968 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.02, Z:-0.06 [[ 9.99752858e-01 1.92751664e-02 1.10766184e-02 5.59657522e+00] [-1.92752856e-02 9.99814210e-01 -9.60007625e-05 -2.34034150e-02] [-1.10764109e-02 -1.17527947e-04 9.99938648e-01 -6.35468306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters 0.052390337477222576 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.02, Z:-0.06 [[ 9.99777202e-01 1.79641099e-02 1.10832309e-02 5.65791460e+00] [-1.79641346e-02 9.99838627e-01 -9.73289296e-05 -2.35222427e-02] [-1.10831908e-02 -1.01793406e-04 9.99938574e-01 -6.46379652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters 0.052064696311818544 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.02, Z:-0.07 [[ 9.99798070e-01 1.63599615e-02 1.16692083e-02 5.72005600e+00] [-1.63598644e-02 9.99866163e-01 -1.03781993e-04 -2.38451092e-02] [-1.16693444e-02 -8.71456282e-05 9.99931907e-01 -6.57149599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters 0.052520105616546076 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.02, Z:-0.07 [[ 9.99778285e-01 1.67454208e-02 1.27660648e-02 5.78214993e+00] [-1.67453220e-02 9.99859781e-01 -1.14637291e-04 -2.30584259e-02] [-1.27661944e-02 -9.91599928e-05 9.99918504e-01 -6.63673751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters 0.05197730174224976 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.02, Z:-0.07 [[ 9.99768439e-01 1.68874543e-02 1.33372188e-02 5.84540609e+00] [-1.68873444e-02 9.99857391e-01 -1.20872052e-04 -2.40885530e-02] [-1.33373581e-02 -1.04386145e-04 9.99911048e-01 -6.74378037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters 0.052539256679720696 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.02, Z:-0.07 [[ 9.99776904e-01 1.60641994e-02 1.37143772e-02 5.90785316e+00] [-1.60639884e-02 9.99870958e-01 -1.25550514e-04 -2.39333790e-02] [-1.37146244e-02 -9.47850920e-05 9.99905946e-01 -6.72236893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters 0.05248194478756389 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.02, Z:-0.07 [[ 9.99760658e-01 1.72535025e-02 1.34515390e-02 5.96979403e+00] [-1.72533936e-02 9.99851141e-01 -1.24145595e-04 -2.26409979e-02] [-1.34516786e-02 -1.07968816e-04 9.99909516e-01 -6.83846694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters 0.053050514528007825 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.02, Z:-0.07 [[ 9.99744969e-01 1.79825197e-02 1.36610774e-02 6.03091147e+00] [-1.79824583e-02 9.99838294e-01 -1.27344533e-04 -2.18286505e-02] [-1.36611583e-02 -1.18347697e-04 9.99906675e-01 -6.87892508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters 0.05326301776851925 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.02, Z:-0.07 [[ 9.99725235e-01 1.90562373e-02 1.36496888e-02 6.09326844e+00] [-1.90562602e-02 9.99818405e-01 -1.28390203e-04 -2.19534809e-02] [-1.36496567e-02 -1.31757096e-04 9.99906830e-01 -6.94257384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters 0.05353045375985575 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.02, Z:-0.07 [[ 9.99703471e-01 2.02336154e-02 1.35488008e-02 6.15417349e+00] [-2.02337268e-02 9.99795269e-01 -1.28868056e-04 -2.06947012e-02] [-1.35486344e-02 -1.45312890e-04 9.99908202e-01 -6.93625438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters 0.05327761768091416 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.02, Z:-0.07 [[ 9.99691558e-01 2.08458642e-02 1.34995488e-02 6.21733683e+00] [-2.08460103e-02 9.99782690e-01 -1.29906351e-04 -2.20858668e-02] [-1.34993233e-02 -1.51545451e-04 9.99908869e-01 -7.13413136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters 0.053522132086948615 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.02, Z:-0.07 [[ 9.99687234e-01 2.11942923e-02 1.32754259e-02 6.27937750e+00] [-2.11944426e-02 9.99775364e-01 -1.29389583e-04 -1.94779220e-02] [-1.32751860e-02 -1.52016137e-04 9.99911869e-01 -7.18713334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters 0.053857895506587775 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.02, Z:-0.07 [[ 9.99674153e-01 2.19886074e-02 1.29649167e-02 6.34177894e+00] [-2.19888027e-02 9.99758209e-01 -1.27498947e-04 -2.16191783e-02] [-1.29645854e-02 -1.57625592e-04 9.99915944e-01 -7.39937017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters 0.05443479288088678 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.02, Z:-0.07 [[ 9.99631109e-01 2.41061475e-02 1.25115961e-02 6.40367091e+00] [-2.41064837e-02 9.99709389e-01 -1.23959142e-04 -2.10173227e-02] [-1.25109482e-02 -1.77697172e-04 9.99921719e-01 -7.48575904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters 0.05448868428944477 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.02, Z:-0.08 [[ 9.99586494e-01 2.55708957e-02 1.31518485e-02 6.46557080e+00] [-2.55713726e-02 9.99672990e-01 -1.31926142e-04 -2.09796073e-02] [-1.31509212e-02 -2.04439227e-04 9.99913502e-01 -7.59312222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters 0.054345387640714365 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.02, Z:-0.08 [[ 9.99561643e-01 2.65956302e-02 1.30075005e-02 6.52651401e+00] [-2.65961674e-02 9.99646251e-01 -1.31715698e-04 -1.96639010e-02] [-1.30064022e-02 -2.14291701e-04 9.99915390e-01 -7.66879671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters 0.054610720159680284 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.02, Z:-0.08 [[ 9.99581835e-01 2.62197739e-02 1.21933518e-02 6.58904234e+00] [-2.62202099e-02 9.99656183e-01 -1.24130641e-04 -1.68913356e-02] [-1.21924142e-02 -1.95633508e-04 9.99925651e-01 -7.63763728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters 0.05436717155656191 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.02, Z:-0.08 [[ 9.99448944e-01 3.12408968e-02 1.12167403e-02 6.65007051e+00] [-3.12415781e-02 9.99511856e-01 -1.14524144e-04 -1.81303704e-02] [-1.12148427e-02 -2.35967632e-04 9.99937084e-01 -7.87401147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters 0.054435995803189315 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.01, Z:-0.08 [[ 9.99515254e-01 2.93123730e-02 1.04900360e-02 6.71272624e+00] [-2.93128602e-02 9.99570280e-01 -1.07338247e-04 -1.43861120e-02] [-1.04886746e-02 -2.00206745e-04 9.99944972e-01 -8.04552477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters 0.054793709949828795 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.02, Z:-0.08 [[ 9.99560545e-01 2.78281937e-02 1.02131159e-02 6.77436596e+00] [-2.78285702e-02 9.99612705e-01 -1.05267202e-04 -1.92602033e-02] [-1.02120898e-02 -1.78995472e-04 9.99947839e-01 -8.21811120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters 0.05488549606491992 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.01, Z:-0.08 [[ 9.99663434e-01 2.46931815e-02 7.95397994e-03 6.83634334e+00] [-2.46933047e-02 9.99695070e-01 -8.27432239e-05 -1.49329158e-02] [-7.95359773e-03 -1.13694675e-04 9.99968363e-01 -8.06919657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters 0.05539178531416175 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.03, Z:-0.08 [[ 9.99881145e-01 1.39485069e-02 6.56776421e-03 6.89735594e+00] [-1.39483576e-02 9.99902715e-01 -6.85327286e-05 -2.60347916e-02] [-6.56808119e-03 -2.30849408e-05 9.99978430e-01 -8.18405060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters 0.05602350633286066 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.03, Z:-0.08 [[ 9.99945067e-01 7.07516580e-03 7.73336553e-03 6.95893914e+00] [-7.07475232e-03 9.99974970e-01 -8.08222580e-05 -2.88678561e-02] [-7.73374380e-03 2.61061724e-05 9.99970094e-01 -8.23501890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters 0.05611516839784601 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.03, Z:-0.08 [[ 9.99959366e-01 1.02246479e-03 8.95657425e-03 7.02095885e+00] [-1.02165702e-03 9.99999474e-01 -9.47617184e-05 -2.77011402e-02] [-8.95666642e-03 8.56073209e-05 9.99959885e-01 -8.17682318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters 0.056002721136680186 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.03, Z:-0.08 [[ 9.99951802e-01 -1.67782726e-03 9.67357876e-03 7.08156192e+00] [ 1.67890077e-03 9.99998585e-01 -1.02854293e-04 -3.42542679e-02] [-9.67339250e-03 1.19090315e-04 9.99953205e-01 -7.88096347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters 0.05559193345233448 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.03, Z:-0.08 [[ 9.99933036e-01 -7.50133715e-03 8.81211437e-03 7.14236276e+00] [ 7.50246047e-03 9.99971852e-01 -9.44248139e-05 -3.31324092e-02] [-8.81115801e-03 1.60531031e-04 9.99961168e-01 -7.71934856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters 0.056407441195792614 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.03, Z:-0.08 [[ 9.99879526e-01 -1.33947445e-02 7.84306470e-03 7.20263952e+00] [ 1.33958160e-02 9.99910268e-01 -8.40957613e-05 -3.38127820e-02] [-7.84123449e-03 1.89149881e-04 9.99969239e-01 -7.69334955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters 0.05701845107430706 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.04, Z:-0.08 [[ 9.99740783e-01 -2.12309569e-02 8.22268215e-03 7.26279422e+00] [ 2.12323996e-02 9.99774563e-01 -8.81859892e-05 -4.16006090e-02] [-8.21895618e-03 2.62750403e-04 9.99966189e-01 -7.53662533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters 0.05689127148275327 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.04, Z:-0.08 [[ 9.99762283e-01 -1.95384547e-02 9.67606611e-03 7.32094472e+00] [ 1.95403725e-02 9.99809063e-01 -1.03687390e-04 -3.72743042e-02] [-9.67219270e-03 2.92736677e-04 9.99953180e-01 -7.60093017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters 0.056794117192949654 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.03, Z:-0.08 [[ 9.99651280e-01 -2.48383523e-02 8.96522234e-03 7.38130894e+00] [ 2.48402091e-02 9.99691430e-01 -9.58002823e-05 -3.47904896e-02] [-8.96007642e-03 3.18464872e-04 9.99959807e-01 -7.55403864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters 0.05804468407494496 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.05, Z:-0.08 [[ 9.99432623e-01 -3.28825052e-02 7.29202875e-03 7.44190720e+00] [ 3.28839476e-02 9.99459174e-01 -7.79701931e-05 -4.69152535e-02] [-7.28552118e-03 3.17716646e-04 9.99973410e-01 -7.59074090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters 0.057423107365737205 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.05, Z:-0.08 [[ 9.99296563e-01 -3.66462867e-02 7.96421972e-03 7.50199268e+00] [ 3.66481272e-02 9.99328228e-01 -8.52319666e-05 -4.68513453e-02] [-7.95574614e-03 3.77045749e-04 9.99968281e-01 -7.50268631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters 0.05698452894018905 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.04, Z:-0.07 [[ 9.99030953e-01 -4.28837659e-02 9.90646434e-03 7.56168723e+00] [ 4.28869190e-02 9.99079927e-01 -1.05980619e-04 -4.31193102e-02] [-9.89280482e-03 5.30735653e-04 9.99950924e-01 -7.46232167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters 0.05743046109537121 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.05, Z:-0.07 [[ 9.98915970e-01 -4.52470670e-02 1.09356201e-02 7.62229897e+00] [ 4.52510505e-02 9.98975640e-01 -1.16981773e-04 -4.52587718e-02] [-1.09191250e-02 6.11703260e-04 9.99940197e-01 -7.38215686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters 0.057219440488791296 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.04, Z:-0.07 [[ 9.98779389e-01 -4.82647790e-02 1.04996817e-02 7.68287442e+00] [ 4.82686179e-02 9.98834385e-01 -1.12372797e-04 -4.33928997e-02] [-1.04820195e-02 6.19040758e-04 9.99944871e-01 -7.36938168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters 0.056726420375687536 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.05, Z:-0.07 [[ 9.98792957e-01 -4.80201121e-02 1.03294364e-02 7.74117258e+00] [ 4.80238112e-02 9.98846185e-01 -1.10227155e-04 -4.56867154e-02] [-1.03122250e-02 6.06153009e-04 9.99946644e-01 -7.27957141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters 0.05651703304825884 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.05, Z:-0.07 [[ 9.98944300e-01 -4.46795825e-02 1.06780745e-02 7.80159743e+00] [ 4.46833352e-02 9.99001195e-01 -1.13007208e-04 -4.97149665e-02] [-1.06623601e-02 5.90019887e-04 9.99942981e-01 -7.17824309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters 0.05610301456905549 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.05, Z:-0.07 [[ 9.99040922e-01 -4.28143051e-02 9.17447427e-03 7.86164492e+00] [ 4.28169952e-02 9.99082927e-01 -9.69035050e-05 -4.55674386e-02] [-9.16191175e-03 4.89633987e-04 9.99957909e-01 -7.20616311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters 0.05645842130329434 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.05, Z:-0.07 [[ 9.99195463e-01 -3.89302685e-02 9.63644902e-03 7.92046446e+00] [ 3.89330555e-02 9.99241816e-01 -1.01725128e-04 -5.29381094e-02] [-9.62518263e-03 4.76819691e-04 9.99953563e-01 -7.24363680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters 0.057210484550989815 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.06, Z:-0.07 [[ 9.99466998e-01 -3.13003171e-02 9.27419586e-03 7.98081676e+00] [ 3.13025696e-02 9.99509950e-01 -9.77809609e-05 -5.83469715e-02] [-9.26659046e-03 3.88035004e-04 9.99956989e-01 -7.15483822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters 0.05604778141338335 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.06, Z:-0.07 [[ 9.99647012e-01 -2.53951798e-02 7.80619219e-03 8.04019646e+00] [ 2.53965957e-02 9.99677451e-01 -8.22900446e-05 -5.76942891e-02] [-7.80158454e-03 2.80511704e-04 9.99969528e-01 -7.21014322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters 0.05516505590101715 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.05, Z:-0.07 [[ 9.99779919e-01 -1.94699856e-02 7.81234824e-03 8.09972919e+00] [ 1.94712225e-02 9.99810414e-01 -8.22834780e-05 -4.77344502e-02] [-7.80926508e-03 2.34381340e-04 9.99969480e-01 -7.28758059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters 0.054351187978179 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.05, Z:-0.07 [[ 9.99837473e-01 -1.66216634e-02 6.98196110e-03 8.15921705e+00] [ 1.66225813e-02 9.99861833e-01 -7.34477183e-05 -4.91532497e-02] [-6.97977559e-03 1.89493997e-04 9.99975623e-01 -7.27136178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters 0.054233975384133014 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.05, Z:-0.07 [[ 9.99873409e-01 -1.43273461e-02 6.92048463e-03 8.21907738e+00] [ 1.43281922e-02 9.99897344e-01 -7.26919133e-05 -4.85733515e-02] [-6.91873272e-03 1.71840745e-04 9.99976051e-01 -7.23227101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters 0.055048846194136976 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.05, Z:-0.07 [[ 9.99895084e-01 -1.24131354e-02 7.46556820e-03 8.27828378e+00] [ 1.24140657e-02 9.99922939e-01 -7.82841899e-05 -5.38042998e-02] [-7.46402115e-03 1.70954031e-04 9.99972129e-01 -7.25894477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters 0.05446273526569537 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.05, Z:-0.07 [[ 9.99910953e-01 -1.15249040e-02 6.72772466e-03 8.33792247e+00] [ 1.15256366e-02 9.99933575e-01 -7.01414242e-05 -5.47352678e-02] [-6.72646940e-03 1.47676488e-04 9.99977366e-01 -7.28760473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters 0.05443901765103282 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.06, Z:-0.07 [[ 9.99899008e-01 -1.23809978e-02 6.97749242e-03 8.39717785e+00] [ 1.23818058e-02 9.99923340e-01 -7.26107355e-05 -5.51410922e-02] [-6.97605853e-03 1.58997358e-04 9.99975654e-01 -7.37370743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters 0.05451591552069014 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.06, Z:-0.08 [[ 9.99871247e-01 -1.49917880e-02 5.72151400e-03 8.45707021e+00] [ 1.49923738e-02 9.99887606e-01 -5.95145541e-05 -5.75658473e-02] [-5.71997870e-03 1.45285968e-04 9.99983630e-01 -7.50584921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters 0.054662594823604964 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.06, Z:-0.07 [[ 9.99881363e-01 -1.44374581e-02 5.36844109e-03 8.51646318e+00] [ 1.44379665e-02 9.99895766e-01 -5.59462544e-05 -5.80694881e-02] [-5.36707379e-03 1.33448990e-04 9.99985588e-01 -7.47103969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters 0.05488561154930512 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.06, Z:-0.08 [[ 9.99898818e-01 -1.33811078e-02 4.82690167e-03 8.57591725e+00] [ 1.33815042e-02 9.99910462e-01 -4.98488745e-05 -5.67804776e-02] [-4.82580245e-03 1.14435036e-04 9.99988349e-01 -7.53839137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters 0.05557617877894785 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.06, Z:-0.08 [[ 9.99893987e-01 -1.35209428e-02 5.40359022e-03 8.63307562e+00] [ 1.35214382e-02 9.99908580e-01 -5.51556692e-05 -6.01529212e-02] [-5.40235046e-03 1.28214133e-04 9.99985399e-01 -7.68285993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters 0.054997935018836104 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.06, Z:-0.08 [[ 9.99888078e-01 -1.41837282e-02 4.75964592e-03 8.69169192e+00] [ 1.41841173e-02 9.99899399e-01 -4.79823901e-05 -6.16535384e-02] [-4.75848652e-03 1.15488396e-04 9.99988672e-01 -7.81143169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters 0.055173611199684676 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.07, Z:-0.08 [[ 9.99807108e-01 -1.92724696e-02 3.78392382e-03 8.75189623e+00] [ 1.92727495e-02 9.99814263e-01 -3.74920721e-05 -6.52881785e-02] [-3.78249844e-03 1.10411456e-04 9.99992840e-01 -7.83978360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters 0.0551366467596118 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.06, Z:-0.08 [[ 9.99680732e-01 -2.47537695e-02 5.06796693e-03 8.81082668e+00] [ 2.47543415e-02 9.99693563e-01 -5.01693612e-05 -6.49043052e-02] [-5.06517204e-03 1.75607528e-04 9.99987157e-01 -7.71808095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters 0.05521270559983589 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.06, Z:-0.08 [[ 9.99549717e-01 -2.95194712e-02 5.38180149e-03 8.87078222e+00] [ 2.95201860e-02 9.99564183e-01 -5.34070153e-05 -6.20276579e-02] [-5.37787946e-03 2.12254748e-04 9.99985517e-01 -7.78526046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters 0.05478146578852073 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.06, Z:-0.08 [[ 9.99515909e-01 -3.04936677e-02 6.17117059e-03 8.92821834e+00] [ 3.04946262e-02 9.99534929e-01 -6.12594702e-05 -6.41433378e-02] [-6.16643253e-03 2.49417355e-04 9.99980956e-01 -7.84289453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters 0.05466814200605018 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.07, Z:-0.08 [[ 9.99507158e-01 -3.10689240e-02 4.49038017e-03 8.98720496e+00] [ 3.10694370e-02 9.99517228e-01 -4.45319621e-05 -6.68606710e-02] [-4.48682878e-03 1.84023599e-04 9.99989917e-01 -8.05306902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters 0.05391156420090364 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.05, Z:-0.08 [[ 9.99596467e-01 -2.77597818e-02 6.02477947e-03 9.04679053e+00] [ 2.77606386e-02 9.99614597e-01 -5.86041180e-05 -5.37017721e-02] [-6.02083067e-03 2.25832194e-04 9.99981849e-01 -8.23129020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters 0.054738198252450104 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.06, Z:-0.08 [[ 9.99651664e-01 -2.56997785e-02 6.00602907e-03 9.10609745e+00] [ 2.57005925e-02 9.99669684e-01 -5.83635330e-05 -6.28053909e-02] [-6.00254525e-03 2.12701708e-04 9.99981962e-01 -8.36373822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters 0.05410663635445122 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.06, Z:-0.08 [[ 9.99627669e-01 -2.66734992e-02 5.74870371e-03 9.16483878e+00] [ 2.66742613e-02 9.99644177e-01 -5.59159359e-05 -6.19446522e-02] [-5.74516671e-03 2.09237541e-04 9.99983475e-01 -8.39353342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters 0.05331340949187204 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.06, Z:-0.09 [[ 9.99593569e-01 -2.79673962e-02 5.52457111e-03 9.22427805e+00] [ 2.79681159e-02 9.99608814e-01 -5.30375081e-05 -5.75885415e-02] [-5.52092665e-03 2.07527797e-04 9.99984738e-01 -8.57189424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters 0.053950029112653404 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.07, Z:-0.09 [[ 9.99583094e-01 -2.82409306e-02 6.00732104e-03 9.28188344e+00] [ 2.82417866e-02 9.99601120e-01 -5.77005068e-05 -6.56606566e-02] [-6.00329532e-03 2.27333930e-04 9.99981954e-01 -8.82428633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters 0.053678367726180905 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.07, Z:-0.09 [[ 9.99483745e-01 -3.15126418e-02 6.26079677e-03 9.34188997e+00] [ 3.15136299e-02 9.99503320e-01 -5.92157827e-05 -7.22471166e-02] [-6.25582111e-03 2.56485644e-04 9.99980399e-01 -8.91569972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters 0.05350937104790722 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.07, Z:-0.09 [[ 9.99517343e-01 -3.02585495e-02 7.03575011e-03 9.39987955e+00] [ 3.02597667e-02 9.99542066e-01 -6.65957069e-05 -6.67611274e-02] [-7.03051312e-03 2.79463721e-04 9.99975247e-01 -8.92301021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters 0.05340327038117921 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.07, Z:-0.09 [[ 9.99485790e-01 -3.11890428e-02 7.44305613e-03 9.45879867e+00] [ 3.11904281e-02 9.99513458e-01 -7.00861980e-05 -6.91944497e-02] [-7.43724884e-03 3.02202266e-04 9.99972298e-01 -9.00739570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters 0.05387053521980695 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.07, Z:-0.09 [[ 9.99500630e-01 -3.08574294e-02 6.80516145e-03 9.51724617e+00] [ 3.08585756e-02 9.99523759e-01 -6.34610049e-05 -7.46358844e-02] [-6.79996231e-03 2.73426903e-04 9.99976843e-01 -9.14607954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters 0.05273541070591303 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.07, Z:-0.09 [[ 9.99625301e-01 -2.62424780e-02 7.78392190e-03 9.57725986e+00] [ 2.62438307e-02 9.99655569e-01 -7.16746912e-05 -6.54817654e-02] [-7.77935995e-03 2.75927764e-04 9.99969702e-01 -9.31978442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters 0.05459509231521453 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.08, Z:-0.09 [[ 9.99629845e-01 -2.63416615e-02 6.80370319e-03 9.63424507e+00] [ 2.63426972e-02 9.99652969e-01 -6.26276115e-05 -7.78883249e-02] [-6.79969238e-03 2.41832322e-04 9.99976853e-01 -9.48101758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters 0.05205428081748469 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.07, Z:-0.10 [[ 9.99593699e-01 -2.78491787e-02 6.07121487e-03 9.69370340e+00] [ 2.78500258e-02 9.99612111e-01 -5.50088446e-05 -7.18664398e-02] [-6.06732797e-03 2.24069985e-04 9.99981568e-01 -9.51505000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters 0.05111517930212944 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.06, Z:-0.10 [[ 9.99637753e-01 -2.60391510e-02 6.80634821e-03 9.75364506e+00] [ 2.60401724e-02 9.99660895e-01 -6.14656100e-05 -5.94092857e-02] [-6.80243963e-03 2.38681825e-04 9.99976835e-01 -9.54560431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters 0.05170806591926038 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.07, Z:-0.10 [[ 9.99653478e-01 -2.55233596e-02 6.44068406e-03 9.81110262e+00] [ 2.55242634e-02 9.99674201e-01 -5.81542381e-05 -6.89480768e-02] [-6.43710141e-03 2.22527803e-04 9.99979257e-01 -9.64770537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters 0.05184147156475895 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.06, Z:-0.10 [[ 9.99715612e-01 -2.20977923e-02 8.96567111e-03 9.87114248e+00] [ 2.20993953e-02 9.99755775e-01 -7.97470973e-05 -6.49369015e-02] [-8.96171923e-03 2.77860328e-04 9.99959804e-01 -9.66320446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters 0.05140421990144082 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.07, Z:-0.10 [[ 9.99734622e-01 -2.12589818e-02 8.87361785e-03 9.93032166e+00] [ 2.12605172e-02 9.99773967e-01 -7.87224218e-05 -6.76800845e-02] [-8.86993856e-03 2.67359236e-04 9.99960626e-01 -9.71148840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters 0.052343123468689204 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.07, Z:-0.10 [[ 9.99705989e-01 -2.26176861e-02 8.73935219e-03 9.98795002e+00] [ 2.26192194e-02 9.99744150e-01 -7.66262202e-05 -7.19009826e-02] [-8.73538312e-03 2.74281016e-04 9.99961808e-01 -9.83788822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters 0.05243434737035407 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.08, Z:-0.10 [[ 9.99680637e-01 -2.40745076e-02 7.68382054e-03 1.00464888e+01] [ 2.40757334e-02 9.99710135e-01 -6.70699365e-05 -7.58060504e-02] [-7.67997860e-03 2.52042132e-04 9.99970477e-01 -9.92845364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters 0.050653630981898234 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.06, Z:-0.10 [[ 9.99672165e-01 -2.46048795e-02 7.08259224e-03 1.01055515e+01] [ 2.46059328e-02 9.99697226e-01 -6.16021529e-05 -6.47873180e-02] [-7.07893210e-03 2.35855746e-04 9.99974916e-01 -1.00126526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters 0.05193667988353697 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.07, Z:-0.10 [[ 9.99757410e-01 -2.05501262e-02 7.92550536e-03 1.01662003e+01] [ 2.05513100e-02 9.99788797e-01 -6.79432574e-05 -7.49614043e-02] [-7.92243523e-03 2.30806293e-04 9.99968590e-01 -9.96109709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters 0.05170413314476029 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.07, Z:-0.10 [[ 9.99810338e-01 -1.81191948e-02 7.14028289e-03 1.02260078e+01] [ 1.81200941e-02 9.99835816e-01 -6.12632006e-05 -7.44194120e-02] [-7.13800052e-03 1.90634179e-04 9.99974506e-01 -1.00508974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters 0.05073895002128242 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.07, Z:-0.10 [[ 9.99894650e-01 -1.27308329e-02 6.97239840e-03 1.02856742e+01] [ 1.27315586e-02 9.99918949e-01 -5.96999486e-05 -7.03171527e-02] [-6.97107324e-03 1.48463158e-04 9.99975691e-01 -1.01609382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters 0.05098909428159303 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.07, Z:-0.10 [[ 9.99928800e-01 -9.92268912e-03 6.62836140e-03 1.03453704e+01] [ 9.92328286e-03 9.99950761e-01 -5.66925151e-05 -6.95581076e-02] [-6.62747249e-03 1.22463584e-04 9.99978031e-01 -1.02097195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters 0.05018161996423955 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.07, Z:-0.10 [[ 9.99922900e-01 -1.08170147e-02 6.09800166e-03 1.04060460e+01] [ 1.08175331e-02 9.99941487e-01 -5.20401194e-05 -7.26582469e-02] [-6.09708193e-03 1.18001442e-04 9.99981406e-01 -1.02681651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters 0.05038105191620361 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.07, Z:-0.10 [[ 9.99935972e-01 -9.03424124e-03 6.81421412e-03 1.04656053e+01] [ 9.03484730e-03 9.99959183e-01 -5.81618363e-05 -7.10111374e-02] [-6.81341054e-03 1.19723496e-04 9.99976781e-01 -1.02656201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters 0.05032014993055474 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.07, Z:-0.10 [[ 9.99955466e-01 -7.13216431e-03 6.18049494e-03 1.05264593e+01] [ 7.13262584e-03 9.99974561e-01 -5.26372716e-05 -6.97882705e-02] [-6.17996229e-03 9.67180853e-05 9.99980899e-01 -1.04122897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters 0.05038871382942531 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.07, Z:-0.11 [[ 9.99973399e-01 -5.70900546e-03 4.53955528e-03 1.05871915e+01] [ 5.70923957e-03 9.99983701e-01 -3.86137090e-05 -7.22725229e-02] [-4.53926084e-03 6.45300904e-05 9.99989695e-01 -1.05812327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters 0.05019238766634783 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.07, Z:-0.11 [[ 9.99987342e-01 -2.12714032e-03 4.55970211e-03 1.06476851e+01] [ 2.12733985e-03 9.99997736e-01 -3.89112057e-05 -6.96640706e-02] [-4.55960902e-03 4.86107492e-05 9.99989604e-01 -1.06208260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters 0.05008706877561215 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.07, Z:-0.11 [[ 9.99992980e-01 8.61156629e-04 3.64667482e-03 1.07089170e+01] [-8.61049106e-04 9.99999629e-01 -3.10550855e-05 -6.68986051e-02] [-3.64670021e-03 2.79149014e-05 9.99993350e-01 -1.07073065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters 0.049781672973967725 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.07, Z:-0.11 [[ 9.99991862e-01 2.45934983e-03 3.19789631e-03 1.07706937e+01] [-2.45927541e-03 9.99996976e-01 -2.72011022e-05 -6.72855964e-02] [-3.19795354e-03 1.93363731e-05 9.99994886e-01 -1.07515130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters 0.04969626475329077 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.07, Z:-0.11 [[ 9.99990573e-01 3.44074166e-03 2.64878814e-03 1.08322826e+01] [-3.44069381e-03 9.99994081e-01 -2.26197512e-05 -6.85838620e-02] [-2.64885029e-03 1.35058690e-05 9.99996492e-01 -1.08720802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters 0.04972807580155634 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.07, Z:-0.11 [[ 9.99989757e-01 3.78039785e-03 2.48872757e-03 1.08948953e+01] [-3.78035684e-03 9.99992854e-01 -2.11831607e-05 -6.88302769e-02] [-2.48878987e-03 1.17746655e-05 9.99996903e-01 -1.09353317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters 0.04940373707907488 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.07, Z:-0.11 [[ 9.99977670e-01 5.76801743e-03 3.37490427e-03 1.09574881e+01] [-5.76795207e-03 9.99983365e-01 -2.90975902e-05 -6.65303437e-02] [-3.37501596e-03 9.63065441e-06 9.99994305e-01 -1.09216945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters 0.04966018291235299 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.07, Z:-0.11 [[ 9.99962070e-01 7.88751535e-03 3.69402076e-03 1.10187060e+01] [-7.88745084e-03 9.99968893e-01 -3.20317760e-05 -6.66676253e-02] [-3.69415850e-03 2.89415386e-06 9.99993177e-01 -1.09248454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters 0.04928836545105201 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.07, Z:-0.11 [[ 9.99961963e-01 7.89090926e-03 3.71559959e-03 1.10809312e+01] [-7.89084502e-03 9.99968866e-01 -3.19491854e-05 -6.75803949e-02] [-3.71573602e-03 2.62874966e-06 9.99993097e-01 -1.10314872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters 0.049615894947176095 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.07, Z:-0.11 [[ 9.99967060e-01 7.61128072e-03 2.81908084e-03 1.11433937e+01] [-7.61124234e-03 9.99971034e-01 -2.43412277e-05 -6.80492792e-02] [-2.81918445e-03 2.88371850e-06 9.99996026e-01 -1.11141671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters 0.04911429244877463 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.07, Z:-0.11 [[ 9.99966346e-01 7.76656516e-03 2.64345420e-03 1.12054360e+01] [-7.76653064e-03 9.99969840e-01 -2.33246882e-05 -6.75994481e-02] [-2.64355562e-03 2.79343521e-06 9.99996506e-01 -1.12176313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters 0.04854745594760983 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.07, Z:-0.11 [[ 9.99960395e-01 8.44822706e-03 2.79934734e-03 1.12673974e+01] [-8.44818965e-03 9.99964313e-01 -2.51892796e-05 -6.72483439e-02] [-2.79946025e-03 1.53886470e-06 9.99996082e-01 -1.12701461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters 0.047923694458392806 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.07, Z:-0.11 [[ 9.99960146e-01 8.38845953e-03 3.05614634e-03 1.13303043e+01] [-8.38841440e-03 9.99964816e-01 -2.75855451e-05 -6.76563650e-02] [-3.05627021e-03 1.94822373e-06 9.99995330e-01 -1.12861413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters 0.04872125870982952 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.07, Z:-0.11 [[ 9.99967713e-01 7.63353114e-03 2.51037358e-03 1.13921001e+01] [-7.63349898e-03 9.99970864e-01 -2.23925230e-05 -6.84976159e-02] [-2.51047137e-03 3.22886583e-06 9.99996849e-01 -1.14368913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters 0.048549914183573864 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.07, Z:-0.11 [[ 9.99958854e-01 8.77144075e-03 2.31359450e-03 1.14544706e+01] [-8.77141481e-03 9.99961530e-01 -2.13576159e-05 -6.79801867e-02] [-2.31369284e-03 1.06324003e-06 9.99997323e-01 -1.14784272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters 0.04927348072081271 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.07, Z:-0.12 [[ 9.99943497e-01 1.04276013e-02 2.06586145e-03 1.15164090e+01] [-1.04275841e-02 9.99945631e-01 -1.91129799e-05 -6.59317598e-02] [-2.06594843e-03 -2.43004395e-06 9.99997866e-01 -1.15845723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters 0.04931877619152986 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.06, Z:-0.12 [[ 9.99930582e-01 1.16120123e-02 1.99804053e-03 1.15775096e+01] [-1.16119983e-02 9.99932578e-01 -1.85920014e-05 -6.48733780e-02] [-1.99812171e-03 -4.61053246e-06 9.99998004e-01 -1.16462816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters 0.04849516379937976 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.06, Z:-0.12 [[ 9.99908556e-01 1.33429680e-02 2.20104502e-03 1.16400112e+01] [-1.33429552e-02 9.99910979e-01 -2.05077404e-05 -6.46776282e-02] [-2.20112272e-03 -8.86258003e-06 9.99997577e-01 -1.15555228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters 0.04869546200747102 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.06, Z:-0.12 [[ 9.99892585e-01 1.44270294e-02 2.58448255e-03 1.17015248e+01] [-1.44270149e-02 9.99895925e-01 -2.42584863e-05 -6.28093428e-02] [-2.58456355e-03 -1.30304877e-05 9.99996660e-01 -1.16682909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters 0.04929099925234046 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.06, Z:-0.12 [[ 9.99892429e-01 1.43710663e-02 2.93315554e-03 1.17641465e+01] [-1.43710486e-02 9.99896731e-01 -2.71312833e-05 -6.14543209e-02] [-2.93324254e-03 -1.50241560e-05 9.99995698e-01 -1.17549830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters 0.04850811420939816 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.06, Z:-0.12 [[ 9.99894227e-01 1.43302609e-02 2.48544992e-03 1.18270276e+01] [-1.43302476e-02 9.99897316e-01 -2.31784437e-05 -6.12379984e-02] [-2.48552686e-03 -1.24411206e-05 9.99996911e-01 -1.17808840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters 0.04925691769748132 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.06, Z:-0.12 [[ 9.99895488e-01 1.42706011e-02 2.31578937e-03 1.18891062e+01] [-1.42705887e-02 9.99898170e-01 -2.19010105e-05 -5.94847793e-02] [-2.31586609e-03 -1.11489560e-05 9.99997318e-01 -1.20470500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters 0.048662231627964396 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.06, Z:-0.12 [[ 9.99885530e-01 1.50720615e-02 1.32645008e-03 1.19513860e+01] [-1.50720578e-02 9.99886410e-01 -1.28338674e-05 -6.00869718e-02] [-1.32649284e-03 -7.15993391e-06 9.99999120e-01 -1.20211055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters 0.04878546645126733 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.06, Z:-0.12 [[ 9.99852489e-01 1.71696143e-02 4.52036145e-04 1.20132224e+01] [-1.71696142e-02 9.99852591e-01 -4.23944488e-06 -5.95818240e-02] [-4.52042300e-04 -3.52246667e-06 9.99999898e-01 -1.20905218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters 0.048561494736162135 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.06, Z:-0.12 [[ 9.99811447e-01 1.94169870e-02 2.27561330e-04 1.20747962e+01] [-1.94169871e-02 9.99811473e-01 -1.83471721e-06 -5.84428309e-02] [-2.27554053e-04 -2.58418414e-06 9.99999974e-01 -1.21406296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters 0.04839862479865544 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.06, Z:-0.12 [[ 9.99816126e-01 1.91504801e-02 9.86576570e-04 1.21358542e+01] [-1.91504801e-02 9.99816613e-01 -9.43878298e-06 -5.61330400e-02] [-9.86576402e-04 -9.45636754e-06 9.99999513e-01 -1.23263897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters 0.04802450644411052 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.06, Z:-0.12 [[ 9.99826249e-01 1.85539481e-02 1.79501847e-03 1.21982078e+01] [-1.85539460e-02 9.99827861e-01 -1.78464173e-05 -5.74436378e-02] [-1.79504060e-03 -1.54613592e-05 9.99998389e-01 -1.23503266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters 0.04834084081647306 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.06, Z:-0.12 [[ 9.99848272e-01 1.73058867e-02 1.98451438e-03 1.22589851e+01] [-1.73058821e-02 9.99850242e-01 -1.94828192e-05 -5.85156070e-02] [-1.98455435e-03 -1.48639087e-05 9.99998031e-01 -1.23392393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters 0.04818832511028909 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.06, Z:-0.12 [[ 9.99922409e-01 1.21134037e-02 2.90530876e-03 1.23211255e+01] [-1.21133701e-02 9.99926630e-01 -2.91772584e-05 -6.16219983e-02] [-2.90544903e-03 -6.01808570e-06 9.99995779e-01 -1.23627717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters 0.04880226082022728 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.06, Z:-0.12 [[ 9.99963343e-01 8.12581764e-03 2.69887224e-03 1.23838109e+01] [-8.12577264e-03 9.99966985e-01 -2.76403342e-05 -6.45708729e-02] [-2.69900774e-03 5.70889875e-06 9.99996358e-01 -1.24516326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters 0.048862458356990775 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.07, Z:-0.12 [[ 9.99993043e-01 3.25338014e-03 1.82481012e-03 1.24455028e+01] [-3.25335204e-03 9.99994708e-01 -1.83650851e-05 -6.88545932e-02] [-1.82486021e-03 1.24282076e-05 9.99998335e-01 -1.24117064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters 0.048373222960882076 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.07, Z:-0.12 [[ 9.99997975e-01 7.75597792e-04 1.85691045e-03 1.25076411e+01] [-7.75563306e-04 9.99999699e-01 -1.92915711e-05 -7.16164805e-02] [-1.85692486e-03 1.78513804e-05 9.99998276e-01 -1.24587478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters 0.04869521721494177 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.08, Z:-0.12 [[ 9.99988963e-01 -3.51419403e-03 3.11846962e-03 1.25687046e+01] [ 3.51431361e-03 9.99993824e-01 -3.28647026e-05 -7.53904202e-02] [-3.11833486e-03 4.38236201e-05 9.99995137e-01 -1.24941309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters 0.04876812789602581 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.08, Z:-0.13 [[ 9.99975166e-01 -6.15868285e-03 3.42595649e-03 1.26294228e+01] [ 6.15884317e-03 9.99981033e-01 -3.62466453e-05 -7.97661096e-02] [-3.42566828e-03 5.73456739e-05 9.99994131e-01 -1.25668137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters 0.049075263452444055 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.08, Z:-0.13 [[ 9.99959391e-01 -8.42257032e-03 3.20587786e-03 1.26887156e+01] [ 8.42272244e-03 9.99964528e-01 -3.39538259e-05 -8.39964098e-02] [-3.20547816e-03 6.09546664e-05 9.99994861e-01 -1.27046401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters 0.04926186125531923 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.08, Z:-0.13 [[ 9.99940440e-01 -1.05124793e-02 2.93315714e-03 1.27483708e+01] [ 1.05126157e-02 9.99944740e-01 -3.10846141e-05 -8.39984082e-02] [-2.93266828e-03 6.19179167e-05 9.99995698e-01 -1.27542382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters 0.05017063205197871 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.09, Z:-0.13 [[ 9.99893639e-01 -1.41489216e-02 3.53810305e-03 1.28072364e+01] [ 1.41491425e-02 9.99899895e-01 -3.74075736e-05 -9.00375692e-02] [-3.53721959e-03 8.74647190e-05 9.99993740e-01 -1.28489422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters 0.05074663279581795 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.10, Z:-0.13 [[ 9.99771542e-01 -2.10913668e-02 3.46669552e-03 1.28675347e+01] [ 2.10916201e-02 9.99777546e-01 -3.65251138e-05 -9.67718645e-02] [-3.46515397e-03 1.09634994e-04 9.99993990e-01 -1.28180397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters 0.0510505268468537 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.10, Z:-0.13 [[ 9.99683657e-01 -2.48622308e-02 3.80209325e-03 1.29282519e+01] [ 2.48625632e-02 9.99690878e-01 -4.01816374e-05 -9.79937954e-02] [-3.79991894e-03 1.34698710e-04 9.99992771e-01 -1.28976405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters 0.05294952615405462 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.11, Z:-0.13 [[ 9.99553485e-01 -2.95987729e-02 4.09187299e-03 1.29874981e+01] [ 2.95991966e-02 9.99561847e-01 -4.29941412e-05 -1.10044346e-01] [-4.08880755e-03 1.64091097e-04 9.99991627e-01 -1.29729697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters 0.051539224004528754 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.11, Z:-0.13 [[ 9.99516093e-01 -3.07507232e-02 4.68751294e-03 1.30466284e+01] [ 3.07512920e-02 9.99527066e-01 -4.92967230e-05 -1.06702833e-01] [-4.68378014e-03 1.93419947e-04 9.99989012e-01 -1.29605142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters 0.052495909355351277 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.11, Z:-0.13 [[ 9.99380180e-01 -3.49007663e-02 4.60350045e-03 1.31067086e+01] [ 3.49013581e-02 9.99390761e-01 -4.82524350e-05 -1.13149567e-01] [-4.59901177e-03 2.08890945e-04 9.99989403e-01 -1.30958748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters 0.05012475540713837 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.09, Z:-0.13 [[ 9.99373641e-01 -3.50147647e-02 5.12756637e-03 1.31648306e+01] [ 3.50155017e-02 9.99386768e-01 -5.39970798e-05 -9.06938447e-02] [-5.12253128e-03 2.33507567e-04 9.99986852e-01 -1.31493726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters 0.04987536067736813 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.10, Z:-0.13 [[ 9.99390991e-01 -3.47323582e-02 3.36300110e-03 1.32230879e+01] [ 3.47326729e-02 9.99396638e-01 -3.52013853e-05 -9.68761696e-02] [-3.35974936e-03 1.51985964e-04 9.99994344e-01 -1.32859398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters 0.05073019344491332 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.10, Z:-0.13 [[ 9.99364264e-01 -3.54669440e-02 3.62809697e-03 1.32821592e+01] [ 3.54673133e-02 9.99370836e-01 -3.74878039e-05 -9.86319888e-02] [-3.62448473e-03 1.66142824e-04 9.99993418e-01 -1.34205490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters 0.0528765097589389 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.11, Z:-0.14 [[ 9.99327183e-01 -3.63223443e-02 5.08617762e-03 1.33410615e+01] [ 3.63230765e-02 9.99340098e-01 -5.16408877e-05 -1.14679327e-01] [-5.08094552e-03 2.36351762e-04 9.99987064e-01 -1.35965290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters 0.05060447490626237 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.10, Z:-0.14 [[ 9.99316310e-01 -3.63245074e-02 6.88792427e-03 1.33998245e+01] [ 3.63258429e-02 9.99339996e-01 -6.88465810e-05 -9.97922263e-02] [-6.88087740e-03 3.19009166e-04 9.99976276e-01 -1.36849976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters 0.05070381567402316 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.10, Z:-0.14 [[ 9.99409408e-01 -3.39065858e-02 5.58385870e-03 1.34601647e+01] [ 3.39074217e-02 9.99424977e-01 -5.50719728e-05 -1.01426975e-01] [-5.57878055e-03 2.44373699e-04 9.99984409e-01 -1.39467088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters 0.05190984497518104 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.11, Z:-0.14 [[ 9.99656403e-01 -2.58525226e-02 4.32692733e-03 1.35201959e+01] [ 2.58529491e-02 9.99665756e-01 -4.26636788e-05 -1.10814873e-01] [-4.32437811e-03 1.54512852e-04 9.99990638e-01 -1.42328038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters 0.05116852190607923 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.11, Z:-0.14 [[ 9.99760674e-01 -2.17126300e-02 2.67501955e-03 1.35802862e+01] [ 2.17127782e-02 9.99764249e-01 -2.63785229e-05 -1.07744839e-01] [-2.67381617e-03 8.44543162e-05 9.99996422e-01 -1.42321778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters 0.04961992078661071 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.10, Z:-0.14 [[ 9.99830411e-01 -1.80656434e-02 3.57503178e-03 1.36407800e+01] [ 1.80658849e-02 9.99836798e-01 -3.52622780e-05 -1.04211806e-01] [-3.57381129e-03 9.98424106e-05 9.99993609e-01 -1.42335955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters 0.05029643108835405 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.11, Z:-0.14 [[ 9.99871035e-01 -1.53767439e-02 4.63340755e-03 1.36999026e+01] [ 1.53771204e-02 9.99881764e-01 -4.56596969e-05 -1.10331992e-01] [-4.63215762e-03 1.16902274e-04 9.99989265e-01 -1.43833501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters 0.04993474946322383 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.11, Z:-0.14 [[ 9.99928392e-01 -1.10433495e-02 4.61035352e-03 1.37596348e+01] [ 1.10436763e-02 9.99939016e-01 -4.54178738e-05 -1.06023199e-01] [-4.60957079e-03 9.63298733e-05 9.99989371e-01 -1.43095329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters 0.049038681285194126 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.11, Z:-0.14 [[ 9.99960406e-01 -7.81780351e-03 4.25067373e-03 1.38191209e+01] [ 7.81805173e-03 9.99969438e-01 -4.17825329e-05 -1.06538986e-01] [-4.25021717e-03 7.50128656e-05 9.99990965e-01 -1.42854823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters 0.049541134188252504 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.11, Z:-0.14 [[ 9.99976883e-01 -4.34089793e-03 5.23356972e-03 1.38785006e+01] [ 4.34122630e-03 9.99990576e-01 -5.13843432e-05 -1.05735793e-01] [-5.23329735e-03 7.41032659e-05 9.99986303e-01 -1.42134092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters 0.04905839732485883 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.11, Z:-0.14 [[ 9.99983491e-01 -1.88192949e-03 5.42919404e-03 1.39394169e+01] [ 1.88224609e-03 9.99998227e-01 -5.32062670e-05 -1.06041863e-01] [-5.42908428e-03 6.34244679e-05 9.99985260e-01 -1.42000356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters 0.04941329171139558 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.10, Z:-0.14 [[ 9.99990410e-01 3.33110329e-04 4.36673670e-03 1.40003131e+01] [-3.32926411e-04 9.99999944e-01 -4.28446325e-05 -1.02106264e-01] [-4.36675072e-03 4.13904197e-05 9.99990465e-01 -1.41397107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters 0.049324356985964074 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.10, Z:-0.14 [[ 9.99993335e-01 2.15203166e-03 2.94940373e-03 1.40621273e+01] [-2.15195597e-03 9.99997684e-01 -2.88360371e-05 -1.04733516e-01] [-2.94945896e-03 2.24888579e-05 9.99995650e-01 -1.43619654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters 0.04873198000076489 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.11, Z:-0.14 [[ 9.99993330e-01 2.01836220e-03 3.04394162e-03 1.41239123e+01] [-2.01828155e-03 9.99997963e-01 -2.95679972e-05 -1.05430112e-01] [-3.04399509e-03 2.34242688e-05 9.99995367e-01 -1.44588554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters 0.04907104003972005 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.11, Z:-0.14 [[ 9.99991195e-01 -3.00280388e-04 4.18557054e-03 1.41848264e+01] [ 3.00457370e-04 9.99999954e-01 -4.16550442e-05 -1.09625631e-01] [-4.18555784e-03 4.29122629e-05 9.99991240e-01 -1.42804831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters 0.049315716715636095 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.11, Z:-0.14 [[ 9.99986359e-01 -9.92842307e-04 5.12796699e-03 1.42455587e+01] [ 9.93118746e-04 9.99999506e-01 -5.13619744e-05 -1.12388118e-01] [-5.12791346e-03 5.64539539e-05 9.99986851e-01 -1.42279318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters 0.048830310772712514 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.12, Z:-0.14 [[ 9.99972475e-01 -5.68351214e-03 4.76934709e-03 1.43060313e+01] [ 5.68380804e-03 9.99983846e-01 -4.84905893e-05 -1.17009473e-01] [-4.76899444e-03 7.55973079e-05 9.99988625e-01 -1.43184283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters 0.050157038551977846 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.13, Z:-0.14 [[ 9.99880992e-01 -1.45657117e-02 5.08342714e-03 1.43656461e+01] [ 1.45661625e-02 9.99893906e-01 -5.16628065e-05 -1.26288830e-01] [-5.08213531e-03 1.25702684e-04 9.99987078e-01 -1.44354859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters 0.05051650657955733 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.13, Z:-0.14 [[ 9.99746632e-01 -2.19335550e-02 5.05869344e-03 1.44261253e+01] [ 2.19340971e-02 9.99759417e-01 -5.16859923e-05 -1.25434675e-01] [-5.05634275e-03 1.62630770e-04 9.99987203e-01 -1.44653848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters 0.05085336888261487 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.13, Z:-0.14 [[ 9.99685976e-01 -2.45678764e-02 4.93639173e-03 1.44859189e+01] [ 2.45684248e-02 9.99698149e-01 -5.04613244e-05 -1.28701221e-01] [-4.93366195e-03 1.71724847e-04 9.99987815e-01 -1.44642083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters 0.05066539031156785 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.13, Z:-0.14 [[ 9.99595596e-01 -2.79430088e-02 5.27567529e-03 1.45463335e+01] [ 2.79436817e-02 9.99609498e-01 -5.38558352e-05 -1.34082828e-01] [-5.27211023e-03 2.01255847e-04 9.99986082e-01 -1.44071579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters 0.05110930323820334 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.14, Z:-0.14 [[ 9.99597602e-01 -2.77385334e-02 5.93357569e-03 1.46039822e+01] [ 2.77393816e-02 9.99615187e-01 -6.06826810e-05 -1.36524856e-01] [-5.92960912e-03 2.25251983e-04 9.99982394e-01 -1.43953836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters 0.05858324862729194 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.16, Z:-0.14 [[ 9.99623005e-01 -2.69711715e-02 5.13840084e-03 1.46619207e+01] [ 2.69717966e-02 9.99636194e-01 -5.23936767e-05 -1.59386116e-01] [-5.13511833e-03 1.90965827e-04 9.99986797e-01 -1.44541579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters 0.05198245923379769 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.14, Z:-0.14 [[ 9.99743668e-01 -2.17301118e-02 6.35619354e-03 1.47225156e+01] [ 2.17309604e-02 9.99763853e-01 -6.44688122e-05 -1.37057252e-01] [-6.35329163e-03 2.02578477e-04 9.99979797e-01 -1.43432074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters 0.04951238223311787 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.12, Z:-0.14 [[ 9.99852301e-01 -1.65270555e-02 4.71506848e-03 1.47833979e+01] [ 1.65274648e-02 9.99863411e-01 -4.78456899e-05 -1.19691169e-01] [-4.71363370e-03 1.25766751e-04 9.99988883e-01 -1.43176950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters 0.05041740537329125 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.13, Z:-0.15 [[ 9.99860988e-01 -1.62147572e-02 3.88417714e-03 1.48407277e+01] [ 1.62150341e-02 9.99868527e-01 -3.98163533e-05 -1.32772334e-01] [-3.88302086e-03 1.02792883e-04 9.99992456e-01 -1.46122796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters 0.051086123468447174 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.13, Z:-0.15 [[ 9.99862757e-01 -1.60187928e-02 4.22682597e-03 1.48999243e+01] [ 1.60191165e-02 9.99871685e-01 -4.27506820e-05 -1.31526654e-01] [-4.22559879e-03 1.10454833e-04 9.99991066e-01 -1.46415240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters 0.051030636062730846 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.13, Z:-0.15 [[ 9.99854318e-01 -1.64457557e-02 4.56956036e-03 1.49586572e+01] [ 1.64461358e-02 9.99864752e-01 -4.56053682e-05 -1.29866938e-01] [-4.56819232e-03 1.20750335e-04 9.99989558e-01 -1.46563115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters 0.050651195931504654 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.12, Z:-0.15 [[ 9.99846602e-01 -1.69745995e-02 4.31685840e-03 1.50174499e+01] [ 1.69749416e-02 9.99855914e-01 -4.26309526e-05 -1.24786915e-01] [-4.31551276e-03 1.15902832e-04 9.99990681e-01 -1.45811884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters 0.04996641806733731 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.13, Z:-0.15 [[ 9.99898749e-01 -1.36077897e-02 4.16177244e-03 1.50774087e+01] [ 1.36080752e-02 9.99907405e-01 -4.02816333e-05 -1.31077079e-01] [-4.16083894e-03 9.69112669e-05 9.99991339e-01 -1.46778326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters 0.049478116221116655 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.13, Z:-0.15 [[ 9.99951720e-01 -9.33961386e-03 3.05437044e-03 1.51374322e+01] [ 9.33974783e-03 9.99956383e-01 -2.96007761e-05 -1.29912648e-01] [-3.05396076e-03 5.81263967e-05 9.99995335e-01 -1.47695099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters 0.05006765423706522 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.13, Z:-0.15 [[ 9.99974248e-01 -6.62219159e-03 2.76594589e-03 1.51963909e+01] [ 6.62229136e-03 9.99978072e-01 -2.69133597e-05 -1.27051966e-01] [-2.76570702e-03 4.52295662e-05 9.99996174e-01 -1.47723772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters 0.0499595901898692 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.13, Z:-0.15 [[ 9.99993402e-01 -3.12817644e-03 1.84658978e-03 1.52552583e+01] [ 3.12821490e-03 9.99995107e-01 -1.79382771e-05 -1.30208853e-01] [-1.84652463e-03 2.37146884e-05 9.99998295e-01 -1.48048252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters 0.049186120847569154 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.13, Z:-0.15 [[ 9.99997831e-01 1.34578336e-03 1.58958938e-03 1.53155679e+01] [-1.34576070e-03 9.99999094e-01 -1.53226736e-05 -1.29367610e-01] [-1.58960856e-03 1.31834334e-05 9.99998736e-01 -1.48290981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters 0.04950848081468475 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.13, Z:-0.15 [[ 9.99991219e-01 4.02559739e-03 1.16502995e-03 1.53764478e+01] [-4.02558722e-03 9.99991897e-01 -1.10743243e-05 -1.30037810e-01] [-1.16506509e-03 6.38429732e-06 9.99999321e-01 -1.47891842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters 0.04925119768708403 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.13, Z:-0.15 [[ 9.99935062e-01 1.11380621e-02 2.41160583e-03 1.54366365e+01] [-1.11380387e-02 9.99937970e-01 -2.31474675e-05 -1.25942779e-01] [-2.41171405e-03 -3.71459478e-06 9.99997092e-01 -1.47237521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters 0.04944187873614608 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.13, Z:-0.15 [[ 9.99905440e-01 1.36880038e-02 1.32246902e-03 1.54983959e+01] [-1.36879992e-02 9.99906315e-01 -1.25194258e-05 -1.26506538e-01] [-1.32251649e-03 -5.58371289e-06 9.99999125e-01 -1.46363780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters 0.04909378805135623 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.13, Z:-0.15 [[ 9.99899615e-01 1.41685785e-02 1.09605386e-04 1.55590499e+01] [-1.41685786e-02 9.99899621e-01 -6.26175456e-07 -1.28068017e-01] [-1.09603256e-04 -9.26839920e-07 9.99999994e-01 -1.47204427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters 0.04963136261322972 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.13, Z:-0.15 [[ 9.99871466e-01 1.60051108e-02 9.42620781e-04 1.56212178e+01] [-1.60051094e-02 9.99871910e-01 -8.94635871e-06 -1.26288023e-01] [-9.42643228e-04 -6.14153996e-06 9.99999556e-01 -1.46852433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters 0.04954067741122967 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.13, Z:-0.15 [[ 9.99861300e-01 1.66469711e-02 5.08346255e-04 1.56836462e+01] [-1.66469712e-02 9.99861430e-01 -4.13418883e-06 -1.27990322e-01] [-5.08344635e-04 -4.32881003e-06 9.99999871e-01 -1.45669030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters 0.04932176449598877 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.13, Z:-0.15 [[ 9.99869639e-01 1.61456001e-02 1.58182938e-04 1.57452306e+01] [-1.61456002e-02 9.99869651e-01 -6.43145492e-07 -1.29394457e-01] [-1.58172703e-04 -1.91089681e-06 9.99999987e-01 -1.45769626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters 0.05045187579441938 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.13, Z:-0.15 [[ 9.99911013e-01 1.32612483e-02 -1.45066950e-03 1.58079611e+01] [-1.32612394e-02 9.99912066e-01 1.57105044e-05 -1.32145231e-01] [ 1.45075027e-03 3.52856916e-06 9.99998948e-01 -1.46154485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters 0.05014473919036184 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.13, Z:-0.15 [[ 9.99927534e-01 1.19766303e-02 -1.21929956e-03 1.58686881e+01] [-1.19766234e-02 9.99928278e-01 1.29369552e-05 -1.32721464e-01] [ 1.21936705e-03 1.66707401e-06 9.99999257e-01 -1.47381098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters 0.049156280668573776 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.13, Z:-0.15 [[ 9.99919603e-01 1.26725668e-02 -4.39072638e-04 1.59298705e+01] [-1.26725656e-02 9.99919700e-01 5.32274508e-06 -1.32584443e-01] [ 4.39104833e-04 2.41859668e-07 9.99999904e-01 -1.47910244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters 0.0504864934776278 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.14, Z:-0.15 [[ 9.99919230e-01 1.26786731e-02 -8.85490161e-04 1.59926286e+01] [-1.26786690e-02 9.99919622e-01 1.02213469e-05 -1.35308534e-01] [ 8.85548580e-04 1.00631532e-06 9.99999608e-01 -1.45681677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters 0.049752421896029915 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.14, Z:-0.15 [[ 9.99915173e-01 1.30217865e-02 -2.83742981e-04 1.60543755e+01] [-1.30217860e-02 9.99915213e-01 3.84598330e-06 -1.36059749e-01] [ 2.83769005e-04 -1.50816679e-07 9.99999960e-01 -1.45509755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters 0.04904181768027042 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.13, Z:-0.15 [[ 9.99894073e-01 1.45331577e-02 7.93452742e-04 1.61154039e+01] [-1.45331557e-02 9.99894388e-01 -8.21606803e-06 -1.33648183e-01] [-7.93488350e-04 -3.31617454e-06 9.99999685e-01 -1.46691360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters 0.049886968762099436 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.14, Z:-0.15 [[ 9.99901032e-01 1.40317271e-02 -1.01867005e-03 1.61775464e+01] [-1.40317225e-02 9.99901550e-01 1.17508142e-05 -1.36002877e-01] [ 1.01873465e-03 2.54404417e-06 9.99999481e-01 -1.46412446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters 0.0502081289656276 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.14, Z:-0.14 [[ 9.99923443e-01 1.23323175e-02 -1.01121647e-03 1.62392558e+01] [-1.23323118e-02 9.99923954e-01 1.18039316e-05 -1.38040735e-01] [ 1.01128514e-03 6.67608868e-07 9.99999489e-01 -1.44863476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters 0.050250758948584766 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.14, Z:-0.14 [[ 9.99933836e-01 1.15031681e-02 2.62481974e-05 1.63017588e+01] [-1.15031681e-02 9.99933836e-01 5.81557606e-07 -1.37964339e-01] [-2.62397710e-05 -8.83456555e-07 1.00000000e+00 -1.44547266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters 0.05035329117528296 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.14, Z:-0.14 [[ 9.99971694e-01 7.48562098e-03 7.59649498e-04 1.63641161e+01] [-7.48561751e-03 9.99971982e-01 -7.42092110e-06 -1.40350458e-01] [-7.59683764e-04 1.73426547e-06 9.99999711e-01 -1.44558151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters 0.05000864220555575 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.14, Z:-0.15 [[ 9.99992895e-01 3.74502361e-03 4.29268747e-04 1.64253038e+01] [-3.74502223e-03 9.99992987e-01 -3.99977912e-06 -1.44523540e-01] [-4.29280716e-04 2.39212970e-06 9.99999908e-01 -1.45295305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters 0.05049110257447281 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.15, Z:-0.15 [[ 9.99999520e-01 -2.29023206e-04 -9.52768764e-04 1.64870215e+01] [ 2.29033727e-04 9.99999974e-01 1.09339795e-05 -1.45201920e-01] [ 9.52766234e-04 -1.11521904e-05 9.99999546e-01 -1.45716649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters 0.050768930098950386 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.15, Z:-0.15 [[ 9.99999759e-01 -5.07599856e-04 -4.73551711e-04 1.65467558e+01] [ 5.07602395e-04 9.99999871e-01 5.24194595e-06 -1.45822658e-01] [ 4.73548989e-04 -5.48232067e-06 9.99999888e-01 -1.45622430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters 0.05078920256162972 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.15, Z:-0.14 [[ 9.99998433e-01 -1.13866963e-03 -1.35559364e-03 1.66068758e+01] [ 1.13869126e-03 9.99999352e-01 1.51860705e-05 -1.47323975e-01] [ 1.35557547e-03 -1.67296493e-05 9.99999081e-01 -1.44593559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters 0.050767724130020404 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.15, Z:-0.14 [[ 9.99994798e-01 -2.29030403e-03 -2.27109314e-03 1.66665030e+01] [ 2.29036733e-03 9.99997377e-01 2.52730668e-05 -1.47033169e-01] [ 2.27102930e-03 -3.04745729e-05 9.99997421e-01 -1.44376245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters 0.051305028242720326 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.15, Z:-0.15 [[ 9.99997617e-01 -1.23330865e-03 -1.80150300e-03 1.67239473e+01] [ 1.23334623e-03 9.99999239e-01 1.97481707e-05 -1.47887061e-01] [ 1.80147727e-03 -2.19700006e-05 9.99998377e-01 -1.46303912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters 0.05081914348124095 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.15, Z:-0.15 [[ 9.99998008e-01 8.37641917e-04 -1.81183618e-03 1.67830224e+01] [-8.37606998e-04 9.99999649e-01 2.00316997e-05 -1.48906304e-01] [ 1.81185232e-03 -1.85140531e-05 9.99998358e-01 -1.46361667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters 0.05148641093320831 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.15, Z:-0.15 [[ 9.99997691e-01 1.09105849e-03 -1.85123969e-03 1.68423076e+01] [-1.09102252e-03 9.99999405e-01 2.04375894e-05 -1.48674167e-01] [ 1.85126089e-03 -1.84177980e-05 9.99998286e-01 -1.45703856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters 0.05038088089743093 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.15, Z:-0.15 [[ 9.99994496e-01 2.23509481e-03 -2.45217425e-03 1.69014829e+01] [-2.23503514e-03 9.99997502e-01 2.70713825e-05 -1.50122077e-01] [ 2.45222863e-03 -2.15905379e-05 9.99996993e-01 -1.46039262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters 0.05128606438420984 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.15, Z:-0.15 [[ 9.99991566e-01 3.11056384e-03 -2.68189248e-03 1.69610032e+01] [-3.11049548e-03 9.99995162e-01 2.96591742e-05 -1.52095529e-01] [ 2.68197176e-03 -2.13169096e-05 9.99996403e-01 -1.48375366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters 0.05100266606373933 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.16, Z:-0.15 [[ 9.99997942e-01 1.08621148e-03 -1.71329194e-03 1.70215349e+01] [-1.08618054e-03 9.99999410e-01 1.89869241e-05 -1.55499442e-01] [ 1.71331155e-03 -1.71259406e-05 9.99998532e-01 -1.48377673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters 0.0509628947615044 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.16, Z:-0.15 [[ 9.99999651e-01 5.06550406e-04 -6.64618001e-04 1.70824313e+01] [-5.06545623e-04 9.99999872e-01 7.36538312e-06 -1.55681135e-01] [ 6.64621647e-04 -7.02872121e-06 9.99999779e-01 -1.46936418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters 0.0511025126813195 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.16, Z:-0.15 [[ 9.99998565e-01 1.66632879e-03 -3.05866118e-04 1.71429184e+01] [-1.66632783e-03 9.99998612e-01 3.38964810e-06 -1.55897571e-01] [ 3.05871342e-04 -2.87997001e-06 9.99999953e-01 -1.47192758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters 0.05141248861767374 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.16, Z:-0.15 [[ 9.99994879e-01 3.13459560e-03 -6.44476057e-04 1.72029025e+01] [-3.13459161e-03 9.99995087e-01 7.20786957e-06 -1.57939494e-01] [ 6.44495485e-04 -5.18766342e-06 9.99999792e-01 -1.50633234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters 0.05172273838173942 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.15, Z:-0.15 [[ 9.99989245e-01 4.45689526e-03 -1.28279447e-03 1.72639602e+01] [-4.45688075e-03 9.99990068e-01 1.41639931e-05 -1.53875747e-01] [ 1.28284485e-03 -8.44657881e-06 9.99999177e-01 -1.45989587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters 0.05196658089694126 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.16, Z:-0.15 [[ 9.99991505e-01 3.31572019e-03 -2.44877602e-03 1.73255479e+01] [-3.31566297e-03 9.99994503e-01 2.74250773e-05 -1.56970592e-01] [ 2.44885349e-03 -1.93055283e-05 9.99997001e-01 -1.49888497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters 0.051732898124258644 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.16, Z:-0.15 [[ 9.99992859e-01 1.44476625e-03 -3.49194877e-03 1.73855012e+01] [-1.44463802e-03 9.99998956e-01 3.92435938e-05 -1.55215424e-01] [ 3.49200182e-03 -3.41987116e-05 9.99993902e-01 -1.45937281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters 0.051829436349378644 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.16, Z:-0.15 [[ 9.99992945e-01 -3.31554622e-04 -3.74172741e-03 1.74440250e+01] [ 3.31712056e-04 9.99999944e-01 4.14546584e-05 -1.60246132e-01] [ 3.74171346e-03 -4.26955420e-05 9.99992999e-01 -1.46967727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters 0.05208907181798086 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.16, Z:-0.14 [[ 9.99996847e-01 -1.05847360e-03 -2.27741207e-03 1.75016917e+01] [ 1.05853334e-03 9.99999439e-01 2.50233327e-05 -1.62068394e-01] [ 2.27738431e-03 -2.74339703e-05 9.99997406e-01 -1.44998849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters 0.05112965678838896 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.16, Z:-0.15 [[ 9.99999520e-01 -3.44800854e-05 -9.79609683e-04 1.75601141e+01] [ 3.44905204e-05 9.99999999e-01 1.06352930e-05 -1.63614079e-01] [ 9.79609315e-04 -1.06690752e-05 9.99999520e-01 -1.46509560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters 0.05095908503597732 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.16, Z:-0.14 [[ 9.99969471e-01 6.49462049e-03 -4.34485586e-03 1.76194419e+01] [-6.49447373e-03 9.99978910e-01 4.78859222e-05 -1.56670798e-01] [ 4.34507522e-03 -1.96669080e-05 9.99990560e-01 -1.44851549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters 0.05173024377624288 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.15, Z:-0.14 [[ 9.99930025e-01 9.86562107e-03 -6.52791234e-03 1.76803208e+01] [-9.86536039e-03 9.99951334e-01 7.21330053e-05 -1.53853685e-01] [ 6.52830628e-03 -7.72775001e-06 9.99978690e-01 -1.43752955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters 0.052072196830502196 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.15, Z:-0.14 [[ 9.99870058e-01 1.41294256e-02 -7.76055098e-03 1.77409363e+01] [-1.41291846e-02 9.99900174e-01 8.58803022e-05 -1.50727501e-01] [ 7.76098972e-03 2.37811148e-05 9.99969883e-01 -1.42804453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters 0.05067401736305437 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.15, Z:-0.14 [[ 9.99840078e-01 1.65515317e-02 -6.77242015e-03 1.78020753e+01] [-1.65514018e-02 9.99863013e-01 7.52395852e-05 -1.48094578e-01] [ 6.77273775e-03 3.68654941e-05 9.99977064e-01 -1.43891461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters 0.05133541069510085 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.15, Z:-0.14 [[ 9.99839459e-01 1.70907670e-02 -5.38154267e-03 1.78639955e+01] [-1.70906894e-02 9.99853942e-01 6.04233034e-05 -1.47951902e-01] [ 5.38178933e-03 3.15606709e-05 9.99985518e-01 -1.39767323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters 0.05162333122790188 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.15, Z:-0.14 [[ 9.99806193e-01 1.89720866e-02 -5.25712267e-03 1.79265398e+01] [-1.89720387e-02 9.99820013e-01 5.89977049e-05 -1.46358210e-01] [ 5.25729576e-03 4.07520639e-05 9.99986179e-01 -1.38281374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters 0.05173470490366059 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.15, Z:-0.14 [[ 9.99750106e-01 2.13848402e-02 -6.51263396e-03 1.79882433e+01] [-2.13848155e-02 9.99771316e-01 7.34278819e-05 -1.45594492e-01] [ 6.51271487e-03 6.58619431e-05 9.99978790e-01 -1.35876852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters 0.0521480396551913 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.14, Z:-0.14 [[ 9.99665657e-01 2.42148633e-02 -9.06717845e-03 1.80479901e+01] [-2.42149303e-02 9.99706770e-01 1.02412444e-04 -1.40665216e-01] [ 9.06699959e-03 1.17182891e-04 9.99958887e-01 -1.37857567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters 0.05238795852215812 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.14, Z:-0.14 [[ 9.99632313e-01 2.49649794e-02 -1.05824421e-02 1.81086322e+01] [-2.49651052e-02 9.99688316e-01 1.20236376e-04 -1.35941515e-01] [ 1.05821454e-02 1.43999613e-04 9.99943997e-01 -1.40297452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters 0.0523819918947668 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.14, Z:-0.14 [[ 9.99657689e-01 2.38902532e-02 -1.06658882e-02 1.81710164e+01] [-2.38903023e-02 9.99714578e-01 1.22825777e-04 -1.35943199e-01] [ 1.06657783e-02 1.32027561e-04 9.99943110e-01 -1.36565992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters 0.05203143036348433 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.13, Z:-0.14 [[ 9.99711612e-01 2.18600163e-02 -9.94141747e-03 1.82321067e+01] [-2.18599482e-02 9.99761036e-01 1.15520516e-04 -1.32261240e-01] [ 9.94156711e-03 1.01831670e-04 9.99950576e-01 -1.41054667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters 0.0525595882932376 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.14, Z:-0.14 [[ 9.99827423e-01 1.63952821e-02 -8.73608283e-03 1.82938271e+01] [-1.63950222e-02 9.99865587e-01 1.01367374e-04 -1.36245279e-01] [ 8.73657054e-03 4.18783915e-05 9.99961835e-01 -1.35555530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters 0.05230988866878078 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.14, Z:-0.14 [[ 9.99923531e-01 1.02833506e-02 -6.86908619e-03 1.83545680e+01] [-1.02830454e-02 9.99947125e-01 7.97486887e-05 -1.38115368e-01] [ 6.86954307e-03 -9.10746558e-06 9.99976404e-01 -1.36605006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters 0.053124747423277545 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.14, Z:-0.14 [[ 9.99933521e-01 8.49885583e-03 -7.79253852e-03 1.84151937e+01] [-8.49840995e-03 9.99963884e-01 9.03302037e-05 -1.37353918e-01] [ 7.79302478e-03 -2.41000117e-05 9.99969634e-01 -1.35994762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters 0.05371981986881598 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.14, Z:-0.14 [[ 9.99937660e-01 5.27556821e-03 -9.84098297e-03 1.84752242e+01] [-5.27470100e-03 9.99986082e-01 1.14075534e-04 -1.37157477e-01] [ 9.84144781e-03 -6.21601802e-05 9.99951570e-01 -1.39013232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters 0.05360746662363451 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.14, Z:-0.14 [[ 9.99948566e-01 1.74074576e-03 -9.99178360e-03 1.85334528e+01] [-1.73967619e-03 9.99998480e-01 1.15736120e-04 -1.38359634e-01] [ 9.99196988e-03 -9.83476995e-05 9.99950074e-01 -1.40337758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters 0.053383228370213705 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.14, Z:-0.14 [[ 9.99950712e-01 -2.06775789e-03 -9.71071809e-03 1.85920540e+01] [ 2.06894396e-03 9.99997853e-01 1.12095833e-04 -1.43401577e-01] [ 9.71046546e-03 -1.32181240e-04 9.99952844e-01 -1.43607494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters 0.053986310511582716 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.15, Z:-0.14 [[ 9.99934127e-01 -8.90469956e-03 -7.24215292e-03 1.86523603e+01] [ 8.90553947e-03 9.99960341e-01 8.37352792e-05 -1.47309598e-01] [ 7.24112007e-03 -1.48225042e-04 9.99973772e-01 -1.40547948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters 0.05454446698900661 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.15, Z:-0.14 [[ 9.99899076e-01 -1.30639985e-02 -5.58298751e-03 1.87110772e+01] [ 1.30645607e-02 9.99914653e-01 6.42328570e-05 -1.51253323e-01] [ 5.58167188e-03 -1.37165653e-04 9.99984413e-01 -1.39391142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters 0.0554594231880529 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.15, Z:-0.14 [[ 9.99891428e-01 -1.38629144e-02 -4.99510897e-03 1.87694804e+01] [ 1.38633687e-02 9.99903897e-01 5.63253368e-05 -1.52922853e-01] [ 4.99384809e-03 -1.25568259e-04 9.99987523e-01 -1.41022118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters 0.05557311072121405 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.15, Z:-0.14 [[ 9.99869604e-01 -1.51166428e-02 -5.67995061e-03 1.88283347e+01] [ 1.51172469e-02 9.99885726e-01 6.34424828e-05 -1.54044935e-01] [ 5.67834250e-03 -1.49299426e-04 9.99983867e-01 -1.43627790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters 0.054834509613941686 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.14, Z:-0.14 [[ 9.99842483e-01 -1.67826930e-02 -5.77494276e-03 1.88881310e+01] [ 1.67833490e-02 9.99859148e-01 6.51372140e-05 -1.42252257e-01] [ 5.77303617e-03 -1.62049833e-04 9.99983323e-01 -1.38910499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters 0.055706912853981654 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.15, Z:-0.14 [[ 9.99810408e-01 -1.84945293e-02 -6.09105576e-03 1.89467584e+01] [ 1.84952897e-02 9.99828945e-01 6.85244558e-05 -1.50885747e-01] [ 6.08874653e-03 -1.81167305e-04 9.99981447e-01 -1.41123191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters 0.05528887778281583 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.14, Z:-0.14 [[ 9.99795584e-01 -1.93513111e-02 -5.85801689e-03 1.90055660e+01] [ 1.93520275e-02 9.99812730e-01 6.56377028e-05 -1.41771528e-01] [ 5.85564969e-03 -1.78988790e-04 9.99982840e-01 -1.36372968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters 0.055107783988031664 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.15, Z:-0.14 [[ 9.99831233e-01 -1.80081668e-02 -3.63474845e-03 1.90641823e+01] [ 1.80084336e-02 9.99837834e-01 4.06836813e-05 -1.54473885e-01] [ 3.63342638e-03 -1.06132942e-04 9.99993393e-01 -1.41064615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters 0.05502268997869983 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.16, Z:-0.14 [[ 9.99903182e-01 -1.35167177e-02 -3.30543390e-03 1.91234169e+01] [ 1.35169138e-02 9.99908642e-01 3.70016068e-05 -1.58736141e-01] [ 3.30463179e-03 -8.16772896e-05 9.99994536e-01 -1.42450661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters 0.055182495581746316 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.16, Z:-0.14 [[ 9.99942565e-01 -9.91490418e-03 -4.06952178e-03 1.91831480e+01] [ 9.91517125e-03 9.99950842e-01 4.54566886e-05 -1.55850878e-01] [ 4.06887104e-03 -8.58040832e-05 9.99991718e-01 -1.41839927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters 0.05349572024159442 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.15, Z:-0.14 [[ 9.99969565e-01 -5.07034295e-03 -5.92972515e-03 1.92432593e+01] [ 5.07082526e-03 9.99987141e-01 6.63050557e-05 -1.54328697e-01] [ 5.92931271e-03 -9.63716377e-05 9.99982417e-01 -1.42069576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters 0.053686302882493556 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.16, Z:-0.14 [[ 9.99983724e-01 -4.09428122e-04 -5.69065822e-03 1.93029751e+01] [ 4.09795512e-04 9.99999914e-01 6.33945017e-05 -1.55376535e-01] [ 5.69063178e-03 -6.57254762e-05 9.99983806e-01 -1.42264146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters 0.05383892946522434 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.16, Z:-0.14 [[ 9.99974229e-01 2.89793296e-03 -6.56842435e-03 1.93621686e+01] [-2.89752441e-03 9.99995800e-01 7.17148855e-05 -1.58763418e-01] [ 6.56860459e-03 -5.26808674e-05 9.99978425e-01 -1.43620769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters 0.05333471377112865 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.16, Z:-0.15 [[ 9.99971235e-01 3.43408387e-03 -6.76279648e-03 1.94198713e+01] [-3.43366096e-03 9.99994102e-01 7.41440647e-05 -1.63213573e-01] [ 6.76301121e-03 -5.09207817e-05 9.99977129e-01 -1.45103209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters 0.05366872185305994 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.17, Z:-0.14 [[ 9.99975656e-01 3.76231887e-03 -5.87648517e-03 1.94791796e+01] [-3.76200560e-03 9.99992922e-01 6.43607510e-05 -1.69560905e-01] [ 5.87668572e-03 -4.22518140e-05 9.99982731e-01 -1.44540970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters 0.05239133393298849 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.17, Z:-0.14 [[ 9.99980080e-01 4.03797005e-03 -4.85126442e-03 1.95384825e+01] [-4.03776056e-03 9.99991847e-01 5.29755424e-05 -1.74550764e-01] [ 4.85143878e-03 -3.33862429e-05 9.99988231e-01 -1.42502084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters 0.05278585913367705 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.18, Z:-0.14 [[ 9.99935623e-01 1.04971523e-02 -4.30805171e-03 1.95981562e+01] [-1.04970472e-02 9.99944903e-01 4.70141504e-05 -1.75118907e-01] [ 4.30830786e-03 -1.78930168e-06 9.99990719e-01 -1.42368814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters 0.052937305945366 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.17, Z:-0.14 [[ 9.99764265e-01 2.09509964e-02 -5.69823418e-03 1.96585719e+01] [-2.09509800e-02 9.99780502e-01 6.25715057e-05 -1.72585605e-01] [ 5.69829436e-03 5.68268348e-05 9.99983763e-01 -1.44554633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters 0.05249688864897577 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.17, Z:-0.15 [[ 9.99637472e-01 2.64220169e-02 -5.17708555e-03 1.97189446e+01] [-2.64220768e-02 9.99650874e-01 5.68357764e-05 -1.70179961e-01] [ 5.17677982e-03 7.99741804e-05 9.99986597e-01 -1.46798366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters 0.05308522134680467 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.17, Z:-0.14 [[ 9.99571945e-01 2.88096247e-02 -5.09241038e-03 1.97810253e+01] [-2.88097120e-02 9.99584913e-01 5.62349459e-05 -1.67901150e-01] [ 5.09191669e-03 9.05000022e-05 9.99987032e-01 -1.44392953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters 0.05303009254002873 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.17, Z:-0.14 [[ 9.99594950e-01 2.80024384e-02 -5.07922766e-03 1.98429157e+01] [-2.80025088e-02 9.99607851e-01 5.72705638e-05 -1.70417882e-01] [ 5.07883956e-03 8.49837507e-05 9.99987099e-01 -1.43136682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters 0.0523162347421109 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.17, Z:-0.14 [[ 9.99569848e-01 2.90799374e-02 -3.80486603e-03 1.99050791e+01] [-2.90799819e-02 9.99577087e-01 4.36272512e-05 -1.67260379e-01] [ 3.80452558e-03 6.70369506e-05 9.99992761e-01 -1.44211288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters 0.05217542213922383 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.16, Z:-0.15 [[ 9.99505582e-01 3.12748056e-02 -3.23686712e-03 1.99671013e+01] [-3.12748508e-02 9.99510822e-01 3.66874829e-05 -1.63855908e-01] [ 3.23643111e-03 6.45631922e-05 9.99994761e-01 -1.45106923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters 0.052452892503273736 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.16, Z:-0.14 [[ 9.99486608e-01 3.19022773e-02 -2.96062695e-03 2.00296500e+01] [-3.19023150e-02 9.99490991e-01 3.44953660e-05 -1.64120008e-01] [ 2.96022045e-03 5.99731975e-05 9.99995617e-01 -1.43935682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters 0.052126459640024235 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.16, Z:-0.14 [[ 9.99455508e-01 3.28924464e-02 -2.60263904e-03 2.00910320e+01] [-3.28924781e-02 9.99458896e-01 3.06300340e-05 -1.62117461e-01] [ 2.60223824e-03 5.49938915e-05 9.99996613e-01 -1.44188758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters 0.05235604145877593 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.16, Z:-0.14 [[ 9.99348304e-01 3.60615601e-02 -1.59113723e-03 2.01518997e+01] [-3.60615765e-02 9.99349570e-01 1.83336712e-05 -1.60779728e-01] [ 1.59076345e-03 3.90571939e-05 9.99998734e-01 -1.42774540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters 0.05300635395926314 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.15, Z:-0.15 [[ 9.99261122e-01 3.83979052e-02 -1.67680173e-03 2.02116885e+01] [-3.83979263e-02 9.99262528e-01 1.96110223e-05 -1.54463271e-01] [ 1.67631816e-03 4.47891773e-05 9.99998594e-01 -1.45524858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters 0.05248756708428899 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.16, Z:-0.15 [[ 9.99202624e-01 3.98409773e-02 -2.61029670e-03 2.02739685e+01] [-3.98410338e-02 9.99206030e-01 3.04037575e-05 -1.57090464e-01] [ 2.60943552e-03 7.36174046e-05 9.99996593e-01 -1.45306948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters 0.05276060052886474 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.15, Z:-0.15 [[ 9.99231838e-01 3.91093100e-02 -2.48933074e-03 2.03356788e+01] [-3.91093568e-02 9.99234936e-01 2.98671882e-05 -1.54018974e-01] [ 2.48859433e-03 6.75118788e-05 9.99996901e-01 -1.45713563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters 0.05239131223955071 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.15, Z:-0.15 [[ 9.99216290e-01 3.95661775e-02 -1.15066488e-03 2.03980294e+01] [-3.95661871e-02 9.99216952e-01 1.44316800e-05 -1.48507144e-01] [ 1.15033486e-03 3.11070522e-05 9.99999338e-01 -1.46477163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters 0.05222324178890864 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.15, Z:-0.15 [[ 9.99153461e-01 4.11265379e-02 -9.84140506e-04 2.04601987e+01] [-4.11265461e-02 9.99153946e-01 1.18701563e-05 -1.51756071e-01] [ 9.83796048e-04 2.86141922e-05 9.99999516e-01 -1.45856294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters 0.052494984636626774 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.14, Z:-0.15 [[ 9.99026566e-01 4.40342424e-02 -2.62777825e-03 2.05206512e+01] [-4.40343125e-02 9.99030019e-01 3.11866918e-05 -1.43571350e-01] [ 2.62660264e-03 8.45560750e-05 9.99996547e-01 -1.49286725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters 0.053497700508854454 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.14, Z:-0.15 [[ 9.99001001e-01 4.45979456e-02 -2.83270980e-03 2.05816137e+01] [-4.45980267e-02 9.99005012e-01 3.45534234e-05 -1.39883180e-01] [ 2.83143230e-03 9.18143630e-05 9.99995987e-01 -1.50957918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters 0.0528501916004961 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.14, Z:-0.15 [[ 9.98971265e-01 4.52606071e-02 -2.80864018e-03 2.06440870e+01] [-4.52606884e-02 9.98975209e-01 3.46088460e-05 -1.40003520e-01] [ 2.80732833e-03 9.25477456e-05 9.99996055e-01 -1.51054524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters 0.05287151260875911 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.14, Z:-0.15 [[ 9.98950558e-01 4.57280677e-02 -2.59356745e-03 2.07063440e+01] [-4.57281378e-02 9.98953921e-01 3.23236028e-05 -1.43171352e-01] [ 2.59233247e-03 8.63093288e-05 9.99996636e-01 -1.50181412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters 0.05338500425106421 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.14, Z:-0.15 [[ 9.98939594e-01 4.59788729e-02 -2.37310822e-03 2.07680061e+01] [-4.59789313e-02 9.98942409e-01 2.99794207e-05 -1.37680660e-01] [ 2.37197686e-03 7.91653494e-05 9.99997184e-01 -1.51415584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters 0.05297227565464429 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.14, Z:-0.15 [[ 9.98952682e-01 4.57085791e-02 -2.06531969e-03 2.08300861e+01] [-4.57086221e-02 9.98954814e-01 2.63801476e-05 -1.38901495e-01] [ 2.06436684e-03 6.80503979e-05 9.99997867e-01 -1.51688278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters 0.052678930404220774 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.14, Z:-0.15 [[ 9.99023953e-01 4.41292924e-02 -1.93547344e-03 2.08914514e+01] [-4.41293284e-02 9.99025826e-01 2.41060458e-05 -1.35649601e-01] [ 1.93465174e-03 6.13286259e-05 9.99998127e-01 -1.53275473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters 0.05240111639992597 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.13, Z:-0.15 [[ 9.99067231e-01 4.31414794e-02 -1.86568950e-03 2.09539481e+01] [-4.31415095e-02 9.99068971e-01 2.41708438e-05 -1.34676297e-01] [ 1.86499525e-03 5.63403630e-05 9.99998259e-01 -1.53211134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters 0.05393161596209711 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.13, Z:-0.15 [[ 9.99135101e-01 4.15644009e-02 -1.20452674e-03 2.10144401e+01] [-4.15644128e-02 9.99135826e-01 1.51353723e-05 -1.27807108e-01] [ 1.20411491e-03 3.49431649e-05 9.99999274e-01 -1.54982699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters 0.053028282018889004 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.13, Z:-0.15 [[ 9.99308886e-01 3.71714535e-02 -1.84261511e-04 2.10751147e+01] [-3.71714538e-02 9.99308903e-01 2.31472049e-06 -1.29449519e-01] [ 1.84220210e-04 4.53614748e-06 9.99999983e-01 -1.53609856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters 0.05404743423525297 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.12, Z:-0.15 [[ 9.99386725e-01 3.50166530e-02 8.45751157e-05 2.11355364e+01] [-3.50166530e-02 9.99386729e-01 -1.00009317e-06 -1.24393645e-01] [-8.45582681e-05 -1.96205764e-06 9.99999996e-01 -1.54585014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters 0.054349235412511514 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.12, Z:-0.16 [[ 9.99388449e-01 3.49674384e-02 -7.84725922e-05 2.11984028e+01] [-3.49674384e-02 9.99388452e-01 1.92376336e-06 -1.19939906e-01] [ 7.84918715e-05 8.21398655e-07 9.99999997e-01 -1.55320763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters 0.05483580116281218 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.11, Z:-0.16 [[ 9.99393578e-01 3.48018124e-02 1.14500477e-03 2.12600637e+01] [-3.48018194e-02 9.99394233e-01 -1.38493512e-05 -1.12312287e-01] [-1.14479314e-03 -2.60072964e-05 9.99999344e-01 -1.55981229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters 0.054576636478001386 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.11, Z:-0.15 [[ 9.99393480e-01 3.47769475e-02 1.79874834e-03 2.13224398e+01] [-3.47769631e-02 9.99395098e-01 -2.25990933e-05 -1.12945233e-01] [-1.79844620e-03 -3.99696183e-05 9.99998382e-01 -1.54688796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters 0.05519823476995541 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.10, Z:-0.16 [[ 9.99355749e-01 3.58842517e-02 6.39011189e-04 2.13831316e+01] [-3.58842540e-02 9.99355953e-01 -7.80687682e-06 -1.03880840e-01] [-6.38879779e-04 -1.51285926e-05 9.99999796e-01 -1.56502888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters 0.05534916448697922 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.10, Z:-0.16 [[ 9.99347454e-01 3.61173278e-02 -4.51926112e-04 2.14453053e+01] [-3.61173284e-02 9.99347556e-01 6.68855336e-06 -9.95757386e-02] [ 4.51872828e-04 9.63817504e-06 9.99999898e-01 -1.57655461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters 0.05510404975844526 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.10, Z:-0.16 [[ 9.99388536e-01 3.49650017e-02 -5.05564097e-05 2.15073372e+01] [-3.49650017e-02 9.99388537e-01 1.50466115e-06 -9.73468995e-02] [ 5.05781068e-05 2.63963849e-07 9.99999999e-01 -1.57934579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters 0.05458165814096233 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.09, Z:-0.16 [[ 9.99411364e-01 3.42891469e-02 1.08645016e-03 2.15701153e+01] [-3.42891521e-02 9.99411954e-01 -1.38373630e-05 -9.31808021e-02] [-1.08628575e-03 -2.34242368e-05 9.99999410e-01 -1.57365603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters 0.05506436289060109 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.09, Z:-0.16 [[ 9.99418632e-01 3.40577609e-02 1.57046157e-03 2.16320975e+01] [-3.40577715e-02 9.99419866e-01 -1.99953371e-05 -8.96782261e-02] [-1.57023149e-03 -3.35027090e-05 9.99998767e-01 -1.58151822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters 0.055206620254922206 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.08, Z:-0.16 [[ 9.99416755e-01 3.41196829e-02 1.41313849e-03 2.16946167e+01] [-3.41196912e-02 9.99417754e-01 -1.82698879e-05 -8.44522743e-02] [-1.41293906e-03 -2.99566168e-05 9.99999001e-01 -1.59664454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters 0.05498841315426902 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.08, Z:-0.16 [[ 9.99391239e-01 3.48546188e-02 1.51867161e-03 2.17563476e+01] [-3.48546292e-02 9.99392393e-01 -1.96309898e-05 -8.14177660e-02] [-1.51843308e-03 -3.33136966e-05 9.99998847e-01 -1.60853730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters 0.05504222290835709 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.08, Z:-0.16 [[ 9.99388819e-01 3.49333243e-02 1.28497005e-03 2.18198539e+01] [-3.49333319e-02 9.99389645e-01 -1.65233760e-05 -7.75743399e-02] [-1.28476298e-03 -2.83750079e-05 9.99999174e-01 -1.61095913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters 0.05502962265577011 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.08, Z:-0.16 [[ 9.99419623e-01 3.40354370e-02 1.41604981e-03 2.18816446e+01] [-3.40354448e-02 9.99420626e-01 -1.85856403e-05 -7.73080112e-02] [-1.41586196e-03 -2.96210315e-05 9.99998997e-01 -1.61903512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters 0.05514445173551997 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.08, Z:-0.16 [[ 9.99496391e-01 3.17229439e-02 7.86261238e-04 2.19435390e+01] [-3.17229455e-02 9.99496701e-01 -1.05538511e-05 -8.02623151e-02] [-7.86200312e-04 -1.43939863e-05 9.99999691e-01 -1.61543839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters 0.054774175155351254 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.08, Z:-0.16 [[ 9.99522498e-01 3.08791345e-02 1.12009159e-03 2.20055623e+01] [-3.08791374e-02 9.99523126e-01 -1.46680981e-05 -8.01156747e-02] [-1.12001038e-03 -1.99263680e-05 9.99999373e-01 -1.61635289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters 0.05520165318713179 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.08, Z:-0.16 [[ 9.99523179e-01 3.08323223e-02 1.66817082e-03 2.20676654e+01] [-3.08323277e-02 9.99524571e-01 -2.24628081e-05 -7.86153550e-02] [-1.66807030e-03 -2.89814920e-05 9.99998608e-01 -1.62103182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters 0.0552557557456443 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.08, Z:-0.16 [[ 9.99550897e-01 2.99071436e-02 1.88888528e-03 2.21284759e+01] [-2.99071482e-02 9.99552681e-01 -2.58197111e-05 -7.85556188e-02] [-1.88881254e-03 -3.06830567e-05 9.99998216e-01 -1.62512795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters 0.055090133282409325 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.08, Z:-0.16 [[ 9.99551726e-01 2.98700322e-02 2.03184267e-03 2.21910577e+01] [-2.98700371e-02 9.99553791e-01 -2.79288937e-05 -7.89821830e-02] [-2.03177028e-03 -3.27748420e-05 9.99997935e-01 -1.62691016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters 0.05500981148849599 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.08, Z:-0.16 [[ 9.99558872e-01 2.96303120e-02 2.02639093e-03 2.22529054e+01] [-2.96303157e-02 9.99560925e-01 -2.82030240e-05 -7.84185695e-02] [-2.02633686e-03 -3.18520200e-05 9.99997946e-01 -1.63696187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters 0.05508889206978407 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.08, Z:-0.16 [[ 9.99549719e-01 2.98977686e-02 2.54616234e-03 2.23154060e+01] [-2.98977743e-02 9.99552961e-01 -3.58472564e-05 -8.12349717e-02] [-2.54609586e-03 -4.02934718e-05 9.99996758e-01 -1.64035331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters 0.05517725164158952 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.08, Z:-0.16 [[ 9.99564987e-01 2.94349402e-02 1.84979366e-03 2.23778651e+01] [-2.94349423e-02 9.99566698e-01 -2.61147474e-05 -8.42906373e-02] [-1.84976083e-03 -2.83451826e-05 9.99998289e-01 -1.64529202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters 0.05483063561974552 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.09, Z:-0.16 [[ 9.99642194e-01 2.65801204e-02 2.99681908e-03 2.24396241e+01] [-2.65801091e-02 9.99646686e-01 -4.36010294e-05 -8.84412193e-02] [-2.99691918e-03 -3.60703494e-05 9.99995509e-01 -1.64416094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters 0.05444376366930448 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.09, Z:-0.16 [[ 9.99707273e-01 2.38866102e-02 3.84672636e-03 2.25019172e+01] [-2.38865724e-02 9.99714674e-01 -5.57882773e-05 -9.29675289e-02] [-3.84696138e-03 -3.61131610e-05 9.99992600e-01 -1.64133947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters 0.05418001574611919 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.10, Z:-0.16 [[ 9.99817938e-01 1.86833996e-02 3.87565175e-03 2.25635741e+01] [-1.86833203e-02 9.99825450e-01 -5.66735745e-05 -1.01266156e-01] [-3.87603411e-03 -1.57467864e-05 9.99992488e-01 -1.64252788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters 0.05398466973738459 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.11, Z:-0.17 [[ 9.99870060e-01 1.55638271e-02 4.19893446e-03 2.26244163e+01] [-1.55637039e-02 9.99878876e-01 -6.20047839e-05 -1.05911463e-01] [-4.19939090e-03 -3.35424588e-06 9.99991183e-01 -1.65508879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters 0.054559916503529135 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.11, Z:-0.17 [[ 9.99899805e-01 1.32700126e-02 4.92813535e-03 2.26860431e+01] [-1.32698119e-02 9.99911949e-01 -7.34181692e-05 -1.09894940e-01] [-4.92867568e-03 8.01538405e-06 9.99987854e-01 -1.65664317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters 0.054132940622867054 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.12, Z:-0.17 [[ 9.99914648e-01 1.19291200e-02 5.32849600e-03 2.27485167e+01] [-1.19288618e-02 9.99928845e-01 -8.02409120e-05 -1.15357483e-01] [-5.32907406e-03 1.66711710e-05 9.99985800e-01 -1.66139905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters 0.0537537182195167 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.12, Z:-0.17 [[ 9.99919820e-01 1.16914713e-02 4.86442930e-03 2.28113764e+01] [-1.16912521e-02 9.99931652e-01 -7.35025842e-05 -1.22307061e-01] [-4.86495618e-03 1.66254218e-05 9.99988166e-01 -1.67018253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters 0.05436540738690892 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.13, Z:-0.17 [[ 9.99918488e-01 1.22696125e-02 3.53180470e-03 2.28728889e+01] [-1.22695012e-02 9.99924725e-01 -5.31944880e-05 -1.25936544e-01] [-3.53219152e-03 9.85667019e-06 9.99993762e-01 -1.68606214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters 0.05390017854128866 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.13, Z:-0.17 [[ 9.99913530e-01 1.28659820e-02 2.72006829e-03 2.29351939e+01] [-1.28659177e-02 9.99917230e-01 -4.11140342e-05 -1.30920421e-01] [-2.72037213e-03 6.11430413e-06 9.99996300e-01 -1.70001647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters 0.05395343647269355 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.14, Z:-0.17 [[ 9.99902187e-01 1.36706158e-02 2.95462420e-03 2.29968241e+01] [-1.36705421e-02 9.99906553e-01 -4.51218262e-05 -1.35172006e-01] [-2.95496494e-03 4.72609807e-06 9.99995634e-01 -1.68286935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters 0.05321494689264917 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.14, Z:-0.17 [[ 9.99882947e-01 1.46575369e-02 4.38741380e-03 2.30586163e+01] [-1.46573787e-02 9.99892573e-01 -6.82242965e-05 -1.41329922e-01] [-4.38794247e-03 3.90832534e-06 9.99990373e-01 -1.69109003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters 0.05342644766969747 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.15, Z:-0.17 [[ 9.99875647e-01 1.52424770e-02 4.04453574e-03 2.31207302e+01] [-1.52423479e-02 9.99883827e-01 -6.27580222e-05 -1.45924658e-01] [-4.04502247e-03 1.10199730e-06 9.99991819e-01 -1.68631952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters 0.05361187218817912 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.15, Z:-0.17 [[ 9.99882021e-01 1.51406344e-02 2.58938181e-03 2.31825522e+01] [-1.51405809e-02 9.99885374e-01 -4.02602470e-05 -1.53636607e-01] [-2.58969456e-03 1.05075246e-06 9.99996647e-01 -1.68240758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters 0.053113717174063706 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.16, Z:-0.17 [[ 9.99880646e-01 1.54092851e-02 1.11711071e-03 2.32449032e+01] [-1.54092757e-02 9.99881270e-01 -1.70441784e-05 -1.60852108e-01] [-1.11724071e-03 -1.71722709e-07 9.99999376e-01 -1.69857366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters 0.05317859495769933 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.17, Z:-0.17 [[ 9.99874971e-01 1.57978865e-02 6.84487687e-04 2.33079163e+01] [-1.57978830e-02 9.99875206e-01 -1.05491746e-05 -1.66513889e-01] [-6.84568921e-04 -2.65600668e-07 9.99999766e-01 -1.72744313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters 0.052926076051867034 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.17, Z:-0.17 [[ 9.99868969e-01 1.61272183e-02 1.39950457e-03 2.33699957e+01] [-1.61272031e-02 9.99869948e-01 -2.21720187e-05 -1.72916726e-01] [-1.39968014e-03 -4.00980933e-07 9.99999020e-01 -1.73964449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters 0.05269264441283549 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.18, Z:-0.17 [[ 9.99842175e-01 1.77305358e-02 1.11925996e-03 2.34324944e+01] [-1.77305277e-02 9.99842802e-01 -1.71353766e-05 -1.81934473e-01] [-1.11938784e-03 -2.71239760e-06 9.99999373e-01 -1.74515625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters 0.05239349369246842 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.19, Z:-0.17 [[ 9.99824840e-01 1.86702063e-02 1.30868165e-03 2.34944089e+01] [-1.86701952e-02 9.99825697e-01 -2.06907249e-05 -1.88352074e-01] [-1.30883984e-03 -3.74624108e-06 9.99999143e-01 -1.74950888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters 0.05146541668382015 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.20, Z:-0.18 [[ 9.99784511e-01 2.06737930e-02 1.87752398e-03 2.35567080e+01] [-2.06737734e-02 9.99786274e-01 -2.98474715e-05 -1.97282520e-01] [-1.87773976e-03 -8.97446548e-06 9.99998237e-01 -1.75840552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters 0.051952775305860496 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.20, Z:-0.18 [[ 9.99744229e-01 2.25650243e-02 1.51530920e-03 2.36185123e+01] [-2.25650135e-02 9.99745377e-01 -2.41850063e-05 -2.04138638e-01] [-1.51546910e-03 -1.00141520e-05 9.99998852e-01 -1.76727948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters 0.05175731957113502 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.21, Z:-0.18 [[ 9.99651861e-01 2.63777926e-02 -6.07754503e-04 2.36795529e+01] [-2.63777912e-02 9.99652045e-01 1.02397215e-05 -2.11791103e-01] [ 6.07813133e-04 5.79506475e-06 9.99999815e-01 -1.79480676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters 0.05163260508567242 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.22, Z:-0.18 [[ 9.99548526e-01 3.00227410e-02 -1.17409630e-03 2.37411006e+01] [-3.00227378e-02 9.99549216e-01 2.03106159e-05 -2.16963524e-01] [ 1.17417681e-03 1.49481392e-05 9.99999311e-01 -1.80388529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters 0.05217626045526175 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.22, Z:-0.18 [[ 9.99305200e-01 3.72404109e-02 -1.50626058e-03 2.38002000e+01] [-3.72404156e-02 9.99306335e-01 2.49565172e-05 -2.17562295e-01] [ 1.50614513e-03 3.11545926e-05 9.99998865e-01 -1.80413012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters 0.05255335561732382 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.21, Z:-0.18 [[ 9.99258173e-01 3.84923015e-02 1.20289318e-03 2.38619154e+01] [-3.84923058e-02 9.99258896e-01 -1.96524315e-05 -2.14105433e-01] [-1.20275818e-03 -2.66642794e-05 9.99999276e-01 -1.81468500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters 0.05094725631558742 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.22, Z:-0.18 [[ 9.99256317e-01 3.84555607e-02 2.82543638e-03 2.39241870e+01] [-3.84555824e-02 9.99260309e-01 -4.66767825e-05 -2.18018770e-01] [-2.82514141e-03 -6.20117316e-05 9.99996007e-01 -1.79301013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters 0.05058017426811977 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.22, Z:-0.18 [[ 9.99344336e-01 3.61303250e-02 2.34453195e-03 2.39861121e+01] [-3.61303323e-02 9.99347086e-01 -3.92464063e-05 -2.20903566e-01] [-2.34441916e-03 -4.54880445e-05 9.99997251e-01 -1.79960178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters 0.0512633489672415 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.22, Z:-0.18 [[ 9.99286950e-01 3.77129817e-02 1.82279406e-03 2.40480977e+01] [-3.77129896e-02 9.99288612e-01 -3.00865137e-05 -2.19836044e-01] [-1.82263199e-03 -3.86779527e-05 9.99998338e-01 -1.82218233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters 0.052542777286193915 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.21, Z:-0.19 [[ 9.99180478e-01 4.04623241e-02 1.08253079e-03 2.41078496e+01] [-4.04623282e-02 9.99181065e-01 -1.81162681e-05 -2.14169519e-01] [-1.08237730e-03 -2.57002949e-05 9.99999414e-01 -1.85009048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters 0.0514025635982763 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.22, Z:-0.18 [[ 9.99245435e-01 3.87439275e-02 2.73276320e-03 2.41690552e+01] [-3.87439456e-02 9.99249170e-01 -4.63493630e-05 -2.17064625e-01] [-2.73250712e-03 -5.95636393e-05 9.99996265e-01 -1.83819433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters 0.051687494652218675 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.22, Z:-0.18 [[ 9.99261299e-01 3.80882009e-02 5.11324898e-03 2.42306167e+01] [-3.80882557e-02 9.99274375e-01 -8.66945866e-05 -2.17133248e-01] [-5.11284072e-03 -1.08124189e-04 9.99986923e-01 -1.82525586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters 0.050200525065032114 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.22, Z:-0.18 [[ 9.99234254e-01 3.84851571e-02 7.05676453e-03 2.42935032e+01] [-3.84852639e-02 9.99259161e-01 -1.20717493e-04 -2.19076526e-01] [-7.05618243e-03 -1.50956391e-04 9.99975093e-01 -1.82580500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters 0.05180928961564842 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.21, Z:-0.18 [[ 9.99220250e-01 3.90951912e-02 5.51886558e-03 2.43546079e+01] [-3.90952628e-02 9.99235483e-01 -9.49525167e-05 -2.14916020e-01] [-5.51835851e-03 -1.20883023e-04 9.99984766e-01 -1.84815786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters 0.051478941770365425 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.21, Z:-0.19 [[ 9.99224518e-01 3.91573677e-02 4.13085626e-03 2.44176768e+01] [-3.91574072e-02 9.99233052e-01 -7.13657619e-05 -2.13695852e-01] [-4.13048260e-03 -9.04432014e-05 9.99991465e-01 -1.88577719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters 0.05071052803138167 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.22, Z:-0.19 [[ 9.99235983e-01 3.88051382e-02 4.64885165e-03 2.44800032e+01] [-3.88051825e-02 9.99246792e-01 -8.07048703e-05 -2.18571924e-01] [-4.64848186e-03 -9.97563265e-05 9.99989191e-01 -1.86932150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters 0.05099201283287901 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.22, Z:-0.19 [[ 9.99155695e-01 4.08226452e-02 4.62690888e-03 2.45409404e+01] [-4.08227082e-02 9.99166403e-01 -8.08648714e-05 -2.16289558e-01] [-4.62635301e-03 -1.08086354e-04 9.99989293e-01 -1.86898951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters 0.05083759662414171 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.22, Z:-0.19 [[ 9.99112666e-01 4.18681138e-02 4.57625950e-03 2.46029997e+01] [-4.18681843e-02 9.99123140e-01 -8.04327615e-05 -2.16267991e-01] [-4.57561433e-03 -1.11238285e-04 9.99989526e-01 -1.87436419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters 0.05108716808802288 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.21, Z:-0.19 [[ 9.99103910e-01 4.19650565e-02 5.50547342e-03 2.46652622e+01] [-4.19651554e-02 9.99119070e-01 -9.75977089e-05 -2.12431141e-01] [-5.50471918e-03 -1.33527795e-04 9.99984840e-01 -1.89085961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters 0.05097799631742023 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.22, Z:-0.19 [[ 9.99083150e-01 4.23317204e-02 6.39413458e-03 2.47278807e+01] [-4.23318579e-02 9.99103599e-01 -1.13894235e-04 -2.15296675e-01] [-6.39322421e-03 -1.56885786e-04 9.99979551e-01 -1.89301715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters 0.05129406998728305 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.21, Z:-0.19 [[ 9.99128314e-01 4.13001100e-02 6.07558927e-03 2.47890212e+01] [-4.13002105e-02 9.99146776e-01 -1.08981630e-04 -2.10356485e-01] [-6.07490639e-03 -1.42036484e-04 9.99981537e-01 -1.90362565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters 0.050661177213413414 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.22, Z:-0.19 [[ 9.99171486e-01 4.02153580e-02 6.25032995e-03 2.48510836e+01] [-4.02154390e-02 9.99191026e-01 -1.12779567e-04 -2.16006790e-01] [-6.24980906e-03 -1.38673635e-04 9.99980460e-01 -1.90643303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters 0.050472579925337206 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.21, Z:-0.19 [[ 9.99241420e-01 3.85207024e-02 5.72188014e-03 2.49120647e+01] [-3.85207392e-02 9.99257796e-01 -1.03821059e-04 -2.14869198e-01] [-5.72163259e-03 -1.16668750e-04 9.99983625e-01 -1.91447414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters 0.050214066064219735 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.22, Z:-0.19 [[ 9.99361675e-01 3.51481440e-02 6.39140726e-03 2.49731729e+01] [-3.51481157e-02 9.99382107e-01 -1.16797011e-04 -2.18760912e-01] [-6.39156325e-03 -1.07923465e-04 9.99979568e-01 -1.92946241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters 0.050191037488185326 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.22, Z:-0.19 [[ 9.99565517e-01 2.84068394e-02 7.86309329e-03 2.50343653e+01] [-2.84065867e-02 9.99596441e-01 -1.43839361e-04 -2.21994219e-01] [-7.86400609e-03 -7.95867758e-05 9.99969075e-01 -1.93743342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters 0.0502314905874629 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.23, Z:-0.19 [[ 9.99685284e-01 2.37242792e-02 8.15428609e-03 2.50967593e+01] [-2.37238505e-02 9.99718539e-01 -1.49308456e-04 -2.25545205e-01] [-8.15553321e-03 -4.41895982e-05 9.99966742e-01 -1.93967236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters 0.05056159607139642 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.23, Z:-0.20 [[ 9.99831447e-01 1.70414010e-02 6.83140793e-03 2.51589785e+01] [-1.70409398e-02 9.99854785e-01 -1.25727185e-04 -2.30425405e-01] [-6.83255847e-03 9.29238254e-06 9.99976658e-01 -1.95383292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters 0.05030072912163996 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.23, Z:-0.20 [[ 9.99901310e-01 1.30044173e-02 5.31557089e-03 2.52214377e+01] [-1.30040779e-02 9.99915439e-01 -9.84131961e-05 -2.33422186e-01] [-5.31640120e-03 2.92793860e-05 9.99985867e-01 -1.96955559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters 0.05084204409715313 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.24, Z:-0.20 [[ 9.99965547e-01 6.51791245e-03 5.14018146e-03 2.52832318e+01] [-6.51750908e-03 9.99978756e-01 -9.52210734e-05 -2.35777585e-01] [-5.14069291e-03 6.17166134e-05 9.99986785e-01 -1.99130325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters 0.050868317226967046 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.24, Z:-0.20 [[ 9.99982542e-01 4.80729628e-05 5.90879748e-03 2.53431548e+01] [-4.74218255e-05 9.99999993e-01 -1.10337992e-04 -2.37753364e-01] [-5.90880274e-03 1.10055860e-04 9.99982537e-01 -1.99804673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters 0.05129632671003147 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.24, Z:-0.20 [[ 9.99971085e-01 -3.90327558e-03 6.52642074e-03 2.54042759e+01] [ 3.90415557e-03 9.99992371e-01 -1.22100104e-04 -2.42202552e-01] [-6.52589437e-03 1.47576735e-04 9.99978695e-01 -1.99667520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters 0.051206400975574384 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.24, Z:-0.20 [[ 9.99918739e-01 -1.01189351e-02 7.75388474e-03 2.54648864e+01] [ 1.01203651e-02 9.99948777e-01 -1.45210837e-04 -2.42573471e-01] [-7.75201819e-03 2.23671182e-04 9.99969928e-01 -1.99398021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters 0.05119611000753683 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.24, Z:-0.20 [[ 9.99920248e-01 -1.04867057e-02 7.03745002e-03 2.55254174e+01] [ 1.04878927e-02 9.99944992e-01 -1.31783294e-04 -2.41251063e-01] [-7.03568094e-03 2.05580805e-04 9.99975228e-01 -2.02663244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters 0.05161070153157523 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.24, Z:-0.20 [[ 9.99923635e-01 -1.01018911e-02 7.11872208e-03 2.55858937e+01] [ 1.01030972e-02 9.99948954e-01 -1.33489662e-04 -2.42068698e-01] [-7.11701020e-03 2.05400609e-04 9.99974653e-01 -2.04000108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters 0.051765480909465776 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.24, Z:-0.20 [[ 9.99938603e-01 -8.44489002e-03 7.17460118e-03 2.56466395e+01] [ 8.44607253e-03 9.99964322e-01 -1.34535921e-04 -2.44167659e-01] [-7.17320907e-03 1.95124862e-04 9.99974253e-01 -2.04825313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters 0.05110871153136017 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.25, Z:-0.21 [[ 9.99951850e-01 -6.37380039e-03 7.46141745e-03 2.57067741e+01] [ 6.37502220e-03 9.99979670e-01 -1.39977751e-04 -2.47023292e-01] [-7.46037357e-03 1.87537713e-04 9.99972153e-01 -2.05518851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters 0.05111866153441502 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.24, Z:-0.21 [[ 9.99958637e-01 -1.92973529e-03 8.88824533e-03 2.57665183e+01] [ 1.93129427e-03 9.99998121e-01 -1.66818786e-04 -2.40633293e-01] [-8.88790671e-03 1.83977703e-04 9.99960485e-01 -2.05706102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters 0.05059929865691569 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.24, Z:-0.21 [[ 9.99948133e-01 2.27895486e-03 9.92663044e-03 2.58278071e+01] [-2.27721723e-03 9.99997390e-01 -1.86346765e-04 -2.39892680e-01] [-9.92702921e-03 1.63732006e-04 9.99950712e-01 -2.06357766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters 0.05014246093647852 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.24, Z:-0.21 [[ 9.99887637e-01 1.14468769e-02 9.67899129e-03 2.58881981e+01] [-1.14456530e-02 9.99934480e-01 -1.81827255e-04 -2.37762684e-01] [-9.68043847e-03 7.10244480e-05 9.99953141e-01 -2.08550251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters 0.05033371973804504 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.23, Z:-0.21 [[ 9.99847839e-01 1.47697564e-02 9.28185196e-03 2.59501991e+01] [-1.47687730e-02 9.99890920e-01 -1.74491832e-04 -2.34629219e-01] [-9.28341670e-03 3.73837165e-05 9.99956907e-01 -2.10712791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters 0.04992735232390058 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.24, Z:-0.21 [[ 9.99808475e-01 1.72143838e-02 9.31014052e-03 2.60115498e+01] [-1.72134974e-02 9.99851821e-01 -1.75340334e-04 -2.36170505e-01] [-9.31177933e-03 1.50466716e-05 9.99956644e-01 -2.09495643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters 0.04984381648026544 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.24, Z:-0.21 [[ 9.99726118e-01 2.09733396e-02 1.03830616e-02 2.60734442e+01] [-2.09724359e-02 9.99780035e-01 -1.95919465e-04 -2.35040941e-01] [-1.03848867e-02 -2.18922871e-05 9.99946075e-01 -2.09569967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters 0.04950939110304832 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.24, Z:-0.21 [[ 9.99679465e-01 2.28708067e-02 1.08578465e-02 2.61357426e+01] [-2.28699233e-02 9.99738428e-01 -2.05535715e-04 -2.35111071e-01] [-1.08597071e-02 -4.28482824e-05 9.99941031e-01 -2.10432179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters 0.049840641307487346 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.24, Z:-0.21 [[ 9.99605356e-01 2.60840090e-02 1.04286245e-02 2.61980601e+01] [-2.60833567e-02 9.99659752e-01 -1.98579983e-04 -2.37640127e-01] [-1.04302560e-02 -7.35119186e-05 9.99945601e-01 -2.13421686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters 0.049258530974291975 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.24, Z:-0.21 [[ 9.99568353e-01 2.75514332e-02 1.01992834e-02 2.62606181e+01] [-2.75508760e-02 9.99620384e-01 -1.95159941e-04 -2.35671976e-01] [-1.02007885e-02 -8.59234906e-05 9.99947967e-01 -2.13765045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters 0.0495464459294708 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.24, Z:-0.21 [[ 9.99513150e-01 2.96122006e-02 9.82756072e-03 2.63212581e+01] [-2.96117785e-02 9.99561457e-01 -1.88485411e-04 -2.35521260e-01] [-9.82883238e-03 -1.02617905e-04 9.99951691e-01 -2.14209342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters 0.04940456917470122 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.24, Z:-0.21 [[ 9.99455431e-01 3.13216074e-02 1.03825627e-02 2.63832245e+01] [-3.13212203e-02 9.99509350e-01 -1.99927970e-04 -2.36023493e-01] [-1.03837306e-02 -1.25375439e-04 9.99946080e-01 -2.14258746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters 0.04927704673498282 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.23, Z:-0.21 [[ 9.99306706e-01 3.59028492e-02 9.85354683e-03 2.64430363e+01] [-3.59027143e-02 9.99355272e-01 -1.90639449e-04 -2.32880687e-01] [-9.85403847e-03 -1.63261797e-04 9.99951434e-01 -2.14577692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters 0.04921210051210421 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.23, Z:-0.22 [[ 9.99180897e-01 3.94630308e-02 8.95566046e-03 2.65042002e+01] [-3.94630597e-02 9.99221015e-01 -1.73557441e-04 -2.32763748e-01] [-8.95553324e-03 -1.80002484e-04 9.99959882e-01 -2.16729977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters 0.04978345444206185 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.23, Z:-0.22 [[ 9.99104582e-01 4.15078958e-02 8.19322757e-03 2.65654306e+01] [-4.15079874e-02 9.99138159e-01 -1.58934712e-04 -2.30534788e-01] [-8.19276336e-03 -1.81291988e-04 9.99966422e-01 -2.17676588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters 0.050682329654324974 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.23, Z:-0.22 [[ 9.98896925e-01 4.64204230e-02 7.07659205e-03 2.66255928e+01] [-4.64206121e-02 9.98921973e-01 -1.37614862e-04 -2.28805448e-01] [-7.07535143e-03 -1.91036671e-04 9.99974951e-01 -2.19181408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters 0.05038127156805064 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.23, Z:-0.22 [[ 9.98753766e-01 4.93933253e-02 7.15642496e-03 2.66869916e+01] [-4.93935949e-02 9.98779382e-01 -1.39175433e-04 -2.28827281e-01] [-7.15456403e-03 -2.14479568e-04 9.99974383e-01 -2.19379133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters 0.05002464962731669 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.23, Z:-0.22 [[ 9.98593433e-01 5.25114334e-02 7.32834418e-03 2.67480996e+01] [-5.25117991e-02 9.98620294e-01 -1.42634473e-04 -2.28370090e-01] [-7.32572316e-03 -2.42390690e-04 9.99973137e-01 -2.19192826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters 0.050124306113166914 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.23, Z:-0.22 [[ 9.98539363e-01 5.34898972e-02 7.61391049e-03 2.68101695e+01] [-5.34903193e-02 9.98568357e-01 -1.48331552e-04 -2.29974994e-01] [-7.61094433e-03 -2.59155609e-04 9.99971003e-01 -2.19494541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters 0.05022424831452519 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.23, Z:-0.22 [[ 9.98487001e-01 5.43173184e-02 8.56373102e-03 2.68718941e+01] [-5.43178746e-02 9.98523680e-01 -1.67796627e-04 -2.30707159e-01] [-8.56020248e-03 -2.97620916e-04 9.99963317e-01 -2.19263361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters 0.04905338312032378 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.24, Z:-0.22 [[ 9.98409032e-01 5.56164487e-02 9.28524263e-03 2.69334966e+01] [-5.56171527e-02 9.98452152e-01 -1.82574583e-04 -2.36419484e-01] [-9.28102463e-03 -3.34134645e-04 9.99956875e-01 -2.19638556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters 0.05018495496808232 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.23, Z:-0.22 [[ 9.98304414e-01 5.76240421e-02 8.23204001e-03 2.69933955e+01] [-5.76246581e-02 9.98338306e-01 -1.62539660e-04 -2.33370023e-01] [-8.22772707e-03 -3.12104432e-04 9.99966103e-01 -2.20605613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters 0.049800028905517456 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.23, Z:-0.22 [[ 9.98215759e-01 5.93741906e-02 6.32483673e-03 2.70548048e+01] [-5.93745894e-02 9.98235765e-01 -1.24866492e-04 -2.34820394e-01] [-6.32109208e-03 -2.50890884e-04 9.99979990e-01 -2.22244593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters 0.05023613441326017 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.23, Z:-0.22 [[ 9.98131585e-01 6.08075670e-02 5.98146128e-03 2.71158180e+01] [-6.08079488e-02 9.98149477e-01 -1.18172729e-04 -2.33519600e-01] [-5.97757825e-03 -2.45768458e-04 9.99982104e-01 -2.23324923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters 0.05011809017978684 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.24, Z:-0.22 [[ 9.98056847e-01 6.19694063e-02 6.50559218e-03 2.71775586e+01] [-6.19698824e-02 9.98078012e-01 -1.28563519e-04 -2.35081099e-01] [-6.50105551e-03 -2.74837081e-04 9.99978830e-01 -2.23740187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters 0.0507978478421582 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.24, Z:-0.22 [[ 9.97929739e-01 6.39529310e-02 6.80135013e-03 2.72383499e+01] [-6.39534922e-02 9.97952871e-01 -1.35162591e-04 -2.35594018e-01] [-6.79607093e-03 -3.00087323e-04 9.99976861e-01 -2.24508829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters 0.049383200611383904 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.24, Z:-0.23 [[ 9.97765371e-01 6.64229131e-02 7.22923484e-03 2.72994167e+01] [-6.64236110e-02 9.97791503e-01 -1.43790407e-04 -2.39463396e-01] [-7.22282007e-03 -3.36722794e-04 9.99973858e-01 -2.25636230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters 0.05555527680259359 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.22, Z:-0.23 [[ 9.97386183e-01 7.18880003e-02 7.27442719e-03 2.73592150e+01] [-7.18888513e-02 9.97412639e-01 -1.44765671e-04 -2.19059542e-01] [-7.26601253e-03 -3.78562934e-04 9.99973531e-01 -2.26026863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters 0.04968268124280255 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.24, Z:-0.23 [[ 9.97014229e-01 7.68688017e-02 7.33580910e-03 2.74192770e+01] [-7.68698012e-02 9.97041129e-01 -1.46026605e-04 -2.35968832e-01] [-7.32532828e-03 -4.18311584e-04 9.99973082e-01 -2.26913524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters 0.05127404672930968 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.23, Z:-0.23 [[ 9.96864202e-01 7.88219499e-02 6.99015537e-03 2.74793263e+01] [-7.88229050e-02 9.96888625e-01 -1.39178025e-04 -2.28206475e-01] [-6.97937666e-03 -4.12242762e-04 9.99975559e-01 -2.28147917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters 0.05042547427867521 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.23, Z:-0.23 [[ 9.96874159e-01 7.87186163e-02 6.72981018e-03 2.75414526e+01] [-7.87194996e-02 9.96896796e-01 -1.33933727e-04 -2.32043300e-01] [-6.71946929e-03 -3.96252219e-04 9.99977346e-01 -2.29065315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters 0.050049448742099746 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.23, Z:-0.23 [[ 9.97044182e-01 7.65322008e-02 6.76179269e-03 2.76017692e+01] [-7.65330406e-02 9.97067037e-01 -1.34846538e-04 -2.34374350e-01] [-6.75228070e-03 -3.83052598e-04 9.99977130e-01 -2.29492901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters 0.05079196754403992 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.23, Z:-0.23 [[ 9.97587079e-01 6.91065762e-02 6.65595551e-03 2.76612126e+01] [-6.91072249e-02 9.97609229e-01 -1.32749142e-04 -2.33791711e-01] [-6.64921648e-03 -3.27545786e-04 9.99977840e-01 -2.30451689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters 0.050279011644860254 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.24, Z:-0.23 [[ 9.97921282e-01 6.41296268e-02 6.36437890e-03 2.77221163e+01] [-6.41301193e-02 9.97941537e-01 -1.26872912e-04 -2.37233034e-01] [-6.35941437e-03 -2.81539199e-04 9.99979739e-01 -2.30558520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters 0.04961262738112216 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.24, Z:-0.23 [[ 9.98295741e-01 5.80821393e-02 5.66374749e-03 2.77829987e+01] [-5.80824319e-02 9.98311784e-01 -1.12943255e-04 -2.43128080e-01] [-5.66074584e-03 -2.16213457e-04 9.99983954e-01 -2.31865512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters 0.05078141027650467 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.24, Z:-0.23 [[ 9.98512478e-01 5.43255976e-02 4.64333727e-03 2.78421347e+01] [-5.43257542e-02 9.98523262e-01 -9.24947669e-05 -2.40815721e-01] [-4.64150511e-03 -1.59895620e-04 9.99989215e-01 -2.33346211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters 0.04973630711123902 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.25, Z:-0.24 [[ 9.98886249e-01 4.70055474e-02 4.09135000e-03 2.79031188e+01] [-4.70056079e-02 9.98894622e-01 -8.14188663e-05 -2.45242726e-01] [-4.09065465e-03 -1.10988208e-04 9.99991627e-01 -2.35146457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters 0.049185508720144266 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.25, Z:-0.24 [[ 9.99174879e-01 4.03835301e-02 4.32804199e-03 2.79640883e+01] [-4.03835352e-02 9.99184249e-01 -8.62378063e-05 -2.52115134e-01] [-4.32799397e-03 -8.86149865e-05 9.99990630e-01 -2.35636105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters 0.048478424981108215 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.26, Z:-0.24 [[ 9.99309570e-01 3.68455599e-02 4.77359493e-03 2.80253896e+01] [-3.68455264e-02 9.99320969e-01 -9.49841146e-05 -2.56314846e-01] [-4.77385326e-03 -8.09670836e-05 9.99988602e-01 -2.35071975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters 0.0489221674249766 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.26, Z:-0.24 [[ 9.99365909e-01 3.51654430e-02 5.58323380e-03 2.80872579e+01] [-3.51653714e-02 9.99381501e-01 -1.11032547e-04 -2.55673551e-01] [-5.58368508e-03 -8.53743477e-05 9.99984407e-01 -2.35537618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters 0.04871811323894718 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.25, Z:-0.24 [[ 9.99364509e-01 3.52110911e-02 5.54589439e-03 2.81497936e+01] [-3.52110171e-02 9.99379894e-01 -1.11005912e-04 -2.54574449e-01] [-5.54636398e-03 -8.43412131e-05 9.99984615e-01 -2.36585012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters 0.04844296929858426 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.25, Z:-0.24 [[ 9.99349942e-01 3.55665328e-02 5.89196113e-03 2.82123222e+01] [-3.55664540e-02 9.99367307e-01 -1.18181810e-04 -2.54191452e-01] [-5.89243665e-03 -9.14511794e-05 9.99982635e-01 -2.37605272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters 0.049017699948458525 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.25, Z:-0.24 [[ 9.99289298e-01 3.72419176e-02 5.82569143e-03 2.82731179e+01] [-3.72418637e-02 9.99306274e-01 -1.17767128e-04 -2.49316827e-01] [-5.82603587e-03 -9.92761759e-05 9.99983024e-01 -2.39103076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters 0.049067897600660534 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.25, Z:-0.24 [[ 9.99252170e-01 3.82380976e-02 5.74012884e-03 2.83352311e+01] [-3.82380616e-02 9.99268651e-01 -1.16058431e-04 -2.51240144e-01] [-5.74036865e-03 -1.03519761e-04 9.99983519e-01 -2.39529451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters 0.04828265011944824 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.25, Z:-0.24 [[ 9.99162899e-01 4.04765516e-02 5.92875744e-03 2.83978147e+01] [-4.04765502e-02 9.99180481e-01 -1.20273639e-04 -2.48172312e-01] [-5.92876697e-03 -1.19802690e-04 9.99982418e-01 -2.39858038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters 0.04931027484425977 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.24, Z:-0.24 [[ 9.99061371e-01 4.28707058e-02 6.20319472e-03 2.84594115e+01] [-4.28707496e-02 9.99080619e-01 -1.25966254e-04 -2.44512882e-01] [-6.20289188e-03 -1.40087589e-04 9.99980752e-01 -2.40722157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters 0.049161035398172084 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.25, Z:-0.24 [[ 9.99054114e-01 4.31066162e-02 5.71817958e-03 2.85218837e+01] [-4.31066544e-02 9.99070469e-01 -1.16625773e-04 -2.45237019e-01] [-5.71789170e-03 -1.29976133e-04 9.99983644e-01 -2.41479006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters 0.049924615160230904 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.24, Z:-0.24 [[ 9.99077802e-01 4.25054488e-02 6.06898350e-03 2.85833334e+01] [-4.25054758e-02 9.99096226e-01 -1.24589285e-04 -2.40571699e-01] [-6.06879423e-03 -1.33490642e-04 9.99981576e-01 -2.43483363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters 0.049183163891541044 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.24, Z:-0.24 [[ 9.99105975e-01 4.18756294e-02 5.80361060e-03 2.86450966e+01] [-4.18756403e-02 9.99122823e-01 -1.19693584e-04 -2.44093033e-01] [-5.80353205e-03 -1.23443334e-04 9.99983152e-01 -2.43750909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters 0.049156511794964726 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.24, Z:-0.24 [[ 9.99086911e-01 4.23135554e-02 5.90816221e-03 2.87074883e+01] [-4.23135704e-02 9.99104372e-01 -1.22522624e-04 -2.44047761e-01] [-5.90805507e-03 -1.27584688e-04 9.99982539e-01 -2.44335629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters 0.04999895363260598 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.24, Z:-0.25 [[ 9.99006292e-01 4.41201757e-02 6.31179803e-03 2.87683096e+01] [-4.41202236e-02 9.99026220e-01 -1.31720615e-04 -2.38562462e-01] [-6.31146327e-03 -1.46888218e-04 9.99980072e-01 -2.45789343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters 0.04889776522124741 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.24, Z:-0.25 [[ 9.98905266e-01 4.63779601e-02 6.11176804e-03 2.88299257e+01] [-4.63780449e-02 9.98923951e-01 -1.27923560e-04 -2.39972219e-01] [-6.11112432e-03 -1.55668335e-04 9.99981315e-01 -2.47506972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters 0.050449843428832776 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.24, Z:-0.25 [[ 9.98813777e-01 4.83728299e-02 5.57756201e-03 2.88901047e+01] [-4.83729310e-02 9.98829338e-01 -1.16850416e-04 -2.35062650e-01] [-5.57668495e-03 -1.53091217e-04 9.99984438e-01 -2.49277270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters 0.050664071011489 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.23, Z:-0.25 [[ 9.98724287e-01 5.02198915e-02 5.26894293e-03 2.89517430e+01] [-5.02200076e-02 9.98738173e-01 -1.10352267e-04 -2.33016662e-01] [-5.26783631e-03 -1.54394864e-04 9.99986113e-01 -2.50620570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters 0.049292005610234085 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.24, Z:-0.25 [[ 9.98699080e-01 5.06692018e-02 5.72530119e-03 2.90137645e+01] [-5.06693466e-02 9.98715476e-01 -1.19850562e-04 -2.36496900e-01] [-5.72401964e-03 -1.70402624e-04 9.99983603e-01 -2.50894284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters 0.04949291371351559 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.23, Z:-0.25 [[ 9.98719210e-01 5.02039474e-02 6.28514329e-03 2.90745396e+01] [-5.02041077e-02 9.98738970e-01 -1.32363751e-04 -2.34126092e-01] [-6.28386272e-03 -1.83345790e-04 9.99980240e-01 -2.51913236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters 0.049548027759403125 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.24, Z:-0.25 [[ 9.98716325e-01 5.02411861e-02 6.44401482e-03 2.91378543e+01] [-5.02413511e-02 9.98737097e-01 -1.36373388e-04 -2.35812779e-01] [-6.44272822e-03 -1.87557683e-04 9.99979228e-01 -2.52658873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters 0.05028692965722171 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.23, Z:-0.25 [[ 9.98635202e-01 5.19285409e-02 5.58204556e-03 2.92001148e+01] [-5.19286870e-02 9.98650788e-01 -1.18859146e-04 -2.32795268e-01] [-5.58068638e-03 -1.71171369e-04 9.99984413e-01 -2.53233733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters 0.05035597252522948 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.23, Z:-0.25 [[ 9.98518161e-01 5.42059064e-02 4.81675731e-03 2.92609073e+01] [-5.42060406e-02 9.98529767e-01 -1.02787723e-04 -2.34638189e-01] [-4.81524725e-03 -1.58461934e-04 9.99988394e-01 -2.53304193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters 0.0520154943728905 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.23, Z:-0.25 [[ 9.98311184e-01 5.78795602e-02 4.97357891e-03 2.93208313e+01] [-5.78797485e-02 9.98323556e-01 -1.06180073e-04 -2.26063178e-01] [-4.97138664e-03 -1.81868743e-04 9.99987626e-01 -2.53525770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters 0.05279044400991055 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.22, Z:-0.25 [[ 9.98137811e-01 6.07864802e-02 5.09057910e-03 2.93820046e+01] [-6.07867151e-02 9.98150772e-01 -1.08715748e-04 -2.19639340e-01] [-5.08777390e-03 -2.00926283e-04 9.99987037e-01 -2.54311382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters 0.053768912829191454 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.22, Z:-0.26 [[ 9.97895927e-01 6.47251695e-02 3.79082328e-03 2.94429803e+01] [-6.47253281e-02 9.97903114e-01 -8.09595531e-05 -2.17476814e-01] [-3.78811447e-03 -1.64573072e-04 9.99992812e-01 -2.55782783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters 0.05002862553425145 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.23, Z:-0.25 [[ 9.97758820e-01 6.68218737e-02 3.48911599e-03 2.95034501e+01] [-6.68220208e-02 9.97764908e-01 -7.45189987e-05 -2.30299914e-01] [-3.48629699e-03 -1.58797793e-04 9.99993910e-01 -2.54867620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters 0.053350703049311145 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.22, Z:-0.25 [[ 9.97624047e-01 6.88111391e-02 3.35965934e-03 2.95639837e+01] [-6.88112868e-02 9.97629692e-01 -7.17461833e-05 -2.20404187e-01] [-3.35663285e-03 -1.59606765e-04 9.99994354e-01 -2.54268291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters 0.049743188751582956 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.23, Z:-0.25 [[ 9.97566740e-01 6.96427057e-02 3.23934869e-03 2.96261002e+01] [-6.96428474e-02 9.97571987e-01 -6.91602350e-05 -2.30957391e-01] [-3.23630002e-03 -1.56605517e-04 9.99994751e-01 -2.54523818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters 0.05128505622262128 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.23, Z:-0.25 [[ 9.97509145e-01 7.05149911e-02 1.77244782e-03 2.96870698e+01] [-7.05150348e-02 9.97510716e-01 -3.78821942e-05 -2.27263847e-01] [-1.77070696e-03 -8.71963849e-05 9.99998428e-01 -2.54760784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters 0.05161874247153586 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.23, Z:-0.26 [[ 9.97432464e-01 7.16062396e-02 1.01325213e-03 2.97486443e+01] [-7.16062545e-02 9.97432977e-01 -2.16238980e-05 -2.28579998e-01] [-1.01219949e-03 -5.09868118e-05 9.99999486e-01 -2.55668317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters 0.05211796509636974 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.23, Z:-0.26 [[ 9.97197497e-01 7.48140616e-02 -8.51148496e-05 2.98092156e+01] [-7.48140617e-02 9.97197501e-01 1.86333367e-06 -2.25559043e-01] [ 8.50157189e-05 4.50967595e-06 9.99999996e-01 -2.55992997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters 0.05011395507736882 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.24, Z:-0.25 [[ 9.96964494e-01 7.78574754e-02 -1.04866446e-04 2.98695930e+01] [-7.78574756e-02 9.96964500e-01 2.38164984e-06 -2.35543649e-01] [ 1.04733554e-04 5.79021646e-06 9.99999994e-01 -2.53708065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters 0.05100766275329691 Centerline is valid? [True, True] Translation: X:29.93, Y:-0.23, Z:-0.25 [[ 9.96884568e-01 7.88725293e-02 -5.31446172e-04 2.99300329e+01] [-7.88725343e-02 9.96884709e-01 1.14750843e-05 -2.32098994e-01] [ 5.30695631e-04 3.04771720e-05 9.99999859e-01 -2.52923653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters 0.051643869743156295 Centerline is valid? [True, True] Translation: X:29.99, Y:-0.23, Z:-0.25 [[ 9.96866247e-01 7.91028050e-02 -6.56490289e-04 2.99923301e+01] [-7.91028122e-02 9.96866463e-01 1.49722554e-05 -2.30171862e-01] [ 6.55617500e-04 3.70048920e-05 9.99999784e-01 -2.53620670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters 0.05138705805866583 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.23, Z:-0.25 [[ 9.96915882e-01 7.84773161e-02 -1.86974766e-04 3.00540027e+01] [-7.84773167e-02 9.96915900e-01 4.21284890e-06 -2.31982661e-01] [ 1.86728730e-04 1.04734219e-05 9.99999983e-01 -2.52787976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters 0.05109971355114245 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.23, Z:-0.25 [[ 9.96938735e-01 7.81849267e-02 -5.25394493e-04 3.01161161e+01] [-7.81849311e-02 9.96938873e-01 1.22093142e-05 -2.33044055e-01] [ 5.24740778e-04 2.89059939e-05 9.99999862e-01 -2.52263235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters 0.06089625782704323 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.20, Z:-0.26 [[ 9.96751752e-01 8.05215652e-02 -1.49069235e-03 3.01758995e+01] [-8.05216067e-02 9.96752863e-01 3.22643372e-05 -2.04919189e-01] [ 1.48844985e-03 8.78734087e-05 9.99998888e-01 -2.56660582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters 0.05469332480696777 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.22, Z:-0.25 [[ 9.96357079e-01 8.52270549e-02 -2.98652746e-03 3.02366913e+01] [-8.52272418e-02 9.96361537e-01 6.48799327e-05 -2.15428159e-01] [ 2.98119062e-03 1.89889918e-04 9.99995538e-01 -2.54805547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters 0.050282278294306336 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.23, Z:-0.25 [[ 9.96124209e-01 8.79083239e-02 -2.94723902e-03 3.02976470e+01] [-8.79085172e-02 9.96128550e-01 6.41264248e-05 -2.29559737e-01] [ 2.94146618e-03 1.95209528e-04 9.99995655e-01 -2.52700182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters 0.04987108790993277 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.23, Z:-0.25 [[ 9.95987718e-01 8.94462100e-02 -2.80020173e-03 3.03584104e+01] [-8.94463906e-02 9.95991636e-01 6.09167695e-05 -2.33539149e-01] [ 2.79442628e-03 1.89795584e-04 9.99996078e-01 -2.51761618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters 0.05039365826004394 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.23, Z:-0.25 [[ 9.95815438e-01 9.13333578e-02 -3.13551047e-03 3.04186910e+01] [-9.13335935e-02 9.95820350e-01 6.82496827e-05 -2.28285975e-01] [ 3.12863861e-03 2.18413351e-04 9.99995082e-01 -2.51868951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters 0.05062075993552019 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.23, Z:-0.25 [[ 9.95766290e-01 9.18673151e-02 -3.14532063e-03 3.04801377e+01] [-9.18675516e-02 9.95771233e-01 6.94928574e-05 -2.25675596e-01] [ 3.13840392e-03 2.19754260e-04 9.99995051e-01 -2.52481619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters 0.05313135694488695 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.22, Z:-0.25 [[ 9.95664987e-01 9.29706650e-02 -2.77306416e-03 3.05409028e+01] [-9.29708548e-02 9.95668829e-01 6.06664285e-05 -2.15402409e-01] [ 2.76669374e-03 1.97410707e-04 9.99996153e-01 -2.53034339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters 0.05168532742739007 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.22, Z:-0.25 [[ 9.95554445e-01 9.41564578e-02 -2.43063842e-03 3.06024021e+01] [-9.41566067e-02 9.95557397e-01 5.33490981e-05 -2.18116126e-01] [ 2.42486322e-03 1.75748734e-04 9.99997045e-01 -2.51620256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters 0.05235759921057909 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.22, Z:-0.25 [[ 9.95528138e-01 9.44312429e-02 -2.54316814e-03 3.06650754e+01] [-9.44314045e-02 9.95531369e-01 5.67058736e-05 -2.15698196e-01] [ 2.53715847e-03 1.83702647e-04 9.99996765e-01 -2.51621330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters 0.05086160336560198 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.22, Z:-0.25 [[ 9.95596042e-01 9.37022628e-02 -2.89940470e-03 3.07262991e+01] [-9.37024720e-02 9.95600242e-01 6.39092461e-05 -2.18587870e-01] [ 2.89263647e-03 2.08053596e-04 9.99995795e-01 -2.52031328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters 0.058188225993592864 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.20, Z:-0.26 [[ 9.95844986e-01 9.09910606e-02 -3.65940336e-03 3.07866402e+01] [-9.09913759e-02 9.95851677e-01 8.05687541e-05 -1.97646729e-01] [ 3.65155401e-03 2.52740157e-04 9.99993301e-01 -2.55701030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters 0.0517684317976487 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.22, Z:-0.25 [[ 9.96092500e-01 8.82272705e-02 -3.95983520e-03 3.08468468e+01] [-8.82276180e-02 9.96100336e-01 8.72040890e-05 -2.18414004e-01] [ 3.95208696e-03 2.62503488e-04 9.99992156e-01 -2.52465441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters 0.05880688631804959 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.20, Z:-0.26 [[ 9.96410379e-01 8.45572610e-02 -4.05291289e-03 3.09071579e+01] [-8.45575951e-02 9.96418589e-01 8.91491600e-05 -1.99651120e-01] [ 4.04593595e-03 2.53875419e-04 9.99991783e-01 -2.55453987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters 0.05194206370893918 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.22, Z:-0.25 [[ 9.96533760e-01 8.30210092e-02 -5.28933015e-03 3.09676833e+01] [-8.30215559e-02 9.96547745e-01 1.16499420e-04 -2.21614400e-01] [ 5.28074193e-03 3.23032813e-04 9.99986005e-01 -2.52270013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters 0.05350795489276599 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.21, Z:-0.25 [[ 9.96646535e-01 8.15949899e-02 -6.15973680e-03 3.10271925e+01] [-8.15957046e-02 9.96665502e-01 1.35603439e-04 -2.14800103e-01] [ 6.15026173e-03 3.67459366e-04 9.99981019e-01 -2.53680967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters 0.053505983448036906 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.22, Z:-0.25 [[ 9.96750551e-01 8.03482648e-02 -5.70055325e-03 3.10874957e+01] [-8.03488566e-02 9.96766796e-01 1.25494750e-04 -2.16799866e-01] [ 5.69220548e-03 3.32945975e-04 9.99983744e-01 -2.52842771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters 0.054205730541224226 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.22, Z:-0.25 [[ 9.96803167e-01 7.97499365e-02 -4.83662944e-03 3.11486483e+01] [-7.97503541e-02 9.96814862e-01 1.06761274e-04 -2.15198031e-01] [ 4.82973832e-03 2.79302935e-04 9.99988298e-01 -2.52181063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters 0.054883806247033956 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.21, Z:-0.25 [[ 9.96749389e-01 8.04363430e-02 -4.54417649e-03 3.12106459e+01] [-8.04367136e-02 9.96759713e-01 1.01444644e-04 -2.14041131e-01] [ 4.53761189e-03 2.64403736e-04 9.99989670e-01 -2.52400103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters 0.05473622377439899 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.21, Z:-0.25 [[ 9.96589066e-01 8.23616125e-02 -5.17666565e-03 3.12713715e+01] [-8.23621240e-02 9.96602462e-01 1.14665996e-04 -2.12910054e-01] [ 5.16852181e-03 3.12086300e-04 9.99986594e-01 -2.52659740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters 0.05218410510340008 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.22, Z:-0.25 [[ 9.96529580e-01 8.30350757e-02 -5.82859197e-03 3.13335274e+01] [-8.30357332e-02 9.96546562e-01 1.29516442e-04 -2.20181580e-01] [ 5.81921770e-03 3.54914442e-04 9.99983005e-01 -2.51096605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters 0.054160326483852 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.22, Z:-0.25 [[ 9.96558596e-01 8.26973135e-02 -5.66742372e-03 3.13963576e+01] [-8.26979266e-02 9.96574652e-01 1.26486262e-04 -2.16937136e-01] [ 5.65847089e-03 3.42633219e-04 9.99983932e-01 -2.51817778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters 0.052782002975841756 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.22, Z:-0.25 [[ 9.96597976e-01 8.22140957e-02 -5.77203333e-03 3.14585542e+01] [-8.22147177e-02 9.96614631e-01 1.29837506e-04 -2.18297074e-01] [ 5.76316735e-03 3.45150296e-04 9.99983333e-01 -2.51733719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters 0.05367953301384166 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.22, Z:-0.25 [[ 9.96744002e-01 8.04051792e-02 -6.03330359e-03 3.15196187e+01] [-8.04058297e-02 9.96762200e-01 1.35068219e-04 -2.16946800e-01] [ 6.02462915e-03 3.50484343e-04 9.99981790e-01 -2.52443410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters 0.054400379240842796 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.21, Z:-0.25 [[ 9.96881488e-01 7.86701321e-02 -6.18937945e-03 3.15799625e+01] [-7.86707840e-02 9.96900641e-01 1.38442427e-04 -2.14521377e-01] [ 6.18108763e-03 3.48912642e-04 9.99980836e-01 -2.53267018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters 0.05409435825684308 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.22, Z:-0.25 [[ 9.97115082e-01 7.56724162e-02 -5.93285480e-03 3.16404758e+01] [-7.56729617e-02 9.97132682e-01 1.32803111e-04 -2.20048838e-01] [ 5.92589295e-03 3.16536709e-04 9.99982392e-01 -2.52466755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters 0.05594070963911645 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.22, Z:-0.25 [[ 9.97285518e-01 7.33790800e-02 -6.09146992e-03 3.16997945e+01] [-7.33796132e-02 9.97304073e-01 1.36217633e-04 -2.16249152e-01] [ 6.08504328e-03 3.11141834e-04 9.99981438e-01 -2.54390244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters 0.05434463676689535 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.22, Z:-0.25 [[ 9.97446678e-01 7.10796927e-02 -6.91385701e-03 3.17607538e+01] [-7.10803234e-02 9.97470583e-01 1.54772283e-04 -2.22951479e-01] [ 6.90737015e-03 3.37062093e-04 9.99976087e-01 -2.53364839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters 0.05520950846262215 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.22, Z:-0.25 [[ 9.97493625e-01 7.04480248e-02 -6.59877334e-03 3.18219263e+01] [-7.04485800e-02 9.97515401e-01 1.48553734e-04 -2.19623380e-01] [ 6.59284335e-03 3.16692809e-04 9.99978217e-01 -2.54627853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters 0.05451807660347866 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.23, Z:-0.25 [[ 9.97661635e-01 6.80768046e-02 -6.06721696e-03 3.18823255e+01] [-6.80772326e-02 9.97680045e-01 1.36188383e-04 -2.25974465e-01] [ 6.06241255e-03 2.77169415e-04 9.99981585e-01 -2.52110312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters 0.05508561048784316 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.23, Z:-0.25 [[ 9.97810453e-01 6.58287048e-02 -6.39388038e-03 3.19424373e+01] [-6.58291342e-02 9.97830900e-01 1.43501496e-04 -2.25309276e-01] [ 6.38945793e-03 2.77716318e-04 9.99979549e-01 -2.52786372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters 0.05639621423261774 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.22, Z:-0.25 [[ 9.97939502e-01 6.38694700e-02 -6.11884048e-03 3.20027332e+01] [-6.38698265e-02 9.97958229e-01 1.37328618e-04 -2.22756882e-01] [ 6.11511831e-03 2.53763626e-04 9.99981270e-01 -2.54003503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters 0.056322762747289354 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.22, Z:-0.25 [[ 9.97910105e-01 6.43702763e-02 -5.64719803e-03 3.20646951e+01] [-6.43705800e-02 9.97926055e-01 1.28154740e-04 -2.23645316e-01] [ 5.64373541e-03 2.35626503e-04 9.99984046e-01 -2.53403943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters 0.05641570730922174 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.22, Z:-0.25 [[ 9.97846327e-01 6.53045685e-02 -6.16610612e-03 3.21266795e+01] [-6.53049511e-02 9.97865344e-01 1.39475451e-04 -2.23609531e-01] [ 6.16205199e-03 2.63502193e-04 9.99980980e-01 -2.54133348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters 0.05590393068818522 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.23, Z:-0.25 [[ 9.97938243e-01 6.38518469e-02 -6.49649986e-03 3.21876475e+01] [-6.38522411e-02 9.97959353e-01 1.46923996e-04 -2.29522481e-01] [ 6.49262417e-03 2.68195001e-04 9.99978887e-01 -2.53571694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters 0.055198959148118315 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.24, Z:-0.25 [[ 9.98116577e-01 6.09483542e-02 -6.97108273e-03 3.22485887e+01] [-6.09487370e-02 9.98140885e-01 1.57716829e-04 -2.35787565e-01] [ 6.96773527e-03 2.67458907e-04 9.99975689e-01 -2.52847278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters 0.055636273932461455 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.24, Z:-0.25 [[ 9.98398811e-01 5.62070424e-02 -6.37043446e-03 3.23079814e+01] [-5.62072663e-02 9.98419112e-01 1.44032531e-04 -2.38854961e-01] [ 6.36845915e-03 2.14262798e-04 9.99979698e-01 -2.53364071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters 0.05548142869852259 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.24, Z:-0.25 [[ 9.98523610e-01 5.40507955e-02 -5.39550305e-03 3.23689465e+01] [-5.40509241e-02 9.98538173e-01 1.22093808e-04 -2.44145982e-01] [ 5.39421502e-03 1.69718375e-04 9.99985437e-01 -2.51777544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters 0.05486716822194744 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.25, Z:-0.25 [[ 9.98569119e-01 5.32108596e-02 -5.32161360e-03 3.24309871e+01] [-5.32109656e-02 9.98583286e-01 1.21749918e-04 -2.47004255e-01] [ 5.32055281e-03 1.61592490e-04 9.99985833e-01 -2.51419729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters 0.05420973790865927 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.26, Z:-0.25 [[ 9.98669165e-01 5.13382299e-02 -4.92801171e-03 3.24914302e+01] [-5.13383008e-02 9.98681314e-01 1.12191534e-04 -2.59339692e-01] [ 4.92727293e-03 1.40953522e-04 9.99987851e-01 -2.48115090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters 0.05483928437723334 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.26, Z:-0.25 [[ 9.98683671e-01 5.09496629e-02 -5.92084390e-03 3.25548487e+01] [-5.09497548e-02 9.98701209e-01 1.35401939e-04 -2.58109497e-01] [ 5.92005264e-03 1.66441840e-04 9.99982462e-01 -2.50646101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters 0.0551314288435293 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.26, Z:-0.25 [[ 9.98582164e-01 5.28563987e-02 -6.31365352e-03 3.26160061e+01] [-5.28565427e-02 9.98602105e-01 1.44164027e-04 -2.59758676e-01] [ 6.31244769e-03 1.89758270e-04 9.99980058e-01 -2.50775778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters 0.05596319325965793 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.26, Z:-0.25 [[ 9.98510006e-01 5.41533092e-02 -6.72208550e-03 3.26768871e+01] [-5.41535012e-02 9.98532611e-01 1.53589451e-04 -2.59293654e-01] [ 6.72053896e-03 2.10663862e-04 9.99977395e-01 -2.51848323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters 0.055293642620221295 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.27, Z:-0.25 [[ 9.98432743e-01 5.55749597e-02 -6.59404469e-03 3.27389873e+01] [-5.55751732e-02 9.98454494e-01 1.50995115e-04 -2.65912947e-01] [ 6.59224511e-03 2.15706709e-04 9.99978248e-01 -2.50119777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters 0.056137298371675325 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.27, Z:-0.25 [[ 9.98405305e-01 5.61051135e-02 -6.25006699e-03 3.28001613e+01] [-5.61053084e-02 9.98424846e-01 1.44296154e-04 -2.66477874e-01] [ 6.24831793e-03 2.06595890e-04 9.99980458e-01 -2.50364866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters 0.05621378873936844 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.27, Z:-0.25 [[ 9.98303612e-01 5.79428402e-02 -5.70307376e-03 3.28616908e+01] [-5.79430288e-02 9.98319883e-01 1.32290580e-04 -2.67719550e-01] [ 5.70115721e-03 1.98387203e-04 9.99983729e-01 -2.49961110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters 0.05568297887962524 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.27, Z:-0.25 [[ 9.98189373e-01 5.98596765e-02 -5.89871248e-03 3.29228770e+01] [-5.98599150e-02 9.98206778e-01 1.36273194e-04 -2.72295204e-01] [ 5.89629205e-03 2.17069974e-04 9.99982593e-01 -2.49039310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters 0.0555947617433259 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.27, Z:-0.25 [[ 9.98013562e-01 6.26239649e-02 -6.86790306e-03 3.29830488e+01] [-6.26243543e-02 9.98037156e-01 1.58547983e-04 -2.74712308e-01] [ 6.86435135e-03 2.71864957e-04 9.99976403e-01 -2.49015363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters 0.05711652512128934 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.27, Z:-0.25 [[ 9.97873498e-01 6.47681930e-02 -7.31866620e-03 3.30427983e+01] [-6.47686898e-02 9.97900290e-01 1.69356034e-04 -2.69965916e-01] [ 7.31426800e-03 3.05024522e-04 9.99973204e-01 -2.51040335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters 0.05580423377165676 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.28, Z:-0.25 [[ 9.97669688e-01 6.79069615e-02 -6.62109159e-03 3.31035225e+01] [-6.79074381e-02 9.97691614e-01 1.53060545e-04 -2.79849912e-01] [ 6.61620143e-03 2.96917502e-04 9.99978069e-01 -2.46982666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters 0.05607009889429132 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.28, Z:-0.25 [[ 9.97566818e-01 6.94942590e-02 -5.56694442e-03 3.31645989e+01] [-6.94946132e-02 9.97582318e-01 1.30019410e-04 -2.78032030e-01] [ 5.56252092e-03 2.57169600e-04 9.99984496e-01 -2.47110661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters 0.05989404088932377 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.27, Z:-0.25 [[ 9.97538198e-01 6.99143160e-02 -5.43435993e-03 3.32262364e+01] [-6.99146597e-02 9.97552968e-01 1.26922730e-04 -2.68420365e-01] [ 5.42993559e-03 2.53331154e-04 9.99985226e-01 -2.49796957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters 0.059686905389395896 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.27, Z:-0.25 [[ 9.97517041e-01 7.02468801e-02 -5.01291573e-03 3.32889819e+01] [-7.02471714e-02 9.97529609e-01 1.18155188e-04 -2.69523501e-01] [ 5.00883191e-03 2.34281338e-04 9.99987428e-01 -2.50050076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters 0.05570951329686057 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.29, Z:-0.25 [[ 9.97443391e-01 7.13120770e-02 -4.61180649e-03 3.33503611e+01] [-7.13123369e-02 9.97454028e-01 1.08275863e-04 -2.86320269e-01] [ 4.60778634e-03 2.20879654e-04 9.99989360e-01 -2.45544988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters 0.056379011511994676 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.28, Z:-0.25 [[ 9.97417592e-01 7.16680033e-02 -4.67387882e-03 3.34111358e+01] [-7.16682744e-02 9.97428517e-01 1.09687682e-04 -2.82217429e-01] [ 4.66972111e-03 2.25564406e-04 9.99989071e-01 -2.46806553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters 0.056605287476277535 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.28, Z:-0.25 [[ 9.97461768e-01 7.10315691e-02 -4.95346730e-03 3.34732787e+01] [-7.10318596e-02 9.97474040e-01 1.17471845e-04 -2.83682197e-01] [ 4.94929925e-03 2.34680319e-04 9.99987725e-01 -2.46329289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters 0.056655083999614955 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.29, Z:-0.25 [[ 9.97535402e-01 6.99842770e-02 -5.03212084e-03 3.35342723e+01] [-6.99845667e-02 9.97548067e-01 1.18713233e-04 -2.85750896e-01] [ 5.02809048e-03 2.33750144e-04 9.99987332e-01 -2.46235748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters 0.05676812376563503 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.29, Z:-0.25 [[ 9.97628743e-01 6.86388926e-02 -5.05896688e-03 3.35957602e+01] [-6.86391678e-02 9.97641544e-01 1.19424807e-04 -2.87108641e-01] [ 5.05523271e-03 2.28101656e-04 9.99987196e-01 -2.46212629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters 0.05589090229944134 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.29, Z:-0.24 [[ 9.97789918e-01 6.63618896e-02 -3.37333871e-03 3.36565454e+01] [-6.63619991e-02 9.97795610e-01 7.95755665e-05 -2.91041762e-01] [ 3.37118334e-03 1.44461802e-04 9.99994307e-01 -2.44900233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters 0.0593654406335553 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.28, Z:-0.25 [[ 9.97802238e-01 6.61680849e-02 -3.53247944e-03 3.37184450e+01] [-6.61681996e-02 9.97808480e-01 8.45301395e-05 -2.80361097e-01] [ 3.53033113e-03 1.49393442e-04 9.99993757e-01 -2.46664350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters 0.05861677480299998 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.28, Z:-0.25 [[ 9.97800587e-01 6.61839716e-02 -3.69731967e-03 3.37816732e+01] [-6.61840956e-02 9.97807425e-01 8.89591571e-05 -2.81875570e-01] [ 3.69510069e-03 1.55940259e-04 9.99993161e-01 -2.46969190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters 0.05929711285151411 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.28, Z:-0.25 [[ 9.97812975e-01 6.59904977e-02 -3.81077623e-03 3.38437818e+01] [-6.59906270e-02 9.97820239e-01 9.19454298e-05 -2.80990197e-01] [ 3.80853718e-03 1.59731170e-04 9.99992735e-01 -2.47775323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters 0.05889063636304328 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.28, Z:-0.25 [[ 9.97824118e-01 6.58487333e-02 -3.31269969e-03 3.39058448e+01] [-6.58488287e-02 9.97829607e-01 8.03856290e-05 -2.82443039e-01] [ 3.31080313e-03 1.37926675e-04 9.99994510e-01 -2.47729920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters 0.057710500141783534 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.29, Z:-0.25 [[ 9.97787278e-01 6.64647226e-02 -1.72888929e-03 3.39674420e+01] [-6.64647485e-02 9.97788773e-01 4.25437861e-05 -2.89422300e-01] [ 1.72789399e-03 7.24605437e-05 9.99998505e-01 -2.45603109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters 0.058837514427388514 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.28, Z:-0.25 [[ 9.97614415e-01 6.90003276e-02 -2.10576034e-03 3.40270286e+01] [-6.90003735e-02 9.97616633e-01 5.09215026e-05 -2.82895054e-01] [ 2.10425514e-03 9.44982249e-05 9.99997782e-01 -2.47649421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters 0.05633968615993296 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.29, Z:-0.25 [[ 9.97419125e-01 7.17889353e-02 -1.19890519e-03 3.40871883e+01] [-7.17889522e-02 9.97419844e-01 2.89665411e-05 -2.92811593e-01] [ 1.19789131e-03 5.71763655e-05 9.99999281e-01 -2.45872393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters 0.0580315827968156 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.29, Z:-0.25 [[ 9.97180303e-01 7.50324217e-02 -1.25665019e-03 3.41473473e+01] [-7.50324428e-02 9.97181093e-01 3.03824862e-05 -2.86704182e-01] [ 1.25538748e-03 6.39927169e-05 9.99999210e-01 -2.47512907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters 0.057645853431965516 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.29, Z:-0.25 [[ 9.96988404e-01 7.75387809e-02 -1.36394551e-03 3.42081546e+01] [-7.75388081e-02 9.96989334e-01 3.29570563e-05 -2.85647214e-01] [ 1.36239457e-03 7.29009060e-05 9.99999069e-01 -2.48498317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters 0.059463716298081185 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.28, Z:-0.25 [[ 9.97004962e-01 7.73222594e-02 -1.54059708e-03 3.42696042e+01] [-7.73222931e-02 9.97006149e-01 3.77646415e-05 -2.82287684e-01] [ 1.53890481e-03 8.14709641e-05 9.99998813e-01 -2.50049278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters 0.057961635158218665 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.29, Z:-0.25 [[ 9.97147855e-01 7.54638224e-02 -1.16934805e-03 3.43299069e+01] [-7.54638408e-02 9.97148539e-01 2.84128330e-05 -2.89767924e-01] [ 1.16815784e-03 5.99116996e-05 9.99999316e-01 -2.49213995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters 0.05706404274640999 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.29, Z:-0.25 [[ 9.97181591e-01 7.50210000e-02 -8.51463126e-04 3.43917560e+01] [-7.50210089e-02 9.97181953e-01 2.15317619e-05 -2.93568350e-01] [ 8.50678997e-04 4.24065462e-05 9.99999637e-01 -2.49414941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters 0.05628729295382724 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.30, Z:-0.25 [[ 9.97292208e-01 7.35377978e-02 -6.67138343e-04 3.44519574e+01] [-7.35378033e-02 9.97292430e-01 1.62371281e-05 -3.01086364e-01] [ 6.66526062e-04 3.28667270e-05 9.99999777e-01 -2.48896393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters 0.05682774461426173 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.30, Z:-0.25 [[ 9.97431572e-01 7.16061915e-02 -1.67731783e-03 3.45121558e+01] [-7.16062239e-02 9.97432979e-01 4.08233534e-05 -3.00375428e-01] [ 1.67593532e-03 7.93878942e-05 9.99998592e-01 -2.50134115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters 0.058416617657893674 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.30, Z:-0.25 [[ 9.97616873e-01 6.89698422e-02 -1.93271136e-03 3.45717932e+01] [-6.89698804e-02 9.97618742e-01 4.69783095e-05 -3.01482440e-01] [ 1.93134916e-03 8.64325170e-05 9.99998131e-01 -2.51254268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters 0.05783122052855538 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.31, Z:-0.25 [[ 9.97683158e-01 6.80040406e-02 -1.94100392e-03 3.46332174e+01] [-6.80040769e-02 9.97685042e-01 4.73704405e-05 -3.05789410e-01] [ 1.93973196e-03 8.47354895e-05 9.99998115e-01 -2.51364482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters 0.05800192452167281 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.31, Z:-0.25 [[ 9.97654647e-01 6.84289178e-02 -1.63987516e-03 3.46956667e+01] [-6.84289429e-02 9.97655992e-01 4.08843713e-05 -3.09252121e-01] [ 1.63882895e-03 7.14264404e-05 9.99998655e-01 -2.51530178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters 0.05819494334682667 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.31, Z:-0.25 [[ 9.97493177e-01 7.07429562e-02 -1.67192681e-03 3.47561251e+01] [-7.07429868e-02 9.97494575e-01 4.09035664e-05 -3.12450469e-01] [ 1.67063156e-03 7.74760678e-05 9.99998601e-01 -2.51447748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters 0.05574334515774849 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.32, Z:-0.25 [[ 9.97306788e-01 7.33278810e-02 -1.48039634e-03 3.48163231e+01] [-7.33279078e-02 9.97307885e-01 3.62178979e-05 -3.20501313e-01] [ 1.47906672e-03 7.24340107e-05 9.99998904e-01 -2.50682876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters 0.05579814068609045 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.32, Z:-0.25 [[ 9.96887764e-01 7.88187294e-02 -1.54724844e-03 3.48771852e+01] [-7.88187653e-02 9.96888961e-01 3.78725917e-05 -3.22879363e-01] [ 1.54541996e-03 8.41974883e-05 9.99998802e-01 -2.50172826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters 0.05511946292510892 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.33, Z:-0.25 [[ 9.96592300e-01 8.24739647e-02 -1.35391496e-03 3.49375241e+01] [-8.24739955e-02 9.96593216e-01 3.31806487e-05 -3.30282094e-01] [ 1.35203901e-03 7.85951973e-05 9.99999083e-01 -2.49083260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters 0.0554492712944355 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.33, Z:-0.25 [[ 9.96209256e-01 8.69859114e-02 -7.54071154e-04 3.49978065e+01] [-8.69859222e-02 9.96209541e-01 1.85331097e-05 -3.30158351e-01] [ 7.52824998e-04 4.71307194e-05 9.99999716e-01 -2.48843998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters 0.05740911210126435 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.32, Z:-0.25 [[ 9.95968930e-01 8.96962558e-02 -6.87655112e-04 3.50576519e+01] [-8.96962652e-02 9.95969166e-01 1.71239242e-05 -3.23387601e-01] [ 6.86419240e-04 4.46251989e-05 9.99999763e-01 -2.50617203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters 0.054616146345607956 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.34, Z:-0.25 [[ 9.95703248e-01 9.26007737e-02 -3.73321458e-04 3.51179169e+01] [-9.26007767e-02 9.95703317e-01 9.21754581e-06 -3.35289038e-01] [ 3.72570966e-04 2.53919167e-05 9.99999930e-01 -2.49645479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters 0.056460934216592734 Centerline is valid? [True, True] Translation: X:35.18, Y:-0.33, Z:-0.25 [[ 9.95645478e-01 9.32206090e-02 2.72719146e-05 3.51800399e+01] [-9.32206090e-02 9.95645478e-01 -2.81465813e-07 -3.34241536e-01] [-2.71793968e-05 -2.26206432e-06 1.00000000e+00 -2.49892919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters 0.055424610357418004 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.34, Z:-0.25 [[ 9.95604244e-01 9.36599493e-02 6.08443991e-05 3.52416478e+01] [-9.36599495e-02 9.95604246e-01 -7.70624867e-07 -3.40984773e-01] [-6.06491188e-05 -4.93144596e-06 9.99999998e-01 -2.49536642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters 0.05517292989890651 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.34, Z:-0.25 [[ 9.95516210e-01 9.45905273e-02 -3.28448590e-04 3.53027315e+01] [-9.45905297e-02 9.95516264e-01 8.16219296e-06 -3.43158160e-01] [ 3.27747979e-04 2.29425307e-05 9.99999946e-01 -2.49715130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters 0.05487636206930698 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.35, Z:-0.25 [[ 9.95490323e-01 9.48616865e-02 -5.26740127e-04 3.53643359e+01] [-9.48616924e-02 9.95490462e-01 1.38608912e-05 -3.48481959e-01] [ 5.25679640e-04 3.61690768e-05 9.99999861e-01 -2.49966823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters 0.05467459734547813 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.35, Z:-0.25 [[ 9.95456777e-01 9.52138533e-02 -3.57754162e-04 3.54253501e+01] [-9.52138561e-02 9.95456841e-01 9.31453779e-06 -3.48842815e-01] [ 3.57015701e-04 2.47909335e-05 9.99999936e-01 -2.50673810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters 0.05446876062369584 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.35, Z:-0.25 [[ 9.95336923e-01 9.64563336e-02 7.65635476e-04 3.54860226e+01] [-9.64563474e-02 9.95337216e-01 -1.89754225e-05 -3.49567083e-01] [-7.63895782e-04 -5.49634628e-05 9.99999707e-01 -2.50950751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters 0.05430695388544498 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.35, Z:-0.25 [[ 9.95219453e-01 9.76514703e-02 1.55919585e-03 3.55468429e+01] [-9.76515289e-02 9.95220668e-01 -3.87120332e-05 -3.52525288e-01] [-1.55552422e-03 -1.13730890e-04 9.99998784e-01 -2.50735384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters 0.054028582688144075 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.35, Z:-0.25 [[ 9.95054014e-01 9.93128139e-02 2.11512365e-03 3.56072213e+01] [-9.93129252e-02 9.95056250e-01 -5.25799683e-05 -3.53184582e-01] [-2.10988887e-03 -1.57739208e-04 9.99997762e-01 -2.50843416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters 0.053030793558097485 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.36, Z:-0.25 [[ 9.95003755e-01 9.98197077e-02 1.88496513e-03 3.56691672e+01] [-9.98197973e-02 9.95005531e-01 -4.67024840e-05 -3.60519011e-01] [-1.88021255e-03 -1.41687690e-04 9.99998222e-01 -2.51587466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters 0.05705995025799461 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.34, Z:-0.25 [[ 9.94942337e-01 1.00443272e-01 9.45924633e-04 3.57307726e+01] [-1.00443295e-01 9.94942784e-01 -2.32325802e-05 -3.44357166e-01] [-9.43474444e-04 -7.18967093e-05 9.99999552e-01 -2.53744131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters 0.05679432570807668 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.35, Z:-0.25 [[ 9.94913082e-01 1.00733113e-01 8.94262740e-04 3.57925711e+01] [-1.00733134e-01 9.94913481e-01 -2.16416056e-05 -3.45850150e-01] [-8.91894082e-04 -6.85503717e-05 9.99999600e-01 -2.54410523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters 0.05616899739178589 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.35, Z:-0.25 [[ 9.95132967e-01 9.85311854e-02 1.40810590e-03 3.58528294e+01] [-9.85312335e-02 9.95133958e-01 -3.52760138e-05 -3.47938133e-01] [-1.40472979e-03 -1.03638087e-04 9.99999008e-01 -2.54773538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters 0.05260841832092817 Centerline is valid? [True, True] Translation: X:35.91, Y:-0.36, Z:-0.25 [[ 9.95283463e-01 9.69763844e-02 2.53180109e-03 3.59126325e+01] [-9.69765353e-02 9.95286666e-01 -6.33717938e-05 -3.62469445e-01] [-2.52601344e-03 -1.82452400e-04 9.99996793e-01 -2.54441990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters 0.05279472665591607 Centerline is valid? [True, True] Translation: X:35.97, Y:-0.36, Z:-0.26 [[ 9.95314556e-01 9.66523592e-02 2.69367926e-03 3.59735720e+01] [-9.66525299e-02 9.95318182e-01 -6.70272819e-05 -3.57458374e-01] [-2.68754629e-03 -1.93637686e-04 9.99996370e-01 -2.55008175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters 0.052989328603577676 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.36, Z:-0.26 [[ 9.95228793e-01 9.75306071e-02 2.72574029e-03 3.60346604e+01] [-9.75307833e-02 9.95232506e-01 -6.85414877e-05 -3.55901993e-01] [-2.71943023e-03 -1.97629123e-04 9.99996283e-01 -2.56045149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters 0.05289927903352923 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.36, Z:-0.26 [[ 9.94981418e-01 1.00031597e-01 2.37868617e-03 3.60950038e+01] [-1.00031739e-01 9.94984245e-01 -5.98110470e-05 -3.57170675e-01] [-2.37273826e-03 -1.78433233e-04 9.99997169e-01 -2.57303361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters 0.06268895116630488 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.33, Z:-0.26 [[ 9.94668762e-01 1.03117400e-01 9.24852867e-04 3.61552827e+01] [-1.03117423e-01 9.94669189e-01 -2.32484669e-05 -3.27479281e-01] [-9.22319973e-04 -7.22439206e-05 9.99999572e-01 -2.60087522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters 0.05619054039903608 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.34, Z:-0.26 [[ 9.94376241e-01 1.05897590e-01 1.26149511e-03 3.62157516e+01] [-1.05897635e-01 9.94377036e-01 -3.17116243e-05 -3.41999405e-01] [-1.25775995e-03 -1.02056063e-04 9.99999204e-01 -2.59363954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters 0.07645919545798094 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.30, Z:-0.26 [[ 9.94061871e-01 1.08816139e-01 2.12532017e-04 3.62762177e+01] [-1.08816140e-01 9.94061893e-01 -5.32430249e-06 -2.98759917e-01] [-2.11849349e-04 -1.78342277e-05 9.99999977e-01 -2.62961178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters 0.05370315144707251 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.35, Z:-0.26 [[ 9.93706773e-01 1.12000228e-01 1.67293774e-03 3.63354717e+01] [-1.12000315e-01 9.93708170e-01 -4.21686014e-05 -3.45763913e-01] [-1.66713479e-03 -1.45466328e-04 9.99998600e-01 -2.58991720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters 0.056137868528384684 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.34, Z:-0.26 [[ 9.93288583e-01 1.15631198e-01 2.68624502e-03 3.63958792e+01] [-1.15631435e-01 9.93292186e-01 -6.76350546e-05 -3.36270854e-01] [-2.67604691e-03 -2.43433238e-04 9.99996390e-01 -2.59902909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters 0.05754750528221894 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.33, Z:-0.26 [[ 9.93095283e-01 1.17291875e-01 2.09168688e-03 3.64557545e+01] [-1.17292022e-01 9.93097467e-01 -5.25399498e-05 -3.30793372e-01] [-2.08341145e-03 -1.93161008e-04 9.99997811e-01 -2.60175738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters 0.05845865105265015 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.33, Z:-0.26 [[ 9.93056382e-01 1.17627924e-01 1.64134685e-03 3.65181927e+01] [-1.17628016e-01 9.93057727e-01 -4.08530678e-05 -3.27442021e-01] [-1.63475764e-03 -1.52498974e-04 9.99998652e-01 -2.61150100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters 0.06026340978215766 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.32, Z:-0.26 [[ 9.93171094e-01 1.16663626e-01 8.80703120e-04 3.65790987e+01] [-1.16663652e-01 9.93171482e-01 -2.22689742e-05 -3.21368846e-01] [-8.77287202e-04 -8.06291408e-05 9.99999612e-01 -2.62039646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters 0.06921775131868975 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.30, Z:-0.26 [[ 9.93511536e-01 1.13731062e-01 2.70743805e-04 3.66406471e+01] [-1.13731065e-01 9.93511573e-01 -6.81575888e-06 -3.00671154e-01] [-2.69762267e-04 -2.40204462e-05 9.99999963e-01 -2.64080753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters 0.06460943989102469 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.31, Z:-0.26 [[ 9.93918834e-01 1.10114837e-01 2.72504458e-04 3.67013160e+01] [-1.10114840e-01 9.93918871e-01 -6.91189454e-06 -3.09427577e-01] [-2.71608425e-04 -2.31369225e-05 9.99999963e-01 -2.63784649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters 0.05896608586676641 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.32, Z:-0.26 [[ 9.94147514e-01 1.08030546e-01 3.49213687e-04 3.67621531e+01] [-1.08030549e-01 9.94147575e-01 -8.86465488e-06 -3.23213919e-01] [-3.48127593e-04 -2.89129717e-05 9.99999939e-01 -2.63244297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters 0.06404781675188066 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.31, Z:-0.27 [[ 9.94366622e-01 1.05994150e-01 5.11980302e-04 3.68227189e+01] [-1.05994157e-01 9.94366752e-01 -1.29809132e-05 -3.06703586e-01] [-5.10472092e-04 -4.13591339e-05 9.99999869e-01 -2.65135817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters 0.05868086105864841 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.32, Z:-0.26 [[ 9.94441822e-01 1.05287334e-01 2.02025595e-04 3.68837821e+01] [-1.05287335e-01 9.94441842e-01 -4.88854116e-06 -3.20219494e-01] [-2.01417407e-04 -1.64093668e-05 9.99999980e-01 -2.63705071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters 0.055295130949353496 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.33, Z:-0.26 [[ 9.94324882e-01 1.06386086e-01 1.73857624e-04 3.69448239e+01] [-1.06386087e-01 9.94324897e-01 -4.29895049e-06 -3.31985475e-01] [-1.73328313e-04 -1.42214789e-05 9.99999985e-01 -2.63296311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters 0.059067967242092186 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.32, Z:-0.27 [[ 9.94158341e-01 1.07930210e-01 -5.13584750e-04 3.70045509e+01] [-1.07930217e-01 9.94158472e-01 1.29917380e-05 -3.16203428e-01] [ 5.11986832e-04 4.25154691e-05 9.99999868e-01 -2.65057721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters 0.059655857818912854 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.31, Z:-0.26 [[ 9.94076363e-01 1.08683860e-01 5.67030735e-05 3.70659399e+01] [-1.08683860e-01 9.94076365e-01 -1.33096865e-06 -3.12936648e-01] [-5.65118400e-05 -4.83962442e-06 9.99999998e-01 -2.64803545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters 0.05908644134486406 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.31, Z:-0.26 [[ 9.94137559e-01 1.08119278e-01 8.57523398e-04 3.71278528e+01] [-1.08119299e-01 9.94137926e-01 -2.16369945e-05 -3.12840780e-01] [-8.54835909e-04 -7.12046798e-05 9.99999632e-01 -2.64752864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters 0.05960749123390304 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.31, Z:-0.26 [[ 9.94206633e-01 1.07472322e-01 1.69423415e-03 3.71894671e+01] [-1.07472404e-01 9.94208067e-01 -4.28890683e-05 -3.10798173e-01] [-1.68903064e-03 -1.39442820e-04 9.99998564e-01 -2.64593135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters 0.056828909900327136 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.32, Z:-0.26 [[ 9.94226858e-01 1.07285036e-01 1.69555500e-03 3.72512409e+01] [-1.07285119e-01 9.94228294e-01 -4.25388596e-05 -3.22788001e-01] [-1.69033254e-03 -1.39614542e-04 9.99998562e-01 -2.63977407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters 0.06061711298338324 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.30, Z:-0.27 [[ 9.94307278e-01 1.06549847e-01 4.09414875e-04 3.73117875e+01] [-1.06549851e-01 9.94307361e-01 -1.04123720e-05 -3.03957988e-01] [-4.08193661e-04 -3.32699969e-05 9.99999916e-01 -2.66645260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters 0.06115942206531706 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.30, Z:-0.27 [[ 9.94331552e-01 1.06322899e-01 4.53603210e-04 3.73737599e+01] [-1.06322905e-01 9.94331655e-01 -1.08720079e-05 -3.03080267e-01] [-4.52187974e-04 -3.74180304e-05 9.99999897e-01 -2.67393462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters 0.06387366293171919 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.29, Z:-0.27 [[ 9.94359120e-01 1.06065534e-01 2.07651343e-04 3.74349320e+01] [-1.06065535e-01 9.94359141e-01 -4.63534476e-06 -2.94775622e-01] [-2.06971661e-04 -1.74154535e-05 9.99999978e-01 -2.68505640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters 0.060772821778408447 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.30, Z:-0.27 [[ 9.94572787e-01 1.04042984e-01 -1.70103675e-04 3.74951796e+01] [-1.04042985e-01 9.94572801e-01 4.40951056e-06 -3.02492826e-01] [ 1.69639268e-04 1.33125149e-05 9.99999986e-01 -2.68552118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters 0.05772504566640315 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.31, Z:-0.27 [[ 9.95066092e-01 9.92104871e-02 8.67439212e-04 3.75551650e+01] [-9.92105051e-02 9.95066468e-01 -2.23627792e-05 -3.12143990e-01] [-8.65378295e-04 -6.38066390e-05 9.99999624e-01 -2.68048700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters 0.05912837012411508 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.31, Z:-0.27 [[ 9.95453422e-01 9.52411299e-02 1.26975338e-03 3.76154961e+01] [-9.52411652e-02 9.95454228e-01 -3.27398125e-05 -3.13719105e-01] [-1.26709955e-03 -8.83418330e-05 9.99999193e-01 -2.68194530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters 0.05665298097679214 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.33, Z:-0.27 [[ 9.96091690e-01 8.83202378e-02 9.38143443e-04 3.76756800e+01] [-8.83202540e-02 9.96092130e-01 -2.41474531e-05 -3.26493559e-01] [-9.36610009e-04 -5.88039898e-05 9.99999560e-01 -2.67665432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters 0.06536908936022233 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.30, Z:-0.27 [[ 9.96684434e-01 8.13579797e-02 -1.00858529e-03 3.77361987e+01] [-8.13579950e-02 9.96684943e-01 2.59385813e-05 -3.01224990e-01] [ 1.00735209e-03 5.62038970e-05 9.99999491e-01 -2.73090187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters 0.05986962831401968 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.32, Z:-0.27 [[ 9.97144898e-01 7.54876520e-02 -1.91469826e-03 3.77964350e+01] [-7.54876961e-02 9.97146732e-01 4.93169237e-05 -3.17654574e-01] [ 1.91295793e-03 9.53600413e-05 9.99998166e-01 -2.72304282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters 0.05894796047251472 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.33, Z:-0.27 [[ 9.97958183e-01 6.38649867e-02 -8.53819983e-04 3.78569450e+01] [-6.38649912e-02 9.97958547e-01 2.20201833e-05 -3.31411548e-01] [ 8.53483269e-04 3.25539836e-05 9.99999635e-01 -2.71218932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters 0.057528679838364946 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.34, Z:-0.27 [[ 9.98375196e-01 5.69803167e-02 -4.59326615e-04 3.79167678e+01] [-5.69803173e-02 9.98375302e-01 1.17907610e-05 -3.43483303e-01] [ 4.59252189e-04 1.44009730e-05 9.99999894e-01 -2.69594398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters 0.057161975005842205 Centerline is valid? [True, True] Translation: X:37.98, Y:-0.35, Z:-0.27 [[ 9.98526928e-01 5.42335892e-02 -1.64067805e-03 3.79776795e+01] [-5.42335926e-02 9.98528275e-01 4.24211315e-05 -3.47856760e-01] [ 1.64056407e-03 4.66212229e-05 9.99998653e-01 -2.70588479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters 0.05648387449110755 Centerline is valid? [True, True] Translation: X:38.04, Y:-0.36, Z:-0.27 [[ 9.98658680e-01 5.17624017e-02 -1.22216932e-03 3.80389198e+01] [-5.17624016e-02 9.98659428e-01 3.17165299e-05 -3.62259697e-01] [ 1.22217264e-03 3.15884315e-05 9.99999253e-01 -2.67829445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters 0.056492863791313755 Centerline is valid? [True, True] Translation: X:38.10, Y:-0.36, Z:-0.27 [[ 9.98706197e-01 5.08503584e-02 -4.16174150e-04 3.81004086e+01] [-5.08503580e-02 9.98706284e-01 1.14925471e-05 -3.63170789e-01] [ 4.16220139e-04 9.68492654e-06 9.99999913e-01 -2.68320580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters 0.0572827706620224 Centerline is valid? [True, True] Translation: X:38.16, Y:-0.36, Z:-0.27 [[ 9.98600386e-01 5.28870974e-02 4.74331160e-04 3.81621317e+01] [-5.28870976e-02 9.98600498e-01 -1.20700871e-05 -3.55900431e-01] [-4.74305685e-04 -1.30328048e-05 9.99999887e-01 -2.69850939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters 0.05769767520706597 Centerline is valid? [True, True] Translation: X:38.22, Y:-0.36, Z:-0.27 [[ 9.98531665e-01 5.41704448e-02 2.77020565e-04 3.82238032e+01] [-5.41704451e-02 9.98531703e-01 -6.45295112e-06 -3.57356321e-01] [-2.76963376e-04 -8.56285131e-06 9.99999962e-01 -2.69549655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters 0.05772803109280087 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.35, Z:-0.27 [[ 9.98275046e-01 5.87100178e-02 -2.58608713e-04 3.82847001e+01] [-5.87100180e-02 9.98275079e-01 6.80460205e-06 -3.54745280e-01] [ 2.58562132e-04 8.39005778e-06 9.99999967e-01 -2.70500753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters 0.05984519003698196 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.35, Z:-0.27 [[ 9.98046019e-01 6.24749916e-02 -1.00957990e-03 3.83445833e+01] [-6.24749970e-02 9.98046529e-01 2.62437300e-05 -3.50009555e-01] [ 1.00924729e-03 3.68810510e-05 9.99999490e-01 -2.72617070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters 0.05857644332248806 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.36, Z:-0.27 [[ 9.97762822e-01 6.68470706e-02 -9.05791445e-04 3.84050177e+01] [-6.68470765e-02 9.97763232e-01 2.37367650e-05 -3.56216633e-01] [ 9.05352133e-04 3.68658484e-05 9.99999589e-01 -2.71686286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters 0.05942158883662305 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.36, Z:-0.27 [[ 9.97797568e-01 6.63324924e-02 -1.21181809e-04 3.84672387e+01] [-6.63324924e-02 9.97797575e-01 3.45655010e-06 -3.55721657e-01] [ 1.21144197e-04 4.58935417e-06 9.99999993e-01 -2.71437467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters 0.05962445455918339 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.36, Z:-0.27 [[ 9.97875314e-01 6.51524067e-02 -1.44650276e-04 3.85272518e+01] [-6.51524068e-02 9.97875325e-01 3.83560498e-06 -3.59654030e-01] [ 1.44592840e-04 5.59685812e-06 9.99999990e-01 -2.71228371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters 0.058688357487551086 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.37, Z:-0.27 [[ 9.98113610e-01 6.13939760e-02 -4.66138292e-05 3.85877989e+01] [-6.13939760e-02 9.98113611e-01 1.22041032e-06 -3.65141206e-01] [ 4.66008232e-05 1.64370017e-06 9.99999999e-01 -2.71575426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters 0.05767353484374689 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.37, Z:-0.27 [[ 9.98422503e-01 5.61430399e-02 6.81018617e-04 3.86480733e+01] [-5.61430408e-02 9.98422735e-01 -1.77846566e-05 -3.74867667e-01] [-6.80942955e-04 -2.04778547e-05 9.99999768e-01 -2.70880219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters 0.05736964105100442 Centerline is valid? [True, True] Translation: X:38.71, Y:-0.38, Z:-0.27 [[ 9.98669456e-01 5.15612160e-02 8.70546459e-04 3.87081799e+01] [-5.15612158e-02 9.98669836e-01 -2.27194229e-05 -3.82012522e-01] [-8.70559930e-04 -2.21972401e-05 9.99999621e-01 -2.70221895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters 0.05667304997488859 Centerline is valid? [True, True] Translation: X:38.77, Y:-0.39, Z:-0.27 [[ 9.98827871e-01 4.84027092e-02 2.48274635e-04 3.87692377e+01] [-4.84027091e-02 9.98827902e-01 -6.36485278e-06 -3.88277208e-01] [-2.48291709e-04 -5.65977259e-06 9.99999969e-01 -2.70099237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters 0.05742897665523991 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.39, Z:-0.27 [[ 9.98717727e-01 5.06110378e-02 1.19332590e-03 3.88305639e+01] [-5.06110369e-02 9.98718440e-01 -3.09756356e-05 -3.88134721e-01] [-1.19336429e-03 -2.94595447e-05 9.99999288e-01 -2.70045797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters 0.057071609870559266 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.39, Z:-0.27 [[ 9.98662928e-01 5.16730363e-02 1.50140739e-03 3.88928791e+01] [-5.16730367e-02 9.98664056e-01 -3.86126017e-05 -3.88864699e-01] [-1.50139682e-03 -3.90213052e-05 9.99998872e-01 -2.70388356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters 0.05764553623759715 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.39, Z:-0.27 [[ 9.98609433e-01 5.26989541e-02 1.42151718e-03 3.89551771e+01] [-5.26989552e-02 9.98610444e-01 -3.66714615e-05 -3.92518506e-01] [-1.42147445e-03 -3.82920028e-05 9.99998989e-01 -2.70209512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters 0.05764553623759715 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.39, Z:-0.27 [[ 9.98602747e-01 5.28254882e-02 1.42151510e-03 3.90176693e+01] [-5.28254894e-02 9.98603758e-01 -3.67519105e-05 -3.94153190e-01] [-1.42147176e-03 -3.83916722e-05 9.99998989e-01 -2.70670355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters 0.05694411625722539 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.39, Z:-0.27 [[ 9.98455720e-01 5.55415320e-02 1.14600348e-03 3.90785548e+01] [-5.55415338e-02 9.98456377e-01 -3.02828223e-05 -3.94723285e-01] [-1.14591644e-03 -3.34147341e-05 9.99999343e-01 -2.71547723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters 0.05797112704835835 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.39, Z:-0.27 [[ 9.98419000e-01 5.61967437e-02 1.19422132e-03 3.91393577e+01] [-5.61967467e-02 9.98419714e-01 -3.10403488e-05 -3.93543258e-01] [-1.19407848e-03 -3.61200792e-05 9.99999286e-01 -2.73194499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters 0.05841287742207648 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.40, Z:-0.27 [[ 9.98412921e-01 5.63105129e-02 8.75253665e-04 3.92020372e+01] [-5.63105148e-02 9.98413304e-01 -2.24896854e-05 -3.97389098e-01] [-8.75131309e-04 -2.68319920e-05 9.99999617e-01 -2.73416241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters 0.05660404517978862 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.41, Z:-0.27 [[ 9.98411339e-01 5.63452184e-02 -1.24523027e-04 3.92638501e+01] [-5.63452183e-02 9.98411346e-01 4.20999184e-06 -4.14705069e-01] [ 1.24562416e-04 2.81297358e-06 9.99999992e-01 -2.71276805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters 0.056674098160655724 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.41, Z:-0.27 [[ 9.98485373e-01 5.50175349e-02 1.76653410e-04 3.93251904e+01] [-5.50175350e-02 9.98485388e-01 -4.58200309e-06 -4.12185064e-01] [-1.76637939e-04 -5.14397210e-06 9.99999984e-01 -2.73271863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters 0.0583269759579874 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.42, Z:-0.27 [[ 9.98581276e-01 5.32486077e-02 -1.46806873e-04 3.93860874e+01] [-5.32486076e-02 9.98581287e-01 4.12413672e-06 -4.18517809e-01] [ 1.46818201e-04 3.69897590e-06 9.99999989e-01 -2.73733849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters 0.05659753398897736 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.43, Z:-0.27 [[ 9.98729050e-01 5.04006835e-02 -2.37069132e-04 3.94471215e+01] [-5.04006834e-02 9.98729078e-01 6.50443419e-06 -4.29869545e-01] [ 2.37095664e-04 5.45227889e-06 9.99999972e-01 -2.73432528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters 0.056601771278427235 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.45, Z:-0.27 [[ 9.98753538e-01 4.99136297e-02 -1.42201864e-06 3.95080733e+01] [-4.99136297e-02 9.98753538e-01 8.07734013e-07 -4.45180565e-01] [ 1.46056307e-06 -7.35749090e-07 1.00000000e+00 -2.70583786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters 0.05736920164520596 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.44, Z:-0.27 [[ 9.98737889e-01 5.02256897e-02 9.55879948e-05 3.95699329e+01] [-5.02256897e-02 9.98737894e-01 -2.29381855e-06 -4.39344105e-01] [-9.55825612e-05 -2.51004946e-06 9.99999995e-01 -2.73590438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters 0.056790264256001505 Centerline is valid? [True, True] Translation: X:39.63, Y:-0.45, Z:-0.27 [[ 9.98678641e-01 5.13874031e-02 5.53339625e-04 3.96304832e+01] [-5.13874027e-02 9.98678795e-01 -1.48755561e-05 -4.45026920e-01] [-5.53372966e-04 -1.35787860e-05 9.99999847e-01 -2.72943123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters 0.057757546094156086 Centerline is valid? [True, True] Translation: X:39.69, Y:-0.45, Z:-0.27 [[ 9.98562481e-01 5.35984188e-02 4.25102528e-04 3.96912719e+01] [-5.35984187e-02 9.98562572e-01 -1.14648630e-05 -4.48084726e-01] [-4.25105973e-04 -1.13364413e-05 9.99999910e-01 -2.73501197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters 0.05835815651916016 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.45, Z:-0.27 [[ 9.98324246e-01 5.78642979e-02 6.49898242e-04 3.97510749e+01] [-5.78642987e-02 9.98324458e-01 -1.76575237e-05 -4.48123323e-01] [-6.49831050e-04 -1.99779720e-05 9.99999789e-01 -2.74425869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters 0.057623572376169566 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.45, Z:-0.27 [[ 9.98101703e-01 6.15860954e-02 3.78500297e-04 3.98115373e+01] [-6.15860959e-02 9.98101775e-01 -1.02472447e-05 -4.52879728e-01] [-3.78412906e-04 -1.30825631e-05 9.99999928e-01 -2.73911689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters 0.06070628112129501 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.45, Z:-0.27 [[ 9.97692946e-01 6.78818511e-02 9.16820804e-04 3.98714025e+01] [-6.78818570e-02 9.97693366e-01 -2.47971292e-05 -4.47705993e-01] [-9.16389310e-04 -3.74955778e-05 9.99999579e-01 -2.73906655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters 0.05853274628898804 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.46, Z:-0.27 [[ 9.97262795e-01 7.39344538e-02 7.83494749e-04 3.99314081e+01] [-7.39344599e-02 9.97263102e-01 -2.12192993e-05 -4.57331337e-01] [-7.82919241e-04 -3.67660433e-05 9.99999693e-01 -2.73342497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters 0.0577454852271747 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.46, Z:-0.27 [[ 9.96882557e-01 7.88947152e-02 8.90121983e-04 3.99917850e+01] [-7.88947250e-02 9.96882953e-01 -2.41187573e-05 -4.64232171e-01] [-8.89250273e-04 -4.61823607e-05 9.99999604e-01 -2.72789071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters 0.05748994300229257 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.46, Z:-0.27 [[ 9.96693418e-01 8.12475621e-02 1.03188855e-03 4.00514780e+01] [-8.12475765e-02 9.96693950e-01 -2.80154241e-05 -4.63573296e-01] [-1.03075326e-03 -5.59156552e-05 9.99999467e-01 -2.73219242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters 0.059359522884425475 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.46, Z:-0.27 [[ 9.96611974e-01 8.22444945e-02 6.45050953e-04 4.01119929e+01] [-8.22445004e-02 9.96612182e-01 -1.74348472e-05 -4.61464286e-01] [-6.44299558e-04 -3.56761159e-05 9.99999792e-01 -2.73974659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters 0.05874832009657093 Centerline is valid? [True, True] Translation: X:40.17, Y:-0.46, Z:-0.27 [[ 9.96418402e-01 8.45567343e-02 7.26042934e-04 4.01722351e+01] [-8.45567423e-02 9.96418665e-01 -1.96767236e-05 -4.64112307e-01] [-7.25106531e-04 -4.17855758e-05 9.99999736e-01 -2.74592269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters 0.05693254106045369 Centerline is valid? [True, True] Translation: X:40.23, Y:-0.48, Z:-0.27 [[ 9.96372224e-01 8.51016052e-02 3.27174155e-04 4.02341072e+01] [-8.51016069e-02 9.96372278e-01 -8.65842250e-06 -4.75483825e-01] [-3.26724104e-04 -1.92160347e-05 9.99999946e-01 -2.73786898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters 0.06053910867434756 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.47, Z:-0.28 [[ 9.96334361e-01 8.55442590e-02 1.42233392e-04 4.02953377e+01] [-8.55442594e-02 9.96334371e-01 -3.15768116e-06 -4.68298775e-01] [-1.41982138e-04 -9.02114391e-06 9.99999990e-01 -2.75506753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters 0.05551230878865982 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.48, Z:-0.27 [[ 9.96191506e-01 8.71921659e-02 -9.81464991e-05 4.03562782e+01] [-8.71921661e-02 9.96191511e-01 2.76221301e-06 -4.80911845e-01] [ 9.80135526e-05 5.80591271e-06 9.99999995e-01 -2.74149795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters 0.06048447182807617 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.47, Z:-0.28 [[ 9.96010890e-01 8.92303380e-02 -5.03741118e-04 4.04161596e+01] [-8.92303425e-02 9.96011017e-01 1.36838214e-05 -4.70459031e-01] [ 5.02952715e-04 3.13197574e-05 9.99999873e-01 -2.75801590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters 0.057603261142002926 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.48, Z:-0.27 [[ 9.95795014e-01 9.16062644e-02 -7.63243430e-04 4.04769805e+01] [-9.16062752e-02 9.95795305e-01 2.08905672e-05 -4.81979558e-01] [ 7.61947931e-04 4.91151651e-05 9.99999709e-01 -2.74066799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters 0.0636610790390696 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.47, Z:-0.28 [[ 9.95727637e-01 9.23305352e-02 -1.24312542e-03 4.05387491e+01] [-9.23305640e-02 9.95728410e-01 3.43022157e-05 -4.65719842e-01] [ 1.24098244e-03 8.06228073e-05 9.99999227e-01 -2.76728954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters 0.059485728697459474 Centerline is valid? [True, True] Translation: X:40.60, Y:-0.48, Z:-0.27 [[ 9.95745840e-01 9.21332093e-02 -1.30177587e-03 4.06007552e+01] [-9.21332401e-02 9.95746687e-01 3.64314089e-05 -4.79155952e-01] [ 1.29959555e-03 8.36604046e-05 9.99999152e-01 -2.74800706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters 0.06010490718891313 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.48, Z:-0.27 [[ 9.95828045e-01 9.12482882e-02 -5.03894915e-04 4.06619790e+01] [-9.12482928e-02 9.95828172e-01 1.39255052e-05 -4.77057157e-01] [ 5.03063430e-04 3.21121421e-05 9.99999873e-01 -2.74845122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters 0.05898699774075114 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.49, Z:-0.27 [[ 9.95908372e-01 9.03643073e-02 -8.98146835e-04 4.07235975e+01] [-9.03643214e-02 9.95908775e-01 2.48905046e-05 -4.85213778e-01] [ 8.96721528e-04 5.63717674e-05 9.99999596e-01 -2.74177483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters 0.0638528865716688 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.47, Z:-0.28 [[ 9.95858956e-01 9.09037564e-02 -1.20248552e-03 4.07862123e+01] [-9.09037815e-02 9.95859680e-01 3.38859720e-05 -4.72552606e-01] [ 1.20058721e-03 7.55648324e-05 9.99999276e-01 -2.76354058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters 0.05694129665864156 Centerline is valid? [True, True] Translation: X:40.85, Y:-0.49, Z:-0.27 [[ 9.95804427e-01 9.14914064e-02 -1.69269207e-03 4.08472594e+01] [-9.14914572e-02 9.95805860e-01 4.75248600e-05 -4.94809126e-01] [ 1.68994080e-03 1.07541398e-04 9.99998566e-01 -2.73943355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters 0.05453514756673551 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.51, Z:-0.27 [[ 9.95539662e-01 9.43218879e-02 -2.04014552e-03 4.09076543e+01] [-9.43219694e-02 9.95541743e-01 5.64460322e-05 -5.10064426e-01] [ 2.03637413e-03 1.36236280e-04 9.99997917e-01 -2.71953973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters 0.05423436480410978 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.51, Z:-0.27 [[ 9.95276736e-01 9.70564351e-02 -2.06592279e-03 4.09681643e+01] [-9.70565245e-02 9.95278869e-01 5.71891021e-05 -5.12101595e-01] [ 2.06171987e-03 1.43592303e-04 9.99997864e-01 -2.71870063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters 0.054806549648955365 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.51, Z:-0.27 [[ 9.94858579e-01 1.01260668e-01 -1.63853071e-03 4.10279587e+01] [-1.01260730e-01 9.94859921e-01 4.53022621e-05 -5.05156455e-01] [ 1.63469587e-03 1.20849473e-04 9.99998657e-01 -2.72558087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters 0.054242976962179675 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.51, Z:-0.27 [[ 9.94691949e-01 1.02891952e-01 -1.08305795e-03 4.10887794e+01] [-1.02891980e-01 9.94692535e-01 3.00500678e-05 -5.07086258e-01] [ 1.08040157e-03 8.15474165e-05 9.99999413e-01 -2.72080715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters 0.05569666219009009 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.50, Z:-0.27 [[ 9.94479054e-01 1.04925010e-01 -1.46755267e-03 4.11487212e+01] [-1.04925064e-01 9.94480130e-01 4.06411724e-05 -5.02098717e-01] [ 1.46371625e-03 1.13566263e-04 9.99998922e-01 -2.72894981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters 0.05453185869083251 Centerline is valid? [True, True] Translation: X:41.21, Y:-0.50, Z:-0.27 [[ 9.94345832e-01 1.06176579e-01 -1.70335009e-03 4.12099828e+01] [-1.06176653e-01 9.94347281e-01 4.72819556e-05 -5.01097455e-01] [ 1.69874177e-03 1.33841396e-04 9.99998548e-01 -2.73291809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters 0.05546695327990828 Centerline is valid? [True, True] Translation: X:41.27, Y:-0.51, Z:-0.27 [[ 9.94382387e-01 1.05825401e-01 -2.15689413e-03 4.12721996e+01] [-1.05825517e-01 9.94384712e-01 6.08294050e-05 -5.09358089e-01] [ 2.15121984e-03 1.67766747e-04 9.99997672e-01 -2.72338895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters 0.05504778450942293 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.50, Z:-0.27 [[ 9.94700694e-01 1.02795688e-01 -1.89076462e-03 4.13319786e+01] [-1.02795773e-01 9.94702481e-01 5.25436508e-05 -5.03835902e-01] [ 1.88614952e-03 1.42097405e-04 9.99998211e-01 -2.73460556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters 0.056419136560159684 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.50, Z:-0.27 [[ 9.95606854e-01 9.36053963e-02 -2.24093045e-03 4.13913228e+01] [-9.36054922e-02 9.95609365e-01 6.23052225e-05 -5.01731975e-01] [ 2.23692344e-03 1.47731891e-04 9.99997487e-01 -2.74990603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters 0.05529869551414003 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.51, Z:-0.27 [[ 9.96637915e-01 8.19149126e-02 -1.67728399e-03 4.14513399e+01] [-8.19149497e-02 9.96639322e-01 4.66724886e-05 -5.10562162e-01] [ 1.67547035e-03 9.08790621e-05 9.99998592e-01 -2.74742347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters 0.06230695543147041 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.49, Z:-0.28 [[ 9.97094304e-01 7.61598687e-02 -1.61961227e-03 4.15111571e+01] [-7.61598958e-02 9.97095616e-01 4.50357688e-05 -4.88011576e-01] [ 1.61833821e-03 7.84445931e-05 9.99998687e-01 -2.79465682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters 0.056181222591411215 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.51, Z:-0.28 [[ 9.97419437e-01 7.17876015e-02 -1.00312100e-03 4.15717919e+01] [-7.17876097e-02 9.97419941e-01 2.79212648e-05 -5.10295013e-01] [ 1.00253729e-03 4.41624467e-05 9.99999496e-01 -2.76073083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters 0.05991109272053695 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.50, Z:-0.28 [[ 9.97487449e-01 7.08402359e-02 -6.70420892e-04 4.16323584e+01] [-7.08402391e-02 9.97487674e-01 1.90240815e-05 -4.99567699e-01] [ 6.70084247e-04 2.85164937e-05 9.99999775e-01 -2.78405529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters 0.05715074561092672 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.51, Z:-0.28 [[ 9.97488801e-01 7.08137685e-02 -1.22564985e-03 4.16955663e+01] [-7.08137786e-02 9.97489553e-01 3.52087206e-05 -5.06077870e-01] [ 1.22506618e-03 5.16725927e-05 9.99999248e-01 -2.78066461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters 0.06019538668334601 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.50, Z:-0.28 [[ 9.97483649e-01 7.08805077e-02 -1.52434051e-03 4.17573553e+01] [-7.08805236e-02 9.97484812e-01 4.36792676e-05 -4.97660540e-01] [ 1.52360251e-03 6.44766981e-05 9.99998837e-01 -2.79955565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters 0.06089942056784385 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.50, Z:-0.28 [[ 9.97452011e-01 7.13388356e-02 -5.07187474e-04 4.18193735e+01] [-7.13388371e-02 9.97452139e-01 1.50776752e-05 -4.96235405e-01] [ 5.06970855e-04 2.11429072e-05 9.99999871e-01 -2.79723101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters 0.060019342445007784 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.50, Z:-0.28 [[ 9.97218617e-01 7.45296020e-02 -6.07327148e-04 4.18796737e+01] [-7.45296054e-02 9.97218801e-01 1.71492900e-05 -4.96633007e-01] [ 6.06916181e-04 2.81622615e-05 9.99999815e-01 -2.79834792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters 0.0587580239596786 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.50, Z:-0.28 [[ 9.96990925e-01 7.75119277e-02 -9.98554793e-04 4.19410553e+01] [-7.75119382e-02 9.96991424e-01 2.82747371e-05 -4.99320921e-01] [ 9.97742194e-04 4.92102611e-05 9.99999501e-01 -2.80015167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters 0.06131489578966678 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.49, Z:-0.28 [[ 9.96774219e-01 8.02484985e-02 -1.15495381e-03 4.20006618e+01] [-8.02485145e-02 9.96774887e-01 3.25451073e-05 -4.92428176e-01] [ 1.15384065e-03 6.02432037e-05 9.99999333e-01 -2.80846226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters 0.05839391047173223 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.50, Z:-0.28 [[ 9.96571472e-01 8.27238962e-02 -1.43480097e-03 4.20606534e+01] [-8.27239235e-02 9.96572502e-01 4.04260823e-05 -5.00285400e-01] [ 1.43322739e-03 7.84048852e-05 9.99998970e-01 -2.78838535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters 0.05850054288982237 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.50, Z:-0.28 [[ 9.96502527e-01 8.35514198e-02 -1.36867326e-03 4.21228698e+01] [-8.35514450e-02 9.96503464e-01 3.88718513e-05 -5.00032787e-01] [ 1.36713545e-03 7.56187310e-05 9.99999063e-01 -2.79142597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters 0.06280763112199028 Centerline is valid? [True, True] Translation: X:42.18, Y:-0.49, Z:-0.28 [[ 9.96388751e-01 8.48905781e-02 -1.74534509e-03 4.21829889e+01] [-8.48906210e-02 9.96390275e-01 4.95855758e-05 -4.87222296e-01] [ 1.74325422e-03 9.87569185e-05 9.99998476e-01 -2.80456125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters 0.06192399391146394 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.49, Z:-0.28 [[ 9.96443581e-01 8.42457427e-02 -1.68643956e-03 4.22449973e+01] [-8.42457820e-02 9.96445004e-01 4.78776512e-05 -4.86698875e-01] [ 1.68447776e-03 9.43680412e-05 9.99998577e-01 -2.80176675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters 0.061343338060462854 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.49, Z:-0.28 [[ 9.96490231e-01 8.36859917e-02 -1.96837652e-03 4.23069318e+01] [-8.36860425e-02 9.96492169e-01 5.66664939e-05 -4.93082383e-01] [ 1.96621398e-03 1.08258034e-04 9.99998061e-01 -2.79243903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters 0.06296837720155539 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.49, Z:-0.28 [[ 9.96476435e-01 8.38278980e-02 -2.75647140e-03 4.23683761e+01] [-8.38279985e-02 9.96480236e-01 7.92537692e-05 -4.86612499e-01] [ 2.75341294e-03 1.52094967e-04 9.99996198e-01 -2.80022360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters 0.06090831549385957 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.49, Z:-0.28 [[ 9.96408694e-01 8.46208812e-02 -3.00360030e-03 4.24306373e+01] [-8.46210056e-02 9.96413206e-01 8.58949793e-05 -4.91126407e-01] [ 3.00009551e-03 1.68581173e-04 9.99995485e-01 -2.78128937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters 0.05957008340596091 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.49, Z:-0.28 [[ 9.96335368e-01 8.54812658e-02 -2.96438737e-03 4.24920941e+01] [-8.54813883e-02 9.96339764e-01 8.55810091e-05 -4.94816837e-01] [ 2.96085258e-03 1.68132561e-04 9.99995603e-01 -2.77259298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters 0.05877299890379493 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.50, Z:-0.28 [[ 9.96340730e-01 8.54025569e-02 -3.39897792e-03 4.25538558e+01] [-8.54027163e-02 9.96346509e-01 9.84672134e-05 -5.00105661e-01] [ 3.39496914e-03 1.92175052e-04 9.99994219e-01 -2.76901631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters 0.059099986583231776 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.50, Z:-0.28 [[ 9.96353150e-01 8.52257621e-02 -4.11948762e-03 4.26160010e+01] [-8.52259937e-02 9.96361639e-01 1.19629322e-04 -5.01789460e-01] [ 4.11469494e-03 2.31894374e-04 9.99991508e-01 -2.77149050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters 0.05888528776527993 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.50, Z:-0.28 [[ 9.96247864e-01 8.64390542e-02 -4.29934414e-03 4.26776022e+01] [-8.64393205e-02 9.96257110e-01 1.24187718e-04 -4.99310107e-01] [ 4.29398683e-03 2.47910637e-04 9.99990750e-01 -2.76875250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters 0.06240106754581113 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.49, Z:-0.28 [[ 9.96085643e-01 8.83076898e-02 -3.89143096e-03 4.27374759e+01] [-8.83079220e-02 9.96093218e-01 1.12461562e-04 -4.89013747e-01] [ 3.88615921e-03 2.31622834e-04 9.99992422e-01 -2.78888589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters 0.06073588546855789 Centerline is valid? [True, True] Translation: X:42.80, Y:-0.49, Z:-0.28 [[ 9.96006820e-01 8.92064175e-02 -3.55383668e-03 4.27997051e+01] [-8.92066159e-02 9.96013137e-01 1.02940900e-04 -4.93954762e-01] [ 3.54885101e-03 2.14495906e-04 9.99993680e-01 -2.77531079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters 0.06502812801298732 Centerline is valid? [True, True] Translation: X:42.86, Y:-0.48, Z:-0.28 [[ 9.96280561e-01 8.60561236e-02 -4.40314781e-03 4.28601588e+01] [-8.60563989e-02 9.96290259e-01 1.27256381e-04 -4.83356146e-01] [ 4.39776446e-03 2.52135986e-04 9.99990298e-01 -2.80606390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters 0.06223601100390744 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.49, Z:-0.28 [[ 9.96532184e-01 8.30960436e-02 -4.31906842e-03 4.29208520e+01] [-8.30962805e-02 9.96541516e-01 1.24880572e-04 -4.92515994e-01] [ 4.31450807e-03 2.34451012e-04 9.99990665e-01 -2.79673696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters 0.06425902991355902 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.49, Z:-0.28 [[ 9.96765091e-01 8.02518249e-02 -4.35868789e-03 4.29804407e+01] [-8.02520396e-02 9.96774596e-01 1.25902716e-04 -4.89406115e-01] [ 4.35473328e-03 2.24298161e-04 9.99990493e-01 -2.80607399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters 0.060927950583252795 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.50, Z:-0.28 [[ 9.97107916e-01 7.59074186e-02 -3.72387258e-03 4.30407712e+01] [-7.59075444e-02 9.97114855e-01 1.07744783e-04 -5.01034714e-01] [ 3.72130729e-03 1.75236847e-04 9.99993061e-01 -2.78615434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters 0.06339279523978168 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.50, Z:-0.28 [[ 9.97241449e-01 7.40995759e-02 -4.32948303e-03 4.31008232e+01] [-7.40997294e-02 9.97250828e-01 1.25167212e-04 -4.96195977e-01] [ 4.32685538e-03 1.95991590e-04 9.99990620e-01 -2.80584305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters 0.06186694471057287 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.51, Z:-0.28 [[ 9.97550393e-01 6.97308096e-02 -5.55227594e-03 4.31611481e+01] [-6.97309945e-02 9.97565819e-01 1.60511420e-04 -5.06480776e-01] [ 5.54995329e-03 2.27047493e-04 9.99984573e-01 -2.79918196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters 0.06297123532904844 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.50, Z:-0.28 [[ 9.97840507e-01 6.54515370e-02 -5.51539470e-03 4.32207237e+01] [-6.54516542e-02 9.97855729e-01 1.59443053e-04 -5.01208434e-01] [ 5.51400400e-03 2.01892970e-04 9.99984777e-01 -2.82900222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters 0.0621342979964071 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.51, Z:-0.28 [[ 9.98271805e-01 5.86053953e-02 -4.33726201e-03 4.32808226e+01] [-5.86054032e-02 9.98281218e-01 1.25396527e-04 -5.07654604e-01] [ 4.33715612e-03 1.29007172e-04 9.99990586e-01 -2.81223248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters 0.05998660500810302 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.53, Z:-0.28 [[ 9.98836623e-01 4.80731630e-02 -3.79109245e-03 4.33413220e+01] [-4.80730928e-02 9.98843814e-01 1.09684511e-04 -5.26639117e-01] [ 3.79198213e-03 7.26926326e-05 9.99992808e-01 -2.75635748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters 0.06000021111751575 Centerline is valid? [True, True] Translation: X:43.40, Y:-0.53, Z:-0.28 [[ 9.99179511e-01 4.03039711e-02 -3.98671494e-03 4.34018620e+01] [-4.03038314e-02 9.99187464e-01 1.15398332e-04 -5.25052733e-01] [ 3.98812660e-03 4.53762378e-05 9.99992046e-01 -2.81815653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters 0.0597749919116839 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.54, Z:-0.28 [[ 9.99609873e-01 2.76923795e-02 -3.63781621e-03 4.34633670e+01] [-2.76921789e-02 9.99616493e-01 1.05499274e-04 -5.36775579e-01] [ 3.63934261e-03 -4.71905809e-06 9.99993378e-01 -2.75264872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters 0.060295972006576666 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.54, Z:-0.28 [[ 9.99802205e-01 1.95802782e-02 -3.48766556e-03 4.35243292e+01] [-1.95800415e-02 9.99808287e-01 1.01999261e-04 -5.42196693e-01] [ 3.48899410e-03 -3.36904496e-05 9.99993913e-01 -2.76649229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters 0.06160859292680894 Centerline is valid? [True, True] Translation: X:43.58, Y:-0.55, Z:-0.28 [[ 9.99950601e-01 9.20329361e-03 -3.75433034e-03 4.35846296e+01] [-9.20294884e-03 9.99957646e-01 1.09097190e-04 -5.51194429e-01] [ 3.75517538e-03 -7.45408911e-05 9.99992947e-01 -2.78055019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters 0.06122222156546186 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.55, Z:-0.27 [[ 9.99991445e-01 2.23095184e-03 -3.48333607e-03 4.36461060e+01] [-2.23061242e-03 9.99997507e-01 1.01322390e-04 -5.50291854e-01] [ 3.48355343e-03 -9.35515500e-05 9.99993928e-01 -2.74957452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters 0.061400892767285026 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.55, Z:-0.27 [[ 9.99996274e-01 -7.03565361e-04 -2.63753324e-03 4.37053670e+01] [ 7.03770095e-04 9.99999749e-01 7.66958313e-05 -5.48628544e-01] [ 2.63747862e-03 -7.85517626e-05 9.99996519e-01 -2.73799226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters 0.061141103948956624 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.56, Z:-0.28 [[ 9.99998892e-01 4.20329552e-04 -1.42814085e-03 4.37641835e+01] [-4.20271874e-04 9.99999911e-01 4.06862941e-05 -5.57469520e-01] [ 1.42815783e-03 -4.00860416e-05 9.99998979e-01 -2.75421922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters 0.0614128632076307 Centerline is valid? [True, True] Translation: X:43.82, Y:-0.56, Z:-0.28 [[ 9.99988785e-01 4.57357786e-03 -1.22947842e-03 4.38243534e+01] [-4.57353753e-03 9.99989541e-01 3.56098230e-05 -5.59451098e-01] [ 1.22962842e-03 -2.99863580e-05 9.99999244e-01 -2.76112221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters 0.06048333103136329 Centerline is valid? [True, True] Translation: X:43.88, Y:-0.55, Z:-0.28 [[ 9.99904587e-01 1.36739080e-02 -1.95963998e-03 4.38843265e+01] [-1.36738230e-02 9.99906507e-01 5.67620946e-05 -5.51185064e-01] [ 1.96023293e-03 -2.99609086e-05 9.99998078e-01 -2.75416679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters 0.06089934605344928 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.55, Z:-0.28 [[ 9.99762148e-01 2.16751480e-02 -2.41583140e-03 4.39452354e+01] [-2.16750422e-02 9.99765066e-01 6.99934380e-05 -5.48508037e-01] [ 2.41678095e-03 -1.76135424e-05 9.99997079e-01 -2.75879597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters 0.060914503122144706 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.55, Z:-0.28 [[ 9.99714377e-01 2.37823705e-02 -2.35865526e-03 4.40077754e+01] [-2.37822740e-02 9.99717159e-01 6.89488814e-05 -5.51094379e-01] [ 2.35962790e-03 -1.28350023e-05 9.99997216e-01 -2.78947514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters 0.06083690736205348 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.55, Z:-0.28 [[ 9.99630708e-01 2.70538077e-02 -2.55698567e-03 4.40699003e+01] [-2.70537056e-02 9.99633979e-01 7.45345741e-05 -5.50651208e-01] [ 2.55806620e-03 -5.33111162e-06 9.99996728e-01 -2.76776057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters 0.060898869583527644 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.55, Z:-0.28 [[ 9.99545790e-01 2.99990847e-02 -2.87542311e-03 4.41310589e+01] [-2.99989675e-02 9.99549926e-01 8.38647182e-05 -5.50988199e-01] [ 2.87664482e-03 2.43309855e-06 9.99995862e-01 -2.78209871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters 0.06132874772632886 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.55, Z:-0.28 [[ 9.99498488e-01 3.15580051e-02 -2.62020805e-03 4.41942980e+01] [-3.15579107e-02 9.99501922e-01 7.73911544e-05 -5.52877599e-01] [ 2.62134529e-03 5.33594966e-06 9.99996564e-01 -2.76878626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters 0.06072575965283653 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.56, Z:-0.28 [[ 9.99442973e-01 3.33261157e-02 -1.76433200e-03 4.42564836e+01] [-3.33260749e-02 9.99444531e-01 5.25162550e-05 -5.55240198e-01] [ 1.76510213e-03 6.31125819e-06 9.99998442e-01 -2.77815227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters 0.060965048455274964 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.56, Z:-0.28 [[ 9.99404582e-01 3.44602120e-02 -1.72484545e-03 4.43189251e+01] [-3.44601743e-02 9.99406070e-01 5.15777976e-05 -5.58389510e-01] [ 1.72559839e-03 7.89138744e-06 9.99998511e-01 -2.76481303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters 0.06133256097683576 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.56, Z:-0.28 [[ 9.99363054e-01 3.56351442e-02 -1.90321147e-03 4.43796910e+01] [-3.56351011e-02 9.99364866e-01 5.65286273e-05 -5.60467801e-01] [ 1.90401708e-03 1.13285116e-05 9.99998187e-01 -2.78302387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters 0.06044718597459602 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.56, Z:-0.28 [[ 9.99261776e-01 3.83443625e-02 -2.36922339e-03 4.44418190e+01] [-3.83443024e-02 9.99264584e-01 7.08246121e-05 -5.64714906e-01] [ 2.37019675e-03 2.00738904e-05 9.99997191e-01 -2.76708210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters 0.06094431658507493 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.56, Z:-0.28 [[ 9.99128976e-01 4.16727494e-02 -2.16148595e-03 4.45039080e+01] [-4.16727080e-02 9.99131313e-01 6.42100625e-05 -5.64079449e-01] [ 2.16228411e-03 2.59208390e-05 9.99997662e-01 -2.78523653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters 0.060628912396520344 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.57, Z:-0.28 [[ 9.98822839e-01 4.84634834e-02 -2.05590931e-03 4.45640995e+01] [-4.84634605e-02 9.98824954e-01 6.09581252e-05 -5.65302524e-01] [ 2.05644776e-03 3.87501119e-05 9.99997885e-01 -2.77712783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters 0.06183028782801188 Centerline is valid? [True, True] Translation: X:44.63, Y:-0.56, Z:-0.28 [[ 9.98591259e-01 5.30216769e-02 -2.04929996e-03 4.46254787e+01] [-5.30216636e-02 9.98593360e-01 6.08436508e-05 -5.56478305e-01] [ 2.04964337e-03 4.78993554e-05 9.99997898e-01 -2.82046107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters 0.0623209278373942 Centerline is valid? [True, True] Translation: X:44.69, Y:-0.56, Z:-0.28 [[ 9.98229417e-01 5.94405661e-02 -2.20233946e-03 4.46862134e+01] [-5.94405663e-02 9.98231844e-01 6.54224974e-05 -5.56735763e-01] [ 2.20233413e-03 6.56016433e-05 9.99997573e-01 -2.81754233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters 0.0628781031749539 Centerline is valid? [True, True] Translation: X:44.75, Y:-0.56, Z:-0.28 [[ 9.97926775e-01 6.43337656e-02 -1.82146465e-03 4.47470651e+01] [-6.43337737e-02 9.97928436e-01 5.41640113e-05 -5.56917151e-01] [ 1.82117594e-03 6.31299774e-05 9.99998340e-01 -2.81743654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters 0.06234340992412375 Centerline is valid? [True, True] Translation: X:44.81, Y:-0.56, Z:-0.28 [[ 9.97792079e-01 6.64072275e-02 -1.02329308e-03 4.48080455e+01] [-6.64072311e-02 9.97792603e-01 3.04866485e-05 -5.63767060e-01] [ 1.02305880e-03 3.75347235e-05 9.99999476e-01 -2.80358044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters 0.062274709339703825 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.57, Z:-0.28 [[ 9.97582571e-01 6.94864155e-02 -8.07199029e-04 4.48686830e+01] [-6.94864188e-02 9.97582897e-01 2.39734222e-05 -5.71600650e-01] [ 8.06913773e-04 3.21739016e-05 9.99999674e-01 -2.79099071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters 0.06410508104579132 Centerline is valid? [True, True] Translation: X:44.93, Y:-0.57, Z:-0.28 [[ 9.97364508e-01 7.25415266e-02 -1.32869615e-03 4.49282114e+01] [-7.25415384e-02 9.97365391e-01 3.93857500e-05 -5.65249292e-01] [ 1.32805265e-03 5.71037134e-05 9.99999117e-01 -2.81633472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters 0.062120687334812345 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.58, Z:-0.28 [[ 9.97096113e-01 7.61220958e-02 -2.18367440e-03 4.49887513e+01] [-7.61221356e-02 9.97098499e-01 6.49704867e-05 -5.78436149e-01] [ 2.18228416e-03 1.01444140e-04 9.99997614e-01 -2.80671169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters 0.06158957964400645 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.58, Z:-0.28 [[ 9.97006797e-01 7.72834388e-02 -2.17194141e-03 4.50500888e+01] [-7.72834809e-02 9.97009157e-01 6.46446372e-05 -5.84779678e-01] [ 2.17044143e-03 1.03404049e-04 9.99997639e-01 -2.80311746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters 0.06799401742604581 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.57, Z:-0.28 [[ 9.97017885e-01 7.71480361e-02 -1.87542009e-03 4.51115248e+01] [-7.71480658e-02 9.97019645e-01 5.66363842e-05 -5.69459798e-01] [ 1.87420006e-03 8.82175447e-05 9.99998240e-01 -2.84159297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters 0.06233958494702238 Centerline is valid? [True, True] Translation: X:45.17, Y:-0.59, Z:-0.28 [[ 9.97077812e-01 7.63824609e-02 -1.24768311e-03 4.51725473e+01] [-7.63824737e-02 9.97078591e-01 3.73874699e-05 -5.91815940e-01] [ 1.24689387e-03 5.80229060e-05 9.99999221e-01 -2.80689752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters 0.06395992098993644 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.59, Z:-0.28 [[ 9.97157475e-01 7.53406759e-02 -8.67238503e-04 4.52333096e+01] [-7.53406817e-02 9.97157852e-01 2.59950768e-05 -5.92940028e-01] [ 8.66732169e-04 3.94171548e-05 9.99999624e-01 -2.82665920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters 0.06797986704589494 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.59, Z:-0.29 [[ 9.97185223e-01 7.49652560e-02 -1.35716528e-03 4.52953145e+01] [-7.49652689e-02 9.97186144e-01 4.14201746e-05 -5.86029447e-01] [ 1.35645149e-03 6.04366744e-05 9.99999078e-01 -2.85217514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters 0.06321868345201254 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.60, Z:-0.28 [[ 9.97118144e-01 7.58524327e-02 -1.34765571e-03 4.53566047e+01] [-7.58524461e-02 9.97119052e-01 4.12123440e-05 -6.03289877e-01] [ 1.34689924e-03 6.11294063e-05 9.99999091e-01 -2.83370759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters 0.06333945733903981 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.61, Z:-0.28 [[ 9.96941263e-01 7.81540529e-02 -2.48815349e-04 4.54170979e+01] [-7.81540535e-02 9.96941294e-01 7.52466523e-06 -6.07999779e-01] [ 2.48642379e-04 1.19442788e-05 9.99999969e-01 -2.82309614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters 0.05951583250819435 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.63, Z:-0.28 [[ 9.96764655e-01 8.03728493e-02 6.54443666e-04 4.54776159e+01] [-8.03728537e-02 9.96764869e-01 -1.96174370e-05 -6.30761869e-01] [-6.53903164e-04 -3.30455372e-05 9.99999786e-01 -2.79626963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters 0.059198626690465425 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.63, Z:-0.28 [[ 9.96528097e-01 8.32563638e-02 3.60567179e-04 4.55370392e+01] [-8.32563653e-02 9.96528162e-01 -1.08709687e-05 -6.30272346e-01] [-3.60220425e-04 -1.91862869e-05 9.99999935e-01 -2.81167808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters 0.060656224699761695 Centerline is valid? [True, True] Translation: X:45.60, Y:-0.63, Z:-0.28 [[ 9.96423423e-01 8.45006229e-02 -8.57000026e-05 4.55974546e+01] [-8.45006230e-02 9.96423426e-01 2.63398816e-06 -6.29824116e-01] [ 8.56160639e-05 4.61713611e-06 9.99999996e-01 -2.82818483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters 0.0616208396642907 Centerline is valid? [True, True] Translation: X:45.66, Y:-0.63, Z:-0.28 [[ 9.96271665e-01 8.62713727e-02 -1.41303001e-04 4.56571360e+01] [-8.62713729e-02 9.96271675e-01 4.22283350e-06 -6.25582589e-01] [ 1.41140487e-04 7.98331455e-06 9.99999990e-01 -2.84051387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters 0.06058554043017846 Centerline is valid? [True, True] Translation: X:45.72, Y:-0.63, Z:-0.28 [[ 9.96043877e-01 8.88432385e-02 1.86373350e-03 4.57175573e+01] [-8.88432887e-02 9.96045615e-01 -5.60185975e-05 -6.33315556e-01] [-1.86134046e-03 -1.09783233e-04 9.99998262e-01 -2.83251521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters 0.05933150183507681 Centerline is valid? [True, True] Translation: X:45.78, Y:-0.64, Z:-0.28 [[ 9.95873201e-01 9.07171758e-02 2.63851862e-03 4.57781162e+01] [-9.07172829e-02 9.95876683e-01 -7.93150925e-05 -6.40341404e-01] [-2.63483441e-03 -1.60371465e-04 9.99996516e-01 -2.83210518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters 0.06278506436393406 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.63, Z:-0.28 [[ 9.95631382e-01 9.33380107e-02 2.48335355e-03 4.58386349e+01] [-9.33381138e-02 9.95634467e-01 -7.45912192e-05 -6.30448647e-01] [-2.47947459e-03 -1.57526178e-04 9.99996914e-01 -2.84827609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters 0.06062639938661397 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.64, Z:-0.28 [[ 9.95404692e-01 9.57299545e-02 2.29686405e-03 4.58993792e+01] [-9.57300489e-02 9.95407330e-01 -6.90410199e-05 -6.40879614e-01] [-2.29292461e-03 -1.51155153e-04 9.99997360e-01 -2.84775185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters 0.061949026105737916 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.64, Z:-0.29 [[ 9.95297753e-01 9.68382840e-02 2.17462092e-03 4.59608365e+01] [-9.68383712e-02 9.95300118e-01 -6.53948712e-05 -6.36846992e-01] [-2.17073318e-03 -1.45499379e-04 9.99997633e-01 -2.85953504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters 0.06093862809055012 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.64, Z:-0.29 [[ 9.95096794e-01 9.88730595e-02 2.54734328e-03 4.60214952e+01] [-9.88731856e-02 9.95100039e-01 -7.66732326e-05 -6.42856727e-01] [-2.54244231e-03 -1.75566657e-04 9.99996753e-01 -2.85730216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters 0.05951696257034288 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.65, Z:-0.28 [[ 9.95156316e-01 9.82412155e-02 3.54542404e-03 4.60824450e+01] [-9.82414560e-02 9.95162602e-01 -1.06695674e-04 -6.50380879e-01] [-3.53875533e-03 -2.42128746e-04 9.99993709e-01 -2.84912931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters 0.06181475563270463 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.64, Z:-0.29 [[ 9.95298206e-01 9.67842858e-02 3.77940562e-03 4.61425973e+01] [-9.67845481e-02 9.95305349e-01 -1.13859385e-04 -6.43396433e-01] [-3.77268243e-03 -2.52464023e-04 9.99992852e-01 -2.85610479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters 0.060329475025909476 Centerline is valid? [True, True] Translation: X:46.20, Y:-0.66, Z:-0.29 [[ 9.95363505e-01 9.61144128e-02 3.67588477e-03 4.62037063e+01] [-9.61146567e-02 9.95370263e-01 -1.10646266e-04 -6.55189083e-01] [-3.66950109e-03 -2.43173148e-04 9.99993238e-01 -2.85357413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters 0.05978413699510288 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.66, Z:-0.29 [[ 9.95279853e-01 9.69948495e-02 3.16424063e-03 4.62650949e+01] [-9.69950345e-02 9.95284861e-01 -9.53236651e-05 -6.59268912e-01] [-3.15856670e-03 -2.12041906e-04 9.99994989e-01 -2.85041858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters 0.05982401125641796 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.66, Z:-0.29 [[ 9.95186054e-01 9.79574680e-02 3.00879198e-03 4.63260443e+01] [-9.79576395e-02 9.95190581e-01 -9.06797141e-05 -6.58937052e-01] [-3.00320420e-03 -2.04490973e-04 9.99995469e-01 -2.85631324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters 0.06339775959403891 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.65, Z:-0.29 [[ 9.95224109e-01 9.75810823e-02 2.62768299e-03 4.63877292e+01] [-9.75812128e-02 9.95227562e-01 -7.88243391e-05 -6.49576925e-01] [-2.62283430e-03 -1.77964610e-04 9.99996545e-01 -2.86816259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters 0.05866486350203061 Centerline is valid? [True, True] Translation: X:46.45, Y:-0.67, Z:-0.28 [[ 9.95334372e-01 9.64461171e-02 2.76292159e-03 4.64479345e+01] [-9.64462549e-02 9.95338190e-01 -8.36090564e-05 -6.74894539e-01] [-2.75810514e-03 -1.83254472e-04 9.99996180e-01 -2.84793600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters 0.059822631470731476 Centerline is valid? [True, True] Translation: X:46.51, Y:-0.67, Z:-0.29 [[ 9.95511597e-01 9.45961910e-02 2.86724047e-03 4.65080413e+01] [-9.45963316e-02 9.95515709e-01 -8.68519867e-05 -6.67664406e-01] [-2.86259880e-03 -1.84768270e-04 9.99995886e-01 -2.86739660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters 0.058917957070934224 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.68, Z:-0.29 [[ 9.95674235e-01 9.28789503e-02 2.51382728e-03 4.65682985e+01] [-9.28790531e-02 9.95677395e-01 -7.60840219e-05 -6.76241226e-01] [-2.51002761e-03 -1.57726997e-04 9.99996837e-01 -2.87207369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters 0.06032499997679745 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.67, Z:-0.29 [[ 9.96131372e-01 8.78432842e-02 2.41795934e-03 4.66280147e+01] [-8.78433644e-02 9.96134297e-01 -7.32227271e-05 -6.74784815e-01] [-2.41504436e-03 -1.39462228e-04 9.99997074e-01 -2.88397949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters 0.06146458981811476 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.67, Z:-0.29 [[ 9.96535906e-01 8.30845746e-02 3.62510532e-03 4.66873472e+01] [-8.30847235e-02 9.96542481e-01 -1.09754702e-04 -6.74613578e-01] [-3.62169037e-03 -1.91816372e-04 9.99993423e-01 -2.87444623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters 0.05918245546744899 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.69, Z:-0.29 [[ 9.96543693e-01 8.30227319e-02 2.80978010e-03 4.67487925e+01] [-8.30228224e-02 9.96547643e-01 -8.45839688e-05 -6.88180408e-01] [-2.80710213e-03 -1.48984254e-04 9.99996049e-01 -2.86800610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters 0.06142798134171648 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.68, Z:-0.29 [[ 9.96112482e-01 8.80890099e-02 5.00084402e-04 4.68087219e+01] [-8.80890133e-02 9.96112607e-01 -1.52605479e-05 -6.76320931e-01] [-4.99484664e-04 -2.88507193e-05 9.99999875e-01 -2.89376476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters 0.0631851786178335 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.67, Z:-0.29 [[ 9.95678864e-01 9.28622367e-02 4.53260434e-04 4.68681300e+01] [-9.28622400e-02 9.95678966e-01 -1.36345434e-05 -6.71171567e-01] [-4.52568014e-04 -2.85151526e-05 9.99999897e-01 -2.90188404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters 0.059475685615429985 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.69, Z:-0.29 [[ 9.94916914e-01 1.00696890e-01 6.86224985e-04 4.69279369e+01] [-1.00696899e-01 9.94917149e-01 -2.08278213e-05 -6.88386124e-01] [-6.84834302e-04 -4.83787766e-05 9.99999764e-01 -2.87572267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters 0.06108751891011622 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.68, Z:-0.29 [[ 9.94460999e-01 1.05105979e-01 2.34353352e-04 4.69873982e+01] [-1.05105981e-01 9.94461026e-01 -7.03719990e-06 -6.81180674e-01] [-2.33794926e-04 -1.76337180e-05 9.99999973e-01 -2.87906013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters 0.059279127489853006 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.69, Z:-0.29 [[ 9.94037994e-01 1.09033855e-01 2.92557317e-04 4.70482924e+01] [-1.09033857e-01 9.94038037e-01 -8.83867940e-06 -6.87004221e-01] [-2.91776816e-04 -2.31126694e-05 9.99999957e-01 -2.86458164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters 0.059792408381833174 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.68, Z:-0.29 [[ 9.93482957e-01 1.13977893e-01 8.08860054e-04 4.71086332e+01] [-1.13977911e-01 9.93483284e-01 -2.45696465e-05 -6.84791793e-01] [-8.06389339e-04 -6.77826540e-05 9.99999673e-01 -2.86662193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters 0.06236973874195951 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.67, Z:-0.29 [[ 9.93155174e-01 1.16801876e-01 3.48654922e-04 4.71696162e+01] [-1.16801879e-01 9.93155235e-01 -1.05394499e-05 -6.74305209e-01] [-3.47499489e-04 -3.02562409e-05 9.99999939e-01 -2.88131179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters 0.06012752597753944 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.69, Z:-0.29 [[ 9.93112089e-01 1.17166934e-01 5.36456725e-04 4.72309515e+01] [-1.17166943e-01 9.93112233e-01 -1.56454260e-05 -6.85199541e-01] [-5.34594863e-04 -4.73173327e-05 9.99999856e-01 -2.87954565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters 0.0621507554108323 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.68, Z:-0.29 [[ 9.93197654e-01 1.16434917e-01 1.15354536e-03 4.72928717e+01] [-1.16434954e-01 9.93198319e-01 -3.50936959e-05 -6.77376572e-01] [-1.14978544e-03 -9.94580252e-05 9.99999334e-01 -2.88262994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters 0.060245955848966096 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.68, Z:-0.29 [[ 9.93274362e-01 1.15775961e-01 1.40304354e-03 4.73543711e+01] [-1.15776015e-01 9.93275346e-01 -4.26848777e-05 -6.84159208e-01] [-1.39855044e-03 -1.20040996e-04 9.99999015e-01 -2.87840815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters 0.06173392191149692 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.68, Z:-0.29 [[ 9.93302245e-01 1.15528148e-01 1.97416176e-03 4.74156723e+01] [-1.15528256e-01 9.93304192e-01 -5.98628723e-05 -6.77285760e-01] [-1.96785900e-03 -1.68609540e-04 9.99998050e-01 -2.88360729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters 0.06265452230399556 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.67, Z:-0.29 [[ 9.93348704e-01 1.15124764e-01 2.15449180e-03 4.74774522e+01] [-1.15124890e-01 9.93351023e-01 -6.59992700e-05 -6.72805850e-01] [-2.14776479e-03 -1.82475343e-04 9.99997677e-01 -2.89133553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters 0.060010909811582254 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.68, Z:-0.29 [[ 9.93505892e-01 1.13706824e-01 4.09895049e-03 4.75374128e+01] [-1.13707265e-01 9.93514289e-01 -1.25982775e-04 -6.81843296e-01] [-4.08669098e-03 -3.40915820e-04 9.99991591e-01 -2.86880540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters 0.059747418946856465 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.68, Z:-0.29 [[ 9.93484355e-01 1.13893653e-01 4.13187352e-03 4.75989156e+01] [-1.13894105e-01 9.93492887e-01 -1.26679592e-04 -6.76462037e-01] [-4.11941495e-03 -3.44741842e-04 9.99991456e-01 -2.87666582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters 0.059747418946856465 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.68, Z:-0.29 [[ 9.93470613e-01 1.14013463e-01 4.13186272e-03 4.76615933e+01] [-1.14013913e-01 9.93479145e-01 -1.27030632e-04 -6.78331749e-01] [-4.11940264e-03 -3.44888638e-04 9.99991456e-01 -2.88128848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters 0.060546994875050525 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.68, Z:-0.29 [[ 9.93467708e-01 1.14036125e-01 4.20426608e-03 4.77237588e+01] [-1.14036590e-01 9.93476542e-01 -1.29829363e-04 -6.75900323e-01] [-4.19164497e-03 -3.50458887e-04 9.99991154e-01 -2.88424102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters 0.05993643163799358 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.67, Z:-0.29 [[ 9.93447574e-01 1.14189004e-01 4.77373258e-03 4.77860675e+01] [-1.14189602e-01 9.93458964e-01 -1.48002265e-04 -6.74361279e-01] [-4.75940765e-03 -3.98078130e-04 9.99988595e-01 -2.89030083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters 0.05827034045243974 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.69, Z:-0.29 [[ 9.93437026e-01 1.14273445e-01 4.94516587e-03 4.78473155e+01] [-1.14274084e-01 9.93449249e-01 -1.54077038e-04 -6.93705862e-01] [-4.93037824e-03 -4.12038467e-04 9.99987761e-01 -2.88423958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters 0.06022127502127193 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.68, Z:-0.29 [[ 9.93439384e-01 1.14273288e-01 4.45032762e-03 4.79085402e+01] [-1.14273806e-01 9.93449283e-01 -1.38621926e-04 -6.79049776e-01] [-4.43701556e-03 -3.70843394e-04 9.99990088e-01 -2.89020604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters 0.06103751848055959 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.67, Z:-0.29 [[ 9.93411236e-01 1.14530996e-01 4.09483508e-03 4.79708168e+01] [-1.14531435e-01 9.93419616e-01 -1.27900349e-04 -6.73910481e-01] [-4.08253805e-03 -3.41929694e-04 9.99991608e-01 -2.89029814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters 0.059798169046974256 Centerline is valid? [True, True] Translation: X:48.03, Y:-0.67, Z:-0.29 [[ 9.93224263e-01 1.16134254e-01 4.28930788e-03 4.80314875e+01] [-1.16134748e-01 9.93233458e-01 -1.34778708e-04 -6.74604459e-01] [-4.27593652e-03 -3.64272206e-04 9.99990792e-01 -2.89032339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters 0.059149318459131434 Centerline is valid? [True, True] Translation: X:48.09, Y:-0.68, Z:-0.29 [[ 9.92917287e-01 1.18742180e-01 3.94408378e-03 4.80919991e+01] [-1.18742618e-01 9.92925060e-01 -1.23941616e-04 -6.75000844e-01] [-3.93089673e-03 -3.45267059e-04 9.99992214e-01 -2.88903215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters 0.06106119712601904 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.66, Z:-0.29 [[ 9.92989844e-01 1.18144413e-01 3.61486905e-03 4.81538993e+01] [-1.18144777e-01 9.92996374e-01 -1.13523180e-04 -6.61988649e-01] [-3.60296399e-03 -3.14350532e-04 9.99993460e-01 -2.89557486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters 0.06856798349737903 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.64, Z:-0.29 [[ 9.93057808e-01 1.17589300e-01 2.99101508e-03 4.82151072e+01] [-1.17589547e-01 9.93062279e-01 -9.40419372e-05 -6.38147639e-01] [-2.98132258e-03 -2.58323027e-04 9.99995522e-01 -2.90710887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters 0.06258131358889672 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.66, Z:-0.29 [[ 9.93270510e-01 1.15761483e-01 3.60168026e-03 4.82754837e+01] [-1.15761827e-01 9.93276994e-01 -1.13344150e-04 -6.60083133e-01] [-3.59058702e-03 -3.04355686e-04 9.99993508e-01 -2.89728568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters 0.06152025326040806 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.67, Z:-0.29 [[ 9.93561311e-01 1.13220175e-01 4.13690977e-03 4.83358385e+01] [-1.13220608e-01 9.93569865e-01 -1.30105870e-04 -6.68024613e-01] [-4.12503949e-03 -3.39115281e-04 9.99991434e-01 -2.89086850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters 0.06749875559278913 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.64, Z:-0.29 [[ 9.93972959e-01 1.09555338e-01 3.92241423e-03 4.83965192e+01] [-1.09555699e-01 9.93980651e-01 -1.23414199e-04 -6.38245994e-01] [-3.91232453e-03 -3.07052455e-04 9.99992300e-01 -2.90221169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters 0.06517945162996908 Centerline is valid? [True, True] Translation: X:48.46, Y:-0.65, Z:-0.29 [[ 9.94179991e-01 1.07653820e-01 4.09877583e-03 4.84568611e+01] [-1.07654198e-01 9.94188391e-01 -1.28894942e-04 -6.45361349e-01] [-4.08883138e-03 -3.13105654e-04 9.99991592e-01 -2.89848560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters 0.0654244468090629 Centerline is valid? [True, True] Translation: X:48.52, Y:-0.64, Z:-0.29 [[ 9.94460355e-01 1.05042969e-01 3.81803329e-03 4.85180119e+01] [-1.05043278e-01 9.94467644e-01 -1.20037889e-04 -6.43926890e-01] [-3.80951971e-03 -2.81685810e-04 9.99992704e-01 -2.90399816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters 0.0671462578625452 Centerline is valid? [True, True] Translation: X:48.58, Y:-0.64, Z:-0.29 [[ 9.94800566e-01 1.01776165e-01 3.66700970e-03 4.85783412e+01] [-1.01776427e-01 9.94807291e-01 -1.15344544e-04 -6.38048525e-01] [-3.65970731e-03 -2.58470328e-04 9.99993270e-01 -2.90366823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters 0.06470987221601081 Centerline is valid? [True, True] Translation: X:48.64, Y:-0.64, Z:-0.29 [[ 9.95085119e-01 9.89499632e-02 3.80930352e-03 4.86390741e+01] [-9.89502263e-02 9.95092377e-01 -1.19791064e-04 -6.42116030e-01] [-3.80246222e-03 -2.57729140e-04 9.99992737e-01 -2.89709355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters 0.06512739286712665 Centerline is valid? [True, True] Translation: X:48.70, Y:-0.64, Z:-0.29 [[ 9.95232948e-01 9.74434045e-02 4.02024329e-03 4.86997612e+01] [-9.74436853e-02 9.95241032e-01 -1.26441670e-04 -6.41729251e-01] [-4.01343199e-03 -2.65908406e-04 9.99991911e-01 -2.89828570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters 0.0656385743316023 Centerline is valid? [True, True] Translation: X:48.76, Y:-0.64, Z:-0.29 [[ 9.95323212e-01 9.65187264e-02 3.97993996e-03 4.87617264e+01] [-9.65189942e-02 9.95331135e-01 -1.25174931e-04 -6.36649719e-01] [-3.97343988e-03 -2.59550288e-04 9.99992072e-01 -2.89657444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters 0.06630560191355465 Centerline is valid? [True, True] Translation: X:48.82, Y:-0.63, Z:-0.29 [[ 9.95267670e-01 9.71067658e-02 3.54139879e-03 4.88238508e+01] [-9.71069814e-02 9.95273943e-01 -1.11415937e-04 -6.34110961e-01] [-3.53548118e-03 -2.33005866e-04 9.99993723e-01 -2.90205519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters 0.06924345802062316 Centerline is valid? [True, True] Translation: X:48.88, Y:-0.62, Z:-0.29 [[ 9.95112229e-01 9.87164380e-02 2.59148872e-03 4.88843791e+01] [-9.87165584e-02 9.95115588e-01 -8.17296371e-05 -6.18931087e-01] [-2.58689888e-03 -1.74492686e-04 9.99996639e-01 -2.90925899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters 0.06799879947007435 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.62, Z:-0.29 [[ 9.95123298e-01 9.85992549e-02 2.79456579e-03 4.89465310e+01] [-9.85993951e-02 9.95127204e-01 -8.79103562e-05 -6.22148180e-01] [-2.78961633e-03 -1.88060853e-04 9.99996091e-01 -2.89942257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters 0.0683972398686421 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.62, Z:-0.29 [[ 9.95149792e-01 9.83487232e-02 2.10233542e-03 4.90085681e+01] [-9.83488028e-02 9.95152003e-01 -6.57795187e-05 -6.18945908e-01] [-2.09861264e-03 -1.41301697e-04 9.99997788e-01 -2.90066584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters 0.06919118007208766 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.62, Z:-0.29 [[ 9.95247491e-01 9.73585895e-02 1.93283873e-03 4.90703032e+01] [-9.73586537e-02 9.95249360e-01 -6.10803469e-05 -6.17580663e-01] [-1.92960320e-03 -1.27388514e-04 9.99998130e-01 -2.89817434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters 0.06708966058103409 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.62, Z:-0.29 [[ 9.95543482e-01 9.42905660e-02 1.56967064e-03 4.91305667e+01] [-9.42906043e-02 9.95544715e-01 -4.97099688e-05 -6.24121791e-01] [-1.56736449e-03 -9.85167580e-05 9.99998767e-01 -2.89244942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters 0.06818902626057792 Centerline is valid? [True, True] Translation: X:49.19, Y:-0.62, Z:-0.29 [[ 9.95774517e-01 9.18178800e-02 1.60893729e-03 4.91900239e+01] [-9.18179170e-02 9.95775812e-01 -5.10426539e-05 -6.19818388e-01] [-1.60682747e-03 -9.69022966e-05 9.99998704e-01 -2.89595010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters 0.06716911716679244 Centerline is valid? [True, True] Translation: X:49.25, Y:-0.62, Z:-0.29 [[ 9.96050054e-01 8.87692838e-02 2.07456070e-03 4.92503312e+01] [-8.87693389e-02 9.96052208e-01 -6.57102402e-05 -6.24267111e-01] [-2.07220382e-03 -1.18706694e-04 9.99997846e-01 -2.88996305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters 0.06609233379325287 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.63, Z:-0.29 [[ 9.96180169e-01 8.72996766e-02 1.95909807e-03 4.93104642e+01] [-8.72997228e-02 9.96182089e-01 -6.20874554e-05 -6.30128467e-01] [-1.95703862e-03 -1.09178426e-04 9.99998079e-01 -2.88981262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters 0.06663259882687896 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.63, Z:-0.29 [[ 9.96281422e-01 8.61365433e-02 1.95572371e-03 4.93714111e+01] [-8.61365872e-02 9.96283335e-01 -6.18953541e-05 -6.29936152e-01] [-1.95378639e-03 -1.06794174e-04 9.99998086e-01 -2.89728577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters 0.06720547162004334 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.63, Z:-0.29 [[ 9.96350348e-01 8.53440087e-02 1.54426946e-03 4.94327359e+01] [-8.53440353e-02 9.96351541e-01 -4.88252871e-05 -6.26107158e-01] [-1.54280220e-03 -8.31470955e-05 9.99998806e-01 -2.90667373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters 0.06854458409317567 Centerline is valid? [True, True] Translation: X:49.49, Y:-0.62, Z:-0.29 [[ 9.96321452e-01 8.56876206e-02 1.09329022e-03 4.94943439e+01] [-8.56876347e-02 9.96322050e-01 -3.40402136e-05 -6.20637512e-01] [-1.09218598e-03 -5.97664582e-05 9.99999402e-01 -2.91584255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters 0.06695869049105949 Centerline is valid? [True, True] Translation: X:49.56, Y:-0.63, Z:-0.29 [[ 9.96229249e-01 8.67452371e-02 1.59575647e-03 4.95561104e+01] [-8.67452670e-02 9.96230524e-01 -5.06155085e-05 -6.30002247e-01] [-1.59413196e-03 -8.79996708e-05 9.99998725e-01 -2.90303324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters 0.0677203512933289 Centerline is valid? [True, True] Translation: X:49.62, Y:-0.63, Z:-0.29 [[ 9.96142101e-01 8.77408955e-02 1.56503194e-03 4.96171198e+01] [-8.77409260e-02 9.96143327e-01 -4.92670293e-05 -6.28831233e-01] [-1.56331886e-03 -8.82403895e-05 9.99998774e-01 -2.90709509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters 0.06782748109209909 Centerline is valid? [True, True] Translation: X:49.68, Y:-0.63, Z:-0.29 [[ 9.96014178e-01 8.91878313e-02 1.13461048e-03 4.96784405e+01] [-8.91878478e-02 9.96014822e-01 -3.61796620e-05 -6.30271800e-01] [-1.13331565e-03 -6.51580108e-05 9.99999356e-01 -2.91101877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters 0.06529884439379408 Centerline is valid? [True, True] Translation: X:49.74, Y:-0.64, Z:-0.29 [[ 9.95976103e-01 8.96085162e-02 1.38435578e-03 4.97407575e+01] [-8.96085418e-02 9.95977062e-01 -4.36245075e-05 -6.35970727e-01] [-1.38269573e-03 -8.06011358e-05 9.99999041e-01 -2.90761230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters 0.06694441000857729 Centerline is valid? [True, True] Translation: X:49.80, Y:-0.64, Z:-0.29 [[ 9.95960185e-01 8.97888685e-02 1.12650058e-03 4.98035419e+01] [-8.97888857e-02 9.95960820e-01 -3.53676945e-05 -6.38759682e-01] [-1.12512607e-03 -6.59224165e-05 9.99999365e-01 -2.90796721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters 0.06901461658916216 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.63, Z:-0.29 [[ 9.95906153e-01 9.03828670e-02 1.36840076e-03 4.98647786e+01] [-9.03828922e-02 9.95907089e-01 -4.34816998e-05 -6.34571624e-01] [-1.36673002e-03 -8.03763259e-05 9.99999063e-01 -2.91814573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters 0.07042625838491019 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.63, Z:-0.29 [[ 9.95962798e-01 8.97477498e-02 1.85663649e-03 4.99254126e+01] [-8.97477935e-02 9.95964522e-01 -5.99342757e-05 -6.32833416e-01] [-1.85452305e-03 -1.06936720e-04 9.99998275e-01 -2.92762281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters 0.0666456920998756 Centerline is valid? [True, True] Translation: X:49.99, Y:-0.65, Z:-0.29 [[ 9.95977550e-01 8.95917596e-02 1.42672147e-03 4.99861342e+01] [-8.95917860e-02 9.95978569e-01 -4.55521981e-05 -6.49174640e-01] [-1.42506511e-03 -8.24535575e-05 9.99998981e-01 -2.92317748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters 0.06574894884158147 Centerline is valid? [True, True] Translation: X:50.05, Y:-0.66, Z:-0.29 [[ 9.95940467e-01 8.99962108e-02 1.80767270e-03 5.00484802e+01] [-8.99962525e-02 9.95942102e-01 -5.84281819e-05 -6.57490128e-01] [-1.80559567e-03 -1.04492778e-04 9.99998364e-01 -2.92394950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters 0.0657692606410615 Centerline is valid? [True, True] Translation: X:50.11, Y:-0.66, Z:-0.29 [[ 9.95879043e-01 9.06684925e-02 2.03842891e-03 5.01099860e+01] [-9.06685475e-02 9.95881123e-01 -6.56016417e-05 -6.60711581e-01] [-2.03598087e-03 -1.19490088e-04 9.99997920e-01 -2.92954175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters 0.06712269280480834 Centerline is valid? [True, True] Translation: X:50.17, Y:-0.66, Z:-0.29 [[ 9.95767535e-01 9.18633940e-02 2.85193212e-03 5.01698204e+01] [-9.18635032e-02 9.95771604e-01 -9.29620393e-05 -6.58838839e-01] [-2.84841283e-03 -1.69419895e-04 9.99995929e-01 -2.93591072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters 0.06346314238123188 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.68, Z:-0.29 [[ 9.95468312e-01 9.50268121e-02 3.56997158e-03 5.02303737e+01] [-9.50270036e-02 9.95474688e-01 -1.16315512e-04 -6.77949269e-01] [-3.56486944e-03 -2.23455296e-04 9.99993621e-01 -2.93052325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters 0.07224899603597833 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.65, Z:-0.30 [[ 9.95230713e-01 9.75138939e-02 2.62090002e-03 5.02912824e+01] [-9.75140056e-02 9.95234149e-01 -8.54471369e-05 -6.51129546e-01] [-2.61674148e-03 -1.70534844e-04 9.99996562e-01 -2.96169640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters 0.06809817094313783 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.67, Z:-0.30 [[ 9.94967763e-01 1.00153712e-01 2.89566473e-03 5.03512697e+01] [-1.00153859e-01 9.94971957e-01 -9.43823922e-05 -6.69371734e-01] [-2.89055795e-03 -1.96104561e-04 9.99995803e-01 -2.96010604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters 0.06503285385243374 Centerline is valid? [True, True] Translation: X:50.41, Y:-0.69, Z:-0.29 [[ 9.94709994e-01 1.02655979e-01 3.71189956e-03 5.04121657e+01] [-1.02656238e-01 9.94716885e-01 -1.21061011e-04 -6.88435418e-01] [-3.70471681e-03 -2.60629048e-04 9.99993104e-01 -2.94903456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters 0.06679866307999156 Centerline is valid? [True, True] Translation: X:50.47, Y:-0.68, Z:-0.30 [[ 9.94579615e-01 1.03883375e-01 4.43103117e-03 5.04728917e+01] [-1.03883756e-01 9.94589435e-01 -1.44602638e-04 -6.83000847e-01] [-4.42207860e-03 -3.16493327e-04 9.99990172e-01 -2.95585002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters 0.06629377601064301 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.69, Z:-0.30 [[ 9.94514603e-01 1.04517496e-01 4.09841588e-03 5.05344642e+01] [-1.04517828e-01 9.94523004e-01 -1.33476021e-04 -6.89951244e-01] [-4.08991945e-03 -2.95613676e-04 9.99991593e-01 -2.95967729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters 0.06615945576821398 Centerline is valid? [True, True] Translation: X:50.60, Y:-0.69, Z:-0.30 [[ 9.94555676e-01 1.04132451e-01 3.92949504e-03 5.05971195e+01] [-1.04132752e-01 9.94563398e-01 -1.28482333e-04 -6.94285552e-01] [-3.92151113e-03 -2.81406297e-04 9.99992271e-01 -2.96813105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters 0.08018081822809198 Centerline is valid? [True, True] Translation: X:50.66, Y:-0.66, Z:-0.30 [[ 9.94798652e-01 1.01799598e-01 3.53318187e-03 5.06577286e+01] [-1.01799825e-01 9.94804897e-01 -1.15939801e-04 -6.64613518e-01] [-3.52662925e-03 -2.44340540e-04 9.99993752e-01 -2.99139869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters 0.06352031837233572 Centerline is valid? [True, True] Translation: X:50.72, Y:-0.72, Z:-0.30 [[ 9.94951280e-01 1.00280961e-01 3.95964101e-03 5.07172517e+01] [-1.00281235e-01 9.94959123e-01 -1.29838536e-04 -7.18734805e-01] [-3.95270128e-03 -2.67894672e-04 9.99992152e-01 -2.96907106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters 0.06465989328149906 Centerline is valid? [True, True] Translation: X:50.78, Y:-0.72, Z:-0.30 [[ 9.95074442e-01 9.90512672e-02 3.96256362e-03 5.07767335e+01] [-9.90515319e-02 9.95082297e-01 -1.29883797e-04 -7.17947073e-01] [-3.95594206e-03 -2.63253951e-04 9.99992141e-01 -2.97807287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters 0.0664436676893192 Centerline is valid? [True, True] Translation: X:50.84, Y:-0.71, Z:-0.30 [[ 9.95056561e-01 9.92243535e-02 4.11924718e-03 5.08394110e+01] [-9.92246416e-02 9.95065049e-01 -1.34885661e-04 -7.10525560e-01] [-4.11230284e-03 -2.74511963e-04 9.99991507e-01 -2.99252714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters 0.06602237619045598 Centerline is valid? [True, True] Translation: X:50.90, Y:-0.72, Z:-0.30 [[ 9.95071072e-01 9.90815554e-02 4.05054621e-03 5.09012323e+01] [-9.90818307e-02 9.95079280e-01 -1.33128131e-04 -7.20775508e-01] [-4.04380514e-03 -2.68863582e-04 9.99991788e-01 -2.99708453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters 0.06514821248657725 Centerline is valid? [True, True] Translation: X:50.96, Y:-0.73, Z:-0.30 [[ 9.95097977e-01 9.87920766e-02 4.48789745e-03 5.09628730e+01] [-9.87924092e-02 9.95108053e-01 -1.48069533e-04 -7.28428743e-01] [-4.48057099e-03 -2.96026508e-04 9.99989918e-01 -2.99835214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters 0.0641518364847898 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.73, Z:-0.30 [[ 9.95064046e-01 9.91084116e-02 5.00661617e-03 5.10251519e+01] [-9.91088263e-02 9.95076587e-01 -1.65819414e-04 -7.31172283e-01] [-4.99840063e-03 -3.31198916e-04 9.99987453e-01 -3.00299814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters 0.0655362025878185 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.73, Z:-0.30 [[ 9.94983005e-01 9.98921182e-02 5.51218878e-03 5.10861612e+01] [-9.98926291e-02 9.94998206e-01 -1.83250360e-04 -7.29882547e-01] [-5.50292321e-03 -3.68296036e-04 9.99984791e-01 -3.01003278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters 0.06502431932867332 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.74, Z:-0.30 [[ 9.95072728e-01 9.90141780e-02 5.14377534e-03 5.11474321e+01] [-9.90146080e-02 9.95085965e-01 -1.71608693e-04 -7.41500315e-01] [-5.13549034e-03 -3.38545769e-04 9.99986756e-01 -3.01782992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters 0.06064470557521221 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.76, Z:-0.30 [[ 9.95209480e-01 9.75508158e-02 6.47528958e-03 5.12072513e+01] [-9.75514645e-02 9.95230458e-01 -2.16338901e-04 -7.61265651e-01] [-6.46550946e-03 -4.16371457e-04 9.99979012e-01 -3.01662050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters 0.06189298631305069 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.76, Z:-0.30 [[ 9.95189212e-01 9.77381396e-02 6.75932709e-03 5.12697060e+01] [-9.77388513e-02 9.95212071e-01 -2.25756085e-04 -7.57505720e-01] [-6.74902889e-03 -4.35978845e-04 9.99977130e-01 -3.01871024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters 0.06478214892342853 Centerline is valid? [True, True] Translation: X:51.33, Y:-0.76, Z:-0.30 [[ 9.95066658e-01 9.89964358e-02 6.48476775e-03 5.13298772e+01] [-9.89971122e-02 9.95087697e-01 -2.17403570e-04 -7.56258918e-01] [-6.47443478e-03 -4.25642236e-04 9.99978950e-01 -3.02785107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters 0.06335742183260087 Centerline is valid? [True, True] Translation: X:51.39, Y:-0.76, Z:-0.30 [[ 9.95028941e-01 9.93783282e-02 6.43081395e-03 5.13915962e+01] [-9.93790004e-02 9.95049631e-01 -2.15728166e-04 -7.62710505e-01] [-6.42041775e-03 -4.24432093e-04 9.99979299e-01 -3.03050101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters 0.0637144650866495 Centerline is valid? [True, True] Translation: X:51.45, Y:-0.77, Z:-0.30 [[ 9.95002700e-01 9.96549961e-02 6.20555462e-03 5.14539479e+01] [-9.96556234e-02 9.95021966e-01 -2.08813338e-04 -7.67299294e-01] [-6.19547245e-03 -4.10648579e-04 9.99980724e-01 -3.03340818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters 0.062038946297331296 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.78, Z:-0.30 [[ 9.95004585e-01 9.95810577e-02 7.03480038e-03 5.15154687e+01] [-9.95818560e-02 9.95029345e-01 -2.37574261e-04 -7.76940209e-01] [-7.02349071e-03 -4.64150999e-04 9.99975227e-01 -3.03890432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters 0.061316840547914954 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.78, Z:-0.30 [[ 9.95010390e-01 9.95601413e-02 6.48866332e-03 5.15778725e+01] [-9.95608158e-02 9.95031455e-01 -2.19778197e-04 -7.83840696e-01] [-6.47830525e-03 -4.27335024e-04 9.99978924e-01 -3.03519570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters 0.06514702659565647 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.78, Z:-0.30 [[ 9.95037291e-01 9.93712473e-02 5.11326662e-03 5.16391469e+01] [-9.93716616e-02 9.95050372e-01 -1.73602100e-04 -7.78617990e-01] [-5.10520891e-03 -3.35373237e-04 9.99986912e-01 -3.04706763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters 0.06788991664953935 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.78, Z:-0.31 [[ 9.95109580e-01 9.86566139e-02 4.87816785e-03 5.16998709e+01] [-9.86569791e-02 9.95121486e-01 -1.66289750e-04 -7.75956590e-01] [-4.87077522e-03 -3.15788781e-04 9.99988088e-01 -3.06368402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters 0.062321287502026215 Centerline is valid? [True, True] Translation: X:51.76, Y:-0.79, Z:-0.31 [[ 9.95128187e-01 9.84599389e-02 5.05299089e-03 5.17615343e+01] [-9.84603290e-02 9.95140962e-01 -1.72116247e-04 -7.91812428e-01] [-5.04538477e-03 -3.26241416e-04 9.99987219e-01 -3.06070009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters 0.06535914090293786 Centerline is valid? [True, True] Translation: X:51.82, Y:-0.79, Z:-0.31 [[ 9.95163999e-01 9.81197763e-02 4.59623779e-03 5.18224756e+01] [-9.81200929e-02 9.95174569e-01 -1.57102541e-04 -7.88805440e-01] [-4.58947382e-03 -2.94640485e-04 9.99989425e-01 -3.06109604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters 0.06491343365435599 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.80, Z:-0.31 [[ 9.95106906e-01 9.86827701e-02 4.89446621e-03 5.18847361e+01] [-9.86831349e-02 9.95118893e-01 -1.67515532e-04 -7.97016668e-01] [-4.88710669e-03 -3.16305406e-04 9.99988008e-01 -3.05754997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters 0.06196437251090368 Centerline is valid? [True, True] Translation: X:51.95, Y:-0.81, Z:-0.31 [[ 9.94939340e-01 1.00342364e-01 5.20762797e-03 5.19455000e+01] [-1.00342795e-01 9.94952909e-01 -1.79026643e-04 -8.08843240e-01] [-5.19930855e-03 -3.44427298e-04 9.99986424e-01 -3.06183131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters 0.06269264253634853 Centerline is valid? [True, True] Translation: X:52.01, Y:-0.81, Z:-0.31 [[ 9.94848191e-01 1.01252723e-01 4.99626017e-03 5.20058273e+01] [-1.01253131e-01 9.94860681e-01 -1.71816227e-04 -8.10171237e-01] [-4.98797966e-03 -3.34955923e-04 9.99987504e-01 -3.06942600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters 0.06509788859383944 Centerline is valid? [True, True] Translation: X:52.07, Y:-0.81, Z:-0.31 [[ 9.94826275e-01 1.01482855e-01 4.68107163e-03 5.20667179e+01] [-1.01483217e-01 9.94837238e-01 -1.60774526e-04 -8.07862608e-01] [-4.67322023e-03 -3.15107483e-04 9.99989031e-01 -3.07498020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters 0.0618068951752771 Centerline is valid? [True, True] Translation: X:52.13, Y:-0.83, Z:-0.31 [[ 9.94792835e-01 1.01792831e-01 5.04330695e-03 5.21284581e+01] [-1.01793253e-01 9.94805561e-01 -1.73725483e-04 -8.26917958e-01] [-5.03479381e-03 -3.40553754e-04 9.99987267e-01 -3.07087154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters 0.06106942338481337 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.84, Z:-0.31 [[ 9.94861632e-01 1.01124371e-01 4.91880144e-03 5.21891074e+01] [-1.01124760e-01 9.94873738e-01 -1.70148131e-04 -8.38431889e-01] [-4.91079249e-03 -3.28138769e-04 9.99987888e-01 -3.07425080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters 0.06582124757077548 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.82, Z:-0.31 [[ 9.94804522e-01 1.01719111e-01 4.14557208e-03 5.22504525e+01] [-1.01719392e-01 9.94813120e-01 -1.43446680e-04 -8.24332888e-01] [-4.13866076e-03 -2.78983668e-04 9.99991397e-01 -3.09121360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters 0.06251622878903003 Centerline is valid? [True, True] Translation: X:52.31, Y:-0.83, Z:-0.31 [[ 9.94702672e-01 1.02712595e-01 4.08864253e-03 5.23116197e+01] [-1.02712877e-01 9.94711036e-01 -1.41539842e-04 -8.32967111e-01] [-4.08155577e-03 -2.79166177e-04 9.99991631e-01 -3.09896743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters 0.0584233664960363 Centerline is valid? [True, True] Translation: X:52.37, Y:-0.86, Z:-0.31 [[ 9.94550680e-01 1.04168330e-01 4.23134715e-03 5.23715024e+01] [-1.04168645e-01 9.94559637e-01 -1.46544052e-04 -8.57567510e-01] [-4.22359233e-03 -2.95028212e-04 9.99991037e-01 -3.09758257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters 0.062240123733664644 Centerline is valid? [True, True] Translation: X:52.43, Y:-0.84, Z:-0.31 [[ 9.94342314e-01 1.06156402e-01 3.76585346e-03 5.24320515e+01] [-1.06156666e-01 9.94349408e-01 -1.30530674e-04 -8.42043621e-01] [-3.75843083e-03 -2.69978274e-04 9.99992901e-01 -3.10429392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters 0.06197177233241999 Centerline is valid? [True, True] Translation: X:52.49, Y:-0.85, Z:-0.31 [[ 9.94450258e-01 1.05130864e-01 4.02307102e-03 5.24921594e+01] [-1.05131156e-01 9.94458355e-01 -1.39396637e-04 -8.51635815e-01] [-4.01543148e-03 -2.84327084e-04 9.99991898e-01 -3.10791859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters 0.06299127165322416 Centerline is valid? [True, True] Translation: X:52.55, Y:-0.85, Z:-0.31 [[ 9.94738375e-01 1.02363335e-01 4.16076949e-03 5.25518683e+01] [-1.02363623e-01 9.94747037e-01 -1.44226351e-04 -8.50639642e-01] [-4.15367661e-03 -2.82443954e-04 9.99991334e-01 -3.11376558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters 0.062485784578793 Centerline is valid? [True, True] Translation: X:52.61, Y:-0.86, Z:-0.31 [[ 9.95103332e-01 9.87514651e-02 4.18416776e-03 5.26120111e+01] [-9.87517247e-02 9.95112092e-01 -1.45029798e-04 -8.55434334e-01] [-4.17803784e-03 -2.68874148e-04 9.99991236e-01 -3.11566729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters 0.0629391419119251 Centerline is valid? [True, True] Translation: X:52.67, Y:-0.86, Z:-0.31 [[ 9.95437199e-01 9.53305632e-02 4.10699852e-03 5.26727229e+01] [-9.53307842e-02 9.95445640e-01 -1.42355997e-04 -8.59047692e-01] [-4.10186465e-03 -2.49816935e-04 9.99991556e-01 -3.12098768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters 0.07032967193741932 Centerline is valid? [True, True] Translation: X:52.73, Y:-0.84, Z:-0.31 [[ 9.95801451e-01 9.14677349e-02 3.62264643e-03 5.27328638e+01] [-9.14678813e-02 9.95808019e-01 -1.25595349e-04 -8.43600565e-01] [-3.61894829e-03 -2.06287763e-04 9.99993430e-01 -3.13794416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters 0.06454436227158072 Centerline is valid? [True, True] Translation: X:52.79, Y:-0.86, Z:-0.31 [[ 9.96000990e-01 8.92473635e-02 4.11541696e-03 5.27924485e+01] [-8.92475338e-02 9.96009467e-01 -1.42605715e-04 -8.61320350e-01] [-4.11172144e-03 -2.25255381e-04 9.99991521e-01 -3.13413686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters 0.06440458074465105 Centerline is valid? [True, True] Translation: X:52.85, Y:-0.86, Z:-0.31 [[ 9.96021234e-01 8.90135957e-02 4.27556633e-03 5.28548008e+01] [-8.90137785e-02 9.96030384e-01 -1.47897758e-04 -8.64652746e-01] [-4.27175888e-03 -2.33275007e-04 9.99990849e-01 -3.13839706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters 0.0625888954353888 Centerline is valid? [True, True] Translation: X:52.92, Y:-0.87, Z:-0.31 [[ 9.96122250e-01 8.78666762e-02 4.46216544e-03 5.29156928e+01] [-8.78668605e-02 9.96132216e-01 -1.55093615e-04 -8.74608325e-01] [-4.45853431e-03 -2.37584268e-04 9.99990032e-01 -3.14117970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters 0.06265988198608408 Centerline is valid? [True, True] Translation: X:52.98, Y:-0.87, Z:-0.32 [[ 9.96168885e-01 8.73478554e-02 4.23130451e-03 5.29779850e+01] [-8.73480165e-02 9.96177847e-01 -1.47056510e-04 -8.74959536e-01] [-4.22797689e-03 -2.23102937e-04 9.99991037e-01 -3.15213608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters 0.06227350199039963 Centerline is valid? [True, True] Translation: X:53.04, Y:-0.88, Z:-0.32 [[ 9.96076770e-01 8.84128366e-02 3.77336356e-03 5.30387909e+01] [-8.84129715e-02 9.96083897e-01 -1.31357088e-04 -8.80018750e-01] [-3.77020033e-03 -2.02772541e-04 9.99992872e-01 -3.16248092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters 0.06417658189937114 Centerline is valid? [True, True] Translation: X:53.10, Y:-0.87, Z:-0.32 [[ 9.95919285e-01 9.01657242e-02 3.86252957e-03 5.30988144e+01] [-9.01658788e-02 9.95926752e-01 -1.34439936e-04 -8.72801942e-01] [-3.85891840e-03 -2.14377047e-04 9.99992531e-01 -3.17214534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters 0.06364763629407685 Centerline is valid? [True, True] Translation: X:53.16, Y:-0.88, Z:-0.32 [[ 9.95757543e-01 9.18569404e-02 5.40535273e-03 5.31595715e+01] [-9.18572669e-02 9.95772166e-01 -1.88353211e-04 -8.76529046e-01] [-5.39980135e-03 -3.08966798e-04 9.99985373e-01 -3.16719887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters 0.06176832544368468 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.88, Z:-0.32 [[ 9.95612876e-01 9.34651807e-02 4.38881405e-03 5.32205936e+01] [-9.34654115e-02 9.95622516e-01 -1.52938448e-04 -8.83647454e-01] [-4.38389650e-03 -2.57934823e-04 9.99990357e-01 -3.17163461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters 0.06449192104904257 Centerline is valid? [True, True] Translation: X:53.28, Y:-0.88, Z:-0.32 [[ 9.95666316e-01 9.29368596e-02 3.36562386e-03 5.32817399e+01] [-9.29369934e-02 9.95671985e-01 -1.16972017e-04 -8.81427867e-01] [-3.36192840e-03 -1.96325866e-04 9.99994329e-01 -3.19693265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters 0.060909342197668755 Centerline is valid? [True, True] Translation: X:53.34, Y:-0.90, Z:-0.32 [[ 9.96087295e-01 8.83259460e-02 2.93748911e-03 5.33419453e+01] [-8.83260261e-02 9.96091614e-01 -1.02692388e-04 -9.00069251e-01] [-2.93507867e-03 -1.57166157e-04 9.99995680e-01 -3.19353546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters 0.06363793706945223 Centerline is valid? [True, True] Translation: X:53.40, Y:-0.89, Z:-0.32 [[ 9.96282057e-01 8.61018063e-02 2.92260832e-03 5.34018731e+01] [-8.61018760e-02 9.96286333e-01 -1.02210413e-04 -8.94419474e-01] [-2.92055523e-03 -1.49811659e-04 9.99995724e-01 -3.20343214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters 0.06312311612589486 Centerline is valid? [True, True] Translation: X:53.46, Y:-0.90, Z:-0.32 [[ 9.96405247e-01 8.46501461e-02 3.30698207e-03 5.34627293e+01] [-8.46502276e-02 9.96410721e-01 -1.15574631e-04 -9.01551429e-01] [-3.30489580e-03 -1.64777616e-04 9.99994525e-01 -3.20090498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters 0.0629026051487394 Centerline is valid? [True, True] Translation: X:53.52, Y:-0.91, Z:-0.32 [[ 9.96302105e-01 8.57988821e-02 4.54610037e-03 5.35235733e+01] [-8.57990477e-02 9.96312450e-01 -1.58933609e-04 -9.05484063e-01] [-4.54297272e-03 -2.31705194e-04 9.99989654e-01 -3.20122206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters 0.05762666361463135 Centerline is valid? [True, True] Translation: X:53.58, Y:-0.93, Z:-0.32 [[ 9.95883223e-01 9.04819889e-02 5.44201868e-03 5.35830169e+01] [-9.04822957e-02 9.95898046e-01 -1.90307135e-04 -9.32730885e-01] [-5.43691513e-03 -3.02882660e-04 9.99985174e-01 -3.19578403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters 0.06252920885957525 Centerline is valid? [True, True] Translation: X:53.64, Y:-0.91, Z:-0.32 [[ 9.95304960e-01 9.66374833e-02 5.40679303e-03 5.36433976e+01] [-9.66378763e-02 9.95319589e-01 -1.89134448e-04 -9.09009904e-01] [-5.39976450e-03 -3.34254541e-04 9.99985365e-01 -3.20798236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters 0.05911198052636034 Centerline is valid? [True, True] Translation: X:53.70, Y:-0.92, Z:-0.32 [[ 9.95126624e-01 9.84499503e-02 5.53261575e-03 5.37038959e+01] [-9.84503899e-02 9.95141941e-01 -1.93482745e-04 -9.24795521e-01] [-5.52478635e-03 -3.52148347e-04 9.99984676e-01 -3.21047036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters 0.058039753463717 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.94, Z:-0.32 [[ 9.94627097e-01 1.03370293e-01 5.61430175e-03 5.37646725e+01] [-1.03370824e-01 9.94642868e-01 -1.96339013e-04 -9.35347624e-01] [-5.60452082e-03 -3.85070895e-04 9.99984220e-01 -3.20734696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters 0.05979451632358798 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.92, Z:-0.32 [[ 9.94347164e-01 1.06070934e-01 4.76167499e-03 5.38246169e+01] [-1.06071346e-01 9.94358508e-01 -1.66597477e-04 -9.23490837e-01] [-4.75248319e-03 -3.39421549e-04 9.99988649e-01 -3.21949196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters 0.06098035858329058 Centerline is valid? [True, True] Translation: X:53.89, Y:-0.92, Z:-0.32 [[ 9.94319812e-01 1.06315767e-01 5.00694206e-03 5.38872121e+01] [-1.06316226e-01 9.94332354e-01 -1.75073040e-04 -9.22686507e-01] [-4.99717751e-03 -3.58240591e-04 9.99987450e-01 -3.23150790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters 0.05897725044421248 Centerline is valid? [True, True] Translation: X:53.95, Y:-0.93, Z:-0.32 [[ 9.94353740e-01 1.05970356e-01 5.56095978e-03 5.39490496e+01] [-1.05970916e-01 9.94369211e-01 -1.94671956e-04 -9.30370405e-01] [-5.55027664e-03 -3.95727216e-04 9.99984519e-01 -3.23568657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters 0.0619668867600929 Centerline is valid? [True, True] Translation: X:54.01, Y:-0.92, Z:-0.32 [[ 9.94331757e-01 1.06201480e-01 5.05989183e-03 5.40106944e+01] [-1.06201946e-01 9.94344566e-01 -1.77157484e-04 -9.20788751e-01] [-5.05009033e-03 -3.61217049e-04 9.99987183e-01 -3.24104445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters 0.05813959562448362 Centerline is valid? [True, True] Translation: X:54.07, Y:-0.94, Z:-0.32 [[ 9.94274453e-01 1.06693199e-01 5.90543943e-03 5.40721078e+01] [-1.06693839e-01 9.94291900e-01 -2.07534025e-04 -9.39896743e-01] [-5.89387306e-03 -4.23728223e-04 9.99982541e-01 -3.24360510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters 0.05738248415601401 Centerline is valid? [True, True] Translation: X:54.13, Y:-0.95, Z:-0.32 [[ 9.94244710e-01 1.06995625e-01 5.42145252e-03 5.41338999e+01] [-1.06996168e-01 9.94259415e-01 -1.90570146e-04 -9.47791574e-01] [-5.41072038e-03 -3.90601287e-04 9.99985286e-01 -3.24893670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters 0.058866428224581324 Centerline is valid? [True, True] Translation: X:54.20, Y:-0.94, Z:-0.33 [[ 9.94242261e-01 1.07044622e-01 4.87592328e-03 5.41958015e+01] [-1.07045059e-01 9.94254155e-01 -1.71922982e-04 -9.42110945e-01] [-4.86631042e-03 -3.51010403e-04 9.99988098e-01 -3.26849193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters 0.05806944996421152 Centerline is valid? [True, True] Translation: X:54.26, Y:-0.94, Z:-0.33 [[ 9.94197592e-01 1.07460597e-01 4.83412226e-03 5.42578109e+01] [-1.07461030e-01 9.94209283e-01 -1.70743308e-04 -9.42942932e-01] [-4.82447740e-03 -3.49727172e-04 9.99988301e-01 -3.27262962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters 0.05897146932988497 Centerline is valid? [True, True] Translation: X:54.32, Y:-0.94, Z:-0.33 [[ 9.94109828e-01 1.08248260e-01 5.28809539e-03 5.43186121e+01] [-1.08248786e-01 9.94123818e-01 -1.87605546e-04 -9.40587032e-01] [-5.27732955e-03 -3.85929388e-04 9.99986000e-01 -3.27951809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters 0.05672466272125711 Centerline is valid? [True, True] Translation: X:54.38, Y:-0.95, Z:-0.33 [[ 9.94054981e-01 1.08737779e-01 5.54880991e-03 5.43804945e+01] [-1.08738365e-01 9.94070384e-01 -1.96902153e-04 -9.50452495e-01] [-5.53731830e-03 -4.07636949e-04 9.99984586e-01 -3.28339539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters 0.05793379881411426 Centerline is valid? [True, True] Translation: X:54.44, Y:-0.94, Z:-0.33 [[ 9.93847992e-01 1.10632354e-01 5.16248153e-03 5.44406264e+01] [-1.10632885e-01 9.93861324e-01 -1.83461026e-04 -9.44925586e-01] [-5.15108745e-03 -3.88807856e-04 9.99986657e-01 -3.29468565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters 0.05813028293015986 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.94, Z:-0.33 [[ 9.93689001e-01 1.12054909e-01 5.08587301e-03 5.45019302e+01] [-1.12055443e-01 9.93701940e-01 -1.80763008e-04 -9.43081511e-01] [-5.07409725e-03 -3.90277538e-04 9.99987051e-01 -3.31003130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters 0.05731656946479472 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.95, Z:-0.33 [[ 9.93714776e-01 1.11819805e-01 5.22262808e-03 5.45636251e+01] [-1.11820365e-01 9.93728419e-01 -1.85530590e-04 -9.54133022e-01] [-5.21061994e-03 -3.99631689e-04 9.99986345e-01 -3.31501345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters 0.058841808282435265 Centerline is valid? [True, True] Translation: X:54.62, Y:-0.94, Z:-0.33 [[ 9.93892681e-01 1.10210125e-01 5.57383962e-03 5.46232403e+01] [-1.10210733e-01 9.93908223e-01 -1.98892048e-04 -9.44291261e-01] [-5.56180495e-03 -4.16619600e-04 9.99984446e-01 -3.31748651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters 0.06143911493898352 Centerline is valid? [True, True] Translation: X:54.68, Y:-0.93, Z:-0.33 [[ 9.94120112e-01 1.08133873e-01 5.68057440e-03 5.46834382e+01] [-1.08134471e-01 9.94136256e-01 -2.02752408e-04 -9.29207669e-01] [-5.66918937e-03 -4.12705658e-04 9.99983845e-01 -3.32146459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters 0.06064175723008893 Centerline is valid? [True, True] Translation: X:54.74, Y:-0.93, Z:-0.33 [[ 9.94476839e-01 1.04850620e-01 4.70787452e-03 5.47439068e+01] [-1.04850995e-01 9.94487929e-01 -1.67981412e-04 -9.33338700e-01] [-4.69953734e-03 -3.26571702e-04 9.99988904e-01 -3.33067643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters 0.06359264816327662 Centerline is valid? [True, True] Translation: X:54.80, Y:-0.93, Z:-0.33 [[ 9.94767489e-01 1.02065418e-01 4.50478644e-03 5.48040712e+01] [-1.02065732e-01 9.94777644e-01 -1.60747935e-04 -9.28132603e-01] [-4.49766765e-03 -2.99877506e-04 9.99989840e-01 -3.33839786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters 0.06688487433422773 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.92, Z:-0.33 [[ 9.95044618e-01 9.93199402e-02 4.66456222e-03 5.48647268e+01] [-9.93202469e-02 9.95055506e-01 -1.66430187e-04 -9.19820451e-01] [-4.65802815e-03 -2.97680009e-04 9.99989107e-01 -3.34564458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters 0.058728227202745446 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.96, Z:-0.33 [[ 9.95251760e-01 9.71850468e-02 5.38524765e-03 5.49243546e+01] [-9.71854242e-02 9.95266274e-01 -1.92179384e-04 -9.57040633e-01] [-5.37843233e-03 -3.32100707e-04 9.99985481e-01 -3.33841631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters 0.06008169138100811 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.94, Z:-0.33 [[ 9.95445149e-01 9.51805519e-02 5.44226928e-03 5.49844795e+01] [-9.51809074e-02 9.95459973e-01 -1.94233395e-04 -9.44815152e-01] [-5.43604847e-03 -3.24651437e-04 9.99985172e-01 -3.34363082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters 0.060561977628865345 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.94, Z:-0.34 [[ 9.95639647e-01 9.31313608e-02 5.31443628e-03 5.50439277e+01] [-9.31316705e-02 9.95653783e-01 -1.89697786e-04 -9.41015629e-01] [-5.30900540e-03 -3.06071692e-04 9.99985860e-01 -3.35258972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters 0.06010614019320307 Centerline is valid? [True, True] Translation: X:55.10, Y:-0.95, Z:-0.34 [[ 9.95737381e-01 9.21030820e-02 4.90828581e-03 5.51049399e+01] [-9.21033342e-02 9.95749439e-01 -1.75121818e-04 -9.47513319e-01] [-4.90355210e-03 -2.77694148e-04 9.99987939e-01 -3.36070620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters 0.05770389427708008 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.96, Z:-0.34 [[ 9.95898807e-01 9.03076798e-02 5.48539054e-03 5.51657530e+01] [-9.03079670e-02 9.95913868e-01 -1.95805514e-04 -9.61661205e-01] [-5.48065925e-03 -3.00371991e-04 9.99984936e-01 -3.35490867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters 0.06180751901326951 Centerline is valid? [True, True] Translation: X:55.23, Y:-0.95, Z:-0.34 [[ 9.95957012e-01 8.96803423e-02 5.20251040e-03 5.52279722e+01] [-8.96805928e-02 9.95970560e-01 -1.85574610e-04 -9.48643847e-01] [-5.19818959e-03 -2.81739882e-04 9.99986450e-01 -3.35326302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters 0.05834414937574231 Centerline is valid? [True, True] Translation: X:55.29, Y:-0.97, Z:-0.34 [[ 9.95898861e-01 9.03465660e-02 4.79121192e-03 5.52889126e+01] [-9.03467838e-02 9.95910352e-01 -1.71408462e-04 -9.67106477e-01] [-4.78710372e-03 -2.62165096e-04 9.99988507e-01 -3.36065568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters 0.059236129274552386 Centerline is valid? [True, True] Translation: X:55.35, Y:-0.96, Z:-0.34 [[ 9.95828739e-01 9.11091246e-02 4.92435653e-03 5.53497299e+01] [-9.11093607e-02 9.95840877e-01 -1.76833958e-04 -9.64721661e-01] [-4.91998671e-03 -2.72558638e-04 9.99987860e-01 -3.37091849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters 0.059942902712288366 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.96, Z:-0.34 [[ 9.95659154e-01 9.29219316e-02 5.32578055e-03 5.54102022e+01] [-9.29222315e-02 9.95673351e-01 -1.91649286e-04 -9.55385499e-01] [-5.32054619e-03 -3.04066047e-04 9.99985800e-01 -3.37720531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters 0.05934941210899593 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.96, Z:-0.34 [[ 9.95517305e-01 9.44201535e-02 5.48908000e-03 5.54707931e+01] [-9.44204938e-02 9.95532386e-01 -1.97696580e-04 -9.62638070e-01] [-5.48322345e-03 -3.21471278e-04 9.99984915e-01 -3.37835649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters 0.058608132516929715 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.97, Z:-0.34 [[ 9.95292416e-01 9.67462318e-02 5.75969197e-03 5.55310472e+01] [-9.67466445e-02 9.95309019e-01 -2.07566572e-04 -9.66825063e-01] [-5.75275465e-03 -3.50641436e-04 9.99983391e-01 -3.37889778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters 0.06068834841419681 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.95, Z:-0.34 [[ 9.94951275e-01 1.00211450e-01 5.44294306e-03 5.55916498e+01] [-1.00211871e-01 9.94966101e-01 -1.96165377e-04 -9.53994910e-01] [-5.43520185e-03 -3.50272513e-04 9.99985168e-01 -3.38797771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters 0.059445421955633584 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.97, Z:-0.34 [[ 9.94860256e-01 1.01086983e-01 5.87309465e-03 5.56527569e+01] [-1.01087488e-01 9.94877518e-01 -2.11653465e-04 -9.65479327e-01] [-5.86440523e-03 -3.83130764e-04 9.99982731e-01 -3.39003612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters 0.05781307091516502 Centerline is valid? [True, True] Translation: X:55.71, Y:-0.97, Z:-0.34 [[ 9.94666217e-01 1.02941178e-01 6.49845165e-03 5.57127825e+01] [-1.02941834e-01 9.94687350e-01 -2.34389367e-04 -9.65488004e-01] [-6.48805597e-03 -4.35823347e-04 9.99978857e-01 -3.39142320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters 0.06501442215780456 Centerline is valid? [True, True] Translation: X:55.77, Y:-0.94, Z:-0.34 [[ 9.94578594e-01 1.03810383e-01 6.06836925e-03 5.57749937e+01] [-1.03810971e-01 9.94597021e-01 -2.18711649e-04 -9.44524142e-01] [-6.05828651e-03 -4.12437382e-04 9.99981563e-01 -3.39920972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters 0.058484708854316766 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.97, Z:-0.34 [[ 9.94465983e-01 1.04888089e-01 5.99141215e-03 5.58356927e+01] [-1.04888678e-01 9.94483946e-01 -2.16618181e-04 -9.70206994e-01] [-5.98108386e-03 -4.13011889e-04 9.99982028e-01 -3.39666586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters 0.059396476786659 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.96, Z:-0.34 [[ 9.94373060e-01 1.05785484e-01 5.62570327e-03 5.58970820e+01] [-1.05786018e-01 9.94388896e-01 -2.03380955e-04 -9.64561300e-01] [-5.61565161e-03 -3.92884204e-04 9.99984155e-01 -3.40872211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters 0.05844788702372133 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.97, Z:-0.34 [[ 9.94337825e-01 1.06119286e-01 5.56666269e-03 5.59588613e+01] [-1.06119811e-01 9.94353330e-01 -2.01827544e-04 -9.71121197e-01] [-5.55664738e-03 -3.90048431e-04 9.99984486e-01 -3.41394996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters 0.06248149269706447 Centerline is valid? [True, True] Translation: X:56.02, Y:-0.95, Z:-0.34 [[ 9.94405676e-01 1.05497696e-01 5.25233935e-03 5.60196647e+01] [-1.05498151e-01 9.94419481e-01 -1.91178473e-04 -9.54805292e-01] [-5.24319746e-03 -3.64003132e-04 9.99986188e-01 -3.41933394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters 0.06030284404767359 Centerline is valid? [True, True] Translation: X:56.08, Y:-0.97, Z:-0.34 [[ 9.94750463e-01 1.02163482e-01 5.84291968e-03 5.60800791e+01] [-1.02163988e-01 9.94767548e-01 -2.12719781e-04 -9.68704952e-01] [-5.83407908e-03 -3.85332874e-04 9.99982907e-01 -3.41830791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters 0.060438872897749775 Centerline is valid? [True, True] Translation: X:56.14, Y:-0.97, Z:-0.34 [[ 9.95378514e-01 9.58511860e-02 5.84504787e-03 5.61410121e+01] [-9.58515826e-02 9.95395614e-01 -2.12885323e-04 -9.71611054e-01] [-5.83854033e-03 -3.48355613e-04 9.99982895e-01 -3.41868639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters 0.0659478177523648 Centerline is valid? [True, True] Translation: X:56.20, Y:-0.95, Z:-0.34 [[ 9.95519870e-01 9.43991991e-02 5.38331284e-03 5.62019846e+01] [-9.43995142e-02 9.95534376e-01 -1.96083559e-04 -9.50955513e-01] [-5.37778312e-03 -3.12977038e-04 9.99985491e-01 -3.43014448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters 0.06331685605784619 Centerline is valid? [True, True] Translation: X:56.26, Y:-0.96, Z:-0.34 [[ 9.95666503e-01 9.28435905e-02 5.31813562e-03 5.62627801e+01] [-9.28438761e-02 9.95680660e-01 -1.93694327e-04 -9.61824765e-01] [-5.31314807e-03 -3.00901372e-04 9.99985840e-01 -3.43243646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters 0.06422395082936364 Centerline is valid? [True, True] Translation: X:56.32, Y:-0.96, Z:-0.34 [[ 9.95911228e-01 9.01950604e-02 5.06732501e-03 5.63232544e+01] [-9.01952852e-02 9.95924082e-01 -1.84612548e-04 -9.64091063e-01] [-5.06332215e-03 -2.73191115e-04 9.99987144e-01 -3.43828070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters 0.06169835473919395 Centerline is valid? [True, True] Translation: X:56.38, Y:-0.98, Z:-0.34 [[ 9.96145303e-01 8.75750417e-02 5.01462484e-03 5.63835889e+01] [-8.75752288e-02 9.96157892e-01 -1.82688762e-04 -9.78206334e-01] [-5.01135708e-03 -2.57172365e-04 9.99987410e-01 -3.43369492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters 0.06287072564555414 Centerline is valid? [True, True] Translation: X:56.44, Y:-0.98, Z:-0.34 [[ 9.96220904e-01 8.66986757e-02 5.22021027e-03 5.64438342e+01] [-8.66988669e-02 9.96234546e-01 -1.90080234e-04 -9.75826452e-01] [-5.21703351e-03 -2.63224414e-04 9.99986357e-01 -3.43994317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters 0.06105980095871625 Centerline is valid? [True, True] Translation: X:56.51, Y:-0.98, Z:-0.34 [[ 9.96134549e-01 8.76721712e-02 5.43607647e-03 5.65052330e+01] [-8.76723916e-02 9.96149342e-01 -1.98199091e-04 -9.82016228e-01] [-5.43252055e-03 -2.79160863e-04 9.99985205e-01 -3.44691011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters 0.061384076973949944 Centerline is valid? [True, True] Translation: X:56.57, Y:-0.98, Z:-0.35 [[ 9.96065812e-01 8.84682197e-02 5.12565704e-03 5.65676615e+01] [-8.84684247e-02 9.96078964e-01 -1.87172008e-04 -9.83727842e-01] [-5.12211792e-03 -2.67023165e-04 9.99986846e-01 -3.45244004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters 0.06625953065061582 Centerline is valid? [True, True] Translation: X:56.63, Y:-0.97, Z:-0.35 [[ 9.95982860e-01 8.93543356e-02 5.82634405e-03 5.66291765e+01] [-8.93546145e-02 9.95999853e-01 -2.12942202e-04 -9.69274876e-01] [-5.82206513e-03 -3.08523943e-04 9.99983004e-01 -3.46555410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters 0.06291365245812133 Centerline is valid? [True, True] Translation: X:56.69, Y:-0.98, Z:-0.35 [[ 9.95886290e-01 9.04313115e-02 5.71616313e-03 5.66897571e+01] [-9.04315956e-02 9.95902647e-01 -2.09280547e-04 -9.82992392e-01] [-5.71166751e-03 -3.08502124e-04 9.99983641e-01 -3.46648009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters 0.061798885977320375 Centerline is valid? [True, True] Translation: X:56.75, Y:-0.99, Z:-0.35 [[ 9.95696642e-01 9.24907842e-02 5.80104587e-03 5.67506528e+01] [-9.24911113e-02 9.95713488e-01 -2.12429085e-04 -9.91007596e-01] [-5.79582734e-03 -3.25030253e-04 9.99983151e-01 -3.48073183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters 0.06020165583613191 Centerline is valid? [True, True] Translation: X:56.81, Y:-1.00, Z:-0.35 [[ 9.95521658e-01 9.43813181e-02 5.36617406e-03 5.68114175e+01] [-9.43816251e-02 9.95536072e-01 -1.96550343e-04 -1.00496274e+00] [-5.36077052e-03 -3.10798105e-04 9.99985583e-01 -3.48260480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters 0.06216458461917256 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.99, Z:-0.35 [[ 9.95363900e-01 9.60728349e-02 4.55153169e-03 5.68715750e+01] [-9.60730731e-02 9.95374270e-01 -1.66792586e-04 -9.92319786e-01] [-4.54650177e-03 -2.71260318e-04 9.99989628e-01 -3.50618984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters 0.06215494118704803 Centerline is valid? [True, True] Translation: X:56.93, Y:-1.00, Z:-0.35 [[ 9.95349884e-01 9.62120278e-02 4.67491890e-03 5.69345011e+01] [-9.62122822e-02 9.95360823e-01 -1.70986661e-04 -9.96167093e-01] [-4.66968210e-03 -2.79593063e-04 9.99989058e-01 -3.51375201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters 0.060930167686455886 Centerline is valid? [True, True] Translation: X:56.99, Y:-1.01, Z:-0.35 [[ 9.95521153e-01 9.44056336e-02 5.02100350e-03 5.69948174e+01] [-9.44058994e-02 9.95533772e-01 -1.84586275e-04 -1.01342001e+00] [-5.01600454e-03 -2.90252810e-04 9.99987378e-01 -3.51591255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters 0.060152537274344345 Centerline is valid? [True, True] Translation: X:57.06, Y:-1.02, Z:-0.35 [[ 9.95994219e-01 8.93017329e-02 4.55159662e-03 5.70554725e+01] [-8.93018979e-02 9.96004590e-01 -1.67371595e-04 -1.02103062e+00] [-4.54835770e-03 -2.39765076e-04 9.99989627e-01 -3.52968663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters 0.061111728628566085 Centerline is valid? [True, True] Translation: X:57.12, Y:-1.03, Z:-0.35 [[ 9.96523854e-01 8.31174123e-02 5.63067264e-03 5.71151982e+01] [-8.31175662e-02 9.96539727e-01 -2.07074843e-04 -1.02622475e+00] [-5.62840050e-03 -2.61652785e-04 9.99984126e-01 -3.53473536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters 0.06193576510853672 Centerline is valid? [True, True] Translation: X:57.18, Y:-1.03, Z:-0.35 [[ 9.96794980e-01 7.96544307e-02 7.41206325e-03 5.71750576e+01] [-7.96546019e-02 9.96822487e-01 -2.72575523e-04 -1.02864424e+00] [-7.41022316e-03 -3.18703035e-04 9.99972493e-01 -3.51879239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters 0.06106122440275307 Centerline is valid? [True, True] Translation: X:57.24, Y:-1.04, Z:-0.35 [[ 9.96550038e-01 8.28009604e-02 5.65888817e-03 5.72351466e+01] [-8.28011109e-02 9.96566070e-01 -2.08095360e-04 -1.03974845e+00] [-5.65668644e-03 -2.61184789e-04 9.99983967e-01 -3.53562204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters 0.0598796707687014 Centerline is valid? [True, True] Translation: X:57.29, Y:-1.06, Z:-0.35 [[ 9.96106441e-01 8.80075394e-02 5.16045478e-03 5.72948947e+01] [-8.80077341e-02 9.96119773e-01 -1.89781346e-04 -1.05713541e+00] [-5.15713323e-03 -2.65117511e-04 9.99986667e-01 -3.53778967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters 0.0602948199427452 Centerline is valid? [True, True] Translation: X:57.35, Y:-1.05, Z:-0.35 [[ 9.95286489e-01 9.67928350e-02 5.99603293e-03 5.73544674e+01] [-9.67932566e-02 9.95304484e-01 -2.20527029e-04 -1.05123987e+00] [-5.98922390e-03 -3.60887982e-04 9.99981999e-01 -3.53578270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters 0.05885158892548397 Centerline is valid? [True, True] Translation: X:57.41, Y:-1.06, Z:-0.35 [[ 9.94373408e-01 1.05802737e-01 5.22550547e-03 5.74148706e+01] [-1.05803181e-01 9.94387073e-01 -1.92242910e-04 -1.05636846e+00] [-5.21651491e-03 -3.61713862e-04 9.99986328e-01 -3.54034418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters 0.058891979005603896 Centerline is valid? [True, True] Translation: X:57.48, Y:-1.06, Z:-0.35 [[ 9.93820021e-01 1.10865730e-01 5.52779527e-03 5.74757860e+01] [-1.10866304e-01 9.93835309e-01 -2.03368275e-04 -1.06106442e+00] [-5.51626470e-03 -4.10734768e-04 9.99984701e-01 -3.54328181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters 0.05999519259302738 Centerline is valid? [True, True] Translation: X:57.54, Y:-1.06, Z:-0.35 [[ 9.93174149e-01 1.16522459e-01 5.25614508e-03 5.75351607e+01] [-1.16523057e-01 9.93187968e-01 -1.93445475e-04 -1.05985756e+00] [-5.24288080e-03 -4.20337048e-04 9.99986168e-01 -3.54614764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters 0.05864049386841297 Centerline is valid? [True, True] Translation: X:57.60, Y:-1.07, Z:-0.35 [[ 9.93148815e-01 1.16754775e-01 4.87383818e-03 5.75972893e+01] [-1.16755291e-01 9.93160697e-01 -1.79307028e-04 -1.06970878e+00] [-4.86143948e-03 -3.90967835e-04 9.99988107e-01 -3.54991017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters 0.059376695816105864 Centerline is valid? [True, True] Translation: X:57.66, Y:-1.07, Z:-0.36 [[ 9.93389083e-01 1.14694365e-01 4.83045882e-03 5.76575506e+01] [-1.14694844e-01 9.93400755e-01 -1.78532992e-04 -1.07446184e+00] [-4.81905817e-03 -3.76675997e-04 9.99988317e-01 -3.55648140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters 0.0583464047219529 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.09, Z:-0.36 [[ 9.94329170e-01 1.06203527e-01 5.50576316e-03 5.77172791e+01] [-1.06204020e-01 9.94344339e-01 -2.03484592e-04 -1.08956613e+00] [-5.49623521e-03 -3.82403518e-04 9.99984822e-01 -3.56521987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters 0.05895547666252924 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.09, Z:-0.36 [[ 9.95485929e-01 9.47321956e-02 5.79456234e-03 5.77765020e+01] [-9.47325483e-02 9.95502737e-01 -2.14190320e-04 -1.09320655e+00] [-5.78879338e-03 -3.35710207e-04 9.99983188e-01 -3.56464899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters 0.06031115233868524 Centerline is valid? [True, True] Translation: X:57.84, Y:-1.09, Z:-0.36 [[ 9.96121785e-01 8.77400945e-02 6.56244926e-03 5.78362089e+01] [-8.77403955e-02 9.96143345e-01 -2.42579489e-04 -1.09276331e+00] [-6.55842410e-03 -3.34153180e-04 9.99978437e-01 -3.55441420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters 0.05900697266090121 Centerline is valid? [True, True] Translation: X:57.90, Y:-1.11, Z:-0.36 [[ 9.95750019e-01 9.20173155e-02 3.83584436e-03 5.78966542e+01] [-9.20174502e-02 9.95757384e-01 -1.41721979e-04 -1.10759299e+00] [-3.83261122e-03 -2.11844954e-04 9.99992633e-01 -3.57735211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters 0.060002926795666656 Centerline is valid? [True, True] Translation: X:57.96, Y:-1.10, Z:-0.36 [[ 9.93019485e-01 1.17775985e-01 6.41247333e-03 5.79568433e+01] [-1.17776894e-01 9.93040053e-01 -2.37053323e-04 -1.09899347e+00] [-6.39576205e-03 -5.19842623e-04 9.99979412e-01 -3.56279815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters 0.05706748243273814 Centerline is valid? [True, True] Translation: X:58.02, Y:-1.12, Z:-0.36 [[ 9.92856502e-01 1.19126475e-01 6.69698148e-03 5.80172501e+01] [-1.19127496e-01 9.92878934e-01 -2.47610702e-04 -1.11904416e+00] [-6.67878882e-03 -5.51952739e-04 9.99977544e-01 -3.56184624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters 0.057551576174639074 Centerline is valid? [True, True] Translation: X:58.08, Y:-1.12, Z:-0.36 [[ 9.92759686e-01 1.19926509e-01 6.77037572e-03 5.80776171e+01] [-1.19927571e-01 9.92782612e-01 -2.50362029e-04 -1.12309787e+00] [-6.75153634e-03 -5.63405385e-04 9.99977049e-01 -3.57114290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters 0.05779060153681152 Centerline is valid? [True, True] Translation: X:58.14, Y:-1.12, Z:-0.36 [[ 9.92721085e-01 1.20259589e-01 6.51754496e-03 5.81389895e+01] [-1.20260581e-01 9.92742330e-01 -2.40983465e-04 -1.11951935e+00] [-6.49922335e-03 -5.44574375e-04 9.99978732e-01 -3.57857628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters 0.05779060153681152 Centerline is valid? [True, True] Translation: X:58.20, Y:-1.12, Z:-0.36 [[ 9.92706032e-01 1.20383787e-01 6.51752052e-03 5.82016440e+01] [-1.20384777e-01 9.92727277e-01 -2.41642455e-04 -1.12177099e+00] [-6.49921024e-03 -5.44730332e-04 9.99978732e-01 -3.58319884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters 0.05856893697201136 Centerline is valid? [True, True] Translation: X:58.26, Y:-1.12, Z:-0.36 [[ 9.92883484e-01 1.18902945e-01 6.66902555e-03 5.82624537e+01] [-1.18903942e-01 9.92905731e-01 -2.48201249e-04 -1.11719581e+00] [-6.65122555e-03 -5.46538508e-04 9.99977731e-01 -3.59636601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters 0.06199334534174165 Centerline is valid? [True, True] Translation: X:58.32, Y:-1.11, Z:-0.36 [[ 9.93230594e-01 1.15978126e-01 6.48552619e-03 5.83227648e+01] [-1.15979007e-01 9.93251636e-01 -2.41399741e-04 -1.10729121e+00] [-6.46975659e-03 -5.12419278e-04 9.99978940e-01 -3.60237384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters 0.05700098294962514 Centerline is valid? [True, True] Translation: X:58.38, Y:-1.13, Z:-0.36 [[ 9.93834529e-01 1.10713572e-01 5.95257811e-03 5.83829099e+01] [-1.10714221e-01 9.93852259e-01 -2.21530906e-04 -1.13243868e+00] [-5.94050968e-03 -4.38869982e-04 9.99982259e-01 -3.61354594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters 0.057910512500076686 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.13, Z:-0.36 [[ 9.94639474e-01 1.03220744e-01 6.14770450e-03 5.84433858e+01] [-1.03221293e-01 9.94658390e-01 -2.28825429e-04 -1.12752458e+00] [-6.13848539e-03 -4.06975203e-04 9.99981077e-01 -3.62298388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters 0.05826002214223665 Centerline is valid? [True, True] Translation: X:58.50, Y:-1.14, Z:-0.36 [[ 9.95477183e-01 9.47541035e-02 6.84388955e-03 5.85028711e+01] [-9.47545837e-02 9.95500630e-01 -2.54780579e-04 -1.13513389e+00] [-6.83723786e-03 -3.94861652e-04 9.99976548e-01 -3.63298605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters 0.05931480495491263 Centerline is valid? [True, True] Translation: X:58.56, Y:-1.13, Z:-0.37 [[ 9.95678270e-01 9.26234655e-02 6.75849514e-03 5.85626368e+01] [-9.26238852e-02 9.95701136e-01 -2.51548442e-04 -1.12752831e+00] [-6.75274058e-03 -3.75536761e-04 9.99977129e-01 -3.65089267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters 0.059427046734172 Centerline is valid? [True, True] Translation: X:58.62, Y:-1.12, Z:-0.37 [[ 9.95703744e-01 9.21997797e-02 8.55893502e-03 5.86245859e+01] [-9.22004367e-02 9.95740417e-01 -3.18631367e-04 -1.12118027e+00] [-8.55185527e-03 -4.71875101e-04 9.99963321e-01 -3.65173073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters 0.05993081847995231 Centerline is valid? [True, True] Translation: X:58.69, Y:-1.12, Z:-0.37 [[ 9.95717466e-01 9.20350433e-02 8.73377386e-03 5.86868855e+01] [-9.20357130e-02 9.95755653e-01 -3.26053959e-04 -1.11995247e+00] [-8.72671309e-03 -4.79161483e-04 9.99961807e-01 -3.65827036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters 0.06173760244450158 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.12, Z:-0.37 [[ 9.95752375e-01 9.16580096e-02 8.71880987e-03 5.87486086e+01] [-9.16586550e-02 9.95790432e-01 -3.26378233e-04 -1.11651847e+00] [-8.71202263e-03 -4.74162485e-04 9.99961937e-01 -3.66356141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters 0.06173760244450158 Centerline is valid? [True, True] Translation: X:58.81, Y:-1.12, Z:-0.37 [[ 9.95741828e-01 9.17725160e-02 8.71877604e-03 5.88111404e+01] [-9.17731579e-02 9.95779886e-01 -3.27279609e-04 -1.11883157e+00] [-8.71201708e-03 -4.74263614e-04 9.99961937e-01 -3.66817486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters 0.06014730271891913 Centerline is valid? [True, True] Translation: X:58.87, Y:-1.13, Z:-0.37 [[ 9.95750837e-01 9.16710296e-02 8.75750218e-03 5.88726485e+01] [-9.16716645e-02 9.95789233e-01 -3.29727609e-04 -1.12667152e+00] [-8.75085285e-03 -4.74488259e-04 9.99961598e-01 -3.68004121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters 0.05920995274023202 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.13, Z:-0.37 [[ 9.95832867e-01 9.08190962e-02 8.29419877e-03 5.89336092e+01] [-9.08196303e-02 9.95867309e-01 -3.13011275e-04 -1.13221823e+00] [-8.28834881e-03 -4.41569151e-04 9.99965554e-01 -3.69300362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters 0.0596501092612766 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.13, Z:-0.37 [[ 9.96481899e-01 8.33727627e-02 8.53273133e-03 5.89938873e+01] [-8.33730544e-02 9.96518354e-01 -3.22129595e-04 -1.13355524e+00] [-8.52988021e-03 -3.90403563e-04 9.99963544e-01 -3.70894620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters 0.05915949816333129 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.14, Z:-0.37 [[ 9.96897916e-01 7.81794220e-02 9.08418675e-03 5.90541518e+01] [-7.81795371e-02 9.96939237e-01 -3.42976296e-04 -1.13731849e+00] [-9.08319590e-03 -3.68285160e-04 9.99958679e-01 -3.71639204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters 0.05868474017390234 Centerline is valid? [True, True] Translation: X:59.11, Y:-1.15, Z:-0.37 [[ 9.97505381e-01 6.99539310e-02 9.45846001e-03 5.91146865e+01] [-6.99536858e-02 9.97550176e-01 -3.57155886e-04 -1.14635817e+00] [-9.46027291e-03 -3.05389222e-04 9.99955204e-01 -3.72900470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters 0.05881502418036092 Centerline is valid? [True, True] Translation: X:59.17, Y:-1.15, Z:-0.37 [[ 9.97855678e-01 6.47923152e-02 9.27375731e-03 5.91737777e+01] [-6.47918564e-02 9.97898739e-01 -3.50215000e-04 -1.14887045e+00] [-9.27696196e-03 -2.51399925e-04 9.99956936e-01 -3.73078758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters 0.05948138277174284 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.15, Z:-0.37 [[ 9.97709256e-01 6.70960247e-02 8.62349623e-03 5.92338662e+01] [-6.70957140e-02 9.97746490e-01 -3.25656271e-04 -1.14675119e+00] [-8.62591334e-03 -2.53689361e-04 9.99962764e-01 -3.74400443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters 0.05932968849714019 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.15, Z:-0.38 [[ 9.97488824e-01 7.02388130e-02 9.08603320e-03 5.92943120e+01] [-7.02385982e-02 9.97530161e-01 -3.43136403e-04 -1.14952191e+00] [-9.08769365e-03 -2.95915508e-04 9.99958662e-01 -3.75298196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters 0.0598542364201027 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.15, Z:-0.38 [[ 9.97177021e-01 7.45357205e-02 9.07828936e-03 5.93545652e+01] [-7.45356834e-02 9.97218288e-01 -3.42894071e-04 -1.15133525e+00] [-9.07859403e-03 -3.34730413e-04 9.99958733e-01 -3.76160409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters 0.05806122883629974 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.18, Z:-0.38 [[ 9.96649344e-01 8.13107269e-02 8.86851206e-03 5.94135904e+01] [-8.13109592e-02 9.96688726e-01 -3.34958926e-04 -1.17556339e+00] [-8.86638174e-03 -3.87270628e-04 9.99960618e-01 -3.77154575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters 0.061139018869751566 Centerline is valid? [True, True] Translation: X:59.47, Y:-1.19, Z:-0.38 [[ 9.96484912e-01 8.32140320e-02 9.65636104e-03 5.94740583e+01] [-8.32143960e-02 9.96531601e-01 -3.64786384e-04 -1.19253865e+00] [-9.65322427e-03 -4.40044123e-04 9.99953310e-01 -3.78727341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters 0.06005701540672608 Centerline is valid? [True, True] Translation: X:59.54, Y:-1.14, Z:-0.38 [[ 9.95996714e-01 8.86668321e-02 1.13463129e-02 5.95361185e+01] [-8.86676865e-02 9.96061172e-01 -4.28707515e-04 -1.14347507e+00] [-1.13396338e-02 -5.79060037e-04 9.99935537e-01 -3.76232967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters 0.061312113594531696 Centerline is valid? [True, True] Translation: X:59.59, Y:-1.19, Z:-0.38 [[ 9.95743919e-01 9.14574851e-02 1.13831885e-02 5.95947097e+01] [-9.14585258e-02 9.95808793e-01 -4.30198274e-04 -1.19461383e+00] [-1.13748241e-02 -6.12722324e-04 9.99935117e-01 -3.81456435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters 0.05915545768272117 Centerline is valid? [True, True] Translation: X:59.65, Y:-1.19, Z:-0.38 [[ 9.95636472e-01 9.27668484e-02 1.01157240e-02 5.96548488e+01] [-9.27677367e-02 9.95687702e-01 -3.82389677e-04 -1.18509979e+00] [-1.01075751e-02 -5.57691710e-04 9.99948762e-01 -3.82045340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters 0.06199563264197074 Centerline is valid? [True, True] Translation: X:59.72, Y:-1.19, Z:-0.38 [[ 9.95891141e-01 8.98965961e-02 1.09287393e-02 5.97154954e+01] [-8.98974602e-02 9.95950941e-01 -4.13146368e-04 -1.19210316e+00] [-1.09216286e-02 -5.71017097e-04 9.99940194e-01 -3.83941430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters 0.05948455143591992 Centerline is valid? [True, True] Translation: X:59.78, Y:-1.18, Z:-0.38 [[ 9.96197083e-01 8.64247866e-02 1.10511503e-02 5.97758050e+01] [-8.64254566e-02 9.96258233e-01 -4.17820222e-04 -1.18267071e+00] [-1.10459095e-02 -5.38869426e-04 9.99938847e-01 -3.84043922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters 0.0585460404291562 Centerline is valid? [True, True] Translation: X:59.84, Y:-1.18, Z:-0.39 [[ 9.96702787e-01 8.02023830e-02 1.22936157e-02 5.98364115e+01] [-8.02027394e-02 9.96778463e-01 -4.64817676e-04 -1.18411926e+00] [-1.22912908e-02 -5.22696581e-04 9.99924323e-01 -3.85339976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters 0.05837871801402253 Centerline is valid? [True, True] Translation: X:59.90, Y:-1.18, Z:-0.39 [[ 9.97022547e-01 7.62726193e-02 1.13369947e-02 5.98969148e+01] [-7.62726679e-02 9.97086905e-01 -4.28705012e-04 -1.17854403e+00] [-1.13366674e-02 -4.37274269e-04 9.99935642e-01 -3.87498392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters 0.058573342849745004 Centerline is valid? [True, True] Translation: X:59.96, Y:-1.18, Z:-0.39 [[ 9.97365488e-01 7.17365552e-02 1.07679918e-02 5.99574664e+01] [-7.17363347e-02 9.97423547e-01 -4.07216601e-04 -1.18141831e+00] [-1.07694609e-02 -3.66312481e-04 9.99941941e-01 -3.89754441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters 0.058158470396335815 Centerline is valid? [True, True] Translation: X:60.02, Y:-1.17, Z:-0.39 [[ 9.97827771e-01 6.48994081e-02 1.13051849e-02 6.00174960e+01] [-6.48987266e-02 9.97891764e-01 -4.27512860e-04 -1.17274947e+00] [-1.13090962e-02 -3.07107900e-04 9.99936003e-01 -3.90450040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters 0.05845550703306126 Centerline is valid? [True, True] Translation: X:60.08, Y:-1.18, Z:-0.39 [[ 9.97866907e-01 6.42583815e-02 1.15107241e-02 6.00791917e+01] [-6.42576281e-02 9.97933248e-01 -4.35666775e-04 -1.17671612e+00] [-1.15149295e-02 -3.04914369e-04 9.99933655e-01 -3.91141629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters 0.05807570538267555 Centerline is valid? [True, True] Translation: X:60.14, Y:-1.18, Z:-0.39 [[ 9.97878922e-01 6.40935909e-02 1.13872459e-02 6.01416472e+01] [-6.40928301e-02 9.97943847e-01 -4.32103795e-04 -1.17898562e+00] [-1.13915271e-02 -2.98653549e-04 9.99935070e-01 -3.91420053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters 0.058237561513516556 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.18, Z:-0.39 [[ 9.97902064e-01 6.37298064e-02 1.14009711e-02 6.02040887e+01] [-6.37290073e-02 9.97967146e-01 -4.33744705e-04 -1.18017399e+00] [-1.14054371e-02 -2.93737834e-04 9.99934913e-01 -3.92221825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters 0.05756977039489497 Centerline is valid? [True, True] Translation: X:60.27, Y:-1.18, Z:-0.39 [[ 9.97932710e-01 6.31928525e-02 1.17034378e-02 6.02665861e+01] [-6.31919598e-02 9.98001291e-01 -4.46420820e-04 -1.18073366e+00] [-1.17082567e-02 -2.94065236e-04 9.99931413e-01 -3.93898527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters 0.05786229823952329 Centerline is valid? [True, True] Translation: X:60.33, Y:-1.18, Z:-0.39 [[ 9.97844584e-01 6.46369000e-02 1.13250334e-02 6.03273795e+01] [-6.46361469e-02 9.97908804e-01 -4.32880265e-04 -1.17989440e+00] [-1.13293306e-02 -3.00059296e-04 9.99935776e-01 -3.94561561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters 0.05741504583797727 Centerline is valid? [True, True] Translation: X:60.39, Y:-1.17, Z:-0.39 [[ 9.97704021e-01 6.69572902e-02 1.01689888e-02 6.03875780e+01] [-6.69567993e-02 9.97755800e-01 -3.89104876e-04 -1.17460242e+00] [-1.01722210e-02 -2.92671445e-04 9.99948219e-01 -3.94337726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters 0.05725923550112278 Centerline is valid? [True, True] Translation: X:60.45, Y:-1.18, Z:-0.40 [[ 9.97419079e-01 7.10814132e-02 1.01297945e-02 6.04478813e+01] [-7.10811360e-02 9.97470462e-01 -3.87850109e-04 -1.18070810e+00] [-1.01317397e-02 -3.33188203e-04 9.99948617e-01 -3.96858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters 0.05711144201010175 Centerline is valid? [True, True] Translation: X:60.51, Y:-1.18, Z:-0.40 [[ 9.97204826e-01 7.38823862e-02 1.11322901e-02 6.05083375e+01] [-7.38822249e-02 9.97266883e-01 -4.26299316e-04 -1.18211732e+00] [-1.11333603e-02 -3.97370628e-04 9.99937943e-01 -3.96819288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters 0.05731256263535413 Centerline is valid? [True, True] Translation: X:60.57, Y:-1.19, Z:-0.40 [[ 9.97096390e-01 7.51795575e-02 1.21170213e-02 6.05690656e+01] [-7.51794600e-02 9.97169912e-01 -4.64182747e-04 -1.19361574e+00] [-1.21176261e-02 -4.48116175e-04 9.99926478e-01 -3.98723801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters 0.057048376368209607 Centerline is valid? [True, True] Translation: X:60.63, Y:-1.19, Z:-0.40 [[ 9.97041039e-01 7.57918489e-02 1.28359954e-02 6.06298362e+01] [-7.57917815e-02 9.97123545e-01 -4.92402163e-04 -1.19311541e+00] [-1.28363933e-02 -4.81917797e-04 9.99917494e-01 -3.99078273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters 0.05871136324135156 Centerline is valid? [True, True] Translation: X:60.69, Y:-1.18, Z:-0.40 [[ 9.96923275e-01 7.73362825e-02 1.27704179e-02 6.06909316e+01] [-7.73363325e-02 9.97004940e-01 -4.90651897e-04 -1.18389446e+00] [-1.27701149e-02 -4.98474986e-04 9.99918335e-01 -3.98113861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters 0.05726881200301974 Centerline is valid? [True, True] Translation: X:60.75, Y:-1.19, Z:-0.40 [[ 9.96629361e-01 8.10037578e-02 1.29733538e-02 6.07517538e+01] [-8.10041175e-02 9.96713642e-01 -4.98609011e-04 -1.19403618e+00] [-1.29711079e-02 -5.53966692e-04 9.99915718e-01 -3.99473474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters 0.056457090284933856 Centerline is valid? [True, True] Translation: X:60.81, Y:-1.20, Z:-0.40 [[ 9.96550485e-01 8.20303067e-02 1.25761747e-02 6.08121396e+01] [-8.20307245e-02 9.96629684e-01 -4.83482807e-04 -1.20296445e+00] [-1.25734492e-02 -5.49817694e-04 9.99920800e-01 -4.01265543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters 0.05807018502236277 Centerline is valid? [True, True] Translation: X:60.87, Y:-1.20, Z:-0.40 [[ 9.96377148e-01 8.42064804e-02 1.19100121e-02 6.08735803e+01] [-8.42070081e-02 9.96448177e-01 -4.58050809e-04 -1.19508292e+00] [-1.19062807e-02 -5.46515130e-04 9.99928968e-01 -4.00966394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters 0.05928081530060098 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.20, Z:-0.40 [[ 9.96235192e-01 8.59452056e-02 1.13518211e-02 6.09338204e+01] [-8.59457963e-02 9.96299719e-01 -4.36689465e-04 -1.19580391e+00] [-1.13473475e-02 -5.40595891e-04 9.99935471e-01 -4.01826263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters 0.059039711292730834 Centerline is valid? [True, True] Translation: X:61.00, Y:-1.20, Z:-0.40 [[ 9.96168525e-01 8.67306101e-02 1.12281357e-02 6.09957487e+01] [-8.67312365e-02 9.96231653e-01 -4.32046986e-04 -1.20052608e+00] [-1.12232959e-02 -5.43438484e-04 9.99936869e-01 -4.02339374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters 0.056342699299723006 Centerline is valid? [True, True] Translation: X:61.06, Y:-1.22, Z:-0.40 [[ 9.95939706e-01 8.92835225e-02 1.15132157e-02 6.10555984e+01] [-8.92843485e-02 9.96006079e-01 -4.43254262e-04 -1.22002540e+00] [-1.15068082e-02 -5.86495448e-04 9.99933622e-01 -4.03931785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters 0.058262696553798246 Centerline is valid? [True, True] Translation: X:61.12, Y:-1.21, Z:-0.40 [[ 9.95429953e-01 9.48006322e-02 1.14912340e-02 6.11153771e+01] [-9.48018199e-02 9.95496067e-01 -4.42541378e-04 -1.20935905e+00] [-1.14814314e-02 -6.48870951e-04 9.99933876e-01 -4.03948619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters 0.058302173802667855 Centerline is valid? [True, True] Translation: X:61.18, Y:-1.21, Z:-0.41 [[ 9.95082273e-01 9.83914277e-02 1.14191224e-02 6.11762532e+01] [-9.83928337e-02 9.95147555e-01 -4.39974577e-04 -1.21344023e+00] [-1.14070015e-02 -6.85748910e-04 9.99934703e-01 -4.05252143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters 0.05814172299926126 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.22, Z:-0.41 [[ 9.94683453e-01 1.02263758e-01 1.21224183e-02 6.12369008e+01] [-1.02265628e-01 9.94757017e-01 -4.67114363e-04 -1.21592337e+00] [-1.21066296e-02 -7.75075802e-04 9.99926412e-01 -4.05695376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters 0.05743278430811557 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.22, Z:-0.41 [[ 9.94254041e-01 1.06298025e-01 1.26345225e-02 6.12979851e+01] [-1.06300380e-01 9.94333944e-01 -4.86917324e-04 -1.21975490e+00] [-1.26146929e-02 -8.58935028e-04 9.99920063e-01 -4.06396142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters 0.05470851993216597 Centerline is valid? [True, True] Translation: X:61.36, Y:-1.23, Z:-0.41 [[ 9.93774694e-01 1.10644566e-01 1.30245195e-02 6.13578885e+01] [-1.10647439e-01 9.93859594e-01 -5.02050016e-04 -1.23438222e+00] [-1.30000928e-02 -9.42205129e-04 9.99915051e-01 -4.08608249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters 0.05460505008279508 Centerline is valid? [True, True] Translation: X:61.42, Y:-1.24, Z:-0.41 [[ 9.93453723e-01 1.13504738e-01 1.28986039e-02 6.14188746e+01] [-1.13507794e-01 9.93536981e-01 -4.97311240e-04 -1.23630750e+00] [-1.28716872e-02 -9.70036371e-04 9.99916686e-01 -4.09419213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters 0.05477032243276903 Centerline is valid? [True, True] Translation: X:61.48, Y:-1.24, Z:-0.41 [[ 9.93277176e-01 1.15080778e-01 1.25246338e-02 6.14797786e+01] [-1.15083782e-01 9.93355671e-01 -4.83023189e-04 -1.23699344e+00] [-1.24970027e-02 -9.61606312e-04 9.99921447e-01 -4.12401912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters 0.0573669620201179 Centerline is valid? [True, True] Translation: X:61.54, Y:-1.23, Z:-0.41 [[ 9.93312881e-01 1.14865079e-01 1.16418921e-02 6.15415227e+01] [-1.14867654e-01 9.93380702e-01 -4.49516145e-04 -1.22652761e+00] [-1.16164646e-02 -8.90766650e-04 9.99932130e-01 -4.12412495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters 0.05544681576495109 Centerline is valid? [True, True] Translation: X:61.60, Y:-1.24, Z:-0.41 [[ 9.93398680e-01 1.14156842e-01 1.12817981e-02 6.16026101e+01] [-1.14159204e-01 9.93462373e-01 -4.36507418e-04 -1.24049425e+00] [-1.12578723e-02 -8.54295199e-04 9.99936263e-01 -4.13809299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters 0.06005694585599832 Centerline is valid? [True, True] Translation: X:61.66, Y:-1.22, Z:-0.41 [[ 9.93632862e-01 1.11989947e-01 1.23282904e-02 6.16632025e+01] [-1.11992598e-01 9.93708926e-01 -4.77303318e-04 -1.22411668e+00] [-1.23041854e-02 -9.06413007e-04 9.99923890e-01 -4.13786773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters 0.05619164121061062 Centerline is valid? [True, True] Translation: X:61.72, Y:-1.24, Z:-0.41 [[ 9.93780843e-01 1.10531719e-01 1.35046619e-02 6.17236657e+01] [-1.10534766e-01 9.93872121e-01 -5.22925806e-04 -1.23918754e+00] [-1.34797068e-02 -9.73060989e-04 9.99908671e-01 -4.14973980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters 0.05547193122031878 Centerline is valid? [True, True] Translation: X:61.78, Y:-1.25, Z:-0.42 [[ 9.94084626e-01 1.07654244e-01 1.43638553e-02 6.17842519e+01] [-1.07657390e-01 9.94187898e-01 -5.56269820e-04 -1.24605371e+00] [-1.43402559e-02 -9.93395897e-04 9.99896680e-01 -4.16941019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters 0.05637605485466768 Centerline is valid? [True, True] Translation: X:61.84, Y:-1.25, Z:-0.42 [[ 9.94281196e-01 1.05893949e-01 1.38338033e-02 6.18449174e+01] [-1.05896697e-01 9.94376992e-01 -5.35823094e-04 -1.24508997e+00] [-1.38127561e-02 -9.32195244e-04 9.99904165e-01 -4.17917067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters 0.056718490909247694 Centerline is valid? [True, True] Translation: X:61.91, Y:-1.25, Z:-0.42 [[ 9.94267895e-01 1.06202491e-01 1.23444234e-02 6.19077652e+01] [-1.06204693e-01 9.94344173e-01 -4.78821611e-04 -1.24568517e+00] [-1.23254575e-02 -8.34958744e-04 9.99923690e-01 -4.19343918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters 0.05484589238704391 Centerline is valid? [True, True] Translation: X:61.97, Y:-1.25, Z:-0.42 [[ 9.94254597e-01 1.06374654e-01 1.19260251e-02 6.19708159e+01] [-1.06376705e-01 9.94325792e-01 -4.64059084e-04 -1.25316760e+00] [-1.19077185e-02 -8.07258374e-04 9.99928775e-01 -4.21781237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters 0.053526970600492184 Centerline is valid? [True, True] Translation: X:62.03, Y:-1.26, Z:-0.42 [[ 9.94163351e-01 1.07324942e-01 1.09812540e-02 6.20311980e+01] [-1.07326729e-01 9.94223712e-01 -4.28190612e-04 -1.26281972e+00] [-1.09637787e-02 -7.52890660e-04 9.99939613e-01 -4.23603387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters 0.054707078987910024 Centerline is valid? [True, True] Translation: X:62.09, Y:-1.26, Z:-0.42 [[ 9.94017318e-01 1.08588888e-01 1.17484247e-02 6.20914570e+01] [-1.08591020e-01 9.94086405e-01 -4.58167572e-04 -1.26022327e+00] [-1.17287012e-02 -8.20346925e-04 9.99930880e-01 -4.24853033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters 0.05528957874385062 Centerline is valid? [True, True] Translation: X:62.15, Y:-1.26, Z:-0.42 [[ 9.93956639e-01 1.09088421e-01 1.22440163e-02 6.21530110e+01] [-1.09090769e-01 9.94031677e-01 -4.77971815e-04 -1.26084047e+00] [-1.22230812e-02 -8.60625887e-04 9.99924925e-01 -4.24556712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters 0.05624582582776539 Centerline is valid? [True, True] Translation: X:62.21, Y:-1.26, Z:-0.42 [[ 9.93712909e-01 1.11221140e-01 1.28262374e-02 6.22146913e+01] [-1.11223882e-01 9.93795249e-01 -5.01557317e-04 -1.25592768e+00] [-1.28024376e-02 -9.28179934e-04 9.99917615e-01 -4.23424558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters 0.055343337280334595 Centerline is valid? [True, True] Translation: X:62.28, Y:-1.26, Z:-0.42 [[ 9.93665673e-01 1.11636616e-01 1.28761818e-02 6.22763969e+01] [-1.11639406e-01 9.93748655e-01 -5.04183452e-04 -1.25644441e+00] [-1.28519736e-02 -9.36499489e-04 9.99916971e-01 -4.23593464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters 0.0543388797274188 Centerline is valid? [True, True] Translation: X:62.34, Y:-1.26, Z:-0.43 [[ 9.93830591e-01 1.10249887e-01 1.20714295e-02 6.23363791e+01] [-1.10252229e-01 9.93903528e-01 -4.73330053e-04 -1.26476735e+00] [-1.20500209e-02 -8.60492118e-04 9.99927026e-01 -4.25274379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters 0.055773379991255215 Centerline is valid? [True, True] Translation: X:62.40, Y:-1.27, Z:-0.43 [[ 9.94454100e-01 1.04670834e-01 1.02498870e-02 6.23967234e+01] [-1.04672227e-01 9.94506693e-01 -4.01906444e-04 -1.26646481e+00] [-1.02356491e-02 -6.73200989e-04 9.99947388e-01 -4.25711445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters 0.05583462764673265 Centerline is valid? [True, True] Translation: X:62.46, Y:-1.28, Z:-0.43 [[ 9.95386169e-01 9.53826863e-02 1.04171559e-02 6.24566099e+01] [-9.53836176e-02 9.95440505e-01 -4.08519615e-04 -1.27557878e+00] [-1.04086246e-02 -5.86991238e-04 9.99945657e-01 -4.26370108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters 0.05489636471729451 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.28, Z:-0.43 [[ 9.96361854e-01 8.45768543e-02 1.04791131e-02 6.25169128e+01] [-8.45771997e-02 9.96416845e-01 -4.10990157e-04 -1.28336099e+00] [-1.04763250e-02 -4.76799122e-04 9.99945008e-01 -4.26843756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters 0.057056423509104726 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.28, Z:-0.43 [[ 9.96962354e-01 7.73048840e-02 9.48785138e-03 6.25765707e+01] [-7.73048382e-02 9.97007434e-01 -3.72106089e-04 -1.28032850e+00] [-9.48822398e-03 -3.62481053e-04 9.99954920e-01 -4.27269456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters 0.05602761090532504 Centerline is valid? [True, True] Translation: X:62.64, Y:-1.30, Z:-0.43 [[ 9.97695627e-01 6.71479583e-02 9.72558017e-03 6.26371619e+01] [-6.71474278e-02 9.97742992e-01 -3.81435367e-04 -1.29543299e+00] [-9.72924206e-03 -2.72491294e-04 9.99952633e-01 -4.29369468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters 0.05673565970330604 Centerline is valid? [True, True] Translation: X:62.70, Y:-1.30, Z:-0.43 [[ 9.98236977e-01 5.85230178e-02 9.89917086e-03 6.26970132e+01] [-5.85220439e-02 9.98286041e-01 -3.88270626e-04 -1.30213136e+00] [-9.90492685e-03 -1.91733615e-04 9.99950927e-01 -4.29864047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters 0.056120895920736664 Centerline is valid? [True, True] Translation: X:62.76, Y:-1.31, Z:-0.43 [[ 9.98494679e-01 5.39511888e-02 9.88160438e-03 6.27565577e+01] [-5.39499939e-02 9.98543563e-01 -3.87633144e-04 -1.30912483e+00] [-9.88812571e-03 -1.46062865e-04 9.99951101e-01 -4.29727564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters 0.05544122761853105 Centerline is valid? [True, True] Translation: X:62.82, Y:-1.32, Z:-0.43 [[ 9.98692784e-01 4.99807628e-02 1.07073158e-02 6.28174010e+01] [-4.99791312e-02 9.98750174e-01 -4.20079987e-04 -1.32207774e+00] [-1.07149294e-02 -1.15611488e-04 9.99942587e-01 -4.30658692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters 0.05499879996749766 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.33, Z:-0.43 [[ 9.98334134e-01 5.70334797e-02 8.72574335e-03 6.28774548e+01] [-5.70326643e-02 9.98372254e-01 -3.42448885e-04 -1.33185313e+00] [-8.73107111e-03 -1.55773980e-04 9.99961871e-01 -4.32272054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters 0.05554708510084712 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.33, Z:-0.43 [[ 9.98135633e-01 6.05351297e-02 7.79462764e-03 6.29390721e+01] [-6.05345852e-02 9.98166054e-01 -3.05971518e-04 -1.33010018e+00] [-7.79885474e-03 -1.66443476e-04 9.99969575e-01 -4.33047418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters 0.05546161426947728 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.33, Z:-0.43 [[ 9.97938342e-01 6.38008769e-02 6.96524349e-03 6.29994881e+01] [-6.38005206e-02 9.97962634e-01 -2.73567957e-04 -1.33031538e+00] [-6.96850662e-03 -1.71382207e-04 9.99975705e-01 -4.33784539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters 0.05495310088756522 Centerline is valid? [True, True] Translation: X:63.06, Y:-1.34, Z:-0.43 [[ 9.97414844e-01 7.14850580e-02 7.31544124e-03 6.30600063e+01] [-7.14848709e-02 9.97441643e-01 -2.87383546e-04 -1.33643032e+00] [-7.31726936e-03 -2.36302757e-04 9.99973201e-01 -4.34368891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters 0.05686431727891689 Centerline is valid? [True, True] Translation: X:63.12, Y:-1.33, Z:-0.43 [[ 9.96856458e-01 7.88009021e-02 8.22316339e-03 6.31201582e+01] [-7.88009140e-02 9.96890321e-01 -3.23059557e-04 -1.33059899e+00] [-8.22304937e-03 -3.25948785e-04 9.99966137e-01 -4.32679549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters 0.05484742327001216 Centerline is valid? [True, True] Translation: X:63.18, Y:-1.34, Z:-0.43 [[ 9.96528305e-01 8.27169385e-02 9.44695094e-03 6.31807235e+01] [-8.27171299e-02 9.96572997e-01 -3.71125306e-04 -1.34275358e+00] [-9.44527457e-03 -4.11587797e-04 9.99955308e-01 -4.32500416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters 0.05697651798477 Centerline is valid? [True, True] Translation: X:63.24, Y:-1.33, Z:-0.43 [[ 9.96308630e-01 8.51973163e-02 1.05133529e-02 6.32410476e+01] [-8.51976903e-02 9.96363981e-01 -4.13103963e-04 -1.33244611e+00] [-1.05103215e-02 -4.84134340e-04 9.99944648e-01 -4.31081358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters 0.05956558401681506 Centerline is valid? [True, True] Translation: X:63.30, Y:-1.33, Z:-0.43 [[ 9.96058412e-01 8.80299762e-02 1.08795096e-02 6.33018449e+01] [-8.80305454e-02 9.96117684e-01 -4.27479042e-04 -1.33013186e+00] [-1.08749029e-02 -5.31935070e-04 9.99940725e-01 -4.30556778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters 0.057091563344136884 Centerline is valid? [True, True] Translation: X:63.36, Y:-1.34, Z:-0.43 [[ 9.95871320e-01 9.01874362e-02 1.03218694e-02 6.33619615e+01] [-9.01880635e-02 9.95924670e-01 -4.05631481e-04 -1.33983873e+00] [-1.03163873e-02 -5.26952659e-04 9.99946646e-01 -4.32008949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters 0.05342849903751139 Centerline is valid? [True, True] Translation: X:63.42, Y:-1.36, Z:-0.43 [[ 9.95819612e-01 9.07842138e-02 1.00760478e-02 6.34230755e+01] [-9.07848387e-02 9.95870451e-01 -3.96297305e-04 -1.35971375e+00] [-1.00704158e-02 -5.20111743e-04 9.99949157e-01 -4.33428384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters 0.05957977572050852 Centerline is valid? [True, True] Translation: X:63.49, Y:-1.34, Z:-0.43 [[ 9.95781908e-01 9.13328061e-02 8.75840678e-03 6.34852283e+01] [-9.13332923e-02 9.95820320e-01 -3.45286585e-04 -1.34262125e+00] [-8.75333543e-03 -4.56103992e-04 9.99961585e-01 -4.32954136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters 0.0531878623902032 Centerline is valid? [True, True] Translation: X:63.54, Y:-1.37, Z:-0.43 [[ 9.96148225e-01 8.72421583e-02 8.80453588e-03 6.35445351e+01] [-8.72424837e-02 9.96187045e-01 -3.47837651e-04 -1.36956090e+00] [-8.80131068e-03 -4.21631719e-04 9.99961179e-01 -4.34748703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters 0.05539444970614099 Centerline is valid? [True, True] Translation: X:63.60, Y:-1.37, Z:-0.43 [[ 9.96660953e-01 8.09221492e-02 1.08880838e-02 6.36046703e+01] [-8.09222697e-02 9.96720322e-01 -4.30210949e-04 -1.36967909e+00] [-1.08871880e-02 -4.52313997e-04 9.99940631e-01 -4.34153091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters 0.054775415638912715 Centerline is valid? [True, True] Translation: X:63.67, Y:-1.38, Z:-0.43 [[ 9.97120620e-01 7.48907905e-02 1.19095719e-02 6.36652467e+01] [-7.48905049e-02 9.97191652e-01 -4.70579502e-04 -1.38006351e+00] [-1.19113678e-02 -4.22689332e-04 9.99928968e-01 -4.33895949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters 0.0543567148549362 Centerline is valid? [True, True] Translation: X:63.72, Y:-1.39, Z:-0.44 [[ 9.97502116e-01 6.97704314e-02 1.10279618e-02 6.37248435e+01] [-6.97698737e-02 9.97563018e-01 -4.35759377e-04 -1.38578380e+00] [-1.10314900e-02 -3.34748601e-04 9.99939095e-01 -4.36095375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters 0.05755532013861968 Centerline is valid? [True, True] Translation: X:63.79, Y:-1.38, Z:-0.44 [[ 9.97494950e-01 6.99661148e-02 1.04195868e-02 6.37876398e+01] [-6.99656241e-02 9.97549318e-01 -4.12053084e-04 -1.37731495e+00] [-1.04228815e-02 -3.17992025e-04 9.99945630e-01 -4.35696215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters 0.05519858622882405 Centerline is valid? [True, True] Translation: X:63.85, Y:-1.39, Z:-0.44 [[ 9.97506665e-01 6.98059179e-02 1.03724531e-02 6.38487871e+01] [-6.98054113e-02 9.97560542e-01 -4.11310724e-04 -1.39221350e+00] [-1.03758619e-02 -3.13768169e-04 9.99946120e-01 -4.37386468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters 0.05501698894037331 Centerline is valid? [True, True] Translation: X:63.91, Y:-1.39, Z:-0.44 [[ 9.97502053e-01 6.98816548e-02 1.03058022e-02 6.39117718e+01] [-6.98811474e-02 9.97555240e-01 -4.09772618e-04 -1.39444554e+00] [-1.03092426e-02 -3.11432256e-04 9.99946810e-01 -4.37630700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters 0.05586013990865997 Centerline is valid? [True, True] Translation: X:63.98, Y:-1.39, Z:-0.44 [[ 9.97483154e-01 7.01612422e-02 1.02350792e-02 6.39751754e+01] [-7.01607441e-02 9.97535615e-01 -4.08162743e-04 -1.39398993e+00] [-1.02384932e-02 -3.10965310e-04 9.99947537e-01 -4.37816134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters 0.055338182808817235 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.40, Z:-0.44 [[ 9.97451270e-01 7.05901715e-02 1.03919313e-02 6.40367530e+01] [-7.05896691e-02 9.97505351e-01 -4.15587814e-04 -1.39673213e+00] [-1.03953435e-02 -3.19034397e-04 9.99945916e-01 -4.38105154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters 0.05468524869547971 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.40, Z:-0.44 [[ 9.97407223e-01 7.13239817e-02 9.57711692e-03 6.40988600e+01] [-7.13235814e-02 9.97453157e-01 -3.83773489e-04 -1.40264725e+00] [-9.58009776e-03 -3.00295829e-04 9.99954065e-01 -4.40525421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters 0.05573117205997334 Centerline is valid? [True, True] Translation: X:64.16, Y:-1.40, Z:-0.44 [[ 9.97360723e-01 7.19646256e-02 9.62704482e-03 6.41600130e+01] [-7.19642457e-02 9.97407138e-01 -3.86313392e-04 -1.39742859e+00] [-9.62988412e-03 -3.07509215e-04 9.99953584e-01 -4.40710410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters 0.05719529605209799 Centerline is valid? [True, True] Translation: X:64.22, Y:-1.39, Z:-0.44 [[ 9.97276891e-01 7.31718577e-02 9.20225987e-03 6.42223311e+01] [-7.31715578e-02 9.97319300e-01 -3.69714848e-04 -1.39277440e+00] [-9.20464410e-03 -3.04635615e-04 9.99957590e-01 -4.41949004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters 0.05443477251968868 Centerline is valid? [True, True] Translation: X:64.28, Y:-1.41, Z:-0.44 [[ 9.97245424e-01 7.36638762e-02 8.67170448e-03 6.42838526e+01] [-7.36636255e-02 9.97283084e-01 -3.48743919e-04 -1.40871173e+00] [-8.67383401e-03 -2.91005914e-04 9.99962339e-01 -4.43855656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters 0.054858204361044036 Centerline is valid? [True, True] Translation: X:64.35, Y:-1.40, Z:-0.44 [[ 9.97239916e-01 7.36245472e-02 9.59045412e-03 6.43459137e+01] [-7.36242287e-02 9.97285979e-01 -3.86740827e-04 -1.40463442e+00] [-9.59289905e-03 -3.20416398e-04 9.99953936e-01 -4.43594876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters 0.05718162948997144 Centerline is valid? [True, True] Translation: X:64.41, Y:-1.40, Z:-0.44 [[ 9.97187067e-01 7.43036699e-02 9.84471294e-03 6.44083869e+01] [-7.43033591e-02 9.97235605e-01 -3.97829352e-04 -1.39795061e+00] [-9.84705845e-03 -3.34784957e-04 9.99951461e-01 -4.42391131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters 0.05584549607738877 Centerline is valid? [True, True] Translation: X:64.47, Y:-1.41, Z:-0.44 [[ 9.97196643e-01 7.42889988e-02 8.94423429e-03 6.44701595e+01] [-7.42887340e-02 9.97236708e-01 -3.62290745e-04 -1.40537804e+00] [-8.94643298e-03 -3.03180727e-04 9.99959934e-01 -4.44665790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters 0.05551882457687609 Centerline is valid? [True, True] Translation: X:64.53, Y:-1.41, Z:-0.45 [[ 9.97235699e-01 7.38210236e-02 8.45085809e-03 6.45320501e+01] [-7.38207634e-02 9.97271466e-01 -3.43136555e-04 -1.41067738e+00] [-8.45313033e-03 -2.81660773e-04 9.99964232e-01 -4.45815723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters 0.05842385711147742 Centerline is valid? [True, True] Translation: X:64.59, Y:-1.41, Z:-0.45 [[ 9.97331258e-01 7.25973354e-02 7.74521936e-03 6.45929275e+01] [-7.25970745e-02 9.97361301e-01 -3.15203234e-04 -1.40525522e+00] [-7.74766498e-03 -2.47918229e-04 9.99969956e-01 -4.46238856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters 0.05793010412316912 Centerline is valid? [True, True] Translation: X:64.65, Y:-1.42, Z:-0.45 [[ 9.97432062e-01 7.12480712e-02 7.27973772e-03 6.46539391e+01] [-7.12478044e-02 9.97458602e-01 -2.96310515e-04 -1.41574374e+00] [-7.28234856e-03 -2.23115721e-04 9.99973458e-01 -4.46798761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters 0.06068822810680918 Centerline is valid? [True, True] Translation: X:64.72, Y:-1.41, Z:-0.45 [[ 9.97425782e-01 7.13685099e-02 6.95312370e-03 6.47160844e+01] [-7.13682690e-02 9.97449994e-01 -2.83076687e-04 -1.40957946e+00] [-6.95559596e-03 -2.13884417e-04 9.99975787e-01 -4.47770480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters 0.059769193414656696 Centerline is valid? [True, True] Translation: X:64.78, Y:-1.42, Z:-0.45 [[ 9.97480759e-01 7.06239413e-02 6.66289303e-03 6.47776104e+01] [-7.06236987e-02 9.97502992e-01 -2.71978491e-04 -1.42153218e+00] [-6.66546393e-03 -1.99264838e-04 9.99977766e-01 -4.48327872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters 0.06180114262945417 Centerline is valid? [True, True] Translation: X:64.84, Y:-1.42, Z:-0.45 [[ 9.97475405e-01 7.07228424e-02 6.41056857e-03 6.48402238e+01] [-7.07226156e-02 9.97495986e-01 -2.62336418e-04 -1.41932779e+00] [-6.41306960e-03 -1.91698052e-04 9.99979418e-01 -4.48866218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters 0.062438477034744075 Centerline is valid? [True, True] Translation: X:64.90, Y:-1.43, Z:-0.45 [[ 9.97547430e-01 6.97105297e-02 6.29022801e-03 6.49027463e+01] [-6.97102863e-02 9.97567246e-01 -2.58206450e-04 -1.42553803e+00] [-6.29292513e-03 -1.80920415e-04 9.99980183e-01 -4.48984173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters 0.0654709584919573 Centerline is valid? [True, True] Translation: X:64.96, Y:-1.42, Z:-0.45 [[ 9.97679745e-01 6.77906213e-02 6.28948046e-03 6.49637231e+01] [-6.77903381e-02 9.97699556e-01 -2.58437494e-04 -1.41978191e+00] [-6.29253150e-03 -1.68528154e-04 9.99980188e-01 -4.49808892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters 0.064940166444359 Centerline is valid? [True, True] Translation: X:65.03, Y:-1.43, Z:-0.45 [[ 9.97847158e-01 6.53226959e-02 5.83051597e-03 6.50253177e+01] [-6.53224100e-02 9.97864182e-01 -2.39647256e-04 -1.43194260e+00] [-5.83371745e-03 -1.41732022e-04 9.99982974e-01 -4.50297335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters 0.0650843434340318 Centerline is valid? [True, True] Translation: X:65.09, Y:-1.45, Z:-0.45 [[ 9.98112634e-01 6.12085675e-02 4.96801443e-03 6.50852240e+01] [-6.12083083e-02 9.98124993e-01 -2.04336209e-04 -1.44719997e+00] [-4.97120650e-03 -1.00133207e-04 9.99987638e-01 -4.50233909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters 0.06681366450935237 Centerline is valid? [True, True] Translation: X:65.15, Y:-1.45, Z:-0.45 [[ 9.98320057e-01 5.75859184e-02 6.39733640e-03 6.51455384e+01] [-5.75854144e-02 9.98340549e-01 -2.63109029e-04 -1.44684146e+00] [-6.40187171e-03 -1.05726247e-04 9.99979502e-01 -4.50940715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters 0.06706481088464118 Centerline is valid? [True, True] Translation: X:65.21, Y:-1.46, Z:-0.45 [[ 9.98425610e-01 5.54224971e-02 8.63993258e-03 6.52070946e+01] [-5.54214942e-02 9.98462985e-01 -3.55642148e-04 -1.45570566e+00] [-8.64636344e-03 -1.23755744e-04 9.99962612e-01 -4.50006465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters 0.06706481088464118 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.46, Z:-0.45 [[ 9.98418714e-01 5.55465959e-02 8.63989323e-03 6.52695174e+01] [-5.55455894e-02 9.98456088e-01 -3.56595672e-04 -1.45826499e+00] [-8.64636167e-03 -1.23876170e-04 9.99962612e-01 -4.50467161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters 0.0689519189877237 Centerline is valid? [True, True] Translation: X:65.33, Y:-1.47, Z:-0.45 [[ 9.98558508e-01 5.31314074e-02 7.61309969e-03 6.53303142e+01] [-5.31305494e-02 9.98587525e-01 -3.15049544e-04 -1.46507651e+00] [-7.61908540e-03 -8.98927657e-05 9.99970970e-01 -4.51715158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters 0.07018840659871237 Centerline is valid? [True, True] Translation: X:65.39, Y:-1.46, Z:-0.45 [[ 9.98484839e-01 5.48228432e-02 4.74150310e-03 6.53924250e+01] [-5.48225286e-02 9.98496095e-01 -1.96400582e-04 -1.46437029e+00] [-4.74513956e-03 -6.38381852e-05 9.99988740e-01 -4.54885940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters 0.07069633701966646 Centerline is valid? [True, True] Translation: X:65.45, Y:-1.47, Z:-0.46 [[ 9.98452390e-01 5.54972576e-02 3.58890225e-03 6.54538190e+01] [-5.54970810e-02 9.98458838e-01 -1.48853733e-04 -1.47069668e+00] [-3.59163215e-03 -5.05502331e-05 9.99993549e-01 -4.55523254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters 0.07334919860371018 Centerline is valid? [True, True] Translation: X:65.52, Y:-1.46, Z:-0.46 [[ 9.98362742e-01 5.70209746e-02 4.52146432e-03 6.55152912e+01] [-5.70207069e-02 9.98372978e-01 -1.88198193e-04 -1.46053542e+00] [-4.52483904e-03 -6.99270280e-05 9.99989760e-01 -4.57218430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters 0.07309421477154204 Centerline is valid? [True, True] Translation: X:65.58, Y:-1.47, Z:-0.46 [[ 9.98399760e-01 5.63917568e-02 4.22959264e-03 6.55768883e+01] [-5.63915154e-02 9.98408717e-01 -1.76400655e-04 -1.47365358e+00] [-4.23280971e-03 -6.23947673e-05 9.99991040e-01 -4.56493575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters 0.07407618445546052 Centerline is valid? [True, True] Translation: X:65.64, Y:-1.47, Z:-0.46 [[ 9.98452624e-01 5.50603814e-02 7.79178740e-03 6.56384093e+01] [-5.50595093e-02 9.98483021e-01 -3.26561803e-04 -1.47212596e+00] [-7.79794804e-03 -1.02955501e-04 9.99969590e-01 -4.55949027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters 0.0745494857805263 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.47, Z:-0.46 [[ 9.98435556e-01 5.50879216e-02 9.57918295e-03 6.57000948e+01] [-5.50865930e-02 9.98481500e-01 -4.02687652e-04 -1.47235599e+00] [-9.58682019e-03 -1.25626882e-04 9.99954037e-01 -4.55880843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters 0.0747634063883486 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.47, Z:-0.46 [[ 9.98412640e-01 5.50874184e-02 1.17293403e-02 6.57619213e+01] [-5.50854085e-02 9.98481524e-01 -4.94602515e-04 -1.47319376e+00] [-1.17387760e-02 -1.52298102e-04 9.99931087e-01 -4.56393923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters 0.07520989075444648 Centerline is valid? [True, True] Translation: X:65.82, Y:-1.47, Z:-0.46 [[ 9.98335645e-01 5.62784376e-02 1.25967490e-02 6.58235384e+01] [-5.62761969e-02 9.98415097e-01 -5.32555225e-04 -1.47128218e+00] [-1.26067557e-02 -1.77228262e-04 9.99920516e-01 -4.56552164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters 0.07528367092725717 Centerline is valid? [True, True] Translation: X:65.89, Y:-1.47, Z:-0.46 [[ 9.98291324e-01 5.69534095e-02 1.30667984e-02 6.58857621e+01] [-5.69510384e-02 9.98376819e-01 -5.53790949e-04 -1.47428069e+00] [-1.30771289e-02 -1.91323040e-04 9.99914472e-01 -4.58104229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters 0.07451530962811696 Centerline is valid? [True, True] Translation: X:65.95, Y:-1.48, Z:-0.46 [[ 9.98262058e-01 5.72134376e-02 1.41239315e-02 6.59473801e+01] [-5.72106709e-02 9.98361948e-01 -6.00178055e-04 -1.47851541e+00] [-1.41351340e-02 -2.08904616e-04 9.99900072e-01 -4.61543645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters 0.07499956267805433 Centerline is valid? [True, True] Translation: X:66.01, Y:-1.48, Z:-0.46 [[ 9.98195109e-01 5.81212670e-02 1.51142911e-02 6.60090248e+01] [-5.81181828e-02 9.98309502e-01 -6.43580779e-04 -1.47550301e+00] [-1.51261462e-02 -2.35995950e-04 9.99885565e-01 -4.61186580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters 0.07415186026557603 Centerline is valid? [True, True] Translation: X:66.07, Y:-1.48, Z:-0.47 [[ 9.98170484e-01 5.86735716e-02 1.45978077e-02 6.60715652e+01] [-5.86707350e-02 9.98277194e-01 -6.22866662e-04 -1.47802849e+00] [-1.46092043e-02 -2.34736990e-04 9.99893252e-01 -4.66484758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters 0.07040727066401199 Centerline is valid? [True, True] Translation: X:66.13, Y:-1.48, Z:-0.47 [[ 9.97836726e-01 6.45976981e-02 1.22068160e-02 6.61328950e+01] [-6.45961481e-02 9.97911352e-01 -5.21619341e-04 -1.47698630e+00] [-1.22150157e-02 -2.68022359e-04 9.99925358e-01 -4.72645874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters 0.07013897564916606 Centerline is valid? [True, True] Translation: X:66.19, Y:-1.48, Z:-0.47 [[ 9.97770951e-01 6.56061409e-02 1.22050635e-02 6.61945479e+01] [-6.56046597e-02 9.97845557e-01 -5.22124578e-04 -1.48155808e+00] [-1.22130229e-02 -2.79748298e-04 9.99925379e-01 -4.74306445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters 0.06922340560555383 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.48, Z:-0.48 [[ 9.97734128e-01 6.62261135e-02 1.18621573e-02 6.62557390e+01] [-6.62247432e-02 9.97804602e-01 -5.08715716e-04 -1.48237709e+00] [-1.18698054e-02 -2.78005291e-04 9.99929513e-01 -4.75140758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters 0.06922340560555383 Centerline is valid? [True, True] Translation: X:66.32, Y:-1.49, Z:-0.48 [[ 9.97725956e-01 6.63491351e-02 1.18620996e-02 6.63181716e+01] [-6.63477575e-02 9.97796430e-01 -5.10059598e-04 -1.48503008e+00] [-1.18698026e-02 -2.78124005e-04 9.99929513e-01 -4.75601540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters 0.06866940127168668 Centerline is valid? [True, True] Translation: X:66.38, Y:-1.49, Z:-0.48 [[ 9.97701470e-01 6.67981742e-02 1.13921577e-02 6.63799734e+01] [-6.67969179e-02 9.97766471e-01 -4.91159549e-04 -1.48728158e+00] [-1.13995216e-02 -2.70930422e-04 9.99934987e-01 -4.76322167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters 0.06636896448355006 Centerline is valid? [True, True] Translation: X:66.44, Y:-1.50, Z:-0.48 [[ 9.97623632e-01 6.78779899e-02 1.18180674e-02 6.64412820e+01] [-6.78766978e-02 9.97693587e-01 -5.10855907e-04 -1.49568893e+00] [-1.18254859e-02 -2.92529461e-04 9.99930034e-01 -4.78567036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters 0.06576131947113477 Centerline is valid? [True, True] Translation: X:66.50, Y:-1.50, Z:-0.48 [[ 9.97617922e-01 6.79405985e-02 1.19397516e-02 6.65028906e+01] [-6.79392672e-02 9.97689324e-01 -5.17534431e-04 -1.49701987e+00] [-1.19473243e-02 -2.94876352e-04 9.99928585e-01 -4.77031262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters 0.06499100265095895 Centerline is valid? [True, True] Translation: X:66.56, Y:-1.50, Z:-0.48 [[ 9.97758128e-01 6.58426984e-02 1.19773485e-02 6.65628576e+01] [-6.58411942e-02 9.97829979e-01 -5.20291389e-04 -1.49962344e+00] [-1.19856148e-02 -2.69477966e-04 9.99928134e-01 -4.75047081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters 0.06483113561994504 Centerline is valid? [True, True] Translation: X:66.62, Y:-1.50, Z:-0.47 [[ 9.97916018e-01 6.34688830e-02 1.16328324e-02 6.66232527e+01] [-6.34672982e-02 9.97983791e-01 -5.05727922e-04 -1.50207932e+00] [-1.16414762e-02 -2.33630449e-04 9.99932208e-01 -4.74130600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters 0.0632540551237549 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.51, Z:-0.47 [[ 9.98093790e-01 6.08451330e-02 1.03274281e-02 6.66841333e+01] [-6.08437420e-02 9.98147202e-01 -4.49121483e-04 -1.50577453e+00] [-1.03356204e-02 -1.80094009e-04 9.99946570e-01 -4.73380158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters 0.06180791338683435 Centerline is valid? [True, True] Translation: X:66.75, Y:-1.51, Z:-0.47 [[ 9.98076357e-01 6.13137486e-02 9.17663830e-03 6.67461008e+01] [-6.13126685e-02 9.98118529e-01 -3.99244892e-04 -1.51140955e+00] [-9.18385192e-03 -1.64167295e-04 9.99957814e-01 -4.74572944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters 0.061219611695414525 Centerline is valid? [True, True] Translation: X:66.81, Y:-1.51, Z:-0.48 [[ 9.97882813e-01 6.46715261e-02 6.89101039e-03 6.68060083e+01] [-6.46709957e-02 9.97906595e-01 -3.00001857e-04 -1.51102775e+00] [-6.89598629e-03 -1.46281807e-04 9.99976212e-01 -4.75418002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters 0.06028458443067282 Centerline is valid? [True, True] Translation: X:66.87, Y:-1.52, Z:-0.48 [[ 9.97733813e-01 6.70776335e-02 5.27538395e-03 6.68676875e+01] [-6.70773562e-02 9.97747751e-01 -2.29668879e-04 -1.51532531e+00] [-5.27890812e-03 -1.24710402e-04 9.99986059e-01 -4.75938593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters 0.058412094269263345 Centerline is valid? [True, True] Translation: X:66.93, Y:-1.52, Z:-0.48 [[ 9.97709597e-01 6.75540526e-02 3.46553900e-03 6.69291751e+01] [-6.75539356e-02 9.97715612e-01 -1.50919724e-04 -1.52382605e+00] [-3.46781760e-03 -8.35367413e-05 9.99993984e-01 -4.76286280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters 0.05836106638776728 Centerline is valid? [True, True] Translation: X:66.99, Y:-1.52, Z:-0.48 [[ 9.97860899e-01 6.52802302e-02 3.48111821e-03 6.69896533e+01] [-6.52800956e-02 9.97866968e-01 -1.52394534e-04 -1.52275667e+00] [-3.48364122e-03 -7.51791828e-05 9.99993929e-01 -4.77719245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters 0.058655261406179195 Centerline is valid? [True, True] Translation: X:67.05, Y:-1.53, Z:-0.48 [[ 9.98027299e-01 6.26506748e-02 4.05018557e-03 6.70512211e+01] [-6.26504712e-02 9.98035514e-01 -1.77265839e-04 -1.52737624e+00] [-4.05333486e-03 -7.68298885e-05 9.99991782e-01 -4.77391581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters 0.05780225944379192 Centerline is valid? [True, True] Translation: X:67.11, Y:-1.53, Z:-0.48 [[ 9.98168930e-01 6.02587367e-02 5.26035439e-03 6.71123411e+01] [-6.02583584e-02 9.98182787e-01 -2.30514113e-04 -1.53282333e+00] [-5.26468570e-03 -8.68882947e-05 9.99986138e-01 -4.76575355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters 0.05700353705264094 Centerline is valid? [True, True] Translation: X:67.17, Y:-1.53, Z:-0.48 [[ 9.98383874e-01 5.64973598e-02 6.13914121e-03 6.71729102e+01] [-5.64967728e-02 9.98402746e-01 -2.69140737e-04 -1.53410804e+00] [-6.14454118e-03 -7.81358950e-05 9.99981119e-01 -4.76491232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters 0.05668710646983682 Centerline is valid? [True, True] Translation: X:67.24, Y:-1.54, Z:-0.48 [[ 9.98469935e-01 5.49052137e-02 6.57320552e-03 6.72351568e+01] [-5.49045059e-02 9.98491568e-01 -2.88212674e-04 -1.53882450e+00] [-6.57911467e-03 -7.31269120e-05 9.99978355e-01 -4.76699763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters 0.056832604682873926 Centerline is valid? [True, True] Translation: X:67.30, Y:-1.54, Z:-0.48 [[ 9.98547543e-01 5.31761816e-02 8.66597150e-03 6.72970844e+01] [-5.31748763e-02 9.98585143e-01 -3.81130622e-04 -1.54286129e+00] [-8.67397746e-03 -8.02349166e-05 9.99962377e-01 -4.76573659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters 0.05704034789167726 Centerline is valid? [True, True] Translation: X:67.36, Y:-1.54, Z:-0.48 [[ 9.98545686e-01 5.33261901e-02 7.92659769e-03 6.73594657e+01] [-5.33250965e-02 9.98577144e-01 -3.49399630e-04 -1.54461238e+00] [-7.93395143e-03 -7.37950935e-05 9.99968523e-01 -4.78436165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters 0.05657644593515425 Centerline is valid? [True, True] Translation: X:67.42, Y:-1.55, Z:-0.48 [[ 9.98457137e-01 5.50428303e-02 7.32344091e-03 6.74213961e+01] [-5.50419373e-02 9.98483991e-01 -3.23588999e-04 -1.54656971e+00] [-7.33014976e-03 -8.00066294e-05 9.99973131e-01 -4.80146188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters 0.05668098965289301 Centerline is valid? [True, True] Translation: X:67.48, Y:-1.55, Z:-0.48 [[ 9.98312553e-01 5.77382981e-02 6.19157668e-03 6.74836140e+01] [-5.77377084e-02 9.98331749e-01 -2.74108916e-04 -1.55035568e+00] [-6.19707416e-03 -8.38410772e-05 9.99980794e-01 -4.82093331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters 0.05630632397510335 Centerline is valid? [True, True] Translation: X:67.54, Y:-1.55, Z:-0.48 [[ 9.98042379e-01 6.23696176e-02 4.63039798e-03 6.75448983e+01] [-6.23693350e-02 9.98053117e-01 -2.05545197e-04 -1.55496102e+00] [-4.63420291e-03 -8.36520250e-05 9.99989259e-01 -4.81940763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters 0.056909263371615185 Centerline is valid? [True, True] Translation: X:67.60, Y:-1.55, Z:-0.49 [[ 9.97705562e-01 6.77002338e-02 5.38271100e-04 6.76049791e+01] [-6.77002308e-02 9.97705707e-01 -2.38569655e-05 -1.54912854e+00] [-5.38651271e-04 -1.26388505e-05 9.99999855e-01 -4.85540876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters 0.05581567645669088 Centerline is valid? [True, True] Translation: X:67.67, Y:-1.55, Z:-0.49 [[ 9.97420413e-01 7.17625947e-02 -1.62771029e-03 6.76651195e+01] [-7.17625722e-02 9.97421740e-01 7.23271332e-05 -1.55385027e+00] [ 1.62870401e-03 4.46681178e-05 9.99998673e-01 -4.86036187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters 0.05434271588539313 Centerline is valid? [True, True] Translation: X:67.73, Y:-1.56, Z:-0.48 [[ 9.97129993e-01 7.57012294e-02 -1.04948836e-03 6.77259363e+01] [-7.57012222e-02 9.97130545e-01 4.66444170e-05 -1.55557420e+00] [ 1.05000794e-03 3.29370042e-05 9.99999448e-01 -4.84441897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters 0.05337058552778937 Centerline is valid? [True, True] Translation: X:67.79, Y:-1.57, Z:-0.48 [[ 9.97125846e-01 7.57443293e-02 1.68607003e-03 6.77882062e+01] [-7.57443112e-02 9.97127271e-01 -7.46829318e-05 -1.56545205e+00] [-1.68688322e-03 -5.32419317e-05 9.99998576e-01 -4.80119768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters 0.055276216320714576 Centerline is valid? [True, True] Translation: X:67.85, Y:-1.56, Z:-0.48 [[ 9.97100410e-01 7.58626140e-02 5.96961236e-03 6.78497797e+01] [-7.58623838e-02 9.97118262e-01 -2.65309601e-04 -1.55626109e+00] [-5.97253658e-03 -1.88328712e-04 9.99982147e-01 -4.78437069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters 0.0551481274683334 Centerline is valid? [True, True] Translation: X:67.91, Y:-1.55, Z:-0.47 [[ 9.97220770e-01 7.37535190e-02 1.05429710e-02 6.79111800e+01] [-7.37526687e-02 9.97276453e-01 -4.69952372e-04 -1.55419029e+00] [-1.05489174e-02 -3.08925984e-04 9.99944311e-01 -4.74795795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters 0.05279506852984951 Centerline is valid? [True, True] Translation: X:67.97, Y:-1.56, Z:-0.48 [[ 9.97415812e-01 7.09503148e-02 1.13026919e-02 6.79715615e+01] [-7.09491560e-02 9.97479806e-01 -5.03962857e-04 -1.56445959e+00] [-1.13099632e-02 -2.99255926e-04 9.99935996e-01 -4.76258328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters 0.05329494088125998 Centerline is valid? [True, True] Translation: X:68.03, Y:-1.57, Z:-0.48 [[ 9.97823795e-01 6.51435642e-02 1.01975729e-02 6.80323855e+01] [-6.51423172e-02 9.97875880e-01 -4.54745125e-04 -1.57015164e+00] [-1.02055358e-02 -2.10538025e-04 9.99947900e-01 -4.78535211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters 0.053052309994408735 Centerline is valid? [True, True] Translation: X:68.09, Y:-1.57, Z:-0.48 [[ 9.98245457e-01 5.85471858e-02 8.84505436e-03 6.80922213e+01] [-5.85459885e-02 9.98284635e-01 -3.94450366e-04 -1.57193689e+00] [-8.85297582e-03 -1.24084165e-04 9.99960804e-01 -4.80328703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters 0.05336952121577799 Centerline is valid? [True, True] Translation: X:68.15, Y:-1.58, Z:-0.48 [[ 9.99019990e-01 4.33079944e-02 9.13653598e-03 6.81518232e+01] [-4.33060788e-02 9.99061769e-01 -4.07488154e-04 -1.58479720e+00] [-9.14561129e-03 1.14212643e-05 9.99958178e-01 -4.82793000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters 0.05381644512750233 Centerline is valid? [True, True] Translation: X:68.21, Y:-1.58, Z:-0.49 [[ 9.98713608e-01 5.06992158e-02 -8.47609309e-04 6.82141401e+01] [-5.06992018e-02 9.98713968e-01 3.80785616e-05 -1.57932525e+00] [ 8.48449810e-04 4.94353781e-06 9.99999640e-01 -4.94796429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters 0.05381644512750233 Centerline is valid? [True, True] Translation: X:68.28, Y:-1.58, Z:-0.50 [[ 9.98707005e-01 5.08291240e-02 -8.47572362e-04 6.82765504e+01] [-5.08291093e-02 9.98707365e-01 3.89046906e-05 -1.58207216e+00] [ 8.48454251e-04 4.22696115e-06 9.99999640e-01 -4.95256880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters 0.05320849006947471 Centerline is valid? [True, True] Translation: X:68.34, Y:-1.58, Z:-0.50 [[ 9.98621896e-01 5.24652276e-02 -1.30695581e-03 6.83389401e+01] [-5.24651947e-02 9.98622751e-01 5.95001073e-05 -1.58429525e+00] [ 1.30827749e-03 9.15158092e-06 9.99999144e-01 -4.96285633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters 0.05320849006947471 Centerline is valid? [True, True] Translation: X:68.40, Y:-1.59, Z:-0.50 [[ 9.98615056e-01 5.25952683e-02 -1.30694268e-03 6.84013505e+01] [-5.25952351e-02 9.98615911e-01 5.97910018e-05 -1.58705712e+00] [ 1.30827848e-03 9.03076282e-06 9.99999144e-01 -4.96746312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters 0.05281069907756698 Centerline is valid? [True, True] Translation: X:68.46, Y:-1.59, Z:-0.50 [[ 9.98553149e-01 5.37556464e-02 -1.39224324e-03 6.84636659e+01] [-5.37556098e-02 9.98554120e-01 6.36693859e-05 -1.59003678e+00] [ 1.39365281e-03 1.12636187e-05 9.99999029e-01 -4.97043688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters 0.05281069907756698 Centerline is valid? [True, True] Translation: X:68.53, Y:-1.59, Z:-0.50 [[ 9.98546133e-01 5.38858252e-02 -1.39222951e-03 6.85260761e+01] [-5.38857884e-02 9.98547103e-01 6.39719804e-05 -1.59281411e+00] [ 1.39365393e-03 1.11424111e-05 9.99999029e-01 -4.97504373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters 0.05199962815394514 Centerline is valid? [True, True] Translation: X:68.59, Y:-1.59, Z:-0.50 [[ 9.98496830e-01 5.47995595e-02 -1.04319667e-03 6.85884700e+01] [-5.47995390e-02 9.98497375e-01 4.82355799e-05 -1.59446434e+00] [ 1.04427243e-03 9.00362309e-06 9.99999455e-01 -4.99128285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters 0.05199962815394514 Centerline is valid? [True, True] Translation: X:68.65, Y:-1.60, Z:-0.50 [[ 9.98490053e-01 5.49229119e-02 -1.04319003e-03 6.86508814e+01] [-5.49228913e-02 9.98490598e-01 4.83805684e-05 -1.59727967e+00] [ 1.04427264e-03 8.98749619e-06 9.99999455e-01 -4.99589011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters 0.05334474941849133 Centerline is valid? [True, True] Translation: X:68.71, Y:-1.60, Z:-0.50 [[ 9.98437579e-01 5.58525187e-02 1.70232849e-03 6.87130691e+01] [-5.58524689e-02 9.98439030e-01 -7.68476350e-05 -1.60226335e+00] [-1.70396334e-03 -1.83516823e-05 9.99998548e-01 -4.96441510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters 0.05276534078641546 Centerline is valid? [True, True] Translation: X:68.77, Y:-1.60, Z:-0.50 [[ 9.98321289e-01 5.77868492e-02 3.90946131e-03 6.87739730e+01] [-5.77865952e-02 9.98328943e-01 -1.77977530e-04 -1.60321997e+00] [-3.91321313e-03 -4.82357006e-05 9.99992342e-01 -4.95810113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters 0.05196340268174524 Centerline is valid? [True, True] Translation: X:68.83, Y:-1.60, Z:-0.50 [[ 9.98004591e-01 6.29459333e-02 4.96435679e-03 6.88339170e+01] [-6.29455834e-02 9.98016935e-01 -2.26850535e-04 -1.60097518e+00] [-4.96879147e-03 -8.60864585e-05 9.99987652e-01 -4.96036480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters 0.05196419324540879 Centerline is valid? [True, True] Translation: X:68.90, Y:-1.60, Z:-0.50 [[ 9.97669975e-01 6.81252267e-02 3.68444887e-03 6.88950436e+01] [-6.81250686e-02 9.97676775e-01 -1.68537283e-04 -1.60203662e+00] [-3.68737070e-03 -8.28587454e-05 9.99993198e-01 -4.97575666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters 0.0504228105943659 Centerline is valid? [True, True] Translation: X:68.96, Y:-1.61, Z:-0.50 [[ 9.97188239e-01 7.49370499e-02 -2.31502501e-04 6.89558042e+01] [-7.49370495e-02 9.97188266e-01 1.06746736e-05 -1.60800605e+00] [ 2.31651506e-04 6.70345542e-06 9.99999973e-01 -4.99669434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters 0.05168802098439888 Centerline is valid? [True, True] Translation: X:69.02, Y:-1.61, Z:-0.50 [[ 9.96980310e-01 7.75919165e-02 -3.12350198e-03 6.90167873e+01] [-7.75918490e-02 9.96985198e-01 1.42969031e-04 -1.61055709e+00] [ 3.12517849e-03 9.98209854e-05 9.99995112e-01 -5.01500823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters 0.05196752307082569 Centerline is valid? [True, True] Translation: X:69.08, Y:-1.61, Z:-0.50 [[ 9.97117502e-01 7.57821291e-02 -3.70901863e-03 6.90767026e+01] [-7.57820212e-02 9.97124394e-01 1.69823781e-04 -1.61397716e+00] [ 3.71122256e-03 1.11742664e-04 9.99993107e-01 -5.02432008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters 0.05192905072515538 Centerline is valid? [True, True] Translation: X:69.14, Y:-1.63, Z:-0.50 [[ 9.97440396e-01 7.14167871e-02 -3.50686205e-03 6.91368141e+01] [-7.14166637e-02 9.97446557e-01 1.60533706e-04 -1.62527266e+00] [ 3.50937228e-03 9.03255845e-05 9.99993838e-01 -5.00590642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters 0.05199357108302817 Centerline is valid? [True, True] Translation: X:69.20, Y:-1.62, Z:-0.50 [[ 9.97662921e-01 6.83135817e-02 -1.39670894e-03 6.91969531e+01] [-6.83135591e-02 9.97663898e-01 6.39318484e-05 -1.62497351e+00] [ 1.39781350e-03 3.16317243e-05 9.99999023e-01 -5.02255557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters 0.051308654868549915 Centerline is valid? [True, True] Translation: X:69.26, Y:-1.64, Z:-0.50 [[ 9.97928703e-01 6.43288934e-02 3.12924017e-04 6.92573302e+01] [-6.43288921e-02 9.97928752e-01 -1.42127712e-05 -1.63627714e+00] [-3.13190166e-04 -5.94672304e-06 9.99999951e-01 -4.99232729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters 0.05125136416775349 Centerline is valid? [True, True] Translation: X:69.32, Y:-1.64, Z:-0.50 [[ 9.98171194e-01 6.03870161e-02 2.77037931e-03 6.93171434e+01] [-6.03868965e-02 9.98175038e-01 -1.26852685e-04 -1.63909508e+00] [-2.77298373e-03 -4.06739130e-05 9.99996154e-01 -4.98231716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters 0.05169108483170536 Centerline is valid? [True, True] Translation: X:69.38, Y:-1.64, Z:-0.50 [[ 9.98190963e-01 5.99746488e-02 4.22397540e-03 6.93791349e+01] [-5.99743686e-02 9.98199899e-01 -1.93074655e-04 -1.64090983e+00] [-4.22795140e-03 -6.06048815e-05 9.99991060e-01 -4.97951800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters 0.05186368054710654 Centerline is valid? [True, True] Translation: X:69.44, Y:-1.64, Z:-0.50 [[ 9.98068899e-01 6.19180586e-02 4.96264442e-03 6.94407898e+01] [-6.19176925e-02 9.98081233e-01 -2.27529577e-04 -1.63814379e+00] [-4.96721045e-03 -8.01852969e-05 9.99987660e-01 -4.97855748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters 0.05242480225914207 Centerline is valid? [True, True] Translation: X:69.50, Y:-1.63, Z:-0.50 [[ 9.97686384e-01 6.79490244e-02 2.19318466e-03 6.95017236e+01] [-6.79489667e-02 9.97688793e-01 -1.00865242e-04 -1.63419714e+00] [-2.19496945e-03 -4.83927531e-05 9.99997590e-01 -5.00289594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters 0.05336734840000377 Centerline is valid? [True, True] Translation: X:69.56, Y:-1.63, Z:-0.50 [[ 9.97364826e-01 7.25480314e-02 -4.31581009e-04 6.95618643e+01] [-7.25480296e-02 9.97364920e-01 1.98122916e-05 -1.63032495e+00] [ 4.31881101e-04 1.15502690e-05 9.99999907e-01 -5.03760130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters 0.05381604769457831 Centerline is valid? [True, True] Translation: X:69.62, Y:-1.63, Z:-0.50 [[ 9.97281183e-01 7.36845677e-02 -9.09629019e-04 6.96239431e+01] [-7.36845599e-02 9.97281597e-01 4.20790883e-05 -1.63148913e+00] [ 9.10256860e-04 2.50609311e-05 9.99999585e-01 -5.04593658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters 0.05327090388593867 Centerline is valid? [True, True] Translation: X:69.69, Y:-1.63, Z:-0.50 [[ 9.97200021e-01 7.47705074e-02 -1.22049950e-03 6.96858406e+01] [-7.47704935e-02 9.97200767e-01 5.70398839e-05 -1.63233292e+00] [ 1.22134794e-03 3.43771769e-05 9.99999254e-01 -5.03764961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters 0.05379037925228792 Centerline is valid? [True, True] Translation: X:69.75, Y:-1.63, Z:-0.50 [[ 9.97367332e-01 7.25111178e-02 7.36717600e-04 6.97467951e+01] [-7.25111125e-02 9.97367604e-01 -3.39311431e-05 -1.63218666e+00] [-7.37238653e-04 -1.95783991e-05 9.99999728e-01 -5.02606530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters 0.05301725322257935 Centerline is valid? [True, True] Translation: X:69.81, Y:-1.64, Z:-0.50 [[ 9.97464071e-01 7.11447013e-02 1.96411597e-03 6.98082641e+01] [-7.11446610e-02 9.97466004e-01 -9.04859971e-05 -1.63779254e+00] [-1.96557650e-03 -4.94798335e-05 9.99998067e-01 -5.01096028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters 0.05187066166135201 Centerline is valid? [True, True] Translation: X:69.87, Y:-1.64, Z:-0.50 [[ 9.97606179e-01 6.91028989e-02 2.58863755e-03 6.98692244e+01] [-6.91028216e-02 9.97609536e-01 -1.19398549e-04 -1.64338026e+00] [-2.59070029e-03 -5.97694290e-05 9.99996642e-01 -5.00943792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters 0.05152448642346391 Centerline is valid? [True, True] Translation: X:69.93, Y:-1.65, Z:-0.50 [[ 9.97705681e-01 6.76531000e-02 2.53613737e-03 6.99319036e+01] [-6.76530213e-02 9.97708903e-01 -1.16902064e-04 -1.64526797e+00] [-2.53823562e-03 -5.49435025e-05 9.99996777e-01 -5.00896298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters 0.05181884010708926 Centerline is valid? [True, True] Translation: X:69.99, Y:-1.65, Z:-0.50 [[ 9.97711027e-01 6.75688169e-02 2.67615608e-03 6.99934404e+01] [-6.75687294e-02 9.97714614e-01 -1.23189792e-04 -1.64607576e+00] [-2.67836382e-03 -5.79166518e-05 9.99996411e-01 -5.01253218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters 0.0517093566406947 Centerline is valid? [True, True] Translation: X:70.06, Y:-1.65, Z:-0.50 [[ 9.97761522e-01 6.68452649e-02 1.91194892e-03 7.00553882e+01] [-6.68452190e-02 9.97763353e-01 -8.79486679e-05 -1.64720997e+00] [-1.91355152e-03 -4.00528476e-05 9.99998168e-01 -5.01754605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters 0.052191111534041275 Centerline is valid? [True, True] Translation: X:70.12, Y:-1.65, Z:-0.50 [[ 9.97790677e-01 6.64280199e-02 1.04032294e-03 7.01173145e+01] [-6.64280064e-02 9.97791219e-01 -4.76023041e-05 -1.64834329e+00] [-1.04118722e-03 -2.16094438e-05 9.99999458e-01 -5.03238110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters 0.05220804744699883 Centerline is valid? [True, True] Translation: X:70.18, Y:-1.65, Z:-0.50 [[ 9.97830629e-01 6.58326615e-02 3.11191601e-04 7.01790363e+01] [-6.58326604e-02 9.97830677e-01 -1.37205844e-05 -1.64838260e+00] [-3.11419789e-04 -6.79575169e-06 9.99999951e-01 -5.04918612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters 0.05186403001924013 Centerline is valid? [True, True] Translation: X:70.24, Y:-1.65, Z:-0.51 [[ 9.97911169e-01 6.46010033e-02 -9.58953493e-05 7.02407480e+01] [-6.46010031e-02 9.97911174e-01 5.27577033e-06 -1.65243993e+00] [ 9.60358606e-05 9.30185617e-07 9.99999995e-01 -5.05111551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters 0.05279664313622513 Centerline is valid? [True, True] Translation: X:70.30, Y:-1.65, Z:-0.51 [[ 9.97911789e-01 6.45912871e-02 1.65281858e-04 7.03024355e+01] [-6.45912868e-02 9.97911803e-01 -7.00543408e-06 -1.65158557e+00] [-1.65389206e-04 -3.68496261e-06 9.99999986e-01 -5.05933893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters 0.05304853204104642 Centerline is valid? [True, True] Translation: X:70.36, Y:-1.65, Z:-0.51 [[ 9.97833194e-01 6.57942901e-02 -1.69133454e-04 7.03637023e+01] [-6.57942896e-02 9.97833208e-01 8.65661525e-06 -1.64861591e+00] [ 1.69336533e-04 2.49015742e-06 9.99999986e-01 -5.08021278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters 0.05256936670915891 Centerline is valid? [True, True] Translation: X:70.43, Y:-1.65, Z:-0.51 [[ 9.97788227e-01 6.64697310e-02 -6.54636808e-04 7.04252843e+01] [-6.64697246e-02 9.97788442e-01 3.15096357e-05 -1.65126780e+00] [ 6.55283478e-04 1.20735848e-05 9.99999785e-01 -5.08361087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters 0.05258083984970112 Centerline is valid? [True, True] Translation: X:70.49, Y:-1.65, Z:-0.51 [[ 9.97740323e-01 6.71752945e-02 -1.31451235e-03 7.04871651e+01] [-6.71752702e-02 9.97741188e-01 6.27355587e-05 -1.65131943e+00] [ 1.31575739e-03 2.57089256e-05 9.99999134e-01 -5.09280212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters 0.05236219879768974 Centerline is valid? [True, True] Translation: X:70.55, Y:-1.65, Z:-0.51 [[ 9.97707868e-01 6.76370309e-02 -2.05963481e-03 7.05489471e+01] [-6.76369725e-02 9.97709993e-01 9.80701266e-05 -1.65194441e+00] [ 2.06155140e-03 4.14621258e-05 9.99997874e-01 -5.10926663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters 0.053355019600978326 Centerline is valid? [True, True] Translation: X:70.61, Y:-1.65, Z:-0.51 [[ 9.97749546e-01 6.70126775e-02 -2.26794078e-03 7.06111123e+01] [-6.70126047e-02 9.97752123e-01 1.08144126e-04 -1.65386843e+00] [ 2.27008976e-03 4.40798666e-05 9.99997422e-01 -5.12304391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters 0.05213567426048002 Centerline is valid? [True, True] Translation: X:70.67, Y:-1.66, Z:-0.51 [[ 9.97791928e-01 6.64028627e-02 -1.38896604e-03 7.06728761e+01] [-6.64028342e-02 9.97792894e-01 6.66753660e-05 -1.65622007e+00] [ 1.39032788e-03 2.57031398e-05 9.99999033e-01 -5.12135190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters 0.052690217482595225 Centerline is valid? [True, True] Translation: X:70.73, Y:-1.66, Z:-0.51 [[ 9.97896536e-01 6.48255580e-02 3.88376284e-04 7.07346433e+01] [-6.48255558e-02 9.97896611e-01 -1.82718083e-05 -1.66097678e+00] [-3.88743858e-04 -6.94333424e-06 9.99999924e-01 -5.11609755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters 0.05286671841169781 Centerline is valid? [True, True] Translation: X:70.80, Y:-1.67, Z:-0.51 [[ 9.97887881e-01 6.49311992e-02 1.92802937e-03 7.07967601e+01] [-6.49311446e-02 9.97889742e-01 -9.09565131e-05 -1.66644918e+00] [-1.92986664e-03 -3.44247516e-05 9.99998137e-01 -5.10178292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters 0.05270482067075963 Centerline is valid? [True, True] Translation: X:70.86, Y:-1.67, Z:-0.51 [[ 9.97569823e-01 6.96738459e-02 -5.46856799e-05 7.08570940e+01] [-6.96738458e-02 9.97569825e-01 2.62045891e-06 -1.66688887e+00] [ 5.47353615e-05 1.19607090e-06 9.99999999e-01 -5.12297599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters 0.052959874894981634 Centerline is valid? [True, True] Translation: X:70.92, Y:-1.67, Z:-0.51 [[ 9.97343673e-01 7.28326261e-02 -1.00286522e-03 7.09182317e+01] [-7.28326149e-02 9.97344177e-01 4.77785117e-05 -1.66598522e+00] [ 1.00368163e-03 2.53897002e-05 9.99999496e-01 -5.14421440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters 0.05412184411197186 Centerline is valid? [True, True] Translation: X:70.98, Y:-1.66, Z:-0.52 [[ 9.96883359e-01 7.88661533e-02 -1.92338375e-03 7.09792348e+01] [-7.88661233e-02 9.96885212e-01 9.15536071e-05 -1.66449989e+00] [ 1.92461330e-03 6.04215525e-05 9.99998146e-01 -5.15115052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters 0.05448779420221153 Centerline is valid? [True, True] Translation: X:71.04, Y:-1.66, Z:-0.52 [[ 9.96615888e-01 8.21640480e-02 -2.41671164e-03 7.10403068e+01] [-8.21640104e-02 9.96618815e-01 1.15042914e-04 -1.66439801e+00] [ 2.41799269e-03 8.39131247e-05 9.99997073e-01 -5.15962486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters 0.05534570331266806 Centerline is valid? [True, True] Translation: X:71.10, Y:-1.66, Z:-0.52 [[ 9.96417112e-01 8.45229129e-02 -2.96926216e-03 7.11012787e+01] [-8.45228664e-02 9.96421530e-01 1.41392190e-04 -1.66295793e+00] [ 2.97058763e-03 1.10084951e-04 9.99995582e-01 -5.17637508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters 0.05620731922512289 Centerline is valid? [True, True] Translation: X:71.16, Y:-1.66, Z:-0.52 [[ 9.96272062e-01 8.62032483e-02 -3.31346825e-03 7.11627556e+01] [-8.62031992e-02 9.96277563e-01 1.57879613e-04 -1.66255473e+00] [ 3.31474381e-03 1.28340516e-04 9.99994498e-01 -5.18371786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters 0.05543561342618938 Centerline is valid? [True, True] Translation: X:71.22, Y:-1.67, Z:-0.52 [[ 9.96426086e-01 8.44130336e-02 -3.08131941e-03 7.12235261e+01] [-8.44129827e-02 9.96430844e-01 1.46794459e-04 -1.66613942e+00] [ 3.08271306e-03 1.13833533e-04 9.99995242e-01 -5.18952457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters 0.05525715644484839 Centerline is valid? [True, True] Translation: X:71.28, Y:-1.67, Z:-0.52 [[ 9.96698172e-01 8.11706751e-02 -2.01897905e-03 7.12843588e+01] [-8.11706471e-02 9.96700214e-01 9.59518638e-05 -1.67102499e+00] [ 2.02010533e-03 6.82467886e-05 9.99997957e-01 -5.18509871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters 0.05508922220375815 Centerline is valid? [True, True] Translation: X:71.35, Y:-1.68, Z:-0.52 [[ 9.96848050e-01 7.93184125e-02 -1.59818521e-03 7.13462827e+01] [-7.93183921e-02 9.96849330e-01 7.62739614e-05 -1.67507805e+00] [ 1.59919978e-03 5.07319312e-05 9.99998720e-01 -5.18768141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters 0.055242115131349315 Centerline is valid? [True, True] Translation: X:71.41, Y:-1.68, Z:-0.52 [[ 9.97058137e-01 7.66377521e-02 -1.31414682e-03 7.14064595e+01] [-7.66377361e-02 9.97059002e-01 6.25844809e-05 -1.68000900e+00] [ 1.31507825e-03 3.83128716e-05 9.99999135e-01 -5.19525117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters 0.05502547118679181 Centerline is valid? [True, True] Translation: X:71.47, Y:-1.69, Z:-0.52 [[ 9.97221451e-01 7.44897825e-02 -8.06536095e-04 7.14681341e+01] [-7.44897755e-02 9.97221777e-01 3.86957741e-05 -1.68574063e+00] [ 8.07177797e-04 2.14904367e-05 9.99999674e-01 -5.20021228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters 0.05447889062454651 Centerline is valid? [True, True] Translation: X:71.53, Y:-1.69, Z:-0.52 [[ 9.97371521e-01 7.24523290e-02 8.42304617e-04 7.15299631e+01] [-7.24523211e-02 9.97371876e-01 -3.99321076e-05 -1.68943645e+00] [-8.42984111e-04 -2.11997777e-05 9.99999644e-01 -5.19824986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters 0.054090671571651226 Centerline is valid? [True, True] Translation: X:71.59, Y:-1.69, Z:-0.52 [[ 9.97400126e-01 7.20048758e-02 2.87862734e-03 7.15918223e+01] [-7.20047806e-02 9.97404278e-01 -1.36819938e-04 -1.69133487e+00] [-2.88100693e-03 -7.08107070e-05 9.99995847e-01 -5.18992916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters 0.0545893390845499 Centerline is valid? [True, True] Translation: X:71.66, Y:-1.69, Z:-0.52 [[ 9.97373382e-01 7.23387991e-02 3.66541202e-03 7.16550648e+01] [-7.23386451e-02 9.97380113e-01 -1.74748927e-04 -1.69262787e+00] [-3.66845018e-03 -9.08610106e-05 9.99993267e-01 -5.19198932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters 0.055562689877694964 Centerline is valid? [True, True] Translation: X:71.72, Y:-1.69, Z:-0.52 [[ 9.97231888e-01 7.42774074e-02 3.38067598e-03 7.17165916e+01] [-7.42772850e-02 9.97237614e-01 -1.61920256e-04 -1.69183156e+00] [-3.38336427e-03 -8.96353914e-05 9.99994272e-01 -5.20870001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters 0.058578089734148804 Centerline is valid? [True, True] Translation: X:71.78, Y:-1.68, Z:-0.52 [[ 9.96537860e-01 8.31302376e-02 1.28762253e-03 7.17777514e+01] [-8.31302272e-02 9.96538690e-01 -6.16737968e-05 -1.68221834e+00] [-1.28829263e-03 -4.55800799e-05 9.99999169e-01 -5.24925829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters 0.05984883960932984 Centerline is valid? [True, True] Translation: X:71.84, Y:-1.68, Z:-0.53 [[ 9.96398198e-01 8.47947775e-02 6.90046754e-04 7.18390838e+01] [-8.47947749e-02 9.96398437e-01 -3.29794631e-05 -1.68226418e+00] [-6.90357993e-04 -2.56516815e-05 9.99999761e-01 -5.26417788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters 0.06014966412608142 Centerline is valid? [True, True] Translation: X:71.90, Y:-1.68, Z:-0.53 [[ 9.96283532e-01 8.61338197e-02 2.99819367e-04 7.19001824e+01] [-8.61338193e-02 9.96283577e-01 -1.42726237e-05 -1.68401564e+00] [-2.99934467e-04 -1.16050072e-05 9.99999955e-01 -5.27308797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters 0.0615133882743066 Centerline is valid? [True, True] Translation: X:71.96, Y:-1.68, Z:-0.53 [[ 9.96178063e-01 8.73454736e-02 -1.89029972e-04 7.19615206e+01] [-8.73454734e-02 9.96178081e-01 9.17655579e-06 -1.68330947e+00] [ 1.89109045e-04 7.36942882e-06 9.99999982e-01 -5.29784489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters 0.06156224964062997 Centerline is valid? [True, True] Translation: X:72.02, Y:-1.69, Z:-0.53 [[ 9.96254660e-01 8.64653503e-02 6.28942878e-04 7.20225464e+01] [-8.64653485e-02 9.96254858e-01 -3.00774823e-05 -1.68554498e+00] [-6.29188058e-04 -2.44169333e-05 9.99999802e-01 -5.29270956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters 0.06067010215217397 Centerline is valid? [True, True] Translation: X:72.08, Y:-1.69, Z:-0.53 [[ 9.96477689e-01 8.38233915e-02 2.41965777e-03 7.20833449e+01] [-8.38233564e-02 9.96480623e-01 -1.16106679e-04 -1.69096709e+00] [-2.42087454e-03 -8.71261211e-05 9.99997066e-01 -5.26915600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters 0.05092433578391634 Centerline is valid? [True, True] Translation: X:72.14, Y:-1.73, Z:-0.52 [[ 9.96731530e-01 8.06579368e-02 4.53372348e-03 7.21427001e+01] [-8.06577805e-02 9.96741830e-01 -2.17600383e-04 -1.72925299e+00] [-4.53650303e-03 -1.48790911e-04 9.99989699e-01 -5.22058459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters 0.05161448777324842 Centerline is valid? [True, True] Translation: X:72.20, Y:-1.73, Z:-0.52 [[ 9.96872505e-01 7.88601355e-02 5.12717168e-03 7.22036493e+01] [-7.88599120e-02 9.96885677e-01 -2.46063107e-04 -1.72837747e+00] [-5.13060858e-03 -1.59034761e-04 9.99986826e-01 -5.23208269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters 0.051676075474417195 Centerline is valid? [True, True] Translation: X:72.27, Y:-1.73, Z:-0.53 [[ 9.96904546e-01 7.85329661e-02 3.72806083e-03 7.22654250e+01] [-7.85328467e-02 9.96911511e-01 -1.78635860e-04 -1.72576075e+00] [-3.73057556e-03 -1.14692329e-04 9.99993035e-01 -5.26002711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters 0.05245835472169837 Centerline is valid? [True, True] Translation: X:72.33, Y:-1.72, Z:-0.53 [[ 9.96952024e-01 7.79880962e-02 2.12560037e-03 7.23269469e+01] [-7.79880563e-02 9.96954288e-01 -1.01759753e-04 -1.72258102e+00] [-2.12706245e-03 -6.43218490e-05 9.99997736e-01 -5.28551728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters 0.05155497333156271 Centerline is valid? [True, True] Translation: X:72.39, Y:-1.73, Z:-0.53 [[ 9.96966216e-01 7.78103786e-02 1.97711458e-03 7.23882138e+01] [-7.78103436e-02 9.96968175e-01 -9.47428362e-05 -1.73324784e+00] [-1.97849229e-03 -5.93845582e-05 9.99998041e-01 -5.28837764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters 0.05160010800975568 Centerline is valid? [True, True] Translation: X:72.45, Y:-1.74, Z:-0.53 [[ 9.97022001e-01 7.71157636e-02 5.37773903e-04 7.24500962e+01] [-7.71157612e-02 9.97022146e-01 -2.52505449e-05 -1.73596962e+00] [-5.38119706e-04 -1.62954950e-05 9.99999855e-01 -5.30046563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters 0.05082782168487958 Centerline is valid? [True, True] Translation: X:72.51, Y:-1.74, Z:-0.53 [[ 9.97137622e-01 7.56048686e-02 6.83758824e-04 7.25111477e+01] [-7.56048638e-02 9.97137856e-01 -3.30072158e-05 -1.74455870e+00] [-6.84297314e-04 -1.87827561e-05 9.99999766e-01 -5.29224061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters 0.050581902229951306 Centerline is valid? [True, True] Translation: X:72.57, Y:-1.75, Z:-0.53 [[ 9.97041972e-01 7.68562378e-02 6.51562076e-04 7.25733580e+01] [-7.68562337e-02 9.97042185e-01 -3.13516590e-05 -1.74815810e+00] [-6.52044447e-04 -1.88176873e-05 9.99999787e-01 -5.29615556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters 0.05165443093477349 Centerline is valid? [True, True] Translation: X:72.63, Y:-1.74, Z:-0.53 [[ 9.96927347e-01 7.83218514e-02 1.24565078e-03 7.26349431e+01] [-7.83218375e-02 9.96928125e-01 -6.00612951e-05 -1.74381836e+00] [-1.24652841e-03 -3.76849102e-05 9.99999222e-01 -5.30762186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters 0.050948576311528604 Centerline is valid? [True, True] Translation: X:72.70, Y:-1.75, Z:-0.53 [[ 9.96592859e-01 8.24333387e-02 2.72347252e-03 7.26954535e+01] [-8.24332850e-02 9.96596576e-01 -1.32159429e-04 -1.74912355e+00] [-2.72509773e-03 -9.27956429e-05 9.99996283e-01 -5.29144260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters 0.05117588552591756 Centerline is valid? [True, True] Translation: X:72.76, Y:-1.75, Z:-0.53 [[ 9.96271552e-01 8.62295842e-02 2.73007757e-03 7.27564179e+01] [-8.62295445e-02 9.96275287e-01 -1.32482574e-04 -1.74966085e+00] [-2.73133273e-03 -1.03424725e-04 9.99996265e-01 -5.29094857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters 0.052284778934686194 Centerline is valid? [True, True] Translation: X:72.82, Y:-1.74, Z:-0.53 [[ 9.95877750e-01 9.06876908e-02 1.80252105e-03 7.28164794e+01] [-9.06876810e-02 9.95879379e-01 -8.73056439e-05 -1.74127896e+00] [-1.80301109e-03 -7.65207054e-05 9.99998372e-01 -5.31167325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters 0.05067921534161616 Centerline is valid? [True, True] Translation: X:72.88, Y:-1.75, Z:-0.53 [[ 9.95693451e-01 9.26947685e-02 1.49410648e-03 7.28774527e+01] [-9.26947639e-02 9.95694569e-01 -7.24753005e-05 -1.75201516e+00] [-1.49439179e-03 -6.63326656e-05 9.99998881e-01 -5.30388907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters 0.05307471288836965 Centerline is valid? [True, True] Translation: X:72.94, Y:-1.74, Z:-0.53 [[ 9.95801980e-01 9.15156415e-02 1.81795767e-03 7.29381305e+01] [-9.15156330e-02 9.95803636e-01 -8.80672594e-05 -1.74498938e+00] [-1.81838839e-03 -7.86739957e-05 9.99998344e-01 -5.31600868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters 0.0523737287667261 Centerline is valid? [True, True] Translation: X:73.00, Y:-1.75, Z:-0.53 [[ 9.96378081e-01 8.49836489e-02 2.91542806e-03 7.29985165e+01] [-8.49835975e-02 9.96382340e-01 -1.41744832e-04 -1.75119183e+00] [-2.91692703e-03 -1.06532122e-04 9.99995740e-01 -5.31288281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters 0.05593683621437237 Centerline is valid? [True, True] Translation: X:73.06, Y:-1.74, Z:-0.53 [[ 9.96648713e-01 8.17456610e-02 2.99825484e-03 7.30600670e+01] [-8.17455918e-02 9.96653218e-01 -1.45813954e-04 -1.74259099e+00] [-3.00014000e-03 -9.97688270e-05 9.99995495e-01 -5.33107866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters 0.05118542440563082 Centerline is valid? [True, True] Translation: X:73.12, Y:-1.77, Z:-0.53 [[ 9.97337712e-01 7.28220721e-02 3.79914786e-03 7.31192064e+01] [-7.28218963e-02 9.97344944e-01 -1.84777541e-04 -1.76827604e+00] [-3.80251680e-03 -9.23755418e-05 9.99992766e-01 -5.30772400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters 0.051643397432653115 Centerline is valid? [True, True] Translation: X:73.18, Y:-1.77, Z:-0.53 [[ 9.98030059e-01 6.26513535e-02 3.28786292e-03 7.31797379e+01] [-6.26511666e-02 9.98035473e-01 -1.59924085e-04 -1.77413083e+00] [-3.29142328e-03 -4.63794034e-05 9.99994582e-01 -5.31663688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters 0.051019188583195235 Centerline is valid? [True, True] Translation: X:73.24, Y:-1.78, Z:-0.53 [[ 9.98415655e-01 5.61943312e-02 2.89443546e-03 7.32411745e+01] [-5.61941595e-02 9.98419850e-01 -1.40673209e-04 -1.78177591e+00] [-2.89776685e-03 -2.22000342e-05 9.99995801e-01 -5.31512207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters 0.051901889916329644 Centerline is valid? [True, True] Translation: X:73.30, Y:-1.79, Z:-0.53 [[ 9.98852582e-01 4.78607076e-02 1.69496146e-03 7.33018169e+01] [-4.78606375e-02 9.98854020e-01 -8.18805723e-05 -1.79024757e+00] [-1.69693793e-03 6.64684929e-07 9.99998560e-01 -5.31875438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters 0.05235534263630595 Centerline is valid? [True, True] Translation: X:73.36, Y:-1.80, Z:-0.53 [[ 9.99127169e-01 4.17694546e-02 -4.61885608e-04 7.33637168e+01] [-4.17694485e-02 9.99127276e-01 2.28511002e-05 -1.79800970e+00] [ 4.62436987e-04 -3.53844796e-06 9.99999893e-01 -5.33897610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters 0.052712203010264164 Centerline is valid? [True, True] Translation: X:73.43, Y:-1.80, Z:-0.53 [[ 9.99283285e-01 3.78257528e-02 -1.45874241e-03 7.34256187e+01] [-3.78256887e-02 9.99284350e-01 7.14987682e-05 -1.80491915e+00] [ 1.46040295e-03 -1.62695879e-05 9.99998933e-01 -5.34032750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters 0.053361684556876336 Centerline is valid? [True, True] Translation: X:73.49, Y:-1.81, Z:-0.53 [[ 9.99428066e-01 3.38126148e-02 4.97360220e-04 7.34878276e+01] [-3.38126071e-02 9.99428190e-01 -2.40031755e-05 -1.81336515e+00] [-4.97887435e-04 7.17240155e-06 9.99999876e-01 -5.32375837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters 0.053066720139455015 Centerline is valid? [True, True] Translation: X:73.55, Y:-1.82, Z:-0.53 [[ 9.99469715e-01 3.25264407e-02 1.52311159e-03 7.35483846e+01] [-3.25263651e-02 9.99470875e-01 -7.43622132e-05 -1.81813184e+00] [-1.52472441e-03 2.47814964e-05 9.99998837e-01 -5.32139885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters 0.05315116307468704 Centerline is valid? [True, True] Translation: X:73.61, Y:-1.82, Z:-0.53 [[ 9.99476272e-01 3.23120854e-02 1.76379745e-03 7.36106401e+01] [-3.23119843e-02 9.99477828e-01 -8.57936154e-05 -1.82353824e+00] [-1.76564862e-03 2.87568872e-05 9.99998441e-01 -5.32337052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters 0.052125340871542816 Centerline is valid? [True, True] Translation: X:73.67, Y:-1.83, Z:-0.53 [[ 9.99461992e-01 3.27408171e-02 1.94038385e-03 7.36729884e+01] [-3.27406955e-02 9.99463875e-01 -9.44324577e-05 -1.82746932e+00] [-1.94243536e-03 3.08521357e-05 9.99998113e-01 -5.32151108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters 0.052582958205844264 Centerline is valid? [True, True] Translation: X:73.73, Y:-1.83, Z:-0.53 [[ 9.99364984e-01 3.55617505e-02 2.23408942e-03 7.37343107e+01] [-3.55615943e-02 9.99367480e-01 -1.09614769e-04 -1.82884585e+00] [-2.23657440e-03 3.00973799e-05 9.99997498e-01 -5.32616166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters 0.053060293795221494 Centerline is valid? [True, True] Translation: X:73.80, Y:-1.83, Z:-0.53 [[ 9.99305848e-01 3.72066468e-02 1.86773058e-03 7.37954019e+01] [-3.72065410e-02 9.99307593e-01 -9.13817529e-05 -1.82817467e+00] [-1.86983736e-03 2.18265255e-05 9.99998252e-01 -5.32728581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters 0.05258888721517812 Centerline is valid? [True, True] Translation: X:73.86, Y:-1.83, Z:-0.53 [[ 9.99258659e-01 3.84660016e-02 1.58114527e-03 7.38575283e+01] [-3.84659271e-02 9.99259909e-01 -7.75207196e-05 -1.83177010e+00] [-1.58295699e-03 1.66430316e-05 9.99998747e-01 -5.32953723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters 0.05298736262104857 Centerline is valid? [True, True] Translation: X:73.92, Y:-1.84, Z:-0.54 [[ 9.99247802e-01 3.87668486e-02 9.80271706e-04 7.39191047e+01] [-3.87668207e-02 9.99248283e-01 -4.74387834e-05 -1.83704912e+00] [-9.81373872e-04 9.40108258e-06 9.99999518e-01 -5.35650915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters 0.05324447817789143 Centerline is valid? [True, True] Translation: X:73.98, Y:-1.84, Z:-0.53 [[ 9.99236157e-01 3.90779656e-02 1.23979510e-04 7.39808250e+01] [-3.90779653e-02 9.99236165e-01 -5.26287551e-06 -1.83651891e+00] [-1.24090473e-04 4.13988500e-07 9.99999992e-01 -5.34880348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters 0.05305553854911118 Centerline is valid? [True, True] Translation: X:74.04, Y:-1.84, Z:-0.54 [[ 9.99214362e-01 3.96298379e-02 -3.67723325e-04 7.40437932e+01] [-3.96298337e-02 9.99214429e-01 1.86443678e-05 -1.83963941e+00] [ 3.68173325e-04 -4.05690588e-06 9.99999932e-01 -5.36118392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters 0.05249292541573595 Centerline is valid? [True, True] Translation: X:74.10, Y:-1.84, Z:-0.54 [[ 9.99174132e-01 4.06324943e-02 -2.32301825e-04 7.41049258e+01] [-4.06324926e-02 9.99174159e-01 1.23292529e-05 -1.84482661e+00] [ 2.32610949e-04 -2.88006836e-06 9.99999973e-01 -5.37337645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters 0.05338529135487829 Centerline is valid? [True, True] Translation: X:74.17, Y:-1.85, Z:-0.54 [[ 9.99119345e-01 4.19581453e-02 2.18856512e-04 7.41665999e+01] [-4.19581441e-02 9.99119369e-01 -1.00625251e-05 -1.84636061e+00] [-2.19085985e-04 8.70850402e-07 9.99999976e-01 -5.35724699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters 0.053141490144876666 Centerline is valid? [True, True] Translation: X:74.23, Y:-1.85, Z:-0.54 [[ 9.99034360e-01 4.39264354e-02 9.03100740e-04 7.42286173e+01] [-4.39264134e-02 9.99034768e-01 -4.42775258e-05 -1.84900796e+00] [-9.04173992e-04 4.56479330e-06 9.99999591e-01 -5.35483159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters 0.05211072500531204 Centerline is valid? [True, True] Translation: X:74.29, Y:-1.86, Z:-0.54 [[ 9.98965901e-01 4.54240759e-02 1.94469545e-03 7.42893490e+01] [-4.54239743e-02 9.98967794e-01 -9.63878825e-05 -1.85506179e+00] [-1.94706645e-03 7.95241186e-06 9.99998104e-01 -5.37414532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters 0.05202645906064095 Centerline is valid? [True, True] Translation: X:74.35, Y:-1.86, Z:-0.54 [[ 9.98886401e-01 4.71326921e-02 2.11357224e-03 7.43511717e+01] [-4.71325746e-02 9.98888637e-01 -1.05387546e-04 -1.85924716e+00] [-2.11619049e-03 5.65208515e-06 9.99997761e-01 -5.38688830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters 0.052432538971251115 Centerline is valid? [True, True] Translation: X:74.41, Y:-1.86, Z:-0.54 [[ 9.98744962e-01 5.00712783e-02 1.16937975e-03 7.44146108e+01] [-5.00712451e-02 9.98745647e-01 -5.76358027e-05 -1.86092702e+00] [-1.17079883e-03 -9.88832321e-07 9.99999315e-01 -5.36953165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters 0.05180788167269651 Centerline is valid? [True, True] Translation: X:74.48, Y:-1.86, Z:-0.54 [[ 9.98639732e-01 5.21348575e-02 -8.01790335e-04 7.44759943e+01] [-5.21348414e-02 9.98640054e-01 4.10527782e-05 -1.86378444e+00] [ 8.02840224e-04 8.04276507e-07 9.99999678e-01 -5.40189578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters 0.052070877415346384 Centerline is valid? [True, True] Translation: X:74.54, Y:-1.87, Z:-0.54 [[ 9.98643202e-01 5.20424953e-02 -1.82576214e-03 7.45381886e+01] [-5.20424139e-02 9.98644871e-01 9.20825991e-05 -1.87054206e+00] [ 1.82808021e-03 3.05940734e-06 9.99998329e-01 -5.40281144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters 0.05190420118908536 Centerline is valid? [True, True] Translation: X:74.60, Y:-1.88, Z:-0.54 [[ 9.98824410e-01 4.84666766e-02 -8.82420749e-04 7.45995457e+01] [-4.84666555e-02 9.98824800e-01 4.52811094e-05 -1.87760642e+00] [ 8.83578353e-04 -2.45989493e-06 9.99999610e-01 -5.37504172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters 0.0514120510678449 Centerline is valid? [True, True] Translation: X:74.66, Y:-1.88, Z:-0.54 [[ 9.98934919e-01 4.61408246e-02 -2.26137198e-04 7.46609719e+01] [-4.61408231e-02 9.98934945e-01 1.19334986e-05 -1.88356314e+00] [ 2.26446971e-04 -1.48663200e-06 9.99999974e-01 -5.40357940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters 0.05180763682431606 Centerline is valid? [True, True] Translation: X:74.72, Y:-1.89, Z:-0.54 [[ 9.98961111e-01 4.55645908e-02 7.53166767e-04 7.47227055e+01] [-4.55645753e-02 9.98961395e-01 -3.77566741e-05 -1.88777324e+00] [-7.54104891e-04 3.39972520e-06 9.99999716e-01 -5.39695966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters 0.05204734406649708 Centerline is valid? [True, True] Translation: X:74.78, Y:-1.89, Z:-0.54 [[ 9.98867182e-01 4.75852100e-02 -2.80174509e-05 7.47846778e+01] [-4.75852099e-02 9.98867182e-01 2.31873390e-06 -1.89134788e+00] [ 2.80960496e-05 -9.82890915e-07 1.00000000e+00 -5.42002779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters 0.05097357971710508 Centerline is valid? [True, True] Translation: X:74.85, Y:-1.89, Z:-0.54 [[ 9.98586378e-01 5.31506568e-02 -5.04219266e-04 7.48482500e+01] [-5.31506505e-02 9.98586505e-01 2.59483743e-05 -1.89099739e+00] [ 5.04885728e-04 8.87888893e-07 9.99999873e-01 -5.42508729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters 0.051662094947936256 Centerline is valid? [True, True] Translation: X:74.91, Y:-1.89, Z:-0.54 [[ 9.98311597e-01 5.80808162e-02 7.58333312e-04 7.49100354e+01] [-5.80808044e-02 9.98311885e-01 -3.76607506e-05 -1.89231278e+00] [-7.59240525e-04 -6.44744464e-06 9.99999712e-01 -5.40386983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters 0.0519648878455505 Centerline is valid? [True, True] Translation: X:74.97, Y:-1.89, Z:-0.54 [[ 9.97884022e-01 6.50142614e-02 7.90766382e-04 7.49702909e+01] [-6.50142500e-02 9.97884335e-01 -4.01605643e-05 -1.88550076e+00] [-7.91704395e-04 -1.13354979e-05 9.99999687e-01 -5.43723808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters 0.0516866966842753 Centerline is valid? [True, True] Translation: X:75.03, Y:-1.89, Z:-0.54 [[ 9.97663561e-01 6.83184790e-02 7.20724376e-05 7.50316471e+01] [-6.83184789e-02 9.97663563e-01 -3.54430656e-06 -1.89090594e+00] [-7.21461866e-05 -1.38785380e-06 9.99999997e-01 -5.42755777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters 0.05144746164457364 Centerline is valid? [True, True] Translation: X:75.09, Y:-1.89, Z:-0.54 [[ 9.97581325e-01 6.95008100e-02 -1.06638058e-03 7.50927117e+01] [-6.95007909e-02 9.97581895e-01 5.50404074e-05 -1.89148404e+00] [ 1.06762731e-03 1.92070112e-05 9.99999430e-01 -5.44087406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters 0.05172901183599303 Centerline is valid? [True, True] Translation: X:75.15, Y:-1.90, Z:-0.54 [[ 9.97712851e-01 6.75493913e-02 -2.47909234e-03 7.51542179e+01] [-6.75492834e-02 9.97715931e-01 1.27289580e-04 -1.89790237e+00] [ 2.48202826e-03 4.04624612e-05 9.99996919e-01 -5.44028269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters 0.05121181917679124 Centerline is valid? [True, True] Translation: X:75.21, Y:-1.90, Z:-0.54 [[ 9.97915481e-01 6.44707267e-02 -2.86661420e-03 7.52149805e+01] [-6.44705718e-02 9.97919598e-01 1.46492677e-04 -1.90397491e+00] [ 2.87009498e-03 3.86249462e-05 9.99995881e-01 -5.43644179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters 0.05162968448869409 Centerline is valid? [True, True] Translation: X:75.28, Y:-1.91, Z:-0.54 [[ 9.98294952e-01 5.83311569e-02 -2.15996265e-03 7.52758299e+01] [-5.83310544e-02 9.98297288e-01 1.10479765e-04 -1.91035655e+00] [ 2.16272927e-03 1.57015072e-05 9.99997661e-01 -5.43954612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters 0.05110921957314027 Centerline is valid? [True, True] Translation: X:75.34, Y:-1.92, Z:-0.55 [[ 9.98614793e-01 5.25876906e-02 -1.74096266e-03 7.53369769e+01] [-5.25876138e-02 9.98616310e-01 8.98701842e-05 -1.91630781e+00] [ 1.74327977e-03 1.80737660e-06 9.99998480e-01 -5.47842840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters 0.05206212097551225 Centerline is valid? [True, True] Translation: X:75.40, Y:-1.92, Z:-0.55 [[ 9.98964809e-01 4.54860069e-02 -5.77178614e-04 7.53988667e+01] [-4.54859969e-02 9.98964976e-01 3.03834812e-05 -1.92280180e+00] [ 5.77963243e-04 -4.09848381e-06 9.99999833e-01 -5.45062862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters 0.051645048296431344 Centerline is valid? [True, True] Translation: X:75.46, Y:-1.93, Z:-0.55 [[ 9.99060900e-01 4.33277722e-02 -1.47347880e-04 7.54604525e+01] [-4.33277715e-02 9.99060911e-01 7.86864985e-06 -1.92744405e+00] [ 1.47550438e-04 -1.47700514e-06 9.99999989e-01 -5.45094270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters 0.0514657588907578 Centerline is valid? [True, True] Translation: X:75.52, Y:-1.93, Z:-0.54 [[ 9.98967730e-01 4.54239133e-02 3.77416347e-04 7.55228039e+01] [-4.54239096e-02 9.98967801e-01 -1.85489036e-05 -1.92757152e+00] [-3.77869342e-04 1.38603008e-06 9.99999929e-01 -5.44943474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters 0.05238043961541972 Centerline is valid? [True, True] Translation: X:75.58, Y:-1.93, Z:-0.55 [[ 9.98830999e-01 4.83387475e-02 2.93750272e-05 7.55837492e+01] [-4.83387475e-02 9.98830999e-01 -7.37242854e-07 -1.92680686e+00] [-2.93763252e-05 -6.83571006e-07 1.00000000e+00 -5.45680379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters 0.051643174056237875 Centerline is valid? [True, True] Translation: X:75.65, Y:-1.93, Z:-0.55 [[ 9.98667962e-01 5.15934870e-02 6.43528003e-04 7.56462619e+01] [-5.15934765e-02 9.98668169e-01 -3.29246676e-05 -1.92676749e+00] [-6.44369631e-04 -3.21036238e-07 9.99999792e-01 -5.47444822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters 0.052020844203568194 Centerline is valid? [True, True] Translation: X:75.71, Y:-1.93, Z:-0.55 [[ 9.98521801e-01 5.43512748e-02 3.90540436e-04 7.57088981e+01] [-5.43512711e-02 9.98521877e-01 -1.98771069e-05 -1.92724095e+00] [-3.91043515e-04 -1.37864451e-06 9.99999924e-01 -5.48303231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters 0.05161195426165346 Centerline is valid? [True, True] Translation: X:75.77, Y:-1.93, Z:-0.55 [[ 9.98344015e-01 5.75258087e-02 9.38489161e-05 7.57706350e+01] [-5.75258086e-02 9.98344020e-01 -4.06542844e-06 -1.92913028e+00] [-9.39273712e-05 -1.34003863e-06 9.99999996e-01 -5.45682564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters 0.05193627421193791 Centerline is valid? [True, True] Translation: X:75.83, Y:-1.92, Z:-0.55 [[ 9.97968018e-01 6.37167542e-02 -1.02118503e-04 7.58325317e+01] [-6.37167540e-02 9.97968023e-01 5.45047925e-06 -1.92185216e+00] [ 1.02258287e-04 1.06725555e-06 9.99999995e-01 -5.49332127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters 0.05235181645078975 Centerline is valid? [True, True] Translation: X:75.89, Y:-1.92, Z:-0.55 [[ 9.97888188e-01 6.49550414e-02 -8.02596467e-05 7.58946922e+01] [-6.49550412e-02 9.97888191e-01 4.94255707e-06 -1.92159339e+00] [ 8.04111977e-05 2.81149341e-07 9.99999997e-01 -5.50582807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters 0.0517436623036675 Centerline is valid? [True, True] Translation: X:75.96, Y:-1.93, Z:-0.55 [[ 9.97818654e-01 6.59853493e-02 -1.96649509e-03 7.59564074e+01] [-6.59852744e-02 9.97820592e-01 1.02987679e-04 -1.92550757e+00] [ 1.96900497e-03 2.69966906e-05 9.99998061e-01 -5.49219655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters 0.05180221842351115 Centerline is valid? [True, True] Translation: X:76.02, Y:-1.93, Z:-0.55 [[ 9.97954630e-01 6.38934960e-02 -2.04379457e-03 7.60182867e+01] [-6.38934103e-02 9.97956723e-01 1.07224462e-04 -1.92828277e+00] [ 2.04646947e-03 2.35798565e-05 9.99997906e-01 -5.49805673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters 0.05170417397742792 Centerline is valid? [True, True] Translation: X:76.08, Y:-1.93, Z:-0.55 [[ 9.98174585e-01 6.03894783e-02 -7.79898051e-04 7.60791046e+01] [-6.03894649e-02 9.98174890e-01 4.07373163e-05 -1.93275082e+00] [ 7.80934756e-04 6.43467217e-06 9.99999695e-01 -5.49609622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters 0.05193524137318861 Centerline is valid? [True, True] Translation: X:76.14, Y:-1.94, Z:-0.55 [[ 9.98497149e-01 5.47994353e-02 6.82664212e-04 7.61389458e+01] [-5.47994238e-02 9.98497382e-01 -3.55068464e-05 -1.93901891e+00] [-6.83584183e-04 -1.95612053e-06 9.99999766e-01 -5.49501492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters 0.05225428504261814 Centerline is valid? [True, True] Translation: X:76.20, Y:-1.94, Z:-0.55 [[ 9.98590915e-01 5.30516122e-02 1.30783823e-03 7.62006747e+01] [-5.30515694e-02 9.98591772e-01 -6.74323250e-05 -1.94340184e+00] [-1.30957389e-03 -2.04556336e-06 9.99999143e-01 -5.47492388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters 0.05255105121689506 Centerline is valid? [True, True] Translation: X:76.26, Y:-1.94, Z:-0.55 [[ 9.98498944e-01 5.47224497e-02 2.30506392e-03 7.62625686e+01] [-5.47223191e-02 9.98501604e-01 -1.19724385e-04 -1.94286222e+00] [-2.30816163e-03 -6.59377140e-06 9.99997336e-01 -5.49112898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters 0.052102899342588646 Centerline is valid? [True, True] Translation: X:76.32, Y:-1.94, Z:-0.55 [[ 9.98374993e-01 5.69352124e-02 2.39911856e-03 7.63246210e+01] [-5.69350763e-02 9.98377875e-01 -1.25022375e-04 -1.94204682e+00] [-2.40234507e-03 -1.17747858e-05 9.99997114e-01 -5.49888079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters 0.05188780566564456 Centerline is valid? [True, True] Translation: X:76.39, Y:-1.94, Z:-0.55 [[ 9.98185379e-01 6.02130160e-02 5.84733631e-04 7.63867495e+01] [-6.02130088e-02 9.98185550e-01 -2.99365525e-05 -1.94060429e+00] [-5.85475231e-04 -5.32634228e-06 9.99999829e-01 -5.52613956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters 0.05243080382315942 Centerline is valid? [True, True] Translation: X:76.45, Y:-1.94, Z:-0.55 [[ 9.98102056e-01 6.15702319e-02 -1.18032173e-03 7.64491687e+01] [-6.15702005e-02 9.98102753e-01 6.29379825e-05 -1.94498651e+00] [ 1.18195747e-03 9.85411576e-06 9.99999301e-01 -5.51234333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters 0.052615353444118336 Centerline is valid? [True, True] Translation: X:76.51, Y:-1.95, Z:-0.55 [[ 9.98180621e-01 6.02930095e-02 -4.49015084e-04 7.65112818e+01] [-6.02930048e-02 9.98180722e-01 2.39609712e-05 -1.94603698e+00] [ 4.49642879e-04 3.15509148e-06 9.99999899e-01 -5.52476334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters 0.05264119612252769 Centerline is valid? [True, True] Translation: X:76.57, Y:-1.95, Z:-0.55 [[ 9.98232350e-01 5.94306140e-02 4.21795899e-04 7.65726786e+01] [-5.94306102e-02 9.98232439e-01 -2.14936852e-05 -1.94678861e+00] [-4.22327731e-04 -3.61189577e-06 9.99999911e-01 -5.54168004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters 0.05185893131707805 Centerline is valid? [True, True] Translation: X:76.63, Y:-1.95, Z:-0.55 [[ 9.98239344e-01 5.93076520e-02 9.02628315e-04 7.66348481e+01] [-5.93076338e-02 9.98239752e-01 -4.69298560e-05 -1.95150600e+00] [-9.03822765e-04 -6.68552093e-06 9.99999592e-01 -5.52548237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters 0.05190514575575274 Centerline is valid? [True, True] Translation: X:76.70, Y:-1.95, Z:-0.55 [[ 9.98120050e-01 6.12817367e-02 9.55825415e-04 7.66961323e+01] [-6.12817170e-02 9.98120508e-01 -4.99088429e-05 -1.95434092e+00] [-9.57087449e-04 -8.75960575e-06 9.99999542e-01 -5.50889383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters 0.05290666637000036 Centerline is valid? [True, True] Translation: X:76.76, Y:-1.95, Z:-0.55 [[ 9.97883135e-01 6.50286729e-02 7.21727934e-04 7.67582913e+01] [-6.50286624e-02 9.97883396e-01 -3.79884322e-05 -1.95414718e+00] [-7.22670659e-04 -9.02498641e-06 9.99999739e-01 -5.52137773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters 0.052336149917331085 Centerline is valid? [True, True] Translation: X:76.82, Y:-1.96, Z:-0.55 [[ 9.97617431e-01 6.89888321e-02 5.35849830e-05 7.68198786e+01] [-6.89888321e-02 9.97617432e-01 -2.72034409e-06 -1.95542840e+00] [-5.36449866e-05 -9.82902711e-07 9.99999999e-01 -5.52252286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters 0.052600206162546556 Centerline is valid? [True, True] Translation: X:76.88, Y:-1.95, Z:-0.55 [[ 9.97340983e-01 7.28687105e-02 -1.05561560e-03 7.68802674e+01] [-7.28686919e-02 9.97341542e-01 5.61007439e-05 -1.95411881e+00] [ 1.05689728e-03 2.09697566e-05 9.99999441e-01 -5.54259718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters 0.05260079730272078 Centerline is valid? [True, True] Translation: X:76.94, Y:-1.95, Z:-0.55 [[ 9.97275735e-01 7.37634959e-02 2.35733483e-04 7.69415365e+01] [-7.37634952e-02 9.97275763e-01 -1.17724737e-05 -1.95487757e+00] [-2.35959668e-04 -5.64812323e-06 9.99999972e-01 -5.54824678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters 0.05258910080674827 Centerline is valid? [True, True] Translation: X:77.00, Y:-1.96, Z:-0.56 [[ 9.97305820e-01 7.33506715e-02 8.83804576e-04 7.70031166e+01] [-7.33506592e-02 9.97306211e-01 -4.62977574e-05 -1.95641440e+00] [-8.84819765e-04 -1.86546254e-05 9.99999608e-01 -5.55529595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters 0.05300841743180613 Centerline is valid? [True, True] Translation: X:77.06, Y:-1.96, Z:-0.56 [[ 9.97429552e-01 7.16317510e-02 1.78355529e-03 7.70637529e+01] [-7.16316957e-02 9.97431146e-01 -9.49801548e-05 -1.95955444e+00] [-1.78577719e-03 -3.30230765e-05 9.99998405e-01 -5.55223882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters 0.0521700570838964 Centerline is valid? [True, True] Translation: X:77.12, Y:-1.97, Z:-0.55 [[ 9.97673446e-01 6.81303775e-02 2.43849295e-03 7.71248983e+01] [-6.81302636e-02 9.97676426e-01 -1.29843670e-04 -1.96838180e+00] [-2.44167323e-03 -3.65935852e-05 9.99997018e-01 -5.54608846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters 0.05215245488717108 Centerline is valid? [True, True] Translation: X:77.19, Y:-1.97, Z:-0.56 [[ 9.97800789e-01 6.62630066e-02 1.67330353e-03 7.71872579e+01] [-6.62629511e-02 9.97802192e-01 -8.86351114e-05 -1.97288314e+00] [-1.67549916e-03 -2.24378460e-05 9.99998596e-01 -5.56718902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters 0.052461782543421015 Centerline is valid? [True, True] Translation: X:77.25, Y:-1.98, Z:-0.56 [[ 9.98037180e-01 6.26241149e-02 8.66018250e-05 7.72487768e+01] [-6.26241148e-02 9.98037184e-01 -3.81111341e-06 -1.97848088e+00] [-8.66705092e-05 -1.61972976e-06 9.99999996e-01 -5.59946403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters 0.05210460739486314 Centerline is valid? [True, True] Translation: X:77.31, Y:-1.99, Z:-0.56 [[ 9.98280738e-01 5.86100109e-02 -6.59733048e-04 7.73102243e+01] [-5.86099998e-02 9.98280956e-01 3.62890168e-05 -1.98798652e+00] [ 6.60725837e-04 2.44032734e-06 9.99999782e-01 -5.59115854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters 0.05240864533374414 Centerline is valid? [True, True] Translation: X:77.37, Y:-1.99, Z:-0.56 [[ 9.98441581e-01 5.58042379e-02 -5.45123631e-04 7.73723327e+01] [-5.58042297e-02 9.98441729e-01 3.02014925e-05 -1.99425791e+00] [ 5.45959553e-04 2.65778404e-07 9.99999851e-01 -5.59311552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters 0.05279615382390714 Centerline is valid? [True, True] Translation: X:77.43, Y:-2.00, Z:-0.56 [[ 9.98688777e-01 5.11870244e-02 7.84577936e-04 7.74332089e+01] [-5.11870076e-02 9.98689085e-01 -4.14503843e-05 -2.00187218e+00] [-7.85671143e-04 1.23583685e-06 9.99999691e-01 -5.61307020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters 0.051757818364304674 Centerline is valid? [True, True] Translation: X:77.50, Y:-2.01, Z:-0.56 [[ 9.98856701e-01 4.77442810e-02 2.40319366e-03 7.74952742e+01] [-4.77441088e-02 9.98859591e-01 -1.29009808e-04 -2.00837936e+00] [-2.40661252e-03 1.41239711e-05 9.99997104e-01 -5.60168080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters 0.053195524472725145 Centerline is valid? [True, True] Translation: X:77.56, Y:-2.02, Z:-0.56 [[ 9.98988515e-01 4.47678103e-02 4.21771753e-03 7.75559689e+01] [-4.47672483e-02 9.98997418e-01 -2.27609257e-04 -2.01539001e+00] [-4.22367849e-03 3.85634261e-05 9.99991079e-01 -5.58961974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters 0.05246807341799272 Centerline is valid? [True, True] Translation: X:77.62, Y:-2.02, Z:-0.56 [[ 9.98870318e-01 4.72022300e-02 5.48064510e-03 7.76186103e+01] [-4.72013125e-02 9.98885353e-01 -2.96714600e-04 -2.01880724e+00] [-5.48854171e-03 3.76857648e-05 9.99984937e-01 -5.59521030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters 0.051814356495177155 Centerline is valid? [True, True] Translation: X:77.68, Y:-2.02, Z:-0.56 [[ 9.98618341e-01 5.22636701e-02 5.46962721e-03 7.76810267e+01] [-5.22628306e-02 9.98633320e-01 -2.96412452e-04 -2.02119086e+00] [-5.47764359e-03 1.01447109e-05 9.99984998e-01 -5.61418482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters 0.05185639741084554 Centerline is valid? [True, True] Translation: X:77.74, Y:-2.02, Z:-0.56 [[ 9.98029280e-01 6.25892744e-02 4.48766075e-03 7.77431746e+01] [-6.25888135e-02 9.98039369e-01 -2.43209325e-04 -2.02162500e+00] [-4.49408440e-03 -3.81473345e-05 9.99989901e-01 -5.61960284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters 0.05150318178140016 Centerline is valid? [True, True] Translation: X:77.80, Y:-2.02, Z:-0.56 [[ 9.97647874e-01 6.84565612e-02 3.52406935e-03 7.78037287e+01] [-6.84563112e-02 9.97654097e-01 -1.91660360e-04 -2.01867065e+00] [-3.52892263e-03 -5.00352379e-05 9.99993772e-01 -5.63877389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters 0.05130126294139848 Centerline is valid? [True, True] Translation: X:77.86, Y:-2.02, Z:-0.56 [[ 9.97269352e-01 7.37149907e-02 4.46529698e-03 7.78644667e+01] [-7.37146417e-02 9.97279345e-01 -2.42906115e-04 -2.02329571e+00] [-4.47105427e-03 -8.69149434e-05 9.99990001e-01 -5.63772750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters 0.05241661754151481 Centerline is valid? [True, True] Translation: X:77.93, Y:-2.02, Z:-0.56 [[ 9.97144402e-01 7.53945743e-02 4.32438735e-03 7.79253623e+01] [-7.53942633e-02 9.97153774e-01 -2.35127312e-04 -2.01973257e+00] [-4.32980649e-03 -9.15781161e-05 9.99990622e-01 -5.64824688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters 0.051733012626398636 Centerline is valid? [True, True] Translation: X:77.99, Y:-2.03, Z:-0.57 [[ 9.97193720e-01 7.47401250e-02 4.31260602e-03 7.79876487e+01] [-7.47398083e-02 9.97203041e-01 -2.34788442e-04 -2.02696162e+00] [-4.31809196e-03 -8.81937876e-05 9.99990673e-01 -5.65257053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters 0.05112357307360319 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.04, Z:-0.57 [[ 9.97395095e-01 7.20040684e-02 4.29398240e-03 7.80485982e+01] [-7.20037281e-02 9.97404335e-01 -2.34001490e-04 -2.03678609e+00] [-4.29968572e-03 -7.57908028e-05 9.99990753e-01 -5.66119751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters 0.050800351269310054 Centerline is valid? [True, True] Translation: X:78.11, Y:-2.04, Z:-0.57 [[ 9.97576112e-01 6.94191231e-02 4.78387296e-03 7.81095304e+01] [-6.94186706e-02 9.97587580e-01 -2.60764518e-04 -2.04457396e+00] [-4.79043429e-03 -7.19576471e-05 9.99988523e-01 -5.66209942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters 0.05123461120584749 Centerline is valid? [True, True] Translation: X:78.17, Y:-2.05, Z:-0.57 [[ 9.97838269e-01 6.55809898e-02 4.23356488e-03 7.81702839e+01] [-6.55806005e-02 9.97847249e-01 -2.30877541e-04 -2.05347996e+00] [-4.23959225e-03 -4.72612814e-05 9.99991012e-01 -5.66703605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters 0.05125564870155665 Centerline is valid? [True, True] Translation: X:78.23, Y:-2.06, Z:-0.57 [[ 9.97945692e-01 6.40509414e-02 1.36875658e-03 7.82312239e+01] [-6.40509001e-02 9.97946630e-01 -7.40411689e-05 -2.05916606e+00] [-1.37068842e-03 -1.37810254e-05 9.99999061e-01 -5.69373557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters 0.051422344193748054 Centerline is valid? [True, True] Translation: X:78.29, Y:-2.07, Z:-0.57 [[ 9.98003624e-01 6.31528686e-02 6.93826643e-04 7.82932234e+01] [-6.31528580e-02 9.98003865e-01 -3.71758600e-05 -2.06680504e+00] [-6.94789434e-04 -6.71549244e-06 9.99999759e-01 -5.70797884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters 0.051159960341489424 Centerline is valid? [True, True] Translation: X:78.35, Y:-2.07, Z:-0.57 [[ 9.97863923e-01 6.53131706e-02 1.33465631e-03 7.83549460e+01] [-6.53131321e-02 9.97864815e-01 -7.24324673e-05 -2.06978150e+00] [-1.33653736e-03 -1.48928377e-05 9.99999107e-01 -5.69775946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters 0.05126984264385783 Centerline is valid? [True, True] Translation: X:78.42, Y:-2.07, Z:-0.57 [[ 9.97605172e-01 6.91367132e-02 2.00885481e-03 7.84170713e+01] [-6.91366316e-02 9.97607194e-01 -1.10110320e-04 -2.07351790e+00] [-2.01166067e-03 -2.90388303e-05 9.99997976e-01 -5.68142645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters 0.05139966421583932 Centerline is valid? [True, True] Translation: X:78.48, Y:-2.07, Z:-0.57 [[ 9.97268553e-01 7.38327899e-02 2.03751528e-03 7.84775964e+01] [-7.38327154e-02 9.97270634e-01 -1.11818047e-04 -2.07023810e+00] [-2.04020999e-03 -3.89226635e-05 9.99997918e-01 -5.69698309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters 0.05094336967993768 Centerline is valid? [True, True] Translation: X:78.54, Y:-2.08, Z:-0.57 [[ 9.97222330e-01 7.44098475e-02 3.28616242e-03 7.85404288e+01] [-7.44096581e-02 9.97227742e-01 -1.80043371e-04 -2.08036667e+00] [-3.29044933e-03 -6.49789521e-05 9.99994584e-01 -5.68183309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters 0.05088376108366362 Centerline is valid? [True, True] Translation: X:78.60, Y:-2.08, Z:-0.57 [[ 9.97051388e-01 7.66906164e-02 2.66080861e-03 7.86013388e+01] [-7.66904984e-02 9.97054936e-01 -1.46487070e-04 -2.08121754e+00] [-2.66420654e-03 -5.80036025e-05 9.99996449e-01 -5.69047264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters 0.05124277301925751 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.08, Z:-0.57 [[ 9.97124957e-01 7.57687630e-02 9.56803414e-04 7.86636906e+01] [-7.57687479e-02 9.97125415e-01 -5.20016317e-05 -2.08369776e+00] [-9.57993101e-04 -2.06436720e-05 9.99999541e-01 -5.70799892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters 0.05159961479208477 Centerline is valid? [True, True] Translation: X:78.72, Y:-2.08, Z:-0.57 [[ 9.97179990e-01 7.50427890e-02 8.04926314e-04 7.87245615e+01] [-7.50427781e-02 9.97180314e-01 -4.37634268e-05 -2.08392879e+00] [-8.05940805e-04 -1.67638933e-05 9.99999675e-01 -5.72116576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters 0.05169312161814149 Centerline is valid? [True, True] Translation: X:78.78, Y:-2.09, Z:-0.57 [[ 9.97495500e-01 7.06921122e-02 2.31375624e-03 7.87844987e+01] [-7.06920056e-02 9.97498182e-01 -1.27945170e-04 -2.08862197e+00] [-2.31701236e-03 -3.59393379e-05 9.99997315e-01 -5.71111313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters 0.05159247339690934 Centerline is valid? [True, True] Translation: X:78.84, Y:-2.10, Z:-0.57 [[ 9.97880879e-01 6.49918656e-02 3.13203523e-03 7.88447703e+01] [-6.49916419e-02 9.97885793e-01 -1.73236204e-04 -2.09780182e+00] [-3.13667240e-03 -3.06870170e-05 9.99995080e-01 -5.70429133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters 0.05083297525717958 Centerline is valid? [True, True] Translation: X:78.91, Y:-2.11, Z:-0.57 [[ 9.98305926e-01 5.80250171e-02 4.28663559e-03 7.89054064e+01] [-5.80245341e-02 9.98315129e-01 -2.37074361e-04 -2.10512131e+00] [-4.29316941e-03 -1.20572932e-05 9.99990784e-01 -5.70205231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters 0.05145440234189069 Centerline is valid? [True, True] Translation: X:78.97, Y:-2.11, Z:-0.57 [[ 9.98667326e-01 5.13708705e-02 4.96034014e-03 7.89674457e+01] [-5.13701416e-02 9.98679645e-01 -2.74322170e-04 -2.11390311e+00] [-4.96788290e-03 1.91432132e-05 9.99987660e-01 -5.69891143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters 0.051671737474653937 Centerline is valid? [True, True] Translation: X:79.03, Y:-2.12, Z:-0.57 [[ 9.98975078e-01 4.49103887e-02 5.64362102e-03 7.90290364e+01] [-4.49093365e-02 9.98991018e-01 -3.13101338e-04 -2.12059810e+00] [-5.65198821e-03 5.93291586e-05 9.99984026e-01 -5.70272043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters 0.05212012201681366 Centerline is valid? [True, True] Translation: X:79.09, Y:-2.12, Z:-0.57 [[ 9.99015085e-01 4.42992616e-02 2.53683685e-03 7.90908442e+01] [-4.42990481e-02 9.99018305e-01 -1.40310027e-04 -2.12102797e+00] [-2.54056208e-03 2.77923756e-05 9.99996772e-01 -5.74142767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters 0.052596970583329426 Centerline is valid? [True, True] Translation: X:79.15, Y:-2.12, Z:-0.57 [[ 9.99105354e-01 4.22436584e-02 1.99108518e-03 7.91532601e+01] [-4.22435220e-02 9.99107338e-01 -1.10535959e-04 -2.11847763e+00] [-1.99397725e-03 2.63266179e-05 9.99998012e-01 -5.74453122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters 0.052596970583329426 Centerline is valid? [True, True] Translation: X:79.22, Y:-2.12, Z:-0.57 [[ 9.99099589e-01 4.23797906e-02 1.99110863e-03 7.92156372e+01] [-4.23796553e-02 9.99101573e-01 -1.10115615e-04 -2.12192314e+00] [-1.99398644e-03 2.56339683e-05 9.99998012e-01 -5.74913608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters 0.052310085435546216 Centerline is valid? [True, True] Translation: X:79.28, Y:-2.12, Z:-0.57 [[ 9.99126854e-01 4.16699245e-02 3.02438410e-03 7.92775386e+01] [-4.16696060e-02 9.99131431e-01 -1.68270486e-04 -2.12101642e+00] [-3.02876903e-03 4.20986668e-05 9.99995412e-01 -5.73803520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters 0.05220672196750801 Centerline is valid? [True, True] Translation: X:79.34, Y:-2.12, Z:-0.57 [[ 9.99055177e-01 4.30021165e-02 6.29060771e-03 7.93382168e+01] [-4.30007543e-02 9.99074978e-01 -3.51695171e-04 -2.12406130e+00] [-6.29991239e-03 8.08620049e-05 9.99980152e-01 -5.72579451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters 0.051385802308245326 Centerline is valid? [True, True] Translation: X:79.40, Y:-2.12, Z:-0.57 [[ 9.98947799e-01 4.55055469e-02 5.70438071e-03 7.94001888e+01] [-4.55044642e-02 9.98964084e-01 -3.19510315e-04 -2.12145324e+00] [-5.71301094e-03 5.95993381e-05 9.99983679e-01 -5.73852645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters 0.05168923311359588 Centerline is valid? [True, True] Translation: X:79.46, Y:-2.12, Z:-0.58 [[ 9.98911470e-01 4.63499101e-02 5.24993694e-03 7.94622664e+01] [-4.63490018e-02 9.98925264e-01 -2.94609388e-04 -2.12309639e+00] [-5.25794977e-03 5.09593596e-05 9.99986176e-01 -5.75112522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters 0.051710065897631705 Centerline is valid? [True, True] Translation: X:79.52, Y:-2.12, Z:-0.58 [[ 9.98877433e-01 4.71171721e-02 4.88326791e-03 7.95245057e+01] [-4.71163929e-02 9.98889368e-01 -2.74546708e-04 -2.12479394e+00] [-4.89078026e-03 4.41565412e-05 9.99988039e-01 -5.75945635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters 0.0519436400728977 Centerline is valid? [True, True] Translation: X:79.59, Y:-2.12, Z:-0.58 [[ 9.98807116e-01 4.86655591e-02 4.00114423e-03 7.95867915e+01] [-4.86650471e-02 9.98815129e-01 -2.25266563e-04 -2.12462019e+00] [-4.00736612e-03 3.02819734e-05 9.99991970e-01 -5.77235429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters 0.05166794610951557 Centerline is valid? [True, True] Translation: X:79.65, Y:-2.13, Z:-0.58 [[ 9.98762780e-01 4.96430805e-02 2.91096021e-03 7.96496926e+01] [-4.96428136e-02 9.98767022e-01 -1.63923796e-04 -2.12636489e+00] [-2.91550875e-03 1.92127310e-05 9.99995750e-01 -5.78089201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters 0.05213169006820997 Centerline is valid? [True, True] Translation: X:79.71, Y:-2.13, Z:-0.58 [[ 9.98737699e-01 5.01498156e-02 2.82941289e-03 7.97125578e+01] [-5.01495644e-02 9.98741706e-01 -1.59677121e-04 -2.12827645e+00] [-2.83386044e-03 1.75817359e-05 9.99995984e-01 -5.78602706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters 0.05163351272028892 Centerline is valid? [True, True] Translation: X:79.77, Y:-2.13, Z:-0.58 [[ 9.98729355e-01 5.03025560e-02 3.05424048e-03 7.97747755e+01] [-5.03022618e-02 9.98734025e-01 -1.73103379e-04 -2.13198331e+00] [-3.05908143e-03 1.92482215e-05 9.99995321e-01 -5.79730944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters 0.052066061827429816 Centerline is valid? [True, True] Translation: X:79.84, Y:-2.13, Z:-0.58 [[ 9.98734997e-01 5.02204039e-02 2.51318644e-03 7.98378039e+01] [-5.02202048e-02 9.98738159e-01 -1.42293272e-04 -2.13469743e+00] [-2.51716123e-03 1.59005325e-05 9.99996832e-01 -5.80115325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters 0.05244336495410331 Centerline is valid? [True, True] Translation: X:79.90, Y:-2.14, Z:-0.58 [[ 9.98725904e-01 5.04304584e-02 1.82666758e-03 7.99000102e+01] [-5.04303535e-02 9.98727575e-01 -1.03448848e-04 -2.13938044e+00] [-1.82956025e-03 1.11975522e-05 9.99998326e-01 -5.81701814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters 0.05190268512125936 Centerline is valid? [True, True] Translation: X:79.96, Y:-2.14, Z:-0.58 [[ 9.98716734e-01 5.06150791e-02 1.73150870e-03 7.99625619e+01] [-5.06149849e-02 9.98718235e-01 -9.82078497e-05 -2.14230979e+00] [-1.73426011e-03 1.04415363e-05 9.99998496e-01 -5.82287281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters 0.05182373360873856 Centerline is valid? [True, True] Translation: X:80.02, Y:-2.15, Z:-0.58 [[ 9.98842195e-01 4.80820784e-02 1.54362171e-03 8.00241258e+01] [-4.80820001e-02 9.98843388e-01 -8.77854935e-05 -2.14643281e+00] [-1.54605725e-03 1.34634357e-05 9.99998805e-01 -5.82145049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters 0.05211477306768913 Centerline is valid? [True, True] Translation: X:80.09, Y:-2.15, Z:-0.58 [[ 9.99096682e-01 4.24628938e-02 1.64999632e-03 8.00855307e+01] [-4.24627954e-02 9.99098044e-01 -9.46106944e-05 -2.14807242e+00] [-1.65252554e-03 2.44617748e-05 9.99998634e-01 -5.79697374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters 0.0525157826344148 Centerline is valid? [True, True] Translation: X:80.15, Y:-2.16, Z:-0.58 [[ 9.99275160e-01 3.80107020e-02 2.08334808e-03 8.01462227e+01] [-3.80105354e-02 9.99277331e-01 -1.19523504e-04 -2.15718717e+00] [-2.08638568e-03 4.02476924e-05 9.99997823e-01 -5.80943311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters 0.052051701400838646 Centerline is valid? [True, True] Translation: X:80.21, Y:-2.16, Z:-0.58 [[ 9.99406471e-01 3.43620320e-02 2.44065085e-03 8.02061452e+01] [-3.43617926e-02 9.99409449e-01 -1.39969251e-04 -2.16138141e+00] [-2.44401915e-03 5.60210367e-05 9.99997012e-01 -5.81132266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters 0.05296651835084375 Centerline is valid? [True, True] Translation: X:80.27, Y:-2.17, Z:-0.58 [[ 9.99513127e-01 3.11178165e-02 2.27835678e-03 8.02673694e+01] [-3.11175991e-02 9.99515722e-01 -1.30818918e-04 -2.16715167e+00] [-2.28132422e-03 5.98582336e-05 9.99997396e-01 -5.82778142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters 0.052686753678833645 Centerline is valid? [True, True] Translation: X:80.33, Y:-2.17, Z:-0.58 [[ 9.99518656e-01 3.09675376e-02 1.86226483e-03 8.03299631e+01] [-3.09673931e-02 9.99520390e-01 -1.06415348e-04 -2.16712003e+00] [-1.86466709e-03 4.86946391e-05 9.99998260e-01 -5.83004172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters 0.052344959696545 Centerline is valid? [True, True] Translation: X:80.39, Y:-2.17, Z:-0.58 [[ 9.99443343e-01 3.32895399e-02 2.19318479e-03 8.03918225e+01] [-3.32893431e-02 9.99445748e-01 -1.26199214e-04 -2.17103923e+00] [-2.19617033e-03 5.31192838e-05 9.99997587e-01 -5.84826384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters 0.052727097202223454 Centerline is valid? [True, True] Translation: X:80.45, Y:-2.17, Z:-0.59 [[ 9.99336564e-01 3.63396403e-02 2.42138391e-03 8.04519703e+01] [-3.63394087e-02 9.99339496e-01 -1.39569620e-04 -2.17390171e+00] [-2.42485648e-03 5.14853651e-05 9.99997059e-01 -5.85378645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters 0.051965729610714606 Centerline is valid? [True, True] Translation: X:80.51, Y:-2.17, Z:-0.59 [[ 9.99206960e-01 3.96962365e-02 3.10807998e-03 8.05132002e+01] [-3.96958712e-02 9.99211792e-01 -1.79159239e-04 -2.17445115e+00] [-3.11274212e-03 5.56392161e-05 9.99995154e-01 -5.85274495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters 0.05274420382543319 Centerline is valid? [True, True] Translation: X:80.57, Y:-2.17, Z:-0.59 [[ 9.98967517e-01 4.53124348e-02 3.26840325e-03 8.05731451e+01] [-4.53120605e-02 9.98972863e-01 -1.88536366e-04 -2.17375318e+00] [-3.27358920e-03 4.02436197e-05 9.99994641e-01 -5.85674800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters 0.05219159366091131 Centerline is valid? [True, True] Translation: X:80.64, Y:-2.18, Z:-0.59 [[ 9.98734262e-01 5.02302697e-02 2.60638628e-03 8.06350835e+01] [-5.02300487e-02 9.98737663e-01 -1.50196162e-04 -2.17502763e+00] [-2.61064054e-03 1.90871431e-05 9.99996592e-01 -5.87138721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters 0.05133990785025555 Centerline is valid? [True, True] Translation: X:80.70, Y:-2.18, Z:-0.59 [[ 9.98622033e-01 5.23833627e-02 3.16507444e-03 8.06960838e+01] [-5.23830482e-02 9.98627049e-01 -1.82241516e-04 -2.17859563e+00] [-3.17027537e-03 1.61941463e-05 9.99994975e-01 -5.88685766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters 0.05231649129188508 Centerline is valid? [True, True] Translation: X:80.76, Y:-2.18, Z:-0.59 [[ 9.98622436e-01 5.23441581e-02 3.64971352e-03 8.07585688e+01] [-5.23437370e-02 9.98629105e-01 -2.10885322e-04 -2.18212768e+00] [-3.65574876e-03 1.95551694e-05 9.99993318e-01 -5.89090174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters 0.05223782449214153 Centerline is valid? [True, True] Translation: X:80.82, Y:-2.18, Z:-0.59 [[ 9.98788778e-01 4.90643713e-02 3.69651464e-03 8.08203994e+01] [-4.90639173e-02 9.98795618e-01 -2.13472129e-04 -2.18429587e+00] [-3.70253650e-03 3.18480781e-05 9.99993145e-01 -5.88101797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters 0.05245002352228054 Centerline is valid? [True, True] Translation: X:80.88, Y:-2.19, Z:-0.59 [[ 9.98958506e-01 4.54667196e-02 3.83165842e-03 8.08821678e+01] [-4.54662026e-02 9.98965853e-01 -2.21975978e-04 -2.19115333e+00] [-3.83778844e-03 4.75338333e-05 9.99992635e-01 -5.89472347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters 0.051484416402808576 Centerline is valid? [True, True] Translation: X:80.94, Y:-2.20, Z:-0.59 [[ 9.99147471e-01 4.10663597e-02 4.22909929e-03 8.09431043e+01] [-4.10656893e-02 9.99156419e-01 -2.45280564e-04 -2.19636703e+00] [-4.23560448e-03 7.14005775e-05 9.99991027e-01 -5.89520759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters 0.05270162895479896 Centerline is valid? [True, True] Translation: X:81.00, Y:-2.20, Z:-0.59 [[ 9.99320971e-01 3.64686532e-02 5.25681338e-03 8.10034160e+01] [-3.64675531e-02 9.99334791e-01 -3.05001160e-04 -2.20300800e+00] [-5.26443948e-03 1.13090934e-04 9.99986136e-01 -5.90301035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters 0.05258411312384117 Centerline is valid? [True, True] Translation: X:81.06, Y:-2.20, Z:-0.59 [[ 9.99514010e-01 3.07150739e-02 5.32247275e-03 8.10638381e+01] [-3.07138640e-02 9.99528170e-01 -3.08933075e-04 -2.20442186e+00] [-5.32945035e-03 1.45309232e-04 9.99985788e-01 -5.90704026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters 0.0535225634440209 Centerline is valid? [True, True] Translation: X:81.12, Y:-2.21, Z:-0.59 [[ 9.99591770e-01 2.81421808e-02 4.93054331e-03 8.11244248e+01] [-2.81411114e-02 9.99603920e-01 -2.86153481e-04 -2.20986072e+00] [-4.93664340e-03 1.47285696e-04 9.99987804e-01 -5.92256684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters 0.05257416186722065 Centerline is valid? [True, True] Translation: X:81.19, Y:-2.20, Z:-0.59 [[ 9.99641865e-01 2.63883668e-02 4.44927085e-03 8.11871163e+01] [-2.63874786e-02 9.99651757e-01 -2.58235431e-04 -2.20291488e+00] [-4.45453583e-03 1.40737909e-04 9.99990069e-01 -5.92910845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters 0.052709839022263706 Centerline is valid? [True, True] Translation: X:81.25, Y:-2.21, Z:-0.59 [[ 9.99646040e-01 2.61384646e-02 4.95744579e-03 8.12479928e+01] [-2.61373587e-02 9.99658319e-01 -2.87739595e-04 -2.20750187e+00] [-4.96327299e-03 1.58063208e-04 9.99987670e-01 -5.94141057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters 0.05283635898613017 Centerline is valid? [True, True] Translation: X:81.31, Y:-2.21, Z:-0.59 [[ 9.99614103e-01 2.69343355e-02 6.79613526e-03 8.13097950e+01] [-2.69322683e-02 9.99637182e-01 -3.95525930e-04 -2.20644757e+00] [-6.80432273e-03 2.12337960e-04 9.99976828e-01 -5.94149404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters 0.05297798775674823 Centerline is valid? [True, True] Translation: X:81.37, Y:-2.20, Z:-0.60 [[ 9.99551381e-01 2.89105167e-02 7.82424961e-03 8.13714065e+01] [-2.89078298e-02 9.99581977e-01 -4.56316224e-04 -2.20497275e+00] [-7.83417124e-03 2.29929436e-04 9.99969286e-01 -5.95545451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters 0.05277503294797937 Centerline is valid? [True, True] Translation: X:81.43, Y:-2.21, Z:-0.60 [[ 9.99379460e-01 3.43913349e-02 7.61120208e-03 8.14316020e+01] [-3.43889491e-02 9.99408426e-01 -4.44145849e-04 -2.20936786e+00] [-7.62197426e-03 1.82128998e-04 9.99970936e-01 -5.97049678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters 0.05226846472276697 Centerline is valid? [True, True] Translation: X:81.49, Y:-2.21, Z:-0.60 [[ 9.99120404e-01 4.15555807e-02 5.61714653e-03 8.14915641e+01] [-4.15543941e-02 9.99136189e-01 -3.27847982e-04 -2.20553612e+00] [-5.62591829e-03 9.41424882e-05 9.99984170e-01 -5.97881994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters 0.052075779787225614 Centerline is valid? [True, True] Translation: X:81.55, Y:-2.20, Z:-0.60 [[ 9.98925826e-01 4.60433783e-02 5.21543700e-03 8.15537252e+01] [-4.60424171e-02 9.98939439e-01 -3.04278367e-04 -2.20480342e+00] [-5.22391572e-03 6.38201933e-05 9.99986353e-01 -5.99156243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters 0.051795420583778756 Centerline is valid? [True, True] Translation: X:81.61, Y:-2.21, Z:-0.60 [[ 9.98713900e-01 5.04469199e-02 5.06499243e-03 8.16138664e+01] [-5.04460690e-02 9.98726743e-01 -2.95688770e-04 -2.20826311e+00] [-5.07345998e-03 3.97995273e-05 9.99987129e-01 -5.99909560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters 0.05199766955477258 Centerline is valid? [True, True] Translation: X:81.68, Y:-2.21, Z:-0.60 [[ 9.98665782e-01 5.13417825e-02 5.53866751e-03 8.16759020e+01] [-5.13407793e-02 9.98681140e-01 -3.23263970e-04 -2.20980111e+00] [-5.54795974e-03 3.84731592e-05 9.99984609e-01 -6.00101747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters 0.05227504754994072 Centerline is valid? [True, True] Translation: X:81.74, Y:-2.22, Z:-0.60 [[ 9.98813335e-01 4.84439106e-02 5.01093633e-03 8.17370484e+01] [-4.84430502e-02 9.98825903e-01 -2.92992425e-04 -2.21512480e+00] [-5.01924670e-03 4.98997011e-05 9.99987402e-01 -6.01077637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters 0.05252865786413732 Centerline is valid? [True, True] Translation: X:81.80, Y:-2.22, Z:-0.60 [[ 9.98985904e-01 4.47028145e-02 5.36856453e-03 8.17989708e+01] [-4.47017689e-02 9.99000327e-01 -3.14650590e-04 -2.22189170e+00] [-5.37726349e-03 7.43471731e-05 9.99985540e-01 -6.01499830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters 0.05284830381729515 Centerline is valid? [True, True] Translation: X:81.86, Y:-2.23, Z:-0.60 [[ 9.99236270e-01 3.87192571e-02 5.26262645e-03 8.18599428e+01] [-3.87181679e-02 9.99250123e-01 -3.08719873e-04 -2.22715352e+00] [-5.27063353e-03 1.04724840e-04 9.99986105e-01 -6.01233754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters 0.05302934977152757 Centerline is valid? [True, True] Translation: X:81.92, Y:-2.23, Z:-0.60 [[ 9.99331287e-01 3.62693893e-02 4.63795416e-03 8.19225559e+01] [-3.62685172e-02 9.99342044e-01 -2.72035213e-04 -2.22578305e+00] [-4.64476914e-03 1.03641579e-04 9.99989208e-01 -6.01613224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters 0.05302300700215518 Centerline is valid? [True, True] Translation: X:81.98, Y:-2.23, Z:-0.60 [[ 9.99377783e-01 3.51500961e-02 2.91840739e-03 8.19841486e+01] [-3.51497470e-02 9.99382042e-01 -1.70855289e-04 -2.22614795e+00] [-2.92260952e-03 6.81676982e-05 9.99995727e-01 -6.02901586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters 0.05322551251672782 Centerline is valid? [True, True] Translation: X:82.05, Y:-2.23, Z:-0.60 [[ 9.99365035e-01 3.55529933e-02 2.34761226e-03 8.20458314e+01] [-3.55527675e-02 9.99367791e-01 -1.37882652e-04 -2.22931455e+00] [-2.35103022e-03 5.43309886e-05 9.99997235e-01 -6.04057662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters 0.05307820969832117 Centerline is valid? [True, True] Translation: X:82.11, Y:-2.23, Z:-0.60 [[ 9.99335316e-01 3.63634685e-02 2.57360174e-03 8.21067810e+01] [-3.63632002e-02 9.99338629e-01 -1.50983781e-04 -2.23410661e+00] [-2.57738992e-03 5.72990296e-05 9.99996677e-01 -6.04731133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters 0.053256771096881726 Centerline is valid? [True, True] Translation: X:82.17, Y:-2.23, Z:-0.60 [[ 9.99268049e-01 3.80263577e-02 4.16688910e-03 8.21683875e+01] [-3.80256641e-02 9.99276733e-01 -2.45597884e-04 -2.23115993e+00] [-4.17321452e-03 8.69693932e-05 9.99991288e-01 -6.03270671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters 0.05276004499205398 Centerline is valid? [True, True] Translation: X:82.23, Y:-2.24, Z:-0.60 [[ 9.99155436e-01 4.07963481e-02 4.90648596e-03 8.22281451e+01] [-4.07954188e-02 9.99167478e-01 -2.89381294e-04 -2.23837064e+00] [-4.91420690e-03 8.89747428e-05 9.99987921e-01 -6.04255657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters 0.05300203810160037 Centerline is valid? [True, True] Translation: X:82.29, Y:-2.24, Z:-0.61 [[ 9.98887214e-01 4.68324882e-02 5.57247865e-03 8.22892361e+01] [-4.68313831e-02 9.98902755e-01 -3.28699921e-04 -2.24273677e+00] [-5.58175811e-03 6.73672654e-05 9.99984420e-01 -6.05471209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters 0.052052584102089766 Centerline is valid? [True, True] Translation: X:82.35, Y:-2.24, Z:-0.61 [[ 9.98506428e-01 5.43447960e-02 5.61756958e-03 8.23498602e+01] [-5.43437912e-02 9.98522229e-01 -3.31467639e-04 -2.24066267e+00] [-5.62728164e-03 2.56925392e-05 9.99984166e-01 -6.06382563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters 0.052289269671660414 Centerline is valid? [True, True] Translation: X:82.41, Y:-2.24, Z:-0.61 [[ 9.98242665e-01 5.89860096e-02 5.67736951e-03 8.24124914e+01] [-5.89850584e-02 9.98258809e-01 -3.34988861e-04 -2.24019122e+00] [-5.68724379e-03 -4.79798945e-07 9.99983827e-01 -6.06901877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters 0.05190843692075012 Centerline is valid? [True, True] Translation: X:82.47, Y:-2.24, Z:-0.61 [[ 9.97975907e-01 6.34488465e-02 4.28160943e-03 8.24739601e+01] [-6.34483470e-02 9.97985092e-01 -2.52532612e-04 -2.24198163e+00] [-4.28900529e-03 -1.96395786e-05 9.99990802e-01 -6.07478294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters 0.05187681310045599 Centerline is valid? [True, True] Translation: X:82.54, Y:-2.25, Z:-0.61 [[ 9.97956960e-01 6.37252508e-02 4.58240224e-03 8.25363496e+01] [-6.37246785e-02 9.97967480e-01 -2.70953412e-04 -2.24576499e+00] [-4.59035499e-03 -2.16122659e-05 9.99989464e-01 -6.08723206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters 0.05186967718752049 Centerline is valid? [True, True] Translation: X:82.60, Y:-2.25, Z:-0.61 [[ 9.98153912e-01 6.05091328e-02 5.23568601e-03 8.25983625e+01] [-6.05083401e-02 9.98167644e-01 -3.09823522e-04 -2.25307414e+00] [-5.24483952e-03 -7.55110849e-06 9.99986246e-01 -6.08516735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters 0.051907973576631926 Centerline is valid? [True, True] Translation: X:82.66, Y:-2.26, Z:-0.61 [[ 9.98333082e-01 5.74655323e-02 5.36377980e-03 8.26597404e+01] [-5.74646529e-02 9.98347491e-01 -3.18039236e-04 -2.25962532e+00] [-5.37319240e-03 9.28134616e-06 9.99985564e-01 -6.08352887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters 0.0524841410916531 Centerline is valid? [True, True] Translation: X:82.72, Y:-2.27, Z:-0.61 [[ 9.98531346e-01 5.39535759e-02 4.91555879e-03 8.27217325e+01] [-5.39527910e-02 9.98543445e-01 -2.92220780e-04 -2.26668360e+00] [-4.92416537e-03 2.65834921e-05 9.99987876e-01 -6.08865699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters 0.05222999167104687 Centerline is valid? [True, True] Translation: X:82.78, Y:-2.27, Z:-0.61 [[ 9.98609672e-01 5.25150349e-02 4.57109947e-03 8.27834381e+01] [-5.25143406e-02 9.98620133e-01 -2.71883486e-04 -2.27470203e+00] [-4.57906993e-03 3.14572045e-05 9.99989516e-01 -6.10437173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters 0.05190647215323259 Centerline is valid? [True, True] Translation: X:82.84, Y:-2.28, Z:-0.61 [[ 9.98621746e-01 5.23348185e-02 3.95919946e-03 8.28440032e+01] [-5.23342958e-02 9.98629594e-01 -2.35556535e-04 -2.27828617e+00] [-3.96610156e-03 2.80299627e-05 9.99992135e-01 -6.10610965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters 0.05176715601508203 Centerline is valid? [True, True] Translation: X:82.91, Y:-2.29, Z:-0.61 [[ 9.98576470e-01 5.32298370e-02 3.40848874e-03 8.29055173e+01] [-5.32294542e-02 9.98582287e-01 -2.02999133e-04 -2.28555269e+00] [-3.41446209e-03 2.12781623e-05 9.99994170e-01 -6.11618571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters 0.05208616375508325 Centerline is valid? [True, True] Translation: X:82.97, Y:-2.29, Z:-0.61 [[ 9.98431794e-01 5.59395844e-02 2.17132051e-03 8.29661738e+01] [-5.59394363e-02 9.98434155e-01 -1.28947651e-04 -2.28999601e+00] [-2.17513384e-03 7.28298952e-06 9.99997634e-01 -6.13067194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters 0.05188724086646935 Centerline is valid? [True, True] Translation: X:83.03, Y:-2.29, Z:-0.61 [[ 9.98314695e-01 5.79924748e-02 2.15454042e-03 8.30282409e+01] [-5.79923324e-02 9.98317020e-01 -1.28532417e-04 -2.29407511e+00] [-2.15836828e-03 3.36897688e-06 9.99997671e-01 -6.13838258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters 0.05133191347142323 Centerline is valid? [True, True] Translation: X:83.09, Y:-2.30, Z:-0.61 [[ 9.98015418e-01 6.29141620e-02 2.65222778e-03 8.30911737e+01] [-6.29139644e-02 9.98018942e-01 -1.57956340e-04 -2.29947356e+00] [-2.65691126e-03 -9.21930194e-06 9.99996470e-01 -6.13012456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters 0.05155202651131003 Centerline is valid? [True, True] Translation: X:83.15, Y:-2.30, Z:-0.61 [[ 9.97925437e-01 6.43274141e-02 2.60883625e-03 8.31528853e+01] [-6.43272267e-02 9.97928847e-01 -1.55760196e-04 -2.30314241e+00] [-2.61345260e-03 -1.23821394e-05 9.99996585e-01 -6.13926891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters 0.05078592318725763 Centerline is valid? [True, True] Translation: X:83.21, Y:-2.31, Z:-0.61 [[ 9.97710654e-01 6.75192594e-02 3.82098043e-03 8.32149383e+01] [-6.75188764e-02 9.97717971e-01 -2.29283509e-04 -2.30816965e+00] [-3.82774189e-03 -2.92297056e-05 9.99992674e-01 -6.13997606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters 0.05162087448527333 Centerline is valid? [True, True] Translation: X:83.28, Y:-2.32, Z:-0.61 [[ 9.97551090e-01 6.97973410e-02 4.48941193e-03 8.32759549e+01] [-6.97968338e-02 9.97561191e-01 -2.69740078e-04 -2.31872567e+00] [-4.49729025e-03 -4.42672296e-05 9.99989886e-01 -6.12856405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters 0.051349920322221 Centerline is valid? [True, True] Translation: X:83.34, Y:-2.32, Z:-0.61 [[ 9.97440403e-01 7.13837531e-02 4.12331968e-03 8.33377467e+01] [-7.13833377e-02 9.97448925e-01 -2.48020646e-04 -2.32178087e+00] [-4.13050543e-03 -4.69505082e-05 9.99991468e-01 -6.14830426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters 0.050981427587516906 Centerline is valid? [True, True] Translation: X:83.40, Y:-2.33, Z:-0.62 [[ 9.97187216e-01 7.49142468e-02 2.34783212e-03 8.33992377e+01] [-7.49141227e-02 9.97189979e-01 -1.40859539e-04 -2.32723718e+00] [-2.35178704e-03 -3.54224517e-05 9.99997234e-01 -6.17143520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters 0.05076113187394887 Centerline is valid? [True, True] Translation: X:83.46, Y:-2.33, Z:-0.62 [[ 9.97002548e-01 7.73375383e-02 2.19631664e-03 8.34614425e+01] [-7.73374344e-02 9.97004967e-01 -1.32331996e-04 -2.33424982e+00] [-2.19997283e-03 -3.79221565e-05 9.99997579e-01 -6.17612238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters 0.050492902251714225 Centerline is valid? [True, True] Translation: X:83.52, Y:-2.34, Z:-0.62 [[ 9.96792008e-01 7.99980149e-02 2.45174913e-03 8.35223851e+01] [-7.99978941e-02 9.96795022e-01 -1.47471186e-04 -2.34069819e+00] [-2.45568873e-03 -4.91366681e-05 9.99996984e-01 -6.19062688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters 0.051002591297336475 Centerline is valid? [True, True] Translation: X:83.58, Y:-2.35, Z:-0.62 [[ 9.96731701e-01 8.07573645e-02 2.04065476e-03 8.35827829e+01] [-8.07572817e-02 9.96733789e-01 -1.23101999e-04 -2.34607570e+00] [-2.04393095e-03 -4.20980662e-05 9.99997910e-01 -6.20044037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters 0.05025573916819559 Centerline is valid? [True, True] Translation: X:83.64, Y:-2.35, Z:-0.62 [[ 9.96650817e-01 8.17307080e-02 2.69060381e-03 8.36443627e+01] [-8.17305674e-02 9.96654448e-01 -1.62341061e-04 -2.35477063e+00] [-2.69487051e-03 -5.81072258e-05 9.99996367e-01 -6.20569467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters 0.05048236799400698 Centerline is valid? [True, True] Translation: X:83.71, Y:-2.36, Z:-0.62 [[ 9.96646523e-01 8.17627609e-02 3.24947162e-03 8.37055937e+01] [-8.17625543e-02 9.96651818e-01 -1.96580741e-04 -2.36369795e+00] [-3.25466478e-03 -6.97635879e-05 9.99994701e-01 -6.20560430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters 0.05070784828802231 Centerline is valid? [True, True] Translation: X:83.77, Y:-2.37, Z:-0.62 [[ 9.96728452e-01 8.07377999e-02 3.71489229e-03 8.37661848e+01] [-8.07375207e-02 9.96735372e-01 -2.25309250e-04 -2.36987209e+00] [-3.72095552e-03 -7.53590523e-05 9.99993074e-01 -6.21065880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters 0.049974471917243884 Centerline is valid? [True, True] Translation: X:83.83, Y:-2.38, Z:-0.62 [[ 9.96893880e-01 7.86242452e-02 4.56280085e-03 8.38271756e+01] [-7.86237977e-02 9.96904319e-01 -2.77630286e-04 -2.38080952e+00] [-4.57050435e-03 -8.19767984e-05 9.99989552e-01 -6.20671995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters 0.0499734222214923 Centerline is valid? [True, True] Translation: X:83.89, Y:-2.38, Z:-0.62 [[ 9.96987654e-01 7.74266644e-02 4.55286099e-03 8.38885412e+01] [-7.74262072e-02 9.96998047e-01 -2.76851483e-04 -2.38410486e+00] [-4.56062921e-03 -7.64932477e-05 9.99989597e-01 -6.21555284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters 0.05001149426666297 Centerline is valid? [True, True] Translation: X:83.95, Y:-2.39, Z:-0.62 [[ 9.97026221e-01 7.69160167e-02 4.75831490e-03 8.39502189e+01] [-7.69155091e-02 9.97037572e-01 -2.89854553e-04 -2.38644225e+00] [-4.76651319e-03 -7.69956235e-05 9.99988637e-01 -6.22659082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters 0.050338484668286505 Centerline is valid? [True, True] Translation: X:84.01, Y:-2.39, Z:-0.62 [[ 9.97096690e-01 7.60279484e-02 4.23575851e-03 8.40112437e+01] [-7.60275359e-02 9.97105685e-01 -2.58563535e-04 -2.38562427e+00] [-4.24315694e-03 -6.42214373e-05 9.99990996e-01 -6.24207917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters 0.050319711500445646 Centerline is valid? [True, True] Translation: X:84.07, Y:-2.39, Z:-0.62 [[ 9.97283656e-01 7.35308935e-02 4.30318505e-03 8.40736197e+01] [-7.35304429e-02 9.97292938e-01 -2.63041610e-04 -2.39179789e+00] [-4.31087775e-03 -5.40880040e-05 9.99990707e-01 -6.23639355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters 0.05078626405599408 Centerline is valid? [True, True] Translation: X:84.13, Y:-2.40, Z:-0.62 [[ 9.97714364e-01 6.74549868e-02 3.98408985e-03 8.41342805e+01] [-6.74545513e-02 9.97722318e-01 -2.43752518e-04 -2.39972435e+00] [-3.99145768e-03 -2.55496044e-05 9.99992034e-01 -6.23351954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters 0.051081631768521533 Centerline is valid? [True, True] Translation: X:84.20, Y:-2.40, Z:-0.62 [[ 9.98161006e-01 6.05153921e-02 3.53460498e-03 8.41962027e+01] [-6.05150069e-02 9.98167264e-01 -2.15921826e-04 -2.40487039e+00] [-3.54119358e-03 1.62810262e-06 9.99993730e-01 -6.23459987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters 0.050756828717859456 Centerline is valid? [True, True] Translation: X:84.26, Y:-2.41, Z:-0.63 [[ 9.98440841e-01 5.57685043e-02 2.40021120e-03 8.42581074e+01] [-5.57683123e-02 9.98443726e-01 -1.46892397e-04 -2.41093538e+00] [-2.40466778e-03 1.28076402e-05 9.99997109e-01 -6.26587558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters 0.05157763023188055 Centerline is valid? [True, True] Translation: X:84.32, Y:-2.42, Z:-0.63 [[ 9.98851110e-01 4.78314037e-02 2.93551994e-03 8.43185762e+01] [-4.78310808e-02 9.98855423e-01 -1.80128687e-04 -2.41714290e+00] [-2.94077582e-03 3.95126472e-05 9.99995675e-01 -6.25139002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters 0.05142221435139895 Centerline is valid? [True, True] Translation: X:84.38, Y:-2.42, Z:-0.62 [[ 9.99029402e-01 4.38856328e-02 3.78218992e-03 8.43780262e+01] [-4.38850680e-02 9.99036559e-01 -2.32246291e-04 -2.42263941e+00] [-3.78873828e-03 6.60392109e-05 9.99992821e-01 -6.23877351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters 0.05148197969444506 Centerline is valid? [True, True] Translation: X:84.44, Y:-2.43, Z:-0.62 [[ 9.99162024e-01 4.06029205e-02 5.16270569e-03 8.44392984e+01] [-4.06018244e-02 9.99175356e-01 -3.16985813e-04 -2.42581778e+00] [-5.17131884e-03 1.07104917e-04 9.99986623e-01 -6.23043848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters 0.05223237289624083 Centerline is valid? [True, True] Translation: X:84.50, Y:-2.43, Z:-0.62 [[ 9.99193835e-01 3.98598889e-02 4.78225363e-03 8.45009319e+01] [-3.98589406e-02 9.99205274e-01 -2.93478994e-04 -2.42685464e+00] [-4.79015109e-03 1.02626838e-04 9.99988522e-01 -6.23532079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters 0.052474590526309095 Centerline is valid? [True, True] Translation: X:84.56, Y:-2.43, Z:-0.63 [[ 9.99164335e-01 4.06632565e-02 4.13898680e-03 8.45621973e+01] [-4.06625519e-02 9.99172904e-01 -2.54277473e-04 -2.43179462e+00] [-4.14590321e-03 8.57632168e-05 9.99991402e-01 -6.25265977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters 0.05195493014829432 Centerline is valid? [True, True] Translation: X:84.63, Y:-2.43, Z:-0.62 [[ 9.99100721e-01 4.21466009e-02 4.62735499e-03 8.46250240e+01] [-4.21457335e-02 9.99111433e-01 -2.84835723e-04 -2.42789284e+00] [-4.63524814e-03 8.95563057e-05 9.99989253e-01 -6.24872087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters 0.05225948366512173 Centerline is valid? [True, True] Translation: X:84.69, Y:-2.44, Z:-0.63 [[ 9.98961449e-01 4.53266036e-02 4.63919403e-03 8.46850744e+01] [-4.53257627e-02 9.98972218e-01 -2.86309130e-04 -2.43673957e+00] [-4.64740337e-03 7.57367760e-05 9.99989198e-01 -6.25620043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters 0.051792088678230264 Centerline is valid? [True, True] Translation: X:84.75, Y:-2.44, Z:-0.63 [[ 9.98823015e-01 4.83377749e-02 4.00557840e-03 8.47464375e+01] [-4.83371720e-02 9.98831045e-01 -2.47253635e-04 -2.43786292e+00] [-4.01284775e-03 5.33442893e-05 9.99991947e-01 -6.26526057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters 0.05189621441599859 Centerline is valid? [True, True] Translation: X:84.81, Y:-2.44, Z:-0.63 [[ 9.98669867e-01 5.14533910e-02 3.32359445e-03 8.48085663e+01] [-5.14529944e-02 9.98675396e-01 -2.04785908e-04 -2.43684484e+00] [-3.32972893e-03 3.35046286e-05 9.99994456e-01 -6.27246700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters 0.05121991516100318 Centerline is valid? [True, True] Translation: X:84.87, Y:-2.44, Z:-0.63 [[ 9.98497246e-01 5.47433685e-02 2.53238978e-03 8.48710898e+01] [-5.47431477e-02 9.98500457e-01 -1.56476788e-04 -2.43876321e+00] [-2.53715842e-03 1.76106535e-05 9.99996781e-01 -6.28168764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters 0.05147984766748317 Centerline is valid? [True, True] Translation: X:84.93, Y:-2.44, Z:-0.63 [[ 9.98158634e-01 6.06363986e-02 1.60243972e-03 8.49324008e+01] [-6.06363185e-02 9.98159921e-01 -9.85723459e-05 -2.43932110e+00] [-1.60546818e-03 1.22479290e-06 9.99998711e-01 -6.26915278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters 0.050871554669920035 Centerline is valid? [True, True] Translation: X:84.99, Y:-2.44, Z:-0.63 [[ 9.97937420e-01 6.41859109e-02 1.03690732e-03 8.49934950e+01] [-6.41858793e-02 9.97937958e-01 -6.37061437e-05 -2.44324103e+00] [-1.03885821e-03 -2.98006332e-06 9.99999460e-01 -6.27978716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters 0.0503123485186835 Centerline is valid? [True, True] Translation: X:85.06, Y:-2.45, Z:-0.63 [[ 9.97699449e-01 6.77905538e-02 5.00970509e-04 8.50556849e+01] [-6.77905469e-02 9.97699574e-01 -3.07099169e-05 -2.44539478e+00] [-5.01899906e-04 -3.32179767e-06 9.99999874e-01 -6.30305974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters 0.05065410982948895 Centerline is valid? [True, True] Translation: X:85.12, Y:-2.45, Z:-0.63 [[ 9.97595563e-01 6.93031724e-02 4.03573321e-04 8.51166614e+01] [-6.93031681e-02 9.97595645e-01 -2.46656517e-05 -2.44920966e+00] [-4.04312395e-04 -3.36256502e-06 9.99999918e-01 -6.31672441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters 0.05078857074194206 Centerline is valid? [True, True] Translation: X:85.18, Y:-2.46, Z:-0.63 [[ 9.97668504e-01 6.82422398e-02 7.43593864e-04 8.51782627e+01] [-6.82422248e-02 9.97668781e-01 -4.55291283e-05 -2.45552983e+00] [-7.44967393e-04 -5.32152224e-06 9.99999722e-01 -6.30715304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters 0.050594963856238975 Centerline is valid? [True, True] Translation: X:85.24, Y:-2.47, Z:-0.63 [[ 9.98056540e-01 6.23034680e-02 1.19208659e-03 8.52398807e+01] [-6.23034245e-02 9.98057252e-01 -7.36273751e-05 -2.46589469e+00] [-1.19435791e-03 -7.86793820e-07 9.99999287e-01 -6.29838988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters 0.050987668287744675 Centerline is valid? [True, True] Translation: X:85.30, Y:-2.47, Z:-0.63 [[ 9.98430434e-01 5.60058504e-02 1.18664944e-04 8.53012647e+01] [-5.60058500e-02 9.98430441e-01 -6.58478844e-06 -2.47489726e+00] [-1.18847479e-04 -7.14778602e-08 9.99999993e-01 -6.29667062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters 0.05159460808111937 Centerline is valid? [True, True] Translation: X:85.36, Y:-2.48, Z:-0.63 [[ 9.98637330e-01 5.21816576e-02 7.46289533e-04 8.53626436e+01] [-5.21816377e-02 9.98637609e-01 -4.60193305e-05 -2.47586681e+00] [-7.47674160e-04 7.01401123e-06 9.99999720e-01 -6.28678564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters 0.05124930437976042 Centerline is valid? [True, True] Translation: X:85.42, Y:-2.48, Z:-0.63 [[ 9.98820655e-01 4.85508358e-02 3.40262505e-04 8.54249081e+01] [-4.85508315e-02 9.98820713e-01 -2.10754667e-05 -2.48059344e+00] [-3.40884470e-04 4.53058388e-06 9.99999942e-01 -6.29026468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters 0.05163296261123266 Centerline is valid? [True, True] Translation: X:85.49, Y:-2.49, Z:-0.63 [[ 9.98972990e-01 4.53083870e-02 -3.40120264e-04 8.54856555e+01] [-4.53083823e-02 9.98973048e-01 2.14849925e-05 -2.49073463e+00] [ 3.40744427e-04 -6.05262824e-06 9.99999942e-01 -6.31231978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters 0.05234089464294592 Centerline is valid? [True, True] Translation: X:85.55, Y:-2.49, Z:-0.63 [[ 9.99127513e-01 4.17527669e-02 -9.58545852e-04 8.55454218e+01] [-4.17527281e-02 9.99127973e-01 6.04642770e-05 -2.49223284e+00] [ 9.60234525e-04 -2.03896184e-05 9.99999539e-01 -6.31039803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters 0.05248266185554532 Centerline is valid? [True, True] Translation: X:85.61, Y:-2.49, Z:-0.63 [[ 9.99259084e-01 3.84850451e-02 -4.29204688e-04 8.56067646e+01] [-3.84850370e-02 9.99259176e-01 2.70729506e-05 -2.48705226e+00] [ 4.29928626e-04 -1.05349336e-05 9.99999908e-01 -6.28861331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters 0.052252549013570335 Centerline is valid? [True, True] Translation: X:85.67, Y:-2.49, Z:-0.63 [[ 9.99319183e-01 3.68935439e-02 -1.90519806e-04 8.56683897e+01] [-3.68935422e-02 9.99319201e-01 1.27515438e-05 -2.49165180e+00] [ 1.90860550e-04 -5.71391182e-06 9.99999982e-01 -6.28535952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters 0.05184836456154591 Centerline is valid? [True, True] Translation: X:85.73, Y:-2.51, Z:-0.63 [[ 9.99379868e-01 3.52089023e-02 4.60580492e-04 8.57289057e+01] [-3.52088931e-02 9.99379974e-01 -2.82564150e-05 -2.50551159e+00] [-4.61289798e-04 1.20223630e-05 9.99999894e-01 -6.30371786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters 0.052635928995778694 Centerline is valid? [True, True] Translation: X:85.79, Y:-2.50, Z:-0.63 [[ 9.99399650e-01 3.46258811e-02 1.17810623e-03 8.57915594e+01] [-3.46258180e-02 9.99400344e-01 -7.39887476e-05 -2.50081174e+00] [-1.17996169e-03 3.31514367e-05 9.99999303e-01 -6.29458621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters 0.052895907368193086 Centerline is valid? [True, True] Translation: X:85.85, Y:-2.51, Z:-0.63 [[ 9.99377185e-01 3.52234876e-02 2.13241711e-03 8.58518473e+01] [-3.52232820e-02 9.99379459e-01 -1.33912167e-04 -2.51448243e+00] [-2.13581071e-03 5.87180358e-05 9.99997717e-01 -6.31426467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters 0.05252622721662213 Centerline is valid? [True, True] Translation: X:85.91, Y:-2.51, Z:-0.63 [[ 9.99356426e-01 3.57253261e-02 3.23042337e-03 8.59142486e+01] [-3.57248545e-02 9.99361643e-01 -2.03601499e-04 -2.51207501e+00] [-3.23563493e-03 8.80640620e-05 9.99994761e-01 -6.30181739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters 0.05265745872015872 Centerline is valid? [True, True] Translation: X:85.98, Y:-2.52, Z:-0.63 [[ 9.99292145e-01 3.74875570e-02 3.14520021e-03 8.59754540e+01] [-3.74871167e-02 9.99297091e-01 -1.98865894e-04 -2.51757686e+00] [-3.15044442e-03 8.08206381e-05 9.99995034e-01 -6.31520429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters 0.05232529742995195 Centerline is valid? [True, True] Translation: X:86.04, Y:-2.52, Z:-0.63 [[ 9.99242608e-01 3.87664857e-02 3.37207731e-03 8.60381024e+01] [-3.87659876e-02 9.99248294e-01 -2.12967557e-04 -2.51627711e+00] [-3.37779850e-03 8.20843495e-05 9.99994292e-01 -6.32043907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters 0.05240569187022219 Centerline is valid? [True, True] Translation: X:86.10, Y:-2.52, Z:-0.63 [[ 9.99234361e-01 3.89762114e-02 3.39794964e-03 8.61001009e+01] [-3.89757048e-02 9.99240135e-01 -2.15208866e-04 -2.52266203e+00] [-3.40375569e-03 8.26066115e-05 9.99994204e-01 -6.32972473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters 0.0523912651378845 Centerline is valid? [True, True] Translation: X:86.16, Y:-2.52, Z:-0.63 [[ 9.99305018e-01 3.72125588e-02 2.16946029e-03 8.61609066e+01] [-3.72123484e-02 9.99307371e-01 -1.37295798e-04 -2.52272703e+00] [-2.17306679e-03 5.64696677e-05 9.99997637e-01 -6.32530929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters 0.052639696558065524 Centerline is valid? [True, True] Translation: X:86.22, Y:-2.53, Z:-0.63 [[ 9.99491536e-01 3.18066558e-02 2.23744444e-03 8.62216985e+01] [-3.18064176e-02 9.99494038e-01 -1.41980417e-04 -2.52757605e+00] [-2.24082830e-03 7.07431327e-05 9.99997487e-01 -6.32680337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters 0.05349689567795417 Centerline is valid? [True, True] Translation: X:86.28, Y:-2.53, Z:-0.63 [[ 9.99636324e-01 2.68060088e-02 2.94255380e-03 8.62831102e+01] [-2.68055750e-02 9.99640649e-01 -1.86783795e-04 -2.52893729e+00] [-2.94650331e-03 1.07839020e-04 9.99995653e-01 -6.31630546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters 0.053327390091590765 Centerline is valid? [True, True] Translation: X:86.34, Y:-2.53, Z:-0.63 [[ 9.99690853e-01 2.46846096e-02 2.97807140e-03 8.63438358e+01] [-2.46841558e-02 9.99695282e-01 -1.89059196e-04 -2.53363562e+00] [-2.98183078e-03 1.15489570e-04 9.99995548e-01 -6.32963139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters 0.0540484706598062 Centerline is valid? [True, True] Translation: X:86.41, Y:-2.54, Z:-0.63 [[ 9.99690794e-01 2.47549797e-02 2.34676445e-03 8.64055386e+01] [-2.47546992e-02 9.99693544e-01 -1.48467448e-04 -2.54446708e+00] [-2.34972058e-03 9.03280932e-05 9.99997235e-01 -6.34323327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters 0.05328304145501283 Centerline is valid? [True, True] Translation: X:86.47, Y:-2.54, Z:-0.63 [[ 9.99649964e-01 2.63404885e-02 2.47548894e-03 8.64676906e+01] [-2.63401793e-02 9.99653025e-01 -1.57434309e-04 -2.53551029e+00] [-2.47877690e-03 9.21743788e-05 9.99996924e-01 -6.33675175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters 0.05319918034063031 Centerline is valid? [True, True] Translation: X:86.53, Y:-2.54, Z:-0.63 [[ 9.99538853e-01 3.03306246e-02 1.46067792e-03 8.65276460e+01] [-3.03305210e-02 9.99539920e-01 -9.29980120e-05 -2.53837355e+00] [-1.46282658e-03 4.86520040e-05 9.99998929e-01 -6.34196313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters 0.053058429121822556 Centerline is valid? [True, True] Translation: X:86.59, Y:-2.54, Z:-0.63 [[ 9.99392915e-01 3.47363857e-02 2.68052206e-03 8.65888009e+01] [-3.47360529e-02 9.99396507e-01 -1.70634113e-04 -2.53503523e+00] [-2.68483159e-03 7.74197680e-05 9.99996393e-01 -6.33787875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters 0.05267819859377003 Centerline is valid? [True, True] Translation: X:86.65, Y:-2.54, Z:-0.63 [[ 9.99298184e-01 3.72756463e-02 3.69658643e-03 8.66481167e+01] [-3.72750304e-02 9.99305017e-01 -2.35387049e-04 -2.53930879e+00] [-3.70279157e-03 9.74314784e-05 9.99993140e-01 -6.34117773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters 0.05290116585825527 Centerline is valid? [True, True] Translation: X:86.71, Y:-2.54, Z:-0.64 [[ 9.99177353e-01 4.03337674e-02 4.21950674e-03 8.67075541e+01] [-4.03329921e-02 9.99186258e-01 -2.68708219e-04 -2.54023023e+00] [-4.22691117e-03 9.83018352e-05 9.99991062e-01 -6.35426476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters 0.05316530542650128 Centerline is valid? [True, True] Translation: X:86.77, Y:-2.54, Z:-0.64 [[ 9.99145610e-01 4.11631209e-02 3.69419760e-03 8.67702841e+01] [-4.11625330e-02 9.99152436e-01 -2.35069950e-04 -2.53989692e+00] [-3.70074275e-03 8.28065784e-05 9.99993149e-01 -6.35619338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters 0.0527821373425424 Centerline is valid? [True, True] Translation: X:86.83, Y:-2.54, Z:-0.64 [[ 9.99107944e-01 4.21637906e-02 2.35192438e-03 8.68315766e+01] [-4.21635558e-02 9.99110711e-01 -1.49348645e-04 -2.54066434e+00] [-2.35612994e-03 5.00499224e-05 9.99997223e-01 -6.37260608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters 0.05280832043017508 Centerline is valid? [True, True] Translation: X:86.89, Y:-2.54, Z:-0.64 [[ 9.99190550e-01 4.02265079e-02 -2.69130315e-04 8.68926700e+01] [-4.02265047e-02 9.99190586e-01 1.72880200e-05 -2.53605346e+00] [ 2.69607914e-04 -6.44785430e-06 9.99999964e-01 -6.36784491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters 0.0530237570287257 Centerline is valid? [True, True] Translation: X:86.95, Y:-2.54, Z:-0.64 [[ 9.99331256e-01 3.65321831e-02 -1.56190285e-03 8.69532755e+01] [-3.65320717e-02 9.99332476e-01 9.98012666e-05 -2.54137334e+00] [ 1.56450620e-03 -4.26749783e-05 9.99998775e-01 -6.37667266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters 0.053555336571273544 Centerline is valid? [True, True] Translation: X:87.01, Y:-2.54, Z:-0.64 [[ 9.99599478e-01 2.82541728e-02 -1.60819567e-03 8.70134673e+01] [-2.82540441e-02 9.99600770e-01 1.02708019e-04 -2.54128254e+00] [ 1.61045556e-03 -5.72288509e-05 9.99998702e-01 -6.36464092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters 0.05411165309605351 Centerline is valid? [True, True] Translation: X:87.07, Y:-2.55, Z:-0.64 [[ 9.99755130e-01 2.21120108e-02 -8.59238478e-04 8.70725721e+01] [-2.21119717e-02 9.99755499e-01 5.49016954e-05 -2.54978017e+00] [ 8.60242380e-04 -3.58887947e-05 9.99999629e-01 -6.37471789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters 0.05463102210819672 Centerline is valid? [True, True] Translation: X:87.13, Y:-2.55, Z:-0.64 [[ 9.99880500e-01 1.54591281e-02 -4.40884057e-05 8.71327643e+01] [-1.54591280e-02 9.99880501e-01 2.83097550e-06 -2.55329436e+00] [ 4.41269015e-05 -2.14906889e-06 9.99999999e-01 -6.36966398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters 0.05484297131465652 Centerline is valid? [True, True] Translation: X:87.20, Y:-2.55, Z:-0.64 [[ 9.99884241e-01 1.52048351e-02 -5.64147355e-04 8.71952525e+01] [-1.52048170e-02 9.99884399e-01 3.63548738e-05 -2.55124443e+00] [ 5.64634909e-04 -2.77729081e-05 9.99999840e-01 -6.37241018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters 0.05487476249113523 Centerline is valid? [True, True] Translation: X:87.26, Y:-2.55, Z:-0.64 [[ 9.99820574e-01 1.89222882e-02 -8.75578736e-04 8.72552041e+01] [-1.89222465e-02 9.99820957e-01 5.59372019e-05 -2.55242411e+00] [ 8.76480429e-04 -3.93592487e-05 9.99999615e-01 -6.37879752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters 0.05473020219951103 Centerline is valid? [True, True] Translation: X:87.32, Y:-2.55, Z:-0.64 [[ 9.99694067e-01 2.47253313e-02 -6.56751838e-04 8.73160640e+01] [-2.47253091e-02 9.99694282e-01 4.19790637e-05 -2.55186336e+00] [ 6.57589003e-04 -2.57278287e-05 9.99999783e-01 -6.38073405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters 0.05400948970334916 Centerline is valid? [True, True] Translation: X:87.38, Y:-2.54, Z:-0.64 [[ 9.99389852e-01 3.49204514e-02 -6.96719876e-04 8.73776665e+01] [-3.49204288e-02 9.99390095e-01 4.45596768e-05 -2.54304921e+00] [ 6.97850987e-04 -2.02027320e-05 9.99999756e-01 -6.37378076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters 0.05462228693729443 Centerline is valid? [True, True] Translation: X:87.44, Y:-2.55, Z:-0.64 [[ 9.99116486e-01 4.19926127e-02 -1.69347739e-03 8.74366470e+01] [-4.19924897e-02 9.99117921e-01 1.08131066e-04 -2.54797998e+00] [ 1.69652431e-03 -3.69221986e-05 9.99998560e-01 -6.40406053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters 0.05354874138683163 Centerline is valid? [True, True] Translation: X:87.50, Y:-2.54, Z:-0.64 [[ 9.98704001e-01 5.08862058e-02 -9.54814428e-04 8.74979133e+01] [-5.08861707e-02 9.98704458e-01 6.10326487e-05 -2.54357470e+00] [ 9.56683146e-04 -1.23667005e-05 9.99999542e-01 -6.38580793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters 0.05333769430680642 Centerline is valid? [True, True] Translation: X:87.56, Y:-2.54, Z:-0.64 [[ 9.98295274e-01 5.83593789e-02 8.53211239e-04 8.75591252e+01] [-5.83593537e-02 9.98295639e-01 -5.44639582e-05 -2.54256339e+00] [-8.54935542e-04 4.57825560e-06 9.99999635e-01 -6.37512571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters 0.053397558624467024 Centerline is valid? [True, True] Translation: X:87.62, Y:-2.55, Z:-0.64 [[ 9.98070775e-01 6.20662125e-02 1.58532102e-03 8.76213057e+01] [-6.20661302e-02 9.98072034e-01 -1.01062626e-04 -2.54537469e+00] [-1.58853715e-03 2.47291291e-06 9.99998738e-01 -6.39473977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters 0.05277507949001626 Centerline is valid? [True, True] Translation: X:87.68, Y:-2.55, Z:-0.64 [[ 9.97838399e-01 6.56955106e-02 1.62161635e-03 8.76842912e+01] [-6.56954301e-02 9.97839717e-01 -1.02922325e-04 -2.54784004e+00] [-1.62487473e-03 -3.83293514e-06 9.99998680e-01 -6.39316112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters 0.053102488481173146 Centerline is valid? [True, True] Translation: X:87.75, Y:-2.55, Z:-0.64 [[ 9.97744050e-01 6.71200717e-02 1.30618346e-03 8.77463814e+01] [-6.71200206e-02 9.97744905e-01 -8.29583494e-05 -2.55194264e+00] [-1.30880607e-03 -4.89986137e-06 9.99999144e-01 -6.39429502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters 0.05267480055003799 Centerline is valid? [True, True] Translation: X:87.81, Y:-2.56, Z:-0.64 [[ 9.97749479e-01 6.70470943e-02 8.15366271e-04 8.78086643e+01] [-6.70470745e-02 9.97749812e-01 -5.15782117e-05 -2.55803861e+00] [-8.16989713e-04 -3.20578933e-06 9.99999666e-01 -6.39989037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters 0.05336258312932435 Centerline is valid? [True, True] Translation: X:87.87, Y:-2.57, Z:-0.64 [[ 9.97987231e-01 6.34149671e-02 1.68952975e-04 8.78709593e+01] [-6.34149663e-02 9.97987245e-01 -1.02697120e-05 -2.56633406e+00] [-1.69264168e-04 -4.65105753e-07 9.99999986e-01 -6.40623404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters 0.053131413208673435 Centerline is valid? [True, True] Translation: X:87.93, Y:-2.57, Z:-0.64 [[ 9.98254096e-01 5.90652606e-02 2.35590550e-04 8.79314976e+01] [-5.90652587e-02 9.98254123e-01 -1.47647843e-05 -2.57476049e+00] [-2.36051324e-04 8.23789565e-07 9.99999972e-01 -6.40990567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters 0.05333824752268273 Centerline is valid? [True, True] Translation: X:87.99, Y:-2.58, Z:-0.64 [[ 9.98548991e-01 5.38507956e-02 -6.22312177e-05 8.79928229e+01] [-5.38507954e-02 9.98548993e-01 4.37116657e-06 -2.58364859e+00] [ 6.23763105e-05 -1.01362340e-06 9.99999998e-01 -6.42081499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters 0.053049721526056026 Centerline is valid? [True, True] Translation: X:88.05, Y:-2.59, Z:-0.64 [[ 9.98999742e-01 4.47047966e-02 -9.98497314e-04 8.80530233e+01] [-4.47047544e-02 9.99000241e-01 6.44982363e-05 -2.59442662e+00] [ 1.00038244e-03 -1.97961442e-05 9.99999499e-01 -6.42803467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters 0.05419897083059193 Centerline is valid? [True, True] Translation: X:88.11, Y:-2.61, Z:-0.65 [[ 9.99248346e-01 3.87198893e-02 -1.87461807e-03 8.81116865e+01] [-3.87197299e-02 9.99250103e-01 1.21247398e-04 -2.60988564e+00] [ 1.87790698e-03 -4.85715571e-05 9.99998236e-01 -6.45329283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters 0.05488478139787449 Centerline is valid? [True, True] Translation: X:88.17, Y:-2.63, Z:-0.65 [[ 9.99498947e-01 3.15800251e-02 -2.13455131e-03 8.81717254e+01] [-3.15798027e-02 9.99501224e-01 1.37821217e-04 -2.62683171e+00] [ 2.13783905e-03 -7.03434524e-05 9.99997712e-01 -6.46511229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters 0.05424479905339674 Centerline is valid? [True, True] Translation: X:88.23, Y:-2.62, Z:-0.64 [[ 9.99622648e-01 2.74653011e-02 -4.66868707e-04 8.82328226e+01] [-2.74652900e-02 9.99622757e-01 3.02136450e-05 -2.62331290e+00] [ 4.67522411e-04 -1.73795594e-05 9.99999891e-01 -6.42877142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters 0.05512138356255951 Centerline is valid? [True, True] Translation: X:88.29, Y:-2.64, Z:-0.64 [[ 9.99615978e-01 2.76940077e-02 9.68284439e-04 8.82930351e+01] [-2.76939608e-02 9.99616447e-01 -6.18390946e-05 -2.64031965e+00] [-9.69625623e-04 3.49997157e-05 9.99999529e-01 -6.43944724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters 0.05409114578268184 Centerline is valid? [True, True] Translation: X:88.35, Y:-2.65, Z:-0.64 [[ 9.99475698e-01 3.23084268e-02 2.12006091e-03 8.83526681e+01] [-3.23082086e-02 9.99477944e-01 -1.37100987e-04 -2.64619029e+00] [-2.12338364e-03 6.85337350e-05 9.99997743e-01 -6.43669180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters 0.05341140599248633 Centerline is valid? [True, True] Translation: X:88.41, Y:-2.65, Z:-0.64 [[ 9.99117995e-01 4.19338793e-02 2.18673579e-03 8.84138267e+01] [-4.19336702e-02 9.99120387e-01 -1.41444820e-04 -2.64687755e+00] [-2.19074364e-03 4.96222077e-05 9.99997599e-01 -6.44746632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters 0.05220607707445059 Centerline is valid? [True, True] Translation: X:88.47, Y:-2.65, Z:-0.65 [[ 9.98768213e-01 4.95861572e-02 1.80833954e-03 8.84749979e+01] [-4.95860268e-02 9.98769850e-01 -1.16887848e-04 -2.64713615e+00] [-1.81191103e-03 2.70754945e-05 9.99998358e-01 -6.45531354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters 0.05206091802718838 Centerline is valid? [True, True] Translation: X:88.54, Y:-2.65, Z:-0.65 [[ 9.98196307e-01 6.00107926e-02 1.68473449e-03 8.85361226e+01] [-6.00106943e-02 9.98197728e-01 -1.08895907e-04 -2.65043897e+00] [-1.68823307e-03 7.59740642e-06 9.99998575e-01 -6.47560434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters 0.05142219120063392 Centerline is valid? [True, True] Translation: X:88.60, Y:-2.65, Z:-0.65 [[ 9.97842627e-01 6.56305103e-02 1.65167514e-03 8.85978958e+01] [-6.56304239e-02 9.97843994e-01 -1.06487805e-04 -2.65205158e+00] [-1.65510297e-03 -2.14206887e-06 9.99998630e-01 -6.47782404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters 0.05149721137212361 Centerline is valid? [True, True] Translation: X:88.66, Y:-2.66, Z:-0.65 [[ 9.97687444e-01 6.79467055e-02 1.73453874e-03 8.86609758e+01] [-6.79466142e-02 9.97688952e-01 -1.11559650e-04 -2.65581953e+00] [-1.73811025e-03 -6.55437242e-06 9.99998489e-01 -6.48119986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters 0.05070974156376163 Centerline is valid? [True, True] Translation: X:88.72, Y:-2.66, Z:-0.65 [[ 9.97390164e-01 7.21795506e-02 1.72421082e-03 8.87223293e+01] [-7.21794661e-02 9.97391654e-01 -1.11249661e-04 -2.66080335e+00] [-1.72774343e-03 -1.34932994e-05 9.99998507e-01 -6.49516435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters 0.05119728600984737 Centerline is valid? [True, True] Translation: X:88.79, Y:-2.67, Z:-0.65 [[ 9.97364422e-01 7.25402499e-02 1.45699623e-03 8.87851412e+01] [-7.25401902e-02 9.97365486e-01 -9.39047072e-05 -2.66832195e+00] [-1.45996962e-03 -1.20335696e-05 9.99998934e-01 -6.50054378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters 0.05102235691851126 Centerline is valid? [True, True] Translation: X:88.85, Y:-2.68, Z:-0.65 [[ 9.97500795e-01 7.06442867e-02 1.24483065e-03 8.88471645e+01] [-7.06442411e-02 9.97501571e-01 -8.06592417e-05 -2.67947822e+00] [-1.24741865e-03 -7.48245902e-06 9.99999222e-01 -6.50197342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters 0.05091449118252697 Centerline is valid? [True, True] Translation: X:88.91, Y:-2.69, Z:-0.65 [[ 9.97694163e-01 6.78688178e-02 4.25695573e-04 8.89076567e+01] [-6.78688124e-02 9.97694254e-01 -2.72941914e-05 -2.69105365e+00] [-4.26566451e-04 -1.66019755e-06 9.99999909e-01 -6.50545137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters 0.05109278823602161 Centerline is valid? [True, True] Translation: X:88.97, Y:-2.70, Z:-0.65 [[ 9.97853099e-01 6.54918066e-02 1.26790207e-04 8.89691238e+01] [-6.54918061e-02 9.97853107e-01 -7.97180932e-06 -2.70105797e+00] [-1.27040090e-04 -3.49024995e-07 9.99999992e-01 -6.51574468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters 0.05107486001634193 Centerline is valid? [True, True] Translation: X:89.03, Y:-2.71, Z:-0.65 [[ 9.98119164e-01 6.12638718e-02 -2.20728252e-03 8.90294702e+01] [-6.12637008e-02 9.98121605e-01 1.45066312e-04 -2.71466393e+00] [ 2.21202369e-03 -9.56717058e-06 9.99997553e-01 -6.53756262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters 0.051311852156832614 Centerline is valid? [True, True] Translation: X:89.09, Y:-2.72, Z:-0.65 [[ 9.98198515e-01 5.99812573e-02 -1.40473689e-03 8.90922807e+01] [-5.99811860e-02 9.98199503e-01 9.28733770e-05 -2.72093498e+00] [ 1.40777832e-03 -8.44828250e-06 9.99999009e-01 -6.51287367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters 0.050790544134637926 Centerline is valid? [True, True] Translation: X:89.15, Y:-2.73, Z:-0.65 [[ 9.98189767e-01 6.01430704e-02 -7.43321147e-06 8.91538137e+01] [-6.01430704e-02 9.98189767e-01 7.69093135e-07 -2.72775066e+00] [ 7.46601122e-06 -3.20644737e-07 1.00000000e+00 -6.50978204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters 0.050829320878308215 Centerline is valid? [True, True] Translation: X:89.22, Y:-2.73, Z:-0.65 [[ 9.98244297e-01 5.92280593e-02 5.99823084e-04 8.92160733e+01] [-5.92280466e-02 9.98244478e-01 -3.89205183e-05 -2.73457134e+00] [-6.01075268e-04 3.32583593e-06 9.99999819e-01 -6.51622548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters 0.050813058199536805 Centerline is valid? [True, True] Translation: X:89.28, Y:-2.74, Z:-0.65 [[ 9.98339250e-01 5.75829826e-02 1.71531201e-03 8.92770610e+01] [-5.75828753e-02 9.98340723e-01 -1.11899898e-04 -2.73997176e+00] [-1.71890937e-03 1.29414626e-05 9.99998523e-01 -6.51625318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters 0.05120569271291019 Centerline is valid? [True, True] Translation: X:89.34, Y:-2.74, Z:-0.65 [[ 9.98435321e-01 5.59051067e-02 1.23610327e-03 8.93393617e+01] [-5.59050498e-02 9.98436087e-01 -8.05034917e-05 -2.74099054e+00] [-1.23867067e-03 1.12731145e-05 9.99999233e-01 -6.51426086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters 0.0511457535705576 Centerline is valid? [True, True] Translation: X:89.40, Y:-2.74, Z:-0.65 [[ 9.98625325e-01 5.24157874e-02 -2.12601606e-04 8.93997682e+01] [-5.24157855e-02 9.98625348e-01 1.44144944e-05 -2.74457611e+00] [ 2.13064900e-04 -3.25099902e-06 9.99999977e-01 -6.52902731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters 0.052122759105754035 Centerline is valid? [True, True] Translation: X:89.46, Y:-2.74, Z:-0.65 [[ 9.98826757e-01 4.84219483e-02 -6.50715529e-04 8.94600577e+01] [-4.84219307e-02 9.98826969e-01 4.28528499e-05 -2.74477559e+00] [ 6.52027238e-04 -1.12936709e-05 9.99999787e-01 -6.52412668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters 0.051311619767625265 Centerline is valid? [True, True] Translation: X:89.52, Y:-2.75, Z:-0.65 [[ 9.98972999e-01 4.53090818e-02 -1.87033537e-04 8.95211948e+01] [-4.53090803e-02 9.98973016e-01 1.24883560e-05 -2.74874822e+00] [ 1.87407293e-04 -4.00121286e-06 9.99999982e-01 -6.52157058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters 0.051965229946921834 Centerline is valid? [True, True] Translation: X:89.58, Y:-2.76, Z:-0.65 [[ 9.99182373e-01 4.04278220e-02 4.20170603e-04 8.95801906e+01] [-4.04278139e-02 9.99182461e-01 -2.77175240e-05 -2.75807813e+00] [-4.20947657e-04 1.07082824e-05 9.99999911e-01 -6.53751792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters 0.05234968678529387 Centerline is valid? [True, True] Translation: X:89.64, Y:-2.77, Z:-0.66 [[ 9.99244926e-01 3.88446585e-02 8.19351059e-04 8.96420128e+01] [-3.88446274e-02 9.99245261e-01 -5.37379475e-05 -2.76817473e+00] [-8.20820095e-04 2.18699847e-05 9.99999663e-01 -6.55209477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters 0.051970300665298175 Centerline is valid? [True, True] Translation: X:89.70, Y:-2.76, Z:-0.65 [[ 9.99192616e-01 4.01682508e-02 7.92827854e-04 8.97043509e+01] [-4.01682222e-02 9.99192930e-01 -5.20077377e-05 -2.76345842e+00] [-7.94277047e-04 2.01192620e-05 9.99999684e-01 -6.54435923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters 0.0521143381538392 Centerline is valid? [True, True] Translation: X:89.76, Y:-2.77, Z:-0.66 [[ 9.99065589e-01 4.32138215e-02 7.16623690e-04 8.97639708e+01] [-4.32137987e-02 9.99065846e-01 -4.72582232e-05 -2.76832950e+00] [-7.17996461e-04 1.62460327e-05 9.99999742e-01 -6.56182721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters 0.05179515727360532 Centerline is valid? [True, True] Translation: X:89.82, Y:-2.77, Z:-0.66 [[ 9.98739900e-01 5.01814642e-02 6.58332904e-04 8.98247336e+01] [-5.01814465e-02 9.98740117e-01 -4.33559419e-05 -2.77026977e+00] [-6.59679146e-04 1.02652116e-05 9.99999782e-01 -6.58441966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters 0.05038187013228978 Centerline is valid? [True, True] Translation: X:89.89, Y:-2.77, Z:-0.66 [[ 9.98319333e-01 5.79526296e-02 -4.72021233e-05 8.98859833e+01] [-5.79526295e-02 9.98319334e-01 3.17304873e-06 -2.76595719e+00] [ 4.73066788e-05 -4.32228729e-07 9.99999999e-01 -6.56449221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters 0.05087398175404331 Centerline is valid? [True, True] Translation: X:89.95, Y:-2.77, Z:-0.66 [[ 9.98049477e-01 6.24211354e-02 -9.17943662e-04 8.99472123e+01] [-6.24211054e-02 9.98049899e-01 6.13365984e-05 -2.76902458e+00] [ 9.19982279e-04 -3.91790201e-06 9.99999577e-01 -6.58985566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters 0.05050391780021036 Centerline is valid? [True, True] Translation: X:90.01, Y:-2.77, Z:-0.66 [[ 9.97750971e-01 6.70284063e-02 -4.38407998e-04 9.00094601e+01] [-6.70283997e-02 9.97751068e-01 2.97394649e-05 -2.77183307e+00] [ 4.39415437e-04 -2.86793461e-07 9.99999903e-01 -6.58874745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters 0.0509126345178852 Centerline is valid? [True, True] Translation: X:90.07, Y:-2.78, Z:-0.66 [[ 9.97655019e-01 6.84431325e-02 -3.18436893e-05 9.00721220e+01] [-6.84431325e-02 9.97655019e-01 2.72816023e-06 -2.77639164e+00] [ 3.19557403e-05 -5.42280900e-07 9.99999999e-01 -6.61611278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters 0.05075756371459243 Centerline is valid? [True, True] Translation: X:90.13, Y:-2.78, Z:-0.66 [[ 9.97643737e-01 6.86067699e-02 -2.91393806e-04 9.01339561e+01] [-6.86067670e-02 9.97643780e-01 2.02416559e-05 -2.78318595e+00] [ 2.92095932e-04 -2.02374338e-07 9.99999957e-01 -6.63211875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters 0.05059729422992193 Centerline is valid? [True, True] Translation: X:90.20, Y:-2.79, Z:-0.66 [[ 9.97633430e-01 6.87564174e-02 -3.08528868e-04 9.01952604e+01] [-6.87564141e-02 9.97633477e-01 2.13526983e-05 -2.78877365e+00] [ 3.09266862e-04 -8.88270659e-08 9.99999952e-01 -6.64651740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters 0.05023107492123336 Centerline is valid? [True, True] Translation: X:90.26, Y:-2.80, Z:-0.66 [[ 9.97626854e-01 6.88519196e-02 2.69816475e-04 9.02574690e+01] [-6.88519173e-02 9.97626891e-01 -1.76630619e-05 -2.79564978e+00] [-2.70392306e-04 -9.56236730e-07 9.99999963e-01 -6.64126831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters 0.04990755890486712 Centerline is valid? [True, True] Translation: X:90.32, Y:-2.80, Z:-0.66 [[ 9.97650991e-01 6.84961858e-02 8.78654794e-04 9.03194723e+01] [-6.84961615e-02 9.97651378e-01 -5.77406096e-05 -2.80332854e+00] [-8.80546178e-04 -2.57950431e-06 9.99999612e-01 -6.64420074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters 0.05012330536435594 Centerline is valid? [True, True] Translation: X:90.38, Y:-2.81, Z:-0.66 [[ 9.97465251e-01 7.11217359e-02 2.18423772e-03 9.03819472e+01] [-7.11215891e-02 9.97467643e-01 -1.44865091e-04 -2.80694294e+00] [-2.18900950e-03 -1.08485633e-05 9.99997604e-01 -6.64958789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters 0.05005803146103587 Centerline is valid? [True, True] Translation: X:90.44, Y:-2.81, Z:-0.67 [[ 9.97304320e-01 7.33510885e-02 1.92632655e-03 9.04427362e+01] [-7.33509781e-02 9.97306180e-01 -1.28034580e-04 -2.80938967e+00] [-1.93052885e-03 -1.36084971e-05 9.99998136e-01 -6.66328947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters 0.05052939992924276 Centerline is valid? [True, True] Translation: X:90.50, Y:-2.81, Z:-0.67 [[ 9.97182403e-01 7.50028187e-02 1.35335139e-03 9.05046048e+01] [-7.50027659e-02 9.97183322e-01 -8.98178147e-05 -2.81374545e+00] [-1.35627602e-03 -1.19403529e-05 9.99999080e-01 -6.67165715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters 0.05011208489312297 Centerline is valid? [True, True] Translation: X:90.57, Y:-2.82, Z:-0.67 [[ 9.97251197e-01 7.40848957e-02 1.21594790e-03 9.05657099e+01] [-7.40848522e-02 9.97251938e-01 -8.08058262e-05 -2.81748067e+00] [-1.21859289e-03 -9.49961330e-06 9.99999257e-01 -6.68482201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters 0.04967333809316426 Centerline is valid? [True, True] Translation: X:90.63, Y:-2.82, Z:-0.67 [[ 9.97494073e-01 7.07129521e-02 2.29172425e-03 9.06272735e+01] [-7.07127868e-02 9.97496706e-01 -1.53160688e-04 -2.82369565e+00] [-2.29681784e-03 -9.27732972e-06 9.99997362e-01 -6.68058104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters 0.05047333438667555 Centerline is valid? [True, True] Translation: X:90.69, Y:-2.83, Z:-0.67 [[ 9.97828414e-01 6.57762046e-02 3.45655836e-03 9.06885132e+01] [-6.57757956e-02 9.97834401e-01 -2.31970789e-04 -2.82964056e+00] [-3.46433100e-03 4.10916811e-06 9.99993999e-01 -6.66934745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters 0.05044267812139057 Centerline is valid? [True, True] Translation: X:90.75, Y:-2.84, Z:-0.67 [[ 9.98344560e-01 5.73942971e-02 3.74621661e-03 9.07500673e+01] [-5.73937566e-02 9.98351588e-01 -2.51713383e-04 -2.83728728e+00] [-3.75448821e-03 3.62872425e-05 9.99992951e-01 -6.68401065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters 0.05122945824164028 Centerline is valid? [True, True] Translation: X:90.81, Y:-2.84, Z:-0.67 [[ 9.98626739e-01 5.22376129e-02 3.98346187e-03 9.08113891e+01] [-5.22369594e-02 9.98634682e-01 -2.67996519e-04 -2.84324470e+00] [-3.99202268e-03 5.95445542e-05 9.99992030e-01 -6.68759264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters 0.051153634253827004 Centerline is valid? [True, True] Translation: X:90.87, Y:-2.85, Z:-0.67 [[ 9.98870775e-01 4.72597611e-02 4.86721248e-03 9.08726755e+01] [-4.72587259e-02 9.98882629e-01 -3.27546039e-04 -2.84553235e+00] [-4.87725374e-03 9.71579055e-05 9.99988101e-01 -6.68847610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters 0.051533173623340374 Centerline is valid? [True, True] Translation: X:90.94, Y:-2.85, Z:-0.67 [[ 9.98953900e-01 4.53521703e-02 5.85544761e-03 9.09350418e+01] [-4.53506389e-02 9.98971053e-01 -3.94118301e-04 -2.84903164e+00] [-5.86729678e-03 1.28157724e-04 9.99982779e-01 -6.69628401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters 0.05125401466292459 Centerline is valid? [True, True] Translation: X:91.00, Y:-2.85, Z:-0.67 [[ 9.98934647e-01 4.57343143e-02 6.15981656e-03 9.09963147e+01] [-4.57326257e-02 9.98953630e-01 -4.14778633e-04 -2.85145134e+00] [-6.17234073e-03 1.32632162e-04 9.99980942e-01 -6.69946473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters 0.051574823747870306 Centerline is valid? [True, True] Translation: X:91.06, Y:-2.86, Z:-0.67 [[ 9.98804811e-01 4.84596705e-02 6.37252068e-03 9.10567925e+01] [-4.84579141e-02 9.98825133e-01 -4.29828274e-04 -2.85727483e+00] [-6.38586315e-03 1.20515488e-04 9.99979603e-01 -6.71080075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters 0.05132768047878936 Centerline is valid? [True, True] Translation: X:91.12, Y:-2.85, Z:-0.67 [[ 9.98695574e-01 5.05661755e-02 7.08604587e-03 9.11183791e+01] [-5.05640559e-02 9.98720706e-01 -4.78067984e-04 -2.85413319e+00] [-7.10115480e-03 1.19145160e-04 9.99974779e-01 -6.71535004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters 0.051531517509240586 Centerline is valid? [True, True] Translation: X:91.18, Y:-2.85, Z:-0.67 [[ 9.98576157e-01 5.28900205e-02 6.95015379e-03 9.11798160e+01] [-5.28880369e-02 9.98600338e-01 -4.69029154e-04 -2.85330952e+00] [-6.96523288e-03 1.00781340e-04 9.99975737e-01 -6.72329153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters 0.05108535481209666 Centerline is valid? [True, True] Translation: X:91.24, Y:-2.85, Z:-0.67 [[ 9.98441320e-01 5.53480694e-02 7.17787362e-03 9.12410905e+01] [-5.53460117e-02 9.98467117e-01 -4.85156723e-04 -2.85442743e+00] [-7.19372327e-03 8.71338419e-05 9.99974121e-01 -6.72822995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters 0.050752316529975895 Centerline is valid? [True, True] Translation: X:91.30, Y:-2.85, Z:-0.67 [[ 9.98343987e-01 5.70540824e-02 7.35628175e-03 9.13039404e+01] [-5.70519621e-02 9.98371086e-01 -4.97927375e-04 -2.85368383e+00] [-7.37270779e-03 7.74124932e-05 9.99972818e-01 -6.73985769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters 0.050926873708199115 Centerline is valid? [True, True] Translation: X:91.37, Y:-2.86, Z:-0.67 [[ 9.98262382e-01 5.84608720e-02 7.38536840e-03 9.13664465e+01] [-5.84587714e-02 9.98289698e-01 -5.00158049e-04 -2.85602217e+00] [-7.40197686e-03 6.75494022e-05 9.99972603e-01 -6.74651267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters 0.05127523556831505 Centerline is valid? [True, True] Translation: X:91.43, Y:-2.86, Z:-0.68 [[ 9.98192011e-01 5.97064516e-02 6.91732103e-03 9.14282358e+01] [-5.97046342e-02 9.98215977e-01 -4.69122573e-04 -2.85983917e+00] [-6.93299002e-03 5.52782821e-05 9.99975965e-01 -6.75883301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters 0.05129342917328452 Centerline is valid? [True, True] Translation: X:91.49, Y:-2.86, Z:-0.68 [[ 9.98180001e-01 6.00178334e-02 5.87752152e-03 9.14915716e+01] [-6.00165263e-02 9.98197304e-01 -3.98662194e-04 -2.86121693e+00] [-5.89085297e-03 4.51882043e-05 9.99982648e-01 -6.77400928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters 0.051413109533211585 Centerline is valid? [True, True] Translation: X:91.55, Y:-2.86, Z:-0.68 [[ 9.98233308e-01 5.91839065e-02 5.24665973e-03 9.15537460e+01] [-5.91828496e-02 9.98247095e-01 -3.56606763e-04 -2.86288846e+00] [-5.25856822e-03 4.54644750e-05 9.99986173e-01 -6.78176039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters 0.05036497399503747 Centerline is valid? [True, True] Translation: X:91.62, Y:-2.87, Z:-0.68 [[ 9.98347700e-01 5.71870949e-02 5.61311340e-03 9.16155387e+01] [-5.71858530e-02 9.98363477e-01 -3.81619505e-04 -2.86689886e+00] [-5.62575113e-03 5.99982771e-05 9.99984174e-01 -6.77229559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters 0.05122741604807492 Centerline is valid? [True, True] Translation: X:91.68, Y:-2.87, Z:-0.68 [[ 9.98446878e-01 5.54482994e-02 5.41451268e-03 9.16777661e+01] [-5.54471149e-02 9.98461557e-01 -3.68757462e-04 -2.87158943e+00] [-5.42662973e-03 6.79656310e-05 9.99985273e-01 -6.78137330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters 0.05197187853190638 Centerline is valid? [True, True] Translation: X:91.74, Y:-2.87, Z:-0.68 [[ 9.98585143e-01 5.29442054e-02 4.96211324e-03 9.17395724e+01] [-5.29431795e-02 9.98597469e-01 -3.37964072e-04 -2.87204881e+00] [-4.97304696e-03 7.47758494e-05 9.99987632e-01 -6.78341630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters 0.05227400330181043 Centerline is valid? [True, True] Translation: X:91.80, Y:-2.88, Z:-0.68 [[ 9.98721110e-01 5.03766760e-02 4.28196578e-03 9.18010582e+01] [-5.03758864e-02 9.98730286e-01 -2.92125176e-04 -2.88021867e+00] [-4.29124521e-03 7.60437588e-05 9.99990790e-01 -6.80244410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters 0.05197974036979603 Centerline is valid? [True, True] Translation: X:91.86, Y:-2.88, Z:-0.68 [[ 9.98947664e-01 4.57621245e-02 3.06467494e-03 9.18618157e+01] [-4.57616978e-02 9.98952363e-01 -2.09253375e-04 -2.88160747e+00] [-3.07104015e-03 6.87884420e-05 9.99995282e-01 -6.80140731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters 0.052983233755875984 Centerline is valid? [True, True] Translation: X:91.92, Y:-2.89, Z:-0.68 [[ 9.99068679e-01 4.29884078e-02 3.71097724e-03 9.19220847e+01] [-4.29877631e-02 9.99075567e-01 -2.53359322e-04 -2.89172527e+00] [-3.71843821e-03 9.35967524e-05 9.99993082e-01 -6.80433043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters 0.05275137230883278 Centerline is valid? [True, True] Translation: X:91.98, Y:-2.90, Z:-0.68 [[ 9.99189402e-01 4.00017819e-02 4.51624544e-03 9.19827112e+01] [-4.00007961e-02 9.99199600e-01 -3.08420146e-04 -2.89865333e+00] [-4.52496799e-03 1.27516728e-04 9.99989754e-01 -6.80496226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters 0.05369244918194152 Centerline is valid? [True, True] Translation: X:92.04, Y:-2.91, Z:-0.68 [[ 9.99210143e-01 3.94415355e-02 4.84317003e-03 9.20443553e+01] [-3.94403959e-02 9.99221870e-01 -3.30610619e-04 -2.90741619e+00] [-4.85244121e-03 1.39332941e-04 9.99988217e-01 -6.81221044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters 0.05221310617740177 Centerline is valid? [True, True] Translation: X:92.11, Y:-2.90, Z:-0.68 [[ 9.99182617e-01 4.00676674e-02 5.35542496e-03 9.21072385e+01] [-4.00662792e-02 9.99196957e-01 -3.66302029e-04 -2.90119838e+00] [-5.36580120e-03 1.51430668e-04 9.99985593e-01 -6.81226767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters 0.05330650023145716 Centerline is valid? [True, True] Translation: X:92.17, Y:-2.91, Z:-0.68 [[ 9.99110677e-01 4.19105098e-02 4.62222424e-03 9.21681616e+01] [-4.19094945e-02 9.99121361e-01 -3.16336510e-04 -2.91098659e+00] [-4.63142080e-03 1.22340103e-04 9.99989267e-01 -6.82839238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters 0.052019970123221 Centerline is valid? [True, True] Translation: X:92.23, Y:-2.91, Z:-0.68 [[ 9.99068809e-01 4.29621941e-02 3.97057244e-03 9.22307538e+01] [-4.29614541e-02 9.99076694e-01 -2.71496377e-04 -2.90803752e+00] [-3.97857047e-03 1.00661996e-04 9.99992080e-01 -6.82699452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters 0.0522032483167377 Centerline is valid? [True, True] Translation: X:92.29, Y:-2.92, Z:-0.68 [[ 9.98989883e-01 4.48099929e-02 3.35822281e-03 9.22917390e+01] [-4.48094722e-02 9.98995525e-01 -2.30150128e-04 -2.91584538e+00] [-3.36516258e-03 7.94374576e-05 9.99994335e-01 -6.84069619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters 0.05179380142530694 Centerline is valid? [True, True] Translation: X:92.35, Y:-2.92, Z:-0.68 [[ 9.98944950e-01 4.58103924e-02 3.22413373e-03 9.23541708e+01] [-4.58099185e-02 9.98950150e-01 -2.20696799e-04 -2.91739240e+00] [-3.23085908e-03 7.27666492e-05 9.99994778e-01 -6.84217114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters 0.05205215483630104 Centerline is valid? [True, True] Translation: X:92.42, Y:-2.92, Z:-0.68 [[ 9.98932704e-01 4.60730579e-02 3.27513721e-03 9.24165091e+01] [-4.60725684e-02 9.98938070e-01 -2.24793877e-04 -2.92376442e+00] [-3.28201618e-03 7.36599722e-05 9.99994611e-01 -6.84727652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters 0.05267447295655423 Centerline is valid? [True, True] Translation: X:92.48, Y:-2.93, Z:-0.68 [[ 9.99000989e-01 4.45180650e-02 3.89436847e-03 9.24776860e+01] [-4.45173611e-02 9.99008575e-01 -2.67284962e-04 -2.93083564e+00] [-3.90240651e-03 9.36509344e-05 9.99992381e-01 -6.84353864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters 0.05268459208306668 Centerline is valid? [True, True] Translation: X:92.54, Y:-2.93, Z:-0.68 [[ 9.99182055e-01 4.02474788e-02 3.91947071e-03 9.25383320e+01] [-4.02467302e-02 9.99189736e-01 -2.69692642e-04 -2.93120930e+00] [-3.92714935e-03 1.11726168e-04 9.99992282e-01 -6.82804549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters 0.0528126272536219 Centerline is valid? [True, True] Translation: X:92.60, Y:-2.94, Z:-0.68 [[ 9.99241748e-01 3.87145693e-02 4.13658113e-03 9.25994057e+01] [-3.87137230e-02 9.99250302e-01 -2.84498232e-04 -2.94052710e+00] [-4.14449417e-03 1.24140054e-04 9.99991404e-01 -6.83909465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters 0.05278320901201904 Centerline is valid? [True, True] Translation: X:92.66, Y:-2.94, Z:-0.68 [[ 9.99357064e-01 3.56289202e-02 4.00489288e-03 9.26601060e+01] [-3.56281010e-02 9.99365080e-01 -2.75730675e-04 -2.94018418e+00] [-4.01217408e-03 1.32866670e-04 9.99991942e-01 -6.83659105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters 0.05346853390697416 Centerline is valid? [True, True] Translation: X:92.72, Y:-2.95, Z:-0.69 [[ 9.99492021e-01 3.17646404e-02 2.58976523e-03 9.27210177e+01] [-3.17642849e-02 9.99495372e-01 -1.78292608e-04 -2.94983849e+00] [-2.59412176e-03 9.59399985e-05 9.99996631e-01 -6.85128437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters 0.05422443762660456 Centerline is valid? [True, True] Translation: X:92.78, Y:-2.96, Z:-0.69 [[ 9.99579172e-01 2.88906220e-02 2.60966082e-03 9.27814130e+01] [-2.88902511e-02 9.99582573e-01 -1.79700991e-04 -2.95551489e+00] [-2.61376316e-03 1.04231611e-04 9.99996579e-01 -6.85098300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters 0.05420632398713135 Centerline is valid? [True, True] Translation: X:92.84, Y:-2.96, Z:-0.68 [[ 9.99605606e-01 2.78584038e-02 3.54130768e-03 9.28432106e+01] [-2.78577146e-02 9.99611869e-01 -2.43815669e-04 -2.95704944e+00] [-3.54672550e-03 1.45066772e-04 9.99993700e-01 -6.84771614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters 0.053505520658688965 Centerline is valid? [True, True] Translation: X:92.90, Y:-2.96, Z:-0.69 [[ 9.99540038e-01 3.01866034e-02 2.91244164e-03 9.29031706e+01] [-3.01861465e-02 9.99544274e-01 -2.00711842e-04 -2.95807678e+00] [-2.91717318e-03 1.12704132e-04 9.99995739e-01 -6.85393168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters 0.0530573104165579 Centerline is valid? [True, True] Translation: X:92.96, Y:-2.95, Z:-0.69 [[ 9.99392458e-01 3.47232520e-02 3.00185537e-03 9.29643729e+01] [-3.47227871e-02 9.99396961e-01 -2.06843986e-04 -2.95469497e+00] [-3.00722743e-03 1.02485535e-04 9.99995473e-01 -6.85892942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters 0.05242693347854925 Centerline is valid? [True, True] Translation: X:93.02, Y:-2.96, Z:-0.69 [[ 9.99024789e-01 4.40600620e-02 2.86029414e-03 9.30246794e+01] [-4.40596782e-02 9.99028881e-01 -1.97094272e-04 -2.95888197e+00] [-2.86620045e-03 7.08784241e-05 9.99995890e-01 -6.87412262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters 0.05208792693294534 Centerline is valid? [True, True] Translation: X:93.08, Y:-2.96, Z:-0.69 [[ 9.98543413e-01 5.38818107e-02 2.79339776e-03 9.30842761e+01] [-5.38814829e-02 9.98547319e-01 -1.92533054e-04 -2.96247652e+00] [-2.79971387e-03 4.17401999e-05 9.99996080e-01 -6.89873742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters 0.051655967987928035 Centerline is valid? [True, True] Translation: X:93.15, Y:-2.96, Z:-0.69 [[ 9.98213593e-01 5.96643927e-02 3.12789182e-03 9.31458168e+01] [-5.96640102e-02 9.98218493e-01 -2.15566167e-04 -2.96018350e+00] [-3.13518108e-03 2.85585094e-05 9.99995085e-01 -6.89084701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters 0.05139450961819605 Centerline is valid? [True, True] Translation: X:93.21, Y:-2.96, Z:-0.69 [[ 9.97896311e-01 6.47453429e-02 3.31548182e-03 9.32072162e+01] [-6.47449410e-02 9.97901819e-01 -2.28517962e-04 -2.96209086e+00] [-3.32332081e-03 1.33765572e-05 9.99994478e-01 -6.89258398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters 0.05118256633640995 Centerline is valid? [True, True] Translation: X:93.27, Y:-2.96, Z:-0.69 [[ 9.97471094e-01 7.09852934e-02 3.53621721e-03 9.32697872e+01] [-7.09848762e-02 9.97477362e-01 -2.43516818e-04 -2.96415022e+00] [-3.54458273e-03 -8.11695420e-06 9.99993718e-01 -6.90299738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters 0.05106936271663588 Centerline is valid? [True, True] Translation: X:93.33, Y:-2.97, Z:-0.69 [[ 9.97164486e-01 7.51907730e-02 3.05542407e-03 9.33322686e+01] [-7.51904801e-02 9.97169167e-01 -2.10801453e-04 -2.96630055e+00] [-3.06262500e-03 -1.95350796e-05 9.99995310e-01 -6.92917769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters 0.05110865034621792 Centerline is valid? [True, True] Translation: X:93.39, Y:-2.97, Z:-0.69 [[ 9.97019607e-01 7.70959949e-02 2.84798621e-03 9.33939436e+01] [-7.70957484e-02 9.97023674e-01 -1.96392358e-04 -2.97375365e+00] [-2.85465074e-03 -2.37605966e-05 9.99995925e-01 -6.92603730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters 0.050595506239458035 Centerline is valid? [True, True] Translation: X:93.46, Y:-2.98, Z:-0.69 [[ 9.96888117e-01 7.87996897e-02 2.16598661e-03 9.34554785e+01] [-7.87995503e-02 9.96890470e-01 -1.49770368e-04 -2.97907808e+00] [-2.17105327e-03 -2.13744713e-05 9.99997643e-01 -6.94926500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters 0.050275381213957866 Centerline is valid? [True, True] Translation: X:93.52, Y:-2.99, Z:-0.70 [[ 9.96879835e-01 7.89237504e-02 1.27928748e-03 9.35174918e+01] [-7.89237025e-02 9.96880656e-01 -8.79747363e-05 -2.98707988e+00] [-1.28224024e-03 -1.32658642e-05 9.99999178e-01 -6.96116478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters 0.04979421431037191 Centerline is valid? [True, True] Translation: X:93.58, Y:-3.00, Z:-0.70 [[ 9.97036412e-01 7.69271748e-02 7.76946965e-04 9.35783678e+01] [-7.69271567e-02 9.97036714e-01 -5.32118135e-05 -3.00126820e+00] [-7.78738084e-04 -6.71420534e-06 9.99999697e-01 -6.95995809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters 0.05058376468308437 Centerline is valid? [True, True] Translation: X:93.64, Y:-3.01, Z:-0.70 [[ 9.97258529e-01 7.39884396e-02 1.06636117e-03 9.36399054e+01] [-7.39884029e-02 9.97259099e-01 -7.38604848e-05 -3.01153160e+00] [-1.06890320e-03 -5.24036157e-06 9.99999429e-01 -6.96970479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters 0.05059186694769984 Centerline is valid? [True, True] Translation: X:93.70, Y:-3.03, Z:-0.70 [[ 9.97653003e-01 6.84591805e-02 1.35146236e-03 9.37014477e+01] [-6.84591169e-02 9.97653918e-01 -9.33201642e-05 -3.02667427e+00] [-1.35468034e-03 5.81222041e-07 9.99999082e-01 -6.95265200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters 0.05017690465987516 Centerline is valid? [True, True] Translation: X:93.76, Y:-3.04, Z:-0.70 [[ 9.97877864e-01 6.50874431e-02 1.84202895e-03 9.37625943e+01] [-6.50873176e-02 9.97879564e-01 -1.28052939e-04 -3.03873339e+00] [-1.84645769e-03 7.88846975e-06 9.99998295e-01 -6.97333076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters 0.05003260010508898 Centerline is valid? [True, True] Translation: X:93.82, Y:-3.04, Z:-0.69 [[ 9.97763027e-01 6.67145525e-02 4.25573345e-03 9.38246465e+01] [-6.67138963e-02 9.97772102e-01 -2.96132132e-04 -3.04143292e+00] [-4.26600844e-03 1.15531319e-05 9.99990900e-01 -6.94637660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters 0.04984855232053752 Centerline is valid? [True, True] Translation: X:93.89, Y:-3.05, Z:-0.69 [[ 9.97733315e-01 6.72175689e-02 3.16709267e-03 9.38860651e+01] [-6.72172076e-02 9.97738342e-01 -2.20497694e-04 -3.04631180e+00] [-3.17475111e-03 7.11476953e-06 9.99994960e-01 -6.94827493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters 0.05046442881226757 Centerline is valid? [True, True] Translation: X:93.95, Y:-3.05, Z:-0.70 [[ 9.97838170e-01 6.56562361e-02 2.87146614e-03 9.39479381e+01] [-6.56559309e-02 9.97842301e-01 -2.00525215e-04 -3.05123186e+00] [-2.87843611e-03 1.15629313e-05 9.99995857e-01 -6.95852023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters 0.05038888216505554 Centerline is valid? [True, True] Translation: X:94.01, Y:-3.06, Z:-0.70 [[ 9.97975983e-01 6.35261168e-02 2.89309408e-03 9.40093810e+01] [-6.35257976e-02 9.97980176e-01 -2.02166981e-04 -3.05791093e+00] [-2.90009342e-03 1.79716829e-05 9.99995795e-01 -6.98609599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters 0.05120178615607036 Centerline is valid? [True, True] Translation: X:94.07, Y:-3.06, Z:-0.70 [[ 9.98346267e-01 5.74041255e-02 3.08186991e-03 9.40704919e+01] [-5.74037331e-02 9.98351023e-01 -2.15699056e-04 -3.06131377e+00] [-3.08916999e-03 3.84315100e-05 9.99995228e-01 -6.96512929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters 0.050850734638398516 Centerline is valid? [True, True] Translation: X:94.13, Y:-3.07, Z:-0.70 [[ 9.98545939e-01 5.37582514e-02 4.00737958e-03 9.41310272e+01] [-5.37575584e-02 9.98553978e-01 -2.80519772e-04 -3.06551784e+00] [-4.01666507e-03 6.46849365e-05 9.99991931e-01 -6.96572345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters 0.051342172869941624 Centerline is valid? [True, True] Translation: X:94.19, Y:-3.07, Z:-0.70 [[ 9.98759281e-01 4.95664784e-02 4.80227740e-03 9.41921837e+01] [-4.95654325e-02 9.98770822e-01 -3.36651719e-04 -3.06759140e+00] [-4.81306119e-03 9.82070729e-05 9.99988412e-01 -6.96617874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters 0.05131573381160196 Centerline is valid? [True, True] Translation: X:94.25, Y:-3.07, Z:-0.70 [[ 9.98802054e-01 4.87411528e-02 4.33085149e-03 9.42540153e+01] [-4.87402953e-02 9.98811439e-01 -3.03391801e-04 -3.07050920e+00] [-4.34049168e-03 9.19413737e-05 9.99990576e-01 -6.98202414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters 0.0514249291924649 Centerline is valid? [True, True] Translation: X:94.32, Y:-3.07, Z:-0.70 [[ 9.98795540e-01 4.89898164e-02 2.73262372e-03 9.43163506e+01] [-4.89894760e-02 9.98799276e-01 -1.91403302e-04 -3.07358071e+00] [-2.73871941e-03 5.73029596e-05 9.99996248e-01 -6.99737561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters 0.051530243587713936 Centerline is valid? [True, True] Translation: X:94.38, Y:-3.08, Z:-0.70 [[ 9.98713641e-01 5.06699737e-02 1.90187952e-03 9.43788410e+01] [-5.06698115e-02 9.98715451e-01 -1.33438904e-04 -3.07598005e+00] [-1.90619781e-03 3.68993768e-05 9.99998183e-01 -7.00402558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters 0.05158146522650425 Centerline is valid? [True, True] Translation: X:94.44, Y:-3.08, Z:-0.70 [[ 9.98629981e-01 5.23013280e-02 1.65316896e-03 9.44407758e+01] [-5.23012075e-02 9.98631349e-01 -1.16067988e-04 -3.08237854e+00] [-1.65697686e-03 2.94462398e-05 9.99998627e-01 -7.02204818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters 0.051198979202871045 Centerline is valid? [True, True] Translation: X:94.50, Y:-3.08, Z:-0.70 [[ 9.98541171e-01 5.39660533e-02 1.78755034e-03 9.45028034e+01] [-5.39659153e-02 9.98542770e-01 -1.25373628e-04 -3.08414128e+00] [-1.79171139e-03 2.87239392e-05 9.99998394e-01 -7.02298299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters 0.05082728970336045 Centerline is valid? [True, True] Translation: X:94.56, Y:-3.09, Z:-0.70 [[ 9.98486986e-01 5.49180203e-02 2.78394171e-03 9.45646945e+01] [-5.49176865e-02 9.98490866e-01 -1.96239471e-04 -3.08735315e+00] [-2.79051745e-03 4.30549194e-05 9.99996106e-01 -7.02457004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters 0.05129426008499903 Centerline is valid? [True, True] Translation: X:94.63, Y:-3.09, Z:-0.70 [[ 9.98539193e-01 5.39305499e-02 3.31289516e-03 9.46264688e+01] [-5.39300717e-02 9.98544687e-01 -2.33580037e-04 -3.09329985e+00] [-3.32067096e-03 5.45741488e-05 9.99994485e-01 -7.02927546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters 0.05143761179100175 Centerline is valid? [True, True] Translation: X:94.69, Y:-3.10, Z:-0.70 [[ 9.98633637e-01 5.21935450e-02 2.58704456e-03 9.46868351e+01] [-5.21932474e-02 9.98636987e-01 -1.82481647e-04 -3.10291762e+00] [-2.59304275e-03 4.72060539e-05 9.99996637e-01 -7.04800212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters 0.051612451552061255 Centerline is valid? [True, True] Translation: X:94.75, Y:-3.11, Z:-0.71 [[ 9.98800460e-01 4.89524818e-02 1.13792824e-03 9.47465375e+01] [-4.89524219e-02 9.98801108e-01 -8.04643833e-05 -3.11014251e+00] [-1.14050292e-03 2.46635198e-05 9.99999349e-01 -7.06128847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters 0.050964000712818466 Centerline is valid? [True, True] Translation: X:94.81, Y:-3.11, Z:-0.71 [[ 9.98851408e-01 4.79144181e-02 -2.72232751e-04 9.48090230e+01] [-4.79144145e-02 9.98851445e-01 1.97226763e-05 -3.11187515e+00] [ 2.72865077e-04 -6.65615013e-06 9.99999963e-01 -7.05992906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters 0.05155484189117709 Centerline is valid? [True, True] Translation: X:94.87, Y:-3.11, Z:-0.71 [[ 9.98855036e-01 4.78215781e-02 -1.30935880e-03 9.48700986e+01] [-4.78214970e-02 9.98855893e-01 9.32228877e-05 -3.11305270e+00] [ 1.31231882e-03 -3.05006531e-05 9.99999138e-01 -7.05974303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters 0.0522443623104925 Centerline is valid? [True, True] Translation: X:94.93, Y:-3.11, Z:-0.71 [[ 9.98845724e-01 4.80037014e-02 -1.69225218e-03 9.49327621e+01] [-4.80035659e-02 9.98847157e-01 1.20639507e-04 -3.11472314e+00] [ 1.69609242e-03 -3.92661170e-05 9.99998561e-01 -7.05723227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters 0.051879685615032804 Centerline is valid? [True, True] Translation: X:94.99, Y:-3.13, Z:-0.71 [[ 9.98866833e-01 4.75684443e-02 -1.51406473e-03 9.49935892e+01] [-4.75683346e-02 9.98867980e-01 1.08392362e-04 -3.12598173e+00] [ 1.51750683e-03 -3.62479976e-05 9.99998848e-01 -7.08616384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters 0.051819697849235985 Centerline is valid? [True, True] Translation: X:95.05, Y:-3.13, Z:-0.71 [[ 9.99001210e-01 4.46820014e-02 -3.17749474e-04 9.50543544e+01] [-4.46819964e-02 9.99001261e-01 2.26345809e-05 -3.12851399e+00] [ 3.18443483e-04 -8.41429283e-06 9.99999949e-01 -7.06965334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters 0.05189231679080527 Centerline is valid? [True, True] Translation: X:95.12, Y:-3.13, Z:-0.71 [[ 9.99095768e-01 4.25090760e-02 7.90037965e-04 9.51160817e+01] [-4.25090450e-02 9.99096080e-01 -5.59041331e-05 -3.13252737e+00] [-7.91700267e-04 2.22698233e-05 9.99999686e-01 -7.06891614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters 0.051715495843478745 Centerline is valid? [True, True] Translation: X:95.18, Y:-3.13, Z:-0.71 [[ 9.99108041e-01 4.22253751e-02 3.75453743e-04 9.51778600e+01] [-4.22253684e-02 9.99108111e-01 -2.59148638e-05 -3.12963623e+00] [-3.76213145e-04 1.00380762e-05 9.99999929e-01 -7.05835582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters 0.05171823781999915 Centerline is valid? [True, True] Translation: X:95.24, Y:-3.13, Z:-0.71 [[ 9.99079405e-01 4.28991643e-02 6.36731197e-05 9.52390747e+01] [-4.28991641e-02 9.99079407e-01 -3.78410042e-06 -3.12796820e+00] [-6.37768374e-05 1.04909318e-06 9.99999998e-01 -7.05341903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters 0.05233267753347142 Centerline is valid? [True, True] Translation: X:95.30, Y:-3.14, Z:-0.71 [[ 9.99064757e-01 4.32389926e-02 3.24459382e-06 9.53001781e+01] [-4.32389926e-02 9.99064757e-01 2.13686006e-07 -3.14111505e+00] [-3.23231979e-06 -3.53779126e-07 1.00000000e+00 -7.09191383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters 0.052382771867548396 Centerline is valid? [True, True] Translation: X:95.36, Y:-3.14, Z:-0.71 [[ 9.99112862e-01 4.21036306e-02 -8.79543184e-04 9.53609471e+01] [-4.21035912e-02 9.99113249e-01 6.32222426e-05 -3.14186625e+00] [ 8.81425133e-04 -2.61342291e-05 9.99999611e-01 -7.09294481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters 0.05217578978696275 Centerline is valid? [True, True] Translation: X:95.42, Y:-3.14, Z:-0.71 [[ 9.99197046e-01 4.00586278e-02 -7.54652701e-04 9.54219546e+01] [-4.00585984e-02 9.99197331e-01 5.40146427e-05 -3.14435892e+00] [ 7.56210717e-04 -2.37409420e-05 9.99999714e-01 -7.09362936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters 0.05267446526274232 Centerline is valid? [True, True] Translation: X:95.48, Y:-3.15, Z:-0.71 [[ 9.99306373e-01 3.72305790e-02 -8.10190330e-04 9.54820053e+01] [-3.72305444e-02 9.99306701e-01 5.78673561e-05 -3.14978555e+00] [ 8.11783061e-04 -2.76633908e-05 9.99999670e-01 -7.10111271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters 0.05243931104552628 Centerline is valid? [True, True] Translation: X:95.54, Y:-3.15, Z:-0.71 [[ 9.99434139e-01 3.36295975e-02 6.71678550e-04 9.55432118e+01] [-3.36295729e-02 9.99434365e-01 -4.79620486e-05 -3.14614105e+00] [-6.72911569e-04 2.53466461e-05 9.99999773e-01 -7.07770222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters 0.052788223886466305 Centerline is valid? [True, True] Translation: X:95.60, Y:-3.15, Z:-0.71 [[ 9.99462132e-01 3.27358018e-02 1.95310034e-03 9.56039336e+01] [-3.27355927e-02 9.99464037e-01 -1.38930805e-04 -3.15421886e+00] [-1.95660156e-03 7.49201813e-05 9.99998083e-01 -7.08068790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters 0.052382372984090424 Centerline is valid? [True, True] Translation: X:95.67, Y:-3.15, Z:-0.71 [[ 9.99425762e-01 3.38585386e-02 1.32159086e-03 9.56658192e+01] [-3.38584433e-02 9.99426634e-01 -9.43902240e-05 -3.15375776e+00] [-1.32402902e-03 4.95890125e-05 9.99999122e-01 -7.08209922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters 0.05248522745367237 Centerline is valid? [True, True] Translation: X:95.73, Y:-3.16, Z:-0.71 [[ 9.99352614e-01 3.59754178e-02 3.49223173e-04 9.57273425e+01] [-3.59754113e-02 9.99352675e-01 -2.48170307e-05 -3.15643759e+00] [-3.49889915e-04 1.22375173e-05 9.99999939e-01 -7.08962411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters 0.05209399628541573 Centerline is valid? [True, True] Translation: X:95.79, Y:-3.16, Z:-0.71 [[ 9.99161102e-01 4.09523096e-02 -2.68074253e-05 9.57866941e+01] [-4.09523095e-02 9.99161102e-01 1.85495934e-06 -3.16142033e+00] [ 2.68609015e-05 -7.55577235e-07 1.00000000e+00 -7.09147465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters 0.05256248537060461 Centerline is valid? [True, True] Translation: X:95.85, Y:-3.17, Z:-0.71 [[ 9.98974688e-01 4.52648659e-02 8.14934086e-04 9.58470843e+01] [-4.52648334e-02 9.98975020e-01 -5.82642019e-05 -3.16714510e+00] [-8.16736117e-04 2.13166073e-05 9.99999666e-01 -7.09731176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters 0.05185860092809974 Centerline is valid? [True, True] Translation: X:95.91, Y:-3.17, Z:-0.71 [[ 9.98625059e-01 5.23902436e-02 1.80374783e-03 9.59062068e+01] [-5.23900957e-02 9.98626688e-01 -1.29164549e-04 -3.17072497e+00] [-1.80803769e-03 3.44884341e-05 9.99998365e-01 -7.10019470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters 0.05219705355772808 Centerline is valid? [True, True] Translation: X:95.97, Y:-3.17, Z:-0.71 [[ 9.98352438e-01 5.73057224e-02 2.90932570e-03 9.59666474e+01] [-5.73053590e-02 9.98356676e-01 -2.08193521e-04 -3.17443808e+00] [-2.91647542e-03 4.11305557e-05 9.99995746e-01 -7.10088302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters 0.05174633813696466 Centerline is valid? [True, True] Translation: X:96.03, Y:-3.17, Z:-0.71 [[ 9.97794677e-01 6.62904535e-02 3.37026902e-03 9.60280338e+01] [-6.62900170e-02 9.97800369e-01 -2.41180187e-04 -3.17241936e+00] [-3.37884361e-03 1.72331163e-05 9.99994292e-01 -7.09587760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters 0.05122730937959716 Centerline is valid? [True, True] Translation: X:96.09, Y:-3.17, Z:-0.71 [[ 9.97006826e-01 7.72841697e-02 2.13192802e-03 9.60891860e+01] [-7.72840213e-02 9.97009106e-01 -1.52066982e-04 -3.17197817e+00] [-2.13730402e-03 -1.31521515e-05 9.99997716e-01 -7.09938568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters 0.05121748957314009 Centerline is valid? [True, True] Translation: X:96.15, Y:-3.17, Z:-0.71 [[ 9.96418541e-01 8.45527924e-02 9.57383820e-04 9.61506028e+01] [-8.45527655e-02 9.96419001e-01 -6.85562717e-05 -3.16706785e+00] [-9.59752053e-04 -1.26387094e-05 9.99999539e-01 -7.14457723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters 0.050714671190426636 Centerline is valid? [True, True] Translation: X:96.21, Y:-3.17, Z:-0.71 [[ 9.95930393e-01 9.01257585e-02 -1.41348913e-05 9.62110578e+01] [-9.01257585e-02 9.95930393e-01 1.13526524e-06 -3.17492807e+00] [ 1.41796845e-05 1.43272649e-07 1.00000000e+00 -7.13005455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters 0.050707803277217384 Centerline is valid? [True, True] Translation: X:96.27, Y:-3.18, Z:-0.71 [[ 9.95576080e-01 9.39573944e-02 -5.25558828e-04 9.62719086e+01] [-9.39573876e-02 9.95576219e-01 3.77670535e-05 -3.17967725e+00] [ 5.26782365e-04 1.17801594e-05 9.99999861e-01 -7.13037497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters 0.050959426099967425 Centerline is valid? [True, True] Translation: X:96.33, Y:-3.19, Z:-0.71 [[ 9.95628979e-01 9.33965914e-02 -1.09809065e-04 9.63324560e+01] [-9.33965910e-02 9.95628985e-01 8.65078776e-06 -3.18876574e+00] [ 1.10137042e-04 1.64281737e-06 9.99999994e-01 -7.12096122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters 0.05162756508141351 Centerline is valid? [True, True] Translation: X:96.39, Y:-3.19, Z:-0.71 [[ 9.96019507e-01 8.91292893e-02 1.05427193e-03 9.63937028e+01] [-8.91292591e-02 9.96020065e-01 -7.57037784e-05 -3.19129713e+00] [-1.05682342e-03 -1.85640358e-05 9.99999441e-01 -7.14748823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters 0.05139609341019236 Centerline is valid? [True, True] Translation: X:96.46, Y:-3.20, Z:-0.71 [[ 9.96153858e-01 8.76107190e-02 1.36161651e-03 9.64555108e+01] [-8.76106679e-02 9.96154788e-01 -9.72102575e-05 -3.19879436e+00] [-1.36489747e-03 -2.24557590e-05 9.99999068e-01 -7.14761962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters 0.05124511935950102 Centerline is valid? [True, True] Translation: X:96.52, Y:-3.21, Z:-0.71 [[ 9.96417996e-01 8.45493461e-02 1.60803110e-03 9.65167388e+01] [-8.45492697e-02 9.96419293e-01 -1.15587858e-04 -3.21019571e+00] [-1.61204609e-03 -2.07840334e-05 9.99998700e-01 -7.14080881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters 0.05111364312029654 Centerline is valid? [True, True] Translation: X:96.58, Y:-3.22, Z:-0.72 [[ 9.96679064e-01 8.14229991e-02 1.06750783e-03 9.65786710e+01] [-8.14229637e-02 9.96679635e-01 -7.66048971e-05 -3.22104776e+00] [-1.07020071e-03 -1.05691541e-05 9.99999427e-01 -7.15056234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters 0.05109323795224967 Centerline is valid? [True, True] Translation: X:96.64, Y:-3.23, Z:-0.71 [[ 9.96775832e-01 8.02286327e-02 1.14302537e-03 9.66400371e+01] [-8.02285919e-02 9.96776488e-01 -8.15987933e-05 -3.23384879e+00] [-1.14588738e-03 -1.03676111e-05 9.99999343e-01 -7.13579210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters 0.05083688649955594 Centerline is valid? [True, True] Translation: X:96.70, Y:-3.24, Z:-0.72 [[ 9.96729304e-01 8.08123373e-02 2.47151474e-04 9.67005721e+01] [-8.08123356e-02 9.96729334e-01 -1.71761980e-05 -3.23708000e+00] [-2.47731173e-04 -2.85286800e-06 9.99999969e-01 -7.16906733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters 0.050588152253322326 Centerline is valid? [True, True] Translation: X:96.76, Y:-3.25, Z:-0.72 [[ 9.96632708e-01 8.19934506e-02 -5.65160025e-04 9.67623331e+01] [-8.19934401e-02 9.96632868e-01 4.17438552e-05 -3.24817329e+00] [ 5.66679780e-04 4.73612322e-06 9.99999839e-01 -7.15070062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters 0.05089169518811994 Centerline is valid? [True, True] Translation: X:96.82, Y:-3.25, Z:-0.72 [[ 9.96584108e-01 8.25779743e-02 -9.96432546e-04 9.68233092e+01] [-8.25779426e-02 9.96584607e-01 7.29883852e-05 -3.25390721e+00] [ 9.99056569e-04 9.54428483e-06 9.99999501e-01 -7.15716638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters 0.05121479209518659 Centerline is valid? [True, True] Translation: X:96.89, Y:-3.26, Z:-0.72 [[ 9.96604137e-01 8.23393904e-02 -6.47128801e-04 9.68854876e+01] [-8.23393767e-02 9.96604347e-01 4.77989246e-05 -3.25983424e+00] [ 6.48867110e-04 5.64757615e-06 9.99999789e-01 -7.16309060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters 0.05133339648118999 Centerline is valid? [True, True] Translation: X:96.95, Y:-3.26, Z:-0.72 [[ 9.96691203e-01 8.12808859e-02 -2.50570177e-04 9.69469827e+01] [-8.12808837e-02 9.96691235e-01 1.90441332e-05 -3.26336352e+00] [ 2.51289023e-04 1.38544536e-06 9.99999968e-01 -7.17794551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters 0.05091861552901635 Centerline is valid? [True, True] Translation: X:97.01, Y:-3.27, Z:-0.72 [[ 9.96945469e-01 7.80957157e-02 8.88909133e-04 9.70090118e+01] [-7.80956897e-02 9.96945866e-01 -6.38965957e-05 -3.27065056e+00] [-8.91184335e-04 -5.71855028e-06 9.99999603e-01 -7.16419048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters 0.05066639525892118 Centerline is valid? [True, True] Translation: X:97.07, Y:-3.28, Z:-0.72 [[ 9.97268212e-01 7.38593784e-02 9.51401607e-04 9.70705847e+01] [-7.38593466e-02 9.97268666e-01 -6.85467519e-05 -3.27749194e+00] [-9.53865832e-04 -1.91040436e-06 9.99999545e-01 -7.16476788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters 0.051080298503303444 Centerline is valid? [True, True] Translation: X:97.13, Y:-3.28, Z:-0.72 [[ 9.97653763e-01 6.84447861e-02 1.51007487e-03 9.71328547e+01] [-6.84446991e-02 9.97654906e-01 -1.09317250e-04 -3.28378397e+00] [-1.51401580e-03 5.70414536e-06 9.99998854e-01 -7.16034816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters 0.05111046680060905 Centerline is valid? [True, True] Translation: X:97.19, Y:-3.29, Z:-0.72 [[ 9.98295570e-01 5.83164871e-02 2.26751964e-03 9.71938236e+01] [-5.83162616e-02 9.98298145e-01 -1.65493157e-04 -3.29063746e+00] [-2.27331163e-03 3.29778171e-05 9.99997415e-01 -7.16951470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters 0.05247758660497558 Centerline is valid? [True, True] Translation: X:97.25, Y:-3.30, Z:-0.72 [[ 9.98938257e-01 4.60315364e-02 1.85909859e-03 9.72525025e+01] [-4.60313633e-02 9.98939986e-01 -1.35779924e-04 -3.29944113e+00] [-1.86337808e-03 5.00589181e-05 9.99998263e-01 -7.18346264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters 0.053303632611339594 Centerline is valid? [True, True] Translation: X:97.31, Y:-3.31, Z:-0.72 [[ 9.99264647e-01 3.82923999e-02 1.96386374e-03 9.73127638e+01] [-3.82921917e-02 9.99266575e-01 -1.43485527e-04 -3.30510168e+00] [-1.96791779e-03 6.81793682e-05 9.99998061e-01 -7.18521949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters 0.05292734184140019 Centerline is valid? [True, True] Translation: X:97.37, Y:-3.30, Z:-0.72 [[ 9.99517148e-01 3.09628465e-02 2.60243678e-03 9.73721481e+01] [-3.09624559e-02 9.99520530e-01 -1.90266383e-04 -3.30363876e+00] [-2.60708018e-03 1.09596678e-04 9.99996596e-01 -7.18271735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters 0.05349096086982495 Centerline is valid? [True, True] Translation: X:97.43, Y:-3.30, Z:-0.72 [[ 9.99575542e-01 2.89708352e-02 3.07017443e-03 9.74331556e+01] [-2.89702828e-02 9.99580248e-01 -2.24249984e-04 -3.30391428e+00] [-3.07538243e-03 1.35210978e-04 9.99995262e-01 -7.18234296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters 0.0525745669835996 Centerline is valid? [True, True] Translation: X:97.49, Y:-3.30, Z:-0.72 [[ 9.99447926e-01 3.30590845e-02 3.30770615e-03 9.74934984e+01] [-3.30584652e-02 9.99453390e-01 -2.41754564e-04 -3.29910397e+00] [-3.31389031e-03 1.32273409e-04 9.99994500e-01 -7.19192721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters 0.0517449519259148 Centerline is valid? [True, True] Translation: X:97.55, Y:-3.30, Z:-0.72 [[ 9.99189747e-01 4.01217067e-02 3.17787487e-03 9.75540071e+01] [-4.01211707e-02 9.99194795e-01 -2.32261713e-04 -3.29939153e+00] [-3.18463476e-03 1.04573462e-04 9.99994924e-01 -7.20295165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters 0.05180496719064692 Centerline is valid? [True, True] Translation: X:97.61, Y:-3.30, Z:-0.72 [[ 9.98547713e-01 5.38186617e-02 2.45274913e-03 9.76143741e+01] [-5.38183836e-02 9.98550725e-01 -1.79291531e-04 -3.29641800e+00] [-2.45884365e-03 4.70281547e-05 9.99996976e-01 -7.21855877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters 0.051339012353758894 Centerline is valid? [True, True] Translation: X:97.68, Y:-3.30, Z:-0.72 [[ 9.98009652e-01 6.30128854e-02 2.47203843e-03 9.76753273e+01] [-6.30126313e-02 9.98012713e-01 -1.80617547e-04 -3.29725629e+00] [-2.47850702e-03 2.44884089e-05 9.99996928e-01 -7.22947629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters 0.051164387971821663 Centerline is valid? [True, True] Translation: X:97.74, Y:-3.29, Z:-0.73 [[ 9.97127771e-01 7.56935486e-02 2.58756880e-03 9.77362254e+01] [-7.56933128e-02 9.97131128e-01 -1.89087629e-04 -3.28993868e+00] [-2.59445811e-03 -7.31712897e-06 9.99996634e-01 -7.25524753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters 0.05101310767508126 Centerline is valid? [True, True] Translation: X:97.80, Y:-3.29, Z:-0.73 [[ 9.96534342e-01 8.31409749e-02 2.62350461e-03 9.77983407e+01] [-8.31407595e-02 9.96537795e-01 -1.91272578e-04 -3.28879785e+00] [-2.63032409e-03 -2.75104733e-05 9.99996540e-01 -7.25608361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters 0.05148939752129732 Centerline is valid? [True, True] Translation: X:97.86, Y:-3.29, Z:-0.73 [[ 9.95870427e-01 9.07532100e-02 2.43855181e-03 9.78582131e+01] [-9.07530448e-02 9.95873412e-01 -1.78532859e-04 -3.28648397e+00] [-2.44469134e-03 -4.35104066e-05 9.99997011e-01 -7.26580202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters 0.051336618333179825 Centerline is valid? [True, True] Translation: X:97.92, Y:-3.29, Z:-0.73 [[ 9.95614050e-01 9.35345934e-02 1.98578936e-03 9.79186784e+01] [-9.35344897e-02 9.95616029e-01 -1.45241655e-04 -3.28838604e+00] [-1.99066884e-03 -4.11351624e-05 9.99998018e-01 -7.27507473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters 0.05075458364135648 Centerline is valid? [True, True] Translation: X:97.98, Y:-3.29, Z:-0.73 [[ 9.95503183e-01 9.47190439e-02 1.30986433e-03 9.79805855e+01] [-9.47190006e-02 9.95504044e-01 -9.52267722e-05 -3.29467902e+00] [-1.31299503e-03 -2.92704854e-05 9.99999138e-01 -7.28189723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters 0.0505236964635038 Centerline is valid? [True, True] Translation: X:98.04, Y:-3.30, Z:-0.73 [[ 9.95582111e-01 9.38949196e-02 -6.84651600e-05 9.80427120e+01] [-9.38949194e-02 9.95582113e-01 5.86040862e-06 -3.29847497e+00] [ 6.87129512e-05 5.94012699e-07 9.99999998e-01 -7.29877213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters 0.050979830219957036 Centerline is valid? [True, True] Translation: X:98.10, Y:-3.31, Z:-0.73 [[ 9.95864170e-01 9.08370763e-02 -1.78319591e-03 9.81034343e+01] [-9.08369871e-02 9.95865766e-01 1.31124496e-04 -3.30572892e+00] [ 1.78773473e-03 3.13979565e-05 9.99998402e-01 -7.31281728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters 0.05071797355721058 Centerline is valid? [True, True] Translation: X:98.16, Y:-3.31, Z:-0.73 [[ 9.96133449e-01 8.78135156e-02 -2.63414491e-03 9.81641654e+01] [-8.78133104e-02 9.96136931e-01 1.93683372e-04 -3.31327085e+00] [ 2.64097704e-03 3.83784994e-05 9.99996512e-01 -7.32176018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters 0.05108930648691832 Centerline is valid? [True, True] Translation: X:98.22, Y:-3.32, Z:-0.73 [[ 9.96675138e-01 8.14654012e-02 -1.43412593e-03 9.82247488e+01] [-8.14653337e-02 9.96676170e-01 1.05529004e-04 -3.32446387e+00] [ 1.43795611e-03 1.16534129e-05 9.99998966e-01 -7.31448309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters 0.05060178475371999 Centerline is valid? [True, True] Translation: X:98.29, Y:-3.33, Z:-0.73 [[ 9.97026992e-01 7.70491374e-02 -7.79321640e-04 9.82862567e+01] [-7.70491154e-02 9.97027297e-01 5.82335697e-05 -3.33373750e+00] [ 7.81491794e-04 1.98560213e-06 9.99999695e-01 -7.30790470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters 0.05123958846436301 Centerline is valid? [True, True] Translation: X:98.35, Y:-3.35, Z:-0.73 [[ 9.97472127e-01 7.10571173e-02 -4.92186687e-04 9.83478346e+01] [-7.10571076e-02 9.97472248e-01 3.71534404e-05 -3.34580236e+00] [ 4.93582578e-04 -2.08615879e-06 9.99999878e-01 -7.30707495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters 0.051026928828557486 Centerline is valid? [True, True] Translation: X:98.41, Y:-3.35, Z:-0.73 [[ 9.97566885e-01 6.97136298e-02 -5.65853307e-04 9.84103009e+01] [-6.97136168e-02 9.97567045e-01 4.27920264e-05 -3.35247515e+00] [ 5.67459799e-04 -3.24022788e-06 9.99999839e-01 -7.31130773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters 0.05132908738021901 Centerline is valid? [True, True] Translation: X:98.47, Y:-3.36, Z:-0.73 [[ 9.97758161e-01 6.69218152e-02 -3.49413445e-04 9.84712551e+01] [-6.69218101e-02 9.97758223e-01 2.63021050e-05 -3.36024599e+00] [ 3.50390322e-04 -2.85975973e-06 9.99999939e-01 -7.31641223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters 0.05120719647576612 Centerline is valid? [True, True] Translation: X:98.53, Y:-3.37, Z:-0.73 [[ 9.97961664e-01 6.38110278e-02 8.17916413e-04 9.85324035e+01] [-6.38110003e-02 9.97962000e-01 -5.96890254e-05 -3.36846586e+00] [-8.20058317e-04 7.37529464e-06 9.99999664e-01 -7.30994696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters 0.05153183651104845 Centerline is valid? [True, True] Translation: X:98.59, Y:-3.38, Z:-0.73 [[ 9.98062310e-01 6.22035128e-02 1.53245093e-03 9.85930030e+01] [-6.22034129e-02 9.98063486e-01 -1.12835253e-04 -3.37816256e+00] [-1.53650207e-03 1.72929350e-05 9.99998819e-01 -7.31621985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters 0.050440230456703955 Centerline is valid? [True, True] Translation: X:98.66, Y:-3.39, Z:-0.73 [[ 9.98253865e-01 5.90568589e-02 1.22806420e-03 9.86551657e+01] [-5.90567918e-02 9.98254620e-01 -9.08686500e-05 -3.38509187e+00] [-1.23128718e-03 1.81844492e-05 9.99999242e-01 -7.30930220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters 0.05141952629501031 Centerline is valid? [True, True] Translation: X:98.72, Y:-3.39, Z:-0.73 [[ 9.98393388e-01 5.66399966e-02 1.59813081e-03 9.87178624e+01] [-5.66398797e-02 9.98394666e-01 -1.18381318e-04 -3.38543071e+00] [-1.60227039e-03 2.76731882e-05 9.99998716e-01 -7.29131244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters 0.051935467373259644 Centerline is valid? [True, True] Translation: X:98.78, Y:-3.40, Z:-0.73 [[ 9.98692887e-01 5.10591920e-02 2.34024689e-03 9.87771041e+01] [-5.10589250e-02 9.98695627e-01 -1.73708137e-04 -3.39971216e+00] [-2.34606373e-03 5.39905900e-05 9.99997247e-01 -7.31144350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters 0.05164634035924551 Centerline is valid? [True, True] Translation: X:98.84, Y:-3.40, Z:-0.73 [[ 9.98923848e-01 4.63275402e-02 2.21457915e-03 9.88378736e+01] [-4.63272895e-02 9.98926301e-01 -1.64390336e-04 -3.39843128e+00] [-2.21981716e-03 6.16179772e-05 9.99997534e-01 -7.31001985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters 0.05188211834833846 Centerline is valid? [True, True] Translation: X:98.90, Y:-3.41, Z:-0.73 [[ 9.99037309e-01 4.38414078e-02 1.54487227e-03 9.88970979e+01] [-4.38412828e-02 9.99038502e-01 -1.14686411e-04 -3.40899963e+00] [-1.54841490e-03 4.68468213e-05 9.99998800e-01 -7.33067472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters 0.052336902245111866 Centerline is valid? [True, True] Translation: X:98.96, Y:-3.42, Z:-0.74 [[ 9.99130703e-01 4.16598513e-02 1.51482669e-03 9.89579400e+01] [-4.16597288e-02 9.99131850e-01 -1.12347317e-04 -3.42021448e+00] [-1.51819197e-03 4.91423847e-05 9.99998846e-01 -7.35204883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters 0.05230487484653535 Centerline is valid? [True, True] Translation: X:99.02, Y:-3.42, Z:-0.74 [[ 9.99153187e-01 4.10689263e-02 2.50052012e-03 9.90195833e+01] [-4.10685906e-02 9.99156312e-01 -1.85461491e-04 -3.42396351e+00] [-2.50602717e-03 8.26116023e-05 9.99996856e-01 -7.35067363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters 0.05241876671629779 Centerline is valid? [True, True] Translation: X:99.08, Y:-3.43, Z:-0.73 [[ 9.99126976e-01 4.16249443e-02 3.55657515e-03 9.90807668e+01] [-4.16242686e-02 9.99133300e-01 -2.63814819e-04 -3.42768054e+00] [-3.56447394e-03 1.15544663e-04 9.99993641e-01 -7.34380552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters 0.05202985850462875 Centerline is valid? [True, True] Translation: X:99.14, Y:-3.43, Z:-0.73 [[ 9.99015947e-01 4.41719853e-02 3.99660766e-03 9.91412134e+01] [-4.41711488e-02 9.99023934e-01 -2.97380690e-04 -3.42807203e+00] [-4.00584260e-03 1.20553301e-04 9.99991969e-01 -7.34866494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters 0.0519072141979512 Centerline is valid? [True, True] Translation: X:99.20, Y:-3.43, Z:-0.74 [[ 9.98697764e-01 5.09485018e-02 2.65085607e-03 9.92007515e+01] [-5.09481574e-02 9.98701280e-01 -1.97331046e-04 -3.42810386e+00] [-2.65746707e-03 6.20178420e-05 9.99996467e-01 -7.35987897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters 0.051762605660259635 Centerline is valid? [True, True] Translation: X:99.26, Y:-3.43, Z:-0.74 [[ 9.98402202e-01 5.64775679e-02 1.82386503e-03 9.92617248e+01] [-5.64774143e-02 9.98403868e-01 -1.35648489e-04 -3.43009810e+00] [-1.82861500e-03 3.24245689e-05 9.99998328e-01 -7.37752456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters 0.05110747181395987 Centerline is valid? [True, True] Translation: X:99.32, Y:-3.43, Z:-0.74 [[ 9.98088970e-01 6.17871977e-02 8.66118050e-04 9.93233137e+01] [-6.17871651e-02 9.98089346e-01 -6.43582679e-05 -3.42887545e+00] [-8.68439715e-04 1.07202983e-05 9.99999623e-01 -7.37567911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters 0.05162878529300798 Centerline is valid? [True, True] Translation: X:99.39, Y:-3.43, Z:-0.74 [[ 9.97618502e-01 6.89710868e-02 -5.59980972e-04 9.93851200e+01] [-6.89710741e-02 9.97618659e-01 4.19544433e-05 -3.42939937e+00] [ 5.61541110e-04 -3.23203981e-06 9.99999842e-01 -7.39215377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters 0.05165345502595397 Centerline is valid? [True, True] Translation: X:99.45, Y:-3.43, Z:-0.74 [[ 9.97303736e-01 7.33790262e-02 -8.81483489e-04 9.94459575e+01] [-7.33789960e-02 9.97304125e-01 6.65529135e-05 -3.43085877e+00] [ 8.83990708e-04 -1.69109588e-06 9.99999609e-01 -7.41022895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters 0.05115455649499044 Centerline is valid? [True, True] Translation: X:99.51, Y:-3.43, Z:-0.74 [[ 9.97037715e-01 7.69118533e-02 -6.01308482e-04 9.95088621e+01] [-7.69118396e-02 9.97037896e-01 4.59056686e-05 -3.43405917e+00] [ 6.03058034e-04 4.78058580e-07 9.99999818e-01 -7.39963792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters 0.05045120381570901 Centerline is valid? [True, True] Translation: X:99.57, Y:-3.44, Z:-0.74 [[ 9.96807449e-01 7.98412788e-02 -5.28397766e-04 9.95705260e+01] [-7.98412689e-02 9.96807589e-01 3.98126149e-05 -3.43834646e+00] [ 5.29889594e-04 2.50243707e-06 9.99999860e-01 -7.39383056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters 0.05055009807477569 Centerline is valid? [True, True] Translation: X:99.63, Y:-3.44, Z:-0.74 [[ 9.96679185e-01 8.14283280e-02 1.73260067e-04 9.96328362e+01] [-8.14283271e-02 9.96679200e-01 -1.20507025e-05 -3.44189085e+00] [-1.73665974e-04 -2.09759311e-06 9.99999985e-01 -7.40375355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters 0.05067748073437001 Centerline is valid? [True, True] Translation: X:99.69, Y:-3.45, Z:-0.74 [[ 9.96530753e-01 8.32234579e-02 5.61234090e-04 9.96943692e+01] [-8.32234478e-02 9.96530911e-01 -4.12919144e-05 -3.44631148e+00] [-5.62723575e-04 -5.55917352e-06 9.99999842e-01 -7.39786257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters 0.05095968618272875 Centerline is valid? [True, True] Translation: X:99.76, Y:-3.45, Z:-0.74 [[ 9.96468417e-01 8.39653160e-02 7.20901410e-04 9.97573521e+01] [-8.39652995e-02 9.96468678e-01 -5.31798661e-05 -3.45101369e+00] [-7.22820939e-04 -7.53864574e-06 9.99999739e-01 -7.40169771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters 0.050844387998359455 Centerline is valid? [True, True] Translation: X:99.82, Y:-3.46, Z:-0.74 [[ 9.96476369e-01 8.38718290e-02 -6.02591273e-04 9.98182071e+01] [-8.38718164e-02 9.96476551e-01 4.61265643e-05 -3.45561781e+00] [ 6.04336792e-04 4.57639329e-06 9.99999817e-01 -7.41702975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters 0.051033704767188125 Centerline is valid? [True, True] Translation: X:99.88, Y:-3.46, Z:-0.74 [[ 9.96553798e-01 8.29408009e-02 -1.16272283e-03 9.98804380e+01] [-8.29407542e-02 9.96554476e-01 8.84709589e-05 -3.46250568e+00] [ 1.16605449e-03 8.27103849e-06 9.99999320e-01 -7.41609862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters 0.051382063846050784 Centerline is valid? [True, True] Translation: X:99.94, Y:-3.47, Z:-0.74 [[ 9.96745081e-01 8.05992635e-02 -1.73281220e-03 9.99419407e+01] [-8.05991576e-02 9.96746587e-01 1.30952392e-04 -3.46950169e+00] [ 1.73772931e-03 9.13705124e-06 9.99998490e-01 -7.42534995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters 0.05099980431781856 Centerline is valid? [True, True] Translation: X:100.00, Y:-3.48, Z:-0.74 [[ 9.96949916e-01 7.80206067e-02 -1.91047961e-03 1.00003928e+02] [-7.80204718e-02 9.96951747e-01 1.45124480e-04 -3.47694132e+00] [ 1.91597868e-03 4.37468216e-06 9.99998165e-01 -7.42723016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters 0.051192541732545255 Centerline is valid? [True, True] Translation: X:100.07, Y:-3.49, Z:-0.74 [[ 9.97431969e-01 7.16154172e-02 -8.36135140e-04 1.00065689e+02] [-7.16153886e-02 9.97432320e-01 6.41114586e-05 -3.48711714e+00] [ 8.38579581e-04 -4.06667546e-06 9.99999648e-01 -7.41696106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters 0.050799135403956544 Centerline is valid? [True, True] Translation: X:100.13, Y:-3.50, Z:-0.74 [[ 9.97848551e-01 6.55611176e-02 9.19303355e-05 1.00126435e+02] [-6.55611173e-02 9.97848556e-01 -6.15501959e-06 -3.49651931e+00] [-9.21360825e-05 1.14721863e-07 9.99999996e-01 -7.42301855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters 0.05096658894362911 Centerline is valid? [True, True] Translation: X:100.19, Y:-3.51, Z:-0.74 [[ 9.98496857e-01 5.47733598e-02 1.97637377e-03 1.00186187e+02] [-5.47731708e-02 9.98498812e-01 -1.49626632e-04 -3.50590496e+00] [-1.98160241e-03 4.11494637e-05 9.99998036e-01 -7.39949462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters 0.05182575678605976 Centerline is valid? [True, True] Translation: X:100.25, Y:-3.51, Z:-0.74 [[ 9.98863109e-01 4.76472935e-02 1.49146287e-03 1.00246447e+02] [-4.76471780e-02 9.98864222e-01 -1.12927687e-04 -3.51470799e+00] [-1.49514960e-03 4.17353040e-05 9.99998881e-01 -7.40326817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters 0.05241051227749769 Centerline is valid? [True, True] Translation: X:100.31, Y:-3.53, Z:-0.74 [[ 9.99254503e-01 3.86061944e-02 -1.19326047e-05 1.00306348e+02] [-3.86061944e-02 9.99254503e-01 9.43218469e-07 -3.52534554e+00] [ 1.19601231e-05 -4.81842844e-07 1.00000000e+00 -7.41458145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters 0.05280398037398333 Centerline is valid? [True, True] Translation: X:100.37, Y:-3.52, Z:-0.74 [[ 9.99376430e-01 3.53093420e-02 4.96370473e-05 1.00367768e+02] [-3.53093418e-02 9.99376431e-01 -3.74841671e-06 -3.52164602e+00] [-4.97384493e-05 1.99342784e-06 9.99999999e-01 -7.39694760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters 0.05321855436089927 Centerline is valid? [True, True] Translation: X:100.43, Y:-3.53, Z:-0.74 [[ 9.99486606e-01 3.20272849e-02 8.81472102e-04 1.00427172e+02] [-3.20272385e-02 9.99486994e-01 -6.67526100e-05 -3.52980341e+00] [-8.83157807e-04 3.84872224e-05 9.99999609e-01 -7.40170151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters 0.05342979994028677 Centerline is valid? [True, True] Translation: X:100.49, Y:-3.54, Z:-0.74 [[ 9.99545756e-01 3.01302503e-02 6.70020240e-04 1.00487006e+02] [-3.01302230e-02 9.99545980e-01 -5.07192051e-05 -3.53839232e+00] [-6.71244221e-04 3.05083070e-05 9.99999774e-01 -7.40585283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters 0.05304149638427504 Centerline is valid? [True, True] Translation: X:100.55, Y:-3.53, Z:-0.74 [[ 9.99519793e-01 3.09855787e-02 2.78156937e-04 1.00549898e+02] [-3.09855741e-02 9.99519832e-01 -2.07936884e-05 -3.53447508e+00] [-2.78667680e-04 1.21648507e-05 9.99999961e-01 -7.40151699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters 0.05272334284859666 Centerline is valid? [True, True] Translation: X:100.61, Y:-3.53, Z:-0.74 [[ 9.99310981e-01 3.71121000e-02 5.04945217e-04 1.00611104e+02] [-3.71120854e-02 9.99311109e-01 -3.82804614e-05 -3.52963451e+00] [-5.06018033e-04 1.95145154e-05 9.99999872e-01 -7.40267054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters 0.05309405143717397 Centerline is valid? [True, True] Translation: X:100.67, Y:-3.53, Z:-0.74 [[ 9.98801693e-01 4.88915770e-02 2.18888842e-03 1.00670966e+02] [-4.88913306e-02 9.98804090e-01 -1.65975295e-04 -3.53404653e+00] [-2.19438550e-03 5.87587381e-05 9.99997591e-01 -7.41441426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters 0.05268148409324341 Centerline is valid? [True, True] Translation: X:100.73, Y:-3.53, Z:-0.74 [[ 9.98309512e-01 5.80360817e-02 3.15139085e-03 1.00731790e+02] [-5.80356164e-02 9.98314485e-01 -2.38960882e-04 -3.53095053e+00] [-3.15994749e-03 5.56640114e-05 9.99995006e-01 -7.41138243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters 0.05156525198424178 Centerline is valid? [True, True] Translation: X:100.79, Y:-3.52, Z:-0.74 [[ 9.97464151e-01 7.10803309e-02 3.58517962e-03 1.00792981e+02] [-7.10798130e-02 9.97470594e-01 -2.71820933e-04 -3.52284222e+00] [-3.59543237e-03 1.62977387e-05 9.99993536e-01 -7.41666946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters 0.05095380215748333 Centerline is valid? [True, True] Translation: X:100.86, Y:-3.52, Z:-0.74 [[ 9.96850952e-01 7.92274408e-02 3.34553697e-03 1.00856109e+02] [-7.92270360e-02 9.96856566e-01 -2.53544538e-04 -3.51664449e+00] [-3.35510818e-03 -1.23108644e-05 9.99994372e-01 -7.42945079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters 0.05167866310638661 Centerline is valid? [True, True] Translation: X:100.92, Y:-3.51, Z:-0.74 [[ 9.96247667e-01 8.64889829e-02 3.20027896e-03 1.00918534e+02] [-8.64886495e-02 9.96252807e-01 -2.42677801e-04 -3.51425706e+00] [-3.20927585e-03 -3.50206123e-05 9.99994850e-01 -7.43488160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters 0.05184377233555555 Centerline is valid? [True, True] Translation: X:100.98, Y:-3.51, Z:-0.74 [[ 9.95614974e-01 9.35105230e-02 2.57030934e-03 1.00978882e+02] [-9.35103308e-02 9.95618290e-01 -1.95103739e-04 -3.50995508e+00] [-2.57729124e-03 -4.61022718e-05 9.99996678e-01 -7.44674122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters 0.05158925177637058 Centerline is valid? [True, True] Translation: X:101.04, Y:-3.51, Z:-0.74 [[ 9.95400155e-01 9.57742712e-02 2.41261427e-03 1.01040698e+02] [-9.57741090e-02 9.95403077e-01 -1.82935047e-04 -3.51403355e+00] [-2.41904414e-03 -4.89724083e-05 9.99997073e-01 -7.44401383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters 0.051941500135832055 Centerline is valid? [True, True] Translation: X:101.10, Y:-3.51, Z:-0.75 [[ 9.95236910e-01 9.74733101e-02 1.56432740e-03 1.01101760e+02] [-9.74732439e-02 9.95238139e-01 -1.18711461e-04 -3.51309129e+00] [-1.56844949e-03 -3.43340392e-05 9.99998769e-01 -7.46567750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters 0.05131259163514481 Centerline is valid? [True, True] Translation: X:101.16, Y:-3.52, Z:-0.75 [[ 9.95442924e-01 9.53572671e-02 -6.13744325e-04 1.01161986e+02] [-9.53572560e-02 9.95443113e-01 4.74169700e-05 -3.52424398e+00] [ 6.15469115e-04 1.13240875e-05 9.99999811e-01 -7.46619998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters 0.051575245528473056 Centerline is valid? [True, True] Translation: X:101.22, Y:-3.54, Z:-0.75 [[ 9.95976582e-01 8.95963158e-02 -1.77430120e-03 1.01222123e+02] [-8.95962173e-02 9.95978162e-01 1.35082459e-04 -3.53536079e+00] [ 1.77926814e-03 2.44317094e-05 9.99998417e-01 -7.46097312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters 0.05127333073880277 Centerline is valid? [True, True] Translation: X:101.28, Y:-3.54, Z:-0.75 [[ 9.96180256e-01 8.72868223e-02 -2.43082848e-03 1.01283986e+02] [-8.72866285e-02 9.96183221e-01 1.85876844e-04 -3.54161376e+00] [ 2.43777514e-03 2.70119800e-05 9.99997028e-01 -7.47227050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters 0.052107870693186176 Centerline is valid? [True, True] Translation: X:101.35, Y:-3.55, Z:-0.75 [[ 9.96199826e-01 8.70524714e-02 -2.78810097e-03 1.01346857e+02] [-8.70522153e-02 9.96203727e-01 2.13302545e-04 -3.54539548e+00] [ 2.79608509e-03 3.02184076e-05 9.99996090e-01 -7.49428882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters 0.051814629327285346 Centerline is valid? [True, True] Translation: X:101.41, Y:-3.55, Z:-0.75 [[ 9.96224498e-01 8.67810264e-02 -2.40911070e-03 1.01407681e+02] [-8.67808343e-02 9.96227410e-01 1.84372414e-04 -3.55382852e+00] [ 2.41602214e-03 2.53883211e-05 9.99997081e-01 -7.47058571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters 0.05181239492214434 Centerline is valid? [True, True] Translation: X:101.47, Y:-3.55, Z:-0.75 [[ 9.96186586e-01 8.72294944e-02 -1.81670661e-03 1.01469593e+02] [-8.72293845e-02 9.96188243e-01 1.39788210e-04 -3.55354283e+00] [ 1.82197542e-03 1.92150601e-05 9.99998340e-01 -7.51672462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters 0.052242204425432925 Centerline is valid? [True, True] Translation: X:101.53, Y:-3.56, Z:-0.75 [[ 9.96173154e-01 8.73826467e-02 -1.82195147e-03 1.01532367e+02] [-8.73825360e-02 9.96174820e-01 1.40408287e-04 -3.56104634e+00] [ 1.82725143e-03 1.93357738e-05 9.99998330e-01 -7.51853973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters 0.0512840757603758 Centerline is valid? [True, True] Translation: X:101.59, Y:-3.57, Z:-0.75 [[ 9.96340634e-01 8.54507124e-02 -1.87555388e-03 1.01594464e+02] [-8.54505915e-02 9.96342399e-01 1.44601482e-04 -3.56877107e+00] [ 1.88105015e-03 1.61948562e-05 9.99998231e-01 -7.53109890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters 0.05084566260923218 Centerline is valid? [True, True] Translation: X:101.66, Y:-3.58, Z:-0.75 [[ 9.96678439e-01 8.14205227e-02 -1.66961832e-03 1.01655861e+02] [-8.14204209e-02 9.96679837e-01 1.28992161e-04 -3.58035195e+00] [ 1.67457752e-03 7.37732024e-06 9.99998598e-01 -7.52982180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters 0.05168145900479099 Centerline is valid? [True, True] Translation: X:101.72, Y:-3.59, Z:-0.75 [[ 9.96886448e-01 7.88319192e-02 -1.71437399e-03 1.01717271e+02] [-7.88318077e-02 9.96887922e-01 1.32614605e-04 -3.59028948e+00] [ 1.71949299e-03 2.94549777e-06 9.99998522e-01 -7.48476359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters 0.05194908720739944 Centerline is valid? [True, True] Translation: X:101.78, Y:-3.60, Z:-0.75 [[ 9.97151888e-01 7.53886959e-02 -2.15812576e-03 1.01779216e+02] [-7.53885107e-02 9.97154223e-01 1.67165956e-04 -3.59944053e+00] [ 2.16458664e-03 -3.99196235e-06 9.99997657e-01 -7.49283820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters 0.05179339115724175 Centerline is valid? [True, True] Translation: X:101.84, Y:-3.61, Z:-0.75 [[ 9.97330520e-01 7.29744903e-02 -2.56061225e-03 1.01841027e+02] [-7.29742234e-02 9.97333808e-01 1.97641068e-04 -3.60696014e+00] [ 2.56820792e-03 -1.02547792e-05 9.99996702e-01 -7.49699824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters 0.051813720161117204 Centerline is valid? [True, True] Translation: X:101.90, Y:-3.62, Z:-0.75 [[ 9.97606830e-01 6.91059415e-02 -2.23181316e-03 1.01901225e+02] [-6.91057293e-02 9.97609327e-01 1.72155267e-04 -3.61643740e+00] [ 2.23837458e-03 -1.75121936e-05 9.99997495e-01 -7.50247471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters 0.05193410500864411 Centerline is valid? [True, True] Translation: X:101.96, Y:-3.63, Z:-0.75 [[ 9.97755133e-01 6.69341490e-02 -2.12448706e-03 1.01961866e+02] [-6.69339499e-02 9.97757395e-01 1.64759162e-04 -3.62504324e+00] [ 2.13075069e-03 -2.21889894e-05 9.99997730e-01 -7.51510399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters 0.052119818974413056 Centerline is valid? [True, True] Translation: X:102.02, Y:-3.64, Z:-0.75 [[ 9.97845585e-01 6.55920861e-02 -1.36616369e-03 1.02022008e+02] [-6.55920019e-02 9.97846520e-01 1.06436085e-04 -3.63638960e+00] [ 1.37020305e-03 -1.65973667e-05 9.99999061e-01 -7.51799632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters 0.05221266842748444 Centerline is valid? [True, True] Translation: X:102.08, Y:-3.64, Z:-0.75 [[ 9.97824579e-01 6.59101721e-02 -1.39940090e-03 1.02084509e+02] [-6.59100836e-02 9.97825560e-01 1.09320817e-04 -3.64211048e+00] [ 1.40356334e-03 -1.68483680e-05 9.99999015e-01 -7.51055804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters 0.051961063610687225 Centerline is valid? [True, True] Translation: X:102.15, Y:-3.65, Z:-0.75 [[ 9.97753472e-01 6.69762619e-02 -1.47994784e-03 1.02146333e+02] [-6.69761640e-02 9.97754569e-01 1.15623213e-04 -3.64590549e+00] [ 1.48436873e-03 -1.62422331e-05 9.99998898e-01 -7.49660312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters 0.052262460831656775 Centerline is valid? [True, True] Translation: X:102.21, Y:-3.65, Z:-0.75 [[ 9.97653126e-01 6.84686563e-02 -5.32446277e-04 1.02206890e+02] [-6.84686435e-02 9.97653268e-01 4.21983040e-05 -3.65340999e+00] [ 5.34086029e-04 -5.64339556e-06 9.99999857e-01 -7.51663651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters 0.052254157351714965 Centerline is valid? [True, True] Translation: X:102.27, Y:-3.66, Z:-0.75 [[ 9.97578628e-01 6.95475256e-02 -1.48438059e-04 1.02268701e+02] [-6.95475245e-02 9.97578639e-01 1.23763681e-05 -3.65913275e+00] [ 1.48939383e-04 -2.02290072e-06 9.99999989e-01 -7.50838881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters 0.05178417525262723 Centerline is valid? [True, True] Translation: X:102.33, Y:-3.66, Z:-0.75 [[ 9.97489275e-01 7.08169064e-02 -3.33338937e-04 1.02329840e+02] [-7.08169014e-02 9.97489331e-01 2.67239841e-05 -3.66472318e+00] [ 3.34394543e-04 -3.05085694e-06 9.99999944e-01 -7.51323132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters 0.05203071309033915 Centerline is valid? [True, True] Translation: X:102.39, Y:-3.67, Z:-0.75 [[ 9.97236536e-01 7.42847037e-02 -1.03601779e-03 1.02391778e+02] [-7.42846595e-02 9.97237075e-01 8.10390771e-05 -3.66678492e+00] [ 1.03917531e-03 -3.85489997e-06 9.99999460e-01 -7.49719900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters 0.051445872981929826 Centerline is valid? [True, True] Translation: X:102.45, Y:-3.67, Z:-0.75 [[ 9.96999253e-01 7.73822832e-02 -2.11478954e-03 1.02453868e+02] [-7.73821052e-02 9.97001496e-01 1.65987504e-04 -3.67054351e+00] [ 2.12129283e-03 -1.84255112e-06 9.99997750e-01 -7.51178441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters 0.051773125547512816 Centerline is valid? [True, True] Translation: X:102.52, Y:-3.67, Z:-0.75 [[ 9.96648410e-01 8.17482079e-02 -3.02946699e-03 1.02515892e+02] [-8.17478631e-02 9.96653014e-01 2.37665984e-04 -3.67483893e+00] [ 3.03875618e-03 1.07830282e-05 9.99995383e-01 -7.51235901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters 0.0513416067235955 Centerline is valid? [True, True] Translation: X:102.58, Y:-3.68, Z:-0.75 [[ 9.96503242e-01 8.35101909e-02 -2.70851811e-03 1.02578067e+02] [-8.35099205e-02 9.96506923e-01 2.12966773e-04 -3.67955822e+00] [ 2.71684195e-03 1.39660522e-05 9.99996309e-01 -7.52721654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters 0.05116523199048438 Centerline is valid? [True, True] Translation: X:102.64, Y:-3.69, Z:-0.75 [[ 9.96430089e-01 8.43732095e-02 -2.87051243e-03 1.02638477e+02] [-8.43729092e-02 9.96434223e-01 2.25786361e-04 -3.68540758e+00] [ 2.87932714e-03 1.72131602e-05 9.99995855e-01 -7.53372181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters 0.05123318819057307 Centerline is valid? [True, True] Translation: X:102.70, Y:-3.69, Z:-0.75 [[ 9.96426565e-01 8.44170160e-02 -2.80483955e-03 1.02700953e+02] [-8.44167277e-02 9.96430513e-01 2.21220304e-04 -3.69258128e+00] [ 2.81350247e-03 1.63455888e-05 9.99996042e-01 -7.51744532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters 0.051727569589403784 Centerline is valid? [True, True] Translation: X:102.76, Y:-3.70, Z:-0.75 [[ 9.96426963e-01 8.43908546e-02 -3.38996144e-03 1.02763200e+02] [-8.43904325e-02 9.96432729e-01 2.67631453e-04 -3.69929795e+00] [ 3.40045417e-03 1.94051161e-05 9.99994218e-01 -7.52303265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters 0.051800352910317954 Centerline is valid? [True, True] Translation: X:102.82, Y:-3.71, Z:-0.75 [[ 9.96528151e-01 8.31878319e-02 -3.38075677e-03 1.02823806e+02] [-8.31874045e-02 9.96533885e-01 2.67076364e-04 -3.70548387e+00] [ 3.39125619e-03 1.50872659e-05 9.99994250e-01 -7.53994626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters 0.05192598989685781 Centerline is valid? [True, True] Translation: X:102.89, Y:-3.71, Z:-0.75 [[ 9.96805656e-01 7.98042596e-02 -3.12465004e-03 1.02885274e+02] [-7.98038763e-02 9.96810554e-01 2.47338389e-04 -3.71455924e+00] [ 3.13442279e-03 2.81087955e-06 9.99995088e-01 -7.52311781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters 0.051559610826693 Centerline is valid? [True, True] Translation: X:102.95, Y:-3.72, Z:-0.75 [[ 9.96972421e-01 7.76922762e-02 -3.14687795e-03 1.02948335e+02] [-7.76918753e-02 9.96977387e-01 2.49634974e-04 -3.72194098e+00] [ 3.15676087e-03 -4.39233537e-06 9.99995017e-01 -7.52846422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters 0.05120757155730812 Centerline is valid? [True, True] Translation: X:103.01, Y:-3.73, Z:-0.75 [[ 9.97078067e-01 7.63385941e-02 -2.78339709e-03 1.03010610e+02] [-7.63382738e-02 9.97081952e-01 2.21295357e-04 -3.72755798e+00] [ 2.79216838e-03 -8.16901699e-06 9.99996102e-01 -7.53018379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters 0.05202001068220431 Centerline is valid? [True, True] Translation: X:103.07, Y:-3.73, Z:-0.75 [[ 9.97166848e-01 7.51839710e-02 -2.37641955e-03 1.03071972e+02] [-7.51837334e-02 9.97169680e-01 1.89314981e-04 -3.73213459e+00] [ 2.38392698e-03 -1.01105294e-05 9.99997158e-01 -7.54875755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters 0.05171602574990812 Centerline is valid? [True, True] Translation: X:103.13, Y:-3.74, Z:-0.76 [[ 9.97436089e-01 7.15267710e-02 -2.27377167e-03 1.03132594e+02] [-7.15265446e-02 9.97438680e-01 1.80839734e-04 -3.73893555e+00] [ 2.28088270e-03 -1.77410462e-05 9.99997399e-01 -7.55905913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters 0.05205380461307876 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.74, Z:-0.75 [[ 9.97740096e-01 6.71646733e-02 -1.89929987e-03 1.03194333e+02] [-6.71645075e-02 9.97741904e-01 1.50999539e-04 -3.74292133e+00] [ 1.90515290e-03 -2.30927542e-05 9.99998185e-01 -7.54033975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters 0.052603411103688894 Centerline is valid? [True, True] Translation: X:103.26, Y:-3.75, Z:-0.75 [[ 9.97931015e-01 6.42676821e-02 -1.83158652e-03 1.03256610e+02] [-6.42675230e-02 9.97932695e-01 1.45687538e-04 -3.74644436e+00] [ 1.83716307e-03 -2.76745842e-05 9.99998312e-01 -7.53928491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters 0.05242765136925642 Centerline is valid? [True, True] Translation: X:103.32, Y:-3.75, Z:-0.76 [[ 9.98217048e-01 5.96232992e-02 -2.79055988e-03 1.03316826e+02] [-5.96229124e-02 9.98220947e-01 2.21669089e-04 -3.75179614e+00] [ 2.79881197e-03 -5.48925567e-05 9.99996082e-01 -7.55063730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters 0.052764828812982265 Centerline is valid? [True, True] Translation: X:103.38, Y:-3.75, Z:-0.75 [[ 9.98355619e-01 5.72635606e-02 -2.63498431e-03 1.03378667e+02] [-5.72632048e-02 9.98359094e-01 2.10344767e-04 -3.75358251e+00] [ 2.64270564e-03 -5.91112343e-05 9.99996506e-01 -7.54669785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters 0.05315848235366453 Centerline is valid? [True, True] Translation: X:103.44, Y:-3.76, Z:-0.75 [[ 9.98494864e-01 5.48107926e-02 -1.94510840e-03 1.03439482e+02] [-5.48105942e-02 9.98496757e-01 1.55226377e-04 -3.75550687e+00] [ 1.95069251e-03 -4.83801926e-05 9.99998096e-01 -7.54505388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters 0.05337515614917604 Centerline is valid? [True, True] Translation: X:103.50, Y:-3.76, Z:-0.76 [[ 9.98624653e-01 5.24131475e-02 -1.29037243e-03 1.03500575e+02] [-5.24130583e-02 9.98625486e-01 1.02858788e-04 -3.76058411e+00] [ 1.29398995e-03 -3.50849557e-05 9.99999162e-01 -7.56035464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters 0.05354256300813436 Centerline is valid? [True, True] Translation: X:103.56, Y:-3.76, Z:-0.76 [[ 9.98613471e-01 5.26224909e-02 -1.41763834e-03 1.03562725e+02] [-5.26223826e-02 9.98614476e-01 1.13595765e-04 -3.76420295e+00] [ 1.42165186e-03 -3.88387538e-05 9.99998989e-01 -7.56820615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters 0.0533276933836914 Centerline is valid? [True, True] Translation: X:103.62, Y:-3.76, Z:-0.76 [[ 9.98427698e-01 5.60459103e-02 -9.93675658e-04 1.03623341e+02] [-5.60458593e-02 9.98428192e-01 7.91827434e-05 -3.76033410e+00] [ 9.96551660e-04 -2.33668381e-05 9.99999503e-01 -7.55574044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters 0.05301790318057785 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.76, Z:-0.76 [[ 9.98191504e-01 6.01142157e-02 -4.26111561e-05 1.03684395e+02] [-6.01142156e-02 9.98191505e-01 3.44663921e-06 -3.76031644e+00] [ 4.27412860e-05 -8.78869757e-07 9.99999999e-01 -7.56434298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters 0.05249488467295506 Centerline is valid? [True, True] Translation: X:103.75, Y:-3.76, Z:-0.76 [[ 9.97709755e-01 6.76405462e-02 -3.87985582e-05 1.03745179e+02] [-6.76405462e-02 9.97709756e-01 3.20372243e-06 -3.75840122e+00] [ 3.89264016e-05 -5.72029449e-07 9.99999999e-01 -7.58074850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters 0.0529321737242603 Centerline is valid? [True, True] Translation: X:103.81, Y:-3.76, Z:-0.76 [[ 9.97355061e-01 7.26799197e-02 -7.14960367e-04 1.03806906e+02] [-7.26798969e-02 9.97355317e-01 5.79556844e-05 -3.75832160e+00] [ 7.17281738e-04 -5.83914944e-06 9.99999743e-01 -7.59580886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters 0.05243582265062418 Centerline is valid? [True, True] Translation: X:103.87, Y:-3.76, Z:-0.76 [[ 9.96878019e-01 7.89472683e-02 -1.24254928e-03 1.03869065e+02] [-7.89472047e-02 9.96878793e-01 1.00202105e-04 -3.75677622e+00] [ 1.24658171e-03 -1.79348311e-06 9.99999223e-01 -7.60466317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters 0.05182934864112256 Centerline is valid? [True, True] Translation: X:103.93, Y:-3.76, Z:-0.76 [[ 9.96583029e-01 8.25963263e-02 -3.37376725e-04 1.03930174e+02] [-8.25963217e-02 9.96583086e-01 2.74815436e-05 -3.75703167e+00] [ 3.38493812e-04 4.78436582e-07 9.99999943e-01 -7.61409433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters 0.05221903459919656 Centerline is valid? [True, True] Translation: X:103.99, Y:-3.76, Z:-0.77 [[ 9.96443040e-01 8.42674226e-02 -5.19032623e-04 1.03991772e+02] [-8.42674119e-02 9.96443175e-01 4.23185682e-05 -3.75672247e+00] [ 5.20752591e-04 1.56949308e-06 9.99999864e-01 -7.66534818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters 0.051614789903925984 Centerline is valid? [True, True] Translation: X:104.05, Y:-3.76, Z:-0.76 [[ 9.96398095e-01 8.47947325e-02 8.30000698e-04 1.04053488e+02] [-8.47947068e-02 9.96398441e-01 -6.62392600e-05 -3.76241566e+00] [-8.32628142e-04 -4.37899330e-06 9.99999653e-01 -7.61588261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters 0.05229400018229986 Centerline is valid? [True, True] Translation: X:104.11, Y:-3.77, Z:-0.76 [[ 9.96386258e-01 8.49376664e-02 -1.31431082e-04 1.04114048e+02] [-8.49376657e-02 9.96386267e-01 1.12940750e-05 -3.76719441e+00] [ 1.31915417e-04 -8.98118237e-08 9.99999991e-01 -7.60692724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters 0.052588527069759285 Centerline is valid? [True, True] Translation: X:104.18, Y:-3.77, Z:-0.76 [[ 9.96406412e-01 8.46989275e-02 -5.94601697e-04 1.04176503e+02] [-8.46989138e-02 9.96406590e-01 4.81648647e-05 -3.77015825e+00] [ 5.96544562e-04 2.37033793e-06 9.99999822e-01 -7.63508446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters 0.05261418486133521 Centerline is valid? [True, True] Translation: X:104.24, Y:-3.77, Z:-0.76 [[ 9.96422190e-01 8.45121832e-02 -7.14587298e-04 1.04238169e+02] [-8.45121631e-02 9.96422446e-01 5.83570715e-05 -3.77480584e+00] [ 7.16962707e-04 2.24303740e-06 9.99999743e-01 -7.63553804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters 0.05260350247313639 Centerline is valid? [True, True] Translation: X:104.30, Y:-3.78, Z:-0.77 [[ 9.96471114e-01 8.39361838e-02 -1.88063964e-04 1.04298794e+02] [-8.39361822e-02 9.96471132e-01 1.59569407e-05 -3.77857631e+00] [ 1.88739676e-04 -1.15259298e-07 9.99999982e-01 -7.65372276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters 0.05243901218439661 Centerline is valid? [True, True] Translation: X:104.36, Y:-3.78, Z:-0.76 [[ 9.96586512e-01 8.25528772e-02 5.87954508e-04 1.04360919e+02] [-8.25528641e-02 9.96586686e-01 -4.66069181e-05 -3.78455660e+00] [-5.89795169e-04 -2.08950266e-06 9.99999826e-01 -7.63632215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters 0.05205847000054443 Centerline is valid? [True, True] Translation: X:104.42, Y:-3.79, Z:-0.76 [[ 9.96852982e-01 7.92644155e-02 1.13364770e-03 1.04422692e+02] [-7.92643632e-02 9.96853626e-01 -9.10385424e-05 -3.79129427e+00] [-1.13729693e-03 8.94179832e-07 9.99999353e-01 -7.63026381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters 0.052671374168832545 Centerline is valid? [True, True] Translation: X:104.48, Y:-3.80, Z:-0.76 [[ 9.97100056e-01 7.60917965e-02 1.23142830e-03 1.04484250e+02] [-7.60917327e-02 9.97100817e-01 -9.86729868e-05 -3.79804062e+00] [-1.23536636e-03 4.68532795e-06 9.99999237e-01 -7.63199413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters 0.05271604194698955 Centerline is valid? [True, True] Translation: X:104.54, Y:-3.81, Z:-0.76 [[ 9.97405264e-01 7.19873325e-02 7.49964671e-04 1.04544469e+02] [-7.19873073e-02 9.97405546e-01 -6.05110521e-05 -3.80552227e+00] [-7.52374951e-04 6.36610472e-06 9.99999717e-01 -7.63539705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters 0.05318952167861567 Centerline is valid? [True, True] Translation: X:104.60, Y:-3.82, Z:-0.76 [[ 9.97875358e-01 6.51511335e-02 3.15941370e-04 1.04604058e+02] [-6.51511287e-02 9.97875408e-01 -2.55434094e-05 -3.81526547e+00] [-3.16934305e-04 4.90520196e-06 9.99999950e-01 -7.64459306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters 0.05379641759890444 Centerline is valid? [True, True] Translation: X:104.66, Y:-3.82, Z:-0.76 [[ 9.98281637e-01 5.85983816e-02 -4.55283208e-05 1.04663448e+02] [-5.85983815e-02 9.98281638e-01 3.73356129e-06 -3.81909623e+00] [ 4.56688673e-05 -1.05925976e-06 9.99999999e-01 -7.63125834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters 0.05396961321976951 Centerline is valid? [True, True] Translation: X:104.72, Y:-3.82, Z:-0.76 [[ 9.98504754e-01 5.46575073e-02 9.01547214e-04 1.04724301e+02] [-5.46574638e-02 9.98505161e-01 -7.27857247e-05 -3.82380695e+00] [-9.04177832e-04 2.34006080e-05 9.99999591e-01 -7.62635804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters 0.05410073489713604 Centerline is valid? [True, True] Translation: X:104.78, Y:-3.83, Z:-0.76 [[ 9.98743800e-01 5.01080360e-02 8.02305047e-05 1.04783921e+02] [-5.01080357e-02 9.98743803e-01 -6.43328930e-06 -3.82500689e+00] [-8.04520789e-05 2.40501481e-06 9.99999997e-01 -7.61904042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters 0.054804843866246594 Centerline is valid? [True, True] Translation: X:104.85, Y:-3.83, Z:-0.76 [[ 9.98814573e-01 4.86755277e-02 3.76232773e-04 1.04845838e+02] [-4.86755198e-02 9.98814644e-01 -3.01362246e-05 -3.83185138e+00] [-3.77253700e-04 1.17871745e-05 9.99999929e-01 -7.63612624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters 0.05496578337766751 Centerline is valid? [True, True] Translation: X:104.91, Y:-3.83, Z:-0.76 [[ 9.98771494e-01 4.95530204e-02 -6.38784354e-06 1.04908126e+02] [-4.95530204e-02 9.98771494e-01 8.43704374e-07 -3.83446715e+00] [ 6.42180411e-06 -5.26130937e-07 1.00000000e+00 -7.63978209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters 0.05463248660029868 Centerline is valid? [True, True] Translation: X:104.97, Y:-3.83, Z:-0.76 [[ 9.98613805e-01 5.26321620e-02 5.68746573e-04 1.04968328e+02] [-5.26321443e-02 9.98613967e-01 -4.60496319e-05 -3.83393707e+00] [-5.70381964e-04 1.60514464e-05 9.99999837e-01 -7.64392583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters 0.05434888010310607 Centerline is valid? [True, True] Translation: X:105.03, Y:-3.83, Z:-0.76 [[ 9.98207786e-01 5.98402428e-02 6.01469133e-04 1.05028643e+02] [-5.98402243e-02 9.98207967e-01 -4.87588314e-05 -3.82608774e+00] [-6.03309021e-04 1.26793973e-05 9.99999818e-01 -7.62789315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters 0.05384125955348084 Centerline is valid? [True, True] Translation: X:105.09, Y:-3.83, Z:-0.76 [[ 9.97810686e-01 6.61327852e-02 5.39045706e-04 1.05088356e+02] [-6.61327712e-02 9.97810831e-01 -4.36761829e-05 -3.82964608e+00] [-5.40754072e-04 7.93197560e-06 9.99999854e-01 -7.64880530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters 0.053828908829658906 Centerline is valid? [True, True] Translation: X:105.15, Y:-3.83, Z:-0.77 [[ 9.97148558e-01 7.54590347e-02 8.29388624e-04 1.05149870e+02] [-7.54590050e-02 9.97148903e-01 -6.70949441e-05 -3.82757897e+00] [-8.32086876e-04 4.31878652e-06 9.99999654e-01 -7.66857671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters 0.05320800158797117 Centerline is valid? [True, True] Translation: X:105.21, Y:-3.83, Z:-0.77 [[ 9.96722871e-01 8.08873076e-02 8.72555270e-04 1.05210998e+02] [-8.08872774e-02 9.96723253e-01 -6.99282027e-05 -3.82782830e+00] [-8.75352432e-04 -8.79581159e-07 9.99999617e-01 -7.66473796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters 0.05328534175724878 Centerline is valid? [True, True] Translation: X:105.27, Y:-3.83, Z:-0.77 [[ 9.96105178e-01 8.81571944e-02 1.66848202e-03 1.05273329e+02] [-8.81570918e-02 9.96106575e-01 -1.35052068e-04 -3.82664746e+00] [-1.67389172e-03 -1.25624585e-05 9.99998599e-01 -7.67264755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters 0.05312688272970574 Centerline is valid? [True, True] Translation: X:105.34, Y:-3.83, Z:-0.77 [[ 9.95705268e-01 9.25678302e-02 1.48870476e-03 1.05335033e+02] [-9.25677539e-02 9.95706381e-01 -1.20172718e-04 -3.82800624e+00] [-1.49343696e-03 -1.81494477e-05 9.99998885e-01 -7.68364153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters 0.05304753793936591 Centerline is valid? [True, True] Translation: X:105.40, Y:-3.83, Z:-0.77 [[ 9.95181741e-01 9.80365802e-02 1.45957164e-03 1.05395709e+02] [-9.80365119e-02 9.95182812e-01 -1.18424995e-04 -3.82946762e+00] [-1.46415059e-03 -2.52369194e-05 9.99998928e-01 -7.69856975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters 0.05419045727039551 Centerline is valid? [True, True] Translation: X:105.46, Y:-3.83, Z:-0.77 [[ 9.94897323e-01 1.00891619e-01 4.44956438e-04 1.05456992e+02] [-1.00891614e-01 9.94897422e-01 -3.53814904e-05 -3.82928124e+00] [-4.46255709e-04 -9.69142299e-06 9.99999900e-01 -7.71947158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters 0.053408697292449944 Centerline is valid? [True, True] Translation: X:105.52, Y:-3.84, Z:-0.77 [[ 9.94645032e-01 1.03349711e-01 3.13243237e-04 1.05518319e+02] [-1.03349708e-01 9.94645081e-01 -2.47416164e-05 -3.83738577e+00] [-3.14122884e-04 -7.76447134e-06 9.99999951e-01 -7.71540258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters 0.05391338046779284 Centerline is valid? [True, True] Translation: X:105.58, Y:-3.84, Z:-0.77 [[ 9.94555563e-01 1.04207101e-01 3.36421402e-04 1.05579026e+02] [-1.04207098e-01 9.94555619e-01 -2.72853616e-05 -3.83840557e+00] [-3.37433124e-04 -7.92068971e-06 9.99999943e-01 -7.73219848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters 0.05415653202468561 Centerline is valid? [True, True] Translation: X:105.64, Y:-3.85, Z:-0.77 [[ 9.94404239e-01 1.05630672e-01 1.53937571e-03 1.05640420e+02] [-1.05630604e-01 9.94405430e-01 -1.25166519e-04 -3.84768834e+00] [-1.54398499e-03 -3.81390704e-05 9.99998807e-01 -7.72298221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters 0.05299139560843577 Centerline is valid? [True, True] Translation: X:105.70, Y:-3.86, Z:-0.77 [[ 9.94271836e-01 1.06863941e-01 1.90121002e-03 1.05701402e+02] [-1.06863841e-01 9.94273652e-01 -1.54321403e-04 -3.86195668e+00] [-1.90681443e-03 -4.97331810e-05 9.99998181e-01 -7.71043786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters 0.05381700661208635 Centerline is valid? [True, True] Translation: X:105.76, Y:-3.86, Z:-0.77 [[ 9.94178175e-01 1.07723930e-01 2.30456982e-03 1.05762657e+02] [-1.07723784e-01 9.94180844e-01 -1.87761397e-04 -3.86425380e+00] [-2.31138557e-03 -6.15886999e-05 9.99997327e-01 -7.71982370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters 0.054244007842872914 Centerline is valid? [True, True] Translation: X:105.82, Y:-3.87, Z:-0.77 [[ 9.94017663e-01 1.09181947e-01 2.86139412e-03 1.05824086e+02] [-1.09181728e-01 9.94021778e-01 -2.33221724e-04 -3.87150716e+00] [-2.86975168e-03 -8.05854416e-05 9.99995879e-01 -7.71969428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters 0.05401496864745513 Centerline is valid? [True, True] Translation: X:105.89, Y:-3.88, Z:-0.77 [[ 9.93923780e-01 1.10031037e-01 2.94809172e-03 1.05885450e+02] [-1.10030807e-01 9.93928148e-01 -2.40571252e-04 -3.87914520e+00] [-2.95666165e-03 -8.52714234e-05 9.99995625e-01 -7.72537709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters 0.054002255236743894 Centerline is valid? [True, True] Translation: X:105.95, Y:-3.89, Z:-0.77 [[ 9.93970751e-01 1.09618931e-01 2.41594406e-03 1.05946702e+02] [-1.09618775e-01 9.93973684e-01 -1.97261488e-04 -3.89098828e+00] [-2.42300841e-03 -6.87606782e-05 9.99997062e-01 -7.72837836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters 0.053699389048031815 Centerline is valid? [True, True] Translation: X:106.01, Y:-3.90, Z:-0.77 [[ 9.94197562e-01 1.07535595e-01 2.70249761e-03 1.06007201e+02] [-1.07535390e-01 9.94201233e-01 -2.21456737e-04 -3.90047368e+00] [-2.71064094e-03 -7.04423848e-05 9.99996324e-01 -7.73569909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters 0.05311555016930202 Centerline is valid? [True, True] Translation: X:106.07, Y:-3.91, Z:-0.78 [[ 9.94846813e-01 1.01359604e-01 2.45946785e-03 1.06066693e+02] [-1.01359415e-01 9.94849852e-01 -2.01639963e-04 -3.91352989e+00] [-2.46723938e-03 -4.86893491e-05 9.99996955e-01 -7.75038374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters 0.05175705024005973 Centerline is valid? [True, True] Translation: X:106.13, Y:-3.93, Z:-0.77 [[ 9.95440439e-01 9.53527030e-02 2.48879362e-03 1.06125915e+02] [-9.53524909e-02 9.95443550e-01 -2.04028429e-04 -3.93285881e+00] [-2.49690822e-03 -3.42145221e-05 9.99996882e-01 -7.73950614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters 0.051157477428491145 Centerline is valid? [True, True] Translation: X:106.19, Y:-3.95, Z:-0.77 [[ 9.96109562e-01 8.80794441e-02 2.78426431e-03 1.06185913e+02] [-8.80791502e-02 9.96113453e-01 -2.28249875e-04 -3.94848648e+00] [-2.79354726e-03 -1.78737514e-05 9.99996098e-01 -7.72097428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters 0.05170316725580753 Centerline is valid? [True, True] Translation: X:106.25, Y:-3.96, Z:-0.77 [[ 9.96776151e-01 8.01487525e-02 3.67185498e-03 1.06246987e+02] [-8.01481886e-02 9.96782914e-01 -3.00709885e-04 -3.95932594e+00] [-3.68414382e-03 5.44791694e-06 9.99993214e-01 -7.72364559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters 0.05189655863055658 Centerline is valid? [True, True] Translation: X:106.31, Y:-3.98, Z:-0.78 [[ 9.97712651e-01 6.74803775e-02 3.98308494e-03 1.06306314e+02] [-6.74796098e-02 9.97720600e-01 -3.26957742e-04 -3.97698664e+00] [-3.99606913e-03 5.74328574e-05 9.99992014e-01 -7.75105415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters 0.05189560380308867 Centerline is valid? [True, True] Translation: X:106.37, Y:-3.99, Z:-0.78 [[ 9.98201219e-01 5.97952986e-02 4.34156812e-03 1.06366703e+02] [-5.97943133e-02 9.98210656e-01 -3.56512602e-04 -3.98795082e+00] [-4.35511733e-03 9.62702300e-05 9.99990512e-01 -7.75741859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters 0.05383002859987102 Centerline is valid? [True, True] Translation: X:106.43, Y:-4.00, Z:-0.78 [[ 9.98752464e-01 4.97577019e-02 4.20553992e-03 1.06425091e+02] [-4.97566884e-02 9.98761309e-01 -3.45350870e-04 -4.00470455e+00] [-4.21751442e-03 1.35666293e-04 9.99991097e-01 -7.77428595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters 0.05253616221718615 Centerline is valid? [True, True] Translation: X:106.49, Y:-4.01, Z:-0.78 [[ 9.98987814e-01 4.47764667e-02 4.29136607e-03 1.06486630e+02] [-4.47753656e-02 9.98997018e-01 -3.52378740e-04 -4.00546903e+00] [-4.30284018e-03 1.59874583e-04 9.99990730e-01 -7.77287353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters 0.054117918068625225 Centerline is valid? [True, True] Translation: X:106.55, Y:-4.02, Z:-0.78 [[ 9.99159713e-01 4.06334588e-02 5.36561442e-03 1.06545962e+02] [-4.06316770e-02 9.99174095e-01 -4.40699681e-04 -4.02348806e+00] [-5.37909009e-03 2.22315455e-04 9.99985508e-01 -7.77875567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters 0.053346212377476596 Centerline is valid? [True, True] Translation: X:106.61, Y:-4.02, Z:-0.78 [[ 9.99168444e-01 4.03573065e-02 5.80588086e-03 1.06608153e+02] [-4.03552156e-02 9.99185283e-01 -4.76871204e-04 -4.01951484e+00] [-5.82039595e-03 2.42177084e-04 9.99983032e-01 -7.78233750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters 0.05408933161288141 Centerline is valid? [True, True] Translation: X:106.67, Y:-4.03, Z:-0.78 [[ 9.99063982e-01 4.28893787e-02 5.62674589e-03 1.06667269e+02] [-4.28874524e-02 9.99079803e-01 -4.62616953e-04 -4.03127363e+00] [-5.64140952e-03 2.20867140e-04 9.99984063e-01 -7.79331933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters 0.05383487157896541 Centerline is valid? [True, True] Translation: X:106.73, Y:-4.04, Z:-0.78 [[ 9.98927123e-01 4.59821973e-02 5.49921052e-03 1.06727203e+02] [-4.59804042e-02 9.98942240e-01 -4.52130638e-04 -4.03776188e+00] [-5.51418363e-03 1.98789635e-04 9.99984777e-01 -7.80291165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters 0.051698877196775274 Centerline is valid? [True, True] Translation: X:106.79, Y:-4.03, Z:-0.78 [[ 9.98627955e-01 5.20387935e-02 5.84562965e-03 1.06789403e+02] [-5.20368709e-02 9.98645049e-01 -4.80614487e-04 -4.02779549e+00] [-5.86271971e-03 1.75766787e-04 9.99982799e-01 -7.81068543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters 0.05328140501163702 Centerline is valid? [True, True] Translation: X:106.85, Y:-4.04, Z:-0.78 [[ 9.98340099e-01 5.73045965e-02 5.76457295e-03 1.06847874e+02] [-5.73028146e-02 9.98356731e-01 -4.73952732e-04 -4.04293576e+00] [-5.78225987e-03 1.42839763e-04 9.99983272e-01 -7.83013169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters 0.051867998112909625 Centerline is valid? [True, True] Translation: X:106.91, Y:-4.04, Z:-0.78 [[ 9.97752250e-01 6.68417431e-02 4.75708172e-03 1.06907775e+02] [-6.68406378e-02 9.97763587e-01 -3.91144329e-04 -4.03734744e+00] [-4.77258769e-03 7.22987579e-05 9.99988609e-01 -7.83347707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters 0.05147265429297112 Centerline is valid? [True, True] Translation: X:106.97, Y:-4.04, Z:-0.79 [[ 9.97355753e-01 7.25160939e-02 4.78733346e-03 1.06969618e+02] [-7.25150405e-02 9.97367241e-01 -3.93481259e-04 -4.03995540e+00] [-4.80326329e-03 4.52871170e-05 9.99988463e-01 -7.85069711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters 0.05153422528561845 Centerline is valid? [True, True] Translation: X:107.03, Y:-4.04, Z:-0.78 [[ 9.96956194e-01 7.78475601e-02 4.25485168e-03 1.07031336e+02] [-7.78467771e-02 9.96965274e-01 -3.49572616e-04 -4.04172836e+00] [-4.26915274e-03 1.72820942e-05 9.99990887e-01 -7.84779782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters 0.05072837064511236 Centerline is valid? [True, True] Translation: X:107.09, Y:-4.05, Z:-0.79 [[ 9.96829707e-01 7.94283957e-02 4.65449401e-03 1.07092753e+02] [-7.94274723e-02 9.96840574e-01 -3.83177832e-04 -4.04871190e+00] [-4.67022368e-03 1.22683522e-05 9.99989094e-01 -7.86312251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters 0.050904200124790196 Centerline is valid? [True, True] Translation: X:107.16, Y:-4.05, Z:-0.79 [[ 9.96670715e-01 8.14123020e-02 4.41858670e-03 1.07155213e+02] [-8.14114892e-02 9.96680509e-01 -3.63795078e-04 -4.05409737e+00] [-4.43353664e-03 2.86017695e-06 9.99990172e-01 -7.87211812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters 0.05110436745899789 Centerline is valid? [True, True] Translation: X:107.22, Y:-4.06, Z:-0.79 [[ 9.96587506e-01 8.24468332e-02 3.98269492e-03 1.07216758e+02] [-8.24461792e-02 9.96595464e-01 -3.28378816e-04 -4.05982042e+00] [-3.99620949e-03 -1.09975343e-06 9.99992015e-01 -7.88338595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters 0.050964731958791476 Centerline is valid? [True, True] Translation: X:107.28, Y:-4.07, Z:-0.79 [[ 9.96569314e-01 8.26697512e-02 3.91343727e-03 1.07279354e+02] [-8.26691197e-02 9.96576998e-01 -3.23124851e-04 -4.06723021e+00] [-3.92675421e-03 -1.50410266e-06 9.99992290e-01 -7.88957375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters 0.05117734428593575 Centerline is valid? [True, True] Translation: X:107.34, Y:-4.07, Z:-0.79 [[ 9.96645733e-01 8.17878983e-02 2.83254964e-03 1.07340846e+02] [-8.17875634e-02 9.96649758e-01 -2.34025349e-04 -4.07466613e+00] [-2.84220036e-03 1.57303172e-06 9.99995961e-01 -7.90747249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters 0.05093782159139861 Centerline is valid? [True, True] Translation: X:107.40, Y:-4.08, Z:-0.79 [[ 9.96888538e-01 7.87619927e-02 3.12900084e-03 1.07401912e+02] [-7.87615676e-02 9.96893449e-01 -2.59060661e-04 -4.08465017e+00] [-3.13968457e-03 1.18095930e-05 9.99995071e-01 -7.89996014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters 0.05173439647853945 Centerline is valid? [True, True] Translation: X:107.46, Y:-4.09, Z:-0.79 [[ 9.97093142e-01 7.61181555e-02 3.36054321e-03 1.07463539e+02] [-7.61176487e-02 9.97098804e-01 -2.78637578e-04 -4.09225368e+00] [-3.37200299e-03 2.20309702e-05 9.99994315e-01 -7.88816471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters 0.05178647969200113 Centerline is valid? [True, True] Translation: X:107.52, Y:-4.10, Z:-0.79 [[ 9.97296246e-01 7.33989689e-02 3.57626491e-03 1.07524318e+02] [-7.33983757e-02 9.97302657e-01 -2.97018885e-04 -4.09849365e+00] [-3.58841937e-03 3.37237833e-05 9.99993561e-01 -7.87477765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters 0.052031058450159554 Centerline is valid? [True, True] Translation: X:107.59, Y:-4.10, Z:-0.79 [[ 9.97365078e-01 7.24624336e-02 3.47797011e-03 1.07586254e+02] [-7.24618656e-02 9.97371142e-01 -2.89225618e-04 -4.10296423e+00] [-3.48978502e-03 3.64433282e-05 9.99993910e-01 -7.87659391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters 0.05174586570504827 Centerline is valid? [True, True] Translation: X:107.65, Y:-4.11, Z:-0.79 [[ 9.97448310e-01 7.13209585e-02 3.19214656e-03 1.07648042e+02] [-7.13204726e-02 9.97453417e-01 -2.65952143e-04 -4.10988102e+00] [-3.20298545e-03 3.76081151e-05 9.99994870e-01 -7.88407515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters 0.05163670285571023 Centerline is valid? [True, True] Translation: X:107.71, Y:-4.11, Z:-0.79 [[ 9.97604680e-01 6.91136576e-02 2.86428678e-03 1.07709027e+02] [-6.91132578e-02 9.97608791e-01 -2.38421082e-04 -4.11347302e+00] [-2.87391583e-03 3.98897970e-05 9.99995869e-01 -7.87769123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters 0.05220873261601154 Centerline is valid? [True, True] Translation: X:107.77, Y:-4.12, Z:-0.79 [[ 9.97942490e-01 6.39840525e-02 4.10216367e-03 1.07768278e+02] [-6.39831847e-02 9.97950918e-01 -3.42576661e-04 -4.12008440e+00] [-4.11567745e-03 7.94023095e-05 9.99991527e-01 -7.88173301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters 0.05179836215569216 Centerline is valid? [True, True] Translation: X:107.83, Y:-4.12, Z:-0.79 [[ 9.98188255e-01 5.99736298e-02 4.83433690e-03 1.07828102e+02] [-5.99723768e-02 9.98199955e-01 -4.03857765e-04 -4.12178664e+00] [-4.84985569e-03 1.13199404e-04 9.99988233e-01 -7.88548951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters 0.05229806066980482 Centerline is valid? [True, True] Translation: X:107.89, Y:-4.13, Z:-0.79 [[ 9.98283121e-01 5.83246305e-02 5.38963406e-03 1.07889870e+02] [-5.83230495e-02 9.98297661e-01 -4.50190562e-04 -4.12508667e+00] [-5.40671627e-03 1.35077745e-04 9.99985374e-01 -7.88710232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters 0.05387364310262564 Centerline is valid? [True, True] Translation: X:107.95, Y:-4.14, Z:-0.79 [[ 9.98308367e-01 5.79388845e-02 4.84670134e-03 1.07949632e+02] [-5.79376011e-02 9.98320124e-01 -4.04904533e-04 -4.13863208e+00] [-4.86201920e-03 1.23413335e-04 9.99988173e-01 -7.89143197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters 0.05287941970762035 Centerline is valid? [True, True] Translation: X:108.01, Y:-4.14, Z:-0.79 [[ 9.98252966e-01 5.88254748e-02 5.52991381e-03 1.08012549e+02] [-5.88238157e-02 9.98268273e-01 -4.62327299e-04 -4.13609813e+00] [-5.54753413e-03 1.36228966e-04 9.99984603e-01 -7.89476746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters 0.052523174398066544 Centerline is valid? [True, True] Translation: X:108.07, Y:-4.13, Z:-0.79 [[ 9.98093650e-01 6.14885311e-02 5.31294365e-03 1.08073350e+02] [-6.14870359e-02 9.98107783e-01 -4.44471708e-04 -4.13324883e+00] [-5.33022032e-03 1.16947233e-04 9.99985787e-01 -7.89439756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters 0.053247786213479927 Centerline is valid? [True, True] Translation: X:108.14, Y:-4.14, Z:-0.79 [[ 9.98010225e-01 6.28254895e-02 5.34305941e-03 1.08135359e+02] [-6.28239971e-02 9.98024522e-01 -4.46852578e-04 -4.13658956e+00] [-5.36057804e-03 1.10291093e-04 9.99985626e-01 -7.90539014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters 0.05220899287961149 Centerline is valid? [True, True] Translation: X:108.20, Y:-4.13, Z:-0.79 [[ 9.97626932e-01 6.87219773e-02 4.21839149e-03 1.08196455e+02] [-6.87210973e-02 9.97635848e-01 -3.53366073e-04 -4.13392300e+00] [-4.23270259e-03 6.26350196e-05 9.99991040e-01 -7.91027547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters 0.052310359438424055 Centerline is valid? [True, True] Translation: X:108.26, Y:-4.13, Z:-0.79 [[ 9.97285409e-01 7.35407643e-02 3.68371590e-03 1.08258321e+02] [-7.35401263e-02 9.97292211e-01 -3.08524391e-04 -4.13342405e+00] [-3.69643030e-03 3.67859411e-05 9.99993168e-01 -7.92022516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters 0.051900253740499974 Centerline is valid? [True, True] Translation: X:108.32, Y:-4.13, Z:-0.79 [[ 9.96905139e-01 7.85816499e-02 2.25117186e-03 1.08320385e+02] [-7.85814248e-02 9.96907681e-01 -1.88429154e-04 -4.13382459e+00] [-2.25901759e-03 1.09456996e-05 9.99997448e-01 -7.94172098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters 0.05268004899300088 Centerline is valid? [True, True] Translation: X:108.38, Y:-4.14, Z:-0.79 [[ 9.96776848e-01 8.02143795e-02 1.25279682e-03 1.08383033e+02] [-8.02143119e-02 9.96777635e-01 -1.04212368e-04 -4.13534944e+00] [-1.25711918e-03 3.38424026e-06 9.99999210e-01 -7.94871990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters 0.05221808490637947 Centerline is valid? [True, True] Translation: X:108.45, Y:-4.14, Z:-0.80 [[ 9.96776386e-01 8.02238387e-02 9.85993803e-04 1.08445316e+02] [-8.02237969e-02 9.96776874e-01 -8.20009887e-05 -4.13761707e+00] [-9.89394254e-04 2.63648258e-06 9.99999511e-01 -7.96508340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters 0.052388981505752164 Centerline is valid? [True, True] Translation: X:108.51, Y:-4.14, Z:-0.80 [[ 9.97058667e-01 7.66410046e-02 4.14140174e-04 1.08507345e+02] [-7.66409968e-02 9.97058753e-01 -3.45454084e-05 -4.14118556e+00] [-4.15569680e-04 2.70368304e-06 9.99999914e-01 -7.95026109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters 0.053215453106814845 Centerline is valid? [True, True] Translation: X:108.57, Y:-4.15, Z:-0.79 [[ 9.97355153e-01 7.26806443e-02 4.71406635e-04 1.08567906e+02] [-7.26806337e-02 9.97355265e-01 -3.95517243e-05 -4.14554312e+00] [-4.73034534e-04 5.18498308e-06 9.99999888e-01 -7.94007819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters 0.053689402840311075 Centerline is valid? [True, True] Translation: X:108.63, Y:-4.16, Z:-0.80 [[ 9.97872374e-01 6.51963635e-02 -3.99702789e-04 1.08628102e+02] [-6.51963552e-02 9.97872454e-01 3.37200124e-05 -4.15629564e+00] [ 4.01050825e-04 -7.58910383e-06 9.99999920e-01 -7.95678211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters 0.05367318993992958 Centerline is valid? [True, True] Translation: X:108.69, Y:-4.16, Z:-0.79 [[ 9.98160947e-01 6.05998731e-02 -1.54276748e-03 1.08688798e+02] [-6.05997447e-02 9.98162138e-01 1.29921023e-04 -4.15650185e+00] [ 1.54780529e-03 -3.61907758e-05 9.99998801e-01 -7.93521731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters 0.054960905685741045 Centerline is valid? [True, True] Translation: X:108.75, Y:-4.17, Z:-0.79 [[ 9.98409226e-01 5.63334857e-02 -2.35699245e-03 1.08748701e+02] [-5.63331739e-02 9.98412006e-01 1.98513729e-04 -4.16582180e+00] [ 2.36443253e-03 -6.54210734e-05 9.99997203e-01 -7.94996864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters 0.05458689656862786 Centerline is valid? [True, True] Translation: X:108.81, Y:-4.17, Z:-0.79 [[ 9.98677457e-01 5.13762641e-02 -1.95369558e-03 1.08809180e+02] [-5.13760405e-02 9.98679366e-01 1.64493667e-04 -4.17147875e+00] [ 1.95956653e-03 -6.39029735e-05 9.99998078e-01 -7.93737214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters 0.05412916893590317 Centerline is valid? [True, True] Translation: X:108.87, Y:-4.17, Z:-0.79 [[ 9.98792046e-01 4.91189798e-02 -1.33247487e-03 1.08871152e+02] [-4.91188736e-02 9.98792933e-01 1.12328811e-04 -4.16747450e+00] [ 1.33638396e-03 -4.67434578e-05 9.99999106e-01 -7.91213809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters 0.055432791784232646 Centerline is valid? [True, True] Translation: X:108.93, Y:-4.18, Z:-0.79 [[ 9.98892674e-01 4.70426032e-02 -6.46952150e-04 1.08929998e+02] [-4.70425776e-02 9.98892884e-01 5.47748069e-05 -4.18348253e+00] [ 6.48812649e-04 -2.42798566e-05 9.99999789e-01 -7.94281800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters 0.05509645847584507 Centerline is valid? [True, True] Translation: X:108.99, Y:-4.18, Z:-0.79 [[ 9.98868903e-01 4.75466091e-02 -4.85046447e-04 1.08992774e+02] [-4.75465945e-02 9.98869020e-01 4.17266981e-05 -4.17818695e+00] [ 4.86481832e-04 -1.86171945e-05 9.99999881e-01 -7.93147702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters 0.054724496018206184 Centerline is valid? [True, True] Translation: X:109.05, Y:-4.18, Z:-0.79 [[ 9.98750500e-01 4.99714320e-02 -5.43472180e-04 1.09052679e+02] [-4.99714144e-02 9.98750647e-01 4.58440622e-05 -4.18003749e+00] [ 5.45084085e-04 -1.86287065e-05 9.99999851e-01 -7.92863612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters 0.054431815393916505 Centerline is valid? [True, True] Translation: X:109.11, Y:-4.19, Z:-0.80 [[ 9.98474740e-01 5.52050732e-02 -7.70323781e-04 1.09112565e+02] [-5.52050394e-02 9.98475037e-01 6.50483627e-05 -4.18639453e+00] [ 7.72740066e-04 -2.24233923e-05 9.99999701e-01 -7.95134125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters 0.05442810346079781 Centerline is valid? [True, True] Translation: X:109.17, Y:-4.18, Z:-0.79 [[ 9.98256035e-01 5.90174881e-02 -1.35051258e-03 1.09172652e+02] [-5.90173880e-02 9.98256948e-01 1.13932558e-04 -4.18476379e+00] [ 1.35488258e-03 -3.40301390e-05 9.99999082e-01 -7.94693827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters 0.05398093904963081 Centerline is valid? [True, True] Translation: X:109.23, Y:-4.19, Z:-0.80 [[ 9.98022761e-01 6.28198007e-02 -2.05963196e-03 1.09233957e+02] [-6.28195757e-02 9.98024885e-01 1.73827404e-04 -4.18596047e+00] [ 2.06648375e-03 -4.40985001e-05 9.99997864e-01 -7.95338391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters 0.05445397191743809 Centerline is valid? [True, True] Translation: X:109.30, Y:-4.19, Z:-0.80 [[ 9.97948886e-01 6.39989070e-02 -1.47021017e-03 1.09295149e+02] [-6.39987924e-02 9.97949968e-01 1.24973788e-04 -4.19281815e+00] [ 1.47519438e-03 -3.06257768e-05 9.99998911e-01 -7.96985483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters 0.054201097563436385 Centerline is valid? [True, True] Translation: X:109.36, Y:-4.20, Z:-0.80 [[ 9.97964951e-01 6.37477275e-02 -1.47801962e-03 1.09357111e+02] [-6.37476120e-02 9.97966045e-01 1.25174444e-04 -4.19752758e+00] [ 1.48299298e-03 -3.06994865e-05 9.99998900e-01 -7.96952330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters 0.054129226508591005 Centerline is valid? [True, True] Translation: X:109.42, Y:-4.20, Z:-0.80 [[ 9.98011364e-01 6.30245281e-02 -1.10713273e-03 1.09419144e+02] [-6.30244627e-02 9.98011978e-01 9.38811529e-05 -4.20091692e+00] [ 1.11084854e-03 -2.39180122e-05 9.99999383e-01 -7.96010233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters 0.05424709638897698 Centerline is valid? [True, True] Translation: X:109.48, Y:-4.20, Z:-0.80 [[ 9.98096888e-01 6.16422663e-02 -1.68319133e-03 1.09480981e+02] [-6.16421131e-02 9.98098307e-01 1.42768213e-04 -4.20336225e+00] [ 1.68879097e-03 -3.87410390e-05 9.99998573e-01 -7.95238546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters 0.05463589505620808 Centerline is valid? [True, True] Translation: X:109.54, Y:-4.21, Z:-0.80 [[ 9.98162782e-01 6.05436005e-02 -2.35208209e-03 1.09542926e+02] [-6.05432986e-02 9.98165552e-01 1.99408263e-04 -4.20988337e+00] [ 2.35984021e-03 -5.66390981e-05 9.99997214e-01 -7.96813789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters 0.05420459529219209 Centerline is valid? [True, True] Translation: X:109.60, Y:-4.21, Z:-0.79 [[ 9.98222865e-01 5.95394774e-02 -2.48244757e-03 1.09603997e+02] [-5.95391361e-02 9.98225950e-01 2.11235970e-04 -4.20924116e+00] [ 2.49062046e-03 -6.30577915e-05 9.99996896e-01 -7.94015799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters 0.054758088661885765 Centerline is valid? [True, True] Translation: X:109.67, Y:-4.21, Z:-0.79 [[ 9.98253977e-01 5.90391869e-02 -1.83633340e-03 1.09666097e+02] [-5.90389985e-02 9.98255665e-01 1.56663526e-04 -4.21482290e+00] [ 1.84237951e-03 -4.79747027e-05 9.99998302e-01 -7.93892185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters 0.05468501280274362 Centerline is valid? [True, True] Translation: X:109.73, Y:-4.22, Z:-0.79 [[ 9.98255932e-01 5.89972519e-02 -2.10224305e-03 1.09728046e+02] [-5.89970061e-02 9.98258144e-01 1.78789671e-04 -4.22140968e+00] [ 2.10912934e-03 -5.44518036e-05 9.99997774e-01 -7.94423828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters 0.05424718677082387 Centerline is valid? [True, True] Translation: X:109.79, Y:-4.23, Z:-0.80 [[ 9.98172381e-01 6.04018771e-02 -1.87370484e-03 1.09788717e+02] [-6.04016830e-02 9.98174139e-01 1.60046986e-04 -4.23145374e+00] [ 1.87995086e-03 -4.65795557e-05 9.99998232e-01 -7.96477321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters 0.0537448854332219 Centerline is valid? [True, True] Translation: X:109.85, Y:-4.23, Z:-0.80 [[ 9.98129492e-01 6.11255111e-02 -1.09028889e-03 1.09851460e+02] [-6.11254460e-02 9.98130087e-01 9.30037713e-05 -4.23273893e+00] [ 1.09393505e-03 -2.61854121e-05 9.99999401e-01 -7.95564050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters 0.05391731324884281 Centerline is valid? [True, True] Translation: X:109.91, Y:-4.24, Z:-0.80 [[ 9.98108101e-01 6.14786555e-02 -7.70643156e-04 1.09913585e+02] [-6.14786229e-02 9.98108398e-01 6.58610937e-05 -4.23535692e+00] [ 7.73234457e-04 -1.83584111e-05 9.99999701e-01 -7.95110456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters 0.05426300501855594 Centerline is valid? [True, True] Translation: X:109.97, Y:-4.24, Z:-0.80 [[ 9.98038040e-01 6.25956066e-02 -1.36436499e-03 1.09974911e+02] [-6.25955050e-02 9.98038972e-01 1.17048181e-04 -4.24189127e+00] [ 1.36901613e-03 -3.14154217e-05 9.99999062e-01 -7.96436507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters 0.05423014381562586 Centerline is valid? [True, True] Translation: X:110.04, Y:-4.25, Z:-0.80 [[ 9.97948702e-01 6.40008272e-02 -1.51092665e-03 1.10037395e+02] [-6.40007050e-02 9.97949845e-01 1.29133667e-04 -4.24702610e+00] [ 1.51609368e-03 -3.21684042e-05 9.99998850e-01 -7.97028845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters 0.05419312647260342 Centerline is valid? [True, True] Translation: X:110.10, Y:-4.25, Z:-0.80 [[ 9.97895269e-01 6.48327605e-02 -1.32089335e-03 1.10100108e+02] [-6.48326669e-02 9.97896143e-01 1.13572170e-04 -4.24693979e+00] [ 1.32547758e-03 -2.76960928e-05 9.99999121e-01 -7.95714514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters 0.05416817268236505 Centerline is valid? [True, True] Translation: X:110.16, Y:-4.25, Z:-0.80 [[ 9.97766882e-01 6.67825237e-02 -1.15879888e-03 1.10160664e+02] [-6.67824528e-02 9.97767555e-01 9.97857668e-05 -4.25293578e+00] [ 1.16287587e-03 -2.21755018e-05 9.99999324e-01 -7.97122388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters 0.054618461568024884 Centerline is valid? [True, True] Translation: X:110.22, Y:-4.26, Z:-0.80 [[ 9.97745551e-01 6.71104687e-02 -2.57159305e-05 1.10222532e+02] [-6.71104687e-02 9.97745551e-01 3.00892197e-06 -4.25774112e+00] [ 2.58598853e-05 -1.27633036e-06 1.00000000e+00 -7.97098099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters 0.05386734067240461 Centerline is valid? [True, True] Translation: X:110.28, Y:-4.27, Z:-0.80 [[ 9.97767168e-01 6.67779361e-02 -1.17734605e-03 1.10282553e+02] [-6.67778636e-02 9.97767862e-01 1.00878126e-04 -4.26763273e+00] [ 1.18145448e-03 -2.20322279e-05 9.99999302e-01 -8.00160216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters 0.05341179992133219 Centerline is valid? [True, True] Translation: X:110.34, Y:-4.27, Z:-0.80 [[ 9.97878139e-01 6.51092848e-02 2.57697359e-05 1.10344402e+02] [-6.51092848e-02 9.97878139e-01 -1.91120415e-06 -4.27421347e+00] [-2.58394933e-05 2.29299760e-07 1.00000000e+00 -8.01199910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters 0.05454655419104778 Centerline is valid? [True, True] Translation: X:110.40, Y:-4.28, Z:-0.80 [[ 9.98009710e-01 6.30540901e-02 8.94573386e-04 1.10404827e+02] [-6.30540468e-02 9.98010111e-01 -7.64940958e-05 -4.27897734e+00] [-8.97616550e-04 1.99353782e-05 9.99999597e-01 -8.00321907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters 0.05439018120527279 Centerline is valid? [True, True] Translation: X:110.46, Y:-4.29, Z:-0.80 [[ 9.98278242e-01 5.86392783e-02 1.40915696e-03 1.10464874e+02] [-5.86391664e-02 9.98279236e-01 -1.20618307e-04 -4.28635365e+00] [-1.41380510e-03 3.77788417e-05 9.99999000e-01 -8.01166383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters 0.05440131875703064 Centerline is valid? [True, True] Translation: X:110.52, Y:-4.30, Z:-0.80 [[ 9.98452552e-01 5.55848910e-02 1.67986088e-03 1.10524361e+02] [-5.55847278e-02 9.98453964e-01 -1.43716022e-04 -4.29681535e+00] [-1.68525219e-03 5.01190197e-05 9.99998579e-01 -8.02226324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters 0.05479882551138229 Centerline is valid? [True, True] Translation: X:110.58, Y:-4.30, Z:-0.80 [[ 9.98707395e-01 5.07481920e-02 2.85650866e-03 1.10584927e+02] [-5.07476995e-02 9.98711475e-01 -2.44696070e-04 -4.30431362e+00] [-2.86524587e-03 9.94185312e-05 9.99995890e-01 -8.02918671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters 0.054136784168455555 Centerline is valid? [True, True] Translation: X:110.65, Y:-4.30, Z:-0.80 [[ 9.98825228e-01 4.82989856e-02 3.92075566e-03 1.10645108e+02] [-4.82980383e-02 9.98832912e-01 -3.35985430e-04 -4.30127766e+00] [-3.93240755e-03 1.46225917e-04 9.99992257e-01 -8.03322879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters 0.05450619390356623 Centerline is valid? [True, True] Translation: X:110.71, Y:-4.31, Z:-0.81 [[ 9.98886927e-01 4.68262121e-02 5.67572965e-03 1.10706732e+02] [-4.68242036e-02 9.98903027e-01 -4.86308265e-04 -4.31116227e+00] [-5.69227550e-03 2.20005447e-04 9.99983775e-01 -8.05447527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters 0.05483680778287688 Centerline is valid? [True, True] Translation: X:110.77, Y:-4.32, Z:-0.81 [[ 9.98820385e-01 4.82506721e-02 5.45075425e-03 1.10766843e+02] [-4.82488395e-02 9.98835237e-01 -4.67288512e-04 -4.32370499e+00] [-5.46695240e-03 2.03744724e-04 9.99985035e-01 -8.06801015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters 0.05352584091536139 Centerline is valid? [True, True] Translation: X:110.83, Y:-4.32, Z:-0.81 [[ 9.98562824e-01 5.30298653e-02 7.75370546e-03 1.10828449e+02] [-5.30262995e-02 9.98592895e-01 -6.64884803e-04 -4.31793171e+00] [-7.77805394e-03 2.52778939e-04 9.99969719e-01 -8.08386013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters 0.05361637613247021 Centerline is valid? [True, True] Translation: X:110.89, Y:-4.32, Z:-0.81 [[ 9.98216068e-01 5.90644219e-02 8.72208219e-03 1.10888468e+02] [-5.90601408e-02 9.98254146e-01 -7.47812309e-04 -4.32009318e+00] [-8.75102381e-03 2.31350860e-04 9.99961682e-01 -8.10013646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters 0.05348237755400909 Centerline is valid? [True, True] Translation: X:110.95, Y:-4.33, Z:-0.81 [[ 9.97960292e-01 6.29866381e-02 1.03893589e-02 1.10948759e+02] [-6.29807760e-02 9.98014343e-01 -8.90776792e-04 -4.33268574e+00] [-1.04248362e-02 2.34629981e-04 9.99945632e-01 -8.10096978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters 0.05353022984500318 Centerline is valid? [True, True] Translation: X:111.01, Y:-4.33, Z:-0.81 [[ 9.97606055e-01 6.83338390e-02 1.06135015e-02 1.11008285e+02] [-6.83280219e-02 9.97662495e-01 -9.10158027e-04 -4.33384613e+00] [-1.06508869e-02 1.82779597e-04 9.99943261e-01 -8.10404359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters 0.05305108276429287 Centerline is valid? [True, True] Translation: X:111.07, Y:-4.34, Z:-0.81 [[ 9.97359453e-01 7.18466477e-02 1.05915181e-02 1.11069405e+02] [-7.18410495e-02 9.97415680e-01 -9.08569343e-04 -4.33634418e+00] [-1.06294239e-02 1.45264448e-04 9.99943496e-01 -8.11497736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters 0.05269857079765294 Centerline is valid? [True, True] Translation: X:111.13, Y:-4.33, Z:-0.81 [[ 9.96942199e-01 7.74390748e-02 1.04614512e-02 1.11131286e+02] [-7.74339189e-02 9.96997082e-01 -8.97610660e-04 -4.33482948e+00] [-1.04995465e-02 8.47947783e-05 9.99944875e-01 -8.14436256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters 0.05227507061784718 Centerline is valid? [True, True] Translation: X:111.19, Y:-4.34, Z:-0.81 [[ 9.96663295e-01 8.10020270e-02 1.00472458e-02 1.11192056e+02] [-8.09974470e-02 9.96713936e-01 -8.62589289e-04 -4.33933606e+00] [-1.00841014e-02 4.59098242e-05 9.99949153e-01 -8.14065861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters 0.05221121507776348 Centerline is valid? [True, True] Translation: X:111.26, Y:-4.34, Z:-0.82 [[ 9.96658394e-01 8.10581952e-02 1.00803905e-02 1.11255100e+02] [-8.10535759e-02 9.96709369e-01 -8.66618119e-04 -4.34300820e+00] [-1.01174661e-02 4.66705277e-05 9.99948816e-01 -8.16481793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters 0.052493653632686814 Centerline is valid? [True, True] Translation: X:111.32, Y:-4.35, Z:-0.82 [[ 9.96892360e-01 7.81829981e-02 9.64579529e-03 1.11317159e+02] [-7.81786226e-02 9.96939022e-01 -8.30421794e-04 -4.35023623e+00] [-9.68119459e-03 7.37461522e-05 9.99953133e-01 -8.18234600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters 0.05281525043517196 Centerline is valid? [True, True] Translation: X:111.38, Y:-4.36, Z:-0.82 [[ 9.97275486e-01 7.32257527e-02 8.92154459e-03 1.11377523e+02] [-7.32218038e-02 9.97315385e-01 -7.68905453e-04 -4.35768483e+00] [-8.95389735e-03 1.13558973e-04 9.99959907e-01 -8.19254185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters 0.052284628890054696 Centerline is valid? [True, True] Translation: X:111.44, Y:-4.36, Z:-0.82 [[ 9.97882786e-01 6.41782499e-02 1.05402846e-02 1.11438368e+02] [-6.41722274e-02 9.97938424e-01 -9.08945002e-04 -4.36422354e+00] [-1.05768895e-02 2.30627030e-04 9.99944037e-01 -8.21701338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters 0.05267122936971864 Centerline is valid? [True, True] Translation: X:111.50, Y:-4.37, Z:-0.82 [[ 9.98267053e-01 5.80388972e-02 9.71480760e-03 1.11497038e+02] [-5.80334897e-02 9.98314285e-01 -8.37840051e-04 -4.37214809e+00] [-9.74705852e-03 2.72603932e-04 9.99952459e-01 -8.21986803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters 0.05345832329129538 Centerline is valid? [True, True] Translation: X:111.56, Y:-4.39, Z:-0.82 [[ 9.98627745e-01 5.14757411e-02 9.63714384e-03 1.11557443e+02] [-5.14701148e-02 9.98674189e-01 -8.31097060e-04 -4.38570713e+00] [-9.66714815e-03 3.33931684e-04 9.99953216e-01 -8.22448448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters 0.053082335832347956 Centerline is valid? [True, True] Translation: X:111.62, Y:-4.39, Z:-0.82 [[ 9.98765914e-01 4.87916815e-02 9.27470783e-03 1.11617611e+02] [-4.87863527e-02 9.98808917e-01 -8.00067659e-04 -4.38513660e+00] [-9.30269753e-03 3.46601139e-04 9.99956669e-01 -8.23649442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters 0.0533861730196313 Centerline is valid? [True, True] Translation: X:111.68, Y:-4.39, Z:-0.82 [[ 9.98772312e-01 4.87687647e-02 8.68772457e-03 1.11679458e+02] [-4.87640848e-02 9.98810043e-01 -7.49817461e-04 -4.39323536e+00] [-8.71395422e-03 3.25247981e-04 9.99961980e-01 -8.23892068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters 0.05323638927556881 Centerline is valid? [True, True] Translation: X:111.74, Y:-4.39, Z:-0.82 [[ 9.98657460e-01 5.11379383e-02 8.25762032e-03 1.11740287e+02] [-5.11337843e-02 9.98691557e-01 -7.13534168e-04 -4.39259239e+00] [-8.28330437e-03 2.90332843e-04 9.99965651e-01 -8.24282397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters 0.0532884654018141 Centerline is valid? [True, True] Translation: X:111.80, Y:-4.40, Z:-0.82 [[ 9.98333702e-01 5.70589202e-02 8.60806004e-03 1.11799560e+02] [-5.70546259e-02 9.98370781e-01 -7.43814391e-04 -4.40241479e+00] [-8.63647687e-03 2.51445329e-04 9.99962673e-01 -8.23869734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters 0.05318401905047606 Centerline is valid? [True, True] Translation: X:111.86, Y:-4.40, Z:-0.82 [[ 9.98067086e-01 6.14398398e-02 9.34012834e-03 1.11860578e+02] [-6.14349756e-02 9.98110762e-01 -8.07072610e-04 -4.39980319e+00] [-9.37206903e-03 2.31702051e-04 9.99956054e-01 -8.24101378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters 0.05279345596381517 Centerline is valid? [True, True] Translation: X:111.92, Y:-4.40, Z:-0.82 [[ 9.97701876e-01 6.71522999e-02 9.02967151e-03 1.11920037e+02] [-6.71479873e-02 9.97742722e-01 -7.80260492e-04 -4.40172909e+00] [-9.06168532e-03 1.72143088e-04 9.99958927e-01 -8.24002955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters 0.05309584230027342 Centerline is valid? [True, True] Translation: X:111.98, Y:-4.41, Z:-0.82 [[ 9.97581635e-01 6.88690562e-02 9.37731405e-03 1.11981640e+02] [-6.88644808e-02 9.97625695e-01 -8.10326980e-04 -4.40934503e+00] [-9.41085590e-03 1.62603451e-04 9.99955704e-01 -8.24104507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters 0.05336784707427428 Centerline is valid? [True, True] Translation: X:112.04, Y:-4.41, Z:-0.82 [[ 9.97370499e-01 7.17254306e-02 1.03706143e-02 1.12042165e+02] [-7.17199855e-02 9.97424403e-01 -8.96486351e-04 -4.41242892e+00] [-1.04082046e-02 1.50348734e-04 9.99945822e-01 -8.23438096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters 0.05255302540959467 Centerline is valid? [True, True] Translation: X:112.10, Y:-4.42, Z:-0.82 [[ 9.97266119e-01 7.31139067e-02 1.07072217e-02 1.12104400e+02] [-7.31081796e-02 9.97323587e-01 -9.25830335e-04 -4.41564666e+00] [-1.07462558e-02 1.40513737e-04 9.99942247e-01 -8.24024664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters 0.05229860354597064 Centerline is valid? [True, True] Translation: X:112.17, Y:-4.42, Z:-0.83 [[ 9.97341113e-01 7.21495202e-02 1.02543003e-02 1.12166877e+02] [-7.21442092e-02 9.97393817e-01 -8.87378562e-04 -4.41785634e+00] [-1.02915997e-02 1.45230737e-04 9.99947030e-01 -8.25472503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters 0.05283373131972694 Centerline is valid? [True, True] Translation: X:112.23, Y:-4.42, Z:-0.83 [[ 9.97633630e-01 6.80354985e-02 9.91519860e-03 1.12228100e+02] [-6.80303217e-02 9.97682884e-01 -8.58841958e-04 -4.42055793e+00] [-9.95065568e-03 1.82275469e-04 9.99950474e-01 -8.26971436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters 0.05331918443135474 Centerline is valid? [True, True] Translation: X:112.29, Y:-4.43, Z:-0.83 [[ 9.97956116e-01 6.32798765e-02 8.90209697e-03 1.12287763e+02] [-6.32755135e-02 9.97995799e-01 -7.71190399e-04 -4.42844977e+00] [-8.93305621e-03 2.06329418e-04 9.99960078e-01 -8.27401017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters 0.053832606752043384 Centerline is valid? [True, True] Translation: X:112.35, Y:-4.43, Z:-0.83 [[ 9.98118750e-01 6.07860471e-02 8.00104329e-03 1.12347628e+02] [-6.07824424e-02 9.98150797e-01 -6.93154149e-04 -4.43312946e+00] [-8.02838184e-03 2.05527200e-04 9.99967751e-01 -8.27959281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters 0.05322720179822135 Centerline is valid? [True, True] Translation: X:112.41, Y:-4.44, Z:-0.83 [[ 9.98260543e-01 5.84388511e-02 7.79671813e-03 1.12408863e+02] [-5.84353545e-02 9.98290966e-01 -6.75721148e-04 -4.43752984e+00] [-7.82288164e-03 2.18941773e-04 9.99969377e-01 -8.29618744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters 0.05377897436929502 Centerline is valid? [True, True] Translation: X:112.47, Y:-4.44, Z:-0.83 [[ 9.98296761e-01 5.78999769e-02 7.15327791e-03 1.12470798e+02] [-5.78970188e-02 9.98322368e-01 -6.20096272e-04 -4.44040774e+00] [-7.17718090e-03 2.04886635e-04 9.99974223e-01 -8.30139238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters 0.05333521131312796 Centerline is valid? [True, True] Translation: X:112.53, Y:-4.45, Z:-0.83 [[ 9.98272851e-01 5.84214325e-02 6.18482823e-03 1.12532113e+02] [-5.84192275e-02 9.98291994e-01 -5.36731620e-04 -4.44714326e+00] [-6.20562114e-03 1.74491718e-04 9.99980730e-01 -8.30724478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters 0.05335475979713111 Centerline is valid? [True, True] Translation: X:112.59, Y:-4.44, Z:-0.83 [[ 9.98068011e-01 6.18628842e-02 5.76445691e-03 1.12593635e+02] [-6.18610218e-02 9.98084647e-01 -5.00988825e-04 -4.44486957e+00] [-5.78440856e-03 1.43425725e-04 9.99983260e-01 -8.30838863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters 0.05334317122118305 Centerline is valid? [True, True] Translation: X:112.65, Y:-4.45, Z:-0.83 [[ 9.97783086e-01 6.62930357e-02 5.84358835e-03 1.12653387e+02] [-6.62911974e-02 9.97800190e-01 -5.07927322e-04 -4.44780578e+00] [-5.86440561e-03 1.19422822e-04 9.99982797e-01 -8.30866014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters 0.053182795421412306 Centerline is valid? [True, True] Translation: X:112.71, Y:-4.45, Z:-0.83 [[ 9.97344588e-01 7.25239200e-02 6.63724326e-03 1.12712322e+02] [-7.25216863e-02 9.97366669e-01 -5.76915276e-04 -4.45489219e+00] [-6.66160536e-03 9.40392544e-05 9.99977807e-01 -8.31590862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters 0.05286052368228204 Centerline is valid? [True, True] Translation: X:112.77, Y:-4.46, Z:-0.83 [[ 9.97150331e-01 7.51557339e-02 6.54465017e-03 1.12774689e+02] [-7.51536192e-02 9.97171806e-01 -5.68801950e-04 -4.45809680e+00] [-6.56888935e-03 7.53269059e-05 9.99978422e-01 -8.31837220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters 0.0528841480742722 Centerline is valid? [True, True] Translation: X:112.84, Y:-4.47, Z:-0.83 [[ 9.96927904e-01 7.80821337e-02 6.15915750e-03 1.12835514e+02] [-7.80803156e-02 9.96946928e-01 -5.35457582e-04 -4.46504876e+00] [-6.18216282e-03 5.29036434e-05 9.99980889e-01 -8.32216551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters 0.052896415091315055 Centerline is valid? [True, True] Translation: X:112.90, Y:-4.47, Z:-0.83 [[ 9.96765541e-01 8.01610001e-02 5.71585336e-03 1.12897793e+02] [-8.01594646e-02 9.96781928e-01 -4.97590662e-04 -4.47054687e+00] [-5.73734670e-03 3.78014801e-05 9.99983541e-01 -8.32887977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters 0.052602299058716974 Centerline is valid? [True, True] Translation: X:112.96, Y:-4.48, Z:-0.83 [[ 9.96406245e-01 8.45669984e-02 4.79765961e-03 1.12959765e+02] [-8.45659673e-02 9.96417795e-01 -4.17732784e-04 -4.47782309e+00] [-4.81579982e-03 1.05128294e-05 9.99988404e-01 -8.34010660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters 0.052305146483433124 Centerline is valid? [True, True] Translation: X:113.02, Y:-4.48, Z:-0.84 [[ 9.96027111e-01 8.89519041e-02 4.18952766e-03 1.13021172e+02] [-8.89511567e-02 9.96035922e-01 -3.64763586e-04 -4.48490128e+00] [-4.20536646e-03 -9.34891078e-06 9.99991157e-01 -8.35485846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters 0.0519494669651895 Centerline is valid? [True, True] Translation: X:113.08, Y:-4.49, Z:-0.84 [[ 9.95837750e-01 9.10481702e-02 4.17199146e-03 1.13082309e+02] [-9.10474448e-02 9.95846489e-01 -3.63874957e-04 -4.49171856e+00] [-4.18779319e-03 -1.74887425e-05 9.99991231e-01 -8.35979379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters 0.051902339803952056 Centerline is valid? [True, True] Translation: X:113.14, Y:-4.50, Z:-0.84 [[ 9.95706987e-01 9.24629835e-02 4.26523946e-03 1.13143891e+02] [-9.24622354e-02 9.95716122e-01 -3.72680451e-04 -4.50145840e+00] [-4.28142684e-03 -2.32930461e-05 9.99990834e-01 -8.35855377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters 0.05202873875638837 Centerline is valid? [True, True] Translation: X:113.21, Y:-4.51, Z:-0.84 [[ 9.95710490e-01 9.24263542e-02 4.24142970e-03 1.13205400e+02] [-9.24256144e-02 9.95719523e-01 -3.70516247e-04 -4.51251599e+00] [-4.25751982e-03 -2.30898322e-05 9.99990936e-01 -8.35037881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters 0.05173174382928507 Centerline is valid? [True, True] Translation: X:113.27, Y:-4.52, Z:-0.84 [[ 9.95923538e-01 9.01220775e-02 3.78376094e-03 1.13266651e+02] [-9.01214695e-02 9.95930726e-01 -3.31217447e-04 -4.52299418e+00] [-3.79821379e-03 -1.11308447e-05 9.99992787e-01 -8.36761507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters 0.052085679044111384 Centerline is valid? [True, True] Translation: X:113.33, Y:-4.53, Z:-0.84 [[ 9.96151678e-01 8.75676655e-02 3.70647287e-03 1.13329328e+02] [-8.75670652e-02 9.96158574e-01 -3.24245769e-04 -4.53376969e+00] [-3.72062817e-03 -1.56698474e-06 9.99993078e-01 -8.36750619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters 0.05239172548215636 Centerline is valid? [True, True] Translation: X:113.39, Y:-4.55, Z:-0.84 [[ 9.96772139e-01 8.01871096e-02 3.91551598e-03 1.13389614e+02] [-8.01863800e-02 9.96779829e-01 -3.43211004e-04 -4.54647317e+00] [-3.93042845e-03 2.81321137e-05 9.99992275e-01 -8.35724381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters 0.051747331735691314 Centerline is valid? [True, True] Translation: X:113.45, Y:-4.56, Z:-0.84 [[ 9.97288709e-01 7.34997518e-02 3.60807023e-03 1.13449786e+02] [-7.34990862e-02 9.97295234e-01 -3.16906590e-04 -4.56202727e+00] [-3.62160380e-03 5.08574998e-05 9.99993441e-01 -8.36040620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters 0.05248395807004016 Centerline is valid? [True, True] Translation: X:113.51, Y:-4.58, Z:-0.84 [[ 9.97921637e-01 6.43203387e-02 3.91150702e-03 1.13508974e+02] [-6.43194851e-02 9.97929299e-01 -3.43750305e-04 -4.57575382e+00] [-3.92551760e-03 9.14497494e-05 9.99992291e-01 -8.35065571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters 0.05238587766410997 Centerline is valid? [True, True] Translation: X:113.57, Y:-4.58, Z:-0.84 [[ 9.98208303e-01 5.97395545e-02 3.37191303e-03 1.13567740e+02] [-5.97388939e-02 9.98213993e-01 -2.96376418e-04 -4.58311810e+00] [-3.38359616e-03 9.44110471e-05 9.99994271e-01 -8.35318317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters 0.05336528237328277 Centerline is valid? [True, True] Translation: X:113.63, Y:-4.59, Z:-0.84 [[ 9.98383469e-01 5.68051685e-02 1.90311218e-03 1.13628299e+02] [-5.68049530e-02 9.98385281e-01 -1.67167431e-04 -4.58969656e+00] [-1.90953516e-03 5.87910021e-05 9.99998175e-01 -8.35401656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters 0.053435244698107495 Centerline is valid? [True, True] Translation: X:113.69, Y:-4.61, Z:-0.84 [[ 9.98387204e-01 5.67634328e-02 9.50694382e-04 1.13688632e+02] [-5.67633797e-02 9.98387656e-01 -8.28317174e-05 -4.60598531e+00] [-9.53863349e-04 2.87335005e-05 9.99999545e-01 -8.37824511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters 0.052503778776714756 Centerline is valid? [True, True] Translation: X:113.75, Y:-4.61, Z:-0.84 [[ 9.98178327e-01 6.03281595e-02 7.35087245e-04 1.13749683e+02] [-6.03281282e-02 9.98178598e-01 -6.46426550e-05 -4.60611245e+00] [-7.37648128e-04 2.01784596e-05 9.99999728e-01 -8.36943062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters 0.052541387748296295 Centerline is valid? [True, True] Translation: X:113.81, Y:-4.61, Z:-0.84 [[ 9.97907514e-01 6.46266800e-02 1.99640535e-03 1.13809192e+02] [-6.46264577e-02 9.97909510e-01 -1.75753874e-04 -4.60749160e+00] [-2.00359028e-03 4.63655050e-05 9.99997992e-01 -8.35654911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters 0.05195420397287421 Centerline is valid? [True, True] Translation: X:113.87, Y:-4.62, Z:-0.84 [[ 9.97391758e-01 7.20979613e-02 3.40082637e-03 1.13868715e+02] [-7.20973596e-02 9.97397554e-01 -2.99336580e-04 -4.61598250e+00] [-3.41355746e-03 5.33652362e-05 9.99994172e-01 -8.35777142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters 0.05205795531083672 Centerline is valid? [True, True] Translation: X:113.93, Y:-4.62, Z:-0.84 [[ 9.97240223e-01 7.41894350e-02 2.80461348e-03 1.13931282e+02] [-7.41890351e-02 9.97244166e-01 -2.46506174e-04 -4.62039242e+00] [-2.81517258e-03 3.77543039e-05 9.99996037e-01 -8.35925983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters 0.051929953496904546 Centerline is valid? [True, True] Translation: X:113.99, Y:-4.62, Z:-0.84 [[ 9.96773734e-01 8.02016639e-02 3.13319245e-03 1.13991480e+02] [-8.02011926e-02 9.96778658e-01 -2.75982864e-04 -4.62446242e+00] [-3.14523365e-03 2.38066994e-05 9.99995053e-01 -8.37688567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters 0.0514067268251595 Centerline is valid? [True, True] Translation: X:114.05, Y:-4.63, Z:-0.84 [[ 9.96483973e-01 8.37405895e-02 2.68419412e-03 1.14052417e+02] [-8.37402576e-02 9.96487588e-01 -2.35992381e-04 -4.62669866e+00] [-2.69452827e-03 1.03875185e-05 9.99996370e-01 -8.37248835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters 0.05151450154300611 Centerline is valid? [True, True] Translation: X:114.11, Y:-4.63, Z:-0.84 [[ 9.96296275e-01 8.59835512e-02 7.49882210e-04 1.14113998e+02] [-8.59835260e-02 9.96296557e-01 -6.58883054e-05 -4.63271440e+00] [-7.52770374e-04 1.16675671e-06 9.99999717e-01 -8.40361033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters 0.051527603799092055 Centerline is valid? [True, True] Translation: X:114.17, Y:-4.64, Z:-0.84 [[ 9.96443726e-01 8.42607296e-02 -1.76353154e-04 1.14174944e+02] [-8.42607280e-02 9.96443741e-01 1.63324639e-05 -4.63970066e+00] [ 1.77102182e-04 -1.41473596e-06 9.99999984e-01 -8.40314924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters 0.0524910265083391 Centerline is valid? [True, True] Translation: X:114.23, Y:-4.65, Z:-0.84 [[ 9.97114689e-01 7.59027138e-02 -1.03675699e-03 1.14234919e+02] [-7.59026595e-02 9.97115228e-01 9.17311318e-05 -4.65440783e+00] [ 1.04072882e-03 -1.27738462e-05 9.99999458e-01 -8.42152800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters 0.05303941818394094 Centerline is valid? [True, True] Translation: X:114.30, Y:-4.66, Z:-0.84 [[ 9.98015310e-01 6.29644885e-02 -9.55765922e-04 1.14295814e+02] [-6.29644364e-02 9.98015768e-01 8.44852664e-05 -4.65938261e+00] [ 9.59189032e-04 -2.41383268e-05 9.99999540e-01 -8.37054515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters 0.05309106886369676 Centerline is valid? [True, True] Translation: X:114.36, Y:-4.67, Z:-0.84 [[ 9.98480188e-01 5.51047909e-02 -8.80782631e-04 1.14356321e+02] [-5.51047435e-02 9.98480576e-01 7.79924662e-05 -4.66973021e+00] [ 8.83742108e-04 -2.93386314e-05 9.99999609e-01 -8.37758767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters 0.05340641529574289 Centerline is valid? [True, True] Translation: X:114.42, Y:-4.67, Z:-0.84 [[ 9.98735094e-01 5.02669195e-02 -1.20368477e-03 1.14417762e+02] [-5.02668276e-02 9.98735818e-01 1.06506798e-04 -4.66982423e+00] [ 1.20751687e-03 -4.58666619e-05 9.99999270e-01 -8.37684106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters 0.05384436362588531 Centerline is valid? [True, True] Translation: X:114.48, Y:-4.68, Z:-0.84 [[ 9.98659518e-01 5.16856622e-02 -2.78549920e-03 1.14478177e+02] [-5.16851731e-02 9.98663398e-01 2.47311975e-04 -4.67877275e+00] [ 2.79455858e-03 -1.03011449e-04 9.99996090e-01 -8.39658113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters 0.05357632903494265 Centerline is valid? [True, True] Translation: X:114.54, Y:-4.67, Z:-0.84 [[ 9.98444053e-01 5.56026296e-02 -4.22143723e-03 1.14539008e+02] [-5.56015462e-02 9.98452968e-01 3.73661681e-04 -4.67368363e+00] [ 4.23568311e-03 -1.38361846e-04 9.99991020e-01 -8.36723272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters 0.05329807874127404 Centerline is valid? [True, True] Translation: X:114.60, Y:-4.68, Z:-0.84 [[ 9.98274602e-01 5.85700646e-02 -4.16722655e-03 1.14599302e+02] [-5.85690339e-02 9.98283292e-01 3.69048039e-04 -4.68324331e+00] [ 4.18168781e-03 -1.24340851e-04 9.99991249e-01 -8.39632344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters 0.05332239531669222 Centerline is valid? [True, True] Translation: X:114.66, Y:-4.69, Z:-0.84 [[ 9.98056347e-01 6.22587526e-02 -2.71589648e-03 1.14658959e+02] [-6.22583285e-02 9.98060040e-01 2.40520435e-04 -4.69042350e+00] [ 2.72560225e-03 -7.09657723e-05 9.99996283e-01 -8.42219862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters 0.05307438016586238 Centerline is valid? [True, True] Translation: X:114.72, Y:-4.69, Z:-0.84 [[ 9.98000540e-01 6.31812007e-02 -1.74879824e-03 1.14721336e+02] [-6.31810244e-02 9.98002071e-01 1.55948223e-04 -4.69046824e+00] [ 1.75515726e-03 -4.51455464e-05 9.99998459e-01 -8.40837121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters 0.05343894401085382 Centerline is valid? [True, True] Translation: X:114.78, Y:-4.69, Z:-0.84 [[ 9.98070578e-01 6.20895214e-02 -1.12835278e-04 1.14782365e+02] [-6.20895205e-02 9.98070584e-01 1.08429838e-05 -4.69236800e+00] [ 1.13290807e-04 -3.81617480e-06 9.99999994e-01 -8.39721741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters 0.053121217610902625 Centerline is valid? [True, True] Translation: X:114.84, Y:-4.69, Z:-0.84 [[ 9.98169934e-01 6.04662635e-02 7.83528977e-04 1.14844753e+02] [-6.04662277e-02 9.98170241e-01 -6.93546248e-05 -4.69219956e+00] [-7.86288923e-04 2.18506597e-05 9.99999691e-01 -8.39966586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters 0.052992853856435554 Centerline is valid? [True, True] Translation: X:114.91, Y:-4.70, Z:-0.84 [[ 9.98311524e-01 5.80862609e-02 2.95079933e-04 1.14905285e+02] [-5.80862557e-02 9.98311568e-01 -2.60858394e-05 -4.69995527e+00] [-2.96096940e-04 8.90170566e-06 9.99999956e-01 -8.42670021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters 0.0529098364405869 Centerline is valid? [True, True] Translation: X:114.97, Y:-4.70, Z:-0.84 [[ 9.98437329e-01 5.58800848e-02 -5.63091507e-04 1.14965793e+02] [-5.58800655e-02 9.98437487e-01 5.00137026e-05 -4.69684581e+00] [ 5.65006439e-04 -1.84699574e-05 9.99999840e-01 -8.42265040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters 0.053199149957301316 Centerline is valid? [True, True] Translation: X:115.03, Y:-4.70, Z:-0.84 [[ 9.98506610e-01 5.46197456e-02 -1.11012597e-03 1.15027281e+02] [-5.46196687e-02 9.98507227e-01 9.94778147e-05 -4.70212455e+00] [ 1.11390226e-03 -3.86945429e-05 9.99999379e-01 -8.44280393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters 0.05374952417764194 Centerline is valid? [True, True] Translation: X:115.09, Y:-4.71, Z:-0.85 [[ 9.98577748e-01 5.32905833e-02 -1.61117620e-03 1.15088289e+02] [-5.32904199e-02 9.98579046e-01 1.44198261e-04 -4.70624044e+00] [ 1.61657121e-03 -5.81329187e-05 9.99998692e-01 -8.45319492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters 0.053507509860980317 Centerline is valid? [True, True] Translation: X:115.15, Y:-4.71, Z:-0.85 [[ 9.98534276e-01 5.41090553e-02 -1.22833662e-03 1.15150965e+02] [-5.41089613e-02 9.98535031e-01 1.09697690e-04 -4.70878051e+00] [ 1.23247278e-03 -4.30728849e-05 9.99999240e-01 -8.45347860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters 0.054019052350884736 Centerline is valid? [True, True] Translation: X:115.21, Y:-4.71, Z:-0.85 [[ 9.98332703e-01 5.77028784e-02 -1.48083779e-03 1.15210753e+02] [-5.77027462e-02 9.98333800e-01 1.31844871e-04 -4.71379757e+00] [ 1.48597825e-03 -4.61766396e-05 9.99998895e-01 -8.47017287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters 0.05312383791864422 Centerline is valid? [True, True] Translation: X:115.27, Y:-4.72, Z:-0.85 [[ 9.97962135e-01 6.38002858e-02 -1.04872471e-03 1.15271278e+02] [-6.38002229e-02 9.97962686e-01 9.34356331e-05 -4.71584519e+00] [ 1.05254935e-03 -2.63363536e-05 9.99999446e-01 -8.47894481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters 0.05285471538779791 Centerline is valid? [True, True] Translation: X:115.33, Y:-4.72, Z:-0.85 [[ 9.97632925e-01 6.87637092e-02 -3.13528701e-04 1.15331214e+02] [-6.87637039e-02 9.97632975e-01 2.78874672e-05 -4.71603868e+00] [ 3.14704216e-04 -6.26206071e-06 9.99999950e-01 -8.46803067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters 0.05251652486604466 Centerline is valid? [True, True] Translation: X:115.39, Y:-4.72, Z:-0.85 [[ 9.97168574e-01 7.51950937e-02 7.30231265e-04 1.15390186e+02] [-7.51950662e-02 9.97168841e-01 -6.50255616e-05 -4.72283306e+00] [-7.33053467e-04 9.93165822e-06 9.99999731e-01 -8.48326675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters 0.05237503261327455 Centerline is valid? [True, True] Translation: X:115.45, Y:-4.72, Z:-0.85 [[ 9.96984404e-01 7.75762836e-02 2.00464407e-03 1.15452436e+02] [-7.75760826e-02 9.96986419e-01 -1.77943667e-04 -4.72353412e+00] [-2.01240712e-03 2.18946276e-05 9.99997975e-01 -8.46222645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters 0.05257433137058519 Centerline is valid? [True, True] Translation: X:115.51, Y:-4.73, Z:-0.85 [[ 9.96934426e-01 7.82149544e-02 2.04211181e-03 1.15512499e+02] [-7.82147465e-02 9.96936518e-01 -1.81557294e-04 -4.73388372e+00] [-2.05005634e-03 2.12774594e-05 9.99997898e-01 -8.48165443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters 0.05259284220235644 Centerline is valid? [True, True] Translation: X:115.57, Y:-4.74, Z:-0.85 [[ 9.97150066e-01 7.54275716e-02 1.55783591e-03 1.15573612e+02] [-7.54274472e-02 9.97151283e-01 -1.38539938e-04 -4.74320707e+00] [-1.56384781e-03 2.06415224e-05 9.99998777e-01 -8.49220710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters 0.053254537091139136 Centerline is valid? [True, True] Translation: X:115.63, Y:-4.75, Z:-0.85 [[ 9.97396931e-01 7.20810934e-02 1.91780158e-03 1.15634377e+02] [-7.20808972e-02 9.97398774e-01 -1.71314713e-04 -4.74973778e+00] [-1.92516150e-03 3.26319104e-05 9.99998146e-01 -8.48847840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters 0.05347264233935929 Centerline is valid? [True, True] Translation: X:115.69, Y:-4.76, Z:-0.85 [[ 9.97820879e-01 6.59609368e-02 1.62730703e-03 1.15692610e+02] [-6.59607872e-02 9.97822205e-01 -1.45482933e-04 -4.76391919e+00] [-1.63335928e-03 3.78274552e-05 9.99998665e-01 -8.49404589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters 0.052949608841751296 Centerline is valid? [True, True] Translation: X:115.75, Y:-4.77, Z:-0.85 [[ 9.98084233e-01 6.18367951e-02 2.01854992e-03 1.15753462e+02] [-6.18365566e-02 9.98086273e-01 -1.80392030e-04 -4.76577817e+00] [-2.02584183e-03 5.52262645e-05 9.99997946e-01 -8.48114397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters 0.0534529993566353 Centerline is valid? [True, True] Translation: X:115.81, Y:-4.77, Z:-0.85 [[ 9.98379060e-01 5.69024282e-02 1.16888962e-03 1.15814161e+02] [-5.69023449e-02 9.98379744e-01 -1.04451106e-04 -4.77085534e+00] [-1.17293924e-03 3.77692371e-05 9.99999311e-01 -8.49042385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters 0.05321396648629922 Centerline is valid? [True, True] Translation: X:115.88, Y:-4.78, Z:-0.85 [[ 9.98435456e-01 5.59108251e-02 7.87382789e-04 1.15875722e+02] [-5.59107871e-02 9.98435766e-01 -7.01048683e-05 -4.78078769e+00] [-7.90070759e-04 2.59719947e-05 9.99999688e-01 -8.50417643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters 0.05341357582493722 Centerline is valid? [True, True] Translation: X:115.94, Y:-4.79, Z:-0.85 [[ 9.98429204e-01 5.60278476e-02 -7.01499501e-05 1.15936302e+02] [-5.60278472e-02 9.98429206e-01 7.09106214e-06 -4.78650651e+00] [ 7.04370559e-05 -3.14957285e-06 9.99999998e-01 -8.51287171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters 0.052972455914401646 Centerline is valid? [True, True] Translation: X:116.00, Y:-4.79, Z:-0.85 [[ 9.98284916e-01 5.85336534e-02 1.01832383e-03 1.15997194e+02] [-5.85335908e-02 9.98285435e-01 -9.11321727e-05 -4.79154939e+00] [-1.02191215e-03 3.13697229e-05 9.99999477e-01 -8.51658871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters 0.05313788384336195 Centerline is valid? [True, True] Translation: X:116.06, Y:-4.80, Z:-0.85 [[ 9.97871367e-01 6.51720185e-02 2.31149292e-03 1.16056835e+02] [-6.51717137e-02 9.97874043e-01 -2.06996371e-04 -4.79776181e+00] [-2.32006915e-03 5.59117965e-05 9.99997307e-01 -8.52501942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters 0.0522650859861212 Centerline is valid? [True, True] Translation: X:116.12, Y:-4.80, Z:-0.85 [[ 9.97440244e-01 7.14650216e-02 2.38957364e-03 1.16115989e+02] [-7.14647139e-02 9.97443106e-01 -2.14019562e-04 -4.80025359e+00] [-2.39875866e-03 4.27015275e-05 9.99997122e-01 -8.52917526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters 0.05224942789343414 Centerline is valid? [True, True] Translation: X:116.18, Y:-4.80, Z:-0.85 [[ 9.96496115e-01 8.35664086e-02 3.48530026e-03 1.16176722e+02] [-8.35658282e-02 9.96502210e-01 -3.12079105e-04 -4.79788896e+00] [-3.49918874e-03 1.97336130e-05 9.99993878e-01 -8.52730719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters 0.05165757324830247 Centerline is valid? [True, True] Translation: X:116.24, Y:-4.80, Z:-0.85 [[ 9.95709287e-01 9.24547535e-02 3.89021289e-03 1.16238943e+02] [-9.24540987e-02 9.95716887e-01 -3.48187956e-04 -4.80021174e+00] [-3.90574230e-03 -1.29721448e-05 9.99992372e-01 -8.54225980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters 0.05194046355515408 Centerline is valid? [True, True] Translation: X:116.30, Y:-4.79, Z:-0.86 [[ 9.94482437e-01 1.04859490e-01 3.02833014e-03 1.16299440e+02] [-1.04859150e-01 9.94487046e-01 -2.71307284e-04 -4.79466408e+00] [-3.04008424e-03 -4.77377946e-05 9.99995378e-01 -8.56025391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters 0.0518138563939771 Centerline is valid? [True, True] Translation: X:116.36, Y:-4.80, Z:-0.86 [[ 9.93695334e-01 1.12093694e-01 2.14176375e-03 1.16360135e+02] [-1.12093541e-01 9.93697641e-01 -1.91812240e-04 -4.79754162e+00] [-2.14976653e-03 -4.94749540e-05 9.99997688e-01 -8.56150513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters 0.053229419342375336 Centerline is valid? [True, True] Translation: X:116.42, Y:-4.79, Z:-0.86 [[ 9.92798498e-01 1.19781621e-01 1.87220046e-03 1.16419976e+02] [-1.19781517e-01 9.92800262e-01 -1.67625222e-04 -4.79392025e+00] [-1.87879953e-03 -5.78369440e-05 9.99998233e-01 -8.57325560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters 0.05285330217768911 Centerline is valid? [True, True] Translation: X:116.48, Y:-4.80, Z:-0.86 [[ 9.92480676e-01 1.22390016e-01 1.67100031e-03 1.16480179e+02] [-1.22389938e-01 9.92482081e-01 -1.49684030e-04 -4.80262285e+00] [-1.67675770e-03 -5.59551167e-05 9.99998593e-01 -8.57014518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters 0.05254235471248334 Centerline is valid? [True, True] Translation: X:116.54, Y:-4.81, Z:-0.86 [[ 9.92392656e-01 1.23106264e-01 1.28970265e-03 1.16541924e+02] [-1.23106218e-01 9.92393493e-01 -1.14937830e-04 -4.81067246e+00] [-1.29404208e-03 -4.47069567e-05 9.99999162e-01 -8.57410785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters 0.05116895419497188 Centerline is valid? [True, True] Translation: X:116.60, Y:-4.83, Z:-0.86 [[ 9.92448247e-01 1.22663844e-01 2.40198044e-04 1.16602500e+02] [-1.22663843e-01 9.92448276e-01 -2.07740541e-05 -4.82690343e+00] [-2.40932360e-04 -8.84644155e-06 9.99999971e-01 -8.57080479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters 0.051758946111880776 Centerline is valid? [True, True] Translation: X:116.66, Y:-4.83, Z:-0.86 [[ 9.92553836e-01 1.21801793e-01 -1.09826746e-03 1.16663004e+02] [-1.21801757e-01 9.92554443e-01 9.95011398e-05 -4.83261905e+00] [ 1.10220966e-03 3.50106678e-05 9.99999392e-01 -8.59028650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters 0.05195685015828165 Centerline is valid? [True, True] Translation: X:116.72, Y:-4.84, Z:-0.86 [[ 9.92867550e-01 1.19202548e-01 -2.18626184e-03 1.16722556e+02] [-1.19202404e-01 9.92869955e-01 1.96599588e-04 -4.84390909e+00] [ 2.19410887e-03 6.54103161e-05 9.99997591e-01 -8.60316911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters 0.05076126951716722 Centerline is valid? [True, True] Translation: X:116.78, Y:-4.86, Z:-0.86 [[ 9.93182670e-01 1.16544762e-01 -2.34586374e-03 1.16782601e+02] [-1.16544588e-01 9.93185438e-01 2.11027165e-04 -4.85783563e+00] [ 2.35447182e-03 6.38092011e-05 9.99997226e-01 -8.58948780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters 0.05101457705668675 Centerline is valid? [True, True] Translation: X:116.84, Y:-4.87, Z:-0.86 [[ 9.93684009e-01 1.12193520e-01 -2.16910935e-03 1.16842600e+02] [-1.12193362e-01 9.93686375e-01 1.95123748e-04 -4.87149809e+00] [ 2.17730603e-03 4.94683220e-05 9.99997628e-01 -8.58077750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters 0.05086386725313177 Centerline is valid? [True, True] Translation: X:116.90, Y:-4.88, Z:-0.86 [[ 9.94055116e-01 1.08871263e-01 -1.21387839e-03 1.16902830e+02] [-1.08871211e-01 9.94055857e-01 1.09309509e-04 -4.88319527e+00] [ 1.21856358e-03 2.34967335e-05 9.99999257e-01 -8.56851535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters 0.05099840421854316 Centerline is valid? [True, True] Translation: X:116.96, Y:-4.89, Z:-0.86 [[ 9.94644298e-01 1.03354083e-01 -8.08872351e-04 1.16961649e+02] [-1.03354058e-01 9.94644627e-01 7.26965273e-05 -4.89383239e+00] [ 8.12054020e-04 1.12930532e-05 9.99999670e-01 -8.57482270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters 0.05094308268953401 Centerline is valid? [True, True] Translation: X:117.02, Y:-4.91, Z:-0.86 [[ 9.95321500e-01 9.66160230e-02 -6.75048616e-04 1.17022464e+02] [-9.66160039e-02 9.95321729e-01 6.10334227e-05 -4.90915042e+00] [ 6.77787362e-04 4.47262182e-06 9.99999770e-01 -8.56155646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters 0.05135419638498761 Centerline is valid? [True, True] Translation: X:117.08, Y:-4.92, Z:-0.86 [[ 9.95742624e-01 9.21770323e-02 1.44501586e-04 1.17083657e+02] [-9.21770315e-02 9.95742635e-01 -1.21812787e-05 -4.91572186e+00] [-1.45009224e-04 -1.19030887e-06 9.99999989e-01 -8.56944459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters 0.0510644527491395 Centerline is valid? [True, True] Translation: X:117.14, Y:-4.92, Z:-0.86 [[ 9.95930450e-01 9.01244648e-02 3.45679535e-04 1.17144795e+02] [-9.01244596e-02 9.95930510e-01 -3.04179096e-05 -4.92074449e+00] [-3.47014193e-04 -8.60058933e-07 9.99999940e-01 -8.57208408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters 0.051353698054492344 Centerline is valid? [True, True] Translation: X:117.21, Y:-4.93, Z:-0.86 [[ 9.96471968e-01 8.39257235e-02 -3.00610094e-04 1.17206461e+02] [-8.39257191e-02 9.96472013e-01 2.74159090e-05 -4.92915885e+00] [ 3.01850445e-04 -2.09026653e-06 9.99999954e-01 -8.57766921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters 0.05196201213587374 Centerline is valid? [True, True] Translation: X:117.27, Y:-4.94, Z:-0.86 [[ 9.96952597e-01 7.80073693e-02 -6.07239481e-04 1.17267610e+02] [-7.80073499e-02 9.96952782e-01 5.56297292e-05 -4.93632689e+00] [ 6.09728619e-04 -8.09106040e-06 9.99999814e-01 -8.56682051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters 0.052507614773159794 Centerline is valid? [True, True] Translation: X:117.33, Y:-4.94, Z:-0.86 [[ 9.97783787e-01 6.65347936e-02 -7.97597796e-04 1.17328212e+02] [-6.65347572e-02 9.97784105e-01 7.21828164e-05 -4.93946735e+00] [ 8.00633072e-04 -1.89548682e-05 9.99999679e-01 -8.55714893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters 0.05368204870203855 Centerline is valid? [True, True] Translation: X:117.39, Y:-4.95, Z:-0.86 [[ 9.98259547e-01 5.89724151e-02 -3.63239300e-04 1.17388792e+02] [-5.89724070e-02 9.98259613e-01 3.29385478e-05 -4.94579203e+00] [ 3.64549588e-04 -1.14601240e-05 9.99999933e-01 -8.56382669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters 0.05386076409338312 Centerline is valid? [True, True] Translation: X:117.45, Y:-4.95, Z:-0.85 [[ 9.98715139e-01 5.06757037e-02 2.09773731e-04 1.17448631e+02] [-5.06757008e-02 9.98715161e-01 -1.89119036e-05 -4.94907022e+00] [-2.10462580e-04 8.25717355e-06 9.99999978e-01 -8.54640472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters 0.054260792911722096 Centerline is valid? [True, True] Translation: X:117.51, Y:-4.96, Z:-0.86 [[ 9.98852984e-01 4.78491388e-02 1.78221365e-03 1.17508203e+02] [-4.78489274e-02 9.98854571e-01 -1.61072722e-04 -4.95715363e+00] [-1.78787944e-03 7.56109572e-05 9.99998399e-01 -8.55525214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters 0.05305464047526577 Centerline is valid? [True, True] Translation: X:117.57, Y:-4.95, Z:-0.86 [[ 9.98757932e-01 4.97553125e-02 2.64616620e-03 1.17570356e+02] [-4.97548533e-02 9.98761432e-01 -2.39140685e-04 -4.94994146e+00] [-2.65478727e-03 1.07184044e-04 9.99996470e-01 -8.55791546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters 0.05379500967403163 Centerline is valid? [True, True] Translation: X:117.63, Y:-4.95, Z:-0.86 [[ 9.98283117e-01 5.85257120e-02 2.35797458e-03 1.17629871e+02] [-5.85253717e-02 9.98285899e-01 -2.13114283e-04 -4.95399560e+00] [-2.36640544e-03 7.47470518e-05 9.99997197e-01 -8.58585295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters 0.0530248264249077 Centerline is valid? [True, True] Translation: X:117.69, Y:-4.95, Z:-0.86 [[ 9.97351554e-01 7.27140040e-02 1.59734979e-03 1.17691280e+02] [-7.27138660e-02 9.97352833e-01 -1.44386238e-04 -4.94710344e+00] [-1.60362024e-03 2.78543601e-05 9.99998714e-01 -8.60307221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters 0.05246806258843886 Centerline is valid? [True, True] Translation: X:117.75, Y:-4.95, Z:-0.86 [[ 9.96946403e-01 7.80771292e-02 1.35336541e-03 1.17752178e+02] [-7.80770351e-02 9.96947321e-01 -1.22254093e-04 -4.94925084e+00] [-1.35877927e-03 1.62140198e-05 9.99999077e-01 -8.62229178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters 0.05175953513926182 Centerline is valid? [True, True] Translation: X:117.81, Y:-4.94, Z:-0.86 [[ 9.95573961e-01 9.39789949e-02 6.60855505e-04 1.17814665e+02] [-9.39789761e-02 9.95574180e-01 -5.96406888e-05 -4.93848909e+00] [-6.63535650e-04 -2.72980686e-06 9.99999780e-01 -8.59206724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters 0.05159234824769348 Centerline is valid? [True, True] Translation: X:117.88, Y:-4.93, Z:-0.86 [[ 9.94716757e-01 1.02655970e-01 -5.70624858e-04 1.17875913e+02] [-1.02655957e-01 9.94716920e-01 5.17334989e-05 -4.93499405e+00] [ 5.72920954e-04 7.11786260e-06 9.99999836e-01 -8.63337790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters 0.05230968656071468 Centerline is valid? [True, True] Translation: X:117.94, Y:-4.94, Z:-0.86 [[ 9.93925446e-01 1.10045908e-01 -1.45146200e-03 1.17936465e+02] [-1.10045834e-01 9.93926505e-01 1.31311901e-04 -4.93603791e+00] [ 1.45709689e-03 2.92131062e-05 9.99998938e-01 -8.63683448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters 0.05191676956490379 Centerline is valid? [True, True] Translation: X:118.00, Y:-4.94, Z:-0.86 [[ 9.93652336e-01 1.12486309e-01 -1.36582800e-03 1.17997582e+02] [-1.12486244e-01 9.93653274e-01 1.24484162e-04 -4.93839542e+00] [ 1.37116222e-03 2.99428832e-05 9.99999060e-01 -8.63854223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters 0.05186753928880192 Centerline is valid? [True, True] Translation: X:118.06, Y:-4.94, Z:-0.86 [[ 9.93645849e-01 1.12548491e-01 -8.73452784e-04 1.18059612e+02] [-1.12548464e-01 9.93646233e-01 8.00450520e-05 -4.94497943e+00] [ 8.76912019e-04 1.87693358e-05 9.99999615e-01 -8.63711071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters 0.05185733485941823 Centerline is valid? [True, True] Translation: X:118.12, Y:-4.95, Z:-0.86 [[ 9.93787289e-01 1.11290737e-01 -1.09338425e-03 1.18121331e+02] [-1.11290694e-01 9.93787891e-01 1.00109434e-04 -4.95267446e+00] [ 1.09773328e-03 2.21960086e-05 9.99999397e-01 -8.64050003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters 0.0516098249212088 Centerline is valid? [True, True] Translation: X:118.18, Y:-4.96, Z:-0.87 [[ 9.93862164e-01 1.10607879e-01 -1.97407512e-03 1.18182278e+02] [-1.10607739e-01 9.93864123e-01 1.80209165e-04 -4.95640283e+00] [ 1.98189499e-03 3.92449147e-05 9.99998035e-01 -8.66877748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters 0.05204969746683923 Centerline is valid? [True, True] Translation: X:118.24, Y:-4.97, Z:-0.87 [[ 9.93751458e-01 1.11580428e-01 -2.80146813e-03 1.18243190e+02] [-1.11580151e-01 9.93755405e-01 2.55221875e-04 -4.96739884e+00] [ 2.81245186e-03 5.89611276e-05 9.99996043e-01 -8.67586506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters 0.051247866118954745 Centerline is valid? [True, True] Translation: X:118.30, Y:-4.98, Z:-0.87 [[ 9.93564473e-01 1.13233748e-01 -2.78514704e-03 1.18304119e+02] [-1.13233479e-01 9.93568374e-01 2.54385634e-04 -4.97785103e+00] [ 2.79603906e-03 6.26233622e-05 9.99996089e-01 -8.66531424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters 0.051367044595157375 Centerline is valid? [True, True] Translation: X:118.37, Y:-4.99, Z:-0.87 [[ 9.93362859e-01 1.15001108e-01 -2.23055764e-03 1.18365802e+02] [-1.15000939e-01 9.93365362e-01 2.04165555e-04 -4.98794243e+00] [ 2.23923796e-03 5.37057448e-05 9.99997491e-01 -8.66928924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters 0.05200300231158963 Centerline is valid? [True, True] Translation: X:118.43, Y:-4.99, Z:-0.87 [[ 9.93405627e-01 1.14640025e-01 -1.70997401e-03 1.18426800e+02] [-1.14639925e-01 9.93407098e-01 1.56841048e-04 -4.99087098e+00] [ 1.71668058e-03 4.02245115e-05 9.99998526e-01 -8.69010497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters 0.05109577020069432 Centerline is valid? [True, True] Translation: X:118.49, Y:-5.01, Z:-0.87 [[ 9.93803168e-01 1.11152125e-01 -6.84031132e-04 1.18485743e+02] [-1.11152108e-01 9.93803404e-01 6.24337793e-05 -5.01181267e+00] [ 6.86732114e-04 1.39846148e-05 9.99999764e-01 -8.66860466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters 0.050974847610809136 Centerline is valid? [True, True] Translation: X:118.55, Y:-5.03, Z:-0.87 [[ 9.94453838e-01 1.05173359e-01 -3.58383937e-04 1.18545212e+02] [-1.05173354e-01 9.94453903e-01 3.28362021e-05 -5.02710197e+00] [ 3.59849798e-04 5.03835352e-06 9.99999935e-01 -8.67127746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters 0.050952522710713086 Centerline is valid? [True, True] Translation: X:118.61, Y:-5.04, Z:-0.87 [[ 9.95080150e-01 9.90679637e-02 -1.01630656e-03 1.18605891e+02] [-9.90679203e-02 9.95080669e-01 9.30749479e-05 -5.04252538e+00] [ 1.02052775e-03 8.06634370e-06 9.99999479e-01 -8.67783985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters 0.050980772809573284 Centerline is valid? [True, True] Translation: X:118.67, Y:-5.05, Z:-0.87 [[ 9.95410650e-01 9.56943761e-02 -4.72757675e-04 1.18667500e+02] [-9.56943660e-02 9.95410763e-01 4.40875988e-05 -5.05460902e+00] [ 4.74807013e-04 1.35498056e-06 9.99999887e-01 -8.67208614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters 0.051231463157038255 Centerline is valid? [True, True] Translation: X:118.73, Y:-5.07, Z:-0.87 [[ 9.95830697e-01 9.12204330e-02 -2.35162802e-04 1.18727490e+02] [-9.12204303e-02 9.95830725e-01 2.23229745e-05 -5.06838508e+00] [ 2.36218655e-04 -7.78251308e-07 9.99999972e-01 -8.68057112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters 0.0510502337638132 Centerline is valid? [True, True] Translation: X:118.79, Y:-5.07, Z:-0.87 [[ 9.95868177e-01 9.07995712e-02 1.41827366e-03 1.18789222e+02] [-9.07994787e-02 9.95869187e-01 -1.29599342e-04 -5.07490425e+00] [-1.42418260e-03 2.85351656e-07 9.99998986e-01 -8.67319498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters 0.051005204086531274 Centerline is valid? [True, True] Translation: X:118.85, Y:-5.08, Z:-0.87 [[ 9.95732144e-01 9.22610163e-02 2.32436234e-03 1.18850414e+02] [-9.22607719e-02 9.95734857e-01 -2.12354902e-04 -5.08102614e+00] [-2.33404068e-03 -2.99886155e-06 9.99997276e-01 -8.67089657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters 0.050676076924319725 Centerline is valid? [True, True] Translation: X:118.91, Y:-5.09, Z:-0.87 [[ 9.95784110e-01 9.16830910e-02 2.86638471e-03 1.18911728e+02] [-9.16827158e-02 9.95788236e-01 -2.62317324e-04 -5.08866482e+00] [-2.87836224e-03 -1.58651214e-06 9.99995858e-01 -8.67381166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters 0.05071592942930192 Centerline is valid? [True, True] Translation: X:118.97, Y:-5.09, Z:-0.87 [[ 9.95847827e-01 9.09822627e-02 3.05511853e-03 1.18974720e+02] [-9.09818315e-02 9.95852513e-01 -2.80119073e-04 -5.09460725e+00] [-3.06793333e-03 9.95690593e-07 9.99995294e-01 -8.66464260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters 0.05141130216011776 Centerline is valid? [True, True] Translation: X:119.04, Y:-5.10, Z:-0.87 [[ 9.95883244e-01 9.06267924e-02 1.83015324e-03 1.19035881e+02] [-9.06266370e-02 9.95884925e-01 -1.67852921e-04 -5.09763292e+00] [-1.83783399e-03 1.30127792e-06 9.99998311e-01 -8.67540235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters 0.05175055660042399 Centerline is valid? [True, True] Translation: X:119.10, Y:-5.10, Z:-0.87 [[ 9.95947189e-01 8.99371794e-02 7.07721929e-04 1.19098286e+02] [-8.99371564e-02 9.95947440e-01 -6.44281519e-05 -5.10153677e+00] [-7.10648330e-04 5.16538933e-07 9.99999747e-01 -8.67407388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters 0.05095364977765917 Centerline is valid? [True, True] Translation: X:119.16, Y:-5.11, Z:-0.87 [[ 9.96025329e-01 8.90645684e-02 1.02314158e-03 1.19161327e+02] [-8.90645194e-02 9.96025854e-01 -9.34489828e-05 -5.10593415e+00] [-1.02739846e-03 1.95194076e-06 9.99999472e-01 -8.66748479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters 0.05113711453267838 Centerline is valid? [True, True] Translation: X:119.22, Y:-5.11, Z:-0.87 [[ 9.96265851e-01 8.63130999e-02 2.09820180e-03 1.19223211e+02] [-8.63128844e-02 9.96268061e-01 -1.93209806e-04 -5.11148579e+00] [-2.10704798e-03 1.13864823e-05 9.99997780e-01 -8.69668760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters 0.05082755763842522 Centerline is valid? [True, True] Translation: X:119.28, Y:-5.12, Z:-0.87 [[ 9.96624720e-01 8.20464858e-02 2.74624703e-03 1.19284929e+02] [-8.20461008e-02 9.96628503e-01 -2.52746568e-04 -5.11783170e+00] [-2.75772504e-03 2.65746168e-05 9.99996197e-01 -8.70691944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters 0.05136083179067249 Centerline is valid? [True, True] Translation: X:119.35, Y:-5.13, Z:-0.87 [[ 9.96871283e-01 7.90163033e-02 2.01717411e-03 1.19345709e+02] [-7.90160893e-02 9.96873324e-01 -1.85701729e-04 -5.12817661e+00] [-2.02554052e-03 2.57315113e-05 9.99997948e-01 -8.72837150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters 0.05137575346689031 Centerline is valid? [True, True] Translation: X:119.41, Y:-5.13, Z:-0.87 [[ 9.97274200e-01 7.37788460e-02 9.23014048e-04 1.19407543e+02] [-7.37787987e-02 9.97274627e-01 -8.52319949e-05 -5.12634511e+00] [-9.26786809e-04 1.69008019e-05 9.99999570e-01 -8.70321548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters 0.05242097713677953 Centerline is valid? [True, True] Translation: X:119.47, Y:-5.14, Z:-0.87 [[ 9.97566830e-01 6.97157306e-02 3.69505883e-04 1.19466332e+02] [-6.97157227e-02 9.97566898e-01 -3.41121465e-05 -5.14303831e+00] [-3.70984991e-04 8.26877618e-06 9.99999931e-01 -8.74768690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters 0.05264265288602895 Centerline is valid? [True, True] Translation: X:119.53, Y:-5.14, Z:-0.87 [[ 9.97787675e-01 6.64806273e-02 -2.85787621e-04 1.19527956e+02] [-6.64806225e-02 9.97787716e-01 2.64957476e-05 -5.13845508e+00] [ 2.86916832e-04 -7.43779145e-06 9.99999959e-01 -8.72075380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters 0.05234178543568214 Centerline is valid? [True, True] Translation: X:119.59, Y:-5.15, Z:-0.88 [[ 9.97862916e-01 6.53287037e-02 -1.32717962e-03 1.19589438e+02] [-6.53285975e-02 9.97863798e-01 1.23260887e-04 -5.15150594e+00] [ 1.33239697e-03 -3.62946845e-05 9.99999112e-01 -8.75322189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters 0.052567764144945316 Centerline is valid? [True, True] Translation: X:119.65, Y:-5.15, Z:-0.87 [[ 9.97910849e-01 6.45662708e-02 -2.26603503e-03 1.19650922e+02] [-6.45659596e-02 9.97913419e-01 2.10295392e-04 -5.15305044e+00] [ 2.27488475e-03 -6.35473276e-05 9.99997410e-01 -8.74465513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters 0.052487812456394355 Centerline is valid? [True, True] Translation: X:119.71, Y:-5.16, Z:-0.87 [[ 9.97907339e-01 6.46155985e-02 -2.40146163e-03 1.19712763e+02] [-6.46152485e-02 9.97910226e-01 2.23130747e-04 -5.15616974e+00] [ 2.41086084e-03 -6.74927705e-05 9.99997092e-01 -8.73970874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters 0.05300168766709708 Centerline is valid? [True, True] Translation: X:119.77, Y:-5.16, Z:-0.87 [[ 9.97872616e-01 6.51819794e-02 -1.24565281e-03 1.19774786e+02] [-6.51818856e-02 9.97873393e-01 1.15803458e-04 -5.15977105e+00] [ 1.25055210e-03 -3.43631007e-05 9.99999217e-01 -8.73690050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters 0.05231436359718814 Centerline is valid? [True, True] Translation: X:119.84, Y:-5.17, Z:-0.87 [[ 9.97770548e-01 6.67332618e-02 -7.77668230e-04 1.19835777e+02] [-6.67332257e-02 9.97770851e-01 7.23162654e-05 -5.16696044e+00] [ 7.80760592e-04 -2.02587302e-05 9.99999695e-01 -8.74671892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters 0.05252621449000855 Centerline is valid? [True, True] Translation: X:119.90, Y:-5.17, Z:-0.87 [[ 9.97655930e-01 6.84268755e-02 -6.39423464e-04 1.19896572e+02] [-6.84268514e-02 9.97656134e-01 5.94427708e-05 -5.16958598e+00] [ 6.41992224e-04 -1.55496984e-05 9.99999794e-01 -8.73963392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters 0.05307622453641154 Centerline is valid? [True, True] Translation: X:119.96, Y:-5.17, Z:-0.87 [[ 9.97547327e-01 6.99945915e-02 2.95353194e-04 1.19958275e+02] [-6.99945865e-02 9.97547371e-01 -2.72344385e-05 -5.16748516e+00] [-2.96535065e-04 6.49451669e-06 9.99999956e-01 -8.72744541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters 0.05250759175275598 Centerline is valid? [True, True] Translation: X:120.02, Y:-5.17, Z:-0.87 [[ 9.97387124e-01 7.22420921e-02 -6.65743457e-05 1.20018739e+02] [-7.22420919e-02 9.97387127e-01 6.29350985e-06 -5.17226281e+00] [ 6.68550517e-05 -1.46759569e-06 9.99999998e-01 -8.73360001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters 0.05260284709073531 Centerline is valid? [True, True] Translation: X:120.08, Y:-5.17, Z:-0.87 [[ 9.97315145e-01 7.32281400e-02 3.76100407e-04 1.20081557e+02] [-7.32281322e-02 9.97315216e-01 -3.44830735e-05 -5.17303011e+00] [-3.77615790e-04 6.84936112e-06 9.99999929e-01 -8.72086575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters 0.05260377266403217 Centerline is valid? [True, True] Translation: X:120.14, Y:-5.19, Z:-0.88 [[ 9.97341281e-01 7.28718202e-02 2.59834128e-04 1.20141045e+02] [-7.28718166e-02 9.97341315e-01 -2.32857476e-05 -5.18913180e+00] [-2.60840185e-04 4.28925245e-06 9.99999966e-01 -8.76239258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters 0.05289876085532154 Centerline is valid? [True, True] Translation: X:120.20, Y:-5.19, Z:-0.87 [[ 9.97588493e-01 6.94014404e-02 7.99086354e-04 1.20202931e+02] [-6.94014032e-02 9.97588813e-01 -7.41966488e-05 -5.18584529e+00] [-8.02308962e-04 1.85600088e-05 9.99999678e-01 -8.73639935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters 0.05281577120722802 Centerline is valid? [True, True] Translation: X:120.26, Y:-5.19, Z:-0.87 [[ 9.97989147e-01 6.33505957e-02 2.08893055e-03 1.20263730e+02] [-6.33503279e-02 9.97991332e-01 -1.94179403e-04 -5.19025836e+00] [-2.09703596e-03 6.14545021e-05 9.99997799e-01 -8.73522754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters 0.05361623846621573 Centerline is valid? [True, True] Translation: X:120.32, Y:-5.21, Z:-0.88 [[ 9.98284185e-01 5.85209401e-02 1.99617195e-03 1.20322429e+02] [-5.85206857e-02 9.98286179e-01 -1.85673053e-04 -5.20937923e+00] [-2.00361663e-03 6.85371216e-05 9.99997990e-01 -8.76347159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters 0.05401809057817604 Centerline is valid? [True, True] Translation: X:120.38, Y:-5.21, Z:-0.88 [[ 9.98659371e-01 5.17242887e-02 2.01448852e-03 1.20383189e+02] [-5.17240158e-02 9.98661400e-01 -1.87386286e-04 -5.21381958e+00] [-2.02148435e-03 8.29376345e-05 9.99997953e-01 -8.76326518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters 0.05376416434207206 Centerline is valid? [True, True] Translation: X:120.44, Y:-5.21, Z:-0.88 [[ 9.98847757e-01 4.79629666e-02 1.64661900e-03 1.20444299e+02] [-4.79627793e-02 9.98849112e-01 -1.53115734e-04 -5.21203810e+00] [-1.65206781e-03 7.39628836e-05 9.99998633e-01 -8.76409648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters 0.05363713339463399 Centerline is valid? [True, True] Translation: X:120.51, Y:-5.21, Z:-0.88 [[ 9.98889366e-01 4.70907725e-02 1.57936112e-03 1.20506137e+02] [-4.70905999e-02 9.98890612e-01 -1.46347147e-04 -5.21447729e+00] [-1.58450060e-03 7.18115465e-05 9.99998742e-01 -8.77010715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters 0.05497360313638454 Centerline is valid? [True, True] Translation: X:120.57, Y:-5.22, Z:-0.88 [[ 9.98824859e-01 4.84427033e-02 1.48533374e-03 1.20566116e+02] [-4.84425511e-02 9.98825961e-01 -1.38260967e-04 -5.22442543e+00] [-1.49028763e-03 6.61451356e-05 9.99998887e-01 -8.78201151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters 0.05397814143109532 Centerline is valid? [True, True] Translation: X:120.63, Y:-5.22, Z:-0.88 [[ 9.98637665e-01 5.20933432e-02 3.01609584e-03 1.20628149e+02] [-5.20927319e-02 9.98642212e-01 -2.80924638e-04 -5.21576648e+00] [-3.02663493e-03 1.23425253e-04 9.99995412e-01 -8.77330232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters 0.054362983994743354 Centerline is valid? [True, True] Translation: X:120.69, Y:-5.22, Z:-0.88 [[ 9.98419582e-01 5.60446618e-02 4.16344140e-03 1.20687434e+02] [-5.60435306e-02 9.98428251e-01 -3.87970641e-04 -5.22356139e+00] [-4.17864120e-03 1.54023530e-04 9.99991258e-01 -8.77790187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters 0.0533333359244686 Centerline is valid? [True, True] Translation: X:120.75, Y:-5.21, Z:-0.88 [[ 9.98021572e-01 6.26396195e-02 5.40559974e-03 1.20749504e+02] [-6.26378097e-02 9.98036197e-01 -5.03631023e-04 -5.21287627e+00] [-5.42653147e-03 1.64039697e-04 9.99985263e-01 -8.76805365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters 0.05342282782091953 Centerline is valid? [True, True] Translation: X:120.81, Y:-5.21, Z:-0.88 [[ 9.97571339e-01 6.94551417e-02 5.23524448e-03 1.20809449e+02] [-6.94535377e-02 9.97585068e-01 -4.87785515e-04 -5.21320072e+00] [-5.25648093e-03 1.22994599e-04 9.99986177e-01 -8.78405996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters 0.05292190545437813 Centerline is valid? [True, True] Translation: X:120.87, Y:-5.21, Z:-0.88 [[ 9.97275308e-01 7.35797795e-02 5.28924806e-03 1.20870237e+02] [-7.35781999e-02 9.97289329e-01 -4.92870103e-04 -5.20780593e+00] [-5.31117592e-03 1.02353833e-04 9.99985890e-01 -8.78890695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters 0.05257111603158277 Centerline is valid? [True, True] Translation: X:120.93, Y:-5.21, Z:-0.88 [[ 9.96960087e-01 7.77972399e-02 4.26323824e-03 1.20931116e+02] [-7.77962523e-02 9.96969200e-01 -3.97263023e-04 -5.20714460e+00] [-4.28122319e-03 6.43914197e-05 9.99990833e-01 -8.80199971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters 0.053344177917875525 Centerline is valid? [True, True] Translation: X:120.99, Y:-5.21, Z:-0.88 [[ 9.96951335e-01 7.79807192e-02 2.65391998e-03 1.20993026e+02] [-7.79803376e-02 9.96954867e-01 -2.47126442e-04 -5.20797676e+00] [-2.66510954e-03 3.94194602e-05 9.99996448e-01 -8.82612163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters 0.05365437122564475 Centerline is valid? [True, True] Translation: X:121.06, Y:-5.21, Z:-0.88 [[ 9.97099765e-01 7.60717222e-02 2.26989286e-03 1.21055334e+02] [-7.60714381e-02 9.97102348e-01 -2.11340894e-04 -5.21258618e+00] [-2.27939256e-03 3.80539416e-05 9.99997401e-01 -8.83427776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters 0.053730314409836895 Centerline is valid? [True, True] Translation: X:121.12, Y:-5.21, Z:-0.88 [[ 9.97437551e-01 7.15352945e-02 1.01666905e-03 1.21116755e+02] [-7.15352351e-02 9.97438069e-01 -9.47199650e-05 -5.21352952e+00] [-1.02084024e-03 2.17495902e-05 9.99999479e-01 -8.83018166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters 0.053991289364315666 Centerline is valid? [True, True] Translation: X:121.18, Y:-5.22, Z:-0.88 [[ 9.97652171e-01 6.84733252e-02 1.24447919e-03 1.21176258e+02] [-6.84732339e-02 9.97652947e-01 -1.15850815e-04 -5.22070300e+00] [-1.24949102e-03 3.03653026e-05 9.99999219e-01 -8.83976197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters 0.05436081380630411 Centerline is valid? [True, True] Translation: X:121.24, Y:-5.22, Z:-0.88 [[ 9.98029676e-01 6.27102508e-02 2.04700585e-03 1.21236535e+02] [-6.27099908e-02 9.98031773e-01 -1.91024996e-04 -5.22201443e+00] [-2.05495611e-03 6.22808967e-05 9.99997887e-01 -8.83303468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters 0.05497620419514614 Centerline is valid? [True, True] Translation: X:121.30, Y:-5.23, Z:-0.88 [[ 9.98315298e-01 5.79869150e-02 2.02081991e-03 1.21295292e+02] [-5.79866523e-02 9.98317341e-01 -1.88415822e-04 -5.23267325e+00] [-2.02834521e-03 7.09178157e-05 9.99997940e-01 -8.84240845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters 0.05511343053790344 Centerline is valid? [True, True] Translation: X:121.36, Y:-5.24, Z:-0.88 [[ 9.98403685e-01 5.64545563e-02 1.72187308e-03 1.21356575e+02] [-5.64543630e-02 9.98405168e-01 -1.60691275e-04 -5.23849546e+00] [-1.72819873e-03 6.32275138e-05 9.99998505e-01 -8.84888635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters 0.05517412106190485 Centerline is valid? [True, True] Translation: X:121.42, Y:-5.24, Z:-0.88 [[ 9.98382257e-01 5.68543086e-02 6.75437807e-04 1.21418681e+02] [-5.68542794e-02 9.98382485e-01 -6.24123458e-05 -5.23880271e+00] [-6.77893687e-04 2.39098489e-05 9.99999770e-01 -8.84957745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters 0.0546050554238829 Centerline is valid? [True, True] Translation: X:121.48, Y:-5.23, Z:-0.88 [[ 9.98277458e-01 5.86683880e-02 -3.70653349e-04 1.21480846e+02] [-5.86683791e-02 9.98277527e-01 3.47599646e-05 -5.23021978e+00] [ 3.72054220e-04 -1.29544579e-05 9.99999931e-01 -8.84001643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters 0.05480372121814242 Centerline is valid? [True, True] Translation: X:121.54, Y:-5.24, Z:-0.89 [[ 9.98221903e-01 5.96055447e-02 -4.60506783e-04 1.21542490e+02] [-5.96055310e-02 9.98222009e-01 4.35536228e-05 -5.24244005e+00] [ 4.62284043e-04 -1.60274289e-05 9.99999893e-01 -8.86487502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters 0.054971995914633365 Centerline is valid? [True, True] Translation: X:121.60, Y:-5.24, Z:-0.89 [[ 9.98160915e-01 6.06131953e-02 9.10080427e-04 1.21604175e+02] [-6.06131431e-02 9.98161329e-01 -8.49372419e-05 -5.24120929e+00] [-9.13555406e-04 2.96182000e-05 9.99999582e-01 -8.86068336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters 0.05525803477958983 Centerline is valid? [True, True] Translation: X:121.67, Y:-5.25, Z:-0.89 [[ 9.98125268e-01 6.11941511e-02 1.10683392e-03 1.21666485e+02] [-6.11940746e-02 9.98125881e-01 -1.02882810e-04 -5.24562576e+00] [-1.11105541e-03 3.49582554e-05 9.99999382e-01 -8.86461652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters 0.054827227443789484 Centerline is valid? [True, True] Translation: X:121.73, Y:-5.25, Z:-0.89 [[ 9.98034073e-01 6.26439988e-02 1.92857939e-03 1.21726498e+02] [-6.26437669e-02 9.98035934e-01 -1.80461690e-04 -5.25271247e+00] [-1.93609638e-03 5.92934375e-05 9.99998124e-01 -8.87401073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters 0.05444378978146161 Centerline is valid? [True, True] Translation: X:121.79, Y:-5.25, Z:-0.89 [[ 9.97744322e-01 6.70292667e-02 3.65303100e-03 1.21786904e+02] [-6.70284616e-02 9.97751005e-01 -3.42496896e-04 -5.25412466e+00] [-3.66777267e-03 9.68672854e-05 9.99993269e-01 -8.87614282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters 0.05413033681509442 Centerline is valid? [True, True] Translation: X:121.85, Y:-5.26, Z:-0.89 [[ 9.97398609e-01 7.19712974e-02 4.01824457e-03 1.21845809e+02] [-7.19703633e-02 9.97406700e-01 -3.76755320e-04 -5.26231665e+00] [-4.03493963e-03 8.65807107e-05 9.99991856e-01 -8.88667248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters 0.054032156219776604 Centerline is valid? [True, True] Translation: X:121.91, Y:-5.26, Z:-0.89 [[ 9.96502409e-01 8.34247385e-02 4.82311415e-03 1.21907119e+02] [-8.34235270e-02 9.96514080e-01 -4.52164711e-04 -5.26167379e+00] [-4.84402288e-03 4.82220297e-05 9.99988266e-01 -8.90591535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters 0.053796713055069945 Centerline is valid? [True, True] Translation: X:121.97, Y:-5.26, Z:-0.89 [[ 9.96065315e-01 8.84943777e-02 4.75740835e-03 1.21968720e+02] [-8.84932571e-02 9.96076676e-01 -4.45947644e-04 -5.26364670e+00] [-4.77820736e-03 2.31944203e-05 9.99988584e-01 -8.91690312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters 0.05292917641717887 Centerline is valid? [True, True] Translation: X:122.03, Y:-5.27, Z:-0.89 [[ 9.95710919e-01 9.24430161e-02 3.74905522e-03 1.22030195e+02] [-9.24423490e-02 9.95717977e-01 -3.51196733e-04 -5.26703367e+00] [-3.76546736e-03 3.11895089e-06 9.99992911e-01 -8.92997661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters 0.05313643789218938 Centerline is valid? [True, True] Translation: X:122.09, Y:-5.27, Z:-0.89 [[ 9.95398116e-01 9.57430960e-02 3.98121303e-03 1.22093325e+02] [-9.57423685e-02 9.95406078e-01 -3.73352215e-04 -5.27233588e+00] [-3.99866955e-03 -9.53667360e-06 9.99992005e-01 -8.94328481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters 0.0533411337419209 Centerline is valid? [True, True] Translation: X:122.16, Y:-5.28, Z:-0.90 [[ 9.95396503e-01 9.57368546e-02 4.50075868e-03 1.22155600e+02] [-9.57359211e-02 9.95406678e-01 -4.22897910e-04 -5.27930581e+00] [-4.52057216e-03 -9.93317706e-06 9.99989782e-01 -8.95811021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters 0.05250170604329125 Centerline is valid? [True, True] Translation: X:122.22, Y:-5.29, Z:-0.90 [[ 9.95653951e-01 9.30604210e-02 3.60110670e-03 1.22217164e+02] [-9.30598065e-02 9.95660463e-01 -3.38195003e-04 -5.29041482e+00] [-3.61695214e-03 1.60689863e-06 9.99993459e-01 -8.96105104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters 0.05357354122130605 Centerline is valid? [True, True] Translation: X:122.28, Y:-5.30, Z:-0.90 [[ 9.96125223e-01 8.78697709e-02 3.66660161e-03 1.22278299e+02] [-8.78690967e-02 9.96131971e-01 -3.44890166e-04 -5.30154614e+00] [-3.68272451e-03 2.13728224e-05 9.99993219e-01 -8.97058144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters 0.053527638932163175 Centerline is valid? [True, True] Translation: X:122.34, Y:-5.31, Z:-0.90 [[ 9.96394534e-01 8.47283238e-02 4.36385548e-03 1.22339796e+02] [-8.47273361e-02 9.96404089e-01 -4.11047053e-04 -5.30901808e+00] [-4.38299077e-03 3.98271871e-05 9.99990394e-01 -8.97111715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters 0.05337930056170332 Centerline is valid? [True, True] Translation: X:122.40, Y:-5.32, Z:-0.90 [[ 9.96738860e-01 8.05706082e-02 4.47469316e-03 1.22400582e+02] [-8.05695246e-02 9.96748902e-01 -4.22191717e-04 -5.32044701e+00] [-4.49416174e-03 6.02909899e-05 9.99989899e-01 -8.98016148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters 0.05337912145786072 Centerline is valid? [True, True] Translation: X:122.46, Y:-5.34, Z:-0.90 [[ 9.97067064e-01 7.63979339e-02 4.54152538e-03 1.22459596e+02] [-7.63967735e-02 9.97077404e-01 -4.28704854e-04 -5.33538173e+00] [-4.56100450e-03 8.04896049e-05 9.99989595e-01 -8.98751221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters 0.053370085959220756 Centerline is valid? [True, True] Translation: X:122.52, Y:-5.34, Z:-0.90 [[ 9.97283127e-01 7.34710157e-02 5.32672312e-03 1.22520458e+02] [-7.34693773e-02 9.97297347e-01 -5.02858636e-04 -5.34032737e+00] [-5.34927237e-03 1.10141403e-04 9.99985686e-01 -8.98524171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters 0.05380974080305878 Centerline is valid? [True, True] Translation: X:122.58, Y:-5.35, Z:-0.90 [[ 9.97301135e-01 7.32315217e-02 5.25258134e-03 1.22581178e+02] [-7.32299259e-02 9.97314961e-01 -4.95757842e-04 -5.35138355e+00] [-5.27478306e-03 1.09773717e-04 9.99986082e-01 -8.99385697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters 0.052913438406075264 Centerline is valid? [True, True] Translation: X:122.64, Y:-5.37, Z:-0.90 [[ 9.97230274e-01 7.42577037e-02 4.19210825e-03 1.22641626e+02] [-7.42566950e-02 9.97239082e-01 -3.95965502e-04 -5.36505067e+00] [-4.20993767e-03 8.35766826e-05 9.99991135e-01 -9.00370788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters 0.05394690799664396 Centerline is valid? [True, True] Translation: X:122.70, Y:-5.37, Z:-0.90 [[ 9.97119669e-01 7.56767097e-02 5.03995083e-03 1.22704117e+02] [-7.56752660e-02 9.97132402e-01 -4.76820478e-04 -5.36909067e+00] [-5.06158248e-03 9.40474580e-05 9.99987186e-01 -9.00554775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters 0.0530706117011493 Centerline is valid? [True, True] Translation: X:122.76, Y:-5.38, Z:-0.90 [[ 9.96898572e-01 7.85584598e-02 4.66968806e-03 1.22763652e+02] [-7.85572506e-02 9.96909506e-01 -4.42087096e-04 -5.38307536e+00] [-4.68998610e-03 7.38781392e-05 9.99988999e-01 -9.00770434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters 0.05302162337445926 Centerline is valid? [True, True] Translation: X:122.82, Y:-5.39, Z:-0.90 [[ 9.96647887e-01 8.16686629e-02 4.81859793e-03 1.22824634e+02] [-8.16674117e-02 9.96659534e-01 -4.56188647e-04 -5.39084016e+00] [-4.83975788e-03 6.11370302e-05 9.99988286e-01 -9.01088266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters 0.0526147857139359 Centerline is valid? [True, True] Translation: X:122.89, Y:-5.40, Z:-0.90 [[ 9.96407733e-01 8.45431139e-02 4.90827049e-03 1.22886362e+02] [-8.45418510e-02 9.96419821e-01 -4.64586745e-04 -5.39685771e+00] [-4.92997562e-03 4.79635523e-05 9.99987846e-01 -9.01212547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters 0.05251005862817848 Centerline is valid? [True, True] Translation: X:122.95, Y:-5.40, Z:-0.90 [[ 9.95944567e-01 8.98685405e-02 4.25022658e-03 1.22947822e+02] [-8.98676405e-02 9.95953636e-01 -4.02648421e-04 -5.40447045e+00] [-4.26921404e-03 1.90576737e-05 9.99990887e-01 -9.01857583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters 0.05244716380783259 Centerline is valid? [True, True] Translation: X:123.01, Y:-5.41, Z:-0.90 [[ 9.95600424e-01 9.36025547e-02 4.28450570e-03 1.23008899e+02] [-9.36016728e-02 9.95609643e-01 -4.06349637e-04 -5.41287691e+00] [-4.30373055e-03 3.52497095e-06 9.99990739e-01 -9.03052163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters 0.051768628304452675 Centerline is valid? [True, True] Translation: X:123.07, Y:-5.42, Z:-0.91 [[ 9.95541620e-01 9.42509435e-02 3.69369012e-03 1.23071191e+02] [-9.42502908e-02 9.95548472e-01 -3.50771131e-04 -5.42226388e+00] [-3.71030807e-03 1.07589141e-06 9.99993117e-01 -9.05350203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters 0.051975836817434104 Centerline is valid? [True, True] Translation: X:123.13, Y:-5.44, Z:-0.90 [[ 9.95762605e-01 9.18998890e-02 3.35338175e-03 1.23132723e+02] [-9.18993379e-02 9.95768251e-01 -3.18382037e-04 -5.43507213e+00] [-3.36845035e-03 8.85936381e-06 9.99994327e-01 -9.03953733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters 0.05214152297472288 Centerline is valid? [True, True] Translation: X:123.19, Y:-5.45, Z:-0.91 [[ 9.96045734e-01 8.87807388e-02 3.29795348e-03 1.23194105e+02] [-8.87801869e-02 9.96051193e-01 -3.13680542e-04 -5.44701233e+00] [-3.31277929e-03 1.96472395e-05 9.99994513e-01 -9.05363986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters 0.05217475488121687 Centerline is valid? [True, True] Translation: X:123.25, Y:-5.46, Z:-0.91 [[ 9.96603517e-01 8.22507781e-02 4.02974599e-03 1.23254355e+02] [-8.22498990e-02 9.96611663e-01 -3.83677558e-04 -5.46346076e+00] [-4.04764963e-03 5.09282031e-05 9.99991807e-01 -9.05712448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters 0.05250121952056441 Centerline is valid? [True, True] Translation: X:123.31, Y:-5.47, Z:-0.91 [[ 9.97140843e-01 7.54186675e-02 4.70793145e-03 1.23314960e+02] [-7.54173906e-02 9.97151952e-01 -4.48415147e-04 -5.47284902e+00] [-4.72834191e-03 9.20731527e-05 9.99988817e-01 -9.05232628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters 0.05287825006429113 Centerline is valid? [True, True] Translation: X:123.37, Y:-5.49, Z:-0.91 [[ 9.97370041e-01 7.24117068e-02 3.08972830e-03 1.23374063e+02] [-7.24111424e-02 9.97374824e-01 -2.94281362e-04 -5.48976417e+00] [-3.10292663e-03 6.97766581e-05 9.99995183e-01 -9.07769984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters 0.05209224850368283 Centerline is valid? [True, True] Translation: X:123.44, Y:-5.50, Z:-0.91 [[ 9.97544478e-01 6.99859167e-02 2.64322337e-03 1.23435282e+02] [-6.99854951e-02 9.97547977e-01 -2.51779300e-04 -5.49605234e+00] [-2.65436313e-03 6.61737543e-05 9.99996475e-01 -9.07215847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters 0.05192510405105629 Centerline is valid? [True, True] Translation: X:123.50, Y:-5.51, Z:-0.91 [[ 9.97542088e-01 6.99985105e-02 3.16095601e-03 1.23496500e+02] [-6.99979088e-02 9.97547093e-01 -3.00718818e-04 -5.51060279e+00] [-3.17425235e-03 7.87193669e-05 9.99994959e-01 -9.08441978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters 0.05186873026022423 Centerline is valid? [True, True] Translation: X:123.56, Y:-5.52, Z:-0.91 [[ 9.97171796e-01 7.49996650e-02 4.84341665e-03 1.23556011e+02] [-7.49983045e-02 9.97183554e-01 -4.62177653e-04 -5.52115492e+00] [-4.86443860e-03 9.76224841e-05 9.99988164e-01 -9.09598496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters 0.051471126647744427 Centerline is valid? [True, True] Translation: X:123.62, Y:-5.53, Z:-0.91 [[ 9.96996546e-01 7.72880415e-02 4.94429478e-03 1.23617919e+02] [-7.72866530e-02 9.97008802e-01 -4.71557333e-04 -5.52679464e+00] [-4.96595116e-03 8.80130369e-05 9.99987666e-01 -9.09493410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters 0.05138313370919821 Centerline is valid? [True, True] Translation: X:123.68, Y:-5.54, Z:-0.91 [[ 9.96634165e-01 8.17969698e-02 5.44033661e-03 1.23678208e+02] [-8.17953508e-02 9.96649011e-01 -5.19796625e-04 -5.53631384e+00] [-5.46462389e-03 7.30528345e-05 9.99985066e-01 -9.08683921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters 0.05146793341249242 Centerline is valid? [True, True] Translation: X:123.74, Y:-5.54, Z:-0.91 [[ 9.96307184e-01 8.56783538e-02 5.58694639e-03 1.23740162e+02] [-8.56767069e-02 9.96322848e-01 -5.33889364e-04 -5.53746430e+00] [-5.61214510e-03 5.32466400e-05 9.99984250e-01 -9.08042164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters 0.05133963653980407 Centerline is valid? [True, True] Translation: X:123.80, Y:-5.54, Z:-0.91 [[ 9.95956680e-01 8.96880408e-02 5.13291251e-03 1.23802766e+02] [-8.96867043e-02 9.95969906e-01 -4.90418645e-04 -5.53847664e+00] [-5.15621108e-03 2.80817185e-05 9.99986706e-01 -9.07578842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters 0.05133626733794633 Centerline is valid? [True, True] Translation: X:123.86, Y:-5.54, Z:-0.91 [[ 9.95753788e-01 9.19476164e-02 4.47545528e-03 1.23864495e+02] [-9.19466205e-02 9.95763845e-01 -4.28206002e-04 -5.54497858e+00] [-4.49586908e-03 1.48847596e-05 9.99989893e-01 -9.09003810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters 0.05110796539865558 Centerline is valid? [True, True] Translation: X:123.93, Y:-5.55, Z:-0.91 [[ 9.95582189e-01 9.38238919e-02 3.63083791e-03 1.23926111e+02] [-9.38232497e-02 9.95588809e-01 -3.47184610e-04 -5.54882163e+00] [-3.64739581e-03 4.99380178e-06 9.99993348e-01 -9.09115853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters 0.05116449665433129 Centerline is valid? [True, True] Translation: X:123.99, Y:-5.55, Z:-0.91 [[ 9.95644342e-01 9.31851304e-02 2.97935543e-03 1.23987701e+02] [-9.31846935e-02 9.95648799e-01 -2.85441712e-04 -5.55496747e+00] [-2.99299058e-03 6.56810260e-06 9.99995521e-01 -9.10439331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters 0.051237940514337776 Centerline is valid? [True, True] Translation: X:124.05, Y:-5.56, Z:-0.91 [[ 9.95765783e-01 9.18888089e-02 2.63682433e-03 1.24048746e+02] [-9.18884627e-02 9.95769274e-01 -2.52388794e-04 -5.56234688e+00] [-2.64886036e-03 9.02639045e-06 9.99996492e-01 -9.10501530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters 0.05152786885095499 Centerline is valid? [True, True] Translation: X:124.11, Y:-5.57, Z:-0.91 [[ 9.95942074e-01 8.99643418e-02 2.40887207e-03 1.24109394e+02] [-8.99640462e-02 9.95944987e-01 -2.30987390e-04 -5.56845391e+00] [-2.41988469e-03 1.33381829e-05 9.99997072e-01 -9.09231189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters 0.05148250941904832 Centerline is valid? [True, True] Translation: X:124.17, Y:-5.58, Z:-0.91 [[ 9.96074467e-01 8.84988955e-02 1.89781741e-03 1.24171048e+02] [-8.84987092e-02 9.96076275e-01 -1.82121799e-04 -5.57780697e+00] [-1.90648847e-03 1.34524827e-05 9.99998183e-01 -9.11363722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters 0.05160155593442641 Centerline is valid? [True, True] Translation: X:124.23, Y:-5.59, Z:-0.91 [[ 9.96456981e-01 8.40847933e-02 1.79801942e-03 1.24231607e+02] [-8.40846194e-02 9.96458603e-01 -1.72251209e-04 -5.58948563e+00] [-1.80613563e-03 2.04551415e-05 9.99998369e-01 -9.11180287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters 0.052169297735377394 Centerline is valid? [True, True] Translation: X:124.29, Y:-5.59, Z:-0.91 [[ 9.96843620e-01 7.93882422e-02 5.51545059e-04 1.24293099e+02] [-7.93882250e-02 9.96843773e-01 -5.29647238e-05 -5.59186565e+00] [-5.54009034e-04 9.01136381e-06 9.99999846e-01 -9.09143890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters 0.052169297735377394 Centerline is valid? [True, True] Translation: X:124.36, Y:-5.60, Z:-0.91 [[ 9.96835177e-01 7.94941870e-02 5.51603720e-04 1.24355305e+02] [-7.94941702e-02 9.96835330e-01 -5.23555605e-05 -5.59777512e+00] [-5.54020039e-04 8.34058438e-06 9.99999846e-01 -9.09604403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters 0.05247608506331867 Centerline is valid? [True, True] Translation: X:124.42, Y:-5.60, Z:-0.91 [[ 9.96877678e-01 7.89607695e-02 3.01691432e-04 1.24416910e+02] [-7.89607645e-02 9.96877724e-01 -2.83283384e-05 -5.60136890e+00] [-3.02986296e-04 4.41810210e-06 9.99999954e-01 -9.09244000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters 0.05283996972130754 Centerline is valid? [True, True] Translation: X:124.48, Y:-5.60, Z:-0.91 [[ 9.97019886e-01 7.71350672e-02 -1.23637127e-03 1.24478388e+02] [-7.71349776e-02 9.97020652e-01 1.20105807e-04 -5.60470893e+00] [ 1.24195206e-03 -2.43804079e-05 9.99999228e-01 -9.08320054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters 0.05348810005708383 Centerline is valid? [True, True] Translation: X:124.54, Y:-5.62, Z:-0.91 [[ 9.97223974e-01 7.44046822e-02 -2.87897313e-03 1.24538522e+02] [-7.44041891e-02 9.97228128e-01 2.78128826e-04 -5.61569730e+00] [ 2.89168707e-03 -6.31490723e-05 9.99995817e-01 -9.12712474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters 0.05367978571681501 Centerline is valid? [True, True] Translation: X:124.60, Y:-5.61, Z:-0.91 [[ 9.97346678e-01 7.27439705e-02 -2.81395178e-03 1.24601020e+02] [-7.27434923e-02 9.97350646e-01 2.72074517e-04 -5.61270801e+00] [ 2.82628841e-03 -6.66559360e-05 9.99996004e-01 -9.10074450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters 0.0530997944144802 Centerline is valid? [True, True] Translation: X:124.66, Y:-5.62, Z:-0.91 [[ 9.97382998e-01 7.22776892e-02 -1.75830215e-03 1.24663028e+02] [-7.22775011e-02 9.97384547e-01 1.70381887e-04 -5.62109262e+00] [ 1.76601820e-03 -4.28503117e-05 9.99998440e-01 -9.11052786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters 0.05243714613136902 Centerline is valid? [True, True] Translation: X:124.72, Y:-5.62, Z:-0.91 [[ 9.97256465e-01 7.40067639e-02 -1.59423352e-03 1.24723023e+02] [-7.40066120e-02 9.97257739e-01 1.54168194e-04 -5.62460317e+00] [ 1.60127120e-03 -3.57614067e-05 9.99998717e-01 -9.10553687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters 0.052612453341677294 Centerline is valid? [True, True] Translation: X:124.78, Y:-5.63, Z:-0.91 [[ 9.96810746e-01 7.97911549e-02 -1.30724309e-03 1.24782880e+02] [-7.97910576e-02 9.96811603e-01 1.26476311e-04 -5.63344206e+00] [ 1.31316677e-03 -2.17666375e-05 9.99999138e-01 -9.14848407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters 0.05278349092380359 Centerline is valid? [True, True] Translation: X:124.84, Y:-5.63, Z:-0.91 [[ 9.96345208e-01 8.54135755e-02 -8.64739456e-04 1.24844083e+02] [-8.54135350e-02 9.96345583e-01 8.36708872e-05 -5.63101123e+00] [ 8.68725967e-04 -9.50463370e-06 9.99999623e-01 -9.11616119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters 0.051881428310086075 Centerline is valid? [True, True] Translation: X:124.91, Y:-5.64, Z:-0.91 [[ 9.96124772e-01 8.79509660e-02 -2.55433633e-04 1.24905943e+02] [-8.79509625e-02 9.96124805e-01 2.50826521e-05 -5.64079255e+00] [ 2.56649822e-04 -2.51981717e-06 9.99999967e-01 -9.13971374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters 0.05129229652735421 Centerline is valid? [True, True] Translation: X:124.97, Y:-5.65, Z:-0.92 [[ 9.95806946e-01 9.14767599e-02 7.26780134e-04 1.24966862e+02] [-9.14767335e-02 9.95807211e-01 -6.95795435e-05 -5.64835162e+00] [-7.30097810e-04 2.80432009e-06 9.99999733e-01 -9.16115766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters 0.05113133509447954 Centerline is valid? [True, True] Translation: X:125.03, Y:-5.65, Z:-0.92 [[ 9.95456635e-01 9.52069637e-02 1.31196169e-03 1.25027480e+02] [-9.52068794e-02 9.95457500e-01 -1.26667387e-04 -5.65487119e+00] [-1.31806172e-03 1.18411246e-06 9.99999131e-01 -9.17457278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters 0.051714785686857195 Centerline is valid? [True, True] Translation: X:125.09, Y:-5.66, Z:-0.92 [[ 9.95257611e-01 9.72639294e-02 1.41986267e-03 1.25089880e+02] [-9.72638328e-02 9.95258624e-01 -1.37096534e-04 -5.66179212e+00] [-1.42646512e-03 -1.65491657e-06 9.99998983e-01 -9.18458827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters 0.0512433773692374 Centerline is valid? [True, True] Translation: X:125.15, Y:-5.67, Z:-0.92 [[ 9.95022263e-01 9.96409087e-02 1.54478758e-03 1.25152553e+02] [-9.96407973e-02 9.95023462e-01 -1.49094641e-04 -5.67015868e+00] [-1.55195581e-03 -5.57137898e-06 9.99998796e-01 -9.18444381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters 0.05038776466525577 Centerline is valid? [True, True] Translation: X:125.21, Y:-5.68, Z:-0.92 [[ 9.94705575e-01 1.02737542e-01 2.41158883e-03 1.25213204e+02] [-1.02737278e-01 9.94708499e-01 -2.33719586e-04 -5.67812999e+00] [-2.42283968e-03 -1.52778962e-05 9.99997065e-01 -9.17332525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters 0.05066583200431378 Centerline is valid? [True, True] Translation: X:125.28, Y:-5.68, Z:-0.92 [[ 9.94426413e-01 1.05400728e-01 2.60673565e-03 1.25275285e+02] [-1.05400426e-01 9.94429830e-01 -2.53276937e-04 -5.67956769e+00] [-2.61891126e-03 -2.28857708e-05 9.99996570e-01 -9.20264110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters 0.050959719151831735 Centerline is valid? [True, True] Translation: X:125.34, Y:-5.69, Z:-0.92 [[ 9.94426960e-01 1.05404779e-01 2.20302426e-03 1.25338192e+02] [-1.05404564e-01 9.94429400e-01 -2.13615266e-04 -5.68835004e+00] [-2.21326817e-03 -1.97840320e-05 9.99997551e-01 -9.19993659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters 0.05103800320704711 Centerline is valid? [True, True] Translation: X:125.40, Y:-5.70, Z:-0.92 [[ 9.94777469e-01 1.02043648e-01 2.20930808e-03 1.25399706e+02] [-1.02043423e-01 9.94779922e-01 -2.14599572e-04 -5.69574865e+00] [-2.21967384e-03 -1.19665394e-05 9.99997536e-01 -9.20662291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters 0.050793339093725576 Centerline is valid? [True, True] Translation: X:125.46, Y:-5.70, Z:-0.92 [[ 9.95440339e-01 9.53340236e-02 3.15511896e-03 1.25460420e+02] [-9.53335287e-02 9.95445339e-01 -3.07225691e-04 -5.70436311e+00] [-3.17003752e-03 5.03622277e-06 9.99994975e-01 -9.19014527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters 0.05158180306069575 Centerline is valid? [True, True] Translation: X:125.52, Y:-5.71, Z:-0.92 [[ 9.95689562e-01 9.26679948e-02 3.86509705e-03 1.25521824e+02] [-9.26672288e-02 9.95697064e-01 -3.77171695e-04 -5.71173289e+00] [-3.88341753e-03 1.73780863e-05 9.99992459e-01 -9.20480053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters 0.05157288617419683 Centerline is valid? [True, True] Translation: X:125.58, Y:-5.72, Z:-0.92 [[ 9.96431159e-01 8.42697603e-02 4.85306363e-03 1.25581767e+02] [-8.42684514e-02 9.96442976e-01 -4.73932037e-04 -5.71877858e+00] [-4.87573931e-03 6.32804924e-05 9.99988112e-01 -9.20673034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters 0.05160000780384507 Centerline is valid? [True, True] Translation: X:125.64, Y:-5.73, Z:-0.92 [[ 9.96855006e-01 7.91089226e-02 4.67715803e-03 1.25641869e+02] [-7.91076499e-02 9.96865974e-01 -4.56791608e-04 -5.72666390e+00] [-4.69863599e-03 8.53560217e-05 9.99988958e-01 -9.21746523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters 0.05298690313816206 Centerline is valid? [True, True] Translation: X:125.70, Y:-5.73, Z:-0.92 [[ 9.97183739e-01 7.48419681e-02 4.82404354e-03 1.25702620e+02] [-7.48405641e-02 9.97195401e-01 -4.71155177e-04 -5.72960041e+00] [-4.84577621e-03 1.08794142e-04 9.99988253e-01 -9.22176713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters 0.05230062074557599 Centerline is valid? [True, True] Translation: X:125.76, Y:-5.73, Z:-0.92 [[ 9.97279497e-01 7.34815890e-02 5.83620604e-03 1.25764215e+02] [-7.34795110e-02 9.97296564e-01 -5.69959874e-04 -5.73325872e+00] [-5.86230979e-03 1.39567730e-04 9.99982807e-01 -9.23431821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters 0.05248175982362698 Centerline is valid? [True, True] Translation: X:125.83, Y:-5.74, Z:-0.92 [[ 9.97302081e-01 7.32610449e-02 4.62359251e-03 1.25826142e+02] [-7.32597367e-02 9.97312793e-01 -4.51904439e-04 -5.73745840e+00] [-4.64427495e-03 1.11962068e-04 9.99989209e-01 -9.24088723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters 0.05280475130450684 Centerline is valid? [True, True] Translation: X:125.89, Y:-5.74, Z:-0.92 [[ 9.97271290e-01 7.37016380e-02 4.24763988e-03 1.25887760e+02] [-7.37005360e-02 9.97280331e-01 -4.15595917e-04 -5.74133220e+00] [-4.26671781e-03 1.01408540e-04 9.99990892e-01 -9.24858323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters 0.05256721486084699 Centerline is valid? [True, True] Translation: X:125.95, Y:-5.74, Z:-0.93 [[ 9.97181486e-01 7.49026991e-02 4.32085640e-03 1.25949815e+02] [-7.49015677e-02 9.97190842e-01 -4.23292314e-04 -5.74492126e+00] [-4.34042417e-03 9.84603404e-05 9.99990575e-01 -9.26438231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters 0.05299523295402023 Centerline is valid? [True, True] Translation: X:126.01, Y:-5.75, Z:-0.93 [[ 9.96966553e-01 7.77230811e-02 4.10068302e-03 1.26010137e+02] [-7.77220826e-02 9.96974983e-01 -4.02531216e-04 -5.74870279e+00] [-4.11956435e-03 8.25965343e-05 9.99991511e-01 -9.27911376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters 0.052424682904010075 Centerline is valid? [True, True] Translation: X:126.07, Y:-5.75, Z:-0.93 [[ 9.96699579e-01 8.10623481e-02 4.34106502e-03 1.26072234e+02] [-8.10612607e-02 9.96709030e-01 -4.26142611e-04 -5.74595766e+00] [-4.36132283e-03 7.28439572e-05 9.99990487e-01 -9.26952488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters 0.05168045960071438 Centerline is valid? [True, True] Translation: X:126.13, Y:-5.76, Z:-0.93 [[ 9.96461260e-01 8.39409366e-02 4.34463627e-03 1.26132043e+02] [-8.39398745e-02 9.96470730e-01 -4.26569509e-04 -5.75628892e+00] [-4.36510952e-03 6.03717668e-05 9.99990471e-01 -9.28413975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters 0.0514417853818661 Centerline is valid? [True, True] Translation: X:126.19, Y:-5.76, Z:-0.93 [[ 9.96003845e-01 8.92169909e-02 4.08274699e-03 1.26193484e+02] [-8.92160970e-02 9.96012212e-01 -4.00917538e-04 -5.75729006e+00] [-4.10223452e-03 3.50686575e-05 9.99991585e-01 -9.29097197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters 0.05157843145565923 Centerline is valid? [True, True] Translation: X:126.25, Y:-5.76, Z:-0.93 [[ 9.95605696e-01 9.35351994e-02 4.52383582e-03 1.26254831e+02] [-9.35341463e-02 9.95615973e-01 -4.44252075e-04 -5.76256696e+00] [-4.54555641e-03 1.91667748e-05 9.99989669e-01 -9.29614006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters 0.05119702072162238 Centerline is valid? [True, True] Translation: X:126.32, Y:-5.77, Z:-0.93 [[ 9.95470869e-01 9.49584364e-02 4.54353399e-03 1.26316033e+02] [-9.49573889e-02 9.95481238e-01 -4.46192647e-04 -5.76864371e+00] [-4.56537259e-03 1.27296588e-05 9.99989579e-01 -9.29107480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters 0.051523549072690564 Centerline is valid? [True, True] Translation: X:126.38, Y:-5.77, Z:-0.93 [[ 9.95487221e-01 9.47753412e-02 4.77791530e-03 1.26378040e+02] [-9.47741777e-02 9.95498686e-01 -4.69840698e-04 -5.77496865e+00] [-4.80093772e-03 1.48974165e-05 9.99988475e-01 -9.29080258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters 0.05164482506889531 Centerline is valid? [True, True] Translation: X:126.44, Y:-5.78, Z:-0.93 [[ 9.95690090e-01 9.25806311e-02 5.48378175e-03 1.26439369e+02] [-9.25790622e-02 9.95705190e-01 -5.39803746e-04 -5.78356926e+00] [-5.51020533e-03 2.97938682e-05 9.99984818e-01 -9.29733410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters 0.05106104633989701 Centerline is valid? [True, True] Translation: X:126.50, Y:-5.79, Z:-0.93 [[ 9.96152267e-01 8.75309893e-02 4.35749450e-03 1.26500475e+02] [-8.75299492e-02 9.96161796e-01 -4.29198694e-04 -5.79208488e+00] [-4.37833774e-03 4.61359789e-05 9.99990414e-01 -9.30372198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters 0.05149705725437721 Centerline is valid? [True, True] Translation: X:126.56, Y:-5.80, Z:-0.93 [[ 9.96571152e-01 8.26972035e-02 2.66662694e-03 1.26560168e+02] [-8.26967968e-02 9.96574719e-01 -2.62613570e-04 -5.79863676e+00] [-2.67921040e-03 4.11916013e-05 9.99996410e-01 -9.30686797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters 0.05286039525445142 Centerline is valid? [True, True] Translation: X:126.62, Y:-5.82, Z:-0.93 [[ 9.97219273e-01 7.44530626e-02 3.23462575e-03 1.26620121e+02] [-7.44524199e-02 9.97224516e-01 -3.18844048e-04 -5.81678155e+00] [-3.24938702e-03 7.71317148e-05 9.99994718e-01 -9.32777615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters 0.05245082696893296 Centerline is valid? [True, True] Translation: X:126.68, Y:-5.82, Z:-0.93 [[ 9.97923809e-01 6.42641698e-02 4.26463014e-03 1.26679094e+02] [-6.42629590e-02 9.97932911e-01 -4.20473361e-04 -5.82303397e+00] [-4.28283614e-03 1.45542626e-04 9.99990818e-01 -9.31793002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters 0.05217847554322563 Centerline is valid? [True, True] Translation: X:126.74, Y:-5.82, Z:-0.93 [[ 9.98176475e-01 6.01248508e-02 5.35981786e-03 1.26740279e+02] [-6.01228773e-02 9.98190844e-01 -5.28719798e-04 -5.82177256e+00] [-5.38191031e-03 2.05507992e-04 9.99985496e-01 -9.31646284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters 0.05289495627465903 Centerline is valid? [True, True] Translation: X:126.80, Y:-5.83, Z:-0.93 [[ 9.98326118e-01 5.76112281e-02 5.09005430e-03 1.26799523e+02] [-5.76094152e-02 9.98339072e-01 -5.02192196e-04 -5.83107766e+00] [-5.11053200e-03 2.08116534e-04 9.99986919e-01 -9.32398340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters 0.053215771875514836 Centerline is valid? [True, True] Translation: X:126.86, Y:-5.84, Z:-0.93 [[ 9.98309999e-01 5.79944354e-02 3.71362909e-03 1.26860457e+02] [-5.79934745e-02 9.98316895e-01 -3.66016199e-04 -5.83989422e+00] [-3.72860556e-03 1.50031378e-04 9.99993037e-01 -9.33718264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters 0.053302643022648595 Centerline is valid? [True, True] Translation: X:126.92, Y:-5.84, Z:-0.93 [[ 9.98146443e-01 6.07019080e-02 4.35382241e-03 1.26921791e+02] [-6.07006091e-02 9.98155925e-01 -4.29965525e-04 -5.83917785e+00] [-4.37189336e-03 1.64888887e-04 9.99990430e-01 -9.34244072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters 0.052902039456157464 Centerline is valid? [True, True] Translation: X:126.98, Y:-5.84, Z:-0.93 [[ 9.97650471e-01 6.83095457e-02 5.22907680e-03 1.26981068e+02] [-6.83077758e-02 9.97664162e-01 -5.16535722e-04 -5.84488981e+00] [-5.25214685e-03 1.58135501e-04 9.99986195e-01 -9.34637918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters 0.05283443445181214 Centerline is valid? [True, True] Translation: X:127.04, Y:-5.85, Z:-0.94 [[ 9.97213772e-01 7.43806080e-02 5.67616221e-03 1.27041099e+02] [-7.43786211e-02 9.97229917e-01 -5.60625307e-04 -5.84944994e+00] [-5.70213842e-03 1.36878158e-04 9.99983733e-01 -9.35712442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters 0.05177808942238292 Centerline is valid? [True, True] Translation: X:127.10, Y:-5.84, Z:-0.94 [[ 9.96546710e-01 8.27841625e-02 6.43710327e-03 1.27101834e+02] [-8.27817819e-02 9.96567495e-01 -6.35842871e-04 -5.84315053e+00] [-6.46764560e-03 1.00772243e-04 9.99979079e-01 -9.36636127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters 0.05144091777986052 Centerline is valid? [True, True] Translation: X:127.16, Y:-5.84, Z:-0.94 [[ 9.96060695e-01 8.84545209e-02 6.23612910e-03 1.27162623e+02] [-8.84523978e-02 9.96080215e-01 -6.15987154e-04 -5.84348289e+00] [-6.26617166e-03 6.19600211e-05 9.99980365e-01 -9.37349374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters 0.0519185555638043 Centerline is valid? [True, True] Translation: X:127.22, Y:-5.85, Z:-0.94 [[ 9.95906894e-01 9.01484244e-02 6.53605166e-03 1.27224391e+02] [-9.01461289e-02 9.95928340e-01 -6.45564453e-04 -5.84774964e+00] [-6.56763570e-03 5.37223340e-05 9.99978431e-01 -9.38639359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters 0.051699893287457326 Centerline is valid? [True, True] Translation: X:127.29, Y:-5.85, Z:-0.94 [[ 9.96001456e-01 8.91243417e-02 6.16050115e-03 1.27286699e+02] [-8.91222810e-02 9.96020506e-01 -6.08756497e-04 -5.85370354e+00] [-6.19024050e-03 5.72844423e-05 9.99980839e-01 -9.40364491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters 0.05250007437369596 Centerline is valid? [True, True] Translation: X:127.35, Y:-5.86, Z:-0.94 [[ 9.96286455e-01 8.59886457e-02 4.38780741e-03 1.27347641e+02] [-8.59875680e-02 9.96296116e-01 -4.34017696e-04 -5.85834013e+00] [-4.40887607e-03 5.51090634e-05 9.99990279e-01 -9.42708537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters 0.05218318839269887 Centerline is valid? [True, True] Translation: X:127.41, Y:-5.86, Z:-0.94 [[ 9.96497929e-01 8.35829229e-02 2.40279505e-03 1.27409228e+02] [-8.35825928e-02 9.96500825e-01 -2.37646142e-04 -5.86379069e+00] [-2.41425041e-03 3.59820477e-05 9.99997085e-01 -9.42810328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters 0.0525749293066207 Centerline is valid? [True, True] Translation: X:127.47, Y:-5.87, Z:-0.94 [[ 9.96824088e-01 7.96306975e-02 -8.30749019e-04 1.27469635e+02] [-7.96306565e-02 9.96824434e-01 8.24138289e-05 -5.87239115e+00] [ 8.34673592e-04 -1.59990000e-05 9.99999652e-01 -9.43093312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters 0.053383259584114516 Centerline is valid? [True, True] Translation: X:127.53, Y:-5.89, Z:-0.95 [[ 9.97072584e-01 7.63135906e-02 -4.74331153e-03 1.27529479e+02] [-7.63122174e-02 9.97083860e-01 4.70073556e-04 -5.88576501e+00] [ 4.76535237e-03 -1.06724833e-04 9.99988640e-01 -9.47337445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters 0.05244085022979723 Centerline is valid? [True, True] Translation: X:127.59, Y:-5.90, Z:-0.95 [[ 9.97439413e-01 7.12952815e-02 -5.62135591e-03 1.27588085e+02] [-7.12932732e-02 9.97455242e-01 5.57082011e-04 -5.89774275e+00] [ 5.64676824e-03 -1.54890691e-04 9.99984045e-01 -9.47563762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters 0.05325721590826909 Centerline is valid? [True, True] Translation: X:127.65, Y:-5.90, Z:-0.94 [[ 9.97832923e-01 6.57522244e-02 -2.47050247e-03 1.27648481e+02] [-6.57518194e-02 9.97835978e-01 2.44908956e-04 -5.90286837e+00] [ 2.48125956e-03 -8.19381868e-05 9.99996918e-01 -9.43205100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters 0.053507545653227545 Centerline is valid? [True, True] Translation: X:127.71, Y:-5.92, Z:-0.94 [[ 9.97868409e-01 6.52567812e-02 -4.37963059e-04 1.27709600e+02] [-6.52567680e-02 9.97868504e-01 4.44022006e-05 -5.91520351e+00] [ 4.39927087e-04 -1.57274996e-05 9.99999903e-01 -9.43201328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters 0.05280984163884191 Centerline is valid? [True, True] Translation: X:127.77, Y:-5.92, Z:-0.94 [[ 9.97729417e-01 6.72310170e-02 4.00007331e-03 1.27769844e+02] [-6.72299655e-02 9.97737427e-01 -3.96926878e-04 -5.91609571e+00] [-4.01770865e-03 1.27100832e-04 9.99991921e-01 -9.39592744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters 0.052209930334157495 Centerline is valid? [True, True] Translation: X:127.83, Y:-5.92, Z:-0.94 [[ 9.97227186e-01 7.41372233e-02 6.45078519e-03 1.27831346e+02] [-7.41346327e-02 9.97248037e-01 -6.40105835e-04 -5.91644821e+00] [-6.48048853e-03 1.60104349e-04 9.99978989e-01 -9.37779502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters 0.05206114070767807 Centerline is valid? [True, True] Translation: X:127.89, Y:-5.92, Z:-0.94 [[ 9.96777650e-01 7.99712210e-02 6.23856606e-03 1.27892031e+02] [-7.99689121e-02 9.96797166e-01 -6.19078901e-04 -5.91720349e+00] [-6.26809346e-03 1.18192671e-04 9.99980348e-01 -9.38124916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters 0.05218158296678233 Centerline is valid? [True, True] Translation: X:127.95, Y:-5.92, Z:-0.94 [[ 9.96158681e-01 8.74231182e-02 5.00804466e-03 1.27952607e+02] [-8.74217242e-02 9.96171268e-01 -4.97008859e-04 -5.91814528e+00] [-5.03232027e-03 5.72877899e-05 9.99987336e-01 -9.39918426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters 0.052111510917024435 Centerline is valid? [True, True] Translation: X:128.02, Y:-5.92, Z:-0.94 [[ 9.95967943e-01 8.95748263e-02 4.91999061e-03 1.28015161e+02] [-8.95735074e-02 9.95980094e-01 -4.88196991e-04 -5.92045463e+00] [-4.94394287e-03 4.55277374e-05 9.99987778e-01 -9.40819911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters 0.05067083282730917 Centerline is valid? [True, True] Translation: X:128.08, Y:-5.93, Z:-0.94 [[ 9.96341582e-01 8.51713965e-02 7.02029456e-03 1.28075254e+02] [-8.51685994e-02 9.96366310e-01 -6.96974402e-04 -5.92732849e+00] [-7.05414727e-03 9.65159240e-05 9.99975115e-01 -9.43279230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters 0.05174660040264382 Centerline is valid? [True, True] Translation: X:128.14, Y:-5.93, Z:-0.95 [[ 9.96313544e-01 8.57545478e-02 -2.34086672e-03 1.28137675e+02] [-8.57542374e-02 9.96316293e-01 2.32807489e-04 -5.92671790e+00] [ 2.35220796e-03 -3.12100138e-05 9.99997233e-01 -9.49847506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters 0.051886362819075736 Centerline is valid? [True, True] Translation: X:128.20, Y:-5.94, Z:-0.95 [[ 9.96555603e-01 8.29008641e-02 -2.09196941e-03 1.28199254e+02] [-8.29006096e-02 9.96557798e-01 2.08253269e-04 -5.93803335e+00] [ 2.10203281e-03 -3.41104220e-05 9.99997790e-01 -9.51649968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters 0.051886362819075736 Centerline is valid? [True, True] Translation: X:128.26, Y:-5.94, Z:-0.95 [[ 9.96544456e-01 8.30347640e-02 -2.09187383e-03 1.28261431e+02] [-8.30345077e-02 9.96546651e-01 2.09214010e-04 -5.94418875e+00] [ 2.10202189e-03 -3.47933479e-05 9.99997790e-01 -9.52110510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters 0.05171453562926938 Centerline is valid? [True, True] Translation: X:128.32, Y:-5.95, Z:-0.95 [[ 9.96858828e-01 7.91762599e-02 -1.89638627e-03 1.28321452e+02] [-7.91760439e-02 9.96860631e-01 1.88838819e-04 -5.95404290e+00] [ 1.90538436e-03 -3.80972817e-05 9.99998184e-01 -9.51983547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters 0.05171453562926938 Centerline is valid? [True, True] Translation: X:128.38, Y:-5.96, Z:-0.95 [[ 9.96848126e-01 7.93108897e-02 -1.89626822e-03 1.28383631e+02] [-7.93106717e-02 9.96849929e-01 1.90023846e-04 -5.96021260e+00] [ 1.90536580e-03 -3.90306082e-05 9.99998184e-01 -9.52444030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters 0.05196742352184823 Centerline is valid? [True, True] Translation: X:128.44, Y:-5.96, Z:-0.95 [[ 9.97187774e-01 7.49350801e-02 -1.13041241e-03 1.28444776e+02] [-7.49350004e-02 9.97188414e-01 1.12829248e-04 -5.96466962e+00] [ 1.13568903e-03 -2.78044926e-05 9.99999355e-01 -9.50663975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters 0.0524958745396199 Centerline is valid? [True, True] Translation: X:128.50, Y:-5.97, Z:-0.95 [[ 9.97520757e-01 7.03681150e-02 -8.17602775e-04 1.28504805e+02] [-7.03680718e-02 9.97521091e-01 8.16123896e-05 -5.97298993e+00] [ 8.21318923e-04 -2.38769219e-05 9.99999662e-01 -9.50815103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters 0.052614160514455645 Centerline is valid? [True, True] Translation: X:128.57, Y:-5.98, Z:-0.95 [[ 9.97854329e-01 6.54696176e-02 -6.83012774e-04 1.28565510e+02] [-6.54695863e-02 9.97854563e-01 6.81285212e-05 -5.97590395e+00] [ 6.86007761e-04 -2.32657761e-05 9.99999764e-01 -9.49519871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters 0.05346196869764025 Centerline is valid? [True, True] Translation: X:128.62, Y:-6.00, Z:-0.95 [[ 9.98505346e-01 5.46538774e-02 1.68859435e-04 1.28623825e+02] [-5.46538754e-02 9.98505360e-01 -1.67524393e-05 -5.99953332e+00] [-1.69522636e-04 7.49857773e-06 9.99999986e-01 -9.52118031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters 0.05291662251081423 Centerline is valid? [True, True] Translation: X:128.68, Y:-6.00, Z:-0.95 [[ 9.98608012e-01 5.27409676e-02 6.54629138e-04 1.28684257e+02] [-5.27409362e-02 9.98608226e-01 -6.52238810e-05 -6.00219714e+00] [-6.57158013e-04 3.06073366e-05 9.99999784e-01 -9.50578496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters 0.05259334264939641 Centerline is valid? [True, True] Translation: X:128.75, Y:-6.00, Z:-0.95 [[ 9.98237040e-01 5.93519761e-02 3.94256443e-04 1.28745263e+02] [-5.93519653e-02 9.98237117e-01 -3.92200739e-05 -6.00466482e+00] [-3.95889204e-04 1.57510358e-05 9.99999922e-01 -9.51425001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters 0.052262110956465595 Centerline is valid? [True, True] Translation: X:128.81, Y:-6.01, Z:-0.95 [[ 9.97819213e-01 6.60059895e-02 -1.68466830e-04 1.28805781e+02] [-6.60059876e-02 9.97819227e-01 1.68243864e-05 -6.01042876e+00] [ 1.69209952e-04 -5.66787649e-06 9.99999986e-01 -9.53454152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters 0.052267269049590795 Centerline is valid? [True, True] Translation: X:128.87, Y:-6.01, Z:-0.95 [[ 9.97152478e-01 7.54092275e-02 -6.19027122e-04 1.28865410e+02] [-7.54092037e-02 9.97152670e-01 6.16834886e-05 -6.01132514e+00] [ 6.21916052e-04 -1.48275012e-05 9.99999807e-01 -9.54158149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters 0.05165253646242571 Centerline is valid? [True, True] Translation: X:128.93, Y:-6.02, Z:-0.95 [[ 9.96831824e-01 7.95283941e-02 -1.24462736e-03 1.28926005e+02] [-7.95283010e-02 9.96832601e-01 1.24228000e-04 -6.01555925e+00] [ 1.25056478e-03 -2.48513253e-05 9.99999218e-01 -9.54248787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters 0.051705984022039894 Centerline is valid? [True, True] Translation: X:128.99, Y:-6.02, Z:-0.96 [[ 9.96551040e-01 8.29800239e-02 -5.83738410e-04 1.28987152e+02] [-8.29800039e-02 9.96551211e-01 5.85408660e-05 -6.02418389e+00] [ 5.86582942e-04 -9.90034531e-06 9.99999828e-01 -9.55444220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters 0.05175625962920639 Centerline is valid? [True, True] Translation: X:129.05, Y:-6.03, Z:-0.96 [[ 9.96518378e-01 8.33716383e-02 5.40750747e-04 1.29049165e+02] [-8.33716217e-02 9.96518525e-01 -5.31729165e-05 -6.03067729e+00] [-5.43301250e-04 7.90452181e-06 9.99999852e-01 -9.55086882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters 0.05178123441537998 Centerline is valid? [True, True] Translation: X:129.11, Y:-6.04, Z:-0.96 [[ 9.96599965e-01 8.23870812e-02 9.37464757e-04 1.29111030e+02] [-8.23870302e-02 9.96600406e-01 -9.29119520e-05 -6.03816095e+00] [-9.41932502e-04 1.53611108e-05 9.99999556e-01 -9.55402952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters 0.052176676656047305 Centerline is valid? [True, True] Translation: X:129.17, Y:-6.04, Z:-0.95 [[ 9.96766504e-01 8.03481842e-02 8.40185469e-04 1.29173340e+02] [-8.03481421e-02 9.96766858e-01 -8.38179528e-05 -6.03816415e+00] [-8.44203650e-04 1.60395864e-05 9.99999644e-01 -9.53035278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters 0.051995021861345074 Centerline is valid? [True, True] Translation: X:129.23, Y:-6.05, Z:-0.96 [[ 9.97171420e-01 7.51586626e-02 5.77926051e-04 1.29231981e+02] [-7.51586417e-02 9.97171588e-01 -5.78073864e-05 -6.05203851e+00] [-5.80636164e-04 1.42077366e-05 9.99999831e-01 -9.55159540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters 0.05194346802404189 Centerline is valid? [True, True] Translation: X:129.29, Y:-6.06, Z:-0.95 [[ 9.97598341e-01 6.92582949e-02 9.16171712e-04 1.29292899e+02] [-6.92582400e-02 9.97598761e-01 -9.15986165e-05 -6.06006133e+00] [-9.20315729e-04 2.79261875e-05 9.99999576e-01 -9.54470098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters 0.052368372489874575 Centerline is valid? [True, True] Translation: X:129.35, Y:-6.07, Z:-0.96 [[ 9.97901855e-01 6.47446786e-02 1.23555408e-04 1.29353305e+02] [-6.47446776e-02 9.97901862e-01 -1.22648433e-05 -6.06573049e+00] [-1.24090255e-04 4.23955486e-06 9.99999992e-01 -9.55409059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters 0.05273435405131993 Centerline is valid? [True, True] Translation: X:129.41, Y:-6.07, Z:-0.96 [[ 9.97959398e-01 6.38506480e-02 -3.66290659e-04 1.29414552e+02] [-6.38506385e-02 9.97959465e-01 3.74589756e-05 -6.07220849e+00] [ 3.67935010e-04 -1.39946443e-05 9.99999932e-01 -9.56041682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters 0.05302273897345257 Centerline is valid? [True, True] Translation: X:129.48, Y:-6.08, Z:-0.96 [[ 9.98014562e-01 6.29696023e-02 -1.32807501e-03 1.29475168e+02] [-6.29694797e-02 9.98015444e-01 1.33951418e-04 -6.07829093e+00] [ 1.33387424e-03 -5.00572735e-05 9.99999109e-01 -9.56721451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters 0.05265653420627958 Centerline is valid? [True, True] Translation: X:129.54, Y:-6.08, Z:-0.96 [[ 9.97944982e-01 6.40655526e-02 -1.19085851e-03 1.29536897e+02] [-6.40654553e-02 9.97945691e-01 1.19643860e-04 -6.08228368e+00] [ 1.19607717e-03 -4.31050975e-05 9.99999284e-01 -9.56715587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters 0.053160016474978714 Centerline is valid? [True, True] Translation: X:129.60, Y:-6.09, Z:-0.96 [[ 9.97748526e-01 6.70635824e-02 -5.95938479e-04 1.29597297e+02] [-6.70635586e-02 9.97748704e-01 5.98465637e-05 -6.08754344e+00] [ 5.98610370e-04 -1.97460657e-05 9.99999821e-01 -9.56643893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters 0.05283362865186607 Centerline is valid? [True, True] Translation: X:129.66, Y:-6.10, Z:-0.96 [[ 9.97566745e-01 6.97176443e-02 1.98699998e-04 1.29657900e+02] [-6.97176417e-02 9.97566765e-01 -1.98872228e-05 -6.09568693e+00] [-1.99603005e-04 5.98593679e-06 9.99999980e-01 -9.57508638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters 0.05206341313632612 Centerline is valid? [True, True] Translation: X:129.72, Y:-6.10, Z:-0.96 [[ 9.97186438e-01 7.49198826e-02 2.49389462e-03 1.29716987e+02] [-7.49194908e-02 9.97189554e-01 -2.50266269e-04 -6.10155236e+00] [-2.50563559e-03 6.27208138e-05 9.99996859e-01 -9.57819767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters 0.05205640101630473 Centerline is valid? [True, True] Translation: X:129.78, Y:-6.10, Z:-0.96 [[ 9.96666218e-01 8.14684194e-02 4.39857249e-03 1.29778004e+02] [-8.14672650e-02 9.96675920e-01 -4.41284057e-04 -6.10196620e+00] [-4.41990200e-03 8.14732408e-05 9.99990229e-01 -9.57137321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters 0.05117292516062383 Centerline is valid? [True, True] Translation: X:129.84, Y:-6.10, Z:-0.96 [[ 9.96245320e-01 8.64617396e-02 4.43055787e-03 1.29838872e+02] [-8.64606177e-02 9.96255170e-01 -4.44483346e-04 -6.10335358e+00] [-4.45239699e-03 5.97456832e-05 9.99990086e-01 -9.57749729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters 0.05162292061009028 Centerline is valid? [True, True] Translation: X:129.90, Y:-6.11, Z:-0.96 [[ 9.96078262e-01 8.84168130e-02 3.25005369e-03 1.29899813e+02] [-8.84162203e-02 9.96083564e-01 -3.25862429e-04 -6.10848482e+00] [-3.26613678e-03 3.72270186e-05 9.99994665e-01 -9.59271470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters 0.0514067616198379 Centerline is valid? [True, True] Translation: X:129.96, Y:-6.11, Z:-0.96 [[ 9.96095436e-01 8.82493438e-02 2.43644091e-03 1.29961881e+02] [-8.82490107e-02 9.96098415e-01 -2.44117047e-04 -6.11438545e+00] [-2.44847809e-03 2.81503770e-05 9.99997002e-01 -9.60401858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters 0.05209865458038117 Centerline is valid? [True, True] Translation: X:130.02, Y:-6.12, Z:-0.96 [[ 9.96332078e-01 8.55376128e-02 2.38913643e-03 1.30023430e+02] [-8.55372833e-02 9.96334941e-01 -2.39946144e-04 -6.11931860e+00] [-2.40090452e-03 3.47058006e-05 9.99997117e-01 -9.60077058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters 0.05223399793009234 Centerline is valid? [True, True] Translation: X:130.08, Y:-6.13, Z:-0.96 [[ 9.96921475e-01 7.83846182e-02 1.85043872e-03 1.30082091e+02] [-7.83844080e-02 9.96923192e-01 -1.85975659e-04 -6.12861017e+00] [-1.85932291e-03 4.03575847e-05 9.99998271e-01 -9.60008821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters 0.05226794475997746 Centerline is valid? [True, True] Translation: X:130.14, Y:-6.13, Z:-0.96 [[ 9.97366260e-01 7.25033191e-02 1.95255408e-03 1.30142700e+02] [-7.25030738e-02 9.97368170e-01 -1.96231376e-04 -6.13471504e+00] [-1.96164271e-03 5.41483811e-05 9.99998075e-01 -9.59475183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters 0.0529907016183914 Centerline is valid? [True, True] Translation: X:130.20, Y:-6.14, Z:-0.96 [[ 9.97827018e-01 6.58409720e-02 2.49150651e-03 1.30203070e+02] [-6.58405515e-02 9.97830125e-01 -2.50487073e-04 -6.13908144e+00] [-2.50259257e-03 8.59006059e-05 9.99996865e-01 -9.58736803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters 0.05286479650097633 Centerline is valid? [True, True] Translation: X:130.26, Y:-6.15, Z:-0.96 [[ 9.97992689e-01 6.32574031e-02 3.01548990e-03 1.30262014e+02] [-6.32567752e-02 9.97997239e-01 -3.03249793e-04 -6.14936465e+00] [-3.02863339e-03 1.11890910e-04 9.99995407e-01 -9.59008926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters 0.053209668350763094 Centerline is valid? [True, True] Translation: X:130.32, Y:-6.15, Z:-0.96 [[ 9.97927937e-01 6.42401369e-02 3.61086233e-03 1.30324703e+02] [-6.42392436e-02 9.97934461e-01 -3.62972550e-04 -6.15067125e+00] [-3.62672136e-03 1.30261384e-04 9.99993415e-01 -9.58774702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters 0.054016566047807045 Centerline is valid? [True, True] Translation: X:130.38, Y:-6.17, Z:-0.96 [[ 9.97561752e-01 6.97387489e-02 2.65663049e-03 1.30382805e+02] [-6.97382841e-02 9.97565286e-01 -2.67309681e-04 -6.16604285e+00] [-2.66880420e-03 8.13890616e-05 9.99996435e-01 -9.61549629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters 0.052384147729019614 Centerline is valid? [True, True] Translation: X:130.44, Y:-6.16, Z:-0.96 [[ 9.97126280e-01 7.57000563e-02 2.94666527e-03 1.30444330e+02] [-7.56995107e-02 9.97130631e-01 -2.96390348e-04 -6.16035846e+00] [-2.96064697e-03 7.24774860e-05 9.99995615e-01 -9.61676006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters 0.05270385217927768 Centerline is valid? [True, True] Translation: X:130.50, Y:-6.16, Z:-0.96 [[ 9.96294842e-01 8.59526626e-02 2.95441280e-03 1.30503991e+02] [-8.59521590e-02 9.96299221e-01 -2.97259057e-04 -6.16039342e+00] [-2.96902938e-03 4.22195071e-05 9.99995592e-01 -9.61869111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters 0.05209652627203883 Centerline is valid? [True, True] Translation: X:130.56, Y:-6.17, Z:-0.96 [[ 9.95760200e-01 9.19348016e-02 3.10110783e-03 1.30563496e+02] [-9.19342759e-02 9.95765028e-01 -3.11954064e-04 -6.16528208e+00] [-3.11665416e-03 2.55333386e-05 9.99995143e-01 -9.62861283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters 0.05183723186538286 Centerline is valid? [True, True] Translation: X:130.63, Y:-6.17, Z:-0.96 [[ 9.95139764e-01 9.83823015e-02 4.21579339e-03 1.30625924e+02] [-9.83813883e-02 9.95148694e-01 -4.23960949e-04 -6.16776883e+00] [-4.23705154e-03 7.14479272e-06 9.99991024e-01 -9.63089559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters 0.0521423626194069 Centerline is valid? [True, True] Translation: X:130.69, Y:-6.17, Z:-0.96 [[ 9.94880163e-01 1.00956806e-01 4.60270348e-03 1.30688466e+02] [-1.00955745e-01 9.94890810e-01 -4.62836155e-04 -6.17277878e+00] [-4.62591385e-03 -4.20284924e-06 9.99989300e-01 -9.62933276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters 0.05174804145353584 Centerline is valid? [True, True] Translation: X:130.75, Y:-6.18, Z:-0.96 [[ 9.94905342e-01 1.00711483e-01 4.53404131e-03 1.30750282e+02] [-1.00710448e-01 9.94915673e-01 -4.56538838e-04 -6.18031354e+00] [-4.55696747e-03 -2.41240547e-06 9.99989617e-01 -9.63175881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters 0.05148693897118618 Centerline is valid? [True, True] Translation: X:130.81, Y:-6.19, Z:-0.96 [[ 9.95137684e-01 9.83857522e-02 4.60799699e-03 1.30812256e+02] [-9.83846559e-02 9.95148353e-01 -4.64532304e-04 -6.18891979e+00] [-4.63134397e-03 8.91740276e-06 9.99989275e-01 -9.63659481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters 0.051235790017474636 Centerline is valid? [True, True] Translation: X:130.87, Y:-6.20, Z:-0.97 [[ 9.95551525e-01 9.41384922e-02 3.88643322e-03 1.30874094e+02] [-9.41376777e-02 9.95559111e-01 -3.92396376e-04 -6.19929185e+00] [-3.90611360e-03 2.47910126e-05 9.99992371e-01 -9.65055539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters 0.051616406634846 Centerline is valid? [True, True] Translation: X:130.93, Y:-6.21, Z:-0.97 [[ 9.95862036e-01 9.08384836e-02 2.67859971e-03 1.30934351e+02] [-9.08380854e-02 9.95865638e-01 -2.70162497e-04 -6.20781580e+00] [-2.69206656e-03 2.57257057e-05 9.99996376e-01 -9.65442313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters 0.05205183558238611 Centerline is valid? [True, True] Translation: X:130.99, Y:-6.21, Z:-0.97 [[ 9.96309328e-01 8.58285619e-02 1.08629856e-03 1.30994824e+02] [-8.58284932e-02 9.96309921e-01 -1.09779167e-04 -6.21478387e+00] [-1.09171222e-03 1.61386394e-05 9.99999404e-01 -9.66125497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters 0.05247906024469964 Centerline is valid? [True, True] Translation: X:131.05, Y:-6.23, Z:-0.97 [[ 9.96608621e-01 8.22861977e-02 4.88583034e-04 1.31054049e+02] [-8.22861835e-02 9.96608740e-01 -4.91742841e-05 -6.22668216e+00] [-4.90972487e-04 8.80388229e-06 9.99999879e-01 -9.68459677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters 0.05227081959331667 Centerline is valid? [True, True] Translation: X:131.11, Y:-6.24, Z:-0.97 [[ 9.97134790e-01 7.56450549e-02 -1.91439722e-04 1.31114106e+02] [-7.56450525e-02 9.97134808e-01 1.94737844e-05 -6.23598821e+00] [ 1.92364306e-04 -4.93652012e-06 9.99999981e-01 -9.67567727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters 0.05272636717621434 Centerline is valid? [True, True] Translation: X:131.17, Y:-6.25, Z:-0.97 [[ 9.97414261e-01 7.18664800e-02 -1.56522146e-05 1.31174163e+02] [-7.18664799e-02 9.97414262e-01 1.70949697e-06 -6.25014232e+00] [ 1.57345975e-05 -5.80207093e-07 1.00000000e+00 -9.68741608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters 0.05310638855215657 Centerline is valid? [True, True] Translation: X:131.24, Y:-6.25, Z:-0.97 [[ 9.97659770e-01 6.83738126e-02 -7.71534112e-05 1.31235676e+02] [-6.83738122e-02 9.97659773e-01 7.87194737e-06 -6.24873295e+00] [ 7.75110897e-05 -2.57825236e-06 9.99999997e-01 -9.65269141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters 0.0532699407300989 Centerline is valid? [True, True] Translation: X:131.30, Y:-6.27, Z:-0.97 [[ 9.97556964e-01 6.98561850e-02 4.65710437e-04 1.31295654e+02] [-6.98561707e-02 9.97557073e-01 -4.68913875e-05 -6.26919890e+00] [-4.67848394e-04 1.42440824e-05 9.99999890e-01 -9.67139648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters 0.05219722654667384 Centerline is valid? [True, True] Translation: X:131.36, Y:-6.27, Z:-0.97 [[ 9.97420542e-01 7.17756761e-02 7.17327466e-04 1.31356794e+02] [-7.17756424e-02 9.97420800e-01 -7.25268640e-05 -6.26984365e+00] [-7.20683000e-04 2.08531443e-05 9.99999740e-01 -9.65775425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters 0.0524021714200808 Centerline is valid? [True, True] Translation: X:131.42, Y:-6.28, Z:-0.97 [[ 9.96912959e-01 7.85062978e-02 1.14561590e-03 1.31416701e+02] [-7.85062163e-02 9.96913617e-01 -1.16013301e-04 -6.27567315e+00] [-1.15118787e-03 2.57171936e-05 9.99999337e-01 -9.65973995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters 0.052756957926561404 Centerline is valid? [True, True] Translation: X:131.48, Y:-6.29, Z:-0.97 [[ 9.96527095e-01 8.32686564e-02 2.83722833e-04 1.31476817e+02] [-8.32686516e-02 9.96527135e-01 -2.86218563e-05 -6.28658965e+00] [-2.85120806e-04 4.89723754e-06 9.99999959e-01 -9.69714037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters 0.051330999916045755 Centerline is valid? [True, True] Translation: X:131.54, Y:-6.29, Z:-0.97 [[ 9.96125837e-01 8.79384660e-02 -3.76927549e-04 1.31538377e+02] [-8.79384577e-02 9.96125909e-01 3.83896421e-05 -6.29183317e+00] [ 3.78843223e-04 -5.09448704e-06 9.99999928e-01 -9.67669595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters 0.051244404941489546 Centerline is valid? [True, True] Translation: X:131.60, Y:-6.30, Z:-0.97 [[ 9.96062981e-01 8.86476130e-02 -3.72643106e-04 1.31598938e+02] [-8.86476048e-02 9.96063051e-01 3.86052448e-05 -6.30112792e+00] [ 3.74598292e-04 -5.41933643e-06 9.99999930e-01 -9.68247841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters 0.05144724459502093 Centerline is valid? [True, True] Translation: X:131.66, Y:-6.31, Z:-0.97 [[ 9.96268712e-01 8.63029379e-02 6.75370839e-04 1.31660605e+02] [-8.63029118e-02 9.96268941e-01 -6.77430407e-05 -6.31061913e+00] [-6.78697414e-04 9.20380200e-06 9.99999770e-01 -9.68311530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters 0.051985370696770256 Centerline is valid? [True, True] Translation: X:131.72, Y:-6.32, Z:-0.97 [[ 9.96313006e-01 8.57594630e-02 2.38930374e-03 1.31722036e+02] [-8.57591291e-02 9.96315870e-01 -2.42064586e-04 -6.31595009e+00] [-2.40126056e-03 3.62674874e-05 9.99997116e-01 -9.66934563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters 0.051539630922613135 Centerline is valid? [True, True] Translation: X:131.78, Y:-6.32, Z:-0.97 [[ 9.96423897e-01 8.44478163e-02 2.82567299e-03 1.31784249e+02] [-8.44473414e-02 9.96427902e-01 -2.87171677e-04 -6.32114552e+00] [-2.83983043e-03 4.75241492e-05 9.99995967e-01 -9.66799685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters 0.051827597572995 Centerline is valid? [True, True] Translation: X:131.84, Y:-6.33, Z:-0.97 [[ 9.96524380e-01 8.32773745e-02 2.00991181e-03 1.31844256e+02] [-8.32771320e-02 9.96526406e-01 -2.04182042e-04 -6.33124203e+00] [-2.01993393e-03 3.60926915e-05 9.99997959e-01 -9.68832180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters 0.0521019149529244 Centerline is valid? [True, True] Translation: X:131.91, Y:-6.33, Z:-0.97 [[ 9.96611292e-01 8.22448646e-02 1.30955268e-03 1.31906172e+02] [-8.22447613e-02 9.96612152e-01 -1.32644004e-04 -6.33279849e+00] [-1.31602540e-03 2.44906644e-05 9.99999134e-01 -9.68924066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters 0.05282619281037971 Centerline is valid? [True, True] Translation: X:131.97, Y:-6.34, Z:-0.97 [[ 9.96725000e-01 8.08652896e-02 2.80817133e-04 1.31966497e+02] [-8.08652849e-02 9.96725040e-01 -2.82351540e-05 -6.34072198e+00] [-2.82180712e-04 5.43432639e-06 9.99999960e-01 -9.70993518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters 0.05312571147698007 Centerline is valid? [True, True] Translation: X:132.03, Y:-6.35, Z:-0.97 [[ 9.96830799e-01 7.95509736e-02 3.36016836e-05 1.32028217e+02] [-7.95509735e-02 9.96830799e-01 -2.97735513e-06 -6.34675135e+00] [-3.37320447e-05 2.94872652e-07 9.99999999e-01 -9.71883188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters 0.05262413353303655 Centerline is valid? [True, True] Translation: X:132.09, Y:-6.35, Z:-0.97 [[ 9.96899175e-01 7.86892518e-02 -1.91077970e-04 1.32089628e+02] [-7.86892494e-02 9.96899193e-01 1.99531302e-05 -6.35086381e+00] [ 1.92055571e-04 -4.85547702e-06 9.99999982e-01 -9.72141621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters 0.05351732497465345 Centerline is valid? [True, True] Translation: X:132.15, Y:-6.36, Z:-0.97 [[ 9.96965469e-01 7.78424286e-02 6.40291388e-04 1.32151232e+02] [-7.78424030e-02 9.96965674e-01 -6.49366433e-05 -6.35695120e+00] [-6.43403361e-04 1.48977708e-05 9.99999793e-01 -9.72478350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters 0.05237724832518854 Centerline is valid? [True, True] Translation: X:132.21, Y:-6.36, Z:-0.97 [[ 9.97050466e-01 7.67464033e-02 5.98034747e-04 1.32213095e+02] [-7.67463807e-02 9.97050645e-01 -6.06715046e-05 -6.35588694e+00] [-6.00927250e-04 1.45955496e-05 9.99999819e-01 -9.70757011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters 0.05267671086744103 Centerline is valid? [True, True] Translation: X:132.27, Y:-6.36, Z:-0.97 [[ 9.97260424e-01 7.39648882e-02 9.17827006e-04 1.32272873e+02] [-7.39648332e-02 9.97260846e-01 -9.37393691e-05 -6.36310378e+00] [-9.22246358e-04 2.55956416e-05 9.99999574e-01 -9.71332201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters 0.052670265114523135 Centerline is valid? [True, True] Translation: X:132.33, Y:-6.37, Z:-0.97 [[ 9.97486162e-01 7.08381401e-02 1.82080887e-03 1.32333904e+02] [-7.08379185e-02 9.97487822e-01 -1.85994380e-04 -6.36754808e+00] [-1.82941017e-03 5.65445102e-05 9.99998325e-01 -9.70500181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters 0.053204054276840225 Centerline is valid? [True, True] Translation: X:132.40, Y:-6.38, Z:-0.97 [[ 9.97550876e-01 6.99008807e-02 2.47307095e-03 1.32395522e+02] [-6.99004692e-02 9.97553939e-01 -2.52551510e-04 -6.37696474e+00] [-2.48467524e-03 7.90641602e-05 9.99996910e-01 -9.72594248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters 0.0528489748550331 Centerline is valid? [True, True] Translation: X:132.46, Y:-6.38, Z:-0.97 [[ 9.97423948e-01 7.17263168e-02 8.96418385e-04 1.32456308e+02] [-7.17262634e-02 9.97424350e-01 -9.16027084e-05 -6.37618235e+00] [-9.00679850e-04 2.70699938e-05 9.99999594e-01 -9.72997951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters 0.05298086593672832 Centerline is valid? [True, True] Translation: X:132.52, Y:-6.39, Z:-0.97 [[ 9.97353560e-01 7.27016646e-02 5.86384194e-04 1.32516485e+02] [-7.27016423e-02 9.97353732e-01 -5.92559901e-05 -6.38868585e+00] [-5.89140474e-04 1.64680788e-05 9.99999826e-01 -9.74986023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters 0.0535827731963961 Centerline is valid? [True, True] Translation: X:132.58, Y:-6.39, Z:-0.98 [[ 9.97331284e-01 7.30088221e-02 1.49748130e-04 1.32578742e+02] [-7.30088207e-02 9.97331295e-01 -1.50181808e-05 -6.39400124e+00] [-1.50444956e-04 4.04516716e-06 9.99999989e-01 -9.75050360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters 0.05292516086127788 Centerline is valid? [True, True] Translation: X:132.64, Y:-6.40, Z:-0.98 [[ 9.97387901e-01 7.22313987e-02 -8.70867925e-07 1.32639950e+02] [-7.22313987e-02 9.97387901e-01 9.88477429e-07 -6.40104384e+00] [ 9.39992202e-07 -9.22991420e-07 1.00000000e+00 -9.75603534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters 0.052661656475456564 Centerline is valid? [True, True] Translation: X:132.70, Y:-6.40, Z:-0.97 [[ 9.97602915e-01 6.91983034e-02 1.34450709e-04 1.32701254e+02] [-6.91983022e-02 9.97602924e-01 -1.36586684e-05 -6.40484663e+00] [-1.35073577e-04 4.32216663e-06 9.99999991e-01 -9.74172058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters 0.05369494600624821 Centerline is valid? [True, True] Translation: X:132.76, Y:-6.41, Z:-0.98 [[ 9.97772738e-01 6.67048105e-02 1.77590048e-04 1.32760538e+02] [-6.67048083e-02 9.97772754e-01 -1.79653584e-05 -6.41466583e+00] [-1.78392887e-04 6.07923470e-06 9.99999984e-01 -9.75307720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters 0.053825348714626596 Centerline is valid? [True, True] Translation: X:132.82, Y:-6.41, Z:-0.97 [[ 9.97959594e-01 6.38452313e-02 6.59672162e-04 1.32821764e+02] [-6.38452006e-02 9.97959812e-01 -6.75620165e-05 -6.41180042e+00] [-6.62639819e-04 2.53072611e-05 9.99999780e-01 -9.74285348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters 0.05298529473144876 Centerline is valid? [True, True] Translation: X:132.88, Y:-6.42, Z:-0.97 [[ 9.97969716e-01 6.36885933e-02 4.57239368e-04 1.32883597e+02] [-6.36885786e-02 9.97969821e-01 -4.66278080e-05 -6.41963385e+00] [-4.59280750e-04 1.74122148e-05 9.99999894e-01 -9.74592436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters 0.05304500597765666 Centerline is valid? [True, True] Translation: X:132.94, Y:-6.43, Z:-0.98 [[ 9.97898038e-01 6.48031879e-02 2.30034712e-04 1.32944545e+02] [-6.48031843e-02 9.97898064e-01 -2.28482823e-05 -6.42635913e+00] [-2.31031835e-04 7.89327426e-06 9.99999973e-01 -9.75517119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters 0.053292936110029956 Centerline is valid? [True, True] Translation: X:133.01, Y:-6.43, Z:-0.98 [[ 9.97696267e-01 6.78353301e-02 7.26051557e-04 1.33005322e+02] [-6.78352938e-02 9.97696531e-01 -7.44831582e-05 -6.43378390e+00] [-7.29431709e-04 2.50596483e-05 9.99999734e-01 -9.77070517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters 0.052988161034807524 Centerline is valid? [True, True] Translation: X:133.07, Y:-6.44, Z:-0.98 [[ 9.97483657e-01 7.08953094e-02 4.56748164e-04 1.33065002e+02] [-7.08952953e-02 9.97483762e-01 -4.69372826e-05 -6.43573416e+00] [-4.58926510e-04 1.44378763e-05 9.99999895e-01 -9.77072069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters 0.05225375239672796 Centerline is valid? [True, True] Translation: X:133.13, Y:-6.44, Z:-0.98 [[ 9.97053559e-01 7.66974329e-02 1.30567862e-03 1.33125045e+02] [-7.66973229e-02 9.97054413e-01 -1.34179861e-04 -6.43915802e+00] [-1.31212388e-03 3.36424534e-05 9.99999139e-01 -9.77739662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters 0.05214149051893784 Centerline is valid? [True, True] Translation: X:133.18, Y:-6.44, Z:-0.98 [[ 9.96702973e-01 8.11074661e-02 2.18225368e-03 1.33184444e+02] [-8.11071694e-02 9.96705361e-01 -2.24278915e-04 -6.44472612e+00] [-2.19325463e-03 4.65430426e-05 9.99997594e-01 -9.78506898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters 0.05143617015690124 Centerline is valid? [True, True] Translation: X:133.24, Y:-6.45, Z:-0.98 [[ 9.96331524e-01 8.55333793e-02 2.74521788e-03 1.33244947e+02] [-8.55329268e-02 9.96335304e-01 -2.82029025e-04 -6.44898160e+00] [-2.75928039e-03 4.61878880e-05 9.99996192e-01 -9.79071217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters 0.051399485413255674 Centerline is valid? [True, True] Translation: X:133.31, Y:-6.46, Z:-0.98 [[ 9.95994492e-01 8.93753026e-02 2.65077716e-03 1.33305750e+02] [-8.93748943e-02 9.95998019e-01 -2.72318904e-04 -6.45724238e+00] [-2.66450739e-03 3.43151995e-05 9.99996450e-01 -9.82007640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters 0.05197788993380535 Centerline is valid? [True, True] Translation: X:133.37, Y:-6.46, Z:-0.98 [[ 9.95503640e-01 9.46883970e-02 2.57088294e-03 1.33367584e+02] [-9.46880304e-02 9.95506960e-01 -2.64201986e-04 -6.45556609e+00] [-2.58434872e-03 1.95821968e-05 9.99996660e-01 -9.80581324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters 0.051302596344710634 Centerline is valid? [True, True] Translation: X:133.43, Y:-6.46, Z:-0.98 [[ 9.95250032e-01 9.73063828e-02 2.97364256e-03 1.33429855e+02] [-9.73059043e-02 9.95254474e-01 -3.05508712e-04 -6.46189515e+00] [-2.98925901e-03 1.47045768e-05 9.99995532e-01 -9.81937278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters 0.051065178382850074 Centerline is valid? [True, True] Translation: X:133.49, Y:-6.47, Z:-0.98 [[ 9.95006926e-01 9.97916584e-02 1.68600838e-03 1.33492040e+02] [-9.97915090e-02 9.95008354e-01 -1.72708194e-04 -6.46621761e+00] [-1.69482726e-03 3.59652874e-06 9.99998564e-01 -9.82680316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters 0.051233312066503625 Centerline is valid? [True, True] Translation: X:133.55, Y:-6.47, Z:-0.98 [[ 9.95002324e-01 9.98452630e-02 1.13919449e-03 1.33553479e+02] [-9.98451944e-02 9.95002977e-01 -1.17103245e-04 -6.47309718e+00] [-1.14519411e-03 2.77490620e-06 9.99999344e-01 -9.82255460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters 0.05178242779913904 Centerline is valid? [True, True] Translation: X:133.62, Y:-6.48, Z:-0.98 [[ 9.95192251e-01 9.79334273e-02 1.19473422e-03 1.33615114e+02] [-9.79333504e-02 9.95192968e-01 -1.22831041e-04 -6.48321088e+00] [-1.20102036e-03 5.23617459e-06 9.99999279e-01 -9.84511283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters 0.051795539999126144 Centerline is valid? [True, True] Translation: X:133.68, Y:-6.49, Z:-0.98 [[ 9.95456625e-01 9.52037166e-02 1.53605221e-03 1.33675948e+02] [-9.52035866e-02 9.95457810e-01 -1.57681424e-04 -6.49023390e+00] [-1.54408702e-03 1.07273391e-05 9.99998808e-01 -9.82639122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters 0.0520945893190781 Centerline is valid? [True, True] Translation: X:133.74, Y:-6.50, Z:-0.98 [[ 9.95615325e-01 9.35302264e-02 1.49069820e-03 1.33737042e+02] [-9.35301019e-02 9.95616440e-01 -1.53183180e-04 -6.49820318e+00] [-1.49849089e-03 1.30863671e-05 9.99998877e-01 -9.83201697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters 0.05153424547463331 Centerline is valid? [True, True] Translation: X:133.80, Y:-6.51, Z:-0.99 [[ 9.95733552e-01 9.22725584e-02 6.84387439e-04 1.33798451e+02] [-9.22725318e-02 9.95733787e-01 -7.04101947e-05 -6.51149926e+00] [-6.87964625e-04 6.95963152e-06 9.99999763e-01 -9.85841306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters 0.051723027068695075 Centerline is valid? [True, True] Translation: X:133.86, Y:-6.52, Z:-0.99 [[ 9.95784626e-01 9.17222334e-02 -1.05467769e-04 1.33859066e+02] [-9.17222326e-02 9.95784631e-01 1.17172508e-05 -6.51831983e+00] [ 1.06097916e-04 -1.99411895e-06 9.99999994e-01 -9.85140702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters 0.051635363336225246 Centerline is valid? [True, True] Translation: X:133.92, Y:-6.53, Z:-0.99 [[ 9.95998856e-01 8.93648749e-02 4.45233504e-04 1.33920177e+02] [-8.93648634e-02 9.95998955e-01 -4.57678539e-05 -6.53097320e+00] [-4.47542144e-04 5.79649890e-06 9.99999900e-01 -9.86788566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters 0.051968944295373916 Centerline is valid? [True, True] Translation: X:133.98, Y:-6.54, Z:-0.99 [[ 9.96205584e-01 8.70309609e-02 2.16651942e-04 1.33980536e+02] [-8.70309583e-02 9.96205607e-01 -2.16444559e-05 -6.54089088e+00] [-2.17713617e-04 2.70690174e-06 9.99999976e-01 -9.87223292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters 0.05225678467539828 Centerline is valid? [True, True] Translation: X:134.04, Y:-6.55, Z:-0.99 [[ 9.96422871e-01 8.45032419e-02 8.15113843e-04 1.34041538e+02] [-8.45032013e-02 9.96423204e-01 -8.41753873e-05 -6.55243643e+00] [-8.19311440e-04 1.49945519e-05 9.99999664e-01 -9.88083236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters 0.05169839799664804 Centerline is valid? [True, True] Translation: X:134.10, Y:-6.56, Z:-0.99 [[ 9.96470559e-01 8.39274538e-02 1.61474954e-03 1.34102637e+02] [-8.39272931e-02 9.96471867e-01 -1.67110967e-04 -6.56207799e+00] [-1.62307769e-03 3.09996003e-05 9.99998682e-01 -9.87935903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters 0.05162220257786218 Centerline is valid? [True, True] Translation: X:134.16, Y:-6.57, Z:-0.99 [[ 9.96414101e-01 8.45898282e-02 1.87103184e-03 1.34163994e+02] [-8.45896143e-02 9.96415857e-01 -1.93333171e-04 -6.56844619e+00] [-1.88067982e-03 3.43700360e-05 9.99998231e-01 -9.87663468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters 0.05192701415330635 Centerline is valid? [True, True] Translation: X:134.23, Y:-6.57, Z:-0.99 [[ 9.96242908e-01 8.65837828e-02 1.82136824e-03 1.34225392e+02] [-8.65835831e-02 9.96244572e-01 -1.88401751e-04 -6.57396889e+00] [-1.83084076e-03 2.99933200e-05 9.99998324e-01 -9.88073303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters 0.0511115387249829 Centerline is valid? [True, True] Translation: X:134.28, Y:-6.58, Z:-0.99 [[ 9.95754454e-01 9.20358145e-02 1.57367142e-03 1.34284940e+02] [-9.20356711e-02 9.95755697e-01 -1.63485005e-04 -6.58237210e+00] [-1.58203876e-03 1.79570166e-05 9.99998748e-01 -9.90778993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters 0.050947617277331506 Centerline is valid? [True, True] Translation: X:134.35, Y:-6.58, Z:-0.99 [[ 9.95138658e-01 9.84769530e-02 1.15807439e-03 1.34347033e+02] [-9.84768798e-02 9.95139332e-01 -1.20138354e-04 -6.58157262e+00] [-1.16427624e-03 5.51076758e-06 9.99999322e-01 -9.90140209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters 0.051018842456940675 Centerline is valid? [True, True] Translation: X:134.41, Y:-6.59, Z:-0.99 [[ 9.94823283e-01 1.01615723e-01 9.38638892e-04 1.34407770e+02] [-1.01615677e-01 9.94823726e-01 -9.71460971e-05 -6.58608621e+00] [-9.43651810e-04 1.26277317e-06 9.99999555e-01 -9.91509524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters 0.050809283685941266 Centerline is valid? [True, True] Translation: X:134.47, Y:-6.59, Z:-0.99 [[ 9.94639313e-01 1.03404477e-01 3.87600228e-04 1.34470800e+02] [-1.03404469e-01 9.94639389e-01 -3.93768639e-05 -6.59097315e+00] [-3.89594198e-04 -9.13818995e-07 9.99999924e-01 -9.91633575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters 0.05054799644058229 Centerline is valid? [True, True] Translation: X:134.53, Y:-6.60, Z:-0.99 [[ 9.94669724e-01 1.03111353e-01 4.35781171e-04 1.34533124e+02] [-1.03111344e-01 9.94669819e-01 -4.44578921e-05 -6.59790091e+00] [-4.38042492e-04 -7.13062983e-07 9.99999904e-01 -9.91536822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters 0.05063993438014717 Centerline is valid? [True, True] Translation: X:134.59, Y:-6.61, Z:-0.99 [[ 9.94839948e-01 1.01456782e-01 1.10553652e-05 1.34593745e+02] [-1.01456782e-01 9.94839948e-01 -3.05206690e-07 -6.60613792e+00] [-1.10292842e-05 -8.18009965e-07 1.00000000e+00 -9.94279862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters 0.05081120659997259 Centerline is valid? [True, True] Translation: X:134.66, Y:-6.61, Z:-0.99 [[ 9.95055007e-01 9.93253637e-02 -6.76369821e-05 1.34655611e+02] [-9.93253634e-02 9.95055010e-01 7.89591681e-06 -6.61369476e+00] [ 6.80867827e-05 -1.13880373e-06 9.99999998e-01 -9.94154620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters 0.0509289614255883 Centerline is valid? [True, True] Translation: X:134.72, Y:-6.62, Z:-0.99 [[ 9.95466161e-01 9.51163187e-02 -9.32039578e-05 1.34717606e+02] [-9.51163182e-02 9.95466165e-01 1.00609328e-05 -6.62174306e+00] [ 9.37383453e-05 -1.15010080e-06 9.99999996e-01 -9.93296099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters 0.051474962262040416 Centerline is valid? [True, True] Translation: X:134.78, Y:-6.63, Z:-0.99 [[ 9.95772341e-01 9.18554872e-02 1.19788793e-04 1.34777930e+02] [-9.18554864e-02 9.95772348e-01 -1.17216499e-05 -6.62994265e+00] [-1.20359066e-04 6.68836889e-07 9.99999993e-01 -9.93296559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters 0.051724543405074784 Centerline is valid? [True, True] Translation: X:134.84, Y:-6.64, Z:-0.99 [[ 9.96179952e-01 8.73236969e-02 2.75457427e-04 1.34837873e+02] [-8.73236923e-02 9.96179990e-01 -2.87148155e-05 -6.64067017e+00] [-2.76912661e-04 4.55116393e-06 9.99999962e-01 -9.94212150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters 0.05179399211414401 Centerline is valid? [True, True] Translation: X:134.90, Y:-6.65, Z:-0.99 [[ 9.96328137e-01 8.56167953e-02 8.29475716e-05 1.34899600e+02] [-8.56167949e-02 9.96328141e-01 -7.81303644e-06 -6.64769520e+00] [-8.33119270e-05 6.82642810e-07 9.99999997e-01 -9.94060421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters 0.051537303412232366 Centerline is valid? [True, True] Translation: X:134.96, Y:-6.66, Z:-0.99 [[ 9.96357708e-01 8.52679229e-02 8.35916290e-04 1.34961078e+02] [-8.52678800e-02 9.96358059e-01 -8.67964983e-05 -6.65925940e+00] [-8.40272889e-04 1.52035502e-05 9.99999647e-01 -9.94584640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters 0.05194427783450791 Centerline is valid? [True, True] Translation: X:135.02, Y:-6.66, Z:-0.99 [[ 9.96312899e-01 8.57737708e-02 1.86202287e-03 1.35022802e+02] [-8.57735557e-02 9.96314639e-01 -1.95211111e-04 -6.66287077e+00] [-1.87190464e-03 3.47790260e-05 9.99998247e-01 -9.94328562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters 0.05192438763077599 Centerline is valid? [True, True] Translation: X:135.08, Y:-6.67, Z:-1.00 [[ 9.96166132e-01 8.74549541e-02 2.16052901e-03 1.35084862e+02] [-8.74546686e-02 9.96168475e-01 -2.26461300e-04 -6.67095364e+00] [-2.17205605e-03 3.66447282e-05 9.99997640e-01 -9.95559200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters 0.05073478453752215 Centerline is valid? [True, True] Translation: X:135.15, Y:-6.67, Z:-1.00 [[ 9.96074819e-01 8.84952167e-02 1.88442916e-03 1.35147266e+02] [-8.84950016e-02 9.96076601e-01 -1.97365000e-04 -6.67086368e+00] [-1.89450166e-03 2.98277446e-05 9.99998205e-01 -9.95153558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters 0.05097745775013004 Centerline is valid? [True, True] Translation: X:135.21, Y:-6.68, Z:-1.00 [[ 9.95966783e-01 8.97006795e-02 1.98897319e-03 1.35208900e+02] [-8.97004411e-02 9.95968768e-01 -2.08933152e-04 -6.67570525e+00] [-1.99969662e-03 2.96787074e-05 9.99998000e-01 -9.97066925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters 0.05142091631419991 Centerline is valid? [True, True] Translation: X:135.27, Y:-6.68, Z:-1.00 [[ 9.95966976e-01 8.96823049e-02 2.62049224e-03 1.35270279e+02] [-8.96818904e-02 9.95970423e-01 -2.75472818e-04 -6.68257093e+00] [-2.63463780e-03 3.93511315e-05 9.99996529e-01 -9.98228667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters 0.051219869666436046 Centerline is valid? [True, True] Translation: X:135.33, Y:-6.69, Z:-1.00 [[ 9.96039499e-01 8.88332835e-02 3.73674970e-03 1.35332193e+02] [-8.88324348e-02 9.96046507e-01 -3.92822257e-04 -6.68853505e+00] [-3.75687218e-03 5.93219106e-05 9.99992941e-01 -9.98161126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters 0.05172215364006515 Centerline is valid? [True, True] Translation: X:135.39, Y:-6.70, Z:-1.00 [[ 9.96159459e-01 8.74283726e-02 4.75519043e-03 1.35392959e+02] [-8.74269782e-02 9.96170805e-01 -5.00714691e-04 -6.69642103e+00] [-4.78075855e-03 8.30597460e-05 9.99988569e-01 -9.97459380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters 0.05222239168502275 Centerline is valid? [True, True] Translation: X:135.46, Y:-6.70, Z:-1.00 [[ 9.96119501e-01 8.77786719e-02 6.39103058e-03 1.35455801e+02] [-8.77761540e-02 9.96139996e-01 -6.73949222e-04 -6.69725080e+00] [-6.42551955e-03 1.10353879e-04 9.99979350e-01 -9.98080425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters 0.05146969768178896 Centerline is valid? [True, True] Translation: X:135.52, Y:-6.70, Z:-1.00 [[ 9.95892675e-01 9.02182347e-02 7.64531029e-03 1.35517179e+02] [-9.02146960e-02 9.95922014e-01 -8.07172102e-04 -6.70427070e+00] [-7.68695446e-03 1.14137441e-04 9.99970448e-01 -9.99776552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters 0.050652047913240926 Centerline is valid? [True, True] Translation: X:135.58, Y:-6.72, Z:-1.00 [[ 9.95571249e-01 9.36734393e-02 7.94827668e-03 1.35576383e+02] [-9.36697226e-02 9.95602972e-01 -8.39416871e-04 -6.71560153e+00] [-7.99195896e-03 9.11864309e-05 9.99968060e-01 -1.00068294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters 0.050797954528954276 Centerline is valid? [True, True] Translation: X:135.64, Y:-6.72, Z:-1.00 [[ 9.95427054e-01 9.52183559e-02 7.64492616e-03 1.35638269e+02] [-9.52149618e-02 9.95456407e-01 -8.07535310e-04 -6.71997333e+00] [-7.68708291e-03 7.59311418e-05 9.99970451e-01 -1.00272914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters 0.05046949422045265 Centerline is valid? [True, True] Translation: X:135.70, Y:-6.73, Z:-1.00 [[ 9.95395114e-01 9.56183561e-02 6.75993329e-03 1.35699315e+02] [-9.56157068e-02 9.95418066e-01 -7.14750229e-04 -6.72727127e+00] [-6.79730296e-03 6.51030862e-05 9.99976896e-01 -1.00488452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters 0.050977691429764056 Centerline is valid? [True, True] Translation: X:135.76, Y:-6.74, Z:-1.01 [[ 9.95633860e-01 9.31200955e-02 6.47034700e-03 1.35759399e+02] [-9.31176100e-02 9.95654881e-01 -6.85001318e-04 -6.73679734e+00] [-6.50601996e-03 7.95072575e-05 9.99978832e-01 -1.00663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters 0.05100366399158349 Centerline is valid? [True, True] Translation: X:135.82, Y:-6.74, Z:-1.01 [[ 9.96155236e-01 8.73910748e-02 6.12752316e-03 1.35820624e+02] [-8.73887367e-02 9.96174075e-01 -6.48797590e-04 -6.74226033e+00] [-6.16077883e-03 1.10826609e-04 9.99981016e-01 -1.00826099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters 0.051135691928773236 Centerline is valid? [True, True] Translation: X:135.88, Y:-6.76, Z:-1.01 [[ 9.96473106e-01 8.36280116e-02 6.90680704e-03 1.35879982e+02] [-8.36249497e-02 9.96497031e-01 -7.31430040e-04 -6.75716490e+00] [-6.94378075e-03 1.51268972e-04 9.99975880e-01 -1.00951571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters 0.05124955705891081 Centerline is valid? [True, True] Translation: X:135.94, Y:-6.76, Z:-1.01 [[ 9.96649156e-01 8.14218939e-02 7.80603449e-03 1.35940732e+02] [-8.14179139e-02 9.96679708e-01 -8.26818213e-04 -6.75986967e+00] [-7.84743728e-03 1.88496630e-04 9.99969191e-01 -1.01013771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters 0.05081591506313131 Centerline is valid? [True, True] Translation: X:136.00, Y:-6.77, Z:-1.01 [[ 9.96710280e-01 8.06832431e-02 7.67021033e-03 1.36002414e+02] [-8.06793752e-02 9.96739774e-01 -8.12871044e-04 -6.76546897e+00] [-7.71078879e-03 1.91369149e-04 9.99970253e-01 -1.01053662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters 0.0508316743065596 Centerline is valid? [True, True] Translation: X:136.07, Y:-6.76, Z:-1.01 [[ 9.96677738e-01 8.10517148e-02 8.00667839e-03 1.36065097e+02] [-8.10475055e-02 9.96709878e-01 -8.49329750e-04 -6.76292887e+00] [-8.04917508e-03 1.97586743e-04 9.99967585e-01 -1.01281536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters 0.05096410729017216 Centerline is valid? [True, True] Translation: X:136.12, Y:-6.77, Z:-1.01 [[ 9.96339646e-01 8.52480921e-02 6.33031341e-03 1.36123724e+02] [-8.52455440e-02 9.96359747e-01 -6.71744776e-04 -6.77348226e+00] [-6.36453443e-03 1.29654941e-04 9.99979738e-01 -1.01461708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters 0.05052016050682312 Centerline is valid? [True, True] Translation: X:136.19, Y:-6.78, Z:-1.02 [[ 9.95962041e-01 8.95090187e-02 6.90999319e-03 1.36185026e+02] [-8.95060855e-02 9.95986005e-01 -7.33192921e-04 -6.77539517e+00] [-6.94788389e-03 1.11745877e-04 9.99975857e-01 -1.01517884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters 0.04996937213146774 Centerline is valid? [True, True] Translation: X:136.24, Y:-6.78, Z:-1.02 [[ 9.95414920e-01 9.53699185e-02 7.32904369e-03 1.36244941e+02] [-9.53667774e-02 9.95441898e-01 -7.77673549e-04 -6.77787015e+00] [-7.36980383e-03 7.51605755e-05 9.99972840e-01 -1.01502127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters 0.049875635597523824 Centerline is valid? [True, True] Translation: X:136.31, Y:-6.78, Z:-1.02 [[ 9.95148613e-01 9.81059254e-02 7.38008795e-03 1.36307078e+02] [-9.81028156e-02 9.95175977e-01 -7.83095930e-04 -6.78038082e+00] [-7.42131259e-03 5.52894215e-05 9.99972460e-01 -1.01590363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters 0.05072643723645023 Centerline is valid? [True, True] Translation: X:136.37, Y:-6.79, Z:-1.02 [[ 9.94894574e-01 1.00668666e-01 7.11380629e-03 1.36369497e+02] [-1.00665836e-01 9.94920006e-01 -7.55662020e-04 -6.78585121e+00] [-7.15373969e-03 3.56867863e-05 9.99974411e-01 -1.01787883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters 0.050247188334525524 Centerline is valid? [True, True] Translation: X:136.43, Y:-6.79, Z:-1.02 [[ 9.94773220e-01 1.01901689e-01 6.50287158e-03 1.36430479e+02] [-1.01899349e-01 9.94794474e-01 -6.91021332e-04 -6.79301890e+00] [-6.53943695e-03 2.47711379e-05 9.99978617e-01 -1.01899929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters 0.049882983307042744 Centerline is valid? [True, True] Translation: X:136.49, Y:-6.80, Z:-1.02 [[ 9.94662675e-01 1.02969663e-01 6.58875059e-03 1.36493430e+02] [-1.02967280e-01 9.94684497e-01 -7.00882825e-04 -6.79991244e+00] [-6.62589773e-03 1.87162608e-05 9.99978048e-01 -1.01940400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters 0.04976241851319909 Centerline is valid? [True, True] Translation: X:136.55, Y:-6.81, Z:-1.02 [[ 9.94381046e-01 1.05615011e-01 7.19754976e-03 1.36554290e+02] [-1.05612228e-01 9.94407094e-01 -7.66728403e-04 -6.80778414e+00] [-7.23827257e-03 2.27092430e-06 9.99973803e-01 -1.01922893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters 0.049611780369224236 Centerline is valid? [True, True] Translation: X:136.62, Y:-6.82, Z:-1.02 [[ 9.94170624e-01 1.07637286e-01 6.24385707e-03 1.36616184e+02] [-1.07635228e-01 9.94190231e-01 -6.65700473e-04 -6.81610591e+00] [-6.27923589e-03 -1.02391241e-05 9.99980285e-01 -1.01989927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters 0.04975402600067943 Centerline is valid? [True, True] Translation: X:136.68, Y:-6.82, Z:-1.02 [[ 9.94101295e-01 1.08315951e-01 5.50183696e-03 1.36678306e+02] [-1.08314360e-01 9.94116520e-01 -5.87284110e-04 -6.82406681e+00] [-5.53307925e-03 -1.21080542e-05 9.99984692e-01 -1.02085120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters 0.05027735462925031 Centerline is valid? [True, True] Translation: X:136.74, Y:-6.83, Z:-1.02 [[ 9.94146369e-01 1.07973606e-01 3.83364678e-03 1.36740099e+02] [-1.07972831e-01 9.94153761e-01 -4.09076627e-04 -6.83190144e+00] [-3.85540385e-03 -7.24765421e-06 9.99992568e-01 -1.02305983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters 0.04951933925507267 Centerline is valid? [True, True] Translation: X:136.80, Y:-6.84, Z:-1.02 [[ 9.94712268e-01 1.02659649e-01 2.91552249e-03 1.36801367e+02] [-1.02659178e-01 9.94716541e-01 -3.11310497e-04 -6.84457354e+00] [-2.93207747e-03 1.03592297e-05 9.99995701e-01 -1.02344538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters 0.05050368035152011 Centerline is valid? [True, True] Translation: X:136.86, Y:-6.86, Z:-1.02 [[ 9.95400546e-01 9.57074785e-02 4.22279907e-03 1.36862816e+02] [-9.57064222e-02 9.95409502e-01 -4.51964819e-04 -6.85555384e+00] [-4.24667073e-03 4.57370370e-05 9.99990982e-01 -1.02259644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters 0.05030742107956933 Centerline is valid? [True, True] Translation: X:136.92, Y:-6.87, Z:-1.02 [[ 9.95858663e-01 9.08479470e-02 3.48921304e-03 1.36922522e+02] [-9.08471953e-02 9.95864774e-01 -3.73668519e-04 -6.86586652e+00] [-3.50873137e-03 5.51358128e-05 9.99993843e-01 -1.02286961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters 0.05063756858344464 Centerline is valid? [True, True] Translation: X:136.98, Y:-6.87, Z:-1.02 [[ 9.96226025e-01 8.67176367e-02 3.70929972e-03 1.36984025e+02] [-8.67167584e-02 9.96232928e-01 -3.97248167e-04 -6.86752423e+00] [-3.72977494e-03 7.40905142e-05 9.99993042e-01 -1.02132235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters 0.05122568754071494 Centerline is valid? [True, True] Translation: X:137.04, Y:-6.88, Z:-1.02 [[ 9.96736557e-01 8.06372628e-02 3.72401184e-03 1.37043680e+02] [-8.06363349e-02 9.96743509e-01 -3.98891352e-04 -6.87713044e+00] [-3.74405014e-03 9.72989271e-05 9.99992986e-01 -1.02192575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters 0.05188898388155 Centerline is valid? [True, True] Translation: X:137.10, Y:-6.88, Z:-1.02 [[ 9.97117905e-01 7.57883696e-02 3.46517173e-03 1.37103604e+02] [-7.57875367e-02 9.97123920e-01 -3.71235247e-04 -6.88380328e+00] [-3.48334094e-03 1.07548482e-04 9.99993927e-01 -1.02214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters 0.052077311399690795 Centerline is valid? [True, True] Translation: X:137.16, Y:-6.89, Z:-1.02 [[ 9.97416947e-01 7.17076403e-02 4.17705936e-03 1.37162589e+02] [-7.17063941e-02 9.97425683e-01 -4.47521384e-04 -6.89189329e+00] [-4.19839699e-03 1.46843547e-04 9.99991176e-01 -1.02263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters 0.05231710255897704 Centerline is valid? [True, True] Translation: X:137.22, Y:-6.89, Z:-1.02 [[ 9.97563060e-01 6.95902067e-02 5.01442748e-03 1.37223380e+02] [-6.95883841e-02 9.97575645e-01 -5.37242697e-04 -6.89074266e+00] [-5.03965756e-03 1.86987563e-04 9.99987283e-01 -1.02162264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters 0.05220031262903703 Centerline is valid? [True, True] Translation: X:137.29, Y:-6.90, Z:-1.02 [[ 9.97525251e-01 7.00586477e-02 5.92951610e-03 1.37285662e+02] [-7.00561073e-02 9.97542850e-01 -6.35305791e-04 -6.89629963e+00] [-5.95945506e-03 2.18334752e-04 9.99982218e-01 -1.02072673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters 0.05189670612830604 Centerline is valid? [True, True] Translation: X:137.35, Y:-6.90, Z:-1.02 [[ 9.97321666e-01 7.28404804e-02 6.61511753e-03 1.37345387e+02] [-7.28373776e-02 9.97343579e-01 -7.09077206e-04 -6.89754046e+00] [-6.64919452e-03 2.25350247e-04 9.99977868e-01 -1.02114305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters 0.051109268636540396 Centerline is valid? [True, True] Translation: X:137.41, Y:-6.89, Z:-1.02 [[ 9.96860189e-01 7.88446403e-02 7.29969866e-03 1.37407269e+02] [-7.88410228e-02 9.96886895e-01 -7.82457544e-04 -6.88757880e+00] [-7.33866651e-03 2.04485066e-04 9.99973051e-01 -1.02247058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters 0.051910236526613564 Centerline is valid? [True, True] Translation: X:137.47, Y:-6.90, Z:-1.02 [[ 9.96510606e-01 8.31703457e-02 7.02178004e-03 1.37465708e+02] [-8.31671053e-02 9.96535331e-01 -7.52719540e-04 -6.89980721e+00] [-7.06005585e-03 1.66111884e-04 9.99975064e-01 -1.02345132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters 0.0518771590429144 Centerline is valid? [True, True] Translation: X:137.53, Y:-6.90, Z:-1.02 [[ 9.96229295e-01 8.65222725e-02 6.41000783e-03 1.37527573e+02] [-8.65196417e-02 9.96249908e-01 -6.87111468e-04 -6.89576545e+00] [-6.44542016e-03 1.29928993e-04 9.99979220e-01 -1.02351879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters 0.05186933451934233 Centerline is valid? [True, True] Translation: X:137.59, Y:-6.90, Z:-1.02 [[ 9.96219597e-01 8.67000884e-02 5.44148404e-03 1.37590151e+02] [-8.66981953e-02 9.96234452e-01 -5.83267790e-04 -6.89956926e+00] [-5.47156324e-03 1.09295956e-04 9.99985025e-01 -1.02480938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters 0.05149252262249145 Centerline is valid? [True, True] Translation: X:137.65, Y:-6.90, Z:-1.03 [[ 9.96450311e-01 8.40512720e-02 4.70748694e-03 1.37651537e+02] [-8.40498248e-02 9.96461425e-01 -5.04776701e-04 -6.90127031e+00] [-4.73325627e-03 1.07321449e-04 9.99988792e-01 -1.02597987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters 0.05173752157106871 Centerline is valid? [True, True] Translation: X:137.71, Y:-6.90, Z:-1.03 [[ 9.96832638e-01 7.93912309e-02 4.66102830e-03 1.37711968e+02] [-7.93897607e-02 9.96843526e-01 -4.99896078e-04 -6.90023651e+00] [-4.68600325e-03 1.28274805e-04 9.99989012e-01 -1.02626009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters 0.05313998486195271 Centerline is valid? [True, True] Translation: X:137.77, Y:-6.92, Z:-1.03 [[ 9.97113603e-01 7.58055168e-02 4.24097140e-03 1.37771928e+02] [-7.58042670e-02 9.97122613e-01 -4.54891820e-04 -6.91557976e+00] [-4.26325180e-03 1.32095093e-04 9.99990904e-01 -1.02757843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters 0.052973124681778214 Centerline is valid? [True, True] Translation: X:137.83, Y:-6.91, Z:-1.03 [[ 9.97334117e-01 7.28791299e-02 3.64582363e-03 1.37833968e+02] [-7.28781866e-02 9.97340773e-01 -3.91122860e-04 -6.91280107e+00] [-3.66463325e-03 1.24379157e-04 9.99993277e-01 -1.02764749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters 0.05271836689909236 Centerline is valid? [True, True] Translation: X:137.90, Y:-6.92, Z:-1.03 [[ 9.97421646e-01 7.17265878e-02 2.31436895e-03 1.37895200e+02] [-7.17262048e-02 9.97424328e-01 -2.48191332e-04 -6.92004042e+00] [-2.32620981e-03 8.15505053e-05 9.99997291e-01 -1.02886169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters 0.052625128613429495 Centerline is valid? [True, True] Translation: X:137.96, Y:-6.92, Z:-1.03 [[ 9.97237906e-01 7.42655894e-02 1.08658451e-03 1.37955504e+02] [-7.42655064e-02 9.97238498e-01 -1.16641590e-04 -6.92105953e+00] [-1.09224636e-03 3.56236659e-05 9.99999403e-01 -1.02845123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters 0.05253063877072108 Centerline is valid? [True, True] Translation: X:138.02, Y:-6.92, Z:-1.03 [[ 9.96693633e-01 8.12514638e-02 -3.00041478e-05 1.38016949e+02] [-8.12514637e-02 9.96693634e-01 3.27563226e-06 -6.91918336e+00] [ 3.01710930e-05 -8.26920889e-07 1.00000000e+00 -1.02801428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters 0.052216003242913415 Centerline is valid? [True, True] Translation: X:138.08, Y:-6.92, Z:-1.03 [[ 9.96211325e-01 8.69651201e-02 -2.53032359e-04 1.38076009e+02] [-8.69651160e-02 9.96211357e-01 2.71126095e-05 -6.92471052e+00] [ 2.54431561e-04 -5.00490013e-06 9.99999968e-01 -1.02956231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters 0.0519479997184776 Centerline is valid? [True, True] Translation: X:138.14, Y:-6.93, Z:-1.03 [[ 9.95621564e-01 9.34756655e-02 -3.69775747e-05 1.38136660e+02] [-9.34756654e-02 9.95621565e-01 4.03848912e-06 -6.93053710e+00] [ 3.71931712e-05 -5.64303461e-07 9.99999999e-01 -1.03072011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters 0.05168753796550043 Centerline is valid? [True, True] Translation: X:138.20, Y:-6.93, Z:-1.03 [[ 9.95329205e-01 9.65352312e-02 8.50004292e-04 1.38198284e+02] [-9.65351891e-02 9.95329568e-01 -9.04897689e-05 -6.93484394e+00] [-8.54769856e-04 8.01178468e-06 9.99999635e-01 -1.03005910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters 0.05193249930615876 Centerline is valid? [True, True] Translation: X:138.26, Y:-6.94, Z:-1.03 [[ 9.94908464e-01 1.00782074e-01 3.49753682e-04 1.38260769e+02] [-1.00782067e-01 9.94908525e-01 -3.68298066e-05 -6.93690390e+00] [-3.51684704e-04 1.39338727e-06 9.99999938e-01 -1.02811632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters 0.05189086235283013 Centerline is valid? [True, True] Translation: X:138.32, Y:-6.94, Z:-1.03 [[ 9.94604907e-01 1.03733133e-01 7.19001080e-04 1.38321952e+02] [-1.03733105e-01 9.94605166e-01 -7.67018092e-05 -6.94355038e+00] [-7.23078708e-04 1.70378163e-06 9.99999739e-01 -1.02891710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters 0.05175454702716749 Centerline is valid? [True, True] Translation: X:138.38, Y:-6.95, Z:-1.03 [[ 9.94273801e-01 1.06862326e-01 2.27423507e-04 1.38383943e+02] [-1.06862324e-01 9.94273827e-01 -2.41937994e-05 -6.94866295e+00] [-2.28706647e-04 -2.47743498e-07 9.99999974e-01 -1.03145411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters 0.051858359873463954 Centerline is valid? [True, True] Translation: X:138.45, Y:-6.96, Z:-1.03 [[ 9.94286336e-01 1.06739598e-01 -1.15744224e-03 1.38445777e+02] [-1.06739524e-01 9.94287010e-01 1.25715696e-04 -6.95568259e+00] [ 1.16424863e-03 -1.45256529e-06 9.99999322e-01 -1.03118172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters 0.05204384702823837 Centerline is valid? [True, True] Translation: X:138.51, Y:-6.97, Z:-1.03 [[ 9.94716455e-01 1.02625115e-01 -2.69459499e-03 1.38505689e+02] [-1.02624704e-01 9.94720104e-01 2.90774604e-04 -6.96536944e+00] [ 2.71020858e-03 -1.27062710e-05 9.99996327e-01 -1.03277333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters 0.05224724547083512 Centerline is valid? [True, True] Translation: X:138.57, Y:-6.98, Z:-1.03 [[ 9.95434172e-01 9.53794565e-02 -3.68351449e-03 1.38565553e+02] [-9.53786384e-02 9.95440986e-01 3.97505838e-04 -6.97692976e+00] [ 3.70463518e-03 -4.43622984e-05 9.99993137e-01 -1.03109367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters 0.052821986698390146 Centerline is valid? [True, True] Translation: X:138.63, Y:-6.98, Z:-1.03 [[ 9.95948680e-01 8.98372772e-02 -3.93575761e-03 1.38625248e+02] [-8.98363006e-02 9.95956454e-01 4.24591061e-04 -6.98215719e+00] [ 3.95798730e-03 -6.92970028e-05 9.99992165e-01 -1.02774920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters 0.05304951312310954 Centerline is valid? [True, True] Translation: X:138.68, Y:-7.00, Z:-1.03 [[ 9.96405956e-01 8.46239073e-02 -3.73687920e-03 1.38683752e+02] [-8.46229900e-02 9.96412960e-01 4.03192529e-04 -6.99672783e+00] [ 3.75759459e-03 -8.55175463e-05 9.99992937e-01 -1.03035074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters 0.052987483727999565 Centerline is valid? [True, True] Translation: X:138.74, Y:-7.00, Z:-1.03 [[ 9.96881452e-01 7.87629235e-02 -4.87568637e-03 1.38744885e+02] [-7.87612912e-02 9.96893365e-01 5.26190520e-04 -7.00197568e+00] [ 4.90198370e-03 -1.40534215e-04 9.99987975e-01 -1.02735806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters 0.053866999462178884 Centerline is valid? [True, True] Translation: X:138.81, Y:-7.01, Z:-1.02 [[ 9.97057677e-01 7.64655293e-02 -5.38621616e-03 1.38805804e+02] [-7.64635039e-02 9.97072211e-01 5.81276138e-04 -7.00721870e+00] [ 5.41489404e-03 -1.67716876e-04 9.99985325e-01 -1.02497818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters 0.05415410583264547 Centerline is valid? [True, True] Translation: X:138.87, Y:-7.01, Z:-1.03 [[ 9.96962803e-01 7.76894447e-02 -5.43326540e-03 1.38867538e+02] [-7.76873976e-02 9.96977594e-01 5.87118753e-04 -7.01390973e+00] [ 5.46245679e-03 -1.63239308e-04 9.99985067e-01 -1.02507500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters 0.053777667263336326 Centerline is valid? [True, True] Translation: X:138.93, Y:-7.02, Z:-1.03 [[ 9.96556497e-01 8.27074479e-02 -5.88435963e-03 1.38926831e+02] [-8.27051378e-02 9.96573859e-01 6.35258980e-04 -7.01957681e+00] [ 5.91673963e-03 -1.46404690e-04 9.99982485e-01 -1.02557678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters 0.05304946325255993 Centerline is valid? [True, True] Translation: X:138.99, Y:-7.03, Z:-1.03 [[ 9.96166980e-01 8.72786373e-02 -5.81262614e-03 1.38986248e+02] [-8.72764606e-02 9.96183932e-01 6.27564964e-04 -7.02690382e+00] [ 5.84521778e-03 -1.17854059e-04 9.99982910e-01 -1.02751265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters 0.05264356394588323 Centerline is valid? [True, True] Translation: X:139.05, Y:-7.03, Z:-1.03 [[ 9.95504808e-01 9.45770359e-02 -5.03596336e-03 1.39046878e+02] [-9.45754947e-02 9.95517544e-01 5.43841513e-04 -7.03303837e+00] [ 5.06482479e-03 -6.51181156e-05 9.99987172e-01 -1.02966353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters 0.05307151090541931 Centerline is valid? [True, True] Translation: X:139.11, Y:-7.04, Z:-1.03 [[ 9.95273080e-01 9.70150884e-02 -4.42356623e-03 1.39107343e+02] [-9.70139178e-02 9.95282910e-01 4.78944809e-04 -7.03918053e+00] [ 4.44916474e-03 -4.75333849e-05 9.99990101e-01 -1.03093069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters 0.05280545897911745 Centerline is valid? [True, True] Translation: X:139.17, Y:-7.04, Z:-1.03 [[ 9.94832070e-01 1.01439371e-01 -4.38249998e-03 1.39168496e+02] [-1.01438263e-01 9.94841723e-01 4.74956234e-04 -7.04343982e+00] [ 4.40807309e-03 -2.79485078e-05 9.99990284e-01 -1.03151670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters 0.051677102445209885 Centerline is valid? [True, True] Translation: X:139.23, Y:-7.05, Z:-1.03 [[ 9.94420560e-01 1.05375645e-01 -4.87066336e-03 1.39230972e+02] [-1.05374325e-01 9.94432488e-01 5.27471871e-04 -7.04872171e+00] [ 4.89912857e-03 -1.12860094e-05 9.99987999e-01 -1.03266940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters 0.05173357854744275 Centerline is valid? [True, True] Translation: X:139.29, Y:-7.05, Z:-1.04 [[ 9.93973579e-01 1.09527370e-01 -4.50321181e-03 1.39292331e+02] [-1.09526280e-01 9.93983780e-01 4.88735538e-04 -7.05308858e+00] [ 4.52964942e-03 7.42982675e-06 9.99989741e-01 -1.03547978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters 0.051963958583436 Centerline is valid? [True, True] Translation: X:139.36, Y:-7.06, Z:-1.03 [[ 9.94090304e-01 1.08455946e-01 -4.66633608e-03 1.39355101e+02] [-1.08454760e-01 9.94101256e-01 5.07153511e-04 -7.06228432e+00] [ 4.69381437e-03 1.92997168e-06 9.99988984e-01 -1.03363113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters 0.051514498777970666 Centerline is valid? [True, True] Translation: X:139.42, Y:-7.07, Z:-1.03 [[ 9.94550693e-01 1.04112785e-01 -5.42654192e-03 1.39416105e+02] [-1.04111119e-01 9.94565497e-01 5.89437356e-04 -7.07190860e+00] [ 5.45841932e-03 -2.12619797e-05 9.99985102e-01 -1.03037445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters 0.05279573605390182 Centerline is valid? [True, True] Translation: X:139.48, Y:-7.08, Z:-1.03 [[ 9.95572968e-01 9.37841878e-02 -6.24432031e-03 1.39475896e+02] [-9.37817802e-02 9.95592546e-01 6.77908852e-04 -7.08388039e+00] [ 6.28037589e-03 -8.93042536e-05 9.99980274e-01 -1.03101674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters 0.05304297904269769 Centerline is valid? [True, True] Translation: X:139.53, Y:-7.10, Z:-1.03 [[ 9.96239194e-01 8.64046424e-02 -6.45803166e-03 1.39533993e+02] [-8.64019130e-02 9.96260116e-01 7.00966213e-04 -7.09720438e+00] [ 6.49444611e-03 -1.40343725e-04 9.99978901e-01 -1.03307648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters 0.05324127553320607 Centerline is valid? [True, True] Translation: X:139.59, Y:-7.11, Z:-1.03 [[ 9.97052517e-01 7.64882214e-02 -5.98584275e-03 1.39594047e+02] [-7.64856974e-02 9.97070467e-01 6.49784144e-04 -7.10649016e+00] [ 6.01800786e-03 -1.90037558e-04 9.99981874e-01 -1.03125498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters 0.053736986357516045 Centerline is valid? [True, True] Translation: X:139.65, Y:-7.12, Z:-1.03 [[ 9.97354197e-01 7.24392442e-02 -6.09606796e-03 1.39653661e+02] [-7.24365508e-02 9.97372803e-01 6.61755973e-04 -7.11622493e+00] [ 6.12798949e-03 -2.18426960e-04 9.99981200e-01 -1.03107850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters 0.05364730171272216 Centerline is valid? [True, True] Translation: X:139.72, Y:-7.12, Z:-1.03 [[ 9.97444354e-01 7.12081468e-02 -5.84464467e-03 1.39715817e+02] [-7.12056475e-02 9.97461454e-01 6.34878218e-04 -7.12250267e+00] [ 5.87501627e-03 -2.17083987e-04 9.99982718e-01 -1.03097883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters 0.05340813941536785 Centerline is valid? [True, True] Translation: X:139.78, Y:-7.13, Z:-1.03 [[ 9.97220318e-01 7.42172640e-02 -6.59055266e-03 1.39775947e+02] [-7.42141526e-02 9.97242071e-01 7.15745008e-04 -7.13026651e+00] [ 6.62549702e-03 -2.24643184e-04 9.99978026e-01 -1.03112884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters 0.05308261450076653 Centerline is valid? [True, True] Translation: X:139.83, Y:-7.14, Z:-1.03 [[ 9.96614884e-01 8.19562301e-02 -6.47676385e-03 1.39834562e+02] [-8.19533893e-02 9.96635915e-01 7.03257188e-04 -7.14168152e+00] [ 6.51261177e-03 -1.70083833e-04 9.99978778e-01 -1.03434222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters 0.05230676577934663 Centerline is valid? [True, True] Translation: X:139.90, Y:-7.14, Z:-1.03 [[ 9.96029765e-01 8.88329819e-02 -5.77993245e-03 1.39895345e+02] [-8.88308350e-02 9.96046529e-01 6.27619885e-04 -7.14421453e+00] [ 5.81283500e-03 -1.11691861e-04 9.99983099e-01 -1.03254681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters 0.05125227386055257 Centerline is valid? [True, True] Translation: X:139.96, Y:-7.15, Z:-1.03 [[ 9.95036091e-01 9.94221981e-02 -4.29005923e-03 1.39955646e+02] [-9.94211132e-02 9.95045338e-01 4.65933525e-04 -7.15065161e+00] [ 4.31512757e-03 -3.70982087e-05 9.99990689e-01 -1.03430855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters 0.05169038717756073 Centerline is valid? [True, True] Translation: X:140.02, Y:-7.16, Z:-1.03 [[ 9.94496770e-01 1.04715241e-01 -3.30041386e-03 1.40017328e+02] [-1.04714627e-01 9.94502246e-01 3.58757631e-04 -7.15586058e+00] [ 3.31983639e-03 -1.11816991e-05 9.99994489e-01 -1.03469034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters 0.051167133493443595 Centerline is valid? [True, True] Translation: X:140.08, Y:-7.16, Z:-1.03 [[ 9.94154870e-01 1.07922849e-01 -2.95855202e-03 1.40079671e+02] [-1.07922369e-01 9.94159272e-01 3.22019918e-04 -7.16184704e+00] [ 2.97602523e-03 -8.43728568e-07 9.99995572e-01 -1.03382154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters 0.0508835498224961 Centerline is valid? [True, True] Translation: X:140.14, Y:-7.17, Z:-1.03 [[ 9.94056600e-01 1.08841853e-01 -2.21968471e-03 1.40141623e+02] [-1.08841585e-01 9.94059078e-01 2.41652790e-04 -7.17058941e+00] [ 2.23279967e-03 1.37745009e-06 9.99997507e-01 -1.03398497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters 0.05102368601404318 Centerline is valid? [True, True] Translation: X:140.20, Y:-7.18, Z:-1.04 [[ 9.94336666e-01 1.06255075e-01 -2.11026801e-03 1.40202613e+02] [-1.06254825e-01 9.94338905e-01 2.30626169e-04 -7.18093682e+00] [ 2.12282678e-03 -5.09389755e-06 9.99997747e-01 -1.03630618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters 0.05132932057267086 Centerline is valid? [True, True] Translation: X:140.26, Y:-7.20, Z:-1.04 [[ 9.95158626e-01 9.82466380e-02 -2.62832360e-03 1.40262791e+02] [-9.82462246e-02 9.95162096e-01 2.86263306e-04 -7.19741727e+00] [ 2.64373243e-03 -2.66545269e-05 9.99996505e-01 -1.03800963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters 0.051981954635528356 Centerline is valid? [True, True] Translation: X:140.32, Y:-7.21, Z:-1.04 [[ 9.95809879e-01 9.14171177e-02 -2.36550026e-03 1.40322446e+02] [-9.14167638e-02 9.95812688e-01 2.57535013e-04 -7.20618665e+00] [ 2.37913828e-03 -4.02095312e-05 9.99997169e-01 -1.03586149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters 0.05229215249095545 Centerline is valid? [True, True] Translation: X:140.38, Y:-7.22, Z:-1.04 [[ 9.96675033e-01 8.14561341e-02 -1.94318479e-03 1.40381657e+02] [-8.14558761e-02 9.96676926e-01 2.11646766e-04 -7.22267153e+00] [ 1.95396737e-03 -5.26592286e-05 9.99998090e-01 -1.03717453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters 0.05223136445121789 Centerline is valid? [True, True] Translation: X:140.44, Y:-7.23, Z:-1.03 [[ 9.97190977e-01 7.48695049e-02 -2.17104531e-03 1.40442905e+02] [-7.48691671e-02 9.97193337e-01 2.36567147e-04 -7.22521530e+00] [ 2.18266359e-03 -7.33582703e-05 9.99997615e-01 -1.03469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters 0.052047174385182374 Centerline is valid? [True, True] Translation: X:140.50, Y:-7.23, Z:-1.04 [[ 9.97312324e-01 7.32226131e-02 -2.56479112e-03 1.40504030e+02] [-7.32221360e-02 9.97315617e-01 2.79550974e-04 -7.23299927e+00] [ 2.57837570e-03 -9.10001475e-05 9.99996672e-01 -1.03550525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters 0.05203720249783361 Centerline is valid? [True, True] Translation: X:140.56, Y:-7.24, Z:-1.04 [[ 9.97216598e-01 7.45316820e-02 -2.02096589e-03 1.40563699e+02] [-7.45313878e-02 9.97218644e-01 2.20597376e-04 -7.24397786e+00] [ 2.03178636e-03 -6.93579717e-05 9.99997934e-01 -1.03710009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters 0.05239973788923633 Centerline is valid? [True, True] Translation: X:140.62, Y:-7.26, Z:-1.04 [[ 9.96819634e-01 7.96560438e-02 -2.35200844e-03 1.40622416e+02] [-7.96556608e-02 9.96822406e-01 2.56226172e-04 -7.25565974e+00] [ 2.36494468e-03 -6.80604922e-05 9.99997201e-01 -1.03892149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters 0.05197811484099704 Centerline is valid? [True, True] Translation: X:140.68, Y:-7.26, Z:-1.04 [[ 9.96245612e-01 8.65565973e-02 -1.62367104e-03 1.40683214e+02] [-8.65564236e-02 9.96246934e-01 1.77047280e-04 -7.26044010e+00] [ 1.63290190e-03 -3.58434177e-05 9.99998666e-01 -1.03918722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters 0.05180939426891248 Centerline is valid? [True, True] Translation: X:140.74, Y:-7.26, Z:-1.04 [[ 9.95737458e-01 9.22306249e-02 6.53669735e-04 1.40744012e+02] [-9.22305981e-02 9.95737672e-01 -7.12153517e-05 -7.26005853e+00] [-6.57451817e-04 1.06234426e-05 9.99999784e-01 -1.03782313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters 0.051665069391172797 Centerline is valid? [True, True] Translation: X:140.80, Y:-7.27, Z:-1.04 [[ 9.95217667e-01 9.76558318e-02 2.26564852e-03 1.40804314e+02] [-9.76555228e-02 9.95220246e-01 -2.46892739e-04 -7.26713938e+00] [-2.27892979e-03 2.44589256e-05 9.99997403e-01 -1.03947038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters 0.050951614322449795 Centerline is valid? [True, True] Translation: X:140.87, Y:-7.27, Z:-1.04 [[ 9.94565144e-01 1.04089051e-01 2.37564881e-03 1.40865573e+02] [-1.04088730e-01 9.94567981e-01 -2.58832904e-04 -7.26795125e+00] [-2.38968591e-03 1.01479182e-05 9.99997145e-01 -1.03829304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters 0.05154515497646388 Centerline is valid? [True, True] Translation: X:140.93, Y:-7.27, Z:-1.04 [[ 9.94157841e-01 1.07924272e-01 1.59345174e-03 1.40927677e+02] [-1.07924133e-01 9.94159118e-01 -1.73103880e-04 -7.27176810e+00] [-1.60282669e-03 1.20682218e-07 9.99998715e-01 -1.03867327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters 0.050582962956727234 Centerline is valid? [True, True] Translation: X:140.99, Y:-7.28, Z:-1.04 [[ 9.94091370e-01 1.08537914e-01 1.36755742e-03 1.40990701e+02] [-1.08537812e-01 9.94092310e-01 -1.48865304e-04 -7.27788568e+00] [-1.37563585e-03 -4.45976457e-07 9.99999054e-01 -1.04204915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters 0.051029052120325366 Centerline is valid? [True, True] Translation: X:141.05, Y:-7.28, Z:-1.04 [[ 9.94094870e-01 1.08514021e-01 3.10451993e-04 1.41051420e+02] [-1.08514016e-01 9.94094919e-01 -3.31375945e-05 -7.28289512e+00] [-3.12214642e-04 -7.46479742e-07 9.99999951e-01 -1.04156023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters 0.05153969735408872 Centerline is valid? [True, True] Translation: X:141.11, Y:-7.29, Z:-1.04 [[ 9.94510225e-01 1.04633984e-01 -1.06828151e-03 1.41113090e+02] [-1.04633919e-01 9.94510799e-01 1.17041397e-04 -7.28968980e+00] [ 1.07466401e-03 -4.62038538e-06 9.99999423e-01 -1.04136846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters 0.05110153464819649 Centerline is valid? [True, True] Translation: X:141.17, Y:-7.30, Z:-1.04 [[ 9.94981857e-01 1.00054025e-01 -5.44787326e-04 1.41174160e+02] [-1.00054007e-01 9.94982006e-01 5.98868687e-05 -7.30001362e+00] [ 5.48045509e-04 -5.07819273e-06 9.99999850e-01 -1.04330499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters 0.05150326333540154 Centerline is valid? [True, True] Translation: X:141.23, Y:-7.31, Z:-1.04 [[ 9.95742207e-01 9.21778664e-02 -8.34977696e-04 1.41233745e+02] [-9.21778223e-02 9.95742557e-01 9.13064004e-05 -7.30885051e+00] [ 8.39839256e-04 -1.39512110e-05 9.99999647e-01 -1.04206275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters 0.051698339560847247 Centerline is valid? [True, True] Translation: X:141.29, Y:-7.32, Z:-1.04 [[ 9.96068446e-01 8.85842331e-02 -6.95941765e-04 1.41294694e+02] [-8.85842014e-02 9.96068689e-01 7.62834281e-05 -7.31627242e+00] [ 6.99963311e-04 -1.43340702e-05 9.99999755e-01 -1.04288760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters 0.05238248917264205 Centerline is valid? [True, True] Translation: X:141.36, Y:-7.32, Z:-1.04 [[ 9.96298835e-01 8.59520260e-02 -9.38558807e-04 1.41356345e+02] [-8.59519673e-02 9.96299277e-01 1.02788520e-04 -7.31813134e+00] [ 9.43920342e-04 -2.17371071e-05 9.99999554e-01 -1.04187408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters 0.0520209408122226 Centerline is valid? [True, True] Translation: X:141.42, Y:-7.33, Z:-1.04 [[ 9.96439823e-01 8.42940886e-02 -1.47825751e-03 1.41417431e+02] [-8.42939410e-02 9.96440919e-01 1.61997463e-04 -7.32780897e+00] [ 1.48665170e-03 -3.68125722e-05 9.99998894e-01 -1.04300941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters 0.052369817975359875 Centerline is valid? [True, True] Translation: X:141.48, Y:-7.35, Z:-1.05 [[ 9.96305641e-01 8.58782277e-02 -2.24095450e-05 1.41476777e+02] [-8.58782276e-02 9.96305641e-01 2.64843465e-06 -7.34540545e+00] [ 2.25541989e-05 -7.14158376e-07 1.00000000e+00 -1.04646795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters 0.051880332148177714 Centerline is valid? [True, True] Translation: X:141.54, Y:-7.35, Z:-1.05 [[ 9.96054096e-01 8.87481622e-02 2.89920880e-05 1.41537394e+02] [-8.87481622e-02 9.96054097e-01 -3.10880278e-06 -7.34804563e+00] [-2.91535886e-05 5.23541216e-07 1.00000000e+00 -1.04536265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters 0.05172745488201076 Centerline is valid? [True, True] Translation: X:141.60, Y:-7.36, Z:-1.05 [[ 9.95431949e-01 9.54666856e-02 1.16078701e-03 1.41597368e+02] [-9.54666024e-02 9.95432625e-01 -1.26978679e-04 -7.35719984e+00] [-1.16760750e-03 1.55822422e-05 9.99999318e-01 -1.04721689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters 0.0513467007401275 Centerline is valid? [True, True] Translation: X:141.66, Y:-7.36, Z:-1.05 [[ 9.94901642e-01 1.00843239e-01 1.16742912e-03 1.41658482e+02] [-1.00843159e-01 9.94902327e-01 -1.27695125e-04 -7.36142889e+00] [-1.17435514e-03 9.31684968e-06 9.99999310e-01 -1.04762282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters 0.05088972871495757 Centerline is valid? [True, True] Translation: X:141.72, Y:-7.37, Z:-1.05 [[ 9.94180970e-01 1.07719053e-01 8.97372889e-04 1.41719661e+02] [-1.07719009e-01 9.94181375e-01 -9.75443879e-05 -7.36593718e+00] [-9.02658802e-04 3.12655779e-07 9.99999593e-01 -1.04957941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters 0.050802595098214984 Centerline is valid? [True, True] Translation: X:141.78, Y:-7.37, Z:-1.05 [[ 9.93850729e-01 1.10719871e-01 1.35621176e-03 1.41782739e+02] [-1.10719772e-01 9.93851654e-01 -1.47821273e-04 -7.37256441e+00] [-1.36424005e-03 -3.24717636e-06 9.99999069e-01 -1.04881916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters 0.050679212986485415 Centerline is valid? [True, True] Translation: X:141.84, Y:-7.38, Z:-1.05 [[ 9.93680098e-01 1.12245388e-01 9.13887764e-04 1.41843157e+02] [-1.12245344e-01 9.93680518e-01 -9.98675845e-05 -7.37991991e+00] [-9.19322143e-04 -3.34321511e-06 9.99999577e-01 -1.04847935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters 0.050824761319226607 Centerline is valid? [True, True] Translation: X:141.90, Y:-7.39, Z:-1.05 [[ 9.93726364e-01 1.11829891e-01 1.41044319e-03 1.41904908e+02] [-1.11829784e-01 9.93727365e-01 -1.54630470e-04 -7.38635120e+00] [-1.41888831e-03 -4.06918322e-06 9.99998993e-01 -1.05033429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters 0.050696974703789616 Centerline is valid? [True, True] Translation: X:141.97, Y:-7.39, Z:-1.05 [[ 9.93931739e-01 1.09984292e-01 1.77578808e-03 1.41966495e+02] [-1.09984120e-01 9.93933326e-01 -1.94402608e-04 -7.39484962e+00] [-1.78639619e-03 -2.08556662e-06 9.99998404e-01 -1.05040297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters 0.050473326357283015 Centerline is valid? [True, True] Translation: X:142.03, Y:-7.41, Z:-1.05 [[ 9.94590144e-01 1.03868361e-01 1.34501896e-03 1.42026201e+02] [-1.03868257e-01 9.94591053e-01 -1.47547254e-04 -7.40710724e+00] [-1.35306932e-03 7.04427024e-06 9.99999085e-01 -1.05269019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters 0.05106177976578236 Centerline is valid? [True, True] Translation: X:142.09, Y:-7.42, Z:-1.05 [[ 9.95452098e-01 9.52533249e-02 1.38767707e-03 1.42086368e+02] [-9.52532047e-02 9.95453065e-01 -1.52624048e-04 -7.41682284e+00] [-1.39590534e-03 1.97492413e-05 9.99999026e-01 -1.05177416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters 0.05159823844523145 Centerline is valid? [True, True] Translation: X:142.15, Y:-7.43, Z:-1.05 [[ 9.95918733e-01 9.02469102e-02 1.17194158e-03 1.42146396e+02] [-9.02468210e-02 9.95919422e-01 -1.28852909e-04 -7.42576225e+00] [-1.17878796e-03 2.25630238e-05 9.99999305e-01 -1.05198920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters 0.05186255039879389 Centerline is valid? [True, True] Translation: X:142.21, Y:-7.44, Z:-1.05 [[ 9.96318982e-01 8.57027232e-02 1.87853469e-03 1.42206405e+02] [-8.57024858e-02 9.96320752e-01 -2.06626642e-04 -7.43755926e+00] [-1.88933156e-03 4.48709535e-05 9.99998214e-01 -1.05334879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters 0.0519599487940735 Centerline is valid? [True, True] Translation: X:142.27, Y:-7.44, Z:-1.05 [[ 9.96389517e-01 8.48710902e-02 2.19720587e-03 1.42267549e+02] [-8.48707644e-02 9.96391939e-01 -2.41259738e-04 -7.43983818e+00] [-2.20975419e-03 5.39101327e-05 9.99997557e-01 -1.05234436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters 0.052118581428101475 Centerline is valid? [True, True] Translation: X:142.33, Y:-7.44, Z:-1.05 [[ 9.96312365e-01 8.57312380e-02 3.43898931e-03 1.42330371e+02] [-8.57304416e-02 9.96318297e-01 -3.78599123e-04 -7.44249398e+00] [-3.45878574e-03 8.23769157e-05 9.99994015e-01 -1.05290514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters 0.05168440133477599 Centerline is valid? [True, True] Translation: X:142.39, Y:-7.45, Z:-1.05 [[ 9.96200164e-01 8.70468910e-02 2.84097992e-03 1.42391259e+02] [-8.70463525e-02 9.96204213e-01 -3.12902191e-04 -7.45004595e+00] [-2.85743333e-03 6.44162748e-05 9.99995915e-01 -1.05354064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters 0.05163806699004993 Centerline is valid? [True, True] Translation: X:142.45, Y:-7.46, Z:-1.05 [[ 9.95956660e-01 8.97776763e-02 3.20932378e-03 1.42452697e+02] [-8.97770021e-02 9.95961829e-01 -3.53838362e-04 -7.45595205e+00] [-3.22813077e-03 6.42842061e-05 9.99994788e-01 -1.05492221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters 0.05100359291098703 Centerline is valid? [True, True] Translation: X:142.51, Y:-7.45, Z:-1.06 [[ 9.95708518e-01 9.25213811e-02 2.08373727e-03 1.42514967e+02] [-9.25211026e-02 9.95710697e-01 -2.29835803e-04 -7.45214000e+00] [-2.09606422e-03 3.60597967e-05 9.99997803e-01 -1.05565719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters 0.05133350185318803 Centerline is valid? [True, True] Translation: X:142.58, Y:-7.46, Z:-1.06 [[ 9.95520691e-01 9.45300151e-02 1.62183452e-03 1.42576096e+02] [-9.45298499e-02 9.95522012e-01 -1.78412271e-04 -7.45708438e+00] [-1.63143728e-03 2.43013330e-05 9.99998669e-01 -1.05696878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters 0.05089508775756472 Centerline is valid? [True, True] Translation: X:142.64, Y:-7.46, Z:-1.06 [[ 9.95382431e-01 9.59674495e-02 2.01623377e-03 1.42637475e+02] [-9.59671959e-02 9.95384472e-01 -2.22380020e-04 -7.46430668e+00] [-2.02826903e-03 2.78608640e-05 9.99997943e-01 -1.05873350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters 0.05166909781227305 Centerline is valid? [True, True] Translation: X:142.70, Y:-7.47, Z:-1.06 [[ 9.95281029e-01 9.69849924e-02 3.09584075e-03 1.42698476e+02] [-9.69843981e-02 9.95285843e-01 -3.41875035e-04 -7.46749717e+00] [-3.11440322e-03 4.00134849e-05 9.99995149e-01 -1.05874583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters 0.0512937489071231 Centerline is valid? [True, True] Translation: X:142.76, Y:-7.47, Z:-1.06 [[ 9.95247672e-01 9.73005400e-02 3.83108275e-03 1.42761347e+02] [-9.72996304e-02 9.95255044e-01 -4.23532524e-04 -7.46847560e+00] [-3.85411437e-03 4.87568234e-05 9.99992572e-01 -1.05821754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters 0.051130494572730244 Centerline is valid? [True, True] Translation: X:142.82, Y:-7.48, Z:-1.06 [[ 9.95230841e-01 9.74835108e-02 3.54102409e-03 1.42822099e+02] [-9.74827358e-02 9.95237139e-01 -3.91229924e-04 -7.47937449e+00] [-3.56229715e-03 4.41753707e-05 9.99993654e-01 -1.05959451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters 0.051481424081472285 Centerline is valid? [True, True] Translation: X:142.88, Y:-7.48, Z:-1.06 [[ 9.95323553e-01 9.65706026e-02 2.26773006e-03 1.42882933e+02] [-9.65702811e-02 9.95326136e-01 -2.51084629e-04 -7.48085598e+00] [-2.28137840e-03 3.09151158e-05 9.99997397e-01 -1.05998029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters 0.05165881904902279 Centerline is valid? [True, True] Translation: X:142.94, Y:-7.49, Z:-1.06 [[ 9.95506519e-01 9.46898209e-02 7.79970107e-04 1.42944507e+02] [-9.46897825e-02 9.95506825e-01 -8.61285408e-05 -7.49011775e+00] [-7.84621061e-04 1.18863241e-05 9.99999692e-01 -1.06230743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters 0.05147109347928387 Centerline is valid? [True, True] Translation: X:143.01, Y:-7.49, Z:-1.06 [[ 9.95630370e-01 9.33814621e-02 2.63160767e-04 1.43006449e+02] [-9.33814579e-02 9.95630405e-01 -2.83365148e-05 -7.49213394e+00] [-2.64656967e-04 3.63835858e-06 9.99999965e-01 -1.06121207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters 0.05229152101458705 Centerline is valid? [True, True] Translation: X:143.07, Y:-7.50, Z:-1.06 [[ 9.96173997e-01 8.73905319e-02 -5.12049244e-04 1.43067282e+02] [-8.73905142e-02 9.96174129e-01 5.68882316e-05 -7.49781366e+00] [ 5.15061702e-04 -1.19223303e-05 9.99999867e-01 -1.06060646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters 0.05237463709514906 Centerline is valid? [True, True] Translation: X:143.13, Y:-7.50, Z:-1.06 [[ 9.96608139e-01 8.22916434e-02 -5.49864177e-04 1.43127334e+02] [-8.22916223e-02 9.96608291e-01 6.10254379e-05 -7.50295072e+00] [ 5.53021081e-04 -1.55692330e-05 9.99999847e-01 -1.05948775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters 0.05283075580808156 Centerline is valid? [True, True] Translation: X:143.19, Y:-7.51, Z:-1.06 [[ 9.97214953e-01 7.45808474e-02 -1.83778289e-04 1.43186671e+02] [-7.45808449e-02 9.97214970e-01 2.04357057e-05 -7.51356502e+00] [ 1.84790574e-04 -6.67245124e-06 9.99999983e-01 -1.06114504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters 0.05328887255269819 Centerline is valid? [True, True] Translation: X:143.25, Y:-7.52, Z:-1.06 [[ 9.97675099e-01 6.81491026e-02 -3.09703594e-04 1.43245130e+02] [-6.81490952e-02 9.97675147e-01 3.43193300e-05 -7.52397125e+00] [ 3.11322410e-04 -1.31335213e-05 9.99999951e-01 -1.06150317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters 0.05351196911407731 Centerline is valid? [True, True] Translation: X:143.31, Y:-7.53, Z:-1.06 [[ 9.97855492e-01 6.54547109e-02 -3.12790441e-04 1.43305967e+02] [-6.54547032e-02 9.97855541e-01 3.47234631e-05 -7.52934381e+00] [ 3.14392488e-04 -1.41753929e-05 9.99999950e-01 -1.06182601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters 0.05364094344310786 Centerline is valid? [True, True] Translation: X:143.37, Y:-7.53, Z:-1.06 [[ 9.97928636e-01 6.43285836e-02 5.20399692e-04 1.43368134e+02] [-6.43285626e-02 9.97928771e-01 -5.70112097e-05 -7.52588184e+00] [-5.22989276e-04 2.34165546e-05 9.99999863e-01 -1.05971353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters 0.05391547641707503 Centerline is valid? [True, True] Translation: X:143.43, Y:-7.54, Z:-1.06 [[ 9.97897125e-01 6.48077513e-02 1.13322889e-03 1.43428747e+02] [-6.48076503e-02 9.97897767e-01 -1.25604144e-04 -7.54009883e+00] [-1.13898670e-03 5.18981121e-05 9.99999350e-01 -1.06067853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters 0.05347644626231779 Centerline is valid? [True, True] Translation: X:143.49, Y:-7.54, Z:-1.06 [[ 9.97770431e-01 6.67100147e-02 1.98496317e-03 1.43490012e+02] [-6.67097078e-02 9.97772402e-01 -2.20519272e-04 -7.53579166e+00] [-1.99525231e-03 8.76112960e-05 9.99998006e-01 -1.05877889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters 0.05317561491084291 Centerline is valid? [True, True] Translation: X:143.55, Y:-7.54, Z:-1.06 [[ 9.97595704e-01 6.92420874e-02 2.88869751e-03 1.43550839e+02] [-6.92414481e-02 9.97599879e-01 -3.20863938e-04 -7.53882841e+00] [-2.90398157e-03 1.20074888e-04 9.99995776e-01 -1.05925700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters 0.05385214798071842 Centerline is valid? [True, True] Translation: X:143.61, Y:-7.54, Z:-1.06 [[ 9.97523249e-01 7.02751501e-02 2.96162537e-03 1.43611806e+02] [-7.02744826e-02 9.97527638e-01 -3.28987971e-04 -7.54125321e+00] [-2.97742284e-03 1.20046459e-04 9.99995560e-01 -1.05940060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters 0.054055047919631276 Centerline is valid? [True, True] Translation: X:143.67, Y:-7.55, Z:-1.06 [[ 9.97487939e-01 7.08024945e-02 2.19500874e-03 1.43672667e+02] [-7.08021300e-02 9.97490350e-01 -2.43397414e-04 -7.54674468e+00] [-2.20673318e-03 8.73746907e-05 9.99997561e-01 -1.06005154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters 0.05448841801121807 Centerline is valid? [True, True] Translation: X:143.74, Y:-7.54, Z:-1.06 [[ 9.97520384e-01 7.03742993e-02 7.35421365e-04 1.43736417e+02] [-7.03742583e-02 9.97520655e-01 -8.15213016e-05 -7.53611030e+00] [-7.39335007e-04 2.95644270e-05 9.99999726e-01 -1.05859939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters 0.05458764525912858 Centerline is valid? [True, True] Translation: X:143.80, Y:-7.54, Z:-1.06 [[ 9.97479586e-01 7.09536734e-02 2.28056719e-04 1.43797287e+02] [-7.09536696e-02 9.97479612e-01 -2.46030972e-05 -7.54412861e+00] [-2.29227608e-04 8.35962603e-06 9.99999974e-01 -1.06022294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters 0.05481444525251128 Centerline is valid? [True, True] Translation: X:143.86, Y:-7.54, Z:-1.06 [[ 9.97458640e-01 7.12478624e-02 -5.10213898e-05 1.43859595e+02] [-7.12478622e-02 9.97458642e-01 5.98960667e-06 -7.54323819e+00] [ 5.13184728e-05 -2.33921998e-06 9.99999999e-01 -1.05999018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters 0.05532713439503323 Centerline is valid? [True, True] Translation: X:143.92, Y:-7.55, Z:-1.06 [[ 9.97424210e-01 7.17269482e-02 -4.36898562e-04 1.43921085e+02] [-7.17269334e-02 9.97424305e-01 4.95176346e-05 -7.54710158e+00] [ 4.39324994e-04 -1.80526934e-05 9.99999903e-01 -1.06081080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters 0.05554065273563305 Centerline is valid? [True, True] Translation: X:143.98, Y:-7.55, Z:-1.06 [[ 9.97315058e-01 7.32054093e-02 -1.90851151e-03 1.43982384e+02] [-7.32051353e-02 9.97316882e-01 2.13150075e-04 -7.55058178e+00] [ 1.91899449e-03 -7.28649366e-05 9.99998156e-01 -1.06255975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters 0.055621417282039474 Centerline is valid? [True, True] Translation: X:144.04, Y:-7.55, Z:-1.06 [[ 9.97095969e-01 7.61307519e-02 -1.93297633e-03 1.44042487e+02] [-7.61304768e-02 9.97097841e-01 2.15638076e-04 -7.55120784e+00] [ 1.94378322e-03 -6.78534463e-05 9.99998109e-01 -1.06314892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters 0.055546983220558184 Centerline is valid? [True, True] Translation: X:144.10, Y:-7.55, Z:-1.06 [[ 9.96596108e-01 8.24360503e-02 -7.03865842e-04 1.44102255e+02] [-8.24360155e-02 9.96596356e-01 7.84503852e-05 -7.55127308e+00] [ 7.07937273e-04 -2.01594531e-05 9.99999749e-01 -1.06289166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters 0.05494734580387241 Centerline is valid? [True, True] Translation: X:144.16, Y:-7.54, Z:-1.06 [[ 9.96221161e-01 8.68504483e-02 -6.30327138e-04 1.44163832e+02] [-8.68504211e-02 9.96221361e-01 7.03775237e-05 -7.54478312e+00] [ 6.34057678e-04 -1.53674011e-05 9.99999799e-01 -1.06033066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters 0.05494777108952114 Centerline is valid? [True, True] Translation: X:144.22, Y:-7.54, Z:-1.06 [[ 9.95532407e-01 9.44134968e-02 -1.14845881e-03 1.44224640e+02] [-9.44134117e-02 9.95533069e-01 1.28178612e-04 -7.54315950e+00] [ 1.15543051e-03 -1.91760477e-05 9.99999332e-01 -1.06157098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters 0.054863980584945765 Centerline is valid? [True, True] Translation: X:144.29, Y:-7.54, Z:-1.06 [[ 9.94675567e-01 1.03046724e-01 -1.37464731e-03 1.44285998e+02] [-1.03046610e-01 9.94676517e-01 1.53431771e-04 -7.54134702e+00] [ 1.38314004e-03 -1.09620878e-05 9.99999043e-01 -1.06251920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters 0.05496471408514335 Centerline is valid? [True, True] Translation: X:144.35, Y:-7.54, Z:-1.06 [[ 9.94148974e-01 1.08003245e-01 -1.76538537e-03 1.44347664e+02] [-1.08003063e-01 9.94150541e-01 1.97993500e-04 -7.54417966e+00] [ 1.77644276e-03 -6.16800722e-06 9.99998422e-01 -1.06412307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters 0.05516695347261093 Centerline is valid? [True, True] Translation: X:144.41, Y:-7.55, Z:-1.06 [[ 9.93733656e-01 1.11750839e-01 -2.27385130e-03 1.44411199e+02] [-1.11750547e-01 9.93736258e-01 2.55173746e-04 -7.54708302e+00] [ 2.28812437e-03 5.29388100e-07 9.99997382e-01 -1.06289111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters 0.054735974290011494 Centerline is valid? [True, True] Translation: X:144.47, Y:-7.55, Z:-1.06 [[ 9.93447202e-01 1.14264674e-01 -2.49825104e-03 1.44472002e+02] [-1.14264332e-01 9.93450343e-01 2.79929603e-04 -7.55057240e+00] [ 2.51387442e-03 7.36570440e-06 9.99996840e-01 -1.06395689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters 0.054400287766339296 Centerline is valid? [True, True] Translation: X:144.53, Y:-7.56, Z:-1.07 [[ 9.93699834e-01 1.12058771e-01 -1.86340403e-03 1.44533779e+02] [-1.12058576e-01 9.93701581e-01 2.08847292e-04 -7.55712115e+00] [ 1.87507071e-03 1.27888347e-06 9.99998242e-01 -1.06660194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters 0.054602832005841234 Centerline is valid? [True, True] Translation: X:144.60, Y:-7.57, Z:-1.07 [[ 9.94121153e-01 1.08259439e-01 -1.73960389e-03 1.44596218e+02] [-1.08259262e-01 9.94122675e-01 1.95935304e-04 -7.56672182e+00] [ 1.75059152e-03 -6.45519641e-06 9.99998468e-01 -1.06599964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters 0.054286029262775155 Centerline is valid? [True, True] Translation: X:144.66, Y:-7.58, Z:-1.07 [[ 9.94902960e-01 1.00816907e-01 -2.01293927e-03 1.44656771e+02] [-1.00816655e-01 9.94904996e-01 2.26595627e-04 -7.57770249e+00] [ 2.02552801e-03 -2.25028549e-05 9.99997948e-01 -1.06550286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters 0.054840479171990524 Centerline is valid? [True, True] Translation: X:144.72, Y:-7.59, Z:-1.07 [[ 9.95361410e-01 9.61761064e-02 -2.41251969e-03 1.44716787e+02] [-9.61757325e-02 9.95364333e-01 2.70804617e-04 -7.58830771e+00] [ 2.42738099e-03 -3.75226169e-05 9.99997053e-01 -1.06626269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters 0.05523155019592552 Centerline is valid? [True, True] Translation: X:144.78, Y:-7.60, Z:-1.07 [[ 9.95827115e-01 9.12354262e-02 -2.11032986e-03 1.44776418e+02] [-9.12351291e-02 9.95829350e-01 2.36822771e-04 -7.59871866e+00] [ 2.12313504e-03 -4.32983198e-05 9.99997745e-01 -1.06594541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters 0.05537302638551689 Centerline is valid? [True, True] Translation: X:144.84, Y:-7.61, Z:-1.06 [[ 9.96141817e-01 8.77481119e-02 -1.32233960e-03 1.44837439e+02] [-8.77479921e-02 9.96142695e-01 1.48496209e-04 -7.60501429e+00] [ 1.33026919e-03 -3.18906390e-05 9.99999115e-01 -1.06492562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters 0.0551624124326194 Centerline is valid? [True, True] Translation: X:144.90, Y:-7.62, Z:-1.07 [[ 9.96232967e-01 8.67110427e-02 -1.03503105e-03 1.44897602e+02] [-8.67109678e-02 9.96233504e-01 1.17093937e-04 -7.61594837e+00] [ 1.04128594e-03 -2.69042969e-05 9.99999457e-01 -1.06612165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters 0.05533879561284414 Centerline is valid? [True, True] Translation: X:144.96, Y:-7.62, Z:-1.06 [[ 9.96331080e-01 8.55821704e-02 -2.68423104e-04 1.44959582e+02] [-8.55821652e-02 9.96331116e-01 3.10747102e-05 -7.61938360e+00] [ 2.70097731e-04 -7.98846921e-06 9.99999963e-01 -1.06461889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters 0.055539665899272346 Centerline is valid? [True, True] Translation: X:145.02, Y:-7.63, Z:-1.07 [[ 9.96305152e-01 8.58834400e-02 2.80097944e-04 1.45019481e+02] [-8.58834347e-02 9.96305192e-01 -3.10060546e-05 -7.63284231e+00] [-2.81725943e-04 6.83571849e-06 9.99999960e-01 -1.06579072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters 0.05558622632042127 Centerline is valid? [True, True] Translation: X:145.08, Y:-7.65, Z:-1.07 [[ 9.96066956e-01 8.85987341e-02 9.39638734e-04 1.45080263e+02] [-8.85986740e-02 9.96067399e-01 -1.05497846e-04 -7.64515983e+00] [-9.45290486e-04 2.18321722e-05 9.99999553e-01 -1.06744353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters 0.054906117601023735 Centerline is valid? [True, True] Translation: X:145.14, Y:-7.65, Z:-1.07 [[ 9.95745605e-01 9.21392503e-02 1.02361130e-03 1.45140982e+02] [-9.21391806e-02 9.95746131e-01 -1.15151986e-04 -7.64619886e+00] [-1.02986701e-03 2.03473777e-05 9.99999469e-01 -1.06547048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters 0.054007316349396886 Centerline is valid? [True, True] Translation: X:145.20, Y:-7.65, Z:-1.07 [[ 9.95153649e-01 9.83296792e-02 6.99291731e-04 1.45201147e+02] [-9.83296482e-02 9.95153895e-01 -7.86694913e-05 -7.65318554e+00] [-7.03638436e-04 9.52712140e-06 9.99999752e-01 -1.06650302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters 0.054554121579774205 Centerline is valid? [True, True] Translation: X:145.26, Y:-7.66, Z:-1.07 [[ 9.94782573e-01 1.02017299e-01 3.20816618e-04 1.45261576e+02] [-1.02017293e-01 9.94782625e-01 -3.60069086e-05 -7.66116317e+00] [-3.22816125e-04 3.09020223e-06 9.99999948e-01 -1.06787623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters 0.054373656381818326 Centerline is valid? [True, True] Translation: X:145.32, Y:-7.67, Z:-1.07 [[ 9.94430583e-01 1.05391550e-01 6.61376067e-04 1.45323794e+02] [-1.05391524e-01 9.94430803e-01 -7.41602582e-05 -7.66907823e+00] [-6.65508598e-04 4.04379740e-06 9.99999779e-01 -1.06771828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters 0.054378410178386904 Centerline is valid? [True, True] Translation: X:145.38, Y:-7.68, Z:-1.07 [[ 9.94552553e-01 1.04230392e-01 1.11547073e-03 1.45384791e+02] [-1.04230318e-01 9.94553179e-01 -1.24978568e-04 -7.67946957e+00] [-1.12242153e-03 8.03188463e-06 9.99999370e-01 -1.06774233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters 0.05434981149640931 Centerline is valid? [True, True] Translation: X:145.44, Y:-7.69, Z:-1.07 [[ 9.94798866e-01 1.01840106e-01 1.95190176e-03 1.45444899e+02] [-1.01839871e-01 9.94800780e-01 -2.19516619e-04 -7.69140221e+00] [-1.96410899e-03 1.95934587e-05 9.99998071e-01 -1.06925582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters 0.05424474914712411 Centerline is valid? [True, True] Translation: X:145.51, Y:-7.70, Z:-1.07 [[ 9.95111940e-01 9.87180146e-02 2.64192013e-03 1.45506948e+02] [-9.87175716e-02 9.95115447e-01 -2.97894898e-04 -7.69825983e+00] [-2.65842313e-03 3.56348303e-05 9.99996466e-01 -1.06784006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters 0.054477680898405365 Centerline is valid? [True, True] Translation: X:145.57, Y:-7.71, Z:-1.07 [[ 9.95462146e-01 9.51423306e-02 1.74711508e-03 1.45566797e+02] [-9.51421312e-02 9.95463679e-01 -1.97097830e-04 -7.71273480e+00] [-1.75794195e-03 2.99791773e-05 9.99998454e-01 -1.06919015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters 0.054445019503460944 Centerline is valid? [True, True] Translation: X:145.63, Y:-7.72, Z:-1.07 [[ 9.95617108e-01 9.35159847e-02 -1.15515335e-03 1.45627366e+02] [-9.35158960e-02 9.95617778e-01 1.30692297e-04 -7.72490097e+00] [ 1.16231303e-03 -2.20942866e-05 9.99999324e-01 -1.07275259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters 0.05445729511461888 Centerline is valid? [True, True] Translation: X:145.69, Y:-7.73, Z:-1.07 [[ 9.95653767e-01 9.31007574e-02 -2.41368007e-03 1.45688856e+02] [-9.31003674e-02 9.95656691e-01 2.73649773e-04 -7.72915130e+00] [ 2.42867372e-03 -4.77459255e-05 9.99997050e-01 -1.07098870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters 0.05478961041092021 Centerline is valid? [True, True] Translation: X:145.75, Y:-7.74, Z:-1.07 [[ 9.95916350e-01 9.02633002e-02 -1.77799280e-03 1.45749140e+02] [-9.02630846e-02 9.95917936e-01 2.01278647e-04 -7.74471349e+00] [ 1.78890299e-03 -3.99695805e-05 9.99998399e-01 -1.07188353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters 0.05470993475176125 Centerline is valid? [True, True] Translation: X:145.81, Y:-7.75, Z:-1.07 [[ 9.96224107e-01 8.67978725e-02 -1.91273256e-03 1.45809489e+02] [-8.67976170e-02 9.96225942e-01 2.16343948e-04 -7.75181844e+00] [ 1.92429199e-03 -4.95064283e-05 9.99998147e-01 -1.07038937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters 0.05497387468887599 Centerline is valid? [True, True] Translation: X:145.87, Y:-7.77, Z:-1.07 [[ 9.96702232e-01 8.11172863e-02 -2.15576775e-03 1.45867750e+02] [-8.11169482e-02 9.96704561e-01 2.43947108e-04 -7.76983009e+00] [ 2.16845188e-03 -6.82733265e-05 9.99997647e-01 -1.07155740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters 0.055240360529973165 Centerline is valid? [True, True] Translation: X:145.93, Y:-7.77, Z:-1.07 [[ 9.96850263e-01 7.92967104e-02 -1.25911618e-03 1.45930356e+02] [-7.92965932e-02 9.96851057e-01 1.42742883e-04 -7.76781085e+00] [ 1.26647034e-03 -4.24496565e-05 9.99999197e-01 -1.06805024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters 0.05490627622312029 Centerline is valid? [True, True] Translation: X:145.99, Y:-7.77, Z:-1.07 [[ 9.96616018e-01 8.21941406e-02 -7.96823043e-04 1.45991728e+02] [-8.21940947e-02 9.96616337e-01 9.02345522e-05 -7.77042143e+00] [ 8.01543613e-04 -2.44350515e-05 9.99999678e-01 -1.06617162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters 0.054975772652004706 Centerline is valid? [True, True] Translation: X:146.05, Y:-7.78, Z:-1.07 [[ 9.96229920e-01 8.67466191e-02 -9.84995380e-04 1.46050978e+02] [-8.67465513e-02 9.96230407e-01 1.11445020e-04 -7.78254626e+00] [ 9.90949827e-04 -2.55799108e-05 9.99999509e-01 -1.06825388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters 0.054699004756308914 Centerline is valid? [True, True] Translation: X:146.11, Y:-7.79, Z:-1.07 [[ 9.95633899e-01 9.33315343e-02 -1.53763982e-03 1.46111223e+02] [-9.33313769e-02 9.95635086e-01 1.73977285e-04 -7.78604846e+00] [ 1.54716572e-03 -2.97076416e-05 9.99998803e-01 -1.06881701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters 0.0549131203159935 Centerline is valid? [True, True] Translation: X:146.17, Y:-7.79, Z:-1.07 [[ 9.95379678e-01 9.59721664e-02 -2.93952763e-03 1.46172200e+02] [-9.59716007e-02 9.95384017e-01 3.33258998e-04 -7.79372312e+00] [ 2.95794240e-03 -4.96080624e-05 9.99995624e-01 -1.07065135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters 0.054715502634961 Centerline is valid? [True, True] Translation: X:146.23, Y:-7.80, Z:-1.07 [[ 9.95437073e-01 9.53871882e-02 -2.51342971e-03 1.46233515e+02] [-9.53867710e-02 9.95440245e-01 2.85598751e-04 -7.80119853e+00] [ 2.52921155e-03 -4.45476404e-05 9.99996801e-01 -1.07044938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters 0.05426304206169772 Centerline is valid? [True, True] Translation: X:146.30, Y:-7.81, Z:-1.07 [[ 9.95670223e-01 9.29524584e-02 -8.05254510e-04 1.46296010e+02] [-9.29524143e-02 9.95670548e-01 9.21259725e-05 -7.80520230e+00] [ 8.10331535e-04 -1.68767367e-05 9.99999672e-01 -1.06812603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters 0.05448060608801319 Centerline is valid? [True, True] Translation: X:146.36, Y:-7.82, Z:-1.07 [[ 9.95800082e-01 9.15533980e-02 -4.14702081e-04 1.46355586e+02] [-9.15533860e-02 9.95800168e-01 4.77726734e-05 -7.82198790e+00] [ 4.17334153e-04 -9.60465233e-06 9.99999913e-01 -1.07156436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters 0.054443233145553216 Centerline is valid? [True, True] Translation: X:146.42, Y:-7.83, Z:-1.07 [[ 9.95763257e-01 9.19539096e-02 -1.22057016e-04 1.46417988e+02] [-9.19539086e-02 9.95763264e-01 1.41199907e-05 -7.82676322e+00] [ 1.22838281e-04 -2.83654824e-06 9.99999992e-01 -1.07086208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters 0.05442897162484487 Centerline is valid? [True, True] Translation: X:146.48, Y:-7.83, Z:-1.07 [[ 9.95548177e-01 9.42507518e-02 -7.89207623e-04 1.46480124e+02] [-9.42507097e-02 9.95548490e-01 9.05140646e-05 -7.83101833e+00] [ 7.94225476e-04 -1.57277335e-05 9.99999684e-01 -1.07164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters 0.054822205442510916 Centerline is valid? [True, True] Translation: X:146.54, Y:-7.84, Z:-1.07 [[ 9.95106360e-01 9.87938187e-02 -1.76460010e-03 1.46540029e+02] [-9.87936182e-02 9.95107924e-01 2.00646506e-04 -7.83638490e+00] [ 1.77579018e-03 -2.53333858e-05 9.99998423e-01 -1.07284314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters 0.05407061949339071 Centerline is valid? [True, True] Translation: X:146.60, Y:-7.84, Z:-1.07 [[ 9.94982947e-01 1.00025613e-01 -1.95258223e-03 1.46601709e+02] [-1.00025368e-01 9.94984862e-01 2.22979639e-04 -7.84221935e+00] [ 1.96509344e-03 -2.65531808e-05 9.99998069e-01 -1.07289872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters 0.054586289589610974 Centerline is valid? [True, True] Translation: X:146.66, Y:-7.85, Z:-1.07 [[ 9.95251819e-01 9.73124123e-02 -2.02758040e-03 1.46663286e+02] [-9.73121436e-02 9.95253884e-01 2.31007549e-04 -7.84997091e+00] [ 2.04043717e-03 -3.26024884e-05 9.99997918e-01 -1.07284889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters 0.054493505937529836 Centerline is valid? [True, True] Translation: X:146.72, Y:-7.87, Z:-1.07 [[ 9.96013098e-01 8.92054183e-02 -5.48775914e-04 1.46722610e+02] [-8.92053973e-02 9.96013249e-01 6.25542513e-05 -7.86631117e+00] [ 5.52168260e-04 -1.33510801e-05 9.99999847e-01 -1.07407981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters 0.05428925005216697 Centerline is valid? [True, True] Translation: X:146.78, Y:-7.87, Z:-1.07 [[ 9.96528612e-01 8.32475322e-02 7.57209055e-04 1.46783301e+02] [-8.32474907e-02 9.96528900e-01 -8.61681960e-05 -7.87325086e+00] [-7.61753996e-04 2.28333190e-05 9.99999710e-01 -1.07282925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters 0.05556408220489073 Centerline is valid? [True, True] Translation: X:146.84, Y:-7.89, Z:-1.07 [[ 9.96897637e-01 7.86998288e-02 1.19910429e-03 1.46841185e+02] [-7.86997214e-02 9.96898358e-01 -1.36527938e-04 -7.88968833e+00] [-1.20612982e-03 4.17352047e-05 9.99999272e-01 -1.07432299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters 0.05535631823589658 Centerline is valid? [True, True] Translation: X:146.90, Y:-7.89, Z:-1.07 [[ 9.97086271e-01 7.62679401e-02 1.47294342e-03 1.46902101e+02] [-7.62677757e-02 9.97087357e-01 -1.67562417e-04 -7.89028090e+00] [-1.48143290e-03 5.47360672e-05 9.99998901e-01 -1.07422466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters 0.0548193645079278 Centerline is valid? [True, True] Translation: X:146.96, Y:-7.90, Z:-1.07 [[ 9.97009640e-01 7.72771196e-02 1.54916956e-04 1.46963495e+02] [-7.72771179e-02 9.97009652e-01 -1.67995178e-05 -7.89534340e+00] [-1.55751919e-04 4.77774536e-06 9.99999988e-01 -1.07485128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters 0.054898130167063526 Centerline is valid? [True, True] Translation: X:147.02, Y:-7.90, Z:-1.08 [[ 9.96773970e-01 8.02591727e-02 3.44092308e-04 1.47023727e+02] [-8.02591640e-02 9.96774029e-01 -3.91555707e-05 -7.90066191e+00] [-3.46124870e-04 1.14126927e-05 9.99999940e-01 -1.07586180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters 0.05474084271763327 Centerline is valid? [True, True] Translation: X:147.08, Y:-7.91, Z:-1.08 [[ 9.96240551e-01 8.66252947e-02 9.07068400e-04 1.47082540e+02] [-8.66252364e-02 9.96240964e-01 -1.03434664e-04 -7.90980514e+00] [-9.12618755e-04 2.44707917e-05 9.99999583e-01 -1.07716434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters 0.05447019373012512 Centerline is valid? [True, True] Translation: X:147.14, Y:-7.92, Z:-1.08 [[ 9.95967449e-01 8.97145908e-02 3.63886316e-04 1.47141668e+02] [-8.97145817e-02 9.95967516e-01 -4.14681447e-05 -7.92024538e+00] [-3.66139248e-04 8.65501369e-06 9.99999933e-01 -1.07841555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters 0.05389049760679936 Centerline is valid? [True, True] Translation: X:147.20, Y:-7.92, Z:-1.08 [[ 9.95799439e-01 9.15218202e-02 2.68949264e-03 1.47204004e+02] [-9.15213264e-02 9.95803069e-01 -3.06379567e-04 -7.92017778e+00] [-2.70624544e-03 5.89466672e-05 9.99996336e-01 -1.07649503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters 0.054222733305035575 Centerline is valid? [True, True] Translation: X:147.27, Y:-7.93, Z:-1.08 [[ 9.95703345e-01 9.25332207e-02 3.52866830e-03 1.47265818e+02] [-9.25323776e-02 9.95709595e-01 -4.01775793e-04 -7.92598730e+00] [-3.55070650e-03 7.35334329e-05 9.99993694e-01 -1.07640596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters 0.05391715641262649 Centerline is valid? [True, True] Translation: X:147.33, Y:-7.94, Z:-1.08 [[ 9.95563003e-01 9.40616918e-02 2.58959216e-03 1.47326210e+02] [-9.40612427e-02 9.95566369e-01 -2.94970752e-04 -7.93871080e+00] [-2.60585631e-03 5.00817118e-05 9.99996603e-01 -1.07826321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters 0.05399541445466711 Centerline is valid? [True, True] Translation: X:147.39, Y:-7.94, Z:-1.08 [[ 9.95359190e-01 9.61976934e-02 2.46705292e-03 1.47387419e+02] [-9.61972907e-02 9.95362247e-01 -2.81672459e-04 -7.94230483e+00] [-2.48270758e-03 4.30414636e-05 9.99996917e-01 -1.07890040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters 0.05370011186512426 Centerline is valid? [True, True] Translation: X:147.45, Y:-7.95, Z:-1.08 [[ 9.94946749e-01 1.00401649e-01 6.89585081e-04 1.47449223e+02] [-1.00401619e-01 9.94946988e-01 -7.85200359e-05 -7.94638720e+00] [-6.93984141e-04 8.88779618e-06 9.99999759e-01 -1.07950000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters 0.053629892313381465 Centerline is valid? [True, True] Translation: X:147.51, Y:-7.95, Z:-1.08 [[ 9.94767824e-01 1.02159914e-01 -5.73386532e-04 1.47510052e+02] [-1.02159893e-01 9.94767989e-01 6.60044703e-05 -7.95402907e+00] [ 5.77129578e-04 -7.08201632e-06 9.99999833e-01 -1.08099898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters 0.05377829571051944 Centerline is valid? [True, True] Translation: X:147.57, Y:-7.97, Z:-1.08 [[ 9.94782168e-01 1.02021667e-01 -1.32033629e-04 1.47572005e+02] [-1.02021666e-01 9.94782177e-01 1.55292955e-05 -7.96559618e+00] [ 1.32929025e-04 -1.97797538e-06 9.99999991e-01 -1.08322415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters 0.05394174648073519 Centerline is valid? [True, True] Translation: X:147.63, Y:-7.98, Z:-1.08 [[ 9.95114357e-01 9.87150635e-02 1.65938627e-03 1.47631656e+02] [-9.87148848e-02 9.95115740e-01 -1.89461016e-04 -7.97799871e+00] [-1.66998405e-03 2.47292524e-05 9.99998605e-01 -1.08310784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters 0.05361765226707353 Centerline is valid? [True, True] Translation: X:147.69, Y:-7.98, Z:-1.08 [[ 9.95315416e-01 9.66593836e-02 2.04593921e-03 1.47693454e+02] [-9.66591078e-02 9.95317518e-01 -2.33518654e-04 -7.98206396e+00] [-2.05893090e-03 3.46660580e-05 9.99997880e-01 -1.08121151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters 0.053555975762227315 Centerline is valid? [True, True] Translation: X:147.75, Y:-7.99, Z:-1.08 [[ 9.95399812e-01 9.57886340e-02 1.93681509e-03 1.47754692e+02] [-9.57883847e-02 9.95401696e-01 -2.21292116e-04 -7.98972030e+00] [-1.94910629e-03 3.47497416e-05 9.99998100e-01 -1.08138868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters 0.05357598378029226 Centerline is valid? [True, True] Translation: X:147.82, Y:-8.00, Z:-1.08 [[ 9.95219439e-01 9.76506561e-02 1.61794643e-03 1.47815697e+02] [-9.76504846e-02 9.95220754e-01 -1.84856976e-04 -7.99840417e+00] [-1.62826527e-03 2.59800033e-05 9.99998674e-01 -1.08250646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters 0.05358433623080921 Centerline is valid? [True, True] Translation: X:147.88, Y:-8.01, Z:-1.09 [[ 9.94732304e-01 1.02506249e-01 3.33702755e-04 1.47876163e+02] [-1.02506242e-01 9.94732360e-01 -3.81207438e-05 -8.00775458e+00] [-3.35852544e-04 3.71331993e-06 9.99999944e-01 -1.08577092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters 0.05325671323266942 Centerline is valid? [True, True] Translation: X:147.94, Y:-8.01, Z:-1.09 [[ 9.94299059e-01 1.06626386e-01 -4.42440605e-04 1.47938562e+02] [-1.06626374e-01 9.94299157e-01 5.12963710e-05 -8.01429132e+00] [ 4.45387867e-04 -3.82809604e-06 9.99999901e-01 -1.08606450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters 0.05310843595259876 Centerline is valid? [True, True] Translation: X:148.00, Y:-8.02, Z:-1.09 [[ 9.94166622e-01 1.07855126e-01 1.50627811e-06 1.48000624e+02] [-1.07855126e-01 9.94166622e-01 7.39185641e-07 -8.02126357e+00] [-1.41776651e-06 -8.97333507e-07 1.00000000e+00 -1.08509584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters 0.05257253112627007 Centerline is valid? [True, True] Translation: X:148.06, Y:-8.03, Z:-1.08 [[ 9.94328909e-01 1.06344204e-01 9.64573063e-04 1.48061278e+02] [-1.06344147e-01 9.94329377e-01 -1.10074953e-04 -8.03268801e+00] [-9.70809166e-04 6.87400854e-06 9.99999529e-01 -1.08472239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters 0.05303691262567058 Centerline is valid? [True, True] Translation: X:148.12, Y:-8.05, Z:-1.09 [[ 9.94601961e-01 1.03756103e-01 1.26864463e-03 1.48120870e+02] [-1.03756001e-01 9.94602770e-01 -1.45938324e-04 -8.04540480e+00] [-1.27693946e-03 1.35210493e-05 9.99999185e-01 -1.08616980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters 0.05316407494321874 Centerline is valid? [True, True] Translation: X:148.18, Y:-8.06, Z:-1.09 [[ 9.95012548e-01 9.97454623e-02 9.33851713e-04 1.48182160e+02] [-9.97454055e-02 9.95012986e-01 -1.07246484e-04 -8.05837205e+00] [-9.39891931e-04 1.35641799e-05 9.99999558e-01 -1.08684905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters 0.05318832925241625 Centerline is valid? [True, True] Translation: X:148.24, Y:-8.07, Z:-1.09 [[ 9.95192786e-01 9.79340078e-02 4.98380896e-04 1.48243378e+02] [-9.79339917e-02 9.95192911e-01 -5.65778424e-05 -8.06749148e+00] [-5.01526029e-04 7.49743005e-06 9.99999874e-01 -1.08760126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters 0.05315042358599382 Centerline is valid? [True, True] Translation: X:148.30, Y:-8.08, Z:-1.09 [[ 9.95436549e-01 9.54257051e-02 -1.10422004e-04 1.48304660e+02] [-9.54257043e-02 9.95436555e-01 1.29863653e-05 -8.07993487e+00] [ 1.11157332e-04 -2.39000515e-06 9.99999994e-01 -1.08703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters 0.05343228049814137 Centerline is valid? [True, True] Translation: X:148.37, Y:-8.09, Z:-1.09 [[ 9.95801251e-01 9.15407396e-02 -4.02567640e-04 1.48365601e+02] [-9.15407282e-02 9.95801332e-01 4.65585192e-05 -8.08653033e+00] [ 4.05139394e-04 -9.51169669e-06 9.99999918e-01 -1.08551695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters 0.05411578130420848 Centerline is valid? [True, True] Translation: X:148.42, Y:-8.11, Z:-1.09 [[ 9.96109257e-01 8.81268343e-02 9.38676856e-05 1.48423672e+02] [-8.81268337e-02 9.96109262e-01 -1.08268338e-05 -8.10624050e+00] [-9.44566057e-05 2.51244746e-06 9.99999996e-01 -1.08790498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters 0.05373299480782903 Centerline is valid? [True, True] Translation: X:148.48, Y:-8.12, Z:-1.09 [[ 9.96404120e-01 8.47241703e-02 8.02741585e-04 1.48484082e+02] [-8.47241233e-02 9.96404443e-01 -9.24794805e-05 -8.11668076e+00] [-8.07690530e-04 2.41353584e-05 9.99999674e-01 -1.08682896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters 0.05439070461196207 Centerline is valid? [True, True] Translation: X:148.55, Y:-8.12, Z:-1.09 [[ 9.96602193e-01 8.23607132e-02 8.84584166e-04 1.48545082e+02] [-8.23606552e-02 9.96602585e-01 -1.01871785e-04 -8.12497632e+00] [-8.89969100e-04 2.86707132e-05 9.99999604e-01 -1.08502961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters 0.05361520721795376 Centerline is valid? [True, True] Translation: X:148.61, Y:-8.12, Z:-1.08 [[ 9.96323978e-01 8.56629815e-02 -6.20575504e-04 1.48606375e+02] [-8.56629535e-02 9.96324171e-01 7.16763595e-05 -8.12379873e+00] [ 6.24434385e-04 -1.82525450e-05 9.99999805e-01 -1.08382317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters 0.05387907272779509 Centerline is valid? [True, True] Translation: X:148.67, Y:-8.14, Z:-1.09 [[ 9.95952625e-01 8.98694214e-02 -1.36225613e-03 1.48666327e+02] [-8.98692903e-02 9.95953556e-01 1.57279006e-04 -8.13590771e+00] [ 1.37087841e-03 -3.42174470e-05 9.99999060e-01 -1.08610731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters 0.0536573164616941 Centerline is valid? [True, True] Translation: X:148.73, Y:-8.14, Z:-1.09 [[ 9.95500981e-01 9.47236542e-02 -2.28626426e-03 1.48726572e+02] [-9.47232976e-02 9.95503605e-01 2.64012925e-04 -8.14395323e+00] [ 2.30099258e-03 -4.62626354e-05 9.99997352e-01 -1.08729214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters 0.05284285471812844 Centerline is valid? [True, True] Translation: X:148.79, Y:-8.15, Z:-1.09 [[ 9.95085153e-01 9.89812843e-02 -2.87126562e-03 1.48786480e+02] [-9.89807397e-02 9.95089294e-01 3.31495856e-04 -8.15056193e+00] [ 2.88997756e-03 -4.56666102e-05 9.99995823e-01 -1.08811650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters 0.05280901456173061 Centerline is valid? [True, True] Translation: X:148.85, Y:-8.16, Z:-1.09 [[ 9.94792393e-01 1.01900144e-01 -2.11068289e-03 1.48847713e+02] [-1.01899856e-01 9.94794632e-01 2.43794686e-04 -8.15724507e+00] [ 2.12453872e-03 -2.74468164e-05 9.99997743e-01 -1.08787117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters 0.05301669885971412 Centerline is valid? [True, True] Translation: X:148.91, Y:-8.16, Z:-1.09 [[ 9.94521060e-01 1.04535751e-01 -3.71490250e-04 1.48908964e+02] [-1.04535742e-01 9.94521129e-01 4.30208191e-05 -8.16366414e+00] [ 3.73952117e-04 -3.95110173e-06 9.99999930e-01 -1.08632415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters 0.052578959205538074 Centerline is valid? [True, True] Translation: X:148.97, Y:-8.17, Z:-1.09 [[ 9.94379453e-01 1.05874569e-01 2.79494161e-04 1.48969508e+02] [-1.05874564e-01 9.94379493e-01 -3.14896257e-05 -8.17055947e+00] [-2.81257213e-04 1.72131427e-06 9.99999960e-01 -1.08511636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters 0.05241283916069101 Centerline is valid? [True, True] Translation: X:149.03, Y:-8.18, Z:-1.09 [[ 9.94365349e-01 1.06006541e-01 4.07434248e-04 1.49031622e+02] [-1.06006530e-01 9.94365433e-01 -4.65210490e-05 -8.17999849e+00] [-4.10070068e-04 3.06822818e-06 9.99999916e-01 -1.08644059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters 0.05270440079068455 Centerline is valid? [True, True] Translation: X:149.09, Y:-8.19, Z:-1.09 [[ 9.94323778e-01 1.06395698e-01 4.25013667e-04 1.49093220e+02] [-1.06395686e-01 9.94323869e-01 -4.87348948e-05 -8.19053193e+00] [-4.27786417e-04 3.23864386e-06 9.99999908e-01 -1.08796673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters 0.05243597752080169 Centerline is valid? [True, True] Translation: X:149.15, Y:-8.20, Z:-1.09 [[ 9.94362384e-01 1.06029284e-01 -1.11348280e-03 1.49154463e+02] [-1.06029206e-01 9.94363008e-01 1.29205869e-04 -8.20107621e+00] [ 1.12090571e-03 -1.04157587e-05 9.99999372e-01 -1.09093751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters 0.053034696166629744 Centerline is valid? [True, True] Translation: X:149.22, Y:-8.21, Z:-1.09 [[ 9.94700694e-01 1.02791193e-01 -2.12141302e-03 1.49215785e+02] [-1.02790902e-01 9.94702956e-01 2.46111186e-04 -8.20938248e+00] [ 2.13547387e-03 -2.67450097e-05 9.99997720e-01 -1.08920773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters 0.05290325298079314 Centerline is valid? [True, True] Translation: X:149.28, Y:-8.22, Z:-1.09 [[ 9.95287999e-01 9.69491695e-02 -1.63009030e-03 1.49276164e+02] [-9.69489900e-02 9.95289334e-01 1.88998237e-04 -8.22259885e+00] [ 1.64073471e-03 -3.00720693e-05 9.99998654e-01 -1.09020841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters 0.053198193290246214 Centerline is valid? [True, True] Translation: X:149.34, Y:-8.23, Z:-1.09 [[ 9.95759082e-01 9.19904021e-02 -1.27119927e-03 1.49336327e+02] [-9.19902889e-02 9.95759893e-01 1.47303469e-04 -8.23347630e+00] [ 1.27935975e-03 -2.97407788e-05 9.99999181e-01 -1.09061372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters 0.05337600067490639 Centerline is valid? [True, True] Translation: X:149.40, Y:-8.25, Z:-1.09 [[ 9.96447750e-01 8.42032251e-02 -1.30292124e-03 1.49396276e+02] [-8.42030995e-02 9.96448601e-01 1.51031994e-04 -8.24681511e+00] [ 1.31101142e-03 -4.07854844e-05 9.99999140e-01 -1.09128266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters 0.053765825527540806 Centerline is valid? [True, True] Translation: X:149.46, Y:-8.25, Z:-1.09 [[ 9.96740606e-01 8.06710308e-02 -5.90063066e-04 1.49456719e+02] [-8.06710044e-02 9.96740781e-01 6.84638688e-05 -8.25036491e+00] [ 5.93662972e-04 -2.06397379e-05 9.99999824e-01 -1.08978544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters 0.05395689615630791 Centerline is valid? [True, True] Translation: X:149.52, Y:-8.27, Z:-1.09 [[ 9.96847883e-01 7.93363076e-02 -2.20528829e-04 1.49516559e+02] [-7.93363039e-02 9.96847907e-01 2.58038464e-05 -8.26563577e+00] [ 2.21880883e-04 -8.22656748e-06 9.99999975e-01 -1.09192267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters 0.0534899262397523 Centerline is valid? [True, True] Translation: X:149.58, Y:-8.28, Z:-1.09 [[ 9.96609339e-01 8.22731009e-02 -9.81014054e-04 1.49576533e+02] [-8.22730287e-02 9.96609821e-01 1.13762190e-04 -8.27869287e+00] [ 9.87047810e-04 -3.26654640e-05 9.99999512e-01 -1.09402912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters 0.05354418986882763 Centerline is valid? [True, True] Translation: X:149.64, Y:-8.28, Z:-1.09 [[ 9.96339094e-01 8.54824393e-02 -1.07794933e-03 1.49637576e+02] [-8.54823540e-02 9.96339677e-01 1.25040739e-04 -8.28440662e+00] [ 1.08469248e-03 -3.24373307e-05 9.99999411e-01 -1.09461725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters 0.053787339832189404 Centerline is valid? [True, True] Translation: X:149.70, Y:-8.29, Z:-1.09 [[ 9.96024281e-01 8.90718825e-02 -1.35348060e-03 1.49698681e+02] [-8.90717513e-02 9.96025200e-01 1.56995435e-04 -8.28949849e+00] [ 1.36208466e-03 -3.58143781e-05 9.99999072e-01 -1.09435040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters 0.053446016305532126 Centerline is valid? [True, True] Translation: X:149.76, Y:-8.29, Z:-1.09 [[ 9.95543422e-01 9.43034207e-02 -3.98861482e-04 1.49758626e+02] [-9.43034097e-02 9.95543502e-01 4.61978580e-05 -8.28762288e+00] [ 4.01440573e-04 -8.37797588e-06 9.99999919e-01 -1.09199549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters 0.05257884501416155 Centerline is valid? [True, True] Translation: X:149.82, Y:-8.30, Z:-1.09 [[ 9.95236096e-01 9.74876952e-02 1.12347505e-03 1.49817337e+02] [-9.74876102e-02 9.95236730e-01 -1.30241255e-04 -8.29953177e+00] [-1.13082056e-03 2.00959003e-05 9.99999360e-01 -1.09423329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters 0.051715719222391335 Centerline is valid? [True, True] Translation: X:149.88, Y:-8.31, Z:-1.09 [[ 9.94894976e-01 1.00849122e-01 3.66633438e-03 1.49878402e+02] [-1.00848241e-01 9.94901730e-01 -4.24903916e-04 -8.30874884e+00] [-3.69049360e-03 5.29913979e-05 9.99993189e-01 -1.09379373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters 0.05187141787564842 Centerline is valid? [True, True] Translation: X:149.94, Y:-8.32, Z:-1.09 [[ 9.94718642e-01 1.02527365e-01 4.79192290e-03 1.49938902e+02] [-1.02525879e-01 9.94730182e-01 -5.55398173e-04 -8.31539545e+00] [-4.82361385e-03 6.11688097e-05 9.99988364e-01 -1.09408913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters 0.052011882789975775 Centerline is valid? [True, True] Translation: X:150.00, Y:-8.32, Z:-1.09 [[ 9.94523856e-01 1.04392402e-01 4.95237930e-03 1.49999903e+02] [-1.04390835e-01 9.94536185e-01 -5.74572954e-04 -8.32103743e+00] [-4.98530146e-03 5.44435005e-05 9.99987572e-01 -1.09498029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters 0.05144054658739145 Centerline is valid? [True, True] Translation: X:150.06, Y:-8.33, Z:-1.10 [[ 9.94413352e-01 1.05457369e-01 4.56385518e-03 1.50060148e+02] [-1.05456048e-01 9.94423824e-01 -5.29916910e-04 -8.32885672e+00] [-4.59428996e-03 4.56703220e-05 9.99989445e-01 -1.09645442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters 0.052127395200307215 Centerline is valid? [True, True] Translation: X:150.12, Y:-8.33, Z:-1.10 [[ 9.94258945e-01 1.06928655e-01 3.92585845e-03 1.50122265e+02] [-1.06927688e-01 9.94266695e-01 -4.56127764e-04 -8.33164595e+00] [-3.95212343e-03 3.37261431e-05 9.99992190e-01 -1.09742736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters 0.05222677288214916 Centerline is valid? [True, True] Translation: X:150.18, Y:-8.34, Z:-1.10 [[ 9.94139985e-01 1.08052244e-01 3.22542573e-03 1.50183499e+02] [-1.08051596e-01 9.94145217e-01 -3.75015381e-04 -8.33762486e+00] [-3.24706281e-03 2.43053870e-05 9.99994728e-01 -1.09779073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters 0.051994758826026596 Centerline is valid? [True, True] Translation: X:150.24, Y:-8.35, Z:-1.10 [[ 9.94182536e-01 1.07655056e-01 3.38729278e-03 1.50244397e+02] [-1.07654338e-01 9.94188306e-01 -3.94270776e-04 -8.34750437e+00] [-3.41005211e-03 2.73203596e-05 9.99994185e-01 -1.09905485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters 0.051340740779715205 Centerline is valid? [True, True] Translation: X:150.31, Y:-8.36, Z:-1.10 [[ 9.94396239e-01 1.05586609e-01 5.25250268e-03 1.50306021e+02] [-1.05584847e-01 9.94410109e-01 -6.12462784e-04 -8.35810451e+00] [-5.28780964e-03 5.44459962e-05 9.99986018e-01 -1.09856979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters 0.0519469732095425 Centerline is valid? [True, True] Translation: X:150.37, Y:-8.37, Z:-1.10 [[ 9.94545410e-01 1.04139099e-01 5.87160162e-03 1.50366024e+02] [-1.04136869e-01 9.94562740e-01 -6.85071737e-04 -8.36767360e+00] [-5.91101894e-03 6.98847447e-05 9.99982527e-01 -1.09875767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters 0.051804413430345565 Centerline is valid? [True, True] Translation: X:150.43, Y:-8.37, Z:-1.10 [[ 9.94745982e-01 1.02223999e-01 5.53943608e-03 1.50428182e+02] [-1.02221983e-01 9.94761403e-01 -6.46526574e-04 -8.37243445e+00] [-5.57650774e-03 7.68775676e-05 9.99984448e-01 -1.09851581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters 0.05188499458703115 Centerline is valid? [True, True] Translation: X:150.49, Y:-8.38, Z:-1.10 [[ 9.94881947e-01 1.00934424e-01 4.70683718e-03 1.50489545e+02] [-1.00932952e-01 9.94893078e-01 -5.49869070e-04 -8.38007649e+00] [-4.73830045e-03 7.19798416e-05 9.99988772e-01 -1.09924758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters 0.05150060380176079 Centerline is valid? [True, True] Translation: X:150.55, Y:-8.39, Z:-1.10 [[ 9.95100759e-01 9.87927106e-02 3.80527848e-03 1.50549930e+02] [-9.87917322e-02 9.95108032e-01 -4.44693955e-04 -8.39004803e+00] [-3.83059570e-03 6.65852394e-05 9.99992661e-01 -1.10053509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters 0.05189982059845236 Centerline is valid? [True, True] Translation: X:150.61, Y:-8.39, Z:-1.10 [[ 9.95264360e-01 9.71487805e-02 3.31176154e-03 1.50611737e+02] [-9.71480307e-02 9.95269868e-01 -3.86923616e-04 -8.39274037e+00] [-3.33368563e-03 6.33601735e-05 9.99994441e-01 -1.10081071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters 0.052696178063629556 Centerline is valid? [True, True] Translation: X:150.67, Y:-8.41, Z:-1.10 [[ 9.95312342e-01 9.66746299e-02 2.71237035e-03 1.50671027e+02] [-9.66741248e-02 9.95316037e-01 -3.17022322e-04 -8.40754155e+00] [-2.73031372e-03 5.33202004e-05 9.99996271e-01 -1.10345677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters 0.05258781918175675 Centerline is valid? [True, True] Translation: X:150.73, Y:-8.42, Z:-1.10 [[ 9.95253843e-01 9.72933259e-02 1.94863897e-03 1.50731215e+02] [-9.72930664e-02 9.95255750e-01 -2.27709050e-04 -8.41868841e+00] [-1.96154871e-03 3.70392464e-05 9.99998075e-01 -1.10478871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters 0.052622546702275744 Centerline is valid? [True, True] Translation: X:150.79, Y:-8.42, Z:-1.10 [[ 9.94959165e-01 1.00269821e-01 1.49076566e-03 1.50792984e+02] [-1.00269672e-01 9.94960282e-01 -1.74687822e-04 -8.42229369e+00] [-1.50076854e-03 2.43286656e-05 9.99998874e-01 -1.10379541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters 0.05201475050784441 Centerline is valid? [True, True] Translation: X:150.85, Y:-8.43, Z:-1.10 [[ 9.94394353e-01 1.05711138e-01 2.24202724e-03 1.50852605e+02] [-1.05710814e-01 9.94396880e-01 -2.63002661e-04 -8.42973869e+00] [-2.25726720e-03 2.45218375e-05 9.99997452e-01 -1.10386308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters 0.051325543287843146 Centerline is valid? [True, True] Translation: X:150.91, Y:-8.44, Z:-1.10 [[ 9.93967021e-01 1.09653163e-01 2.39696035e-03 1.50913371e+02] [-1.09652805e-01 9.93969911e-01 -2.80662404e-04 -8.43582783e+00] [-2.41328199e-03 1.61357477e-05 9.99997088e-01 -1.10381822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters 0.051275108814567434 Centerline is valid? [True, True] Translation: X:150.97, Y:-8.44, Z:-1.10 [[ 9.93372871e-01 1.14895006e-01 3.07833321e-03 1.50974593e+02] [-1.14894439e-01 9.93377641e-01 -3.60995478e-04 -8.43998997e+00] [-3.09942396e-03 4.91974823e-06 9.99995197e-01 -1.10427712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters 0.05125053204568474 Centerline is valid? [True, True] Translation: X:151.04, Y:-8.44, Z:-1.10 [[ 9.92981465e-01 1.18226590e-01 3.20690140e-03 1.51037600e+02] [-1.18225991e-01 9.92986643e-01 -3.76328077e-04 -8.44461471e+00] [-3.22890224e-03 -5.45229061e-06 9.99994787e-01 -1.10432246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters 0.050905637712094325 Centerline is valid? [True, True] Translation: X:151.10, Y:-8.45, Z:-1.10 [[ 9.92904298e-01 1.18896135e-01 2.18264143e-03 1.51098992e+02] [-1.18895859e-01 9.92906697e-01 -2.56196754e-04 -8.45226772e+00] [-2.19762010e-03 -5.12817106e-06 9.99997585e-01 -1.10319217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters 0.051531714720909144 Centerline is valid? [True, True] Translation: X:151.16, Y:-8.46, Z:-1.10 [[ 9.93095601e-01 1.17307730e-01 -1.51647898e-04 1.51160956e+02] [-1.17307729e-01 9.93095613e-01 1.81232314e-05 -8.46021163e+00] [ 1.52726857e-04 -2.08630862e-07 9.99999988e-01 -1.10452482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters 0.051378971478000086 Centerline is valid? [True, True] Translation: X:151.22, Y:-8.47, Z:-1.11 [[ 9.93414645e-01 1.14572042e-01 -7.68810900e-04 1.51222270e+02] [-1.14572006e-01 9.93414942e-01 9.08904952e-05 -8.46875316e+00] [ 7.74161745e-04 -2.20774209e-06 9.99999700e-01 -1.10656542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters 0.05169485681722583 Centerline is valid? [True, True] Translation: X:151.28, Y:-8.48, Z:-1.11 [[ 9.93889977e-01 1.10374780e-01 3.47766026e-04 1.51282656e+02] [-1.10374772e-01 9.93890038e-01 -4.01580683e-05 -8.47680419e+00] [-3.50073627e-04 1.52810576e-06 9.99999939e-01 -1.10722426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters 0.05225490704363608 Centerline is valid? [True, True] Translation: X:151.34, Y:-8.48, Z:-1.11 [[ 9.94559301e-01 1.04169085e-01 7.73070147e-04 1.51342401e+02] [-1.04169046e-01 9.94559602e-01 -9.11251613e-05 -8.48374158e+00] [-7.78356762e-04 1.00993972e-05 9.99999697e-01 -1.10663671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters 0.052156056325286984 Centerline is valid? [True, True] Translation: X:151.40, Y:-8.49, Z:-1.11 [[ 9.95118766e-01 9.86802703e-02 9.20195683e-04 1.51401282e+02] [-9.86802122e-02 9.95119191e-01 -1.08539767e-04 -8.49303585e+00] [-9.26415117e-04 1.72048534e-05 9.99999571e-01 -1.10616537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters 0.05204472456535992 Centerline is valid? [True, True] Translation: X:151.46, Y:-8.49, Z:-1.10 [[ 9.95797579e-01 9.15739202e-02 1.18269045e-03 1.51462595e+02] [-9.15738192e-02 9.95798281e-01 -1.39380798e-04 -8.49331461e+00] [-1.19048476e-03 3.04915805e-05 9.99999291e-01 -1.10488961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters 0.05381875270406567 Centerline is valid? [True, True] Translation: X:151.52, Y:-8.51, Z:-1.11 [[ 9.96217795e-01 8.68913374e-02 -8.25895972e-06 1.51521316e+02] [-8.68913374e-02 9.96217795e-01 9.56127703e-07 -8.50593335e+00] [ 8.31080181e-06 -2.34879377e-07 1.00000000e+00 -1.10850269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters 0.05334976221614291 Centerline is valid? [True, True] Translation: X:151.58, Y:-8.50, Z:-1.11 [[ 9.96406972e-01 8.46933991e-02 4.16525015e-04 1.51583569e+02] [-8.46933860e-02 9.96407059e-01 -4.89702293e-05 -8.50081184e+00] [-4.19175921e-04 1.35173640e-05 9.99999912e-01 -1.10599463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters 0.05310618738639575 Centerline is valid? [True, True] Translation: X:151.64, Y:-8.51, Z:-1.11 [[ 9.96378197e-01 8.50317124e-02 3.10851739e-04 1.51643324e+02] [-8.50317054e-02 9.96378245e-01 -3.59422800e-05 -8.51343299e+00] [-3.12782144e-04 9.37985068e-06 9.99999951e-01 -1.10764849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters 0.05339109433334538 Centerline is valid? [True, True] Translation: X:151.70, Y:-8.51, Z:-1.11 [[ 9.96189292e-01 8.71917872e-02 2.11827288e-03 1.51704693e+02] [-8.71914524e-02 9.96191542e-01 -2.50083933e-04 -8.51220166e+00] [-2.13201079e-03 6.44356471e-05 9.99997725e-01 -1.10671412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters 0.05279359564099247 Centerline is valid? [True, True] Translation: X:151.76, Y:-8.52, Z:-1.11 [[ 9.95723709e-01 9.23374859e-02 2.84332910e-03 1.51763162e+02] [-9.23369030e-02 9.95727766e-01 -3.35874969e-04 -8.52377807e+00] [-2.86219559e-03 7.18944663e-05 9.99995901e-01 -1.10769177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters 0.05309059489652326 Centerline is valid? [True, True] Translation: X:151.82, Y:-8.53, Z:-1.11 [[ 9.95269215e-01 9.70729424e-02 4.00407178e-03 1.51823766e+02] [-9.70718252e-02 9.95277266e-01 -4.72902631e-04 -8.52531368e+00] [-4.03106766e-03 8.19828753e-05 9.99991872e-01 -1.10773532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters 0.05225644034601417 Centerline is valid? [True, True] Translation: X:151.89, Y:-8.52, Z:-1.11 [[ 9.94422448e-01 1.05395013e-01 3.98567215e-03 1.51885649e+02] [-1.05393973e-01 9.94430434e-01 -4.70743176e-04 -8.52127880e+00] [-4.01308767e-03 4.80517604e-05 9.99991946e-01 -1.10847029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters 0.05198863277818766 Centerline is valid? [True, True] Translation: X:151.95, Y:-8.53, Z:-1.11 [[ 9.93868650e-01 1.10487989e-01 4.18465929e-03 1.51947014e+02] [-1.10486888e-01 9.93877459e-01 -4.94188333e-04 -8.52532680e+00] [-4.21364041e-03 2.88083098e-05 9.99991122e-01 -1.11025092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters 0.05220950463362065 Centerline is valid? [True, True] Translation: X:152.01, Y:-8.53, Z:-1.11 [[ 9.93219171e-01 1.16220913e-01 2.89435782e-03 1.52008615e+02] [-1.16220412e-01 9.93223388e-01 -3.41469692e-04 -8.52512098e+00] [-2.91442980e-03 2.77078721e-06 9.99995753e-01 -1.11169210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters 0.052349675679102405 Centerline is valid? [True, True] Translation: X:152.07, Y:-8.53, Z:-1.11 [[ 9.92976961e-01 1.18292180e-01 1.92767954e-03 1.52070544e+02] [-1.18291961e-01 9.92978832e-01 -2.27743921e-04 -8.52950284e+00] [-1.94108531e-03 -1.88452654e-06 9.99998116e-01 -1.11149497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters 0.052094266799242124 Centerline is valid? [True, True] Translation: X:152.13, Y:-8.53, Z:-1.11 [[ 9.92995905e-01 1.18131445e-01 2.02368922e-03 1.52133375e+02] [-1.18131203e-01 9.92997967e-01 -2.39052715e-04 -8.53453104e+00] [-2.03775892e-03 -1.68247538e-06 9.99997924e-01 -1.11418371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters 0.05213570497050154 Centerline is valid? [True, True] Translation: X:152.19, Y:-8.54, Z:-1.11 [[ 9.93338718e-01 1.15203360e-01 2.52527734e-03 1.52194519e+02] [-1.15202975e-01 9.93341928e-01 -2.98239390e-04 -8.54321732e+00] [-2.54282204e-03 5.33327197e-06 9.99996767e-01 -1.11318090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters 0.05292056719059593 Centerline is valid? [True, True] Translation: X:152.26, Y:-8.55, Z:-1.11 [[ 9.93790461e-01 1.11218845e-01 3.29976062e-03 1.52255523e+02] [-1.11218161e-01 9.93795939e-01 -3.90494437e-04 -8.55196325e+00] [-3.32271904e-03 2.10763387e-05 9.99994480e-01 -1.11334596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters 0.05239602693002224 Centerline is valid? [True, True] Translation: X:152.32, Y:-8.56, Z:-1.12 [[ 9.93987259e-01 1.09422764e-01 3.99851996e-03 1.52317050e+02] [-1.09421743e-01 9.93995301e-01 -4.73903728e-04 -8.56270670e+00] [-4.02636590e-03 3.35292440e-05 9.99991894e-01 -1.11537781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters 0.05253730459923867 Centerline is valid? [True, True] Translation: X:152.38, Y:-8.57, Z:-1.12 [[ 9.94204778e-01 1.07459476e-01 3.05291957e-03 1.52378104e+02] [-1.07458873e-01 9.94209465e-01 -3.61611630e-04 -8.56884201e+00] [-3.07410013e-03 3.14527153e-05 9.99995274e-01 -1.11542166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters 0.05272357911172484 Centerline is valid? [True, True] Translation: X:152.44, Y:-8.58, Z:-1.12 [[ 9.94318541e-01 1.06420434e-01 2.30866486e-03 1.52439370e+02] [-1.06420085e-01 9.94321221e-01 -2.73850930e-04 -8.57710068e+00] [-2.32469780e-03 2.66067459e-05 9.99997298e-01 -1.11673439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters 0.052142407631758765 Centerline is valid? [True, True] Translation: X:152.50, Y:-8.58, Z:-1.12 [[ 9.94487671e-01 1.04842867e-01 1.49831137e-03 1.52500601e+02] [-1.04842719e-01 9.94488800e-01 -1.77204008e-04 -8.58479822e+00] [-1.50863245e-03 1.91401628e-05 9.99998862e-01 -1.11772583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters 0.0517690834344998 Centerline is valid? [True, True] Translation: X:152.56, Y:-8.59, Z:-1.12 [[ 9.94712183e-01 1.02698442e-01 8.38972704e-04 1.52561333e+02] [-1.02698394e-01 9.94712536e-01 -9.93236534e-05 -8.59445120e+00] [-8.44737051e-04 1.26372984e-05 9.99999643e-01 -1.11805426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters 0.05244678593939943 Centerline is valid? [True, True] Translation: X:152.62, Y:-8.60, Z:-1.12 [[ 9.94856258e-01 1.01293521e-01 8.05337923e-04 1.52623030e+02] [-1.01293477e-01 9.94856584e-01 -9.54883712e-05 -8.60249236e+00] [-8.10868088e-04 1.34217252e-05 9.99999671e-01 -1.11837226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters 0.05334696747679518 Centerline is valid? [True, True] Translation: X:152.68, Y:-8.62, Z:-1.12 [[ 9.95460427e-01 9.51709918e-02 1.01041701e-03 1.52682780e+02] [-9.51709189e-02 9.95460939e-01 -1.20113228e-04 -8.61507134e+00] [-1.01726196e-03 2.34056503e-05 9.99999482e-01 -1.11878303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters 0.053165032006870595 Centerline is valid? [True, True] Translation: X:152.74, Y:-8.62, Z:-1.12 [[ 9.95972632e-01 8.96095629e-02 2.93978932e-03 1.52741805e+02] [-8.96089207e-02 9.95976967e-01 -3.49690742e-04 -8.62326144e+00] [-2.95929808e-03 8.48510612e-05 9.99995618e-01 -1.11694911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters 0.05308483982140234 Centerline is valid? [True, True] Translation: X:152.80, Y:-8.64, Z:-1.12 [[ 9.96239464e-01 8.65390973e-02 4.23252005e-03 1.52801824e+02] [-8.65377383e-02 9.96248446e-01 -5.03534278e-04 -8.63701333e+00] [-4.26021693e-03 1.35368007e-04 9.99990916e-01 -1.11692209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters 0.05325329765380377 Centerline is valid? [True, True] Translation: X:152.86, Y:-8.64, Z:-1.12 [[ 9.96260775e-01 8.63225607e-02 3.58940494e-03 1.52864727e+02] [-8.63215831e-02 9.96267234e-01 -4.26693382e-04 -8.63806420e+00] [-3.61283979e-03 1.15254763e-04 9.99993467e-01 -1.11779811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters 0.05213067936886271 Centerline is valid? [True, True] Translation: X:152.92, Y:-8.65, Z:-1.12 [[ 9.95884773e-01 9.05027286e-02 4.77228570e-03 1.52922761e+02] [-9.05010430e-02 9.95896198e-01 -5.68434363e-04 -8.65128219e+00] [-4.80414604e-03 1.34198294e-04 9.99988451e-01 -1.11808462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters 0.052852407530639266 Centerline is valid? [True, True] Translation: X:152.98, Y:-8.66, Z:-1.12 [[ 9.95659679e-01 9.29245555e-02 5.17976236e-03 1.52983244e+02] [-9.29226032e-02 9.95673144e-01 -6.16835537e-04 -8.66437551e+00] [-5.21466944e-03 1.32841272e-04 9.99986395e-01 -1.11917662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters 0.05240076772352621 Centerline is valid? [True, True] Translation: X:153.04, Y:-8.66, Z:-1.12 [[ 9.94729125e-01 1.02480660e-01 3.41801782e-03 1.53044017e+02] [-1.02479866e-01 9.94734996e-01 -4.07232072e-04 -8.65890431e+00] [-3.44175535e-03 5.48075962e-05 9.99994076e-01 -1.12098554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters 0.05156692383636859 Centerline is valid? [True, True] Translation: X:153.10, Y:-8.67, Z:-1.12 [[ 9.93582101e-01 1.13082884e-01 2.62120680e-03 1.53104580e+02] [-1.13082453e-01 9.93585558e-01 -3.12249698e-04 -8.66573081e+00] [-2.63970332e-03 1.38332152e-05 9.99996516e-01 -1.12357030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters 0.051405512737312115 Centerline is valid? [True, True] Translation: X:153.17, Y:-8.67, Z:-1.12 [[ 9.92672067e-01 1.20799686e-01 3.09887076e-03 1.53165625e+02] [-1.20799123e-01 9.92676904e-01 -3.68955532e-04 -8.66826728e+00] [-3.12074714e-03 -8.08901995e-06 9.99995130e-01 -1.12429805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters 0.051257164426793365 Centerline is valid? [True, True] Translation: X:153.23, Y:-8.67, Z:-1.12 [[ 9.92309533e-01 1.23725322e-01 3.71953302e-03 1.53226798e+02] [-1.23724530e-01 9.92316504e-01 -4.43057780e-04 -8.67497792e+00] [-3.74577147e-03 -2.05470163e-05 9.99992984e-01 -1.12428171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters 0.05063795704978192 Centerline is valid? [True, True] Translation: X:153.29, Y:-8.68, Z:-1.12 [[ 9.92031553e-01 1.25862461e-01 5.66023994e-03 1.53288069e+02] [-1.25860657e-01 9.92047700e-01 -6.75309471e-04 -8.68284584e+00] [-5.70022412e-03 -4.24732131e-05 9.99983753e-01 -1.12416282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters 0.051336711245030274 Centerline is valid? [True, True] Translation: X:153.35, Y:-8.69, Z:-1.12 [[ 9.91846111e-01 1.27274958e-01 6.50971867e-03 1.53349169e+02] [-1.27272600e-01 9.91867472e-01 -7.76889164e-04 -8.69365904e+00] [-6.55565673e-03 -5.79543258e-05 9.99978510e-01 -1.12491529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters 0.05104781375538311 Centerline is valid? [True, True] Translation: X:153.41, Y:-8.70, Z:-1.13 [[ 9.91681415e-01 1.28601383e-01 5.44562333e-03 1.53410103e+02] [-1.28599750e-01 9.91696365e-01 -6.50411523e-04 -8.69933553e+00] [-5.48404869e-03 -5.53047813e-05 9.99984961e-01 -1.12675452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters 0.050771037450444374 Centerline is valid? [True, True] Translation: X:153.47, Y:-8.71, Z:-1.13 [[ 9.91322239e-01 1.31388127e-01 4.16875293e-03 1.53471864e+02] [-1.31387192e-01 9.91331003e-01 -4.98335936e-04 -8.70737435e+00] [-4.19808945e-03 -5.37092477e-05 9.99991187e-01 -1.12879765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters 0.05022765255015797 Centerline is valid? [True, True] Translation: X:153.53, Y:-8.72, Z:-1.13 [[ 9.91081502e-01 1.33231914e-01 2.59094290e-03 1.53532276e+02] [-1.33231560e-01 9.91084888e-01 -3.09464683e-04 -8.72177923e+00] [-2.60907493e-03 -3.84906427e-05 9.99996596e-01 -1.12931027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters 0.050233933801653696 Centerline is valid? [True, True] Translation: X:153.59, Y:-8.73, Z:-1.13 [[ 9.91163793e-01 1.32638670e-01 1.14847739e-03 1.53593492e+02] [-1.32638600e-01 9.91164458e-01 -1.36769488e-04 -8.73009786e+00] [-1.15647089e-03 -1.67714693e-05 9.99999331e-01 -1.13243282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters 0.05110284287894267 Centerline is valid? [True, True] Translation: X:153.66, Y:-8.74, Z:-1.13 [[ 9.91536293e-01 1.29823676e-01 1.26189637e-03 1.53655039e+02] [-1.29823589e-01 9.91537096e-01 -1.50903001e-04 -8.74273025e+00] [-1.27080784e-03 -1.41981132e-05 9.99999192e-01 -1.13245732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters 0.05013313377749045 Centerline is valid? [True, True] Translation: X:153.72, Y:-8.76, Z:-1.13 [[ 9.92425182e-01 1.22814358e-01 2.98202030e-03 1.53715302e+02] [-1.22813838e-01 9.92429662e-01 -3.57483751e-04 -8.75769442e+00] [-3.00334953e-03 -1.14574817e-05 9.99995490e-01 -1.13133527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters 0.050371539122215966 Centerline is valid? [True, True] Translation: X:153.78, Y:-8.77, Z:-1.13 [[ 9.93005413e-01 1.17970547e-01 4.81669595e-03 1.53776113e+02] [-1.17969134e-01 9.93017094e-01 -5.77540124e-04 -8.76653202e+00] [-4.85119415e-03 5.27901928e-06 9.99988233e-01 -1.13063315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters 0.051052656966583856 Centerline is valid? [True, True] Translation: X:153.84, Y:-8.78, Z:-1.13 [[ 9.93491636e-01 1.13830453e-01 4.12270660e-03 1.53837371e+02] [-1.13829380e-01 9.93500190e-01 -4.94618985e-04 -8.77664284e+00] [-4.15221249e-03 2.21146876e-05 9.99991379e-01 -1.13190378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters 0.05081858971751707 Centerline is valid? [True, True] Translation: X:153.90, Y:-8.78, Z:-1.13 [[ 9.93813602e-01 1.10992821e-01 3.88827707e-03 1.53898582e+02] [-1.10991843e-01 9.93821208e-01 -4.66874281e-04 -8.78470941e+00] [-3.91607191e-03 3.24189707e-05 9.99992332e-01 -1.13264055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters 0.050951796048134906 Centerline is valid? [True, True] Translation: X:153.96, Y:-8.79, Z:-1.13 [[ 9.94322885e-01 1.06333956e-01 3.88448669e-03 1.53960455e+02] [-1.06332944e-01 9.94330472e-01 -4.66826984e-04 -8.78642396e+00] [-3.91210305e-03 5.11278487e-05 9.99992346e-01 -1.13197292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters 0.05158634808132711 Centerline is valid? [True, True] Translation: X:154.02, Y:-8.80, Z:-1.13 [[ 9.94832466e-01 1.01502541e-01 2.36609214e-03 1.54019599e+02] [-1.01502151e-01 9.94835279e-01 -2.84798420e-04 -8.80146164e+00] [-2.38277969e-03 4.31632735e-05 9.99997160e-01 -1.13465310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters 0.05198840575160168 Centerline is valid? [True, True] Translation: X:154.08, Y:-8.80, Z:-1.13 [[ 9.95510180e-01 9.46266951e-02 2.29576361e-03 1.54080890e+02] [-9.46263093e-02 9.95512825e-01 -2.76306490e-04 -8.80082037e+00] [-2.31160809e-03 5.78262859e-05 9.99997327e-01 -1.13498622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters 0.05172666682929701 Centerline is valid? [True, True] Translation: X:154.14, Y:-8.80, Z:-1.13 [[ 9.96166672e-01 8.74554938e-02 1.87043948e-03 1.54141558e+02] [-8.74552249e-02 9.96168426e-01 -2.25194067e-04 -8.80302386e+00] [-1.88296721e-03 6.07511191e-05 9.99998225e-01 -1.13420038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters 0.05232204044257457 Centerline is valid? [True, True] Translation: X:154.20, Y:-8.80, Z:-1.13 [[ 9.96470517e-01 8.39128346e-02 2.26834527e-03 1.54202525e+02] [-8.39124300e-02 9.96473095e-01 -2.73101246e-04 -8.80398451e+00] [-2.28326173e-03 8.17949760e-05 9.99997390e-01 -1.13411651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters 0.052504834709894886 Centerline is valid? [True, True] Translation: X:154.26, Y:-8.82, Z:-1.14 [[ 9.96629065e-01 8.19851659e-02 2.98979055e-03 1.54261354e+02] [-8.19844545e-02 9.96633543e-01 -3.59951873e-04 -8.82120128e+00] [-3.00923626e-03 1.13622152e-04 9.99995466e-01 -1.13675862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters 0.052691964213353384 Centerline is valid? [True, True] Translation: X:154.32, Y:-8.82, Z:-1.14 [[ 9.96524048e-01 8.32517075e-02 2.99567552e-03 1.54323483e+02] [-8.32510000e-02 9.96528545e-01 -3.60289507e-04 -8.81863101e+00] [-3.01527089e-03 1.09644175e-04 9.99995448e-01 -1.13653148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters 0.05249087406189105 Centerline is valid? [True, True] Translation: X:154.39, Y:-8.81, Z:-1.14 [[ 9.96176498e-01 8.73055622e-02 3.18181361e-03 1.54385141e+02] [-8.73047819e-02 9.96181574e-01 -3.83578168e-04 -8.81261397e+00] [-3.20315260e-03 1.04324012e-04 9.99994864e-01 -1.13597387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters 0.05209319903878027 Centerline is valid? [True, True] Translation: X:154.44, Y:-8.83, Z:-1.14 [[ 9.95862169e-01 9.08436916e-02 2.44195327e-03 1.54443738e+02] [-9.08432426e-02 9.95865161e-01 -2.94393221e-04 -8.82980540e+00] [-2.45859995e-03 7.13401181e-05 9.99996975e-01 -1.13792343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters 0.05250508385195236 Centerline is valid? [True, True] Translation: X:154.50, Y:-8.84, Z:-1.14 [[ 9.95357892e-01 9.61581277e-02 4.03509239e-03 1.54504366e+02] [-9.61569456e-02 9.95366066e-01 -4.86408622e-04 -8.83737692e+00] [-4.06316618e-03 9.61485011e-05 9.99991741e-01 -1.13922125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters 0.05154108685414674 Centerline is valid? [True, True] Translation: X:154.57, Y:-8.84, Z:-1.14 [[ 9.95192272e-01 9.78228846e-02 4.79850446e-03 1.54565831e+02] [-9.78212319e-02 9.95203834e-01 -5.78493406e-04 -8.83736557e+00] [-4.83207993e-03 1.06316549e-04 9.99988320e-01 -1.13893083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters 0.052134512771333456 Centerline is valid? [True, True] Translation: X:154.63, Y:-8.85, Z:-1.14 [[ 9.94837917e-01 1.01403677e-01 3.84886626e-03 1.54625814e+02] [-1.01402640e-01 9.94845359e-01 -4.64095825e-04 -8.84599502e+00] [-3.87608776e-03 7.14149217e-05 9.99992485e-01 -1.14003067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters 0.05208197336617877 Centerline is valid? [True, True] Translation: X:154.69, Y:-8.85, Z:-1.14 [[ 9.94626510e-01 1.03469372e-01 3.49213248e-03 1.54688238e+02] [-1.03468532e-01 9.94632639e-01 -4.20792998e-04 -8.84674426e+00] [-3.51692813e-03 5.72060491e-05 9.99993814e-01 -1.13990192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters 0.0519413043986179 Centerline is valid? [True, True] Translation: X:154.75, Y:-8.86, Z:-1.14 [[ 9.94477557e-01 1.04906715e-01 2.99480691e-03 1.54748097e+02] [-1.04906103e-01 9.94482066e-01 -3.61072678e-04 -8.85781151e+00] [-3.01616071e-03 4.49051532e-05 9.99995450e-01 -1.14180701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters 0.05220208637901099 Centerline is valid? [True, True] Translation: X:154.81, Y:-8.86, Z:-1.14 [[ 9.94650122e-01 1.03283084e-01 1.93389553e-03 1.54810268e+02] [-1.03282825e-01 9.94652001e-01 -2.33438064e-04 -8.86437590e+00] [-1.94766327e-03 3.24510051e-05 9.99998103e-01 -1.14299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters 0.05215231948383778 Centerline is valid? [True, True] Translation: X:154.87, Y:-8.87, Z:-1.14 [[ 9.94898611e-01 1.00870528e-01 1.37522462e-03 1.54870482e+02] [-1.00870395e-01 9.94899561e-01 -1.65878744e-04 -8.87205027e+00] [-1.38494265e-03 2.63130811e-05 9.99999041e-01 -1.14247747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters 0.052066998532851134 Centerline is valid? [True, True] Translation: X:154.93, Y:-8.88, Z:-1.14 [[ 9.95538970e-01 9.43371086e-02 1.63345708e-03 1.54930979e+02] [-9.43369116e-02 9.95540310e-01 -1.97402015e-04 -8.88125933e+00] [-1.64479471e-03 4.24261028e-05 9.99998646e-01 -1.14180462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters 0.0528690462270467 Centerline is valid? [True, True] Translation: X:154.99, Y:-8.89, Z:-1.14 [[ 9.96294908e-01 8.59856835e-02 1.70849128e-03 1.54990869e+02] [-8.59854555e-02 9.96296371e-01 -2.06566260e-04 -8.89225430e+00] [-1.71992540e-03 5.88955123e-05 9.99998519e-01 -1.14220360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters 0.052827751336273536 Centerline is valid? [True, True] Translation: X:155.05, Y:-8.90, Z:-1.14 [[ 9.96905039e-01 7.85791751e-02 2.37822360e-03 1.55049930e+02] [-7.85787120e-02 9.96907871e-01 -2.87688580e-04 -8.89729950e+00] [-2.39347616e-03 9.99204483e-05 9.99997131e-01 -1.14086930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters 0.053438982599959085 Centerline is valid? [True, True] Translation: X:155.11, Y:-8.90, Z:-1.14 [[ 9.97139658e-01 7.55248264e-02 2.91586440e-03 1.55109221e+02] [-7.55241175e-02 9.97143913e-01 -3.52627714e-04 -8.90494424e+00] [-2.93416859e-03 1.31400992e-04 9.99995687e-01 -1.14088345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters 0.05464545253621691 Centerline is valid? [True, True] Translation: X:155.17, Y:-8.92, Z:-1.14 [[ 9.97194711e-01 7.47656598e-02 3.57825819e-03 1.55169389e+02] [-7.47645882e-02 9.97201118e-01 -4.32493080e-04 -8.91831791e+00] [-3.60057870e-03 1.63752812e-04 9.99993504e-01 -1.14148549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters 0.05412208352179675 Centerline is valid? [True, True] Translation: X:155.23, Y:-8.92, Z:-1.14 [[ 9.97034937e-01 7.68250568e-02 4.38690920e-03 1.55231403e+02] [-7.68234642e-02 9.97044570e-01 -5.30646058e-04 -8.91609731e+00] [-4.41471091e-03 1.92055098e-04 9.99990237e-01 -1.14166974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters 0.05393275547277762 Centerline is valid? [True, True] Translation: X:155.29, Y:-8.92, Z:-1.14 [[ 9.96640328e-01 8.17644852e-02 4.75656878e-03 1.55291588e+02] [-8.17626684e-02 9.96651662e-01 -5.75484850e-04 -8.91716988e+00] [-4.78769640e-03 1.84641654e-04 9.99988522e-01 -1.14190820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters 0.053313270971719916 Centerline is valid? [True, True] Translation: X:155.35, Y:-8.92, Z:-1.14 [[ 9.96409986e-01 8.45010353e-02 5.16862404e-03 1.55352282e+02] [-8.44989270e-02 9.96423374e-01 -6.25320021e-04 -8.91788688e+00] [-5.20297799e-03 1.86331929e-04 9.99986447e-01 -1.14193838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters 0.05290077408645472 Centerline is valid? [True, True] Translation: X:155.41, Y:-8.91, Z:-1.14 [[ 9.96188335e-01 8.70757529e-02 5.15893579e-03 1.55413648e+02] [-8.70736869e-02 9.96201678e-01 -6.24168315e-04 -8.91420533e+00] [-5.19369042e-03 1.72581635e-04 9.99986498e-01 -1.14369283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters 0.05338909520956303 Centerline is valid? [True, True] Translation: X:155.47, Y:-8.92, Z:-1.14 [[ 9.96122137e-01 8.77748916e-02 6.02130820e-03 1.55474787e+02] [-8.77720903e-02 9.96140316e-01 -7.28424595e-04 -8.92184920e+00] [-6.06200524e-03 1.97097058e-04 9.99981606e-01 -1.14424136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters 0.053419012246989986 Centerline is valid? [True, True] Translation: X:155.54, Y:-8.93, Z:-1.15 [[ 9.96103442e-01 8.80157219e-02 5.58264910e-03 1.55535998e+02] [-8.80133135e-02 9.96119069e-01 -6.76090944e-04 -8.92960737e+00] [-5.62048986e-03 1.82109070e-04 9.99984188e-01 -1.14550211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters 0.05376020992304178 Centerline is valid? [True, True] Translation: X:155.60, Y:-8.93, Z:-1.15 [[ 9.96035717e-01 8.88322250e-02 4.65695306e-03 1.55598327e+02] [-8.88305577e-02 9.96046592e-01 -5.64057971e-04 -8.92918123e+00] [-4.68864875e-03 1.48142147e-04 9.99988997e-01 -1.14786708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters 0.053959969586269356 Centerline is valid? [True, True] Translation: X:155.66, Y:-8.93, Z:-1.15 [[ 9.95952491e-01 8.97248310e-02 5.29997683e-03 1.55661231e+02] [-8.97226822e-02 9.95966580e-01 -6.42294084e-04 -8.93060314e+00] [-5.33622953e-03 1.64166256e-04 9.99985749e-01 -1.14834686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters 0.05373204730786582 Centerline is valid? [True, True] Translation: X:155.72, Y:-8.93, Z:-1.15 [[ 9.95760841e-01 9.18180941e-02 5.45751562e-03 1.55721757e+02] [-9.18158450e-02 9.95775784e-01 -6.61754694e-04 -8.93375764e+00] [-5.49522295e-03 1.57863003e-04 9.99984889e-01 -1.14843247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters 0.05349539731262611 Centerline is valid? [True, True] Translation: X:155.78, Y:-8.94, Z:-1.15 [[ 9.95566377e-01 9.39116157e-02 5.31014557e-03 1.55783806e+02] [-9.39095163e-02 9.95580528e-01 -6.43883206e-04 -8.93522088e+00] [-5.34714564e-03 1.42355268e-04 9.99985694e-01 -1.14909983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters 0.053758836836789926 Centerline is valid? [True, True] Translation: X:155.85, Y:-8.94, Z:-1.15 [[ 9.95432687e-01 9.53313154e-02 5.07009469e-03 1.55845602e+02] [-9.53294199e-02 9.95445591e-01 -6.14766141e-04 -8.93594107e+00] [-5.10560987e-03 1.28629126e-04 9.99986958e-01 -1.15037541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters 0.05388014860612352 Centerline is valid? [True, True] Translation: X:155.91, Y:-8.95, Z:-1.15 [[ 9.95451435e-01 9.51739157e-02 4.28564583e-03 1.55906808e+02] [-9.51725577e-02 9.95460654e-01 -5.20172016e-04 -8.94597539e+00] [-4.31569861e-03 1.09930104e-04 9.99990681e-01 -1.15223340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters 0.05414598592960721 Centerline is valid? [True, True] Translation: X:155.97, Y:-8.95, Z:-1.15 [[ 9.95579880e-01 9.38302127e-02 4.07362102e-03 1.55969472e+02] [-9.38289739e-02 9.95588208e-01 -4.94590680e-04 -8.94549876e+00] [-4.10205660e-03 1.10180849e-04 9.99991580e-01 -1.15323136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters 0.05418635029729843 Centerline is valid? [True, True] Translation: X:156.03, Y:-8.95, Z:-1.15 [[ 9.95691080e-01 9.26446220e-02 4.03073566e-03 1.56031365e+02] [-9.26433990e-02 9.95699232e-01 -4.89472483e-04 -8.94921614e+00] [-4.05874740e-03 1.13942333e-04 9.99991757e-01 -1.15382956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters 0.054596162381310244 Centerline is valid? [True, True] Translation: X:156.09, Y:-8.96, Z:-1.16 [[ 9.95833571e-01 9.11055946e-02 3.90768610e-03 1.56090720e+02] [-9.11044329e-02 9.95841231e-01 -4.74616138e-04 -8.96458716e+00] [-3.93467512e-03 1.16631157e-04 9.99992252e-01 -1.15505624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters 0.05326963580504481 Centerline is valid? [True, True] Translation: X:156.15, Y:-8.96, Z:-1.16 [[ 9.96107035e-01 8.80548584e-02 4.13723141e-03 1.56152457e+02] [-8.80535285e-02 9.96115617e-01 -5.02848683e-04 -8.95932188e+00] [-4.16543909e-03 1.36593287e-04 9.99991315e-01 -1.15585965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters 0.05414411727090754 Centerline is valid? [True, True] Translation: X:156.21, Y:-8.97, Z:-1.16 [[ 9.96473070e-01 8.38269006e-02 3.80421851e-03 1.56212343e+02] [-8.38257452e-02 9.96480321e-01 -4.62437154e-04 -8.97066009e+00] [-3.82959355e-03 1.41914719e-04 9.99992657e-01 -1.15735914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters 0.05449946710592961 Centerline is valid? [True, True] Translation: X:156.27, Y:-8.98, Z:-1.16 [[ 9.96682028e-01 8.13354766e-02 3.07825905e-03 1.56271654e+02] [-8.13347080e-02 9.96686774e-01 -3.74260900e-04 -8.97825569e+00] [-3.09850077e-03 1.22649812e-04 9.99995192e-01 -1.15801938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters 0.05529642875744218 Centerline is valid? [True, True] Translation: X:156.33, Y:-8.98, Z:-1.16 [[ 9.96919618e-01 7.81719247e-02 6.35810615e-03 1.56332061e+02] [-7.81685814e-02 9.96939855e-01 -7.73019424e-04 -8.98493980e+00] [-6.39907784e-03 2.73634090e-04 9.99979488e-01 -1.15760617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters 0.054252756248983194 Centerline is valid? [True, True] Translation: X:156.40, Y:-8.98, Z:-1.16 [[ 9.96859221e-01 7.88800928e-02 7.04447201e-03 1.56395209e+02] [-7.88760059e-02 9.96884067e-01 -8.56534348e-04 -8.97810094e+00] [-7.09008541e-03 2.98204347e-04 9.99974821e-01 -1.15722955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters 0.05389003916199665 Centerline is valid? [True, True] Translation: X:156.45, Y:-8.99, Z:-1.16 [[ 9.96678506e-01 8.10996856e-02 7.40250493e-03 1.56453818e+02] [-8.10952267e-02 9.96705951e-01 -9.01031370e-04 -8.98959248e+00] [-7.45119408e-03 2.97730784e-04 9.99972195e-01 -1.15797493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters 0.05394262203981589 Centerline is valid? [True, True] Translation: X:156.52, Y:-8.99, Z:-1.16 [[ 9.96564754e-01 8.23837833e-02 8.46183977e-03 1.56515001e+02] [-8.23780029e-02 9.96600624e-01 -1.03000160e-03 -8.99340031e+00] [-8.51793022e-03 3.29393834e-04 9.99963668e-01 -1.15843179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters 0.05392153411249468 Centerline is valid? [True, True] Translation: X:156.58, Y:-8.99, Z:-1.16 [[ 9.95944915e-01 8.97430661e-02 6.31724431e-03 1.56575288e+02] [-8.97399913e-02 9.95964930e-01 -7.69096254e-04 -8.99256517e+00] [-6.36077485e-03 1.99068054e-04 9.99979750e-01 -1.16024706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters 0.05418665416587043 Centerline is valid? [True, True] Translation: X:156.63, Y:-9.00, Z:-1.16 [[ 9.95668114e-01 9.28469708e-02 4.94442579e-03 1.56634363e+02] [-9.28451256e-02 9.95680381e-01 -6.01920628e-04 -9.00318701e+00] [-4.97895426e-03 1.40247342e-04 9.99987595e-01 -1.16176596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters 0.054386420361852546 Centerline is valid? [True, True] Translation: X:156.70, Y:-9.01, Z:-1.16 [[ 9.95413602e-01 9.55544752e-02 4.59375040e-03 1.56695158e+02] [-9.55529113e-02 9.95424195e-01 -5.59220447e-04 -9.00801027e+00] [-4.62616631e-03 1.17709416e-04 9.99989292e-01 -1.16285432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters 0.05385151793436134 Centerline is valid? [True, True] Translation: X:156.76, Y:-9.00, Z:-1.16 [[ 9.95330322e-01 9.63929524e-02 5.09407104e-03 1.56758704e+02] [-9.63910415e-02 9.95343349e-01 -6.19893541e-04 -9.00321730e+00] [-5.13010310e-03 1.25976024e-04 9.99986833e-01 -1.16250680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters 0.055157983827869836 Centerline is valid? [True, True] Translation: X:156.82, Y:-9.02, Z:-1.16 [[ 9.95449686e-01 9.51331743e-02 5.44083407e-03 1.56818100e+02] [-9.51309716e-02 9.95464544e-01 -6.62815413e-04 -9.02273674e+00] [-5.47921315e-03 1.42207563e-04 9.99984979e-01 -1.16324786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters 0.053849080040121525 Centerline is valid? [True, True] Translation: X:156.88, Y:-9.02, Z:-1.16 [[ 9.95661018e-01 9.28276753e-02 6.49310891e-03 1.56880091e+02] [-9.28244831e-02 9.95682172e-01 -7.91928515e-04 -9.01927458e+00] [-6.53858567e-03 1.85772873e-04 9.99978606e-01 -1.16261908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters 0.05387790322232674 Centerline is valid? [True, True] Translation: X:156.94, Y:-9.02, Z:-1.16 [[ 9.95911180e-01 9.01091869e-02 6.42301101e-03 1.56940272e+02] [-9.01060060e-02 9.95931872e-01 -7.83491132e-04 -9.02493002e+00] [-6.46748112e-03 2.01535709e-04 9.99979065e-01 -1.16330560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters 0.05470389689556854 Centerline is valid? [True, True] Translation: X:157.00, Y:-9.04, Z:-1.16 [[ 9.95952350e-01 8.97227928e-02 5.36070577e-03 1.57000825e+02] [-8.97205723e-02 9.95966762e-01 -6.53759862e-04 -9.03646837e+00] [-5.39774193e-03 1.70148082e-04 9.99985418e-01 -1.16417776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters 0.05435911422062933 Centerline is valid? [True, True] Translation: X:157.06, Y:-9.04, Z:-1.16 [[ 9.95860137e-01 9.07613380e-02 4.99661960e-03 1.57063275e+02] [-9.07594198e-02 9.95872660e-01 -6.09802654e-04 -9.04055230e+00] [-5.03134335e-03 1.53787860e-04 9.99987331e-01 -1.16435166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters 0.053999846589958274 Centerline is valid? [True, True] Translation: X:157.12, Y:-9.04, Z:-1.17 [[ 9.95741072e-01 9.20327339e-02 5.44920241e-03 1.57124579e+02] [-9.20304669e-02 9.95755969e-01 -6.65859200e-04 -9.04344321e+00] [-5.48735666e-03 1.61530712e-04 9.99984931e-01 -1.16516580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters 0.05437568251400822 Centerline is valid? [True, True] Translation: X:157.19, Y:-9.05, Z:-1.17 [[ 9.95751160e-01 9.19981044e-02 3.99695958e-03 1.57185504e+02] [-9.19968853e-02 9.95759175e-01 -4.88185429e-04 -9.05129583e+00] [-4.02492131e-03 1.18403375e-04 9.99991893e-01 -1.16678311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters 0.05430698298418926 Centerline is valid? [True, True] Translation: X:157.25, Y:-9.05, Z:-1.17 [[ 9.95783512e-01 9.16537642e-02 3.84512407e-03 1.57248058e+02] [-9.16526311e-02 9.95790929e-01 -4.70233513e-04 -9.05228330e+00] [-3.87203834e-03 1.15835041e-04 9.99992497e-01 -1.16667880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters 0.05440776840734013 Centerline is valid? [True, True] Translation: X:157.31, Y:-9.06, Z:-1.17 [[ 9.95539471e-01 9.42701497e-02 3.78148237e-03 1.57308335e+02] [-9.42690717e-02 9.95546648e-01 -4.62696503e-04 -9.05824503e+00] [-3.80826057e-03 1.04155799e-04 9.99992743e-01 -1.16721040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters 0.05461318836307184 Centerline is valid? [True, True] Translation: X:157.37, Y:-9.07, Z:-1.17 [[ 9.95058502e-01 9.92343517e-02 3.33495980e-03 1.57367845e+02] [-9.92335407e-02 9.95064087e-01 -4.08191155e-04 -9.06648924e+00] [-3.35900532e-03 7.52342096e-05 9.99994356e-01 -1.16890654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters 0.053785983138303045 Centerline is valid? [True, True] Translation: X:157.43, Y:-9.07, Z:-1.17 [[ 9.93793501e-01 1.11174491e-01 3.83540534e-03 1.57429156e+02] [-1.11173507e-01 9.93800901e-01 -4.69368959e-04 -9.06947218e+00] [-3.86381114e-03 4.00603582e-05 9.99992535e-01 -1.16948130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters 0.053097303157038776 Centerline is valid? [True, True] Translation: X:157.49, Y:-9.07, Z:-1.17 [[ 9.92947065e-01 1.18479572e-01 4.32637298e-03 1.57490346e+02] [-1.18478389e-01 9.92956490e-01 -5.29447997e-04 -9.07215039e+00] [-4.35862890e-03 1.31321322e-05 9.99990501e-01 -1.16902659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters 0.05342542165483597 Centerline is valid? [True, True] Translation: X:157.55, Y:-9.08, Z:-1.17 [[ 9.92541054e-01 1.21816513e-01 4.79512702e-03 1.57552395e+02] [-1.21815099e-01 9.92552637e-01 -5.86896817e-04 -9.07918374e+00] [-4.83090969e-03 -1.59968932e-06 9.99988331e-01 -1.16846713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters 0.05299044881165143 Centerline is valid? [True, True] Translation: X:157.61, Y:-9.09, Z:-1.17 [[ 9.92197020e-01 1.24584210e-01 4.88354830e-03 1.57613718e+02] [-1.24582777e-01 9.92209038e-01 -5.97725878e-04 -9.08663883e+00] [-4.91996797e-03 -1.53441732e-05 9.99987897e-01 -1.16917154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters 0.05299226991010435 Centerline is valid? [True, True] Translation: X:157.67, Y:-9.10, Z:-1.17 [[ 9.91830554e-01 1.27503208e-01 3.88369923e-03 1.57674777e+02] [-1.27502323e-01 9.91838158e-01 -4.75729129e-04 -9.09628123e+00] [-3.91265808e-03 -2.33379877e-05 9.99992345e-01 -1.16956887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters 0.052640851835572655 Centerline is valid? [True, True] Translation: X:157.73, Y:-9.11, Z:-1.17 [[ 9.91685001e-01 1.28624974e-01 4.05886351e-03 1.57734856e+02] [-1.28624015e-01 9.91693307e-01 -4.97711468e-04 -9.10647799e+00] [-4.08916591e-03 -2.84943220e-05 9.99991639e-01 -1.16978474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters 0.052481165939431466 Centerline is valid? [True, True] Translation: X:157.80, Y:-9.12, Z:-1.17 [[ 9.91824423e-01 1.27581383e-01 2.70279350e-03 1.57796907e+02] [-1.27580953e-01 9.91828105e-01 -3.31622627e-04 -9.11915651e+00] [-2.72301543e-03 -1.59135480e-05 9.99996292e-01 -1.17106447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters 0.052968132975657604 Centerline is valid? [True, True] Translation: X:157.86, Y:-9.13, Z:-1.17 [[ 9.92254575e-01 1.24212129e-01 1.48503568e-03 1.57857139e+02] [-1.24211996e-01 9.92255686e-01 -1.81799186e-04 -9.13382460e+00] [-1.49611676e-03 -4.06817201e-06 9.99998881e-01 -1.17148825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters 0.05286215105746506 Centerline is valid? [True, True] Translation: X:157.92, Y:-9.15, Z:-1.17 [[ 9.93047930e-01 1.17698145e-01 1.71897261e-03 1.57917964e+02] [-1.17697956e-01 9.93049418e-01 -2.11142497e-04 -9.15041180e+00] [-1.73187583e-03 7.35505724e-06 9.99998500e-01 -1.17135047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters 0.053244271110515516 Centerline is valid? [True, True] Translation: X:157.98, Y:-9.16, Z:-1.17 [[ 9.93713897e-01 1.11943460e-01 1.16341395e-03 1.57978413e+02] [-1.11943370e-01 9.93714578e-01 -1.42426262e-04 -9.16222284e+00] [-1.17204509e-03 1.12944779e-05 9.99999313e-01 -1.17030885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters 0.05311152542276112 Centerline is valid? [True, True] Translation: X:158.04, Y:-9.18, Z:-1.17 [[ 9.94715722e-01 1.02662027e-01 1.06798113e-03 1.58037276e+02] [-1.02661945e-01 9.94716295e-01 -1.31423796e-04 -9.17885705e+00] [-1.07583047e-03 2.10882962e-05 9.99999421e-01 -1.17060604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters 0.05353895565591847 Centerline is valid? [True, True] Translation: X:158.10, Y:-9.19, Z:-1.17 [[ 9.95395871e-01 9.58381119e-02 1.45483312e-03 1.58097355e+02] [-9.58379525e-02 9.95396933e-01 -1.79057220e-04 -9.19166984e+00] [-1.46529693e-03 3.88045896e-05 9.99998926e-01 -1.16997678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters 0.05290977586810356 Centerline is valid? [True, True] Translation: X:158.16, Y:-9.20, Z:-1.17 [[ 9.95574953e-01 9.39442625e-02 2.23351776e-03 1.58157828e+02] [-9.39438829e-02 9.95577456e-01 -2.74508946e-04 -9.20215083e+00] [-2.24942847e-03 6.34689004e-05 9.99997468e-01 -1.17008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters 0.05324541816837886 Centerline is valid? [True, True] Translation: X:158.22, Y:-9.22, Z:-1.17 [[ 9.95504096e-01 9.46579617e-02 3.38600728e-03 1.58217787e+02] [-9.46570905e-02 9.95509850e-01 -4.16970605e-04 -9.21613503e+00] [-3.41027319e-03 9.45863476e-05 9.99994181e-01 -1.17051755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters 0.05321900335349751 Centerline is valid? [True, True] Translation: X:158.28, Y:-9.22, Z:-1.17 [[ 9.95356346e-01 9.62219193e-02 2.66218249e-03 1.58280331e+02] [-9.62213856e-02 9.95359903e-01 -3.28120593e-04 -9.21799672e+00] [-2.68140210e-03 7.04380264e-05 9.99996403e-01 -1.17019182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters 0.05396489939932194 Centerline is valid? [True, True] Translation: X:158.34, Y:-9.23, Z:-1.17 [[ 9.95257522e-01 9.72694080e-02 1.06142935e-03 1.58340614e+02] [-9.72693240e-02 9.95258088e-01 -1.30587026e-04 -9.22640541e+00] [-1.06909827e-03 2.67232049e-05 9.99999428e-01 -1.17175952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters 0.05347530857985636 Centerline is valid? [True, True] Translation: X:158.40, Y:-9.24, Z:-1.17 [[ 9.95185229e-01 9.80038949e-02 1.26372081e-03 1.58401224e+02] [-9.80037766e-02 9.95186031e-01 -1.55369616e-04 -9.23796563e+00] [-1.27286412e-03 3.07721353e-05 9.99999189e-01 -1.17282517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters 0.05314042903989397 Centerline is valid? [True, True] Translation: X:158.46, Y:-9.24, Z:-1.17 [[ 9.95012623e-01 9.97348795e-02 1.68342760e-03 1.58462496e+02] [-9.97346703e-02 9.95014046e-01 -2.07937192e-04 -9.24408503e+00] [-1.69577270e-03 3.90040349e-05 9.99998561e-01 -1.17266371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters 0.05374257734279371 Centerline is valid? [True, True] Translation: X:158.52, Y:-9.25, Z:-1.17 [[ 9.94719794e-01 1.02606827e-01 2.09043355e-03 1.58523208e+02] [-1.02606511e-01 9.94721990e-01 -2.58364265e-04 -9.24855258e+00] [-2.10591016e-03 4.25079556e-05 9.99997782e-01 -1.17382070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters 0.05286921995158072 Centerline is valid? [True, True] Translation: X:158.58, Y:-9.26, Z:-1.17 [[ 9.94414027e-01 1.05540939e-01 1.36112558e-03 1.58584495e+02] [-1.05540808e-01 9.94414958e-01 -1.68174077e-04 -9.25503459e+00] [-1.37127289e-03 2.35803682e-05 9.99999060e-01 -1.17425898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters 0.05274317871178585 Centerline is valid? [True, True] Translation: X:158.65, Y:-9.27, Z:-1.18 [[ 9.94377061e-01 1.05894213e-01 8.22592136e-04 1.58645466e+02] [-1.05894166e-01 9.94377401e-01 -1.00985630e-04 -9.26526609e+00] [-8.28660824e-04 1.33100860e-05 9.99999657e-01 -1.17567480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters 0.05285349269296877 Centerline is valid? [True, True] Translation: X:158.71, Y:-9.27, Z:-1.17 [[ 9.94732910e-01 1.02497843e-01 7.93734248e-04 1.58706630e+02] [-1.02497797e-01 9.94733227e-01 -9.81559953e-05 -9.26940975e+00] [-7.99614607e-04 1.62829868e-05 9.99999680e-01 -1.17415272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters 0.05368883982812034 Centerline is valid? [True, True] Translation: X:158.77, Y:-9.28, Z:-1.17 [[ 9.95192966e-01 9.79333987e-02 -9.64364842e-05 1.58766673e+02] [-9.79333980e-02 9.95192971e-01 1.20312591e-05 -9.27770329e+00] [ 9.71511733e-05 -2.52907180e-06 9.99999995e-01 -1.17475902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters 0.05402017935707174 Centerline is valid? [True, True] Translation: X:158.83, Y:-9.29, Z:-1.18 [[ 9.95504862e-01 9.47094791e-02 4.29022527e-04 1.58827391e+02] [-9.47094650e-02 9.95504954e-01 -5.30103394e-05 -9.28642942e+00] [-4.32114632e-04 1.21395566e-05 9.99999907e-01 -1.17566216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters 0.05400585121285401 Centerline is valid? [True, True] Translation: X:158.89, Y:-9.29, Z:-1.18 [[ 9.95831597e-01 9.12101862e-02 3.62610195e-04 1.58887782e+02] [-9.12101759e-02 9.95831663e-01 -4.48391330e-05 -9.28939040e+00] [-3.65188499e-04 1.15784858e-05 9.99999933e-01 -1.17522867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters 0.053732119018331276 Centerline is valid? [True, True] Translation: X:158.95, Y:-9.30, Z:-1.18 [[ 9.95854978e-01 9.09400098e-02 -1.66640345e-03 1.58948399e+02] [-9.09397900e-02 9.95856371e-01 2.07377424e-04 -9.30063570e+00] [ 1.67835740e-03 -5.49754602e-05 9.99998590e-01 -1.17887012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters 0.05427450687773959 Centerline is valid? [True, True] Translation: X:159.01, Y:-9.31, Z:-1.18 [[ 9.95773269e-01 9.18375494e-02 -1.20869990e-03 1.59010027e+02] [-9.18374345e-02 9.95774002e-01 1.50378586e-04 -9.30697786e+00] [ 1.21740234e-03 -3.87390780e-05 9.99999258e-01 -1.17860679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters 0.054306400732046206 Centerline is valid? [True, True] Translation: X:159.07, Y:-9.31, Z:-1.18 [[ 9.95526228e-01 9.44736047e-02 -1.50549192e-03 1.59070343e+02] [-9.44734303e-02 9.95527366e-01 1.86720680e-04 -9.31217735e+00] [ 1.51639858e-03 -4.36563484e-05 9.99998849e-01 -1.17877499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters 0.053919555883463734 Centerline is valid? [True, True] Translation: X:159.13, Y:-9.32, Z:-1.18 [[ 9.95138725e-01 9.84691995e-02 -1.65354338e-03 1.59130772e+02] [-9.84689946e-02 9.95140098e-01 2.05082963e-04 -9.31600211e+00] [ 1.66570167e-03 -4.12632446e-05 9.99998612e-01 -1.17845667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters 0.05324252136294769 Centerline is valid? [True, True] Translation: X:159.19, Y:-9.32, Z:-1.18 [[ 9.94613120e-01 1.03656670e-01 1.89760925e-04 1.59189789e+02] [-1.03656667e-01 9.94613138e-01 -2.35848164e-05 -9.32280672e+00] [-1.91183433e-04 3.78778279e-06 9.99999982e-01 -1.17849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters 0.05321936642827541 Centerline is valid? [True, True] Translation: X:159.25, Y:-9.33, Z:-1.18 [[ 9.94583600e-01 1.03939706e-01 -2.30074872e-05 1.59250946e+02] [-1.03939705e-01 9.94583600e-01 3.44402736e-06 -9.33064770e+00] [ 2.32408406e-05 -1.03398169e-06 1.00000000e+00 -1.17773949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters 0.0533793534797434 Centerline is valid? [True, True] Translation: X:159.31, Y:-9.34, Z:-1.18 [[ 9.94653133e-01 1.03272167e-01 6.71079831e-05 1.59312711e+02] [-1.03272167e-01 9.94653135e-01 -8.04067918e-06 -9.33886045e+00] [-6.75795442e-05 1.06729992e-06 9.99999998e-01 -1.17785530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters 0.05384482760131459 Centerline is valid? [True, True] Translation: X:159.37, Y:-9.35, Z:-1.18 [[ 9.94759624e-01 1.02241022e-01 -2.54498891e-04 1.59374757e+02] [-1.02241017e-01 9.94759656e-01 3.24527910e-05 -9.34551099e+00] [ 2.56483236e-04 -6.26250080e-06 9.99999967e-01 -1.17793013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters 0.054224633737236794 Centerline is valid? [True, True] Translation: X:159.44, Y:-9.35, Z:-1.18 [[ 9.94903753e-01 1.00827315e-01 6.12536612e-04 1.59436176e+02] [-1.00827288e-01 9.94903941e-01 -7.53282411e-05 -9.35185677e+00] [-6.17010234e-04 1.31839446e-05 9.99999810e-01 -1.17834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters 0.053959573814555656 Centerline is valid? [True, True] Translation: X:159.50, Y:-9.36, Z:-1.18 [[ 9.94979841e-01 1.00074079e-01 5.42395844e-04 1.59496755e+02] [-1.00074057e-01 9.94979989e-01 -6.67243225e-05 -9.36204914e+00] [-5.46350386e-04 1.21096033e-05 9.99999851e-01 -1.17924258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters 0.05376799640859389 Centerline is valid? [True, True] Translation: X:159.56, Y:-9.37, Z:-1.18 [[ 9.95224177e-01 9.76154028e-02 2.66540955e-04 1.59555931e+02] [-9.76153975e-02 9.95224212e-01 -3.31785147e-05 -9.37118777e+00] [-2.68506746e-04 7.00155867e-06 9.99999964e-01 -1.18045847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters 0.05407957374099558 Centerline is valid? [True, True] Translation: X:159.62, Y:-9.38, Z:-1.18 [[ 9.95314857e-01 9.66860162e-02 3.86559038e-04 1.59616455e+02] [-9.66860051e-02 9.95314932e-01 -4.74052164e-05 -9.38077409e+00] [-3.89331404e-04 9.80826706e-06 9.99999924e-01 -1.18107161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters 0.05398272223080686 Centerline is valid? [True, True] Translation: X:159.68, Y:-9.39, Z:-1.18 [[ 9.95184512e-01 9.80123005e-02 1.17281583e-03 1.59677534e+02] [-9.80121966e-02 9.95185203e-01 -1.45928678e-04 -9.38970994e+00] [-1.18147176e-03 3.02757050e-05 9.99999302e-01 -1.18118750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters 0.05426093412152886 Centerline is valid? [True, True] Translation: X:159.74, Y:-9.40, Z:-1.18 [[ 9.94952968e-01 1.00334588e-01 1.24991737e-03 1.59737535e+02] [-1.00334472e-01 9.94953752e-01 -1.55663078e-04 -9.40136479e+00] [-1.25922837e-03 2.94676417e-05 9.99999207e-01 -1.18273187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters 0.05385954005408789 Centerline is valid? [True, True] Translation: X:159.80, Y:-9.40, Z:-1.18 [[ 9.94609631e-01 1.03685373e-01 1.01259667e-03 1.59798765e+02] [-1.03685298e-01 9.94610146e-01 -1.26097676e-04 -9.40302737e+00] [-1.02021341e-03 2.04265751e-05 9.99999479e-01 -1.18225379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters 0.052661169868121915 Centerline is valid? [True, True] Translation: X:159.86, Y:-9.41, Z:-1.18 [[ 9.93430691e-01 1.14434720e-01 3.96459385e-04 1.59858878e+02] [-1.14434709e-01 9.93430770e-01 -4.93564341e-05 -9.40896110e+00] [-3.99503042e-04 3.66348195e-06 9.99999920e-01 -1.18451407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters 0.05289984796684575 Centerline is valid? [True, True] Translation: X:159.92, Y:-9.41, Z:-1.19 [[ 9.92696710e-01 1.20635796e-01 4.97409887e-04 1.59919556e+02] [-1.20635781e-01 9.92696834e-01 -6.12482285e-05 -9.41399526e+00] [-5.01165949e-04 7.95484791e-07 9.99999874e-01 -1.18529555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters 0.05266417114146464 Centerline is valid? [True, True] Translation: X:159.98, Y:-9.42, Z:-1.19 [[ 9.92050825e-01 1.25833217e-01 1.07773082e-03 1.59981597e+02] [-1.25833146e-01 9.92051411e-01 -1.33728373e-04 -9.42064840e+00] [-1.08599185e-03 -2.94891572e-06 9.99999410e-01 -1.18516843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters 0.052063600432276036 Centerline is valid? [True, True] Translation: X:160.04, Y:-9.43, Z:-1.18 [[ 9.91430883e-01 1.30618829e-01 1.87751620e-03 1.60042330e+02] [-1.30618621e-01 9.91432661e-01 -2.33863030e-04 -9.43212554e+00] [-1.89197779e-03 -1.33795456e-05 9.99998210e-01 -1.18287359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters 0.05225263321492857 Centerline is valid? [True, True] Translation: X:160.10, Y:-9.44, Z:-1.18 [[ 9.91160225e-01 1.32652231e-01 2.18971004e-03 1.60102448e+02] [-1.32651951e-01 9.91162643e-01 -2.73373265e-04 -9.44315685e+00] [-2.20662236e-03 -1.95126014e-05 9.99997565e-01 -1.18439758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters 0.05144200303332297 Centerline is valid? [True, True] Translation: X:160.16, Y:-9.46, Z:-1.18 [[ 9.91105069e-01 1.33067920e-01 1.91577870e-03 1.60163569e+02] [-1.33067706e-01 9.91106921e-01 -2.39335981e-04 -9.45534715e+00] [-1.93058947e-03 -1.77211728e-05 9.99998136e-01 -1.18458726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters 0.052107524312584495 Centerline is valid? [True, True] Translation: X:160.22, Y:-9.47, Z:-1.19 [[ 9.91060960e-01 1.33405330e-01 1.09146541e-03 1.60223827e+02] [-1.33405262e-01 9.91061561e-01 -1.35849686e-04 -9.46859858e+00] [-1.09983248e-03 -1.09719081e-05 9.99999395e-01 -1.18760697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters 0.051765399527056444 Centerline is valid? [True, True] Translation: X:160.28, Y:-9.49, Z:-1.19 [[ 9.91212677e-01 1.32275931e-01 7.12188112e-04 1.60283966e+02] [-1.32275901e-01 9.91212933e-01 -8.84015679e-05 -9.48710187e+00] [-7.17623467e-04 -6.58056962e-06 9.99999742e-01 -1.18634068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters 0.051340102531108815 Centerline is valid? [True, True] Translation: X:160.34, Y:-9.50, Z:-1.19 [[ 9.91475517e-01 1.30291868e-01 -5.73567328e-04 1.60344364e+02] [-1.30291848e-01 9.91475683e-01 7.28095651e-05 -9.50171404e+00] [ 5.78164552e-04 2.54224577e-06 9.99999833e-01 -1.18688122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters 0.05119748148308545 Centerline is valid? [True, True] Translation: X:160.40, Y:-9.52, Z:-1.19 [[ 9.91897325e-01 1.27035295e-01 -1.31526526e-03 1.60404279e+02] [-1.27035187e-01 9.91898197e-01 1.65922651e-04 -9.51641065e+00] [ 1.32568728e-03 2.50673486e-06 9.99999121e-01 -1.18875487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters 0.051779372503575005 Centerline is valid? [True, True] Translation: X:160.47, Y:-9.53, Z:-1.19 [[ 9.92476648e-01 1.22424519e-01 -1.52965317e-03 1.60465837e+02] [-1.22424367e-01 9.92477827e-01 1.92868122e-04 -9.53290098e+00] [ 1.54175864e-03 -4.15028645e-06 9.99998811e-01 -1.18874225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters 0.05172058076994329 Centerline is valid? [True, True] Translation: X:160.53, Y:-9.55, Z:-1.19 [[ 9.93430377e-01 1.14436965e-01 -5.17011331e-04 1.60525279e+02] [-1.14436947e-01 9.93430511e-01 6.54070373e-05 -9.55285294e+00] [ 5.21099814e-04 -5.81213946e-06 9.99999864e-01 -1.18858004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters 0.05192374352496561 Centerline is valid? [True, True] Translation: X:160.58, Y:-9.57, Z:-1.19 [[ 9.94056347e-01 1.08866733e-01 -1.18690999e-04 1.60583257e+02] [-1.08866732e-01 9.94056354e-01 1.52069829e-05 -9.56992298e+00] [ 1.19641076e-04 -2.19509673e-06 9.99999993e-01 -1.18737252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters 0.05252116846726145 Centerline is valid? [True, True] Translation: X:160.65, Y:-9.58, Z:-1.19 [[ 9.94139233e-01 1.08106572e-01 3.93955542e-04 1.60645161e+02] [-1.08106561e-01 9.94139311e-01 -4.92668163e-05 -9.57854561e+00] [-3.96972757e-04 6.38889620e-06 9.99999921e-01 -1.18613758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters 0.05167835440456533 Centerline is valid? [True, True] Translation: X:160.71, Y:-9.59, Z:-1.19 [[ 9.93808597e-01 1.11101312e-01 9.85898986e-04 1.60705134e+02] [-1.11101243e-01 9.93809085e-01 -1.23834273e-04 -9.59376601e+00] [-9.93553520e-04 1.35329622e-05 9.99999506e-01 -1.18856117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters 0.05167406515961391 Centerline is valid? [True, True] Translation: X:160.77, Y:-9.60, Z:-1.19 [[ 9.93344957e-01 1.15173642e-01 9.09780926e-04 1.60765169e+02] [-1.15173585e-01 9.93345374e-01 -1.14337575e-04 -9.60313458e+00] [-9.16895349e-04 8.79392205e-06 9.99999580e-01 -1.18908873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters 0.05125488589946867 Centerline is valid? [True, True] Translation: X:160.83, Y:-9.61, Z:-1.19 [[ 9.93065873e-01 1.17555958e-01 8.76493742e-04 1.60825495e+02] [-1.17555907e-01 9.93066260e-01 -1.09593384e-04 -9.61288635e+00] [-8.83299718e-04 5.79643263e-06 9.99999610e-01 -1.18933511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters 0.05110940052087401 Centerline is valid? [True, True] Translation: X:160.89, Y:-9.62, Z:-1.19 [[ 9.92667853e-01 1.20867867e-01 1.22128920e-03 1.60886793e+02] [-1.20867770e-01 9.92668605e-01 -1.53533049e-04 -9.62372445e+00] [-1.23089266e-03 4.79282047e-06 9.99999242e-01 -1.19047460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters 0.051205264464455294 Centerline is valid? [True, True] Translation: X:160.95, Y:-9.63, Z:-1.19 [[ 9.92327838e-01 1.23634187e-01 -2.22036559e-04 1.60949325e+02] [-1.23634184e-01 9.92327863e-01 2.89733847e-05 -9.63287834e+00] [ 2.23915165e-04 -1.29978740e-06 9.99999975e-01 -1.18876375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters 0.05073600537425092 Centerline is valid? [True, True] Translation: X:161.01, Y:-9.64, Z:-1.19 [[ 9.92150318e-01 1.25050927e-01 -1.12863307e-04 1.61010623e+02] [-1.25050926e-01 9.92150324e-01 1.51993012e-05 -9.64352700e+00] [ 1.13878053e-04 -9.66330479e-07 9.99999994e-01 -1.19361134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters 0.050378394721357724 Centerline is valid? [True, True] Translation: X:161.07, Y:-9.65, Z:-1.19 [[ 9.92035377e-01 1.25959408e-01 -1.98082446e-04 1.61073324e+02] [-1.25959406e-01 9.92035396e-01 2.59592052e-05 -9.65168473e+00] [ 1.99774604e-04 -8.02102694e-07 9.99999980e-01 -1.19267968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters 0.05068135214167872 Centerline is valid? [True, True] Translation: X:161.13, Y:-9.66, Z:-1.19 [[ 9.92217397e-01 1.24513763e-01 -9.79440100e-04 1.61134568e+02] [-1.24513701e-01 9.92217881e-01 1.24255730e-04 -9.65993628e+00] [ 9.87289529e-04 -1.33498560e-06 9.99999513e-01 -1.19450762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters 0.05091833152166781 Centerline is valid? [True, True] Translation: X:161.20, Y:-9.67, Z:-1.19 [[ 9.92673126e-01 1.20829045e-01 -6.38133555e-04 1.61195937e+02] [-1.20829018e-01 9.92673331e-01 8.15624752e-05 -9.66947626e+00] [ 6.43313277e-04 -3.85982670e-06 9.99999793e-01 -1.19455048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters 0.05155160236195368 Centerline is valid? [True, True] Translation: X:161.26, Y:-9.68, Z:-1.19 [[ 9.93252582e-01 1.15967292e-01 -9.46059330e-04 1.61257529e+02] [-1.15967231e-01 9.93253033e-01 1.19984115e-04 -9.67678111e+00] [ 9.53590532e-04 -9.46265179e-06 9.99999545e-01 -1.19226312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters 0.051497607141441394 Centerline is valid? [True, True] Translation: X:161.32, Y:-9.68, Z:-1.19 [[ 9.94077157e-01 1.08672669e-01 -9.25755602e-04 1.61319087e+02] [-1.08672607e-01 9.94077588e-01 1.17302492e-04 -9.68005192e+00] [ 9.33020470e-04 -1.60034538e-05 9.99999565e-01 -1.19016662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters 0.05329064676371177 Centerline is valid? [True, True] Translation: X:161.38, Y:-9.69, Z:-1.19 [[ 9.94796404e-01 1.01845385e-01 -2.76262716e-03 1.61380233e+02] [-1.01844806e-01 9.94800238e-01 3.49886216e-04 -9.68632213e+00] [ 2.78389646e-03 -6.67063220e-05 9.99996123e-01 -1.19164945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters 0.05296849259855332 Centerline is valid? [True, True] Translation: X:161.44, Y:-9.71, Z:-1.20 [[ 9.95217424e-01 9.76252247e-02 -3.40511346e-03 1.61438300e+02] [-9.76243209e-02 9.95223244e-01 4.31030898e-04 -9.70518583e+00] [ 3.43092755e-03 -9.65475710e-05 9.99994110e-01 -1.19616730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters 0.053008748776002416 Centerline is valid? [True, True] Translation: X:161.50, Y:-9.70, Z:-1.19 [[ 9.95583796e-01 9.38307116e-02 -2.95012295e-03 1.61499233e+02] [-9.38300161e-02 9.95588162e-01 3.73580928e-04 -9.70410551e+00] [ 2.97216085e-03 -9.51210346e-05 9.99995579e-01 -1.19336255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters 0.05298220006713357 Centerline is valid? [True, True] Translation: X:161.56, Y:-9.71, Z:-1.19 [[ 9.95878329e-01 9.06665240e-02 -2.43622841e-03 1.61559329e+02] [-9.06660400e-02 9.95881305e-01 3.08610295e-04 -9.71377069e+00] [ 2.45417495e-03 -8.64551221e-05 9.99996985e-01 -1.19468163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters 0.05288161754346574 Centerline is valid? [True, True] Translation: X:161.62, Y:-9.71, Z:-1.19 [[ 9.95773357e-01 9.18415253e-02 -7.45259476e-04 1.61620362e+02] [-9.18414800e-02 9.95773636e-01 9.47968490e-05 -9.71337742e+00] [ 7.50816025e-04 -2.59504433e-05 9.99999718e-01 -1.19286766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters 0.05322797018272867 Centerline is valid? [True, True] Translation: X:161.68, Y:-9.72, Z:-1.19 [[ 9.95546571e-01 9.42709986e-02 6.85003396e-05 1.61679125e+02] [-9.42709982e-02 9.95546573e-01 -8.73490271e-06 -9.72343099e+00] [-6.90187264e-05 2.23840704e-06 9.99999998e-01 -1.19330969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters 0.05219595178259208 Centerline is valid? [True, True] Translation: X:161.74, Y:-9.73, Z:-1.19 [[ 9.95182920e-01 9.80349402e-02 3.24830871e-04 1.61739808e+02] [-9.80349320e-02 9.95182973e-01 -4.10844668e-05 -9.72919588e+00] [-3.27293865e-04 9.04178732e-06 9.99999946e-01 -1.19362791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters 0.05259949783057621 Centerline is valid? [True, True] Translation: X:161.80, Y:-9.74, Z:-1.19 [[ 9.94944389e-01 1.00426740e-01 3.63360516e-04 1.61801206e+02] [-1.00426730e-01 9.94944456e-01 -4.58308324e-05 -9.73779495e+00] [-3.66126172e-04 9.10802109e-06 9.99999933e-01 -1.19446300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters 0.052744119989068194 Centerline is valid? [True, True] Translation: X:161.86, Y:-9.74, Z:-1.19 [[ 9.94764228e-01 1.02194717e-01 6.08808424e-04 1.61862603e+02] [-1.02194689e-01 9.94764414e-01 -7.70419842e-05 -9.74245039e+00] [-6.13494239e-04 1.44216222e-05 9.99999812e-01 -1.19421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters 0.05296009301786138 Centerline is valid? [True, True] Translation: X:161.92, Y:-9.75, Z:-1.20 [[ 9.94899570e-01 1.00867961e-01 -7.07033679e-04 1.61924286e+02] [-1.00867922e-01 9.94899821e-01 8.98264417e-05 -9.75228990e+00] [ 7.12488291e-04 -1.80512700e-05 9.99999746e-01 -1.19701810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters 0.05273124731751779 Centerline is valid? [True, True] Translation: X:161.99, Y:-9.75, Z:-1.20 [[ 9.95165976e-01 9.82041835e-02 -7.86534568e-04 1.61986198e+02] [-9.82041352e-02 9.95166287e-01 9.98745543e-05 -9.75353337e+00] [ 7.92540784e-04 -2.21508112e-05 9.99999686e-01 -1.19521819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters 0.05291221157264554 Centerline is valid? [True, True] Translation: X:162.05, Y:-9.76, Z:-1.19 [[ 9.95672400e-01 9.29324884e-02 -1.53469640e-04 1.62046977e+02] [-9.29324865e-02 9.95672412e-01 1.96022966e-05 -9.76180749e+00] [ 1.54627177e-04 -5.25515042e-06 9.99999988e-01 -1.19468912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters 0.05318141188620682 Centerline is valid? [True, True] Translation: X:162.11, Y:-9.77, Z:-1.20 [[ 9.96044034e-01 8.88572052e-02 -8.24280159e-04 1.62107843e+02] [-8.88571490e-02 9.96044375e-01 1.04642925e-04 -9.76770285e+00] [ 8.30317894e-04 -3.09857767e-05 9.99999655e-01 -1.19502940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters 0.05356852645589695 Centerline is valid? [True, True] Translation: X:162.17, Y:-9.78, Z:-1.20 [[ 9.96103577e-01 8.81852796e-02 -1.00984383e-03 1.62168538e+02] [-8.81851942e-02 9.96104088e-01 1.28918623e-04 -9.77777043e+00] [ 1.01727829e-03 -3.93630275e-05 9.99999482e-01 -1.19593913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters 0.05341686300256576 Centerline is valid? [True, True] Translation: X:162.23, Y:-9.79, Z:-1.20 [[ 9.95934962e-01 9.00697699e-02 -9.93990413e-04 1.62227629e+02] [-9.00696888e-02 9.95935457e-01 1.26177485e-04 -9.79436333e+00] [ 1.00131507e-03 -3.61361616e-05 9.99999498e-01 -1.19818662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters 0.05299375418099362 Centerline is valid? [True, True] Translation: X:162.29, Y:-9.79, Z:-1.20 [[ 9.95838248e-01 9.11326963e-02 -1.00763426e-03 1.62291254e+02] [-9.11326132e-02 9.95838757e-01 1.28227298e-04 -9.78963503e+00] [ 1.01512695e-03 -3.58653051e-05 9.99999484e-01 -1.19599208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters 0.0528464127204313 Centerline is valid? [True, True] Translation: X:162.35, Y:-9.80, Z:-1.20 [[ 9.95477432e-01 9.49949776e-02 -7.97717886e-04 1.62351051e+02] [-9.49949268e-02 9.95477751e-01 1.01382488e-04 -9.79982131e+00] [ 8.03741234e-04 -2.51448265e-05 9.99999677e-01 -1.19865277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters 0.05337751737883815 Centerline is valid? [True, True] Translation: X:162.41, Y:-9.81, Z:-1.20 [[ 9.95309975e-01 9.67320849e-02 -9.78585722e-04 1.62410760e+02] [-9.67320093e-02 9.95310456e-01 1.24399503e-04 -9.81075099e+00] [ 9.86030024e-04 -2.91555026e-05 9.99999513e-01 -1.20016061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters 0.05288569320402123 Centerline is valid? [True, True] Translation: X:162.47, Y:-9.81, Z:-1.20 [[ 9.94829097e-01 1.01560488e-01 7.31904899e-04 1.62472159e+02] [-1.01560447e-01 9.94829366e-01 -9.28780632e-05 -9.81009041e+00] [-7.37553228e-04 1.80652112e-05 9.99999728e-01 -1.19821740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters 0.05208544945306845 Centerline is valid? [True, True] Translation: X:162.53, Y:-9.81, Z:-1.20 [[ 9.94302764e-01 1.06588047e-01 1.00093746e-03 1.62532462e+02] [-1.06587973e-01 9.94303268e-01 -1.27117680e-04 -9.81421204e+00] [-1.00878461e-03 1.97055659e-05 9.99999491e-01 -1.19827290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters 0.05225924563387702 Centerline is valid? [True, True] Translation: X:162.59, Y:-9.82, Z:-1.20 [[ 9.93777369e-01 1.11384521e-01 1.73425105e-04 1.62591625e+02] [-1.11384519e-01 9.93777384e-01 -2.20243368e-05 -9.82193337e+00] [-1.74799117e-04 2.57041564e-06 9.99999985e-01 -1.20045901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters 0.052269990276751215 Centerline is valid? [True, True] Translation: X:162.65, Y:-9.83, Z:-1.20 [[ 9.93513472e-01 1.13711824e-01 -7.75364605e-04 1.62653765e+02] [-1.13711782e-01 9.93513775e-01 9.87717853e-05 -9.82829319e+00] [ 7.81566935e-04 -9.96300850e-06 9.99999695e-01 -1.20097709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters 0.05242683004505726 Centerline is valid? [True, True] Translation: X:162.71, Y:-9.84, Z:-1.20 [[ 9.93312940e-01 1.15438894e-01 -1.80689472e-03 1.62714706e+02] [-1.15438667e-01 9.93314583e-01 2.29899700e-04 -9.83893256e+00] [ 1.82135424e-03 -1.97768290e-05 9.99998341e-01 -1.20454253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters 0.05215931602048263 Centerline is valid? [True, True] Translation: X:162.78, Y:-9.85, Z:-1.20 [[ 9.93354643e-01 1.15061985e-01 -2.70046347e-03 1.62775766e+02] [-1.15061474e-01 9.93358313e-01 3.44193285e-04 -9.84628480e+00] [ 2.72213140e-03 -3.11866895e-05 9.99996295e-01 -1.20445808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters 0.05167843795347508 Centerline is valid? [True, True] Translation: X:162.84, Y:-9.86, Z:-1.20 [[ 9.93540057e-01 1.13471974e-01 -1.50560027e-03 1.62837212e+02] [-1.13471813e-01 9.93541197e-01 1.92020983e-04 -9.85758736e+00] [ 1.51766489e-03 -1.99373460e-05 9.99998848e-01 -1.20471536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters 0.0522961020115534 Centerline is valid? [True, True] Translation: X:162.90, Y:-9.87, Z:-1.20 [[ 9.94059209e-01 1.08840635e-01 -7.31639926e-05 1.62897086e+02] [-1.08840635e-01 9.94059212e-01 9.43420269e-06 -9.86949059e+00] [ 7.37561653e-05 -1.41494066e-06 9.99999997e-01 -1.20377719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters 0.05213837887348523 Centerline is valid? [True, True] Translation: X:162.96, Y:-9.88, Z:-1.20 [[ 9.94662431e-01 1.03181500e-01 -4.76748003e-04 1.62956348e+02] [-1.03181483e-01 9.94662545e-01 6.06367908e-05 -9.88040985e+00] [ 4.80459977e-04 -1.11215719e-05 9.99999885e-01 -1.20389672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters 0.052379116716142204 Centerline is valid? [True, True] Translation: X:163.02, Y:-9.90, Z:-1.21 [[ 9.95135524e-01 9.85127120e-02 -7.31102374e-04 1.63015984e+02] [-9.85126701e-02 9.95135792e-01 9.31416419e-05 -9.89597976e+00] [ 7.36721776e-04 -2.06657096e-05 9.99999728e-01 -1.20542905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters 0.05280993951870402 Centerline is valid? [True, True] Translation: X:163.08, Y:-9.90, Z:-1.21 [[ 9.95336285e-01 9.64600870e-02 -1.06387613e-03 1.63076847e+02] [-9.64599972e-02 9.95336853e-01 1.35545016e-04 -9.90449419e+00] [ 1.07198981e-03 -3.22913838e-05 9.99999425e-01 -1.20525168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters 0.05263645915472397 Centerline is valid? [True, True] Translation: X:163.14, Y:-9.92, Z:-1.21 [[ 9.95462797e-01 9.51462141e-02 -1.00920680e-03 1.63136285e+02] [-9.51461326e-02 9.95463308e-01 1.28603441e-04 -9.91841312e+00] [ 1.01686447e-03 -3.19978171e-05 9.99999482e-01 -1.20593766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters 0.053274667535564355 Centerline is valid? [True, True] Translation: X:163.20, Y:-9.93, Z:-1.20 [[ 9.95431784e-01 9.54742435e-02 -4.80885131e-04 1.63198299e+02] [-9.54742249e-02 9.95431901e-01 6.15446550e-05 -9.92537545e+00] [ 4.84564330e-04 -1.53513706e-05 9.99999882e-01 -1.20495937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters 0.052694035506740136 Centerline is valid? [True, True] Translation: X:163.26, Y:-9.94, Z:-1.21 [[ 9.95331440e-01 9.65156831e-02 2.17291620e-04 1.63258322e+02] [-9.65156795e-02 9.95331464e-01 -2.73653939e-05 -9.94223404e+00] [-2.18918376e-04 6.26558850e-06 9.99999976e-01 -1.20634690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters 0.05254373228081508 Centerline is valid? [True, True] Translation: X:163.32, Y:-9.95, Z:-1.21 [[ 9.95202417e-01 9.78335032e-02 8.69239279e-04 1.63319712e+02] [-9.78334444e-02 9.95202796e-01 -1.09932774e-04 -9.94927448e+00] [-8.75824469e-04 2.43646900e-05 9.99999616e-01 -1.20580129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters 0.051518733695211615 Centerline is valid? [True, True] Translation: X:163.38, Y:-9.95, Z:-1.21 [[ 9.94766572e-01 1.02159343e-01 1.71359438e-03 1.63379275e+02] [-1.02159118e-01 9.94768047e-01 -2.18514827e-04 -9.95494960e+00] [-1.72695226e-03 4.23119550e-05 9.99998508e-01 -1.20587053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters 0.05177008646150864 Centerline is valid? [True, True] Translation: X:163.44, Y:-9.96, Z:-1.21 [[ 9.93966479e-01 1.09669240e-01 1.81570700e-03 1.63438378e+02] [-1.09669000e-01 9.93968137e-01 -2.31557955e-04 -9.96085197e+00] [-1.83014969e-03 3.10340744e-05 9.99998325e-01 -1.20556840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters 0.05157384451652484 Centerline is valid? [True, True] Translation: X:163.50, Y:-9.97, Z:-1.21 [[ 9.93117625e-01 1.17119932e-01 5.51896429e-04 1.63498487e+02] [-1.17119911e-01 9.93117778e-01 -7.02558522e-05 -9.96909973e+00] [-5.56326516e-04 5.13426434e-06 9.99999845e-01 -1.20876110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters 0.051777343553961304 Centerline is valid? [True, True] Translation: X:163.56, Y:-9.97, Z:-1.21 [[ 9.92624062e-01 1.21233131e-01 -1.26452411e-05 1.63559528e+02] [-1.21233131e-01 9.92624062e-01 2.38991472e-06 -9.97412627e+00] [ 1.28417074e-05 -8.39264690e-07 1.00000000e+00 -1.20875678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters 0.05083063528532086 Centerline is valid? [True, True] Translation: X:163.62, Y:-9.98, Z:-1.21 [[ 9.92142396e-01 1.25113654e-01 1.97617905e-04 1.63621390e+02] [-1.25113651e-01 9.92142416e-01 -2.45065399e-05 -9.97952486e+00] [-1.99131209e-04 -4.10720480e-07 9.99999980e-01 -1.20920291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters 0.05095054001102422 Centerline is valid? [True, True] Translation: X:163.68, Y:-9.99, Z:-1.21 [[ 9.92048209e-01 1.25858261e-01 2.21872670e-04 1.63683659e+02] [-1.25858258e-01 9.92048234e-01 -2.77101562e-05 -9.98730663e+00] [-2.23595943e-04 -4.34696836e-07 9.99999975e-01 -1.21140968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters 0.051077956876910274 Centerline is valid? [True, True] Translation: X:163.75, Y:-10.00, Z:-1.21 [[ 9.92350603e-01 1.23449366e-01 7.31778602e-04 1.63745294e+02] [-1.23449331e-01 9.92350872e-01 -9.29987209e-05 -9.99737420e+00] [-7.37661767e-04 1.94975817e-06 9.99999728e-01 -1.21096648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters 0.05156638163175726 Centerline is valid? [True, True] Translation: X:163.81, Y:-10.01, Z:-1.21 [[ 9.92713355e-01 1.20496574e-01 8.78234474e-04 1.63807242e+02] [-1.20496522e-01 9.92713743e-01 -1.11567565e-04 -1.00052995e+01] [-8.85278941e-04 4.93041209e-06 9.99999608e-01 -1.20974807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters 0.05146728195801002 Centerline is valid? [True, True] Translation: X:163.87, Y:-10.01, Z:-1.21 [[ 9.93266491e-01 1.15851964e-01 1.50474912e-05 1.63867400e+02] [-1.15851964e-01 9.93266491e-01 -1.51196359e-06 -1.00135131e+01] [-1.51213328e-05 -2.41498639e-07 1.00000000e+00 -1.21154781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters 0.05234703445237265 Centerline is valid? [True, True] Translation: X:163.93, Y:-10.02, Z:-1.21 [[ 9.93680309e-01 1.12240609e-01 -1.21996404e-03 1.63928351e+02] [-1.12240501e-01 9.93681058e-01 1.56454513e-04 -1.00213816e+01] [ 1.22981571e-03 -1.85363938e-05 9.99999244e-01 -1.21194244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters 0.05227331551746898 Centerline is valid? [True, True] Translation: X:163.99, Y:-10.03, Z:-1.21 [[ 9.93925264e-01 1.10028702e-01 -2.50072579e-03 1.63988639e+02] [-1.10028242e-01 9.93928409e-01 3.21418559e-04 -1.00303122e+01] [ 2.52090767e-03 -4.43155653e-05 9.99996822e-01 -1.21281429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters 0.052194399186227744 Centerline is valid? [True, True] Translation: X:164.05, Y:-10.04, Z:-1.21 [[ 9.94297834e-01 1.06581425e-01 -3.49526853e-03 1.64049169e+02] [-1.06580508e-01 9.94303975e-01 4.48363562e-04 -1.00403133e+01] [ 3.52314662e-03 -7.32794244e-05 9.99993791e-01 -1.21414002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters 0.052293194806284325 Centerline is valid? [True, True] Translation: X:164.11, Y:-10.05, Z:-1.21 [[ 9.94474527e-01 1.04939396e-01 -2.85269113e-03 1.64110085e+02] [-1.04938776e-01 9.94478617e-01 3.66858865e-04 -1.00470982e+01] [ 2.87543828e-03 -6.54738819e-05 9.99995864e-01 -1.21363573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters 0.05211488711358447 Centerline is valid? [True, True] Translation: X:164.17, Y:-10.06, Z:-1.21 [[ 9.94639147e-01 1.03402503e-01 -9.43287171e-04 1.64171530e+02] [-1.03402434e-01 9.94639594e-01 1.21890364e-04 -1.00555637e+01] [ 9.50834537e-04 -2.36987390e-05 9.99999548e-01 -1.21217833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters 0.052098568235697966 Centerline is valid? [True, True] Translation: X:164.24, Y:-10.06, Z:-1.21 [[ 9.94663833e-01 1.03169048e-01 7.61092557e-05 1.64235094e+02] [-1.03169048e-01 9.94663836e-01 -9.36513274e-06 -1.00557011e+01] [-7.66693161e-05 1.46303938e-06 9.99999997e-01 -1.21009751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters 0.052492508511054733 Centerline is valid? [True, True] Translation: X:164.30, Y:-10.07, Z:-1.21 [[ 9.94587298e-01 1.03902039e-01 6.87914327e-04 1.64295009e+02] [-1.03902003e-01 9.94587536e-01 -8.76947079e-05 -1.00702836e+01] [-6.93302674e-04 1.57443661e-05 9.99999760e-01 -1.21216079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters 0.05184899669349619 Centerline is valid? [True, True] Translation: X:164.36, Y:-10.07, Z:-1.21 [[ 9.94304086e-01 1.06564810e-01 1.82354197e-03 1.64355277e+02] [-1.06564559e-01 9.94305758e-01 -2.34497961e-04 -1.00738164e+01] [-1.83814751e-03 3.88373351e-05 9.99998310e-01 -1.21137275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters 0.051951800031925795 Centerline is valid? [True, True] Translation: X:164.42, Y:-10.08, Z:-1.21 [[ 9.94010323e-01 1.09259779e-01 2.40378427e-03 1.64416542e+02] [-1.09259351e-01 9.94013229e-01 -3.09006376e-04 -1.00787259e+01] [-2.42315533e-03 4.45196182e-05 9.99997063e-01 -1.21161618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters 0.05174494854245275 Centerline is valid? [True, True] Translation: X:164.48, Y:-10.08, Z:-1.21 [[ 9.93648883e-01 1.12482433e-01 3.09843682e-03 1.64478355e+02] [-1.12481737e-01 9.93653712e-01 -3.98381494e-04 -1.00806094e+01] [-3.12358416e-03 4.73337696e-05 9.99995120e-01 -1.21108948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters 0.051837063544094335 Centerline is valid? [True, True] Translation: X:164.54, Y:-10.09, Z:-1.21 [[ 9.93547205e-01 1.13377921e-01 3.06560448e-03 1.64539128e+02] [-1.13377245e-01 9.93551934e-01 -3.93958998e-04 -1.00886459e+01] [-3.09050351e-03 4.38470706e-05 9.99995223e-01 -1.21172750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters 0.051883641350362254 Centerline is valid? [True, True] Translation: X:164.60, Y:-10.09, Z:-1.21 [[ 9.93621068e-01 1.12733919e-01 2.87014453e-03 1.64600850e+02] [-1.12733323e-01 9.93625212e-01 -3.69093423e-04 -1.00920069e+01] [-2.89345731e-03 4.31780725e-05 9.99995813e-01 -1.21267636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters 0.0518748204220942 Centerline is valid? [True, True] Translation: X:164.66, Y:-10.10, Z:-1.21 [[ 9.94027134e-01 1.09091532e-01 3.01576302e-03 1.64662014e+02] [-1.09090855e-01 9.94031707e-01 -3.88495159e-04 -1.00956482e+01] [-3.04014560e-03 5.71825628e-05 9.99995377e-01 -1.21213376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters 0.051987688902300724 Centerline is valid? [True, True] Translation: X:164.72, Y:-10.11, Z:-1.21 [[ 9.94459157e-01 1.05050380e-01 3.92451595e-03 1.64721679e+02] [-1.05049202e-01 9.94466897e-01 -5.05654192e-04 -1.01100237e+01] [-3.95592036e-03 9.05851729e-05 9.99992171e-01 -1.21361284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters 0.052858358493134534 Centerline is valid? [True, True] Translation: X:164.78, Y:-10.11, Z:-1.21 [[ 9.95145520e-01 9.82598315e-02 5.51353450e-03 1.64781516e+02] [-9.82574014e-02 9.95160780e-01 -7.10558415e-04 -1.01148116e+01] [-5.55667264e-03 1.65363451e-04 9.99984548e-01 -1.21293806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters 0.05281528871326131 Centerline is valid? [True, True] Translation: X:164.84, Y:-10.11, Z:-1.21 [[ 9.95688973e-01 9.26550738e-02 4.30200399e-03 1.64842918e+02] [-9.26535420e-02 9.95698254e-01 -5.54436445e-04 -1.01123477e+01] [-4.33486921e-03 1.53450347e-04 9.99990593e-01 -1.21385635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters 0.053018527892213625 Centerline is valid? [True, True] Translation: X:164.90, Y:-10.12, Z:-1.22 [[ 9.95893305e-01 9.04557590e-02 3.77895594e-03 1.64903118e+02] [-9.04545614e-02 9.95900464e-01 -4.86997322e-04 -1.01234267e+01] [-3.80751569e-03 1.43173570e-04 9.99992741e-01 -1.21521725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters 0.05390627060300221 Centerline is valid? [True, True] Translation: X:164.96, Y:-10.13, Z:-1.22 [[ 9.95993500e-01 8.93343867e-02 4.03922371e-03 1.64963310e+02] [-8.93330089e-02 9.96001678e-01 -5.20611566e-04 -1.01301052e+01] [-4.06958211e-03 1.57689728e-04 9.99991707e-01 -1.21590137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters 0.05318263860900234 Centerline is valid? [True, True] Translation: X:165.03, Y:-10.13, Z:-1.22 [[ 9.95840013e-01 9.09842524e-02 4.95319827e-03 1.65025548e+02] [-9.09822005e-02 9.95852314e-01 -6.38483540e-04 -1.01301900e+01] [-4.99074591e-03 1.85174578e-04 9.99987529e-01 -1.21549640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters 0.05347369161051722 Centerline is valid? [True, True] Translation: X:165.08, Y:-10.14, Z:-1.22 [[ 9.95558576e-01 9.40178878e-02 4.87435570e-03 1.65084455e+02] [-9.40159359e-02 9.95570494e-01 -6.28554557e-04 -1.01395772e+01] [-4.91186009e-03 1.67495766e-04 9.99987923e-01 -1.21639548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters 0.05252318273615305 Centerline is valid? [True, True] Translation: X:165.15, Y:-10.13, Z:-1.22 [[ 9.95234150e-01 9.73273221e-02 6.03143849e-03 1.65146310e+02] [-9.73243944e-02 9.95252409e-01 -7.77731322e-04 -1.01334462e+01] [-6.07849819e-03 1.87018673e-04 9.99981508e-01 -1.21656296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters 0.053425643218444965 Centerline is valid? [True, True] Translation: X:165.21, Y:-10.14, Z:-1.22 [[ 9.94748161e-01 1.02201349e-01 5.56601001e-03 1.65205684e+02] [-1.02198931e-01 9.94763722e-01 -7.17782333e-04 -1.01412690e+01] [-5.61022316e-03 1.45172381e-04 9.99984252e-01 -1.21823144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters 0.05277506855678777 Centerline is valid? [True, True] Translation: X:165.27, Y:-10.14, Z:-1.22 [[ 9.94597332e-01 1.03676703e-01 5.22391306e-03 1.65268466e+02] [-1.03674595e-01 9.94611042e-01 -6.73488353e-04 -1.01385210e+01] [-5.26558666e-03 1.28262648e-04 9.99986128e-01 -1.21896908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters 0.05343282177009927 Centerline is valid? [True, True] Translation: X:165.33, Y:-10.15, Z:-1.22 [[ 9.94688674e-01 1.02845259e-01 4.15856434e-03 1.65328867e+02] [-1.02843915e-01 9.94697362e-01 -5.36314755e-04 -1.01490167e+01] [-4.19167040e-03 1.05783177e-04 9.99991209e-01 -1.22055174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters 0.053309863329706 Centerline is valid? [True, True] Translation: X:165.39, Y:-10.15, Z:-1.22 [[ 9.95096978e-01 9.88334617e-02 3.73522259e-03 1.65390579e+02] [-9.88323478e-02 9.95103982e-01 -4.82103682e-04 -1.01468595e+01] [-3.76458285e-03 1.10579099e-04 9.99992908e-01 -1.22086616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters 0.054341637864243814 Centerline is valid? [True, True] Translation: X:165.45, Y:-10.16, Z:-1.22 [[ 9.95414114e-01 9.55580591e-02 4.40453981e-03 1.65449876e+02] [-9.55564781e-02 9.95423848e-01 -5.68466937e-04 -1.01642346e+01] [-4.43870557e-03 1.44977700e-04 9.99990138e-01 -1.22326208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters 0.05398056390919168 Centerline is valid? [True, True] Translation: X:165.51, Y:-10.17, Z:-1.22 [[ 9.95697164e-01 9.24879265e-02 5.75685818e-03 1.65510106e+02] [-9.24851735e-02 9.95713784e-01 -7.43171631e-04 -1.01657878e+01] [-5.80091744e-03 2.07549858e-04 9.99983153e-01 -1.22260424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters 0.05370470619085405 Centerline is valid? [True, True] Translation: X:165.57, Y:-10.17, Z:-1.22 [[ 9.95715276e-01 9.23212627e-02 5.27953080e-03 1.65572857e+02] [-9.23189456e-02 9.95729254e-01 -6.81435397e-04 -1.01669130e+01] [-5.31989424e-03 1.91114918e-04 9.99985831e-01 -1.22391622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters 0.053380446736230554 Centerline is valid? [True, True] Translation: X:165.63, Y:-10.17, Z:-1.23 [[ 9.95500607e-01 9.46518796e-02 4.42304478e-03 1.65633466e+02] [-9.46502749e-02 9.95510421e-01 -5.71192480e-04 -1.01741501e+01] [-4.45725161e-03 1.49980056e-04 9.99990055e-01 -1.22545442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters 0.05310499031852506 Centerline is valid? [True, True] Translation: X:165.69, Y:-10.18, Z:-1.23 [[ 9.94814060e-01 1.01636699e-01 3.86872235e-03 1.65694563e+02] [-1.01635524e-01 9.94821577e-01 -4.99653244e-04 -1.01767131e+01] [-3.89947157e-03 1.03862449e-04 9.99992392e-01 -1.22683033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters 0.05252233344023714 Centerline is valid? [True, True] Translation: X:165.75, Y:-10.18, Z:-1.23 [[ 9.93920664e-01 1.10052175e-01 3.19873863e-03 1.65753689e+02] [-1.10051415e-01 9.93925810e-01 -4.13263938e-04 -1.01824788e+01] [-3.22478948e-03 5.87258558e-05 9.99994799e-01 -1.22798758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters 0.05269461896217797 Centerline is valid? [True, True] Translation: X:165.81, Y:-10.19, Z:-1.23 [[ 9.92980566e-01 1.18219157e-01 3.71831557e-03 1.65814541e+02] [-1.18218187e-01 9.92987527e-01 -4.80303244e-04 -1.01852652e+01] [-3.74902203e-03 3.73592604e-05 9.99992972e-01 -1.22802525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters 0.05271590892406568 Centerline is valid? [True, True] Translation: X:165.88, Y:-10.19, Z:-1.23 [[ 9.92286072e-01 1.23888601e-01 4.46831381e-03 1.65875724e+02] [-1.23887258e-01 9.92296132e-01 -5.77153645e-04 -1.01884753e+01] [-4.50539327e-03 1.91343786e-05 9.99989850e-01 -1.22745553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters 0.052113240376722963 Centerline is valid? [True, True] Translation: X:165.94, Y:-10.20, Z:-1.23 [[ 9.91618664e-01 1.29126283e-01 4.33920213e-03 1.65937152e+02] [-1.29125066e-01 9.91628158e-01 -5.60462403e-04 -1.01953447e+01] [-4.37524544e-03 -4.53478378e-06 9.99990429e-01 -1.22920309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters 0.052164332497061046 Centerline is valid? [True, True] Translation: X:166.00, Y:-10.20, Z:-1.23 [[ 9.90534761e-01 1.37210926e-01 3.74814663e-03 1.65997984e+02] [-1.37210076e-01 9.90541852e-01 -4.84329514e-04 -1.01986594e+01] [-3.77915140e-03 -3.45382626e-05 9.99992858e-01 -1.23072956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters 0.051838524921244584 Centerline is valid? [True, True] Translation: X:166.06, Y:-10.21, Z:-1.23 [[ 9.90116823e-01 1.40158925e-01 4.91443827e-03 1.66059996e+02] [-1.40157499e-01 9.90129018e-01 -6.34938173e-04 -1.02068327e+01] [-4.95492019e-03 -6.01324130e-05 9.99987722e-01 -1.23056384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters 0.051973721021061195 Centerline is valid? [True, True] Translation: X:166.12, Y:-10.22, Z:-1.23 [[ 9.90005766e-01 1.40919237e-01 5.50916542e-03 1.66121210e+02] [-1.40917453e-01 9.90021092e-01 -7.12598034e-04 -1.02184141e+01] [-5.55460874e-03 -7.08613992e-05 9.99984571e-01 -1.23048251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters 0.05124696498419672 Centerline is valid? [True, True] Translation: X:166.18, Y:-10.23, Z:-1.23 [[ 9.90068329e-01 1.40524325e-01 4.19728702e-03 1.66181892e+02] [-1.40523286e-01 9.90077225e-01 -5.42750287e-04 -1.02322835e+01] [-4.23190791e-03 -5.24566954e-05 9.99991044e-01 -1.23162743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters 0.05158911900198548 Centerline is valid? [True, True] Translation: X:166.24, Y:-10.24, Z:-1.23 [[ 9.90448530e-01 1.37830678e-01 3.79642309e-03 1.66243424e+02] [-1.37829806e-01 9.90455806e-01 -4.91612483e-04 -1.02428951e+01] [-3.82794857e-03 -3.63433949e-05 9.99992673e-01 -1.23381865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters 0.05168633869444737 Centerline is valid? [True, True] Translation: X:166.30, Y:-10.26, Z:-1.23 [[ 9.91243179e-01 1.31974049e-01 4.45090508e-03 1.66303563e+02] [-1.31972792e-01 9.91253172e-01 -5.76361051e-04 -1.02626351e+01] [-4.48803848e-03 -1.60844102e-05 9.99989929e-01 -1.23322964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters 0.05218271248904348 Centerline is valid? [True, True] Translation: X:166.36, Y:-10.28, Z:-1.23 [[ 9.92173741e-01 1.24806797e-01 3.81206119e-03 1.66364863e+02] [-1.24805820e-01 9.92181064e-01 -4.93910224e-04 -1.02810254e+01] [-3.84389828e-03 1.42773313e-05 9.99992612e-01 -1.23423151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters 0.051460279171640984 Centerline is valid? [True, True] Translation: X:166.42, Y:-10.30, Z:-1.24 [[ 9.92983715e-01 1.18218921e-01 2.76203409e-03 1.66423291e+02] [-1.18218382e-01 9.92987556e-01 -3.58340808e-04 -1.03010858e+01] [-2.78502814e-03 2.93033866e-05 9.99996121e-01 -1.23583109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters 0.05182551939295622 Centerline is valid? [True, True] Translation: X:166.48, Y:-10.31, Z:-1.24 [[ 9.93211447e-01 1.16296196e-01 2.49312446e-03 1.66484744e+02] [-1.16295751e-01 9.93214576e-01 -3.23235823e-04 -1.03108234e+01] [-2.51379865e-03 3.11017387e-05 9.99996840e-01 -1.23580050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters 0.05172546697102218 Centerline is valid? [True, True] Translation: X:166.54, Y:-10.32, Z:-1.24 [[ 9.93758249e-01 1.11521752e-01 2.72799864e-03 1.66543532e+02] [-1.11521198e-01 9.93761992e-01 -3.54667780e-04 -1.03225117e+01] [-2.75053453e-03 4.82243549e-05 9.99996216e-01 -1.23593244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters 0.05165024895639552 Centerline is valid? [True, True] Translation: X:166.60, Y:-10.34, Z:-1.24 [[ 9.94160290e-01 1.07797459e-01 5.00261462e-03 1.66603517e+02] [-1.07795551e-01 9.94172870e-01 -6.50339984e-04 -1.03375690e+01] [-5.04356873e-03 1.07282587e-04 9.99987275e-01 -1.23510292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters 0.051116715841745784 Centerline is valid? [True, True] Translation: X:166.66, Y:-10.35, Z:-1.23 [[ 9.94388687e-01 1.05613976e-01 6.06848562e-03 1.66663806e+02] [-1.05611127e-01 9.94407194e-01 -7.89024941e-04 -1.03475097e+01] [-6.11787782e-03 1.43697871e-04 9.99981275e-01 -1.23434217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters 0.05148371257958595 Centerline is valid? [True, True] Translation: X:166.72, Y:-10.36, Z:-1.24 [[ 9.94290387e-01 1.06537917e-01 6.02487152e-03 1.66723098e+02] [-1.06535124e-01 9.94308631e-01 -7.83659561e-04 -1.03641682e+01] [-6.07407121e-03 1.37324736e-04 9.99981543e-01 -1.23621463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters 0.05116440923637924 Centerline is valid? [True, True] Translation: X:166.78, Y:-10.37, Z:-1.24 [[ 9.94023989e-01 1.08991792e-01 6.09086163e-03 1.66784559e+02] [-1.08988978e-01 9.94042642e-01 -7.92990537e-04 -1.03683421e+01] [-6.14100564e-03 1.24414831e-04 9.99981136e-01 -1.23674929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters 0.05168747467551001 Centerline is valid? [True, True] Translation: X:166.84, Y:-10.38, Z:-1.24 [[ 9.93355356e-01 1.14904773e-01 6.48303778e-03 1.66842755e+02] [-1.14901710e-01 9.93376507e-01 -8.44223122e-04 -1.03828837e+01] [-6.53710269e-03 9.37014304e-05 9.99978629e-01 -1.23753121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters 0.050661989300213865 Centerline is valid? [True, True] Translation: X:166.90, Y:-10.39, Z:-1.24 [[ 9.92892745e-01 1.18852504e-01 6.17086088e-03 1.66903928e+02] [-1.18849804e-01 9.92911919e-01 -8.03609557e-04 -1.03860213e+01] [-6.22263233e-03 6.44924907e-05 9.99980637e-01 -1.23810042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters 0.050918476752449614 Centerline is valid? [True, True] Translation: X:166.97, Y:-10.39, Z:-1.24 [[ 9.92506770e-01 1.22060989e-01 5.60599112e-03 1.66965890e+02] [-1.22058813e-01 9.92522601e-01 -7.29961579e-04 -1.03925556e+01] [-5.65317272e-03 4.02311872e-05 9.99984020e-01 -1.23878255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters 0.0505962806475132 Centerline is valid? [True, True] Translation: X:167.03, Y:-10.40, Z:-1.24 [[ 9.92698425e-01 1.20482780e-01 5.80836524e-03 1.67026058e+02] [-1.20480413e-01 9.92715416e-01 -7.57037908e-04 -1.04012794e+01] [-5.85726374e-03 5.17160980e-05 9.99982845e-01 -1.23973927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters 0.050878825854317924 Centerline is valid? [True, True] Translation: X:167.09, Y:-10.41, Z:-1.24 [[ 9.93078004e-01 1.17304818e-01 5.97132287e-03 1.67087175e+02] [-1.17302254e-01 9.93095954e-01 -7.79029851e-04 -1.04119206e+01] [-6.02148054e-03 7.31877763e-05 9.99981868e-01 -1.24001028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters 0.05128974151621163 Centerline is valid? [True, True] Translation: X:167.15, Y:-10.43, Z:-1.24 [[ 9.93595933e-01 1.12878084e-01 5.06551970e-03 1.67146402e+02] [-1.12876180e-01 9.93608842e-01 -6.61070852e-04 -1.04262658e+01] [-5.10776558e-03 8.50607958e-05 9.99986952e-01 -1.24209644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters 0.051851057626121515 Centerline is valid? [True, True] Translation: X:167.21, Y:-10.44, Z:-1.24 [[ 9.93932111e-01 1.09898713e-01 4.60770102e-03 1.67206973e+02] [-1.09897106e-01 9.93942787e-01 -6.01374145e-04 -1.04357604e+01] [-4.64588144e-03 9.13520672e-05 9.99989204e-01 -1.24279305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters 0.05119053608665338 Centerline is valid? [True, True] Translation: X:167.27, Y:-10.44, Z:-1.24 [[ 9.94299977e-01 1.06577249e-01 2.97404328e-03 1.67268697e+02] [-1.06576564e-01 9.94304423e-01 -3.88185021e-04 -1.04385553e+01] [-2.99847608e-03 6.90090434e-05 9.99995502e-01 -1.24239380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters 0.05192409534881512 Centerline is valid? [True, True] Translation: X:167.33, Y:-10.45, Z:-1.24 [[ 9.94511007e-01 1.04604260e-01 2.40946561e-03 1.67330467e+02] [-1.04603805e-01 9.94513924e-01 -3.14385949e-04 -1.04471307e+01] [-2.42913321e-03 6.06210166e-05 9.99997048e-01 -1.24318090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters 0.05173558305213075 Centerline is valid? [True, True] Translation: X:167.39, Y:-10.46, Z:-1.25 [[ 9.94575641e-01 1.04002738e-01 1.65090904e-03 1.67390157e+02] [-1.04002524e-01 9.94577010e-01 -2.14923833e-04 -1.04637015e+01] [-1.66430884e-03 4.20593019e-05 9.99998614e-01 -1.24555417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters 0.05251696364767859 Centerline is valid? [True, True] Translation: X:167.45, Y:-10.47, Z:-1.25 [[ 9.94609837e-01 1.03682535e-01 1.09729451e-03 1.67451058e+02] [-1.03682440e-01 9.94610442e-01 -1.42756769e-04 -1.04718644e+01] [-1.10618196e-03 2.82171142e-05 9.99999388e-01 -1.24580911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters 0.0522204417065835 Centerline is valid? [True, True] Translation: X:167.51, Y:-10.48, Z:-1.25 [[ 9.94561877e-01 1.04131844e-01 1.79767668e-03 1.67512796e+02] [-1.04131590e-01 9.94563501e-01 -2.34974090e-04 -1.04812632e+01] [-1.81237190e-03 4.65013424e-05 9.99998357e-01 -1.24562390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters 0.05171751369307969 Centerline is valid? [True, True] Translation: X:167.57, Y:-10.49, Z:-1.24 [[ 9.94457065e-01 1.05102514e-01 2.93387100e-03 1.67573261e+02] [-1.05101840e-01 9.94461390e-01 -3.83510698e-04 -1.04915693e+01] [-2.95792937e-03 7.30296836e-05 9.99995623e-01 -1.24485612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters 0.050984206512040775 Centerline is valid? [True, True] Translation: X:167.63, Y:-10.49, Z:-1.24 [[ 9.94404847e-01 1.05573287e-01 3.64434938e-03 1.67634091e+02] [-1.05572247e-01 9.94411521e-01 -4.77008771e-04 -1.04947902e+01] [-3.67434239e-03 8.95976804e-05 9.99993246e-01 -1.24379781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters 0.051940255387541004 Centerline is valid? [True, True] Translation: X:167.69, Y:-10.51, Z:-1.25 [[ 9.94436828e-01 1.05286970e-01 3.16987777e-03 1.67694880e+02] [-1.05286180e-01 9.94441877e-01 -4.15441514e-04 -1.05109824e+01] [-3.19599978e-03 7.93860185e-05 9.99994890e-01 -1.24632228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters 0.051686298314083744 Centerline is valid? [True, True] Translation: X:167.76, Y:-10.51, Z:-1.25 [[ 9.94429427e-01 1.05379552e-01 2.29431198e-03 1.67758421e+02] [-1.05379140e-01 9.94432072e-01 -3.00224521e-04 -1.05124319e+01] [-2.31317495e-03 5.67794760e-05 9.99997323e-01 -1.24687548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters 0.05166006718127805 Centerline is valid? [True, True] Translation: X:167.82, Y:-10.53, Z:-1.25 [[ 9.94370088e-01 1.05939408e-01 2.22946825e-03 1.67818963e+02] [-1.05939018e-01 9.94372586e-01 -2.92504715e-04 -1.05287507e+01] [-2.24790989e-03 5.46702614e-05 9.99997472e-01 -1.24922100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters 0.051086021929019315 Centerline is valid? [True, True] Translation: X:167.88, Y:-10.54, Z:-1.25 [[ 9.94223774e-01 1.07323629e-01 8.51782846e-04 1.67879444e+02] [-1.07323573e-01 9.94224139e-01 -1.11153919e-04 -1.05365512e+01] [-8.58792508e-04 1.90954905e-05 9.99999631e-01 -1.25020210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters 0.05117040717494222 Centerline is valid? [True, True] Translation: X:167.94, Y:-10.54, Z:-1.25 [[ 9.94134501e-01 1.08147676e-01 8.21023743e-04 1.67942847e+02] [-1.08147624e-01 9.94134840e-01 -1.07654556e-04 -1.05353812e+01] [-8.27850897e-04 1.82313415e-05 9.99999657e-01 -1.24778154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters 0.05092069889105151 Centerline is valid? [True, True] Translation: X:168.00, Y:-10.55, Z:-1.25 [[ 9.94179344e-01 1.07730154e-01 1.28274549e-03 1.68003115e+02] [-1.07730026e-01 9.94180171e-01 -1.68414199e-04 -1.05521240e+01] [-1.29342342e-03 2.92437128e-05 9.99999163e-01 -1.25031417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters 0.05125295149920043 Centerline is valid? [True, True] Translation: X:168.06, Y:-10.55, Z:-1.25 [[ 9.94232439e-01 1.07241724e-01 1.03443004e-03 1.68064279e+02] [-1.07241641e-01 9.94232977e-01 -1.35367328e-04 -1.05537211e+01] [-1.04298149e-03 2.36526134e-05 9.99999456e-01 -1.24902509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters 0.05136137965545451 Centerline is valid? [True, True] Translation: X:168.13, Y:-10.56, Z:-1.25 [[ 9.94175524e-01 1.07755008e-01 1.97139373e-03 1.68126105e+02] [-1.07754706e-01 9.94177477e-01 -2.58938833e-04 -1.05600370e+01] [-1.98781720e-03 4.50036980e-05 9.99998023e-01 -1.24897682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters 0.05123525808916827 Centerline is valid? [True, True] Translation: X:168.19, Y:-10.58, Z:-1.25 [[ 9.94041414e-01 1.08976181e-01 2.42041161e-03 1.68186546e+02] [-1.08975728e-01 9.94044360e-01 -3.18693568e-04 -1.05753635e+01] [-2.44072652e-03 5.30284883e-05 9.99997020e-01 -1.25090363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters 0.050965069616054584 Centerline is valid? [True, True] Translation: X:168.25, Y:-10.58, Z:-1.25 [[ 9.93794838e-01 1.11192021e-01 2.85573688e-03 1.68247566e+02] [-1.11191398e-01 9.93798939e-01 -3.76310564e-04 -1.05767149e+01] [-2.87987101e-03 5.64421196e-05 9.99995852e-01 -1.25001981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters 0.051123169118705486 Centerline is valid? [True, True] Translation: X:168.31, Y:-10.58, Z:-1.25 [[ 9.93283878e-01 1.15692316e-01 1.55718554e-03 1.68306672e+02] [-1.15692137e-01 9.93285099e-01 -2.05097252e-04 -1.05833659e+01] [-1.57045737e-03 2.35656706e-05 9.99998767e-01 -1.25150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters 0.05102600546902 Centerline is valid? [True, True] Translation: X:168.37, Y:-10.59, Z:-1.25 [[ 9.92783958e-01 1.19906820e-01 1.53882372e-03 1.68367910e+02] [-1.19906650e-01 9.92785150e-01 -2.02663291e-04 -1.05902113e+01] [-1.55202205e-03 1.66856670e-05 9.99998795e-01 -1.25273781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters 0.05125654047978577 Centerline is valid? [True, True] Translation: X:168.43, Y:-10.59, Z:-1.25 [[ 9.92771574e-01 1.20001411e-01 2.06470119e-03 1.68431441e+02] [-1.20001106e-01 9.92773721e-01 -2.71592871e-04 -1.05921071e+01] [-2.08237261e-03 2.18632558e-05 9.99997832e-01 -1.25093726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters 0.050975339546584134 Centerline is valid? [True, True] Translation: X:168.49, Y:-10.61, Z:-1.25 [[ 9.92955540e-01 1.18482319e-01 1.11121730e-03 1.68491394e+02] [-1.18482230e-01 9.92956162e-01 -1.45979461e-04 -1.06073288e+01] [-1.12068605e-03 1.32916114e-05 9.99999372e-01 -1.25389612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters 0.05101488911795463 Centerline is valid? [True, True] Translation: X:168.55, Y:-10.61, Z:-1.25 [[ 9.93499534e-01 1.13829726e-01 1.21191912e-03 1.68552312e+02] [-1.13829615e-01 9.93500273e-01 -1.60091841e-04 -1.06097250e+01] [-1.22226519e-03 2.10988820e-05 9.99999253e-01 -1.25158138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters 0.051350576652554686 Centerline is valid? [True, True] Translation: X:168.61, Y:-10.62, Z:-1.25 [[ 9.94175460e-01 1.07770651e-01 8.01204183e-04 1.68611915e+02] [-1.07770601e-01 9.94175782e-01 -1.05799848e-04 -1.06231263e+01] [-8.07939914e-04 1.88373565e-05 9.99999673e-01 -1.25346840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters 0.05165594963749398 Centerline is valid? [True, True] Translation: X:168.67, Y:-10.63, Z:-1.25 [[ 9.94835557e-01 1.01493285e-01 1.15195131e-03 1.68671725e+02] [-1.01493176e-01 9.94836224e-01 -1.52112906e-04 -1.06349127e+01] [-1.16144133e-03 3.44121300e-05 9.99999325e-01 -1.25369119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters 0.052269660245019334 Centerline is valid? [True, True] Translation: X:168.73, Y:-10.65, Z:-1.25 [[ 9.95158515e-01 9.82737956e-02 1.33853781e-03 1.68730927e+02] [-9.82736464e-02 9.95159414e-01 -1.76930845e-04 -1.06466930e+01] [-1.34944617e-03 4.45312450e-05 9.99999089e-01 -1.25344528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters 0.05259851944745571 Centerline is valid? [True, True] Translation: X:168.79, Y:-10.65, Z:-1.25 [[ 9.95382418e-01 9.59839013e-02 9.65272131e-04 1.68792362e+02] [-9.59838228e-02 9.95382886e-01 -1.27493307e-04 -1.06510327e+01] [-9.73052664e-04 3.42540871e-05 9.99999526e-01 -1.25336958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters 0.05222740139810039 Centerline is valid? [True, True] Translation: X:168.85, Y:-10.66, Z:-1.26 [[ 9.95502151e-01 9.47295172e-02 -1.33627287e-03 1.68852759e+02] [-9.47293651e-02 9.95503047e-01 1.76834775e-04 -1.06618814e+01] [ 1.34701519e-03 -4.94551182e-05 9.99999092e-01 -1.25578039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters 0.052702388384642744 Centerline is valid? [True, True] Translation: X:168.91, Y:-10.66, Z:-1.25 [[ 9.95677626e-01 9.28742114e-02 -6.67131182e-04 1.68914526e+02] [-9.28741731e-02 9.95677850e-01 8.82773819e-05 -1.06582956e+01] [ 6.72446433e-04 -2.59365572e-05 9.99999774e-01 -1.25322261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters 0.052155176458941056 Centerline is valid? [True, True] Translation: X:168.98, Y:-10.66, Z:-1.25 [[ 9.95852686e-01 9.09802540e-02 1.46797049e-04 1.68975144e+02] [-9.09802522e-02 9.95852697e-01 -1.92891496e-05 -1.06634039e+01] [-1.47943169e-04 5.85351886e-06 9.99999989e-01 -1.25216368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters 0.05257625655455455 Centerline is valid? [True, True] Translation: X:169.03, Y:-10.68, Z:-1.25 [[ 9.95907420e-01 9.03768721e-02 6.56641767e-04 1.69034132e+02] [-9.03768346e-02 9.95907636e-01 -8.67240634e-05 -1.06803944e+01] [-6.61792400e-04 2.70239339e-05 9.99999781e-01 -1.25388918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters 0.0529921705094671 Centerline is valid? [True, True] Translation: X:169.09, Y:-10.69, Z:-1.25 [[ 9.95806552e-01 9.14761143e-02 1.19618167e-03 1.69093765e+02] [-9.14759905e-02 9.95807270e-01 -1.57929162e-04 -1.06885753e+01] [-1.20561315e-03 4.78449907e-05 9.99999272e-01 -1.25372715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters 0.05262352166667208 Centerline is valid? [True, True] Translation: X:169.16, Y:-10.69, Z:-1.25 [[ 9.95580284e-01 9.39003257e-02 1.62062485e-03 1.69155399e+02] [-9.39001010e-02 9.95581601e-01 -2.14375418e-04 -1.06886061e+01] [-1.63359421e-03 6.12511020e-05 9.99998664e-01 -1.25290638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters 0.05269607324090858 Centerline is valid? [True, True] Translation: X:169.22, Y:-10.69, Z:-1.25 [[ 9.95152214e-01 9.83278339e-02 1.92577726e-03 1.69215971e+02] [-9.83275248e-02 9.95154075e-01 -2.54754693e-04 -1.06938284e+01] [-1.94149457e-03 6.41627851e-05 9.99998113e-01 -1.25299713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters 0.05231458124745974 Centerline is valid? [True, True] Translation: X:169.28, Y:-10.70, Z:-1.25 [[ 9.94890035e-01 1.00938297e-01 2.29730898e-03 1.69275159e+02] [-1.00937864e-01 9.94892685e-01 -3.03992956e-04 -1.07026569e+01] [-2.31626043e-03 7.05541005e-05 9.99997315e-01 -1.25359288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters 0.05223575234898765 Centerline is valid? [True, True] Translation: X:169.34, Y:-10.70, Z:-1.25 [[ 9.94651972e-01 1.03254519e-01 2.44121916e-03 1.69337372e+02] [-1.03254037e-01 9.94654965e-01 -3.22921131e-04 -1.06992548e+01] [-2.46151382e-03 6.91284066e-05 9.99996968e-01 -1.25262028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters 0.052522410544344984 Centerline is valid? [True, True] Translation: X:169.40, Y:-10.70, Z:-1.25 [[ 9.94568535e-01 1.04063531e-01 2.05182995e-03 1.69400042e+02] [-1.04063193e-01 9.94570650e-01 -2.70960967e-04 -1.07006176e+01] [-2.06888701e-03 5.59692751e-05 9.99997858e-01 -1.25253133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters 0.05235735966410012 Centerline is valid? [True, True] Translation: X:169.46, Y:-10.72, Z:-1.25 [[ 9.94510996e-01 1.04616863e-01 1.78623127e-03 1.69460492e+02] [-1.04616607e-01 9.94512599e-01 -2.36245756e-04 -1.07154403e+01] [-1.80114480e-03 4.80795472e-05 9.99998377e-01 -1.25482415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters 0.05318095392840415 Centerline is valid? [True, True] Translation: X:169.52, Y:-10.72, Z:-1.26 [[ 9.94434134e-01 1.05333265e-01 2.37842149e-03 1.69521273e+02] [-1.05332813e-01 9.94436976e-01 -3.14863451e-04 -1.07209828e+01] [-2.39835587e-03 6.25851376e-05 9.99997122e-01 -1.25511139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters 0.05331575445845628 Centerline is valid? [True, True] Translation: X:169.58, Y:-10.73, Z:-1.26 [[ 9.94372213e-01 1.05908442e-01 2.70243862e-03 1.69582981e+02] [-1.05907860e-01 9.94375883e-01 -3.57872688e-04 -1.07268041e+01] [-2.72514153e-03 6.96491660e-05 9.99996284e-01 -1.25587106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters 0.052499505790391594 Centerline is valid? [True, True] Translation: X:169.64, Y:-10.73, Z:-1.26 [[ 9.94125756e-01 1.08214670e-01 1.88858343e-03 1.69644567e+02] [-1.08214390e-01 9.94127549e-01 -2.50478672e-04 -1.07304084e+01] [-1.90459828e-03 4.46353960e-05 9.99998185e-01 -1.25712793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters 0.05239053584970951 Centerline is valid? [True, True] Translation: X:169.70, Y:-10.73, Z:-1.26 [[ 9.93555749e-01 1.13334516e-01 1.50396653e-03 1.69704440e+02] [-1.13334344e-01 9.93556887e-01 -1.99616017e-04 -1.07320540e+01] [-1.51689968e-03 2.78785824e-05 9.99998849e-01 -1.25776867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters 0.05232404507962666 Centerline is valid? [True, True] Translation: X:169.77, Y:-10.73, Z:-1.26 [[ 9.92829144e-01 1.19529860e-01 1.70378355e-03 1.69765412e+02] [-1.19529648e-01 9.92830606e-01 -2.26088804e-04 -1.07322613e+01] [-1.71859282e-03 2.08149055e-05 9.99998523e-01 -1.25800787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters 0.052054868790779966 Centerline is valid? [True, True] Translation: X:169.83, Y:-10.74, Z:-1.26 [[ 9.92691840e-01 1.20665013e-01 1.69280095e-03 1.69826633e+02] [-1.20664807e-01 9.92693283e-01 -2.24065814e-04 -1.07379927e+01] [-1.70746903e-03 1.81668061e-05 9.99998542e-01 -1.25806999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters 0.052016871333604275 Centerline is valid? [True, True] Translation: X:169.89, Y:-10.75, Z:-1.26 [[ 9.92456727e-01 1.22581049e-01 1.87947409e-03 1.69888307e+02] [-1.22580796e-01 9.92458506e-01 -2.49453163e-04 -1.07463427e+01] [-1.89587828e-03 1.71840397e-05 9.99998203e-01 -1.25949979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters 0.05123380838683589 Centerline is valid? [True, True] Translation: X:169.95, Y:-10.75, Z:-1.26 [[ 9.92381896e-01 1.23180827e-01 2.15767466e-03 1.69949537e+02] [-1.23180496e-01 9.92384242e-01 -2.86166756e-04 -1.07521329e+01] [-2.17649258e-03 1.82032743e-05 9.99997631e-01 -1.25958601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters 0.051844695172512695 Centerline is valid? [True, True] Translation: X:170.01, Y:-10.76, Z:-1.26 [[ 9.92504138e-01 1.22190871e-01 2.21979562e-03 1.70010956e+02] [-1.22190517e-01 9.92506620e-01 -2.94949861e-04 -1.07593718e+01] [-2.23920203e-03 2.15009825e-05 9.99997493e-01 -1.25939159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters 0.05271994170387587 Centerline is valid? [True, True] Translation: X:170.07, Y:-10.77, Z:-1.26 [[ 9.93299092e-01 1.15547374e-01 2.39137423e-03 1.70069893e+02] [-1.15546943e-01 9.93301970e-01 -3.18108443e-04 -1.07738652e+01] [-2.41211333e-03 3.96608445e-05 9.99997090e-01 -1.26016790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters 0.05241501029848989 Centerline is valid? [True, True] Translation: X:170.13, Y:-10.78, Z:-1.26 [[ 9.93945413e-01 1.09840768e-01 2.74260383e-03 1.70129798e+02] [-1.09840179e-01 9.93949195e-01 -3.64873143e-04 -1.07836880e+01] [-2.76608682e-03 6.14158901e-05 9.99996172e-01 -1.26018112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters 0.053483456879652995 Centerline is valid? [True, True] Translation: X:170.19, Y:-10.80, Z:-1.26 [[ 9.94750404e-01 1.02281795e-01 3.17294943e-03 1.70188926e+02] [-1.02280968e-01 9.94755460e-01 -4.22199184e-04 -1.07961737e+01] [-3.19949206e-03 9.54504706e-05 9.99994877e-01 -1.26164584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters 0.05295417335058768 Centerline is valid? [True, True] Translation: X:170.25, Y:-10.80, Z:-1.26 [[ 9.95038558e-01 9.94569498e-02 2.56588146e-03 1.70249820e+02] [-9.94563996e-02 9.95041862e-01 -3.41449073e-04 -1.08028747e+01] [-2.58711895e-03 8.45616613e-05 9.99996650e-01 -1.26250476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters 0.0534799088328377 Centerline is valid? [True, True] Translation: X:170.31, Y:-10.81, Z:-1.26 [[ 9.95114888e-01 9.86985562e-02 2.22583320e-03 1.70310853e+02] [-9.86981413e-02 9.95117375e-01 -2.95721287e-04 -1.08102631e+01] [-2.24415256e-03 7.45910559e-05 9.99997479e-01 -1.26331618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters 0.053318477206598734 Centerline is valid? [True, True] Translation: X:170.37, Y:-10.81, Z:-1.26 [[ 9.94992056e-01 9.99280559e-02 2.27847014e-03 1.70372344e+02] [-9.99276226e-02 9.94994662e-01 -3.03510344e-04 -1.08133397e+01] [-2.29739483e-03 7.43082769e-05 9.99997358e-01 -1.26328665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters 0.05297199667249467 Centerline is valid? [True, True] Translation: X:170.43, Y:-10.82, Z:-1.26 [[ 9.94568031e-01 1.04063846e-01 2.26883577e-03 1.70432746e+02] [-1.04063427e-01 9.94570617e-01 -3.02321096e-04 -1.08205515e+01] [-2.28797808e-03 6.45760716e-05 9.99997380e-01 -1.26426736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters 0.05297882447108183 Centerline is valid? [True, True] Translation: X:170.49, Y:-10.82, Z:-1.27 [[ 9.93839366e-01 1.10812908e-01 1.95307250e-03 1.70492540e+02] [-1.10812611e-01 9.93841284e-01 -2.60309036e-04 -1.08206934e+01] [-1.96988968e-03 4.22803044e-05 9.99998059e-01 -1.26504210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters 0.05279000004092749 Centerline is valid? [True, True] Translation: X:170.55, Y:-10.82, Z:-1.27 [[ 9.93387984e-01 1.14783643e-01 2.24247123e-03 1.70552949e+02] [-1.14783261e-01 9.93390514e-01 -2.98763564e-04 -1.08236330e+01] [-2.26194281e-03 3.93899754e-05 9.99997441e-01 -1.26512733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters 0.0530681546724006 Centerline is valid? [True, True] Translation: X:170.62, Y:-10.83, Z:-1.27 [[ 9.93271014e-01 1.15797072e-01 1.93137474e-03 1.70615099e+02] [-1.15796792e-01 9.93272892e-01 -2.56718547e-04 -1.08270378e+01] [-1.94810943e-03 3.13440926e-05 9.99998102e-01 -1.26531477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters 0.05343515790406482 Centerline is valid? [True, True] Translation: X:170.68, Y:-10.84, Z:-1.27 [[ 9.93761691e-01 1.11519957e-01 1.00060933e-03 1.70675626e+02] [-1.11519879e-01 9.93762194e-01 -1.33289713e-04 -1.08368976e+01] [-1.00923219e-03 2.08703789e-05 9.99999491e-01 -1.26595491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters 0.05287128749049865 Centerline is valid? [True, True] Translation: X:170.74, Y:-10.84, Z:-1.26 [[ 9.94229069e-01 1.07274482e-01 8.62841918e-04 1.70737262e+02] [-1.07274423e-01 9.94229443e-01 -1.15049724e-04 -1.08378752e+01] [-8.70204739e-04 2.18249115e-05 9.99999621e-01 -1.26393332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters 0.05314456613285427 Centerline is valid? [True, True] Translation: X:170.80, Y:-10.85, Z:-1.27 [[ 9.94853448e-01 1.01324107e-01 -2.04057804e-04 1.70796488e+02] [-1.01324103e-01 9.94853469e-01 2.73245905e-05 -1.08474290e+01] [ 2.05776253e-04 -6.50798910e-06 9.99999979e-01 -1.26527396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters 0.05358972108822501 Centerline is valid? [True, True] Translation: X:170.86, Y:-10.85, Z:-1.27 [[ 9.95173576e-01 9.81302627e-02 -6.87935396e-05 1.70857087e+02] [-9.81302623e-02 9.95173579e-01 9.30300240e-06 -1.08537095e+01] [ 6.93744190e-05 -2.50737408e-06 9.99999998e-01 -1.26517558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters 0.054184995373373984 Centerline is valid? [True, True] Translation: X:170.92, Y:-10.86, Z:-1.27 [[ 9.95433139e-01 9.54613276e-02 -1.83617321e-05 1.70916306e+02] [-9.54613275e-02 9.95433139e-01 2.45028950e-06 -1.08622627e+01] [ 1.85117844e-05 -6.86264053e-07 1.00000000e+00 -1.26577336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters 0.05503898005817309 Centerline is valid? [True, True] Translation: X:170.98, Y:-10.87, Z:-1.27 [[ 9.95341511e-01 9.64088353e-02 -7.82957708e-04 1.70978001e+02] [-9.64087827e-02 9.95341818e-01 1.04766263e-04 -1.08713229e+01] [ 7.89410942e-04 -2.87942105e-05 9.99999688e-01 -1.26721276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters 0.05396996898474453 Centerline is valid? [True, True] Translation: X:171.04, Y:-10.87, Z:-1.27 [[ 9.94974471e-01 1.00113939e-01 -1.73215926e-03 1.71038974e+02] [-1.00113688e-01 9.94975978e-01 2.31285349e-04 -1.08711516e+01] [ 1.74661174e-03 -5.67101666e-05 9.99998473e-01 -1.26664304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters 0.05415984922013145 Centerline is valid? [True, True] Translation: X:171.10, Y:-10.87, Z:-1.26 [[ 9.94091394e-01 1.08516614e-01 -2.53859283e-03 1.71100784e+02] [-1.08516102e-01 9.94094634e-01 3.39019355e-04 -1.08671036e+01] [ 2.56039075e-03 -6.15380237e-05 9.99996720e-01 -1.26447478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters 0.05367862925363341 Centerline is valid? [True, True] Translation: X:171.16, Y:-10.87, Z:-1.27 [[ 9.92913505e-01 1.18819508e-01 -2.16687617e-03 1.71160517e+02] [-1.18819160e-01 9.92915869e-01 2.89277859e-04 -1.08711637e+01] [ 2.18589759e-03 -2.97614878e-05 9.99997610e-01 -1.26611661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters 0.05286308999872396 Centerline is valid? [True, True] Translation: X:171.22, Y:-10.87, Z:-1.27 [[ 9.92138743e-01 1.25131949e-01 -1.64636151e-03 1.71220494e+02] [-1.25131757e-01 9.92140109e-01 2.19793960e-04 -1.08741825e+01] [ 1.66092454e-03 -1.20539951e-05 9.99998621e-01 -1.26524111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters 0.05383169757977158 Centerline is valid? [True, True] Translation: X:171.28, Y:-10.88, Z:-1.27 [[ 9.91071488e-01 1.33324880e-01 -1.33504319e-03 1.71283188e+02] [-1.33324760e-01 9.91072387e-01 1.78645231e-04 -1.08769621e+01] [ 1.34694229e-03 9.44118465e-07 9.99999093e-01 -1.26716416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters 0.05254258032022349 Centerline is valid? [True, True] Translation: X:171.35, Y:-10.88, Z:-1.27 [[ 9.90314846e-01 1.38830650e-01 -1.59903623e-03 1.71345478e+02] [-1.38830485e-01 9.90316137e-01 2.14601316e-04 -1.08816752e+01] [ 1.61334462e-03 9.47210509e-06 9.99998699e-01 -1.26591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters 0.05341045668455731 Centerline is valid? [True, True] Translation: X:171.41, Y:-10.89, Z:-1.27 [[ 9.89044849e-01 1.47609338e-01 -1.33070162e-03 1.71405497e+02] [-1.47609232e-01 9.89045744e-01 1.77872889e-04 -1.08850723e+01] [ 1.34238048e-03 2.04995807e-05 9.99999099e-01 -1.26600883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters 0.05281279355947585 Centerline is valid? [True, True] Translation: X:171.47, Y:-10.89, Z:-1.27 [[ 9.87984896e-01 1.54547997e-01 -8.73193992e-04 1.71465788e+02] [-1.54547954e-01 9.87985281e-01 1.16809357e-04 -1.08890030e+01] [ 8.80755464e-04 1.95444650e-05 9.99999612e-01 -1.26653571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters 0.05411301449980547 Centerline is valid? [True, True] Translation: X:171.53, Y:-10.89, Z:-1.27 [[ 9.87546936e-01 1.57324113e-01 -4.16042253e-04 1.71525527e+02] [-1.57324104e-01 9.87547023e-01 5.59250511e-05 -1.08947761e+01] [ 4.19659647e-04 1.02248617e-05 9.99999912e-01 -1.26750330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters 0.05347422275385338 Centerline is valid? [True, True] Translation: X:171.59, Y:-10.91, Z:-1.27 [[ 9.87514792e-01 1.57521055e-01 -1.28541435e-03 1.71586197e+02] [-1.57520963e-01 9.87515628e-01 1.72773416e-04 -1.09061827e+01] [ 1.29658221e-03 3.18634024e-05 9.99999159e-01 -1.26981774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters 0.05207951982969325 Centerline is valid? [True, True] Translation: X:171.65, Y:-10.93, Z:-1.27 [[ 9.87940774e-01 1.54813737e-01 -2.39447894e-03 1.71645829e+02] [-1.54813414e-01 9.87943674e-01 3.20684082e-04 -1.09275318e+01] [ 2.41525663e-03 5.38805811e-05 9.99997082e-01 -1.26872607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters 0.052818150641330074 Centerline is valid? [True, True] Translation: X:171.71, Y:-10.94, Z:-1.27 [[ 9.88326424e-01 1.52320584e-01 -3.05291762e-03 1.71705046e+02] [-1.52320046e-01 9.88331137e-01 4.09155331e-04 -1.09405364e+01] [ 3.07961632e-03 6.06415284e-05 9.99995256e-01 -1.27006892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters 0.052592044235212056 Centerline is valid? [True, True] Translation: X:171.76, Y:-10.96, Z:-1.27 [[ 9.88913440e-01 1.48431817e-01 -4.26655885e-03 1.71764663e+02] [-1.48430732e-01 9.88922642e-01 5.71585554e-04 -1.09581149e+01] [ 4.30413813e-03 6.80398155e-05 9.99990735e-01 -1.27050154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters 0.05174158226895027 Centerline is valid? [True, True] Translation: X:171.82, Y:-10.98, Z:-1.27 [[ 9.89508385e-01 1.44359856e-01 -5.77828618e-03 1.71824040e+02] [-1.44357789e-01 9.89525254e-01 7.75303395e-04 -1.09775683e+01] [ 5.82968278e-03 6.69714097e-05 9.99983005e-01 -1.27073342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters 0.05155501998428322 Centerline is valid? [True, True] Translation: X:171.88, Y:-10.99, Z:-1.27 [[ 9.89727623e-01 1.42848685e-01 -5.78666216e-03 1.71884671e+02] [-1.42846583e-01 9.89744538e-01 7.77145829e-04 -1.09900840e+01] [ 5.83833152e-03 5.74422192e-05 9.99982955e-01 -1.27064601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters 0.052278055072093335 Centerline is valid? [True, True] Translation: X:171.95, Y:-11.01, Z:-1.27 [[ 9.90224283e-01 1.39356970e-01 -5.95857611e-03 1.71945738e+02] [-1.39354680e-01 9.90242209e-01 7.99909741e-04 -1.10060612e+01] [ 6.01190657e-03 3.82654172e-05 9.99981928e-01 -1.27104565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters 0.051924199112654064 Centerline is valid? [True, True] Translation: X:172.01, Y:-11.03, Z:-1.27 [[ 9.91003133e-01 1.33747441e-01 -4.94090364e-03 1.72005117e+02] [-1.33745791e-01 9.91015450e-01 6.64363949e-04 -1.10259365e+01] [ 4.98536883e-03 2.43831307e-06 9.99987573e-01 -1.27071259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters 0.051788107368686144 Centerline is valid? [True, True] Translation: X:172.07, Y:-11.04, Z:-1.27 [[ 9.91427895e-01 1.30594936e-01 -3.96138441e-03 1.72065714e+02] [-1.30593850e-01 9.91435809e-01 5.32508324e-04 -1.10416579e+01] [ 3.99700125e-03 -1.06111632e-05 9.99992012e-01 -1.26929219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters 0.05142738143540896 Centerline is valid? [True, True] Translation: X:172.13, Y:-11.06, Z:-1.27 [[ 9.91786536e-01 1.27865830e-01 -3.12996471e-03 1.72125933e+02] [-1.27865135e-01 9.91791475e-01 4.21846365e-04 -1.10619043e+01] [ 3.15821205e-03 -1.81681852e-05 9.99995013e-01 -1.27083896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters 0.0511582285856837 Centerline is valid? [True, True] Translation: X:172.19, Y:-11.08, Z:-1.27 [[ 9.91710519e-01 1.28456867e-01 -3.01326700e-03 1.72185412e+02] [-1.28456225e-01 9.91715097e-01 4.06322258e-04 -1.10783462e+01] [ 3.04049726e-03 -1.58811539e-05 9.99995378e-01 -1.27221487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters 0.0515713491070526 Centerline is valid? [True, True] Translation: X:172.25, Y:-11.09, Z:-1.27 [[ 9.91558557e-01 1.29627314e-01 -2.89609885e-03 1.72246880e+02] [-1.29626725e-01 9.91562786e-01 3.90859380e-04 -1.10894852e+01] [ 2.92232989e-03 -1.21481525e-05 9.99995730e-01 -1.26902507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters 0.05098993311191664 Centerline is valid? [True, True] Translation: X:172.31, Y:-11.10, Z:-1.27 [[ 9.91411042e-01 1.30752615e-01 -2.81058758e-03 1.72307408e+02] [-1.30752066e-01 9.91415026e-01 3.79201781e-04 -1.11035974e+01] [ 2.83604039e-03 -8.45469948e-06 9.99995978e-01 -1.27348839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters 0.050797596733663325 Centerline is valid? [True, True] Translation: X:172.37, Y:-11.12, Z:-1.28 [[ 9.91267398e-01 1.31835904e-01 -2.87042481e-03 1.72367795e+02] [-1.31835334e-01 9.91271554e-01 3.87658541e-04 -1.11184326e+01] [ 2.89647778e-03 -5.84985900e-06 9.99995805e-01 -1.27633318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters 0.05103161065518239 Centerline is valid? [True, True] Translation: X:172.43, Y:-11.13, Z:-1.27 [[ 9.91077463e-01 1.33271580e-01 -2.03657931e-03 1.72429240e+02] [-1.33271295e-01 9.91079556e-01 2.75708500e-04 -1.11307266e+01] [ 2.05515623e-03 -1.83091793e-06 9.99997888e-01 -1.27423434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters 0.050525242486010404 Centerline is valid? [True, True] Translation: X:172.49, Y:-11.13, Z:-1.28 [[ 9.90368798e-01 1.38454481e-01 -6.64633422e-06 1.72490420e+02] [-1.38454481e-01 9.90368798e-01 1.68961372e-06 -1.11348641e+01] [ 6.81625657e-06 -7.53125958e-07 1.00000000e+00 -1.27516710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters 0.05063782623686046 Centerline is valid? [True, True] Translation: X:172.55, Y:-11.14, Z:-1.28 [[ 9.90210301e-01 1.39583508e-01 -6.57108578e-05 1.72552021e+02] [-1.39583508e-01 9.90210303e-01 9.71818991e-06 -1.11425409e+01] [ 6.64240674e-05 -4.50899737e-07 9.99999998e-01 -1.27613899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters 0.05031436953022814 Centerline is valid? [True, True] Translation: X:172.61, Y:-11.15, Z:-1.28 [[ 9.90258455e-01 1.39241109e-01 -3.26459718e-04 1.72613835e+02] [-1.39241102e-01 9.90258508e-01 4.50528306e-05 -1.11507825e+01] [ 3.29552720e-04 8.42664407e-07 9.99999946e-01 -1.27763635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters 0.05031967060680731 Centerline is valid? [True, True] Translation: X:172.68, Y:-11.16, Z:-1.28 [[ 9.90285921e-01 1.39044886e-01 -5.60464502e-04 1.72676655e+02] [-1.39044865e-01 9.90286080e-01 7.68479752e-05 -1.11574502e+01] [ 5.65705513e-04 1.82824313e-06 9.99999840e-01 -1.27842855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters 0.05046077390805515 Centerline is valid? [True, True] Translation: X:172.74, Y:-11.17, Z:-1.28 [[ 9.90579486e-01 1.36928980e-01 -1.65426468e-03 1.72739199e+02] [-1.36928795e-01 9.90580867e-01 2.25246950e-04 -1.11664747e+01] [ 1.66952578e-03 3.39146131e-06 9.99998606e-01 -1.27767803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters 0.05054027029156048 Centerline is valid? [True, True] Translation: X:172.80, Y:-11.17, Z:-1.28 [[ 9.90971035e-01 1.34059222e-01 -2.12892985e-03 1.72801521e+02] [-1.34058910e-01 9.90973322e-01 2.89167306e-04 -1.11745540e+01] [ 2.14847823e-03 -1.15440891e-06 9.99997692e-01 -1.27944862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters 0.050872594687903616 Centerline is valid? [True, True] Translation: X:172.86, Y:-11.18, Z:-1.28 [[ 9.91850079e-01 1.27372424e-01 -3.11238065e-03 1.72862469e+02] [-1.27371722e-01 9.91854962e-01 4.23320905e-04 -1.11829369e+01] [ 3.14094960e-03 -2.34415884e-05 9.99995067e-01 -1.28106430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters 0.05174431303319218 Centerline is valid? [True, True] Translation: X:172.92, Y:-11.19, Z:-1.28 [[ 9.93223150e-01 1.16192157e-01 -2.67537293e-03 1.72921971e+02] [-1.16191600e-01 9.93226752e-01 3.63205398e-04 -1.11936218e+01] [ 2.69945359e-03 -4.98881469e-05 9.99996355e-01 -1.28039344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters 0.05266255268855587 Centerline is valid? [True, True] Translation: X:172.98, Y:-11.20, Z:-1.28 [[ 9.94417749e-01 1.05502508e-01 -1.60046546e-03 1.72982740e+02] [-1.05502295e-01 9.94419036e-01 2.17294095e-04 -1.11974155e+01] [ 1.61445839e-03 -4.72283262e-05 9.99998696e-01 -1.27738201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters 0.052663579178276645 Centerline is valid? [True, True] Translation: X:173.04, Y:-11.21, Z:-1.28 [[ 9.94973162e-01 1.00133551e-01 -1.29611328e-03 1.73041352e+02] [-1.00133406e-01 9.94974005e-01 1.75987383e-04 -1.12079966e+01] [ 1.30722127e-03 -4.53184852e-05 9.99999145e-01 -1.27854472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters 0.052994714010287165 Centerline is valid? [True, True] Translation: X:173.10, Y:-11.23, Z:-1.28 [[ 9.95333271e-01 9.64933404e-02 -8.45649048e-04 1.73100458e+02] [-9.64932775e-02 9.95333630e-01 1.14902785e-04 -1.12263145e+01] [ 8.52790290e-04 -3.27671163e-05 9.99999636e-01 -1.28155042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters 0.05281521631120858 Centerline is valid? [True, True] Translation: X:173.16, Y:-11.23, Z:-1.28 [[ 9.95472265e-01 9.50523856e-02 1.17516985e-04 1.73161680e+02] [-9.50523845e-02 9.95472272e-01 -1.51343657e-05 -1.12281494e+01] [-1.18423458e-04 3.89557161e-06 9.99999993e-01 -1.28060422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters 0.052950889193276694 Centerline is valid? [True, True] Translation: X:173.22, Y:-11.23, Z:-1.28 [[ 9.95320773e-01 9.66148732e-02 1.45757912e-03 1.73223880e+02] [-9.66146868e-02 9.95321839e-01 -1.97958970e-04 -1.12270341e+01] [-1.46988611e-03 5.62091253e-05 9.99998918e-01 -1.27920350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters 0.052303271133399894 Centerline is valid? [True, True] Translation: X:173.28, Y:-11.24, Z:-1.28 [[ 9.95213885e-01 9.77049056e-02 1.75352971e-03 1.73283720e+02] [-9.77046376e-02 9.95215428e-01 -2.38028156e-04 -1.12368202e+01] [-1.76839634e-03 6.55609407e-05 9.99998434e-01 -1.28049281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters 0.05324932277871196 Centerline is valid? [True, True] Translation: X:173.35, Y:-11.24, Z:-1.28 [[ 9.95129490e-01 9.85693376e-02 1.17607343e-03 1.73345548e+02] [-9.85692183e-02 9.95130184e-01 -1.59183753e-04 -1.12397359e+01] [-1.18603680e-03 4.24838084e-05 9.99999296e-01 -1.28053918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters 0.05306339067865232 Centerline is valid? [True, True] Translation: X:173.40, Y:-11.26, Z:-1.28 [[ 9.95157105e-01 9.82925962e-02 9.49234550e-04 1.73404723e+02] [-9.82925183e-02 9.95157558e-01 -1.28528615e-04 -1.12584344e+01] [-9.57271348e-04 3.46035104e-05 9.99999541e-01 -1.28284073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters 0.05302709730343793 Centerline is valid? [True, True] Translation: X:173.47, Y:-11.26, Z:-1.28 [[ 9.95241922e-01 9.74197025e-02 1.70827984e-03 1.73467581e+02] [-9.74194476e-02 9.95243386e-01 -2.31968366e-04 -1.12579021e+01] [-1.72275250e-03 6.44449644e-05 9.99998514e-01 -1.28296954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters 0.052753005267665354 Centerline is valid? [True, True] Translation: X:173.53, Y:-11.27, Z:-1.28 [[ 9.95419201e-01 9.55826467e-02 2.13836300e-03 1.73526544e+02] [-9.55822409e-02 9.95421494e-01 -2.91398646e-04 -1.12690487e+01] [-2.15642514e-03 8.56742804e-05 9.99997671e-01 -1.28463550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters 0.05293304688951437 Centerline is valid? [True, True] Translation: X:173.59, Y:-11.28, Z:-1.29 [[ 9.95463126e-01 9.51220619e-02 2.22678115e-03 1.73587290e+02] [-9.51216219e-02 9.95465612e-01 -3.02921890e-04 -1.12785880e+01] [-2.24549861e-03 8.97325365e-05 9.99997475e-01 -1.28539293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters 0.052102160955392635 Centerline is valid? [True, True] Translation: X:173.65, Y:-11.28, Z:-1.29 [[ 9.95218304e-01 9.76313860e-02 2.93936745e-03 1.73648561e+02] [-9.76306274e-02 9.95222638e-01 -4.00822002e-04 -1.12811062e+01] [-2.96445783e-03 1.11933106e-04 9.99995600e-01 -1.28504780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters 0.052362421823437456 Centerline is valid? [True, True] Translation: X:173.71, Y:-11.29, Z:-1.29 [[ 9.94751802e-01 1.02279092e-01 2.80002358e-03 1.73707523e+02] [-1.02278421e-01 9.94755738e-01 -3.81915010e-04 -1.12896758e+01] [-2.82440145e-03 9.35286527e-05 9.99996007e-01 -1.28583660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters 0.052569074876632746 Centerline is valid? [True, True] Translation: X:173.77, Y:-11.30, Z:-1.29 [[ 9.93838620e-01 1.10815636e-01 2.16615679e-03 1.73767244e+02] [-1.10815255e-01 9.93840979e-01 -2.95397416e-04 -1.12992923e+01] [-2.18555004e-03 5.35341426e-05 9.99997610e-01 -1.28836192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters 0.05245359745075703 Centerline is valid? [True, True] Translation: X:173.83, Y:-11.30, Z:-1.29 [[ 9.93547385e-01 1.13394472e-01 2.29925013e-03 1.73828761e+02] [-1.13394050e-01 9.93550045e-01 -3.13393407e-04 -1.13043073e+01] [-2.31995715e-03 5.06499150e-05 9.99997308e-01 -1.28866168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters 0.05177535478081667 Centerline is valid? [True, True] Translation: X:173.89, Y:-11.31, Z:-1.29 [[ 9.93054466e-01 1.17652093e-01 9.01198359e-04 1.73887613e+02] [-1.17652030e-01 9.93054875e-01 -1.22989581e-04 -1.13120936e+01] [-9.09409406e-04 1.61075364e-05 9.99999586e-01 -1.28959551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters 0.05193683559859319 Centerline is valid? [True, True] Translation: X:173.95, Y:-11.31, Z:-1.29 [[ 9.92865296e-01 1.19241329e-01 9.17180391e-05 1.73949148e+02] [-1.19241329e-01 9.92865301e-01 -1.17356522e-05 -1.13145724e+01] [-9.24630333e-05 7.15340938e-07 9.99999996e-01 -1.28759132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters 0.05223346430303685 Centerline is valid? [True, True] Translation: X:174.01, Y:-11.32, Z:-1.29 [[ 9.93218786e-01 1.16260108e-01 1.77216041e-04 1.74009269e+02] [-1.16260105e-01 9.93218801e-01 -2.40857337e-05 -1.13247287e+01] [-1.78814514e-04 3.31924759e-06 9.99999984e-01 -1.28766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters 0.052964436470109955 Centerline is valid? [True, True] Translation: X:174.07, Y:-11.34, Z:-1.29 [[ 9.94238810e-01 1.07174175e-01 1.69853754e-03 1.74068101e+02] [-1.07173935e-01 9.94240260e-01 -2.31819330e-04 -1.13407321e+01] [-1.71359945e-03 4.84448226e-05 9.99998531e-01 -1.28836860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters 0.05314883764081064 Centerline is valid? [True, True] Translation: X:174.13, Y:-11.35, Z:-1.29 [[ 9.95259881e-01 9.72263700e-02 2.19119219e-03 1.74127576e+02] [-9.72259467e-02 9.95262290e-01 -2.99128733e-04 -1.13497470e+01] [-2.20989416e-03 8.46700925e-05 9.99997555e-01 -1.28766414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters 0.05240088994080674 Centerline is valid? [True, True] Translation: X:174.19, Y:-11.35, Z:-1.29 [[ 9.95700781e-01 9.25829007e-02 2.89171847e-03 1.74188332e+02] [-9.25821438e-02 9.95704972e-01 -3.94802463e-04 -1.13548385e+01] [-2.91585042e-03 1.25383625e-04 9.99995741e-01 -1.28748751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters 0.05324228757948965 Centerline is valid? [True, True] Translation: X:174.25, Y:-11.37, Z:-1.29 [[ 9.95943880e-01 8.99324594e-02 2.81803045e-03 1.74247637e+02] [-8.99317299e-02 9.95947858e-01 -3.84771564e-04 -1.13694618e+01] [-2.84121485e-03 1.29780530e-04 9.99995955e-01 -1.28875498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters 0.053049777810886906 Centerline is valid? [True, True] Translation: X:174.31, Y:-11.37, Z:-1.29 [[ 9.95845016e-01 9.10642830e-02 -3.32981697e-05 1.74309039e+02] [-9.10642829e-02 9.95845016e-01 5.09502383e-06 -1.13724907e+01] [ 3.36237909e-05 -2.04158014e-06 9.99999999e-01 -1.28960006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters 0.05328275813111779 Centerline is valid? [True, True] Translation: X:174.37, Y:-11.38, Z:-1.29 [[ 9.95538876e-01 9.43485875e-02 -8.30547105e-04 1.74368370e+02] [-9.43485256e-02 9.95539222e-01 1.13511721e-04 -1.13831343e+01] [ 8.37551889e-04 -3.46444360e-05 9.99999649e-01 -1.29105420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters 0.05265905713531096 Centerline is valid? [True, True] Translation: X:174.43, Y:-11.38, Z:-1.29 [[ 9.95367950e-01 9.61383369e-02 -2.55030785e-04 1.74430469e+02] [-9.61383311e-02 9.95367982e-01 3.50428941e-05 -1.13813558e+01] [ 2.57218443e-04 -1.03623396e-05 9.99999967e-01 -1.29047757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters 0.053247560764033613 Centerline is valid? [True, True] Translation: X:174.49, Y:-11.39, Z:-1.29 [[ 9.95278814e-01 9.70489467e-02 1.25849720e-03 1.74489559e+02] [-9.70488067e-02 9.95279609e-01 -1.71961605e-04 -1.13929678e+01] [-1.26924529e-03 4.90140905e-05 9.99999193e-01 -1.29121916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters 0.05287547241509128 Centerline is valid? [True, True] Translation: X:174.55, Y:-11.41, Z:-1.29 [[ 9.95168868e-01 9.81265376e-02 3.17901424e-03 1.74549265e+02] [-9.81256499e-02 9.95173939e-01 -4.34392324e-04 -1.14081256e+01] [-3.20629754e-03 1.20350879e-04 9.99994853e-01 -1.29198456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters 0.05277114764920233 Centerline is valid? [True, True] Translation: X:174.61, Y:-11.41, Z:-1.29 [[ 9.95070769e-01 9.90846868e-02 4.04837778e-03 1.74610973e+02] [-9.90832554e-02 9.95078993e-01 -5.53111702e-04 -1.14115942e+01] [-4.08326059e-03 1.49258837e-04 9.99991652e-01 -1.29193284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters 0.052437232292169525 Centerline is valid? [True, True] Translation: X:174.67, Y:-11.41, Z:-1.29 [[ 9.94806632e-01 1.01666181e-01 4.87373871e-03 1.74671877e+02] [-1.01664133e-01 9.94818556e-01 -6.66951795e-04 -1.14142128e+01] [-4.91629214e-03 1.68003651e-04 9.99987901e-01 -1.29200982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters 0.0530362244725408 Centerline is valid? [True, True] Translation: X:174.73, Y:-11.42, Z:-1.29 [[ 9.94419737e-01 1.05370862e-01 5.13489750e-03 1.74731994e+02] [-1.05368637e-01 9.94432982e-01 -7.02746460e-04 -1.14192809e+01] [-5.18036044e-03 1.57767799e-04 9.99986569e-01 -1.29238983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters 0.053467437846115254 Centerline is valid? [True, True] Translation: X:174.79, Y:-11.43, Z:-1.29 [[ 9.94171514e-01 1.07742225e-01 3.82281690e-03 1.74790793e+02] [-1.07741009e-01 9.94178858e-01 -5.23171126e-04 -1.14343505e+01] [-3.85693136e-03 1.08247679e-04 9.99992556e-01 -1.29413847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters 0.0526647109203331 Centerline is valid? [True, True] Translation: X:174.85, Y:-11.43, Z:-1.29 [[ 9.93924220e-01 1.10017967e-01 3.26988771e-03 1.74852651e+02] [-1.10017089e-01 9.93929595e-01 -4.47494029e-04 -1.14343161e+01] [-3.29927055e-03 8.50316253e-05 9.99994554e-01 -1.29378031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters 0.05305056739205071 Centerline is valid? [True, True] Translation: X:174.91, Y:-11.44, Z:-1.29 [[ 9.93887161e-01 1.10337501e-01 3.73449258e-03 1.74914538e+02] [-1.10336360e-01 9.93894173e-01 -5.11035540e-04 -1.14427043e+01] [-3.76807680e-03 9.58613453e-05 9.99992896e-01 -1.29440308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters 0.05322680972580199 Centerline is valid? [True, True] Translation: X:174.98, Y:-11.45, Z:-1.29 [[ 9.94049666e-01 1.08872131e-01 3.48136317e-03 1.74975370e+02] [-1.08871130e-01 9.94055758e-01 -4.76257422e-04 -1.14507000e+01] [-3.51252027e-03 9.44035878e-05 9.99993827e-01 -1.29476487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters 0.0535930681560401 Centerline is valid? [True, True] Translation: X:175.04, Y:-11.46, Z:-1.29 [[ 9.94579065e-01 1.03891171e-01 4.37119792e-03 1.75035270e+02] [-1.03889541e-01 9.94588661e-01 -5.98999973e-04 -1.14621500e+01] [-4.40977470e-03 1.41631089e-04 9.99990267e-01 -1.29456931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters 0.05334114954732235 Centerline is valid? [True, True] Translation: X:175.10, Y:-11.46, Z:-1.30 [[ 9.94936858e-01 1.00393479e-01 4.66886860e-03 1.75096788e+02] [-1.00391580e-01 9.94947798e-01 -6.39923932e-04 -1.14626431e+01] [-4.70952472e-03 1.67968812e-04 9.99988896e-01 -1.29504846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters 0.05282561636281787 Centerline is valid? [True, True] Translation: X:175.16, Y:-11.47, Z:-1.30 [[ 9.95228214e-01 9.74290147e-02 5.32817507e-03 1.75157509e+02] [-9.74264991e-02 9.95242455e-01 -7.30290116e-04 -1.14664656e+01] [-5.37397748e-03 2.07699885e-04 9.99985539e-01 -1.29586760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters 0.0535564600015388 Centerline is valid? [True, True] Translation: X:175.22, Y:-11.47, Z:-1.30 [[ 9.95179132e-01 9.80180212e-02 3.31097388e-03 1.75217847e+02] [-9.80170537e-02 9.95184632e-01 -4.53602175e-04 -1.14741757e+01] [-3.33949151e-03 1.26883514e-04 9.99994416e-01 -1.29713452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters 0.0535787808405639 Centerline is valid? [True, True] Translation: X:175.28, Y:-11.48, Z:-1.30 [[ 9.95005206e-01 9.97701676e-02 3.24850951e-03 1.75279402e+02] [-9.97692443e-02 9.95010502e-01 -4.45429924e-04 -1.14762198e+01] [-3.27674170e-03 1.19103755e-04 9.99994624e-01 -1.29793088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters 0.05326135433476353 Centerline is valid? [True, True] Translation: X:175.34, Y:-11.48, Z:-1.30 [[ 9.94806568e-01 1.01739685e-01 2.98828160e-03 1.75340764e+02] [-1.01738912e-01 9.94811050e-01 -4.09844327e-04 -1.14812397e+01] [-3.01447299e-03 1.03691310e-04 9.99995451e-01 -1.29818304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters 0.05364630862268401 Centerline is valid? [True, True] Translation: X:175.40, Y:-11.49, Z:-1.30 [[ 9.94562299e-01 1.04107147e-01 2.74507077e-03 1.75401688e+02] [-1.04106504e-01 9.94566083e-01 -3.76561895e-04 -1.14852240e+01] [-2.76935707e-03 8.87345434e-05 9.99996161e-01 -1.29825727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters 0.053381704991880434 Centerline is valid? [True, True] Translation: X:175.46, Y:-11.50, Z:-1.30 [[ 9.94358155e-01 1.06030337e-01 3.07051544e-03 1.75460961e+02] [-1.06029542e-01 9.94362891e-01 -4.21063820e-04 -1.14958431e+01] [-3.09785215e-03 9.31228960e-05 9.99995197e-01 -1.29926701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters 0.054279829177202386 Centerline is valid? [True, True] Translation: X:175.52, Y:-11.51, Z:-1.30 [[ 9.94339181e-01 1.06212354e-01 2.92027112e-03 1.75522289e+02] [-1.06211636e-01 9.94343466e-01 -4.00297557e-04 -1.15055229e+01] [-2.94626905e-03 8.78647716e-05 9.99995656e-01 -1.29948443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters 0.05396485123198523 Centerline is valid? [True, True] Translation: X:175.58, Y:-11.50, Z:-1.30 [[ 9.94512685e-01 1.04591678e-01 2.25818340e-03 1.75583950e+02] [-1.04591243e-01 9.94515247e-01 -3.10119723e-04 -1.15037100e+01] [-2.27823377e-03 7.22317894e-05 9.99997402e-01 -1.29905005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters 0.0531945264800351 Centerline is valid? [True, True] Translation: X:175.64, Y:-11.51, Z:-1.30 [[ 9.94719321e-01 1.02613782e-01 1.97106207e-03 1.75644694e+02] [-1.02613447e-01 9.94721271e-01 -2.70749648e-04 -1.15081960e+01] [-1.98844001e-03 6.70624329e-05 9.99998021e-01 -1.29927861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters 0.05439983620650741 Centerline is valid? [True, True] Translation: X:175.70, Y:-11.52, Z:-1.30 [[ 9.95143503e-01 9.84199894e-02 1.70707968e-03 1.75703868e+02] [-9.84197316e-02 9.95144965e-01 -2.34542125e-04 -1.15168792e+01] [-1.72187538e-03 6.53927475e-05 9.99998515e-01 -1.30033966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters 0.05456914208766647 Centerline is valid? [True, True] Translation: X:175.76, Y:-11.52, Z:-1.30 [[ 9.95287679e-01 9.69485555e-02 1.84774163e-03 1.75764352e+02] [-9.69482511e-02 9.95289391e-01 -2.53826906e-04 -1.15238001e+01] [-1.86364579e-03 7.34954724e-05 9.99998261e-01 -1.30087876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters 0.05435524268672343 Centerline is valid? [True, True] Translation: X:175.83, Y:-11.53, Z:-1.30 [[ 9.95565665e-01 9.40572706e-02 1.49569697e-03 1.75825333e+02] [-9.40570679e-02 9.95566786e-01 -2.05449059e-04 -1.15265354e+01] [-1.50839020e-03 6.38571581e-05 9.99998860e-01 -1.30131110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters 0.05603037645360937 Centerline is valid? [True, True] Translation: X:175.88, Y:-11.54, Z:-1.30 [[ 9.95829807e-01 9.12268868e-02 8.06576958e-04 1.75882891e+02] [-9.12268269e-02 9.95830133e-01 -1.10864671e-04 -1.15429465e+01] [-8.13327478e-04 3.68208874e-05 9.99999669e-01 -1.30313806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters 0.05396912274689758 Centerline is valid? [True, True] Translation: X:175.95, Y:-11.53, Z:-1.30 [[ 9.95921228e-01 9.02144007e-02 1.50626842e-03 1.75947545e+02] [-9.02141911e-02 9.95922365e-01 -2.06658671e-04 -1.15290860e+01] [-1.51876999e-03 6.99289707e-05 9.99998844e-01 -1.30130979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters 0.054465810847350526 Centerline is valid? [True, True] Translation: X:176.01, Y:-11.53, Z:-1.30 [[ 9.95854850e-01 9.09250616e-02 2.39789732e-03 1.76007577e+02] [-9.09245315e-02 9.95857731e-01 -3.29401571e-04 -1.15349754e+01] [-2.41791544e-03 1.10008462e-04 9.99997071e-01 -1.30158846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters 0.054787663811871286 Centerline is valid? [True, True] Translation: X:176.07, Y:-11.54, Z:-1.30 [[ 9.95495879e-01 9.47854614e-02 1.91598544e-03 1.76066552e+02] [-9.47851296e-02 9.95497720e-01 -2.63456749e-04 -1.15449953e+01] [-1.93233101e-03 8.06631791e-05 9.99998130e-01 -1.30284390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters 0.05481932988827994 Centerline is valid? [True, True] Translation: X:176.13, Y:-11.55, Z:-1.30 [[ 9.95128602e-01 9.85783112e-02 1.17598735e-03 1.76127173e+02] [-9.85781888e-02 9.95129295e-01 -1.61690500e-04 -1.15476582e+01] [-1.18619864e-03 4.49761378e-05 9.99999295e-01 -1.30392321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters 0.05420898422004064 Centerline is valid? [True, True] Translation: X:176.19, Y:-11.55, Z:-1.30 [[ 9.94718203e-01 1.02641244e-01 6.87200772e-04 1.76189082e+02] [-1.02641203e-01 9.94718440e-01 -9.46276888e-05 -1.15456152e+01] [-6.93283983e-04 2.35927704e-05 9.99999759e-01 -1.30358544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters 0.054196552508160245 Centerline is valid? [True, True] Translation: X:176.25, Y:-11.55, Z:-1.30 [[ 9.94208684e-01 1.07458516e-01 1.32659599e-03 1.76248929e+02] [-1.07458368e-01 9.94209568e-01 -1.82336096e-04 -1.15513980e+01] [-1.33850799e-03 3.87262889e-05 9.99999103e-01 -1.30484923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters 0.054557726809261284 Centerline is valid? [True, True] Translation: X:176.31, Y:-11.56, Z:-1.30 [[ 9.94084302e-01 1.08609339e-01 6.42147416e-04 1.76311069e+02] [-1.08609305e-01 9.94084509e-01 -8.75102609e-05 -1.15557442e+01] [-6.47853230e-04 1.72493919e-05 9.99999790e-01 -1.30497349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters 0.0551250387947229 Centerline is valid? [True, True] Translation: X:176.37, Y:-11.56, Z:-1.31 [[ 9.94221327e-01 1.07348375e-01 5.28358678e-04 1.76371220e+02] [-1.07348352e-01 9.94221467e-01 -7.23156598e-05 -1.15639596e+01] [-5.33068509e-04 1.51793380e-05 9.99999858e-01 -1.30637314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters 0.055453566575464436 Centerline is valid? [True, True] Translation: X:176.43, Y:-11.57, Z:-1.31 [[ 9.94615597e-01 1.03632266e-01 4.10023190e-04 1.76431489e+02] [-1.03632252e-01 9.94615681e-01 -5.64307084e-05 -1.15675118e+01] [-4.13663537e-04 1.36352363e-05 9.99999914e-01 -1.30603136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters 0.055176745323678625 Centerline is valid? [True, True] Translation: X:176.49, Y:-11.57, Z:-1.31 [[ 9.94864142e-01 1.01219044e-01 2.12350809e-04 1.76492446e+02] [-1.01219040e-01 9.94864164e-01 -2.91159946e-05 -1.15721408e+01] [-2.14207303e-04 7.47251396e-06 9.99999977e-01 -1.30566480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters 0.05562024353122879 Centerline is valid? [True, True] Translation: X:176.55, Y:-11.57, Z:-1.31 [[ 9.95029336e-01 9.95821076e-02 1.54118944e-04 1.76554164e+02] [-9.95821055e-02 9.95029348e-01 -2.10977921e-05 -1.15740423e+01] [-1.55453835e-04 5.64543315e-06 9.99999988e-01 -1.30555932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters 0.055586769780827605 Centerline is valid? [True, True] Translation: X:176.61, Y:-11.58, Z:-1.31 [[ 9.95034693e-01 9.95286493e-02 -9.19058221e-05 1.76614345e+02] [-9.95286485e-02 9.95034697e-01 1.34664671e-05 -1.15829698e+01] [ 9.27897811e-05 -4.25233967e-06 9.99999996e-01 -1.30654434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters 0.05654780724791488 Centerline is valid? [True, True] Translation: X:176.67, Y:-11.59, Z:-1.31 [[ 9.94921285e-01 1.00650605e-01 -1.04475620e-03 1.76674120e+02] [-1.00650508e-01 9.94921833e-01 1.44864722e-04 -1.15949732e+01] [ 1.05403147e-03 -3.89737538e-05 9.99999444e-01 -1.30860517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters 0.05577572901275506 Centerline is valid? [True, True] Translation: X:176.74, Y:-11.59, Z:-1.31 [[ 9.94835138e-01 1.01501177e-01 -7.48313069e-04 1.76736865e+02] [-1.01501128e-01 9.94835419e-01 1.03529666e-04 -1.15938436e+01] [ 7.54956728e-04 -2.70403287e-05 9.99999715e-01 -1.30695061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters 0.05525176173406568 Centerline is valid? [True, True] Translation: X:176.80, Y:-11.59, Z:-1.31 [[ 9.94681710e-01 1.02984593e-01 -1.57134470e-03 1.76799222e+02] [-1.02984379e-01 9.94682950e-01 2.17079339e-04 -1.15939065e+01] [ 1.58534561e-03 -5.41008908e-05 9.99998742e-01 -1.30604752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters 0.055950790409451584 Centerline is valid? [True, True] Translation: X:176.86, Y:-11.60, Z:-1.31 [[ 9.94532509e-01 1.04397635e-01 -2.49453689e-03 1.76859972e+02] [-1.04397098e-01 9.94535634e-01 3.44876583e-04 -1.16022133e+01] [ 2.51691013e-03 -8.25685613e-05 9.99996829e-01 -1.30732330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters 0.05578441091708414 Centerline is valid? [True, True] Translation: X:176.92, Y:-11.60, Z:-1.31 [[ 9.94331043e-01 1.06313155e-01 -1.81374224e-03 1.76921992e+02] [-1.06312875e-01 9.94332696e-01 2.50546485e-04 -1.16022423e+01] [ 1.83009960e-03 -5.63019966e-05 9.99998324e-01 -1.30615244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters 0.05614139477668439 Centerline is valid? [True, True] Translation: X:176.98, Y:-11.61, Z:-1.31 [[ 9.94245555e-01 1.07123796e-01 -5.18872999e-04 1.76984291e+02] [-1.07123773e-01 9.94245690e-01 7.20218040e-05 -1.16098558e+01] [ 5.23602492e-04 -1.60237252e-05 9.99999863e-01 -1.30586468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters 0.05592024990625651 Centerline is valid? [True, True] Translation: X:177.05, Y:-11.62, Z:-1.31 [[ 9.94194368e-01 1.07598513e-01 -3.45895246e-04 1.77045016e+02] [-1.07598502e-01 9.94194428e-01 4.85783226e-05 -1.16162600e+01] [ 3.49114081e-04 -1.10784843e-05 9.99999939e-01 -1.30551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters 0.05608364143157247 Centerline is valid? [True, True] Translation: X:177.11, Y:-11.62, Z:-1.31 [[ 9.94093210e-01 1.08527669e-01 -6.59051330e-04 1.77105727e+02] [-1.08527632e-01 9.94093429e-01 9.15892270e-05 -1.16245051e+01] [ 6.65098561e-04 -1.95229484e-05 9.99999779e-01 -1.30702389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters 0.0560828026665862 Centerline is valid? [True, True] Translation: X:177.17, Y:-11.63, Z:-1.31 [[ 9.93924473e-01 1.10056819e-01 -1.28025655e-03 1.77168147e+02] [-1.10056681e-01 9.93925297e-01 1.77592928e-04 -1.16277306e+01] [ 1.29202468e-03 -3.56131715e-05 9.99999165e-01 -1.30678847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters 0.05652786614100727 Centerline is valid? [True, True] Translation: X:177.23, Y:-11.64, Z:-1.31 [[ 9.93838515e-01 1.10827884e-01 -1.47831771e-03 1.77229838e+02] [-1.10827702e-01 9.93839614e-01 2.04902763e-04 -1.16363819e+01] [ 1.49191964e-03 -3.98017036e-05 9.99998886e-01 -1.30786684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters 0.05630361669694482 Centerline is valid? [True, True] Translation: X:177.29, Y:-11.64, Z:-1.31 [[ 9.93815251e-01 1.11013330e-01 -2.69970058e-03 1.77291968e+02] [-1.11012721e-01 9.93818915e-01 3.74823906e-04 -1.16406318e+01] [ 2.72462395e-03 -7.28046074e-05 9.99996286e-01 -1.30804452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters 0.05613073919523084 Centerline is valid? [True, True] Translation: X:177.35, Y:-11.64, Z:-1.31 [[ 9.93915230e-01 1.10107730e-01 -2.96708017e-03 1.77353445e+02] [-1.10106990e-01 9.93919655e-01 4.12091959e-04 -1.16435617e+01] [ 2.99441381e-03 -8.28882062e-05 9.99995513e-01 -1.30676525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters 0.05616433695495427 Centerline is valid? [True, True] Translation: X:177.41, Y:-11.66, Z:-1.31 [[ 9.93966426e-01 1.09667476e-01 -1.94621191e-03 1.77414160e+02] [-1.09667157e-01 9.93968330e-01 2.70166561e-04 -1.16590278e+01] [ 1.96410148e-03 -5.51009641e-05 9.99998070e-01 -1.30946292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters 0.055708782220659114 Centerline is valid? [True, True] Translation: X:177.48, Y:-11.67, Z:-1.31 [[ 9.93862500e-01 1.10603501e-01 -2.04838145e-03 1.77476455e+02] [-1.10603150e-01 9.93864610e-01 2.84420151e-04 -1.16661006e+01] [ 2.06727169e-03 -5.61170833e-05 9.99997862e-01 -1.30917410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters 0.05651692265731066 Centerline is valid? [True, True] Translation: X:177.54, Y:-11.67, Z:-1.31 [[ 9.93537487e-01 1.13488793e-01 -1.88561359e-03 1.77535979e+02] [-1.13488500e-01 9.93539275e-01 2.61821777e-04 -1.16706347e+01] [ 1.90314500e-03 -4.61342931e-05 9.99998188e-01 -1.30917575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters 0.05606397173210598 Centerline is valid? [True, True] Translation: X:177.60, Y:-11.68, Z:-1.31 [[ 9.92657288e-01 1.20950982e-01 -1.53926898e-03 1.77596143e+02] [-1.20950796e-01 9.92658481e-01 2.13622650e-04 -1.16769481e+01] [ 1.55380627e-03 -2.58782716e-05 9.99998793e-01 -1.30970930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters 0.0553238191234992 Centerline is valid? [True, True] Translation: X:177.66, Y:-11.68, Z:-1.31 [[ 9.91864136e-01 1.27292232e-01 -1.49096935e-03 1.77655569e+02] [-1.27292065e-01 9.91865257e-01 2.06861940e-04 -1.16827517e+01] [ 1.50517261e-03 -1.53903732e-05 9.99998867e-01 -1.30952312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters 0.05550240405266367 Centerline is valid? [True, True] Translation: X:177.72, Y:-11.69, Z:-1.31 [[ 9.91464696e-01 1.30371010e-01 -1.07486680e-03 1.77717835e+02] [-1.30370925e-01 9.91465279e-01 1.49716343e-04 -1.16904196e+01] [ 1.08521178e-03 -8.30709077e-06 9.99999411e-01 -1.30929371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters 0.05481951120571801 Centerline is valid? [True, True] Translation: X:177.78, Y:-11.70, Z:-1.31 [[ 9.90475229e-01 1.37688439e-01 -8.45304998e-04 1.77779367e+02] [-1.37688388e-01 9.90475590e-01 1.17881205e-04 -1.16981384e+01] [ 8.53484845e-04 -3.69730657e-07 9.99999636e-01 -1.31060513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters 0.05594190384424891 Centerline is valid? [True, True] Translation: X:177.84, Y:-11.71, Z:-1.31 [[ 9.89897816e-01 1.41779785e-01 -8.97489024e-04 1.77840300e+02] [-1.41779729e-01 9.89898223e-01 1.25603866e-04 -1.17077089e+01] [ 9.06230879e-04 2.91075823e-06 9.99999589e-01 -1.30937355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters 0.05473612865842734 Centerline is valid? [True, True] Translation: X:177.90, Y:-11.72, Z:-1.31 [[ 9.89780303e-01 1.42599110e-01 -6.67864538e-04 1.77902460e+02] [-1.42599079e-01 9.89780528e-01 9.39489452e-05 -1.17184085e+01] [ 6.74436351e-04 2.24805285e-06 9.99999773e-01 -1.30940646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters 0.054983889356082026 Centerline is valid? [True, True] Translation: X:177.96, Y:-11.73, Z:-1.31 [[ 9.89813721e-01 1.42366804e-01 -7.00771624e-04 1.77963809e+02] [-1.42366770e-01 9.89813969e-01 9.85456726e-05 -1.17297334e+01] [ 7.07663175e-04 2.22473350e-06 9.99999750e-01 -1.31045600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters 0.05531076848452655 Centerline is valid? [True, True] Translation: X:178.03, Y:-11.74, Z:-1.31 [[ 9.90097600e-01 1.40372995e-01 -1.47162932e-03 1.78025580e+02] [-1.40372844e-01 9.90098693e-01 2.05437040e-04 -1.17446913e+01] [ 1.48589608e-03 3.17407386e-06 9.99998896e-01 -1.31009970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters 0.05469474226738456 Centerline is valid? [True, True] Translation: X:178.09, Y:-11.76, Z:-1.31 [[ 9.90412075e-01 1.38128790e-01 -2.08782611e-03 1.78086453e+02] [-1.38128481e-01 9.90414276e-01 2.91997611e-04 -1.17588246e+01] [ 2.10814607e-03 -8.09708821e-07 9.99997778e-01 -1.31239242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters 0.05482667672279651 Centerline is valid? [True, True] Translation: X:178.15, Y:-11.78, Z:-1.31 [[ 9.91122007e-01 1.32941302e-01 -1.94377322e-03 1.78146395e+02] [-1.32941026e-01 9.91123913e-01 2.71433935e-04 -1.17777088e+01] [ 1.96260490e-03 -1.06169403e-05 9.99998074e-01 -1.31303020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters 0.054647093403855374 Centerline is valid? [True, True] Translation: X:178.21, Y:-11.80, Z:-1.31 [[ 9.91946985e-01 1.26635696e-01 -2.13995054e-03 1.78206662e+02] [-1.26635346e-01 9.91949293e-01 2.98898901e-04 -1.17966712e+01] [ 2.16057369e-03 -2.54984865e-05 9.99997666e-01 -1.31288495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters 0.054809686891937236 Centerline is valid? [True, True] Translation: X:178.27, Y:-11.81, Z:-1.31 [[ 9.92462004e-01 1.22533822e-01 -2.15251968e-03 1.78267845e+02] [-1.22533458e-01 9.92464338e-01 3.00672894e-04 -1.18075035e+01] [ 2.17314161e-03 -3.46507429e-05 9.99997638e-01 -1.30991655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters 0.05410687351949408 Centerline is valid? [True, True] Translation: X:178.33, Y:-11.83, Z:-1.31 [[ 9.93070533e-01 1.17502773e-01 -2.00354926e-03 1.78325708e+02] [-1.17502448e-01 9.93072553e-01 2.79621805e-04 -1.18258934e+01] [ 2.02252612e-03 -4.22622316e-05 9.99997954e-01 -1.31106443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters 0.05463183407953594 Centerline is valid? [True, True] Translation: X:178.39, Y:-11.84, Z:-1.31 [[ 9.93300792e-01 1.15526724e-01 -2.66695808e-03 1.78386854e+02] [-1.15526140e-01 9.93304370e-01 3.72624075e-04 -1.18397729e+01] [ 2.69214916e-03 -6.20244167e-05 9.99996374e-01 -1.31184780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters 0.05484971159470735 Centerline is valid? [True, True] Translation: X:178.45, Y:-11.85, Z:-1.31 [[ 9.93399243e-01 1.14660774e-01 -3.29404496e-03 1.78447096e+02] [-1.14659875e-01 9.93404701e-01 4.61010442e-04 -1.18531450e+01] [ 3.32517956e-03 -8.02726394e-05 9.99994468e-01 -1.31174713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters 0.05501781380559578 Centerline is valid? [True, True] Translation: X:178.51, Y:-11.87, Z:-1.31 [[ 9.93385827e-01 1.14783377e-01 -3.06178551e-03 1.78507642e+02] [-1.14782599e-01 9.93390543e-01 4.29004977e-04 -1.18669788e+01] [ 3.09079141e-03 -7.47277641e-05 9.99995221e-01 -1.31253819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters 0.054440228986844745 Centerline is valid? [True, True] Translation: X:178.57, Y:-11.88, Z:-1.31 [[ 9.93449890e-01 1.14247611e-01 -2.19087930e-03 1.78569171e+02] [-1.14247212e-01 9.93452304e-01 3.06705609e-04 -1.18781422e+01] [ 2.21157447e-03 -5.43948020e-05 9.99997553e-01 -1.31134783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters 0.054819304687198166 Centerline is valid? [True, True] Translation: X:178.63, Y:-11.89, Z:-1.31 [[ 9.93453324e-01 1.14220708e-01 -2.03055083e-03 1.78631535e+02] [-1.14220364e-01 9.93455398e-01 2.84856373e-04 -1.18855566e+01] [ 2.04979818e-03 -5.10612551e-05 9.99997898e-01 -1.31047894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters 0.054937193961429966 Centerline is valid? [True, True] Translation: X:178.69, Y:-11.89, Z:-1.31 [[ 9.93353061e-01 1.15081611e-01 -2.43288470e-03 1.78692898e+02] [-1.15081119e-01 9.93356039e-01 3.41634125e-04 -1.18931256e+01] [ 2.45603651e-03 -5.93842108e-05 9.99996982e-01 -1.30930601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters 0.05488502829412555 Centerline is valid? [True, True] Translation: X:178.75, Y:-11.91, Z:-1.31 [[ 9.93292414e-01 1.15613891e-01 -1.89977772e-03 1.78752918e+02] [-1.15613592e-01 9.93294229e-01 2.67069558e-04 -1.19065043e+01] [ 1.91791520e-03 -4.56380396e-05 9.99998160e-01 -1.30994021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters 0.05517203109176726 Centerline is valid? [True, True] Translation: X:178.82, Y:-11.91, Z:-1.31 [[ 9.93277724e-01 1.15738965e-01 -1.96344708e-03 1.78815232e+02] [-1.15738646e-01 9.93279663e-01 2.75781664e-04 -1.19137011e+01] [ 1.98217074e-03 -4.66810776e-05 9.99998034e-01 -1.30916715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters 0.05525956380098328 Centerline is valid? [True, True] Translation: X:178.88, Y:-11.92, Z:-1.31 [[ 9.93191270e-01 1.16447118e-01 -3.34205021e-03 1.78876007e+02] [-1.16446195e-01 9.93196890e-01 4.70027688e-04 -1.19240554e+01] [ 3.37404725e-03 -7.76583648e-05 9.99994305e-01 -1.31062101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters 0.05474163308385538 Centerline is valid? [True, True] Translation: X:178.94, Y:-11.93, Z:-1.31 [[ 9.93148481e-01 1.16806261e-01 -3.52031280e-03 1.78938104e+02] [-1.16805241e-01 9.93154717e-01 4.94575647e-04 -1.19308208e+01] [ 3.55398479e-03 -7.99960671e-05 9.99993681e-01 -1.31031228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters 0.05533382784058469 Centerline is valid? [True, True] Translation: X:179.00, Y:-11.94, Z:-1.31 [[ 9.93212698e-01 1.16243502e-01 -3.99820957e-03 1.78998194e+02] [-1.16242182e-01 9.93220741e-01 5.61560929e-04 -1.19393385e+01] [ 4.03638248e-03 -9.29888389e-05 9.99991849e-01 -1.31108096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters 0.055121015050455587 Centerline is valid? [True, True] Translation: X:179.06, Y:-11.95, Z:-1.31 [[ 9.93480319e-01 1.13959136e-01 -3.18915261e-03 1.79059733e+02] [-1.13958284e-01 9.93485435e-01 4.48253565e-04 -1.19486696e+01] [ 3.21945926e-03 -8.19007366e-05 9.99994814e-01 -1.31126450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters 0.0554430763914021 Centerline is valid? [True, True] Translation: X:179.12, Y:-11.95, Z:-1.31 [[ 9.93662587e-01 1.12373627e-01 -2.61347961e-03 1.79121255e+02] [-1.12373047e-01 9.93666022e-01 3.68151284e-04 -1.19535623e+01] [ 2.63829638e-03 -7.21334909e-05 9.99996517e-01 -1.30990243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters 0.055722550500616704 Centerline is valid? [True, True] Translation: X:179.18, Y:-11.96, Z:-1.31 [[ 9.93865664e-01 1.10576723e-01 -1.95717373e-03 1.79181034e+02] [-1.10576394e-01 9.93867589e-01 2.76090922e-04 -1.19648227e+01] [ 1.97570076e-03 -5.79800742e-05 9.99998047e-01 -1.31099385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters 0.05582771121302537 Centerline is valid? [True, True] Translation: X:179.24, Y:-11.97, Z:-1.31 [[ 9.94025908e-01 1.09138341e-01 -1.14718446e-03 1.79243360e+02] [-1.09138227e-01 9.94026570e-01 1.61662120e-04 -1.19691558e+01] [ 1.15797537e-03 -3.54946577e-05 9.99999329e-01 -1.31033881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters 0.05625756467112873 Centerline is valid? [True, True] Translation: X:179.30, Y:-11.98, Z:-1.31 [[ 9.94010086e-01 1.09285322e-01 -8.16694359e-04 1.79303375e+02] [-1.09285263e-01 9.94010421e-01 1.15796137e-04 -1.19814497e+01] [ 8.24457522e-04 -2.58498702e-05 9.99999660e-01 -1.31137228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters 0.056117261377247624 Centerline is valid? [True, True] Translation: X:179.37, Y:-11.98, Z:-1.31 [[ 9.93996171e-01 1.09410822e-01 -9.40349843e-04 1.79367057e+02] [-1.09410744e-01 9.93996615e-01 1.33417229e-04 -1.19845085e+01] [ 9.49301850e-04 -2.97318386e-05 9.99999549e-01 -1.31056422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters 0.056077514049622024 Centerline is valid? [True, True] Translation: X:179.43, Y:-11.99, Z:-1.31 [[ 9.94089163e-01 1.08565838e-01 -4.42536912e-04 1.79429616e+02] [-1.08565820e-01 9.94089261e-01 6.28571839e-05 -1.19871250e+01] [ 4.46745335e-04 -1.44412623e-05 9.99999900e-01 -1.31043080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters 0.05632914141144026 Centerline is valid? [True, True] Translation: X:179.49, Y:-12.00, Z:-1.31 [[ 9.94170871e-01 1.07812405e-01 -8.74400938e-04 1.79489175e+02] [-1.07812338e-01 9.94171255e-01 1.23791642e-04 -1.20028877e+01] [ 8.82650553e-04 -2.87988358e-05 9.99999610e-01 -1.31313559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters 0.05660830876204114 Centerline is valid? [True, True] Translation: X:179.55, Y:-12.01, Z:-1.31 [[ 9.94388655e-01 1.05786823e-01 5.92564676e-04 1.79550852e+02] [-1.05786792e-01 9.94388831e-01 -8.34861692e-05 -1.20054543e+01] [-5.98071432e-04 2.03321835e-05 9.99999821e-01 -1.31236779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters 0.0569414202729917 Centerline is valid? [True, True] Translation: X:179.61, Y:-12.01, Z:-1.31 [[ 9.94466173e-01 1.05053395e-01 9.02317450e-04 1.79611195e+02] [-1.05053324e-01 9.94466582e-01 -1.26662315e-04 -1.20140317e+01] [-9.10630857e-04 3.11699408e-05 9.99999585e-01 -1.31303471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters 0.05671341476128797 Centerline is valid? [True, True] Translation: X:179.67, Y:-12.02, Z:-1.31 [[ 9.94723183e-01 1.02575681e-01 2.00461529e-03 1.79672701e+02] [-1.02575319e-01 9.94725200e-01 -2.82892621e-04 -1.20170664e+01] [-2.02305925e-03 7.57757953e-05 9.99997951e-01 -1.31313804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters 0.057353888725293505 Centerline is valid? [True, True] Translation: X:179.73, Y:-12.02, Z:-1.31 [[ 9.94921616e-01 1.00631392e-01 2.07367125e-03 1.79734028e+02] [-1.00631000e-01 9.94923774e-01 -2.92683849e-04 -1.20217206e+01] [-2.09259801e-03 8.25218762e-05 9.99997807e-01 -1.31433961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters 0.056804369706664345 Centerline is valid? [True, True] Translation: X:179.80, Y:-12.02, Z:-1.32 [[ 9.94854460e-01 1.01282543e-01 2.53958079e-03 1.79797110e+02] [-1.01281957e-01 9.94857697e-01 -3.58452298e-04 -1.20181386e+01] [-2.56282646e-03 9.93941542e-05 9.99996711e-01 -1.31514462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters 0.056573224103900116 Centerline is valid? [True, True] Translation: X:179.86, Y:-12.02, Z:-1.32 [[ 9.94812098e-01 1.01680704e-01 3.15009810e-03 1.79860075e+02] [-1.01679805e-01 9.94817078e-01 -4.44682840e-04 -1.20202843e+01] [-3.17898706e-03 1.22074508e-04 9.99994940e-01 -1.31576701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters 0.05881361963063013 Centerline is valid? [True, True] Translation: X:179.92, Y:-12.04, Z:-1.32 [[ 9.94903886e-01 1.00793543e-01 2.63041849e-03 1.79919382e+02] [-1.00792913e-01 9.94907358e-01 -3.71502122e-04 -1.20372652e+01] [-2.65446773e-03 1.04481364e-04 9.99996471e-01 -1.31809578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters 0.05736033088587488 Centerline is valid? [True, True] Translation: X:179.98, Y:-12.03, Z:-1.32 [[ 9.95033337e-01 9.95221223e-02 2.00141808e-03 1.79982028e+02] [-9.95217543e-02 9.95035346e-01 -2.82893952e-04 -1.20314541e+01] [-2.01963594e-03 8.23042746e-05 9.99997957e-01 -1.31915690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters 0.057180792781432635 Centerline is valid? [True, True] Translation: X:180.05, Y:-12.03, Z:-1.32 [[ 9.94981588e-01 1.00033915e-01 2.20359893e-03 1.80045493e+02] [-1.00033470e-01 9.94984024e-01 -3.11345212e-04 -1.20298740e+01] [-2.22369081e-03 8.93491052e-05 9.99997524e-01 -1.31970704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters 0.05774685423525693 Centerline is valid? [True, True] Translation: X:180.10, Y:-12.04, Z:-1.32 [[ 9.94700149e-01 1.02791608e-01 2.34490702e-03 1.80104159e+02] [-1.02791111e-01 9.94702909e-01 -3.31696254e-04 -1.20443418e+01] [-2.36658142e-03 8.89027160e-05 9.99997196e-01 -1.32137596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters 0.05693732061370554 Centerline is valid? [True, True] Translation: X:180.17, Y:-12.04, Z:-1.32 [[ 9.93971575e-01 1.09571852e-01 3.81012261e-03 1.80166025e+02] [-1.09570590e-01 9.93978871e-01 -5.38919501e-04 -1.20388438e+01] [-3.84623178e-03 1.18193282e-04 9.99992596e-01 -1.32099027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters 0.05717040074676533 Centerline is valid? [True, True] Translation: X:180.23, Y:-12.04, Z:-1.32 [[ 9.93421194e-01 1.14457547e-01 3.71490161e-03 1.80225818e+02] [-1.14456382e-01 9.93428136e-01 -5.25447898e-04 -1.20448091e+01] [-3.75062926e-03 9.67968794e-05 9.99992962e-01 -1.32192911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters 0.055893445010288374 Centerline is valid? [True, True] Translation: X:180.29, Y:-12.04, Z:-1.32 [[ 9.92866420e-01 1.19154426e-01 4.30046280e-03 1.80287506e+02] [-1.19152909e-01 9.92875730e-01 -6.08269891e-04 -1.20431434e+01] [-4.34230319e-03 9.15180983e-05 9.99990568e-01 -1.32151264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters 0.05610899722553993 Centerline is valid? [True, True] Translation: X:180.35, Y:-12.05, Z:-1.32 [[ 9.92839944e-01 1.19352532e-01 4.88037093e-03 1.80349954e+02] [-1.19350581e-01 9.92851934e-01 -6.90212904e-04 -1.20481978e+01] [-4.92786437e-03 1.02795837e-04 9.99987853e-01 -1.32203137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters 0.0568553598883121 Centerline is valid? [True, True] Translation: X:180.41, Y:-12.06, Z:-1.32 [[ 9.93354067e-01 1.15022234e-01 4.19328754e-03 1.80408536e+02] [-1.15020754e-01 9.93362912e-01 -5.93273065e-04 -1.20603144e+01] [-4.23369591e-03 1.07015119e-04 9.99991032e-01 -1.32385810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters 0.0573475841583024 Centerline is valid? [True, True] Translation: X:180.47, Y:-12.07, Z:-1.32 [[ 9.93957735e-01 1.09691812e-01 3.96590393e-03 1.80468584e+02] [-1.09690445e-01 9.93965639e-01 -5.61075120e-04 -1.20686024e+01] [-4.00351758e-03 1.22663188e-04 9.99991978e-01 -1.32491984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters 0.05685124575646132 Centerline is valid? [True, True] Translation: X:180.53, Y:-12.07, Z:-1.33 [[ 9.94272121e-01 1.06805405e-01 3.94398755e-03 1.80530805e+02] [-1.06804031e-01 9.94279934e-01 -5.58053762e-04 -1.20672778e+01] [-3.98103084e-03 1.33623529e-04 9.99992067e-01 -1.32512195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters 0.05740517213601204 Centerline is valid? [True, True] Translation: X:180.59, Y:-12.08, Z:-1.33 [[ 9.94563188e-01 1.04073794e-01 3.56513543e-03 1.80589406e+02] [-1.04072653e-01 9.94569569e-01 -5.04536370e-04 -1.20815002e+01] [-3.59828422e-03 1.30760197e-04 9.99993518e-01 -1.32701340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters 0.05849963733243371 Centerline is valid? [True, True] Translation: X:180.65, Y:-12.10, Z:-1.33 [[ 9.94716246e-01 1.02591394e-01 3.82056151e-03 1.80647577e+02] [-1.02590073e-01 9.94723572e-01 -5.40693527e-04 -1.20979917e+01] [-3.85587310e-03 1.45884949e-04 9.99992555e-01 -1.32813951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters 0.057371424708743034 Centerline is valid? [True, True] Translation: X:180.71, Y:-12.09, Z:-1.33 [[ 9.94697089e-01 1.02691242e-01 5.67544606e-03 1.80712249e+02] [-1.02688329e-01 9.94713256e-01 -8.03068993e-04 -1.20889278e+01] [-5.72790958e-03 2.16008316e-04 9.99983572e-01 -1.32753140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters 0.05682104359271572 Centerline is valid? [True, True] Translation: X:180.77, Y:-12.10, Z:-1.33 [[ 9.94477518e-01 1.04786758e-01 5.84818067e-03 1.80771068e+02] [-1.04783695e-01 9.94494691e-01 -8.28507678e-04 -1.20975921e+01] [-5.90280126e-03 2.11138280e-04 9.99982556e-01 -1.32828234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters 0.05710784533559055 Centerline is valid? [True, True] Translation: X:180.83, Y:-12.10, Z:-1.33 [[ 9.93905241e-01 1.10076445e-01 5.96214765e-03 1.80831476e+02] [-1.10073358e-01 9.93923107e-01 -8.44586915e-04 -1.21022611e+01] [-6.01888544e-03 1.83165751e-04 9.99981870e-01 -1.32917684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters 0.056321396911609214 Centerline is valid? [True, True] Translation: X:180.89, Y:-12.11, Z:-1.33 [[ 9.93537571e-01 1.13323717e-01 6.38981613e-03 1.80891973e+02] [-1.13320237e-01 9.93558103e-01 -9.05194530e-04 -1.21092652e+01] [-6.45123360e-03 1.75249294e-04 9.99979175e-01 -1.32956694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters 0.05652633091202531 Centerline is valid? [True, True] Translation: X:180.95, Y:-12.12, Z:-1.33 [[ 9.93259848e-01 1.15760316e-01 5.86708121e-03 1.80953139e+02] [-1.15757425e-01 9.93277166e-01 -8.31173978e-04 -1.21150296e+01] [-5.92385475e-03 1.46413527e-04 9.99982443e-01 -1.33018720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters 0.05742231175575307 Centerline is valid? [True, True] Translation: X:181.01, Y:-12.13, Z:-1.33 [[ 9.93221311e-01 1.16111154e-01 5.44310432e-03 1.81013269e+02] [-1.16108671e-01 9.93236217e-01 -7.71026559e-04 -1.21278919e+01] [-5.49581312e-03 1.33808403e-04 9.99984889e-01 -1.33104326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters 0.05679002012567 Centerline is valid? [True, True] Translation: X:181.07, Y:-12.13, Z:-1.33 [[ 9.93320675e-01 1.15171237e-01 7.04435562e-03 1.81074724e+02] [-1.15167048e-01 9.93345636e-01 -9.98813860e-04 -1.21335660e+01] [-7.11251454e-03 1.80864816e-04 9.99974689e-01 -1.33114627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters 0.05648117111755485 Centerline is valid? [True, True] Translation: X:181.14, Y:-12.14, Z:-1.33 [[ 9.93632866e-01 1.12383476e-01 7.98009483e-03 1.81135127e+02] [-1.12378003e-01 9.93664884e-01 -1.13242138e-03 -1.21401891e+01] [-8.05680546e-03 2.28423981e-04 9.99967517e-01 -1.33191219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters 0.05632411413321231 Centerline is valid? [True, True] Translation: X:181.19, Y:-12.15, Z:-1.33 [[ 9.93795876e-01 1.10943667e-01 7.82689521e-03 1.81194951e+02] [-1.10938356e-01 9.93826669e-01 -1.11080970e-03 -1.21494491e+01] [-7.90181449e-03 2.35615214e-04 9.99968752e-01 -1.33324305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters 0.05677530885400069 Centerline is valid? [True, True] Translation: X:181.25, Y:-12.16, Z:-1.33 [[ 9.93849250e-01 1.10420918e-01 8.41957763e-03 1.81254492e+02] [-1.10414752e-01 9.93884880e-01 -1.19516968e-03 -1.21649023e+01] [-8.50006264e-03 2.58172911e-04 9.99963840e-01 -1.33295852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters 0.057127350999156556 Centerline is valid? [True, True] Translation: X:181.32, Y:-12.17, Z:-1.34 [[ 9.94013785e-01 1.09078621e-01 6.20080664e-03 1.81316166e+02] [-1.09075247e-01 9.94033106e-01 -8.80723438e-04 -1.21701870e+01] [-6.25987518e-03 1.99096725e-04 9.99980387e-01 -1.33586333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters 0.057999505505433445 Centerline is valid? [True, True] Translation: X:181.38, Y:-12.18, Z:-1.34 [[ 9.94101297e-01 1.08305541e-01 5.70271410e-03 1.81376160e+02] [-1.08302675e-01 9.94117636e-01 -8.10009703e-04 -1.21845857e+01] [-5.75689720e-03 1.87612508e-04 9.99983411e-01 -1.33775713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters 0.05704565757683415 Centerline is valid? [True, True] Translation: X:181.44, Y:-12.19, Z:-1.34 [[ 9.94429690e-01 1.05123541e-01 7.65715997e-03 1.81437592e+02] [-1.05118271e-01 9.94459131e-01 -1.08867436e-03 -1.21869578e+01] [-7.72917796e-03 2.77702691e-04 9.99970091e-01 -1.33666864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters 0.05748697598696402 Centerline is valid? [True, True] Translation: X:181.50, Y:-12.19, Z:-1.34 [[ 9.94761726e-01 1.01960848e-01 7.28662111e-03 1.81498208e+02] [-1.01955990e-01 9.94788371e-01 -1.03606889e-03 -1.21932351e+01] [-7.35428440e-03 2.87727002e-04 9.99972915e-01 -1.33750375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters 0.05706974854462207 Centerline is valid? [True, True] Translation: X:181.56, Y:-12.20, Z:-1.34 [[ 9.95349117e-01 9.60274680e-02 7.67206989e-03 1.81558668e+02] [-9.60219062e-02 9.95378623e-01 -1.09089243e-03 -1.21994875e+01] [-7.74137001e-03 3.49132044e-04 9.99969974e-01 -1.33843960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters 0.05738232349439322 Centerline is valid? [True, True] Translation: X:181.62, Y:-12.21, Z:-1.34 [[ 9.95577957e-01 9.35938747e-02 8.04476181e-03 1.81618539e+02] [-9.35876797e-02 9.95610384e-01 -1.14392423e-03 -1.22096626e+01] [-8.11651270e-03 3.85975154e-04 9.99966986e-01 -1.33897325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters 0.05790909772015841 Centerline is valid? [True, True] Translation: X:181.68, Y:-12.22, Z:-1.34 [[ 9.96287117e-01 8.56259221e-02 8.95439157e-03 1.81678059e+02] [-8.56179252e-02 9.96327230e-01 -1.27332745e-03 -1.22229163e+01] [-9.03053399e-03 5.01943304e-04 9.99959098e-01 -1.33901564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters 0.05750544624298467 Centerline is valid? [True, True] Translation: X:181.74, Y:-12.23, Z:-1.34 [[ 9.96641251e-01 8.12773755e-02 1.00102233e-02 1.81739274e+02] [-8.12671618e-02 9.96691337e-01 -1.42357772e-03 -1.22262641e+01] [-1.00928075e-02 6.05293840e-04 9.99948883e-01 -1.33965293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters 0.05859108646326305 Centerline is valid? [True, True] Translation: X:181.80, Y:-12.24, Z:-1.34 [[ 9.96719412e-01 8.02162099e-02 1.07598309e-02 1.81798603e+02] [-8.02043469e-02 9.96777268e-01 -1.53023383e-03 -1.22387899e+01] [-1.08479044e-02 6.62228555e-04 9.99940940e-01 -1.33907880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters 0.0584983902783609 Centerline is valid? [True, True] Translation: X:181.86, Y:-12.24, Z:-1.34 [[ 9.96533462e-01 8.25122946e-02 1.06197988e-02 1.81858654e+02] [-8.25008677e-02 9.96589848e-01 -1.51037824e-03 -1.22442011e+01] [-1.07082084e-02 6.28999847e-04 9.99942468e-01 -1.33968480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters 0.059064822524240064 Centerline is valid? [True, True] Translation: X:181.92, Y:-12.25, Z:-1.34 [[ 9.95951085e-01 8.93715096e-02 9.70410254e-03 1.81919662e+02] [-8.93622929e-02 9.95998231e-01 -1.38012696e-03 -1.22485316e+01] [-9.78861299e-03 5.07358088e-04 9.99951962e-01 -1.34133562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters 0.05864107398795878 Centerline is valid? [True, True] Translation: X:181.98, Y:-12.25, Z:-1.34 [[ 9.95278213e-01 9.66286023e-02 9.17561005e-03 1.81981010e+02] [-9.66206701e-02 9.95320422e-01 -1.30491737e-03 -1.22501651e+01] [-9.25876441e-03 4.12202237e-04 9.99957052e-01 -1.34244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters 0.057684288123492154 Centerline is valid? [True, True] Translation: X:182.04, Y:-12.24, Z:-1.34 [[ 9.94151319e-01 1.07609319e-01 9.13176563e-03 1.82043353e+02] [-1.07601925e-01 9.94193210e-01 -1.29868475e-03 -1.22424049e+01] [-9.21848997e-03 3.08493600e-04 9.99957461e-01 -1.34429065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters 0.057614590500968316 Centerline is valid? [True, True] Translation: X:182.10, Y:-12.25, Z:-1.34 [[ 9.93559639e-01 1.12966423e-01 8.82222908e-03 1.82103033e+02] [-1.12959732e-01 9.93598775e-01 -1.25464929e-03 -1.22455078e+01] [-8.90748924e-03 2.50012259e-04 9.99960296e-01 -1.34483868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters 0.05713234023331355 Centerline is valid? [True, True] Translation: X:182.17, Y:-12.25, Z:-1.35 [[ 9.93431400e-01 1.14105364e-01 8.60347762e-03 1.82165154e+02] [-1.14099043e-01 9.93468626e-01 -1.22361572e-03 -1.22514983e+01] [-8.68690621e-03 2.33929716e-04 9.99962241e-01 -1.34531863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters 0.057447686608180816 Centerline is valid? [True, True] Translation: X:182.23, Y:-12.25, Z:-1.35 [[ 9.94184328e-01 1.07365648e-01 8.37499004e-03 1.82226866e+02] [-1.07359412e-01 9.94219561e-01 -1.19187007e-03 -1.22515654e+01] [-8.45454482e-03 2.85804538e-04 9.99964219e-01 -1.34720689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters 0.0594953624398321 Centerline is valid? [True, True] Translation: X:182.28, Y:-12.27, Z:-1.35 [[ 9.95327967e-01 9.61791652e-02 8.47381086e-03 1.82284822e+02] [-9.61723753e-02 9.95363963e-01 -1.20609324e-03 -1.22652725e+01] [-8.55052700e-03 3.85511814e-04 9.99963369e-01 -1.34748236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters 0.0594953624398321 Centerline is valid? [True, True] Translation: X:182.35, Y:-12.27, Z:-1.35 [[ 9.95316152e-01 9.63013641e-02 8.47377164e-03 1.82346764e+02] [-9.62945763e-02 9.95352148e-01 -1.20636864e-03 -1.22740686e+01] [-8.55056176e-03 3.84739944e-04 9.99963369e-01 -1.34794341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters 0.05744396124654582 Centerline is valid? [True, True] Translation: X:182.41, Y:-12.27, Z:-1.35 [[ 9.95461710e-01 9.47175051e-02 9.19663784e-03 1.82409206e+02] [-9.47094328e-02 9.95504097e-01 -1.31030317e-03 -1.22701645e+01] [-9.27939929e-03 4.33348285e-04 9.99956852e-01 -1.34903983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters 0.06262535086030865 Centerline is valid? [True, True] Translation: X:182.47, Y:-12.30, Z:-1.35 [[ 9.95708510e-01 9.21549720e-02 8.48675821e-03 1.82465159e+02] [-9.21480039e-02 9.95744587e-01 -1.20928603e-03 -1.22981657e+01] [-8.56208527e-03 4.22058561e-04 9.99963256e-01 -1.34844325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters 0.06032892760634113 Centerline is valid? [True, True] Translation: X:182.53, Y:-12.29, Z:-1.35 [[ 9.95853216e-01 9.05420675e-02 8.86035396e-03 1.82527374e+02] [-9.05344079e-02 9.95892528e-01 -1.26261428e-03 -1.22941984e+01] [-8.93828001e-03 4.55211594e-04 9.99959949e-01 -1.34987734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters 0.06053948451103143 Centerline is valid? [True, True] Translation: X:182.59, Y:-12.30, Z:-1.35 [[ 9.96057368e-01 8.82847356e-02 8.69052480e-03 1.82587964e+02] [-8.82772802e-02 9.96095170e-01 -1.23852191e-03 -1.23006167e+01] [-8.76593236e-03 4.66462982e-04 9.99961470e-01 -1.35114687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters 0.058182882707382005 Centerline is valid? [True, True] Translation: X:182.65, Y:-12.29, Z:-1.35 [[ 9.96489946e-01 8.32247585e-02 9.02371351e-03 1.82650191e+02] [-8.32165132e-02 9.96530661e-01 -1.28603453e-03 -1.22927481e+01] [-9.09943711e-03 5.30598507e-04 9.99958458e-01 -1.35340428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters 0.060467623151664145 Centerline is valid? [True, True] Translation: X:182.71, Y:-12.31, Z:-1.35 [[ 9.96815288e-01 7.92667918e-02 8.72113281e-03 1.82708140e+02] [-7.92589385e-02 9.96853287e-01 -1.24299709e-03 -1.23122321e+01] [-8.79221830e-03 5.47810769e-04 9.99961198e-01 -1.35355883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters 0.05845361089930155 Centerline is valid? [True, True] Translation: X:182.77, Y:-12.31, Z:-1.35 [[ 9.97137992e-01 7.50653378e-02 9.00109753e-03 1.82770108e+02] [-7.50568012e-02 9.97178435e-01 -1.28295061e-03 -1.23058470e+01] [-9.07200547e-03 6.03685207e-04 9.99958666e-01 -1.35421635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters 0.06170883793707954 Centerline is valid? [True, True] Translation: X:182.83, Y:-12.33, Z:-1.35 [[ 9.97147533e-01 7.49218262e-02 9.13883669e-03 1.82829311e+02] [-7.49130180e-02 9.97189221e-01 -1.30283449e-03 -1.23261311e+01] [-9.21076017e-03 6.14500359e-04 9.99957391e-01 -1.35353448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters 0.06321525477342195 Centerline is valid? [True, True] Translation: X:182.89, Y:-12.34, Z:-1.35 [[ 9.96943673e-01 7.76080333e-02 8.96136651e-03 1.82889355e+02] [-7.75996643e-02 9.96983780e-01 -1.27837898e-03 -1.23359467e+01] [-9.03354954e-03 5.79072798e-04 9.99959029e-01 -1.35360496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters 0.06421345920083726 Centerline is valid? [True, True] Translation: X:182.95, Y:-12.34, Z:-1.35 [[ 9.96692645e-01 8.08338616e-02 8.34619636e-03 1.82949838e+02] [-8.08267144e-02 9.96727458e-01 -1.19066734e-03 -1.23432570e+01] [-8.41512932e-03 5.12133753e-04 9.99964461e-01 -1.35464913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters 0.05814773877849746 Centerline is valid? [True, True] Translation: X:183.01, Y:-12.32, Z:-1.36 [[ 9.96386367e-01 8.44876868e-02 8.72005498e-03 1.83014331e+02] [-8.44800242e-02 9.96424396e-01 -1.24402817e-03 -1.23199867e+01] [-8.79398058e-03 5.02862256e-04 9.99961206e-01 -1.35710443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters 0.058305117892530046 Centerline is valid? [True, True] Translation: X:183.07, Y:-12.32, Z:-1.36 [[ 9.96242116e-01 8.61575668e-02 8.86113261e-03 1.83074861e+02] [-8.61497190e-02 9.96281400e-01 -1.26427098e-03 -1.23210477e+01] [-8.93710811e-03 4.96135915e-04 9.99959940e-01 -1.35735772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters 0.059169278880873394 Centerline is valid? [True, True] Translation: X:183.13, Y:-12.33, Z:-1.36 [[ 9.96169440e-01 8.69626945e-02 9.16173780e-03 1.83133975e+02] [-8.69543389e-02 9.96211441e-01 -1.30719016e-03 -1.23331325e+01] [-9.24070479e-03 5.05530035e-04 9.99957176e-01 -1.35735565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters 0.05873441828482617 Centerline is valid? [True, True] Translation: X:183.20, Y:-12.33, Z:-1.36 [[ 9.96108900e-01 8.77123026e-02 8.57972033e-03 1.83196458e+02] [-8.77050013e-02 9.96145739e-01 -1.22430212e-03 -1.23329969e+01] [-8.65403821e-03 4.67053856e-04 9.99962444e-01 -1.35814665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters 0.059463923041477976 Centerline is valid? [True, True] Translation: X:183.26, Y:-12.34, Z:-1.36 [[ 9.96020250e-01 8.88133071e-02 7.47376829e-03 1.83256306e+02] [-8.88077960e-02 9.96048210e-01 -1.06670606e-03 -1.23444383e+01] [-7.53897122e-03 3.98731944e-04 9.99971502e-01 -1.35906828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters 0.05864878142843584 Centerline is valid? [True, True] Translation: X:183.32, Y:-12.34, Z:-1.36 [[ 9.95783098e-01 9.15191014e-02 6.34638586e-03 1.83317902e+02] [-9.15151816e-02 9.95803269e-01 -9.05923269e-04 -1.23448130e+01] [-6.40266107e-03 3.21312425e-04 9.99979451e-01 -1.36064226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters 0.05889227825612446 Centerline is valid? [True, True] Translation: X:183.38, Y:-12.35, Z:-1.36 [[ 9.95470656e-01 9.48755707e-02 6.06615740e-03 1.83379105e+02] [-9.48720523e-02 9.95489098e-01 -8.65803486e-04 -1.23465249e+01] [-6.12093715e-03 2.86373163e-04 9.99981226e-01 -1.36125692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters 0.05887957348139161 Centerline is valid? [True, True] Translation: X:183.44, Y:-12.35, Z:-1.36 [[ 9.95095164e-01 9.87892600e-02 5.12805677e-03 1.83439645e+02] [-9.87867981e-02 9.95108352e-01 -7.31796439e-04 -1.23522086e+01] [-5.17526576e-03 2.21622788e-04 9.99986584e-01 -1.36200771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters 0.0585594274858881 Centerline is valid? [True, True] Translation: X:183.50, Y:-12.35, Z:-1.36 [[ 9.94718215e-01 1.02569462e-01 3.89590190e-03 1.83499555e+02] [-1.02568070e-01 9.94725833e-01 -5.56037543e-04 -1.23539679e+01] [-3.93238673e-03 1.53505534e-04 9.99992256e-01 -1.36193925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters 0.05779938681590362 Centerline is valid? [True, True] Translation: X:183.56, Y:-12.36, Z:-1.36 [[ 9.94511659e-01 1.04544643e-01 4.12049987e-03 1.83561064e+02] [-1.04543103e-01 9.94520183e-01 -5.88020169e-04 -1.23565194e+01] [-4.15939465e-03 1.54023072e-04 9.99991338e-01 -1.36163407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters 0.06061401832670563 Centerline is valid? [True, True] Translation: X:183.62, Y:-12.38, Z:-1.36 [[ 9.94549838e-01 1.04188817e-01 3.91281047e-03 1.83620134e+02] [-1.04187427e-01 9.94557524e-01 -5.58022338e-04 -1.23752578e+01] [-3.94965478e-03 1.47315370e-04 9.99992189e-01 -1.36266982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters 0.05806776806430013 Centerline is valid? [True, True] Translation: X:183.68, Y:-12.37, Z:-1.36 [[ 9.94721248e-01 1.02526180e-01 4.24510816e-03 1.83682773e+02] [-1.02524525e-01 9.94730292e-01 -6.06231203e-04 -1.23667506e+01] [-4.28489225e-03 1.67803363e-04 9.99990806e-01 -1.36171861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters 0.05896405901603782 Centerline is valid? [True, True] Translation: X:183.74, Y:-12.38, Z:-1.36 [[ 9.94901374e-01 1.00752022e-01 4.50405971e-03 1.83742282e+02] [-1.00750140e-01 9.94911552e-01 -6.43321082e-04 -1.23780844e+01] [-4.54595693e-03 1.86256381e-04 9.99989650e-01 -1.36241528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters 0.05975985595677153 Centerline is valid? [True, True] Translation: X:183.80, Y:-12.39, Z:-1.36 [[ 9.94940443e-01 1.00387513e-01 3.98266867e-03 1.83802491e+02] [-1.00386040e-01 9.94948401e-01 -5.68550137e-04 -1.23898119e+01] [-4.01962515e-03 1.65869189e-04 9.99991908e-01 -1.36317594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters 0.058531623333296555 Centerline is valid? [True, True] Translation: X:183.87, Y:-12.39, Z:-1.36 [[ 9.94930255e-01 1.00514838e-01 3.24893329e-03 1.83866142e+02] [-1.00513858e-01 9.94935550e-01 -4.63893646e-04 -1.23898586e+01] [-3.27910743e-03 1.34979004e-04 9.99994615e-01 -1.36336649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters 0.059155730721889885 Centerline is valid? [True, True] Translation: X:183.93, Y:-12.40, Z:-1.36 [[ 9.94783094e-01 1.01976726e-01 2.70984082e-03 1.83925679e+02] [-1.01976047e-01 9.94786779e-01 -3.87670390e-04 -1.24018771e+01] [-2.73524718e-03 1.09309094e-04 9.99996253e-01 -1.36427078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters 0.06040804229078325 Centerline is valid? [True, True] Translation: X:183.99, Y:-12.41, Z:-1.37 [[ 9.94578584e-01 1.03953834e-01 2.65327288e-03 1.83985136e+02] [-1.03953190e-01 9.94582118e-01 -3.79698825e-04 -1.24140784e+01] [-2.67836891e-03 1.01824140e-04 9.99996408e-01 -1.36567674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters 0.05838266413995799 Centerline is valid? [True, True] Translation: X:184.05, Y:-12.41, Z:-1.37 [[ 9.94157832e-01 1.07912222e-01 2.27079284e-03 1.84046153e+02] [-1.07911761e-01 9.94160423e-01 -3.24928505e-04 -1.24131339e+01] [-2.29259612e-03 7.79849645e-05 9.99997369e-01 -1.36556320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters 0.05826445202113665 Centerline is valid? [True, True] Translation: X:184.11, Y:-12.42, Z:-1.37 [[ 9.93730669e-01 1.11788453e-01 1.64266988e-03 1.84106708e+02] [-1.11788217e-01 9.93732026e-01 -2.35075547e-04 -1.24183378e+01] [-1.65865240e-03 4.99706437e-05 9.99998623e-01 -1.36578835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters 0.05807248281446418 Centerline is valid? [True, True] Translation: X:184.17, Y:-12.43, Z:-1.37 [[ 9.93456852e-01 1.14206354e-01 6.26675245e-04 1.84167352e+02] [-1.14206320e-01 9.93457049e-01 -8.95843570e-05 -1.24256728e+01] [-6.32806042e-04 1.74279197e-05 9.99999800e-01 -1.36649373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters 0.057875416733692876 Centerline is valid? [True, True] Translation: X:184.23, Y:-12.43, Z:-1.37 [[ 9.93391708e-01 1.14772693e-01 3.78573443e-04 1.84228006e+02] [-1.14772681e-01 9.93391780e-01 -5.41852998e-05 -1.24300954e+01] [-3.82290739e-04 1.03773386e-05 9.99999927e-01 -1.36517766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters 0.05855958981429626 Centerline is valid? [True, True] Translation: X:184.29, Y:-12.44, Z:-1.36 [[ 9.93644310e-01 1.12548275e-01 1.96749574e-03 1.84286898e+02] [-1.12547938e-01 9.93646256e-01 -2.81524938e-04 -1.24446010e+01] [-1.98667992e-03 5.82980637e-05 9.99998025e-01 -1.36486148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters 0.058614454275643046 Centerline is valid? [True, True] Translation: X:184.35, Y:-12.46, Z:-1.36 [[ 9.93710817e-01 1.11932547e-01 3.14926773e-03 1.84346871e+02] [-1.11931682e-01 9.93715802e-01 -4.50389783e-04 -1.24567641e+01] [-3.17989038e-03 9.50543663e-05 9.99994940e-01 -1.36462876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters 0.0577244071600705 Centerline is valid? [True, True] Translation: X:184.41, Y:-12.46, Z:-1.36 [[ 9.93427720e-01 1.14406704e-01 3.53137235e-03 1.84407657e+02] [-1.14405628e-01 9.93433992e-01 -5.05854559e-04 -1.24596360e+01] [-3.56605849e-03 9.85210693e-05 9.99993637e-01 -1.36418789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters 0.05815928451853283 Centerline is valid? [True, True] Translation: X:184.47, Y:-12.47, Z:-1.37 [[ 9.92980696e-01 1.18228958e-01 3.35426328e-03 1.84467111e+02] [-1.18228010e-01 9.92986358e-01 -4.80453139e-04 -1.24715998e+01] [-3.38754115e-03 8.05128209e-05 9.99994259e-01 -1.36561686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters 0.05766303343130681 Centerline is valid? [True, True] Translation: X:184.53, Y:-12.48, Z:-1.37 [[ 9.91882808e-01 1.27121672e-01 2.92857455e-03 1.84528266e+02] [-1.27120988e-01 9.91887130e-01 -4.19499763e-04 -1.24758688e+01] [-2.95814292e-03 4.38113136e-05 9.99995624e-01 -1.36544715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters 0.05806714112757233 Centerline is valid? [True, True] Translation: X:184.59, Y:-12.48, Z:-1.36 [[ 9.90922634e-01 1.34377564e-01 3.87352739e-03 1.84588995e+02] [-1.34376421e-01 9.90930204e-01 -5.54903993e-04 -1.24813191e+01] [-3.91296193e-03 2.93561783e-05 9.99992344e-01 -1.36481551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters 0.05785178529983761 Centerline is valid? [True, True] Translation: X:184.65, Y:-12.49, Z:-1.37 [[ 9.89310206e-01 1.45768097e-01 4.12034298e-03 1.84649271e+02] [-1.45766903e-01 9.89318787e-01 -5.90158269e-04 -1.24883394e+01] [-4.16235897e-03 -1.67600383e-05 9.99991337e-01 -1.36510660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters 0.05794024565097579 Centerline is valid? [True, True] Translation: X:184.71, Y:-12.50, Z:-1.37 [[ 9.88412221e-01 1.51740474e-01 4.01371108e-03 1.84709385e+02] [-1.51739390e-01 9.88420369e-01 -5.75192935e-04 -1.24976439e+01] [-4.05451384e-03 -4.05103435e-05 9.99991780e-01 -1.36612241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters 0.057397102241638076 Centerline is valid? [True, True] Translation: X:184.77, Y:-12.51, Z:-1.37 [[ 9.87711121e-01 1.56253418e-01 3.40754960e-03 1.84768594e+02] [-1.56252662e-01 9.87716997e-01 -4.88373708e-04 -1.25072724e+01] [-3.44200472e-03 -5.00665554e-05 9.99994075e-01 -1.36757137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters 0.05744028728024646 Centerline is valid? [True, True] Translation: X:184.83, Y:-12.53, Z:-1.37 [[ 9.87186031e-01 1.59542188e-01 3.16713770e-03 1.84828139e+02] [-1.59541554e-01 9.87191110e-01 -4.53477152e-04 -1.25256581e+01] [-3.19891892e-03 -5.76237621e-05 9.99994882e-01 -1.36810899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters 0.057263227212649065 Centerline is valid? [True, True] Translation: X:184.89, Y:-12.54, Z:-1.37 [[ 9.87463908e-01 1.57821600e-01 2.71538139e-03 1.84887674e+02] [-1.57821127e-01 9.87467640e-01 -3.88981122e-04 -1.25418815e+01] [-2.74274088e-03 -4.44397316e-05 9.99996238e-01 -1.36875309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters 0.057357891989632044 Centerline is valid? [True, True] Translation: X:184.95, Y:-12.56, Z:-1.37 [[ 9.88038224e-01 1.54171940e-01 3.38833053e-03 1.84946587e+02] [-1.54171179e-01 9.88044033e-01 -4.86238132e-04 -1.25624185e+01] [-3.42278404e-03 -4.19610530e-05 9.99994141e-01 -1.36762188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters 0.05713491125829694 Centerline is valid? [True, True] Translation: X:185.00, Y:-12.58, Z:-1.37 [[ 9.88859992e-01 1.48800452e-01 3.78697423e-03 1.85004797e+02] [-1.48799461e-01 9.88867243e-01 -5.43590709e-04 -1.25836829e+01] [-3.82570131e-03 -2.59646206e-05 9.99992682e-01 -1.36890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters 0.05694071293665652 Centerline is valid? [True, True] Translation: X:185.06, Y:-12.60, Z:-1.37 [[ 9.89138202e-01 1.46913233e-01 4.70301119e-03 1.85064846e+02] [-1.46911684e-01 9.89149383e-01 -6.74959794e-04 -1.26020539e+01] [-4.75114114e-03 -2.32987785e-05 9.99988713e-01 -1.36903222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters 0.05696916680828757 Centerline is valid? [True, True] Translation: X:185.13, Y:-12.62, Z:-1.37 [[ 9.89180254e-01 1.46608516e-01 5.32625761e-03 1.85125609e+02] [-1.46606521e-01 9.89194593e-01 -7.65199746e-04 -1.26186976e+01] [-5.38089002e-03 -2.39436206e-05 9.99985523e-01 -1.37029363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters 0.05656949678977823 Centerline is valid? [True, True] Translation: X:185.19, Y:-12.64, Z:-1.37 [[ 9.88879862e-01 1.48650173e-01 4.44347957e-03 1.85185531e+02] [-1.48648806e-01 9.88889845e-01 -6.38300588e-04 -1.26410345e+01] [-4.48899532e-03 -2.93153348e-05 9.99989924e-01 -1.37112519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters 0.056394922966035675 Centerline is valid? [True, True] Translation: X:185.25, Y:-12.66, Z:-1.37 [[ 9.88574022e-01 1.50681155e-01 4.07331296e-03 1.85246134e+02] [-1.50680021e-01 9.88582413e-01 -5.85709679e-04 -1.26590889e+01] [-4.11506097e-03 -3.47495080e-05 9.99991532e-01 -1.37103332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters 0.05631679612575583 Centerline is valid? [True, True] Translation: X:185.30, Y:-12.68, Z:-1.37 [[ 9.88348924e-01 1.52113323e-01 5.28590830e-03 1.85304924e+02] [-1.52111432e-01 9.88363058e-01 -7.60249254e-04 -1.26804762e+01] [-5.34004053e-03 -5.26555498e-05 9.99985740e-01 -1.37024677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters 0.056162428306146525 Centerline is valid? [True, True] Translation: X:185.36, Y:-12.70, Z:-1.37 [[ 9.88356905e-01 1.52003915e-01 6.74079900e-03 1.85364634e+02] [-1.52000831e-01 9.88379889e-01 -9.70492102e-04 -1.27024376e+01] [-6.80998876e-03 -6.54144818e-05 9.99976810e-01 -1.37101884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters 0.05562347061099062 Centerline is valid? [True, True] Translation: X:185.43, Y:-12.72, Z:-1.37 [[ 9.88424754e-01 1.51572974e-01 6.49140885e-03 1.85425723e+02] [-1.51570103e-01 9.88446068e-01 -9.34767162e-04 -1.27176794e+01] [-6.55809299e-03 -5.99565050e-05 9.99978494e-01 -1.37173567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters 0.05565894177462669 Centerline is valid? [True, True] Translation: X:185.49, Y:-12.74, Z:-1.37 [[ 9.88530458e-01 1.50923144e-01 5.45323973e-03 1.85486191e+02] [-1.50921106e-01 9.88545498e-01 -7.85762258e-04 -1.27357267e+01] [-5.50936530e-03 -4.62590451e-05 9.99984822e-01 -1.37345740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters 0.05510347709198033 Centerline is valid? [True, True] Translation: X:185.55, Y:-12.76, Z:-1.38 [[ 9.88639237e-01 1.50259657e-01 3.80730935e-03 1.85545619e+02] [-1.50258657e-01 9.88646567e-01 -5.48756451e-04 -1.27580295e+01] [-3.84653927e-03 -2.95590329e-05 9.99992602e-01 -1.37571110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters 0.055269736304280004 Centerline is valid? [True, True] Translation: X:185.61, Y:-12.78, Z:-1.38 [[ 9.88573347e-01 1.50683913e-01 4.13467531e-03 1.85606868e+02] [-1.50682736e-01 9.88581993e-01 -5.96719835e-04 -1.27755929e+01] [-4.17738164e-03 -3.31228614e-05 9.99991274e-01 -1.37634102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters 0.05461489562553982 Centerline is valid? [True, True] Translation: X:185.67, Y:-12.79, Z:-1.38 [[ 9.88196095e-01 1.53125490e-01 4.58925935e-03 1.85665432e+02] [-1.53124063e-01 9.88206751e-01 -6.62657628e-04 -1.27947436e+01] [-4.63660684e-03 -4.78903582e-05 9.99989250e-01 -1.37684273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters 0.05384745763367927 Centerline is valid? [True, True] Translation: X:185.72, Y:-12.82, Z:-1.38 [[ 9.87875036e-01 1.55167234e-01 5.10317284e-03 1.85723800e+02] [-1.55165496e-01 9.87888215e-01 -7.37231793e-04 -1.28150235e+01] [-5.15575853e-03 -6.35434612e-05 9.99986707e-01 -1.37629963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters 0.05409982342011444 Centerline is valid? [True, True] Translation: X:185.78, Y:-12.83, Z:-1.38 [[ 9.87551051e-01 1.57172924e-01 6.29229885e-03 1.85783656e+02] [-1.57170319e-01 9.87571093e-01 -9.09509992e-04 -1.28345309e+01] [-6.35704280e-03 -9.07750670e-05 9.99979790e-01 -1.37808086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters 0.053750142091821454 Centerline is valid? [True, True] Translation: X:185.84, Y:-12.85, Z:-1.38 [[ 9.87628827e-01 1.56697929e-01 5.92110466e-03 1.85842998e+02] [-1.56695612e-01 9.87646573e-01 -8.55991752e-04 -1.28514387e+01] [-5.98209086e-03 -8.24089908e-05 9.99982104e-01 -1.37891273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters 0.05305482448064406 Centerline is valid? [True, True] Translation: X:185.90, Y:-12.88, Z:-1.38 [[ 9.88095989e-01 1.53751103e-01 5.18802381e-03 1.85901379e+02] [-1.53749282e-01 9.88109607e-01 -7.50476230e-04 -1.28763279e+01] [-5.24172272e-03 -5.61123838e-05 9.99986261e-01 -1.37908895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters 0.053018662823014484 Centerline is valid? [True, True] Translation: X:185.96, Y:-12.89, Z:-1.38 [[ 9.88382585e-01 1.51859110e-01 6.21901091e-03 1.85961525e+02] [-1.51856450e-01 9.88402149e-01 -9.00477389e-04 -1.28938448e+01] [-6.28362944e-03 -5.43807494e-05 9.99980256e-01 -1.37865838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters 0.052534708167886635 Centerline is valid? [True, True] Translation: X:186.02, Y:-12.92, Z:-1.38 [[ 9.89247555e-01 1.46071120e-01 7.24592778e-03 1.86019772e+02] [-1.46067351e-01 9.89274091e-01 -1.04951479e-03 -1.29191346e+01] [-7.32151242e-03 -2.01635379e-05 9.99973197e-01 -1.37803188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters 0.05257007689938014 Centerline is valid? [True, True] Translation: X:186.08, Y:-12.94, Z:-1.38 [[ 9.90492653e-01 1.37426197e-01 6.19229713e-03 1.86080184e+02] [-1.37423272e-01 9.90512008e-01 -8.97457153e-04 -1.29378463e+01] [-6.25687879e-03 3.79589829e-05 9.99980425e-01 -1.37939451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters 0.05317894658766459 Centerline is valid? [True, True] Translation: X:186.14, Y:-12.96, Z:-1.38 [[ 9.91909602e-01 1.26842088e-01 5.14064902e-03 1.86137467e+02] [-1.26839927e-01 9.91922919e-01 -7.45670159e-04 -1.29620473e+01] [-5.19370994e-03 8.75978465e-05 9.99986509e-01 -1.38127346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters 0.05388214131162942 Centerline is valid? [True, True] Translation: X:186.20, Y:-12.98, Z:-1.38 [[ 9.93720814e-01 1.11732536e-01 5.89776428e-03 1.86195613e+02] [-1.11729424e-01 9.93738297e-01 -8.55515134e-04 -1.29810583e+01] [-5.95642311e-03 1.91189386e-04 9.99982242e-01 -1.37956800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters 0.054829083231639736 Centerline is valid? [True, True] Translation: X:186.25, Y:-13.00, Z:-1.38 [[ 9.94427185e-01 1.05125666e-01 7.94777480e-03 1.86253262e+02] [-1.05119804e-01 9.94458897e-01 -1.15298701e-03 -1.30034588e+01] [-8.02494388e-03 3.11093101e-04 9.99967751e-01 -1.37819752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters 0.053851915565379764 Centerline is valid? [True, True] Translation: X:186.31, Y:-13.01, Z:-1.38 [[ 9.94842749e-01 1.00967776e-01 9.66507194e-03 1.86312042e+02] [-1.00958909e-01 9.94889608e-01 -1.40216897e-03 -1.30136217e+01] [-9.75725352e-03 4.19162511e-04 9.99952309e-01 -1.37775740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters 0.054488539148245876 Centerline is valid? [True, True] Translation: X:186.37, Y:-13.03, Z:-1.38 [[ 9.94733514e-01 1.02027329e-01 9.78060883e-03 1.86372011e+02] [-1.02018300e-01 9.94781510e-01 -1.41896845e-03 -1.30283234e+01] [-9.87434239e-03 4.13694391e-04 9.99951162e-01 -1.37788164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters 0.05389349162697791 Centerline is valid? [True, True] Translation: X:186.43, Y:-13.03, Z:-1.38 [[ 9.93821137e-01 1.10618335e-01 9.11761132e-03 1.86432872e+02] [-1.10610848e-01 9.93862913e-01 -1.32294131e-03 -1.30304779e+01] [-9.20799731e-03 3.06260323e-04 9.99957559e-01 -1.38089776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters 0.05312654986206487 Centerline is valid? [True, True] Translation: X:186.49, Y:-13.03, Z:-1.38 [[ 9.92191906e-01 1.24532498e-01 6.84684605e-03 1.86493542e+02] [-1.24528606e-01 9.92215521e-01 -9.93487002e-04 -1.30323914e+01] [-6.91726833e-03 1.33101567e-04 9.99976067e-01 -1.38306239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters 0.05256417618012153 Centerline is valid? [True, True] Translation: X:186.55, Y:-13.04, Z:-1.38 [[ 9.91138508e-01 1.32726687e-01 5.29943126e-03 1.86554712e+02] [-1.32724473e-01 9.91152674e-01 -7.68952738e-04 -1.30365159e+01] [-5.35460601e-03 5.87744501e-05 9.99985662e-01 -1.38464863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters 0.052937400986466474 Centerline is valid? [True, True] Translation: X:186.62, Y:-13.04, Z:-1.39 [[ 9.90386324e-01 1.38283491e-01 3.55031408e-03 1.86615846e+02] [-1.38282533e-01 9.90392688e-01 -5.15114011e-04 -1.30439543e+01] [-3.58743687e-03 1.92154467e-05 9.99993565e-01 -1.38638582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters 0.0521920839992146 Centerline is valid? [True, True] Translation: X:186.68, Y:-13.05, Z:-1.39 [[ 9.90034419e-01 1.40802180e-01 2.56807578e-03 1.86677548e+02] [-1.40801688e-01 9.90037750e-01 -3.72184207e-04 -1.30502105e+01] [-2.59489631e-03 6.88576947e-06 9.99996633e-01 -1.38676079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters 0.05277077540900965 Centerline is valid? [True, True] Translation: X:186.74, Y:-13.06, Z:-1.39 [[ 9.90171418e-01 1.39847046e-01 1.83497070e-03 1.86739106e+02] [-1.39846793e-01 9.90173118e-01 -2.66302370e-04 -1.30610376e+01] [-1.85418026e-03 7.07022791e-06 9.99998281e-01 -1.38737811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters 0.05292751261955492 Centerline is valid? [True, True] Translation: X:186.80, Y:-13.08, Z:-1.39 [[ 9.90681117e-01 1.36201777e-01 -1.75972314e-06 1.86799385e+02] [-1.36201777e-01 9.90681117e-01 1.05761478e-06 -1.30758205e+01] [ 1.88737344e-06 -8.08081578e-07 1.00000000e+00 -1.38859621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters 0.05318007616915344 Centerline is valid? [True, True] Translation: X:186.86, Y:-13.09, Z:-1.39 [[ 9.91019927e-01 1.33705732e-01 -1.51029687e-03 1.86859195e+02] [-1.33705551e-01 9.91021078e-01 2.20562739e-04 -1.30910745e+01] [ 1.52622653e-03 -1.66469952e-05 9.99998835e-01 -1.39152337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters 0.05219112347807243 Centerline is valid? [True, True] Translation: X:186.92, Y:-13.10, Z:-1.39 [[ 9.91140150e-01 1.32804536e-01 -2.03928895e-03 1.86919401e+02] [-1.32804205e-01 9.91142247e-01 2.97715803e-04 -1.31038873e+01] [ 2.06076344e-03 -2.42519388e-05 9.99997876e-01 -1.39030307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters 0.052990661866820984 Centerline is valid? [True, True] Translation: X:186.98, Y:-13.12, Z:-1.39 [[ 9.90927489e-01 1.34384647e-01 -1.86489490e-03 1.86980804e+02] [-1.34384373e-01 9.90929244e-01 2.72247640e-04 -1.31174100e+01] [ 1.88456479e-03 -1.91649393e-05 9.99998224e-01 -1.38937994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters 0.0518525407327976 Centerline is valid? [True, True] Translation: X:187.04, Y:-13.13, Z:-1.39 [[ 9.90768601e-01 1.35558341e-01 -1.23100532e-03 1.87041391e+02] [-1.35558221e-01 9.90769366e-01 1.80374496e-04 -1.31299492e+01] [ 1.24409363e-03 -1.18364948e-05 9.99999226e-01 -1.38875049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters 0.052223486429095196 Centerline is valid? [True, True] Translation: X:187.10, Y:-13.14, Z:-1.39 [[ 9.90633364e-01 1.36543897e-01 1.14080019e-03 1.87101636e+02] [-1.36543797e-01 9.90634021e-01 -1.65662061e-04 -1.31407331e+01] [-1.15273562e-03 8.34117578e-06 9.99999336e-01 -1.38654452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters 0.05171333130960073 Centerline is valid? [True, True] Translation: X:187.16, Y:-13.16, Z:-1.39 [[ 9.90273581e-01 1.39087069e-01 3.60868361e-03 1.87160697e+02] [-1.39086075e-01 9.90280156e-01 -5.26157653e-04 -1.31585998e+01] [-3.64678949e-03 1.91223851e-05 9.99993350e-01 -1.38870179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters 0.051672929559058355 Centerline is valid? [True, True] Translation: X:187.22, Y:-13.17, Z:-1.39 [[ 9.89931834e-01 1.41458674e-01 4.94046218e-03 1.87221748e+02] [-1.41456836e-01 9.89944162e-01 -7.21227612e-04 -1.31690033e+01] [-4.99280559e-03 1.51040214e-05 9.99987536e-01 -1.38758763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters 0.05124975145829074 Centerline is valid? [True, True] Translation: X:187.28, Y:-13.18, Z:-1.39 [[ 9.89659786e-01 1.43328827e-01 5.50955511e-03 1.87282249e+02] [-1.43326566e-01 9.89675122e-01 -8.05088093e-04 -1.31794065e+01] [-5.56806196e-03 7.09769532e-06 9.99984498e-01 -1.38793095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters 0.050998241970727505 Centerline is valid? [True, True] Translation: X:187.34, Y:-13.19, Z:-1.39 [[ 9.88659774e-01 1.50050526e-01 6.05730343e-03 1.87343486e+02] [-1.50047914e-01 9.88678329e-01 -8.85871877e-04 -1.31894540e+01] [-6.12165018e-03 -3.30598578e-05 9.99981262e-01 -1.38780309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters 0.05067593170044727 Centerline is valid? [True, True] Translation: X:187.40, Y:-13.20, Z:-1.39 [[ 9.88034135e-01 1.54173560e-01 4.36588055e-03 1.87403734e+02] [-1.54172242e-01 9.88043780e-01 -6.38795395e-04 -1.31988532e+01] [-4.41216649e-03 -4.19459372e-05 9.99990265e-01 -1.38999440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters 0.05007629989902856 Centerline is valid? [True, True] Translation: X:187.46, Y:-13.22, Z:-1.39 [[ 9.87601236e-01 1.56983163e-01 2.90236982e-04 1.87463610e+02] [-1.56983158e-01 9.87601279e-01 -4.17427006e-05 -1.32166888e+01] [-2.93191316e-04 -4.33717519e-06 9.99999957e-01 -1.39276379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters 0.05020413577565179 Centerline is valid? [True, True] Translation: X:187.52, Y:-13.23, Z:-1.39 [[ 9.87932378e-01 1.54868246e-01 -2.33309607e-03 1.87524908e+02] [-1.54867867e-01 9.87935132e-01 3.43331412e-04 -1.32338708e+01] [ 2.35811871e-03 2.21333952e-05 9.99997219e-01 -1.39462626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters 0.050810412587992605 Centerline is valid? [True, True] Translation: X:187.59, Y:-13.25, Z:-1.39 [[ 9.88443597e-01 1.51575021e-01 -2.06622603e-03 1.87585447e+02] [-1.51574716e-01 9.88445756e-01 3.04291220e-04 -1.32498768e+01] [ 2.08847530e-03 1.24129151e-05 9.99997819e-01 -1.39460796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters 0.04998617227118347 Centerline is valid? [True, True] Translation: X:187.64, Y:-13.27, Z:-1.39 [[ 9.88989207e-01 1.47983500e-01 1.10992124e-03 1.87644238e+02] [-1.47983410e-01 9.88989830e-01 -1.62892477e-04 -1.32685504e+01] [-1.12180622e-03 -3.15102857e-06 9.99999371e-01 -1.39370454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters 0.049556396092704076 Centerline is valid? [True, True] Translation: X:187.70, Y:-13.28, Z:-1.39 [[ 9.89070794e-01 1.47411817e-01 2.95295260e-03 1.87704661e+02] [-1.47411181e-01 9.89075202e-01 -4.33196059e-04 -1.32834414e+01] [-2.98455041e-03 -6.83665963e-06 9.99995546e-01 -1.39161253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters 0.04962605044892521 Centerline is valid? [True, True] Translation: X:187.77, Y:-13.29, Z:-1.39 [[ 9.88500384e-01 1.51147862e-01 4.61680466e-03 1.87765645e+02] [-1.51146343e-01 9.88511165e-01 -6.78321390e-04 -1.32913646e+01] [-4.66628978e-03 -2.72921844e-05 9.99989112e-01 -1.39126257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters 0.04952038112874149 Centerline is valid? [True, True] Translation: X:187.83, Y:-13.29, Z:-1.39 [[ 9.87067932e-01 1.60249737e-01 4.11341078e-03 1.87826754e+02] [-1.60248607e-01 9.87076501e-01 -6.05036770e-04 -1.32944709e+01] [-4.15720810e-03 -6.19559532e-05 9.99991357e-01 -1.39209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters 0.04955740749705873 Centerline is valid? [True, True] Translation: X:187.89, Y:-13.30, Z:-1.39 [[ 9.86450569e-01 1.64043936e-01 2.20510449e-03 1.87887451e+02] [-1.64043621e-01 9.86453032e-01 -3.24295462e-04 -1.33024999e+01] [-2.22843072e-03 -4.18318832e-05 9.99997516e-01 -1.39372907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters 0.049912256006532235 Centerline is valid? [True, True] Translation: X:187.95, Y:-13.31, Z:-1.40 [[ 9.86292983e-01 1.65002816e-01 -4.70662054e-04 1.87948899e+02] [-1.65002802e-01 9.86293096e-01 7.00445929e-05 -1.33090974e+01] [ 4.75768289e-04 8.57606712e-06 9.99999887e-01 -1.39611878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters 0.05009947212015294 Centerline is valid? [True, True] Translation: X:188.01, Y:-13.32, Z:-1.40 [[ 9.86465911e-01 1.63962472e-01 -1.14669491e-03 1.88009937e+02] [-1.63962385e-01 9.86466577e-01 1.69795822e-04 -1.33182638e+01] [ 1.15901635e-03 2.05170424e-05 9.99999328e-01 -1.39529906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters 0.05009139445047544 Centerline is valid? [True, True] Translation: X:188.07, Y:-13.33, Z:-1.39 [[ 9.86675045e-01 1.62702809e-01 -3.89477329e-04 1.88070833e+02] [-1.62702799e-01 9.86675122e-01 5.82067062e-05 -1.33256895e+01] [ 3.93757986e-04 5.93794699e-06 9.99999922e-01 -1.39488812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters 0.05058103855703074 Centerline is valid? [True, True] Translation: X:188.13, Y:-13.33, Z:-1.40 [[ 9.87106269e-01 1.60065873e-01 -3.59844020e-04 1.88130965e+02] [-1.60065864e-01 9.87106335e-01 5.31816220e-05 -1.33305966e+01] [ 3.63716875e-04 5.10283170e-06 9.99999934e-01 -1.39753599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters 0.050460907432274466 Centerline is valid? [True, True] Translation: X:188.19, Y:-13.35, Z:-1.40 [[ 9.88279143e-01 1.52656569e-01 -5.53846947e-04 1.88189670e+02] [-1.52656547e-01 9.88279299e-01 8.17419915e-05 -1.33461526e+01] [ 5.59833924e-04 3.76445710e-06 9.99999843e-01 -1.39846495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters 0.05025455166003186 Centerline is valid? [True, True] Translation: X:188.25, Y:-13.36, Z:-1.40 [[ 9.88914840e-01 1.48481155e-01 -8.86569925e-04 1.88250773e+02] [-1.48481097e-01 9.88915237e-01 1.31690877e-04 -1.33594363e+01] [ 8.96296121e-04 1.40781235e-06 9.99999598e-01 -1.39795414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters 0.049721333940420984 Centerline is valid? [True, True] Translation: X:188.31, Y:-13.37, Z:-1.40 [[ 9.88905440e-01 1.48536663e-01 -1.70044362e-03 1.88311515e+02] [-1.48536449e-01 9.88906902e-01 2.51926098e-04 -1.33687626e+01] [ 1.71900069e-03 3.44676812e-06 9.99998523e-01 -1.39937066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters 0.05023003726581272 Centerline is valid? [True, True] Translation: X:188.37, Y:-13.38, Z:-1.40 [[ 9.88421355e-01 1.51710457e-01 -2.67605996e-03 1.88373475e+02] [-1.51709940e-01 9.88424978e-01 3.96407621e-04 -1.33766319e+01] [ 2.70522369e-03 1.41671377e-05 9.99996341e-01 -1.39901177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters 0.04977179847159028 Centerline is valid? [True, True] Translation: X:188.43, Y:-13.38, Z:-1.40 [[ 9.87558644e-01 1.57225521e-01 -2.83920572e-03 1.88434332e+02] [-1.57224963e-01 9.87562724e-01 4.20227773e-04 -1.33827259e+01] [ 2.86996427e-03 3.13944442e-05 9.99995881e-01 -1.40017615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters 0.050042779514851726 Centerline is valid? [True, True] Translation: X:188.50, Y:-13.39, Z:-1.40 [[ 9.87239255e-01 1.59230842e-01 -2.04767570e-03 1.88495580e+02] [-1.59230554e-01 9.87241378e-01 3.03876746e-04 -1.33926140e+01] [ 2.06993673e-03 2.60534832e-05 9.99997857e-01 -1.39909369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters 0.05032830092860036 Centerline is valid? [True, True] Translation: X:188.56, Y:-13.40, Z:-1.40 [[ 9.87365398e-01 1.58459349e-01 -4.53990314e-04 1.88556490e+02] [-1.58459334e-01 9.87365502e-01 6.80816127e-05 -1.34020206e+01] [ 4.59042542e-04 4.71757428e-06 9.99999895e-01 -1.39973445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters 0.05052584977122184 Centerline is valid? [True, True] Translation: X:188.62, Y:-13.41, Z:-1.40 [[ 9.87632692e-01 1.56784858e-01 -4.17485225e-04 1.88617773e+02] [-1.56784846e-01 9.87632780e-01 6.27154435e-05 -1.34125588e+01] [ 4.22154925e-04 3.51553435e-06 9.99999911e-01 -1.40012067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters 0.049669244125323676 Centerline is valid? [True, True] Translation: X:188.68, Y:-13.42, Z:-1.40 [[ 9.87922830e-01 1.54946128e-01 4.22493212e-04 1.88677604e+02] [-1.54946116e-01 9.87922921e-01 -6.18929842e-05 -1.34232863e+01] [-4.26980806e-04 -4.31818999e-06 9.99999909e-01 -1.40083597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters 0.049961650213564766 Centerline is valid? [True, True] Translation: X:188.74, Y:-13.43, Z:-1.40 [[ 9.87980440e-01 1.54574306e-01 1.19760993e-03 1.88738207e+02] [-1.54574204e-01 9.87981166e-01 -1.77241831e-04 -1.34314346e+01] [-1.21061309e-03 -1.00081408e-05 9.99999267e-01 -1.40207881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters 0.049934352624703374 Centerline is valid? [True, True] Translation: X:188.80, Y:-13.44, Z:-1.40 [[ 9.87926253e-01 1.54915562e-01 1.69938737e-03 1.88800915e+02] [-1.54915359e-01 9.87927714e-01 -2.51440899e-04 -1.34406616e+01] [-1.71782399e-03 -1.48561398e-05 9.99998524e-01 -1.40216824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters 0.04985567321140131 Centerline is valid? [True, True] Translation: X:188.86, Y:-13.45, Z:-1.40 [[ 9.87901002e-01 1.55080663e-01 1.26407957e-03 1.88863181e+02] [-1.55080551e-01 9.87901811e-01 -1.86920874e-04 -1.34489674e+01] [-1.27777431e-03 -1.13748382e-05 9.99999184e-01 -1.40316812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters 0.049744717715339344 Centerline is valid? [True, True] Translation: X:188.93, Y:-13.46, Z:-1.40 [[ 9.88081561e-01 1.53931245e-01 -3.29552993e-05 1.88925067e+02] [-1.53931245e-01 9.88081561e-01 5.88259890e-06 -1.34580576e+01] [ 3.34680393e-05 -7.39637271e-07 9.99999999e-01 -1.40464142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters 0.05001471315291779 Centerline is valid? [True, True] Translation: X:188.99, Y:-13.47, Z:-1.41 [[ 9.88383140e-01 1.51982513e-01 -2.90659914e-04 1.88985790e+02] [-1.51982507e-01 9.88383183e-01 4.40717157e-05 -1.34680669e+01] [ 2.93981501e-04 6.15481552e-07 9.99999957e-01 -1.40595239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters 0.05014725376481122 Centerline is valid? [True, True] Translation: X:189.05, Y:-13.48, Z:-1.40 [[ 9.89002211e-01 1.47897765e-01 9.36943254e-04 1.89047571e+02] [-1.47897700e-01 9.89002655e-01 -1.39182624e-04 -1.34789211e+01] [-9.47224164e-04 -9.19829271e-07 9.99999551e-01 -1.40478982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters 0.050187468202625374 Centerline is valid? [True, True] Translation: X:189.11, Y:-13.49, Z:-1.41 [[ 9.89531924e-01 1.44300291e-01 1.99914050e-03 1.89108948e+02] [-1.44299986e-01 9.89533944e-01 -2.97088631e-04 -1.34880146e+01] [-2.02108736e-03 5.50273998e-06 9.99997958e-01 -1.40567233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters 0.05068519951877064 Centerline is valid? [True, True] Translation: X:189.17, Y:-13.50, Z:-1.40 [[ 9.90461635e-01 1.37731816e-01 3.96192382e-03 1.89169819e+02] [-1.37730555e-01 9.90469558e-01 -5.90455064e-04 -1.35000174e+01] [-4.00548938e-03 3.91451196e-05 9.99991977e-01 -1.40445571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters 0.05049311698992116 Centerline is valid? [True, True] Translation: X:189.23, Y:-13.51, Z:-1.40 [[ 9.90945970e-01 1.34201448e-01 4.00700122e-03 1.89230500e+02] [-1.34200131e-01 9.90954070e-01 -5.97124133e-04 -1.35096252e+01] [-4.05088909e-03 5.39776662e-05 9.99991794e-01 -1.40352236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters 0.05043728045845107 Centerline is valid? [True, True] Translation: X:189.29, Y:-13.52, Z:-1.40 [[ 9.91091155e-01 1.33122592e-01 4.08630023e-03 1.89291336e+02] [-1.33121211e-01 9.91099577e-01 -6.09434997e-04 -1.35200167e+01] [-4.13105999e-03 6.00324014e-05 9.99991465e-01 -1.40389678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters 0.05048285240299767 Centerline is valid? [True, True] Translation: X:189.35, Y:-13.52, Z:-1.40 [[ 9.90936505e-01 1.34283155e-01 3.58856115e-03 1.89353969e+02] [-1.34282095e-01 9.90943001e-01 -5.35709263e-04 -1.35243198e+01] [-3.62799628e-03 4.89743555e-05 9.99993418e-01 -1.40489830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters 0.050730177191745975 Centerline is valid? [True, True] Translation: X:189.41, Y:-13.53, Z:-1.41 [[ 9.90264714e-01 1.39179882e-01 2.18080549e-03 1.89414544e+02] [-1.39179503e-01 9.90267115e-01 -3.25646128e-04 -1.35309277e+01] [-2.20490335e-03 1.89524458e-05 9.99997569e-01 -1.40694712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters 0.05048866248823881 Centerline is valid? [True, True] Translation: X:189.48, Y:-13.53, Z:-1.41 [[ 9.88901672e-01 1.48570226e-01 6.09554756e-04 1.89476630e+02] [-1.48570199e-01 9.88901860e-01 -9.06314592e-05 -1.35339693e+01] [-6.16254968e-04 -9.36069701e-07 9.99999810e-01 -1.40878377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters 0.050375340329856445 Centerline is valid? [True, True] Translation: X:189.54, Y:-13.54, Z:-1.41 [[ 9.88039696e-01 1.54199734e-01 -3.80115899e-05 1.89539064e+02] [-1.54199734e-01 9.88039697e-01 6.53915303e-06 -1.35393201e+01] [ 3.85652953e-05 -5.99565731e-07 9.99999999e-01 -1.40978226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters 0.05014852940489121 Centerline is valid? [True, True] Translation: X:189.60, Y:-13.54, Z:-1.41 [[ 9.87053733e-01 1.60389905e-01 7.87048439e-05 1.89599598e+02] [-1.60389904e-01 9.87053736e-01 -1.15930620e-05 -1.35446464e+01] [-7.95453204e-05 -1.18048727e-06 9.99999997e-01 -1.40922045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters 0.05098814630058797 Centerline is valid? [True, True] Translation: X:189.66, Y:-13.55, Z:-1.41 [[ 9.86640341e-01 1.62903110e-01 1.84751357e-03 1.89661313e+02] [-1.62902879e-01 9.86642071e-01 -2.75716522e-04 -1.35531006e+01] [-1.86774969e-03 -2.89322368e-05 9.99998255e-01 -1.40859588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters 0.05085536608178448 Centerline is valid? [True, True] Translation: X:189.72, Y:-13.56, Z:-1.41 [[ 9.86440322e-01 1.64096180e-01 2.81700032e-03 1.89722032e+02] [-1.64095646e-01 9.86444343e-01 -4.21213912e-04 -1.35579757e+01] [-2.84793362e-03 -4.67550990e-05 9.99995944e-01 -1.40898123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters 0.05069005315433753 Centerline is valid? [True, True] Translation: X:189.78, Y:-13.57, Z:-1.41 [[ 9.86447599e-01 1.64050075e-01 2.95078748e-03 1.89784444e+02] [-1.64049488e-01 9.86452011e-01 -4.41485676e-04 -1.35695853e+01] [-2.98323600e-03 -4.85726905e-05 9.99995549e-01 -1.40905533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters 0.05017969232096085 Centerline is valid? [True, True] Translation: X:189.85, Y:-13.58, Z:-1.41 [[ 9.86586003e-01 1.63230467e-01 1.96824869e-03 1.89845337e+02] [-1.63230204e-01 9.86587966e-01 -2.94514149e-04 -1.35776449e+01] [-1.98992415e-03 -3.07140971e-05 9.99998020e-01 -1.41182507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters 0.04989716178436948 Centerline is valid? [True, True] Translation: X:189.91, Y:-13.59, Z:-1.41 [[ 9.86842538e-01 1.61679844e-01 1.19692639e-03 1.89906037e+02] [-1.61679746e-01 9.86843264e-01 -1.78923276e-04 -1.35902936e+01] [-1.21010703e-03 -1.69496538e-05 9.99999268e-01 -1.41213293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters 0.05045525750314785 Centerline is valid? [True, True] Translation: X:189.97, Y:-13.61, Z:-1.41 [[ 9.87509820e-01 1.57547880e-01 -1.73830116e-03 1.89966882e+02] [-1.57547664e-01 9.87511349e-01 2.61443554e-04 -1.36071890e+01] [ 1.75778200e-03 1.56872100e-05 9.99998455e-01 -1.41237317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters 0.05092107523413071 Centerline is valid? [True, True] Translation: X:190.03, Y:-13.62, Z:-1.41 [[ 9.87729020e-01 1.56135026e-01 -3.63809282e-03 1.90028822e+02] [-1.56134068e-01 9.87735720e-01 5.47685018e-04 -1.36159661e+01] [ 3.67898705e-03 2.70658458e-05 9.99993232e-01 -1.41383748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters 0.05160413760615744 Centerline is valid? [True, True] Translation: X:190.09, Y:-13.62, Z:-1.41 [[ 9.87788765e-01 1.55744786e-01 -4.11300467e-03 1.90091808e+02] [-1.55743555e-01 9.87797328e-01 6.19723314e-04 -1.36228520e+01] [ 4.15933369e-03 2.84182418e-05 9.99991350e-01 -1.41414802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters 0.05119968978612157 Centerline is valid? [True, True] Translation: X:190.15, Y:-13.63, Z:-1.41 [[ 9.87865504e-01 1.55264264e-01 -3.84115685e-03 1.90153511e+02] [-1.55263185e-01 9.87872972e-01 5.79183248e-04 -1.36319390e+01] [ 3.88450149e-03 2.42350955e-05 9.99992455e-01 -1.41152215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters 0.051061522434956604 Centerline is valid? [True, True] Translation: X:190.21, Y:-13.64, Z:-1.41 [[ 9.88461626e-01 1.51456297e-01 -2.14582916e-03 1.90214291e+02] [-1.51455950e-01 9.88463955e-01 3.24105592e-04 -1.36406698e+01] [ 2.17016261e-03 4.63265385e-06 9.99997645e-01 -1.41259574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters 0.05129176177754857 Centerline is valid? [True, True] Translation: X:190.28, Y:-13.65, Z:-1.41 [[ 9.89018737e-01 1.47771651e-01 -2.34030016e-03 1.90276006e+02] [-1.47771227e-01 9.89021506e-01 3.53865397e-04 -1.36515627e+01] [ 2.36689846e-03 -4.15048080e-06 9.99997199e-01 -1.41182995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters 0.05142488268782876 Centerline is valid? [True, True] Translation: X:190.34, Y:-13.66, Z:-1.41 [[ 9.89954650e-01 1.41349429e-01 -3.18283944e-03 1.90337363e+02] [-1.41348615e-01 9.89959766e-01 4.80399498e-04 -1.36639700e+01] [ 3.21878719e-03 -2.56837715e-05 9.99994819e-01 -1.41221513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters 0.051904975640935526 Centerline is valid? [True, True] Translation: X:190.40, Y:-13.67, Z:-1.41 [[ 9.90494833e-01 1.37488394e-01 -4.11440778e-03 1.90398236e+02] [-1.37486996e-01 9.90503377e-01 6.21865559e-04 -1.36733681e+01] [ 4.16083409e-03 -5.02770550e-05 9.99991342e-01 -1.41156223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters 0.052373237900063804 Centerline is valid? [True, True] Translation: X:190.46, Y:-13.68, Z:-1.41 [[ 9.90846783e-01 1.34941590e-01 -3.66332190e-03 1.90458786e+02] [-1.34940463e-01 9.90853553e-01 5.54156948e-04 -1.36827003e+01] [ 3.70459434e-03 -5.47542746e-05 9.99993136e-01 -1.41332927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters 0.0524492785471408 Centerline is valid? [True, True] Translation: X:190.52, Y:-13.69, Z:-1.41 [[ 9.90928844e-01 1.34331727e-01 -3.87475441e-03 1.90521081e+02] [-1.34330460e-01 9.90936417e-01 5.86581305e-04 -1.36854458e+01] [ 3.91843173e-03 -6.07627921e-05 9.99992321e-01 -1.40868382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters 0.05214890906052769 Centerline is valid? [True, True] Translation: X:190.58, Y:-13.69, Z:-1.41 [[ 9.91102159e-01 1.33055342e-01 -3.57571948e-03 1.90582634e+02] [-1.33054253e-01 9.91108608e-01 5.41718871e-04 -1.36931055e+01] [ 3.61600494e-03 -6.11340579e-05 9.99993460e-01 -1.40733395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters 0.051990894116143826 Centerline is valid? [True, True] Translation: X:190.64, Y:-13.71, Z:-1.41 [[ 9.91273647e-01 1.31798504e-01 -2.38980391e-03 1.90642682e+02] [-1.31798013e-01 9.91276527e-01 3.62490314e-04 -1.37059189e+01] [ 2.41673220e-03 -4.43556895e-05 9.99997079e-01 -1.41075899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters 0.05290071754742919 Centerline is valid? [True, True] Translation: X:190.70, Y:-13.71, Z:-1.41 [[ 9.91551506e-01 1.29713050e-01 3.68203230e-04 1.90704427e+02] [-1.29713038e-01 9.91551574e-01 -5.53012049e-05 -1.37141458e+01] [-3.72265780e-04 7.07323325e-06 9.99999931e-01 -1.41120128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters 0.05222572768916149 Centerline is valid? [True, True] Translation: X:190.76, Y:-13.72, Z:-1.41 [[ 9.91685064e-01 1.28682326e-01 1.26180660e-03 1.90764795e+02] [-1.28682188e-01 9.91685867e-01 -1.90731214e-04 -1.37211514e+01] [-1.27585951e-03 2.67732620e-05 9.99999186e-01 -1.40894676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters 0.052342279216283635 Centerline is valid? [True, True] Translation: X:190.83, Y:-13.73, Z:-1.41 [[ 9.92004388e-01 1.26191186e-01 1.75482485e-03 1.90825145e+02] [-1.26190913e-01 9.92005939e-01 -2.65777359e-04 -1.37311003e+01] [-1.77433543e-03 4.22093566e-05 9.99998425e-01 -1.40918865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters 0.053042629181036464 Centerline is valid? [True, True] Translation: X:190.89, Y:-13.74, Z:-1.41 [[ 9.92375315e-01 1.23250757e-01 6.97224654e-04 1.90886092e+02] [-1.23250713e-01 9.92375559e-01 -1.05592698e-04 -1.37360424e+01] [-7.04923086e-04 1.88541509e-05 9.99999751e-01 -1.41084857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters 0.05323088595776654 Centerline is valid? [True, True] Translation: X:190.95, Y:-13.74, Z:-1.41 [[ 9.92603406e-01 1.21401292e-01 -4.51647326e-04 1.90947531e+02] [-1.21401273e-01 9.92603509e-01 6.85605801e-05 -1.37369312e+01] [ 4.56630064e-04 -1.32229050e-05 9.99999896e-01 -1.41023082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters 0.05366841506941865 Centerline is valid? [True, True] Translation: X:191.01, Y:-13.75, Z:-1.41 [[ 9.92774542e-01 1.19987292e-01 -1.32603678e-03 1.91007448e+02] [-1.19987130e-01 9.92775427e-01 2.01226368e-04 -1.37487191e+01] [ 1.34060134e-03 -4.06650684e-05 9.99999101e-01 -1.41182598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters 0.05424229664996399 Centerline is valid? [True, True] Translation: X:191.07, Y:-13.75, Z:-1.41 [[ 9.92828825e-01 1.19524035e-01 -2.22005153e-03 1.91068908e+02] [-1.19523580e-01 9.92831305e-01 3.37061651e-04 -1.37545671e+01] [ 2.24442363e-03 -6.92960166e-05 9.99997479e-01 -1.41288028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters 0.05406087927354105 Centerline is valid? [True, True] Translation: X:191.13, Y:-13.76, Z:-1.41 [[ 9.92599499e-01 1.21392077e-01 -3.19347118e-03 1.91128539e+02] [-1.21391147e-01 9.92604632e-01 4.84315260e-04 -1.37625071e+01] [ 3.22864632e-03 -9.30719560e-05 9.99994784e-01 -1.41476273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters 0.05339903811906654 Centerline is valid? [True, True] Translation: X:191.19, Y:-13.77, Z:-1.42 [[ 9.92163565e-01 1.24908062e-01 -3.07177778e-03 1.91189350e+02] [-1.24907218e-01 9.92168317e-01 4.65885561e-04 -1.37698449e+01] [ 3.10591345e-03 -7.85474621e-05 9.99995174e-01 -1.41526936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters 0.0530167357275266 Centerline is valid? [True, True] Translation: X:191.25, Y:-13.78, Z:-1.42 [[ 9.91646289e-01 1.28955138e-01 -2.86521913e-03 1.91249400e+02] [-1.28954421e-01 9.91650427e-01 4.34587156e-04 -1.37764653e+01] [ 2.89733802e-03 -6.14740677e-05 9.99995801e-01 -1.41544155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters 0.05271562419958147 Centerline is valid? [True, True] Translation: X:191.31, Y:-13.79, Z:-1.42 [[ 9.90912354e-01 1.34497927e-01 -1.73600754e-03 1.91308603e+02] [-1.34497672e-01 9.90913875e-01 2.63360523e-04 -1.37855273e+01] [ 1.75565540e-03 -2.74782237e-05 9.99998458e-01 -1.41686087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters 0.05247324837909585 Centerline is valid? [True, True] Translation: X:191.37, Y:-13.79, Z:-1.41 [[ 9.90482872e-01 1.37635460e-01 -4.00586018e-04 1.91369840e+02] [-1.37635447e-01 9.90482953e-01 6.08841789e-05 -1.37873825e+01] [ 4.05153444e-04 -5.16990078e-06 9.99999918e-01 -1.41298678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters 0.052641547641270776 Centerline is valid? [True, True] Translation: X:191.43, Y:-13.79, Z:-1.41 [[ 9.89911597e-01 1.41684947e-01 6.37736119e-04 1.91431311e+02] [-1.41684914e-01 9.89911802e-01 -9.65894659e-05 -1.37948353e+01] [-6.44987784e-04 5.25744534e-06 9.99999792e-01 -1.41261002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters 0.052164463013279164 Centerline is valid? [True, True] Translation: X:191.49, Y:-13.81, Z:-1.42 [[ 9.89411326e-01 1.45137017e-01 6.88352922e-04 1.91490672e+02] [-1.45136980e-01 9.89411566e-01 -1.03666757e-04 -1.38087143e+01] [-6.96110226e-04 2.66359956e-06 9.99999758e-01 -1.41935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters 0.05195821499492511 Centerline is valid? [True, True] Translation: X:191.55, Y:-13.81, Z:-1.42 [[ 9.88661557e-01 1.50160864e-01 -2.01606405e-04 1.91552975e+02] [-1.50160861e-01 9.88661578e-01 3.14580656e-05 -1.38146594e+01] [ 2.04044277e-04 -8.27988692e-07 9.99999979e-01 -1.41928071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters 0.05190214071454434 Centerline is valid? [True, True] Translation: X:191.61, Y:-13.82, Z:-1.42 [[ 9.88278643e-01 1.52657969e-01 -9.31558311e-04 1.91613984e+02] [-1.52657903e-01 9.88279082e-01 1.41878600e-04 -1.38241637e+01] [ 9.42298492e-04 1.99414828e-06 9.99999556e-01 -1.41956348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters 0.05257706188480949 Centerline is valid? [True, True] Translation: X:191.68, Y:-13.84, Z:-1.42 [[ 9.87888876e-01 1.55137903e-01 -2.79286786e-03 1.91675308e+02] [-1.55137320e-01 9.87892824e-01 4.25657813e-04 -1.38351609e+01] [ 2.82508977e-03 1.27754162e-05 9.99996009e-01 -1.42024084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters 0.05153882036224404 Centerline is valid? [True, True] Translation: X:191.74, Y:-13.85, Z:-1.42 [[ 9.87787711e-01 1.55768559e-01 -3.40499830e-03 1.91736272e+02] [-1.55767695e-01 9.87793579e-01 5.19160732e-04 -1.38463155e+01] [ 3.44430438e-03 1.75681460e-05 9.99994068e-01 -1.42052745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters 0.0517288896616252 Centerline is valid? [True, True] Translation: X:191.80, Y:-13.86, Z:-1.42 [[ 9.87993584e-01 1.54443687e-01 -3.97814239e-03 1.91797158e+02] [-1.54442495e-01 9.88001593e-01 6.06960143e-04 -1.38593542e+01] [ 4.02415218e-03 1.47215094e-05 9.99991903e-01 -1.42100294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters 0.05146254722713948 Centerline is valid? [True, True] Translation: X:191.86, Y:-13.87, Z:-1.42 [[ 9.88431861e-01 1.51614385e-01 -3.94137267e-03 1.91858488e+02] [-1.51613194e-01 9.88439719e-01 6.00893427e-04 -1.38727571e+01] [ 3.98691338e-03 3.62189055e-06 9.99992052e-01 -1.42125525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters 0.052518488316779945 Centerline is valid? [True, True] Translation: X:191.92, Y:-13.89, Z:-1.42 [[ 9.89293669e-01 1.45930570e-01 -1.51850777e-03 1.91918994e+02] [-1.45930385e-01 9.89294834e-01 2.32427211e-04 -1.38875964e+01] [ 1.53617013e-03 -8.34234499e-06 9.99998820e-01 -1.41688160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters 0.051684717686934646 Centerline is valid? [True, True] Translation: X:191.98, Y:-13.90, Z:-1.42 [[ 9.89802441e-01 1.42440294e-01 -1.37486533e-03 1.91978082e+02] [-1.42440139e-01 9.89803396e-01 2.10544317e-04 -1.39031034e+01] [ 1.39083637e-03 -1.25612692e-05 9.99999033e-01 -1.41873162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters 0.05170424282180286 Centerline is valid? [True, True] Translation: X:192.04, Y:-13.92, Z:-1.42 [[ 9.90377973e-01 1.38369582e-01 -2.30868683e-03 1.92038218e+02] [-1.38369134e-01 9.90380663e-01 3.53269646e-04 -1.39176747e+01] [ 2.33536057e-03 -3.04194772e-05 9.99997273e-01 -1.41752604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters 0.052354191043017584 Centerline is valid? [True, True] Translation: X:192.10, Y:-13.93, Z:-1.42 [[ 9.90615520e-01 1.36633312e-01 -3.49717153e-03 1.92098403e+02] [-1.36632276e-01 9.90621691e-01 5.34475017e-04 -1.39346376e+01] [ 3.53740107e-03 -5.16327401e-05 9.99993742e-01 -1.42026043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters 0.05219225336245497 Centerline is valid? [True, True] Translation: X:192.16, Y:-13.95, Z:-1.42 [[ 9.90877159e-01 1.34722676e-01 -3.50087591e-03 1.92157187e+02] [-1.34721623e-01 9.90883342e-01 5.35925803e-04 -1.39508837e+01] [ 3.54116098e-03 -5.93929517e-05 9.99993728e-01 -1.42268867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters 0.0521084835578154 Centerline is valid? [True, True] Translation: X:192.22, Y:-13.96, Z:-1.42 [[ 9.90705761e-01 1.36006388e-01 -2.08721957e-03 1.92217677e+02] [-1.36006016e-01 9.90707960e-01 3.20066398e-04 -1.39598843e+01] [ 2.11135611e-03 -3.32172067e-05 9.99997771e-01 -1.42239788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters 0.05236275401337639 Centerline is valid? [True, True] Translation: X:192.28, Y:-13.97, Z:-1.42 [[ 9.90589804e-01 1.36863397e-01 -5.01022854e-04 1.92279236e+02] [-1.36863376e-01 9.90589930e-01 7.69745827e-05 -1.39673348e+01] [ 5.06843197e-04 -7.67855748e-06 9.99999872e-01 -1.42002564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters 0.051563820181578936 Centerline is valid? [True, True] Translation: X:192.34, Y:-13.97, Z:-1.42 [[ 9.90418244e-01 1.38100324e-01 -5.63686772e-05 1.92339956e+02] [-1.38100324e-01 9.90418245e-01 9.44920046e-06 -1.39743404e+01] [ 5.71335039e-05 -1.57412795e-06 9.99999998e-01 -1.41745984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters 0.05159381127185974 Centerline is valid? [True, True] Translation: X:192.40, Y:-13.98, Z:-1.42 [[ 9.90312770e-01 1.38854158e-01 -3.74329891e-04 1.92401041e+02] [-1.38854146e-01 9.90312841e-01 5.76218588e-05 -1.39836644e+01] [ 3.78704732e-04 -5.08640540e-06 9.99999928e-01 -1.41994899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters 0.051673627694442 Centerline is valid? [True, True] Translation: X:192.46, Y:-13.99, Z:-1.42 [[ 9.90214616e-01 1.39545998e-01 -1.38898858e-03 1.92463102e+02] [-1.39545835e-01 9.90215590e-01 2.13771610e-04 -1.39887481e+01] [ 1.40522912e-03 -1.78522012e-05 9.99999013e-01 -1.41964879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters 0.05224656653499035 Centerline is valid? [True, True] Translation: X:192.53, Y:-14.00, Z:-1.42 [[ 9.90112199e-01 1.40261661e-01 -2.12139225e-03 1.92525698e+02] [-1.40261285e-01 9.90114471e-01 3.25698831e-04 -1.39976090e+01] [ 2.14610422e-03 -2.49291827e-05 9.99997697e-01 -1.42277857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters 0.05203095139978032 Centerline is valid? [True, True] Translation: X:192.59, Y:-14.01, Z:-1.42 [[ 9.90084910e-01 1.40436501e-01 -3.07567898e-03 1.92585830e+02] [-1.40435712e-01 9.90089687e-01 4.72198882e-04 -1.40056461e+01] [ 3.11151200e-03 -3.55818195e-05 9.99995159e-01 -1.42415920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters 0.05224287494148754 Centerline is valid? [True, True] Translation: X:192.65, Y:-14.01, Z:-1.42 [[ 9.90260387e-01 1.39193842e-01 -3.07256475e-03 1.92647954e+02] [-1.39193048e-01 9.90265153e-01 4.71741953e-04 -1.40128514e+01] [ 3.10831737e-03 -3.94677167e-05 9.99995168e-01 -1.42408749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters 0.05269184141409374 Centerline is valid? [True, True] Translation: X:192.71, Y:-14.01, Z:-1.42 [[ 9.90904775e-01 1.34530790e-01 -3.03217080e-03 1.92708111e+02] [-1.34529997e-01 9.90909412e-01 4.65238049e-04 -1.40148065e+01] [ 3.06719543e-03 -5.30886769e-05 9.99995295e-01 -1.41927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters 0.05300909012411554 Centerline is valid? [True, True] Translation: X:192.77, Y:-14.03, Z:-1.42 [[ 9.91455297e-01 1.30425506e-01 -2.36237987e-03 1.92765802e+02] [-1.30425012e-01 9.91458110e-01 3.62539532e-04 -1.40324788e+01] [ 2.38948508e-03 -5.13283165e-05 9.99997144e-01 -1.42274610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters 0.05279453015231977 Centerline is valid? [True, True] Translation: X:192.83, Y:-14.04, Z:-1.42 [[ 9.92337414e-01 1.23552265e-01 -1.13778996e-03 1.92826136e+02] [-1.23552146e-01 9.92338066e-01 1.74710429e-04 -1.40399554e+01] [ 1.15065816e-03 -3.27953039e-05 9.99999337e-01 -1.42036749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters 0.053513823662447495 Centerline is valid? [True, True] Translation: X:192.89, Y:-14.05, Z:-1.42 [[ 9.92854617e-01 1.19328754e-01 -5.98399327e-04 1.92886325e+02] [-1.19328720e-01 9.92854797e-01 9.19361764e-05 -1.40459613e+01] [ 6.05094272e-04 -1.98730316e-05 9.99999817e-01 -1.42018113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters 0.05398486401619966 Centerline is valid? [True, True] Translation: X:192.95, Y:-14.06, Z:-1.42 [[ 9.93394214e-01 1.14748286e-01 -8.75901452e-04 1.92946323e+02] [-1.14748212e-01 9.93394599e-01 1.34523824e-04 -1.40588014e+01] [ 8.85552150e-04 -3.31270631e-05 9.99999607e-01 -1.42156818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters 0.054141782305028564 Centerline is valid? [True, True] Translation: X:193.01, Y:-14.06, Z:-1.42 [[ 9.93590251e-01 1.13033921e-01 -1.32133509e-03 1.93007164e+02] [-1.13033751e-01 9.93591128e-01 2.02924959e-04 -1.40618043e+01] [ 1.33580423e-03 -5.22687997e-05 9.99999106e-01 -1.42159202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters 0.05396690700318901 Centerline is valid? [True, True] Translation: X:193.07, Y:-14.07, Z:-1.42 [[ 9.93684000e-01 1.12198715e-01 -1.88558694e-03 1.93068960e+02] [-1.12198367e-01 9.93685787e-01 2.89726866e-04 -1.40650865e+01] [ 1.90618792e-03 -7.63371753e-05 9.99998180e-01 -1.42156869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters 0.05422315444635277 Centerline is valid? [True, True] Translation: X:193.13, Y:-14.07, Z:-1.42 [[ 9.93622898e-01 1.12739017e-01 -1.85781053e-03 1.93129113e+02] [-1.12738680e-01 9.93624632e-01 2.85817689e-04 -1.40739392e+01] [ 1.87818911e-03 -7.45478938e-05 9.99998233e-01 -1.42223752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters 0.05353546518035737 Centerline is valid? [True, True] Translation: X:193.19, Y:-14.08, Z:-1.42 [[ 9.93394198e-01 1.14740021e-01 -1.64143930e-03 1.93190111e+02] [-1.14739760e-01 9.93395553e-01 2.52114174e-04 -1.40757772e+01] [ 1.65952608e-03 -6.21104064e-05 9.99998621e-01 -1.42100074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters 0.053805678550733024 Centerline is valid? [True, True] Translation: X:193.25, Y:-14.09, Z:-1.42 [[ 9.92827809e-01 1.19534092e-01 -2.13111454e-03 1.93249956e+02] [-1.19533664e-01 9.92830094e-01 3.27322052e-04 -1.40861033e+01] [ 2.15496080e-03 -7.02345058e-05 9.99997676e-01 -1.42292929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters 0.05385698313789184 Centerline is valid? [True, True] Translation: X:193.31, Y:-14.09, Z:-1.42 [[ 9.92245785e-01 1.24275743e-01 -1.95996302e-03 1.93311384e+02] [-1.24275390e-01 9.92247719e-01 3.01117532e-04 -1.40879619e+01] [ 1.98219044e-03 -5.52074326e-05 9.99998034e-01 -1.42186978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters 0.053803755530093395 Centerline is valid? [True, True] Translation: X:193.37, Y:-14.09, Z:-1.42 [[ 9.91991448e-01 1.26298033e-01 -1.33172136e-03 1.93373050e+02] [-1.26297872e-01 9.91992342e-01 2.04696649e-04 -1.40904805e+01] [ 1.34691018e-03 -3.48637515e-05 9.99999092e-01 -1.42085450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters 0.05474948022732187 Centerline is valid? [True, True] Translation: X:193.43, Y:-14.10, Z:-1.42 [[ 9.91822968e-01 1.27620354e-01 -4.96111662e-04 1.93432495e+02] [-1.27620332e-01 9.91823092e-01 7.62752269e-05 -1.41003626e+01] [ 5.01789274e-04 -1.23375870e-05 9.99999874e-01 -1.42223021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters 0.054168583259056165 Centerline is valid? [True, True] Translation: X:193.49, Y:-14.11, Z:-1.42 [[ 9.91884441e-01 1.27142170e-01 3.53678449e-04 1.93493846e+02] [-1.27142158e-01 9.91884504e-01 -5.39298945e-05 -1.41074873e+01] [-3.57664937e-04 8.52478175e-06 9.99999936e-01 -1.42276992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters 0.05397026131363598 Centerline is valid? [True, True] Translation: X:193.55, Y:-14.12, Z:-1.42 [[ 9.92130268e-01 1.25209805e-01 -1.92266293e-04 1.93552989e+02] [-1.25209801e-01 9.92130286e-01 2.98373232e-05 -1.41182478e+01] [ 1.94489138e-04 -5.52888710e-06 9.99999981e-01 -1.42435987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters 0.05420762658813923 Centerline is valid? [True, True] Translation: X:193.61, Y:-14.12, Z:-1.42 [[ 9.92436018e-01 1.22762877e-01 -1.62333971e-04 1.93614293e+02] [-1.22762875e-01 9.92436031e-01 2.50641398e-05 -1.41197880e+01] [ 1.64183027e-04 -4.94597021e-06 9.99999987e-01 -1.42336205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters 0.05487647282721169 Centerline is valid? [True, True] Translation: X:193.67, Y:-14.12, Z:-1.42 [[ 9.92964551e-01 1.18403826e-01 -1.39064166e-03 1.93674946e+02] [-1.18403642e-01 9.92965524e-01 2.13939278e-04 -1.41244006e+01] [ 1.40619046e-03 -4.77770815e-05 9.99999010e-01 -1.42471791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters 0.05464027667486348 Centerline is valid? [True, True] Translation: X:193.74, Y:-14.13, Z:-1.43 [[ 9.93588232e-01 1.13048278e-01 -1.58520350e-03 1.93735583e+02] [-1.13048033e-01 9.93589494e-01 2.43845919e-04 -1.41317966e+01] [ 1.60260790e-03 -6.30782987e-05 9.99998714e-01 -1.42608826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters 0.0553127285992741 Centerline is valid? [True, True] Translation: X:193.79, Y:-14.14, Z:-1.43 [[ 9.93981595e-01 1.09532312e-01 -1.80620539e-03 1.93793963e+02] [-1.09531987e-01 9.93983233e-01 2.78030621e-04 -1.41424930e+01] [ 1.82579121e-03 -7.85200550e-05 9.99998330e-01 -1.42699154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters 0.05563123082918871 Centerline is valid? [True, True] Translation: X:193.85, Y:-14.15, Z:-1.43 [[ 9.94254572e-01 1.07023354e-01 -1.96172061e-03 1.93853877e+02] [-1.07022967e-01 9.94256503e-01 3.01669203e-04 -1.41470614e+01] [ 1.98273912e-03 -8.99868249e-05 9.99998030e-01 -1.42676088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters 0.056036963024164214 Centerline is valid? [True, True] Translation: X:193.92, Y:-14.15, Z:-1.43 [[ 9.94267497e-01 1.06918013e-01 -8.25788767e-04 1.93915882e+02] [-1.06917945e-01 9.94267840e-01 1.27322213e-04 -1.41521685e+01] [ 8.34668252e-04 -3.83007009e-05 9.99999651e-01 -1.42677791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters 0.05540867266851311 Centerline is valid? [True, True] Translation: X:193.98, Y:-14.15, Z:-1.42 [[ 9.93990036e-01 1.09469769e-01 4.22224248e-04 1.93978072e+02] [-1.09469751e-01 9.93990125e-01 -6.49354203e-05 -1.41483050e+01] [-4.26795199e-04 1.83243774e-05 9.99999909e-01 -1.42481604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters 0.05515636429826474 Centerline is valid? [True, True] Translation: X:194.04, Y:-14.16, Z:-1.43 [[ 9.93170868e-01 1.16655673e-01 1.75502208e-03 1.94037543e+02] [-1.16655378e-01 9.93172417e-01 -2.69945201e-04 -1.41609154e+01] [-1.77453016e-03 6.33689454e-05 9.99998424e-01 -1.42653414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters 0.055188271928608465 Centerline is valid? [True, True] Translation: X:194.10, Y:-14.16, Z:-1.43 [[ 9.92434052e-01 1.22759509e-01 2.18072054e-03 1.94097679e+02] [-1.22759068e-01 9.92436446e-01 -3.35463949e-04 -1.41649995e+01] [-2.20540793e-03 6.52226251e-05 9.99997566e-01 -1.42621935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters 0.05466841326786818 Centerline is valid? [True, True] Translation: X:194.16, Y:-14.17, Z:-1.43 [[ 9.91211299e-01 1.32266431e-01 2.39837649e-03 1.94158353e+02] [-1.32265925e-01 9.91214199e-01 -3.68980751e-04 -1.41664172e+01] [-2.42610860e-03 4.85144054e-05 9.99997056e-01 -1.42678046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters 0.054029397937626365 Centerline is valid? [True, True] Translation: X:194.22, Y:-14.17, Z:-1.43 [[ 9.90510583e-01 1.37404653e-01 2.95758512e-03 1.94219837e+02] [-1.37403906e-01 9.90514997e-01 -4.54959463e-04 -1.41689502e+01] [-2.99204596e-03 4.42584136e-05 9.99995523e-01 -1.42699767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters 0.053913179506986264 Centerline is valid? [True, True] Translation: X:194.28, Y:-14.17, Z:-1.43 [[ 9.90012743e-01 1.40955690e-01 2.50232635e-03 1.94280143e+02] [-1.40955168e-01 9.90015905e-01 -3.84992133e-04 -1.41730206e+01] [-2.53160972e-03 2.84312867e-05 9.99996795e-01 -1.42731504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters 0.054220467551326784 Centerline is valid? [True, True] Translation: X:194.34, Y:-14.18, Z:-1.43 [[ 9.90130530e-01 1.40125053e-01 2.55019311e-03 1.94341824e+02] [-1.40124508e-01 9.90133813e-01 -3.91935588e-04 -1.41807865e+01] [-2.57995242e-03 3.07228365e-05 9.99996671e-01 -1.42762841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters 0.054084158437351926 Centerline is valid? [True, True] Translation: X:194.40, Y:-14.19, Z:-1.43 [[ 9.90950652e-01 1.34187439e-01 3.24589874e-03 1.94401992e+02] [-1.34186522e-01 9.90955967e-01 -4.99746717e-04 -1.41917950e+01] [-3.28360246e-03 5.96684720e-05 9.99994607e-01 -1.42738670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters 0.05534983823669834 Centerline is valid? [True, True] Translation: X:194.46, Y:-14.20, Z:-1.43 [[ 9.92239765e-01 1.24264243e-01 4.31827475e-03 1.94461726e+02] [-1.24262525e-01 9.92249154e-01 -6.64979818e-04 -1.42027266e+01] [-4.36743768e-03 1.23219694e-04 9.99990455e-01 -1.42663305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters 0.05498698384295237 Centerline is valid? [True, True] Translation: X:194.52, Y:-14.21, Z:-1.43 [[ 9.93042092e-01 1.17703339e-01 3.65057130e-03 1.94523083e+02] [-1.17702067e-01 9.93048794e-01 -5.62119674e-04 -1.42058233e+01] [-3.69135879e-03 1.28528710e-04 9.99993179e-01 -1.42659570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters 0.0563445766846916 Centerline is valid? [True, True] Translation: X:194.58, Y:-14.22, Z:-1.43 [[ 9.93801691e-01 1.11138848e-01 2.52084649e-03 1.94580550e+02] [-1.11138220e-01 9.93804883e-01 -3.88238051e-04 -1.42245533e+01] [-2.54837788e-03 1.05669238e-04 9.99996747e-01 -1.42913992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters 0.05849636810608124 Centerline is valid? [True, True] Translation: X:194.64, Y:-14.24, Z:-1.43 [[ 9.93950571e-01 1.09818364e-01 1.47942671e-03 1.94638523e+02] [-1.09818146e-01 9.93951670e-01 -2.27820477e-04 -1.42431777e+01] [-1.49549752e-03 6.39743951e-05 9.99998880e-01 -1.43135528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters 0.05612468594432871 Centerline is valid? [True, True] Translation: X:194.70, Y:-14.24, Z:-1.43 [[ 9.93782759e-01 1.11313371e-01 2.27169465e-03 1.94701103e+02] [-1.11312862e-01 9.93785351e-01 -3.49758316e-04 -1.42413973e+01] [-2.29650964e-03 9.47149509e-05 9.99997359e-01 -1.43040665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters 0.05549619151137856 Centerline is valid? [True, True] Translation: X:194.76, Y:-14.24, Z:-1.43 [[ 9.93499607e-01 1.13812795e-01 2.27573091e-03 1.94761891e+02] [-1.13812290e-01 9.93502209e-01 -3.50609619e-04 -1.42415673e+01] [-2.30084754e-03 8.93243733e-05 9.99997349e-01 -1.42972074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters 0.056077282366682815 Centerline is valid? [True, True] Translation: X:194.82, Y:-14.26, Z:-1.43 [[ 9.92911913e-01 1.18842647e-01 1.53589384e-03 1.94819604e+02] [-1.18842423e-01 9.92913099e-01 -2.36672602e-04 -1.42561604e+01] [-1.55313592e-03 5.24656997e-05 9.99998793e-01 -1.43206374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters 0.055002380005341835 Centerline is valid? [True, True] Translation: X:194.88, Y:-14.26, Z:-1.43 [[ 9.92257007e-01 1.24181940e-01 2.20838657e-03 1.94880552e+02] [-1.24181490e-01 9.92259463e-01 -3.40176928e-04 -1.42591500e+01] [-2.23353630e-03 6.33022063e-05 9.99997504e-01 -1.43231466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters 0.054533724706268584 Centerline is valid? [True, True] Translation: X:194.94, Y:-14.27, Z:-1.43 [[ 9.91726764e-01 1.28330002e-01 3.07191020e-03 1.94939555e+02] [-1.28329151e-01 9.91731519e-01 -4.73319266e-04 -1.42652918e+01] [-3.10725123e-03 7.51877565e-05 9.99995170e-01 -1.43170424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters 0.05513999763513598 Centerline is valid? [True, True] Translation: X:195.00, Y:-14.28, Z:-1.43 [[ 9.91458252e-01 1.30363949e-01 3.97188142e-03 1.94999131e+02] [-1.30362543e-01 9.91466204e-01 -6.11855255e-04 -1.42755432e+01] [-4.01775006e-03 8.88443784e-05 9.99991925e-01 -1.43234945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters 0.05423859958440392 Centerline is valid? [True, True] Translation: X:195.06, Y:-14.28, Z:-1.43 [[ 9.90957763e-01 1.34082349e-01 4.96345805e-03 1.95057867e+02] [-1.34080200e-01 9.90970189e-01 -7.64691502e-04 -1.42849105e+01] [-5.02117059e-03 9.22755305e-05 9.99987390e-01 -1.43256971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters 0.054320280289365586 Centerline is valid? [True, True] Translation: X:195.12, Y:-14.29, Z:-1.43 [[ 9.90357451e-01 1.38437900e-01 5.20262904e-03 1.95118483e+02] [-1.38435599e-01 9.90371114e-01 -8.01466961e-04 -1.42912558e+01] [-5.26348692e-03 7.35097071e-05 9.99986145e-01 -1.43391215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters 0.05462010027761559 Centerline is valid? [True, True] Translation: X:195.18, Y:-14.30, Z:-1.44 [[ 9.90173413e-01 1.39788240e-01 3.98237241e-03 1.95179748e+02] [-1.39786904e-01 9.90181421e-01 -6.13180446e-04 -1.43005619e+01] [-4.02898659e-03 5.04714653e-05 9.99991882e-01 -1.43595800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters 0.05438348150970615 Centerline is valid? [True, True] Translation: X:195.24, Y:-14.31, Z:-1.44 [[ 9.90276554e-01 1.39088513e-01 2.59450949e-03 1.95241096e+02] [-1.39087943e-01 9.90279952e-01 -3.99723433e-04 -1.43125608e+01] [-2.62488767e-03 3.49717554e-05 9.99996554e-01 -1.43810895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters 0.0542853400266849 Centerline is valid? [True, True] Translation: X:195.30, Y:-14.32, Z:-1.44 [[ 9.90562571e-01 1.37023614e-01 3.21278579e-03 1.95302962e+02] [-1.37022728e-01 9.90567780e-01 -4.95237989e-04 -1.43211444e+01] [-3.25034139e-03 5.03395405e-05 9.99994716e-01 -1.43717996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters 0.05438467604212486 Centerline is valid? [True, True] Translation: X:195.36, Y:-14.34, Z:-1.44 [[ 9.91127030e-01 1.32883487e-01 3.03146539e-03 1.95360922e+02] [-1.32882678e-01 9.91131664e-01 -4.67543119e-04 -1.43380185e+01] [-3.06671010e-03 6.05653831e-05 9.99995296e-01 -1.43898640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters 0.054600196436390754 Centerline is valid? [True, True] Translation: X:195.42, Y:-14.35, Z:-1.44 [[ 9.91651083e-01 1.28911690e-01 3.14729327e-03 1.95420485e+02] [-1.28910798e-01 9.91656075e-01 -4.85623950e-04 -1.43530874e+01] [-3.18363510e-03 7.58494288e-05 9.99994929e-01 -1.44016600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters 0.05368610966789061 Centerline is valid? [True, True] Translation: X:195.48, Y:-14.36, Z:-1.44 [[ 9.92062533e-01 1.25667670e-01 4.42353132e-03 1.95482000e+02] [-1.25665875e-01 9.92072387e-01 -6.82630315e-04 -1.43571199e+01] [-4.47424784e-03 1.21325028e-04 9.99989983e-01 -1.43971426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters 0.054269376578526714 Centerline is valid? [True, True] Translation: X:195.54, Y:-14.37, Z:-1.44 [[ 9.92788161e-01 1.19804674e-01 4.30208785e-03 1.95540544e+02] [-1.19802920e-01 9.92797471e-01 -6.64014543e-04 -1.43739205e+01] [-4.35065399e-03 1.43823088e-04 9.99990526e-01 -1.44073854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters 0.05555637631460689 Centerline is valid? [True, True] Translation: X:195.60, Y:-14.39, Z:-1.44 [[ 9.93148011e-01 1.16815205e-01 3.35200349e-03 1.95597504e+02] [-1.16814123e-01 9.93153660e-01 -5.17399082e-04 -1.43944779e+01] [-3.38949462e-03 1.22292521e-04 9.99994248e-01 -1.44181268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters 0.05516484117034439 Centerline is valid? [True, True] Translation: X:195.66, Y:-14.40, Z:-1.44 [[ 9.93313128e-01 1.15381550e-01 4.01588426e-03 1.95657326e+02] [-1.15379985e-01 9.93321234e-01 -6.20016895e-04 -1.44049982e+01] [-4.06060162e-03 1.52518255e-04 9.99991744e-01 -1.44184600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters 0.054683709784085426 Centerline is valid? [True, True] Translation: X:195.72, Y:-14.40, Z:-1.44 [[ 9.93214009e-01 1.16202972e-01 4.77504470e-03 1.95721029e+02] [-1.16200769e-01 9.93225472e-01 -7.37187659e-04 -1.43985829e+01] [-4.82835942e-03 1.77321245e-04 9.99988328e-01 -1.44167605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters 0.05491180330959997 Centerline is valid? [True, True] Translation: X:195.78, Y:-14.42, Z:-1.44 [[ 9.92837131e-01 1.19424628e-01 3.49141510e-03 1.95778368e+02] [-1.19423469e-01 9.92843263e-01 -5.39197743e-04 -1.44191695e+01] [-3.53082145e-03 1.18378635e-04 9.99993760e-01 -1.44339653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters 0.054208045355552986 Centerline is valid? [True, True] Translation: X:195.84, Y:-14.43, Z:-1.44 [[ 9.92473909e-01 1.22412962e-01 3.25690110e-03 1.95838082e+02] [-1.22411970e-01 9.92479247e-01 -5.03005288e-04 -1.44296377e+01] [-3.29398112e-03 1.00535944e-04 9.99994570e-01 -1.44427563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters 0.0547709475684985 Centerline is valid? [True, True] Translation: X:195.90, Y:-14.44, Z:-1.45 [[ 9.91664741e-01 1.28808148e-01 3.08260782e-03 1.95896048e+02] [-1.28807290e-01 9.91669529e-01 -4.76175096e-04 -1.44428175e+01] [-3.11826348e-03 7.51436948e-05 9.99995135e-01 -1.44532965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters 0.05383223398978165 Centerline is valid? [True, True] Translation: X:195.96, Y:-14.45, Z:-1.44 [[ 9.91039338e-01 1.33506492e-01 4.12889525e-03 1.95957168e+02] [-1.33504993e-01 9.91047935e-01 -6.37697718e-04 -1.44473592e+01] [-4.17706989e-03 8.07553931e-05 9.99991273e-01 -1.44436888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters 0.05357370919217282 Centerline is valid? [True, True] Translation: X:196.02, Y:-14.46, Z:-1.44 [[ 9.90207637e-01 1.39497111e-01 5.42135193e-03 1.96016210e+02] [-1.39494616e-01 9.90222475e-01 -8.37350600e-04 -1.44574960e+01] [-5.48515252e-03 7.29015514e-05 9.99984954e-01 -1.44438714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters 0.05321164363009236 Centerline is valid? [True, True] Translation: X:196.08, Y:-14.46, Z:-1.44 [[ 9.89680937e-01 1.43161861e-01 6.02698196e-03 1.96077699e+02] [-1.43158847e-01 9.89699287e-01 -9.30850265e-04 -1.44640060e+01] [-6.09816201e-03 5.84289730e-05 9.99981404e-01 -1.44459720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters 0.05266436952897027 Centerline is valid? [True, True] Translation: X:196.14, Y:-14.47, Z:-1.45 [[ 9.89122569e-01 1.46974828e-01 5.91134153e-03 1.96139565e+02] [-1.46971996e-01 9.89140232e-01 -9.13096081e-04 -1.44720891e+01] [-5.98134787e-03 3.43622773e-05 9.99982111e-01 -1.44520819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters 0.05299029974716655 Centerline is valid? [True, True] Translation: X:196.20, Y:-14.48, Z:-1.45 [[ 9.89056099e-01 1.47444581e-01 5.30360257e-03 1.96201779e+02] [-1.47442308e-01 9.89070318e-01 -8.19221830e-04 -1.44834496e+01] [-5.36642570e-03 2.82809446e-05 9.99985600e-01 -1.44620845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters 0.05308378685852807 Centerline is valid? [True, True] Translation: X:196.26, Y:-14.50, Z:-1.45 [[ 9.89408558e-01 1.45085424e-01 4.57442644e-03 1.96261473e+02] [-1.45083706e-01 9.89419132e-01 -7.07127709e-04 -1.44958059e+01] [-4.62861896e-03 3.59634684e-05 9.99989287e-01 -1.44664588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters 0.05297438366135551 Centerline is valid? [True, True] Translation: X:196.32, Y:-14.51, Z:-1.45 [[ 9.90517852e-01 1.37315802e-01 4.33067360e-03 1.96320834e+02] [-1.37314184e-01 9.90527317e-01 -6.70137419e-04 -1.45099887e+01] [-4.38167096e-03 6.91201659e-05 9.99990398e-01 -1.44723204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters 0.05363885104382869 Centerline is valid? [True, True] Translation: X:196.38, Y:-14.53, Z:-1.45 [[ 9.91449418e-01 1.30415365e-01 4.45925943e-03 1.96378289e+02] [-1.30413580e-01 9.91459440e-01 -6.90056968e-04 -1.45275831e+01] [-4.51116889e-03 1.02608594e-04 9.99989819e-01 -1.44846930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters 0.05384904133379251 Centerline is valid? [True, True] Translation: X:196.44, Y:-14.54, Z:-1.45 [[ 9.92683898e-01 1.20627270e-01 5.26686647e-03 1.96438083e+02] [-1.20624640e-01 9.92697855e-01 -8.15284285e-04 -1.45360365e+01] [-5.32675257e-03 1.74005710e-04 9.99985798e-01 -1.44868361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters 0.05413815218102271 Centerline is valid? [True, True] Translation: X:196.50, Y:-14.55, Z:-1.45 [[ 9.93277466e-01 1.15662668e-01 4.69292501e-03 1.96497321e+02] [-1.15660524e-01 9.93288536e-01 -7.26473488e-04 -1.45461624e+01] [-4.74545447e-03 1.78803578e-04 9.99988724e-01 -1.44931725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters 0.05420518925861193 Centerline is valid? [True, True] Translation: X:196.56, Y:-14.56, Z:-1.45 [[ 9.93607491e-01 1.12800732e-01 4.48883665e-03 1.96557273e+02] [-1.12798742e-01 9.93617613e-01 -6.94895489e-04 -1.45580892e+01] [-4.53857188e-03 1.84118237e-04 9.99989684e-01 -1.45017109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters 0.05436084940770983 Centerline is valid? [True, True] Translation: X:196.62, Y:-14.57, Z:-1.45 [[ 9.93441336e-01 1.14227791e-01 5.13061371e-03 1.96617724e+02] [-1.14225211e-01 9.93454564e-01 -7.94236530e-04 -1.45701826e+01] [-5.18775549e-03 2.02981968e-04 9.99986523e-01 -1.45067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters 0.053926674650313464 Centerline is valid? [True, True] Translation: X:196.68, Y:-14.57, Z:-1.45 [[ 9.92833704e-01 1.19378178e-01 5.48517644e-03 1.96679020e+02] [-1.19375305e-01 9.92848838e-01 -8.49364436e-04 -1.45709101e+01] [-5.54734664e-03 1.88483025e-04 9.99984596e-01 -1.45099098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters 0.05406537779300688 Centerline is valid? [True, True] Translation: X:196.74, Y:-14.58, Z:-1.45 [[ 9.92337950e-01 1.23438174e-01 5.33006577e-03 1.96737294e+02] [-1.23435520e-01 9.92352252e-01 -8.25411268e-04 -1.45831337e+01] [-5.39119003e-03 1.61167487e-04 9.99985454e-01 -1.45188165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters 0.054241571652381255 Centerline is valid? [True, True] Translation: X:196.80, Y:-14.59, Z:-1.45 [[ 9.91607938e-01 1.29178274e-01 5.16438354e-03 1.96797642e+02] [-1.29175860e-01 9.91621378e-01 -7.99698153e-04 -1.45890686e+01] [-5.22441675e-03 1.25873349e-04 9.99986345e-01 -1.45224775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters 0.05417840884182485 Centerline is valid? [True, True] Translation: X:196.86, Y:-14.60, Z:-1.45 [[ 9.91175814e-01 1.32443082e-01 5.41633390e-03 1.96858659e+02] [-1.32440475e-01 9.91190606e-01 -8.38720133e-04 -1.45953173e+01] [-5.47970196e-03 1.13977275e-04 9.99984980e-01 -1.45275431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters 0.05375336043107662 Centerline is valid? [True, True] Translation: X:196.92, Y:-14.60, Z:-1.45 [[ 9.90972320e-01 1.33984891e-01 4.68080958e-03 1.96919038e+02] [-1.33982962e-01 9.90983371e-01 -7.24691188e-04 -1.46026280e+01] [-4.73570212e-03 9.10001754e-05 9.99988782e-01 -1.45297176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters 0.05377007269784919 Centerline is valid? [True, True] Translation: X:196.98, Y:-14.61, Z:-1.45 [[ 9.90665093e-01 1.36229881e-01 4.90852918e-03 1.96980648e+02] [-1.36227783e-01 9.90677249e-01 -7.60780109e-04 -1.46078171e+01] [-4.96640917e-03 8.50002495e-05 9.99987664e-01 -1.45263591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters 0.05407069265265569 Centerline is valid? [True, True] Translation: X:197.04, Y:-14.62, Z:-1.45 [[ 9.90727648e-01 1.35760969e-01 5.26192780e-03 1.97042345e+02] [-1.35758551e-01 9.90741616e-01 -8.15645279e-04 -1.46161977e+01] [-5.32394365e-03 9.37306356e-05 9.99985823e-01 -1.45269961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters 0.05403808631863515 Centerline is valid? [True, True] Translation: X:197.10, Y:-14.63, Z:-1.45 [[ 9.91085896e-01 1.33145578e-01 4.58270942e-03 1.97103031e+02] [-1.33143715e-01 9.91096487e-01 -7.10566927e-04 -1.46250100e+01] [-4.63651605e-03 9.40739049e-05 9.99989247e-01 -1.45340632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters 0.05373414398695284 Centerline is valid? [True, True] Translation: X:197.16, Y:-14.63, Z:-1.45 [[ 9.91574188e-01 1.29504504e-01 3.03514174e-03 1.97162253e+02] [-1.29503670e-01 9.91578831e-01 -4.70563703e-04 -1.46325027e+01] [-3.07052241e-03 7.35368275e-05 9.99995283e-01 -1.45481020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters 0.054935970387746266 Centerline is valid? [True, True] Translation: X:197.22, Y:-14.65, Z:-1.46 [[ 9.91869981e-01 1.27223985e-01 2.82830934e-03 1.97220352e+02] [-1.27223251e-01 9.91874010e-01 -4.38626090e-04 -1.46519648e+01] [-2.86113029e-03 7.52333409e-05 9.99995904e-01 -1.45704145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters 0.054397964660605466 Centerline is valid? [True, True] Translation: X:197.28, Y:-14.66, Z:-1.46 [[ 9.92162613e-01 1.24920048e-01 2.88647634e-03 1.97280493e+02] [-1.24919274e-01 9.92166808e-01 -4.47673457e-04 -1.46621858e+01] [-2.91978941e-03 8.35883380e-05 9.99995734e-01 -1.45731590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters 0.05428498590038642 Centerline is valid? [True, True] Translation: X:197.34, Y:-14.67, Z:-1.46 [[ 9.92334923e-01 1.23550045e-01 2.60518745e-03 1.97342438e+02] [-1.23549410e-01 9.92338340e-01 -4.04036073e-04 -1.46691678e+01] [-2.63514606e-03 7.90697335e-05 9.99996525e-01 -1.45748361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters 0.05376464906860846 Centerline is valid? [True, True] Translation: X:197.40, Y:-14.68, Z:-1.46 [[ 9.92575441e-01 1.21580396e-01 3.49313999e-03 1.97402751e+02] [-1.21579241e-01 9.92581581e-01 -5.41977922e-04 -1.46783948e+01] [-3.53312031e-03 1.13260666e-04 9.99993752e-01 -1.45713900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters 0.0545422732411618 Centerline is valid? [True, True] Translation: X:197.46, Y:-14.69, Z:-1.46 [[ 9.92462450e-01 1.22500487e-01 3.45196572e-03 1.97463088e+02] [-1.22499365e-01 9.92468447e-01 -5.35270257e-04 -1.46908863e+01] [-3.49153793e-03 1.08372020e-04 9.99993899e-01 -1.45743817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters 0.05389462865184575 Centerline is valid? [True, True] Translation: X:197.52, Y:-14.70, Z:-1.46 [[ 9.91813700e-01 1.27642197e-01 3.61315464e-03 1.97523119e+02] [-1.27640999e-01 9.91820276e-01 -5.61107617e-04 -1.46970553e+01] [-3.65522105e-03 9.53275537e-05 9.99993315e-01 -1.45763823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters 0.05379022315307071 Centerline is valid? [True, True] Translation: X:197.58, Y:-14.70, Z:-1.46 [[ 9.91053901e-01 1.33400593e-01 4.05551832e-03 1.97584021e+02] [-1.33399132e-01 9.91062195e-01 -6.29853259e-04 -1.47002468e+01] [-4.10329368e-03 8.32159077e-05 9.99991578e-01 -1.45722013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters 0.05325264000932933 Centerline is valid? [True, True] Translation: X:197.64, Y:-14.71, Z:-1.46 [[ 9.89904924e-01 1.41690603e-01 3.46608493e-03 1.97643189e+02] [-1.41689586e-01 9.89910992e-01 -5.38348549e-04 -1.47098653e+01] [-3.50739450e-03 4.18057408e-05 9.99993848e-01 -1.45814783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters 0.053044002733484946 Centerline is valid? [True, True] Translation: X:197.71, Y:-14.72, Z:-1.46 [[ 9.89428933e-01 1.44982331e-01 3.24203492e-03 1.97705105e+02] [-1.44981460e-01 9.89434244e-01 -5.03335173e-04 -1.47181052e+01] [-3.28075508e-03 2.79794283e-05 9.99994618e-01 -1.45874401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters 0.05314133786931024 Centerline is valid? [True, True] Translation: X:197.77, Y:-14.73, Z:-1.46 [[ 9.89547644e-01 1.44190626e-01 2.12703248e-03 1.97765458e+02] [-1.44190250e-01 9.89549929e-01 -3.29858989e-04 -1.47273569e+01] [-2.15236742e-03 1.97138392e-05 9.99997683e-01 -1.45916375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters 0.05344583643657335 Centerline is valid? [True, True] Translation: X:197.82, Y:-14.74, Z:-1.46 [[ 9.90555775e-01 1.37095233e-01 2.03786112e-03 1.97824972e+02] [-1.37094872e-01 9.90557871e-01 -3.16714440e-04 -1.47424211e+01] [-2.06203942e-03 3.43430078e-05 9.99997873e-01 -1.45942385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters 0.05375587761505858 Centerline is valid? [True, True] Translation: X:197.88, Y:-14.75, Z:-1.46 [[ 9.91306691e-01 1.31552398e-01 2.23871456e-03 1.97884363e+02] [-1.31551947e-01 9.91309217e-01 -3.48026598e-04 -1.47544332e+01] [-2.26504211e-03 5.04938363e-05 9.99997434e-01 -1.45886916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters 0.05446551704228328 Centerline is valid? [True, True] Translation: X:197.94, Y:-14.77, Z:-1.46 [[ 9.92181564e-01 1.24771763e-01 2.78415798e-03 1.97942941e+02] [-1.24771039e-01 9.92185467e-01 -4.32877699e-04 -1.47681714e+01] [-2.81641200e-03 8.21109879e-05 9.99996031e-01 -1.45900104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters 0.05502543203587504 Centerline is valid? [True, True] Translation: X:198.00, Y:-14.78, Z:-1.46 [[ 9.92550749e-01 1.21816015e-01 1.96719596e-03 1.98002792e+02] [-1.21815648e-01 9.92552696e-01 -3.05777984e-04 -1.47819887e+01] [-1.98979431e-03 6.38649164e-05 9.99998018e-01 -1.45977852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters 0.05426600000583634 Centerline is valid? [True, True] Translation: X:198.06, Y:-14.79, Z:-1.46 [[ 9.92898349e-01 1.18963380e-01 7.64067982e-04 1.98063236e+02] [-1.18963323e-01 9.92898642e-01 -1.18736204e-04 -1.47885756e+01] [-7.72767322e-04 2.69969141e-05 9.99999701e-01 -1.45874104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters 0.0547822046079391 Centerline is valid? [True, True] Translation: X:198.12, Y:-14.80, Z:-1.46 [[ 9.92971493e-01 1.18350304e-01 9.05798781e-04 1.98124333e+02] [-1.18350225e-01 9.92971905e-01 -1.40604302e-04 -1.47979595e+01] [-9.16073303e-04 3.24145740e-05 9.99999580e-01 -1.45900462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters 0.05524483150967936 Centerline is valid? [True, True] Translation: X:198.18, Y:-14.81, Z:-1.46 [[ 9.92759415e-01 1.20107557e-01 1.70836345e-03 1.98184376e+02] [-1.20107277e-01 9.92760883e-01 -2.65668564e-04 -1.48088037e+01] [-1.72790521e-03 5.85580861e-05 9.99998505e-01 -1.45906053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters 0.05464344488585066 Centerline is valid? [True, True] Translation: X:198.24, Y:-14.82, Z:-1.46 [[ 9.92521899e-01 1.22057665e-01 1.48573591e-03 1.98244045e+02] [-1.22057456e-01 9.92523009e-01 -2.31106244e-04 -1.48182325e+01] [-1.50283536e-03 4.80328634e-05 9.99998870e-01 -1.45908234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters 0.05441638830848776 Centerline is valid? [True, True] Translation: X:198.30, Y:-14.83, Z:-1.46 [[ 9.92162592e-01 1.24948590e-01 1.11406351e-03 1.98304072e+02] [-1.24948474e-01 9.92163217e-01 -1.73285292e-04 -1.48252159e+01] [-1.12698459e-03 3.27266491e-05 9.99999364e-01 -1.45958123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters 0.05467454303687987 Centerline is valid? [True, True] Translation: X:198.36, Y:-14.83, Z:-1.46 [[ 9.91888948e-01 1.27101318e-01 1.25277954e-03 1.98364274e+02] [-1.27101173e-01 9.91889739e-01 -1.94828137e-04 -1.48330034e+01] [-1.26738208e-03 3.40181273e-05 9.99999196e-01 -1.46006397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters 0.05435874382747752 Centerline is valid? [True, True] Translation: X:198.43, Y:-14.84, Z:-1.46 [[ 9.91531468e-01 1.29859800e-01 1.33431810e-03 1.98425908e+02] [-1.29859638e-01 9.91532365e-01 -2.07444783e-04 -1.48394592e+01] [-1.34995832e-03 3.24139655e-05 9.99999088e-01 -1.46050667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters 0.05448529003133826 Centerline is valid? [True, True] Translation: X:198.49, Y:-14.85, Z:-1.46 [[ 9.91258765e-01 1.31924114e-01 1.44529644e-03 1.98485589e+02] [-1.31923926e-01 9.91259818e-01 -2.24911563e-04 -1.48476567e+01] [-1.46233554e-03 3.22763778e-05 9.99998930e-01 -1.46104205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters 0.054163467311185896 Centerline is valid? [True, True] Translation: X:198.55, Y:-14.85, Z:-1.46 [[ 9.90954560e-01 1.34190670e-01 1.38707999e-03 1.98546770e+02] [-1.34190499e-01 9.90955530e-01 -2.15818412e-04 -1.48513731e+01] [-1.40349540e-03 2.77332839e-05 9.99999015e-01 -1.46088439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters 0.05394857254712435 Centerline is valid? [True, True] Translation: X:198.61, Y:-14.86, Z:-1.46 [[ 9.90934019e-01 1.34339573e-01 1.62750420e-03 1.98608842e+02] [-1.34339340e-01 9.90935355e-01 -2.52654134e-04 -1.48594175e+01] [-1.64669290e-03 3.17257374e-05 9.99998644e-01 -1.46129354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters 0.05392299586223801 Centerline is valid? [True, True] Translation: X:198.67, Y:-14.87, Z:-1.46 [[ 9.91359121e-01 1.31162449e-01 1.87214620e-03 1.98669658e+02] [-1.31162132e-01 9.91360888e-01 -2.91548575e-04 -1.48682154e+01] [-1.89421274e-03 4.34746523e-05 9.99998205e-01 -1.46181333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters 0.05484361024116188 Centerline is valid? [True, True] Translation: X:198.73, Y:-14.89, Z:-1.46 [[ 9.92124133e-01 1.25227340e-01 2.79620417e-03 1.98727595e+02] [-1.25226609e-01 9.92128070e-01 -4.35703040e-04 -1.48859277e+01] [-2.82875458e-03 8.21123344e-05 9.99995996e-01 -1.46270139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters 0.05540188702183578 Centerline is valid? [True, True] Translation: X:198.79, Y:-14.90, Z:-1.46 [[ 9.92639122e-01 1.21058804e-01 3.51283375e-03 1.98787358e+02] [-1.21057624e-01 9.92645330e-01 -5.47369871e-04 -1.48963270e+01] [-3.55326196e-03 1.18085441e-04 9.99993680e-01 -1.46310035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters 0.055125422438733904 Centerline is valid? [True, True] Translation: X:198.85, Y:-14.90, Z:-1.46 [[ 9.92840166e-01 1.19394846e-01 3.64359032e-03 1.98849059e+02] [-1.19393566e-01 9.92846843e-01 -5.67719283e-04 -1.48993211e+01] [-3.68530991e-03 1.28633267e-04 9.99993201e-01 -1.46264872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters 0.05523842264400751 Centerline is valid? [True, True] Translation: X:198.91, Y:-14.91, Z:-1.46 [[ 9.93138763e-01 1.16880620e-01 3.78389503e-03 1.98909835e+02] [-1.16879220e-01 9.93145961e-01 -5.89671635e-04 -1.49072878e+01] [-3.82688125e-03 1.43367057e-04 9.99992667e-01 -1.46336026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters 0.055641128189165105 Centerline is valid? [True, True] Translation: X:198.97, Y:-14.91, Z:-1.46 [[ 9.93135785e-01 1.16910724e-01 3.63263256e-03 1.98973155e+02] [-1.16909435e-01 9.93142419e-01 -5.65944490e-04 -1.49127760e+01] [-3.67388647e-03 1.37370706e-04 9.99993242e-01 -1.46404210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters 0.0559014059841714 Centerline is valid? [True, True] Translation: X:199.03, Y:-14.93, Z:-1.47 [[ 9.92943508e-01 1.18551346e-01 2.96108622e-03 1.99032322e+02] [-1.18550495e-01 9.92947918e-01 -4.61626619e-04 -1.49254959e+01] [-2.99493085e-03 1.07330916e-04 9.99995509e-01 -1.46586980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters 0.05493013880286814 Centerline is valid? [True, True] Translation: X:199.09, Y:-14.92, Z:-1.47 [[ 9.92309807e-01 1.23740955e-01 3.06957619e-03 1.99093930e+02] [-1.23740066e-01 9.92314551e-01 -4.78535277e-04 -1.49249099e+01] [-3.10519953e-03 9.50256888e-05 9.99995174e-01 -1.46643495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters 0.05511426925553923 Centerline is valid? [True, True] Translation: X:199.15, Y:-14.93, Z:-1.47 [[ 9.91820624e-01 1.27582949e-01 3.80010579e-03 1.99152727e+02] [-1.27581615e-01 9.91827899e-01 -5.92575600e-04 -1.49344133e+01] [-3.84465349e-03 1.02905068e-04 9.99992604e-01 -1.46694770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters 0.05412746731828625 Centerline is valid? [True, True] Translation: X:199.21, Y:-14.94, Z:-1.47 [[ 9.91227634e-01 1.32056824e-01 5.36406533e-03 1.99213364e+02] [-1.32054231e-01 9.91242140e-01 -8.36396638e-04 -1.49423915e+01] [-5.42753949e-03 1.20711940e-04 9.99985264e-01 -1.46705898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters 0.05461586414831395 Centerline is valid? [True, True] Translation: X:199.27, Y:-14.95, Z:-1.47 [[ 9.90742934e-01 1.35633476e-01 5.65685089e-03 1.99272815e+02] [-1.35630649e-01 9.90759077e-01 -8.82157474e-04 -1.49513314e+01] [-5.72422645e-03 1.06748928e-04 9.99983611e-01 -1.46802991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters 0.05364554593594761 Centerline is valid? [True, True] Translation: X:199.33, Y:-14.95, Z:-1.47 [[ 9.89803308e-01 1.42312403e-01 6.04903202e-03 1.99334092e+02] [-1.42309295e-01 9.89821789e-01 -9.43309943e-04 -1.49541382e+01] [-6.12170841e-03 7.28578166e-05 9.99981260e-01 -1.46882033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters 0.05373404573891103 Centerline is valid? [True, True] Translation: X:199.40, Y:-14.96, Z:-1.47 [[ 9.88665350e-01 1.50012512e-01 6.08861381e-03 1.99395300e+02] [-1.50009509e-01 9.88684098e-01 -9.49501499e-04 -1.49585586e+01] [-6.16215275e-03 2.53892642e-05 9.99981013e-01 -1.46986491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters 0.05305127658519445 Centerline is valid? [True, True] Translation: X:199.46, Y:-14.97, Z:-1.47 [[ 9.87987083e-01 1.54402787e-01 6.42669774e-03 1.99456934e+02] [-1.54399533e-01 9.88007986e-01 -1.00230409e-03 -1.49652654e+01] [-6.50438723e-03 -2.01563761e-06 9.99978846e-01 -1.47062027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters 0.05288684936722215 Centerline is valid? [True, True] Translation: X:199.52, Y:-14.97, Z:-1.47 [[ 9.87326616e-01 1.58603914e-01 5.56337544e-03 1.99517206e+02] [-1.58601541e-01 9.87342290e-01 -8.67898154e-04 -1.49723052e+01] [-5.63060789e-03 -2.54609715e-05 9.99984148e-01 -1.47212596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters 0.05302215681780081 Centerline is valid? [True, True] Translation: X:199.58, Y:-14.98, Z:-1.47 [[ 9.87394764e-01 1.58209135e-01 4.63136242e-03 1.99578108e+02] [-1.58207488e-01 9.87405625e-01 -7.22285764e-04 -1.49848251e+01] [-4.68730551e-03 -1.95350322e-05 9.99989014e-01 -1.47292953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters 0.05301727522903143 Centerline is valid? [True, True] Translation: X:199.64, Y:-15.00, Z:-1.47 [[ 9.88475975e-01 1.51319391e-01 4.20576244e-03 1.99638474e+02] [-1.51317967e-01 9.88484922e-01 -6.56578542e-04 -1.50009230e+01] [-4.25668582e-03 1.26046924e-05 9.99990940e-01 -1.47408108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters 0.05345657592202552 Centerline is valid? [True, True] Translation: X:199.70, Y:-15.02, Z:-1.47 [[ 9.89592838e-01 1.43850179e-01 3.62497494e-03 1.99697823e+02] [-1.43849072e-01 9.89599477e-01 -5.65774171e-04 -1.50169944e+01] [-3.66866002e-03 3.84367875e-05 9.99993270e-01 -1.47463519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters 0.05376875058241375 Centerline is valid? [True, True] Translation: X:199.76, Y:-15.04, Z:-1.48 [[ 9.91260548e-01 1.31873436e-01 3.45305849e-03 1.99755539e+02] [-1.31872356e-01 9.91266559e-01 -5.39640901e-04 -1.50410416e+01] [-3.49406570e-03 7.95617776e-05 9.99993893e-01 -1.47577449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters 0.0537537366900676 Centerline is valid? [True, True] Translation: X:199.81, Y:-15.05, Z:-1.48 [[ 9.92023999e-01 1.25985005e-01 4.02043017e-03 1.99813729e+02] [-1.25983492e-01 9.92032139e-01 -6.28393493e-04 -1.50537228e+01] [-4.06756410e-03 1.16873593e-04 9.99991721e-01 -1.47555618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters 0.053489726737461565 Centerline is valid? [True, True] Translation: X:199.87, Y:-15.07, Z:-1.48 [[ 9.92513408e-01 1.22046519e-01 4.66718891e-03 1.99873757e+02] [-1.22044436e-01 9.92524369e-01 -7.29584538e-04 -1.50653882e+01] [-4.72134199e-03 1.54517996e-04 9.99988842e-01 -1.47570321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters 0.053229759705486865 Centerline is valid? [True, True] Translation: X:199.93, Y:-15.08, Z:-1.48 [[ 9.92131788e-01 1.25155331e-01 3.26474250e-03 1.99932512e+02] [-1.25154328e-01 9.92137155e-01 -5.10372271e-04 -1.50792504e+01] [-3.30294814e-03 9.77598994e-05 9.99994540e-01 -1.47646746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters 0.052856408642778206 Centerline is valid? [True, True] Translation: X:199.99, Y:-15.09, Z:-1.48 [[ 9.91382252e-01 1.30975352e-01 2.58614338e-03 1.99992345e+02] [-1.30974743e-01 9.91385623e-01 -4.04286140e-04 -1.50897201e+01] [-2.61681688e-03 6.20826395e-05 9.99996574e-01 -1.47787836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters 0.05290627227516957 Centerline is valid? [True, True] Translation: X:200.05, Y:-15.10, Z:-1.48 [[ 9.89642019e-01 1.43535897e-01 2.47393499e-03 2.00052383e+02] [-1.43535379e-01 9.89645111e-01 -3.86728027e-04 -1.50980496e+01] [-2.50382702e-03 2.76251093e-05 9.99996865e-01 -1.47893007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters 0.0527281570626797 Centerline is valid? [True, True] Translation: X:200.11, Y:-15.11, Z:-1.48 [[ 9.88431905e-01 1.51629259e-01 3.30718079e-03 2.00112654e+02] [-1.51628378e-01 9.88437437e-01 -5.16918559e-04 -1.51074498e+01] [-3.34732129e-03 9.47633626e-06 9.99994398e-01 -1.48007306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters 0.05224080333934868 Centerline is valid? [True, True] Translation: X:200.18, Y:-15.12, Z:-1.48 [[ 9.87304285e-01 1.58801495e-01 3.51202468e-03 2.00175344e+02] [-1.58800548e-01 9.87310531e-01 -5.48618858e-04 -1.51158374e+01] [-3.55458045e-03 -1.60576961e-05 9.99993682e-01 -1.48052839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters 0.05141091054142421 Centerline is valid? [True, True] Translation: X:200.24, Y:-15.13, Z:-1.48 [[ 9.85835476e-01 1.67656020e-01 4.45788199e-03 2.00235497e+02] [-1.67654579e-01 9.85845554e-01 -6.97615419e-04 -1.51256452e+01] [-4.51174256e-03 -5.96503000e-05 9.99989820e-01 -1.48083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters 0.05206640990252391 Centerline is valid? [True, True] Translation: X:200.29, Y:-15.14, Z:-1.48 [[ 9.84913126e-01 1.72971715e-01 5.18843485e-03 2.00294944e+02] [-1.72969837e-01 9.84926787e-01 -8.11970577e-04 -1.51357344e+01] [-5.25067641e-03 -9.77222484e-05 9.99986210e-01 -1.48181860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters 0.05134803030393535 Centerline is valid? [True, True] Translation: X:200.36, Y:-15.15, Z:-1.48 [[ 9.84740853e-01 1.73933327e-01 5.71401328e-03 2.00355607e+02] [-1.73931065e-01 9.84757424e-01 -8.94209227e-04 -1.51484586e+01] [-5.78244979e-03 -1.13280059e-04 9.99983275e-01 -1.48205876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters 0.05086027410919333 Centerline is valid? [True, True] Translation: X:200.41, Y:-15.17, Z:-1.48 [[ 9.85206706e-01 1.71256152e-01 6.25107329e-03 2.00413635e+02] [-1.71253386e-01 9.85226532e-01 -9.79164207e-04 -1.51689912e+01] [-6.32641115e-03 -1.05838320e-04 9.99979982e-01 -1.48203562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters 0.051374903212289574 Centerline is valid? [True, True] Translation: X:200.47, Y:-15.18, Z:-1.48 [[ 9.85884324e-01 1.67317456e-01 6.08023573e-03 2.00474797e+02] [-1.67314763e-01 9.85903070e-01 -9.52425160e-04 -1.51787365e+01] [-6.15388042e-03 -7.83321666e-05 9.99981062e-01 -1.48338330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters 0.05066649136403257 Centerline is valid? [True, True] Translation: X:200.53, Y:-15.20, Z:-1.48 [[ 9.87190127e-01 1.59472018e-01 4.93234089e-03 2.00533396e+02] [-1.59470148e-01 9.87202449e-01 -7.72740849e-04 -1.52033519e+01] [-4.99244955e-03 -2.37189944e-05 9.99987537e-01 -1.48446716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters 0.05082573563063078 Centerline is valid? [True, True] Translation: X:200.59, Y:-15.22, Z:-1.49 [[ 9.87993688e-01 1.54456742e-01 3.40409910e-03 2.00592207e+02] [-1.54455822e-01 9.87999552e-01 -5.32984268e-04 -1.52203817e+01] [-3.44557140e-03 8.02166385e-07 9.99994064e-01 -1.48739655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters 0.05077425812009659 Centerline is valid? [True, True] Translation: X:200.65, Y:-15.24, Z:-1.49 [[ 9.88907891e-01 1.48528958e-01 5.76461620e-04 2.00651960e+02] [-1.48528931e-01 9.88908059e-01 -9.01698117e-05 -1.52395056e+01] [-5.83460370e-04 3.54841028e-06 9.99999830e-01 -1.48865144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters 0.05135609541348104 Centerline is valid? [True, True] Translation: X:200.71, Y:-15.26, Z:-1.49 [[ 9.89326138e-01 1.45717008e-01 -5.88436858e-04 2.00711008e+02] [-1.45716978e-01 9.89326313e-01 9.31695783e-05 -1.52569969e+01] [ 5.95732459e-04 -6.42985839e-06 9.99999823e-01 -1.49065672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters 0.05205207156816379 Centerline is valid? [True, True] Translation: X:200.77, Y:-15.27, Z:-1.49 [[ 9.89705767e-01 1.43110353e-01 -1.38590755e-03 2.00771039e+02] [-1.43110187e-01 9.89706738e-01 2.18448036e-04 -1.52699215e+01] [ 1.40290421e-03 -1.78617926e-05 9.99999016e-01 -1.48823457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters 0.05148762052495202 Centerline is valid? [True, True] Translation: X:200.83, Y:-15.29, Z:-1.49 [[ 9.90036898e-01 1.40800441e-01 -1.47558991e-03 2.00831667e+02] [-1.40800251e-01 9.90037997e-01 2.32090758e-04 -1.52861776e+01] [ 1.49356856e-03 -2.20149834e-05 9.99998884e-01 -1.48825600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters 0.05125227851470414 Centerline is valid? [True, True] Translation: X:200.89, Y:-15.30, Z:-1.49 [[ 9.90383166e-01 1.38349170e-01 8.31309480e-04 2.00892658e+02] [-1.38349109e-01 9.90383515e-01 -1.30347996e-04 -1.52979911e+01] [-8.41348742e-04 1.40835348e-05 9.99999646e-01 -1.48612193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters 0.05155985786678992 Centerline is valid? [True, True] Translation: X:200.95, Y:-15.31, Z:-1.49 [[ 9.90245775e-01 1.39283433e-01 3.66467855e-03 2.00952299e+02] [-1.39282257e-01 9.90252554e-01 -5.75523928e-04 -1.53104155e+01] [-3.70911825e-03 5.94854381e-05 9.99993119e-01 -1.48688887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters 0.05073594564706731 Centerline is valid? [True, True] Translation: X:201.01, Y:-15.32, Z:-1.49 [[ 9.89900164e-01 1.41679556e-01 4.95665304e-03 2.01011250e+02] [-1.41677429e-01 9.89912571e-01 -7.79411578e-04 -1.53229631e+01] [-5.01707984e-03 6.92937905e-05 9.99987412e-01 -1.48683850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters 0.050844489523532856 Centerline is valid? [True, True] Translation: X:201.07, Y:-15.33, Z:-1.49 [[ 9.89667773e-01 1.43317786e-01 4.20839264e-03 2.01072398e+02] [-1.43316269e-01 9.89676720e-01 -6.61517258e-04 -1.53329993e+01] [-4.25975541e-03 5.15511816e-05 9.99990926e-01 -1.48664775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters 0.050730707377168324 Centerline is valid? [True, True] Translation: X:201.13, Y:-15.34, Z:-1.49 [[ 9.89307718e-01 1.45808835e-01 3.16577083e-03 2.01134370e+02] [-1.45807988e-01 9.89312783e-01 -4.98052983e-04 -1.53425267e+01] [-3.20455807e-03 3.11329849e-05 9.99994865e-01 -1.48872638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters 0.05077184105499072 Centerline is valid? [True, True] Translation: X:201.19, Y:-15.35, Z:-1.49 [[ 9.89041239e-01 1.47625332e-01 2.04648078e-03 2.01194977e+02] [-1.47624983e-01 9.89043357e-01 -3.21545444e-04 -1.53515649e+01] [-2.07152647e-03 1.59100147e-05 9.99997854e-01 -1.49235924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters 0.05134617444007005 Centerline is valid? [True, True] Translation: X:201.26, Y:-15.36, Z:-1.49 [[ 9.88850518e-01 1.48902432e-01 1.64909164e-03 2.01256995e+02] [-1.48902207e-01 9.88851893e-01 -2.59113076e-04 -1.53567473e+01] [-1.66928996e-03 1.06707142e-05 9.99998607e-01 -1.49195597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters 0.05087583516119636 Centerline is valid? [True, True] Translation: X:201.32, Y:-15.36, Z:-1.49 [[ 9.88914682e-01 1.48465647e-01 2.38817510e-03 2.01319607e+02] [-1.48465173e-01 9.88917565e-01 -3.75834451e-04 -1.53648366e+01] [-2.41750681e-03 1.71073774e-05 9.99997078e-01 -1.49095331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters 0.05063913773971563 Centerline is valid? [True, True] Translation: X:201.38, Y:-15.37, Z:-1.49 [[ 9.89006316e-01 1.47848055e-01 2.73117247e-03 2.01380954e+02] [-1.47847431e-01 9.89010087e-01 -4.30326581e-04 -1.53745250e+01] [-2.76478007e-03 2.17988737e-05 9.99996178e-01 -1.49216901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters 0.050771704172086506 Centerline is valid? [True, True] Translation: X:201.44, Y:-15.38, Z:-1.49 [[ 9.89027593e-01 1.47717767e-01 1.97038768e-03 2.01442695e+02] [-1.47717441e-01 9.89029555e-01 -3.10527586e-04 -1.53822603e+01] [-1.99464209e-03 1.60597248e-05 9.99998011e-01 -1.49416031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters 0.0513761872724238 Centerline is valid? [True, True] Translation: X:201.50, Y:-15.39, Z:-1.50 [[ 9.89009420e-01 1.47849001e-01 1.01939384e-03 2.01502740e+02] [-1.47848914e-01 9.89009946e-01 -1.60411485e-04 -1.53911717e+01] [-1.03190733e-03 7.93219735e-06 9.99999468e-01 -1.49588108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters 0.0509877984519863 Centerline is valid? [True, True] Translation: X:201.56, Y:-15.40, Z:-1.50 [[ 9.89111507e-01 1.47165635e-01 8.38161452e-04 2.01564467e+02] [-1.47165576e-01 9.89111862e-01 -1.32272454e-04 -1.54005059e+01] [-8.48501394e-04 7.48369289e-06 9.99999640e-01 -1.49608009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters 0.0511517689944963 Centerline is valid? [True, True] Translation: X:201.63, Y:-15.41, Z:-1.49 [[ 9.89181867e-01 1.46692120e-01 8.09538884e-04 2.01625003e+02] [-1.46692065e-01 9.89182198e-01 -1.27332906e-04 -1.54074829e+01] [-8.19460187e-04 7.20247108e-06 9.99999664e-01 -1.49429798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters 0.051100740520647 Centerline is valid? [True, True] Translation: X:201.69, Y:-15.42, Z:-1.50 [[ 9.89536285e-01 1.44281291e-01 9.21489547e-04 2.01685963e+02] [-1.44281218e-01 9.89536714e-01 -1.45453332e-04 -1.54211220e+01] [-9.32833933e-04 1.09777158e-05 9.99999565e-01 -1.49604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters 0.05069372515242637 Centerline is valid? [True, True] Translation: X:201.75, Y:-15.43, Z:-1.50 [[ 9.89850268e-01 1.42107396e-01 1.39092435e-03 2.01745917e+02] [-1.42107227e-01 9.89851245e-01 -2.19893203e-04 -1.54338449e+01] [-1.40805665e-03 2.00009438e-05 9.99999008e-01 -1.49702110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters 0.051300339825923955 Centerline is valid? [True, True] Translation: X:201.81, Y:-15.45, Z:-1.50 [[ 9.90325418e-01 1.38757336e-01 1.40277308e-03 2.01806312e+02] [-1.38757161e-01 9.90326411e-01 -2.22143823e-04 -1.54455563e+01] [-1.42002731e-03 2.53498657e-05 9.99998991e-01 -1.49724172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters 0.05148883268299119 Centerline is valid? [True, True] Translation: X:201.86, Y:-15.46, Z:-1.50 [[ 9.90990107e-01 1.33918264e-01 2.12280631e-03 2.01864951e+02] [-1.33917851e-01 9.90992379e-01 -3.36353859e-04 -1.54567810e+01] [-2.14872880e-03 4.90416881e-05 9.99997690e-01 -1.49776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters 0.051955243422574196 Centerline is valid? [True, True] Translation: X:201.93, Y:-15.46, Z:-1.50 [[ 9.91254384e-01 1.31943129e-01 2.39949220e-03 2.01927341e+02] [-1.31942595e-01 9.91257286e-01 -3.80035088e-04 -1.54582415e+01] [-2.42865715e-03 6.01162185e-05 9.99997049e-01 -1.49659375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters 0.051627857439846686 Centerline is valid? [True, True] Translation: X:201.99, Y:-15.46, Z:-1.50 [[ 9.91328021e-01 1.31402077e-01 1.49985284e-03 2.01989161e+02] [-1.31401869e-01 9.91329155e-01 -2.37031970e-04 -1.54628848e+01] [-1.51799434e-03 3.78929685e-05 9.99998847e-01 -1.49635766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters 0.0516305098265423 Centerline is valid? [True, True] Translation: X:202.05, Y:-15.47, Z:-1.50 [[ 9.91394975e-01 1.30903466e-01 5.34779312e-04 2.02050040e+02] [-1.30903440e-01 9.91395119e-01 -8.40371714e-05 -1.54723842e+01] [-5.41178357e-04 1.33095781e-05 9.99999853e-01 -1.49639820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters 0.051939599737192074 Centerline is valid? [True, True] Translation: X:202.11, Y:-15.48, Z:-1.50 [[ 9.91306861e-01 1.31569436e-01 4.37010168e-04 2.02110556e+02] [-1.31569419e-01 9.91306957e-01 -6.86265747e-05 -1.54802678e+01] [-4.42240380e-04 1.05328206e-05 9.99999902e-01 -1.49761566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters 0.052061681487715776 Centerline is valid? [True, True] Translation: X:202.17, Y:-15.50, Z:-1.50 [[ 9.91012987e-01 1.33762993e-01 8.48860946e-04 2.02169235e+02] [-1.33762927e-01 9.91013351e-01 -1.34704818e-04 -1.54965786e+01] [-8.59251050e-04 1.99480996e-05 9.99999631e-01 -1.50147538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters 0.05192267329936846 Centerline is valid? [True, True] Translation: X:202.23, Y:-15.50, Z:-1.50 [[ 9.90845265e-01 1.34987111e-01 2.03470934e-03 2.02230814e+02] [-1.34986732e-01 9.90847353e-01 -3.22959107e-04 -1.55034792e+01] [-2.05968169e-03 4.53437364e-05 9.99997878e-01 -1.50040613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters 0.05236823646124941 Centerline is valid? [True, True] Translation: X:202.29, Y:-15.51, Z:-1.50 [[ 9.90760945e-01 1.35573454e-01 3.54795165e-03 2.02291298e+02] [-1.35572306e-01 9.90767295e-01 -5.63275926e-04 -1.55114953e+01] [-3.59155972e-03 7.70678015e-05 9.99993547e-01 -1.49968080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters 0.051417193901465305 Centerline is valid? [True, True] Translation: X:202.35, Y:-15.52, Z:-1.50 [[ 9.90791373e-01 1.35352586e-01 3.48331307e-03 2.02353948e+02] [-1.35351476e-01 9.90797493e-01 -5.53410767e-04 -1.55153812e+01] [-3.52616344e-03 7.68430474e-05 9.99993780e-01 -1.49902642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters 0.051613500674638456 Centerline is valid? [True, True] Translation: X:202.41, Y:-15.53, Z:-1.50 [[ 9.90814042e-01 1.35190632e-01 3.32063600e-03 2.02414780e+02] [-1.35189621e-01 9.90819604e-01 -5.28118384e-04 -1.55261318e+01] [-3.36154790e-03 7.43515888e-05 9.99994347e-01 -1.50016949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters 0.05184361441621132 Centerline is valid? [True, True] Translation: X:202.48, Y:-15.53, Z:-1.50 [[ 9.90769956e-01 1.35524087e-01 2.84875981e-03 2.02477487e+02] [-1.35523345e-01 9.90774050e-01 -4.52776470e-04 -1.55283541e+01] [-2.88383942e-03 6.25238658e-05 9.99995840e-01 -1.49931310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters 0.05144385325084686 Centerline is valid? [True, True] Translation: X:202.54, Y:-15.54, Z:-1.50 [[ 9.90773461e-01 1.35486293e-01 3.37831716e-03 2.02540226e+02] [-1.35485247e-01 9.90779218e-01 -5.37684817e-04 -1.55373347e+01] [-3.42001535e-03 7.50117131e-05 9.99994149e-01 -1.50038192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters 0.05114271706728049 Centerline is valid? [True, True] Translation: X:202.60, Y:-15.54, Z:-1.50 [[ 9.90829412e-01 1.35079479e-01 3.25743091e-03 2.02602248e+02] [-1.35078503e-01 9.90834764e-01 -5.18596791e-04 -1.55431731e+01] [-3.29762757e-03 7.38320608e-05 9.99994560e-01 -1.50118363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters 0.051363552448090564 Centerline is valid? [True, True] Translation: X:202.66, Y:-15.56, Z:-1.50 [[ 9.90870942e-01 1.34791764e-01 2.44047482e-03 2.02661493e+02] [-1.34791215e-01 9.90873946e-01 -3.88645259e-04 -1.55612598e+01] [-2.47058909e-03 5.61427275e-05 9.99996947e-01 -1.50379260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters 0.05235782274161368 Centerline is valid? [True, True] Translation: X:202.72, Y:-15.57, Z:-1.51 [[ 9.91386710e-01 1.30967059e-01 1.44639907e-04 2.02721494e+02] [-1.30967057e-01 9.91386720e-01 -2.29538890e-05 -1.55714774e+01] [-1.46400286e-04 3.81311751e-06 9.99999989e-01 -1.50518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters 0.052413902061201965 Centerline is valid? [True, True] Translation: X:202.78, Y:-15.58, Z:-1.50 [[ 9.91893336e-01 1.27073243e-01 -4.21339503e-05 2.02782566e+02] [-1.27073242e-01 9.91893337e-01 6.85535970e-06 -1.55782665e+01] [ 4.26635172e-05 -1.44568792e-06 9.99999999e-01 -1.50460988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters 0.05240693664646934 Centerline is valid? [True, True] Translation: X:202.84, Y:-15.59, Z:-1.51 [[ 9.92609970e-01 1.21340990e-01 1.34586946e-03 2.02841750e+02] [-1.21340810e-01 9.92610881e-01 -2.14770675e-04 -1.55902807e+01] [-1.36198516e-03 4.98746220e-05 9.99999071e-01 -1.50521372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters 0.05310727083902575 Centerline is valid? [True, True] Translation: X:202.90, Y:-15.60, Z:-1.51 [[ 9.93038874e-01 1.17763673e-01 2.34765515e-03 2.02901443e+02] [-1.17763116e-01 9.93041645e-01 -3.74636896e-04 -1.56030338e+01] [-2.37543795e-03 9.55618155e-05 9.99997174e-01 -1.50587468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters 0.05257066666832379 Centerline is valid? [True, True] Translation: X:202.96, Y:-15.61, Z:-1.51 [[ 9.93491673e-01 1.13860895e-01 3.16102014e-03 2.02962124e+02] [-1.13859865e-01 9.93496692e-01 -5.04553531e-04 -1.56061826e+01] [-3.19791197e-03 1.41356405e-04 9.99994877e-01 -1.50509638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters 0.05309522569838727 Centerline is valid? [True, True] Translation: X:203.02, Y:-15.61, Z:-1.51 [[ 9.93605624e-01 1.12854072e-01 3.43848259e-03 2.03023991e+02] [-1.12852847e-01 9.93611561e-01 -5.48716142e-04 -1.56141524e+01] [-3.47844090e-03 1.57164894e-04 9.99993938e-01 -1.50613671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters 0.05332222315512108 Centerline is valid? [True, True] Translation: X:203.08, Y:-15.62, Z:-1.51 [[ 9.93421138e-01 1.14485105e-01 2.75739759e-03 2.03084742e+02] [-1.14484324e-01 9.93424957e-01 -4.40154526e-04 -1.56203811e+01] [-2.78965872e-03 1.21580013e-04 9.99996102e-01 -1.50693135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters 0.052471583195250734 Centerline is valid? [True, True] Translation: X:203.15, Y:-15.63, Z:-1.51 [[ 9.92934583e-01 1.18654813e-01 1.39638262e-03 2.03145455e+02] [-1.18654617e-01 9.92935563e-01 -2.23006814e-04 -1.56275932e+01] [-1.41297879e-03 5.57439331e-05 9.99999000e-01 -1.50829705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters 0.053108206921112455 Centerline is valid? [True, True] Translation: X:203.20, Y:-15.64, Z:-1.51 [[ 9.92531758e-01 1.21986472e-01 1.04543974e-04 2.03204898e+02] [-1.21986471e-01 9.92531763e-01 -1.67224099e-05 -1.56361236e+01] [-1.05803123e-04 3.84457241e-06 9.99999994e-01 -1.50943423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters 0.05363257031922585 Centerline is valid? [True, True] Translation: X:203.27, Y:-15.64, Z:-1.51 [[ 9.91808444e-01 1.27733945e-01 -2.20828765e-04 2.03265915e+02] [-1.27733940e-01 9.91808469e-01 3.52591995e-05 -1.56411407e+01] [ 2.23523636e-04 -6.76304352e-06 9.99999975e-01 -1.51109188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters 0.05289595840042178 Centerline is valid? [True, True] Translation: X:203.33, Y:-15.64, Z:-1.51 [[ 9.91272292e-01 1.31830321e-01 -9.82917104e-05 2.03327129e+02] [-1.31830320e-01 9.91272297e-01 1.57290240e-05 -1.56425831e+01] [ 9.95074118e-05 -2.63391797e-06 9.99999995e-01 -1.51038752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters 0.0526200392161554 Centerline is valid? [True, True] Translation: X:203.39, Y:-15.65, Z:-1.51 [[ 9.90358550e-01 1.38527751e-01 -6.06198493e-05 2.03386716e+02] [-1.38527751e-01 9.90358552e-01 9.62415242e-06 -1.56474859e+01] [ 6.13685983e-05 -1.13383024e-06 9.99999998e-01 -1.51019672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters 0.052180453887626245 Centerline is valid? [True, True] Translation: X:203.45, Y:-15.65, Z:-1.51 [[ 9.89467298e-01 1.44756312e-01 2.75636650e-04 2.03447034e+02] [-1.44756305e-01 9.89467337e-01 -4.39499577e-05 -1.56526044e+01] [-2.79095496e-04 3.58690271e-06 9.99999961e-01 -1.51096010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters 0.05284586563827693 Centerline is valid? [True, True] Translation: X:203.51, Y:-15.66, Z:-1.51 [[ 9.88930800e-01 1.48377286e-01 -2.32480807e-04 2.03507875e+02] [-1.48377281e-01 9.88930827e-01 3.79288202e-05 -1.56595575e+01] [ 2.35535212e-04 -3.01410837e-06 9.99999972e-01 -1.51193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters 0.051860525864564036 Centerline is valid? [True, True] Translation: X:203.57, Y:-15.67, Z:-1.51 [[ 9.88399858e-01 1.51872764e-01 6.19495486e-04 2.03570267e+02] [-1.51872732e-01 9.88400052e-01 -9.86766598e-05 -1.56669419e+01] [-6.27295668e-04 3.44752462e-06 9.99999803e-01 -1.51261441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters 0.0520823017215155 Centerline is valid? [True, True] Translation: X:203.63, Y:-15.68, Z:-1.51 [[ 9.88317691e-01 1.52403729e-01 1.11596581e-03 2.03631416e+02] [-1.52403625e-01 9.88318321e-01 -1.78090902e-04 -1.56776850e+01] [-1.13007117e-03 5.93315443e-06 9.99999361e-01 -1.51324335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters 0.05191147923095801 Centerline is valid? [True, True] Translation: X:203.69, Y:-15.69, Z:-1.51 [[ 9.88405129e-01 1.51836478e-01 9.92001810e-04 2.03692371e+02] [-1.51836396e-01 9.88405627e-01 -1.57777678e-04 -1.56878982e+01] [-1.00445658e-03 5.32628664e-06 9.99999496e-01 -1.51337402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters 0.05189088501935607 Centerline is valid? [True, True] Translation: X:203.75, Y:-15.70, Z:-1.51 [[ 9.88491864e-01 1.51269991e-01 1.10700667e-03 2.03754749e+02] [-1.51269888e-01 9.88492483e-01 -1.76508184e-04 -1.56991956e+01] [-1.12096816e-03 7.02012833e-06 9.99999372e-01 -1.51410236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters 0.05225619136863879 Centerline is valid? [True, True] Translation: X:203.81, Y:-15.71, Z:-1.51 [[ 9.88543192e-01 1.50936323e-01 7.63710388e-04 2.03814724e+02] [-1.50936274e-01 9.88543487e-01 -1.21856698e-04 -1.57082807e+01] [-7.73353533e-04 5.18900929e-06 9.99999701e-01 -1.51315507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters 0.0520307722480734 Centerline is valid? [True, True] Translation: X:203.87, Y:-15.72, Z:-1.51 [[ 9.88838047e-01 1.48989880e-01 -1.15464262e-03 2.03874354e+02] [-1.48989765e-01 9.88838721e-01 1.85383346e-04 -1.57216060e+01] [ 1.16937558e-03 -1.12841727e-05 9.99999316e-01 -1.51489794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters 0.05207088784237147 Centerline is valid? [True, True] Translation: X:203.94, Y:-15.74, Z:-1.52 [[ 9.89112214e-01 1.47158652e-01 -1.16598923e-03 2.03935279e+02] [-1.47158534e-01 9.89112901e-01 1.87158364e-04 -1.57351547e+01] [ 1.18083697e-03 -1.35353573e-05 9.99999303e-01 -1.51634818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters 0.05201627483587244 Centerline is valid? [True, True] Translation: X:203.99, Y:-15.75, Z:-1.52 [[ 9.89373606e-01 1.45395398e-01 2.16098976e-04 2.03994991e+02] [-1.45395394e-01 9.89373629e-01 -3.38520896e-05 -1.57498656e+01] [-2.18724566e-04 2.07256826e-06 9.99999976e-01 -1.51570510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters 0.05195462292075144 Centerline is valid? [True, True] Translation: X:204.06, Y:-15.76, Z:-1.52 [[ 9.89393029e-01 1.45257191e-01 1.33480127e-03 2.04056052e+02] [-1.45257035e-01 9.89393930e-01 -2.13797056e-04 -1.57623550e+01] [-1.35169983e-03 1.76400427e-05 9.99999086e-01 -1.51576135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters 0.05162634012232016 Centerline is valid? [True, True] Translation: X:204.12, Y:-15.77, Z:-1.52 [[ 9.88984650e-01 1.48000481e-01 2.28449849e-03 2.04117039e+02] [-1.48000031e-01 9.88987289e-01 -3.65847271e-04 -1.57720184e+01] [-2.31348554e-03 2.37114887e-05 9.99997324e-01 -1.51512236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters 0.05175804751326619 Centerline is valid? [True, True] Translation: X:204.18, Y:-15.78, Z:-1.52 [[ 9.87948090e-01 1.54768529e-01 2.29658667e-03 2.04176332e+02] [-1.54768091e-01 9.87950759e-01 -3.68428668e-04 -1.57822777e+01] [-2.32593570e-03 8.55006422e-06 9.99997295e-01 -1.51581046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters 0.0512606750744372 Centerline is valid? [True, True] Translation: X:204.24, Y:-15.79, Z:-1.52 [[ 9.86898554e-01 1.61326780e-01 2.21675318e-03 2.04237732e+02] [-1.61326388e-01 9.86901044e-01 -3.55642832e-04 -1.57931137e+01] [-2.24509074e-03 -6.63738748e-06 9.99997480e-01 -1.51525499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters 0.05084074262054754 Centerline is valid? [True, True] Translation: X:204.30, Y:-15.80, Z:-1.52 [[ 9.85105857e-01 1.71942394e-01 1.50441287e-03 2.04298360e+02] [-1.71942226e-01 9.85107006e-01 -2.41548764e-04 -1.58013963e+01] [-1.52354013e-03 -2.07209943e-05 9.99998839e-01 -1.51767443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters 0.050903637992738886 Centerline is valid? [True, True] Translation: X:204.36, Y:-15.81, Z:-1.52 [[ 9.84248056e-01 1.76788749e-01 1.22571948e-03 2.04357870e+02] [-1.76788641e-01 9.84248819e-01 -1.96899910e-04 -1.58091821e+01] [-1.24122264e-03 -2.28949268e-05 9.99999229e-01 -1.51923041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters 0.05039069694668553 Centerline is valid? [True, True] Translation: X:204.42, Y:-15.83, Z:-1.52 [[ 9.83647647e-01 1.80090882e-01 2.14039575e-03 2.04416893e+02] [-1.80090560e-01 9.83649974e-01 -3.43746661e-04 -1.58300678e+01] [-2.16730587e-03 -4.73394753e-05 9.99997650e-01 -1.51727771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters 0.05039576525213911 Centerline is valid? [True, True] Translation: X:204.48, Y:-15.84, Z:-1.52 [[ 9.83515942e-01 1.80799498e-01 2.81648779e-03 2.04476807e+02] [-1.80798944e-01 9.83519973e-01 -4.52004032e-04 -1.58402072e+01] [-2.85179410e-03 -6.46648474e-05 9.99995932e-01 -1.51883988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters 0.04988534692409243 Centerline is valid? [True, True] Translation: X:204.54, Y:-15.86, Z:-1.52 [[ 9.83758657e-01 1.79483775e-01 2.11655053e-03 2.04537013e+02] [-1.79483459e-01 9.83760933e-01 -3.39690385e-04 -1.58575222e+01] [-2.14314863e-03 -4.57124527e-05 9.99997702e-01 -1.52048366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters 0.050239012959827876 Centerline is valid? [True, True] Translation: X:204.60, Y:-15.87, Z:-1.52 [[ 9.83916180e-01 1.78623074e-01 1.65746317e-03 2.04597300e+02] [-1.78622879e-01 9.83917576e-01 -2.66002884e-04 -1.58719490e+01] [-1.67832140e-03 -3.43363021e-05 9.99998591e-01 -1.52090263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters 0.050721896896837225 Centerline is valid? [True, True] Translation: X:204.66, Y:-15.88, Z:-1.52 [[ 9.84170651e-01 1.77215697e-01 1.65106139e-03 2.04657073e+02] [-1.77215501e-01 9.84172036e-01 -2.65440645e-04 -1.58837405e+01] [-1.67196869e-03 -3.13547778e-05 9.99998602e-01 -1.52271878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters 0.05085952772477877 Centerline is valid? [True, True] Translation: X:204.72, Y:-15.89, Z:-1.52 [[ 9.83636761e-01 1.80144673e-01 2.57265124e-03 2.04718271e+02] [-1.80144207e-01 9.83640124e-01 -4.13871861e-04 -1.58925170e+01] [-2.60511980e-03 -5.63486402e-05 9.99996605e-01 -1.52246879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters 0.05015392585569431 Centerline is valid? [True, True] Translation: X:204.78, Y:-15.90, Z:-1.52 [[ 9.83461709e-01 1.81116007e-01 2.41212127e-04 2.04779253e+02] [-1.81116003e-01 9.83461739e-01 -3.86427747e-05 -1.59034535e+01] [-2.44221723e-04 -5.68368723e-06 9.99999970e-01 -1.52372719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters 0.0507190473585228 Centerline is valid? [True, True] Translation: X:204.84, Y:-15.91, Z:-1.53 [[ 9.84632324e-01 1.74639111e-01 -6.06739334e-04 2.04839575e+02] [-1.74639084e-01 9.84632510e-01 9.79157640e-05 -1.59135969e+01] [ 6.14515196e-04 9.54937535e-06 9.99999811e-01 -1.52553703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters 0.05097921168044411 Centerline is valid? [True, True] Translation: X:204.90, Y:-15.93, Z:-1.52 [[ 9.85590239e-01 1.69150123e-01 -3.42717894e-04 2.04898077e+02] [-1.69150114e-01 9.85590298e-01 5.52930465e-05 -1.59302967e+01] [ 3.47132257e-04 3.47448404e-06 9.99999940e-01 -1.52212095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters 0.05016456864651196 Centerline is valid? [True, True] Translation: X:204.96, Y:-15.94, Z:-1.52 [[ 9.86917363e-01 1.61226873e-01 1.20172993e-04 2.04958250e+02] [-1.61226872e-01 9.86917370e-01 -1.92020801e-05 -1.59425759e+01] [-1.21696705e-04 -4.24249537e-07 9.99999993e-01 -1.52416940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters 0.0507962032093117 Centerline is valid? [True, True] Translation: X:205.02, Y:-15.95, Z:-1.52 [[ 9.87802766e-01 1.55709706e-01 -4.28622306e-04 2.05019122e+02] [-1.55709691e-01 9.87802859e-01 6.94266519e-05 -1.59527493e+01] [ 4.34204743e-04 -1.83919192e-06 9.99999906e-01 -1.52466123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters 0.05074655895695984 Centerline is valid? [True, True] Translation: X:205.08, Y:-15.96, Z:-1.52 [[ 9.88178652e-01 1.53306577e-01 -2.11671070e-04 2.05080067e+02] [-1.53306573e-01 9.88178675e-01 3.49455747e-05 -1.59622381e+01] [ 2.14526224e-04 -2.08190458e-06 9.99999977e-01 -1.52443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters 0.051246875784291816 Centerline is valid? [True, True] Translation: X:205.14, Y:-15.97, Z:-1.52 [[ 9.88402322e-01 1.51857994e-01 -8.98877533e-06 2.05140548e+02] [-1.51857994e-01 9.88402322e-01 1.91089705e-06 -1.59702560e+01] [ 9.17471133e-06 -5.23717689e-07 1.00000000e+00 -1.52208038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters 0.050535677460459304 Centerline is valid? [True, True] Translation: X:205.20, Y:-15.98, Z:-1.52 [[ 9.88384971e-01 1.51970436e-01 -3.69121241e-04 2.05202964e+02] [-1.51970425e-01 9.88385040e-01 6.00460867e-05 -1.59808150e+01] [ 3.73959143e-04 -3.25313790e-06 9.99999930e-01 -1.52350522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters 0.05118155382095995 Centerline is valid? [True, True] Translation: X:205.26, Y:-15.99, Z:-1.53 [[ 9.88046728e-01 1.54145119e-01 -1.71607500e-03 2.05264849e+02] [-1.54144870e-01 9.88048219e-01 2.77547793e-04 -1.59882784e+01] [ 1.73834748e-03 -9.70603181e-06 9.99998489e-01 -1.52608225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters 0.0508519592924658 Centerline is valid? [True, True] Translation: X:205.33, Y:-16.00, Z:-1.53 [[ 9.87586814e-01 1.57066600e-01 -1.53892396e-03 2.05326756e+02] [-1.57066401e-01 9.87588013e-01 2.49683632e-04 -1.59964784e+01] [ 1.55903982e-03 -4.87101383e-06 9.99998785e-01 -1.52574033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters 0.05101027111137788 Centerline is valid? [True, True] Translation: X:205.39, Y:-16.00, Z:-1.53 [[ 9.86923462e-01 1.61187602e-01 -7.97846525e-04 2.05388436e+02] [-1.61187550e-01 9.86923785e-01 1.29506715e-04 -1.60040567e+01] [ 8.08288589e-04 7.89711113e-07 9.99999673e-01 -1.52611500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters 0.05108476217597659 Centerline is valid? [True, True] Translation: X:205.45, Y:-16.01, Z:-1.53 [[ 9.86623617e-01 1.63014758e-01 -1.62719633e-04 2.05450590e+02] [-1.63014756e-01 9.86623631e-01 2.73466465e-05 -1.60130728e+01] [ 1.65000942e-04 -4.55145999e-07 9.99999986e-01 -1.52516460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters 0.0500340564578072 Centerline is valid? [True, True] Translation: X:205.51, Y:-16.02, Z:-1.52 [[ 9.86435792e-01 1.64143657e-01 1.13494375e-03 2.05510826e+02] [-1.64143555e-01 9.86436445e-01 -1.83034474e-04 -1.60216374e+01] [-1.14959383e-03 -5.74194495e-06 9.99999339e-01 -1.52437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters 0.050785871097285024 Centerline is valid? [True, True] Translation: X:205.57, Y:-16.03, Z:-1.53 [[ 9.86392190e-01 1.64402596e-01 1.49463740e-03 2.05572563e+02] [-1.64402419e-01 9.86393322e-01 -2.41387119e-04 -1.60309008e+01] [-1.51398502e-03 -7.61963530e-06 9.99998854e-01 -1.52574128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters 0.050594639548875685 Centerline is valid? [True, True] Translation: X:205.63, Y:-16.04, Z:-1.52 [[ 9.86256433e-01 1.65209185e-01 2.04317051e-03 2.05634471e+02] [-1.65208854e-01 9.86258549e-01 -3.30553825e-04 -1.60411716e+01] [-2.06970491e-03 -1.15390228e-05 9.99997858e-01 -1.52449069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters 0.05038654758107729 Centerline is valid? [True, True] Translation: X:205.70, Y:-16.05, Z:-1.53 [[ 9.85852937e-01 1.67611324e-01 6.56236536e-04 2.05696165e+02] [-1.67611290e-01 9.85853155e-01 -1.05727213e-04 -1.60481604e+01] [-6.64673937e-04 -5.76116903e-06 9.99999779e-01 -1.52694788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters 0.05075637478573665 Centerline is valid? [True, True] Translation: X:205.76, Y:-16.06, Z:-1.53 [[ 9.85506185e-01 1.69627444e-01 -2.02216397e-03 2.05757442e+02] [-1.69627127e-01 9.85508260e-01 3.28614290e-04 -1.60582136e+01] [ 2.04860130e-03 1.91624492e-05 9.99997901e-01 -1.52840715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters 0.05045390139700126 Centerline is valid? [True, True] Translation: X:205.82, Y:-16.07, Z:-1.53 [[ 9.85090647e-01 1.71951677e-01 -5.38871508e-03 2.05817748e+02] [-1.71949461e-01 9.85105384e-01 8.75263232e-04 -1.60692567e+01] [ 5.45895522e-03 6.43730328e-05 9.99985098e-01 -1.52986025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters 0.05054364672315115 Centerline is valid? [True, True] Translation: X:205.88, Y:-16.08, Z:-1.53 [[ 9.85038393e-01 1.72235221e-01 -5.86457202e-03 2.05879227e+02] [-1.72232593e-01 9.85055848e-01 9.53970991e-04 -1.60812370e+01] [ 5.94123837e-03 7.03723960e-05 9.99982348e-01 -1.53007808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters 0.050567385863508854 Centerline is valid? [True, True] Translation: X:205.94, Y:-16.10, Z:-1.53 [[ 9.85405689e-01 1.70157026e-01 -4.71326549e-03 2.05939407e+02] [-1.70155302e-01 9.85416960e-01 7.67401898e-04 -1.60951740e+01] [ 4.77511058e-03 4.57849162e-05 9.99988598e-01 -1.52873566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters 0.04973569798346204 Centerline is valid? [True, True] Translation: X:206.00, Y:-16.11, Z:-1.53 [[ 9.86167691e-01 1.65744243e-01 -1.45968744e-03 2.05998238e+02] [-1.65744073e-01 9.86168771e-01 2.37471711e-04 -1.61102443e+01] [ 1.47885774e-03 7.74761280e-06 9.99998906e-01 -1.52743536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters 0.05035041691855644 Centerline is valid? [True, True] Translation: X:206.06, Y:-16.12, Z:-1.53 [[ 9.86593521e-01 1.63194718e-01 8.41173719e-04 2.06057872e+02] [-1.63194662e-01 9.86593880e-01 -1.36397337e-04 -1.61226646e+01] [-8.52156169e-04 -2.70633126e-06 9.99999637e-01 -1.52659658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters 0.050317583215455916 Centerline is valid? [True, True] Translation: X:206.12, Y:-16.13, Z:-1.53 [[ 9.86752293e-01 1.62228204e-01 1.38657156e-03 2.06117968e+02] [-1.62228048e-01 9.86753267e-01 -2.25005019e-04 -1.61325508e+01] [-1.40470618e-03 -2.91657987e-06 9.99999013e-01 -1.52725600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters 0.05060479939956783 Centerline is valid? [True, True] Translation: X:206.18, Y:-16.14, Z:-1.53 [[ 9.86791702e-01 1.61993910e-01 3.32894937e-04 2.06179625e+02] [-1.61993901e-01 9.86791758e-01 -5.33824593e-05 -1.61433481e+01] [-3.37145613e-04 -1.24958166e-06 9.99999943e-01 -1.52662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters 0.05063600693257187 Centerline is valid? [True, True] Translation: X:206.24, Y:-16.15, Z:-1.53 [[ 9.86644172e-01 1.62886051e-01 -1.18875194e-03 2.06240697e+02] [-1.62885935e-01 9.86644888e-01 1.94703071e-04 -1.61525918e+01] [ 1.20459044e-03 1.52832086e-06 9.99999274e-01 -1.52747781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters 0.05085727842364384 Centerline is valid? [True, True] Translation: X:206.30, Y:-16.16, Z:-1.53 [[ 9.86448202e-01 1.64062156e-01 -1.88518965e-03 2.06301456e+02] [-1.64061866e-01 9.86450003e-01 3.08393686e-04 -1.61598290e+01] [ 1.91024107e-03 5.07333521e-06 9.99998175e-01 -1.52948606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters 0.05102558074777366 Centerline is valid? [True, True] Translation: X:206.36, Y:-16.17, Z:-1.53 [[ 9.85931438e-01 1.67075854e-01 -4.98573661e-03 2.06363072e+02] [-1.67073870e-01 9.85944044e-01 8.14831207e-04 -1.61658089e+01] [ 5.05179594e-03 2.96186050e-05 9.99987239e-01 -1.53102848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters 0.05074044031194547 Centerline is valid? [True, True] Translation: X:206.42, Y:-16.17, Z:-1.53 [[ 9.85583996e-01 1.69058819e-01 -6.58050355e-03 2.06424011e+02] [-1.69055403e-01 9.85605962e-01 1.07592733e-03 -1.61730287e+01] [ 6.66767854e-03 5.20529209e-05 9.99977769e-01 -1.53410937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters 0.05136358987315657 Centerline is valid? [True, True] Translation: X:206.49, Y:-16.18, Z:-1.53 [[ 9.85422783e-01 1.70018640e-01 -5.96656097e-03 2.06486280e+02] [-1.70015843e-01 9.85440845e-01 9.76603127e-04 -1.61846835e+01] [ 6.04573362e-03 5.20429240e-05 9.99981723e-01 -1.53198249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters 0.051101801256418264 Centerline is valid? [True, True] Translation: X:206.55, Y:-16.19, Z:-1.53 [[ 9.85349862e-01 1.70463963e-01 -5.26188124e-03 2.06548077e+02] [-1.70461791e-01 9.85363910e-01 8.61870470e-04 -1.61946407e+01] [ 5.33178573e-03 4.77057526e-05 9.99985785e-01 -1.53204047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters 0.05095754122649357 Centerline is valid? [True, True] Translation: X:206.61, Y:-16.21, Z:-1.53 [[ 9.85289560e-01 1.70877198e-01 -2.33818722e-03 2.06608807e+02] [-1.70876768e-01 9.85292334e-01 3.83729404e-04 -1.62052089e+01] [ 2.36936854e-03 2.14572998e-05 9.99997193e-01 -1.53054682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters 0.05004530284075043 Centerline is valid? [True, True] Translation: X:206.67, Y:-16.22, Z:-1.53 [[ 9.85132912e-01 1.71793782e-01 -2.06526371e-04 2.06669519e+02] [-1.71793779e-01 9.85132933e-01 3.43125001e-05 -1.62153440e+01] [ 2.09350604e-04 1.67757261e-06 9.99999978e-01 -1.52920462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters 0.049758158220778184 Centerline is valid? [True, True] Translation: X:206.73, Y:-16.23, Z:-1.53 [[ 9.84990565e-01 1.72606221e-01 8.24694710e-04 2.06731313e+02] [-1.72606169e-01 9.84990910e-01 -1.34255174e-04 -1.62262076e+01] [-8.35490071e-04 -1.01073147e-05 9.99999651e-01 -1.52934456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters 0.05059018778023586 Centerline is valid? [True, True] Translation: X:206.79, Y:-16.24, Z:-1.53 [[ 9.84791291e-01 1.73739843e-01 7.61166380e-04 2.06793194e+02] [-1.73739799e-01 9.84791585e-01 -1.24048620e-04 -1.62356179e+01] [-7.71142434e-04 -1.00828935e-05 9.99999703e-01 -1.53046010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters 0.050662103622286646 Centerline is valid? [True, True] Translation: X:206.85, Y:-16.25, Z:-1.53 [[ 9.84309656e-01 1.76445855e-01 -1.16703933e-03 2.06853879e+02] [-1.76445751e-01 9.84310347e-01 1.92355107e-04 -1.62457534e+01] [ 1.18266915e-03 1.65821414e-05 9.99999301e-01 -1.53221023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters 0.05075698431992914 Centerline is valid? [True, True] Translation: X:206.91, Y:-16.26, Z:-1.53 [[ 9.84073940e-01 1.77735098e-01 -2.95232866e-03 2.06914783e+02] [-1.77734443e-01 9.84078367e-01 4.85007818e-04 -1.62571344e+01] [ 2.99152568e-03 4.74469354e-05 9.99995524e-01 -1.53270958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters 0.05062961459958279 Centerline is valid? [True, True] Translation: X:206.98, Y:-16.26, Z:-1.53 [[ 9.83795290e-01 1.79241350e-01 -4.40068281e-03 2.06975338e+02] [-1.79239907e-01 9.83805129e-01 7.23253046e-04 -1.62632839e+01] [ 4.45905118e-03 7.72450393e-05 9.99990055e-01 -1.53495806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters 0.05041098166694063 Centerline is valid? [True, True] Translation: X:207.04, Y:-16.27, Z:-1.53 [[ 9.83912658e-01 1.78615673e-01 -3.51039012e-03 2.07037318e+02] [-1.78614751e-01 9.83918918e-01 5.77034560e-04 -1.62725239e+01] [ 3.55700666e-03 5.92558486e-05 9.99993672e-01 -1.53428325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters 0.050535881968415595 Centerline is valid? [True, True] Translation: X:207.10, Y:-16.28, Z:-1.53 [[ 9.84896104e-01 1.73135060e-01 -1.97877618e-03 2.07097070e+02] [-1.73134756e-01 9.84898091e-01 3.25174240e-04 -1.62849531e+01] [ 2.00519195e-03 2.23320893e-05 9.99997989e-01 -1.53279954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters 0.051120514159495783 Centerline is valid? [True, True] Translation: X:207.16, Y:-16.30, Z:-1.53 [[ 9.85982604e-01 1.66840746e-01 -1.57164444e-03 2.07155990e+02] [-1.66840546e-01 9.85983857e-01 2.58298443e-04 -1.62982611e+01] [ 1.59271075e-03 7.53624515e-06 9.99998732e-01 -1.53348908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters 0.050839777547535464 Centerline is valid? [True, True] Translation: X:207.22, Y:-16.31, Z:-1.53 [[ 9.87719348e-01 1.56230399e-01 -1.59747823e-03 2.07215969e+02] [-1.56230178e-01 9.87720640e-01 2.62865927e-04 -1.63141880e+01] [ 1.61892986e-03 -1.00634543e-05 9.99998689e-01 -1.53158463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters 0.050802607492998156 Centerline is valid? [True, True] Translation: X:207.27, Y:-16.33, Z:-1.53 [[ 9.88836215e-01 1.48989533e-01 -2.24932672e-03 2.07274957e+02] [-1.48989078e-01 9.88838773e-01 3.69687374e-04 -1.63251436e+01] [ 2.27930103e-03 -3.04351497e-05 9.99997402e-01 -1.53248779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters 0.0516914161999224 Centerline is valid? [True, True] Translation: X:207.34, Y:-16.33, Z:-1.53 [[ 9.89566301e-01 1.44033758e-01 -3.57949096e-03 2.07335671e+02] [-1.44032571e-01 9.89572773e-01 5.88495472e-04 -1.63298428e+01] [ 3.62693001e-03 -6.67920009e-05 9.99993420e-01 -1.53034868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters 0.05224045230790551 Centerline is valid? [True, True] Translation: X:207.40, Y:-16.35, Z:-1.53 [[ 9.89859963e-01 1.41999601e-01 -3.65597865e-03 2.07395860e+02] [-1.41998348e-01 9.89866712e-01 6.01408437e-04 -1.63476520e+01] [ 3.70433133e-03 -7.61672035e-05 9.99993136e-01 -1.53475422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters 0.0517995441001455 Centerline is valid? [True, True] Translation: X:207.46, Y:-16.35, Z:-1.53 [[ 9.89924450e-01 1.41568256e-01 -2.83049809e-03 2.07458406e+02] [-1.41567501e-01 9.89928495e-01 4.66672587e-04 -1.63518935e+01] [ 2.86805674e-03 -6.12640636e-05 9.99995885e-01 -1.53196062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters 0.052541461637625 Centerline is valid? [True, True] Translation: X:207.52, Y:-16.36, Z:-1.53 [[ 9.89787697e-01 1.42536677e-01 -1.90001964e-03 2.07519666e+02] [-1.42536338e-01 9.89789520e-01 3.13026755e-04 -1.63628440e+01] [ 1.92523732e-03 -3.90081886e-05 9.99998146e-01 -1.53405119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters 0.051933375494934736 Centerline is valid? [True, True] Translation: X:207.58, Y:-16.37, Z:-1.53 [[ 9.89462080e-01 1.44775575e-01 -2.19649197e-03 2.07580666e+02] [-1.44775126e-01 9.89464517e-01 3.62561311e-04 -1.63687434e+01] [ 2.22584089e-03 -4.07432664e-05 9.99997522e-01 -1.53273081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters 0.051648520844453635 Centerline is valid? [True, True] Translation: X:207.64, Y:-16.37, Z:-1.53 [[ 9.88758727e-01 1.49510982e-01 -1.62685170e-03 2.07641387e+02] [-1.49510744e-01 9.88760065e-01 2.68013797e-04 -1.63725623e+01] [ 1.64863700e-03 -2.17691731e-05 9.99998641e-01 -1.53182113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters 0.0510527167429817 Centerline is valid? [True, True] Translation: X:207.70, Y:-16.38, Z:-1.53 [[ 9.88254554e-01 1.52814851e-01 -7.46840392e-04 2.07701338e+02] [-1.52814802e-01 9.88254836e-01 1.23077632e-04 -1.63782522e+01] [ 7.56876720e-04 -7.50376310e-06 9.99999714e-01 -1.53151879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters 0.05112421427451155 Centerline is valid? [True, True] Translation: X:207.76, Y:-16.39, Z:-1.53 [[ 9.87731812e-01 1.56158230e-01 -6.88842914e-04 2.07763599e+02] [-1.56158188e-01 9.87732052e-01 1.13868341e-04 -1.63850357e+01] [ 6.98173703e-04 -4.90292174e-06 9.99999756e-01 -1.53312086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters 0.050762744410614284 Centerline is valid? [True, True] Translation: X:207.82, Y:-16.39, Z:-1.53 [[ 9.87788932e-01 1.55794394e-01 -1.06420793e-03 2.07824018e+02] [-1.55794294e-01 9.87789505e-01 1.76126621e-04 -1.63915136e+01] [ 1.07865296e-03 -8.17840340e-06 9.99999418e-01 -1.53079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters 0.05138703378483536 Centerline is valid? [True, True] Translation: X:207.89, Y:-16.40, Z:-1.53 [[ 9.88400431e-01 1.51867438e-01 -9.32153464e-04 2.07885082e+02] [-1.51867360e-01 9.88400871e-01 1.54025422e-04 -1.64016344e+01] [ 9.44732741e-04 -1.06751075e-05 9.99999554e-01 -1.53273929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters 0.052376262564208714 Centerline is valid? [True, True] Translation: X:207.94, Y:-16.41, Z:-1.53 [[ 9.89168004e-01 1.46781620e-01 -1.34763394e-03 2.07943748e+02] [-1.46781453e-01 9.89168922e-01 2.22417631e-04 -1.64125723e+01] [ 1.36568443e-03 -2.22007354e-05 9.99999067e-01 -1.53385574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters 0.05206193519025096 Centerline is valid? [True, True] Translation: X:208.00, Y:-16.42, Z:-1.53 [[ 9.89552037e-01 1.44160413e-01 -2.13084257e-03 2.08004868e+02] [-1.44159988e-01 9.89554331e-01 3.52488874e-04 -1.64214768e+01] [ 2.15939943e-03 -4.16238438e-05 9.99997668e-01 -1.53484178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters 0.05221692107179131 Centerline is valid? [True, True] Translation: X:208.07, Y:-16.43, Z:-1.53 [[ 9.89838874e-01 1.42151977e-01 -3.43801873e-03 2.08065203e+02] [-1.42150861e-01 9.89844841e-01 5.68046658e-04 -1.64287694e+01] [ 3.48385406e-03 -7.35573425e-05 9.99993929e-01 -1.53470976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters 0.05312252014851868 Centerline is valid? [True, True] Translation: X:208.13, Y:-16.44, Z:-1.54 [[ 9.89590158e-01 1.43846948e-01 -4.40160343e-03 2.08126495e+02] [-1.43845136e-01 9.89599943e-01 7.27161224e-04 -1.64405863e+01] [ 4.46042643e-03 -8.64423477e-05 9.99990049e-01 -1.53801655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters 0.052506416410649244 Centerline is valid? [True, True] Translation: X:208.19, Y:-16.44, Z:-1.53 [[ 9.89170301e-01 1.46693271e-01 -4.81662252e-03 2.08188543e+02] [-1.46691136e-01 9.89182025e-01 7.95605184e-04 -1.64430482e+01] [ 4.88122635e-03 -8.04331896e-05 9.99988084e-01 -1.53470210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters 0.0532135977022385 Centerline is valid? [True, True] Translation: X:208.25, Y:-16.45, Z:-1.54 [[ 9.88316794e-01 1.52348400e-01 -4.45868630e-03 2.08247795e+02] [-1.52346628e-01 9.88326850e-01 7.36369888e-04 -1.64499355e+01] [ 4.51882416e-03 -4.85009034e-05 9.99989789e-01 -1.53580663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters 0.05221126048138199 Centerline is valid? [True, True] Translation: X:208.31, Y:-16.46, Z:-1.54 [[ 9.87021245e-01 1.60569805e-01 -2.52960974e-03 2.08307220e+02] [-1.60569261e-01 9.87024487e-01 4.17775173e-04 -1.64563485e+01] [ 2.56386883e-03 -6.17540521e-06 9.99996713e-01 -1.53636057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters 0.05190099933836238 Centerline is valid? [True, True] Translation: X:208.37, Y:-16.46, Z:-1.54 [[ 9.86059411e-01 1.66389534e-01 -1.16698676e-03 2.08369223e+02] [-1.66389422e-01 9.86060101e-01 1.93072149e-04 -1.64639767e+01] [ 1.18284427e-03 3.79364373e-06 9.99999300e-01 -1.53753736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters 0.05177145046112993 Centerline is valid? [True, True] Translation: X:208.43, Y:-16.47, Z:-1.54 [[ 9.84775137e-01 1.73831986e-01 -6.09046413e-04 2.08431202e+02] [-1.73831957e-01 9.84775325e-01 1.01075565e-04 -1.64700202e+01] [ 6.17344045e-04 6.33502592e-06 9.99999809e-01 -1.53807610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters 0.05210171127256904 Centerline is valid? [True, True] Translation: X:208.49, Y:-16.48, Z:-1.54 [[ 9.84413072e-01 1.75871107e-01 -5.07256424e-04 2.08492183e+02] [-1.75871087e-01 9.84413203e-01 8.46745921e-05 -1.64794023e+01] [ 5.14241735e-04 5.85696349e-06 9.99999868e-01 -1.53868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters 0.05134099757648261 Centerline is valid? [True, True] Translation: X:208.55, Y:-16.49, Z:-1.54 [[ 9.83698921e-01 1.79820294e-01 -1.04615758e-03 2.08551433e+02] [-1.79820211e-01 9.83699477e-01 1.73332057e-04 -1.64885602e+01] [ 1.06027328e-03 1.76137183e-05 9.99999438e-01 -1.53970286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters 0.051230984195300894 Centerline is valid? [True, True] Translation: X:208.61, Y:-16.50, Z:-1.54 [[ 9.83293134e-01 1.82018057e-01 -2.00977335e-03 2.08612884e+02] [-1.82017757e-01 9.83295187e-01 3.32803009e-04 -1.64996052e+01] [ 2.03677662e-03 3.85715239e-05 9.99997925e-01 -1.54065581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters 0.051747481024934684 Centerline is valid? [True, True] Translation: X:208.67, Y:-16.51, Z:-1.54 [[ 9.83172594e-01 1.82665306e-01 -2.24426958e-03 2.08674023e+02] [-1.82664932e-01 9.83175154e-01 3.72399789e-04 -1.65106335e+01] [ 2.27453461e-03 4.38160830e-05 9.99997412e-01 -1.54180520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters 0.05109326379858499 Centerline is valid? [True, True] Translation: X:208.73, Y:-16.53, Z:-1.54 [[ 9.83363190e-01 1.81634265e-01 -2.41448031e-03 2.08734250e+02] [-1.81633828e-01 9.83366153e-01 4.00887112e-04 -1.65274671e+01] [ 2.44713305e-03 4.43336717e-05 9.99997005e-01 -1.54159818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters 0.051005290727807025 Centerline is valid? [True, True] Translation: X:208.79, Y:-16.54, Z:-1.54 [[ 9.83855237e-01 1.78954568e-01 -2.03377089e-03 2.08793421e+02] [-1.78954253e-01 9.83857338e-01 3.37106776e-04 -1.65419579e+01] [ 2.06126721e-03 3.22876836e-05 9.99997875e-01 -1.54260681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters 0.050918727522173225 Centerline is valid? [True, True] Translation: X:208.85, Y:-16.55, Z:-1.54 [[ 9.84141475e-01 1.77379425e-01 -1.44819434e-03 2.08853565e+02] [-1.77379263e-01 9.84142540e-01 2.40866704e-04 -1.65548547e+01] [ 1.46795445e-03 1.98327305e-05 9.99998922e-01 -1.54383235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters 0.05080722419188646 Centerline is valid? [True, True] Translation: X:208.91, Y:-16.57, Z:-1.54 [[ 9.84369172e-01 1.76117382e-01 8.07450898e-06 2.08913126e+02] [-1.76117382e-01 9.84369173e-01 -5.97252576e-07 -1.65702567e+01] [-8.05348434e-06 -8.34144356e-07 1.00000000e+00 -1.54403781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters 0.05061585119166536 Centerline is valid? [True, True] Translation: X:208.97, Y:-16.59, Z:-1.54 [[ 9.84375268e-01 1.76082401e-01 5.65028533e-04 2.08973505e+02] [-1.76082377e-01 9.84375430e-01 -9.29949182e-05 -1.65876096e+01] [-5.72574974e-04 -7.94966947e-06 9.99999836e-01 -1.54309381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters 0.050274732225116206 Centerline is valid? [True, True] Translation: X:209.03, Y:-16.60, Z:-1.54 [[ 9.84341463e-01 1.76272146e-01 1.17115932e-04 2.09034705e+02] [-1.76272146e-01 9.84341470e-01 -1.85086635e-05 -1.66034647e+01] [-1.18544631e-04 -2.42543177e-06 9.99999993e-01 -1.54275126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters 0.04966868080463766 Centerline is valid? [True, True] Translation: X:209.09, Y:-16.62, Z:-1.54 [[ 9.84113196e-01 1.77541980e-01 2.52054892e-04 2.09094304e+02] [-1.77541975e-01 9.84113228e-01 -4.10500894e-05 -1.66225892e+01] [-2.55338668e-04 -4.35238860e-06 9.99999967e-01 -1.54129892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters 0.050722328321741866 Centerline is valid? [True, True] Translation: X:209.15, Y:-16.63, Z:-1.54 [[ 9.83871910e-01 1.78872914e-01 7.38617724e-04 2.09154709e+02] [-1.78872873e-01 9.83872187e-01 -1.22096302e-04 -1.66322247e+01] [-7.48545157e-04 -1.19915527e-05 9.99999720e-01 -1.54211116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters 0.049881622786392084 Centerline is valid? [True, True] Translation: X:209.22, Y:-16.65, Z:-1.54 [[ 9.83669371e-01 1.79977822e-01 1.59742175e-03 2.09215610e+02] [-1.79977629e-01 9.83670668e-01 -2.65114912e-04 -1.66450519e+01] [-1.61905172e-03 -2.67147588e-05 9.99998689e-01 -1.54171938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters 0.050343465335656375 Centerline is valid? [True, True] Translation: X:209.28, Y:-16.66, Z:-1.54 [[ 9.83730855e-01 1.79640810e-01 1.66889309e-03 2.09275646e+02] [-1.79640598e-01 9.83732270e-01 -2.77258610e-04 -1.66552020e+01] [-1.69155095e-03 -2.70531032e-05 9.99998569e-01 -1.54261307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters 0.05045818775856725 Centerline is valid? [True, True] Translation: X:209.34, Y:-16.67, Z:-1.54 [[ 9.84308146e-01 1.76453634e-01 1.26062027e-03 2.09336052e+02] [-1.76453510e-01 9.84308953e-01 -2.09909500e-04 -1.66670430e+01] [-1.27787911e-03 -1.58252404e-05 9.99999183e-01 -1.54472505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters 0.05001028467447146 Centerline is valid? [True, True] Translation: X:209.40, Y:-16.68, Z:-1.55 [[ 9.84549472e-01 1.75105171e-01 7.18344831e-04 2.09396923e+02] [-1.75105130e-01 9.84549734e-01 -1.18959125e-04 -1.66786999e+01] [-7.28076570e-04 -8.66472148e-06 9.99999735e-01 -1.54517477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters 0.05031943992905372 Centerline is valid? [True, True] Translation: X:209.46, Y:-16.68, Z:-1.55 [[ 9.84505239e-01 1.75354277e-01 5.58542114e-04 2.09458687e+02] [-1.75354253e-01 9.84505397e-01 -9.23288371e-05 -1.66828378e+01] [-5.66077982e-04 -7.04451131e-06 9.99999840e-01 -1.54794648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters 0.05023488376995139 Centerline is valid? [True, True] Translation: X:209.52, Y:-16.69, Z:-1.55 [[ 9.84379727e-01 1.76054277e-01 1.20222627e-03 2.09520157e+02] [-1.76054164e-01 9.84380461e-01 -2.00322320e-04 -1.66945329e+01] [-1.21871566e-03 -1.44637107e-05 9.99999257e-01 -1.54668201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters 0.04978240958902683 Centerline is valid? [True, True] Translation: X:209.58, Y:-16.70, Z:-1.55 [[ 9.84604807e-01 1.74790079e-01 1.34234976e-03 2.09580728e+02] [-1.74789937e-01 9.84605722e-01 -2.23377975e-04 -1.67034829e+01] [-1.36072950e-03 -1.46902019e-05 9.99999074e-01 -1.54894996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters 0.05033882168427387 Centerline is valid? [True, True] Translation: X:209.64, Y:-16.72, Z:-1.55 [[ 9.85376675e-01 1.70380069e-01 1.85501913e-03 2.09640862e+02] [-1.70379788e-01 9.85378421e-01 -3.09610325e-04 -1.67185868e+01] [-1.88064725e-03 -1.09749729e-05 9.99998232e-01 -1.54984127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters 0.049979567801118285 Centerline is valid? [True, True] Translation: X:209.70, Y:-16.73, Z:-1.55 [[ 9.86032012e-01 1.66533130e-01 2.75460601e-03 2.09701125e+02] [-1.66532496e-01 9.86035860e-01 -4.59817311e-04 -1.67326142e+01] [-2.79271512e-03 -5.33682414e-06 9.99996100e-01 -1.54855946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters 0.049895250584036106 Centerline is valid? [True, True] Translation: X:209.76, Y:-16.74, Z:-1.55 [[ 9.86252236e-01 1.65214515e-01 3.26982680e-03 2.09761711e+02] [-1.65213614e-01 9.86257656e-01 -5.45745593e-04 -1.67432171e+01] [-3.31505681e-03 -1.97709168e-06 9.99994505e-01 -1.54913243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters 0.04997133862410366 Centerline is valid? [True, True] Translation: X:209.82, Y:-16.75, Z:-1.55 [[ 9.86283315e-01 1.65040146e-01 2.64070371e-03 2.09824103e+02] [-1.65039557e-01 9.86286850e-01 -4.40803727e-04 -1.67538476e+01] [-2.67724166e-03 -1.06321081e-06 9.99996416e-01 -1.54922956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters 0.04970274266994485 Centerline is valid? [True, True] Translation: X:209.89, Y:-16.76, Z:-1.55 [[ 9.86314708e-01 1.64869338e-01 1.18234463e-03 2.09885525e+02] [-1.64869220e-01 9.86315417e-01 -1.97525900e-04 -1.67639297e+01] [-1.19873070e-03 -1.09536777e-07 9.99999282e-01 -1.55036184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters 0.050417975924379195 Centerline is valid? [True, True] Translation: X:209.95, Y:-16.77, Z:-1.55 [[ 9.86524086e-01 1.63615175e-01 -5.49384578e-04 2.09946398e+02] [-1.63615149e-01 9.86524239e-01 9.24321055e-05 -1.67740099e+01] [ 5.57104498e-04 -1.29885904e-06 9.99999845e-01 -1.55134140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters 0.05038942934852944 Centerline is valid? [True, True] Translation: X:210.01, Y:-16.78, Z:-1.55 [[ 9.86612147e-01 1.63084226e-01 8.72653039e-05 2.10007013e+02] [-1.63084225e-01 9.86612150e-01 -1.41356214e-05 -1.67826593e+01] [-8.84023061e-05 -2.85218651e-07 9.99999996e-01 -1.55067706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters 0.05032248710742774 Centerline is valid? [True, True] Translation: X:210.07, Y:-16.79, Z:-1.55 [[ 9.87121112e-01 1.59971394e-01 1.03126063e-03 2.10068177e+02] [-1.59971302e-01 9.87121651e-01 -1.72289513e-04 -1.67932617e+01] [-1.04554109e-03 5.09851064e-06 9.99999453e-01 -1.54995329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters 0.05060812937436538 Centerline is valid? [True, True] Translation: X:210.13, Y:-16.80, Z:-1.55 [[ 9.87619119e-01 1.56867617e-01 1.01281292e-03 2.10129038e+02] [-1.56867526e-01 9.87619639e-01 -1.69263523e-04 -1.68046029e+01] [-1.02682590e-03 8.29043479e-06 9.99999473e-01 -1.55117124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters 0.050911482581904886 Centerline is valid? [True, True] Translation: X:210.19, Y:-16.81, Z:-1.55 [[ 9.87986187e-01 1.54542196e-01 -6.60571009e-05 2.10189172e+02] [-1.54542196e-01 9.87986189e-01 1.15145524e-05 -1.68134136e+01] [ 6.70429875e-05 -1.16760926e-06 9.99999998e-01 -1.55266626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters 0.05114277958396971 Centerline is valid? [True, True] Translation: X:210.25, Y:-16.82, Z:-1.55 [[ 9.87771658e-01 1.55903646e-01 -1.09800953e-03 2.10250179e+02] [-1.55903537e-01 9.87772268e-01 1.84977240e-04 -1.68175189e+01] [ 1.11342199e-03 -1.15317059e-05 9.99999380e-01 -1.55169115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters 0.05112600712729969 Centerline is valid? [True, True] Translation: X:210.31, Y:-16.83, Z:-1.55 [[ 9.87721416e-01 1.56210313e-01 -2.17752049e-03 2.10311760e+02] [-1.56209887e-01 9.87723816e-01 3.65654531e-04 -1.68275811e+01] [ 2.20790786e-03 -2.10145822e-05 9.99997562e-01 -1.55310388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters 0.05125720935429028 Centerline is valid? [True, True] Translation: X:210.37, Y:-16.84, Z:-1.56 [[ 9.87737192e-01 1.56106268e-01 -2.46445667e-03 2.10372849e+02] [-1.56105721e-01 9.87740266e-01 4.13912551e-04 -1.68384604e+01] [ 2.49885743e-03 -2.41210350e-05 9.99996878e-01 -1.55527265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters 0.05075447501099265 Centerline is valid? [True, True] Translation: X:210.43, Y:-16.85, Z:-1.56 [[ 9.87639299e-01 1.56729086e-01 -2.14682489e-03 2.10432918e+02] [-1.56728671e-01 9.87641632e-01 3.61311896e-04 -1.68483797e+01] [ 2.17692172e-03 -2.03768143e-05 9.99997630e-01 -1.55648850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters 0.050758096680724195 Centerline is valid? [True, True] Translation: X:210.49, Y:-16.86, Z:-1.56 [[ 9.87152185e-01 1.59782400e-01 -3.84319356e-04 2.10493827e+02] [-1.59782387e-01 9.87152260e-01 6.47918809e-05 -1.68560394e+01] [ 3.89734324e-04 -2.55198270e-06 9.99999924e-01 -1.55653093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters 0.05044943845666743 Centerline is valid? [True, True] Translation: X:210.56, Y:-16.86, Z:-1.55 [[ 9.86641401e-01 1.62906345e-01 5.18028941e-04 2.10555924e+02] [-1.62906322e-01 9.86641537e-01 -8.67335169e-05 -1.68641572e+01] [-5.25238311e-04 1.18468926e-06 9.99999862e-01 -1.55457997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters 0.05037294885585008 Centerline is valid? [True, True] Translation: X:210.62, Y:-16.87, Z:-1.55 [[ 9.85680495e-01 1.68608048e-01 2.29949840e-03 2.10617761e+02] [-1.68607607e-01 9.85683177e-01 -3.85776937e-04 -1.68714694e+01] [-2.33162198e-03 -7.46011982e-06 9.99997282e-01 -1.55364543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters 0.0502050574201241 Centerline is valid? [True, True] Translation: X:210.68, Y:-16.88, Z:-1.55 [[ 9.84527339e-01 1.75204269e-01 3.06315033e-03 2.10678238e+02] [-1.75203515e-01 9.84532104e-01 -5.14929337e-04 -1.68770692e+01] [-3.10598766e-03 -2.97126948e-05 9.99995176e-01 -1.55479237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters 0.05003397020080431 Centerline is valid? [True, True] Translation: X:210.74, Y:-16.89, Z:-1.55 [[ 9.83807683e-01 1.79210495e-01 2.45803045e-03 2.10738153e+02] [-1.79210022e-01 9.83810753e-01 -4.13053666e-04 -1.68919368e+01] [-2.49226034e-03 -3.41383212e-05 9.99996894e-01 -1.55338834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters 0.05028247349407149 Centerline is valid? [True, True] Translation: X:210.80, Y:-16.89, Z:-1.56 [[ 9.83066387e-01 1.83249092e-01 4.99490266e-04 2.10799402e+02] [-1.83249073e-01 9.83066514e-01 -8.39061707e-05 -1.68922470e+01] [-5.06407885e-04 -9.04579208e-06 9.99999872e-01 -1.55784701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters 0.05037600875593557 Centerline is valid? [True, True] Translation: X:210.86, Y:-16.91, Z:-1.56 [[ 9.82753881e-01 1.84917311e-01 -6.29996794e-04 2.10859250e+02] [-1.84917280e-01 9.82754083e-01 1.06819923e-04 -1.69083008e+01] [ 6.38884775e-04 1.15195994e-05 9.99999796e-01 -1.55732959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters 0.050554339992087007 Centerline is valid? [True, True] Translation: X:210.92, Y:-16.92, Z:-1.56 [[ 9.82717761e-01 1.85103297e-01 -1.60387960e-03 2.10919891e+02] [-1.85103101e-01 9.82719069e-01 2.70900654e-04 -1.69179443e+01] [ 1.62630767e-03 3.06642034e-05 9.99998677e-01 -1.55845972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters 0.05053780301800469 Centerline is valid? [True, True] Translation: X:210.98, Y:-16.93, Z:-1.56 [[ 9.82944823e-01 1.83893655e-01 -1.61185168e-03 2.10980156e+02] [-1.83893456e-01 9.82946144e-01 2.72391277e-04 -1.69305157e+01] [ 1.63445442e-03 2.86633803e-05 9.99998664e-01 -1.55892168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters 0.04998754694155342 Centerline is valid? [True, True] Translation: X:211.04, Y:-16.95, Z:-1.56 [[ 9.83488940e-01 1.80963548e-01 -1.30352773e-03 2.11039758e+02] [-1.80963415e-01 9.83489804e-01 2.20012648e-04 -1.69494425e+01] [ 1.32182050e-03 1.95108239e-05 9.99999126e-01 -1.55545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters 0.05020250964682184 Centerline is valid? [True, True] Translation: X:211.10, Y:-16.96, Z:-1.56 [[ 9.83877851e-01 1.78838590e-01 -1.06406962e-03 2.11100731e+02] [-1.78838499e-01 9.83878427e-01 1.80337605e-04 -1.69578368e+01] [ 1.07916647e-03 1.28664389e-05 9.99999418e-01 -1.55784689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters 0.0500833922319122 Centerline is valid? [True, True] Translation: X:211.16, Y:-16.97, Z:-1.56 [[ 9.84333932e-01 1.76310124e-01 -1.20410225e-03 2.11162430e+02] [-1.76310007e-01 9.84334669e-01 2.03627873e-04 -1.69671329e+01] [ 1.22114124e-03 1.18574501e-05 9.99999254e-01 -1.55887526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters 0.05074788190129841 Centerline is valid? [True, True] Translation: X:211.22, Y:-16.98, Z:-1.56 [[ 9.84570409e-01 1.74984670e-01 -1.21461129e-03 2.11223946e+02] [-1.74984549e-01 9.84571158e-01 2.05920969e-04 -1.69768826e+01] [ 1.23190426e-03 9.79451579e-06 9.99999241e-01 -1.55981910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters 0.05095887263364416 Centerline is valid? [True, True] Translation: X:211.29, Y:-16.99, Z:-1.56 [[ 9.85005936e-01 1.72519271e-01 -6.37614215e-04 2.11285026e+02] [-1.72519237e-01 9.85006143e-01 1.07999879e-04 -1.69895489e+01] [ 6.46685978e-04 3.62019629e-06 9.99999791e-01 -1.55864988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters 0.05041096390961729 Centerline is valid? [True, True] Translation: X:211.35, Y:-17.00, Z:-1.56 [[ 9.85354154e-01 1.70514630e-01 -1.39743261e-03 2.11345438e+02] [-1.70514466e-01 9.85355145e-01 2.36977479e-04 -1.70014784e+01] [ 1.41737554e-03 4.77573154e-06 9.99998996e-01 -1.56033823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters 0.0504867569866194 Centerline is valid? [True, True] Translation: X:211.41, Y:-17.01, Z:-1.56 [[ 9.85305907e-01 1.70771831e-01 -3.04156327e-03 2.11407325e+02] [-1.70771054e-01 9.85310602e-01 5.15248704e-04 -1.70102492e+01] [ 3.08487450e-03 1.17333745e-05 9.99995242e-01 -1.56126740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters 0.05092217327355322 Centerline is valid? [True, True] Translation: X:211.47, Y:-17.02, Z:-1.56 [[ 9.85099328e-01 1.71968290e-01 -2.49437753e-03 2.11469576e+02] [-1.71967770e-01 9.85102486e-01 4.23158971e-04 -1.70185297e+01] [ 2.52998743e-03 1.20989227e-05 9.99996800e-01 -1.56085487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters 0.050723747489404024 Centerline is valid? [True, True] Translation: X:211.53, Y:-17.03, Z:-1.56 [[ 9.85111091e-01 1.71918000e-01 -5.83331812e-04 2.11531095e+02] [-1.71917971e-01 9.85111263e-01 9.96494488e-05 -1.70277664e+01] [ 5.91778272e-04 2.11944426e-06 9.99999825e-01 -1.55966353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters 0.05063418840168334 Centerline is valid? [True, True] Translation: X:211.59, Y:-17.04, Z:-1.56 [[ 9.85231924e-01 1.71223099e-01 8.40650143e-04 2.11592163e+02] [-1.71223040e-01 9.85232282e-01 -1.41616320e-04 -1.70378511e+01] [-8.52483645e-04 -4.41375425e-06 9.99999637e-01 -1.55738837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters 0.0508556241878766 Centerline is valid? [True, True] Translation: X:211.65, Y:-17.05, Z:-1.56 [[ 9.85470529e-01 1.69845693e-01 5.25451215e-04 2.11652510e+02] [-1.69845670e-01 9.85470669e-01 -8.86095074e-05 -1.70475563e+01] [-5.32866704e-04 -1.92355565e-06 9.99999858e-01 -1.55788602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters 0.051002818751550126 Centerline is valid? [True, True] Translation: X:211.71, Y:-17.06, Z:-1.56 [[ 9.85658810e-01 1.68750428e-01 -5.52097676e-05 2.11713530e+02] [-1.68750428e-01 9.85658812e-01 9.97650461e-06 -1.70583795e+01] [ 5.61015333e-05 -5.16757762e-07 9.99999998e-01 -1.56001784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters 0.05140321808693695 Centerline is valid? [True, True] Translation: X:211.77, Y:-17.07, Z:-1.56 [[ 9.85999991e-01 1.66741790e-01 -1.09265641e-03 2.11774498e+02] [-1.66741686e-01 9.86000596e-01 1.86347341e-04 -1.70695053e+01] [ 1.10843176e-03 -1.54710362e-06 9.99999386e-01 -1.55938302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters 0.05102275266232727 Centerline is valid? [True, True] Translation: X:211.83, Y:-17.08, Z:-1.56 [[ 9.86476848e-01 1.63897398e-01 -1.03506389e-03 2.11834688e+02] [-1.63897303e-01 9.86477391e-01 1.76617438e-04 -1.70804197e+01] [ 1.05001427e-03 -4.58483279e-06 9.99999449e-01 -1.55823921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters 0.05120912912665266 Centerline is valid? [True, True] Translation: X:211.89, Y:-17.09, Z:-1.56 [[ 9.86943002e-01 1.61069756e-01 -2.09226321e-04 2.11894792e+02] [-1.61069752e-01 9.86943025e-01 3.64006591e-05 -1.70944888e+01] [ 2.12357503e-04 -2.22534421e-06 9.99999977e-01 -1.56138838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters 0.0514063722858552 Centerline is valid? [True, True] Translation: X:211.96, Y:-17.10, Z:-1.56 [[ 9.87174247e-01 1.59646340e-01 2.30501604e-04 2.11956204e+02] [-1.59646335e-01 9.87174273e-01 -3.88777986e-05 -1.71048552e+01] [-2.33751952e-04 1.58042516e-06 9.99999973e-01 -1.56144398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters 0.05143487351014062 Centerline is valid? [True, True] Translation: X:212.02, Y:-17.11, Z:-1.56 [[ 9.87229875e-01 1.59302035e-01 1.87809980e-04 2.12018792e+02] [-1.59302032e-01 9.87229893e-01 -3.09333561e-05 -1.71149322e+01] [-1.90339373e-04 6.19821855e-07 9.99999982e-01 -1.56121708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters 0.051555792144988066 Centerline is valid? [True, True] Translation: X:212.08, Y:-17.13, Z:-1.56 [[ 9.87137591e-01 1.59872159e-01 -5.18582883e-04 2.12079652e+02] [-1.59872134e-01 9.87137727e-01 8.93259585e-05 -1.71272682e+01] [ 5.26193463e-04 -5.27005941e-06 9.99999862e-01 -1.56441304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters 0.050893682502387495 Centerline is valid? [True, True] Translation: X:212.14, Y:-17.14, Z:-1.57 [[ 9.86900141e-01 1.61318796e-01 -2.08730325e-03 2.12141176e+02] [-1.61318403e-01 9.86902349e-01 3.56646662e-04 -1.71373523e+01] [ 2.11749829e-03 -1.52542153e-05 9.99997758e-01 -1.56653524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters 0.05093201632648644 Centerline is valid? [True, True] Translation: X:212.20, Y:-17.15, Z:-1.57 [[ 9.86904647e-01 1.61280355e-01 -2.80424807e-03 2.12202224e+02] [-1.61279647e-01 9.86908631e-01 4.78367641e-04 -1.71465733e+01] [ 2.84468793e-03 -1.98351092e-05 9.99995954e-01 -1.56517945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters 0.0517749995889288 Centerline is valid? [True, True] Translation: X:212.26, Y:-17.16, Z:-1.57 [[ 9.87267238e-01 1.59041367e-01 -3.04036441e-03 2.12263209e+02] [-1.59040521e-01 9.87271919e-01 5.19558252e-04 -1.71571873e+01] [ 3.08429767e-03 -2.94017001e-05 9.99995243e-01 -1.56503110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters 0.05133052889890538 Centerline is valid? [True, True] Translation: X:212.32, Y:-17.17, Z:-1.57 [[ 9.87409931e-01 1.58157216e-01 -2.81494106e-03 2.12323024e+02] [-1.58156486e-01 9.87413943e-01 4.81337637e-04 -1.71688201e+01] [ 2.85563907e-03 -3.00763773e-05 9.99995922e-01 -1.56630281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters 0.05185082145795822 Centerline is valid? [True, True] Translation: X:212.38, Y:-17.18, Z:-1.57 [[ 9.88010876e-01 1.54375783e-01 -1.62088926e-03 2.12382962e+02] [-1.54375535e-01 9.88012205e-01 2.77659735e-04 -1.71811345e+01] [ 1.64432231e-03 -2.41051918e-05 9.99998648e-01 -1.56647661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters 0.05176890842630012 Centerline is valid? [True, True] Translation: X:212.44, Y:-17.19, Z:-1.57 [[ 9.88444224e-01 1.51578044e-01 -1.45364349e-03 2.12444394e+02] [-1.51577842e-01 9.88445292e-01 2.48685656e-04 -1.71913407e+01] [ 1.47454235e-03 -2.54717561e-05 9.99998913e-01 -1.56620664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters 0.0516486626651845 Centerline is valid? [True, True] Translation: X:212.51, Y:-17.20, Z:-1.57 [[ 9.88814550e-01 1.49141620e-01 -1.60057911e-03 2.12505526e+02] [-1.49141373e-01 9.88815845e-01 2.73784638e-04 -1.72033581e+01] [ 1.62351067e-03 -3.20096686e-05 9.99998682e-01 -1.56681906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters 0.05195568034495973 Centerline is valid? [True, True] Translation: X:212.57, Y:-17.21, Z:-1.56 [[ 9.88621299e-01 1.50424603e-01 -6.04597182e-04 2.12567427e+02] [-1.50424567e-01 9.88621484e-01 1.03873227e-04 -1.72054149e+01] [ 6.13342852e-04 -1.17450147e-05 9.99999812e-01 -1.56458856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters 0.052173733136812436 Centerline is valid? [True, True] Translation: X:212.63, Y:-17.22, Z:-1.57 [[ 9.88156549e-01 1.53449123e-01 -3.19120260e-05 2.12627803e+02] [-1.53449123e-01 9.88156550e-01 5.64735871e-06 -1.72172692e+01] [ 3.24006596e-05 -6.83602083e-07 9.99999999e-01 -1.56790650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters 0.051642758138598276 Centerline is valid? [True, True] Translation: X:212.69, Y:-17.22, Z:-1.57 [[ 9.87097618e-01 1.60119295e-01 -3.22925858e-04 2.12688563e+02] [-1.60119286e-01 9.87097671e-01 5.52625764e-05 -1.72217011e+01] [ 3.27607967e-04 -2.84289991e-06 9.99999946e-01 -1.56843794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters 0.05153623249146166 Centerline is valid? [True, True] Translation: X:212.75, Y:-17.23, Z:-1.57 [[ 9.86309167e-01 1.64905996e-01 -4.89284819e-04 2.12749004e+02] [-1.64905974e-01 9.86309288e-01 8.45386433e-05 -1.72288655e+01] [ 4.96527091e-04 -2.69524910e-06 9.99999877e-01 -1.57057520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters 0.05115495815911564 Centerline is valid? [True, True] Translation: X:212.81, Y:-17.23, Z:-1.57 [[ 9.84960395e-01 1.72780134e-01 2.14321603e-04 2.12810906e+02] [-1.72780130e-01 9.84960418e-01 -3.58301435e-05 -1.72329656e+01] [-2.17289033e-04 -1.73924209e-06 9.99999976e-01 -1.56974577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters 0.050348982835940734 Centerline is valid? [True, True] Translation: X:212.87, Y:-17.24, Z:-1.57 [[ 9.83529249e-01 1.80748609e-01 -3.96449646e-04 2.12871324e+02] [-1.80748596e-01 9.83529329e-01 6.81881977e-05 -1.72354941e+01] [ 4.02244776e-04 4.59263019e-06 9.99999919e-01 -1.57161549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters 0.05109133824765175 Centerline is valid? [True, True] Translation: X:212.93, Y:-17.24, Z:-1.57 [[ 9.82839656e-01 1.84458871e-01 -1.06582072e-03 2.12932334e+02] [-1.84458781e-01 9.82840234e-01 1.82673309e-04 -1.72435661e+01] [ 1.08122719e-03 1.70614177e-05 9.99999415e-01 -1.57260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters 0.05091771485686311 Centerline is valid? [True, True] Translation: X:212.99, Y:-17.25, Z:-1.57 [[ 9.82413305e-01 1.86715031e-01 -1.26304990e-03 2.12992931e+02] [-1.86714906e-01 9.82414117e-01 2.17239313e-04 -1.72549829e+01] [ 1.28139990e-03 2.24114530e-05 9.99999179e-01 -1.57167515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters 0.05130839475582325 Centerline is valid? [True, True] Translation: X:213.05, Y:-17.27, Z:-1.57 [[ 9.82473215e-01 1.86403613e-01 -2.73856393e-04 2.13054393e+02] [-1.86403607e-01 9.82473253e-01 4.77910854e-05 -1.72658369e+01] [ 2.77965012e-04 4.09435826e-06 9.99999961e-01 -1.57145082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters 0.05122506606590214 Centerline is valid? [True, True] Translation: X:213.11, Y:-17.28, Z:-1.57 [[ 9.82731555e-01 1.85034096e-01 -1.03663753e-03 2.13114934e+02] [-1.85034010e-01 9.82732101e-01 1.78726055e-04 -1.72787032e+01] [ 1.05180739e-03 1.61734657e-05 9.99999447e-01 -1.57230531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters 0.050605719436883 Centerline is valid? [True, True] Translation: X:213.18, Y:-17.29, Z:-1.57 [[ 9.83262393e-01 1.82159810e-01 -3.58746444e-03 2.13175539e+02] [-1.82158771e-01 9.83268937e-01 6.16913704e-04 -1.72934180e+01] [ 3.63981923e-03 4.69000679e-05 9.99993375e-01 -1.57412166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters 0.0521506015478901 Centerline is valid? [True, True] Translation: X:213.24, Y:-17.31, Z:-1.57 [[ 9.83951164e-01 1.78359869e-01 -5.27868687e-03 2.13236169e+02] [-1.78357564e-01 9.83965322e-01 9.07985665e-04 -1.73098917e+01] [ 5.35599303e-03 4.80801799e-05 9.99985655e-01 -1.57189775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters 0.05138354853482955 Centerline is valid? [True, True] Translation: X:213.30, Y:-17.33, Z:-1.58 [[ 9.85719817e-01 1.68272012e-01 -6.40097600e-03 2.13295331e+02] [-1.68268407e-01 9.85740600e-01 1.10156633e-03 -1.73264078e+01] [ 6.49506470e-03 -8.75372209e-06 9.99978907e-01 -1.57577528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters 0.05173130565355872 Centerline is valid? [True, True] Translation: X:213.36, Y:-17.34, Z:-1.57 [[ 9.87177766e-01 1.59534061e-01 -5.37973873e-03 2.13355853e+02] [-1.59531385e-01 9.87192423e-01 9.25641925e-04 -1.73431766e+01] [ 5.45850873e-03 -5.55359539e-05 9.99985101e-01 -1.57430050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters 0.05234044299659782 Centerline is valid? [True, True] Translation: X:213.42, Y:-17.35, Z:-1.57 [[ 9.88534340e-01 1.50976371e-01 -2.44834503e-03 2.13415408e+02] [-1.50975791e-01 9.88537371e-01 4.21207516e-04 -1.73530391e+01] [ 2.48387294e-03 -4.67372665e-05 9.99996914e-01 -1.57212420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters 0.05307096563152865 Centerline is valid? [True, True] Translation: X:213.47, Y:-17.37, Z:-1.57 [[ 9.89703670e-01 1.43105920e-01 -2.70963977e-03 2.13474391e+02] [-1.43105179e-01 9.89707376e-01 4.66316559e-04 -1.73701986e+01] [ 2.74848313e-03 -7.37517255e-05 9.99996220e-01 -1.57442337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters 0.0538319260484277 Centerline is valid? [True, True] Translation: X:213.53, Y:-17.38, Z:-1.57 [[ 9.90862797e-01 1.34827714e-01 -3.52209045e-03 2.13533025e+02] [-1.34826410e-01 9.90869049e-01 6.06081218e-04 -1.73806006e+01] [ 3.57164696e-03 -1.25672520e-04 9.99993614e-01 -1.57449769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters 0.053847959957384124 Centerline is valid? [True, True] Translation: X:213.59, Y:-17.39, Z:-1.57 [[ 9.91445372e-01 1.30480550e-01 -3.30163023e-03 2.13593910e+02] [-1.30479380e-01 9.91450860e-01 5.68176782e-04 -1.73865770e+01] [ 3.34754015e-03 -1.32521576e-04 9.99994388e-01 -1.57460904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters 0.054523051981863656 Centerline is valid? [True, True] Translation: X:213.65, Y:-17.40, Z:-1.58 [[ 9.91456405e-01 1.30434055e-01 -1.07470231e-03 2.13654676e+02] [-1.30433930e-01 9.91456986e-01 1.85433693e-04 -1.73954230e+01] [ 1.08970798e-03 -4.36717773e-05 9.99999405e-01 -1.57587753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters 0.05353008500050558 Centerline is valid? [True, True] Translation: X:213.72, Y:-17.39, Z:-1.57 [[ 9.90434742e-01 1.37979289e-01 8.58909218e-04 2.13716458e+02] [-1.37979213e-01 9.90435114e-01 -1.47844198e-04 -1.73921434e+01] [-8.71093287e-04 2.79184129e-05 9.99999620e-01 -1.57361485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters 0.05340774633624881 Centerline is valid? [True, True] Translation: X:213.78, Y:-17.40, Z:-1.57 [[ 9.89378762e-01 1.45354134e-01 1.35658993e-03 2.13776712e+02] [-1.45353951e-01 9.89379692e-01 -2.33448792e-04 -1.73979791e+01] [-1.37611527e-03 3.37835711e-05 9.99999053e-01 -1.57486646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters 0.0521323325871011 Centerline is valid? [True, True] Translation: X:213.84, Y:-17.39, Z:-1.58 [[ 9.87482502e-01 1.57698869e-01 3.06196234e-03 2.13838866e+02] [-1.57697993e-01 9.87487248e-01 -5.26998712e-04 -1.73933038e+01] [-3.10675587e-03 3.75366902e-05 9.99995173e-01 -1.57572980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters 0.05225545082267146 Centerline is valid? [True, True] Translation: X:213.90, Y:-17.39, Z:-1.58 [[ 9.85279510e-01 1.70916350e-01 3.44809880e-03 2.13900415e+02] [-1.70915320e-01 9.85285543e-01 -5.93517836e-04 -1.73924999e+01] [-3.49880380e-03 -4.55194630e-06 9.99993879e-01 -1.57721357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters 0.051702649813668865 Centerline is valid? [True, True] Translation: X:213.96, Y:-17.39, Z:-1.58 [[ 9.82972576e-01 1.83703586e-01 4.23166014e-03 2.13962130e+02] [-1.83702152e-01 9.82981683e-01 -7.28495169e-04 -1.73933305e+01] [-4.29347158e-03 -6.12743009e-05 9.99990781e-01 -1.57676222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters 0.05204927212621163 Centerline is valid? [True, True] Translation: X:214.02, Y:-17.40, Z:-1.58 [[ 9.81742272e-01 1.90145635e-01 5.17198630e-03 2.14022061e+02] [-1.90143581e-01 9.81755889e-01 -8.90482073e-04 -1.74000964e+01] [-5.24694928e-03 -1.09196101e-04 9.99986229e-01 -1.57762608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters 0.05354855231716584 Centerline is valid? [True, True] Translation: X:214.09, Y:-17.39, Z:-1.58 [[ 9.81077735e-01 1.93506275e-01 6.46532314e-03 2.14085148e+02] [-1.93503137e-01 9.81099025e-01 -1.11333091e-03 -1.73930355e+01] [-6.55855875e-03 -1.58796148e-04 9.99978480e-01 -1.57836390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters 0.052446413355352474 Centerline is valid? [True, True] Translation: X:214.15, Y:-17.41, Z:-1.58 [[ 9.81503478e-01 1.91317486e-01 6.96721692e-03 2.14145448e+02] [-1.91313787e-01 9.81528194e-01 -1.19987044e-03 -1.74075465e+01] [-7.06807604e-03 -1.55247644e-04 9.99975009e-01 -1.57997453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters 0.05173067657416045 Centerline is valid? [True, True] Translation: X:214.20, Y:-17.42, Z:-1.58 [[ 9.82055786e-01 1.88496799e-01 5.94898042e-03 2.14203851e+02] [-1.88494049e-01 9.82073797e-01 -1.02459878e-03 -1.74222580e+01] [-6.03547138e-03 -1.15134246e-04 9.99981780e-01 -1.58126605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters 0.05224998801340996 Centerline is valid? [True, True] Translation: X:214.27, Y:-17.43, Z:-1.58 [[ 9.82371704e-01 1.86832497e-01 6.28114119e-03 2.14265896e+02] [-1.86829396e-01 9.82391778e-01 -1.08213149e-03 -1.74296984e+01] [-6.37271879e-03 -1.10446463e-04 9.99979688e-01 -1.58299110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters 0.05229714418613359 Centerline is valid? [True, True] Translation: X:214.32, Y:-17.44, Z:-1.59 [[ 9.83722381e-01 1.79639025e-01 4.48299486e-03 2.14324839e+02] [-1.79637369e-01 9.83732595e-01 -7.72530182e-04 -1.74433774e+01] [-4.54884473e-03 -4.53581723e-05 9.99989653e-01 -1.58638084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters 0.05247790423381801 Centerline is valid? [True, True] Translation: X:214.38, Y:-17.46, Z:-1.59 [[ 9.85817191e-01 1.67799333e-01 2.80188072e-03 2.14382829e+02] [-1.67798639e-01 9.85821172e-01 -4.82833309e-04 -1.74614527e+01] [-2.84317245e-03 5.83360451e-06 9.99995958e-01 -1.58832393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters 0.05268757174779522 Centerline is valid? [True, True] Translation: X:214.44, Y:-17.48, Z:-1.59 [[ 9.88263120e-01 1.52693572e-01 4.54732646e-03 2.14441863e+02] [-1.52691582e-01 9.88273579e-01 -7.83690211e-04 -1.74785966e+01] [-4.61366705e-03 8.01536625e-05 9.99989354e-01 -1.58852222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters 0.052700297476600495 Centerline is valid? [True, True] Translation: X:214.50, Y:-17.49, Z:-1.59 [[ 9.89696561e-01 1.43031231e-01 6.54088603e-03 2.14501029e+02] [-1.43026902e-01 9.89718159e-01 -1.12735330e-03 -1.74913893e+01] [-6.63488042e-03 1.80215021e-04 9.99977973e-01 -1.58905404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters 0.05388158477122576 Centerline is valid? [True, True] Translation: X:214.56, Y:-17.51, Z:-1.59 [[ 9.91214021e-01 1.31981692e-01 8.69464477e-03 2.14559786e+02] [-1.31973615e-01 9.91252096e-01 -1.49870863e-03 -1.75083964e+01] [-8.81638696e-03 3.38077309e-04 9.99961078e-01 -1.58934354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters 0.05287744859172894 Centerline is valid? [True, True] Translation: X:214.62, Y:-17.51, Z:-1.59 [[ 9.91821712e-01 1.27242710e-01 9.94911878e-03 2.14621163e+02] [-1.27231895e-01 9.91871515e-01 -1.71510148e-03 -1.75092680e+01] [-1.00864817e-02 4.35229645e-04 9.99949035e-01 -1.59028716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters 0.05418018538516282 Centerline is valid? [True, True] Translation: X:214.68, Y:-17.53, Z:-1.59 [[ 9.91265572e-01 1.31466412e-01 1.04473886e-02 2.14677491e+02] [-1.31454719e-01 9.91320540e-01 -1.80113598e-03 -1.75345395e+01] [-1.05934998e-02 4.12045550e-04 9.99943802e-01 -1.59013227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters 0.052374650795242464 Centerline is valid? [True, True] Translation: X:214.74, Y:-17.53, Z:-1.59 [[ 9.90386999e-01 1.37997581e-01 9.50056896e-03 2.14739284e+02] [-1.37988211e-01 9.90432517e-01 -1.63792567e-03 -1.75337327e+01] [-9.63570221e-03 3.11213777e-04 9.99953527e-01 -1.59189230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters 0.05296729367562088 Centerline is valid? [True, True] Translation: X:214.80, Y:-17.54, Z:-1.59 [[ 9.88678957e-01 1.49775325e-01 9.01505396e-03 2.14798968e+02] [-1.49767376e-01 9.88720040e-01 -1.55425476e-03 -1.75364640e+01] [-9.14615352e-03 1.86497998e-04 9.99958156e-01 -1.59314237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters 0.05217443098151311 Centerline is valid? [True, True] Translation: X:214.86, Y:-17.54, Z:-1.59 [[ 9.87052485e-01 1.60143511e-01 9.02487199e-03 2.14858074e+02] [-1.60135978e-01 9.87093738e-01 -1.55588449e-03 -1.75439505e+01] [-9.15755943e-03 9.05329458e-05 9.99958065e-01 -1.59175712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters 0.052061198305317524 Centerline is valid? [True, True] Translation: X:214.92, Y:-17.54, Z:-1.59 [[ 9.85550772e-01 1.69116364e-01 9.45151286e-03 2.14920646e+02] [-1.69108513e-01 9.85596091e-01 -1.62950412e-03 -1.75449368e+01] [-9.59094995e-03 7.62775133e-06 9.99954006e-01 -1.59292278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters 0.05193252966179053 Centerline is valid? [True, True] Translation: X:214.98, Y:-17.55, Z:-1.59 [[ 9.84740989e-01 1.73781038e-01 9.23770319e-03 2.14982564e+02] [-1.73773741e-01 9.84784316e-01 -1.59290604e-03 -1.75517845e+01] [-9.37396209e-03 -3.66703723e-05 9.99956063e-01 -1.59299510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters 0.05190451691237412 Centerline is valid? [True, True] Translation: X:215.04, Y:-17.56, Z:-1.59 [[ 9.84051113e-01 1.77678542e-01 8.58733804e-03 2.15044277e+02] [-1.77672381e-01 9.84088579e-01 -1.48121002e-03 -1.75580500e+01] [-8.71388052e-03 -6.81464282e-05 9.99962031e-01 -1.59474490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters 0.052241691444111775 Centerline is valid? [True, True] Translation: X:215.11, Y:-17.57, Z:-1.60 [[ 9.83564698e-01 1.80387900e-01 7.79041785e-03 2.15105658e+02] [-1.80382908e-01 9.83595546e-01 -1.34461242e-03 -1.75662382e+01] [-7.90517211e-03 -8.27449177e-05 9.99968750e-01 -1.59617362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters 0.05192548918980442 Centerline is valid? [True, True] Translation: X:215.17, Y:-17.58, Z:-1.60 [[ 9.83351364e-01 1.81576074e-01 7.08692797e-03 2.15166713e+02] [-1.81571967e-01 9.83376898e-01 -1.22396824e-03 -1.75770518e+01] [-7.19136459e-03 -8.31966143e-05 9.99974138e-01 -1.59666353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters 0.05196313676952019 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.59, Z:-1.60 [[ 9.83230244e-01 1.82271439e-01 5.95068115e-03 2.15226805e+02] [-1.82268553e-01 9.83248248e-01 -1.02837487e-03 -1.75859106e+01] [-6.03844018e-03 -7.34927692e-05 9.99981766e-01 -1.59784933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters 0.05147773335023882 Centerline is valid? [True, True] Translation: X:215.29, Y:-17.60, Z:-1.60 [[ 9.83134381e-01 1.82834766e-01 4.27043837e-03 2.15287308e+02] [-1.82833285e-01 9.83143654e-01 -7.37996433e-04 -1.76006153e+01] [-4.33338579e-03 -5.52286089e-05 9.99990609e-01 -1.59942454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters 0.05136525629121227 Centerline is valid? [True, True] Translation: X:215.35, Y:-17.61, Z:-1.60 [[ 9.82987293e-01 1.83645806e-01 3.19362436e-03 2.15348456e+02] [-1.83644981e-01 9.82992480e-01 -5.52051652e-04 -1.76142569e+01] [-3.24069070e-03 -4.38333250e-05 9.99994748e-01 -1.60058662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters 0.051612950943697306 Centerline is valid? [True, True] Translation: X:215.41, Y:-17.63, Z:-1.60 [[ 9.82673999e-01 1.85342161e-01 3.07642821e-04 2.15408960e+02] [-1.85342153e-01 9.82674047e-01 -5.30246003e-05 -1.76305734e+01] [-3.12140310e-04 -4.91328675e-06 9.99999951e-01 -1.60185323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters 0.05168036339822558 Centerline is valid? [True, True] Translation: X:215.47, Y:-17.64, Z:-1.60 [[ 9.82376187e-01 1.86914389e-01 -1.94357680e-04 2.15469137e+02] [-1.86914386e-01 9.82376207e-01 3.45288425e-05 -1.76428440e+01] [ 1.97386298e-04 2.40793361e-06 9.99999981e-01 -1.60353571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters 0.051421902106757296 Centerline is valid? [True, True] Translation: X:215.53, Y:-17.66, Z:-1.60 [[ 9.82437832e-01 1.86586190e-01 1.22475677e-03 2.15528943e+02] [-1.86586071e-01 9.82438595e-01 -2.11520647e-04 -1.76621225e+01] [-1.24271515e-03 -2.07166680e-05 9.99999228e-01 -1.60083548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters 0.050893823403479636 Centerline is valid? [True, True] Translation: X:215.59, Y:-17.68, Z:-1.60 [[ 9.82803605e-01 1.84638978e-01 2.34983557e-03 2.15588914e+02] [-1.84638533e-01 9.82806414e-01 -4.06887609e-04 -1.76777229e+01] [-2.38456078e-03 -3.39795827e-05 9.99997156e-01 -1.60067107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters 0.0511256707933815 Centerline is valid? [True, True] Translation: X:215.65, Y:-17.70, Z:-1.60 [[ 9.83697719e-01 1.79787631e-01 3.89945792e-03 2.15647401e+02] [-1.79786361e-01 9.83705447e-01 -6.76556486e-04 -1.76985982e+01] [-3.95755449e-03 -3.55422785e-05 9.99992168e-01 -1.59897029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters 0.05114010792243187 Centerline is valid? [True, True] Translation: X:215.71, Y:-17.72, Z:-1.60 [[ 9.84483959e-01 1.75436944e-01 3.63502248e-03 2.15706703e+02] [-1.75435813e-01 9.84490669e-01 -6.30345827e-04 -1.77185307e+01] [-3.68923167e-03 -1.71477692e-05 9.99993195e-01 -1.59876855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters 0.050963082618485735 Centerline is valid? [True, True] Translation: X:215.77, Y:-17.74, Z:-1.60 [[ 9.85083043e-01 1.72054904e-01 2.91698403e-03 2.15765859e+02] [-1.72054160e-01 9.85087362e-01 -5.06052208e-04 -1.77370913e+01] [-2.96055286e-03 -3.37578730e-06 9.99995618e-01 -1.59976549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters 0.05083839463057484 Centerline is valid? [True, True] Translation: X:215.83, Y:-17.75, Z:-1.60 [[ 9.85335943e-01 1.70612933e-01 2.07519090e-03 2.15827037e+02] [-1.70612554e-01 9.85338128e-01 -3.59885333e-04 -1.77523602e+01] [-2.10616581e-03 5.54335011e-07 9.99997782e-01 -1.60053605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters 0.05122398949904957 Centerline is valid? [True, True] Translation: X:215.89, Y:-17.77, Z:-1.60 [[ 9.85895576e-01 1.67352498e-01 1.74762873e-03 2.15887436e+02] [-1.67352223e-01 9.85897125e-01 -3.03255156e-04 -1.77677592e+01] [-1.77373265e-03 6.50836392e-06 9.99998427e-01 -1.59848930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters 0.05064836710177998 Centerline is valid? [True, True] Translation: X:215.95, Y:-17.79, Z:-1.60 [[ 9.86399599e-01 1.64354225e-01 1.87630009e-03 2.15946239e+02] [-1.64353902e-01 9.86401383e-01 -3.25892981e-04 -1.77856576e+01] [-1.90434689e-03 1.30834646e-05 9.99998187e-01 -1.60096074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters 0.0509288642934208 Centerline is valid? [True, True] Translation: X:216.01, Y:-17.80, Z:-1.60 [[ 9.87018985e-01 1.60592163e-01 1.91854046e-03 2.16005998e+02] [-1.60591818e-01 9.87020849e-01 -3.33774680e-04 -1.78041364e+01] [-1.94724103e-03 2.13400456e-05 9.99998104e-01 -1.60031377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters 0.05078598426336975 Centerline is valid? [True, True] Translation: X:216.07, Y:-17.82, Z:-1.60 [[ 9.87036599e-01 1.60478935e-01 2.29447326e-03 2.16066832e+02] [-1.60478440e-01 9.87039265e-01 -3.99287385e-04 -1.78167549e+01] [-2.32881241e-03 2.58977733e-05 9.99997288e-01 -1.59980076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters 0.05069513464349779 Centerline is valid? [True, True] Translation: X:216.13, Y:-17.83, Z:-1.60 [[ 9.86284164e-01 1.65042466e-01 2.12901684e-03 2.16126922e+02] [-1.65042050e-01 9.86286462e-01 -3.70996497e-04 -1.78272912e+01] [-2.16105066e-03 1.45306670e-05 9.99997665e-01 -1.60000377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters 0.05102295111876625 Centerline is valid? [True, True] Translation: X:216.19, Y:-17.84, Z:-1.60 [[ 9.85863309e-01 1.67534088e-01 2.42176484e-03 2.16188649e+02] [-1.67533557e-01 9.85866284e-01 -4.21781171e-04 -1.78380605e+01] [-2.45819902e-03 1.00917032e-05 9.99996979e-01 -1.60192078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters 0.05070691397135531 Centerline is valid? [True, True] Translation: X:216.25, Y:-17.85, Z:-1.60 [[ 9.84707521e-01 1.74208529e-01 1.57663486e-03 2.16250761e+02] [-1.74208313e-01 9.84708784e-01 -2.74163773e-04 -1.78459875e+01] [-1.60028786e-03 -4.69176931e-06 9.99998720e-01 -1.60196030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters 0.051078406917326624 Centerline is valid? [True, True] Translation: X:216.31, Y:-17.86, Z:-1.60 [[ 9.84034615e-01 1.77972713e-01 1.26089015e-03 2.16311894e+02] [-1.77972578e-01 9.84035423e-01 -2.19320155e-04 -1.78557930e+01] [-1.27979358e-03 -8.58524634e-06 9.99999181e-01 -1.60208204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters 0.050508321389068175 Centerline is valid? [True, True] Translation: X:216.37, Y:-17.86, Z:-1.60 [[ 9.83887585e-01 1.78782019e-01 1.48640491e-03 2.16373461e+02] [-1.78781832e-01 9.83888708e-01 -2.58839629e-04 -1.78646279e+01] [-1.50873288e-03 -1.10730964e-05 9.99998862e-01 -1.60324307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters 0.05052024735996607 Centerline is valid? [True, True] Translation: X:216.44, Y:-17.87, Z:-1.60 [[ 9.83884308e-01 1.78794442e-01 2.05336188e-03 2.16435190e+02] [-1.78794084e-01 9.83886450e-01 -3.58266529e-04 -1.78740264e+01] [-2.08433100e-03 -1.46361410e-05 9.99997828e-01 -1.60308173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters 0.051011939758240914 Centerline is valid? [True, True] Translation: X:216.50, Y:-17.88, Z:-1.60 [[ 9.83944420e-01 1.78467917e-01 1.60633937e-03 2.16496836e+02] [-1.78467697e-01 9.83945731e-01 -2.80456720e-04 -1.78840061e+01] [-1.63060329e-03 -1.07258631e-05 9.99998671e-01 -1.60389550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters 0.05026453175096945 Centerline is valid? [True, True] Translation: X:216.56, Y:-17.89, Z:-1.61 [[ 9.84189495e-01 1.77118042e-01 -4.86972755e-04 2.16557755e+02] [-1.77118021e-01 9.84189615e-01 8.60436389e-05 -1.78941097e+01] [ 4.94513409e-04 1.56840522e-06 9.99999878e-01 -1.60688678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters 0.050303192119360095 Centerline is valid? [True, True] Translation: X:216.62, Y:-17.91, Z:-1.61 [[ 9.84644859e-01 1.74546571e-01 -2.82783492e-03 2.16618552e+02] [-1.74545865e-01 9.84648920e-01 4.96142824e-04 -1.79070920e+01] [ 2.87102462e-03 5.06241187e-06 9.99995879e-01 -1.60778978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters 0.05091261781531951 Centerline is valid? [True, True] Translation: X:216.68, Y:-17.92, Z:-1.61 [[ 9.84874781e-01 1.73235774e-01 -3.32161802e-03 2.16680668e+02] [-1.73234792e-01 9.84880382e-01 5.83172003e-04 -1.79195292e+01] [ 3.37242267e-03 1.06840776e-06 9.99994313e-01 -1.60836873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters 0.051296361230754144 Centerline is valid? [True, True] Translation: X:216.74, Y:-17.93, Z:-1.61 [[ 9.85085073e-01 1.72024814e-01 -3.85505896e-03 2.16741334e+02] [-1.72023485e-01 9.85092617e-01 6.76209448e-04 -1.79313873e+01] [ 3.91391492e-03 -2.96315540e-06 9.99992341e-01 -1.60829310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters 0.0510978461148348 Centerline is valid? [True, True] Translation: X:216.80, Y:-17.94, Z:-1.60 [[ 9.85245905e-01 1.71117553e-01 -3.04779705e-03 2.16802286e+02] [-1.71116715e-01 9.85250619e-01 5.35617870e-04 -1.79431216e+01] [ 3.09449755e-03 -6.18629586e-06 9.99995212e-01 -1.60400434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters 0.05153434205630852 Centerline is valid? [True, True] Translation: X:216.86, Y:-17.95, Z:-1.60 [[ 9.85372914e-01 1.70396997e-01 -2.25490161e-03 2.16862647e+02] [-1.70396536e-01 9.85375494e-01 3.96275379e-04 -1.79546710e+01] [ 2.28944892e-03 -6.25160161e-06 9.99997379e-01 -1.60369855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters 0.051211980238288726 Centerline is valid? [True, True] Translation: X:216.92, Y:-17.96, Z:-1.60 [[ 9.85428386e-01 1.70069997e-01 -2.66310235e-03 2.16924135e+02] [-1.70069354e-01 9.85431984e-01 4.67869019e-04 -1.79649532e+01] [ 2.70387672e-03 -8.13931630e-06 9.99996344e-01 -1.60235350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters 0.05154729710844498 Centerline is valid? [True, True] Translation: X:216.99, Y:-17.97, Z:-1.60 [[ 9.85180956e-01 1.71495064e-01 -2.81561766e-03 2.16985774e+02] [-1.71494347e-01 9.85184979e-01 4.95657259e-04 -1.79742918e+01] [ 2.85890699e-03 -5.44957966e-06 9.99995913e-01 -1.60320847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters 0.0510021191619329 Centerline is valid? [True, True] Translation: X:217.05, Y:-17.98, Z:-1.60 [[ 9.84824151e-01 1.73521800e-01 -3.40238887e-03 2.17048141e+02] [-1.73520765e-01 9.84830029e-01 5.99265136e-04 -1.79828461e+01] [ 3.45476030e-03 2.14340175e-07 9.99994032e-01 -1.60292941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters 0.05095300272104121 Centerline is valid? [True, True] Translation: X:217.11, Y:-17.99, Z:-1.60 [[ 9.84528908e-01 1.75178752e-01 -3.90302028e-03 2.17108894e+02] [-1.75177405e-01 9.84536645e-01 6.87022793e-04 -1.79917249e+01] [ 3.96301829e-03 7.32716353e-06 9.99992147e-01 -1.60469806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters 0.0514658405258361 Centerline is valid? [True, True] Translation: X:217.17, Y:-18.00, Z:-1.61 [[ 9.84286376e-01 1.76512668e-01 -4.85890242e-03 2.17170440e+02] [-1.76510592e-01 9.84298368e-01 8.56108370e-04 -1.80009520e+01] [ 4.93372370e-03 1.49919395e-05 9.99987829e-01 -1.60508127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters 0.05154403078282947 Centerline is valid? [True, True] Translation: X:217.23, Y:-18.01, Z:-1.60 [[ 9.84345118e-01 1.76184927e-01 -4.85380747e-03 2.17232879e+02] [-1.76182848e-01 9.84357085e-01 8.56021906e-04 -1.80120081e+01] [ 4.92869793e-03 1.25366385e-05 9.99987854e-01 -1.60427175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters 0.0514971535335382 Centerline is valid? [True, True] Translation: X:217.29, Y:-18.02, Z:-1.60 [[ 9.84782532e-01 1.73737626e-01 -4.31288008e-03 2.17293855e+02] [-1.73735959e-01 9.84791977e-01 7.61126097e-04 -1.80235788e+01] [ 4.37952594e-03 -2.41327488e-07 9.99990410e-01 -1.60440736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters 0.05166796418545714 Centerline is valid? [True, True] Translation: X:217.35, Y:-18.04, Z:-1.60 [[ 9.85561995e-01 1.69257635e-01 -4.40531359e-03 2.17354891e+02] [-1.69255849e-01 9.85571840e-01 7.77977001e-04 -1.80367243e+01] [ 4.47343157e-03 -2.11194740e-05 9.99989994e-01 -1.60362130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters 0.05188590604767192 Centerline is valid? [True, True] Translation: X:217.41, Y:-18.05, Z:-1.60 [[ 9.86254440e-01 1.65177323e-01 -4.31637615e-03 2.17414462e+02] [-1.65175569e-01 9.86263885e-01 7.62135865e-04 -1.80502100e+01] [ 4.38297347e-03 -3.86999953e-05 9.99990394e-01 -1.60407485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters 0.0522727097368055 Centerline is valid? [True, True] Translation: X:217.47, Y:-18.06, Z:-1.60 [[ 9.87377753e-01 1.58354141e-01 -3.02310936e-03 2.17473207e+02] [-1.58353248e-01 9.87382380e-01 5.33859397e-04 -1.80627025e+01] [ 3.06950376e-03 -4.84017052e-05 9.99995288e-01 -1.60294079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters 0.05175744190564578 Centerline is valid? [True, True] Translation: X:217.53, Y:-18.08, Z:-1.60 [[ 9.87950471e-01 1.54739275e-01 -3.10208705e-03 2.17532552e+02] [-1.54738318e-01 9.87955340e-01 5.47703455e-04 -1.80757703e+01] [ 3.14947470e-03 -6.10921541e-05 9.99995039e-01 -1.60358979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters 0.05230820287431725 Centerline is valid? [True, True] Translation: X:217.59, Y:-18.08, Z:-1.60 [[ 9.88283458e-01 1.52603671e-01 -2.81547421e-03 2.17594139e+02] [-1.52602873e-01 9.88287466e-01 4.97342403e-04 -1.80837589e+01] [ 2.85839415e-03 -6.18658167e-05 9.99995913e-01 -1.60237461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters 0.052053136773767106 Centerline is valid? [True, True] Translation: X:217.65, Y:-18.10, Z:-1.61 [[ 9.87806197e-01 1.55656567e-01 -3.15430448e-03 2.17653447e+02] [-1.55655581e-01 9.87811232e-01 5.57289117e-04 -1.80962522e+01] [ 3.20260310e-03 -5.95085482e-05 9.99994870e-01 -1.60627065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters 0.0519331155407149 Centerline is valid? [True, True] Translation: X:217.72, Y:-18.10, Z:-1.60 [[ 9.87046928e-01 1.60396856e-01 -3.34820029e-03 2.17715560e+02] [-1.60395772e-01 9.87052606e-01 5.91649091e-04 -1.80988634e+01] [ 3.39974847e-03 -4.69482482e-05 9.99994220e-01 -1.60459359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters 0.05199805048358263 Centerline is valid? [True, True] Translation: X:217.78, Y:-18.11, Z:-1.61 [[ 9.85569017e-01 1.69206619e-01 -4.77827201e-03 2.17776511e+02] [-1.69204515e-01 9.85580600e-01 8.44285075e-04 -1.81071446e+01] [ 4.85223082e-03 -2.35960156e-05 9.99988228e-01 -1.60755485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters 0.05149116860833458 Centerline is valid? [True, True] Translation: X:217.84, Y:-18.11, Z:-1.61 [[ 9.83960154e-01 1.78336436e-01 -4.30479108e-03 2.17837905e+02] [-1.78334810e-01 9.83969570e-01 7.61750358e-04 -1.81118045e+01] [ 4.37163128e-03 1.81621014e-05 9.99990444e-01 -1.60816081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters 0.051907540758987104 Centerline is valid? [True, True] Translation: X:217.90, Y:-18.12, Z:-1.61 [[ 9.82982582e-01 1.83663085e-01 -3.62139837e-03 2.17899761e+02] [-1.83661968e-01 9.82989252e-01 6.41433970e-04 -1.81192971e+01] [ 3.67760342e-03 3.45947326e-05 9.99993237e-01 -1.60782886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters 0.05135939456550863 Centerline is valid? [True, True] Translation: X:217.96, Y:-18.13, Z:-1.61 [[ 9.81947005e-01 1.89134269e-01 -2.88223582e-03 2.17960604e+02] [-1.89133587e-01 9.81951234e-01 5.09994048e-04 -1.81269544e+01] [ 2.92667237e-03 4.43404700e-05 9.99995716e-01 -1.60699211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters 0.0523463737632161 Centerline is valid? [True, True] Translation: X:218.02, Y:-18.13, Z:-1.61 [[ 9.81591438e-01 1.90983673e-01 -1.86683233e-03 2.18021769e+02] [-1.90983389e-01 9.81593213e-01 3.30808022e-04 -1.81307990e+01] [ 1.89564888e-03 3.18156424e-05 9.99998203e-01 -1.61018139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters 0.05171890640317599 Centerline is valid? [True, True] Translation: X:218.08, Y:-18.14, Z:-1.61 [[ 9.81443939e-01 1.91734897e-01 -2.35018601e-03 2.18082413e+02] [-1.91734448e-01 9.81446752e-01 4.16888000e-04 -1.81419764e+01] [ 2.38651441e-03 4.14594163e-05 9.99997151e-01 -1.60954535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters 0.050964081372771114 Centerline is valid? [True, True] Translation: X:218.14, Y:-18.15, Z:-1.61 [[ 9.81543956e-01 1.91213279e-01 -2.99059170e-03 2.18143068e+02] [-1.91212549e-01 9.81548511e-01 5.30730827e-04 -1.81549839e+01] [ 3.03689361e-03 5.09030260e-05 9.99995387e-01 -1.60870400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters 0.05114550561690982 Centerline is valid? [True, True] Translation: X:218.20, Y:-18.17, Z:-1.61 [[ 9.81778192e-01 1.90000164e-01 -3.39392278e-03 2.18204435e+02] [-1.89999216e-01 9.81784057e-01 6.02615572e-04 -1.81668433e+01] [ 3.44659633e-03 5.32078408e-05 9.99994059e-01 -1.60891343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters 0.05119333650725028 Centerline is valid? [True, True] Translation: X:218.26, Y:-18.18, Z:-1.61 [[ 9.82470409e-01 1.86370861e-01 -4.21875565e-03 2.18264607e+02] [-1.86369366e-01 9.82479465e-01 7.48192331e-04 -1.81793917e+01] [ 4.28428205e-03 5.11699904e-05 9.99990821e-01 -1.60874222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters 0.05136912330356739 Centerline is valid? [True, True] Translation: X:218.33, Y:-18.19, Z:-1.61 [[ 9.83356205e-01 1.81604745e-01 -5.50366135e-03 2.18325376e+02] [-1.81602118e-01 9.83371606e-01 9.77432266e-04 -1.81916246e+01] [ 5.58965064e-03 3.83124757e-05 9.99984377e-01 -1.61023853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters 0.05156837465434344 Centerline is valid? [True, True] Translation: X:218.39, Y:-18.20, Z:-1.61 [[ 9.84056379e-01 1.77735418e-01 -6.56998196e-03 2.18385024e+02] [-1.77731586e-01 9.84078310e-01 1.16730227e-03 -1.82041780e+01] [ 6.67284770e-03 1.90020681e-05 9.99977736e-01 -1.61181249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters 0.052600741868374025 Centerline is valid? [True, True] Translation: X:218.45, Y:-18.22, Z:-1.61 [[ 9.85397352e-01 1.70148287e-01 -6.45128409e-03 2.18445527e+02] [-1.70144430e-01 9.85418469e-01 1.14600524e-03 -1.82204306e+01] [ 6.55220532e-03 -3.16204743e-05 9.99978534e-01 -1.61194397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters 0.052523288766415085 Centerline is valid? [True, True] Translation: X:218.51, Y:-18.24, Z:-1.61 [[ 9.86381572e-01 1.64407077e-01 -4.65906497e-03 2.18506125e+02] [-1.64404996e-01 9.86392574e-01 8.28843620e-04 -1.82351224e+01] [ 4.73193485e-03 -5.15825144e-05 9.99988803e-01 -1.61060612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters 0.05308576770348951 Centerline is valid? [True, True] Translation: X:218.57, Y:-18.24, Z:-1.61 [[ 9.87482866e-01 1.57711976e-01 -2.12647917e-03 2.18566482e+02] [-1.57711527e-01 9.87485155e-01 3.78117162e-04 -1.82431955e+01] [ 2.15950022e-03 -3.80139410e-05 9.99997668e-01 -1.60574022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters 0.05270339184710662 Centerline is valid? [True, True] Translation: X:218.63, Y:-18.25, Z:-1.61 [[ 9.87763186e-01 1.55958192e-01 -9.64825014e-04 2.18626319e+02] [-1.55958099e-01 9.87763657e-01 1.71954842e-04 -1.82547796e+01] [ 9.79836850e-04 -1.93783883e-05 9.99999520e-01 -1.60668841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters 0.05318536716236505 Centerline is valid? [True, True] Translation: X:218.69, Y:-18.27, Z:-1.61 [[ 9.88114452e-01 1.53718535e-01 -6.63875805e-04 2.18686365e+02] [-1.53718490e-01 9.88114675e-01 1.18365540e-04 -1.82733559e+01] [ 6.74180403e-04 -1.49087147e-05 9.99999773e-01 -1.60957183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters 0.053982466547726926 Centerline is valid? [True, True] Translation: X:218.75, Y:-18.28, Z:-1.61 [[ 9.88350096e-01 1.52079341e-01 -5.99688566e-03 2.18746128e+02] [-1.52075667e-01 9.88368278e-01 1.06656628e-03 -1.82838417e+01] [ 6.08933426e-03 -1.42160493e-04 9.99981450e-01 -1.61427401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters 0.05353343677453055 Centerline is valid? [True, True] Translation: X:218.81, Y:-18.29, Z:-1.61 [[ 9.88786103e-01 1.49168472e-01 -7.12807816e-03 2.18807454e+02] [-1.49163205e-01 9.88811777e-01 1.26793834e-03 -1.82888327e+01] [ 7.23746405e-03 -1.90472825e-04 9.99973791e-01 -1.61058608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters 0.05325719567603658 Centerline is valid? [True, True] Translation: X:218.87, Y:-18.30, Z:-1.61 [[ 9.88905739e-01 1.48452801e-01 -5.21582642e-03 2.18868889e+02] [-1.48449968e-01 9.88919484e-01 9.28246409e-04 -1.82964313e+01] [ 5.29583315e-03 -1.43658934e-04 9.99985967e-01 -1.60919067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters 0.05348161711712308 Centerline is valid? [True, True] Translation: X:218.93, Y:-18.31, Z:-1.61 [[ 9.88875944e-01 1.48718666e-01 -2.66960760e-03 2.18929526e+02] [-1.48717924e-01 9.88879544e-01 4.75383157e-04 -1.83069481e+01] [ 2.71061869e-03 -7.30764686e-05 9.99996324e-01 -1.60960704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters 0.05470881841581791 Centerline is valid? [True, True] Translation: X:218.99, Y:-18.32, Z:-1.61 [[ 9.88540750e-01 1.50952972e-01 6.20596529e-04 2.18987782e+02] [-1.50952932e-01 9.88540945e-01 -1.10376153e-04 -1.83224597e+01] [-6.30146688e-04 1.54304596e-05 9.99999801e-01 -1.60979865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters 0.0540638835235881 Centerline is valid? [True, True] Translation: X:219.05, Y:-18.31, Z:-1.61 [[ 9.87913168e-01 1.55003770e-01 1.18452531e-03 2.19049870e+02] [-1.55003629e-01 9.87913878e-01 -2.10847522e-04 -1.83134472e+01] [-1.20289116e-03 2.46933214e-05 9.99999276e-01 -1.60512912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters 0.053017935806879794 Centerline is valid? [True, True] Translation: X:219.11, Y:-18.32, Z:-1.61 [[ 9.86291185e-01 1.65011773e-01 9.01736420e-04 2.19110959e+02] [-1.65011696e-01 9.86291597e-01 -1.60429540e-04 -1.83154342e+01] [-9.15847817e-04 9.43318525e-06 9.99999581e-01 -1.60771429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters 0.05274978275987417 Centerline is valid? [True, True] Translation: X:219.17, Y:-18.31, Z:-1.61 [[ 9.84245349e-01 1.76807548e-01 -4.28642768e-04 2.19174218e+02] [-1.76807532e-01 9.84245442e-01 7.65201088e-05 -1.83120827e+01] [ 4.35419024e-04 4.72708586e-07 9.99999905e-01 -1.61146707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters 0.054147177485202015 Centerline is valid? [True, True] Translation: X:219.24, Y:-18.31, Z:-1.61 [[ 9.82956634e-01 1.83834843e-01 -1.00313211e-03 2.19236956e+02] [-1.83834757e-01 9.82957146e-01 1.78807611e-04 -1.83119432e+01] [ 1.01890695e-03 8.65042051e-06 9.99999481e-01 -1.61366144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters 0.05395265737927612 Centerline is valid? [True, True] Translation: X:219.30, Y:-18.32, Z:-1.61 [[ 9.81693176e-01 1.90467766e-01 -7.33650230e-04 2.19297781e+02] [-1.90467721e-01 9.81693450e-01 1.30670898e-04 -1.83164512e+01] [ 7.45108219e-04 1.14579584e-05 9.99999722e-01 -1.61167161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters 0.053947833897306494 Centerline is valid? [True, True] Translation: X:219.36, Y:-18.32, Z:-1.61 [[ 9.81172470e-01 1.93127156e-01 1.57680508e-03 2.19359604e+02] [-1.93126955e-01 9.81173736e-01 -2.80112979e-04 -1.83187641e+01] [-1.60121716e-03 -2.96844207e-05 9.99998718e-01 -1.61169255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters 0.05360620012587714 Centerline is valid? [True, True] Translation: X:219.42, Y:-18.33, Z:-1.61 [[ 9.80766589e-01 1.95182695e-01 7.83166257e-04 2.19421246e+02] [-1.95182646e-01 9.80766902e-01 -1.39304656e-04 -1.83261819e+01] [-7.95293402e-04 -1.62351100e-05 9.99999684e-01 -1.61196004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters 0.053161537969658564 Centerline is valid? [True, True] Translation: X:219.48, Y:-18.34, Z:-1.61 [[ 9.79261099e-01 2.02562690e-01 -4.00714640e-03 2.19481030e+02] [-2.02561462e-01 9.79269291e-01 7.13994395e-04 -1.83381879e+01] [ 4.06870404e-03 1.12506499e-04 9.99991716e-01 -1.61139124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters 0.053161537969658564 Centerline is valid? [True, True] Translation: X:219.54, Y:-18.35, Z:-1.61 [[ 9.79235454e-01 2.02686630e-01 -4.00689887e-03 2.19542576e+02] [-2.02685398e-01 9.79243646e-01 7.15383124e-04 -1.83491083e+01] [ 4.06872885e-03 1.11611374e-04 9.99991716e-01 -1.61185188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters 0.0530279787632868 Centerline is valid? [True, True] Translation: X:219.60, Y:-18.36, Z:-1.61 [[ 9.79316833e-01 2.02297183e-01 -3.79351001e-03 2.19603859e+02] [-2.02296077e-01 9.79324174e-01 6.77091321e-04 -1.83605015e+01] [ 3.85204972e-03 1.04325264e-04 9.99992575e-01 -1.61207524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters 0.0530279787632868 Centerline is valid? [True, True] Translation: X:219.67, Y:-18.37, Z:-1.61 [[ 9.79290066e-01 2.02426721e-01 -3.79332906e-03 2.19665400e+02] [-2.02425611e-01 9.79297407e-01 6.78105225e-04 -1.83714369e+01] [ 3.85206393e-03 1.03805243e-04 9.99992575e-01 -1.61253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters 0.05334968953151268 Centerline is valid? [True, True] Translation: X:219.73, Y:-18.38, Z:-1.61 [[ 9.79377069e-01 2.02008420e-01 -3.62695554e-03 2.19726330e+02] [-2.02007402e-01 9.79383780e-01 6.48715220e-04 -1.83839772e+01] [ 3.68322737e-03 9.73350556e-05 9.99993212e-01 -1.61230335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters 0.052935246070406415 Centerline is valid? [True, True] Translation: X:219.79, Y:-18.40, Z:-1.61 [[ 9.79720329e-01 2.00333904e-01 -3.79524861e-03 2.19786355e+02] [-2.00332779e-01 9.79727675e-01 6.78294094e-04 -1.83984711e+01] [ 3.85419540e-03 9.57741882e-05 9.99992568e-01 -1.61156893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters 0.05364619822882866 Centerline is valid? [True, True] Translation: X:219.85, Y:-18.41, Z:-1.61 [[ 9.79947652e-01 1.99220655e-01 -3.70542278e-03 2.19847558e+02] [-1.99219570e-01 9.79954653e-01 6.63296891e-04 -1.84106127e+01] [ 3.76328874e-03 8.81965030e-05 9.99992915e-01 -1.61287915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters 0.05352530923594239 Centerline is valid? [True, True] Translation: X:219.91, Y:-18.42, Z:-1.61 [[ 9.80147087e-01 1.98239279e-01 -3.58835404e-03 2.19907383e+02] [-1.98238255e-01 9.80153652e-01 6.42240068e-04 -1.84230217e+01] [ 3.64445553e-03 8.18593128e-05 9.99993356e-01 -1.61406190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters 0.053174000434182495 Centerline is valid? [True, True] Translation: X:219.97, Y:-18.44, Z:-1.61 [[ 9.80132425e-01 1.98307795e-01 -3.80093479e-03 2.19968724e+02] [-1.98306644e-01 9.80139792e-01 6.81241364e-04 -1.84382663e+01] [ 3.86054290e-03 8.60438709e-05 9.99992544e-01 -1.61365924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters 0.05349628667260878 Centerline is valid? [True, True] Translation: X:220.03, Y:-18.45, Z:-1.61 [[ 9.80004193e-01 1.98943465e-01 -3.64406496e-03 2.20029467e+02] [-1.98942410e-01 9.80010965e-01 6.53497383e-04 -1.84523607e+01] [ 3.70123265e-03 8.45288879e-05 9.99993147e-01 -1.61265636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters 0.05326227523268309 Centerline is valid? [True, True] Translation: X:220.09, Y:-18.46, Z:-1.61 [[ 9.79778418e-01 2.00048224e-01 -3.86781087e-03 2.20089916e+02] [-2.00047043e-01 9.79786048e-01 6.93928608e-04 -1.84602235e+01] [ 3.92844632e-03 9.38478542e-05 9.99992279e-01 -1.61417727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters 0.052923782187441135 Centerline is valid? [True, True] Translation: X:220.15, Y:-18.48, Z:-1.61 [[ 9.79531911e-01 2.01272046e-01 -2.60752776e-03 2.20150326e+02] [-2.01271512e-01 9.79535379e-01 4.68429769e-04 -1.84750187e+01] [ 2.64844751e-03 6.59791474e-05 9.99996491e-01 -1.61361125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters 0.052608511054268295 Centerline is valid? [True, True] Translation: X:220.21, Y:-18.49, Z:-1.61 [[ 9.79347523e-01 2.02174836e-01 -1.94042418e-03 2.20210929e+02] [-2.02174541e-01 9.79349444e-01 3.49036021e-04 -1.84880733e+01] [ 1.97091964e-03 5.04768055e-05 9.99998056e-01 -1.61367505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters 0.052898280838369956 Centerline is valid? [True, True] Translation: X:220.27, Y:-18.50, Z:-1.61 [[ 9.78804580e-01 2.04769996e-01 -3.29294919e-03 2.20270160e+02] [-2.04769166e-01 9.78810114e-01 5.90968849e-04 -1.85012879e+01] [ 3.34418466e-03 9.58514438e-05 9.99994404e-01 -1.61393199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters 0.054112022010358404 Centerline is valid? [True, True] Translation: X:220.33, Y:-18.51, Z:-1.62 [[ 9.78272736e-01 2.07299546e-01 -3.05830250e-03 2.20330003e+02] [-2.07298842e-01 9.78277511e-01 5.48802139e-04 -1.85070086e+01] [ 3.10563500e-03 9.71043981e-05 9.99995173e-01 -1.61642803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters 0.05313015061316901 Centerline is valid? [True, True] Translation: X:220.39, Y:-18.52, Z:-1.62 [[ 9.78315763e-01 2.07106347e-01 -2.28660176e-03 2.20390150e+02] [-2.07105952e-01 9.78318433e-01 4.10695037e-04 -1.85242687e+01] [ 2.32208220e-03 7.17794074e-05 9.99997301e-01 -1.61581597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters 0.05305013963606996 Centerline is valid? [True, True] Translation: X:220.45, Y:-18.54, Z:-1.61 [[ 9.78895564e-01 2.04357742e-01 -1.17791832e-03 2.20448158e+02] [-2.04357636e-01 9.78896272e-01 2.11419432e-04 -1.85431910e+01] [ 1.19626505e-03 3.37590588e-05 9.99999284e-01 -1.61483426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters 0.05294076001446346 Centerline is valid? [True, True] Translation: X:220.51, Y:-18.56, Z:-1.61 [[ 9.80680324e-01 1.95615464e-01 8.31915441e-04 2.20506304e+02] [-1.95615408e-01 9.80680677e-01 -1.49266508e-04 -1.85642104e+01] [-8.45042235e-04 -1.63527507e-05 9.99999643e-01 -1.61400408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters 0.05242266709364302 Centerline is valid? [True, True] Translation: X:220.56, Y:-18.58, Z:-1.62 [[ 9.82205081e-01 1.87804667e-01 1.60808874e-03 2.20564028e+02] [-1.87804446e-01 9.82206397e-01 -2.88653477e-04 -1.85788557e+01] [-1.63368552e-03 -1.84893046e-05 9.99998665e-01 -1.61518608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters 0.05326799616953965 Centerline is valid? [True, True] Translation: X:220.62, Y:-18.60, Z:-1.62 [[ 9.84183721e-01 1.77144739e-01 1.46450892e-03 2.20622782e+02] [-1.77144544e-01 9.84184811e-01 -2.62630060e-04 -1.86006662e+01] [-1.48787097e-03 -9.53535839e-07 9.99998893e-01 -1.61533028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters 0.05239150602588281 Centerline is valid? [True, True] Translation: X:220.68, Y:-18.62, Z:-1.62 [[ 9.85088174e-01 1.72050252e-01 -1.90473410e-05 2.20682875e+02] [-1.72050251e-01 9.85088174e-01 4.30557827e-06 -1.86162875e+01] [ 1.95040861e-05 -9.64274427e-07 1.00000000e+00 -1.61677401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters 0.05285401861833943 Centerline is valid? [True, True] Translation: X:220.74, Y:-18.63, Z:-1.62 [[ 9.86194654e-01 1.65589392e-01 -5.07975136e-04 2.20741141e+02] [-1.65589367e-01 9.86194785e-01 9.15971000e-05 -1.86309615e+01] [ 5.16129938e-04 -6.21728913e-06 9.99999867e-01 -1.61613307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters 0.05349763444801963 Centerline is valid? [True, True] Translation: X:220.80, Y:-18.65, Z:-1.62 [[ 9.86929592e-01 1.61152038e-01 3.06873315e-05 2.20799332e+02] [-1.61152038e-01 9.86929592e-01 -5.24656476e-06 -1.86470206e+01] [-3.11317302e-05 2.32664007e-07 1.00000000e+00 -1.61751905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters 0.053131390795400385 Centerline is valid? [True, True] Translation: X:220.86, Y:-18.66, Z:-1.62 [[ 9.87143897e-01 1.59832153e-01 7.80293167e-04 2.20860043e+02] [-1.59832093e-01 9.87144206e-01 -1.39605378e-04 -1.86578315e+01] [-7.92575307e-04 1.30947074e-05 9.99999686e-01 -1.61685974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters 0.05283578830201775 Centerline is valid? [True, True] Translation: X:220.92, Y:-18.67, Z:-1.62 [[ 9.86945549e-01 1.61053013e-01 6.41000739e-04 2.20919915e+02] [-1.61052972e-01 9.86945757e-01 -1.15023382e-04 -1.86731610e+01] [-6.51157821e-04 1.02867405e-05 9.99999788e-01 -1.61880799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters 0.05309780915242328 Centerline is valid? [True, True] Translation: X:220.98, Y:-18.68, Z:-1.62 [[ 9.86369682e-01 1.64543850e-01 4.14035936e-04 2.20980327e+02] [-1.64543833e-01 9.86369769e-01 -7.43023178e-05 -1.86846829e+01] [-4.20618520e-04 5.16249355e-06 9.99999912e-01 -1.62060923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters 0.05310761063240207 Centerline is valid? [True, True] Translation: X:221.04, Y:-18.69, Z:-1.62 [[ 9.84943157e-01 1.72877330e-01 -6.37148276e-04 2.21040664e+02] [-1.72877292e-01 9.84943363e-01 1.14686704e-04 -1.86902729e+01] [ 6.47381697e-04 -2.81141570e-06 9.99999790e-01 -1.61980517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters 0.05250081778778667 Centerline is valid? [True, True] Translation: X:221.10, Y:-18.70, Z:-1.62 [[ 9.83940261e-01 1.78497978e-01 -1.87059131e-04 2.21101697e+02] [-1.78497975e-01 9.83940279e-01 3.41104462e-05 -1.86993941e+01] [ 1.90143659e-04 -1.72965257e-07 9.99999982e-01 -1.62399270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters 0.052497473103269535 Centerline is valid? [True, True] Translation: X:221.16, Y:-18.71, Z:-1.62 [[ 9.82806054e-01 1.84636097e-01 1.33099363e-03 2.21163096e+02] [-1.84635943e-01 9.82806955e-01 -2.38848968e-04 -1.87077665e+01] [-1.35220994e-03 -1.10070526e-05 9.99999086e-01 -1.62316519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters 0.05240813044192415 Centerline is valid? [True, True] Translation: X:221.22, Y:-18.72, Z:-1.62 [[ 9.82295238e-01 1.87315023e-01 3.02445001e-03 2.21223621e+02] [-1.87314235e-01 9.82299894e-01 -5.44201517e-04 -1.87171350e+01] [-3.07285404e-03 -3.19559818e-05 9.99995278e-01 -1.62345110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters 0.05153589816644668 Centerline is valid? [True, True] Translation: X:221.28, Y:-18.73, Z:-1.62 [[ 9.81747425e-01 1.90148895e-01 3.92311643e-03 2.21284703e+02] [-1.90147590e-01 9.81755262e-01 -7.06497621e-04 -1.87307569e+01] [-3.98587994e-03 -5.23689139e-05 9.99992055e-01 -1.62313297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters 0.05200645345504346 Centerline is valid? [True, True] Translation: X:221.35, Y:-18.74, Z:-1.63 [[ 9.81599922e-01 1.90939078e-01 1.96519361e-03 2.21345886e+02] [-1.90938751e-01 9.81601889e-01 -3.54003099e-04 -1.87369743e+01] [-1.99663078e-03 -2.77421997e-05 9.99998006e-01 -1.62719981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters 0.05143940915689706 Centerline is valid? [True, True] Translation: X:221.41, Y:-18.75, Z:-1.63 [[ 9.81897609e-01 1.89409528e-01 1.05635913e-03 2.21406020e+02] [-1.89409433e-01 9.81898177e-01 -1.89813604e-04 -1.87539529e+01] [-1.07318961e-03 -1.37068595e-05 9.99999424e-01 -1.62718895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters 0.05180717760002294 Centerline is valid? [True, True] Translation: X:221.47, Y:-18.77, Z:-1.63 [[ 9.82998990e-01 1.83610785e-01 -2.55835485e-04 2.21465200e+02] [-1.83610779e-01 9.82999023e-01 4.63636165e-05 -1.87696421e+01] [ 2.59998891e-04 1.39876447e-06 9.99999966e-01 -1.62873180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters 0.052328464792963075 Centerline is valid? [True, True] Translation: X:221.52, Y:-18.79, Z:-1.63 [[ 9.83983003e-01 1.78260588e-01 -7.82090858e-04 2.21524713e+02] [-1.78260531e-01 9.83983314e-01 1.42049615e-04 -1.87852182e+01] [ 7.94886203e-04 -3.58474478e-07 9.99999684e-01 -1.62985200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters 0.05227459347933994 Centerline is valid? [True, True] Translation: X:221.58, Y:-18.80, Z:-1.63 [[ 9.85458307e-01 1.69916456e-01 -5.68544024e-04 2.21583930e+02] [-1.69916425e-01 9.85458471e-01 1.03590696e-04 -1.88043386e+01] [ 5.77878289e-04 -5.47934379e-06 9.99999833e-01 -1.62981738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters 0.05241205368790827 Centerline is valid? [True, True] Translation: X:221.64, Y:-18.82, Z:-1.63 [[ 9.86437826e-01 1.64134190e-01 6.18234832e-04 2.21643472e+02] [-1.64134153e-01 9.86438020e-01 -1.11567562e-04 -1.88209010e+01] [-6.28162395e-04 8.58101327e-06 9.99999803e-01 -1.62745534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters 0.052324156912836796 Centerline is valid? [True, True] Translation: X:221.70, Y:-18.84, Z:-1.63 [[ 9.86748704e-01 1.62248078e-01 1.59911838e-03 2.21702798e+02] [-1.62247824e-01 9.86749999e-01 -2.88431586e-04 -1.88362208e+01] [-1.62472753e-03 2.51560161e-05 9.99998680e-01 -1.62753020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters 0.052299136019975094 Centerline is valid? [True, True] Translation: X:221.76, Y:-18.84, Z:-1.63 [[ 9.86543552e-01 1.63489573e-01 1.72641450e-03 2.21764365e+02] [-1.63489278e-01 9.86545062e-01 -3.11578996e-04 -1.88438173e+01] [-1.75412562e-03 2.51359896e-05 9.99998461e-01 -1.62664649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters 0.052135543253299714 Centerline is valid? [True, True] Translation: X:221.82, Y:-18.85, Z:-1.63 [[ 9.85700851e-01 1.68498976e-01 1.38842678e-03 2.21823872e+02] [-1.68498789e-01 9.85701829e-01 -2.51250703e-04 -1.88526558e+01] [-1.41091030e-03 1.37098004e-05 9.99999005e-01 -1.62728247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters 0.05222139301786782 Centerline is valid? [True, True] Translation: X:221.88, Y:-18.86, Z:-1.63 [[ 9.84410632e-01 1.75884248e-01 6.62116230e-04 2.21884887e+02] [-1.75884207e-01 9.84410855e-01 -1.19121508e-04 -1.88581732e+01] [-6.72746001e-04 8.08690803e-07 9.99999774e-01 -1.62728149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters 0.05237796213511683 Centerline is valid? [True, True] Translation: X:221.95, Y:-18.87, Z:-1.63 [[ 9.83938455e-01 1.78507942e-01 1.75540739e-04 2.21946967e+02] [-1.78507939e-01 9.83938471e-01 -3.13761519e-05 -1.88675061e+01] [-1.78322179e-04 -4.63213102e-07 9.99999984e-01 -1.62814238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters 0.05148322514839069 Centerline is valid? [True, True] Translation: X:222.01, Y:-18.87, Z:-1.63 [[ 9.83048204e-01 1.83345983e-01 -6.92245405e-04 2.22007942e+02] [-1.83345939e-01 9.83048448e-01 1.26286130e-04 -1.88745920e+01] [ 7.03664826e-04 2.77503028e-06 9.99999752e-01 -1.63006141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters 0.05205215016927867 Centerline is valid? [True, True] Translation: X:222.07, Y:-18.88, Z:-1.63 [[ 9.82093721e-01 1.88392937e-01 -1.56752241e-04 2.22069433e+02] [-1.88392935e-01 9.82093733e-01 2.92730755e-05 -1.88832394e+01] [ 1.59460235e-04 7.82111101e-07 9.99999987e-01 -1.62943117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters 0.05260684309517888 Centerline is valid? [True, True] Translation: X:222.13, Y:-18.89, Z:-1.63 [[ 9.81505367e-01 1.91434587e-01 1.12565496e-04 2.22130991e+02] [-1.91434586e-01 9.81505374e-01 -1.96491587e-05 -1.88865301e+01] [-1.14245168e-04 -2.26317446e-06 9.99999993e-01 -1.63161908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters 0.052134728501676844 Centerline is valid? [True, True] Translation: X:222.19, Y:-18.90, Z:-1.63 [[ 9.81251687e-01 1.92730633e-01 1.75474671e-04 2.22191169e+02] [-1.92730630e-01 9.81251702e-01 -3.11020407e-05 -1.89000309e+01] [-1.78179136e-04 -3.30041401e-06 9.99999984e-01 -1.62930176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters 0.05192762069763584 Centerline is valid? [True, True] Translation: X:222.25, Y:-18.91, Z:-1.63 [[ 9.80803521e-01 1.94993842e-01 -1.36180465e-03 2.22251792e+02] [-1.94993686e-01 9.80804466e-01 2.48227320e-04 -1.89075707e+01] [ 1.38406688e-03 2.20810780e-05 9.99999042e-01 -1.62973015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters 0.052051819310636085 Centerline is valid? [True, True] Translation: X:222.31, Y:-18.92, Z:-1.63 [[ 9.80364273e-01 1.97176400e-01 -2.71277912e-03 2.22312380e+02] [-1.97175788e-01 9.80368025e-01 4.94031753e-04 -1.89194359e+01] [ 2.75693331e-03 5.05632786e-05 9.99996198e-01 -1.62896766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters 0.05223995109308114 Centerline is valid? [True, True] Translation: X:222.37, Y:-18.93, Z:-1.63 [[ 9.80003581e-01 1.98943747e-01 -3.79031165e-03 2.22372616e+02] [-1.98942568e-01 9.80010908e-01 6.89360316e-04 -1.89270692e+01] [ 3.85169068e-03 7.84787560e-05 9.99992579e-01 -1.62992221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters 0.05236466079281432 Centerline is valid? [True, True] Translation: X:222.43, Y:-18.94, Z:-1.63 [[ 9.80081806e-01 1.98552234e-01 -4.08217396e-03 2.22433202e+02] [-1.98550858e-01 9.80090304e-01 7.43613183e-04 -1.89401768e+01] [ 4.14854517e-03 8.17173898e-05 9.99991391e-01 -1.62907115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters 0.05286244541647358 Centerline is valid? [True, True] Translation: X:222.49, Y:-18.95, Z:-1.63 [[ 9.80526621e-01 1.96347124e-01 -3.91815375e-03 2.22493767e+02] [-1.96345841e-01 9.80534447e-01 7.13305095e-04 -1.89534442e+01] [ 3.98194012e-03 6.98985576e-05 9.99992070e-01 -1.62811137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters 0.053087095624397125 Centerline is valid? [True, True] Translation: X:222.56, Y:-18.97, Z:-1.63 [[ 9.80856024e-01 1.94698103e-01 -3.75614471e-03 2.22555129e+02] [-1.94696911e-01 9.80863214e-01 6.84037254e-04 -1.89661806e+01] [ 3.81744493e-03 6.03677108e-05 9.99992712e-01 -1.62769471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters 0.05211055599612429 Centerline is valid? [True, True] Translation: X:222.62, Y:-18.98, Z:-1.63 [[ 9.81555385e-01 1.91156470e-01 -2.86886565e-03 2.22615550e+02] [-1.91155759e-01 9.81559577e-01 5.22586424e-04 -1.89795690e+01] [ 2.91585833e-03 3.54526736e-05 9.99995748e-01 -1.62712264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters 0.052626460602822014 Centerline is valid? [True, True] Translation: X:222.67, Y:-18.99, Z:-1.63 [[ 9.82360489e-01 1.86993103e-01 -1.20384589e-03 2.22674346e+02] [-1.86992974e-01 9.82361227e-01 2.19251435e-04 -1.89937114e+01] [ 1.22361003e-03 9.72677668e-06 9.99999251e-01 -1.62632537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters 0.052076523518323224 Centerline is valid? [True, True] Translation: X:222.74, Y:-19.00, Z:-1.63 [[ 9.82759201e-01 1.84887907e-01 -9.03077656e-04 2.22735924e+02] [-1.84887834e-01 9.82759615e-01 1.64754228e-04 -1.90044851e+01] [ 9.17969315e-04 5.05433801e-06 9.99999579e-01 -1.62881178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters 0.05246691926818085 Centerline is valid? [True, True] Translation: X:222.80, Y:-19.02, Z:-1.63 [[ 9.82858852e-01 1.84349691e-01 -1.91518264e-03 2.22797893e+02] [-1.84349359e-01 9.82860718e-01 3.50021338e-04 -1.90164001e+01] [ 1.94688411e-03 9.04111994e-06 9.99998105e-01 -1.62933969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters 0.05291391756005973 Centerline is valid? [True, True] Translation: X:222.86, Y:-19.03, Z:-1.63 [[ 9.82973554e-01 1.83703948e-01 -3.98137733e-03 2.22858940e+02] [-1.83702511e-01 9.82981617e-01 7.26930703e-04 -1.90267911e+01] [ 4.04716076e-03 1.68353547e-05 9.99991810e-01 -1.63161899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters 0.05299708804615154 Centerline is valid? [True, True] Translation: X:222.92, Y:-19.04, Z:-1.63 [[ 9.83326415e-01 1.81792632e-01 -4.53873790e-03 2.22920550e+02] [-1.81790741e-01 9.83336890e-01 8.29329836e-04 -1.90386563e+01] [ 4.61387447e-03 9.59859197e-06 9.99989356e-01 -1.63113226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters 0.052218534875018666 Centerline is valid? [True, True] Translation: X:222.98, Y:-19.05, Z:-1.63 [[ 9.84118408e-01 1.77494245e-01 -2.59849961e-03 2.22980797e+02] [-1.77493609e-01 9.84121838e-01 4.75406456e-04 -1.90516481e+01] [ 2.64162213e-03 -6.63917118e-06 9.99996511e-01 -1.63235741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters 0.05267684522632102 Centerline is valid? [True, True] Translation: X:223.04, Y:-19.07, Z:-1.63 [[ 9.84893693e-01 1.73156631e-01 -1.09259184e-03 2.23041941e+02] [-1.73156516e-01 9.84894299e-01 1.99877281e-04 -1.90653318e+01] [ 1.11069755e-03 -7.66847725e-06 9.99999383e-01 -1.63226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters 0.05316775117413059 Centerline is valid? [True, True] Translation: X:223.10, Y:-19.08, Z:-1.63 [[ 9.85449815e-01 1.69966636e-01 -7.38028688e-05 2.23101834e+02] [-1.69966635e-01 9.85449817e-01 1.42670128e-05 -1.90782641e+01] [ 7.51539397e-05 -1.51539986e-06 9.99999997e-01 -1.63216759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters 0.0534763103629083 Centerline is valid? [True, True] Translation: X:223.16, Y:-19.09, Z:-1.63 [[ 9.85869681e-01 1.67511998e-01 8.38243187e-04 2.23161719e+02] [-1.67511929e-01 9.85870037e-01 -1.52486008e-04 -1.90922487e+01] [-8.51942078e-04 9.91559943e-06 9.99999637e-01 -1.63396074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters 0.05396531113087228 Centerline is valid? [True, True] Translation: X:223.22, Y:-19.10, Z:-1.63 [[ 9.86113598e-01 1.66072185e-01 1.77629164e-05 2.23223420e+02] [-1.66072185e-01 9.86113599e-01 -2.39902794e-06 -1.90986652e+01] [-1.79146653e-05 -5.84212258e-07 1.00000000e+00 -1.63257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters 0.05341450777321063 Centerline is valid? [True, True] Translation: X:223.28, Y:-19.11, Z:-1.63 [[ 9.86214385e-01 1.65472612e-01 -2.75698962e-05 2.23284575e+02] [-1.65472611e-01 9.86214386e-01 5.92207029e-06 -1.91078587e+01] [ 2.81697686e-05 -1.27836819e-06 1.00000000e+00 -1.63236094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters 0.05405963017363462 Centerline is valid? [True, True] Translation: X:223.35, Y:-19.11, Z:-1.63 [[ 9.86188618e-01 1.65625321e-01 -5.12713259e-04 2.23347731e+02] [-1.65625294e-01 9.86188751e-01 9.50022652e-05 -1.91148640e+01] [ 5.21366829e-04 -8.77186826e-06 9.99999864e-01 -1.63138757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters 0.053107009043149724 Centerline is valid? [True, True] Translation: X:223.41, Y:-19.12, Z:-1.63 [[ 9.85680207e-01 1.68624744e-01 -4.73665967e-04 2.23408556e+02] [-1.68624721e-01 9.85680321e-01 8.77666485e-05 -1.91248105e+01] [ 4.81682851e-04 -6.63805666e-06 9.99999884e-01 -1.63368010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters 0.053869740801429616 Centerline is valid? [True, True] Translation: X:223.47, Y:-19.13, Z:-1.63 [[ 9.85116045e-01 1.71890490e-01 -1.94939363e-04 2.23470837e+02] [-1.71890486e-01 9.85116064e-01 3.65356561e-05 -1.91311317e+01] [ 1.98318030e-04 -2.48363907e-06 9.99999980e-01 -1.63240957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters 0.05375721458656608 Centerline is valid? [True, True] Translation: X:223.53, Y:-19.14, Z:-1.63 [[ 9.84186218e-01 1.77136710e-01 2.71425586e-04 2.23533270e+02] [-1.77136703e-01 9.84186256e-01 -4.94400896e-05 -1.91379480e+01] [-2.75890986e-04 5.78821304e-07 9.99999962e-01 -1.63313323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters 0.05321566129718672 Centerline is valid? [True, True] Translation: X:223.59, Y:-19.15, Z:-1.64 [[ 9.83435664e-01 1.81257260e-01 3.18450065e-04 2.23594431e+02] [-1.81257250e-01 9.83435715e-01 -5.76648406e-05 -1.91451503e+01] [-3.23627339e-04 -1.01172250e-06 9.99999948e-01 -1.63573525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters 0.052837237920572905 Centerline is valid? [True, True] Translation: X:223.66, Y:-19.16, Z:-1.63 [[ 9.83055948e-01 1.83300822e-01 1.34588033e-03 2.23656596e+02] [-1.83300657e-01 9.83056869e-01 -2.46438703e-04 -1.91550574e+01] [-1.36824932e-03 -4.43771583e-06 9.99999064e-01 -1.63178880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters 0.05348967628545732 Centerline is valid? [True, True] Translation: X:223.72, Y:-19.16, Z:-1.63 [[ 9.82741924e-01 1.84968704e-01 2.21134772e-03 2.23719084e+02] [-1.84968259e-01 9.82744412e-01 -4.06141483e-04 -1.91628557e+01] [-2.24831307e-03 -9.89687377e-06 9.99997472e-01 -1.63424266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters 0.052959789653370046 Centerline is valid? [True, True] Translation: X:223.78, Y:-19.17, Z:-1.63 [[ 9.82261526e-01 1.87492629e-01 2.96793791e-03 2.23780390e+02] [-1.87491838e-01 9.82266010e-01 -5.45148917e-04 -1.91709974e+01] [-3.01751593e-03 -2.09853269e-05 9.99995447e-01 -1.63476797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters 0.05332921133505504 Centerline is valid? [True, True] Translation: X:223.84, Y:-19.18, Z:-1.64 [[ 9.81429603e-01 1.91793335e-01 3.35417549e-03 2.23841949e+02] [-1.91792347e-01 9.81435334e-01 -6.16617323e-04 -1.91762198e+01] [-3.41016944e-03 -3.81386971e-05 9.99994185e-01 -1.63643862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters 0.05291876008209541 Centerline is valid? [True, True] Translation: X:223.90, Y:-19.19, Z:-1.64 [[ 9.81083680e-01 1.93552063e-01 3.52301357e-03 2.23902692e+02] [-1.93550984e-01 9.81090004e-01 -6.48011672e-04 -1.91904208e+01] [-3.58181740e-03 -4.61290660e-05 9.99993584e-01 -1.63581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters 0.05275624972366411 Centerline is valid? [True, True] Translation: X:223.96, Y:-19.20, Z:-1.64 [[ 9.80108832e-01 1.98436524e-01 3.10227934e-03 2.23963005e+02] [-1.98435709e-01 9.80113740e-01 -5.71345499e-04 -1.91983839e+01] [-3.15396242e-03 -5.56222316e-05 9.99995025e-01 -1.63763994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters 0.05405992793385203 Centerline is valid? [True, True] Translation: X:224.02, Y:-19.20, Z:-1.64 [[ 9.79584027e-01 2.01023642e-01 2.15176209e-03 2.24024734e+02] [-2.01023258e-01 9.79586389e-01 -3.95775870e-04 -1.92009293e+01] [-2.18739716e-03 -4.48585047e-05 9.99997607e-01 -1.64104222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters 0.05365447899360895 Centerline is valid? [True, True] Translation: X:224.09, Y:-19.21, Z:-1.64 [[ 9.79360370e-01 2.02115236e-01 1.64234221e-03 2.24085439e+02] [-2.02115013e-01 9.79361746e-01 -3.02118041e-04 -1.92115512e+01] [-1.66950979e-03 -3.60595803e-05 9.99998606e-01 -1.64298102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters 0.05271163511465166 Centerline is valid? [True, True] Translation: X:224.15, Y:-19.23, Z:-1.64 [[ 9.79402625e-01 2.01907835e-01 1.92992593e-03 2.24145823e+02] [-2.01907527e-01 9.79404525e-01 -3.55286815e-04 -1.92280481e+01] [-1.96191338e-03 -4.16977328e-05 9.99998075e-01 -1.64261334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters 0.052916453624919424 Centerline is valid? [True, True] Translation: X:224.20, Y:-19.24, Z:-1.64 [[ 9.80029474e-01 1.98840996e-01 2.11840837e-03 2.24204813e+02] [-1.98840616e-01 9.80031763e-01 -3.90826716e-04 -1.92400064e+01] [-2.15381987e-03 -3.82039230e-05 9.99997680e-01 -1.64468526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters 0.05293299890586393 Centerline is valid? [True, True] Translation: X:224.26, Y:-19.26, Z:-1.64 [[ 9.80790812e-01 1.95046953e-01 2.46372587e-03 2.24263837e+02] [-1.95046427e-01 9.80793905e-01 -4.54490159e-04 -1.92580635e+01] [-2.50505424e-03 -3.47811565e-05 9.99996862e-01 -1.64416635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters 0.05228761965410321 Centerline is valid? [True, True] Translation: X:224.32, Y:-19.28, Z:-1.64 [[ 9.82120469e-01 1.88217046e-01 3.70502468e-03 2.24321543e+02] [-1.88215806e-01 9.82127458e-01 -6.83696579e-04 -1.92791810e+01] [-3.76748982e-03 -2.58718015e-05 9.99992903e-01 -1.64373626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters 0.051868375420170365 Centerline is valid? [True, True] Translation: X:224.38, Y:-19.30, Z:-1.64 [[ 9.82892080e-01 1.84124190e-01 4.63056084e-03 2.24380426e+02] [-1.84122208e-01 9.82902987e-01 -8.54404020e-04 -1.92954235e+01] [-4.70870853e-03 -1.28021429e-05 9.99988914e-01 -1.64457773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters 0.05209539889812651 Centerline is valid? [True, True] Translation: X:224.44, Y:-19.31, Z:-1.64 [[ 9.83666747e-01 1.79912177e-01 5.59821472e-03 2.24440047e+02] [-1.79909210e-01 9.83682677e-01 -1.03332587e-03 -1.93132530e+01] [-5.69277474e-03 9.27790586e-06 9.99983796e-01 -1.64489938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters 0.0519360590252543 Centerline is valid? [True, True] Translation: X:224.50, Y:-19.33, Z:-1.65 [[ 9.84211028e-01 1.76904131e-01 5.79494001e-03 2.24500265e+02] [-1.76900895e-01 9.84228087e-01 -1.07042879e-03 -1.93280416e+01] [-5.89290600e-03 2.83977477e-05 9.99982636e-01 -1.64603846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters 0.05249727208122299 Centerline is valid? [True, True] Translation: X:224.56, Y:-19.34, Z:-1.65 [[ 9.84565885e-01 1.74949265e-01 4.77206984e-03 2.24559876e+02] [-1.74947048e-01 9.84577449e-01 -8.81465803e-04 -1.93419383e+01] [-4.85268414e-03 3.30016297e-05 9.99988225e-01 -1.64712632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters 0.05281286339111143 Centerline is valid? [True, True] Translation: X:224.62, Y:-19.36, Z:-1.65 [[ 9.84978451e-01 1.72619239e-01 4.47761392e-03 2.24620344e+02] [-1.72617259e-01 9.84988628e-01 -8.27750511e-04 -1.93583234e+01] [-4.55328445e-03 4.24029726e-05 9.99989633e-01 -1.64913701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters 0.05271689414717522 Centerline is valid? [True, True] Translation: X:224.68, Y:-19.37, Z:-1.65 [[ 9.85013654e-01 1.72435249e-01 3.76640642e-03 2.24680133e+02] [-1.72433848e-01 9.85020854e-01 -6.96062506e-04 -1.93743402e+01] [-3.83001458e-03 3.61751222e-05 9.99992665e-01 -1.65114753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters 0.05253338389259549 Centerline is valid? [True, True] Translation: X:224.74, Y:-19.39, Z:-1.65 [[ 9.84586782e-01 1.74842316e-01 4.36263830e-03 2.24741243e+02] [-1.74840457e-01 9.84596447e-01 -8.07022634e-04 -1.93850278e+01] [-4.43653988e-03 3.18181454e-05 9.99990158e-01 -1.65055131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters 0.05193789032190236 Centerline is valid? [True, True] Translation: X:224.80, Y:-19.40, Z:-1.65 [[ 9.83972784e-01 1.78223790e-01 5.81725593e-03 2.24802734e+02] [-1.78220537e-01 9.83989980e-01 -1.07706569e-03 -1.93951591e+01] [-5.91608027e-03 2.30488494e-05 9.99982500e-01 -1.65076973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters 0.05152598100375958 Centerline is valid? [True, True] Translation: X:224.86, Y:-19.41, Z:-1.65 [[ 9.82806460e-01 1.84552362e-01 5.64695139e-03 2.24863230e+02] [-1.84549397e-01 9.82822683e-01 -1.04628101e-03 -1.94059619e+01] [-5.74304555e-03 -1.38497379e-05 9.99983508e-01 -1.65120761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters 0.0512801919767069 Centerline is valid? [True, True] Translation: X:224.92, Y:-19.42, Z:-1.65 [[ 9.81651194e-01 1.90554467e-01 7.06603843e-03 2.24923495e+02] [-1.90549975e-01 9.81676623e-01 -1.30981386e-03 -1.94189887e+01] [-7.18615563e-03 -6.06531113e-05 9.99974177e-01 -1.65199897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters 0.05108837251254737 Centerline is valid? [True, True] Translation: X:224.98, Y:-19.43, Z:-1.65 [[ 9.81017842e-01 1.93781161e-01 7.27009229e-03 2.24983731e+02] [-1.93776488e-01 9.81044777e-01 -1.34849611e-03 -1.94293423e+01] [-7.39359921e-03 -8.58742098e-05 9.99972663e-01 -1.65249008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters 0.05037663935654493 Centerline is valid? [True, True] Translation: X:225.04, Y:-19.44, Z:-1.65 [[ 9.80242261e-01 1.97649247e-01 7.73848101e-03 2.25044307e+02] [-1.97644066e-01 9.80272799e-01 -1.43630058e-03 -1.94391492e+01] [-7.86970617e-03 -1.21542325e-04 9.99969026e-01 -1.65331022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters 0.051095146281185284 Centerline is valid? [True, True] Translation: X:225.11, Y:-19.45, Z:-1.65 [[ 9.80005717e-01 1.98817839e-01 7.76279985e-03 2.25105081e+02] [-1.98812655e-01 9.80036453e-01 -1.44165801e-03 -1.94483100e+01] [-7.89445417e-03 -1.30509760e-04 9.99968830e-01 -1.65398994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters 0.05120935582578376 Centerline is valid? [True, True] Translation: X:225.17, Y:-19.46, Z:-1.66 [[ 9.80075772e-01 1.98481830e-01 7.51300170e-03 2.25166270e+02] [-1.98476958e-01 9.80104560e-01 -1.39601926e-03 -1.94601589e+01] [-7.64061168e-03 -1.22953075e-04 9.99970803e-01 -1.65531858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters 0.05069472079440553 Centerline is valid? [True, True] Translation: X:225.23, Y:-19.47, Z:-1.66 [[ 9.80251500e-01 1.97634858e-01 6.88909767e-03 2.25226733e+02] [-1.97630740e-01 9.80275702e-01 -1.28031468e-03 -1.94687459e+01] [-7.00624987e-03 -1.06467091e-04 9.99975450e-01 -1.65674710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters 0.050869432501526986 Centerline is valid? [True, True] Translation: X:225.29, Y:-19.48, Z:-1.66 [[ 9.80457431e-01 1.96630891e-01 6.28639186e-03 2.25286826e+02] [-1.96627437e-01 9.80477580e-01 -1.16886853e-03 -1.94837933e+01] [-6.39350194e-03 -9.00512866e-05 9.99979557e-01 -1.65890945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters 0.0504361199028068 Centerline is valid? [True, True] Translation: X:225.35, Y:-19.49, Z:-1.66 [[ 9.80585688e-01 1.96025274e-01 5.07934175e-03 2.25346801e+02] [-1.96023009e-01 9.80598841e-01 -9.44885322e-04 -1.94933693e+01] [-5.16601804e-03 -6.91268321e-05 9.99986654e-01 -1.66066819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters 0.051339964076694326 Centerline is valid? [True, True] Translation: X:225.41, Y:-19.51, Z:-1.66 [[ 9.80842623e-01 1.94760140e-01 4.02944146e-03 2.25407480e+02] [-1.94758703e-01 9.80850899e-01 -7.49824996e-04 -1.95057632e+01] [-4.09831730e-03 -4.93084760e-05 9.99991601e-01 -1.66073943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters 0.050926929403886184 Centerline is valid? [True, True] Translation: X:225.47, Y:-19.52, Z:-1.66 [[ 9.81112512e-01 1.93402564e-01 3.69957246e-03 2.25468276e+02] [-1.93401341e-01 9.81119486e-01 -6.88802083e-04 -1.95163872e+01] [-3.76293872e-03 -3.97099352e-05 9.99992919e-01 -1.66112733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters 0.050960345329289065 Centerline is valid? [True, True] Translation: X:225.53, Y:-19.53, Z:-1.66 [[ 9.81663339e-01 1.90583967e-01 3.85227605e-03 2.25529208e+02] [-1.90582618e-01 9.81670897e-01 -7.17718269e-04 -1.95280104e+01] [-3.91845288e-03 -2.96191425e-05 9.99992322e-01 -1.66035164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters 0.0507709091875845 Centerline is valid? [True, True] Translation: X:225.59, Y:-19.54, Z:-1.66 [[ 9.82235655e-01 1.87584449e-01 5.01912803e-03 2.25589974e+02] [-1.87582115e-01 9.82248479e-01 -9.35960474e-04 -1.95414377e+01] [-5.10560251e-03 -2.21649042e-05 9.99986966e-01 -1.65906204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters 0.05105643045792514 Centerline is valid? [True, True] Translation: X:225.65, Y:-19.55, Z:-1.66 [[ 9.82616413e-01 1.85557274e-01 5.78640990e-03 2.25650534e+02] [-1.85554131e-01 9.82633450e-01 -1.07995092e-03 -1.95526425e+01] [-5.88631268e-03 -1.25147598e-05 9.99982675e-01 -1.65929182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters 0.05162821198975649 Centerline is valid? [True, True] Translation: X:225.71, Y:-19.56, Z:-1.66 [[ 9.82998315e-01 1.83501851e-01 6.43291456e-03 2.25712586e+02] [-1.83497921e-01 9.83019364e-01 -1.20105439e-03 -1.95643285e+01] [-6.54407528e-03 2.07996421e-07 9.99978587e-01 -1.65994300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters 0.05170176538151656 Centerline is valid? [True, True] Translation: X:225.77, Y:-19.58, Z:-1.66 [[ 9.83044639e-01 1.83249259e-01 6.55344443e-03 2.25774124e+02] [-1.83245168e-01 9.83066483e-01 -1.22444866e-03 -1.95758651e+01] [-6.66685087e-03 2.80066350e-06 9.99977776e-01 -1.66044210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters 0.05141345120189713 Centerline is valid? [True, True] Translation: X:225.84, Y:-19.59, Z:-1.66 [[ 9.83075237e-01 1.83108568e-01 5.85928256e-03 2.25835141e+02] [-1.83105291e-01 9.83092698e-01 -1.09546799e-03 -1.95879425e+01] [-5.96080747e-03 4.06181736e-06 9.99982234e-01 -1.66043051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters 0.051607650004644255 Centerline is valid? [True, True] Translation: X:225.90, Y:-19.60, Z:-1.66 [[ 9.82887577e-01 1.84122774e-01 5.55119193e-03 2.25896230e+02] [-1.84119845e-01 9.82903253e-01 -1.03853946e-03 -1.95992977e+01] [-5.64750337e-03 -1.31706575e-06 9.99984053e-01 -1.66149149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters 0.051339023655134236 Centerline is valid? [True, True] Translation: X:225.96, Y:-19.61, Z:-1.66 [[ 9.82511155e-01 1.86141894e-01 4.79853968e-03 2.25958035e+02] [-1.86139727e-01 9.82522873e-01 -8.98198757e-04 -1.96088118e+01] [-4.88186741e-03 -1.07085707e-05 9.99988084e-01 -1.66333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters 0.05198360409908244 Centerline is valid? [True, True] Translation: X:226.02, Y:-19.62, Z:-1.67 [[ 9.82303723e-01 1.87261149e-01 3.55793438e-03 2.26018713e+02] [-1.87259964e-01 9.82310166e-01 -6.66305905e-04 -1.96190799e+01] [-3.61976832e-03 -1.17438916e-05 9.99993449e-01 -1.66548291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters 0.05192169841266136 Centerline is valid? [True, True] Translation: X:226.08, Y:-19.63, Z:-1.67 [[ 9.82535616e-01 1.86052755e-01 2.85240292e-03 2.26080272e+02] [-1.86051988e-01 9.82539756e-01 -5.34209927e-04 -1.96325717e+01] [-2.90199050e-03 -5.81495433e-06 9.99995789e-01 -1.66546173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters 0.05176712761158694 Centerline is valid? [True, True] Translation: X:226.14, Y:-19.65, Z:-1.67 [[ 9.83072068e-01 1.83193556e-01 3.07099978e-03 2.26140442e+02] [-1.83192651e-01 9.83076864e-01 -5.75687912e-04 -1.96453768e+01] [-3.12449115e-03 3.35811316e-06 9.99995119e-01 -1.66668068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters 0.05187235040325579 Centerline is valid? [True, True] Translation: X:226.20, Y:-19.66, Z:-1.67 [[ 9.84106531e-01 1.77491843e-01 5.56604997e-03 2.26199780e+02] [-1.77488772e-01 9.84122271e-01 -1.04499209e-03 -1.96606975e+01] [-5.66315131e-03 4.04721681e-05 9.99983963e-01 -1.66624639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters 0.051923839413556626 Centerline is valid? [True, True] Translation: X:226.26, Y:-19.67, Z:-1.67 [[ 9.84762136e-01 1.73754497e-01 7.27397063e-03 2.26260817e+02] [-1.73749145e-01 9.84788997e-01 -1.36622625e-03 -1.96745649e+01] [-7.40071419e-03 8.15617012e-05 9.99972611e-01 -1.66527657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters 0.051975131299966164 Centerline is valid? [True, True] Translation: X:226.32, Y:-19.69, Z:-1.67 [[ 9.85821411e-01 1.67611313e-01 7.91158990e-03 2.26320970e+02] [-1.67604781e-01 9.85853147e-01 -1.48632512e-03 -1.96864132e+01] [-8.04879070e-03 1.39230834e-04 9.99967598e-01 -1.66592855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters 0.051942733105518224 Centerline is valid? [True, True] Translation: X:226.38, Y:-19.70, Z:-1.67 [[ 9.86691352e-01 1.62485690e-01 6.21093221e-03 2.26379968e+02] [-1.62481561e-01 9.86710890e-01 -1.16697587e-03 -1.96975841e+01] [-6.31801133e-03 1.42283034e-04 9.99980031e-01 -1.66795506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters 0.05279410294553211 Centerline is valid? [True, True] Translation: X:226.44, Y:-19.70, Z:-1.67 [[ 9.87327050e-01 1.58593694e-01 5.77381759e-03 2.26441008e+02] [-1.58590059e-01 9.87343920e-01 -1.08483594e-03 -1.97039840e+01] [-5.87279183e-03 1.55417795e-04 9.99982743e-01 -1.66880628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters 0.0526144782724532 Centerline is valid? [True, True] Translation: X:226.50, Y:-19.71, Z:-1.67 [[ 9.88379877e-01 1.51888001e-01 5.93750221e-03 2.26502522e+02] [-1.51884037e-01 9.88397691e-01 -1.11560896e-03 -1.97090824e+01] [-6.03806108e-03 2.00833641e-04 9.99981751e-01 -1.66897118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters 0.05352979608604738 Centerline is valid? [True, True] Translation: X:226.56, Y:-19.72, Z:-1.67 [[ 9.89108846e-01 1.47072635e-01 5.77334744e-03 2.26561313e+02] [-1.47068804e-01 9.89125669e-01 -1.08490509e-03 -1.97219633e+01] [-5.87012600e-03 2.24009913e-04 9.99982746e-01 -1.66928070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters 0.05378751459296385 Centerline is valid? [True, True] Translation: X:226.62, Y:-19.74, Z:-1.67 [[ 9.89219538e-01 1.46354480e-01 5.00710566e-03 2.26620380e+02] [-1.46351590e-01 9.89232191e-01 -9.40758079e-04 -1.97399866e+01] [-5.09087426e-03 1.97818397e-04 9.99987022e-01 -1.67000720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters 0.05291529553849158 Centerline is valid? [True, True] Translation: X:226.68, Y:-19.74, Z:-1.67 [[ 9.89098926e-01 1.47165136e-01 5.07310548e-03 2.26682759e+02] [-1.47162177e-01 9.89111917e-01 -9.53863771e-04 -1.97434999e+01] [-5.15824458e-03 1.96896386e-04 9.99986677e-01 -1.67025307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters 0.05347886295684822 Centerline is valid? [True, True] Translation: X:226.74, Y:-19.75, Z:-1.67 [[ 9.88495272e-01 1.51180459e-01 4.64386067e-03 2.26741556e+02] [-1.51178022e-01 9.88506167e-01 -8.73437470e-04 -1.97522326e+01] [-4.72253159e-03 1.61339139e-04 9.99988836e-01 -1.67120171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters 0.05347004148536967 Centerline is valid? [True, True] Translation: X:226.80, Y:-19.76, Z:-1.67 [[ 9.87576725e-01 1.57092711e-01 3.75394069e-03 2.26802471e+02] [-1.57091162e-01 9.87583854e-01 -7.06000724e-04 -1.97569513e+01] [-3.81823878e-03 1.07518979e-04 9.99992705e-01 -1.67150574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters 0.053068202607870256 Centerline is valid? [True, True] Translation: X:226.86, Y:-19.76, Z:-1.67 [[ 9.86702456e-01 1.62498487e-01 3.53631153e-03 2.26863604e+02] [-1.62497146e-01 9.86708789e-01 -6.65106988e-04 -1.97577490e+01] [-3.59738854e-03 8.16221668e-05 9.99993526e-01 -1.67112411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters 0.05227696668498426 Centerline is valid? [True, True] Translation: X:226.92, Y:-19.76, Z:-1.67 [[ 9.85342324e-01 1.70542779e-01 3.95788728e-03 2.26923056e+02] [-1.70541164e-01 9.85350271e-01 -7.44456658e-04 -1.97623265e+01] [-4.02686701e-03 5.85619491e-05 9.99991890e-01 -1.67202997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters 0.05313351330035937 Centerline is valid? [True, True] Translation: X:226.98, Y:-19.77, Z:-1.67 [[ 9.84319097e-01 1.76351806e-01 3.99447316e-03 2.26983030e+02] [-1.76350210e-01 9.84327201e-01 -7.51266727e-04 -1.97696761e+01] [-4.06435583e-03 3.50600061e-05 9.99991740e-01 -1.67396058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters 0.05258392428581033 Centerline is valid? [True, True] Translation: X:227.04, Y:-19.78, Z:-1.67 [[ 9.83725954e-01 1.79636234e-01 3.75102059e-03 2.27044629e+02] [-1.79634850e-01 9.83733106e-01 -7.05413992e-04 -1.97784573e+01] [-3.81672105e-03 2.01200307e-05 9.99992716e-01 -1.67393481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters 0.052300941033006906 Centerline is valid? [True, True] Translation: X:227.11, Y:-19.78, Z:-1.67 [[ 9.82256185e-01 1.87505008e-01 3.82871060e-03 2.27106862e+02] [-1.87503626e-01 9.82263647e-01 -7.20158556e-04 -1.97820353e+01] [-3.89583657e-03 -1.05169226e-05 9.99992411e-01 -1.67482033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters 0.05227538754042646 Centerline is valid? [True, True] Translation: X:227.17, Y:-19.79, Z:-1.68 [[ 9.80808041e-01 1.94946604e-01 3.37773355e-03 2.27169810e+02] [-1.94945572e-01 9.80813856e-01 -6.35463583e-04 -1.97851439e+01] [-3.43680934e-03 -3.52064066e-05 9.99994094e-01 -1.67585202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters 0.05168607228350323 Centerline is valid? [True, True] Translation: X:227.23, Y:-19.79, Z:-1.68 [[ 9.78675290e-01 2.05403331e-01 2.03657980e-03 2.27230598e+02] [-2.05402978e-01 9.78677408e-01 -3.83207140e-04 -1.97935128e+01] [-2.07186666e-03 -4.32841969e-05 9.99997853e-01 -1.67560032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters 0.052271607651129974 Centerline is valid? [True, True] Translation: X:227.29, Y:-19.80, Z:-1.68 [[ 9.77655442e-01 2.10211205e-01 1.04215005e-03 2.27289969e+02] [-2.10211115e-01 9.77655997e-01 -1.96163452e-04 -1.98001617e+01] [-1.06010000e-03 -2.72912570e-05 9.99999438e-01 -1.67636180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters 0.052362826405764167 Centerline is valid? [True, True] Translation: X:227.35, Y:-19.81, Z:-1.68 [[ 9.77001562e-01 2.13231976e-01 2.68747852e-04 2.27350649e+02] [-2.13231970e-01 9.77001599e-01 -5.04631740e-05 -1.98082031e+01] [-2.73327444e-04 -8.00303411e-06 9.99999963e-01 -1.67701301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters 0.052350811101357 Centerline is valid? [True, True] Translation: X:227.41, Y:-19.82, Z:-1.68 [[ 9.77047473e-01 2.13021364e-01 3.66484154e-04 2.27411074e+02] [-2.13021354e-01 9.77047541e-01 -6.81828964e-05 -1.98210477e+01] [-3.72596855e-04 -1.14510238e-05 9.99999931e-01 -1.67672354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters 0.05184720267189137 Centerline is valid? [True, True] Translation: X:227.47, Y:-19.83, Z:-1.68 [[ 9.77864442e-01 2.09234937e-01 1.36925635e-03 2.27470201e+02] [-2.09234781e-01 9.77865400e-01 -2.57898873e-04 -1.98324151e+01] [-1.39290987e-03 -3.43059149e-05 9.99999029e-01 -1.67635950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters 0.05199006166257343 Centerline is valid? [True, True] Translation: X:227.53, Y:-19.84, Z:-1.68 [[ 9.78850144e-01 2.04567695e-01 2.11033068e-03 2.27528607e+02] [-2.04567314e-01 9.78852418e-01 -3.97479512e-04 -1.98444575e+01] [-2.14701376e-03 -4.26318011e-05 9.99997694e-01 -1.67638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters 0.051925525229496554 Centerline is valid? [True, True] Translation: X:227.59, Y:-19.86, Z:-1.68 [[ 9.80723657e-01 1.95387538e-01 2.19490781e-03 2.27586828e+02] [-1.95387103e-01 9.80726113e-01 -4.13345932e-04 -1.98635819e+01] [-2.23336605e-03 -2.34785428e-05 9.99997506e-01 -1.67582062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters 0.052902765327774035 Centerline is valid? [True, True] Translation: X:227.65, Y:-19.88, Z:-1.68 [[ 9.82116423e-01 1.88267810e-01 1.60120020e-03 2.27645087e+02] [-1.88267569e-01 9.82117728e-01 -3.01551753e-04 -1.98792189e+01] [-1.62933959e-03 -5.29513963e-06 9.99998673e-01 -1.67680730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters 0.05253804822177271 Centerline is valid? [True, True] Translation: X:227.70, Y:-19.90, Z:-1.68 [[ 9.84287047e-01 1.76575640e-01 2.26994563e-04 2.27704168e+02] [-1.76575635e-01 9.84287074e-01 -4.23331926e-05 -1.99007507e+01] [-2.30902825e-04 1.58630396e-06 9.99999973e-01 -1.67722038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters 0.0528562096182489 Centerline is valid? [True, True] Translation: X:227.76, Y:-19.91, Z:-1.68 [[ 9.85023792e-01 1.72417619e-01 -5.41151492e-04 2.27764459e+02] [-1.72417589e-01 9.85023941e-01 1.02248755e-04 -1.99132112e+01] [ 5.50676662e-04 -7.41342057e-06 9.99999848e-01 -1.67594597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters 0.053800869981291875 Centerline is valid? [True, True] Translation: X:227.82, Y:-19.93, Z:-1.68 [[ 9.87223420e-01 1.59334485e-01 -1.56257574e-03 2.27822849e+02] [-1.59334218e-01 9.87224655e-01 2.94585036e-04 -1.99299888e+01] [ 1.58955085e-03 -4.18494636e-05 9.99998736e-01 -1.67547744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters 0.05444809612918812 Centerline is valid? [True, True] Translation: X:227.88, Y:-19.95, Z:-1.68 [[ 9.88570357e-01 1.50752663e-01 -1.51131289e-03 2.27880661e+02] [-1.50752404e-01 9.88571511e-01 2.84941055e-04 -1.99487885e+01] [ 1.53699649e-03 -5.38502285e-05 9.99998817e-01 -1.67633569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters 0.05501499616102238 Centerline is valid? [True, True] Translation: X:227.94, Y:-19.96, Z:-1.67 [[ 9.90233396e-01 1.39419312e-01 2.76444918e-04 2.27939846e+02] [-1.39419303e-01 9.90233435e-01 -5.20977368e-05 -1.99603291e+01] [-2.81008432e-04 1.30471610e-05 9.99999960e-01 -1.67391202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters 0.055008345222569074 Centerline is valid? [True, True] Translation: X:228.00, Y:-19.97, Z:-1.67 [[ 9.90929839e-01 1.34376481e-01 1.00792522e-03 2.27999911e+02] [-1.34376357e-01 9.90930350e-01 -1.89919815e-04 -1.99709430e+01] [-1.02430445e-03 5.27558927e-05 9.99999474e-01 -1.67280420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters 0.055692617252336714 Centerline is valid? [True, True] Translation: X:228.06, Y:-19.99, Z:-1.67 [[ 9.91306494e-01 1.31544525e-01 2.73362342e-03 2.28056906e+02] [-1.31543603e-01 9.91310252e-01 -5.15284780e-04 -1.99907011e+01] [-2.77765181e-03 1.51214476e-04 9.99996131e-01 -1.67331181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters 0.055499372607280564 Centerline is valid? [True, True] Translation: X:228.12, Y:-19.99, Z:-1.67 [[ 9.91133975e-01 1.32860889e-01 1.19489679e-03 2.28119097e+02] [-1.32860714e-01 9.91134693e-01 -2.25094417e-04 -1.99944220e+01] [-1.21420991e-03 6.43438834e-05 9.99999261e-01 -1.67449693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters 0.05520116894307892 Centerline is valid? [True, True] Translation: X:228.18, Y:-20.00, Z:-1.68 [[ 9.90418519e-01 1.38098231e-01 1.90802261e-04 2.28180058e+02] [-1.38098227e-01 9.90418537e-01 -3.59321849e-05 -1.99961484e+01] [-1.93936268e-04 9.23844744e-06 9.99999981e-01 -1.67577733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters 0.05489755272698168 Centerline is valid? [True, True] Translation: X:228.24, Y:-20.00, Z:-1.68 [[ 9.89883077e-01 1.41883651e-01 7.23924018e-04 2.28239780e+02] [-1.41883589e-01 9.89883341e-01 -1.36475065e-04 -2.00031346e+01] [-7.35963906e-04 3.23814194e-05 9.99999729e-01 -1.67648556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters 0.05474684726408826 Centerline is valid? [True, True] Translation: X:228.30, Y:-20.01, Z:-1.68 [[ 9.89357530e-01 1.45495504e-01 1.65423241e-03 2.28300218e+02] [-1.45495185e-01 9.89358911e-01 -3.11812418e-04 -2.00103181e+01] [-1.68199688e-03 6.78111115e-05 9.99998583e-01 -1.67745887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters 0.05490231711958372 Centerline is valid? [True, True] Translation: X:228.36, Y:-20.01, Z:-1.68 [[ 9.89153659e-01 1.46865298e-01 2.37114889e-03 2.28362775e+02] [-1.46864648e-01 9.89156497e-01 -4.46874917e-04 -2.00126294e+01] [-2.41106775e-03 9.37900134e-05 9.99997089e-01 -1.67729610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters 0.05494302365481568 Centerline is valid? [True, True] Translation: X:228.42, Y:-20.02, Z:-1.68 [[ 9.89118030e-01 1.47089111e-01 3.21190792e-03 2.28423089e+02] [-1.47087920e-01 9.89123237e-01 -6.05221070e-04 -2.00232930e+01] [-3.26599419e-03 1.26202215e-04 9.99994659e-01 -1.67777766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters 0.05521894453251769 Centerline is valid? [True, True] Translation: X:228.49, Y:-20.03, Z:-1.68 [[ 9.89018035e-01 1.47740699e-01 4.00144716e-03 2.28485478e+02] [-1.47738852e-01 9.89026118e-01 -7.54804497e-04 -2.00261133e+01] [-4.06905109e-03 1.55346049e-04 9.99991709e-01 -1.67863480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters 0.05597492841175881 Centerline is valid? [True, True] Translation: X:228.54, Y:-20.04, Z:-1.68 [[ 9.88551236e-01 1.50840641e-01 3.68178420e-03 2.28543843e+02] [-1.50839098e-01 9.88558083e-01 -6.94828430e-04 -2.00371222e+01] [-3.74446590e-03 1.31516496e-04 9.99992981e-01 -1.68009224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters 0.05482543000726643 Centerline is valid? [True, True] Translation: X:228.61, Y:-20.03, Z:-1.68 [[ 9.87895742e-01 1.55067474e-01 4.01023416e-03 2.28606809e+02] [-1.55065678e-01 9.87903873e-01 -7.56701418e-04 -2.00293724e+01] [-4.07906564e-03 1.25692428e-04 9.99991673e-01 -1.68032473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters 0.05532630688277892 Centerline is valid? [True, True] Translation: X:228.67, Y:-20.04, Z:-1.68 [[ 9.86492820e-01 1.63790222e-01 2.16300537e-03 2.28666000e+02] [-1.63789720e-01 9.86495191e-01 -4.08192718e-04 -2.00385212e+01] [-2.20065237e-03 4.84011406e-05 9.99997577e-01 -1.68339748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters 0.054092549185548545 Centerline is valid? [True, True] Translation: X:228.73, Y:-20.04, Z:-1.68 [[ 9.85531920e-01 1.69476247e-01 2.15311713e-03 2.28728013e+02] [-1.69475763e-01 9.85534272e-01 -4.06261598e-04 -2.00371396e+01] [-2.19082241e-03 3.54826040e-05 9.99997600e-01 -1.68220826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters 0.0545803348139631 Centerline is valid? [True, True] Translation: X:228.79, Y:-20.04, Z:-1.68 [[ 9.84340603e-01 1.76253027e-01 2.90651799e-03 2.28788874e+02] [-1.76252175e-01 9.84344894e-01 -5.48486263e-04 -2.00422697e+01] [-2.95768851e-03 2.76171797e-05 9.99995626e-01 -1.68336192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters 0.05405847137832484 Centerline is valid? [True, True] Translation: X:228.85, Y:-20.05, Z:-1.68 [[ 9.83721225e-01 1.79665563e-01 3.58274324e-03 2.28851010e+02] [-1.79664292e-01 9.83727749e-01 -6.76011074e-04 -2.00497899e+01] [-3.64589985e-03 2.13154134e-05 9.99993353e-01 -1.68364561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters 0.05456141439018443 Centerline is valid? [True, True] Translation: X:228.91, Y:-20.06, Z:-1.68 [[ 9.82870850e-01 1.84231446e-01 4.86488899e-03 2.28912400e+02] [-1.84229159e-01 9.82882889e-01 -9.18083049e-04 -2.00558780e+01] [-4.95075591e-03 6.10266115e-06 9.99987745e-01 -1.68294039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters 0.0537629956236452 Centerline is valid? [True, True] Translation: X:228.97, Y:-20.06, Z:-1.68 [[ 9.81821003e-01 1.89752503e-01 4.63752395e-03 2.28974652e+02] [-1.89750484e-01 9.81831955e-01 -8.75625912e-04 -2.00630134e+01] [-4.71942141e-03 -2.02645008e-05 9.99988863e-01 -1.68363380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters 0.05335308186708328 Centerline is valid? [True, True] Translation: X:229.04, Y:-20.07, Z:-1.69 [[ 9.80494929e-01 1.96501462e-01 4.10739059e-03 2.29036098e+02] [-1.96499934e-01 9.80503531e-01 -7.76120226e-04 -2.00690376e+01] [-4.17981973e-03 -4.61200356e-05 9.99991263e-01 -1.68590100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters 0.05419553118097025 Centerline is valid? [True, True] Translation: X:229.10, Y:-20.07, Z:-1.69 [[ 9.79475326e-01 2.01546852e-01 2.63656562e-03 2.29096653e+02] [-2.01546241e-01 9.79478874e-01 -4.98256981e-04 -2.00747911e+01] [-2.68288245e-03 -4.33594689e-05 9.99996400e-01 -1.68849048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters 0.05379752753850002 Centerline is valid? [True, True] Translation: X:229.16, Y:-20.09, Z:-1.69 [[ 9.79250132e-01 2.02641555e-01 2.36202911e-03 2.29157400e+02] [-2.02641068e-01 9.79252980e-01 -4.46210908e-04 -2.00901730e+01] [-2.40344491e-03 -4.16920116e-05 9.99997111e-01 -1.68816742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters 0.05401490496226737 Centerline is valid? [True, True] Translation: X:229.22, Y:-20.11, Z:-1.69 [[ 9.79056261e-01 2.03584011e-01 1.54552317e-03 2.29217116e+02] [-2.03583804e-01 9.79057480e-01 -2.91894059e-04 -2.01062101e+01] [-1.57258099e-03 -2.88627806e-05 9.99998763e-01 -1.68875931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters 0.053920942752801 Centerline is valid? [True, True] Translation: X:229.28, Y:-20.12, Z:-1.69 [[ 9.79075414e-01 2.03495971e-01 8.51056772e-04 2.29278013e+02] [-2.03495909e-01 9.79075783e-01 -1.60164458e-04 -2.01202613e+01] [-8.65841898e-04 -1.63734881e-05 9.99999625e-01 -1.68929181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters 0.05416174412242362 Centerline is valid? [True, True] Translation: X:229.34, Y:-20.14, Z:-1.69 [[ 9.79085410e-01 2.03445728e-01 1.26312506e-03 2.29336969e+02] [-2.03445589e-01 9.79086225e-01 -2.38707581e-04 -2.01362627e+01] [-1.28527239e-03 -2.32621132e-05 9.99999174e-01 -1.68917256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters 0.0532155122413313 Centerline is valid? [True, True] Translation: X:229.40, Y:-20.15, Z:-1.69 [[ 9.79033591e-01 2.03680797e-01 2.71305250e-03 2.29397257e+02] [-2.03680156e-01 9.79037349e-01 -5.13573127e-04 -2.01542794e+01] [-2.76078471e-03 -4.97896131e-05 9.99996188e-01 -1.68767303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters 0.053085798664190866 Centerline is valid? [True, True] Translation: X:229.46, Y:-20.17, Z:-1.69 [[ 9.78713982e-01 2.05175827e-01 4.67131916e-03 2.29456457e+02] [-2.05173941e-01 9.78725126e-01 -8.84515270e-04 -2.01703622e+01] [-4.75341859e-03 -9.27455022e-05 9.99988698e-01 -1.68659537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters 0.05324265862143284 Centerline is valid? [True, True] Translation: X:229.52, Y:-20.18, Z:-1.69 [[ 9.78433460e-01 2.06496922e-01 5.19470653e-03 2.29516375e+02] [-2.06494605e-01 9.78447244e-01 -9.84291913e-04 -2.01820180e+01] [-5.28599954e-03 -1.09614733e-04 9.99986023e-01 -1.68701672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters 0.052677512448655775 Centerline is valid? [True, True] Translation: X:229.57, Y:-20.20, Z:-1.69 [[ 9.77864686e-01 2.09183279e-01 4.79701613e-03 2.29574331e+02] [-2.09181332e-01 9.77876446e-01 -9.09605481e-04 -2.02028534e+01] [-4.88116334e-03 -1.13975145e-04 9.99988081e-01 -1.68778097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters 0.05337688472614121 Centerline is valid? [True, True] Translation: X:229.63, Y:-20.21, Z:-1.69 [[ 9.77692450e-01 2.09998157e-01 4.27156410e-03 2.29634960e+02] [-2.09996622e-01 9.77701776e-01 -8.09941487e-04 -2.02129498e+01] [-4.34640203e-03 -1.05140354e-04 9.99990549e-01 -1.68891446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters 0.05222780199634366 Centerline is valid? [True, True] Translation: X:229.69, Y:-20.24, Z:-1.69 [[ 9.77560087e-01 2.10631601e-01 3.25656299e-03 2.29692996e+02] [-2.10630712e-01 9.77565508e-01 -6.17370079e-04 -2.02428170e+01] [-3.31354130e-03 -8.24158316e-05 9.99994507e-01 -1.68903341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters 0.05259449967916913 Centerline is valid? [True, True] Translation: X:229.75, Y:-20.26, Z:-1.69 [[ 9.78430433e-01 2.06561615e-01 2.48727666e-03 2.29751671e+02] [-2.06561082e-01 9.78433593e-01 -4.72117329e-04 -2.02574854e+01] [-2.53115636e-03 -5.18405944e-05 9.99996795e-01 -1.69083809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters 0.052065742652814655 Centerline is valid? [True, True] Translation: X:229.81, Y:-20.28, Z:-1.69 [[ 9.79438821e-01 2.01728990e-01 2.23856110e-03 2.29810366e+02] [-2.01728545e-01 9.79441378e-01 -4.24920549e-04 -2.02758468e+01] [-2.27825816e-03 -3.53979923e-05 9.99997404e-01 -1.69092400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters 0.05200133283935014 Centerline is valid? [True, True] Translation: X:229.87, Y:-20.30, Z:-1.69 [[ 9.81159928e-01 1.93170181e-01 3.23681566e-03 2.29868198e+02] [-1.93169205e-01 9.81165267e-01 -6.14451387e-04 -2.02978335e+01] [-3.29454479e-03 -2.23780315e-05 9.99994573e-01 -1.69123477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters 0.05189467607973942 Centerline is valid? [True, True] Translation: X:229.93, Y:-20.32, Z:-1.69 [[ 9.82453045e-01 1.86475145e-01 3.61023306e-03 2.29926084e+02] [-1.86473887e-01 9.82459679e-01 -6.85024421e-04 -2.03186051e+01] [-3.67464844e-03 -2.09862136e-07 9.99993248e-01 -1.69160431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters 0.05172999242542216 Centerline is valid? [True, True] Translation: X:229.99, Y:-20.34, Z:-1.69 [[ 9.82859775e-01 1.84322935e-01 3.42321355e-03 2.29987340e+02] [-1.84321789e-01 9.82865736e-01 -6.49870048e-04 -2.03352334e+01] [-3.48434526e-03 7.75828321e-06 9.99993930e-01 -1.69221162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters 0.051466618199974 Centerline is valid? [True, True] Translation: X:230.05, Y:-20.35, Z:-1.69 [[ 9.82736465e-01 1.84980893e-01 3.33321824e-03 2.30048054e+02] [-1.84979809e-01 9.82742117e-01 -6.33229011e-04 -2.03522518e+01] [-3.39282922e-03 5.71916523e-06 9.99994244e-01 -1.69242088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters 0.0514460708461661 Centerline is valid? [True, True] Translation: X:230.11, Y:-20.37, Z:-1.69 [[ 9.82265291e-01 1.87470176e-01 3.13535274e-03 2.30108901e+02] [-1.87469229e-01 9.82270295e-01 -5.95930443e-04 -2.03660197e+01] [-3.19148305e-03 -2.42036970e-06 9.99994907e-01 -1.69386552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters 0.05180698814808878 Centerline is valid? [True, True] Translation: X:230.17, Y:-20.38, Z:-1.69 [[ 9.81426490e-01 1.91822334e-01 2.49749741e-03 2.30169616e+02] [-1.91821747e-01 9.81429667e-01 -4.74609210e-04 -2.03804219e+01] [-2.54215870e-03 -1.32802654e-05 9.99996769e-01 -1.69468774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters 0.05175748988374725 Centerline is valid? [True, True] Translation: X:230.23, Y:-20.39, Z:-1.70 [[ 9.80988759e-01 1.94057805e-01 1.61966566e-03 2.30229639e+02] [-1.94057561e-01 9.80990096e-01 -3.07739178e-04 -2.03923657e+01] [-1.64859516e-03 -1.24196928e-05 9.99998641e-01 -1.69632472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters 0.05182417653366128 Centerline is valid? [True, True] Translation: X:230.29, Y:-20.41, Z:-1.70 [[ 9.80695587e-01 1.95531446e-01 1.90236879e-03 2.30289430e+02] [-1.95531112e-01 9.80697432e-01 -3.61831342e-04 -2.04073585e+01] [-1.93639760e-03 -1.71258861e-05 9.99998125e-01 -1.69673135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters 0.051950585348789415 Centerline is valid? [True, True] Translation: X:230.35, Y:-20.42, Z:-1.70 [[ 9.80729761e-01 1.95347676e-01 2.90185343e-03 2.30349838e+02] [-1.95346896e-01 9.80734054e-01 -5.52592285e-04 -2.04241381e+01] [-2.95389410e-03 -2.49243590e-05 9.99995637e-01 -1.69555337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters 0.05091691966165709 Centerline is valid? [True, True] Translation: X:230.41, Y:-20.44, Z:-1.70 [[ 9.80875000e-01 1.94598324e-01 3.96558209e-03 2.30409325e+02] [-1.94596858e-01 9.80883016e-01 -7.55986752e-04 -2.04382562e+01] [-4.03688588e-03 -3.01613087e-05 9.99991851e-01 -1.69555250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters 0.051021065583564264 Centerline is valid? [True, True] Translation: X:230.47, Y:-20.45, Z:-1.70 [[ 9.81008767e-01 1.93926286e-01 3.79404887e-03 2.30468842e+02] [-1.93924938e-01 9.81016103e-01 -7.23682223e-04 -2.04505088e+01] [-3.86236405e-03 -2.58220859e-05 9.99992541e-01 -1.69689581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters 0.05091223550678282 Centerline is valid? [True, True] Translation: X:230.53, Y:-20.47, Z:-1.70 [[ 9.81136963e-01 1.93304633e-01 1.89197861e-03 2.30530377e+02] [-1.93304297e-01 9.81138787e-01 -3.60584981e-04 -2.04652635e+01] [-1.92599635e-03 -1.19443420e-05 9.99998145e-01 -1.69859487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters 0.051112035684390524 Centerline is valid? [True, True] Translation: X:230.59, Y:-20.48, Z:-1.70 [[ 9.81224063e-01 1.92868969e-01 9.48295075e-04 2.30592035e+02] [-1.92868885e-01 9.81224521e-01 -1.80334260e-04 -2.04795620e+01] [-9.65271264e-04 -5.94829850e-06 9.99999534e-01 -1.69850535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters 0.05091456526047777 Centerline is valid? [True, True] Translation: X:230.65, Y:-20.49, Z:-1.70 [[ 9.81368547e-01 1.92133778e-01 -6.20926000e-04 2.30651707e+02] [-1.92133740e-01 9.81368744e-01 1.19475106e-04 -2.04903049e+01] [ 6.32312572e-04 2.05172382e-06 9.99999800e-01 -1.70189404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters 0.05162910643629711 Centerline is valid? [True, True] Translation: X:230.71, Y:-20.50, Z:-1.70 [[ 9.81443020e-01 1.91752811e-01 -6.76690544e-04 2.30713622e+02] [-1.91752767e-01 9.81443253e-01 1.30545657e-04 -2.05027205e+01] [ 6.89165866e-04 1.63415989e-06 9.99999763e-01 -1.70045768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters 0.05166728085290887 Centerline is valid? [True, True] Translation: X:230.77, Y:-20.51, Z:-1.70 [[ 9.81833769e-01 1.89743086e-01 1.05662992e-04 2.30773912e+02] [-1.89743085e-01 9.81833775e-01 -1.94364531e-05 -2.05117816e+01] [-1.07431427e-04 -9.65456060e-07 9.99999994e-01 -1.70235592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters 0.05175288591382508 Centerline is valid? [True, True] Translation: X:230.84, Y:-20.53, Z:-1.70 [[ 9.83003631e-01 1.83583220e-01 1.03051722e-03 2.30835064e+02] [-1.83583114e-01 9.83004172e-01 -1.97136701e-04 -2.05251334e+01] [-1.04919372e-03 4.60053225e-06 9.99999450e-01 -1.69984821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters 0.05161828038341778 Centerline is valid? [True, True] Translation: X:230.90, Y:-20.54, Z:-1.70 [[ 9.83866518e-01 1.78896533e-01 1.64459867e-03 2.30895363e+02] [-1.78896257e-01 9.83867893e-01 -3.14480369e-04 -2.05350301e+01] [-1.67432728e-03 1.51941590e-05 9.99998598e-01 -1.69845098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters 0.05204402569744584 Centerline is valid? [True, True] Translation: X:230.96, Y:-20.55, Z:-1.70 [[ 9.84541002e-01 1.75146177e-01 1.68254331e-03 2.30955000e+02] [-1.75145882e-01 9.84542440e-01 -3.22485766e-04 -2.05464032e+01] [-1.71301745e-03 2.28099274e-05 9.99998533e-01 -1.70084680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters 0.05256609119871493 Centerline is valid? [True, True] Translation: X:231.02, Y:-20.56, Z:-1.70 [[ 9.85733066e-01 1.68315456e-01 -4.79429968e-04 2.31015142e+02] [-1.68315431e-01 9.85733183e-01 9.20551647e-05 -2.05583194e+01] [ 4.88084335e-04 -1.00463579e-05 9.99999881e-01 -1.70298481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters 0.052560891383252845 Centerline is valid? [True, True] Translation: X:231.07, Y:-20.57, Z:-1.70 [[ 9.86572992e-01 1.63318895e-01 -8.18876304e-04 2.31074719e+02] [-1.63318821e-01 9.86573331e-01 1.57134194e-04 -2.05691586e+01] [ 8.33544506e-04 -2.12864392e-05 9.99999652e-01 -1.70349105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters 0.05295801309803483 Centerline is valid? [True, True] Translation: X:231.13, Y:-20.58, Z:-1.70 [[ 9.86781282e-01 1.62057675e-01 1.04544311e-04 2.31134969e+02] [-1.62057674e-01 9.86781288e-01 -1.96327761e-05 -2.05775376e+01] [-1.06344012e-04 2.43104813e-06 9.99999994e-01 -1.70329234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters 0.05298326979599595 Centerline is valid? [True, True] Translation: X:231.20, Y:-20.59, Z:-1.70 [[ 9.86710258e-01 1.62489576e-01 5.93234961e-05 2.31195860e+02] [-1.62489576e-01 9.86710260e-01 -1.10575922e-05 -2.05904056e+01] [-6.03318459e-05 1.27118996e-06 9.99999998e-01 -1.70466590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters 0.05315304941357109 Centerline is valid? [True, True] Translation: X:231.26, Y:-20.59, Z:-1.70 [[ 9.86258189e-01 1.65206299e-01 -1.28973106e-03 2.31257359e+02] [-1.65206116e-01 9.86259032e-01 2.47608725e-04 -2.05918310e+01] [ 1.31291543e-03 -3.11346739e-05 9.99999138e-01 -1.70384773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters 0.05242297609698418 Centerline is valid? [True, True] Translation: X:231.32, Y:-20.60, Z:-1.70 [[ 9.85028021e-01 1.72394307e-01 -3.09590090e-06 2.31316152e+02] [-1.72394307e-01 9.85028021e-01 5.51586420e-07 -2.06028148e+01] [ 3.14463942e-06 -9.61238805e-09 1.00000000e+00 -1.70483520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters 0.05194976432934615 Centerline is valid? [True, True] Translation: X:231.38, Y:-20.61, Z:-1.71 [[ 9.83999286e-01 1.78165342e-01 1.58592834e-03 2.31376215e+02] [-1.78165084e-01 9.84000564e-01 -3.04205316e-04 -2.06132581e+01] [-1.61475323e-03 1.67807576e-05 9.99998696e-01 -1.70549457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters 0.051664508102018086 Centerline is valid? [True, True] Translation: X:231.44, Y:-20.62, Z:-1.71 [[ 9.81957255e-01 1.89093973e-01 1.84894378e-03 2.31437770e+02] [-1.89093640e-01 9.81958996e-01 -3.54707423e-04 -2.06180954e+01] [-1.88266001e-03 -1.31598147e-06 9.99998228e-01 -1.70581129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters 0.05085494321363148 Centerline is valid? [True, True] Translation: X:231.50, Y:-20.62, Z:-1.71 [[ 9.79615946e-01 2.00872366e-01 1.70026571e-03 2.31497735e+02] [-2.00872103e-01 9.79617421e-01 -3.26082734e-04 -2.06241424e+01] [-1.73111092e-03 -2.21001023e-05 9.99998501e-01 -1.70680279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters 0.05119229948316422 Centerline is valid? [True, True] Translation: X:231.56, Y:-20.63, Z:-1.71 [[ 9.78867093e-01 2.04492771e-01 1.38590874e-03 2.31556934e+02] [-2.04492599e-01 9.78868074e-01 -2.66030130e-04 -2.06322292e+01] [-1.41102306e-03 -2.29999416e-05 9.99999004e-01 -1.70777825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters 0.051561116131633014 Centerline is valid? [True, True] Translation: X:231.62, Y:-20.63, Z:-1.71 [[ 9.77689280e-01 2.10054953e-01 7.66690422e-04 2.31617331e+02] [-2.10054902e-01 9.77689581e-01 -1.47180817e-04 -2.06348046e+01] [-7.80501297e-04 -1.71499742e-05 9.99999695e-01 -1.71038828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters 0.05084234836180612 Centerline is valid? [True, True] Translation: X:231.67, Y:-20.66, Z:-1.71 [[ 9.76745263e-01 2.14399747e-01 1.20016890e-03 2.31674271e+02] [-2.14399626e-01 9.76745999e-01 -2.30334563e-04 -2.06592970e+01] [-1.22164384e-03 -3.23375689e-05 9.99999253e-01 -1.70618129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters 0.05129351523685384 Centerline is valid? [True, True] Translation: X:231.74, Y:-20.66, Z:-1.71 [[ 9.76540792e-01 2.15329783e-01 1.07975032e-03 2.31738032e+02] [-2.15329685e-01 9.76541389e-01 -2.07021035e-04 -2.06589091e+01] [-1.09899868e-03 -3.03378119e-05 9.99999396e-01 -1.70927235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters 0.05145883619566053 Centerline is valid? [True, True] Translation: X:231.80, Y:-20.68, Z:-1.71 [[ 9.76635741e-01 2.14897091e-01 -1.36740249e-03 2.31798647e+02] [-2.14896932e-01 9.76636698e-01 2.63677930e-04 -2.06763404e+01] [ 1.39211907e-03 3.63333098e-05 9.99999030e-01 -1.70981919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters 0.051795252209687004 Centerline is valid? [True, True] Translation: X:231.86, Y:-20.69, Z:-1.71 [[ 9.77296177e-01 2.11861309e-01 -2.63983469e-03 2.31858202e+02] [-2.11860712e-01 9.77299740e-01 5.07274436e-04 -2.06866404e+01] [ 2.68738158e-03 6.35198893e-05 9.99996387e-01 -1.71319970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters 0.05143023279537621 Centerline is valid? [True, True] Translation: X:231.92, Y:-20.71, Z:-1.71 [[ 9.77929424e-01 2.08928939e-01 -1.65553448e-03 2.31916224e+02] [-2.08928699e-01 9.77930824e-01 3.18225081e-04 -2.07074169e+01] [ 1.68548463e-03 3.46869960e-05 9.99998579e-01 -1.71022019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters 0.05120091176392576 Centerline is valid? [True, True] Translation: X:231.97, Y:-20.73, Z:-1.71 [[ 9.78872718e-01 2.04469600e-01 6.19992737e-04 2.31974887e+02] [-2.04469565e-01 9.78872914e-01 -1.19078979e-04 -2.07257301e+01] [-6.31242129e-04 -1.02064815e-05 9.99999801e-01 -1.70919405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters 0.05112037570189009 Centerline is valid? [True, True] Translation: X:232.03, Y:-20.74, Z:-1.71 [[ 9.79288639e-01 2.02465341e-01 1.24380458e-03 2.32034324e+02] [-2.02465201e-01 9.79289429e-01 -2.38366867e-04 -2.07394148e+01] [-1.26630570e-03 -1.83971793e-05 9.99999198e-01 -1.70999373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters 0.05105374355860775 Centerline is valid? [True, True] Translation: X:232.09, Y:-20.76, Z:-1.71 [[ 9.79076119e-01 2.03489424e-01 1.41683033e-03 2.32094938e+02] [-2.03489244e-01 9.79077144e-01 -2.71728553e-04 -2.07553138e+01] [-1.44248008e-03 -2.22667953e-05 9.99998959e-01 -1.70990939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters 0.05097473466594145 Centerline is valid? [True, True] Translation: X:232.15, Y:-20.76, Z:-1.71 [[ 9.78265164e-01 2.07357739e-01 -1.92150183e-04 2.32154321e+02] [-2.07357736e-01 9.78265183e-01 3.69672991e-05 -2.07640985e+01] [ 1.95639289e-04 3.68000595e-06 9.99999981e-01 -1.71252309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters 0.05172632130889683 Centerline is valid? [True, True] Translation: X:232.21, Y:-20.78, Z:-1.71 [[ 9.77348540e-01 2.11630889e-01 -1.48245373e-03 2.32214088e+02] [-2.11630700e-01 9.77349664e-01 2.85338607e-04 -2.07753227e+01] [ 1.50926212e-03 3.48574499e-05 9.99998860e-01 -1.71243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters 0.051130255378245705 Centerline is valid? [True, True] Translation: X:232.27, Y:-20.78, Z:-1.71 [[ 9.76957945e-01 2.13426368e-01 -1.53569248e-03 2.32274358e+02] [-2.13426166e-01 9.76959152e-01 2.95950593e-04 -2.07847282e+01] [ 1.56347248e-03 3.86256746e-05 9.99998777e-01 -1.71287053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters 0.05111258042395909 Centerline is valid? [True, True] Translation: X:232.34, Y:-20.80, Z:-1.71 [[ 9.76844975e-01 2.13944528e-01 -1.27824300e-03 2.32335692e+02] [-2.13944387e-01 9.76845811e-01 2.46983562e-04 -2.07967333e+01] [ 1.30148711e-03 3.22082647e-05 9.99999153e-01 -1.71266795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters 0.05125627766131663 Centerline is valid? [True, True] Translation: X:232.40, Y:-20.80, Z:-1.71 [[ 9.76737882e-01 2.14432040e-01 -1.41802396e-03 2.32396748e+02] [-2.14431868e-01 9.76738910e-01 2.73990288e-04 -2.08039470e+01] [ 1.44379147e-03 3.64528327e-05 9.99998957e-01 -1.71394343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters 0.051376955395796876 Centerline is valid? [True, True] Translation: X:232.46, Y:-20.82, Z:-1.71 [[ 9.76451079e-01 2.15738102e-01 -6.00884443e-04 2.32457284e+02] [-2.15738071e-01 9.76451264e-01 1.16682776e-04 -2.08185603e+01] [ 6.11907294e-04 1.56986277e-05 9.99999813e-01 -1.71289235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters 0.05163515227305912 Centerline is valid? [True, True] Translation: X:232.52, Y:-20.82, Z:-1.71 [[ 9.76305381e-01 2.16397326e-01 2.40753804e-05 2.32518167e+02] [-2.16397326e-01 9.76305381e-01 -3.87734908e-06 -2.08237957e+01] [-2.43439715e-05 -1.42437118e-06 1.00000000e+00 -1.71461879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters 0.05132335643068939 Centerline is valid? [True, True] Translation: X:232.58, Y:-20.84, Z:-1.71 [[ 9.76466595e-01 2.15668676e-01 -1.00760300e-04 2.32578438e+02] [-2.15668675e-01 9.76466601e-01 2.02850172e-05 -2.08398303e+01] [ 1.02763911e-04 1.92319877e-06 9.99999995e-01 -1.71385868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters 0.051230651147020814 Centerline is valid? [True, True] Translation: X:232.64, Y:-20.85, Z:-1.71 [[ 9.76929824e-01 2.13559141e-01 -7.82630597e-04 2.32638655e+02] [-2.13559088e-01 9.76930137e-01 1.51191953e-04 -2.08514228e+01] [ 7.96863840e-04 1.94339486e-05 9.99999682e-01 -1.71425572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters 0.05097009214455776 Centerline is valid? [True, True] Translation: X:232.70, Y:-20.86, Z:-1.72 [[ 9.78069548e-01 2.08277426e-01 -6.88239352e-04 2.32698075e+02] [-2.08277384e-01 9.78069790e-01 1.32945275e-04 -2.08611763e+01] [ 7.00835618e-04 1.33149671e-05 9.99999754e-01 -1.71540645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters 0.05120918649889062 Centerline is valid? [True, True] Translation: X:232.76, Y:-20.87, Z:-1.72 [[ 9.79813370e-01 1.99911723e-01 1.03130749e-03 2.32756578e+02] [-1.99911624e-01 9.79813912e-01 -1.99014863e-04 -2.08741466e+01] [-1.05027483e-03 -1.11729321e-05 9.99999448e-01 -1.71617279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters 0.051233352090623574 Centerline is valid? [True, True] Translation: X:232.82, Y:-20.89, Z:-1.71 [[ 9.81422635e-01 1.91855282e-01 1.07804765e-03 2.32815245e+02] [-1.91855169e-01 9.81423227e-01 -2.08024577e-04 -2.08904866e+01] [-1.09793162e-03 -2.66898691e-06 9.99999397e-01 -1.71465208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters 0.05198181227607162 Centerline is valid? [True, True] Translation: X:232.87, Y:-20.91, Z:-1.72 [[ 9.84116061e-01 1.77525280e-01 -5.93740649e-04 2.32874001e+02] [-1.77525244e-01 9.84116240e-01 1.14762593e-04 -2.09068125e+01] [ 6.04683077e-04 -7.53575808e-06 9.99999817e-01 -1.71618249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters 0.05204006242846545 Centerline is valid? [True, True] Translation: X:232.93, Y:-20.92, Z:-1.72 [[ 9.85676415e-01 1.68642920e-01 -1.25307569e-03 2.32933533e+02] [-1.68642748e-01 9.85677211e-01 2.42127823e-04 -2.09199802e+01] [ 1.27596130e-03 -2.73375559e-05 9.99999186e-01 -1.71692118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters 0.05325059574822118 Centerline is valid? [True, True] Translation: X:232.99, Y:-20.93, Z:-1.72 [[ 9.87657747e-01 1.56612161e-01 -2.19204262e-03 2.32993788e+02] [-1.56611607e-01 9.87660177e-01 4.23346373e-04 -2.09263545e+01] [ 2.23129440e-03 -7.48220071e-05 9.99997508e-01 -1.71582753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters 0.05357188450214247 Centerline is valid? [True, True] Translation: X:233.05, Y:-20.95, Z:-1.72 [[ 9.88852013e-01 1.48888750e-01 -1.95881515e-03 2.33051142e+02] [-1.48888293e-01 9.88853949e-01 3.78380111e-04 -2.09480747e+01] [ 1.99331864e-03 -8.25172902e-05 9.99998010e-01 -1.71862054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters 0.05476241776924358 Centerline is valid? [True, True] Translation: X:233.11, Y:-20.94, Z:-1.72 [[ 9.90207856e-01 1.39597914e-01 -9.08291035e-04 2.33112464e+02] [-1.39597812e-01 9.90208271e-01 1.75405230e-04 -2.09445033e+01] [ 9.23883499e-04 -4.68921952e-05 9.99999572e-01 -1.71541295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters 0.054203480472792206 Centerline is valid? [True, True] Translation: X:233.17, Y:-20.95, Z:-1.72 [[ 9.90746835e-01 1.35722726e-01 2.23593665e-04 2.33172920e+02] [-1.35722720e-01 9.90746860e-01 -4.30345137e-05 -2.09537688e+01] [-2.27365483e-04 1.22895679e-05 9.99999974e-01 -1.71569106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters 0.054308930521967544 Centerline is valid? [True, True] Translation: X:233.23, Y:-20.96, Z:-1.72 [[ 9.90396895e-01 1.38249578e-01 1.02182933e-03 2.33233409e+02] [-1.38249448e-01 9.90397421e-01 -1.97245215e-04 -2.09624193e+01] [-1.03928620e-03 5.40837078e-05 9.99999458e-01 -1.71591049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters 0.054352877973109386 Centerline is valid? [True, True] Translation: X:233.29, Y:-20.97, Z:-1.72 [[ 9.89479213e-01 1.44668606e-01 1.37163321e-03 2.33292867e+02] [-1.44668378e-01 9.89480162e-01 -2.64916481e-04 -2.09708332e+01] [-1.39552895e-03 6.36973996e-05 9.99999024e-01 -1.71702473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters 0.0535496752110493 Centerline is valid? [True, True] Translation: X:233.36, Y:-20.97, Z:-1.72 [[ 9.87258337e-01 1.59116055e-01 1.74823228e-03 2.33355298e+02] [-1.59115706e-01 9.87259884e-01 -3.37673489e-04 -2.09659196e+01] [-1.77968887e-03 5.51997538e-05 9.99998415e-01 -1.71696253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters 0.05365624296787025 Centerline is valid? [True, True] Translation: X:233.41, Y:-20.97, Z:-1.72 [[ 9.85537777e-01 1.69440248e-01 2.30059087e-03 2.33414967e+02] [-1.69439672e-01 9.85540461e-01 -4.44445445e-04 -2.09693914e+01] [-2.34263233e-03 4.82064143e-05 9.99997255e-01 -1.71773665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters 0.053415031095595984 Centerline is valid? [True, True] Translation: X:233.47, Y:-20.98, Z:-1.72 [[ 9.83878388e-01 1.78819043e-01 2.65839463e-03 2.33474438e+02] [-1.78818309e-01 9.83881979e-01 -5.13545231e-04 -2.09752442e+01] [-2.70737823e-03 2.98964237e-05 9.99996335e-01 -1.71968530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters 0.05267121285800475 Centerline is valid? [True, True] Translation: X:233.54, Y:-20.97, Z:-1.72 [[ 9.81857123e-01 1.89598408e-01 3.00561877e-03 2.33537946e+02] [-1.89597520e-01 9.81861723e-01 -5.80423530e-04 -2.09709591e+01] [-3.06114940e-03 3.51136946e-08 9.99995315e-01 -1.72039057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters 0.052645064748955014 Centerline is valid? [True, True] Translation: X:233.60, Y:-20.98, Z:-1.72 [[ 9.81036341e-01 1.93802228e-01 2.89719371e-03 2.33599346e+02] [-1.93801421e-01 9.81040619e-01 -5.59237369e-04 -2.09754329e+01] [-2.95064615e-03 -1.28480753e-05 9.99995647e-01 -1.72141057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters 0.053065718534922035 Centerline is valid? [True, True] Translation: X:233.66, Y:-20.98, Z:-1.72 [[ 9.80648265e-01 1.95767960e-01 1.97119786e-03 2.33660861e+02] [-1.95767590e-01 9.80650246e-01 -3.80439921e-04 -2.09783935e+01] [-2.00753362e-03 -1.28189077e-05 9.99997985e-01 -1.72455488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters 0.05351781900056977 Centerline is valid? [True, True] Translation: X:233.72, Y:-20.99, Z:-1.72 [[ 9.80973506e-01 1.94136325e-01 1.43769415e-03 2.33722101e+02] [-1.94136127e-01 9.80974560e-01 -2.77701005e-04 -2.09885690e+01] [-1.46425324e-03 -6.69104573e-06 9.99998928e-01 -1.72496438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters 0.053840065018785195 Centerline is valid? [True, True] Translation: X:233.78, Y:-21.00, Z:-1.73 [[ 9.82113575e-01 1.88280347e-01 1.85378732e-03 2.33782245e+02] [-1.88280006e-01 9.82115325e-01 -3.58313917e-04 -2.09994331e+01] [-1.88809640e-03 2.87387528e-06 9.99998218e-01 -1.72648384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters 0.0533239740351002 Centerline is valid? [True, True] Translation: X:233.84, Y:-21.01, Z:-1.73 [[ 9.82981722e-01 1.83683373e-01 2.71152971e-03 2.33842695e+02] [-1.83682625e-01 9.82985462e-01 -5.24369373e-04 -2.10116479e+01] [-2.76171222e-03 1.73846137e-05 9.99996186e-01 -1.72560600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters 0.05338265283589888 Centerline is valid? [True, True] Translation: X:233.90, Y:-21.02, Z:-1.73 [[ 9.83742891e-01 1.79563751e-01 2.60435562e-03 2.33903741e+02] [-1.79563046e-01 9.83746338e-01 -5.04242226e-04 -2.10236971e+01] [-2.65256893e-03 2.83986773e-05 9.99996482e-01 -1.72602724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters 0.054399472459056845 Centerline is valid? [True, True] Translation: X:233.96, Y:-21.04, Z:-1.73 [[ 9.84262936e-01 1.76708640e-01 7.27706575e-04 2.33963670e+02] [-1.76708584e-01 9.84263205e-01 -1.40632835e-04 -2.10366317e+01] [-7.41105843e-04 9.82768818e-06 9.99999725e-01 -1.72878193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters 0.05421745930059803 Centerline is valid? [True, True] Translation: X:234.03, Y:-21.05, Z:-1.73 [[ 9.84188648e-01 1.77119197e-01 1.22314952e-03 2.34025136e+02] [-1.77119040e-01 9.84189408e-01 -2.36310232e-04 -2.10454695e+01] [-1.24566588e-03 1.59307784e-05 9.99999224e-01 -1.72843985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters 0.054176304786208884 Centerline is valid? [True, True] Translation: X:234.09, Y:-21.06, Z:-1.73 [[ 9.83602190e-01 1.80348051e-01 1.14566457e-03 2.34085271e+02] [-1.80347915e-01 9.83602857e-01 -2.21471526e-04 -2.10564176e+01] [-1.16682090e-03 1.12216618e-05 9.99999319e-01 -1.72952573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters 0.053437266607298986 Centerline is valid? [True, True] Translation: X:234.15, Y:-21.07, Z:-1.73 [[ 9.82829268e-01 1.84511176e-01 1.50198477e-03 2.34146875e+02] [-1.84510947e-01 9.82830416e-01 -2.90695172e-04 -2.10661986e+01] [-1.52983282e-03 8.57109131e-06 9.99998830e-01 -1.72907504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters 0.05309694665972573 Centerline is valid? [True, True] Translation: X:234.21, Y:-21.08, Z:-1.73 [[ 9.81239550e-01 1.92779001e-01 2.28074248e-03 2.34208107e+02] [-1.92778494e-01 9.81242201e-01 -4.42429668e-04 -2.10756375e+01] [-2.32325192e-03 -5.54861211e-06 9.99997301e-01 -1.73066635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters 0.053364675990281926 Centerline is valid? [True, True] Translation: X:234.27, Y:-21.08, Z:-1.73 [[ 9.79343046e-01 2.02188219e-01 2.66860037e-03 2.34268022e+02] [-2.02187559e-01 9.79346682e-01 -5.17844527e-04 -2.10822809e+01] [-2.71818698e-03 -3.24103560e-05 9.99996305e-01 -1.73139642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters 0.0528278016733705 Centerline is valid? [True, True] Translation: X:234.33, Y:-21.09, Z:-1.73 [[ 9.77989875e-01 2.08637159e-01 2.51796937e-03 2.34327228e+02] [-2.08636591e-01 9.77993115e-01 -4.88912966e-04 -2.10935986e+01] [-2.56456212e-03 -4.71886159e-05 9.99996710e-01 -1.73091883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters 0.05348885362920279 Centerline is valid? [True, True] Translation: X:234.39, Y:-21.10, Z:-1.73 [[ 9.76213304e-01 2.16774961e-01 4.02513203e-03 2.34387671e+02] [-2.16773580e-01 9.76221596e-01 -7.81513781e-04 -2.11020706e+01] [-4.09883343e-03 -1.09618127e-04 9.99991594e-01 -1.73157932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters 0.05331455726054421 Centerline is valid? [True, True] Translation: X:234.45, Y:-21.11, Z:-1.73 [[ 9.75395777e-01 2.20428181e-01 3.80734942e-03 2.34447145e+02] [-2.20426973e-01 9.75403200e-01 -7.39285047e-04 -2.11149077e+01] [-3.87666007e-03 -1.18146995e-04 9.99992479e-01 -1.73137467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters 0.05304111745463046 Centerline is valid? [True, True] Translation: X:234.51, Y:-21.13, Z:-1.73 [[ 9.74762458e-01 2.23215949e-01 3.57630473e-03 2.34506577e+02] [-2.23214902e-01 9.74769011e-01 -6.94436300e-04 -2.11298288e+01] [-3.64108028e-03 -1.21374075e-04 9.99993364e-01 -1.73159077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters 0.05302304603661404 Centerline is valid? [True, True] Translation: X:234.57, Y:-21.15, Z:-1.73 [[ 9.74764590e-01 2.23202189e-01 3.84407867e-03 2.34566246e+02] [-2.23200980e-01 9.74772161e-01 -7.46175468e-04 -2.11463420e+01] [-3.91364887e-03 -1.30656700e-04 9.99992333e-01 -1.73272997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters 0.05281056735346474 Centerline is valid? [True, True] Translation: X:234.63, Y:-21.16, Z:-1.73 [[ 9.75081240e-01 2.21829921e-01 2.83934812e-03 2.34626190e+02] [-2.21829254e-01 9.75085369e-01 -5.51653640e-04 -2.11624745e+01] [-2.89098009e-03 -9.19433595e-05 9.99995817e-01 -1.73373058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters 0.052965196366573465 Centerline is valid? [True, True] Translation: X:234.68, Y:-21.18, Z:-1.74 [[ 9.75812666e-01 2.18604553e-01 1.30002928e-03 2.34684069e+02] [-2.18604411e-01 9.75813531e-01 -2.52662901e-04 -2.11817641e+01] [-1.32381942e-03 -3.76404758e-05 9.99999123e-01 -1.73559800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters 0.05196116145902782 Centerline is valid? [True, True] Translation: X:234.74, Y:-21.20, Z:-1.74 [[ 9.76363063e-01 2.16135930e-01 6.55102073e-04 2.34743337e+02] [-2.16135893e-01 9.76363283e-01 -1.27154730e-04 -2.12018168e+01] [-6.67100316e-04 -1.74418900e-05 9.99999777e-01 -1.73652815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters 0.05173263734336471 Centerline is valid? [True, True] Translation: X:234.80, Y:-21.22, Z:-1.74 [[ 9.77093147e-01 2.12812080e-01 3.57346745e-06 2.34801100e+02] [-2.12812080e-01 9.77093147e-01 -6.32979545e-07 -2.12235726e+01] [-3.62631632e-06 -1.41997065e-07 1.00000000e+00 -1.73644387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters 0.051944246966253466 Centerline is valid? [True, True] Translation: X:234.86, Y:-21.24, Z:-1.74 [[ 9.77623830e-01 2.10356003e-01 1.41359720e-03 2.34859748e+02] [-2.10355826e-01 9.77624852e-01 -2.74683198e-04 -2.12399879e+01] [-1.43974902e-03 -2.88215668e-05 9.99998963e-01 -1.73722764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters 0.051359837145006866 Centerline is valid? [True, True] Translation: X:234.92, Y:-21.26, Z:-1.74 [[ 9.77770806e-01 2.09660029e-01 2.63111125e-03 2.34919671e+02] [-2.09659412e-01 9.77774345e-01 -5.10950885e-04 -2.12587421e+01] [-2.67975905e-03 -5.20443792e-05 9.99996408e-01 -1.73667648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters 0.051597352313711535 Centerline is valid? [True, True] Translation: X:234.98, Y:-21.27, Z:-1.74 [[ 9.77398279e-01 2.11387707e-01 2.80030869e-03 2.34978962e+02] [-2.11387015e-01 9.77402289e-01 -5.44236052e-04 -2.12738471e+01] [-2.85207293e-03 -6.00135144e-05 9.99995931e-01 -1.73795313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters 0.051443862083763094 Centerline is valid? [True, True] Translation: X:235.04, Y:-21.29, Z:-1.74 [[ 9.76824062e-01 2.14026968e-01 2.68484804e-03 2.35037942e+02] [-2.14026340e-01 9.76827750e-01 -5.22473270e-04 -2.12908443e+01] [-2.73445744e-03 -6.42637369e-05 9.99996259e-01 -1.73832145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters 0.05137904393307311 Centerline is valid? [True, True] Translation: X:235.10, Y:-21.30, Z:-1.74 [[ 9.75469267e-01 2.20126515e-01 2.00645917e-03 2.35096795e+02] [-2.20126177e-01 9.75471329e-01 -3.90524219e-04 -2.13024723e+01] [-2.04320813e-03 -6.07298125e-05 9.99997911e-01 -1.73949723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters 0.051037451359663685 Centerline is valid? [True, True] Translation: X:235.16, Y:-21.32, Z:-1.74 [[ 9.74470908e-01 2.24507853e-01 1.63526302e-03 2.35155989e+02] [-2.24507635e-01 9.74472278e-01 -3.18197179e-04 -2.13155825e+01] [-1.66495624e-03 -5.70551376e-05 9.99998612e-01 -1.74040181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters 0.052151578710587884 Centerline is valid? [True, True] Translation: X:235.22, Y:-21.33, Z:-1.74 [[ 9.73469582e-01 2.28815166e-01 7.69388042e-04 2.35215317e+02] [-2.28815119e-01 9.73469886e-01 -1.49745701e-04 -2.13254758e+01] [-7.83240177e-04 -3.02747316e-05 9.99999693e-01 -1.74195326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters 0.051207634124200256 Centerline is valid? [True, True] Translation: X:235.27, Y:-21.35, Z:-1.74 [[ 9.73394320e-01 2.29135555e-01 6.29464702e-04 2.35273978e+02] [-2.29135524e-01 9.73394523e-01 -1.21786687e-04 -2.13484904e+01] [-6.40623153e-04 -2.56862546e-05 9.99999794e-01 -1.74089649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters 0.05126277717142585 Centerline is valid? [True, True] Translation: X:235.33, Y:-21.36, Z:-1.74 [[ 9.73794041e-01 2.27431025e-01 5.41954750e-04 2.35333903e+02] [-2.27431002e-01 9.73794192e-01 -1.05458555e-04 -2.13602048e+01] [-5.51736935e-04 -2.05623989e-05 9.99999848e-01 -1.74152575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters 0.05184757327152357 Centerline is valid? [True, True] Translation: X:235.39, Y:-21.37, Z:-1.74 [[ 9.74610670e-01 2.23901799e-01 1.42325725e-03 2.35392865e+02] [-2.23901632e-01 9.74611708e-01 -2.77265858e-04 -2.13695034e+01] [-1.44920350e-03 -4.84433569e-05 9.99998949e-01 -1.74258532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters 0.05102216347259806 Centerline is valid? [True, True] Translation: X:235.45, Y:-21.40, Z:-1.74 [[ 9.75973100e-01 2.17862818e-01 3.50713867e-03 2.35449686e+02] [-2.17861769e-01 9.75979397e-01 -6.83170141e-04 -2.13962516e+01] [-3.57173245e-03 -9.73157534e-05 9.99993617e-01 -1.74148022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters 0.05028883610099058 Centerline is valid? [True, True] Translation: X:235.51, Y:-21.41, Z:-1.74 [[ 9.76846526e-01 2.13912844e-01 3.48720527e-03 2.35507784e+02] [-2.13911781e-01 9.76852746e-01 -6.79355091e-04 -2.14095336e+01] [-3.55180882e-03 -8.23286300e-05 9.99993689e-01 -1.74242642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters 0.050707350902484995 Centerline is valid? [True, True] Translation: X:235.57, Y:-21.42, Z:-1.74 [[ 9.77918145e-01 2.08964142e-01 3.17627419e-03 2.35566185e+02] [-2.08963234e-01 9.77923302e-01 -6.18781480e-04 -2.14241972e+01] [-3.23545568e-03 -5.86068875e-05 9.99994764e-01 -1.74389882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters 0.05092625344987959 Centerline is valid? [True, True] Translation: X:235.63, Y:-21.44, Z:-1.75 [[ 9.78447860e-01 2.06474163e-01 2.86442044e-03 2.35626204e+02] [-2.06473414e-01 9.78452052e-01 -5.57958768e-04 -2.14378704e+01] [-2.91790212e-03 -4.54931049e-05 9.99995742e-01 -1.74612477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters 0.05062613450244484 Centerline is valid? [True, True] Translation: X:235.69, Y:-21.46, Z:-1.74 [[ 9.78421134e-01 2.06589744e-01 3.57241128e-03 2.35686918e+02] [-2.06588581e-01 9.78427654e-01 -6.95543914e-04 -2.14569080e+01] [-3.63903823e-03 -5.74845134e-05 9.99993377e-01 -1.74453078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters 0.05073855365455119 Centerline is valid? [True, True] Translation: X:235.75, Y:-21.46, Z:-1.75 [[ 9.77827761e-01 2.09408906e-01 8.83532893e-04 2.35748090e+02] [-2.09408836e-01 9.77828160e-01 -1.72146454e-04 -2.14618763e+01] [-8.99992343e-04 -1.66900128e-05 9.99999595e-01 -1.74596400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters 0.05131179481233334 Centerline is valid? [True, True] Translation: X:235.81, Y:-21.46, Z:-1.75 [[ 9.76177272e-01 2.16931582e-01 -4.31527107e-03 2.35808060e+02] [-2.16929980e-01 9.76186804e-01 8.41649571e-04 -2.14649038e+01] [ 4.39509105e-03 1.14512485e-04 9.99990335e-01 -1.75014560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters 0.05148635404815767 Centerline is valid? [True, True] Translation: X:235.87, Y:-21.47, Z:-1.75 [[ 9.74998752e-01 2.22164081e-01 -4.53382519e-03 2.35869116e+02] [-2.22162368e-01 9.75009282e-01 8.84231561e-04 -2.14729633e+01] [ 4.61696614e-03 1.45120674e-04 9.99989331e-01 -1.75047157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters 0.05183543252183585 Centerline is valid? [True, True] Translation: X:235.93, Y:-21.48, Z:-1.75 [[ 9.74071762e-01 2.26214333e-01 -3.35820408e-03 2.35928388e+02] [-2.26213418e-01 9.74077543e-01 6.54884997e-04 -2.14807272e+01] [ 3.41929555e-03 1.21765841e-04 9.99994147e-01 -1.74813670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters 0.05228285881854181 Centerline is valid? [True, True] Translation: X:235.99, Y:-21.49, Z:-1.75 [[ 9.73895193e-01 2.26982658e-01 -2.65066206e-03 2.35989551e+02] [-2.26982088e-01 9.73898795e-01 5.17885159e-04 -2.14877047e+01] [ 2.69902754e-03 9.72869430e-05 9.99996353e-01 -1.74774262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters 0.05168485183608361 Centerline is valid? [True, True] Translation: X:236.05, Y:-21.50, Z:-1.75 [[ 9.74159151e-01 2.25862674e-01 1.78128360e-05 2.36049852e+02] [-2.25862674e-01 9.74159152e-01 -3.30805060e-06 -2.15004590e+01] [-1.80997025e-05 -8.00687010e-07 1.00000000e+00 -1.74531968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters 0.050495247535924985 Centerline is valid? [True, True] Translation: X:236.11, Y:-21.51, Z:-1.74 [[ 9.74183631e-01 2.25752857e-01 1.37874061e-03 2.36110266e+02] [-2.25752703e-01 9.74184605e-01 -2.68382742e-04 -2.15137709e+01] [-1.40373605e-03 -4.98003457e-05 9.99999014e-01 -1.74335469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters 0.05020568002603182 Centerline is valid? [True, True] Translation: X:236.17, Y:-21.53, Z:-1.74 [[ 9.74448121e-01 2.24597286e-01 2.63018103e-03 2.36170036e+02] [-2.24596718e-01 9.74451667e-01 -5.13363069e-04 -2.15306132e+01] [-2.67828424e-03 -9.04843477e-05 9.99996409e-01 -1.74147197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters 0.05113453140354065 Centerline is valid? [True, True] Translation: X:236.23, Y:-21.53, Z:-1.74 [[ 9.74673847e-01 2.23611391e-01 2.97268006e-03 2.36231606e+02] [-2.23610661e-01 9.74678376e-01 -5.80046956e-04 -2.15349211e+01] [-3.02711208e-03 -9.93663564e-05 9.99995413e-01 -1.74252114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters 0.05154970123216322 Centerline is valid? [True, True] Translation: X:236.29, Y:-21.55, Z:-1.74 [[ 9.75418362e-01 2.20347801e-01 2.42178501e-03 2.36291659e+02] [-2.20347305e-01 9.75421366e-01 -4.73109028e-04 -2.15465613e+01] [-2.46650937e-03 -7.21545662e-05 9.99996956e-01 -1.74357462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters 0.05191475149692546 Centerline is valid? [True, True] Translation: X:236.35, Y:-21.56, Z:-1.75 [[ 9.76374640e-01 2.16082982e-01 8.41534037e-04 2.36350704e+02] [-2.16082920e-01 9.76375002e-01 -1.64442486e-04 -2.15559274e+01] [-8.57186019e-04 -2.12836597e-05 9.99999632e-01 -1.74567217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters 0.05145644951118977 Centerline is valid? [True, True] Translation: X:236.41, Y:-21.57, Z:-1.75 [[ 9.77415920e-01 2.11323716e-01 6.36982799e-04 2.36409818e+02] [-2.11323680e-01 9.77416128e-01 -1.24416881e-04 -2.15708754e+01] [-6.48889498e-04 -1.30025092e-05 9.99999789e-01 -1.74650285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters 0.05169611646222792 Centerline is valid? [True, True] Translation: X:236.47, Y:-21.58, Z:-1.75 [[ 9.78515896e-01 2.06168668e-01 1.05929717e-03 2.36469215e+02] [-2.06168564e-01 9.78516469e-01 -2.06895694e-04 -2.15842117e+01] [-1.07919513e-03 -1.59430504e-05 9.99999418e-01 -1.74838514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters 0.05196288070228119 Centerline is valid? [True, True] Translation: X:236.53, Y:-21.60, Z:-1.75 [[ 9.78245948e-01 2.07447015e-01 7.75779293e-04 2.36529913e+02] [-2.07446960e-01 9.78246255e-01 -1.50844043e-04 -2.15956476e+01] [-7.90195335e-04 -1.33704830e-05 9.99999688e-01 -1.74870401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters 0.05196288070228119 Centerline is valid? [True, True] Translation: X:236.59, Y:-21.61, Z:-1.75 [[ 9.78218790e-01 2.07575038e-01 7.75783005e-04 2.36591239e+02] [-2.07574983e-01 9.78219098e-01 -1.50825356e-04 -2.16076013e+01] [-7.90193330e-04 -1.34929474e-05 9.99999688e-01 -1.74916473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters 0.05148264267000759 Centerline is valid? [True, True] Translation: X:236.65, Y:-21.62, Z:-1.75 [[ 9.77939295e-01 2.08886263e-01 1.12472877e-03 2.36652015e+02] [-2.08886149e-01 9.77939941e-01 -2.19352175e-04 -2.16208230e+01] [-1.14573685e-03 -2.04271503e-05 9.99999343e-01 -1.74908734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters 0.05148264267000759 Centerline is valid? [True, True] Translation: X:236.71, Y:-21.63, Z:-1.75 [[ 9.77911486e-01 2.09016412e-01 1.12472299e-03 2.36713340e+02] [-2.09016298e-01 9.77912133e-01 -2.19382006e-04 -2.16327826e+01] [-1.14573470e-03 -2.05492507e-05 9.99999343e-01 -1.74954806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters 0.05194236847527516 Centerline is valid? [True, True] Translation: X:236.77, Y:-21.64, Z:-1.75 [[ 9.77608396e-01 2.10428173e-01 1.34481093e-03 2.36773651e+02] [-2.10428011e-01 9.77609320e-01 -2.62850334e-04 -2.16422725e+01] [-1.37001082e-03 -2.60211962e-05 9.99999061e-01 -1.75080740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters 0.0514354468196182 Centerline is valid? [True, True] Translation: X:236.83, Y:-21.66, Z:-1.75 [[ 9.77356707e-01 2.11595811e-01 1.03914086e-03 2.36834554e+02] [-2.11595715e-01 9.77357259e-01 -2.03001920e-04 -2.16557695e+01] [-1.05856622e-03 -2.14724652e-05 9.99999439e-01 -1.75065897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters 0.05126094497388689 Centerline is valid? [True, True] Translation: X:236.89, Y:-21.67, Z:-1.75 [[ 9.76896153e-01 2.13714028e-01 4.68814164e-04 2.36894713e+02] [-2.13714009e-01 9.76896266e-01 -9.12175141e-05 -2.16697391e+01] [-4.77477268e-04 -1.10821159e-05 9.99999886e-01 -1.75034421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters 0.0515697538698465 Centerline is valid? [True, True] Translation: X:236.96, Y:-21.67, Z:-1.75 [[ 9.76325920e-01 2.16302233e-01 1.02058181e-03 2.36956400e+02] [-2.16302143e-01 9.76326453e-01 -1.99640300e-04 -2.16735467e+01] [-1.03960366e-03 -2.58400313e-05 9.99999459e-01 -1.75305064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters 0.05224563736580925 Centerline is valid? [True, True] Translation: X:237.02, Y:-21.69, Z:-1.75 [[ 9.75812613e-01 2.18601915e-01 1.71643955e-03 2.37016489e+02] [-2.18601661e-01 9.75814122e-01 -3.36541048e-04 -2.16864190e+01] [-1.74849447e-03 -4.68155371e-05 9.99998470e-01 -1.75314060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters 0.050097634648025975 Centerline is valid? [True, True] Translation: X:237.08, Y:-21.71, Z:-1.75 [[ 9.75557983e-01 2.19731255e-01 2.19035069e-03 2.37075288e+02] [-2.19730843e-01 9.75560440e-01 -4.29792994e-04 -2.17087971e+01] [-2.23125844e-03 -6.19996191e-05 9.99997509e-01 -1.75130008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters 0.05090177296261126 Centerline is valid? [True, True] Translation: X:237.14, Y:-21.71, Z:-1.75 [[ 9.75347499e-01 2.20664376e-01 2.11897509e-03 2.37136618e+02] [-2.20663992e-01 9.75349799e-01 -4.16058198e-04 -2.17138973e+01] [-2.15855115e-03 -6.17801803e-05 9.99997668e-01 -1.75346701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters 0.05036015207483508 Centerline is valid? [True, True] Translation: X:237.20, Y:-21.73, Z:-1.75 [[ 9.75140297e-01 2.21587887e-01 4.57356304e-04 2.37196667e+02] [-2.21587870e-01 9.75140404e-01 -8.97485353e-05 -2.17300126e+01] [-4.65873799e-04 -1.38271957e-05 9.99999891e-01 -1.75405563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters 0.05127584007048676 Centerline is valid? [True, True] Translation: X:237.26, Y:-21.74, Z:-1.76 [[ 9.75090484e-01 2.21807283e-01 -2.78238915e-04 2.37257521e+02] [-2.21807276e-01 9.75090524e-01 5.55408436e-05 -2.17394741e+01] [ 2.83627493e-04 7.55806773e-06 9.99999960e-01 -1.75529314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters 0.050559111699512674 Centerline is valid? [True, True] Translation: X:237.32, Y:-21.75, Z:-1.76 [[ 9.75175387e-01 2.21432018e-01 -9.09311120e-04 2.37317558e+02] [-2.21431946e-01 9.75175810e-01 1.79942193e-04 -2.17544436e+01] [ 9.26583171e-04 2.58753335e-05 9.99999570e-01 -1.75552928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters 0.05090465189967216 Centerline is valid? [True, True] Translation: X:237.38, Y:-21.77, Z:-1.76 [[ 9.75736351e-01 2.18944950e-01 -1.29713429e-03 2.37378078e+02] [-2.18944803e-01 9.75737212e-01 2.55805774e-04 -2.17676359e+01] [ 1.32166958e-03 3.44018187e-05 9.99999126e-01 -1.75600863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters 0.05065629327055592 Centerline is valid? [True, True] Translation: X:237.44, Y:-21.78, Z:-1.76 [[ 9.77014867e-01 2.13169656e-01 -8.05201342e-04 2.37436643e+02] [-2.13169598e-01 9.77015198e-01 1.58756879e-04 -2.17836379e+01] [ 8.20536098e-04 1.65366153e-05 9.99999663e-01 -1.75569785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters 0.05130759081429361 Centerline is valid? [True, True] Translation: X:237.50, Y:-21.80, Z:-1.76 [[ 9.78358832e-01 2.06915324e-01 2.09005329e-04 2.37495252e+02] [-2.06915320e-01 9.78358855e-01 -4.11822119e-05 -2.17987239e+01] [-2.13003445e-04 -2.95542389e-06 9.99999977e-01 -1.75559622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters 0.05143878105783154 Centerline is valid? [True, True] Translation: X:237.55, Y:-21.82, Z:-1.75 [[ 9.79989594e-01 1.99040843e-01 1.77180974e-03 2.37553227e+02] [-1.99040537e-01 9.79991195e-01 -3.49089459e-04 -2.18153913e+01] [-1.80584101e-03 -1.05579263e-05 9.99998369e-01 -1.75401998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters 0.051273502482418784 Centerline is valid? [True, True] Translation: X:237.61, Y:-21.83, Z:-1.76 [[ 9.81678289e-01 1.90542629e-01 1.11507300e-03 2.37613245e+02] [-1.90542503e-01 9.81678922e-01 -2.19449576e-04 -2.18321637e+01] [-1.13645816e-03 2.96008519e-06 9.99999354e-01 -1.75648148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters 0.05224362844858601 Centerline is valid? [True, True] Translation: X:237.67, Y:-21.85, Z:-1.76 [[ 9.82746729e-01 1.84956369e-01 -9.09212045e-05 2.37673433e+02] [-1.84956368e-01 9.82746733e-01 1.81789197e-05 -2.18452198e+01] [ 9.27148236e-05 -1.04881809e-06 9.99999996e-01 -1.75655926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters 0.05199202941956288 Centerline is valid? [True, True] Translation: X:237.73, Y:-21.86, Z:-1.76 [[ 9.83672876e-01 1.79957365e-01 -1.73788898e-03 2.37731077e+02] [-1.79957040e-01 9.83674411e-01 3.42922180e-04 -2.18621834e+01] [ 1.77122829e-03 -2.45778910e-05 9.99998431e-01 -1.75882108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters 0.05235433572187204 Centerline is valid? [True, True] Translation: X:237.79, Y:-21.87, Z:-1.76 [[ 9.84005321e-01 1.78132967e-01 -1.47488174e-03 2.37793432e+02] [-1.78132730e-01 9.84006426e-01 2.91809542e-04 -2.18693892e+01] [ 1.50327401e-03 -2.44174307e-05 9.99998870e-01 -1.75536812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters 0.052495492296194324 Centerline is valid? [True, True] Translation: X:237.85, Y:-21.89, Z:-1.76 [[ 9.84374912e-01 1.76084641e-01 -4.82291289e-04 2.37853498e+02] [-1.76084615e-01 9.84375030e-01 9.56266800e-05 -2.18861260e+01] [ 4.91593892e-04 -9.20842867e-06 9.99999879e-01 -1.75788342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters 0.052253263378028346 Centerline is valid? [True, True] Translation: X:237.91, Y:-21.90, Z:-1.76 [[ 9.84007656e-01 1.78125996e-01 -2.49108058e-04 2.37914222e+02] [-1.78125990e-01 9.84007688e-01 4.94835436e-05 -2.18987333e+01] [ 2.53938549e-04 -4.31956643e-06 9.99999968e-01 -1.75833644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters 0.05293552375624809 Centerline is valid? [True, True] Translation: X:237.97, Y:-21.91, Z:-1.76 [[ 9.83357970e-01 1.81678482e-01 -1.76629716e-04 2.37974754e+02] [-1.81678479e-01 9.83357986e-01 3.49922863e-05 -2.19087277e+01] [ 1.80047588e-04 -2.32012546e-06 9.99999984e-01 -1.75851530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters 0.05202904855689313 Centerline is valid? [True, True] Translation: X:238.04, Y:-21.92, Z:-1.76 [[ 9.82428723e-01 1.86638026e-01 2.27902565e-04 2.38035517e+02] [-1.86638021e-01 9.82428749e-01 -4.48632243e-05 -2.19157105e+01] [-2.32271216e-04 1.53963651e-06 9.99999973e-01 -1.75653333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters 0.051845875470841664 Centerline is valid? [True, True] Translation: X:238.10, Y:-21.92, Z:-1.76 [[ 9.80647671e-01 1.95778128e-01 1.03490767e-03 2.38096157e+02] [-1.95778022e-01 9.80648217e-01 -2.03589570e-04 -2.19234133e+01] [-1.05473875e-03 -2.96253888e-06 9.99999444e-01 -1.76036468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters 0.051682249490703075 Centerline is valid? [True, True] Translation: X:238.16, Y:-21.93, Z:-1.76 [[ 9.79372564e-01 2.02061466e-01 7.37537665e-04 2.38158215e+02] [-2.02061414e-01 9.79372842e-01 -1.45468131e-04 -2.19310488e+01] [-7.51717863e-04 -6.56040646e-06 9.99999717e-01 -1.76055224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters 0.05119326786598342 Centerline is valid? [True, True] Translation: X:238.22, Y:-21.94, Z:-1.76 [[ 9.77508427e-01 2.10894296e-01 9.33071973e-04 2.38217974e+02] [-2.10894216e-01 9.77508872e-01 -1.84250874e-04 -2.19418239e+01] [-9.50943591e-04 -1.66727005e-05 9.99999548e-01 -1.75976984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters 0.050961743947676975 Centerline is valid? [True, True] Translation: X:238.28, Y:-21.95, Z:-1.76 [[ 9.76087253e-01 2.17372321e-01 1.71738297e-03 2.38277591e+02] [-2.17372060e-01 9.76088763e-01 -3.39292782e-04 -2.19506497e+01] [-1.75007108e-03 -4.21317146e-05 9.99998468e-01 -1.75991287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters 0.0518909429986348 Centerline is valid? [True, True] Translation: X:238.34, Y:-21.95, Z:-1.76 [[ 9.75605658e-01 2.19525835e-01 1.41700049e-03 2.38338225e+02] [-2.19525660e-01 9.75606686e-01 -2.79949764e-04 -2.19514460e+01] [-1.44389136e-03 -3.79473940e-05 9.99998957e-01 -1.76225278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters 0.050638814525484285 Centerline is valid? [True, True] Translation: X:238.40, Y:-21.97, Z:-1.76 [[ 9.75397773e-01 2.20445716e-01 1.69432584e-03 2.38396608e+02] [-2.20445468e-01 9.75399243e-01 -3.34144813e-04 -2.19743643e+01] [-1.72630494e-03 -4.75823469e-05 9.99998509e-01 -1.76047517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters 0.050456390714953295 Centerline is valid? [True, True] Translation: X:238.46, Y:-21.99, Z:-1.76 [[ 9.75293461e-01 2.20910552e-01 1.09177446e-03 2.38456779e+02] [-2.20910450e-01 9.75294072e-01 -2.15091054e-04 -2.19889806e+01] [-1.11231704e-03 -3.14074882e-05 9.99999381e-01 -1.76098295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters 0.05063992074290204 Centerline is valid? [True, True] Translation: X:238.52, Y:-22.00, Z:-1.76 [[ 9.75724486e-01 2.19001584e-01 1.85082876e-04 2.38516071e+02] [-2.19001581e-01 9.75724503e-01 -3.65489287e-05 -2.20004393e+01] [-1.88594171e-04 -4.87175794e-06 9.99999982e-01 -1.76165423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters 0.051066912096563416 Centerline is valid? [True, True] Translation: X:238.58, Y:-22.02, Z:-1.76 [[ 9.76714069e-01 2.14540962e-01 1.34262392e-03 2.38575525e+02] [-2.14540799e-01 9.76714992e-01 -2.65506077e-04 -2.20150709e+01] [-1.36832284e-03 -2.87240884e-05 9.99999063e-01 -1.76116083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters 0.05065043156634074 Centerline is valid? [True, True] Translation: X:238.64, Y:-22.03, Z:-1.76 [[ 9.77109121e-01 2.12730385e-01 1.88388528e-03 2.38635676e+02] [-2.12730062e-01 9.77110936e-01 -3.72516292e-04 -2.20287317e+01] [-1.92001044e-03 -3.67699647e-05 9.99998156e-01 -1.76113145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters 0.05100596684814619 Centerline is valid? [True, True] Translation: X:238.69, Y:-22.04, Z:-1.76 [[ 9.78083268e-01 2.08194044e-01 2.89165876e-03 2.38694011e+02] [-2.08193262e-01 9.78087541e-01 -5.72105330e-04 -2.20405864e+01] [-2.94740433e-03 -4.24572178e-05 9.99995655e-01 -1.76184121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters 0.05015485261821155 Centerline is valid? [True, True] Translation: X:238.75, Y:-22.06, Z:-1.76 [[ 9.80050517e-01 1.98721294e-01 3.29121857e-03 2.38752422e+02] [-1.98720229e-01 9.80056043e-01 -6.51021186e-04 -2.20611362e+01] [-3.35495042e-03 -1.59980580e-05 9.99994372e-01 -1.76093245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters 0.050604666273183205 Centerline is valid? [True, True] Translation: X:238.81, Y:-22.08, Z:-1.76 [[ 9.81415959e-01 1.91857979e-01 3.63750687e-03 2.38811457e+02] [-1.91856631e-01 9.81422700e-01 -7.19255390e-04 -2.20769008e+01] [-3.70792670e-03 8.00890411e-06 9.99993126e-01 -1.76304245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters 0.05177511769642606 Centerline is valid? [True, True] Translation: X:238.87, Y:-22.10, Z:-1.76 [[ 9.83660677e-01 1.80000250e-01 3.40330734e-03 2.38870098e+02] [-1.79998996e-01 9.83666563e-01 -6.73601733e-04 -2.20963661e+01] [-3.46896812e-03 5.00036319e-05 9.99993982e-01 -1.76300314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters 0.05198773241860643 Centerline is valid? [True, True] Translation: X:238.93, Y:-22.11, Z:-1.76 [[ 9.84981553e-01 1.72634373e-01 2.95193704e-03 2.38930382e+02] [-1.72633397e-01 9.84985974e-01 -5.84387746e-04 -2.21054750e+01] [-3.00850200e-03 6.60082302e-05 9.99995472e-01 -1.76190434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters 0.05298034397285399 Centerline is valid? [True, True] Translation: X:238.99, Y:-22.13, Z:-1.76 [[ 9.86122909e-01 1.65986309e-01 3.18656188e-03 2.38987046e+02] [-1.65985137e-01 9.86128053e-01 -6.30839260e-04 -2.21264453e+01] [-3.24706874e-03 9.31631366e-05 9.99994724e-01 -1.76318139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters 0.05329636658385739 Centerline is valid? [True, True] Translation: X:239.05, Y:-22.14, Z:-1.76 [[ 9.86352830e-01 1.64621544e-01 2.80029019e-03 2.39048272e+02] [-1.64620633e-01 9.86356802e-01 -5.54341778e-04 -2.21374158e+01] [-2.85334187e-03 8.57910390e-05 9.99995926e-01 -1.76341928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters 0.052912697146106864 Centerline is valid? [True, True] Translation: X:239.11, Y:-22.14, Z:-1.76 [[ 9.86287555e-01 1.65004671e-01 3.21216028e-03 2.39110810e+02] [-1.65003474e-01 9.86292781e-01 -6.35885020e-04 -2.21417002e+01] [-3.27305450e-03 9.71478761e-05 9.99994639e-01 -1.76327454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters 0.05302392251246318 Centerline is valid? [True, True] Translation: X:239.17, Y:-22.15, Z:-1.76 [[ 9.86149571e-01 1.65822686e-01 3.44389258e-03 2.39171464e+02] [-1.65821315e-01 9.86155579e-01 -6.81963194e-04 -2.21539623e+01] [-3.50929885e-03 1.01446916e-04 9.99993837e-01 -1.76384394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters 0.05342940407930703 Centerline is valid? [True, True] Translation: X:239.23, Y:-22.16, Z:-1.76 [[ 9.85362102e-01 1.70443053e-01 3.27023858e-03 2.39230975e+02] [-1.70441840e-01 9.85367525e-01 -6.48046928e-04 -2.21597496e+01] [-3.33284199e-03 8.11754025e-05 9.99994443e-01 -1.76438300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters 0.05276870670063809 Centerline is valid? [True, True] Translation: X:239.29, Y:-22.17, Z:-1.77 [[ 9.84484486e-01 1.75450808e-01 2.70385847e-03 2.39291525e+02] [-1.75449998e-01 9.84488198e-01 -5.35759354e-04 -2.21656790e+01] [-2.75591616e-03 5.30548099e-05 9.99996201e-01 -1.76530515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters 0.052287067305892956 Centerline is valid? [True, True] Translation: X:239.35, Y:-22.17, Z:-1.77 [[ 9.82690880e-01 1.85231053e-01 2.84441312e-03 2.39352971e+02] [-1.85230197e-01 9.82694997e-01 -5.63624871e-04 -2.21669874e+01] [-2.89959137e-03 2.69978183e-05 9.99995796e-01 -1.76651506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters 0.051936653742667566 Centerline is valid? [True, True] Translation: X:239.41, Y:-22.17, Z:-1.77 [[ 9.81213371e-01 1.92901862e-01 3.03194101e-03 2.39414880e+02] [-1.92900926e-01 9.81218055e-01 -6.00770443e-04 -2.21714076e+01] [-3.09088499e-03 4.61976322e-06 9.99995223e-01 -1.76759730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters 0.05186040877006022 Centerline is valid? [True, True] Translation: X:239.48, Y:-22.17, Z:-1.77 [[ 9.79754393e-01 2.00182641e-01 2.87039881e-03 2.39476459e+02] [-2.00181835e-01 9.79758598e-01 -5.68458725e-04 -2.21745287e+01] [-2.92609348e-03 -1.76517677e-05 9.99995719e-01 -1.76882777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters 0.05185523890247384 Centerline is valid? [True, True] Translation: X:239.54, Y:-22.18, Z:-1.77 [[ 9.77894560e-01 2.09087049e-01 2.19879071e-03 2.39537725e+02] [-2.09086597e-01 9.77897032e-01 -4.35975104e-04 -2.21770443e+01] [-2.24134766e-03 -3.33999843e-05 9.99997488e-01 -1.76885813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters 0.052231085741056504 Centerline is valid? [True, True] Translation: X:239.60, Y:-22.18, Z:-1.77 [[ 9.77131640e-01 2.12618505e-01 2.66998635e-03 2.39598116e+02] [-2.12617851e-01 9.77135287e-01 -5.29507897e-04 -2.21829085e+01] [-2.72152105e-03 -5.02878400e-05 9.99996295e-01 -1.76953589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters 0.052905829072737116 Centerline is valid? [True, True] Translation: X:239.66, Y:-22.19, Z:-1.77 [[ 9.76744080e-01 2.14378966e-01 3.55813798e-03 2.39659972e+02] [-2.14377818e-01 9.76750559e-01 -7.05319134e-04 -2.21896028e+01] [-3.62661884e-03 -7.38695665e-05 9.99993421e-01 -1.76980622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters 0.05182824457288758 Centerline is valid? [True, True] Translation: X:239.72, Y:-22.20, Z:-1.77 [[ 9.76919660e-01 2.13592905e-01 2.45954038e-03 2.39721403e+02] [-2.13592353e-01 9.76922755e-01 -4.87814549e-04 -2.22020891e+01] [-2.50697469e-03 -4.87833953e-05 9.99996856e-01 -1.77144781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters 0.051610242893549194 Centerline is valid? [True, True] Translation: X:239.78, Y:-22.22, Z:-1.77 [[ 9.77201680e-01 2.12311220e-01 9.06430292e-04 2.39780975e+02] [-2.12311145e-01 9.77202101e-01 -1.79190747e-04 -2.22194652e+01] [-9.23809792e-04 -1.73397541e-05 9.99999573e-01 -1.77275083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters 0.05180796360424555 Centerline is valid? [True, True] Translation: X:239.84, Y:-22.23, Z:-1.78 [[ 9.77599872e-01 2.10469310e-01 -1.07662365e-03 2.39840949e+02] [-2.10469201e-01 9.77600465e-01 2.14750182e-04 -2.22307739e+01] [ 1.09770611e-03 1.66563698e-05 9.99999397e-01 -1.77510649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters 0.051530886395029625 Centerline is valid? [True, True] Translation: X:239.90, Y:-22.25, Z:-1.77 [[ 9.78412397e-01 2.06656626e-01 -1.49020065e-03 2.39899748e+02] [-2.06656415e-01 9.78413531e-01 2.96306287e-04 -2.22489866e+01] [ 1.51926614e-03 1.80497792e-05 9.99998846e-01 -1.77296749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters 0.0515064755921059 Centerline is valid? [True, True] Translation: X:239.96, Y:-22.26, Z:-1.77 [[ 9.78908661e-01 2.04298365e-01 -1.02828680e-04 2.39960408e+02] [-2.04298364e-01 9.78908667e-01 2.13237128e-05 -2.22638796e+01] [ 1.05016286e-04 1.33764002e-07 9.99999994e-01 -1.77213105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters 0.05171743880116525 Centerline is valid? [True, True] Translation: X:240.02, Y:-22.28, Z:-1.77 [[ 9.79457697e-01 2.01633699e-01 2.54398908e-03 2.40020337e+02] [-2.01633067e-01 9.79461000e-01 -5.05366062e-04 -2.22782308e+01] [-2.59363692e-03 -1.79676425e-05 9.99996636e-01 -1.77255131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters 0.0519606084974003 Centerline is valid? [True, True] Translation: X:240.08, Y:-22.29, Z:-1.77 [[ 9.79644525e-01 2.00716326e-01 3.09210406e-03 2.40081092e+02] [-2.00715385e-01 9.79649405e-01 -6.14837435e-04 -2.22930727e+01] [-3.15258581e-03 -1.83107301e-05 9.99995030e-01 -1.77307344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters 0.05196717282926557 Centerline is valid? [True, True] Translation: X:240.14, Y:-22.31, Z:-1.78 [[ 9.79447885e-01 2.01689825e-01 1.74776504e-03 2.40140860e+02] [-2.01689526e-01 9.79449445e-01 -3.47417373e-04 -2.23071306e+01] [-1.78191805e-03 -1.22286913e-05 9.99998412e-01 -1.77527835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters 0.05191347116840093 Centerline is valid? [True, True] Translation: X:240.20, Y:-22.32, Z:-1.77 [[ 9.78631694e-01 2.05617222e-01 1.25082279e-03 2.40200473e+02] [-2.05617072e-01 9.78632494e-01 -2.48822737e-04 -2.23229095e+01] [-1.27525806e-03 -1.36847015e-05 9.99999187e-01 -1.77387469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters 0.051509093175884854 Centerline is valid? [True, True] Translation: X:240.26, Y:-22.33, Z:-1.77 [[ 9.77700474e-01 2.10004201e-01 1.38572337e-04 2.40260743e+02] [-2.10004199e-01 9.77700484e-01 -2.74938685e-05 -2.23349060e+01] [-1.41256069e-04 -2.22000454e-06 9.99999990e-01 -1.77473526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters 0.05159744620312493 Centerline is valid? [True, True] Translation: X:240.32, Y:-22.34, Z:-1.78 [[ 9.76205395e-01 2.16847935e-01 -5.21962152e-06 2.40319576e+02] [-2.16847935e-01 9.76205395e-01 1.03384804e-06 -2.23445200e+01] [ 5.31961042e-06 1.22616115e-07 1.00000000e+00 -1.77650688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters 0.051997352640754085 Centerline is valid? [True, True] Translation: X:240.38, Y:-22.36, Z:-1.78 [[ 9.75344209e-01 2.20688894e-01 2.91987369e-04 2.40379743e+02] [-2.20688887e-01 9.75344253e-01 -5.80774991e-05 -2.23571694e+01] [-2.97605261e-04 -7.79281493e-06 9.99999956e-01 -1.77637103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters 0.0521113732177755 Centerline is valid? [True, True] Translation: X:240.44, Y:-22.37, Z:-1.78 [[ 9.74787777e-01 2.23131675e-01 1.02293276e-03 2.40438818e+02] [-2.23131584e-01 9.74788313e-01 -2.03635685e-04 -2.23660172e+01] [-1.04258047e-03 -2.97470309e-05 9.99999456e-01 -1.77661074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters 0.052018524856458956 Centerline is valid? [True, True] Translation: X:240.50, Y:-22.38, Z:-1.77 [[ 9.74635978e-01 2.23787400e-01 1.97756280e-03 2.40498405e+02] [-2.23787062e-01 9.74637982e-01 -3.93638858e-04 -2.23833881e+01] [-2.01549923e-03 -5.88983743e-05 9.99997967e-01 -1.77494338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters 0.051506601031960426 Centerline is valid? [True, True] Translation: X:240.56, Y:-22.40, Z:-1.77 [[ 9.74281474e-01 2.25315835e-01 2.89540214e-03 2.40558986e+02] [-2.25315114e-01 9.74285772e-01 -5.77370659e-04 -2.23972662e+01] [-2.95103986e-03 -8.98563252e-05 9.99995642e-01 -1.77468789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters 0.05231180730932574 Centerline is valid? [True, True] Translation: X:240.62, Y:-22.41, Z:-1.78 [[ 9.73952165e-01 2.26743496e-01 2.13721007e-03 2.40618943e+02] [-2.26743105e-01 9.73954507e-01 -4.26298798e-04 -2.24056563e+01] [-2.17820586e-03 -6.94030099e-05 9.99997625e-01 -1.77746624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters 0.05127660578078009 Centerline is valid? [True, True] Translation: X:240.68, Y:-22.42, Z:-1.78 [[ 9.73967200e-01 2.26682709e-01 1.68590916e-03 2.40679695e+02] [-2.26682468e-01 9.73968658e-01 -3.35639443e-04 -2.24221164e+01] [-1.71810634e-03 -5.52642389e-05 9.99998523e-01 -1.77898045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters 0.051671855558574155 Centerline is valid? [True, True] Translation: X:240.74, Y:-22.44, Z:-1.78 [[ 9.74305689e-01 2.25220165e-01 2.07394652e-03 2.40739202e+02] [-2.25219793e-01 9.74307895e-01 -4.13928264e-04 -2.24369282e+01] [-2.11388746e-03 -6.38011445e-05 9.99997764e-01 -1.77918159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters 0.05200291585292038 Centerline is valid? [True, True] Translation: X:240.80, Y:-22.45, Z:-1.78 [[ 9.74642178e-01 2.23752343e-01 2.74108782e-03 2.40799022e+02] [-2.23751688e-01 9.74646029e-01 -5.47159381e-04 -2.24475453e+01] [-2.79401855e-03 -8.00384151e-05 9.99996094e-01 -1.77948792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters 0.051450592311905165 Centerline is valid? [True, True] Translation: X:240.86, Y:-22.46, Z:-1.78 [[ 9.74986079e-01 2.22243937e-01 3.12718469e-03 2.40858609e+02] [-2.22243076e-01 9.74991090e-01 -6.24295305e-04 -2.24611734e+01] [-3.18772305e-03 -8.63159143e-05 9.99994915e-01 -1.77956823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters 0.05171449686129116 Centerline is valid? [True, True] Translation: X:240.92, Y:-22.48, Z:-1.78 [[ 9.75267558e-01 2.20994848e-01 3.80356320e-03 2.40918171e+02] [-2.20993566e-01 9.75274970e-01 -7.59346992e-04 -2.24777201e+01] [-3.87733176e-03 -9.99965083e-05 9.99992478e-01 -1.77958578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters 0.05053143247978979 Centerline is valid? [True, True] Translation: X:240.98, Y:-22.49, Z:-1.78 [[ 9.75403725e-01 2.20392897e-01 3.81358091e-03 2.40978301e+02] [-2.20391604e-01 9.75411176e-01 -7.61197923e-04 -2.24924351e+01] [-3.88757205e-03 -9.80059238e-05 9.99992439e-01 -1.78053514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters 0.05120000703524447 Centerline is valid? [True, True] Translation: X:241.04, Y:-22.50, Z:-1.78 [[ 9.75534562e-01 2.19822344e-01 3.23336392e-03 2.41038916e+02] [-2.19821410e-01 9.75539918e-01 -6.45661960e-04 -2.25015330e+01] [-3.29620649e-03 -8.08970581e-05 9.99994564e-01 -1.78225992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters 0.05212057754425055 Centerline is valid? [True, True] Translation: X:241.10, Y:-22.51, Z:-1.79 [[ 9.75922503e-01 2.18109300e-01 1.89798790e-03 2.41099631e+02] [-2.18108975e-01 9.75924347e-01 -3.78905097e-04 -2.25100100e+01] [-1.93493533e-03 -4.41861851e-05 9.99998127e-01 -1.78501625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters 0.05175746883927642 Centerline is valid? [True, True] Translation: X:241.16, Y:-22.53, Z:-1.79 [[ 9.77154924e-01 2.12525595e-01 1.06089112e-03 2.41158486e+02] [-2.12525490e-01 9.77155500e-01 -2.12145491e-04 -2.25267422e+01] [-1.08174194e-03 -1.81673950e-05 9.99999415e-01 -1.78556685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters 0.05040297911576433 Centerline is valid? [True, True] Translation: X:241.22, Y:-22.55, Z:-1.78 [[ 9.78909210e-01 2.04276157e-01 2.83008278e-03 2.41216277e+02] [-2.04275374e-01 9.78913301e-01 -5.66038661e-04 -2.25499254e+01] [-2.88603388e-03 -2.40157607e-05 9.99995835e-01 -1.78209161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters 0.05122827528055561 Centerline is valid? [True, True] Translation: X:241.28, Y:-22.57, Z:-1.78 [[ 9.80340987e-01 1.97274106e-01 3.80486503e-03 2.41276127e+02] [-1.97272639e-01 9.80348370e-01 -7.60759344e-04 -2.25653490e+01] [-3.88017135e-03 -4.79219994e-06 9.99992472e-01 -1.78280309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters 0.0514090299354981 Centerline is valid? [True, True] Translation: X:241.34, Y:-22.58, Z:-1.78 [[ 9.81683270e-01 1.90479957e-01 3.91707586e-03 2.41335532e+02] [-1.90478346e-01 9.81691085e-01 -7.83715379e-04 -2.25805565e+01] [-3.99464052e-03 2.32421454e-05 9.99992021e-01 -1.78381932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters 0.052069343754632486 Centerline is valid? [True, True] Translation: X:241.40, Y:-22.60, Z:-1.78 [[ 9.83169377e-01 1.82611649e-01 5.56430612e-03 2.41395105e+02] [-1.82608267e-01 9.83185119e-01 -1.11435001e-03 -2.25963064e+01] [-5.67423627e-03 7.95065062e-05 9.99983898e-01 -1.78309559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters 0.052987461224838314 Centerline is valid? [True, True] Translation: X:241.45, Y:-22.61, Z:-1.78 [[ 9.84585459e-01 1.74875123e-01 3.18821501e-03 2.41453688e+02] [-1.74873971e-01 9.84590619e-01 -6.38585351e-04 -2.26101537e+01] [-3.25075928e-03 7.12060309e-05 9.99994714e-01 -1.78487494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters 0.052693689091505624 Centerline is valid? [True, True] Translation: X:241.51, Y:-22.62, Z:-1.79 [[ 9.85580430e-01 1.69174645e-01 3.34012236e-03 2.41513629e+02] [-1.69173348e-01 9.85586085e-01 -6.68999056e-04 -2.26185808e+01] [-3.40515579e-03 9.42926940e-05 9.99994198e-01 -1.78526058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters 0.0527494840364101 Centerline is valid? [True, True] Translation: X:241.58, Y:-22.62, Z:-1.79 [[ 9.86829743e-01 1.61712437e-01 4.01825994e-03 2.41575170e+02] [-1.61710498e-01 9.86837913e-01 -8.04863813e-04 -2.26208447e+01] [-4.09552774e-03 1.44468733e-04 9.99991603e-01 -1.78525408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters 0.053352100074347916 Centerline is valid? [True, True] Translation: X:241.63, Y:-22.63, Z:-1.79 [[ 9.87239057e-01 1.59188187e-01 4.26207136e-03 2.41634113e+02] [-1.59185982e-01 9.87248243e-01 -8.53778366e-04 -2.26333810e+01] [-4.34363390e-03 1.64421333e-04 9.99990553e-01 -1.78605371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters 0.05338522732851482 Centerline is valid? [True, True] Translation: X:241.69, Y:-22.64, Z:-1.79 [[ 9.87306329e-01 1.58773355e-01 4.15136053e-03 2.41694678e+02] [-1.58771261e-01 9.87315044e-01 -8.31327597e-04 -2.26438013e+01] [-4.23069337e-03 1.61658253e-04 9.99991038e-01 -1.78634129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters 0.05314583765953059 Centerline is valid? [True, True] Translation: X:241.75, Y:-22.65, Z:-1.79 [[ 9.86469989e-01 1.63868909e-01 4.89305268e-03 2.41754536e+02] [-1.63866058e-01 9.86482110e-01 -9.80793690e-04 -2.26479231e+01] [-4.98763053e-03 1.65718285e-04 9.99987548e-01 -1.78724925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters 0.05312334813076363 Centerline is valid? [True, True] Translation: X:241.81, Y:-22.66, Z:-1.79 [[ 9.85284327e-01 1.70864931e-01 4.46880359e-03 2.41814873e+02] [-1.70862625e-01 9.85294454e-01 -8.95661481e-04 -2.26576847e+01] [-4.55612453e-03 1.18929708e-04 9.99989614e-01 -1.78838777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters 0.05207064276248756 Centerline is valid? [True, True] Translation: X:241.88, Y:-22.66, Z:-1.79 [[ 9.82841128e-01 1.84405935e-01 4.21524928e-03 2.41876363e+02] [-1.84404007e-01 9.82850166e-01 -8.44921629e-04 -2.26564866e+01] [-4.29876701e-03 5.31148712e-05 9.99990759e-01 -1.78860258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters 0.052086572787577196 Centerline is valid? [True, True] Translation: X:241.94, Y:-22.66, Z:-1.79 [[ 9.80958908e-01 1.94160432e-01 4.62027010e-03 2.41937431e+02] [-1.94158224e-01 9.80969789e-01 -9.26138301e-04 -2.26593276e+01] [-4.71216479e-03 1.14401815e-05 9.99988898e-01 -1.78938419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters 0.05211795867265668 Centerline is valid? [True, True] Translation: X:242.00, Y:-22.66, Z:-1.79 [[ 9.78336174e-01 2.06974530e-01 4.45802978e-03 2.42000805e+02] [-2.06972608e-01 9.78346330e-01 -8.93360752e-04 -2.26566971e+01] [-4.54640000e-03 -4.86829094e-05 9.99989664e-01 -1.79035650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters 0.052254630699507566 Centerline is valid? [True, True] Translation: X:242.06, Y:-22.66, Z:-1.79 [[ 9.77062220e-01 2.12916072e-01 4.02052926e-03 2.42061965e+02] [-2.12914556e-01 9.77070490e-01 -8.06427448e-04 -2.26561462e+01] [-4.10004186e-03 -6.80994078e-05 9.99991592e-01 -1.79206527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters 0.05123120207547527 Centerline is valid? [True, True] Translation: X:242.12, Y:-22.67, Z:-1.79 [[ 9.76199702e-01 2.16835656e-01 4.05469421e-03 2.42120742e+02] [-2.16834147e-01 9.76208119e-01 -8.13255081e-04 -2.26717833e+01] [-4.13456810e-03 -8.52967943e-05 9.99991449e-01 -1.78996968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters 0.052553231602595694 Centerline is valid? [True, True] Translation: X:242.18, Y:-22.67, Z:-1.79 [[ 9.76227617e-01 2.16705580e-01 4.28159438e-03 2.42183387e+02] [-2.16703897e-01 9.76237002e-01 -8.58709706e-04 -2.26747008e+01] [-4.36593805e-03 -8.95420602e-05 9.99990465e-01 -1.79148990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters 0.05328113804128543 Centerline is valid? [True, True] Translation: X:242.24, Y:-22.68, Z:-1.79 [[ 9.76676054e-01 2.14697251e-01 2.99614209e-03 2.42244611e+02] [-2.14696418e-01 9.76680648e-01 -6.00635726e-04 -2.26836065e+01] [-3.05522883e-03 -5.66344439e-05 9.99995331e-01 -1.79438199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters 0.05244515565593527 Centerline is valid? [True, True] Translation: X:242.30, Y:-22.70, Z:-1.79 [[ 9.77519273e-01 2.10840268e-01 1.56604720e-03 2.42303204e+02] [-2.10840035e-01 9.77520527e-01 -3.14213555e-04 -2.27037557e+01] [-1.59709215e-03 -2.30356404e-05 9.99998724e-01 -1.79445594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters 0.05276048291077543 Centerline is valid? [True, True] Translation: X:242.36, Y:-22.72, Z:-1.80 [[ 9.79358625e-01 2.02130175e-01 -2.76425611e-04 2.42361089e+02] [-2.02130167e-01 9.79358664e-01 5.55729949e-05 -2.27219052e+01] [ 2.81952797e-04 1.44806315e-06 9.99999960e-01 -1.79505784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters 0.05329979449944867 Centerline is valid? [True, True] Translation: X:242.42, Y:-22.74, Z:-1.79 [[ 9.81238665e-01 1.92796408e-01 -4.77529945e-04 2.42420700e+02] [-1.92796384e-01 9.81238781e-01 9.63715663e-05 -2.27407784e+01] [ 4.87150992e-04 -2.49746049e-06 9.99999881e-01 -1.79485839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters 0.05329979449944867 Centerline is valid? [True, True] Translation: X:242.48, Y:-22.75, Z:-1.80 [[ 9.81213138e-01 1.92926281e-01 -4.77415256e-04 2.42481961e+02] [-1.92926256e-01 9.81213254e-01 9.69422754e-05 -2.27530395e+01] [ 4.87148889e-04 -3.01509628e-06 9.99999881e-01 -1.79531894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters 0.05285703692412845 Centerline is valid? [True, True] Translation: X:242.54, Y:-22.77, Z:-1.80 [[ 9.83131548e-01 1.82897863e-01 -8.54801947e-04 2.42539090e+02] [-1.82897783e-01 9.83131920e-01 1.72039463e-04 -2.27713288e+01] [ 8.71848729e-04 -1.27960428e-05 9.99999620e-01 -1.79515839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters 0.053020867871501634 Centerline is valid? [True, True] Translation: X:242.60, Y:-22.79, Z:-1.79 [[ 9.84300374e-01 1.76500119e-01 -6.94656611e-04 2.42598361e+02] [-1.76500064e-01 9.84300619e-01 1.39706536e-04 -2.27859428e+01] [ 7.08409152e-04 -1.49062587e-05 9.99999749e-01 -1.79421241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters 0.05454287906290616 Centerline is valid? [True, True] Translation: X:242.66, Y:-22.80, Z:-1.79 [[ 9.85972938e-01 1.66905260e-01 -6.72229338e-07 2.42657287e+02] [-1.66905260e-01 9.85972938e-01 1.81231068e-07 -2.27995902e+01] [ 6.93048277e-07 -6.64903152e-08 1.00000000e+00 -1.79358779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters 0.05403514957837228 Centerline is valid? [True, True] Translation: X:242.71, Y:-22.82, Z:-1.79 [[ 9.87423723e-01 1.58092582e-01 1.06126519e-03 2.42714462e+02] [-1.58092444e-01 9.87424293e-01 -2.13262138e-04 -2.28212354e+01] [-1.08163419e-03 4.28020867e-05 9.99999414e-01 -1.79400945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters 0.05387031676274654 Centerline is valid? [True, True] Translation: X:242.77, Y:-22.84, Z:-1.79 [[ 9.88050922e-01 1.54121346e-01 1.40917524e-03 2.42773294e+02] [-1.54121099e-01 9.88051925e-01 -2.83184410e-04 -2.28351668e+01] [-1.43598307e-03 6.26169817e-05 9.99998967e-01 -1.79389479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters 0.054398485023857426 Centerline is valid? [True, True] Translation: X:242.83, Y:-22.85, Z:-1.79 [[ 9.88261066e-01 1.52767222e-01 1.49723994e-03 2.42833432e+02] [-1.52766941e-01 9.88262198e-01 -3.00927409e-04 -2.28475335e+01] [-1.52563748e-03 6.86660754e-05 9.99998834e-01 -1.79431547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters 0.05513012435219042 Centerline is valid? [True, True] Translation: X:242.89, Y:-22.87, Z:-1.80 [[ 9.87733432e-01 1.56143060e-01 1.41826132e-03 2.42890129e+02] [-1.56142811e-01 9.87734449e-01 -2.85122150e-04 -2.28672290e+01] [-1.44538540e-03 6.01733703e-05 9.99998954e-01 -1.79618165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters 0.054070302125376946 Centerline is valid? [True, True] Translation: X:242.95, Y:-22.87, Z:-1.80 [[ 9.87343618e-01 1.58586636e-01 1.69064620e-03 2.42951584e+02] [-1.58586287e-01 9.87345063e-01 -3.39896718e-04 -2.28685569e+01] [-1.72315425e-03 6.74815530e-05 9.99998513e-01 -1.79542402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters 0.054169615618251725 Centerline is valid? [True, True] Translation: X:243.01, Y:-22.88, Z:-1.80 [[ 9.85591891e-01 1.69135878e-01 1.29596842e-03 2.43010868e+02] [-1.69135682e-01 9.85592742e-01 -2.60561457e-04 -2.28781147e+01] [-1.32136736e-03 3.76127564e-05 9.99999126e-01 -1.79686188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters 0.05370870095463689 Centerline is valid? [True, True] Translation: X:243.07, Y:-22.89, Z:-1.80 [[ 9.84017342e-01 1.78072202e-01 4.01490661e-04 2.43070174e+02] [-1.78072184e-01 9.84017424e-01 -8.07395163e-05 -2.28877206e+01] [-4.09451269e-04 7.95476548e-06 9.99999916e-01 -1.79857664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters 0.05342972727462983 Centerline is valid? [True, True] Translation: X:243.13, Y:-22.89, Z:-1.80 [[ 9.82305893e-01 1.87283149e-01 3.94206376e-04 2.43131546e+02] [-1.87283132e-01 9.82305972e-01 -7.91819915e-05 -2.28921699e+01] [-4.02060730e-04 3.95273212e-06 9.99999919e-01 -1.79748313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters 0.05234873155338595 Centerline is valid? [True, True] Translation: X:243.19, Y:-22.90, Z:-1.80 [[ 9.79722847e-01 2.00350927e-01 1.62755857e-03 2.43192102e+02] [-2.00350660e-01 9.79724199e-01 -3.27201615e-04 -2.28958347e+01] [-1.66011366e-03 -5.51553576e-06 9.99998622e-01 -1.79918342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters 0.05341487752219081 Centerline is valid? [True, True] Translation: X:243.25, Y:-22.90, Z:-1.80 [[ 9.77454148e-01 2.11135096e-01 2.31491702e-03 2.43253182e+02] [-2.11134586e-01 9.77456889e-01 -4.65413770e-04 -2.28951161e+01] [-2.36099677e-03 -3.38384273e-05 9.99997212e-01 -1.79997486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters 0.05254003184735756 Centerline is valid? [True, True] Translation: X:243.31, Y:-22.90, Z:-1.80 [[ 9.76225894e-01 2.16737777e-01 2.78225600e-03 2.43313585e+02] [-2.16737062e-01 9.76229857e-01 -5.59606884e-04 -2.29044847e+01] [-2.83740933e-03 -5.67152610e-05 9.99995973e-01 -1.79956995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters 0.053330314349810115 Centerline is valid? [True, True] Translation: X:243.37, Y:-22.91, Z:-1.80 [[ 9.74667353e-01 2.23638422e-01 3.06706164e-03 2.43373806e+02] [-2.23637587e-01 9.74672175e-01 -6.16933479e-04 -2.29122501e+01] [-3.12734967e-03 -8.46053425e-05 9.99995106e-01 -1.79927822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters 0.05290328923915831 Centerline is valid? [True, True] Translation: X:243.43, Y:-22.93, Z:-1.80 [[ 9.73932629e-01 2.26816674e-01 3.07077283e-03 2.43432859e+02] [-2.26815853e-01 9.73937466e-01 -6.17681324e-04 -2.29261076e+01] [-3.13084113e-03 -9.49199639e-05 9.99995094e-01 -1.79916870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters 0.05515720666272104 Centerline is valid? [True, True] Translation: X:243.49, Y:-22.93, Z:-1.80 [[ 9.73520962e-01 2.28588518e-01 2.05552757e-03 2.43493415e+02] [-2.28588154e-01 9.73523130e-01 -4.13505159e-04 -2.29285192e+01] [-2.09562617e-03 -6.73133128e-05 9.99997802e-01 -1.80153420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters 0.05380033251210809 Centerline is valid? [True, True] Translation: X:243.55, Y:-22.95, Z:-1.80 [[ 9.73753978e-01 2.27600781e-01 1.03661226e-03 2.43553000e+02] [-2.27600689e-01 9.73754529e-01 -2.07863270e-04 -2.29468533e+01] [-1.05671573e-03 -3.35259784e-05 9.99999441e-01 -1.80198282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters 0.05357521368886117 Centerline is valid? [True, True] Translation: X:243.61, Y:-22.96, Z:-1.80 [[ 9.74764979e-01 2.23233493e-01 2.08919341e-04 2.43611259e+02] [-2.23233489e-01 9.74765001e-01 -4.19918673e-05 -2.29634182e+01] [-2.13021253e-04 -5.70559169e-06 9.99999977e-01 -1.80423938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters 0.05280396974213462 Centerline is valid? [True, True] Translation: X:243.67, Y:-22.98, Z:-1.80 [[ 9.75853191e-01 2.18427446e-01 -1.55642559e-05 2.43668846e+02] [-2.18427446e-01 9.75853191e-01 3.17446768e-06 -2.29838348e+01] [ 1.58818195e-05 3.01846244e-07 1.00000000e+00 -1.80432409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters 0.05264416100249757 Centerline is valid? [True, True] Translation: X:243.73, Y:-23.01, Z:-1.80 [[ 9.77859151e-01 2.09263860e-01 3.43548350e-04 2.43725599e+02] [-2.09263849e-01 9.77859211e-01 -6.90893881e-05 -2.30081457e+01] [-3.50399831e-04 -4.33255947e-06 9.99999939e-01 -1.80353261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters 0.05217171442978621 Centerline is valid? [True, True] Translation: X:243.78, Y:-23.03, Z:-1.80 [[ 9.79214246e-01 2.02827003e-01 8.16711073e-04 2.43783962e+02] [-2.02826937e-01 9.79214587e-01 -1.64178871e-04 -2.30318301e+01] [-8.33035304e-04 -4.88471594e-06 9.99999653e-01 -1.79991496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters 0.05191526500423835 Centerline is valid? [True, True] Translation: X:243.84, Y:-23.05, Z:-1.80 [[ 9.80802491e-01 1.94999609e-01 1.27565005e-03 2.43842416e+02] [-1.94999440e-01 9.80803320e-01 -2.56268465e-04 -2.30517926e+01] [-1.30113406e-03 2.59770280e-06 9.99999154e-01 -1.80126740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters 0.052806020857668286 Centerline is valid? [True, True] Translation: X:243.90, Y:-23.07, Z:-1.80 [[ 9.81703755e-01 1.90407049e-01 1.70079898e-03 2.43901739e+02] [-1.90406743e-01 9.81705228e-01 -3.42072439e-04 -2.30694616e+01] [-1.73481626e-03 1.19702031e-05 9.99998495e-01 -1.80081283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters 0.052304111719249945 Centerline is valid? [True, True] Translation: X:243.96, Y:-23.09, Z:-1.80 [[ 9.82858363e-01 1.84356405e-01 1.46770754e-03 2.43960634e+02] [-1.84356169e-01 9.82859459e-01 -2.95692256e-04 -2.30880186e+01] [-1.49706300e-03 2.00426673e-05 9.99998879e-01 -1.80138291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters 0.05310972708025383 Centerline is valid? [True, True] Translation: X:244.02, Y:-23.11, Z:-1.80 [[ 9.83870915e-01 1.78873638e-01 1.49805958e-03 2.44019172e+02] [-1.78873386e-01 9.83872055e-01 -3.01831922e-04 -2.31069401e+01] [-1.52788873e-03 2.90006605e-05 9.99998832e-01 -1.80189639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters 0.05269412357230082 Centerline is valid? [True, True] Translation: X:244.08, Y:-23.12, Z:-1.80 [[ 9.84445911e-01 1.75677974e-01 1.87015210e-03 2.44078308e+02] [-1.75677575e-01 9.84447687e-01 -3.76812279e-04 -2.31233130e+01] [-1.90726453e-03 4.24075215e-05 9.99998180e-01 -1.80213366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters 0.05390736448056802 Centerline is valid? [True, True] Translation: X:244.14, Y:-23.14, Z:-1.80 [[ 9.85419858e-01 1.70122101e-01 2.48494498e-03 2.44136126e+02] [-1.70121378e-01 9.85422988e-01 -5.00847081e-04 -2.31436420e+01] [-2.53392706e-03 7.08023958e-05 9.99996787e-01 -1.80267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters 0.05388487081347888 Centerline is valid? [True, True] Translation: X:244.20, Y:-23.15, Z:-1.80 [[ 9.86170957e-01 1.65692906e-01 3.56430678e-03 2.44195854e+02] [-1.65691390e-01 9.86177391e-01 -7.18449688e-04 -2.31535880e+01] [-3.63408077e-03 1.17939272e-04 9.99993390e-01 -1.80175987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters 0.053930633040493205 Centerline is valid? [True, True] Translation: X:244.25, Y:-23.17, Z:-1.80 [[ 9.86743665e-01 1.62241259e-01 3.83575187e-03 2.44254587e+02] [-1.62239477e-01 9.86751111e-01 -7.73231981e-04 -2.31691217e+01] [-3.91038254e-03 1.40671381e-04 9.99992345e-01 -1.80177398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters 0.053691556753237106 Centerline is valid? [True, True] Translation: X:244.32, Y:-23.17, Z:-1.80 [[ 9.87185634e-01 1.59552367e-01 2.75069161e-03 2.44317995e+02] [-1.59551441e-01 9.87189460e-01 -5.54497990e-04 -2.31655386e+01] [-2.80392523e-03 1.08515641e-04 9.99996063e-01 -1.80136697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters 0.05367520315912066 Centerline is valid? [True, True] Translation: X:244.38, Y:-23.18, Z:-1.80 [[ 9.87108645e-01 1.60042591e-01 1.70048369e-03 2.44377284e+02] [-1.60042239e-01 9.87110108e-01 -3.42259244e-04 -2.31818702e+01] [-1.73334070e-03 6.56978420e-05 9.99998496e-01 -1.80318799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters 0.05401516339982982 Centerline is valid? [True, True] Translation: X:244.44, Y:-23.19, Z:-1.80 [[ 9.86827150e-01 1.61769280e-01 1.69578805e-03 2.44436988e+02] [-1.61768930e-01 9.86828605e-01 -3.42025320e-04 -2.31945891e+01] [-1.72878134e-03 6.31940532e-05 9.99998504e-01 -1.80393044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters 0.053442158956430987 Centerline is valid? [True, True] Translation: X:244.50, Y:-23.20, Z:-1.80 [[ 9.86659159e-01 1.62784674e-01 2.20316481e-03 2.44498626e+02] [-1.62784087e-01 9.86661616e-01 -4.44384661e-04 -2.32007716e+01] [-2.24611716e-03 7.98160237e-05 9.99997474e-01 -1.80319052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters 0.053527406212445096 Centerline is valid? [True, True] Translation: X:244.56, Y:-23.22, Z:-1.80 [[ 9.86450798e-01 1.64020082e-01 3.49787653e-03 2.44557674e+02] [-1.64018609e-01 9.86456992e-01 -7.05763977e-04 -2.32153838e+01] [-3.56626422e-03 1.22484595e-04 9.99993633e-01 -1.80418473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters 0.05324826671173224 Centerline is valid? [True, True] Translation: X:244.62, Y:-23.22, Z:-1.81 [[ 9.86271511e-01 1.65087035e-01 3.84404479e-03 2.44619517e+02] [-1.65085266e-01 9.86278994e-01 -7.75366604e-04 -2.32232913e+01] [-3.91930360e-03 1.30126837e-04 9.99992311e-01 -1.80504362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters 0.053575864958050806 Centerline is valid? [True, True] Translation: X:244.68, Y:-23.22, Z:-1.81 [[ 9.85806006e-01 1.67862012e-01 2.97727830e-03 2.44681483e+02] [-1.67860961e-01 9.85810497e-01 -6.01128438e-04 -2.32228775e+01] [-3.03593883e-03 9.28272265e-05 9.99995387e-01 -1.80632279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters 0.053670168324455654 Centerline is valid? [True, True] Translation: X:244.74, Y:-23.23, Z:-1.81 [[ 9.85037593e-01 1.72326283e-01 2.14312054e-03 2.44742069e+02] [-1.72325749e-01 9.85039923e-01 -4.32720355e-04 -2.32302217e+01] [-2.18562838e-03 5.69309650e-05 9.99997610e-01 -1.80707293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters 0.05337399687367962 Centerline is valid? [True, True] Translation: X:244.80, Y:-23.25, Z:-1.81 [[ 9.84531453e-01 1.75205486e-01 9.25187354e-04 2.44800574e+02] [-1.75205388e-01 9.84531887e-01 -1.86718617e-04 -2.32479639e+01] [-9.43590577e-04 2.17325418e-05 9.99999555e-01 -1.81003465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters 0.05411687169308961 Centerline is valid? [True, True] Translation: X:244.86, Y:-23.26, Z:-1.81 [[ 9.84343152e-01 1.76260484e-01 8.95433454e-04 2.44861478e+02] [-1.76260392e-01 9.84343559e-01 -1.80547701e-04 -2.32594780e+01] [-9.13237578e-04 1.98914416e-05 9.99999583e-01 -1.81107184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters 0.05343040235493666 Centerline is valid? [True, True] Translation: X:244.92, Y:-23.26, Z:-1.81 [[ 9.83978803e-01 1.78284721e-01 5.22823618e-04 2.44923115e+02] [-1.78284690e-01 9.83978942e-01 -1.04825163e-04 -2.32646568e+01] [-5.33136156e-04 9.93429106e-06 9.99999858e-01 -1.81042178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters 0.05299431196934902 Centerline is valid? [True, True] Translation: X:244.98, Y:-23.27, Z:-1.81 [[ 9.83837948e-01 1.79058194e-01 1.02689073e-03 2.44984874e+02] [-1.79058076e-01 9.83838484e-01 -2.06857050e-04 -2.32743773e+01] [-1.04733407e-03 1.96407380e-05 9.99999451e-01 -1.81034336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters 0.053073258269295605 Centerline is valid? [True, True] Translation: X:245.05, Y:-23.29, Z:-1.81 [[ 9.83499216e-01 1.80909167e-01 1.07990582e-03 2.45045924e+02] [-1.80909036e-01 9.83499808e-01 -2.18064206e-04 -2.32885826e+01] [-1.10153698e-03 1.91012534e-05 9.99999393e-01 -1.81195349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters 0.05373784772427875 Centerline is valid? [True, True] Translation: X:245.11, Y:-23.30, Z:-1.81 [[ 9.82683822e-01 1.85289323e-01 6.11140269e-04 2.45105244e+02] [-1.85289282e-01 9.82684012e-01 -1.23503641e-04 -2.33013261e+01] [-6.23441677e-04 8.12728800e-06 9.99999806e-01 -1.81498330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters 0.05245803550056903 Centerline is valid? [True, True] Translation: X:245.17, Y:-23.31, Z:-1.81 [[ 9.81854753e-01 1.89634073e-01 4.03816361e-04 2.45166919e+02] [-1.89634055e-01 9.81854836e-01 -8.15164290e-05 -2.33076417e+01] [-4.11947339e-04 3.45995918e-06 9.99999915e-01 -1.81382221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters 0.052376848914060206 Centerline is valid? [True, True] Translation: X:245.23, Y:-23.31, Z:-1.81 [[ 9.80270758e-01 1.97659158e-01 -3.12252979e-04 2.45228718e+02] [-1.97659148e-01 9.80270808e-01 6.35044165e-05 -2.33147183e+01] [ 3.18644710e-04 -5.31864630e-07 9.99999949e-01 -1.81363761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters 0.05265895578870665 Centerline is valid? [True, True] Translation: X:245.29, Y:-23.33, Z:-1.81 [[ 9.79150761e-01 2.03133731e-01 -6.89238022e-04 2.45289492e+02] [-2.03133683e-01 9.79151003e-01 1.40455263e-04 -2.33255476e+01] [ 7.03399303e-04 2.48057971e-06 9.99999753e-01 -1.81409149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters 0.051688013506590295 Centerline is valid? [True, True] Translation: X:245.35, Y:-23.34, Z:-1.81 [[ 9.77650589e-01 2.10236018e-01 -3.77768622e-04 2.45349464e+02] [-2.10236003e-01 9.77650662e-01 7.73543540e-05 -2.33368668e+01] [ 3.85588415e-04 3.79503552e-06 9.99999926e-01 -1.81412346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters 0.05251509015297233 Centerline is valid? [True, True] Translation: X:245.41, Y:-23.35, Z:-1.81 [[ 9.76772696e-01 2.14275223e-01 1.10840150e-03 2.45409473e+02] [-2.14275107e-01 9.76773325e-01 -2.23887345e-04 -2.33478504e+01] [-1.13063053e-03 -1.88158032e-05 9.99999361e-01 -1.81390382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters 0.05220619375639599 Centerline is valid? [True, True] Translation: X:245.47, Y:-23.36, Z:-1.81 [[ 9.75571505e-01 2.19659045e-01 3.18460811e-03 2.45468519e+02] [-2.19658108e-01 9.75576701e-01 -6.45418473e-04 -2.33565939e+01] [-3.24860148e-03 -6.98731206e-05 9.99994721e-01 -1.81348686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters 0.052875720133080395 Centerline is valid? [True, True] Translation: X:245.53, Y:-23.37, Z:-1.81 [[ 9.74711137e-01 2.23446758e-01 3.12195408e-03 2.45529306e+02] [-2.23445876e-01 9.74716133e-01 -6.32874162e-04 -2.33662517e+01] [-3.18443269e-03 -8.07182705e-05 9.99994926e-01 -1.81422749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters 0.0523999855337488 Centerline is valid? [True, True] Translation: X:245.59, Y:-23.38, Z:-1.82 [[ 9.73550144e-01 2.28471641e-01 9.09045027e-04 2.45588684e+02] [-2.28471569e-01 9.73550568e-01 -1.84236210e-04 -2.33814370e+01] [-9.27094052e-04 -2.83277548e-05 9.99999570e-01 -1.81619588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters 0.051240982130933706 Centerline is valid? [True, True] Translation: X:245.65, Y:-23.40, Z:-1.82 [[ 9.73044789e-01 2.30615129e-01 -7.08337865e-04 2.45646237e+02] [-2.30615085e-01 9.73045046e-01 1.43692378e-04 -2.34041782e+01] [ 7.22382287e-04 2.35342780e-05 9.99999739e-01 -1.81621095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters 0.05306139156766157 Centerline is valid? [True, True] Translation: X:245.71, Y:-23.41, Z:-1.82 [[ 9.72960649e-01 2.30959065e-01 -2.34202207e-03 2.45707349e+02] [-2.30958588e-01 9.72963465e-01 4.75918358e-04 -2.34107574e+01] [ 2.38861957e-03 7.78602763e-05 9.99997144e-01 -1.82000176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters 0.05190085783200389 Centerline is valid? [True, True] Translation: X:245.77, Y:-23.43, Z:-1.82 [[ 9.73386306e-01 2.29156102e-01 -2.56499545e-03 2.45766355e+02] [-2.29155525e-01 9.73389683e-01 5.20617268e-04 -2.34319687e+01] [ 2.61604273e-03 8.10211600e-05 9.99996575e-01 -1.81910508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters 0.0513638304664509 Centerline is valid? [True, True] Translation: X:245.82, Y:-23.46, Z:-1.82 [[ 9.74631251e-01 2.23815178e-01 -8.31415636e-04 2.45823182e+02] [-2.23815115e-01 9.74631605e-01 1.68724158e-04 -2.34568132e+01] [ 8.48086983e-04 2.16395489e-05 9.99999640e-01 -1.81694239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters 0.05029786874384687 Centerline is valid? [True, True] Translation: X:245.88, Y:-23.48, Z:-1.82 [[ 9.75379878e-01 2.20530238e-01 7.12378237e-04 2.45880415e+02] [-2.20530191e-01 9.75380138e-01 -1.44546647e-04 -2.34782749e+01] [-7.26716490e-04 -1.61130179e-05 9.99999736e-01 -1.81533696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters 0.049876887703170544 Centerline is valid? [True, True] Translation: X:245.94, Y:-23.49, Z:-1.82 [[ 9.75853684e-01 2.18411134e-01 2.48288378e-03 2.45939033e+02] [-2.18410559e-01 9.75856841e-01 -5.03714820e-04 -2.34941074e+01] [-2.53295605e-03 -5.07360727e-05 9.99996791e-01 -1.81580792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters 0.04968798708039278 Centerline is valid? [True, True] Translation: X:246.00, Y:-23.51, Z:-1.82 [[ 9.75894274e-01 2.18228632e-01 2.57493365e-03 2.45997926e+02] [-2.18228014e-01 9.75897669e-01 -5.22217592e-04 -2.35131525e+01] [-2.62683458e-03 -5.22934992e-05 9.99996548e-01 -1.81526737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters 0.05048336543566058 Centerline is valid? [True, True] Translation: X:246.06, Y:-23.52, Z:-1.82 [[ 9.75860439e-01 2.18386831e-01 1.89629117e-03 2.46058812e+02] [-2.18386496e-01 9.75862281e-01 -3.84405305e-04 -2.35236497e+01] [-1.93446808e-03 -3.89984543e-05 9.99998128e-01 -1.81842505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters 0.05082886561346815 Centerline is valid? [True, True] Translation: X:246.12, Y:-23.54, Z:-1.82 [[ 9.76014099e-01 2.17703196e-01 1.34051639e-03 2.46119212e+02] [-2.17703028e-01 9.76015019e-01 -2.72009093e-04 -2.35372701e+01] [-1.36758138e-03 -2.63497667e-05 9.99999065e-01 -1.81979142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters 0.050460053033522474 Centerline is valid? [True, True] Translation: X:246.18, Y:-23.55, Z:-1.82 [[ 9.76366349e-01 2.16121744e-01 3.80917284e-04 2.46179932e+02] [-2.16121730e-01 9.76366423e-01 -7.70914960e-05 -2.35523632e+01] [-3.88575995e-04 -7.05496005e-06 9.99999924e-01 -1.82111347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters 0.051044731240282956 Centerline is valid? [True, True] Translation: X:246.24, Y:-23.56, Z:-1.82 [[ 9.76850957e-01 2.13920705e-01 3.73971379e-04 2.46241163e+02] [-2.13920692e-01 9.76851029e-01 -7.51804398e-05 -2.35637964e+01] [-3.81396978e-04 -6.56013148e-06 9.99999927e-01 -1.82189691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters 0.05120559880746533 Centerline is valid? [True, True] Translation: X:246.30, Y:-23.58, Z:-1.82 [[ 9.77372958e-01 2.11510368e-01 2.33792924e-03 2.46301501e+02] [-2.11509837e-01 9.77375753e-01 -4.75135964e-04 -2.35780855e+01] [-2.38553153e-03 -3.01099887e-05 9.99997154e-01 -1.82079854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters 0.05079482598203249 Centerline is valid? [True, True] Translation: X:246.36, Y:-23.59, Z:-1.82 [[ 9.77603382e-01 2.10436127e-01 2.87458488e-03 2.46361738e+02] [-2.10435319e-01 9.77607608e-01 -5.83909802e-04 -2.35901476e+01] [-2.93309176e-03 -3.40819890e-05 9.99995698e-01 -1.82138714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters 0.05075605167397092 Centerline is valid? [True, True] Translation: X:246.42, Y:-23.60, Z:-1.82 [[ 9.77802281e-01 2.09520512e-01 1.96319512e-03 2.46422509e+02] [-2.09520134e-01 9.77804252e-01 -3.98792208e-04 -2.35997661e+01] [-2.00317568e-03 -2.13889737e-05 9.99997993e-01 -1.82497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters 0.05045514547112896 Centerline is valid? [True, True] Translation: X:246.48, Y:-23.61, Z:-1.82 [[ 9.77709530e-01 2.09959475e-01 1.04605989e-03 2.46483189e+02] [-2.09959368e-01 9.77710089e-01 -2.12184453e-04 -2.36149689e+01] [-1.06729345e-03 -1.21753113e-05 9.99999430e-01 -1.82441129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters 0.051138583726994216 Centerline is valid? [True, True] Translation: X:246.54, Y:-23.63, Z:-1.82 [[ 9.77492383e-01 2.10968518e-01 9.61967263e-04 2.46543598e+02] [-2.10968428e-01 9.77492856e-01 -1.95158937e-04 -2.36277554e+01] [-9.81488520e-04 -1.21783475e-05 9.99999518e-01 -1.82397002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters 0.05073841505680537 Centerline is valid? [True, True] Translation: X:246.60, Y:-23.64, Z:-1.82 [[ 9.77277407e-01 2.11957967e-01 1.64015862e-03 2.46603982e+02] [-2.11957706e-01 9.77278783e-01 -3.33610004e-04 -2.36372636e+01] [-1.67360352e-03 -2.16147386e-05 9.99998599e-01 -1.82499508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters 0.050856713745777 Centerline is valid? [True, True] Translation: X:246.66, Y:-23.65, Z:-1.82 [[ 9.76972090e-01 2.13338346e-01 3.50518124e-03 2.46664624e+02] [-2.13337156e-01 9.76978376e-01 -7.14207448e-04 -2.36503552e+01] [-3.57685411e-03 -5.00246558e-05 9.99993602e-01 -1.82457331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters 0.05075500701693576 Centerline is valid? [True, True] Translation: X:246.73, Y:-23.66, Z:-1.83 [[ 9.76773397e-01 2.14245733e-01 3.53498868e-03 2.46725097e+02] [-2.14244527e-01 9.76779792e-01 -7.20748255e-04 -2.36579063e+01] [-3.60732275e-03 -5.33442571e-05 9.99993492e-01 -1.82571004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters 0.05097947982802212 Centerline is valid? [True, True] Translation: X:246.79, Y:-23.67, Z:-1.83 [[ 9.76742855e-01 2.14389122e-01 3.27091736e-03 2.46786293e+02] [-2.14388090e-01 9.76748331e-01 -6.67142318e-04 -2.36714443e+01] [-3.33789113e-03 -4.96192342e-05 9.99994428e-01 -1.82613399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters 0.05107574656115347 Centerline is valid? [True, True] Translation: X:246.85, Y:-23.68, Z:-1.83 [[ 9.76940227e-01 2.13497068e-01 2.60682354e-03 2.46846433e+02] [-2.13496408e-01 9.76943704e-01 -5.31949900e-04 -2.36803162e+01] [-2.66028959e-03 -3.68642061e-05 9.99996461e-01 -1.82824649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters 0.05058086994734043 Centerline is valid? [True, True] Translation: X:246.91, Y:-23.70, Z:-1.83 [[ 9.77270212e-01 2.11975748e-01 3.03550687e-03 2.46906914e+02] [-2.11974845e-01 9.77274926e-01 -6.20116170e-04 -2.36976351e+01] [-3.09797435e-03 -3.74300362e-05 9.99995201e-01 -1.82785685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters 0.051291111730819544 Centerline is valid? [True, True] Translation: X:246.97, Y:-23.71, Z:-1.83 [[ 9.77863460e-01 2.09233179e-01 2.12860845e-03 2.46967676e+02] [-2.09232729e-01 9.77865776e-01 -4.34460092e-04 -2.37111598e+01] [-2.17239682e-03 -2.05319062e-05 9.99997640e-01 -1.82839855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters 0.05102203418025445 Centerline is valid? [True, True] Translation: X:247.03, Y:-23.72, Z:-1.83 [[ 9.78084860e-01 2.08203690e-01 1.10942349e-03 2.47028006e+02] [-2.08203567e-01 9.78085489e-01 -2.26216379e-04 -2.37221736e+01] [-1.13221010e-03 -9.72711269e-06 9.99999359e-01 -1.83042810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters 0.05134438348244011 Centerline is valid? [True, True] Translation: X:247.09, Y:-23.73, Z:-1.83 [[ 9.78327458e-01 2.07063176e-01 4.75449836e-04 2.47089203e+02] [-2.07063153e-01 9.78327574e-01 -9.65107954e-05 -2.37343192e+01] [-4.85129516e-04 -4.02898122e-06 9.99999882e-01 -1.83203522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters 0.05113265409052274 Centerline is valid? [True, True] Translation: X:247.15, Y:-23.75, Z:-1.83 [[ 9.78684299e-01 2.05369196e-01 7.32271727e-04 2.47149905e+02] [-2.05369141e-01 9.78684573e-01 -1.49638913e-04 -2.37466767e+01] [-7.47394266e-04 -3.93676118e-06 9.99999721e-01 -1.83196590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters 0.05080146201080917 Centerline is valid? [True, True] Translation: X:247.21, Y:-23.76, Z:-1.83 [[ 9.78829812e-01 2.04673248e-01 1.03001811e-03 2.47210793e+02] [-2.04673140e-01 9.78830354e-01 -2.10168595e-04 -2.37594134e+01] [-1.05122888e-03 -5.09775508e-06 9.99999447e-01 -1.83177747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters 0.051033844418630916 Centerline is valid? [True, True] Translation: X:247.27, Y:-23.77, Z:-1.83 [[ 9.78934701e-01 2.04168794e-01 1.39791155e-03 2.47270707e+02] [-2.04168594e-01 9.78935699e-01 -2.85774678e-04 -2.37698700e+01] [-1.42681179e-03 -5.65488618e-06 9.99998982e-01 -1.83191779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters 0.05113853395227284 Centerline is valid? [True, True] Translation: X:247.33, Y:-23.78, Z:-1.83 [[ 9.78792702e-01 2.04841351e-01 2.20620906e-03 2.47332044e+02] [-2.04840853e-01 9.78795188e-01 -4.51645527e-04 -2.37803846e+01] [-2.25194249e-03 -9.85440166e-06 9.99997464e-01 -1.83243681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters 0.051107621394762714 Centerline is valid? [True, True] Translation: X:247.39, Y:-23.79, Z:-1.83 [[ 9.78484446e-01 2.06306932e-01 2.37442892e-03 2.47393089e+02] [-2.06306359e-01 9.78487327e-01 -4.86496867e-04 -2.37902133e+01] [-2.42371628e-03 -1.38301678e-05 9.99997063e-01 -1.83248675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters 0.051798920137642084 Centerline is valid? [True, True] Translation: X:247.46, Y:-23.80, Z:-1.83 [[ 9.78339850e-01 2.06989615e-01 2.53726313e-03 2.47455125e+02] [-2.06988962e-01 9.78343140e-01 -5.20129160e-04 -2.38024703e+01] [-2.58997531e-03 -1.63223773e-05 9.99996646e-01 -1.83270401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters 0.05111867661702719 Centerline is valid? [True, True] Translation: X:247.52, Y:-23.81, Z:-1.83 [[ 9.78316975e-01 2.07099463e-01 2.38950995e-03 2.47517495e+02] [-2.07098883e-01 9.78319893e-01 -4.90112714e-04 -2.38136318e+01] [-2.43920720e-03 -1.53792557e-05 9.99997025e-01 -1.83339400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters 0.05084674057452604 Centerline is valid? [True, True] Translation: X:247.58, Y:-23.82, Z:-1.83 [[ 9.78226985e-01 2.07531346e-01 1.64523197e-03 2.47577568e+02] [-2.07531071e-01 9.78228368e-01 -3.37519430e-04 -2.38237252e+01] [-1.67945845e-03 -1.12661389e-05 9.99998590e-01 -1.83445963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters 0.05127828403756796 Centerline is valid? [True, True] Translation: X:247.64, Y:-23.83, Z:-1.84 [[ 9.77851752e-01 2.09295445e-01 1.16932233e-03 2.47638197e+02] [-2.09295308e-01 9.77852451e-01 -2.39814012e-04 -2.38317347e+01] [-1.19361668e-03 -1.02311247e-05 9.99999288e-01 -1.83657586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters 0.05111136678124971 Centerline is valid? [True, True] Translation: X:247.70, Y:-23.85, Z:-1.83 [[ 9.77394502e-01 2.11417429e-01 1.63036553e-03 2.47698726e+02] [-2.11417164e-01 9.77395862e-01 -3.34765385e-04 -2.38455465e+01] [-1.66428776e-03 -1.74894112e-05 9.99998615e-01 -1.83431768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters 0.051305686224747425 Centerline is valid? [True, True] Translation: X:247.76, Y:-23.85, Z:-1.84 [[ 9.77128651e-01 2.12643114e-01 1.58272714e-03 2.47759246e+02] [-2.12642867e-01 9.77129933e-01 -3.25209811e-04 -2.38538284e+01] [-1.61568369e-03 -1.87838107e-05 9.99998695e-01 -1.83562342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters 0.05141322010923662 Centerline is valid? [True, True] Translation: X:247.82, Y:-23.86, Z:-1.84 [[ 9.77134961e-01 2.12615905e-01 1.32062344e-03 2.47819983e+02] [-2.12615732e-01 9.77135854e-01 -2.71298994e-04 -2.38643321e+01] [-1.34811100e-03 -1.56895892e-05 9.99999091e-01 -1.83646492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters 0.05134227755326094 Centerline is valid? [True, True] Translation: X:247.88, Y:-23.88, Z:-1.83 [[ 9.77255726e-01 2.12051473e-01 2.32771668e-03 2.47880231e+02] [-2.12050933e-01 9.77258498e-01 -4.79160963e-04 -2.38802467e+01] [-2.37638769e-03 -2.53316984e-05 9.99997176e-01 -1.83464705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters 0.05137178652122608 Centerline is valid? [True, True] Translation: X:247.94, Y:-23.89, Z:-1.84 [[ 9.77279754e-01 2.11936560e-01 2.67905742e-03 2.47940575e+02] [-2.11935843e-01 9.77283426e-01 -5.51979896e-04 -2.38920192e+01] [-2.73518313e-03 -2.83495142e-05 9.99996259e-01 -1.83522580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters 0.05164830322604577 Centerline is valid? [True, True] Translation: X:248.00, Y:-23.90, Z:-1.84 [[ 9.77078213e-01 2.12864789e-01 2.59759623e-03 2.48001271e+02] [-2.12864117e-01 9.77081665e-01 -5.35423062e-04 -2.39048708e+01] [-2.65203637e-03 -2.97848203e-05 9.99996483e-01 -1.83643314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters 0.051392166025796736 Centerline is valid? [True, True] Translation: X:248.06, Y:-23.92, Z:-1.84 [[ 9.76961944e-01 2.13399819e-01 2.42425322e-03 2.48061477e+02] [-2.13399236e-01 9.76964951e-01 -4.99966316e-04 -2.39181813e+01] [-2.47510315e-03 -2.88857204e-05 9.99996937e-01 -1.83700148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters 0.051317311187116486 Centerline is valid? [True, True] Translation: X:248.12, Y:-23.93, Z:-1.84 [[ 9.76827770e-01 2.14020919e-01 1.59805732e-03 2.48121938e+02] [-2.14020666e-01 9.76829077e-01 -3.29775243e-04 -2.39254349e+01] [-1.63160766e-03 -1.98836769e-05 9.99998669e-01 -1.84019914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters 0.05134620853193727 Centerline is valid? [True, True] Translation: X:248.18, Y:-23.94, Z:-1.84 [[ 9.77128457e-01 2.12638771e-01 2.17498411e-03 2.48181345e+02] [-2.12638298e-01 9.77130878e-01 -4.49203656e-04 -2.39431365e+01] [-2.22076224e-03 -2.35552430e-05 9.99997534e-01 -1.83872962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters 0.05155313263430842 Centerline is valid? [True, True] Translation: X:248.24, Y:-23.95, Z:-1.84 [[ 9.77348407e-01 2.11622013e-01 2.49306239e-03 2.48242104e+02] [-2.11621388e-01 9.77351586e-01 -5.14726337e-04 -2.39533651e+01] [-2.54552590e-03 -2.45183574e-05 9.99996760e-01 -1.84034236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters 0.05102837100597248 Centerline is valid? [True, True] Translation: X:248.30, Y:-23.97, Z:-1.84 [[ 9.77159563e-01 2.12489713e-01 2.70363950e-03 2.48303135e+02] [-2.12488981e-01 9.77163303e-01 -5.58557933e-04 -2.39675046e+01] [-2.76058512e-03 -2.86933764e-05 9.99996189e-01 -1.83919464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters 0.05138383080698167 Centerline is valid? [True, True] Translation: X:248.36, Y:-23.98, Z:-1.84 [[ 9.76945872e-01 2.13476811e-01 2.10102279e-03 2.48364250e+02] [-2.13476371e-01 9.76948131e-01 -4.34102676e-04 -2.39794436e+01] [-2.14526115e-03 -2.44239033e-05 9.99997699e-01 -1.83974026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters 0.05124910941204926 Centerline is valid? [True, True] Translation: X:248.42, Y:-23.99, Z:-1.84 [[ 9.76708330e-01 2.14563411e-01 1.83882028e-03 2.48424044e+02] [-2.14563075e-01 9.76710061e-01 -3.80349298e-04 -2.39899196e+01] [-1.87760331e-03 -2.30526055e-05 9.99998237e-01 -1.84071582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters 0.050891824014144375 Centerline is valid? [True, True] Translation: X:248.48, Y:-24.01, Z:-1.84 [[ 9.76724629e-01 2.14485068e-01 2.27051361e-03 2.48482857e+02] [-2.14484555e-01 9.76727267e-01 -4.69642778e-04 -2.40059031e+01] [-2.31840392e-03 -2.82784343e-05 9.99997312e-01 -1.83908125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters 0.05114072393511994 Centerline is valid? [True, True] Translation: X:248.54, Y:-24.02, Z:-1.84 [[ 9.77118535e-01 2.12680174e-01 2.55174813e-03 2.48544205e+02] [-2.12679519e-01 9.77121867e-01 -5.28467717e-04 -2.40180002e+01] [-2.60576350e-03 -2.63289624e-05 9.99996605e-01 -1.83952328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters 0.051256247348381676 Centerline is valid? [True, True] Translation: X:248.60, Y:-24.03, Z:-1.84 [[ 9.77434694e-01 2.11221818e-01 2.60055057e-03 2.48604249e+02] [-2.11221133e-01 9.77438153e-01 -5.38382674e-04 -2.40299536e+01] [-2.65559552e-03 -2.30573336e-05 9.99996474e-01 -1.84038027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters 0.05099296355556269 Centerline is valid? [True, True] Translation: X:248.67, Y:-24.04, Z:-1.84 [[ 9.77465497e-01 2.11082334e-01 2.33465480e-03 2.48665541e+02] [-2.11081782e-01 9.77468285e-01 -4.83398676e-04 -2.40424375e+01] [-2.38408795e-03 -2.02975686e-05 9.99997158e-01 -1.84096480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters 0.05128031662972143 Centerline is valid? [True, True] Translation: X:248.73, Y:-24.05, Z:-1.84 [[ 9.77595927e-01 2.10479069e-01 2.18292952e-03 2.48725496e+02] [-2.10478584e-01 9.77598364e-01 -4.52329335e-04 -2.40545230e+01] [-2.22923419e-03 -1.72645999e-05 9.99997515e-01 -1.84247536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters 0.051634740310889785 Centerline is valid? [True, True] Translation: X:248.79, Y:-24.07, Z:-1.84 [[ 9.77957192e-01 2.08798686e-01 1.68514783e-03 2.48786077e+02] [-2.08798394e-01 9.77958644e-01 -3.49086088e-04 -2.40706260e+01] [-1.72089360e-03 -1.04649102e-05 9.99998519e-01 -1.84118477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters 0.05066750209345441 Centerline is valid? [True, True] Translation: X:248.85, Y:-24.08, Z:-1.84 [[ 9.78512994e-01 2.06168851e-01 2.59333414e-03 2.48846238e+02] [-2.06168149e-01 9.78516431e-01 -5.38022543e-04 -2.40839426e+01] [-2.64854355e-03 -8.20085091e-06 9.99996493e-01 -1.84157493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters 0.051676579202749685 Centerline is valid? [True, True] Translation: X:248.91, Y:-24.10, Z:-1.84 [[ 9.78746433e-01 2.05062081e-01 2.22793974e-03 2.48907171e+02] [-2.05061559e-01 9.78748968e-01 -4.62564798e-04 -2.40971356e+01] [-2.27544822e-03 -4.13115018e-06 9.99997411e-01 -1.84326070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters 0.0511356157523085 Centerline is valid? [True, True] Translation: X:248.97, Y:-24.11, Z:-1.84 [[ 9.78940655e-01 2.04143131e-01 8.80743468e-04 2.48967672e+02] [-2.04143049e-01 9.78941051e-01 -1.82339039e-04 -2.41105391e+01] [-8.99419199e-04 -1.29855834e-06 9.99999596e-01 -1.84281678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters 0.05120443079936763 Centerline is valid? [True, True] Translation: X:249.03, Y:-24.12, Z:-1.85 [[ 9.78828713e-01 2.04677595e-01 1.19727116e-03 2.49028026e+02] [-2.04677444e-01 9.78829445e-01 -2.48278698e-04 -2.41227888e+01] [-1.22274136e-03 -2.03208331e-06 9.99999252e-01 -1.84585649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters 0.05136427676798822 Centerline is valid? [True, True] Translation: X:249.09, Y:-24.14, Z:-1.84 [[ 9.78832733e-01 2.04655175e-01 1.65532103e-03 2.49089288e+02] [-2.04654886e-01 9.78834133e-01 -3.43776117e-04 -2.41358189e+01] [-1.69064028e-03 -2.27022009e-06 9.99998571e-01 -1.84379446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters 0.05146231473249603 Centerline is valid? [True, True] Translation: X:249.15, Y:-24.15, Z:-1.85 [[ 9.78823942e-01 2.04699503e-01 1.34293463e-03 2.49149685e+02] [-2.04699313e-01 9.78824864e-01 -2.78948016e-04 -2.41488584e+01] [-1.37159833e-03 -1.85680027e-06 9.99999059e-01 -1.84528145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters 0.05155835210019046 Centerline is valid? [True, True] Translation: X:249.21, Y:-24.16, Z:-1.84 [[ 9.78800834e-01 2.04813279e-01 6.69828577e-04 2.49211085e+02] [-2.04813232e-01 9.78801063e-01 -1.38695659e-04 -2.41625869e+01] [-6.84035636e-04 -1.43432958e-06 9.99999766e-01 -1.84475186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters 0.05142082332815478 Centerline is valid? [True, True] Translation: X:249.27, Y:-24.18, Z:-1.85 [[ 9.78722198e-01 2.05189618e-01 2.82375602e-04 2.49272458e+02] [-2.05189610e-01 9.78722239e-01 -5.79158561e-05 -2.41758020e+01] [-2.88251014e-04 -1.25700574e-06 9.99999958e-01 -1.84514256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters 0.0516055729919191 Centerline is valid? [True, True] Translation: X:249.33, Y:-24.19, Z:-1.85 [[ 9.78471038e-01 2.06383860e-01 3.59875030e-04 2.49333581e+02] [-2.06383847e-01 9.78471104e-01 -7.45026955e-05 -2.41882890e+01] [-3.67503472e-04 -1.37366321e-06 9.99999932e-01 -1.84873105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters 0.05161934320893165 Centerline is valid? [True, True] Translation: X:249.40, Y:-24.20, Z:-1.85 [[ 9.78073046e-01 2.08261406e-01 5.51102918e-04 2.49395316e+02] [-2.08261375e-01 9.78073201e-01 -1.14125205e-04 -2.42026748e+01] [-5.62786871e-04 -3.15066488e-06 9.99999842e-01 -1.84668980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters 0.051386448500249926 Centerline is valid? [True, True] Translation: X:249.46, Y:-24.21, Z:-1.85 [[ 9.77039369e-01 2.13058717e-01 2.32625019e-04 2.49455036e+02] [-2.13058712e-01 9.77039397e-01 -4.78129470e-05 -2.42145302e+01] [-2.37470774e-04 -2.84765531e-06 9.99999972e-01 -1.84831065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters 0.05134359816920093 Centerline is valid? [True, True] Translation: X:249.52, Y:-24.23, Z:-1.85 [[ 9.75830201e-01 2.18529935e-01 2.94479362e-04 2.49515177e+02] [-2.18529926e-01 9.75830245e-01 -6.14403585e-05 -2.42263527e+01] [-3.00788426e-04 -4.39719596e-06 9.99999955e-01 -1.84828299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters 0.05158914211675552 Centerline is valid? [True, True] Translation: X:249.57, Y:-24.24, Z:-1.85 [[ 9.75053292e-01 2.21970609e-01 3.56872448e-04 2.49574122e+02] [-2.21970597e-01 9.75053357e-01 -7.45986332e-05 -2.42368366e+01] [-3.64528382e-04 -6.47754722e-06 9.99999934e-01 -1.84917397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters 0.05078496968283292 Centerline is valid? [True, True] Translation: X:249.63, Y:-24.25, Z:-1.85 [[ 9.74101834e-01 2.26108837e-01 6.41038731e-04 2.49633019e+02] [-2.26108797e-01 9.74102045e-01 -1.33945579e-04 -2.42534328e+01] [-6.54723417e-04 -1.44678628e-05 9.99999786e-01 -1.84777064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters 0.05104244195595995 Centerline is valid? [True, True] Translation: X:249.69, Y:-24.27, Z:-1.85 [[ 9.73745169e-01 2.27640590e-01 3.27787521e-04 2.49693260e+02] [-2.27640580e-01 9.73745224e-01 -6.82925533e-05 -2.42690014e+01] [-3.34727691e-04 -8.11819758e-06 9.99999944e-01 -1.84779180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters 0.05185114569204767 Centerline is valid? [True, True] Translation: X:249.75, Y:-24.28, Z:-1.85 [[ 9.73869454e-01 2.27105481e-01 -1.17794518e-03 2.49753659e+02] [-2.27105347e-01 9.73870166e-01 2.47318254e-04 -2.42806135e+01] [ 1.20333300e-03 2.66619555e-05 9.99999276e-01 -1.84997097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters 0.05136866030236593 Centerline is valid? [True, True] Translation: X:249.81, Y:-24.30, Z:-1.85 [[ 9.74382700e-01 2.24890648e-01 -1.59717054e-03 2.49813746e+02] [-2.24890402e-01 9.74384008e-01 3.34346761e-04 -2.42960405e+01] [ 1.63144889e-03 3.34066260e-05 9.99998669e-01 -1.84940033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters 0.05146786398352746 Centerline is valid? [True, True] Translation: X:249.87, Y:-24.31, Z:-1.85 [[ 9.75095837e-01 2.21783482e-01 -4.42032723e-04 2.49873071e+02] [-2.21783463e-01 9.75095937e-01 9.25467399e-05 -2.43073816e+01] [ 4.51549651e-04 7.79360730e-06 9.99999898e-01 -1.85004228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters 0.051324407003459166 Centerline is valid? [True, True] Translation: X:249.93, Y:-24.32, Z:-1.85 [[ 9.75228762e-01 2.21198364e-01 3.80874813e-04 2.49934080e+02] [-2.21198350e-01 9.75228837e-01 -7.89103464e-05 -2.43206636e+01] [-3.88894940e-04 -7.29324086e-06 9.99999924e-01 -1.84955469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters 0.051585558416697874 Centerline is valid? [True, True] Translation: X:249.99, Y:-24.33, Z:-1.85 [[ 9.74937138e-01 2.22477592e-01 1.13961041e-03 2.49994219e+02] [-2.22477466e-01 9.74937803e-01 -2.38475248e-04 -2.43295489e+01] [-1.16410467e-03 -2.10392594e-05 9.99999322e-01 -1.85101338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters 0.05177608995722493 Centerline is valid? [True, True] Translation: X:250.05, Y:-24.34, Z:-1.85 [[ 9.74650440e-01 2.23733027e-01 2.27750153e-04 2.50054125e+02] [-2.23733022e-01 9.74650467e-01 -4.69430337e-05 -2.43448582e+01] [-2.32479500e-04 -5.20218163e-06 9.99999973e-01 -1.85060049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters 0.051041749157796905 Centerline is valid? [True, True] Translation: X:250.11, Y:-24.36, Z:-1.85 [[ 9.74174913e-01 2.25790314e-01 -1.40442247e-03 2.50113886e+02] [-2.25790124e-01 9.74175925e-01 2.94326839e-04 -2.43576693e+01] [ 1.43461071e-03 3.03789020e-05 9.99998970e-01 -1.85023455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters 0.05083161076095702 Centerline is valid? [True, True] Translation: X:250.17, Y:-24.37, Z:-1.85 [[ 9.73529356e-01 2.28555686e-01 -1.70038800e-03 2.50174069e+02] [-2.28555412e-01 9.73530840e-01 3.56280733e-04 -2.43653321e+01] [ 1.73681014e-03 4.17831269e-05 9.99998491e-01 -1.85061192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters 0.051848716397065404 Centerline is valid? [True, True] Translation: X:250.23, Y:-24.37, Z:-1.85 [[ 9.72896346e-01 2.31236783e-01 -1.49981587e-03 2.50234260e+02] [-2.31236574e-01 9.72897501e-01 3.14202559e-04 -2.43703858e+01] [ 1.53182230e-03 4.11257616e-05 9.99998826e-01 -1.85189407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters 0.05144570315841195 Centerline is valid? [True, True] Translation: X:250.29, Y:-24.39, Z:-1.85 [[ 9.72329689e-01 2.33605355e-01 -1.87460010e-03 2.50293249e+02] [-2.33605032e-01 9.72331494e-01 3.92867288e-04 -2.43885239e+01] [ 1.91450862e-03 5.59194884e-05 9.99998166e-01 -1.84986423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters 0.052184654047895684 Centerline is valid? [True, True] Translation: X:250.35, Y:-24.40, Z:-1.85 [[ 9.72458126e-01 2.33064654e-01 -2.46162284e-03 2.50354647e+02] [-2.33064092e-01 9.72461239e-01 5.16764793e-04 -2.43951371e+01] [ 2.51427240e-03 7.11837691e-05 9.99996837e-01 -1.85206071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters 0.05191624914135623 Centerline is valid? [True, True] Translation: X:250.41, Y:-24.41, Z:-1.85 [[ 9.73632807e-01 2.28106621e-01 -2.55455403e-03 2.50413381e+02] [-2.28106001e-01 9.73636157e-01 5.35552797e-04 -2.44106235e+01] [ 2.60936931e-03 6.12773303e-05 9.99996594e-01 -1.85190407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters 0.0512666550111994 Centerline is valid? [True, True] Translation: X:250.47, Y:-24.43, Z:-1.85 [[ 9.74954594e-01 2.22390441e-01 -2.45587971e-03 2.50471724e+02] [-2.22389849e-01 9.74957686e-01 5.14975813e-04 -2.44316963e+01] [ 2.50890450e-03 4.40846842e-05 9.99996852e-01 -1.84839855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters 0.05181253334499139 Centerline is valid? [True, True] Translation: X:250.53, Y:-24.44, Z:-1.85 [[ 9.76872562e-01 2.13816325e-01 -1.60495085e-03 2.50530158e+02] [-2.13816061e-01 9.76873881e-01 3.36462104e-04 -2.44438354e+01] [ 1.63977565e-03 1.44836706e-05 9.99998655e-01 -1.85257729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters 0.051850805543009165 Centerline is valid? [True, True] Translation: X:250.59, Y:-24.46, Z:-1.85 [[ 9.77447177e-01 2.11174996e-01 -1.46216973e-03 2.50589484e+02] [-2.11174772e-01 9.77448270e-01 3.07484860e-04 -2.44619169e+01] [ 1.49412838e-03 8.22314968e-06 9.99998884e-01 -1.84812416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters 0.05138799776176542 Centerline is valid? [True, True] Translation: X:250.65, Y:-24.48, Z:-1.85 [[ 9.78936791e-01 2.04151626e-01 -2.20745445e-03 2.50649566e+02] [-2.04151100e-01 9.78939280e-01 4.63418513e-04 -2.44791190e+01] [ 2.25557151e-03 -3.00317869e-06 9.99997456e-01 -1.84885446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters 0.051644759085121776 Centerline is valid? [True, True] Translation: X:250.71, Y:-24.49, Z:-1.85 [[ 9.78773012e-01 2.04918179e-01 -3.45404275e-03 2.50709895e+02] [-2.04916894e-01 9.78779107e-01 7.25820920e-04 -2.44900683e+01] [ 3.52947877e-03 -2.62221780e-06 9.99993771e-01 -1.85165872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters 0.05159029430657297 Centerline is valid? [True, True] Translation: X:250.77, Y:-24.50, Z:-1.85 [[ 9.78585207e-01 2.05809260e-01 -3.67993651e-03 2.50771555e+02] [-2.05807805e-01 9.78592126e-01 7.73931250e-04 -2.45009263e+01] [ 3.76043911e-03 1.98314004e-09 9.99992930e-01 -1.85077975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters 0.0517476337729929 Centerline is valid? [True, True] Translation: X:250.83, Y:-24.51, Z:-1.85 [[ 9.77956400e-01 2.08769225e-01 -4.08537937e-03 2.50832949e+02] [-2.08767456e-01 9.77964933e-01 8.59456945e-04 -2.45109690e+01] [ 4.17478592e-03 1.23828382e-05 9.99991285e-01 -1.85090617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters 0.05142292351909772 Centerline is valid? [True, True] Translation: X:250.89, Y:-24.52, Z:-1.85 [[ 9.76912255e-01 2.13577031e-01 -5.22481055e-03 2.50893633e+02] [-2.13574209e-01 9.76926225e-01 1.09879743e-03 -2.45169001e+01] [ 5.33893234e-03 4.24561064e-05 9.99985747e-01 -1.85359265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters 0.05172983307311626 Centerline is valid? [True, True] Translation: X:250.95, Y:-24.53, Z:-1.85 [[ 9.76080587e-01 2.17325123e-01 -6.03968512e-03 2.50954546e+02] [-2.17321417e-01 9.76099271e-01 1.27114353e-03 -2.45276999e+01] [ 6.17158366e-03 7.18144083e-05 9.99980953e-01 -1.85105106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters 0.05194000106252059 Centerline is valid? [True, True] Translation: X:251.01, Y:-24.53, Z:-1.85 [[ 9.74985960e-01 2.22196240e-01 -5.58647654e-03 2.51014534e+02] [-2.22193154e-01 9.75001960e-01 1.17501839e-03 -2.45330300e+01] [ 5.70791024e-03 9.56504052e-05 9.99983705e-01 -1.85251017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters 0.05173351876471406 Centerline is valid? [True, True] Translation: X:251.08, Y:-24.55, Z:-1.85 [[ 9.74680293e-01 2.23548730e-01 -4.92872393e-03 2.51075759e+02] [-2.23546338e-01 9.74692750e-01 1.03809458e-03 -2.45456354e+01] [ 5.03605620e-03 8.99878588e-05 9.99987315e-01 -1.85110241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters 0.05214249944233648 Centerline is valid? [True, True] Translation: X:251.14, Y:-24.55, Z:-1.85 [[ 9.74747267e-01 2.23290242e-01 -3.03869483e-03 2.51137084e+02] [-2.23289329e-01 9.74752002e-01 6.40600634e-04 -2.45508731e+01] [ 3.10501374e-03 5.40844132e-05 9.99995178e-01 -1.85451893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters 0.05159996887624686 Centerline is valid? [True, True] Translation: X:251.20, Y:-24.57, Z:-1.85 [[ 9.75005331e-01 2.22168929e-01 -2.36031723e-03 2.51197132e+02] [-2.22168374e-01 9.75008187e-01 4.98056617e-04 -2.45676505e+01] [ 2.41198133e-03 3.87799832e-05 9.99997090e-01 -1.85180576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters 0.05184741570592814 Centerline is valid? [True, True] Translation: X:251.26, Y:-24.58, Z:-1.85 [[ 9.75678329e-01 2.19202267e-01 -1.47127778e-03 2.51256792e+02] [-2.19202048e-01 9.75679438e-01 3.10093300e-04 -2.45783061e+01] [ 1.50346863e-03 1.99557896e-05 9.99998870e-01 -1.85374584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters 0.05165506814557538 Centerline is valid? [True, True] Translation: X:251.32, Y:-24.60, Z:-1.85 [[ 9.76218741e-01 2.16787451e-01 -4.12167009e-04 2.51316474e+02] [-2.16787434e-01 9.76218828e-01 8.70271937e-05 -2.45955802e+01] [ 4.21231599e-04 4.39505082e-06 9.99999911e-01 -1.85180260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters 0.05197883569157515 Centerline is valid? [True, True] Translation: X:251.38, Y:-24.61, Z:-1.85 [[ 9.77111434e-01 2.12724722e-01 -1.19961634e-03 2.51376666e+02] [-2.12724570e-01 9.77112170e-01 2.53743802e-04 -2.46088362e+01] [ 1.22613731e-03 7.25190180e-06 9.99999248e-01 -1.85451699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters 0.05228284326238356 Centerline is valid? [True, True] Translation: X:251.44, Y:-24.62, Z:-1.86 [[ 9.78048847e-01 2.08347257e-01 -3.44588088e-03 2.51436845e+02] [-2.08345989e-01 9.78054917e-01 7.26934243e-04 -2.46245199e+01] [ 3.52171549e-03 6.95826011e-06 9.99993799e-01 -1.85516291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters 0.0520682453507324 Centerline is valid? [True, True] Translation: X:251.50, Y:-24.64, Z:-1.86 [[ 9.78815023e-01 2.04695641e-01 -4.56560354e-03 2.51497776e+02] [-2.04693371e-01 9.78825671e-01 9.64177975e-04 -2.46387252e+01] [ 4.66629297e-03 -9.20311004e-06 9.99989113e-01 -1.85533414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters 0.05274271126558779 Centerline is valid? [True, True] Translation: X:251.56, Y:-24.65, Z:-1.86 [[ 9.79497571e-01 2.01422072e-01 -3.69547633e-03 2.51559038e+02] [-2.01420558e-01 9.79504542e-01 7.81239547e-04 -2.46536579e+01] [ 3.77709474e-03 -2.08773354e-05 9.99992867e-01 -1.85567664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters 0.05231656960162471 Centerline is valid? [True, True] Translation: X:251.62, Y:-24.67, Z:-1.86 [[ 9.79465333e-01 2.01576833e-01 -3.80034984e-03 2.51619352e+02] [-2.01575234e-01 9.79472705e-01 8.03332443e-04 -2.46671969e+01] [ 3.88427215e-03 -2.07798712e-05 9.99992456e-01 -1.85687140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters 0.053207193428173205 Centerline is valid? [True, True] Translation: X:251.68, Y:-24.68, Z:-1.86 [[ 9.79316874e-01 2.02304984e-01 -3.33965600e-03 2.51680377e+02] [-2.02303750e-01 9.79322569e-01 7.06700395e-04 -2.46794369e+01] [ 3.41356950e-03 -1.64586885e-05 9.99994174e-01 -1.85660398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters 0.05241982147064544 Centerline is valid? [True, True] Translation: X:251.74, Y:-24.69, Z:-1.86 [[ 9.78927331e-01 2.04186446e-01 -3.02921105e-03 2.51741531e+02] [-2.04185439e-01 9.78932018e-01 6.41461216e-04 -2.46916038e+01] [ 3.09636937e-03 -9.42313043e-06 9.99995206e-01 -1.85685216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters 0.052906205053822014 Centerline is valid? [True, True] Translation: X:251.80, Y:-24.70, Z:-1.86 [[ 9.78411551e-01 2.06650569e-01 -2.52572915e-03 2.51802986e+02] [-2.06649877e-01 9.78414811e-01 5.34531973e-04 -2.47036902e+01] [ 2.58167214e-03 -1.05063734e-06 9.99996667e-01 -1.85722675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters 0.0516412424547009 Centerline is valid? [True, True] Translation: X:251.86, Y:-24.71, Z:-1.86 [[ 9.77532859e-01 2.10779321e-01 -1.25992353e-03 2.51863514e+02] [-2.10779151e-01 9.77533671e-01 2.67442734e-04 -2.47142795e+01] [ 1.28798907e-03 4.13155284e-06 9.99999171e-01 -1.85811784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters 0.05257545406544228 Centerline is valid? [True, True] Translation: X:251.92, Y:-24.73, Z:-1.86 [[ 9.76729553e-01 2.14474636e-01 -1.02446668e-04 2.51923225e+02] [-2.14474635e-01 9.76729559e-01 2.21542466e-05 -2.47259104e+01] [ 1.04814213e-04 3.33504396e-07 9.99999995e-01 -1.85907790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters 0.05207438122036102 Centerline is valid? [True, True] Translation: X:251.98, Y:-24.74, Z:-1.86 [[ 9.76345708e-01 2.16214629e-01 -5.41053276e-04 2.51983642e+02] [-2.16214598e-01 9.76345858e-01 1.15436131e-04 -2.47390414e+01] [ 5.53214105e-04 4.27804511e-06 9.99999847e-01 -1.85943653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters 0.05195583864337376 Centerline is valid? [True, True] Translation: X:252.04, Y:-24.75, Z:-1.86 [[ 9.75903983e-01 2.18200386e-01 -8.79390425e-05 2.52044684e+02] [-2.18200385e-01 9.75903987e-01 1.94921893e-05 -2.47525940e+01] [ 9.00732653e-05 1.65827793e-07 9.99999996e-01 -1.85898994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters 0.05157938715273022 Centerline is valid? [True, True] Translation: X:252.11, Y:-24.77, Z:-1.86 [[ 9.75592763e-01 2.19586128e-01 -8.32327459e-04 2.52105800e+02] [-2.19586057e-01 9.75593118e-01 1.77343244e-04 -2.47653189e+01] [ 8.50955057e-04 9.75271947e-06 9.99999638e-01 -1.85941511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters 0.05205316007612552 Centerline is valid? [True, True] Translation: X:252.17, Y:-24.78, Z:-1.86 [[ 9.75295870e-01 2.20890225e-01 -2.33988197e-03 2.52166290e+02] [-2.20889668e-01 9.75298676e-01 4.97279687e-04 -2.47785282e+01] [ 2.39192801e-03 3.18609247e-05 9.99997139e-01 -1.86094248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters 0.05257824929017578 Centerline is valid? [True, True] Translation: X:252.23, Y:-24.79, Z:-1.86 [[ 9.75307207e-01 2.20826538e-01 -3.38997338e-03 2.52226239e+02] [-2.20825369e-01 9.75313097e-01 7.19893295e-04 -2.47905331e+01] [ 3.46525698e-03 4.64750025e-05 9.99993995e-01 -1.86300284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters 0.05219484991524431 Centerline is valid? [True, True] Translation: X:252.29, Y:-24.81, Z:-1.86 [[ 9.75692838e-01 2.19123937e-01 -2.86123134e-03 2.52286677e+02] [-2.19123097e-01 9.75697032e-01 6.07653485e-04 -2.48076710e+01] [ 2.92484636e-03 3.40787207e-05 9.99995722e-01 -1.86103835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters 0.051810615408110404 Centerline is valid? [True, True] Translation: X:252.35, Y:-24.83, Z:-1.86 [[ 9.76646300e-01 2.14842012e-01 -2.21688763e-03 2.52346245e+02] [-2.14841497e-01 9.76648816e-01 4.70819222e-04 -2.48256251e+01] [ 2.26627243e-03 1.64556071e-05 9.99997432e-01 -1.85899943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters 0.05189686005195491 Centerline is valid? [True, True] Translation: X:252.41, Y:-24.84, Z:-1.86 [[ 9.77443346e-01 2.11189314e-01 -1.89160704e-03 2.52406317e+02] [-2.11188930e-01 9.77445177e-01 4.02690333e-04 -2.48395937e+01] [ 1.93398607e-03 5.87948105e-06 9.99998130e-01 -1.86318747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters 0.05209428806435617 Centerline is valid? [True, True] Translation: X:252.47, Y:-24.86, Z:-1.86 [[ 9.78753526e-01 2.05036911e-01 -1.18306171e-03 2.52466231e+02] [-2.05036757e-01 9.78754241e-01 2.51813634e-04 -2.48592420e+01] [ 1.20955776e-03 -3.89234650e-06 9.99999268e-01 -1.86007249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters 0.05292939466503265 Centerline is valid? [True, True] Translation: X:252.53, Y:-24.87, Z:-1.86 [[ 9.79138451e-01 2.03191247e-01 -1.10059651e-03 2.52526493e+02] [-2.03191112e-01 9.79139069e-01 2.34205425e-04 -2.48728958e+01] [ 1.12522554e-03 -5.68810732e-06 9.99999367e-01 -1.85961029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters 0.05328364831535827 Centerline is valid? [True, True] Translation: X:252.59, Y:-24.89, Z:-1.86 [[ 9.79906880e-01 1.99447262e-01 -1.81551262e-03 2.52586156e+02] [-1.99446887e-01 9.79908562e-01 3.86838479e-04 -2.48887136e+01] [ 1.85619024e-03 -1.69673450e-05 9.99998277e-01 -1.86055027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters 0.05232535021975315 Centerline is valid? [True, True] Translation: X:252.64, Y:-24.91, Z:-1.86 [[ 9.80880846e-01 1.94594039e-01 -2.43444946e-03 2.52644050e+02] [-1.94593353e-01 9.80883866e-01 5.17874916e-04 -2.49060600e+01] [ 2.48868757e-03 -3.42459022e-05 9.99996903e-01 -1.86078956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters 0.053170601844024536 Centerline is valid? [True, True] Translation: X:252.70, Y:-24.92, Z:-1.86 [[ 9.81542786e-01 1.91234295e-01 -1.79009779e-03 2.52704566e+02] [-1.91233919e-01 9.81544417e-01 3.80973743e-04 -2.49209058e+01] [ 1.82991574e-03 -3.16146134e-05 9.99998325e-01 -1.86022598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters 0.05304520844170674 Centerline is valid? [True, True] Translation: X:252.77, Y:-24.93, Z:-1.86 [[ 9.81810743e-01 1.89861858e-01 -3.73816128e-04 2.52765776e+02] [-1.89861841e-01 9.81810814e-01 8.03239722e-05 -2.49278208e+01] [ 3.82267175e-04 -7.88952050e-06 9.99999927e-01 -1.85741227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters 0.05244790004073946 Centerline is valid? [True, True] Translation: X:252.83, Y:-24.95, Z:-1.86 [[ 9.81605891e-01 1.90911693e-01 1.61240465e-03 2.52825660e+02] [-1.90911387e-01 9.81607215e-01 -3.42692505e-04 -2.49469106e+01] [-1.64817205e-03 2.85625734e-05 9.99998641e-01 -1.85865711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters 0.05223059021535545 Centerline is valid? [True, True] Translation: X:252.89, Y:-24.96, Z:-1.86 [[ 9.81114400e-01 1.93423904e-01 1.31439691e-03 2.52886178e+02] [-1.93423703e-01 9.81115280e-01 -2.79143793e-04 -2.49551098e+01] [-1.34356798e-03 1.96364763e-05 9.99999097e-01 -1.85880734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters 0.05292265305981575 Centerline is valid? [True, True] Translation: X:252.95, Y:-24.96, Z:-1.86 [[ 9.79650431e-01 2.00707816e-01 1.18558826e-03 2.52946707e+02] [-2.00707657e-01 9.79651148e-01 -2.52509907e-04 -2.49610438e+01] [-1.21214361e-03 9.41479694e-06 9.99999265e-01 -1.86104549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters 0.05241382148462992 Centerline is valid? [True, True] Translation: X:253.01, Y:-24.97, Z:-1.86 [[ 9.77516997e-01 2.10851711e-01 1.44122672e-03 2.53009430e+02] [-2.10851488e-01 9.77518059e-01 -3.06654877e-04 -2.49674083e+01] [-1.47348385e-03 -4.12444348e-06 9.99998914e-01 -1.86150295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters 0.05185369546832424 Centerline is valid? [True, True] Translation: X:253.07, Y:-24.97, Z:-1.86 [[ 9.75835394e-01 2.18498531e-01 1.91737405e-03 2.53070590e+02] [-2.18498151e-01 9.75837277e-01 -4.07868526e-04 -2.49731109e+01] [-1.96016375e-03 -2.09301409e-05 9.99998079e-01 -1.86365491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters 0.05296433099473811 Centerline is valid? [True, True] Translation: X:253.13, Y:-24.97, Z:-1.86 [[ 9.73729219e-01 2.27671233e-01 4.14950699e-03 2.53131837e+02] [-2.27669531e-01 9.73738057e-01 -8.84403615e-04 -2.49746219e+01] [-4.24188613e-03 -8.35466666e-05 9.99991000e-01 -1.86432223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters 0.05207856456675579 Centerline is valid? [True, True] Translation: X:253.19, Y:-24.99, Z:-1.86 [[ 9.72686155e-01 2.32049743e-01 5.87879161e-03 2.53191361e+02] [-2.32046405e-01 9.72703910e-01 -1.25315519e-03 -2.49861603e+01] [-6.00911792e-03 -1.45225751e-04 9.99981935e-01 -1.86407686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters 0.05085160706519525 Centerline is valid? [True, True] Translation: X:253.25, Y:-25.00, Z:-1.86 [[ 9.71593841e-01 2.36527908e-01 7.74320465e-03 2.53249935e+02] [-2.36522258e-01 9.71624669e-01 -1.65066119e-03 -2.50011515e+01] [-7.91391609e-03 -2.27668002e-04 9.99968659e-01 -1.86430388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters 0.052603197553835725 Centerline is valid? [True, True] Translation: X:253.31, Y:-25.00, Z:-1.87 [[ 9.71033531e-01 2.38829358e-01 7.37690695e-03 2.53310976e+02] [-2.38824296e-01 9.71061524e-01 -1.57263089e-03 -2.50030978e+01] [-7.53902093e-03 -2.34707278e-04 9.99971554e-01 -1.86606309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters 0.05245703024586444 Centerline is valid? [True, True] Translation: X:253.37, Y:-25.02, Z:-1.87 [[ 9.70550619e-01 2.40834417e-01 5.50274950e-03 2.53370487e+02] [-2.40831633e-01 9.70566200e-01 -1.17307929e-03 -2.50157303e+01] [-5.62330054e-03 -1.86703315e-04 9.99984172e-01 -1.86906621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters 0.05325031341525979 Centerline is valid? [True, True] Translation: X:253.43, Y:-25.03, Z:-1.87 [[ 9.70602233e-01 2.40658439e-01 3.84974748e-03 2.53431711e+02] [-2.40657076e-01 9.70609859e-01 -8.20368340e-04 -2.50258926e+01] [-3.93403142e-03 -1.30217627e-04 9.99992253e-01 -1.87203372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters 0.051340856695246254 Centerline is valid? [True, True] Translation: X:253.49, Y:-25.05, Z:-1.87 [[ 9.71483721e-01 2.37091483e-01 2.64746998e-03 2.53488415e+02] [-2.37090824e-01 9.71487325e-01 -5.64664918e-04 -2.50500227e+01] [-2.70586077e-03 -7.91280629e-05 9.99996336e-01 -1.87448261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters 0.05156943383446039 Centerline is valid? [True, True] Translation: X:253.55, Y:-25.07, Z:-1.88 [[ 9.73190050e-01 2.29956454e-01 4.59949401e-03 2.53546724e+02] [-2.29954384e-01 9.73200914e-01 -9.81080649e-04 -2.50677591e+01] [-4.70183760e-03 -1.02895887e-04 9.99988941e-01 -1.87520146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters 0.05176242005722071 Centerline is valid? [True, True] Translation: X:253.60, Y:-25.08, Z:-1.88 [[ 9.74106844e-01 2.26016161e-01 5.70532472e-03 2.53604901e+02] [-2.26012909e-01 9.74123547e-01 -1.21702951e-03 -2.50826697e+01] [-5.83275949e-03 -1.03960261e-04 9.99982984e-01 -1.87506178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters 0.05130876131293228 Centerline is valid? [True, True] Translation: X:253.66, Y:-25.10, Z:-1.88 [[ 9.74704862e-01 2.23388168e-01 6.93956539e-03 2.53664392e+02] [-2.23383289e-01 9.74729560e-01 -1.48030487e-03 -2.51001137e+01] [-7.09488211e-03 -1.07322580e-04 9.99974825e-01 -1.87508478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters 0.051226421504667184 Centerline is valid? [True, True] Translation: X:253.72, Y:-25.12, Z:-1.88 [[ 9.75060341e-01 2.21824673e-01 7.15163632e-03 2.53724186e+02] [-2.21819448e-01 9.75086563e-01 -1.52571088e-03 -2.51176753e+01] [-7.31190479e-03 -9.87118451e-05 9.99973263e-01 -1.87666088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters 0.05080852636148394 Centerline is valid? [True, True] Translation: X:253.78, Y:-25.13, Z:-1.88 [[ 9.75535545e-01 2.19741851e-01 6.62722246e-03 2.53783476e+02] [-2.19737311e-01 9.75558052e-01 -1.41453967e-03 -2.51314613e+01] [-6.77607380e-03 -7.63143140e-05 9.99977039e-01 -1.87856099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters 0.050659174914991625 Centerline is valid? [True, True] Translation: X:253.84, Y:-25.15, Z:-1.88 [[ 9.75726624e-01 2.18885806e-01 6.82339268e-03 2.53844025e+02] [-2.18880968e-01 9.75750480e-01 -1.45718131e-03 -2.51476200e+01] [-6.97688499e-03 -7.17001888e-05 9.99975659e-01 -1.87918854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters 0.05082388431318261 Centerline is valid? [True, True] Translation: X:253.90, Y:-25.16, Z:-1.88 [[ 9.76245094e-01 2.16569800e-01 6.56042233e-03 2.53904369e+02] [-2.16565273e-01 9.76267135e-01 -1.40123253e-03 -2.51625302e+01] [-6.70818936e-03 -5.28132693e-05 9.99977498e-01 -1.88012118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters 0.050410971325908646 Centerline is valid? [True, True] Translation: X:253.96, Y:-25.18, Z:-1.88 [[ 9.77172770e-01 2.12327588e-01 7.09734458e-03 2.53964145e+02] [-2.12322171e-01 9.77198544e-01 -1.51681145e-03 -2.51782243e+01] [-7.25757571e-03 -2.47367672e-05 9.99973663e-01 -1.88110999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters 0.050643311083882904 Centerline is valid? [True, True] Translation: X:254.02, Y:-25.19, Z:-1.88 [[ 9.77841294e-01 2.09241904e-01 6.65047486e-03 2.54023713e+02] [-2.09237075e-01 9.77863910e-01 -1.42153271e-03 -2.51929007e+01] [-6.80070356e-03 -1.49252688e-06 9.99976875e-01 -1.88164682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters 0.05084285827635051 Centerline is valid? [True, True] Translation: X:254.08, Y:-25.21, Z:-1.88 [[ 9.78759415e-01 2.04883802e-01 7.25499801e-03 2.54084167e+02] [-2.04877930e-01 9.78786303e-01 -1.55161370e-03 -2.52075738e+01] [-7.41899320e-03 3.22675432e-05 9.99972478e-01 -1.88303822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters 0.051455091609601614 Centerline is valid? [True, True] Translation: X:254.14, Y:-25.22, Z:-1.88 [[ 9.79278820e-01 2.02383351e-01 7.34650069e-03 2.54143557e+02] [-2.02377256e-01 9.79306375e-01 -1.57150997e-03 -2.52224937e+01] [-7.51252242e-03 5.21817756e-05 9.99971779e-01 -1.88371450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters 0.05114301331548094 Centerline is valid? [True, True] Translation: X:254.20, Y:-25.24, Z:-1.88 [[ 9.79749730e-01 2.00072477e-01 7.84034573e-03 2.54204069e+02] [-2.00065454e-01 9.79781097e-01 -1.67808033e-03 -2.52351810e+01] [-8.01756023e-03 7.55164213e-05 9.99967856e-01 -1.88384491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters 0.05155752115544134 Centerline is valid? [True, True] Translation: X:254.26, Y:-25.25, Z:-1.88 [[ 9.80100584e-01 1.98380375e-01 6.93343315e-03 2.54263868e+02] [-1.98374835e-01 9.80125104e-01 -1.48472822e-03 -2.52487703e+01] [-7.09017283e-03 7.97643333e-05 9.99974861e-01 -1.88442525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters 0.05160615605945334 Centerline is valid? [True, True] Translation: X:254.33, Y:-25.26, Z:-1.89 [[ 9.79995833e-01 1.98868930e-01 7.70171691e-03 2.54325048e+02] [-1.98862102e-01 9.80026092e-01 -1.65018154e-03 -2.52590802e+01] [-7.87605336e-03 8.55914192e-05 9.99968980e-01 -1.88556502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters 0.051595431532674305 Centerline is valid? [True, True] Translation: X:254.39, Y:-25.27, Z:-1.89 [[ 9.79328080e-01 2.02129347e-01 7.76136700e-03 2.54385217e+02] [-2.02122512e-01 9.79358833e-01 -1.66334431e-03 -2.52706244e+01] [-7.93737402e-03 6.02127945e-05 9.99968497e-01 -1.88572611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters 0.051248116196291695 Centerline is valid? [True, True] Translation: X:254.45, Y:-25.28, Z:-1.89 [[ 9.79046441e-01 2.03488892e-01 7.76766479e-03 2.54446569e+02] [-2.03482081e-01 9.79077253e-01 -1.66563691e-03 -2.52820577e+01] [-7.94408252e-03 5.01552930e-05 9.99968444e-01 -1.88617315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters 0.05098127829054396 Centerline is valid? [True, True] Translation: X:254.51, Y:-25.29, Z:-1.89 [[ 9.77978890e-01 2.08584102e-01 7.06848274e-03 2.54507531e+02] [-2.08578590e-01 9.78004434e-01 -1.51646809e-03 -2.52896864e+01] [-7.22931860e-03 8.73961920e-06 9.99973868e-01 -1.88668254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters 0.05105736493836409 Centerline is valid? [True, True] Translation: X:254.57, Y:-25.30, Z:-1.89 [[ 9.77175852e-01 2.12331761e-01 6.52512822e-03 2.54570142e+02] [-2.12327143e-01 9.77197638e-01 -1.40052486e-03 -2.52993524e+01] [-6.67371579e-03 -1.69027574e-05 9.99977730e-01 -1.88745597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters 0.051103722831550076 Centerline is valid? [True, True] Translation: X:254.63, Y:-25.31, Z:-1.89 [[ 9.76078164e-01 2.17372257e-01 4.55182217e-03 2.54630749e+02] [-2.17370062e-01 9.76088777e-01 -9.77641692e-04 -2.53063654e+01] [-4.65549472e-03 -3.51751579e-05 9.99989163e-01 -1.88926609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters 0.05097665126463065 Centerline is valid? [True, True] Translation: X:254.69, Y:-25.32, Z:-1.89 [[ 9.75526078e-01 2.19852673e-01 3.69761151e-03 2.54691577e+02] [-2.19851243e-01 9.75533085e-01 -7.94056531e-04 -2.53164636e+01] [-3.78171782e-03 -3.83016322e-05 9.99992849e-01 -1.88898083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters 0.05064252315008318 Centerline is valid? [True, True] Translation: X:254.75, Y:-25.33, Z:-1.89 [[ 9.75596797e-01 2.19541030e-01 3.55319614e-03 2.54753050e+02] [-2.19539707e-01 9.75603267e-01 -7.62969519e-04 -2.53299837e+01] [-3.63401288e-03 -3.57170220e-05 9.99993396e-01 -1.88853957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters 0.05114183316148806 Centerline is valid? [True, True] Translation: X:254.81, Y:-25.34, Z:-1.89 [[ 9.75922904e-01 2.18088617e-01 3.44093051e-03 2.54813653e+02] [-2.18087365e-01 9.75928970e-01 -7.39373923e-04 -2.53435445e+01] [-3.51935280e-03 -2.88515225e-05 9.99993807e-01 -1.88824146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters 0.051895746608680696 Centerline is valid? [True, True] Translation: X:254.87, Y:-25.36, Z:-1.89 [[ 9.76514529e-01 2.15429917e-01 3.05380802e-03 2.54873992e+02] [-2.15428917e-01 9.76519304e-01 -6.56462331e-04 -2.53576883e+01] [-3.12352410e-03 -1.68335497e-05 9.99995122e-01 -1.88819558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters 0.05191708916123934 Centerline is valid? [True, True] Translation: X:254.93, Y:-25.37, Z:-1.89 [[ 9.76936062e-01 2.13511897e-01 2.93285815e-03 2.54934487e+02] [-2.13510965e-01 9.76940464e-01 -6.30785404e-04 -2.53713917e+01] [-2.99990799e-03 -9.96036659e-06 9.99995500e-01 -1.88792468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters 0.05159336974955786 Centerline is valid? [True, True] Translation: X:254.99, Y:-25.38, Z:-1.89 [[ 9.76992496e-01 2.13262403e-01 2.19301036e-03 2.54994748e+02] [-2.13261882e-01 9.76994958e-01 -4.71665905e-04 -2.53839156e+01] [-2.24314867e-03 -6.87146618e-06 9.99997484e-01 -1.88869014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters 0.05198206618162017 Centerline is valid? [True, True] Translation: X:255.06, Y:-25.40, Z:-1.89 [[ 9.77086755e-01 2.12838823e-01 1.05285281e-03 2.55056153e+02] [-2.12838703e-01 9.77087322e-01 -2.26048435e-04 -2.53973437e+01] [-1.07684102e-03 -3.21889596e-06 9.99999420e-01 -1.88881415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters 0.05188249117521652 Centerline is valid? [True, True] Translation: X:255.12, Y:-25.41, Z:-1.89 [[ 9.77022305e-01 2.13135575e-01 8.01631072e-04 2.55117302e+02] [-2.13135505e-01 9.77022634e-01 -1.71972970e-04 -2.54111514e+01] [-8.19865259e-04 -2.83461603e-06 9.99999664e-01 -1.88868192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters 0.05213736013553518 Centerline is valid? [True, True] Translation: X:255.18, Y:-25.42, Z:-1.89 [[ 9.76793707e-01 2.14182229e-01 1.64012960e-04 2.55178473e+02] [-2.14182226e-01 9.76793721e-01 -3.45300329e-05 -2.54239519e+01] [-1.67602549e-04 -1.39994209e-06 9.99999986e-01 -1.88836615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters 0.05181159941962046 Centerline is valid? [True, True] Translation: X:255.24, Y:-25.44, Z:-1.89 [[ 9.76405578e-01 2.15944625e-01 -2.58922697e-04 2.55239724e+02] [-2.15944618e-01 9.76405612e-01 5.68149755e-05 -2.54361977e+01] [ 2.65082463e-04 4.38503893e-07 9.99999965e-01 -1.88792599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters 0.05231843687686552 Centerline is valid? [True, True] Translation: X:255.30, Y:-25.45, Z:-1.89 [[ 9.76050159e-01 2.17545581e-01 -8.75037822e-05 2.55300640e+02] [-2.17545580e-01 9.76050163e-01 1.97932460e-05 -2.54484765e+01] [ 8.97140140e-05 -2.83139865e-07 9.99999996e-01 -1.88809152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters 0.052294571056467266 Centerline is valid? [True, True] Translation: X:255.36, Y:-25.46, Z:-1.89 [[ 9.75787034e-01 2.18722690e-01 2.24064481e-04 2.55361179e+02] [-2.18722685e-01 9.75787059e-01 -4.75247224e-05 -2.54601417e+01] [-2.29033957e-04 -2.63397700e-06 9.99999974e-01 -1.88751993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters 0.052149553331388585 Centerline is valid? [True, True] Translation: X:255.42, Y:-25.47, Z:-1.89 [[ 9.75790406e-01 2.18706126e-01 8.44371900e-04 2.55421524e+02] [-2.18706051e-01 9.75790772e-01 -1.81922547e-04 -2.54707385e+01] [-8.63717883e-04 -7.15096733e-06 9.99999627e-01 -1.88891660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters 0.05217924033654451 Centerline is valid? [True, True] Translation: X:255.48, Y:-25.48, Z:-1.89 [[ 9.75938540e-01 2.18041156e-01 1.42160905e-03 2.55482050e+02] [-2.18040940e-01 9.75939575e-01 -3.06960937e-04 -2.54848735e+01] [-1.45433465e-03 -1.03939647e-05 9.99998942e-01 -1.88802663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters 0.05227031282071852 Centerline is valid? [True, True] Translation: X:255.54, Y:-25.50, Z:-1.89 [[ 9.75921201e-01 2.18121025e-01 1.01405857e-03 2.55543288e+02] [-2.18120916e-01 9.75921728e-01 -2.18790951e-04 -2.54969741e+01] [-1.03736470e-03 -7.66465644e-06 9.99999462e-01 -1.88939126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters 0.05110716691767375 Centerline is valid? [True, True] Translation: X:255.60, Y:-25.51, Z:-1.89 [[ 9.75614966e-01 2.19489038e-01 3.10511790e-06 2.55604005e+02] [-2.19489038e-01 9.75614966e-01 1.47425331e-07 -2.55082185e+01] [-2.99704134e-06 -8.25369701e-07 1.00000000e+00 -1.89070803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters 0.05222495076852561 Centerline is valid? [True, True] Translation: X:255.66, Y:-25.52, Z:-1.89 [[ 9.75421430e-01 2.20347528e-01 -2.99211317e-05 2.55664797e+02] [-2.20347528e-01 9.75421430e-01 7.31050772e-06 -2.55204325e+01] [ 3.07965653e-05 -5.37778485e-07 1.00000000e+00 -1.89126239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters 0.05222706472950531 Centerline is valid? [True, True] Translation: X:255.72, Y:-25.53, Z:-1.89 [[ 9.75288034e-01 2.20936843e-01 -4.01824255e-04 2.55724481e+02] [-2.20936826e-01 9.75288117e-01 8.79362592e-05 -2.55324459e+01] [ 4.11322781e-04 3.01459399e-06 9.99999915e-01 -1.89200991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters 0.051779783353971556 Centerline is valid? [True, True] Translation: X:255.78, Y:-25.55, Z:-1.89 [[ 9.75337723e-01 2.20714697e-01 -1.16149072e-03 2.55784464e+02] [-2.20714553e-01 9.75338414e-01 2.52505520e-04 -2.55471864e+01] [ 1.18857819e-03 1.00797456e-05 9.99999294e-01 -1.89076149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters 0.05184306415397237 Centerline is valid? [True, True] Translation: X:255.84, Y:-25.56, Z:-1.89 [[ 9.75474712e-01 2.20108289e-01 -1.19488255e-03 2.55844790e+02] [-2.20108135e-01 9.75475444e-01 2.60332445e-04 -2.55619313e+01] [ 1.22287991e-03 9.05565294e-06 9.99999252e-01 -1.88987310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters 0.05127974678781847 Centerline is valid? [True, True] Translation: X:255.90, Y:-25.58, Z:-1.89 [[ 9.75878590e-01 2.18313932e-01 -7.11846489e-05 2.55904620e+02] [-2.18313932e-01 9.75878592e-01 1.62734472e-05 -2.55755398e+01] [ 7.30202952e-05 -3.40308148e-07 9.99999997e-01 -1.89067716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters 0.051539598883429676 Centerline is valid? [True, True] Translation: X:255.97, Y:-25.59, Z:-1.89 [[ 9.76172452e-01 2.16996047e-01 -2.44713826e-04 2.55965446e+02] [-2.16996040e-01 9.76172483e-01 5.40557854e-05 -2.55889059e+01] [ 2.50612794e-04 3.34162592e-07 9.99999969e-01 -1.89193987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters 0.051805309775671826 Centerline is valid? [True, True] Translation: X:256.03, Y:-25.60, Z:-1.89 [[ 9.76479382e-01 2.15610184e-01 -5.14864454e-04 2.56026976e+02] [-2.15610155e-01 9.76479518e-01 1.13000270e-04 -2.56030463e+01] [ 5.27118603e-04 6.67570970e-07 9.99999861e-01 -1.89228347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters 0.052610899297115106 Centerline is valid? [True, True] Translation: X:256.09, Y:-25.62, Z:-1.90 [[ 9.77151796e-01 2.12535804e-01 -1.70272999e-03 2.56086268e+02] [-2.12535480e-01 9.77153280e-01 3.71373473e-04 -2.56176277e+01] [ 1.74275835e-03 -9.97721890e-07 9.99998481e-01 -1.89513394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters 0.051830829894388315 Centerline is valid? [True, True] Translation: X:256.15, Y:-25.63, Z:-1.89 [[ 9.77641145e-01 2.10276162e-01 -1.31458863e-03 2.56147651e+02] [-2.10275967e-01 9.77642028e-01 2.86599117e-04 -2.56333291e+01] [ 1.34546206e-03 -3.76469358e-06 9.99999095e-01 -1.89420065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters 0.05261610339257987 Centerline is valid? [True, True] Translation: X:256.21, Y:-25.65, Z:-1.89 [[ 9.78084293e-01 2.08206228e-01 -1.13249141e-03 2.56208274e+02] [-2.08206081e-01 9.78084949e-01 2.47562277e-04 -2.56473921e+01] [ 1.15921681e-03 -6.34517716e-06 9.99999328e-01 -1.89324397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters 0.052128419666283565 Centerline is valid? [True, True] Translation: X:256.27, Y:-25.66, Z:-1.89 [[ 9.78124771e-01 2.08017923e-01 -6.90135885e-04 2.56269501e+02] [-2.08017868e-01 9.78125014e-01 1.51448515e-04 -2.56601606e+01] [ 7.06543177e-04 -4.57494852e-06 9.99999750e-01 -1.89312954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters 0.053200780068819994 Centerline is valid? [True, True] Translation: X:256.33, Y:-25.67, Z:-1.89 [[ 9.77817871e-01 2.09456540e-01 -4.10518591e-04 2.56329689e+02] [-2.09456521e-01 9.77817957e-01 9.00144954e-05 -2.56716619e+01] [ 4.20266575e-04 -2.03198652e-06 9.99999912e-01 -1.89001064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters 0.05236682312951318 Centerline is valid? [True, True] Translation: X:256.39, Y:-25.69, Z:-1.89 [[ 9.77575819e-01 2.10583456e-01 -3.55883832e-04 2.56390411e+02] [-2.10583441e-01 9.77575884e-01 7.86101421e-05 -2.56858732e+01] [ 3.64457447e-04 -1.90413209e-06 9.99999934e-01 -1.89447245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters 0.05283362109404424 Centerline is valid? [True, True] Translation: X:256.45, Y:-25.70, Z:-1.89 [[ 9.76926835e-01 2.13571611e-01 -1.06086133e-03 2.56452732e+02] [-2.13571485e-01 9.76927411e-01 2.31943793e-04 -2.56955040e+01] [ 1.08592112e-03 -2.23871274e-08 9.99999410e-01 -1.89391910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters 0.05242842725335094 Centerline is valid? [True, True] Translation: X:256.51, Y:-25.71, Z:-1.89 [[ 9.76394425e-01 2.15994334e-01 -6.11941195e-04 2.56514456e+02] [-2.15994293e-01 9.76394617e-01 1.34640229e-04 -2.57062463e+01] [ 6.26577616e-04 7.13836271e-07 9.99999804e-01 -1.89456956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters 0.052752088672059695 Centerline is valid? [True, True] Translation: X:256.58, Y:-25.72, Z:-1.89 [[ 9.75968084e-01 2.17912974e-01 4.84413169e-04 2.56575306e+02] [-2.17912948e-01 9.75968204e-01 -1.04899298e-04 -2.57171318e+01] [-4.95630769e-04 -3.18153511e-06 9.99999877e-01 -1.89422579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters 0.05213106722725388 Centerline is valid? [True, True] Translation: X:256.64, Y:-25.73, Z:-1.90 [[ 9.76036440e-01 2.17603719e-01 1.22031489e-03 2.56636017e+02] [-2.17603557e-01 9.76037203e-01 -2.65960532e-04 -2.57273987e+01] [-1.24894673e-03 -5.95768885e-06 9.99999220e-01 -1.89529428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters 0.05268250231587557 Centerline is valid? [True, True] Translation: X:256.70, Y:-25.74, Z:-1.90 [[ 9.76133356e-01 2.17166508e-01 1.54273864e-03 2.56696563e+02] [-2.17166246e-01 9.76134575e-01 -3.37002094e-04 -2.57394679e+01] [-1.57910609e-03 -6.07177464e-06 9.99998753e-01 -1.89517433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters 0.05200847712814481 Centerline is valid? [True, True] Translation: X:256.76, Y:-25.75, Z:-1.90 [[ 9.76154915e-01 2.17070553e-01 1.39892305e-03 2.56758247e+02] [-2.17070339e-01 9.76155917e-01 -3.05053650e-04 -2.57517133e+01] [-1.43178518e-03 -5.88508083e-06 9.99998975e-01 -1.89561362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters 0.0530432793036606 Centerline is valid? [True, True] Translation: X:256.82, Y:-25.76, Z:-1.90 [[ 9.76192362e-01 2.16904352e-01 9.86817940e-04 2.56818866e+02] [-2.16904245e-01 9.76192861e-01 -2.15091290e-04 -2.57622823e+01] [-1.00997886e-03 -4.07452580e-06 9.99999490e-01 -1.89963307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters 0.053145004092147966 Centerline is valid? [True, True] Translation: X:256.88, Y:-25.78, Z:-1.90 [[ 9.76283252e-01 2.16494980e-01 9.67630488e-04 2.56880829e+02] [-2.16494877e-01 9.76283731e-01 -2.11455161e-04 -2.57754426e+01] [-9.90460884e-04 -3.04691065e-06 9.99999509e-01 -1.89838389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters 0.05228402904670563 Centerline is valid? [True, True] Translation: X:256.94, Y:-25.79, Z:-1.90 [[ 9.76294881e-01 2.16440826e-01 1.29405839e-03 2.56941662e+02] [-2.16440642e-01 9.76295738e-01 -2.82605875e-04 -2.57870487e+01] [-1.32455114e-03 -4.18016069e-06 9.99999123e-01 -1.89936288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters 0.052422521765634306 Centerline is valid? [True, True] Translation: X:257.00, Y:-25.80, Z:-1.90 [[ 9.76304679e-01 2.16390688e-01 2.06033855e-03 2.57002346e+02] [-2.16390218e-01 9.76306853e-01 -4.50827009e-04 -2.57995919e+01] [-2.10907741e-03 -5.69259048e-06 9.99997776e-01 -1.89867618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters 0.05257047521937997 Centerline is valid? [True, True] Translation: X:257.06, Y:-25.81, Z:-1.90 [[ 9.76220446e-01 2.16777030e-01 1.16655417e-03 2.57063590e+02] [-2.16776880e-01 9.76221143e-01 -2.55023363e-04 -2.58115703e+01] [-1.19409805e-03 -3.92295154e-06 9.99999287e-01 -1.89996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters 0.052806645350151234 Centerline is valid? [True, True] Translation: X:257.13, Y:-25.82, Z:-1.90 [[ 9.76037297e-01 2.17600787e-01 1.04530330e-03 2.57125062e+02] [-2.17600667e-01 9.76037857e-01 -2.28433017e-04 -2.58238927e+01] [-1.06996280e-03 -4.49955114e-06 9.99999428e-01 -1.89997128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters 0.05248742572668983 Centerline is valid? [True, True] Translation: X:257.19, Y:-25.83, Z:-1.90 [[ 9.75665314e-01 2.19263467e-01 8.52614681e-04 2.57186613e+02] [-2.19263388e-01 9.75665687e-01 -1.86371552e-04 -2.58344314e+01] [-8.72731361e-04 -5.11092407e-06 9.99999619e-01 -1.90008893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters 0.052161438986893204 Centerline is valid? [True, True] Translation: X:257.25, Y:-25.85, Z:-1.90 [[ 9.75516401e-01 2.19926589e-01 2.16794746e-04 2.57247127e+02] [-2.19926584e-01 9.75516425e-01 -4.71519994e-05 -2.58455079e+01] [-2.21856814e-04 -1.68137905e-06 9.99999975e-01 -1.90123766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters 0.05272964363067606 Centerline is valid? [True, True] Translation: X:257.31, Y:-25.86, Z:-1.90 [[ 9.75715915e-01 2.19038702e-01 7.06737277e-04 2.57308277e+02] [-2.19038647e-01 9.75716171e-01 -1.54995395e-04 -2.58580359e+01] [-7.23524981e-04 -3.57130325e-06 9.99999738e-01 -1.90140020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters 0.05284113770437308 Centerline is valid? [True, True] Translation: X:257.37, Y:-25.87, Z:-1.90 [[ 9.76110620e-01 2.17271362e-01 1.10175097e-03 2.57368789e+02] [-2.17271227e-01 9.76111241e-01 -2.41807757e-04 -2.58716302e+01] [-1.12796940e-03 -3.34766482e-06 9.99999364e-01 -1.90028122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters 0.05307044168883264 Centerline is valid? [True, True] Translation: X:257.43, Y:-25.89, Z:-1.90 [[ 9.76482086e-01 2.15597717e-01 6.00925360e-04 2.57430027e+02] [-2.15597677e-01 9.76482270e-01 -1.31131468e-04 -2.58854936e+01] [-6.15064605e-04 -1.51058207e-06 9.99999811e-01 -1.90025061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters 0.05306304014244571 Centerline is valid? [True, True] Translation: X:257.49, Y:-25.90, Z:-1.90 [[ 9.77015392e-01 2.13168438e-01 3.75180205e-04 2.57490119e+02] [-2.13168423e-01 9.77015464e-01 -8.16098566e-05 -2.59002477e+01] [-3.83953507e-04 -2.42486396e-07 9.99999926e-01 -1.90278911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters 0.053215536244375077 Centerline is valid? [True, True] Translation: X:257.55, Y:-25.91, Z:-1.90 [[ 9.77812084e-01 2.09482187e-01 8.60776777e-04 2.57550302e+02] [-2.09482102e-01 9.77812463e-01 -1.88626618e-04 -2.59149802e+01] [-8.81192177e-04 4.12405728e-06 9.99999612e-01 -1.90023791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters 0.053471427418913274 Centerline is valid? [True, True] Translation: X:257.61, Y:-25.93, Z:-1.90 [[ 9.78177090e-01 2.07769932e-01 1.11139729e-03 2.57611233e+02] [-2.07769789e-01 9.78177722e-01 -2.43936090e-04 -2.59293231e+01] [-1.13782665e-03 7.69791523e-06 9.99999353e-01 -1.90062326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters 0.053280853390278556 Centerline is valid? [True, True] Translation: X:257.67, Y:-25.94, Z:-1.90 [[ 9.78334036e-01 2.07030143e-01 1.01674166e-03 2.57671593e+02] [-2.07030023e-01 9.78334564e-01 -2.23246851e-04 -2.59420363e+01] [-1.04093234e-03 7.91394356e-06 9.99999458e-01 -1.89983470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters 0.053834116819712216 Centerline is valid? [True, True] Translation: X:257.73, Y:-25.95, Z:-1.90 [[ 9.77852750e-01 2.09292785e-01 7.27700554e-04 2.57732704e+02] [-2.09292724e-01 9.77853021e-01 -1.59567855e-04 -2.59540654e+01] [-7.44980586e-04 3.73143470e-06 9.99999722e-01 -1.90040780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters 0.05372242513385461 Centerline is valid? [True, True] Translation: X:257.79, Y:-25.97, Z:-1.90 [[ 9.77222365e-01 2.12217443e-01 4.53315250e-04 2.57793737e+02] [-2.12217420e-01 9.77222471e-01 -9.91155107e-05 -2.59656187e+01] [-4.64023888e-04 6.56501261e-07 9.99999892e-01 -1.90087877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters 0.05353524796648414 Centerline is valid? [True, True] Translation: X:257.86, Y:-25.98, Z:-1.90 [[ 9.76364525e-01 2.16130201e-01 2.22585778e-04 2.57855016e+02] [-2.16130196e-01 9.76364551e-01 -4.81839428e-05 -2.59769464e+01] [-2.27738868e-04 -1.06241535e-06 9.99999974e-01 -1.90115751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters 0.0530539372793864 Centerline is valid? [True, True] Translation: X:257.92, Y:-25.99, Z:-1.90 [[ 9.75150415e-01 2.21542970e-01 6.16297649e-04 2.57916150e+02] [-2.21542929e-01 9.75150610e-01 -1.35789166e-04 -2.59871241e+01] [-6.31066164e-04 -4.12152474e-06 9.99999801e-01 -1.90205164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters 0.05267678554109388 Centerline is valid? [True, True] Translation: X:257.98, Y:-26.00, Z:-1.90 [[ 9.74224288e-01 2.25567441e-01 2.52315281e-03 2.57976359e+02] [-2.25566756e-01 9.74227555e-01 -5.56611281e-04 -2.60037603e+01] [-2.58367838e-03 -2.68751647e-05 9.99996662e-01 -1.89917546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters 0.05360045925664907 Centerline is valid? [True, True] Translation: X:258.04, Y:-26.01, Z:-1.90 [[ 9.73799323e-01 2.27392492e-01 2.74453441e-03 2.58036965e+02] [-2.27391687e-01 9.73803190e-01 -6.05887928e-04 -2.60127961e+01] [-2.81041073e-03 -3.40710567e-05 9.99996050e-01 -1.90134576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters 0.052901398412371826 Centerline is valid? [True, True] Translation: X:258.10, Y:-26.03, Z:-1.90 [[ 9.73736692e-01 2.27650767e-01 3.46159672e-03 2.58097995e+02] [-2.27649486e-01 9.73742844e-01 -7.64972889e-04 -2.60270728e+01] [-3.54485170e-03 -4.31485434e-05 9.99993716e-01 -1.90164163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters 0.05291846687186673 Centerline is valid? [True, True] Translation: X:258.16, Y:-26.04, Z:-1.90 [[ 9.73715800e-01 2.27748636e-01 2.84614949e-03 2.58158455e+02] [-2.27747771e-01 9.73719959e-01 -6.28761449e-04 -2.60384267e+01] [-2.91455213e-03 -3.59692444e-05 9.99995752e-01 -1.90317023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters 0.052804634411044354 Centerline is valid? [True, True] Translation: X:258.22, Y:-26.05, Z:-1.91 [[ 9.73682275e-01 2.27900219e-01 2.07783694e-03 2.58219141e+02] [-2.27899758e-01 9.73684492e-01 -4.59080367e-04 -2.60501297e+01] [-2.12778212e-03 -2.65401200e-05 9.99997736e-01 -1.90573610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters 0.05250128768567182 Centerline is valid? [True, True] Translation: X:258.28, Y:-26.06, Z:-1.91 [[ 9.73676687e-01 2.27927014e-01 1.72784825e-03 2.58280574e+02] [-2.27926695e-01 9.73678220e-01 -3.81786510e-04 -2.60640583e+01] [-1.76938767e-03 -2.20861175e-05 9.99998434e-01 -1.90706013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters 0.05293745270099836 Centerline is valid? [True, True] Translation: X:258.34, Y:-26.08, Z:-1.91 [[ 9.73812799e-01 2.27349435e-01 9.31074128e-04 2.58341032e+02] [-2.27349342e-01 9.73813244e-01 -2.05406897e-04 -2.60809941e+01] [-9.53391459e-04 -1.16512251e-05 9.99999545e-01 -1.90831008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters 0.05238826100876669 Centerline is valid? [True, True] Translation: X:258.40, Y:-26.10, Z:-1.91 [[ 9.74076343e-01 2.26218950e-01 5.15208592e-04 2.58400711e+02] [-2.26218922e-01 9.74076479e-01 -1.13368682e-04 -2.60995486e+01] [-5.27498715e-04 -6.12018137e-06 9.99999861e-01 -1.90829506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters 0.05214994311638796 Centerline is valid? [True, True] Translation: X:258.46, Y:-26.11, Z:-1.91 [[ 9.74154648e-01 2.25881751e-01 3.95268533e-04 2.58460494e+02] [-2.25881734e-01 9.74154728e-01 -8.71845257e-05 -2.61142391e+01] [-4.04746104e-04 -4.35273059e-06 9.99999918e-01 -1.90915417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters 0.05177892408118707 Centerline is valid? [True, True] Translation: X:258.52, Y:-26.13, Z:-1.91 [[ 9.73984844e-01 2.26609023e-01 1.36942515e-03 2.58521372e+02] [-2.26608821e-01 9.73985806e-01 -3.02959231e-04 -2.61299965e+01] [-1.40245395e-03 -1.52461182e-05 9.99999016e-01 -1.90912042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters 0.0517411110170713 Centerline is valid? [True, True] Translation: X:258.58, Y:-26.14, Z:-1.91 [[ 9.73712130e-01 2.27770666e-01 2.28306969e-03 2.58581500e+02] [-2.27770105e-01 9.73714806e-01 -5.06189485e-04 -2.61427082e+01] [-2.33835387e-03 -2.71321812e-05 9.99997266e-01 -1.90972264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters 0.05209266384835255 Centerline is valid? [True, True] Translation: X:258.64, Y:-26.16, Z:-1.91 [[ 9.72942060e-01 2.31015383e-01 3.95491222e-03 2.58641597e+02] [-2.31013722e-01 9.72950096e-01 -8.78129703e-04 -2.61584041e+01] [-4.05079369e-03 -5.92696698e-05 9.99991794e-01 -1.90880209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters 0.05221420554475039 Centerline is valid? [True, True] Translation: X:258.70, Y:-26.17, Z:-1.91 [[ 9.72122916e-01 2.34446647e-01 3.43586791e-03 2.58700608e+02] [-2.34445413e-01 9.72128986e-01 -7.63093229e-04 -2.61692863e+01] [-3.51901143e-03 -6.37030570e-05 9.99993806e-01 -1.90979726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters 0.05189516809504845 Centerline is valid? [True, True] Translation: X:258.76, Y:-26.18, Z:-1.91 [[ 9.70787638e-01 2.39932596e-01 1.92647105e-03 2.58760165e+02] [-2.39932219e-01 9.70789548e-01 -4.27820696e-04 -2.61840849e+01] [-1.97284609e-03 -4.68994314e-05 9.99998053e-01 -1.91101582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters 0.05201502331905635 Centerline is valid? [True, True] Translation: X:258.82, Y:-26.20, Z:-1.91 [[ 9.70119098e-01 2.42626593e-01 1.12758832e-03 2.58819961e+02] [-2.42626465e-01 9.70119753e-01 -2.50341674e-04 -2.61979997e+01] [-1.15463525e-03 -3.07215306e-05 9.99999333e-01 -1.91145000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters 0.051454270712765746 Centerline is valid? [True, True] Translation: X:258.88, Y:-26.22, Z:-1.91 [[ 9.69544344e-01 2.44913272e-01 1.12029123e-03 2.58879038e+02] [-2.44913148e-01 9.69544990e-01 -2.48737651e-04 -2.62159219e+01] [-1.14709190e-03 -3.32118688e-05 9.99999342e-01 -1.91013913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters 0.051253076999680534 Centerline is valid? [True, True] Translation: X:258.94, Y:-26.23, Z:-1.91 [[ 9.69206815e-01 2.46247348e-01 -6.26715325e-04 2.58938468e+02] [-2.46247310e-01 9.69207018e-01 1.39347130e-04 -2.62311008e+01] [ 6.41730752e-04 1.92707742e-05 9.99999794e-01 -1.91140955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters 0.05073878369054447 Centerline is valid? [True, True] Translation: X:259.00, Y:-26.25, Z:-1.91 [[ 9.69218194e-01 2.46202812e-01 -5.17559697e-04 2.58998410e+02] [-2.46202785e-01 9.69218332e-01 1.15872063e-04 -2.62464496e+01] [ 5.30156374e-04 1.51193270e-05 9.99999859e-01 -1.91181199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters 0.05124448964949914 Centerline is valid? [True, True] Translation: X:259.06, Y:-26.26, Z:-1.91 [[ 9.69465389e-01 2.45228015e-01 -2.82830600e-04 2.59058573e+02] [-2.45228007e-01 9.69465430e-01 6.37346258e-05 -2.62631611e+01] [ 2.89824005e-04 7.56947064e-06 9.99999958e-01 -1.91157151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters 0.05115460393898446 Centerline is valid? [True, True] Translation: X:259.12, Y:-26.28, Z:-1.91 [[ 9.69809692e-01 2.43862475e-01 5.05164486e-04 2.59117452e+02] [-2.43862449e-01 9.69809823e-01 -1.12010584e-04 -2.62755249e+01] [-5.17228659e-04 -1.45616994e-05 9.99999866e-01 -1.91241552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters 0.051020184520283896 Centerline is valid? [True, True] Translation: X:259.18, Y:-26.29, Z:-1.91 [[ 9.70238062e-01 2.42144045e-01 2.08900564e-03 2.59176517e+02] [-2.42143606e-01 9.70240310e-01 -4.64586178e-04 -2.62919492e+01] [-2.13933426e-03 -5.50801663e-05 9.99997710e-01 -1.91187070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters 0.05130995415150476 Centerline is valid? [True, True] Translation: X:259.24, Y:-26.31, Z:-1.91 [[ 9.70616658e-01 2.40623599e-01 1.89379622e-03 2.59236488e+02] [-2.40623236e-01 9.70618504e-01 -4.21148752e-04 -2.63073805e+01] [-1.93949199e-03 -4.69173805e-05 9.99998118e-01 -1.91247912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters 0.0509040616996402 Centerline is valid? [True, True] Translation: X:259.30, Y:-26.32, Z:-1.91 [[ 9.70882587e-01 2.39551744e-01 1.40182677e-03 2.59296205e+02] [-2.39551544e-01 9.70883598e-01 -3.11192134e-04 -2.63240211e+01] [-1.43555724e-03 -3.36787434e-05 9.99998969e-01 -1.91318750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters 0.05193479547766914 Centerline is valid? [True, True] Translation: X:259.36, Y:-26.34, Z:-1.91 [[ 9.70990175e-01 2.39110901e-01 2.01409144e-03 2.59356525e+02] [-2.39110486e-01 9.70992263e-01 -4.47762246e-04 -2.63360547e+01] [-2.06273203e-03 -4.68176403e-05 9.99997871e-01 -1.91490036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters 0.05140506892532936 Centerline is valid? [True, True] Translation: X:259.42, Y:-26.35, Z:-1.91 [[ 9.71101900e-01 2.38641280e-01 3.38223965e-03 2.59416736e+02] [-2.38640105e-01 9.71107787e-01 -7.52797605e-04 -2.63494603e+01] [-3.46416785e-03 -7.60948411e-05 9.99993997e-01 -1.91429114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters 0.05111556399643645 Centerline is valid? [True, True] Translation: X:259.48, Y:-26.37, Z:-1.91 [[ 9.70765758e-01 2.39999153e-01 3.77482323e-03 2.59477226e+02] [-2.39997697e-01 9.70773093e-01 -8.40706333e-04 -2.63652971e+01] [-3.86626563e-03 -8.98199611e-05 9.99992522e-01 -1.91478458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters 0.05137386926790042 Centerline is valid? [True, True] Translation: X:259.54, Y:-26.38, Z:-1.92 [[ 9.70445085e-01 2.41299603e-01 3.29219290e-03 2.59537320e+02] [-2.41298502e-01 9.70450666e-01 -7.33481244e-04 -2.63798036e+01] [-3.37189952e-03 -8.25979470e-05 9.99994312e-01 -1.91661046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters 0.051233236644287604 Centerline is valid? [True, True] Translation: X:259.60, Y:-26.39, Z:-1.92 [[ 9.70000106e-01 2.43086980e-01 2.91805948e-03 2.59597614e+02] [-2.43086121e-01 9.70004492e-01 -6.50805248e-04 -2.63885287e+01] [-2.98873309e-03 -7.80586018e-05 9.99995531e-01 -1.91866534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters 0.05242368772131754 Centerline is valid? [True, True] Translation: X:259.66, Y:-26.40, Z:-1.92 [[ 9.69621806e-01 2.44593057e-01 2.79122933e-03 2.59657358e+02] [-2.44592277e-01 9.69625820e-01 -6.22390982e-04 -2.63990303e+01] [-2.85868054e-03 -7.92292720e-05 9.99995911e-01 -1.91989883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters 0.05072285249721667 Centerline is valid? [True, True] Translation: X:259.72, Y:-26.42, Z:-1.92 [[ 9.69416465e-01 2.45410534e-01 2.32092653e-03 2.59716488e+02] [-2.45409999e-01 9.69419241e-01 -5.17287487e-04 -2.64208516e+01] [-2.37689863e-03 -6.81115692e-05 9.99997173e-01 -1.92026722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters 0.05093105074881095 Centerline is valid? [True, True] Translation: X:259.78, Y:-26.43, Z:-1.92 [[ 9.69537351e-01 2.44927034e-01 2.84138061e-03 2.59777518e+02] [-2.44926227e-01 9.69541511e-01 -6.33805123e-04 -2.64301679e+01] [-2.91007246e-03 -8.14308924e-05 9.99995762e-01 -1.92215989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters 0.050473083340137635 Centerline is valid? [True, True] Translation: X:259.84, Y:-26.45, Z:-1.92 [[ 9.70494010e-01 2.41086355e-01 4.32971329e-03 2.59836107e+02] [-2.41084438e-01 9.70503662e-01 -9.67018208e-04 -2.64489450e+01] [-4.43513750e-03 -1.05341117e-04 9.99990159e-01 -1.92104500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters 0.051113846574550724 Centerline is valid? [True, True] Translation: X:259.89, Y:-26.46, Z:-1.92 [[ 9.71311448e-01 2.37750142e-01 5.37965201e-03 2.59894248e+02] [-2.37747131e-01 9.71326339e-01 -1.20165520e-03 -2.64630265e+01] [-5.51109139e-03 -1.11815379e-04 9.99984808e-01 -1.92144374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters 0.0512307817356586 Centerline is valid? [True, True] Translation: X:259.95, Y:-26.48, Z:-1.92 [[ 9.72150483e-01 2.34301576e-01 5.11950405e-03 2.59953540e+02] [-2.34298802e-01 9.72163959e-01 -1.14350241e-03 -2.64804065e+01] [-5.24492174e-03 -8.78372438e-05 9.99986241e-01 -1.92137164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters 0.050584772806699305 Centerline is valid? [True, True] Translation: X:260.01, Y:-26.50, Z:-1.92 [[ 9.72713746e-01 2.31965975e-01 4.44451860e-03 2.60013735e+02] [-2.31963860e-01 9.72723898e-01 -9.92828705e-04 -2.64951715e+01] [-4.55359194e-03 -6.52295606e-05 9.99989630e-01 -1.92276289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters 0.051148892428550044 Centerline is valid? [True, True] Translation: X:260.07, Y:-26.51, Z:-1.92 [[ 9.73023346e-01 2.30696787e-01 2.13541316e-03 2.60073648e+02] [-2.30696297e-01 9.73025689e-01 -4.76555535e-04 -2.65107723e+01] [-2.18775169e-03 -2.89322470e-05 9.99997606e-01 -1.92436249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters 0.05108742065300002 Centerline is valid? [True, True] Translation: X:260.13, Y:-26.52, Z:-1.93 [[ 9.73034873e-01 2.30656316e-01 8.93822124e-04 2.60133499e+02] [-2.30656230e-01 9.73035284e-01 -1.99423891e-04 -2.65227270e+01] [-9.15718844e-04 -1.21192411e-05 9.99999581e-01 -1.92637546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters 0.051208411361120774 Centerline is valid? [True, True] Translation: X:260.19, Y:-26.54, Z:-1.93 [[ 9.72998210e-01 2.30811571e-01 7.08582559e-04 2.60194369e+02] [-2.30811517e-01 9.72998468e-01 -1.57584017e-04 -2.65375857e+01] [-7.25821958e-04 -1.02200495e-05 9.99999737e-01 -1.92634780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters 0.05147449390041265 Centerline is valid? [True, True] Translation: X:260.25, Y:-26.55, Z:-1.93 [[ 9.73071759e-01 2.30500231e-01 9.97616762e-04 2.60254879e+02] [-2.30500124e-01 9.73072270e-01 -2.22558253e-04 -2.65478534e+01] [-1.02205294e-03 -1.33856359e-05 9.99999478e-01 -1.92786031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters 0.05089509450279511 Centerline is valid? [True, True] Translation: X:260.32, Y:-26.56, Z:-1.93 [[ 9.73125786e-01 2.30268342e-01 1.64153625e-03 2.60315330e+02] [-2.30268051e-01 9.73127171e-01 -3.66847027e-04 -2.65639043e+01] [-1.68189678e-03 -2.10050526e-05 9.99998585e-01 -1.92651613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters 0.050842209173987046 Centerline is valid? [True, True] Translation: X:260.38, Y:-26.58, Z:-1.93 [[ 9.73384157e-01 2.29169610e-01 2.13832182e-03 2.60376245e+02] [-2.29169111e-01 9.73386506e-01 -4.78764216e-04 -2.65781675e+01] [-2.19113182e-03 -2.40158092e-05 9.99997599e-01 -1.92556011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters 0.051280279283661134 Centerline is valid? [True, True] Translation: X:260.44, Y:-26.59, Z:-1.93 [[ 9.73599167e-01 2.28255681e-01 2.00150902e-03 2.60436255e+02] [-2.28255242e-01 9.73601224e-01 -4.47848415e-04 -2.65907371e+01] [-2.05089558e-03 -2.08300839e-05 9.99997897e-01 -1.92687403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters 0.051795990080222946 Centerline is valid? [True, True] Translation: X:260.50, Y:-26.60, Z:-1.93 [[ 9.73704407e-01 2.27807396e-01 1.87589363e-03 2.60496154e+02] [-2.27807010e-01 9.73706213e-01 -4.19904188e-04 -2.66014255e+01] [-1.92222657e-03 -1.84791614e-05 9.99998152e-01 -1.92870572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters 0.05167969751745473 Centerline is valid? [True, True] Translation: X:260.56, Y:-26.62, Z:-1.93 [[ 9.73766156e-01 2.27542292e-01 1.99486303e-03 2.60556777e+02] [-2.27541854e-01 9.73768199e-01 -4.46753892e-04 -2.66169400e+01] [-2.04418959e-03 -1.88810127e-05 9.99997910e-01 -1.92753846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters 0.05124978978017736 Centerline is valid? [True, True] Translation: X:260.62, Y:-26.63, Z:-1.93 [[ 9.73551793e-01 2.28462613e-01 1.31973728e-03 2.60617202e+02] [-2.28462422e-01 9.73552687e-01 -2.95743322e-04 -2.66287823e+01] [-1.35240007e-03 -1.35889344e-05 9.99999085e-01 -1.92825584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters 0.05095121145290877 Centerline is valid? [True, True] Translation: X:260.68, Y:-26.64, Z:-1.93 [[ 9.73627094e-01 2.28142345e-01 1.16285342e-03 2.60679404e+02] [-2.28142197e-01 9.73627788e-01 -2.60203483e-04 -2.66411405e+01] [-1.19154983e-03 -1.19547726e-05 9.99999290e-01 -1.92928578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters 0.051045308699316824 Centerline is valid? [True, True] Translation: X:260.74, Y:-26.65, Z:-1.93 [[ 9.73611234e-01 2.28208448e-01 1.43812930e-03 2.60740579e+02] [-2.28208221e-01 9.73612297e-01 -3.22210663e-04 -2.66542334e+01] [-1.47371156e-03 -1.44850078e-05 9.99998914e-01 -1.92966506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters 0.05116353808680266 Centerline is valid? [True, True] Translation: X:260.80, Y:-26.67, Z:-1.93 [[ 9.73360932e-01 2.29269712e-01 1.97371744e-03 2.60801019e+02] [-2.29269286e-01 9.73362933e-01 -4.42858373e-04 -2.66695078e+01] [-2.02267741e-03 -2.14517492e-05 9.99997954e-01 -1.92863115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters 0.05135481912790913 Centerline is valid? [True, True] Translation: X:260.86, Y:-26.68, Z:-1.93 [[ 9.72902029e-01 2.31212901e-01 1.49514299e-03 2.60860967e+02] [-2.31212659e-01 9.72903178e-01 -3.35500078e-04 -2.66804733e+01] [-1.53220132e-03 -1.92872798e-05 9.99998826e-01 -1.92938637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters 0.05131729101865912 Centerline is valid? [True, True] Translation: X:260.92, Y:-26.69, Z:-1.93 [[ 9.72115128e-01 2.34501645e-01 1.07535229e-03 2.60922138e+02] [-2.34501521e-01 9.72115723e-01 -2.41663699e-04 -2.66933256e+01] [-1.10203740e-03 -1.72468086e-05 9.99999393e-01 -1.92877556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters 0.05111404447466241 Centerline is valid? [True, True] Translation: X:260.98, Y:-26.71, Z:-1.93 [[ 9.71452053e-01 2.37234763e-01 7.59215059e-04 2.60983410e+02] [-2.37234703e-01 9.71452349e-01 -1.70574442e-04 -2.67055181e+01] [-7.78007440e-04 -1.44072668e-05 9.99999697e-01 -1.92970670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters 0.05164648274261077 Centerline is valid? [True, True] Translation: X:261.04, Y:-26.72, Z:-1.93 [[ 9.70605275e-01 2.40676626e-01 4.01993282e-04 2.61043659e+02] [-2.40676609e-01 9.70605358e-01 -9.03307535e-05 -2.67180255e+01] [-4.11917334e-04 -9.07487395e-06 9.99999915e-01 -1.92984664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters 0.051717720665663304 Centerline is valid? [True, True] Translation: X:261.10, Y:-26.73, Z:-1.93 [[ 9.70241249e-01 2.42140034e-01 3.51318449e-04 2.61103597e+02] [-2.42140022e-01 9.70241312e-01 -7.86490020e-05 -2.67296857e+01] [-3.59907746e-04 -8.75975116e-06 9.99999935e-01 -1.93028504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters 0.051324873357545285 Centerline is valid? [True, True] Translation: X:261.16, Y:-26.74, Z:-1.93 [[ 9.70065961e-01 2.42839946e-01 8.89944695e-04 2.61163087e+02] [-2.42839865e-01 9.70066369e-01 -1.99938428e-04 -2.67416846e+01] [-9.11858456e-04 -2.21605860e-05 9.99999584e-01 -1.92988557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters 0.05187281805854792 Centerline is valid? [True, True] Translation: X:261.22, Y:-26.75, Z:-1.93 [[ 9.70156758e-01 2.42466924e-01 2.37805892e-03 2.61223079e+02] [-2.42466341e-01 9.70159671e-01 -5.34849418e-04 -2.67521949e+01] [-2.43678015e-03 -5.77114666e-05 9.99997029e-01 -1.92951278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters 0.05192253526269287 Centerline is valid? [True, True] Translation: X:261.28, Y:-26.77, Z:-1.93 [[ 9.70594509e-01 2.40706232e-01 2.60931036e-03 2.61282771e+02] [-2.40705522e-01 9.70598015e-01 -5.87577151e-04 -2.67688976e+01] [-2.67402493e-03 -5.77762554e-05 9.99996423e-01 -1.92900871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters 0.05198472512724184 Centerline is valid? [True, True] Translation: X:261.34, Y:-26.78, Z:-1.93 [[ 9.71948965e-01 2.35187973e-01 1.35132421e-03 2.61340528e+02] [-2.35187777e-01 9.71949904e-01 -3.04388020e-04 -2.67832364e+01] [-1.38500784e-03 -2.19653163e-05 9.99999041e-01 -1.93052995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters 0.0518190165339135 Centerline is valid? [True, True] Translation: X:261.40, Y:-26.80, Z:-1.93 [[ 9.73142466e-01 2.30203444e-01 3.40773977e-04 2.61399105e+02] [-2.30203431e-01 9.73142525e-01 -7.66427729e-05 -2.68011918e+01] [-3.49265079e-04 -3.86300187e-06 9.99999939e-01 -1.93049209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters 0.05121341977616785 Centerline is valid? [True, True] Translation: X:261.46, Y:-26.82, Z:-1.93 [[ 9.75321597e-01 2.20788780e-01 -3.11399197e-04 2.61456862e+02] [-2.20788769e-01 9.75321647e-01 7.02772535e-05 -2.68184926e+01] [ 3.19230807e-04 2.10522160e-07 9.99999949e-01 -1.93086420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters 0.051909960926390095 Centerline is valid? [True, True] Translation: X:261.52, Y:-26.83, Z:-1.93 [[ 9.76672855e-01 2.14732488e-01 -3.05067592e-04 2.61515456e+02] [-2.14732477e-01 9.76672903e-01 6.88560280e-05 -2.68346273e+01] [ 3.12736877e-04 -1.74189374e-06 9.99999951e-01 -1.93107511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters 0.05285917620751205 Centerline is valid? [True, True] Translation: X:261.58, Y:-26.85, Z:-1.93 [[ 9.78430889e-01 2.06574191e-01 -3.14696756e-04 2.61575120e+02] [-2.06574179e-01 9.78430940e-01 7.10278463e-05 -2.68494923e+01] [ 3.22581562e-04 -4.48761490e-06 9.99999948e-01 -1.93144829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters 0.052934604934573526 Centerline is valid? [True, True] Translation: X:261.63, Y:-26.86, Z:-1.93 [[ 9.79120635e-01 2.03280045e-01 -7.67874238e-05 2.61634893e+02] [-2.03280044e-01 9.79120638e-01 1.77109292e-05 -2.68621680e+01] [ 7.87844298e-05 -1.73178537e-06 9.99999997e-01 -1.93117449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters 0.05287832595410466 Centerline is valid? [True, True] Translation: X:261.69, Y:-26.88, Z:-1.93 [[ 9.79341431e-01 2.02213558e-01 1.95785644e-04 2.61694743e+02] [-2.02213553e-01 9.79341451e-01 -4.38202747e-05 -2.68808973e+01] [-2.00602051e-04 3.32449983e-06 9.99999980e-01 -1.93270544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters 0.052148537245908996 Centerline is valid? [True, True] Translation: X:261.76, Y:-26.89, Z:-1.93 [[ 9.78809245e-01 2.04772780e-01 -7.55324573e-04 2.61756578e+02] [-2.04772709e-01 9.78809536e-01 1.70614199e-04 -2.68916880e+01] [ 7.74256038e-04 -1.23288965e-05 9.99999700e-01 -1.93363253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters 0.053286166603589015 Centerline is valid? [True, True] Translation: X:261.82, Y:-26.90, Z:-1.93 [[ 9.77626363e-01 2.10346005e-01 -1.11876164e-03 2.61818147e+02] [-2.10345854e-01 9.77627003e-01 2.52460095e-04 -2.68988330e+01] [ 1.14683556e-03 -1.14847729e-05 9.99999342e-01 -1.93445253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters 0.05297091517996487 Centerline is valid? [True, True] Translation: X:261.88, Y:-26.91, Z:-1.94 [[ 9.76596249e-01 2.15079576e-01 -7.36442698e-04 2.61878938e+02] [-2.15079511e-01 9.76596527e-01 1.66956806e-04 -2.69085907e+01] [ 7.55116380e-04 -4.65565511e-06 9.99999715e-01 -1.93510280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters 0.05245976872820109 Centerline is valid? [True, True] Translation: X:261.94, Y:-26.92, Z:-1.94 [[ 9.75482045e-01 2.20078759e-01 -3.45424390e-04 2.61939825e+02] [-2.20078745e-01 9.75482106e-01 7.87571364e-05 -2.69171465e+01] [ 3.54288084e-04 -8.05606430e-07 9.99999937e-01 -1.93696225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters 0.05221620557230039 Centerline is valid? [True, True] Translation: X:262.00, Y:-26.92, Z:-1.93 [[ 9.73631462e-01 2.28124707e-01 9.45687901e-04 2.62002302e+02] [-2.28124608e-01 9.73631921e-01 -2.12729089e-04 -2.69223763e+01] [-9.69280689e-04 -8.61494722e-06 9.99999530e-01 -1.93481834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters 0.05242306020727201 Centerline is valid? [True, True] Translation: X:262.06, Y:-26.93, Z:-1.94 [[ 9.72263431e-01 2.33888053e-01 4.46181889e-04 2.62063099e+02] [-2.33888031e-01 9.72263534e-01 -1.00650769e-04 -2.69309997e+01] [-4.57347393e-04 -6.49754182e-06 9.99999895e-01 -1.93558351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters 0.053140220053343824 Centerline is valid? [True, True] Translation: X:262.12, Y:-26.93, Z:-1.94 [[ 9.70959035e-01 2.39244032e-01 -9.19405906e-04 2.62123107e+02] [-2.39243942e-01 9.70959470e-01 2.07630924e-04 -2.69349307e+01] [ 9.42380331e-04 1.83611715e-05 9.99999556e-01 -1.93903825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters 0.053707994324694 Centerline is valid? [True, True] Translation: X:262.18, Y:-26.94, Z:-1.94 [[ 9.69849565e-01 2.43701916e-01 -1.09418111e-03 2.62183770e+02] [-2.43701792e-01 9.69850182e-01 2.47169439e-04 -2.69441258e+01] [ 1.12142741e-03 2.69367243e-05 9.99999371e-01 -1.93892219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters 0.05424283987454357 Centerline is valid? [True, True] Translation: X:262.24, Y:-26.95, Z:-1.94 [[ 9.68835657e-01 2.47702717e-01 -9.13502222e-04 2.62244205e+02] [-2.47702633e-01 9.68836087e-01 2.06364543e-04 -2.69514013e+01] [ 9.36150976e-04 2.63435780e-05 9.99999561e-01 -1.93953888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters 0.05223984934681039 Centerline is valid? [True, True] Translation: X:262.30, Y:-26.97, Z:-1.94 [[ 9.68594709e-01 2.48639940e-01 -1.57129980e-03 2.62303205e+02] [-2.48639690e-01 9.68595983e-01 3.55869371e-04 -2.69735920e+01] [ 1.61043802e-03 4.59943060e-05 9.99998702e-01 -1.93787537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters 0.05515657209728588 Centerline is valid? [True, True] Translation: X:262.36, Y:-26.98, Z:-1.94 [[ 9.68686454e-01 2.48279907e-01 -1.90842188e-03 2.62364924e+02] [-2.48279538e-01 9.68688332e-01 4.31822426e-04 -2.69786480e+01] [ 1.95587884e-03 5.55215674e-05 9.99998086e-01 -1.94204545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters 0.055029901656414484 Centerline is valid? [True, True] Translation: X:262.42, Y:-26.99, Z:-1.94 [[ 9.69024028e-01 2.46960724e-01 -1.68351028e-03 2.62424736e+02] [-2.46960435e-01 9.69025489e-01 3.80736089e-04 -2.69943211e+01] [ 1.72539123e-03 4.68180125e-05 9.99998510e-01 -1.94249718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters 0.05308614476000817 Centerline is valid? [True, True] Translation: X:262.48, Y:-27.02, Z:-1.94 [[ 9.69709616e-01 2.44256165e-01 -1.47877722e-03 2.62481268e+02] [-2.44255939e-01 9.69710743e-01 3.34353816e-04 -2.70200209e+01] [ 1.51565414e-03 3.69740077e-05 9.99998851e-01 -1.94014372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters 0.05448610017829478 Centerline is valid? [True, True] Translation: X:262.54, Y:-27.03, Z:-1.94 [[ 9.69881100e-01 2.43574979e-01 -1.37179941e-03 2.62542525e+02] [-2.43574783e-01 9.69882069e-01 3.11053575e-04 -2.70292585e+01] [ 1.40624852e-03 3.24507591e-05 9.99999011e-01 -1.94318121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters 0.0520465317826449 Centerline is valid? [True, True] Translation: X:262.60, Y:-27.06, Z:-1.94 [[ 9.69613691e-01 2.44638463e-01 -1.14549862e-03 2.62599727e+02] [-2.44638327e-01 9.69614367e-01 2.60029146e-04 -2.70572922e+01] [ 1.17430505e-03 2.81050461e-05 9.99999310e-01 -1.93834845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters 0.052313317582780496 Centerline is valid? [True, True] Translation: X:262.66, Y:-27.07, Z:-1.94 [[ 9.69094646e-01 2.46688770e-01 -4.67486797e-04 2.62659813e+02] [-2.46688748e-01 9.69094758e-01 1.06187438e-04 -2.70693697e+01] [ 4.79234253e-04 1.24180553e-05 9.99999885e-01 -1.93897533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters 0.05322808077889068 Centerline is valid? [True, True] Translation: X:262.72, Y:-27.08, Z:-1.94 [[ 9.68025396e-01 2.50850326e-01 -9.72943447e-04 2.62720088e+02] [-2.50850231e-01 9.68025884e-01 2.20228596e-04 -2.70763127e+01] [ 9.97078856e-04 3.08762151e-05 9.99999502e-01 -1.94098189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters 0.05151113281747768 Centerline is valid? [True, True] Translation: X:262.78, Y:-27.10, Z:-1.94 [[ 9.67407515e-01 2.53220313e-01 -1.47383516e-03 2.62777482e+02] [-2.53220098e-01 9.67408637e-01 3.33743482e-04 -2.70999862e+01] [ 1.51031150e-03 5.03387320e-05 9.99998858e-01 -1.93838193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters 0.05242794796695341 Centerline is valid? [True, True] Translation: X:262.84, Y:-27.11, Z:-1.94 [[ 9.66465739e-01 2.56794650e-01 -6.94523895e-04 2.62837945e+02] [-2.56794604e-01 9.66465988e-01 1.57378575e-04 -2.71065126e+01] [ 7.11647699e-04 2.62489875e-05 9.99999746e-01 -1.93917737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters 0.05288979473293739 Centerline is valid? [True, True] Translation: X:262.90, Y:-27.12, Z:-1.94 [[ 9.65873282e-01 2.59014741e-01 -4.08847563e-04 2.62897525e+02] [-2.59014725e-01 9.65873368e-01 9.26143356e-05 -2.71197934e+01] [ 4.18883451e-04 1.64438271e-05 9.99999912e-01 -1.93909442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters 0.054097782805662145 Centerline is valid? [True, True] Translation: X:262.96, Y:-27.13, Z:-1.94 [[ 9.65525759e-01 2.60307520e-01 6.77751206e-05 2.62956961e+02] [-2.60307520e-01 9.65525761e-01 -1.53434709e-05 -2.71288048e+01] [-6.94326458e-05 -2.82785720e-06 9.99999998e-01 -1.93994486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters 0.05375760166437781 Centerline is valid? [True, True] Translation: X:263.02, Y:-27.14, Z:-1.94 [[ 9.65954923e-01 2.58709450e-01 7.12636732e-04 2.63015352e+02] [-2.58709401e-01 9.65955185e-01 -1.61319123e-04 -2.71443582e+01] [-7.30109927e-04 -2.85388213e-05 9.99999733e-01 -1.94018701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters 0.052181683137969184 Centerline is valid? [True, True] Translation: X:263.07, Y:-27.17, Z:-1.94 [[ 9.66511981e-01 2.56620839e-01 5.79887235e-04 2.63073262e+02] [-2.56620807e-01 9.66512154e-01 -1.31176107e-04 -2.71659018e+01] [-5.94130583e-04 -2.20278509e-05 9.99999823e-01 -1.93893300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters 0.051943182482696186 Centerline is valid? [True, True] Translation: X:263.13, Y:-27.18, Z:-1.94 [[ 9.66608406e-01 2.56257760e-01 3.87645434e-04 2.63133324e+02] [-2.56257745e-01 9.66608484e-01 -8.70062549e-05 -2.71809485e+01] [-3.96997393e-04 -1.52361676e-05 9.99999921e-01 -1.93922336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters 0.051749284757519054 Centerline is valid? [True, True] Translation: X:263.19, Y:-27.20, Z:-1.94 [[ 9.67003956e-01 2.54761172e-01 3.06220763e-04 2.63192630e+02] [-2.54761163e-01 9.67004005e-01 -6.91968042e-05 -2.71990949e+01] [-3.13745363e-04 -1.10995741e-05 9.99999951e-01 -1.93994936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters 0.05379637811438998 Centerline is valid? [True, True] Translation: X:263.25, Y:-27.20, Z:-1.94 [[ 9.67426580e-01 2.53151191e-01 -5.35359121e-04 2.63253699e+02] [-2.53151163e-01 9.67426728e-01 1.21343476e-04 -2.72030102e+01] [ 5.48638968e-04 1.81358804e-05 9.99999849e-01 -1.94274098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters 0.05236598598713184 Centerline is valid? [True, True] Translation: X:263.31, Y:-27.23, Z:-1.94 [[ 9.68854748e-01 2.47627636e-01 -1.01514330e-03 2.63311507e+02] [-2.47627531e-01 9.68855280e-01 2.30102128e-04 -2.72256015e+01] [ 1.04050659e-03 2.84418892e-05 9.99999458e-01 -1.94198480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters 0.05187665235283395 Centerline is valid? [True, True] Translation: X:263.37, Y:-27.25, Z:-1.94 [[ 9.70455281e-01 2.41279995e-01 -7.15065753e-04 2.63369124e+02] [-2.41279941e-01 9.70455544e-01 1.62131911e-04 -2.72464289e+01] [ 7.33058711e-04 1.51892543e-05 9.99999731e-01 -1.94044570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters 0.051706000415815835 Centerline is valid? [True, True] Translation: X:263.43, Y:-27.26, Z:-1.94 [[ 9.73036504e-01 2.30650517e-01 -5.48235552e-04 2.63427020e+02] [-2.30650484e-01 9.73036659e-01 1.24333242e-04 -2.72631880e+01] [ 5.62130816e-04 5.47001179e-06 9.99999842e-01 -1.94107357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters 0.05231186302962677 Centerline is valid? [True, True] Translation: X:263.49, Y:-27.28, Z:-1.94 [[ 9.75543399e-01 2.19803166e-01 -1.28267002e-03 2.63485415e+02] [-2.19802974e-01 9.75544242e-01 2.90949951e-04 -2.72823840e+01] [ 1.31525307e-03 -1.89961967e-06 9.99999135e-01 -1.94149272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters 0.052504012729707776 Centerline is valid? [True, True] Translation: X:263.54, Y:-27.30, Z:-1.94 [[ 9.77025439e-01 2.13109846e-01 -2.34204919e-03 2.63544031e+02] [-2.13109185e-01 9.77028246e-01 5.31340884e-04 -2.73001008e+01] [ 2.40148218e-03 -2.00213672e-05 9.99997116e-01 -1.94472868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters 0.05339348261728692 Centerline is valid? [True, True] Translation: X:263.60, Y:-27.31, Z:-1.94 [[ 9.78270360e-01 2.07312469e-01 -2.93981240e-03 2.63603826e+02] [-2.07311402e-01 9.78274776e-01 6.66695426e-04 -2.73147749e+01] [ 3.01415860e-03 -4.27517448e-05 9.99995456e-01 -1.94375077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters 0.053902690634360775 Centerline is valid? [True, True] Translation: X:263.66, Y:-27.33, Z:-1.94 [[ 9.79562656e-01 2.01131429e-01 -1.77499298e-03 2.63662677e+02] [-2.01131030e-01 9.79564264e-01 4.02419906e-04 -2.73267743e+01] [ 1.81965898e-03 -3.71893462e-05 9.99998344e-01 -1.94077061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters 0.05355621990603226 Centerline is valid? [True, True] Translation: X:263.72, Y:-27.34, Z:-1.94 [[ 9.79838658e-01 1.99788874e-01 -7.81644947e-04 2.63723690e+02] [-1.99788795e-01 9.79838969e-01 1.78051119e-04 -2.73363178e+01] [ 8.01458812e-04 -1.82974670e-05 9.99999679e-01 -1.93930975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters 0.05390410665908399 Centerline is valid? [True, True] Translation: X:263.78, Y:-27.36, Z:-1.94 [[ 9.79590128e-01 2.01002538e-01 -1.07703685e-03 2.63782060e+02] [-2.01002390e-01 9.79590720e-01 2.45285210e-04 -2.73550184e+01] [ 1.10435825e-03 -2.37919900e-05 9.99999390e-01 -1.94271188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters 0.053959358488090796 Centerline is valid? [True, True] Translation: X:263.84, Y:-27.36, Z:-1.94 [[ 9.78613926e-01 2.05696178e-01 -1.96632298e-03 2.63843089e+02] [-2.05695696e-01 9.78615901e-01 4.46443273e-04 -2.73629386e+01] [ 2.01610661e-03 -3.24314293e-05 9.99997967e-01 -1.94401193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters 0.05365757647468993 Centerline is valid? [True, True] Translation: X:263.90, Y:-27.37, Z:-1.94 [[ 9.77639442e-01 2.10275784e-01 -2.28382535e-03 2.63902812e+02] [-2.10275146e-01 9.77642109e-01 5.18430163e-04 -2.73720625e+01] [ 2.34177715e-03 -2.66060650e-05 9.99997258e-01 -1.94488513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters 0.053859052249560606 Centerline is valid? [True, True] Translation: X:263.96, Y:-27.38, Z:-1.95 [[ 9.76986628e-01 2.13287558e-01 -2.35498763e-03 2.63963107e+02] [-2.13286887e-01 9.76989466e-01 5.35607364e-04 -2.73834090e+01] [ 2.41503649e-03 -2.09932527e-05 9.99997084e-01 -1.94601410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters 0.0538250413593297 Centerline is valid? [True, True] Translation: X:264.03, Y:-27.39, Z:-1.94 [[ 9.74870564e-01 2.22761739e-01 -2.14280022e-03 2.64025993e+02] [-2.22761207e-01 9.74872919e-01 4.86997694e-04 -2.73896400e+01] [ 2.19744236e-03 2.57304691e-06 9.99997586e-01 -1.94388135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters 0.052758229560796684 Centerline is valid? [True, True] Translation: X:264.09, Y:-27.39, Z:-1.95 [[ 9.73036412e-01 2.30650076e-01 -8.26748658e-04 2.64087123e+02] [-2.30649999e-01 9.73036763e-01 1.88715513e-04 -2.73949634e+01] [ 8.47984085e-04 7.06251085e-06 9.99999640e-01 -1.94547088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters 0.053109863062016656 Centerline is valid? [True, True] Translation: X:264.15, Y:-27.41, Z:-1.94 [[ 9.72204336e-01 2.34133998e-01 -2.78865205e-05 2.64148488e+02] [-2.34133998e-01 9.72204336e-01 7.18549038e-06 -2.74065534e+01] [ 2.87937637e-05 -4.56582370e-07 1.00000000e+00 -1.94428167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters 0.05269467796986159 Centerline is valid? [True, True] Translation: X:264.21, Y:-27.41, Z:-1.94 [[ 9.71557741e-01 2.36801764e-01 6.93251029e-04 2.64209267e+02] [-2.36801713e-01 9.71557988e-01 -1.56867938e-04 -2.74147378e+01] [-7.10680180e-04 -1.17567715e-05 9.99999747e-01 -1.94435449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters 0.05317355050001253 Centerline is valid? [True, True] Translation: X:264.27, Y:-27.43, Z:-1.94 [[ 9.71534273e-01 2.36898536e-01 4.90840671e-04 2.64270894e+02] [-2.36898510e-01 9.71534397e-01 -1.10776867e-04 -2.74279074e+01] [-5.03111473e-04 -8.65590031e-06 9.99999873e-01 -1.94497705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters 0.05308807641333111 Centerline is valid? [True, True] Translation: X:264.33, Y:-27.44, Z:-1.95 [[ 9.71923445e-01 2.35296290e-01 -6.88284124e-04 2.64330456e+02] [-2.35296238e-01 9.71923688e-01 1.57619860e-04 -2.74448342e+01] [ 7.06047013e-04 8.75622793e-06 9.99999751e-01 -1.94505514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters 0.05319574494441135 Centerline is valid? [True, True] Translation: X:264.39, Y:-27.46, Z:-1.95 [[ 9.72915562e-01 2.31155380e-01 -1.58102153e-03 2.64390170e+02] [-2.31155099e-01 9.72916847e-01 3.60280346e-04 -2.74603164e+01] [ 1.62148322e-03 1.49388335e-05 9.99998685e-01 -1.94555789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters 0.05315113849395508 Centerline is valid? [True, True] Translation: X:264.45, Y:-27.48, Z:-1.95 [[ 9.74007783e-01 2.26506116e-01 -1.95375881e-03 2.64450498e+02] [-2.26505678e-01 9.74009743e-01 4.45590211e-04 -2.74763961e+01] [ 2.00390902e-03 8.52912955e-06 9.99997992e-01 -1.94628503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters 0.053696402147278936 Centerline is valid? [True, True] Translation: X:264.51, Y:-27.49, Z:-1.95 [[ 9.75895323e-01 2.18232609e-01 -1.68724062e-03 2.64511272e+02] [-2.18232268e-01 9.75896782e-01 3.85643642e-04 -2.74942004e+01] [ 1.73073270e-03 -8.13748045e-06 9.99998502e-01 -1.94653167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters 0.05385664399127053 Centerline is valid? [True, True] Translation: X:264.57, Y:-27.51, Z:-1.95 [[ 9.77132083e-01 2.12630006e-01 -1.17171471e-03 2.64570323e+02] [-2.12629837e-01 9.77132785e-01 2.68051390e-04 -2.75104112e+01] [ 1.20191663e-03 -1.27801038e-05 9.99999278e-01 -1.94668977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters 0.054531650862184235 Centerline is valid? [True, True] Translation: X:264.63, Y:-27.52, Z:-1.94 [[ 9.78931414e-01 2.04188554e-01 -5.65911037e-04 2.64629666e+02] [-2.04188513e-01 9.78931578e-01 1.29191818e-04 -2.75249204e+01] [ 5.80367675e-04 -1.09173961e-05 9.99999832e-01 -1.94478512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters 0.05501158540769038 Centerline is valid? [True, True] Translation: X:264.69, Y:-27.54, Z:-1.95 [[ 9.80316987e-01 1.97429920e-01 1.76306035e-04 2.64687679e+02] [-1.97429916e-01 9.80317003e-01 -4.01880974e-05 -2.75403116e+01] [-1.80770137e-04 4.58898875e-06 9.99999984e-01 -1.94546766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters 0.054891666186432965 Centerline is valid? [True, True] Translation: X:264.75, Y:-27.55, Z:-1.95 [[ 9.80884259e-01 1.94587445e-01 1.34061806e-03 2.64747149e+02] [-1.94587209e-01 9.80885174e-01 -3.05745875e-04 -2.75525379e+01] [-1.37448669e-03 3.90341894e-05 9.99999055e-01 -1.94507183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters 0.0551837973772861 Centerline is valid? [True, True] Translation: X:264.81, Y:-27.57, Z:-1.95 [[ 9.80845555e-01 1.94780836e-01 1.55650501e-03 2.64807922e+02] [-1.94780518e-01 9.80846789e-01 -3.54826392e-04 -2.75671913e+01] [-1.59580633e-03 4.48530369e-05 9.99998726e-01 -1.94565315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters 0.054111539943205486 Centerline is valid? [True, True] Translation: X:264.87, Y:-27.58, Z:-1.95 [[ 9.80308320e-01 1.97468465e-01 1.34251152e-03 2.64867751e+02] [-1.97468231e-01 9.80309239e-01 -3.06286744e-04 -2.75769013e+01] [-1.37655842e-03 3.51520689e-05 9.99999052e-01 -1.94652881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters 0.05540074908920799 Centerline is valid? [True, True] Translation: X:264.93, Y:-27.59, Z:-1.95 [[ 9.79409007e-01 2.01874241e-01 2.18826413e-03 2.64928411e+02] [-2.01873630e-01 9.79411450e-01 -4.99166321e-04 -2.75862918e+01] [-2.24397977e-03 4.71351688e-05 9.99997481e-01 -1.94712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters 0.054623893080530846 Centerline is valid? [True, True] Translation: X:264.99, Y:-27.60, Z:-1.95 [[ 9.78785545e-01 2.04870311e-01 2.64815478e-03 2.64987627e+02] [-2.04869426e-01 9.78789126e-01 -6.04165331e-04 -2.75985197e+01] [-2.71576064e-03 4.88223441e-05 9.99996311e-01 -1.94766658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters 0.054757230884170296 Centerline is valid? [True, True] Translation: X:265.05, Y:-27.61, Z:-1.95 [[ 9.77823048e-01 2.09407015e-01 3.28453961e-03 2.65048308e+02] [-2.09405679e-01 9.77828564e-01 -7.49325273e-04 -2.76081149e+01] [-3.36863062e-03 4.49062744e-05 9.99994325e-01 -1.94982024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters 0.053763221705516964 Centerline is valid? [True, True] Translation: X:265.11, Y:-27.61, Z:-1.95 [[ 9.76611819e-01 2.14996970e-01 2.37865607e-03 2.65109979e+02] [-2.14996286e-01 9.76614715e-01 -5.42750978e-04 -2.76098993e+01] [-2.43972034e-03 1.86547987e-05 9.99997024e-01 -1.95009533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters 0.05373179225132752 Centerline is valid? [True, True] Translation: X:265.17, Y:-27.62, Z:-1.95 [[ 9.75707391e-01 2.19062974e-01 2.54976113e-03 2.65171004e+02] [-2.19062202e-01 9.75710722e-01 -5.81668074e-04 -2.76205546e+01] [-2.61525121e-03 8.98155188e-06 9.99996580e-01 -1.95292849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters 0.05404627715183564 Centerline is valid? [True, True] Translation: X:265.23, Y:-27.63, Z:-1.95 [[ 9.74359730e-01 2.24976239e-01 2.96786379e-03 2.65233080e+02] [-2.24975221e-01 9.74364250e-01 -6.76865917e-04 -2.76261359e+01] [-3.04405913e-03 -8.18492044e-06 9.99995367e-01 -1.95247390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters 0.053460890953166966 Centerline is valid? [True, True] Translation: X:265.29, Y:-27.63, Z:-1.95 [[ 9.73320887e-01 2.29436657e-01 2.29577394e-03 2.65293744e+02] [-2.29436060e-01 9.73323595e-01 -5.23717945e-04 -2.76342708e+01] [-2.35469104e-03 -1.69877133e-05 9.99997228e-01 -1.95438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters 0.05398171362834968 Centerline is valid? [True, True] Translation: X:265.35, Y:-27.64, Z:-1.96 [[ 9.71842320e-01 2.35627911e-01 1.41150224e-03 2.65354504e+02] [-2.35627691e-01 9.71843345e-01 -3.22456774e-04 -2.76390340e+01] [-1.44773888e-03 -1.92118745e-05 9.99998952e-01 -1.95707279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters 0.05383419766393084 Centerline is valid? [True, True] Translation: X:265.41, Y:-27.65, Z:-1.96 [[ 9.71031834e-01 2.38944572e-01 1.63356241e-03 2.65414341e+02] [-2.38944283e-01 9.71033208e-01 -3.72631491e-04 -2.76548021e+01] [-1.67528162e-03 -2.84933599e-05 9.99998596e-01 -1.95574532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters 0.05279880972382917 Centerline is valid? [True, True] Translation: X:265.47, Y:-27.67, Z:-1.95 [[ 9.70485716e-01 2.41152899e-01 1.65989184e-03 2.65472883e+02] [-2.41152602e-01 9.70487135e-01 -3.79364675e-04 -2.76707478e+01] [-1.70238856e-03 -3.21192376e-05 9.99998550e-01 -1.95429761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters 0.05379851549048317 Centerline is valid? [True, True] Translation: X:265.54, Y:-27.68, Z:-1.96 [[ 9.70385248e-01 2.41546073e-01 2.82212593e-03 2.65535586e+02] [-2.41545218e-01 9.70389350e-01 -6.44947005e-04 -2.76804888e+01] [-2.89434536e-03 -5.58239641e-05 9.99995810e-01 -1.95581533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters 0.05406583703611433 Centerline is valid? [True, True] Translation: X:265.60, Y:-27.69, Z:-1.96 [[ 9.69950137e-01 2.43290924e-01 2.50167594e-03 2.65595509e+02] [-2.43290258e-01 9.69953362e-01 -5.71579273e-04 -2.76930589e+01] [-2.56556903e-03 -5.42299902e-05 9.99996707e-01 -1.95737942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters 0.053512046343176904 Centerline is valid? [True, True] Translation: X:265.66, Y:-27.71, Z:-1.96 [[ 9.69592353e-01 2.44720186e-01 1.64281106e-03 2.65655309e+02] [-2.44719900e-01 9.69593744e-01 -3.75666925e-04 -2.77114521e+01] [-1.68479260e-03 -3.77847795e-05 9.99998580e-01 -1.95768901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters 0.053144062207653636 Centerline is valid? [True, True] Translation: X:265.72, Y:-27.73, Z:-1.96 [[ 9.69258871e-01 2.46040344e-01 1.17869021e-03 2.65715164e+02] [-2.46040199e-01 9.69259588e-01 -2.68993479e-04 -2.77292787e+01] [-1.20864003e-03 -2.92808569e-05 9.99999269e-01 -1.95812870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters 0.05455658307881418 Centerline is valid? [True, True] Translation: X:265.78, Y:-27.74, Z:-1.96 [[ 9.69170358e-01 2.46388128e-01 1.30665769e-03 2.65777237e+02] [-2.46387950e-01 9.69171238e-01 -2.98408528e-04 -2.77375708e+01] [-1.33989937e-03 -3.27360102e-05 9.99999102e-01 -1.96005146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters 0.05308594746319298 Centerline is valid? [True, True] Translation: X:265.84, Y:-27.76, Z:-1.96 [[ 9.69146144e-01 2.46476787e-01 2.22382070e-03 2.65835085e+02] [-2.46476268e-01 9.69148694e-01 -5.08819817e-04 -2.77630902e+01] [-2.28062520e-03 -5.49982630e-05 9.99997398e-01 -1.95761266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters 0.053478587079764765 Centerline is valid? [True, True] Translation: X:265.89, Y:-27.78, Z:-1.96 [[ 9.69180998e-01 2.46337504e-01 2.45492074e-03 2.65894183e+02] [-2.46336870e-01 9.69184106e-01 -5.62117372e-04 -2.77782956e+01] [-2.51774075e-03 -5.99440165e-05 9.99996829e-01 -1.95815310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters 0.05380443144659929 Centerline is valid? [True, True] Translation: X:265.96, Y:-27.79, Z:-1.96 [[ 9.69173725e-01 2.46368241e-01 2.23173276e-03 2.65955267e+02] [-2.46367717e-01 9.69176293e-01 -5.11113316e-04 -2.77872997e+01] [-2.28886457e-03 -5.44693097e-05 9.99997379e-01 -1.95976685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters 0.05347068125755267 Centerline is valid? [True, True] Translation: X:266.01, Y:-27.81, Z:-1.96 [[ 9.69036728e-01 2.46906886e-01 2.19318895e-03 2.66013933e+02] [-2.46906381e-01 9.69039208e-01 -5.02596142e-04 -2.78086257e+01] [-2.24938053e-03 -5.44782241e-05 9.99997469e-01 -1.95932545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters 0.05272432248664372 Centerline is valid? [True, True] Translation: X:266.07, Y:-27.83, Z:-1.96 [[ 9.69015639e-01 2.46992493e-01 1.84411347e-03 2.66074085e+02] [-2.46992135e-01 9.69017392e-01 -4.22560584e-04 -2.78297079e+01] [-1.89134732e-03 -4.60137096e-05 9.99998210e-01 -1.95949997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters 0.05273798832192828 Centerline is valid? [True, True] Translation: X:266.13, Y:-27.84, Z:-1.96 [[ 9.68808188e-01 2.47809182e-01 1.14209957e-03 2.66133241e+02] [-2.47809046e-01 9.68808861e-01 -2.61643856e-04 -2.78449638e+01] [-1.17131394e-03 -2.95398960e-05 9.99999314e-01 -1.96047161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters 0.05344319302772265 Centerline is valid? [True, True] Translation: X:266.19, Y:-27.86, Z:-1.96 [[ 9.68388768e-01 2.49443549e-01 1.05332591e-03 2.66192652e+02] [-2.49443434e-01 9.68389340e-01 -2.41381563e-04 -2.78593344e+01] [-1.08024065e-03 -2.89940371e-05 9.99999416e-01 -1.96045418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters 0.052493134690167254 Centerline is valid? [True, True] Translation: X:266.25, Y:-27.88, Z:-1.96 [[ 9.67910569e-01 2.51293031e-01 9.71451428e-04 2.66252063e+02] [-2.51292934e-01 9.67911056e-01 -2.23121468e-04 -2.78780786e+01] [-9.96347447e-04 -2.81572525e-05 9.99999503e-01 -1.96020592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters 0.05227984070622367 Centerline is valid? [True, True] Translation: X:266.31, Y:-27.89, Z:-1.96 [[ 9.67459103e-01 2.53020911e-01 1.81718959e-03 2.66311129e+02] [-2.53020573e-01 9.67460808e-01 -4.17718030e-04 -2.78923153e+01] [-1.86375111e-03 -5.56612394e-05 9.99998262e-01 -1.96129280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters 0.05274235548731472 Centerline is valid? [True, True] Translation: X:266.37, Y:-27.91, Z:-1.96 [[ 9.66747492e-01 2.55716700e-01 2.87336942e-03 2.66370459e+02] [-2.55715865e-01 9.66751757e-01 -6.60618843e-04 -2.79076139e+01] [-2.94676621e-03 -9.61145383e-05 9.99995654e-01 -1.96110380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters 0.05271830354928235 Centerline is valid? [True, True] Translation: X:266.43, Y:-27.93, Z:-1.96 [[ 9.66446240e-01 2.56851290e-01 3.01331251e-03 2.66429764e+02] [-2.56850378e-01 9.66450932e-01 -6.92476751e-04 -2.79254591e+01] [-3.09008223e-03 -1.04728903e-04 9.99995220e-01 -1.96119877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters 0.0518394510867294 Centerline is valid? [True, True] Translation: X:266.49, Y:-27.94, Z:-1.96 [[ 9.66117815e-01 2.58082813e-01 3.10317520e-03 2.66489538e+02] [-2.58081849e-01 9.66122792e-01 -7.13772791e-04 -2.79442117e+01] [-3.18226078e-03 -1.11284586e-04 9.99994930e-01 -1.96077652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters 0.055167037557355365 Centerline is valid? [True, True] Translation: X:266.55, Y:-27.95, Z:-1.96 [[ 9.66007640e-01 2.58501213e-01 2.52232904e-03 2.66550523e+02] [-2.58500579e-01 9.66010929e-01 -5.79879678e-04 -2.79509640e+01] [-2.58649702e-03 -9.18553178e-05 9.99996651e-01 -1.96327027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters 0.05098395642466053 Centerline is valid? [True, True] Translation: X:266.61, Y:-27.99, Z:-1.96 [[ 9.66254265e-01 2.57582499e-01 1.98789369e-03 2.66606208e+02] [-2.57582104e-01 9.66256307e-01 -4.56990726e-04 -2.79855911e+01] [-2.03852763e-03 -7.04765996e-05 9.99997920e-01 -1.96223811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters 0.05346762726578265 Centerline is valid? [True, True] Translation: X:266.67, Y:-27.99, Z:-1.97 [[ 9.66420453e-01 2.56963415e-01 1.14515001e-03 2.66668231e+02] [-2.56963284e-01 9.66421131e-01 -2.63091220e-04 -2.79867972e+01] [-1.17430198e-03 -4.00047709e-05 9.99999310e-01 -1.96570317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters 0.05207665445921371 Centerline is valid? [True, True] Translation: X:266.73, Y:-28.01, Z:-1.97 [[ 9.66735347e-01 2.55778743e-01 -5.31666784e-05 2.66726219e+02] [-2.55778742e-01 9.66735349e-01 1.26000660e-05 -2.80145777e+01] [ 5.46209364e-05 1.41797695e-06 9.99999999e-01 -1.96500510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters 0.052028126077276776 Centerline is valid? [True, True] Translation: X:266.78, Y:-28.03, Z:-1.96 [[ 9.67280554e-01 2.53709035e-01 -2.34100329e-04 2.66784734e+02] [-2.53709029e-01 9.67280583e-01 5.40740473e-05 -2.80338807e+01] [ 2.40159777e-04 7.08859278e-06 9.99999971e-01 -1.96495374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters 0.05186460899344877 Centerline is valid? [True, True] Translation: X:266.84, Y:-28.05, Z:-1.97 [[ 9.67638559e-01 2.52340185e-01 -2.22453699e-04 2.66843326e+02] [-2.52340180e-01 9.67638585e-01 5.13315415e-05 -2.80467513e+01] [ 2.28207793e-04 6.46362759e-06 9.99999974e-01 -1.96614319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters 0.054268471919298004 Centerline is valid? [True, True] Translation: X:266.90, Y:-28.05, Z:-1.97 [[ 9.68246059e-01 2.49998959e-01 2.98220141e-04 2.66903828e+02] [-2.49998950e-01 9.68246105e-01 -6.87142045e-05 -2.80514072e+01] [-3.05928970e-04 -8.02246437e-06 9.99999953e-01 -1.96944058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters 0.051703496970571396 Centerline is valid? [True, True] Translation: X:266.96, Y:-28.08, Z:-1.97 [[ 9.68244562e-01 2.50004261e-01 5.80360259e-04 2.66961854e+02] [-2.50004227e-01 9.68244736e-01 -1.33017054e-04 -2.80781663e+01] [-5.95185596e-04 -1.62994785e-05 9.99999823e-01 -1.96670071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters 0.05207562833235611 Centerline is valid? [True, True] Translation: X:267.02, Y:-28.09, Z:-1.97 [[ 9.68281602e-01 2.49861354e-01 -2.05721793e-04 2.67023464e+02] [-2.49861350e-01 9.68281624e-01 4.83990011e-05 -2.80925435e+01] [ 2.11289672e-04 4.53806255e-06 9.99999978e-01 -1.96738204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters 0.052061828743131214 Centerline is valid? [True, True] Translation: X:267.08, Y:-28.11, Z:-1.97 [[ 9.68101194e-01 2.50556595e-01 -1.21274698e-03 2.67084222e+02] [-2.50556440e-01 9.68101953e-01 2.80769488e-04 -2.81056963e+01] [ 1.24441136e-03 3.20482885e-05 9.99999225e-01 -1.96820286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters 0.05155567447834731 Centerline is valid? [True, True] Translation: X:267.14, Y:-28.12, Z:-1.97 [[ 9.67650034e-01 2.52296055e-01 -3.35470291e-04 2.67144257e+02] [-2.52296043e-01 9.67650092e-01 7.76908463e-05 -2.81209687e+01] [ 3.44218952e-04 9.46027705e-06 9.99999941e-01 -1.96744985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters 0.0524052209510021 Centerline is valid? [True, True] Translation: X:267.21, Y:-28.13, Z:-1.97 [[ 9.67794987e-01 2.51738730e-01 6.88918025e-04 2.67206028e+02] [-2.51738681e-01 9.67795232e-01 -1.58365502e-04 -2.81264262e+01] [-7.06598310e-04 -2.01619754e-05 9.99999750e-01 -1.96965967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters 0.05167062628971651 Centerline is valid? [True, True] Translation: X:267.26, Y:-28.15, Z:-1.97 [[ 9.68301220e-01 2.49775743e-01 2.19674215e-03 2.67264643e+02] [-2.49775235e-01 9.68303710e-01 -5.07290699e-04 -2.81480023e+01] [-2.25382249e-03 -5.74815847e-05 9.99997458e-01 -1.96830039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters 0.05173473401288952 Centerline is valid? [True, True] Translation: X:267.32, Y:-28.16, Z:-1.97 [[ 9.69646510e-01 2.44493312e-01 2.94383751e-03 2.67324214e+02] [-2.44492373e-01 9.69650977e-01 -6.80050741e-04 -2.81577867e+01] [-3.02076277e-03 -6.03369910e-05 9.99995436e-01 -1.96999460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters 0.051691696310349956 Centerline is valid? [True, True] Translation: X:267.38, Y:-28.18, Z:-1.97 [[ 9.70891360e-01 2.39505467e-01 2.66440835e-03 2.67381803e+02] [-2.39504679e-01 9.70895015e-01 -6.15471254e-04 -2.81795032e+01] [-2.73426951e-03 -4.05825447e-05 9.99996261e-01 -1.96978205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters 0.05211567284361205 Centerline is valid? [True, True] Translation: X:267.44, Y:-28.20, Z:-1.97 [[ 9.72720690e-01 2.31976553e-01 1.15653567e-03 2.67440726e+02] [-2.31976400e-01 9.72721378e-01 -2.67049665e-04 -2.81974385e+01] [-1.18693623e-03 -8.52424595e-06 9.99999296e-01 -1.97012794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters 0.05214752337137411 Centerline is valid? [True, True] Translation: X:267.50, Y:-28.21, Z:-1.97 [[ 9.74157329e-01 2.25868104e-01 1.04814376e-03 2.67500738e+02] [-2.25867975e-01 9.74157892e-01 -2.41898685e-04 -2.82132696e+01] [-1.07569472e-03 -1.09473225e-06 9.99999421e-01 -1.97191212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters 0.052274238815927306 Centerline is valid? [True, True] Translation: X:267.56, Y:-28.23, Z:-1.97 [[ 9.75267650e-01 2.21014828e-01 2.33604787e-03 2.67560267e+02] [-2.21014171e-01 9.75270447e-01 -5.39194926e-04 -2.82306461e+01] [-2.39744852e-03 9.55968570e-06 9.99997126e-01 -1.97336181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters 0.05196884075488317 Centerline is valid? [True, True] Translation: X:267.62, Y:-28.25, Z:-1.97 [[ 9.75687128e-01 2.19136378e-01 3.72502419e-03 2.67620475e+02] [-2.19134688e-01 9.75694239e-01 -8.61076308e-04 -2.82471385e+01] [-3.82317778e-03 2.38590576e-05 9.99992691e-01 -1.97259567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters 0.052006658485531675 Centerline is valid? [True, True] Translation: X:267.68, Y:-28.26, Z:-1.97 [[ 9.75541080e-01 2.19774118e-01 4.35180283e-03 2.67681002e+02] [-2.19771817e-01 9.75550786e-01 -1.00614238e-03 -2.82594317e+01] [-4.46652872e-03 2.51296071e-05 9.99990025e-01 -1.97171900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters 0.051795689501678996 Centerline is valid? [True, True] Translation: X:267.74, Y:-28.27, Z:-1.97 [[ 9.75014481e-01 2.22101726e-01 4.19352028e-03 2.67741274e+02] [-2.22099608e-01 9.75023499e-01 -9.70027797e-04 -2.82704633e+01] [-4.30422566e-03 1.44119370e-05 9.99990737e-01 -1.97307346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters 0.051899142867178075 Centerline is valid? [True, True] Translation: X:267.80, Y:-28.28, Z:-1.97 [[ 9.74603367e-01 2.23898438e-01 4.21492333e-03 2.67802624e+02] [-2.23896314e-01 9.74612482e-01 -9.75409496e-04 -2.82821737e+01] [-4.32630955e-03 6.93158266e-06 9.99990641e-01 -1.97403528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters 0.05192521804856627 Centerline is valid? [True, True] Translation: X:267.86, Y:-28.29, Z:-1.97 [[ 9.72656564e-01 2.32210331e-01 4.19171756e-03 2.67864713e+02] [-2.32208305e-01 9.72665596e-01 -9.70500894e-04 -2.82898290e+01] [-4.30249979e-03 -2.93875634e-05 9.99990744e-01 -1.97404689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters 0.05146596406572993 Centerline is valid? [True, True] Translation: X:267.93, Y:-28.29, Z:-1.97 [[ 9.70941206e-01 2.39258480e-01 5.34354669e-03 2.67925351e+02] [-2.39255287e-01 9.70955907e-01 -1.23827786e-03 -2.82949592e+01] [-5.48461670e-03 -7.61768032e-05 9.99984956e-01 -1.97403434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters 0.05261536861262213 Centerline is valid? [True, True] Translation: X:267.99, Y:-28.30, Z:-1.97 [[ 9.69990372e-01 2.43066166e-01 6.12508807e-03 2.67986661e+02] [-2.43062047e-01 9.70009704e-01 -1.41944045e-03 -2.83023716e+01] [-6.28641282e-03 -1.11932877e-04 9.99980234e-01 -1.97457400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters 0.05197294451412103 Centerline is valid? [True, True] Translation: X:268.05, Y:-28.32, Z:-1.97 [[ 9.69143473e-01 2.46399327e-01 6.94982494e-03 2.68046738e+02] [-2.46394109e-01 9.69168380e-01 -1.61069112e-03 -2.83150903e+01] [-7.13242379e-03 -1.51405143e-04 9.99974552e-01 -1.97343659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters 0.05227242767278029 Centerline is valid? [True, True] Translation: X:268.11, Y:-28.33, Z:-1.97 [[ 9.68309053e-01 2.49649553e-01 7.25798682e-03 2.68107171e+02] [-2.49643952e-01 9.68336237e-01 -1.68223126e-03 -2.83265310e+01] [-7.44813992e-03 -1.82992753e-04 9.99972245e-01 -1.97334662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters 0.05304485441191862 Centerline is valid? [True, True] Translation: X:268.17, Y:-28.33, Z:-1.97 [[ 9.67265142e-01 2.53684785e-01 6.49419187e-03 2.68167208e+02] [-2.53680391e-01 9.67286924e-01 -1.50530366e-03 -2.83315238e+01] [-6.66361951e-03 -1.91421377e-04 9.99977780e-01 -1.97472997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters 0.052718786829015624 Centerline is valid? [True, True] Translation: X:268.23, Y:-28.34, Z:-1.98 [[ 9.66733049e-01 2.55733375e-01 5.25854627e-03 2.68226453e+02] [-2.55730525e-01 9.66747337e-01 -1.21887330e-03 -2.83442492e+01] [-5.39539219e-03 -1.66445690e-04 9.99985431e-01 -1.97623045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters 0.051907602461563 Centerline is valid? [True, True] Translation: X:268.29, Y:-28.36, Z:-1.98 [[ 9.66911933e-01 2.55074631e-01 4.27169054e-03 2.68286020e+02] [-2.55072745e-01 9.66921359e-01 -9.89844065e-04 -2.83636464e+01] [-4.38287294e-03 -1.32499794e-04 9.99990386e-01 -1.97681482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters 0.05239132100767028 Centerline is valid? [True, True] Translation: X:268.35, Y:-28.38, Z:-1.98 [[ 9.67647760e-01 2.52282212e-01 3.39097447e-03 2.68345246e+02] [-2.52281004e-01 9.67653697e-01 -7.86406128e-04 -2.83751061e+01] [-3.47968526e-03 -9.45143181e-05 9.99993941e-01 -1.97720024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters 0.05279244658850388 Centerline is valid? [True, True] Translation: X:268.40, Y:-28.39, Z:-1.98 [[ 9.68781009e-01 2.47890180e-01 3.71681505e-03 2.68404043e+02] [-2.47888697e-01 9.68788135e-01 -8.61944161e-04 -2.83881988e+01] [-3.81447382e-03 -8.63213044e-05 9.99992721e-01 -1.97740762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters 0.052800204816682045 Centerline is valid? [True, True] Translation: X:268.46, Y:-28.40, Z:-1.98 [[ 9.70180794e-01 2.42338543e-01 4.61069137e-03 2.68463444e+02] [-2.42336197e-01 9.70191746e-01 -1.06932439e-03 -2.84036284e+01] [-4.73239322e-03 -7.98994200e-05 9.99988799e-01 -1.97763963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters 0.052907216345770565 Centerline is valid? [True, True] Translation: X:268.52, Y:-28.42, Z:-1.98 [[ 9.71119420e-01 2.38550427e-01 4.55689688e-03 2.68521712e+02] [-2.38548093e-01 9.71130110e-01 -1.05689134e-03 -2.84231889e+01] [-4.67746165e-03 -6.06713564e-05 9.99989059e-01 -1.97789869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters 0.05295767921016064 Centerline is valid? [True, True] Translation: X:268.58, Y:-28.44, Z:-1.98 [[ 9.71855737e-01 2.35547763e-01 3.69844401e-03 2.68580772e+02] [-2.35546205e-01 9.71862773e-01 -8.57515731e-04 -2.84382992e+01] [-3.79636596e-03 -3.77728665e-05 9.99992793e-01 -1.97918552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters 0.05214608347446206 Centerline is valid? [True, True] Translation: X:268.64, Y:-28.46, Z:-1.98 [[ 9.72820784e-01 2.31542417e-01 2.79836519e-03 2.68640311e+02] [-2.31541507e-01 9.72824809e-01 -6.49219970e-04 -2.84586689e+01] [-2.87264104e-03 -1.63630134e-05 9.99995874e-01 -1.97777126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters 0.053212160054003844 Centerline is valid? [True, True] Translation: X:268.70, Y:-28.47, Z:-1.98 [[ 9.73238411e-01 2.29780255e-01 2.83373679e-03 2.68700041e+02] [-2.29779316e-01 9.73242536e-01 -6.57306683e-04 -2.84726193e+01] [-2.90894928e-03 -1.14179877e-05 9.99995769e-01 -1.97846279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters 0.05320240375349896 Centerline is valid? [True, True] Translation: X:268.76, Y:-28.49, Z:-1.98 [[ 9.73441882e-01 2.28920548e-01 2.50697079e-03 2.68761587e+02] [-2.28919809e-01 9.73445110e-01 -5.81844463e-04 -2.84869926e+01] [-2.57359461e-03 -7.50350462e-06 9.99996688e-01 -1.97930548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters 0.05293030813813372 Centerline is valid? [True, True] Translation: X:268.82, Y:-28.50, Z:-1.98 [[ 9.73379640e-01 2.29191350e-01 1.84425495e-03 2.68822591e+02] [-2.29190951e-01 9.73381387e-01 -4.27617466e-04 -2.85007715e+01] [-1.89316966e-03 -6.45241093e-06 9.99998208e-01 -1.98079191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters 0.0528978822554905 Centerline is valid? [True, True] Translation: X:268.88, Y:-28.51, Z:-1.98 [[ 9.73231545e-01 2.29822509e-01 1.40492368e-03 2.68882198e+02] [-2.29822278e-01 9.73232559e-01 -3.26120013e-04 -2.85133768e+01] [-1.44226719e-03 -5.49247565e-06 9.99998960e-01 -1.98256960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters 0.052938184506387154 Centerline is valid? [True, True] Translation: X:268.94, Y:-28.53, Z:-1.98 [[ 9.73348791e-01 2.29317446e-01 2.37472366e-03 2.68942277e+02] [-2.29316783e-01 9.73351688e-01 -5.51446549e-04 -2.85293125e+01] [-2.43789760e-03 -7.81415896e-06 9.99997028e-01 -1.98129325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters 0.05252265950561797 Centerline is valid? [True, True] Translation: X:269.00, Y:-28.54, Z:-1.98 [[ 9.73475030e-01 2.28776701e-01 2.75446014e-03 2.69003969e+02] [-2.28775806e-01 9.73478927e-01 -6.40023835e-04 -2.85440700e+01] [-2.82783144e-03 -7.10661702e-06 9.99996002e-01 -1.98136260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters 0.05294827917526903 Centerline is valid? [True, True] Translation: X:269.06, Y:-28.56, Z:-1.98 [[ 9.73912799e-01 2.26879949e-01 4.39867464e-03 2.69063850e+02] [-2.26877641e-01 9.73922732e-01 -1.02336027e-03 -2.85584965e+01] [-4.51614915e-03 -1.29726069e-06 9.99989802e-01 -1.98085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters 0.05276601407987787 Centerline is valid? [True, True] Translation: X:269.13, Y:-28.57, Z:-1.98 [[ 9.74328829e-01 2.25065426e-01 5.37474488e-03 2.69125502e+02] [-2.25061948e-01 9.74343653e-01 -1.25117581e-03 -2.85724806e+01] [-5.51844497e-03 9.40611207e-06 9.99984773e-01 -1.98110432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters 0.052888522372002665 Centerline is valid? [True, True] Translation: X:269.18, Y:-28.59, Z:-1.98 [[ 9.74732447e-01 2.23309881e-01 5.41795607e-03 2.69184894e+02] [-2.23306315e-01 9.74747504e-01 -1.26204503e-03 -2.85861570e+01] [-5.56296628e-03 2.02924287e-05 9.99984526e-01 -1.98279469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters 0.05295517669177089 Centerline is valid? [True, True] Translation: X:269.25, Y:-28.60, Z:-1.98 [[ 9.74882208e-01 2.22660246e-01 5.20532368e-03 2.69246177e+02] [-2.22656943e-01 9.74896104e-01 -1.21304763e-03 -2.85980831e+01] [-5.34474727e-03 2.35770939e-05 9.99985716e-01 -1.98241568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters 0.052844812328910085 Centerline is valid? [True, True] Translation: X:269.31, Y:-28.61, Z:-1.98 [[ 9.74881647e-01 2.22664951e-01 5.10814228e-03 2.69307413e+02] [-2.22661767e-01 9.74895030e-01 -1.19108894e-03 -2.86116292e+01] [-5.24511628e-03 2.37827591e-05 9.99986244e-01 -1.98372878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters 0.052789196302370923 Centerline is valid? [True, True] Translation: X:269.37, Y:-28.62, Z:-1.98 [[ 9.74641860e-01 2.23723835e-01 4.57064052e-03 2.69369257e+02] [-2.23721296e-01 9.74652577e-01 -1.06598639e-03 -2.86219819e+01] [-4.69327312e-03 1.64053387e-05 9.99988986e-01 -1.98396851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters 0.052844106151670275 Centerline is valid? [True, True] Translation: X:269.43, Y:-28.63, Z:-1.99 [[ 9.74373086e-01 2.24915705e-01 3.16459650e-03 2.69430394e+02] [-2.24914493e-01 9.74378225e-01 -7.38240240e-04 -2.86324981e+01] [-3.24955575e-03 7.55780197e-06 9.99994720e-01 -1.98518016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters 0.05326891382769957 Centerline is valid? [True, True] Translation: X:269.49, Y:-28.65, Z:-1.99 [[ 9.74249103e-01 2.25460683e-01 2.48321674e-03 2.69492181e+02] [-2.25459938e-01 9.74252267e-01 -5.79773435e-04 -2.86458747e+01] [-2.54999565e-03 4.97785911e-06 9.99996749e-01 -1.98798371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters 0.05307945563869724 Centerline is valid? [True, True] Translation: X:269.55, Y:-28.66, Z:-1.99 [[ 9.74067398e-01 2.26243626e-01 2.55443900e-03 2.69553964e+02] [-2.26242840e-01 9.74070748e-01 -5.96203877e-04 -2.86571873e+01] [-2.62309163e-03 2.81922657e-06 9.99996560e-01 -1.98701214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters 0.05362990265210626 Centerline is valid? [True, True] Translation: X:269.62, Y:-28.67, Z:-1.99 [[ 9.73739163e-01 2.27652181e-01 2.55484714e-03 2.69615685e+02] [-2.27651399e-01 9.73742515e-01 -5.96640049e-04 -2.86695363e+01] [-2.62358969e-03 -6.42743738e-07 9.99996558e-01 -1.98690451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters 0.0531694694890922 Centerline is valid? [True, True] Translation: X:269.68, Y:-28.68, Z:-1.99 [[ 9.72966754e-01 2.30926120e-01 2.97032774e-03 2.69676934e+02] [-2.30925077e-01 9.72971288e-01 -6.94258727e-04 -2.86787559e+01] [-3.05036608e-03 -1.04325013e-05 9.99995348e-01 -1.98637162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters 0.052578888318303985 Centerline is valid? [True, True] Translation: X:269.74, Y:-28.69, Z:-1.99 [[ 9.72719083e-01 2.31963631e-01 3.23413776e-03 2.69738779e+02] [-2.31962399e-01 9.72724459e-01 -7.56374998e-04 -2.86915321e+01] [-3.32137640e-03 -1.44579582e-05 9.99994484e-01 -1.98682563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters 0.052984734918049434 Centerline is valid? [True, True] Translation: X:269.80, Y:-28.70, Z:-1.99 [[ 9.72585957e-01 2.32535646e-01 1.93110589e-03 2.69799353e+02] [-2.32535207e-01 9.72587874e-01 -4.51595221e-04 -2.87039684e+01] [-1.98318216e-03 -9.83493684e-06 9.99998033e-01 -1.98807102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters 0.053471594488720305 Centerline is valid? [True, True] Translation: X:269.86, Y:-28.72, Z:-1.99 [[ 9.72997202e-01 2.30812457e-01 1.43363286e-03 2.69858998e+02] [-2.30812214e-01 9.72998258e-01 -3.35180511e-04 -2.87202069e+01] [-1.47228611e-03 -4.77027353e-06 9.99998916e-01 -1.98747074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters 0.05309093245931613 Centerline is valid? [True, True] Translation: X:269.92, Y:-28.74, Z:-1.99 [[ 9.74315163e-01 2.25186022e-01 1.10371744e-03 2.69918206e+02] [-2.25185874e-01 9.74315788e-01 -2.57932819e-04 -2.87390038e+01] [-1.13345220e-03 2.76627968e-06 9.99999358e-01 -1.98788142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters 0.054150710655257804 Centerline is valid? [True, True] Translation: X:269.98, Y:-28.76, Z:-1.99 [[ 9.75262584e-01 2.21047049e-01 1.04587843e-03 2.69978505e+02] [-2.21046913e-01 9.75263145e-01 -2.45017436e-04 -2.87557348e+01] [-1.07416707e-03 7.76813885e-06 9.99999423e-01 -1.98671571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters 0.05407631295135999 Centerline is valid? [True, True] Translation: X:270.04, Y:-28.77, Z:-1.99 [[ 9.76419475e-01 2.15881416e-01 4.73215099e-04 2.70037382e+02] [-2.15881388e-01 9.76419589e-01 -1.10883216e-04 -2.87736064e+01] [-4.85994119e-04 6.11019870e-06 9.99999882e-01 -1.98694292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters 0.0545032630278669 Centerline is valid? [True, True] Translation: X:270.10, Y:-28.79, Z:-1.99 [[ 9.77113397e-01 2.12718290e-01 5.81995429e-04 2.70096213e+02] [-2.12718246e-01 9.77113570e-01 -1.36127666e-04 -2.87890938e+01] [-5.97632476e-04 9.21111950e-06 9.99999821e-01 -1.98653389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters 0.05433636108873225 Centerline is valid? [True, True] Translation: X:270.16, Y:-28.80, Z:-1.99 [[ 9.77212128e-01 2.12265051e-01 -6.87765051e-05 2.70156894e+02] [-2.12265051e-01 9.77212131e-01 1.68973271e-05 -2.88024788e+01] [ 7.07959470e-05 -1.91342467e-06 9.99999997e-01 -1.98643808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters 0.05434487080891204 Centerline is valid? [True, True] Translation: X:270.22, Y:-28.82, Z:-1.99 [[ 9.76681714e-01 2.14691304e-01 -6.88348091e-04 2.70217706e+02] [-2.14691243e-01 9.76681956e-01 1.61878073e-04 -2.88170821e+01] [ 7.07050975e-04 -1.03210463e-05 9.99999750e-01 -1.98661135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters 0.054022376789740645 Centerline is valid? [True, True] Translation: X:270.28, Y:-28.83, Z:-1.99 [[ 9.75922088e-01 2.18116503e-01 -1.12679073e-03 2.70277740e+02] [-2.18116342e-01 9.75922738e-01 2.64832121e-04 -2.88323787e+01] [ 1.15742495e-03 -1.26840427e-05 9.99999330e-01 -1.98900269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters 0.05332781712963164 Centerline is valid? [True, True] Translation: X:270.34, Y:-28.84, Z:-1.99 [[ 9.74387566e-01 2.24873759e-01 -8.15039154e-04 2.70337706e+02] [-2.24873677e-01 9.74387907e-01 1.91520083e-04 -2.88422202e+01] [ 8.37232136e-04 -3.33393613e-06 9.99999650e-01 -1.98946180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters 0.05305051450613167 Centerline is valid? [True, True] Translation: X:270.40, Y:-28.85, Z:-1.99 [[ 9.72671652e-01 2.32183452e-01 -8.37833446e-04 2.70399294e+02] [-2.32183368e-01 9.72672013e-01 1.97834329e-04 -2.88535497e+01] [ 8.60871002e-04 2.10314784e-06 9.99999629e-01 -1.98961873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters 0.05274535447420887 Centerline is valid? [True, True] Translation: X:270.46, Y:-28.86, Z:-1.99 [[ 9.71435138e-01 2.37305044e-01 -2.96810932e-04 2.70459025e+02] [-2.37305033e-01 9.71435184e-01 7.01831248e-05 -2.88646585e+01] [ 3.04987392e-04 2.25637453e-06 9.99999953e-01 -1.99096063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters 0.05337018140948543 Centerline is valid? [True, True] Translation: X:270.52, Y:-28.88, Z:-1.99 [[ 9.69497625e-01 2.45100379e-01 3.99134378e-04 2.70519283e+02] [-2.45100361e-01 9.69497707e-01 -9.36982563e-05 -2.88766969e+01] [-4.09925342e-04 -6.98774294e-06 9.99999916e-01 -1.99068527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters 0.05269585284827883 Centerline is valid? [True, True] Translation: X:270.58, Y:-28.89, Z:-1.99 [[ 9.68189443e-01 2.50217788e-01 5.09867040e-04 2.70578071e+02] [-2.50217760e-01 9.68189578e-01 -1.19791089e-04 -2.88915829e+01] [-5.23621815e-04 -1.15973212e-05 9.99999863e-01 -1.99014279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters 0.05366356665358784 Centerline is valid? [True, True] Translation: X:270.64, Y:-28.90, Z:-1.99 [[ 9.66142064e-01 2.58006825e-01 1.41082028e-03 2.70638389e+02] [-2.58006615e-01 9.66143093e-01 -3.31577526e-04 -2.88984631e+01] [-1.44860354e-03 -4.36499701e-05 9.99998950e-01 -1.99254134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters 0.05366428244115456 Centerline is valid? [True, True] Translation: X:270.70, Y:-28.91, Z:-1.99 [[ 9.65628307e-01 2.59923680e-01 1.28559938e-03 2.70697439e+02] [-2.59923508e-01 9.65629162e-01 -3.02143497e-04 -2.89126967e+01] [-1.31994650e-03 -4.23991873e-05 9.99999128e-01 -1.99332036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters 0.053630828403816964 Centerline is valid? [True, True] Translation: X:270.76, Y:-28.93, Z:-2.00 [[ 9.65798164e-01 2.59293996e-01 7.27950239e-04 2.70757227e+02] [-2.59293941e-01 9.65798438e-01 -1.70414534e-04 -2.89299876e+01] [-7.47240669e-04 -2.41670422e-05 9.99999721e-01 -1.99500000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters 0.05235802417363486 Centerline is valid? [True, True] Translation: X:270.81, Y:-28.95, Z:-1.99 [[ 9.66676193e-01 2.56001243e-01 7.08160790e-04 2.70813767e+02] [-2.56001190e-01 9.66676452e-01 -1.66489126e-04 -2.89545298e+01] [-7.27183783e-04 -2.03489304e-05 9.99999735e-01 -1.99363957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters 0.052012664478969066 Centerline is valid? [True, True] Translation: X:270.87, Y:-28.98, Z:-1.99 [[ 9.68063171e-01 2.50705406e-01 7.03859702e-04 2.70870888e+02] [-2.50705352e-01 9.68063427e-01 -1.65468660e-04 -2.89773623e+01] [-7.22864723e-04 -1.62772788e-05 9.99999739e-01 -1.99310706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters 0.05231475159018899 Centerline is valid? [True, True] Translation: X:270.93, Y:-28.99, Z:-2.00 [[ 9.70893142e-01 2.39512668e-01 4.34648046e-04 2.70928407e+02] [-2.39512646e-01 9.70893239e-01 -1.02139629e-04 -2.89948940e+01] [-4.46460585e-04 -4.93703833e-06 9.99999900e-01 -1.99649961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters 0.05235069108797608 Centerline is valid? [True, True] Translation: X:270.99, Y:-29.02, Z:-2.00 [[ 9.73148366e-01 2.30178303e-01 4.53265789e-04 2.70986034e+02] [-2.30178279e-01 9.73148472e-01 -1.06345512e-04 -2.90205056e+01] [-4.65573339e-04 -8.41977948e-07 9.99999892e-01 -1.99507410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters 0.053117820137033464 Centerline is valid? [True, True] Translation: X:271.04, Y:-29.04, Z:-1.99 [[ 9.75674970e-01 2.19211637e-01 2.14715322e-03 2.71044698e+02] [-2.19211057e-01 9.75677333e-01 -5.04817746e-04 -2.90380948e+01] [-2.20559066e-03 2.18583121e-05 9.99997567e-01 -1.99410071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters 0.05345830027074697 Centerline is valid? [True, True] Translation: X:271.10, Y:-29.06, Z:-2.00 [[ 9.76982262e-01 2.13293611e-01 3.39058766e-03 2.71103109e+02] [-2.13292127e-01 9.76988143e-01 -7.97741893e-04 -2.90555596e+01] [-3.48271719e-03 5.61940275e-05 9.99993934e-01 -1.99559855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters 0.05373834695340508 Centerline is valid? [True, True] Translation: X:271.16, Y:-29.07, Z:-2.00 [[ 9.77721786e-01 2.09884742e-01 2.91628869e-03 2.71160562e+02] [-2.09883628e-01 9.77726133e-01 -6.86151555e-04 -2.90738812e+01] [-2.99534441e-03 5.87840724e-05 9.99995512e-01 -1.99650784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters 0.053497710715636665 Centerline is valid? [True, True] Translation: X:271.22, Y:-29.08, Z:-2.00 [[ 9.78573095e-01 2.05882825e-01 2.63828869e-03 2.71222621e+02] [-2.05881899e-01 9.78576649e-01 -6.20867148e-04 -2.90764361e+01] [-2.70959358e-03 6.43880021e-05 9.99996327e-01 -1.99552941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters 0.05382830241898658 Centerline is valid? [True, True] Translation: X:271.28, Y:-29.09, Z:-2.00 [[ 9.79046987e-01 2.03612865e-01 2.96624394e-03 2.71282881e+02] [-2.03611683e-01 9.79051477e-01 -6.98080517e-04 -2.90858176e+01] [-3.04624368e-03 7.94917054e-05 9.99995357e-01 -1.99815159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters 0.054436082359481684 Centerline is valid? [True, True] Translation: X:271.34, Y:-29.10, Z:-2.00 [[ 9.79604033e-01 2.00909692e-01 3.35188220e-03 2.71341944e+02] [-2.00908168e-01 9.79609762e-01 -7.88836415e-04 -2.91001605e+01] [-3.44202140e-03 9.93268212e-05 9.99994071e-01 -1.99993795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters 0.05375912462666459 Centerline is valid? [True, True] Translation: X:271.40, Y:-29.11, Z:-2.00 [[ 9.79571638e-01 2.01076477e-01 2.76685502e-03 2.71403495e+02] [-2.01075440e-01 9.79575543e-01 -6.50683706e-04 -2.91087288e+01] [-2.84118070e-03 8.10447122e-05 9.99995961e-01 -2.00063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters 0.05378059566329073 Centerline is valid? [True, True] Translation: X:271.46, Y:-29.12, Z:-2.00 [[ 9.79227552e-01 2.02743186e-01 2.93280078e-03 2.71463504e+02] [-2.02742027e-01 9.79231941e-01 -6.90589390e-04 -2.91225888e+01] [-3.01190449e-03 8.16421842e-05 9.99995461e-01 -2.00281280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters 0.05365567986091185 Centerline is valid? [True, True] Translation: X:271.52, Y:-29.13, Z:-2.00 [[ 9.78347683e-01 2.06940794e-01 3.36423011e-03 2.71523907e+02] [-2.06939293e-01 9.78353464e-01 -7.92394484e-04 -2.91285507e+01] [-3.45538493e-03 7.90459077e-05 9.99994027e-01 -2.00385395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters 0.0535311311421216 Centerline is valid? [True, True] Translation: X:271.58, Y:-29.14, Z:-2.00 [[ 9.77993323e-01 2.08606495e-01 3.51991787e-03 2.71582895e+02] [-2.08604863e-01 9.77999655e-01 -8.28679713e-04 -2.91447844e+01] [-3.61534643e-03 7.61712431e-05 9.99993462e-01 -2.00472455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters 0.05379057478257344 Centerline is valid? [True, True] Translation: X:271.64, Y:-29.15, Z:-2.00 [[ 9.76939781e-01 2.13461567e-01 4.77734495e-03 2.71643815e+02] [-2.13458614e-01 9.76951459e-01 -1.12571566e-03 -2.91529892e+01] [-4.90753115e-03 7.99909827e-05 9.99987955e-01 -2.00496694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters 0.05295198194531876 Centerline is valid? [True, True] Translation: X:271.70, Y:-29.16, Z:-2.01 [[ 9.75516477e-01 2.19835044e-01 6.33689299e-03 2.71704162e+02] [-2.19829982e-01 9.75537057e-01 -1.49326920e-03 -2.91629602e+01] [-6.51014684e-03 6.36696438e-05 9.99978807e-01 -2.00602670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters 0.05249459852096801 Centerline is valid? [True, True] Translation: X:271.77, Y:-29.17, Z:-2.01 [[ 9.74460663e-01 2.24483409e-01 5.79793094e-03 2.71766459e+02] [-2.24479253e-01 9.74477911e-01 -1.36625060e-03 -2.91715924e+01] [-5.95665623e-03 2.98422604e-05 9.99982259e-01 -2.00729182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters 0.05289740240575424 Centerline is valid? [True, True] Translation: X:271.83, Y:-29.18, Z:-2.01 [[ 9.73482542e-01 2.28703502e-01 5.14282766e-03 2.71827524e+02] [-2.28700290e-01 9.73496126e-01 -1.21206667e-03 -2.91814931e+01] [-5.28372670e-03 3.75956391e-06 9.99986041e-01 -2.00912382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters 0.052280704420798296 Centerline is valid? [True, True] Translation: X:271.89, Y:-29.19, Z:-2.01 [[ 9.72415835e-01 2.33235135e-01 2.96913151e-03 2.71888039e+02] [-2.33234087e-01 9.72420368e-01 -6.99475144e-04 -2.91908743e+01] [-3.05038613e-03 -1.23219697e-05 9.99995347e-01 -2.01139785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters 0.05353205091653131 Centerline is valid? [True, True] Translation: X:271.95, Y:-29.20, Z:-2.01 [[ 9.72479252e-01 2.32980687e-01 2.02572556e-03 2.71949399e+02] [-2.32980199e-01 9.72481362e-01 -4.77084553e-04 -2.92048475e+01] [-2.08113184e-03 -7.99911593e-06 9.99997834e-01 -2.01364527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters 0.052627405281921044 Centerline is valid? [True, True] Translation: X:272.01, Y:-29.22, Z:-2.02 [[ 9.73831732e-01 2.27268885e-01 7.82503308e-04 2.72009618e+02] [-2.27268810e-01 9.73832046e-01 -1.83810914e-04 -2.92248096e+01] [-8.03801299e-04 1.16230477e-06 9.99999677e-01 -2.01510503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters 0.05256557513748454 Centerline is valid? [True, True] Translation: X:272.07, Y:-29.24, Z:-2.02 [[ 9.75216898e-01 2.21246116e-01 1.46907777e-03 2.72068725e+02] [-2.21245845e-01 9.75218004e-01 -3.46513944e-04 -2.92449406e+01] [-1.50933596e-03 1.28989002e-05 9.99998861e-01 -2.01526455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters 0.053494674948045565 Centerline is valid? [True, True] Translation: X:272.13, Y:-29.26, Z:-2.01 [[ 9.76708774e-01 2.14557967e-01 2.20243487e-03 2.72127152e+02] [-2.14557339e-01 9.76711256e-01 -5.20136083e-04 -2.92614407e+01] [-2.26274227e-03 3.54729105e-05 9.99997439e-01 -2.01462172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters 0.05395073439086327 Centerline is valid? [True, True] Translation: X:272.18, Y:-29.28, Z:-2.01 [[ 9.78657496e-01 2.05461185e-01 3.89969208e-03 2.72183289e+02] [-2.05459146e-01 9.78665260e-01 -9.21016432e-04 -2.92843149e+01] [-4.00572629e-03 1.00132232e-04 9.99991972e-01 -2.01406229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters 0.05362181164172593 Centerline is valid? [True, True] Translation: X:272.24, Y:-29.30, Z:-2.01 [[ 9.79816663e-01 1.99820976e-01 5.55735821e-03 2.72243574e+02] [-1.99816741e-01 9.79832408e-01 -1.31269542e-03 -2.92959003e+01] [-5.70758376e-03 1.75747640e-04 9.99983696e-01 -2.01250388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters 0.054399138958378696 Centerline is valid? [True, True] Translation: X:272.30, Y:-29.32, Z:-2.01 [[ 9.80187754e-01 1.98012003e-01 4.81811094e-03 2.72299573e+02] [-1.98008797e-01 9.80199582e-01 -1.13815906e-03 -2.93185714e+01] [-4.94807949e-03 1.61581216e-04 9.99987745e-01 -2.01471447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters 0.05419626979330836 Centerline is valid? [True, True] Translation: X:272.36, Y:-29.33, Z:-2.02 [[ 9.79675920e-01 2.00544848e-01 4.10548642e-03 2.72360277e+02] [-2.00542543e-01 9.79684515e-01 -9.69823845e-04 -2.93283423e+01] [-4.21657465e-03 1.26788383e-04 9.99991102e-01 -2.01597990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters 0.05394639476587728 Centerline is valid? [True, True] Translation: X:272.42, Y:-29.34, Z:-2.02 [[ 9.79098278e-01 2.03339170e-01 4.44334939e-03 2.72418270e+02] [-2.03336498e-01 9.79108353e-01 -1.04978641e-03 -2.93411755e+01] [-4.56398320e-03 1.24348966e-04 9.99989577e-01 -2.01585850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters 0.053616025519010464 Centerline is valid? [True, True] Translation: X:272.48, Y:-29.35, Z:-2.02 [[ 9.78386905e-01 2.06729944e-01 4.66852715e-03 2.72477702e+02] [-2.06727033e-01 9.78398036e-01 -1.10294170e-03 -2.93484640e+01] [-4.79568887e-03 1.13992953e-04 9.99988494e-01 -2.01534971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters 0.052970075617850276 Centerline is valid? [True, True] Translation: X:272.54, Y:-29.36, Z:-2.02 [[ 9.76913621e-01 2.13543423e-01 6.24365389e-03 2.72536903e+02] [-2.13538356e-01 9.76933567e-01 -1.47498196e-03 -2.93611264e+01] [-6.41460776e-03 1.07670383e-04 9.99979420e-01 -2.01556264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters 0.052473359539256643 Centerline is valid? [True, True] Translation: X:272.60, Y:-29.37, Z:-2.02 [[ 9.74858489e-01 2.22742038e-01 6.07546357e-03 2.72596233e+02] [-2.22737419e-01 9.74877419e-01 -1.43526695e-03 -2.93738667e+01] [-6.24252653e-03 4.59490951e-05 9.99980514e-01 -2.01647423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters 0.05255949478003993 Centerline is valid? [True, True] Translation: X:272.66, Y:-29.38, Z:-2.02 [[ 9.73249410e-01 2.29676677e-01 5.84899460e-03 2.72656810e+02] [-2.29672521e-01 9.73266985e-01 -1.38173266e-03 -2.93829029e+01] [-6.00998511e-03 1.41716340e-06 9.99981940e-01 -2.01631714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters 0.0522541558638282 Centerline is valid? [True, True] Translation: X:272.72, Y:-29.39, Z:-2.02 [[ 9.70864178e-01 2.39549076e-01 6.24407516e-03 2.72718824e+02] [-2.39544538e-01 9.70884255e-01 -1.47588684e-03 -2.93875759e+01] [-6.41582159e-03 -6.28484304e-05 9.99979416e-01 -2.01692709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters 0.05242394785745666 Centerline is valid? [True, True] Translation: X:272.78, Y:-29.40, Z:-2.02 [[ 9.69220356e-01 2.46095829e-01 6.98167333e-03 2.72778303e+02] [-2.46090323e-01 9.69245495e-01 -1.65048573e-03 -2.93993243e+01] [-7.17313308e-03 -1.18437879e-04 9.99974266e-01 -2.01647438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters 0.05200438921577146 Centerline is valid? [True, True] Translation: X:272.84, Y:-29.41, Z:-2.02 [[ 9.68532424e-01 2.48788037e-01 7.03257099e-03 2.72838444e+02] [-2.48782521e-01 9.68557945e-01 -1.66256090e-03 -2.94128791e+01] [-7.22507777e-03 -1.39336601e-04 9.99973889e-01 -2.01735803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters 0.05254942577537627 Centerline is valid? [True, True] Translation: X:272.90, Y:-29.43, Z:-2.02 [[ 9.68621433e-01 2.48459999e-01 6.33634160e-03 2.72898696e+02] [-2.48455510e-01 9.68642150e-01 -1.49855656e-03 -2.94283496e+01] [-6.50997891e-03 -1.22764984e-04 9.99978802e-01 -2.01822135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters 0.05187492323120564 Centerline is valid? [True, True] Translation: X:272.96, Y:-29.45, Z:-2.02 [[ 9.69735980e-01 2.44112927e-01 4.58343819e-03 2.72957279e+02] [-2.44110527e-01 9.69746809e-01 -1.08452198e-03 -2.94484633e+01] [-4.70952040e-03 -6.71655278e-05 9.99988908e-01 -2.02052191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters 0.052465105740358474 Centerline is valid? [True, True] Translation: X:273.01, Y:-29.47, Z:-2.02 [[ 9.72060875e-01 2.34701390e-01 3.59342732e-03 2.73013323e+02] [-2.34699850e-01 9.72067517e-01 -8.50377336e-04 -2.94713437e+01] [-3.69263871e-03 -1.67583146e-05 9.99993182e-01 -2.02097930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters 0.05227190699676715 Centerline is valid? [True, True] Translation: X:273.07, Y:-29.49, Z:-2.02 [[ 9.73852510e-01 2.27154313e-01 3.49388222e-03 2.73072426e+02] [-2.27152809e-01 9.73858777e-01 -8.26724142e-04 -2.94935000e+01] [-3.59034182e-03 1.14622222e-05 9.99993555e-01 -2.02177244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters 0.0530644887643098 Centerline is valid? [True, True] Translation: X:273.13, Y:-29.51, Z:-2.02 [[ 9.75481201e-01 2.20051301e-01 3.72179941e-03 2.73130700e+02] [-2.20049542e-01 9.75488300e-01 -8.80598589e-04 -2.95131318e+01] [-3.82434864e-03 4.00271137e-05 9.99992686e-01 -2.02103975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters 0.05304143385907077 Centerline is valid? [True, True] Translation: X:273.19, Y:-29.54, Z:-2.02 [[ 9.77703769e-01 2.09930665e-01 4.94524208e-03 2.73186912e+02] [-2.09927425e-01 9.77716270e-01 -1.17109744e-03 -2.95376646e+01] [-5.08089290e-03 1.06844441e-04 9.99987086e-01 -2.02047721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters 0.05350282434175976 Centerline is valid? [True, True] Translation: X:273.25, Y:-29.55, Z:-2.02 [[ 9.79553338e-01 2.01101072e-01 5.79801004e-03 2.73245347e+02] [-2.01096464e-01 9.79570481e-01 -1.37306490e-03 -2.95546706e+01] [-5.95568431e-03 1.79030991e-04 9.99982249e-01 -2.01976341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters 0.054176763313081085 Centerline is valid? [True, True] Translation: X:273.30, Y:-29.58, Z:-2.02 [[ 9.80497097e-01 1.96463416e-01 5.25056463e-03 2.73302029e+02] [-1.96459570e-01 9.80511138e-01 -1.24349864e-03 -2.95777563e+01] [-5.39253909e-03 1.87723136e-04 9.99985443e-01 -2.02093532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters 0.05333730712062605 Centerline is valid? [True, True] Translation: X:273.37, Y:-29.58, Z:-2.02 [[ 9.80489932e-01 1.96502332e-01 5.13103110e-03 2.73366463e+02] [-1.96498661e-01 9.80503340e-01 -1.21499487e-03 -2.95778643e+01] [-5.26974246e-03 1.83049493e-04 9.99986098e-01 -2.02049369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters 0.053850632658858005 Centerline is valid? [True, True] Translation: X:273.42, Y:-29.60, Z:-2.02 [[ 9.79798236e-01 1.99924382e-01 5.06530209e-03 2.73422737e+02] [-1.99920845e-01 9.79811316e-01 -1.20041057e-03 -2.96003695e+01] [-5.20303165e-03 1.63500681e-04 9.99986451e-01 -2.02168976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters 0.05425847143873499 Centerline is valid? [True, True] Translation: X:273.48, Y:-29.62, Z:-2.02 [[ 9.79398831e-01 2.01851543e-01 5.82096487e-03 2.73482765e+02] [-2.01846906e-01 9.79416114e-01 -1.37944566e-03 -2.96158298e+01] [-5.97959003e-03 1.76083720e-04 9.99982107e-01 -2.02212520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters 0.05301498563783427 Centerline is valid? [True, True] Translation: X:273.54, Y:-29.63, Z:-2.02 [[ 9.78408037e-01 2.06598615e-01 5.89281041e-03 2.73541698e+02] [-2.06593947e-01 9.78425771e-01 -1.39672633e-03 -2.96261411e+01] [-6.05423930e-03 1.49149306e-04 9.99981662e-01 -2.02175108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters 0.05280137492038933 Centerline is valid? [True, True] Translation: X:273.60, Y:-29.64, Z:-2.02 [[ 9.77597134e-01 2.10437509e-01 4.46080771e-03 2.73601721e+02] [-2.10434875e-01 9.77607307e-01 -1.05725601e-03 -2.96377111e+01] [-4.58340453e-03 9.48609357e-05 9.99989492e-01 -2.02374047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters 0.05226839182552286 Centerline is valid? [True, True] Translation: X:273.66, Y:-29.65, Z:-2.02 [[ 9.76169627e-01 2.16947607e-01 5.15696108e-03 2.73661346e+02] [-2.16944176e-01 9.76183246e-01 -1.22238217e-03 -2.96485594e+01] [-5.29933190e-03 7.44796771e-05 9.99985956e-01 -2.02405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters 0.05197990256835669 Centerline is valid? [True, True] Translation: X:273.72, Y:-29.66, Z:-2.03 [[ 9.75127320e-01 2.21585761e-01 5.14398428e-03 2.73720651e+02] [-2.21582412e-01 9.75140886e-01 -1.21933420e-03 -2.96625944e+01] [-5.28629648e-03 4.91896494e-05 9.99986026e-01 -2.02558426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters 0.05168497355297242 Centerline is valid? [True, True] Translation: X:273.78, Y:-29.67, Z:-2.03 [[ 9.73440190e-01 2.28893449e-01 4.68886295e-03 2.73782227e+02] [-2.28890750e-01 9.73451483e-01 -1.11150774e-03 -2.96700659e+01] [-4.81879743e-03 8.74894811e-06 9.99988389e-01 -2.02638644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters 0.05160529120484441 Centerline is valid? [True, True] Translation: X:273.84, Y:-29.68, Z:-2.03 [[ 9.72237101e-01 2.33937327e-01 5.32409602e-03 2.73844386e+02] [-2.33933924e-01 9.72251679e-01 -1.26203706e-03 -2.96823279e+01] [-5.47159887e-03 -1.84874178e-05 9.99985031e-01 -2.02634388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters 0.05174631470667945 Centerline is valid? [True, True] Translation: X:273.90, Y:-29.69, Z:-2.03 [[ 9.70695575e-01 2.40253565e-01 5.32215077e-03 2.73904984e+02] [-2.40250253e-01 9.70710164e-01 -1.26255102e-03 -2.96897194e+01] [-5.46959823e-03 -5.30953809e-05 9.99985040e-01 -2.02745008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters 0.05142823159696268 Centerline is valid? [True, True] Translation: X:273.96, Y:-29.70, Z:-2.03 [[ 9.69422631e-01 2.45328738e-01 5.79425920e-03 2.73964851e+02] [-2.45324903e-01 9.69439943e-01 -1.37465959e-03 -2.97032370e+01] [-5.95442981e-03 -8.88499636e-05 9.99982268e-01 -2.02720429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters 0.05191064787287113 Centerline is valid? [True, True] Translation: X:274.02, Y:-29.71, Z:-2.03 [[ 9.68086993e-01 2.50551305e-01 5.62294255e-03 2.74024430e+02] [-2.50547780e-01 9.68103316e-01 -1.33413083e-03 -2.97109346e+01] [-5.77785754e-03 -1.17261071e-04 9.99983301e-01 -2.02805354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters 0.0534994245740561 Centerline is valid? [True, True] Translation: X:274.09, Y:-29.72, Z:-2.03 [[ 9.66790083e-01 2.55549248e-01 3.39375464e-03 2.74085294e+02] [-2.55547995e-01 9.66796035e-01 -8.05185631e-04 -2.97169447e+01] [-3.48683311e-03 -8.88217107e-05 9.99993917e-01 -2.03236739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters 0.051345100928293246 Centerline is valid? [True, True] Translation: X:274.14, Y:-29.74, Z:-2.03 [[ 9.66362446e-01 2.57175859e-01 2.04958073e-03 2.74142867e+02] [-2.57175407e-01 9.66364618e-01 -4.85769189e-04 -2.97419314e+01] [-2.10557041e-03 -5.76726563e-05 9.99997782e-01 -2.03237150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters 0.05073059723289879 Centerline is valid? [True, True] Translation: X:274.20, Y:-29.76, Z:-2.03 [[ 9.66685560e-01 2.55958863e-01 2.02193030e-03 2.74202858e+02] [-2.55958419e-01 9.66687673e-01 -4.79648334e-04 -2.97604364e+01] [-2.07734534e-03 -5.38609645e-05 9.99997841e-01 -2.03209409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters 0.05150595804104654 Centerline is valid? [True, True] Translation: X:274.26, Y:-29.77, Z:-2.03 [[ 9.67867703e-01 2.51421232e-01 4.41295678e-03 2.74261374e+02] [-2.51419067e-01 9.67877758e-01 -1.04782572e-03 -2.97740944e+01] [-4.53464835e-03 -9.53448002e-05 9.99989714e-01 -2.03158343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters 0.051009497860184105 Centerline is valid? [True, True] Translation: X:274.32, Y:-29.79, Z:-2.03 [[ 9.68732904e-01 2.48041200e-01 5.66776858e-03 2.74319756e+02] [-2.48037570e-01 9.68749479e-01 -1.34575598e-03 -2.97943883e+01] [-5.82445078e-03 -1.02141451e-04 9.99983033e-01 -2.03125010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters 0.0507449230030349 Centerline is valid? [True, True] Translation: X:274.38, Y:-29.82, Z:-2.03 [[ 9.69428322e-01 2.45292605e-01 6.34556045e-03 2.74377349e+02] [-2.45287995e-01 9.69449085e-01 -1.50679905e-03 -2.98172983e+01] [-6.52130444e-03 -9.57561323e-05 9.99978731e-01 -2.03048692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters 0.05079579254712013 Centerline is valid? [True, True] Translation: X:274.44, Y:-29.83, Z:-2.03 [[ 9.68534585e-01 2.48875011e-01 1.40932952e-03 2.74436255e+02] [-2.48874787e-01 9.68535610e-01 -3.34632632e-04 -2.98316608e+01] [-1.44826753e-03 -2.66433086e-05 9.99998951e-01 -2.03454479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters 0.05108362727271984 Centerline is valid? [True, True] Translation: X:274.50, Y:-29.84, Z:-2.04 [[ 9.67956241e-01 2.51118639e-01 -3.79835447e-04 2.74496772e+02] [-2.51118622e-01 9.67956316e-01 9.03318884e-05 -2.98432262e+01] [ 3.90348141e-04 7.94643901e-06 9.99999924e-01 -2.03629183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters 0.050795771420156614 Centerline is valid? [True, True] Translation: X:274.56, Y:-29.85, Z:-2.04 [[ 9.67658088e-01 2.52264974e-01 -4.55617908e-04 2.74556927e+02] [-2.52264950e-01 9.67658195e-01 1.09034038e-04 -2.98539418e+01] [ 4.68387871e-04 9.42876049e-06 9.99999890e-01 -2.03689588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters 0.05087693328261112 Centerline is valid? [True, True] Translation: X:274.62, Y:-29.86, Z:-2.04 [[ 9.67271354e-01 2.53742702e-01 8.77088267e-04 2.74618171e+02] [-2.53742618e-01 9.67271751e-01 -2.07682749e-04 -2.98649275e+01] [-9.01080686e-04 -2.16690989e-05 9.99999594e-01 -2.03600579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters 0.05030222640460281 Centerline is valid? [True, True] Translation: X:274.68, Y:-29.88, Z:-2.04 [[ 9.67474921e-01 2.52954202e-01 2.53945865e-03 2.74677893e+02] [-2.52953490e-01 9.67478252e-01 -6.03129914e-04 -2.98832855e+01] [-2.60943526e-03 -5.88518612e-05 9.99996594e-01 -2.03500395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters 0.05116902105454409 Centerline is valid? [True, True] Translation: X:274.74, Y:-29.89, Z:-2.04 [[ 9.68100786e-01 2.50497426e-01 5.64866854e-03 2.74738284e+02] [-2.50493850e-01 9.68117259e-01 -1.34349173e-03 -2.98907871e+01] [-5.80511472e-03 -1.14321327e-04 9.99983144e-01 -2.03515769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters 0.05140053783608853 Centerline is valid? [True, True] Translation: X:274.80, Y:-29.91, Z:-2.03 [[ 9.69187682e-01 2.46248980e-01 6.05610542e-03 2.74797164e+02] [-2.46244785e-01 9.69206599e-01 -1.44045273e-03 -2.99053304e+01] [-6.22432736e-03 -9.52153305e-05 9.99980624e-01 -2.03492639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters 0.05075200104736313 Centerline is valid? [True, True] Translation: X:274.86, Y:-29.92, Z:-2.04 [[ 9.69940094e-01 2.43278968e-01 5.61765639e-03 2.74856352e+02] [-2.43275309e-01 9.69956359e-01 -1.33620539e-03 -2.99210678e+01] [-5.77395221e-03 -7.05979086e-05 9.99983328e-01 -2.03520695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters 0.05021419869420925 Centerline is valid? [True, True] Translation: X:274.92, Y:-29.94, Z:-2.04 [[ 9.70563773e-01 2.40804246e-01 4.39059627e-03 2.74916870e+02] [-2.40801987e-01 9.70573703e-01 -1.04411350e-03 -2.99355162e+01] [-4.51282425e-03 -4.38855651e-05 9.99989816e-01 -2.03652814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters 0.05074443908735744 Centerline is valid? [True, True] Translation: X:274.98, Y:-29.95, Z:-2.04 [[ 9.71671231e-01 2.36323922e-01 2.45419160e-03 2.74977052e+02] [-2.36323202e-01 9.71674330e-01 -5.83541792e-04 -2.99512281e+01] [-2.52257987e-03 -1.29716468e-05 9.99996818e-01 -2.03874658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters 0.05123872511857543 Centerline is valid? [True, True] Translation: X:275.04, Y:-29.97, Z:-2.04 [[ 9.73072711e-01 2.30490807e-01 1.86754588e-03 2.75036994e+02] [-2.30490378e-01 9.73074503e-01 -4.44455314e-04 -2.99678711e+01] [-1.91970414e-03 2.03598082e-06 9.99998157e-01 -2.04057943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters 0.05161215201510774 Centerline is valid? [True, True] Translation: X:275.10, Y:-29.99, Z:-2.04 [[ 9.74647682e-01 2.23733854e-01 2.24917071e-03 2.75095692e+02] [-2.23733215e-01 9.74650277e-01 -5.35104293e-04 -2.99855120e+01] [-2.31187580e-03 1.83239659e-05 9.99997327e-01 -2.03910042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters 0.051862009813086446 Centerline is valid? [True, True] Translation: X:275.15, Y:-30.01, Z:-2.04 [[ 9.75952794e-01 2.17964411e-01 2.76747352e-03 2.75153180e+02] [-2.17963417e-01 9.75956717e-01 -6.59299406e-04 -3.00075604e+01] [-2.84463818e-03 4.02371119e-05 9.99995953e-01 -2.03972260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters 0.0516311261837443 Centerline is valid? [True, True] Translation: X:275.21, Y:-30.02, Z:-2.04 [[ 9.76260626e-01 2.16576526e-01 3.13040917e-03 2.75214790e+02] [-2.16575249e-01 9.76265643e-01 -7.45421141e-04 -3.00156756e+01] [-3.21755164e-03 4.97561650e-05 9.99994822e-01 -2.03982498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters 0.051733077006173134 Centerline is valid? [True, True] Translation: X:275.28, Y:-30.03, Z:-2.04 [[ 9.75992765e-01 2.17786935e-01 2.64070270e-03 2.75275101e+02] [-2.17786030e-01 9.75996337e-01 -6.29075449e-04 -3.00281328e+01] [-2.71432057e-03 3.88649294e-05 9.99996315e-01 -2.04053689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters 0.05195237958079258 Centerline is valid? [True, True] Translation: X:275.34, Y:-30.04, Z:-2.04 [[ 9.76040712e-01 2.17571292e-01 2.69479125e-03 2.75335894e+02] [-2.17570347e-01 9.76044431e-01 -6.42522731e-04 -3.00419794e+01] [-2.77003050e-03 4.08216744e-05 9.99996163e-01 -2.04075086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters 0.05195237958079258 Centerline is valid? [True, True] Translation: X:275.40, Y:-30.06, Z:-2.04 [[ 9.76016175e-01 2.17681338e-01 2.69485171e-03 2.75396681e+02] [-2.17680394e-01 9.76019894e-01 -6.42269391e-04 -3.00564331e+01] [-2.77003894e-03 4.02489323e-05 9.99996163e-01 -2.04121139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters 0.05215391310348761 Centerline is valid? [True, True] Translation: X:275.46, Y:-30.07, Z:-2.04 [[ 9.76118624e-01 2.17221072e-01 2.72736511e-03 2.75457309e+02] [-2.17220101e-01 9.76122433e-01 -6.50716560e-04 -3.00704625e+01] [-2.80359162e-03 4.27380257e-05 9.99996069e-01 -2.04180221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters 0.05162333565477819 Centerline is valid? [True, True] Translation: X:275.52, Y:-30.09, Z:-2.04 [[ 9.76716002e-01 2.14519893e-01 2.65831957e-03 2.75517798e+02] [-2.14518961e-01 9.76719618e-01 -6.34370761e-04 -3.00850313e+01] [-2.73251802e-03 4.93401226e-05 9.99996265e-01 -2.04308719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters 0.05239578821830309 Centerline is valid? [True, True] Translation: X:275.58, Y:-30.10, Z:-2.04 [[ 9.77507168e-01 2.10890643e-01 2.20764079e-03 2.75577075e+02] [-2.10889991e-01 9.77509659e-01 -5.26924610e-04 -3.00977973e+01] [-2.26911366e-03 4.95032378e-05 9.99997424e-01 -2.04321660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters 0.052460809594347596 Centerline is valid? [True, True] Translation: X:275.64, Y:-30.11, Z:-2.04 [[ 9.78036353e-01 2.08425085e-01 1.96867332e-03 2.75636505e+02] [-2.08424561e-01 9.78038333e-01 -4.69944170e-04 -3.01104164e+01] [-2.02338613e-03 4.93026109e-05 9.99997952e-01 -2.04435216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters 0.05272725418014974 Centerline is valid? [True, True] Translation: X:275.70, Y:-30.12, Z:-2.05 [[ 9.78419200e-01 2.06626748e-01 1.12095263e-03 2.75695736e+02] [-2.06626577e-01 9.78419841e-01 -2.67568979e-04 -3.01234805e+01] [-1.15204920e-03 3.01760213e-05 9.99999336e-01 -2.04525497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters 0.05246412529053053 Centerline is valid? [True, True] Translation: X:275.76, Y:-30.14, Z:-2.05 [[ 9.78219131e-01 2.07574516e-01 3.89086720e-04 2.75756501e+02] [-2.07574495e-01 9.78219209e-01 -9.21684032e-05 -3.01350800e+01] [-3.99743916e-04 9.39641569e-06 9.99999920e-01 -2.04577489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters 0.0536413129760886 Centerline is valid? [True, True] Translation: X:275.82, Y:-30.15, Z:-2.05 [[ 9.77571079e-01 2.10605483e-01 -3.39773322e-04 2.75816554e+02] [-2.10605467e-01 9.77571138e-01 8.13889794e-05 -3.01486816e+01] [ 3.49293558e-04 -8.00539329e-06 9.99999939e-01 -2.04869921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters 0.052621095749384936 Centerline is valid? [True, True] Translation: X:275.88, Y:-30.15, Z:-2.05 [[ 9.76351121e-01 2.16185786e-01 -1.48171177e-03 2.75878503e+02] [-2.16185497e-01 9.76352245e-01 3.54023351e-04 -3.01528204e+01] [ 1.52320743e-03 -2.53265000e-05 9.99998840e-01 -2.04977575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters 0.05196455973717658 Centerline is valid? [True, True] Translation: X:275.94, Y:-30.16, Z:-2.05 [[ 9.74889401e-01 2.22688701e-01 -6.31034991e-04 2.75938352e+02] [-2.22688650e-01 9.74889605e-01 1.50874748e-04 -3.01636541e+01] [ 6.48787554e-04 -6.56186271e-06 9.99999790e-01 -2.05257903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters 0.05184789512055708 Centerline is valid? [True, True] Translation: X:276.00, Y:-30.17, Z:-2.05 [[ 9.73346256e-01 2.29340058e-01 4.50478197e-04 2.76000265e+02] [-2.29340033e-01 9.73346361e-01 -1.07367111e-04 -3.01701123e+01] [-4.63094893e-04 1.19269042e-06 9.99999893e-01 -2.05225879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters 0.05184509579377818 Centerline is valid? [True, True] Translation: X:276.06, Y:-30.18, Z:-2.05 [[ 9.72344600e-01 2.33550156e-01 5.49894847e-04 2.76061727e+02] [-2.33550120e-01 9.72344756e-01 -1.30637043e-04 -3.01784994e+01] [-5.65197672e-04 -1.40378374e-06 9.99999840e-01 -2.05302809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters 0.05185691085004918 Centerline is valid? [True, True] Translation: X:276.12, Y:-30.19, Z:-2.05 [[ 9.71630895e-01 2.36501745e-01 5.73792174e-04 2.76122970e+02] [-2.36501706e-01 9.71631064e-01 -1.36342841e-04 -3.01910583e+01] [-5.89759621e-04 -3.22791084e-06 9.99999826e-01 -2.04940699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters 0.05238163740996658 Centerline is valid? [True, True] Translation: X:276.18, Y:-30.20, Z:-2.05 [[ 9.70933048e-01 2.39348868e-01 1.06521521e-03 2.76183910e+02] [-2.39348733e-01 9.70933633e-01 -2.54082442e-04 -3.01979305e+01] [-1.09506762e-03 -8.26087179e-06 9.99999400e-01 -2.05344119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters 0.05258522311651601 Centerline is valid? [True, True] Translation: X:276.24, Y:-30.21, Z:-2.06 [[ 9.70704137e-01 2.40276968e-01 -6.76695823e-04 2.76244978e+02] [-2.40276913e-01 9.70704372e-01 1.62825123e-04 -3.02111189e+01] [ 6.95994721e-04 4.53936232e-06 9.99999758e-01 -2.05598117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters 0.052127763062994624 Centerline is valid? [True, True] Translation: X:276.31, Y:-30.23, Z:-2.06 [[ 9.70685877e-01 2.40345418e-01 -1.73457247e-03 2.76305544e+02] [-2.40345058e-01 9.70687426e-01 4.16285193e-04 -3.02250410e+01] [ 1.78377992e-03 1.28137632e-05 9.99998409e-01 -2.05774805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters 0.05192234809193151 Centerline is valid? [True, True] Translation: X:276.37, Y:-30.25, Z:-2.05 [[ 9.70802709e-01 2.39867056e-01 -2.42796909e-03 2.76365661e+02] [-2.39866348e-01 9.70805745e-01 5.82922235e-04 -3.02457097e+01] [ 2.49691018e-03 1.64855925e-05 9.99996883e-01 -2.05128536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters 0.05236782338517398 Centerline is valid? [True, True] Translation: X:276.43, Y:-30.26, Z:-2.06 [[ 9.71172234e-01 2.38374452e-01 -1.45320755e-03 2.76425935e+02] [-2.38374196e-01 9.71173322e-01 3.49246060e-04 -3.02576063e+01] [ 1.49456774e-03 7.22910392e-06 9.99998883e-01 -2.05745609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters 0.05140723712233847 Centerline is valid? [True, True] Translation: X:276.49, Y:-30.28, Z:-2.05 [[ 9.71934962e-01 2.35248603e-01 7.24654442e-04 2.76485024e+02] [-2.35248539e-01 9.71935232e-01 -1.73039947e-04 -3.02777493e+01] [-7.45024589e-04 -2.29032534e-06 9.99999722e-01 -2.05296769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters 0.05206948273473712 Centerline is valid? [True, True] Translation: X:276.55, Y:-30.30, Z:-2.05 [[ 9.72739331e-01 2.31900419e-01 6.23958532e-04 2.76545011e+02] [-2.31900371e-01 9.72739531e-01 -1.49272840e-04 -3.02959054e+01] [-6.41565564e-04 5.07347207e-07 9.99999794e-01 -2.05205985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters 0.052395679467295224 Centerline is valid? [True, True] Translation: X:276.60, Y:-30.31, Z:-2.05 [[ 9.74076991e-01 2.26212521e-01 1.38220222e-03 2.76603193e+02] [-2.26212280e-01 9.74077972e-01 -3.30994070e-04 -3.03138780e+01] [-1.42124773e-03 9.74259367e-06 9.99998990e-01 -2.05054036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters 0.052077275578234154 Centerline is valid? [True, True] Translation: X:276.66, Y:-30.33, Z:-2.05 [[ 9.75278634e-01 2.20976160e-01 1.05935301e-03 2.76662249e+02] [-2.20976014e-01 9.75279210e-01 -2.54170002e-04 -3.03300877e+01] [-1.08933048e-03 1.37949664e-05 9.99999407e-01 -2.05003300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters 0.05197152644874416 Centerline is valid? [True, True] Translation: X:276.72, Y:-30.35, Z:-2.05 [[ 9.76047726e-01 2.17556024e-01 4.62059613e-04 2.76721348e+02] [-2.17555996e-01 9.76047835e-01 -1.10828215e-04 -3.03463328e+01] [-4.75103631e-04 7.64978777e-06 9.99999887e-01 -2.05090731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters 0.05232214426923191 Centerline is valid? [True, True] Translation: X:276.78, Y:-30.36, Z:-2.05 [[ 9.76293700e-01 2.16447364e-01 1.07258714e-03 2.76779500e+02] [-2.16447213e-01 9.76294289e-01 -2.56894745e-04 -3.03647414e+01] [-1.10276489e-03 1.86462250e-05 9.99999392e-01 -2.05273445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters 0.05235056875280065 Centerline is valid? [True, True] Translation: X:276.84, Y:-30.38, Z:-2.05 [[ 9.76114986e-01 2.17248640e-01 1.60076156e-03 2.76838570e+02] [-2.17248302e-01 9.76116298e-01 -3.84320997e-04 -3.03830520e+01] [-1.64602266e-03 2.73787542e-05 9.99998645e-01 -2.05440030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters 0.05245279645783713 Centerline is valid? [True, True] Translation: X:276.90, Y:-30.40, Z:-2.05 [[ 9.75625884e-01 2.19427603e-01 2.37919273e-03 2.76897977e+02] [-2.19426862e-01 9.75628785e-01 -5.71487227e-04 -3.03970442e+01] [-2.44660898e-03 3.54989361e-05 9.99997006e-01 -2.05471026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters 0.05185135994646882 Centerline is valid? [True, True] Translation: X:276.96, Y:-30.41, Z:-2.05 [[ 9.73214855e-01 2.29872908e-01 3.36027381e-03 2.76957708e+02] [-2.29871491e-01 9.73220656e-01 -8.07408690e-04 -3.04061496e+01] [-3.45588927e-03 1.33509819e-05 9.99994028e-01 -2.05401863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters 0.051845113782282654 Centerline is valid? [True, True] Translation: X:277.02, Y:-30.42, Z:-2.05 [[ 9.71614313e-01 2.36562732e-01 1.92382206e-03 2.77019120e+02] [-2.36562282e-01 9.71616217e-01 -4.61614637e-04 -3.04184756e+01] [-1.97841753e-03 -6.59234787e-06 9.99998043e-01 -2.05436035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters 0.05188209605687322 Centerline is valid? [True, True] Translation: X:277.08, Y:-30.43, Z:-2.06 [[ 9.70129574e-01 2.42586181e-01 7.43980183e-04 2.77080214e+02] [-2.42586115e-01 9.70129860e-01 -1.78580491e-04 -3.04292039e+01] [-7.65078550e-04 -7.23304681e-06 9.99999707e-01 -2.05790368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters 0.05162730369095701 Centerline is valid? [True, True] Translation: X:277.14, Y:-30.44, Z:-2.06 [[ 9.68391077e-01 2.49435627e-01 7.68419333e-04 2.77139327e+02] [-2.49435559e-01 9.68391382e-01 -1.84708005e-04 -3.04423792e+01] [-7.90203417e-04 -1.28015221e-05 9.99999688e-01 -2.05736796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters 0.05294613619087555 Centerline is valid? [True, True] Translation: X:277.20, Y:-30.45, Z:-2.06 [[ 9.67354466e-01 2.53421540e-01 1.69111587e-03 2.77200716e+02] [-2.53421216e-01 9.67355944e-01 -4.06590141e-04 -3.04456963e+01] [-1.73894969e-03 -3.52478514e-05 9.99998487e-01 -2.06003584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters 0.05163598772804582 Centerline is valid? [True, True] Translation: X:277.26, Y:-30.47, Z:-2.06 [[ 9.67215660e-01 2.53940421e-01 2.85111103e-03 2.77259611e+02] [-2.53939504e-01 9.67219861e-01 -6.85022934e-04 -3.04693324e+01] [-2.93160622e-03 -6.14448124e-05 9.99995701e-01 -2.05797236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters 0.051192193202239576 Centerline is valid? [True, True] Translation: X:277.32, Y:-30.49, Z:-2.06 [[ 9.67298311e-01 2.53625693e-01 2.82592314e-03 2.77318955e+02] [-2.53624790e-01 9.67302437e-01 -6.79389560e-04 -3.04874792e+01] [-2.90583298e-03 -5.95517883e-05 9.99995776e-01 -2.05755452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters 0.05099352620256307 Centerline is valid? [True, True] Translation: X:277.38, Y:-30.51, Z:-2.06 [[ 9.67661184e-01 2.52242463e-01 2.36071715e-03 2.77378952e+02] [-2.52241828e-01 9.67664062e-01 -5.68051293e-04 -3.05056654e+01] [-2.42766780e-03 -4.57904219e-05 9.99997052e-01 -2.05914603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters 0.051278077527730205 Centerline is valid? [True, True] Translation: X:277.44, Y:-30.52, Z:-2.06 [[ 9.67584037e-01 2.52546477e-01 1.18676411e-03 2.77438375e+02] [-2.52546317e-01 9.67584764e-01 -2.85005635e-04 -3.05232341e+01] [-1.22027204e-03 -2.39460013e-05 9.99999255e-01 -2.06049534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters 0.05111901945271671 Centerline is valid? [True, True] Translation: X:277.50, Y:-30.54, Z:-2.06 [[ 9.67532582e-01 2.52744579e-01 9.38788430e-04 2.77499658e+02] [-2.52744479e-01 9.67533037e-01 -2.25284098e-04 -3.05382024e+01] [-9.65248155e-04 -1.93038884e-05 9.99999534e-01 -2.06152381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters 0.05114784848039345 Centerline is valid? [True, True] Translation: X:277.56, Y:-30.56, Z:-2.06 [[ 9.67918445e-01 2.51264496e-01 -1.92177377e-04 2.77558918e+02] [-2.51264491e-01 9.67918464e-01 4.71947072e-05 -3.05573484e+01] [ 1.97870386e-04 2.60672319e-06 9.99999980e-01 -2.06267878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters 0.050927981832881455 Centerline is valid? [True, True] Translation: X:277.62, Y:-30.58, Z:-2.06 [[ 9.68835609e-01 2.47704326e-01 3.61468983e-04 2.77617960e+02] [-2.47704310e-01 9.68835676e-01 -8.69854078e-05 -3.05758760e+01] [-3.71750708e-04 -5.26286458e-06 9.99999931e-01 -2.06251624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters 0.05158044936162456 Centerline is valid? [True, True] Translation: X:277.67, Y:-30.60, Z:-2.06 [[ 9.71203809e-01 2.38236838e-01 2.52405760e-03 2.77674557e+02] [-2.38236061e-01 9.71207089e-01 -6.08683977e-04 -3.05977095e+01] [-2.59639358e-03 -1.01653431e-05 9.99996629e-01 -2.06188324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters 0.050883422938618285 Centerline is valid? [True, True] Translation: X:277.73, Y:-30.62, Z:-2.06 [[ 9.74015948e-01 2.26435460e-01 4.46261191e-03 2.77732425e+02] [-2.26432906e-01 9.74026171e-01 -1.07605933e-03 -3.06228084e+01] [-4.59035878e-03 3.76167656e-05 9.99989464e-01 -2.06065020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters 0.051942083916129644 Centerline is valid? [True, True] Translation: X:277.79, Y:-30.64, Z:-2.06 [[ 9.75229846e-01 2.21170454e-01 3.22129181e-03 2.77791468e+02] [-2.21169094e-01 9.75235166e-01 -7.76895459e-04 -3.06377234e+01] [-3.31334338e-03 4.52014465e-05 9.99994510e-01 -2.06370068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters 0.052232005547799776 Centerline is valid? [True, True] Translation: X:277.85, Y:-30.65, Z:-2.06 [[ 9.76106041e-01 2.17292639e-01 9.51266753e-04 2.77850486e+02] [-2.17292518e-01 9.76106505e-01 -2.29403940e-04 -3.06521414e+01] [-9.78385453e-04 1.72194231e-05 9.99999521e-01 -2.06421822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters 0.05230540932266185 Centerline is valid? [True, True] Translation: X:277.91, Y:-30.66, Z:-2.07 [[ 9.76738316e-01 2.14430126e-01 -1.40831804e-03 2.77910754e+02] [-2.14429859e-01 9.76739331e-01 3.39869640e-04 -3.06643515e+01] [ 1.44843791e-03 -2.99782618e-05 9.99998951e-01 -2.06516818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters 0.05348288805261245 Centerline is valid? [True, True] Translation: X:277.97, Y:-30.67, Z:-2.06 [[ 9.78665726e-01 2.05456290e-01 -1.05322065e-03 2.77969616e+02] [-2.05456135e-01 9.78666292e-01 2.54064136e-04 -3.06745039e+01] [ 1.08295062e-03 -3.22532186e-05 9.99999413e-01 -2.06469127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters 0.05344223280623315 Centerline is valid? [True, True] Translation: X:278.03, Y:-30.68, Z:-2.06 [[ 9.78984781e-01 2.03932719e-01 -4.93899015e-04 2.78031045e+02] [-2.03932685e-01 9.78984906e-01 1.19404183e-04 -3.06838522e+01] [ 5.07870100e-04 -1.61727256e-05 9.99999871e-01 -2.06288869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters 0.05282429991803719 Centerline is valid? [True, True] Translation: X:278.09, Y:-30.70, Z:-2.06 [[ 9.79452120e-01 2.01675759e-01 6.57680179e-04 2.78089358e+02] [-2.01675698e-01 9.79452341e-01 -1.58627612e-04 -3.06992116e+01] [-6.76157735e-04 2.27300413e-05 9.99999771e-01 -2.06203137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters 0.05370447337494662 Centerline is valid? [True, True] Translation: X:278.15, Y:-30.71, Z:-2.06 [[ 9.79090644e-01 2.03415872e-01 1.86937289e-03 2.78149423e+02] [-2.03415382e-01 9.79092426e-01 -4.50898749e-04 -3.07122108e+01] [-1.92200880e-03 6.12115462e-05 9.99998151e-01 -2.06320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters 0.05345738176057654 Centerline is valid? [True, True] Translation: X:278.21, Y:-30.72, Z:-2.06 [[ 9.78472438e-01 2.06371053e-01 1.63587497e-03 2.78207878e+02] [-2.06370681e-01 9.78473805e-01 -3.94747217e-04 -3.07244186e+01] [-1.68212520e-03 4.86526408e-05 9.99998584e-01 -2.06484626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters 0.05347825295093029 Centerline is valid? [True, True] Translation: X:278.27, Y:-30.72, Z:-2.06 [[ 9.77468893e-01 2.11064782e-01 2.49426657e-03 2.78270648e+02] [-2.11063933e-01 9.77472073e-01 -6.01827635e-04 -3.07248904e+01] [-2.56510054e-03 6.18180786e-05 9.99996708e-01 -2.06330389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters 0.053255984277700376 Centerline is valid? [True, True] Translation: X:278.33, Y:-30.74, Z:-2.07 [[ 9.76792358e-01 2.14178050e-01 2.11016326e-03 2.78329500e+02] [-2.14177450e-01 9.76794636e-01 -5.09140362e-04 -3.07409054e+01] [-2.17024285e-03 4.53750279e-05 9.99997644e-01 -2.06506253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters 0.05316218951790592 Centerline is valid? [True, True] Translation: X:278.39, Y:-30.75, Z:-2.07 [[ 9.75816609e-01 2.18577094e-01 2.44937199e-03 2.78389572e+02] [-2.18576298e-01 9.75819682e-01 -5.91075920e-04 -3.07491251e+01] [-2.51934106e-03 4.14070372e-05 9.99996826e-01 -2.06617598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters 0.052774001160933365 Centerline is valid? [True, True] Translation: X:278.45, Y:-30.76, Z:-2.07 [[ 9.74934228e-01 2.22470003e-01 3.21689319e-03 2.78449589e+02] [-2.22468653e-01 9.74939534e-01 -7.76339717e-04 -3.07564636e+01] [-3.30898865e-03 4.12222697e-05 9.99994524e-01 -2.06555025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters 0.05212727401219794 Centerline is valid? [True, True] Translation: X:278.51, Y:-30.77, Z:-2.07 [[ 9.73889276e-01 2.27020351e-01 1.19928797e-03 2.78508783e+02] [-2.27020167e-01 9.73890014e-01 -2.89304413e-04 -3.07697730e+01] [-1.23365257e-03 9.48790951e-06 9.99999239e-01 -2.07028829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters 0.052600026723178546 Centerline is valid? [True, True] Translation: X:278.57, Y:-30.78, Z:-2.07 [[ 9.72879732e-01 2.31311530e-01 -5.99675272e-05 2.78569901e+02] [-2.31311529e-01 9.72879734e-01 1.49534359e-05 -3.07809086e+01] [ 6.18000939e-05 -6.76714262e-07 9.99999998e-01 -2.06982568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters 0.052616707354240635 Centerline is valid? [True, True] Translation: X:278.63, Y:-30.80, Z:-2.07 [[ 9.72679983e-01 2.32145535e-01 -1.44980191e-03 2.78628756e+02] [-2.32145270e-01 9.72681063e-01 3.51036658e-04 -3.07954180e+01] [ 1.49168646e-03 -4.88167308e-06 9.99998887e-01 -2.07174588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters 0.05262856325176068 Centerline is valid? [True, True] Translation: X:278.69, Y:-30.81, Z:-2.07 [[ 9.72777126e-01 2.31740080e-01 -1.09481986e-03 2.78689814e+02] [-2.31739927e-01 9.72777742e-01 2.65649068e-04 -3.08105432e+01] [ 1.12657793e-03 -4.70386140e-06 9.99999365e-01 -2.07179571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters 0.05200837133573266 Centerline is valid? [True, True] Translation: X:278.75, Y:-30.83, Z:-2.07 [[ 9.73262406e-01 2.29696035e-01 -1.42676919e-04 2.78749602e+02] [-2.29696032e-01 9.73262417e-01 3.54540647e-05 -3.08285966e+01] [ 1.47005741e-04 -1.73378630e-06 9.99999989e-01 -2.07185790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters 0.05237806643445927 Centerline is valid? [True, True] Translation: X:278.81, Y:-30.84, Z:-2.07 [[ 9.73836969e-01 2.27242529e-01 1.54646589e-03 2.78808997e+02] [-2.27242223e-01 9.73838196e-01 -3.73348620e-04 -3.08437159e+01] [-1.59084824e-03 1.21583431e-05 9.99998735e-01 -2.06849265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters 0.052744536268955436 Centerline is valid? [True, True] Translation: X:278.87, Y:-30.86, Z:-2.07 [[ 9.74245233e-01 2.25479680e-01 2.26701235e-03 2.78867386e+02] [-2.25479015e-01 9.74247871e-01 -5.47966963e-04 -3.08618889e+01] [-2.33218737e-03 2.26904908e-05 9.99997280e-01 -2.06911009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters 0.0525002603841392 Centerline is valid? [True, True] Translation: X:278.93, Y:-30.88, Z:-2.07 [[ 9.74091405e-01 2.26137989e-01 2.74672166e-03 2.78925782e+02] [-2.26137014e-01 9.74095277e-01 -6.64424749e-04 -3.08787125e+01] [-2.82582027e-03 2.60750027e-05 9.99996007e-01 -2.07027229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters 0.05257973800361481 Centerline is valid? [True, True] Translation: X:278.99, Y:-30.89, Z:-2.07 [[ 9.73569589e-01 2.28375268e-01 2.64447652e-03 2.78986886e+02] [-2.28374371e-01 9.73573180e-01 -6.40197923e-04 -3.08925392e+01] [-2.72079679e-03 1.93465661e-05 9.99996298e-01 -2.06950027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters 0.051983987032136435 Centerline is valid? [True, True] Translation: X:279.05, Y:-30.91, Z:-2.07 [[ 9.72337578e-01 2.33572374e-01 1.89204349e-03 2.79047296e+02] [-2.33571925e-01 9.72339419e-01 -4.57848610e-04 -3.09087875e+01] [-1.94664925e-03 3.25516892e-06 9.99998105e-01 -2.07222019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters 0.05196457559173162 Centerline is valid? [True, True] Translation: X:279.11, Y:-30.92, Z:-2.07 [[ 9.70770263e-01 2.40006954e-01 1.32614811e-03 2.79108073e+02] [-2.40006740e-01 9.70771169e-01 -3.20569530e-04 -3.09216049e+01] [-1.36432527e-03 -7.08511862e-06 9.99999069e-01 -2.07293634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters 0.05227667253083639 Centerline is valid? [True, True] Translation: X:279.17, Y:-30.94, Z:-2.07 [[ 9.70235936e-01 2.42160390e-01 7.57747480e-04 2.79168393e+02] [-2.42160321e-01 9.70236232e-01 -1.82893646e-04 -3.09359737e+01] [-7.79483656e-04 -6.04638548e-06 9.99999696e-01 -2.07327919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters 0.0521254946633514 Centerline is valid? [True, True] Translation: X:279.23, Y:-30.95, Z:-2.07 [[ 9.69329937e-01 2.45762647e-01 4.41646719e-04 2.79228678e+02] [-2.45762624e-01 9.69330037e-01 -1.06288836e-04 -3.09506167e+01] [-4.54223256e-04 -5.51130622e-06 9.99999897e-01 -2.07352660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters 0.051568016929835016 Centerline is valid? [True, True] Translation: X:279.29, Y:-30.97, Z:-2.07 [[ 9.68653783e-01 2.48414671e-01 -3.68080408e-06 2.79287927e+02] [-2.48414671e-01 9.68653783e-01 1.69035938e-06 -3.09659426e+01] [ 3.98533478e-06 -7.23007275e-07 1.00000000e+00 -2.07429501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters 0.05182272923460018 Centerline is valid? [True, True] Translation: X:279.35, Y:-30.98, Z:-2.08 [[ 9.68698370e-01 2.48238435e-01 1.07098403e-03 2.79347785e+02] [-2.48238300e-01 9.68698962e-01 -2.59270827e-04 -3.09806404e+01] [-1.10182210e-03 -1.47040275e-05 9.99999393e-01 -2.07524753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters 0.05181179029025332 Centerline is valid? [True, True] Translation: X:279.41, Y:-31.00, Z:-2.07 [[ 9.69128327e-01 2.46542466e-01 2.66423030e-03 2.79406742e+02] [-2.46541620e-01 9.69131989e-01 -6.46528771e-04 -3.09998147e+01] [-2.74138761e-03 -3.02743067e-05 9.99996242e-01 -2.07304412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters 0.05217294452550399 Centerline is valid? [True, True] Translation: X:279.46, Y:-31.02, Z:-2.07 [[ 9.70302503e-01 2.41876760e-01 2.94706059e-03 2.79463541e+02] [-2.41875700e-01 9.70306979e-01 -7.16039304e-04 -3.10211860e+01] [-3.03274672e-03 -1.80476152e-05 9.99995401e-01 -2.07393768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters 0.051556271792279756 Centerline is valid? [True, True] Translation: X:279.52, Y:-31.04, Z:-2.07 [[ 9.70700273e-01 2.40284653e-01 2.06530170e-03 2.79523013e+02] [-2.40284131e-01 9.70702470e-01 -5.01223728e-04 -3.10406213e+01] [-2.12522983e-03 -9.72121345e-06 9.99997742e-01 -2.07408052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters 0.05184011327506579 Centerline is valid? [True, True] Translation: X:279.58, Y:-31.06, Z:-2.08 [[ 9.70807425e-01 2.39859435e-01 6.27916290e-04 2.79582392e+02] [-2.39859387e-01 9.70807628e-01 -1.51916664e-04 -3.10565830e+01] [-6.46024570e-04 -3.12979108e-06 9.99999791e-01 -2.07618999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters 0.05137268329608161 Centerline is valid? [True, True] Translation: X:279.64, Y:-31.07, Z:-2.08 [[ 9.70527721e-01 2.40988169e-01 -8.03420177e-04 2.79642617e+02] [-2.40988089e-01 9.70528053e-01 1.96344678e-04 -3.10736748e+01] [ 8.27058565e-04 3.05674100e-06 9.99999658e-01 -2.07779650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters 0.05179831601834595 Centerline is valid? [True, True] Translation: X:279.70, Y:-31.09, Z:-2.08 [[ 9.70458178e-01 2.41266783e-01 -1.12485478e-03 2.79703717e+02] [-2.41266626e-01 9.70458829e-01 2.74860152e-04 -3.10906443e+01] [ 1.15793988e-03 4.64963666e-06 9.99999330e-01 -2.07731308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters 0.051681679055096914 Centerline is valid? [True, True] Translation: X:279.76, Y:-31.11, Z:-2.08 [[ 9.70349522e-01 2.41703076e-01 -1.19481722e-03 2.79764450e+02] [-2.41702900e-01 9.70350258e-01 2.92089213e-04 -3.11072013e+01] [ 1.22999006e-03 5.36215884e-06 9.99999244e-01 -2.07700787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters 0.05160853801610201 Centerline is valid? [True, True] Translation: X:279.82, Y:-31.12, Z:-2.08 [[ 9.69781354e-01 2.43971252e-01 -1.46735120e-03 2.79824255e+02] [-2.43970991e-01 9.69782464e-01 3.57623403e-04 -3.11178688e+01] [ 1.51026130e-03 1.11746190e-05 9.99998859e-01 -2.08072480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters 0.051495546696794015 Centerline is valid? [True, True] Translation: X:279.88, Y:-31.13, Z:-2.08 [[ 9.68957500e-01 2.47224862e-01 -1.10983037e-03 2.79884426e+02] [-2.47224713e-01 9.68958135e-01 2.71403247e-04 -3.11349987e+01] [ 1.14247680e-03 1.13992838e-05 9.99999347e-01 -2.07753933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters 0.05141272699847855 Centerline is valid? [True, True] Translation: X:279.94, Y:-31.15, Z:-2.08 [[ 9.68570488e-01 2.48739053e-01 3.03790816e-04 2.79944023e+02] [-2.48739043e-01 9.68570536e-01 -7.32765391e-05 -3.11483031e+01] [-3.12469571e-04 -4.59114351e-06 9.99999951e-01 -2.07715352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters 0.05124363183365089 Centerline is valid? [True, True] Translation: X:280.00, Y:-31.16, Z:-2.08 [[ 9.68548450e-01 2.48818077e-01 1.86138122e-03 2.80004243e+02] [-2.48817664e-01 9.68550238e-01 -4.53575668e-04 -3.11605387e+01] [-1.91569905e-03 -2.38345181e-05 9.99998165e-01 -2.07817742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters 0.05129251848635313 Centerline is valid? [True, True] Translation: X:280.06, Y:-31.18, Z:-2.08 [[ 9.69075421e-01 2.46760102e-01 1.50996683e-03 2.80063216e+02] [-2.46759829e-01 9.69076597e-01 -3.67649928e-04 -3.11793352e+01] [-1.55399485e-03 -1.63186479e-05 9.99998792e-01 -2.07775892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters 0.05134306014559682 Centerline is valid? [True, True] Translation: X:280.12, Y:-31.19, Z:-2.08 [[ 9.69389073e-01 2.45526852e-01 1.17913347e-03 2.80122810e+02] [-2.45526684e-01 9.69389790e-01 -2.87102614e-04 -3.11939044e+01] [-1.21353135e-03 -1.11945933e-05 9.99999264e-01 -2.07867688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters 0.05085069059516298 Centerline is valid? [True, True] Translation: X:280.18, Y:-31.21, Z:-2.08 [[ 9.69757412e-01 2.44070709e-01 -2.25817403e-04 2.80183064e+02] [-2.44070703e-01 9.69757438e-01 5.60727186e-05 -3.12083049e+01] [ 2.32673815e-04 7.38477873e-07 9.99999973e-01 -2.07997092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters 0.05115359932414454 Centerline is valid? [True, True] Translation: X:280.24, Y:-31.22, Z:-2.08 [[ 9.69898482e-01 2.43505084e-01 -1.48612583e-03 2.80243920e+02] [-2.43504813e-01 9.69899621e-01 3.63420224e-04 -3.12222049e+01] [ 1.52988755e-03 9.39806890e-06 9.99998830e-01 -2.08176704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters 0.05137790619584758 Centerline is valid? [True, True] Translation: X:280.30, Y:-31.24, Z:-2.08 [[ 9.69842246e-01 2.43727647e-01 -1.68868402e-03 2.80304977e+02] [-2.43727296e-01 9.69843716e-01 4.13805541e-04 -3.12370623e+01] [ 1.73861543e-03 1.02522935e-05 9.99998489e-01 -2.08095433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters 0.05185920530558101 Centerline is valid? [True, True] Translation: X:280.37, Y:-31.25, Z:-2.08 [[ 9.69734460e-01 2.44154460e-01 -1.91765816e-03 2.80366261e+02] [-2.44154008e-01 9.69736356e-01 4.70066380e-04 -3.12515345e+01] [ 1.97439163e-03 1.23643575e-05 9.99998051e-01 -2.07997408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters 0.0510740107470432 Centerline is valid? [True, True] Translation: X:280.43, Y:-31.27, Z:-2.08 [[ 9.69470409e-01 2.45194165e-01 -2.63567386e-03 2.80427118e+02] [-2.45193315e-01 9.69473992e-01 6.45894329e-04 -3.12652794e+01] [ 2.71358678e-03 2.00741719e-05 9.99996318e-01 -2.08009382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters 0.0514809778765129 Centerline is valid? [True, True] Translation: X:280.49, Y:-31.28, Z:-2.08 [[ 9.69120196e-01 2.46575836e-01 -2.53041017e-03 2.80487592e+02] [-2.46575057e-01 9.69123499e-01 6.20436708e-04 -3.12786104e+01] [ 2.60526466e-03 2.26582881e-05 9.99996606e-01 -2.07935966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters 0.05157863056910342 Centerline is valid? [True, True] Translation: X:280.55, Y:-31.29, Z:-2.08 [[ 9.68726523e-01 2.48121223e-01 -2.18695331e-03 2.80547237e+02] [-2.48120644e-01 9.68728991e-01 5.36512775e-04 -3.12910406e+01] [ 2.25168528e-03 2.28941079e-05 9.99997465e-01 -2.07938028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters 0.05162716000443968 Centerline is valid? [True, True] Translation: X:280.61, Y:-31.30, Z:-2.08 [[ 9.68197740e-01 2.50177470e-01 -2.09019131e-03 2.80606356e+02] [-2.50176947e-01 9.68199996e-01 5.12173944e-04 -3.13044542e+01] [ 2.15185760e-03 2.70320264e-05 9.99997684e-01 -2.07811613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters 0.051704867501065094 Centerline is valid? [True, True] Translation: X:280.67, Y:-31.32, Z:-2.08 [[ 9.67709190e-01 2.52060132e-01 -2.14762215e-03 2.80666217e+02] [-2.52059583e-01 9.67711573e-01 5.27250400e-04 -3.13192982e+01] [ 2.21117761e-03 3.11036846e-05 9.99997555e-01 -2.07637061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters 0.05200641056071124 Centerline is valid? [True, True] Translation: X:280.73, Y:-31.33, Z:-2.08 [[ 9.67629414e-01 2.52366568e-01 -2.10515900e-03 2.80726757e+02] [-2.52366040e-01 9.67631704e-01 5.17178860e-04 -3.13314692e+01] [ 2.16753725e-03 3.08331633e-05 9.99997650e-01 -2.07752332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters 0.0519183309348006 Centerline is valid? [True, True] Translation: X:280.79, Y:-31.35, Z:-2.08 [[ 9.67231225e-01 2.53889165e-01 -2.01228591e-03 2.80787674e+02] [-2.53888685e-01 9.67233318e-01 4.94565762e-04 -3.13450245e+01] [ 2.07191487e-03 3.25371765e-05 9.99997853e-01 -2.07702675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters 0.051401780981299106 Centerline is valid? [True, True] Translation: X:280.85, Y:-31.36, Z:-2.08 [[ 9.66994068e-01 2.54784568e-01 -2.70138581e-03 2.80847339e+02] [-2.54783707e-01 9.66997840e-01 6.63953083e-04 -3.13610163e+01] [ 2.78139924e-03 4.62303971e-05 9.99996131e-01 -2.07583878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters 0.05218234268572076 Centerline is valid? [True, True] Translation: X:280.91, Y:-31.37, Z:-2.08 [[ 9.66749971e-01 2.55694993e-01 -3.81626876e-03 2.80908448e+02] [-2.55693281e-01 9.66757501e-01 9.38059892e-04 -3.13699111e+01] [ 3.92926367e-03 6.89249082e-05 9.99992278e-01 -2.08008994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters 0.05197668597044872 Centerline is valid? [True, True] Translation: X:280.97, Y:-31.39, Z:-2.08 [[ 9.67062795e-01 2.54500187e-01 -4.38237978e-03 2.80967841e+02] [-2.54497916e-01 9.67072722e-01 1.07764751e-03 -3.13884813e+01] [ 4.51234143e-03 7.31537076e-05 9.99989817e-01 -2.07854926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters 0.051994792809694046 Centerline is valid? [True, True] Translation: X:281.03, Y:-31.40, Z:-2.08 [[ 9.67462954e-01 2.52984511e-01 -3.77740974e-03 2.81027526e+02] [-2.52982810e-01 9.67470327e-01 9.29354719e-04 -3.14030597e+01] [ 3.88964419e-03 5.65034705e-05 9.99992434e-01 -2.07995550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters 0.05212307984072935 Centerline is valid? [True, True] Translation: X:281.09, Y:-31.42, Z:-2.08 [[ 9.67593274e-01 2.52489436e-01 -3.51296272e-03 2.81087471e+02] [-2.52487960e-01 9.67599650e-01 8.64724031e-04 -3.14170964e+01] [ 3.61747518e-03 5.02796365e-05 9.99993456e-01 -2.08123842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters 0.051774144134831855 Centerline is valid? [True, True] Translation: X:281.15, Y:-31.44, Z:-2.08 [[ 9.68381447e-01 2.49464697e-01 -2.17687479e-03 2.81146142e+02] [-2.49464123e-01 9.68383893e-01 5.35600110e-04 -3.14366304e+01] [ 2.24166381e-03 2.43869521e-05 9.99997487e-01 -2.07865640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters 0.05219078815527936 Centerline is valid? [True, True] Translation: X:281.21, Y:-31.45, Z:-2.08 [[ 9.68956660e-01 2.47227972e-01 -1.14907233e-03 2.81205565e+02] [-2.47227810e-01 9.68957341e-01 2.83555811e-04 -3.14503366e+01] [ 1.18350500e-03 9.32934395e-06 9.99999300e-01 -2.08196239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters 0.05180825685143841 Centerline is valid? [True, True] Translation: X:281.27, Y:-31.47, Z:-2.08 [[ 9.69125824e-01 2.46557058e-01 -2.18036618e-03 2.81266766e+02] [-2.46556472e-01 9.69128277e-01 5.37766855e-04 -3.14668682e+01] [ 2.24564473e-03 1.64196459e-05 9.99997478e-01 -2.08264186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters 0.05201018032871705 Centerline is valid? [True, True] Translation: X:281.33, Y:-31.48, Z:-2.08 [[ 9.70003100e-01 2.43070376e-01 -3.28313533e-03 2.81326032e+02] [-2.43069028e-01 9.70008656e-01 8.09559096e-04 -3.14843367e+01] [ 3.38144952e-03 1.27536815e-05 9.99994283e-01 -2.08362191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters 0.05235525651836489 Centerline is valid? [True, True] Translation: X:281.39, Y:-31.50, Z:-2.08 [[ 9.70826939e-01 2.39776349e-01 -1.53506726e-03 2.81386203e+02] [-2.39776050e-01 9.70828153e-01 3.79186563e-04 -3.15011382e+01] [ 1.58120648e-03 -5.21660506e-08 9.99998750e-01 -2.08237361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters 0.051710968693809534 Centerline is valid? [True, True] Translation: X:281.45, Y:-31.52, Z:-2.08 [[ 9.71028700e-01 2.38962507e-01 -4.28843456e-04 2.81445061e+02] [-2.38962483e-01 9.71028795e-01 1.06616087e-04 -3.15164964e+01] [ 4.41896591e-04 -1.04978283e-06 9.99999902e-01 -2.08461814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters 0.05267333504598773 Centerline is valid? [True, True] Translation: X:281.51, Y:-31.53, Z:-2.08 [[ 9.70821199e-01 2.39802983e-01 -8.53327042e-04 2.81506593e+02] [-2.39802890e-01 9.70821574e-01 2.11520953e-04 -3.15310333e+01] [ 8.79151658e-04 -7.18735000e-07 9.99999614e-01 -2.08406893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters 0.051313490337633494 Centerline is valid? [True, True] Translation: X:281.57, Y:-31.54, Z:-2.09 [[ 9.70383066e-01 2.41570955e-01 -4.23063792e-04 2.81566930e+02] [-2.41570932e-01 9.70383158e-01 1.05027276e-04 -3.15445445e+01] [ 4.35905518e-04 2.83224735e-07 9.99999905e-01 -2.08626709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters 0.052110727091098104 Centerline is valid? [True, True] Translation: X:281.63, Y:-31.56, Z:-2.09 [[ 9.69929606e-01 2.43385604e-01 -9.02584632e-05 2.81627866e+02] [-2.43385603e-01 9.69929610e-01 2.31641752e-05 -3.15565063e+01] [ 9.31821826e-05 -5.00008868e-07 9.99999996e-01 -2.08798023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters 0.05205743574837532 Centerline is valid? [True, True] Translation: X:281.69, Y:-31.57, Z:-2.09 [[ 9.69357874e-01 2.45651657e-01 7.58218462e-04 2.81689687e+02] [-2.45651587e-01 9.69358171e-01 -1.86348261e-04 -3.15701344e+01] [-7.80762020e-04 -5.61941433e-06 9.99999695e-01 -2.08744765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters 0.0519181309522911 Centerline is valid? [True, True] Translation: X:281.75, Y:-31.58, Z:-2.09 [[ 9.68746229e-01 2.48049846e-01 1.42069788e-03 2.81749750e+02] [-2.48049599e-01 9.68747270e-01 -3.50361622e-04 -3.15820882e+01] [-1.46320434e-03 -1.29920406e-05 9.99998929e-01 -2.08747820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters 0.05131475973758653 Centerline is valid? [True, True] Translation: X:281.81, Y:-31.60, Z:-2.09 [[ 9.68407096e-01 2.49353560e-01 3.24015798e-03 2.81810931e+02] [-2.49352277e-01 9.68412516e-01 -8.00679477e-04 -3.15950933e+01] [-3.33746182e-03 -3.25570822e-05 9.99994430e-01 -2.08655482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters 0.05145319942389426 Centerline is valid? [True, True] Translation: X:281.87, Y:-31.61, Z:-2.09 [[ 9.67934901e-01 2.51157813e-01 4.66693044e-03 2.81871532e+02] [-2.51155171e-01 9.67946150e-01 -1.15338226e-03 -3.16076960e+01] [-4.80701832e-03 -5.57247670e-05 9.99988445e-01 -2.08671460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters 0.05141397595879783 Centerline is valid? [True, True] Translation: X:281.93, Y:-31.62, Z:-2.09 [[ 9.67678359e-01 2.52124138e-01 5.65789723e-03 2.81932022e+02] [-2.52120267e-01 9.67694897e-01 -1.39909265e-03 -3.16224603e+01] [-5.82786331e-03 -7.25988772e-05 9.99983015e-01 -2.08654781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters 0.05154317488634057 Centerline is valid? [True, True] Translation: X:281.99, Y:-31.63, Z:-2.09 [[ 9.67054905e-01 2.54502542e-01 5.76773394e-03 2.81992685e+02] [-2.54498557e-01 9.67072101e-01 -1.42694893e-03 -3.16317882e+01] [-5.94097670e-03 -8.79420033e-05 9.99982348e-01 -2.08795572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters 0.05145466304096706 Centerline is valid? [True, True] Translation: X:282.05, Y:-31.64, Z:-2.09 [[ 9.66080631e-01 2.58206893e-01 4.17304548e-03 2.82052761e+02] [-2.58204839e-01 9.66089641e-01 -1.03292225e-03 -3.16447791e+01] [-4.29824366e-03 -7.96143635e-05 9.99990759e-01 -2.09066906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters 0.051671590054876274 Centerline is valid? [True, True] Translation: X:282.11, Y:-31.65, Z:-2.09 [[ 9.65282055e-01 2.61195798e-01 2.70374513e-03 2.82112198e+02] [-2.61194947e-01 9.65285839e-01 -6.69314012e-04 -3.16530965e+01] [-2.78470889e-03 -6.01277596e-05 9.99996121e-01 -2.09341401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters 0.050775599435411094 Centerline is valid? [True, True] Translation: X:282.17, Y:-31.67, Z:-2.09 [[ 9.65469380e-01 2.60473981e-01 4.70980368e-03 2.82170696e+02] [-2.60471391e-01 9.65480862e-01 -1.16580822e-03 -3.16748888e+01] [-4.85088802e-03 -1.01216977e-04 9.99988229e-01 -2.09195405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters 0.05067397907880668 Centerline is valid? [True, True] Translation: X:282.23, Y:-31.69, Z:-2.09 [[ 9.66161785e-01 2.57855257e-01 6.48626011e-03 2.82229525e+02] [-2.57850285e-01 9.66183550e-01 -1.60595646e-03 -3.16890455e+01] [-6.68102213e-03 -1.20870258e-04 9.99977674e-01 -2.09112490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters 0.05150166225995915 Centerline is valid? [True, True] Translation: X:282.29, Y:-31.70, Z:-2.09 [[ 9.67023920e-01 2.54592676e-01 6.87811802e-03 2.82288120e+02] [-2.54587001e-01 9.67048375e-01 -1.70304248e-03 -3.17029602e+01] [-7.08505499e-03 -1.04196622e-04 9.99974895e-01 -2.09157102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters 0.05140539178173162 Centerline is valid? [True, True] Translation: X:282.35, Y:-31.72, Z:-2.09 [[ 9.67378206e-01 2.53278214e-01 5.43632435e-03 2.82347614e+02] [-2.53274649e-01 9.67393478e-01 -1.34590113e-03 -3.17156430e+01] [-5.59995215e-03 -7.48877216e-05 9.99984317e-01 -2.09452226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters 0.05070767332618332 Centerline is valid? [True, True] Translation: X:282.41, Y:-31.73, Z:-2.09 [[ 9.67239777e-01 2.53802681e-01 5.60466969e-03 2.82406943e+02] [-2.53798897e-01 9.67256012e-01 -1.38823945e-03 -3.17329056e+01] [-5.77348935e-03 -7.96985710e-05 9.99983330e-01 -2.09393466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters 0.051320073906866305 Centerline is valid? [True, True] Translation: X:282.47, Y:-31.75, Z:-2.09 [[ 9.67058538e-01 2.54502092e-01 5.14484467e-03 2.82467280e+02] [-2.54498911e-01 9.67072220e-01 -1.27488574e-03 -3.17463925e+01] [-5.29989745e-03 -7.64682263e-05 9.99985953e-01 -2.09497919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters 0.05170548224764088 Centerline is valid? [True, True] Translation: X:282.53, Y:-31.76, Z:-2.10 [[ 9.66887574e-01 2.55171150e-01 4.01298530e-03 2.82527531e+02] [-2.55169218e-01 9.66895900e-01 -9.94727866e-04 -3.17567310e+01] [-4.13396489e-03 -6.22003104e-05 9.99991453e-01 -2.09748909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters 0.05141993304864301 Centerline is valid? [True, True] Translation: X:282.59, Y:-31.78, Z:-2.10 [[ 9.66886999e-01 2.55181176e-01 3.47840947e-03 2.82587319e+02] [-2.55179724e-01 9.66893254e-01 -8.62423062e-04 -3.17776606e+01] [-3.58332478e-03 -5.37539229e-05 9.99993578e-01 -2.09651823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters 0.05110742031743309 Centerline is valid? [True, True] Translation: X:282.65, Y:-31.79, Z:-2.10 [[ 9.67352084e-01 2.53408783e-01 3.73282463e-03 2.82648172e+02] [-2.53407094e-01 9.67359285e-01 -9.26348069e-04 -3.17896950e+01] [-3.84572730e-03 -4.98195061e-05 9.99992604e-01 -2.09831938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters 0.05152701267244061 Centerline is valid? [True, True] Translation: X:282.71, Y:-31.81, Z:-2.10 [[ 9.67815665e-01 2.51601604e-01 5.42877434e-03 2.82707454e+02] [-2.51598003e-01 9.67830889e-01 -1.34756150e-03 -3.18107276e+01] [-5.59318413e-03 -6.16776509e-05 9.99984356e-01 -2.09709073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters 0.05059234152302581 Centerline is valid? [True, True] Translation: X:282.77, Y:-31.83, Z:-2.10 [[ 9.67833392e-01 2.51489004e-01 7.19759590e-03 2.82766880e+02] [-2.51482668e-01 9.67860152e-01 -1.78703347e-03 -3.18269544e+01] [-7.41568554e-03 -8.05199606e-05 9.99972500e-01 -2.09662366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters 0.05108505554115567 Centerline is valid? [True, True] Translation: X:282.83, Y:-31.84, Z:-2.10 [[ 9.67581567e-01 2.52463751e-01 6.92567231e-03 2.82826139e+02] [-2.52457904e-01 9.67606349e-01 -1.72024526e-03 -3.18407657e+01] [-7.13562408e-03 -8.39631123e-05 9.99974538e-01 -2.09757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters 0.0511677118534706 Centerline is valid? [True, True] Translation: X:282.89, Y:-31.86, Z:-2.10 [[ 9.66568753e-01 2.56348224e-01 5.51665983e-03 2.82885467e+02] [-2.56344574e-01 9.66584492e-01 -1.37084565e-03 -3.18573408e+01] [-5.68373169e-03 -8.91492406e-05 9.99983843e-01 -2.10035476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters 0.05108633108224115 Centerline is valid? [True, True] Translation: X:282.95, Y:-31.87, Z:-2.10 [[ 9.65887179e-01 2.58911023e-01 5.19994800e-03 2.82945850e+02] [-2.58907817e-01 9.65901171e-01 -1.29219372e-03 -3.18726129e+01] [-5.35719906e-03 -9.81938411e-05 9.99985645e-01 -2.10149443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters 0.051190522682026264 Centerline is valid? [True, True] Translation: X:283.01, Y:-31.88, Z:-2.10 [[ 9.65588526e-01 2.60034773e-01 4.55145358e-03 2.83006312e+02] [-2.60032329e-01 9.65599248e-01 -1.13109480e-03 -3.18820887e+01] [-4.68900414e-03 -9.13529181e-05 9.99989002e-01 -2.10311606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters 0.05123038385286995 Centerline is valid? [True, True] Translation: X:283.07, Y:-31.90, Z:-2.10 [[ 9.65726206e-01 2.59513704e-01 5.05298426e-03 2.83065156e+02] [-2.59510683e-01 9.65739420e-01 -1.25597364e-03 -3.19037418e+01] [-5.20580846e-03 -9.83767335e-05 9.99986445e-01 -2.10331981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters 0.05003611498546286 Centerline is valid? [True, True] Translation: X:283.12, Y:-31.93, Z:-2.10 [[ 9.66102075e-01 2.58103595e-01 5.41428721e-03 2.83122941e+02] [-2.58100101e-01 9.66117242e-01 -1.34643995e-03 -3.19281971e+01] [-5.57835722e-03 -9.66296431e-05 9.99984436e-01 -2.10283900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters 0.05056836082695167 Centerline is valid? [True, True] Translation: X:283.18, Y:-31.94, Z:-2.11 [[ 9.66188745e-01 2.57818799e-01 2.96241152e-03 2.83183204e+02] [-2.57817752e-01 9.66193285e-01 -7.36634817e-04 -3.19424453e+01] [-3.05218042e-03 -5.20340084e-05 9.99995341e-01 -2.10679203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters 0.05019701396972981 Centerline is valid? [True, True] Translation: X:283.24, Y:-31.96, Z:-2.11 [[ 9.66092200e-01 2.58190140e-01 1.92695529e-03 2.83242809e+02] [-2.58189698e-01 9.66094121e-01 -4.79170993e-04 -3.19591567e+01] [-1.98533741e-03 -3.45966466e-05 9.99998029e-01 -2.10790668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters 0.05019701396972981 Centerline is valid? [True, True] Translation: X:283.30, Y:-31.97, Z:-2.11 [[ 9.66060821e-01 2.58307523e-01 1.92692385e-03 2.83303442e+02] [-2.58307081e-01 9.66062742e-01 -4.79297406e-04 -3.19742387e+01] [-1.98533546e-03 -3.47076275e-05 9.99998029e-01 -2.10836740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters 0.0499325697288313 Centerline is valid? [True, True] Translation: X:283.36, Y:-32.00, Z:-2.11 [[ 9.66374318e-01 2.57134588e-01 1.57533457e-03 2.83362436e+02] [-2.57134290e-01 9.66375601e-01 -3.91938384e-04 -3.19954728e+01] [-1.62314581e-03 -2.63133483e-05 9.99998682e-01 -2.10734838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters 0.050146278118374986 Centerline is valid? [True, True] Translation: X:283.42, Y:-32.01, Z:-2.11 [[ 9.67234974e-01 2.53866035e-01 2.92265058e-03 2.83421820e+02] [-2.53864992e-01 9.67239389e-01 -7.28570793e-04 -3.20122274e+01] [-3.01186214e-03 -3.72595157e-05 9.99995464e-01 -2.10793473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters 0.050416730144784976 Centerline is valid? [True, True] Translation: X:283.48, Y:-32.03, Z:-2.11 [[ 9.67565145e-01 2.52601223e-01 3.21133784e-03 2.83481223e+02] [-2.52599958e-01 9.67570473e-01 -8.00365171e-04 -3.20252832e+01] [-3.30936890e-03 -3.67783601e-05 9.99994523e-01 -2.10897114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters 0.0497390154230263 Centerline is valid? [True, True] Translation: X:283.54, Y:-32.04, Z:-2.11 [[ 9.69531896e-01 2.44922805e-01 4.55211540e-03 2.83538934e+02] [-2.44920172e-01 9.69542583e-01 -1.13562497e-03 -3.20421961e+01] [-4.69161017e-03 -1.38802571e-05 9.99988994e-01 -2.10867199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters 0.05015391329481327 Centerline is valid? [True, True] Translation: X:283.60, Y:-32.06, Z:-2.11 [[ 9.70134139e-01 2.42498098e-01 5.86725892e-03 2.83599528e+02] [-2.42493681e-01 9.70151881e-01 -1.46371453e-03 -3.20579187e+01] [-6.04708027e-03 -2.77378011e-06 9.99981716e-01 -2.10773367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters 0.05063505263868685 Centerline is valid? [True, True] Translation: X:283.66, Y:-32.07, Z:-2.11 [[ 9.71198135e-01 2.38233640e-01 4.34924258e-03 2.83658800e+02] [-2.38231168e-01 9.71207873e-01 -1.08547070e-03 -3.20735789e+01] [-4.48261427e-03 1.80819829e-05 9.99989953e-01 -2.11128520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters 0.05060840688648656 Centerline is valid? [True, True] Translation: X:283.72, Y:-32.09, Z:-2.11 [[ 9.72077562e-01 2.34632304e-01 3.59101520e-03 2.83719290e+02] [-2.34630593e-01 9.72084195e-01 -8.96405266e-04 -3.20889347e+01] [-3.70109475e-03 2.88134206e-05 9.99993151e-01 -2.11211725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters 0.05123744165449245 Centerline is valid? [True, True] Translation: X:283.78, Y:-32.10, Z:-2.11 [[ 9.73467537e-01 2.28795374e-01 3.69209334e-03 2.83779408e+02] [-2.28793522e-01 9.73474537e-01 -9.22026051e-04 -3.21020966e+01] [-3.80511415e-03 5.28353891e-05 9.99992759e-01 -2.11266344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters 0.05175778636332313 Centerline is valid? [True, True] Translation: X:283.84, Y:-32.12, Z:-2.11 [[ 9.74211271e-01 2.25605311e-01 3.82664195e-03 2.83839550e+02] [-2.25603297e-01 9.74218784e-01 -9.55609380e-04 -3.21170471e+01] [-3.94357702e-03 6.76623860e-05 9.99992222e-01 -2.11328134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters 0.05268798772646189 Centerline is valid? [True, True] Translation: X:283.90, Y:-32.13, Z:-2.11 [[ 9.74883419e-01 2.22679087e-01 4.04275947e-03 2.83898401e+02] [-2.22676814e-01 9.74891798e-01 -1.00955734e-03 -3.21335123e+01] [-4.16606035e-03 8.39719129e-05 9.99991318e-01 -2.11395652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters 0.05271209557558402 Centerline is valid? [True, True] Translation: X:283.96, Y:-32.15, Z:-2.11 [[ 9.75099460e-01 2.21728505e-01 4.18480152e-03 2.83957511e+02] [-2.21726058e-01 9.75108436e-01 -1.04582553e-03 -3.21474907e+01] [-4.31252460e-03 9.19043678e-05 9.99990697e-01 -2.11397028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters 0.05212640237443142 Centerline is valid? [True, True] Translation: X:284.02, Y:-32.15, Z:-2.11 [[ 9.75082864e-01 2.21797130e-01 4.40916203e-03 2.84021129e+02] [-2.21794415e-01 9.75092828e-01 -1.10166353e-03 -3.21536249e+01] [-4.54368808e-03 9.62857168e-05 9.99989673e-01 -2.11450288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters 0.05132947564094945 Centerline is valid? [True, True] Translation: X:284.08, Y:-32.17, Z:-2.11 [[ 9.74648788e-01 2.23675938e-01 5.36796998e-03 2.84081336e+02] [-2.23671936e-01 9.74663564e-01 -1.34235422e-03 -3.21658358e+01] [-5.53221709e-03 1.07659675e-04 9.99984691e-01 -2.11427450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters 0.05105143934536629 Centerline is valid? [True, True] Translation: X:284.14, Y:-32.18, Z:-2.11 [[ 9.73683011e-01 2.27791425e-01 7.24294695e-03 2.84141457e+02] [-2.27784251e-01 9.73709943e-01 -1.81137500e-03 -3.21759157e+01] [-7.46514516e-03 1.13875814e-04 9.99972129e-01 -2.11351987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters 0.05085416540323786 Centerline is valid? [True, True] Translation: X:284.20, Y:-32.19, Z:-2.11 [[ 9.72839605e-01 2.31385364e-01 6.62696743e-03 2.84200279e+02] [-2.31379442e-01 9.72862173e-01 -1.65737260e-03 -3.21884923e+01] [-6.83061769e-03 7.90136794e-05 9.99976668e-01 -2.11485633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters 0.05143091753147807 Centerline is valid? [True, True] Translation: X:284.26, Y:-32.20, Z:-2.12 [[ 9.71612580e-01 2.36506553e-01 5.80050175e-03 2.84260862e+02] [-2.36502106e-01 9.71629893e-01 -1.45068946e-03 -3.21988430e+01] [-5.97903846e-03 3.76772478e-05 9.99982125e-01 -2.11654726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters 0.050663400786618025 Centerline is valid? [True, True] Translation: X:284.32, Y:-32.21, Z:-2.12 [[ 9.70843324e-01 2.39647940e-01 5.66615581e-03 2.84321028e+02] [-2.39643750e-01 9.70859858e-01 -1.41710530e-03 -3.22106497e+01] [-5.84064959e-03 1.79283964e-05 9.99982943e-01 -2.11666929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters 0.05100390184442079 Centerline is valid? [True, True] Translation: X:284.38, Y:-32.22, Z:-2.12 [[ 9.70058351e-01 2.42804175e-01 5.73831304e-03 2.84381969e+02] [-2.42799930e-01 9.70075323e-01 -1.43584599e-03 -3.22217812e+01] [-5.91522527e-03 -4.07613914e-07 9.99982505e-01 -2.11731867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters 0.05093695873828841 Centerline is valid? [True, True] Translation: X:284.44, Y:-32.24, Z:-2.12 [[ 9.69828649e-01 2.43723219e-01 5.60209881e-03 2.84441970e+02] [-2.43719185e-01 9.69844829e-01 -1.40231179e-03 -3.22352209e+01] [-5.77494251e-03 -5.33679975e-06 9.99983325e-01 -2.11914789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters 0.05116813938885356 Centerline is valid? [True, True] Translation: X:284.50, Y:-32.25, Z:-2.12 [[ 9.69669801e-01 2.44363339e-01 5.19954574e-03 2.84503118e+02] [-2.44359870e-01 9.69683741e-01 -1.30218377e-03 -3.22494205e+01] [-5.36012094e-03 -7.87203996e-06 9.99985634e-01 -2.11975312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters 0.05107228647683441 Centerline is valid? [True, True] Translation: X:284.56, Y:-32.26, Z:-2.12 [[ 9.69569091e-01 2.44756745e-01 5.46934769e-03 2.84564188e+02] [-2.44752908e-01 9.69584517e-01 -1.37053761e-03 -3.22644966e+01] [-5.63844317e-03 -9.80784636e-06 9.99984104e-01 -2.11951917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters 0.051284196107171096 Centerline is valid? [True, True] Translation: X:284.62, Y:-32.28, Z:-2.12 [[ 9.69562007e-01 2.44761644e-01 6.42270849e-03 2.84624265e+02] [-2.44756346e-01 9.69583280e-01 -1.61044192e-03 -3.22790833e+01] [-6.62152518e-03 -1.05753641e-05 9.99978077e-01 -2.11966411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters 0.05125770186228892 Centerline is valid? [True, True] Translation: X:284.69, Y:-32.30, Z:-2.12 [[ 9.69522551e-01 2.44898332e-01 7.12951020e-03 2.84685203e+02] [-2.44891800e-01 9.69548765e-01 -1.78870586e-03 -3.22955415e+01] [-7.35045889e-03 -1.17679147e-05 9.99972985e-01 -2.11862421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters 0.05111538990099037 Centerline is valid? [True, True] Translation: X:284.74, Y:-32.31, Z:-2.12 [[ 9.69532745e-01 2.44954718e-01 1.85544063e-03 2.84744961e+02] [-2.44954277e-01 9.69534520e-01 -4.65121725e-04 -3.23108905e+01] [-1.91284750e-03 -3.54737393e-06 9.99998170e-01 -2.12417372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters 0.05137285337344411 Centerline is valid? [True, True] Translation: X:284.80, Y:-32.33, Z:-2.13 [[ 9.70516964e-01 2.41030386e-01 1.08436721e-03 2.84803387e+02] [-2.41030233e-01 9.70517570e-01 -2.71610495e-04 -3.23307282e+01] [-1.11786381e-03 2.23731248e-06 9.99999375e-01 -2.12625530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters 0.05121921251372636 Centerline is valid? [True, True] Translation: X:284.86, Y:-32.35, Z:-2.12 [[ 9.70872811e-01 2.39592645e-01 1.16182881e-03 2.84864712e+02] [-2.39592468e-01 9.70873506e-01 -2.91115977e-04 -3.23455540e+01] [-1.19773806e-03 4.27115352e-06 9.99999283e-01 -2.12259115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters 0.051790695592053605 Centerline is valid? [True, True] Translation: X:284.92, Y:-32.36, Z:-2.12 [[ 9.72135000e-01 2.34418962e-01 1.13708989e-03 2.84923978e+02] [-2.34418788e-01 9.72135665e-01 -2.85658475e-04 -3.23633606e+01] [-1.17236940e-03 1.11433671e-05 9.99999313e-01 -2.12289538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters 0.05226993992116367 Centerline is valid? [True, True] Translation: X:284.98, Y:-32.39, Z:-2.12 [[ 9.75142377e-01 2.21567021e-01 2.32391371e-03 2.84981850e+02] [-2.21566257e-01 9.75145144e-01 -5.84162860e-04 -3.23851853e+01] [-2.39558439e-03 5.47410977e-05 9.99997129e-01 -2.12166715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters 0.05389391728920721 Centerline is valid? [True, True] Translation: X:285.04, Y:-32.41, Z:-2.12 [[ 9.77652804e-01 2.10189938e-01 3.89670829e-03 2.85037576e+02] [-2.10187700e-01 9.77660560e-01 -9.79795567e-04 -3.24106378e+01] [-4.01560118e-03 1.38859729e-04 9.99991928e-01 -2.12058857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters 0.05320502039612109 Centerline is valid? [True, True] Translation: X:285.10, Y:-32.42, Z:-2.12 [[ 9.78450362e-01 2.06444542e-01 3.94213387e-03 2.85098712e+02] [-2.06442221e-01 9.78458291e-01 -9.91254582e-04 -3.24155379e+01] [-4.06185266e-03 1.56070532e-04 9.99991738e-01 -2.12008492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters 0.05267324296825511 Centerline is valid? [True, True] Translation: X:285.16, Y:-32.43, Z:-2.12 [[ 9.78440238e-01 2.06494397e-01 3.84258695e-03 2.85160539e+02] [-2.06492194e-01 9.78447771e-01 -9.65791411e-04 -3.24260446e+01] [-3.95920115e-03 1.51504967e-04 9.99992151e-01 -2.12103534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters 0.05322578876610913 Centerline is valid? [True, True] Translation: X:285.22, Y:-32.44, Z:-2.12 [[ 9.77659661e-01 2.10166060e-01 3.43733697e-03 2.85219603e+02] [-2.10164317e-01 9.77665695e-01 -8.64738400e-04 -3.24400199e+01] [-3.54230510e-03 1.23014273e-04 9.99993718e-01 -2.12149880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters 0.05360308119877494 Centerline is valid? [True, True] Translation: X:285.28, Y:-32.45, Z:-2.12 [[ 9.76057126e-01 2.17496146e-01 2.81297891e-03 2.85277374e+02] [-2.17495009e-01 9.76061176e-01 -7.07755024e-04 -3.24549192e+01] [-2.89957349e-03 7.90004628e-05 9.99995793e-01 -2.12316137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters 0.05281874462208317 Centerline is valid? [True, True] Translation: X:285.34, Y:-32.46, Z:-2.13 [[ 9.74104489e-01 2.26098248e-01 -1.65698411e-04 2.85338822e+02] [-2.26098244e-01 9.74104503e-01 4.17176760e-05 -3.24617095e+01] [ 1.70839862e-04 -3.17325572e-06 9.99999985e-01 -2.12694864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters 0.05195974533714191 Centerline is valid? [True, True] Translation: X:285.40, Y:-32.47, Z:-2.12 [[ 9.71856263e-01 2.35560313e-01 2.59677591e-03 2.85399240e+02] [-2.35559408e-01 9.71859732e-01 -6.53338238e-04 -3.24681983e+01] [-2.67760250e-03 2.32558612e-05 9.99996415e-01 -2.12335345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters 0.0518679796827393 Centerline is valid? [True, True] Translation: X:285.46, Y:-32.48, Z:-2.12 [[ 9.69330249e-01 2.45729418e-01 3.99009114e-03 2.85459497e+02] [-2.45727368e-01 9.69338462e-01 -1.00380391e-03 -3.24763116e+01] [-4.11441296e-03 -7.45710374e-06 9.99991536e-01 -2.12406274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters 0.05153373442613454 Centerline is valid? [True, True] Translation: X:285.52, Y:-32.48, Z:-2.13 [[ 9.64676628e-01 2.63423146e-01 2.69234451e-03 2.85522330e+02] [-2.63422281e-01 9.64680384e-01 -6.77448155e-04 -3.24777911e+01] [-2.77570746e-03 -5.57051298e-05 9.99996146e-01 -2.12506327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters 0.05175677423481489 Centerline is valid? [True, True] Translation: X:285.58, Y:-32.49, Z:-2.13 [[ 9.63358120e-01 2.68217956e-01 5.10921276e-04 2.85582304e+02] [-2.68217925e-01 9.63358255e-01 -1.28534186e-04 -3.24902753e+01] [-5.26675405e-04 -1.32137933e-05 9.99999861e-01 -2.12741769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters 0.05175677423481489 Centerline is valid? [True, True] Translation: X:285.64, Y:-32.51, Z:-2.13 [[ 9.63324490e-01 2.68338714e-01 5.11116927e-04 2.85642919e+02] [-2.68338684e-01 9.63324626e-01 -1.27757048e-04 -3.25055007e+01] [-5.26653684e-04 -1.40809507e-05 9.99999861e-01 -2.12787826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters 0.051736821770135256 Centerline is valid? [True, True] Translation: X:285.70, Y:-32.52, Z:-2.13 [[ 9.63374807e-01 2.68158143e-01 -4.38430357e-04 2.85703545e+02] [-2.68158120e-01 9.63374906e-01 1.11347056e-04 -3.25189376e+01] [ 4.52231424e-04 1.02997121e-05 9.99999898e-01 -2.12977701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters 0.05176111009302139 Centerline is valid? [True, True] Translation: X:285.76, Y:-32.54, Z:-2.13 [[ 9.63662764e-01 2.67118822e-01 -1.26979995e-03 2.85762802e+02] [-2.67118631e-01 9.63663600e-01 3.20894432e-04 -3.25374502e+01] [ 1.30937694e-03 2.99532095e-05 9.99999142e-01 -2.12992850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters 0.051671632297704606 Centerline is valid? [True, True] Translation: X:285.82, Y:-32.56, Z:-2.13 [[ 9.64920907e-01 2.62531755e-01 -2.17288061e-03 2.85819941e+02] [-2.62531187e-01 9.64923352e-01 5.47697084e-04 -3.25579030e+01] [ 2.24045112e-03 4.19645582e-05 9.99997489e-01 -2.12986542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters 0.05173498044708504 Centerline is valid? [True, True] Translation: X:285.88, Y:-32.58, Z:-2.13 [[ 9.68187987e-01 2.50197588e-01 -3.63160702e-03 2.85876918e+02] [-2.50195914e-01 9.68194798e-01 9.15566546e-04 -3.25814837e+01] [ 3.74517557e-03 2.21727081e-05 9.99992987e-01 -2.13195445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters 0.05202928151453836 Centerline is valid? [True, True] Translation: X:285.93, Y:-32.61, Z:-2.13 [[ 9.72018934e-01 2.34899323e-01 -1.22461389e-03 2.85934153e+02] [-2.34899119e-01 9.72019706e-01 3.09712389e-04 -3.26099218e+01] [ 1.26310006e-03 -1.33855829e-05 9.99999202e-01 -2.12838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters 0.05265834267398662 Centerline is valid? [True, True] Translation: X:285.99, Y:-32.64, Z:-2.13 [[ 9.75512493e-01 2.19943051e-01 6.55648413e-04 2.85990240e+02] [-2.19942989e-01 9.75512713e-01 -1.65290532e-04 -3.26365721e+01] [-6.75947866e-04 1.70377071e-05 9.99999771e-01 -2.12674540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters 0.05347434615324175 Centerline is valid? [True, True] Translation: X:286.05, Y:-32.66, Z:-2.13 [[ 9.78062805e-01 2.08309859e-01 3.89010364e-04 2.86047509e+02] [-2.08309837e-01 9.78062883e-01 -9.79714888e-05 -3.26563223e+01] [-4.00885025e-04 1.47875837e-05 9.99999920e-01 -2.12714591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters 0.053764312099571526 Centerline is valid? [True, True] Translation: X:286.10, Y:-32.67, Z:-2.13 [[ 9.79712975e-01 2.00403939e-01 -8.64567161e-04 2.86104741e+02] [-2.00403825e-01 9.79713356e-01 2.18058265e-04 -3.26723927e+01] [ 8.90727729e-04 -4.03719457e-05 9.99999602e-01 -2.12720437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters 0.057011951559453655 Centerline is valid? [True, True] Translation: X:286.16, Y:-32.70, Z:-2.13 [[ 9.80906688e-01 1.94468151e-01 -2.05109826e-03 2.86160717e+02] [-1.94467493e-01 9.80908827e-01 5.17537624e-04 -3.27012133e+01] [ 2.11258497e-03 -1.08784180e-04 9.99997763e-01 -2.13079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters 0.05526947249308497 Centerline is valid? [True, True] Translation: X:286.22, Y:-32.71, Z:-2.13 [[ 9.80890042e-01 1.94547104e-01 -2.47999073e-03 2.86223245e+02] [-1.94546140e-01 9.80893168e-01 6.26656142e-04 -3.27073448e+01] [ 2.55452010e-03 -1.32208146e-04 9.99996728e-01 -2.12975029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters 0.054792751499970115 Centerline is valid? [True, True] Translation: X:286.28, Y:-32.72, Z:-2.13 [[ 9.80725013e-01 1.95379265e-01 -2.32206742e-03 2.86283569e+02] [-1.95378423e-01 9.80727754e-01 5.86239024e-04 -3.27197907e+01] [ 2.39185491e-03 -1.21257404e-04 9.99997132e-01 -2.12993629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters 0.0552414181472883 Centerline is valid? [True, True] Translation: X:286.34, Y:-32.73, Z:-2.13 [[ 9.80006635e-01 1.98950514e-01 -2.38500753e-03 2.86342205e+02] [-1.98949637e-01 9.80009530e-01 6.01876339e-04 -3.27307818e+01] [ 2.45707371e-03 -1.15346425e-04 9.99996975e-01 -2.13030500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters 0.054183984075074854 Centerline is valid? [True, True] Translation: X:286.40, Y:-32.74, Z:-2.13 [[ 9.78812227e-01 2.04752495e-01 -1.74342735e-03 2.86402077e+02] [-2.04752035e-01 9.78813777e-01 4.40144700e-04 -3.27419397e+01] [ 1.79661144e-03 -7.38487151e-05 9.99998383e-01 -2.13005100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters 0.054024860888171454 Centerline is valid? [True, True] Translation: X:286.46, Y:-32.75, Z:-2.13 [[ 9.76056901e-01 2.17515324e-01 9.61896405e-05 2.86461174e+02] [-2.17515322e-01 9.76056906e-01 -2.42151523e-05 -3.27520169e+01] [-9.91537297e-05 2.71264583e-06 9.99999995e-01 -2.12990611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters 0.05316644767609474 Centerline is valid? [True, True] Translation: X:286.52, Y:-32.76, Z:-2.13 [[ 9.72669718e-01 2.32185806e-01 1.83628050e-03 2.86522953e+02] [-2.32185345e-01 9.72671451e-01 -4.63448664e-04 -3.27569332e+01] [-1.89370382e-03 2.44250585e-05 9.99998207e-01 -2.12955374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters 0.05180785454835928 Centerline is valid? [True, True] Translation: X:286.59, Y:-32.76, Z:-2.13 [[ 9.69269395e-01 2.45992950e-01 2.07567468e-03 2.86585400e+02] [-2.45992392e-01 9.69271618e-01 -5.23888880e-04 -3.27585322e+01] [-2.14076552e-03 -2.81072010e-06 9.99997709e-01 -2.13227333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters 0.0519442338028579 Centerline is valid? [True, True] Translation: X:286.65, Y:-32.77, Z:-2.13 [[ 9.67352925e-01 2.53419338e-01 2.63784768e-03 2.86647099e+02] [-2.53418465e-01 9.67356521e-01 -6.65690494e-04 -3.27678807e+01] [-2.72043799e-03 -2.45216625e-05 9.99996299e-01 -2.13081760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters 0.05249391861028456 Centerline is valid? [True, True] Translation: X:286.71, Y:-32.77, Z:-2.13 [[ 9.64878363e-01 2.62671558e-01 3.66037646e-03 2.86709805e+02] [-2.62669942e-01 9.64885303e-01 -9.24006649e-04 -3.27694141e+01] [-3.77455372e-03 -6.99168501e-05 9.99992874e-01 -2.13114299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters 0.053159720272141026 Centerline is valid? [True, True] Translation: X:286.77, Y:-32.78, Z:-2.13 [[ 9.63533457e-01 2.67574827e-01 2.64362411e-03 2.86769678e+02] [-2.67574002e-01 9.63537082e-01 -6.67397830e-04 -3.27810678e+01] [-2.72580872e-03 -6.43049452e-05 9.99996283e-01 -2.13217606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters 0.052465647189146605 Centerline is valid? [True, True] Translation: X:286.83, Y:-32.80, Z:-2.13 [[ 9.62607996e-01 2.70894818e-01 -1.35807112e-03 2.86828652e+02] [-2.70894603e-01 9.62608953e-01 3.43007244e-04 -3.27980005e+01] [ 1.40021030e-03 3.77126222e-05 9.99999019e-01 -2.13499192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters 0.05186219827641396 Centerline is valid? [True, True] Translation: X:286.89, Y:-32.82, Z:-2.13 [[ 9.62519800e-01 2.71204429e-01 -1.94739590e-03 2.86888560e+02] [-2.71203987e-01 9.62521768e-01 4.92776650e-04 -3.28157846e+01] [ 2.00805415e-03 5.38342494e-05 9.99997982e-01 -2.13486055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters 0.05223465144804107 Centerline is valid? [True, True] Translation: X:286.95, Y:-32.83, Z:-2.14 [[ 9.63489481e-01 2.67728430e-01 -3.08327911e-03 2.86946429e+02] [-2.67727308e-01 9.63494412e-01 7.78858305e-04 -3.28304119e+01] [ 3.17924470e-03 7.50562312e-05 9.99994943e-01 -2.13682267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters 0.052774506457822466 Centerline is valid? [True, True] Translation: X:287.01, Y:-32.84, Z:-2.14 [[ 9.64726775e-01 2.63234280e-01 -3.15643929e-03 2.87005558e+02] [-2.63233079e-01 9.64731937e-01 7.97339090e-04 -3.28421970e+01] [ 3.25500477e-03 6.16648658e-05 9.99994701e-01 -2.14126058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters 0.051978201309407994 Centerline is valid? [True, True] Translation: X:287.06, Y:-32.87, Z:-2.14 [[ 9.67490765e-01 2.52893261e-01 -2.57241083e-03 2.87060710e+02] [-2.52892427e-01 9.67494185e-01 6.50049344e-04 -3.28739941e+01] [ 2.65318562e-03 2.16264797e-05 9.99996480e-01 -2.13666394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters 0.05218190568576236 Centerline is valid? [True, True] Translation: X:287.12, Y:-32.90, Z:-2.13 [[ 9.69630722e-01 2.44572565e-01 -7.23196748e-04 2.87117261e+02] [-2.44572497e-01 9.69630992e-01 1.82770916e-04 -3.28960336e+01] [ 7.45934731e-04 -3.46260626e-07 9.99999722e-01 -2.13294277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters 0.052007784700620716 Centerline is valid? [True, True] Translation: X:287.17, Y:-32.92, Z:-2.14 [[ 9.72564396e-01 2.32633647e-01 2.84703874e-04 2.87172777e+02] [-2.32633636e-01 9.72564438e-01 -7.18212303e-05 -3.29224496e+01] [-2.93600898e-04 3.61907411e-06 9.99999957e-01 -2.13582686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters 0.052849370639758426 Centerline is valid? [True, True] Translation: X:287.23, Y:-32.95, Z:-2.13 [[ 9.74704486e-01 2.23480859e-01 2.73323756e-03 2.87229190e+02] [-2.23479801e-01 9.74708316e-01 -6.90515269e-04 -3.29486757e+01] [-2.81842632e-03 6.22249456e-05 9.99996026e-01 -2.13414562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters 0.05256357158630913 Centerline is valid? [True, True] Translation: X:287.29, Y:-32.96, Z:-2.13 [[ 9.75821550e-01 2.18551297e-01 2.76288569e-03 2.87288834e+02] [-2.18550196e-01 9.75825458e-01 -6.98017623e-04 -3.29615804e+01] [-2.84864685e-03 7.73114290e-05 9.99995940e-01 -2.13352675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters 0.052466482158629646 Centerline is valid? [True, True] Translation: X:287.35, Y:-32.98, Z:-2.14 [[ 9.76661205e-01 2.14785001e-01 5.43026424e-04 2.87348351e+02] [-2.14784958e-01 9.76661355e-01 -1.37101433e-04 -3.29753573e+01] [-5.59800254e-04 1.72677434e-05 9.99999843e-01 -2.13522672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters 0.05313606320729554 Centerline is valid? [True, True] Translation: X:287.41, Y:-32.99, Z:-2.14 [[ 9.76876390e-01 2.13804858e-01 2.43602043e-05 2.87407848e+02] [-2.13804858e-01 9.76876391e-01 -5.85760048e-06 -3.29925393e+01] [-2.50492920e-05 5.13821590e-07 1.00000000e+00 -2.13690465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters 0.05311234825376098 Centerline is valid? [True, True] Translation: X:287.47, Y:-33.00, Z:-2.14 [[ 9.76858625e-01 2.13884982e-01 6.64499376e-04 2.87470747e+02] [-2.13884918e-01 9.76858851e-01 -1.67057793e-04 -3.30023772e+01] [-6.84853250e-04 2.10654517e-05 9.99999765e-01 -2.13527804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters 0.05324866961411933 Centerline is valid? [True, True] Translation: X:287.53, Y:-33.02, Z:-2.14 [[ 9.76676561e-01 2.14699082e-01 2.68318011e-03 2.87527918e+02] [-2.14698028e-01 9.76680243e-01 -6.78008676e-04 -3.30242021e+01] [-2.76617684e-03 8.61217019e-05 9.99996170e-01 -2.13543252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters 0.052660990416096704 Centerline is valid? [True, True] Translation: X:287.59, Y:-33.04, Z:-2.14 [[ 9.75618001e-01 2.19444490e-01 3.69205164e-03 2.87585541e+02] [-2.19442525e-01 9.75624982e-01 -9.34062060e-04 -3.30419955e+01] [-3.80703258e-03 1.01094627e-04 9.99992748e-01 -2.13615452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters 0.052011346541227764 Centerline is valid? [True, True] Translation: X:287.65, Y:-33.04, Z:-2.14 [[ 9.72481744e-01 2.32966005e-01 2.46946592e-03 2.87648808e+02] [-2.32965170e-01 9.72484879e-01 -6.24737245e-04 -3.30412039e+01] [-2.54706080e-03 3.22460192e-05 9.99996756e-01 -2.13688373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters 0.052478472069946526 Centerline is valid? [True, True] Translation: X:287.71, Y:-33.06, Z:-2.14 [[ 9.71957724e-01 2.35146775e-01 2.04372896e-03 2.87708417e+02] [-2.35146208e-01 9.71959872e-01 -5.16769174e-04 -3.30586116e+01] [-2.10793914e-03 2.17026755e-05 9.99997778e-01 -2.13925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters 0.05253893030088973 Centerline is valid? [True, True] Translation: X:287.77, Y:-33.07, Z:-2.14 [[ 9.71551778e-01 2.36823462e-01 1.33824984e-03 2.87769525e+02] [-2.36823221e-01 9.71552700e-01 -3.37941177e-04 -3.30686740e+01] [-1.38021265e-03 1.13987132e-05 9.99999047e-01 -2.13816520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters 0.0519229069035458 Centerline is valid? [True, True] Translation: X:287.83, Y:-33.08, Z:-2.14 [[ 9.71261883e-01 2.38013206e-01 -2.62034003e-04 2.87829594e+02] [-2.38013196e-01 9.71261918e-01 6.73355347e-05 -3.30829890e+01] [ 2.70530395e-04 -3.03288770e-06 9.99999963e-01 -2.14054978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters 0.051807061681877514 Centerline is valid? [True, True] Translation: X:287.89, Y:-33.09, Z:-2.14 [[ 9.71682508e-01 2.36288531e-01 -9.12754568e-04 2.87891146e+02] [-2.36288418e-01 9.71682937e-01 2.31561754e-04 -3.30949025e+01] [ 9.41623426e-04 -9.33117296e-06 9.99999557e-01 -2.13920707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters 0.052902188602056775 Centerline is valid? [True, True] Translation: X:287.95, Y:-33.11, Z:-2.14 [[ 9.73034613e-01 2.30656836e-01 -1.03234203e-03 2.87948650e+02] [-2.30656688e-01 9.73035161e-01 2.61641479e-04 -3.31143486e+01] [ 1.06485449e-03 -1.64696216e-05 9.99999433e-01 -2.14157501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters 0.05351182045893272 Centerline is valid? [True, True] Translation: X:288.01, Y:-33.13, Z:-2.14 [[ 9.74658751e-01 2.23693196e-01 -1.29338330e-03 2.88007137e+02] [-2.23692958e-01 9.74659609e-01 3.27888861e-04 -3.31334457e+01] [ 1.33395496e-03 -3.02590133e-05 9.99999110e-01 -2.14159741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters 0.053193118561757326 Centerline is valid? [True, True] Translation: X:288.07, Y:-33.14, Z:-2.14 [[ 9.76703587e-01 2.14589828e-01 -1.14393302e-03 2.88067165e+02] [-2.14589636e-01 9.76704256e-01 2.89955405e-04 -3.31442599e+01] [ 1.17950573e-03 -3.77243131e-05 9.99999304e-01 -2.13922540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters 0.053245569403276155 Centerline is valid? [True, True] Translation: X:288.12, Y:-33.16, Z:-2.14 [[ 9.77094505e-01 2.12801159e-01 -1.41228104e-03 2.88123949e+02] [-2.12800864e-01 9.77095525e-01 3.57895763e-04 -3.31644237e+01] [ 1.45609412e-03 -4.91633580e-05 9.99998939e-01 -2.14121141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters 0.05344865275960983 Centerline is valid? [True, True] Translation: X:288.18, Y:-33.17, Z:-2.14 [[ 9.77930978e-01 2.08904276e-01 -3.16318509e-03 2.88184665e+02] [-2.08902775e-01 9.77936086e-01 8.01649502e-04 -3.31717600e+01] [ 3.26086085e-03 -1.23159740e-04 9.99994676e-01 -2.13967996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters 0.054078352222374546 Centerline is valid? [True, True] Translation: X:288.24, Y:-33.19, Z:-2.14 [[ 9.78244455e-01 2.07433997e-01 -2.98726160e-03 2.88242894e+02] [-2.07432650e-01 9.78249008e-01 7.57223270e-04 -3.31907877e+01] [ 3.07935955e-03 -1.21093874e-04 9.99995251e-01 -2.14037324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters 0.055251619449805466 Centerline is valid? [True, True] Translation: X:288.30, Y:-33.22, Z:-2.14 [[ 9.78095154e-01 2.08125423e-01 -3.69831428e-03 2.88298773e+02] [-2.08123361e-01 9.78102135e-01 9.38036590e-04 -3.32174035e+01] [ 3.81255835e-03 -1.47783445e-04 9.99992721e-01 -2.14454916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters 0.054176165295394256 Centerline is valid? [True, True] Translation: X:288.36, Y:-33.22, Z:-2.14 [[ 9.77404906e-01 2.11320804e-01 -4.81333189e-03 2.88360775e+02] [-2.11317353e-01 9.77416742e-01 1.22031378e-03 -3.32188365e+01] [ 4.96250886e-03 -1.75600117e-04 9.99987671e-01 -2.14139244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters 0.054269371954961516 Centerline is valid? [True, True] Translation: X:288.42, Y:-33.24, Z:-2.14 [[ 9.76538479e-01 2.15313996e-01 -3.53300934e-03 2.88417444e+02] [-2.15312163e-01 9.76544863e-01 8.95636763e-04 -3.32396096e+01] [ 3.64298525e-03 -1.13923879e-04 9.99993358e-01 -2.14380453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters 0.05379831107405841 Centerline is valid? [True, True] Translation: X:288.48, Y:-33.25, Z:-2.14 [[ 9.75482998e-01 2.20064480e-01 -2.13176334e-03 2.88478674e+02] [-2.20063824e-01 9.75485326e-01 5.40532726e-04 -3.32461116e+01] [ 2.19845591e-03 -5.81564930e-05 9.99997582e-01 -2.14081148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters 0.05384374905316508 Centerline is valid? [True, True] Translation: X:288.54, Y:-33.26, Z:-2.14 [[ 9.73404294e-01 2.29093227e-01 -6.11089598e-04 2.88536370e+02] [-2.29093175e-01 9.73404486e-01 1.54922906e-04 -3.32629241e+01] [ 6.30329145e-04 -1.08061657e-05 9.99999801e-01 -2.14346667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters 0.05219333663778118 Centerline is valid? [True, True] Translation: X:288.60, Y:-33.27, Z:-2.14 [[ 9.70994877e-01 2.39099667e-01 -5.46432717e-04 2.88597085e+02] [-2.39099627e-01 9.70995031e-01 1.38577071e-04 -3.32691775e+01] [ 5.63717184e-04 -3.90576701e-06 9.99999841e-01 -2.14263286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters 0.05235828155191177 Centerline is valid? [True, True] Translation: X:288.66, Y:-33.28, Z:-2.14 [[ 9.70162118e-01 2.42455618e-01 -8.59610419e-04 2.88657450e+02] [-2.42455520e-01 9.70162498e-01 2.18457505e-04 -3.32826282e+01] [ 8.86928041e-04 -3.52190445e-06 9.99999607e-01 -2.14487672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters 0.05217340487860767 Centerline is valid? [True, True] Translation: X:288.72, Y:-33.29, Z:-2.15 [[ 9.67423389e-01 2.53160384e-01 -1.34439325e-03 2.88719966e+02] [-2.53160153e-01 9.67424323e-01 3.41985800e-04 -3.32901882e+01] [ 1.38717599e-03 9.50173896e-06 9.99999038e-01 -2.14514737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters 0.052289931406541854 Centerline is valid? [True, True] Translation: X:288.78, Y:-33.30, Z:-2.15 [[ 9.64909516e-01 2.62579214e-01 -1.33467256e-03 2.88779725e+02] [-2.62578997e-01 9.64910439e-01 3.38805921e-04 -3.32966275e+01] [ 1.37680288e-03 2.35399255e-05 9.99999052e-01 -2.14675717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters 0.05321025649291016 Centerline is valid? [True, True] Translation: X:288.84, Y:-33.31, Z:-2.15 [[ 9.63920702e-01 2.66184705e-01 -1.60718017e-03 2.88839606e+02] [-2.66184395e-01 9.63922041e-01 4.07876612e-04 -3.33053982e+01] [ 1.65776691e-03 3.46455713e-05 9.99998625e-01 -2.14911961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters 0.05195778929785585 Centerline is valid? [True, True] Translation: X:288.90, Y:-33.33, Z:-2.15 [[ 9.63600497e-01 2.67336085e-01 -2.34517853e-03 2.88897304e+02] [-2.67335425e-01 9.63603349e-01 5.96144513e-04 -3.33287242e+01] [ 2.41919282e-03 5.25041511e-05 9.99997072e-01 -2.14677257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters 0.05252032341955984 Centerline is valid? [True, True] Translation: X:288.96, Y:-33.34, Z:-2.15 [[ 9.64016318e-01 2.65814041e-01 -3.92870660e-03 2.88956824e+02] [-2.65812177e-01 9.64024320e-01 9.98665448e-04 -3.33444027e+01] [ 4.05282801e-03 8.15682683e-05 9.99991784e-01 -2.14915239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters 0.05261386897291623 Centerline is valid? [True, True] Translation: X:289.01, Y:-33.36, Z:-2.15 [[ 9.65188375e-01 2.61520562e-01 -4.28903296e-03 2.89013551e+02] [-2.61518303e-01 9.65197902e-01 1.08924094e-03 -3.33630497e+01] [ 4.42462452e-03 7.03379243e-05 9.99990209e-01 -2.15071456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters 0.05179780775300826 Centerline is valid? [True, True] Translation: X:289.07, Y:-33.39, Z:-2.15 [[ 9.66827657e-01 2.55411321e-01 -3.05599115e-03 2.89069913e+02] [-2.55410144e-01 9.66832486e-01 7.76135504e-04 -3.33869371e+01] [ 3.15286532e-03 3.01418689e-05 9.99995029e-01 -2.14786886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters 0.05201901849598002 Centerline is valid? [True, True] Translation: X:289.13, Y:-33.41, Z:-2.15 [[ 9.68926319e-01 2.47333108e-01 -2.84995173e-03 2.89127484e+02] [-2.47332048e-01 9.68930510e-01 7.24155985e-04 -3.34112080e+01] [ 2.94051293e-03 3.23060459e-06 9.99995677e-01 -2.14720538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters 0.052017570995315954 Centerline is valid? [True, True] Translation: X:289.19, Y:-33.43, Z:-2.15 [[ 9.69644912e-01 2.44495245e-01 -3.28932901e-03 2.89185969e+02] [-2.44493813e-01 9.69650491e-01 8.36693556e-04 -3.34290677e+01] [ 3.39406709e-03 -7.07505557e-06 9.99994240e-01 -2.14784934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters 0.0522901867088175 Centerline is valid? [True, True] Translation: X:289.24, Y:-33.45, Z:-2.15 [[ 9.72022583e-01 2.34843367e-01 -4.54876890e-03 2.89242573e+02] [-2.34840527e-01 9.72033225e-01 1.15613879e-03 -3.34542292e+01] [ 4.69306603e-03 -5.55577312e-05 9.99988986e-01 -2.14997671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters 0.0526189808267103 Centerline is valid? [True, True] Translation: X:289.30, Y:-33.47, Z:-2.15 [[ 9.73728711e-01 2.27651358e-01 -5.22086239e-03 2.89300469e+02] [-2.27647515e-01 9.73742701e-01 1.32691768e-03 -3.34730686e+01] [ 5.38585126e-03 -1.03541498e-04 9.99985491e-01 -2.14854087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters 0.05307861035963379 Centerline is valid? [True, True] Translation: X:289.36, Y:-33.49, Z:-2.15 [[ 9.76196983e-01 2.16823109e-01 -5.21438850e-03 2.89357591e+02] [-2.16819121e-01 9.76210896e-01 1.32523028e-03 -3.34912726e+01] [ 5.37768342e-03 -1.63106665e-04 9.99985527e-01 -2.14645382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters 0.05336968879029577 Centerline is valid? [True, True] Translation: X:289.41, Y:-33.52, Z:-2.15 [[ 9.77965260e-01 2.08708679e-01 -4.96369857e-03 2.89414117e+02] [-2.08704959e-01 9.77977836e-01 1.26175531e-03 -3.35159896e+01] [ 5.11772647e-03 -1.98004354e-04 9.99986885e-01 -2.14810157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters 0.053572301723416 Centerline is valid? [True, True] Translation: X:289.47, Y:-33.53, Z:-2.15 [[ 9.78195166e-01 2.07649627e-01 -3.98119414e-03 2.89474150e+02] [-2.07647223e-01 9.78203254e-01 1.01259194e-03 -3.35292933e+01] [ 4.10468140e-03 -1.63828636e-04 9.99991562e-01 -2.14755702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters 0.05401422395035845 Centerline is valid? [True, True] Translation: X:289.53, Y:-33.54, Z:-2.15 [[ 9.77778721e-01 2.09621753e-01 -2.73736446e-03 2.89533759e+02] [-2.09620625e-01 9.77782547e-01 6.96005504e-04 -3.35424544e+01] [ 2.82244508e-03 -1.06731324e-04 9.99996011e-01 -2.14691039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters 0.05318846598280867 Centerline is valid? [True, True] Translation: X:289.59, Y:-33.56, Z:-2.15 [[ 9.76818654e-01 2.14053960e-01 -2.49370013e-03 2.89590528e+02] [-2.14053039e-01 9.76821834e-01 6.33955031e-04 -3.35610881e+01] [ 2.57160132e-03 -8.54750087e-05 9.99996690e-01 -2.14802266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters 0.05331861884798986 Centerline is valid? [True, True] Translation: X:289.65, Y:-33.57, Z:-2.15 [[ 9.75346128e-01 2.20646806e-01 -3.86233938e-03 2.89651380e+02] [-2.20644645e-01 9.75353770e-01 9.82046566e-04 -3.35695578e+01] [ 3.98383271e-03 -1.05630813e-04 9.99992059e-01 -2.14853571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters 0.05227404743610258 Centerline is valid? [True, True] Translation: X:289.71, Y:-33.58, Z:-2.15 [[ 9.73852866e-01 2.27164671e-01 -2.60909351e-03 2.89709187e+02] [-2.27163709e-01 9.73856360e-01 6.63295722e-04 -3.35839659e+01] [ 2.69155966e-03 -5.32610823e-05 9.99996376e-01 -2.14880661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters 0.05236278536577798 Centerline is valid? [True, True] Translation: X:289.77, Y:-33.59, Z:-2.15 [[ 9.72866396e-01 2.31351271e-01 -2.75038242e-03 2.89769384e+02] [-2.31350219e-01 9.72870283e-01 6.99254666e-04 -3.35925289e+01] [ 2.83753878e-03 -4.39797921e-05 9.99995973e-01 -2.14868619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters 0.05262129260351102 Centerline is valid? [True, True] Translation: X:289.83, Y:-33.61, Z:-2.15 [[ 9.71957975e-01 2.35132292e-01 -3.24024667e-03 2.89829358e+02] [-2.35130851e-01 9.71963376e-01 8.24152510e-04 -3.36070608e+01] [ 3.34318596e-03 -3.91596467e-05 9.99994411e-01 -2.15178587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters 0.051739072239792246 Centerline is valid? [True, True] Translation: X:289.89, Y:-33.62, Z:-2.15 [[ 9.71447973e-01 2.37245443e-01 -1.85381635e-03 2.89888828e+02] [-2.37244973e-01 9.71449741e-01 4.72375418e-04 -3.36211144e+01] [ 1.91295832e-03 -1.90795328e-05 9.99998170e-01 -2.15265113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters 0.052224069068466564 Centerline is valid? [True, True] Translation: X:289.95, Y:-33.63, Z:-2.15 [[ 9.71323490e-01 2.37759036e-01 -1.14821847e-03 2.89949756e+02] [-2.37758856e-01 9.71324169e-01 2.92626941e-04 -3.36348101e+01] [ 1.18486705e-03 -1.12363109e-05 9.99999298e-01 -2.15301481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters 0.052081516042084997 Centerline is valid? [True, True] Translation: X:290.01, Y:-33.65, Z:-2.15 [[ 9.71270570e-01 2.37976301e-01 -8.71435586e-04 2.90010079e+02] [-2.37976197e-01 9.71270961e-01 2.22282193e-04 -3.36473472e+01] [ 8.99297974e-04 -8.51522536e-06 9.99999596e-01 -2.15235574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters 0.05210837518414572 Centerline is valid? [True, True] Translation: X:290.07, Y:-33.66, Z:-2.15 [[ 9.71077693e-01 2.38763228e-01 -4.85201501e-04 2.90069961e+02] [-2.38763196e-01 9.71077814e-01 1.23828271e-04 -3.36625220e+01] [ 5.00734051e-04 -4.39861073e-06 9.99999875e-01 -2.15178319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters 0.05247830547363734 Centerline is valid? [True, True] Translation: X:290.13, Y:-33.68, Z:-2.15 [[ 9.70729036e-01 2.40173114e-01 -1.41926028e-03 2.90131916e+02] [-2.40172840e-01 9.70730073e-01 3.62524430e-04 -3.36752965e+01] [ 1.46478726e-03 -1.10452172e-05 9.99998927e-01 -2.15326477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters 0.052301853917582776 Centerline is valid? [True, True] Translation: X:290.19, Y:-33.69, Z:-2.15 [[ 9.70509770e-01 2.41051312e-01 -2.24733971e-03 2.90191900e+02] [-2.41050630e-01 9.70512372e-01 5.73674045e-04 -3.36898888e+01] [ 2.31935587e-03 -1.50336138e-05 9.99997310e-01 -2.15441616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters 0.05257414323001553 Centerline is valid? [True, True] Translation: X:290.25, Y:-33.71, Z:-2.15 [[ 9.70335791e-01 2.41750976e-01 -2.21759080e-03 2.90251296e+02] [-2.41750314e-01 9.70338325e-01 5.65780801e-04 -3.37051854e+01] [ 2.28859140e-03 -1.28940882e-05 9.99997381e-01 -2.15354890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters 0.05188143252103731 Centerline is valid? [True, True] Translation: X:290.31, Y:-33.72, Z:-2.15 [[ 9.70376744e-01 2.41591555e-01 -1.57946269e-03 2.90311201e+02] [-2.41591220e-01 9.70378030e-01 4.02980831e-04 -3.37217367e+01] [ 1.63003266e-03 -9.45890988e-06 9.99998671e-01 -2.15489488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters 0.05226657588939008 Centerline is valid? [True, True] Translation: X:290.37, Y:-33.74, Z:-2.16 [[ 9.70704911e-01 2.40264843e-01 -2.18649341e-03 2.90371670e+02] [-2.40264196e-01 9.70707373e-01 5.58044545e-04 -3.37375277e+01] [ 2.25652376e-03 -1.63604988e-05 9.99997454e-01 -2.15663697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters 0.053024234967753006 Centerline is valid? [True, True] Translation: X:290.43, Y:-33.75, Z:-2.15 [[ 9.71492184e-01 2.37066284e-01 -1.58542451e-03 2.90431645e+02] [-2.37065938e-01 9.71493478e-01 4.05389091e-04 -3.37529740e+01] [ 1.63633365e-03 -1.79821861e-05 9.99998661e-01 -2.15166220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters 0.05246332121730027 Centerline is valid? [True, True] Translation: X:290.49, Y:-33.77, Z:-2.15 [[ 9.71657477e-01 2.36387303e-01 -1.67029679e-03 2.90490528e+02] [-2.36386917e-01 9.71658913e-01 4.27292191e-04 -3.37714974e+01] [ 1.72396521e-03 -2.03453422e-05 9.99998514e-01 -2.15478521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters 0.05312724657305769 Centerline is valid? [True, True] Translation: X:290.55, Y:-33.78, Z:-2.15 [[ 9.71847029e-01 2.35606359e-01 -1.73114442e-03 2.90550140e+02] [-2.35605943e-01 9.71848570e-01 4.42966246e-04 -3.37849467e+01] [ 1.78677590e-03 -2.26275154e-05 9.99998403e-01 -2.15365883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters 0.05312724657305769 Centerline is valid? [True, True] Translation: X:290.61, Y:-33.80, Z:-2.15 [[ 9.71818334e-01 2.35724691e-01 -1.73107322e-03 2.90610694e+02] [-2.35724275e-01 9.71819875e-01 4.43244756e-04 -3.38003436e+01] [ 1.78677510e-03 -2.26973999e-05 9.99998403e-01 -2.15411955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters 0.05288084911182946 Centerline is valid? [True, True] Translation: X:290.67, Y:-33.82, Z:-2.16 [[ 9.72288468e-01 2.33774692e-01 -2.12800747e-03 2.90667705e+02] [-2.33774060e-01 9.72290796e-01 5.44711718e-04 -3.38227561e+01] [ 2.19638189e-03 -3.21439758e-05 9.99997587e-01 -2.15777899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters 0.05350972469953069 Centerline is valid? [True, True] Translation: X:290.73, Y:-33.84, Z:-2.16 [[ 9.73275710e-01 2.29631226e-01 -1.97277420e-03 2.90726830e+02] [-2.29630675e-01 9.73277709e-01 5.04446386e-04 -3.38400208e+01] [ 2.03589380e-03 -3.79559435e-05 9.99997927e-01 -2.15815393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters 0.05348546587952364 Centerline is valid? [True, True] Translation: X:290.79, Y:-33.86, Z:-2.16 [[ 9.73885344e-01 2.27030979e-01 -2.06665757e-03 2.90786959e+02] [-2.27030367e-01 9.73887536e-01 5.28897321e-04 -3.38566363e+01] [ 2.13276812e-03 -4.58913227e-05 9.99997725e-01 -2.15871822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters 0.05350790033625321 Centerline is valid? [True, True] Translation: X:290.84, Y:-33.88, Z:-2.16 [[ 9.74493309e-01 2.24399387e-01 -2.77583778e-03 2.90844121e+02] [-2.24398275e-01 9.74497260e-01 7.10023473e-04 -3.38761230e+01] [ 2.86437514e-03 -6.90199157e-05 9.99995895e-01 -2.15957310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters 0.05323037095072976 Centerline is valid? [True, True] Translation: X:290.90, Y:-33.89, Z:-2.16 [[ 9.74537402e-01 2.24218833e-01 -1.66363240e-03 2.90904880e+02] [-2.24218432e-01 9.74538821e-01 4.26020625e-04 -3.38902133e+01] [ 1.71679621e-03 -4.21559836e-05 9.99998525e-01 -2.15903908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters 0.0530676835633137 Centerline is valid? [True, True] Translation: X:290.96, Y:-33.90, Z:-2.16 [[ 9.73909428e-01 2.26932784e-01 -1.39185361e-03 2.90963509e+02] [-2.26932506e-01 9.73910422e-01 3.56478327e-04 -3.39047037e+01] [ 1.43643735e-03 -3.13207770e-05 9.99998968e-01 -2.15891646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters 0.05256969377962585 Centerline is valid? [True, True] Translation: X:291.02, Y:-33.92, Z:-2.16 [[ 9.73146654e-01 2.30185562e-01 4.42726361e-04 2.91023145e+02] [-2.30185535e-01 9.73146755e-01 -1.13203930e-04 -3.39189398e+01] [-4.56895632e-04 8.25482147e-06 9.99999896e-01 -2.15942277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters 0.052150771053938186 Centerline is valid? [True, True] Translation: X:291.08, Y:-33.93, Z:-2.16 [[ 9.71749333e-01 2.36014242e-01 7.14453112e-04 2.91083740e+02] [-2.36014172e-01 9.71749596e-01 -1.82744997e-04 -3.39268322e+01] [-7.37399945e-04 8.96126934e-06 9.99999728e-01 -2.15766462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters 0.05184906061942907 Centerline is valid? [True, True] Translation: X:291.14, Y:-33.94, Z:-2.16 [[ 9.69913374e-01 2.43450120e-01 2.92103156e-04 2.91143526e+02] [-2.43450109e-01 9.69913418e-01 -7.44987643e-05 -3.39429785e+01] [-3.01451504e-04 1.14480273e-06 9.99999955e-01 -2.16080092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters 0.05154853400378412 Centerline is valid? [True, True] Translation: X:291.20, Y:-33.95, Z:-2.16 [[ 9.67392160e-01 2.53282297e-01 -6.98263488e-04 2.91203615e+02] [-2.53282234e-01 9.67392411e-01 1.79575833e-04 -3.39540410e+01] [ 7.20978178e-04 3.13748313e-06 9.99999740e-01 -2.16413776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters 0.05180469748491713 Centerline is valid? [True, True] Translation: X:291.26, Y:-33.97, Z:-2.16 [[ 9.65565838e-01 2.60158173e-01 -5.81370857e-04 2.91263621e+02] [-2.60158130e-01 9.65566013e-01 1.48966913e-04 -3.39661389e+01] [ 6.00106900e-04 7.41099344e-06 9.99999820e-01 -2.16404791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters 0.05277231116015738 Centerline is valid? [True, True] Translation: X:291.32, Y:-33.97, Z:-2.17 [[ 9.63408597e-01 2.68036933e-01 2.78988060e-04 2.91323784e+02] [-2.68036924e-01 9.63408637e-01 -7.14204945e-05 -3.39729015e+01] [-2.87922838e-04 -5.97198315e-06 9.99999959e-01 -2.16579593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters 0.052310986900030415 Centerline is valid? [True, True] Translation: X:291.38, Y:-33.99, Z:-2.16 [[ 9.62801793e-01 2.70207976e-01 5.97372706e-04 2.91383810e+02] [-2.70207934e-01 9.62801978e-01 -1.52736340e-04 -3.39891308e+01] [-6.16422200e-04 -1.43600224e-05 9.99999810e-01 -2.16470009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters 0.05143196144949098 Centerline is valid? [True, True] Translation: X:291.44, Y:-34.01, Z:-2.16 [[ 9.62452560e-01 2.71440909e-01 2.21406864e-03 2.91443008e+02] [-2.71440324e-01 9.62455105e-01 -5.66390105e-04 -3.40089091e+01] [-2.28468311e-03 -5.58639010e-05 9.99997389e-01 -2.16324362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters 0.052709470983443356 Centerline is valid? [True, True] Translation: X:291.50, Y:-34.02, Z:-2.17 [[ 9.62322838e-01 2.71908013e-01 8.87605652e-04 2.91503196e+02] [-2.71907919e-01 9.62323247e-01 -2.26686494e-04 -3.40233445e+01] [-9.15801427e-04 -2.32014162e-05 9.99999580e-01 -2.16583859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters 0.05174943836580879 Centerline is valid? [True, True] Translation: X:291.56, Y:-34.05, Z:-2.17 [[ 9.62284443e-01 2.72044336e-01 -7.27716628e-04 2.91561267e+02] [-2.72044272e-01 9.62284718e-01 1.87412017e-04 -3.40472873e+01] [ 7.51254967e-04 1.76274722e-05 9.99999718e-01 -2.16642895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters 0.052099137837885494 Centerline is valid? [True, True] Translation: X:291.62, Y:-34.06, Z:-2.17 [[ 9.62554297e-01 2.71083758e-01 -1.67995846e-03 2.91620614e+02] [-2.71083417e-01 9.62555762e-01 4.31681571e-04 -3.40632286e+01] [ 1.73407555e-03 3.98919279e-05 9.99998496e-01 -2.16819690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters 0.05109757194305735 Centerline is valid? [True, True] Translation: X:291.68, Y:-34.09, Z:-2.17 [[ 9.63863873e-01 2.66394833e-01 4.76564119e-04 2.91677077e+02] [-2.66394805e-01 9.63863991e-01 -1.22138561e-04 -3.40883725e+01] [-4.91880075e-04 -9.22925930e-06 9.99999879e-01 -2.16591027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters 0.050597882425404306 Centerline is valid? [True, True] Translation: X:291.73, Y:-34.11, Z:-2.16 [[ 9.65908389e-01 2.58871479e-01 2.55752788e-03 2.91734584e+02] [-2.58870649e-01 9.65911775e-01 -6.56016431e-04 -3.41113964e+01] [-2.64017024e-03 -2.84171273e-05 9.99996514e-01 -2.16361741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters 0.051120274010898206 Centerline is valid? [True, True] Translation: X:291.79, Y:-34.13, Z:-2.16 [[ 9.66753997e-01 2.55696970e-01 2.40176040e-03 2.91793864e+02] [-2.55696230e-01 9.66756980e-01 -6.15602945e-04 -3.41275558e+01] [-2.47932644e-03 -1.89844727e-05 9.99996926e-01 -2.16447456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters 0.051346084810364644 Centerline is valid? [True, True] Translation: X:291.85, Y:-34.14, Z:-2.17 [[ 9.66617344e-01 2.56222603e-01 -9.41717612e-04 2.91854595e+02] [-2.56222489e-01 9.66617803e-01 2.42660532e-04 -3.41394047e+01] [ 9.72456122e-04 6.72935113e-06 9.99999527e-01 -2.16740527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters 0.05151448120546366 Centerline is valid? [True, True] Translation: X:291.91, Y:-34.15, Z:-2.17 [[ 9.67066909e-01 2.54518433e-01 -1.40050990e-03 2.91914304e+02] [-2.54518178e-01 9.67067923e-01 3.60185782e-04 -3.41529816e+01] [ 1.44606212e-03 8.13147714e-06 9.99998954e-01 -2.16933689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters 0.05123581076037603 Centerline is valid? [True, True] Translation: X:291.97, Y:-34.17, Z:-2.17 [[ 9.67503395e-01 2.52856830e-01 -7.76975209e-04 2.91974418e+02] [-2.52856750e-01 9.67503707e-01 2.00511815e-04 -3.41699490e+01] [ 8.02427177e-04 2.46756457e-06 9.99999678e-01 -2.16527039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters 0.052262441828330085 Centerline is valid? [True, True] Translation: X:292.03, Y:-34.18, Z:-2.17 [[ 9.68548213e-01 2.48825713e-01 -3.51324873e-04 2.92034189e+02] [-2.48825697e-01 9.68548277e-01 9.11100994e-05 -3.41828178e+01] [ 3.62945636e-04 -8.25867736e-07 9.99999934e-01 -2.16740010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters 0.05189806266608688 Centerline is valid? [True, True] Translation: X:292.09, Y:-34.20, Z:-2.17 [[ 9.68921107e-01 2.47369494e-01 4.70397866e-04 2.92094392e+02] [-2.47369465e-01 9.68921221e-01 -1.20127417e-04 -3.41966458e+01] [-4.85494333e-04 3.19214874e-08 9.99999882e-01 -2.16561036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters 0.052428442149303 Centerline is valid? [True, True] Translation: X:292.16, Y:-34.21, Z:-2.16 [[ 9.69250381e-01 2.46075753e-01 6.49895844e-04 2.92155899e+02] [-2.46075697e-01 9.69250599e-01 -1.66255338e-04 -3.42095225e+01] [-6.70823343e-04 1.21947657e-06 9.99999775e-01 -2.16440427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters 0.05209342899776129 Centerline is valid? [True, True] Translation: X:292.22, Y:-34.22, Z:-2.16 [[ 9.69667869e-01 2.44424845e-01 8.48371482e-04 2.92216008e+02] [-2.44424748e-01 9.69668240e-01 -2.17607365e-04 -3.42224248e+01] [-8.75827528e-04 3.64388346e-06 9.99999616e-01 -2.16355221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters 0.0523617437635502 Centerline is valid? [True, True] Translation: X:292.28, Y:-34.24, Z:-2.16 [[ 9.70266353e-01 2.42033535e-01 1.72396170e-03 2.92276116e+02] [-2.42033129e-01 9.70267884e-01 -4.43572395e-04 -3.42368710e+01] [-1.78006406e-03 1.31275252e-05 9.99998416e-01 -2.16471866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters 0.05283456974497274 Centerline is valid? [True, True] Translation: X:292.34, Y:-34.25, Z:-2.17 [[ 9.70451098e-01 2.41297841e-01 1.38719598e-04 2.92336919e+02] [-2.41297838e-01 9.70451108e-01 -3.48453247e-05 -3.42489338e+01] [-1.43028689e-04 3.42944545e-07 9.99999990e-01 -2.16521318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters 0.05286170399282659 Centerline is valid? [True, True] Translation: X:292.40, Y:-34.26, Z:-2.17 [[ 9.70493798e-01 2.41125806e-01 -3.64319259e-04 2.92397682e+02] [-2.41125787e-01 9.70493867e-01 9.48014033e-05 -3.42623220e+01] [ 3.76428671e-04 -4.15740575e-06 9.99999929e-01 -2.16526646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters 0.05299352557143312 Centerline is valid? [True, True] Translation: X:292.46, Y:-34.27, Z:-2.16 [[ 9.70501842e-01 2.41093688e-01 9.32750212e-05 2.92458213e+02] [-2.41093687e-01 9.70501846e-01 -2.30839970e-05 -3.42740371e+01] [-9.60889864e-05 -8.49571174e-08 9.99999995e-01 -2.16320214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters 0.052593001459226206 Centerline is valid? [True, True] Translation: X:292.52, Y:-34.29, Z:-2.16 [[ 9.70639756e-01 2.40519460e-01 2.97537080e-03 2.92518419e+02] [-2.40518240e-01 9.70644316e-01 -7.66768843e-04 -3.42876004e+01] [-3.07244958e-03 2.86253761e-05 9.99995280e-01 -2.16280814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters 0.05274115510130148 Centerline is valid? [True, True] Translation: X:292.58, Y:-34.30, Z:-2.17 [[ 9.70171719e-01 2.42416126e-01 1.12106564e-03 2.92579959e+02] [-2.42415954e-01 9.70172367e-01 -2.88941050e-04 -3.42981125e+01] [-1.15767087e-03 8.55824037e-06 9.99999330e-01 -2.16564061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters 0.05350230714927879 Centerline is valid? [True, True] Translation: X:292.64, Y:-34.31, Z:-2.17 [[ 9.68471965e-01 2.49104708e-01 -2.98278643e-03 2.92642524e+02] [-2.49103515e-01 9.68476559e-01 7.70907501e-04 -3.43052177e+01] [ 3.08079542e-03 -3.57971958e-06 9.99995254e-01 -2.16912106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters 0.05350230714927879 Centerline is valid? [True, True] Translation: X:292.70, Y:-34.32, Z:-2.17 [[ 9.68438006e-01 2.49236700e-01 -2.98264979e-03 2.92703021e+02] [-2.49235506e-01 9.68442599e-01 7.71436403e-04 -3.43208078e+01] [ 3.08079538e-03 -3.70610046e-06 9.99995254e-01 -2.16958174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters 0.05253181814501218 Centerline is valid? [True, True] Translation: X:292.76, Y:-34.34, Z:-2.17 [[ 9.68216097e-01 2.50089264e-01 -3.59858023e-03 2.92761681e+02] [-2.50087532e-01 9.68222784e-01 9.30747442e-04 -3.43363750e+01] [ 3.71699732e-03 -1.20460783e-06 9.99993092e-01 -2.17108369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters 0.05253181814501218 Centerline is valid? [True, True] Translation: X:292.82, Y:-34.35, Z:-2.17 [[ 9.68182966e-01 2.50217496e-01 -3.59841527e-03 2.92822174e+02] [-2.50215763e-01 9.68189653e-01 9.31385434e-04 -3.43519883e+01] [ 3.71699736e-03 -1.37128944e-06 9.99993092e-01 -2.17154435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters 0.05312858585293982 Centerline is valid? [True, True] Translation: X:292.88, Y:-34.37, Z:-2.17 [[ 9.67766884e-01 2.51800867e-01 -4.85610336e-03 2.92880947e+02] [-2.51797733e-01 9.67779067e-01 1.25634579e-03 -3.43684033e+01] [ 5.01598414e-03 6.90596689e-06 9.99987420e-01 -2.17012819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters 0.05321490127858863 Centerline is valid? [True, True] Translation: X:292.94, Y:-34.39, Z:-2.18 [[ 9.67281481e-01 2.53516337e-01 -9.79810415e-03 2.92939517e+02] [-2.53503673e-01 9.67331104e-01 2.53424894e-03 -3.43860260e+01] [ 1.01204844e-02 3.25233138e-05 9.99948786e-01 -2.17641502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters 0.053557213679323666 Centerline is valid? [True, True] Translation: X:293.00, Y:-34.40, Z:-2.18 [[ 9.66393974e-01 2.56743073e-01 -1.28717717e-02 2.92998464e+02] [-2.56721499e-01 9.66479688e-01 3.32942259e-03 -3.44035283e+01] [ 1.32951121e-02 8.69266011e-05 9.99911612e-01 -2.17620129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters 0.052503814475885126 Centerline is valid? [True, True] Translation: X:293.06, Y:-34.42, Z:-2.17 [[ 9.63567969e-01 2.67310683e-01 -9.04255282e-03 2.93057298e+02] [-2.67300498e-01 9.63610384e-01 2.33913690e-03 -3.44191489e+01] [ 9.33877407e-03 1.63161484e-04 9.99956379e-01 -2.17168712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters 0.052336768391377804 Centerline is valid? [True, True] Translation: X:293.12, Y:-34.44, Z:-2.17 [[ 9.61787842e-01 2.73715522e-01 -6.63015972e-03 2.93115866e+02] [-2.73710199e-01 9.61810681e-01 1.71512704e-03 -3.44357253e+01] [ 6.84641533e-03 1.65154003e-04 9.99976549e-01 -2.16694311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters 0.054252716255925454 Centerline is valid? [True, True] Translation: X:293.18, Y:-34.44, Z:-2.17 [[ 9.60041712e-01 2.79808539e-01 -5.20500328e-03 2.93177228e+02] [-2.79805347e-01 9.60055808e-01 1.34646377e-03 -3.44374690e+01] [ 5.37384569e-03 1.63726364e-04 9.99985547e-01 -2.17057005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters 0.05336407635835332 Centerline is valid? [True, True] Translation: X:293.24, Y:-34.46, Z:-2.17 [[ 9.58517146e-01 2.85020512e-01 -2.86160756e-03 2.93235440e+02] [-2.85019570e-01 9.58521412e-01 7.40287451e-04 -3.44553766e+01] [ 2.95390923e-03 1.06035943e-04 9.99995632e-01 -2.16606021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters 0.05222581187896437 Centerline is valid? [True, True] Translation: X:293.29, Y:-34.47, Z:-2.16 [[ 9.56493669e-01 2.91750640e-01 -1.19390189e-03 2.93293961e+02] [-2.91750481e-01 9.56494413e-01 3.08962145e-04 -3.44737527e+01] [ 1.23210039e-03 5.28011162e-05 9.99999240e-01 -2.16218775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters 0.052809401626243015 Centerline is valid? [True, True] Translation: X:293.35, Y:-34.49, Z:-2.16 [[ 9.55994099e-01 2.93374467e-01 -2.58937888e-03 2.93353721e+02] [-2.93373726e-01 9.55997598e-01 6.70028269e-04 -3.44865017e+01] [ 2.67200918e-03 1.19112659e-04 9.99996423e-01 -2.16406873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters 0.05219318421911501 Centerline is valid? [True, True] Translation: X:293.41, Y:-34.52, Z:-2.16 [[ 9.57227530e-01 2.89329517e-01 -1.97135429e-03 2.93409499e+02] [-2.89329079e-01 9.57229556e-01 5.10203650e-04 -3.45159171e+01] [ 2.03465557e-03 8.19891400e-05 9.99997927e-01 -2.16184610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters 0.05333863205539658 Centerline is valid? [True, True] Translation: X:293.47, Y:-34.53, Z:-2.16 [[ 9.59398369e-01 2.82052649e-01 1.03612133e-03 2.93469280e+02] [-2.82052524e-01 9.59398928e-01 -2.68039273e-04 -3.45253270e+01] [-1.06965488e-03 -3.50841930e-05 9.99999427e-01 -2.16312513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters 0.05210041802880717 Centerline is valid? [True, True] Translation: X:293.52, Y:-34.57, Z:-2.17 [[ 9.69175625e-01 2.46360601e-01 -2.24987292e-03 2.93521067e+02] [-2.46359913e-01 9.69178237e-01 5.82315344e-04 -3.45668017e+01] [ 2.32398743e-03 -1.00873406e-05 9.99997299e-01 -2.17139147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters 0.053070672613544166 Centerline is valid? [True, True] Translation: X:293.58, Y:-34.58, Z:-2.17 [[ 9.69244661e-01 2.46086622e-01 -2.48230833e-03 2.93582307e+02] [-2.46085781e-01 9.69247839e-01 6.43649016e-04 -3.45804451e+01] [ 2.56436540e-03 -1.29925899e-05 9.99996712e-01 -2.16794507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters 0.053070672613544166 Centerline is valid? [True, True] Translation: X:293.64, Y:-34.60, Z:-2.17 [[ 9.69215684e-01 2.46200724e-01 -2.48225335e-03 2.93642811e+02] [-2.46199883e-01 9.69218862e-01 6.43861103e-04 -3.45960246e+01] [ 2.56436584e-03 -1.29097959e-05 9.99996712e-01 -2.16840582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters 0.052855177712688245 Centerline is valid? [True, True] Translation: X:293.70, Y:-34.61, Z:-2.17 [[ 9.69242290e-01 2.46090311e-01 -2.99014949e-03 2.93701576e+02] [-2.46089089e-01 9.69246903e-01 7.75718152e-04 -3.46139567e+01] [ 3.08908985e-03 -1.60156744e-05 9.99995229e-01 -2.17415134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters 0.05257640919728557 Centerline is valid? [True, True] Translation: X:293.76, Y:-34.63, Z:-2.18 [[ 9.69252788e-01 2.46049916e-01 -2.91073557e-03 2.93762614e+02] [-2.46048757e-01 9.69257158e-01 7.55259560e-04 -3.46300194e+01] [ 3.00708283e-03 -1.58545661e-05 9.99995479e-01 -2.17553041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters 0.05257640919728557 Centerline is valid? [True, True] Translation: X:293.82, Y:-34.65, Z:-2.18 [[ 9.69220377e-01 2.46177558e-01 -2.91055877e-03 2.93823091e+02] [-2.46176398e-01 9.69224747e-01 7.55941185e-04 -3.46456798e+01] [ 3.00708134e-03 -1.61627260e-05 9.99995479e-01 -2.17599101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters 0.05257640919728557 Centerline is valid? [True, True] Translation: X:293.88, Y:-34.66, Z:-2.18 [[ 9.69187948e-01 2.46305198e-01 -2.91045925e-03 2.93883566e+02] [-2.46304038e-01 9.69192318e-01 7.56324501e-04 -3.46613480e+01] [ 3.00708141e-03 -1.61627263e-05 9.99995479e-01 -2.17645173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters 0.053098373579191865 Centerline is valid? [True, True] Translation: X:293.94, Y:-34.68, Z:-2.18 [[ 9.69147586e-01 2.46461801e-01 -3.08826455e-03 2.93943675e+02] [-2.46460496e-01 9.69152506e-01 8.02358030e-04 -3.46776887e+01] [ 3.19074993e-03 -1.64681367e-05 9.99994909e-01 -2.17783409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters 0.05293331786922875 Centerline is valid? [True, True] Translation: X:294.00, Y:-34.69, Z:-2.18 [[ 9.68867343e-01 2.47562768e-01 -2.95774277e-03 2.94003933e+02] [-2.47561574e-01 9.68871857e-01 7.69077294e-04 -3.46934394e+01] [ 3.05606864e-03 -1.29104187e-05 9.99995330e-01 -2.17768434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters 0.05249981352610539 Centerline is valid? [True, True] Translation: X:294.06, Y:-34.71, Z:-2.18 [[ 9.68258092e-01 2.49944075e-01 -2.05568934e-03 2.94064739e+02] [-2.49943504e-01 9.68260275e-01 5.34323792e-04 -3.47085299e+01] [ 2.12399339e-03 -3.55713740e-06 9.99997744e-01 -2.17594961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters 0.05169839527295169 Centerline is valid? [True, True] Translation: X:294.13, Y:-34.72, Z:-2.18 [[ 9.65989262e-01 2.58574710e-01 1.96574636e-03 2.94125029e+02] [-2.58574208e-01 9.65991262e-01 -5.10028650e-04 -3.47180839e+01] [-2.03077432e-03 -1.56091086e-05 9.99997938e-01 -2.17579656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters 0.051306637880663655 Centerline is valid? [True, True] Translation: X:294.19, Y:-34.73, Z:-2.18 [[ 9.64520499e-01 2.63981697e-01 3.72421003e-03 2.94185769e+02] [-2.63979928e-01 9.64527688e-01 -9.67775919e-04 -3.47317159e+01] [-3.84757882e-03 -4.96769835e-05 9.99992597e-01 -2.17520225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters 0.050852348900462425 Centerline is valid? [True, True] Translation: X:294.24, Y:-34.75, Z:-2.18 [[ 9.62833527e-01 2.70068640e-01 3.81179314e-03 2.94244700e+02] [-2.70066833e-01 9.62841069e-01 -9.90756998e-04 -3.47466218e+01] [-3.93772338e-03 -7.55048483e-05 9.99992244e-01 -2.17589272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters 0.051404767178140215 Centerline is valid? [True, True] Translation: X:294.31, Y:-34.76, Z:-2.18 [[ 9.62419280e-01 2.71547865e-01 3.29956973e-03 2.94305291e+02] [-2.71546521e-01 9.62424933e-01 -8.57441503e-04 -3.47559407e+01] [-3.40842459e-03 -7.07684478e-05 9.99994189e-01 -2.17799213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters 0.05170740379609905 Centerline is valid? [True, True] Translation: X:294.36, Y:-34.78, Z:-2.18 [[ 9.62134648e-01 2.72563185e-01 2.49590028e-03 2.94364826e+02] [-2.72562420e-01 9.62137883e-01 -6.48382052e-04 -3.47751884e+01] [-2.57812529e-03 -5.64577822e-05 9.99996675e-01 -2.17866570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters 0.05162626134416823 Centerline is valid? [True, True] Translation: X:294.42, Y:-34.79, Z:-2.18 [[ 9.62766851e-01 2.70329754e-01 1.34701585e-03 2.94423471e+02] [-2.70329528e-01 9.62767793e-01 -3.50279192e-04 -3.47909845e+01] [-1.39155436e-03 -2.69009646e-05 9.99999031e-01 -2.18084020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters 0.05164976605164604 Centerline is valid? [True, True] Translation: X:294.48, Y:-34.81, Z:-2.18 [[ 9.64761617e-01 2.63124850e-01 5.79549423e-04 2.94480560e+02] [-2.63124807e-01 9.64761791e-01 -1.50650464e-04 -3.48128888e+01] [-5.98767020e-04 -7.15204513e-06 9.99999821e-01 -2.18224884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters 0.05113831199000835 Centerline is valid? [True, True] Translation: X:294.54, Y:-34.84, Z:-2.18 [[ 9.66718325e-01 2.55841193e-01 9.81717261e-04 2.94538348e+02] [-2.55841066e-01 9.66718824e-01 -2.55177173e-04 -3.48363342e+01] [-1.01432939e-03 -4.47914143e-06 9.99999486e-01 -2.18157992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters 0.05219753147613543 Centerline is valid? [True, True] Translation: X:294.60, Y:-34.85, Z:-2.18 [[ 9.68630510e-01 2.48480079e-01 3.54750394e-03 2.94598092e+02] [-2.48478366e-01 9.68637006e-01 -9.22828378e-04 -3.48541826e+01] [-3.66554806e-03 1.24017420e-05 9.99993282e-01 -2.18131823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters 0.05187979524913056 Centerline is valid? [True, True] Translation: X:294.66, Y:-34.87, Z:-2.18 [[ 9.69122982e-01 2.46556457e-01 3.24943546e-03 2.94656821e+02] [-2.46555010e-01 9.69128430e-01 -8.45132106e-04 -3.48715200e+01] [-3.35749306e-03 1.78723568e-05 9.99994363e-01 -2.18209152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters 0.05188522310149875 Centerline is valid? [True, True] Translation: X:294.72, Y:-34.89, Z:-2.18 [[ 9.69013302e-01 2.46990205e-01 3.00977132e-03 2.94717944e+02] [-2.46988964e-01 9.69017976e-01 -7.83312038e-04 -3.48859856e+01] [-3.10999292e-03 1.56594844e-05 9.99995164e-01 -2.18233683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters 0.050965342762843285 Centerline is valid? [True, True] Translation: X:294.78, Y:-34.90, Z:-2.18 [[ 9.68487629e-01 2.49051511e-01 2.24907905e-03 2.94779184e+02] [-2.49050824e-01 9.68490240e-01 -5.85050534e-04 -3.48990964e+01] [-2.32391883e-03 6.47921383e-06 9.99997300e-01 -2.18341345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters 0.052179159713656116 Centerline is valid? [True, True] Translation: X:294.84, Y:-34.91, Z:-2.19 [[ 9.67201942e-01 2.53997775e-01 2.35238762e-03 2.94841023e+02] [-2.53997037e-01 9.67204803e-01 -6.12189852e-04 -3.49085590e+01] [-2.43073547e-03 -5.38827304e-06 9.99997046e-01 -2.18608870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters 0.05214915853761482 Centerline is valid? [True, True] Translation: X:294.90, Y:-34.92, Z:-2.18 [[ 9.66499422e-01 2.56644334e-01 3.54295385e-03 2.94902687e+02] [-2.56642675e-01 9.66505916e-01 -9.23017414e-04 -3.49216438e+01] [-3.66117305e-03 -1.71773578e-05 9.99993298e-01 -2.18489784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters 0.051639205808341734 Centerline is valid? [True, True] Translation: X:294.96, Y:-34.93, Z:-2.19 [[ 9.65755514e-01 2.59421593e-01 4.08954037e-03 2.94963128e+02] [-2.59419404e-01 9.65764172e-01 -1.06623888e-03 -3.49336827e+01] [-4.22613696e-03 -3.11800479e-05 9.99991069e-01 -2.18510617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters 0.051400234009014 Centerline is valid? [True, True] Translation: X:295.02, Y:-34.95, Z:-2.19 [[ 9.65138980e-01 2.61695515e-01 4.71241474e-03 2.95023181e+02] [-2.61692632e-01 9.65150483e-01 -1.22930516e-03 -3.49478229e+01] [-4.86989301e-03 -4.67538839e-05 9.99988141e-01 -2.18565424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters 0.05177583529204636 Centerline is valid? [True, True] Translation: X:295.08, Y:-34.96, Z:-2.19 [[ 9.64732056e-01 2.63189903e-01 4.80998341e-03 2.95084195e+02] [-2.63186914e-01 9.64744045e-01 -1.25548055e-03 -3.49603957e+01] [-4.97083266e-03 -5.47223599e-05 9.99987644e-01 -2.18676925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters 0.05104630896086269 Centerline is valid? [True, True] Translation: X:295.14, Y:-34.97, Z:-2.19 [[ 9.64201409e-01 2.65127423e-01 4.80549601e-03 2.95144633e+02] [-2.65124464e-01 9.64213382e-01 -1.25433373e-03 -3.49741849e+01] [-4.96608183e-03 -6.46242044e-05 9.99987667e-01 -2.18676951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters 0.05169949109446717 Centerline is valid? [True, True] Translation: X:295.21, Y:-34.99, Z:-2.19 [[ 9.63945757e-01 2.66021726e-01 6.40462483e-03 2.95205258e+02] [-2.66016482e-01 9.63967029e-01 -1.67280968e-03 -3.49896066e+01] [-6.61885089e-03 -9.12379697e-05 9.99978091e-01 -2.18646842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters 0.05131272862236085 Centerline is valid? [True, True] Translation: X:295.27, Y:-35.00, Z:-2.19 [[ 9.63717026e-01 2.66843320e-01 6.64344149e-03 2.95265397e+02] [-2.66837692e-01 9.63739920e-01 -1.73602390e-03 -3.50047415e+01] [-6.86579615e-03 -9.96848056e-05 9.99976425e-01 -2.18686578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters 0.051949674078595555 Centerline is valid? [True, True] Translation: X:295.33, Y:-35.01, Z:-2.19 [[ 9.63230108e-01 2.68632173e-01 4.95120000e-03 2.95325629e+02] [-2.68629067e-01 9.63242829e-01 -1.29442490e-03 -3.50141618e+01] [-5.11693207e-03 -8.32071998e-05 9.99986905e-01 -2.18908578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters 0.05091715652860642 Centerline is valid? [True, True] Translation: X:295.38, Y:-35.03, Z:-2.19 [[ 9.62813093e-01 2.70139215e-01 3.96892565e-03 2.95384249e+02] [-2.70137233e-01 9.62821271e-01 -1.03734289e-03 -3.50343641e+01] [-4.10159303e-03 -7.33872807e-05 9.99991586e-01 -2.18975849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters 0.051888093272997156 Centerline is valid? [True, True] Translation: X:295.44, Y:-35.05, Z:-2.19 [[ 9.62289974e-01 2.72013574e-01 2.57341310e-03 2.95443388e+02] [-2.72012747e-01 9.62293413e-01 -6.72893792e-04 -3.50500406e+01] [-2.65941472e-03 -5.24822167e-05 9.99996462e-01 -2.19140823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters 0.05170239500886733 Centerline is valid? [True, True] Translation: X:295.50, Y:-35.07, Z:-2.19 [[ 9.62209385e-01 2.72301602e-01 2.22188922e-03 2.95501751e+02] [-2.72300986e-01 9.62211949e-01 -5.80885748e-04 -3.50665876e+01] [-2.29610447e-03 -4.60889068e-05 9.99997363e-01 -2.19199993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters 0.05149995175459987 Centerline is valid? [True, True] Translation: X:295.56, Y:-35.09, Z:-2.19 [[ 9.62890506e-01 2.69883420e-01 2.19385287e-03 2.95559059e+02] [-2.69882812e-01 9.62893004e-01 -5.74115462e-04 -3.50860462e+01] [-2.26738982e-03 -3.92728546e-05 9.99997429e-01 -2.19253177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters 0.05136824085858541 Centerline is valid? [True, True] Translation: X:295.61, Y:-35.11, Z:-2.19 [[ 9.64314984e-01 2.64737656e-01 3.25343780e-03 2.95614834e+02] [-2.64736289e-01 9.64320472e-01 -8.51565724e-04 -3.51116262e+01] [-3.36279818e-03 -4.01254608e-05 9.99994345e-01 -2.19103657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters 0.051436219104484676 Centerline is valid? [True, True] Translation: X:295.67, Y:-35.13, Z:-2.19 [[ 9.65472399e-01 2.60485225e-01 3.23940954e-03 2.95672129e+02] [-2.60483846e-01 9.65477834e-01 -8.47878326e-04 -3.51310673e+01] [-3.34843788e-03 -2.52107337e-05 9.99994394e-01 -2.19228102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters 0.05117585530202206 Centerline is valid? [True, True] Translation: X:295.73, Y:-35.15, Z:-2.19 [[ 9.65883155e-01 2.58946600e-01 4.04849360e-03 2.95730890e+02] [-2.58944433e-01 9.65891639e-01 -1.05958971e-03 -3.51525961e+01] [-4.18478327e-03 -2.48950222e-05 9.99991243e-01 -2.19111085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters 0.05095915465511589 Centerline is valid? [True, True] Translation: X:295.79, Y:-35.17, Z:-2.19 [[ 9.65740594e-01 2.59481523e-01 3.80059406e-03 2.95789777e+02] [-2.59479618e-01 9.65748072e-01 -9.94594686e-04 -3.51703807e+01] [-3.92849533e-03 -2.56562330e-05 9.99992283e-01 -2.19122377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters 0.05103349631292366 Centerline is valid? [True, True] Translation: X:295.85, Y:-35.19, Z:-2.19 [[ 9.64410874e-01 2.64388253e-01 3.24325906e-03 2.95849083e+02] [-2.64386891e-01 9.64416326e-01 -8.49351457e-04 -3.51888416e+01] [-3.35241054e-03 -3.83513998e-05 9.99994380e-01 -2.19014395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters 0.05122284948230548 Centerline is valid? [True, True] Translation: X:295.91, Y:-35.20, Z:-2.19 [[ 9.63241095e-01 2.68631258e-01 1.95981158e-03 2.95909759e+02] [-2.68630770e-01 9.63243088e-01 -5.13250362e-04 -3.52000292e+01] [-2.02565004e-03 -3.20818523e-05 9.99997948e-01 -2.19212317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters 0.05090066973151263 Centerline is valid? [True, True] Translation: X:295.97, Y:-35.22, Z:-2.19 [[ 9.62284993e-01 2.72040022e-01 1.34886124e-03 2.95968833e+02] [-2.72039794e-01 9.62285938e-01 -3.53325302e-04 -3.52151089e+01] [-1.39410883e-03 -2.69442969e-05 9.99999028e-01 -2.19255058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters 0.051631041742285354 Centerline is valid? [True, True] Translation: X:296.03, Y:-35.23, Z:-2.19 [[ 9.61860899e-01 2.73528556e-01 2.39580249e-03 2.96028520e+02] [-2.73527842e-01 9.61863881e-01 -6.27156415e-04 -3.52292059e+01] [-2.47598107e-03 -5.20814514e-05 9.99996933e-01 -2.19280998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters 0.05073623122321988 Centerline is valid? [True, True] Translation: X:296.09, Y:-35.24, Z:-2.19 [[ 9.62553613e-01 2.71052008e-01 4.62075948e-03 2.96087296e+02] [-2.71049316e-01 9.62564700e-01 -1.21104843e-03 -3.52441941e+01] [-4.77603708e-03 -8.67546530e-05 9.99988591e-01 -2.19212167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters 0.051463134375022 Centerline is valid? [True, True] Translation: X:296.15, Y:-35.26, Z:-2.19 [[ 9.63121168e-01 2.68999194e-01 6.08681939e-03 2.96145986e+02] [-2.68994482e-01 9.63140396e-01 -1.59542318e-03 -3.52615092e+01] [-6.29162919e-03 -1.00734991e-04 9.99980202e-01 -2.19150892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters 0.051317034576066754 Centerline is valid? [True, True] Translation: X:296.21, Y:-35.27, Z:-2.19 [[ 9.63349643e-01 2.68176005e-01 6.25264502e-03 2.96205499e+02] [-2.68171015e-01 9.63369929e-01 -1.63891515e-03 -3.52743121e+01] [-6.46312791e-03 -9.79298367e-05 9.99979109e-01 -2.19156286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters 0.051045461944516896 Centerline is valid? [True, True] Translation: X:296.26, Y:-35.29, Z:-2.19 [[ 9.64046516e-01 2.65658249e-01 6.32539477e-03 2.96263906e+02] [-2.65653083e-01 9.64067263e-01 -1.65872924e-03 -3.52921702e+01] [-6.53876113e-03 -8.12684760e-05 9.99978619e-01 -2.19225698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters 0.050862571641815485 Centerline is valid? [True, True] Translation: X:296.32, Y:-35.31, Z:-2.19 [[ 9.64465215e-01 2.64160598e-01 5.10176577e-03 2.96324536e+02] [-2.64157216e-01 9.64478706e-01 -1.33790976e-03 -3.53081427e+01] [-5.27396749e-03 -5.73008200e-05 9.99986091e-01 -2.19436701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters 0.051231520496843284 Centerline is valid? [True, True] Translation: X:296.38, Y:-35.33, Z:-2.20 [[ 9.64556895e-01 2.63848395e-01 3.74433710e-03 2.96384857e+02] [-2.63846572e-01 9.64564162e-01 -9.81688371e-04 -3.53258710e+01] [-3.87067027e-03 -4.10362189e-05 9.99992508e-01 -2.19589324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters 0.051232660831556066 Centerline is valid? [True, True] Translation: X:296.44, Y:-35.34, Z:-2.20 [[ 9.64537909e-01 2.63933033e-01 2.44450566e-03 2.96444755e+02] [-2.63932256e-01 9.64541007e-01 -6.40877910e-04 -3.53440831e+01] [-2.52697480e-03 -2.70328541e-05 9.99996807e-01 -2.19615171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters 0.051469290419793395 Centerline is valid? [True, True] Translation: X:296.50, Y:-35.36, Z:-2.20 [[ 9.64627434e-01 2.63604337e-01 2.58222209e-03 2.96504555e+02] [-2.63603467e-01 9.64630889e-01 -6.77719896e-04 -3.53583055e+01] [-2.66954110e-03 -2.69354926e-05 9.99996436e-01 -2.19708532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters 0.051336082350040356 Centerline is valid? [True, True] Translation: X:296.56, Y:-35.38, Z:-2.20 [[ 9.65214322e-01 2.61423913e-01 4.34174819e-03 2.96564188e+02] [-2.61421429e-01 9.65224086e-01 -1.14019324e-03 -3.53762813e+01] [-4.48883371e-03 -3.44951702e-05 9.99989925e-01 -2.19632195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters 0.05141123234040354 Centerline is valid? [True, True] Translation: X:296.62, Y:-35.39, Z:-2.20 [[ 9.65924897e-01 2.58753510e-01 5.97607853e-03 2.96622964e+02] [-2.58748751e-01 9.65943383e-01 -1.56967410e-03 -3.53931457e+01] [-6.17871220e-03 -3.01155609e-05 9.99980911e-01 -2.19554799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters 0.0513635216858385 Centerline is valid? [True, True] Translation: X:296.68, Y:-35.41, Z:-2.19 [[ 9.66612277e-01 2.56133914e-01 7.49164353e-03 2.96681911e+02] [-2.56126348e-01 9.66641308e-01 -1.96877124e-03 -3.54125605e+01] [-7.74600118e-03 -1.57688496e-05 9.99969999e-01 -2.19481227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters 0.05115721497134909 Centerline is valid? [True, True] Translation: X:296.74, Y:-35.43, Z:-2.19 [[ 9.67109877e-01 2.54228770e-01 8.13745532e-03 2.96742211e+02] [-2.54219767e-01 9.67144112e-01 -2.13946190e-03 -3.54295338e+01] [-8.41400477e-03 3.92736339e-07 9.99964602e-01 -2.19448226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters 0.05154552272213801 Centerline is valid? [True, True] Translation: X:296.80, Y:-35.44, Z:-2.20 [[ 9.66712944e-01 2.55760365e-01 7.26085963e-03 2.96804012e+02] [-2.55753238e-01 9.66740211e-01 -1.90939403e-03 -3.54436798e+01] [-7.50771229e-03 -1.11524340e-05 9.99971817e-01 -2.19633953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters 0.05124484575296073 Centerline is valid? [True, True] Translation: X:296.86, Y:-35.46, Z:-2.20 [[ 9.66009019e-01 2.58424914e-01 6.56796544e-03 2.96864019e+02] [-2.58419138e-01 9.66031347e-01 -1.72801579e-03 -3.54565119e+01] [-6.79142283e-03 -2.80091305e-05 9.99976938e-01 -2.19683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters 0.050982064795271016 Centerline is valid? [True, True] Translation: X:296.92, Y:-35.47, Z:-2.20 [[ 9.65478170e-01 2.60381986e-01 7.28859377e-03 2.96924268e+02] [-2.60374922e-01 9.65505681e-01 -1.91850964e-03 -3.54705231e+01] [-7.53672404e-03 -4.54878609e-05 9.99971597e-01 -2.19703955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters 0.051011660013876935 Centerline is valid? [True, True] Translation: X:296.98, Y:-35.49, Z:-2.20 [[ 9.64477591e-01 2.64084068e-01 6.52547243e-03 2.96984343e+02] [-2.64078486e-01 9.64499663e-01 -1.71831830e-03 -3.54854081e+01] [-6.74759644e-03 -6.59573847e-05 9.99977233e-01 -2.19613581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters 0.051603297218842804 Centerline is valid? [True, True] Translation: X:297.04, Y:-35.50, Z:-2.20 [[ 9.63764695e-01 2.66717413e-01 4.40832802e-03 2.97044880e+02] [-2.66714892e-01 9.63774776e-01 -1.16107380e-03 -3.55003141e+01] [-4.55831395e-03 -5.67647956e-05 9.99989609e-01 -2.19921815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters 0.050453124188247586 Centerline is valid? [True, True] Translation: X:297.10, Y:-35.52, Z:-2.20 [[ 9.63534123e-01 2.67519834e-01 5.92726735e-03 2.97104420e+02] [-2.67515286e-01 9.63552350e-01 -1.56210829e-03 -3.55178266e+01] [-6.12912734e-03 -8.04899788e-05 9.99981213e-01 -2.19798147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters 0.05138856662047742 Centerline is valid? [True, True] Translation: X:297.16, Y:-35.54, Z:-2.20 [[ 9.64081409e-01 2.65513229e-01 7.05418989e-03 2.97164546e+02] [-2.65506725e-01 9.64107213e-01 -1.86008449e-03 -3.55351430e+01] [-7.29487239e-03 -7.96619825e-05 9.99973389e-01 -2.19759998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters 0.05089071346396793 Centerline is valid? [True, True] Translation: X:297.23, Y:-35.55, Z:-2.20 [[ 9.64019651e-01 2.65704793e-01 8.19002810e-03 2.97226060e+02] [-2.65696029e-01 9.64054435e-01 -2.16007403e-03 -3.55504528e+01] [-8.46957494e-03 -9.37041290e-05 9.99964128e-01 -2.19743538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters 0.05106439667114877 Centerline is valid? [True, True] Translation: X:297.29, Y:-35.56, Z:-2.20 [[ 9.63980559e-01 2.65781089e-01 1.00943122e-02 2.97286459e+02] [-2.65767766e-01 9.64033402e-01 -2.66368024e-03 -3.55628848e+01] [-1.04392100e-02 -1.15006841e-04 9.99945503e-01 -2.19647903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters 0.05120935723849249 Centerline is valid? [True, True] Translation: X:297.35, Y:-35.58, Z:-2.20 [[ 9.63995535e-01 2.65636966e-01 1.22315214e-02 2.97347192e+02] [-2.65617377e-01 9.64073122e-01 -3.22878680e-03 -3.55771059e+01] [-1.26497661e-02 -1.36368561e-04 9.99919979e-01 -2.19614417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters 0.05124770400102822 Centerline is valid? [True, True] Translation: X:297.41, Y:-35.59, Z:-2.20 [[ 9.64495793e-01 2.63657698e-01 1.52474440e-02 2.97408326e+02] [-2.63626977e-01 9.64616297e-01 -4.02701060e-03 -3.55931552e+01] [-1.57696854e-02 -1.35602801e-04 9.99875642e-01 -2.19526014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters 0.05113399050853122 Centerline is valid? [True, True] Translation: X:297.47, Y:-35.61, Z:-2.20 [[ 9.65082937e-01 2.61386312e-01 1.70915338e-02 2.97468745e+02] [-2.61347325e-01 9.65234264e-01 -4.51571428e-03 -3.56106049e+01] [-1.76776799e-02 -1.08787844e-04 9.99843732e-01 -2.19536564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters 0.05124876814017147 Centerline is valid? [True, True] Translation: X:297.53, Y:-35.63, Z:-2.19 [[ 9.66680977e-01 2.55215464e-01 1.98231163e-02 2.97527954e+02] [-2.55161677e-01 9.66884206e-01 -5.23945267e-03 -3.56312262e+01] [-2.05038474e-02 6.77963764e-06 9.99789774e-01 -2.19462628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters 0.05141969787562166 Centerline is valid? [True, True] Translation: X:297.59, Y:-35.65, Z:-2.19 [[ 9.68298355e-01 2.48841901e-01 2.18175405e-02 2.97585855e+02] [-2.48775065e-01 9.68544105e-01 -5.76920012e-03 -3.56518292e+01] [-2.25668689e-02 1.58646929e-04 9.99745323e-01 -2.19268559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters 0.05225604529213467 Centerline is valid? [True, True] Translation: X:297.64, Y:-35.67, Z:-2.19 [[ 9.69280620e-01 2.44778626e-01 2.40521020e-02 2.97643550e+02] [-2.44696115e-01 9.69578953e-01 -6.36125524e-03 -3.56692183e+01] [-2.48775112e-02 2.80385490e-04 9.99690468e-01 -2.19044484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters 0.052860791698292234 Centerline is valid? [True, True] Translation: X:297.70, Y:-35.69, Z:-2.19 [[ 9.69927859e-01 2.42253557e-01 2.35194192e-02 2.97702396e+02] [-2.42173891e-01 9.70212914e-01 -6.22149996e-03 -3.56875275e+01] [-2.43260247e-02 3.38616881e-04 9.99704021e-01 -2.18820065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters 0.05138372809222543 Centerline is valid? [True, True] Translation: X:297.76, Y:-35.69, Z:-2.20 [[ 9.71096514e-01 2.37773887e-01 2.08599803e-02 2.97764835e+02] [-2.37710144e-01 9.71320450e-01 -5.51997732e-03 -3.56918273e+01] [-2.15742319e-02 4.01801812e-04 9.99767168e-01 -2.20299537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters 0.052523533847493455 Centerline is valid? [True, True] Translation: X:297.82, Y:-35.71, Z:-2.20 [[ 9.72370533e-01 2.32778432e-01 1.75996435e-02 2.97822553e+02] [-2.32732226e-01 9.72529698e-01 -4.65800577e-03 -3.57087094e+01] [-1.82004592e-02 4.33303350e-04 9.99834264e-01 -2.20482124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters 0.05470497988281599 Centerline is valid? [True, True] Translation: X:297.88, Y:-35.73, Z:-2.21 [[ 9.73281379e-01 2.29165194e-01 1.43760474e-02 2.97879359e+02] [-2.29133969e-01 9.73387460e-01 -3.80494455e-03 -3.57301460e+01] [-1.48654251e-02 4.09240889e-04 9.99889420e-01 -2.20775711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters 0.052557141070449696 Centerline is valid? [True, True] Translation: X:297.94, Y:-35.74, Z:-2.21 [[ 9.73376961e-01 2.28837609e-01 1.30629240e-02 2.97942949e+02] [-2.28811791e-01 9.73464538e-01 -3.45797636e-03 -3.57365820e+01] [-1.35076083e-02 3.76963482e-04 9.99908697e-01 -2.21165294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters 0.05401204467689601 Centerline is valid? [True, True] Translation: X:298.00, Y:-35.76, Z:-2.21 [[ 9.73311563e-01 2.29171461e-01 1.20433407e-02 2.98001041e+02] [-2.29149531e-01 9.73386009e-01 -3.18897174e-03 -3.57550489e+01] [-1.24536406e-02 3.44137208e-04 9.99922391e-01 -2.21248068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters 0.05320514462449934 Centerline is valid? [True, True] Translation: X:298.06, Y:-35.76, Z:-2.22 [[ 9.72907843e-01 2.31006728e-01 9.28547612e-03 2.98063486e+02] [-2.30993771e-01 9.72952121e-01 -2.45909989e-03 -3.57578331e+01] [-9.60239231e-03 2.47590423e-04 9.99953865e-01 -2.21660911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters 0.05269617178803468 Centerline is valid? [True, True] Translation: X:298.12, Y:-35.78, Z:-2.22 [[ 9.72427586e-01 2.33107216e-01 6.75389437e-03 2.98120215e+02] [-2.33100412e-01 9.72451026e-01 -1.78872817e-03 -3.57797864e+01] [-6.98479696e-03 1.65073057e-04 9.99975592e-01 -2.21818154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters 0.05271356884587593 Centerline is valid? [True, True] Translation: X:298.18, Y:-35.79, Z:-2.22 [[ 9.71250700e-01 2.38054873e-01 1.39802450e-03 2.98181073e+02] [-2.38054587e-01 9.71251706e-01 -3.70236487e-04 -3.57868422e+01] [-1.44597028e-03 2.67863029e-05 9.99998954e-01 -2.22300457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters 0.05223403744536249 Centerline is valid? [True, True] Translation: X:298.24, Y:-35.79, Z:-2.23 [[ 9.68891588e-01 2.47449109e-01 -4.24607703e-03 2.98241684e+02] [-2.47446555e-01 9.68900891e-01 1.12484370e-03 -3.57947142e+01] [ 4.39236939e-03 -3.91744650e-05 9.99990353e-01 -2.23196740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters 0.05229461465755486 Centerline is valid? [True, True] Translation: X:298.31, Y:-35.80, Z:-2.23 [[ 9.66481245e-01 2.56644242e-01 -6.90910715e-03 2.98305482e+02] [-2.56637703e-01 9.66505941e-01 1.83201696e-03 -3.58008641e+01] [ 7.14786970e-03 2.52735840e-06 9.99974454e-01 -2.23423346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters 0.052463595755916435 Centerline is valid? [True, True] Translation: X:298.37, Y:-35.81, Z:-2.24 [[ 9.64953392e-01 2.62308183e-01 -7.70504470e-03 2.98365780e+02] [-2.62300233e-01 9.64984152e-01 2.04285058e-03 -3.58098831e+01] [ 7.97110245e-03 4.97794270e-05 9.99968229e-01 -2.23644318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters 0.05380204579434688 Centerline is valid? [True, True] Translation: X:298.43, Y:-35.81, Z:-2.25 [[ 9.63003094e-01 2.69302339e-01 -1.00643561e-02 2.98428723e+02] [-2.69289160e-01 9.63055673e-01 2.66796423e-03 -3.58079012e+01] [ 1.04110243e-02 1.40964204e-04 9.99945794e-01 -2.25005098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters 0.05215240047385414 Centerline is valid? [True, True] Translation: X:298.49, Y:-35.83, Z:-2.24 [[ 9.62182813e-01 2.72164074e-01 -1.14434206e-02 2.98487370e+02] [-2.72147233e-01 9.62250840e-01 3.03394379e-03 -3.58268228e+01] [ 1.18371716e-02 1.95086692e-04 9.99929919e-01 -2.24068665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters 0.05208114387588291 Centerline is valid? [True, True] Translation: X:298.55, Y:-35.83, Z:-2.24 [[ 9.61378883e-01 2.74945421e-01 -1.24762868e-02 2.98546980e+02] [-2.74925630e-01 9.61459803e-01 3.30833022e-03 -3.58349608e+01] [ 1.29050585e-02 2.49492187e-04 9.99916695e-01 -2.24239074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters 0.05305169060085444 Centerline is valid? [True, True] Translation: X:298.61, Y:-35.85, Z:-2.24 [[ 9.61138654e-01 2.75722747e-01 -1.37642435e-02 2.98607603e+02] [-2.75698729e-01 9.61237164e-01 3.65043074e-03 -3.58482958e+01] [ 1.42372092e-02 2.86214348e-04 9.99898605e-01 -2.24117887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters 0.05282984272746589 Centerline is valid? [True, True] Translation: X:298.67, Y:-35.86, Z:-2.24 [[ 9.61100628e-01 2.75827421e-01 -1.43114316e-02 2.98667867e+02] [-2.75801438e-01 9.61207129e-01 3.79756303e-03 -3.58597517e+01] [ 1.48037221e-02 2.97273188e-04 9.99890375e-01 -2.24419520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters 0.052595351242610756 Centerline is valid? [True, True] Translation: X:298.73, Y:-35.87, Z:-2.24 [[ 9.61460828e-01 2.74592198e-01 -1.38636317e-02 2.98727679e+02] [-2.74567691e-01 9.61560737e-01 3.67849571e-03 -3.58739678e+01] [ 1.43408102e-02 2.69775821e-04 9.99897129e-01 -2.24394673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters 0.05290886865612751 Centerline is valid? [True, True] Translation: X:298.79, Y:-35.89, Z:-2.24 [[ 9.62015326e-01 2.72639418e-01 -1.39377230e-02 2.98787530e+02] [-2.72614433e-01 9.62116256e-01 3.69883829e-03 -3.58927735e+01] [ 1.44181590e-02 2.41285324e-04 9.99896024e-01 -2.24225596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters 0.05203687288197484 Centerline is valid? [True, True] Translation: X:298.84, Y:-35.92, Z:-2.24 [[ 9.63545147e-01 2.67222963e-01 -1.31391486e-02 2.98844080e+02] [-2.67200259e-01 9.63634716e-01 3.48663729e-03 -3.59155862e+01] [ 1.35930493e-02 1.51251471e-04 9.99907599e-01 -2.23752243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters 0.051860993462111656 Centerline is valid? [True, True] Translation: X:298.90, Y:-35.94, Z:-2.23 [[ 9.65185458e-01 2.61319342e-01 -1.13680876e-02 2.98900228e+02] [-2.61301936e-01 9.65252401e-01 3.01666411e-03 -3.59388382e+01] [ 1.17613865e-02 5.88629574e-05 9.99930831e-01 -2.23444398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters 0.05165951115974427 Centerline is valid? [True, True] Translation: X:298.96, Y:-35.96, Z:-2.23 [[ 9.65823542e-01 2.58991007e-01 -1.04184653e-02 2.98959077e+02] [-2.58976245e-01 9.65879732e-01 2.76531810e-03 -3.59610980e+01] [ 1.07791770e-02 2.73257158e-05 9.99941903e-01 -2.23165541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters 0.05134336449279507 Centerline is valid? [True, True] Translation: X:299.02, Y:-35.98, Z:-2.23 [[ 9.65534387e-01 2.60082336e-01 -1.00262862e-02 2.99016910e+02] [-2.60068716e-01 9.65586442e-01 2.66199133e-03 -3.59843000e+01] [ 1.03735830e-02 3.72792210e-05 9.99946192e-01 -2.23429512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters 0.05192364765482472 Centerline is valid? [True, True] Translation: X:299.08, Y:-36.01, Z:-2.23 [[ 9.63886067e-01 2.66181370e-01 -8.43377416e-03 2.99075589e+02] [-2.66171954e-01 9.63922959e-01 2.24059320e-03 -3.60065209e+01] [ 8.72591271e-03 8.51575799e-05 9.99961925e-01 -2.23007167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters 0.05255925875795328 Centerline is valid? [True, True] Translation: X:299.13, Y:-36.02, Z:-2.23 [[ 9.62439291e-01 2.71406430e-01 -7.01152372e-03 2.99134820e+02] [-2.71400062e-01 9.62464824e-01 1.86253484e-03 -3.60245524e+01] [ 7.25384887e-03 1.10351262e-04 9.99973684e-01 -2.23052661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters 0.05198269504079232 Centerline is valid? [True, True] Translation: X:299.19, Y:-36.04, Z:-2.23 [[ 9.61303119e-01 2.75432695e-01 -5.75708607e-03 2.99193297e+02] [-2.75428466e-01 9.61320351e-01 1.53048560e-03 -3.60429196e+01] [ 5.95594977e-03 1.14404808e-04 9.99982257e-01 -2.23061696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters 0.05156571810017505 Centerline is valid? [True, True] Translation: X:299.25, Y:-36.07, Z:-2.23 [[ 9.60426418e-01 2.78515706e-01 -3.17765613e-03 2.99250974e+02] [-2.78514432e-01 9.60431672e-01 8.45501544e-04 -3.60691456e+01] [ 3.28740705e-03 7.29810728e-05 9.99994594e-01 -2.22536378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters 0.0519752817467087 Centerline is valid? [True, True] Translation: X:299.31, Y:-36.08, Z:-2.23 [[ 9.60893586e-01 2.76905244e-01 -2.64625285e-03 2.99310490e+02] [-2.76904356e-01 9.60897228e-01 7.03519515e-04 -3.60811786e+01] [ 2.73758527e-03 5.67515515e-05 9.99996251e-01 -2.22663030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters 0.05213404729722889 Centerline is valid? [True, True] Translation: X:299.37, Y:-36.09, Z:-2.23 [[ 9.61821059e-01 2.73671038e-01 -2.10066634e-03 2.99370787e+02] [-2.73670470e-01 9.61823353e-01 5.58654284e-04 -3.60927177e+01] [ 2.17335744e-03 3.75648905e-05 9.99997638e-01 -2.22706322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters 0.052302398026872005 Centerline is valid? [True, True] Translation: X:299.43, Y:-36.11, Z:-2.23 [[ 9.62182424e-01 2.72405799e-01 -2.53801375e-04 2.99429680e+02] [-2.72405791e-01 9.62182457e-01 6.75343909e-05 -3.61059066e+01] [ 2.62599990e-04 4.15656019e-06 9.99999966e-01 -2.22625345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters 0.051351547474240436 Centerline is valid? [True, True] Translation: X:299.49, Y:-36.12, Z:-2.23 [[ 9.62458210e-01 2.71429306e-01 5.70076125e-04 2.99489132e+02] [-2.71429264e-01 9.62458379e-01 -1.50827526e-04 -3.61238662e+01] [-5.89613554e-04 -9.57015256e-06 9.99999826e-01 -2.22579584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters 0.05145822478787583 Centerline is valid? [True, True] Translation: X:299.55, Y:-36.14, Z:-2.23 [[ 9.62706884e-01 2.70546170e-01 -4.75046069e-04 2.99548826e+02] [-2.70546140e-01 9.62707001e-01 1.27203358e-04 -3.61422002e+01] [ 4.91744557e-04 6.06233194e-06 9.99999879e-01 -2.22767341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters 0.05147144476843203 Centerline is valid? [True, True] Translation: X:299.61, Y:-36.16, Z:-2.23 [[ 9.62719812e-01 2.70495952e-01 -1.58248725e-03 2.99608307e+02] [-2.70495624e-01 9.62721112e-01 4.22105404e-04 -3.61607453e+01] [ 1.63767168e-03 2.16866398e-05 9.99998659e-01 -2.22785448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters 0.051790424889570766 Centerline is valid? [True, True] Translation: X:299.67, Y:-36.18, Z:-2.23 [[ 9.62434394e-01 2.71508685e-01 -1.75245192e-03 2.99667845e+02] [-2.71508284e-01 9.62435989e-01 4.67584273e-04 -3.61790959e+01] [ 1.81357599e-03 2.57860277e-05 9.99998355e-01 -2.22611427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters 0.05134640054759319 Centerline is valid? [True, True] Translation: X:299.73, Y:-36.19, Z:-2.23 [[ 9.62312189e-01 2.71945138e-01 -1.04520365e-03 2.99728337e+02] [-2.71944995e-01 9.62312757e-01 2.79416118e-04 -3.61946428e+01] [ 1.08179866e-03 1.53523659e-05 9.99999415e-01 -2.22653372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters 0.05148638021920744 Centerline is valid? [True, True] Translation: X:299.79, Y:-36.21, Z:-2.23 [[ 9.62471968e-01 2.71377047e-01 1.48655861e-03 2.99787714e+02] [-2.71376760e-01 9.62473115e-01 -3.95494523e-04 -3.62098020e+01] [-1.53810084e-03 -2.27650684e-05 9.99998817e-01 -2.22749048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters 0.05129282034924645 Centerline is valid? [True, True] Translation: X:299.85, Y:-36.22, Z:-2.23 [[ 9.62546970e-01 2.71105260e-01 2.29552462e-03 2.99847239e+02] [-2.71104572e-01 9.62549706e-01 -6.11391374e-04 -3.62248837e+01] [-2.37530796e-03 -3.38343054e-05 9.99997178e-01 -2.22853811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters 0.05157262944669945 Centerline is valid? [True, True] Translation: X:299.91, Y:-36.24, Z:-2.23 [[ 9.62304834e-01 2.71963550e-01 2.28780638e-03 2.99906940e+02] [-2.71962869e-01 9.62307553e-01 -6.09549917e-04 -3.62419723e+01] [-2.36734872e-03 -3.56255549e-05 9.99997197e-01 -2.22956359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters 0.05155194396324363 Centerline is valid? [True, True] Translation: X:299.97, Y:-36.26, Z:-2.23 [[ 9.62313039e-01 2.71941089e-01 1.28824775e-03 2.99967920e+02] [-2.71940873e-01 9.62313901e-01 -3.42931399e-04 -3.62568550e+01] [-1.33295586e-03 -2.03198621e-05 9.99999111e-01 -2.23133461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters 0.05137447562543912 Centerline is valid? [True, True] Translation: X:300.03, Y:-36.27, Z:-2.23 [[ 9.62507623e-01 2.71252604e-01 1.04898216e-03 3.00028611e+02] [-2.71252461e-01 9.62508195e-01 -2.79303138e-04 -3.62711542e+01] [-1.08541563e-03 -1.57075931e-05 9.99999411e-01 -2.23287171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters 0.05146938197630367 Centerline is valid? [True, True] Translation: X:300.09, Y:-36.29, Z:-2.23 [[ 9.63022882e-01 2.69418026e-01 9.24815247e-04 3.00088219e+02] [-2.69417914e-01 9.63023326e-01 -2.46235409e-04 -3.62895281e+01] [-9.56958913e-04 -1.20314609e-05 9.99999542e-01 -2.23231083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters 0.05165705953167669 Centerline is valid? [True, True] Translation: X:300.15, Y:-36.31, Z:-2.23 [[ 9.63740938e-01 2.66837696e-01 1.02382313e-03 3.00147726e+02] [-2.66837556e-01 9.63741482e-01 -2.73245640e-04 -3.63081740e+01] [-1.05961305e-03 -9.85645136e-06 9.99999439e-01 -2.23144651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters 0.05163768155358562 Centerline is valid? [True, True] Translation: X:300.21, Y:-36.32, Z:-2.23 [[ 9.63972784e-01 2.65997773e-01 1.28693381e-03 3.00207575e+02] [-2.65997552e-01 9.63973643e-01 -3.43155085e-04 -3.63228172e+01] [-1.33184876e-03 -1.15290789e-05 9.99999113e-01 -2.23329444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters 0.0512754461784611 Centerline is valid? [True, True] Translation: X:300.27, Y:-36.34, Z:-2.23 [[ 9.64108198e-01 2.65504153e-01 1.71119004e-03 3.00267190e+02] [-2.65503760e-01 9.64109716e-01 -4.56730985e-04 -3.63402352e+01] [-1.77103892e-03 -1.39893041e-05 9.99998432e-01 -2.23214714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters 0.05041361961630629 Centerline is valid? [True, True] Translation: X:300.33, Y:-36.35, Z:-2.24 [[ 9.64609689e-01 2.63677222e-01 1.57192949e-03 3.00326980e+02] [-2.63676889e-01 9.64610969e-01 -4.19735040e-04 -3.63530084e+01] [-1.62697500e-03 -9.60098979e-06 9.99998676e-01 -2.23584590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters 0.05086947036253702 Centerline is valid? [True, True] Translation: X:300.39, Y:-36.37, Z:-2.24 [[ 9.64609961e-01 2.63674223e-01 1.87792072e-03 3.00387950e+02] [-2.63673746e-01 9.64611789e-01 -5.01702279e-04 -3.63702569e+01] [-1.94375042e-03 -1.12113729e-05 9.99998111e-01 -2.23532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters 0.051037440658987576 Centerline is valid? [True, True] Translation: X:300.45, Y:-36.39, Z:-2.23 [[ 9.64209374e-01 2.65141872e-01 2.65862521e-04 3.00446265e+02] [-2.65141862e-01 9.64209411e-01 -7.10480663e-05 -3.63872068e+01] [-2.75184963e-04 -1.98607250e-06 9.99999962e-01 -2.23447419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters 0.05173878368605244 Centerline is valid? [True, True] Translation: X:300.51, Y:-36.40, Z:-2.24 [[ 9.63910113e-01 2.66225454e-01 -1.14046561e-03 3.00507367e+02] [-2.66225279e-01 9.63910788e-01 3.05656035e-04 -3.63996686e+01] [ 1.18068052e-03 8.99583125e-06 9.99999303e-01 -2.23841775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters 0.051804044269666026 Centerline is valid? [True, True] Translation: X:300.57, Y:-36.41, Z:-2.24 [[ 9.63548307e-01 2.67525439e-01 -2.19058335e-03 3.00567012e+02] [-2.67524795e-01 9.63550797e-01 5.87560233e-04 -3.64139926e+01] [ 2.26792565e-03 1.98926937e-05 9.99997428e-01 -2.24006444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters 0.05100538866666971 Centerline is valid? [True, True] Translation: X:300.63, Y:-36.43, Z:-2.24 [[ 9.63780639e-01 2.66696117e-01 -2.48124720e-04 3.00626605e+02] [-2.66696108e-01 9.63780671e-01 6.73713051e-05 -3.64312793e+01] [ 2.57105475e-04 1.24273775e-06 9.99999967e-01 -2.23772020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters 0.05088071003909133 Centerline is valid? [True, True] Translation: X:300.69, Y:-36.45, Z:-2.24 [[ 9.64147408e-01 2.65364661e-01 1.17156718e-03 3.00685878e+02] [-2.65364476e-01 9.64148120e-01 -3.13270024e-04 -3.64471492e+01] [-1.21269509e-03 -8.85382974e-06 9.99999265e-01 -2.23684549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters 0.051019407131157594 Centerline is valid? [True, True] Translation: X:300.75, Y:-36.46, Z:-2.24 [[ 9.64468099e-01 2.64188567e-01 2.38460603e-03 3.00745972e+02] [-2.64187794e-01 9.64471047e-01 -6.39091847e-04 -3.64616033e+01] [-2.46872423e-03 -1.36001060e-05 9.99996953e-01 -2.23890088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters 0.050794137091372225 Centerline is valid? [True, True] Translation: X:300.81, Y:-36.48, Z:-2.24 [[ 9.64474733e-01 2.64153254e-01 3.39826136e-03 3.00806210e+02] [-2.64151685e-01 9.64480719e-01 -9.10745019e-04 -3.64773261e+01] [-3.51813382e-03 -1.92659031e-05 9.99993811e-01 -2.23873562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters 0.05148128296946699 Centerline is valid? [True, True] Translation: X:300.87, Y:-36.49, Z:-2.24 [[ 9.63883138e-01 2.66322248e-01 1.32499311e-03 3.00866406e+02] [-2.66322012e-01 9.63884049e-01 -3.54696160e-04 -3.64926461e+01] [-1.37160320e-03 -1.09891827e-05 9.99999059e-01 -2.23998322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters 0.05139624242499099 Centerline is valid? [True, True] Translation: X:300.93, Y:-36.51, Z:-2.24 [[ 9.63517729e-01 2.67643347e-01 -7.90270805e-04 3.00926755e+02] [-2.67643262e-01 9.63518053e-01 2.13061749e-04 -3.65074871e+01] [ 8.18464747e-04 6.22188401e-06 9.99999665e-01 -2.24189960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters 0.051297813619071535 Centerline is valid? [True, True] Translation: X:300.99, Y:-36.52, Z:-2.24 [[ 9.63962602e-01 2.66029774e-01 -2.06415092e-03 3.00986623e+02] [-2.66029195e-01 9.63964812e-01 5.55013164e-04 -3.65239211e+01] [ 2.13741888e-03 1.41124744e-05 9.99997716e-01 -2.24212968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters 0.05089639727860796 Centerline is valid? [True, True] Translation: X:301.04, Y:-36.54, Z:-2.24 [[ 9.65506984e-01 2.60377090e-01 -1.88321578e-04 3.01044194e+02] [-2.60377085e-01 9.65507002e-01 5.06412178e-05 -3.65421239e+01] [ 1.95011615e-04 1.40173974e-07 9.99999981e-01 -2.24160579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters 0.05123825235369394 Centerline is valid? [True, True] Translation: X:301.10, Y:-36.56, Z:-2.24 [[ 9.66599270e-01 2.56290159e-01 1.09823225e-03 3.01102748e+02] [-2.56289990e-01 9.66599894e-01 -2.94271446e-04 -3.65612030e+01] [-1.13697005e-03 2.97663190e-06 9.99999354e-01 -2.24240349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters 0.05079143865036878 Centerline is valid? [True, True] Translation: X:301.16, Y:-36.58, Z:-2.24 [[ 9.67580604e-01 2.52555498e-01 1.86980780e-03 3.01162492e+02] [-2.52555000e-01 9.67582410e-01 -5.01818141e-04 -3.65776001e+01] [-1.93593007e-03 1.33201913e-05 9.99998126e-01 -2.23978401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters 0.05158936224591588 Centerline is valid? [True, True] Translation: X:301.22, Y:-36.59, Z:-2.24 [[ 9.68536513e-01 2.48865450e-01 1.73519313e-03 3.01220989e+02] [-2.48865014e-01 9.68538067e-01 -4.66174683e-04 -3.65945809e+01] [-1.79661538e-03 1.96783389e-05 9.99998386e-01 -2.24079356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters 0.051993074927923176 Centerline is valid? [True, True] Translation: X:301.28, Y:-36.61, Z:-2.24 [[ 9.68795437e-01 2.47858759e-01 1.19843553e-03 3.01280147e+02] [-2.47858550e-01 9.68796178e-01 -3.21978384e-04 -3.66133949e+01] [-1.24084492e-03 1.48886970e-05 9.99999230e-01 -2.24280629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters 0.05168264918695341 Centerline is valid? [True, True] Translation: X:301.34, Y:-36.63, Z:-2.24 [[ 9.68522572e-01 2.48923032e-01 1.16251706e-03 3.01339800e+02] [-2.48922837e-01 9.68523270e-01 -3.11972028e-04 -3.66284240e+01] [-1.20358184e-03 1.27749076e-05 9.99999276e-01 -2.24314982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters 0.051849141114881904 Centerline is valid? [True, True] Translation: X:301.40, Y:-36.64, Z:-2.24 [[ 9.67714025e-01 2.52047375e-01 1.29894778e-03 3.01401103e+02] [-2.52047134e-01 9.67714896e-01 -3.49186346e-04 -3.66389277e+01] [-1.34502262e-03 1.05164581e-05 9.99999095e-01 -2.24288746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters 0.05200195536612628 Centerline is valid? [True, True] Translation: X:301.46, Y:-36.65, Z:-2.24 [[ 9.67104911e-01 2.54374666e-01 1.27303027e-03 3.01460893e+02] [-2.54374437e-01 9.67105749e-01 -3.41856024e-04 -3.66508315e+01] [-1.31811440e-03 6.78428171e-06 9.99999131e-01 -2.24300419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters 0.051831403227324366 Centerline is valid? [True, True] Translation: X:301.52, Y:-36.66, Z:-2.24 [[ 9.66462513e-01 2.56796138e-01 2.44007868e-03 3.01521888e+02] [-2.56795299e-01 9.66465593e-01 -6.56503843e-04 -3.66639486e+01] [-2.52683974e-03 7.88561956e-06 9.99996808e-01 -2.24295193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters 0.0511175905264137 Centerline is valid? [True, True] Translation: X:301.58, Y:-36.68, Z:-2.24 [[ 9.66175304e-01 2.57869488e-01 2.93398138e-03 3.01581257e+02] [-2.57868279e-01 9.66179759e-01 -7.89669495e-04 -3.66787841e+01] [-3.03838510e-03 6.37843443e-06 9.99995384e-01 -2.24373020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters 0.05134311533235571 Centerline is valid? [True, True] Translation: X:301.64, Y:-36.69, Z:-2.24 [[ 9.65943903e-01 2.58728595e-01 3.44813234e-03 3.01641299e+02] [-2.58726930e-01 9.65950058e-01 -9.28242174e-04 -3.66908369e+01] [-3.57088642e-03 4.50517620e-06 9.99993624e-01 -2.24110111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters 0.051628421673359494 Centerline is valid? [True, True] Translation: X:301.70, Y:-36.70, Z:-2.24 [[ 9.66274150e-01 2.57475316e-01 4.55295588e-03 3.01702936e+02] [-2.57472394e-01 9.66284876e-01 -1.22654186e-03 -3.67045950e+01] [-4.71525666e-03 1.29152414e-05 9.99988883e-01 -2.24299782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters 0.05173932195178918 Centerline is valid? [True, True] Translation: X:301.76, Y:-36.72, Z:-2.24 [[ 9.66682679e-01 2.55940350e-01 4.37434627e-03 3.01762167e+02] [-2.55937637e-01 9.66692576e-01 -1.17852955e-03 -3.67183793e+01] [-4.53028133e-03 1.97042531e-05 9.99989738e-01 -2.24320598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters 0.05118389336868612 Centerline is valid? [True, True] Translation: X:301.82, Y:-36.74, Z:-2.24 [[ 9.67086526e-01 2.54418044e-01 3.88729934e-03 3.01822193e+02] [-2.54415887e-01 9.67094338e-01 -1.04786955e-03 -3.67355253e+01] [-4.02598210e-03 2.43898161e-05 9.99991895e-01 -2.24492611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters 0.05225562492292939 Centerline is valid? [True, True] Translation: X:301.88, Y:-36.75, Z:-2.25 [[ 9.67271415e-01 2.53715936e-01 3.77285540e-03 3.01882488e+02] [-2.53713898e-01 9.67278772e-01 -1.01716811e-03 -3.67512363e+01] [-3.90747470e-03 2.66517866e-05 9.99992365e-01 -2.24651888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters 0.05238828483042828 Centerline is valid? [True, True] Translation: X:301.94, Y:-36.76, Z:-2.25 [[ 9.66990230e-01 2.54795651e-01 3.01180004e-03 3.01943961e+02] [-2.54794358e-01 9.66994920e-01 -8.11634218e-04 -3.67634687e+01] [-3.11919620e-03 1.74527014e-05 9.99995135e-01 -2.24686234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters 0.052679321922703935 Centerline is valid? [True, True] Translation: X:302.01, Y:-36.77, Z:-2.25 [[ 9.66075679e-01 2.58249769e-01 2.19983657e-03 3.02005848e+02] [-2.58249088e-01 9.66078184e-01 -5.92957779e-04 -3.67741735e+01] [-2.27834533e-03 4.73629944e-06 9.99997405e-01 -2.24741478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters 0.051838401839727793 Centerline is valid? [True, True] Translation: X:302.07, Y:-36.79, Z:-2.25 [[ 9.65207738e-01 2.61481268e-01 1.25259005e-03 3.02067012e+02] [-2.61481050e-01 9.65208551e-01 -3.37374698e-04 -3.67870058e+01] [-1.29722779e-03 -1.89189305e-06 9.99999159e-01 -2.24881272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters 0.05191188051360495 Centerline is valid? [True, True] Translation: X:302.13, Y:-36.80, Z:-2.25 [[ 9.64835724e-01 2.62850624e-01 1.25525101e-03 3.02126963e+02] [-2.62850406e-01 9.64836540e-01 -3.38277816e-04 -3.68018602e+01] [-1.30002858e-03 -3.56071723e-06 9.99999155e-01 -2.24831696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters 0.05198757983263797 Centerline is valid? [True, True] Translation: X:302.19, Y:-36.82, Z:-2.25 [[ 9.64581868e-01 2.63781964e-01 9.46504065e-04 3.02187745e+02] [-2.63781840e-01 9.64582332e-01 -2.55019932e-04 -3.68173517e+01] [-9.80250757e-04 -3.68298120e-06 9.99999520e-01 -2.24831424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters 0.05178514938971581 Centerline is valid? [True, True] Translation: X:302.25, Y:-36.83, Z:-2.25 [[ 9.64230854e-01 2.65062246e-01 9.30354927e-04 3.02248666e+02] [-2.65062127e-01 9.64231303e-01 -2.51105467e-04 -3.68314221e+01] [-9.63635922e-04 -4.47821710e-06 9.99999536e-01 -2.24953817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters 0.05293157213795333 Centerline is valid? [True, True] Translation: X:302.31, Y:-36.85, Z:-2.25 [[ 9.63998328e-01 2.65899204e-01 2.19948184e-03 3.02308472e+02] [-2.65898540e-01 9.64000837e-01 -5.94140402e-04 -3.68459027e+01] [-2.27828379e-03 -1.20886558e-05 9.99997405e-01 -2.25028195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters 0.052546012440688086 Centerline is valid? [True, True] Translation: X:302.37, Y:-36.86, Z:-2.25 [[ 9.63751046e-01 2.66773710e-01 3.96354721e-03 3.02369432e+02] [-2.66771557e-01 9.63759196e-01 -1.07204607e-03 -3.68602491e+01] [-4.10589878e-03 -2.41761391e-05 9.99991570e-01 -2.25024177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters 0.05260129983173575 Centerline is valid? [True, True] Translation: X:302.43, Y:-36.88, Z:-2.25 [[ 9.63512670e-01 2.67628194e-01 4.29942957e-03 3.02430284e+02] [-2.67625669e-01 9.63522262e-01 -1.16283634e-03 -3.68757467e+01] [-4.45380389e-03 -3.02301664e-05 9.99990081e-01 -2.25059122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters 0.0519186082704876 Centerline is valid? [True, True] Translation: X:302.49, Y:-36.89, Z:-2.25 [[ 9.63505045e-01 2.67674109e-01 2.93260468e-03 3.02491294e+02] [-2.67672935e-01 9.63509507e-01 -7.93256519e-04 -3.68919625e+01] [-3.03792672e-03 -2.06722425e-05 9.99995385e-01 -2.25222455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters 0.05162938702039037 Centerline is valid? [True, True] Translation: X:302.55, Y:-36.91, Z:-2.25 [[ 9.63666027e-01 2.67103173e-01 1.91926623e-03 3.02550522e+02] [-2.67102669e-01 9.63667938e-01 -5.19130901e-04 -3.69107969e+01] [-1.98819684e-03 -1.23723193e-05 9.99998023e-01 -2.25203125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters 0.05131982462480258 Centerline is valid? [True, True] Translation: X:302.61, Y:-36.93, Z:-2.25 [[ 9.63969136e-01 2.66013753e-01 4.33519056e-04 3.02610478e+02] [-2.66013727e-01 9.63969234e-01 -1.17178174e-04 -3.69287061e+01] [-4.49070038e-04 -2.36587679e-06 9.99999899e-01 -2.25405766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters 0.051848629140332884 Centerline is valid? [True, True] Translation: X:302.67, Y:-36.95, Z:-2.25 [[ 9.63964882e-01 2.66028355e-01 7.87888261e-04 3.02669661e+02] [-2.66028270e-01 9.63965204e-01 -2.13232999e-04 -3.69477487e+01] [-8.16222892e-04 -4.05142814e-06 9.99999667e-01 -2.25400786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters 0.05216012843342978 Centerline is valid? [True, True] Translation: X:302.73, Y:-36.97, Z:-2.25 [[ 9.64221257e-01 2.65096901e-01 9.99772263e-04 3.02728349e+02] [-2.65096764e-01 9.64221776e-01 -2.70221847e-04 -3.69669181e+01] [-1.03563716e-03 -4.48274244e-06 9.99999464e-01 -2.25422457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters 0.05217096167892011 Centerline is valid? [True, True] Translation: X:302.79, Y:-36.99, Z:-2.26 [[ 9.64803365e-01 2.62968509e-01 1.42513970e-03 3.02786200e+02] [-2.62968226e-01 9.64804417e-01 -3.85811788e-04 -3.69874783e+01] [-1.47643743e-03 -2.53394795e-06 9.99998910e-01 -2.25549504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters 0.05178057755588078 Centerline is valid? [True, True] Translation: X:302.85, Y:-37.01, Z:-2.25 [[ 9.65092958e-01 2.61892898e-01 2.77354857e-03 3.02845787e+02] [-2.61891818e-01 9.65096943e-01 -7.52182056e-04 -3.70068182e+01] [-2.87373439e-03 -4.44073231e-07 9.99995871e-01 -2.25381245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters 0.05115895083827184 Centerline is valid? [True, True] Translation: X:302.90, Y:-37.02, Z:-2.25 [[ 9.64777585e-01 2.63014587e-01 5.24776242e-03 3.02904071e+02] [-2.63010734e-01 9.64791857e-01 -1.42357295e-03 -3.70248757e+01] [-5.43741890e-03 -6.78656898e-06 9.99985217e-01 -2.25310415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters 0.051184838431279044 Centerline is valid? [True, True] Translation: X:302.96, Y:-37.04, Z:-2.25 [[ 9.64092591e-01 2.65514079e-01 5.26783621e-03 3.02963641e+02] [-2.65510231e-01 9.64106982e-01 -1.42963454e-03 -3.70414467e+01] [-5.45834577e-03 -2.03643387e-05 9.99985103e-01 -2.25353887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters 0.05045425396774543 Centerline is valid? [True, True] Translation: X:303.02, Y:-37.06, Z:-2.26 [[ 9.63018187e-01 2.69405185e-01 4.10089621e-03 3.03022801e+02] [-2.69402887e-01 9.63026918e-01 -1.11327226e-03 -3.70568375e+01] [-4.24919476e-03 -3.26918459e-05 9.99990972e-01 -2.25522929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters 0.05135081758038476 Centerline is valid? [True, True] Translation: X:303.08, Y:-37.07, Z:-2.26 [[ 9.62753030e-01 2.70359083e-01 3.54545122e-03 3.03082845e+02] [-2.70357371e-01 9.62759557e-01 -9.62740449e-04 -3.70736579e+01] [-3.67370268e-03 -3.16575867e-05 9.99993251e-01 -2.25678715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters 0.051403491936668114 Centerline is valid? [True, True] Translation: X:303.14, Y:-37.09, Z:-2.26 [[ 9.62794023e-01 2.70232653e-01 1.40840605e-03 3.03141390e+02] [-2.70232383e-01 9.62795053e-01 -3.82101776e-04 -3.70942197e+01] [-1.45926275e-03 -1.27116167e-05 9.99998935e-01 -2.25857780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters 0.05172189961935379 Centerline is valid? [True, True] Translation: X:303.20, Y:-37.12, Z:-2.26 [[ 9.62994587e-01 2.69520138e-01 5.66569220e-04 3.03200787e+02] [-2.69520094e-01 9.62994754e-01 -1.53638443e-04 -3.71155352e+01] [-5.87011841e-04 -4.74880007e-06 9.99999828e-01 -2.25838700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters 0.05074617981283722 Centerline is valid? [True, True] Translation: X:303.26, Y:-37.14, Z:-2.26 [[ 9.63599122e-01 2.67348869e-01 1.14634617e-03 3.03259205e+02] [-2.67348689e-01 9.63599804e-01 -3.11012510e-04 -3.71355494e+01] [-1.18776779e-03 -6.78276350e-06 9.99999295e-01 -2.25983297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters 0.050314278122455515 Centerline is valid? [True, True] Translation: X:303.32, Y:-37.16, Z:-2.26 [[ 9.63924327e-01 2.66171848e-01 1.56197471e-03 3.03317609e+02] [-2.66171510e-01 9.63925592e-01 -4.24365336e-04 -3.71553173e+01] [-1.61858151e-03 -6.69709721e-06 9.99998690e-01 -2.26021763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters 0.05083912450939431 Centerline is valid? [True, True] Translation: X:303.37, Y:-37.18, Z:-2.26 [[ 9.64034883e-01 2.65767681e-01 2.06969762e-03 3.03374888e+02] [-2.65767085e-01 9.64037105e-01 -5.62762675e-04 -3.71766551e+01] [-2.14482943e-03 -7.53465329e-06 9.99997700e-01 -2.26073256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters 0.05084835165307645 Centerline is valid? [True, True] Translation: X:303.43, Y:-37.20, Z:-2.26 [[ 9.63952126e-01 2.66066644e-01 2.19990589e-03 3.03434427e+02] [-2.66065972e-01 9.63954636e-01 -5.98376501e-04 -3.71963038e+01] [-2.27981751e-03 -8.51379690e-06 9.99997401e-01 -2.26021658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters 0.049962729914792905 Centerline is valid? [True, True] Translation: X:303.49, Y:-37.21, Z:-2.26 [[ 9.63407616e-01 2.68029855e-01 2.40058232e-03 3.03493490e+02] [-2.68029059e-01 9.63410606e-01 -6.53450001e-04 -3.72142651e+01] [-2.48789058e-03 -1.38871122e-05 9.99996905e-01 -2.26092651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters 0.05055647098275213 Centerline is valid? [True, True] Translation: X:303.55, Y:-37.23, Z:-2.26 [[ 9.62775257e-01 2.70285575e-01 3.08426499e-03 3.03552366e+02] [-2.70284270e-01 9.62780197e-01 -8.40186018e-04 -3.72292241e+01] [-3.19655941e-03 -2.47180025e-05 9.99994891e-01 -2.26170563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters 0.05047130674643118 Centerline is valid? [True, True] Translation: X:303.61, Y:-37.24, Z:-2.26 [[ 9.62030246e-01 2.72937182e-01 1.76072374e-03 3.03612587e+02] [-2.72936762e-01 9.62031857e-01 -4.79468708e-04 -3.72438270e+01] [-1.82473717e-03 -1.93028373e-05 9.99998335e-01 -2.26346991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters 0.05050614579744657 Centerline is valid? [True, True] Translation: X:303.67, Y:-37.26, Z:-2.26 [[ 9.61623826e-01 2.74367775e-01 1.39327784e-03 3.03672787e+02] [-2.74367513e-01 9.61624835e-01 -3.79384267e-04 -3.72590723e+01] [-1.44390139e-03 -1.74452269e-05 9.99998957e-01 -2.26368824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters 0.05091248212071742 Centerline is valid? [True, True] Translation: X:303.73, Y:-37.27, Z:-2.26 [[ 9.61094902e-01 2.76217547e-01 6.75620087e-04 3.03732438e+02] [-2.76217486e-01 9.61095139e-01 -1.83643723e-04 -3.72744621e+01] [-7.00060800e-04 -1.01190361e-05 9.99999755e-01 -2.26420280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters 0.05037819861369944 Centerline is valid? [True, True] Translation: X:303.79, Y:-37.29, Z:-2.26 [[ 9.60940992e-01 2.76753167e-01 3.08956852e-04 3.03792387e+02] [-2.76753154e-01 9.60941041e-01 -8.35247687e-05 -3.72895634e+01] [-3.20005063e-04 -5.24240921e-06 9.99999949e-01 -2.26473895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters 0.049403630081451606 Centerline is valid? [True, True] Translation: X:303.85, Y:-37.30, Z:-2.27 [[ 9.60694249e-01 2.77608569e-01 -2.03612116e-04 3.03852025e+02] [-2.77608564e-01 9.60694271e-01 5.60830686e-05 -3.73031836e+01] [ 2.11178134e-04 2.64578559e-06 9.99999978e-01 -2.26628806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters 0.050780378470855675 Centerline is valid? [True, True] Translation: X:303.91, Y:-37.32, Z:-2.27 [[ 9.60192435e-01 2.79334563e-01 -1.63977553e-03 3.03911899e+02] [-2.79334205e-01 9.60193835e-01 4.48258476e-04 -3.73187282e+01] [ 1.69971644e-03 2.76309949e-05 9.99998555e-01 -2.26758679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters 0.050080417271879334 Centerline is valid? [True, True] Translation: X:303.97, Y:-37.34, Z:-2.27 [[ 9.60188521e-01 2.79352716e-01 -2.55335233e-04 3.03971799e+02] [-2.79352707e-01 9.60188554e-01 7.00801233e-05 -3.73372993e+01] [ 2.64747041e-04 4.03845883e-06 9.99999965e-01 -2.26584660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters 0.05086202974725706 Centerline is valid? [True, True] Translation: X:304.03, Y:-37.35, Z:-2.27 [[ 9.60563953e-01 2.78057167e-01 1.05091734e-03 3.04032160e+02] [-2.78057020e-01 9.60564528e-01 -2.86762820e-04 -3.73475753e+01] [-1.08921038e-03 -1.67609166e-05 9.99999407e-01 -2.26770041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters 0.050529256638796 Centerline is valid? [True, True] Translation: X:304.09, Y:-37.37, Z:-2.27 [[ 9.61319730e-01 2.75432164e-01 1.22453301e-03 3.04090554e+02] [-2.75431962e-01 9.61320510e-01 -3.34608393e-04 -3.73656937e+01] [-1.26933061e-03 -1.56098782e-05 9.99999194e-01 -2.26816657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters 0.05044408762803887 Centerline is valid? [True, True] Translation: X:304.15, Y:-37.39, Z:-2.27 [[ 9.61945875e-01 2.73237394e-01 1.20799286e-03 3.04149458e+02] [-2.73237195e-01 9.61946634e-01 -3.29963111e-04 -3.73854865e+01] [-1.25218293e-03 -1.26619276e-05 9.99999216e-01 -2.26821164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters 0.05018923675483835 Centerline is valid? [True, True] Translation: X:304.21, Y:-37.41, Z:-2.27 [[ 9.62827791e-01 2.70115763e-01 3.45492813e-04 3.04208586e+02] [-2.70115747e-01 9.62827853e-01 -9.36834720e-05 -3.74050277e+01] [-3.57955486e-04 -3.12199891e-06 9.99999936e-01 -2.26938506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters 0.05058440776832214 Centerline is valid? [True, True] Translation: X:304.27, Y:-37.42, Z:-2.27 [[ 9.62782982e-01 2.70275586e-01 -1.92186190e-04 3.04269524e+02] [-2.70275580e-01 9.62783001e-01 5.35141877e-05 -3.74196210e+01] [ 1.99497175e-04 4.20684748e-07 9.99999980e-01 -2.27112208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters 0.050798059984485486 Centerline is valid? [True, True] Translation: X:304.33, Y:-37.44, Z:-2.27 [[ 9.62520747e-01 2.71206736e-01 -8.47696120e-04 3.04329920e+02] [-2.71206636e-01 9.62521120e-01 2.32941575e-04 -3.74361031e+01] [ 8.79100743e-04 5.68971442e-06 9.99999614e-01 -2.26902660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters 0.05117636229736431 Centerline is valid? [True, True] Translation: X:304.39, Y:-37.45, Z:-2.27 [[ 9.62359025e-01 2.71780959e-01 -4.65932122e-04 3.04390547e+02] [-2.71780929e-01 9.62359138e-01 1.28546879e-04 -3.74504550e+01] [ 4.83330630e-04 2.92321568e-06 9.99999883e-01 -2.27070836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters 0.05032868609489223 Centerline is valid? [True, True] Translation: X:304.45, Y:-37.46, Z:-2.27 [[ 9.62197961e-01 2.72351011e-01 -1.06598485e-04 3.04450899e+02] [-2.72351009e-01 9.62197967e-01 3.01063394e-05 -3.74634538e+01] [ 1.10768337e-04 6.39465217e-08 9.99999994e-01 -2.27276553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters 0.05089773051730639 Centerline is valid? [True, True] Translation: X:304.51, Y:-37.48, Z:-2.27 [[ 9.62323425e-01 2.71906095e-01 8.37309455e-04 3.04511215e+02] [-2.71905998e-01 9.62323789e-01 -2.28719149e-04 -3.74787479e+01] [-8.67952939e-04 -7.56766867e-06 9.99999623e-01 -2.27283413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters 0.05064235906437201 Centerline is valid? [True, True] Translation: X:304.57, Y:-37.50, Z:-2.27 [[ 9.62502494e-01 2.71271617e-01 -8.11265632e-04 3.04570414e+02] [-2.71271525e-01 9.62502836e-01 2.23351656e-04 -3.74974136e+01] [ 8.41434437e-04 5.09673931e-06 9.99999646e-01 -2.27241264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters 0.0506344255726574 Centerline is valid? [True, True] Translation: X:304.63, Y:-37.52, Z:-2.27 [[ 9.62967355e-01 2.69584980e-01 -4.22028372e-03 3.04628943e+02] [-2.69582491e-01 9.62976603e-01 1.15868216e-03 -3.75156192e+01] [ 4.37639779e-03 2.19415021e-05 9.99990423e-01 -2.27492302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters 0.050532523432611554 Centerline is valid? [True, True] Translation: X:304.69, Y:-37.53, Z:-2.28 [[ 9.63252663e-01 2.68565426e-01 -4.11317973e-03 3.04688756e+02] [-2.68563054e-01 9.63261445e-01 1.12898406e-03 -3.75334067e+01] [ 4.26527353e-03 1.71512040e-05 9.99990904e-01 -2.27501646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters 0.05073539800603764 Centerline is valid? [True, True] Translation: X:304.75, Y:-37.55, Z:-2.27 [[ 9.63121918e-01 2.69050890e-01 -2.79101939e-03 3.04749421e+02] [-2.69049797e-01 9.63125962e-01 7.67098947e-04 -3.75487642e+01] [ 2.89449189e-03 1.21133900e-05 9.99995811e-01 -2.27437556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters 0.050648145215739786 Centerline is valid? [True, True] Translation: X:304.81, Y:-37.57, Z:-2.27 [[ 9.63693530e-01 2.67009595e-01 -8.09728198e-04 3.04807782e+02] [-2.67009502e-01 9.63693871e-01 2.22854187e-04 -3.75672541e+01] [ 8.39834307e-04 1.44198498e-06 9.99999647e-01 -2.27364661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters 0.05126930028146969 Centerline is valid? [True, True] Translation: X:304.87, Y:-37.58, Z:-2.27 [[ 9.64044299e-01 2.65740825e-01 6.35234405e-04 3.04866350e+02] [-2.65740768e-01 9.64044508e-01 -1.73659312e-04 -3.75848754e+01] [-6.58542609e-04 -1.39240916e-06 9.99999783e-01 -2.27426621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters 0.04996879603300399 Centerline is valid? [True, True] Translation: X:304.93, Y:-37.60, Z:-2.27 [[ 9.63616060e-01 2.67284901e-01 1.69395228e-03 3.04925370e+02] [-2.67284497e-01 9.63617549e-01 -4.64776523e-04 -3.75992929e+01] [-1.75654989e-03 -4.90106038e-06 9.99998457e-01 -2.27434128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters 0.05064415595297647 Centerline is valid? [True, True] Translation: X:304.99, Y:-37.61, Z:-2.27 [[ 9.62864136e-01 2.69985584e-01 6.64180619e-04 3.04985996e+02] [-2.69985522e-01 9.62864365e-01 -1.81799802e-04 -3.76138799e+01] [-6.88599175e-04 -4.27064200e-06 9.99999763e-01 -2.27400548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters 0.05088149153611621 Centerline is valid? [True, True] Translation: X:305.05, Y:-37.62, Z:-2.28 [[ 9.60995113e-01 2.76563930e-01 -8.86112884e-04 3.05047055e+02] [-2.76563823e-01 9.60995522e-01 2.43830658e-04 -3.76237969e+01] [ 9.18985278e-04 1.07466961e-05 9.99999578e-01 -2.27764285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters 0.04998300731042465 Centerline is valid? [True, True] Translation: X:305.11, Y:-37.64, Z:-2.28 [[ 9.60428860e-01 2.78521561e-01 -1.46433783e-03 3.05107686e+02] [-2.78521269e-01 9.60429976e-01 4.03651190e-04 -3.76387671e+01] [ 1.51881950e-03 2.01709782e-05 9.99998846e-01 -2.27905041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters 0.05044514450025015 Centerline is valid? [True, True] Translation: X:305.17, Y:-37.66, Z:-2.28 [[ 9.60386253e-01 2.78671243e-01 -7.63693488e-04 3.05166997e+02] [-2.78671163e-01 9.60386557e-01 2.11030424e-04 -3.76571252e+01] [ 7.92249070e-04 1.01486343e-05 9.99999686e-01 -2.27860158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters 0.05053179347902877 Centerline is valid? [True, True] Translation: X:305.23, Y:-37.67, Z:-2.28 [[ 9.61049962e-01 2.76374644e-01 -1.62501300e-04 3.05226670e+02] [-2.76374641e-01 9.61049976e-01 4.55992724e-05 -3.76747595e+01] [ 1.68774353e-04 1.08805932e-06 9.99999986e-01 -2.27908012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters 0.05115017327398486 Centerline is valid? [True, True] Translation: X:305.29, Y:-37.69, Z:-2.28 [[ 9.62400144e-01 2.71632389e-01 1.34463467e-03 3.05285072e+02] [-2.71632137e-01 9.62401083e-01 -3.70113529e-04 -3.76917673e+01] [-1.39461268e-03 -9.04867430e-06 9.99999027e-01 -2.28081282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters 0.05152604849634538 Centerline is valid? [True, True] Translation: X:305.34, Y:-37.71, Z:-2.28 [[ 9.63761284e-01 2.66748560e-01 3.06492254e-03 3.05343307e+02] [-2.66747226e-01 9.63766157e-01 -8.43741824e-04 -3.77130445e+01] [-3.17893554e-03 -4.39388162e-06 9.99994947e-01 -2.27900957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters 0.05052725362221832 Centerline is valid? [True, True] Translation: X:305.40, Y:-37.73, Z:-2.28 [[ 9.64352864e-01 2.64612694e-01 1.91722131e-03 3.05403901e+02] [-2.64612169e-01 9.64354770e-01 -5.27242350e-04 -3.77315042e+01] [-1.98839654e-03 1.12758018e-06 9.99998023e-01 -2.27972119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters 0.0515534185720202 Centerline is valid? [True, True] Translation: X:305.47, Y:-37.74, Z:-2.28 [[ 9.63036777e-01 2.69369645e-01 -4.01096065e-04 3.05465513e+02] [-2.69369622e-01 9.63036860e-01 1.11454112e-04 -3.77432523e+01] [ 4.16292650e-04 7.08686465e-07 9.99999913e-01 -2.28205582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters 0.0515534185720202 Centerline is valid? [True, True] Translation: X:305.53, Y:-37.76, Z:-2.28 [[ 9.63000888e-01 2.69497922e-01 -4.01048875e-04 3.05525747e+02] [-2.69497898e-01 9.63000971e-01 1.11625048e-04 -3.77598183e+01] [ 4.16293174e-04 5.86809152e-07 9.99999913e-01 -2.28251648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters 0.050598776675628176 Centerline is valid? [True, True] Translation: X:305.59, Y:-37.78, Z:-2.28 [[ 9.62906364e-01 2.69834772e-01 -7.28487829e-04 3.05586259e+02] [-2.69834696e-01 9.62906639e-01 2.02034674e-04 -3.77763073e+01] [ 7.55981747e-04 2.03081885e-06 9.99999714e-01 -2.28283929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters 0.050680064438598016 Centerline is valid? [True, True] Translation: X:305.65, Y:-37.79, Z:-2.28 [[ 9.62708158e-01 2.70540400e-01 -9.45363371e-04 3.05646285e+02] [-2.70540273e-01 9.62708623e-01 2.62008178e-04 -3.77937554e+01] [ 9.80993266e-04 3.52145351e-06 9.99999519e-01 -2.28278729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters 0.05000097429967115 Centerline is valid? [True, True] Translation: X:305.71, Y:-37.81, Z:-2.28 [[ 9.62648739e-01 2.70751680e-01 -9.66189233e-04 3.05705781e+02] [-2.70751548e-01 9.62649224e-01 2.67462191e-04 -3.78098139e+01] [ 1.00251715e-03 4.12508960e-06 9.99999497e-01 -2.28365792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters 0.05113991655953488 Centerline is valid? [True, True] Translation: X:305.77, Y:-37.83, Z:-2.28 [[ 9.62287357e-01 2.72034847e-01 2.91219828e-04 3.05767146e+02] [-2.72034836e-01 9.62287401e-01 -7.94657006e-05 -3.78255367e+01] [-3.01854611e-04 -2.75309909e-06 9.99999954e-01 -2.28347459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters 0.05092588527738197 Centerline is valid? [True, True] Translation: X:305.83, Y:-37.84, Z:-2.29 [[ 9.61947260e-01 2.73229937e-01 1.69402588e-03 3.05827325e+02] [-2.73229538e-01 9.61948752e-01 -4.67368750e-04 -3.78388225e+01] [-1.75726522e-03 -1.32738205e-05 9.99998456e-01 -2.28500355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters 0.05030257277050001 Centerline is valid? [True, True] Translation: X:305.89, Y:-37.86, Z:-2.28 [[ 9.61965518e-01 2.73154933e-01 2.95378797e-03 3.05886274e+02] [-2.73153714e-01 9.61970053e-01 -8.16038553e-04 -3.78573739e+01] [-3.06436053e-03 -2.18372079e-05 9.99995305e-01 -2.28343782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters 0.050823000652142 Centerline is valid? [True, True] Translation: X:305.94, Y:-37.87, Z:-2.28 [[ 9.62089025e-01 2.72715611e-01 3.30188541e-03 3.05944787e+02] [-2.72714085e-01 9.62094691e-01 -9.12747970e-04 -3.78733779e+01] [-3.42564705e-03 -2.23258537e-05 9.99994132e-01 -2.28391340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters 0.04922158271301878 Centerline is valid? [True, True] Translation: X:306.01, Y:-37.89, Z:-2.28 [[ 9.61965595e-01 2.73151755e-01 3.21125843e-03 3.06005137e+02] [-2.73150313e-01 9.61970955e-01 -8.87967716e-04 -3.78918157e+01] [-3.33168728e-03 -2.29618525e-05 9.99994450e-01 -2.28354827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters 0.05094666942422559 Centerline is valid? [True, True] Translation: X:306.07, Y:-37.91, Z:-2.29 [[ 9.61591989e-01 2.74471623e-01 2.48490245e-03 3.06065791e+02] [-2.74470762e-01 9.61595200e-01 -6.87642120e-04 -3.79055384e+01] [-2.57820852e-03 -2.08019151e-05 9.99996676e-01 -2.28513955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters 0.04977917682519535 Centerline is valid? [True, True] Translation: X:306.13, Y:-37.92, Z:-2.29 [[ 9.60740072e-01 2.77441984e-01 2.11171735e-03 3.06125483e+02] [-2.77441370e-01 9.60742393e-01 -5.84308853e-04 -3.79212076e+01] [-2.19092818e-03 -2.45088228e-05 9.99997600e-01 -2.28539130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters 0.051074483278990064 Centerline is valid? [True, True] Translation: X:306.19, Y:-37.93, Z:-2.29 [[ 9.59857396e-01 2.80481610e-01 1.96105274e-03 3.06186497e+02] [-2.80481087e-01 9.59859399e-01 -5.42450323e-04 -3.79299406e+01] [-2.03448224e-03 -2.93632479e-05 9.99997930e-01 -2.28784532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters 0.051140296833048826 Centerline is valid? [True, True] Translation: X:306.25, Y:-37.95, Z:-2.29 [[ 9.59432689e-01 2.81930663e-01 2.00430794e-03 3.06247015e+02] [-2.81930120e-01 9.59434782e-01 -5.54667024e-04 -3.79454716e+01] [-2.07938039e-03 -3.29091035e-05 9.99997838e-01 -2.28818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters 0.050383739327488394 Centerline is valid? [True, True] Translation: X:306.31, Y:-37.96, Z:-2.29 [[ 9.59403813e-01 2.82030849e-01 1.71013136e-03 3.06307034e+02] [-2.82030454e-01 9.59405336e-01 -4.73294516e-04 -3.79628099e+01] [-1.77419281e-03 -2.82285598e-05 9.99998426e-01 -2.28900643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters 0.050458592827887026 Centerline is valid? [True, True] Translation: X:306.37, Y:-37.98, Z:-2.29 [[ 9.60015730e-01 2.79939391e-01 1.93266156e-03 3.06365943e+02] [-2.79938881e-01 9.60017675e-01 -5.35240223e-04 -3.79836094e+01] [-2.00522408e-03 -2.71880804e-05 9.99997989e-01 -2.28807460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters 0.050499990455245294 Centerline is valid? [True, True] Translation: X:306.43, Y:-38.00, Z:-2.29 [[ 9.60957114e-01 2.76687711e-01 2.30994083e-03 3.06425007e+02] [-2.76686970e-01 9.60959890e-01 -6.40613040e-04 -3.80024017e+01] [-2.39701024e-03 -2.35288700e-05 9.99997127e-01 -2.28756246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters 0.050514477550793295 Centerline is valid? [True, True] Translation: X:306.48, Y:-38.02, Z:-2.29 [[ 9.62497487e-01 2.71263983e-01 3.79985901e-03 3.06483444e+02] [-2.71261936e-01 9.62504988e-01 -1.05402340e-03 -3.80217034e+01] [-3.94330183e-03 -1.62622399e-05 9.99992225e-01 -2.28658021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters 0.05118726786805558 Centerline is valid? [True, True] Translation: X:306.54, Y:-38.04, Z:-2.29 [[ 9.63539127e-01 2.67544847e-01 3.47918845e-03 3.06542244e+02] [-2.67543107e-01 9.63545409e-01 -9.64839099e-04 -3.80389423e+01] [-3.61049379e-03 -1.17266575e-06 9.99993482e-01 -2.28825792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters 0.05080478934886453 Centerline is valid? [True, True] Translation: X:306.60, Y:-38.06, Z:-2.29 [[ 9.63866921e-01 2.66368151e-01 2.92705512e-03 3.06602548e+02] [-2.66366914e-01 9.63871365e-01 -8.11809956e-04 -3.80557737e+01] [-3.03754493e-03 2.80612465e-06 9.99995387e-01 -2.28674183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters 0.050313447203303226 Centerline is valid? [True, True] Translation: X:306.66, Y:-38.07, Z:-2.29 [[ 9.64144745e-01 2.65367559e-01 2.22928466e-03 3.06661815e+02] [-2.65366838e-01 9.64147322e-01 -6.18504088e-04 -3.80720669e+01] [-2.31348976e-03 4.74924434e-06 9.99997324e-01 -2.28690703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters 0.05066204377416269 Centerline is valid? [True, True] Translation: X:306.72, Y:-38.09, Z:-2.29 [[ 9.63964214e-01 2.66029131e-01 1.22287760e-03 3.06721578e+02] [-2.66028915e-01 9.63964990e-01 -3.39022344e-04 -3.80874924e+01] [-1.26900102e-03 1.48460574e-06 9.99999195e-01 -2.28767732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters 0.050915449258655085 Centerline is valid? [True, True] Translation: X:306.78, Y:-38.10, Z:-2.29 [[ 9.63581003e-01 2.67416007e-01 5.75007562e-04 3.06782072e+02] [-2.67415959e-01 9.63581174e-01 -1.59526748e-04 -3.81022809e+01] [-5.96726468e-04 -4.92545638e-08 9.99999822e-01 -2.29140179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters 0.05078257863743017 Centerline is valid? [True, True] Translation: X:306.84, Y:-38.11, Z:-2.29 [[ 9.62822412e-01 2.70134747e-01 -4.70284124e-04 3.06841777e+02] [-2.70134715e-01 9.62822527e-01 1.31532253e-04 -3.81142676e+01] [ 4.88331580e-04 3.97866920e-07 9.99999881e-01 -2.29492506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters 0.051072532234450456 Centerline is valid? [True, True] Translation: X:306.90, Y:-38.13, Z:-2.29 [[ 9.61867004e-01 2.73517441e-01 2.75213709e-04 3.06901894e+02] [-2.73517431e-01 9.61867043e-01 -7.62264129e-05 -3.81304249e+01] [-2.85568250e-04 -1.95607518e-06 9.99999959e-01 -2.29080419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters 0.051427391770485664 Centerline is valid? [True, True] Translation: X:306.96, Y:-38.14, Z:-2.29 [[ 9.61032789e-01 2.76432570e-01 1.00591968e-03 3.06962249e+02] [-2.76432430e-01 9.61033316e-01 -2.78990833e-04 -3.81443039e+01] [-1.04384448e-03 -9.94948328e-06 9.99999455e-01 -2.29005550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters 0.05086642876647439 Centerline is valid? [True, True] Translation: X:307.02, Y:-38.15, Z:-2.29 [[ 9.60015582e-01 2.79942973e-01 1.41927900e-03 3.07022674e+02] [-2.79942696e-01 9.60016631e-01 -3.94232153e-04 -3.81546023e+01] [-1.47289397e-03 -1.88477800e-05 9.99998915e-01 -2.29214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters 0.05103438962728482 Centerline is valid? [True, True] Translation: X:307.08, Y:-38.17, Z:-2.29 [[ 9.58726399e-01 2.84317933e-01 2.64652916e-03 3.07082925e+02] [-2.84316982e-01 9.58730051e-01 -7.36551272e-04 -3.81665306e+01] [-2.74672177e-03 -4.63020349e-05 9.99996227e-01 -2.29093931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters 0.051111076561949166 Centerline is valid? [True, True] Translation: X:307.14, Y:-38.18, Z:-2.29 [[ 9.58262086e-01 2.85871031e-01 3.39528206e-03 3.07142600e+02] [-2.85869477e-01 9.58268099e-01 -9.44862059e-04 -3.81822162e+01] [-3.52369917e-03 -6.51820200e-05 9.99993790e-01 -2.28998544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters 0.051487552601708404 Centerline is valid? [True, True] Translation: X:307.20, Y:-38.20, Z:-2.29 [[ 9.58056511e-01 2.86577875e-01 9.18290995e-04 3.07203365e+02] [-2.86577762e-01 9.58056951e-01 -2.54943520e-04 -3.81966452e+01] [-9.52836242e-04 -1.89114794e-05 9.99999546e-01 -2.29272445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters 0.05128131940210795 Centerline is valid? [True, True] Translation: X:307.26, Y:-38.21, Z:-2.29 [[ 9.58417152e-01 2.85369429e-01 9.23070044e-04 3.07263032e+02] [-2.85369314e-01 9.58417596e-01 -2.56696052e-04 -3.82099112e+01] [-9.57939779e-04 -1.73939662e-05 9.99999541e-01 -2.29436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters 0.05104608549120013 Centerline is valid? [True, True] Translation: X:307.32, Y:-38.23, Z:-2.30 [[ 9.59217000e-01 2.82670732e-01 -7.31896186e-05 3.07322085e+02] [-2.82670731e-01 9.59217002e-01 2.05662065e-05 -3.82285281e+01] [ 7.60181911e-05 9.61108096e-07 9.99999997e-01 -2.29567135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters 0.05143165746653018 Centerline is valid? [True, True] Translation: X:307.38, Y:-38.25, Z:-2.30 [[ 9.60664039e-01 2.77707265e-01 -1.81075155e-03 3.07379033e+02] [-2.77706807e-01 9.60665746e-01 5.04666956e-04 -3.82532396e+01] [ 1.87967667e-03 1.80426340e-05 9.99998233e-01 -2.29526148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters 0.050549113086261185 Centerline is valid? [True, True] Translation: X:307.44, Y:-38.27, Z:-2.29 [[ 9.61407602e-01 2.75118720e-01 -2.26128040e-03 3.07437632e+02] [-2.75117996e-01 9.61410261e-01 6.31247542e-04 -3.82735709e+01] [ 2.34768620e-03 1.52327472e-05 9.99997244e-01 -2.29489261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters 0.05080313167725414 Centerline is valid? [True, True] Translation: X:307.50, Y:-38.29, Z:-2.30 [[ 9.62343848e-01 2.71825056e-01 -2.33581540e-03 3.07496598e+02] [-2.71824274e-01 9.62346683e-01 6.52232231e-04 -3.82907584e+01] [ 2.42515727e-03 7.25965110e-06 9.99997059e-01 -2.29638543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters 0.051398104492070204 Centerline is valid? [True, True] Translation: X:307.55, Y:-38.31, Z:-2.29 [[ 9.63275841e-01 2.68510396e-01 -1.34967248e-03 3.07554975e+02] [-2.68510131e-01 9.63276786e-01 3.77459494e-04 -3.83118784e+01] [ 1.40145997e-03 -1.19687572e-06 9.99999018e-01 -2.29489563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters 0.05117889828144305 Centerline is valid? [True, True] Translation: X:307.61, Y:-38.33, Z:-2.30 [[ 9.63385520e-01 2.68117223e-01 -1.22258552e-03 3.07614395e+02] [-2.68117005e-01 9.63386296e-01 3.41854161e-04 -3.83302446e+01] [ 1.26947913e-03 -1.54137930e-06 9.99999194e-01 -2.29534767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters 0.05120062250225036 Centerline is valid? [True, True] Translation: X:307.67, Y:-38.35, Z:-2.30 [[ 9.63362233e-01 2.68201361e-01 -1.11259837e-03 3.07673972e+02] [-2.68201180e-01 9.63362876e-01 3.11607264e-04 -3.83488800e+01] [ 1.15540945e-03 -1.79047559e-06 9.99999333e-01 -2.29692036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters 0.051620165654887286 Centerline is valid? [True, True] Translation: X:307.73, Y:-38.36, Z:-2.29 [[ 9.62839427e-01 2.70066854e-01 -2.03260775e-03 3.07734427e+02] [-2.70066255e-01 9.62841573e-01 5.68637107e-04 -3.83644892e+01] [ 2.11064928e-03 1.43253784e-06 9.99997773e-01 -2.29464052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters 0.051750518181182176 Centerline is valid? [True, True] Translation: X:307.80, Y:-38.38, Z:-2.30 [[ 9.62203279e-01 2.72325814e-01 -1.87077661e-03 3.07795830e+02] [-2.72325311e-01 9.62205098e-01 5.23466052e-04 -3.83803127e+01] [ 1.94262411e-03 5.77907205e-06 9.99998113e-01 -2.29793886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters 0.05120482274680603 Centerline is valid? [True, True] Translation: X:307.86, Y:-38.40, Z:-2.30 [[ 9.61053694e-01 2.76361386e-01 -4.26368628e-04 3.07855842e+02] [-2.76361360e-01 9.61053789e-01 1.20085868e-04 -3.83969765e+01] [ 4.42950282e-04 2.42284682e-06 9.99999902e-01 -2.29616193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters 0.0509923690973922 Centerline is valid? [True, True] Translation: X:307.92, Y:-38.41, Z:-2.30 [[ 9.60103178e-01 2.79644194e-01 -1.00631202e-03 3.07915767e+02] [-2.79644052e-01 9.60103705e-01 2.82347510e-04 -3.84133758e+01] [ 1.04512074e-03 1.03264294e-05 9.99999454e-01 -2.29576245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters 0.051580395072966516 Centerline is valid? [True, True] Translation: X:307.98, Y:-38.43, Z:-2.30 [[ 9.59630933e-01 2.81258774e-01 -1.40479407e-03 3.07975776e+02] [-2.81258499e-01 9.59631961e-01 3.93985330e-04 -3.84295640e+01] [ 1.45889712e-03 1.70297630e-05 9.99998936e-01 -2.29603947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters 0.05109093339529467 Centerline is valid? [True, True] Translation: X:308.04, Y:-38.44, Z:-2.30 [[ 9.59413667e-01 2.81996822e-01 -1.79092618e-03 3.08035106e+02] [-2.81996376e-01 9.59415338e-01 5.02159947e-04 -3.84449351e+01] [ 1.85984956e-03 2.32555762e-05 9.99998270e-01 -2.29801559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters 0.05126752608522836 Centerline is valid? [True, True] Translation: X:308.09, Y:-38.46, Z:-2.30 [[ 9.59784346e-01 2.80737598e-01 -6.40168156e-04 3.08094427e+02] [-2.80737541e-01 9.59784560e-01 1.80153234e-04 -3.84639760e+01] [ 6.64999298e-04 6.81097960e-06 9.99999779e-01 -2.29703517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters 0.05113086852821803 Centerline is valid? [True, True] Translation: X:308.15, Y:-38.48, Z:-2.30 [[ 9.61656480e-01 2.74253255e-01 1.40221626e-03 3.08152082e+02] [-2.74252974e-01 9.61657503e-01 -3.92601380e-04 -3.84830762e+01] [-1.45612399e-03 -7.01431687e-06 9.99998940e-01 -2.29841583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters 0.05091027780152728 Centerline is valid? [True, True] Translation: X:308.21, Y:-38.50, Z:-2.30 [[ 9.62136320e-01 2.72566506e-01 1.09635632e-03 3.08211139e+02] [-2.72566334e-01 9.62136944e-01 -3.06357708e-04 -3.85016418e+01] [-1.13834777e-03 -4.07194400e-06 9.99999352e-01 -2.29869758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters 0.05162935454979767 Centerline is valid? [True, True] Translation: X:308.27, Y:-38.52, Z:-2.30 [[ 9.63661069e-01 2.67127951e-01 -4.18032048e-05 3.08269883e+02] [-2.67127951e-01 9.63661070e-01 1.25528644e-05 -3.85237894e+01] [ 4.36373419e-05 -9.29902297e-07 9.99999999e-01 -2.30047983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters 0.05138982074684051 Centerline is valid? [True, True] Translation: X:308.33, Y:-38.54, Z:-2.30 [[ 9.64326000e-01 2.64716564e-01 -7.11657714e-04 3.08328994e+02] [-2.64716488e-01 9.64326263e-01 1.99823064e-04 -3.85421226e+01] [ 7.39166698e-04 -4.30704533e-06 9.99999727e-01 -2.30133218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters 0.05132739418637359 Centerline is valid? [True, True] Translation: X:308.39, Y:-38.56, Z:-2.30 [[ 9.64755049e-01 2.63146574e-01 -1.25522731e-03 3.08388322e+02] [-2.63146338e-01 9.64755866e-01 3.52928297e-04 -3.85601154e+01] [ 1.30385979e-03 -1.01808863e-05 9.99999150e-01 -2.30258896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters 0.05101519150228905 Centerline is valid? [True, True] Translation: X:308.45, Y:-38.57, Z:-2.30 [[ 9.64303055e-01 2.64796564e-01 -1.54870352e-03 3.08448861e+02] [-2.64796206e-01 9.64304298e-01 4.35455769e-04 -3.85736036e+01] [ 1.60872865e-03 -9.82051170e-06 9.99998706e-01 -2.30204563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters 0.05142363666848421 Centerline is valid? [True, True] Translation: X:308.51, Y:-38.59, Z:-2.30 [[ 9.63412534e-01 2.68001121e-01 -3.41877046e-03 3.08507805e+02] [-2.67999400e-01 9.63418600e-01 9.60303574e-04 -3.85881552e+01] [ 3.55106948e-03 -8.94006778e-06 9.99993695e-01 -2.30044640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters 0.05066806693341151 Centerline is valid? [True, True] Translation: X:308.57, Y:-38.60, Z:-2.30 [[ 9.62007124e-01 2.72993182e-01 -4.12514056e-03 3.08567887e+02] [-2.72990723e-01 9.62015968e-01 1.15863882e-03 -3.86026865e+01] [ 4.28475159e-03 1.15063089e-05 9.99990820e-01 -2.30482847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters 0.05051131357871661 Centerline is valid? [True, True] Translation: X:308.63, Y:-38.62, Z:-2.31 [[ 9.61252255e-01 2.75651197e-01 -3.24338745e-03 3.08628243e+02] [-2.75649690e-01 9.61257727e-01 9.11516032e-04 -3.86170456e+01] [ 3.36899173e-03 1.78419029e-05 9.99994325e-01 -2.30607958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters 0.05170326019683394 Centerline is valid? [True, True] Translation: X:308.69, Y:-38.63, Z:-2.30 [[ 9.60019391e-01 2.79923416e-01 -2.37716377e-03 3.08688016e+02] [-2.79922618e-01 9.60022333e-01 6.68704375e-04 -3.86322483e+01] [ 2.46931632e-03 2.34527404e-05 9.99996951e-01 -2.30439190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters 0.05098540980571141 Centerline is valid? [True, True] Translation: X:308.75, Y:-38.65, Z:-2.30 [[ 9.58965654e-01 2.83511582e-01 -2.46115983e-03 3.08747832e+02] [-2.83510738e-01 9.58968812e-01 6.92575798e-04 -3.86469052e+01] [ 2.55652878e-03 3.36088389e-05 9.99996732e-01 -2.30493540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters 0.051143180305192916 Centerline is valid? [True, True] Translation: X:308.81, Y:-38.66, Z:-2.30 [[ 9.57886095e-01 2.87143258e-01 -1.72560784e-03 3.08807680e+02] [-2.87142848e-01 9.57887649e-01 4.86026464e-04 -3.86618521e+01] [ 1.79249766e-03 2.99379592e-05 9.99998393e-01 -2.30488259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters 0.050700061189229984 Centerline is valid? [True, True] Translation: X:308.87, Y:-38.68, Z:-2.30 [[ 9.57829802e-01 2.87336158e-01 5.48181268e-05 3.08866287e+02] [-2.87336157e-01 9.57829803e-01 -1.46205318e-05 -3.86777045e+01] [-5.67074431e-05 -1.74724884e-06 9.99999998e-01 -2.30495721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters 0.05079265125629878 Centerline is valid? [True, True] Translation: X:308.93, Y:-38.70, Z:-2.31 [[ 9.58174103e-01 2.86185175e-01 6.58506873e-04 3.08925742e+02] [-2.86185115e-01 9.58174330e-01 -1.84473173e-04 -3.86954285e+01] [-6.83757869e-04 -1.16974483e-05 9.99999766e-01 -2.30520297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters 0.050892608958613625 Centerline is valid? [True, True] Translation: X:308.99, Y:-38.71, Z:-2.31 [[ 9.58249652e-01 2.85932272e-01 -5.83962562e-04 3.08986317e+02] [-2.85932224e-01 9.58249830e-01 1.65381280e-04 -3.87131603e+01] [ 6.06869871e-04 8.49716030e-06 9.99999816e-01 -2.30721746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters 0.0503417504374883 Centerline is valid? [True, True] Translation: X:309.05, Y:-38.73, Z:-2.31 [[ 9.57984839e-01 2.86809279e-01 -2.34239918e-03 3.09045648e+02] [-2.86808521e-01 9.57987701e-01 6.60552732e-04 -3.87300481e+01] [ 2.43344226e-03 3.90205413e-05 9.99997038e-01 -2.30958704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters 0.05147459995556529 Centerline is valid? [True, True] Translation: X:309.10, Y:-38.75, Z:-2.31 [[ 9.57786404e-01 2.87446085e-01 -4.46686575e-03 3.09104177e+02] [-2.87443336e-01 9.57796817e-01 1.25941911e-03 -3.87479330e+01] [ 4.64036489e-03 7.77162897e-05 9.99989230e-01 -2.31255999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters 0.051399719214170296 Centerline is valid? [True, True] Translation: X:309.16, Y:-38.77, Z:-2.31 [[ 9.57754374e-01 2.87568381e-01 -3.31445449e-03 3.09163938e+02] [-2.87566866e-01 9.57760107e-01 9.35111586e-04 -3.87658035e+01] [ 3.44336081e-03 5.75200785e-05 9.99994070e-01 -2.31290196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters 0.04942389358108761 Centerline is valid? [True, True] Translation: X:309.22, Y:-38.79, Z:-2.31 [[ 9.57790902e-01 2.87456872e-01 -2.26579424e-03 3.09222246e+02] [-2.87456164e-01 9.57793582e-01 6.39108456e-04 -3.87881548e+01] [ 2.35387930e-03 3.91842570e-05 9.99997229e-01 -2.30978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters 0.050408249151705546 Centerline is valid? [True, True] Translation: X:309.28, Y:-38.80, Z:-2.31 [[ 9.57554529e-01 2.88249867e-01 -1.15730130e-03 3.09282115e+02] [-2.88249681e-01 9.57555228e-01 3.27358499e-04 -3.88037618e+01] [ 1.20254096e-03 2.01281185e-05 9.99999277e-01 -2.31024333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters 0.05099342533741148 Centerline is valid? [True, True] Translation: X:309.34, Y:-38.82, Z:-2.31 [[ 9.57362050e-01 2.88889934e-01 -7.14457492e-04 3.09342135e+02] [-2.88889864e-01 9.57362317e-01 2.02034305e-04 -3.88151106e+01] [ 7.42360356e-04 1.29795510e-05 9.99999724e-01 -2.31328531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters 0.05044302442434365 Centerline is valid? [True, True] Translation: X:309.40, Y:-38.84, Z:-2.31 [[ 9.57500737e-01 2.88429723e-01 -7.96184777e-04 3.09400519e+02] [-2.88429635e-01 9.57501068e-01 2.25553208e-04 -3.88354626e+01] [ 8.27404023e-04 1.36759212e-05 9.99999658e-01 -2.31220426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters 0.049915838276255606 Centerline is valid? [True, True] Translation: X:309.46, Y:-38.85, Z:-2.31 [[ 9.57690619e-01 2.87799709e-01 8.10769001e-05 3.09460042e+02] [-2.87799708e-01 9.57690622e-01 -2.25803647e-05 -3.88536095e+01] [-8.41452094e-05 -1.70890477e-06 9.99999996e-01 -2.31098613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters 0.050183889201747454 Centerline is valid? [True, True] Translation: X:309.52, Y:-38.87, Z:-2.31 [[ 9.57529459e-01 2.88335391e-01 1.94830090e-04 3.09519511e+02] [-2.88335386e-01 9.57529478e-01 -5.42231745e-05 -3.88692853e+01] [-2.02190015e-04 -4.25612242e-06 9.99999980e-01 -2.31124506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters 0.05041567217902667 Centerline is valid? [True, True] Translation: X:309.58, Y:-38.89, Z:-2.31 [[ 9.57523261e-01 2.88354993e-01 -7.76566969e-04 3.09579010e+02] [-2.88354909e-01 9.57523576e-01 2.20267311e-04 -3.88872210e+01] [ 8.07096359e-04 1.30158238e-05 9.99999674e-01 -2.31102435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters 0.0509927748041869 Centerline is valid? [True, True] Translation: X:309.64, Y:-38.90, Z:-2.31 [[ 9.57592325e-01 2.88119311e-01 -2.04992153e-03 3.09638928e+02] [-2.88118729e-01 9.57594518e-01 5.80269308e-04 -3.89003053e+01] [ 2.13018042e-03 3.49593506e-05 9.99997731e-01 -2.31423621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters 0.05009008646333665 Centerline is valid? [True, True] Translation: X:309.70, Y:-38.92, Z:-2.31 [[ 9.58413651e-01 2.85376930e-01 -1.81152935e-03 3.09696709e+02] [-2.85376472e-01 9.58415363e-01 5.12098309e-04 -3.89169914e+01] [ 1.88233861e-03 2.61658458e-05 9.99998228e-01 -2.31411148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters 0.0512564041749695 Centerline is valid? [True, True] Translation: X:309.76, Y:-38.94, Z:-2.31 [[ 9.59644703e-01 2.81215297e-01 5.47382531e-06 3.09755591e+02] [-2.81215297e-01 9.59644703e-01 -1.36642791e-06 -3.89366011e+01] [-5.63718800e-06 -2.28038100e-07 1.00000000e+00 -2.31255284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters 0.05008839995678574 Centerline is valid? [True, True] Translation: X:309.81, Y:-38.96, Z:-2.31 [[ 9.62539463e-01 2.71131252e-01 2.37222230e-03 3.09813381e+02] [-2.71130423e-01 9.62542386e-01 -6.70380575e-04 -3.89586544e+01] [-2.46512564e-03 2.08612248e-06 9.99996962e-01 -2.31033535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters 0.051743328479428544 Centerline is valid? [True, True] Translation: X:309.87, Y:-38.98, Z:-2.31 [[ 9.65531180e-01 2.60282782e-01 1.55394193e-03 3.09868448e+02] [-2.60282412e-01 9.65532430e-01 -4.39109144e-04 -3.89832524e+01] [-1.61467388e-03 1.95098156e-05 9.99998696e-01 -2.31224367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters 0.0518895190157475 Centerline is valid? [True, True] Translation: X:309.93, Y:-39.00, Z:-2.31 [[ 9.66985016e-01 2.54832157e-01 7.41897432e-04 3.09927647e+02] [-2.54832071e-01 9.66985301e-01 -2.09725659e-04 -3.89973702e+01] [-7.70848753e-04 1.37423115e-05 9.99999703e-01 -2.31169811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters 0.053275079882361805 Centerline is valid? [True, True] Translation: X:309.99, Y:-39.02, Z:-2.31 [[ 9.67748105e-01 2.51919329e-01 5.07797021e-04 3.09986100e+02] [-2.51919288e-01 9.67748238e-01 -1.43474072e-04 -3.90151095e+01] [-5.27563565e-04 1.09228966e-05 9.99999861e-01 -2.31395383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters 0.05187871404092435 Centerline is valid? [True, True] Translation: X:310.05, Y:-39.03, Z:-2.31 [[ 9.68019071e-01 2.50875940e-01 5.83365120e-04 3.10045399e+02] [-2.50875887e-01 9.68019247e-01 -1.64219241e-04 -3.90301860e+01] [-6.05907320e-04 1.26151147e-05 9.99999816e-01 -2.31351098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters 0.052466074876529156 Centerline is valid? [True, True] Translation: X:310.10, Y:-39.05, Z:-2.31 [[ 9.67666119e-01 2.52229770e-01 1.55736100e-03 3.10104938e+02] [-2.52229387e-01 9.67667372e-01 -4.40457690e-04 -3.90454469e+01] [-1.61810397e-03 3.34037720e-05 9.99998690e-01 -2.31396094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters 0.052291808286777396 Centerline is valid? [True, True] Translation: X:310.17, Y:-39.05, Z:-2.31 [[ 9.66284412e-01 2.57474130e-01 1.22790160e-03 3.10166260e+02] [-2.57473897e-01 9.66285192e-01 -3.47362675e-04 -3.90511504e+01] [-1.27594004e-03 1.94985279e-05 9.99999186e-01 -2.31425157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters 0.052401457316978796 Centerline is valid? [True, True] Translation: X:310.23, Y:-39.06, Z:-2.31 [[ 9.64920814e-01 2.62541031e-01 -1.71746945e-04 3.10227738e+02] [-2.62541026e-01 9.64920829e-01 4.87637540e-05 -3.90610345e+01] [ 1.78524691e-04 -1.96254199e-06 9.99999984e-01 -2.31410598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters 0.051677834393957206 Centerline is valid? [True, True] Translation: X:310.29, Y:-39.07, Z:-2.32 [[ 9.62708569e-01 2.70534612e-01 -1.79851865e-03 3.10289626e+02] [-2.70534133e-01 9.62710249e-01 5.09502535e-04 -3.90700992e+01] [ 1.86929041e-03 -3.94177366e-06 9.99998253e-01 -2.31633231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters 0.05146616203629365 Centerline is valid? [True, True] Translation: X:310.35, Y:-39.08, Z:-2.32 [[ 9.60759148e-01 2.77380288e-01 -1.42674744e-03 3.10350850e+02] [-2.77379993e-01 9.60760207e-01 4.04870568e-04 -3.90779754e+01] [ 1.48306528e-03 6.76809434e-06 9.99998900e-01 -2.31826182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters 0.05175152796449531 Centerline is valid? [True, True] Translation: X:310.41, Y:-39.09, Z:-2.32 [[ 9.59710215e-01 2.80989676e-01 -1.05106951e-03 3.10411600e+02] [-2.80989517e-01 9.59710791e-01 2.98623849e-04 -3.90908015e+01] [ 1.09263297e-03 8.74715590e-06 9.99999403e-01 -2.31795915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters 0.051577333761280666 Centerline is valid? [True, True] Translation: X:310.47, Y:-39.10, Z:-2.32 [[ 9.58516483e-01 2.85035606e-01 9.25215846e-04 3.10470902e+02] [-2.85035486e-01 9.58516929e-01 -2.61711304e-04 -3.91043095e+01] [-9.61432091e-04 -1.28647499e-05 9.99999538e-01 -2.31527549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters 0.05086779612477076 Centerline is valid? [True, True] Translation: X:310.53, Y:-39.12, Z:-2.32 [[ 9.57849733e-01 2.87256955e-01 2.70760725e-03 3.10531837e+02] [-2.87255935e-01 9.57853559e-01 -7.66638676e-04 -3.91154607e+01] [-2.81371353e-03 -4.34516031e-05 9.99996041e-01 -2.31608220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters 0.05221559665880843 Centerline is valid? [True, True] Translation: X:310.59, Y:-39.12, Z:-2.32 [[ 9.56846586e-01 2.90580134e-01 2.79220715e-03 3.10592072e+02] [-2.90579062e-01 9.56850659e-01 -7.91287280e-04 -3.91230335e+01] [-2.90165762e-03 -5.42164018e-05 9.99995789e-01 -2.31810827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters 0.05196144284935623 Centerline is valid? [True, True] Translation: X:310.65, Y:-39.14, Z:-2.32 [[ 9.56144473e-01 2.92887635e-01 2.14017884e-03 3.10651157e+02] [-2.92887010e-01 9.56146867e-01 -6.06572117e-04 -3.91417478e+01] [-2.22398276e-03 -4.68600042e-05 9.99997526e-01 -2.31861329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters 0.05250413313426123 Centerline is valid? [True, True] Translation: X:310.71, Y:-39.15, Z:-2.32 [[ 9.55380081e-01 2.95378882e-01 -4.64672236e-04 3.10710745e+02] [-2.95378853e-01 9.55380194e-01 1.31750565e-04 -3.91504024e+01] [ 4.82854986e-04 1.13824873e-05 9.99999883e-01 -2.32260435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters 0.052295876412288715 Centerline is valid? [True, True] Translation: X:310.77, Y:-39.17, Z:-2.32 [[ 9.55150822e-01 2.96110639e-01 -2.32290790e-03 3.10769616e+02] [-2.96109912e-01 9.55153645e-01 6.58935478e-04 -3.91695832e+01] [ 2.41385175e-03 5.84532882e-05 9.99997085e-01 -2.32312936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters 0.05181897628255985 Centerline is valid? [True, True] Translation: X:310.83, Y:-39.19, Z:-2.32 [[ 9.55677524e-01 2.94400227e-01 -2.99592177e-03 3.10827833e+02] [-2.94399006e-01 9.55682218e-01 8.50762646e-04 -3.91918249e+01] [ 3.11361388e-03 6.89416527e-05 9.99995150e-01 -2.32296299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters 0.051440343771399354 Centerline is valid? [True, True] Translation: X:310.89, Y:-39.21, Z:-2.32 [[ 9.56713742e-01 2.91023087e-01 -2.09265440e-03 3.10885616e+02] [-2.91022485e-01 9.56716029e-01 5.93661170e-04 -3.92078999e+01] [ 2.17484512e-03 4.10456838e-05 9.99997634e-01 -2.32385139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters 0.051679106787865824 Centerline is valid? [True, True] Translation: X:310.94, Y:-39.23, Z:-2.32 [[ 9.58873357e-01 2.83830037e-01 1.54781610e-03 3.10941690e+02] [-2.83829698e-01 9.58874606e-01 -4.39004473e-04 -3.92335620e+01] [-1.60876421e-03 -1.83664839e-05 9.99998706e-01 -2.32058770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters 0.05112017525629549 Centerline is valid? [True, True] Translation: X:311.00, Y:-39.26, Z:-2.32 [[ 9.60909411e-01 2.76841592e-01 3.44029153e-03 3.10998328e+02] [-2.76839872e-01 9.60915570e-01 -9.75964451e-04 -3.92574104e+01] [-3.57601725e-03 -1.45964427e-05 9.99993606e-01 -2.31929572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters 0.05159947441243648 Centerline is valid? [True, True] Translation: X:311.06, Y:-39.28, Z:-2.32 [[ 9.62019442e-01 2.72964929e-01 2.95654267e-03 3.11056457e+02] [-2.72963641e-01 9.62023985e-01 -8.38390250e-04 -3.92780615e+01] [-3.07311610e-03 -4.80933254e-07 9.99995278e-01 -2.31911690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters 0.051582651649878596 Centerline is valid? [True, True] Translation: X:311.11, Y:-39.30, Z:-2.32 [[ 9.63312816e-01 2.68376020e-01 1.65251028e-03 3.11114998e+02] [-2.68375610e-01 9.63314233e-01 -4.68803700e-04 -3.92997912e+01] [-1.71770234e-03 8.11115814e-06 9.99998525e-01 -2.32222013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters 0.051624858544241516 Centerline is valid? [True, True] Translation: X:311.17, Y:-39.32, Z:-2.32 [[ 9.64223375e-01 2.65088337e-01 1.20699471e-03 3.11172949e+02] [-2.65088116e-01 9.64224130e-01 -3.41990277e-04 -3.93197988e+01] [-1.25447105e-03 9.79506611e-06 9.99999213e-01 -2.32309919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters 0.05187067340436091 Centerline is valid? [True, True] Translation: X:311.23, Y:-39.34, Z:-2.32 [[ 9.65935268e-01 2.58780590e-01 1.29046217e-03 3.11230747e+02] [-2.58780331e-01 9.65936129e-01 -3.66376051e-04 -3.93402726e+01] [-1.34131504e-03 1.99493222e-05 9.99999100e-01 -2.32189274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters 0.052891415711456106 Centerline is valid? [True, True] Translation: X:311.29, Y:-39.36, Z:-2.32 [[ 9.67073803e-01 2.54493149e-01 1.22331959e-03 3.11286228e+02] [-2.54492913e-01 9.67074576e-01 -3.47418694e-04 -3.93636717e+01] [-1.27145695e-03 2.46533523e-05 9.99999191e-01 -2.32379188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters 0.052760472680914744 Centerline is valid? [True, True] Translation: X:311.35, Y:-39.37, Z:-2.32 [[ 9.67563450e-01 2.52623409e-01 1.54402704e-03 3.11347220e+02] [-2.52623031e-01 9.67564681e-01 -4.38299182e-04 -3.93742575e+01] [-1.60467066e-03 3.40254780e-05 9.99998712e-01 -2.32231180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters 0.05297936924952725 Centerline is valid? [True, True] Translation: X:311.40, Y:-39.40, Z:-2.32 [[ 9.68556473e-01 2.48782976e-01 2.32153147e-03 3.11402020e+02] [-2.48782109e-01 9.68559253e-01 -6.59346471e-04 -3.93999843e+01] [-2.41257496e-03 6.10587961e-05 9.99997088e-01 -2.32460714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters 0.05359521060132929 Centerline is valid? [True, True] Translation: X:311.46, Y:-39.42, Z:-2.32 [[ 9.68466824e-01 2.49130523e-01 2.44823786e-03 3.11460502e+02] [-2.49129562e-01 9.68469916e-01 -6.94849738e-04 -3.94190815e+01] [-2.54415299e-03 6.30104936e-05 9.99996762e-01 -2.32469742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters 0.05223177196557241 Centerline is valid? [True, True] Translation: X:311.52, Y:-39.43, Z:-2.33 [[ 9.67244130e-01 2.53818035e-01 3.89847601e-03 3.11518390e+02] [-2.53815630e-01 9.67251983e-01 -1.10779589e-03 -3.94342562e+01] [-4.05198723e-03 8.20149220e-05 9.99991787e-01 -2.32516430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters 0.05202673171748723 Centerline is valid? [True, True] Translation: X:311.58, Y:-39.45, Z:-2.33 [[ 9.65613842e-01 2.59940687e-01 4.55486917e-03 3.11577991e+02] [-2.59937473e-01 9.65624583e-01 -1.29428070e-03 -3.94464303e+01] [-4.73472985e-03 6.57941743e-05 9.99988789e-01 -2.32596589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters 0.05078901968735176 Centerline is valid? [True, True] Translation: X:311.64, Y:-39.46, Z:-2.33 [[ 9.62688809e-01 2.70528407e-01 6.68112878e-03 3.11636958e+02] [-2.70521746e-01 9.62711992e-01 -1.89859819e-03 -3.94597254e+01] [-6.94562754e-03 2.03686101e-05 9.99975879e-01 -2.32705387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters 0.05086208729260919 Centerline is valid? [True, True] Translation: X:311.70, Y:-39.47, Z:-2.33 [[ 9.59710978e-01 2.80910649e-01 6.63664250e-03 3.11696867e+02] [-2.80904323e-01 9.59733924e-01 -1.88596704e-03 -3.94735581e+01] [-6.89919917e-03 -5.42782932e-05 9.99976199e-01 -2.32822566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters 0.051585445917841734 Centerline is valid? [True, True] Translation: X:311.76, Y:-39.48, Z:-2.33 [[ 9.57929312e-01 2.86912857e-01 7.24192898e-03 3.11757259e+02] [-2.86905489e-01 9.57956680e-01 -2.05889654e-03 -3.94841575e+01] [-7.52817814e-03 -1.05471831e-04 9.99971657e-01 -2.32861883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters 0.05157235740946345 Centerline is valid? [True, True] Translation: X:311.82, Y:-39.50, Z:-2.33 [[ 9.56273806e-01 2.92399396e-01 6.55754977e-03 3.11815906e+02] [-2.92393483e-01 9.56296280e-01 -1.86442591e-03 -3.94993483e+01] [-6.81611746e-03 -1.34483150e-04 9.99976761e-01 -2.33053515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters 0.05168760050332439 Centerline is valid? [True, True] Translation: X:311.88, Y:-39.51, Z:-2.33 [[ 9.54088534e-01 2.99492399e-01 4.40131599e-03 3.11875005e+02] [-2.99489810e-01 9.54098678e-01 -1.25139397e-03 -3.95110941e+01] [-4.57407275e-03 -1.24208648e-04 9.99989531e-01 -2.33321665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters 0.05045973424609431 Centerline is valid? [True, True] Translation: X:311.93, Y:-39.54, Z:-2.33 [[ 9.53177742e-01 3.02397081e-01 2.86308274e-03 3.11929643e+02] [-3.02395998e-01 9.53182038e-01 -8.14030408e-04 -3.95405643e+01] [-2.97519946e-03 -8.98690970e-05 9.99995570e-01 -2.33380911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters 0.05045741100207894 Centerline is valid? [True, True] Translation: X:311.99, Y:-39.56, Z:-2.34 [[ 9.53559542e-01 3.01195367e-01 2.35591848e-03 3.11989143e+02] [-3.01194631e-01 9.53562450e-01 -6.69677883e-04 -3.95602124e+01] [-2.44821928e-03 -7.10122626e-05 9.99997001e-01 -2.33514265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters 0.050978525953830046 Centerline is valid? [True, True] Translation: X:312.05, Y:-39.58, Z:-2.34 [[ 9.54612301e-01 2.97843925e-01 2.08584645e-03 3.12046746e+02] [-2.97843340e-01 9.54614578e-01 -5.93167493e-04 -3.95762900e+01] [-2.16785076e-03 -5.50104870e-05 9.99997649e-01 -2.33760362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters 0.051054787901030005 Centerline is valid? [True, True] Translation: X:312.10, Y:-39.60, Z:-2.34 [[ 9.55369432e-01 2.95402535e-01 2.56723500e-03 3.12104121e+02] [-2.95401639e-01 9.55372879e-01 -7.30017140e-04 -3.95991561e+01] [-2.66831561e-03 -6.09293666e-05 9.99996438e-01 -2.33742074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters 0.05013996221283459 Centerline is valid? [True, True] Translation: X:312.16, Y:-39.63, Z:-2.34 [[ 9.56342633e-01 2.92233525e-01 2.88708407e-03 3.12160229e+02] [-2.92232378e-01 9.56346989e-01 -8.21016328e-04 -3.96260308e+01] [-3.00098265e-03 -5.85265268e-05 9.99995495e-01 -2.33681154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters 0.04996874507514467 Centerline is valid? [True, True] Translation: X:312.22, Y:-39.64, Z:-2.34 [[ 9.55962947e-01 2.93480030e-01 2.07735976e-03 3.12219702e+02] [-2.93479440e-01 9.55965203e-01 -5.90292116e-04 -3.96420332e+01] [-2.15912260e-03 -4.53649889e-05 9.99997668e-01 -2.33873176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters 0.05052997264044643 Centerline is valid? [True, True] Translation: X:312.28, Y:-39.66, Z:-2.34 [[ 9.56049650e-01 2.93204554e-01 3.95377677e-04 3.12280188e+02] [-2.93204532e-01 9.56049732e-01 -1.11569387e-04 -3.96580035e+01] [-4.10713374e-04 -9.26065342e-06 9.99999916e-01 -2.34015632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters 0.05036850461183601 Centerline is valid? [True, True] Translation: X:312.34, Y:-39.67, Z:-2.34 [[ 9.56643885e-01 2.91259663e-01 5.34729388e-04 3.12338990e+02] [-2.91259623e-01 9.56644035e-01 -1.52166862e-04 -3.96719849e+01] [-5.55865749e-04 -1.01755816e-05 9.99999845e-01 -2.34044695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters 0.05018603791333953 Centerline is valid? [True, True] Translation: X:312.40, Y:-39.69, Z:-2.34 [[ 9.56742115e-01 2.90936201e-01 8.07768992e-04 3.12398093e+02] [-2.90936111e-01 9.56742456e-01 -2.29260393e-04 -3.96883811e+01] [-8.39527037e-04 -1.56660962e-05 9.99999647e-01 -2.34028008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters 0.04986151476524689 Centerline is valid? [True, True] Translation: X:312.46, Y:-39.71, Z:-2.34 [[ 9.56691923e-01 2.91099821e-01 1.20770516e-03 3.12457696e+02] [-2.91099619e-01 9.56692685e-01 -3.43134172e-04 -3.97088984e+01] [-1.25528899e-03 -2.32888221e-05 9.99999212e-01 -2.33959892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters 0.05016328197678389 Centerline is valid? [True, True] Translation: X:312.52, Y:-39.73, Z:-2.34 [[ 9.57097616e-01 2.89764691e-01 7.59374687e-04 3.12517771e+02] [-2.89764611e-01 9.57097917e-01 -2.16033333e-04 -3.97268292e+01] [-7.89394764e-04 -1.32749230e-05 9.99999688e-01 -2.34072304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters 0.05070311547950577 Centerline is valid? [True, True] Translation: X:312.58, Y:-39.74, Z:-2.34 [[ 9.57652820e-01 2.87921962e-01 1.42145820e-03 3.12577312e+02] [-2.87921679e-01 9.57653874e-01 -4.04391196e-04 -3.97427673e+01] [-1.47769806e-03 -2.20022627e-05 9.99998908e-01 -2.34101842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters 0.05053309532930368 Centerline is valid? [True, True] Translation: X:312.64, Y:-39.76, Z:-2.34 [[ 9.57858597e-01 2.87230721e-01 2.32844479e-03 3.12636278e+02] [-2.87229957e-01 9.57861426e-01 -6.63326455e-04 -3.97580926e+01] [-2.42085519e-03 -3.34261499e-05 9.99997069e-01 -2.34107272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters 0.04992426181962316 Centerline is valid? [True, True] Translation: X:312.69, Y:-39.78, Z:-2.34 [[ 9.58003049e-01 2.86736115e-01 3.54389462e-03 3.12694826e+02] [-2.86734338e-01 9.58009602e-01 -1.01064234e-03 -3.97802257e+01] [-3.68487273e-03 -4.79578352e-05 9.99993210e-01 -2.33903965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters 0.05056466618655791 Centerline is valid? [True, True] Translation: X:312.75, Y:-39.80, Z:-2.34 [[ 9.58149110e-01 2.86245009e-01 3.75206959e-03 3.12753629e+02] [-2.86243013e-01 9.58156455e-01 -1.06995780e-03 -3.97969144e+01] [-3.90133978e-03 -4.88245902e-05 9.99992389e-01 -2.34000705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters 0.04982018668915026 Centerline is valid? [True, True] Translation: X:312.81, Y:-39.82, Z:-2.34 [[ 9.58636906e-01 2.84604959e-01 3.91154352e-03 3.12812558e+02] [-2.84602774e-01 9.58644885e-01 -1.11607736e-03 -3.98166137e+01] [-4.06742234e-03 -4.33231866e-05 9.99991727e-01 -2.34003955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters 0.049653976695206554 Centerline is valid? [True, True] Translation: X:312.87, Y:-39.84, Z:-2.34 [[ 9.59129165e-01 2.82930847e-01 4.62404644e-03 3.12871859e+02] [-2.82927772e-01 9.59140310e-01 -1.31961743e-03 -3.98357508e+01] [-4.80846981e-03 -4.25875926e-05 9.99988438e-01 -2.33951287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters 0.05062429872353082 Centerline is valid? [True, True] Translation: X:312.93, Y:-39.85, Z:-2.34 [[ 9.59757237e-01 2.80765796e-01 6.05102624e-03 3.12931456e+02] [-2.80760482e-01 9.59776311e-01 -1.72789069e-03 -3.98514280e+01] [-6.29276424e-03 -4.05334485e-05 9.99980200e-01 -2.33968217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters 0.049894615441445196 Centerline is valid? [True, True] Translation: X:312.99, Y:-39.87, Z:-2.34 [[ 9.60022276e-01 2.79865697e-01 5.69400987e-03 3.12990882e+02] [-2.79860971e-01 9.60039161e-01 -1.62660346e-03 -3.98692276e+01] [-5.92170297e-03 -3.19555816e-05 9.99982466e-01 -2.34026883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters 0.04979620573208476 Centerline is valid? [True, True] Translation: X:313.05, Y:-39.89, Z:-2.34 [[ 9.60264781e-01 2.79056421e-01 4.36633729e-03 3.13051439e+02] [-2.79053633e-01 9.60274707e-01 -1.24761639e-03 -3.98881305e+01] [-4.54103863e-03 -2.04001996e-05 9.99989689e-01 -2.34078047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters 0.05005106923075223 Centerline is valid? [True, True] Translation: X:313.11, Y:-39.90, Z:-2.34 [[ 9.60071106e-01 2.79731441e-01 3.71388485e-03 3.13110800e+02] [-2.79729426e-01 9.60078289e-01 -1.06181113e-03 -3.99025083e+01] [-3.86264217e-03 -1.94686973e-05 9.99992540e-01 -2.34250320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters 0.0498401718735872 Centerline is valid? [True, True] Translation: X:313.17, Y:-39.92, Z:-2.34 [[ 9.59448779e-01 2.81867609e-01 2.94817074e-03 3.13171314e+02] [-2.81866350e-01 9.59453308e-01 -8.42759286e-04 -3.99156256e+01] [-3.06617872e-03 -2.24057605e-05 9.99995299e-01 -2.34368299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters 0.05032033480912445 Centerline is valid? [True, True] Translation: X:313.23, Y:-39.93, Z:-2.34 [[ 9.59300170e-01 2.82376299e-01 2.60948218e-03 3.13231270e+02] [-2.82375314e-01 9.59303719e-01 -7.46131925e-04 -3.99309322e+01] [-2.71397593e-03 -2.10888687e-05 9.99996317e-01 -2.34482382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters 0.049942546698942436 Centerline is valid? [True, True] Translation: X:313.29, Y:-39.95, Z:-2.34 [[ 9.59087900e-01 2.83100310e-01 2.14842419e-03 3.13290920e+02] [-2.83099643e-01 9.59090306e-01 -6.14457544e-04 -3.99471464e+01] [-2.23448593e-03 -1.88993270e-05 9.99997503e-01 -2.34449794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters 0.0501201440620794 Centerline is valid? [True, True] Translation: X:313.35, Y:-39.96, Z:-2.35 [[ 9.58992393e-01 2.83427435e-01 1.57431681e-03 3.13351307e+02] [-2.83427078e-01 9.58993686e-01 -4.50180848e-04 -3.99617028e+01] [-1.63735348e-03 -1.44840040e-05 9.99998659e-01 -2.34630790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters 0.050526657402728055 Centerline is valid? [True, True] Translation: X:313.41, Y:-39.98, Z:-2.35 [[ 9.58796804e-01 2.84090704e-01 1.07728509e-03 3.13411341e+02] [-2.84090537e-01 9.58797409e-01 -3.07987947e-04 -3.99769931e+01] [-1.12039466e-03 -1.07486399e-05 9.99999372e-01 -2.34706979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters 0.04981282286539731 Centerline is valid? [True, True] Translation: X:313.47, Y:-39.99, Z:-2.35 [[ 9.58903280e-01 2.83732473e-01 6.19882460e-04 3.13471226e+02] [-2.83732418e-01 9.58903480e-01 -1.76829215e-04 -3.99949812e+01] [-6.44579638e-04 -6.31863500e-06 9.99999792e-01 -2.34660442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters 0.05050326215921808 Centerline is valid? [True, True] Translation: X:313.53, Y:-40.01, Z:-2.35 [[ 9.59473309e-01 2.81798570e-01 7.31355840e-04 3.13530689e+02] [-2.81798492e-01 9.59473588e-01 -2.08969926e-04 -4.00144670e+01] [-7.60604038e-04 -5.59390715e-06 9.99999711e-01 -2.34603389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters 0.05003628827352495 Centerline is valid? [True, True] Translation: X:313.59, Y:-40.03, Z:-2.35 [[ 9.60277139e-01 2.79048053e-01 -1.92996707e-05 3.13589114e+02] [-2.79048053e-01 9.60277139e-01 6.34210378e-06 -4.00329312e+01] [ 2.03027841e-05 -7.04641748e-07 1.00000000e+00 -2.34723058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters 0.05027292368353598 Centerline is valid? [True, True] Translation: X:313.65, Y:-40.05, Z:-2.35 [[ 9.61579226e-01 2.74527578e-01 -1.22543709e-05 3.13647859e+02] [-2.74527578e-01 9.61579226e-01 3.83707846e-06 -4.00542754e+01] [ 1.28369322e-05 -3.25492182e-07 1.00000000e+00 -2.34625329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters 0.05133611610994074 Centerline is valid? [True, True] Translation: X:313.71, Y:-40.07, Z:-2.35 [[ 9.62090290e-01 2.72731026e-01 2.47691580e-04 3.13706769e+02] [-2.72731017e-01 9.62090322e-01 -7.01809625e-05 -4.00727811e+01] [-2.57442198e-04 -3.27538883e-08 9.99999967e-01 -2.34652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters 0.0503658622594933 Centerline is valid? [True, True] Translation: X:313.77, Y:-40.09, Z:-2.35 [[ 9.62252836e-01 2.72157051e-01 -1.40272583e-04 3.13765158e+02] [-2.72157048e-01 9.62252846e-01 4.11438394e-05 -4.00893815e+01] [ 1.46175278e-04 -1.41460413e-06 9.99999989e-01 -2.34888501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters 0.05055717202354692 Centerline is valid? [True, True] Translation: X:313.83, Y:-40.11, Z:-2.35 [[ 9.62096833e-01 2.72705283e-01 -1.22947388e-03 3.13825401e+02] [-2.72705053e-01 9.62097619e-01 3.54256587e-04 -4.01053809e+01] [ 1.27948153e-03 -5.54540125e-06 9.99999181e-01 -2.34896652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters 0.0510891240708256 Centerline is valid? [True, True] Translation: X:313.89, Y:-40.12, Z:-2.35 [[ 9.61009267e-01 2.76500807e-01 -2.91407872e-03 3.13885551e+02] [-2.76499537e-01 9.61013686e-01 8.38075570e-04 -4.01196758e+01] [ 3.03219811e-03 3.43026763e-07 9.99995403e-01 -2.34969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters 0.0505369569855236 Centerline is valid? [True, True] Translation: X:313.95, Y:-40.14, Z:-2.35 [[ 9.60237896e-01 2.79159940e-01 -3.59325990e-03 3.13945371e+02] [-2.79158024e-01 9.60244619e-01 1.03436425e-03 -4.01350404e+01] [ 3.73916154e-03 9.85158172e-06 9.99993009e-01 -2.34817069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters 0.05125125250572213 Centerline is valid? [True, True] Translation: X:314.00, Y:-40.15, Z:-2.35 [[ 9.60205649e-01 2.79278526e-01 -2.93558166e-03 3.14004901e+02] [-2.79277246e-01 9.60210136e-01 8.45473356e-04 -4.01505838e+01] [ 3.05489781e-03 8.01286748e-06 9.99995334e-01 -2.34915635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters 0.05085915280295807 Centerline is valid? [True, True] Translation: X:314.07, Y:-40.17, Z:-2.35 [[ 9.60890150e-01 2.76924270e-01 -1.75148317e-03 3.14065052e+02] [-2.76923811e-01 9.60891747e-01 5.04540163e-04 -4.01679696e+01] [ 1.82270514e-03 2.19721745e-07 9.99998339e-01 -2.34879543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters 0.05075374685210439 Centerline is valid? [True, True] Translation: X:314.12, Y:-40.19, Z:-2.35 [[ 9.61621907e-01 2.74376827e-01 -8.15380009e-04 3.14123159e+02] [-2.74376726e-01 9.61622253e-01 2.35564441e-04 -4.01868580e+01] [ 8.48720985e-04 -2.80263014e-06 9.99999640e-01 -2.34864334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters 0.04986667821458959 Centerline is valid? [True, True] Translation: X:314.18, Y:-40.21, Z:-2.35 [[ 9.62687174e-01 2.70615917e-01 6.56017513e-04 3.14182569e+02] [-2.70615852e-01 9.62687398e-01 -1.88078938e-04 -4.02052046e+01] [-6.82436946e-04 3.53244309e-06 9.99999767e-01 -2.34741395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters 0.05092513548829377 Centerline is valid? [True, True] Translation: X:314.24, Y:-40.22, Z:-2.35 [[ 9.63246407e-01 2.68616605e-01 1.21640482e-03 3.14241183e+02] [-2.68616378e-01 9.63247175e-01 -3.49701197e-04 -4.02237633e+01] [-1.26563406e-03 1.01021640e-05 9.99999199e-01 -2.34793565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters 0.05088973478707977 Centerline is valid? [True, True] Translation: X:314.30, Y:-40.24, Z:-2.35 [[ 9.63821140e-01 2.66549091e-01 -6.25663264e-04 3.14300185e+02] [-2.66549030e-01 9.63821344e-01 1.80520469e-04 -4.02424634e+01] [ 6.51145175e-04 -7.21950830e-06 9.99999788e-01 -2.35039056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters 0.050743813327030346 Centerline is valid? [True, True] Translation: X:314.36, Y:-40.26, Z:-2.35 [[ 9.63836307e-01 2.66485266e-01 -2.27534928e-03 3.14359568e+02] [-2.66484458e-01 9.63838992e-01 6.56874774e-04 -4.02592271e+01] [ 2.36811780e-03 -2.67745366e-05 9.99997196e-01 -2.35251041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters 0.05180421819133901 Centerline is valid? [True, True] Translation: X:314.42, Y:-40.28, Z:-2.35 [[ 9.63722200e-01 2.66896349e-01 -2.42076725e-03 3.14420729e+02] [-2.66895434e-01 9.63725240e-01 6.99317372e-04 -4.02751624e+01] [ 2.51959975e-03 -2.78559496e-05 9.99996825e-01 -2.35212206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters 0.05079229060000665 Centerline is valid? [True, True] Translation: X:314.48, Y:-40.29, Z:-2.35 [[ 9.63570592e-01 2.67450956e-01 -1.30368429e-03 3.14479156e+02] [-2.67450691e-01 9.63571474e-01 3.77036369e-04 -4.02927858e+01] [ 1.35703173e-03 -1.46298930e-05 9.99999079e-01 -2.35261766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters 0.05117947005847099 Centerline is valid? [True, True] Translation: X:314.54, Y:-40.31, Z:-2.35 [[ 9.62561957e-01 2.71061322e-01 -4.88538629e-04 3.14538765e+02] [-2.71061285e-01 9.62562081e-01 1.41854231e-04 -4.03076949e+01] [ 5.08699954e-04 -4.11957723e-06 9.99999871e-01 -2.35306327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters 0.049763851263014885 Centerline is valid? [True, True] Translation: X:314.60, Y:-40.32, Z:-2.35 [[ 9.60724227e-01 2.77504863e-01 -1.02332867e-04 3.14599363e+02] [-2.77504862e-01 9.60724232e-01 3.04147456e-05 -4.03214236e+01] [ 1.06753905e-04 -8.22314912e-07 9.99999994e-01 -2.34937693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters 0.05077246018548538 Centerline is valid? [True, True] Translation: X:314.66, Y:-40.34, Z:-2.35 [[ 9.59019907e-01 2.83336983e-01 -9.85427588e-04 3.14660324e+02] [-2.83336840e-01 9.59020414e-01 2.84950712e-04 -4.03352191e+01] [ 1.02578225e-03 5.93453321e-06 9.99999474e-01 -2.35280245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters 0.0512805745552772 Centerline is valid? [True, True] Translation: X:314.72, Y:-40.35, Z:-2.35 [[ 9.56376439e-01 2.92128230e-01 -2.28104537e-03 3.14719724e+02] [-2.92127489e-01 9.56379159e-01 6.58962054e-04 -4.03484463e+01] [ 2.37404567e-03 3.61402730e-05 9.99997181e-01 -2.35233821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters 0.050928029172997664 Centerline is valid? [True, True] Translation: X:314.78, Y:-40.36, Z:-2.35 [[ 9.55162477e-01 2.96073935e-01 -2.20602741e-03 3.14778354e+02] [-2.96073253e-01 9.55165024e-01 6.37230395e-04 -4.03608450e+01] [ 2.29578753e-03 4.44871476e-05 9.99997364e-01 -2.35421885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters 0.05029591415527256 Centerline is valid? [True, True] Translation: X:314.84, Y:-40.38, Z:-2.35 [[ 9.54358915e-01 2.98655793e-01 -1.94397221e-03 3.14836825e+02] [-2.98655268e-01 9.54360894e-01 5.61711318e-04 -4.03805063e+01] [ 2.02300940e-03 4.45033380e-05 9.99997953e-01 -2.35172168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters 0.05073231925509333 Centerline is valid? [True, True] Translation: X:314.90, Y:-40.40, Z:-2.35 [[ 9.54003656e-01 2.99794130e-01 -7.09519324e-04 3.14895868e+02] [-2.99794059e-01 9.54003920e-01 2.05829725e-04 -4.03952360e+01] [ 7.38590760e-04 1.63473676e-05 9.99999727e-01 -2.35285189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters 0.04984805870943867 Centerline is valid? [True, True] Translation: X:314.95, Y:-40.42, Z:-2.35 [[ 9.54472565e-01 2.98298713e-01 3.73292262e-05 3.14953986e+02] [-2.98298713e-01 9.54472565e-01 -1.06657064e-05 -4.04159353e+01] [-3.88112888e-05 -9.55135982e-07 9.99999999e-01 -2.35193101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters 0.05007709415867441 Centerline is valid? [True, True] Translation: X:315.01, Y:-40.43, Z:-2.35 [[ 9.55398619e-01 2.95318580e-01 -6.44612208e-04 3.15011978e+02] [-2.95318522e-01 9.55398836e-01 1.86364034e-04 -4.04319536e+01] [ 6.70898515e-04 1.23139838e-05 9.99999775e-01 -2.35453585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters 0.04969664430552471 Centerline is valid? [True, True] Translation: X:315.07, Y:-40.46, Z:-2.35 [[ 9.55929194e-01 2.93585358e-01 -2.64831656e-03 3.15069888e+02] [-2.93584363e-01 9.55932861e-01 7.65830178e-04 -4.04557915e+01] [ 2.75644935e-03 4.54249040e-05 9.99996200e-01 -2.35336982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters 0.049901994707195925 Centerline is valid? [True, True] Translation: X:315.13, Y:-40.47, Z:-2.35 [[ 9.56031337e-01 2.93251524e-01 -2.76148826e-03 3.15129325e+02] [-2.93250438e-01 9.56035325e-01 7.99352676e-04 -4.04718741e+01] [ 2.87449171e-03 4.56014320e-05 9.99995868e-01 -2.35497860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters 0.05079555276822069 Centerline is valid? [True, True] Translation: X:315.19, Y:-40.49, Z:-2.36 [[ 9.56292532e-01 2.92395923e-01 -3.03614259e-03 3.15188522e+02] [-2.92394605e-01 9.56297350e-01 8.79099672e-04 -4.04875224e+01] [ 3.16050027e-03 4.70752628e-05 9.99995004e-01 -2.35765435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters 0.05012071108870984 Centerline is valid? [True, True] Translation: X:315.25, Y:-40.51, Z:-2.36 [[ 9.56736571e-01 2.90935228e-01 -3.43899720e-03 3.15246711e+02] [-2.90933527e-01 9.56742750e-01 9.96120934e-04 -4.05085915e+01] [ 3.58004231e-03 4.74942590e-05 9.99993591e-01 -2.35688674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters 0.050749044887873934 Centerline is valid? [True, True] Translation: X:315.31, Y:-40.53, Z:-2.36 [[ 9.57343666e-01 2.88940367e-01 -2.56309131e-03 3.15305969e+02] [-2.88939413e-01 9.57347097e-01 7.42939997e-04 -4.05284690e+01] [ 2.66843338e-03 2.93291986e-05 9.99996439e-01 -2.35664675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters 0.05028107678260362 Centerline is valid? [True, True] Translation: X:315.37, Y:-40.55, Z:-2.36 [[ 9.57789890e-01 2.87462226e-01 -1.99883026e-03 3.15365169e+02] [-2.87461642e-01 9.57791975e-01 5.79814768e-04 -4.05472029e+01] [ 2.08113843e-03 1.92463065e-05 9.99997834e-01 -2.35655818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters 0.050660377954582426 Centerline is valid? [True, True] Translation: X:315.42, Y:-40.57, Z:-2.36 [[ 9.58479947e-01 2.85152471e-01 -2.06397976e-03 3.15423434e+02] [-2.85151843e-01 9.58482169e-01 5.98459620e-04 -4.05664512e+01] [ 2.14894004e-03 1.49360878e-05 9.99997691e-01 -2.35814766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters 0.05005002367838961 Centerline is valid? [True, True] Translation: X:315.48, Y:-40.58, Z:-2.36 [[ 9.58165039e-01 2.86214339e-01 -1.05415242e-03 3.15483338e+02] [-2.86214175e-01 9.58165618e-01 3.06545806e-04 -4.05847211e+01] [ 1.09779041e-03 7.99189083e-06 9.99999397e-01 -2.35623638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters 0.05104731043746963 Centerline is valid? [True, True] Translation: X:315.54, Y:-40.60, Z:-2.36 [[ 9.57791111e-01 2.87464482e-01 -5.99086856e-04 3.15543209e+02] [-2.87464429e-01 9.57791299e-01 1.74591287e-04 -4.06007790e+01] [ 6.23988972e-04 4.99417819e-06 9.99999805e-01 -2.35686111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters 0.050559534359848855 Centerline is valid? [True, True] Translation: X:315.60, Y:-40.62, Z:-2.36 [[ 9.57624047e-01 2.88020954e-01 3.37231265e-04 3.15603929e+02] [-2.88020938e-01 9.57624107e-01 -9.68319218e-05 -4.06171976e+01] [-3.50830411e-04 -4.40108832e-06 9.99999938e-01 -2.35657087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters 0.05057716216289413 Centerline is valid? [True, True] Translation: X:315.66, Y:-40.63, Z:-2.36 [[ 9.57380041e-01 2.88831149e-01 1.58187926e-04 3.15662993e+02] [-2.88831145e-01 9.57380054e-01 -4.51037836e-05 -4.06327300e+01] [-1.64473343e-04 -2.50813772e-06 9.99999986e-01 -2.35675520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters 0.05087602825148016 Centerline is valid? [True, True] Translation: X:315.72, Y:-40.64, Z:-2.36 [[ 9.57058624e-01 2.89893164e-01 8.62436498e-04 3.15723769e+02] [-2.89893057e-01 9.57059012e-01 -2.49609230e-04 -4.06436809e+01] [-8.97762632e-04 -1.11236866e-05 9.99999597e-01 -2.35905981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters 0.05032435950146236 Centerline is valid? [True, True] Translation: X:315.78, Y:-40.66, Z:-2.36 [[ 9.57152348e-01 2.89578819e-01 1.86828976e-03 3.15783153e+02] [-2.89578313e-01 9.57154171e-01 -5.41823402e-04 -4.06624757e+01] [-1.94514192e-03 -2.24086561e-05 9.99998108e-01 -2.35778598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters 0.05017986180518649 Centerline is valid? [True, True] Translation: X:315.84, Y:-40.68, Z:-2.36 [[ 9.57693776e-01 2.87777972e-01 2.54374482e-03 3.15841915e+02] [-2.87777026e-01 9.57697154e-01 -7.38374069e-04 -4.06789623e+01] [-2.64862496e-03 -2.48950669e-05 9.99996492e-01 -2.35792360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters 0.051017461226460836 Centerline is valid? [True, True] Translation: X:315.90, Y:-40.69, Z:-2.36 [[ 9.58234482e-01 2.85973748e-01 2.38578366e-03 3.15901169e+02] [-2.85972910e-01 9.58237452e-01 -6.92744769e-04 -4.06949013e+01] [-2.48425407e-03 -1.84575701e-05 9.99996914e-01 -2.36006846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters 0.050645053779605764 Centerline is valid? [True, True] Translation: X:315.96, Y:-40.71, Z:-2.36 [[ 9.58892991e-01 2.83754716e-01 2.73740968e-03 3.15961350e+02] [-2.83753601e-01 9.58896898e-01 -7.95564492e-04 -4.07123100e+01] [-2.85063883e-03 -1.38886405e-05 9.99995937e-01 -2.36165916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters 0.05057283881865845 Centerline is valid? [True, True] Translation: X:316.02, Y:-40.73, Z:-2.36 [[ 9.59397354e-01 2.82047901e-01 2.38734732e-03 3.16019971e+02] [-2.82047049e-01 9.59400324e-01 -6.93571295e-04 -4.07303004e+01] [-2.48604212e-03 -7.93380092e-06 9.99996910e-01 -2.36106505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters 0.04993088729545443 Centerline is valid? [True, True] Translation: X:316.08, Y:-40.75, Z:-2.36 [[ 9.59872396e-01 2.80417423e-01 3.32461442e-03 3.16079424e+02] [-2.80415756e-01 9.59878153e-01 -9.66801010e-04 -4.07468479e+01] [-3.46233260e-03 -4.26866659e-06 9.99994006e-01 -2.36345264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters 0.05000853755633538 Centerline is valid? [True, True] Translation: X:316.14, Y:-40.76, Z:-2.36 [[ 9.59909877e-01 2.80294718e-01 2.81060907e-03 3.16139672e+02] [-2.80293527e-01 9.59913991e-01 -8.17046009e-04 -4.07634196e+01] [-2.92695665e-03 -3.50499549e-06 9.99995716e-01 -2.36432036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters 0.050819377759165354 Centerline is valid? [True, True] Translation: X:316.20, Y:-40.78, Z:-2.37 [[ 9.59623961e-01 2.81265839e-01 3.37365411e-03 3.16200800e+02] [-2.81264126e-01 9.59629891e-01 -9.81559482e-04 -4.07772020e+01] [-3.51353848e-03 -6.95987843e-06 9.99993827e-01 -2.36676975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters 0.05044760549089233 Centerline is valid? [True, True] Translation: X:316.26, Y:-40.79, Z:-2.37 [[ 9.59632335e-01 2.81232960e-01 3.71530224e-03 3.16261289e+02] [-2.81230883e-01 9.59639527e-01 -1.08096595e-03 -4.07945363e+01] [-3.86935413e-03 -7.52784881e-06 9.99992514e-01 -2.36649561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters 0.04992376533881621 Centerline is valid? [True, True] Translation: X:316.32, Y:-40.81, Z:-2.37 [[ 9.59798619e-01 2.80656940e-01 4.27700468e-03 3.16320247e+02] [-2.80654177e-01 9.59808149e-01 -1.24530535e-03 -4.08109651e+01] [-4.45460754e-03 -5.11686919e-06 9.99990078e-01 -2.36566195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters 0.050084835445540536 Centerline is valid? [True, True] Translation: X:316.38, Y:-40.83, Z:-2.37 [[ 9.60035688e-01 2.79851698e-01 3.80856170e-03 3.16381017e+02] [-2.79849501e-01 9.60043242e-01 -1.10888854e-03 -4.08264322e+01] [-3.96670827e-03 -1.25151928e-06 9.99992133e-01 -2.36696996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters 0.05053060154868269 Centerline is valid? [True, True] Translation: X:316.44, Y:-40.84, Z:-2.37 [[ 9.60465442e-01 2.78376703e-01 3.54216159e-03 3.16441281e+02] [-2.78374791e-01 9.60471973e-01 -1.03172999e-03 -4.08439468e+01] [-3.68935652e-03 4.89251032e-06 9.99993194e-01 -2.36806649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters 0.05012407957381674 Centerline is valid? [True, True] Translation: X:316.50, Y:-40.86, Z:-2.37 [[ 9.60845559e-01 2.77067854e-01 3.03567639e-03 3.16502688e+02] [-2.77066443e-01 9.60850355e-01 -8.84414793e-04 -4.08596468e+01] [-3.16187364e-03 8.70196909e-06 9.99995001e-01 -2.36755081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters 0.05163820905917721 Centerline is valid? [True, True] Translation: X:316.56, Y:-40.87, Z:-2.37 [[ 9.60752022e-01 2.77400193e-01 2.16453474e-03 3.16563123e+02] [-2.77399476e-01 9.60754460e-01 -6.30685490e-04 -4.08749430e+01] [-2.25453868e-03 5.49155775e-06 9.99997459e-01 -2.36940168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters 0.05060924871197036 Centerline is valid? [True, True] Translation: X:316.62, Y:-40.89, Z:-2.37 [[ 9.60236709e-01 2.79178182e-01 2.23736710e-03 3.16623396e+02] [-2.79177420e-01 9.60239315e-01 -6.52344535e-04 -4.08881018e+01] [-2.33052821e-03 1.78279497e-06 9.99997284e-01 -2.36931570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters 0.05078522886611046 Centerline is valid? [True, True] Translation: X:316.68, Y:-40.90, Z:-2.37 [[ 9.59527531e-01 2.81609675e-01 1.70535602e-03 3.16683905e+02] [-2.81609237e-01 9.59529046e-01 -4.97106961e-04 -4.09028144e+01] [-1.77632876e-03 -3.25619168e-06 9.99998422e-01 -2.37096241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters 0.05010596565039847 Centerline is valid? [True, True] Translation: X:316.74, Y:-40.92, Z:-2.37 [[ 9.58929448e-01 2.83630930e-01 2.79463508e-03 3.16744841e+02] [-2.83629757e-01 9.58933520e-01 -8.15663487e-04 -4.09182681e+01] [-2.91121665e-03 -1.04779307e-05 9.99995762e-01 -2.37033708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters 0.050655263703260726 Centerline is valid? [True, True] Translation: X:316.81, Y:-40.93, Z:-2.37 [[ 9.58222322e-01 2.86003628e-01 3.45064136e-03 3.16805077e+02] [-2.86001852e-01 9.58228534e-01 -1.00811339e-03 -4.09291139e+01] [-3.59482710e-03 -2.08930647e-05 9.99993538e-01 -2.37268510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters 0.050563064132963104 Centerline is valid? [True, True] Translation: X:316.86, Y:-40.95, Z:-2.37 [[ 9.56955281e-01 2.90217625e-01 3.21248355e-03 3.16864601e+02] [-2.90216110e-01 9.56960673e-01 -9.38489337e-04 -4.09464597e+01] [-3.34658656e-03 -3.42221499e-05 9.99994400e-01 -2.37096091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters 0.05200768532975642 Centerline is valid? [True, True] Translation: X:316.93, Y:-40.95, Z:-2.38 [[ 9.55313691e-01 2.95583627e-01 2.46403333e-03 3.16926056e+02] [-2.95582752e-01 9.55316868e-01 -7.20517754e-04 -4.09495280e+01] [-2.56690585e-03 -4.00052763e-05 9.99996705e-01 -2.37507729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters 0.05076472960263174 Centerline is valid? [True, True] Translation: X:316.98, Y:-40.97, Z:-2.37 [[ 9.54717430e-01 2.97505905e-01 2.20580891e-03 3.16983909e+02] [-2.97505209e-01 9.54719977e-01 -6.44841065e-04 -4.09734252e+01] [-2.29777386e-03 -4.05986379e-05 9.99997359e-01 -2.37281304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters 0.05050895982733074 Centerline is valid? [True, True] Translation: X:317.04, Y:-40.99, Z:-2.37 [[ 9.53585217e-01 3.01120941e-01 1.18840977e-03 3.17043074e+02] [-3.01120742e-01 9.53585957e-01 -3.47498311e-04 -4.09882165e+01] [-1.23788989e-03 -2.64855796e-05 9.99999233e-01 -2.37373040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters 0.050665035809481736 Centerline is valid? [True, True] Translation: X:317.10, Y:-41.01, Z:-2.37 [[ 9.53106818e-01 3.02632204e-01 1.06929287e-03 3.17102686e+02] [-3.02632043e-01 9.53107417e-01 -3.12517732e-04 -4.10057736e+01] [-1.11372890e-03 -2.57395058e-05 9.99999379e-01 -2.37364586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters 0.05034326954636782 Centerline is valid? [True, True] Translation: X:317.16, Y:-41.03, Z:-2.37 [[ 9.52892211e-01 3.03309046e-01 2.39585987e-04 3.17161792e+02] [-3.03309038e-01 9.52892241e-01 -6.92426649e-05 -4.10256982e+01] [-2.49301554e-04 -6.68779904e-06 9.99999969e-01 -2.37408367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters 0.050585541604565944 Centerline is valid? [True, True] Translation: X:317.22, Y:-41.04, Z:-2.38 [[ 9.53031405e-01 3.02871384e-01 2.56235319e-04 3.17220487e+02] [-3.02871375e-01 9.53031440e-01 -7.42061651e-05 -4.10416951e+01] [-2.66675239e-04 -6.88553750e-06 9.99999964e-01 -2.37565643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters 0.0512998648650171 Centerline is valid? [True, True] Translation: X:317.28, Y:-41.06, Z:-2.38 [[ 9.53719178e-01 3.00695629e-01 1.36646819e-03 3.17278495e+02] [-3.00695365e-01 9.53720157e-01 -3.99904507e-04 -4.10593562e+01] [-1.42347779e-03 -2.94940533e-05 9.99998986e-01 -2.37544767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters 0.05041589820281713 Centerline is valid? [True, True] Translation: X:317.34, Y:-41.09, Z:-2.37 [[ 9.54379068e-01 2.98593175e-01 1.64634993e-03 3.17335188e+02] [-2.98592788e-01 9.54380488e-01 -4.81815058e-04 -4.10859027e+01] [-1.71511094e-03 -3.17540082e-05 9.99998529e-01 -2.37353678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters 0.05028337216194996 Centerline is valid? [True, True] Translation: X:317.39, Y:-41.10, Z:-2.38 [[ 9.55225528e-01 2.95875377e-01 1.39699634e-03 3.17392721e+02] [-2.95875096e-01 9.55226549e-01 -4.08948707e-04 -4.11035312e+01] [-1.45544585e-03 -2.26981823e-05 9.99998941e-01 -2.37606308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters 0.05042336328382451 Centerline is valid? [True, True] Translation: X:317.45, Y:-41.13, Z:-2.38 [[ 9.55672871e-01 2.94430490e-01 2.24408137e-04 3.17450427e+02] [-2.94430483e-01 9.55672897e-01 -6.48817120e-05 -4.11261590e+01] [-2.33563928e-04 -4.06690411e-06 9.99999973e-01 -2.37687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters 0.051373936990113764 Centerline is valid? [True, True] Translation: X:317.51, Y:-41.15, Z:-2.38 [[ 9.55747965e-01 2.94186637e-01 -2.22556774e-04 3.17509989e+02] [-2.94186629e-01 9.55747991e-01 6.62322051e-05 -4.11482438e+01] [ 2.32192820e-04 2.17193208e-06 9.99999973e-01 -2.37695078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters 0.05020682294004216 Centerline is valid? [True, True] Translation: X:317.57, Y:-41.16, Z:-2.38 [[ 9.55480971e-01 2.95051729e-01 -7.68339058e-04 3.17568317e+02] [-2.95051643e-01 9.55481280e-01 2.25295388e-04 -4.11647983e+01] [ 8.00607380e-04 1.14342458e-05 9.99999679e-01 -2.37954564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters 0.051131356988798185 Centerline is valid? [True, True] Translation: X:317.63, Y:-41.19, Z:-2.38 [[ 9.55166491e-01 2.96069041e-01 -3.11397818e-04 3.17626732e+02] [-2.96069027e-01 9.55166542e-01 9.21453904e-05 -4.11852018e+01] [ 3.24718174e-04 4.18105963e-06 9.99999947e-01 -2.37884810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters 0.049806501467043504 Centerline is valid? [True, True] Translation: X:317.68, Y:-41.21, Z:-2.38 [[ 9.54688057e-01 2.97606774e-01 -9.60554544e-04 3.17684923e+02] [-2.97606640e-01 9.54688540e-01 2.82598291e-04 -4.12072502e+01] [ 1.00113358e-03 1.60741976e-05 9.99999499e-01 -2.37862507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters 0.050132923576911924 Centerline is valid? [True, True] Translation: X:317.74, Y:-41.23, Z:-2.38 [[ 9.54423496e-01 2.98452461e-01 -1.38489080e-03 3.17743410e+02] [-2.98452185e-01 9.54424501e-01 4.07223949e-04 -4.12273471e+01] [ 1.44331070e-03 2.46595791e-05 9.99998958e-01 -2.37884951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters 0.05011325368058615 Centerline is valid? [True, True] Translation: X:317.80, Y:-41.25, Z:-2.38 [[ 9.54028983e-01 2.99708595e-01 -1.85918823e-03 3.17801973e+02] [-2.99708099e-01 9.54030794e-01 5.46538267e-04 -4.12465339e+01] [ 1.93752504e-03 3.58004223e-05 9.99998122e-01 -2.37941122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters 0.050887628094949025 Centerline is valid? [True, True] Translation: X:317.86, Y:-41.26, Z:-2.38 [[ 9.53641030e-01 3.00942627e-01 -1.52378086e-03 3.17860178e+02] [-3.00942294e-01 9.53642247e-01 4.48245159e-04 -4.12642992e+01] [ 1.58803788e-03 3.11051332e-05 9.99998739e-01 -2.37972915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters 0.04986071207017501 Centerline is valid? [True, True] Translation: X:317.92, Y:-41.29, Z:-2.38 [[ 9.53760421e-01 3.00567724e-01 -3.19119518e-04 3.17918560e+02] [-3.00567709e-01 9.53760475e-01 9.46054945e-05 -4.12853618e+01] [ 3.32798941e-04 5.68604616e-06 9.99999945e-01 -2.37776056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters 0.050264459990530946 Centerline is valid? [True, True] Translation: X:317.98, Y:-41.30, Z:-2.38 [[ 9.54441580e-01 2.98395771e-01 1.11119972e-03 3.17978074e+02] [-2.98395593e-01 9.54442227e-01 -3.26214696e-04 -4.13012652e+01] [-1.15791702e-03 -2.02242287e-05 9.99999329e-01 -2.37771638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters 0.04982039373008721 Centerline is valid? [True, True] Translation: X:318.04, Y:-41.32, Z:-2.38 [[ 9.54658208e-01 2.97700797e-01 1.39317728e-03 3.18038515e+02] [-2.97700518e-01 9.54659224e-01 -4.08628474e-04 -4.13174893e+01] [-1.45165856e-03 -2.46490708e-05 9.99998946e-01 -2.37803956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters 0.05006870789538124 Centerline is valid? [True, True] Translation: X:318.10, Y:-41.33, Z:-2.38 [[ 9.54560745e-01 2.98015439e-01 7.63349150e-04 3.18098833e+02] [-2.98015355e-01 9.54561050e-01 -2.23658864e-04 -4.13295705e+01] [-7.95317160e-04 -1.39937959e-05 9.99999684e-01 -2.38013716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters 0.04975982942078636 Centerline is valid? [True, True] Translation: X:318.16, Y:-41.35, Z:-2.38 [[ 9.54024370e-01 2.99728885e-01 -3.10960784e-04 3.18157951e+02] [-2.99728871e-01 9.54024421e-01 9.16939210e-05 -4.13487747e+01] [ 3.24147499e-04 5.72568947e-06 9.99999947e-01 -2.37972330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters 0.049971668249953215 Centerline is valid? [True, True] Translation: X:318.22, Y:-41.36, Z:-2.38 [[ 9.52905874e-01 3.03253888e-01 -2.73410932e-03 3.18217580e+02] [-3.03252828e-01 9.52909794e-01 8.04212165e-04 -4.13628547e+01] [ 2.84924001e-03 6.27878874e-05 9.99995939e-01 -2.38245131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters 0.05074099241304399 Centerline is valid? [True, True] Translation: X:318.28, Y:-41.38, Z:-2.39 [[ 9.52789567e-01 3.03580052e-01 -5.58512364e-03 3.18276941e+02] [-3.03575629e-01 9.52805927e-01 1.64397381e-03 -4.13795673e+01] [ 5.82061656e-03 1.29146322e-04 9.99983052e-01 -2.38534578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters 0.05057730295161489 Centerline is valid? [True, True] Translation: X:318.34, Y:-41.40, Z:-2.38 [[ 9.53692054e-01 3.00727178e-01 -5.88480295e-03 3.18335627e+02] [-3.00722216e-01 9.53710202e-01 1.73168443e-03 -4.13992130e+01] [ 6.13316118e-03 1.18197299e-04 9.99981185e-01 -2.38466302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters 0.05010090001082401 Centerline is valid? [True, True] Translation: X:318.39, Y:-41.42, Z:-2.38 [[ 9.55646284e-01 2.94498777e-01 -3.26344729e-03 3.18392523e+02] [-2.94497214e-01 9.55651855e-01 9.60415975e-04 -4.14216974e+01] [ 3.40156079e-03 4.32581791e-05 9.99994214e-01 -2.38229299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters 0.050476503737600736 Centerline is valid? [True, True] Translation: X:318.45, Y:-41.44, Z:-2.38 [[ 9.56972941e-01 2.90171861e-01 -1.75534003e-03 3.18449916e+02] [-2.90171401e-01 9.56974551e-01 5.16591457e-04 -4.14408873e+01] [ 1.82971604e-03 1.49854297e-05 9.99998326e-01 -2.38190937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters 0.04988680987860609 Centerline is valid? [True, True] Translation: X:318.51, Y:-41.46, Z:-2.38 [[ 9.58743019e-01 2.84274170e-01 -1.43464266e-04 3.18507037e+02] [-2.84274167e-01 9.58743029e-01 4.22790332e-05 -4.14605285e+01] [ 1.49564202e-04 2.48456700e-07 9.99999989e-01 -2.38441715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters 0.05075760691580183 Centerline is valid? [True, True] Translation: X:318.57, Y:-41.48, Z:-2.38 [[ 9.59620473e-01 2.81296986e-01 -7.43954578e-04 3.18567931e+02] [-2.81296900e-01 9.59620761e-01 2.20021520e-04 -4.14783519e+01] [ 7.75805649e-04 -1.86503893e-06 9.99999699e-01 -2.38304401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters 0.050887668006734124 Centerline is valid? [True, True] Translation: X:318.63, Y:-41.50, Z:-2.39 [[ 9.60118096e-01 2.79590652e-01 -1.51929652e-03 3.18625651e+02] [-2.79590293e-01 9.60119298e-01 4.47824293e-04 -4.14969454e+01] [ 1.58391339e-03 -5.18364810e-06 9.99998746e-01 -2.38619610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters 0.05043746564823552 Centerline is valid? [True, True] Translation: X:318.69, Y:-41.51, Z:-2.38 [[ 9.60949149e-01 2.76710415e-01 -2.84230328e-03 3.18685358e+02] [-2.76709147e-01 9.60953352e-01 8.38180278e-04 -4.15133295e+01] [ 2.96325408e-03 -1.89573103e-05 9.99995609e-01 -2.38485646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters 0.05087439503855963 Centerline is valid? [True, True] Translation: X:318.74, Y:-41.53, Z:-2.39 [[ 9.61469801e-01 2.74891750e-01 -3.21677494e-03 3.18744786e+02] [-2.74890116e-01 9.61475182e-01 9.48087672e-04 -4.15319666e+01] [ 3.35347074e-03 -2.72980303e-05 9.99994377e-01 -2.38696212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters 0.05180815676569361 Centerline is valid? [True, True] Translation: X:318.80, Y:-41.55, Z:-2.39 [[ 9.62263219e-01 2.72096122e-01 -3.63275741e-03 3.18804881e+02] [-2.72094015e-01 9.62270076e-01 1.07165092e-03 -4.15485079e+01] [ 3.78728580e-03 -4.27587157e-05 9.99992827e-01 -2.38645208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters 0.051328012706609756 Centerline is valid? [True, True] Translation: X:318.86, Y:-41.57, Z:-2.39 [[ 9.62298572e-01 2.71963569e-01 -4.15638629e-03 3.18864637e+02] [-2.71960808e-01 9.62307547e-01 1.22647211e-03 -4.15654274e+01] [ 4.33327763e-03 -4.98581831e-05 9.99990610e-01 -2.38672057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters 0.051694319920361644 Centerline is valid? [True, True] Translation: X:318.92, Y:-41.58, Z:-2.39 [[ 9.62210139e-01 2.72284503e-01 -3.57734609e-03 3.18924682e+02] [-2.72282461e-01 9.62216788e-01 1.05536940e-03 -4.15799666e+01] [ 3.72954320e-03 -4.14385429e-05 9.99993044e-01 -2.38539729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters 0.051394549899964725 Centerline is valid? [True, True] Translation: X:318.99, Y:-41.59, Z:-2.38 [[ 9.61462422e-01 2.74929469e-01 -1.94917195e-03 3.18985423e+02] [-2.74928866e-01 9.61464397e-01 5.76044478e-04 -4.15926742e+01] [ 2.03243104e-03 -1.79614840e-05 9.99997934e-01 -2.38384286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters 0.051294760184702255 Centerline is valid? [True, True] Translation: X:319.05, Y:-41.61, Z:-2.38 [[ 9.60760110e-01 2.77377612e-01 -1.29281141e-03 3.19045416e+02] [-2.77377349e-01 9.60760980e-01 3.82552828e-04 -4.16074606e+01] [ 1.34819435e-03 -8.94489491e-06 9.99999091e-01 -2.38361636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters 0.0516582307848252 Centerline is valid? [True, True] Translation: X:319.11, Y:-41.62, Z:-2.38 [[ 9.59694896e-01 2.81042637e-01 -8.61436563e-04 3.19105497e+02] [-2.81042521e-01 9.59695283e-01 2.55249469e-04 -4.16212576e+01] [ 8.98452590e-04 -2.86130861e-06 9.99999596e-01 -2.38366640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters 0.05080334971138349 Centerline is valid? [True, True] Translation: X:319.17, Y:-41.64, Z:-2.38 [[ 9.58953235e-01 2.83563514e-01 -6.53334942e-04 3.19165813e+02] [-2.83563448e-01 9.58953457e-01 1.93900964e-04 -4.16351629e+01] [ 6.81501040e-04 -6.80047890e-07 9.99999768e-01 -2.38345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters 0.05152005103467344 Centerline is valid? [True, True] Translation: X:319.23, Y:-41.65, Z:-2.38 [[ 9.58081164e-01 2.86496204e-01 6.39456063e-04 3.19226916e+02] [-2.86496142e-01 9.58081377e-01 -1.88104319e-04 -4.16473234e+01] [-6.66542119e-04 -2.98248988e-06 9.99999778e-01 -2.38271331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters 0.0513805118980556 Centerline is valid? [True, True] Translation: X:319.29, Y:-41.66, Z:-2.38 [[ 9.57975920e-01 2.86844351e-01 1.56690554e-03 3.19286419e+02] [-2.86843978e-01 9.57977201e-01 -4.62726542e-04 -4.16617382e+01] [-1.63379028e-03 -6.17653342e-06 9.99998665e-01 -2.38327415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters 0.05095820991259313 Centerline is valid? [True, True] Translation: X:319.35, Y:-41.68, Z:-2.39 [[ 9.58130480e-01 2.86331190e-01 6.58301369e-04 3.19346613e+02] [-2.86331124e-01 9.58130706e-01 -1.93775357e-04 -4.16761513e+01] [-6.86222684e-04 -2.83009572e-06 9.99999765e-01 -2.38652476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters 0.0509565855652418 Centerline is valid? [True, True] Translation: X:319.41, Y:-41.69, Z:-2.39 [[ 9.58285015e-01 2.85813756e-01 -5.72176961e-04 3.19405944e+02] [-2.85813706e-01 9.58285185e-01 1.70138151e-04 -4.16934778e+01] [ 5.96936529e-04 4.95177230e-07 9.99999822e-01 -2.38694728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters 0.05232132716812725 Centerline is valid? [True, True] Translation: X:319.47, Y:-41.71, Z:-2.39 [[ 9.58461221e-01 2.85213287e-01 -2.33873509e-03 3.19466277e+02] [-2.85212446e-01 9.58464074e-01 6.92419500e-04 -4.17091222e+01] [ 2.43908081e-03 3.37911849e-06 9.99997025e-01 -2.38677705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters 0.05182177141006698 Centerline is valid? [True, True] Translation: X:319.53, Y:-41.73, Z:-2.39 [[ 9.58130965e-01 2.86294753e-01 -4.51312201e-03 3.19525752e+02] [-2.86291631e-01 9.58141594e-01 1.33693585e-03 -4.17250364e+01] [ 4.70696764e-03 1.11094248e-05 9.99988922e-01 -2.38821351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters 0.052577942884047595 Centerline is valid? [True, True] Translation: X:319.59, Y:-41.74, Z:-2.39 [[ 9.57788062e-01 2.87431632e-01 -5.00841543e-03 3.19585556e+02] [-2.87427804e-01 9.57801157e-01 1.48354406e-03 -4.17420665e+01] [ 5.22348359e-03 1.86370587e-05 9.99986357e-01 -2.38835403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters 0.05223021940946153 Centerline is valid? [True, True] Translation: X:319.65, Y:-41.76, Z:-2.39 [[ 9.57209010e-01 2.89370461e-01 -3.95569266e-03 3.19645002e+02] [-2.89368086e-01 9.57217183e-01 1.17275117e-03 -4.17598742e+01] [ 4.12581653e-03 2.20832220e-05 9.99991489e-01 -2.38738350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters 0.05217244443750944 Centerline is valid? [True, True] Translation: X:319.70, Y:-41.78, Z:-2.39 [[ 9.56477015e-01 2.91793565e-01 -2.86974382e-03 3.19704424e+02] [-2.91792324e-01 9.56481320e-01 8.51493640e-04 -4.17770780e+01] [ 2.99331672e-03 2.29351215e-05 9.99995520e-01 -2.38634539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters 0.05196220729474617 Centerline is valid? [True, True] Translation: X:319.76, Y:-41.79, Z:-2.39 [[ 9.55151671e-01 2.96109395e-01 -2.12395820e-03 3.19764110e+02] [-2.96108726e-01 9.55154032e-01 6.29819917e-04 -4.17929438e+01] [ 2.21520284e-03 2.73490116e-05 9.99997546e-01 -2.38665775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters 0.05200003486380997 Centerline is valid? [True, True] Translation: X:319.82, Y:-41.81, Z:-2.39 [[ 9.54135765e-01 2.99366319e-01 -2.17945089e-03 3.19823549e+02] [-2.99365622e-01 9.54138253e-01 6.46589402e-04 -4.18061641e+01] [ 2.27306456e-03 3.55185994e-05 9.99997416e-01 -2.38897790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters 0.05145026404477732 Centerline is valid? [True, True] Translation: X:319.88, Y:-41.83, Z:-2.39 [[ 9.53180955e-01 3.02381368e-01 -3.40210079e-03 3.19880930e+02] [-3.02379693e-01 9.53187024e-01 1.00873257e-03 -4.18269538e+01] [ 3.54786026e-03 6.72215175e-05 9.99993704e-01 -2.38716871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters 0.0521406144856115 Centerline is valid? [True, True] Translation: X:319.94, Y:-41.84, Z:-2.39 [[ 9.52129376e-01 3.05667870e-01 -4.09937276e-03 3.19938733e+02] [-3.05665469e-01 9.52138196e-01 1.21540052e-03 -4.18432479e+01] [ 4.27467827e-03 9.58181542e-05 9.99990859e-01 -2.38902777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters 0.05151467875771823 Centerline is valid? [True, True] Translation: X:320.00, Y:-41.87, Z:-2.39 [[ 9.51595062e-01 3.07332871e-01 -3.65292060e-03 3.19996636e+02] [-3.07330972e-01 9.51602069e-01 1.08436847e-03 -4.18656632e+01] [ 3.80938888e-03 9.07759570e-05 9.99992740e-01 -2.38759106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters 0.05157777966219419 Centerline is valid? [True, True] Translation: X:320.06, Y:-41.88, Z:-2.39 [[ 9.51257370e-01 3.08368880e-01 -4.24851158e-03 3.20055865e+02] [-3.08366319e-01 9.51266851e-01 1.26144326e-03 -4.18805776e+01] [ 4.43045808e-03 1.10140679e-04 9.99990179e-01 -2.39057249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters 0.05178632752089068 Centerline is valid? [True, True] Translation: X:320.11, Y:-41.90, Z:-2.39 [[ 9.50982957e-01 3.09195710e-01 -5.42474837e-03 3.20114413e+02] [-3.09191552e-01 9.50998418e-01 1.61007452e-03 -4.19023355e+01] [ 5.65675526e-03 1.46132940e-04 9.99983990e-01 -2.39188707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters 0.050023324445890416 Centerline is valid? [True, True] Translation: X:320.17, Y:-41.93, Z:-2.39 [[ 9.51016604e-01 3.09087885e-01 -5.66555206e-03 3.20172965e+02] [-3.09083339e-01 9.51033468e-01 1.68310162e-03 -4.19281452e+01] [ 5.90835594e-03 1.50470154e-04 9.99982534e-01 -2.38954608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters 0.052187262067163905 Centerline is valid? [True, True] Translation: X:320.23, Y:-41.94, Z:-2.39 [[ 9.51216634e-01 3.08484730e-01 -4.90778074e-03 3.20233069e+02] [-3.08481308e-01 9.51229287e-01 1.45848041e-03 -4.19406670e+01] [ 5.11834370e-03 1.26627796e-04 9.99986893e-01 -2.39426412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters 0.05072111730574891 Centerline is valid? [True, True] Translation: X:320.29, Y:-41.97, Z:-2.39 [[ 9.51306826e-01 3.08227845e-01 -3.30443342e-03 3.20290367e+02] [-3.08226292e-01 9.51312561e-01 9.81899174e-04 -4.19675509e+01] [ 3.44619768e-03 8.44258749e-05 9.99994058e-01 -2.39040513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters 0.05079956741838697 Centerline is valid? [True, True] Translation: X:320.35, Y:-41.99, Z:-2.39 [[ 9.51136954e-01 3.08763152e-01 -1.95193198e-03 3.20349103e+02] [-3.08762610e-01 9.51138956e-01 5.81103492e-04 -4.19919467e+01] [ 2.03598189e-03 4.99746063e-05 9.99997926e-01 -2.38822821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters 0.05105598365410834 Centerline is valid? [True, True] Translation: X:320.41, Y:-42.00, Z:-2.39 [[ 9.50546935e-01 3.10574794e-01 -1.95469016e-03 3.20409359e+02] [-3.10574254e-01 9.50548944e-01 5.81955390e-04 -4.20035391e+01] [ 2.03876934e-03 5.39005251e-05 9.99997920e-01 -2.39161666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters 0.05045212941037782 Centerline is valid? [True, True] Translation: X:320.47, Y:-42.02, Z:-2.39 [[ 9.50123888e-01 3.11862777e-01 -2.49130625e-03 3.20468241e+02] [-3.11861905e-01 9.50127151e-01 7.41014256e-04 -4.20243878e+01] [ 2.59815247e-03 7.28881673e-05 9.99996622e-01 -2.39178425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters 0.05012756703143801 Centerline is valid? [True, True] Translation: X:320.53, Y:-42.05, Z:-2.39 [[ 9.49752695e-01 3.12983656e-01 -3.32413479e-03 3.20526402e+02] [-3.12982110e-01 9.49758507e-01 9.88777749e-04 -4.20481006e+01] [ 3.46659657e-03 1.01300391e-04 9.99993986e-01 -2.39023910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters 0.050647849485296284 Centerline is valid? [True, True] Translation: X:320.59, Y:-42.06, Z:-2.39 [[ 9.50322040e-01 3.11245047e-01 -3.81331501e-03 3.20585843e+02] [-3.11243000e-01 9.50329684e-01 1.13419215e-03 -4.20614309e+01] [ 3.97691814e-03 1.09019803e-04 9.99992086e-01 -2.39324642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters 0.05075095555663372 Centerline is valid? [True, True] Translation: X:320.64, Y:-42.08, Z:-2.39 [[ 9.50870848e-01 3.09573415e-01 -2.98840029e-03 3.20644250e+02] [-3.09572148e-01 9.50875541e-01 8.89086343e-04 -4.20824469e+01] [ 3.11683424e-03 7.97192135e-05 9.99995139e-01 -2.39250956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters 0.05133239488511345 Centerline is valid? [True, True] Translation: X:320.70, Y:-42.10, Z:-2.39 [[ 9.51645772e-01 3.07194305e-01 -1.40877383e-03 3.20702437e+02] [-3.07194020e-01 9.51646814e-01 4.19221247e-04 -4.21018637e+01] [ 1.46943751e-03 3.38167700e-05 9.99998920e-01 -2.39219327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters 0.05014169629913312 Centerline is valid? [True, True] Translation: X:320.76, Y:-42.12, Z:-2.39 [[ 9.52594860e-01 3.04241571e-01 3.14012161e-04 3.20759542e+02] [-3.04241557e-01 9.52594912e-01 -9.34212836e-05 -4.21191571e+01] [-3.27549025e-04 -6.54291419e-06 9.99999946e-01 -2.39235322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters 0.05097060803180466 Centerline is valid? [True, True] Translation: X:320.82, Y:-42.14, Z:-2.39 [[ 9.53421039e-01 3.01640145e-01 1.24278852e-03 3.20817851e+02] [-3.01639919e-01 9.53421849e-01 -3.69572942e-04 -4.21368536e+01] [-1.29637977e-03 -2.25160107e-05 9.99999159e-01 -2.39296836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters 0.051573735674912496 Centerline is valid? [True, True] Translation: X:320.88, Y:-42.16, Z:-2.39 [[ 9.54139064e-01 2.99362313e-01 9.23567717e-04 3.20876339e+02] [-2.99362188e-01 9.54139510e-01 -2.74465700e-04 -4.21592873e+01] [-9.63377136e-04 -1.46028057e-05 9.99999536e-01 -2.39258676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters 0.05009450913515629 Centerline is valid? [True, True] Translation: X:320.94, Y:-42.18, Z:-2.39 [[ 9.53822623e-01 3.00368711e-01 -1.02079029e-03 3.20936454e+02] [-3.00368557e-01 9.53823169e-01 3.04695709e-04 -4.21757977e+01] [ 1.06517449e-03 1.59876468e-05 9.99999433e-01 -2.39446940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters 0.05197433470393997 Centerline is valid? [True, True] Translation: X:321.00, Y:-42.19, Z:-2.40 [[ 9.53177325e-01 3.02409848e-01 -1.12704476e-03 3.20996049e+02] [-3.02409662e-01 9.53177991e-01 3.36372971e-04 -4.21893371e+01] [ 1.17599676e-03 2.02061374e-05 9.99999308e-01 -2.39587443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters 0.051698638197417865 Centerline is valid? [True, True] Translation: X:321.06, Y:-42.20, Z:-2.40 [[ 9.52429050e-01 3.04756071e-01 -1.62550345e-03 3.21055416e+02] [-3.04755689e-01 9.52430436e-01 4.84074233e-04 -4.22012509e+01] [ 1.69570353e-03 3.43350633e-05 9.99998562e-01 -2.39743861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters 0.051226932664830936 Centerline is valid? [True, True] Translation: X:321.11, Y:-42.22, Z:-2.40 [[ 9.52416048e-01 3.04796579e-01 -1.64865513e-03 3.21114781e+02] [-3.04796183e-01 9.52417474e-01 4.92110954e-04 -4.22222616e+01] [ 1.72020169e-03 3.38094227e-05 9.99998520e-01 -2.39579549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters 0.05109865857717914 Centerline is valid? [True, True] Translation: X:321.17, Y:-42.24, Z:-2.40 [[ 9.53056393e-01 3.02789441e-01 -1.43778510e-03 3.21173217e+02] [-3.02789139e-01 9.53057477e-01 4.28462143e-04 -4.22414778e+01] [ 1.50002565e-03 2.69971266e-05 9.99998875e-01 -2.39578385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters 0.051519362731810195 Centerline is valid? [True, True] Translation: X:321.23, Y:-42.26, Z:-2.40 [[ 9.54358671e-01 2.98661799e-01 -8.10363624e-04 3.21231014e+02] [-2.98661702e-01 9.54359015e-01 2.41519937e-04 -4.22586748e+01] [ 8.45510609e-04 1.15279325e-05 9.99999642e-01 -2.39797472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters 0.05133858195040268 Centerline is valid? [True, True] Translation: X:321.29, Y:-42.28, Z:-2.40 [[ 9.55477990e-01 2.95062254e-01 -2.76338933e-04 3.21288634e+02] [-2.95062243e-01 9.55478030e-01 8.24547740e-05 -4.22790826e+01] [ 2.88365071e-04 2.75346371e-06 9.99999958e-01 -2.39789910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters 0.05049040872924933 Centerline is valid? [True, True] Translation: X:321.35, Y:-42.30, Z:-2.40 [[ 9.57232381e-01 2.89319789e-01 4.78280652e-04 3.21346554e+02] [-2.89319754e-01 9.57232500e-01 -1.42327246e-04 -4.22999056e+01] [-4.99003873e-04 -2.13579235e-06 9.99999875e-01 -2.39805006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters 0.051419218741562925 Centerline is valid? [True, True] Translation: X:321.41, Y:-42.32, Z:-2.40 [[ 9.58298840e-01 2.85766439e-01 -9.35763136e-04 3.21406526e+02] [-2.85766302e-01 9.58299297e-01 2.79963901e-04 -4.23206651e+01] [ 9.76745442e-04 -8.79510402e-07 9.99999523e-01 -2.39904933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters 0.050755985203333215 Centerline is valid? [True, True] Translation: X:321.47, Y:-42.34, Z:-2.40 [[ 9.58679061e-01 2.84487436e-01 -1.16453920e-03 3.21465664e+02] [-2.84487223e-01 9.58679769e-01 3.48254918e-04 -4.23391005e+01] [ 1.21549432e-03 -2.56817450e-06 9.99999261e-01 -2.39965514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters 0.05092065202916971 Centerline is valid? [True, True] Translation: X:321.52, Y:-42.35, Z:-2.40 [[ 9.58547356e-01 2.84923774e-01 -2.32580814e-03 3.21524951e+02] [-2.84922927e-01 9.58550178e-01 6.94694785e-04 -4.23546528e+01] [ 2.42733887e-03 -3.22178483e-06 9.99997054e-01 -2.39883217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters 0.051374649587211864 Centerline is valid? [True, True] Translation: X:321.59, Y:-42.37, Z:-2.40 [[ 9.57990418e-01 2.86788753e-01 -2.56339399e-03 3.21586187e+02] [-2.86787732e-01 9.57993847e-01 7.65371068e-04 -4.23711055e+01] [ 2.67521548e-03 1.93179827e-06 9.99996422e-01 -2.40254060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters 0.05062627519052341 Centerline is valid? [True, True] Translation: X:321.65, Y:-42.39, Z:-2.40 [[ 9.57465160e-01 2.88537140e-01 -2.60517095e-03 3.21645859e+02] [-2.88536092e-01 9.57468704e-01 7.77856005e-04 -4.23880184e+01] [ 2.71881000e-03 6.91582046e-06 9.99996304e-01 -2.40188664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters 0.05066868485488503 Centerline is valid? [True, True] Translation: X:321.71, Y:-42.40, Z:-2.40 [[ 9.56657144e-01 2.91206424e-01 -2.43478954e-03 3.21705399e+02] [-2.91205515e-01 9.56660242e-01 7.27795340e-04 -4.24038330e+01] [ 2.54120503e-03 1.27735322e-05 9.99996771e-01 -2.40300235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters 0.051217124247274315 Centerline is valid? [True, True] Translation: X:321.77, Y:-42.42, Z:-2.40 [[ 9.55615391e-01 2.94604825e-01 -2.68747915e-03 3.21765051e+02] [-2.94603730e-01 9.55619169e-01 8.03558594e-04 -4.24197033e+01] [ 2.80493883e-03 2.38484217e-05 9.99996066e-01 -2.40209790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters 0.051122758604384366 Centerline is valid? [True, True] Translation: X:321.82, Y:-42.44, Z:-2.40 [[ 9.55259014e-01 2.95766052e-01 -1.63061381e-03 3.21824873e+02] [-2.95765650e-01 9.55260405e-01 4.87830312e-04 -4.24365165e+01] [ 1.70194445e-03 1.62752503e-05 9.99998552e-01 -2.40278512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters 0.05124321732192757 Centerline is valid? [True, True] Translation: X:321.88, Y:-42.45, Z:-2.40 [[ 9.54987750e-01 2.96644883e-01 -4.58957103e-04 3.21884225e+02] [-2.96644851e-01 9.54987860e-01 1.38115153e-04 -4.24535366e+01] [ 4.79269615e-04 4.24898248e-06 9.99999885e-01 -2.40291370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters 0.05110020910034164 Centerline is valid? [True, True] Translation: X:321.94, Y:-42.47, Z:-2.40 [[ 9.54590029e-01 2.97922545e-01 -1.83183057e-04 3.21943526e+02] [-2.97922540e-01 9.54590047e-01 5.56479660e-05 -4.24721311e+01] [ 1.91443507e-04 1.45336812e-06 9.99999982e-01 -2.40248233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters 0.05083531332956397 Centerline is valid? [True, True] Translation: X:322.00, Y:-42.49, Z:-2.40 [[ 9.53986137e-01 2.99850711e-01 -3.51326588e-05 3.22003410e+02] [-2.99850710e-01 9.53986138e-01 1.13811810e-05 -4.24880138e+01] [ 3.69287246e-05 -3.22936173e-07 9.99999999e-01 -2.40356895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters 0.05083878849945098 Centerline is valid? [True, True] Translation: X:322.06, Y:-42.51, Z:-2.40 [[ 9.53573216e-01 3.01161000e-01 -4.17389656e-04 3.22063257e+02] [-3.01160974e-01 9.53573307e-01 1.25784577e-04 -4.25051962e+01] [ 4.35893043e-04 5.75667187e-06 9.99999905e-01 -2.40417397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters 0.05114121494704408 Centerline is valid? [True, True] Translation: X:322.12, Y:-42.52, Z:-2.40 [[ 9.53017845e-01 3.02914073e-01 -2.26328396e-04 3.22121745e+02] [-3.02914066e-01 9.53017872e-01 6.78636143e-05 -4.25214310e+01] [ 2.36251850e-04 3.88281911e-06 9.99999972e-01 -2.40483520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters 0.05052166763888735 Centerline is valid? [True, True] Translation: X:322.18, Y:-42.54, Z:-2.41 [[ 9.52773713e-01 3.03681023e-01 2.97961369e-04 3.22182164e+02] [-3.03681010e-01 9.52773759e-01 -8.83730027e-05 -4.25378530e+01] [-3.10726977e-04 -6.28573534e-06 9.99999952e-01 -2.40577525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters 0.051145908862377625 Centerline is valid? [True, True] Translation: X:322.24, Y:-42.56, Z:-2.41 [[ 9.52228320e-01 3.05385926e-01 -8.14663867e-04 3.22241026e+02] [-3.05385828e-01 9.52228668e-01 2.44390300e-04 -4.25558766e+01] [ 8.50379646e-04 1.60714354e-05 9.99999638e-01 -2.40690534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters 0.05057752712409957 Centerline is valid? [True, True] Translation: X:322.30, Y:-42.58, Z:-2.41 [[ 9.52013409e-01 3.06051338e-01 -1.74552228e-03 3.22299574e+02] [-3.06050892e-01 9.52015009e-01 5.23836980e-04 -4.25758556e+01] [ 1.82208442e-03 3.55188227e-05 9.99998339e-01 -2.40671695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters 0.0511126432099281 Centerline is valid? [True, True] Translation: X:322.36, Y:-42.59, Z:-2.41 [[ 9.52695241e-01 3.03918303e-01 -2.33314187e-03 3.22358785e+02] [-3.03917499e-01 9.52698097e-01 7.00173707e-04 -4.25929671e+01] [ 2.43557542e-03 4.20304840e-05 9.99997033e-01 -2.40848864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters 0.050930316939180265 Centerline is valid? [True, True] Translation: X:322.42, Y:-42.61, Z:-2.41 [[ 9.53577520e-01 3.01141413e-01 -1.93989744e-03 3.22416615e+02] [-3.01140853e-01 9.53579492e-01 5.81589490e-04 -4.26115867e+01] [ 2.02498709e-03 2.95917059e-05 9.99997949e-01 -2.40958069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters 0.05082423440249182 Centerline is valid? [True, True] Translation: X:322.47, Y:-42.64, Z:-2.40 [[ 9.54981741e-01 2.96664455e-01 2.74051165e-04 3.22471587e+02] [-2.96664443e-01 9.54981781e-01 -8.21216239e-05 -4.26376041e+01] [-2.86076437e-04 -2.87658499e-06 9.99999959e-01 -2.40422116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters 0.05105425909161527 Centerline is valid? [True, True] Translation: X:322.53, Y:-42.66, Z:-2.40 [[ 9.55999448e-01 2.93367970e-01 5.38420256e-04 3.22530664e+02] [-2.93367926e-01 9.55999600e-01 -1.60714146e-04 -4.26562408e+01] [-5.61877932e-04 -4.31259826e-06 9.99999842e-01 -2.40487103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters 0.050794197560027766 Centerline is valid? [True, True] Translation: X:322.59, Y:-42.68, Z:-2.41 [[ 9.57294223e-01 2.89114945e-01 -5.64634680e-04 3.22589055e+02] [-2.89114895e-01 9.57294390e-01 1.69640866e-04 -4.26766478e+01] [ 5.89567321e-04 8.48075088e-07 9.99999826e-01 -2.40600208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters 0.05081049934678145 Centerline is valid? [True, True] Translation: X:322.65, Y:-42.69, Z:-2.41 [[ 9.57438669e-01 2.88635293e-01 -9.28941644e-04 3.22648230e+02] [-2.88635157e-01 9.57439120e-01 2.79637681e-04 -4.26949479e+01] [ 9.70118373e-04 3.89288194e-07 9.99999529e-01 -2.40775785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters 0.05103964729419822 Centerline is valid? [True, True] Translation: X:322.71, Y:-42.71, Z:-2.41 [[ 9.57391763e-01 2.88790010e-01 -1.15834460e-03 3.22708747e+02] [-2.88789800e-01 9.57392464e-01 3.48655831e-04 -4.27137152e+01] [ 1.20967871e-03 7.17884366e-07 9.99999268e-01 -2.40553891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters 0.05118897967852536 Centerline is valid? [True, True] Translation: X:322.77, Y:-42.73, Z:-2.41 [[ 9.56988356e-01 2.90124395e-01 -1.05920691e-03 3.22769082e+02] [-2.90124220e-01 9.56988942e-01 3.18434204e-04 -4.27308452e+01] [ 1.10603483e-03 2.56375293e-06 9.99999388e-01 -2.40654439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters 0.05125649096976285 Centerline is valid? [True, True] Translation: X:322.83, Y:-42.75, Z:-2.41 [[ 9.55985754e-01 2.93411406e-01 -9.92253674e-04 3.22828587e+02] [-2.93411254e-01 9.55986269e-01 2.98817642e-04 -4.27464431e+01] [ 1.03625739e-03 5.47298570e-06 9.99999463e-01 -2.40712335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters 0.05049533767136158 Centerline is valid? [True, True] Translation: X:322.89, Y:-42.76, Z:-2.41 [[ 9.55143074e-01 2.96141605e-01 -1.36297910e-03 3.22887358e+02] [-2.96141321e-01 9.55144047e-01 4.09860613e-04 -4.27617907e+01] [ 1.42321815e-03 1.21589055e-05 9.99998987e-01 -2.40818053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters 0.05092420604465095 Centerline is valid? [True, True] Translation: X:322.95, Y:-42.78, Z:-2.41 [[ 9.53841460e-01 3.00308433e-01 -1.14640442e-03 3.22947438e+02] [-3.00308235e-01 9.53842149e-01 3.44660268e-04 -4.27783298e+01] [ 1.19699324e-03 1.55234353e-05 9.99999283e-01 -2.40735285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters 0.05023363806044625 Centerline is valid? [True, True] Translation: X:323.01, Y:-42.80, Z:-2.41 [[ 9.53175518e-01 3.02417100e-01 -5.73739664e-04 3.23006836e+02] [-3.02417051e-01 9.53175691e-01 1.72848834e-04 -4.27952315e+01] [ 5.99147144e-04 8.75338073e-06 9.99999820e-01 -2.40738639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters 0.05016062784352638 Centerline is valid? [True, True] Translation: X:323.07, Y:-42.81, Z:-2.41 [[ 9.52942526e-01 3.03149330e-01 1.01279693e-03 3.23067615e+02] [-3.03149179e-01 9.52943064e-01 -3.03511086e-04 -4.28116847e+01] [-1.05714699e-03 -1.77999376e-05 9.99999441e-01 -2.40673629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters 0.0509817679695979 Centerline is valid? [True, True] Translation: X:323.13, Y:-42.82, Z:-2.41 [[ 9.53136542e-01 3.02534860e-01 1.84131509e-03 3.23127280e+02] [-3.02534356e-01 9.53138320e-01 -5.53204091e-04 -4.28244511e+01] [-1.92239150e-03 -2.97820415e-05 9.99998152e-01 -2.40838533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters 0.050111149857924545 Centerline is valid? [True, True] Translation: X:323.18, Y:-42.85, Z:-2.41 [[ 9.53902969e-01 3.00101379e-01 2.87879839e-03 3.23184089e+02] [-3.00100133e-01 9.53907312e-01 -8.65586804e-04 -4.28473456e+01] [-3.00587063e-03 -3.82419574e-05 9.99995482e-01 -2.40706575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters 0.05094459927443066 Centerline is valid? [True, True] Translation: X:323.24, Y:-42.86, Z:-2.41 [[ 9.54544755e-01 2.98054476e-01 2.79988415e-03 3.23243146e+02] [-2.98053290e-01 9.54548861e-01 -8.41475281e-04 -4.28622237e+01] [-2.92343170e-03 -3.12888639e-05 9.99995726e-01 -2.40954921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters 0.05080766657261929 Centerline is valid? [True, True] Translation: X:323.30, Y:-42.88, Z:-2.41 [[ 9.55490380e-01 2.95021138e-01 8.13694852e-04 3.23302189e+02] [-2.95021038e-01 9.55490726e-01 -2.44051487e-04 -4.28807485e+01] [-8.49478233e-04 -6.86825131e-06 9.99999639e-01 -2.41221518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters 0.05066757810287297 Centerline is valid? [True, True] Translation: X:323.36, Y:-42.90, Z:-2.41 [[ 9.56208682e-01 2.92685300e-01 5.21004478e-04 3.23360850e+02] [-2.92685258e-01 9.56208824e-01 -1.56010702e-04 -4.29000129e+01] [-5.43851118e-04 -3.31154276e-06 9.99999852e-01 -2.41240053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters 0.051197035677978904 Centerline is valid? [True, True] Translation: X:323.42, Y:-42.92, Z:-2.41 [[ 9.57752652e-01 2.87591306e-01 -1.04828821e-03 3.23420794e+02] [-2.87591132e-01 9.57753225e-01 3.16420209e-04 -4.29204805e+01] [ 1.09500111e-03 -1.57390327e-06 9.99999400e-01 -2.41305138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters 0.0505995982809834 Centerline is valid? [True, True] Translation: X:323.48, Y:-42.94, Z:-2.41 [[ 9.58757850e-01 2.84216490e-01 -2.09099390e-03 3.23478418e+02] [-2.84215791e-01 9.58760130e-01 6.30332298e-04 -4.29393646e+01] [ 2.18391242e-03 -1.00425524e-05 9.99997615e-01 -2.41414309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters 0.05151956257144148 Centerline is valid? [True, True] Translation: X:323.54, Y:-42.96, Z:-2.42 [[ 9.60195350e-01 2.79323504e-01 -1.80832865e-03 3.23535764e+02] [-2.79322972e-01 9.60197053e-01 5.45742061e-04 -4.29590765e+01] [ 1.88879043e-03 -1.89112558e-05 9.99998216e-01 -2.41668448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters 0.05174299334590222 Centerline is valid? [True, True] Translation: X:323.59, Y:-42.98, Z:-2.42 [[ 9.60959923e-01 2.76686923e-01 -6.11206546e-04 3.23594578e+02] [-2.76686861e-01 9.60960117e-01 1.84688226e-04 -4.29801358e+01] [ 6.38445931e-04 -8.36516268e-06 9.99999796e-01 -2.41712293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters 0.052129083269083366 Centerline is valid? [True, True] Translation: X:323.65, Y:-43.00, Z:-2.42 [[ 9.61328940e-01 2.75402488e-01 3.72307924e-04 3.23653825e+02] [-2.75402465e-01 9.61329012e-01 -1.11414245e-04 -4.29972730e+01] [-3.88594170e-04 4.57121819e-06 9.99999924e-01 -2.41512330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters 0.05195253770931147 Centerline is valid? [True, True] Translation: X:323.71, Y:-43.01, Z:-2.42 [[ 9.60716671e-01 2.77525962e-01 1.67883544e-03 3.23714164e+02] [-2.77525502e-01 9.60718138e-01 -5.05533558e-04 -4.30133903e+01] [-1.75318635e-03 1.97548670e-05 9.99998463e-01 -2.41534091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters 0.05106749159379328 Centerline is valid? [True, True] Translation: X:323.77, Y:-43.03, Z:-2.42 [[ 9.59044306e-01 2.83240813e-01 2.94288003e-03 3.23774100e+02] [-2.83239423e-01 9.59048821e-01 -8.87689710e-04 -4.30262534e+01] [-3.07379558e-03 1.77941199e-05 9.99995276e-01 -2.41519845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters 0.05221203711584275 Centerline is valid? [True, True] Translation: X:323.83, Y:-43.04, Z:-2.42 [[ 9.57867104e-01 2.87190621e-01 3.48693101e-03 3.23834480e+02] [-2.87188696e-01 9.57873451e-01 -1.05149146e-03 -4.30410590e+01] [-3.64201713e-03 5.78191002e-06 9.99993368e-01 -2.41547212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters 0.050973509276486445 Centerline is valid? [True, True] Translation: X:323.89, Y:-43.05, Z:-2.42 [[ 9.55885645e-01 2.93724752e-01 2.89878600e-03 3.23894615e+02] [-2.93723451e-01 9.55890041e-01 -8.74401175e-04 -4.30522609e+01] [-3.02775394e-03 -1.56138969e-05 9.99995416e-01 -2.41749782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters 0.050973410898063405 Centerline is valid? [True, True] Translation: X:323.95, Y:-43.07, Z:-2.42 [[ 9.54455208e-01 2.98343015e-01 2.58855983e-03 3.23954772e+02] [-2.98341993e-01 9.54458718e-01 -7.81372859e-04 -4.30670650e+01] [-2.70379063e-03 -2.64907048e-05 9.99996344e-01 -2.41657607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters 0.05150355774013491 Centerline is valid? [True, True] Translation: X:324.01, Y:-43.08, Z:-2.42 [[ 9.53973079e-01 2.99885835e-01 1.96233155e-03 3.24013836e+02] [-2.99885250e-01 9.53975097e-01 -5.92487805e-04 -4.30814375e+01] [-2.04969413e-03 -2.32568718e-05 9.99997899e-01 -2.41772804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters 0.05118015291295701 Centerline is valid? [True, True] Translation: X:324.07, Y:-43.10, Z:-2.42 [[ 9.54075418e-01 2.99564956e-01 9.65916780e-04 3.24074356e+02] [-2.99564815e-01 9.54075907e-01 -2.90837766e-04 -4.30978529e+01] [-1.00868273e-03 -1.18735191e-05 9.99999491e-01 -2.41903295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters 0.0513566036746903 Centerline is valid? [True, True] Translation: X:324.13, Y:-43.12, Z:-2.42 [[ 9.54776852e-01 2.97322914e-01 4.98712640e-04 3.24133079e+02] [-2.97322876e-01 9.54776982e-01 -1.50216282e-04 -4.31156600e+01] [-5.20822092e-04 -4.85564791e-06 9.99999864e-01 -2.41943388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters 0.05147604023349151 Centerline is valid? [True, True] Translation: X:324.19, Y:-43.14, Z:-2.42 [[ 9.56649848e-01 2.91240385e-01 3.25651384e-04 3.24192407e+02] [-2.91240368e-01 9.56649904e-01 -9.81195822e-05 -4.31362198e+01] [-3.40110750e-04 -9.76745487e-07 9.99999942e-01 -2.41968143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters 0.05151768053952973 Centerline is valid? [True, True] Translation: X:324.25, Y:-43.16, Z:-2.42 [[ 9.58104716e-01 2.86417709e-01 4.97965845e-04 3.24251859e+02] [-2.86417670e-01 9.58104846e-01 -1.50089855e-04 -4.31573760e+01] [-5.20091882e-04 1.17558090e-06 9.99999865e-01 -2.41924233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters 0.05177744668357136 Centerline is valid? [True, True] Translation: X:324.31, Y:-43.18, Z:-2.42 [[ 9.59874051e-01 2.80430837e-01 5.93503903e-04 3.24308698e+02] [-2.80430780e-01 9.59874234e-01 -1.79306266e-04 -4.31790713e+01] [-6.19972111e-04 5.67466922e-06 9.99999808e-01 -2.42000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters 0.052151028034498476 Centerline is valid? [True, True] Translation: X:324.37, Y:-43.20, Z:-2.42 [[ 9.60633890e-01 2.77816269e-01 8.06608229e-04 3.24366624e+02] [-2.77816163e-01 9.60634228e-01 -2.43098838e-04 -4.32000107e+01] [-8.42392286e-04 9.44017942e-06 9.99999645e-01 -2.42116837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters 0.053013976267375945 Centerline is valid? [True, True] Translation: X:324.43, Y:-43.21, Z:-2.42 [[ 9.61455961e-01 2.74958870e-01 2.35997132e-04 3.24427116e+02] [-2.74958861e-01 9.61455989e-01 -7.05728938e-05 -4.32126218e+01] [-2.46305500e-04 2.96322665e-06 9.99999970e-01 -2.41857176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters 0.05296277149763693 Centerline is valid? [True, True] Translation: X:324.48, Y:-43.23, Z:-2.42 [[ 9.61689920e-01 2.74139545e-01 -8.08103249e-05 3.24484286e+02] [-2.74139544e-01 9.61689924e-01 2.52171274e-05 -4.32334373e+01] [ 8.46274869e-05 -2.09775164e-06 9.99999996e-01 -2.42050825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters 0.05270033313862922 Centerline is valid? [True, True] Translation: X:324.55, Y:-43.25, Z:-2.42 [[ 9.62105654e-01 2.72675901e-01 7.50206069e-04 3.24545646e+02] [-2.72675807e-01 9.62105947e-01 -2.26805698e-04 -4.32461528e+01] [-7.83622169e-04 1.36479989e-05 9.99999693e-01 -2.41803006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters 0.05225816506086229 Centerline is valid? [True, True] Translation: X:324.60, Y:-43.27, Z:-2.42 [[ 9.62023925e-01 2.72963635e-01 9.06759194e-04 3.24602546e+02] [-2.72963499e-01 9.62024352e-01 -2.73574400e-04 -4.32725095e+01] [-9.47000289e-04 1.56729563e-05 9.99999551e-01 -2.42288800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters 0.051982699839845686 Centerline is valid? [True, True] Translation: X:324.66, Y:-43.29, Z:-2.42 [[ 9.61517083e-01 2.74745101e-01 1.70422391e-04 3.24661998e+02] [-2.74745097e-01 9.61517098e-01 -5.08042716e-05 -4.32874961e+01] [-1.77822268e-04 2.02645878e-06 9.99999984e-01 -2.42264690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters 0.05175006710541415 Centerline is valid? [True, True] Translation: X:324.72, Y:-43.30, Z:-2.42 [[ 9.60956954e-01 2.76697860e-01 1.64253251e-04 3.24723202e+02] [-2.76697855e-01 9.60956968e-01 -4.89847926e-05 -4.33002974e+01] [-1.71394294e-04 1.62375475e-06 9.99999985e-01 -2.42173372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters 0.05206792125312795 Centerline is valid? [True, True] Translation: X:324.78, Y:-43.32, Z:-2.42 [[ 9.60096020e-01 2.79670448e-01 2.70362401e-04 3.24782626e+02] [-2.79670436e-01 9.60096058e-01 -8.14831850e-05 -4.33179693e+01] [-2.82362314e-04 2.61931123e-06 9.99999960e-01 -2.42428239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters 0.05201470546565544 Centerline is valid? [True, True] Translation: X:324.84, Y:-43.33, Z:-2.43 [[ 9.58531005e-01 2.84988160e-01 -2.48490489e-04 3.24842123e+02] [-2.84988150e-01 9.58531037e-01 7.55363576e-05 -4.33324843e+01] [ 2.59712814e-04 -1.58709600e-06 9.99999966e-01 -2.42592199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters 0.05183867901850034 Centerline is valid? [True, True] Translation: X:324.90, Y:-43.35, Z:-2.43 [[ 9.57086559e-01 2.89802201e-01 -6.03398493e-05 3.24901612e+02] [-2.89802200e-01 9.57086561e-01 1.91404693e-05 -4.33481368e+01] [ 6.32974089e-05 -8.32464832e-07 9.99999998e-01 -2.42801122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters 0.05234033043975416 Centerline is valid? [True, True] Translation: X:324.96, Y:-43.36, Z:-2.42 [[ 9.56186822e-01 2.92757168e-01 -4.59984283e-05 3.24962093e+02] [-2.92757167e-01 9.56186823e-01 1.49463825e-05 -4.33646431e+01] [ 4.83587515e-05 -8.25164403e-07 9.99999999e-01 -2.42436982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters 0.05105299901801791 Centerline is valid? [True, True] Translation: X:325.02, Y:-43.38, Z:-2.43 [[ 9.55265298e-01 2.95748870e-01 9.03121304e-04 3.25022784e+02] [-2.95748743e-01 9.55265725e-01 -2.73782400e-04 -4.33797871e+01] [-9.43691663e-04 -5.56216440e-06 9.99999555e-01 -2.42739657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters 0.050963621007805174 Centerline is valid? [True, True] Translation: X:325.08, Y:-43.40, Z:-2.43 [[ 9.55309388e-01 2.95606042e-01 1.01988307e-03 3.25082270e+02] [-2.95605881e-01 9.55309933e-01 -3.08719372e-04 -4.33975829e+01] [-1.06556374e-03 -6.56091996e-06 9.99999432e-01 -2.42836072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters 0.05194395407734446 Centerline is valid? [True, True] Translation: X:325.14, Y:-43.42, Z:-2.43 [[ 9.56345010e-01 2.92238567e-01 9.17217551e-04 3.25140313e+02] [-2.92238435e-01 9.56345450e-01 -2.77734499e-04 -4.34191591e+01] [-9.58341564e-04 -2.43621870e-06 9.99999541e-01 -2.42800611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters 0.05162530047166676 Centerline is valid? [True, True] Translation: X:325.20, Y:-43.44, Z:-2.43 [[ 9.57178711e-01 2.89496319e-01 8.92791004e-04 3.25199595e+02] [-2.89496192e-01 9.57179127e-01 -2.70298017e-04 -4.34392195e+01] [-9.32811195e-04 2.63910733e-07 9.99999565e-01 -2.42869085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters 0.050777363202808505 Centerline is valid? [True, True] Translation: X:325.26, Y:-43.46, Z:-2.43 [[ 9.58386637e-01 2.85473364e-01 -1.08439049e-04 3.25257624e+02] [-2.85473362e-01 9.58386643e-01 3.38050195e-05 -4.34599962e+01] [ 1.13576969e-04 -1.44181900e-06 9.99999994e-01 -2.42802364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters 0.051979788819046115 Centerline is valid? [True, True] Translation: X:325.32, Y:-43.48, Z:-2.43 [[ 9.59199980e-01 2.82728489e-01 -1.80486105e-05 3.25315777e+02] [-2.82728489e-01 9.59199980e-01 5.78944109e-06 -4.34816207e+01] [ 1.89490666e-05 -4.50375397e-07 1.00000000e+00 -2.43012999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters 0.05187852129316306 Centerline is valid? [True, True] Translation: X:325.37, Y:-43.50, Z:-2.43 [[ 9.60355720e-01 2.78777476e-01 -1.03054139e-04 3.25374379e+02] [-2.78777475e-01 9.60355725e-01 3.17607307e-05 -4.35015557e+01] [ 1.07822809e-04 -1.77242682e-06 9.99999994e-01 -2.43029703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters 0.05193694711561895 Centerline is valid? [True, True] Translation: X:325.43, Y:-43.52, Z:-2.43 [[ 9.61061444e-01 2.76334633e-01 -2.65438308e-04 3.25432768e+02] [-2.76334621e-01 9.61061481e-01 8.11804162e-05 -4.35186417e+01] [ 2.77535494e-04 -4.66957372e-06 9.99999961e-01 -2.42814641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters 0.053096142949527664 Centerline is valid? [True, True] Translation: X:325.49, Y:-43.54, Z:-2.43 [[ 9.62048083e-01 2.72879981e-01 -4.41299485e-05 3.25491346e+02] [-2.72879981e-01 9.62048084e-01 1.35422120e-05 -4.35363844e+01] [ 4.61505309e-05 -9.86079631e-07 9.99999999e-01 -2.42742016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters 0.052857156566156395 Centerline is valid? [True, True] Translation: X:325.55, Y:-43.56, Z:-2.43 [[ 9.62326123e-01 2.71893174e-01 1.59235448e-03 3.25547974e+02] [-2.71892745e-01 9.62327440e-01 -4.83826396e-04 -4.35609767e+01] [-1.66391550e-03 3.26491507e-05 9.99998615e-01 -2.42835077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters 0.052126539103505495 Centerline is valid? [True, True] Translation: X:325.61, Y:-43.57, Z:-2.43 [[ 9.61893176e-01 2.73405550e-01 3.30492479e-03 3.25608635e+02] [-2.73403708e-01 9.61898852e-01 -1.00557813e-03 -4.35743358e+01] [-3.45393400e-03 6.36800445e-05 9.99994033e-01 -2.42744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters 0.052318952713861326 Centerline is valid? [True, True] Translation: X:325.67, Y:-43.59, Z:-2.43 [[ 9.60983356e-01 2.76582375e-01 3.63044143e-03 3.25667090e+02] [-2.76580174e-01 9.60990212e-01 -1.10492526e-03 -4.35917413e+01] [-3.79442153e-03 5.77066631e-05 9.99992799e-01 -2.42861863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters 0.05196134396695007 Centerline is valid? [True, True] Translation: X:325.73, Y:-43.60, Z:-2.43 [[ 9.59185132e-01 2.82748627e-01 4.13474732e-03 3.25727494e+02] [-2.82745828e-01 9.59194043e-01 -1.25855638e-03 -4.35985374e+01] [-4.32188009e-03 3.81060152e-05 9.99990660e-01 -2.42746694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters 0.05261344514972218 Centerline is valid? [True, True] Translation: X:325.79, Y:-43.61, Z:-2.43 [[ 9.57380367e-01 2.88799039e-01 4.23641083e-03 3.25787386e+02] [-2.88796161e-01 9.57389740e-01 -1.28932401e-03 -4.36139410e+01] [-4.42825180e-03 1.09143048e-05 9.99990195e-01 -2.42871140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters 0.05195769898435527 Centerline is valid? [True, True] Translation: X:325.85, Y:-43.62, Z:-2.43 [[ 9.54053714e-01 2.99620941e-01 2.96702269e-03 3.25849292e+02] [-2.99619581e-01 9.54058327e-01 -9.03078400e-04 -4.36207106e+01] [-3.10129390e-03 -2.73927945e-05 9.99995191e-01 -2.43154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters 0.052074266422413945 Centerline is valid? [True, True] Translation: X:325.91, Y:-43.63, Z:-2.43 [[ 9.51646750e-01 3.07178276e-01 3.15746046e-03 3.25909871e+02] [-3.07176776e-01 9.51651987e-01 -9.61487590e-04 -4.36308801e+01] [-3.30015162e-03 -5.49019854e-05 9.99994553e-01 -2.43115625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters 0.05191800420315353 Centerline is valid? [True, True] Translation: X:325.97, Y:-43.65, Z:-2.43 [[ 9.50801066e-01 3.09782139e-01 3.51559103e-03 3.25969643e+02] [-3.09780297e-01 9.50807563e-01 -1.07048456e-03 -4.36486037e+01] [-3.67426753e-03 -7.12429698e-05 9.99993247e-01 -2.43020665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters 0.05168643448452298 Centerline is valid? [True, True] Translation: X:326.03, Y:-43.67, Z:-2.43 [[ 9.50429896e-01 3.10918501e-01 3.56350667e-03 3.26028881e+02] [-3.10916618e-01 9.50436573e-01 -1.08493076e-03 -4.36655855e+01] [-3.72421212e-03 -7.68028094e-05 9.99993062e-01 -2.43103669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters 0.0516866446098244 Centerline is valid? [True, True] Translation: X:326.09, Y:-43.68, Z:-2.43 [[ 9.50623924e-01 3.10335993e-01 2.39298398e-03 3.26087984e+02] [-3.10335142e-01 9.50626935e-01 -7.28518547e-04 -4.36840706e+01] [-2.50092056e-03 -5.00798645e-05 9.99996871e-01 -2.43258966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters 0.0516015689512171 Centerline is valid? [True, True] Translation: X:326.15, Y:-43.70, Z:-2.43 [[ 9.50937187e-01 3.09377392e-01 2.02371222e-03 3.26147026e+02] [-3.09376781e-01 9.50939340e-01 -6.16197086e-04 -4.37046157e+01] [-2.11506501e-03 -4.01248485e-05 9.99997762e-01 -2.43321488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters 0.051196377321304526 Centerline is valid? [True, True] Translation: X:326.21, Y:-43.72, Z:-2.43 [[ 9.51163002e-01 3.08679131e-01 2.47766111e-03 3.26205538e+02] [-3.08678211e-01 9.51166227e-01 -7.54977595e-04 -4.37221797e+01] [-2.58971340e-03 -4.66932446e-05 9.99996646e-01 -2.43376743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters 0.0512217346507261 Centerline is valid? [True, True] Translation: X:326.26, Y:-43.74, Z:-2.43 [[ 9.51710648e-01 3.06981466e-01 3.03683333e-03 3.26264583e+02] [-3.06980074e-01 9.51715492e-01 -9.25872696e-04 -4.37422837e+01] [-3.17442708e-03 -5.10844164e-05 9.99994960e-01 -2.43426684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters 0.051365271599490746 Centerline is valid? [True, True] Translation: X:326.32, Y:-43.76, Z:-2.44 [[ 9.52255206e-01 3.05287168e-01 3.12547791e-03 3.26324049e+02] [-3.05285683e-01 9.52260334e-01 -9.53318751e-04 -4.37586603e+01] [-3.26730462e-03 -4.63609146e-05 9.99994661e-01 -2.43594053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters 0.05138414291367257 Centerline is valid? [True, True] Translation: X:326.38, Y:-43.78, Z:-2.43 [[ 9.52634822e-01 3.04099103e-01 3.26070613e-03 3.26381456e+02] [-3.04097479e-01 9.52640401e-01 -9.94982174e-04 -4.37839739e+01] [-3.40885358e-03 -4.37178475e-05 9.99994189e-01 -2.43477068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters 0.051185613141742664 Centerline is valid? [True, True] Translation: X:326.44, Y:-43.81, Z:-2.44 [[ 9.53740309e-01 3.00627485e-01 1.59349816e-03 3.26438252e+02] [-3.00627092e-01 9.53741640e-01 -4.86036376e-04 -4.38060048e+01] [-1.66590145e-03 -1.54962364e-05 9.99998612e-01 -2.43555572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters 0.0515135939211676 Centerline is valid? [True, True] Translation: X:326.50, Y:-43.83, Z:-2.43 [[ 9.54525770e-01 2.98126888e-01 9.55143344e-04 3.26495724e+02] [-2.98126746e-01 9.54526248e-01 -2.91572141e-04 -4.38302567e+01] [-9.98634888e-04 -6.44065475e-06 9.99999501e-01 -2.43424387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters 0.05124301048421027 Centerline is valid? [True, True] Translation: X:326.55, Y:-43.85, Z:-2.44 [[ 9.54895080e-01 2.96940015e-01 1.41931791e-03 3.26553655e+02] [-2.96939699e-01 9.54896134e-01 -4.33010020e-04 -4.38488415e+01] [-1.48387919e-03 -7.97269582e-06 9.99998899e-01 -2.43678429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters 0.05066224514326477 Centerline is valid? [True, True] Translation: X:326.61, Y:-43.87, Z:-2.44 [[ 9.55329510e-01 2.95536489e-01 1.92615589e-03 3.26611094e+02] [-2.95535904e-01 9.55331452e-01 -5.88227760e-04 -4.38706986e+01] [-2.01396007e-03 -7.29688332e-06 9.99997972e-01 -2.43765825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters 0.051155925254082475 Centerline is valid? [True, True] Translation: X:326.67, Y:-43.89, Z:-2.44 [[ 9.55725637e-01 2.94250994e-01 2.20412138e-03 3.26668212e+02] [-2.94250224e-01 9.55728179e-01 -6.73568571e-04 -4.38927959e+01] [-2.30473914e-03 -4.81645739e-06 9.99997344e-01 -2.43595378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters 0.052016139106484095 Centerline is valid? [True, True] Translation: X:326.73, Y:-43.91, Z:-2.44 [[ 9.56038826e-01 2.93225849e-01 2.89211568e-03 3.26726330e+02] [-2.93224515e-01 9.56043201e-01 -8.84576892e-04 -4.39147200e+01] [-3.02436835e-03 -2.34936472e-06 9.99995427e-01 -2.43720802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters 0.05040366077872218 Centerline is valid? [True, True] Translation: X:326.78, Y:-43.94, Z:-2.44 [[ 9.55439779e-01 2.95173859e-01 2.68752413e-03 3.26784827e+02] [-2.95172715e-01 9.55443558e-01 -8.21821828e-04 -4.39351225e+01] [-2.81035794e-03 -8.08252800e-06 9.99996051e-01 -2.43912961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters 0.05102884636597415 Centerline is valid? [True, True] Translation: X:326.84, Y:-43.95, Z:-2.44 [[ 9.54605720e-01 2.97857271e-01 2.99409587e-03 3.26843903e+02] [-2.97855862e-01 9.54610416e-01 -9.16149256e-04 -4.39538684e+01] [-3.13107682e-03 -1.72476875e-05 9.99995098e-01 -2.43916454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters 0.051681128262027726 Centerline is valid? [True, True] Translation: X:326.90, Y:-43.97, Z:-2.44 [[ 9.53589300e-01 3.01096220e-01 2.91781337e-03 3.26902772e+02] [-3.01094897e-01 9.53593763e-01 -8.93100519e-04 -4.39740408e+01] [-3.05131782e-03 -2.68876167e-05 9.99995344e-01 -2.43904071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters 0.04971930349925691 Centerline is valid? [True, True] Translation: X:326.96, Y:-44.00, Z:-2.44 [[ 9.51882202e-01 3.06451643e-01 2.76844985e-03 3.26960578e+02] [-3.06450472e-01 9.51886227e-01 -8.48116289e-04 -4.39954679e+01] [-2.89515591e-03 -4.10859616e-05 9.99995808e-01 -2.43926183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters 0.05034113907582833 Centerline is valid? [True, True] Translation: X:327.02, Y:-44.01, Z:-2.44 [[ 9.50919245e-01 3.09419685e-01 3.47101572e-03 3.27019389e+02] [-3.09417865e-01 9.50925578e-01 -1.06308488e-03 -4.40123144e+01] [-3.62961702e-03 -6.30863996e-05 9.99993411e-01 -2.44040957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters 0.05079524424541799 Centerline is valid? [True, True] Translation: X:327.08, Y:-44.03, Z:-2.44 [[ 9.50302159e-01 3.11305135e-01 3.86262063e-03 3.27077672e+02] [-3.11302895e-01 9.50310006e-01 -1.18359507e-03 -4.40312793e+01] [-4.03914626e-03 -7.76720316e-05 9.99991840e-01 -2.44039417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters 0.04979713314653967 Centerline is valid? [True, True] Translation: X:327.14, Y:-44.05, Z:-2.44 [[ 9.50457450e-01 3.10833430e-01 3.63509619e-03 3.27136604e+02] [-3.10831441e-01 9.50464399e-01 -1.11423123e-03 -4.40521518e+01] [-3.80136983e-03 -7.08728145e-05 9.99992772e-01 -2.44129485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters 0.05021991378678836 Centerline is valid? [True, True] Translation: X:327.20, Y:-44.07, Z:-2.44 [[ 9.50874393e-01 3.09563799e-01 2.85365591e-03 3.27195403e+02] [-3.09562567e-01 9.50878673e-01 -8.75075176e-04 -4.40739455e+01] [-2.98437214e-03 -5.12984697e-05 9.99995545e-01 -2.44283977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters 0.050635250408420235 Centerline is valid? [True, True] Translation: X:327.25, Y:-44.09, Z:-2.44 [[ 9.51819575e-01 3.06653963e-01 1.68607817e-03 3.27254112e+02] [-3.06653528e-01 9.51821068e-01 -5.17217343e-04 -4.40919541e+01] [-1.76345147e-03 -2.47442267e-05 9.99998445e-01 -2.44424280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters 0.05041983319598707 Centerline is valid? [True, True] Translation: X:327.31, Y:-44.11, Z:-2.45 [[ 9.51982551e-01 3.06150863e-01 9.33582891e-04 3.27312834e+02] [-3.06150730e-01 9.51983009e-01 -2.85708051e-04 -4.41076927e+01] [-9.76224816e-04 -1.38280040e-05 9.99999523e-01 -2.44519893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters 0.049975104132619935 Centerline is valid? [True, True] Translation: X:327.37, Y:-44.13, Z:-2.44 [[ 9.51244388e-01 3.08433971e-01 1.61266750e-03 3.27372217e+02] [-3.08433576e-01 9.51245754e-01 -4.94345854e-04 -4.41269336e+01] [-1.68651617e-03 -2.71570848e-05 9.99998577e-01 -2.44405963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters 0.050081491916474825 Centerline is valid? [True, True] Translation: X:327.43, Y:-44.14, Z:-2.45 [[ 9.50527605e-01 3.10636181e-01 1.56030942e-03 3.27432117e+02] [-3.10635813e-01 9.50528886e-01 -4.78942673e-04 -4.41434521e+01] [-1.63189609e-03 -2.94397519e-05 9.99998668e-01 -2.44502318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters 0.050246053944652765 Centerline is valid? [True, True] Translation: X:327.49, Y:-44.16, Z:-2.45 [[ 9.50426411e-01 3.10948697e-01 7.38211571e-04 3.27491687e+02] [-3.10948615e-01 9.50426698e-01 -2.26295716e-04 -4.41618824e+01] [-7.71982344e-04 -1.44684409e-05 9.99999702e-01 -2.44596657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters 0.05006782086492946 Centerline is valid? [True, True] Translation: X:327.55, Y:-44.18, Z:-2.45 [[ 9.50958723e-01 3.09316401e-01 9.33233860e-04 3.27551129e+02] [-3.09316269e-01 9.50959181e-01 -2.86397107e-04 -4.41817671e+01] [-9.76054630e-04 -1.63125883e-05 9.99999524e-01 -2.44526748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters 0.05090728758588498 Centerline is valid? [True, True] Translation: X:327.61, Y:-44.19, Z:-2.45 [[ 9.51466369e-01 3.07748153e-01 1.68022010e-03 3.27611885e+02] [-3.07747722e-01 9.51467852e-01 -5.15592656e-04 -4.41913093e+01] [-1.75734809e-03 -2.65148346e-05 9.99998456e-01 -2.44769888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters 0.05088615098602601 Centerline is valid? [True, True] Translation: X:327.67, Y:-44.21, Z:-2.45 [[ 9.51407807e-01 3.07927106e-01 2.02050650e-03 3.27670846e+02] [-3.07926483e-01 9.51409952e-01 -6.20481328e-04 -4.42141912e+01] [-2.11339301e-03 -3.18366803e-05 9.99997766e-01 -2.44595849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters 0.05080937750326688 Centerline is valid? [True, True] Translation: X:327.73, Y:-44.23, Z:-2.45 [[ 9.50802108e-01 3.09795088e-01 1.53431778e-03 3.27730455e+02] [-3.09794731e-01 9.50803346e-01 -4.71352118e-04 -4.42285132e+01] [-1.60485705e-03 -2.71609751e-05 9.99998712e-01 -2.44726884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters 0.0500431443267803 Centerline is valid? [True, True] Translation: X:327.79, Y:-44.25, Z:-2.45 [[ 9.50243044e-01 3.11508186e-01 8.98241249e-04 3.27788133e+02] [-3.11508065e-01 9.50243469e-01 -2.75431053e-04 -4.42525763e+01] [-9.39346908e-04 -1.80829510e-05 9.99999559e-01 -2.44597432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters 0.050658380089664806 Centerline is valid? [True, True] Translation: X:327.85, Y:-44.27, Z:-2.45 [[ 9.49968741e-01 3.12344426e-01 5.92170670e-04 3.27847170e+02] [-3.12344374e-01 9.49968925e-01 -1.81418172e-04 -4.42673343e+01] [-6.19208690e-04 -1.26195844e-05 9.99999808e-01 -2.44769923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters 0.05033517985585881 Centerline is valid? [True, True] Translation: X:327.91, Y:-44.28, Z:-2.45 [[ 9.49409233e-01 3.14041535e-01 1.47987356e-04 3.27906843e+02] [-3.14041532e-01 9.49409245e-01 -4.54206578e-05 -4.42792712e+01] [-1.54764537e-04 -3.35138386e-06 9.99999988e-01 -2.45033903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters 0.050641875804628804 Centerline is valid? [True, True] Translation: X:327.97, Y:-44.30, Z:-2.45 [[ 9.49315089e-01 3.14325962e-01 2.27875314e-04 3.27965119e+02] [-3.14325955e-01 9.49315116e-01 -6.91769620e-05 -4.43026162e+01] [-2.38069595e-04 -5.95639166e-06 9.99999972e-01 -2.44853423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters 0.05069940424719803 Centerline is valid? [True, True] Translation: X:328.02, Y:-44.32, Z:-2.45 [[ 9.49912434e-01 3.12515757e-01 5.18270327e-04 3.28023596e+02] [-3.12515716e-01 9.49912576e-01 -1.59456782e-04 -4.43190671e+01] [-5.42144258e-04 -1.04976423e-05 9.99999853e-01 -2.45026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters 0.05056170292843674 Centerline is valid? [True, True] Translation: X:328.08, Y:-44.34, Z:-2.45 [[ 9.50842295e-01 3.09668381e-01 2.10313520e-03 3.28081322e+02] [-3.09667706e-01 9.50844621e-01 -6.47490693e-04 -4.43382071e+01] [-2.20026218e-03 -3.56115155e-05 9.99997579e-01 -2.44964910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters 0.05013868558956633 Centerline is valid? [True, True] Translation: X:328.14, Y:-44.36, Z:-2.45 [[ 9.51400076e-01 3.07941477e-01 3.15326961e-03 3.28141535e+02] [-3.07939950e-01 9.51405300e-01 -9.70810477e-04 -4.43557928e+01] [-3.29899023e-03 -4.73885253e-05 9.99994557e-01 -2.45009357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters 0.05099294340176585 Centerline is valid? [True, True] Translation: X:328.20, Y:-44.38, Z:-2.45 [[ 9.51947736e-01 3.06241835e-01 3.38317362e-03 3.28199817e+02] [-3.06240067e-01 9.51953747e-01 -1.04147843e-03 -4.43765045e+01] [-3.53956907e-03 -4.46302837e-05 9.99993735e-01 -2.44994709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters 0.05066418042126023 Centerline is valid? [True, True] Translation: X:328.26, Y:-44.40, Z:-2.45 [[ 9.52128958e-01 3.05679306e-01 3.25713748e-03 3.28259144e+02] [-3.05677662e-01 9.52134529e-01 -1.00330160e-03 -4.43968217e+01] [-3.40792160e-03 -4.03616653e-05 9.99994192e-01 -2.44992638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters 0.05024967826027659 Centerline is valid? [True, True] Translation: X:328.32, Y:-44.42, Z:-2.45 [[ 9.52268474e-01 3.05252083e-01 2.43290010e-03 3.28318993e+02] [-3.05251165e-01 9.52271582e-01 -7.48993242e-04 -4.44163870e+01] [-2.54541338e-03 -2.94029408e-05 9.99996760e-01 -2.45085040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters 0.050585249111011234 Centerline is valid? [True, True] Translation: X:328.38, Y:-44.43, Z:-2.45 [[ 9.52149098e-01 3.05633229e-01 6.51879968e-04 3.28378122e+02] [-3.05633163e-01 9.52149321e-01 -2.00212053e-04 -4.44338103e+01] [-6.81878525e-04 -8.60441113e-06 9.99999767e-01 -2.45273686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters 0.050510506993947324 Centerline is valid? [True, True] Translation: X:328.44, Y:-44.45, Z:-2.45 [[ 9.52402252e-01 3.04844040e-01 2.48974530e-04 3.28436228e+02] [-3.04844030e-01 9.52402284e-01 -7.63023105e-05 -4.44514847e+01] [-2.60384216e-04 -3.22790696e-06 9.99999966e-01 -2.45351803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters 0.05073551560837259 Centerline is valid? [True, True] Translation: X:328.50, Y:-44.47, Z:-2.45 [[ 9.52953560e-01 3.03116260e-01 2.11708520e-04 3.28495527e+02] [-3.03116253e-01 9.52953584e-01 -6.49986912e-05 -4.44718920e+01] [-2.21450553e-04 -2.23155907e-06 9.99999975e-01 -2.45289163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters 0.05079138853255279 Centerline is valid? [True, True] Translation: X:328.55, Y:-44.49, Z:-2.45 [[ 9.53791740e-01 3.00468348e-01 2.96830468e-04 3.28553696e+02] [-3.00468334e-01 9.53791787e-01 -9.07966542e-05 -4.44918512e+01] [-3.10395983e-04 -2.58705717e-06 9.99999952e-01 -2.45424444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters 0.05076219366393095 Centerline is valid? [True, True] Translation: X:328.61, Y:-44.51, Z:-2.45 [[ 9.53920648e-01 3.00057463e-01 9.56945133e-04 3.28612815e+02] [-3.00057319e-01 9.53921128e-01 -2.94546964e-04 -4.45103284e+01] [-1.00123120e-03 -6.16396018e-06 9.99999499e-01 -2.45313238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters 0.05047975342385799 Centerline is valid? [True, True] Translation: X:328.67, Y:-44.53, Z:-2.45 [[ 9.53436658e-01 3.01593222e-01 2.60330890e-04 3.28671330e+02] [-3.01593212e-01 9.53436693e-01 -8.02496923e-05 -4.45264438e+01] [-2.72411786e-04 -2.00103083e-06 9.99999963e-01 -2.45373378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters 0.05046705850745713 Centerline is valid? [True, True] Translation: X:328.73, Y:-44.54, Z:-2.45 [[ 9.53042321e-01 3.02837124e-01 1.05671193e-04 3.28731233e+02] [-3.02837122e-01 9.53042327e-01 -3.23187951e-05 -4.45432871e+01] [-1.10496451e-04 -1.19998060e-06 9.99999994e-01 -2.45494419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters 0.051034777142141274 Centerline is valid? [True, True] Translation: X:328.79, Y:-44.56, Z:-2.46 [[ 9.52967275e-01 3.03073191e-01 -1.18775267e-04 3.28791423e+02] [-3.03073189e-01 9.52967282e-01 3.76990269e-05 -4.45623464e+01] [ 1.24614507e-04 7.16598277e-08 9.99999992e-01 -2.45546871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters 0.050883296038513756 Centerline is valid? [True, True] Translation: X:328.85, Y:-44.58, Z:-2.46 [[ 9.52886993e-01 3.03324040e-01 -9.51226076e-04 3.28850115e+02] [-3.03323897e-01 9.52887468e-01 2.94788440e-04 -4.45789186e+01] [ 9.95827828e-04 7.62953040e-06 9.99999504e-01 -2.45724367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters 0.0505689224504504 Centerline is valid? [True, True] Translation: X:328.91, Y:-44.60, Z:-2.46 [[ 9.52415502e-01 3.04801227e-01 -9.60708209e-04 3.28909100e+02] [-3.04801081e-01 9.52415987e-01 2.97807094e-04 -4.45958215e+01] [ 1.00576582e-03 9.18880811e-06 9.99999494e-01 -2.45766860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters 0.050755953591098656 Centerline is valid? [True, True] Translation: X:328.97, Y:-44.61, Z:-2.46 [[ 9.51563808e-01 3.07451182e-01 -3.00903691e-04 3.28968928e+02] [-3.07451168e-01 9.51563855e-01 9.33533619e-05 -4.46122302e+01] [ 3.15030678e-04 3.68151065e-06 9.99999950e-01 -2.45711942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters 0.05102810588230181 Centerline is valid? [True, True] Translation: X:329.03, Y:-44.62, Z:-2.46 [[ 9.51131801e-01 3.08785177e-01 1.08564114e-04 3.29028781e+02] [-3.08785175e-01 9.51131807e-01 -3.27736650e-05 -4.46249617e+01] [-1.13378804e-04 -2.35091407e-06 9.99999994e-01 -2.45992925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters 0.050674318559359964 Centerline is valid? [True, True] Translation: X:329.09, Y:-44.64, Z:-2.46 [[ 9.50844370e-01 3.09669092e-01 -1.92719639e-04 3.29088036e+02] [-3.09669086e-01 9.50844390e-01 5.99329968e-05 -4.46448731e+01] [ 2.01805784e-04 2.69236194e-06 9.99999980e-01 -2.46016804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters 0.04981399936689773 Centerline is valid? [True, True] Translation: X:329.15, Y:-44.66, Z:-2.46 [[ 9.50828540e-01 3.09717718e-01 -1.52424014e-04 3.29148203e+02] [-3.09717714e-01 9.50828552e-01 4.81102005e-05 -4.46610979e+01] [ 1.59829686e-04 1.46386550e-06 9.99999987e-01 -2.46175196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters 0.05048847775155569 Centerline is valid? [True, True] Translation: X:329.21, Y:-44.68, Z:-2.46 [[ 9.51085640e-01 3.08926837e-01 -5.60807992e-04 3.29207484e+02] [-3.08926788e-01 9.51085806e-01 1.74486865e-04 -4.46809407e+01] [ 5.87280196e-04 7.29665955e-06 9.99999828e-01 -2.46262363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters 0.05103803040536757 Centerline is valid? [True, True] Translation: X:329.27, Y:-44.70, Z:-2.46 [[ 9.51380983e-01 3.08012346e-01 -1.61858821e-03 3.29267035e+02] [-3.08011937e-01 9.51382360e-01 5.02191319e-04 -4.46994184e+01] [ 1.69457740e-03 2.07692199e-05 9.99998564e-01 -2.46395173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters 0.050922041706472486 Centerline is valid? [True, True] Translation: X:329.33, Y:-44.72, Z:-2.46 [[ 9.51606819e-01 3.07311337e-01 -2.05028953e-03 3.29325759e+02] [-3.07310680e-01 9.51609028e-01 6.36174482e-04 -4.47194057e+01] [ 2.14657765e-03 2.46878921e-05 9.99997696e-01 -2.46383313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters 0.050297230917551325 Centerline is valid? [True, True] Translation: X:329.39, Y:-44.74, Z:-2.46 [[ 9.51669190e-01 3.07117731e-01 -2.11013905e-03 3.29385535e+02] [-3.07117035e-01 9.51671529e-01 6.54260471e-04 -4.47380675e+01] [ 2.20909425e-03 2.54201152e-05 9.99997560e-01 -2.46472218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters 0.05050739483764279 Centerline is valid? [True, True] Translation: X:329.45, Y:-44.76, Z:-2.47 [[ 9.51600267e-01 3.07330154e-01 -2.26016441e-03 3.29445149e+02] [-3.07329353e-01 9.51602951e-01 7.01761370e-04 -4.47580384e+01] [ 2.36645155e-03 2.68185603e-05 9.99997200e-01 -2.46587227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters 0.05074295645224269 Centerline is valid? [True, True] Translation: X:329.50, Y:-44.78, Z:-2.47 [[ 9.51298146e-01 3.08255269e-01 -3.24459236e-03 3.29504414e+02] [-3.08253626e-01 9.51303678e-01 1.00724561e-03 -4.47768136e+01] [ 3.39708141e-03 4.19664760e-05 9.99994229e-01 -2.46622041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters 0.050887620958249995 Centerline is valid? [True, True] Translation: X:329.56, Y:-44.79, Z:-2.47 [[ 9.50787592e-01 3.09831410e-01 -2.73006047e-03 3.29563817e+02] [-3.09830252e-01 9.50791510e-01 8.47890523e-04 -4.47920062e+01] [ 2.85842143e-03 3.96915353e-05 9.99995914e-01 -2.46818472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters 0.051159655841082015 Centerline is valid? [True, True] Translation: X:329.62, Y:-44.81, Z:-2.47 [[ 9.50284016e-01 3.11382883e-01 -9.94415103e-04 3.29623526e+02] [-3.11382730e-01 9.50284536e-01 3.09540216e-04 -4.48103423e+01] [ 1.04136282e-03 1.54925695e-05 9.99999458e-01 -2.46676727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters 0.05047881106870522 Centerline is valid? [True, True] Translation: X:329.68, Y:-44.83, Z:-2.47 [[ 9.50477338e-01 3.10793179e-01 6.55701903e-04 3.29682652e+02] [-3.10793112e-01 9.50477564e-01 -2.03249773e-04 -4.48301537e+01] [-6.86398591e-04 -1.06033317e-05 9.99999764e-01 -2.46549972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters 0.05067147374522445 Centerline is valid? [True, True] Translation: X:329.74, Y:-44.85, Z:-2.47 [[ 9.51370455e-01 3.08047060e-01 1.12478425e-03 3.29741341e+02] [-3.08046863e-01 9.51371120e-01 -3.49086754e-04 -4.48456632e+01] [-1.17762240e-03 -1.43754345e-05 9.99999306e-01 -2.46744881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters 0.0503035188145372 Centerline is valid? [True, True] Translation: X:329.80, Y:-44.87, Z:-2.47 [[ 9.52396898e-01 3.04853222e-01 2.15910715e-03 3.29798699e+02] [-3.04852486e-01 9.52399345e-01 -6.70251902e-04 -4.48669202e+01] [-2.26066069e-03 -1.98633511e-05 9.99997445e-01 -2.46691096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters 0.050256957558001934 Centerline is valid? [True, True] Translation: X:329.86, Y:-44.88, Z:-2.47 [[ 9.53023743e-01 3.02888657e-01 2.05086718e-03 3.29858258e+02] [-3.02887989e-01 9.53025950e-01 -6.36142696e-04 -4.48830092e+01] [-2.14721005e-03 -1.49239422e-05 9.99997695e-01 -2.46945476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters 0.05043022148126707 Centerline is valid? [True, True] Translation: X:329.92, Y:-44.90, Z:-2.47 [[ 9.53881956e-01 3.00177938e-01 1.55531267e-03 3.29916268e+02] [-3.00177550e-01 9.53883224e-01 -4.82860294e-04 -4.49042856e+01] [-1.62853067e-03 -6.27822321e-06 9.99998674e-01 -2.46917738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters 0.05059038256214043 Centerline is valid? [True, True] Translation: X:329.98, Y:-44.92, Z:-2.47 [[ 9.54220755e-01 2.99099506e-01 1.49552821e-03 3.29975974e+02] [-2.99099147e-01 9.54221927e-01 -4.63806271e-04 -4.49230134e+01] [-1.56579004e-03 -4.73764161e-06 9.99998774e-01 -2.46943228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters 0.05056909642424876 Centerline is valid? [True, True] Translation: X:330.03, Y:-44.94, Z:-2.47 [[ 9.54434325e-01 2.98413550e-01 2.11465726e-03 3.30034782e+02] [-2.98412828e-01 9.54436668e-01 -6.56674015e-04 -4.49397546e+01] [-2.21426685e-03 -4.28863242e-06 9.99997548e-01 -2.47038092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters 0.05053980233595094 Centerline is valid? [True, True] Translation: X:330.10, Y:-44.96, Z:-2.47 [[ 9.54364646e-01 2.98635178e-01 2.27018333e-03 3.30095351e+02] [-2.98634345e-01 9.54367346e-01 -7.05173803e-04 -4.49578095e+01] [-2.37717854e-03 -4.96176586e-06 9.99997174e-01 -2.47025788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters 0.05124889571298691 Centerline is valid? [True, True] Translation: X:330.16, Y:-44.98, Z:-2.47 [[ 9.53998179e-01 2.99800977e-01 2.61688871e-03 3.30155680e+02] [-2.99799874e-01 9.54001768e-01 -8.13360015e-04 -4.49763130e+01] [-2.74036258e-03 -8.59893183e-06 9.99996245e-01 -2.46984793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters 0.05081459254918353 Centerline is valid? [True, True] Translation: X:330.21, Y:-44.99, Z:-2.47 [[ 9.53369459e-01 3.01793240e-01 2.74121931e-03 3.30214747e+02] [-3.01792036e-01 9.53373400e-01 -8.52781975e-04 -4.49926348e+01] [-2.87076941e-03 -1.42618643e-05 9.99995879e-01 -2.47145800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters 0.0508526071426117 Centerline is valid? [True, True] Translation: X:330.27, Y:-45.01, Z:-2.47 [[ 9.52358483e-01 3.04948214e-01 4.46178135e-03 3.30274155e+02] [-3.04945055e-01 9.52368933e-01 -1.38852126e-03 -4.50099395e+01] [-4.67268903e-03 -3.82281660e-05 9.99989082e-01 -2.47040495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters 0.05083707884053357 Centerline is valid? [True, True] Translation: X:330.33, Y:-45.02, Z:-2.47 [[ 9.51427041e-01 3.07831605e-01 5.12722852e-03 3.30333607e+02] [-3.07827470e-01 9.51440855e-01 -1.59650259e-03 -4.50242097e+01] [-5.36970864e-03 -5.93460472e-05 9.99985581e-01 -2.47098385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters 0.05028791836812251 Centerline is valid? [True, True] Translation: X:330.39, Y:-45.04, Z:-2.47 [[ 9.50053203e-01 3.12049636e-01 4.89254973e-03 3.30392387e+02] [-3.12045925e-01 9.50065797e-01 -1.52384385e-03 -4.50403121e+01] [-5.12375907e-03 -7.89674800e-05 9.99986870e-01 -2.47140277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters 0.05090489747646105 Centerline is valid? [True, True] Translation: X:330.45, Y:-45.06, Z:-2.47 [[ 9.49207318e-01 3.14618022e-01 4.57912699e-03 3.30451706e+02] [-3.14614802e-01 9.49218359e-01 -1.42614388e-03 -4.50565549e+01] [-4.79528197e-03 -8.69549255e-05 9.99988499e-01 -2.47193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters 0.05077265961358878 Centerline is valid? [True, True] Translation: X:330.51, Y:-45.07, Z:-2.47 [[ 9.48281843e-01 3.17405852e-01 3.88226881e-03 3.30510676e+02] [-3.17403559e-01 9.48289786e-01 -1.20939061e-03 -4.50714370e+01] [-4.06538352e-03 -8.54027812e-05 9.99991733e-01 -2.47357878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters 0.05022330933721458 Centerline is valid? [True, True] Translation: X:330.57, Y:-45.09, Z:-2.47 [[ 9.48016495e-01 3.18211096e-01 2.53426614e-03 3.30569119e+02] [-3.18210124e-01 9.48019881e-01 -7.88988766e-04 -4.50940369e+01] [-2.65359967e-03 -5.84547780e-05 9.99996477e-01 -2.47336333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters 0.05081157058380232 Centerline is valid? [True, True] Translation: X:330.63, Y:-45.11, Z:-2.47 [[ 9.48121967e-01 3.17904261e-01 1.27116763e-03 3.30628792e+02] [-3.17904017e-01 9.48122819e-01 -3.95376000e-04 -4.51134049e+01] [-1.33091476e-03 -2.92446259e-05 9.99999114e-01 -2.47406763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters 0.0503124249919287 Centerline is valid? [True, True] Translation: X:330.69, Y:-45.13, Z:-2.47 [[ 9.48478771e-01 3.16839342e-01 9.22566510e-04 3.30687869e+02] [-3.16839213e-01 9.48479220e-01 -2.86912179e-04 -4.51331133e+01] [-9.65940230e-04 -2.01751358e-05 9.99999533e-01 -2.47478066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters 0.0511691331120696 Centerline is valid? [True, True] Translation: X:330.75, Y:-45.15, Z:-2.48 [[ 9.49484868e-01 3.13812278e-01 5.83116491e-04 3.30745599e+02] [-3.13812226e-01 9.49485047e-01 -1.81836863e-04 -4.51508591e+01] [-6.10723029e-04 -1.03377341e-05 9.99999813e-01 -2.47651729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters 0.05103682145809325 Centerline is valid? [True, True] Translation: X:330.80, Y:-45.18, Z:-2.48 [[ 9.50256701e-01 3.11466019e-01 1.05842266e-03 3.30802539e+02] [-3.11465845e-01 9.50257291e-01 -3.30008841e-04 -4.51762768e+01] [-1.10856039e-03 -1.60693962e-05 9.99999385e-01 -2.47515455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters 0.051670257356598796 Centerline is valid? [True, True] Translation: X:330.86, Y:-45.20, Z:-2.47 [[ 9.51256069e-01 3.08398717e-01 1.45704454e-03 3.30857530e+02] [-3.08398382e-01 9.51257185e-01 -4.54503087e-04 -4.52016089e+01] [-1.52619225e-03 -1.70013589e-05 9.99998835e-01 -2.47338462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters 0.051092543223142585 Centerline is valid? [True, True] Translation: X:330.92, Y:-45.22, Z:-2.48 [[ 9.50700806e-01 3.10100194e-01 2.41811508e-03 3.30918158e+02] [-3.10099279e-01 9.50703881e-01 -7.54094367e-04 -4.52159141e+01] [-2.53275620e-03 -3.29376188e-05 9.99996792e-01 -2.47603406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters 0.05055746124827466 Centerline is valid? [True, True] Translation: X:330.98, Y:-45.23, Z:-2.48 [[ 9.50126313e-01 3.11858987e-01 1.99057554e-03 3.30977679e+02] [-3.11858371e-01 9.50128397e-01 -6.20519143e-04 -4.52348965e+01] [-2.08481682e-03 -3.12060801e-05 9.99997826e-01 -2.47608897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters 0.05023755427765171 Centerline is valid? [True, True] Translation: X:331.04, Y:-45.25, Z:-2.48 [[ 9.49520022e-01 3.13698618e-01 2.21470778e-03 3.31036927e+02] [-3.13697860e-01 9.49522604e-01 -6.90750643e-04 -4.52541387e+01] [-2.31960262e-03 -3.88675278e-05 9.99997309e-01 -2.47661756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters 0.050780784488640214 Centerline is valid? [True, True] Translation: X:331.10, Y:-45.27, Z:-2.48 [[ 9.49202157e-01 3.14653548e-01 2.89994204e-03 3.31097225e+02] [-3.14652250e-01 9.49206586e-01 -9.05150273e-04 -4.52676372e+01] [-3.03745283e-03 -5.33026976e-05 9.99995386e-01 -2.47806483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters 0.050776479286175374 Centerline is valid? [True, True] Translation: X:331.16, Y:-45.28, Z:-2.48 [[ 9.48719645e-01 3.16094869e-01 3.88197395e-03 3.31157195e+02] [-3.16092553e-01 9.48727584e-01 -1.21237721e-03 -4.52842771e+01] [-4.06616198e-03 -7.68569883e-05 9.99991730e-01 -2.47831501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters 0.050329401910921646 Centerline is valid? [True, True] Translation: X:331.22, Y:-45.30, Z:-2.48 [[ 9.48489075e-01 3.16792750e-01 3.29061906e-03 3.31216129e+02] [-3.16791090e-01 9.48494781e-01 -1.02795025e-03 -4.53042302e+01] [-3.44678219e-03 -6.74392180e-05 9.99994058e-01 -2.47869509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters 0.050136345974316716 Centerline is valid? [True, True] Translation: X:331.28, Y:-45.32, Z:-2.48 [[ 9.48577381e-01 3.16536737e-01 2.33397967e-03 3.31276143e+02] [-3.16535901e-01 9.48580251e-01 -7.29060055e-04 -4.53225671e+01] [-2.44474131e-03 -4.72184789e-05 9.99997011e-01 -2.47995348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters 0.050076309716846505 Centerline is valid? [True, True] Translation: X:331.34, Y:-45.34, Z:-2.48 [[ 9.48472760e-01 3.16854679e-01 1.59221129e-03 3.31336038e+02] [-3.16854290e-01 9.48474096e-01 -4.97671972e-04 -4.53387634e+01] [-1.66786086e-03 -3.24706689e-05 9.99998609e-01 -2.48184003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters 0.051240231443279875 Centerline is valid? [True, True] Translation: X:331.40, Y:-45.36, Z:-2.48 [[ 9.48394196e-01 3.17090772e-01 1.37552334e-03 3.31396459e+02] [-3.17090482e-01 9.48395193e-01 -4.29540491e-04 -4.53573724e+01] [-1.44074304e-03 -2.87916492e-05 9.99998962e-01 -2.48273780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters 0.0505365087818234 Centerline is valid? [True, True] Translation: X:331.45, Y:-45.38, Z:-2.48 [[ 9.49146623e-01 3.14832082e-01 1.20311322e-03 3.31454604e+02] [-3.14831858e-01 9.49147386e-01 -3.76471524e-04 -4.53765359e+01] [-1.26045708e-03 -2.14516938e-05 9.99999205e-01 -2.48367725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters 0.05075184120984026 Centerline is valid? [True, True] Translation: X:331.51, Y:-45.40, Z:-2.48 [[ 9.49402869e-01 3.14058016e-01 1.32429655e-03 3.31513751e+02] [-3.14057745e-01 9.49403793e-01 -4.13823388e-04 -4.53955836e+01] [-1.38725672e-03 -2.30204768e-05 9.99999037e-01 -2.48420736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters 0.04987264127174244 Centerline is valid? [True, True] Translation: X:331.57, Y:-45.41, Z:-2.48 [[ 9.49999298e-01 3.12240083e-01 2.73229467e-03 3.31572803e+02] [-3.12238914e-01 9.50003226e-01 -8.55062657e-04 -4.54133476e+01] [-2.86267358e-03 -4.08197975e-05 9.99995902e-01 -2.48465087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters 0.05028546670891645 Centerline is valid? [True, True] Translation: X:331.63, Y:-45.44, Z:-2.48 [[ 9.50134988e-01 3.11806311e-01 4.50881523e-03 3.31630928e+02] [-3.11803120e-01 9.50145684e-01 -1.41214214e-03 -4.54352971e+01] [-4.72434616e-03 -6.41369970e-05 9.99988838e-01 -2.48336372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters 0.049410790365645156 Centerline is valid? [True, True] Translation: X:331.69, Y:-45.45, Z:-2.48 [[ 9.50067199e-01 3.11980356e-01 6.36980516e-03 3.31689916e+02] [-3.11973983e-01 9.50088548e-01 -1.99612060e-03 -4.54534077e+01] [-6.67462935e-03 -9.07647815e-05 9.99977720e-01 -2.48257844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters 0.05022322067997472 Centerline is valid? [True, True] Translation: X:331.75, Y:-45.47, Z:-2.48 [[ 9.49477393e-01 3.13785211e-01 5.61438321e-03 3.31748596e+02] [-3.13780288e-01 9.49493988e-01 -1.76002012e-03 -4.54740534e+01] [-5.88309139e-03 -9.05834646e-05 9.99982690e-01 -2.48414763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters 0.04968518124128675 Centerline is valid? [True, True] Translation: X:331.81, Y:-45.49, Z:-2.49 [[ 9.48703706e-01 3.16125648e-01 5.08458778e-03 3.31807510e+02] [-3.16121640e-01 9.48717327e-01 -1.59464609e-03 -4.54939166e+01] [-5.32794506e-03 -9.45015769e-05 9.99985802e-01 -2.48631017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters 0.04933375803155626 Centerline is valid? [True, True] Translation: X:331.87, Y:-45.51, Z:-2.49 [[ 9.47541546e-01 3.19616577e-01 3.20352192e-03 3.31865859e+02] [-3.19615005e-01 9.47546959e-01 -1.00482521e-03 -4.55094308e+01] [-3.35664624e-03 -7.17800410e-05 9.99994364e-01 -2.48779957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters 0.049758215116144956 Centerline is valid? [True, True] Translation: X:331.93, Y:-45.52, Z:-2.49 [[ 9.47371876e-01 3.20119419e-01 3.17587401e-03 3.31925707e+02] [-3.20117879e-01 9.47377196e-01 -9.95780693e-04 -4.55223767e+01] [-3.32751936e-03 -7.32794293e-05 9.99994461e-01 -2.48863983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters 0.049586450280694645 Centerline is valid? [True, True] Translation: X:331.98, Y:-45.55, Z:-2.49 [[ 9.47416957e-01 3.19981359e-01 3.61108395e-03 3.31982958e+02] [-3.19979365e-01 9.47423835e-01 -1.13271264e-03 -4.55463300e+01] [-3.78367394e-03 -8.23211840e-05 9.99992838e-01 -2.48793955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters 0.04979384685194607 Centerline is valid? [True, True] Translation: X:332.04, Y:-45.56, Z:-2.49 [[ 9.47822181e-01 3.18774395e-01 3.99973309e-03 3.32042114e+02] [-3.18771935e-01 9.47830617e-01 -1.25524895e-03 -4.55617465e+01] [-4.19121071e-03 -8.52498572e-05 9.99991213e-01 -2.48871826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters 0.05042976304741156 Centerline is valid? [True, True] Translation: X:332.10, Y:-45.58, Z:-2.49 [[ 9.49002592e-01 3.15238817e-01 4.30907462e-03 3.32099673e+02] [-3.15235922e-01 9.49012372e-01 -1.35316008e-03 -4.55812056e+01] [-4.51593371e-03 -7.42226912e-05 9.99989800e-01 -2.48855737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters 0.0495526246759799 Centerline is valid? [True, True] Translation: X:332.16, Y:-45.60, Z:-2.49 [[ 9.49655912e-01 3.13268900e-01 4.03048907e-03 3.32157912e+02] [-3.13266350e-01 9.49664463e-01 -1.26543396e-03 -4.56028545e+01] [-4.22403335e-03 -6.08897607e-05 9.99991077e-01 -2.48896038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters 0.050062045891834765 Centerline is valid? [True, True] Translation: X:332.22, Y:-45.62, Z:-2.49 [[ 9.50014535e-01 3.12188382e-01 3.28597642e-03 3.32217241e+02] [-3.12186680e-01 9.50020217e-01 -1.03191756e-03 -4.56209300e+01] [-3.44389670e-03 -4.55013894e-05 9.99994069e-01 -2.49063480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters 0.050613017228710026 Centerline is valid? [True, True] Translation: X:332.28, Y:-45.64, Z:-2.49 [[ 9.49703439e-01 3.13150481e-01 3.93553024e-04 3.32276301e+02] [-3.13150457e-01 9.49703520e-01 -1.22871440e-04 -4.56403400e+01] [-4.12235943e-04 -6.54988056e-06 9.99999915e-01 -2.49153208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters 0.050162218226635504 Centerline is valid? [True, True] Translation: X:332.34, Y:-45.66, Z:-2.49 [[ 9.49268824e-01 3.14463755e-01 -1.11659532e-03 3.32335108e+02] [-3.14463559e-01 9.49269480e-01 3.52008249e-04 -4.56585624e+01] [ 1.17064369e-03 1.69780802e-05 9.99999315e-01 -2.49159549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters 0.05074849405989819 Centerline is valid? [True, True] Translation: X:332.40, Y:-45.67, Z:-2.49 [[ 9.48543987e-01 3.16641285e-01 -1.61270521e-03 3.32395159e+02] [-3.16640879e-01 9.48545358e-01 5.08221001e-04 -4.56725112e+01] [ 1.69064779e-03 2.85784199e-05 9.99998570e-01 -2.49277274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters 0.05013688992935595 Centerline is valid? [True, True] Translation: X:332.45, Y:-45.69, Z:-2.49 [[ 9.48727647e-01 3.16093275e-01 -9.45281999e-04 3.32454182e+02] [-3.16093134e-01 9.48728118e-01 2.98409934e-04 -4.56926629e+01] [ 9.91140985e-04 1.56873957e-05 9.99999509e-01 -2.49068990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters 0.04988919592942694 Centerline is valid? [True, True] Translation: X:332.51, Y:-45.71, Z:-2.49 [[ 9.49999094e-01 3.12252255e-01 5.01241048e-04 3.32512364e+02] [-3.12252216e-01 9.49999226e-01 -1.57599773e-04 -4.57145520e+01] [-5.25389492e-04 -6.79398635e-06 9.99999862e-01 -2.48884487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters 0.050573507464551685 Centerline is valid? [True, True] Translation: X:332.57, Y:-45.73, Z:-2.49 [[ 9.50823361e-01 3.09733547e-01 2.55570885e-04 3.32571202e+02] [-3.09733537e-01 9.50823396e-01 -7.95933238e-05 -4.57348939e+01] [-2.67655499e-04 -3.47968255e-06 9.99999964e-01 -2.48872508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters 0.05015642848309539 Centerline is valid? [True, True] Translation: X:332.63, Y:-45.75, Z:-2.49 [[ 9.51576326e-01 3.07412073e-01 -5.60078130e-04 3.32629676e+02] [-3.07412022e-01 9.51576491e-01 1.77266601e-04 -4.57539080e+01] [ 5.87451075e-04 3.49204945e-06 9.99999827e-01 -2.49034912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters 0.049664065922038106 Centerline is valid? [True, True] Translation: X:332.69, Y:-45.77, Z:-2.49 [[ 9.51872816e-01 3.06490991e-01 -1.18919782e-03 3.32689705e+02] [-3.06490761e-01 9.51873559e-01 3.75833255e-04 -4.57736902e+01] [ 1.24715546e-03 6.73268529e-06 9.99999222e-01 -2.49027749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters 0.05138018964581547 Centerline is valid? [True, True] Translation: X:332.75, Y:-45.79, Z:-2.49 [[ 9.52294311e-01 3.05179536e-01 -9.98445647e-04 3.32747215e+02] [-3.05179373e-01 9.52294834e-01 3.15636807e-04 -4.57945376e+01] [ 1.04714053e-03 4.12588033e-06 9.99999452e-01 -2.48724602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters 0.050460065517294095 Centerline is valid? [True, True] Translation: X:332.81, Y:-45.81, Z:-2.49 [[ 9.52594485e-01 3.04241874e-01 -7.93451082e-04 3.32806971e+02] [-3.04241770e-01 9.52594815e-01 2.50696547e-04 -4.58104919e+01] [ 8.32109774e-04 2.58881424e-06 9.99999654e-01 -2.49185993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters 0.05023453137591332 Centerline is valid? [True, True] Translation: X:332.87, Y:-45.83, Z:-2.49 [[ 9.52416612e-01 3.04798767e-01 5.55948851e-04 3.32865679e+02] [-3.04798717e-01 9.52416774e-01 -1.74868127e-04 -4.58262097e+01] [-5.82794601e-04 -2.90518687e-06 9.99999830e-01 -2.49364985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters 0.050638192214368556 Centerline is valid? [True, True] Translation: X:332.93, Y:-45.84, Z:-2.49 [[ 9.52028558e-01 3.06007688e-01 9.59065542e-04 3.32925995e+02] [-3.06007539e-01 9.52029041e-01 -3.01694268e-04 -4.58434995e+01] [-1.00537901e-03 -6.25972784e-06 9.99999495e-01 -2.49450009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters 0.04981032436419985 Centerline is valid? [True, True] Translation: X:332.99, Y:-45.86, Z:-2.49 [[ 9.51648249e-01 3.07187164e-01 1.28714566e-03 3.32986989e+02] [-3.07186897e-01 9.51649119e-01 -4.05403630e-04 -4.58601687e+01] [-1.34944583e-03 -9.59262735e-06 9.99999089e-01 -2.49448992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters 0.04980158021776392 Centerline is valid? [True, True] Translation: X:333.05, Y:-45.88, Z:-2.49 [[ 9.51730919e-01 3.06930938e-01 1.28682566e-03 3.33047223e+02] [-3.06930671e-01 9.51731789e-01 -4.05442696e-04 -4.58787637e+01] [-1.34915579e-03 -9.09391212e-06 9.99999090e-01 -2.49415939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters 0.04991092199894012 Centerline is valid? [True, True] Translation: X:333.11, Y:-45.89, Z:-2.50 [[ 9.52048894e-01 3.05945203e-01 -6.59862011e-04 3.33106219e+02] [-3.05945132e-01 9.52049123e-01 2.09308127e-04 -4.58945600e+01] [ 6.92257866e-04 2.60999882e-06 9.99999760e-01 -2.49743154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters 0.05001299128887102 Centerline is valid? [True, True] Translation: X:333.17, Y:-45.91, Z:-2.50 [[ 9.52633834e-01 3.04111806e-01 -2.18825446e-03 3.33165035e+02] [-3.04111017e-01 9.52636347e-01 6.92597165e-04 -4.59136163e+01] [ 2.29523771e-03 5.68079688e-06 9.99997366e-01 -2.49681422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters 0.0501218947149402 Centerline is valid? [True, True] Translation: X:333.22, Y:-45.93, Z:-2.50 [[ 9.53100190e-01 3.02647996e-01 -2.05397938e-03 3.33224315e+02] [-3.02647297e-01 9.53102403e-01 6.50420029e-04 -4.59329664e+01] [ 2.15450100e-03 1.71585421e-06 9.99997679e-01 -2.49613097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters 0.04987489561408502 Centerline is valid? [True, True] Translation: X:333.28, Y:-45.95, Z:-2.50 [[ 9.53806624e-01 3.00420084e-01 -8.35499731e-04 3.33282355e+02] [-3.00419967e-01 9.53806989e-01 2.65203140e-04 -4.59522227e+01] [ 8.76577833e-04 -1.95170991e-06 9.99999616e-01 -2.49797790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters 0.05049363563135765 Centerline is valid? [True, True] Translation: X:333.34, Y:-45.97, Z:-2.50 [[ 9.54087008e-01 2.99527875e-01 -1.01627121e-03 3.33342438e+02] [-2.99527701e-01 9.54087550e-01 3.22629642e-04 -4.59709816e+01] [ 1.06624827e-03 -3.41537178e-06 9.99999432e-01 -2.49858720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters 0.05076515926271243 Centerline is valid? [True, True] Translation: X:333.40, Y:-45.99, Z:-2.50 [[ 9.53767788e-01 3.00541380e-01 -1.37334614e-03 3.33402592e+02] [-3.00541064e-01 9.53768777e-01 4.35892706e-04 -4.59885619e+01] [ 1.44085846e-03 -2.99351241e-06 9.99998962e-01 -2.49861129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters 0.05042501521171203 Centerline is valid? [True, True] Translation: X:333.46, Y:-46.01, Z:-2.50 [[ 9.52986815e-01 3.03002930e-01 -2.31417078e-03 3.33462417e+02] [-3.03002041e-01 9.52989625e-01 7.33962548e-04 -4.60061695e+01] [ 2.42777355e-03 1.74183936e-06 9.99997053e-01 -2.49936567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters 0.05021339697898079 Centerline is valid? [True, True] Translation: X:333.52, Y:-46.02, Z:-2.50 [[ 9.52370108e-01 3.04937935e-01 -2.00831924e-03 3.33522169e+02] [-3.04937269e-01 9.52372225e-01 6.37373418e-04 -4.60230114e+01] [ 2.10702680e-03 5.39599377e-06 9.99997780e-01 -2.50157077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters 0.05002509415010413 Centerline is valid? [True, True] Translation: X:333.58, Y:-46.04, Z:-2.50 [[ 9.52138758e-01 3.05662008e-01 -1.58839410e-03 3.33581856e+02] [-3.05661593e-01 9.52140083e-01 5.03747692e-04 -4.60419987e+01] [ 1.66635022e-03 5.87336835e-06 9.99998612e-01 -2.50101994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters 0.050197173985556606 Centerline is valid? [True, True] Translation: X:333.64, Y:-46.06, Z:-2.50 [[ 9.52173172e-01 3.05558684e-01 -3.76586725e-04 3.33640492e+02] [-3.05558660e-01 9.52173246e-01 1.20279156e-04 -4.60609653e+01] [ 3.95328144e-04 5.42749396e-07 9.99999922e-01 -2.50136345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters 0.05015260718324599 Centerline is valid? [True, True] Translation: X:333.70, Y:-46.08, Z:-2.50 [[ 9.52425505e-01 3.04771306e-01 3.27673585e-04 3.33699457e+02] [-3.04771289e-01 9.52425562e-01 -1.03073325e-04 -4.60809459e+01] [-3.43498490e-04 -1.69583762e-06 9.99999941e-01 -2.50190561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters 0.050475328358668685 Centerline is valid? [True, True] Translation: X:333.76, Y:-46.10, Z:-2.50 [[ 9.52890008e-01 3.03316044e-01 -9.64271290e-05 3.33759221e+02] [-3.03316042e-01 9.52890013e-01 3.16042095e-05 -4.61010143e+01] [ 1.01470512e-04 -8.67440313e-07 9.99999995e-01 -2.50004142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters 0.05038885122280721 Centerline is valid? [True, True] Translation: X:333.82, Y:-46.12, Z:-2.50 [[ 9.53229158e-01 3.02248452e-01 2.11918116e-04 3.33818458e+02] [-3.02248445e-01 9.53229182e-01 -6.63332822e-05 -4.61206229e+01] [-2.22055664e-04 -8.21102193e-07 9.99999975e-01 -2.50315050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters 0.05067554592856946 Centerline is valid? [True, True] Translation: X:333.88, Y:-46.14, Z:-2.50 [[ 9.53282907e-01 3.02078687e-01 4.06903515e-04 3.33878056e+02] [-3.02078660e-01 9.53282994e-01 -1.28767409e-04 -4.61408019e+01] [-4.26792091e-04 -1.65098868e-07 9.99999909e-01 -2.50478759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters 0.050514740496657426 Centerline is valid? [True, True] Translation: X:333.94, Y:-46.16, Z:-2.50 [[ 9.53010416e-01 3.02936658e-01 7.26714349e-04 3.33937279e+02] [-3.02936571e-01 9.53010693e-01 -2.29848872e-04 -4.61612863e+01] [-7.62196195e-04 -1.09998341e-06 9.99999710e-01 -2.50451438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters 0.05037132196762848 Centerline is valid? [True, True] Translation: X:334.00, Y:-46.18, Z:-2.51 [[ 9.52352052e-01 3.05000710e-01 3.69279063e-04 3.33996588e+02] [-3.05000688e-01 9.52352123e-01 -1.16376501e-04 -4.61794784e+01] [-3.87178616e-04 -1.79896862e-06 9.99999925e-01 -2.50771194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters 0.04969936617235466 Centerline is valid? [True, True] Translation: X:334.06, Y:-46.20, Z:-2.51 [[ 9.51091645e-01 3.08905484e-01 1.44397549e-03 3.34055866e+02] [-3.08905144e-01 9.51092741e-01 -4.58211332e-04 -4.61972835e+01] [-1.51489860e-03 -1.02504870e-05 9.99998852e-01 -2.50689546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters 0.05019535200150801 Centerline is valid? [True, True] Translation: X:334.11, Y:-46.22, Z:-2.51 [[ 9.49551956e-01 3.13598368e-01 2.67339639e-03 3.34114585e+02] [-3.13597218e-01 9.49555719e-01 -8.49715976e-04 -4.62152968e+01] [-2.80500838e-03 -3.15202062e-05 9.99996065e-01 -2.50678040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters 0.05001495415361588 Centerline is valid? [True, True] Translation: X:334.17, Y:-46.23, Z:-2.51 [[ 9.48678168e-01 3.16220970e-01 3.74595614e-03 3.34173513e+02] [-3.16218732e-01 9.48685562e-01 -1.19103652e-03 -4.62333435e+01] [-3.93036522e-03 -5.46311605e-05 9.99992275e-01 -2.50681097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters 0.0499336771920268 Centerline is valid? [True, True] Translation: X:334.23, Y:-46.25, Z:-2.51 [[ 9.47413932e-01 3.19988164e-01 3.79681298e-03 3.34232836e+02] [-3.19985893e-01 9.47421538e-01 -1.20763194e-03 -4.62461216e+01] [-3.98361032e-03 -7.07992686e-05 9.99992063e-01 -2.50840187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters 0.04934224805081587 Centerline is valid? [True, True] Translation: X:334.29, Y:-46.27, Z:-2.51 [[ 9.46663444e-01 3.22212626e-01 2.71045286e-03 3.34290222e+02] [-3.22211479e-01 9.46667323e-01 -8.61892050e-04 -4.62693500e+01] [-2.84360966e-03 -5.74173282e-05 9.99995955e-01 -2.50938917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters 0.050490838782185854 Centerline is valid? [True, True] Translation: X:334.35, Y:-46.28, Z:-2.51 [[ 9.46658505e-01 3.22226381e-01 2.79900174e-03 3.34350788e+02] [-3.22225157e-01 9.46662641e-01 -8.90105401e-04 -4.62828031e+01] [-2.93652582e-03 -5.92829263e-05 9.99995687e-01 -2.51125888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters 0.049767127962819305 Centerline is valid? [True, True] Translation: X:334.41, Y:-46.31, Z:-2.51 [[ 9.47074197e-01 3.20999126e-01 3.16633806e-03 3.34409194e+02] [-3.20997552e-01 9.47079488e-01 -1.00732003e-03 -4.63060510e+01] [-3.32212268e-03 -6.23799531e-05 9.99994480e-01 -2.51051832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters 0.04971565034387241 Centerline is valid? [True, True] Translation: X:334.47, Y:-46.33, Z:-2.51 [[ 9.47483239e-01 3.19789420e-01 3.19961565e-03 3.34468090e+02] [-3.19787805e-01 9.47488640e-01 -1.01827448e-03 -4.63272812e+01] [-3.35723289e-03 -5.84000587e-05 9.99994363e-01 -2.51064166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters 0.0502009341445349 Centerline is valid? [True, True] Translation: X:334.53, Y:-46.35, Z:-2.51 [[ 9.48223599e-01 3.17594822e-01 2.35287492e-03 3.34526445e+02] [-3.17593942e-01 9.48226517e-01 -7.48497887e-04 -4.63461935e+01] [-2.46877744e-03 -3.75154596e-05 9.99996952e-01 -2.51190271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters 0.050003254087915276 Centerline is valid? [True, True] Translation: X:334.58, Y:-46.37, Z:-2.51 [[ 9.49397719e-01 3.14065717e-01 2.58779435e-03 3.34584660e+02] [-3.14064637e-01 9.49401245e-01 -8.23993303e-04 -4.63676450e+01] [-2.71564323e-03 -3.04373322e-05 9.99996312e-01 -2.51210090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters 0.049171469353002616 Centerline is valid? [True, True] Translation: X:334.64, Y:-46.39, Z:-2.51 [[ 9.50622929e-01 3.10323453e-01 3.92437860e-03 3.34641752e+02] [-3.10320938e-01 9.50631029e-01 -1.24974219e-03 -4.63893680e+01] [-4.11846038e-03 -2.97832622e-05 9.99991519e-01 -2.51204622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters 0.05005605902115317 Centerline is valid? [True, True] Translation: X:334.70, Y:-46.41, Z:-2.51 [[ 9.52760369e-01 3.03671429e-01 5.59838461e-03 3.34700181e+02] [-3.03666194e-01 9.52776817e-01 -1.78303113e-03 -4.64117804e+01] [-5.87546668e-03 -1.23875000e-06 9.99982739e-01 -2.51158342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters 0.04917319344734753 Centerline is valid? [True, True] Translation: X:334.76, Y:-46.43, Z:-2.51 [[ 9.53918804e-01 3.00018195e-01 5.29128884e-03 3.34758860e+02] [-3.00013458e-01 9.53933479e-01 -1.68599800e-03 -4.64323651e+01] [-5.55336765e-03 2.08473283e-05 9.99984580e-01 -2.51227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters 0.049996008623031635 Centerline is valid? [True, True] Translation: X:334.82, Y:-46.45, Z:-2.51 [[ 9.53145665e-01 3.02473186e-01 4.82828217e-03 3.34818402e+02] [-3.02469273e-01 9.53157894e-01 -1.53849994e-03 -4.64472054e+01] [-5.06747025e-03 6.00755309e-06 9.99987160e-01 -2.51323372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters 0.049875239836100295 Centerline is valid? [True, True] Translation: X:334.88, Y:-46.46, Z:-2.51 [[ 9.52724426e-01 3.03798593e-01 4.75219549e-03 3.34879292e+02] [-3.03794817e-01 9.52736278e-01 -1.51475578e-03 -4.64648089e+01] [-4.98776971e-03 -5.47530347e-07 9.99987561e-01 -2.51336554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters 0.04989823646832376 Centerline is valid? [True, True] Translation: X:334.94, Y:-46.48, Z:-2.51 [[ 9.52419375e-01 3.04757676e-01 4.48244031e-03 3.34938424e+02] [-3.04754324e-01 9.52429923e-01 -1.42936221e-03 -4.64823403e+01] [-4.70481939e-03 -4.69080109e-06 9.99988932e-01 -2.51312492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters 0.05114802795059796 Centerline is valid? [True, True] Translation: X:335.00, Y:-46.50, Z:-2.51 [[ 9.51708942e-01 3.06957127e-01 5.23560454e-03 3.35000276e+02] [-3.06952582e-01 9.51723343e-01 -1.67046571e-03 -4.64971373e+01] [-5.49560841e-03 -1.72851792e-05 9.99984899e-01 -2.51355717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters 0.050655386081485884 Centerline is valid? [True, True] Translation: X:335.06, Y:-46.51, Z:-2.51 [[ 9.50642895e-01 3.10242960e-01 5.23366325e-03 3.35060397e+02] [-3.10238464e-01 9.50657301e-01 -1.67065848e-03 -4.65111738e+01] [-5.49373021e-03 -3.54840360e-05 9.99984909e-01 -2.51356668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters 0.05022236277591401 Centerline is valid? [True, True] Translation: X:335.12, Y:-46.53, Z:-2.51 [[ 9.49597305e-01 3.13413904e-01 6.05670069e-03 3.35121020e+02] [-3.13407941e-01 9.49616618e-01 -1.93425856e-03 -4.65258490e+01] [-6.35776716e-03 -6.14513767e-05 9.99979787e-01 -2.51390142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters 0.0498326846701619 Centerline is valid? [True, True] Translation: X:335.18, Y:-46.54, Z:-2.51 [[ 9.49136066e-01 3.14799800e-01 6.46631621e-03 3.35180740e+02] [-3.14793032e-01 9.49158090e-01 -2.06554067e-03 -4.65393821e+01] [-6.78778813e-03 -7.50721439e-05 9.99976960e-01 -2.51355133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters 0.05064358235800069 Centerline is valid? [True, True] Translation: X:335.24, Y:-46.55, Z:-2.51 [[ 9.48762629e-01 3.15920102e-01 6.63041989e-03 3.35241204e+02] [-3.15913011e-01 9.48785794e-01 -2.11841661e-03 -4.65503067e+01] [-6.96009859e-03 -8.47613951e-05 9.99975775e-01 -2.51388448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters 0.05090795271833487 Centerline is valid? [True, True] Translation: X:335.30, Y:-46.57, Z:-2.51 [[ 9.48761023e-01 3.15941663e-01 5.77809116e-03 3.35301197e+02] [-3.15936275e-01 9.48778615e-01 -1.84660479e-03 -4.65691684e+01] [-6.06554871e-03 -7.35219481e-05 9.99981602e-01 -2.51484842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters 0.04999410460772515 Centerline is valid? [True, True] Translation: X:335.36, Y:-46.59, Z:-2.52 [[ 9.48740666e-01 3.15997994e-01 6.03465800e-03 3.35362039e+02] [-3.15992112e-01 9.48759855e-01 -1.92947469e-03 -4.65865774e+01] [-6.33515138e-03 -7.63332211e-05 9.99979930e-01 -2.51549369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters 0.05023195810152865 Centerline is valid? [True, True] Translation: X:335.42, Y:-46.60, Z:-2.52 [[ 9.48551450e-01 3.16567485e-01 5.93076896e-03 3.35422060e+02] [-3.16561810e-01 9.48569988e-01 -1.89707640e-03 -4.66043150e+01] [-6.22630214e-03 -7.79803839e-05 9.99980613e-01 -2.51599171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters 0.05085517251685551 Centerline is valid? [True, True] Translation: X:335.48, Y:-46.62, Z:-2.52 [[ 9.48634944e-01 3.16327896e-01 5.32975170e-03 3.35482012e+02] [-3.16323305e-01 9.48649913e-01 -1.70551578e-03 -4.66196970e+01] [-5.59557071e-03 -6.80128079e-05 9.99984342e-01 -2.51671467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters 0.05031364556398244 Centerline is valid? [True, True] Translation: X:335.54, Y:-46.64, Z:-2.52 [[ 9.48719086e-01 3.16090278e-01 4.36265954e-03 3.35541856e+02] [-3.16087201e-01 9.48729115e-01 -1.39590763e-03 -4.66402403e+01] [-4.58021496e-03 -5.46566274e-05 9.99989509e-01 -2.51736483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters 0.05055495283619912 Centerline is valid? [True, True] Translation: X:335.60, Y:-46.65, Z:-2.52 [[ 9.48739896e-01 3.16053485e-01 1.67451179e-03 3.35601633e+02] [-3.16053032e-01 9.48741374e-01 -5.35548159e-04 -4.66538010e+01] [-1.75794048e-03 -2.11386248e-05 9.99998455e-01 -2.52162155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters 0.05059348614772787 Centerline is valid? [True, True] Translation: X:335.66, Y:-46.68, Z:-2.52 [[ 9.48752970e-01 3.16018168e-01 5.65911028e-04 3.35659725e+02] [-3.16018116e-01 9.48753138e-01 -1.80981360e-04 -4.66758706e+01] [-5.94103261e-04 -7.13153442e-06 9.99999823e-01 -2.52130524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters 0.05125357594786065 Centerline is valid? [True, True] Translation: X:335.72, Y:-46.69, Z:-2.52 [[ 9.48695780e-01 3.16190082e-01 3.85194693e-04 3.35718553e+02] [-3.16190058e-01 9.48695859e-01 -1.22498853e-04 -4.66949892e+01] [-4.04165533e-04 -5.58058783e-06 9.99999918e-01 -2.52164758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters 0.051478168425563305 Centerline is valid? [True, True] Translation: X:335.78, Y:-46.71, Z:-2.52 [[ 9.48500274e-01 3.16776120e-01 3.46650431e-04 3.35777439e+02] [-3.16776101e-01 9.48500337e-01 -1.10800365e-04 -4.67141710e+01] [-3.63896960e-04 -4.71639537e-06 9.99999934e-01 -2.52193994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters 0.051180889128628275 Centerline is valid? [True, True] Translation: X:335.84, Y:-46.73, Z:-2.52 [[ 9.47372230e-01 3.20134105e-01 1.07549758e-04 3.35835694e+02] [-3.20134104e-01 9.47372237e-01 -3.36589212e-05 -4.67323260e+01] [-1.12665023e-04 -2.54281802e-06 9.99999994e-01 -2.52194176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters 0.05076933168399564 Centerline is valid? [True, True] Translation: X:335.89, Y:-46.75, Z:-2.52 [[ 9.46324606e-01 3.23217717e-01 2.16379438e-04 3.35894711e+02] [-3.23217710e-01 9.46324631e-01 -6.85958298e-05 -4.67499105e+01] [-2.26936579e-04 -5.02374474e-06 9.99999974e-01 -2.52178280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters 0.05090166466760078 Centerline is valid? [True, True] Translation: X:335.95, Y:-46.77, Z:-2.52 [[ 9.44830334e-01 3.27558350e-01 1.08017882e-03 3.35952499e+02] [-3.27558168e-01 9.44830951e-01 -3.46453370e-04 -4.67682968e+01] [-1.13407008e-03 -2.64817422e-05 9.99999357e-01 -2.52049362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters 0.05066266288809047 Centerline is valid? [True, True] Translation: X:336.01, Y:-46.79, Z:-2.52 [[ 9.44127074e-01 3.29579514e-01 1.18833537e-03 3.36011231e+02] [-3.29579295e-01 9.44127821e-01 -3.80873695e-04 -4.67869546e+01] [-1.24746865e-03 -3.20575673e-05 9.99999221e-01 -2.52052554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters 0.05088539514833251 Centerline is valid? [True, True] Translation: X:336.07, Y:-46.80, Z:-2.52 [[ 9.43982732e-01 3.29994523e-01 -4.65956754e-04 3.36069483e+02] [-3.29994490e-01 9.43982846e-01 1.49635804e-04 -4.68038638e+01] [ 4.89234178e-04 1.25095462e-05 9.99999880e-01 -2.52258522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters 0.05089575648232098 Centerline is valid? [True, True] Translation: X:336.13, Y:-46.83, Z:-2.52 [[ 9.45259382e-01 3.26316754e-01 -1.44100768e-03 3.36125888e+02] [-3.26316428e-01 9.45260480e-01 4.62486723e-04 -4.68268432e+01] [ 1.51304478e-03 3.30545655e-05 9.99998855e-01 -2.52390470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters 0.05045338156207803 Centerline is valid? [True, True] Translation: X:336.18, Y:-46.85, Z:-2.52 [[ 9.46841015e-01 3.21700169e-01 -1.04555767e-03 3.36181769e+02] [-3.21699995e-01 9.46841592e-01 3.35598990e-04 -4.68537811e+01] [ 1.09793974e-03 1.85970075e-05 9.99999397e-01 -2.52183488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters 0.05035100102469315 Centerline is valid? [True, True] Translation: X:336.24, Y:-46.88, Z:-2.52 [[ 9.49700251e-01 3.13159976e-01 5.12755454e-04 3.36236943e+02] [-3.13159933e-01 9.49700389e-01 -1.64422515e-04 -4.68770155e+01] [-5.38454606e-04 -4.42235988e-06 9.99999855e-01 -2.52325322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters 0.05058626677038946 Centerline is valid? [True, True] Translation: X:336.29, Y:-46.91, Z:-2.52 [[ 9.52316652e-01 3.05106018e-01 1.81959603e-03 3.36292446e+02] [-3.05105461e-01 9.52318391e-01 -5.83280038e-04 -4.69065900e+01] [-1.91079701e-03 2.98607618e-07 9.99998174e-01 -2.52179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters 0.05061128883053662 Centerline is valid? [True, True] Translation: X:336.35, Y:-46.93, Z:-2.52 [[ 9.53664683e-01 3.00865887e-01 1.84155434e-03 3.36347984e+02] [-3.00865307e-01 9.53666461e-01 -5.90858598e-04 -4.69325017e+01] [-1.93399780e-03 9.42116687e-06 9.99998130e-01 -2.52360803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters 0.05050737259694157 Centerline is valid? [True, True] Translation: X:336.41, Y:-46.95, Z:-2.52 [[ 9.52994755e-01 3.02977359e-01 2.39111729e-03 3.36406549e+02] [-3.02976387e-01 9.52997754e-01 -7.67277023e-04 -4.69503027e+01] [-2.51119698e-03 6.75890036e-06 9.99996847e-01 -2.52349969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters 0.0508142946619361 Centerline is valid? [True, True] Translation: X:336.47, Y:-46.97, Z:-2.52 [[ 9.50848999e-01 3.09651957e-01 1.35887941e-03 3.36466003e+02] [-3.09651651e-01 9.50849970e-01 -4.35836202e-04 -4.69681853e+01] [-1.42704798e-03 -6.36483570e-06 9.99998982e-01 -2.52211495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters 0.0509639230711454 Centerline is valid? [True, True] Translation: X:336.53, Y:-46.98, Z:-2.53 [[ 9.48471955e-01 3.16861081e-01 7.51244669e-05 3.36525243e+02] [-3.16861080e-01 9.48471958e-01 -2.40159958e-05 -4.69811848e+01] [-7.88631847e-05 -1.02552126e-06 9.99999997e-01 -2.52620511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters 0.050213500836332005 Centerline is valid? [True, True] Translation: X:336.58, Y:-47.00, Z:-2.53 [[ 9.47012562e-01 3.21196138e-01 -4.98445037e-04 3.36583537e+02] [-3.21196098e-01 9.47012693e-01 1.60246824e-04 -4.69981873e+01] [ 5.23504438e-04 8.34284536e-06 9.99999863e-01 -2.52666184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters 0.05061197665671193 Centerline is valid? [True, True] Translation: X:336.64, Y:-47.01, Z:-2.53 [[ 9.45610370e-01 3.25301356e-01 -2.37239089e-04 3.36642661e+02] [-3.25301347e-01 9.45610400e-01 7.63055718e-05 -4.70131027e+01] [ 2.49158056e-04 5.01885520e-06 9.99999969e-01 -2.52697061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters 0.05046950315585418 Centerline is valid? [True, True] Translation: X:336.70, Y:-47.03, Z:-2.53 [[ 9.45270312e-01 3.26287630e-01 6.47803595e-04 3.36701916e+02] [-3.26287565e-01 9.45270534e-01 -2.07463123e-04 -4.70278973e+01] [-6.80042301e-04 -1.52615263e-05 9.99999769e-01 -2.52766388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters 0.049928635990423555 Centerline is valid? [True, True] Translation: X:336.76, Y:-47.05, Z:-2.53 [[ 9.46139269e-01 3.23749847e-01 2.55329206e-03 3.36758443e+02] [-3.23748811e-01 9.46142713e-01 -8.20781595e-04 -4.70521101e+01] [-2.68150659e-03 -5.00515681e-05 9.99996404e-01 -2.52507654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters 0.0502752318193393 Centerline is valid? [True, True] Translation: X:336.82, Y:-47.07, Z:-2.53 [[ 9.47568576e-01 3.19530925e-01 3.71236241e-03 3.36815785e+02] [-3.19528701e-01 9.47575846e-01 -1.19349931e-03 -4.70700016e+01] [-3.89910489e-03 -5.52839005e-05 9.99992397e-01 -2.52544003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters 0.0504457442677031 Centerline is valid? [True, True] Translation: X:336.87, Y:-47.09, Z:-2.53 [[ 9.49060604e-01 3.15080877e-01 2.83044409e-03 3.36872480e+02] [-3.15079564e-01 9.49064824e-01 -9.09987574e-04 -4.70935862e+01] [-2.97299460e-03 -2.81817323e-05 9.99995580e-01 -2.52583490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters 0.050777160714170204 Centerline is valid? [True, True] Translation: X:336.93, Y:-47.11, Z:-2.53 [[ 9.50487386e-01 3.10757886e-01 1.80701951e-03 3.36930876e+02] [-3.10757344e-01 9.50489104e-01 -5.80802645e-04 -4.71142519e+01] [-1.89804135e-03 -9.49899379e-06 9.99998199e-01 -2.52763116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters 0.05123663382203267 Centerline is valid? [True, True] Translation: X:336.99, Y:-47.13, Z:-2.53 [[ 9.51061524e-01 3.08998816e-01 1.30709547e-03 3.36989270e+02] [-3.08998531e-01 9.51062423e-01 -4.19623920e-04 -4.71344406e+01] [-1.37279268e-03 -4.80241657e-06 9.99999058e-01 -2.52840993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters 0.050494367059078234 Centerline is valid? [True, True] Translation: X:337.05, Y:-47.15, Z:-2.53 [[ 9.51438535e-01 3.07837599e-01 8.52735777e-04 3.37047739e+02] [-3.07837478e-01 9.51438917e-01 -2.73506849e-04 -4.71541923e+01] [-8.95521696e-04 -2.27907494e-06 9.99999599e-01 -2.52955761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters 0.05032859972601411 Centerline is valid? [True, True] Translation: X:337.11, Y:-47.17, Z:-2.53 [[ 9.50580886e-01 3.10477002e-01 -9.99132531e-05 3.37107750e+02] [-3.10477000e-01 9.50580891e-01 3.30545301e-05 -4.71697438e+01] [ 1.05238301e-04 -4.00237351e-07 9.99999994e-01 -2.53075030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters 0.05084044696135345 Centerline is valid? [True, True] Translation: X:337.17, Y:-47.19, Z:-2.53 [[ 9.49701310e-01 3.13152051e-01 -1.79278535e-03 3.37167453e+02] [-3.13151517e-01 9.49703002e-01 5.78340394e-04 -4.71862591e+01] [ 1.88372211e-03 1.21628246e-05 9.99998226e-01 -2.53227827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters 0.050489856355641204 Centerline is valid? [True, True] Translation: X:337.23, Y:-47.20, Z:-2.53 [[ 9.48832810e-01 3.15764595e-01 -3.00317035e-03 3.37227542e+02] [-3.15763110e-01 9.48837562e-01 9.68534667e-04 -4.72021394e+01] [ 3.15534979e-03 2.93129397e-05 9.99995021e-01 -2.53350548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters 0.05009051873941885 Centerline is valid? [True, True] Translation: X:337.29, Y:-47.22, Z:-2.53 [[ 9.48295062e-01 3.17375090e-01 -3.08661837e-03 3.37286294e+02] [-3.17373530e-01 9.48300085e-01 9.95734598e-04 -4.72181834e+01] [ 3.24306182e-03 3.53607656e-05 9.99994741e-01 -2.53391338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters 0.05067005058266697 Centerline is valid? [True, True] Translation: X:337.35, Y:-47.24, Z:-2.53 [[ 9.48277832e-01 3.17424043e-01 -3.33615547e-03 3.37345725e+02] [-3.17422222e-01 9.48283700e-01 1.07581553e-03 -4.72357394e+01] [ 3.50511157e-03 3.87978586e-05 9.99993856e-01 -2.53490297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters 0.050297419716774976 Centerline is valid? [True, True] Translation: X:337.40, Y:-47.26, Z:-2.54 [[ 9.48919525e-01 3.15502068e-01 -3.19056419e-03 3.37403142e+02] [-3.15500388e-01 9.48924889e-01 1.02981205e-03 -4.72559006e+01] [ 3.35251360e-03 2.94154791e-05 9.99994380e-01 -2.53552074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters 0.0502708396873006 Centerline is valid? [True, True] Translation: X:337.46, Y:-47.28, Z:-2.53 [[ 9.49345172e-01 3.14227561e-01 -2.18716956e-03 3.37460887e+02] [-3.14226767e-01 9.49347692e-01 7.06393467e-04 -4.72772258e+01] [ 2.29835267e-03 1.66559924e-05 9.99997359e-01 -2.53436654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters 0.05046252112820883 Centerline is valid? [True, True] Translation: X:337.52, Y:-47.30, Z:-2.53 [[ 9.49431770e-01 3.13971885e-01 -9.84318578e-04 3.37519242e+02] [-3.13971724e-01 9.49432281e-01 3.17919180e-04 -4.72985192e+01] [ 1.03436152e-03 7.20563043e-06 9.99999465e-01 -2.53291599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters 0.05004137459675821 Centerline is valid? [True, True] Translation: X:337.58, Y:-47.32, Z:-2.53 [[ 9.48839696e-01 3.15758168e-01 1.03822788e-04 3.37577288e+02] [-3.15758166e-01 9.48839702e-01 -3.26805973e-05 -4.73188822e+01] [-1.08830349e-04 -1.77424507e-06 9.99999994e-01 -2.53340657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters 0.05026829782436431 Centerline is valid? [True, True] Translation: X:337.64, Y:-47.34, Z:-2.53 [[ 9.48455474e-01 3.16910418e-01 2.64046244e-05 3.37635120e+02] [-3.16910418e-01 9.48455474e-01 -8.39764752e-06 -4.73372367e+01] [-2.77049127e-05 -4.03105790e-07 1.00000000e+00 -2.53434609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters 0.04974822510250302 Centerline is valid? [True, True] Translation: X:337.69, Y:-47.36, Z:-2.53 [[ 9.47166585e-01 3.20740407e-01 -1.02516755e-03 3.37692565e+02] [-3.20740236e-01 9.47167140e-01 3.31065385e-04 -4.73584120e+01] [ 1.07719107e-03 1.52384134e-05 9.99999420e-01 -2.53422911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters 0.04941129317034368 Centerline is valid? [True, True] Translation: X:337.75, Y:-47.37, Z:-2.54 [[ 9.45773906e-01 3.24821163e-01 -1.71180293e-03 3.37751020e+02] [-3.24820695e-01 9.45775455e-01 5.52671568e-04 -4.73739109e+01] [ 1.79850062e-03 3.33266698e-05 9.99998382e-01 -2.53745579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters 0.050331446185482256 Centerline is valid? [True, True] Translation: X:337.81, Y:-47.39, Z:-2.54 [[ 9.44859336e-01 3.27465062e-01 -2.73281319e-03 3.37809082e+02] [-3.27463878e-01 9.44863286e-01 8.82622861e-04 -4.73889272e+01] [ 2.87116300e-03 6.09431535e-05 9.99995876e-01 -2.53931397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters 0.04959457582319462 Centerline is valid? [True, True] Translation: X:337.87, Y:-47.41, Z:-2.54 [[ 9.44842147e-01 3.27516180e-01 -2.54330856e-03 3.37868524e+02] [-3.27515152e-01 9.44845569e-01 8.22483089e-04 -4.74097926e+01] [ 2.67241034e-03 5.58554007e-05 9.99996428e-01 -2.53833715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters 0.04958251608109827 Centerline is valid? [True, True] Translation: X:337.93, Y:-47.43, Z:-2.54 [[ 9.45580118e-01 3.25380592e-01 -2.38979715e-03 3.37927624e+02] [-3.25379680e-01 9.45583136e-01 7.72163483e-04 -4.74285146e+01] [ 2.51099889e-03 4.74489928e-05 9.99996846e-01 -2.53802690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters 0.04936121289194779 Centerline is valid? [True, True] Translation: X:337.99, Y:-47.45, Z:-2.54 [[ 9.46534925e-01 3.22598303e-01 -1.40389386e-03 3.37986253e+02] [-3.22597985e-01 9.46535966e-01 4.53728732e-04 -4.74486735e+01] [ 1.47520815e-03 2.34232389e-05 9.99998912e-01 -2.53752555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters 0.049373400242707734 Centerline is valid? [True, True] Translation: X:338.04, Y:-47.47, Z:-2.54 [[ 9.48524396e-01 3.16703669e-01 -5.06708194e-04 3.38042616e+02] [-3.16703627e-01 9.48524531e-01 1.63733240e-04 -4.74691973e+01] [ 5.32480070e-04 5.17135068e-06 9.99999858e-01 -2.53783054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters 0.05014471552929504 Centerline is valid? [True, True] Translation: X:338.10, Y:-47.49, Z:-2.54 [[ 9.51004048e-01 3.09177472e-01 -7.68713291e-04 3.38099523e+02] [-3.09177373e-01 9.51004359e-01 2.48480926e-04 -4.74884406e+01] [ 8.07874395e-04 1.36238859e-06 9.99999674e-01 -2.54061050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters 0.05063883873567685 Centerline is valid? [True, True] Translation: X:338.16, Y:-47.51, Z:-2.54 [[ 9.51497891e-01 3.07654290e-01 -7.75156817e-04 3.38158762e+02] [-3.07654187e-01 9.51498207e-01 2.51597555e-04 -4.75086336e+01] [ 8.14965388e-04 -9.14302895e-07 9.99999668e-01 -2.53875089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters 0.05055074255639405 Centerline is valid? [True, True] Translation: X:338.22, Y:-47.53, Z:-2.54 [[ 9.52419659e-01 3.04789690e-01 -1.93584607e-04 3.38218328e+02] [-3.04789683e-01 9.52419679e-01 6.30452495e-05 -4.75300974e+01] [ 2.03589331e-04 -1.04294399e-06 9.99999979e-01 -2.53814938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters 0.050413354812625946 Centerline is valid? [True, True] Translation: X:338.28, Y:-47.55, Z:-2.54 [[ 9.52234035e-01 3.05367702e-01 9.53324841e-04 3.38276654e+02] [-3.05367548e-01 9.52234512e-01 -3.07468287e-04 -4.75482025e+01] [-1.00167970e-03 1.66729868e-06 9.99999498e-01 -2.53821288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters 0.04988346183671175 Centerline is valid? [True, True] Translation: X:338.34, Y:-47.56, Z:-2.54 [[ 9.51249717e-01 3.08419522e-01 1.17242315e-03 3.38337075e+02] [-3.08419290e-01 9.51250439e-01 -3.78424253e-04 -4.75637954e+01] [-1.23198147e-03 -1.62195317e-06 9.99999241e-01 -2.53914530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters 0.0500902515423765 Centerline is valid? [True, True] Translation: X:338.40, Y:-47.58, Z:-2.54 [[ 9.50416884e-01 3.10977920e-01 6.93240387e-04 3.38395869e+02] [-3.10977839e-01 9.50417137e-01 -2.23544764e-04 -4.75803392e+01] [-7.28385029e-04 -3.12168015e-06 9.99999735e-01 -2.54146912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters 0.050142748277230746 Centerline is valid? [True, True] Translation: X:338.46, Y:-47.60, Z:-2.54 [[ 9.49080716e-01 3.15031119e-01 1.09030884e-03 3.38455333e+02] [-3.15030921e-01 9.49081342e-01 -3.52624130e-04 -4.75985892e+01] [-1.14587935e-03 -8.81223693e-06 9.99999343e-01 -2.54003609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters 0.050538816626058275 Centerline is valid? [True, True] Translation: X:338.52, Y:-47.61, Z:-2.54 [[ 9.47663892e-01 3.19263405e-01 2.00657244e-03 3.38515119e+02] [-3.19262747e-01 9.47666016e-01 -6.48954543e-04 -4.76126617e+01] [-2.10874795e-03 -2.56330425e-05 9.99997776e-01 -2.54131633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters 0.05032426476763841 Centerline is valid? [True, True] Translation: X:338.57, Y:-47.63, Z:-2.54 [[ 9.46614096e-01 3.22363708e-01 1.84223160e-03 3.38574486e+02] [-3.22363159e-01 9.46615888e-01 -5.95986333e-04 -4.76282228e+01] [-1.93601006e-03 -2.96985333e-05 9.99998125e-01 -2.54281219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters 0.049564120807879246 Centerline is valid? [True, True] Translation: X:338.63, Y:-47.65, Z:-2.54 [[ 9.46285723e-01 3.23329179e-01 1.25419731e-03 3.38632830e+02] [-3.23328925e-01 9.46286554e-01 -4.05576968e-04 -4.76504903e+01] [-1.31796492e-03 -2.17265740e-05 9.99999131e-01 -2.54250150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters 0.05005866389823306 Centerline is valid? [True, True] Translation: X:338.69, Y:-47.67, Z:-2.54 [[ 9.46096249e-01 3.23885607e-01 2.09363474e-05 3.38691406e+02] [-3.23885607e-01 9.46096250e-01 -5.89304596e-06 -4.76721271e+01] [-2.17164726e-05 -1.20559289e-06 1.00000000e+00 -2.54459446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters 0.049830955895738806 Centerline is valid? [True, True] Translation: X:338.75, Y:-47.69, Z:-2.55 [[ 9.46140145e-01 3.23756416e-01 -7.81004395e-04 3.38749980e+02] [-3.23756316e-01 9.46140467e-01 2.54329618e-04 -4.76946364e+01] [ 8.21280708e-04 1.22236440e-05 9.99999663e-01 -2.54546737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters 0.05028853446591256 Centerline is valid? [True, True] Translation: X:338.81, Y:-47.72, Z:-2.55 [[ 9.47056289e-01 3.21067215e-01 -4.78451562e-04 3.38806930e+02] [-3.21067178e-01 9.47056410e-01 1.55384225e-04 -4.77193267e+01] [ 5.03009399e-04 6.45748560e-06 9.99999873e-01 -2.54557995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters 0.050664117141044865 Centerline is valid? [True, True] Translation: X:338.86, Y:-47.74, Z:-2.55 [[ 9.48089262e-01 3.18003725e-01 -6.18792482e-04 3.38863742e+02] [-3.18003661e-01 9.48089463e-01 2.01673892e-04 -4.77418707e+01] [ 6.50803681e-04 5.57342394e-06 9.99999788e-01 -2.54648693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters 0.04877978229841296 Centerline is valid? [True, True] Translation: X:338.92, Y:-47.76, Z:-2.55 [[ 9.48565274e-01 3.16578748e-01 1.34800711e-03 3.38922645e+02] [-3.16578447e-01 9.48566232e-01 -4.37164845e-04 -4.77630250e+01] [-1.41707112e-03 -1.20706045e-05 9.99998996e-01 -2.54541294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters 0.04969020697901995 Centerline is valid? [True, True] Translation: X:338.98, Y:-47.78, Z:-2.55 [[ 9.48699926e-01 3.16174784e-01 1.39839461e-03 3.38981170e+02] [-3.16174459e-01 9.48700957e-01 -4.53127787e-04 -4.77826322e+01] [-1.46992589e-03 -1.22543634e-05 9.99998920e-01 -2.54554527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters 0.05005175641330279 Centerline is valid? [True, True] Translation: X:339.04, Y:-47.80, Z:-2.55 [[ 9.49309833e-01 3.14341352e-01 5.95853614e-04 3.39040463e+02] [-3.14341293e-01 9.49310020e-01 -1.92648922e-04 -4.78022893e+01] [-6.26207329e-04 -4.41787925e-06 9.99999804e-01 -2.54668637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters 0.049952304878803415 Centerline is valid? [True, True] Translation: X:339.10, Y:-47.82, Z:-2.55 [[ 9.49262562e-01 3.14482324e-01 -1.20696781e-03 3.39100115e+02] [-3.14482078e-01 9.49263329e-01 3.93053928e-04 -4.78197339e+01] [ 1.26933880e-03 6.45836696e-06 9.99999194e-01 -2.54761923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters 0.0500512501161038 Centerline is valid? [True, True] Translation: X:339.16, Y:-47.84, Z:-2.55 [[ 9.49687789e-01 3.13184330e-01 -2.94579935e-03 3.39159384e+02] [-3.13182864e-01 9.49692358e-01 9.58399372e-04 -4.78380485e+01] [ 3.09775880e-03 1.23936978e-05 9.99995202e-01 -2.54804005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters 0.05030310275514148 Centerline is valid? [True, True] Translation: X:339.22, Y:-47.86, Z:-2.55 [[ 9.50375862e-01 3.11080285e-01 -3.84417446e-03 3.39217940e+02] [-3.11077772e-01 9.50383636e-01 1.25050360e-03 -4.78568347e+01] [ 4.04244751e-03 7.38878656e-06 9.99991829e-01 -2.54932394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters 0.05016523318119868 Centerline is valid? [True, True] Translation: X:339.28, Y:-47.88, Z:-2.55 [[ 9.52070955e-01 3.05864095e-01 -2.83776779e-03 3.39276683e+02] [-3.05862700e-01 9.52075184e-01 9.23889598e-04 -4.78764263e+01] [ 2.98435295e-03 -1.16411331e-05 9.99995547e-01 -2.54864150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters 0.05091260556218188 Centerline is valid? [True, True] Translation: X:339.33, Y:-47.90, Z:-2.55 [[ 9.53921103e-01 3.00057529e-01 8.95339687e-05 3.39333778e+02] [-3.00057527e-01 9.53921108e-01 -2.86640624e-05 -4.78988296e+01] [-9.40092104e-05 4.77912747e-07 9.99999996e-01 -2.54664907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters 0.050228881042365066 Centerline is valid? [True, True] Translation: X:339.39, Y:-47.92, Z:-2.55 [[ 9.54842758e-01 2.97104304e-01 2.08301393e-03 3.39393739e+02] [-2.97103533e-01 9.54845030e-01 -6.77455979e-04 -4.79158156e+01] [-2.19023059e-03 2.79931360e-05 9.99997601e-01 -2.54524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters 0.05032186162180714 Centerline is valid? [True, True] Translation: X:339.45, Y:-47.94, Z:-2.55 [[ 9.54963930e-01 2.96714849e-01 2.04716425e-03 3.39451694e+02] [-2.96714104e-01 9.54966124e-01 -6.65552489e-04 -4.79366611e+01] [-2.15245181e-03 2.81561153e-05 9.99997683e-01 -2.54717549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters 0.05038552689214339 Centerline is valid? [True, True] Translation: X:339.51, Y:-47.95, Z:-2.55 [[ 9.55296059e-01 2.95636254e-01 2.94026600e-03 3.39512315e+02] [-2.95634709e-01 9.55300583e-01 -9.56800484e-04 -4.79510104e+01] [-3.09170273e-03 4.47830489e-05 9.99995220e-01 -2.54631315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters 0.05092718189097963 Centerline is valid? [True, True] Translation: X:339.57, Y:-47.98, Z:-2.55 [[ 9.56057397e-01 2.93158259e-01 3.53393800e-03 3.39567996e+02] [-2.93156010e-01 9.56063926e-01 -1.14993733e-03 -4.79757114e+01] [-3.71578426e-03 6.34109311e-05 9.99993094e-01 -2.54739776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters 0.05101448360115545 Centerline is valid? [True, True] Translation: X:339.63, Y:-47.99, Z:-2.55 [[ 9.57107970e-01 2.89694541e-01 4.62667267e-03 3.39626195e+02] [-2.89690641e-01 9.57119148e-01 -1.50658596e-03 -4.79902768e+01] [-4.86472673e-03 1.01661656e-04 9.99988162e-01 -2.54777503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters 0.05073867632126701 Centerline is valid? [True, True] Translation: X:339.69, Y:-48.00, Z:-2.55 [[ 9.56960007e-01 2.90183760e-01 4.57509825e-03 3.39686516e+02] [-2.90179953e-01 9.56970938e-01 -1.48953338e-03 -4.80014443e+01] [-4.81047446e-03 9.78220812e-05 9.99988425e-01 -2.54872802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters 0.050904865279246855 Centerline is valid? [True, True] Translation: X:339.74, Y:-48.02, Z:-2.55 [[ 9.56044458e-01 2.93187385e-01 4.48904710e-03 3.39743558e+02] [-2.93183750e-01 9.56054994e-01 -1.46215093e-03 -4.80234550e+01] [-4.72046010e-03 8.17656339e-05 9.99988855e-01 -2.55049788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters 0.05117696484126164 Centerline is valid? [True, True] Translation: X:339.81, Y:-48.03, Z:-2.55 [[ 9.54107462e-01 2.99434281e-01 4.24998302e-03 3.39806016e+02] [-2.99431084e-01 9.54116926e-01 -1.38451393e-03 -4.80285861e+01] [-4.46955167e-03 4.83980483e-05 9.99990010e-01 -2.55070138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters 0.050080304790062286 Centerline is valid? [True, True] Translation: X:339.87, Y:-48.04, Z:-2.55 [[ 9.51676260e-01 3.07089049e-01 2.93474214e-03 3.39865504e+02] [-3.07087561e-01 9.51680785e-01 -9.55979351e-04 -4.80432415e+01] [-3.08650850e-03 8.56004557e-06 9.99995237e-01 -2.55268173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters 0.05038826037805653 Centerline is valid? [True, True] Translation: X:339.93, Y:-48.06, Z:-2.55 [[ 9.49869308e-01 3.12634830e-01 2.78579903e-03 3.39926323e+02] [-3.12633514e-01 9.49873393e-01 -9.07056708e-04 -4.80573511e+01] [-2.92973390e-03 -9.34881275e-06 9.99995708e-01 -2.55278280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters 0.05042316720330559 Centerline is valid? [True, True] Translation: X:339.99, Y:-48.07, Z:-2.55 [[ 9.47330181e-01 3.20238516e-01 3.58077344e-03 3.39987117e+02] [-3.20236392e-01 9.47336947e-01 -1.16707615e-03 -4.80680024e+01] [-3.76594171e-03 -4.10875026e-05 9.99992908e-01 -2.55404070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters 0.051123824407419395 Centerline is valid? [True, True] Translation: X:340.05, Y:-48.08, Z:-2.55 [[ 9.45416677e-01 3.25839561e-01 3.98589798e-03 3.40046561e+02] [-3.25836978e-01 9.45425077e-01 -1.29929027e-03 -4.80804557e+01] [-4.19172808e-03 -7.03822625e-05 9.99991212e-01 -2.55449753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters 0.05004438829602958 Centerline is valid? [True, True] Translation: X:340.10, Y:-48.11, Z:-2.55 [[ 9.44898316e-01 3.27335524e-01 4.31588175e-03 3.40103751e+02] [-3.27332513e-01 9.44908169e-01 -1.40658087e-03 -4.81051142e+01] [-4.53853581e-03 -8.36525187e-05 9.99989697e-01 -2.55235748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters 0.05018536724275852 Centerline is valid? [True, True] Translation: X:340.16, Y:-48.12, Z:-2.55 [[ 9.44958975e-01 3.27159775e-01 4.36097314e-03 3.40162496e+02] [-3.27156696e-01 9.44969034e-01 -1.42183223e-03 -4.81240292e+01] [-4.58615088e-03 -8.31484355e-05 9.99989480e-01 -2.55345437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters 0.05066297553389832 Centerline is valid? [True, True] Translation: X:340.22, Y:-48.14, Z:-2.56 [[ 9.44934494e-01 3.27245789e-01 2.99918743e-03 3.40223161e+02] [-3.27244333e-01 9.44939252e-01 -9.77911100e-04 -4.81391058e+01] [-3.15406722e-03 -5.74051603e-05 9.99995024e-01 -2.55580775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters 0.05026656863008582 Centerline is valid? [True, True] Translation: X:340.28, Y:-48.16, Z:-2.56 [[ 9.45176094e-01 3.26561047e-01 1.86414221e-04 3.40281333e+02] [-3.26561041e-01 9.45176112e-01 -5.98639613e-05 -4.81633084e+01] [-1.95743507e-04 -4.29363710e-06 9.99999981e-01 -2.55716179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters 0.050349807047261275 Centerline is valid? [True, True] Translation: X:340.34, Y:-48.19, Z:-2.56 [[ 9.46199897e-01 3.23582300e-01 -4.99546482e-04 3.40337999e+02] [-3.23582259e-01 9.46200029e-01 1.63251368e-04 -4.81879302e+01] [ 5.25496149e-04 7.17595176e-06 9.99999862e-01 -2.55676482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters 0.04990459793743521 Centerline is valid? [True, True] Translation: X:340.40, Y:-48.21, Z:-2.56 [[ 9.47105654e-01 3.20921894e-01 -1.38113268e-04 3.40396055e+02] [-3.20921890e-01 9.47105664e-01 4.60277677e-05 -4.82083004e+01] [ 1.45579177e-04 7.30412155e-07 9.99999989e-01 -2.55798279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters 0.04970998051334505 Centerline is valid? [True, True] Translation: X:340.45, Y:-48.24, Z:-2.56 [[ 9.48814073e-01 3.15835140e-01 1.37823693e-04 3.40451294e+02] [-3.15835137e-01 9.48814083e-01 -4.47671938e-05 -4.82358517e+01] [-1.44908114e-04 -1.05382144e-06 9.99999990e-01 -2.55568063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters 0.050051171181421876 Centerline is valid? [True, True] Translation: X:340.51, Y:-48.26, Z:-2.56 [[ 9.50262988e-01 3.11448278e-01 4.72378228e-04 3.40508239e+02] [-3.11448240e-01 9.50263106e-01 -1.53843499e-04 -4.82596494e+01] [-4.96797895e-04 -9.29584254e-07 9.99999877e-01 -2.55694296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters 0.05037552975904402 Centerline is valid? [True, True] Translation: X:340.56, Y:-48.29, Z:-2.56 [[ 9.52599801e-01 3.04226244e-01 1.09801420e-04 3.40564976e+02] [-3.04226242e-01 9.52599807e-01 -3.50054059e-05 -4.82861887e+01] [-1.15246375e-04 -5.83306790e-08 9.99999993e-01 -2.55658420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters 0.05126735678123323 Centerline is valid? [True, True] Translation: X:340.62, Y:-48.31, Z:-2.56 [[ 9.54010137e-01 2.99773182e-01 -8.34909875e-04 3.40621357e+02] [-2.99773057e-01 9.54010503e-01 2.73858487e-04 -4.83099854e+01] [ 8.78608220e-04 -1.09802867e-05 9.99999614e-01 -2.55661973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters 0.050784856499054024 Centerline is valid? [True, True] Translation: X:340.68, Y:-48.33, Z:-2.56 [[ 9.54173765e-01 2.99251890e-01 -8.55907641e-04 3.40679663e+02] [-2.99251759e-01 9.54174149e-01 2.80210131e-04 -4.83326055e+01] [ 9.00538356e-04 -1.12372887e-05 9.99999594e-01 -2.55716799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters 0.05082820618550697 Centerline is valid? [True, True] Translation: X:340.74, Y:-48.36, Z:-2.56 [[ 9.53457210e-01 3.01528342e-01 9.07844358e-05 3.40738201e+02] [-3.01528341e-01 9.53457214e-01 -2.93403607e-05 -4.83552663e+01] [-9.54060256e-05 6.00698167e-07 9.99999995e-01 -2.55845709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters 0.05050630743035276 Centerline is valid? [True, True] Translation: X:340.80, Y:-48.37, Z:-2.56 [[ 9.52230134e-01 3.05379570e-01 1.04431436e-03 3.40795701e+02] [-3.05379379e-01 9.52230706e-01 -3.41508083e-04 -4.83749661e+01] [-1.09871779e-03 6.28221639e-06 9.99999396e-01 -2.55896107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters 0.05010663442993647 Centerline is valid? [True, True] Translation: X:340.86, Y:-48.39, Z:-2.56 [[ 9.49480861e-01 3.13824899e-01 -1.65352213e-04 3.40855024e+02] [-3.13824894e-01 9.49480876e-01 5.44078975e-05 -4.83933331e+01] [ 1.74073317e-04 2.32383276e-07 9.99999985e-01 -2.56051760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters 0.0500862421767123 Centerline is valid? [True, True] Translation: X:340.91, Y:-48.41, Z:-2.56 [[ 9.48507921e-01 3.16752556e-01 -7.36355243e-04 3.40913842e+02] [-3.16752464e-01 9.48508207e-01 2.41263044e-04 -4.84123324e+01] [ 7.74859677e-04 4.40242954e-06 9.99999700e-01 -2.56102116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters 0.04944169643176811 Centerline is valid? [True, True] Translation: X:340.97, Y:-48.43, Z:-2.56 [[ 9.46476484e-01 3.22770457e-01 -1.22350552e-03 3.40972628e+02] [-3.22770209e-01 9.46477275e-01 4.00502720e-04 -4.84301623e+01] [ 1.28729061e-03 1.58447249e-05 9.99999171e-01 -2.56151195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters 0.05035706773696737 Centerline is valid? [True, True] Translation: X:341.03, Y:-48.44, Z:-2.56 [[ 9.44603727e-01 3.28211891e-01 -8.67836855e-04 3.41031505e+02] [-3.28211768e-01 9.44604126e-01 2.83988689e-04 -4.84418266e+01] [ 9.12970738e-04 1.65774946e-05 9.99999583e-01 -2.56475427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters 0.049487877279833684 Centerline is valid? [True, True] Translation: X:341.09, Y:-48.46, Z:-2.56 [[ 9.43066447e-01 3.32604284e-01 2.57577125e-04 3.41088548e+02] [-3.32604274e-01 9.43066482e-01 -8.41531915e-05 -4.84630641e+01] [-2.70902066e-04 -6.30920136e-06 9.99999963e-01 -2.56226691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters 0.04971714465377683 Centerline is valid? [True, True] Translation: X:341.15, Y:-48.48, Z:-2.56 [[ 9.43653837e-01 3.30933435e-01 7.04735473e-04 3.41147093e+02] [-3.30933355e-01 9.43654101e-01 -2.30576084e-04 -4.84781692e+01] [-7.41331855e-04 -1.56364680e-05 9.99999725e-01 -2.56337062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters 0.050588953208043234 Centerline is valid? [True, True] Translation: X:341.21, Y:-48.49, Z:-2.56 [[ 9.44754488e-01 3.27777702e-01 8.57510757e-04 3.41205048e+02] [-3.27777583e-01 9.44754877e-01 -2.80531258e-04 -4.84949707e+01] [-9.02089361e-04 -1.60396380e-05 9.99999593e-01 -2.56396818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters 0.05022650402522523 Centerline is valid? [True, True] Translation: X:341.26, Y:-48.52, Z:-2.56 [[ 9.44990196e-01 3.27096846e-01 1.08733568e-03 3.41263593e+02] [-3.27096653e-01 9.44990822e-01 -3.55163068e-04 -4.85161467e+01] [-1.14369495e-03 -2.00382427e-05 9.99999346e-01 -2.56333960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters 0.0503771056379139 Centerline is valid? [True, True] Translation: X:341.32, Y:-48.53, Z:-2.56 [[ 9.45073049e-01 3.26857425e-01 1.07470544e-03 3.41322523e+02] [-3.26857237e-01 9.45073660e-01 -3.51209591e-04 -4.85341434e+01] [-1.13047127e-03 -1.93565323e-05 9.99999361e-01 -2.56489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters 0.049878154148519226 Centerline is valid? [True, True] Translation: X:341.38, Y:-48.56, Z:-2.57 [[ 9.46105409e-01 3.23856107e-01 -1.33309001e-03 3.41380355e+02] [-3.23855812e-01 9.46106348e-01 4.37250098e-04 -4.85584245e+01] [ 1.40285103e-03 1.80442630e-05 9.99999016e-01 -2.56647782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters 0.05010432527017619 Centerline is valid? [True, True] Translation: X:341.44, Y:-48.58, Z:-2.57 [[ 9.48199132e-01 3.17653453e-01 -3.83280642e-03 3.41437749e+02] [-3.17650967e-01 9.48206878e-01 1.25693312e-03 -4.85788251e+01] [ 4.03356255e-03 2.56717767e-05 9.99991865e-01 -2.57032627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters 0.05061737521584961 Centerline is valid? [True, True] Translation: X:341.50, Y:-48.60, Z:-2.57 [[ 9.49786646e-01 3.12871031e-01 -4.12862106e-03 3.41495724e+02] [-3.12868099e-01 9.49795619e-01 1.35443394e-03 -4.86007735e+01] [ 4.34510934e-03 5.29055949e-06 9.99990560e-01 -2.56772792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters 0.05061981166683924 Centerline is valid? [True, True] Translation: X:341.55, Y:-48.62, Z:-2.57 [[ 9.52671008e-01 3.03973893e-01 -4.22179101e-03 3.41551781e+02] [-3.03970739e-01 9.52680361e-01 1.38540999e-03 -4.86249393e+01] [ 4.44314585e-03 -3.65390011e-05 9.99990129e-01 -2.56813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters 0.05159922169019767 Centerline is valid? [True, True] Translation: X:341.61, Y:-48.64, Z:-2.56 [[ 9.55261706e-01 2.95733833e-01 -4.07111816e-03 3.41611697e+02] [-2.95730827e-01 9.55270378e-01 1.33536165e-03 -4.86395916e+01] [ 4.28393020e-03 -7.16647103e-05 9.99990821e-01 -2.56279121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters 0.051301069738649285 Centerline is valid? [True, True] Translation: X:341.67, Y:-48.66, Z:-2.56 [[ 9.56700876e-01 2.91039607e-01 -4.40251361e-03 3.41667825e+02] [-2.91036041e-01 9.56711000e-01 1.44402451e-03 -4.86594613e+01] [ 4.63220152e-03 -1.00209376e-04 9.99989266e-01 -2.56471687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters 0.05149598951009593 Centerline is valid? [True, True] Translation: X:341.73, Y:-48.68, Z:-2.56 [[ 9.57241179e-01 2.89271266e-01 -3.38526194e-03 3.41728302e+02] [-2.89269143e-01 9.57247161e-01 1.11147931e-03 -4.86755453e+01] [ 3.56205141e-03 -8.47019441e-05 9.99993652e-01 -2.56335709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters 0.05151964812302604 Centerline is valid? [True, True] Translation: X:341.79, Y:-48.69, Z:-2.56 [[ 9.55588401e-01 2.94698687e-01 -1.86850167e-03 3.41785921e+02] [-2.94698051e-01 9.55590228e-01 6.13065157e-04 -4.86924567e+01] [ 1.96619143e-03 -3.51941536e-05 9.99998066e-01 -2.56415533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters 0.05060948576243881 Centerline is valid? [True, True] Translation: X:341.85, Y:-48.70, Z:-2.56 [[ 9.53622278e-01 3.01005040e-01 -7.19702526e-04 3.41847002e+02] [-3.01004947e-01 9.53622549e-01 2.36215145e-04 -4.87016717e+01] [ 7.57426506e-04 -8.62600342e-06 9.99999713e-01 -2.56083490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters 0.050780787212462916 Centerline is valid? [True, True] Translation: X:341.91, Y:-48.71, Z:-2.56 [[ 9.49356211e-01 3.14201281e-01 -5.82766346e-04 3.41907121e+02] [-3.14201223e-01 9.49356390e-01 1.91339141e-04 -4.87140708e+01] [ 6.13371958e-04 1.45689627e-06 9.99999812e-01 -2.56296692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters 0.05145873400211239 Centerline is valid? [True, True] Translation: X:341.97, Y:-48.72, Z:-2.57 [[ 9.44863524e-01 3.27464364e-01 1.06985088e-04 3.41969208e+02] [-3.27464362e-01 9.44863530e-01 -3.50343455e-05 -4.87180332e+01] [-1.12558808e-04 -1.93112842e-06 9.99999994e-01 -2.56776113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters 0.05115560214243895 Centerline is valid? [True, True] Translation: X:342.03, Y:-48.73, Z:-2.57 [[ 9.41840020e-01 3.36060814e-01 7.11829578e-04 3.42029113e+02] [-3.36060733e-01 9.41840289e-01 -2.33485333e-04 -4.87326462e+01] [-7.48895046e-04 -1.93121395e-05 9.99999719e-01 -2.56665527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters 0.05172669731454337 Centerline is valid? [True, True] Translation: X:342.09, Y:-48.75, Z:-2.57 [[ 9.40936400e-01 3.38579875e-01 1.53602582e-03 3.42087551e+02] [-3.38579503e-01 9.40937653e-01 -5.04004112e-04 -4.87506734e+01] [-1.61595018e-03 -4.58310431e-05 9.99998693e-01 -2.56661106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters 0.052372048371089414 Centerline is valid? [True, True] Translation: X:342.15, Y:-48.77, Z:-2.57 [[ 9.40141902e-01 3.40782120e-01 8.66696928e-04 3.42146884e+02] [-3.40782003e-01 9.40142301e-01 -2.84313771e-04 -4.87666104e+01] [-9.11707494e-04 -2.80594250e-05 9.99999584e-01 -2.56827418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters 0.050064742152349226 Centerline is valid? [True, True] Translation: X:342.20, Y:-48.80, Z:-2.57 [[ 9.40155252e-01 3.40745006e-01 -9.70602265e-04 3.42202650e+02] [-3.40744858e-01 9.40155753e-01 3.19511283e-04 -4.87968596e+01] [ 1.02138918e-03 3.03375196e-05 9.99999478e-01 -2.56904458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters 0.051616874784219495 Centerline is valid? [True, True] Translation: X:342.26, Y:-48.81, Z:-2.57 [[ 9.41741149e-01 3.36337323e-01 -9.01432957e-04 3.42261043e+02] [-3.36337194e-01 9.41741580e-01 2.95955341e-04 -4.88110542e+01] [ 9.48457725e-04 2.44721082e-05 9.99999550e-01 -2.57358900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters 0.04985501016979571 Centerline is valid? [True, True] Translation: X:342.31, Y:-48.84, Z:-2.57 [[ 9.43801334e-01 3.30512475e-01 -7.39385976e-04 3.42314834e+02] [-3.30512386e-01 9.43801623e-01 2.42903682e-04 -4.88427272e+01] [ 7.78116381e-04 1.51234040e-05 9.99999697e-01 -2.57195019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters 0.05041311073829597 Centerline is valid? [True, True] Translation: X:342.37, Y:-48.87, Z:-2.58 [[ 9.47245867e-01 3.20497392e-01 -2.58620044e-03 3.42369051e+02] [-3.20496267e-01 9.47249398e-01 8.49293344e-04 -4.88709383e+01] [ 2.72197311e-03 2.43779784e-05 9.99996295e-01 -2.57551489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters 0.0503879214865175 Centerline is valid? [True, True] Translation: X:342.42, Y:-48.90, Z:-2.58 [[ 9.50204067e-01 3.11579031e-01 -5.54423749e-03 3.42422560e+02] [-3.11573705e-01 9.50220242e-01 1.82182518e-03 -4.89028293e+01] [ 5.83588921e-03 -3.66708023e-06 9.99982971e-01 -2.57622300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters 0.05082318286896394 Centerline is valid? [True, True] Translation: X:342.48, Y:-48.92, Z:-2.57 [[ 9.50771486e-01 3.09824164e-01 -6.52443626e-03 3.42480935e+02] [-3.09816748e-01 9.50793872e-01 2.14379716e-03 -4.89232147e+01] [ 6.86759418e-03 -1.68815891e-05 9.99976418e-01 -2.57368623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters 0.05119512971516614 Centerline is valid? [True, True] Translation: X:342.54, Y:-48.94, Z:-2.58 [[ 9.49887878e-01 3.12427036e-01 -1.01176355e-02 3.42538649e+02] [-3.12409348e-01 9.49941760e-01 3.32447277e-03 -4.89401367e+01] [ 1.06498196e-02 2.96753001e-06 9.99943289e-01 -2.57526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters 0.05153366391830099 Centerline is valid? [True, True] Translation: X:342.60, Y:-48.95, Z:-2.58 [[ 9.49437909e-01 3.13586774e-01 -1.51984513e-02 3.42598013e+02] [-3.13547008e-01 9.49559548e-01 4.99390926e-03 -4.89542701e+01] [ 1.59978585e-02 2.40221731e-05 9.99872026e-01 -2.58028428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters 0.05104049414879983 Centerline is valid? [True, True] Translation: X:342.66, Y:-48.97, Z:-2.58 [[ 9.49593593e-01 3.13116383e-01 -1.51703042e-02 3.42656316e+02] [-3.13076656e-01 9.49714763e-01 4.98769883e-03 -4.89746842e+01] [ 1.59691920e-02 1.31812392e-05 9.99872484e-01 -2.58108431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters 0.050349535602422016 Centerline is valid? [True, True] Translation: X:342.71, Y:-49.00, Z:-2.57 [[ 9.50658008e-01 3.10087781e-01 -9.74264447e-03 3.42713067e+02] [-3.10071244e-01 9.50707930e-01 3.20254998e-03 -4.89952830e+01] [ 1.02554810e-02 -2.36158983e-05 9.99947411e-01 -2.57073136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters 0.050300476318056314 Centerline is valid? [True, True] Translation: X:342.77, Y:-49.01, Z:-2.57 [[ 9.50673346e-01 3.10171668e-01 -3.70485254e-03 3.42772194e+02] [-3.10169277e-01 9.50680565e-01 1.21793532e-03 -4.90087611e+01] [ 3.89990033e-03 -8.72721596e-06 9.99992395e-01 -2.56872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters 0.05023474128443163 Centerline is valid? [True, True] Translation: X:342.83, Y:-49.02, Z:-2.56 [[ 9.49475698e-01 3.13831700e-01 2.35851394e-03 3.42830628e+02] [-3.13830743e-01 9.49478627e-01 -7.75257328e-04 -4.90235758e+01] [-2.48265891e-03 -4.08618999e-06 9.99996918e-01 -2.56496607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters 0.050439502930582865 Centerline is valid? [True, True] Translation: X:342.89, Y:-49.03, Z:-2.56 [[ 9.44893317e-01 3.27336774e-01 5.22066365e-03 3.42893115e+02] [-3.27332287e-01 9.44907736e-01 -1.71617305e-03 -4.90276901e+01] [-5.49481201e-03 -8.72913248e-05 9.99984900e-01 -2.56486897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters 0.05048985046123733 Centerline is valid? [True, True] Translation: X:342.95, Y:-49.05, Z:-2.57 [[ 9.45816214e-01 3.24646469e-01 6.02991972e-03 3.42951478e+02] [-3.24640428e-01 9.45835431e-01 -1.98231467e-03 -4.90472802e+01] [-6.34686318e-03 -8.26503634e-05 9.99979855e-01 -2.56582431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters 0.05054536137874497 Centerline is valid? [True, True] Translation: X:343.00, Y:-49.08, Z:-2.57 [[ 9.55090152e-01 2.96277529e-01 4.73569520e-03 3.43004864e+02] [-2.96273450e-01 9.55101889e-01 -1.55691935e-03 -4.90777222e+01] [-4.98435166e-03 8.39375868e-05 9.99987575e-01 -2.57040713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters 0.057172863789889734 Centerline is valid? [True, True] Translation: X:343.06, Y:-49.11, Z:-2.59 [[ 9.58037574e-01 2.86597654e-01 -5.07847717e-03 3.43057298e+02] [-2.86592825e-01 9.58051024e-01 1.66987949e-03 -4.91138794e+01] [ 5.34402380e-03 -1.44352179e-04 9.99985710e-01 -2.58943009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters 0.05192863824806924 Centerline is valid? [True, True] Translation: X:343.12, Y:-49.11, Z:-2.58 [[ 9.58649003e-01 2.84575418e-01 -2.98686484e-03 3.43123224e+02] [-2.84573736e-01 9.58653651e-01 9.82547234e-04 -4.91125806e+01] [ 3.14297767e-03 -9.19346383e-05 9.99995057e-01 -2.57944434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters 0.05192863824806924 Centerline is valid? [True, True] Translation: X:343.18, Y:-49.13, Z:-2.58 [[ 9.58608359e-01 2.84712303e-01 -2.98649769e-03 3.43182602e+02] [-2.84710618e-01 9.58613006e-01 9.83663381e-04 -4.91320812e+01] [ 3.14295660e-03 -9.26603344e-05 9.99995057e-01 -2.57990500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters 0.052035810653229354 Centerline is valid? [True, True] Translation: X:343.24, Y:-49.15, Z:-2.58 [[ 9.59059813e-01 2.83188175e-01 -2.95512571e-03 3.43242452e+02] [-2.83186518e-01 9.59064361e-01 9.73503305e-04 -4.91451993e+01] [ 3.10984037e-03 -9.67961370e-05 9.99995160e-01 -2.57770793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters 0.0526592458518002 Centerline is valid? [True, True] Translation: X:343.30, Y:-49.16, Z:-2.58 [[ 9.59490766e-01 2.81727667e-01 -2.64412038e-03 3.43302282e+02] [-2.81726336e-01 9.59494405e-01 8.70687507e-04 -4.91617774e+01] [ 2.78231547e-03 -9.04982752e-05 9.99996125e-01 -2.57710358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters 0.0526592458518002 Centerline is valid? [True, True] Translation: X:343.36, Y:-49.18, Z:-2.58 [[ 9.59453662e-01 2.81854006e-01 -2.64379643e-03 3.43361678e+02] [-2.81852673e-01 9.59457300e-01 8.71671373e-04 -4.91812571e+01] [ 2.78229385e-03 -9.11672003e-05 9.99996125e-01 -2.57756432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters 0.0526592458518002 Centerline is valid? [True, True] Translation: X:343.42, Y:-49.20, Z:-2.58 [[ 9.59416539e-01 2.81980345e-01 -2.64368169e-03 3.43421072e+02] [-2.81979012e-01 9.59420177e-01 8.72019521e-04 -4.92007442e+01] [ 2.78229392e-03 -9.11672025e-05 9.99996125e-01 -2.57802527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters 0.05241051436203944 Centerline is valid? [True, True] Translation: X:343.48, Y:-49.23, Z:-2.58 [[ 9.59682005e-01 2.81072216e-01 -2.97623892e-03 3.43476401e+02] [-2.81070521e-01 9.59686615e-01 9.81737198e-04 -4.92272626e+01] [ 3.13219571e-03 -1.05622496e-04 9.99995089e-01 -2.58076765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters 0.05241051436203944 Centerline is valid? [True, True] Translation: X:343.54, Y:-49.25, Z:-2.58 [[ 9.59648367e-01 2.81187046e-01 -2.97609029e-03 3.43535787e+02] [-2.81185351e-01 9.59652976e-01 9.82187947e-04 -4.92467924e+01] [ 3.13219243e-03 -1.05722068e-04 9.99995089e-01 -2.58122859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters 0.05275077195363577 Centerline is valid? [True, True] Translation: X:343.60, Y:-49.26, Z:-2.58 [[ 9.59883899e-01 2.80382721e-01 -2.90353476e-03 3.43595931e+02] [-2.80381102e-01 9.59888284e-01 9.58539877e-04 -4.92616890e+01] [ 3.05582702e-03 -1.05990716e-04 9.99995325e-01 -2.58028760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters 0.052298033985632764 Centerline is valid? [True, True] Translation: X:343.65, Y:-49.28, Z:-2.58 [[ 9.59431710e-01 2.81927616e-01 -2.75912258e-03 3.43653373e+02] [-2.81926163e-01 9.59435673e-01 9.10342240e-04 -4.92832483e+01] [ 2.90385125e-03 -9.55423694e-05 9.99995779e-01 -2.58189001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters 0.05205705677117389 Centerline is valid? [True, True] Translation: X:343.71, Y:-49.30, Z:-2.58 [[ 9.57467300e-01 2.88538487e-01 -1.38213316e-03 3.43711650e+02] [-2.88538130e-01 9.57468297e-01 4.55940193e-04 -4.92992704e+01] [ 1.45490497e-03 -3.77497091e-05 9.99998941e-01 -2.58222540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters 0.05118773393683444 Centerline is valid? [True, True] Translation: X:343.77, Y:-49.31, Z:-2.58 [[ 9.54518615e-01 2.98151166e-01 -3.09317930e-04 3.43769742e+02] [-2.98151149e-01 9.54518665e-01 1.01972715e-04 -4.93131649e+01] [ 3.25653022e-04 -5.11135861e-06 9.99999947e-01 -2.58114262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters 0.05067338344696198 Centerline is valid? [True, True] Translation: X:343.83, Y:-49.33, Z:-2.58 [[ 9.52447570e-01 3.04702136e-01 -4.85187982e-04 3.43829725e+02] [-3.04702094e-01 9.52447693e-01 1.60139906e-04 -4.93252997e+01] [ 5.10911145e-04 -4.68707032e-06 9.99999869e-01 -2.57977256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters 0.05061901455411361 Centerline is valid? [True, True] Translation: X:343.89, Y:-49.34, Z:-2.58 [[ 9.49381263e-01 3.14123492e-01 -1.28399965e-03 3.43890378e+02] [-3.14123206e-01 9.49382132e-01 4.23934799e-04 -4.93395662e+01] [ 1.35217420e-03 8.58330355e-07 9.99999086e-01 -2.58464834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters 0.05078220578642917 Centerline is valid? [True, True] Translation: X:343.95, Y:-49.35, Z:-2.58 [[ 9.47024582e-01 3.21157047e-01 -1.60985849e-03 3.43950033e+02] [-3.21156606e-01 9.47025951e-01 5.32144904e-04 -4.93542263e+01] [ 1.69547985e-03 1.30623829e-05 9.99998563e-01 -2.58305581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters 0.051633516863977096 Centerline is valid? [True, True] Translation: X:344.01, Y:-49.37, Z:-2.58 [[ 9.45454488e-01 3.25754134e-01 -2.35473582e-04 3.44009945e+02] [-3.25754124e-01 9.45454517e-01 7.80410355e-05 -4.93704102e+01] [ 2.48051751e-04 2.92224322e-06 9.99999969e-01 -2.58341691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters 0.05112805297207397 Centerline is valid? [True, True] Translation: X:344.07, Y:-49.39, Z:-2.58 [[ 9.44813092e-01 3.27609182e-01 -6.67622442e-04 3.44068547e+02] [-3.27609108e-01 9.44813327e-01 2.21344033e-04 -4.93906731e+01] [ 7.03292918e-04 9.59045212e-06 9.99999753e-01 -2.58361200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters 0.05048474252178376 Centerline is valid? [True, True] Translation: X:344.13, Y:-49.41, Z:-2.59 [[ 9.44605709e-01 3.28199502e-01 -2.26726952e-03 3.44126888e+02] [-3.28198648e-01 9.44608430e-01 7.49751261e-04 -4.94099949e+01] [ 2.38774989e-03 3.58954690e-05 9.99997149e-01 -2.58580763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters 0.05070839342533615 Centerline is valid? [True, True] Translation: X:344.18, Y:-49.43, Z:-2.59 [[ 9.44761786e-01 3.27747939e-01 -2.54095999e-03 3.44184632e+02] [-3.27746863e-01 9.44765202e-01 8.40541123e-04 -4.94335545e+01] [ 2.67609620e-03 3.86805333e-05 9.99996419e-01 -2.58574959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters 0.05136950746681314 Centerline is valid? [True, True] Translation: X:344.24, Y:-49.46, Z:-2.59 [[ 9.45768573e-01 3.24825577e-01 -3.18615281e-03 3.44242077e+02] [-3.24823869e-01 9.45773939e-01 1.05411358e-03 -4.94563891e+01] [ 3.35578334e-03 3.79909827e-05 9.99994369e-01 -2.58858321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters 0.05001745644514851 Centerline is valid? [True, True] Translation: X:344.30, Y:-49.48, Z:-2.59 [[ 9.46562656e-01 3.22503296e-01 -3.28070370e-03 3.44298810e+02] [-3.22501471e-01 9.46568341e-01 1.08519944e-03 -4.94822346e+01] [ 3.45539065e-03 3.08225068e-05 9.99994030e-01 -2.58748948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters 0.050145743893182215 Centerline is valid? [True, True] Translation: X:344.36, Y:-49.51, Z:-2.59 [[ 9.47313757e-01 3.20293573e-01 -2.94507790e-03 3.44355767e+02] [-3.20292090e-01 9.47318334e-01 9.74993919e-04 -4.95088065e+01] [ 3.10221058e-03 1.96600035e-05 9.99995188e-01 -2.58684044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters 0.050133732727623566 Centerline is valid? [True, True] Translation: X:344.41, Y:-49.53, Z:-2.59 [[ 9.47259362e-01 3.20455317e-01 -2.84442071e-03 3.44413558e+02] [-3.20453933e-01 9.47263632e-01 9.42136002e-04 -4.95329734e+01] [ 2.99632878e-03 1.90586539e-05 9.99995511e-01 -2.58818600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters 0.0502224274337667 Centerline is valid? [True, True] Translation: X:344.47, Y:-49.56, Z:-2.59 [[ 9.46975891e-01 3.21296330e-01 -2.30857931e-03 3.44471897e+02] [-3.21295420e-01 9.46978705e-01 7.64845536e-04 -4.95571613e+01] [ 2.43191751e-03 1.74456761e-05 9.99997043e-01 -2.58747700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters 0.05012108975997902 Centerline is valid? [True, True] Translation: X:344.53, Y:-49.58, Z:-2.59 [[ 9.46829803e-01 3.21731656e-01 -1.43696241e-03 3.44527766e+02] [-3.21731304e-01 9.46830894e-01 4.76247780e-04 -4.95828970e+01] [ 1.51378439e-03 1.13901984e-05 9.99998854e-01 -2.58770708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters 0.04977121220278923 Centerline is valid? [True, True] Translation: X:344.58, Y:-49.61, Z:-2.59 [[ 9.47111605e-01 3.20904216e-01 -3.03561007e-04 3.44584345e+02] [-3.20904200e-01 9.47111654e-01 1.01033085e-04 -4.96071686e+01] [ 3.19928110e-04 1.72439443e-06 9.99999949e-01 -2.58722434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters 0.049868670862554525 Centerline is valid? [True, True] Translation: X:344.64, Y:-49.63, Z:-2.59 [[ 9.47315482e-01 3.20301826e-01 3.42748522e-04 3.44640858e+02] [-3.20301806e-01 9.47315544e-01 -1.12647168e-04 -4.96338563e+01] [-3.60772096e-04 -3.07056400e-06 9.99999935e-01 -2.58679247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters 0.04907818755456414 Centerline is valid? [True, True] Translation: X:344.70, Y:-49.66, Z:-2.59 [[ 9.46525725e-01 3.22624595e-01 1.55671498e-03 3.44697223e+02] [-3.22624184e-01 9.46527005e-01 -5.15152801e-04 -4.96565815e+01] [-1.63967373e-03 -1.46285214e-05 9.99998656e-01 -2.58759603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters 0.04935256476290073 Centerline is valid? [True, True] Translation: X:344.76, Y:-49.68, Z:-2.59 [[ 9.45024796e-01 3.26995004e-01 1.55021859e-03 3.44756469e+02] [-3.26994601e-01 9.45026067e-01 -5.13503239e-04 -4.96764571e+01] [-1.63290997e-03 -2.16398156e-05 9.99998667e-01 -2.58791593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters 0.049429331991591115 Centerline is valid? [True, True] Translation: X:344.81, Y:-49.69, Z:-2.59 [[ 9.43323811e-01 3.31873735e-01 1.12561934e-04 3.44814123e+02] [-3.31873733e-01 9.43323817e-01 -3.73039533e-05 -4.96920047e+01] [-1.18562555e-04 -2.16664169e-06 9.99999993e-01 -2.58940511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters 0.04950889811719785 Centerline is valid? [True, True] Translation: X:344.87, Y:-49.71, Z:-2.59 [[ 9.42411713e-01 3.34455023e-01 -3.61694618e-05 3.44873516e+02] [-3.34455023e-01 9.42411713e-01 1.21081131e-05 -4.97085209e+01] [ 3.81361436e-05 6.86230625e-07 9.99999999e-01 -2.59011516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters 0.049730128895845375 Centerline is valid? [True, True] Translation: X:344.93, Y:-49.73, Z:-2.59 [[ 9.42037178e-01 3.35507431e-01 8.47702716e-04 3.44931974e+02] [-3.35507315e-01 9.42037559e-01 -2.80185924e-04 -4.97285984e+01] [-8.92572257e-04 -2.04649049e-05 9.99999601e-01 -2.58919316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters 0.04994244229283237 Centerline is valid? [True, True] Translation: X:344.99, Y:-49.75, Z:-2.59 [[ 9.42781095e-01 3.33411040e-01 9.40754653e-04 3.44989312e+02] [-3.33410895e-01 9.42781564e-01 -3.11853709e-04 -4.97467639e+01] [-9.90901613e-04 -1.96480691e-05 9.99999509e-01 -2.58945601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters 0.049968167294557796 Centerline is valid? [True, True] Translation: X:345.05, Y:-49.77, Z:-2.59 [[ 9.43355695e-01 3.31780120e-01 1.40893444e-03 3.45047541e+02] [-3.31779793e-01 9.43356746e-01 -4.66524791e-04 -4.97654083e+01] [-1.48391146e-03 -2.73571590e-05 9.99998899e-01 -2.59006302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters 0.05039294058664209 Centerline is valid? [True, True] Translation: X:345.10, Y:-49.79, Z:-2.59 [[ 9.45949297e-01 3.24309536e-01 1.80357921e-03 3.45103689e+02] [-3.24308985e-01 9.45951016e-01 -5.98097773e-04 -4.97896971e+01] [-1.90006640e-03 -1.91467768e-05 9.99998195e-01 -2.59027032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters 0.0500007107037061 Centerline is valid? [True, True] Translation: X:345.16, Y:-49.81, Z:-2.59 [[ 9.48620864e-01 3.16413391e-01 1.01115337e-03 3.45160689e+02] [-3.16413213e-01 9.48621403e-01 -3.35177261e-04 -4.98145623e+01] [-1.06525630e-03 -1.98614243e-06 9.99999433e-01 -2.59119857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters 0.05040347623459687 Centerline is valid? [True, True] Translation: X:345.22, Y:-49.84, Z:-2.59 [[ 9.49813644e-01 3.12815401e-01 7.52785079e-04 3.45219948e+02] [-3.12815302e-01 9.49813942e-01 -2.48833366e-04 -4.98360545e+01] [-7.92844672e-04 8.62634523e-07 9.99999686e-01 -2.58910989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters 0.0495586318565466 Centerline is valid? [True, True] Translation: X:345.28, Y:-49.86, Z:-2.59 [[ 9.50784427e-01 3.09853127e-01 -1.16709556e-04 3.45278245e+02] [-3.09853124e-01 9.50784434e-01 3.90575541e-05 -4.98564542e+01] [ 1.23067734e-04 -9.72493688e-07 9.99999992e-01 -2.59101419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters 0.0503895815337317 Centerline is valid? [True, True] Translation: X:345.34, Y:-49.88, Z:-2.59 [[ 9.50983403e-01 3.09241672e-01 -3.93375937e-04 3.45336241e+02] [-3.09241644e-01 9.50983485e-01 1.31445054e-04 -4.98750029e+01] [ 4.14742308e-04 -3.35384308e-06 9.99999914e-01 -2.59276144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters 0.050105055528718224 Centerline is valid? [True, True] Translation: X:345.40, Y:-49.89, Z:-2.59 [[ 9.50237065e-01 3.11527646e-01 -2.15272696e-04 3.45395980e+02] [-3.11527638e-01 9.50237089e-01 7.18098267e-05 -4.98912957e+01] [ 2.26930846e-04 -1.17296438e-06 9.99999974e-01 -2.59325254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters 0.050112053849830605 Centerline is valid? [True, True] Translation: X:345.46, Y:-49.91, Z:-2.59 [[ 9.48381571e-01 3.17126087e-01 -1.85483983e-03 3.45455393e+02] [-3.17125487e-01 9.48383385e-01 6.17008642e-04 -4.99070153e+01] [ 1.95476881e-03 3.05735704e-06 9.99998089e-01 -2.59469099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters 0.04960089413181198 Centerline is valid? [True, True] Translation: X:345.52, Y:-49.92, Z:-2.60 [[ 9.46315855e-01 3.23230572e-01 -2.88083662e-03 3.45516587e+02] [-3.23229154e-01 9.46320240e-01 9.57614515e-04 -4.99197032e+01] [ 3.03572429e-03 2.49645848e-05 9.99995392e-01 -2.59662629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters 0.050577752610580125 Centerline is valid? [True, True] Translation: X:345.58, Y:-49.93, Z:-2.60 [[ 9.44814856e-01 3.27591491e-01 -2.94992985e-03 3.45576668e+02] [-3.27590026e-01 9.44819461e-01 9.80694352e-04 -4.99333170e+01] [ 3.10841825e-03 3.97930016e-05 9.99995168e-01 -2.59819408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters 0.050430801783675754 Centerline is valid? [True, True] Translation: X:345.64, Y:-49.95, Z:-2.60 [[ 9.44466293e-01 3.28600680e-01 -2.23935206e-03 3.45635848e+02] [-3.28599837e-01 9.44468947e-01 7.45253340e-04 -4.99513559e+01] [ 2.35988924e-03 3.19840622e-05 9.99997215e-01 -2.59777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters 0.05011415999598867 Centerline is valid? [True, True] Translation: X:345.69, Y:-49.98, Z:-2.59 [[ 9.44990051e-01 3.27098511e-01 -6.06875275e-04 3.45692478e+02] [-3.27098449e-01 9.44990245e-01 2.02717570e-04 -4.99772406e+01] [ 6.39799830e-04 6.94187375e-06 9.99999795e-01 -2.59192429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters 0.05002257287691311 Centerline is valid? [True, True] Translation: X:345.75, Y:-50.00, Z:-2.59 [[ 9.45553555e-01 3.25465536e-01 8.12481468e-04 3.45751120e+02] [-3.25465424e-01 9.45553904e-01 -2.69468065e-04 -4.99955070e+01] [-8.55947592e-04 -9.63813840e-06 9.99999634e-01 -2.59249145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters 0.0502996444173491 Centerline is valid? [True, True] Translation: X:345.81, Y:-50.02, Z:-2.59 [[ 9.46403761e-01 3.22983271e-01 1.31416150e-03 3.45809724e+02] [-3.22982977e-01 9.46404674e-01 -4.36474669e-04 -5.00170119e+01] [-1.38470260e-03 -1.13705243e-05 9.99999041e-01 -2.59197123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters 0.05010125273052414 Centerline is valid? [True, True] Translation: X:345.87, Y:-50.04, Z:-2.59 [[ 9.46613980e-01 3.22369003e-01 -4.45141571e-04 3.45867323e+02] [-3.22368968e-01 9.46614085e-01 1.49012801e-04 -5.00369690e+01] [ 4.69414388e-04 2.44222858e-06 9.99999890e-01 -2.59480810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters 0.049834893857875165 Centerline is valid? [True, True] Translation: X:345.93, Y:-50.06, Z:-2.60 [[ 9.46278703e-01 3.23341053e-01 -2.67945048e-03 3.45926203e+02] [-3.23339820e-01 9.46282496e-01 8.93288682e-04 -5.00576084e+01] [ 2.82435399e-03 2.10729808e-05 9.99996011e-01 -2.59567114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters 0.05035906024383414 Centerline is valid? [True, True] Translation: X:345.98, Y:-50.07, Z:-2.60 [[ 9.45305700e-01 3.26140031e-01 -5.46025607e-03 3.45983557e+02] [-3.26134964e-01 9.45321467e-01 1.81909871e-03 -5.00745231e+01] [ 5.75497819e-03 6.11760337e-05 9.99983438e-01 -2.60030266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters 0.0500508327459054 Centerline is valid? [True, True] Translation: X:346.04, Y:-50.10, Z:-2.60 [[ 9.44816979e-01 3.27555208e-01 -5.33488594e-03 3.46041379e+02] [-3.27550387e-01 9.44832038e-01 1.77856135e-03 -5.00968776e+01] [ 5.62314819e-03 6.70289909e-05 9.99984188e-01 -2.59808082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters 0.050705434387937745 Centerline is valid? [True, True] Translation: X:346.10, Y:-50.12, Z:-2.60 [[ 9.44440886e-01 3.28675341e-01 -1.98317311e-03 3.46100201e+02] [-3.28674677e-01 9.44442968e-01 6.61227816e-04 -5.01177218e+01] [ 2.09032318e-03 2.73281993e-05 9.99997815e-01 -2.59687911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters 0.04992393027068937 Centerline is valid? [True, True] Translation: X:346.16, Y:-50.13, Z:-2.60 [[ 9.44239936e-01 3.29258020e-01 -3.16535224e-04 3.46159450e+02] [-3.29258003e-01 9.44239989e-01 1.06327218e-04 -5.01336768e+01] [ 3.33894306e-04 3.82335061e-06 9.99999944e-01 -2.59872179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters 0.049980657759319 Centerline is valid? [True, True] Translation: X:346.22, Y:-50.16, Z:-2.60 [[ 9.44220167e-01 3.29312060e-01 -1.35791289e-03 3.46216659e+02] [-3.29311748e-01 9.44221143e-01 4.53743060e-04 -5.01591722e+01] [ 1.43159312e-03 1.87433201e-05 9.99998975e-01 -2.59765152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters 0.04994190204643693 Centerline is valid? [True, True] Translation: X:346.28, Y:-50.18, Z:-2.60 [[ 9.43978683e-01 3.29998550e-01 -2.28108012e-03 3.46275326e+02] [-3.29997672e-01 9.43981438e-01 7.61922778e-04 -5.01800036e+01] [ 2.40473071e-03 3.35122699e-05 9.99997108e-01 -2.59834090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters 0.04902382529537318 Centerline is valid? [True, True] Translation: X:346.33, Y:-50.20, Z:-2.60 [[ 9.43611734e-01 3.31050405e-01 -1.58889656e-03 3.46334572e+02] [-3.31049979e-01 9.43613072e-01 5.31200826e-04 -5.01999451e+01] [ 1.67515781e-03 2.47568402e-05 9.99998597e-01 -2.59773357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters 0.049559069717857215 Centerline is valid? [True, True] Translation: X:346.39, Y:-50.22, Z:-2.60 [[ 9.43297408e-01 3.31947206e-01 -1.02592350e-03 3.46393497e+02] [-3.31947029e-01 9.43297966e-01 3.42969843e-04 -5.02178137e+01] [ 1.08159943e-03 1.70296950e-05 9.99999415e-01 -2.59860006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters 0.04979614219715835 Centerline is valid? [True, True] Translation: X:346.45, Y:-50.24, Z:-2.60 [[ 9.43025121e-01 3.32714807e-01 -2.11637664e-03 3.46452226e+02] [-3.32714056e-01 9.43027495e-01 7.07635146e-04 -5.02375855e+01] [ 2.23124205e-03 3.68305367e-05 9.99997510e-01 -2.59910498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters 0.04936319109950578 Centerline is valid? [True, True] Translation: X:346.51, Y:-50.26, Z:-2.60 [[ 9.42961929e-01 3.32885161e-01 -3.20465539e-03 3.46511087e+02] [-3.32883441e-01 9.42967373e-01 1.07147096e-03 -5.02574438e+01] [ 3.37856226e-03 5.64203931e-05 9.99994291e-01 -2.60030658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters 0.05021813531354585 Centerline is valid? [True, True] Translation: X:346.57, Y:-50.28, Z:-2.60 [[ 9.42909102e-01 3.33032739e-01 -3.40897673e-03 3.46570070e+02] [-3.33030792e-01 9.42915262e-01 1.14023344e-03 -5.02759086e+01] [ 3.59411125e-03 6.01577364e-05 9.99993539e-01 -2.60149802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters 0.0493405478173668 Centerline is valid? [True, True] Translation: X:346.63, Y:-50.30, Z:-2.60 [[ 9.42870354e-01 3.33149529e-01 -2.62425144e-03 3.46628776e+02] [-3.33148374e-01 9.42874005e-01 8.78236111e-04 -5.02957944e+01] [ 2.76692242e-03 4.62023094e-05 9.99996171e-01 -2.59963116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters 0.05005762321678026 Centerline is valid? [True, True] Translation: X:346.69, Y:-50.31, Z:-2.60 [[ 9.42707380e-01 3.33609160e-01 -2.77916711e-03 3.46687786e+02] [-3.33607868e-01 9.42711475e-01 9.29824313e-04 -5.03117927e+01] [ 2.93015064e-03 5.05997721e-05 9.99995706e-01 -2.60078891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters 0.05012048126406231 Centerline is valid? [True, True] Translation: X:346.75, Y:-50.33, Z:-2.60 [[ 9.42751075e-01 3.33482493e-01 -3.13632003e-03 3.46747110e+02] [-3.33480844e-01 9.42756291e-01 1.05009644e-03 -5.03284067e+01] [ 3.30697422e-03 5.59231034e-05 9.99994530e-01 -2.60179449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters 0.050072911109247345 Centerline is valid? [True, True] Translation: X:346.80, Y:-50.35, Z:-2.60 [[ 9.43478344e-01 3.31410477e-01 -3.96355466e-03 3.46804786e+02] [-3.31407825e-01 9.43486668e-01 1.32728868e-03 -5.03521120e+01] [ 4.17943835e-03 6.12849061e-05 9.99991264e-01 -2.60047690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters 0.05022549191247847 Centerline is valid? [True, True] Translation: X:346.86, Y:-50.37, Z:-2.60 [[ 9.43732018e-01 3.30686518e-01 -4.03786507e-03 3.46863858e+02] [-3.30683756e-01 9.43740655e-01 1.35268504e-03 -5.03726883e+01] [ 4.25801213e-03 5.86842098e-05 9.99990933e-01 -2.60045633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters 0.050454782266187305 Centerline is valid? [True, True] Translation: X:346.92, Y:-50.39, Z:-2.60 [[ 9.44143212e-01 3.29509887e-01 -4.10227607e-03 3.46922019e+02] [-3.29507024e-01 9.44152123e-01 1.37466224e-03 -5.03907445e+01] [ 4.32613746e-03 5.38507583e-05 9.99990641e-01 -2.60135907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters 0.050188975355243554 Centerline is valid? [True, True] Translation: X:346.98, Y:-50.41, Z:-2.60 [[ 9.44333810e-01 3.28955768e-01 -4.66446751e-03 3.46981902e+02] [-3.28952056e-01 9.44345329e-01 1.56381627e-03 -5.04107218e+01] [ 4.91929448e-03 5.76216009e-05 9.99987899e-01 -2.60055892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters 0.05037597629726386 Centerline is valid? [True, True] Translation: X:347.04, Y:-50.43, Z:-2.60 [[ 9.44443020e-01 3.28621552e-01 -5.93774082e-03 3.47040872e+02] [-3.28615528e-01 9.44461683e-01 1.99104250e-03 -5.04303819e+01] [ 6.26226817e-03 7.08076407e-05 9.99980389e-01 -2.60134837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters 0.05023802847707645 Centerline is valid? [True, True] Translation: X:347.10, Y:-50.45, Z:-2.60 [[ 9.44302939e-01 3.29010850e-01 -6.61967853e-03 3.47099206e+02] [-3.29003368e-01 9.44326138e-01 2.22031869e-03 -5.04483847e+01] [ 6.98164440e-03 8.12430626e-05 9.99975625e-01 -2.60302593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters 0.050297305384486825 Centerline is valid? [True, True] Translation: X:347.16, Y:-50.47, Z:-2.60 [[ 9.44233261e-01 3.29235349e-01 -5.25683466e-03 3.47158373e+02] [-3.29230629e-01 9.44247892e-01 1.76410826e-03 -5.04680387e+01] [ 5.54456184e-03 6.49812809e-05 9.99984627e-01 -2.60091459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters 0.05063329741761515 Centerline is valid? [True, True] Translation: X:347.22, Y:-50.49, Z:-2.60 [[ 9.44401283e-01 3.28773894e-01 -3.73400630e-03 3.47216621e+02] [-3.28771506e-01 9.44408664e-01 1.25369774e-03 -5.04861673e+01] [ 3.93861099e-03 4.36411210e-05 9.99992243e-01 -2.60030764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters 0.050629721830527094 Centerline is valid? [True, True] Translation: X:347.28, Y:-50.51, Z:-2.60 [[ 9.44629225e-01 3.28122738e-01 -3.33091183e-03 3.47275678e+02] [-3.28120833e-01 9.44635097e-01 1.11892013e-03 -5.05058327e+01] [ 3.51363936e-03 3.59769093e-05 9.99993827e-01 -2.59906452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters 0.049801888289423384 Centerline is valid? [True, True] Translation: X:347.33, Y:-50.52, Z:-2.60 [[ 9.44113847e-01 3.29595214e-01 -4.00480833e-03 3.47334403e+02] [-3.29592472e-01 9.44122340e-01 1.34552199e-03 -5.05243585e+01] [ 4.22450662e-03 4.96287359e-05 9.99991076e-01 -2.59912995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters 0.050070702303001514 Centerline is valid? [True, True] Translation: X:347.39, Y:-50.54, Z:-2.60 [[ 9.43271968e-01 3.31988188e-01 -4.67311784e-03 3.47394408e+02] [-3.31984485e-01 9.43283541e-01 1.56952965e-03 -5.05413606e+01] [ 4.92914044e-03 7.09092998e-05 9.99987849e-01 -2.59937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters 0.05099942640230929 Centerline is valid? [True, True] Translation: X:347.45, Y:-50.56, Z:-2.60 [[ 9.42675723e-01 3.33670512e-01 -5.14495617e-03 3.47454765e+02] [-3.33666043e-01 9.42689759e-01 1.72924221e-03 -5.05573554e+01] [ 5.42709463e-03 8.65825183e-05 9.99985269e-01 -2.60088423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters 0.05137293166804424 Centerline is valid? [True, True] Translation: X:347.51, Y:-50.58, Z:-2.60 [[ 9.42298494e-01 3.34718933e-01 -6.06501772e-03 3.47513749e+02] [-3.34712739e-01 9.42318006e-01 2.03907757e-03 -5.05758806e+01] [ 6.39769327e-03 1.08618975e-04 9.99979529e-01 -2.60135545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters 0.050571859305407585 Centerline is valid? [True, True] Translation: X:347.57, Y:-50.59, Z:-2.60 [[ 9.41927135e-01 3.35735349e-01 -7.41945372e-03 3.47572821e+02] [-3.35726116e-01 9.41956345e-01 2.49388983e-03 -5.05946439e+01] [ 7.82608848e-03 1.41841882e-04 9.99969366e-01 -2.60206417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters 0.051200928398732734 Centerline is valid? [True, True] Translation: X:347.63, Y:-50.61, Z:-2.61 [[ 9.41321383e-01 3.37400546e-01 -8.65597019e-03 3.47631488e+02] [-3.37388052e-01 9.41361163e-01 2.90922830e-03 -5.06080549e+01] [ 9.12996938e-03 1.81902112e-04 9.99958304e-01 -2.60516927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters 0.05207029100999542 Centerline is valid? [True, True] Translation: X:347.69, Y:-50.63, Z:-2.60 [[ 9.41358560e-01 3.37326537e-01 -7.40737593e-03 3.47689632e+02] [-3.37317371e-01 9.41387691e-01 2.49136032e-03 -5.06291157e+01] [ 7.81361447e-03 1.53373212e-04 9.99969461e-01 -2.60061080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters 0.05136085565523373 Centerline is valid? [True, True] Translation: X:347.75, Y:-50.65, Z:-2.60 [[ 9.41818732e-01 3.36078315e-01 -5.37048399e-03 3.47747909e+02] [-3.36073479e-01 9.41834038e-01 1.80587749e-03 -5.06489364e+01] [ 5.66502088e-03 1.04067993e-04 9.99983948e-01 -2.59849583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters 0.051384513211924165 Centerline is valid? [True, True] Translation: X:347.81, Y:-50.66, Z:-2.60 [[ 9.42605432e-01 3.33893336e-01 -3.19985903e-03 3.47807055e+02] [-3.33891607e-01 9.42610862e-01 1.07609086e-03 -5.06634122e+01] [ 3.37552145e-03 5.40769797e-05 9.99994301e-01 -2.60064152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters 0.0519657089099722 Centerline is valid? [True, True] Translation: X:347.87, Y:-50.69, Z:-2.60 [[ 9.43128167e-01 3.32412104e-01 -3.38439845e-03 3.47865112e+02] [-3.32410158e-01 9.43134238e-01 1.13848429e-03 -5.06875118e+01] [ 3.57038801e-03 5.12718213e-05 9.99993625e-01 -2.59770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters 0.05111864260064539 Centerline is valid? [True, True] Translation: X:347.92, Y:-50.70, Z:-2.60 [[ 9.43725347e-01 3.30708375e-01 -3.80005413e-03 3.47924423e+02] [-3.30705904e-01 9.43732996e-01 1.27930359e-03 -5.07042341e+01] [ 4.00931288e-03 4.93891122e-05 9.99991961e-01 -2.60020897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters 0.0510811516385638 Centerline is valid? [True, True] Translation: X:347.98, Y:-50.72, Z:-2.60 [[ 9.44038616e-01 3.29811902e-01 -3.89887611e-03 3.47983037e+02] [-3.29809295e-01 9.44046666e-01 1.31217672e-03 -5.07238169e+01] [ 4.11349249e-03 4.71400891e-05 9.99991538e-01 -2.59938339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters 0.05183625116973594 Centerline is valid? [True, True] Translation: X:348.04, Y:-50.74, Z:-2.60 [[ 9.44025576e-01 3.29847522e-01 -4.04036592e-03 3.48043232e+02] [-3.29844718e-01 9.44034221e-01 1.36098354e-03 -5.07392974e+01] [ 4.26316074e-03 4.78900910e-05 9.99990912e-01 -2.60415654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters 0.05212117766620313 Centerline is valid? [True, True] Translation: X:348.10, Y:-50.76, Z:-2.60 [[ 9.43858936e-01 3.30315780e-01 -4.66844079e-03 3.48101988e+02] [-3.30312040e-01 9.43870479e-01 1.57293091e-03 -5.07604786e+01] [ 4.92596735e-03 5.74173027e-05 9.99987866e-01 -2.60304346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters 0.05185945158050917 Centerline is valid? [True, True] Translation: X:348.16, Y:-50.78, Z:-2.60 [[ 9.42735018e-01 3.33487974e-01 -6.03797323e-03 3.48159653e+02] [-3.33481789e-01 9.42754349e-01 2.03332516e-03 -5.07785185e+01] [ 6.37041501e-03 9.66672902e-05 9.99979704e-01 -2.60347904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters 0.05145798322307121 Centerline is valid? [True, True] Translation: X:348.22, Y:-50.79, Z:-2.61 [[ 9.41306444e-01 3.37442256e-01 -8.65458728e-03 3.48218127e+02] [-3.37429716e-01 9.41346213e-01 2.91439316e-03 -5.07935947e+01] [ 9.13040237e-03 1.76977867e-04 9.99958301e-01 -2.60760162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters 0.05182859062145484 Centerline is valid? [True, True] Translation: X:348.28, Y:-50.81, Z:-2.60 [[ 9.38904383e-01 3.44049056e-01 -9.42374706e-03 3.48276036e+02] [-3.44034518e-01 9.38951638e-01 3.17365528e-03 -5.08144483e+01] [ 9.94033584e-03 2.62335430e-04 9.99950559e-01 -2.60488015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters 0.052565874604025474 Centerline is valid? [True, True] Translation: X:348.34, Y:-50.83, Z:-2.61 [[ 9.37262041e-01 3.48538528e-01 -7.79487791e-03 3.48335070e+02] [-3.48528738e-01 9.37294419e-01 2.62500473e-03 -5.08278115e+01] [ 8.22101086e-03 2.56421663e-04 9.99966174e-01 -2.60516664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters 0.05195671532844623 Centerline is valid? [True, True] Translation: X:348.39, Y:-50.85, Z:-2.60 [[ 9.36228347e-01 3.51332315e-01 -6.48742613e-03 3.48392304e+02] [-3.51325598e-01 9.36250794e-01 2.18500109e-03 -5.08488305e+01] [ 6.84151936e-03 2.33538900e-04 9.99976569e-01 -2.60249499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters 0.05282995840429662 Centerline is valid? [True, True] Translation: X:348.45, Y:-50.86, Z:-2.60 [[ 9.35247592e-01 3.53976415e-01 -3.55528877e-03 3.48452414e+02] [-3.53974416e-01 9.35254339e-01 1.19744965e-03 -5.08589469e+01] [ 3.74896818e-03 1.38569365e-04 9.99992963e-01 -2.60281753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters 0.05247377928473625 Centerline is valid? [True, True] Translation: X:348.51, Y:-50.88, Z:-2.60 [[ 9.34798993e-01 3.55171501e-01 -2.01190672e-03 3.48512308e+02] [-3.55170862e-01 9.34801155e-01 6.78641998e-04 -5.08764340e+01] [ 2.12176702e-03 8.01767861e-05 9.99997746e-01 -2.60181048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters 0.05171139241821012 Centerline is valid? [True, True] Translation: X:348.57, Y:-50.90, Z:-2.60 [[ 9.34303927e-01 3.56469802e-01 -2.33502592e-03 3.48569316e+02] [-3.56468946e-01 9.34306840e-01 7.86851826e-04 -5.08997223e+01] [ 2.46211960e-03 9.72054791e-05 9.99996964e-01 -2.59981914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters 0.05245736289305471 Centerline is valid? [True, True] Translation: X:348.63, Y:-50.91, Z:-2.60 [[ 9.34168714e-01 3.56816705e-01 -3.26382600e-03 3.48629037e+02] [-3.56815035e-01 9.34174406e-01 1.10029284e-03 -5.09125901e+01] [ 3.44158558e-03 1.36723037e-04 9.99994068e-01 -2.60232052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters 0.05146220025910381 Centerline is valid? [True, True] Translation: X:348.69, Y:-50.94, Z:-2.60 [[ 9.34333219e-01 3.56364498e-01 -5.07753859e-03 3.48687440e+02] [-3.56360443e-01 9.34346992e-01 1.71277406e-03 -5.09361625e+01] [ 5.35455478e-03 2.09132198e-04 9.99985642e-01 -2.60115734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters 0.0520681186339165 Centerline is valid? [True, True] Translation: X:348.75, Y:-50.95, Z:-2.60 [[ 9.34603747e-01 3.55648094e-01 -5.50181408e-03 3.48747422e+02] [-3.55643324e-01 9.34619914e-01 1.85548713e-03 -5.09542590e+01] [ 5.80200546e-03 2.22538218e-04 9.99983143e-01 -2.60201662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters 0.05324336398447159 Centerline is valid? [True, True] Translation: X:348.81, Y:-50.96, Z:-2.61 [[ 9.36289659e-01 3.51181707e-01 -5.75176148e-03 3.48808018e+02] [-3.51176411e-01 9.36307304e-01 1.93950898e-03 -5.09639821e+01] [ 6.06653636e-03 2.03940750e-04 9.99981578e-01 -2.60620350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters 0.05314400826744671 Centerline is valid? [True, True] Translation: X:348.86, Y:-50.99, Z:-2.61 [[ 9.38242825e-01 3.45936463e-01 -5.32591652e-03 3.48864271e+02] [-3.45931837e-01 9.38257928e-01 1.79601486e-03 -5.09872188e+01] [ 5.61839042e-03 1.57306029e-04 9.99984204e-01 -2.60552835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters 0.0521758057731762 Centerline is valid? [True, True] Translation: X:348.92, Y:-51.01, Z:-2.60 [[ 9.42190336e-01 3.35067421e-01 -2.68205669e-03 3.48919860e+02] [-3.35066203e-01 9.42194153e-01 9.04597852e-04 -5.10119583e+01] [ 2.83011940e-03 4.63631972e-05 9.99995994e-01 -2.60095856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters 0.05373354857593929 Centerline is valid? [True, True] Translation: X:348.98, Y:-51.03, Z:-2.60 [[ 9.46220883e-01 3.23489011e-01 -4.57161261e-03 3.48978416e+02] [-3.23485338e-01 9.46231927e-01 1.54176889e-03 -5.10256520e+01] [ 4.82455111e-03 1.99957278e-05 9.99988362e-01 -2.60415691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters 0.053441068384649265 Centerline is valid? [True, True] Translation: X:349.04, Y:-51.05, Z:-2.60 [[ 9.46701745e-01 3.22077685e-01 -4.66598889e-03 3.49036786e+02] [-3.22073834e-01 9.46713243e-01 1.57507033e-03 -5.10461242e+01] [ 4.92464848e-03 1.16711032e-05 9.99987874e-01 -2.60343447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters 0.053441068384649265 Centerline is valid? [True, True] Translation: X:349.10, Y:-51.07, Z:-2.60 [[ 9.46657993e-01 3.22206261e-01 -4.66573460e-03 3.49095995e+02] [-3.22202408e-01 9.46669491e-01 1.57582372e-03 -5.10660749e+01] [ 4.92464887e-03 1.15448076e-05 9.99987874e-01 -2.60389516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters 0.05297581839252209 Centerline is valid? [True, True] Translation: X:349.15, Y:-51.09, Z:-2.60 [[ 9.47205061e-01 3.20596561e-01 -4.51866084e-03 3.49154599e+02] [-3.20592926e-01 9.47215839e-01 1.52664950e-03 -5.10864334e+01] [ 4.76958570e-03 2.60056496e-06 9.99988625e-01 -2.60384046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters 0.05297581839252209 Centerline is valid? [True, True] Translation: X:349.21, Y:-51.11, Z:-2.60 [[ 9.47161387e-01 3.20725571e-01 -4.51841190e-03 3.49213802e+02] [-3.20721934e-01 9.47172164e-01 1.52738641e-03 -5.11064001e+01] [ 4.76958586e-03 2.47236964e-06 9.99988625e-01 -2.60430115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters 0.053440452065609316 Centerline is valid? [True, True] Translation: X:349.27, Y:-51.13, Z:-2.60 [[ 9.48282957e-01 3.17402005e-01 -3.92431212e-03 3.49272783e+02] [-3.17399230e-01 9.48291077e-01 1.32717912e-03 -5.11261968e+01] [ 4.14263948e-03 -1.29676961e-05 9.99991419e-01 -2.60137383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters 0.05341910990238058 Centerline is valid? [True, True] Translation: X:349.33, Y:-51.15, Z:-2.60 [[ 9.50144196e-01 3.11798033e-01 -2.82724736e-03 3.49331292e+02] [-3.11796569e-01 9.50148402e-01 9.56136454e-04 -5.11483573e+01] [ 2.98442603e-03 -2.69414768e-05 9.99995546e-01 -2.60405525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters 0.05381192554588448 Centerline is valid? [True, True] Translation: X:349.39, Y:-51.17, Z:-2.60 [[ 9.51405078e-01 3.07935684e-01 -1.99821155e-03 3.49388324e+02] [-3.07934943e-01 9.51407176e-01 6.76018083e-04 -5.11689025e+01] [ 2.10928290e-03 -2.78478756e-05 9.99997775e-01 -2.60347653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters 0.05461164423007141 Centerline is valid? [True, True] Translation: X:349.45, Y:-51.18, Z:-2.60 [[ 9.51281833e-01 3.08318528e-01 -1.60009937e-03 3.49449215e+02] [-3.08318052e-01 9.51283178e-01 5.42059382e-04 -5.11832271e+01] [ 1.68927456e-03 -2.23117225e-05 9.99998573e-01 -2.60127964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters 0.054339701254392817 Centerline is valid? [True, True] Translation: X:349.51, Y:-51.20, Z:-2.61 [[ 9.49423842e-01 3.13993960e-01 -1.47011848e-03 3.49508716e+02] [-3.13993566e-01 9.49424980e-01 4.97522797e-04 -5.12002933e+01] [ 1.55198636e-03 -1.07522604e-05 9.99998796e-01 -2.60502098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters 0.05339114679231454 Centerline is valid? [True, True] Translation: X:349.57, Y:-51.22, Z:-2.60 [[ 9.47478815e-01 3.19807018e-01 -2.71400600e-03 3.49568229e+02] [-3.19805697e-01 9.47482702e-01 9.19182610e-04 -5.12155987e+01] [ 2.86543479e-03 -2.95146788e-06 9.99995895e-01 -2.60245525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters 0.05372988288954158 Centerline is valid? [True, True] Translation: X:349.63, Y:-51.23, Z:-2.61 [[ 9.44874501e-01 3.27417731e-01 -3.13165655e-03 3.49629480e+02] [-3.27416015e-01 9.44879690e-01 1.06010764e-03 -5.12291642e+01] [ 3.30613671e-03 2.36858369e-05 9.99994534e-01 -2.60859005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters 0.053636997909864696 Centerline is valid? [True, True] Translation: X:349.69, Y:-51.25, Z:-2.61 [[ 9.43808031e-01 3.30479763e-01 -3.08655356e-03 3.49687736e+02] [-3.30478110e-01 9.43813077e-01 1.04571234e-03 -5.12490322e+01] [ 3.25871638e-03 3.30866846e-05 9.99994690e-01 -2.60583094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters 0.053709208223124374 Centerline is valid? [True, True] Translation: X:349.75, Y:-51.26, Z:-2.61 [[ 9.43075807e-01 3.32573530e-01 -1.69419452e-03 3.49748413e+02] [-3.32573036e-01 9.43077328e-01 5.73914046e-04 -5.12635425e+01] [ 1.78862506e-03 2.21989631e-05 9.99998400e-01 -2.60860430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters 0.05374541953889963 Centerline is valid? [True, True] Translation: X:349.81, Y:-51.28, Z:-2.61 [[ 9.42633725e-01 3.33827845e-01 -7.94256615e-04 3.49807515e+02] [-3.33827736e-01 9.42634059e-01 2.69882871e-04 -5.12840044e+01] [ 8.38787754e-04 1.07441919e-05 9.99999648e-01 -2.60762177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters 0.0537210684596245 Centerline is valid? [True, True] Translation: X:349.86, Y:-51.31, Z:-2.61 [[ 9.41644605e-01 3.36608568e-01 -3.31196787e-04 3.49864537e+02] [-3.36608550e-01 9.41644663e-01 1.12611312e-04 -5.13057074e+01] [ 3.49775620e-04 5.44383563e-06 9.99999939e-01 -2.60570818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters 0.05352691349861493 Centerline is valid? [True, True] Translation: X:349.92, Y:-51.32, Z:-2.61 [[ 9.41056729e-01 3.38248741e-01 -1.50860171e-04 3.49924365e+02] [-3.38248737e-01 9.41056741e-01 5.14218909e-05 -5.13226088e+01] [ 1.59361371e-04 2.63734583e-06 9.99999987e-01 -2.60750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters 0.05374824078417671 Centerline is valid? [True, True] Translation: X:349.98, Y:-51.34, Z:-2.61 [[ 9.40394723e-01 3.40084166e-01 -7.24520436e-04 3.49982540e+02] [-3.40084077e-01 9.40395002e-01 2.45751878e-04 -5.13443840e+01] [ 7.64911719e-04 1.52940949e-05 9.99999707e-01 -2.60725307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters 0.053758767373985654 Centerline is valid? [True, True] Translation: X:350.04, Y:-51.36, Z:-2.61 [[ 9.39964130e-01 3.41266948e-01 -2.07463140e-03 3.50040072e+02] [-3.41266227e-01 9.39966418e-01 7.03131328e-04 -5.13633729e+01] [ 2.19003933e-03 4.70834028e-05 9.99997601e-01 -2.60908098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters 0.053820364694887025 Centerline is valid? [True, True] Translation: X:350.10, Y:-51.39, Z:-2.61 [[ 9.40030447e-01 3.41075938e-01 -3.15659472e-03 3.50098890e+02] [-3.41074263e-01 9.40035744e-01 1.07110905e-03 -5.13873921e+01] [ 3.33264139e-03 6.97581050e-05 9.99994444e-01 -2.60966574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters 0.053006521642465464 Centerline is valid? [True, True] Translation: X:350.15, Y:-51.41, Z:-2.61 [[ 9.41049170e-01 3.38256329e-01 -3.01910250e-03 3.50154465e+02] [-3.38254785e-01 9.41054011e-01 1.02367010e-03 -5.14147922e+01] [ 3.18740141e-03 5.79019737e-05 9.99994919e-01 -2.60860878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters 0.05354480911147677 Centerline is valid? [True, True] Translation: X:350.21, Y:-51.44, Z:-2.61 [[ 9.42010406e-01 3.35575301e-01 -2.36908474e-03 3.50210087e+02] [-3.35574342e-01 9.42013384e-01 8.03256936e-04 -5.14378450e+01] [ 2.50126272e-03 3.83276598e-05 9.99996871e-01 -2.60878977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters 0.053593117374243986 Centerline is valid? [True, True] Translation: X:350.27, Y:-51.47, Z:-2.61 [[ 9.43073019e-01 3.32580168e-01 -1.92673770e-03 3.50266004e+02] [-3.32579527e-01 9.43074987e-01 6.53554384e-04 -5.14655928e+01] [ 2.03441736e-03 2.44440063e-05 9.99997930e-01 -2.60824815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters 0.05350640123387594 Centerline is valid? [True, True] Translation: X:350.32, Y:-51.49, Z:-2.61 [[ 9.43315712e-01 3.31892204e-01 -1.74159538e-03 3.50322997e+02] [-3.31891677e-01 9.43317319e-01 5.91665629e-04 -5.14903184e+01] [ 1.83924630e-03 1.98935286e-05 9.99998308e-01 -2.60834971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters 0.05277532708023483 Centerline is valid? [True, True] Translation: X:350.38, Y:-51.51, Z:-2.61 [[ 9.42590579e-01 3.33942665e-01 -2.30159269e-03 3.50379814e+02] [-3.33941752e-01 9.42593388e-01 7.81822140e-04 -5.15138279e+01] [ 2.43054983e-03 3.16597122e-05 9.99997046e-01 -2.60957694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters 0.05292026572502005 Centerline is valid? [True, True] Translation: X:350.44, Y:-51.53, Z:-2.61 [[ 9.40727017e-01 3.39145210e-01 -3.63393918e-03 3.50436730e+02] [-3.39142977e-01 9.40734033e-01 1.23306608e-03 -5.15314300e+01] [ 3.83675872e-03 7.24463730e-05 9.99992637e-01 -2.61300628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters 0.05238082071774983 Centerline is valid? [True, True] Translation: X:350.49, Y:-51.56, Z:-2.61 [[ 9.39307630e-01 3.43056780e-01 -3.63617852e-03 3.50492645e+02] [-3.43054573e-01 9.39314664e-01 1.23392378e-03 -5.15563616e+01] [ 3.83882172e-03 8.83736456e-05 9.99992628e-01 -2.61081820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters 0.05175932808582809 Centerline is valid? [True, True] Translation: X:350.55, Y:-51.58, Z:-2.61 [[ 9.38032399e-01 3.46531907e-01 -3.29484856e-03 3.50548173e+02] [-3.46530116e-01 9.38038181e-01 1.11813205e-03 -5.15832550e+01] [ 3.47816218e-03 9.29201681e-05 9.99993947e-01 -2.61001915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters 0.05201459696824479 Centerline is valid? [True, True] Translation: X:350.60, Y:-51.61, Z:-2.61 [[ 9.37739260e-01 3.47323129e-01 -3.42400377e-03 3.50603689e+02] [-3.47321196e-01 9.37745506e-01 1.16311573e-03 -5.16089125e+01] [ 3.61482114e-03 9.85298022e-05 9.99993462e-01 -2.60864288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters 0.051690472839724055 Centerline is valid? [True, True] Translation: X:350.66, Y:-51.63, Z:-2.61 [[ 9.37467381e-01 3.48066517e-01 -2.14700593e-03 3.50662575e+02] [-3.48065759e-01 9.37469837e-01 7.29225705e-04 -5.16283328e+01] [ 2.26657235e-03 6.36739365e-05 9.99997429e-01 -2.61064679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters 0.05298843760240792 Centerline is valid? [True, True] Translation: X:350.72, Y:-51.64, Z:-2.61 [[ 9.37247829e-01 3.48661932e-01 -1.16800342e-03 3.50721950e+02] [-3.48661707e-01 9.37248556e-01 3.97495109e-04 -5.16447272e+01] [ 1.23330094e-03 3.46866398e-05 9.99999239e-01 -2.61281196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters 0.051438758513176586 Centerline is valid? [True, True] Translation: X:350.78, Y:-51.68, Z:-2.61 [[ 9.37307466e-01 3.48501981e-01 -1.04101208e-03 3.50776277e+02] [-3.48501802e-01 9.37308043e-01 3.54556856e-04 -5.16781399e+01] [ 1.09931277e-03 3.04657993e-05 9.99999395e-01 -2.61002460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters 0.052977406652786045 Centerline is valid? [True, True] Translation: X:350.84, Y:-51.69, Z:-2.61 [[ 9.37705249e-01 3.47428871e-01 -1.43057472e-03 3.50835498e+02] [-3.47428532e-01 9.37706339e-01 4.86633926e-04 -5.16929419e+01] [ 1.51052966e-03 4.07032902e-05 9.99998858e-01 -2.61328028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters 0.051662959678919394 Centerline is valid? [True, True] Translation: X:350.89, Y:-51.73, Z:-2.61 [[ 9.39142633e-01 3.43524233e-01 -1.48885601e-03 3.50888793e+02] [-3.43523862e-01 9.39143812e-01 5.06118692e-04 -5.17256762e+01] [ 1.57211394e-03 3.61399263e-05 9.99998764e-01 -2.61094405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters 0.05206033859943355 Centerline is valid? [True, True] Translation: X:350.95, Y:-51.75, Z:-2.61 [[ 9.40294225e-01 3.40361413e-01 -9.37140744e-04 3.50945295e+02] [-3.40361265e-01 9.40294692e-01 3.18555329e-04 -5.17473102e+01] [ 9.89612409e-04 1.94306727e-05 9.99999510e-01 -2.61183723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters 0.051322483373740804 Centerline is valid? [True, True] Translation: X:351.00, Y:-51.77, Z:-2.61 [[ 9.41775667e-01 3.36241773e-01 2.52183178e-04 3.51000956e+02] [-3.36241762e-01 9.41775701e-01 -8.55523586e-05 -5.17735121e+01] [-2.66266266e-04 -4.22338645e-06 9.99999965e-01 -2.61041117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters 0.05211695960141686 Centerline is valid? [True, True] Translation: X:351.06, Y:-51.79, Z:-2.61 [[ 9.42388121e-01 3.34521477e-01 1.08038020e-04 3.51058385e+02] [-3.34521475e-01 9.42388127e-01 -3.59137491e-05 -5.17948512e+01] [-1.13827668e-04 -2.29634729e-06 9.99999994e-01 -2.61168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters 0.05145121540317913 Centerline is valid? [True, True] Translation: X:351.12, Y:-51.82, Z:-2.61 [[ 9.42834896e-01 3.33257365e-01 -1.37385074e-03 3.51115449e+02] [-3.33257036e-01 9.42835897e-01 4.68144446e-04 -5.18191978e+01] [ 1.45132838e-03 1.64625074e-05 9.99998947e-01 -2.61259980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters 0.05097908646920024 Centerline is valid? [True, True] Translation: X:351.17, Y:-51.84, Z:-2.61 [[ 9.42956371e-01 3.32910051e-01 -2.04478930e-03 3.51174186e+02] [-3.32909323e-01 9.42958587e-01 6.96669571e-04 -5.18404276e+01] [ 2.16007993e-03 2.38004118e-05 9.99997667e-01 -2.61423542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters 0.05189730330330557 Centerline is valid? [True, True] Translation: X:351.23, Y:-51.87, Z:-2.61 [[ 9.43326346e-01 3.31863802e-01 -1.35018802e-03 3.51231762e+02] [-3.31863483e-01 9.43327312e-01 4.59779436e-04 -5.18657826e+01] [ 1.42625339e-03 1.43560456e-05 9.99998983e-01 -2.61220759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters 0.05169132936190755 Centerline is valid? [True, True] Translation: X:351.29, Y:-51.89, Z:-2.61 [[ 9.43571778e-01 3.31167730e-01 -4.84795487e-04 3.51289559e+02] [-3.31167689e-01 9.43571902e-01 1.65856686e-04 -5.18866411e+01] [ 5.12365782e-04 4.05091310e-06 9.99999869e-01 -2.61255840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters 0.05085278784739345 Centerline is valid? [True, True] Translation: X:351.35, Y:-51.91, Z:-2.61 [[ 9.43403709e-01 3.31646539e-01 -1.23856923e-04 3.51348641e+02] [-3.31646536e-01 9.43403717e-01 4.31878285e-05 -5.19086026e+01] [ 1.31170176e-04 3.33162046e-07 9.99999991e-01 -2.61179302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters 0.05199281337785481 Centerline is valid? [True, True] Translation: X:351.41, Y:-51.93, Z:-2.61 [[ 9.42416760e-01 3.34439549e-01 -9.16351211e-04 3.51406975e+02] [-3.34439403e-01 9.42417205e-01 3.12353693e-04 -5.19293635e+01] [ 9.68048575e-04 1.20965966e-05 9.99999531e-01 -2.61259973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters 0.050652868952262856 Centerline is valid? [True, True] Translation: X:351.47, Y:-51.95, Z:-2.61 [[ 9.41456444e-01 3.37132109e-01 -1.30540101e-03 3.51465828e+02] [-3.37131815e-01 9.41457349e-01 4.45565053e-04 -5.19468301e+01] [ 1.37919366e-03 2.06121215e-05 9.99999049e-01 -2.61458887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters 0.05146784107598765 Centerline is valid? [True, True] Translation: X:351.52, Y:-51.96, Z:-2.62 [[ 9.40352889e-01 3.40193613e-01 -2.17951015e-03 3.51524511e+02] [-3.40192804e-01 9.40355414e-01 7.42959150e-04 -5.19603384e+01] [ 2.30226413e-03 4.28098869e-05 9.99997349e-01 -2.61711781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters 0.051776734812351094 Centerline is valid? [True, True] Translation: X:351.58, Y:-51.99, Z:-2.61 [[ 9.39610422e-01 3.42239365e-01 -2.11469757e-03 3.51581089e+02] [-3.42238608e-01 9.39612801e-01 7.20904515e-04 -5.19876124e+01] [ 2.23371881e-03 4.63617579e-05 9.99997504e-01 -2.61288448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters 0.050824285387620655 Centerline is valid? [True, True] Translation: X:351.64, Y:-52.01, Z:-2.61 [[ 9.39016814e-01 3.43866345e-01 -1.83314206e-03 3.51640380e+02] [-3.43865779e-01 9.39018602e-01 6.25793989e-04 -5.20072122e+01] [ 1.93654399e-03 4.27237449e-05 9.99998124e-01 -2.61289212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters 0.051169080006891375 Centerline is valid? [True, True] Translation: X:351.70, Y:-52.03, Z:-2.61 [[ 9.38343313e-01 3.45696364e-01 -2.41877067e-03 3.51699577e+02] [-3.45695385e-01 9.38346429e-01 8.24909793e-04 -5.20256894e+01] [ 2.55481314e-03 6.21092727e-05 9.99996735e-01 -2.61393318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters 0.05182364860675289 Centerline is valid? [True, True] Translation: X:351.76, Y:-52.05, Z:-2.61 [[ 9.38338279e-01 3.45705221e-01 -3.02873847e-03 3.51757916e+02] [-3.45703683e-01 9.38343164e-01 1.03409053e-03 -5.20488255e+01] [ 3.19948654e-03 7.67193200e-05 9.99994879e-01 -2.61325137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters 0.05157855460270095 Centerline is valid? [True, True] Translation: X:351.82, Y:-52.07, Z:-2.61 [[ 9.38909526e-01 3.44146041e-01 -3.52204376e-03 3.51816331e+02] [-3.44143951e-01 9.38916128e-01 1.20209643e-03 -5.20670801e+01] [ 3.72060041e-03 8.34302630e-05 9.99993075e-01 -2.61406128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters 0.051833774316432955 Centerline is valid? [True, True] Translation: X:351.87, Y:-52.09, Z:-2.61 [[ 9.39421379e-01 3.42749807e-01 -3.16894969e-03 3.51874666e+02] [-3.42748106e-01 9.39426721e-01 1.08230251e-03 -5.20855178e+01] [ 3.34795500e-03 6.94133903e-05 9.99994393e-01 -2.61465698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters 0.05075267424070857 Centerline is valid? [True, True] Translation: X:351.93, Y:-52.11, Z:-2.61 [[ 9.40708503e-01 3.39212719e-01 -1.49764864e-03 3.51932057e+02] [-3.39212335e-01 9.40709695e-01 5.11323930e-04 -5.21072009e+01] [ 1.58230018e-03 2.70141225e-05 9.99998748e-01 -2.61322028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters 0.05081728042874547 Centerline is valid? [True, True] Translation: X:351.99, Y:-52.13, Z:-2.61 [[ 9.42027271e-01 3.35535873e-01 -5.45868516e-04 3.51990089e+02] [-3.35535821e-01 9.42027430e-01 1.86513391e-04 -5.21281223e+01] [ 5.76805048e-04 7.45773927e-06 9.99999834e-01 -2.61318139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters 0.05167334671809373 Centerline is valid? [True, True] Translation: X:352.05, Y:-52.15, Z:-2.62 [[ 9.44466836e-01 3.28605142e-01 -1.02801888e-03 3.52047582e+02] [-3.28604954e-01 9.44467395e-01 3.51040208e-04 -5.21482387e+01] [ 1.08628393e-03 6.26626196e-06 9.99999410e-01 -2.61756412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters 0.05168981562757214 Centerline is valid? [True, True] Translation: X:352.10, Y:-52.17, Z:-2.62 [[ 9.46501779e-01 3.22693740e-01 -1.77022489e-03 3.52104758e+02] [-3.22693173e-01 9.46503434e-01 6.04650024e-04 -5.21724809e+01] [ 1.87064071e-03 -1.06283735e-06 9.99998250e-01 -2.61674607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters 0.05214660256625245 Centerline is valid? [True, True] Translation: X:352.16, Y:-52.19, Z:-2.62 [[ 9.47150988e-01 3.20777409e-01 -2.61928927e-03 3.52163484e+02] [-3.20776159e-01 9.47154609e-01 8.95450053e-04 -5.21929049e+01] [ 2.76811205e-03 -7.92084925e-06 9.99996169e-01 -2.61626633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters 0.05273542101111102 Centerline is valid? [True, True] Translation: X:352.22, Y:-52.21, Z:-2.62 [[ 9.47473847e-01 3.19819448e-01 -2.97135725e-03 3.52220861e+02] [-3.19817836e-01 9.47478507e-01 1.01549015e-03 -5.22128026e+01] [ 3.14007063e-03 -1.18573155e-05 9.99995070e-01 -2.61789353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters 0.05197830329344903 Centerline is valid? [True, True] Translation: X:352.28, Y:-52.23, Z:-2.62 [[ 9.47219086e-01 3.20581309e-01 -1.90438991e-03 3.52279905e+02] [-3.20580647e-01 9.47221001e-01 6.51666863e-04 -5.22319943e+01] [ 2.01279033e-03 -6.76074225e-06 9.99997974e-01 -2.61712213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters 0.05194184950005482 Centerline is valid? [True, True] Translation: X:352.34, Y:-52.25, Z:-2.62 [[ 9.46124307e-01 3.23800594e-01 1.40387477e-03 3.52340403e+02] [-3.23800239e-01 9.46125349e-01 -4.79477773e-04 -5.22490485e+01] [-1.48349670e-03 -9.29411298e-07 9.99998900e-01 -2.61512214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters 0.051659681966479874 Centerline is valid? [True, True] Translation: X:352.40, Y:-52.26, Z:-2.62 [[ 9.44903635e-01 3.27340039e-01 2.37053225e-03 3.52400275e+02] [-3.27339037e-01 9.44906609e-01 -8.09753352e-04 -5.22646906e+01] [-2.50499628e-03 -1.08288574e-05 9.99996862e-01 -2.61624525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters 0.052121132518252226 Centerline is valid? [True, True] Translation: X:352.46, Y:-52.28, Z:-2.62 [[ 9.44178821e-01 3.29422569e-01 2.66928140e-03 3.52459629e+02] [-3.29421307e-01 9.44182594e-01 -9.11978530e-04 -5.22835850e+01] [-2.82071534e-03 -1.82473530e-05 9.99996022e-01 -2.61559591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters 0.05217018535853214 Centerline is valid? [True, True] Translation: X:352.52, Y:-52.30, Z:-2.62 [[ 9.42186876e-01 3.35085874e-01 1.16122163e-03 3.52519215e+02] [-3.35085639e-01 9.42187591e-01 -3.97119289e-04 -5.22950312e+01] [-1.22715768e-03 -1.49481108e-05 9.99999247e-01 -2.61818388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters 0.052631936041560294 Centerline is valid? [True, True] Translation: X:352.58, Y:-52.31, Z:-2.62 [[ 9.40088807e-01 3.40929029e-01 -6.57125525e-04 3.52578367e+02] [-3.40928955e-01 9.40089037e-01 2.24800269e-04 -5.23109127e+01] [ 6.94397439e-04 1.27009015e-05 9.99999759e-01 -2.61976453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters 0.052208414497280815 Centerline is valid? [True, True] Translation: X:352.64, Y:-52.33, Z:-2.62 [[ 9.39119921e-01 3.43588154e-01 -9.76896615e-04 3.52637158e+02] [-3.43587992e-01 9.39120429e-01 3.34229944e-04 -5.23276682e+01] [ 1.03226102e-03 2.17679479e-05 9.99999467e-01 -2.62054005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters 0.05209062131474242 Centerline is valid? [True, True] Translation: X:352.70, Y:-52.34, Z:-2.62 [[ 9.39076575e-01 3.43707874e-01 -2.88541709e-04 3.52695435e+02] [-3.43707860e-01 9.39076620e-01 9.91809132e-05 -5.23449732e+01] [ 3.05052033e-04 6.03558084e-06 9.99999953e-01 -2.62033136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters 0.052153096956788346 Centerline is valid? [True, True] Translation: X:352.75, Y:-52.37, Z:-2.62 [[ 9.40000358e-01 3.41173456e-01 -5.83059629e-07 3.52752924e+02] [-3.41173456e-01 9.40000358e-01 3.18421882e-07 -5.23657093e+01] [ 6.56713244e-07 -1.00392211e-07 1.00000000e+00 -2.62069183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters 0.0525020591744684 Centerline is valid? [True, True] Translation: X:352.81, Y:-52.39, Z:-2.62 [[ 9.42104254e-01 3.35320063e-01 -1.70299664e-04 3.52809201e+02] [-3.35320058e-01 9.42104270e-01 5.83778029e-05 -5.23900068e+01] [ 1.80015289e-04 2.10691687e-06 9.99999984e-01 -2.62076904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters 0.053039281556512816 Centerline is valid? [True, True] Translation: X:352.87, Y:-52.41, Z:-2.62 [[ 9.44251540e-01 3.29224656e-01 -3.95221867e-04 3.52866035e+02] [-3.29224628e-01 9.44251622e-01 1.35495990e-04 -5.24109388e+01] [ 4.17797510e-04 2.17447499e-06 9.99999913e-01 -2.62305347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters 0.0523429527887736 Centerline is valid? [True, True] Translation: X:352.92, Y:-52.43, Z:-2.62 [[ 9.45501567e-01 3.25617545e-01 -2.33081117e-05 3.52924014e+02] [-3.25617545e-01 9.45501568e-01 8.87332072e-06 -5.24341232e+01] [ 2.49271649e-05 -8.00208542e-07 1.00000000e+00 -2.62165602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters 0.052175773722941264 Centerline is valid? [True, True] Translation: X:352.98, Y:-52.46, Z:-2.62 [[ 9.46835661e-01 3.21717589e-01 1.54487884e-04 3.52981499e+02] [-3.21717585e-01 9.46835674e-01 -5.19481907e-05 -5.24572555e+01] [-1.62987286e-04 -5.15069335e-07 9.99999987e-01 -2.62405214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters 0.05334594150514684 Centerline is valid? [True, True] Translation: X:353.04, Y:-52.48, Z:-2.62 [[ 9.47086934e-01 3.20977157e-01 6.48448619e-05 3.53041143e+02] [-3.20977156e-01 9.47086936e-01 -2.12610847e-05 -5.24761654e+01] [-6.82380442e-05 -6.77623823e-07 9.99999998e-01 -2.62166995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters 0.05211410590135327 Centerline is valid? [True, True] Translation: X:353.10, Y:-52.50, Z:-2.62 [[ 9.46896257e-01 3.21538826e-01 -5.11749375e-04 3.53099762e+02] [-3.21538778e-01 9.46896395e-01 1.75637594e-04 -5.24965364e+01] [ 5.41047944e-04 -1.76331154e-06 9.99999854e-01 -2.62423524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters 0.052481294418977906 Centerline is valid? [True, True] Translation: X:353.16, Y:-52.52, Z:-2.62 [[ 9.47000361e-01 3.21227340e-01 -1.82007081e-03 3.53158464e+02] [-3.21226732e-01 9.47002110e-01 6.24708324e-04 -5.25161589e+01] [ 1.92428429e-03 -6.94360888e-06 9.99998149e-01 -2.62385410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters 0.05247306152729463 Centerline is valid? [True, True] Translation: X:353.22, Y:-52.54, Z:-2.63 [[ 9.47431477e-01 3.19955440e-01 -1.45343834e-03 3.53216546e+02] [-3.19955051e-01 9.47432592e-01 4.99311377e-04 -5.25363667e+01] [ 1.53679225e-03 -8.02837655e-06 9.99998819e-01 -2.62528173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters 0.05299390151717475 Centerline is valid? [True, True] Translation: X:353.28, Y:-52.56, Z:-2.62 [[ 9.48690397e-01 3.16206441e-01 1.30182280e-04 3.53275112e+02] [-3.16206438e-01 9.48690406e-01 -4.43268929e-05 -5.25579195e+01] [-1.37519129e-04 8.88022703e-07 9.99999991e-01 -2.62422529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters 0.05312144002959732 Centerline is valid? [True, True] Translation: X:353.33, Y:-52.58, Z:-2.62 [[ 9.49546278e-01 3.13623629e-01 1.44404172e-03 3.53333998e+02] [-3.13623240e-01 9.49547376e-01 -4.94466085e-04 -5.25786819e+01] [-1.52626227e-03 1.66333893e-05 9.99998835e-01 -2.62303067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters 0.05353997882588762 Centerline is valid? [True, True] Translation: X:353.39, Y:-52.60, Z:-2.62 [[ 9.50127716e-01 3.11859182e-01 1.08379837e-03 3.53392625e+02] [-3.11858961e-01 9.50128334e-01 -3.71084746e-04 -5.25972721e+01] [-1.14547373e-03 1.45856662e-05 9.99999344e-01 -2.62290455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters 0.05342655929036339 Centerline is valid? [True, True] Translation: X:353.45, Y:-52.61, Z:-2.62 [[ 9.50739422e-01 3.09986687e-01 1.67482219e-03 3.53452614e+02] [-3.09986156e-01 9.50740897e-01 -5.74535955e-04 -5.26133544e+01] [-1.77042045e-03 2.70622891e-05 9.99998432e-01 -2.62275667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters 0.05333294444621691 Centerline is valid? [True, True] Translation: X:353.51, Y:-52.64, Z:-2.63 [[ 9.51244022e-01 3.08433375e-01 1.91411474e-03 3.53509099e+02] [-3.08432679e-01 9.51245947e-01 -6.56269948e-04 -5.26389287e+01] [-2.02320944e-03 3.38973298e-05 9.99997953e-01 -2.62601039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters 0.0537237807412949 Centerline is valid? [True, True] Translation: X:353.57, Y:-52.65, Z:-2.62 [[ 9.51301548e-01 3.08260761e-01 8.17455331e-04 3.53568707e+02] [-3.08260634e-01 9.51301899e-01 -2.80257909e-04 -5.26520989e+01] [-8.64039325e-04 1.46204841e-05 9.99999627e-01 -2.62472565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters 0.05418980832110073 Centerline is valid? [True, True] Translation: X:353.63, Y:-52.68, Z:-2.63 [[ 9.50892849e-01 3.09519331e-01 7.56683330e-04 3.53626534e+02] [-3.09519223e-01 9.50893150e-01 -2.59573768e-04 -5.26754718e+01] [-7.99868095e-04 1.26188032e-05 9.99999680e-01 -2.62828065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters 0.053507889183005745 Centerline is valid? [True, True] Translation: X:353.69, Y:-52.69, Z:-2.63 [[ 9.50197913e-01 3.11645890e-01 8.75127835e-04 3.53688788e+02] [-3.11645747e-01 9.50198316e-01 -2.99772914e-04 -5.26854451e+01] [-9.24967991e-04 1.21137297e-05 9.99999572e-01 -2.62534318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters 0.053734049261263475 Centerline is valid? [True, True] Translation: X:353.75, Y:-52.70, Z:-2.63 [[ 9.49283661e-01 3.14419583e-01 9.25863398e-04 3.53746830e+02] [-3.14419423e-01 9.49284112e-01 -3.17691118e-04 -5.27049497e+01] [-9.78795723e-04 1.04695525e-05 9.99999521e-01 -2.62620777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters 0.05227686607203189 Centerline is valid? [True, True] Translation: X:353.81, Y:-52.72, Z:-2.63 [[ 9.47592529e-01 3.19476076e-01 1.85369978e-03 3.53805862e+02] [-3.19475441e-01 9.47594342e-01 -6.36877975e-04 -5.27221952e+01] [-1.96002270e-03 1.12892571e-05 9.99998079e-01 -2.62828654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters 0.05323585507233938 Centerline is valid? [True, True] Translation: X:353.87, Y:-52.74, Z:-2.63 [[ 9.45682053e-01 3.25082002e-01 2.67317578e-03 3.53866919e+02] [-3.25080705e-01 9.45685831e-01 -9.18472726e-04 -5.27357700e+01] [-2.82656341e-03 -4.14691376e-07 9.99996005e-01 -2.62873299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters 0.05295338657809061 Centerline is valid? [True, True] Translation: X:353.93, Y:-52.75, Z:-2.63 [[ 9.44374680e-01 3.28865543e-01 1.97954293e-03 3.53926409e+02] [-3.28864841e-01 9.44376754e-01 -6.79758544e-04 -5.27526288e+01] [-2.09298349e-03 -9.05531393e-06 9.99997810e-01 -2.62761709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters 0.053200149749234656 Centerline is valid? [True, True] Translation: X:353.99, Y:-52.77, Z:-2.63 [[ 9.43123633e-01 3.32428784e-01 2.98617356e-03 3.53986595e+02] [-3.32427199e-01 9.43128360e-01 -1.02655610e-03 -5.27675597e+01] [-3.15760176e-03 -2.45159971e-05 9.99995014e-01 -2.62873858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters 0.052832670363253856 Centerline is valid? [True, True] Translation: X:354.05, Y:-52.78, Z:-2.63 [[ 9.42702316e-01 3.33620567e-01 3.10835996e-03 3.54045893e+02] [-3.33618857e-01 9.42707440e-01 -1.06840370e-03 -5.27843730e+01] [-3.28671551e-03 -2.98208530e-05 9.99994598e-01 -2.62962554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters 0.0527876284895324 Centerline is valid? [True, True] Translation: X:354.10, Y:-52.80, Z:-2.63 [[ 9.42187751e-01 3.35065008e-01 3.69906106e-03 3.54104086e+02] [-3.35062596e-01 9.42195011e-01 -1.27205603e-03 -5.28047582e+01] [-3.91145834e-03 -4.09013967e-05 9.99992349e-01 -2.62840617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters 0.0528412913673955 Centerline is valid? [True, True] Translation: X:354.16, Y:-52.82, Z:-2.63 [[ 9.41131723e-01 3.38018159e-01 3.84759032e-03 3.54163520e+02] [-3.38015571e-01 9.41139586e-01 -1.32379114e-03 -5.28208859e+01] [-4.06858500e-03 -5.46836063e-05 9.99991722e-01 -2.62896136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters 0.0534899871862325 Centerline is valid? [True, True] Translation: X:354.22, Y:-52.84, Z:-2.63 [[ 9.40108745e-01 3.40860378e-01 3.12252863e-03 3.54222595e+02] [-3.40858689e-01 9.40113929e-01 -1.07425635e-03 -5.28373009e+01] [-3.30170408e-03 -5.44232244e-05 9.99994548e-01 -2.63010298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters 0.05355827687792482 Centerline is valid? [True, True] Translation: X:354.28, Y:-52.86, Z:-2.63 [[ 9.39551080e-01 3.42398710e-01 2.62513343e-03 3.54281572e+02] [-3.42397523e-01 9.39554746e-01 -9.03284604e-04 -5.28555629e+01] [-2.77574006e-03 -5.01571583e-05 9.99996146e-01 -2.63119811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters 0.053716615143374176 Centerline is valid? [True, True] Translation: X:354.34, Y:-52.87, Z:-2.63 [[ 9.38454337e-01 3.45398705e-01 1.78671197e-03 3.54340361e+02] [-3.45398160e-01 9.38456037e-01 -6.15262881e-04 -5.28734168e+01] [-1.88926164e-03 -3.97309077e-05 9.99998215e-01 -2.63214153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters 0.05352061094251705 Centerline is valid? [True, True] Translation: X:354.40, Y:-52.90, Z:-2.63 [[ 9.38385726e-01 3.45583351e-01 2.09187716e-03 3.54399162e+02] [-3.45582605e-01 9.38388057e-01 -7.19809598e-04 -5.28972761e+01] [-2.21174675e-03 -4.74573038e-05 9.99997553e-01 -2.63152641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters 0.05223409825419075 Centerline is valid? [True, True] Translation: X:354.45, Y:-52.92, Z:-2.63 [[ 9.39068080e-01 3.43715035e-01 3.33390570e-03 3.54454908e+02] [-3.43713122e-01 9.39073996e-01 -1.14866249e-03 -5.29239127e+01] [-3.52559672e-03 -6.72348606e-05 9.99993783e-01 -2.63037747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters 0.052933966332510046 Centerline is valid? [True, True] Translation: X:354.51, Y:-52.94, Z:-2.63 [[ 9.39809140e-01 3.41688735e-01 2.75462816e-03 3.54512935e+02] [-3.41687421e-01 9.39813176e-01 -9.48877329e-04 -5.29435997e+01] [-2.91305653e-03 -4.94582059e-05 9.99995756e-01 -2.63160509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters 0.052850715138280956 Centerline is valid? [True, True] Translation: X:354.57, Y:-52.97, Z:-2.63 [[ 9.40216205e-01 3.40566190e-01 2.85607668e-03 3.54571155e+02] [-3.40564772e-01 9.40220542e-01 -9.84081311e-04 -5.29661698e+01] [-3.02048678e-03 -4.74299061e-05 9.99995437e-01 -2.63228462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters 0.05267380706844653 Centerline is valid? [True, True] Translation: X:354.63, Y:-52.99, Z:-2.63 [[ 9.41125855e-01 3.38038518e-01 3.47650773e-03 3.54627371e+02] [-3.38036397e-01 9.41132275e-01 -1.19831073e-03 -5.29923804e+01] [-3.67692881e-03 -4.74249411e-05 9.99993239e-01 -2.63168483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters 0.05300371902010407 Centerline is valid? [True, True] Translation: X:354.69, Y:-53.01, Z:-2.63 [[ 9.41870356e-01 3.35957635e-01 3.56372103e-03 3.54685049e+02] [-3.35955392e-01 9.41877097e-01 -1.22816466e-03 -5.30120411e+01] [-3.76919851e-03 -4.04794063e-05 9.99992896e-01 -2.63313807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters 0.0529975222930524 Centerline is valid? [True, True] Translation: X:354.74, Y:-53.04, Z:-2.63 [[ 9.43507383e-01 3.31320109e-01 4.56114759e-03 3.54740921e+02] [-3.31316377e-01 9.43518407e-01 -1.57288081e-03 -5.30389591e+01] [-4.82465375e-03 -2.71582344e-05 9.99988361e-01 -2.63313827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters 0.05284257999806763 Centerline is valid? [True, True] Translation: X:354.80, Y:-53.06, Z:-2.63 [[ 9.44881395e-01 3.27376447e-01 4.87972796e-03 3.54798123e+02] [-3.27372122e-01 9.44893995e-01 -1.68274584e-03 -5.30639637e+01] [-5.16171701e-03 -7.49165702e-06 9.99986678e-01 -2.63276118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters 0.05273693418615946 Centerline is valid? [True, True] Translation: X:354.85, Y:-53.09, Z:-2.64 [[ 9.47089233e-01 3.20944281e-01 4.09295338e-03 3.54853849e+02] [-3.20941177e-01 9.47098077e-01 -1.41185458e-03 -5.30884088e+01] [-4.32955493e-03 2.35549996e-05 9.99990627e-01 -2.63552653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters 0.05326737332823767 Centerline is valid? [True, True] Translation: X:354.91, Y:-53.11, Z:-2.64 [[ 9.48448777e-01 3.16911125e-01 3.50105540e-03 3.54911730e+02] [-3.16908824e-01 9.48455238e-01 -1.20816280e-03 -5.31121493e+01] [-3.70347456e-03 3.63651861e-05 9.99993141e-01 -2.63608549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters 0.05311520050327983 Centerline is valid? [True, True] Translation: X:354.97, Y:-53.13, Z:-2.64 [[ 9.49566501e-01 3.13546979e-01 3.42818379e-03 3.54970154e+02] [-3.13544751e-01 9.49572688e-01 -1.18308306e-03 -5.31319215e+01] [-3.62626182e-03 4.85270073e-05 9.99993424e-01 -2.63612140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters 0.053282602865455 Centerline is valid? [True, True] Translation: X:355.03, Y:-53.15, Z:-2.64 [[ 9.49391064e-01 3.14082120e-01 3.00503408e-03 3.55029097e+02] [-3.14080411e-01 9.49395819e-01 -1.03692762e-03 -5.31529768e+01] [-3.17864722e-03 4.06274768e-05 9.99994947e-01 -2.63735873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters 0.05298707877407745 Centerline is valid? [True, True] Translation: X:355.09, Y:-53.18, Z:-2.64 [[ 9.48439748e-01 3.16944132e-01 2.90886627e-03 3.55086026e+02] [-3.16942542e-01 9.48444208e-01 -1.00437287e-03 -5.31765773e+01] [-3.07722746e-03 3.06436821e-05 9.99995265e-01 -2.63913403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters 0.05280994750735692 Centerline is valid? [True, True] Translation: X:355.15, Y:-53.20, Z:-2.64 [[ 9.47434531e-01 3.19927152e-01 3.79829774e-03 3.55145290e+02] [-3.19924464e-01 9.47442144e-01 -1.31172767e-03 -5.31955918e+01] [-4.01832465e-03 2.76077238e-05 9.99991926e-01 -2.63880165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters 0.05213740058114645 Centerline is valid? [True, True] Translation: X:355.20, Y:-53.21, Z:-2.64 [[ 9.45734121e-01 3.24906552e-01 4.76491542e-03 3.55203517e+02] [-3.24902384e-01 9.45746125e-01 -1.64568384e-03 -5.32137279e+01] [-5.04109375e-03 8.24697689e-06 9.99987294e-01 -2.63809056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters 0.05163281899129646 Centerline is valid? [True, True] Translation: X:355.26, Y:-53.23, Z:-2.64 [[ 9.44608107e-01 3.28163853e-01 4.89995091e-03 3.55263092e+02] [-3.28159485e-01 9.44620816e-01 -1.69304755e-03 -5.32332709e+01] [-5.18419264e-03 -8.69893197e-06 9.99986562e-01 -2.63949983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters 0.05218688270030196 Centerline is valid? [True, True] Translation: X:355.32, Y:-53.25, Z:-2.64 [[ 9.42686458e-01 3.33639579e-01 5.18390982e-03 3.55321769e+02] [-3.33634772e-01 9.42700711e-01 -1.79141166e-03 -5.32504386e+01] [-5.48456130e-03 -4.07930616e-05 9.99984959e-01 -2.64005929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters 0.05198948935495212 Centerline is valid? [True, True] Translation: X:355.38, Y:-53.27, Z:-2.64 [[ 9.40499936e-01 3.39757039e-01 5.00251161e-03 3.55380526e+02] [-3.39752645e-01 9.40513237e-01 -1.72947347e-03 -5.32670566e+01] [-5.29252917e-03 -7.30468643e-05 9.99985992e-01 -2.64113178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters 0.05180875151739228 Centerline is valid? [True, True] Translation: X:355.44, Y:-53.29, Z:-2.64 [[ 9.39121162e-01 3.43551941e-01 4.84836557e-03 3.55438938e+02] [-3.43547864e-01 9.39133673e-01 -1.67620367e-03 -5.32852936e+01] [-5.12912638e-03 -9.14872978e-05 9.99986842e-01 -2.64249887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters 0.052438362916311015 Centerline is valid? [True, True] Translation: X:355.50, Y:-53.30, Z:-2.64 [[ 9.37824881e-01 3.47072365e-01 5.02653514e-03 3.55497044e+02] [-3.47068033e-01 9.37838345e-01 -1.73789139e-03 -5.33045558e+01] [-5.31725147e-03 -1.14711876e-04 9.99985857e-01 -2.64367490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters 0.05188188679529184 Centerline is valid? [True, True] Translation: X:355.56, Y:-53.33, Z:-2.64 [[ 9.37797657e-01 3.47144438e-01 5.12770547e-03 3.55555051e+02] [-3.47139930e-01 9.37811669e-01 -1.77287947e-03 -5.33284592e+01] [-5.42426727e-03 -1.17429108e-04 9.99985282e-01 -2.64363633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters 0.05139479138390552 Centerline is valid? [True, True] Translation: X:355.61, Y:-53.35, Z:-2.64 [[ 9.38311361e-01 3.45762449e-01 4.48541746e-03 3.55612487e+02] [-3.45758984e-01 9.38322077e-01 -1.55087892e-03 -5.33528204e+01] [-4.74500192e-03 -9.56660796e-05 9.99988738e-01 -2.64427739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters 0.05172145140981753 Centerline is valid? [True, True] Translation: X:355.67, Y:-53.37, Z:-2.65 [[ 9.38628600e-01 3.44908222e-01 3.83010758e-03 3.55670411e+02] [-3.44905687e-01 9.38636411e-01 -1.32464237e-03 -5.33745733e+01] [-4.05195847e-03 -7.76786731e-05 9.99991788e-01 -2.64533301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters 0.05114738571015598 Centerline is valid? [True, True] Translation: X:355.73, Y:-53.40, Z:-2.65 [[ 9.39020758e-01 3.43849995e-01 2.68261108e-03 3.55727006e+02] [-3.43848747e-01 9.39024589e-01 -9.27840763e-04 -5.33997096e+01] [-2.83807581e-03 -5.11507203e-05 9.99995971e-01 -2.64711017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters 0.052040524925653565 Centerline is valid? [True, True] Translation: X:355.78, Y:-53.42, Z:-2.65 [[ 9.39543222e-01 3.42424057e-01 2.07371974e-03 3.55784347e+02] [-3.42423307e-01 9.39545509e-01 -7.17562349e-04 -5.34211421e+01] [-2.19406468e-03 -3.59091290e-05 9.99997592e-01 -2.64787028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters 0.0516411287161246 Centerline is valid? [True, True] Translation: X:355.84, Y:-53.45, Z:-2.65 [[ 9.40839284e-01 3.38844977e-01 2.35015390e-03 3.55840214e+02] [-3.38844002e-01 9.40842219e-01 -8.13688557e-04 -5.34479074e+01] [-2.48683829e-03 -3.07853919e-05 9.99996907e-01 -2.64711822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters 0.051612831874920224 Centerline is valid? [True, True] Translation: X:355.90, Y:-53.47, Z:-2.65 [[ 9.42760028e-01 3.33458391e-01 3.00533158e-03 3.55895761e+02] [-3.33456768e-01 9.42764817e-01 -1.04065180e-03 -5.34724468e+01] [-3.18033495e-03 -2.10632395e-05 9.99994943e-01 -2.64593018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters 0.05180580267528732 Centerline is valid? [True, True] Translation: X:355.95, Y:-53.50, Z:-2.65 [[ 9.44164683e-01 3.29451588e-01 3.83445031e-03 3.55953314e+02] [-3.29448912e-01 9.44172469e-01 -1.32769197e-03 -5.34968075e+01] [-4.05779264e-03 -9.69561798e-06 9.99991767e-01 -2.64536534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters 0.051550026026703395 Centerline is valid? [True, True] Translation: X:356.01, Y:-53.52, Z:-2.64 [[ 9.45567925e-01 3.25389778e-01 4.77404086e-03 3.56012273e+02] [-3.25385579e-01 9.45579977e-01 -1.65308231e-03 -5.35182852e+01] [-5.05213353e-03 9.69755877e-06 9.99987238e-01 -2.64468469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters 0.05146422960968214 Centerline is valid? [True, True] Translation: X:356.07, Y:-53.54, Z:-2.64 [[ 9.46656893e-01 3.22201906e-01 5.16325200e-03 3.56070201e+02] [-3.22196942e-01 9.46670973e-01 -1.78874963e-03 -5.35387828e+01] [-5.46423934e-03 2.97481564e-05 9.99985070e-01 -2.64386172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters 0.05142214552343587 Centerline is valid? [True, True] Translation: X:356.13, Y:-53.56, Z:-2.64 [[ 9.47222130e-01 3.20549323e-01 4.28581754e-03 3.56128902e+02] [-3.20545883e-01 9.47231825e-01 -1.48533869e-03 -5.35604532e+01] [-4.53578708e-03 3.31445047e-05 9.99989713e-01 -2.64481552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters 0.05211906110920204 Centerline is valid? [True, True] Translation: X:356.19, Y:-53.58, Z:-2.65 [[ 9.47920304e-01 3.18505393e-01 1.18787751e-03 3.56186928e+02] [-3.18505128e-01 9.47921049e-01 -4.11665638e-04 -5.35779739e+01] [-1.25713182e-03 1.18811395e-05 9.99999210e-01 -2.64798881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters 0.05274875368242875 Centerline is valid? [True, True] Translation: X:356.25, Y:-53.60, Z:-2.65 [[ 9.48246379e-01 3.17534829e-01 -6.61218805e-04 3.56246175e+02] [-3.17534746e-01 9.48246609e-01 2.30171422e-04 -5.35973577e+01] [ 7.00085932e-04 -8.29927181e-06 9.99999755e-01 -2.64990818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters 0.05390631839704214 Centerline is valid? [True, True] Translation: X:356.31, Y:-53.62, Z:-2.65 [[ 9.49244589e-01 3.14535174e-01 -1.52820192e-03 3.56305588e+02] [-3.14534728e-01 9.49245819e-01 5.30274180e-04 -5.36153062e+01] [ 1.61742916e-03 -2.26873221e-05 9.99998692e-01 -2.64974572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters 0.0541749599781256 Centerline is valid? [True, True] Translation: X:356.36, Y:-53.63, Z:-2.65 [[ 9.50706643e-01 3.10089885e-01 -1.06887487e-03 3.56363700e+02] [-3.10089665e-01 9.50707243e-01 3.70713199e-04 -5.36300614e+01] [ 1.13114149e-03 -2.09924522e-05 9.99999360e-01 -2.64815571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters 0.05358170575237365 Centerline is valid? [True, True] Translation: X:356.42, Y:-53.66, Z:-2.65 [[ 9.51560820e-01 3.07460109e-01 5.35488627e-04 3.56420807e+02] [-3.07460053e-01 9.51560971e-01 -1.85289813e-04 -5.36550960e+01] [-5.66519304e-04 1.16731645e-05 9.99999839e-01 -2.64975644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters 0.052879801828257064 Centerline is valid? [True, True] Translation: X:356.48, Y:-53.67, Z:-2.65 [[ 9.51739885e-01 3.06900862e-01 1.74685254e-03 3.56480425e+02] [-3.06900267e-01 9.51741488e-01 -6.05629266e-04 -5.36684349e+01] [-1.84842018e-03 4.02920166e-05 9.99998291e-01 -2.64663703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters 0.05367970916431202 Centerline is valid? [True, True] Translation: X:356.54, Y:-53.69, Z:-2.65 [[ 9.50589722e-01 3.10434128e-01 3.13578347e-03 3.56537154e+02] [-3.10432227e-01 9.50594892e-01 -1.08792547e-03 -5.36896330e+01] [-3.31858894e-03 6.07225207e-05 9.99994492e-01 -2.64874692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters 0.05283908068131305 Centerline is valid? [True, True] Translation: X:356.60, Y:-53.70, Z:-2.65 [[ 9.47763855e-01 3.18953115e-01 3.54769933e-03 3.56597291e+02] [-3.18950741e-01 9.47770494e-01 -1.23095503e-03 -5.36979549e+01] [-3.75502168e-03 3.51133560e-05 9.99992949e-01 -2.64919613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters 0.05286005585967168 Centerline is valid? [True, True] Translation: X:356.66, Y:-53.71, Z:-2.65 [[ 9.45020091e-01 3.26994297e-01 3.42883655e-03 3.56657046e+02] [-3.26992133e-01 9.45026312e-01 -1.18962981e-03 -5.37130952e+01] [-3.62934293e-03 3.02149514e-06 9.99993414e-01 -2.65168987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters 0.05202952415533536 Centerline is valid? [True, True] Translation: X:356.72, Y:-53.72, Z:-2.65 [[ 9.40909738e-01 3.38642405e-01 3.19158661e-03 3.56717595e+02] [-3.38640596e-01 9.40915150e-01 -1.10744938e-03 -5.37249946e+01] [-3.37804151e-03 -3.87908872e-05 9.99994294e-01 -2.65190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters 0.052104167696877805 Centerline is valid? [True, True] Translation: X:356.77, Y:-53.74, Z:-2.65 [[ 9.38805055e-01 3.44441148e-01 2.31608720e-03 3.56774436e+02] [-3.44440213e-01 9.38807911e-01 -8.03540862e-04 -5.37446514e+01] [-2.45113353e-03 -4.33853470e-05 9.99996995e-01 -2.65247241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters 0.051567631323261406 Centerline is valid? [True, True] Translation: X:356.83, Y:-53.76, Z:-2.65 [[ 9.37038771e-01 3.49215937e-01 2.56352485e-03 3.56831763e+02] [-3.49214809e-01 9.37042275e-01 -8.89579451e-04 -5.37643599e+01] [-2.71278648e-03 -6.16504062e-05 9.99996318e-01 -2.65310252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters 0.051968207902648424 Centerline is valid? [True, True] Translation: X:356.89, Y:-53.78, Z:-2.66 [[ 9.36609511e-01 3.50367060e-01 2.35533462e-03 3.56891791e+02] [-3.50366112e-01 9.36612470e-01 -8.17155842e-04 -5.37762563e+01] [-2.49234026e-03 -5.98735006e-05 9.99996892e-01 -2.65558796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters 0.05291647100141454 Centerline is valid? [True, True] Translation: X:356.95, Y:-53.80, Z:-2.66 [[ 9.36553865e-01 3.50520631e-01 1.46442547e-03 3.56950674e+02] [-3.50520265e-01 9.36555010e-01 -5.07700545e-04 -5.37955256e+01] [-1.54947453e-03 -3.78218966e-05 9.99998799e-01 -2.65803008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters 0.05110136981972535 Centerline is valid? [True, True] Translation: X:357.00, Y:-53.83, Z:-2.66 [[ 9.37196506e-01 3.48799487e-01 1.27583775e-03 3.57003539e+02] [-3.48799207e-01 9.37197374e-01 -4.42925309e-04 -5.38299640e+01] [-1.35020391e-03 -2.99031440e-05 9.99999088e-01 -2.65548073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters 0.05219407402272789 Centerline is valid? [True, True] Translation: X:357.06, Y:-53.84, Z:-2.66 [[ 9.37889559e-01 3.46930626e-01 1.52172020e-03 3.57062225e+02] [-3.46930225e-01 9.37890793e-01 -5.28388498e-04 -5.38449852e+01] [-1.61052152e-03 -3.23606759e-05 9.99998703e-01 -2.65793091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters 0.05148970584881658 Centerline is valid? [True, True] Translation: X:357.12, Y:-53.87, Z:-2.66 [[ 9.38151997e-01 3.46219022e-01 1.79408552e-03 3.57118149e+02] [-3.46218464e-01 9.38153712e-01 -6.22684475e-04 -5.38727820e+01] [-1.89871320e-03 -3.69728477e-05 9.99998197e-01 -2.65673095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters 0.0518858219004313 Centerline is valid? [True, True] Translation: X:357.17, Y:-53.90, Z:-2.66 [[ 9.39402520e-01 3.42813308e-01 1.39306949e-03 3.57174526e+02] [-3.42812968e-01 9.39403553e-01 -4.83768384e-04 -5.38964087e+01] [-1.47449667e-03 -2.31090484e-05 9.99998913e-01 -2.65844112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters 0.051507390580479914 Centerline is valid? [True, True] Translation: X:357.23, Y:-53.92, Z:-2.66 [[ 9.40210206e-01 3.40587614e-01 2.20114502e-03 3.57230381e+02] [-3.40586757e-01 9.40212783e-01 -7.64545750e-04 -5.39191235e+01] [-2.32993950e-03 -3.08471271e-05 9.99997285e-01 -2.65885386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters 0.051945367924512126 Centerline is valid? [True, True] Translation: X:357.29, Y:-53.95, Z:-2.66 [[ 9.41514165e-01 3.36961739e-01 2.80428135e-03 3.57286166e+02] [-3.36960332e-01 9.41518341e-01 -9.74044902e-04 -5.39456877e+01] [-2.96849819e-03 -2.78545031e-05 9.99995594e-01 -2.65803264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters 0.05145992478709877 Centerline is valid? [True, True] Translation: X:357.34, Y:-53.97, Z:-2.66 [[ 9.42339896e-01 3.34642954e-01 3.10047355e-03 3.57343623e+02] [-3.34641222e-01 9.42344997e-01 -1.07688703e-03 -5.39713107e+01] [-3.28208840e-03 -2.27526496e-05 9.99994614e-01 -2.65788808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters 0.05148944551046711 Centerline is valid? [True, True] Translation: X:357.40, Y:-54.00, Z:-2.66 [[ 9.42794273e-01 3.33360855e-01 3.08194658e-03 3.57401277e+02] [-3.33359137e-01 9.42799310e-01 -1.07057608e-03 -5.39963318e+01] [-3.26254527e-03 -1.80620560e-05 9.99994678e-01 -2.65841232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters 0.05081110319933674 Centerline is valid? [True, True] Translation: X:357.46, Y:-54.01, Z:-2.66 [[ 9.41576644e-01 3.36780126e-01 3.54545968e-03 3.57459821e+02] [-3.36777876e-01 9.41583319e-01 -1.23154821e-03 -5.40131416e+01] [-3.75310666e-03 -3.44353500e-05 9.99992956e-01 -2.65943650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters 0.05125120381514828 Centerline is valid? [True, True] Translation: X:357.52, Y:-54.03, Z:-2.66 [[ 9.40459874e-01 3.39899261e-01 1.92837953e-03 3.57520142e+02] [-3.39898601e-01 9.40461850e-01 -6.70109640e-04 -5.40296678e+01] [-2.04133715e-03 -2.52422783e-05 9.99997916e-01 -2.66109538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters 0.051549199201112464 Centerline is valid? [True, True] Translation: X:357.58, Y:-54.05, Z:-2.66 [[ 9.38992750e-01 3.43936924e-01 -8.69454885e-05 3.57578850e+02] [-3.43936922e-01 9.38992754e-01 3.03528821e-05 -5.40471814e+01] [ 9.20806604e-05 1.40262750e-06 9.99999996e-01 -2.66240104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters 0.051833424326203296 Centerline is valid? [True, True] Translation: X:357.64, Y:-54.07, Z:-2.66 [[ 9.38213653e-01 3.46056189e-01 5.06490246e-04 3.57638056e+02] [-3.46056144e-01 9.38213789e-01 -1.75277844e-04 -5.40654496e+01] [-5.35852115e-04 -1.08259950e-05 9.99999856e-01 -2.66288732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters 0.052025100858857774 Centerline is valid? [True, True] Translation: X:357.70, Y:-54.08, Z:-2.66 [[ 9.38268740e-01 3.45901302e-01 2.01503970e-03 3.57698201e+02] [-3.45900596e-01 9.38270903e-01 -7.00152351e-04 -5.40802743e+01] [-2.13283672e-03 -4.00723680e-05 9.99997725e-01 -2.66366366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters 0.05204329799961562 Centerline is valid? [True, True] Translation: X:357.76, Y:-54.10, Z:-2.66 [[ 9.38834147e-01 3.44351109e-01 3.57180986e-03 3.57756170e+02] [-3.44348873e-01 9.38840940e-01 -1.24252941e-03 -5.41021659e+01] [-3.78122771e-03 -6.34196627e-05 9.99992849e-01 -2.66252666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters 0.0508971469586408 Centerline is valid? [True, True] Translation: X:357.81, Y:-54.13, Z:-2.66 [[ 9.40620432e-01 3.39428615e-01 4.62807187e-03 3.57812995e+02] [-3.39424800e-01 9.40631816e-01 -1.61016792e-03 -5.41252577e+01] [-4.89984871e-03 -5.63255267e-05 9.99987994e-01 -2.66263471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters 0.05169190737196933 Centerline is valid? [True, True] Translation: X:357.87, Y:-54.15, Z:-2.67 [[ 9.43144913e-01 3.32363284e-01 3.51014371e-03 3.57869809e+02] [-3.32361041e-01 9.43151444e-01 -1.22116437e-03 -5.41496723e+01] [-3.71646731e-03 -1.49000520e-05 9.99993094e-01 -2.66576116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters 0.0517608014647925 Centerline is valid? [True, True] Translation: X:357.93, Y:-54.17, Z:-2.66 [[ 9.44561189e-01 3.28324903e-01 2.63036492e-03 3.57927339e+02] [-3.28323629e-01 9.44564851e-01 -9.14772002e-04 -5.41739212e+01] [-2.78489268e-03 4.47174002e-07 9.99996122e-01 -2.66498986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters 0.05148748632642441 Centerline is valid? [True, True] Translation: X:357.99, Y:-54.19, Z:-2.67 [[ 9.45125437e-01 3.26699281e-01 2.34247468e-03 3.57985472e+02] [-3.26698265e-01 9.45128340e-01 -8.14858993e-04 -5.41949815e+01] [-2.48015306e-03 4.86154704e-06 9.99996924e-01 -2.66625714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters 0.05207405508076205 Centerline is valid? [True, True] Translation: X:358.04, Y:-54.22, Z:-2.67 [[ 9.45880911e-01 3.24504652e-01 2.45634019e-03 3.58044394e+02] [-3.24503526e-01 9.45884100e-01 -8.54835016e-04 -5.42154120e+01] [-2.60081107e-03 1.14810708e-05 9.99996618e-01 -2.66709582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters 0.05157736482376419 Centerline is valid? [True, True] Translation: X:358.10, Y:-54.23, Z:-2.67 [[ 9.45524521e-01 3.25541385e-01 2.48755181e-03 3.58103608e+02] [-3.25540232e-01 9.45527793e-01 -8.66296947e-04 -5.42335981e+01] [-2.63406488e-03 9.30680978e-06 9.99996531e-01 -2.66686964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters 0.05105647834566068 Centerline is valid? [True, True] Translation: X:358.16, Y:-54.25, Z:-2.67 [[ 9.44822877e-01 3.27572753e-01 2.41316428e-03 3.58162500e+02] [-3.27571675e-01 9.44825958e-01 -8.40455178e-04 -5.42532445e+01] [-2.55533047e-03 3.59701510e-06 9.99996735e-01 -2.66846579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters 0.05127660826767627 Centerline is valid? [True, True] Translation: X:358.22, Y:-54.27, Z:-2.67 [[ 9.43063270e-01 3.32604318e-01 2.45685963e-03 3.58221342e+02] [-3.32603218e-01 9.43066471e-01 -8.55457270e-04 -5.42696842e+01] [-2.60151072e-03 -1.04090883e-05 9.99996616e-01 -2.66951543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters 0.05081831559208002 Centerline is valid? [True, True] Translation: X:358.28, Y:-54.29, Z:-2.67 [[ 9.41365395e-01 3.37379142e-01 2.55086308e-03 3.58280629e+02] [-3.37377972e-01 9.41368851e-01 -8.88781909e-04 -5.42856088e+01] [-2.70115953e-03 -2.39364808e-05 9.99996352e-01 -2.67076599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters 0.05131187828698535 Centerline is valid? [True, True] Translation: X:358.34, Y:-54.30, Z:-2.67 [[ 9.38541383e-01 3.45160181e-01 2.12668050e-03 3.58339944e+02] [-3.45159387e-01 9.38543791e-01 -7.41216912e-04 -5.42983002e+01] [-2.25182134e-03 -3.83809904e-05 9.99997464e-01 -2.67188899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters 0.05173328156430043 Centerline is valid? [True, True] Translation: X:358.40, Y:-54.32, Z:-2.67 [[ 9.36912382e-01 3.49558683e-01 1.97895842e-03 3.58397872e+02] [-3.49558005e-01 9.36914471e-01 -6.89883102e-04 -5.43177957e+01] [-2.09526941e-03 -4.54007385e-05 9.99997804e-01 -2.67180029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters 0.051262448496010714 Centerline is valid? [True, True] Translation: X:358.46, Y:-54.34, Z:-2.67 [[ 9.35340395e-01 3.53739521e-01 2.58799328e-03 3.58456016e+02] [-3.53738377e-01 9.35343972e-01 -9.02239249e-04 -5.43360334e+01] [-2.73982159e-03 -7.15717277e-05 9.99996244e-01 -2.67191980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters 0.052027703495189995 Centerline is valid? [True, True] Translation: X:358.52, Y:-54.35, Z:-2.67 [[ 9.34618031e-01 3.55637997e-01 3.27894194e-03 3.58515686e+02] [-3.55636173e-01 9.34623778e-01 -1.14316776e-03 -5.43473693e+01] [-3.47113099e-03 -9.76851604e-05 9.99993971e-01 -2.67321099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters 0.052280266738354786 Centerline is valid? [True, True] Translation: X:358.57, Y:-54.37, Z:-2.67 [[ 9.33863654e-01 3.57591916e-01 5.16690377e-03 3.58574066e+02] [-3.57587418e-01 9.33877933e-01 -1.80129196e-03 -5.43668561e+01] [-5.46938485e-03 -1.65458679e-04 9.99985029e-01 -2.67229213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters 0.0522243154375285 Centerline is valid? [True, True] Translation: X:358.63, Y:-54.39, Z:-2.67 [[ 9.33756916e-01 3.57863314e-01 5.64539283e-03 3.58633245e+02] [-3.57857945e-01 9.33773964e-01 -1.96874468e-03 -5.43873959e+01] [-5.97606234e-03 -1.81919716e-04 9.99982127e-01 -2.67255019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters 0.0515323878010085 Centerline is valid? [True, True] Translation: X:358.69, Y:-54.41, Z:-2.67 [[ 9.34368753e-01 3.56274582e-01 4.84307797e-03 3.58690269e+02] [-3.56270605e-01 9.34381293e-01 -1.68968639e-03 -5.44109493e+01] [-5.12727377e-03 -1.46656151e-04 9.99986845e-01 -2.67489085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters 0.05110620345556165 Centerline is valid? [True, True] Translation: X:358.75, Y:-54.44, Z:-2.68 [[ 9.35935696e-01 3.52138355e-01 4.79081341e-03 3.58745909e+02] [-3.52134409e-01 9.35947949e-01 -1.67159774e-03 -5.44379576e+01] [-5.07258566e-03 -1.22502254e-04 9.99987127e-01 -2.67562153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters 0.05167889691211106 Centerline is valid? [True, True] Translation: X:358.80, Y:-54.46, Z:-2.68 [[ 9.37400650e-01 3.48213603e-01 5.22568250e-03 3.58801984e+02] [-3.48208846e-01 9.37415209e-01 -1.82340053e-03 -5.44589261e+01] [-5.53356712e-03 -1.10372028e-04 9.99984684e-01 -2.67599601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters 0.05122876489428465 Centerline is valid? [True, True] Translation: X:358.86, Y:-54.49, Z:-2.68 [[ 9.39742568e-01 3.41835418e-01 5.69676079e-03 3.58857194e+02] [-3.41829647e-01 9.39759831e-01 -1.98784626e-03 -5.44867822e+01] [-6.03310321e-03 -7.92579850e-05 9.99981798e-01 -2.67680489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters 0.050810051780575405 Centerline is valid? [True, True] Translation: X:358.91, Y:-54.51, Z:-2.68 [[ 9.40749526e-01 3.39054121e-01 5.71254202e-03 3.58914744e+02] [-3.39048266e-01 9.40766868e-01 -1.99344074e-03 -5.45088184e+01] [-6.05005456e-03 -6.14990374e-05 9.99981696e-01 -2.67808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters 0.05106703130013234 Centerline is valid? [True, True] Translation: X:358.97, Y:-54.53, Z:-2.68 [[ 9.41703571e-01 3.36397667e-01 5.56725514e-03 3.58972044e+02] [-3.36392059e-01 9.41720026e-01 -1.94296917e-03 -5.45346815e+01] [-5.89640595e-03 -4.30794165e-05 9.99982615e-01 -2.67925456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters 0.05070437237253286 Centerline is valid? [True, True] Translation: X:359.03, Y:-54.56, Z:-2.68 [[ 9.41582032e-01 3.36722597e-01 6.41640252e-03 3.59031910e+02] [-3.36715153e-01 9.41603892e-01 -2.23959971e-03 -5.45551831e+01] [-6.79583342e-03 -5.17331095e-05 9.99976907e-01 -2.68083565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters 0.05069763368013922 Centerline is valid? [True, True] Translation: X:359.09, Y:-54.57, Z:-2.68 [[ 9.41156637e-01 3.37912594e-01 6.26603326e-03 3.59090205e+02] [-3.37905515e-01 9.41177494e-01 -2.18803041e-03 -5.45730643e+01] [-6.63681251e-03 -5.80478565e-05 9.99977974e-01 -2.68178915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters 0.05069839767610496 Centerline is valid? [True, True] Translation: X:359.15, Y:-54.59, Z:-2.68 [[ 9.40708993e-01 3.39148536e-01 6.69788604e-03 3.59148849e+02] [-3.39140473e-01 9.40732834e-01 -2.33967544e-03 -5.45927482e+01] [-7.09441882e-03 -7.05705162e-05 9.99974832e-01 -2.68245600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters 0.05022932178322803 Centerline is valid? [True, True] Translation: X:359.21, Y:-54.61, Z:-2.68 [[ 9.40302978e-01 3.40294339e-01 5.48379409e-03 3.59207432e+02] [-3.40288950e-01 9.40318966e-01 -1.91612126e-03 -5.46112967e+01] [-5.80856081e-03 -6.43400112e-05 9.99983128e-01 -2.68347830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters 0.05059141420554127 Centerline is valid? [True, True] Translation: X:359.27, Y:-54.63, Z:-2.69 [[ 9.40053613e-01 3.40986646e-01 5.22611064e-03 3.59265960e+02] [-3.40981759e-01 9.40068138e-01 -1.82664552e-03 -5.46315493e+01] [-5.53576183e-03 -6.48636777e-05 9.99984675e-01 -2.68574323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters 0.05030629215304632 Centerline is valid? [True, True] Translation: X:359.32, Y:-54.65, Z:-2.69 [[ 9.40154985e-01 3.40691377e-01 6.16363095e-03 3.59324494e+02] [-3.40684567e-01 9.40175186e-01 -2.15524053e-03 -5.46516821e+01] [-6.52916474e-03 -7.35938196e-05 9.99978682e-01 -2.68622517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters 0.05056836046260321 Centerline is valid? [True, True] Translation: X:359.38, Y:-54.67, Z:-2.69 [[ 9.40659906e-01 3.39268324e-01 7.47973480e-03 3.59382903e+02] [-3.39258243e-01 9.40689640e-01 -2.61654993e-03 -5.46737633e+01] [-7.92382154e-03 -7.62780702e-05 9.99968603e-01 -2.68543665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters 0.05093036094505334 Centerline is valid? [True, True] Translation: X:359.44, Y:-54.70, Z:-2.68 [[ 9.41936905e-01 3.35652501e-01 9.60547743e-03 3.59440911e+02] [-3.35635673e-01 9.41985879e-01 -3.36146421e-03 -5.46976752e+01] [-1.01765080e-02 -5.76536864e-05 9.99948216e-01 -2.68455635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters 0.050292171198651654 Centerline is valid? [True, True] Translation: X:359.50, Y:-54.72, Z:-2.68 [[ 9.42633941e-01 3.33689554e-01 9.61951485e-03 3.59498684e+02] [-3.33672567e-01 9.42683022e-01 -3.36716073e-03 -5.47171545e+01] [-1.01917397e-02 -3.57682261e-05 9.99948062e-01 -2.68496424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters 0.05042327430667295 Centerline is valid? [True, True] Translation: X:359.56, Y:-54.74, Z:-2.69 [[ 9.43238677e-01 3.31978920e-01 9.52862737e-03 3.59557316e+02] [-3.31962154e-01 9.43286805e-01 -3.33646457e-03 -5.47382052e+01] [-1.00958644e-02 -1.60612382e-05 9.99949035e-01 -2.68666573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters 0.050168774714982774 Centerline is valid? [True, True] Translation: X:359.62, Y:-54.76, Z:-2.69 [[ 9.43815637e-01 3.30368123e-01 8.30347426e-03 3.59615853e+02] [-3.30355322e-01 9.43852162e-01 -2.90828025e-03 -5.47594382e+01] [-8.79805522e-03 1.78346315e-06 9.99961296e-01 -2.68733215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters 0.05087955030674121 Centerline is valid? [True, True] Translation: X:359.67, Y:-54.78, Z:-2.69 [[ 9.44278068e-01 3.29061353e-01 7.58665007e-03 3.59674605e+02] [-3.29050621e-01 9.44308544e-01 -2.65758645e-03 -5.47801259e+01] [-8.03864748e-03 1.31086806e-05 9.99967689e-01 -2.68792832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters 0.05057021018188515 Centerline is valid? [True, True] Translation: X:359.73, Y:-54.80, Z:-2.69 [[ 9.44788706e-01 3.27634742e-01 5.45688914e-03 3.59733013e+02] [-3.27629163e-01 9.44804464e-01 -1.91204403e-03 -5.47974905e+01] [-5.78214527e-03 1.86415762e-05 9.99983283e-01 -2.69097828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters 0.05030224401702135 Centerline is valid? [True, True] Translation: X:359.79, Y:-54.82, Z:-2.69 [[ 9.45059241e-01 3.26870371e-01 4.33490979e-03 3.59791421e+02] [-3.26866840e-01 9.45069183e-01 -1.51941997e-03 -5.48194182e+01] [-4.59344303e-03 1.90036205e-05 9.99989450e-01 -2.69245718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters 0.050192159251319646 Centerline is valid? [True, True] Translation: X:359.85, Y:-54.84, Z:-2.69 [[ 9.45149075e-01 3.26620237e-01 3.52787770e-03 3.59849543e+02] [-3.26617898e-01 9.45155659e-01 -1.23633510e-03 -5.48397123e+01] [-3.73820564e-03 1.62529788e-05 9.99993013e-01 -2.69205902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters 0.05105228479459285 Centerline is valid? [True, True] Translation: X:359.91, Y:-54.86, Z:-2.69 [[ 9.45411370e-01 3.25862213e-01 3.34061817e-03 3.59908707e+02] [-3.25860108e-01 9.45417272e-01 -1.17145713e-03 -5.48602768e+01] [-3.54001173e-03 1.89346915e-05 9.99993734e-01 -2.69242200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters 0.05138992899083197 Centerline is valid? [True, True] Translation: X:359.97, Y:-54.88, Z:-2.69 [[ 9.45373747e-01 3.25956343e-01 4.57619675e-03 3.59967245e+02] [-3.25952392e-01 9.45384822e-01 -1.60506846e-03 -5.48801945e+01] [-4.84944920e-03 2.57673096e-05 9.99988241e-01 -2.69189265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters 0.050657494679505845 Centerline is valid? [True, True] Translation: X:360.03, Y:-54.90, Z:-2.69 [[ 9.44846380e-01 3.27467072e-01 5.53497176e-03 3.60025203e+02] [-3.27461317e-01 9.44862591e-01 -1.94157443e-03 -5.49002136e+01] [-5.86558945e-03 2.20004280e-05 9.99982797e-01 -2.69089499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters 0.05057931967063582 Centerline is valid? [True, True] Translation: X:360.08, Y:-54.92, Z:-2.69 [[ 9.43273341e-01 3.31955109e-01 6.41942644e-03 3.60084738e+02] [-3.31947465e-01 9.43295185e-01 -2.25277683e-03 -5.49192026e+01] [-6.80323483e-03 -5.92800748e-06 9.99976858e-01 -2.69078673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters 0.050965756917083764 Centerline is valid? [True, True] Translation: X:360.14, Y:-54.93, Z:-2.69 [[ 9.41695163e-01 3.36402212e-01 6.61600116e-03 3.60144224e+02] [-3.36394198e-01 9.41718403e-01 -2.32222431e-03 -5.49338641e+01] [-7.01161144e-03 -3.87570081e-05 9.99975418e-01 -2.69188945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters 0.050697539156203286 Centerline is valid? [True, True] Translation: X:360.20, Y:-54.95, Z:-2.69 [[ 9.39553362e-01 3.42352134e-01 5.87341059e-03 3.60203423e+02] [-3.42345932e-01 9.39571717e-01 -2.06197613e-03 -5.49501603e+01] [-6.22441240e-03 -7.34016149e-05 9.99980625e-01 -2.69333904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters 0.050658061878168466 Centerline is valid? [True, True] Translation: X:360.26, Y:-54.97, Z:-2.69 [[ 9.38559921e-01 3.45075220e-01 5.32599424e-03 3.60261859e+02] [-3.45070165e-01 9.38575029e-01 -1.86980901e-03 -5.49674637e+01] [-5.64406995e-03 -8.29139146e-05 9.99984069e-01 -2.69410226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters 0.05071029303449802 Centerline is valid? [True, True] Translation: X:360.32, Y:-54.99, Z:-2.70 [[ 9.37338923e-01 3.48395445e-01 4.04434085e-03 3.60319976e+02] [-3.48392560e-01 9.37347645e-01 -1.42011967e-03 -5.49870381e+01] [-4.28571659e-03 -7.78848174e-05 9.99990813e-01 -2.69512835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters 0.050677874630453854 Centerline is valid? [True, True] Translation: X:360.38, Y:-55.01, Z:-2.70 [[ 9.36825732e-01 3.49780544e-01 3.33444655e-03 3.60377561e+02] [-3.49778592e-01 9.36831664e-01 -1.17048962e-03 -5.50097180e+01] [-3.53322960e-03 -6.97732289e-05 9.99993756e-01 -2.69566391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters 0.050735411380441464 Centerline is valid? [True, True] Translation: X:360.44, Y:-55.03, Z:-2.70 [[ 9.36691222e-01 3.50137329e-01 3.66139333e-03 3.60436610e+02] [-3.50134976e-01 9.36698374e-01 -1.28599902e-03 -5.50268073e+01] [-3.87989745e-03 -7.73978735e-05 9.99992470e-01 -2.69586809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters 0.05083609366866334 Centerline is valid? [True, True] Translation: X:360.49, Y:-55.05, Z:-2.70 [[ 9.37224963e-01 3.48698693e-01 4.31153840e-03 3.60494103e+02] [-3.48695414e-01 9.37234877e-01 -1.51462517e-03 -5.50478312e+01] [-4.56907198e-03 -8.38691450e-05 9.99989558e-01 -2.69568613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters 0.049924778891364735 Centerline is valid? [True, True] Translation: X:360.55, Y:-55.07, Z:-2.70 [[ 9.37769323e-01 3.47233494e-01 4.19488237e-03 3.60550199e+02] [-3.47230373e-01 9.37778703e-01 -1.47404544e-03 -5.50745017e+01] [-4.44570929e-03 -7.42759756e-05 9.99990115e-01 -2.69583650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters 0.05115844232449938 Centerline is valid? [True, True] Translation: X:360.61, Y:-55.09, Z:-2.70 [[ 9.38185079e-01 3.46125583e-01 2.41638759e-03 3.60608485e+02] [-3.46124544e-01 9.38188190e-01 -8.49073421e-04 -5.50933533e+01] [-2.56091233e-03 -3.97830386e-05 9.99996720e-01 -2.69814389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters 0.049951499584677886 Centerline is valid? [True, True] Translation: X:360.67, Y:-55.12, Z:-2.70 [[ 9.38574420e-01 3.45074913e-01 1.16769756e-03 3.60665935e+02] [-3.45074670e-01 9.38575146e-01 -4.09969013e-04 -5.51176427e+01] [-1.23744193e-03 -1.81564226e-05 9.99999234e-01 -2.69861119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters 0.04996377747908383 Centerline is valid? [True, True] Translation: X:360.72, Y:-55.14, Z:-2.70 [[ 9.38925871e-01 3.44119310e-01 3.30746140e-04 3.60723542e+02] [-3.44119291e-01 9.38925929e-01 -1.15597852e-04 -5.51371405e+01] [-3.50325580e-04 -5.27831343e-06 9.99999939e-01 -2.70063468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters 0.05009025392759464 Centerline is valid? [True, True] Translation: X:360.78, Y:-55.16, Z:-2.70 [[ 9.39501747e-01 3.42542495e-01 1.05144314e-03 3.60780709e+02] [-3.42542296e-01 9.39502336e-01 -3.69334009e-04 -5.51620584e+01] [-1.11434588e-03 -1.31738017e-05 9.99999379e-01 -2.69978360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters 0.050542817258818075 Centerline is valid? [True, True] Translation: X:360.84, Y:-55.19, Z:-2.70 [[ 9.39948637e-01 3.41311565e-01 1.72481982e-03 3.60838376e+02] [-3.41311026e-01 9.39950219e-01 -6.07043864e-04 -5.51868997e+01] [-1.82843586e-03 -1.81099707e-05 9.99998328e-01 -2.69866260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters 0.05012968807371429 Centerline is valid? [True, True] Translation: X:360.89, Y:-55.21, Z:-2.70 [[ 9.40685964e-01 3.39265696e-01 2.95031249e-03 3.60894918e+02] [-3.39264108e-01 9.40690590e-01 -1.03842232e-03 -5.52092032e+01] [-3.12763227e-03 -2.41058350e-05 9.99995109e-01 -2.69876632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters 0.05036427634160257 Centerline is valid? [True, True] Translation: X:360.95, Y:-55.23, Z:-2.70 [[ 9.40854780e-01 3.38799889e-01 2.63027850e-03 3.60953496e+02] [-3.38798624e-01 9.40858456e-01 -9.25891453e-04 -5.52312658e+01] [-2.78841169e-03 -2.00053376e-05 9.99996112e-01 -2.69905662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters 0.05002295172402326 Centerline is valid? [True, True] Translation: X:361.01, Y:-55.25, Z:-2.70 [[ 9.40850024e-01 3.38804251e-01 3.59333978e-03 3.61011943e+02] [-3.38801887e-01 9.40856885e-01 -1.26605107e-03 -5.52498850e+01] [-3.80976196e-03 -2.62661196e-05 9.99992742e-01 -2.70048393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters 0.04988782983772974 Centerline is valid? [True, True] Translation: X:361.07, Y:-55.27, Z:-2.70 [[ 9.40925452e-01 3.38589459e-01 4.05863418e-03 3.61069558e+02] [-3.38586440e-01 9.40934205e-01 -1.43022766e-03 -5.52693810e+01] [-4.30316773e-03 -2.84608880e-05 9.99990741e-01 -2.70067642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters 0.050501260074829704 Centerline is valid? [True, True] Translation: X:361.13, Y:-55.29, Z:-2.70 [[ 9.41571685e-01 3.36790332e-01 3.87736963e-03 3.61128063e+02] [-3.36787560e-01 9.41579668e-01 -1.36673246e-03 -5.52901178e+01] [-4.11115469e-03 -1.89732724e-05 9.99991549e-01 -2.70187925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters 0.05042462339126822 Centerline is valid? [True, True] Translation: X:361.19, Y:-55.31, Z:-2.70 [[ 9.42863351e-01 3.33163696e-01 3.26390798e-03 3.61185808e+02] [-3.33161708e-01 9.42869000e-01 -1.15103358e-03 -5.53125955e+01] [-3.46092025e-03 -2.14178021e-06 9.99994011e-01 -2.70288671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters 0.04986287770202799 Centerline is valid? [True, True] Translation: X:361.24, Y:-55.33, Z:-2.70 [[ 9.44430339e-01 3.28691385e-01 3.64803248e-03 3.61243844e+02] [-3.28688868e-01 9.44437385e-01 -1.28641136e-03 -5.53341403e+01] [-3.86817059e-03 1.58582489e-05 9.99992518e-01 -2.70325203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters 0.05097317108419466 Centerline is valid? [True, True] Translation: X:361.30, Y:-55.36, Z:-2.70 [[ 9.45563387e-01 3.25414872e-01 3.87833507e-03 3.61300931e+02] [-3.25411997e-01 9.45571341e-01 -1.36820105e-03 -5.53555888e+01] [-4.11247546e-03 3.16640587e-05 9.99991543e-01 -2.70476280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters 0.051111318144764446 Centerline is valid? [True, True] Translation: X:361.36, Y:-55.38, Z:-2.71 [[ 9.47383237e-01 3.20073205e-01 4.25972423e-03 3.61357232e+02] [-3.20069679e-01 9.47392812e-01 -1.50356970e-03 -5.53800097e+01] [-4.51688449e-03 6.10481603e-05 9.99989797e-01 -2.70634611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters 0.050665514028361835 Centerline is valid? [True, True] Translation: X:361.42, Y:-55.40, Z:-2.71 [[ 9.48284311e-01 3.17388567e-01 4.62202250e-03 3.61417388e+02] [-3.17384384e-01 9.48295572e-01 -1.63156010e-03 -5.53957160e+01] [-4.90088199e-03 8.02250868e-05 9.99987987e-01 -2.70551809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters 0.050881773767762054 Centerline is valid? [True, True] Translation: X:361.48, Y:-55.41, Z:-2.71 [[ 9.48433845e-01 3.16957730e-01 3.32234369e-03 3.61477473e+02] [-3.16955567e-01 9.48439663e-01 -1.17252281e-03 -5.54103591e+01] [-3.52268270e-03 5.90249883e-05 9.99993794e-01 -2.70622886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters 0.051011265948077644 Centerline is valid? [True, True] Translation: X:361.54, Y:-55.43, Z:-2.71 [[ 9.47840700e-01 3.18733327e-01 2.65983712e-03 3.61536930e+02] [-3.18731946e-01 9.47844431e-01 -9.39191563e-04 -5.54285232e+01] [-2.82046345e-03 4.24289274e-05 9.99996022e-01 -2.70796171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters 0.05121058023236437 Centerline is valid? [True, True] Translation: X:361.60, Y:-55.44, Z:-2.71 [[ 9.46418026e-01 3.22936065e-01 2.28451189e-03 3.61596084e+02] [-3.22935058e-01 9.46420783e-01 -8.06895830e-04 -5.54414530e+01] [-2.42268529e-03 2.59117798e-05 9.99997065e-01 -2.70889129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters 0.05130304790053121 Centerline is valid? [True, True] Translation: X:361.66, Y:-55.46, Z:-2.71 [[ 9.45889901e-01 3.24480668e-01 2.14295228e-03 3.61655882e+02] [-3.24479786e-01 9.45892328e-01 -7.56758785e-04 -5.54591410e+01] [-2.27255572e-03 2.04657952e-05 9.99997418e-01 -2.70842718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters 0.05082773893519726 Centerline is valid? [True, True] Translation: X:361.72, Y:-55.48, Z:-2.71 [[ 9.44385011e-01 3.28830684e-01 2.70789658e-03 3.61715579e+02] [-3.28829293e-01 9.44388893e-01 -9.56418947e-04 -5.54773052e+01] [-2.87180735e-03 1.27919993e-05 9.99995876e-01 -2.70933625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters 0.05120924440640206 Centerline is valid? [True, True] Translation: X:361.77, Y:-55.49, Z:-2.71 [[ 9.43449997e-01 3.31498033e-01 3.34025959e-03 3.61774579e+02] [-3.31495934e-01 9.43455910e-01 -1.17972819e-03 -5.54947328e+01] [-3.54246523e-03 5.73208810e-06 9.99993725e-01 -2.71013213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters 0.05070241822682884 Centerline is valid? [True, True] Translation: X:361.84, Y:-55.51, Z:-2.71 [[ 9.42490076e-01 3.34210301e-01 3.99132411e-03 3.61835366e+02] [-3.34207326e-01 9.42498528e-01 -1.41026383e-03 -5.55127466e+01] [-4.23314180e-03 -4.77008919e-06 9.99991040e-01 -2.70952668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters 0.050576756992577465 Centerline is valid? [True, True] Translation: X:361.89, Y:-55.53, Z:-2.71 [[ 9.42157671e-01 3.35149239e-01 3.72970912e-03 3.61894192e+02] [-3.35146646e-01 9.42165053e-01 -1.31852379e-03 -5.55316335e+01] [-3.95590384e-03 -7.74220103e-06 9.99992175e-01 -2.70898593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters 0.05035685995873558 Centerline is valid? [True, True] Translation: X:361.95, Y:-55.55, Z:-2.71 [[ 9.42149238e-01 3.35176528e-01 3.39242645e-03 3.61953540e+02] [-3.35174381e-01 9.42155346e-01 -1.19966239e-03 -5.55513122e+01] [-3.59829139e-03 -6.79342345e-06 9.99993526e-01 -2.71084823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters 0.05047056176895374 Centerline is valid? [True, True] Translation: X:362.01, Y:-55.57, Z:-2.71 [[ 9.42134798e-01 3.35229184e-01 1.84822080e-03 3.62011845e+02] [-3.35228548e-01 9.42136611e-01 -6.53224186e-04 -5.55699392e+01] [-1.96025629e-03 -4.15113860e-06 9.99998079e-01 -2.71168518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters 0.051055631164008415 Centerline is valid? [True, True] Translation: X:362.07, Y:-55.59, Z:-2.71 [[ 9.42357796e-01 3.34606370e-01 6.01374062e-04 3.62071085e+02] [-3.34606303e-01 9.42357988e-01 -2.12116281e-04 -5.55900925e+01] [-6.37685110e-04 -1.33412097e-06 9.99999797e-01 -2.71246255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters 0.051400429086428084 Centerline is valid? [True, True] Translation: X:362.13, Y:-55.61, Z:-2.72 [[ 9.43011415e-01 3.32757907e-01 -1.28299476e-03 3.62129569e+02] [-3.32757596e-01 9.43012288e-01 4.54546744e-04 -5.56107352e+01] [ 1.36113385e-03 -1.71651595e-06 9.99999074e-01 -2.71565570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters 0.05111076912791555 Centerline is valid? [True, True] Translation: X:362.19, Y:-55.63, Z:-2.72 [[ 9.44015625e-01 3.29895906e-01 -1.78634155e-03 3.62187272e+02] [-3.29895298e-01 9.44017315e-01 6.33566112e-04 -5.56344754e+01] [ 1.89534822e-03 -8.79063098e-06 9.99998204e-01 -2.71514415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters 0.05103977801188828 Centerline is valid? [True, True] Translation: X:362.24, Y:-55.66, Z:-2.71 [[ 9.44809772e-01 3.27615848e-01 -1.53326590e-03 3.62244197e+02] [-3.27615396e-01 9.44811016e-01 5.44043809e-04 -5.56560249e+01] [ 1.62688389e-03 -1.16963918e-05 9.99998677e-01 -2.71424859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters 0.05089999211510573 Centerline is valid? [True, True] Translation: X:362.30, Y:-55.68, Z:-2.71 [[ 9.44686026e-01 3.27975101e-01 -8.03178977e-04 3.62302610e+02] [-3.27974977e-01 9.44686368e-01 2.85432778e-04 -5.56783013e+01] [ 8.52367075e-04 -6.22175001e-06 9.99999637e-01 -2.71410183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters 0.05092605638800637 Centerline is valid? [True, True] Translation: X:362.36, Y:-55.70, Z:-2.71 [[ 9.44340987e-01 3.28968092e-01 -3.06931459e-04 3.62360618e+02] [-3.28968074e-01 9.44341037e-01 1.09103803e-04 -5.56996228e+01] [ 3.25739642e-04 -2.06054245e-06 9.99999947e-01 -2.71487239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters 0.051221178328210125 Centerline is valid? [True, True] Translation: X:362.42, Y:-55.72, Z:-2.71 [[ 9.42164014e-01 3.35151093e-01 8.46126522e-04 3.62419954e+02] [-3.35150959e-01 9.42164394e-01 -2.99112044e-04 -5.57182707e+01] [-8.97438010e-04 -1.76751144e-06 9.99999597e-01 -2.71433082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters 0.05068086404964288 Centerline is valid? [True, True] Translation: X:362.48, Y:-55.74, Z:-2.72 [[ 9.39247361e-01 3.43240626e-01 5.17158899e-04 3.62478030e+02] [-3.43240577e-01 9.39247503e-01 -1.82974494e-04 -5.57354678e+01] [-5.48544484e-04 -5.65160851e-06 9.99999850e-01 -2.71647425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters 0.0504350869916019 Centerline is valid? [True, True] Translation: X:362.54, Y:-55.76, Z:-2.72 [[ 9.37621883e-01 3.47656680e-01 1.92528178e-04 3.62536298e+02] [-3.47656673e-01 9.37621903e-01 -6.74708575e-05 -5.57558063e+01] [-2.03975331e-04 -3.67155360e-06 9.99999979e-01 -2.71638390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters 0.05035438957771365 Centerline is valid? [True, True] Translation: X:362.59, Y:-55.77, Z:-2.72 [[ 9.35937701e-01 3.52165530e-01 -2.43142780e-04 3.62594012e+02] [-3.52165519e-01 9.35937733e-01 8.63212257e-05 -5.57744370e+01] [ 2.57965862e-04 4.83521367e-06 9.99999967e-01 -2.71727793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters 0.05021020053492118 Centerline is valid? [True, True] Translation: X:362.65, Y:-55.79, Z:-2.72 [[ 9.35138773e-01 3.54280740e-01 -7.95451111e-04 3.62653002e+02] [-3.54280628e-01 9.35139111e-01 2.82478748e-04 -5.57944723e+01] [ 8.43934225e-04 1.76560893e-05 9.99999644e-01 -2.71862910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters 0.05063258558418206 Centerline is valid? [True, True] Translation: X:362.71, Y:-55.81, Z:-2.72 [[ 9.34980857e-01 3.54690706e-01 -2.30218540e-03 3.62710586e+02] [-3.54689768e-01 9.34983690e-01 8.17424004e-04 -5.58143390e+01] [ 2.44243849e-03 5.22858088e-05 9.99997016e-01 -2.72095279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters 0.0509911041132878 Centerline is valid? [True, True] Translation: X:362.77, Y:-55.84, Z:-2.72 [[ 9.36280558e-01 3.51250460e-01 -1.35315398e-03 3.62766073e+02] [-3.51250133e-01 9.36281535e-01 4.80233831e-04 -5.58375966e+01] [ 1.43561544e-03 2.56619155e-05 9.99998969e-01 -2.72150165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters 0.0506754413340634 Centerline is valid? [True, True] Translation: X:362.82, Y:-55.86, Z:-2.72 [[ 9.37584318e-01 3.47757833e-01 -3.68131248e-04 3.62822278e+02] [-3.47757809e-01 9.37584391e-01 1.30753630e-04 -5.58610759e+01] [ 3.90624711e-04 5.42796312e-06 9.99999924e-01 -2.72170246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters 0.04948419355822478 Centerline is valid? [True, True] Translation: X:362.88, Y:-55.89, Z:-2.72 [[ 9.39319564e-01 3.43042822e-01 6.15443283e-04 3.62876416e+02] [-3.43042752e-01 9.39319766e-01 -2.18236263e-04 -5.58922636e+01] [-6.52962424e-04 -6.12976609e-06 9.99999787e-01 -2.71867106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters 0.05045216748708424 Centerline is valid? [True, True] Translation: X:362.93, Y:-55.92, Z:-2.72 [[ 9.40146844e-01 3.40767923e-01 1.06455207e-03 3.62933435e+02] [-3.40767715e-01 9.40147447e-01 -3.77055100e-04 -5.59161969e+01] [-1.12932419e-03 -8.27781305e-06 9.99999362e-01 -2.71930897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters 0.05015570902239108 Centerline is valid? [True, True] Translation: X:362.99, Y:-55.94, Z:-2.72 [[ 9.40707759e-01 3.39217862e-01 3.93439092e-04 3.62990516e+02] [-3.39217834e-01 9.40707841e-01 -1.38900255e-04 -5.59386109e+01] [-4.17228687e-04 -2.79700875e-06 9.99999913e-01 -2.72366227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters 0.05028628320263296 Centerline is valid? [True, True] Translation: X:363.05, Y:-55.96, Z:-2.72 [[ 9.40521433e-01 3.39734321e-01 -1.56865947e-04 3.63047916e+02] [-3.39734316e-01 9.40521446e-01 5.66191805e-05 -5.59632024e+01] [ 1.66771266e-04 4.11923220e-08 9.99999986e-01 -2.72266401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters 0.05032865458132136 Centerline is valid? [True, True] Translation: X:363.11, Y:-55.98, Z:-2.72 [[ 9.39695795e-01 3.42011183e-01 -4.05788749e-04 3.63106121e+02] [-3.42011152e-01 9.39695882e-01 1.45128478e-04 -5.59848020e+01] [ 4.30953579e-04 2.40765743e-06 9.99999907e-01 -2.72299485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters 0.05048195569952441 Centerline is valid? [True, True] Translation: X:363.16, Y:-56.00, Z:-2.72 [[ 9.38350550e-01 3.45684807e-01 -5.09931419e-04 3.63163971e+02] [-3.45684760e-01 9.38350688e-01 1.81702739e-04 -5.60043646e+01] [ 5.41306374e-04 5.77465486e-06 9.99999853e-01 -2.72335066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters 0.05008369677438748 Centerline is valid? [True, True] Translation: X:363.22, Y:-56.02, Z:-2.72 [[ 9.37452640e-01 3.48111744e-01 -8.72891687e-04 3.63222425e+02] [-3.48111605e-01 9.37453046e-01 3.10584718e-04 -5.60246716e+01] [ 9.26413159e-04 1.27052628e-05 9.99999571e-01 -2.72377900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters 0.04984863383910445 Centerline is valid? [True, True] Translation: X:363.28, Y:-56.04, Z:-2.72 [[ 9.36186698e-01 3.51503132e-01 -1.24739537e-04 3.63281309e+02] [-3.51503129e-01 9.36186706e-01 4.47670002e-05 -5.60436066e+01] [ 1.32515237e-04 1.93606759e-06 9.99999991e-01 -2.72375382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters 0.05005272680717548 Centerline is valid? [True, True] Translation: X:363.34, Y:-56.06, Z:-2.72 [[ 9.35939588e-01 3.52160147e-01 5.64349162e-04 3.63340648e+02] [-3.52160090e-01 9.35939758e-01 -1.99925712e-04 -5.60606495e+01] [-5.98602687e-04 -1.16228635e-05 9.99999821e-01 -2.72384553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters 0.05028233371580938 Centerline is valid? [True, True] Translation: X:363.40, Y:-56.08, Z:-2.72 [[ 9.36229349e-01 3.51386820e-01 1.38136166e-03 3.63398854e+02] [-3.51386478e-01 9.36230368e-01 -4.90660054e-04 -5.60830261e+01] [-1.46568421e-03 -2.60214663e-05 9.99998926e-01 -2.72316205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters 0.049848030509100055 Centerline is valid? [True, True] Translation: X:363.46, Y:-56.10, Z:-2.72 [[ 9.37353926e-01 3.48374582e-01 1.66367107e-03 3.63456742e+02] [-3.48374081e-01 9.37355402e-01 -5.91769637e-04 -5.61041323e+01] [-1.76560856e-03 -2.48822863e-05 9.99998441e-01 -2.72310662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters 0.05011705220620165 Centerline is valid? [True, True] Translation: X:363.52, Y:-56.12, Z:-2.72 [[ 9.37819860e-01 3.47120379e-01 1.16259418e-03 3.63515276e+02] [-3.47120134e-01 9.37820581e-01 -4.13010996e-04 -5.61236052e+01] [-1.23366929e-03 -1.62299337e-05 9.99999239e-01 -2.72424870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters 0.05085394821650436 Centerline is valid? [True, True] Translation: X:363.57, Y:-56.15, Z:-2.72 [[ 9.38932895e-01 3.44099812e-01 5.81032323e-04 3.63573447e+02] [-3.44099750e-01 9.38933075e-01 -2.06553903e-04 -5.61467037e+01] [-6.16625625e-04 -5.99282254e-06 9.99999810e-01 -2.72435570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters 0.05079320855242243 Centerline is valid? [True, True] Translation: X:363.63, Y:-56.17, Z:-2.73 [[ 9.40399948e-01 3.40070481e-01 -7.79722560e-05 3.63630478e+02] [-3.40070480e-01 9.40399951e-01 2.85716921e-05 -5.61678792e+01] [ 8.30414947e-05 -3.52755186e-07 9.99999997e-01 -2.72534574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters 0.05045107875768561 Centerline is valid? [True, True] Translation: X:363.69, Y:-56.19, Z:-2.73 [[ 9.41628145e-01 3.36654730e-01 -1.72954046e-04 3.63687461e+02] [-3.36654724e-01 9.41628161e-01 6.24129506e-05 -5.61890515e+01] [ 1.83870015e-04 -5.43994158e-07 9.99999983e-01 -2.72652187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters 0.0503923806424882 Centerline is valid? [True, True] Translation: X:363.75, Y:-56.21, Z:-2.73 [[ 9.42062148e-01 3.35438380e-01 5.29057101e-05 3.63746224e+02] [-3.35438380e-01 9.42062149e-01 -1.78746581e-05 -5.62110657e+01] [-5.58363135e-05 -9.07566910e-07 9.99999998e-01 -2.72713573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters 0.05089173924187803 Centerline is valid? [True, True] Translation: X:363.80, Y:-56.23, Z:-2.73 [[ 9.41896771e-01 3.35901839e-01 -6.53880571e-04 3.63804035e+02] [-3.35901757e-01 9.41896998e-01 2.33911612e-04 -5.62313268e+01] [ 6.94459487e-04 -6.80959206e-07 9.99999759e-01 -2.72796258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters 0.050903942970350904 Centerline is valid? [True, True] Translation: X:363.86, Y:-56.25, Z:-2.73 [[ 9.41125158e-01 3.38055860e-01 -1.29325491e-03 3.63862580e+02] [-3.38055545e-01 9.41126047e-01 4.61610300e-04 -5.62494788e+01] [ 1.37316595e-03 2.75892678e-06 9.99999057e-01 -2.72966366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters 0.05122252948195114 Centerline is valid? [True, True] Translation: X:363.92, Y:-56.27, Z:-2.73 [[ 9.39785759e-01 3.41763578e-01 -6.19485634e-04 3.63921815e+02] [-3.41763506e-01 9.39785963e-01 2.21890103e-04 -5.62683474e+01] [ 6.58017859e-04 3.18842352e-06 9.99999784e-01 -2.72702450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters 0.05124269356556682 Centerline is valid? [True, True] Translation: X:363.98, Y:-56.29, Z:-2.73 [[ 9.38959946e-01 3.44026208e-01 4.33286622e-04 3.63980077e+02] [-3.44026174e-01 9.38960046e-01 -1.53770058e-04 -5.62857783e+01] [-4.59739756e-04 -4.67801378e-06 9.99999894e-01 -2.72822719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters 0.05033983681651264 Centerline is valid? [True, True] Translation: X:364.04, Y:-56.31, Z:-2.73 [[ 9.39080040e-01 3.43697061e-01 1.00467818e-03 3.64037555e+02] [-3.43696874e-01 9.39080577e-01 -3.58225571e-04 -5.63094143e+01] [-1.06659485e-03 -8.90226783e-06 9.99999431e-01 -2.72617743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters 0.050644754551928 Centerline is valid? [True, True] Translation: X:364.10, Y:-56.33, Z:-2.73 [[ 9.40101022e-01 3.40894929e-01 8.46533477e-04 3.64096518e+02] [-3.40894796e-01 9.40101403e-01 -3.01822256e-04 -5.63307559e+01] [-8.98716986e-04 -4.83544480e-06 9.99999596e-01 -2.72633836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters 0.050945213702509824 Centerline is valid? [True, True] Translation: X:364.15, Y:-56.35, Z:-2.73 [[ 9.41103280e-01 3.38117212e-01 1.16976770e-03 3.64153786e+02] [-3.38116955e-01 9.41104007e-01 -4.16815843e-04 -5.63519312e+01] [-1.24180568e-03 -3.25153554e-06 9.99999229e-01 -2.72650825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters 0.05139519200881962 Centerline is valid? [True, True] Translation: X:364.21, Y:-56.37, Z:-2.73 [[ 9.43128670e-01 3.32427538e-01 4.93999996e-04 3.64211587e+02] [-3.32427491e-01 9.43128799e-01 -1.75515670e-04 -5.63733924e+01] [-5.24251865e-04 1.31468081e-06 9.99999863e-01 -2.72687853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters 0.051171089014107995 Centerline is valid? [True, True] Translation: X:364.27, Y:-56.40, Z:-2.73 [[ 9.44285123e-01 3.29128451e-01 -2.61926354e-04 3.64268375e+02] [-3.29128438e-01 9.44285160e-01 9.44544027e-05 -5.63954334e+01] [ 2.78420800e-04 -2.98447551e-06 9.99999961e-01 -2.72837659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters 0.05133838515510589 Centerline is valid? [True, True] Translation: X:364.33, Y:-56.42, Z:-2.73 [[ 9.45127326e-01 3.26700385e-01 -1.09355912e-03 3.64325840e+02] [-3.26700150e-01 9.45127959e-01 3.91722108e-04 -5.64173594e+01] [ 1.16152907e-03 -1.29613385e-05 9.99999325e-01 -2.72966783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters 0.051757048308814876 Centerline is valid? [True, True] Translation: X:364.39, Y:-56.44, Z:-2.73 [[ 9.44895547e-01 3.27365559e-01 -2.04825568e-03 3.64386105e+02] [-3.27364738e-01 9.44897767e-01 7.33416704e-04 -5.64370167e+01] [ 2.17548758e-03 -2.24754956e-05 9.99997633e-01 -2.73033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters 0.052007795346547724 Centerline is valid? [True, True] Translation: X:364.45, Y:-56.45, Z:-2.73 [[ 9.43372850e-01 3.31710955e-01 -3.93809020e-03 3.64446273e+02] [-3.31707961e-01 9.43381069e-01 1.40955093e-03 -5.64541813e+01] [ 4.18268323e-03 -2.34362087e-05 9.99991252e-01 -2.73177063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters 0.051628393123533504 Centerline is valid? [True, True] Translation: X:364.51, Y:-56.47, Z:-2.73 [[ 9.41810569e-01 3.36117550e-01 -4.22432303e-03 3.64505299e+02] [-3.36114151e-01 9.41820043e-01 1.51157541e-03 -5.64729025e+01] [ 4.48661912e-03 -3.76294436e-06 9.99989935e-01 -2.73162112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters 0.051456199330254075 Centerline is valid? [True, True] Translation: X:364.56, Y:-56.49, Z:-2.73 [[ 9.39383294e-01 3.42845556e-01 -3.99385919e-03 3.64563795e+02] [-3.42842574e-01 9.39391784e-01 1.43013097e-03 -5.64902124e+01] [ 4.24211255e-03 2.58238188e-05 9.99991002e-01 -2.73241562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters 0.05098397876495942 Centerline is valid? [True, True] Translation: X:364.62, Y:-56.51, Z:-2.73 [[ 9.37297317e-01 3.48522638e-01 -2.38959519e-03 3.64621567e+02] [-3.48521589e-01 9.37300363e-01 8.55505580e-04 -5.65117936e+01] [ 2.53793150e-03 3.09624276e-05 9.99996779e-01 -2.72923151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters 0.051065719809756556 Centerline is valid? [True, True] Translation: X:364.68, Y:-56.53, Z:-2.73 [[ 9.36235771e-01 3.51372377e-01 1.84798745e-04 3.64679657e+02] [-3.51372371e-01 9.36235789e-01 -6.52473604e-05 -5.65347777e+01] [-1.95941319e-04 -3.84626050e-06 9.99999981e-01 -2.72651527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters 0.05110316966946153 Centerline is valid? [True, True] Translation: X:364.74, Y:-56.55, Z:-2.73 [[ 9.35139342e-01 3.54276781e-01 1.54079846e-03 3.64737578e+02] [-3.54276354e-01 9.35140611e-01 -5.51008012e-04 -5.65536089e+01] [-1.63607256e-03 -3.05991903e-05 9.99998661e-01 -2.72679777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters 0.05069343955520219 Centerline is valid? [True, True] Translation: X:364.80, Y:-56.57, Z:-2.73 [[ 9.34297855e-01 3.56492421e-01 8.20005175e-04 3.64795336e+02] [-3.56492301e-01 9.34298214e-01 -2.93584416e-04 -5.65723388e+01] [-8.70789990e-04 -1.80302419e-05 9.99999621e-01 -2.72865282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters 0.051010740724486185 Centerline is valid? [True, True] Translation: X:364.85, Y:-56.59, Z:-2.73 [[ 9.32950400e-01 3.59998926e-01 -2.07945104e-03 3.64853470e+02] [-3.59998160e-01 9.32952716e-01 7.44907686e-04 -5.65916686e+01] [ 2.20819546e-03 5.36366242e-05 9.99997560e-01 -2.73072191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters 0.05121339172596533 Centerline is valid? [True, True] Translation: X:364.91, Y:-56.61, Z:-2.73 [[ 9.32194019e-01 3.61925892e-01 -4.89481618e-03 3.64910778e+02] [-3.61921671e-01 9.32206860e-01 1.75338018e-03 -5.66129608e+01] [ 5.19757491e-03 1.37049532e-04 9.99986483e-01 -2.73218701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters 0.0518273654374073 Centerline is valid? [True, True] Translation: X:364.97, Y:-56.63, Z:-2.73 [[ 9.31844347e-01 3.62797921e-01 -6.61674454e-03 3.64968669e+02] [-3.62790218e-01 9.31867819e-01 2.37167302e-03 -5.66322788e+01] [ 7.02636935e-03 1.90460095e-04 9.99975297e-01 -2.73447477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters 0.051681706920744024 Centerline is valid? [True, True] Translation: X:365.03, Y:-56.65, Z:-2.73 [[ 9.32349439e-01 3.61508254e-01 -6.02552990e-03 3.65025957e+02] [-3.61501843e-01 9.32368894e-01 2.15925651e-03 -5.66547914e+01] [ 6.39860570e-03 1.65058566e-04 9.99979515e-01 -2.73414867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters 0.0511182814884274 Centerline is valid? [True, True] Translation: X:365.08, Y:-56.68, Z:-2.73 [[ 9.34257232e-01 3.56588092e-01 -2.89091712e-03 3.65081118e+02] [-3.56586592e-01 9.34261702e-01 1.03611132e-03 -5.66821433e+01] [ 3.07033811e-03 6.28677945e-05 9.99995285e-01 -2.73053961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters 0.05182457435419897 Centerline is valid? [True, True] Translation: X:365.14, Y:-56.70, Z:-2.73 [[ 9.35756690e-01 3.52645877e-01 -5.50758159e-04 3.65137636e+02] [-3.52645822e-01 9.35756852e-01 1.97405800e-04 -5.67020486e+01] [ 5.84990062e-04 9.49876528e-06 9.99999829e-01 -2.73138324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters 0.050914695424038 Centerline is valid? [True, True] Translation: X:365.19, Y:-56.73, Z:-2.73 [[ 9.37259502e-01 3.48632425e-01 -2.41053441e-04 3.65193963e+02] [-3.48632414e-01 9.37259533e-01 8.65746787e-05 -5.67274767e+01] [ 2.56112376e-04 2.89610289e-06 9.99999967e-01 -2.73076116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters 0.05097369282041829 Centerline is valid? [True, True] Translation: X:365.25, Y:-56.75, Z:-2.73 [[ 9.37522693e-01 3.47919721e-01 -1.75145601e-03 3.65252239e+02] [-3.47919153e-01 9.37524329e-01 6.28850215e-04 -5.67482621e+01] [ 1.86082201e-03 1.98037438e-05 9.99998268e-01 -2.73257506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters 0.051692297711849355 Centerline is valid? [True, True] Translation: X:365.31, Y:-56.77, Z:-2.73 [[ 9.37156876e-01 3.48891909e-01 -3.38023676e-03 3.65310412e+02] [-3.48889802e-01 9.37162971e-01 1.21320896e-03 -5.67695682e+01] [ 3.59111151e-03 4.23630151e-05 9.99993551e-01 -2.73189827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters 0.05144017936282455 Centerline is valid? [True, True] Translation: X:365.37, Y:-56.79, Z:-2.73 [[ 9.36418844e-01 3.50851994e-01 -4.75673857e-03 3.65368718e+02] [-3.50847852e-01 9.36430923e-01 1.70620359e-03 -5.67863649e+01] [ 5.05298202e-03 7.11703168e-05 9.99987231e-01 -2.73352253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters 0.05175145712044911 Centerline is valid? [True, True] Translation: X:365.43, Y:-56.80, Z:-2.73 [[ 9.35891660e-01 3.52258253e-01 -4.57418950e-03 3.65428246e+02] [-3.52254433e-01 9.35902836e-01 1.64205346e-03 -5.68047092e+01] [ 4.85942381e-03 7.44943886e-05 9.99988190e-01 -2.73402825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters 0.051416627744032904 Centerline is valid? [True, True] Translation: X:365.49, Y:-56.82, Z:-2.73 [[ 9.35535486e-01 3.53206646e-01 -4.29189112e-03 3.65487467e+02] [-3.53203291e-01 9.35545327e-01 1.54131364e-03 -5.68242673e+01] [ 4.55966091e-03 7.39564624e-05 9.99989602e-01 -2.73250018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters 0.05193030946698626 Centerline is valid? [True, True] Translation: X:365.55, Y:-56.84, Z:-2.73 [[ 9.35716714e-01 3.52723587e-01 -4.50575154e-03 3.65545978e+02] [-3.52719881e-01 9.35727559e-01 1.61863764e-03 -5.68439381e+01] [ 4.78708757e-03 7.46818544e-05 9.99988539e-01 -2.73279726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters 0.051560828497504575 Centerline is valid? [True, True] Translation: X:365.60, Y:-56.86, Z:-2.73 [[ 9.35835874e-01 3.52411470e-01 -4.16797861e-03 3.65604966e+02] [-3.52408293e-01 9.35845153e-01 1.49789007e-03 -5.68642117e+01] [ 4.42845622e-03 6.70509664e-05 9.99990192e-01 -2.73314454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters 0.05136494074438974 Centerline is valid? [True, True] Translation: X:365.66, Y:-56.89, Z:-2.73 [[ 9.36035390e-01 3.51888798e-01 -3.46748887e-03 3.65663628e+02] [-3.51886593e-01 9.36041811e-01 1.24676533e-03 -5.68857707e+01] [ 3.68443732e-03 5.31463791e-05 9.99993211e-01 -2.73081520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters 0.051928494643369884 Centerline is valid? [True, True] Translation: X:365.72, Y:-56.91, Z:-2.73 [[ 9.36144513e-01 3.51604746e-01 -2.74827349e-03 3.65721648e+02] [-3.51603358e-01 9.36148547e-01 9.88616809e-04 -5.69054010e+01] [ 2.92039459e-03 4.08139861e-05 9.99995735e-01 -2.73083056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters 0.05157392147099793 Centerline is valid? [True, True] Translation: X:365.78, Y:-56.92, Z:-2.73 [[ 9.36207204e-01 3.51443118e-01 -1.95100707e-03 3.65780025e+02] [-3.51442418e-01 9.36209236e-01 7.02275643e-04 -5.69229011e+01] [ 2.07336078e-03 2.81911261e-05 9.99997850e-01 -2.73230252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters 0.051963986234740786 Centerline is valid? [True, True] Translation: X:365.84, Y:-56.94, Z:-2.73 [[ 9.36140639e-01 3.51621160e-01 -1.80646339e-03 3.65838735e+02] [-3.51620559e-01 9.36142382e-01 6.50644683e-04 -5.69417859e+01] [ 1.91988738e-03 2.60947383e-05 9.99998157e-01 -2.73320477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters 0.051237428766417945 Centerline is valid? [True, True] Translation: X:365.90, Y:-56.96, Z:-2.73 [[ 9.35843104e-01 3.52410445e-01 -2.13626305e-03 3.65897357e+02] [-3.52409607e-01 9.35845541e-01 7.69510454e-04 -5.69631918e+01] [ 2.27039577e-03 3.26985690e-05 9.99997422e-01 -2.73189116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters 0.05167161437266047 Centerline is valid? [True, True] Translation: X:365.96, Y:-56.98, Z:-2.73 [[ 9.35637381e-01 3.52947075e-01 -3.32460091e-03 3.65956237e+02] [-3.52945048e-01 9.35643286e-01 1.19739324e-03 -5.69800184e+01] [ 3.53325696e-03 5.30755566e-05 9.99993757e-01 -2.73362961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters 0.05157564636856319 Centerline is valid? [True, True] Translation: X:366.01, Y:-57.00, Z:-2.74 [[ 9.35402996e-01 3.53540425e-01 -5.51385819e-03 3.66014610e+02] [-3.53534859e-01 9.35419243e-01 1.98599376e-03 -5.69996567e+01] [ 5.85989813e-03 9.16365646e-05 9.99982826e-01 -2.73500289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters 0.052528429243318756 Centerline is valid? [True, True] Translation: X:366.07, Y:-57.02, Z:-2.74 [[ 9.35421445e-01 3.53476711e-01 -6.39801854e-03 3.66073441e+02] [-3.53469210e-01 9.35443319e-01 2.30520164e-03 -5.70193838e+01] [ 6.79981879e-03 1.05167509e-04 9.99976875e-01 -2.73585349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters 0.05168580495536984 Centerline is valid? [True, True] Translation: X:366.13, Y:-57.04, Z:-2.74 [[ 9.35918018e-01 3.52164121e-01 -6.15601199e-03 3.66131977e+02] [-3.52157143e-01 9.35938259e-01 2.21881711e-03 -5.70406468e+01] [ 6.54303491e-03 9.12526818e-05 9.99978590e-01 -2.73519005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters 0.05165668754082586 Centerline is valid? [True, True] Translation: X:366.19, Y:-57.06, Z:-2.74 [[ 9.37334362e-01 3.48385465e-01 -5.64468691e-03 3.66189300e+02] [-3.48379532e-01 9.37351356e-01 2.03405402e-03 -5.70604329e+01] [ 5.99968979e-03 5.99046637e-05 9.99982000e-01 -2.73741652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters 0.05208050531598189 Centerline is valid? [True, True] Translation: X:366.25, Y:-57.08, Z:-2.73 [[ 9.38876209e-01 3.44215148e-01 -5.23404092e-03 3.66246260e+02] [-3.44209981e-01 9.38890798e-01 1.88625278e-03 -5.70848017e+01] [ 5.56346963e-03 3.06512641e-05 9.99984523e-01 -2.73227463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters 0.05239880716996425 Centerline is valid? [True, True] Translation: X:366.31, Y:-57.11, Z:-2.73 [[ 9.40406654e-01 3.40007933e-01 -5.47081322e-03 3.66305166e+02] [-3.40002209e-01 9.40422567e-01 1.97303188e-03 -5.71058418e+01] [ 5.81572270e-03 4.63626379e-06 9.99983089e-01 -2.73329086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters 0.052117786176313526 Centerline is valid? [True, True] Translation: X:366.36, Y:-57.13, Z:-2.73 [[ 9.42936592e-01 3.32923537e-01 -5.70105655e-03 3.66362033e+02] [-3.32917186e-01 9.42953825e-01 2.05679415e-03 -5.71285996e+01] [ 6.06058827e-03 -4.14467601e-05 9.99981634e-01 -2.73478882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters 0.05294173799747984 Centerline is valid? [True, True] Translation: X:366.42, Y:-57.15, Z:-2.73 [[ 9.45268227e-01 3.26253204e-01 -5.17939174e-03 3.66417751e+02] [-3.26247866e-01 9.45282414e-01 1.86774770e-03 -5.71504339e+01] [ 5.50534659e-03 -7.57570590e-05 9.99984843e-01 -2.73492825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters 0.05312809185633732 Centerline is valid? [True, True] Translation: X:366.48, Y:-57.17, Z:-2.74 [[ 9.46482491e-01 3.22724178e-01 -4.47207904e-03 3.66475616e+02] [-3.22720153e-01 9.46493052e-01 1.61405546e-03 -5.71717543e+01] [ 4.75368646e-03 -8.44452015e-05 9.99988698e-01 -2.73510975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters 0.05360562670261754 Centerline is valid? [True, True] Translation: X:366.54, Y:-57.19, Z:-2.73 [[ 9.47231453e-01 3.20522209e-01 -4.25306915e-03 3.66536429e+02] [-3.20518548e-01 9.47240996e-01 1.53463328e-03 -5.71858760e+01] [ 4.52056551e-03 -9.04653613e-05 9.99989778e-01 -2.73096548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters 0.05323978315788466 Centerline is valid? [True, True] Translation: X:366.59, Y:-57.21, Z:-2.73 [[ 9.47041136e-01 3.21073834e-01 -4.96793721e-03 3.66593267e+02] [-3.21068840e-01 9.47054160e-01 1.79379821e-03 -5.72106351e+01] [ 5.28084727e-03 -1.03750857e-04 9.99986051e-01 -2.73495681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters 0.05431220629236152 Centerline is valid? [True, True] Translation: X:366.66, Y:-57.22, Z:-2.73 [[ 9.46225461e-01 3.23475044e-01 -4.61225414e-03 3.66655585e+02] [-3.23470770e-01 9.46236698e-01 1.66502370e-03 -5.72200680e+01] [ 4.90287775e-03 -8.35584139e-05 9.99987977e-01 -2.73116600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters 0.05356799763858537 Centerline is valid? [True, True] Translation: X:366.71, Y:-57.24, Z:-2.74 [[ 9.45296008e-01 3.26174177e-01 -5.08562595e-03 3.66712337e+02] [-3.26169013e-01 9.45309685e-01 1.83717342e-03 -5.72429678e+01] [ 5.40672999e-03 -7.78991048e-05 9.99985380e-01 -2.73505060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters 0.054220008848624934 Centerline is valid? [True, True] Translation: X:366.77, Y:-57.26, Z:-2.73 [[ 9.43997811e-01 3.29909599e-01 -5.27164868e-03 3.66773423e+02] [-3.29904111e-01 9.44012528e-01 1.90378169e-03 -5.72556071e+01] [ 5.60457825e-03 -5.80271762e-05 9.99984293e-01 -2.73033003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters 0.05303191969041258 Centerline is valid? [True, True] Translation: X:366.83, Y:-57.28, Z:-2.73 [[ 9.43302320e-01 3.31900617e-01 -4.76579885e-03 3.66830997e+02] [-3.31896150e-01 9.43314358e-01 1.72246745e-03 -5.72771148e+01] [ 5.06733450e-03 -4.30572448e-05 9.99987160e-01 -2.73497896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters 0.053750417144252 Centerline is valid? [True, True] Translation: X:366.89, Y:-57.30, Z:-2.74 [[ 9.42841077e-01 3.33225288e-01 -3.40750718e-03 3.66888870e+02] [-3.33223012e-01 9.42847234e-01 1.23167300e-03 -5.72962803e+01] [ 3.62318331e-03 -2.58120878e-05 9.99993436e-01 -2.73753096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters 0.053724879502521444 Centerline is valid? [True, True] Translation: X:366.95, Y:-57.31, Z:-2.73 [[ 9.43259490e-01 3.32051965e-01 -1.73983959e-03 3.66949556e+02] [-3.32051368e-01 9.43261095e-01 6.29723404e-04 -5.73109245e+01] [ 1.85022389e-03 -1.62764617e-05 9.99998288e-01 -2.73184255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters 0.05348388912506057 Centerline is valid? [True, True] Translation: X:367.01, Y:-57.33, Z:-2.73 [[ 9.44105864e-01 3.29638191e-01 -1.66724538e-03 3.67006964e+02] [-3.29637639e-01 9.44107336e-01 6.03688313e-04 -5.73333479e+01] [ 1.77305732e-03 -2.03588441e-05 9.99998428e-01 -2.73498932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters 0.05382919755690754 Centerline is valid? [True, True] Translation: X:367.06, Y:-57.35, Z:-2.74 [[ 9.45831381e-01 3.24641207e-01 -3.32956221e-03 3.67063756e+02] [-3.24638979e-01 9.45837239e-01 1.20419081e-03 -5.73522473e+01] [ 3.54015388e-03 -5.80557832e-05 9.99993732e-01 -2.73509472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters 0.05392863475905955 Centerline is valid? [True, True] Translation: X:367.12, Y:-57.38, Z:-2.74 [[ 9.46980739e-01 3.21246426e-01 -5.31164206e-03 3.67118878e+02] [-3.21240704e-01 9.46995629e-01 1.92066197e-03 -5.73763299e+01] [ 5.64710761e-03 -1.12514258e-04 9.99984049e-01 -2.73908815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters 0.054476398989012055 Centerline is valid? [True, True] Translation: X:367.18, Y:-57.39, Z:-2.73 [[ 9.47300809e-01 3.20299743e-01 -5.40853410e-03 3.67180343e+02] [-3.20293792e-01 9.47316241e-01 1.95619359e-03 -5.73882150e+01] [ 5.75016049e-03 -1.20783875e-04 9.99983460e-01 -2.73473746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters 0.054476398989012055 Centerline is valid? [True, True] Translation: X:367.24, Y:-57.41, Z:-2.74 [[ 9.47264139e-01 3.20408183e-01 -5.40811233e-03 3.67239140e+02] [-3.20402227e-01 9.47279569e-01 1.95735962e-03 -5.74094033e+01] [ 5.75014835e-03 -1.21365341e-04 9.99983460e-01 -2.73519811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters 0.05356655422290045 Centerline is valid? [True, True] Translation: X:367.30, Y:-57.43, Z:-2.74 [[ 9.46818426e-01 3.21726648e-01 -5.18000825e-03 3.67296759e+02] [-3.21721205e-01 9.46832589e-01 1.87471184e-03 -5.74321820e+01] [ 5.50774538e-03 -1.08493219e-04 9.99984826e-01 -2.73822733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters 0.05370051968958472 Centerline is valid? [True, True] Translation: X:367.35, Y:-57.45, Z:-2.74 [[ 9.45354501e-01 3.26021185e-01 -3.87993520e-03 3.67354310e+02] [-3.26018167e-01 9.45362461e-01 1.40405791e-03 -5.74533202e+01] [ 4.12569772e-03 -6.24031044e-05 9.99991487e-01 -2.73919029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters 0.053432599406086745 Centerline is valid? [True, True] Translation: X:367.41, Y:-57.47, Z:-2.74 [[ 9.43485956e-01 3.31391684e-01 -3.71516413e-03 3.67412513e+02] [-3.31388958e-01 9.43493270e-01 1.34460033e-03 -5.74720126e+01] [ 3.95082172e-03 -3.74471573e-05 9.99992195e-01 -2.74090060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters 0.052890042503458363 Centerline is valid? [True, True] Translation: X:367.47, Y:-57.49, Z:-2.74 [[ 9.39956076e-01 3.41282433e-01 -2.97938478e-03 3.67471907e+02] [-3.41280730e-01 9.39960797e-01 1.07824618e-03 -5.74852983e+01] [ 3.16849137e-03 3.30256649e-06 9.99994980e-01 -2.73742555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters 0.052943351391757675 Centerline is valid? [True, True] Translation: X:367.53, Y:-57.50, Z:-2.74 [[ 9.36199967e-01 3.51456169e-01 -2.86061306e-03 3.67531475e+02] [-3.51454646e-01 9.36204336e-01 1.03538202e-03 -5.74995761e+01] [ 3.04200975e-03 3.60511399e-05 9.99995372e-01 -2.74059192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters 0.05303176263501318 Centerline is valid? [True, True] Translation: X:367.59, Y:-57.52, Z:-2.74 [[ 9.33028125e-01 3.59791443e-01 -2.93873673e-03 3.67589091e+02] [-3.59789877e-01 9.33032750e-01 1.06347080e-03 -5.75155437e+01] [ 3.12456531e-03 6.50795600e-05 9.99995116e-01 -2.74178436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters 0.05286631093704086 Centerline is valid? [True, True] Translation: X:367.65, Y:-57.54, Z:-2.74 [[ 9.31584428e-01 3.63517154e-01 -2.39415388e-03 3.67645030e+02] [-3.63516127e-01 9.31587503e-01 8.66516803e-04 -5.75392157e+01] [ 2.54535755e-03 6.30799828e-05 9.99996759e-01 -2.74004302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters 0.0533661947460586 Centerline is valid? [True, True] Translation: X:367.70, Y:-57.55, Z:-2.74 [[ 9.30651656e-01 3.65901221e-01 -1.94707980e-03 3.67703555e+02] [-3.65900547e-01 9.30653691e-01 7.04736716e-04 -5.75545382e+01] [ 2.06992103e-03 5.65731706e-05 9.99997856e-01 -2.74191253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters 0.05426220687809854 Centerline is valid? [True, True] Translation: X:367.76, Y:-57.58, Z:-2.74 [[ 9.30265722e-01 3.66883265e-01 -1.53489660e-03 3.67760916e+02] [-3.66882846e-01 9.30266987e-01 5.56442941e-04 -5.75750547e+01] [ 1.63201324e-03 4.54874384e-05 9.99998667e-01 -2.74224846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters 0.05259121765850957 Centerline is valid? [True, True] Translation: X:367.82, Y:-57.60, Z:-2.74 [[ 9.30089709e-01 3.67318377e-01 -3.21610283e-03 3.67816538e+02] [-3.67316541e-01 9.30095264e-01 1.16556314e-03 -5.76044791e+01] [ 3.41941477e-03 9.72494896e-05 9.99994149e-01 -2.74279370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters 0.05276567612628144 Centerline is valid? [True, True] Translation: X:367.87, Y:-57.63, Z:-2.74 [[ 9.30077298e-01 3.67348276e-01 -3.38577546e-03 3.67874129e+02] [-3.67346238e-01 9.30083455e-01 1.22764719e-03 -5.76306929e+01] [ 3.60002782e-03 1.01945093e-04 9.99993515e-01 -2.74259824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters 0.0523176468450933 Centerline is valid? [True, True] Translation: X:367.93, Y:-57.66, Z:-2.74 [[ 9.30367611e-01 3.66615700e-01 -3.00618801e-03 3.67930207e+02] [-3.66614089e-01 9.30372464e-01 1.09038180e-03 -5.76576796e+01] [ 3.19662564e-03 8.76549700e-05 9.99994887e-01 -2.74191348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters 0.05287009733666295 Centerline is valid? [True, True] Translation: X:367.99, Y:-57.68, Z:-2.74 [[ 9.30877735e-01 3.65323715e-01 -2.28581949e-03 3.67986796e+02] [-3.65322781e-01 9.30880540e-01 8.28593275e-04 -5.76800336e+01] [ 2.43052965e-03 6.37429007e-05 9.99997044e-01 -2.74284860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters 0.052019770075946166 Centerline is valid? [True, True] Translation: X:368.04, Y:-57.71, Z:-2.74 [[ 9.31311472e-01 3.64221226e-01 -1.35671039e-03 3.68041876e+02] [-3.64220896e-01 9.31312459e-01 4.91871261e-04 -5.77082814e+01] [ 1.44267124e-03 3.60569260e-05 9.99998959e-01 -2.74170205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters 0.05270834648891302 Centerline is valid? [True, True] Translation: X:368.10, Y:-57.73, Z:-2.74 [[ 9.32461742e-01 3.61268731e-01 5.96537695e-05 3.68097921e+02] [-3.61268730e-01 9.32461744e-01 -2.15929055e-05 -5.77297458e+01] [-6.34256997e-05 -1.41648326e-06 9.99999998e-01 -2.74325121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters 0.052040601803573346 Centerline is valid? [True, True] Translation: X:368.15, Y:-57.76, Z:-2.74 [[ 9.33581439e-01 3.58362200e-01 1.49337375e-03 3.68152335e+02] [-3.58361793e-01 9.33582633e-01 -5.41156906e-04 -5.77596443e+01] [-1.58811797e-03 -2.99540503e-05 9.99998738e-01 -2.74135205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters 0.05183442422576919 Centerline is valid? [True, True] Translation: X:368.21, Y:-57.79, Z:-2.74 [[ 9.35890096e-01 3.52275813e-01 3.38824975e-03 3.68205817e+02] [-3.52273675e-01 9.35896228e-01 -1.22818033e-03 -5.77895765e+01] [-3.60370838e-03 -4.41493821e-05 9.99993506e-01 -2.73974304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters 0.05160459727076364 Centerline is valid? [True, True] Translation: X:368.26, Y:-57.82, Z:-2.74 [[ 9.36431351e-01 3.50848101e-01 1.39078104e-03 3.68261490e+02] [-3.50847740e-01 9.36432384e-01 -5.03422056e-04 -5.78171211e+01] [-1.47899708e-03 -1.65321896e-05 9.99998906e-01 -2.74061152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters 0.051556423206708876 Centerline is valid? [True, True] Translation: X:368.32, Y:-57.84, Z:-2.74 [[ 9.36951199e-01 3.49459718e-01 -5.97147878e-04 3.68319015e+02] [-3.49459650e-01 9.36951389e-01 2.17578459e-04 -5.78409031e+01] [ 6.35533441e-04 4.81869000e-06 9.99999798e-01 -2.74421728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters 0.05137895110370297 Centerline is valid? [True, True] Translation: X:368.38, Y:-57.87, Z:-2.74 [[ 9.37335245e-01 3.48428199e-01 -6.55032814e-04 3.68376572e+02] [-3.48428117e-01 9.37335474e-01 2.38597074e-04 -5.78657765e+01] [ 6.97119441e-04 4.58640298e-06 9.99999757e-01 -2.74400888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters 0.05206459017965948 Centerline is valid? [True, True] Translation: X:368.43, Y:-57.89, Z:-2.74 [[ 9.38149885e-01 3.46228874e-01 -6.00667093e-04 3.68433967e+02] [-3.46228804e-01 9.38150077e-01 2.18945802e-04 -5.78905573e+01] [ 6.39321238e-04 2.56427067e-06 9.99999796e-01 -2.74498468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters 0.05177888555861167 Centerline is valid? [True, True] Translation: X:368.49, Y:-57.92, Z:-2.75 [[ 9.39070544e-01 3.43722431e-01 1.18473883e-03 3.68490998e+02] [-3.43722163e-01 9.39071291e-01 -4.29329362e-04 -5.79159063e+01] [-1.26012436e-03 -4.05043604e-06 9.99999206e-01 -2.74523771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters 0.05177717333364016 Centerline is valid? [True, True] Translation: X:368.55, Y:-57.94, Z:-2.75 [[ 9.39935213e-01 3.41341543e-01 2.78317766e-03 3.68547518e+02] [-3.41340048e-01 9.39939334e-01 -1.01015744e-03 -5.79408608e+01] [-2.96082685e-03 -5.27449537e-07 9.99995617e-01 -2.74532720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters 0.05123865879752176 Centerline is valid? [True, True] Translation: X:368.61, Y:-57.96, Z:-2.75 [[ 9.40705701e-01 3.39198449e-01 4.14685867e-03 3.68605209e+02] [-3.39195105e-01 9.40714841e-01 -1.50630511e-03 -5.79645025e+01] [-4.41194785e-03 1.03956487e-05 9.99990267e-01 -2.74505515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters 0.0510180952016596 Centerline is valid? [True, True] Translation: X:368.66, Y:-57.99, Z:-2.74 [[ 9.41395740e-01 3.37249571e-01 6.06519373e-03 3.68662317e+02] [-3.37242374e-01 9.41415278e-01 -2.20348019e-03 -5.79881832e+01] [-6.45298879e-03 2.89065319e-05 9.99979179e-01 -2.74474116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters 0.05103254495860778 Centerline is valid? [True, True] Translation: X:368.72, Y:-58.01, Z:-2.75 [[ 9.41523653e-01 3.36879117e-01 6.75810250e-03 3.68720362e+02] [-3.36870164e-01 9.41547906e-01 -2.45630438e-03 -5.80122823e+01] [-7.19055490e-03 3.60655755e-05 9.99974147e-01 -2.74586631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters 0.05174874355440431 Centerline is valid? [True, True] Translation: X:368.78, Y:-58.03, Z:-2.75 [[ 9.40885426e-01 3.38682784e-01 5.34662926e-03 3.68778154e+02] [-3.38677208e-01 9.40900617e-01 -1.94344871e-03 -5.80317604e+01] [-5.68885939e-03 1.77811020e-05 9.99983818e-01 -2.74755145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters 0.0509225573919213 Centerline is valid? [True, True] Translation: X:368.84, Y:-58.05, Z:-2.75 [[ 9.39867931e-01 3.41487730e-01 5.86528235e-03 3.68836891e+02] [-3.41481070e-01 9.39886233e-01 -2.13280370e-03 -5.80524574e+01] [-6.24102442e-03 1.67091468e-06 9.99980525e-01 -2.74913855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters 0.05099767982284425 Centerline is valid? [True, True] Translation: X:368.90, Y:-58.07, Z:-2.75 [[ 9.37498722e-01 3.47955901e-01 4.77887379e-03 3.68895551e+02] [-3.47951562e-01 9.37510901e-01 -1.73797508e-03 -5.80686767e+01] [-5.08498496e-03 -3.34671807e-05 9.99987071e-01 -2.75201664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters 0.050724703185393696 Centerline is valid? [True, True] Translation: X:368.95, Y:-58.09, Z:-2.75 [[ 9.36197372e-01 3.51454085e-01 3.80865962e-03 3.68953051e+02] [-3.51451360e-01 9.36205119e-01 -1.38485778e-03 -5.80913353e+01] [-4.05240056e-03 -4.20583884e-05 9.99991788e-01 -2.75341851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters 0.050846362443395125 Centerline is valid? [True, True] Translation: X:369.01, Y:-58.11, Z:-2.75 [[ 9.35487475e-01 3.53349017e-01 2.76702798e-03 3.69010689e+02] [-3.53347586e-01 9.35491566e-01 -1.00622384e-03 -5.81124623e+01] [-2.94407954e-03 -3.64128560e-05 9.99995666e-01 -2.75462360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters 0.05028600682099563 Centerline is valid? [True, True] Translation: X:369.07, Y:-58.13, Z:-2.76 [[ 9.33873511e-01 3.57600697e-01 1.41653402e-03 3.69066576e+02] [-3.57600327e-01 9.33874585e-01 -5.15536991e-04 -5.81335110e+01] [-1.50722151e-03 -2.51066891e-05 9.99998864e-01 -2.75621911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters 0.05105172113788924 Centerline is valid? [True, True] Translation: X:369.12, Y:-58.15, Z:-2.76 [[ 9.31623137e-01 3.63423285e-01 1.35861762e-03 3.69123828e+02] [-3.63422950e-01 9.31624127e-01 -4.94439667e-04 -5.81513305e+01] [-1.44541185e-03 -3.31213913e-05 9.99998955e-01 -2.75819394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters 0.05105172113788924 Centerline is valid? [True, True] Translation: X:369.18, Y:-58.17, Z:-2.76 [[ 9.31578175e-01 3.63538522e-01 1.35885890e-03 3.69182559e+02] [-3.63538188e-01 9.31579166e-01 -4.93776848e-04 -5.81726686e+01] [-1.44539155e-03 -3.40053687e-05 9.99998955e-01 -2.75865443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters 0.05065322458807348 Centerline is valid? [True, True] Translation: X:369.24, Y:-58.19, Z:-2.76 [[ 9.31247739e-01 3.64385374e-01 9.73334666e-04 3.69241021e+02] [-3.64385203e-01 9.31248247e-01 -3.53709043e-04 -5.81912606e+01] [-1.03530260e-03 -2.52780037e-05 9.99999464e-01 -2.75966138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters 0.05063841066236884 Centerline is valid? [True, True] Translation: X:369.30, Y:-58.22, Z:-2.76 [[ 9.31214699e-01 3.64469695e-01 1.01297652e-03 3.69298724e+02] [-3.64469510e-01 9.31215249e-01 -3.68105621e-04 -5.82154098e+01] [-1.07746252e-03 -2.64136891e-05 9.99999419e-01 -2.75965185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters 0.050466801809737526 Centerline is valid? [True, True] Translation: X:369.36, Y:-58.24, Z:-2.76 [[ 9.32266132e-01 3.61768599e-01 1.82751765e-03 3.69355749e+02] [-3.61767989e-01 9.32267922e-01 -6.65705158e-04 -5.82400063e+01] [-1.94456730e-03 -4.05230125e-05 9.99998109e-01 -2.75908062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters 0.05047355140304276 Centerline is valid? [True, True] Translation: X:369.41, Y:-58.26, Z:-2.76 [[ 9.32658376e-01 3.60752814e-01 2.40032582e-03 3.69414243e+02] [-3.60751758e-01 9.32661463e-01 -8.74080859e-04 -5.82583019e+01] [-2.55401852e-03 -5.07029256e-05 9.99996737e-01 -2.75984491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters 0.050463149341284416 Centerline is valid? [True, True] Translation: X:369.47, Y:-58.28, Z:-2.76 [[ 9.32226551e-01 3.61873597e-01 1.07551423e-03 3.69473276e+02] [-3.61873386e-01 9.32227171e-01 -3.91285883e-04 -5.82783012e+01] [-1.14421962e-03 -2.44328888e-05 9.99999345e-01 -2.76166917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters 0.05035568920098583 Centerline is valid? [True, True] Translation: X:369.53, Y:-58.30, Z:-2.76 [[ 9.31710769e-01 3.63200925e-01 3.62726266e-04 3.69531051e+02] [-3.63200902e-01 9.31710839e-01 -1.31468210e-04 -5.83005103e+01] [-3.85705369e-04 -9.25215981e-06 9.99999926e-01 -2.76220187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters 0.05044572124161472 Centerline is valid? [True, True] Translation: X:369.59, Y:-58.32, Z:-2.76 [[ 9.31692129e-01 3.63247096e-01 1.15082859e-03 3.69588543e+02] [-3.63246856e-01 9.31692839e-01 -4.19015553e-04 -5.83243645e+01] [-1.22442494e-03 -2.76413729e-05 9.99999250e-01 -2.76145132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters 0.050304799047164735 Centerline is valid? [True, True] Translation: X:369.65, Y:-58.35, Z:-2.76 [[ 9.32274051e-01 3.61741865e-01 2.81382640e-03 3.69645844e+02] [-3.61740414e-01 9.32278295e-01 -1.02656060e-03 -5.83468445e+01] [-2.99461923e-03 -6.08389174e-05 9.99995514e-01 -2.76121693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters 0.050956827271252766 Centerline is valid? [True, True] Translation: X:369.71, Y:-58.36, Z:-2.76 [[ 9.32368040e-01 3.61493642e-01 3.49069407e-03 3.69705895e+02] [-3.61491407e-01 9.32374571e-01 -1.27325730e-03 -5.83603623e+01] [-3.71490880e-03 -7.47114963e-05 9.99993097e-01 -2.76210858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters 0.05096714245647769 Centerline is valid? [True, True] Translation: X:369.76, Y:-58.38, Z:-2.76 [[ 9.32052700e-01 3.62309415e-01 3.10668606e-03 3.69763835e+02] [-3.62307649e-01 9.32057875e-01 -1.13348693e-03 -5.83815426e+01] [-3.30628419e-03 -6.91065647e-05 9.99994532e-01 -2.76300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters 0.051379045024247 Centerline is valid? [True, True] Translation: X:369.82, Y:-58.40, Z:-2.76 [[ 9.31709080e-01 3.63199446e-01 2.08625149e-03 3.69821891e+02] [-3.63198652e-01 9.31711415e-01 -7.61104575e-04 -5.84034521e+01] [-2.22021709e-03 -4.85956856e-05 9.99997534e-01 -2.76463363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters 0.049971305482812124 Centerline is valid? [True, True] Translation: X:369.88, Y:-58.43, Z:-2.76 [[ 9.31445604e-01 3.63874832e-01 2.04773564e-03 3.69878111e+02] [-3.63874068e-01 9.31447854e-01 -7.47251614e-04 -5.84296720e+01] [-2.17926502e-03 -4.90936650e-05 9.99997624e-01 -2.76358299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters 0.04995568263367508 Centerline is valid? [True, True] Translation: X:369.93, Y:-58.46, Z:-2.76 [[ 9.30557886e-01 3.66130914e-01 3.18968204e-03 3.69932346e+02] [-3.66129070e-01 9.30563349e-01 -1.16509323e-03 -5.84577020e+01] [-3.39477785e-03 -8.36486219e-05 9.99994234e-01 -2.76085372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters 0.051008810861537204 Centerline is valid? [True, True] Translation: X:370.00, Y:-58.47, Z:-2.76 [[ 9.30286216e-01 3.66821514e-01 3.08762392e-03 3.69995441e+02] [-3.66819789e-01 9.30291336e-01 -1.12799186e-03 -5.84652652e+01] [-3.28616147e-03 -8.32462727e-05 9.99994597e-01 -2.76441026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters 0.05070112126926762 Centerline is valid? [True, True] Translation: X:370.05, Y:-58.49, Z:-2.77 [[ 9.30498436e-01 3.66288503e-01 2.32217214e-03 3.70053585e+02] [-3.66287526e-01 9.30501332e-01 -8.48128573e-04 -5.84863275e+01] [-2.47144402e-03 -6.14003773e-05 9.99996944e-01 -2.76564518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters 0.05095351355740066 Centerline is valid? [True, True] Translation: X:370.11, Y:-58.51, Z:-2.77 [[ 9.30587030e-01 3.66061416e-01 2.61144498e-03 3.70111485e+02] [-3.66060179e-01 9.30590691e-01 -9.54238008e-04 -5.85053495e+01] [-2.77949610e-03 -6.79445012e-05 9.99996135e-01 -2.76528984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters 0.05191364482898537 Centerline is valid? [True, True] Translation: X:370.17, Y:-58.53, Z:-2.77 [[ 9.31432652e-01 3.63898196e-01 3.36429143e-03 3.70169472e+02] [-3.63896124e-01 9.31438724e-01 -1.23025759e-03 -5.85252518e+01] [-3.58131984e-03 -7.83505182e-05 9.99993584e-01 -2.76621907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters 0.04992702844338035 Centerline is valid? [True, True] Translation: X:370.22, Y:-58.55, Z:-2.77 [[ 9.33491766e-01 3.58578408e-01 3.82730888e-03 3.70224590e+02] [-3.58575682e-01 9.33499609e-01 -1.39966362e-03 -5.85533571e+01] [-4.07468050e-03 -6.58054329e-05 9.99991696e-01 -2.76530480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters 0.050586634798777175 Centerline is valid? [True, True] Translation: X:370.28, Y:-58.58, Z:-2.77 [[ 9.36589616e-01 3.50403410e-01 4.16419658e-03 3.70279958e+02] [-3.50400102e-01 9.36598873e-01 -1.52293270e-03 -5.85760534e+01] [-4.43382264e-03 -3.27719557e-05 9.99990170e-01 -2.76577248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters 0.0508491830805275 Centerline is valid? [True, True] Translation: X:370.34, Y:-58.60, Z:-2.77 [[ 9.39975427e-01 3.41220402e-01 3.85137102e-03 3.70336272e+02] [-3.41217495e-01 9.39983317e-01 -1.40847638e-03 -5.86036739e+01] [-4.10082539e-03 9.77801517e-06 9.99991592e-01 -2.76583287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters 0.05078465553208713 Centerline is valid? [True, True] Translation: X:370.39, Y:-58.63, Z:-2.77 [[ 9.42096717e-01 3.35325481e-01 3.25553814e-03 3.70392377e+02] [-3.35323369e-01 9.42102341e-01 -1.19040877e-03 -5.86281061e+01] [-3.46622449e-03 2.98221816e-05 9.99993992e-01 -2.76666110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters 0.050713161541210014 Centerline is valid? [True, True] Translation: X:370.45, Y:-58.65, Z:-2.77 [[ 9.43920122e-01 3.30161185e-01 2.89734294e-03 3.70450917e+02] [-3.30159486e-01 9.43924568e-01 -1.06012284e-03 -5.86460630e+01] [-3.08488460e-03 4.40860183e-05 9.99995241e-01 -2.76537104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters 0.051846191041784215 Centerline is valid? [True, True] Translation: X:370.51, Y:-58.67, Z:-2.77 [[ 9.45737931e-01 3.24924574e-01 1.94599895e-03 3.70506456e+02] [-3.24923796e-01 9.45739932e-01 -7.12056698e-04 -5.86695055e+01] [-2.07177364e-03 4.11176616e-05 9.99997853e-01 -2.76636903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters 0.05182614018522195 Centerline is valid? [True, True] Translation: X:370.57, Y:-58.69, Z:-2.77 [[ 9.45898249e-01 3.24463016e-01 5.03379161e-04 3.70565383e+02] [-3.24462965e-01 9.45898383e-01 -1.83441568e-04 -5.86876882e+01] [-5.35665539e-04 1.01891625e-05 9.99999856e-01 -2.76729193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters 0.051872529672565636 Centerline is valid? [True, True] Translation: X:370.62, Y:-58.71, Z:-2.77 [[ 9.44076296e-01 3.29725368e-01 -1.06244716e-03 3.70622640e+02] [-3.29725139e-01 9.44076894e-01 3.89060610e-04 -5.87073512e+01] [ 1.13131497e-03 -1.69873626e-05 9.99999360e-01 -2.77174018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters 0.051180876129476374 Centerline is valid? [True, True] Translation: X:370.68, Y:-58.72, Z:-2.77 [[ 9.41900176e-01 3.35890601e-01 -1.25023686e-03 3.70682346e+02] [-3.35890289e-01 9.41901005e-01 4.58033099e-04 -5.87240770e+01] [ 1.33144837e-03 -1.14790354e-05 9.99999114e-01 -2.77300604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters 0.051296753028178134 Centerline is valid? [True, True] Translation: X:370.74, Y:-58.74, Z:-2.77 [[ 9.36797114e-01 3.49872297e-01 7.36452736e-04 3.70743170e+02] [-3.49872194e-01 9.36797404e-01 -2.68856359e-04 -5.87358924e+01] [-7.83972403e-04 -5.80047327e-06 9.99999693e-01 -2.77175748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters 0.050142117047008626 Centerline is valid? [True, True] Translation: X:370.80, Y:-58.75, Z:-2.77 [[ 9.33436777e-01 3.58732909e-01 2.54612313e-03 3.70801416e+02] [-3.58731700e-01 9.33440249e-01 -9.32459204e-04 -5.87501257e+01] [-2.71115762e-03 -4.29833646e-05 9.99996324e-01 -2.77109713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters 0.05043931032942316 Centerline is valid? [True, True] Translation: X:370.86, Y:-58.77, Z:-2.77 [[ 9.32295651e-01 3.61682131e-01 3.29456769e-03 3.70860459e+02] [-3.61680126e-01 9.32301470e-01 -1.20614130e-03 -5.87675120e+01] [-3.50777005e-03 -6.70993649e-05 9.99993846e-01 -2.77142473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters 0.05102130083846026 Centerline is valid? [True, True] Translation: X:370.92, Y:-58.79, Z:-2.77 [[ 9.30520341e-01 3.66218984e-01 3.94341691e-03 3.70918143e+02] [-3.66216148e-01 9.30528692e-01 -1.44461472e-03 -5.87865213e+01] [-4.19850791e-03 -9.98995716e-05 9.99991181e-01 -2.77054161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters 0.051028759589578226 Centerline is valid? [True, True] Translation: X:370.98, Y:-58.80, Z:-2.77 [[ 9.28960114e-01 3.70178357e-01 1.04404001e-03 3.70977475e+02] [-3.70178161e-01 9.28960701e-01 -3.82375806e-04 -5.88033781e+01] [-1.11141938e-03 -3.12689362e-05 9.99999382e-01 -2.77473021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters 0.05017752832360771 Centerline is valid? [True, True] Translation: X:371.03, Y:-58.83, Z:-2.77 [[ 9.28378915e-01 3.71633878e-01 -9.22805648e-04 3.71033065e+02] [-3.71633725e-01 9.28379373e-01 3.38312925e-04 -5.88279525e+01] [ 9.82442273e-04 2.88631141e-05 9.99999517e-01 -2.77473112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters 0.05053129036618296 Centerline is valid? [True, True] Translation: X:371.09, Y:-58.85, Z:-2.78 [[ 9.28625124e-01 3.71008918e-01 -2.78595851e-03 3.71091161e+02] [-3.71007520e-01 9.28629299e-01 1.02198500e-03 -5.88488514e+01] [ 2.96628825e-03 8.45706069e-05 9.99995597e-01 -2.77559685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters 0.05131012403371509 Centerline is valid? [True, True] Translation: X:371.15, Y:-58.87, Z:-2.78 [[ 9.30653667e-01 3.65871745e-01 -4.64959724e-03 3.71148105e+02] [-3.65867794e-01 9.30665274e-01 1.70433559e-03 -5.88680777e+01] [ 4.95078693e-03 1.14991723e-04 9.99987738e-01 -2.77865160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters 0.05068124827040692 Centerline is valid? [True, True] Translation: X:371.20, Y:-58.90, Z:-2.78 [[ 9.32742754e-01 3.60525791e-01 -3.47969552e-03 3.71202731e+02] [-3.60523540e-01 9.32749243e-01 1.27558169e-03 -5.88963062e+01] [ 3.70556345e-03 6.47225702e-05 9.99993132e-01 -2.77531956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters 0.05061282847978884 Centerline is valid? [True, True] Translation: X:371.26, Y:-58.92, Z:-2.77 [[ 9.36651521e-01 3.50259520e-01 -1.48236537e-03 3.71258302e+02] [-3.50259098e-01 9.36652694e-01 5.43550951e-04 -5.89228523e+01] [ 1.57884541e-03 1.00941324e-05 9.99998754e-01 -2.77407662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters 0.05156348892776505 Centerline is valid? [True, True] Translation: X:371.32, Y:-58.95, Z:-2.77 [[ 9.37504356e-01 3.47971037e-01 -1.31920728e-03 3.71316384e+02] [-3.47970700e-01 9.37505284e-01 4.84666266e-04 -5.89454255e+01] [ 1.40541362e-03 4.66874495e-06 9.99999012e-01 -2.77416228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters 0.051189181093769937 Centerline is valid? [True, True] Translation: X:371.37, Y:-58.97, Z:-2.77 [[ 9.38894011e-01 3.44206318e-01 -2.14778208e-04 3.71372300e+02] [-3.44206309e-01 9.38894036e-01 7.96188236e-05 -5.89692911e+01] [ 2.29059280e-04 -8.25622615e-07 9.99999974e-01 -2.77348117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters 0.05123755203250314 Centerline is valid? [True, True] Translation: X:371.43, Y:-58.99, Z:-2.77 [[ 9.39903863e-01 3.41437985e-01 -9.10912090e-04 3.71430304e+02] [-3.41437821e-01 9.39904305e-01 3.35158060e-04 -5.89900661e+01] [ 9.70605888e-04 -3.99651701e-06 9.99999529e-01 -2.77387309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters 0.052469777109664904 Centerline is valid? [True, True] Translation: X:371.49, Y:-59.01, Z:-2.77 [[ 9.42250094e-01 3.34904372e-01 -1.95484790e-03 3.71487612e+02] [-3.34903604e-01 9.42252122e-01 7.17591809e-04 -5.90124485e+01] [ 2.08228422e-03 -2.14653407e-05 9.99997832e-01 -2.77419409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters 0.05282047252304978 Centerline is valid? [True, True] Translation: X:371.54, Y:-59.03, Z:-2.77 [[ 9.43888154e-01 3.30263831e-01 -9.77540024e-04 3.71544845e+02] [-3.30263636e-01 9.43888660e-01 3.58887428e-04 -5.90321579e+01] [ 1.04121648e-03 -1.59036685e-05 9.99999458e-01 -2.77132962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters 0.05326785483437585 Centerline is valid? [True, True] Translation: X:371.60, Y:-59.06, Z:-2.77 [[ 9.47463175e-01 3.19864641e-01 3.79536512e-04 3.71600588e+02] [-3.19864611e-01 9.47463251e-01 -1.39164489e-04 -5.90583596e+01] [-4.04110697e-04 1.04529293e-05 9.99999918e-01 -2.77213275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters 0.0526169522042634 Centerline is valid? [True, True] Translation: X:371.66, Y:-59.07, Z:-2.77 [[ 9.48591353e-01 3.16502342e-01 -8.43834336e-04 3.71660817e+02] [-3.16502191e-01 9.48591728e-01 3.09791431e-04 -5.90700710e+01] [ 8.98503985e-04 -2.67900563e-05 9.99999596e-01 -2.77303308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters 0.05340647770359777 Centerline is valid? [True, True] Translation: X:371.72, Y:-59.09, Z:-2.77 [[ 9.47389996e-01 3.20078862e-01 -1.31092872e-03 3.71718563e+02] [-3.20078502e-01 9.47390902e-01 4.81314543e-04 -5.90897061e+01] [ 1.39602055e-03 -3.63924835e-05 9.99999025e-01 -2.77448379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters 0.05357101284037254 Centerline is valid? [True, True] Translation: X:371.77, Y:-59.12, Z:-2.78 [[ 9.46604058e-01 3.22395937e-01 -1.27203885e-03 3.71774735e+02] [-3.22395600e-01 9.46604912e-01 4.67211033e-04 -5.91159410e+01] [ 1.35474517e-03 -3.21641305e-05 9.99999082e-01 -2.77730622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters 0.05320616771604589 Centerline is valid? [True, True] Translation: X:371.83, Y:-59.13, Z:-2.78 [[ 9.45730102e-01 3.24950516e-01 -1.31779764e-03 3.71833757e+02] [-3.24950157e-01 9.45731020e-01 4.83909656e-04 -5.91325905e+01] [ 1.40352880e-03 -2.94293782e-05 9.99999015e-01 -2.77639096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters 0.052963339145723536 Centerline is valid? [True, True] Translation: X:371.89, Y:-59.15, Z:-2.77 [[ 9.43718618e-01 3.30746356e-01 -1.42067927e-03 3.71892438e+02] [-3.30745946e-01 9.43719687e-01 5.21563288e-04 -5.91461357e+01] [ 1.51322815e-03 -2.23250776e-05 9.99998855e-01 -2.77498983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters 0.05233453268290158 Centerline is valid? [True, True] Translation: X:371.95, Y:-59.16, Z:-2.78 [[ 9.40583328e-01 3.39561532e-01 -9.84248611e-04 3.71950055e+02] [-3.39561340e-01 9.40583843e-01 3.61435893e-04 -5.91629411e+01] [ 1.04849807e-03 -5.74779784e-06 9.99999450e-01 -2.77995623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters 0.05257621561829785 Centerline is valid? [True, True] Translation: X:372.01, Y:-59.18, Z:-2.78 [[ 9.38419104e-01 3.45498346e-01 -6.91139669e-04 3.72010444e+02] [-3.45498252e-01 9.38419359e-01 2.54683908e-04 -5.91787071e+01] [ 7.36571714e-04 -2.12697286e-07 9.99999729e-01 -2.77627498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters 0.05245192650123426 Centerline is valid? [True, True] Translation: X:372.07, Y:-59.19, Z:-2.78 [[ 9.35017391e-01 3.54599874e-01 -1.18675091e-03 3.72071095e+02] [-3.54599607e-01 9.35018144e-01 4.35996614e-04 -5.91912848e+01] [ 1.26423797e-03 1.31569886e-05 9.99999201e-01 -2.77959602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters 0.05262833770755819 Centerline is valid? [True, True] Translation: X:372.13, Y:-59.20, Z:-2.78 [[ 9.31955876e-01 3.62570829e-01 -7.99805306e-04 3.72130205e+02] [-3.62570710e-01 9.31956219e-01 2.93929871e-04 -5.92031374e+01] [ 8.51953926e-04 1.60563072e-05 9.99999637e-01 -2.78065666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters 0.05242339243089999 Centerline is valid? [True, True] Translation: X:372.19, Y:-59.23, Z:-2.78 [[ 9.30724679e-01 3.65719881e-01 -7.35253566e-04 3.72186818e+02] [-3.65719781e-01 9.30724969e-01 2.70193079e-04 -5.92271031e+01] [ 7.83133834e-04 1.74214066e-05 9.99999693e-01 -2.77828077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters 0.05314205570037703 Centerline is valid? [True, True] Translation: X:372.25, Y:-59.24, Z:-2.78 [[ 9.30137044e-01 3.67212510e-01 -2.25552023e-04 3.72247665e+02] [-3.67212501e-01 9.30137072e-01 8.33072854e-05 -5.92380309e+01] [ 2.40385776e-04 5.33833026e-06 9.99999971e-01 -2.78157083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters 0.052116843295969634 Centerline is valid? [True, True] Translation: X:372.30, Y:-59.27, Z:-2.78 [[ 9.29769916e-01 3.68139764e-01 -1.00857708e-03 3.72303231e+02] [-3.68139578e-01 9.29770463e-01 3.70894726e-04 -5.92681037e+01] [ 1.07428627e-03 2.64503816e-05 9.99999423e-01 -2.77929985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters 0.053194232800871044 Centerline is valid? [True, True] Translation: X:372.36, Y:-59.29, Z:-2.78 [[ 9.29805582e-01 3.68030984e-01 -3.84369222e-03 3.72361801e+02] [-3.68028283e-01 9.29813521e-01 1.41355607e-03 -5.92866696e+01] [ 4.09414943e-03 1.00255127e-04 9.99991614e-01 -2.78304003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters 0.05193902792269744 Centerline is valid? [True, True] Translation: X:372.42, Y:-59.31, Z:-2.78 [[ 9.31317762e-01 3.64185411e-01 -4.02646743e-03 3.72417308e+02] [-3.64182415e-01 9.31326462e-01 1.47993912e-03 -5.93110279e+01] [ 4.28892790e-03 8.80750421e-05 9.99990799e-01 -2.78268585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters 0.053039458337043426 Centerline is valid? [True, True] Translation: X:372.47, Y:-59.34, Z:-2.78 [[ 9.34845457e-01 3.55042339e-01 -2.98469255e-03 3.72472292e+02] [-3.55040645e-01 9.34850221e-01 1.09721222e-03 -5.93384677e+01] [ 3.17979728e-03 3.39633119e-05 9.99994944e-01 -2.78189750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters 0.052192045953109986 Centerline is valid? [True, True] Translation: X:372.52, Y:-59.37, Z:-2.78 [[ 9.39859566e-01 3.41556446e-01 -1.78591174e-03 3.72524884e+02] [-3.41555815e-01 9.39861263e-01 6.56602941e-04 -5.93700385e+01] [ 1.90277623e-03 -7.12601379e-06 9.99998190e-01 -2.78375935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters 0.05271203701098168 Centerline is valid? [True, True] Translation: X:372.58, Y:-59.39, Z:-2.78 [[ 9.41613522e-01 3.36694400e-01 -9.25554099e-04 3.72581467e+02] [-3.36694227e-01 9.41613977e-01 3.41253099e-04 -5.93946084e+01] [ 9.86412683e-04 -9.69980991e-06 9.99999513e-01 -2.78186288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters 0.05380031920417991 Centerline is valid? [True, True] Translation: X:372.64, Y:-59.43, Z:-2.78 [[ 9.47028811e-01 3.21147206e-01 -9.50396994e-04 3.72635425e+02] [-3.21147017e-01 9.47029288e-01 3.49668777e-04 -5.94255850e+01] [ 1.01234894e-03 -2.59292468e-05 9.99999487e-01 -2.78241269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters 0.05352420524031702 Centerline is valid? [True, True] Translation: X:372.69, Y:-59.44, Z:-2.78 [[ 9.48748568e-01 3.16028898e-01 -1.37516557e-03 3.72693133e+02] [-3.16028496e-01 9.48749563e-01 5.05831902e-04 -5.94448991e+01] [ 1.46454523e-03 -4.53157859e-05 9.99998927e-01 -2.78193740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters 0.054674539310775545 Centerline is valid? [True, True] Translation: X:372.75, Y:-59.47, Z:-2.78 [[ 9.53140863e-01 3.02525084e-01 -1.03414673e-03 3.72748704e+02] [-3.02524849e-01 9.53141422e-01 3.80657678e-04 -5.94665204e+01] [ 1.10084658e-03 -4.99653049e-05 9.99999393e-01 -2.78004560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters 0.054103454120393316 Centerline is valid? [True, True] Translation: X:372.81, Y:-59.49, Z:-2.78 [[ 9.55839312e-01 2.93889369e-01 4.97688628e-04 3.72807135e+02] [-2.93889314e-01 9.55839441e-01 -1.82883399e-04 -5.94854947e+01] [-5.29457907e-04 2.85417725e-05 9.99999859e-01 -2.77953811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters 0.05650798120875491 Centerline is valid? [True, True] Translation: X:372.86, Y:-59.52, Z:-2.78 [[ 9.56608031e-01 2.91375306e-01 1.22754181e-03 3.72857674e+02] [-2.91374966e-01 9.56608815e-01 -4.51277337e-04 -5.95207234e+01] [-1.30576839e-03 7.40205704e-05 9.99999145e-01 -2.78142753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters 0.05498779281960596 Centerline is valid? [True, True] Translation: X:372.92, Y:-59.52, Z:-2.78 [[ 9.54796074e-01 2.97237699e-01 3.76930778e-03 3.72920666e+02] [-2.97234535e-01 9.54803492e-01 -1.38655176e-03 -5.95249764e+01] [-4.01108369e-03 2.03505738e-04 9.99991935e-01 -2.78094917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters 0.0552816449125845 Centerline is valid? [True, True] Translation: X:372.98, Y:-59.55, Z:-2.78 [[ 9.52125573e-01 3.05677867e-01 4.23494083e-03 3.72977264e+02] [-3.05673955e-01 9.52134973e-01 -1.55795577e-03 -5.95459448e+01] [-4.50846787e-03 1.88858417e-04 9.99989819e-01 -2.78162042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters 0.05389463855131279 Centerline is valid? [True, True] Translation: X:373.04, Y:-59.55, Z:-2.78 [[ 9.46153594e-01 3.23680903e-01 4.90402793e-03 3.73042611e+02] [-3.23675897e-01 9.46166296e-01 -1.80413686e-03 -5.95450276e+01] [-5.22399059e-03 1.19674939e-04 9.99986348e-01 -2.78347733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters 0.05301465120314239 Centerline is valid? [True, True] Translation: X:373.10, Y:-59.55, Z:-2.79 [[ 9.37138289e-01 3.48925525e-01 4.77544298e-03 3.73104567e+02] [-3.48921102e-01 9.37150456e-01 -1.75691919e-03 -5.95513153e+01] [-5.08834252e-03 -1.97765817e-05 9.99987054e-01 -2.78580000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters 0.052319955205971755 Centerline is valid? [True, True] Translation: X:373.17, Y:-59.56, Z:-2.79 [[ 9.32598446e-01 3.60886692e-01 4.57545202e-03 3.73165155e+02] [-3.60882774e-01 9.32609666e-01 -1.68344749e-03 -5.95591075e+01] [-4.87464458e-03 -8.12213038e-05 9.99988116e-01 -2.78750290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters 0.05193568628933233 Centerline is valid? [True, True] Translation: X:373.22, Y:-59.58, Z:-2.79 [[ 9.31100849e-01 3.64719983e-01 5.52652750e-03 3.73222524e+02] [-3.64714336e-01 9.31117242e-01 -2.03337671e-03 -5.95786503e+01] [-5.88745817e-03 -1.22325022e-04 9.99982661e-01 -2.78775376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters 0.05262346288574615 Centerline is valid? [True, True] Translation: X:373.28, Y:-59.59, Z:-2.79 [[ 9.30560005e-01 3.66089764e-01 6.03008602e-03 3.73282175e+02] [-3.66083069e-01 9.30579532e-01 -2.21866228e-03 -5.95929952e+01] [-6.42370418e-03 -1.42914008e-04 9.99979358e-01 -2.78835548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters 0.051253597339476466 Centerline is valid? [True, True] Translation: X:373.34, Y:-59.62, Z:-2.79 [[ 9.31162885e-01 3.64572065e-01 4.78451271e-03 3.73338955e+02] [-3.64567829e-01 9.31175171e-01 -1.76057074e-03 -5.96190496e+01] [-5.09707435e-03 -1.04901277e-04 9.99987004e-01 -2.79002585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters 0.052441351540218596 Centerline is valid? [True, True] Translation: X:373.40, Y:-59.64, Z:-2.79 [[ 9.32267229e-01 3.61756257e-01 3.19755576e-03 3.73397244e+02] [-3.61754348e-01 9.32272711e-01 -1.17673008e-03 -5.96355366e+01] [-3.40668345e-03 -5.97028070e-05 9.99994195e-01 -2.79246411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters 0.05264823099644008 Centerline is valid? [True, True] Translation: X:373.45, Y:-59.66, Z:-2.79 [[ 9.33132179e-01 3.59530465e-01 1.47698426e-03 3.73454448e+02] [-3.59530055e-01 9.33133348e-01 -5.43481921e-04 -5.96608568e+01] [-1.57362157e-03 -2.38797633e-05 9.99998762e-01 -2.79446420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters 0.052605128178307294 Centerline is valid? [True, True] Translation: X:373.51, Y:-59.69, Z:-2.80 [[ 9.34014662e-01 3.57234639e-01 1.56017890e-04 3.73511209e+02] [-3.57234635e-01 9.34014675e-01 -5.68829951e-05 -5.96880894e+01] [-1.66043575e-04 -2.60544260e-06 9.99999986e-01 -2.79514617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters 0.05203965660106966 Centerline is valid? [True, True] Translation: X:373.57, Y:-59.71, Z:-2.80 [[ 9.35244490e-01 3.54002134e-01 4.83147989e-04 3.73567916e+02] [-3.54002090e-01 9.35244614e-01 -1.77064851e-04 -5.97138512e+01] [-5.14542890e-04 -5.43647165e-06 9.99999868e-01 -2.79560789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters 0.052425967515296226 Centerline is valid? [True, True] Translation: X:373.62, Y:-59.74, Z:-2.79 [[ 9.38259605e-01 3.45925931e-01 2.04043334e-03 3.73623153e+02] [-3.45925115e-01 9.38261824e-01 -7.51481105e-04 -5.97431461e+01] [-2.17441751e-03 -7.52772356e-07 9.99997636e-01 -2.79442830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters 0.05209216981793512 Centerline is valid? [True, True] Translation: X:373.68, Y:-59.77, Z:-2.79 [[ 9.40745025e-01 3.39106746e-01 2.32668884e-03 3.73679168e+02] [-3.39105664e-01 9.40747902e-01 -8.56583831e-04 -5.97702130e+01] [-2.47930100e-03 1.68336118e-05 9.99996926e-01 -2.79343420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters 0.05317461566800475 Centerline is valid? [True, True] Translation: X:373.73, Y:-59.80, Z:-2.79 [[ 9.44652681e-01 3.28057460e-01 3.10089245e-03 3.73733624e+02] [-3.28055476e-01 9.44657768e-01 -1.14278132e-03 -5.97982847e+01] [-3.30418008e-03 6.22666878e-05 9.99994539e-01 -2.79323320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters 0.05274243712812592 Centerline is valid? [True, True] Translation: X:373.79, Y:-59.83, Z:-2.79 [[ 9.48142018e-01 3.17824955e-01 3.74316806e-03 3.73787540e+02] [-3.17821982e-01 9.48149400e-01 -1.37968167e-03 -5.98258138e+01] [-3.98757981e-03 1.18473067e-04 9.99992043e-01 -2.79214813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters 0.05406789431853006 Centerline is valid? [True, True] Translation: X:373.84, Y:-59.86, Z:-2.79 [[ 9.50315543e-01 3.11274215e-01 2.95486019e-03 3.73840904e+02] [-3.11272331e-01 9.50320130e-01 -1.08909349e-03 -5.98554203e+01] [-3.14706984e-03 1.15216251e-04 9.99995041e-01 -2.79339155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters 0.05373651092783059 Centerline is valid? [True, True] Translation: X:373.90, Y:-59.86, Z:-2.79 [[ 9.51114025e-01 3.08826050e-01 2.92961527e-03 3.73902464e+02] [-3.08824187e-01 9.51118529e-01 -1.07981977e-03 -5.98634582e+01] [-3.11988784e-03 1.22295676e-04 9.99995126e-01 -2.79174890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters 0.054072858662120325 Centerline is valid? [True, True] Translation: X:373.96, Y:-59.89, Z:-2.79 [[ 9.50918097e-01 3.09440293e-01 1.21538366e-03 3.73958902e+02] [-3.09439974e-01 9.50918873e-01 -4.47278405e-04 -5.98904507e+01] [-1.29413722e-03 4.92368427e-05 9.99999161e-01 -2.79296721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters 0.053685951051344424 Centerline is valid? [True, True] Translation: X:374.02, Y:-59.91, Z:-2.79 [[ 9.49914189e-01 3.12508546e-01 1.20102192e-03 3.74016858e+02] [-3.12508235e-01 9.49914947e-01 -4.42796131e-04 -5.99091179e+01] [-1.27924625e-03 4.52890860e-05 9.99999181e-01 -2.79344164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters 0.0536723076892687 Centerline is valid? [True, True] Translation: X:374.07, Y:-59.93, Z:-2.79 [[ 9.49146011e-01 3.14828040e-01 2.27052897e-03 3.74073844e+02] [-3.14826937e-01 9.49148723e-01 -8.37119705e-04 -5.99318262e+01] [-2.41861843e-03 7.97251472e-05 9.99997072e-01 -2.79332570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters 0.053984070175907915 Centerline is valid? [True, True] Translation: X:374.13, Y:-59.95, Z:-2.79 [[ 9.48423886e-01 3.16985041e-01 3.55195742e-03 3.74132853e+02] [-3.16982356e-01 9.48430530e-01 -1.30981438e-03 -5.99482939e+01] [-3.78397642e-03 1.16351415e-04 9.99992834e-01 -2.79182659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters 0.05361209627943198 Centerline is valid? [True, True] Translation: X:374.19, Y:-59.96, Z:-2.79 [[ 9.47916942e-01 3.18504178e-01 2.92581223e-03 3.74194797e+02] [-3.18502364e-01 9.47921453e-01 -1.07892440e-03 -5.99575652e+01] [-3.11708211e-03 9.08526050e-05 9.99995138e-01 -2.79138282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters 0.05359283009367703 Centerline is valid? [True, True] Translation: X:374.25, Y:-59.98, Z:-2.79 [[ 9.47508192e-01 3.19720810e-01 2.61350837e-03 3.74250396e+02] [-3.19719368e-01 9.47511793e-01 -9.63416519e-04 -5.99840729e+01] [-2.78435431e-03 7.72558012e-05 9.99996121e-01 -2.79393313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters 0.05377014621547619 Centerline is valid? [True, True] Translation: X:374.31, Y:-59.99, Z:-2.79 [[ 9.47177961e-01 3.20702257e-01 1.99329164e-03 3.74313509e+02] [-3.20701420e-01 9.47180056e-01 -7.34786754e-04 -5.99923599e+01] [-2.12365386e-03 5.67223592e-05 9.99997743e-01 -2.79372064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters 0.054625464698190504 Centerline is valid? [True, True] Translation: X:374.38, Y:-60.00, Z:-2.79 [[ 9.47086017e-01 3.20978684e-01 8.72669222e-04 3.74376519e+02] [-3.20978524e-01 9.47086418e-01 -3.21162819e-04 -6.00046512e+01] [-9.29579587e-04 2.40607359e-05 9.99999568e-01 -2.79387284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters 0.054556524539654164 Centerline is valid? [True, True] Translation: X:374.43, Y:-60.03, Z:-2.80 [[ 9.47108984e-01 3.20911434e-01 6.51018301e-04 3.74433022e+02] [-3.20911345e-01 9.47109208e-01 -2.39548352e-04 -6.00290357e+01] [-6.93459232e-04 1.79592383e-05 9.99999759e-01 -2.79596954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters 0.05479177126436197 Centerline is valid? [True, True] Translation: X:374.49, Y:-60.04, Z:-2.80 [[ 9.48444062e-01 3.16943871e-01 6.65805290e-04 3.74492859e+02] [-3.16943777e-01 9.48444296e-01 -2.45813203e-04 -6.00425784e+01] [-7.09388218e-04 2.21172292e-05 9.99999748e-01 -2.79653080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters 0.05531299601760318 Centerline is valid? [True, True] Translation: X:374.55, Y:-60.07, Z:-2.80 [[ 9.49007985e-01 3.15251768e-01 4.08508741e-04 3.74547025e+02] [-3.15251732e-01 9.49008073e-01 -1.50590863e-04 -6.00687308e+01] [-4.35152129e-04 1.41288430e-05 9.99999905e-01 -2.79824660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters 0.05517947450264017 Centerline is valid? [True, True] Translation: X:374.61, Y:-60.08, Z:-2.80 [[ 9.50884377e-01 3.09545152e-01 8.36474905e-04 3.74606383e+02] [-3.09545000e-01 9.50884745e-01 -3.08906592e-04 -6.00834038e+01] [-8.91011765e-04 3.48078280e-05 9.99999602e-01 -2.79729538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters 0.05518821651824819 Centerline is valid? [True, True] Translation: X:374.67, Y:-60.10, Z:-2.80 [[ 9.51896794e-01 3.06418080e-01 6.73904318e-04 3.74666711e+02] [-3.06417980e-01 9.51897032e-01 -2.48891209e-04 -6.00972003e+01] [-7.17752286e-04 3.04223445e-05 9.99999742e-01 -2.79635621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters 0.05485432574477707 Centerline is valid? [True, True] Translation: X:374.73, Y:-60.12, Z:-2.80 [[ 9.52462948e-01 3.04653610e-01 7.14213497e-04 3.74725406e+02] [-3.04653498e-01 9.52463215e-01 -2.63759545e-04 -6.01150443e+01] [-7.60617381e-04 3.36335540e-05 9.99999710e-01 -2.79676874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters 0.05599835272933872 Centerline is valid? [True, True] Translation: X:374.79, Y:-60.13, Z:-2.80 [[ 9.51718478e-01 3.06969695e-01 1.24289624e-03 3.74785710e+02] [-3.06969356e-01 9.51719288e-01 -4.59095725e-04 -6.01287332e+01] [-1.32381680e-03 5.53988257e-05 9.99999122e-01 -2.79741024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters 0.055766727338777224 Centerline is valid? [True, True] Translation: X:374.84, Y:-60.14, Z:-2.80 [[ 9.50212346e-01 3.11602016e-01 8.24837759e-04 3.74844800e+02] [-3.11601869e-01 9.50212704e-01 -3.04740459e-04 -6.01418873e+01] [-8.78729059e-04 3.25471600e-05 9.99999613e-01 -2.79848619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters 0.05573380476179229 Centerline is valid? [True, True] Translation: X:374.91, Y:-60.15, Z:-2.80 [[ 9.49488768e-01 3.13800883e-01 2.90661215e-04 3.74906693e+02] [-3.13800865e-01 9.49488813e-01 -1.07285111e-04 -6.01517810e+01] [-3.09645735e-04 1.06562670e-05 9.99999952e-01 -2.79777206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters 0.05564237610391409 Centerline is valid? [True, True] Translation: X:374.96, Y:-60.17, Z:-2.80 [[ 9.49015410e-01 3.15229581e-01 2.51831003e-04 3.74964015e+02] [-3.15229568e-01 9.49015443e-01 -9.28642153e-05 -6.01731121e+01] [-2.68265059e-04 8.74499320e-06 9.99999964e-01 -2.79862234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters 0.056202422243459615 Centerline is valid? [True, True] Translation: X:375.02, Y:-60.19, Z:-2.80 [[ 9.47260288e-01 3.20465201e-01 3.73851758e-05 3.75023273e+02] [-3.20465200e-01 9.47260289e-01 -1.37060859e-05 -6.01869666e+01] [-3.98058161e-05 1.00258306e-06 9.99999999e-01 -2.79941985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters 0.055519829443318465 Centerline is valid? [True, True] Translation: X:375.08, Y:-60.20, Z:-2.80 [[ 9.45043476e-01 3.26944616e-01 2.15909382e-04 3.75081177e+02] [-3.26944607e-01 9.45043501e-01 -7.98163382e-05 -6.02031238e+01] [-2.30139281e-04 4.83950163e-06 9.99999974e-01 -2.80051787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters 0.05561269847281738 Centerline is valid? [True, True] Translation: X:375.14, Y:-60.22, Z:-2.80 [[ 9.43655816e-01 3.30926863e-01 -1.05493105e-03 3.75141575e+02] [-3.30926634e-01 9.43656405e-01 3.90067108e-04 -6.02168428e+01] [ 1.12457613e-03 -1.89843141e-05 9.99999367e-01 -2.80059509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters 0.05566090995624257 Centerline is valid? [True, True] Translation: X:375.20, Y:-60.24, Z:-2.80 [[ 9.43248398e-01 3.32086735e-01 -9.27716085e-04 3.75198552e+02] [-3.32086557e-01 9.43248854e-01 3.43807091e-04 -6.02379166e+01] [ 9.89240908e-04 -1.62134469e-05 9.99999511e-01 -2.80171733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters 0.055244049839074404 Centerline is valid? [True, True] Translation: X:375.26, Y:-60.26, Z:-2.80 [[ 9.42611853e-01 3.33889824e-01 -6.93034809e-04 3.75256109e+02] [-3.33889726e-01 9.42612107e-01 2.57120512e-04 -6.02576333e+01] [ 7.39112925e-04 -1.09676402e-05 9.99999727e-01 -2.80282116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters 0.05547608561829218 Centerline is valid? [True, True] Translation: X:375.31, Y:-60.28, Z:-2.80 [[ 9.42226341e-01 3.34976188e-01 -6.89578401e-04 3.75314128e+02] [-3.34976091e-01 9.42226593e-01 2.55883206e-04 -6.02761634e+01] [ 7.35453889e-04 -1.01076200e-05 9.99999730e-01 -2.80308880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters 0.055826724547590495 Centerline is valid? [True, True] Translation: X:375.37, Y:-60.30, Z:-2.80 [[ 9.42217837e-01 3.35000703e-01 2.77022507e-04 3.75373417e+02] [-3.35000687e-01 9.42217878e-01 -1.02183948e-04 -6.02960436e+01] [-2.95247253e-04 3.47680833e-06 9.99999956e-01 -2.80211191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters 0.05630535683412994 Centerline is valid? [True, True] Translation: X:375.43, Y:-60.32, Z:-2.80 [[ 9.42389356e-01 3.34517228e-01 7.24462862e-04 3.75433293e+02] [-3.34517122e-01 9.42389635e-01 -2.67129180e-04 -6.03157663e+01] [-7.72085605e-04 9.39446488e-06 9.99999702e-01 -2.80142119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters 0.056122606633818205 Centerline is valid? [True, True] Translation: X:375.49, Y:-60.34, Z:-2.80 [[ 9.42808292e-01 3.33334680e-01 -7.18371790e-04 3.75491891e+02] [-3.33334573e-01 9.42808565e-01 2.66870041e-04 -6.03358962e+01] [ 7.66244117e-04 -1.21491333e-05 9.99999706e-01 -2.80244083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters 0.056110280020364986 Centerline is valid? [True, True] Translation: X:375.55, Y:-60.36, Z:-2.80 [[ 9.43010311e-01 3.32763337e-01 -3.38827199e-04 3.75548255e+02] [-3.32763313e-01 9.43010372e-01 1.26317992e-04 -6.03589918e+01] [ 3.61551559e-04 -6.36990812e-06 9.99999935e-01 -2.80292301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters 0.05665096117583502 Centerline is valid? [True, True] Translation: X:375.61, Y:-60.38, Z:-2.80 [[ 9.43115678e-01 3.32463517e-01 9.09546400e-04 3.75606151e+02] [-3.32463347e-01 9.43116117e-01 -3.36575046e-04 -6.03817460e+01] [-9.69706792e-04 1.50383620e-05 9.99999530e-01 -2.80284330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters 0.05585745850999625 Centerline is valid? [True, True] Translation: X:375.66, Y:-60.40, Z:-2.80 [[ 9.42411606e-01 3.34454989e-01 4.73675914e-04 3.75663904e+02] [-3.34454943e-01 9.42411726e-01 -1.74645866e-04 -6.04007819e+01] [-5.04808917e-04 6.16504043e-06 9.99999873e-01 -2.80305071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters 0.0560644838002453 Centerline is valid? [True, True] Translation: X:375.72, Y:-60.42, Z:-2.80 [[ 9.41405919e-01 3.37275462e-01 3.96960232e-04 3.75722511e+02] [-3.37275430e-01 9.41406003e-01 -1.46802793e-04 -6.04209249e+01] [-4.23213725e-04 4.31608532e-06 9.99999910e-01 -2.80293715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters 0.05548950172467743 Centerline is valid? [True, True] Translation: X:375.78, Y:-60.44, Z:-2.81 [[ 9.39133349e-01 3.43552689e-01 3.19022867e-04 3.75781006e+02] [-3.43552669e-01 9.39133404e-01 -1.17967980e-04 -6.04408731e+01] [-3.40133248e-04 1.18650684e-06 9.99999942e-01 -2.80540761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters 0.05564957120374028 Centerline is valid? [True, True] Translation: X:375.84, Y:-60.46, Z:-2.81 [[ 9.36562959e-01 3.50498954e-01 5.53422527e-04 3.75839400e+02] [-3.50498895e-01 9.36563123e-01 -2.04306218e-04 -6.04592006e+01] [-5.89924246e-04 -2.62834837e-06 9.99999826e-01 -2.80529462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters 0.05538352205530843 Centerline is valid? [True, True] Translation: X:375.90, Y:-60.48, Z:-2.80 [[ 9.34445831e-01 3.56104389e-01 8.08650295e-04 3.75896949e+02] [-3.56104263e-01 9.34446181e-01 -2.99596660e-04 -6.04828858e+01] [-8.62327866e-04 -8.00696737e-06 9.99999628e-01 -2.80318653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters 0.055124315680407654 Centerline is valid? [True, True] Translation: X:375.96, Y:-60.50, Z:-2.81 [[ 9.32879957e-01 3.60184533e-01 1.44489085e-03 3.75956641e+02] [-3.60184135e-01 9.32881076e-01 -5.35493998e-04 -6.05012426e+01] [-1.54078799e-03 -2.08751428e-05 9.99998813e-01 -2.80530211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters 0.05511857095742457 Centerline is valid? [True, True] Translation: X:376.01, Y:-60.52, Z:-2.81 [[ 9.32087784e-01 3.62229731e-01 1.40866069e-03 3.76013073e+02] [-3.62229355e-01 9.32088849e-01 -5.22275226e-04 -6.05234371e+01] [-1.50218054e-03 -2.34518951e-05 9.99998871e-01 -2.80679026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters 0.05500657425960382 Centerline is valid? [True, True] Translation: X:376.07, Y:-60.55, Z:-2.81 [[ 9.31918010e-01 3.62667072e-01 1.19052190e-03 3.76070971e+02] [-3.62666805e-01 9.31918770e-01 -4.40791541e-04 -6.05461742e+01] [-1.26933028e-03 -2.09811982e-05 9.99999194e-01 -2.80711373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters 0.05493464867533905 Centerline is valid? [True, True] Translation: X:376.13, Y:-60.58, Z:-2.81 [[ 9.31632832e-01 3.63400759e-01 3.93361346e-04 3.76126992e+02] [-3.63400730e-01 9.31632915e-01 -1.45617105e-04 -6.05751340e+01] [-4.19385744e-04 -7.28612393e-06 9.99999912e-01 -2.80678762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters 0.05470170142534851 Centerline is valid? [True, True] Translation: X:376.18, Y:-60.60, Z:-2.81 [[ 9.31279429e-01 3.64305559e-01 -2.89700496e-04 3.76181842e+02] [-3.64305543e-01 9.31279474e-01 1.08376490e-04 -6.06030666e+01] [ 3.09274284e-04 4.61070059e-06 9.99999952e-01 -2.80601550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters 0.05499944967785892 Centerline is valid? [True, True] Translation: X:376.24, Y:-60.63, Z:-2.81 [[ 9.30357058e-01 3.66654632e-01 -3.53495905e-04 3.76236887e+02] [-3.66654608e-01 9.30357126e-01 1.31198953e-04 -6.06266329e+01] [ 3.76982138e-04 7.54903043e-06 9.99999929e-01 -2.80794114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters 0.0545701245726793 Centerline is valid? [True, True] Translation: X:376.29, Y:-60.65, Z:-2.81 [[ 9.29467373e-01 3.68902400e-01 -1.19219851e-03 3.76292982e+02] [-3.68902135e-01 9.29468137e-01 4.42628008e-04 -6.06500409e+01] [ 1.27139706e-03 2.83962847e-05 9.99999191e-01 -2.81011427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters 0.0548091048807186 Centerline is valid? [True, True] Translation: X:376.35, Y:-60.67, Z:-2.81 [[ 9.29198888e-01 3.69577216e-01 -1.45220319e-03 3.76350356e+02] [-3.69576823e-01 9.29200022e-01 5.40076730e-04 -6.06746122e+01] [ 1.54898729e-03 3.48619439e-05 9.99998800e-01 -2.81052350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters 0.054461245507756835 Centerline is valid? [True, True] Translation: X:376.41, Y:-60.70, Z:-2.81 [[ 9.28750364e-01 3.70702741e-01 -1.49642192e-03 3.76405860e+02] [-3.70702326e-01 9.28751569e-01 5.56003214e-04 -6.07035847e+01] [ 1.59591612e-03 3.83388983e-05 9.99998726e-01 -2.81096224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters 0.05454255049449642 Centerline is valid? [True, True] Translation: X:376.46, Y:-60.73, Z:-2.81 [[ 9.28600354e-01 3.71076059e-01 -1.98500911e-03 3.76461668e+02] [-3.71075328e-01 9.28602474e-01 7.38303081e-04 -6.07326478e+01] [ 2.11725097e-03 5.09994044e-05 9.99997757e-01 -2.81046036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters 0.0546058375709665 Centerline is valid? [True, True] Translation: X:376.52, Y:-60.76, Z:-2.81 [[ 9.28886453e-01 3.70359869e-01 -1.87727489e-03 3.76515856e+02] [-3.70359214e-01 9.28888349e-01 6.98437217e-04 -6.07615861e+01] [ 2.00245189e-03 4.64971834e-05 9.99997994e-01 -2.81074800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters 0.05355824554674991 Centerline is valid? [True, True] Translation: X:376.57, Y:-60.79, Z:-2.81 [[ 9.29301417e-01 3.69318977e-01 -1.53912260e-03 3.76570770e+02] [-3.69318534e-01 9.29302691e-01 5.73017587e-04 -6.07910801e+01] [ 1.64193704e-03 3.59204463e-05 9.99998651e-01 -2.80920841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters 0.05341424257945669 Centerline is valid? [True, True] Translation: X:376.63, Y:-60.82, Z:-2.81 [[ 9.30474523e-01 3.66355412e-01 -9.35227836e-04 3.76625863e+02] [-3.66355247e-01 9.30474993e-01 3.48000048e-04 -6.08204589e+01] [ 9.97697814e-04 1.88204463e-05 9.99999502e-01 -2.81018325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters 0.053092690651966555 Centerline is valid? [True, True] Translation: X:376.68, Y:-60.85, Z:-2.81 [[ 9.31771570e-01 3.63038221e-01 -2.23400833e-03 3.76679288e+02] [-3.63037273e-01 9.31774248e-01 8.30798545e-04 -6.08537297e+01] [ 2.38320306e-03 3.69138274e-05 9.99997159e-01 -2.81016027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters 0.05317701800641643 Centerline is valid? [True, True] Translation: X:376.73, Y:-60.88, Z:-2.81 [[ 9.32665367e-01 3.60731359e-01 -2.86342233e-03 3.76733902e+02] [-3.60729788e-01 9.32669762e-01 1.06535839e-03 -6.08819012e+01] [ 3.05493561e-03 3.92988550e-05 9.99995333e-01 -2.81081465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters 0.0529002268452784 Centerline is valid? [True, True] Translation: X:376.79, Y:-60.91, Z:-2.81 [[ 9.33087780e-01 3.59638865e-01 -2.66110296e-03 3.76790172e+02] [-3.59637504e-01 9.33091574e-01 9.90040617e-04 -6.09084948e+01] [ 2.83910983e-03 3.32376245e-05 9.99995969e-01 -2.81208887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters 0.053114500545274036 Centerline is valid? [True, True] Translation: X:376.84, Y:-60.94, Z:-2.81 [[ 9.32900370e-01 3.60121677e-01 -3.04598003e-03 3.76844785e+02] [-3.60119893e-01 9.32905341e-01 1.13416469e-03 -6.09387231e+01] [ 3.25004833e-03 3.88553450e-05 9.99994718e-01 -2.81269523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters 0.05248707340246887 Centerline is valid? [True, True] Translation: X:376.90, Y:-60.96, Z:-2.81 [[ 9.32478427e-01 3.61214121e-01 -2.88829022e-03 3.76900287e+02] [-3.61212521e-01 9.32482899e-01 1.07577426e-03 -6.09645205e+01] [ 3.08186609e-03 4.01503055e-05 9.99995250e-01 -2.81342109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters 0.052338920852048464 Centerline is valid? [True, True] Translation: X:376.96, Y:-61.00, Z:-2.81 [[ 9.31516202e-01 3.63690144e-01 -2.65429483e-03 3.76955465e+02] [-3.63688804e-01 9.31519982e-01 9.88210951e-04 -6.09950685e+01] [ 2.83193126e-03 4.48028026e-05 9.99995989e-01 -2.81340423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters 0.05226712773200883 Centerline is valid? [True, True] Translation: X:377.01, Y:-61.02, Z:-2.82 [[ 9.30273007e-01 3.66865193e-01 -1.43600041e-03 3.77011726e+02] [-3.66864803e-01 9.30274115e-01 5.35489130e-04 -6.10186725e+01] [ 1.53232633e-03 2.86669231e-05 9.99998826e-01 -2.81558557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters 0.05184097613391177 Centerline is valid? [True, True] Translation: X:377.06, Y:-61.05, Z:-2.81 [[ 9.29059216e-01 3.69931036e-01 4.62100276e-05 3.77064771e+02] [-3.69931036e-01 9.29059217e-01 -1.70723728e-05 -6.10526589e+01] [-4.92474527e-05 -1.23327808e-06 9.99999999e-01 -2.81229813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters 0.05132896310709832 Centerline is valid? [True, True] Translation: X:377.12, Y:-61.08, Z:-2.81 [[ 9.28316170e-01 3.71791684e-01 1.78046130e-04 3.77121145e+02] [-3.71791678e-01 9.28316187e-01 -6.58800444e-05 -6.10785334e+01] [-1.89776757e-04 -5.03855886e-06 9.99999982e-01 -2.81250081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters 0.05148054467409479 Centerline is valid? [True, True] Translation: X:377.18, Y:-61.10, Z:-2.81 [[ 9.27852100e-01 3.72948300e-01 -2.14087881e-04 3.77176473e+02] [-3.72948291e-01 9.27852125e-01 8.05664564e-05 -6.11044673e+01] [ 2.28689018e-04 5.08995352e-06 9.99999974e-01 -2.81356241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters 0.051700141001802424 Centerline is valid? [True, True] Translation: X:377.23, Y:-61.12, Z:-2.82 [[ 9.28139465e-01 3.72231844e-01 -7.67441716e-04 3.77234602e+02] [-3.72231734e-01 9.28139782e-01 2.86768716e-04 -6.11235714e+01] [ 8.19037635e-04 1.95047986e-05 9.99999664e-01 -2.81682639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters 0.050832986958511725 Centerline is valid? [True, True] Translation: X:377.29, Y:-61.16, Z:-2.82 [[ 9.29435286e-01 3.68983500e-01 -1.10668968e-03 3.77286529e+02] [-3.68983271e-01 9.29435945e-01 4.12488321e-04 -6.11590839e+01] [ 1.18079855e-03 2.49687757e-05 9.99999303e-01 -2.81537801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters 0.050788376522999175 Centerline is valid? [True, True] Translation: X:377.34, Y:-61.19, Z:-2.81 [[ 9.31090557e-01 3.64786847e-01 -9.64678500e-04 3.77340742e+02] [-3.64786670e-01 9.31091057e-01 3.59633027e-04 -6.11882677e+01] [ 1.02939292e-03 1.70509419e-05 9.99999470e-01 -2.81411603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters 0.051347134944503076 Centerline is valid? [True, True] Translation: X:377.40, Y:-61.21, Z:-2.82 [[ 9.31660617e-01 3.63328622e-01 -8.98376999e-04 3.77399878e+02] [-3.63328467e-01 9.31661050e-01 3.35740458e-04 -6.12053146e+01] [ 9.58966976e-04 1.36097760e-05 9.99999540e-01 -2.81729015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters 0.05158252151859253 Centerline is valid? [True, True] Translation: X:377.46, Y:-61.23, Z:-2.82 [[ 9.32112056e-01 3.62166644e-01 -1.56133495e-03 3.77458086e+02] [-3.62166176e-01 9.32113363e-01 5.82444733e-04 -6.12284797e+01] [ 1.66628322e-03 2.25589490e-05 9.99998611e-01 -2.81644012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters 0.051914772016679094 Centerline is valid? [True, True] Translation: X:377.52, Y:-61.24, Z:-2.82 [[ 9.32424893e-01 3.61362355e-01 -1.03298474e-03 3.77517324e+02] [-3.61362149e-01 9.32425465e-01 3.86084932e-04 -6.12435683e+01] [ 1.10269784e-03 1.32863850e-05 9.99999392e-01 -2.81961216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters 0.05149670822454092 Centerline is valid? [True, True] Translation: X:377.57, Y:-61.27, Z:-2.82 [[ 9.32586566e-01 3.60945952e-01 -5.62141813e-04 3.77574518e+02] [-3.60945891e-01 9.32586736e-01 2.10005219e-04 -6.12694925e+01] [ 6.00046532e-04 7.05473128e-06 9.99999820e-01 -2.81643373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters 0.05118267046966996 Centerline is valid? [True, True] Translation: X:377.63, Y:-61.29, Z:-2.82 [[ 9.33171636e-01 3.59430906e-01 3.48843197e-04 3.77632336e+02] [-3.59430883e-01 9.33171701e-01 -1.29327574e-04 -6.12883102e+01] [-3.72014927e-04 -4.70019423e-06 9.99999931e-01 -2.81910231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters 0.05204173801771118 Centerline is valid? [True, True] Translation: X:377.69, Y:-61.31, Z:-2.82 [[ 9.35098778e-01 3.54383751e-01 1.55956613e-03 3.77689213e+02] [-3.54383274e-01 9.35100079e-01 -5.81816709e-04 -6.13109086e+01] [-1.66453679e-03 -8.62805518e-06 9.99998615e-01 -2.81929898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters 0.052080728572953386 Centerline is valid? [True, True] Translation: X:377.75, Y:-61.33, Z:-2.82 [[ 9.36538168e-01 3.50559180e-01 2.12629514e-03 3.77745911e+02] [-3.50558283e-01 9.36540582e-01 -7.92852770e-04 -6.13342181e+01] [-2.26930350e-03 -2.85349239e-06 9.99997425e-01 -2.81892562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters 0.05175121696816937 Centerline is valid? [True, True] Translation: X:377.80, Y:-61.36, Z:-2.82 [[ 9.37774680e-01 3.47234949e-01 2.55715323e-03 3.77804979e+02] [-3.47233639e-01 9.37778167e-01 -9.53838122e-04 -6.13565891e+01] [-2.72924840e-03 6.55561890e-06 9.99996276e-01 -2.81581332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters 0.0519620184493385 Centerline is valid? [True, True] Translation: X:377.86, Y:-61.38, Z:-2.82 [[ 9.37908448e-01 3.46879976e-01 1.42305929e-03 3.77862954e+02] [-3.46879570e-01 9.37909528e-01 -5.31123486e-04 -6.13783338e+01] [-1.51893697e-03 4.51501032e-06 9.99998846e-01 -2.82080431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters 0.05194117322599081 Centerline is valid? [True, True] Translation: X:377.92, Y:-61.40, Z:-2.82 [[ 9.37688390e-01 3.47477259e-01 1.93214918e-04 3.77920281e+02] [-3.47477252e-01 9.37688410e-01 -7.13280612e-05 -6.13993310e+01] [-2.05960269e-04 -2.54293840e-07 9.99999979e-01 -2.82316404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters 0.05216503356980832 Centerline is valid? [True, True] Translation: X:377.98, Y:-61.42, Z:-2.82 [[ 9.37252612e-01 3.48650810e-01 -3.92239232e-04 3.77979291e+02] [-3.48650778e-01 9.37252694e-01 1.47650294e-04 -6.14207075e+01] [ 4.19105672e-04 -1.63110972e-06 9.99999912e-01 -2.82291534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters 0.05233609290408464 Centerline is valid? [True, True] Translation: X:378.04, Y:-61.44, Z:-2.82 [[ 9.36353775e-01 3.51057316e-01 6.07020285e-04 3.78038460e+02] [-3.51057243e-01 9.36353972e-01 -2.26508231e-04 -6.14413052e+01] [-6.47903227e-04 -1.00703101e-06 9.99999790e-01 -2.82351392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters 0.051356351219018 Centerline is valid? [True, True] Translation: X:378.10, Y:-61.46, Z:-2.82 [[ 9.35496911e-01 3.53330631e-01 1.73073646e-03 3.78097066e+02] [-3.53330040e-01 9.35498512e-01 -6.46201625e-04 -6.14625920e+01] [-1.84742421e-03 -7.00156029e-06 9.99998293e-01 -2.82399119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters 0.051237122395309524 Centerline is valid? [True, True] Translation: X:378.16, Y:-61.48, Z:-2.82 [[ 9.35274381e-01 3.53920018e-01 1.56588564e-03 3.78155423e+02] [-3.53919535e-01 9.35275692e-01 -5.84796766e-04 -6.14841343e+01] [-1.67150606e-03 -7.25208324e-06 9.99998603e-01 -2.82479882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters 0.05148077796034726 Centerline is valid? [True, True] Translation: X:378.21, Y:-61.51, Z:-2.82 [[ 9.34636984e-01 3.55598383e-01 1.87050335e-03 3.78213544e+02] [-3.55597696e-01 9.34638855e-01 -6.99045837e-04 -6.15063739e+01] [-1.99682468e-03 -1.17925886e-05 9.99998006e-01 -2.82496593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters 0.051739939316247346 Centerline is valid? [True, True] Translation: X:378.27, Y:-61.53, Z:-2.83 [[ 9.34074122e-01 3.57073633e-01 1.98857084e-03 3.78271545e+02] [-3.57072859e-01 9.34076239e-01 -7.43535073e-04 -6.15265341e+01] [-2.12297354e-03 -1.55478059e-05 9.99997746e-01 -2.82605160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters 0.05137118573312834 Centerline is valid? [True, True] Translation: X:378.33, Y:-61.55, Z:-2.83 [[ 9.33590045e-01 3.58338900e-01 1.69146177e-03 3.78329092e+02] [-3.58338341e-01 9.33591577e-01 -6.33056674e-04 -6.15457816e+01] [-1.80598330e-03 -1.51001980e-05 9.99998369e-01 -2.82745455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters 0.05139797375292195 Centerline is valid? [True, True] Translation: X:378.39, Y:-61.57, Z:-2.83 [[ 9.32924403e-01 3.60069352e-01 1.45584320e-03 3.78386752e+02] [-3.60068941e-01 9.32925539e-01 -5.44288152e-04 -6.15680075e+01] [-1.55417478e-03 -1.64242199e-05 9.99998792e-01 -2.82783097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters 0.05155090190610993 Centerline is valid? [True, True] Translation: X:378.44, Y:-61.59, Z:-2.83 [[ 9.32603949e-01 3.60900165e-01 9.71989124e-04 3.78444900e+02] [-3.60899982e-01 9.32604456e-01 -3.63285350e-04 -6.15878773e+01] [-1.03759113e-03 -1.19895046e-05 9.99999462e-01 -2.82971829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters 0.051353566461014855 Centerline is valid? [True, True] Translation: X:378.50, Y:-61.61, Z:-2.83 [[ 9.32799958e-01 3.60393926e-01 6.76340174e-04 3.78501704e+02] [-3.60393837e-01 9.32800203e-01 -2.52541920e-04 -6.16135176e+01] [-7.21904826e-04 -8.17773824e-06 9.99999739e-01 -2.82887064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters 0.051593218620921755 Centerline is valid? [True, True] Translation: X:378.56, Y:-61.64, Z:-2.83 [[ 9.33293890e-01 3.59112519e-01 8.44517586e-04 3.78560034e+02] [-3.59112381e-01 9.33294272e-01 -3.15654173e-04 -6.16361559e+01] [-9.01538791e-04 -8.67860963e-06 9.99999594e-01 -2.82931172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters 0.05150181743867893 Centerline is valid? [True, True] Translation: X:378.62, Y:-61.66, Z:-2.83 [[ 9.33717957e-01 3.58009428e-01 -1.62697023e-04 3.78618474e+02] [-3.58009422e-01 9.33717971e-01 6.20447362e-05 -6.16590594e+01] [ 1.74125735e-04 3.14782917e-07 9.99999985e-01 -2.83030199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters 0.051425689921337406 Centerline is valid? [True, True] Translation: X:378.68, Y:-61.68, Z:-2.83 [[ 9.34914928e-01 3.54868937e-01 -1.45420158e-03 3.78675596e+02] [-3.54868517e-01 9.34916059e-01 5.45703289e-04 -6.16835506e+01] [ 1.55320955e-03 5.86420607e-06 9.99998794e-01 -2.83128972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters 0.0511145217658165 Centerline is valid? [True, True] Translation: X:378.73, Y:-61.71, Z:-2.83 [[ 9.36213722e-01 3.51430198e-01 -8.26061315e-04 3.78732335e+02] [-3.51430061e-01 9.36214086e-01 3.10744310e-04 -6.17068697e+01] [ 8.82575174e-04 -6.20309059e-07 9.99999611e-01 -2.83280894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters 0.051645435145995226 Centerline is valid? [True, True] Translation: X:378.79, Y:-61.73, Z:-2.83 [[ 9.37468588e-01 3.48065017e-01 1.84123959e-03 3.78789853e+02] [-3.48064333e-01 9.37470396e-01 -6.90114053e-04 -6.17302183e+01] [-1.96631217e-03 6.09041678e-06 9.99998067e-01 -2.83007494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters 0.05157153678454972 Centerline is valid? [True, True] Translation: X:378.85, Y:-61.75, Z:-2.83 [[ 9.37927521e-01 3.46821499e-01 2.61030803e-03 3.78849074e+02] [-3.46820117e-01 9.37931153e-01 -9.79333087e-04 -6.17527723e+01] [-2.78794299e-03 1.32361175e-05 9.99996114e-01 -2.82989447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters 0.052354821472255356 Centerline is valid? [True, True] Translation: X:378.91, Y:-61.77, Z:-2.83 [[ 9.39226725e-01 3.43284796e-01 2.95076801e-03 3.78906409e+02] [-3.43283012e-01 9.39231360e-01 -1.10709796e-03 -6.17747205e+01] [-3.15150375e-03 2.68674584e-05 9.99995034e-01 -2.82972609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters 0.05251446711998338 Centerline is valid? [True, True] Translation: X:378.96, Y:-61.80, Z:-2.83 [[ 9.40264392e-01 3.40437692e-01 2.24755140e-03 3.78964327e+02] [-3.40436648e-01 9.40267077e-01 -8.43668696e-04 -6.17965850e+01] [-2.40051521e-03 2.81227700e-05 9.99997118e-01 -2.83167148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters 0.05263141311647622 Centerline is valid? [True, True] Translation: X:379.02, Y:-61.82, Z:-2.83 [[ 9.40557317e-01 3.39630834e-01 1.68216779e-03 3.79022577e+02] [-3.39630249e-01 9.40558821e-01 -6.30979167e-04 -6.18180752e+01] [-1.79647774e-03 2.21570056e-05 9.99998386e-01 -2.83247069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters 0.05254037313666387 Centerline is valid? [True, True] Translation: X:379.08, Y:-61.83, Z:-2.83 [[ 9.40611473e-01 3.39484188e-01 7.37451576e-04 3.79081768e+02] [-3.39484075e-01 9.40611762e-01 -2.76257112e-04 -6.18344617e+01] [-7.87440547e-04 9.49754214e-06 9.99999690e-01 -2.83151105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters 0.05263759978427329 Centerline is valid? [True, True] Translation: X:379.14, Y:-61.86, Z:-2.83 [[ 9.40439804e-01 3.39960255e-01 -3.32563979e-06 3.79140432e+02] [-3.39960255e-01 9.40439804e-01 1.96692574e-06 -6.18584135e+01] [ 3.79624049e-06 -7.19189907e-07 1.00000000e+00 -2.83382731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters 0.05227598960222163 Centerline is valid? [True, True] Translation: X:379.20, Y:-61.88, Z:-2.83 [[ 9.39850896e-01 3.41584912e-01 2.03635145e-04 3.79197622e+02] [-3.41584904e-01 9.39850918e-01 -7.56440291e-05 -6.18800237e+01] [-2.17225537e-04 1.53541706e-06 9.99999976e-01 -2.83476837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters 0.05235012503760326 Centerline is valid? [True, True] Translation: X:379.26, Y:-61.90, Z:-2.83 [[ 9.39025875e-01 3.43845208e-01 9.37408217e-04 3.79255776e+02] [-3.43845028e-01 9.39026343e-01 -3.51749117e-04 -6.18999747e+01] [-1.00119826e-03 7.97836790e-06 9.99999499e-01 -2.83477130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters 0.05254317870418783 Centerline is valid? [True, True] Translation: X:379.32, Y:-61.92, Z:-2.83 [[ 9.38372542e-01 3.45622825e-01 1.35440650e-03 3.79315073e+02] [-3.45622451e-01 9.38373520e-01 -5.08708814e-04 -6.19185563e+01] [-1.44676057e-03 9.24508817e-06 9.99998953e-01 -2.83380860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters 0.05262905927735477 Centerline is valid? [True, True] Translation: X:379.37, Y:-61.94, Z:-2.83 [[ 9.37564238e-01 3.47808408e-01 1.61583883e-03 3.79372929e+02] [-3.47807878e-01 9.37565630e-01 -6.07603982e-04 -6.19390040e+01] [-1.72628473e-03 7.66628957e-06 9.99998510e-01 -2.83479986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters 0.05167223442179469 Centerline is valid? [True, True] Translation: X:379.43, Y:-61.96, Z:-2.83 [[ 9.36359199e-01 3.51036465e-01 2.20265271e-03 3.79432541e+02] [-3.51035487e-01 9.36361789e-01 -8.28370399e-04 -6.19574519e+01] [-2.35326805e-03 2.44297709e-06 9.99997231e-01 -2.83435984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters 0.051599532241104584 Centerline is valid? [True, True] Translation: X:379.49, Y:-61.98, Z:-2.83 [[ 9.35236886e-01 3.54006595e-01 3.36119205e-03 3.79492114e+02] [-3.54004335e-01 9.35242926e-01 -1.26497015e-03 -6.19766594e+01] [-3.59133886e-03 -6.82981087e-06 9.99993551e-01 -2.83437895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters 0.05120931610089734 Centerline is valid? [True, True] Translation: X:379.55, Y:-61.99, Z:-2.84 [[ 9.33402691e-01 3.58817704e-01 3.04483075e-03 3.79550650e+02] [-3.58815874e-01 9.33407657e-01 -1.14627304e-03 -6.19945158e+01] [-3.25337140e-03 -2.25992622e-05 9.99994708e-01 -2.83611925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters 0.051202168148355605 Centerline is valid? [True, True] Translation: X:379.61, Y:-62.02, Z:-2.84 [[ 9.32272182e-01 3.61753731e-01 1.67835016e-03 3.79609268e+02] [-3.61753180e-01 9.32273692e-01 -6.31620684e-04 -6.20152831e+01] [-1.79317284e-03 -1.83061158e-05 9.99998392e-01 -2.83719654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters 0.051275991395918354 Centerline is valid? [True, True] Translation: X:379.67, Y:-62.04, Z:-2.84 [[ 9.31938881e-01 3.62612876e-01 1.35052715e-03 3.79667832e+02] [-3.62612521e-01 9.31939859e-01 -5.08250263e-04 -6.20368608e+01] [-1.44290817e-03 -1.60598723e-05 9.99998959e-01 -2.83719821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters 0.05183920367784505 Centerline is valid? [True, True] Translation: X:379.73, Y:-62.06, Z:-2.84 [[ 9.31834533e-01 3.62883455e-01 -2.09851186e-05 3.79726029e+02] [-3.62883455e-01 9.31834534e-01 8.82263539e-06 -6.20583535e+01] [ 2.27562465e-05 -6.06083998e-07 1.00000000e+00 -2.83901983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters 0.05166123861559441 Centerline is valid? [True, True] Translation: X:379.78, Y:-62.08, Z:-2.84 [[ 9.31913925e-01 3.62679455e-01 -2.24065454e-04 3.79783637e+02] [-3.62679445e-01 9.31913952e-01 8.55071453e-05 -6.20804727e+01] [ 2.39821408e-04 1.57863504e-06 9.99999971e-01 -2.83935069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters 0.05174384408371581 Centerline is valid? [True, True] Translation: X:379.84, Y:-62.11, Z:-2.84 [[ 9.32826103e-01 3.60326715e-01 -3.46982434e-04 3.79840890e+02] [-3.60326691e-01 9.32826167e-01 1.31850422e-04 -6.21054932e+01] [ 3.71183523e-04 2.03351707e-06 9.99999931e-01 -2.83869759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters 0.05173619053737058 Centerline is valid? [True, True] Translation: X:379.90, Y:-62.13, Z:-2.84 [[ 9.33760799e-01 3.57897433e-01 -4.45082385e-04 3.79898244e+02] [-3.57897393e-01 9.33760905e-01 1.68928505e-04 -6.21293119e+01] [ 4.76059609e-04 1.55500981e-06 9.99999887e-01 -2.83986325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters 0.05191136326448279 Centerline is valid? [True, True] Translation: X:379.95, Y:-62.15, Z:-2.84 [[ 9.35230879e-01 3.54038214e-01 -3.81303133e-04 3.79953918e+02] [-3.54038184e-01 9.35230957e-01 1.44899630e-04 -6.21549466e+01] [ 4.07906500e-04 -5.18740168e-07 9.99999917e-01 -2.84192074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters 0.05219148955090895 Centerline is valid? [True, True] Translation: X:380.01, Y:-62.18, Z:-2.84 [[ 9.35592031e-01 3.53082915e-01 8.36697469e-05 3.80012354e+02] [-3.53082913e-01 9.35592035e-01 -3.05545345e-05 -6.21789801e+01] [-8.90690330e-05 -9.55779034e-07 9.99999996e-01 -2.83938298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters 0.051750158360396314 Centerline is valid? [True, True] Translation: X:380.07, Y:-62.20, Z:-2.84 [[ 9.36790657e-01 3.49887700e-01 1.36497959e-03 3.80068724e+02] [-3.49887321e-01 9.36791651e-01 -5.14939675e-04 -6.22045493e+01] [-1.45887254e-03 4.80162339e-06 9.99998936e-01 -2.83760796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters 0.05206504428568942 Centerline is valid? [True, True] Translation: X:380.13, Y:-62.23, Z:-2.84 [[ 9.37982369e-01 3.46678422e-01 1.77405418e-03 3.80125083e+02] [-3.46677774e-01 9.37984047e-01 -6.70293096e-04 -6.22308075e+01] [-1.89641067e-03 1.36979532e-05 9.99998202e-01 -2.83996829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters 0.051633935905585876 Centerline is valid? [True, True] Translation: X:380.18, Y:-62.25, Z:-2.84 [[ 9.38416699e-01 3.45503319e-01 1.24735420e-03 3.80182861e+02] [-3.45502998e-01 9.38417528e-01 -4.70751436e-04 -6.22534415e+01] [-1.33318523e-03 1.07963919e-05 9.99999111e-01 -2.84001168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters 0.05165955053628125 Centerline is valid? [True, True] Translation: X:380.24, Y:-62.28, Z:-2.84 [[ 9.38324940e-01 3.45753744e-01 8.09905982e-04 3.80241392e+02] [-3.45753609e-01 9.38325289e-01 -3.05328147e-04 -6.22762635e+01] [-8.65523615e-04 6.46909881e-06 9.99999625e-01 -2.84149137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters 0.0523232400133988 Centerline is valid? [True, True] Translation: X:380.30, Y:-62.29, Z:-2.84 [[ 9.37805889e-01 3.47160040e-01 -1.43561257e-04 3.80300842e+02] [-3.47160035e-01 9.37805900e-01 5.53218345e-05 -6.22944077e+01] [ 1.53838124e-04 -2.04241108e-06 9.99999988e-01 -2.83919446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters 0.05182285776935698 Centerline is valid? [True, True] Translation: X:380.36, Y:-62.32, Z:-2.84 [[ 9.36767838e-01 3.49951395e-01 -1.95788672e-04 3.80358392e+02] [-3.49951387e-01 9.36767859e-01 7.44397042e-05 -6.23183911e+01] [ 2.09458813e-04 -1.21620356e-06 9.99999978e-01 -2.84264446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters 0.05144997823760641 Centerline is valid? [True, True] Translation: X:380.42, Y:-62.34, Z:-2.84 [[ 9.35786605e-01 3.52566633e-01 4.45942502e-04 3.80416232e+02] [-3.52566593e-01 9.35786712e-01 -1.67912424e-04 -6.23396330e+01] [-4.76507385e-04 -9.42305744e-08 9.99999886e-01 -2.84330991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters 0.05175290743634253 Centerline is valid? [True, True] Translation: X:380.47, Y:-62.36, Z:-2.84 [[ 9.33982939e-01 3.57313180e-01 1.77812244e-03 3.80474212e+02] [-3.57312547e-01 9.33984631e-01 -6.72634955e-04 -6.23588844e+01] [-1.90108037e-03 -7.11588702e-06 9.99998193e-01 -2.84211541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters 0.051232037564792166 Centerline is valid? [True, True] Translation: X:380.53, Y:-62.38, Z:-2.84 [[ 9.32421335e-01 3.61367473e-01 2.00079738e-03 3.80533530e+02] [-3.61366679e-01 9.32423482e-01 -7.57582250e-04 -6.23787306e+01] [-2.13935605e-03 -1.66356542e-05 9.99997711e-01 -2.84350994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters 0.05111423486338758 Centerline is valid? [True, True] Translation: X:380.59, Y:-62.40, Z:-2.84 [[ 9.31348080e-01 3.64127222e-01 1.45615431e-03 3.80591845e+02] [-3.64126805e-01 9.31349218e-01 -5.50937632e-04 -6.23973751e+01] [-1.55679957e-03 -1.71101130e-05 9.99998788e-01 -2.84495426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters 0.05180692298360242 Centerline is valid? [True, True] Translation: X:380.65, Y:-62.42, Z:-2.85 [[ 9.31146998e-01 3.64642472e-01 1.06536059e-03 3.80649354e+02] [-3.64642249e-01 9.31147608e-01 -4.03023981e-04 -6.24169189e+01] [-1.13896762e-03 -1.32009102e-05 9.99999351e-01 -2.84665821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters 0.051059325975347555 Centerline is valid? [True, True] Translation: X:380.71, Y:-62.44, Z:-2.85 [[ 9.31208340e-01 3.64485906e-01 1.02574472e-03 3.80706767e+02] [-3.64485699e-01 9.31208905e-01 -3.87922586e-04 -6.24421647e+01] [-1.09657494e-03 -1.26325357e-05 9.99999399e-01 -2.84525622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters 0.050863946805814395 Centerline is valid? [True, True] Translation: X:380.76, Y:-62.47, Z:-2.85 [[ 9.32163597e-01 3.62031999e-01 1.96464502e-03 3.80763868e+02] [-3.62031234e-01 9.32165667e-01 -7.44304854e-04 -6.24667230e+01] [-2.10083681e-03 -1.74489716e-05 9.99997793e-01 -2.84521242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters 0.050943688518486276 Centerline is valid? [True, True] Translation: X:380.82, Y:-62.49, Z:-2.85 [[ 9.33280869e-01 3.59142543e-01 1.85819146e-03 3.80820920e+02] [-3.59141852e-01 9.33282719e-01 -7.04220805e-04 -6.24888933e+01] [-1.98713363e-03 -1.01185176e-05 9.99998026e-01 -2.84759116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters 0.050391168940888346 Centerline is valid? [True, True] Translation: X:380.88, Y:-62.52, Z:-2.85 [[ 9.34793415e-01 3.55188320e-01 1.59001489e-03 3.80877651e+02] [-3.55187809e-01 9.34794767e-01 -6.02650836e-04 -6.25150083e+01] [-1.70039213e-03 -1.39986989e-06 9.99998554e-01 -2.84814206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters 0.0515041246633935 Centerline is valid? [True, True] Translation: X:380.93, Y:-62.54, Z:-2.85 [[ 9.36861466e-01 3.49700598e-01 2.92758380e-04 3.80934450e+02] [-3.49700580e-01 9.36861512e-01 -1.10236512e-04 -6.25390074e+01] [-3.12823832e-04 8.98564725e-07 9.99999951e-01 -2.84808087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters 0.05149814201596352 Centerline is valid? [True, True] Translation: X:380.99, Y:-62.56, Z:-2.85 [[ 9.37535860e-01 3.47888431e-01 -3.88435918e-04 3.80991183e+02] [-3.47888400e-01 9.37535940e-01 1.48006927e-04 -6.25611553e+01] [ 4.15662532e-04 -3.62945179e-06 9.99999914e-01 -2.84964141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters 0.051491196555456926 Centerline is valid? [True, True] Translation: X:381.05, Y:-62.58, Z:-2.85 [[ 9.38431828e-01 3.45462199e-01 -1.25416682e-03 3.81047998e+02] [-3.45461869e-01 9.38432666e-01 4.77312829e-04 -6.25845633e+01] [ 1.34184465e-03 -1.46587387e-05 9.99999100e-01 -2.85103825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters 0.05155297534404269 Centerline is valid? [True, True] Translation: X:381.11, Y:-62.60, Z:-2.85 [[ 9.38945180e-01 3.44065063e-01 -1.08729677e-03 3.81107234e+02] [-3.44064815e-01 9.38945809e-01 4.13437843e-04 -6.26046611e+01] [ 1.16316226e-03 -1.40949090e-05 9.99999323e-01 -2.84943277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters 0.05285434830742262 Centerline is valid? [True, True] Translation: X:381.16, Y:-62.63, Z:-2.85 [[ 9.39893899e-01 3.41466120e-01 -5.89383457e-04 3.81163312e+02] [-3.41466046e-01 9.39894084e-01 2.24074090e-04 -6.26280569e+01] [ 6.30471734e-04 -9.35143093e-06 9.99999801e-01 -2.85074747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters 0.0525144784434599 Centerline is valid? [True, True] Translation: X:381.22, Y:-62.65, Z:-2.85 [[ 9.40283376e-01 3.40392389e-01 4.41149639e-04 3.81222197e+02] [-3.40392348e-01 9.40283479e-01 -1.66801032e-04 -6.26466048e+01] [-4.71583519e-04 6.67627574e-06 9.99999889e-01 -2.84858003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters 0.05218239647358509 Centerline is valid? [True, True] Translation: X:381.28, Y:-62.66, Z:-2.85 [[ 9.40075255e-01 3.40964211e-01 1.38630918e-03 3.81281856e+02] [-3.40963806e-01 9.40076277e-01 -5.26164999e-04 -6.26649446e+01] [-1.48263981e-03 2.19534399e-05 9.99998901e-01 -2.84844803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters 0.05180928478402299 Centerline is valid? [True, True] Translation: X:381.34, Y:-62.69, Z:-2.85 [[ 9.39385626e-01 3.42858182e-01 1.70657090e-03 3.81339228e+02] [-3.42857570e-01 9.39387176e-01 -6.48225513e-04 -6.26853129e+01] [-1.82538023e-03 2.38229801e-05 9.99998334e-01 -2.84930792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters 0.05252723233257391 Centerline is valid? [True, True] Translation: X:381.40, Y:-62.70, Z:-2.85 [[ 9.37724222e-01 3.47380561e-01 1.69542661e-04 3.81400812e+02] [-3.47380555e-01 9.37724238e-01 -6.42161602e-05 -6.26970897e+01] [-1.81291709e-04 1.32122514e-06 9.99999984e-01 -2.84722855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters 0.052400304950512726 Centerline is valid? [True, True] Translation: X:381.46, Y:-62.72, Z:-2.85 [[ 9.36066128e-01 3.51824018e-01 -2.52197832e-04 3.81458269e+02] [-3.51824005e-01 9.36066162e-01 9.64236061e-05 -6.27169190e+01] [ 2.69997997e-04 -1.52962036e-06 9.99999964e-01 -2.84991934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters 0.052174193996218754 Centerline is valid? [True, True] Translation: X:381.52, Y:-62.73, Z:-2.85 [[ 9.33475615e-01 3.58640429e-01 -5.65088788e-04 3.81518873e+02] [-3.58640364e-01 9.33475786e-01 2.15734536e-04 -6.27342944e+01] [ 6.04867827e-04 1.28071991e-06 9.99999817e-01 -2.85414034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters 0.05169544170158058 Centerline is valid? [True, True] Translation: X:381.58, Y:-62.75, Z:-2.85 [[ 9.32001779e-01 3.62453436e-01 -4.35683923e-04 3.81577195e+02] [-3.62453398e-01 9.32001881e-01 1.66293673e-04 -6.27521784e+01] [ 4.66331949e-04 2.92911949e-06 9.99999891e-01 -2.85430093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters 0.051341629451581106 Centerline is valid? [True, True] Translation: X:381.64, Y:-62.77, Z:-2.85 [[ 9.30688663e-01 3.65812247e-01 1.15991863e-04 3.81635316e+02] [-3.65812244e-01 9.30688670e-01 -4.33305552e-05 -6.27728479e+01] [-1.23803160e-04 -2.10398710e-06 9.99999992e-01 -2.85196444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters 0.051561029422399964 Centerline is valid? [True, True] Translation: X:381.69, Y:-62.79, Z:-2.85 [[ 9.30010119e-01 3.67533511e-01 5.43685510e-04 3.81693099e+02] [-3.67533454e-01 9.30010278e-01 -2.06147859e-04 -6.27945616e+01] [-5.81399359e-04 -8.10301849e-06 9.99999831e-01 -2.85120396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters 0.05166696386534309 Centerline is valid? [True, True] Translation: X:381.75, Y:-62.81, Z:-2.86 [[ 9.29580323e-01 3.68619570e-01 1.91827465e-04 3.81753075e+02] [-3.68619563e-01 9.29580342e-01 -7.22330066e-05 -6.28090049e+01] [-2.04945541e-04 -3.56497465e-06 9.99999979e-01 -2.85538009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters 0.05166463588689189 Centerline is valid? [True, True] Translation: X:381.81, Y:-62.84, Z:-2.85 [[ 9.30821164e-01 3.65473815e-01 -9.21981033e-04 3.81809657e+02] [-3.65473646e-01 9.30821621e-01 3.51638643e-04 -6.28365433e+01] [ 9.86714596e-04 9.64707911e-06 9.99999513e-01 -2.85410322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters 0.05159089128681509 Centerline is valid? [True, True] Translation: X:381.87, Y:-62.86, Z:-2.85 [[ 9.31494032e-01 3.63755215e-01 -1.00563520e-03 3.81867207e+02] [-3.63755012e-01 9.31494575e-01 3.84236747e-04 -6.28603501e+01] [ 1.07651186e-03 7.89060848e-06 9.99999421e-01 -2.85429644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters 0.051837475487951534 Centerline is valid? [True, True] Translation: X:381.92, Y:-62.89, Z:-2.85 [[ 9.33339357e-01 3.58994632e-01 -7.06334517e-04 3.81924336e+02] [-3.58994531e-01 9.33339624e-01 2.70242925e-04 -6.28853511e+01] [ 7.56265751e-04 1.34187073e-06 9.99999714e-01 -2.85436586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters 0.051591134646828886 Centerline is valid? [True, True] Translation: X:381.98, Y:-62.91, Z:-2.86 [[ 9.36625164e-01 3.50333113e-01 1.05160360e-04 3.81979153e+02] [-3.50333111e-01 9.36625170e-01 -3.91993763e-05 -6.29140777e+01] [-1.12228680e-04 -1.26033743e-07 9.99999994e-01 -2.85637699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters 0.05175958403138415 Centerline is valid? [True, True] Translation: X:382.04, Y:-62.94, Z:-2.86 [[ 9.39100618e-01 3.43641429e-01 7.73545900e-04 3.82035035e+02] [-3.43641303e-01 9.39100936e-01 -2.94949566e-04 -6.29396244e+01] [-8.27794570e-04 1.11649988e-05 9.99999657e-01 -2.85507253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters 0.05231344263452665 Centerline is valid? [True, True] Translation: X:382.09, Y:-62.97, Z:-2.85 [[ 9.42660341e-01 3.33750063e-01 1.54149187e-03 3.82089013e+02] [-3.33749548e-01 9.42661601e-01 -5.88031695e-04 -6.29654429e+01] [-1.64936081e-03 3.98419443e-05 9.99998639e-01 -2.85416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters 0.0539989389887342 Centerline is valid? [True, True] Translation: X:382.14, Y:-62.99, Z:-2.86 [[ 9.45713581e-01 3.24993750e-01 2.21037133e-03 3.82143805e+02] [-3.24992666e-01 9.45716161e-01 -8.43065424e-04 -6.29937983e+01] [-2.36437488e-03 7.89439494e-05 9.99997202e-01 -2.85558666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters 0.05335548242680405 Centerline is valid? [True, True] Translation: X:382.20, Y:-63.01, Z:-2.85 [[ 9.47565672e-01 3.19553827e-01 2.15595657e-03 3.82202605e+02] [-3.19552781e-01 9.47568121e-01 -8.22426321e-04 -6.30103357e+01] [-2.30572519e-03 9.03610320e-05 9.99997338e-01 -2.85425704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters 0.05439875747107737 Centerline is valid? [True, True] Translation: X:382.26, Y:-63.03, Z:-2.85 [[ 9.49824909e-01 3.12773134e-01 2.36833697e-03 3.82259086e+02] [-3.12771851e-01 9.49827854e-01 -9.03388317e-04 -6.30336261e+01] [-2.53206802e-03 1.17311588e-04 9.99996787e-01 -2.85430470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters 0.05424891910164884 Centerline is valid? [True, True] Translation: X:382.32, Y:-63.05, Z:-2.85 [[ 9.50628828e-01 3.10319810e-01 2.53897053e-03 3.82316480e+02] [-3.10318326e-01 9.50632210e-01 -9.68673427e-04 -6.30513299e+01] [-2.71422572e-03 1.32959801e-04 9.99996308e-01 -2.85457851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters 0.0544430840677388 Centerline is valid? [True, True] Translation: X:382.38, Y:-63.07, Z:-2.86 [[ 9.51036165e-01 3.09064957e-01 3.01083932e-03 3.82376006e+02] [-3.09062866e-01 9.51040917e-01 -1.14859577e-03 -6.30670601e+01] [-3.21842209e-03 1.61817489e-04 9.99994808e-01 -2.85520830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters 0.055005995635783955 Centerline is valid? [True, True] Translation: X:382.44, Y:-63.09, Z:-2.86 [[ 9.50596594e-01 3.10420923e-01 2.22841944e-03 3.82435031e+02] [-3.10419781e-01 9.50599199e-01 -8.50124657e-04 -6.30858342e+01] [-2.38223022e-03 1.16380129e-04 9.99997156e-01 -2.85596557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters 0.05560670580363169 Centerline is valid? [True, True] Translation: X:382.49, Y:-63.10, Z:-2.86 [[ 9.48854881e-01 3.15704081e-01 2.31233171e-03 3.82493125e+02] [-3.15702867e-01 9.48857693e-01 -8.82329563e-04 -6.31026774e+01] [-2.47262878e-03 1.07192963e-04 9.99996937e-01 -2.85617439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters 0.0546198551622842 Centerline is valid? [True, True] Translation: X:382.56, Y:-63.11, Z:-2.86 [[ 9.47374492e-01 3.20114573e-01 2.86930109e-03 3.82555211e+02] [-3.20112722e-01 9.47378829e-01 -1.09480624e-03 -6.31104126e+01] [-3.06877854e-03 1.18691719e-04 9.99995284e-01 -2.85507778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters 0.054954284813101245 Centerline is valid? [True, True] Translation: X:382.61, Y:-63.13, Z:-2.86 [[ 9.44375800e-01 3.28846174e-01 3.81335828e-03 3.82612925e+02] [-3.28842976e-01 9.44383492e-01 -1.45512295e-03 -6.31284571e+01] [-4.07978422e-03 1.20186816e-04 9.99991670e-01 -2.85632678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters 0.054951074518984705 Centerline is valid? [True, True] Translation: X:382.68, Y:-63.14, Z:-2.86 [[ 9.42377799e-01 3.34515346e-01 4.85472990e-03 3.82675612e+02] [-3.34510238e-01 9.42390295e-01 -1.85261685e-03 -6.31366633e+01] [-5.19477911e-03 1.21908131e-04 9.99986500e-01 -2.85634290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters 0.054650271078032844 Centerline is valid? [True, True] Translation: X:382.74, Y:-63.14, Z:-2.86 [[ 9.39555289e-01 3.42363592e-01 4.79900787e-03 3.82738042e+02] [-3.42358702e-01 9.39567541e-01 -1.83142826e-03 -6.31437689e+01] [-5.13600638e-03 7.77460046e-05 9.99986808e-01 -2.85757765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters 0.054253991226981345 Centerline is valid? [True, True] Translation: X:382.80, Y:-63.15, Z:-2.86 [[ 9.37721801e-01 3.47374003e-01 3.02095155e-03 3.82799250e+02] [-3.47372091e-01 9.37726667e-01 -1.15284000e-03 -6.31542160e+01] [-3.23329347e-03 3.16489448e-05 9.99994772e-01 -2.85902688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters 0.054599678362945554 Centerline is valid? [True, True] Translation: X:382.86, Y:-63.17, Z:-2.86 [[ 9.37286869e-01 3.48550367e-01 2.44279803e-03 3.82861246e+02] [-3.48549123e-01 9.37290052e-01 -9.31750610e-04 -6.31673942e+01] [-2.61437231e-03 2.18825027e-05 9.99996582e-01 -2.85827787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters 0.0548618127950667 Centerline is valid? [True, True] Translation: X:382.92, Y:-63.19, Z:-2.86 [[ 9.37768548e-01 3.47257803e-01 1.47263171e-03 3.82919805e+02] [-3.47257350e-01 9.37769704e-01 -5.61517274e-04 -6.31852775e+01] [-1.57598066e-03 1.51910534e-05 9.99998758e-01 -2.86124535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters 0.05513570938879323 Centerline is valid? [True, True] Translation: X:382.98, Y:-63.20, Z:-2.86 [[ 9.38872846e-01 3.44258922e-01 -1.89047668e-03 3.82979436e+02] [-3.44258166e-01 9.38874749e-01 7.22193960e-04 -6.32012023e+01] [ 2.02354253e-03 -2.72362647e-05 9.99997952e-01 -2.86247358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters 0.05594192615739884 Centerline is valid? [True, True] Translation: X:383.04, Y:-63.22, Z:-2.86 [[ 9.41310055e-01 3.37535464e-01 -2.27842240e-03 3.83035373e+02] [-3.37534346e-01 9.41312811e-01 8.70281957e-04 -6.32221438e+01] [ 2.43845922e-03 -5.01593418e-05 9.99997026e-01 -2.86427373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters 0.05609241176284426 Centerline is valid? [True, True] Translation: X:383.09, Y:-63.24, Z:-2.86 [[ 9.43266255e-01 3.32032990e-01 -1.69309679e-03 3.83092560e+02] [-3.32032364e-01 9.43267773e-01 6.46649340e-04 -6.32389427e+01] [ 1.81175255e-03 -4.77995715e-05 9.99998358e-01 -2.86146272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters 0.05628930559485477 Centerline is valid? [True, True] Translation: X:383.15, Y:-63.26, Z:-2.86 [[ 9.46159306e-01 3.23699124e-01 -1.20171488e-03 3.83149452e+02] [-3.23698802e-01 9.46160068e-01 4.59150016e-04 -6.32599674e+01] [ 1.28564110e-03 -4.54353927e-05 9.99999173e-01 -2.86069957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters 0.05674681839327929 Centerline is valid? [True, True] Translation: X:383.21, Y:-63.27, Z:-2.86 [[ 9.48067520e-01 3.18069137e-01 -2.92405418e-05 3.83209567e+02] [-3.18069137e-01 9.48067521e-01 1.12899050e-05 -6.32737931e+01] [ 3.13129782e-05 -1.40307837e-06 1.00000000e+00 -2.85919631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters 0.056503722782203274 Centerline is valid? [True, True] Translation: X:383.27, Y:-63.29, Z:-2.86 [[ 9.48640871e-01 3.16354936e-01 2.29279284e-04 3.83267497e+02] [-3.16354925e-01 9.48640898e-01 -8.72713983e-05 -6.32904713e+01] [-2.45112443e-04 1.02555848e-05 9.99999970e-01 -2.85950762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters 0.05794235076260624 Centerline is valid? [True, True] Translation: X:383.32, Y:-63.32, Z:-2.86 [[ 9.48429749e-01 3.16987389e-01 -8.36760651e-05 3.83322652e+02] [-3.16987388e-01 9.48429752e-01 3.27685457e-05 -6.33174144e+01] [ 8.97480853e-05 -4.55440631e-06 9.99999996e-01 -2.86229528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters 0.05720731252399735 Centerline is valid? [True, True] Translation: X:383.39, Y:-63.32, Z:-2.86 [[ 9.47323993e-01 3.20276632e-01 -3.62006984e-04 3.83385314e+02] [-3.20276602e-01 9.47324062e-01 1.38466990e-04 -6.33236694e+01] [ 3.87285668e-04 -1.52307352e-05 9.99999925e-01 -2.86081452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters 0.05714673717843207 Centerline is valid? [True, True] Translation: X:383.44, Y:-63.34, Z:-2.86 [[ 9.46767109e-01 3.21919226e-01 -2.32091989e-04 3.83441764e+02] [-3.21919214e-01 9.46767137e-01 8.87667907e-05 -6.33442140e+01] [ 2.48312804e-04 -9.32660717e-06 9.99999969e-01 -2.86167114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters 0.056795436261271044 Centerline is valid? [True, True] Translation: X:383.50, Y:-63.36, Z:-2.86 [[ 9.44782420e-01 3.27698290e-01 -1.01623328e-04 3.83500799e+02] [-3.27698288e-01 9.44782425e-01 3.88357279e-05 -6.33566839e+01] [ 1.08738336e-04 -3.38952249e-06 9.99999994e-01 -2.86168864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters 0.057483407105280486 Centerline is valid? [True, True] Translation: X:383.56, Y:-63.38, Z:-2.86 [[ 9.42668552e-01 3.33726783e-01 1.56072260e-03 3.83556216e+02] [-3.33726253e-01 9.42669843e-01 -5.96401125e-04 -6.33794702e+01] [-1.67028116e-03 4.13544807e-05 9.99998604e-01 -2.86399411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters 0.05702012282952823 Centerline is valid? [True, True] Translation: X:383.62, Y:-63.39, Z:-2.86 [[ 9.41239713e-01 3.37733301e-01 2.00480557e-03 3.83616462e+02] [-3.37732435e-01 9.41241847e-01 -7.66147503e-04 -6.33935188e+01] [-2.14576042e-03 4.40405904e-05 9.99997697e-01 -2.86261401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters 0.05623724021491892 Centerline is valid? [True, True] Translation: X:383.68, Y:-63.41, Z:-2.86 [[ 9.39538779e-01 3.42436524e-01 2.02735766e-03 3.83676285e+02] [-3.42435650e-01 9.39540965e-01 -7.74786159e-04 -6.34072833e+01] [-2.17010065e-03 3.37021046e-05 9.99997645e-01 -2.86237184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters 0.05664630060517456 Centerline is valid? [True, True] Translation: X:383.73, Y:-63.43, Z:-2.87 [[ 9.36333105e-01 3.51106459e-01 2.13777432e-03 3.83734252e+02] [-3.51105509e-01 9.36335546e-01 -8.16963036e-04 -6.34251090e+01] [-2.28851508e-03 1.43651969e-05 9.99997381e-01 -2.86536125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters 0.05638218257648631 Centerline is valid? [True, True] Translation: X:383.80, Y:-63.44, Z:-2.87 [[ 9.32499046e-01 3.61162719e-01 2.64944757e-03 3.83795216e+02] [-3.61161301e-01 9.32502810e-01 -1.01211513e-03 -6.34399719e+01] [-2.83615556e-03 -1.30815426e-05 9.99995978e-01 -2.86518738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters 0.05668134431231221 Centerline is valid? [True, True] Translation: X:383.86, Y:-63.45, Z:-2.87 [[ 9.27799414e-01 3.73068214e-01 2.89067280e-03 3.83855651e+02] [-3.73066581e-01 9.27803915e-01 -1.10515862e-03 -6.34507200e+01] [-3.09427709e-03 -5.30478942e-05 9.99995211e-01 -2.86770766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters 0.056660695451431854 Centerline is valid? [True, True] Translation: X:383.91, Y:-63.47, Z:-2.87 [[ 9.25975529e-01 3.77575596e-01 2.44724947e-03 3.83912503e+02] [-3.77574441e-01 9.25978761e-01 -9.35708773e-04 -6.34705132e+01] [-2.61940183e-03 -5.75754248e-05 9.99996568e-01 -2.86845928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters 0.05641464920837282 Centerline is valid? [True, True] Translation: X:383.97, Y:-63.50, Z:-2.87 [[ 9.25290178e-01 3.79254861e-01 1.95899927e-03 3.83968559e+02] [-3.79254125e-01 9.25292250e-01 -7.48843791e-04 -6.34969585e+01] [-2.09664949e-03 -5.00607499e-05 9.99997801e-01 -2.86795084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters 0.055877989053020716 Centerline is valid? [True, True] Translation: X:384.02, Y:-63.52, Z:-2.87 [[ 9.24489158e-01 3.81206401e-01 1.21553256e-03 3.84024600e+02] [-3.81206119e-01 9.24489956e-01 -4.64805246e-04 -6.35179780e+01] [-1.30093438e-03 -3.36610389e-05 9.99999153e-01 -2.86974800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters 0.05708455260097758 Centerline is valid? [True, True] Translation: X:384.08, Y:-63.54, Z:-2.87 [[ 9.24282402e-01 3.81708541e-01 7.94630800e-04 3.84082438e+02] [-3.81708421e-01 9.24282743e-01 -3.03083338e-04 -6.35384274e+01] [-8.50153035e-04 -2.31826721e-05 9.99999638e-01 -2.87150137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters 0.05565178706141957 Centerline is valid? [True, True] Translation: X:384.13, Y:-63.57, Z:-2.87 [[ 9.25435416e-01 3.78903974e-01 1.03433309e-03 3.84134404e+02] [-3.78903769e-01 9.25435993e-01 -3.95589873e-04 -6.35729328e+01] [-1.10709965e-03 -2.58198286e-05 9.99999387e-01 -2.86993356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters 0.055773149678679586 Centerline is valid? [True, True] Translation: X:384.19, Y:-63.60, Z:-2.87 [[ 9.27796504e-01 3.73082906e-01 1.67082799e-03 3.84188011e+02] [-3.73082360e-01 9.27798008e-01 -6.39146470e-04 -6.35989463e+01] [-1.78864550e-03 -3.03585878e-05 9.99998400e-01 -2.87119984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters 0.05523208869636358 Centerline is valid? [True, True] Translation: X:384.24, Y:-63.63, Z:-2.87 [[ 9.29548681e-01 3.68693975e-01 2.00031237e-03 3.84240769e+02] [-3.68693183e-01 9.29550833e-01 -7.65079518e-04 -6.36319888e+01] [-2.14147224e-03 -2.63228747e-05 9.99997707e-01 -2.86987559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters 0.0554809436272192 Centerline is valid? [True, True] Translation: X:384.30, Y:-63.66, Z:-2.87 [[ 9.31300567e-01 3.64242593e-01 2.56655258e-03 3.84295677e+02] [-3.64241271e-01 9.31304103e-01 -9.81737492e-04 -6.36576832e+01] [-2.74783156e-03 -2.05516888e-05 9.99996224e-01 -2.87129640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters 0.055326217136364514 Centerline is valid? [True, True] Translation: X:384.35, Y:-63.69, Z:-2.87 [[ 9.33781456e-01 3.57832615e-01 2.83042868e-03 3.84348929e+02] [-3.57830978e-01 9.33785746e-01 -1.08262812e-03 -6.36915109e+01] [-3.03041361e-03 -1.87699656e-06 9.99995408e-01 -2.87096191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters 0.05489544673160019 Centerline is valid? [True, True] Translation: X:384.40, Y:-63.72, Z:-2.87 [[ 9.35499808e-01 3.53319855e-01 2.27805279e-03 3.84402904e+02] [-3.53318781e-01 9.35502581e-01 -8.71072319e-04 -6.37206013e+01] [-2.43889142e-03 1.00091501e-05 9.99997026e-01 -2.87256000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters 0.055870205246581095 Centerline is valid? [True, True] Translation: X:384.46, Y:-63.75, Z:-2.87 [[ 9.38295653e-01 3.45827817e-01 2.09460928e-03 3.84456355e+02] [-3.45826890e-01 9.38297991e-01 -8.01545433e-04 -6.37515536e+01] [-2.24256439e-03 2.77143825e-05 9.99997485e-01 -2.87264071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters 0.05525976062110244 Centerline is valid? [True, True] Translation: X:384.51, Y:-63.78, Z:-2.87 [[ 9.39901828e-01 3.41438212e-01 2.12168559e-03 3.84510473e+02] [-3.41437249e-01 9.39904222e-01 -8.11944485e-04 -6.37801798e+01] [-2.27141012e-03 3.87256154e-05 9.99997420e-01 -2.87338449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters 0.0557580613255508 Centerline is valid? [True, True] Translation: X:384.56, Y:-63.81, Z:-2.87 [[ 9.41210389e-01 3.37820199e-01 7.18361236e-04 3.84563471e+02] [-3.37820088e-01 9.41210663e-01 -2.74730360e-04 -6.38097688e+01] [-7.68938720e-04 1.59022130e-05 9.99999704e-01 -2.87492274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters 0.055588262391314376 Centerline is valid? [True, True] Translation: X:384.62, Y:-63.83, Z:-2.87 [[ 9.41522618e-01 3.36947210e-01 1.31818637e-03 3.84622123e+02] [-3.36946834e-01 9.41523540e-01 -5.04196756e-04 -6.38308021e+01] [-1.41099119e-03 3.05539259e-05 9.99999004e-01 -2.87446898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters 0.05526394965551981 Centerline is valid? [True, True] Translation: X:384.68, Y:-63.86, Z:-2.87 [[ 9.41071731e-01 3.38200344e-01 2.12706883e-03 3.84677333e+02] [-3.38199367e-01 9.41074134e-01 -8.13997473e-04 -6.38573644e+01] [-2.27702368e-03 4.66566793e-05 9.99997406e-01 -2.87470652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters 0.05528371285658966 Centerline is valid? [True, True] Translation: X:384.73, Y:-63.88, Z:-2.88 [[ 9.40311238e-01 3.40309044e-01 2.12842695e-03 3.84732002e+02] [-3.40308071e-01 9.40313646e-01 -8.14982670e-04 -6.38830061e+01] [-2.27873488e-03 4.20164936e-05 9.99997403e-01 -2.87537095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters 0.05482531779544667 Centerline is valid? [True, True] Translation: X:384.79, Y:-63.91, Z:-2.87 [[ 9.38133055e-01 3.46255036e-01 3.71767078e-03 3.84787706e+02] [-3.46252113e-01 9.38140420e-01 -1.42361982e-03 -6.39055373e+01] [-3.98063276e-03 4.82934500e-05 9.99992076e-01 -2.87492742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters 0.054002867456001816 Centerline is valid? [True, True] Translation: X:384.85, Y:-63.92, Z:-2.87 [[ 9.34635489e-01 3.55580353e-01 4.37213801e-03 3.84846049e+02] [-3.55576412e-01 9.34645715e-01 -1.67421603e-03 -6.39242381e+01] [-4.68171839e-03 1.01525729e-05 9.99989041e-01 -2.87477390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters 0.054673184907832344 Centerline is valid? [True, True] Translation: X:384.90, Y:-63.95, Z:-2.88 [[ 9.31965921e-01 3.62515992e-01 4.65584119e-03 3.84904243e+02] [-3.62511610e-01 9.31977551e-01 -1.78265333e-03 -6.39453759e+01] [-4.98537980e-03 -2.64243339e-05 9.99987573e-01 -2.87564960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters 0.0547602827747779 Centerline is valid? [True, True] Translation: X:384.96, Y:-63.96, Z:-2.88 [[ 9.28671039e-01 3.70881720e-01 4.10504979e-03 3.84962872e+02] [-3.70878392e-01 9.28680110e-01 -1.57245504e-03 -6.39613323e+01] [-4.39547291e-03 -6.21808083e-05 9.99990338e-01 -2.87844143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters 0.054360008740476286 Centerline is valid? [True, True] Translation: X:385.02, Y:-63.99, Z:-2.88 [[ 9.27297986e-01 3.74307204e-01 3.54430726e-03 3.85017765e+02] [-3.74304748e-01 9.27304757e-01 -1.35765648e-03 -6.39897217e+01] [-3.79483358e-03 -6.76989163e-05 9.99992797e-01 -2.87788393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters 0.0556025882841492 Centerline is valid? [True, True] Translation: X:385.08, Y:-64.01, Z:-2.88 [[ 9.26224737e-01 3.76960129e-01 2.96613476e-03 3.85076702e+02] [-3.76958422e-01 9.26229484e-01 -1.13621083e-03 -6.40058549e+01] [-3.17562765e-03 -6.57228980e-05 9.99994956e-01 -2.88084766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters 0.05518385179906616 Centerline is valid? [True, True] Translation: X:385.13, Y:-64.03, Z:-2.88 [[ 9.25631619e-01 3.78414453e-01 2.93384218e-03 3.85132484e+02] [-3.78412792e-01 9.25636266e-01 -1.12348187e-03 -6.40341913e+01] [-3.14081250e-03 -7.02730723e-05 9.99995065e-01 -2.88102879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters 0.054168801619259195 Centerline is valid? [True, True] Translation: X:385.19, Y:-64.06, Z:-2.88 [[ 9.25365428e-01 3.79066483e-01 2.72492391e-03 3.85188320e+02] [-3.79065052e-01 9.25369438e-01 -1.04374336e-03 -6.40633128e+01] [-2.91720944e-03 -6.70793996e-05 9.99995743e-01 -2.88123046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters 0.05394492174742479 Centerline is valid? [True, True] Translation: X:385.24, Y:-64.09, Z:-2.88 [[ 9.24949281e-01 3.80085914e-01 1.87764425e-03 3.85243406e+02] [-3.80085237e-01 9.24951185e-01 -7.19147676e-04 -6.40921250e+01] [-2.01006718e-03 -4.84897345e-05 9.99997979e-01 -2.88148326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters 0.053894708999837115 Centerline is valid? [True, True] Translation: X:385.30, Y:-64.12, Z:-2.88 [[ 9.24557443e-01 3.81040554e-01 1.27670326e-03 3.85300143e+02] [-3.81040242e-01 9.24558324e-01 -4.88862401e-04 -6.41180357e+01] [-1.36666303e-03 -3.44939473e-05 9.99999066e-01 -2.88233752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters 0.052674091856672045 Centerline is valid? [True, True] Translation: X:385.35, Y:-64.15, Z:-2.88 [[ 9.24098812e-01 3.82152767e-01 8.05155963e-04 3.85354385e+02] [-3.82152644e-01 9.24099162e-01 -3.08120548e-04 -6.41490725e+01] [-8.61793071e-04 -2.29586477e-05 9.99999628e-01 -2.88235902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters 0.0532088484328057 Centerline is valid? [True, True] Translation: X:385.41, Y:-64.17, Z:-2.88 [[ 9.24078451e-01 3.82202119e-01 7.46245668e-04 3.85411236e+02] [-3.82202013e-01 9.24078752e-01 -2.85504931e-04 -6.41736911e+01] [-7.98710355e-04 -2.13876420e-05 9.99999681e-01 -2.88315314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters 0.053049657688226295 Centerline is valid? [True, True] Translation: X:385.47, Y:-64.20, Z:-2.88 [[ 9.24176113e-01 3.81965431e-01 9.60474708e-04 3.85467892e+02] [-3.81965254e-01 9.24176611e-01 -3.67917925e-04 -6.42005909e+01] [-1.02818019e-03 -2.68470082e-05 9.99999471e-01 -2.88270657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters 0.0535412126850963 Centerline is valid? [True, True] Translation: X:385.52, Y:-64.22, Z:-2.88 [[ 9.25213272e-01 3.79446148e-01 1.01057833e-03 3.85524086e+02] [-3.79445950e-01 9.25213824e-01 -3.87995652e-04 -6.42222027e+01] [-1.08222450e-03 -2.44811297e-05 9.99999414e-01 -2.88432564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters 0.054105236597171445 Centerline is valid? [True, True] Translation: X:385.58, Y:-64.25, Z:-2.89 [[ 9.26412608e-01 3.76508911e-01 8.48057120e-04 3.85581156e+02] [-3.76508770e-01 9.26412996e-01 -3.25495720e-04 -6.42455850e+01] [-9.08203177e-04 -1.77576045e-05 9.99999587e-01 -2.88621384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters 0.05261089534209903 Centerline is valid? [True, True] Translation: X:385.63, Y:-64.28, Z:-2.88 [[ 9.29042620e-01 3.69970579e-01 1.25724730e-03 3.85632015e+02] [-3.69970265e-01 9.29043471e-01 -4.82717629e-04 -6.42840407e+01] [-1.34662872e-03 -1.66788656e-05 9.99999093e-01 -2.88416047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters 0.0522219667847043 Centerline is valid? [True, True] Translation: X:385.69, Y:-64.32, Z:-2.88 [[ 9.31344130e-01 3.64136681e-01 1.60888891e-03 3.85686053e+02] [-3.64136157e-01 9.31345520e-01 -6.17689829e-04 -6.43163727e+01] [-1.72335500e-03 -1.05728264e-05 9.99998515e-01 -2.88302102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters 0.05219974727789542 Centerline is valid? [True, True] Translation: X:385.74, Y:-64.35, Z:-2.88 [[ 9.34966808e-01 3.54732647e-01 1.34809531e-03 3.85738458e+02] [-3.54732270e-01 9.34967780e-01 -5.17130251e-04 -6.43504289e+01] [-1.44386866e-03 5.28671010e-06 9.99998958e-01 -2.88406946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters 0.05256483793869214 Centerline is valid? [True, True] Translation: X:385.79, Y:-64.38, Z:-2.89 [[ 9.36828833e-01 3.49787811e-01 4.74995261e-04 3.85793930e+02] [-3.49787764e-01 9.36828953e-01 -1.82207244e-04 -6.43792035e+01] [-5.08723187e-04 4.54946970e-06 9.99999871e-01 -2.88565988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters 0.05304816736267268 Centerline is valid? [True, True] Translation: X:385.85, Y:-64.41, Z:-2.89 [[ 9.38129939e-01 3.46282039e-01 -9.83656537e-04 3.85848187e+02] [-3.46281833e-01 9.38130454e-01 3.77955731e-04 -6.44051215e+01] [ 1.05367743e-03 -1.39491978e-05 9.99999445e-01 -2.88595841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters 0.05274343980922266 Centerline is valid? [True, True] Translation: X:385.90, Y:-64.43, Z:-2.89 [[ 9.38210056e-01 3.46063610e-01 -1.36709283e-03 3.85903945e+02] [-3.46063212e-01 9.38211051e-01 5.25659857e-04 -6.44333856e+01] [ 1.46453335e-03 -2.00788268e-05 9.99998927e-01 -2.88835906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters 0.05238821605159388 Centerline is valid? [True, True] Translation: X:385.96, Y:-64.46, Z:-2.89 [[ 9.37217427e-01 3.48742485e-01 -1.47467194e-03 3.85961305e+02] [-3.48742024e-01 9.37218587e-01 5.67067929e-04 -6.44588963e+01] [ 1.57985063e-03 -1.71858667e-05 9.99998752e-01 -2.88835201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters 0.052551430342962474 Centerline is valid? [True, True] Translation: X:386.02, Y:-64.48, Z:-2.89 [[ 9.34293063e-01 3.56504735e-01 9.20491763e-04 3.86019425e+02] [-3.56504559e-01 9.34293516e-01 -3.53599041e-04 -6.44782174e+01] [-9.86069218e-04 2.20562123e-06 9.99999514e-01 -2.88689084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters 0.05210582766801681 Centerline is valid? [True, True] Translation: X:386.08, Y:-64.50, Z:-2.89 [[ 9.31640809e-01 3.63379382e-01 9.10149024e-04 3.86077957e+02] [-3.63379215e-01 9.31641253e-01 -3.49017505e-04 -6.44986110e+01] [-9.74758142e-04 -5.57028651e-06 9.99999525e-01 -2.88711247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters 0.05177904071802423 Centerline is valid? [True, True] Translation: X:386.14, Y:-64.52, Z:-2.89 [[ 9.28246129e-01 3.71966286e-01 4.53635203e-04 3.86135276e+02] [-3.71966246e-01 9.28246240e-01 -1.74403026e-04 -6.45171593e+01] [-4.85957217e-04 -6.84804951e-06 9.99999882e-01 -2.88799007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters 0.0508125938461522 Centerline is valid? [True, True] Translation: X:386.19, Y:-64.54, Z:-2.89 [[ 9.26664482e-01 3.75889527e-01 -3.38028970e-05 3.86192486e+02] [-3.75889527e-01 9.26664483e-01 1.31271988e-05 -6.45396032e+01] [ 3.62583205e-05 5.41646114e-07 9.99999999e-01 -2.88761964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters 0.05045768133234336 Centerline is valid? [True, True] Translation: X:386.25, Y:-64.56, Z:-2.89 [[ 9.25539727e-01 3.78650299e-01 -4.05335753e-04 3.86249891e+02] [-3.78650267e-01 9.25539816e-01 1.56605199e-04 -6.45607767e+01] [ 4.34452984e-04 8.53615737e-06 9.99999906e-01 -2.88743157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters 0.051212961318435495 Centerline is valid? [True, True] Translation: X:386.31, Y:-64.57, Z:-2.89 [[ 9.25550462e-01 3.78622531e-01 -1.14949677e-03 3.86311486e+02] [-3.78622272e-01 9.25551175e-01 4.43251593e-04 -6.45723852e+01] [ 1.23174313e-03 2.49733639e-05 9.99999241e-01 -2.89206015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters 0.05055441244116725 Centerline is valid? [True, True] Translation: X:386.37, Y:-64.60, Z:-2.89 [[ 9.26237576e-01 3.76937040e-01 -1.55607550e-03 3.86367180e+02] [-3.76936565e-01 9.26238882e-01 5.99099239e-04 -6.46013047e+01] [ 1.66712032e-03 3.16335273e-05 9.99998610e-01 -2.88958005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters 0.051252733589349654 Centerline is valid? [True, True] Translation: X:386.42, Y:-64.62, Z:-2.89 [[ 9.28189362e-01 3.72104905e-01 -1.56437777e-03 3.86423176e+02] [-3.72104419e-01 9.28190680e-01 6.02053710e-04 -6.46225788e+01] [ 1.67606801e-03 2.32920328e-05 9.99998595e-01 -2.89088124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters 0.05141715965833742 Centerline is valid? [True, True] Translation: X:386.48, Y:-64.65, Z:-2.89 [[ 9.30018976e-01 3.67507639e-01 -1.68519682e-03 3.86479491e+02] [-3.67507067e-01 9.30020502e-01 6.48638641e-04 -6.46458784e+01] [ 1.80564725e-03 1.60754975e-05 9.99998370e-01 -2.89222420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters 0.05191557889061859 Centerline is valid? [True, True] Translation: X:386.54, Y:-64.67, Z:-2.89 [[ 9.33282378e-01 3.59138666e-01 -1.84997704e-03 3.86535193e+02] [-3.59137958e-01 9.33284211e-01 7.13029884e-04 -6.46738093e+01] [ 1.98263097e-03 -1.06124894e-06 9.99998035e-01 -2.89189488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters 0.05207696798016962 Centerline is valid? [True, True] Translation: X:386.59, Y:-64.70, Z:-2.89 [[ 9.35540252e-01 3.53216238e-01 -1.65102665e-03 3.86591741e+02] [-3.53215665e-01 9.35541709e-01 6.35972508e-04 -6.46989556e+01] [ 1.76924011e-03 -1.18094019e-05 9.99998435e-01 -2.89242161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters 0.05167077531411451 Centerline is valid? [True, True] Translation: X:386.65, Y:-64.72, Z:-2.89 [[ 9.37202419e-01 3.48785766e-01 -3.40823638e-04 3.86647675e+02] [-3.48785741e-01 9.37202481e-01 1.32098045e-04 -6.47234626e+01] [ 3.65494677e-04 -4.92818238e-06 9.99999933e-01 -2.89280271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters 0.05210875455978722 Centerline is valid? [True, True] Translation: X:386.70, Y:-64.74, Z:-2.89 [[ 9.38937421e-01 3.44087548e-01 5.27766650e-04 3.86704081e+02] [-3.44087488e-01 9.38937570e-01 -2.03255978e-04 -6.47441819e+01] [-5.65477787e-04 9.24674267e-06 9.99999840e-01 -2.89051669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters 0.05175238875021135 Centerline is valid? [True, True] Translation: X:386.76, Y:-64.77, Z:-2.89 [[ 9.39663036e-01 3.42100310e-01 8.69411930e-04 3.86762093e+02] [-3.42100147e-01 9.39663439e-01 -3.34634754e-04 -6.47650805e+01] [-9.31433257e-04 1.70179605e-05 9.99999566e-01 -2.88995993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters 0.052661259371191614 Centerline is valid? [True, True] Translation: X:386.82, Y:-64.79, Z:-2.89 [[ 9.40764667e-01 3.39060096e-01 3.05318914e-04 3.86818742e+02] [-3.39060076e-01 9.40764716e-01 -1.17402790e-04 -6.47893194e+01] [-3.27039863e-04 6.92694239e-06 9.99999946e-01 -2.89185589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters 0.05306588319946952 Centerline is valid? [True, True] Translation: X:386.87, Y:-64.81, Z:-2.89 [[ 9.41722192e-01 3.36391601e-01 6.80603082e-05 3.86874009e+02] [-3.36391600e-01 9.41722194e-01 -2.62159415e-05 -6.48121973e+01] [-7.29127255e-05 1.79321793e-06 9.99999997e-01 -2.89203986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters 0.05362020943528216 Centerline is valid? [True, True] Translation: X:386.93, Y:-64.83, Z:-2.89 [[ 9.43447337e-01 3.31522210e-01 -3.82569081e-04 3.86930726e+02] [-3.31522177e-01 9.43447415e-01 1.47401212e-04 -6.48333430e+01] [ 4.09800586e-04 -1.22351467e-05 9.99999916e-01 -2.89166257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters 0.05400131033204505 Centerline is valid? [True, True] Translation: X:386.99, Y:-64.86, Z:-2.89 [[ 9.44438581e-01 3.28687361e-01 6.20998424e-04 3.86986568e+02] [-3.28687275e-01 9.44438785e-01 -2.39152390e-04 -6.48579313e+01] [-6.65101365e-04 2.17504638e-05 9.99999779e-01 -2.89186715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters 0.05357288100659041 Centerline is valid? [True, True] Translation: X:387.05, Y:-64.87, Z:-2.89 [[ 9.44759091e-01 3.27758450e-01 2.15847645e-03 3.87048676e+02] [-3.27757406e-01 9.44761553e-01 -8.30769340e-04 -6.48680367e+01] [-2.31153723e-03 7.74202442e-05 9.99997325e-01 -2.89034701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters 0.05342952710542462 Centerline is valid? [True, True] Translation: X:387.11, Y:-64.88, Z:-2.89 [[ 9.43058539e-01 3.32611580e-01 3.18253738e-03 3.87109493e+02] [-3.32609334e-01 9.43063904e-01 -1.22631991e-03 -6.48786484e+01] [-3.40922433e-03 9.79498252e-05 9.99994184e-01 -2.88911869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters 0.05334320796021379 Centerline is valid? [True, True] Translation: X:387.16, Y:-64.90, Z:-2.89 [[ 9.40887918e-01 3.38699451e-01 3.55076377e-03 3.87164054e+02] [-3.38696698e-01 9.40894614e-01 -1.36830561e-03 -6.49039083e+01] [-3.80433887e-03 8.47902542e-05 9.99992760e-01 -2.89038583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters 0.05290292874459395 Centerline is valid? [True, True] Translation: X:387.23, Y:-64.92, Z:-2.89 [[ 9.37027665e-01 3.49243139e-01 2.89564629e-03 3.87225005e+02] [-3.49241358e-01 9.37032139e-01 -1.11580603e-03 -6.49165906e+01] [-3.10300123e-03 3.42616732e-05 9.99995185e-01 -2.89152212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters 0.052555206765274656 Centerline is valid? [True, True] Translation: X:387.28, Y:-64.93, Z:-2.89 [[ 9.35677623e-01 3.52849293e-01 2.18217193e-03 3.87284556e+02] [-3.52848293e-01 9.35680167e-01 -8.40426497e-04 -6.49348655e+01] [-2.33835889e-03 1.63926284e-05 9.99997266e-01 -2.89225151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters 0.05338778692207968 Centerline is valid? [True, True] Translation: X:387.35, Y:-64.95, Z:-2.90 [[ 9.31952660e-01 3.62578991e-01 8.44987305e-04 3.87346142e+02] [-3.62578845e-01 9.31953043e-01 -3.25445694e-04 -6.49481530e+01] [-9.05488263e-04 -3.07454044e-06 9.99999590e-01 -2.89533318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters 0.05302307003347126 Centerline is valid? [True, True] Translation: X:387.41, Y:-64.97, Z:-2.90 [[ 9.29747810e-01 3.68196329e-01 6.87448321e-04 3.87405682e+02] [-3.68196234e-01 9.29748064e-01 -2.64798778e-04 -6.49668450e+01] [-7.36651684e-04 -6.91979905e-06 9.99999729e-01 -2.89551185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters 0.05278799551219498 Centerline is valid? [True, True] Translation: X:387.46, Y:-64.98, Z:-2.90 [[ 9.27117906e-01 3.74765877e-01 1.71048919e-03 3.87463971e+02] [-3.74765298e-01 9.27119483e-01 -6.59311481e-04 -6.49824783e+01] [-1.83291530e-03 -2.97725122e-05 9.99998320e-01 -2.89602828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters 0.053464485105759366 Centerline is valid? [True, True] Translation: X:387.52, Y:-65.00, Z:-2.90 [[ 9.25654676e-01 3.78362564e-01 2.27834665e-03 3.87522891e+02] [-3.78361547e-01 9.25657479e-01 -8.78584258e-04 -6.49964607e+01] [-2.44139201e-03 -4.87731368e-05 9.99997019e-01 -2.89739762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters 0.051955805806586576 Centerline is valid? [True, True] Translation: X:387.58, Y:-65.02, Z:-2.90 [[ 9.23889584e-01 3.82650386e-01 2.59208784e-03 3.87577956e+02] [-3.82649087e-01 9.23893217e-01 -9.99489980e-04 -6.50241635e+01] [-2.77726760e-03 -6.84416617e-05 9.99996141e-01 -2.89566510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters 0.05332899522769834 Centerline is valid? [True, True] Translation: X:387.64, Y:-65.03, Z:-2.90 [[ 9.22812205e-01 3.85245353e-01 1.91096759e-03 3.87638503e+02] [-3.85244652e-01 9.22814182e-01 -7.36903717e-04 -6.50346985e+01] [-2.04735672e-03 -5.61662991e-05 9.99997903e-01 -2.89869250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters 0.05252877151190093 Centerline is valid? [True, True] Translation: X:387.69, Y:-65.06, Z:-2.90 [[ 9.21774557e-01 3.87726264e-01 9.81015926e-05 3.87693478e+02] [-3.87726262e-01 9.21774563e-01 -3.77722161e-05 -6.50623684e+01] [-1.05072833e-04 -3.21909604e-06 9.99999994e-01 -2.89913449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters 0.053742206728255915 Centerline is valid? [True, True] Translation: X:387.75, Y:-65.08, Z:-2.90 [[ 9.21540395e-01 3.88279106e-01 -1.62348148e-03 3.87753004e+02] [-3.88278604e-01 9.21541824e-01 6.27098132e-04 -6.50779821e+01] [ 1.73959518e-03 5.24668601e-05 9.99998486e-01 -2.90278725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters 0.052501405585926475 Centerline is valid? [True, True] Translation: X:387.81, Y:-65.11, Z:-2.90 [[ 9.22329441e-01 3.86394932e-01 -2.71269048e-03 3.87806817e+02] [-3.86393524e-01 9.22333426e-01 1.04666350e-03 -6.51083774e+01] [ 2.90643057e-03 8.27974697e-05 9.99995773e-01 -2.90126013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters 0.052431498011590874 Centerline is valid? [True, True] Translation: X:387.86, Y:-65.13, Z:-2.90 [[ 9.23925540e-01 3.82570182e-01 -1.28531726e-03 3.87861864e+02] [-3.82569862e-01 9.23926434e-01 4.95969067e-04 -6.51349109e+01] [ 1.37728157e-03 3.34851584e-05 9.99999051e-01 -2.89970638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters 0.05221193980341795 Centerline is valid? [True, True] Translation: X:387.92, Y:-65.16, Z:-2.90 [[ 9.25313912e-01 3.79200870e-01 9.30099196e-04 3.87918020e+02] [-3.79200701e-01 9.25314379e-01 -3.58817931e-04 -6.51573456e+01] [-9.96698231e-04 -2.06750436e-05 9.99999503e-01 -2.89953642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters 0.05212397275610769 Centerline is valid? [True, True] Translation: X:387.97, Y:-65.19, Z:-2.90 [[ 9.27345667e-01 3.74196552e-01 2.63697571e-03 3.87972799e+02] [-3.74195172e-01 9.27349416e-01 -1.01727223e-03 -6.51863747e+01] [-2.82605764e-03 -4.33805835e-05 9.99996006e-01 -2.89824553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters 0.05225941918617117 Centerline is valid? [True, True] Translation: X:388.03, Y:-65.21, Z:-2.90 [[ 9.28350379e-01 3.71699885e-01 2.18380692e-03 3.88030405e+02] [-3.71698933e-01 9.28352947e-01 -8.41973560e-04 -6.52084973e+01] [-2.34030506e-03 -3.00722272e-05 9.99997261e-01 -2.89969233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters 0.05268917814397616 Centerline is valid? [True, True] Translation: X:388.09, Y:-65.23, Z:-2.90 [[ 9.29426513e-01 3.69004559e-01 1.41157351e-03 3.88087919e+02] [-3.69004158e-01 9.29427585e-01 -5.44183598e-04 -6.52293045e+01] [-1.51276158e-03 -1.50978296e-05 9.99998856e-01 -2.90220797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters 0.0519100615612417 Centerline is valid? [True, True] Translation: X:388.14, Y:-65.26, Z:-2.90 [[ 9.29607627e-01 3.68547406e-01 1.57114961e-03 3.88143934e+02] [-3.68546908e-01 9.29608955e-01 -6.05905907e-04 -6.52557326e+01] [-1.68385980e-03 -1.57875798e-05 9.99998582e-01 -2.89940990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters 0.05261208357117509 Centerline is valid? [True, True] Translation: X:388.20, Y:-65.28, Z:-2.90 [[ 9.30043112e-01 3.67448816e-01 1.08483062e-03 3.88199991e+02] [-3.67448578e-01 9.30043745e-01 -4.18284907e-04 -6.52790190e+01] [-1.16263823e-03 -9.59647314e-06 9.99999324e-01 -2.89950520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters 0.052056564132014954 Centerline is valid? [True, True] Translation: X:388.26, Y:-65.30, Z:-2.90 [[ 9.30591924e-01 3.66057596e-01 7.11834304e-04 3.88258965e+02] [-3.66057493e-01 9.30592196e-01 -2.74726514e-04 -6.52996272e+01] [-7.62993176e-04 -4.91400558e-06 9.99999709e-01 -2.90288164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters 0.05273696570285388 Centerline is valid? [True, True] Translation: X:388.32, Y:-65.32, Z:-2.90 [[ 9.31585705e-01 3.63521413e-01 5.07214207e-04 3.88316186e+02] [-3.63521361e-01 9.31585843e-01 -1.95172930e-04 -6.53229819e+01] [-5.43463114e-04 -2.56288672e-06 9.99999852e-01 -2.90375791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters 0.05249004287289522 Centerline is valid? [True, True] Translation: X:388.37, Y:-65.35, Z:-2.90 [[ 9.32087430e-01 3.62232778e-01 6.61972845e-04 3.88373479e+02] [-3.62232688e-01 9.32087665e-01 -2.55011844e-04 -6.53471088e+01] [-7.09390372e-04 -2.09486816e-06 9.99999748e-01 -2.90245860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters 0.05240015354646324 Centerline is valid? [True, True] Translation: X:388.43, Y:-65.37, Z:-2.90 [[ 9.32355020e-01 3.61543773e-01 4.65153007e-04 3.88430857e+02] [-3.61543729e-01 9.32355136e-01 -1.78915403e-04 -6.53700418e+01] [-4.98373546e-04 -1.36047877e-06 9.99999876e-01 -2.90321845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters 0.052204593150909646 Centerline is valid? [True, True] Translation: X:388.49, Y:-65.39, Z:-2.90 [[ 9.31898514e-01 3.62718537e-01 6.49904674e-04 3.88489760e+02] [-3.62718450e-01 9.31898741e-01 -2.50447425e-04 -6.53916234e+01] [-6.96487271e-04 -2.34083300e-06 9.99999757e-01 -2.90430494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters 0.05209008483020377 Centerline is valid? [True, True] Translation: X:388.55, Y:-65.41, Z:-2.90 [[ 9.30685994e-01 3.65816140e-01 1.46047924e-03 3.88548202e+02] [-3.65815705e-01 9.30687140e-01 -5.64379025e-04 -6.54117663e+01] [-1.56570821e-03 -9.00658982e-06 9.99998774e-01 -2.90424128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters 0.051986368189040816 Centerline is valid? [True, True] Translation: X:388.61, Y:-65.43, Z:-2.91 [[ 9.29757388e-01 3.68168451e-01 1.78634903e-03 3.88605890e+02] [-3.68167802e-01 9.29759104e-01 -6.91327948e-04 -6.54308669e+01] [-1.91539941e-03 -1.49089287e-05 9.99998166e-01 -2.90616050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters 0.051481411643897815 Centerline is valid? [True, True] Translation: X:388.66, Y:-65.45, Z:-2.91 [[ 9.28695586e-01 3.70834182e-01 2.55301079e-03 3.88663859e+02] [-3.70832868e-01 9.28699095e-01 -9.87673121e-04 -6.54534977e+01] [-2.73724177e-03 -2.94926469e-05 9.99996253e-01 -2.90568708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters 0.05174839618813022 Centerline is valid? [True, True] Translation: X:388.72, Y:-65.48, Z:-2.91 [[ 9.28111501e-01 3.72290243e-01 3.00277176e-03 3.88720903e+02] [-3.72288431e-01 9.28116358e-01 -1.16221896e-03 -6.54768246e+01] [-3.21960437e-03 -3.92284019e-05 9.99994816e-01 -2.90601306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters 0.05134222984758823 Centerline is valid? [True, True] Translation: X:388.78, Y:-65.50, Z:-2.91 [[ 9.27259930e-01 3.74412258e-01 2.11735214e-03 3.88778632e+02] [-3.74411363e-01 9.27262347e-01 -8.19530139e-04 -6.54967028e+01] [-2.27018305e-03 -3.28432422e-05 9.99997423e-01 -2.90829539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters 0.05165485743505608 Centerline is valid? [True, True] Translation: X:388.84, Y:-65.52, Z:-2.91 [[ 9.26732808e-01 3.75718488e-01 1.38589317e-03 3.88835345e+02] [-3.75718106e-01 9.26733844e-01 -5.36590845e-04 -6.55211871e+01] [-1.48596121e-03 -2.34288179e-05 9.99998896e-01 -2.90828917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters 0.05177290967653903 Centerline is valid? [True, True] Translation: X:388.89, Y:-65.54, Z:-2.91 [[ 9.26255791e-01 3.76895361e-01 3.11308919e-04 3.88893118e+02] [-3.76895342e-01 9.26255843e-01 -1.19857031e-04 -6.55410602e+01] [-3.33525265e-04 -6.31261230e-06 9.99999944e-01 -2.91125515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters 0.05178116774658927 Centerline is valid? [True, True] Translation: X:388.95, Y:-65.57, Z:-2.91 [[ 9.26159434e-01 3.77132209e-01 7.90426804e-06 3.88951078e+02] [-3.77132209e-01 9.26159434e-01 -2.06657983e-06 -6.55668958e+01] [-8.09998635e-06 -1.06697166e-06 1.00000000e+00 -2.91170444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters 0.0515243072134685 Centerline is valid? [True, True] Translation: X:389.01, Y:-65.59, Z:-2.91 [[ 9.26532808e-01 3.76213783e-01 3.80150920e-04 3.89007140e+02] [-3.76213754e-01 9.26532886e-01 -1.46570569e-04 -6.55945475e+01] [-4.07364198e-04 -7.21556365e-06 9.99999917e-01 -2.91134689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters 0.05184823994360593 Centerline is valid? [True, True] Translation: X:389.06, Y:-65.62, Z:-2.91 [[ 9.26858386e-01 3.75410838e-01 4.84638366e-04 3.89064111e+02] [-3.75410792e-01 9.26858513e-01 -1.87164457e-04 -6.56194943e+01] [-5.19454761e-04 -8.46352603e-06 9.99999865e-01 -2.91225967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters 0.05145500975301366 Centerline is valid? [True, True] Translation: X:389.12, Y:-65.64, Z:-2.91 [[ 9.26999402e-01 3.75062707e-01 2.74353917e-04 3.89120627e+02] [-3.75062692e-01 9.26999442e-01 -1.05667330e-04 -6.56420644e+01] [-2.93957803e-04 -4.94636666e-06 9.99999957e-01 -2.91321289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters 0.0516056653569896 Centerline is valid? [True, True] Translation: X:389.18, Y:-65.67, Z:-2.92 [[ 9.27045438e-01 3.74948957e-01 1.89492542e-04 3.89177973e+02] [-3.74948950e-01 9.27045457e-01 -7.25644310e-05 -6.56681739e+01] [-2.02876158e-04 -3.77950475e-06 9.99999979e-01 -2.91507672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters 0.051371086115832854 Centerline is valid? [True, True] Translation: X:389.23, Y:-65.69, Z:-2.92 [[ 9.26901002e-01 3.75305807e-01 -2.88066612e-04 3.89234197e+02] [-3.75305790e-01 9.26901047e-01 1.12778054e-04 -6.56941611e+01] [ 3.09335503e-04 3.57897635e-06 9.99999952e-01 -2.91600301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters 0.05126686651218094 Centerline is valid? [True, True] Translation: X:389.29, Y:-65.72, Z:-2.92 [[ 9.26763151e-01 3.75646077e-01 -2.92851746e-04 3.89291660e+02] [-3.75646060e-01 9.26763198e-01 1.14806424e-04 -6.57202039e+01] [ 3.14530803e-04 3.61024112e-06 9.99999951e-01 -2.91607254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters 0.05064796453422066 Centerline is valid? [True, True] Translation: X:389.35, Y:-65.74, Z:-2.92 [[ 9.26545986e-01 3.76180239e-01 9.82193275e-04 3.89348470e+02] [-3.76180046e-01 9.26546506e-01 -3.80860506e-04 -6.57449473e+01] [-1.05331994e-03 -1.65967393e-05 9.99999445e-01 -2.91622399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters 0.05084395393437416 Centerline is valid? [True, True] Translation: X:389.41, Y:-65.77, Z:-2.92 [[ 9.26479634e-01 3.76340651e-01 1.78944976e-03 3.89405179e+02] [-3.76340010e-01 9.26481362e-01 -6.94958210e-04 -6.57694782e+01] [-1.91943288e-03 -2.95769136e-05 9.99998157e-01 -2.91601874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters 0.050824574850492715 Centerline is valid? [True, True] Translation: X:389.46, Y:-65.79, Z:-2.92 [[ 9.26369089e-01 3.76604852e-01 3.01594380e-03 3.89461000e+02] [-3.76603031e-01 9.26373997e-01 -1.17228945e-03 -6.57941730e+01] [-3.23538181e-03 -4.98408713e-05 9.99994765e-01 -2.91674660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters 0.05108550041328716 Centerline is valid? [True, True] Translation: X:389.52, Y:-65.82, Z:-2.92 [[ 9.25825114e-01 3.77935609e-01 3.54020170e-03 3.89517445e+02] [-3.77933106e-01 9.25831881e-01 -1.37678446e-03 -6.58178961e+01] [-3.79796747e-03 -6.32977954e-05 9.99992786e-01 -2.91701884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters 0.05148951467643618 Centerline is valid? [True, True] Translation: X:389.57, Y:-65.85, Z:-2.92 [[ 9.25316302e-01 3.79194341e-01 1.18032325e-03 3.89572945e+02] [-3.79194065e-01 9.25317054e-01 -4.58497026e-04 -6.58453076e+01] [-1.26603271e-03 -2.33167985e-05 9.99999198e-01 -2.91838760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters 0.05092756725991831 Centerline is valid? [True, True] Translation: X:389.63, Y:-65.86, Z:-2.92 [[ 9.24936305e-01 3.80118419e-01 -1.67892620e-03 3.89632174e+02] [-3.80117857e-01 9.24937828e-01 6.54353998e-04 -6.58615660e+01] [ 1.80163436e-03 3.29540589e-05 9.99998377e-01 -2.92287575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters 0.05113883016269836 Centerline is valid? [True, True] Translation: X:389.69, Y:-65.88, Z:-2.92 [[ 9.24348383e-01 3.81546855e-01 -1.43694932e-03 3.89690518e+02] [-3.81546445e-01 9.24349499e-01 5.60274873e-04 -6.58817129e+01] [ 1.54201450e-03 3.03737321e-05 9.99998811e-01 -2.92243148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters 0.050991364764425645 Centerline is valid? [True, True] Translation: X:389.75, Y:-65.90, Z:-2.92 [[ 9.23705388e-01 3.83103416e-01 -3.59076851e-04 3.89749383e+02] [-3.83103391e-01 9.23705458e-01 1.40684060e-04 -6.59017178e+01] [ 3.85577791e-04 7.61293470e-06 9.99999926e-01 -2.92127715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters 0.05131845076882273 Centerline is valid? [True, True] Translation: X:389.80, Y:-65.93, Z:-2.92 [[ 9.24665370e-01 3.80780714e-01 4.66767841e-05 3.89803925e+02] [-3.80780713e-01 9.24665371e-01 -1.80529479e-05 -6.59310073e+01] [-5.00346204e-05 -1.08068342e-06 9.99999999e-01 -2.91921381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters 0.050549531476285256 Centerline is valid? [True, True] Translation: X:389.86, Y:-65.95, Z:-2.92 [[ 9.25603029e-01 3.78495352e-01 5.49312489e-04 3.89860431e+02] [-3.78495292e-01 9.25603191e-01 -2.13846561e-04 -6.59534358e+01] [-5.89385322e-04 -9.97516685e-06 9.99999826e-01 -2.91977764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters 0.05170564519921428 Centerline is valid? [True, True] Translation: X:389.92, Y:-65.98, Z:-2.92 [[ 9.27542396e-01 3.73716278e-01 1.11692963e-03 3.89916799e+02] [-3.73716025e-01 9.27543068e-01 -4.35002948e-04 -6.59760601e+01] [-1.19856802e-03 -1.39308265e-05 9.99999282e-01 -2.92050743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters 0.050973886984933166 Centerline is valid? [True, True] Translation: X:389.97, Y:-66.00, Z:-2.92 [[ 9.29019074e-01 3.70028627e-01 1.54104457e-03 3.89972492e+02] [-3.70028140e-01 9.29020352e-01 -6.00154462e-04 -6.60014100e+01] [-1.65373610e-03 -1.26749133e-05 9.99998632e-01 -2.91990513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters 0.0508523631349879 Centerline is valid? [True, True] Translation: X:390.03, Y:-66.02, Z:-2.92 [[ 9.30605446e-01 3.66018304e-01 2.02617314e-03 3.90029604e+02] [-3.66017455e-01 9.30607651e-01 -7.88748703e-04 -6.60242277e+01] [-2.17426869e-03 -7.60089735e-06 9.99997636e-01 -2.92119933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters 0.05124515530273161 Centerline is valid? [True, True] Translation: X:390.09, Y:-66.05, Z:-2.92 [[ 9.31272958e-01 3.64315262e-01 2.25113919e-03 3.90085676e+02] [-3.64314207e-01 9.31275679e-01 -8.76715131e-04 -6.60479003e+01] [-2.41583188e-03 -3.66089343e-06 9.99997082e-01 -2.91996435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters 0.05127556533628085 Centerline is valid? [True, True] Translation: X:390.14, Y:-66.07, Z:-2.92 [[ 9.31848897e-01 3.62842936e-01 1.62363855e-03 3.90144452e+02] [-3.62842385e-01 9.31850312e-01 -6.32357691e-04 -6.60703001e+01] [-1.74243461e-03 1.36932691e-07 9.99998482e-01 -2.92285555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters 0.0515530358154092 Centerline is valid? [True, True] Translation: X:390.20, Y:-66.09, Z:-2.92 [[ 9.32422667e-01 3.61366924e-01 1.38434400e-03 3.90202034e+02] [-3.61366522e-01 9.32423695e-01 -5.39252409e-04 -6.60926047e+01] [-1.48566313e-03 2.55559456e-06 9.99998896e-01 -2.92286739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters 0.05126334870762019 Centerline is valid? [True, True] Translation: X:390.26, Y:-66.12, Z:-2.92 [[ 9.32725349e-01 3.60579898e-01 2.35795423e-03 3.90259569e+02] [-3.60578727e-01 9.32728330e-01 -9.19312534e-04 -6.61157225e+01] [-2.53081633e-03 7.23797088e-06 9.99996797e-01 -2.92461869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters 0.05169634346640046 Centerline is valid? [True, True] Translation: X:390.32, Y:-66.14, Z:-2.92 [[ 9.32620966e-01 3.60847701e-01 2.65909042e-03 3.90317481e+02] [-3.60846212e-01 9.32624756e-01 -1.03687887e-03 -6.61365548e+01] [-2.85408891e-03 7.49226849e-06 9.99995927e-01 -2.92405247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters 0.05078519777535008 Centerline is valid? [True, True] Translation: X:390.38, Y:-66.15, Z:-2.93 [[ 9.29143691e-01 3.69704050e-01 3.30392882e-03 3.90377914e+02] [-3.69701804e-01 9.29149565e-01 -1.28897195e-03 -6.61523057e+01] [-3.54638218e-03 -2.38282861e-05 9.99993711e-01 -2.92616054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters 0.05063599169090749 Centerline is valid? [True, True] Translation: X:390.44, Y:-66.17, Z:-2.93 [[ 9.27373157e-01 3.74133169e-01 1.84362446e-03 3.90436873e+02] [-3.74132479e-01 9.27374989e-01 -7.18821644e-04 -6.61693447e+01] [-1.97866623e-03 -2.31438935e-05 9.99998042e-01 -2.92834451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters 0.050685270529698165 Centerline is valid? [True, True] Translation: X:390.49, Y:-66.19, Z:-2.93 [[ 9.26828429e-01 3.75481134e-01 1.72670194e-03 3.90494615e+02] [-3.75480531e-01 9.26830037e-01 -6.73345149e-04 -6.61923480e+01] [-1.85318762e-03 -2.42675329e-05 9.99998283e-01 -2.92874466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters 0.051302896115252336 Centerline is valid? [True, True] Translation: X:390.55, Y:-66.21, Z:-2.93 [[ 9.26481371e-01 3.76338271e-01 1.33230005e-03 3.90551476e+02] [-3.76337912e-01 9.26482329e-01 -5.20084993e-04 -6.62134600e+01] [-1.43008034e-03 -1.95459624e-05 9.99998977e-01 -2.92943240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters 0.05151926264551909 Centerline is valid? [True, True] Translation: X:390.61, Y:-66.24, Z:-2.93 [[ 9.26087320e-01 3.77304497e-01 1.89535337e-03 3.90608933e+02] [-3.77303774e-01 9.26089259e-01 -7.39508207e-04 -6.62359136e+01] [-2.03428617e-03 -3.02748064e-05 9.99997930e-01 -2.92930792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters 0.05028235489640643 Centerline is valid? [True, True] Translation: X:390.67, Y:-66.26, Z:-2.93 [[ 9.26270351e-01 3.76851604e-01 2.47088249e-03 3.90666593e+02] [-3.76850370e-01 9.26273646e-01 -9.64919065e-04 -6.62567159e+01] [-2.65234463e-03 -3.73770610e-05 9.99996482e-01 -2.92984329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters 0.050807862170569526 Centerline is valid? [True, True] Translation: X:390.72, Y:-66.28, Z:-2.93 [[ 9.27480283e-01 3.73851227e-01 3.94780339e-03 3.90721847e+02] [-3.73848047e-01 9.27488684e-01 -1.54247697e-03 -6.62804302e+01] [-4.23819988e-03 -4.52616087e-05 9.99991018e-01 -2.92976754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters 0.051094373909726896 Centerline is valid? [True, True] Translation: X:390.78, Y:-66.30, Z:-2.93 [[ 9.28344689e-01 3.71700240e-01 3.88204641e-03 3.90779499e+02] [-3.71697148e-01 9.28352805e-01 -1.51670470e-03 -6.63028284e+01] [-4.16766817e-03 -3.49208195e-05 9.99991315e-01 -2.93083475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters 0.05066519847210436 Centerline is valid? [True, True] Translation: X:390.84, Y:-66.33, Z:-2.93 [[ 9.29167391e-01 3.69644076e-01 3.34917811e-03 3.90837187e+02] [-3.69641761e-01 9.29173427e-01 -1.30832636e-03 -6.63260464e+01] [-3.59558239e-03 -2.23419027e-05 9.99993536e-01 -2.93248515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters 0.05091953767967512 Centerline is valid? [True, True] Translation: X:390.90, Y:-66.35, Z:-2.93 [[ 9.29258704e-01 3.69420758e-01 2.56193697e-03 3.90895973e+02] [-3.69419403e-01 9.29262236e-01 -1.00088296e-03 -6.63471988e+01] [-2.75045822e-03 -1.63500228e-05 9.99996217e-01 -2.93409406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters 0.05108664461198042 Centerline is valid? [True, True] Translation: X:390.96, Y:-66.37, Z:-2.93 [[ 9.29024547e-01 3.70010890e-01 2.30916121e-03 3.90955007e+02] [-3.70009791e-01 9.29027417e-01 -9.02320899e-04 -6.63702482e+01] [-2.47914263e-03 -1.61339918e-05 9.99996927e-01 -2.93454517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters 0.05153446092526889 Centerline is valid? [True, True] Translation: X:391.01, Y:-66.39, Z:-2.94 [[ 9.28734597e-01 3.70736085e-01 2.60842369e-03 3.91013504e+02] [-3.70734683e-01 9.28738260e-01 -1.01978399e-03 -6.63927371e+01] [-2.80061360e-03 -1.99244584e-05 9.99996078e-01 -2.93505987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters 0.05114101065627379 Centerline is valid? [True, True] Translation: X:391.07, Y:-66.42, Z:-2.94 [[ 9.28389541e-01 3.71599676e-01 2.55765117e-03 3.91071121e+02] [-3.71598330e-01 9.28393063e-01 -1.00039341e-03 -6.64150652e+01] [-2.74625147e-03 -2.16641223e-05 9.99996229e-01 -2.93505857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters 0.05154441503232341 Centerline is valid? [True, True] Translation: X:391.13, Y:-66.44, Z:-2.94 [[ 9.27976393e-01 3.72636537e-01 1.35128314e-03 3.91127720e+02] [-3.72636162e-01 9.27977376e-01 -5.28661828e-04 -6.64367655e+01] [-1.45095890e-03 -1.29512671e-05 9.99998947e-01 -2.93583329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters 0.051202953598927 Centerline is valid? [True, True] Translation: X:391.19, Y:-66.46, Z:-2.94 [[ 9.27620991e-01 3.73519913e-01 1.47341349e-03 3.91185583e+02] [-3.73519469e-01 9.27622161e-01 -5.76228230e-04 -6.64595461e+01] [-1.58200372e-03 -1.58272208e-05 9.99998749e-01 -2.93578742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters 0.05074230099998496 Centerline is valid? [True, True] Translation: X:391.24, Y:-66.48, Z:-2.94 [[ 9.27098544e-01 3.74814504e-01 1.54211747e-03 3.91243365e+02] [-3.74814019e-01 9.27099826e-01 -6.03349236e-04 -6.64833864e+01] [-1.65584088e-03 -1.86430475e-05 9.99998629e-01 -2.93509396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters 0.05109615329823986 Centerline is valid? [True, True] Translation: X:391.30, Y:-66.51, Z:-2.94 [[ 9.27166937e-01 3.74644116e-01 1.80467350e-03 3.91300670e+02] [-3.74643451e-01 9.27168693e-01 -7.06453134e-04 -6.65071180e+01] [-1.93790528e-03 -2.11091195e-05 9.99998122e-01 -2.93538904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters 0.05165245086854116 Centerline is valid? [True, True] Translation: X:391.36, Y:-66.53, Z:-2.94 [[ 9.27700409e-01 3.73315548e-01 2.72993066e-03 3.91357325e+02] [-3.73314017e-01 9.27704425e-01 -1.06953333e-03 -6.65295032e+01] [-2.93184218e-03 -2.69148724e-05 9.99995702e-01 -2.93529344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters 0.05108748656197067 Centerline is valid? [True, True] Translation: X:391.41, Y:-66.55, Z:-2.93 [[ 9.28425266e-01 3.71500462e-01 3.73260672e-03 3.91414939e+02] [-3.71497582e-01 9.28432769e-01 -1.46310556e-03 -6.65535311e+01] [-4.00901878e-03 -2.82702038e-05 9.99991963e-01 -2.93446066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters 0.0515374858476337 Centerline is valid? [True, True] Translation: X:391.47, Y:-66.58, Z:-2.93 [[ 9.29785335e-01 3.68086317e-01 3.41975075e-03 3.91472146e+02] [-3.68083875e-01 9.29791624e-01 -1.34083072e-03 -6.65781237e+01] [-3.67319704e-03 -1.20703704e-05 9.99993254e-01 -2.93409799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters 0.051700743299215625 Centerline is valid? [True, True] Translation: X:391.53, Y:-66.60, Z:-2.93 [[ 9.30730152e-01 3.65692993e-01 3.16534113e-03 3.91529624e+02] [-3.65690886e-01 9.30735534e-01 -1.24140772e-03 -6.66008511e+01] [-3.40006957e-03 -2.12081059e-06 9.99994220e-01 -2.93455781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters 0.0516365981355947 Centerline is valid? [True, True] Translation: X:391.59, Y:-66.62, Z:-2.94 [[ 9.30962055e-01 3.65105714e-01 2.73324943e-03 3.91587683e+02] [-3.65104139e-01 9.30966067e-01 -1.07225693e-03 -6.66226091e+01] [-2.93604961e-03 3.09830349e-07 9.99995690e-01 -2.93593491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters 0.051749229443893555 Centerline is valid? [True, True] Translation: X:391.65, Y:-66.64, Z:-2.94 [[ 9.31085267e-01 3.64799737e-01 1.17359295e-03 3.91645990e+02] [-3.64799446e-01 9.31086007e-01 -4.60532982e-04 -6.66437508e+01] [-1.26071828e-03 6.69418031e-07 9.99999205e-01 -2.93533316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters 0.051703498689749786 Centerline is valid? [True, True] Translation: X:391.70, Y:-66.67, Z:-2.94 [[ 9.31012680e-01 3.64985118e-01 1.11949225e-03 3.91704315e+02] [-3.64984854e-01 9.31013353e-01 -4.38744453e-04 -6.66656247e+01] [-1.20239743e-03 -1.21066628e-07 9.99999277e-01 -2.93616561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters 0.052326817339500405 Centerline is valid? [True, True] Translation: X:391.76, Y:-66.69, Z:-2.93 [[ 9.30882147e-01 3.65318097e-01 1.05655476e-03 3.91762098e+02] [-3.65317862e-01 9.30882747e-01 -4.14245662e-04 -6.66867673e+01] [-1.13486004e-03 -3.64436093e-07 9.99999356e-01 -2.93308403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters 0.0516542938506624 Centerline is valid? [True, True] Translation: X:391.82, Y:-66.71, Z:-2.94 [[ 9.30956019e-01 3.65128796e-01 1.36143506e-03 3.91820498e+02] [-3.65128405e-01 9.30957014e-01 -5.34761610e-04 -6.67091968e+01] [-1.46269438e-03 7.40928559e-07 9.99998930e-01 -2.93500870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters 0.052326722755956276 Centerline is valid? [True, True] Translation: X:391.88, Y:-66.73, Z:-2.93 [[ 9.30596972e-01 3.66042693e-01 1.42237755e-03 3.91879091e+02] [-3.66042267e-01 9.30598059e-01 -5.58195577e-04 -6.67312908e+01] [-1.52798520e-03 -1.19519128e-06 9.99998833e-01 -2.93431381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters 0.05197836380755133 Centerline is valid? [True, True] Translation: X:391.94, Y:-66.75, Z:-2.93 [[ 9.29267845e-01 3.69402491e-01 1.75259608e-03 3.91938401e+02] [-3.69401850e-01 9.29269498e-01 -6.88298175e-04 -6.67516634e+01] [-1.88289314e-03 -7.79887376e-06 9.99998227e-01 -2.93438360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters 0.052034968480379924 Centerline is valid? [True, True] Translation: X:392.00, Y:-66.77, Z:-2.93 [[ 9.28008572e-01 3.72556902e-01 1.20219538e-03 3.91997210e+02] [-3.72556603e-01 9.28009351e-01 -4.72106000e-04 -6.67721466e+01] [-1.29153490e-03 -9.76741143e-06 9.99999166e-01 -2.93495082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters 0.052232853856858705 Centerline is valid? [True, True] Translation: X:392.06, Y:-66.79, Z:-2.94 [[ 9.25896183e-01 3.77778041e-01 1.04267922e-04 3.92055038e+02] [-3.77778039e-01 9.25896189e-01 -4.10262187e-05 -6.67889526e+01] [-1.12040077e-04 -1.40411193e-06 9.99999994e-01 -2.93714931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters 0.05243709513661953 Centerline is valid? [True, True] Translation: X:392.11, Y:-66.81, Z:-2.94 [[ 9.24232270e-01 3.81828724e-01 -1.23996137e-03 3.92111665e+02] [-3.81828412e-01 9.24233101e-01 4.88078008e-04 -6.68113727e+01] [ 1.33237554e-03 2.23550342e-05 9.99999112e-01 -2.93642352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters 0.051625894479501985 Centerline is valid? [True, True] Translation: X:392.17, Y:-66.83, Z:-2.94 [[ 9.23149528e-01 3.84437585e-01 -1.64074431e-03 3.92169084e+02] [-3.84437044e-01 9.23150986e-01 6.45812029e-04 -6.68329319e+01] [ 1.76292914e-03 3.45818218e-05 9.99998445e-01 -2.93652563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters 0.05148536150039041 Centerline is valid? [True, True] Translation: X:392.23, Y:-66.86, Z:-2.94 [[ 9.22844031e-01 3.85167051e-01 -2.28825852e-03 3.92226970e+02] [-3.85165999e-01 9.22846867e-01 9.01658064e-04 -6.68559367e+01] [ 2.45900118e-03 4.92696152e-05 9.99996975e-01 -2.93684233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters 0.0525355778271223 Centerline is valid? [True, True] Translation: X:392.28, Y:-66.88, Z:-2.94 [[ 9.21987676e-01 3.87206277e-01 -3.16631040e-03 3.92284218e+02] [-3.87204278e-01 9.21993109e-01 1.24659014e-03 -6.68763249e+01] [ 3.40200389e-03 7.66681791e-05 9.99994210e-01 -2.93841530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters 0.05199105371330427 Centerline is valid? [True, True] Translation: X:392.34, Y:-66.90, Z:-2.94 [[ 9.21416380e-01 3.88562229e-01 -3.35384922e-03 3.92341536e+02] [-3.88559990e-01 9.21422480e-01 1.32162310e-03 -6.69001600e+01] [ 3.60384488e-03 8.54064490e-05 9.99993502e-01 -2.93825998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters 0.05216204846320236 Centerline is valid? [True, True] Translation: X:392.40, Y:-66.92, Z:-2.94 [[ 9.20994981e-01 3.89557717e-01 -3.60970375e-03 3.92399027e+02] [-3.89555130e-01 9.21002050e-01 1.42283576e-03 -6.69240393e+01] [ 3.87882120e-03 9.57540163e-05 9.99992473e-01 -2.93810498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters 0.05200527607231312 Centerline is valid? [True, True] Translation: X:392.46, Y:-66.95, Z:-2.94 [[ 9.20714883e-01 3.90220984e-01 -3.41867135e-03 3.92455778e+02] [-3.90218667e-01 9.20721225e-01 1.34804901e-03 -6.69504456e+01] [ 3.67368029e-03 9.28605876e-05 9.99993248e-01 -2.93634265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters 0.05215566547285777 Centerline is valid? [True, True] Translation: X:392.51, Y:-66.97, Z:-2.94 [[ 9.20455546e-01 3.90835486e-01 -3.03484504e-03 3.92512726e+02] [-3.90833665e-01 9.20460545e-01 1.19620072e-03 -6.69712788e+01] [ 3.26097281e-03 8.50700207e-05 9.99994679e-01 -2.93822516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters 0.052011025399729405 Centerline is valid? [True, True] Translation: X:392.57, Y:-66.99, Z:-2.94 [[ 9.20349715e-01 3.91087154e-01 -2.69078304e-03 3.92571011e+02] [-3.91085720e-01 9.20353645e-01 1.06170893e-03 -6.69934745e+01] [ 2.89169271e-03 7.51833187e-05 9.99995816e-01 -2.93945511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters 0.05235515812651298 Centerline is valid? [True, True] Translation: X:392.63, Y:-67.02, Z:-2.94 [[ 9.20380957e-01 3.91017282e-01 -2.09251665e-03 3.92627038e+02] [-3.91016414e-01 9.20383334e-01 8.25657467e-04 -6.70222748e+01] [ 2.24876379e-03 5.82889474e-05 9.99997470e-01 -2.93823978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters 0.05168161866544885 Centerline is valid? [True, True] Translation: X:392.68, Y:-67.05, Z:-2.94 [[ 9.20116383e-01 3.91640887e-01 -1.80499840e-03 3.92684236e+02] [-3.91640242e-01 9.20118152e-01 7.12336431e-04 -6.70450408e+01] [ 1.93979186e-03 5.14775903e-05 9.99998117e-01 -2.93834896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters 0.051229707298466876 Centerline is valid? [True, True] Translation: X:392.74, Y:-67.07, Z:-2.94 [[ 9.19866966e-01 3.92229361e-01 -9.45299550e-04 3.92741804e+02] [-3.92229184e-01 9.19867451e-01 3.73812026e-04 -6.70692969e+01] [ 1.01617034e-03 2.69167374e-05 9.99999483e-01 -2.93820230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters 0.05138338079676447 Centerline is valid? [True, True] Translation: X:392.80, Y:-67.09, Z:-2.94 [[ 9.19408371e-01 3.93303319e-01 -8.63611620e-04 3.92799608e+02] [-3.93303172e-01 9.19408777e-01 3.41193890e-04 -6.70880271e+01] [ 9.28204793e-04 2.59646705e-05 9.99999569e-01 -2.93937393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters 0.05129199591714209 Centerline is valid? [True, True] Translation: X:392.86, Y:-67.11, Z:-2.94 [[ 9.17847612e-01 3.96930029e-01 -1.52100213e-03 3.92856327e+02] [-3.96929578e-01 9.17848871e-01 6.00330784e-04 -6.71119384e+01] [ 1.63433940e-03 5.27185580e-05 9.99998663e-01 -2.93975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters 0.05161683804229438 Centerline is valid? [True, True] Translation: X:392.91, Y:-67.14, Z:-2.94 [[ 9.16561057e-01 3.99889187e-01 -2.11363147e-03 3.92912677e+02] [-3.99888325e-01 9.16563490e-01 8.34249247e-04 -6.71361890e+01] [ 2.27088469e-03 8.05761791e-05 9.99997418e-01 -2.94013463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters 0.05331294866224428 Centerline is valid? [True, True] Translation: X:392.97, Y:-67.15, Z:-2.94 [[ 9.15246058e-01 4.02889139e-01 -2.23491848e-03 3.92972929e+02] [-4.02888184e-01 9.15248782e-01 8.82253361e-04 -6.71464906e+01] [ 2.40095671e-03 9.29433362e-05 9.99997113e-01 -2.94353795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters 0.05185916263001163 Centerline is valid? [True, True] Translation: X:393.03, Y:-67.18, Z:-2.94 [[ 9.15199773e-01 4.02997055e-01 -1.65779848e-03 3.93027188e+02] [-4.02996528e-01 9.15201272e-01 6.55311526e-04 -6.71779034e+01] [ 1.78130789e-03 6.83460719e-05 9.99998411e-01 -2.94051938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters 0.051926046453583834 Centerline is valid? [True, True] Translation: X:393.08, Y:-67.20, Z:-2.94 [[ 9.15408137e-01 4.02526439e-01 6.40097708e-04 3.93084532e+02] [-4.02526360e-01 9.15408360e-01 -2.52585446e-04 -6.71992242e+01] [-6.87623113e-04 -2.64374278e-05 9.99999763e-01 -2.94046764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters 0.05140843662685649 Centerline is valid? [True, True] Translation: X:393.14, Y:-67.22, Z:-2.94 [[ 9.15505253e-01 4.02302287e-01 1.73267607e-03 3.93144387e+02] [-4.02301712e-01 9.15506890e-01 -6.83825312e-04 -6.72155567e+01] [-1.86138137e-03 -7.10128852e-05 9.99998265e-01 -2.94162238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters 0.051020056165389946 Centerline is valid? [True, True] Translation: X:393.20, Y:-67.24, Z:-2.94 [[ 9.15487381e-01 4.02341448e-01 2.05284409e-03 3.93199686e+02] [-4.02340642e-01 9.15489679e-01 -8.09925620e-04 -6.72447476e+01] [-2.20522423e-03 -8.44659261e-05 9.99997565e-01 -2.94137581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters 0.05157040282791179 Centerline is valid? [True, True] Translation: X:393.26, Y:-67.26, Z:-2.94 [[ 9.15273721e-01 4.02829032e-01 1.66953170e-03 3.93258463e+02] [-4.02828499e-01 9.15275241e-01 -6.58797874e-04 -6.72620129e+01] [-1.79346393e-03 -6.95545664e-05 9.99998389e-01 -2.94272714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters 0.052485855609262416 Centerline is valid? [True, True] Translation: X:393.32, Y:-67.28, Z:-2.95 [[ 9.15289107e-01 4.02796343e-01 9.77882981e-04 3.93320241e+02] [-4.02796160e-01 9.15289629e-01 -3.85826868e-04 -6.72752402e+01] [-1.05045580e-03 -4.07443802e-05 9.99999447e-01 -2.94531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters 0.05116087437115698 Centerline is valid? [True, True] Translation: X:393.37, Y:-67.31, Z:-2.94 [[ 9.15886700e-01 4.01435979e-01 8.41577630e-04 3.93374080e+02] [-4.01435842e-01 9.15887086e-01 -3.32334472e-04 -6.73076245e+01] [-9.04201097e-04 -3.34587022e-05 9.99999591e-01 -2.94384907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters 0.05181926186736408 Centerline is valid? [True, True] Translation: X:393.43, Y:-67.33, Z:-2.95 [[ 9.17404082e-01 3.97955003e-01 1.25145787e-03 3.93432217e+02] [-3.97954698e-01 9.17404934e-01 -4.94510476e-04 -6.73253548e+01] [-1.34488655e-03 -4.43576109e-05 9.99999095e-01 -2.94506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters 0.052232688111447594 Centerline is valid? [True, True] Translation: X:393.49, Y:-67.35, Z:-2.95 [[ 9.18368459e-01 3.95724471e-01 1.23177126e-03 3.93489964e+02] [-3.95724173e-01 9.18369284e-01 -4.86717039e-04 -6.73471479e+01] [-1.32382674e-03 -4.04560875e-05 9.99999123e-01 -2.94578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters 0.05190495526855361 Centerline is valid? [True, True] Translation: X:393.55, Y:-67.37, Z:-2.95 [[ 9.19698713e-01 3.92624471e-01 5.49474363e-04 3.93546944e+02] [-3.92624411e-01 9.19698877e-01 -2.17196104e-04 -6.73653586e+01] [-5.90627460e-04 -1.59820713e-05 9.99999825e-01 -2.94746027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters 0.05240404874982159 Centerline is valid? [True, True] Translation: X:393.61, Y:-67.39, Z:-2.95 [[ 9.20153773e-01 3.91557163e-01 -1.48931108e-04 3.93605536e+02] [-3.91557158e-01 9.20153785e-01 5.97255598e-05 -6.73869328e+01] [ 1.60425493e-04 3.35834206e-06 9.99999987e-01 -2.94863946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters 0.052045521818649895 Centerline is valid? [True, True] Translation: X:393.66, Y:-67.41, Z:-2.95 [[ 9.20526998e-01 3.90678713e-01 -4.35347740e-04 3.93662847e+02] [-3.90678675e-01 9.20527101e-01 1.73058533e-04 -6.74115066e+01] [ 4.68359677e-04 1.07760266e-05 9.99999890e-01 -2.94830149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters 0.05214650504759082 Centerline is valid? [True, True] Translation: X:393.72, Y:-67.43, Z:-2.95 [[ 9.20692450e-01 3.90288425e-01 -5.97615484e-04 3.93720889e+02] [-3.90288353e-01 9.20692644e-01 2.36899982e-04 -6.74299483e+01] [ 6.42679501e-04 1.51303388e-05 9.99999793e-01 -2.94982926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters 0.05241386491389687 Centerline is valid? [True, True] Translation: X:393.78, Y:-67.45, Z:-2.95 [[ 9.21317458e-01 3.88810725e-01 6.01855240e-04 3.93777276e+02] [-3.88810652e-01 9.21317654e-01 -2.37958654e-04 -6.74538073e+01] [-6.47020735e-04 -1.47722660e-05 9.99999791e-01 -2.94890665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters 0.05280435354377221 Centerline is valid? [True, True] Translation: X:393.84, Y:-67.47, Z:-2.95 [[ 9.22530889e-01 3.85916601e-01 2.26612499e-03 3.93835490e+02] [-3.85915563e-01 9.22533671e-01 -8.96348548e-04 -6.74709357e+01] [-2.43649239e-03 -4.76236781e-05 9.99997031e-01 -2.94998637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters 0.05236125898794284 Centerline is valid? [True, True] Translation: X:393.89, Y:-67.50, Z:-2.95 [[ 9.23560058e-01 3.83443656e-01 2.78964656e-03 3.93891765e+02] [-3.83442071e-01 9.23564270e-01 -1.10353462e-03 -6.74951253e+01] [-2.99956124e-03 -5.04873631e-05 9.99995500e-01 -2.94950730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters 0.05265261849085066 Centerline is valid? [True, True] Translation: X:393.95, Y:-67.52, Z:-2.95 [[ 9.24933111e-01 3.80121011e-01 2.59928900e-03 3.93947728e+02] [-3.80119622e-01 9.24936763e-01 -1.02826685e-03 -6.75197385e+01] [-2.79504379e-03 -3.69626945e-05 9.99996093e-01 -2.94932549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters 0.052210383243527995 Centerline is valid? [True, True] Translation: X:394.01, Y:-67.54, Z:-2.95 [[ 9.25605755e-01 3.78485320e-01 1.68789974e-03 3.94005160e+02] [-3.78484732e-01 9.25607294e-01 -6.67157920e-04 -6.75413131e+01] [-1.81484178e-03 -2.13190694e-05 9.99998353e-01 -2.95001215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters 0.05227070706387009 Centerline is valid? [True, True] Translation: X:394.06, Y:-67.56, Z:-2.95 [[ 9.27109003e-01 3.74790037e-01 1.15094451e-03 3.94064591e+02] [-3.74789761e-01 9.27109717e-01 -4.55192391e-04 -6.75616659e+01] [-1.23765341e-03 -9.34925403e-06 9.99999234e-01 -2.95278526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters 0.05265863347252028 Centerline is valid? [True, True] Translation: X:394.12, Y:-67.58, Z:-2.95 [[ 9.28240219e-01 3.71980615e-01 7.19587409e-04 3.94121284e+02] [-3.71980506e-01 9.28240498e-01 -2.84085581e-04 -6.75837407e+01] [-7.73624504e-04 -3.97282721e-06 9.99999701e-01 -2.95470985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters 0.05256570534485984 Centerline is valid? [True, True] Translation: X:394.18, Y:-67.61, Z:-2.96 [[ 9.30143607e-01 3.67195576e-01 5.29110948e-04 3.94178442e+02] [-3.67195517e-01 9.30143757e-01 -2.08679715e-04 -6.76079503e+01] [-5.68775513e-04 -1.85065172e-07 9.99999838e-01 -2.95552539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters 0.05311729968598292 Centerline is valid? [True, True] Translation: X:394.24, Y:-67.63, Z:-2.95 [[ 9.31004537e-01 3.65006480e-01 9.06107581e-04 3.94236097e+02] [-3.65006304e-01 9.31004978e-01 -3.58607165e-04 -6.76308398e+01] [-9.74484608e-04 3.12991862e-06 9.99999525e-01 -2.95478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters 0.05328591501683646 Centerline is valid? [True, True] Translation: X:394.30, Y:-67.65, Z:-2.95 [[ 9.31152559e-01 3.64626789e-01 1.48879760e-03 3.94295305e+02] [-3.64626313e-01 9.31153749e-01 -5.88983728e-04 -6.76508300e+01] [-1.60105871e-03 5.57892591e-06 9.99998718e-01 -2.95164061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters 0.053111376799950163 Centerline is valid? [True, True] Translation: X:394.35, Y:-67.67, Z:-2.95 [[ 9.30413461e-01 3.66504158e-01 2.34383677e-03 3.94353600e+02] [-3.66502981e-01 9.30416413e-01 -9.28583242e-04 -6.76719914e+01] [-2.52107382e-03 4.94318313e-06 9.99996822e-01 -2.95416076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters 0.05239112315352301 Centerline is valid? [True, True] Translation: X:394.41, Y:-67.69, Z:-2.95 [[ 9.28132764e-01 3.72243702e-01 2.04912538e-03 3.94413097e+02] [-3.72242818e-01 9.28135026e-01 -8.11449706e-04 -6.76892616e+01] [-2.20392208e-03 -9.63914620e-06 9.99997571e-01 -2.95498928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters 0.05315519929240675 Centerline is valid? [True, True] Translation: X:394.47, Y:-67.71, Z:-2.96 [[ 9.25552571e-01 3.78615106e-01 1.74377004e-03 3.94471886e+02] [-3.78614476e-01 9.25554213e-01 -6.90691660e-04 -6.77063687e+01] [-1.87546000e-03 -2.09451390e-05 9.99998241e-01 -2.95589074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters 0.05294108050064081 Centerline is valid? [True, True] Translation: X:394.53, Y:-67.72, Z:-2.96 [[ 9.24118348e-01 3.82104788e-01 1.10011722e-03 3.94530491e+02] [-3.82104541e-01 9.24119002e-01 -4.35592109e-04 -6.77242294e+01] [-1.18308106e-03 -1.78211253e-05 9.99999300e-01 -2.95656782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters 0.052608111463036046 Centerline is valid? [True, True] Translation: X:394.59, Y:-67.75, Z:-2.96 [[ 9.23495829e-01 3.83606563e-01 1.20821939e-03 3.94588175e+02] [-3.83606265e-01 9.23496619e-01 -4.78562755e-04 -6.77474573e+01] [-1.29936633e-03 -2.15298181e-05 9.99999156e-01 -2.95608482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters 0.05278984833728902 Centerline is valid? [True, True] Translation: X:394.65, Y:-67.77, Z:-2.96 [[ 9.22437960e-01 3.86136254e-01 2.64646161e-03 3.94647063e+02] [-3.86134831e-01 9.22441755e-01 -1.04972204e-03 -6.77656583e+01] [-2.84654243e-03 -5.35875476e-05 9.99995947e-01 -2.95592861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters 0.052828344440894404 Centerline is valid? [True, True] Translation: X:394.71, Y:-67.79, Z:-2.96 [[ 9.22298239e-01 3.86464376e-01 3.35329111e-03 3.94706392e+02] [-3.86462091e-01 9.22304332e-01 -1.33066021e-03 -6.77852891e+01] [-3.60700769e-03 -6.86543266e-05 9.99993492e-01 -2.95638090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters 0.05289886305754187 Centerline is valid? [True, True] Translation: X:394.76, Y:-67.81, Z:-2.96 [[ 9.22751390e-01 3.85378287e-01 3.66720357e-03 3.94763414e+02] [-3.85375544e-01 9.22758674e-01 -1.45587447e-03 -6.78094886e+01] [-3.94500631e-03 -6.98403815e-05 9.99992216e-01 -2.95730684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters 0.05318140498355843 Centerline is valid? [True, True] Translation: X:394.82, Y:-67.83, Z:-2.96 [[ 9.23005252e-01 3.84775837e-01 2.97644726e-03 3.94820946e+02] [-3.84774026e-01 9.23010050e-01 -1.18186295e-03 -6.78328461e+01] [-3.20204304e-03 -5.43938835e-05 9.99994872e-01 -2.95828914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters 0.053235408967076625 Centerline is valid? [True, True] Translation: X:394.88, Y:-67.86, Z:-2.96 [[ 9.22958262e-01 3.84895523e-01 1.86604953e-03 3.94877217e+02] [-3.84894811e-01 9.22960148e-01 -7.40890391e-04 -6.78582171e+01] [-2.00745475e-03 -3.44218754e-05 9.99997984e-01 -2.95896538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters 0.05304427735862246 Centerline is valid? [True, True] Translation: X:394.93, Y:-67.88, Z:-2.96 [[ 9.22423387e-01 3.86179912e-01 -4.13698580e-04 3.94934516e+02] [-3.86179876e-01 9.22423480e-01 1.65346787e-04 -6.78791641e+01] [ 4.45458891e-04 7.24232275e-06 9.99999901e-01 -2.96185142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters 0.05280357327224201 Centerline is valid? [True, True] Translation: X:394.99, Y:-67.91, Z:-2.96 [[ 9.22130330e-01 3.86878418e-01 -8.63033198e-04 3.94990464e+02] [-3.86878265e-01 9.22130733e-01 3.44195116e-04 -6.79059387e+01] [ 9.28991098e-04 1.64960306e-05 9.99999568e-01 -2.96157382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters 0.052951262062739056 Centerline is valid? [True, True] Translation: X:395.05, Y:-67.93, Z:-2.96 [[ 9.22365126e-01 3.86319114e-01 -3.42015695e-04 3.95047490e+02] [-3.86319090e-01 9.22365189e-01 1.36384188e-04 -6.79319121e+01] [ 3.68151190e-04 6.33117307e-06 9.99999932e-01 -2.96129791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters 0.052842174215967624 Centerline is valid? [True, True] Translation: X:395.10, Y:-67.95, Z:-2.96 [[ 9.22687334e-01 3.85548871e-01 3.90289166e-04 3.95104005e+02] [-3.85548840e-01 9.22687416e-01 -1.54456653e-04 -6.79549214e+01] [-4.19665491e-04 -7.96033807e-06 9.99999912e-01 -2.96129041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters 0.05297293617124408 Centerline is valid? [True, True] Translation: X:395.16, Y:-67.98, Z:-2.96 [[ 9.23172565e-01 3.84384461e-01 1.00063574e-03 3.95160627e+02] [-3.84384256e-01 9.23173107e-01 -3.97466196e-04 -6.79784034e+01] [-1.07653983e-03 -1.76987362e-05 9.99999420e-01 -2.96185884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters 0.052565586318263524 Centerline is valid? [True, True] Translation: X:395.22, Y:-68.01, Z:-2.96 [[ 9.22994593e-01 3.84811562e-01 1.02111584e-03 3.95216808e+02] [-3.84811348e-01 9.22995158e-01 -4.05564456e-04 -6.80064123e+01] [-1.09855087e-03 -1.86031640e-05 9.99999396e-01 -2.96043924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters 0.05263810359640977 Centerline is valid? [True, True] Translation: X:395.27, Y:-68.03, Z:-2.96 [[ 9.21538696e-01 3.88284770e-01 1.17015611e-03 3.95272911e+02] [-3.88284491e-01 9.21539438e-01 -4.65958432e-04 -6.80271844e+01] [-1.25926956e-03 -2.49547430e-05 9.99999207e-01 -2.96183984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters 0.053175132969282356 Centerline is valid? [True, True] Translation: X:395.33, Y:-68.05, Z:-2.96 [[ 9.20118114e-01 3.91640963e-01 1.15071432e-04 3.95329415e+02] [-3.91640960e-01 9.20118121e-01 -4.57599259e-05 -6.80496133e+01] [-1.23800771e-04 -2.96214933e-06 9.99999992e-01 -2.96318153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters 0.05325739396719655 Centerline is valid? [True, True] Translation: X:395.39, Y:-68.07, Z:-2.96 [[ 9.18046126e-01 3.96472349e-01 -9.93380772e-04 3.95385712e+02] [-3.96472152e-01 9.18046663e-01 3.95897678e-04 -6.80693356e+01] [ 1.06893239e-03 3.03954828e-05 9.99999428e-01 -2.96463605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters 0.05300870547608914 Centerline is valid? [True, True] Translation: X:395.44, Y:-68.10, Z:-2.96 [[ 9.17071178e-01 3.98722926e-01 -6.94994858e-04 3.95441003e+02] [-3.98722830e-01 9.17071441e-01 2.76919368e-04 -6.80960840e+01] [ 7.47774036e-04 2.31555457e-05 9.99999720e-01 -2.96418857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters 0.05333339221530623 Centerline is valid? [True, True] Translation: X:395.50, Y:-68.12, Z:-2.96 [[ 9.16600933e-01 3.99803050e-01 5.00627283e-04 3.95497416e+02] [-3.99803001e-01 9.16601070e-01 -1.98647220e-04 -6.81193703e+01] [-5.38295267e-04 -1.80720629e-05 9.99999855e-01 -2.96355677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters 0.051996706521515765 Centerline is valid? [True, True] Translation: X:395.55, Y:-68.15, Z:-2.96 [[ 9.16471118e-01 4.00095551e-01 2.05926906e-03 3.95552718e+02] [-4.00094718e-01 9.16473428e-01 -8.19680538e-04 -6.81508755e+01] [-2.21521591e-03 -7.26891350e-05 9.99997544e-01 -2.96156624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters 0.05228592503386646 Centerline is valid? [True, True] Translation: X:395.61, Y:-68.17, Z:-2.96 [[ 9.16027255e-01 4.01101084e-01 3.46256338e-03 3.95609263e+02] [-4.01098731e-01 9.16033790e-01 -1.37954458e-03 -6.81736086e+01] [-3.72516188e-03 -1.25129342e-04 9.99993054e-01 -2.96173207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters 0.05515563351975018 Centerline is valid? [True, True] Translation: X:395.67, Y:-68.18, Z:-2.96 [[ 9.15430013e-01 4.02467869e-01 2.73977325e-03 3.95671385e+02] [-4.02466401e-01 9.15434107e-01 -1.09173948e-03 -6.81826152e+01] [-2.94747194e-03 -1.03255597e-04 9.99995651e-01 -2.96479490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters 0.05164869928275827 Centerline is valid? [True, True] Translation: X:395.72, Y:-68.22, Z:-2.96 [[ 9.14262180e-01 4.05120153e-01 1.52553137e-03 3.95721920e+02] [-4.05119701e-01 9.14263451e-01 -6.08266702e-04 -6.82203712e+01] [-1.64115867e-03 -6.19075712e-05 9.99998651e-01 -2.96431824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters 0.05164559319673673 Centerline is valid? [True, True] Translation: X:395.78, Y:-68.24, Z:-2.97 [[ 9.13631253e-01 4.06542295e-01 1.13862392e-03 3.95778060e+02] [-4.06542045e-01 9.13631961e-01 -4.53735321e-04 -6.82444428e+01] [-1.22474580e-03 -4.83517269e-05 9.99999249e-01 -2.96508858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters 0.05334798187127825 Centerline is valid? [True, True] Translation: X:395.84, Y:-68.26, Z:-2.97 [[ 9.13322456e-01 4.07235345e-01 1.21022894e-03 3.95837058e+02] [-4.07235063e-01 9.13323257e-01 -4.82588832e-04 -6.82604954e+01] [-1.30185747e-03 -5.20884430e-05 9.99999151e-01 -2.96682298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters 0.052716156635247424 Centerline is valid? [True, True] Translation: X:395.89, Y:-68.29, Z:-2.97 [[ 9.13441786e-01 4.06968096e-01 1.03551000e-03 3.95893083e+02] [-4.06967889e-01 9.13442372e-01 -4.12328124e-04 -6.82868081e+01] [-1.11368310e-03 -4.47815809e-05 9.99999379e-01 -2.96697948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters 0.05398272404318263 Centerline is valid? [True, True] Translation: X:395.95, Y:-68.31, Z:-2.97 [[ 9.14073903e-01 4.05545745e-01 1.24397176e-03 3.95949926e+02] [-4.05545445e-01 9.14074748e-01 -4.96174401e-04 -6.83107722e+01] [-1.33830459e-03 -5.09470099e-05 9.99999103e-01 -2.96799447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters 0.0536074595858716 Centerline is valid? [True, True] Translation: X:396.01, Y:-68.34, Z:-2.97 [[ 9.14384807e-01 4.04837586e-01 2.63692614e-03 3.96005372e+02] [-4.04836233e-01 9.14388603e-01 -1.05207068e-03 -6.83379951e+01] [-2.83709296e-03 -1.05525803e-04 9.99995970e-01 -2.96719643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters 0.05085262863576711 Centerline is valid? [True, True] Translation: X:396.06, Y:-68.38, Z:-2.97 [[ 9.14544356e-01 4.04464943e-01 4.09023711e-03 3.96057585e+02] [-4.04461683e-01 9.14553489e-01 -1.63193636e-03 -6.83764105e+01] [-4.40080166e-03 -1.61866000e-04 9.99990303e-01 -2.96545341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters 0.05054299821500819 Centerline is valid? [True, True] Translation: X:396.11, Y:-68.40, Z:-2.96 [[ 9.14493062e-01 4.04561097e-01 5.72358242e-03 3.96113966e+02] [-4.04554713e-01 9.14510945e-01 -2.28399533e-03 -6.84022164e+01] [-6.15829442e-03 -2.26804358e-04 9.99981012e-01 -2.96475145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters 0.052340955593352924 Centerline is valid? [True, True] Translation: X:396.18, Y:-68.42, Z:-2.97 [[ 9.14437424e-01 4.04679342e-01 6.23121011e-03 3.96175727e+02] [-4.04671772e-01 9.14458621e-01 -2.48747307e-03 -6.84158091e+01] [-6.70481277e-03 -2.46956364e-04 9.99977492e-01 -2.96554311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters 0.050505086177527705 Centerline is valid? [True, True] Translation: X:396.23, Y:-68.45, Z:-2.97 [[ 9.14436434e-01 4.04689749e-01 5.67584120e-03 3.96229129e+02] [-4.04683466e-01 9.14454021e-01 -2.26616878e-03 -6.84518415e+01] [-6.10739108e-03 -2.24651790e-04 9.99981324e-01 -2.96758328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters 0.05072856502242859 Centerline is valid? [True, True] Translation: X:396.29, Y:-68.47, Z:-2.97 [[ 9.14401116e-01 4.04781133e-01 4.77854357e-03 3.96288356e+02] [-4.04776678e-01 9.14413582e-01 -1.90848586e-03 -6.84700253e+01] [-5.14208421e-03 -1.89121394e-04 9.99986762e-01 -2.96828629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters 0.05346998817140665 Centerline is valid? [True, True] Translation: X:396.35, Y:-68.48, Z:-2.97 [[ 9.14147219e-01 4.05361426e-01 4.12026829e-03 3.96349940e+02] [-4.05358118e-01 9.14156489e-01 -1.64608771e-03 -6.84816071e+01] [-4.43383045e-03 -1.65417698e-04 9.99990157e-01 -2.96924651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters 0.050852157552162276 Centerline is valid? [True, True] Translation: X:396.40, Y:-68.52, Z:-2.97 [[ 9.14112381e-01 4.05432388e-01 4.80973925e-03 3.96402401e+02] [-4.05427877e-01 9.14125014e-01 -1.92216557e-03 -6.85191420e+01] [-5.17601113e-03 -1.92927032e-04 9.99986586e-01 -2.96886417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters 0.05107874058339624 Centerline is valid? [True, True] Translation: X:396.46, Y:-68.54, Z:-2.97 [[ 9.14219373e-01 4.05198615e-01 4.12554203e-03 3.96461615e+02] [-4.05195292e-01 9.14228667e-01 -1.64927436e-03 -6.85353071e+01] [-4.43997248e-03 -1.63851640e-04 9.99990130e-01 -2.96949774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters 0.05068434518656423 Centerline is valid? [True, True] Translation: X:396.52, Y:-68.57, Z:-2.97 [[ 9.14528312e-01 4.04504473e-01 3.75461061e-03 3.96516306e+02] [-4.04501713e-01 9.14536008e-01 -1.50132941e-03 -6.85657254e+01] [-4.04102106e-03 -1.45738170e-04 9.99991824e-01 -2.96946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters 0.05304292947660882 Centerline is valid? [True, True] Translation: X:396.58, Y:-68.57, Z:-2.97 [[ 9.15031255e-01 4.03374948e-01 2.54045040e-03 3.96577441e+02] [-4.03373678e-01 9.15034777e-01 -1.01631687e-03 -6.85747031e+01] [-2.73455723e-03 -9.47891264e-05 9.99996257e-01 -2.97208194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters 0.05096955797104041 Centerline is valid? [True, True] Translation: X:396.63, Y:-68.61, Z:-2.97 [[ 9.15658402e-01 4.01943441e-01 3.34091519e-03 3.96630176e+02] [-4.01941236e-01 9.15664489e-01 -1.33662096e-03 -6.86096138e+01] [-3.59640343e-03 -1.18963368e-04 9.99993526e-01 -2.97177368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters 0.05085157566464786 Centerline is valid? [True, True] Translation: X:396.69, Y:-68.63, Z:-2.97 [[ 9.16548145e-01 3.99900038e-01 4.41108584e-03 3.96686807e+02] [-3.99896169e-01 9.16558748e-01 -1.76510587e-03 -6.86342027e+01] [-4.74888522e-03 -1.46171818e-04 9.99988713e-01 -2.97192584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters 0.05135985009803133 Centerline is valid? [True, True] Translation: X:396.74, Y:-68.65, Z:-2.97 [[ 9.18121531e-01 3.96270921e-01 4.71287160e-03 3.96744506e+02] [-3.96266456e-01 9.18133617e-01 -1.88601532e-03 -6.86522631e+01] [-5.07441888e-03 -1.35961652e-04 9.99987116e-01 -2.97262109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters 0.05190752798392038 Centerline is valid? [True, True] Translation: X:396.80, Y:-68.68, Z:-2.97 [[ 9.19448417e-01 3.93184175e-01 4.56208623e-03 3.96800868e+02] [-3.93179953e-01 9.19459728e-01 -1.82566880e-03 -6.86763857e+01] [-4.91247865e-03 -1.15112566e-04 9.99987927e-01 -2.97407237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters 0.05172928887546127 Centerline is valid? [True, True] Translation: X:396.86, Y:-68.70, Z:-2.97 [[ 9.20285200e-01 3.91226051e-01 4.16262701e-03 3.96857006e+02] [-3.91222516e-01 9.20294609e-01 -1.66586806e-03 -6.87018896e+01] [-4.48257418e-03 -9.54396909e-05 9.99989949e-01 -2.97488217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters 0.051569283677179785 Centerline is valid? [True, True] Translation: X:396.91, Y:-68.73, Z:-2.98 [[ 9.21577593e-01 3.88176144e-01 3.74445519e-03 3.96912352e+02] [-3.88173258e-01 9.21585197e-01 -1.49862444e-03 -6.87289222e+01] [-4.03256473e-03 -7.23986653e-05 9.99991867e-01 -2.97614279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters 0.051245806544278176 Centerline is valid? [True, True] Translation: X:396.97, Y:-68.76, Z:-2.98 [[ 9.22860422e-01 3.85126462e-01 2.50009601e-03 3.96966048e+02] [-3.85125164e-01 9.22863807e-01 -1.00059919e-03 -6.87602214e+01] [-2.69260535e-03 -3.94364949e-05 9.99996374e-01 -2.97694278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters 0.050864719520662224 Centerline is valid? [True, True] Translation: X:397.02, Y:-68.79, Z:-2.98 [[ 9.23427916e-01 3.83767008e-01 1.94106020e-03 3.97023161e+02] [-3.83766224e-01 9.23429956e-01 -7.76319913e-04 -6.87857627e+01] [-2.09035911e-03 -2.80378639e-05 9.99997815e-01 -2.97859379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters 0.05059697158919985 Centerline is valid? [True, True] Translation: X:397.08, Y:-68.81, Z:-2.98 [[ 9.24361625e-01 3.81514901e-01 1.40199109e-03 3.97078904e+02] [-3.81514490e-01 9.24362688e-01 -5.60653390e-04 -6.88131291e+01] [-1.50984588e-03 -1.66334364e-05 9.99998860e-01 -2.97906325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters 0.05028734845604999 Centerline is valid? [True, True] Translation: X:397.14, Y:-68.84, Z:-2.98 [[ 9.24382393e-01 3.81456915e-01 2.79528724e-03 3.97135541e+02] [-3.81455274e-01 9.24386619e-01 -1.11912327e-03 -6.88358867e+01] [-3.01082343e-03 -3.17792105e-05 9.99995467e-01 -2.97904147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters 0.05069186706276407 Centerline is valid? [True, True] Translation: X:397.19, Y:-68.86, Z:-2.98 [[ 9.23737893e-01 3.83009012e-01 3.52166718e-03 3.97192752e+02] [-3.83006418e-01 9.23744604e-01 -1.41053857e-03 -6.88603119e+01] [-3.79337004e-03 -4.58532086e-05 9.99992804e-01 -2.97808101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters 0.050779729590975625 Centerline is valid? [True, True] Translation: X:397.25, Y:-68.88, Z:-2.98 [[ 9.23031849e-01 3.84714246e-01 2.67478180e-03 3.97251367e+02] [-3.84712755e-01 9.23035724e-01 -1.07195168e-03 -6.88769520e+01] [-2.88131424e-03 -3.95771353e-05 9.99995848e-01 -2.98013423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters 0.05064780072335806 Centerline is valid? [True, True] Translation: X:397.31, Y:-68.90, Z:-2.98 [[ 9.21791509e-01 3.87681874e-01 1.78275683e-03 3.97308965e+02] [-3.87681218e-01 9.21793232e-01 -7.14357110e-04 -6.89004327e+01] [-1.92027649e-03 -3.26530214e-05 9.99998156e-01 -2.97998597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters 0.05105426145170831 Centerline is valid? [True, True] Translation: X:397.37, Y:-68.92, Z:-2.98 [[ 9.21115941e-01 3.89284644e-01 1.69949250e-03 3.97367427e+02] [-3.89284051e-01 9.21117509e-01 -6.80608929e-04 -6.89183715e+01] [-1.83038290e-03 -3.46655913e-05 9.99998324e-01 -2.98212428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters 0.05072771892170794 Centerline is valid? [True, True] Translation: X:397.42, Y:-68.94, Z:-2.98 [[ 9.20899418e-01 3.89797239e-01 1.54093834e-03 3.97424800e+02] [-3.89796751e-01 9.20900707e-01 -6.17625551e-04 -6.89414748e+01] [-1.65979994e-03 -3.18817492e-05 9.99998622e-01 -2.98246463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters 0.05034923175690095 Centerline is valid? [True, True] Translation: X:397.48, Y:-68.97, Z:-2.98 [[ 9.21261593e-01 3.88940763e-01 1.46958476e-03 3.97482357e+02] [-3.88940319e-01 9.21262765e-01 -5.88614232e-04 -6.89659607e+01] [-1.58280978e-03 -2.93130787e-05 9.99998747e-01 -2.98225406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters 0.05099089423638726 Centerline is valid? [True, True] Translation: X:397.54, Y:-68.99, Z:-2.98 [[ 9.22561733e-01 3.85848026e-01 1.07275403e-03 3.97538896e+02] [-3.85847786e-01 9.22562356e-01 -4.30227275e-04 -6.89878737e+01] [-1.15568483e-03 -1.70085492e-05 9.99999332e-01 -2.98345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters 0.05152501043712957 Centerline is valid? [True, True] Translation: X:397.60, Y:-69.01, Z:-2.98 [[ 9.23603690e-01 3.83347224e-01 1.06237891e-03 3.97595314e+02] [-3.83346988e-01 9.23604301e-01 -4.25433616e-04 -6.90135743e+01] [-1.14430652e-03 -1.43276961e-05 9.99999345e-01 -2.98360585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters 0.051285913058789025 Centerline is valid? [True, True] Translation: X:397.65, Y:-69.04, Z:-2.98 [[ 9.25297138e-01 3.79231345e-01 2.96534952e-03 3.97651385e+02] [-3.79229479e-01 9.25301889e-01 -1.18992576e-03 -6.90386973e+01] [-3.19510066e-03 -2.35130550e-05 9.99994895e-01 -2.98357595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters 0.050613292248329 Centerline is valid? [True, True] Translation: X:397.71, Y:-69.06, Z:-2.98 [[ 9.26021358e-01 3.77446797e-01 4.28486262e-03 3.97708078e+02] [-3.77442882e-01 9.26031271e-01 -1.71928868e-03 -6.90607067e+01] [-4.61685679e-03 -2.51928642e-05 9.99989342e-01 -2.98452641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters 0.05072322277824408 Centerline is valid? [True, True] Translation: X:397.76, Y:-69.09, Z:-2.98 [[ 9.26529269e-01 3.76182871e-01 5.47372392e-03 3.97764342e+02] [-3.76176455e-01 9.26545437e-01 -2.19722385e-03 -6.90869792e+01] [-5.89821190e-03 -2.32938524e-05 9.99982605e-01 -2.98350937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters 0.05046939858281128 Centerline is valid? [True, True] Translation: X:397.82, Y:-69.11, Z:-2.98 [[ 9.26049238e-01 3.77382881e-01 3.86907403e-03 3.97822488e+02] [-3.77379685e-01 9.26057320e-01 -1.55332154e-03 -6.91101166e+01] [-4.16918128e-03 -2.16577089e-05 9.99991309e-01 -2.98481811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters 0.050505790278007 Centerline is valid? [True, True] Translation: X:397.88, Y:-69.13, Z:-2.99 [[ 9.25528608e-01 3.78668013e-01 2.70771496e-03 3.97879698e+02] [-3.78666453e-01 9.25532568e-01 -1.08719571e-03 -6.91307056e+01] [-2.91776462e-03 -1.90900840e-05 9.99995743e-01 -2.98693577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters 0.050833744283310923 Centerline is valid? [True, True] Translation: X:397.94, Y:-69.15, Z:-2.99 [[ 9.24812874e-01 3.80419503e-01 1.46639313e-03 3.97937329e+02] [-3.80419048e-01 9.24814036e-01 -5.88522408e-04 -6.91532054e+01] [-1.58002635e-03 -1.35707775e-05 9.99998752e-01 -2.98791906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters 0.05055453298784856 Centerline is valid? [True, True] Translation: X:398.00, Y:-69.18, Z:-2.99 [[ 9.24674110e-01 3.80757399e-01 1.26279550e-03 3.97995500e+02] [-3.80757061e-01 9.24674972e-01 -5.06742464e-04 -6.91768826e+01] [-1.36062133e-03 -1.22466664e-05 9.99999074e-01 -2.98767555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters 0.0510858562718938 Centerline is valid? [True, True] Translation: X:398.05, Y:-69.20, Z:-2.99 [[ 9.25036908e-01 3.79874177e-01 1.52590126e-03 3.98052455e+02] [-3.79873683e-01 9.25038167e-01 -6.12925579e-04 -6.91999049e+01] [-1.64435150e-03 -1.26709475e-05 9.99998648e-01 -2.98765093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters 0.05105849563404353 Centerline is valid? [True, True] Translation: X:398.11, Y:-69.22, Z:-2.99 [[ 9.25111321e-01 3.79688999e-01 2.30393714e-03 3.98110048e+02] [-3.79687869e-01 9.25114190e-01 -9.26117168e-04 -6.92233117e+01] [-2.48304144e-03 -1.80155071e-05 9.99996917e-01 -2.98760393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters 0.05078280670023306 Centerline is valid? [True, True] Translation: X:398.17, Y:-69.25, Z:-2.99 [[ 9.25146846e-01 3.79600605e-01 2.58732053e-03 3.98167272e+02] [-3.79599179e-01 9.25150464e-01 -1.04072515e-03 -6.92450357e+01] [-2.78872069e-03 -1.93211563e-05 9.99996111e-01 -2.98870175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters 0.049958405860396016 Centerline is valid? [True, True] Translation: X:398.22, Y:-69.27, Z:-2.99 [[ 9.25445359e-01 3.78868385e-01 3.10398927e-03 3.98224657e+02] [-3.78866328e-01 9.25450564e-01 -1.24867111e-03 -6.92685590e+01] [-3.34567063e-03 -2.04201398e-05 9.99994403e-01 -2.98854741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters 0.0509211085906638 Centerline is valid? [True, True] Translation: X:398.28, Y:-69.29, Z:-2.99 [[ 9.25889856e-01 3.77782441e-01 2.89869062e-03 3.98281269e+02] [-3.77780641e-01 9.25894393e-01 -1.16643981e-03 -6.92910479e+01] [-3.12454187e-03 -1.50744118e-05 9.99995118e-01 -2.98991395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters 0.050603241515539577 Centerline is valid? [True, True] Translation: X:398.34, Y:-69.32, Z:-2.99 [[ 9.26867184e-01 3.75380701e-01 2.55983239e-03 3.98338723e+02] [-3.75379287e-01 9.26870719e-01 -1.03027455e-03 -6.93158556e+01] [-2.75937887e-03 -5.98038895e-06 9.99996193e-01 -2.99082172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters 0.051842049660011255 Centerline is valid? [True, True] Translation: X:398.40, Y:-69.34, Z:-2.99 [[ 9.28184080e-01 3.72114488e-01 2.26315589e-03 3.98396938e+02] [-3.72113372e-01 9.28186839e-01 -9.11303706e-04 -6.93409326e+01] [-2.43974082e-03 3.70702286e-06 9.99997024e-01 -2.98989357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters 0.05165843863404281 Centerline is valid? [True, True] Translation: X:398.45, Y:-69.36, Z:-2.99 [[ 9.29075374e-01 3.69883233e-01 2.31137443e-03 3.98454155e+02] [-3.69882062e-01 9.29078250e-01 -9.30624644e-04 -6.93633473e+01] [-2.49167017e-03 9.68449672e-06 9.99996896e-01 -2.98992469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters 0.05155700240663591 Centerline is valid? [True, True] Translation: X:398.51, Y:-69.39, Z:-2.99 [[ 9.30316401e-01 3.66751172e-01 2.22982434e-03 3.98511549e+02] [-3.66750073e-01 9.30319073e-01 -8.98285919e-04 -6.93877303e+01] [-2.40389553e-03 1.79018840e-05 9.99997110e-01 -2.99134397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters 0.051224905531192855 Centerline is valid? [True, True] Translation: X:398.57, Y:-69.41, Z:-2.99 [[ 9.30877465e-01 3.65321890e-01 2.65738292e-03 3.98567352e+02] [-3.65320322e-01 9.30881258e-01 -1.07080612e-03 -6.94123156e+01] [-2.86489687e-03 2.59933013e-05 9.99995896e-01 -2.99287295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters 0.05147264862558289 Centerline is valid? [True, True] Translation: X:398.63, Y:-69.43, Z:-2.99 [[ 9.30505579e-01 3.66271146e-01 2.19447767e-03 3.98625729e+02] [-3.66270079e-01 9.30508166e-01 -8.84100860e-04 -6.94327760e+01] [-2.36580003e-03 1.88892721e-05 9.99997201e-01 -2.99378934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters 0.051537545305077544 Centerline is valid? [True, True] Translation: X:398.68, Y:-69.45, Z:-2.99 [[ 9.29718797e-01 3.68269128e-01 8.98915664e-04 3.98684958e+02] [-3.68268950e-01 9.29719231e-01 -3.61716517e-04 -6.94523107e+01] [-9.68948207e-04 5.25191670e-06 9.99999531e-01 -2.99463831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters 0.0510879174645603 Centerline is valid? [True, True] Translation: X:398.74, Y:-69.47, Z:-3.00 [[ 9.28724247e-01 3.70771095e-01 2.60628839e-04 3.98743866e+02] [-3.70771080e-01 9.28724284e-01 -1.04261694e-04 -6.94726333e+01] [-2.80709555e-04 1.96727212e-07 9.99999961e-01 -2.99585723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters 0.051071062020696216 Centerline is valid? [True, True] Translation: X:398.80, Y:-69.49, Z:-3.00 [[ 9.27460077e-01 3.73922021e-01 -3.57075200e-04 3.98803191e+02] [-3.73921993e-01 9.27460146e-01 1.45217048e-04 -6.94933259e+01] [ 3.85472869e-04 -1.16474411e-06 9.99999926e-01 -2.99577769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters 0.05157123958008546 Centerline is valid? [True, True] Translation: X:398.86, Y:-69.51, Z:-3.00 [[ 9.26828697e-01 3.75484302e-01 -3.23963864e-04 3.98861882e+02] [-3.75484279e-01 9.26828754e-01 1.31814776e-04 -6.95139228e+01] [ 3.49753403e-04 -5.26379004e-07 9.99999939e-01 -2.99681630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters 0.05169556675220273 Centerline is valid? [True, True] Translation: X:398.92, Y:-69.54, Z:-3.00 [[ 9.26963230e-01 3.75151051e-01 9.26352661e-04 3.98918837e+02] [-3.75150866e-01 9.26963693e-01 -3.73380274e-04 -6.95352405e+01] [-9.98769286e-04 -1.41221783e-06 9.99999501e-01 -2.99744459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters 0.051432057891331345 Centerline is valid? [True, True] Translation: X:398.98, Y:-69.56, Z:-3.00 [[ 9.27965331e-01 3.72658145e-01 2.50036372e-03 3.98976119e+02] [-3.72656778e-01 9.27968699e-01 -1.00947755e-03 -6.95586445e+01] [-2.69644930e-03 4.98267809e-06 9.99996365e-01 -2.99573462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters 0.05139924389920354 Centerline is valid? [True, True] Translation: X:399.03, Y:-69.58, Z:-3.00 [[ 9.28759067e-01 3.70670107e-01 3.20422300e-03 3.99033662e+02] [-3.70667848e-01 9.28764594e-01 -1.29430184e-03 -6.95824878e+01] [-3.45572788e-03 1.43921267e-05 9.99994029e-01 -2.99736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters 0.050945310777442146 Centerline is valid? [True, True] Translation: X:399.09, Y:-69.61, Z:-3.00 [[ 9.30089261e-01 3.67328984e-01 1.83948241e-03 3.99091389e+02] [-3.67328232e-01 9.30091080e-01 -7.43351994e-04 -6.96056551e+01] [-1.98394092e-03 1.56898843e-05 9.99998032e-01 -2.99817465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters 0.05160780774613237 Centerline is valid? [True, True] Translation: X:399.15, Y:-69.63, Z:-3.00 [[ 9.30868177e-01 3.65354453e-01 7.48808182e-04 3.99148895e+02] [-3.65354328e-01 9.30868478e-01 -3.01941761e-04 -6.96281800e+01] [-8.07357700e-04 7.48766599e-06 9.99999674e-01 -2.99883522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters 0.05225615798482054 Centerline is valid? [True, True] Translation: X:399.20, Y:-69.65, Z:-3.00 [[ 9.32041706e-01 3.62349812e-01 -9.34042028e-04 3.99204803e+02] [-3.62349614e-01 9.32042174e-01 3.78752264e-04 -6.96535238e+01] [ 1.00780737e-03 -1.45631375e-05 9.99999492e-01 -3.00116062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters 0.051961244348172224 Centerline is valid? [True, True] Translation: X:399.26, Y:-69.68, Z:-3.00 [[ 9.32743117e-01 3.60541568e-01 -2.33383325e-04 3.99262596e+02] [-3.60541556e-01 9.32743147e-01 9.47581221e-05 -6.96766291e+01] [ 2.51850939e-04 -4.24059920e-06 9.99999968e-01 -3.00071898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters 0.052479522462507706 Centerline is valid? [True, True] Translation: X:399.32, Y:-69.70, Z:-3.00 [[ 9.32984040e-01 3.59917519e-01 4.00966555e-04 3.99319576e+02] [-3.59917483e-01 9.32984126e-01 -1.61353087e-04 -6.97006480e+01] [-4.32169234e-04 6.22498154e-06 9.99999907e-01 -3.00050551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters 0.05220447716257708 Centerline is valid? [True, True] Translation: X:399.38, Y:-69.72, Z:-3.00 [[ 9.32823538e-01 3.60331213e-01 1.28959409e-03 3.99375730e+02] [-3.60330836e-01 9.32824430e-01 -5.21518660e-04 -6.97246171e+01] [-1.39088432e-03 2.18043639e-05 9.99999032e-01 -3.00040423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters 0.052243174908321956 Centerline is valid? [True, True] Translation: X:399.43, Y:-69.75, Z:-3.00 [[ 9.32127324e-01 3.62124019e-01 2.20137806e-03 3.99430605e+02] [-3.62122925e-01 9.32129923e-01 -8.90528428e-04 -6.97517199e+01] [-2.37445210e-03 3.29164168e-05 9.99997180e-01 -3.00219496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters 0.05173205052141096 Centerline is valid? [True, True] Translation: X:399.49, Y:-69.77, Z:-3.00 [[ 9.30691364e-01 3.65798504e-01 2.24504913e-03 3.99490515e+02] [-3.65797375e-01 9.30694071e-01 -9.08989977e-04 -6.97689189e+01] [-2.42196108e-03 2.47560434e-05 9.99997067e-01 -3.00104314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters 0.05115724827344744 Centerline is valid? [True, True] Translation: X:399.55, Y:-69.79, Z:-3.00 [[ 9.28380192e-01 3.71626145e-01 2.05611507e-03 3.99547629e+02] [-3.71625213e-01 9.28382469e-01 -8.32586750e-04 -6.97899102e+01] [-2.21827219e-03 8.85284746e-06 9.99997540e-01 -3.00263736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters 0.05119792573243267 Centerline is valid? [True, True] Translation: X:399.61, Y:-69.81, Z:-3.00 [[ 9.26366444e-01 3.76618614e-01 1.90546390e-03 3.99606542e+02] [-3.76617825e-01 9.26368404e-01 -7.71041905e-04 -6.98099192e+01] [-2.05555029e-03 -3.36432317e-06 9.99997887e-01 -3.00300724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters 0.05094415294835682 Centerline is valid? [True, True] Translation: X:399.67, Y:-69.83, Z:-3.01 [[ 9.23505884e-01 3.83583006e-01 9.79136127e-04 3.99665701e+02] [-3.83582802e-01 9.23506403e-01 -3.95950119e-04 -6.98270609e+01] [-1.05611822e-03 -9.91751512e-06 9.99999442e-01 -3.00561332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters 0.05104144687465703 Centerline is valid? [True, True] Translation: X:399.72, Y:-69.85, Z:-3.00 [[ 9.21614918e-01 3.88104740e-01 8.08169144e-04 3.99722927e+02] [-3.88104602e-01 9.21615273e-01 -3.27349025e-04 -6.98497286e+01] [-8.71866734e-04 -1.19644191e-05 9.99999620e-01 -3.00488581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters 0.05093274222701195 Centerline is valid? [True, True] Translation: X:399.78, Y:-69.87, Z:-3.01 [[ 9.20872101e-01 3.89864028e-01 7.82524534e-04 3.99781313e+02] [-3.89863900e-01 9.20872434e-01 -3.16411129e-04 -6.98687735e+01] [-8.43962589e-04 -1.37038856e-05 9.99999644e-01 -3.00666260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters 0.051333617980035336 Centerline is valid? [True, True] Translation: X:399.84, Y:-69.90, Z:-3.01 [[ 9.20441702e-01 3.90879775e-01 2.73801305e-04 3.99837941e+02] [-3.90879760e-01 9.20441742e-01 -1.10699236e-04 -6.98950556e+01] [-2.95288243e-04 -5.13119480e-06 9.99999956e-01 -3.00672395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters 0.05055785484255286 Centerline is valid? [True, True] Translation: X:399.90, Y:-69.92, Z:-3.01 [[ 9.20548871e-01 3.90627406e-01 -7.74765373e-05 3.99895893e+02] [-3.90627405e-01 9.20548874e-01 3.24334066e-05 -6.99204481e+01] [ 8.39903166e-05 4.07922889e-07 9.99999996e-01 -3.00746689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters 0.050614187868198234 Centerline is valid? [True, True] Translation: X:399.95, Y:-69.95, Z:-3.01 [[ 9.21788662e-01 3.87692158e-01 6.73453622e-04 3.99950424e+02] [-3.87692062e-01 9.21788908e-01 -2.73036456e-04 -6.99485459e+01] [-7.26636171e-04 -9.41071407e-06 9.99999736e-01 -3.00673788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters 0.051276648585733414 Centerline is valid? [True, True] Translation: X:400.01, Y:-69.97, Z:-3.01 [[ 9.22476230e-01 3.86052945e-01 8.53889417e-04 4.00007092e+02] [-3.86052790e-01 9.22476625e-01 -3.45555310e-04 -6.99730790e+01] [-9.21095672e-04 -1.08798324e-05 9.99999576e-01 -3.00713793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters 0.050542261338702404 Centerline is valid? [True, True] Translation: X:400.06, Y:-70.00, Z:-3.01 [[ 9.25259714e-01 3.79332714e-01 1.07419339e-03 4.00062326e+02] [-3.79332464e-01 9.25260337e-01 -4.35693351e-04 -7.00000175e+01] [-1.15918128e-03 -4.34691901e-06 9.99999328e-01 -3.00791236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters 0.05053711858016959 Centerline is valid? [True, True] Translation: X:400.12, Y:-70.03, Z:-3.01 [[ 9.29217174e-01 3.69533667e-01 5.58910702e-04 4.00117714e+02] [-3.69533598e-01 9.29217342e-01 -2.26492163e-04 -7.00291376e+01] [-6.03045996e-04 3.92412495e-06 9.99999818e-01 -3.00945140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters 0.051477087296679665 Centerline is valid? [True, True] Translation: X:400.17, Y:-70.06, Z:-3.01 [[ 9.32077525e-01 3.62258667e-01 3.82222093e-04 4.00170766e+02] [-3.62258634e-01 9.32077603e-01 -1.55103611e-04 -7.00586564e+01] [-4.12448280e-04 6.10533700e-06 9.99999915e-01 -3.01077072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters 0.05260657838123374 Centerline is valid? [True, True] Translation: X:400.23, Y:-70.08, Z:-3.01 [[ 9.35431759e-01 3.53504183e-01 1.48894863e-03 4.00228162e+02] [-3.53503669e-01 9.35432943e-01 -6.04165984e-04 -7.00795024e+01] [-1.60638680e-03 3.88072466e-05 9.99998709e-01 -3.00905752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters 0.05307208767403322 Centerline is valid? [True, True] Translation: X:400.29, Y:-70.09, Z:-3.01 [[ 9.37380975e-01 3.48300088e-01 1.98933093e-03 4.00289378e+02] [-3.48299158e-01 9.37383083e-01 -8.07294766e-04 -7.00922524e+01] [-2.14594600e-03 6.38604657e-05 9.99997695e-01 -3.00726804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters 0.05237685276986919 Centerline is valid? [True, True] Translation: X:400.34, Y:-70.12, Z:-3.01 [[ 9.38763279e-01 3.44560231e-01 1.32405115e-03 4.00343076e+02] [-3.44559815e-01 9.38764212e-01 -5.37303607e-04 -7.01201196e+01] [-1.42810529e-03 4.81860749e-05 9.99998979e-01 -3.00821359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters 0.05262607951367927 Centerline is valid? [True, True] Translation: X:400.40, Y:-70.14, Z:-3.01 [[ 9.39155188e-01 3.43487650e-01 1.94088632e-03 4.00403191e+02] [-3.43486756e-01 9.39157191e-01 -7.87201430e-04 -7.01361223e+01] [-2.09319132e-03 7.26355600e-05 9.99997807e-01 -3.00804009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters 0.053576808899919746 Centerline is valid? [True, True] Translation: X:400.46, Y:-70.16, Z:-3.01 [[ 9.38327070e-01 3.45739971e-01 2.48644813e-03 4.00459157e+02] [-3.45738508e-01 9.38330360e-01 -1.00937299e-03 -7.01619876e+01] [-2.68209036e-03 8.74611341e-05 9.99996399e-01 -3.01048648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters 0.05313625269657427 Centerline is valid? [True, True] Translation: X:400.52, Y:-70.17, Z:-3.01 [[ 9.35278104e-01 3.53906716e-01 2.21477631e-03 4.00519401e+02] [-3.53905578e-01 9.35280724e-01 -8.99199464e-04 -7.01728169e+01] [-2.38967032e-03 5.71798805e-05 9.99997143e-01 -3.01006035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters 0.05203824528834095 Centerline is valid? [True, True] Translation: X:400.58, Y:-70.19, Z:-3.01 [[ 9.32102300e-01 3.62188228e-01 2.23399487e-03 4.00579141e+02] [-3.62187094e-01 9.32104976e-01 -9.07012309e-04 -7.01875404e+01] [-2.41082691e-03 3.63041516e-05 9.99997093e-01 -3.00980747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters 0.05221093092428871 Centerline is valid? [True, True] Translation: X:400.64, Y:-70.20, Z:-3.01 [[ 9.26499183e-01 3.76286622e-01 2.76446843e-03 4.00638104e+02] [-3.76284948e-01 9.26503307e-01 -1.12249958e-03 -7.02014016e+01] [-2.98367072e-03 -2.32921123e-07 9.99995549e-01 -3.01272526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters 0.05170281602989526 Centerline is valid? [True, True] Translation: X:400.70, Y:-70.21, Z:-3.01 [[ 9.21999196e-01 3.87168178e-01 4.27600055e-03 4.00699034e+02] [-3.87164289e-01 9.22009110e-01 -1.73640932e-03 -7.02119140e+01] [-4.61479390e-03 -5.45467149e-05 9.99989350e-01 -3.01335966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters 0.05138597929142478 Centerline is valid? [True, True] Translation: X:400.76, Y:-70.23, Z:-3.01 [[ 9.19523358e-01 3.92986212e-01 6.21543134e-03 4.00756389e+02] [-3.92978125e-01 9.19544356e-01 -2.52415044e-03 -7.02331531e+01] [-6.70732113e-03 -1.21513265e-04 9.99977498e-01 -3.01220745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters 0.05186824629014055 Centerline is valid? [True, True] Translation: X:400.82, Y:-70.25, Z:-3.01 [[ 9.18685485e-01 3.94939966e-01 6.27713326e-03 4.00815194e+02] [-3.94931762e-01 9.18706920e-01 -2.54935679e-03 -7.02499813e+01] [-6.77368865e-03 -1.36982214e-04 9.99977049e-01 -3.01377373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters 0.05179257174848478 Centerline is valid? [True, True] Translation: X:400.87, Y:-70.27, Z:-3.02 [[ 9.18835694e-01 3.94611753e-01 4.74679889e-03 4.00873696e+02] [-3.94607058e-01 9.18847949e-01 -1.92765993e-03 -7.02701391e+01] [-5.12226369e-03 -1.01917587e-04 9.99986876e-01 -3.01533396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters 0.05199267410489345 Centerline is valid? [True, True] Translation: X:400.93, Y:-70.30, Z:-3.02 [[ 9.20726047e-01 3.90204551e-01 1.98885710e-03 4.00927885e+02] [-3.90203715e-01 9.20728194e-01 -8.07957652e-04 -7.02981947e+01] [-2.14646556e-03 -3.21517758e-05 9.99997696e-01 -3.01559466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters 0.051709842946828045 Centerline is valid? [True, True] Translation: X:400.98, Y:-70.32, Z:-3.02 [[ 9.24705089e-01 3.80680592e-01 1.66871029e-03 4.00984669e+02] [-3.80679989e-01 9.24706595e-01 -6.77894520e-04 -7.03200105e+01] [-1.80112870e-03 -8.39210355e-06 9.99998378e-01 -3.01835514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters 0.05127332744732001 Centerline is valid? [True, True] Translation: X:401.04, Y:-70.35, Z:-3.02 [[ 9.28138945e-01 3.72225546e-01 2.49817841e-03 4.01039697e+02] [-3.72224164e-01 9.28142307e-01 -1.01453428e-03 -7.03476957e+01] [-2.69630065e-03 1.17464068e-05 9.99996365e-01 -3.01772739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters 0.052597713106236565 Centerline is valid? [True, True] Translation: X:401.09, Y:-70.38, Z:-3.02 [[ 9.33673237e-01 3.58108345e-01 3.56357754e-03 4.01093879e+02] [-3.58105424e-01 9.33680035e-01 -1.44841049e-03 -7.03760803e+01] [-3.84592909e-03 7.62056688e-05 9.99992601e-01 -3.01637476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters 0.05363503646276069 Centerline is valid? [True, True] Translation: X:401.15, Y:-70.40, Z:-3.02 [[ 9.38616016e-01 3.44933973e-01 4.53075216e-03 4.01148813e+02] [-3.44929097e-01 9.38626937e-01 -1.84151485e-03 -7.03993100e+01] [-4.88788706e-03 1.65687080e-04 9.99988040e-01 -3.01549899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters 0.05405044996137011 Centerline is valid? [True, True] Translation: X:401.21, Y:-70.42, Z:-3.02 [[ 9.42210906e-01 3.34987573e-01 4.68347007e-03 4.01205665e+02] [-3.34982239e-01 9.42222519e-01 -1.90374960e-03 -7.04223871e+01] [-5.05060343e-03 2.24854346e-04 9.99987220e-01 -3.01541162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters 0.05395967155793814 Centerline is valid? [True, True] Translation: X:401.27, Y:-70.44, Z:-3.02 [[ 9.43863095e-01 3.30313545e-01 3.92681908e-03 4.01265509e+02] [-3.30309754e-01 9.43871240e-01 -1.59629448e-03 -7.04385833e+01] [-4.23368929e-03 2.09616808e-04 9.99991016e-01 -3.01548336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters 0.054978408946368816 Centerline is valid? [True, True] Translation: X:401.33, Y:-70.46, Z:-3.02 [[ 9.43613067e-01 3.31035156e-01 3.17893223e-03 4.01325251e+02] [-3.31032676e-01 9.43618407e-01 -1.29215583e-03 -7.04570110e+01] [-3.42744798e-03 1.66964686e-04 9.99994112e-01 -3.01628231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters 0.054623694297026446 Centerline is valid? [True, True] Translation: X:401.38, Y:-70.47, Z:-3.02 [[ 9.42433531e-01 3.34379100e-01 3.10763719e-03 4.01384416e+02] [-3.34376748e-01 9.42438642e-01 -1.26346448e-03 -7.04724383e+01] [-3.35123349e-03 1.51609674e-04 9.99994373e-01 -3.01703965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters 0.05433245844492414 Centerline is valid? [True, True] Translation: X:401.44, Y:-70.49, Z:-3.02 [[ 9.39175422e-01 3.43419981e-01 3.49894696e-03 4.01442898e+02] [-3.43417061e-01 9.39181930e-01 -1.42265376e-03 -7.04876546e+01] [-3.77471549e-03 1.34523366e-04 9.99992867e-01 -3.01678417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters 0.05465693435023777 Centerline is valid? [True, True] Translation: X:401.50, Y:-70.50, Z:-3.02 [[ 9.34268932e-01 3.56545543e-01 4.10344204e-03 4.01504064e+02] [-3.56541652e-01 9.34277939e-01 -1.66840814e-03 -7.04996156e+01] [-4.42861885e-03 9.56938869e-05 9.99990189e-01 -3.01782675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters 0.053990590809671134 Centerline is valid? [True, True] Translation: X:401.56, Y:-70.52, Z:-3.02 [[ 9.30690003e-01 3.65787362e-01 3.96536481e-03 4.01562008e+02] [-3.65783812e-01 9.30698449e-01 -1.61233745e-03 -7.05156489e+01] [-4.28033154e-03 5.01200854e-05 9.99990838e-01 -3.01910403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters 0.053481075545637496 Centerline is valid? [True, True] Translation: X:401.62, Y:-70.53, Z:-3.02 [[ 9.25878877e-01 3.77802861e-01 3.64750497e-03 4.01624507e+02] [-3.77799950e-01 9.25886061e-01 -1.48296858e-03 -7.05256155e+01] [-3.93744378e-03 -4.97791531e-06 9.99992248e-01 -3.01959517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters 0.053405382745751684 Centerline is valid? [True, True] Translation: X:401.69, Y:-70.54, Z:-3.02 [[ 9.23015509e-01 3.84749438e-01 3.19993317e-03 4.01685455e+02] [-3.84747240e-01 9.23021056e-01 -1.30077725e-03 -7.05390598e+01] [-3.45407900e-03 -3.05278813e-05 9.99994034e-01 -3.01978687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters 0.05401730665737305 Centerline is valid? [True, True] Translation: X:401.75, Y:-70.56, Z:-3.02 [[ 9.22713091e-01 3.85473969e-01 3.22036291e-03 4.01745492e+02] [-3.85471746e-01 9.22718710e-01 -1.30944840e-03 -7.05550112e+01] [-3.47624739e-03 -3.31137309e-05 9.99993957e-01 -3.02176801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters 0.05348181447484279 Centerline is valid? [True, True] Translation: X:401.80, Y:-70.58, Z:-3.02 [[ 9.24251262e-01 3.81774810e-01 2.75650144e-03 4.01802619e+02] [-3.81773165e-01 9.24255373e-01 -1.12111474e-03 -7.05775545e+01] [-2.97572464e-03 -1.61665620e-05 9.99995572e-01 -3.02240371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters 0.053903097987800665 Centerline is valid? [True, True] Translation: X:401.86, Y:-70.60, Z:-3.02 [[ 9.26575188e-01 3.76102822e-01 2.25592790e-03 4.01859873e+02] [-3.76101702e-01 9.26577934e-01 -9.17651572e-04 -7.06017229e+01] [-2.43542436e-03 1.81485470e-06 9.99997034e-01 -3.02190030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters 0.05453977323684158 Centerline is valid? [True, True] Translation: X:401.92, Y:-70.62, Z:-3.02 [[ 9.30337762e-01 3.66698495e-01 1.96510237e-03 4.01917184e+02] [-3.66697623e-01 9.30339837e-01 -8.00009266e-04 -7.06235040e+01] [-2.12157521e-03 2.36804639e-05 9.99997749e-01 -3.02222439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters 0.05457361063895612 Centerline is valid? [True, True] Translation: X:401.97, Y:-70.65, Z:-3.02 [[ 9.32900418e-01 3.60133845e-01 6.50428799e-04 4.01972104e+02] [-3.60133748e-01 9.32900645e-01 -2.64779592e-04 -7.06475831e+01] [-7.02141539e-04 1.27716306e-05 9.99999753e-01 -3.02370382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters 0.05436030567313415 Centerline is valid? [True, True] Translation: X:402.03, Y:-70.67, Z:-3.02 [[ 9.33547461e-01 3.58453525e-01 -4.56465115e-04 4.02029725e+02] [-3.58453477e-01 9.33547572e-01 1.86319455e-04 -7.06696416e+01] [ 4.92918766e-04 -1.03165462e-05 9.99999878e-01 -3.02409160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters 0.055254040717049334 Centerline is valid? [True, True] Translation: X:402.09, Y:-70.69, Z:-3.02 [[ 9.33467439e-01 3.58659115e-01 -1.47613839e-03 4.02086826e+02] [-3.58658611e-01 9.33468606e-01 6.02151813e-04 -7.06906787e+01] [ 1.59389608e-03 -3.26593655e-05 9.99998729e-01 -3.02439951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters 0.05506389604098803 Centerline is valid? [True, True] Translation: X:402.14, Y:-70.71, Z:-3.02 [[ 9.32549345e-01 3.61037966e-01 -1.81834989e-03 4.02144799e+02] [-3.61037207e-01 9.32551117e-01 7.41044319e-04 -7.07123061e+01] [ 1.96324935e-03 -3.45684276e-05 9.99998072e-01 -3.02483987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters 0.05505442923034216 Centerline is valid? [True, True] Translation: X:402.20, Y:-70.73, Z:-3.02 [[ 9.30792985e-01 3.65546562e-01 -3.60614735e-04 4.02201246e+02] [-3.65546533e-01 9.30793055e-01 1.46914820e-04 -7.07335413e+01] [ 3.89361898e-04 -4.92581808e-06 9.99999924e-01 -3.02387844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters 0.054254761663238144 Centerline is valid? [True, True] Translation: X:402.26, Y:-70.75, Z:-3.02 [[ 9.29222881e-01 3.69518836e-01 8.16337719e-04 4.02259526e+02] [-3.69518687e-01 9.29223240e-01 -3.32325856e-04 -7.07547187e+01] [-8.81360643e-04 7.15274719e-06 9.99999612e-01 -3.02404298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters 0.0539432291651708 Centerline is valid? [True, True] Translation: X:402.32, Y:-70.77, Z:-3.02 [[ 9.25739291e-01 3.78156816e-01 2.04623187e-03 4.02318297e+02] [-3.78155898e-01 9.25741553e-01 -8.33587817e-04 -7.07736254e+01] [-2.20950878e-03 -2.10965300e-06 9.99997559e-01 -3.02402752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters 0.05436126942794544 Centerline is valid? [True, True] Translation: X:402.38, Y:-70.79, Z:-3.03 [[ 9.21381658e-01 3.88655440e-01 1.67044800e-03 4.02376477e+02] [-3.88654844e-01 9.21383172e-01 -6.80558614e-04 -7.07912165e+01] [-1.80362549e-03 -2.21734848e-05 9.99998373e-01 -3.02588933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters 0.054182638664257834 Centerline is valid? [True, True] Translation: X:402.43, Y:-70.81, Z:-3.03 [[ 9.18531180e-01 3.95345630e-01 1.51774485e-03 4.02434187e+02] [-3.95345148e-01 9.18532434e-01 -6.18424694e-04 -7.08107109e+01] [-1.63858937e-03 -3.19906980e-05 9.99998657e-01 -3.02703759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters 0.05430287325521903 Centerline is valid? [True, True] Translation: X:402.49, Y:-70.83, Z:-3.03 [[ 9.15659459e-01 4.01954127e-01 7.96886351e-04 4.02489750e+02] [-4.01953997e-01 9.15659805e-01 -3.24598693e-04 -7.08347363e+01] [-8.60150585e-04 -2.30897908e-05 9.99999630e-01 -3.02660169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters 0.05415338189189577 Centerline is valid? [True, True] Translation: X:402.55, Y:-70.86, Z:-3.03 [[ 9.14718636e-01 4.04090987e-01 5.40309714e-04 4.02546089e+02] [-4.04090927e-01 9.14718795e-01 -2.20067339e-04 -7.08590095e+01] [-5.83158679e-04 -1.70345568e-05 9.99999830e-01 -3.02694661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters 0.05439305835953384 Centerline is valid? [True, True] Translation: X:402.60, Y:-70.88, Z:-3.03 [[ 9.14615716e-01 4.04323135e-01 9.45326398e-04 4.02603339e+02] [-4.04322954e-01 9.14616204e-01 -3.84417612e-04 -7.08836071e+01] [-1.02003978e-03 -3.06227711e-05 9.99999479e-01 -3.02818464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters 0.05507840917693469 Centerline is valid? [True, True] Translation: X:402.66, Y:-70.91, Z:-3.03 [[ 9.15587373e-01 4.02118822e-01 -4.62951187e-04 4.02658849e+02] [-4.02118778e-01 9.15587490e-01 1.88873393e-04 -7.09078986e+01] [ 4.99821862e-04 1.32312716e-05 9.99999875e-01 -3.03201228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters 0.05404900052005274 Centerline is valid? [True, True] Translation: X:402.71, Y:-70.94, Z:-3.03 [[ 9.16346530e-01 4.00384307e-01 -1.20179761e-03 4.02711166e+02] [-4.00384008e-01 9.16347317e-01 4.90202008e-04 -7.09415728e+01] [ 1.29753320e-03 3.19856333e-05 9.99999158e-01 -3.03149402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters 0.05378314307830758 Centerline is valid? [True, True] Translation: X:402.76, Y:-70.97, Z:-3.03 [[ 9.17037939e-01 3.98798098e-01 -1.22272184e-03 4.02764079e+02] [-3.98797788e-01 9.17038754e-01 4.98693308e-04 -7.09746098e+01] [ 1.32016125e-03 3.02980798e-05 9.99999128e-01 -3.03074584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters 0.053142462901458624 Centerline is valid? [True, True] Translation: X:402.82, Y:-71.01, Z:-3.03 [[ 9.17015833e-01 3.98850762e-01 -1.77674306e-04 4.02817889e+02] [-3.98850755e-01 9.17015850e-01 7.33892015e-05 -7.10082717e+01] [ 1.92201493e-04 3.56647124e-06 9.99999982e-01 -3.03002220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters 0.052428458207252435 Centerline is valid? [True, True] Translation: X:402.87, Y:-71.04, Z:-3.03 [[ 9.16906620e-01 3.99101723e-01 -2.56026105e-04 4.02873139e+02] [-3.99101709e-01 9.16906655e-01 1.05439347e-04 -7.10358410e+01] [ 2.76833065e-04 5.50242075e-06 9.99999962e-01 -3.03084514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters 0.052965501065609245 Centerline is valid? [True, True] Translation: X:402.93, Y:-71.07, Z:-3.03 [[ 9.16751201e-01 3.99457193e-01 -1.08966662e-03 4.02926411e+02] [-3.99456946e-01 9.16751848e-01 4.44983410e-04 -7.10704969e+01] [ 1.17670571e-03 2.73358259e-05 9.99999307e-01 -3.03088743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters 0.05244072710565981 Centerline is valid? [True, True] Translation: X:402.98, Y:-71.10, Z:-3.03 [[ 9.16559351e-01 3.99892505e-01 -2.22258827e-03 4.02981203e+02] [-3.99891478e-01 9.16562044e-01 9.08193759e-04 -7.11006526e+01] [ 2.40031993e-03 5.63806251e-05 9.99997118e-01 -3.03132193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters 0.05476784368314303 Centerline is valid? [True, True] Translation: X:403.04, Y:-71.12, Z:-3.04 [[ 9.16289401e-01 4.00511252e-01 -2.11413642e-03 4.03039448e+02] [-4.00510324e-01 9.16291839e-01 8.64118889e-04 -7.11197983e+01] [ 2.28325529e-03 5.49504848e-05 9.99997392e-01 -3.03629561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters 0.05219726939660268 Centerline is valid? [True, True] Translation: X:403.09, Y:-71.16, Z:-3.03 [[ 9.15548951e-01 4.02201560e-01 -2.00596274e-03 4.03090212e+02] [-4.02200729e-01 9.15551147e-01 8.19425560e-04 -7.11602456e+01] [ 2.16613573e-03 5.65754661e-05 9.99997652e-01 -3.03124000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters 0.05237622609153148 Centerline is valid? [True, True] Translation: X:403.14, Y:-71.19, Z:-3.03 [[ 9.14639183e-01 4.04263613e-01 -2.46900853e-03 4.03144588e+02] [-4.04262362e-01 9.14642512e-01 1.00849296e-03 -7.11875909e+01] [ 2.66595717e-03 7.57200404e-05 9.99996443e-01 -3.03186587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters 0.0517943780321589 Centerline is valid? [True, True] Translation: X:403.20, Y:-71.22, Z:-3.03 [[ 9.13576267e-01 4.06654902e-01 -3.19315111e-03 4.03196600e+02] [-4.06652825e-01 9.13581841e-01 1.30415566e-03 -7.12209373e+01] [ 3.44754616e-03 1.07058255e-04 9.99994051e-01 -3.03071690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters 0.052322409927064585 Centerline is valid? [True, True] Translation: X:403.25, Y:-71.24, Z:-3.03 [[ 9.13261724e-01 4.07358821e-01 -3.43706116e-03 4.03253887e+02] [-4.07356418e-01 9.13268184e-01 1.40439835e-03 -7.12430629e+01] [ 3.71105266e-03 1.17525665e-04 9.99993107e-01 -3.03296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters 0.05232295167489149 Centerline is valid? [True, True] Translation: X:403.31, Y:-71.27, Z:-3.03 [[ 9.13571430e-01 4.06665228e-01 -3.26108717e-03 4.03308880e+02] [-4.06663057e-01 9.13577244e-01 1.33330293e-03 -7.12711850e+01] [ 3.52146297e-03 1.08096217e-04 9.99993794e-01 -3.03342731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters 0.05100954075425563 Centerline is valid? [True, True] Translation: X:403.36, Y:-71.30, Z:-3.03 [[ 9.14321212e-01 4.04981836e-01 -2.53634639e-03 4.03361853e+02] [-4.04980517e-01 9.14324727e-01 1.03674295e-03 -7.13043231e+01] [ 2.73890628e-03 7.92548062e-05 9.99996246e-01 -3.03119459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters 0.05097326337797847 Centerline is valid? [True, True] Translation: X:403.41, Y:-71.34, Z:-3.03 [[ 9.16432416e-01 4.00180633e-01 -2.66230051e-03 4.03413310e+02] [-4.00179160e-01 9.16436280e-01 1.08805762e-03 -7.13405180e+01] [ 2.87524837e-03 6.82659077e-05 9.99995864e-01 -3.02909265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters 0.05138003765497608 Centerline is valid? [True, True] Translation: X:403.47, Y:-71.37, Z:-3.03 [[ 9.19277653e-01 3.93592935e-01 -3.63295566e-03 4.03465810e+02] [-3.93590140e-01 9.19284829e-01 1.48467032e-03 -7.13720589e+01] [ 3.92407677e-03 6.50712829e-05 9.99992299e-01 -3.03059275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters 0.0511723292935672 Centerline is valid? [True, True] Translation: X:403.52, Y:-71.40, Z:-3.03 [[ 9.21104048e-01 3.89294133e-01 -4.17268017e-03 4.03519831e+02] [-3.89290401e-01 9.21113497e-01 1.70540356e-03 -7.14015934e+01] [ 4.50741562e-03 5.35302201e-05 9.99989840e-01 -3.03143248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters 0.051455045948919316 Centerline is valid? [True, True] Translation: X:403.57, Y:-71.43, Z:-3.03 [[ 9.22102850e-01 3.86932212e-01 -3.13015979e-03 4.03574417e+02] [-3.86930098e-01 9.22108162e-01 1.27931564e-03 -7.14271364e+01] [ 3.38135432e-03 3.14924425e-05 9.99994283e-01 -3.03363598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters 0.050527228613600234 Centerline is valid? [True, True] Translation: X:403.63, Y:-71.45, Z:-3.03 [[ 9.21307268e-01 3.88826011e-01 -2.69262147e-03 4.03631671e+02] [-3.88824452e-01 9.21311203e-01 1.10167812e-03 -7.14508297e+01] [ 2.90910344e-03 3.19730078e-05 9.99995768e-01 -3.03248733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters 0.05095334442485242 Centerline is valid? [True, True] Translation: X:403.69, Y:-71.47, Z:-3.03 [[ 9.20333828e-01 3.91118324e-01 -3.47874582e-03 4.03689161e+02] [-3.91115738e-01 9.20340401e-01 1.42342269e-03 -7.14735288e+01] [ 3.75835702e-03 5.05681875e-05 9.99992936e-01 -3.03250778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters 0.05110209814343618 Centerline is valid? [True, True] Translation: X:403.75, Y:-71.50, Z:-3.03 [[ 9.19306301e-01 3.93510132e-01 -5.06959383e-03 4.03745962e+02] [-3.93504674e-01 9.19320275e-01 2.07436780e-03 -7.14964667e+01] [ 5.47686514e-03 8.79294788e-05 9.99984998e-01 -3.03330480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters 0.05127936925292611 Centerline is valid? [True, True] Translation: X:403.80, Y:-71.52, Z:-3.03 [[ 9.18843424e-01 3.94577017e-01 -5.97825194e-03 4.03803770e+02] [-3.94569445e-01 9.18862865e-01 2.44703096e-03 -7.15190132e+01] [ 6.45873589e-03 1.10397241e-04 9.99979136e-01 -3.03331773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters 0.05144653336970554 Centerline is valid? [True, True] Translation: X:403.86, Y:-71.55, Z:-3.03 [[ 9.18612097e-01 3.95117349e-01 -5.83925017e-03 4.03859049e+02] [-3.95110131e-01 9.18630649e-01 2.39079226e-03 -7.15468490e+01] [ 6.30875767e-03 1.10936214e-04 9.99980093e-01 -3.02734951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters 0.05137001738315259 Centerline is valid? [True, True] Translation: X:403.92, Y:-71.56, Z:-3.03 [[ 9.18792003e-01 3.94704649e-01 -5.43105602e-03 4.03919273e+02] [-3.94698399e-01 9.18808049e-01 2.22346560e-03 -7.15635466e+01] [ 5.86771019e-03 1.00726704e-04 9.99982780e-01 -3.03217160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters 0.05132508601644935 Centerline is valid? [True, True] Translation: X:403.98, Y:-71.59, Z:-3.03 [[ 9.19479624e-01 3.93113157e-01 -4.38945306e-03 4.03975802e+02] [-3.93109056e-01 9.19490098e-01 1.79710128e-03 -7.15888858e+01] [ 4.74252278e-03 7.31357397e-05 9.99988752e-01 -3.02937830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters 0.05164872571449203 Centerline is valid? [True, True] Translation: X:404.03, Y:-71.61, Z:-3.03 [[ 9.20682065e-01 3.90305457e-01 -2.48710757e-03 4.04031395e+02] [-3.90304130e-01 9.20685424e-01 1.01832162e-03 -7.16128785e+01] [ 2.68730017e-03 3.31779087e-05 9.99996389e-01 -3.02782785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters 0.05204299878240348 Centerline is valid? [True, True] Translation: X:404.09, Y:-71.63, Z:-3.03 [[ 9.21434919e-01 3.88527683e-01 -1.98250490e-03 4.04088181e+02] [-3.88526833e-01 9.21437051e-01 8.12579358e-04 -7.16349068e+01] [ 2.14246304e-03 2.15173552e-05 9.99997705e-01 -3.02898746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters 0.05112662982111805 Centerline is valid? [True, True] Translation: X:404.15, Y:-71.66, Z:-3.03 [[ 9.22157546e-01 3.86803952e-01 -2.85709771e-03 4.04146012e+02] [-3.86802180e-01 9.22161972e-01 1.17113398e-03 -7.16557520e+01] [ 3.08770611e-03 2.51615863e-05 9.99995233e-01 -3.03272938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters 0.051788501718255886 Centerline is valid? [True, True] Translation: X:404.20, Y:-71.68, Z:-3.03 [[ 9.22446111e-01 3.86105247e-01 -3.98873418e-03 4.04202951e+02] [-3.86101788e-01 9.22454734e-01 1.63461915e-03 -7.16812194e+01] [ 4.31056176e-03 3.22093205e-05 9.99990709e-01 -3.03206482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters 0.05182207125401149 Centerline is valid? [True, True] Translation: X:404.26, Y:-71.70, Z:-3.03 [[ 9.22094910e-01 3.86913623e-01 -6.23097485e-03 4.04260776e+02] [-3.86905203e-01 9.22115961e-01 2.55325064e-03 -7.17034047e+01] [ 6.73356882e-03 5.64571640e-05 9.99977328e-01 -3.03424968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters 0.05214121763068945 Centerline is valid? [True, True] Translation: X:404.32, Y:-71.73, Z:-3.03 [[ 9.22158403e-01 3.86725243e-01 -8.21380390e-03 4.04317218e+02] [-3.86710588e-01 9.22194980e-01 3.36742243e-03 -7.17293164e+01] [ 8.87699598e-03 7.10680481e-05 9.99960596e-01 -3.03164635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters 0.05225190062793148 Centerline is valid? [True, True] Translation: X:404.37, Y:-71.75, Z:-3.03 [[ 9.23025531e-01 3.84651558e-01 -8.18823488e-03 4.04373730e+02] [-3.84636906e-01 9.23061849e-01 3.35778106e-03 -7.17529576e+01] [ 8.84982294e-03 5.01796837e-05 9.99960838e-01 -3.03435098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters 0.05141921073430995 Centerline is valid? [True, True] Translation: X:404.43, Y:-71.78, Z:-3.03 [[ 9.24302069e-01 3.81583588e-01 -7.72342268e-03 4.04429789e+02] [-3.81570446e-01 9.24334336e-01 3.16706089e-03 -7.17798152e+01] [ 8.34752323e-03 1.97089006e-05 9.99965159e-01 -3.03374352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters 0.05200311791787034 Centerline is valid? [True, True] Translation: X:404.49, Y:-71.80, Z:-3.03 [[ 9.24942577e-01 3.80067666e-01 -5.45872100e-03 4.04486404e+02] [-3.80061074e-01 9.24958685e-01 2.23853334e-03 -7.18036666e+01] [ 5.89988554e-03 4.13256601e-06 9.99982596e-01 -3.03407385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters 0.051701097611027126 Centerline is valid? [True, True] Translation: X:404.54, Y:-71.83, Z:-3.03 [[ 9.24527255e-01 3.81093110e-01 -4.17094694e-03 4.04543977e+02] [-3.81089266e-01 9.24536663e-01 1.71174358e-03 -7.18279986e+01] [ 4.50852705e-03 6.94951836e-06 9.99989837e-01 -3.03231492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters 0.05220782773296609 Centerline is valid? [True, True] Translation: X:404.60, Y:-71.85, Z:-3.03 [[ 9.24291004e-01 3.81669781e-01 -3.78401429e-03 4.04601630e+02] [-3.81666623e-01 9.24298749e-01 1.55262984e-03 -7.18511387e+01] [ 4.09015156e-03 9.15016297e-06 9.99991635e-01 -3.03273789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters 0.05179920593559894 Centerline is valid? [True, True] Translation: X:404.66, Y:-71.87, Z:-3.04 [[ 9.24457870e-01 3.81266059e-01 -3.72014658e-03 4.04659611e+02] [-3.81263003e-01 9.24465355e-01 1.52661476e-03 -7.18733132e+01] [ 4.02119302e-03 7.06322940e-06 9.99991915e-01 -3.03516940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters 0.052149082682647334 Centerline is valid? [True, True] Translation: X:404.72, Y:-71.90, Z:-3.03 [[ 9.24450004e-01 3.81271547e-01 -4.91902092e-03 4.04716660e+02] [-3.81266198e-01 9.24463091e-01 2.01962251e-03 -7.18964100e+01] [ 5.31747788e-03 8.41636829e-06 9.99985862e-01 -3.03166273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters 0.05172481533996809 Centerline is valid? [True, True] Translation: X:404.78, Y:-71.92, Z:-3.04 [[ 9.24233173e-01 3.81788920e-01 -5.50113828e-03 4.04775037e+02] [-3.81782241e-01 9.24249544e-01 2.25825204e-03 -7.19188375e+01] [ 5.94660016e-03 1.30854508e-05 9.99982319e-01 -3.03631605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters 0.051657267176383886 Centerline is valid? [True, True] Translation: X:404.83, Y:-71.94, Z:-3.04 [[ 9.23706481e-01 3.83066902e-01 -5.10733501e-03 4.04833107e+02] [-3.83061157e-01 9.23720601e-01 2.09797888e-03 -7.19393031e+01] [ 5.52141683e-03 1.85049706e-05 9.99984757e-01 -3.03854094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters 0.052409237226792256 Centerline is valid? [True, True] Translation: X:404.89, Y:-71.96, Z:-3.03 [[ 9.23265075e-01 3.84153879e-01 -2.72016048e-03 4.04890893e+02] [-3.84152252e-01 9.23269082e-01 1.11811841e-03 -7.19619956e+01] [ 2.94096959e-03 1.26360952e-05 9.99995675e-01 -3.03331322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters 0.052334065401062314 Centerline is valid? [True, True] Translation: X:404.95, Y:-71.98, Z:-3.04 [[ 9.23202845e-01 3.84307453e-01 -2.07070097e-03 4.04949372e+02] [-3.84306509e-01 9.23205168e-01 8.51642163e-04 -7.19814129e+01] [ 2.23897427e-03 9.54539475e-06 9.99997493e-01 -3.04103870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters 0.05181699970960312 Centerline is valid? [True, True] Translation: X:405.01, Y:-72.00, Z:-3.04 [[ 9.22530606e-01 3.85921381e-01 -1.40274342e-03 4.05007538e+02] [-3.85920949e-01 9.22531673e-01 5.77540098e-04 -7.20046830e+01] [ 1.51696030e-03 8.54965480e-06 9.99998849e-01 -3.03811394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters 0.051450250033342436 Centerline is valid? [True, True] Translation: X:405.07, Y:-72.03, Z:-3.04 [[ 9.21977863e-01 3.87241575e-01 -8.85140003e-04 4.05066310e+02] [-3.87241403e-01 9.21978287e-01 3.64987818e-04 -7.20285831e+01] [ 9.57418321e-04 6.25216831e-06 9.99999542e-01 -3.03723660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters 0.05152707167085794 Centerline is valid? [True, True] Translation: X:405.12, Y:-72.05, Z:-3.04 [[ 9.21316914e-01 3.88812263e-01 -4.11247641e-04 4.05124307e+02] [-3.88812225e-01 9.21317005e-01 1.70088626e-04 -7.20513706e+01] [ 4.45021988e-04 3.19258259e-06 9.99999901e-01 -3.03854281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters 0.05158315018471241 Centerline is valid? [True, True] Translation: X:405.18, Y:-72.07, Z:-3.04 [[ 9.20906842e-01 3.89782746e-01 7.44526009e-06 4.05182255e+02] [-3.89782746e-01 9.20906842e-01 -2.19525154e-06 -7.20701422e+01] [-7.71206226e-06 -8.80411756e-07 1.00000000e+00 -3.04216031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters 0.05208000074870334 Centerline is valid? [True, True] Translation: X:405.24, Y:-72.10, Z:-3.04 [[ 9.20825060e-01 3.89975086e-01 8.00376985e-04 4.05239674e+02] [-3.89974947e-01 9.20825408e-01 -3.29017539e-04 -7.20952821e+01] [-8.65316107e-04 -9.15937721e-06 9.99999626e-01 -3.04228980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters 0.05162235817560118 Centerline is valid? [True, True] Translation: X:405.30, Y:-72.12, Z:-3.04 [[ 9.20656320e-01 3.90373504e-01 6.84261357e-04 4.05297424e+02] [-3.90373403e-01 9.20656574e-01 -2.80724050e-04 -7.21184578e+01] [-7.39556948e-04 -8.66706406e-06 9.99999726e-01 -3.04333992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters 0.05153972842240752 Centerline is valid? [True, True] Translation: X:405.35, Y:-72.15, Z:-3.04 [[ 9.20258409e-01 3.91309037e-01 1.30314594e-03 4.05352869e+02] [-3.91308671e-01 9.20259332e-01 -5.35500079e-04 -7.21484180e+01] [-1.40877824e-03 -1.71338559e-05 9.99999008e-01 -3.04063582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters 0.05144305599931139 Centerline is valid? [True, True] Translation: X:405.41, Y:-72.17, Z:-3.04 [[ 9.19645102e-01 3.92747903e-01 1.40393422e-03 4.05409194e+02] [-3.92747479e-01 9.19646173e-01 -5.77710092e-04 -7.21709782e+01] [-1.51801716e-03 -2.01033710e-05 9.99998848e-01 -3.04181666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters 0.05167438862513224 Centerline is valid? [True, True] Translation: X:405.47, Y:-72.19, Z:-3.04 [[ 9.18810290e-01 3.94699002e-01 5.91116820e-04 4.05467086e+02] [-3.94698927e-01 9.18810480e-01 -2.43024579e-04 -7.21893782e+01] [-6.39045888e-04 -1.00196906e-05 9.99999796e-01 -3.04462301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters 0.05232803301019804 Centerline is valid? [True, True] Translation: X:405.52, Y:-72.22, Z:-3.04 [[ 9.17824731e-01 3.96985845e-01 -3.68934336e-05 4.05522984e+02] [-3.96985845e-01 9.17824732e-01 1.54620362e-05 -7.22170004e+01] [ 3.99999152e-05 4.54731636e-07 9.99999999e-01 -3.04406505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters 0.05240800622869414 Centerline is valid? [True, True] Translation: X:405.58, Y:-72.24, Z:-3.05 [[ 9.17564405e-01 3.97586662e-01 -6.38633847e-04 4.05581237e+02] [-3.97586575e-01 9.17564628e-01 2.63617056e-04 -7.22372150e+01] [ 6.90798454e-04 1.20266164e-05 9.99999761e-01 -3.04611247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters 0.051643186295449284 Centerline is valid? [True, True] Translation: X:405.64, Y:-72.27, Z:-3.04 [[ 9.17954373e-01 3.96685382e-01 6.90260625e-04 4.05636954e+02] [-3.96685281e-01 9.17954633e-01 -2.83610900e-04 -7.22653186e+01] [-7.46132236e-04 -1.34743638e-05 9.99999722e-01 -3.04475131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters 0.05169748136298332 Centerline is valid? [True, True] Translation: X:405.69, Y:-72.29, Z:-3.04 [[ 9.18352623e-01 3.95755874e-01 2.39730836e-03 4.05693071e+02] [-3.95754645e-01 9.18355751e-01 -9.87428594e-04 -7.22929459e+01] [-2.59236258e-03 -4.19382766e-05 9.99996639e-01 -3.04356162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters 0.05156467632670876 Centerline is valid? [True, True] Translation: X:405.75, Y:-72.32, Z:-3.04 [[ 9.19023297e-01 3.94180724e-01 4.21148784e-03 4.05750521e+02] [-3.94176907e-01 9.19032944e-01 -1.73604613e-03 -7.23182198e+01] [-4.55481199e-03 -6.46044064e-05 9.99989625e-01 -3.04373260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters 0.05192301939749009 Centerline is valid? [True, True] Translation: X:405.81, Y:-72.34, Z:-3.05 [[ 9.19559145e-01 3.92932720e-01 3.85449675e-03 4.05807922e+02] [-3.92929510e-01 9.19567221e-01 -1.58918749e-03 -7.23389002e+01] [-4.16891263e-03 -5.31936313e-05 9.99991309e-01 -3.04568881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters 0.05176231849552095 Centerline is valid? [True, True] Translation: X:405.86, Y:-72.37, Z:-3.05 [[ 9.20302917e-01 3.91192132e-01 3.35501748e-03 4.05863273e+02] [-3.91189688e-01 9.20309032e-01 -1.38354128e-03 -7.23675061e+01] [-3.62888335e-03 -3.91711647e-05 9.99993415e-01 -3.04671021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters 0.05235281067212618 Centerline is valid? [True, True] Translation: X:405.92, Y:-72.39, Z:-3.05 [[ 9.20869427e-01 3.89861037e-01 2.80538591e-03 4.05921108e+02] [-3.89859321e-01 9.20873700e-01 -1.15696500e-03 -7.23915714e+01] [-3.03446167e-03 -2.82921526e-05 9.99995396e-01 -3.04768040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters 0.052318409607176264 Centerline is valid? [True, True] Translation: X:405.98, Y:-72.42, Z:-3.05 [[ 9.21063126e-01 3.89407178e-01 2.18353200e-03 4.05979434e+02] [-3.89406138e-01 9.21065714e-01 -9.00041808e-04 -7.24156653e+01] [-2.36165920e-03 -2.12854431e-05 9.99997211e-01 -3.04829781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters 0.052140594171687885 Centerline is valid? [True, True] Translation: X:406.04, Y:-72.44, Z:-3.05 [[ 9.21079331e-01 3.89371638e-01 1.61076689e-03 4.06037582e+02] [-3.89371072e-01 9.21080739e-01 -6.63929639e-04 -7.24391217e+01] [-1.74216173e-03 -1.56541642e-05 9.99998482e-01 -3.04926953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters 0.052696846108117555 Centerline is valid? [True, True] Translation: X:406.10, Y:-72.46, Z:-3.05 [[ 9.20854454e-01 3.89906076e-01 5.71575976e-04 4.06096212e+02] [-3.89906005e-01 9.20854631e-01 -2.35187594e-04 -7.24580245e+01] [-6.18039456e-04 -6.28736185e-06 9.99999809e-01 -3.05229993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters 0.05237208743079677 Centerline is valid? [True, True] Translation: X:406.15, Y:-72.48, Z:-3.05 [[ 9.20149981e-01 3.91563609e-01 1.39752920e-03 4.06152605e+02] [-3.91563185e-01 9.20151042e-01 -5.76394757e-04 -7.24833098e+01] [-1.51163316e-03 -1.68513607e-05 9.99998857e-01 -3.04958079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters 0.05256833677807901 Centerline is valid? [True, True] Translation: X:406.21, Y:-72.50, Z:-3.05 [[ 9.19605031e-01 3.92843330e-01 8.39609344e-04 4.06210567e+02] [-3.92843177e-01 9.19605414e-01 -3.46439707e-04 -7.25018608e+01] [-9.08205827e-04 -1.12471051e-05 9.99999588e-01 -3.05107177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters 0.05243491364999967 Centerline is valid? [True, True] Translation: X:406.27, Y:-72.53, Z:-3.05 [[ 9.18679508e-01 3.95001195e-01 1.42042723e-03 4.06267732e+02] [-3.95000761e-01 9.18680606e-01 -5.86196522e-04 -7.25251265e+01] [-1.53646727e-03 -2.25431028e-05 9.99998819e-01 -3.04848441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters 0.05263761550694939 Centerline is valid? [True, True] Translation: X:406.33, Y:-72.55, Z:-3.05 [[ 9.18095539e-01 3.96353893e-01 2.04261914e-03 4.06326064e+02] [-3.96352997e-01 9.18097811e-01 -8.43555126e-04 -7.25472964e+01] [-2.20967052e-03 -3.51340218e-05 9.99997558e-01 -3.04744198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters 0.053205503333102054 Centerline is valid? [True, True] Translation: X:406.39, Y:-72.56, Z:-3.05 [[ 9.17043822e-01 3.98785116e-01 1.03000694e-03 4.06386094e+02] [-3.98784890e-01 9.17044400e-01 -4.25117215e-04 -7.25621965e+01] [-1.11409252e-03 -2.09000899e-05 9.99999379e-01 -3.04981139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters 0.05257252723550174 Centerline is valid? [True, True] Translation: X:406.44, Y:-72.59, Z:-3.05 [[ 9.16426639e-01 4.00202678e-01 1.79595794e-04 4.06443509e+02] [-4.00202671e-01 9.16426656e-01 -7.34423282e-05 -7.25864011e+01] [-1.93978189e-04 -4.57021041e-06 9.99999981e-01 -3.04971330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters 0.05236693555298956 Centerline is valid? [True, True] Translation: X:406.50, Y:-72.61, Z:-3.05 [[ 9.16632492e-01 3.99730813e-01 -3.89572646e-04 4.06500629e+02] [-3.99730780e-01 9.16632575e-01 1.62104947e-04 -7.26116531e+01] [ 4.21893319e-04 7.13351560e-06 9.99999911e-01 -3.04912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters 0.05233121169937657 Centerline is valid? [True, True] Translation: X:406.56, Y:-72.64, Z:-3.05 [[ 9.17497140e-01 3.97742229e-01 3.43651167e-04 4.06556631e+02] [-3.97742204e-01 9.17497204e-01 -1.42079096e-04 -7.26365603e+01] [-3.71809841e-04 -6.32740805e-06 9.99999931e-01 -3.04831851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters 0.05170996775449763 Centerline is valid? [True, True] Translation: X:406.61, Y:-72.66, Z:-3.05 [[ 9.18025411e-01 3.96521541e-01 1.09779404e-04 4.06614285e+02] [-3.96521539e-01 9.18025417e-01 -4.45928588e-05 -7.26564212e+01] [-1.18462313e-04 -2.59252072e-06 9.99999993e-01 -3.05043312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters 0.052040539938791534 Centerline is valid? [True, True] Translation: X:406.67, Y:-72.68, Z:-3.05 [[ 9.18862173e-01 3.94578624e-01 -1.24792921e-04 4.06670863e+02] [-3.94578621e-01 9.18862182e-01 5.25956803e-05 -7.26821692e+01] [ 1.35420627e-04 9.12437669e-07 9.99999991e-01 -3.05106827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters 0.05259921532706326 Centerline is valid? [True, True] Translation: X:406.73, Y:-72.70, Z:-3.05 [[ 9.19424425e-01 3.93265291e-01 -1.06613884e-03 4.06727908e+02] [-3.93265042e-01 9.19425043e-01 4.42528755e-04 -7.27048360e+01] [ 1.15426595e-03 1.24033897e-05 9.99999334e-01 -3.05303011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters 0.05237526366427335 Centerline is valid? [True, True] Translation: X:406.78, Y:-72.73, Z:-3.05 [[ 9.20175590e-01 3.91505102e-01 -7.99837050e-04 4.06784481e+02] [-3.91504961e-01 9.20175937e-01 3.32317038e-04 -7.27293596e+01] [ 8.66094623e-04 7.35014679e-06 9.99999625e-01 -3.05302308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters 0.05258327892457912 Centerline is valid? [True, True] Translation: X:406.84, Y:-72.76, Z:-3.05 [[ 9.20488013e-01 3.90770801e-01 -9.03812409e-07 4.06840965e+02] [-3.90770801e-01 9.20488013e-01 6.95803722e-07 -7.27560058e+01] [ 1.10384813e-06 -2.87295484e-07 1.00000000e+00 -3.05090187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters 0.052420710120226734 Centerline is valid? [True, True] Translation: X:406.90, Y:-72.78, Z:-3.05 [[ 9.20970531e-01 3.89631936e-01 4.86357526e-04 4.06898420e+02] [-3.89631884e-01 9.20970659e-01 -2.01239069e-04 -7.27795408e+01] [-5.26330179e-04 -4.16514717e-06 9.99999861e-01 -3.05196450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters 0.0528884686795592 Centerline is valid? [True, True] Translation: X:406.96, Y:-72.80, Z:-3.05 [[ 9.20701958e-01 3.90266012e-01 5.86859736e-04 4.06956056e+02] [-3.90265937e-01 9.20702145e-01 -2.42316851e-04 -7.28021578e+01] [-6.34891049e-04 -5.92976520e-06 9.99999798e-01 -3.05230934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters 0.05335411917145544 Centerline is valid? [True, True] Translation: X:407.01, Y:-72.83, Z:-3.05 [[ 9.20472559e-01 3.90807096e-01 2.86340963e-04 4.07014104e+02] [-3.90807078e-01 9.20472604e-01 -1.17834304e-04 -7.28251302e+01] [-3.09619494e-04 -3.44083169e-06 9.99999952e-01 -3.05324486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters 0.05263253915592785 Centerline is valid? [True, True] Translation: X:407.07, Y:-72.85, Z:-3.05 [[ 9.20613152e-01 3.90475890e-01 -5.80688931e-05 4.07072445e+02] [-3.90475889e-01 9.20613154e-01 2.51443343e-05 -7.28485346e+01] [ 6.32772431e-05 -4.73702227e-07 9.99999998e-01 -3.05396622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters 0.05199514953274839 Centerline is valid? [True, True] Translation: X:407.13, Y:-72.87, Z:-3.05 [[ 9.20833994e-01 3.89952509e-01 1.34049328e-03 4.07129609e+02] [-3.89952113e-01 9.20834969e-01 -5.55399288e-04 -7.28725792e+01] [-1.45095243e-03 -1.12976425e-05 9.99998947e-01 -3.05269018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters 0.05291856743547381 Centerline is valid? [True, True] Translation: X:407.19, Y:-72.89, Z:-3.05 [[ 9.20624842e-01 3.90445304e-01 1.53763954e-03 4.07188787e+02] [-3.90444784e-01 9.20626126e-01 -6.37322096e-04 -7.28947437e+01] [-1.66443056e-03 -1.36287853e-05 9.99998615e-01 -3.05320549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters 0.052306697114373885 Centerline is valid? [True, True] Translation: X:407.25, Y:-72.92, Z:-3.05 [[ 9.20471218e-01 3.90808371e-01 1.24655495e-03 4.07246776e+02] [-3.90808030e-01 9.20472062e-01 -5.16730176e-04 -7.29170161e+01] [-1.34936149e-03 -1.15284304e-05 9.99999090e-01 -3.05465961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters 0.052780781546063665 Centerline is valid? [True, True] Translation: X:407.30, Y:-72.94, Z:-3.05 [[ 9.19911951e-01 3.92122211e-01 1.47425206e-03 4.07304662e+02] [-3.92121734e-01 9.19913133e-01 -6.11559621e-04 -7.29400457e+01] [-1.59598994e-03 -1.55052709e-05 9.99998726e-01 -3.05479654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters 0.05239542179920443 Centerline is valid? [True, True] Translation: X:407.36, Y:-72.96, Z:-3.05 [[ 9.19505392e-01 3.93073892e-01 1.65805701e-03 4.07362371e+02] [-3.93073290e-01 9.19506887e-01 -6.88149227e-04 -7.29635196e+01] [-1.79508834e-03 -1.89809991e-05 9.99998389e-01 -3.05499231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters 0.052416360904790966 Centerline is valid? [True, True] Translation: X:407.42, Y:-72.98, Z:-3.06 [[ 9.18550801e-01 3.95300697e-01 1.33628672e-03 4.07419260e+02] [-3.95300308e-01 9.18551772e-01 -5.55245833e-04 -7.29848622e+01] [-1.44693760e-03 -1.82130472e-05 9.99998953e-01 -3.05568746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters 0.052235191777677714 Centerline is valid? [True, True] Translation: X:407.48, Y:-73.01, Z:-3.06 [[ 9.17849069e-01 3.96929563e-01 -9.52359792e-05 4.07476615e+02] [-3.96929561e-01 9.17849074e-01 4.05192876e-05 -7.30087296e+01] [ 1.03495558e-04 6.11385031e-07 9.99999995e-01 -3.05667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters 0.05288136164777079 Centerline is valid? [True, True] Translation: X:407.53, Y:-73.03, Z:-3.06 [[ 9.16883978e-01 3.99153543e-01 4.69408098e-04 4.07534918e+02] [-3.99153496e-01 9.16884098e-01 -1.94365727e-04 -7.30271210e+01] [-5.07974590e-04 -9.15506204e-06 9.99999871e-01 -3.05973054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters 0.05254179464241274 Centerline is valid? [True, True] Translation: X:407.59, Y:-73.06, Z:-3.06 [[ 9.16533436e-01 3.99954362e-01 1.72286228e-03 4.07591497e+02] [-3.99953723e-01 9.16535055e-01 -7.15693621e-04 -7.30554527e+01] [-1.86530846e-03 -3.31080506e-05 9.99998260e-01 -3.05754794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters 0.05190832703658142 Centerline is valid? [True, True] Translation: X:407.65, Y:-73.08, Z:-3.06 [[ 9.17065408e-01 3.98732087e-01 1.93925667e-03 4.07648905e+02] [-3.98731273e-01 9.17067458e-01 -8.06173109e-04 -7.30759109e+01] [-2.09987627e-03 -3.39288087e-05 9.99997795e-01 -3.05871513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters 0.0522761507734173 Centerline is valid? [True, True] Translation: X:407.70, Y:-73.10, Z:-3.06 [[ 9.18692881e-01 3.94968085e-01 1.89775572e-03 4.07703751e+02] [-3.94967296e-01 9.18694841e-01 -7.89671791e-04 -7.31031189e+01] [-2.05535355e-03 -2.40855932e-05 9.99997887e-01 -3.05906555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters 0.052695234812164565 Centerline is valid? [True, True] Translation: X:407.76, Y:-73.13, Z:-3.06 [[ 9.20819251e-01 3.89986409e-01 1.58393500e-03 4.07759042e+02] [-3.89985852e-01 9.20820613e-01 -6.59148519e-04 -7.31269797e+01] [-1.71557896e-03 -1.07555933e-05 9.99998528e-01 -3.06042903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters 0.05267196713812191 Centerline is valid? [True, True] Translation: X:407.82, Y:-73.15, Z:-3.06 [[ 9.21258001e-01 3.88950152e-01 1.21413962e-03 4.07815097e+02] [-3.88949825e-01 9.21258801e-01 -5.04619038e-04 -7.31517127e+01] [-1.31480846e-03 -7.35506765e-06 9.99999136e-01 -3.06029955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters 0.0529053136752363 Centerline is valid? [True, True] Translation: X:407.87, Y:-73.18, Z:-3.06 [[ 9.22227592e-01 3.86645779e-01 1.14482550e-03 4.07872319e+02] [-3.86645486e-01 9.22228302e-01 -4.76113922e-04 -7.31771436e+01] [-1.23987792e-03 -3.55621593e-06 9.99999231e-01 -3.06160931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters 0.05227134155793891 Centerline is valid? [True, True] Translation: X:407.93, Y:-73.20, Z:-3.06 [[ 9.22813143e-01 3.85247076e-01 7.70149374e-04 4.07929616e+02] [-3.85246944e-01 9.22813464e-01 -3.19733172e-04 -7.32043011e+01] [-8.33880482e-04 -1.64371887e-06 9.99999652e-01 -3.06236400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters 0.05239976259349505 Centerline is valid? [True, True] Translation: X:407.99, Y:-73.23, Z:-3.06 [[ 9.22833227e-01 3.85199512e-01 4.13661073e-04 4.07987141e+02] [-3.85199474e-01 9.22833320e-01 -1.71297855e-04 -7.32291546e+01] [-4.47724071e-04 -1.26267525e-06 9.99999900e-01 -3.06247918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters 0.05294542662589341 Centerline is valid? [True, True] Translation: X:408.04, Y:-73.25, Z:-3.06 [[ 9.22572175e-01 3.85820650e-01 1.73445602e-03 4.08043774e+02] [-3.85819974e-01 9.22573805e-01 -7.22379843e-04 -7.32531574e+01] [-1.87887275e-03 -2.74023363e-06 9.99998235e-01 -3.06365239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters 0.05336554793042767 Centerline is valid? [True, True] Translation: X:408.10, Y:-73.28, Z:-3.06 [[ 9.21603017e-01 3.88126379e-01 2.40668941e-03 4.08101899e+02] [-3.88125085e-01 9.21606160e-01 -1.00241059e-03 -7.32776990e+01] [-2.60708178e-03 -1.02719072e-05 9.99996602e-01 -3.06269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters 0.05311053487502227 Centerline is valid? [True, True] Translation: X:408.16, Y:-73.30, Z:-3.06 [[ 9.20605485e-01 3.90488715e-01 2.02591918e-03 4.08158896e+02] [-3.90487802e-01 9.20607714e-01 -8.44383539e-04 -7.32987564e+01] [-2.19479907e-03 -1.37526118e-05 9.99997591e-01 -3.06406641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters 0.05307973090842436 Centerline is valid? [True, True] Translation: X:408.22, Y:-73.32, Z:-3.06 [[ 9.19202929e-01 3.93772814e-01 2.99107043e-03 4.08216529e+02] [-3.93770841e-01 9.19207795e-01 -1.24680899e-03 -7.33224339e+01] [-3.24037474e-03 -3.17258391e-05 9.99994749e-01 -3.06366701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters 0.05293171209242105 Centerline is valid? [True, True] Translation: X:408.27, Y:-73.34, Z:-3.06 [[ 9.17620187e-01 3.97452398e-01 2.18696980e-03 4.08273363e+02] [-3.97451354e-01 9.17622793e-01 -9.11723751e-04 -7.33449167e+01] [-2.36918013e-03 -3.25979883e-05 9.99997193e-01 -3.06451176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters 0.05349081101655593 Centerline is valid? [True, True] Translation: X:408.33, Y:-73.37, Z:-3.07 [[ 9.17139655e-01 3.98565018e-01 8.83308230e-04 4.08330008e+02] [-3.98564849e-01 9.17140080e-01 -3.67868477e-04 -7.33671796e+01] [-9.56736887e-04 -1.46688433e-05 9.99999542e-01 -3.06756291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters 0.05298904053612005 Centerline is valid? [True, True] Translation: X:408.39, Y:-73.39, Z:-3.07 [[ 9.17062811e-01 3.98741910e-01 8.30381311e-04 4.08386198e+02] [-3.98741761e-01 9.17063187e-01 -3.45686967e-04 -7.33948978e+01] [-8.99352013e-04 -1.40910439e-05 9.99999595e-01 -3.06661698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters 0.05314375063578297 Centerline is valid? [True, True] Translation: X:408.44, Y:-73.42, Z:-3.07 [[ 9.17282561e-01 3.98236410e-01 6.81855081e-04 4.08442961e+02] [-3.98236309e-01 9.17282814e-01 -2.83893204e-04 -7.34204423e+01] [-7.38510558e-04 -1.11291653e-05 9.99999727e-01 -3.06739336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters 0.05323531761024638 Centerline is valid? [True, True] Translation: X:408.50, Y:-73.45, Z:-3.07 [[ 9.17756698e-01 3.97140476e-01 1.44426985e-03 4.08498573e+02] [-3.97140019e-01 9.17757834e-01 -6.02525174e-04 -7.34481785e+01] [-1.56477710e-03 -2.06058422e-05 9.99998776e-01 -3.06648324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters 0.05288172646028877 Centerline is valid? [True, True] Translation: X:408.56, Y:-73.47, Z:-3.07 [[ 9.17763554e-01 3.97122306e-01 1.98300747e-03 4.08555687e+02] [-3.97121443e-01 9.17765696e-01 -8.28167150e-04 -7.34701368e+01] [-2.14881988e-03 -2.74331610e-05 9.99997691e-01 -3.06814213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters 0.05253348627222456 Centerline is valid? [True, True] Translation: X:408.61, Y:-73.50, Z:-3.07 [[ 9.16874416e-01 3.99171195e-01 1.91344648e-03 4.08611479e+02] [-3.99170397e-01 9.16876412e-01 -7.98956820e-04 -7.34988184e+01] [-2.07331449e-03 -3.12481228e-05 9.99997850e-01 -3.06690802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters 0.052771608736938466 Centerline is valid? [True, True] Translation: X:408.67, Y:-73.52, Z:-3.07 [[ 9.15828453e-01 4.01568642e-01 9.32735370e-04 4.08668788e+02] [-4.01568454e-01 9.15828928e-01 -3.89180487e-04 -7.35220691e+01] [-1.01050871e-03 -1.81345377e-05 9.99999489e-01 -3.06862098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters 0.05299418263225249 Centerline is valid? [True, True] Translation: X:408.73, Y:-73.54, Z:-3.07 [[ 9.14000353e-01 4.05713270e-01 -3.13435048e-04 4.08725409e+02] [-4.05713248e-01 9.14000406e-01 1.31081784e-04 -7.35417235e+01] [ 3.39661381e-04 7.35595441e-06 9.99999942e-01 -3.07082003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters 0.052937000614458204 Centerline is valid? [True, True] Translation: X:408.78, Y:-73.56, Z:-3.07 [[ 9.12936636e-01 4.08101299e-01 1.67313556e-04 4.08781350e+02] [-4.08101293e-01 9.12936651e-01 -6.99618965e-05 -7.35625855e+01] [-1.81298219e-04 -4.41010015e-06 9.99999984e-01 -3.07091752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters 0.05243358188599033 Centerline is valid? [True, True] Translation: X:408.84, Y:-73.59, Z:-3.07 [[ 9.12425452e-01 4.09238615e-01 1.88424987e-03 4.08835696e+02] [-4.09237861e-01 9.12427396e-01 -7.87264967e-04 -7.35930059e+01] [-2.04142043e-03 -5.27857945e-05 9.99997915e-01 -3.06834976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters 0.052837956676003224 Centerline is valid? [True, True] Translation: X:408.89, Y:-73.62, Z:-3.07 [[ 9.12596309e-01 4.08853041e-01 2.67736132e-03 4.08892207e+02] [-4.08851515e-01 9.12600233e-01 -1.11939143e-03 -7.36159975e+01] [-2.90102715e-03 -7.30907430e-05 9.99995789e-01 -3.06935652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters 0.05215324584639922 Centerline is valid? [True, True] Translation: X:408.95, Y:-73.65, Z:-3.07 [[ 9.13632025e-01 4.06532391e-01 2.81737415e-03 4.08945819e+02] [-4.06530689e-01 9.13636366e-01 -1.17861362e-03 -7.36475354e+01] [-3.05320010e-03 -6.85299056e-05 9.99995337e-01 -3.06894035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters 0.052589335654263755 Centerline is valid? [True, True] Translation: X:409.00, Y:-73.67, Z:-3.07 [[ 9.14773396e-01 4.03961116e-01 2.24720579e-03 4.09002283e+02] [-4.03960025e-01 9.14776155e-01 -9.40268004e-04 -7.36685189e+01] [-2.43552199e-03 -4.76491520e-05 9.99997033e-01 -3.07135472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters 0.05164370199690042 Centerline is valid? [True, True] Translation: X:409.06, Y:-73.70, Z:-3.07 [[ 9.15933988e-01 4.01325612e-01 1.63794855e-03 4.09056840e+02] [-4.01325028e-01 9.15935452e-01 -6.85293864e-04 -7.36975634e+01] [-1.77528112e-03 -2.96658065e-05 9.99998424e-01 -3.07146502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters 0.05212153431356704 Centerline is valid? [True, True] Translation: X:409.11, Y:-73.72, Z:-3.07 [[ 9.16569094e-01 3.99875299e-01 9.17050977e-04 4.09112967e+02] [-3.99875115e-01 9.16569553e-01 -3.83311644e-04 -7.37213908e+01] [-9.93817862e-04 -1.53742587e-05 9.99999506e-01 -3.07277340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters 0.05179395571028434 Centerline is valid? [True, True] Translation: X:409.17, Y:-73.75, Z:-3.07 [[ 9.16840954e-01 3.99252494e-01 3.32225454e-04 4.09169130e+02] [-3.99252470e-01 9.16841015e-01 -1.38743421e-04 -7.37494398e+01] [-3.59991579e-04 -5.43618287e-06 9.99999935e-01 -3.07217545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters 0.05152197362824833 Centerline is valid? [True, True] Translation: X:409.23, Y:-73.77, Z:-3.07 [[ 9.16843066e-01 3.99247763e-01 1.26078944e-04 4.09226622e+02] [-3.99247760e-01 9.16843075e-01 -5.18381400e-05 -7.37720786e+01] [-1.36290868e-04 -2.80929657e-06 9.99999991e-01 -3.07394301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters 0.052110485640343374 Centerline is valid? [True, True] Translation: X:409.28, Y:-73.80, Z:-3.08 [[ 9.16648866e-01 3.99693397e-01 -2.13473081e-04 4.09283950e+02] [-3.99693386e-01 9.16648891e-01 9.02872758e-05 -7.37952641e+01] [ 2.31767090e-04 2.56204965e-06 9.99999973e-01 -3.07556151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters 0.051683283974094725 Centerline is valid? [True, True] Translation: X:409.34, Y:-73.82, Z:-3.08 [[ 9.16642321e-01 3.99708461e-01 4.77712279e-05 4.09341841e+02] [-3.99708461e-01 9.16642322e-01 -1.89890591e-05 -7.38212194e+01] [-5.13792170e-05 -1.68838877e-06 9.99999999e-01 -3.07534086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters 0.0513262212867678 Centerline is valid? [True, True] Translation: X:409.40, Y:-73.85, Z:-3.07 [[ 9.16768829e-01 3.99416697e-01 1.10259643e-03 4.09398821e+02] [-3.99416431e-01 9.16769492e-01 -4.61236402e-04 -7.38466073e+01] [-1.19505229e-03 -1.75479750e-05 9.99999286e-01 -3.07494817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters 0.051537845363371027 Centerline is valid? [True, True] Translation: X:409.46, Y:-73.87, Z:-3.08 [[ 9.16779790e-01 3.99388976e-01 1.80654206e-03 4.09455793e+02] [-3.99388260e-01 9.16781569e-01 -7.56583575e-04 -7.38689592e+01] [-1.95837560e-03 -2.78911579e-05 9.99998082e-01 -3.07537504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters 0.05139247516691844 Centerline is valid? [True, True] Translation: X:409.51, Y:-73.89, Z:-3.08 [[ 9.16504872e-01 4.00014758e-01 2.64809452e-03 4.09513110e+02] [-4.00013220e-01 9.16508697e-01 -1.11004386e-03 -7.38932710e+01] [-2.87103558e-03 -4.19122080e-05 9.99995878e-01 -3.07588783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters 0.05139078916458504 Centerline is valid? [True, True] Translation: X:409.57, Y:-73.91, Z:-3.08 [[ 9.16068204e-01 4.01012645e-01 2.81132958e-03 4.09570075e+02] [-4.01010917e-01 9.16072517e-01 -1.17831833e-03 -7.39148403e+01] [-3.04790232e-03 -4.79538962e-05 9.99995354e-01 -3.07651485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters 0.05114475869966974 Centerline is valid? [True, True] Translation: X:409.63, Y:-73.94, Z:-3.08 [[ 9.16047991e-01 4.01060112e-01 2.62018072e-03 4.09628172e+02] [-4.01058610e-01 9.16051737e-01 -1.09835119e-03 -7.39396944e+01] [-2.84072595e-03 -4.47036359e-05 9.99995964e-01 -3.07621551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters 0.05139044801559421 Centerline is valid? [True, True] Translation: X:409.69, Y:-73.96, Z:-3.08 [[ 9.16707385e-01 3.99549494e-01 2.78775980e-03 4.09686146e+02] [-3.99547785e-01 9.16711623e-01 -1.16921604e-03 -7.39602621e+01] [-3.02273149e-03 -4.20142758e-05 9.99995431e-01 -3.07709233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters 0.051283600183988726 Centerline is valid? [True, True] Translation: X:409.74, Y:-73.99, Z:-3.08 [[ 9.17189931e-01 3.98437885e-01 3.14357002e-03 4.09743345e+02] [-3.98435704e-01 9.17195317e-01 -1.31922387e-03 -7.39857694e+01] [-3.40889647e-03 -4.25316852e-05 9.99994189e-01 -3.07694296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters 0.051795659581342426 Centerline is valid? [True, True] Translation: X:409.80, Y:-74.01, Z:-3.08 [[ 9.17642793e-01 3.97398559e-01 2.46766036e-03 4.09801076e+02] [-3.97397211e-01 9.17646111e-01 -1.03529251e-03 -7.40065399e+01] [-2.67586268e-03 -3.06126320e-05 9.99996419e-01 -3.07843328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters 0.05146373692775979 Centerline is valid? [True, True] Translation: X:409.86, Y:-74.03, Z:-3.08 [[ 9.17877091e-01 3.96859666e-01 2.01263462e-03 4.09856792e+02] [-3.96858768e-01 9.17879297e-01 -8.44728704e-04 -7.40308915e+01] [-2.18259440e-03 -2.33745680e-05 9.99997618e-01 -3.07830386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters 0.05163221523762839 Centerline is valid? [True, True] Translation: X:409.92, Y:-74.05, Z:-3.08 [[ 9.18868853e-01 3.94557280e-01 2.14106354e-03 4.09915098e+02] [-3.94556256e-01 9.18871347e-01 -8.98938689e-04 -7.40528131e+01] [-2.32204474e-03 -1.87632523e-05 9.99997304e-01 -3.07962982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters 0.05154335080772429 Centerline is valid? [True, True] Translation: X:409.97, Y:-74.08, Z:-3.08 [[ 9.20028573e-01 3.91842836e-01 2.57218366e-03 4.09970958e+02] [-3.91841349e-01 9.20032169e-01 -1.07981461e-03 -7.40771267e+01] [-2.78960933e-03 -1.44276196e-05 9.99996109e-01 -3.07935276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters 0.05190806047993856 Centerline is valid? [True, True] Translation: X:410.03, Y:-74.10, Z:-3.08 [[ 9.22208031e-01 3.86667774e-01 4.51445395e-03 4.10026476e+02] [-3.86663123e-01 9.22219081e-01 -1.89637498e-03 -7.41032044e+01] [-4.89658266e-03 3.27937682e-06 9.99988012e-01 -3.07773922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters 0.052174352920512784 Centerline is valid? [True, True] Translation: X:410.08, Y:-74.13, Z:-3.08 [[ 9.24647784e-01 3.80789535e-01 5.07999203e-03 4.10083293e+02] [-3.80783553e-01 9.24661737e-01 -2.13474614e-03 -7.41284476e+01] [-5.51016325e-03 3.95108659e-05 9.99984818e-01 -3.07754892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters 0.052596450939089025 Centerline is valid? [True, True] Translation: X:410.14, Y:-74.15, Z:-3.08 [[ 9.26273789e-01 3.76818132e-01 4.99636457e-03 4.10138913e+02] [-3.76812286e-01 9.26287262e-01 -2.09995280e-03 -7.41545579e+01] [-5.41936915e-03 6.24396865e-05 9.99985313e-01 -3.07835742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters 0.052582835788618096 Centerline is valid? [True, True] Translation: X:410.20, Y:-74.17, Z:-3.08 [[ 9.27973445e-01 3.72619718e-01 4.45323062e-03 4.10197971e+02] [-3.72615023e-01 9.27984127e-01 -1.87203642e-03 -7.41717852e+01] [-4.83008501e-03 7.78594508e-05 9.99988332e-01 -3.07791591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters 0.053032579831117074 Centerline is valid? [True, True] Translation: X:410.26, Y:-74.19, Z:-3.08 [[ 9.27999572e-01 3.72564296e-01 3.55509989e-03 4.10256144e+02] [-3.72561305e-01 9.28006380e-01 -1.49417355e-03 -7.41917132e+01] [-3.85583109e-03 6.20997566e-05 9.99992564e-01 -3.07885932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters 0.052942692715377215 Centerline is valid? [True, True] Translation: X:410.32, Y:-74.21, Z:-3.08 [[ 9.27152351e-01 3.74666411e-01 3.68758980e-03 4.10315150e+02] [-3.74663206e-01 9.27159683e-01 -1.55056492e-03 -7.42095477e+01] [-3.99992918e-03 5.60056979e-05 9.99991999e-01 -3.07846240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters 0.05255243810563035 Centerline is valid? [True, True] Translation: X:410.37, Y:-74.23, Z:-3.08 [[ 9.24906086e-01 3.80175970e-01 3.86835567e-03 4.10374531e+02] [-3.80172492e-01 9.24914175e-01 -1.62666279e-03 -7.42265607e+01] [-4.19631510e-03 3.38679005e-05 9.99991195e-01 -3.07924104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters 0.05297421422879682 Centerline is valid? [True, True] Translation: X:410.43, Y:-74.25, Z:-3.08 [[ 9.23066965e-01 3.84624987e-01 3.31611050e-03 4.10433051e+02] [-3.84622460e-01 9.23072922e-01 -1.39423363e-03 -7.42459122e+01] [-3.59726890e-03 1.15204219e-05 9.99993530e-01 -3.08001111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters 0.052204921044474197 Centerline is valid? [True, True] Translation: X:410.49, Y:-74.26, Z:-3.08 [[ 9.20362309e-01 3.91056250e-01 2.86853883e-03 4.10494851e+02] [-3.91054389e-01 9.20366780e-01 -1.20644868e-03 -7.42608509e+01] [-3.11189714e-03 -1.13848102e-05 9.99995158e-01 -3.08326123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters 0.05250089405024597 Centerline is valid? [True, True] Translation: X:410.55, Y:-74.28, Z:-3.08 [[ 9.18629946e-01 3.95104103e-01 3.43087718e-03 4.10554121e+02] [-3.95101469e-01 9.18636352e-01 -1.44299924e-03 -7.42809772e+01] [-3.72186342e-03 -2.99622964e-05 9.99993073e-01 -3.08212960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters 0.05296400112320237 Centerline is valid? [True, True] Translation: X:410.61, Y:-74.30, Z:-3.08 [[ 9.15980882e-01 4.01199433e-01 4.24723646e-03 4.10612847e+02] [-4.01195456e-01 9.15990726e-01 -1.78750257e-03 -7.42968589e+01] [-4.60757422e-03 -6.66537879e-05 9.99989383e-01 -3.08175165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters 0.05373559075000683 Centerline is valid? [True, True] Translation: X:410.67, Y:-74.31, Z:-3.08 [[ 9.13845361e-01 4.06040314e-01 4.23310338e-03 4.10674168e+02] [-4.06036416e-01 9.13855161e-01 -1.78151891e-03 -7.43059640e+01] [-4.59181187e-03 -9.07613345e-05 9.99989453e-01 -3.08329177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters 0.05255849747845605 Centerline is valid? [True, True] Translation: X:410.73, Y:-74.33, Z:-3.08 [[ 9.13197143e-01 4.07497337e-01 4.11081614e-03 4.10731214e+02] [-4.07493676e-01 9.13206390e-01 -1.72997840e-03 -7.43306348e+01] [-4.45898516e-03 -9.53202424e-05 9.99990054e-01 -3.08377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters 0.05256796456774024 Centerline is valid? [True, True] Translation: X:410.79, Y:-74.36, Z:-3.08 [[ 9.13799895e-01 4.06145071e-01 3.99161127e-03 4.10787791e+02] [-4.06141604e-01 9.13808609e-01 -1.68027880e-03 -7.43571349e+01] [-4.33000570e-03 -8.57208133e-05 9.99990622e-01 -3.08387077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters 0.05305588657435017 Centerline is valid? [True, True] Translation: X:410.84, Y:-74.38, Z:-3.08 [[ 9.15458668e-01 4.02400615e-01 3.02868244e-03 4.10844190e+02] [-4.02398597e-01 9.15463676e-01 -1.27543974e-03 -7.43822989e+01] [-3.28588650e-03 -5.11251950e-05 9.99994600e-01 -3.08444537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters 0.0532697715718319 Centerline is valid? [True, True] Translation: X:410.90, Y:-74.40, Z:-3.09 [[ 9.15798408e-01 4.01632258e-01 2.19188868e-03 4.10901289e+02] [-4.01631200e-01 9.15801031e-01 -9.22707405e-04 -7.44036183e+01] [-2.37792297e-03 -3.53169070e-05 9.99997172e-01 -3.08627229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters 0.05308395548317819 Centerline is valid? [True, True] Translation: X:410.96, Y:-74.43, Z:-3.09 [[ 9.16188310e-01 4.00747827e-01 3.98896686e-04 4.10959006e+02] [-4.00747792e-01 9.16188397e-01 -1.67156799e-04 -7.44288166e+01] [-4.32452240e-04 -6.70986080e-06 9.99999906e-01 -3.08796820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters 0.05260909817445723 Centerline is valid? [True, True] Translation: X:411.01, Y:-74.46, Z:-3.09 [[ 9.16923586e-01 3.99061720e-01 -9.38985452e-04 4.11013143e+02] [-3.99061523e-01 9.16924066e-01 3.96835038e-04 -7.44594093e+01] [ 1.01934003e-03 1.08455584e-05 9.99999480e-01 -3.08657298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters 0.052797424158971644 Centerline is valid? [True, True] Translation: X:411.07, Y:-74.49, Z:-3.09 [[ 9.17676429e-01 3.97327675e-01 -8.30194574e-04 4.11068479e+02] [-3.97327520e-01 9.17676805e-01 3.51004845e-04 -7.44855168e+01] [ 9.01314243e-04 7.75027907e-06 9.99999594e-01 -3.08684896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters 0.0529991501504582 Centerline is valid? [True, True] Translation: X:411.12, Y:-74.52, Z:-3.08 [[ 9.20153985e-01 3.91556242e-01 5.94685491e-04 4.11122171e+02] [-3.91556161e-01 9.20154177e-01 -2.50621032e-04 -7.45161738e+01] [-6.45334568e-04 -2.24282689e-06 9.99999792e-01 -3.08471978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters 0.052450567624043876 Centerline is valid? [True, True] Translation: X:411.18, Y:-74.55, Z:-3.08 [[ 9.23579215e-01 3.83398792e-01 2.60777900e-03 4.11176930e+02] [-3.83397217e-01 9.23582896e-01 -1.09927995e-03 -7.45461811e+01] [-2.82996269e-03 1.54569056e-05 9.99995996e-01 -3.08332848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters 0.05302616766256183 Centerline is valid? [True, True] Translation: X:411.23, Y:-74.57, Z:-3.08 [[ 9.25842692e-01 3.77895533e-01 3.20562356e-03 4.11231835e+02] [-3.77893116e-01 9.25848241e-01 -1.35212559e-03 -7.45741167e+01] [-3.47888315e-03 4.04725207e-05 9.99993948e-01 -3.08392577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters 0.05310354679196871 Centerline is valid? [True, True] Translation: X:411.29, Y:-74.60, Z:-3.09 [[ 9.28718428e-01 3.70776393e-01 2.63596145e-03 4.11286928e+02] [-3.70774728e-01 9.28722167e-01 -1.11243750e-03 -7.46004683e+01] [-2.86054140e-03 5.57933200e-05 9.99995907e-01 -3.08536392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters 0.05317054941131819 Centerline is valid? [True, True] Translation: X:411.34, Y:-74.63, Z:-3.09 [[ 9.30061848e-01 3.67399294e-01 1.64836177e-03 4.11340565e+02] [-3.67398637e-01 9.30063308e-01 -6.95645090e-04 -7.46295134e+01] [-1.78866031e-03 4.13870909e-05 9.99998399e-01 -3.08749991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters 0.053959380140608366 Centerline is valid? [True, True] Translation: X:411.39, Y:-74.66, Z:-3.09 [[ 9.31583658e-01 3.63525163e-01 1.15917236e-03 4.11393927e+02] [-3.63524836e-01 9.31584379e-01 -4.89272705e-04 -7.46568399e+01] [-1.25772981e-03 3.44105129e-05 9.99999208e-01 -3.08912628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters 0.05381539062542469 Centerline is valid? [True, True] Translation: X:411.45, Y:-74.68, Z:-3.09 [[ 9.32391049e-01 3.61449100e-01 1.21639377e-03 4.11451857e+02] [-3.61448737e-01 9.32391842e-01 -5.13347555e-04 -7.46758462e+01] [-1.31970464e-03 3.89766722e-05 9.99999128e-01 -3.08791637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters 0.05398372296472652 Centerline is valid? [True, True] Translation: X:411.51, Y:-74.71, Z:-3.09 [[ 9.32917565e-01 3.60083685e-01 2.13453431e-03 4.11506625e+02] [-3.60082565e-01 9.32920005e-01 -9.00719947e-04 -7.47056518e+01] [-2.31568432e-03 7.16888688e-05 9.99997316e-01 -3.08931148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters 0.054258986527370004 Centerline is valid? [True, True] Translation: X:411.56, Y:-74.73, Z:-3.09 [[ 9.31785947e-01 3.62995913e-01 2.98592650e-03 4.11564169e+02] [-3.62993736e-01 9.31790727e-01 -1.26059610e-03 -7.47273299e+01] [-3.23984986e-03 9.07331149e-05 9.99994748e-01 -3.08931042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters 0.05333886163236936 Centerline is valid? [True, True] Translation: X:411.62, Y:-74.74, Z:-3.09 [[ 9.29916031e-01 3.67755369e-01 3.48756228e-03 4.11622606e+02] [-3.67752431e-01 9.29922567e-01 -1.47247892e-03 -7.47438764e+01] [-3.78467490e-03 8.67222507e-05 9.99992834e-01 -3.08958668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters 0.05299724856329239 Centerline is valid? [True, True] Translation: X:411.68, Y:-74.76, Z:-3.09 [[ 9.25861602e-01 3.77852407e-01 2.80230254e-03 4.11680282e+02] [-3.77850556e-01 9.25865842e-01 -1.18307637e-03 -7.47639939e+01] [-3.04158445e-03 3.65134083e-05 9.99995374e-01 -3.09088825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters 0.05312119952292931 Centerline is valid? [True, True] Translation: X:411.74, Y:-74.78, Z:-3.09 [[ 9.22424503e-01 3.86169600e-01 2.46515017e-03 4.11740067e+02] [-3.86168198e-01 9.22427797e-01 -1.04074999e-03 -7.47812759e+01] [-2.67582904e-03 8.05069910e-06 9.99996420e-01 -3.09167560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters 0.053580864794850816 Centerline is valid? [True, True] Translation: X:411.80, Y:-74.79, Z:-3.09 [[ 9.17052102e-01 3.98756071e-01 3.00623356e-03 4.11801971e+02] [-3.98754053e-01 9.17057029e-01 -1.26894580e-03 -7.47923846e+01] [-3.26288746e-03 -3.50584019e-05 9.99994676e-01 -3.09429592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters 0.05241774832432217 Centerline is valid? [True, True] Translation: X:411.86, Y:-74.82, Z:-3.09 [[ 9.13801884e-01 4.06142613e-01 3.78075006e-03 4.11857517e+02] [-4.06139480e-01 9.13809702e-01 -1.59694023e-03 -7.48169674e+01] [-4.10347157e-03 -7.62248737e-05 9.99991578e-01 -3.09258621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters 0.05237405984907964 Centerline is valid? [True, True] Translation: X:411.92, Y:-74.83, Z:-3.09 [[ 9.10460307e-01 4.13576762e-01 4.03631150e-03 4.11915876e+02] [-4.13573264e-01 9.10469246e-01 -1.70494492e-03 -7.48349362e+01] [-4.38006309e-03 -1.17025853e-04 9.99990401e-01 -3.09306893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters 0.05349061761656899 Centerline is valid? [True, True] Translation: X:411.97, Y:-74.85, Z:-3.09 [[ 9.09567726e-01 4.15538028e-01 3.83402058e-03 4.11974418e+02] [-4.15534889e-01 9.09575798e-01 -1.61957917e-03 -7.48510856e+01] [-4.16032906e-03 -1.20052375e-04 9.99991339e-01 -3.09427879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters 0.05272799615780138 Centerline is valid? [True, True] Translation: X:412.03, Y:-74.88, Z:-3.10 [[ 9.09357980e-01 4.16003351e-01 3.04570922e-03 4.12028464e+02] [-4.16001374e-01 9.09363075e-01 -1.28618950e-03 -7.48815406e+01] [-3.30471465e-03 -9.74125364e-05 9.99994535e-01 -3.09524755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters 0.05266744186484877 Centerline is valid? [True, True] Translation: X:412.09, Y:-74.91, Z:-3.10 [[ 9.09575960e-01 4.15535480e-01 1.35543681e-03 4.12085066e+02] [-4.15535089e-01 9.09576969e-01 -5.72062901e-04 -7.49074460e+01] [-1.47058654e-03 -4.28968923e-05 9.99998918e-01 -3.09729339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters 0.05285078357561805 Centerline is valid? [True, True] Translation: X:412.14, Y:-74.94, Z:-3.10 [[ 9.10401100e-01 4.13726624e-01 3.44678608e-04 4.12138881e+02] [-4.13726598e-01 9.10401165e-01 -1.45433868e-04 -7.49374025e+01] [-3.73965669e-04 -1.01995549e-05 9.99999930e-01 -3.09878190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters 0.052375011021948116 Centerline is valid? [True, True] Translation: X:412.19, Y:-74.97, Z:-3.10 [[ 9.11103367e-01 4.12177887e-01 2.07426682e-04 4.12192493e+02] [-4.12177878e-01 9.11103391e-01 -8.75583121e-05 -7.49674069e+01] [-2.25076753e-04 -5.72201656e-06 9.99999975e-01 -3.09817408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters 0.0522408523063015 Centerline is valid? [True, True] Translation: X:412.25, Y:-75.00, Z:-3.10 [[ 9.13061253e-01 4.07820738e-01 1.18057368e-03 4.12245560e+02] [-4.07820433e-01 9.13062016e-01 -4.98940424e-04 -7.49977861e+01] [-1.28141524e-03 -2.58989022e-05 9.99999179e-01 -3.09799385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters 0.05201209311163384 Centerline is valid? [True, True] Translation: X:412.30, Y:-75.02, Z:-3.10 [[ 9.14795410e-01 4.03909863e-01 2.48619309e-03 4.12299931e+02] [-4.03908498e-01 9.14798787e-01 -1.05103539e-03 -7.50234383e+01] [-2.69888998e-03 -4.27121633e-05 9.99996357e-01 -3.09760342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters 0.0520978283410289 Centerline is valid? [True, True] Translation: X:412.35, Y:-75.06, Z:-3.10 [[ 9.17478959e-01 3.97767020e-01 3.70909641e-03 4.12351242e+02] [-3.97763931e-01 9.17486456e-01 -1.56803697e-03 -7.50592701e+01] [-4.02675912e-03 -3.67038401e-05 9.99991892e-01 -3.09662519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters 0.05178340539281283 Centerline is valid? [True, True] Translation: X:412.41, Y:-75.09, Z:-3.10 [[ 9.18858244e-01 3.94577023e-01 2.91564207e-03 4.12406028e+02] [-3.94575100e-01 9.18862869e-01 -1.23222862e-03 -7.50879835e+01] [-3.16528434e-03 -1.81963344e-05 9.99994990e-01 -3.09853922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters 0.0520362120631869 Centerline is valid? [True, True] Translation: X:412.46, Y:-75.12, Z:-3.10 [[ 9.20698622e-01 3.90270471e-01 1.73413842e-03 4.12460333e+02] [-3.90269783e-01 9.20700255e-01 -7.32761621e-04 -7.51202644e+01] [-1.88259691e-03 -2.12921117e-06 9.99998228e-01 -3.09962053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters 0.052500386890023364 Centerline is valid? [True, True] Translation: X:412.51, Y:-75.15, Z:-3.10 [[ 9.22260096e-01 3.86567343e-01 1.41581798e-03 4.12514870e+02] [-3.86566880e-01 9.22261183e-01 -5.98331131e-04 -7.51483749e+01] [-1.53704924e-03 4.50858807e-06 9.99998819e-01 -3.09806874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters 0.052133423403731276 Centerline is valid? [True, True] Translation: X:412.57, Y:-75.18, Z:-3.10 [[ 9.25438536e-01 3.78891426e-01 2.19164180e-03 4.12566438e+02] [-3.78890292e-01 9.25441131e-01 -9.27356253e-04 -7.51838518e+01] [-2.37960280e-03 2.78194131e-05 9.99997168e-01 -3.10005612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters 0.052915653395269005 Centerline is valid? [True, True] Translation: X:412.62, Y:-75.21, Z:-3.10 [[ 9.26296739e-01 3.76784418e-01 2.80255916e-03 4.12622576e+02] [-3.76782554e-01 9.26300977e-01 -1.18591076e-03 -7.52108645e+01] [-3.04284599e-03 4.25498741e-05 9.99995370e-01 -3.09970858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters 0.05228737821398847 Centerline is valid? [True, True] Translation: X:412.68, Y:-75.23, Z:-3.10 [[ 9.27019258e-01 3.74980414e-01 4.99852269e-03 4.12680769e+02] [-3.74974456e-01 9.27032730e-01 -2.11559204e-03 -7.52292331e+01] [-5.42709971e-03 8.68762422e-05 9.99985269e-01 -3.09809117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters 0.05283486242274755 Centerline is valid? [True, True] Translation: X:412.74, Y:-75.25, Z:-3.10 [[ 9.27211098e-01 3.74516356e-01 4.13262027e-03 4.12738528e+02] [-3.74512279e-01 9.27220305e-01 -1.74916306e-03 -7.52523836e+01] [-4.48693960e-03 7.41263676e-05 9.99989931e-01 -3.09875003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters 0.05236055661528284 Centerline is valid? [True, True] Translation: X:412.79, Y:-75.28, Z:-3.10 [[ 9.27290064e-01 3.74327686e-01 3.45270147e-03 4.12793420e+02] [-3.74324837e-01 9.27296490e-01 -1.46165954e-03 -7.52796441e+01] [-3.74881758e-03 6.29504524e-05 9.99992971e-01 -3.10067327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters 0.05356439982576925 Centerline is valid? [True, True] Translation: X:412.85, Y:-75.31, Z:-3.10 [[ 9.27312887e-01 3.74269827e-01 3.59247858e-03 4.12850023e+02] [-3.74266741e-01 9.27319843e-01 -1.52133637e-03 -7.53062766e+01] [-3.90076697e-03 6.62095744e-05 9.99992390e-01 -3.10294308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters 0.05350503352778366 Centerline is valid? [True, True] Translation: X:412.91, Y:-75.32, Z:-3.10 [[ 9.27242201e-01 3.74433663e-01 4.61877181e-03 4.12910862e+02] [-3.74428561e-01 9.27253700e-01 -1.95654890e-03 -7.53227415e+01] [-5.01537103e-03 8.47946268e-05 9.99987419e-01 -3.10099843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters 0.0532060213104596 Centerline is valid? [True, True] Translation: X:412.97, Y:-75.35, Z:-3.10 [[ 9.26918579e-01 3.75227590e-01 5.11888477e-03 4.12968800e+02] [-3.75221330e-01 9.26932709e-01 -2.16917633e-03 -7.53460217e+01] [-5.55879653e-03 8.99350925e-05 9.99984546e-01 -3.10097708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters 0.05286400600234266 Centerline is valid? [True, True] Translation: X:413.03, Y:-75.37, Z:-3.10 [[ 9.26722209e-01 3.75701796e-01 5.84022832e-03 4.13026698e+02] [-3.75693653e-01 9.26740606e-01 -2.47571913e-03 -7.53684753e+01] [-6.34250886e-03 1.00167189e-04 9.99979881e-01 -3.10148436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters 0.05274236501200596 Centerline is valid? [True, True] Translation: X:413.09, Y:-75.39, Z:-3.10 [[ 9.26042635e-01 3.77374872e-01 5.76576927e-03 4.13085757e+02] [-3.77366966e-01 9.26060580e-01 -2.44431697e-03 -7.53882084e+01] [-6.26187544e-03 8.77308746e-05 9.99980390e-01 -3.10302920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters 0.053143769460445155 Centerline is valid? [True, True] Translation: X:413.15, Y:-75.41, Z:-3.10 [[ 9.24994306e-01 3.79954459e-01 4.48802743e-03 4.13145768e+02] [-3.79949696e-01 9.25005193e-01 -1.90316290e-03 -7.54054887e+01] [-4.87456391e-03 5.51901896e-05 9.99988118e-01 -3.10485467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters 0.052241385399249704 Centerline is valid? [True, True] Translation: X:413.20, Y:-75.43, Z:-3.11 [[ 9.24208879e-01 3.81871000e-01 3.53375594e-03 4.13203349e+02] [-3.81868061e-01 9.24215634e-01 -1.49858769e-03 -7.54296901e+01] [-3.83821967e-03 3.55795209e-05 9.99992633e-01 -3.10646015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters 0.05262058953753231 Centerline is valid? [True, True] Translation: X:413.26, Y:-75.45, Z:-3.11 [[ 9.23453424e-01 3.83693602e-01 3.60473995e-03 4.13261976e+02] [-3.83690558e-01 9.23460459e-01 -1.52859931e-03 -7.54504447e+01] [-3.91534859e-03 2.84855841e-05 9.99992335e-01 -3.10627896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters 0.052714063609631 Centerline is valid? [True, True] Translation: X:413.32, Y:-75.47, Z:-3.11 [[ 9.23216457e-01 3.84259592e-01 3.99233348e-03 4.13319981e+02] [-3.84255860e-01 9.23225089e-01 -1.69378408e-03 -7.54731547e+01] [-4.33667521e-03 2.96517991e-05 9.99990596e-01 -3.10817665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters 0.052511784304808774 Centerline is valid? [True, True] Translation: X:413.38, Y:-75.50, Z:-3.11 [[ 9.24010075e-01 3.82354263e-01 3.25549051e-03 4.13376526e+02] [-3.82351770e-01 9.24015810e-01 -1.38098291e-03 -7.54977420e+01] [-3.53614941e-03 3.12995590e-05 9.99993747e-01 -3.10920303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters 0.05294417150270383 Centerline is valid? [True, True] Translation: X:413.43, Y:-75.52, Z:-3.11 [[ 9.26183134e-01 3.77069157e-01 1.91130251e-03 4.13430260e+02] [-3.77068286e-01 9.26185105e-01 -8.11296680e-04 -7.55247388e+01] [-2.07613487e-03 3.07177407e-05 9.99997844e-01 -3.11042445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters 0.05323542666121078 Centerline is valid? [True, True] Translation: X:413.49, Y:-75.55, Z:-3.11 [[ 9.27613764e-01 3.73534164e-01 2.22125852e-03 4.13486260e+02] [-3.73532977e-01 9.27616422e-01 -9.42733233e-04 -7.55492514e+01] [-2.41261895e-03 4.47790148e-05 9.99997089e-01 -3.11046376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters 0.05304935765884278 Centerline is valid? [True, True] Translation: X:413.54, Y:-75.57, Z:-3.11 [[ 9.28599007e-01 3.71077533e-01 2.31280235e-03 4.13542856e+02] [-3.71076239e-01 9.28601886e-01 -9.81488377e-04 -7.55711349e+01] [-2.51188090e-03 5.31831369e-05 9.99996844e-01 -3.10987225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters 0.053076716618986955 Centerline is valid? [True, True] Translation: X:413.60, Y:-75.59, Z:-3.11 [[ 9.28476412e-01 3.71384131e-01 2.31952327e-03 4.13601194e+02] [-3.71382831e-01 9.28479307e-01 -9.84238127e-04 -7.55922138e+01] [-2.51915978e-03 5.24107651e-05 9.99996826e-01 -3.10966933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters 0.052773878883036224 Centerline is valid? [True, True] Translation: X:413.66, Y:-75.62, Z:-3.11 [[ 9.27633271e-01 3.73488920e-01 1.59415940e-03 4.13655322e+02] [-3.73488308e-01 9.27634640e-01 -6.76935926e-04 -7.56195538e+01] [-1.73162555e-03 3.25483923e-05 9.99998500e-01 -3.11217983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters 0.05289307958306423 Centerline is valid? [True, True] Translation: X:413.71, Y:-75.64, Z:-3.11 [[ 9.25276065e-01 3.79289782e-01 1.86153113e-03 4.13714579e+02] [-3.79288959e-01 9.25277937e-01 -7.90542921e-04 -7.56362035e+01] [-2.02227854e-03 2.54122379e-05 9.99997955e-01 -3.11067135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters 0.0525700258986589 Centerline is valid? [True, True] Translation: X:413.77, Y:-75.66, Z:-3.11 [[ 9.21435345e-01 3.88527111e-01 1.89459235e-03 4.13771231e+02] [-3.88526277e-01 9.21437293e-01 -8.04585048e-04 -7.56590546e+01] [-2.05835115e-03 5.27418734e-06 9.99997882e-01 -3.11252063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters 0.052035370103031935 Centerline is valid? [True, True] Translation: X:413.83, Y:-75.68, Z:-3.11 [[ 9.18425263e-01 3.95591789e-01 1.47390552e-03 4.13829317e+02] [-3.95591294e-01 9.18426446e-01 -6.25383514e-04 -7.56791235e+01] [-1.60107039e-03 -8.69617214e-06 9.99998718e-01 -3.11370275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters 0.05287808538791816 Centerline is valid? [True, True] Translation: X:413.89, Y:-75.70, Z:-3.11 [[ 9.15787011e-01 4.01661754e-01 1.40943313e-03 4.13886088e+02] [-4.01661308e-01 9.15788095e-01 -5.98810359e-04 -7.56995217e+01] [-1.53126130e-03 -1.77320078e-05 9.99998827e-01 -3.11387387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters 0.05187850085561413 Centerline is valid? [True, True] Translation: X:413.94, Y:-75.72, Z:-3.11 [[ 9.13192715e-01 4.07525004e-01 1.56125742e-03 4.13942302e+02] [-4.07524465e-01 9.13194049e-01 -6.63300068e-04 -7.57227091e+01] [-1.69604234e-03 -3.05298032e-05 9.99998561e-01 -3.11318293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters 0.051355771270714196 Centerline is valid? [True, True] Translation: X:414.00, Y:-75.75, Z:-3.11 [[ 9.12413864e-01 4.09262112e-01 2.33779871e-03 4.13997722e+02] [-4.09260911e-01 9.12416857e-01 -9.92698513e-04 -7.57513359e+01] [-2.53932084e-03 -5.10177446e-05 9.99996775e-01 -3.11220724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters 0.05219491574349028 Centerline is valid? [True, True] Translation: X:414.05, Y:-75.77, Z:-3.11 [[ 9.12431152e-01 4.09220704e-01 2.79428799e-03 4.14054624e+02] [-4.09218987e-01 9.12435429e-01 -1.18715020e-03 -7.57734910e+01] [-3.03541380e-03 -6.02828748e-05 9.99995391e-01 -3.11327955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters 0.05190914824342894 Centerline is valid? [True, True] Translation: X:414.11, Y:-75.80, Z:-3.11 [[ 9.12886889e-01 4.08207420e-01 2.05664674e-03 4.14110069e+02] [-4.08206487e-01 9.12889205e-01 -8.73791274e-04 -7.58008787e+01] [-2.23417869e-03 -4.18639458e-05 9.99997503e-01 -3.11456783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters 0.05188694990949173 Centerline is valid? [True, True] Translation: X:414.16, Y:-75.83, Z:-3.12 [[ 9.13972573e-01 4.05774179e-01 1.20462082e-03 4.14164541e+02] [-4.05773856e-01 9.13973367e-01 -5.12152019e-04 -7.58309113e+01] [-1.30880941e-03 -2.07107364e-05 9.99999143e-01 -3.11642213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters 0.05134556945952773 Centerline is valid? [True, True] Translation: X:414.22, Y:-75.86, Z:-3.12 [[ 9.15131398e-01 4.03152550e-01 1.59519815e-03 4.14217821e+02] [-4.03151980e-01 9.15132789e-01 -6.78353201e-04 -7.58623400e+01] [-1.73329795e-03 -2.23249780e-05 9.99998498e-01 -3.11533982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters 0.05133827392785795 Centerline is valid? [True, True] Translation: X:414.27, Y:-75.89, Z:-3.12 [[ 9.18062730e-01 3.96430194e-01 1.98106553e-03 4.14271334e+02] [-3.96429299e-01 9.18064867e-01 -8.42466215e-04 -7.58924425e+01] [-2.15272571e-03 -1.19155851e-05 9.99997683e-01 -3.11663465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters 0.051215921404843774 Centerline is valid? [True, True] Translation: X:414.33, Y:-75.92, Z:-3.11 [[ 9.20327558e-01 3.91139468e-01 2.66506921e-03 4.14325664e+02] [-3.91137827e-01 9.20331417e-01 -1.13303770e-03 -7.59241539e+01] [-2.89592268e-03 3.56437382e-07 9.99995807e-01 -3.11487860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters 0.05170685685757657 Centerline is valid? [True, True] Translation: X:414.38, Y:-75.95, Z:-3.12 [[ 9.21359710e-01 3.88690957e-01 3.95290068e-03 4.14382528e+02] [-3.88687320e-01 9.21368189e-01 -1.68152147e-03 -7.59495447e+01] [-4.29566913e-03 1.28437638e-05 9.99990773e-01 -3.11542613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters 0.05189411528236998 Centerline is valid? [True, True] Translation: X:414.44, Y:-75.97, Z:-3.11 [[ 9.21597897e-01 3.88128438e-01 3.69221312e-03 4.14440966e+02] [-3.88125258e-01 9.21605293e-01 -1.57110032e-03 -7.59720463e+01] [-4.01255187e-03 1.48815827e-05 9.99991950e-01 -3.11457110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters 0.05193997262465675 Centerline is valid? [True, True] Translation: X:414.50, Y:-76.00, Z:-3.12 [[ 9.22921357e-01 3.84982054e-01 2.23297150e-03 4.14497219e+02] [-3.84980881e-01 9.22924058e-01 -9.50568387e-04 -7.59994599e+01] [-2.42681489e-03 1.76485292e-05 9.99997055e-01 -3.11786300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters 0.051953228890162545 Centerline is valid? [True, True] Translation: X:414.55, Y:-76.02, Z:-3.12 [[ 9.24261525e-01 3.81755339e-01 1.86944072e-03 4.14554282e+02] [-3.81754511e-01 9.24263415e-01 -7.95431931e-04 -7.60236486e+01] [-2.03151605e-03 2.15196998e-05 9.99997936e-01 -3.11746477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters 0.052561195291262755 Centerline is valid? [True, True] Translation: X:414.61, Y:-76.05, Z:-3.12 [[ 9.25690118e-01 3.78275849e-01 2.27779274e-03 4.14611108e+02] [-3.78274607e-01 9.25692919e-01 -9.69714205e-04 -7.60479401e+01] [-2.47535607e-03 3.60237028e-05 9.99996936e-01 -3.11808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters 0.05299076723698993 Centerline is valid? [True, True] Translation: X:414.67, Y:-76.07, Z:-3.12 [[ 9.27433993e-01 3.73964345e-01 4.10590553e-03 4.14667673e+02] [-3.73960263e-01 9.27443077e-01 -1.74931533e-03 -7.60704971e+01] [-4.46217522e-03 8.69289864e-05 9.99990041e-01 -3.11743801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters 0.052813928993245725 Centerline is valid? [True, True] Translation: X:414.73, Y:-76.09, Z:-3.12 [[ 9.27622935e-01 3.73478696e-01 5.41794378e-03 4.14726734e+02] [-3.73471579e-01 9.27638749e-01 -2.30879378e-03 -7.60879133e+01] [-5.88817988e-03 1.18242047e-04 9.99982658e-01 -3.11642517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters 0.052627785586269155 Centerline is valid? [True, True] Translation: X:414.79, Y:-76.11, Z:-3.12 [[ 9.26489887e-01 3.76274150e-01 5.85258754e-03 4.14785930e+02] [-3.76265895e-01 9.26508366e-01 -2.49489927e-03 -7.61064819e+01] [-6.36123742e-03 1.09369860e-04 9.99979761e-01 -3.11792999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters 0.05327286217324913 Centerline is valid? [True, True] Translation: X:414.84, Y:-76.13, Z:-3.12 [[ 9.22996926e-01 3.84779221e-01 4.65029720e-03 4.14842565e+02] [-3.84774115e-01 9.23008640e-01 -1.98253860e-03 -7.61274975e+01] [-5.05510415e-03 4.05630397e-05 9.99987222e-01 -3.12115182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters 0.052140565775556404 Centerline is valid? [True, True] Translation: X:414.90, Y:-76.14, Z:-3.12 [[ 9.18651061e-01 3.95052394e-01 3.71945595e-03 4.14903556e+02] [-3.95049213e-01 9.18658590e-01 -1.58539011e-03 -7.61420911e+01] [-4.04322232e-03 -1.29478399e-05 9.99991826e-01 -3.12180900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters 0.052423323462727676 Centerline is valid? [True, True] Translation: X:414.96, Y:-76.16, Z:-3.12 [[ 9.15956678e-01 4.01258800e-01 3.83914305e-03 4.14961977e+02] [-4.01255463e-01 9.15964723e-01 -1.63701450e-03 -7.61614859e+01] [-4.17338607e-03 -4.10427581e-05 9.99991291e-01 -3.12200444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters 0.05199646272763116 Centerline is valid? [True, True] Translation: X:415.02, Y:-76.18, Z:-3.12 [[ 9.13252554e-01 4.07355096e-01 5.62131157e-03 4.15019544e+02] [-4.07348049e-01 9.13269848e-01 -2.39819767e-03 -7.61801195e+01] [-6.11069240e-03 -9.96701547e-05 9.99981325e-01 -3.12068428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters 0.0526519758116256 Centerline is valid? [True, True] Translation: X:415.08, Y:-76.20, Z:-3.12 [[ 9.12332416e-01 4.09388269e-01 7.12796450e-03 4.15077915e+02] [-4.09376999e-01 9.12360249e-01 -3.04108171e-03 -7.61989576e+01] [-7.74825465e-03 -1.43547294e-04 9.99969972e-01 -3.12016855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters 0.05220002169830308 Centerline is valid? [True, True] Translation: X:415.14, Y:-76.22, Z:-3.12 [[ 9.11897246e-01 4.10353530e-01 7.30706954e-03 4.15135067e+02] [-4.10341713e-01 9.11926508e-01 -3.11800468e-03 -7.62233811e+01] [-7.94299464e-03 -1.55095549e-04 9.99968442e-01 -3.12153297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters 0.05223626653215933 Centerline is valid? [True, True] Translation: X:415.19, Y:-76.25, Z:-3.12 [[ 9.11676540e-01 4.10871216e-01 5.54355392e-03 4.15192124e+02] [-4.10864421e-01 9.11693386e-01 -2.36599819e-03 -7.62471038e+01] [-6.02614199e-03 -1.20624026e-04 9.99981835e-01 -3.12422378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters 0.05230814646964616 Centerline is valid? [True, True] Translation: X:415.25, Y:-76.27, Z:-3.13 [[ 9.11413279e-01 4.11481657e-01 2.94633318e-03 4.15249073e+02] [-4.11479741e-01 9.11418039e-01 -1.25750756e-03 -7.62697676e+01] [-3.20278250e-03 -6.62473273e-05 9.99994869e-01 -3.12732354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters 0.051397487772256785 Centerline is valid? [True, True] Translation: X:415.30, Y:-76.30, Z:-3.13 [[ 9.11641214e-01 4.10982801e-01 1.85338181e-03 4.15303282e+02] [-4.10982042e-01 9.11643097e-01 -7.90893045e-04 -7.63010049e+01] [-2.01466617e-03 -4.06959463e-05 9.99997970e-01 -3.12749878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters 0.05163101065311935 Centerline is valid? [True, True] Translation: X:415.36, Y:-76.33, Z:-3.13 [[ 9.13705168e-01 4.06374654e-01 1.58345885e-03 4.15357524e+02] [-4.06374092e-01 9.13706539e-01 -6.76320147e-04 -7.63305756e+01] [-1.72165607e-03 -2.55194395e-05 9.99998518e-01 -3.12815449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters 0.05199875893719597 Centerline is valid? [True, True] Translation: X:415.41, Y:-76.36, Z:-3.13 [[ 9.17320444e-01 3.98140790e-01 2.66705601e-03 4.15410258e+02] [-3.98139161e-01 9.17324321e-01 -1.13935378e-03 -7.63623051e+01] [-2.90017856e-03 -1.67069247e-05 9.99995794e-01 -3.12798768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters 0.051660007452386456 Centerline is valid? [True, True] Translation: X:415.47, Y:-76.39, Z:-3.13 [[ 9.19704801e-01 3.92588790e-01 4.13766101e-03 4.15465241e+02] [-3.92584812e-01 9.19714109e-01 -1.76749335e-03 -7.63922138e+01] [-4.49936329e-03 1.18925296e-06 9.99989878e-01 -3.12712528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters 0.051617796041809175 Centerline is valid? [True, True] Translation: X:415.52, Y:-76.42, Z:-3.13 [[ 9.22291572e-01 3.86459685e-01 5.21230345e-03 4.15518318e+02] [-3.86453268e-01 9.22306300e-01 -2.22751170e-03 -7.64231274e+01] [-5.66818378e-03 4.01035699e-05 9.99983935e-01 -3.12718815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters 0.051582818848298205 Centerline is valid? [True, True] Translation: X:415.58, Y:-76.45, Z:-3.13 [[ 9.22921583e-01 3.84954123e-01 5.10640672e-03 4.15575741e+02] [-3.84947937e-01 9.22935708e-01 -2.18293295e-03 -7.64478253e+01] [-5.55321414e-03 4.89751996e-05 9.99984580e-01 -3.12659919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters 0.05147699508683768 Centerline is valid? [True, True] Translation: X:415.63, Y:-76.48, Z:-3.13 [[ 9.22060812e-01 3.87008476e-01 5.31961906e-03 4.15631049e+02] [-3.87001792e-01 9.22076156e-01 -2.27495541e-03 -7.64754273e+01] [-5.78552092e-03 3.89451280e-05 9.99983263e-01 -3.12855091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters 0.05108766490368455 Centerline is valid? [True, True] Translation: X:415.69, Y:-76.50, Z:-3.13 [[ 9.20621172e-01 3.90420121e-01 5.36537077e-03 4.15688787e+02] [-3.90413378e-01 9.20636806e-01 -2.29465817e-03 -7.64981074e+01] [-5.83543854e-03 1.77983686e-05 9.99982974e-01 -3.12986902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters 0.05169994103037155 Centerline is valid? [True, True] Translation: X:415.75, Y:-76.52, Z:-3.13 [[ 9.18158396e-01 3.96197120e-01 3.60583515e-03 4.15746244e+02] [-3.96194119e-01 9.18165476e-01 -1.54229992e-03 -7.65204480e+01] [-3.92180814e-03 -1.25350574e-05 9.99992310e-01 -3.13215524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters 0.051138198965605126 Centerline is valid? [True, True] Translation: X:415.80, Y:-76.55, Z:-3.13 [[ 9.16500049e-01 4.00026762e-01 2.50012163e-03 4.15803470e+02] [-4.00025332e-01 9.16503459e-01 -1.06972881e-03 -7.65452746e+01] [-2.71929028e-03 -1.97054790e-05 9.99996303e-01 -3.13285005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters 0.0511406482169453 Centerline is valid? [True, True] Translation: X:415.86, Y:-76.57, Z:-3.13 [[ 9.14258516e-01 4.05125093e-01 2.24178287e-03 4.15859274e+02] [-4.05123958e-01 9.14261264e-01 -9.59322348e-04 -7.65692804e+01] [-2.43822079e-03 -3.11313236e-05 9.99997027e-01 -3.13285492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters 0.05091426312659478 Centerline is valid? [True, True] Translation: X:415.92, Y:-76.59, Z:-3.13 [[ 9.13153795e-01 4.07605287e-01 2.84208454e-03 4.15916710e+02] [-4.07603475e-01 9.13158216e-01 -1.21630433e-03 -7.65905246e+01] [-3.09104492e-03 -4.77706132e-05 9.99995222e-01 -3.13386962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters 0.050880584507841824 Centerline is valid? [True, True] Translation: X:415.97, Y:-76.62, Z:-3.13 [[ 9.12557793e-01 4.08919363e-01 4.81961917e-03 4.15973262e+02] [-4.08914164e-01 9.12570516e-01 -2.06379580e-03 -7.66150511e+01] [-5.24216842e-03 -8.74776010e-05 9.99986256e-01 -3.13374888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters 0.05120692593449174 Centerline is valid? [True, True] Translation: X:416.03, Y:-76.64, Z:-3.13 [[ 9.12933052e-01 4.08062880e-01 6.15867396e-03 4.16030055e+02] [-4.08054365e-01 9.12953819e-01 -2.63818505e-03 -7.66408226e+01] [-6.69913030e-03 -1.04587461e-04 9.99977555e-01 -3.13309700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters 0.05067659968538471 Centerline is valid? [True, True] Translation: X:416.09, Y:-76.67, Z:-3.13 [[ 9.13516584e-01 4.06756562e-01 6.04572259e-03 4.16085704e+02] [-4.06748323e-01 9.13536584e-01 -2.59053388e-03 -7.66685420e+01] [-6.57670542e-03 -9.25918630e-05 9.99978369e-01 -3.13383703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters 0.05058516910284134 Centerline is valid? [True, True] Translation: X:416.14, Y:-76.69, Z:-3.14 [[ 9.14291157e-01 4.05019737e-01 5.54013438e-03 4.16142163e+02] [-4.05012783e-01 9.14307939e-01 -2.37451612e-03 -7.66945154e+01] [-6.02711474e-03 -7.28261494e-05 9.99981834e-01 -3.13591302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters 0.0507775715176484 Centerline is valid? [True, True] Translation: X:416.20, Y:-76.71, Z:-3.14 [[ 9.13987589e-01 4.05711639e-01 4.97535598e-03 4.16200654e+02] [-4.05706037e-01 9.14001128e-01 -2.13315093e-03 -7.67133345e+01] [-5.41292513e-03 -6.88584818e-05 9.99985348e-01 -3.13821018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters 0.05048386300777326 Centerline is valid? [True, True] Translation: X:416.26, Y:-76.74, Z:-3.14 [[ 9.13534314e-01 4.06738255e-01 4.36440518e-03 4.16258052e+02] [-4.06733956e-01 9.13544737e-01 -1.87134392e-03 -7.67365947e+01] [-4.74822654e-03 -6.56149005e-05 9.99988725e-01 -3.13894039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters 0.050197247163852786 Centerline is valid? [True, True] Translation: X:416.31, Y:-76.76, Z:-3.14 [[ 9.11984987e-01 4.10215896e-01 2.51029120e-03 4.16314162e+02] [-4.10214486e-01 9.11988441e-01 -1.07676501e-03 -7.67619802e+01] [-2.73106268e-03 -4.77642855e-05 9.99996270e-01 -3.14078654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters 0.05061860349373556 Centerline is valid? [True, True] Translation: X:416.37, Y:-76.79, Z:-3.14 [[ 9.11195387e-01 4.11972964e-01 1.11548530e-03 4.16371438e+02] [-4.11972687e-01 9.11196069e-01 -4.78319528e-04 -7.67863053e+01] [-1.21348054e-03 -2.37069308e-05 9.99999263e-01 -3.14286992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters 0.05050987989747157 Centerline is valid? [True, True] Translation: X:416.43, Y:-76.81, Z:-3.14 [[ 9.11119801e-01 4.12140119e-01 1.10895786e-03 4.16427903e+02] [-4.12139846e-01 9.11120476e-01 -4.74902232e-04 -7.68136095e+01] [-1.20612047e-03 -2.43528928e-05 9.99999272e-01 -3.14249427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters 0.05028713370690594 Centerline is valid? [True, True] Translation: X:416.48, Y:-76.84, Z:-3.14 [[ 9.11781200e-01 4.10670806e-01 2.12903182e-03 4.16484220e+02] [-4.10669793e-01 9.11783684e-01 -9.13168420e-04 -7.68379328e+01] [-2.31622809e-03 -4.17192614e-05 9.99997317e-01 -3.14164941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters 0.05064873252630383 Centerline is valid? [True, True] Translation: X:416.54, Y:-76.86, Z:-3.14 [[ 9.13034062e-01 4.07851362e-01 5.10567128e-03 4.16540231e+02] [-4.07845480e-01 9.13048334e-01 -2.19189152e-03 -7.68600540e+01] [-5.55569059e-03 -8.10533323e-05 9.99984564e-01 -3.14012329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters 0.04996424880737299 Centerline is valid? [True, True] Translation: X:416.60, Y:-76.88, Z:-3.14 [[ 9.13616228e-01 4.06537693e-01 5.70012809e-03 4.16597054e+02] [-4.06530337e-01 9.13634006e-01 -2.44703010e-03 -7.68845308e+01] [-6.20264083e-03 -8.16285740e-05 9.99980760e-01 -3.14032065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters 0.0504019393671702 Centerline is valid? [True, True] Translation: X:416.66, Y:-76.91, Z:-3.14 [[ 9.13565949e-01 4.06668692e-01 4.22265894e-03 4.16655097e+02] [-4.06664656e-01 9.13575706e-01 -1.81302001e-03 -7.69096223e+01] [-4.59501710e-03 -6.08927973e-05 9.99989441e-01 -3.14211815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters 0.04991635551180517 Centerline is valid? [True, True] Translation: X:416.71, Y:-76.94, Z:-3.14 [[ 9.12693089e-01 4.08640809e-01 2.00342009e-03 4.16710432e+02] [-4.08639905e-01 9.12695288e-01 -8.60082492e-04 -7.69360459e+01] [-2.17997688e-03 -3.36860505e-05 9.99997623e-01 -3.14219518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters 0.05008511025899612 Centerline is valid? [True, True] Translation: X:416.77, Y:-76.95, Z:-3.14 [[ 9.11999577e-01 4.10188783e-01 1.39086025e-03 4.16770272e+02] [-4.10188349e-01 9.12000637e-01 -5.97424783e-04 -7.69548701e+01] [-1.51352238e-03 -2.56635204e-05 9.99998854e-01 -3.14470585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters 0.05033590775946036 Centerline is valid? [True, True] Translation: X:416.83, Y:-76.98, Z:-3.14 [[ 9.10958063e-01 4.12497649e-01 1.04688315e-03 4.16827160e+02] [-4.12497405e-01 9.10958665e-01 -4.49686967e-04 -7.69801612e+01] [-1.13916209e-03 -2.21906142e-05 9.99999351e-01 -3.14383819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters 0.05047356830512505 Centerline is valid? [True, True] Translation: X:416.88, Y:-77.00, Z:-3.14 [[ 9.11182263e-01 4.12001552e-01 1.26662078e-03 4.16883755e+02] [-4.12001194e-01 9.11183143e-01 -5.43970422e-04 -7.70042045e+01] [-1.37824016e-03 -2.61930743e-05 9.99999050e-01 -3.14388478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters 0.04995967014490223 Centerline is valid? [True, True] Translation: X:416.94, Y:-77.03, Z:-3.14 [[ 9.11973858e-01 4.10243249e-01 2.03949795e-03 4.16939355e+02] [-4.10242315e-01 9.11976137e-01 -8.76276179e-04 -7.70295652e+01] [-2.21945985e-03 -3.75473935e-05 9.99997536e-01 -3.14430305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters 0.0501358788482219 Centerline is valid? [True, True] Translation: X:416.99, Y:-77.06, Z:-3.14 [[ 9.13814734e-01 4.06114823e-01 3.65822047e-03 4.16994409e+02] [-4.06111780e-01 9.13822055e-01 -1.57285399e-03 -7.70563805e+01] [-3.98172187e-03 -4.83492738e-05 9.99992072e-01 -3.14399290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters 0.05007704769521087 Centerline is valid? [True, True] Translation: X:417.05, Y:-77.08, Z:-3.14 [[ 9.14913707e-01 4.03623406e-01 4.58857568e-03 4.17051082e+02] [-4.03618587e-01 9.14925212e-01 -1.97280963e-03 -7.70821970e+01] [-4.99447572e-03 -4.70838649e-05 9.99987526e-01 -3.14450370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters 0.04981477532375 Centerline is valid? [True, True] Translation: X:417.11, Y:-77.11, Z:-3.15 [[ 9.16454692e-01 4.00111668e-01 4.63140038e-03 4.17107202e+02] [-4.00106711e-01 9.16466394e-01 -1.99185318e-03 -7.71078991e+01] [-5.04148650e-03 -2.76111799e-05 9.99987291e-01 -3.14561599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters 0.0499511570067465 Centerline is valid? [True, True] Translation: X:417.16, Y:-77.13, Z:-3.15 [[ 9.17581180e-01 3.97529705e-01 3.86160093e-03 4.17163068e+02] [-3.97526234e-01 9.17589305e-01 -1.66117834e-03 -7.71325042e+01] [-4.20373145e-03 -1.08217008e-05 9.99991164e-01 -3.14772460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters 0.05055089928752094 Centerline is valid? [True, True] Translation: X:417.22, Y:-77.16, Z:-3.15 [[ 9.18121678e-01 3.96284538e-01 3.33908239e-03 4.17220711e+02] [-3.96281934e-01 9.18127750e-01 -1.43661233e-03 -7.71585333e+01] [-3.63501146e-03 -4.23310456e-06 9.99993393e-01 -3.14717885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters 0.05083495851912868 Centerline is valid? [True, True] Translation: X:417.28, Y:-77.18, Z:-3.15 [[ 9.18509224e-01 3.95387375e-01 3.10300753e-03 4.17277996e+02] [-3.95385120e-01 9.18514466e-01 -1.33551380e-03 -7.71813827e+01] [-3.37820260e-03 -2.01259492e-07 9.99994294e-01 -3.14936821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters 0.05042504505130371 Centerline is valid? [True, True] Translation: X:417.34, Y:-77.21, Z:-3.15 [[ 9.18753395e-01 3.94823141e-01 2.62420092e-03 4.17336392e+02] [-3.94821525e-01 9.18757143e-01 -1.12988681e-03 -7.72052071e+01] [-2.85710880e-03 1.99633670e-06 9.99995918e-01 -3.15021043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters 0.05042785323377133 Centerline is valid? [True, True] Translation: X:417.40, Y:-77.23, Z:-3.15 [[ 9.18900292e-01 3.94483455e-01 2.24884303e-03 4.17395356e+02] [-3.94482267e-01 9.18903044e-01 -9.68341158e-04 -7.72287157e+01] [-2.44846327e-03 2.68027432e-06 9.99997003e-01 -3.15093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters 0.05039178132194907 Centerline is valid? [True, True] Translation: X:417.45, Y:-77.25, Z:-3.15 [[ 9.18554218e-01 3.95289768e-01 2.03675884e-03 4.17453565e+02] [-3.95288796e-01 9.18556476e-01 -8.76744730e-04 -7.72512717e+01] [-2.21744625e-03 2.29618145e-07 9.99997541e-01 -3.15078541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters 0.05007817209621915 Centerline is valid? [True, True] Translation: X:417.51, Y:-77.27, Z:-3.15 [[ 9.18301670e-01 3.95879220e-01 1.29872427e-03 4.17511780e+02] [-3.95878824e-01 9.18302588e-01 -5.59414036e-04 -7.72740610e+01] [-1.41408225e-03 -4.26593381e-07 9.99999000e-01 -3.15250115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters 0.05070053854222573 Centerline is valid? [True, True] Translation: X:417.57, Y:-77.30, Z:-3.15 [[ 9.18006040e-01 3.96566384e-01 1.19445779e-04 4.17568678e+02] [-3.96566380e-01 9.18006048e-01 -5.06306645e-05 -7.72956949e+01] [-1.29730367e-04 -8.88924366e-07 9.99999992e-01 -3.15472012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters 0.05004090894525004 Centerline is valid? [True, True] Translation: X:417.63, Y:-77.32, Z:-3.15 [[ 9.17720145e-01 3.97227401e-01 3.58075269e-04 4.17626573e+02] [-3.97227371e-01 9.17720214e-01 -1.53356365e-04 -7.73198228e+01] [-3.89530263e-04 -1.49907247e-06 9.99999924e-01 -3.15252619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters 0.050650212231416254 Centerline is valid? [True, True] Translation: X:417.68, Y:-77.34, Z:-3.15 [[ 9.17235691e-01 3.98340718e-01 1.83287730e-03 4.17684163e+02] [-3.98339934e-01 9.17237522e-01 -7.90248305e-04 -7.73422760e+01] [-1.99597191e-03 -5.26427181e-06 9.99998008e-01 -3.15199316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters 0.0506391920650213 Centerline is valid? [True, True] Translation: X:417.74, Y:-77.36, Z:-3.15 [[ 9.17098826e-01 3.98650323e-01 2.76817337e-03 4.17741318e+02] [-3.98648537e-01 9.17103004e-01 -1.19349457e-03 -7.73646455e+01] [-3.01448711e-03 -8.97579219e-06 9.99995456e-01 -3.15261683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters 0.05053180481392568 Centerline is valid? [True, True] Translation: X:417.80, Y:-77.39, Z:-3.15 [[ 9.17543778e-01 3.97623842e-01 2.94896542e-03 4.17800011e+02] [-3.97621808e-01 9.17548517e-01 -1.27175683e-03 -7.73884609e+01] [-3.21149968e-03 -5.68039193e-06 9.99994843e-01 -3.15223874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters 0.05105981356586946 Centerline is valid? [True, True] Translation: X:417.86, Y:-77.41, Z:-3.15 [[ 9.18344269e-01 3.95774561e-01 2.50998203e-03 4.17857429e+02] [-3.95773080e-01 9.18347699e-01 -1.08272847e-03 -7.74127915e+01] [-2.73355261e-03 9.34168609e-07 9.99996264e-01 -3.15373878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters 0.050991347733562994 Centerline is valid? [True, True] Translation: X:417.91, Y:-77.44, Z:-3.15 [[ 9.19910833e-01 3.92125345e-01 1.33155273e-03 4.17914794e+02] [-3.92124925e-01 9.19911797e-01 -5.74150280e-04 -7.74369890e+01] [-1.45004994e-03 6.03204820e-06 9.99998949e-01 -3.15413215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters 0.05100055459008285 Centerline is valid? [True, True] Translation: X:417.97, Y:-77.46, Z:-3.16 [[ 9.20906443e-01 3.89783149e-01 6.47721210e-04 4.17970940e+02] [-3.89783049e-01 9.20906671e-01 -2.78950335e-04 -7.74611766e+01] [-7.05220923e-04 4.41641322e-06 9.99999751e-01 -3.15554854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters 0.05151961335669438 Centerline is valid? [True, True] Translation: X:418.03, Y:-77.49, Z:-3.16 [[ 9.22374528e-01 3.86296419e-01 -5.54951663e-04 4.18026326e+02] [-3.86296344e-01 9.22374694e-01 2.39934660e-04 -7.74862725e+01] [ 6.04559270e-04 -6.93382001e-06 9.99999817e-01 -3.15748327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters 0.05180227006897415 Centerline is valid? [True, True] Translation: X:418.08, Y:-77.51, Z:-3.16 [[ 9.22853742e-01 3.85150160e-01 -5.69917429e-04 4.18083612e+02] [-3.85150081e-01 9.22853918e-01 2.47241406e-04 -7.75097047e+01] [ 6.21175600e-04 -8.66391313e-06 9.99999807e-01 -3.15711351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters 0.05179385828814851 Centerline is valid? [True, True] Translation: X:418.14, Y:-77.53, Z:-3.16 [[ 9.23993193e-01 3.82408346e-01 6.60492329e-04 4.18140287e+02] [-3.82408240e-01 9.23993429e-01 -2.85171709e-04 -7.75346243e+01] [-7.19342614e-04 1.09190084e-05 9.99999741e-01 -3.15733892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters 0.05204772378729449 Centerline is valid? [True, True] Translation: X:418.20, Y:-77.56, Z:-3.16 [[ 9.24144291e-01 3.82040848e-01 1.45615011e-03 4.18196761e+02] [-3.82040331e-01 9.24145438e-01 -6.28652612e-04 -7.75607967e+01] [-1.58586546e-03 2.46576506e-05 9.99998742e-01 -3.15784038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters 0.05115681759107252 Centerline is valid? [True, True] Translation: X:418.26, Y:-77.58, Z:-3.16 [[ 9.22936987e-01 3.84946057e-01 1.96216375e-03 4.18255067e+02] [-3.84945124e-01 9.22939073e-01 -8.48342562e-04 -7.75800433e+01] [-2.13752371e-03 2.76413635e-05 9.99997715e-01 -3.15660226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters 0.051450862035554455 Centerline is valid? [True, True] Translation: X:418.31, Y:-77.60, Z:-3.16 [[ 9.20009487e-01 3.91892340e-01 1.71381874e-03 4.18313866e+02] [-3.91891639e-01 9.20011084e-01 -7.41037723e-04 -7.75961519e+01] [-1.86713924e-03 1.01305005e-05 9.99998257e-01 -3.15580261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters 0.05123475557019157 Centerline is valid? [True, True] Translation: X:418.37, Y:-77.62, Z:-3.16 [[ 9.17462551e-01 3.97818660e-01 1.66787341e-03 4.18372508e+02] [-3.97818007e-01 9.17464067e-01 -7.20869037e-04 -7.76174537e+01] [-1.81698908e-03 -2.13973107e-06 9.99998349e-01 -3.15760716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters 0.0519705056672222 Centerline is valid? [True, True] Translation: X:418.43, Y:-77.64, Z:-3.16 [[ 9.13781425e-01 4.06204631e-01 1.14234067e-03 4.18431833e+02] [-4.06204331e-01 9.13782139e-01 -4.93845413e-04 -7.76355322e+01] [-1.24445280e-03 -1.27569624e-05 9.99999226e-01 -3.15931604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters 0.05135747255602215 Centerline is valid? [True, True] Translation: X:418.49, Y:-77.66, Z:-3.16 [[ 9.11944418e-01 4.10312978e-01 7.98437568e-04 4.18488318e+02] [-4.10312833e-01 9.11944768e-01 -3.45159128e-04 -7.76581982e+01] [-8.69754233e-04 -1.28432411e-05 9.99999622e-01 -3.15944249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters 0.051348127428652184 Centerline is valid? [True, True] Translation: X:418.55, Y:-77.68, Z:-3.16 [[ 9.10702769e-01 4.13060724e-01 1.14239279e-03 4.18545877e+02] [-4.13060430e-01 9.10703485e-01 -4.93798930e-04 -7.76797755e+01] [-1.24435004e-03 -2.21732032e-05 9.99999226e-01 -3.15973783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters 0.05155239022538941 Centerline is valid? [True, True] Translation: X:418.60, Y:-77.70, Z:-3.16 [[ 9.10565027e-01 4.13359822e-01 2.23350849e-03 4.18603518e+02] [-4.13358697e-01 9.10567765e-01 -9.65647692e-04 -7.77020205e+01] [-2.43292080e-03 -4.39551440e-05 9.99997039e-01 -3.15983245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters 0.051769059519574924 Centerline is valid? [True, True] Translation: X:418.66, Y:-77.73, Z:-3.16 [[ 9.10806961e-01 4.12830464e-01 1.29922300e-03 4.18661169e+02] [-4.12830083e-01 9.10807887e-01 -5.61557555e-04 -7.77252714e+01] [-1.41517062e-03 -2.48878073e-05 9.99998998e-01 -3.16181392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters 0.05108492062568519 Centerline is valid? [True, True] Translation: X:418.72, Y:-77.75, Z:-3.16 [[ 9.11128128e-01 4.12123081e-01 3.16499911e-04 4.18718148e+02] [-4.12123059e-01 9.11128183e-01 -1.36547083e-04 -7.77512832e+01] [-3.44646194e-04 -6.02502372e-06 9.99999941e-01 -3.16267030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters 0.05179812234982994 Centerline is valid? [True, True] Translation: X:418.77, Y:-77.78, Z:-3.16 [[ 9.11724235e-01 4.10802651e-01 -3.18511833e-04 4.18774142e+02] [-4.10802628e-01 9.11724290e-01 1.38868609e-04 -7.77773474e+01] [ 3.47442568e-04 4.23562119e-06 9.99999940e-01 -3.16345895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters 0.05145102649162377 Centerline is valid? [True, True] Translation: X:418.83, Y:-77.80, Z:-3.17 [[ 9.12708888e-01 4.08607549e-01 -1.53532353e-03 4.18828744e+02] [-4.08607007e-01 9.12710179e-01 6.65622149e-04 -7.78040713e+01] [ 1.67328365e-03 1.98247009e-05 9.99998600e-01 -3.16530423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters 0.05139880798312992 Centerline is valid? [True, True] Translation: X:418.88, Y:-77.83, Z:-3.17 [[ 9.13642111e-01 4.06515854e-01 -1.71878338e-03 4.18884268e+02] [-4.06515172e-01 9.13643727e-01 7.44984250e-04 -7.78322683e+01] [ 1.87320356e-03 1.80625385e-05 9.99998245e-01 -3.16551990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters 0.05155854084533234 Centerline is valid? [True, True] Translation: X:418.94, Y:-77.86, Z:-3.17 [[ 9.15935312e-01 4.01324360e-01 -1.12347420e-03 4.18937029e+02] [-4.01324065e-01 9.15936001e-01 4.86818990e-04 -7.78622754e+01] [ 1.22440279e-03 4.98252923e-06 9.99999250e-01 -3.16686918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters 0.05148287129102302 Centerline is valid? [True, True] Translation: X:418.99, Y:-77.89, Z:-3.16 [[ 9.17946648e-01 3.96703677e-01 -3.78042392e-04 4.18991352e+02] [-3.96703643e-01 9.17946726e-01 1.64757646e-04 -7.78926919e+01] [ 4.12382740e-04 -1.26793507e-06 9.99999915e-01 -3.16481357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters 0.051618543175271744 Centerline is valid? [True, True] Translation: X:419.05, Y:-77.92, Z:-3.16 [[ 9.20774428e-01 3.90093305e-01 1.29076997e-03 4.19045999e+02] [-3.90092904e-01 9.20775333e-01 -5.59134506e-04 -7.79240161e+01] [-1.40662377e-03 1.13165504e-05 9.99999011e-01 -3.16388376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters 0.051570692236851866 Centerline is valid? [True, True] Translation: X:419.10, Y:-77.95, Z:-3.16 [[ 9.21982509e-01 3.87220110e-01 2.97304000e-03 4.19101130e+02] [-3.87217969e-01 9.21987302e-01 -1.28810415e-03 -7.79523769e+01] [-3.23988496e-03 3.63949808e-05 9.99994751e-01 -3.16267250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters 0.05169838634572559 Centerline is valid? [True, True] Translation: X:419.16, Y:-77.98, Z:-3.16 [[ 9.21786641e-01 3.87685185e-01 3.09621367e-03 4.19157539e+02] [-3.87682864e-01 9.21791840e-01 -1.34199494e-03 -7.79768386e+01] [-3.37433605e-03 3.66840237e-05 9.99994306e-01 -3.16269620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters 0.05204722317519151 Centerline is valid? [True, True] Translation: X:419.21, Y:-78.00, Z:-3.17 [[ 9.20587999e-01 3.90527602e-01 2.43480152e-03 4.19214761e+02] [-3.90526176e-01 9.20591218e-01 -1.05580682e-03 -7.80019288e+01] [-2.65377860e-03 2.11093636e-05 9.99996479e-01 -3.16515882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters 0.051978382530204474 Centerline is valid? [True, True] Translation: X:419.27, Y:-78.03, Z:-3.17 [[ 9.19454182e-01 3.93191752e-01 2.06226625e-03 4.19272539e+02] [-3.93190736e-01 9.19456495e-01 -8.93879024e-04 -7.80258083e+01] [-2.24762996e-03 1.10168196e-05 9.99997474e-01 -3.16525421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters 0.051373014318508395 Centerline is valid? [True, True] Translation: X:419.33, Y:-78.05, Z:-3.17 [[ 9.17852339e-01 3.96919053e-01 1.53269029e-03 4.19329404e+02] [-3.96918496e-01 9.17853619e-01 -6.64631004e-04 -7.80494102e+01] [-1.67059004e-03 1.67999518e-06 9.99998605e-01 -3.16548273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters 0.05164044577194753 Centerline is valid? [True, True] Translation: X:419.39, Y:-78.07, Z:-3.16 [[ 9.16868486e-01 3.99188323e-01 9.28784762e-04 4.19386047e+02] [-3.99188120e-01 9.16868956e-01 -4.02223530e-04 -7.80744984e+01] [-1.01213685e-03 -1.97376430e-06 9.99999488e-01 -3.16495163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters 0.05165663381077201 Centerline is valid? [True, True] Translation: X:419.44, Y:-78.10, Z:-3.16 [[ 9.16559247e-01 3.99897862e-01 9.20263033e-04 4.19442897e+02] [-3.99897663e-01 9.16559709e-01 -3.98681382e-04 -7.81002293e+01] [-1.00290785e-03 -2.59592883e-06 9.99999497e-01 -3.16432008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters 0.051398509292574175 Centerline is valid? [True, True] Translation: X:419.50, Y:-78.13, Z:-3.16 [[ 9.16823303e-01 3.99284841e-01 2.57802449e-03 4.19499682e+02] [-3.99283272e-01 9.16826928e-01 -1.11930830e-03 -7.81268490e+01] [-2.81052511e-03 -3.15412097e-06 9.99996050e-01 -3.16091709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters 0.051504105106827854 Centerline is valid? [True, True] Translation: X:419.56, Y:-78.15, Z:-3.16 [[ 9.17473556e-01 3.97781622e-01 3.47189252e-03 4.19556091e+02] [-3.97778765e-01 9.17480126e-01 -1.50762863e-03 -7.81525878e+01] [-3.78509935e-03 2.16428010e-06 9.99992836e-01 -3.16000649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters 0.051505858128325754 Centerline is valid? [True, True] Translation: X:419.61, Y:-78.18, Z:-3.16 [[ 9.17806948e-01 3.97016106e-01 2.93547791e-03 4.19612596e+02] [-3.97014059e-01 9.17811643e-01 -1.27489505e-03 -7.81783121e+01] [-3.20036968e-03 4.68153657e-06 9.99994879e-01 -3.16064618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters 0.051643747888400954 Centerline is valid? [True, True] Translation: X:419.67, Y:-78.20, Z:-3.16 [[ 9.17837861e-01 3.96950979e-01 1.89265524e-03 4.19669339e+02] [-3.96950127e-01 9.17839812e-01 -8.22321819e-04 -7.82038869e+01] [-2.06357578e-03 3.46836293e-06 9.99997871e-01 -3.16258794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters 0.05131500557217124 Centerline is valid? [True, True] Translation: X:419.73, Y:-78.23, Z:-3.17 [[ 9.17506894e-01 3.97718894e-01 8.84038078e-04 4.19725500e+02] [-3.97718709e-01 9.17507319e-01 -3.83506936e-04 -7.82272641e+01] [-9.63639362e-04 2.71774158e-07 9.99999536e-01 -3.16501464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters 0.05157649925098021 Centerline is valid? [True, True] Translation: X:419.78, Y:-78.25, Z:-3.17 [[ 9.16769768e-01 3.99415035e-01 -9.06516367e-04 4.19783467e+02] [-3.99414840e-01 9.16770216e-01 3.95159402e-04 -7.82500624e+01] [ 9.88899812e-04 -1.94103456e-07 9.99999511e-01 -3.16629965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters 0.05219420929512123 Centerline is valid? [True, True] Translation: X:419.84, Y:-78.27, Z:-3.17 [[ 9.16438546e-01 4.00172783e-01 -1.46124917e-03 4.19840699e+02] [-4.00172277e-01 9.16439711e-01 6.36658853e-04 -7.82747054e+01] [ 1.59392031e-03 1.29269463e-06 9.99998730e-01 -3.16560971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters 0.0518680407519948 Centerline is valid? [True, True] Translation: X:419.90, Y:-78.30, Z:-3.17 [[ 9.15864698e-01 4.01480728e-01 -2.25370061e-03 4.19897678e+02] [-4.01479528e-01 9.15867471e-01 9.81741139e-04 -7.82993307e+01] [ 2.45824122e-03 5.67260314e-06 9.99996979e-01 -3.16527737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters 0.05226849327732734 Centerline is valid? [True, True] Translation: X:419.95, Y:-78.32, Z:-3.17 [[ 9.15515682e-01 4.02274366e-01 -2.52413118e-03 4.19954771e+02] [-4.02272862e-01 9.15519161e-01 1.09986035e-03 -7.83237825e+01] [ 2.75333609e-03 8.45007718e-06 9.99996210e-01 -3.16716355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters 0.05187002050461279 Centerline is valid? [True, True] Translation: X:420.01, Y:-78.35, Z:-3.17 [[ 9.15622841e-01 4.02031313e-01 -2.37427304e-03 4.20012108e+02] [-4.02029980e-01 9.15625919e-01 1.03505168e-03 -7.83501759e+01] [ 2.59006912e-03 6.81198766e-06 9.99996646e-01 -3.16618303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters 0.05156604568581956 Centerline is valid? [True, True] Translation: X:420.07, Y:-78.38, Z:-3.17 [[ 9.16046664e-01 4.01066377e-01 -2.06635214e-03 4.20066941e+02] [-4.01065366e-01 9.16048995e-01 9.00575197e-04 -7.83763686e+01] [ 2.25407023e-03 3.77337007e-06 9.99997460e-01 -3.16715612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters 0.05161487917925766 Centerline is valid? [True, True] Translation: X:420.12, Y:-78.40, Z:-3.17 [[ 9.16400079e-01 4.00261751e-01 -1.19397131e-03 4.20123620e+02] [-4.00261413e-01 9.16400857e-01 5.20442233e-04 -7.84030819e+01] [ 1.30246945e-03 9.67340237e-07 9.99999152e-01 -3.16683153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters 0.05159675686216196 Centerline is valid? [True, True] Translation: X:420.18, Y:-78.43, Z:-3.17 [[ 9.16478341e-01 4.00084292e-01 -9.96476140e-05 4.20179013e+02] [-4.00084289e-01 9.16478346e-01 4.42480871e-05 -7.84286949e+01] [ 1.09027845e-04 -6.84968666e-07 9.99999994e-01 -3.16757508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters 0.051912663048325904 Centerline is valid? [True, True] Translation: X:420.24, Y:-78.45, Z:-3.17 [[ 9.16217486e-01 4.00680975e-01 -5.24186258e-04 4.20235947e+02] [-4.00680910e-01 9.16217636e-01 2.29456581e-04 -7.84549262e+01] [ 5.72207580e-04 -2.00705626e-07 9.99999836e-01 -3.16628369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters 0.0513350207579461 Centerline is valid? [True, True] Translation: X:420.29, Y:-78.48, Z:-3.17 [[ 9.15564726e-01 4.02168189e-01 -1.40701606e-03 4.20292506e+02] [-4.02167721e-01 9.15565807e-01 6.13681493e-04 -7.84817414e+01] [ 1.53501897e-03 3.99131467e-06 9.99998822e-01 -3.16859736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters 0.05144889530393327 Centerline is valid? [True, True] Translation: X:420.35, Y:-78.51, Z:-3.17 [[ 9.14554092e-01 4.04461216e-01 -1.39210935e-03 4.20348812e+02] [-4.04460759e-01 9.14555151e-01 6.07999812e-04 -7.85079154e+01] [ 1.51907312e-03 7.00488770e-06 9.99998846e-01 -3.16687686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters 0.05174030742812578 Centerline is valid? [True, True] Translation: X:420.40, Y:-78.53, Z:-3.17 [[ 9.13812739e-01 4.06133895e-01 -1.23975901e-03 4.20404983e+02] [-4.06133534e-01 9.13813580e-01 5.41648252e-04 -7.85314482e+01] [ 1.35289033e-03 8.54263419e-06 9.99999085e-01 -3.16831645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters 0.05130750727258905 Centerline is valid? [True, True] Translation: X:420.46, Y:-78.56, Z:-3.17 [[ 9.13026818e-01 4.07899156e-01 -5.54744590e-04 4.20461976e+02] [-4.07899084e-01 9.13026987e-01 2.42973415e-04 -7.85572555e+01] [ 6.05605432e-04 4.43856622e-06 9.99999817e-01 -3.16895389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters 0.05100443830399299 Centerline is valid? [True, True] Translation: X:420.52, Y:-78.58, Z:-3.17 [[ 9.12862578e-01 4.08266901e-01 -2.28165633e-04 4.20519052e+02] [-4.08266889e-01 9.12862606e-01 1.00562070e-04 -7.85824106e+01] [ 2.49340039e-04 1.35312285e-06 9.99999969e-01 -3.16930094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters 0.051776579885135114 Centerline is valid? [True, True] Translation: X:420.57, Y:-78.61, Z:-3.17 [[ 9.12937133e-01 4.08099869e-01 5.36980677e-04 4.20574739e+02] [-4.08099802e-01 9.12937291e-01 -2.33523087e-04 -7.86090066e+01] [-5.85530426e-04 -5.94981078e-06 9.99999829e-01 -3.16909469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters 0.051404689253283974 Centerline is valid? [True, True] Translation: X:420.63, Y:-78.63, Z:-3.17 [[ 9.12912504e-01 4.08153620e-01 1.17552213e-03 4.20630890e+02] [-4.08153298e-01 9.12913261e-01 -5.12823527e-04 -7.86333004e+01] [-1.28246052e-03 -1.16302255e-05 9.99999178e-01 -3.17009058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters 0.050942214068092365 Centerline is valid? [True, True] Translation: X:420.69, Y:-78.66, Z:-3.17 [[ 9.12636191e-01 4.08769619e-01 1.60644755e-03 4.20685947e+02] [-4.08769019e-01 9.12637605e-01 -7.00784384e-04 -7.86608840e+01] [-1.75256381e-03 -1.71047986e-05 9.99998464e-01 -3.16896633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters 0.051353523032653066 Centerline is valid? [True, True] Translation: X:420.74, Y:-78.69, Z:-3.17 [[ 9.12265747e-01 4.09595580e-01 1.63333969e-03 4.20742633e+02] [-4.09594960e-01 9.12267209e-01 -7.12916021e-04 -7.86859286e+01] [-1.78204949e-03 -1.86388381e-05 9.99998412e-01 -3.16911272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters 0.051587221557575495 Centerline is valid? [True, True] Translation: X:420.80, Y:-78.71, Z:-3.17 [[ 9.12094176e-01 4.09976548e-01 1.85607540e-03 4.20802043e+02] [-4.09975747e-01 9.12096064e-01 -8.10715153e-04 -7.87068126e+01] [-2.02529327e-03 -2.14973310e-05 9.99997949e-01 -3.17296849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters 0.051642177514686735 Centerline is valid? [True, True] Translation: X:420.86, Y:-78.73, Z:-3.17 [[ 9.11993923e-01 4.10202124e-01 1.14052725e-03 4.20859354e+02] [-4.10201823e-01 9.11994637e-01 -4.97714143e-04 -7.87318923e+01] [-1.24431813e-03 -1.39340825e-05 9.99999226e-01 -3.17405711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters 0.05178204135705774 Centerline is valid? [True, True] Translation: X:420.92, Y:-78.76, Z:-3.17 [[ 9.12014717e-01 4.10156423e-01 9.29939322e-04 4.20916386e+02] [-4.10156222e-01 9.12015191e-01 -4.05646784e-04 -7.87579328e+01] [-1.01449742e-03 -1.14645622e-05 9.99999485e-01 -3.17419175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters 0.051451819853966144 Centerline is valid? [True, True] Translation: X:420.97, Y:-78.78, Z:-3.18 [[ 9.12420082e-01 4.09254865e-01 2.20397278e-04 4.20972476e+02] [-4.09254854e-01 9.12420109e-01 -9.55864920e-05 -7.87821348e+01] [-2.40214145e-04 -2.98362089e-06 9.99999971e-01 -3.17541821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters 0.050619789491408156 Centerline is valid? [True, True] Translation: X:421.03, Y:-78.81, Z:-3.18 [[ 9.12473678e-01 4.09135185e-01 4.33419801e-04 4.21029072e+02] [-4.09135142e-01 9.12473780e-01 -1.89133912e-04 -7.88056758e+01] [-4.72865542e-04 -4.74755533e-06 9.99999888e-01 -3.17558136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters 0.05116390199928184 Centerline is valid? [True, True] Translation: X:421.09, Y:-78.83, Z:-3.18 [[ 9.11776342e-01 4.10686971e-01 3.38509297e-04 4.21087486e+02] [-4.10686944e-01 9.11776405e-01 -1.47286352e-04 -7.88279712e+01] [-3.69133376e-04 -4.72913757e-06 9.99999932e-01 -3.17633222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters 0.05154829128692139 Centerline is valid? [True, True] Translation: X:421.14, Y:-78.86, Z:-3.17 [[ 9.11185018e-01 4.11997406e-01 1.82581952e-05 4.21142881e+02] [-4.11997406e-01 9.11185018e-01 -7.13824725e-06 -7.88553018e+01] [-1.95775334e-05 -1.01806511e-06 1.00000000e+00 -3.17395639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters 0.050803712612791256 Centerline is valid? [True, True] Translation: X:421.20, Y:-78.88, Z:-3.18 [[ 9.10453623e-01 4.13610136e-01 -9.25082907e-04 4.21200261e+02] [-4.13609937e-01 9.10454093e-01 4.05925722e-04 -7.88759043e+01] [ 1.01014051e-03 1.30469384e-05 9.99999490e-01 -3.17586231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters 0.051562601627502376 Centerline is valid? [True, True] Translation: X:421.26, Y:-78.90, Z:-3.17 [[ 9.10508594e-01 4.13488231e-01 -1.25859809e-03 4.21256936e+02] [-4.13487862e-01 9.10509463e-01 5.52366372e-04 -7.89038095e+01] [ 1.37436246e-03 1.74807033e-05 9.99999055e-01 -3.17398978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters 0.050903133820181176 Centerline is valid? [True, True] Translation: X:421.31, Y:-78.93, Z:-3.17 [[ 9.11026671e-01 4.12346430e-01 -9.09126959e-04 4.21313070e+02] [-4.12346238e-01 9.11027124e-01 3.98824687e-04 -7.89279496e+01] [ 9.92693255e-04 1.15351544e-05 9.99999507e-01 -3.17445174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters 0.051634942623142985 Centerline is valid? [True, True] Translation: X:421.37, Y:-78.95, Z:-3.18 [[ 9.12052420e-01 4.10073549e-01 -2.59323120e-04 4.21369722e+02] [-4.10073533e-01 9.12052457e-01 1.14556769e-04 -7.89532812e+01] [ 2.83492989e-04 1.85976959e-06 9.99999960e-01 -3.17510889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters 0.0514641272676742 Centerline is valid? [True, True] Translation: X:421.43, Y:-78.98, Z:-3.18 [[ 9.12615691e-01 4.08818173e-01 -5.49299446e-04 4.21426050e+02] [-4.08818101e-01 9.12615857e-01 2.41737240e-04 -7.89792872e+01] [ 6.00125961e-04 3.95035806e-06 9.99999820e-01 -3.17535703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters 0.05175100663718374 Centerline is valid? [True, True] Translation: X:421.48, Y:-79.00, Z:-3.18 [[ 9.13478720e-01 4.06884291e-01 -1.34237117e-03 4.21481568e+02] [-4.06883865e-01 9.13479706e-01 5.89508121e-04 -7.90049394e+01] [ 1.46609041e-03 7.68604443e-06 9.99998925e-01 -3.17731672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters 0.05240889707467474 Centerline is valid? [True, True] Translation: X:421.54, Y:-79.03, Z:-3.18 [[ 9.13584251e-01 4.06644966e-01 -1.92038895e-03 4.21538779e+02] [-4.06644091e-01 9.13586269e-01 8.43478345e-04 -7.90308861e+01] [ 2.09743720e-03 1.03262877e-05 9.99997800e-01 -3.17742012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters 0.051687207148159664 Centerline is valid? [True, True] Translation: X:421.60, Y:-79.05, Z:-3.18 [[ 9.13035701e-01 4.07877035e-01 -1.46079366e-03 4.21596299e+02] [-4.07876530e-01 9.13036869e-01 6.41609729e-04 -7.90543251e+01] [ 1.59545634e-03 1.00108613e-05 9.99998727e-01 -3.17813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters 0.0512946875102636 Centerline is valid? [True, True] Translation: X:421.65, Y:-79.08, Z:-3.18 [[ 9.12656546e-01 4.08725120e-01 -1.34373707e-03 4.21654133e+02] [-4.08724693e-01 9.12657535e-01 5.90842284e-04 -7.90790959e+01] [ 1.46786385e-03 9.98244531e-06 9.99998923e-01 -3.17821503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters 0.05151442307464294 Centerline is valid? [True, True] Translation: X:421.71, Y:-79.10, Z:-3.18 [[ 9.11487257e-01 4.11326687e-01 -1.15619007e-03 4.21712223e+02] [-4.11326373e-01 9.11487990e-01 5.08548797e-04 -7.91022748e+01] [ 1.26303306e-03 1.20357218e-05 9.99999202e-01 -3.17865853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters 0.05183030077039133 Centerline is valid? [True, True] Translation: X:421.77, Y:-79.13, Z:-3.18 [[ 9.10489580e-01 4.13526652e-01 -2.10557341e-03 4.21769616e+02] [-4.13525619e-01 9.10492014e-01 9.24811022e-04 -7.91261156e+01] [ 2.29954178e-03 2.86777483e-05 9.99997356e-01 -3.17888179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters 0.05201764880385276 Centerline is valid? [True, True] Translation: X:421.83, Y:-79.15, Z:-3.18 [[ 9.09311875e-01 4.16108134e-01 -2.43631316e-03 4.21828043e+02] [-4.16106759e-01 9.09315137e-01 1.07036896e-03 -7.91457027e+01] [ 2.66076567e-03 4.04671652e-05 9.99996459e-01 -3.18064159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters 0.0517749181012861 Centerline is valid? [True, True] Translation: X:421.88, Y:-79.17, Z:-3.18 [[ 9.08629490e-01 4.17595276e-01 -2.57584729e-03 4.21884896e+02] [-4.17593743e-01 9.08633140e-01 1.13243099e-03 -7.91711882e+01] [ 2.81339804e-03 4.66975179e-05 9.99996041e-01 -3.17877541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters 0.05203540132063344 Centerline is valid? [True, True] Translation: X:421.94, Y:-79.20, Z:-3.18 [[ 9.08788846e-01 4.17251756e-01 -1.95072300e-03 4.21942345e+02] [-4.17250876e-01 9.08790939e-01 8.57437526e-04 -7.91962166e+01] [ 2.13056670e-03 3.47112215e-05 9.99997730e-01 -3.17754207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters 0.051652913030944846 Centerline is valid? [True, True] Translation: X:422.00, Y:-79.22, Z:-3.18 [[ 9.10425843e-01 4.13671154e-01 -9.79927529e-04 4.21998161e+02] [-4.13670930e-01 9.10426370e-01 4.30680710e-04 -7.92211793e+01] [ 1.07031205e-03 1.32646836e-05 9.99999427e-01 -3.17651752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters 0.05211047672523257 Centerline is valid? [True, True] Translation: X:422.05, Y:-79.25, Z:-3.18 [[ 9.12377842e-01 4.09348187e-01 -8.57535874e-04 4.22053249e+02] [-4.09348014e-01 9.12378245e-01 3.76925181e-04 -7.92474478e+01] [ 9.36690715e-04 7.13242343e-06 9.99999561e-01 -3.17647978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters 0.05241894670787622 Centerline is valid? [True, True] Translation: X:422.11, Y:-79.27, Z:-3.18 [[ 9.15702434e-01 4.01855940e-01 -9.24932209e-04 4.22108678e+02] [-4.01855733e-01 9.15702901e-01 4.07462820e-04 -7.92744662e+01] [ 1.01070446e-03 -1.42538470e-06 9.99999489e-01 -3.17603156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters 0.05202762167994537 Centerline is valid? [True, True] Translation: X:422.17, Y:-79.30, Z:-3.18 [[ 9.17645558e-01 3.97397467e-01 -1.37248227e-03 4.22165323e+02] [-3.97397009e-01 9.17646584e-01 6.03625755e-04 -7.93007901e+01] [ 1.49933301e-03 -8.49414440e-06 9.99998876e-01 -3.17799750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters 0.052399971766199684 Centerline is valid? [True, True] Translation: X:422.22, Y:-79.32, Z:-3.18 [[ 9.20043461e-01 3.91810119e-01 -2.20465006e-03 4.22222225e+02] [-3.91808921e-01 9.20046102e-01 9.69292448e-04 -7.93245727e+01] [ 2.40815829e-03 -2.79896156e-05 9.99997100e-01 -3.17730855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters 0.05277671837866602 Centerline is valid? [True, True] Translation: X:422.28, Y:-79.35, Z:-3.18 [[ 9.21314746e-01 3.88807293e-01 -2.83330483e-03 4.22279504e+02] [-3.88805300e-01 9.21319101e-01 1.24598419e-03 -7.93495383e+01] [ 3.09482561e-03 -4.63396737e-05 9.99995210e-01 -3.17810651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters 0.053261539891399895 Centerline is valid? [True, True] Translation: X:422.34, Y:-79.37, Z:-3.18 [[ 9.22287709e-01 3.86486384e-01 -3.69561054e-03 4.22337556e+02] [-3.86482974e-01 9.22295110e-01 1.62496439e-03 -7.93686184e+01] [ 4.03647014e-03 -7.03941317e-05 9.99991851e-01 -3.17630543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters 0.05366589639347385 Centerline is valid? [True, True] Translation: X:422.40, Y:-79.39, Z:-3.18 [[ 9.22659443e-01 3.85606141e-01 -2.73074181e-03 4.22395283e+02] [-3.85604272e-01 9.22663482e-01 1.20181387e-03 -7.93913999e+01] [ 2.98298255e-03 -5.58792059e-05 9.99995549e-01 -3.17665471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters 0.05302076675181786 Centerline is valid? [True, True] Translation: X:422.45, Y:-79.42, Z:-3.18 [[ 9.22086710e-01 3.86982317e-01 -8.85950486e-04 4.22450043e+02] [-3.86982121e-01 9.22087136e-01 3.89935674e-04 -7.94184807e+01] [ 9.67821757e-04 -1.67075040e-05 9.99999532e-01 -3.17827700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters 0.05310423891843615 Centerline is valid? [True, True] Translation: X:422.51, Y:-79.43, Z:-3.17 [[ 9.18990914e-01 3.94277336e-01 1.03979646e-03 4.22509665e+02] [-3.94277071e-01 9.18991503e-01 -4.57315772e-04 -7.94334521e+01] [-1.13587336e-03 1.03011342e-05 9.99999355e-01 -3.17432170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters 0.052500624348858486 Centerline is valid? [True, True] Translation: X:422.57, Y:-79.45, Z:-3.18 [[ 9.13600212e-01 4.06608024e-01 2.13706613e-03 4.22569927e+02] [-4.06606938e-01 9.13602712e-01 -9.39730527e-04 -7.94503596e+01] [-2.33453139e-03 -1.04079077e-05 9.99997275e-01 -3.17651175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters 0.0522188894683667 Centerline is valid? [True, True] Translation: X:422.63, Y:-79.47, Z:-3.18 [[ 9.09750137e-01 4.15148951e-01 2.45716787e-03 4.22628589e+02] [-4.15147546e-01 9.09753454e-01 -1.08076377e-03 -7.94680506e+01] [-2.68409490e-03 -3.68622198e-05 9.99996397e-01 -3.17755491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters 0.051958858564106 Centerline is valid? [True, True] Translation: X:422.69, Y:-79.49, Z:-3.18 [[ 9.05031095e-01 4.25338513e-01 2.42220765e-03 4.22686875e+02] [-4.25337183e-01 9.05034334e-01 -1.06545705e-03 -7.94876897e+01] [-2.64536100e-03 -6.59832184e-05 9.99996499e-01 -3.17762333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters 0.05204433936842321 Centerline is valid? [True, True] Translation: X:422.74, Y:-79.51, Z:-3.18 [[ 9.03148814e-01 4.29322447e-01 2.11121205e-03 4.22743455e+02] [-4.29321448e-01 9.03151279e-01 -9.28760415e-04 -7.95072023e+01] [-2.30548156e-03 -6.75797466e-05 9.99997340e-01 -3.17798140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters 0.05209072337405806 Centerline is valid? [True, True] Translation: X:422.80, Y:-79.53, Z:-3.18 [[ 9.02063512e-01 4.31602338e-01 9.17057341e-04 4.22801030e+02] [-4.31602151e-01 9.02063978e-01 -4.03430936e-04 -7.95255135e+01] [-1.00136613e-03 -3.18835935e-05 9.99999498e-01 -3.17934658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters 0.054135061537541655 Centerline is valid? [True, True] Translation: X:422.86, Y:-79.54, Z:-3.18 [[ 9.02552555e-01 4.30579656e-01 -2.13511179e-04 4.22861855e+02] [-4.30579645e-01 9.02552580e-01 9.47904615e-05 -7.95398771e+01] [ 2.33519910e-04 6.38019448e-06 9.99999973e-01 -3.18279558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters 0.05321916212591792 Centerline is valid? [True, True] Translation: X:422.91, Y:-79.57, Z:-3.18 [[ 9.04881814e-01 4.25661997e-01 -8.76052843e-04 4.22914487e+02] [-4.25661823e-01 9.04882237e-01 3.85618027e-04 -7.95726451e+01] [ 9.56867596e-04 2.39635102e-05 9.99999542e-01 -3.18163456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters 0.05357789603311927 Centerline is valid? [True, True] Translation: X:422.97, Y:-79.59, Z:-3.18 [[ 9.07168413e-01 4.20765711e-01 -1.29907054e-03 4.22970792e+02] [-4.20765324e-01 9.07169342e-01 5.71633667e-04 -7.95924899e+01] [ 1.41900082e-03 2.80358318e-05 9.99998993e-01 -3.18485861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters 0.05279703400243037 Centerline is valid? [True, True] Translation: X:423.02, Y:-79.63, Z:-3.18 [[ 9.10825309e-01 4.12789964e-01 -1.30461246e-03 4.23023048e+02] [-4.12789564e-01 9.10826243e-01 5.74298703e-04 -7.96263011e+01] [ 1.42534001e-03 1.54446167e-05 9.99998984e-01 -3.18262735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters 0.05310928197575959 Centerline is valid? [True, True] Translation: X:423.08, Y:-79.65, Z:-3.18 [[ 9.13302935e-01 4.07276599e-01 -1.87645067e-03 4.23077882e+02] [-4.07275761e-01 9.13304863e-01 8.26151408e-04 -7.96542936e+01] [ 2.05024365e-03 9.70636702e-06 9.99997898e-01 -3.18367377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters 0.053045170795227435 Centerline is valid? [True, True] Translation: X:423.13, Y:-79.68, Z:-3.18 [[ 9.17308914e-01 3.98173099e-01 -1.59326889e-03 4.23132725e+02] [-3.98172479e-01 9.17310298e-01 7.02592895e-04 -7.96848544e+01] [ 1.74127555e-03 -1.00989010e-05 9.99998484e-01 -3.18307141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters 0.0534158198950606 Centerline is valid? [True, True] Translation: X:423.18, Y:-79.72, Z:-3.18 [[ 9.21329866e-01 3.88779589e-01 -1.30752549e-03 4.23184965e+02] [-3.88779163e-01 9.21330793e-01 5.75852865e-04 -7.97162105e+01] [ 1.42854334e-03 -2.22117764e-05 9.99998979e-01 -3.18305719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters 0.05397239905697856 Centerline is valid? [True, True] Translation: X:423.24, Y:-79.74, Z:-3.18 [[ 9.24445324e-01 3.81312994e-01 -1.11528877e-03 4.23240611e+02] [-3.81312679e-01 9.24445996e-01 4.91201626e-04 -7.97417174e+01] [ 1.21832580e-03 -2.88152966e-05 9.99999257e-01 -3.18074849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters 0.054679623781701825 Centerline is valid? [True, True] Translation: X:423.29, Y:-79.77, Z:-3.18 [[ 9.25631565e-01 3.78425292e-01 -7.10485485e-04 4.23293407e+02] [-3.78425163e-01 9.25631837e-01 3.13177697e-04 -7.97697840e+01] [ 7.76162346e-04 -2.10215762e-05 9.99999699e-01 -3.18194463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters 0.05397573175781852 Centerline is valid? [True, True] Translation: X:423.35, Y:-79.79, Z:-3.18 [[ 9.26179742e-01 3.77082015e-01 -4.89154881e-04 4.23351020e+02] [-3.77081953e-01 9.26179871e-01 2.15701687e-04 -7.97919585e+01] [ 5.34382631e-04 -1.53270546e-05 9.99999857e-01 -3.18152656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters 0.0543484308212136 Centerline is valid? [True, True] Translation: X:423.41, Y:-79.81, Z:-3.18 [[ 9.25763182e-01 3.78103813e-01 -1.90942286e-04 4.23410390e+02] [-3.78103804e-01 9.25763202e-01 8.50014367e-05 -7.98094266e+01] [ 2.08906709e-04 -6.49519614e-06 9.99999978e-01 -3.18024616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters 0.054460251477709 Centerline is valid? [True, True] Translation: X:423.47, Y:-79.84, Z:-3.18 [[ 9.25219371e-01 3.79432194e-01 -5.69679212e-04 4.23465517e+02] [-3.79432111e-01 9.25219547e-01 2.51914499e-04 -7.98373124e+01] [ 6.22662814e-04 -1.69215882e-05 9.99999806e-01 -3.18187031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters 0.0547382045935886 Centerline is valid? [True, True] Translation: X:423.53, Y:-79.85, Z:-3.18 [[ 9.22684403e-01 3.85554855e-01 -9.73163715e-04 4.23525473e+02] [-3.85554617e-01 9.22684916e-01 4.29015411e-04 -7.98522227e+01] [ 1.06333245e-03 -2.06380652e-05 9.99999434e-01 -3.18125490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters 0.0543381825362912 Centerline is valid? [True, True] Translation: X:423.58, Y:-79.88, Z:-3.18 [[ 9.20386458e-01 3.91008155e-01 -1.17937572e-03 4.23581660e+02] [-3.91007810e-01 9.20387213e-01 5.19922784e-04 -7.98764553e+01] [ 1.28877638e-03 -1.73847734e-05 9.99999169e-01 -3.18418315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters 0.05381575705475598 Centerline is valid? [True, True] Translation: X:423.64, Y:-79.89, Z:-3.18 [[ 9.17065818e-01 3.98735823e-01 1.73212258e-04 4.23638663e+02] [-3.98735815e-01 9.17065834e-01 -7.63307886e-05 -7.98944542e+01] [-1.89282864e-04 9.34426126e-07 9.99999982e-01 -3.18490303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters 0.05300606883976273 Centerline is valid? [True, True] Translation: X:423.70, Y:-79.91, Z:-3.18 [[ 9.14916124e-01 4.03637981e-01 2.20606217e-03 4.23698084e+02] [-4.03636811e-01 9.14918784e-01 -9.71595936e-04 -7.99145557e+01] [-2.41054074e-03 -1.51911314e-06 9.99997095e-01 -3.18321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters 0.053592187782090295 Centerline is valid? [True, True] Translation: X:423.76, Y:-79.93, Z:-3.18 [[ 9.11808617e-01 4.10590094e-01 4.56292357e-03 4.23756345e+02] [-4.10585170e-01 9.11820033e-01 -2.01133154e-03 -7.99344874e+01] [-4.98639793e-03 -3.95193189e-05 9.99987567e-01 -3.18324631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters 0.05316110736505035 Centerline is valid? [True, True] Translation: X:423.82, Y:-79.95, Z:-3.19 [[ 9.09265428e-01 4.16193719e-01 4.37837118e-03 4.23815896e+02] [-4.16189246e-01 9.09275967e-01 -1.93079307e-03 -7.99514975e+01] [-4.78473163e-03 -6.66276134e-05 9.99988551e-01 -3.18518555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters 0.05385834090372451 Centerline is valid? [True, True] Translation: X:423.87, Y:-79.97, Z:-3.19 [[ 9.07266401e-01 4.20538003e-01 3.93270918e-03 4.23873370e+02] [-4.20534435e-01 9.07274920e-01 -1.73431535e-03 -7.99704282e+01] [-4.29739393e-03 -8.03535937e-05 9.99990763e-01 -3.18715988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters 0.05339177870094598 Centerline is valid? [True, True] Translation: X:423.93, Y:-79.99, Z:-3.19 [[ 9.06743894e-01 4.21663418e-01 3.93354303e-03 4.23930418e+02] [-4.21659860e-01 9.06752422e-01 -1.73447487e-03 -7.99945609e+01] [-4.29811427e-03 -8.58927064e-05 9.99990759e-01 -3.18776620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters 0.053611435326475734 Centerline is valid? [True, True] Translation: X:423.99, Y:-80.02, Z:-3.19 [[ 9.05951018e-01 4.23375745e-01 2.39393964e-03 4.23986645e+02] [-4.23374432e-01 9.05954180e-01 -1.05595825e-03 -8.00210552e+01] [-2.61586673e-03 -5.68863816e-05 9.99996577e-01 -3.18981665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters 0.05304918690844997 Centerline is valid? [True, True] Translation: X:424.04, Y:-80.05, Z:-3.19 [[ 9.05942338e-01 4.23401082e-01 -5.24441935e-05 4.24040945e+02] [-4.23401082e-01 9.05942340e-01 2.40641217e-05 -8.00522058e+01] [ 5.77001904e-05 4.04221530e-07 9.99999998e-01 -3.19142410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters 0.05289452459278788 Centerline is valid? [True, True] Translation: X:424.10, Y:-80.08, Z:-3.19 [[ 9.06155084e-01 4.22942465e-01 -1.62324053e-03 4.24097405e+02] [-4.22941858e-01 9.06156537e-01 7.17610203e-04 -8.00783512e+01] [ 1.77441784e-03 3.62702304e-05 9.99998425e-01 -3.19393507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters 0.05270486770705672 Centerline is valid? [True, True] Translation: X:424.15, Y:-80.11, Z:-3.19 [[ 9.06775490e-01 4.21611931e-01 -1.26073257e-03 4.24149928e+02] [-4.21611563e-01 9.06776366e-01 5.57677086e-04 -8.01127411e+01] [ 1.37832581e-03 2.58515171e-05 9.99999050e-01 -3.19268036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters 0.05259036010958571 Centerline is valid? [True, True] Translation: X:424.21, Y:-80.14, Z:-3.19 [[ 9.06815567e-01 4.21527400e-01 -4.22957347e-04 4.24205674e+02] [-4.21527358e-01 9.06815665e-01 1.87129580e-04 -8.01392122e+01] [ 4.62424593e-04 8.59607679e-06 9.99999893e-01 -3.19315162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters 0.05202477973322702 Centerline is valid? [True, True] Translation: X:424.26, Y:-80.17, Z:-3.19 [[ 9.05887828e-01 4.23515748e-01 1.28625642e-03 4.24259462e+02] [-4.23515369e-01 9.05888740e-01 -5.67353501e-04 -8.01718107e+01] [-1.40548835e-03 -3.07907336e-05 9.99999012e-01 -3.19183279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters 0.05206655043552422 Centerline is valid? [True, True] Translation: X:424.31, Y:-80.20, Z:-3.19 [[ 9.04369245e-01 4.26748489e-01 1.41270348e-03 4.24313598e+02] [-4.26748034e-01 9.04370348e-01 -6.24136359e-04 -8.01982059e+01] [-1.54395639e-03 -3.84187046e-05 9.99998807e-01 -3.19286204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters 0.05200606841962053 Centerline is valid? [True, True] Translation: X:424.37, Y:-80.23, Z:-3.19 [[ 9.03531095e-01 4.28521278e-01 1.03675097e-03 4.24368798e+02] [-4.28521035e-01 9.03531689e-01 -4.57340563e-04 -8.02259367e+01] [-1.13271751e-03 -3.10481769e-05 9.99999358e-01 -3.19383036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters 0.051680491444025464 Centerline is valid? [True, True] Translation: X:424.42, Y:-80.26, Z:-3.19 [[ 9.02917529e-01 4.29812836e-01 9.28179792e-04 4.24420995e+02] [-4.29812641e-01 9.02918006e-01 -4.09958034e-04 -8.02612112e+01] [-1.01427547e-03 -2.87851122e-05 9.99999485e-01 -3.19313130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters 0.052374505313289424 Centerline is valid? [True, True] Translation: X:424.48, Y:-80.28, Z:-3.20 [[ 9.02956315e-01 4.29732324e-01 1.50312771e-04 4.24478054e+02] [-4.29732319e-01 9.02956328e-01 -6.54790234e-05 -8.02847309e+01] [-1.63864321e-04 -5.46955798e-06 9.99999987e-01 -3.19547580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters 0.05135658670294777 Centerline is valid? [True, True] Translation: X:424.53, Y:-80.32, Z:-3.20 [[ 9.05077291e-01 4.25246481e-01 -7.26270155e-04 4.24530647e+02] [-4.25246360e-01 9.05077582e-01 3.21262131e-04 -8.03159898e+01] [ 7.93946427e-04 1.80766806e-05 9.99999685e-01 -3.19687311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters 0.051886717303522886 Centerline is valid? [True, True] Translation: X:424.58, Y:-80.34, Z:-3.20 [[ 9.07913646e-01 4.19156919e-01 -5.36171776e-04 4.24584645e+02] [-4.19156853e-01 9.07913805e-01 2.37086051e-04 -8.03426767e+01] [ 5.86174016e-04 9.48641265e-06 9.99999828e-01 -3.19895821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters 0.05128646157592582 Centerline is valid? [True, True] Translation: X:424.63, Y:-80.38, Z:-3.20 [[ 9.13816533e-01 4.06124476e-01 1.50140267e-03 4.24632999e+02] [-4.06123934e-01 9.13817766e-01 -6.63711743e-04 -8.03837283e+01] [-1.64155802e-03 -3.24479680e-06 9.99998653e-01 -3.19726938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters 0.052563614214706914 Centerline is valid? [True, True] Translation: X:424.68, Y:-80.42, Z:-3.19 [[ 9.20023771e-01 3.91855493e-01 2.35211483e-03 4.24684356e+02] [-3.91854115e-01 9.20026777e-01 -1.03978198e-03 -8.04186356e+01] [-2.57145291e-03 3.49382584e-05 9.99996693e-01 -3.19482860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters 0.05217853203061118 Centerline is valid? [True, True] Translation: X:424.74, Y:-80.45, Z:-3.20 [[ 9.25305235e-01 3.79219875e-01 1.58379029e-03 4.24736665e+02] [-3.79219231e-01 9.25306589e-01 -7.00209721e-04 -8.04516197e+01] [-1.73102504e-03 4.73039834e-05 9.99998501e-01 -3.19623268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters 0.05336014288678579 Centerline is valid? [True, True] Translation: X:424.79, Y:-80.47, Z:-3.20 [[ 9.27505188e-01 3.73806908e-01 1.58798005e-03 4.24794889e+02] [-3.73806253e-01 9.27506546e-01 -7.02163905e-04 -8.04714458e+01] [-1.73533561e-03 5.76637909e-05 9.99998493e-01 -3.19625399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters 0.05347663350034705 Centerline is valid? [True, True] Translation: X:424.85, Y:-80.51, Z:-3.20 [[ 9.28672775e-01 3.70895652e-01 1.81431787e-03 4.24845293e+02] [-3.70894792e-01 9.28674545e-01 -8.01919704e-04 -8.05060206e+01] [-1.98233935e-03 7.17999488e-05 9.99998033e-01 -3.19910523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters 0.05385494481202735 Centerline is valid? [True, True] Translation: X:424.90, Y:-80.52, Z:-3.20 [[ 9.29701098e-01 3.68304192e-01 2.80902431e-03 4.24904326e+02] [-3.68302117e-01 9.29705334e-01 -1.24218542e-03 -8.05229148e+01] [-3.06906699e-03 1.20291549e-04 9.99995283e-01 -3.19933343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters 0.05293010677220056 Centerline is valid? [True, True] Translation: X:424.96, Y:-80.55, Z:-3.20 [[ 9.30176461e-01 3.67099018e-01 3.17217845e-03 4.24958663e+02] [-3.67096362e-01 9.30181859e-01 -1.40348733e-03 -8.05502096e+01] [-3.46592167e-03 1.40995703e-04 9.99993984e-01 -3.20029352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters 0.05331390179450374 Centerline is valid? [True, True] Translation: X:425.02, Y:-80.57, Z:-3.20 [[ 9.30260568e-01 3.66873742e-01 4.35112065e-03 4.25016842e+02] [-3.66868743e-01 9.30270724e-01 -1.92514692e-03 -8.05723935e+01] [-4.75400601e-03 1.94598101e-04 9.99988681e-01 -3.20180069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters 0.052973349111308805 Centerline is valid? [True, True] Translation: X:425.08, Y:-80.58, Z:-3.20 [[ 9.28409695e-01 3.71512775e-01 5.80484278e-03 4.25079010e+02] [-3.71503964e-01 9.28427814e-01 -2.56880208e-03 -8.05806763e+01] [-6.34372029e-03 2.28378652e-04 9.99979852e-01 -3.20164423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters 0.05304038222900156 Centerline is valid? [True, True] Translation: X:425.13, Y:-80.61, Z:-3.20 [[ 9.26111096e-01 3.77201080e-01 6.13053219e-03 4.25131330e+02] [-3.77191377e-01 9.26131365e-01 -2.71293793e-03 -8.06119832e+01] [-6.70100127e-03 2.00098041e-04 9.99977528e-01 -3.20233562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters 0.05195095322785578 Centerline is valid? [True, True] Translation: X:425.19, Y:-80.63, Z:-3.20 [[ 9.21837076e-01 3.87535995e-01 5.67958648e-03 4.25191218e+02] [-3.87527861e-01 9.21854565e-01 -2.51343300e-03 -8.06268178e+01] [-6.20979849e-03 1.15977727e-04 9.99980712e-01 -3.20397890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters 0.052511255278523954 Centerline is valid? [True, True] Translation: X:425.25, Y:-80.65, Z:-3.21 [[ 9.20354050e-01 3.91052755e-01 5.11518519e-03 4.25248827e+02] [-3.91046211e-01 9.20368261e-01 -2.26374098e-03 -8.06481033e+01] [-5.59309624e-03 8.31693907e-05 9.99984355e-01 -3.20577054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters 0.05177662093476439 Centerline is valid? [True, True] Translation: X:425.31, Y:-80.66, Z:-3.21 [[ 9.16301617e-01 4.00467729e-01 4.11649232e-03 4.25308408e+02] [-4.00463586e-01 9.16310863e-01 -1.82180245e-03 -8.06635168e+01] [-4.50155972e-03 2.08152551e-05 9.99989868e-01 -3.20762607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters 0.051483433309204504 Centerline is valid? [True, True] Translation: X:425.37, Y:-80.69, Z:-3.21 [[ 9.14460239e-01 4.04653297e-01 4.26388510e-03 4.25365863e+02] [-4.04648897e-01 9.14470180e-01 -1.88706264e-03 -8.06861586e+01] [-4.66280189e-03 2.67354719e-07 9.99989129e-01 -3.20863912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters 0.051994147721523824 Centerline is valid? [True, True] Translation: X:425.42, Y:-80.71, Z:-3.21 [[ 9.11877147e-01 4.10428460e-01 5.34301252e-03 4.25424675e+02] [-4.10421648e-01 9.11892800e-01 -2.36486850e-03 -8.07065620e+01] [-5.84286398e-03 -3.64184689e-05 9.99982930e-01 -3.20811132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters 0.05125368962042291 Centerline is valid? [True, True] Translation: X:425.48, Y:-80.73, Z:-3.21 [[ 9.10213383e-01 4.14098610e-01 5.82563060e-03 4.25483093e+02] [-4.14090582e-01 9.10232024e-01 -2.57936182e-03 -8.07286085e+01] [-6.37078568e-03 -6.45691170e-05 9.99979704e-01 -3.20897304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters 0.0517546214895056 Centerline is valid? [True, True] Translation: X:425.54, Y:-80.75, Z:-3.21 [[ 9.08531542e-01 4.17782064e-01 5.34643853e-03 4.25540987e+02] [-4.17775362e-01 9.08547269e-01 -2.36785822e-03 -8.07493734e+01] [-5.84674082e-03 -8.23364193e-05 9.99982904e-01 -3.21001361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters 0.05131584520876036 Centerline is valid? [True, True] Translation: X:425.60, Y:-80.78, Z:-3.21 [[ 9.07888382e-01 4.19178734e-01 5.27956896e-03 4.25596874e+02] [-4.19172219e-01 9.07903729e-01 -2.33889493e-03 -8.07756056e+01] [-5.77375537e-03 -8.95930986e-05 9.99983328e-01 -3.21038159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters 0.05136101816379383 Centerline is valid? [True, True] Translation: X:425.65, Y:-80.80, Z:-3.21 [[ 9.07133540e-01 4.20825870e-01 3.78521232e-03 4.25652905e+02] [-4.20822534e-01 9.07141435e-01 -1.67707451e-03 -8.08021366e+01] [-4.13947927e-03 -7.15721019e-05 9.99991430e-01 -3.21225811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters 0.0509692524252693 Centerline is valid? [True, True] Translation: X:425.71, Y:-80.83, Z:-3.21 [[ 9.06370878e-01 4.22481544e-01 1.08494711e-03 4.25708067e+02] [-4.22481272e-01 9.06371527e-01 -4.80243134e-04 -8.08299820e+01] [-1.18625903e-03 -2.30914458e-05 9.99999296e-01 -3.21496751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters 0.0508405072584073 Centerline is valid? [True, True] Translation: X:425.76, Y:-80.86, Z:-3.22 [[ 9.06047667e-01 4.23175582e-01 2.26875685e-04 4.25763265e+02] [-4.23175570e-01 9.06047696e-01 -9.97918025e-05 -8.08572034e+01] [-2.47789646e-04 -5.59211763e-06 9.99999969e-01 -3.21627517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters 0.051216702825126054 Centerline is valid? [True, True] Translation: X:425.82, Y:-80.88, Z:-3.22 [[ 9.06872113e-01 4.21405599e-01 5.40403246e-04 4.25818030e+02] [-4.21405531e-01 9.06872274e-01 -2.39636258e-04 -8.08818437e+01] [-5.91060782e-04 -1.04094776e-05 9.99999825e-01 -3.21732451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters 0.05091594092901897 Centerline is valid? [True, True] Translation: X:425.87, Y:-80.92, Z:-3.21 [[ 9.10014770e-01 4.14557693e-01 3.87788169e-03 4.25868598e+02] [-4.14554127e-01 9.10023031e-01 -1.71997807e-03 -8.09194706e+01] [-4.24199179e-03 -4.23864123e-05 9.99991002e-01 -3.21425333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters 0.05129124225591181 Centerline is valid? [True, True] Translation: X:425.92, Y:-80.95, Z:-3.21 [[ 9.12981868e-01 4.07966975e-01 5.20148555e-03 4.25921131e+02] [-4.07960451e-01 9.12996685e-01 -2.30728464e-03 -8.09504631e+01] [-5.69023500e-03 -1.54913504e-05 9.99983810e-01 -3.21330456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters 0.05139967385939078 Centerline is valid? [True, True] Translation: X:425.97, Y:-80.99, Z:-3.21 [[ 9.17498110e-01 3.97679454e-01 6.94768085e-03 4.25973263e+02] [-3.97667517e-01 9.17524412e-01 -3.08196825e-03 -8.09863637e+01] [-7.60030225e-03 6.48330523e-05 9.99971115e-01 -3.21262960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters 0.051126776352107654 Centerline is valid? [True, True] Translation: X:426.03, Y:-81.02, Z:-3.21 [[ 9.19974677e-01 3.91910118e-01 7.28374541e-03 4.26026919e+02] [-3.91896812e-01 9.20003503e-01 -3.23155158e-03 -8.10162259e+01] [-7.96754905e-03 1.18469015e-04 9.99968252e-01 -3.21295293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters 0.0514391910389 Centerline is valid? [True, True] Translation: X:426.08, Y:-81.04, Z:-3.22 [[ 9.21901304e-01 3.87384927e-01 5.55921144e-03 4.26081494e+02] [-3.87377094e-01 9.21918057e-01 -2.46639517e-03 -8.10441821e+01] [-6.08058173e-03 1.20261753e-04 9.99981506e-01 -3.21530984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters 0.05192668558562772 Centerline is valid? [True, True] Translation: X:426.14, Y:-81.07, Z:-3.22 [[ 9.22527946e-01 3.85910064e-01 3.95107848e-03 4.26139123e+02] [-3.85906093e-01 9.22536402e-01 -1.75313243e-03 -8.10656554e+01] [-4.32156517e-03 9.25683957e-05 9.99990658e-01 -3.21658985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters 0.051722896104236527 Centerline is valid? [True, True] Translation: X:426.19, Y:-81.10, Z:-3.22 [[ 9.22296165e-01 3.86470432e-01 3.22324538e-03 4.26192751e+02] [-3.86467790e-01 9.22301794e-01 -1.43075741e-03 -8.10975851e+01] [-3.52575043e-03 7.39015520e-05 9.99993782e-01 -3.21912630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters 0.05140479782710844 Centerline is valid? [True, True] Translation: X:426.25, Y:-81.12, Z:-3.22 [[ 9.20888818e-01 3.89801129e-01 4.34343692e-03 4.26249288e+02] [-3.89796367e-01 9.20899057e-01 -1.92836815e-03 -8.11212596e+01] [-4.75154705e-03 8.27567289e-05 9.99988708e-01 -3.21906399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters 0.051411438500205534 Centerline is valid? [True, True] Translation: X:426.30, Y:-81.15, Z:-3.22 [[ 9.19848970e-01 3.92244164e-01 4.73169662e-03 4.26304268e+02] [-3.92238545e-01 9.19861136e-01 -2.10094941e-03 -8.11458095e+01] [-5.17658897e-03 7.66023569e-05 9.99986598e-01 -3.21947744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters 0.05104317979862825 Centerline is valid? [True, True] Translation: X:426.36, Y:-81.17, Z:-3.22 [[ 9.17630761e-01 3.97387974e-01 6.04850461e-03 4.26361490e+02] [-3.97378903e-01 9.17650693e-01 -2.68571455e-03 -8.11652467e+01] [-6.61768511e-03 6.09461619e-05 9.99978101e-01 -3.21957648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters 0.05078094178396745 Centerline is valid? [True, True] Translation: X:426.42, Y:-81.19, Z:-3.22 [[ 9.15553588e-01 4.02145624e-01 6.36593870e-03 4.26419245e+02] [-4.02135690e-01 9.15575718e-01 -2.82671615e-03 -8.11883170e+01] [-6.96525043e-03 2.80389558e-05 9.99975742e-01 -3.22060775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters 0.05077692444311719 Centerline is valid? [True, True] Translation: X:426.48, Y:-81.21, Z:-3.22 [[ 9.12080737e-01 4.09956330e-01 6.67363897e-03 4.26479941e+02] [-4.09945619e-01 9.12105151e-01 -2.96365945e-03 -8.12067584e+01] [-7.30203143e-03 -3.27323574e-05 9.99973339e-01 -3.22120079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters 0.05022574246964662 Centerline is valid? [True, True] Translation: X:426.54, Y:-81.22, Z:-3.22 [[ 9.08868359e-01 4.17045098e-01 5.62951173e-03 4.26538487e+02] [-4.17037607e-01 9.08885791e-01 -2.50084979e-03 -8.12240955e+01] [-6.15955036e-03 -7.47748526e-05 9.99981027e-01 -3.22289494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters 0.050294695255542 Centerline is valid? [True, True] Translation: X:426.60, Y:-81.25, Z:-3.22 [[ 9.07266891e-01 4.20518014e-01 5.60255582e-03 4.26595437e+02] [-4.20510659e-01 9.07284184e-01 -2.48891800e-03 -8.12469112e+01] [-6.12974514e-03 -9.78215491e-05 9.99981208e-01 -3.22402697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters 0.0505843701882799 Centerline is valid? [True, True] Translation: X:426.65, Y:-81.27, Z:-3.23 [[ 9.06384255e-01 4.22425490e-01 4.92820435e-03 4.26653066e+02] [-4.22419828e-01 9.06397648e-01 -2.18938293e-03 -8.12700312e+01] [-5.39176399e-03 -9.73490194e-05 9.99985460e-01 -3.22550299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters 0.05073844005420062 Centerline is valid? [True, True] Translation: X:426.71, Y:-81.29, Z:-3.23 [[ 9.06951512e-01 4.21211342e-01 4.46769708e-03 4.26709407e+02] [-4.21206674e-01 9.06962512e-01 -1.98475644e-03 -8.12936977e+01] [-4.88803569e-03 -8.17459776e-05 9.99988050e-01 -3.22742963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters 0.050235498107855436 Centerline is valid? [True, True] Translation: X:426.76, Y:-81.33, Z:-3.23 [[ 9.08735568e-01 4.17341858e-01 5.04398386e-03 4.26761565e+02] [-4.17335843e-01 9.08749564e-01 -2.24159728e-03 -8.13267318e+01] [-5.51923050e-03 -6.80160856e-05 9.99984767e-01 -3.22685476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters 0.05046470279862947 Centerline is valid? [True, True] Translation: X:426.82, Y:-81.35, Z:-3.23 [[ 9.10872727e-01 4.12664612e-01 4.33514378e-03 4.26817106e+02] [-4.12660115e-01 9.10883043e-01 -1.92673078e-03 -8.13540597e+01] [-4.74390256e-03 -3.39344101e-05 9.99988747e-01 -3.22783065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters 0.050568231464909345 Centerline is valid? [True, True] Translation: X:426.87, Y:-81.38, Z:-3.23 [[ 9.12400056e-01 4.09286103e-01 3.32009788e-03 4.26873375e+02] [-4.09283443e-01 9.12406097e-01 -1.47563664e-03 -8.13816554e+01] [-3.63323512e-03 -1.24901422e-05 9.99993400e-01 -3.22878421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters 0.05085197072275117 Centerline is valid? [True, True] Translation: X:426.93, Y:-81.41, Z:-3.23 [[ 9.15302521e-01 4.02762780e-01 1.85427225e-03 4.26928505e+02] [-4.02761938e-01 9.15304399e-01 -8.23648593e-04 -8.14112611e+01] [-2.02895854e-03 7.05734945e-06 9.99997942e-01 -3.22635623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters 0.05086026101070701 Centerline is valid? [True, True] Translation: X:426.98, Y:-81.44, Z:-3.23 [[ 9.16404139e-01 4.00252297e-01 1.24652428e-03 4.26983947e+02] [-4.00251913e-01 9.16404986e-01 -5.54055846e-04 -8.14397223e+01] [-1.36408319e-03 8.81534085e-06 9.99999070e-01 -3.22862479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters 0.051383886864389855 Centerline is valid? [True, True] Translation: X:427.04, Y:-81.47, Z:-3.23 [[ 9.19376322e-01 3.93375326e-01 1.74103324e-03 4.27036657e+02] [-3.93374565e-01 9.19377970e-01 -7.73934234e-04 -8.14684866e+01] [-1.90511424e-03 2.66586137e-05 9.99998185e-01 -3.22865542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters 0.051998671457870155 Centerline is valid? [True, True] Translation: X:427.09, Y:-81.49, Z:-3.23 [[ 9.21006005e-01 3.89537232e-01 2.94673241e-03 4.27092211e+02] [-3.89535032e-01 9.21010717e-01 -1.31069125e-03 -8.14946353e+01] [-3.22453517e-03 5.92990122e-05 9.99994799e-01 -3.22808133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters 0.05184715152106386 Centerline is valid? [True, True] Translation: X:427.15, Y:-81.52, Z:-3.23 [[ 9.23787905e-01 3.82884772e-01 3.89330049e-03 4.27146215e+02] [-3.82880870e-01 9.23796103e-01 -1.73187847e-03 -8.15209956e+01] [-4.25972571e-03 1.09218104e-04 9.99990921e-01 -3.22770747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters 0.05299271623584928 Centerline is valid? [True, True] Translation: X:427.20, Y:-81.54, Z:-3.23 [[ 9.27224582e-01 3.74488503e-01 3.59655127e-03 4.27203050e+02] [-3.74485110e-01 9.27231548e-01 -1.59987111e-03 -8.15448455e+01] [-3.93396914e-03 1.36584923e-04 9.99992253e-01 -3.22807831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters 0.053091162635175305 Centerline is valid? [True, True] Translation: X:427.26, Y:-81.56, Z:-3.23 [[ 9.30199184e-01 3.67041129e-01 3.20755961e-03 4.27259801e+02] [-3.67038386e-01 9.30204702e-01 -1.42677014e-03 -8.15648103e+01] [-3.50737035e-03 1.49882918e-04 9.99993838e-01 -3.22902238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters 0.05350521918983345 Centerline is valid? [True, True] Translation: X:427.32, Y:-81.58, Z:-3.23 [[ 9.31208218e-01 3.64474513e-01 3.09593261e-03 4.27317357e+02] [-3.64471943e-01 9.31213351e-01 -1.37740865e-03 -8.15846089e+01] [-3.38500413e-03 1.54273680e-04 9.99994259e-01 -3.22829677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters 0.05367449018295364 Centerline is valid? [True, True] Translation: X:427.38, Y:-81.60, Z:-3.23 [[ 9.30778064e-01 3.65574640e-01 2.71641637e-03 4.27376142e+02] [-3.65572666e-01 9.30782018e-01 -1.20852000e-03 -8.16039365e+01] [-2.97019578e-03 1.31816333e-04 9.99995580e-01 -3.22846009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters 0.05337104370826473 Centerline is valid? [True, True] Translation: X:427.43, Y:-81.63, Z:-3.23 [[ 9.29613021e-01 3.68525745e-01 2.89934988e-03 4.27431725e+02] [-3.68523511e-01 9.29617533e-01 -1.28996601e-03 -8.16304668e+01] [-3.17067217e-03 1.30690604e-04 9.99994965e-01 -3.22907683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters 0.05297173724915664 Centerline is valid? [True, True] Translation: X:427.49, Y:-81.64, Z:-3.23 [[ 9.27432794e-01 3.73976905e-01 3.11239623e-03 4.27493226e+02] [-3.73974360e-01 9.27438009e-01 -1.38482896e-03 -8.16432902e+01] [-3.40444861e-03 1.20379402e-04 9.99994198e-01 -3.22925964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters 0.05235539638666601 Centerline is valid? [True, True] Translation: X:427.55, Y:-81.66, Z:-3.23 [[ 9.25855113e-01 3.77866473e-01 3.03964179e-03 4.27551151e+02] [-3.77864066e-01 9.25860096e-01 -1.35247264e-03 -8.16622189e+01] [-3.32533711e-03 1.03622305e-04 9.99994466e-01 -3.22973556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters 0.05270619691183331 Centerline is valid? [True, True] Translation: X:427.61, Y:-81.68, Z:-3.23 [[ 9.25156075e-01 3.79572922e-01 3.26082187e-03 4.27608546e+02] [-3.79570163e-01 9.25161816e-01 -1.45101808e-03 -8.16810840e+01] [-3.56755506e-03 1.04707508e-04 9.99993631e-01 -3.22888901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters 0.05322121231643847 Centerline is valid? [True, True] Translation: X:427.67, Y:-81.70, Z:-3.23 [[ 9.23842165e-01 3.82755797e-01 3.69526741e-03 4.27666187e+02] [-3.82752279e-01 9.23849549e-01 -1.64434820e-03 -8.16994356e+01] [-4.04325494e-03 1.04746182e-04 9.99991821e-01 -3.23032054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters 0.053658003996278375 Centerline is valid? [True, True] Translation: X:427.73, Y:-81.71, Z:-3.23 [[ 9.22726562e-01 3.85443692e-01 2.97527972e-03 4.27726516e+02] [-3.85441425e-01 9.22731356e-01 -1.32397195e-03 -8.17148283e+01] [-3.25570052e-03 7.48680332e-05 9.99994697e-01 -3.23086459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters 0.053326601176163106 Centerline is valid? [True, True] Translation: X:427.78, Y:-81.74, Z:-3.23 [[ 9.21984804e-01 3.87219170e-01 2.30993176e-03 4.27783054e+02] [-3.87217810e-01 9.21987696e-01 -1.02751833e-03 -8.17380743e+01] [-2.52760345e-03 5.29095708e-05 9.99996804e-01 -3.23224595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters 0.0536431663716917 Centerline is valid? [True, True] Translation: X:427.84, Y:-81.75, Z:-3.23 [[ 9.23986100e-01 3.82425691e-01 -5.27111864e-04 4.27844056e+02] [-3.82425619e-01 9.23986250e-01 2.34835991e-04 -8.17523155e+01] [ 5.76851431e-04 -1.54041103e-05 9.99999834e-01 -3.23244634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters 0.054170305824337885 Centerline is valid? [True, True] Translation: X:427.90, Y:-81.78, Z:-3.23 [[ 9.24847174e-01 3.80338188e-01 -7.53952719e-04 4.27900114e+02] [-3.80338040e-01 9.24847481e-01 3.35869020e-04 -8.17770362e+01] [ 8.25035087e-04 -2.38706143e-05 9.99999659e-01 -3.23327980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters 0.05380366120389837 Centerline is valid? [True, True] Translation: X:427.96, Y:-81.80, Z:-3.23 [[ 9.28018714e-01 3.72533386e-01 -3.76537752e-04 4.27957187e+02] [-3.72533349e-01 9.28018791e-01 1.67756435e-04 -8.17998657e+01] [ 4.11928982e-04 -1.54082419e-05 9.99999915e-01 -3.23248931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters 0.05499765678340633 Centerline is valid? [True, True] Translation: X:428.01, Y:-81.83, Z:-3.23 [[ 9.29869734e-01 3.67888826e-01 -3.00658516e-04 4.28010003e+02] [-3.67888802e-01 9.29869782e-01 1.33860460e-04 -8.18278316e+01] [ 3.28819037e-04 -1.38638891e-05 9.99999946e-01 -3.23367913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters 0.0549561706431458 Centerline is valid? [True, True] Translation: X:428.07, Y:-81.84, Z:-3.23 [[ 9.31383732e-01 3.64038888e-01 1.80321212e-04 4.28069663e+02] [-3.64038879e-01 9.31383749e-01 -8.02391570e-05 -8.18426584e+01] [-1.97158420e-04 9.08951356e-06 9.99999981e-01 -3.23359388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters 0.05502895191143671 Centerline is valid? [True, True] Translation: X:428.13, Y:-81.86, Z:-3.23 [[ 9.30952848e-01 3.65138028e-01 1.00774520e-03 4.28128763e+02] [-3.65137756e-01 9.30953392e-01 -4.48591837e-04 -8.18606868e+01] [-1.10196175e-03 4.96520262e-05 9.99999392e-01 -3.23280073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters 0.05583064434665161 Centerline is valid? [True, True] Translation: X:428.18, Y:-81.89, Z:-3.24 [[ 9.28678837e-01 3.70883147e-01 1.14357837e-03 4.28179809e+02] [-3.70882801e-01 9.28679540e-01 -5.09092666e-04 -8.18926867e+01] [-1.25083173e-03 4.86500342e-05 9.99999217e-01 -3.23587139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters 0.05459183704123173 Centerline is valid? [True, True] Translation: X:428.24, Y:-81.90, Z:-3.23 [[ 9.25221080e-01 3.79421102e-01 2.36231907e-03 4.28243894e+02] [-3.79419652e-01 9.25224092e-01 -1.05184149e-03 -8.18978315e+01] [-2.58476538e-03 7.68756362e-05 9.99996657e-01 -3.23415988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters 0.05481258697315827 Centerline is valid? [True, True] Translation: X:428.30, Y:-81.92, Z:-3.23 [[ 9.22836113e-01 3.85177090e-01 3.48101026e-03 4.28302181e+02] [-3.85173981e-01 9.22842674e-01 -1.55001650e-03 -8.19170574e+01] [-3.80945566e-03 8.96166270e-05 9.99992740e-01 -3.23408574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters 0.05395309279043062 Centerline is valid? [True, True] Translation: X:428.36, Y:-81.94, Z:-3.23 [[ 9.19990446e-01 3.91914990e-01 4.49660592e-03 4.28359574e+02] [-3.91909883e-01 9.20001432e-01 -2.00240434e-03 -8.19360332e+01] [-4.92165616e-03 7.99285604e-05 9.99987885e-01 -3.23423112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters 0.05423029819938026 Centerline is valid? [True, True] Translation: X:428.42, Y:-81.96, Z:-3.24 [[ 9.18641020e-01 3.95064254e-01 4.78664579e-03 4.28416195e+02] [-3.95058509e-01 9.18653488e-01 -2.13149029e-03 -8.19596426e+01] [-5.23934447e-03 6.70692612e-05 9.99986272e-01 -3.23616905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters 0.05429552477366466 Centerline is valid? [True, True] Translation: X:428.47, Y:-81.98, Z:-3.24 [[ 9.18700849e-01 3.94923396e-01 4.92558755e-03 4.28474240e+02] [-3.94917310e-01 9.18714051e-01 -2.19347813e-03 -8.19814047e+01] [-5.39146232e-03 6.99504354e-05 9.99985464e-01 -3.23651017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters 0.05385551522192034 Centerline is valid? [True, True] Translation: X:428.53, Y:-82.00, Z:-3.24 [[ 9.19452087e-01 3.93180006e-01 4.16448146e-03 4.28531409e+02] [-3.93175637e-01 9.19461515e-01 -1.85481685e-03 -8.20042802e+01] [-4.55835733e-03 6.80425739e-05 9.99989608e-01 -3.23766009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters 0.055003254460236774 Centerline is valid? [True, True] Translation: X:428.59, Y:-82.03, Z:-3.24 [[ 9.20918035e-01 3.89740046e-01 3.55936210e-03 4.28588385e+02] [-3.89736826e-01 9.20924911e-01 -1.58595244e-03 -8.20257858e+01] [-3.89601440e-03 7.33177141e-05 9.99992408e-01 -3.23789283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters 0.05438390496013824 Centerline is valid? [True, True] Translation: X:428.64, Y:-82.05, Z:-3.24 [[ 9.22516502e-01 3.85940736e-01 3.61270278e-03 4.28644153e+02] [-3.85937390e-01 9.22523572e-01 -1.60972419e-03 -8.20498158e+01] [-3.95406161e-03 9.07200541e-05 9.99992179e-01 -3.23872513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters 0.05454517821180022 Centerline is valid? [True, True] Translation: X:428.70, Y:-82.07, Z:-3.24 [[ 9.25314639e-01 3.79173808e-01 4.47685045e-03 4.28698545e+02] [-3.79168590e-01 9.25325457e-01 -1.99483265e-03 -8.20749816e+01] [-4.89893198e-03 1.48366778e-04 9.99987989e-01 -3.23924549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters 0.05534098105155818 Centerline is valid? [True, True] Translation: X:428.75, Y:-82.10, Z:-3.24 [[ 9.27023754e-01 3.74978639e-01 4.24024521e-03 4.28754414e+02] [-3.74973913e-01 9.27033437e-01 -1.88961194e-03 -8.20981653e+01] [-4.63941320e-03 1.61733813e-04 9.99989225e-01 -3.23990276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters 0.05568812211805822 Centerline is valid? [True, True] Translation: X:428.81, Y:-82.12, Z:-3.24 [[ 9.28033491e-01 3.72473446e-01 4.16779603e-03 4.28810766e+02] [-3.72468854e-01 9.28042834e-01 -1.85746892e-03 -8.21210861e+01] [-4.55975109e-03 1.71419156e-04 9.99989590e-01 -3.24052514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters 0.05573496571094023 Centerline is valid? [True, True] Translation: X:428.87, Y:-82.14, Z:-3.24 [[ 9.28481560e-01 3.71353245e-01 4.33129640e-03 4.28869223e+02] [-3.71348274e-01 9.28491644e-01 -1.93030743e-03 -8.21410066e+01] [-4.73839844e-03 1.83835417e-04 9.99988757e-01 -3.24107536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters 0.05627706167685739 Centerline is valid? [True, True] Translation: X:428.93, Y:-82.16, Z:-3.24 [[ 9.27897260e-01 3.72815644e-01 3.89493052e-03 4.28926749e+02] [-3.72811636e-01 9.27905421e-01 -1.73603761e-03 -8.21599296e+01] [-4.26134913e-03 1.58789125e-04 9.99990908e-01 -3.24211916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters 0.055819399743303515 Centerline is valid? [True, True] Translation: X:428.99, Y:-82.18, Z:-3.24 [[ 9.26188005e-01 3.77044160e-01 3.67169469e-03 4.28986223e+02] [-3.77040631e-01 9.26195273e-01 -1.63658377e-03 -8.21751612e+01] [-4.01777062e-03 1.31406171e-04 9.99991920e-01 -3.24299698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters 0.055563560134514696 Centerline is valid? [True, True] Translation: X:429.04, Y:-82.19, Z:-3.24 [[ 9.24725025e-01 3.80619770e-01 3.49567930e-03 4.29044119e+02] [-3.80616596e-01 9.24731625e-01 -1.55809880e-03 -8.21939794e+01] [-3.82560841e-03 1.10299391e-04 9.99992676e-01 -3.24382753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters 0.055791753124292784 Centerline is valid? [True, True] Translation: X:429.10, Y:-82.21, Z:-3.24 [[ 9.22702871e-01 3.85499537e-01 3.08537317e-03 4.29103690e+02] [-3.85497092e-01 9.22708026e-01 -1.37527662e-03 -8.22106465e+01] [-3.37706708e-03 7.95692985e-05 9.99994295e-01 -3.24355614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters 0.056010359643136616 Centerline is valid? [True, True] Translation: X:429.16, Y:-82.23, Z:-3.24 [[ 9.21578181e-01 3.88168999e-01 4.29924994e-03 4.29162684e+02] [-3.88164281e-01 9.21588204e-01 -1.91640580e-03 -8.22293996e+01] [-4.70602736e-03 9.73025085e-05 9.99988922e-01 -3.24353651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters 0.05567295152346159 Centerline is valid? [True, True] Translation: X:429.22, Y:-82.25, Z:-3.24 [[ 9.21224090e-01 3.89011609e-01 4.01784797e-03 4.29220504e+02] [-3.89007497e-01 9.21232848e-01 -1.79080396e-03 -8.22497821e+01] [-4.39801705e-03 8.67587650e-05 9.99990325e-01 -3.24397984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters 0.05622273075782908 Centerline is valid? [True, True] Translation: X:429.28, Y:-82.27, Z:-3.24 [[ 9.21039786e-01 3.89442279e-01 4.51933529e-03 4.29280290e+02] [-3.89437078e-01 9.21050868e-01 -2.01501578e-03 -8.22684972e+01] [-4.94727003e-03 9.59129694e-05 9.99987758e-01 -3.24402502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters 0.05624317689328204 Centerline is valid? [True, True] Translation: X:429.34, Y:-82.29, Z:-3.25 [[ 9.20778592e-01 3.90069067e-01 3.59263756e-03 4.29336933e+02] [-3.90065784e-01 9.20785598e-01 -1.60217824e-03 -8.22914049e+01] [-3.93300910e-03 7.38864351e-05 9.99992263e-01 -3.24587072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters 0.05635702740114892 Centerline is valid? [True, True] Translation: X:429.40, Y:-82.31, Z:-3.25 [[ 9.20847527e-01 3.89908695e-01 3.32291181e-03 4.29396019e+02] [-3.89905882e-01 9.20853520e-01 -1.48250428e-03 -8.23125986e+01] [-3.63795634e-03 6.95375393e-05 9.99993380e-01 -3.24636872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters 0.05619955207821789 Centerline is valid? [True, True] Translation: X:429.45, Y:-82.34, Z:-3.25 [[ 9.21420519e-01 3.88548427e-01 3.78768230e-03 4.29453897e+02] [-3.88544761e-01 9.21428300e-01 -1.69009098e-03 -8.23361425e+01] [-4.14675986e-03 8.56003909e-05 9.99991398e-01 -3.24648638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters 0.05672239231172672 Centerline is valid? [True, True] Translation: X:429.51, Y:-82.35, Z:-3.25 [[ 9.22699878e-01 3.85503511e-01 3.46088993e-03 4.29514162e+02] [-3.85500428e-01 9.22706364e-01 -1.54442946e-03 -8.23473993e+01] [-3.78876815e-03 9.08703239e-05 9.99992818e-01 -3.24577961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters 0.056789128605912016 Centerline is valid? [True, True] Translation: X:429.57, Y:-82.38, Z:-3.25 [[ 9.24658450e-01 3.80785183e-01 3.06507753e-03 4.29565711e+02] [-3.80782739e-01 9.24663525e-01 -1.36799681e-03 -8.23803641e+01] [-3.35507831e-03 9.78011999e-05 9.99994367e-01 -3.24809138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters 0.05661768965024374 Centerline is valid? [True, True] Translation: X:429.62, Y:-82.40, Z:-3.25 [[ 9.26017819e-01 3.77465691e-01 3.26341445e-03 4.29624978e+02] [-3.77462899e-01 9.26023562e-01 -1.45662791e-03 -8.23965379e+01] [-3.57182574e-03 1.17045527e-04 9.99993614e-01 -3.24725508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters 0.05705907580869871 Centerline is valid? [True, True] Translation: X:429.68, Y:-82.43, Z:-3.25 [[ 9.26948663e-01 3.75178892e-01 2.64116052e-03 4.29678143e+02] [-3.75177054e-01 9.26952420e-01 -1.17884818e-03 -8.24253059e+01] [-2.89050909e-03 1.01828923e-04 9.99995817e-01 -3.24837914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters 0.05694980298915088 Centerline is valid? [True, True] Translation: X:429.74, Y:-82.44, Z:-3.25 [[ 9.26348492e-01 3.76651269e-01 3.50615022e-03 4.29736163e+02] [-3.76648039e-01 9.26355118e-01 -1.56506619e-03 -8.24427790e+01] [-3.83742437e-03 1.29212102e-04 9.99992629e-01 -3.24695836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters 0.056626595087204495 Centerline is valid? [True, True] Translation: X:429.79, Y:-82.47, Z:-3.25 [[ 9.25478448e-01 3.78780942e-01 3.82633908e-03 4.29792560e+02] [-3.78777114e-01 9.25486348e-01 -1.70803438e-03 -8.24654363e+01] [-4.18819545e-03 1.31419328e-04 9.99991221e-01 -3.24718666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters 0.056853132122098186 Centerline is valid? [True, True] Translation: X:429.85, Y:-82.49, Z:-3.25 [[ 9.24219256e-01 3.81849566e-01 3.11059585e-03 4.29849161e+02] [-3.81847053e-01 9.24224486e-01 -1.38851269e-03 -8.24888057e+01] [-3.40509182e-03 9.55183034e-05 9.99994198e-01 -3.24845196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters 0.05695924979526469 Centerline is valid? [True, True] Translation: X:429.91, Y:-82.51, Z:-3.25 [[ 9.23084032e-01 3.84589839e-01 2.55466580e-03 4.29908122e+02] [-3.84588155e-01 9.23087564e-01 -1.14042132e-03 -8.25063911e+01] [-2.79677469e-03 7.02105013e-05 9.99996087e-01 -3.24878315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters 0.05684676978308181 Centerline is valid? [True, True] Translation: X:429.97, Y:-82.53, Z:-3.25 [[ 9.21494321e-01 3.88380071e-01 3.02261760e-03 4.29965510e+02] [-3.88377733e-01 9.21499276e-01 -1.34936057e-03 -8.25281905e+01] [-3.30940468e-03 6.95107347e-05 9.99994521e-01 -3.24759620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters 0.05680022196489039 Centerline is valid? [True, True] Translation: X:430.02, Y:-82.55, Z:-3.25 [[ 9.20345266e-01 3.91105247e-01 1.13027611e-03 4.30021711e+02] [-3.91104922e-01 9.20345960e-01 -5.04378559e-04 -8.25522853e+01] [-1.23751015e-03 2.21458703e-05 9.99999234e-01 -3.24905813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters 0.056795920776120924 Centerline is valid? [True, True] Translation: X:430.08, Y:-82.58, Z:-3.25 [[ 9.19949904e-01 3.92035290e-01 7.11065941e-04 4.30078716e+02] [-3.92035162e-01 9.19950179e-01 -3.16684173e-04 -8.25779193e+01] [-7.78296611e-04 1.25707234e-05 9.99999697e-01 -3.24948300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters 0.056349120688196516 Centerline is valid? [True, True] Translation: X:430.13, Y:-82.61, Z:-3.25 [[ 9.20235522e-01 3.91364563e-01 6.02764395e-04 4.30133547e+02] [-3.91364471e-01 9.20235719e-01 -2.68390625e-04 -8.26050586e+01] [-6.59723906e-04 1.10820181e-05 9.99999782e-01 -3.25036019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters 0.056956840840566944 Centerline is valid? [True, True] Translation: X:430.19, Y:-82.63, Z:-3.25 [[ 9.21499041e-01 3.88380598e-01 1.70427789e-04 4.30188268e+02] [-3.88380591e-01 9.21499056e-01 -7.60140805e-05 -8.26319083e+01] [-1.86571441e-04 3.85605695e-06 9.99999983e-01 -3.25117790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters 0.05737100451566567 Centerline is valid? [True, True] Translation: X:430.24, Y:-82.66, Z:-3.25 [[ 9.22600192e-01 3.85757459e-01 -2.60905510e-04 4.30244127e+02] [-3.85757441e-01 9.22600229e-01 1.16699926e-04 -8.26568485e+01] [ 2.85729350e-04 -7.02113180e-06 9.99999959e-01 -3.25013860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters 0.05716359952269438 Centerline is valid? [True, True] Translation: X:430.30, Y:-82.69, Z:-3.25 [[ 9.24051345e-01 3.82267276e-01 9.17295265e-04 4.30295965e+02] [-3.82267057e-01 9.24051800e-01 -4.09777017e-04 -8.26868907e+01] [-1.00427269e-03 2.80032415e-05 9.99999495e-01 -3.25033334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters 0.056959746675221246 Centerline is valid? [True, True] Translation: X:430.35, Y:-82.71, Z:-3.25 [[ 9.24318401e-01 3.81620165e-01 1.24252707e-03 4.30354516e+02] [-3.81619764e-01 9.24319235e-01 -5.54405867e-04 -8.27091863e+01] [-1.36006413e-03 3.82746556e-05 9.99999074e-01 -3.24998159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters 0.057092155146035994 Centerline is valid? [True, True] Translation: X:430.41, Y:-82.74, Z:-3.25 [[ 9.23754857e-01 3.82982742e-01 1.08825087e-03 4.30409662e+02] [-3.82982435e-01 9.23755497e-01 -4.85637226e-04 -8.27370978e+01] [-1.19126840e-03 3.18287794e-05 9.99999290e-01 -3.25124944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters 0.05717130034236543 Centerline is valid? [True, True] Translation: X:430.47, Y:-82.76, Z:-3.25 [[ 9.23172149e-01 3.84383981e-01 1.46229325e-03 4.30467052e+02] [-3.84383428e-01 9.23173306e-01 -6.53634189e-04 -8.27592162e+01] [-1.60119660e-03 4.13355884e-05 9.99998717e-01 -3.25048466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters 0.056975162103631065 Centerline is valid? [True, True] Translation: X:430.52, Y:-82.79, Z:-3.25 [[ 9.21443473e-01 3.88508814e-01 1.68129363e-03 4.30520099e+02] [-3.88508089e-01 9.21445006e-01 -7.51676027e-04 -8.27866185e+01] [-1.84125238e-03 3.94307962e-05 9.99998304e-01 -3.25193859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters 0.056889732157561865 Centerline is valid? [True, True] Translation: X:430.57, Y:-82.81, Z:-3.25 [[ 9.19144476e-01 3.93917661e-01 1.51919697e-03 4.30574398e+02] [-3.93917076e-01 9.19145731e-01 -6.79216447e-04 -8.28107511e+01] [-1.66391876e-03 2.58604165e-05 9.99998615e-01 -3.25273270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters 0.056911646347136816 Centerline is valid? [True, True] Translation: X:430.63, Y:-82.83, Z:-3.25 [[ 9.18235686e-01 3.96031467e-01 1.51714543e-03 4.30631928e+02] [-3.96030888e-01 9.18236939e-01 -6.77615707e-04 -8.28346011e+01] [-1.66145612e-03 2.13744737e-05 9.99998620e-01 -3.25241386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters 0.05632814162724794 Centerline is valid? [True, True] Translation: X:430.69, Y:-82.86, Z:-3.25 [[ 9.16649435e-01 3.99688077e-01 1.80409996e-03 4.30687993e+02] [-3.99687263e-01 9.16651210e-01 -8.06620239e-04 -8.28603016e+01] [-1.97612690e-03 1.83122096e-05 9.99998047e-01 -3.25294286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters 0.056575015352344986 Centerline is valid? [True, True] Translation: X:430.74, Y:-82.89, Z:-3.25 [[ 9.14752126e-01 4.04015350e-01 -3.81789955e-04 4.30744499e+02] [-4.04015314e-01 9.14752205e-01 1.71689305e-04 -8.28868668e+01] [ 4.18608318e-04 -2.80416820e-06 9.99999912e-01 -3.25431675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters 0.05659652558866598 Centerline is valid? [True, True] Translation: X:430.80, Y:-82.91, Z:-3.26 [[ 9.14702909e-01 4.04124552e-01 -1.39086055e-03 4.30800291e+02] [-4.04124072e-01 9.14703967e-01 6.22618717e-04 -8.29148936e+01] [ 1.52384117e-03 -7.43092271e-06 9.99998839e-01 -3.25549174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters 0.057029872120346985 Centerline is valid? [True, True] Translation: X:430.85, Y:-82.95, Z:-3.25 [[ 9.16817843e-01 3.99302556e-01 -1.58497542e-03 4.30853798e+02] [-3.99301926e-01 9.16819212e-01 7.09482341e-04 -8.29477380e+01] [ 1.73643403e-03 -1.75823294e-05 9.99998492e-01 -3.25348511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters 0.05610634551218985 Centerline is valid? [True, True] Translation: X:430.90, Y:-82.98, Z:-3.25 [[ 9.19557341e-01 3.92955093e-01 -7.68960281e-04 4.30904024e+02] [-3.92954943e-01 9.19557662e-01 3.44154515e-04 -8.29832846e+01] [ 8.42340588e-04 -1.43030674e-05 9.99999645e-01 -3.25410797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters 0.05610634551218985 Centerline is valid? [True, True] Translation: X:430.96, Y:-83.01, Z:-3.25 [[ 9.19509535e-01 3.93066946e-01 -7.68576992e-04 4.30961084e+02] [-3.93066795e-01 9.19509856e-01 3.45010932e-04 -8.30087981e+01] [ 8.42326513e-04 -1.51387465e-05 9.99999645e-01 -3.25456858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters 0.05708563568529535 Centerline is valid? [True, True] Translation: X:431.01, Y:-83.04, Z:-3.25 [[ 9.21878862e-01 3.87477712e-01 -6.21810752e-04 4.31013643e+02] [-3.87477612e-01 9.21879072e-01 2.78444750e-04 -8.30389495e+01] [ 6.81125453e-04 -1.57545843e-05 9.99999768e-01 -3.25437590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters 0.05745819702110092 Centerline is valid? [True, True] Translation: X:431.07, Y:-83.07, Z:-3.25 [[ 9.22656014e-01 3.85623774e-01 -4.29841695e-04 4.31068803e+02] [-3.85623726e-01 9.22656114e-01 1.92683540e-04 -8.30682037e+01] [ 4.70899422e-04 -1.20234709e-05 9.99999889e-01 -3.25458292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters 0.05740526607150134 Centerline is valid? [True, True] Translation: X:431.12, Y:-83.10, Z:-3.25 [[ 9.22500194e-01 3.85994858e-01 -1.16716376e-03 4.31124643e+02] [-3.85994504e-01 9.22500931e-01 5.23627534e-04 -8.30960093e+01] [ 1.27882720e-03 -3.25277028e-05 9.99999182e-01 -3.25461959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters 0.05724260986734977 Centerline is valid? [True, True] Translation: X:431.18, Y:-83.12, Z:-3.25 [[ 9.22150381e-01 3.86827075e-01 -1.86774443e-03 4.31180521e+02] [-3.86826171e-01 9.22152271e-01 8.37468867e-04 -8.31234101e+01] [ 2.04630040e-03 -4.97798073e-05 9.99997905e-01 -3.25471212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters 0.057049443731955696 Centerline is valid? [True, True] Translation: X:431.24, Y:-83.15, Z:-3.25 [[ 9.21517932e-01 3.88332025e-01 -1.71436061e-03 4.31237532e+02] [-3.88331267e-01 9.21519526e-01 7.68343741e-04 -8.31486803e+01] [ 1.87818926e-03 -4.23027064e-05 9.99998235e-01 -3.25387632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters 0.05711960175530573 Centerline is valid? [True, True] Translation: X:431.29, Y:-83.17, Z:-3.25 [[ 9.19852562e-01 3.92262722e-01 -1.10537974e-03 4.31293331e+02] [-3.92262410e-01 9.19853226e-01 4.95274018e-04 -8.31726286e+01] [ 1.21106465e-03 -2.19801528e-05 9.99999266e-01 -3.25421526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters 0.05673748744203292 Centerline is valid? [True, True] Translation: X:431.35, Y:-83.20, Z:-3.25 [[ 9.17952249e-01 3.96690405e-01 -6.24551487e-04 4.31348071e+02] [-3.96690307e-01 9.17952462e-01 2.79724724e-04 -8.31954658e+01] [ 6.84272689e-04 -9.02041838e-06 9.99999766e-01 -3.25398440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters 0.056100485197647425 Centerline is valid? [True, True] Translation: X:431.40, Y:-83.22, Z:-3.26 [[ 9.14475475e-01 4.04641109e-01 -4.22931356e-04 4.31404593e+02] [-4.04641064e-01 9.14475573e-01 1.89761452e-04 -8.32199760e+01] [ 4.63545678e-04 -2.39680010e-06 9.99999893e-01 -3.25549700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters 0.056399441326624174 Centerline is valid? [True, True] Translation: X:431.46, Y:-83.24, Z:-3.25 [[ 9.11370650e-01 4.11584507e-01 -1.31644716e-03 4.31461762e+02] [-4.11584082e-01 9.11371600e-01 5.91057249e-04 -8.32428953e+01] [ 1.44304256e-03 3.15646694e-06 9.99998959e-01 -3.25306028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters 0.05599562736519537 Centerline is valid? [True, True] Translation: X:431.52, Y:-83.26, Z:-3.26 [[ 9.06284819e-01 4.22665775e-01 -1.21218357e-03 4.31519791e+02] [-4.22665427e-01 9.06285629e-01 5.43436737e-04 -8.32631275e+01] [ 1.32827666e-03 1.98396205e-05 9.99999118e-01 -3.25549541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters 0.05597707691572386 Centerline is valid? [True, True] Translation: X:431.57, Y:-83.29, Z:-3.25 [[ 9.03621778e-01 4.28330807e-01 -6.34634890e-04 4.31574528e+02] [-4.28330713e-01 9.03622000e-01 2.84686011e-04 -8.32871656e+01] [ 6.95409837e-04 1.45851360e-05 9.99999758e-01 -3.25494271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters 0.0566824687580874 Centerline is valid? [True, True] Translation: X:431.63, Y:-83.31, Z:-3.26 [[ 9.02694466e-01 4.30281664e-01 -6.24449734e-04 4.31632047e+02] [-4.30281573e-01 9.02694682e-01 2.80168792e-04 -8.33086864e+01] [ 6.84238948e-04 1.57823963e-05 9.99999766e-01 -3.25735696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters 0.05607772628278404 Centerline is valid? [True, True] Translation: X:431.68, Y:-83.34, Z:-3.26 [[ 9.04579114e-01 4.26304987e-01 -8.27352236e-04 4.31683480e+02] [-4.26304826e-01 9.04579492e-01 3.70941145e-04 -8.33435367e+01] [ 9.06539926e-04 1.71586388e-05 9.99999589e-01 -3.25692485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters 0.05549698616662682 Centerline is valid? [True, True] Translation: X:431.74, Y:-83.37, Z:-3.26 [[ 9.06267496e-01 4.22702779e-01 -1.25948075e-03 4.31735831e+02] [-4.22702402e-01 9.06268371e-01 5.64681087e-04 -8.33742865e+01] [ 1.38011983e-03 2.06334226e-05 9.99999047e-01 -3.25742518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters 0.05504081341158356 Centerline is valid? [True, True] Translation: X:431.79, Y:-83.41, Z:-3.26 [[ 9.07828889e-01 4.19338012e-01 -1.52966732e-03 4.31789042e+02] [-4.19337452e-01 9.07830177e-01 6.86080265e-04 -8.34064748e+01] [ 1.67637769e-03 1.86033127e-05 9.99998595e-01 -3.25849286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters 0.05548982649183378 Centerline is valid? [True, True] Translation: X:431.84, Y:-83.44, Z:-3.26 [[ 9.07760724e-01 4.19485356e-01 -1.58262970e-03 4.31843968e+02] [-4.19484754e-01 9.07762103e-01 7.10903114e-04 -8.34372072e+01] [ 1.73486471e-03 1.85591064e-05 9.99998495e-01 -3.25853702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters 0.05502915331195955 Centerline is valid? [True, True] Translation: X:431.90, Y:-83.47, Z:-3.26 [[ 9.06425574e-01 4.22363820e-01 -1.21754999e-03 4.31898254e+02] [-4.22363467e-01 9.06426391e-01 5.46471226e-04 -8.34677113e+01] [ 1.33442912e-03 1.89131415e-05 9.99999109e-01 -3.25920733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters 0.05485114126430481 Centerline is valid? [True, True] Translation: X:431.95, Y:-83.50, Z:-3.26 [[ 9.04812480e-01 4.25804716e-01 -2.17259592e-03 4.31951345e+02] [-4.25803603e-01 9.04815087e-01 9.74511610e-04 -8.34959362e+01] [ 2.38074920e-03 4.33489023e-05 9.99997165e-01 -3.25988902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters 0.05525886026398295 Centerline is valid? [True, True] Translation: X:432.00, Y:-83.52, Z:-3.26 [[ 9.02647158e-01 4.30371401e-01 -2.92677749e-03 4.32004649e+02] [-4.30369405e-01 9.02651899e-01 1.31296500e-03 -8.35245709e+01] [ 3.20692384e-03 7.44513633e-05 9.99994855e-01 -3.26189384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters 0.05501584892259067 Centerline is valid? [True, True] Translation: X:432.06, Y:-83.55, Z:-3.26 [[ 9.01973301e-01 4.31785045e-01 -2.41666049e-03 4.32058797e+02] [-4.31783686e-01 9.01976536e-01 1.08518812e-03 -8.35526058e+01] [ 2.64833906e-03 6.46638601e-05 9.99996491e-01 -3.26271664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters 0.05502450838351598 Centerline is valid? [True, True] Translation: X:432.11, Y:-83.59, Z:-3.26 [[ 9.02635187e-01 4.30403808e-01 -1.51042728e-03 4.32109134e+02] [-4.30403276e-01 9.02636450e-01 6.77794163e-04 -8.35872915e+01] [ 1.65509190e-03 3.82919865e-05 9.99998630e-01 -3.26133252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters 0.05405490784971509 Centerline is valid? [True, True] Translation: X:432.16, Y:-83.62, Z:-3.26 [[ 9.03786030e-01 4.27984398e-01 -4.08785736e-04 4.32161186e+02] [-4.27984359e-01 9.03786122e-01 1.83732985e-04 -8.36207767e+01] [ 4.48089726e-04 8.89859579e-06 9.99999900e-01 -3.25997029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters 0.053604719298224815 Centerline is valid? [True, True] Translation: X:432.21, Y:-83.66, Z:-3.26 [[ 9.05585936e-01 4.24162734e-01 2.96776871e-04 4.32211316e+02] [-4.24162713e-01 9.05585984e-01 -1.33141740e-04 -8.36572982e+01] [-3.25230740e-04 -5.31039553e-06 9.99999947e-01 -3.25918633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters 0.053786922102262505 Centerline is valid? [True, True] Translation: X:432.26, Y:-83.69, Z:-3.26 [[ 9.06951200e-01 4.21235343e-01 -5.53522254e-04 4.32263486e+02] [-4.21235270e-01 9.06951369e-01 2.48609320e-04 -8.36915201e+01] [ 6.06740798e-04 7.68657498e-06 9.99999816e-01 -3.26007093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters 0.053423999145420877 Centerline is valid? [True, True] Translation: X:432.32, Y:-83.72, Z:-3.26 [[ 9.07701249e-01 4.19614241e-01 -1.52673153e-03 4.32317078e+02] [-4.19613680e-01 9.07702533e-01 6.86312352e-04 -8.37232013e+01] [ 1.67380451e-03 1.76708563e-05 9.99998599e-01 -3.26129774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters 0.05353398273676958 Centerline is valid? [True, True] Translation: X:432.37, Y:-83.75, Z:-3.26 [[ 9.07980008e-01 4.19009210e-01 -1.89406198e-03 4.32372293e+02] [-4.19008345e-01 9.07981983e-01 8.51488926e-04 -8.37520588e+01] [ 2.07655586e-03 2.04928552e-05 9.99997844e-01 -3.26163938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters 0.052980568675126634 Centerline is valid? [True, True] Translation: X:432.43, Y:-83.79, Z:-3.26 [[ 9.08498351e-01 4.17875598e-01 -3.27573688e-03 4.32425385e+02] [-4.17873005e-01 9.08504256e-01 1.47259507e-03 -8.37877889e+01] [ 3.59138245e-03 3.09918225e-05 9.99993550e-01 -3.26115763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters 0.05323368207827709 Centerline is valid? [True, True] Translation: X:432.48, Y:-83.82, Z:-3.26 [[ 9.08805453e-01 4.17209240e-01 -3.01641425e-03 4.32479195e+02] [-4.17207036e-01 9.08810459e-01 1.35624541e-03 -8.38170198e+01] [ 3.30718694e-03 2.59060230e-05 9.99994531e-01 -3.26338839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters 0.05292362113823438 Centerline is valid? [True, True] Translation: X:432.53, Y:-83.86, Z:-3.26 [[ 9.10736450e-01 4.12987758e-01 -4.80205553e-04 4.32529742e+02] [-4.12987701e-01 9.10736577e-01 2.16049558e-04 -8.38557475e+01] [ 5.26566584e-04 1.55477962e-06 9.99999861e-01 -3.26232246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters 0.05272391414263439 Centerline is valid? [True, True] Translation: X:432.58, Y:-83.89, Z:-3.26 [[ 9.12068295e-01 4.10038071e-01 4.53817993e-04 4.32583159e+02] [-4.10038021e-01 9.12068408e-01 -2.03072838e-04 -8.38879094e+01] [-4.97180649e-04 -8.66334262e-07 9.99999876e-01 -3.26115892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters 0.05255741151111571 Centerline is valid? [True, True] Translation: X:432.64, Y:-83.92, Z:-3.26 [[ 9.13277948e-01 4.07335468e-01 1.09875488e-03 4.32636683e+02] [-4.07335169e-01 9.13278609e-01 -4.93357049e-04 -8.39191526e+01] [-1.20443116e-03 3.01060737e-06 9.99999275e-01 -3.26126578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters 0.05241969421512429 Centerline is valid? [True, True] Translation: X:432.69, Y:-83.95, Z:-3.26 [[ 9.13810438e-01 4.06139021e-01 1.25687311e-03 4.32690363e+02] [-4.06138628e-01 9.13811302e-01 -5.64832503e-04 -8.39505539e+01] [-1.37794537e-03 5.68511807e-06 9.99999051e-01 -3.26135739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters 0.05267782026591148 Centerline is valid? [True, True] Translation: X:432.75, Y:-83.98, Z:-3.26 [[ 9.13094808e-01 4.07746053e-01 1.01353941e-03 4.32745339e+02] [-4.07745799e-01 9.13095371e-01 -4.54997349e-04 -8.39784394e+01] [-1.11098152e-03 2.18928067e-06 9.99999383e-01 -3.26298685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters 0.05258816282987326 Centerline is valid? [True, True] Translation: X:432.80, Y:-84.01, Z:-3.26 [[ 9.11982977e-01 4.10227978e-01 -2.35090283e-04 4.32799586e+02] [-4.10227965e-01 9.11983007e-01 1.06644572e-04 -8.40069506e+01] [ 2.58146930e-04 -8.17425677e-07 9.99999967e-01 -3.26336908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters 0.05236566101507832 Centerline is valid? [True, True] Translation: X:432.85, Y:-84.04, Z:-3.27 [[ 9.11719764e-01 4.10812256e-01 -6.01217708e-04 4.32854499e+02] [-4.10812167e-01 9.11719962e-01 2.70857669e-04 -8.40354077e+01] [ 6.59413836e-04 4.12593711e-08 9.99999783e-01 -3.26604082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters 0.05255340398892646 Centerline is valid? [True, True] Translation: X:432.91, Y:-84.07, Z:-3.26 [[ 9.11902198e-01 4.10407493e-01 2.67095390e-04 4.32907634e+02] [-4.10407476e-01 9.11902237e-01 -1.19384116e-04 -8.40653792e+01] [-2.92561019e-04 -7.51307084e-07 9.99999957e-01 -3.26412823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters 0.0521395028176486 Centerline is valid? [True, True] Translation: X:432.96, Y:-84.10, Z:-3.26 [[ 9.12396249e-01 4.09305400e-01 1.47424517e-03 4.32961989e+02] [-4.09304863e-01 9.12397441e-01 -6.63330155e-04 -8.40956295e+01] [-1.61660214e-03 1.80422759e-06 9.99998693e-01 -3.26316874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters 0.052467955473746795 Centerline is valid? [True, True] Translation: X:433.02, Y:-84.12, Z:-3.26 [[ 9.12606491e-01 4.08832090e-01 2.39073799e-03 4.33017296e+02] [-4.08830674e-01 9.12609622e-01 -1.07587127e-03 -8.41238458e+01] [-2.62166119e-03 4.44008013e-06 9.99996563e-01 -3.26377407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters 0.05228750885360039 Centerline is valid? [True, True] Translation: X:433.07, Y:-84.15, Z:-3.26 [[ 9.12197590e-01 4.09739725e-01 2.98578146e-03 4.33072433e+02] [-4.09737521e-01 9.12202476e-01 -1.34397861e-03 -8.41502685e+01] [-3.27431867e-03 2.58735375e-06 9.99994639e-01 -3.26323172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters 0.051527657141847524 Centerline is valid? [True, True] Translation: X:433.13, Y:-84.18, Z:-3.26 [[ 9.10779448e-01 4.12877730e-01 3.57447931e-03 4.33130089e+02] [-4.12874593e-01 9.10786462e-01 -1.60936851e-03 -8.41767739e+01] [-3.92005978e-03 -1.00319258e-05 9.99992316e-01 -3.26453057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters 0.05148668329772779 Centerline is valid? [True, True] Translation: X:433.19, Y:-84.20, Z:-3.27 [[ 9.08985964e-01 4.16820585e-01 2.26218093e-03 4.33187117e+02] [-4.16819342e-01 9.08988778e-01 -1.01820578e-03 -8.42019081e+01] [-2.48070621e-03 -1.73859998e-05 9.99996923e-01 -3.26651511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters 0.05147103630220329 Centerline is valid? [True, True] Translation: X:433.24, Y:-84.23, Z:-3.27 [[ 9.07937221e-01 4.19102425e-01 1.77788898e-03 4.33242816e+02] [-4.19101661e-01 9.07938961e-01 -8.00311041e-04 -8.42284036e+01] [-1.94962698e-03 -1.84840440e-05 9.99998099e-01 -3.26705906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters 0.05196702110326175 Centerline is valid? [True, True] Translation: X:433.30, Y:-84.25, Z:-3.27 [[ 9.07340467e-01 4.20390948e-01 2.17427657e-03 4.33298497e+02] [-4.20389808e-01 9.07343072e-01 -9.79454154e-04 -8.42539650e+01] [-2.38456844e-03 -2.53453195e-05 9.99997157e-01 -3.26824670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters 0.05162958500864767 Centerline is valid? [True, True] Translation: X:433.35, Y:-84.28, Z:-3.27 [[ 9.07062271e-01 4.20992030e-01 1.93581066e-03 4.33353141e+02] [-4.20991128e-01 9.07064336e-01 -8.71889506e-04 -8.42825341e+01] [-2.12296335e-03 -2.41010390e-05 9.99997746e-01 -3.26838580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters 0.051716880538685596 Centerline is valid? [True, True] Translation: X:433.41, Y:-84.31, Z:-3.27 [[ 9.06952761e-01 4.21224709e-01 2.53651771e-03 4.33409578e+02] [-4.21223159e-01 9.06956307e-01 -1.14309143e-03 -8.43100663e+01] [-2.78200909e-03 -3.17100780e-05 9.99996130e-01 -3.26922508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters 0.05134988597610267 Centerline is valid? [True, True] Translation: X:433.46, Y:-84.34, Z:-3.27 [[ 9.06432766e-01 4.22338922e-01 3.07829146e-03 4.33464735e+02] [-4.22336645e-01 9.06437992e-01 -1.38759861e-03 -8.43386169e+01] [-3.37631723e-03 -4.23104381e-05 9.99994299e-01 -3.26954644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters 0.05206057504013693 Centerline is valid? [True, True] Translation: X:433.52, Y:-84.36, Z:-3.27 [[ 9.05921496e-01 4.23437871e-01 2.57156211e-03 4.33520886e+02] [-4.23436285e-01 9.05925145e-01 -1.15942353e-03 -8.43618268e+01] [-2.82058660e-03 -3.85460091e-05 9.99996021e-01 -3.27151348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters 0.051179171928861476 Centerline is valid? [True, True] Translation: X:433.58, Y:-84.39, Z:-3.27 [[ 9.05128975e-01 4.25134412e-01 1.50695102e-03 4.33575729e+02] [-4.25133869e-01 9.05130229e-01 -6.79563615e-04 -8.43904230e+01] [-1.65289280e-03 -2.55631984e-05 9.99998634e-01 -3.27195062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters 0.051367156725841835 Centerline is valid? [True, True] Translation: X:433.63, Y:-84.42, Z:-3.27 [[ 9.04827052e-01 4.25778371e-01 8.86027251e-04 4.33632963e+02] [-4.25778184e-01 9.04827486e-01 -3.99043367e-04 -8.44156098e+01] [-9.71605845e-04 -1.61858410e-05 9.99999528e-01 -3.27265621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters 0.051721179003282054 Centerline is valid? [True, True] Translation: X:433.69, Y:-84.44, Z:-3.27 [[ 9.05236510e-01 4.24906748e-01 1.05632087e-03 4.33689255e+02] [-4.24906482e-01 9.05237126e-01 -4.76112373e-04 -8.44399180e+01] [-1.15852423e-03 -1.78432803e-05 9.99999329e-01 -3.27285217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters 0.0513573130977281 Centerline is valid? [True, True] Translation: X:433.75, Y:-84.47, Z:-3.27 [[ 9.05945849e-01 4.23390121e-01 1.71029818e-03 4.33745075e+02] [-4.23389419e-01 9.05947463e-01 -7.71542127e-04 -8.44678593e+01] [-1.87610362e-03 -2.51467672e-05 9.99998240e-01 -3.27132495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters 0.0520715934037227 Centerline is valid? [True, True] Translation: X:433.80, Y:-84.49, Z:-3.27 [[ 9.06923462e-01 4.21292537e-01 1.55958069e-03 4.33801666e+02] [-4.21291950e-01 9.06924803e-01 -7.03681369e-04 -8.44934509e+01] [-1.71087812e-03 -1.88536480e-05 9.99998536e-01 -3.27180585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters 0.052466203117872194 Centerline is valid? [True, True] Translation: X:433.86, Y:-84.52, Z:-3.27 [[ 9.08944869e-01 4.16914568e-01 1.21205388e-03 4.33857546e+02] [-4.16914209e-01 9.08945677e-01 -5.46895449e-04 -8.45183706e+01] [-1.32969981e-03 -8.22467205e-06 9.99999116e-01 -3.27344301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters 0.052576458924796725 Centerline is valid? [True, True] Translation: X:433.91, Y:-84.55, Z:-3.27 [[ 9.10656942e-01 4.13163291e-01 1.67344936e-04 4.33913615e+02] [-4.13163284e-01 9.10656958e-01 -7.47542402e-05 -8.45462959e+01] [-1.83279538e-04 -1.06531556e-06 9.99999983e-01 -3.27404127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters 0.05242206276432528 Centerline is valid? [True, True] Translation: X:433.97, Y:-84.57, Z:-3.27 [[ 9.12877333e-01 4.08231326e-01 1.46936426e-03 4.33969934e+02] [-4.08230786e-01 9.12878516e-01 -6.63965029e-04 -8.45729626e+01] [-1.61240239e-03 6.27889852e-06 9.99998700e-01 -3.27140603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters 0.052966066257308465 Centerline is valid? [True, True] Translation: X:434.02, Y:-84.60, Z:-3.27 [[ 9.14913844e-01 4.03642759e-01 2.27599257e-03 4.34024391e+02] [-4.03641450e-01 9.14916675e-01 -1.02839979e-03 -8.46013734e+01] [-2.49744968e-03 2.22122604e-05 9.99996881e-01 -3.27285922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters 0.05317033336767899 Centerline is valid? [True, True] Translation: X:434.08, Y:-84.63, Z:-3.27 [[ 9.15628629e-01 4.02015503e-01 2.78366365e-03 4.34080289e+02] [-4.02013533e-01 9.15632860e-01 -1.25870290e-03 -8.46282743e+01] [-3.05483199e-03 3.34339513e-05 9.99995333e-01 -3.27370521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters 0.05315475737628538 Centerline is valid? [True, True] Translation: X:434.14, Y:-84.65, Z:-3.27 [[ 9.18238485e-01 3.96016010e-01 3.06681922e-03 4.34139192e+02] [-3.96013585e-01 9.18243604e-01 -1.38698568e-03 -8.46457441e+01] [-3.36535567e-03 5.90815521e-05 9.99994335e-01 -3.27081774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters 0.053687335667280456 Centerline is valid? [True, True] Translation: X:434.20, Y:-84.67, Z:-3.27 [[ 9.20579546e-01 3.90543684e-01 2.98825901e-03 4.34196467e+02] [-3.90541353e-01 9.20584393e-01 -1.35152725e-03 -8.46682480e+01] [-3.27877504e-03 7.71496279e-05 9.99994622e-01 -3.27223973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters 0.05383432309135309 Centerline is valid? [True, True] Translation: X:434.25, Y:-84.70, Z:-3.27 [[ 9.21999077e-01 3.87185355e-01 2.28113972e-03 4.34250415e+02] [-3.87183986e-01 9.22001896e-01 -1.03173418e-03 -8.46965632e+01] [-2.50268751e-03 6.80371890e-05 9.99996866e-01 -3.27432356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters 0.0542440511913552 Centerline is valid? [True, True] Translation: X:434.31, Y:-84.72, Z:-3.28 [[ 9.24022347e-01 3.82337554e-01 8.35308559e-04 4.34307228e+02] [-3.82337369e-01 9.24022724e-01 -3.77692045e-04 -8.47203350e+01] [-9.16249942e-04 2.96262130e-05 9.99999580e-01 -3.27515001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters 0.05431291841515599 Centerline is valid? [True, True] Translation: X:434.37, Y:-84.74, Z:-3.27 [[ 9.25045465e-01 3.79856307e-01 2.71499453e-04 4.34365522e+02] [-3.79856287e-01 9.25045505e-01 -1.22515098e-04 -8.47368234e+01] [-2.97687482e-04 1.02012617e-05 9.99999956e-01 -3.27299979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters 0.05429585521543394 Centerline is valid? [True, True] Translation: X:434.42, Y:-84.76, Z:-3.27 [[ 9.25329905e-01 3.79162240e-01 7.49977344e-04 4.34421895e+02] [-3.79162089e-01 9.25330209e-01 -3.38896423e-04 -8.47621378e+01] [-8.22473419e-04 2.92280183e-05 9.99999661e-01 -3.27347786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters 0.055193056902141935 Centerline is valid? [True, True] Translation: X:434.47, Y:-84.79, Z:-3.28 [[ 9.24728226e-01 3.80626575e-01 1.05799120e-03 4.34474620e+02] [-3.80626276e-01 9.24728830e-01 -4.78641542e-04 -8.47912616e+01] [-1.16053866e-03 3.99140928e-05 9.99999326e-01 -3.27619674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters 0.054863133859459734 Centerline is valid? [True, True] Translation: X:434.53, Y:-84.81, Z:-3.28 [[ 9.23790426e-01 3.82896976e-01 1.07508811e-03 4.34533497e+02] [-3.82896668e-01 9.23791050e-01 -4.86358348e-04 -8.48103460e+01] [-1.17938192e-03 3.76455280e-05 9.99999304e-01 -3.27551447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters 0.054021467652178023 Centerline is valid? [True, True] Translation: X:434.59, Y:-84.83, Z:-3.27 [[ 9.21530483e-01 3.88303679e-01 1.34984059e-03 4.34592089e+02] [-3.88303201e-01 9.21531471e-01 -6.10811504e-04 -8.48277279e+01] [-1.48110093e-03 3.87340008e-05 9.99998902e-01 -3.27370619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters 0.05357639760295469 Centerline is valid? [True, True] Translation: X:434.65, Y:-84.85, Z:-3.27 [[ 9.19736325e-01 3.92534144e-01 1.42791696e-03 4.34649016e+02] [-3.92533613e-01 9.19737433e-01 -6.46225563e-04 -8.48485909e+01] [-1.56697428e-03 3.38517214e-05 9.99998772e-01 -3.27406096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters 0.0536061987689014 Centerline is valid? [True, True] Translation: X:434.71, Y:-84.87, Z:-3.27 [[ 9.16721963e-01 3.99521347e-01 1.88017608e-03 4.34708219e+02] [-3.99520442e-01 9.16723891e-01 -8.50826261e-04 -8.48655948e+01] [-2.06352559e-03 2.88023410e-05 9.99997871e-01 -3.27417342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters 0.0532208222248702 Centerline is valid? [True, True] Translation: X:434.77, Y:-84.88, Z:-3.27 [[ 9.14511142e-01 4.04557544e-01 1.60140756e-03 4.34767471e+02] [-4.04556895e-01 9.14512544e-01 -7.24673247e-04 -8.48842475e+01] [-1.75767933e-03 1.48612885e-05 9.99998455e-01 -3.27380523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters 0.053208584721293056 Centerline is valid? [True, True] Translation: X:434.83, Y:-84.90, Z:-3.28 [[ 9.11071700e-01 4.12247749e-01 3.89023186e-04 4.34826370e+02] [-4.12247711e-01 9.11071783e-01 -1.75246709e-04 -8.49023764e+01] [-4.26673109e-04 -7.11601466e-07 9.99999909e-01 -3.27854371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters 0.053302157037077996 Centerline is valid? [True, True] Translation: X:434.89, Y:-84.92, Z:-3.28 [[ 9.08901027e-01 4.17011729e-01 -3.74610322e-04 4.34885862e+02] [-4.17011694e-01 9.08901105e-01 1.70583475e-04 -8.49221559e+01] [ 4.11619046e-04 1.17338933e-06 9.99999915e-01 -3.27827785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters 0.05375885710270325 Centerline is valid? [True, True] Translation: X:434.94, Y:-84.94, Z:-3.28 [[ 9.06262060e-01 4.22711438e-01 -2.02953480e-03 4.34943974e+02] [-4.22710439e-01 9.06264332e-01 9.19411274e-04 -8.49417398e+01] [ 2.22794066e-03 2.46779904e-05 9.99997518e-01 -3.27864603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters 0.05402804818947447 Centerline is valid? [True, True] Translation: X:435.00, Y:-84.96, Z:-3.28 [[ 9.04453434e-01 4.26566156e-01 -2.30225949e-03 4.35001801e+02] [-4.26564883e-01 9.04456363e-01 1.04284824e-03 -8.49608380e+01] [ 2.52713701e-03 3.88553777e-05 9.99996806e-01 -3.28058068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters 0.053993699565218566 Centerline is valid? [True, True] Translation: X:435.06, Y:-84.98, Z:-3.28 [[ 9.03732830e-01 4.28091924e-01 -2.06822497e-03 4.35058812e+02] [-4.28090900e-01 9.03735195e-01 9.36945140e-04 -8.49818077e+01] [ 2.27022635e-03 3.86402073e-05 9.99997422e-01 -3.28218413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters 0.05418087737521288 Centerline is valid? [True, True] Translation: X:435.12, Y:-85.01, Z:-3.28 [[ 9.03160335e-01 4.29300899e-01 -1.46532773e-03 4.35115141e+02] [-4.29300385e-01 9.03161523e-01 6.64808252e-04 -8.50089411e+01] [ 1.60883041e-03 2.86373158e-05 9.99998705e-01 -3.28138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters 0.053658297503231665 Centerline is valid? [True, True] Translation: X:435.17, Y:-85.04, Z:-3.28 [[ 9.02643913e-01 4.30387851e-01 -5.14656746e-04 4.35170349e+02] [-4.30387787e-01 9.02644059e-01 2.33713156e-04 -8.50364849e+01] [ 5.65139158e-04 1.05422203e-05 9.99999840e-01 -3.28017929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters 0.054993595165092064 Centerline is valid? [True, True] Translation: X:435.23, Y:-85.06, Z:-3.28 [[ 9.01858634e-01 4.32031047e-01 4.23091755e-04 4.35228530e+02] [-4.32031005e-01 9.01858733e-01 -1.90949006e-04 -8.50569489e+01] [-4.64064894e-04 -1.05797469e-05 9.99999892e-01 -3.28187820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters 0.05415236796125027 Centerline is valid? [True, True] Translation: X:435.29, Y:-85.08, Z:-3.28 [[ 9.01186717e-01 4.33430223e-01 8.61588287e-04 4.35285010e+02] [-4.33430048e-01 9.01187129e-01 -3.89801676e-04 -8.50827987e+01] [-9.45404102e-04 -2.21541603e-05 9.99999553e-01 -3.28238623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters 0.0539104832281746 Centerline is valid? [True, True] Translation: X:435.34, Y:-85.11, Z:-3.28 [[ 9.00193779e-01 4.35489022e-01 6.87087179e-04 4.35339154e+02] [-4.35488911e-01 9.00194041e-01 -3.11425109e-04 -8.51118906e+01] [-7.54134001e-04 -1.88759019e-05 9.99999715e-01 -3.28238032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters 0.053371774821090394 Centerline is valid? [True, True] Translation: X:435.40, Y:-85.14, Z:-3.28 [[ 8.99639203e-01 4.36633963e-01 -2.94798330e-04 4.35395569e+02] [-4.36633942e-01 8.99639251e-01 1.33926076e-04 -8.51384347e+01] [ 3.23688822e-04 8.23380853e-06 9.99999948e-01 -3.28423896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters 0.05286023243162697 Centerline is valid? [True, True] Translation: X:435.45, Y:-85.17, Z:-3.28 [[ 8.98892749e-01 4.38166310e-01 -1.45260410e-03 4.35448518e+02] [-4.38165816e-01 8.98893922e-01 6.59712176e-04 -8.51712347e+01] [ 1.59480065e-03 4.34709684e-05 9.99998727e-01 -3.28444740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters 0.05350642782776969 Centerline is valid? [True, True] Translation: X:435.50, Y:-85.20, Z:-3.28 [[ 8.98829084e-01 4.38293706e-01 -2.21457768e-03 4.35502601e+02] [-4.38292558e-01 8.98831810e-01 1.00560301e-03 -8.51995906e+01] [ 2.43128233e-03 6.67676842e-05 9.99997042e-01 -3.28467467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters 0.053881514055172275 Centerline is valid? [True, True] Translation: X:435.56, Y:-85.22, Z:-3.29 [[ 8.99295576e-01 4.37336613e-01 -2.03824585e-03 4.35558691e+02] [-4.37335637e-01 8.99297883e-01 9.25809828e-04 -8.52235826e+01] [ 2.23788071e-03 5.88208642e-05 9.99997494e-01 -3.28613973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters 0.05367721145138342 Centerline is valid? [True, True] Translation: X:435.61, Y:-85.26, Z:-3.28 [[ 9.00879993e-01 4.34068233e-01 -8.62680934e-05 4.35611563e+02] [-4.34068231e-01 9.00879997e-01 3.92691090e-05 -8.52557572e+01] [ 9.47626723e-05 2.06948400e-06 9.99999996e-01 -3.28496421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters 0.05284441169364648 Centerline is valid? [True, True] Translation: X:435.67, Y:-85.29, Z:-3.28 [[ 9.01845317e-01 4.32057453e-01 1.17516972e-03 4.35665747e+02] [-4.32057124e-01 9.01846083e-01 -5.33198795e-04 -8.52864423e+01] [-1.29019472e-03 -2.68776115e-05 9.99999167e-01 -3.28351904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters 0.0528809790523374 Centerline is valid? [True, True] Translation: X:435.72, Y:-85.32, Z:-3.28 [[ 9.02348091e-01 4.31004307e-01 1.79151953e-03 4.35720362e+02] [-4.31003543e-01 9.02349869e-01 -8.12505011e-04 -8.53156556e+01] [-1.96677057e-03 -3.89889187e-05 9.99998065e-01 -3.28306384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters 0.05182322625612577 Centerline is valid? [True, True] Translation: X:435.78, Y:-85.35, Z:-3.28 [[ 9.02326338e-01 4.31049397e-01 1.89638549e-03 4.35775739e+02] [-4.31048541e-01 9.02328330e-01 -8.60265934e-04 -8.53468110e+01] [-2.08197946e-03 -4.11935875e-05 9.99997832e-01 -3.28270304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters 0.051657614205948874 Centerline is valid? [True, True] Translation: X:435.83, Y:-85.38, Z:-3.28 [[ 9.01745818e-01 4.32265406e-01 1.04825351e-03 4.35828511e+02] [-4.32265145e-01 9.01746427e-01 -4.75861802e-04 -8.53810314e+01] [-1.15095745e-03 -2.40170653e-05 9.99999337e-01 -3.28193649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters 0.05303770096840995 Centerline is valid? [True, True] Translation: X:435.89, Y:-85.40, Z:-3.29 [[ 9.01611300e-01 4.32546723e-01 6.28832552e-04 4.35889493e+02] [-4.32546629e-01 9.01611519e-01 -2.85331368e-04 -8.53971612e+01] [-6.90381821e-04 -1.47414150e-05 9.99999762e-01 -3.28629111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters 0.052576785019119686 Centerline is valid? [True, True] Translation: X:435.94, Y:-85.43, Z:-3.29 [[ 9.01808263e-01 4.32136087e-01 -5.09316214e-04 4.35944772e+02] [-4.32136024e-01 9.01808407e-01 2.32392031e-04 -8.54270842e+01] [ 5.59730626e-04 1.05208304e-05 9.99999843e-01 -3.28711664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters 0.05210771339230297 Centerline is valid? [True, True] Translation: X:436.00, Y:-85.45, Z:-3.29 [[ 9.02436195e-01 4.30823196e-01 -5.35939269e-04 4.36001604e+02] [-4.30823128e-01 9.02436354e-01 2.43907707e-04 -8.54537103e+01] [ 5.88732178e-04 1.07838886e-05 9.99999827e-01 -3.28858007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters 0.0518427125843419 Centerline is valid? [True, True] Translation: X:436.06, Y:-85.48, Z:-3.29 [[ 9.03468972e-01 4.28653398e-01 -2.84112490e-04 4.36056144e+02] [-4.28653379e-01 9.03469017e-01 1.29238089e-04 -8.54825763e+01] [ 3.12085178e-04 5.02317569e-06 9.99999951e-01 -3.28778045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters 0.05261270583530634 Centerline is valid? [True, True] Translation: X:436.11, Y:-85.51, Z:-3.29 [[ 9.05540440e-01 4.24259476e-01 6.39845402e-04 4.36110071e+02] [-4.24259376e-01 9.05540666e-01 -2.90779132e-04 -8.55085631e+01] [-7.02771833e-04 -8.14814763e-06 9.99999753e-01 -3.28913618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters 0.05149478417612469 Centerline is valid? [True, True] Translation: X:436.16, Y:-85.54, Z:-3.29 [[ 9.07874103e-01 4.19238277e-01 1.96956048e-03 4.36163406e+02] [-4.19237323e-01 9.07876240e-01 -8.94865369e-04 -8.55397881e+01] [-2.16327898e-03 -1.32881691e-05 9.99997660e-01 -3.28815357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters 0.05136892338198789 Centerline is valid? [True, True] Translation: X:436.22, Y:-85.57, Z:-3.29 [[ 9.08829028e-01 4.17166766e-01 1.29899513e-03 4.36217870e+02] [-4.17166349e-01 9.08829956e-01 -5.89971528e-04 -8.55679594e+01] [-1.42668220e-03 -5.71380585e-06 9.99998982e-01 -3.28821791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters 0.05230445280290315 Centerline is valid? [True, True] Translation: X:436.27, Y:-85.60, Z:-3.29 [[ 9.09936807e-01 4.14746283e-01 7.26900295e-04 4.36273406e+02] [-4.14746152e-01 9.09937097e-01 -3.30124257e-04 -8.55955387e+01] [-7.98351353e-04 -1.08688753e-06 9.99999681e-01 -3.28953914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters 0.052144524183407585 Centerline is valid? [True, True] Translation: X:436.33, Y:-85.62, Z:-3.29 [[ 9.10032556e-01 4.14536588e-01 4.05409139e-04 4.36329688e+02] [-4.14536547e-01 9.10032646e-01 -1.83369485e-04 -8.56217488e+01] [-4.44948912e-04 -1.18470368e-06 9.99999901e-01 -3.29151300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters 0.05175009259363839 Centerline is valid? [True, True] Translation: X:436.39, Y:-85.65, Z:-3.29 [[ 9.09768598e-01 4.15115507e-01 4.62066333e-04 4.36385853e+02] [-4.15115454e-01 9.09768716e-01 -2.09240579e-04 -8.56487438e+01] [-5.07232503e-04 -1.45036761e-06 9.99999871e-01 -3.29257136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters 0.052361216817501124 Centerline is valid? [True, True] Translation: X:436.44, Y:-85.68, Z:-3.29 [[ 9.09287814e-01 4.16167290e-01 6.76394387e-04 4.36442048e+02] [-4.16167177e-01 9.09288066e-01 -3.06778960e-04 -8.56762095e+01] [-7.42708712e-04 -2.54277208e-06 9.99999724e-01 -3.28887802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters 0.05200131325404929 Centerline is valid? [True, True] Translation: X:436.50, Y:-85.70, Z:-3.29 [[ 9.08539342e-01 4.17798838e-01 6.27855406e-04 4.36498871e+02] [-4.17798741e-01 9.08539559e-01 -2.85415676e-04 -8.57011972e+01] [-6.89677812e-04 -3.00582779e-06 9.99999762e-01 -3.29163454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters 0.051664024506398634 Centerline is valid? [True, True] Translation: X:436.56, Y:-85.73, Z:-3.29 [[ 9.07670379e-01 4.19683561e-01 4.38475403e-04 4.36555922e+02] [-4.19683514e-01 9.07670484e-01 -1.98708608e-04 -8.57263327e+01] [-4.81385918e-04 -3.65898021e-06 9.99999884e-01 -3.29221637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters 0.05169299631495427 Centerline is valid? [True, True] Translation: X:436.61, Y:-85.75, Z:-3.29 [[ 9.07488933e-01 4.20075965e-01 -1.42972918e-04 4.36612346e+02] [-4.20075960e-01 9.07488944e-01 6.59321691e-05 -8.57509514e+01] [ 1.57442862e-04 2.26771891e-07 9.99999988e-01 -3.29390733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters 0.05206169609068764 Centerline is valid? [True, True] Translation: X:436.67, Y:-85.78, Z:-3.29 [[ 9.08407035e-01 4.18086421e-01 -6.35510658e-04 4.36666988e+02] [-4.18086320e-01 9.08407257e-01 2.90395278e-04 -8.57800528e+01] [ 6.98712816e-04 1.90119893e-06 9.99999756e-01 -3.29188570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters 0.05185640258526622 Centerline is valid? [True, True] Translation: X:436.72, Y:-85.81, Z:-3.29 [[ 9.09641034e-01 4.15391452e-01 -1.76954079e-03 4.36722434e+02] [-4.15390668e-01 9.09642755e-01 8.07266494e-04 -8.58072668e+01] [ 1.94498156e-03 7.28001808e-07 9.99998109e-01 -3.29467843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters 0.05287483717292963 Centerline is valid? [True, True] Translation: X:436.78, Y:-85.84, Z:-3.29 [[ 9.12623923e-01 4.08795220e-01 -2.01109246e-03 4.36777323e+02] [-4.08794191e-01 9.12626138e-01 9.16978247e-04 -8.58376753e+01] [ 2.21023187e-03 -1.47333699e-05 9.99997557e-01 -3.29329510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters 0.05227413981618751 Centerline is valid? [True, True] Translation: X:436.83, Y:-85.87, Z:-3.29 [[ 9.15026274e-01 4.03390703e-01 -1.69054037e-03 4.36832592e+02] [-4.03389968e-01 9.15027836e-01 7.70738127e-04 -8.58667703e+01] [ 1.85780009e-03 -2.32986111e-05 9.99998274e-01 -3.29288288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters 0.05330624846896379 Centerline is valid? [True, True] Translation: X:436.89, Y:-85.89, Z:-3.29 [[ 9.18049622e-01 3.96465292e-01 -4.05455441e-04 4.36887360e+02] [-3.96465249e-01 9.18049711e-01 1.84990679e-04 -8.58949812e+01] [ 4.45570633e-04 -9.08163041e-06 9.99999901e-01 -3.29104162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters 0.05329509866009891 Centerline is valid? [True, True] Translation: X:436.94, Y:-85.92, Z:-3.29 [[ 9.19877495e-01 3.92205136e-01 7.24619043e-04 4.36940840e+02] [-3.92204998e-01 9.19877780e-01 -3.30253812e-04 -8.59224923e+01] [-7.96088198e-04 1.95938394e-05 9.99999683e-01 -3.29113779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters 0.05305565403490838 Centerline is valid? [True, True] Translation: X:437.00, Y:-85.95, Z:-3.29 [[ 9.20261777e-01 3.91302538e-01 7.65526250e-04 4.36997439e+02] [-3.91302384e-01 9.20262095e-01 -3.48058067e-04 -8.59484761e+01] [-8.40680795e-04 2.07522886e-05 9.99999646e-01 -3.29154997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters 0.05298935812696461 Centerline is valid? [True, True] Translation: X:437.06, Y:-85.97, Z:-3.29 [[ 9.19474040e-01 3.93149955e-01 -7.75718877e-04 4.37056452e+02] [-3.93149796e-01 9.19474367e-01 3.54742297e-04 -8.59675181e+01] [ 8.52720542e-04 -2.12026151e-05 9.99999636e-01 -3.29202189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters 0.05264002431758795 Centerline is valid? [True, True] Translation: X:437.11, Y:-85.99, Z:-3.29 [[ 9.18170702e-01 3.96182949e-01 -1.27797669e-03 4.37112690e+02] [-3.96182521e-01 9.18171591e-01 5.83063051e-04 -8.59920847e+01] [ 1.40440153e-03 -2.90393843e-05 9.99999013e-01 -3.29322586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters 0.053056316974871766 Centerline is valid? [True, True] Translation: X:437.17, Y:-86.02, Z:-3.30 [[ 9.15660902e-01 4.01950291e-01 -1.03753437e-03 4.37168189e+02] [-4.01950012e-01 9.15661490e-01 4.73416448e-04 -8.60170303e+01] [ 1.14032014e-03 -1.64519800e-05 9.99999350e-01 -3.29654287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters 0.052435464407461274 Centerline is valid? [True, True] Translation: X:437.23, Y:-86.04, Z:-3.30 [[ 9.13695845e-01 4.06398699e-01 -2.30722437e-06 4.37226783e+02] [-4.06398699e-01 9.13695845e-01 1.18785975e-06 -8.60366809e+01] [ 2.59084582e-06 -1.47689534e-07 1.00000000e+00 -3.29545370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters 0.05224254638054092 Centerline is valid? [True, True] Translation: X:437.28, Y:-86.06, Z:-3.30 [[ 9.11414533e-01 4.11488131e-01 1.03346568e-03 4.37283819e+02] [-4.11487861e-01 9.11415119e-01 -4.71239627e-04 -8.60592285e+01] [-1.13582576e-03 4.23606080e-06 9.99999355e-01 -3.29563012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters 0.051955633222881964 Centerline is valid? [True, True] Translation: X:437.34, Y:-86.08, Z:-3.30 [[ 9.07746421e-01 4.19513138e-01 2.27194112e-03 4.37342714e+02] [-4.19511859e-01 9.07749265e-01 -1.03573666e-03 -8.60797275e+01] [-2.49685801e-03 -1.29199992e-05 9.99996883e-01 -3.29679518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters 0.051553913003355774 Centerline is valid? [True, True] Translation: X:437.40, Y:-86.10, Z:-3.30 [[ 9.04677614e-01 4.26088178e-01 2.69806900e-03 4.37400309e+02] [-4.26086401e-01 9.04681636e-01 -1.23111731e-03 -8.61010023e+01] [-2.96545801e-03 -3.58462440e-05 9.99995602e-01 -3.29643197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters 0.05195337731470884 Centerline is valid? [True, True] Translation: X:437.46, Y:-86.12, Z:-3.30 [[ 9.02905345e-01 4.29831482e-01 2.61433624e-03 4.37455938e+02] [-4.29829830e-01 9.02909129e-01 -1.19262161e-03 -8.61249114e+01] [-2.87313437e-03 -4.68952756e-05 9.99995871e-01 -3.29648774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters 0.05169034117388383 Centerline is valid? [True, True] Translation: X:437.51, Y:-86.15, Z:-3.30 [[ 9.01517212e-01 4.32734847e-01 2.69613421e-03 4.37512772e+02] [-4.32733101e-01 9.01521242e-01 -1.23055033e-03 -8.61475003e+01] [-2.96312426e-03 -5.73442139e-05 9.99995608e-01 -3.29756878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters 0.051566355547294294 Centerline is valid? [True, True] Translation: X:437.57, Y:-86.17, Z:-3.30 [[ 9.00014244e-01 4.35854167e-01 2.34655745e-03 4.37568365e+02] [-4.35852855e-01 9.00017301e-01 -1.07101672e-03 -8.61729815e+01] [-2.57874940e-03 -5.88234604e-05 9.99996673e-01 -3.29771478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters 0.05125198907272908 Centerline is valid? [True, True] Translation: X:437.62, Y:-86.20, Z:-3.30 [[ 8.98902768e-01 4.38142605e-01 2.20705143e-03 4.37624199e+02] [-4.38141452e-01 8.98905475e-01 -1.00707974e-03 -8.61973555e+01] [-2.42517515e-03 -6.17339551e-05 9.99997057e-01 -3.29758644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters 0.052317657124020735 Centerline is valid? [True, True] Translation: X:437.68, Y:-86.22, Z:-3.30 [[ 8.98560493e-01 4.38844035e-01 2.22584791e-03 4.37682739e+02] [-4.38842864e-01 8.98563247e-01 -1.01575641e-03 -8.62162526e+01] [-2.44582377e-03 -6.40788958e-05 9.99997007e-01 -3.29898683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters 0.05340194244688864 Centerline is valid? [True, True] Translation: X:437.74, Y:-86.24, Z:-3.30 [[ 8.98154047e-01 4.39670342e-01 3.04926076e-03 4.37740272e+02] [-4.39668147e-01 8.98159219e-01 -1.39221631e-03 -8.62388244e+01] [-3.35083789e-03 -9.02381131e-05 9.99994382e-01 -3.29871719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters 0.05161592891964502 Centerline is valid? [True, True] Translation: X:437.79, Y:-86.27, Z:-3.30 [[ 8.98100318e-01 4.39775740e-01 3.62177169e-03 4.37794454e+02] [-4.39772642e-01 8.98107614e-01 -1.65413197e-03 -8.62724445e+01] [-3.98018785e-03 -1.07179660e-04 9.99992073e-01 -3.29771601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters 0.05224013502266862 Centerline is valid? [True, True] Translation: X:437.85, Y:-86.29, Z:-3.30 [[ 8.97900530e-01 4.40180671e-01 3.95172019e-03 4.37852606e+02] [-4.40176984e-01 8.97909218e-01 -1.80559707e-03 -8.62919098e+01] [-4.34307491e-03 -1.18209710e-04 9.99990562e-01 -3.29864724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters 0.053333624500848144 Centerline is valid? [True, True] Translation: X:437.91, Y:-86.31, Z:-3.30 [[ 8.97825333e-01 4.40336683e-01 3.64370896e-03 4.37910394e+02] [-4.40333548e-01 8.97832720e-01 -1.66520948e-03 -8.63145795e+01] [-4.00469395e-03 -1.09380036e-04 9.99991975e-01 -3.29980215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters 0.05201719543329647 Centerline is valid? [True, True] Translation: X:437.96, Y:-86.35, Z:-3.30 [[ 8.97394004e-01 4.41218226e-01 3.23703625e-03 4.37963445e+02] [-4.41215756e-01 8.97399837e-01 -1.47973068e-03 -8.63468611e+01] [-3.55779995e-03 -1.00329959e-04 9.99993666e-01 -3.29923047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters 0.05223208846287238 Centerline is valid? [True, True] Translation: X:438.02, Y:-86.37, Z:-3.30 [[ 8.97432756e-01 4.41140514e-01 3.08152056e-03 4.38019376e+02] [-4.41138274e-01 8.97438041e-01 -1.40893889e-03 -8.63745660e+01] [-3.38701381e-03 -9.49487527e-05 9.99994260e-01 -3.29897746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters 0.05234535286164549 Centerline is valid? [True, True] Translation: X:438.08, Y:-86.40, Z:-3.30 [[ 8.97734967e-01 4.40524093e-01 3.23310530e-03 4.38076660e+02] [-4.40521621e-01 8.97740784e-01 -1.47873512e-03 -8.63967368e+01] [-3.55390893e-03 -9.67405618e-05 9.99993680e-01 -3.29982465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters 0.05292830394174608 Centerline is valid? [True, True] Translation: X:438.13, Y:-86.42, Z:-3.30 [[ 8.98593855e-01 4.38768770e-01 3.32411841e-03 4.38133729e+02] [-4.38766142e-01 8.98599999e-01 -1.52126012e-03 -8.64165837e+01] [-3.65453424e-03 -9.15156157e-05 9.99993318e-01 -3.30051309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters 0.05251828972984306 Centerline is valid? [True, True] Translation: X:438.19, Y:-86.45, Z:-3.30 [[ 8.97863738e-01 4.40266995e-01 2.38343985e-03 4.38188908e+02] [-4.40265649e-01 8.97866899e-01 -1.09065076e-03 -8.64450190e+01] [-2.62018928e-03 -7.00909270e-05 9.99996565e-01 -3.30136341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters 0.05229769626974066 Centerline is valid? [True, True] Translation: X:438.25, Y:-86.47, Z:-3.30 [[ 8.97473354e-01 4.41065912e-01 1.56189042e-03 4.38245000e+02] [-4.41065337e-01 8.97474712e-01 -7.14194242e-04 -8.64721338e+01] [-1.71676389e-03 -4.79254207e-05 9.99998525e-01 -3.30245768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters 0.052261159022999173 Centerline is valid? [True, True] Translation: X:438.30, Y:-86.50, Z:-3.30 [[ 8.96930079e-01 4.42165218e-01 2.52037380e-03 4.38300362e+02] [-4.42163721e-01 8.96933617e-01 -1.15333921e-03 -8.65001964e+01] [-2.77057447e-03 -7.99532269e-05 9.99996159e-01 -3.30231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters 0.052604804600956845 Centerline is valid? [True, True] Translation: X:438.36, Y:-86.52, Z:-3.30 [[ 8.97147585e-01 4.41719808e-01 3.13420001e-03 4.38359592e+02] [-4.41717488e-01 8.97153054e-01 -1.43491818e-03 -8.65186605e+01] [-3.44568890e-03 -9.70975725e-05 9.99994059e-01 -3.30345662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters 0.052191618088310576 Centerline is valid? [True, True] Translation: X:438.41, Y:-86.55, Z:-3.30 [[ 8.98122348e-01 4.39726290e-01 4.12772973e-03 4.38413007e+02] [-4.39722240e-01 8.98131826e-01 -1.89081509e-03 -8.65508065e+01] [-4.53868655e-03 -1.16871282e-04 9.99989693e-01 -3.30302913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters 0.052430540367408025 Centerline is valid? [True, True] Translation: X:438.47, Y:-86.57, Z:-3.30 [[ 8.98969426e-01 4.37993292e-01 3.98090168e-03 4.38470157e+02] [-4.37989507e-01 8.98978234e-01 -1.82368951e-03 -8.65721714e+01] [-4.37750773e-03 -1.04152055e-04 9.99990413e-01 -3.30437640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters 0.05255873835813204 Centerline is valid? [True, True] Translation: X:438.53, Y:-86.60, Z:-3.31 [[ 9.00158667e-01 4.35549842e-01 3.27234021e-03 4.38525098e+02] [-4.35547269e-01 9.00164612e-01 -1.49909932e-03 -8.66008531e+01] [-3.59857732e-03 -7.58315979e-05 9.99993522e-01 -3.30561390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters 0.052256247566583106 Centerline is valid? [True, True] Translation: X:438.58, Y:-86.63, Z:-3.31 [[ 9.01792118e-01 4.32161948e-01 2.65056113e-03 4.38578424e+02] [-4.32160245e-01 9.01796012e-01 -1.21432669e-03 -8.66319214e+01] [-2.91505125e-03 -5.03969074e-05 9.99995750e-01 -3.30640734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters 0.05215283389220575 Centerline is valid? [True, True] Translation: X:438.63, Y:-86.66, Z:-3.31 [[ 9.03173905e-01 4.29267785e-01 2.46311171e-03 4.38633628e+02] [-4.29266303e-01 9.03177263e-01 -1.12844389e-03 -8.66602478e+01] [-2.70903110e-03 -3.81497859e-05 9.99996330e-01 -3.30728433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters 0.05180027488429398 Centerline is valid? [True, True] Translation: X:438.69, Y:-86.68, Z:-3.31 [[ 9.04723487e-01 4.25990901e-01 2.67677933e-03 4.38688610e+02] [-4.25989136e-01 9.04727446e-01 -1.22651202e-03 -8.66846070e+01] [-2.94423869e-03 -3.06246814e-05 9.99995665e-01 -3.30914306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters 0.051863693828278316 Centerline is valid? [True, True] Translation: X:438.74, Y:-86.71, Z:-3.31 [[ 9.05184682e-01 4.25007491e-01 3.05349319e-03 4.38743853e+02] [-4.25005190e-01 9.05189832e-01 -1.39901969e-03 -8.67132073e+01] [-3.35858483e-03 -3.13792573e-05 9.99994359e-01 -3.30891020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters 0.052356526477737045 Centerline is valid? [True, True] Translation: X:438.80, Y:-86.74, Z:-3.31 [[ 9.04646163e-01 4.26156403e-01 2.45759386e-03 4.38799864e+02] [-4.26154917e-01 9.04649501e-01 -1.12571695e-03 -8.67370482e+01] [-2.70299254e-03 -2.89401907e-05 9.99996346e-01 -3.31054049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters 0.0518618087138523 Centerline is valid? [True, True] Translation: X:438.86, Y:-86.76, Z:-3.31 [[ 9.03941940e-01 4.27651177e-01 1.85476032e-03 4.38855438e+02] [-4.27650334e-01 9.03943843e-01 -8.49566084e-04 -8.67646917e+01] [-2.03991711e-03 -2.52304549e-05 9.99997919e-01 -3.30962000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters 0.052238180465182665 Centerline is valid? [True, True] Translation: X:438.91, Y:-86.79, Z:-3.31 [[ 9.03278291e-01 4.29051859e-01 1.68265320e-03 4.38911744e+02] [-4.29051167e-01 9.03279858e-01 -7.70874861e-04 -8.67912151e+01] [-1.85065204e-03 -2.56297921e-05 9.99998287e-01 -3.31027631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters 0.051769469789460294 Centerline is valid? [True, True] Translation: X:438.97, Y:-86.81, Z:-3.31 [[ 9.03209364e-01 4.29197325e-01 1.58167862e-03 4.38969210e+02] [-4.29196714e-01 9.03210748e-01 -7.24735261e-04 -8.68146445e+01] [-1.73964357e-03 -2.42635947e-05 9.99998487e-01 -3.31164631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters 0.0523117347478295 Centerline is valid? [True, True] Translation: X:439.02, Y:-86.84, Z:-3.31 [[ 9.03844789e-01 4.27851393e-01 2.78983759e-03 4.39023731e+02] [-4.27849481e-01 9.03849094e-01 -1.27953550e-03 -8.68447850e+01] [-3.06904323e-03 -3.71290740e-05 9.99995290e-01 -3.31048529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters 0.05221131534171634 Centerline is valid? [True, True] Translation: X:439.08, Y:-86.87, Z:-3.31 [[ 9.04981092e-01 4.25436544e-01 3.60130030e-03 4.39078525e+02] [-4.25433336e-01 9.04988257e-01 -1.65250362e-03 -8.68712558e+01] [-3.96216991e-03 -3.66286737e-05 9.99992150e-01 -3.31023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters 0.052463384602895353 Centerline is valid? [True, True] Translation: X:439.13, Y:-86.90, Z:-3.31 [[ 9.05779945e-01 4.23731687e-01 3.76131765e-03 4.39134121e+02] [-4.23728172e-01 9.05787754e-01 -1.72641952e-03 -8.68998396e+01] [-4.13849412e-03 -3.00200701e-05 9.99991436e-01 -3.31037148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters 0.051548349667908104 Centerline is valid? [True, True] Translation: X:439.19, Y:-86.93, Z:-3.31 [[ 9.06840907e-01 4.21463418e-01 2.85613298e-03 4.39188968e+02] [-4.21461378e-01 9.06845404e-01 -1.31134132e-03 -8.69279594e+01] [-3.14275346e-03 -1.45717899e-05 9.99995061e-01 -3.31192822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters 0.05184859106740212 Centerline is valid? [True, True] Translation: X:439.25, Y:-86.96, Z:-3.31 [[ 9.07183433e-01 4.20730678e-01 1.97899549e-03 4.39245184e+02] [-4.20729697e-01 9.07185591e-01 -9.08254892e-04 -8.69568636e+01] [-2.17744689e-03 -8.66838507e-06 9.99997629e-01 -3.31198525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters 0.052357373351293354 Centerline is valid? [True, True] Translation: X:439.30, Y:-86.98, Z:-3.31 [[ 9.07556280e-01 4.19928651e-01 1.23554436e-03 4.39300801e+02] [-4.19928268e-01 9.07557121e-01 -5.67169417e-04 -8.69841857e+01] [-1.35949777e-03 -4.10183912e-06 9.99999076e-01 -3.31288660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters 0.0524811934520513 Centerline is valid? [True, True] Translation: X:439.36, Y:-87.01, Z:-3.31 [[ 9.07585065e-01 4.19866300e-01 1.28054437e-03 4.39356885e+02] [-4.19865889e-01 9.07585969e-01 -5.87622659e-04 -8.70121067e+01] [-1.40892705e-03 -4.33934946e-06 9.99999007e-01 -3.31186506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters 0.051881335017732205 Centerline is valid? [True, True] Translation: X:439.41, Y:-87.04, Z:-3.31 [[ 9.07866227e-01 4.19256263e-01 1.76057478e-03 4.39411426e+02] [-4.19255483e-01 9.07867934e-01 -8.08737744e-04 -8.70402011e+01] [-1.93743776e-03 -3.90494740e-06 9.99998123e-01 -3.31353771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters 0.052285658846691584 Centerline is valid? [True, True] Translation: X:439.47, Y:-87.07, Z:-3.31 [[ 9.07861348e-01 4.19265131e-01 2.12662575e-03 4.39468296e+02] [-4.19263992e-01 9.07863839e-01 -9.77249866e-04 -8.70673063e+01] [-2.34041341e-03 -4.41022156e-06 9.99997261e-01 -3.31338562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters 0.05228192713810713 Centerline is valid? [True, True] Translation: X:439.53, Y:-87.09, Z:-3.31 [[ 9.07004602e-01 4.21115512e-01 2.09224133e-03 4.39525379e+02] [-4.21114414e-01 9.07007015e-01 -9.61709099e-04 -8.70944563e+01] [-2.30266818e-03 -8.79840296e-06 9.99997349e-01 -3.31239048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters 0.0521300975885515 Centerline is valid? [True, True] Translation: X:439.58, Y:-87.12, Z:-3.31 [[ 9.05747890e-01 4.23813230e-01 1.76243373e-03 4.39582203e+02] [-4.23812456e-01 9.05749604e-01 -8.10321992e-04 -8.71190107e+01] [-1.93974884e-03 -1.29939344e-05 9.99998119e-01 -3.31301142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters 0.052211822792765 Centerline is valid? [True, True] Translation: X:439.64, Y:-87.14, Z:-3.31 [[ 9.03606278e-01 4.28360549e-01 1.71275590e-03 4.39638955e+02] [-4.28359825e-01 9.03607901e-01 -7.87741538e-04 -8.71417355e+01] [-1.88509716e-03 -2.18676173e-05 9.99998223e-01 -3.31341706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters 0.05205527209905405 Centerline is valid? [True, True] Translation: X:439.69, Y:-87.17, Z:-3.31 [[ 9.02269938e-01 4.31166837e-01 2.02890486e-03 4.39692711e+02] [-4.31165828e-01 9.02272219e-01 -9.33576219e-04 -8.71706396e+01] [-2.23315160e-03 -3.24566874e-05 9.99997506e-01 -3.31129840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters 0.052485265069988005 Centerline is valid? [True, True] Translation: X:439.75, Y:-87.19, Z:-3.31 [[ 9.00653926e-01 4.34533032e-01 1.88387439e-03 4.39751446e+02] [-4.34532167e-01 9.00655896e-01 -8.67511349e-04 -8.71883231e+01] [-2.07368492e-03 -3.72765200e-05 9.99997849e-01 -3.31382448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters 0.05202333693871749 Centerline is valid? [True, True] Translation: X:439.81, Y:-87.22, Z:-3.31 [[ 8.99904729e-01 4.36083685e-01 1.58083395e-03 4.39807119e+02] [-4.36083080e-01 8.99906116e-01 -7.27405069e-04 -8.72166979e+01] [-1.73981162e-03 -3.47796760e-05 9.99998486e-01 -3.31316530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters 0.05202568516065069 Centerline is valid? [True, True] Translation: X:439.86, Y:-87.24, Z:-3.31 [[ 8.99594468e-01 4.36722236e-01 1.86601140e-03 4.39862877e+02] [-4.36721393e-01 8.99596402e-01 -8.59011184e-04 -8.72436857e+01] [-2.05380643e-03 -4.21653910e-05 9.99997890e-01 -3.31301444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters 0.051096720144372394 Centerline is valid? [True, True] Translation: X:439.92, Y:-87.27, Z:-3.31 [[ 9.00290217e-01 4.35282800e-01 2.53170840e-03 4.39917577e+02] [-4.35281241e-01 9.00293775e-01 -1.16608242e-03 -8.72734271e+01] [-2.78685693e-03 -5.21925754e-05 9.99996115e-01 -3.31293598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters 0.05190985374242727 Centerline is valid? [True, True] Translation: X:439.98, Y:-87.29, Z:-3.31 [[ 9.00974788e-01 4.33864678e-01 2.42339866e-03 4.39975222e+02] [-4.33863244e-01 9.00978046e-01 -1.11653498e-03 -8.72945835e+01] [-2.66785408e-03 -4.54537418e-05 9.99996440e-01 -3.31491143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters 0.052646236744526474 Centerline is valid? [True, True] Translation: X:440.03, Y:-87.32, Z:-3.32 [[ 9.02023875e-01 4.31684481e-01 1.19895564e-03 4.40029516e+02] [-4.31684128e-01 9.02024672e-01 -5.52425734e-04 -8.73244571e+01] [-1.31996118e-03 -1.92689167e-05 9.99999129e-01 -3.31612910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters 0.05199955811151231 Centerline is valid? [True, True] Translation: X:440.08, Y:-87.35, Z:-3.32 [[ 9.02551971e-01 4.30580647e-01 4.95176413e-04 4.40084944e+02] [-4.30580587e-01 9.02552107e-01 -2.27503852e-04 -8.73524263e+01] [-5.44881271e-04 -7.87929991e-06 9.99999852e-01 -3.31715886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters 0.051947384713024514 Centerline is valid? [True, True] Translation: X:440.14, Y:-87.38, Z:-3.32 [[ 9.03128973e-01 4.29369258e-01 3.13533910e-04 4.40140297e+02] [-4.29369234e-01 9.03129027e-01 -1.43740226e-04 -8.73801673e+01] [-3.44879209e-04 -4.80585183e-06 9.99999941e-01 -3.31699550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters 0.05213863909983921 Centerline is valid? [True, True] Translation: X:440.20, Y:-87.41, Z:-3.32 [[ 9.03506291e-01 4.28572814e-01 1.31335466e-03 4.40196290e+02] [-4.28572387e-01 9.03507245e-01 -6.05330078e-04 -8.74056699e+01] [-1.44605347e-03 -1.59480102e-05 9.99998954e-01 -3.31679649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters 0.052245197564058994 Centerline is valid? [True, True] Translation: X:440.25, Y:-87.43, Z:-3.32 [[ 9.03628637e-01 4.28311651e-01 2.10122652e-03 4.40252911e+02] [-4.28310556e-01 9.03631080e-01 -9.69213851e-04 -8.74300575e+01] [-2.31385918e-03 -2.41681076e-05 9.99997323e-01 -3.31757850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters 0.05216419225158221 Centerline is valid? [True, True] Translation: X:440.31, Y:-87.45, Z:-3.32 [[ 9.03631341e-01 4.28306189e-01 2.05141939e-03 4.40310911e+02] [-4.28305144e-01 9.03633669e-01 -9.46469679e-04 -8.74533009e+01] [-2.25911045e-03 -2.33738115e-05 9.99997448e-01 -3.31901181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters 0.0522627786973638 Centerline is valid? [True, True] Translation: X:440.37, Y:-87.48, Z:-3.32 [[ 9.03838838e-01 4.27869499e-01 1.74554562e-03 4.40366926e+02] [-4.27868741e-01 9.03840523e-01 -8.05496964e-04 -8.74807262e+01] [-1.92234245e-03 -1.88249675e-05 9.99998152e-01 -3.31806593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters 0.05198466256492504 Centerline is valid? [True, True] Translation: X:440.42, Y:-87.51, Z:-3.32 [[ 9.04103552e-01 4.27309353e-01 1.86658904e-03 4.40422731e+02] [-4.27308485e-01 9.04105479e-01 -8.61719028e-04 -8.75054233e+01] [-2.05581398e-03 -1.85261023e-05 9.99997887e-01 -3.31855719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters 0.05228218637202438 Centerline is valid? [True, True] Translation: X:440.48, Y:-87.53, Z:-3.32 [[ 9.04873653e-01 4.25677917e-01 1.40800799e-03 4.40478411e+02] [-4.25677421e-01 9.04874749e-01 -6.49916841e-04 -8.75321283e+01] [-1.55072612e-03 -1.12645827e-05 9.99998798e-01 -3.31852794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters 0.05220317354900912 Centerline is valid? [True, True] Translation: X:440.53, Y:-87.56, Z:-3.32 [[ 9.05255416e-01 4.24864936e-01 1.55472416e-03 4.40534450e+02] [-4.24864330e-01 9.05256751e-01 -7.17942752e-04 -8.75582877e+01] [-1.71245324e-03 -1.06252723e-05 9.99998534e-01 -3.31913965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters 0.05199145178957973 Centerline is valid? [True, True] Translation: X:440.59, Y:-87.58, Z:-3.32 [[ 9.05327950e-01 4.24710269e-01 1.57816334e-03 4.40591349e+02] [-4.24709644e-01 9.05329325e-01 -7.28950279e-04 -8.75820328e+01] [-1.73835022e-03 -1.03221275e-05 9.99998489e-01 -3.32077479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters 0.052689801929095885 Centerline is valid? [True, True] Translation: X:440.65, Y:-87.61, Z:-3.32 [[ 9.04667382e-01 4.26114441e-01 1.84696565e-03 4.40648119e+02] [-4.26113586e-01 9.04669267e-01 -8.53637718e-04 -8.76064309e+01] [-2.03464042e-03 -1.47589585e-05 9.99997930e-01 -3.32085399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters 0.05223764313594856 Centerline is valid? [True, True] Translation: X:440.70, Y:-87.63, Z:-3.32 [[ 9.03580034e-01 4.28414813e-01 1.96694354e-03 4.40704847e+02] [-4.28413849e-01 9.03582175e-01 -9.09382239e-04 -8.76311859e+01] [-2.16688795e-03 -2.09662191e-05 9.99997652e-01 -3.32077138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters 0.052690990931357956 Centerline is valid? [True, True] Translation: X:440.76, Y:-87.66, Z:-3.32 [[ 9.01153235e-01 4.33498300e-01 1.43947055e-03 4.40761862e+02] [-4.33497789e-01 9.01154384e-01 -6.66048863e-04 -8.76553265e+01] [-1.58591625e-03 -2.37952139e-05 9.99998742e-01 -3.32150441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters 0.05263251797252361 Centerline is valid? [True, True] Translation: X:440.82, Y:-87.68, Z:-3.32 [[ 8.98815502e-01 4.38322981e-01 1.91271300e-03 4.40818112e+02] [-4.38322090e-01 8.98817536e-01 -8.84719107e-04 -8.76787994e+01] [-2.10697270e-03 -4.31851128e-05 9.99997779e-01 -3.32129433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters 0.05255140871023437 Centerline is valid? [True, True] Translation: X:440.88, Y:-87.70, Z:-3.32 [[ 8.97748985e-01 4.40500128e-01 2.52910701e-03 4.40877058e+02] [-4.40498578e-01 8.97752546e-01 -1.17029966e-03 -8.76968602e+01] [-2.78602941e-03 -6.34327132e-05 9.99996117e-01 -3.32316874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters 0.05231222234456529 Centerline is valid? [True, True] Translation: X:440.93, Y:-87.73, Z:-3.32 [[ 8.96768238e-01 4.42488558e-01 3.25635807e-03 4.40931392e+02] [-4.42485999e-01 8.96774146e-01 -1.50750157e-03 -8.77265994e+01] [-3.58726992e-03 -8.90133227e-05 9.99993562e-01 -3.32204958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters 0.05289444363194615 Centerline is valid? [True, True] Translation: X:440.99, Y:-87.74, Z:-3.32 [[ 8.96096768e-01 4.43849950e-01 2.79364351e-03 4.40992093e+02] [-4.43848072e-01 8.96101119e-01 -1.29352659e-03 -8.77414170e+01] [-3.07751879e-03 -8.08282886e-05 9.99995261e-01 -3.32488444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters 0.05158354737867004 Centerline is valid? [True, True] Translation: X:441.04, Y:-87.78, Z:-3.32 [[ 8.95935487e-01 4.44179368e-01 2.07170502e-03 4.41044451e+02] [-4.44178336e-01 8.95937880e-01 -9.59250171e-04 -8.77755900e+01] [-2.28219814e-03 -6.07802197e-05 9.99997394e-01 -3.32418157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters 0.05169017303245353 Centerline is valid? [True, True] Translation: X:441.10, Y:-87.80, Z:-3.33 [[ 8.96076760e-01 4.43898466e-01 7.70097569e-04 4.41101892e+02] [-4.43898323e-01 8.96077090e-01 -3.56500045e-04 -8.78023355e+01] [-8.48316612e-04 -2.23936143e-05 9.99999640e-01 -3.32525105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters 0.05170654803234092 Centerline is valid? [True, True] Translation: X:441.16, Y:-87.83, Z:-3.33 [[ 8.96768067e-01 4.42500851e-01 -1.77483804e-04 4.41157831e+02] [-4.42500843e-01 8.96768084e-01 8.31555855e-05 -8.78270164e+01] [ 1.95958228e-04 3.96545920e-06 9.99999981e-01 -3.32655352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters 0.05221079715350688 Centerline is valid? [True, True] Translation: X:441.21, Y:-87.85, Z:-3.33 [[ 8.97242420e-01 4.41538007e-01 -4.78258498e-04 4.41213985e+02] [-4.41537951e-01 8.97242547e-01 2.22648315e-04 -8.78507282e+01] [ 5.27421566e-04 1.13997646e-05 9.99999861e-01 -3.32821808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters 0.05216291332187482 Centerline is valid? [True, True] Translation: X:441.27, Y:-87.88, Z:-3.33 [[ 8.98628923e-01 4.38708752e-01 -8.30289678e-04 4.41268808e+02] [-4.38708583e-01 8.98629307e-01 3.85219674e-04 -8.78767661e+01] [ 9.15121879e-04 1.80856673e-05 9.99999581e-01 -3.32924162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters 0.05157107510994677 Centerline is valid? [True, True] Translation: X:441.32, Y:-87.91, Z:-3.33 [[ 8.99543065e-01 4.36831942e-01 3.59676487e-04 4.41321466e+02] [-4.36831910e-01 8.99543137e-01 -1.66631559e-04 -8.79099491e+01] [-3.96334503e-04 -7.22590395e-06 9.99999921e-01 -3.32678180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters 0.05170099178845364 Centerline is valid? [True, True] Translation: X:441.38, Y:-87.94, Z:-3.33 [[ 9.00756869e-01 4.34317216e-01 2.37055200e-03 4.41376310e+02] [-4.34315826e-01 9.00759987e-01 -1.09950486e-03 -8.79355684e+01] [-2.61283228e-03 -3.91816967e-05 9.99996586e-01 -3.32706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters 0.05183536712511903 Centerline is valid? [True, True] Translation: X:441.43, Y:-87.96, Z:-3.33 [[ 9.00949756e-01 4.33915411e-01 2.63673967e-03 4.41431758e+02] [-4.33913691e-01 9.00953614e-01 -1.22253694e-03 -8.79608930e+01] [-2.90605775e-03 -4.26730808e-05 9.99995776e-01 -3.32849656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters 0.05164769542455524 Centerline is valid? [True, True] Translation: X:441.49, Y:-87.99, Z:-3.33 [[ 9.00595336e-01 4.34654499e-01 1.87302902e-03 4.41486631e+02] [-4.34653632e-01 9.00597283e-01 -8.68371565e-04 -8.79895846e+01] [-2.06428645e-03 -3.20674873e-05 9.99997869e-01 -3.33027159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters 0.05188578128846897 Centerline is valid? [True, True] Translation: X:441.54, Y:-88.01, Z:-3.33 [[ 8.99808129e-01 4.36285020e-01 8.43881871e-04 4.41542424e+02] [-4.36284845e-01 8.99808525e-01 -3.90911393e-04 -8.80138218e+01] [-9.29880887e-04 -1.64276217e-05 9.99999568e-01 -3.33230429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters 0.05141332572595185 Centerline is valid? [True, True] Translation: X:441.60, Y:-88.04, Z:-3.33 [[ 8.99382930e-01 4.37155287e-01 2.36654086e-03 4.41599308e+02] [-4.37153911e-01 8.99386042e-01 -1.09796985e-03 -8.80411339e+01] [-2.60841714e-03 -4.70472468e-05 9.99996597e-01 -3.33173660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters 0.05203771114977397 Centerline is valid? [True, True] Translation: X:441.66, Y:-88.07, Z:-3.33 [[ 8.99307314e-01 4.37300877e-01 3.78137529e-03 4.41655091e+02] [-4.37297359e-01 8.99315260e-01 -1.75563418e-03 -8.80680378e+01] [-4.16838887e-03 -7.47307737e-05 9.99991309e-01 -3.33086679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters 0.051442297850295596 Centerline is valid? [True, True] Translation: X:441.71, Y:-88.09, Z:-3.33 [[ 8.98813954e-01 4.38308929e-01 4.33117834e-03 4.41711442e+02] [-4.38304322e-01 8.98824385e-01 -2.01163842e-03 -8.80927492e+01] [-4.77468779e-03 -9.02855011e-05 9.99988597e-01 -3.33045902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters 0.051535169034259726 Centerline is valid? [True, True] Translation: X:441.77, Y:-88.12, Z:-3.33 [[ 8.98335887e-01 4.39295746e-01 3.44689281e-03 4.41768228e+02] [-4.39292834e-01 8.98342497e-01 -1.60119885e-03 -8.81153249e+01] [-3.79989014e-03 -7.57809216e-05 9.99992778e-01 -3.33303185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters 0.052151905289683 Centerline is valid? [True, True] Translation: X:441.82, Y:-88.14, Z:-3.33 [[ 8.98205975e-01 4.39563069e-01 3.21473899e-03 4.41824503e+02] [-4.39560537e-01 8.98211725e-01 -1.49362090e-03 -8.81424724e+01] [-3.54405685e-03 -7.14931791e-05 9.99993717e-01 -3.33384445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters 0.05103494001483226 Centerline is valid? [True, True] Translation: X:441.88, Y:-88.17, Z:-3.33 [[ 8.98502712e-01 4.38954279e-01 3.46680334e-03 4.41878843e+02] [-4.38951326e-01 8.98509397e-01 -1.61157623e-03 -8.81739751e+01] [-3.82236366e-03 -7.37523092e-05 9.99992692e-01 -3.33286774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters 0.05187307768818318 Centerline is valid? [True, True] Translation: X:441.94, Y:-88.19, Z:-3.33 [[ 8.98735786e-01 4.38479778e-01 3.07754848e-03 4.41936457e+02] [-4.38477449e-01 8.98741053e-01 -1.43045482e-03 -8.81942187e+01] [-3.39314468e-03 -6.38346745e-05 9.99994241e-01 -3.33422839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters 0.051439297270868024 Centerline is valid? [True, True] Translation: X:441.99, Y:-88.23, Z:-3.33 [[ 8.99622208e-01 4.36646820e-01 4.40886592e-03 4.41988979e+02] [-4.36642014e-01 8.99633007e-01 -2.05034727e-03 -8.82261212e+01] [-4.86163893e-03 -8.05581568e-05 9.99988179e-01 -3.33301072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters 0.05229183457649338 Centerline is valid? [True, True] Translation: X:442.05, Y:-88.25, Z:-3.33 [[ 9.01022432e-01 4.33744201e-01 4.95434659e-03 4.42046015e+02] [-4.33738085e-01 9.01036050e-01 -2.30451300e-03 -8.82478508e+01] [-5.46361403e-03 -7.24708974e-05 9.99985072e-01 -3.33371972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters 0.05240135037244906 Centerline is valid? [True, True] Translation: X:442.10, Y:-88.28, Z:-3.33 [[ 9.01952834e-01 4.31801528e-01 5.34095347e-03 4.42101821e+02] [-4.31794386e-01 9.01968645e-01 -2.48442375e-03 -8.82759867e+01] [-5.89015054e-03 -6.53606759e-05 9.99982651e-01 -3.33384898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters 0.05251361179912257 Centerline is valid? [True, True] Translation: X:442.16, Y:-88.30, Z:-3.34 [[ 9.02738133e-01 4.30169682e-01 4.23174801e-03 4.42158159e+02] [-4.30165180e-01 9.02748051e-01 -1.96838521e-03 -8.83021912e+01] [-4.66694190e-03 -4.34142535e-05 9.99989109e-01 -3.33517322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters 0.05227470102756188 Centerline is valid? [True, True] Translation: X:442.22, Y:-88.33, Z:-3.34 [[ 9.02253790e-01 4.31192452e-01 3.34177981e-03 4.42215894e+02] [-4.31189651e-01 9.02259978e-01 -1.55467614e-03 -8.83260489e+01] [-3.68551879e-03 -3.82284238e-05 9.99993208e-01 -3.33678616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters 0.05203638014183226 Centerline is valid? [True, True] Translation: X:442.27, Y:-88.35, Z:-3.34 [[ 9.01623735e-01 4.32504531e-01 3.80398309e-03 4.42271985e+02] [-4.32500911e-01 9.01631759e-01 -1.77032388e-03 -8.83517865e+01] [-4.19546507e-03 -4.90601235e-05 9.99991198e-01 -3.33660706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters 0.052150454304235566 Centerline is valid? [True, True] Translation: X:442.33, Y:-88.38, Z:-3.34 [[ 9.01561165e-01 4.32620768e-01 5.17078088e-03 4.42328548e+02] [-4.32614075e-01 9.01575991e-01 -2.40740018e-03 -8.83792924e+01] [-5.70334321e-03 -6.65340728e-05 9.99983734e-01 -3.33671092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters 0.05169879680413259 Centerline is valid? [True, True] Translation: X:442.38, Y:-88.40, Z:-3.34 [[ 9.01710303e-01 4.32315904e-01 4.63559725e-03 4.42384341e+02] [-4.32310517e-01 9.01722216e-01 -2.15892830e-03 -8.84045496e+01] [-5.11336007e-03 -5.72895595e-05 9.99986925e-01 -3.33722653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters 0.05141759059723882 Centerline is valid? [True, True] Translation: X:442.44, Y:-88.43, Z:-3.34 [[ 9.01767871e-01 4.32192450e-01 4.93886126e-03 4.42440259e+02] [-4.32186329e-01 9.01781394e-01 -2.30100783e-03 -8.84315334e+01] [-5.44825140e-03 -5.95333881e-05 9.99985156e-01 -3.33784805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters 0.05309091148541759 Centerline is valid? [True, True] Translation: X:442.50, Y:-88.45, Z:-3.34 [[ 9.01437302e-01 4.32878371e-01 5.20638818e-03 4.42496846e+02] [-4.32871579e-01 9.01452335e-01 -2.42580854e-03 -8.84549422e+01] [-5.74339083e-03 -6.69831720e-05 9.99983504e-01 -3.33796527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters 0.05216216072366073 Centerline is valid? [True, True] Translation: X:442.55, Y:-88.48, Z:-3.34 [[ 9.01284904e-01 4.33192168e-01 5.48337305e-03 4.42551716e+02] [-4.33184635e-01 9.01301581e-01 -2.55566344e-03 -8.84849989e+01] [-6.04926619e-03 -7.19320790e-05 9.99981700e-01 -3.33768759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters 0.052496645814556854 Centerline is valid? [True, True] Translation: X:442.61, Y:-88.51, Z:-3.34 [[ 9.01014453e-01 4.33766370e-01 4.43749994e-03 4.42608986e+02] [-4.33761442e-01 9.01025378e-01 -2.06860360e-03 -8.85099630e+01] [-4.89559074e-03 -6.09746322e-05 9.99988015e-01 -3.34086880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters 0.05163273647231857 Centerline is valid? [True, True] Translation: X:442.67, Y:-88.54, Z:-3.34 [[ 9.01064906e-01 4.33670359e-01 3.47206717e-03 4.42665137e+02] [-4.33667342e-01 9.01071594e-01 -1.61833181e-03 -8.85359477e+01] [-3.83040364e-03 -4.75001426e-05 9.99992663e-01 -3.34218346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters 0.05188257719030684 Centerline is valid? [True, True] Translation: X:442.72, Y:-88.56, Z:-3.34 [[ 9.01401746e-01 4.32964703e-01 4.05678473e-03 4.42720289e+02] [-4.32960573e-01 9.01410874e-01 -1.89171218e-03 -8.85622850e+01] [-4.47587447e-03 -5.12351798e-05 9.99989982e-01 -3.34125444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters 0.05186532702835597 Centerline is valid? [True, True] Translation: X:442.78, Y:-88.59, Z:-3.34 [[ 9.01242449e-01 4.33291918e-01 4.49014989e-03 4.42777588e+02] [-4.33286860e-01 9.01253633e-01 -2.09442380e-03 -8.85866732e+01] [-4.95426080e-03 -5.79393104e-05 9.99987726e-01 -3.34179479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters 0.051885883724478346 Centerline is valid? [True, True] Translation: X:442.83, Y:-88.61, Z:-3.34 [[ 8.99773261e-01 4.36331855e-01 4.75292536e-03 4.42833496e+02] [-4.36326225e-01 8.99785811e-01 -2.21795034e-03 -8.86144528e+01] [-5.24437719e-03 -7.81735739e-05 9.99986245e-01 -3.34193732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters 0.05298484168881496 Centerline is valid? [True, True] Translation: X:442.89, Y:-88.63, Z:-3.34 [[ 8.98686990e-01 4.38577861e-01 3.33972629e-03 4.42892504e+02] [-4.38575097e-01 8.98693194e-01 -1.55824072e-03 -8.86326124e+01] [-3.68479916e-03 -6.43501187e-05 9.99993209e-01 -3.34476408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters 0.05241029934036906 Centerline is valid? [True, True] Translation: X:442.95, Y:-88.66, Z:-3.35 [[ 8.97859097e-01 4.40271580e-01 3.15858375e-03 4.42948011e+02] [-4.40269118e-01 8.97864651e-01 -1.47407400e-03 -8.86606828e+01] [-3.48497359e-03 -6.71161277e-05 9.99993925e-01 -3.34500482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters 0.05266749756179702 Centerline is valid? [True, True] Translation: X:443.01, Y:-88.68, Z:-3.35 [[ 8.97639020e-01 4.40720990e-01 3.03295845e-03 4.43005971e+02] [-4.40718721e-01 8.97644141e-01 -1.41584670e-03 -8.86806857e+01] [-3.34651075e-03 -6.57623225e-05 9.99994398e-01 -3.34641064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters 0.05165167226649298 Centerline is valid? [True, True] Translation: X:443.06, Y:-88.72, Z:-3.34 [[ 8.97813145e-01 4.40353394e-01 4.52172123e-03 4.43059029e+02] [-4.40348340e-01 8.97824526e-01 -2.11190981e-03 -8.87152737e+01] [-4.98969887e-03 -9.50320464e-05 9.99987547e-01 -3.34360659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters 0.05202388196792683 Centerline is valid? [True, True] Translation: X:443.12, Y:-88.74, Z:-3.34 [[ 8.98197762e-01 4.39559230e-01 5.33516486e-03 4.43117212e+02] [-4.39552178e-01 8.98213600e-01 -2.49223502e-03 -8.87361920e+01] [-5.88760254e-03 -1.06563416e-04 9.99982662e-01 -3.34375683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters 0.05203571756152948 Centerline is valid? [True, True] Translation: X:443.17, Y:-88.76, Z:-3.34 [[ 8.98138559e-01 4.39674001e-01 5.82249436e-03 4.43174609e+02] [-4.39665598e-01 8.98157425e-01 -2.72075738e-03 -8.87616320e+01] [-6.42576283e-03 -1.16333353e-04 9.99979348e-01 -3.34428508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters 0.051749957295636646 Centerline is valid? [True, True] Translation: X:443.23, Y:-88.79, Z:-3.35 [[ 8.97943054e-01 4.40072601e-01 5.86318156e-03 4.43230520e+02] [-4.40064083e-01 8.97962188e-01 -2.74065460e-03 -8.87898655e+01] [-6.47100234e-03 -1.19223860e-04 9.99979056e-01 -3.34563884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters 0.051999523361662074 Centerline is valid? [True, True] Translation: X:443.29, Y:-88.82, Z:-3.35 [[ 8.97881009e-01 4.40205535e-01 5.36474067e-03 4.43288182e+02] [-4.40198403e-01 8.97897029e-01 -2.50828649e-03 -8.88162420e+01] [-5.92114631e-03 -1.09407471e-04 9.99982464e-01 -3.34693517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters 0.05188731290610837 Centerline is valid? [True, True] Translation: X:443.34, Y:-88.84, Z:-3.35 [[ 8.97609752e-01 4.40769633e-01 4.34320180e-03 4.43344851e+02] [-4.40764963e-01 8.97620255e-01 -2.03119365e-03 -8.88417913e+01] [-4.79383438e-03 -9.11119479e-05 9.99988505e-01 -3.34715036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters 0.05201916228552983 Centerline is valid? [True, True] Translation: X:443.40, Y:-88.86, Z:-3.35 [[ 8.97159560e-01 4.41687396e-01 4.11931875e-03 4.43402527e+02] [-4.41683201e-01 8.97169012e-01 -1.92704843e-03 -8.88622311e+01] [-4.54687813e-03 -9.05639652e-05 9.99989659e-01 -3.34861600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters 0.05184995754710004 Centerline is valid? [True, True] Translation: X:443.46, Y:-88.89, Z:-3.35 [[ 8.96742669e-01 4.42530456e-01 4.40239290e-03 4.43459810e+02] [-4.42525673e-01 8.96753470e-01 -2.06009560e-03 -8.88857571e+01] [-4.85951615e-03 -1.00796250e-04 9.99988187e-01 -3.34879181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters 0.05302167454987717 Centerline is valid? [True, True] Translation: X:443.52, Y:-88.91, Z:-3.35 [[ 8.96759118e-01 4.42491796e-01 4.90860496e-03 4.43516494e+02] [-4.42485844e-01 8.96772545e-01 -2.29785202e-03 -8.89088376e+01] [-5.41868283e-03 -1.11368454e-04 9.99985313e-01 -3.34931965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters 0.05163134614022083 Centerline is valid? [True, True] Translation: X:443.57, Y:-88.94, Z:-3.35 [[ 8.97272082e-01 4.41446797e-01 5.24751384e-03 4.43570942e+02] [-4.41439974e-01 8.97287419e-01 -2.45697312e-03 -8.89404582e+01] [-5.79315106e-03 -1.11888982e-04 9.99983213e-01 -3.34879929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters 0.05215438705674161 Centerline is valid? [True, True] Translation: X:443.63, Y:-88.96, Z:-3.35 [[ 8.98541172e-01 4.38850645e-01 5.82006006e-03 4.43627384e+02] [-4.38842195e-01 8.98560015e-01 -2.72539846e-03 -8.89636824e+01] [-6.42571613e-03 -1.05205211e-04 9.99979349e-01 -3.34937257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters 0.0520800356934685 Centerline is valid? [True, True] Translation: X:443.68, Y:-88.99, Z:-3.35 [[ 8.99709995e-01 4.36448341e-01 5.89664192e-03 4.43683024e+02] [-4.36439614e-01 8.99729314e-01 -2.76145806e-03 -8.89877002e+01] [-6.51061537e-03 -8.90167082e-05 9.99978802e-01 -3.35026581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters 0.05266407513931969 Centerline is valid? [True, True] Translation: X:443.74, Y:-89.02, Z:-3.35 [[ 9.02289883e-01 4.31095736e-01 5.42519514e-03 4.43737161e+02] [-4.31088252e-01 9.02306192e-01 -2.54070019e-03 -8.90166052e+01] [-5.99047219e-03 -4.62898166e-05 9.99982056e-01 -3.35139170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters 0.05227942575770831 Centerline is valid? [True, True] Translation: X:443.79, Y:-89.05, Z:-3.35 [[ 9.06028189e-01 4.23199175e-01 3.92159080e-03 4.43790634e+02] [-4.23195190e-01 9.06036676e-01 -1.83653374e-03 -8.90481001e+01] [-4.33032466e-03 4.35297711e-06 9.99990624e-01 -3.35256778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters 0.052320859178349124 Centerline is valid? [True, True] Translation: X:443.85, Y:-89.08, Z:-3.35 [[ 9.08567980e-01 4.17725326e-01 3.12702167e-03 4.43846060e+02] [-4.17722761e-01 9.08573360e-01 -1.46418487e-03 -8.90760703e+01] [-3.45275568e-03 2.40833638e-05 9.99994039e-01 -3.35281595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters 0.05310745874659996 Centerline is valid? [True, True] Translation: X:443.90, Y:-89.11, Z:-3.35 [[ 9.11817291e-01 4.10582918e-01 3.30081264e-03 4.43898491e+02] [-4.10580009e-01 9.11823264e-01 -1.54657363e-03 -8.91058272e+01] [-3.64475447e-03 5.49448943e-05 9.99993356e-01 -3.35292779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters 0.05297556683276513 Centerline is valid? [True, True] Translation: X:443.95, Y:-89.13, Z:-3.35 [[ 9.13506438e-01 4.06803327e-01 4.12810435e-03 4.43953694e+02] [-4.06798738e-01 9.13515761e-01 -1.93415343e-03 -8.91318380e+01] [-4.55790843e-03 8.75539655e-05 9.99989609e-01 -3.35219364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters 0.053020882774302294 Centerline is valid? [True, True] Translation: X:444.01, Y:-89.16, Z:-3.35 [[ 9.13625599e-01 4.06532266e-01 4.44757485e-03 4.44008543e+02] [-4.06526936e-01 9.13636420e-01 -2.08389945e-03 -8.91615499e+01] [-4.91063873e-03 9.58449092e-05 9.99987938e-01 -3.35336754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters 0.05286456022416929 Centerline is valid? [True, True] Translation: X:444.07, Y:-89.18, Z:-3.35 [[ 9.12303936e-01 4.09497816e-01 3.61487122e-03 4.44065571e+02] [-4.09494317e-01 9.12311095e-01 -1.69397770e-03 -8.91817048e+01] [-3.99156729e-03 6.51532993e-05 9.99992032e-01 -3.35400643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters 0.052883139551535195 Centerline is valid? [True, True] Translation: X:444.12, Y:-89.21, Z:-3.36 [[ 9.10745438e-01 4.12959821e-01 2.63318157e-03 4.44121808e+02] [-4.12957979e-01 9.10749244e-01 -1.23386914e-03 -8.92063378e+01] [-2.90770650e-03 3.63473509e-05 9.99995772e-01 -3.35527807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters 0.052558093360734276 Centerline is valid? [True, True] Translation: X:444.18, Y:-89.23, Z:-3.35 [[ 9.07522063e-01 4.19998957e-01 2.14049951e-03 4.44179980e+02] [-4.19997759e-01 9.07524587e-01 -1.00307949e-03 -8.92252615e+01] [-2.36384827e-03 1.13117668e-05 9.99997206e-01 -3.35416499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters 0.052932141031508166 Centerline is valid? [True, True] Translation: X:444.24, Y:-89.25, Z:-3.36 [[ 9.03955602e-01 4.27617558e-01 2.73734864e-03 4.44238310e+02] [-4.27615634e-01 9.03959747e-01 -1.28275892e-03 -8.92466606e+01] [-3.02298322e-03 -1.09759597e-05 9.99995431e-01 -3.35592001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters 0.05255675029817942 Centerline is valid? [True, True] Translation: X:444.30, Y:-89.27, Z:-3.36 [[ 9.01715094e-01 4.32318602e-01 3.24280229e-03 4.44295949e+02] [-4.32315932e-01 9.01720924e-01 -1.51974558e-03 -8.92706520e+01] [-3.58111697e-03 -3.15375689e-05 9.99993587e-01 -3.35596396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters 0.05227795634287623 Centerline is valid? [True, True] Translation: X:444.35, Y:-89.29, Z:-3.36 [[ 8.99221361e-01 4.37470445e-01 4.53362087e-03 4.44352376e+02] [-4.37465289e-01 8.99232786e-01 -2.12528441e-03 -8.92914770e+01] [-5.00652964e-03 -7.22006273e-05 9.99987465e-01 -3.35628049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters 0.0520930540403066 Centerline is valid? [True, True] Translation: X:444.41, Y:-89.32, Z:-3.36 [[ 8.97736698e-01 4.40510951e-01 4.34997330e-03 4.44408655e+02] [-4.40506239e-01 8.97747233e-01 -2.03937174e-03 -8.93172427e+01] [-4.80354208e-03 -8.53715227e-05 9.99988459e-01 -3.35647745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters 0.05123986916414032 Centerline is valid? [True, True] Translation: X:444.46, Y:-89.34, Z:-3.36 [[ 8.95622378e-01 4.44800238e-01 3.64752671e-03 4.44464793e+02] [-4.44796959e-01 8.95629801e-01 -1.71036879e-03 -8.93403241e+01] [-4.02760607e-03 -9.05642210e-05 9.99991885e-01 -3.35748267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters 0.05174174369885502 Centerline is valid? [True, True] Translation: X:444.52, Y:-89.37, Z:-3.36 [[ 8.94293087e-01 4.47470594e-01 3.15313254e-03 4.44520402e+02] [-4.47468160e-01 8.94298641e-01 -1.47855133e-03 -8.93661497e+01] [-3.48145039e-03 -8.86681866e-05 9.99993936e-01 -3.35837984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters 0.05181840925135278 Centerline is valid? [True, True] Translation: X:444.57, Y:-89.39, Z:-3.36 [[ 8.92853978e-01 4.50341620e-01 2.04930694e-03 4.44574913e+02] [-4.50340600e-01 8.92856327e-01 -9.60898932e-04 -8.93934235e+01] [-2.26246945e-03 -6.49436818e-05 9.99997439e-01 -3.36004952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters 0.05239371961625797 Centerline is valid? [True, True] Translation: X:444.63, Y:-89.42, Z:-3.36 [[ 8.92840637e-01 4.50371770e-01 9.30136237e-04 4.44631552e+02] [-4.50371561e-01 8.92841121e-01 -4.35375799e-04 -8.94187911e+01] [-1.02654485e-03 -3.01857036e-05 9.99999473e-01 -3.36177141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters 0.052028580973621695 Centerline is valid? [True, True] Translation: X:444.68, Y:-89.45, Z:-3.36 [[ 8.94141622e-01 4.47783871e-01 6.03698894e-04 4.44683561e+02] [-4.47783782e-01 8.94141826e-01 -2.83109595e-04 -8.94524276e+01] [-6.66564342e-04 -1.71865016e-05 9.99999778e-01 -3.36048832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters 0.05190931363369583 Centerline is valid? [True, True] Translation: X:444.74, Y:-89.49, Z:-3.36 [[ 8.97595610e-01 4.40815871e-01 1.86814901e-03 4.44736024e+02] [-4.40815001e-01 8.97597553e-01 -8.76284793e-04 -8.94860898e+01] [-2.06312622e-03 -3.69587240e-05 9.99997871e-01 -3.35953216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters 0.05152195810411352 Centerline is valid? [True, True] Translation: X:444.79, Y:-89.51, Z:-3.36 [[ 8.98930580e-01 4.38085855e-01 2.14380262e-03 4.44790287e+02] [-4.38084702e-01 8.98933136e-01 -1.00574416e-03 -8.95133115e+01] [-2.36773750e-03 -3.50729493e-05 9.99997196e-01 -3.35980808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters 0.051921067130431264 Centerline is valid? [True, True] Translation: X:444.84, Y:-89.55, Z:-3.36 [[ 9.03581360e-01 4.28408644e-01 2.59995187e-03 4.44841684e+02] [-4.28406908e-01 9.03585100e-01 -1.21978343e-03 -8.95478792e+01] [-2.87184354e-03 -1.16637764e-05 9.99995876e-01 -3.35974263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters 0.052080655013268494 Centerline is valid? [True, True] Translation: X:444.89, Y:-89.58, Z:-3.36 [[ 9.06897794e-01 4.21344636e-01 2.25599379e-03 4.44894519e+02] [-4.21343308e-01 9.06900600e-01 -1.05786488e-03 -8.95801416e+01] [-2.49168781e-03 8.82743828e-06 9.99996896e-01 -3.36107632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters 0.052431042220112876 Centerline is valid? [True, True] Translation: X:444.95, Y:-89.61, Z:-3.36 [[ 9.11962163e-01 4.10272445e-01 1.23874683e-03 4.44946718e+02] [-4.10272034e-01 9.11963004e-01 -5.81364507e-04 -8.96139279e+01] [-1.36820911e-03 2.19592539e-05 9.99999064e-01 -3.36201725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters 0.05293189913860325 Centerline is valid? [True, True] Translation: X:445.00, Y:-89.65, Z:-3.36 [[ 9.15692074e-01 4.01880610e-01 -2.76865821e-05 4.44997623e+02] [-4.01880609e-01 9.15692075e-01 1.31380423e-05 -8.96491746e+01] [ 3.06323081e-05 -9.03700693e-07 1.00000000e+00 -3.36360913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters 0.053230763034451796 Centerline is valid? [True, True] Translation: X:445.05, Y:-89.67, Z:-3.36 [[ 9.17417058e-01 3.97926834e-01 4.19154575e-04 4.45053151e+02] [-3.97926786e-01 9.17417154e-01 -1.96046295e-04 -8.96742006e+01] [-4.62551679e-04 1.30633820e-05 9.99999893e-01 -3.36267584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters 0.05289810923084094 Centerline is valid? [True, True] Translation: X:445.11, Y:-89.70, Z:-3.36 [[ 9.18124093e-01 3.96290258e-01 1.47682694e-03 4.45108747e+02] [-3.96289655e-01 9.18125280e-01 -6.93219987e-04 -8.97016944e+01] [-1.63062848e-03 5.12107322e-05 9.99998669e-01 -3.36221168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters 0.05337284549782134 Centerline is valid? [True, True] Translation: X:445.16, Y:-89.73, Z:-3.36 [[ 9.17312465e-01 3.98162187e-01 2.17136893e-03 4.45161423e+02] [-3.98160888e-01 9.17315032e-01 -1.01937416e-03 -8.97309740e+01] [-2.39770560e-03 7.05304372e-05 9.99997123e-01 -3.36360285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters 0.053101378449120204 Centerline is valid? [True, True] Translation: X:445.22, Y:-89.76, Z:-3.36 [[ 9.14944235e-01 4.03574950e-01 2.07529684e-03 4.45216160e+02] [-4.03573777e-01 9.14946587e-01 -9.74657157e-04 -8.97558959e+01] [-2.29213298e-03 5.42215620e-05 9.99997372e-01 -3.36460529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters 0.05292765598678762 Centerline is valid? [True, True] Translation: X:445.27, Y:-89.78, Z:-3.37 [[ 9.12735197e-01 4.08548693e-01 1.55733874e-03 4.45273381e+02] [-4.08548040e-01 9.12736525e-01 -7.31338081e-04 -8.97774720e+01] [-1.72022716e-03 3.12703204e-05 9.99998520e-01 -3.36526051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters 0.05260606275187713 Centerline is valid? [True, True] Translation: X:445.33, Y:-89.80, Z:-3.37 [[ 9.08613817e-01 4.17635281e-01 1.30523089e-03 4.45331131e+02] [-4.17634832e-01 9.08614754e-01 -6.12901355e-04 -8.97987588e+01] [-1.44192128e-03 1.17807564e-05 9.99998960e-01 -3.36603746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters 0.05164544838923267 Centerline is valid? [True, True] Translation: X:445.39, Y:-89.82, Z:-3.37 [[ 9.03836205e-01 4.27876618e-01 1.30943226e-03 4.45389578e+02] [-4.27876177e-01 9.03837153e-01 -6.14284709e-04 -8.98194937e+01] [-1.44635159e-03 -5.06210976e-06 9.99998954e-01 -3.36642797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters 0.051957035326580005 Centerline is valid? [True, True] Translation: X:445.45, Y:-89.84, Z:-3.37 [[ 9.01049597e-01 4.33710808e-01 2.13503512e-03 4.45447324e+02] [-4.33709649e-01 9.01052126e-01 -1.00283734e-03 -8.98393868e+01] [-2.35871933e-03 -2.23791567e-05 9.99997218e-01 -3.36906518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters 0.051038725009183494 Centerline is valid? [True, True] Translation: X:445.50, Y:-89.86, Z:-3.37 [[ 8.98345802e-01 4.39283830e-01 2.13018183e-03 4.45503447e+02] [-4.39282691e-01 8.98348326e-01 -1.00097837e-03 -8.98625220e+01] [-2.35335890e-03 -3.65272915e-05 9.99997230e-01 -3.36865737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters 0.051003266997337614 Centerline is valid? [True, True] Translation: X:445.56, Y:-89.89, Z:-3.37 [[ 8.97355585e-01 4.41302313e-01 2.28543812e-03 4.45558375e+02] [-4.41301009e-01 8.97358494e-01 -1.07382809e-03 -8.98911004e+01] [-2.52474012e-03 -4.49605153e-05 9.99996812e-01 -3.36852381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters 0.051114297637307356 Centerline is valid? [True, True] Translation: X:445.62, Y:-89.92, Z:-3.37 [[ 8.97123897e-01 4.41770771e-01 2.70193596e-03 4.45615888e+02] [-4.41768951e-01 8.97127964e-01 -1.26925202e-03 -8.99153957e+01] [-2.98470075e-03 -5.49550949e-05 9.99995544e-01 -3.36935552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters 0.05143870698517903 Centerline is valid? [True, True] Translation: X:445.67, Y:-89.95, Z:-3.37 [[ 8.97049562e-01 4.41916220e-01 3.48395271e-03 4.45670031e+02] [-4.41913193e-01 8.97056324e-01 -1.63736905e-03 -8.99476128e+01] [-3.84888176e-03 -7.08034759e-05 9.99992591e-01 -3.36741294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters 0.05144227191346438 Centerline is valid? [True, True] Translation: X:445.73, Y:-89.97, Z:-3.37 [[ 8.96879417e-01 4.42274307e-01 8.65522978e-04 4.45725617e+02] [-4.42274121e-01 8.96879834e-01 -4.06236699e-04 -8.99747279e+01] [-9.55938160e-04 -1.84530807e-05 9.99999543e-01 -3.36945681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters 0.05139815942262433 Centerline is valid? [True, True] Translation: X:445.78, Y:-90.00, Z:-3.38 [[ 8.96586654e-01 4.42850837e-01 -3.93810989e-03 4.45780598e+02] [-4.42846969e-01 8.96595299e-01 1.85275679e-03 -8.99991499e+01] [ 4.35138571e-03 8.28230205e-05 9.99990529e-01 -3.37532018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters 0.05177283485629461 Centerline is valid? [True, True] Translation: X:445.84, Y:-90.03, Z:-3.37 [[ 8.97312549e-01 4.41374705e-01 -4.30796031e-03 4.45835045e+02] [-4.41370058e-01 8.97322887e-01 2.02713738e-03 -9.00307904e+01] [ 4.76035854e-03 8.24288837e-05 9.99988666e-01 -3.37385458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters 0.05109190637030532 Centerline is valid? [True, True] Translation: X:445.89, Y:-90.06, Z:-3.37 [[ 8.99246303e-01 4.37432863e-01 -2.92852835e-03 4.45888233e+02] [-4.37430694e-01 8.99251071e-01 1.37795280e-03 -9.00613809e+01] [ 3.23624410e-03 4.19092272e-05 9.99994762e-01 -3.37045969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters 0.05142016349503282 Centerline is valid? [True, True] Translation: X:445.94, Y:-90.09, Z:-3.37 [[ 9.01101569e-01 4.33604359e-01 -1.79511210e-03 4.45942334e+02] [-4.33603537e-01 9.01103357e-01 8.44848908e-04 -9.00900213e+01] [ 1.98391171e-03 1.70722794e-05 9.99998032e-01 -3.36898069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters 0.0513744469258095 Centerline is valid? [True, True] Translation: X:446.00, Y:-90.12, Z:-3.37 [[ 9.02884603e-01 4.29883000e-01 2.45075215e-05 4.45996014e+02] [-4.29882999e-01 9.02884603e-01 -1.14643854e-05 -9.01168987e+01] [-2.70558084e-05 -1.84349833e-07 1.00000000e+00 -3.36888586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters 0.051398521356342486 Centerline is valid? [True, True] Translation: X:446.05, Y:-90.15, Z:-3.37 [[ 9.06325949e-01 4.22577649e-01 1.18506563e-03 4.46049814e+02] [-4.22577282e-01 9.06326724e-01 -5.56849675e-04 -9.01459469e+01] [-1.30936887e-03 3.90549901e-06 9.99999143e-01 -3.36920103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters 0.0522735671312865 Centerline is valid? [True, True] Translation: X:446.11, Y:-90.17, Z:-3.37 [[ 9.09347164e-01 4.16036566e-01 1.14525776e-03 4.46105048e+02] [-4.16036218e-01 9.09347885e-01 -5.38820818e-04 -9.01741847e+01] [-1.26560689e-03 1.35064747e-05 9.99999199e-01 -3.36837964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters 0.052291783121054036 Centerline is valid? [True, True] Translation: X:446.16, Y:-90.20, Z:-3.37 [[ 9.13200079e-01 4.07509625e-01 1.23332161e-03 4.46158856e+02] [-4.07509213e-01 9.13200911e-01 -5.80435806e-04 -9.02026360e+01] [-1.36280360e-03 2.74641063e-05 9.99999071e-01 -3.36720667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters 0.05302201644951096 Centerline is valid? [True, True] Translation: X:446.21, Y:-90.23, Z:-3.37 [[ 9.15308339e-01 4.02752114e-01 1.17449917e-03 4.46212865e+02] [-4.02751736e-01 9.15309092e-01 -5.52837786e-04 -9.02289719e+01] [-1.29768636e-03 3.29854560e-05 9.99999157e-01 -3.36767023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters 0.05380605796041874 Centerline is valid? [True, True] Translation: X:446.27, Y:-90.25, Z:-3.37 [[ 9.17601414e-01 3.97500335e-01 1.06279451e-03 4.46269808e+02] [-3.97500022e-01 9.17602029e-01 -5.00134327e-04 -9.02518530e+01] [-1.17402596e-03 3.64631239e-05 9.99999310e-01 -3.36843284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters 0.05399640632132008 Centerline is valid? [True, True] Translation: X:446.33, Y:-90.27, Z:-3.37 [[ 9.19008964e-01 3.94230619e-01 2.17807132e-03 4.46326969e+02] [-3.94229294e-01 9.19011541e-01 -1.02536731e-03 -9.02717147e+01] [-2.40590387e-03 8.36622332e-05 9.99997102e-01 -3.36845364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters 0.05437203738713909 Centerline is valid? [True, True] Translation: X:446.38, Y:-90.30, Z:-3.37 [[ 9.18128107e-01 3.96276414e-01 2.40490471e-03 4.46381970e+02] [-3.96274806e-01 9.18131252e-01 -1.13196240e-03 -9.03002314e+01] [-2.65658818e-03 8.62833506e-05 9.99996468e-01 -3.36996248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters 0.05291325445425132 Centerline is valid? [True, True] Translation: X:446.45, Y:-90.30, Z:-3.37 [[ 9.07781950e-01 4.19441060e-01 1.06249892e-03 4.46450405e+02] [-4.19440762e-01 9.07782571e-01 -5.00163652e-04 -9.02984515e+01] [-1.17430718e-03 8.38417712e-06 9.99999310e-01 -3.37150651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters 0.05340132276652315 Centerline is valid? [True, True] Translation: X:446.51, Y:-90.32, Z:-3.37 [[ 9.04983162e-01 4.25442516e-01 2.03511217e-03 4.46508340e+02] [-4.25441438e-01 9.04985450e-01 -9.57841487e-04 -9.03189063e+01] [-2.24925340e-03 1.00936720e-06 9.99997470e-01 -3.37198630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters 0.05340132276652315 Centerline is valid? [True, True] Translation: X:446.56, Y:-90.35, Z:-3.37 [[ 9.04926850e-01 4.25562281e-01 2.03518641e-03 4.46564866e+02] [-4.25561203e-01 9.04929138e-01 -9.57683958e-04 -9.03455045e+01] [-2.24925365e-03 5.37550029e-07 9.99997470e-01 -3.37244683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters 0.052938050250301565 Centerline is valid? [True, True] Translation: X:446.62, Y:-90.37, Z:-3.37 [[ 9.03510495e-01 4.28561220e-01 2.01625787e-03 4.46622565e+02] [-4.28560169e-01 9.03512745e-01 -9.49080090e-04 -9.03698862e+01] [-2.22845361e-03 -6.58399195e-06 9.99997517e-01 -3.37245737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters 0.05256817339042598 Centerline is valid? [True, True] Translation: X:446.68, Y:-90.39, Z:-3.37 [[ 9.02200550e-01 4.31312798e-01 1.85429682e-03 4.46678815e+02] [-4.31311914e-01 9.02202455e-01 -8.73481015e-04 -9.03941144e+01] [-2.04969468e-03 -1.17252565e-05 9.99997899e-01 -3.37299911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters 0.05306321943508456 Centerline is valid? [True, True] Translation: X:446.74, Y:-90.42, Z:-3.37 [[ 9.00908009e-01 4.34007645e-01 1.45696267e-03 4.46735839e+02] [-4.34007102e-01 9.00909187e-01 -6.86449666e-04 -9.04197021e+01] [-1.61051546e-03 -1.39041449e-05 9.99998703e-01 -3.37321465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters 0.052505039496510454 Centerline is valid? [True, True] Translation: X:446.79, Y:-90.44, Z:-3.37 [[ 8.98291037e-01 4.39400926e-01 1.96267493e-04 4.46792121e+02] [-4.39400917e-01 8.98291059e-01 -9.20076238e-05 -9.04416908e+01] [-2.16733569e-04 -3.59049252e-06 9.99999977e-01 -3.37456218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters 0.05240880838401957 Centerline is valid? [True, True] Translation: X:446.85, Y:-90.46, Z:-3.38 [[ 8.94032873e-01 4.47999859e-01 -1.16117207e-03 4.46849631e+02] [-4.47999525e-01 8.94033627e-01 5.47811094e-04 -9.04594851e+01] [ 1.28354617e-03 3.04434112e-05 9.99999176e-01 -3.37628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters 0.052357591250569026 Centerline is valid? [True, True] Translation: X:446.90, Y:-90.49, Z:-3.37 [[ 8.93707042e-01 4.48650405e-01 -7.33315328e-04 4.46904660e+02] [-4.48650272e-01 8.93707342e-01 3.46812310e-04 -9.04883996e+01] [ 8.10966776e-04 1.90535179e-05 9.99999671e-01 -3.37477744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters 0.05260846425469593 Centerline is valid? [True, True] Translation: X:446.96, Y:-90.51, Z:-3.37 [[ 8.94929990e-01 4.46206573e-01 7.99638088e-05 4.46959718e+02] [-4.46206572e-01 8.94929994e-01 -3.75821184e-05 -9.05144533e+01] [-8.83313993e-05 -2.04701212e-06 9.99999996e-01 -3.37460718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters 0.052231579795848526 Centerline is valid? [True, True] Translation: X:447.01, Y:-90.54, Z:-3.37 [[ 8.96656258e-01 4.42726374e-01 9.55630148e-04 4.47014360e+02] [-4.42726145e-01 8.96656767e-01 -4.50623533e-04 -9.05430052e+01] [-1.05637516e-03 -1.90280402e-05 9.99999442e-01 -3.37426206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters 0.05231260587865947 Centerline is valid? [True, True] Translation: X:447.07, Y:-90.57, Z:-3.37 [[ 8.99500465e-01 4.36919767e-01 1.75238412e-04 4.47066316e+02] [-4.36919759e-01 8.99500482e-01 -8.25995297e-05 -9.05747803e+01] [-1.93716404e-04 -2.26680959e-06 9.99999981e-01 -3.37252883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters 0.052181010182562076 Centerline is valid? [True, True] Translation: X:447.12, Y:-90.60, Z:-3.37 [[ 9.01621941e-01 4.32523853e-01 -9.96117929e-04 4.47121095e+02] [-4.32523597e-01 9.01622491e-01 4.70069325e-04 -9.06017463e+01] [ 1.10143852e-03 7.01969306e-06 9.99999393e-01 -3.37379391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters 0.053796071063514375 Centerline is valid? [True, True] Translation: X:447.17, Y:-90.63, Z:-3.38 [[ 9.05352905e-01 4.24654159e-01 -2.22778577e-03 4.47174956e+02] [-4.24652858e-01 9.05355646e-01 1.05135040e-03 -9.06323367e+01] [ 2.46339875e-03 -5.80754935e-06 9.99996966e-01 -3.37630050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters 0.05323707767535926 Centerline is valid? [True, True] Translation: X:447.23, Y:-90.66, Z:-3.38 [[ 9.08257589e-01 4.18400524e-01 -3.02537565e-03 4.47228455e+02] [-4.18398090e-01 9.08262627e-01 1.42770621e-03 -9.06632454e+01] [ 3.34518866e-03 -3.09136049e-05 9.99994404e-01 -3.37723805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters 0.05393654767524231 Centerline is valid? [True, True] Translation: X:447.28, Y:-90.69, Z:-3.37 [[ 9.12787941e-01 4.08418057e-01 -3.58686735e-03 4.47281129e+02] [-4.08414557e-01 9.12794985e-01 1.69269280e-03 -9.06934347e+01] [ 3.96540083e-03 -8.01407303e-05 9.99992135e-01 -3.37431952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters 0.054403617414928 Centerline is valid? [True, True] Translation: X:447.34, Y:-90.72, Z:-3.37 [[ 9.16202172e-01 4.00705378e-01 -2.96312214e-03 4.47335836e+02] [-4.00702948e-01 9.16206959e-01 1.39841553e-03 -9.07197954e+01] [ 3.27518575e-03 -9.38995658e-05 9.99994632e-01 -3.37266129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters 0.05466298177046665 Centerline is valid? [True, True] Translation: X:447.39, Y:-90.75, Z:-3.37 [[ 9.20896055e-01 3.89807559e-01 -7.23508296e-04 4.47386959e+02] [-3.89807411e-01 9.20896338e-01 3.41478998e-04 -9.07533114e+01] [ 7.99387235e-04 -3.24377664e-05 9.99999680e-01 -3.37242136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters 0.05487790466688117 Centerline is valid? [True, True] Translation: X:447.44, Y:-90.78, Z:-3.37 [[ 9.23184831e-01 3.84356094e-01 4.00944486e-04 4.47443171e+02] [-3.84356048e-01 9.23184918e-01 -1.89034859e-04 -9.07779385e+01] [-4.42802603e-04 2.04086763e-05 9.99999902e-01 -3.37176191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters 0.05651415265873764 Centerline is valid? [True, True] Translation: X:447.49, Y:-90.81, Z:-3.37 [[ 9.24329210e-01 3.81595472e-01 -6.38993718e-04 4.47492838e+02] [-3.81595354e-01 9.24329430e-01 3.01616153e-04 -9.08141813e+01] [ 7.05736057e-04 -3.49555863e-05 9.99999750e-01 -3.37379476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters 0.055906938353797925 Centerline is valid? [True, True] Translation: X:447.55, Y:-90.83, Z:-3.37 [[ 9.23807632e-01 3.82853996e-01 -1.50864788e-03 4.47551701e+02] [-3.82853342e-01 9.23808861e-01 7.12115922e-04 -9.08329936e+01] [ 1.66633870e-03 -8.02672415e-05 9.99998608e-01 -3.37327545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters 0.05485458775021367 Centerline is valid? [True, True] Translation: X:447.61, Y:-90.85, Z:-3.37 [[ 9.21381519e-01 3.88656787e-01 -1.41353754e-03 4.47612391e+02] [-3.88656219e-01 9.21382601e-01 6.67306309e-04 -9.08473491e+01] [ 1.56176202e-03 -6.54635455e-05 9.99998778e-01 -3.37307205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters 0.05518388296436462 Centerline is valid? [True, True] Translation: X:447.67, Y:-90.87, Z:-3.37 [[ 9.18244173e-01 3.96014429e-01 -4.58189531e-04 4.47668856e+02] [-3.96014371e-01 9.18244287e-01 2.16264010e-04 -9.08676278e+01] [ 5.06373587e-04 -1.71335285e-05 9.99999872e-01 -3.37385099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters 0.05530216032066093 Centerline is valid? [True, True] Translation: X:447.72, Y:-90.90, Z:-3.38 [[ 9.16376984e-01 4.00315804e-01 6.92732035e-04 4.47723461e+02] [-4.00315672e-01 9.16377246e-01 -3.26775764e-04 -9.08955006e+01] [-7.65617377e-04 2.21382991e-05 9.99999707e-01 -3.37560916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters 0.055080866271551204 Centerline is valid? [True, True] Translation: X:447.78, Y:-90.91, Z:-3.37 [[ 9.14338858e-01 4.04948591e-01 1.04513455e-03 4.47784508e+02] [-4.04948291e-01 9.14339455e-01 -4.93281325e-04 -9.09060779e+01] [-1.15536134e-03 2.78008316e-05 9.99999332e-01 -3.37334502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters 0.05449498033218562 Centerline is valid? [True, True] Translation: X:447.84, Y:-90.94, Z:-3.38 [[ 9.13403037e-01 4.07055149e-01 9.98889413e-04 4.47837995e+02] [-4.07054877e-01 9.13403583e-01 -4.71212658e-04 -9.09378771e+01] [-1.10419871e-03 2.38042665e-05 9.99999390e-01 -3.37678876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters 0.054934325232224114 Centerline is valid? [True, True] Translation: X:447.90, Y:-90.95, Z:-3.38 [[ 9.12555429e-01 4.08952449e-01 6.95916238e-04 4.47897804e+02] [-4.08952317e-01 9.12555694e-01 -3.28446088e-04 -9.09527847e+01] [-7.69381158e-04 1.51287019e-05 9.99999704e-01 -3.37597866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters 0.05499914210592756 Centerline is valid? [True, True] Translation: X:447.96, Y:-90.98, Z:-3.38 [[ 9.12587061e-01 4.08881444e-01 9.06653960e-04 4.47955734e+02] [-4.08881220e-01 9.12587511e-01 -4.27628014e-04 -9.09773554e+01] [-1.00225024e-03 1.95340145e-05 9.99999498e-01 -3.37741587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters 0.055733851243705834 Centerline is valid? [True, True] Translation: X:448.01, Y:-91.00, Z:-3.38 [[ 9.13456943e-01 4.06933515e-01 1.23605685e-03 4.48013453e+02] [-4.06933099e-01 9.13457779e-01 -5.83165068e-04 -9.10014439e+01] [-1.36639516e-03 2.97037349e-05 9.99999066e-01 -3.37860360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters 0.05569798501463569 Centerline is valid? [True, True] Translation: X:448.07, Y:-91.02, Z:-3.38 [[ 9.14369053e-01 4.04880902e-01 8.30976288e-04 4.48073517e+02] [-4.04880712e-01 9.14369430e-01 -3.91995800e-04 -9.10172765e+01] [-9.18530928e-04 2.19825570e-05 9.99999578e-01 -3.37688446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters 0.05588892670342956 Centerline is valid? [True, True] Translation: X:448.13, Y:-91.04, Z:-3.38 [[ 9.16801078e-01 3.99344003e-01 -3.87904932e-04 4.48132101e+02] [-3.99343962e-01 9.16801160e-01 1.83389586e-04 -9.10361793e+01] [ 4.28867223e-04 -1.32242776e-05 9.99999908e-01 -3.37585318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters 0.05581327848560976 Centerline is valid? [True, True] Translation: X:448.19, Y:-91.06, Z:-3.38 [[ 9.19676951e-01 3.92674349e-01 -1.07777393e-03 4.48186644e+02] [-3.92674021e-01 9.19677582e-01 5.09270759e-04 -9.10609446e+01] [ 1.19118209e-03 -4.51507565e-05 9.99999290e-01 -3.37570647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters 0.05709351782762671 Centerline is valid? [True, True] Translation: X:448.24, Y:-91.09, Z:-3.38 [[ 9.21273383e-01 3.88915259e-01 -5.25070761e-04 4.48241874e+02] [-3.88915181e-01 9.21273532e-01 2.48127272e-04 -9.10862249e+01] [ 5.80234277e-04 -2.43850615e-05 9.99999831e-01 -3.37658027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters 0.0568220957445629 Centerline is valid? [True, True] Translation: X:448.30, Y:-91.11, Z:-3.38 [[ 9.21764157e-01 3.87750898e-01 -2.82056711e-04 4.48296655e+02] [-3.87750875e-01 9.21764200e-01 1.34164847e-04 -9.11138405e+01] [ 3.12012318e-04 -1.43006109e-05 9.99999951e-01 -3.37737120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters 0.05735583382457485 Centerline is valid? [True, True] Translation: X:448.35, Y:-91.14, Z:-3.38 [[ 9.22435137e-01 3.86151854e-01 4.04831932e-04 4.48354318e+02] [-3.86151808e-01 9.22435225e-01 -1.91099100e-04 -9.11357201e+01] [-4.47224507e-04 1.99499423e-05 9.99999900e-01 -3.37767603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters 0.056864625700997665 Centerline is valid? [True, True] Translation: X:448.41, Y:-91.15, Z:-3.38 [[ 9.21003672e-01 3.89553894e-01 -1.23678241e-06 4.48413508e+02] [-3.89553894e-01 9.21003672e-01 7.42099170e-07 -9.11532318e+01] [ 1.42816861e-06 -2.01682655e-07 1.00000000e+00 -3.37794054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters 0.05681406949267528 Centerline is valid? [True, True] Translation: X:448.47, Y:-91.17, Z:-3.38 [[ 9.19042499e-01 3.94158043e-01 -5.67591315e-04 4.48470997e+02] [-3.94157953e-01 9.19042674e-01 2.68338397e-04 -9.11747174e+01] [ 6.27408378e-04 -2.28937605e-05 9.99999803e-01 -3.37894021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters 0.05600432871355039 Centerline is valid? [True, True] Translation: X:448.53, Y:-91.19, Z:-3.38 [[ 9.15215513e-01 4.02964710e-01 -8.63769624e-05 4.48529530e+02] [-4.02964708e-01 9.15215517e-01 4.09194463e-05 -9.11930758e+01] [ 9.55426290e-05 -2.64324454e-06 9.99999995e-01 -3.37975864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters 0.05654952471969047 Centerline is valid? [True, True] Translation: X:448.59, Y:-91.21, Z:-3.38 [[ 9.12459063e-01 4.09167852e-01 3.57753419e-04 4.48587473e+02] [-4.09167817e-01 9.12459133e-01 -1.68992946e-04 -9.12132839e+01] [-3.95581856e-04 7.81795959e-06 9.99999922e-01 -3.38022535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters 0.05594067006679493 Centerline is valid? [True, True] Translation: X:448.64, Y:-91.23, Z:-3.38 [[ 9.08625224e-01 4.17611450e-01 9.38004903e-04 4.48644369e+02] [-4.17611215e-01 9.08625708e-01 -4.43214458e-04 -9.12331103e+01] [-1.03738680e-03 1.09944684e-05 9.99999462e-01 -3.38283512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters 0.0560826583041142 Centerline is valid? [True, True] Translation: X:448.70, Y:-91.25, Z:-3.38 [[ 9.06398435e-01 4.22423615e-01 4.08551293e-04 4.48703330e+02] [-4.22423571e-01 9.06398527e-01 -1.92763043e-04 -9.12540973e+01] [-4.51737952e-04 2.13842467e-06 9.99999898e-01 -3.38295926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters 0.05595342578092866 Centerline is valid? [True, True] Translation: X:448.76, Y:-91.28, Z:-3.38 [[ 9.03729927e-01 4.28102692e-01 -5.51140445e-04 4.48762595e+02] [-4.28102612e-01 9.03730095e-01 2.61040032e-04 -9.12751387e+01] [ 6.09834147e-04 3.49754853e-08 9.99999814e-01 -3.38455833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters 0.05625011706170305 Centerline is valid? [True, True] Translation: X:448.82, Y:-91.30, Z:-3.38 [[ 9.01916283e-01 4.31909899e-01 -9.26365516e-04 4.48819270e+02] [-4.31909677e-01 9.01916758e-01 4.38485125e-04 -9.12986774e+01] [ 1.02489065e-03 4.62935628e-06 9.99999475e-01 -3.38381616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters 0.05583535594004377 Centerline is valid? [True, True] Translation: X:448.88, Y:-91.32, Z:-3.39 [[ 8.99210495e-01 4.37516125e-01 -3.54438837e-04 4.48877192e+02] [-4.37516093e-01 8.99210565e-01 1.67928446e-04 -9.13213832e+01] [ 3.92186550e-04 4.06967445e-06 9.99999923e-01 -3.38502503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters 0.055510060153271 Centerline is valid? [True, True] Translation: X:448.93, Y:-91.35, Z:-3.39 [[ 8.97560792e-01 4.40890451e-01 -4.84872713e-04 4.48933955e+02] [-4.40890391e-01 8.97560923e-01 2.29630146e-04 -9.13472125e+01] [ 5.36444538e-04 7.66870435e-06 9.99999856e-01 -3.38513165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters 0.055436611920293075 Centerline is valid? [True, True] Translation: X:448.99, Y:-91.38, Z:-3.38 [[ 8.97270738e-01 4.41480365e-01 -5.56318131e-04 4.48988955e+02] [-4.41480286e-01 8.97270911e-01 2.64132786e-04 -9.13757126e+01] [ 6.15777515e-04 8.60486745e-06 9.99999810e-01 -3.38477952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters 0.05552458500030766 Centerline is valid? [True, True] Translation: X:449.04, Y:-91.41, Z:-3.38 [[ 8.97534461e-01 4.40943930e-01 -5.85087290e-04 4.49042379e+02] [-4.40943843e-01 8.97534651e-01 2.77745766e-04 -9.14052883e+01] [ 6.47606426e-04 8.70424182e-06 9.99999790e-01 -3.38460952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters 0.055323671536381104 Centerline is valid? [True, True] Translation: X:449.10, Y:-91.43, Z:-3.39 [[ 8.97672443e-01 4.40663159e-01 -4.06316885e-04 4.49097336e+02] [-4.40663117e-01 8.97672535e-01 1.93175854e-04 -9.14322353e+01] [ 4.49864990e-04 5.64022426e-06 9.99999899e-01 -3.38531399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters 0.05513489110494227 Centerline is valid? [True, True] Translation: X:449.15, Y:-91.46, Z:-3.38 [[ 8.98158025e-01 4.39672771e-01 1.27749748e-04 4.49150908e+02] [-4.39672767e-01 8.98158034e-01 -5.99709663e-05 -9.14649966e+01] [-1.41107064e-04 -2.30468068e-06 9.99999990e-01 -3.38441607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters 0.055214847219888834 Centerline is valid? [True, True] Translation: X:449.21, Y:-91.49, Z:-3.39 [[ 8.98815430e-01 4.38327248e-01 -2.17270393e-04 4.49205770e+02] [-4.38327235e-01 8.98815456e-01 1.03202503e-04 -9.14937986e+01] [ 2.40522456e-04 2.47552862e-06 9.99999971e-01 -3.38658805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters 0.05530920420987374 Centerline is valid? [True, True] Translation: X:449.26, Y:-91.53, Z:-3.39 [[ 9.01244262e-01 4.33311225e-01 -4.02202643e-04 4.49257976e+02] [-4.33311183e-01 9.01244352e-01 1.90631779e-04 -9.15281107e+01] [ 4.45085750e-04 2.47310550e-06 9.99999901e-01 -3.38693430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters 0.055215054101361856 Centerline is valid? [True, True] Translation: X:449.31, Y:-91.56, Z:-3.39 [[ 9.04994835e-01 4.25422449e-01 -2.99093143e-04 4.49310055e+02] [-4.25422425e-01 9.04994884e-01 1.42600008e-04 -9.15639665e+01] [ 3.31343008e-04 -1.81134076e-06 9.99999945e-01 -3.38701131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters 0.05493816971832242 Centerline is valid? [True, True] Translation: X:449.36, Y:-91.60, Z:-3.39 [[ 9.08095008e-01 4.18764192e-01 8.56479844e-05 4.49362224e+02] [-4.18764190e-01 9.08095012e-01 -3.96977956e-05 -9.15961089e+01] [-9.44005229e-05 1.83061198e-07 9.99999996e-01 -3.38655183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters 0.056155129930482814 Centerline is valid? [True, True] Translation: X:449.41, Y:-91.63, Z:-3.39 [[ 9.12913259e-01 4.08151884e-01 1.19228222e-03 4.49412479e+02] [-4.08151495e-01 9.12914037e-01 -5.64669656e-04 -9.16328437e+01] [-1.31892216e-03 2.88626444e-05 9.99999130e-01 -3.38662416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters 0.05558156723869769 Centerline is valid? [True, True] Translation: X:449.47, Y:-91.66, Z:-3.39 [[ 9.15588629e-01 4.02114026e-01 1.33133638e-03 4.49468308e+02] [-4.02113533e-01 9.15589596e-01 -6.30640259e-04 -9.16583799e+01] [-1.47254703e-03 4.20586764e-05 9.99998915e-01 -3.38553449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters 0.05563721334758509 Centerline is valid? [True, True] Translation: X:449.52, Y:-91.69, Z:-3.39 [[ 9.18384881e-01 3.95686257e-01 1.26391379e-03 4.49521494e+02] [-3.95685807e-01 9.18385749e-01 -5.98690892e-04 -9.16892907e+01] [-1.39765417e-03 4.97159172e-05 9.99999022e-01 -3.38671276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters 0.056068106671922774 Centerline is valid? [True, True] Translation: X:449.57, Y:-91.72, Z:-3.39 [[ 9.19629968e-01 3.92785025e-01 8.03889582e-04 4.49570952e+02] [-3.92784842e-01 9.19630319e-01 -3.80675250e-04 -9.17243278e+01] [-8.88804770e-04 3.43247263e-05 9.99999604e-01 -3.38787306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters 0.0561240759756242 Centerline is valid? [True, True] Translation: X:449.63, Y:-91.74, Z:-3.39 [[ 9.19373830e-01 3.93384525e-01 6.12785928e-04 4.49630830e+02] [-3.93384420e-01 9.19374034e-01 -2.89490018e-04 -9.17427152e+01] [-6.77260364e-04 2.50891097e-05 9.99999770e-01 -3.38686536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters 0.0563775205022041 Centerline is valid? [True, True] Translation: X:449.68, Y:-91.77, Z:-3.39 [[ 9.17607177e-01 3.97487929e-01 6.44744007e-04 4.49684815e+02] [-3.97487813e-01 9.17607403e-01 -3.05444959e-04 -9.17702039e+01] [-7.13032558e-04 2.40006018e-05 9.99999746e-01 -3.38866494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters 0.055967713766674206 Centerline is valid? [True, True] Translation: X:449.74, Y:-91.80, Z:-3.39 [[ 9.14925664e-01 4.03621024e-01 1.04803985e-03 4.49737208e+02] [-4.03620719e-01 9.14926264e-01 -4.96733042e-04 -9.18004793e+01] [-1.15937108e-03 3.14632094e-05 9.99999327e-01 -3.39021590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters 0.055943145510708184 Centerline is valid? [True, True] Translation: X:449.79, Y:-91.83, Z:-3.39 [[ 9.12957747e-01 4.08051105e-01 1.56465050e-03 4.49792839e+02] [-4.08050433e-01 9.12959087e-01 -7.41552813e-04 -9.18261035e+01] [-1.73105333e-03 3.85500725e-05 9.99998501e-01 -3.39173533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters 0.05524544023800954 Centerline is valid? [True, True] Translation: X:449.85, Y:-91.84, Z:-3.39 [[ 9.09341768e-01 4.16047404e-01 1.45131051e-03 4.49852876e+02] [-4.16046836e-01 9.09342926e-01 -6.87911327e-04 -9.18418113e+01] [-1.60594267e-03 2.17333550e-05 9.99998710e-01 -3.39070035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters 0.054865226450279005 Centerline is valid? [True, True] Translation: X:449.91, Y:-91.87, Z:-3.39 [[ 9.06605267e-01 4.21974960e-01 2.00569268e-03 4.49909146e+02] [-4.21973890e-01 9.06607486e-01 -9.50550010e-04 -9.18679222e+01] [-2.21948430e-03 1.54237051e-05 9.99997537e-01 -3.39255190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters 0.053953678415482674 Centerline is valid? [True, True] Translation: X:449.97, Y:-91.89, Z:-3.39 [[ 9.02493867e-01 4.30695688e-01 2.45860099e-03 4.49967694e+02] [-4.30694113e-01 9.02497216e-01 -1.16498191e-03 -9.18892654e+01] [-2.72063324e-03 -7.51594857e-06 9.99996299e-01 -3.39225897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters 0.054253374930796225 Centerline is valid? [True, True] Translation: X:450.02, Y:-91.91, Z:-3.39 [[ 8.99873905e-01 4.36145088e-01 2.10179187e-03 4.50023551e+02] [-4.36143949e-01 8.99876359e-01 -9.96634527e-04 -9.19131585e+01] [-2.32603007e-03 -1.98384044e-05 9.99997295e-01 -3.39277318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters 0.05468645630190189 Centerline is valid? [True, True] Translation: X:450.08, Y:-91.94, Z:-3.39 [[ 8.97512131e-01 4.40985094e-01 2.03031724e-03 4.50079961e+02] [-4.40984044e-01 8.97514427e-01 -9.62780803e-04 -9.19367327e+01] [-2.24681099e-03 -3.12300555e-05 9.99997475e-01 -3.39469989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters 0.05501603780734755 Centerline is valid? [True, True] Translation: X:450.14, Y:-91.96, Z:-3.40 [[ 8.95582905e-01 4.44893578e-01 9.82025271e-04 4.50136389e+02] [-4.44893335e-01 8.95583443e-01 -4.65479410e-04 -9.19575889e+01] [-1.08657437e-03 -2.00210952e-05 9.99999409e-01 -3.39737761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters 0.05437232755872019 Centerline is valid? [True, True] Translation: X:450.19, Y:-91.99, Z:-3.40 [[ 8.94448842e-01 4.47170237e-01 -2.18481481e-04 4.50189798e+02] [-4.47170225e-01 8.94448869e-01 1.03827078e-04 -9.19874233e+01] [ 2.41848893e-04 4.83040340e-06 9.99999971e-01 -3.39718433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters 0.054550067511333025 Centerline is valid? [True, True] Translation: X:450.24, Y:-92.02, Z:-3.40 [[ 8.93658020e-01 4.48748585e-01 -2.23882550e-04 4.50243350e+02] [-4.48748572e-01 8.93658048e-01 1.07156724e-04 -9.20199222e+01] [ 2.48160871e-04 4.70550863e-06 9.99999969e-01 -3.39661306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters 0.054193374641741864 Centerline is valid? [True, True] Translation: X:450.30, Y:-92.05, Z:-3.40 [[ 8.93577453e-01 4.48909049e-01 1.42669140e-05 4.50299652e+02] [-4.48909049e-01 8.93577454e-01 -5.75499658e-06 -9.20456918e+01] [-1.53320628e-05 -1.26201159e-06 1.00000000e+00 -3.39804563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters 0.05407756918185337 Centerline is valid? [True, True] Translation: X:450.35, Y:-92.08, Z:-3.40 [[ 8.94199958e-01 4.47667752e-01 -1.39859306e-04 4.50352133e+02] [-4.47667747e-01 8.94199968e-01 6.73345680e-05 -9.20796009e+01] [ 1.55205702e-04 2.39993260e-06 9.99999988e-01 -3.39703657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters 0.0538663946129497 Centerline is valid? [True, True] Translation: X:450.41, Y:-92.11, Z:-3.40 [[ 8.95179734e-01 4.45705030e-01 5.19551495e-04 4.50405603e+02] [-4.45704962e-01 8.95179885e-01 -2.46609315e-04 -9.21079014e+01] [-5.75007060e-04 -1.08070186e-05 9.99999835e-01 -3.39770169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters 0.05372904515666339 Centerline is valid? [True, True] Translation: X:450.46, Y:-92.14, Z:-3.40 [[ 8.97899191e-01 4.40198437e-01 1.54238638e-03 4.50457718e+02] [-4.40197829e-01 8.97900515e-01 -7.32289069e-04 -9.21390144e+01] [-1.70726203e-03 -2.14333739e-05 9.99998542e-01 -3.39864093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters 0.053509081191128294 Centerline is valid? [True, True] Translation: X:450.51, Y:-92.18, Z:-3.40 [[ 9.01503956e-01 4.32761765e-01 2.80591854e-03 4.50506842e+02] [-4.32759715e-01 9.01508322e-01 -1.33209454e-03 -9.21788601e+01] [-3.10603850e-03 -1.34000135e-05 9.99995176e-01 -3.39596478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters 0.053373246810448666 Centerline is valid? [True, True] Translation: X:450.56, Y:-92.21, Z:-3.40 [[ 9.03862972e-01 4.27812283e-01 2.89443987e-03 4.50558565e+02] [-4.27810077e-01 9.03867607e-01 -1.37381784e-03 -9.22122779e+01] [-3.20392658e-03 3.47253489e-06 9.99994867e-01 -3.39721454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters 0.05375960848743848 Centerline is valid? [True, True] Translation: X:450.61, Y:-92.25, Z:-3.40 [[ 9.07113398e-01 4.20878552e-01 2.55478657e-03 4.50609144e+02] [-4.20876805e-01 9.07116996e-01 -1.21291021e-03 -9.22494282e+01] [-2.82797821e-03 2.49966923e-05 9.99996001e-01 -3.39799652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters 0.05371172145725808 Centerline is valid? [True, True] Translation: X:450.66, Y:-92.28, Z:-3.40 [[ 9.09139720e-01 4.16485671e-01 2.15785391e-03 4.50663326e+02] [-4.16484411e-01 9.09142280e-01 -1.02512204e-03 -9.22773931e+01] [-2.38874487e-03 3.32666459e-05 9.99997146e-01 -3.39663850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters 0.05403541906820806 Centerline is valid? [True, True] Translation: X:450.72, Y:-92.31, Z:-3.40 [[ 9.11536420e-01 4.11216569e-01 1.51251437e-03 4.50715603e+02] [-4.11215943e-01 9.11537675e-01 -7.18475305e-04 -9.23103352e+01] [-1.67416278e-03 3.29463868e-05 9.99998598e-01 -3.39710316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters 0.05443797707133179 Centerline is valid? [True, True] Translation: X:450.77, Y:-92.34, Z:-3.40 [[ 9.12645308e-01 4.08745810e-01 2.32474611e-03 4.50767688e+02] [-4.08744322e-01 9.12648267e-01 -1.10451433e-03 -9.23403360e+01] [-2.57314111e-03 5.78030470e-05 9.99996688e-01 -3.39667782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters 0.05392259900359928 Centerline is valid? [True, True] Translation: X:450.82, Y:-92.37, Z:-3.40 [[ 9.12466809e-01 4.09132073e-01 3.90750031e-03 4.50821177e+02] [-4.09127873e-01 9.12475171e-01 -1.85638653e-03 -9.23719554e+01] [-4.32500429e-03 9.52238056e-05 9.99990643e-01 -3.39724123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters 0.05341310488785436 Centerline is valid? [True, True] Translation: X:450.88, Y:-92.40, Z:-3.40 [[ 9.10952822e-01 4.12475237e-01 5.39771693e-03 4.50875756e+02] [-4.12467277e-01 9.10968807e-01 -2.56481227e-03 -9.23979326e+01] [-5.97507330e-03 1.10041367e-04 9.99982143e-01 -3.39649134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters 0.05291323240237408 Centerline is valid? [True, True] Translation: X:450.93, Y:-92.42, Z:-3.40 [[ 9.09239841e-01 4.16238460e-01 5.33449682e-03 4.50932616e+02] [-4.16230750e-01 9.09255485e-01 -2.53486128e-03 -9.24223997e+01] [-5.90552725e-03 8.44152546e-05 9.99982559e-01 -3.39710038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters 0.05246405713484822 Centerline is valid? [True, True] Translation: X:450.99, Y:-92.44, Z:-3.40 [[ 9.05786693e-01 4.23703218e-01 5.10399890e-03 4.50989866e+02] [-4.23696277e-01 9.05801072e-01 -2.42544765e-03 -9.24435768e+01] [-5.65087765e-03 3.43928771e-05 9.99984033e-01 -3.39878908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters 0.053080660292176056 Centerline is valid? [True, True] Translation: X:451.05, Y:-92.47, Z:-3.40 [[ 9.03407305e-01 4.28756253e-01 4.82869715e-03 4.51046776e+02] [-4.28750113e-01 9.03420210e-01 -2.29463458e-03 -9.24686970e+01] [-5.34618151e-03 2.68519520e-06 9.99985709e-01 -3.40078294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters 0.052533634213425585 Centerline is valid? [True, True] Translation: X:451.10, Y:-92.49, Z:-3.40 [[ 9.00730600e-01 4.34354069e-01 4.57477259e-03 4.51103904e+02] [-4.34348629e-01 9.00742217e-01 -2.17398192e-03 -9.24928363e+01] [-5.06496870e-03 -2.88741649e-05 9.99987173e-01 -3.40193613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters 0.052718443316553724 Centerline is valid? [True, True] Translation: X:451.16, Y:-92.52, Z:-3.40 [[ 8.99628511e-01 4.36634302e-01 4.36214004e-03 4.51159611e+02] [-4.36629380e-01 8.99639086e-01 -2.07350600e-03 -9.25197765e+01] [-4.82971552e-03 -3.92533913e-05 9.99988336e-01 -3.40310953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters 0.052160084545304936 Centerline is valid? [True, True] Translation: X:451.22, Y:-92.55, Z:-3.40 [[ 8.99287649e-01 4.37327538e-01 5.13313607e-03 4.51215936e+02] [-4.37320729e-01 8.99302297e-01 -2.44086794e-03 -9.25460476e+01] [-5.68369983e-03 -4.97844162e-05 9.99983846e-01 -3.40423296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters 0.05143667330055969 Centerline is valid? [True, True] Translation: X:451.27, Y:-92.58, Z:-3.40 [[ 8.99705524e-01 4.36454772e-01 6.09933357e-03 4.51269951e+02] [-4.36445131e-01 8.99726197e-01 -2.90141749e-03 -9.25774140e+01] [-6.75406770e-03 -5.16030962e-05 9.99977190e-01 -3.40451066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters 0.05212128767175209 Centerline is valid? [True, True] Translation: X:451.32, Y:-92.61, Z:-3.41 [[ 8.99596479e-01 4.36672093e-01 6.60739417e-03 4.51324869e+02] [-4.36660777e-01 8.99620742e-01 -3.14411500e-03 -9.26056548e+01] [-7.31709613e-03 -5.67550889e-05 9.99973228e-01 -3.40561602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters 0.05142987978293632 Centerline is valid? [True, True] Translation: X:451.38, Y:-92.63, Z:-3.41 [[ 8.97407298e-01 4.41169680e-01 5.42726032e-03 4.51381313e+02] [-4.41162124e-01 8.97423706e-01 -2.58305529e-03 -9.26321181e+01] [-6.01011775e-03 -7.62490267e-05 9.99981936e-01 -3.40760486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters 0.051418564460078 Centerline is valid? [True, True] Translation: X:451.44, Y:-92.66, Z:-3.41 [[ 8.95256655e-01 4.45529716e-01 4.33525750e-03 4.51435906e+02] [-4.45524946e-01 8.95267147e-01 -2.06335423e-03 -9.26588168e+01] [-4.80049924e-03 -8.42337597e-05 9.99988474e-01 -3.40987422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters 0.05294108350311422 Centerline is valid? [True, True] Translation: X:451.49, Y:-92.68, Z:-3.41 [[ 8.92650416e-01 4.50740323e-01 2.89773118e-03 4.51492037e+02] [-4.50738219e-01 8.92655116e-01 -1.37936741e-03 -9.26796522e+01] [-3.20841107e-03 -7.48252964e-05 9.99994850e-01 -3.41250497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters 0.05171535129175051 Centerline is valid? [True, True] Translation: X:451.54, Y:-92.71, Z:-3.41 [[ 8.92191625e-01 4.51644550e-01 3.36239915e-03 4.51544731e+02] [-4.51641723e-01 8.92197956e-01 -1.60040219e-03 -9.27137768e+01] [-3.72273857e-03 -9.07343209e-05 9.99993066e-01 -3.41161036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters 0.051017198698222244 Centerline is valid? [True, True] Translation: X:451.59, Y:-92.75, Z:-3.41 [[ 8.93937188e-01 4.48165667e-01 4.88245373e-03 4.51594510e+02] [-4.48159649e-01 8.93950515e-01 -2.32513358e-03 -9.27515945e+01] [-5.40671707e-03 -1.09595377e-04 9.99985378e-01 -3.41072777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters 0.05097206180247613 Centerline is valid? [True, True] Translation: X:451.65, Y:-92.78, Z:-3.41 [[ 8.96469840e-01 4.43069440e-01 5.59438647e-03 4.51647662e+02] [-4.43061438e-01 8.96487291e-01 -2.66432241e-03 -9.27805853e+01] [-6.19577621e-03 -9.01722293e-05 9.99980802e-01 -3.41102153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters 0.0509033545772651 Centerline is valid? [True, True] Translation: X:451.70, Y:-92.82, Z:-3.41 [[ 9.00465294e-01 4.34872934e-01 6.91263666e-03 4.51698432e+02] [-4.34860474e-01 9.00491826e-01 -3.29223812e-03 -9.28169066e+01] [-7.65647807e-03 -4.14862841e-05 9.99970688e-01 -3.41053882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters 0.05119463684497681 Centerline is valid? [True, True] Translation: X:451.75, Y:-92.85, Z:-3.41 [[ 9.03804263e-01 4.27889712e-01 6.94615495e-03 4.51749673e+02] [-4.27876922e-01 9.03830954e-01 -3.30844880e-03 -9.28516174e+01] [-7.69380106e-03 1.80907293e-05 9.99970402e-01 -3.41192542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters 0.05127626893585542 Centerline is valid? [True, True] Translation: X:451.80, Y:-92.88, Z:-3.41 [[ 9.04551499e-01 4.26317780e-01 6.30365691e-03 4.51804970e+02] [-4.26307203e-01 9.04573463e-01 -3.00313238e-03 -9.28809100e+01] [-6.98240949e-03 2.91935506e-05 9.99975622e-01 -3.41255365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters 0.0509432204410025 Centerline is valid? [True, True] Translation: X:451.86, Y:-92.91, Z:-3.41 [[ 9.04436397e-01 4.26558956e-01 6.50079907e-03 4.51861491e+02] [-4.26547708e-01 9.04459759e-01 -3.09784491e-03 -9.29093334e+01] [-7.20112465e-03 2.89027464e-05 9.99974071e-01 -3.41390687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters 0.05110347582664214 Centerline is valid? [True, True] Translation: X:451.92, Y:-92.93, Z:-3.42 [[ 9.02230012e-01 4.31224674e-01 5.12698592e-03 4.51919609e+02] [-4.31217752e-01 9.02244579e-01 -2.44331398e-03 -9.29321129e+01] [-5.67941253e-03 -6.41614306e-06 9.99983872e-01 -3.41647422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters 0.05117805023884658 Centerline is valid? [True, True] Translation: X:451.98, Y:-92.96, Z:-3.42 [[ 9.01103500e-01 4.33586640e-01 3.88684752e-03 4.51976508e+02] [-4.33582682e-01 9.01111883e-01 -1.85263618e-03 -9.29577892e+01] [-4.30576279e-03 -1.58528293e-05 9.99990730e-01 -3.41801467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters 0.050969723209554695 Centerline is valid? [True, True] Translation: X:452.03, Y:-92.98, Z:-3.42 [[ 9.00163289e-01 4.35538167e-01 3.54383266e-03 4.52032601e+02] [-4.35534890e-01 9.00170264e-01 -1.68959127e-03 -9.29828603e+01] [-3.92593426e-03 -2.25547380e-05 9.99992293e-01 -3.41924130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters 0.05077208724642057 Centerline is valid? [True, True] Translation: X:452.09, Y:-93.01, Z:-3.42 [[ 9.00180772e-01 4.35479951e-01 5.63821474e-03 4.52089441e+02] [-4.35471648e-01 9.00198429e-01 -2.68936240e-03 -9.30085673e+01] [-6.24667546e-03 -3.43703444e-05 9.99980489e-01 -3.41868741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters 0.051132728734564 Centerline is valid? [True, True] Translation: X:452.15, Y:-93.03, Z:-3.42 [[ 9.00389509e-01 4.35027615e-01 7.05031458e-03 4.52145480e+02] [-4.35014609e-01 9.00417111e-01 -3.36407924e-03 -9.30342278e+01] [-7.81169125e-03 -3.80081817e-05 9.99969488e-01 -3.41781807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters 0.05012588472527647 Centerline is valid? [True, True] Translation: X:452.20, Y:-93.06, Z:-3.42 [[ 8.99972603e-01 4.35868214e-01 8.25922135e-03 4.52201439e+02] [-4.35850390e-01 9.00010499e-01 -3.94210114e-03 -9.30616924e+01] [-9.15162250e-03 -5.20018252e-05 9.99958122e-01 -3.41829955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters 0.05066799377462147 Centerline is valid? [True, True] Translation: X:452.26, Y:-93.09, Z:-3.42 [[ 8.99170662e-01 4.37532095e-01 7.60170553e-03 4.52257884e+02] [-4.37517048e-01 8.99202792e-01 -3.62924248e-03 -9.30851702e+01] [-8.42338491e-03 -6.25673915e-05 9.99964521e-01 -3.41980654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters 0.05046094163233594 Centerline is valid? [True, True] Translation: X:452.32, Y:-93.11, Z:-3.42 [[ 8.97661878e-01 4.40647343e-01 5.75079422e-03 4.52315253e+02] [-4.40638792e-01 8.97680296e-01 -2.74609305e-03 -9.31096727e+01] [-6.37243326e-03 -6.89599743e-05 9.99979693e-01 -3.42299162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters 0.05105901209039468 Centerline is valid? [True, True] Translation: X:452.37, Y:-93.14, Z:-3.42 [[ 8.97099843e-01 4.41799023e-01 5.04920671e-03 4.52372164e+02] [-4.41792446e-01 8.97114050e-01 -2.41165834e-03 -9.31353378e+01] [-5.59518258e-03 -6.72030653e-05 9.99984345e-01 -3.42408871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters 0.05063982854098064 Centerline is valid? [True, True] Translation: X:452.43, Y:-93.16, Z:-3.42 [[ 8.97364810e-01 4.41253636e-01 5.62369003e-03 4.52428294e+02] [-4.41245461e-01 8.97382429e-01 -2.68692625e-03 -9.31604400e+01] [-6.23221660e-03 -7.02746341e-05 9.99980577e-01 -3.42422417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters 0.05048221429987064 Centerline is valid? [True, True] Translation: X:452.48, Y:-93.19, Z:-3.42 [[ 8.97965015e-01 4.40025634e-01 6.02270136e-03 4.52483708e+02] [-4.40016224e-01 8.97985210e-01 -2.87837749e-03 -9.31876090e+01] [-6.67485663e-03 -6.54040254e-05 9.99977721e-01 -3.42492573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters 0.05055182403539795 Centerline is valid? [True, True] Translation: X:452.54, Y:-93.22, Z:-3.43 [[ 8.98779025e-01 4.38370044e-01 5.28846554e-03 4.52538471e+02] [-4.38362756e-01 8.98794583e-01 -2.52816300e-03 -9.32183766e+01] [-5.86151510e-03 -4.60064585e-05 9.99982820e-01 -3.42555723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters 0.05023748516884315 Centerline is valid? [True, True] Translation: X:452.59, Y:-93.25, Z:-3.43 [[ 8.99734011e-01 4.36414556e-01 4.58732498e-03 4.52592740e+02] [-4.36409047e-01 8.99745705e-01 -2.19300311e-03 -9.32474691e+01] [-5.08448443e-03 -2.88306404e-05 9.99987074e-01 -3.42546037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters 0.05058830859096467 Centerline is valid? [True, True] Translation: X:452.65, Y:-93.27, Z:-3.43 [[ 9.00577798e-01 4.34670322e-01 4.61970386e-03 4.52649032e+02] [-4.34664709e-01 9.00589646e-01 -2.20908093e-03 -9.32724131e+01] [-5.12067938e-03 -1.85729910e-05 9.99986889e-01 -3.42721399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters 0.05026412030980767 Centerline is valid? [True, True] Translation: X:452.70, Y:-93.30, Z:-3.43 [[ 9.01656768e-01 4.32417818e-01 5.46835904e-03 4.52704189e+02] [-4.32409906e-01 9.01673351e-01 -2.61577964e-03 -9.33003368e+01] [-6.06178334e-03 -6.03720342e-06 9.99981627e-01 -3.42712286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters 0.05000271048487551 Centerline is valid? [True, True] Translation: X:452.76, Y:-93.33, Z:-3.43 [[ 9.02305880e-01 4.31056474e-01 5.86646916e-03 4.52760840e+02] [-4.31047334e-01 9.02324950e-01 -2.80702934e-03 -9.33285348e+01] [-6.50344967e-03 4.07318835e-06 9.99978852e-01 -3.42702328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters 0.050884831928036084 Centerline is valid? [True, True] Translation: X:452.82, Y:-93.36, Z:-3.43 [[ 9.03086328e-01 4.29423567e-01 5.52115586e-03 4.52817404e+02] [-4.29415437e-01 9.03103205e-01 -2.64258856e-03 -9.33558350e+01] [-6.12096336e-03 1.56160459e-05 9.99981267e-01 -3.42794028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters 0.05139762266257038 Centerline is valid? [True, True] Translation: X:452.87, Y:-93.38, Z:-3.43 [[ 9.04181434e-01 4.27123049e-01 4.67291586e-03 4.52872466e+02] [-4.27117190e-01 9.04193508e-01 -2.23735770e-03 -9.33832606e+01] [-5.18084723e-03 2.70945997e-05 9.99986579e-01 -3.43034395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters 0.05082198483494751 Centerline is valid? [True, True] Translation: X:452.93, Y:-93.41, Z:-3.43 [[ 9.04749283e-01 4.25915364e-01 4.98370974e-03 4.52928990e+02] [-4.25908680e-01 9.04763008e-01 -2.38646867e-03 -9.34085476e+01] [-5.52550989e-03 3.65505823e-05 9.99984734e-01 -3.43022010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters 0.05107205228959673 Centerline is valid? [True, True] Translation: X:452.98, Y:-93.44, Z:-3.43 [[ 9.05125624e-01 4.25108051e-01 5.54528332e-03 4.52983525e+02] [-4.25099754e-01 9.05142609e-01 -2.65628788e-03 -9.34353349e+01] [-6.14848157e-03 4.69756517e-05 9.99981097e-01 -3.43048058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters 0.05128672500913485 Centerline is valid? [True, True] Translation: X:453.04, Y:-93.46, Z:-3.43 [[ 9.04829689e-01 4.25734140e-01 5.80315367e-03 4.53041208e+02] [-4.25725062e-01 9.04848297e-01 -2.78061818e-03 -9.34587972e+01] [-6.43477780e-03 4.54379298e-05 9.99979296e-01 -3.43098742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters 0.052065760998061636 Centerline is valid? [True, True] Translation: X:453.10, Y:-93.48, Z:-3.43 [[ 9.04465491e-01 4.26505124e-01 5.96276381e-03 4.53098402e+02] [-4.26495550e-01 9.04485145e-01 -2.85797307e-03 -9.34823558e+01] [-6.61217145e-03 4.18457799e-05 9.99978138e-01 -3.43183940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters 0.051293146655528386 Centerline is valid? [True, True] Translation: X:453.15, Y:-93.50, Z:-3.43 [[ 9.03478019e-01 4.28604269e-01 5.08435564e-03 4.53154866e+02] [-4.28597341e-01 9.03492324e-01 -2.43702928e-03 -9.35049869e+01] [-5.63819744e-03 2.26610778e-05 9.99984105e-01 -3.43288089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters 0.051775825921969026 Centerline is valid? [True, True] Translation: X:453.21, Y:-93.53, Z:-3.43 [[ 9.02694055e-01 4.30256724e-01 4.75340594e-03 4.53212722e+02] [-4.30250688e-01 9.02706570e-01 -2.27893959e-03 -9.35286245e+01] [-5.27145985e-03 1.20290455e-05 9.99986106e-01 -3.43342111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters 0.051445691091536 Centerline is valid? [True, True] Translation: X:453.27, Y:-93.55, Z:-3.43 [[ 9.01555808e-01 4.32627205e-01 5.55214618e-03 4.53269831e+02] [-4.32619010e-01 9.01572904e-01 -2.66287759e-03 -9.35511494e+01] [-6.15769785e-03 -1.23122406e-06 9.99981041e-01 -3.43299092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters 0.050753150025240876 Centerline is valid? [True, True] Translation: X:453.33, Y:-93.58, Z:-3.43 [[ 9.00909970e-01 4.33960061e-01 6.31600563e-03 4.53328256e+02] [-4.33949484e-01 9.00932109e-01 -3.02980044e-03 -9.35751097e+01] [-7.00510465e-03 -1.12499638e-05 9.99975464e-01 -3.43285371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters 0.0512032639523546 Centerline is valid? [True, True] Translation: X:453.39, Y:-93.60, Z:-3.43 [[ 9.00612462e-01 4.34576220e-01 6.37976744e-03 4.53385129e+02] [-4.34565441e-01 9.00635059e-01 -3.06083163e-03 -9.35989931e+01] [-7.07600687e-03 -1.58033418e-05 9.99974965e-01 -3.43372522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters 0.050907951335562036 Centerline is valid? [True, True] Translation: X:453.44, Y:-93.62, Z:-3.43 [[ 9.00578705e-01 4.34648039e-01 6.25130301e-03 4.53442625e+02] [-4.34637685e-01 9.00600401e-01 -3.00014644e-03 -9.36248877e+01] [-6.93393376e-03 -1.51838734e-05 9.99975960e-01 -3.43442893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters 0.052050946644733885 Centerline is valid? [True, True] Translation: X:453.50, Y:-93.65, Z:-3.44 [[ 9.00947214e-01 4.33898759e-01 5.09741355e-03 4.53500057e+02] [-4.33891859e-01 9.00961634e-01 -2.44708064e-03 -9.36513833e+01] [-5.65435930e-03 -7.03575304e-06 9.99984014e-01 -3.43621001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters 0.051676541167912635 Centerline is valid? [True, True] Translation: X:453.56, Y:-93.68, Z:-3.44 [[ 9.00942606e-01 4.33923856e-01 3.53654308e-03 4.53555983e+02] [-4.33920536e-01 9.00949547e-01 -1.69762182e-03 -9.36771504e+01] [-3.92288550e-03 -5.11883852e-06 9.99992305e-01 -3.43727269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters 0.0511517697325204 Centerline is valid? [True, True] Translation: X:453.61, Y:-93.70, Z:-3.44 [[ 9.00735871e-01 4.34353974e-01 3.39345765e-03 4.53613198e+02] [-4.34350917e-01 9.00742263e-01 -1.62953859e-03 -9.37041949e+01] [-3.76442729e-03 -6.16758277e-06 9.99992914e-01 -3.43844558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters 0.05177528355413249 Centerline is valid? [True, True] Translation: X:453.67, Y:-93.73, Z:-3.44 [[ 9.00063384e-01 4.35752075e-01 2.45649138e-03 4.53670191e+02] [-4.35750478e-01 9.00066736e-01 -1.17954800e-03 -9.37296930e+01] [-2.72499667e-03 -8.74933432e-06 9.99996287e-01 -3.43941605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters 0.05196308258537779 Centerline is valid? [True, True] Translation: X:453.73, Y:-93.76, Z:-3.44 [[ 8.99929062e-01 4.36032053e-01 1.93185385e-03 4.53726723e+02] [-4.36031067e-01 8.99931135e-01 -9.27586404e-04 -9.37565020e+01] [-2.14299283e-03 -7.58633087e-06 9.99997704e-01 -3.43965038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters 0.05162695792503132 Centerline is valid? [True, True] Translation: X:453.78, Y:-93.78, Z:-3.44 [[ 9.00466377e-01 4.34919791e-01 2.25369957e-03 4.53782624e+02] [-4.34918443e-01 9.00469197e-01 -1.08315939e-03 -9.37848167e+01] [-2.50047450e-03 -4.82689196e-06 9.99996874e-01 -3.44002776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters 0.05199032361849109 Centerline is valid? [True, True] Translation: X:453.84, Y:-93.81, Z:-3.44 [[ 9.01335100e-01 4.33111200e-01 3.11868563e-03 4.53836883e+02] [-4.33108606e-01 9.01340495e-01 -1.49888938e-03 -9.38129656e+01] [-3.46018343e-03 2.72028891e-07 9.99994014e-01 -3.44019159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters 0.052001873898065376 Centerline is valid? [True, True] Translation: X:453.89, Y:-93.84, Z:-3.44 [[ 9.03211729e-01 4.29181141e-01 3.48151314e-03 4.53891362e+02] [-4.29177876e-01 9.03218439e-01 -1.67407741e-03 -9.38427418e+01] [-3.86304931e-03 1.78579396e-05 9.99992538e-01 -3.43920569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters 0.05192066251705082 Centerline is valid? [True, True] Translation: X:453.95, Y:-93.87, Z:-3.44 [[ 9.04487319e-01 4.26489220e-01 3.10404836e-03 4.53945257e+02] [-4.26486610e-01 9.04492645e-01 -1.49240446e-03 -9.38726442e+01] [-3.44408332e-03 2.60258485e-05 9.99994069e-01 -3.44058482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters 0.0516989402939331 Centerline is valid? [True, True] Translation: X:454.00, Y:-93.90, Z:-3.44 [[ 9.06096589e-01 4.23061348e-01 2.84021973e-03 4.54001337e+02] [-4.23059143e-01 9.06101040e-01 -1.36621720e-03 -9.39003327e+01] [-3.15151974e-03 3.63438184e-05 9.99995033e-01 -3.44018859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters 0.051822922862261284 Centerline is valid? [True, True] Translation: X:454.06, Y:-93.93, Z:-3.44 [[ 9.06656409e-01 4.21859529e-01 2.94865076e-03 4.54055293e+02] [-4.21857147e-01 9.06661203e-01 -1.41816351e-03 -9.39288892e+01] [-3.27169303e-03 4.18776410e-05 9.99994647e-01 -3.44102463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters 0.05228831454398733 Centerline is valid? [True, True] Translation: X:454.11, Y:-93.96, Z:-3.44 [[ 9.06623598e-01 4.21931784e-01 2.68732918e-03 4.54109693e+02] [-4.21929805e-01 9.06627580e-01 -1.29269808e-03 -9.39589626e+01] [-2.98183715e-03 3.81263022e-05 9.99995554e-01 -3.44282602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters 0.051716642202854525 Centerline is valid? [True, True] Translation: X:454.17, Y:-93.98, Z:-3.44 [[ 9.05671023e-01 4.23975847e-01 2.11623264e-03 4.54166893e+02] [-4.23974626e-01 9.05673495e-01 -1.01816715e-03 -9.39820830e+01] [-2.34829409e-03 2.48955467e-05 9.99997242e-01 -3.44273998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters 0.052200387446801194 Centerline is valid? [True, True] Translation: X:454.22, Y:-94.01, Z:-3.44 [[ 9.04785566e-01 4.25862599e-01 2.03149164e-03 4.54224060e+02] [-4.25861477e-01 9.04787846e-01 -9.77916637e-04 -9.40079447e+01] [-2.25452706e-03 1.96708288e-05 9.99997458e-01 -3.44329316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters 0.051629817378473844 Centerline is valid? [True, True] Translation: X:454.28, Y:-94.03, Z:-3.44 [[ 9.03038609e-01 4.29556279e-01 1.63544717e-03 4.54280647e+02] [-4.29555558e-01 9.03040089e-01 -7.87249548e-04 -9.40348647e+01] [-1.81504234e-03 8.40131682e-06 9.99998353e-01 -3.44392632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters 0.051644223643458 Centerline is valid? [True, True] Translation: X:454.34, Y:-94.06, Z:-3.44 [[ 9.01513627e-01 4.32745861e-01 2.04956058e-03 4.54337503e+02] [-4.32744735e-01 9.01515957e-01 -9.87063631e-04 -9.40605699e+01] [-2.27485927e-03 2.91476229e-06 9.99997413e-01 -3.44371085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters 0.05147359996498704 Centerline is valid? [True, True] Translation: X:454.39, Y:-94.08, Z:-3.44 [[ 8.98797395e-01 4.38359972e-01 1.94347845e-03 4.54393850e+02] [-4.38358974e-01 8.98799496e-01 -9.35672487e-04 -9.40843678e+01] [-2.15695881e-03 -1.09612224e-05 9.99997674e-01 -3.44492786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters 0.05158535342974192 Centerline is valid? [True, True] Translation: X:454.45, Y:-94.11, Z:-3.45 [[ 8.96886398e-01 4.42255913e-01 2.12058417e-03 4.54449882e+02] [-4.42254734e-01 8.96888904e-01 -1.02157167e-03 -9.41103409e+01] [-2.35372453e-03 -2.16046492e-05 9.99997230e-01 -3.44534996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters 0.05116799130597794 Centerline is valid? [True, True] Translation: X:454.51, Y:-94.13, Z:-3.45 [[ 8.94282184e-01 4.47497527e-01 2.31064399e-03 4.54505673e+02] [-4.47496144e-01 8.94285168e-01 -1.11337623e-03 -9.41339137e+01] [-2.56460776e-03 -3.83317463e-05 9.99996711e-01 -3.44535473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters 0.05121249015463007 Centerline is valid? [True, True] Translation: X:454.56, Y:-94.16, Z:-3.44 [[ 8.93023956e-01 4.49999659e-01 2.91910866e-03 4.54560694e+02] [-4.49997463e-01 8.93028725e-01 -1.40685159e-03 -9.41627089e+01] [-3.23993062e-03 -5.72393169e-05 9.99994750e-01 -3.44498435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters 0.05120972581630264 Centerline is valid? [True, True] Translation: X:454.62, Y:-94.18, Z:-3.45 [[ 8.92139619e-01 4.51743823e-01 3.79720804e-03 4.54617631e+02] [-4.51740122e-01 8.92147696e-01 -1.83045851e-03 -9.41849722e+01] [-4.21456873e-03 -8.23266678e-05 9.99991115e-01 -3.44618394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters 0.05035027318728564 Centerline is valid? [True, True] Translation: X:454.67, Y:-94.22, Z:-3.45 [[ 8.92284917e-01 4.51460951e-01 3.26139483e-03 4.54670457e+02] [-4.51458219e-01 8.92290875e-01 -1.57209673e-03 -9.42176406e+01] [-3.61985313e-03 -6.96252957e-05 9.99993446e-01 -3.44687022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters 0.050733248631561534 Centerline is valid? [True, True] Translation: X:454.73, Y:-94.25, Z:-3.45 [[ 8.92858608e-01 4.50331360e-01 2.27445218e-03 4.54725165e+02] [-4.50330028e-01 8.92861503e-01 -1.09638515e-03 -9.42473281e+01] [-2.52450740e-03 -4.53371964e-05 9.99996812e-01 -3.44849119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters 0.050597208224204826 Centerline is valid? [True, True] Translation: X:454.78, Y:-94.28, Z:-3.45 [[ 8.93513581e-01 4.49033974e-01 1.40407308e-03 4.54780028e+02] [-4.49033465e-01 8.93514683e-01 -6.76717742e-04 -9.42751209e+01] [-1.55842917e-03 -2.58193068e-05 9.99998785e-01 -3.44991953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters 0.051242819886501575 Centerline is valid? [True, True] Translation: X:454.83, Y:-94.30, Z:-3.45 [[ 8.95654255e-01 4.44750958e-01 -2.03486738e-04 4.54834071e+02] [-4.44750947e-01 8.95654278e-01 9.83348165e-05 -9.43026204e+01] [ 2.25988271e-04 2.42692278e-06 9.99999974e-01 -3.45206990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters 0.05126473593256245 Centerline is valid? [True, True] Translation: X:454.89, Y:-94.33, Z:-3.45 [[ 8.97784685e-01 4.40434617e-01 8.97504092e-05 4.54886874e+02] [-4.40434615e-01 8.97784689e-01 -4.31862615e-05 -9.43349219e+01] [-9.95972679e-05 -7.57222809e-07 9.99999995e-01 -3.44866304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters 0.050759697805242726 Centerline is valid? [True, True] Translation: X:454.94, Y:-94.36, Z:-3.45 [[ 9.00578628e-01 4.34685451e-01 2.58704300e-03 4.54943351e+02] [-4.34683658e-01 9.00582344e-01 -1.24836610e-03 -9.43610654e+01] [-2.87249183e-03 -2.93481359e-07 9.99995874e-01 -3.45008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters 0.05130826022247064 Centerline is valid? [True, True] Translation: X:455.00, Y:-94.39, Z:-3.45 [[ 9.02517238e-01 4.30643144e-01 3.01948420e-03 4.54998478e+02] [-4.30640680e-01 9.02522289e-01 -1.45691447e-03 -9.43900626e+01] [-3.35256202e-03 1.45776907e-05 9.99994380e-01 -3.44968993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters 0.051844987465940656 Centerline is valid? [True, True] Translation: X:455.05, Y:-94.42, Z:-3.45 [[ 9.06253835e-01 4.22720848e-01 3.32729048e-03 4.55053071e+02] [-4.22717799e-01 9.06259942e-01 -1.60634573e-03 -9.44190721e+01] [-3.69442590e-03 4.92520701e-05 9.99993174e-01 -3.44995953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters 0.05210785596680953 Centerline is valid? [True, True] Translation: X:455.11, Y:-94.45, Z:-3.45 [[ 9.10422615e-01 4.13666206e-01 3.30646921e-03 4.55107956e+02] [-4.13663134e-01 9.10428615e-01 -1.59644652e-03 -9.44469962e+01] [-3.67070016e-03 8.56765983e-05 9.99993259e-01 -3.45085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters 0.05236918853150856 Centerline is valid? [True, True] Translation: X:455.16, Y:-94.47, Z:-3.45 [[ 9.13575810e-01 4.06661818e-01 2.32468826e-03 4.55164707e+02] [-4.06660278e-01 9.13578765e-01 -1.12225439e-03 -9.44701043e+01] [-2.58016384e-03 7.99060868e-05 9.99996668e-01 -3.45124851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters 0.0536828742921157 Centerline is valid? [True, True] Translation: X:455.22, Y:-94.50, Z:-3.45 [[ 9.18094891e-01 3.96358086e-01 1.42798567e-03 4.55218638e+02] [-3.96357492e-01 9.18095999e-01 -6.89443579e-04 -9.44964157e+01] [-1.58429446e-03 6.69818103e-05 9.99998743e-01 -3.45183098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters 0.05377395641968146 Centerline is valid? [True, True] Translation: X:455.28, Y:-94.52, Z:-3.45 [[ 9.20172985e-01 3.91506338e-01 2.11325412e-03 4.55275167e+02] [-3.91505024e-01 9.20175404e-01 -1.02051685e-03 -9.45184896e+01] [-2.34410328e-03 1.11702434e-04 9.99997246e-01 -3.45192228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters 0.0541158164680455 Centerline is valid? [True, True] Translation: X:455.33, Y:-94.55, Z:-3.45 [[ 9.20781886e-01 3.90070829e-01 2.33816323e-03 4.55328640e+02] [-3.90069216e-01 9.20784846e-01 -1.12929705e-03 -9.45489020e+01] [-2.59345111e-03 1.27790771e-04 9.99996629e-01 -3.45330779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters 0.053858395514028205 Centerline is valid? [True, True] Translation: X:455.39, Y:-94.56, Z:-3.45 [[ 9.20776276e-01 3.90078939e-01 3.07736157e-03 4.55391164e+02] [-3.90076144e-01 9.20781404e-01 -1.48604894e-03 -9.45626058e+01] [-3.41325370e-03 1.67913276e-04 9.99994161e-01 -3.45391320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters 0.053532148144906956 Centerline is valid? [True, True] Translation: X:455.45, Y:-94.59, Z:-3.45 [[ 9.18395967e-01 3.95639650e-01 4.25613805e-03 4.55446820e+02] [-3.95634358e-01 9.18405807e-01 -2.05658536e-03 -9.45880888e+01] [-4.72252861e-03 2.04885261e-04 9.99988828e-01 -3.45410547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters 0.05312223998981488 Centerline is valid? [True, True] Translation: X:455.50, Y:-94.61, Z:-3.45 [[ 9.15547817e-01 4.02173008e-01 5.39127917e-03 4.55502909e+02] [-4.02164628e-01 9.15563665e-01 -2.60528267e-03 -9.46105973e+01] [-5.98383368e-03 2.17079082e-04 9.99982073e-01 -3.45422185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters 0.05253175268611491 Centerline is valid? [True, True] Translation: X:455.56, Y:-94.62, Z:-3.46 [[ 9.09374870e-01 4.15925340e-01 6.59225407e-03 4.55563615e+02] [-4.15913169e-01 9.09398751e-01 -3.18566743e-03 -9.46239403e+01] [-7.31998742e-03 1.55160621e-04 9.99973196e-01 -3.45505351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters 0.052060125851942966 Centerline is valid? [True, True] Translation: X:455.62, Y:-94.65, Z:-3.46 [[ 9.04739765e-01 4.25919090e-01 6.23594506e-03 4.55620569e+02] [-4.25908435e-01 9.04761252e-01 -3.01350772e-03 -9.46458353e+01] [-6.92555193e-03 7.04986584e-05 9.99976016e-01 -3.45644627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters 0.05143445909907071 Centerline is valid? [True, True] Translation: X:455.68, Y:-94.66, Z:-3.46 [[ 8.98371082e-01 4.39200566e-01 5.68006331e-03 4.55680888e+02] [-4.39191989e-01 8.98389037e-01 -2.74496143e-03 -9.46615131e+01] [-6.30849522e-03 -2.86443318e-05 9.99980101e-01 -3.45837126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters 0.05145309402459939 Centerline is valid? [True, True] Translation: X:455.74, Y:-94.69, Z:-3.46 [[ 8.94988124e-01 4.46053295e-01 5.71971333e-03 4.55737275e+02] [-4.46044737e-01 8.95006398e-01 -2.76422394e-03 -9.46865872e+01] [-6.35217122e-03 -7.73004262e-05 9.99979822e-01 -3.45919076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters 0.05192249457436664 Centerline is valid? [True, True] Translation: X:455.80, Y:-94.70, Z:-3.46 [[ 8.90875928e-01 4.54201349e-01 6.41993128e-03 4.55796946e+02] [-4.54190776e-01 8.90899047e-01 -3.10280763e-03 -9.47012852e+01] [-7.12881006e-03 -1.51656945e-04 9.99974578e-01 -3.45981973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters 0.05240570246113714 Centerline is valid? [True, True] Translation: X:455.85, Y:-94.72, Z:-3.46 [[ 8.88058231e-01 4.59697814e-01 5.52244590e-03 4.55854736e+02] [-4.59690096e-01 8.88075386e-01 -2.66914481e-03 -9.47191213e+01] [-6.13134831e-03 -1.68257670e-04 9.99981189e-01 -3.46132987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters 0.05197193038768881 Centerline is valid? [True, True] Translation: X:455.91, Y:-94.75, Z:-3.46 [[ 8.86833182e-01 4.62071542e-01 4.09834758e-03 4.55909591e+02] [-4.62067317e-01 8.86842642e-01 -1.98079699e-03 -9.47452830e+01] [-4.54985932e-03 -1.37075969e-04 9.99989640e-01 -3.46374835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters 0.05268586839661066 Centerline is valid? [True, True] Translation: X:455.97, Y:-94.77, Z:-3.47 [[ 8.86485381e-01 4.62751378e-01 2.19803213e-03 4.55965772e+02] [-4.62750166e-01 8.86488103e-01 -1.06183829e-03 -9.47690860e+01] [-2.43989647e-03 -7.58356141e-05 9.99997021e-01 -3.46664613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters 0.05144205689973846 Centerline is valid? [True, True] Translation: X:456.02, Y:-94.81, Z:-3.47 [[ 8.87606282e-01 4.60597995e-01 2.13888268e-03 4.56015744e+02] [-4.60596840e-01 8.87608857e-01 -1.03396177e-03 -9.48061079e+01] [-2.37473193e-03 -6.74116439e-05 9.99997178e-01 -3.46503343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters 0.051292146660464326 Centerline is valid? [True, True] Translation: X:456.07, Y:-94.83, Z:-3.47 [[ 8.89327193e-01 4.57264379e-01 2.53601037e-03 4.56069791e+02] [-4.57262741e-01 8.89330806e-01 -1.22598676e-03 -9.48349897e+01] [-2.81595222e-03 -6.93196838e-05 9.99996033e-01 -3.46545845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters 0.05183452890924394 Centerline is valid? [True, True] Translation: X:456.12, Y:-94.86, Z:-3.47 [[ 8.91420694e-01 4.53171993e-01 2.07139496e-03 4.56123370e+02] [-4.53170889e-01 8.91423100e-01 -1.00148628e-03 -9.48622035e+01] [-2.30033485e-03 -4.59502990e-05 9.99997353e-01 -3.46692752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters 0.050937962706061685 Centerline is valid? [True, True] Translation: X:456.18, Y:-94.90, Z:-3.47 [[ 8.92222067e-01 4.51591127e-01 2.28865978e-03 4.56176603e+02] [-4.51589775e-01 8.92225001e-01 -1.10596947e-03 -9.48951184e+01] [-2.54144547e-03 -4.67649943e-05 9.99996769e-01 -3.46661910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters 0.05152540231018374 Centerline is valid? [True, True] Translation: X:456.23, Y:-94.93, Z:-3.47 [[ 8.92738389e-01 4.50567147e-01 2.72297677e-03 4.56230720e+02] [-4.50565227e-01 8.92742540e-01 -1.31639887e-03 -9.49265337e+01] [-3.02404328e-03 -5.16788337e-05 9.99995426e-01 -3.46646587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters 0.05103308076720437 Centerline is valid? [True, True] Translation: X:456.28, Y:-94.95, Z:-3.47 [[ 8.92182271e-01 4.51662030e-01 3.49369178e-03 4.56284588e+02] [-4.51658874e-01 8.92189109e-01 -1.68997505e-03 -9.49544882e+01] [-3.88033132e-03 -7.01911209e-05 9.99992469e-01 -3.46603134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters 0.0510590924629872 Centerline is valid? [True, True] Translation: X:456.34, Y:-94.98, Z:-3.47 [[ 8.91349100e-01 4.53303981e-01 3.50458170e-03 4.56340226e+02] [-4.53300817e-01 8.91355986e-01 -1.69558523e-03 -9.49829610e+01] [-3.89244541e-03 -7.72713800e-05 9.99992421e-01 -3.46614581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters 0.0513927962051748 Centerline is valid? [True, True] Translation: X:456.39, Y:-95.01, Z:-3.47 [[ 8.89567148e-01 4.56795279e-01 2.89192031e-03 4.56394523e+02] [-4.56793142e-01 8.89571845e-01 -1.39930961e-03 -9.50117698e+01] [-3.21176890e-03 -7.62295075e-05 9.99994839e-01 -3.46745129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters 0.05110492104277248 Centerline is valid? [True, True] Translation: X:456.45, Y:-95.04, Z:-3.47 [[ 8.88274830e-01 4.59307405e-01 2.12939420e-03 4.56450054e+02] [-4.59306253e-01 8.88277380e-01 -1.03035477e-03 -9.50379278e+01] [-2.36474227e-03 -6.28058608e-05 9.99997202e-01 -3.46874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters 0.05087937532165006 Centerline is valid? [True, True] Translation: X:456.51, Y:-95.06, Z:-3.47 [[ 8.86262349e-01 4.63179148e-01 2.03096230e-03 4.56505519e+02] [-4.63178111e-01 8.86264674e-01 -9.82781270e-04 -9.50646676e+01] [-2.25517393e-03 -6.96952441e-05 9.99997455e-01 -3.46999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters 0.05113471445215648 Centerline is valid? [True, True] Translation: X:456.56, Y:-95.09, Z:-3.47 [[ 8.85232772e-01 4.65141744e-01 2.46940261e-03 4.56559888e+02] [-4.65140218e-01 8.85236211e-01 -1.19478461e-03 -9.50921676e+01] [-2.74174880e-03 -9.09559806e-05 9.99996237e-01 -3.46954730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters 0.05142112352544757 Centerline is valid? [True, True] Translation: X:456.62, Y:-95.12, Z:-3.47 [[ 8.84739636e-01 4.66065412e-01 4.33677726e-03 4.56615521e+02] [-4.66060715e-01 8.84750250e-01 -2.09878670e-03 -9.51179879e+01] [-4.81513665e-03 -1.64321728e-04 9.99988394e-01 -3.46899930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters 0.05034807486076115 Centerline is valid? [True, True] Translation: X:456.67, Y:-95.15, Z:-3.47 [[ 8.85087553e-01 4.65394734e-01 5.26932935e-03 4.56669389e+02] [-4.65387784e-01 8.85103216e-01 -2.55090926e-03 -9.51489971e+01] [-5.85108009e-03 -1.94503475e-04 9.99982863e-01 -3.46892800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters 0.050430025970370974 Centerline is valid? [True, True] Translation: X:456.72, Y:-95.18, Z:-3.47 [[ 8.86376213e-01 4.62925473e-01 6.10041010e-03 4.56722808e+02] [-4.62916092e-01 8.86397182e-01 -2.95426458e-03 -9.51786581e+01] [-6.77499065e-03 -2.05388158e-04 9.99977028e-01 -3.46899935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters 0.0502850170451835 Centerline is valid? [True, True] Translation: X:456.78, Y:-95.21, Z:-3.47 [[ 8.87614824e-01 4.60547746e-01 5.97475329e-03 4.56777412e+02] [-4.60538693e-01 8.87634914e-01 -2.89354104e-03 -9.52061096e+01] [-6.63601343e-03 -1.83255148e-04 9.99977965e-01 -3.46994125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters 0.05116219569223796 Centerline is valid? [True, True] Translation: X:456.83, Y:-95.23, Z:-3.47 [[ 8.89853786e-01 4.56218887e-01 4.95643595e-03 4.56833967e+02] [-4.56212589e-01 8.89867581e-01 -2.40045708e-03 -9.52278859e+01] [-5.50570553e-03 -1.25132656e-04 9.99984836e-01 -3.47153761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters 0.05055838160945843 Centerline is valid? [True, True] Translation: X:456.89, Y:-95.26, Z:-3.47 [[ 8.91772116e-01 4.52460787e-01 4.66150730e-03 4.56886497e+02] [-4.52455165e-01 8.91784294e-01 -2.25761081e-03 -9.52601405e+01] [-5.17853936e-03 -9.58486898e-05 9.99986587e-01 -3.47213525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters 0.05112473100145243 Centerline is valid? [True, True] Translation: X:456.94, Y:-95.29, Z:-3.47 [[ 8.95114460e-01 4.45822880e-01 3.47313712e-03 4.56939810e+02] [-4.45819708e-01 8.95121197e-01 -1.68219088e-03 -9.52885523e+01] [-3.85883784e-03 -4.26395942e-05 9.99992554e-01 -3.47383446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters 0.05077469819400402 Centerline is valid? [True, True] Translation: X:456.99, Y:-95.32, Z:-3.47 [[ 8.97547847e-01 4.40905634e-01 3.17565616e-03 4.56993946e+02] [-4.40902952e-01 8.97553464e-01 -1.53804520e-03 -9.53175564e+01] [-3.52845398e-03 -1.96870163e-05 9.99993775e-01 -3.47498515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters 0.05092468366852112 Centerline is valid? [True, True] Translation: X:457.05, Y:-95.35, Z:-3.48 [[ 9.01332454e-01 4.33113767e-01 3.50325151e-03 4.57047863e+02] [-4.33110444e-01 9.01339262e-01 -1.69676273e-03 -9.53498207e+01] [-3.89250943e-03 1.20525002e-05 9.99992424e-01 -3.47557358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters 0.051188204027075454 Centerline is valid? [True, True] Translation: X:457.10, Y:-95.38, Z:-3.48 [[ 9.02383827e-01 4.30915845e-01 3.86835797e-03 4.57103167e+02] [-4.30911772e-01 9.02392118e-01 -1.87357511e-03 -9.53782679e+01] [-4.29812895e-03 2.37628870e-05 9.99990763e-01 -3.47590933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters 0.05128368663118791 Centerline is valid? [True, True] Translation: X:457.16, Y:-95.41, Z:-3.47 [[ 9.04369748e-01 4.26732659e-01 3.82052204e-03 4.57157935e+02] [-4.26728647e-01 9.04377817e-01 -1.85095100e-03 -9.54069726e+01] [-4.24505663e-03 4.36178859e-05 9.99990989e-01 -3.47497865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters 0.05168789704860407 Centerline is valid? [True, True] Translation: X:457.21, Y:-95.43, Z:-3.48 [[ 9.04034660e-01 4.27446908e-01 3.23631601e-03 4.57214101e+02] [-4.27444033e-01 9.04040453e-01 -1.56818244e-03 -9.54324608e+01] [-3.59607533e-03 3.43473115e-05 9.99993534e-01 -3.47648497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters 0.05084857237344049 Centerline is valid? [True, True] Translation: X:457.27, Y:-95.46, Z:-3.48 [[ 9.01134876e-01 4.33536289e-01 1.49031962e-03 4.57271014e+02] [-4.33535689e-01 9.01136108e-01 -7.21847631e-04 -9.54558360e+01] [-1.65592797e-03 4.37533255e-06 9.99998629e-01 -3.47851458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters 0.050861418593452175 Centerline is valid? [True, True] Translation: X:457.33, Y:-95.48, Z:-3.48 [[ 8.98340788e-01 4.39298865e-01 5.79850757e-04 4.57328360e+02] [-4.39298775e-01 8.98340975e-01 -2.80356272e-04 -9.54794307e+01] [-6.44063887e-04 -2.87225342e-06 9.99999793e-01 -3.47883656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters 0.051470616202266894 Centerline is valid? [True, True] Translation: X:457.39, Y:-95.50, Z:-3.48 [[ 8.94828610e-01 4.46409488e-01 5.73119429e-04 4.57385003e+02] [-4.46409402e-01 8.94828793e-01 -2.77616945e-04 -9.55014427e+01] [-6.36774605e-04 -7.42631611e-06 9.99999797e-01 -3.47941275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters 0.051003405539556505 Centerline is valid? [True, True] Translation: X:457.44, Y:-95.53, Z:-3.48 [[ 8.93145882e-01 4.49763089e-01 1.89691153e-03 4.57440485e+02] [-4.49762149e-01 8.93147895e-01 -9.19774314e-04 -9.55283795e+01] [-2.10790308e-03 -3.16663682e-05 9.99997778e-01 -3.47801486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters 0.05034437927055799 Centerline is valid? [True, True] Translation: X:457.50, Y:-95.55, Z:-3.48 [[ 8.91253214e-01 4.53495233e-01 3.12774656e-03 4.57495927e+02] [-4.53492698e-01 8.91258700e-01 -1.51776940e-03 -9.55526139e+01] [-3.47593252e-03 -6.56933663e-05 9.99993957e-01 -3.47691891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters 0.050610950503321706 Centerline is valid? [True, True] Translation: X:457.55, Y:-95.58, Z:-3.48 [[ 8.90439337e-01 4.55089073e-01 3.42374518e-03 4.57551961e+02] [-4.55086047e-01 8.90445916e-01 -1.66149432e-03 -9.55800611e+01] [-3.80478782e-03 -7.86387638e-05 9.99992759e-01 -3.47704802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters 0.05012626089793177 Centerline is valid? [True, True] Translation: X:457.60, Y:-95.61, Z:-3.48 [[ 8.89976783e-01 4.55994763e-01 3.17832641e-03 4.57604444e+02] [-4.55992159e-01 8.89982455e-01 -1.54280340e-03 -9.56119069e+01] [-3.53216501e-03 -7.62327169e-05 9.99993759e-01 -3.47670794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters 0.0507719328663189 Centerline is valid? [True, True] Translation: X:457.66, Y:-95.64, Z:-3.48 [[ 8.89933615e-01 4.56083325e-01 2.48226843e-03 4.57662534e+02] [-4.56081738e-01 8.89937075e-01 -1.20494546e-03 -9.56352880e+01] [-2.75861824e-03 -5.97958329e-05 9.99996193e-01 -3.47908140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters 0.05037748568518125 Centerline is valid? [True, True] Translation: X:457.71, Y:-95.67, Z:-3.48 [[ 8.90776262e-01 4.54441963e-01 3.92161255e-04 4.57713482e+02] [-4.54441924e-01 8.90776348e-01 -1.89690258e-04 -9.56723522e+01] [-4.35531184e-04 -9.24293638e-06 9.99999905e-01 -3.47899766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters 0.05053834188833863 Centerline is valid? [True, True] Translation: X:457.77, Y:-95.71, Z:-3.48 [[ 8.93306376e-01 4.49444842e-01 -1.74689972e-03 4.57765770e+02] [-4.49444041e-01 8.93308084e-01 8.49183197e-04 -9.57058972e+01] [ 1.94218065e-03 2.65529069e-05 9.99998114e-01 -3.47921465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters 0.050976648456390265 Centerline is valid? [True, True] Translation: X:457.82, Y:-95.74, Z:-3.48 [[ 8.96008363e-01 4.44027947e-01 -2.86275925e-03 4.57819294e+02] [-4.44025767e-01 8.96012936e-01 1.39165153e-03 -9.57374233e+01] [ 3.18300149e-03 2.42074622e-05 9.99994934e-01 -3.47917186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters 0.05122373725267112 Centerline is valid? [True, True] Translation: X:457.87, Y:-95.77, Z:-3.48 [[ 9.01361048e-01 4.33059573e-01 -2.76900996e-03 4.57870812e+02] [-4.33057478e-01 9.01365301e-01 1.34695431e-03 -9.57706430e+01] [ 3.07920095e-03 -1.49516782e-05 9.99995259e-01 -3.47890258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters 0.05134400666530994 Centerline is valid? [True, True] Translation: X:457.93, Y:-95.80, Z:-3.48 [[ 9.04682009e-01 4.26084747e-01 -1.50067964e-03 4.57925066e+02] [-4.26084121e-01 9.04683253e-01 7.30532895e-04 -9.58006305e+01] [ 1.66890866e-03 -2.14842030e-05 9.99998607e-01 -3.47719787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters 0.052136432341228126 Centerline is valid? [True, True] Translation: X:457.98, Y:-95.83, Z:-3.48 [[ 9.06574849e-01 4.22043899e-01 9.94663209e-04 4.57978507e+02] [-4.22043623e-01 9.06575395e-01 -4.83464075e-04 -9.58306610e+01] [-1.10578026e-03 1.85051069e-05 9.99999388e-01 -3.47844947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters 0.05193485798157007 Centerline is valid? [True, True] Translation: X:458.04, Y:-95.85, Z:-3.48 [[ 9.06498265e-01 4.22209382e-01 3.64843841e-04 4.58036828e+02] [-4.22209345e-01 9.06498339e-01 -1.76446178e-04 -9.58547567e+01] [-4.05227567e-04 5.90767483e-06 9.99999918e-01 -3.47654182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters 0.05150622717872841 Centerline is valid? [True, True] Translation: X:458.09, Y:-95.88, Z:-3.48 [[ 9.04965206e-01 4.25483810e-01 -1.22594777e-03 4.58091901e+02] [-4.25483392e-01 9.04966036e-01 5.96883466e-04 -9.58808377e+01] [ 1.36340535e-03 -1.85383512e-05 9.99999070e-01 -3.47838776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters 0.051314657937680426 Centerline is valid? [True, True] Translation: X:458.15, Y:-95.91, Z:-3.48 [[ 9.03863436e-01 4.27815888e-01 -2.11088858e-03 4.58148217e+02] [-4.27814653e-01 9.03865900e-01 1.02808658e-03 -9.59054087e+01] [ 2.34779198e-03 -2.61808047e-05 9.99997244e-01 -3.47971553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters 0.05151766332313419 Centerline is valid? [True, True] Translation: X:458.21, Y:-95.93, Z:-3.48 [[ 9.02662961e-01 4.30344178e-01 -1.86233280e-03 4.58205963e+02] [-4.30343221e-01 9.02664882e-01 9.07457944e-04 -9.59283477e+01] [ 2.07158166e-03 -1.76863762e-05 9.99997854e-01 -3.47984328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters 0.05143252494851287 Centerline is valid? [True, True] Translation: X:458.26, Y:-95.95, Z:-3.48 [[ 9.02364091e-01 4.30973066e-01 -1.12433127e-03 4.58262692e+02] [-4.30972717e-01 9.02364791e-01 5.48386225e-04 -9.59541782e+01] [ 1.25089664e-03 -1.02879369e-05 9.99999218e-01 -3.47852947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters 0.050947269332605995 Centerline is valid? [True, True] Translation: X:458.32, Y:-95.98, Z:-3.48 [[ 9.02172501e-01 4.31375396e-01 2.16339290e-04 4.58317578e+02] [-4.31375383e-01 9.02172527e-01 -1.04516541e-04 -9.59817643e+01] [-2.40261229e-04 9.68505027e-07 9.99999971e-01 -3.47949883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters 0.051396557286534486 Centerline is valid? [True, True] Translation: X:458.38, Y:-96.00, Z:-3.48 [[ 9.01638680e-01 4.32487779e-01 1.41861033e-03 4.58375745e+02] [-4.32487229e-01 9.01639795e-01 -6.90208364e-04 -9.60045141e+01] [-1.57758221e-03 8.78770757e-06 9.99998756e-01 -3.47776663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters 0.051248764192343484 Centerline is valid? [True, True] Translation: X:458.43, Y:-96.03, Z:-3.48 [[ 9.00510485e-01 4.34830254e-01 1.87549037e-03 4.58431622e+02] [-4.34829295e-01 9.00512438e-01 -9.13063859e-04 -9.60288834e+01] [-2.08593019e-03 6.70542408e-06 9.99997824e-01 -3.47834819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters 0.05106409095576863 Centerline is valid? [True, True] Translation: X:458.49, Y:-96.05, Z:-3.48 [[ 8.97796079e-01 4.40406766e-01 2.02012598e-03 4.58488763e+02] [-4.40405667e-01 8.97798352e-01 -9.83885187e-04 -9.60504474e+01] [-2.24697547e-03 -6.34666510e-06 9.99997476e-01 -3.47953712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters 0.0510296766796974 Centerline is valid? [True, True] Translation: X:458.54, Y:-96.08, Z:-3.48 [[ 8.95717419e-01 4.44621900e-01 1.29246519e-03 4.58544483e+02] [-4.44621455e-01 8.95718352e-01 -6.29352130e-04 -9.60758954e+01] [-1.43750853e-03 -1.09360858e-05 9.99998967e-01 -3.47790628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters 0.05105813445201206 Centerline is valid? [True, True] Translation: X:458.60, Y:-96.10, Z:-3.48 [[ 8.93138211e-01 4.49782140e-01 -4.04761302e-04 4.58602724e+02] [-4.49782096e-01 8.93138302e-01 1.97496242e-04 -9.60953218e+01] [ 4.50338105e-04 5.66294667e-06 9.99999899e-01 -3.48141866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters 0.05148886982287177 Centerline is valid? [True, True] Translation: X:458.66, Y:-96.12, Z:-3.48 [[ 8.91676197e-01 4.52671412e-01 -1.46729562e-03 4.58657997e+02] [-4.52670847e-01 8.91677404e-01 7.15795210e-04 -9.61209369e+01] [ 1.63237438e-03 2.59444013e-05 9.99998667e-01 -3.48145650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters 0.05137798829420805 Centerline is valid? [True, True] Translation: X:458.71, Y:-96.15, Z:-3.48 [[ 8.90424387e-01 4.55124234e-01 -2.51835608e-03 4.58714261e+02] [-4.55122579e-01 8.90427947e-01 1.22830681e-03 -9.61464066e+01] [ 2.80144683e-03 5.24463766e-05 9.99996075e-01 -3.48148078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters 0.05183206717065839 Centerline is valid? [True, True] Translation: X:458.77, Y:-96.17, Z:-3.48 [[ 8.90702714e-01 4.54576845e-01 -2.92700490e-03 4.58769247e+02] [-4.54574605e-01 8.90707521e-01 1.42820468e-03 -9.61721390e+01] [ 3.25633406e-03 5.84363053e-05 9.99994696e-01 -3.48232594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters 0.051696334361270135 Centerline is valid? [True, True] Translation: X:458.82, Y:-96.20, Z:-3.48 [[ 8.93382143e-01 4.49285795e-01 -3.25887148e-03 4.58821930e+02] [-4.49282984e-01 8.93388086e-01 1.58974529e-03 -9.62034647e+01] [ 3.62568693e-03 4.39054493e-05 9.99993426e-01 -3.48108477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters 0.051928331562242136 Centerline is valid? [True, True] Translation: X:458.88, Y:-96.23, Z:-3.48 [[ 8.94823534e-01 4.46409191e-01 -3.11073346e-03 4.58877102e+02] [-4.46406608e-01 8.94828941e-01 1.51874313e-03 -9.62326474e+01] [ 3.46155522e-03 2.96448739e-05 9.99994008e-01 -3.48094467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters 0.05194000281737216 Centerline is valid? [True, True] Translation: X:458.93, Y:-96.27, Z:-3.48 [[ 9.00601554e-01 4.34640295e-01 -2.15761229e-03 4.58929020e+02] [-4.34639017e-01 9.00604138e-01 1.05390889e-03 -9.62653048e+01] [ 2.40122582e-03 -1.13694989e-05 9.99997117e-01 -3.48012904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters 0.05296681467637733 Centerline is valid? [True, True] Translation: X:458.98, Y:-96.30, Z:-3.48 [[ 9.05253265e-01 4.24869173e-01 -1.64696991e-03 4.58980648e+02] [-4.24868413e-01 9.05254762e-01 8.03999147e-04 -9.62978411e+01] [ 1.83252181e-03 -2.80773600e-05 9.99998321e-01 -3.48031874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters 0.053368956218697444 Centerline is valid? [True, True] Translation: X:459.04, Y:-96.33, Z:-3.48 [[ 9.12181755e-01 4.09784630e-01 -1.00199281e-03 4.59035456e+02] [-4.09784339e-01 9.12182304e-01 4.89182109e-04 -9.63251788e+01] [ 1.11445942e-03 -3.56220328e-05 9.99999378e-01 -3.47722259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters 0.05378786804785435 Centerline is valid? [True, True] Translation: X:459.09, Y:-96.36, Z:-3.48 [[ 9.16116422e-01 4.00908029e-01 -1.85822284e-03 4.59089100e+02] [-4.00907012e-01 9.16118303e-01 9.07224702e-04 -9.63552196e+01] [ 2.06606563e-03 -8.61488792e-05 9.99997862e-01 -3.47756847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters 0.054583059554907096 Centerline is valid? [True, True] Translation: X:459.14, Y:-96.38, Z:-3.48 [[ 9.20159876e-01 3.91526660e-01 -3.56032775e-03 4.59144118e+02] [-3.91522856e-01 9.20166741e-01 1.73824114e-03 -9.63796466e+01] [ 3.95666293e-03 -2.05510066e-04 9.99992151e-01 -3.47836895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters 0.05484744972785271 Centerline is valid? [True, True] Translation: X:459.20, Y:-96.40, Z:-3.48 [[ 9.21977192e-01 3.87223045e-01 -4.04604920e-03 4.59200568e+02] [-3.87218090e-01 9.21986035e-01 1.97538930e-03 -9.64043677e+01] [ 4.49531711e-03 -2.54560440e-04 9.99989864e-01 -3.47864222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters 0.054702830810265675 Centerline is valid? [True, True] Translation: X:459.26, Y:-96.43, Z:-3.48 [[ 9.21886551e-01 3.87440460e-01 -3.88300812e-03 4.59258965e+02] [-3.87435893e-01 9.21894696e-01 1.89693523e-03 -9.64257684e+01] [ 4.31467404e-03 -2.44342356e-04 9.99990662e-01 -3.47747124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters 0.055107110196776506 Centerline is valid? [True, True] Translation: X:459.31, Y:-96.45, Z:-3.48 [[ 9.19715283e-01 3.92572889e-01 -3.21327420e-03 4.59314828e+02] [-3.92569794e-01 9.19720878e-01 1.56935272e-03 -9.64506093e+01] [ 3.57140070e-03 -1.81923285e-04 9.99993606e-01 -3.47817759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters 0.05436504258142194 Centerline is valid? [True, True] Translation: X:459.37, Y:-96.48, Z:-3.48 [[ 9.16960813e-01 3.98972057e-01 -2.04084187e-03 4.59369320e+02] [-3.98970825e-01 9.16963079e-01 9.96688004e-04 -9.64770635e+01] [ 2.26902731e-03 -9.96874773e-05 9.99997421e-01 -3.47966253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters 0.05362851179441677 Centerline is valid? [True, True] Translation: X:459.43, Y:-96.50, Z:-3.48 [[ 9.11282465e-01 4.11781773e-01 -2.01080402e-04 4.59425689e+02] [-4.11781762e-01 9.11282487e-01 9.83745188e-05 -9.65006829e+01] [ 2.23749882e-04 -6.84573189e-06 9.99999975e-01 -3.48071841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters 0.05353227977193746 Centerline is valid? [True, True] Translation: X:459.49, Y:-96.51, Z:-3.48 [[ 9.06950018e-01 4.21238247e-01 -6.14420655e-05 4.59485862e+02] [-4.21238246e-01 9.06950020e-01 3.00332985e-05 -9.65134513e+01] [ 6.83760564e-05 -1.35695274e-06 9.99999998e-01 -3.47863621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters 0.05362850935831358 Centerline is valid? [True, True] Translation: X:459.54, Y:-96.53, Z:-3.48 [[ 9.00193316e-01 4.35488661e-01 -1.27303776e-03 4.59542751e+02] [-4.35488217e-01 9.00194216e-01 6.21826694e-04 -9.65341227e+01] [ 1.41677970e-03 -5.37128817e-06 9.99998996e-01 -3.48133286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters 0.05322908067616219 Centerline is valid? [True, True] Translation: X:459.60, Y:-96.55, Z:-3.49 [[ 8.96131369e-01 4.43785796e-01 -1.65469993e-03 4.59600802e+02] [-4.43785058e-01 8.96132896e-01 8.09306428e-04 -9.65536500e+01] [ 1.84198973e-03 9.08622485e-06 9.99998303e-01 -3.48591281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters 0.052975704023433094 Centerline is valid? [True, True] Translation: X:459.66, Y:-96.57, Z:-3.48 [[ 8.92091933e-01 4.51850602e-01 -1.73680395e-03 4.59658934e+02] [-4.51849806e-01 8.92093623e-01 8.48656465e-04 -9.65746604e+01] [ 1.93285766e-03 2.76949406e-05 9.99998132e-01 -3.48423317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters 0.052450951068518874 Centerline is valid? [True, True] Translation: X:459.72, Y:-96.60, Z:-3.49 [[ 8.90811273e-01 4.54371389e-01 -1.38407857e-03 4.59715372e+02] [-4.54370885e-01 8.90812348e-01 6.77265663e-04 -9.65978863e+01] [ 1.54068442e-03 2.55691165e-05 9.99998813e-01 -3.48504475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters 0.0524326043182253 Centerline is valid? [True, True] Translation: X:459.77, Y:-96.63, Z:-3.48 [[ 8.90803113e-01 4.54388141e-01 -1.10971897e-03 4.59771104e+02] [-4.54387816e-01 8.90803804e-01 5.43425536e-04 -9.66260962e+01] [ 1.23546800e-03 2.01576220e-05 9.99999237e-01 -3.48414258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters 0.053001923852982115 Centerline is valid? [True, True] Translation: X:459.83, Y:-96.65, Z:-3.49 [[ 8.91529730e-01 4.52960267e-01 -1.31819132e-03 4.59826712e+02] [-4.52959807e-01 8.91530704e-01 6.45431589e-04 -9.66521640e+01] [ 1.46756290e-03 2.16662367e-05 9.99998923e-01 -3.48565984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters 0.05259241533054698 Centerline is valid? [True, True] Translation: X:459.88, Y:-96.68, Z:-3.49 [[ 8.92587645e-01 4.50868770e-01 -2.15591727e-03 4.59880843e+02] [-4.50867536e-01 8.92590248e-01 1.05543704e-03 -9.66821175e+01] [ 2.40021433e-03 2.99630487e-05 9.99997119e-01 -3.48597486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters 0.05258360766436525 Centerline is valid? [True, True] Translation: X:459.94, Y:-96.71, Z:-3.49 [[ 8.93095296e-01 4.49859795e-01 -2.63766394e-03 4.59936316e+02] [-4.49857942e-01 8.93099190e-01 1.29144208e-03 -9.67109049e+01] [ 2.93666340e-03 3.31932282e-05 9.99995687e-01 -3.48695204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters 0.05325158747411895 Centerline is valid? [True, True] Translation: X:459.99, Y:-96.74, Z:-3.49 [[ 8.93504499e-01 4.49044456e-01 -2.96416757e-03 4.59990685e+02] [-4.49042111e-01 8.93509415e-01 1.45151225e-03 -9.67384807e+01] [ 3.30030516e-03 3.41033406e-05 9.99994553e-01 -3.48836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters 0.053391152772293705 Centerline is valid? [True, True] Translation: X:460.04, Y:-96.77, Z:-3.49 [[ 8.94760637e-01 4.46532828e-01 -3.44051931e-03 4.60043944e+02] [-4.46529649e-01 8.94767251e-01 1.68520526e-03 -9.67704977e+01] [ 3.83096347e-03 2.84385410e-05 9.99992661e-01 -3.48835159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters 0.052917152760893996 Centerline is valid? [True, True] Translation: X:460.10, Y:-96.80, Z:-3.49 [[ 8.96063473e-01 4.43917108e-01 -2.80253100e-03 4.60097926e+02] [-4.43914984e-01 8.96067855e-01 1.37330262e-03 -9.68011757e+01] [ 3.12089047e-03 1.35191900e-05 9.99995130e-01 -3.48791071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters 0.0527838340983254 Centerline is valid? [True, True] Translation: X:460.15, Y:-96.83, Z:-3.49 [[ 8.98161815e-01 4.39663087e-01 -1.31296707e-03 4.60149939e+02] [-4.39662615e-01 8.98162775e-01 6.43999319e-04 -9.68334140e+01] [ 1.46240087e-03 -1.15306207e-06 9.99998931e-01 -3.48681442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters 0.052488531044813144 Centerline is valid? [True, True] Translation: X:460.20, Y:-96.87, Z:-3.49 [[ 8.99703470e-01 4.36500663e-01 -9.15352148e-04 4.60203992e+02] [-4.36500432e-01 8.99703935e-01 4.49182115e-04 -9.68653348e+01] [ 1.01961422e-03 -4.57909996e-06 9.99999480e-01 -3.48844125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters 0.05219991397824452 Centerline is valid? [True, True] Translation: X:460.26, Y:-96.90, Z:-3.49 [[ 9.01725300e-01 4.32308940e-01 -6.81435528e-04 4.60256561e+02] [-4.32308810e-01 9.01725557e-01 3.34379846e-04 -9.68963029e+01] [ 7.59023227e-04 -6.92818427e-06 9.99999712e-01 -3.48636588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters 0.052942022646866246 Centerline is valid? [True, True] Translation: X:460.31, Y:-96.93, Z:-3.49 [[ 9.04014564e-01 4.27500430e-01 -1.02447425e-03 4.60309538e+02] [-4.27500136e-01 9.04015145e-01 5.02163065e-04 -9.69279281e+01] [ 1.14081517e-03 -1.59998423e-05 9.99999349e-01 -3.48787675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters 0.053071087772854596 Centerline is valid? [True, True] Translation: X:460.36, Y:-96.96, Z:-3.49 [[ 9.06107957e-01 4.23044626e-01 -1.27087924e-03 4.60363389e+02] [-4.23044168e-01 9.06108848e-01 6.22918680e-04 -9.69560994e+01] [ 1.41507732e-03 -2.67935223e-05 9.99998998e-01 -3.48659740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters 0.053799038236644635 Centerline is valid? [True, True] Translation: X:460.42, Y:-96.99, Z:-3.49 [[ 9.09753402e-01 4.15147989e-01 -9.45510051e-04 4.60416441e+02] [-4.15147732e-01 9.09753893e-01 4.63545282e-04 -9.69868337e+01] [ 1.05262134e-03 -2.91855440e-05 9.99999446e-01 -3.48612325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters 0.053974474716396714 Centerline is valid? [True, True] Translation: X:460.47, Y:-97.01, Z:-3.49 [[ 9.11987115e-01 4.10218782e-01 -2.29010167e-04 4.60471691e+02] [-4.10218767e-01 9.11987144e-01 1.12429986e-04 -9.70135053e+01] [ 2.54975220e-04 -8.59043010e-06 9.99999967e-01 -3.48577566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters 0.054760887755319565 Centerline is valid? [True, True] Translation: X:460.52, Y:-97.05, Z:-3.49 [[ 9.14468542e-01 4.04655829e-01 9.72347804e-04 4.60521594e+02] [-4.04655551e-01 9.14469058e-01 -4.76401602e-04 -9.70491042e+01] [-1.08196067e-03 4.21883424e-05 9.99999414e-01 -3.48697598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters 0.05499712621405195 Centerline is valid? [True, True] Translation: X:460.58, Y:-97.07, Z:-3.49 [[ 9.14947972e-01 4.03565550e-01 2.24837290e-03 4.60580081e+02] [-4.03564059e-01 9.14950729e-01 -1.10179278e-03 -9.70715382e+01] [-2.50179603e-03 1.00720574e-04 9.99996865e-01 -3.48619971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters 0.05484851478806507 Centerline is valid? [True, True] Translation: X:460.63, Y:-97.10, Z:-3.49 [[ 9.14528355e-01 4.04516666e-01 2.03822586e-03 4.60632355e+02] [-4.04515443e-01 9.14530622e-01 -9.98400123e-04 -9.71039207e+01] [-2.26788945e-03 8.85713848e-05 9.99997424e-01 -3.48750294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters 0.05518353159418171 Centerline is valid? [True, True] Translation: X:460.69, Y:-97.13, Z:-3.49 [[ 9.13006879e-01 4.07940158e-01 1.80727417e-03 4.60688606e+02] [-4.07939202e-01 9.13008665e-01 -8.86043817e-04 -9.71290524e+01] [-2.01150983e-03 7.17061171e-05 9.99997974e-01 -3.48968015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters 0.053950729380473225 Centerline is valid? [True, True] Translation: X:460.75, Y:-97.15, Z:-3.49 [[ 9.08927755e-01 4.16953058e-01 -6.95143044e-04 4.60747517e+02] [-4.16952919e-01 9.08928021e-01 3.40863115e-04 -9.71457165e+01] [ 7.73958909e-04 -1.99780243e-05 9.99999700e-01 -3.49068402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters 0.05380610310334811 Centerline is valid? [True, True] Translation: X:460.81, Y:-97.17, Z:-3.49 [[ 9.04075113e-01 4.27372973e-01 -7.29718494e-04 4.60805475e+02] [-4.27372824e-01 9.04075407e-01 3.57957205e-04 -9.71655514e+01] [ 8.12701780e-04 -1.17583475e-05 9.99999670e-01 -3.49271769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters 0.05326278806573414 Centerline is valid? [True, True] Translation: X:460.86, Y:-97.19, Z:-3.49 [[ 9.01241649e-01 4.33316829e-01 -1.28043833e-04 4.60862542e+02] [-4.33316825e-01 9.01241658e-01 6.28838852e-05 -9.71869114e+01] [ 1.42647082e-04 -1.19002941e-06 9.99999990e-01 -3.49344882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters 0.05257258727362484 Centerline is valid? [True, True] Translation: X:460.92, Y:-97.21, Z:-3.49 [[ 8.98083132e-01 4.39820826e-01 2.08093358e-03 4.60921034e+02] [-4.39819642e-01 8.98085542e-01 -1.02026914e-03 -9.72072577e+01] [-2.31759198e-03 1.05104087e-06 9.99997314e-01 -3.49199133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters 0.052663207587952156 Centerline is valid? [True, True] Translation: X:460.98, Y:-97.23, Z:-3.49 [[ 8.96534095e-01 4.42972801e-01 1.30877621e-03 4.60977677e+02] [-4.42972337e-01 8.96535051e-01 -6.41098270e-04 -9.72309910e+01] [-1.45735284e-03 -4.98519695e-06 9.99998938e-01 -3.49249668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters 0.05271772996227575 Centerline is valid? [True, True] Translation: X:461.04, Y:-97.25, Z:-3.49 [[ 8.94712207e-01 4.46642716e-01 5.93066299e-04 4.61035850e+02] [-4.46642621e-01 8.94712403e-01 -2.90458274e-04 -9.72541184e+01] [-6.60354846e-04 -5.01212366e-06 9.99999782e-01 -3.49445444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters 0.05302532128326551 Centerline is valid? [True, True] Translation: X:461.09, Y:-97.28, Z:-3.50 [[ 8.92713681e-01 4.50624322e-01 5.82001525e-05 4.61093268e+02] [-4.50624321e-01 8.92713683e-01 -2.81001053e-05 -9.72752909e+01] [-6.46186635e-05 -1.14105575e-06 9.99999998e-01 -3.49708520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters 0.05241829875339306 Centerline is valid? [True, True] Translation: X:461.15, Y:-97.30, Z:-3.50 [[ 8.91475976e-01 4.53067762e-01 -4.33377367e-04 4.61148279e+02] [-4.53067712e-01 8.91476081e-01 2.12932009e-04 -9.73028833e+01] [ 4.82818185e-04 6.52552208e-06 9.99999883e-01 -3.49639547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters 0.052829562280332934 Centerline is valid? [True, True] Translation: X:461.20, Y:-97.33, Z:-3.50 [[ 8.90972086e-01 4.54051599e-01 -2.42652083e-03 4.61203328e+02] [-4.54050038e-01 8.90975389e-01 1.19136732e-03 -9.73286570e+01] [ 2.70291258e-03 4.02868520e-05 9.99996346e-01 -3.49877132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters 0.05253745847960703 Centerline is valid? [True, True] Translation: X:461.26, Y:-97.36, Z:-3.50 [[ 8.91517241e-01 4.52977659e-01 -2.87233520e-03 4.61257157e+02] [-4.52975463e-01 8.91521867e-01 1.41103827e-03 -9.73595931e+01] [ 3.19991846e-03 4.31324239e-05 9.99994879e-01 -3.49845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters 0.052912385445658384 Centerline is valid? [True, True] Translation: X:461.31, Y:-97.39, Z:-3.50 [[ 8.92603417e-01 4.50833730e-01 -2.84399268e-03 4.61312092e+02] [-4.50831568e-01 8.92607947e-01 1.39666783e-03 -9.73899032e+01] [ 3.16823544e-03 3.54912012e-05 9.99994981e-01 -3.49884245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters 0.052741766835045376 Centerline is valid? [True, True] Translation: X:461.36, Y:-97.42, Z:-3.50 [[ 8.94528497e-01 4.47004546e-01 -2.38816090e-03 4.61363641e+02] [-4.47003009e-01 8.94531685e-01 1.17262165e-03 -9.74212849e+01] [ 2.66045280e-03 1.85716240e-05 9.99996461e-01 -3.49918421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters 0.052153931871856525 Centerline is valid? [True, True] Translation: X:461.42, Y:-97.46, Z:-3.50 [[ 8.96893968e-01 4.42243522e-01 -1.37038231e-03 4.61415675e+02] [-4.42243010e-01 8.96895015e-01 6.73258505e-04 -9.74570894e+01] [ 1.52683328e-03 2.20050637e-06 9.99998834e-01 -3.49688277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters 0.05204252363728334 Centerline is valid? [True, True] Translation: X:461.47, Y:-97.49, Z:-3.50 [[ 8.98154474e-01 4.39679414e-01 -7.44403451e-04 4.61468989e+02] [-4.39679261e-01 8.98154782e-01 3.66618264e-04 -9.74890247e+01] [ 8.29784023e-04 -1.98107508e-06 9.99999656e-01 -3.49708904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters 0.0529898147775635 Centerline is valid? [True, True] Translation: X:461.52, Y:-97.52, Z:-3.50 [[ 8.99635212e-01 4.36642169e-01 -3.18674046e-04 4.61520307e+02] [-4.36642140e-01 8.99635269e-01 1.57475416e-04 -9.75226686e+01] [ 3.55450818e-04 -2.52391207e-06 9.99999937e-01 -3.49808146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters 0.052760944341154456 Centerline is valid? [True, True] Translation: X:461.58, Y:-97.55, Z:-3.49 [[ 9.00775237e-01 4.34285469e-01 -3.20726378e-04 4.61575871e+02] [-4.34285440e-01 9.00775295e-01 1.58604341e-04 -9.75511531e+01] [ 3.57781958e-04 -3.58006675e-06 9.99999936e-01 -3.49396762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters 0.05256931216042811 Centerline is valid? [True, True] Translation: X:461.62, Y:-97.59, Z:-3.50 [[ 9.03411276e-01 4.28773279e-01 -1.24157462e-03 4.61624548e+02] [-4.28772845e-01 9.03412129e-01 6.10260966e-04 -9.75885069e+01] [ 1.38331716e-03 -1.89631567e-05 9.99999043e-01 -3.49767505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters 0.05351537030120761 Centerline is valid? [True, True] Translation: X:461.68, Y:-97.61, Z:-3.50 [[ 9.05410080e-01 4.24538072e-01 1.12476732e-04 4.61680028e+02] [-4.24538068e-01 9.05410087e-01 -5.51164025e-05 -9.76148511e+01] [-1.25236579e-04 2.15229197e-06 9.99999992e-01 -3.49506938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters 0.05307424761492047 Centerline is valid? [True, True] Translation: X:461.73, Y:-97.64, Z:-3.50 [[ 9.08294789e-01 4.18328881e-01 1.23476829e-03 4.61734496e+02] [-4.18328442e-01 9.08295627e-01 -6.06734259e-04 -9.76437158e+01] [-1.37534910e-03 3.45548691e-05 9.99999054e-01 -3.49557962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters 0.05374325637031554 Centerline is valid? [True, True] Translation: X:461.78, Y:-97.68, Z:-3.50 [[ 9.10526820e-01 4.13442808e-01 2.44025107e-03 4.61784764e+02] [-4.13441077e-01 9.10530086e-01 -1.19934165e-03 -9.76808087e+01] [-2.71778120e-03 8.31327086e-05 9.99996303e-01 -3.49678093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters 0.053874658742343255 Centerline is valid? [True, True] Translation: X:461.84, Y:-97.71, Z:-3.50 [[ 9.11015742e-01 4.12365487e-01 2.24094492e-03 4.61836474e+02] [-4.12364024e-01 9.11018495e-01 -1.10147271e-03 -9.77131765e+01] [-2.49575160e-03 7.93739167e-05 9.99996882e-01 -3.49845824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters 0.05361854946847919 Centerline is valid? [True, True] Translation: X:461.89, Y:-97.73, Z:-3.50 [[ 9.10127477e-01 4.14324020e-01 1.89275130e-03 4.61894048e+02] [-4.14322980e-01 9.10129443e-01 -9.30362999e-04 -9.77348967e+01] [-2.10812042e-03 6.25385715e-05 9.99997776e-01 -3.49883446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters 0.05338334714278408 Centerline is valid? [True, True] Translation: X:461.95, Y:-97.76, Z:-3.50 [[ 9.08084230e-01 4.18782309e-01 2.09990753e-03 4.61950939e+02] [-4.18781041e-01 9.08086656e-01 -1.03220172e-03 -9.77587442e+01] [-2.33916583e-03 5.79246414e-05 9.99997262e-01 -3.50055107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters 0.052980257256334 Centerline is valid? [True, True] Translation: X:462.01, Y:-97.78, Z:-3.50 [[ 9.03772875e-01 4.28011131e-01 1.03046549e-03 4.62008552e+02] [-4.28010831e-01 9.03773463e-01 -5.06461206e-04 -9.77796889e+01] [-1.14807840e-03 1.66755080e-05 9.99999341e-01 -3.50244023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters 0.05186612185267217 Centerline is valid? [True, True] Translation: X:462.07, Y:-97.80, Z:-3.50 [[ 9.00739110e-01 4.34359500e-01 9.38087086e-04 4.62066091e+02] [-4.34359255e-01 9.00739599e-01 -4.61099360e-04 -9.78015826e+01] [-1.04525507e-03 7.86341951e-06 9.99999454e-01 -3.50325973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters 0.05245520367664942 Centerline is valid? [True, True] Translation: X:462.12, Y:-97.82, Z:-3.50 [[ 8.96918667e-01 4.42193113e-01 1.46800470e-03 4.62124539e+02] [-4.42192525e-01 8.96919869e-01 -7.21027168e-04 -9.78221723e+01] [-1.63551583e-03 -2.43797653e-06 9.99998663e-01 -3.50469894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters 0.052047811020800125 Centerline is valid? [True, True] Translation: X:462.18, Y:-97.85, Z:-3.50 [[ 8.93621601e-01 4.48815369e-01 2.27995635e-03 4.62182851e+02] [-4.48813971e-01 8.93624509e-01 -1.12071460e-03 -9.78452192e+01] [-2.54041881e-03 -2.17814821e-05 9.99996773e-01 -3.50451099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters 0.052471847767422364 Centerline is valid? [True, True] Translation: X:462.24, Y:-97.87, Z:-3.50 [[ 8.91533838e-01 4.52946749e-01 2.58049946e-03 4.62239527e+02] [-4.52944972e-01 8.91537571e-01 -1.26925120e-03 -9.78692843e+01] [-2.87551542e-03 -3.72438638e-05 9.99995865e-01 -3.50484883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters 0.05184020045315918 Centerline is valid? [True, True] Translation: X:462.30, Y:-97.89, Z:-3.51 [[ 8.88806050e-01 4.58274863e-01 2.82061547e-03 4.62296140e+02] [-4.58272766e-01 8.88810523e-01 -1.38780508e-03 -9.78910442e+01] [-3.14298890e-03 -5.91217063e-05 9.99995059e-01 -3.50584409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters 0.05224912144695148 Centerline is valid? [True, True] Translation: X:462.35, Y:-97.92, Z:-3.51 [[ 8.88045012e-01 4.59748771e-01 2.66928829e-03 4.62351393e+02] [-4.59746901e-01 8.88049021e-01 -1.31286625e-03 -9.79194069e+01] [-2.97404749e-03 -6.13126966e-05 9.99995576e-01 -3.50612837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters 0.051534140153475426 Centerline is valid? [True, True] Translation: X:462.41, Y:-97.95, Z:-3.51 [[ 8.86402641e-01 4.62911888e-01 1.71541313e-03 4.62406443e+02] [-4.62911120e-01 8.86404299e-01 -8.44184208e-04 -9.79453872e+01] [-1.91133248e-03 -4.57967046e-05 9.99998172e-01 -3.50740440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters 0.0522626150004542 Centerline is valid? [True, True] Translation: X:462.46, Y:-97.97, Z:-3.51 [[ 8.85874962e-01 4.63923236e-01 8.84285796e-04 4.62462805e+02] [-4.63923033e-01 8.85875403e-01 -4.34972740e-04 -9.79719049e+01] [-9.85160998e-04 -2.49090883e-05 9.99999514e-01 -3.50873670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters 0.051458413576457876 Centerline is valid? [True, True] Translation: X:462.52, Y:-98.01, Z:-3.51 [[ 8.86312479e-01 4.63087598e-01 -2.56408045e-04 4.62516010e+02] [-4.63087581e-01 8.86312516e-01 1.27180259e-04 -9.80050496e+01] [ 2.86153260e-04 6.01793075e-06 9.99999959e-01 -3.50940065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters 0.051985859176351124 Centerline is valid? [True, True] Translation: X:462.57, Y:-98.04, Z:-3.51 [[ 8.87451486e-01 4.60899275e-01 -1.31102055e-03 4.62569294e+02] [-4.60898824e-01 8.87452453e-01 6.45883974e-04 -9.80370382e+01] [ 1.46115586e-03 3.10571374e-05 9.99998932e-01 -3.51086787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters 0.05189399829441174 Centerline is valid? [True, True] Translation: X:462.62, Y:-98.07, Z:-3.51 [[ 8.91674623e-01 4.52672775e-01 -1.93038458e-03 4.62618875e+02] [-4.52671777e-01 8.91676712e-01 9.50647957e-04 -9.80722194e+01] [ 2.15161142e-03 2.61619604e-05 9.99997685e-01 -3.51205719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters 0.052036395741721996 Centerline is valid? [True, True] Translation: X:462.67, Y:-98.11, Z:-3.51 [[ 8.94199767e-01 4.47667352e-01 -8.47430748e-04 4.62671067e+02] [-4.47667157e-01 8.94200169e-01 4.17536536e-04 -9.81058963e+01] [ 9.44690193e-04 6.00584077e-06 9.99999554e-01 -3.51162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters 0.05168416149277968 Centerline is valid? [True, True] Translation: X:462.72, Y:-98.14, Z:-3.51 [[ 8.97393709e-01 4.41227294e-01 1.73382971e-03 4.62721281e+02] [-4.41226468e-01 8.97395384e-01 -8.53717985e-04 -9.81422187e+01] [-1.93261446e-03 1.10959043e-06 9.99998132e-01 -3.50963148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters 0.051641340070228324 Centerline is valid? [True, True] Translation: X:462.77, Y:-98.18, Z:-3.51 [[ 8.98959239e-01 4.38026722e-01 2.20844624e-03 4.62773551e+02] [-4.38025373e-01 8.98961952e-01 -1.08708847e-03 -9.81754203e+01] [-2.46148294e-03 9.89274000e-06 9.99996970e-01 -3.51068968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters 0.05192346114742896 Centerline is valid? [True, True] Translation: X:462.83, Y:-98.21, Z:-3.51 [[ 9.00567949e-01 4.34713694e-01 1.17218684e-03 4.62827630e+02] [-4.34713311e-01 9.00568712e-01 -5.76667498e-04 -9.82068115e+01] [-1.30632005e-03 9.76304453e-06 9.99999147e-01 -3.50967620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters 0.05178602179633795 Centerline is valid? [True, True] Translation: X:462.88, Y:-98.24, Z:-3.51 [[ 9.01456486e-01 4.32869697e-01 1.70639757e-04 4.62881209e+02] [-4.32869689e-01 9.01456502e-01 -8.32131755e-05 -9.82375246e+01] [-1.89844781e-04 1.14827825e-06 9.99999982e-01 -3.51039423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters 0.05232304196224715 Centerline is valid? [True, True] Translation: X:462.94, Y:-98.27, Z:-3.51 [[ 9.02341635e-01 4.31021175e-01 -5.66354124e-04 4.62935935e+02] [-4.31021084e-01 9.02341812e-01 2.80241980e-04 -9.82668017e+01] [ 6.31835234e-04 -8.76343761e-06 9.99999800e-01 -3.51041677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters 0.05262461471449666 Centerline is valid? [True, True] Translation: X:462.99, Y:-98.29, Z:-3.51 [[ 9.03107385e-01 4.29414475e-01 -5.08863565e-04 4.62991404e+02] [-4.29414401e-01 9.03107529e-01 2.51971286e-04 -9.82949089e+01] [ 5.67758634e-04 -9.04378625e-06 9.99999839e-01 -3.51014116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters 0.05259113202500148 Centerline is valid? [True, True] Translation: X:463.05, Y:-98.32, Z:-3.51 [[ 9.02916232e-01 4.29816562e-01 -1.70442651e-05 4.63045445e+02] [-4.29816562e-01 9.02916232e-01 9.31784484e-06 -9.83227660e+01] [ 1.93945075e-05 -1.08732593e-06 1.00000000e+00 -3.51070716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters 0.05247655565506994 Centerline is valid? [True, True] Translation: X:463.10, Y:-98.35, Z:-3.51 [[ 9.02342634e-01 4.31019327e-01 -3.32953107e-04 4.63102032e+02] [-4.31019295e-01 9.02342695e-01 1.65287779e-04 -9.83480756e+01] [ 3.71680031e-04 -5.63699630e-06 9.99999931e-01 -3.50975996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters 0.05272044563826555 Centerline is valid? [True, True] Translation: X:463.16, Y:-98.37, Z:-3.51 [[ 9.01839345e-01 4.32071354e-01 3.75456321e-04 4.63157485e+02] [-4.32071315e-01 9.01839423e-01 -1.84374576e-04 -9.83749761e+01] [-4.18264284e-04 4.05234108e-06 9.99999913e-01 -3.51157778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters 0.052343545892384484 Centerline is valid? [True, True] Translation: X:463.22, Y:-98.40, Z:-3.51 [[ 9.01542301e-01 4.32690101e-01 8.69562864e-04 4.63215741e+02] [-4.32689888e-01 9.01542720e-01 -4.28959854e-04 -9.83979216e+01] [-9.69554752e-04 1.04743959e-05 9.99999530e-01 -3.51099937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters 0.052575864966298035 Centerline is valid? [True, True] Translation: X:463.27, Y:-98.42, Z:-3.51 [[ 9.00579788e-01 4.34689966e-01 8.24476781e-04 4.63272425e+02] [-4.34689776e-01 9.00580165e-01 -4.06258988e-04 -9.84206798e+01] [-9.19104141e-04 7.47700591e-06 9.99999578e-01 -3.50917381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters 0.05220963875369394 Centerline is valid? [True, True] Translation: X:463.33, Y:-98.45, Z:-3.51 [[ 8.99376385e-01 4.37174017e-01 9.98357484e-04 4.63329334e+02] [-4.37173739e-01 8.99376939e-01 -4.92735990e-04 -9.84458196e+01] [-1.11331107e-03 6.69943884e-06 9.99999380e-01 -3.51053732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters 0.05227928575435711 Centerline is valid? [True, True] Translation: X:463.39, Y:-98.47, Z:-3.51 [[ 8.96510078e-01 4.43022971e-01 5.72636864e-04 4.63387796e+02] [-4.43022881e-01 8.96510260e-01 -2.81936727e-04 -9.84670424e+01] [-6.38279271e-04 -9.32116251e-07 9.99999796e-01 -3.51190659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters 0.05227964834947607 Centerline is valid? [True, True] Translation: X:463.45, Y:-98.49, Z:-3.52 [[ 8.92521487e-01 4.51004681e-01 4.16904340e-04 4.63446614e+02] [-4.51004634e-01 8.92521584e-01 -2.05133558e-04 -9.84856705e+01] [-4.64612317e-04 -4.93968139e-06 9.99999892e-01 -3.51551249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters 0.05194976784441289 Centerline is valid? [True, True] Translation: X:463.50, Y:-98.51, Z:-3.51 [[ 8.89748306e-01 4.56451415e-01 2.37699102e-04 4.63501337e+02] [-4.56451400e-01 8.89748338e-01 -1.17281261e-04 -9.85118579e+01] [-2.65025579e-04 -4.14728445e-06 9.99999965e-01 -3.51352286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters 0.05146570130400704 Centerline is valid? [True, True] Translation: X:463.56, Y:-98.54, Z:-3.51 [[ 8.86523048e-01 4.62683005e-01 -1.15003338e-03 4.63557132e+02] [-4.62682657e-01 8.86523793e-01 5.68501589e-04 -9.85365061e+01] [ 1.28256798e-03 2.81107412e-05 9.99999177e-01 -3.51337171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters 0.0518031318300503 Centerline is valid? [True, True] Translation: X:463.61, Y:-98.56, Z:-3.52 [[ 8.85002728e-01 4.65582693e-01 -1.71103546e-03 4.63613897e+02] [-4.65581926e-01 8.85004381e-01 8.46245846e-04 -9.85582767e+01] [ 1.90827130e-03 4.76973028e-05 9.99998178e-01 -3.51534791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters 0.052193840571156315 Centerline is valid? [True, True] Translation: X:463.67, Y:-98.59, Z:-3.52 [[ 8.84020227e-01 4.67441396e-01 -2.60370319e-03 4.63668608e+02] [-4.67439630e-01 8.84024058e-01 1.28718105e-03 -9.85861676e+01] [ 2.90341796e-03 7.91799729e-05 9.99995782e-01 -3.51513247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters 0.05167523045282226 Centerline is valid? [True, True] Translation: X:463.72, Y:-98.62, Z:-3.51 [[ 8.84750442e-01 4.66057120e-01 -2.72315337e-03 4.63722723e+02] [-4.66055182e-01 8.84754630e-01 1.34637815e-03 -9.86159552e+01] [ 3.03681167e-03 7.79310779e-05 9.99995386e-01 -3.51411074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters 0.05169330257753418 Centerline is valid? [True, True] Translation: X:463.78, Y:-98.64, Z:-3.52 [[ 8.86079006e-01 4.63527340e-01 -2.52991016e-03 4.63776950e+02] [-4.63525656e-01 8.86082615e-01 1.25083222e-03 -9.86428529e+01] [ 2.82150434e-03 6.43420960e-05 9.99996017e-01 -3.51533795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters 0.05146188313346309 Centerline is valid? [True, True] Translation: X:463.83, Y:-98.67, Z:-3.51 [[ 8.88724073e-01 4.58437067e-01 -2.23108901e-03 4.63829900e+02] [-4.58435742e-01 8.88726872e-01 1.10322805e-03 -9.86745638e+01] [ 2.48858939e-03 4.23456189e-05 9.99996903e-01 -3.51478991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters 0.05158363652906272 Centerline is valid? [True, True] Translation: X:463.88, Y:-98.70, Z:-3.52 [[ 8.90649453e-01 4.54686901e-01 -1.83655660e-03 4.63883517e+02] [-4.54685995e-01 8.90651346e-01 9.08154372e-04 -9.87035866e+01] [ 2.04865750e-03 2.62093686e-05 9.99997901e-01 -3.51535294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters 0.05218575227244604 Centerline is valid? [True, True] Translation: X:463.94, Y:-98.74, Z:-3.52 [[ 8.93614324e-01 4.48832720e-01 -1.62154916e-03 4.63936116e+02] [-4.48832003e-01 8.93615795e-01 8.02121141e-04 -9.87362256e+01] [ 1.80906016e-03 1.10162174e-05 9.99998364e-01 -3.51505052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters 0.05205480392455421 Centerline is valid? [True, True] Translation: X:463.99, Y:-98.77, Z:-3.52 [[ 8.96331054e-01 4.43380928e-01 -1.99869467e-03 4.63990255e+02] [-4.43379824e-01 8.96333282e-01 9.89531048e-04 -9.87677349e+01] [ 2.23023574e-03 -7.66517255e-07 9.99997513e-01 -3.51526340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters 0.052163311431616254 Centerline is valid? [True, True] Translation: X:464.04, Y:-98.80, Z:-3.52 [[ 8.97784326e-01 4.40431230e-01 -1.90665230e-03 4.64044222e+02] [-4.40430218e-01 8.97786351e-01 9.44362411e-04 -9.87977398e+01] [ 2.12769311e-03 -8.08648169e-06 9.99997736e-01 -3.51817702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters 0.052500079741351284 Centerline is valid? [True, True] Translation: X:464.10, Y:-98.83, Z:-3.52 [[ 8.98495808e-01 4.38978563e-01 -1.76192505e-03 4.64100204e+02] [-4.38977695e-01 8.98497535e-01 8.72954690e-04 -9.88256530e+01] [ 1.96629371e-03 -1.09003300e-05 9.99998067e-01 -3.51543469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters 0.051932822839573206 Centerline is valid? [True, True] Translation: X:464.15, Y:-98.86, Z:-3.52 [[ 9.00330341e-01 4.35204099e-01 -1.63373103e-03 4.64153188e+02] [-4.35203347e-01 9.00331823e-01 8.09659707e-04 -9.88560150e+01] [ 1.82326726e-03 -1.79559879e-05 9.99998338e-01 -3.51710512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters 0.05262254348234516 Centerline is valid? [True, True] Translation: X:464.21, Y:-98.88, Z:-3.52 [[ 9.01652113e-01 4.32460285e-01 -1.25260139e-03 4.64209431e+02] [-4.32459840e-01 9.01652983e-01 6.20506981e-04 -9.88824538e+01] [ 1.39775641e-03 -1.77816328e-05 9.99999023e-01 -3.51628534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters 0.05301756093181247 Centerline is valid? [True, True] Translation: X:464.27, Y:-98.91, Z:-3.51 [[ 9.03144365e-01 4.29336741e-01 -4.66882611e-04 4.64266343e+02] [-4.29336679e-01 9.03144486e-01 2.32120729e-04 -9.89060086e+01] [ 5.21320413e-04 -9.18869838e-06 9.99999864e-01 -3.51478082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters 0.05272364138938103 Centerline is valid? [True, True] Translation: X:464.32, Y:-98.93, Z:-3.52 [[ 9.04314022e-01 4.26867449e-01 -5.74341112e-04 4.64320540e+02] [-4.26867354e-01 9.04314205e-01 2.85286562e-04 -9.89342682e+01] [ 6.41164372e-04 -1.28211675e-05 9.99999794e-01 -3.51510581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters 0.05314726696366571 Centerline is valid? [True, True] Translation: X:464.38, Y:-98.96, Z:-3.51 [[ 9.04811404e-01 4.25812285e-01 -4.69868392e-04 4.64377879e+02] [-4.25812221e-01 9.04811526e-01 2.33079397e-04 -9.89578550e+01] [ 5.24390408e-04 -1.08171931e-05 9.99999862e-01 -3.51454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters 0.05339891831666901 Centerline is valid? [True, True] Translation: X:464.43, Y:-98.98, Z:-3.52 [[ 9.04815907e-01 4.25802778e-01 4.10177237e-04 4.64433875e+02] [-4.25802730e-01 9.04816000e-01 -2.02453288e-04 -9.89831784e+01] [-4.57340100e-04 8.52836788e-06 9.99999895e-01 -3.51530505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters 0.05357005353906958 Centerline is valid? [True, True] Translation: X:464.49, Y:-99.01, Z:-3.52 [[ 9.04683190e-01 4.26081703e-01 1.64534857e-03 4.64488088e+02] [-4.26080925e-01 9.04684686e-01 -8.15083568e-04 -9.90132138e+01] [-1.83581385e-03 3.63407600e-05 9.99998314e-01 -3.51723666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters 0.05333698684193901 Centerline is valid? [True, True] Translation: X:464.55, Y:-99.03, Z:-3.52 [[ 9.04412930e-01 4.26651755e-01 2.35211837e-03 4.64547436e+02] [-4.26650168e-01 9.04415987e-01 -1.16509573e-03 -9.90339604e+01] [-2.62438360e-03 5.01959453e-05 9.99996555e-01 -3.51633861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters 0.05311025949288583 Centerline is valid? [True, True] Translation: X:464.61, Y:-99.05, Z:-3.52 [[ 9.02973813e-01 4.29690410e-01 2.10831709e-03 4.64606727e+02] [-4.29689142e-01 9.02976273e-01 -1.04494920e-03 -9.90540238e+01] [-2.35276496e-03 3.76408061e-05 9.99997232e-01 -3.51775832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters 0.0530220066645601 Centerline is valid? [True, True] Translation: X:464.66, Y:-99.07, Z:-3.52 [[ 9.01484682e-01 4.32805891e-01 2.10470202e-03 4.64664598e+02] [-4.32804634e-01 9.01487138e-01 -1.04320449e-03 -9.90746273e+01] [-2.34886685e-03 2.95080780e-05 9.99997241e-01 -3.51846842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters 0.05264891477403173 Centerline is valid? [True, True] Translation: X:464.72, Y:-99.09, Z:-3.52 [[ 8.98821546e-01 4.38311318e-01 1.73703145e-03 4.64724529e+02] [-4.38310472e-01 8.98823224e-01 -8.60983220e-04 -9.90924337e+01] [-1.93866290e-03 1.25111950e-05 9.99998121e-01 -3.51936648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters 0.05297818487466421 Centerline is valid? [True, True] Translation: X:464.78, Y:-99.11, Z:-3.52 [[ 8.96714453e-01 4.42607576e-01 1.31282706e-03 4.64783762e+02] [-4.42607098e-01 8.96715414e-01 -6.50596818e-04 -9.91137707e+01] [-1.46519134e-03 2.33299359e-06 9.99998927e-01 -3.52051736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters 0.053532469783223346 Centerline is valid? [True, True] Translation: X:464.84, Y:-99.13, Z:-3.52 [[ 8.93964875e-01 4.48136649e-01 5.87721021e-04 4.64844639e+02] [-4.48136555e-01 8.93965068e-01 -2.90552858e-04 -9.91318862e+01] [-6.55609447e-04 -3.63522478e-06 9.99999785e-01 -3.52197096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters 0.05348217837012712 Centerline is valid? [True, True] Translation: X:464.90, Y:-99.15, Z:-3.52 [[ 8.91981037e-01 4.52072621e-01 4.18982904e-04 4.64903502e+02] [-4.52072573e-01 8.91981135e-01 -2.07363960e-04 -9.91499980e+01] [-4.67468415e-04 -4.44595996e-06 9.99999891e-01 -3.52436530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters 0.053331667031781375 Centerline is valid? [True, True] Translation: X:464.96, Y:-99.17, Z:-3.52 [[ 8.91108729e-01 4.53789624e-01 4.58131855e-04 4.64960404e+02] [-4.53789568e-01 8.91108847e-01 -2.26382722e-04 -9.91749626e+01] [-5.10975479e-04 -6.16383669e-06 9.99999869e-01 -3.52366873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters 0.05376600737036586 Centerline is valid? [True, True] Translation: X:465.02, Y:-99.20, Z:-3.52 [[ 8.90571486e-01 4.54842938e-01 5.75015886e-04 4.65015748e+02] [-4.54842849e-01 8.90571672e-01 -2.84457233e-04 -9.92039867e+01] [-6.41476223e-04 -8.21236337e-06 9.99999794e-01 -3.52134613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters 0.05364023657521869 Centerline is valid? [True, True] Translation: X:465.08, Y:-99.22, Z:-3.52 [[ 8.90207322e-01 4.55554990e-01 7.57989097e-04 4.65075046e+02] [-4.55554835e-01 8.90207645e-01 -3.75753718e-04 -9.92245483e+01] [-8.45944170e-04 -1.08068869e-05 9.99999642e-01 -3.52475290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters 0.05337005380690557 Centerline is valid? [True, True] Translation: X:465.13, Y:-99.25, Z:-3.53 [[ 8.90020396e-01 4.55919598e-01 1.00685127e-03 4.65132019e+02] [-4.55919326e-01 8.90020966e-01 -4.98875080e-04 -9.92508169e+01] [-1.12356567e-03 -1.50339561e-05 9.99999369e-01 -3.52520951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters 0.05368810874670261 Centerline is valid? [True, True] Translation: X:465.19, Y:-99.28, Z:-3.53 [[ 8.90372872e-01 4.55228784e-01 1.70360308e-03 4.65187858e+02] [-4.55228000e-01 8.90374502e-01 -8.45230957e-04 -9.92775742e+01] [-1.90161821e-03 -2.29571091e-05 9.99998192e-01 -3.52587583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters 0.05329639515102483 Centerline is valid? [True, True] Translation: X:465.24, Y:-99.30, Z:-3.53 [[ 8.91172328e-01 4.53661495e-01 1.76935417e-03 4.65242883e+02] [-4.53660645e-01 8.91174084e-01 -8.78198893e-04 -9.93044674e+01] [-1.97520761e-03 -2.00598031e-05 9.99998049e-01 -3.52730483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters 0.053657071227859725 Centerline is valid? [True, True] Translation: X:465.30, Y:-99.34, Z:-3.53 [[ 8.91533234e-01 4.52953671e-01 1.21013452e-03 4.65296799e+02] [-4.52953273e-01 8.91534055e-01 -6.00458407e-04 -9.93351335e+01] [-1.35085598e-03 -1.28057667e-05 9.99999088e-01 -3.52693534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters 0.0538323658503426 Centerline is valid? [True, True] Translation: X:465.35, Y:-99.36, Z:-3.53 [[ 8.91152250e-01 4.53703514e-01 -8.88452965e-04 4.65351618e+02] [-4.53703298e-01 8.91152693e-01 4.42554563e-04 -9.93630982e+01] [ 9.92535812e-04 8.71054637e-06 9.99999507e-01 -3.52926730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters 0.05363755866831748 Centerline is valid? [True, True] Translation: X:465.41, Y:-99.39, Z:-3.53 [[ 8.90693030e-01 4.54604518e-01 -8.11284630e-04 4.65406034e+02] [-4.54604338e-01 8.90693400e-01 4.04381213e-04 -9.93926610e+01] [ 9.06439391e-04 8.63398434e-06 9.99999589e-01 -3.52902205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters 0.05322747413245689 Centerline is valid? [True, True] Translation: X:465.46, Y:-99.43, Z:-3.53 [[ 8.90402397e-01 4.55173819e-01 -6.04069378e-04 4.65460324e+02] [-4.55173720e-01 8.90402602e-01 3.01573473e-04 -9.94254913e+01] [ 6.75133296e-04 6.43476282e-06 9.99999772e-01 -3.52719021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters 0.05327436306579779 Centerline is valid? [True, True] Translation: X:465.51, Y:-99.46, Z:-3.53 [[ 8.90839816e-01 4.54317463e-01 -2.55821150e-04 4.65513228e+02] [-4.54317445e-01 8.90839852e-01 1.28183376e-04 -9.94592837e+01] [ 2.86131621e-04 2.03315619e-06 9.99999959e-01 -3.52581967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters 0.053347120083347487 Centerline is valid? [True, True] Translation: X:465.57, Y:-99.49, Z:-3.53 [[ 8.91179723e-01 4.53650074e-01 5.58650766e-04 4.65567560e+02] [-4.53649990e-01 8.91179898e-01 -2.77195168e-04 -9.94882585e+01] [-6.23607941e-04 -6.40120146e-06 9.99999806e-01 -3.52697217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters 0.05332436022266868 Centerline is valid? [True, True] Translation: X:465.62, Y:-99.52, Z:-3.53 [[ 8.91329518e-01 4.53351447e-01 2.03878108e-03 4.65622776e+02] [-4.53350313e-01 8.91331849e-01 -1.01445149e-03 -9.95173936e+01] [-2.27713356e-03 -2.00714775e-05 9.99997407e-01 -3.52843356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters 0.05276396143086434 Centerline is valid? [True, True] Translation: X:465.68, Y:-99.54, Z:-3.53 [[ 8.90887441e-01 4.54220528e-01 1.81090230e-03 4.65677776e+02] [-4.54219636e-01 8.90889281e-01 -9.00719337e-04 -9.95448037e+01] [-2.02243866e-03 -2.01078370e-05 9.99997955e-01 -3.53038431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters 0.05262616178438397 Centerline is valid? [True, True] Translation: X:465.73, Y:-99.58, Z:-3.53 [[ 8.89350186e-01 4.57222600e-01 1.93396921e-03 4.65729728e+02] [-4.57221588e-01 8.89352289e-01 -9.62301678e-04 -9.95791409e+01] [-2.15996602e-03 -2.84292990e-05 9.99997667e-01 -3.52894436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters 0.05313321775803661 Centerline is valid? [True, True] Translation: X:465.79, Y:-99.60, Z:-3.53 [[ 8.88200765e-01 4.59451047e-01 2.03389104e-03 4.65787172e+02] [-4.59449933e-01 8.88203093e-01 -1.01267071e-03 -9.96026800e+01] [-2.27178093e-03 -3.50162038e-05 9.99997419e-01 -3.53201282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters 0.05319490679477421 Centerline is valid? [True, True] Translation: X:465.84, Y:-99.63, Z:-3.53 [[ 8.86445962e-01 4.62828325e-01 1.87010373e-03 4.65840875e+02] [-4.62827389e-01 8.86447934e-01 -9.31423010e-04 -9.96295521e+01] [-2.08883854e-03 -3.98790593e-05 9.99997818e-01 -3.53310390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters 0.052773379714631266 Centerline is valid? [True, True] Translation: X:465.89, Y:-99.66, Z:-3.53 [[ 8.85771962e-01 4.64116889e-01 1.88282615e-03 4.65894780e+02] [-4.64115945e-01 8.85773962e-01 -9.37090158e-04 -9.96611408e+01] [-2.10267775e-03 -4.38014517e-05 9.99997788e-01 -3.53275777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters 0.05272005591437528 Centerline is valid? [True, True] Translation: X:465.95, Y:-99.69, Z:-3.53 [[ 8.83861462e-01 4.67745838e-01 1.65722187e-03 4.65949589e+02] [-4.67745112e-01 8.83863015e-01 -8.25400744e-04 -9.96860477e+01] [-1.85083488e-03 -4.56175188e-05 9.99998286e-01 -3.53440724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters 0.05261446450297655 Centerline is valid? [True, True] Translation: X:466.00, Y:-99.72, Z:-3.53 [[ 8.83177438e-01 4.69036587e-01 1.51418990e-03 4.66003215e+02] [-4.69035983e-01 8.83178735e-01 -7.54241533e-04 -9.97181630e+01] [-1.69106720e-03 -4.40804449e-05 9.99998569e-01 -3.53420949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters 0.05182723235494795 Centerline is valid? [True, True] Translation: X:466.06, Y:-99.75, Z:-3.53 [[ 8.83118852e-01 4.69146853e-01 1.52427102e-03 4.66056376e+02] [-4.69146242e-01 8.83120166e-01 -7.58713280e-04 -9.97518755e+01] [-1.70206242e-03 -4.50720189e-05 9.99998550e-01 -3.53436669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters 0.05208597219229835 Centerline is valid? [True, True] Translation: X:466.11, Y:-99.78, Z:-3.53 [[ 8.83316241e-01 4.68774704e-01 1.64160618e-03 4.66110088e+02] [-4.68773994e-01 8.83317765e-01 -8.17560809e-04 -9.97827099e+01] [-1.83331173e-03 -4.73775462e-05 9.99998318e-01 -3.53444211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters 0.05314520292650777 Centerline is valid? [True, True] Translation: X:466.17, Y:-99.81, Z:-3.54 [[ 8.83531103e-01 4.68371589e-01 9.18633725e-04 4.66165431e+02] [-4.68371366e-01 8.83531581e-01 -4.57570240e-04 -9.98088336e+01] [-1.02595481e-03 -2.59841936e-05 9.99999473e-01 -3.53655170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters 0.05210253713877324 Centerline is valid? [True, True] Translation: X:466.22, Y:-99.84, Z:-3.54 [[ 8.84251739e-01 4.67009715e-01 8.87882181e-04 4.66217086e+02] [-4.67009505e-01 8.84252185e-01 -4.42589637e-04 -9.98439406e+01] [-9.91805418e-04 -2.32887616e-05 9.99999508e-01 -3.53562194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters 0.05207201592837631 Centerline is valid? [True, True] Translation: X:466.27, Y:-99.88, Z:-3.54 [[ 8.85151948e-01 4.65301052e-01 9.80254557e-04 4.66269678e+02] [-4.65300796e-01 8.85152490e-01 -4.88738817e-04 -9.98756324e+01] [-1.09508545e-03 -2.35051093e-05 9.99999400e-01 -3.53538972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters 0.05179255595211867 Centerline is valid? [True, True] Translation: X:466.32, Y:-99.91, Z:-3.54 [[ 8.87084791e-01 4.61604070e-01 1.50237745e-03 4.66322342e+02] [-4.61603463e-01 8.87086062e-01 -7.49211040e-04 -9.99059161e+01] [-1.67857696e-03 -2.88889137e-05 9.99998591e-01 -3.53629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters 0.05227345070432975 Centerline is valid? [True, True] Translation: X:466.38, Y:-99.94, Z:-3.54 [[ 8.88505645e-01 4.58862614e-01 1.67903435e-03 4.66375250e+02] [-4.58861851e-01 8.88507231e-01 -8.37179258e-04 -9.99383357e+01] [-1.87598442e-03 -2.66063125e-05 9.99998240e-01 -3.53679345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters 0.05175323476253915 Centerline is valid? [True, True] Translation: X:466.43, Y:-99.98, Z:-3.54 [[ 8.90639605e-01 4.54706085e-01 1.86307017e-03 4.66425139e+02] [-4.54705136e-01 8.90641553e-01 -9.29026449e-04 -9.99768735e+01] [-2.08176169e-03 -1.97198243e-05 9.99997833e-01 -3.53598089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters 0.05167765307944023 Centerline is valid? [True, True] Translation: X:466.48, Y:-100.01, Z:-3.54 [[ 8.91820124e-01 4.52388843e-01 1.09629600e-03 4.66478720e+02] [-4.52388513e-01 8.91820797e-01 -5.46559663e-04 -1.00009662e+02] [-1.22495707e-03 -8.51881203e-06 9.99999250e-01 -3.53718673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters 0.05158942951123079 Centerline is valid? [True, True] Translation: X:466.53, Y:-100.04, Z:-3.54 [[ 8.92015593e-01 4.52004485e-01 3.57638947e-04 4.66533979e+02] [-4.52004450e-01 8.92015665e-01 -1.77374275e-04 -1.00041050e+02] [-3.99193511e-04 -3.43377605e-06 9.99999920e-01 -3.53789042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters 0.051363429297266436 Centerline is valid? [True, True] Translation: X:466.59, Y:-100.07, Z:-3.54 [[ 8.91177038e-01 4.53655692e-01 8.74813621e-06 4.66588074e+02] [-4.53655692e-01 8.91177038e-01 -3.85208745e-06 -1.00070367e+02] [-9.54365968e-06 -5.35749902e-07 1.00000000e+00 -3.53903271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters 0.05134731992280516 Centerline is valid? [True, True] Translation: X:466.64, Y:-100.09, Z:-3.54 [[ 8.88861872e-01 4.58174752e-01 6.84591762e-04 4.66643923e+02] [-4.58174625e-01 8.88862136e-01 -3.41375681e-04 -1.00094365e+02] [-7.64917414e-04 -1.02267471e-05 9.99999707e-01 -3.54001404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters 0.05168318621390197 Centerline is valid? [True, True] Translation: X:466.70, Y:-100.12, Z:-3.54 [[ 8.87287863e-01 4.61215900e-01 3.77545012e-04 4.66700277e+02] [-4.61215862e-01 8.87287943e-01 -1.88043407e-04 -1.00117618e+02] [-4.21719747e-04 -7.28111563e-06 9.99999911e-01 -3.54115631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters 0.0517701088913286 Centerline is valid? [True, True] Translation: X:466.75, Y:-100.15, Z:-3.54 [[ 8.86123430e-01 4.63449255e-01 2.35250198e-04 4.66754363e+02] [-4.63449240e-01 8.86123461e-01 -1.17186805e-04 -1.00148409e+02] [-2.62770857e-04 -5.18455219e-06 9.99999965e-01 -3.53849666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters 0.05187823782987498 Centerline is valid? [True, True] Translation: X:466.81, Y:-100.17, Z:-3.54 [[ 8.86034804e-01 4.63618053e-01 -7.92510950e-04 4.66811784e+02] [-4.63617883e-01 8.86035158e-01 3.96629675e-04 -1.00169992e+02] [ 8.86077242e-04 1.59945527e-05 9.99999607e-01 -3.54138686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters 0.051939060514041215 Centerline is valid? [True, True] Translation: X:466.87, Y:-100.20, Z:-3.54 [[ 8.85869487e-01 4.63933929e-01 -7.49525502e-04 4.66865102e+02] [-4.63933778e-01 8.85869804e-01 3.74682865e-04 -1.00201670e+02] [ 8.37810103e-04 1.58100802e-05 9.99999649e-01 -3.53935496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters 0.051902780542356454 Centerline is valid? [True, True] Translation: X:466.92, Y:-100.23, Z:-3.54 [[ 8.85946268e-01 4.63787199e-01 8.02211111e-04 4.66921316e+02] [-4.63787027e-01 8.85946631e-01 -3.99895279e-04 -1.00225709e+02] [-8.96182543e-04 -1.77693755e-05 9.99999598e-01 -3.53996397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters 0.05155126635423194 Centerline is valid? [True, True] Translation: X:466.98, Y:-100.25, Z:-3.54 [[ 8.86729403e-01 4.62288495e-01 5.59375615e-04 4.66977031e+02] [-4.62288411e-01 8.86729579e-01 -2.78623081e-04 -1.00251832e+02] [-6.24819149e-04 -1.15295862e-05 9.99999805e-01 -3.54149156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters 0.05152711719187481 Centerline is valid? [True, True] Translation: X:467.03, Y:-100.28, Z:-3.54 [[ 8.89129014e-01 4.57656146e-01 -6.69574865e-04 4.67029886e+02] [-4.57656024e-01 8.89129266e-01 3.34914747e-04 -1.00283804e+02] [ 7.48614400e-04 8.65255185e-06 9.99999720e-01 -3.54168228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters 0.05130797615171319 Centerline is valid? [True, True] Translation: X:467.09, Y:-100.31, Z:-3.54 [[ 8.90409627e-01 4.55159822e-01 -4.82278185e-04 4.67085124e+02] [-4.55159758e-01 8.90409758e-01 2.41383114e-04 -1.00312974e+02] [ 5.39293097e-04 4.58377319e-06 9.99999855e-01 -3.54103797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters 0.05186596803535689 Centerline is valid? [True, True] Translation: X:467.14, Y:-100.34, Z:-3.54 [[ 8.91531949e-01 4.52957513e-01 -5.24106138e-04 4.67140524e+02] [-4.52957437e-01 8.91532103e-01 2.62968058e-04 -1.00341484e+02] [ 5.86370805e-04 2.95334774e-06 9.99999828e-01 -3.54075283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters 0.052127715012313156 Centerline is valid? [True, True] Translation: X:467.20, Y:-100.37, Z:-3.54 [[ 8.92054597e-01 4.51926134e-01 -1.16845553e-03 4.67196656e+02] [-4.51925755e-01 8.92055362e-01 5.85459615e-04 -1.00370117e+02] [ 1.30691152e-03 5.79320755e-06 9.99999146e-01 -3.54143117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters 0.05215722538152005 Centerline is valid? [True, True] Translation: X:467.25, Y:-100.40, Z:-3.54 [[ 8.91948582e-01 4.52135349e-01 -1.16298537e-03 4.67252844e+02] [-4.52134973e-01 8.91949341e-01 5.82923448e-04 -1.00398999e+02] [ 1.30088433e-03 5.88861642e-06 9.99999154e-01 -3.54138923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters 0.05176546527044873 Centerline is valid? [True, True] Translation: X:467.31, Y:-100.43, Z:-3.54 [[ 8.91262268e-01 4.53486687e-01 -1.18116282e-03 4.67308337e+02] [-4.53486301e-01 8.91263050e-01 5.91533461e-04 -1.00425152e+02] [ 1.32097933e-03 8.42970534e-06 9.99999127e-01 -3.54300984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters 0.051955364397285445 Centerline is valid? [True, True] Translation: X:467.36, Y:-100.45, Z:-3.54 [[ 8.90196242e-01 4.55576801e-01 -6.54658716e-04 4.67363954e+02] [-4.55576683e-01 8.90196483e-01 3.28500826e-04 -1.00450853e+02] [ 7.32432242e-04 5.81704528e-06 9.99999732e-01 -3.54419797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters 0.051961223527725836 Centerline is valid? [True, True] Translation: X:467.42, Y:-100.48, Z:-3.54 [[ 8.89592336e-01 4.56754972e-01 6.09093603e-04 4.67418830e+02] [-4.56754871e-01 8.89592545e-01 -3.03871736e-04 -1.00481975e+02] [-6.80640055e-04 -7.88450220e-06 9.99999768e-01 -3.54072708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters 0.05171277769967545 Centerline is valid? [True, True] Translation: X:467.47, Y:-100.51, Z:-3.54 [[ 8.89565261e-01 4.56800720e-01 2.59792207e-03 4.67474881e+02] [-4.56798871e-01 8.89569054e-01 -1.30009965e-03 -1.00507765e+02] [-2.90491754e-03 -3.02043823e-05 9.99995780e-01 -3.54153248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters 0.05170063308441405 Centerline is valid? [True, True] Translation: X:467.53, Y:-100.54, Z:-3.54 [[ 8.89824913e-01 4.56293431e-01 2.81569524e-03 4.67528772e+02] [-4.56291254e-01 8.89829368e-01 -1.40991651e-03 -1.00540117e+02] [-3.14882395e-03 -3.01982763e-05 9.99995042e-01 -3.54063684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters 0.051472412251481955 Centerline is valid? [True, True] Translation: X:467.59, Y:-100.57, Z:-3.55 [[ 8.89373648e-01 4.57180919e-01 -3.47257171e-04 4.67585297e+02] [-4.57180886e-01 8.89373716e-01 1.74271433e-04 -1.00566660e+02] [ 3.88514974e-04 3.76692068e-06 9.99999925e-01 -3.54501983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters 0.051472412251481955 Centerline is valid? [True, True] Translation: X:467.64, Y:-100.59, Z:-3.55 [[ 8.89314343e-01 4.57296270e-01 -3.46939301e-04 4.67641172e+02] [-4.57296237e-01 8.89314411e-01 1.74905889e-04 -1.00594603e+02] [ 3.88521931e-04 3.10772117e-06 9.99999925e-01 -3.54548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters 0.051530235884069894 Centerline is valid? [True, True] Translation: X:467.70, Y:-100.62, Z:-3.55 [[ 8.88894074e-01 4.58112534e-01 -4.81275300e-04 4.67697593e+02] [-4.58112470e-01 8.88894204e-01 2.42150326e-04 -1.00621719e+02] [ 5.38734924e-04 5.23222646e-06 9.99999855e-01 -3.54671600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters 0.05114883613787443 Centerline is valid? [True, True] Translation: X:467.75, Y:-100.65, Z:-3.55 [[ 8.88571668e-01 4.58736892e-01 -9.24892053e-04 4.67752818e+02] [-4.58736657e-01 8.88572149e-01 4.63812173e-04 -1.00646966e+02] [ 1.03460107e-03 1.21515324e-05 9.99999465e-01 -3.54815695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters 0.05188854340018807 Centerline is valid? [True, True] Translation: X:467.81, Y:-100.67, Z:-3.55 [[ 8.87482313e-01 4.60839989e-01 -1.28379137e-03 4.67809417e+02] [-4.60839539e-01 8.87483242e-01 6.44559372e-04 -1.00673304e+02] [ 1.43638206e-03 1.95867819e-05 9.99998968e-01 -3.54901231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters 0.0512278955059462 Centerline is valid? [True, True] Translation: X:467.86, Y:-100.70, Z:-3.55 [[ 8.87077630e-01 4.61619534e-01 -8.27233558e-04 4.67864563e+02] [-4.61619347e-01 8.87078016e-01 4.15797698e-04 -1.00702583e+02] [ 9.25761042e-04 1.30221787e-05 9.99999571e-01 -3.54817082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters 0.051284652582294865 Centerline is valid? [True, True] Translation: X:467.92, Y:-100.73, Z:-3.55 [[ 8.86797571e-01 4.62158004e-01 -2.16056031e-04 4.67920446e+02] [-4.62157991e-01 8.86797598e-01 1.09474587e-04 -1.00732135e+02] [ 2.42192525e-04 2.77022353e-06 9.99999971e-01 -3.54777863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters 0.05137722931099562 Centerline is valid? [True, True] Translation: X:467.98, Y:-100.76, Z:-3.55 [[ 8.86731326e-01 4.62283042e-01 1.39435947e-03 4.67976328e+02] [-4.62282514e-01 8.86732422e-01 -6.98828585e-04 -1.00756299e+02] [-1.55948036e-03 -2.49148063e-05 9.99998784e-01 -3.54963814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters 0.05168178884430972 Centerline is valid? [True, True] Translation: X:468.03, Y:-100.78, Z:-3.55 [[ 8.86371182e-01 4.62973461e-01 1.30450442e-03 4.68031161e+02] [-4.62973000e-01 8.86372142e-01 -6.54230191e-04 -1.00782690e+02] [-1.45916759e-03 -2.40595382e-05 9.99998935e-01 -3.55061252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters 0.05154950835423207 Centerline is valid? [True, True] Translation: X:468.09, Y:-100.81, Z:-3.55 [[ 8.85791039e-01 4.64083102e-01 1.05342842e-03 4.68085876e+02] [-4.64082802e-01 8.85791665e-01 -5.28005184e-04 -1.00811148e+02] [-1.17815640e-03 -2.11757533e-05 9.99999306e-01 -3.55117764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters 0.05108391628660443 Centerline is valid? [True, True] Translation: X:468.14, Y:-100.84, Z:-3.55 [[ 8.84870995e-01 4.65835931e-01 4.55094509e-04 4.68141755e+02] [-4.65835875e-01 8.84871112e-01 -2.28220476e-04 -1.00838031e+02] [-5.09013283e-04 -1.00536689e-05 9.99999870e-01 -3.55316907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters 0.0521744238240499 Centerline is valid? [True, True] Translation: X:468.20, Y:-100.86, Z:-3.56 [[ 8.84714226e-01 4.66133438e-01 -5.96949645e-04 4.68199067e+02] [-4.66133341e-01 8.84714427e-01 3.00601963e-04 -1.00859501e+02] [ 6.68250589e-04 1.23112999e-05 9.99999777e-01 -3.55637517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters 0.0508938931301314 Centerline is valid? [True, True] Translation: X:468.25, Y:-100.90, Z:-3.55 [[ 8.84567491e-01 4.66412184e-01 1.71107469e-04 4.68251154e+02] [-4.66412176e-01 8.84567507e-01 -8.48977636e-05 -1.00895690e+02] [-1.90953459e-04 -4.70880541e-06 9.99999982e-01 -3.55314771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters 0.050119937935757176 Centerline is valid? [True, True] Translation: X:468.31, Y:-100.93, Z:-3.55 [[ 8.84367045e-01 4.66791058e-01 1.01855395e-03 4.68306858e+02] [-4.66790779e-01 8.84367631e-01 -5.10745293e-04 -1.00925231e+02] [-1.13918748e-03 -2.37652876e-05 9.99999351e-01 -3.55281848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters 0.05147090741046281 Centerline is valid? [True, True] Translation: X:468.36, Y:-100.95, Z:-3.56 [[ 8.83997371e-01 4.67490578e-01 1.09914043e-03 4.68364902e+02] [-4.67490253e-01 8.83998053e-01 -5.51893377e-04 -1.00945029e+02] [-1.22964296e-03 -2.59651446e-05 9.99999244e-01 -3.55595318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters 0.05109291824086742 Centerline is valid? [True, True] Translation: X:468.42, Y:-100.98, Z:-3.56 [[ 8.83715112e-01 4.68023636e-01 -1.21493897e-03 4.68418194e+02] [-4.68023237e-01 8.83715947e-01 6.11584195e-04 -1.00976456e+02] [ 1.35989680e-03 2.81534734e-05 9.99999075e-01 -3.55704555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters 0.05132281309175553 Centerline is valid? [True, True] Translation: X:468.47, Y:-101.00, Z:-3.56 [[ 8.83145792e-01 4.69094209e-01 -2.03279739e-03 4.68473645e+02] [-4.69093098e-01 8.83148131e-01 1.02222127e-03 -1.01003541e+02] [ 2.27477929e-03 5.08008146e-05 9.99997411e-01 -3.55778112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters 0.05098948224408587 Centerline is valid? [True, True] Translation: X:468.53, Y:-101.03, Z:-3.56 [[ 8.82058957e-01 4.71138480e-01 -7.26973669e-04 4.68527365e+02] [-4.71138338e-01 8.82059257e-01 3.66430248e-04 -1.01033737e+02] [ 8.13873244e-04 1.92920833e-05 9.99999669e-01 -3.55564147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters 0.05063624830280289 Centerline is valid? [True, True] Translation: X:468.58, Y:-101.06, Z:-3.56 [[ 8.81402539e-01 4.72365835e-01 2.85803571e-04 4.68583936e+02] [-4.72365813e-01 8.81402586e-01 -1.42848501e-04 -1.01060183e+02] [-3.19384758e-04 -9.09680472e-06 9.99999949e-01 -3.55559102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters 0.05158141344367237 Centerline is valid? [True, True] Translation: X:468.64, Y:-101.09, Z:-3.56 [[ 8.81889051e-01 4.71456741e-01 4.93943079e-04 4.68640135e+02] [-4.71456676e-01 8.81889189e-01 -2.47619377e-04 -1.01085846e+02] [-5.52344886e-04 -1.44999445e-05 9.99999847e-01 -3.55697280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters 0.05294588184673082 Centerline is valid? [True, True] Translation: X:468.70, Y:-101.10, Z:-3.56 [[ 8.81638830e-01 4.71923025e-01 1.27784221e-03 4.68700159e+02] [-4.71922589e-01 8.81639755e-01 -6.42168565e-04 -1.01104565e+02] [-1.42965063e-03 -3.68818619e-05 9.99998977e-01 -3.55789790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters 0.05203837736351569 Centerline is valid? [True, True] Translation: X:468.75, Y:-101.14, Z:-3.56 [[ 8.81330954e-01 4.72495558e-01 1.92287588e-03 4.68752341e+02] [-4.72494571e-01 8.81333050e-01 -9.67145166e-04 -1.01138471e+02] [-2.15166586e-03 -5.61734416e-05 9.99997684e-01 -3.55645480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters 0.05135962177012513 Centerline is valid? [True, True] Translation: X:468.81, Y:-101.17, Z:-3.56 [[ 8.81286863e-01 4.72577121e-01 2.08099908e-03 4.68809413e+02] [-4.72575965e-01 8.81289317e-01 -1.04693883e-03 -1.01165965e+02] [-2.32872160e-03 -6.07767100e-05 9.99997287e-01 -3.55657261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters 0.0519603145433652 Centerline is valid? [True, True] Translation: X:468.87, Y:-101.19, Z:-3.56 [[ 8.81227472e-01 4.72687731e-01 2.10976285e-03 4.68867270e+02] [-4.72686543e-01 8.81229995e-01 -1.06179111e-03 -1.01188727e+02] [-2.36108194e-03 -6.15770139e-05 9.99997211e-01 -3.55740085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters 0.051433993568058466 Centerline is valid? [True, True] Translation: X:468.92, Y:-101.22, Z:-3.56 [[ 8.82019188e-01 4.71206352e-01 2.59352505e-03 4.68919760e+02] [-4.71204547e-01 8.82022998e-01 -1.30624047e-03 -1.01221363e+02] [-2.90305754e-03 -6.99516355e-05 9.99995784e-01 -3.55680025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters 0.05114501514953887 Centerline is valid? [True, True] Translation: X:468.97, Y:-101.25, Z:-3.56 [[ 8.83688343e-01 4.68067521e-01 2.77618602e-03 4.68974524e+02] [-4.68065437e-01 8.83692702e-01 -1.39840099e-03 -1.01249855e+02] [-3.10784141e-03 -6.36860723e-05 9.99995169e-01 -3.55702302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters 0.052274021571715554 Centerline is valid? [True, True] Translation: X:469.03, Y:-101.28, Z:-3.56 [[ 8.86895439e-01 4.61957418e-01 3.43865640e-03 4.69027605e+02] [-4.61954173e-01 8.86902103e-01 -1.73231965e-03 -1.01277359e+02] [-3.85000951e-03 -5.21152768e-05 9.99992587e-01 -3.55697772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters 0.05182704492512448 Centerline is valid? [True, True] Translation: X:469.08, Y:-101.31, Z:-3.56 [[ 8.89931919e-01 4.56074314e-01 4.17125191e-03 4.69081442e+02] [-4.56069474e-01 8.89941694e-01 -2.10140845e-03 -1.01307849e+02] [-4.67056940e-03 -3.22702086e-05 9.99989092e-01 -3.55646746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters 0.052373075283005055 Centerline is valid? [True, True] Translation: X:469.14, Y:-101.33, Z:-3.56 [[ 8.91312338e-01 4.53369395e-01 4.30194934e-03 4.69137351e+02] [-4.53364215e-01 8.91322720e-01 -2.16740454e-03 -1.01334402e+02] [-4.81706008e-03 -1.85154746e-05 9.99988398e-01 -3.55744440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters 0.05143048087887275 Centerline is valid? [True, True] Translation: X:469.19, Y:-101.36, Z:-3.56 [[ 8.91412470e-01 4.53181397e-01 3.22948561e-03 4.69194779e+02] [-4.53178476e-01 8.91418320e-01 -1.62711326e-03 -1.01359200e+02] [-3.61620010e-03 -1.31043196e-05 9.99993461e-01 -3.55898159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters 0.0521670202584485 Centerline is valid? [True, True] Translation: X:469.25, Y:-101.39, Z:-3.56 [[ 8.91238457e-01 4.53526660e-01 2.75354955e-03 4.69251091e+02] [-4.53524539e-01 8.91242710e-01 -1.38726408e-03 -1.01387507e+02] [-3.08324220e-03 -1.24191939e-05 9.99995247e-01 -3.55958264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters 0.05219395829129632 Centerline is valid? [True, True] Translation: X:469.31, Y:-101.42, Z:-3.56 [[ 8.91033579e-01 4.53931798e-01 2.25473713e-03 4.69307333e+02] [-4.53930377e-01 8.91036432e-01 -1.13611017e-03 -1.01415770e+02] [-2.52476946e-03 -1.11813689e-05 9.99996813e-01 -3.56006740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters 0.05202746363579365 Centerline is valid? [True, True] Translation: X:469.36, Y:-101.44, Z:-3.56 [[ 8.90772268e-01 4.54446606e-01 1.74608287e-03 4.69363120e+02] [-4.54445754e-01 8.90773980e-01 -8.79908829e-04 -1.01442092e+02] [-1.95523677e-03 -9.70156400e-06 9.99998088e-01 -3.56291013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters 0.05169440365881229 Centerline is valid? [True, True] Translation: X:469.42, Y:-101.47, Z:-3.56 [[ 8.90218697e-01 4.55529666e-01 1.84240385e-03 4.69419331e+02] [-4.55528720e-01 8.90220604e-01 -9.28749456e-04 -1.01470867e+02] [-2.06321880e-03 -1.24777375e-05 9.99997871e-01 -3.56177743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters 0.05230188114304009 Centerline is valid? [True, True] Translation: X:469.48, Y:-101.50, Z:-3.56 [[ 8.89754806e-01 4.56434247e-01 2.04046617e-03 4.69475070e+02] [-4.56433088e-01 8.89757145e-01 -1.02910179e-03 -1.01497068e+02] [-2.28523665e-03 -1.56880110e-05 9.99997389e-01 -3.56288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters 0.052295163145367134 Centerline is valid? [True, True] Translation: X:469.53, Y:-101.53, Z:-3.56 [[ 8.89578492e-01 4.56768891e-01 3.50527394e-03 4.69530613e+02] [-4.56765466e-01 8.89585397e-01 -1.76919247e-03 -1.01525605e+02] [-3.92635259e-03 -2.72525194e-05 9.99992291e-01 -3.56075046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters 0.05174707105338752 Centerline is valid? [True, True] Translation: X:469.59, Y:-101.55, Z:-3.56 [[ 8.89459428e-01 4.56998933e-01 3.72842971e-03 4.69586997e+02] [-4.56995057e-01 8.89467242e-01 -1.88236868e-03 -1.01553961e+02] [-4.17655657e-03 -2.95833871e-05 9.99991278e-01 -3.56080095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters 0.05236852922063103 Centerline is valid? [True, True] Translation: X:469.64, Y:-101.58, Z:-3.56 [[ 8.88987881e-01 4.57919927e-01 3.14463511e-03 4.69642449e+02] [-4.57917174e-01 8.88993442e-01 -1.58809549e-03 -1.01578958e+02] [-3.52278056e-03 -2.81847765e-05 9.99993795e-01 -3.56223011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters 0.052195492758916 Centerline is valid? [True, True] Translation: X:469.70, Y:-101.61, Z:-3.56 [[ 8.88606045e-01 4.58663665e-01 2.63415107e-03 4.69698953e+02] [-4.58661735e-01 8.88609949e-01 -1.33084636e-03 -1.01605561e+02] [-2.95114372e-03 -2.55861778e-05 9.99995645e-01 -3.56351600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters 0.05233303694298436 Centerline is valid? [True, True] Translation: X:469.76, Y:-101.63, Z:-3.56 [[ 8.87765397e-01 4.60290719e-01 2.24823562e-03 4.69755120e+02] [-4.60289319e-01 8.87768243e-01 -1.13559150e-03 -1.01630180e+02] [-2.51861441e-03 -2.66999987e-05 9.99996828e-01 -3.56439023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters 0.05196792371740866 Centerline is valid? [True, True] Translation: X:469.81, Y:-101.66, Z:-3.57 [[ 8.87467380e-01 4.60866495e-01 1.92951019e-03 4.69811060e+02] [-4.60865465e-01 8.87469477e-01 -9.74670901e-04 -1.01657333e+02] [-2.16157456e-03 -2.42559818e-05 9.99997664e-01 -3.56512278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters 0.052620713830914045 Centerline is valid? [True, True] Translation: X:469.87, Y:-101.68, Z:-3.57 [[ 8.87914567e-01 4.60006718e-01 1.24125053e-03 4.69865355e+02] [-4.60006291e-01 8.87915435e-01 -6.26906722e-04 -1.01684562e+02] [-1.39050681e-03 -1.43434430e-05 9.99999033e-01 -3.56633960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters 0.05219129969438931 Centerline is valid? [True, True] Translation: X:469.92, Y:-101.71, Z:-3.57 [[ 8.88614538e-01 4.58652246e-01 1.52311071e-03 4.69920673e+02] [-4.58651600e-01 8.88615843e-01 -7.70072994e-04 -1.01713369e+02] [-1.70665602e-03 -1.42791086e-05 9.99998544e-01 -3.56718014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters 0.052382794587113236 Centerline is valid? [True, True] Translation: X:469.97, Y:-101.75, Z:-3.57 [[ 8.89779419e-01 4.56385860e-01 2.12889288e-03 4.69973806e+02] [-4.56384591e-01 8.89781966e-01 -1.07614464e-03 -1.01745086e+02] [-2.38538769e-03 -1.40625571e-05 9.99997155e-01 -3.56567861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters 0.05234137579998713 Centerline is valid? [True, True] Translation: X:470.03, Y:-101.77, Z:-3.57 [[ 8.90155827e-01 4.55648841e-01 2.59557200e-03 4.70028839e+02] [-4.55646950e-01 8.90159611e-01 -1.31268535e-03 -1.01772579e+02] [-2.90859692e-03 -1.41699552e-05 9.99995770e-01 -3.56746668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters 0.051768760888763206 Centerline is valid? [True, True] Translation: X:470.08, Y:-101.80, Z:-3.57 [[ 8.90424232e-01 4.55113771e-01 4.01770689e-03 4.70083647e+02] [-4.55109231e-01 8.90433296e-01 -2.03294646e-03 -1.01802206e+02] [-4.50272192e-03 -1.83107025e-05 9.99989863e-01 -3.56697784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters 0.05208960123795469 Centerline is valid? [True, True] Translation: X:470.14, Y:-101.83, Z:-3.57 [[ 8.90464526e-01 4.55043075e-01 2.95431628e-03 4.70139486e+02] [-4.55040620e-01 8.90469427e-01 -1.49496975e-03 -1.01831419e+02] [-3.31100395e-03 -1.31163793e-05 9.99994519e-01 -3.56875659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters 0.0520692794770483 Centerline is valid? [True, True] Translation: X:470.20, Y:-101.86, Z:-3.57 [[ 8.90128255e-01 4.55699116e-01 3.16317453e-03 4.70195248e+02] [-4.55696303e-01 8.90133875e-01 -1.60122092e-03 -1.01860800e+02] [-3.54532376e-03 -1.61549516e-05 9.99993715e-01 -3.56853116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters 0.05201241478744569 Centerline is valid? [True, True] Translation: X:470.25, Y:-101.89, Z:-3.57 [[ 8.88943137e-01 4.58005980e-01 3.25922129e-03 4.70248879e+02] [-4.58003006e-01 8.88949111e-01 -1.65070156e-03 -1.01889252e+02] [-3.65331305e-03 -2.53533225e-05 9.99993326e-01 -3.56743662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters 0.05183877628461115 Centerline is valid? [True, True] Translation: X:470.31, Y:-101.91, Z:-3.57 [[ 8.87282426e-01 4.61217855e-01 2.82595280e-03 4.70305736e+02] [-4.61215635e-01 8.87286926e-01 -1.43147342e-03 -1.01914870e+02] [-3.16765208e-03 -3.32524119e-05 9.99994982e-01 -3.56967072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters 0.051791137032552635 Centerline is valid? [True, True] Translation: X:470.36, Y:-101.94, Z:-3.57 [[ 8.86688045e-01 4.62362515e-01 2.28385454e-03 4.70361192e+02] [-4.62361070e-01 8.86690985e-01 -1.15658012e-03 -1.01941588e+02] [-2.55983253e-03 -3.04396633e-05 9.99996723e-01 -3.57074120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters 0.05188797705523654 Centerline is valid? [True, True] Translation: X:470.42, Y:-101.97, Z:-3.57 [[ 8.85693381e-01 4.64263478e-01 2.58028482e-03 4.70416392e+02] [-4.64261638e-01 8.85697139e-01 -1.30747099e-03 -1.01969657e+02] [-2.89236191e-03 -3.99088512e-05 9.99995816e-01 -3.57118897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters 0.05133466256418908 Centerline is valid? [True, True] Translation: X:470.47, Y:-102.00, Z:-3.57 [[ 8.85529708e-01 4.64572534e-01 3.08163868e-03 4.70471376e+02] [-4.64569913e-01 8.85535069e-01 -1.56133472e-03 -1.02000160e+02] [-3.45425234e-03 -4.90283371e-05 9.99994033e-01 -3.57031532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters 0.0513884850786684 Centerline is valid? [True, True] Translation: X:470.53, Y:-102.03, Z:-3.57 [[ 8.86326616e-01 4.63040747e-01 4.28916109e-03 4.70526114e+02] [-4.63035646e-01 8.86336992e-01 -2.17433005e-03 -1.02029895e+02] [-4.80844555e-03 -5.88678822e-05 9.99988438e-01 -3.56999555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters 0.05135977305709802 Centerline is valid? [True, True] Translation: X:470.58, Y:-102.06, Z:-3.57 [[ 8.87725109e-01 4.60352064e-01 4.48427108e-03 4.70579975e+02] [-4.60346450e-01 8.87736433e-01 -2.27395869e-03 -1.02058081e+02] [-5.02767239e-03 -4.56680510e-05 9.99987360e-01 -3.57058735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters 0.051701385844348434 Centerline is valid? [True, True] Translation: X:470.63, Y:-102.09, Z:-3.57 [[ 8.89002860e-01 4.57877416e-01 4.71019683e-03 4.70634777e+02] [-4.57871184e-01 8.89015338e-01 -2.38918644e-03 -1.02087683e+02] [-5.28139174e-03 -3.26698189e-05 9.99986053e-01 -3.57109834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters 0.05162083918609289 Centerline is valid? [True, True] Translation: X:470.69, Y:-102.12, Z:-3.57 [[ 8.90281969e-01 4.55387970e-01 4.45116980e-03 4.70689919e+02] [-4.55382371e-01 8.90293096e-01 -2.25839567e-03 -1.02117255e+02] [-4.99129196e-03 -1.63753086e-05 9.99987543e-01 -3.57160917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters 0.05198835448203886 Centerline is valid? [True, True] Translation: X:470.74, Y:-102.15, Z:-3.57 [[ 8.91914846e-01 4.52194876e-01 2.77509327e-03 4.70744637e+02] [-4.52192684e-01 8.91919163e-01 -1.40800993e-03 -1.02147185e+02] [-3.11185375e-03 9.48079946e-07 9.99995158e-01 -3.57449622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters 0.05173474600865849 Centerline is valid? [True, True] Translation: X:470.80, Y:-102.18, Z:-3.57 [[ 8.92200329e-01 4.51631961e-01 2.67307906e-03 4.70800533e+02] [-4.51629923e-01 8.92204333e-01 -1.35659324e-03 -1.02175846e+02] [-2.99761358e-03 3.11044852e-06 9.99995507e-01 -3.57478696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters 0.052618125613946125 Centerline is valid? [True, True] Translation: X:470.86, Y:-102.20, Z:-3.58 [[ 8.91818405e-01 4.52387303e-01 2.37932132e-03 4.70857577e+02] [-4.52385691e-01 8.91821579e-01 -1.20774652e-03 -1.02203251e+02] [-2.66829929e-03 7.19654865e-07 9.99996440e-01 -3.57538507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters 0.05173993741269198 Centerline is valid? [True, True] Translation: X:470.91, Y:-102.23, Z:-3.58 [[ 8.90971230e-01 4.54056764e-01 1.65015494e-03 4.70912907e+02] [-4.54055991e-01 8.90972758e-01 -8.37619240e-04 -1.02230133e+02] [-1.85056978e-03 -2.96809423e-06 9.99998288e-01 -3.57801013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters 0.051667166656134994 Centerline is valid? [True, True] Translation: X:470.97, Y:-102.26, Z:-3.58 [[ 8.89916855e-01 4.56113824e-01 2.85845179e-03 4.70968828e+02] [-4.56111512e-01 8.89921446e-01 -1.45221649e-03 -1.02257544e+02] [-3.20617356e-03 -1.14208384e-05 9.99994860e-01 -3.57709479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters 0.0516397054295348 Centerline is valid? [True, True] Translation: X:471.02, Y:-102.29, Z:-3.58 [[ 8.89606221e-01 4.56711602e-01 3.90944473e-03 4.71024831e+02] [-4.56707278e-01 8.89614811e-01 -1.98740645e-03 -1.02285349e+02] [-4.38557152e-03 -1.74627209e-05 9.99990383e-01 -3.57752941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters 0.051939536718635486 Centerline is valid? [True, True] Translation: X:471.08, Y:-102.31, Z:-3.58 [[ 8.87824884e-01 4.60167373e-01 3.60057134e-03 4.71081281e+02] [-4.60163735e-01 8.87832184e-01 -1.83026697e-03 -1.02311635e+02] [-4.03893226e-03 -3.18957980e-05 9.99991843e-01 -3.57871267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters 0.05157724820357008 Centerline is valid? [True, True] Translation: X:471.14, Y:-102.34, Z:-3.58 [[ 8.87060254e-01 4.61636704e-01 3.95726096e-03 4.71136743e+02] [-4.61632320e-01 8.87069080e-01 -2.01229141e-03 -1.02338399e+02] [-4.43931141e-03 -4.17758270e-05 9.99990145e-01 -3.57951542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters 0.051019795893664885 Centerline is valid? [True, True] Translation: X:471.19, Y:-102.36, Z:-3.58 [[ 8.84920860e-01 4.65718343e-01 4.63638111e-03 4.71193262e+02] [-4.65712376e-01 8.84933003e-01 -2.35859033e-03 -1.02364000e+02] [-5.20132544e-03 -7.20542856e-05 9.99986470e-01 -3.58048193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters 0.051677798244019496 Centerline is valid? [True, True] Translation: X:471.25, Y:-102.39, Z:-3.58 [[ 8.84011030e-01 4.67446810e-01 4.24008101e-03 4.71249341e+02] [-4.67441839e-01 8.84021196e-01 -2.15692584e-03 -1.02389008e+02] [-4.75656959e-03 -7.52450269e-05 9.99988685e-01 -3.58135980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters 0.05113597937069342 Centerline is valid? [True, True] Translation: X:471.30, Y:-102.42, Z:-3.58 [[ 8.83357491e-01 4.68674253e-01 4.89766777e-03 4.71303554e+02] [-4.68667636e-01 8.83371063e-01 -2.49220584e-03 -1.02420118e+02] [-5.49449069e-03 -9.38696790e-05 9.99984901e-01 -3.58121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters 0.05086754203542419 Centerline is valid? [True, True] Translation: X:471.36, Y:-102.45, Z:-3.58 [[ 8.82604377e-01 4.70095475e-01 4.44489184e-03 4.71358377e+02] [-4.70090040e-01 8.82615565e-01 -2.26239976e-03 -1.02446426e+02] [-4.98667461e-03 -9.26954522e-05 9.99987562e-01 -3.58135548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters 0.051040123263672174 Centerline is valid? [True, True] Translation: X:471.41, Y:-102.47, Z:-3.58 [[ 8.81353689e-01 4.72450178e-01 2.55013557e-03 4.71412909e+02] [-4.72448398e-01 8.81357377e-01 -1.29825548e-03 -1.02471786e+02] [-2.86094183e-03 -6.05852047e-05 9.99995906e-01 -3.58369221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters 0.05105683261939473 Centerline is valid? [True, True] Translation: X:471.47, Y:-102.50, Z:-3.59 [[ 8.80289177e-01 4.74433574e-01 1.93622438e-03 4.71468215e+02] [-4.74432552e-01 8.80291305e-01 -9.85699259e-04 -1.02497076e+02] [-2.17209031e-03 -5.09074858e-05 9.99997640e-01 -3.58512996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters 0.051178394404205595 Centerline is valid? [True, True] Translation: X:471.52, Y:-102.53, Z:-3.58 [[ 8.80290454e-01 4.74427858e-01 2.63141285e-03 4.71520831e+02] [-4.74425972e-01 8.80294384e-01 -1.33966327e-03 -1.02531225e+02] [-2.95199153e-03 -6.91178112e-05 9.99995640e-01 -3.58410820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters 0.05069394514088788 Centerline is valid? [True, True] Translation: X:471.58, Y:-102.56, Z:-3.58 [[ 8.80536458e-01 4.73970765e-01 2.69452387e-03 4.71575191e+02] [-4.73968784e-01 8.80540578e-01 -1.37218489e-03 -1.02561046e+02] [-3.02301312e-03 -6.88613842e-05 9.99995428e-01 -3.58428438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters 0.052211340444639716 Centerline is valid? [True, True] Translation: X:471.63, Y:-102.58, Z:-3.59 [[ 8.80698065e-01 4.73669826e-01 2.79541921e-03 4.71633655e+02] [-4.73667690e-01 8.80702499e-01 -1.42423579e-03 -1.02581726e+02] [-3.13655020e-03 -6.97780552e-05 9.99995079e-01 -3.58660227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters 0.051251619115722374 Centerline is valid? [True, True] Translation: X:471.69, Y:-102.61, Z:-3.59 [[ 8.81590456e-01 4.72008735e-01 2.45392072e-03 4.71687154e+02] [-4.72007082e-01 8.81593869e-01 -1.25064083e-03 -1.02611943e+02] [-2.75367485e-03 -5.57149395e-05 9.99996207e-01 -3.58714963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters 0.051227476596573875 Centerline is valid? [True, True] Translation: X:471.74, Y:-102.64, Z:-3.59 [[ 8.82276830e-01 4.70724251e-01 2.50484906e-03 4.71740219e+02] [-4.70722523e-01 8.82280385e-01 -1.27652158e-03 -1.02644030e+02] [-2.81086885e-03 -5.28434509e-05 9.99996048e-01 -3.58743199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters 0.05048352224254707 Centerline is valid? [True, True] Translation: X:471.80, Y:-102.67, Z:-3.59 [[ 8.82866771e-01 4.69618932e-01 2.07949406e-03 4.71795133e+02] [-4.69617739e-01 8.82869219e-01 -1.05939533e-03 -1.02672838e+02] [-2.33343340e-03 -4.12623667e-05 9.99997277e-01 -3.58842535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters 0.05056941399655054 Centerline is valid? [True, True] Translation: X:471.85, Y:-102.70, Z:-3.59 [[ 8.83165318e-01 4.69056370e-01 2.26804359e-03 4.71849793e+02] [-4.69054948e-01 8.83168229e-01 -1.15584127e-03 -1.02702878e+02] [-2.54521875e-03 -4.30381440e-05 9.99996760e-01 -3.58828289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters 0.05115900243435444 Centerline is valid? [True, True] Translation: X:471.91, Y:-102.73, Z:-3.59 [[ 8.83267446e-01 4.68863832e-01 2.30780554e-03 4.71905152e+02] [-4.68862358e-01 8.83270460e-01 -1.17671452e-03 -1.02728000e+02] [-2.59013534e-03 -4.26895149e-05 9.99996645e-01 -3.59018155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters 0.05121946830754403 Centerline is valid? [True, True] Translation: X:471.96, Y:-102.76, Z:-3.59 [[ 8.82342393e-01 4.70606146e-01 1.32581804e-03 4.71959077e+02] [-4.70605662e-01 8.82343388e-01 -6.75621818e-04 -1.02758107e+02] [-1.48777856e-03 -2.78077065e-05 9.99998893e-01 -3.59010214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters 0.05116258120529658 Centerline is valid? [True, True] Translation: X:472.01, Y:-102.79, Z:-3.59 [[ 8.82441200e-01 4.70420323e-01 1.49919600e-03 4.72014134e+02] [-4.70419703e-01 8.82442473e-01 -7.64220086e-04 -1.02787915e+02] [-1.68245889e-03 -3.08720468e-05 9.99998584e-01 -3.59028288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters 0.051053530304290586 Centerline is valid? [True, True] Translation: X:472.07, Y:-102.81, Z:-3.59 [[ 8.83270274e-01 4.68860017e-01 1.97685834e-03 4.72069394e+02] [-4.68858934e-01 8.83272485e-01 -1.00835719e-03 -1.02814752e+02] [-2.21888294e-03 -3.62157641e-05 9.99997538e-01 -3.59106587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters 0.05122610801027498 Centerline is valid? [True, True] Translation: X:472.12, Y:-102.85, Z:-3.59 [[ 8.85929933e-01 4.63805814e-01 3.51015461e-03 4.72121459e+02] [-4.63802354e-01 8.85936886e-01 -1.79190193e-03 -1.02847729e+02] [-3.94086998e-03 -4.05184102e-05 9.99992234e-01 -3.58938101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters 0.05086427260954999 Centerline is valid? [True, True] Translation: X:472.18, Y:-102.88, Z:-3.59 [[ 8.87948956e-01 4.59928962e-01 3.46425473e-03 4.72176150e+02] [-4.59925563e-01 8.87955714e-01 -1.76825872e-03 -1.02876058e+02] [-3.88937818e-03 -2.31758254e-05 9.99992436e-01 -3.59074230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters 0.05087089467625525 Centerline is valid? [True, True] Translation: X:472.23, Y:-102.91, Z:-3.59 [[ 8.91304118e-01 4.53398104e-01 2.67005740e-03 4.72230053e+02] [-4.53396054e-01 8.91308117e-01 -1.36324957e-03 -1.02908287e+02] [-2.99793861e-03 4.47646133e-06 9.99995506e-01 -3.59153532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters 0.0511217948083986 Centerline is valid? [True, True] Translation: X:472.28, Y:-102.94, Z:-3.59 [[ 8.93175121e-01 4.49706103e-01 1.61989617e-03 4.72284409e+02] [-4.49705343e-01 8.93176590e-01 -8.26701297e-04 -1.02938126e+02] [-1.81862595e-03 9.91307063e-06 9.99998346e-01 -3.59279413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters 0.05149137305836489 Centerline is valid? [True, True] Translation: X:472.34, Y:-102.96, Z:-3.59 [[ 8.94991848e-01 4.46081599e-01 8.94183523e-04 4.72340238e+02] [-4.46081366e-01 8.94992294e-01 -4.56094581e-04 -1.02964057e+02] [-1.00374276e-03 9.32232457e-06 9.99999496e-01 -3.59144459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters 0.05143985225311484 Centerline is valid? [True, True] Translation: X:472.39, Y:-102.99, Z:-3.59 [[ 8.95268836e-01 4.45519467e-01 2.47312476e-03 4.72393927e+02] [-4.45517675e-01 8.95272251e-01 -1.26376315e-03 -1.02994702e+02] [-2.77715105e-03 2.95869669e-05 9.99996143e-01 -3.59421391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters 0.05136799220389462 Centerline is valid? [True, True] Translation: X:472.45, Y:-103.02, Z:-3.60 [[ 8.94475715e-01 4.47107582e-01 2.82956892e-03 4.72448251e+02] [-4.47105245e-01 8.94480190e-01 -1.44578919e-03 -1.03022354e+02] [-3.17741666e-03 2.81082153e-05 9.99994952e-01 -3.59508683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters 0.05099705156292146 Centerline is valid? [True, True] Translation: X:472.51, Y:-103.05, Z:-3.59 [[ 8.92923852e-01 4.50198980e-01 2.80582704e-03 4.72505109e+02] [-4.50196696e-01 8.92928260e-01 -1.43401443e-03 -1.03046773e+02] [-3.15099410e-03 1.72916237e-05 9.99995035e-01 -3.59475529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters 0.05157570076129492 Centerline is valid? [True, True] Translation: X:472.56, Y:-103.07, Z:-3.60 [[ 8.89366038e-01 4.57190671e-01 2.17756639e-03 4.72562965e+02] [-4.57189316e-01 8.89368703e-01 -1.11302224e-03 -1.03069095e+02] [-2.44552278e-03 -5.67591355e-06 9.99997010e-01 -3.59620848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters 0.05098172905572004 Centerline is valid? [True, True] Translation: X:472.62, Y:-103.09, Z:-3.60 [[ 8.85267865e-01 4.65080138e-01 1.12797836e-03 4.72620575e+02] [-4.65079780e-01 8.85268584e-01 -5.76859576e-04 -1.03089670e+02] [-1.26684973e-03 -1.39246821e-05 9.99999197e-01 -3.59803908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters 0.05113683295179346 Centerline is valid? [True, True] Translation: X:472.68, Y:-103.11, Z:-3.60 [[ 8.83207510e-01 4.68982363e-01 1.95052817e-04 4.72676075e+02] [-4.68982353e-01 8.83207531e-01 -9.95883389e-05 -1.03114572e+02] [-2.18977292e-04 -3.51916030e-06 9.99999976e-01 -3.59876697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters 0.05103383217228476 Centerline is valid? [True, True] Translation: X:472.73, Y:-103.14, Z:-3.60 [[ 8.81719915e-01 4.71773171e-01 -2.59514774e-04 4.72731748e+02] [-4.71773152e-01 8.81719953e-01 1.33685408e-04 -1.03141545e+02] [ 2.91888543e-04 4.55901608e-06 9.99999957e-01 -3.59817900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters 0.051072804644485756 Centerline is valid? [True, True] Translation: X:472.79, Y:-103.17, Z:-3.60 [[ 8.80225887e-01 4.74553639e-01 1.10948163e-03 4.72787606e+02] [-4.74553300e-01 8.80226586e-01 -5.67565905e-04 -1.03169192e+02] [-1.24593569e-03 -2.69219652e-05 9.99999223e-01 -3.59768223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters 0.05177980865006663 Centerline is valid? [True, True] Translation: X:472.85, Y:-103.19, Z:-3.60 [[ 8.79849555e-01 4.75247764e-01 2.07922183e-03 4.72846811e+02] [-4.75246577e-01 8.79852010e-01 -1.06355991e-03 -1.03188273e+02] [-2.33486198e-03 -5.23703418e-05 9.99997273e-01 -3.59887259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters 0.05177980865006663 Centerline is valid? [True, True] Translation: X:472.90, Y:-103.22, Z:-3.60 [[ 8.79792683e-01 4.75353040e-01 2.07914219e-03 4.72902442e+02] [-4.75351853e-01 8.79795138e-01 -1.06371555e-03 -1.03216741e+02] [-2.33485961e-03 -5.24749373e-05 9.99997273e-01 -3.59933336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters 0.051269526400818895 Centerline is valid? [True, True] Translation: X:472.96, Y:-103.25, Z:-3.60 [[ 8.79587736e-01 4.75734635e-01 1.40437459e-03 4.72956177e+02] [-4.75734094e-01 8.79588856e-01 -7.18449218e-04 -1.03247957e+02] [-1.57706342e-03 -3.61697540e-05 9.99998756e-01 -3.59878652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters 0.05100921046307446 Centerline is valid? [True, True] Translation: X:473.01, Y:-103.27, Z:-3.60 [[ 8.78629736e-01 4.77503564e-01 -3.65512808e-04 4.73011607e+02] [-4.77503527e-01 8.78629812e-01 1.87437015e-04 -1.03273973e+02] [ 4.10652292e-04 9.84591956e-06 9.99999916e-01 -3.60026912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters 0.05202448699364394 Centerline is valid? [True, True] Translation: X:473.07, Y:-103.30, Z:-3.60 [[ 8.77103130e-01 4.80299223e-01 -1.66019590e-03 4.73068817e+02] [-4.80298473e-01 8.77104699e-01 8.50562576e-04 -1.03295232e+02] [ 1.86469017e-03 5.13584562e-05 9.99998260e-01 -3.60208569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters 0.051185837810737336 Centerline is valid? [True, True] Translation: X:473.12, Y:-103.33, Z:-3.60 [[ 8.76264459e-01 4.81826368e-01 -1.98714156e-03 4.73123022e+02] [-4.81825297e-01 8.76266710e-01 1.01829557e-03 -1.03326434e+02] [ 2.23190766e-03 6.51588532e-05 9.99997507e-01 -3.60078056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters 0.05196545221615507 Centerline is valid? [True, True] Translation: X:473.18, Y:-103.35, Z:-3.60 [[ 8.76100478e-01 4.82125247e-01 -1.78830733e-03 4.73179590e+02] [-4.82124378e-01 8.76102302e-01 9.17418125e-04 -1.03351307e+02] [ 2.00905060e-03 5.84360980e-05 9.99997980e-01 -3.60175435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters 0.05233562953971878 Centerline is valid? [True, True] Translation: X:473.23, Y:-103.38, Z:-3.60 [[ 8.76950680e-01 4.80580307e-01 -2.69984051e-04 4.73234389e+02] [-4.80580287e-01 8.76950722e-01 1.38488818e-04 -1.03377519e+02] [ 3.03317707e-04 8.30114917e-06 9.99999954e-01 -3.60089306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters 0.05189222092081694 Centerline is valid? [True, True] Translation: X:473.29, Y:-103.41, Z:-3.60 [[ 8.78131445e-01 4.78419128e-01 5.50491048e-04 4.73287741e+02] [-4.78419045e-01 8.78131618e-01 -2.81962901e-04 -1.03408993e+02] [-6.18300040e-04 -1.57649119e-05 9.99999809e-01 -3.59876075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters 0.05154993258976007 Centerline is valid? [True, True] Translation: X:473.34, Y:-103.44, Z:-3.60 [[ 8.80005248e-01 4.74962682e-01 1.10185826e-03 4.73340862e+02] [-4.74962347e-01 8.80005937e-01 -5.64520106e-04 -1.03440686e+02] [-1.23776779e-03 -2.65605284e-05 9.99999234e-01 -3.59767225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters 0.05137942681743622 Centerline is valid? [True, True] Translation: X:473.39, Y:-103.47, Z:-3.60 [[ 8.81125483e-01 4.72881527e-01 9.72011263e-04 4.73394661e+02] [-4.72881265e-01 8.81126019e-01 -4.98137056e-04 -1.03467594e+02] [-1.09202423e-03 -2.07246621e-05 9.99999404e-01 -3.59862283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters 0.05164986950155473 Centerline is valid? [True, True] Translation: X:473.45, Y:-103.50, Z:-3.60 [[ 8.82302391e-01 4.70682941e-01 2.44952411e-04 4.73449617e+02] [-4.70682924e-01 8.82302425e-01 -1.25352101e-04 -1.03495963e+02] [-2.75123202e-04 -4.69645823e-06 9.99999962e-01 -3.59923895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters 0.0520064805658693 Centerline is valid? [True, True] Translation: X:473.51, Y:-103.52, Z:-3.60 [[ 8.83331073e-01 4.68748934e-01 -8.07520081e-04 4.73507044e+02] [-4.68748751e-01 8.83331442e-01 4.14918311e-04 -1.03518506e+02] [ 9.07800394e-04 1.20137925e-05 9.99999588e-01 -3.60305594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters 0.05199605364920158 Centerline is valid? [True, True] Translation: X:473.56, Y:-103.55, Z:-3.60 [[ 8.84169271e-01 4.67166555e-01 -3.32614514e-04 4.73561705e+02] [-4.67166524e-01 8.84169333e-01 1.70875247e-04 -1.03549080e+02] [ 3.73914754e-04 4.30372428e-06 9.99999930e-01 -3.60190216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters 0.05184089846886212 Centerline is valid? [True, True] Translation: X:473.62, Y:-103.58, Z:-3.60 [[ 8.85629930e-01 4.64391631e-01 -1.99509633e-04 4.73615899e+02] [-4.64391620e-01 8.85629953e-01 1.02651835e-04 -1.03580122e+02] [ 2.24362359e-04 1.73906364e-06 9.99999975e-01 -3.60056504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters 0.05237246416732193 Centerline is valid? [True, True] Translation: X:473.67, Y:-103.61, Z:-3.60 [[ 8.86384265e-01 4.62950044e-01 4.37008683e-04 4.73670283e+02] [-4.62949990e-01 8.86384373e-01 -2.23282932e-04 -1.03607752e+02] [-4.90726511e-04 -4.39868813e-06 9.99999880e-01 -3.60119522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters 0.05226190247120429 Centerline is valid? [True, True] Translation: X:473.73, Y:-103.64, Z:-3.60 [[ 8.86362417e-01 4.62991626e-01 6.48702147e-04 4.73725846e+02] [-4.62991507e-01 8.86362654e-01 -3.31744916e-04 -1.03636836e+02] [-7.28580475e-04 -6.29735911e-06 9.99999735e-01 -3.59965815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters 0.05199567451425599 Centerline is valid? [True, True] Translation: X:473.78, Y:-103.66, Z:-3.60 [[ 8.86149577e-01 4.63399309e-01 8.11655288e-05 4.73781684e+02] [-4.63399307e-01 8.86149581e-01 -4.07524328e-05 -1.03662703e+02] [-9.08094487e-05 -1.49929873e-06 9.99999996e-01 -3.60190256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters 0.05224914398814069 Centerline is valid? [True, True] Translation: X:473.84, Y:-103.69, Z:-3.60 [[ 8.85696109e-01 4.64265341e-01 -3.09016601e-04 4.73837724e+02] [-4.64265314e-01 8.85696163e-01 1.59587526e-04 -1.03689445e+02] [ 3.47785775e-04 2.11963798e-06 9.99999940e-01 -3.60189695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters 0.05266873534810384 Centerline is valid? [True, True] Translation: X:473.89, Y:-103.72, Z:-3.60 [[ 8.85830316e-01 4.64009322e-01 -2.67939497e-05 4.73893928e+02] [-4.64009321e-01 8.85830316e-01 1.40998061e-05 -1.03717160e+02] [ 3.02773342e-05 -5.73932604e-08 1.00000000e+00 -3.60152913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters 0.05278060163329057 Centerline is valid? [True, True] Translation: X:473.95, Y:-103.75, Z:-3.60 [[ 8.86721075e-01 4.62304151e-01 7.78715507e-04 4.73949482e+02] [-4.62303979e-01 8.86721417e-01 -3.98973305e-04 -1.03745621e+02] [-8.74950733e-04 -6.22523992e-06 9.99999617e-01 -3.60162895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters 0.052617593226872476 Centerline is valid? [True, True] Translation: X:474.00, Y:-103.77, Z:-3.60 [[ 8.87936255e-01 4.59963901e-01 1.55455920e-03 4.74004389e+02] [-4.59963209e-01 8.87937616e-01 -7.97688593e-04 -1.03773561e+02] [-1.74725955e-03 -6.74341646e-06 9.99998474e-01 -3.60260609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters 0.052377821915264196 Centerline is valid? [True, True] Translation: X:474.06, Y:-103.80, Z:-3.60 [[ 8.90111345e-01 4.55742777e-01 5.60852878e-04 4.74059881e+02] [-4.55742686e-01 8.90111522e-01 -2.87156759e-04 -1.03803283e+02] [-6.30091228e-04 -3.10776764e-09 9.99999801e-01 -3.60337225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters 0.05317459850601982 Centerline is valid? [True, True] Translation: X:474.11, Y:-103.83, Z:-3.60 [[ 8.91722475e-01 4.52582344e-01 -4.99178231e-04 4.74114773e+02] [-4.52582271e-01 8.91722615e-01 2.57067484e-04 -1.03830996e+02] [ 5.61472722e-04 -3.31363621e-06 9.99999842e-01 -3.60277853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters 0.05327376372510127 Centerline is valid? [True, True] Translation: X:474.17, Y:-103.86, Z:-3.60 [[ 8.93863472e-01 4.48337327e-01 -1.31702069e-03 4.74170492e+02] [-4.48336815e-01 8.93864442e-01 6.77251081e-04 -1.03857530e+02] [ 1.48087490e-03 -1.49011433e-05 9.99998903e-01 -3.60208073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters 0.053355500933044135 Centerline is valid? [True, True] Translation: X:474.22, Y:-103.89, Z:-3.61 [[ 8.94727676e-01 4.46609936e-01 -1.39657741e-03 4.74223019e+02] [-4.46609358e-01 8.94728766e-01 7.19052182e-04 -1.03888425e+02] [ 1.57069383e-03 -1.96313484e-05 9.99998766e-01 -3.60538562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters 0.05367984274480819 Centerline is valid? [True, True] Translation: X:474.28, Y:-103.91, Z:-3.60 [[ 8.95088169e-01 4.45886724e-01 -1.48317944e-03 4.74281608e+02] [-4.45886070e-01 8.95089397e-01 7.63839832e-04 -1.03910740e+02] [ 1.66816423e-03 -2.23749428e-05 9.99998608e-01 -3.60177546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters 0.0532524881995152 Centerline is valid? [True, True] Translation: X:474.34, Y:-103.94, Z:-3.61 [[ 8.94298931e-01 4.47464208e-01 -2.28127394e-03 4.74335392e+02] [-4.47462669e-01 8.94301840e-01 1.17382123e-03 -1.03942245e+02] [ 2.56539048e-03 -2.89621447e-05 9.99996709e-01 -3.60557667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters 0.05329640325800371 Centerline is valid? [True, True] Translation: X:474.39, Y:-103.97, Z:-3.61 [[ 8.93101858e-01 4.49851272e-01 -1.70427909e-03 4.74390304e+02] [-4.49850415e-01 8.93103484e-01 8.77845259e-04 -1.03968475e+02] [ 1.91699740e-03 -1.73345772e-05 9.99998162e-01 -3.60624647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters 0.05337690637666724 Centerline is valid? [True, True] Translation: X:474.45, Y:-103.99, Z:-3.61 [[ 8.91030106e-01 4.53942306e-01 -1.31641479e-03 4.74448011e+02] [-4.53941800e-01 8.91031078e-01 6.77753243e-04 -1.03993322e+02] [ 1.48062736e-03 -6.32284561e-06 9.99998904e-01 -3.60514928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters 0.05317419028668649 Centerline is valid? [True, True] Translation: X:474.50, Y:-104.02, Z:-3.61 [[ 8.88532889e-01 4.58812584e-01 -5.64729627e-04 4.74504027e+02] [-4.58812492e-01 8.88533068e-01 2.90972628e-04 -1.04019147e+02] [ 6.35282851e-04 5.66258121e-07 9.99999798e-01 -3.60564800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters 0.053161215263250176 Centerline is valid? [True, True] Translation: X:474.56, Y:-104.04, Z:-3.61 [[ 8.86784405e-01 4.62183294e-01 1.46953062e-04 4.74560146e+02] [-4.62183288e-01 8.86784417e-01 -7.46874996e-05 -1.04044764e+02] [-1.64835000e-04 -1.68753966e-06 9.99999986e-01 -3.60651226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters 0.05313487627084929 Centerline is valid? [True, True] Translation: X:474.62, Y:-104.07, Z:-3.61 [[ 8.85375551e-01 4.64876036e-01 6.36643791e-04 4.74615646e+02] [-4.64875921e-01 8.85375780e-01 -3.26929356e-04 -1.04070403e+02] [-7.15650616e-04 -6.50511009e-06 9.99999744e-01 -3.60747524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters 0.05300807190761735 Centerline is valid? [True, True] Translation: X:474.67, Y:-104.10, Z:-3.61 [[ 8.84834332e-01 4.65905749e-01 1.96006939e-04 4.74670632e+02] [-4.65905738e-01 8.84834354e-01 -9.99584005e-05 -1.04100111e+02] [-2.20004867e-04 -2.87413310e-06 9.99999976e-01 -3.60623958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters 0.05300704949366362 Centerline is valid? [True, True] Translation: X:474.73, Y:-104.13, Z:-3.61 [[ 8.83668947e-01 4.68112000e-01 -5.89025211e-04 4.74725553e+02] [-4.68111901e-01 8.83669144e-01 3.04394811e-04 -1.04126373e+02] [ 6.62994267e-04 6.74546966e-06 9.99999780e-01 -3.60813913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters 0.053117370498265995 Centerline is valid? [True, True] Translation: X:474.78, Y:-104.16, Z:-3.61 [[ 8.83094040e-01 4.69195099e-01 -9.36306359e-04 4.74779987e+02] [-4.69194850e-01 8.83094536e-01 4.83510673e-04 -1.04156834e+02] [ 1.05370787e-03 1.23247273e-05 9.99999445e-01 -3.60730772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters 0.05306705010997878 Centerline is valid? [True, True] Translation: X:474.84, Y:-104.18, Z:-3.61 [[ 8.83039174e-01 4.69298249e-01 -9.85334346e-04 4.74835331e+02] [-4.69297973e-01 8.83039723e-01 5.08991991e-04 -1.04184614e+02] [ 1.10895842e-03 1.29555447e-05 9.99999385e-01 -3.60863362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters 0.052987158540090895 Centerline is valid? [True, True] Translation: X:474.89, Y:-104.22, Z:-3.61 [[ 8.83447114e-01 4.68527864e-01 -1.68424213e-03 4.74889843e+02] [-4.68527060e-01 8.83448719e-01 8.68687635e-04 -1.04215624e+02] [ 1.89494591e-03 2.16734263e-05 9.99998204e-01 -3.60845588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters 0.05293451320050025 Centerline is valid? [True, True] Translation: X:474.94, Y:-104.25, Z:-3.61 [[ 8.84399542e-01 4.66726414e-01 -1.97604061e-03 4.74942886e+02] [-4.66725300e-01 8.84401749e-01 1.02005493e-03 -1.04247424e+02] [ 2.22370035e-03 2.01320321e-05 9.99997527e-01 -3.60832873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters 0.05285235320731567 Centerline is valid? [True, True] Translation: X:475.00, Y:-104.28, Z:-3.61 [[ 8.84953704e-01 4.65675619e-01 -1.77743335e-03 4.74996448e+02] [-4.65674715e-01 8.84955489e-01 9.17799986e-04 -1.04276576e+02] [ 2.00034648e-03 1.54952717e-05 9.99997999e-01 -3.60905628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters 0.053017188866276765 Centerline is valid? [True, True] Translation: X:475.05, Y:-104.31, Z:-3.61 [[ 8.85210370e-01 4.65187683e-01 -1.73791819e-03 4.75050442e+02] [-4.65186819e-01 8.85212076e-01 8.96936669e-04 -1.04307304e+02] [ 1.95567006e-03 1.44789937e-05 9.99998088e-01 -3.61022833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters 0.05352510596065938 Centerline is valid? [True, True] Translation: X:475.10, Y:-104.34, Z:-3.61 [[ 8.85148084e-01 4.65303696e-01 -2.31090929e-03 4.75104130e+02] [-4.65302166e-01 8.85151100e-01 1.19352718e-03 -1.04338467e+02] [ 2.60085651e-03 1.88227968e-05 9.99996618e-01 -3.60938711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters 0.05317097041238009 Centerline is valid? [True, True] Translation: X:475.16, Y:-104.37, Z:-3.61 [[ 8.84567431e-01 4.66407955e-01 -2.01962609e-03 4.75158531e+02] [-4.66406789e-01 8.84569737e-01 1.04340750e-03 -1.04366877e+02] [ 2.27315368e-03 1.90030253e-05 9.99997416e-01 -3.61130448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters 0.05308923093325224 Centerline is valid? [True, True] Translation: X:475.21, Y:-104.40, Z:-3.61 [[ 8.84043873e-01 4.67402492e-01 -1.15832680e-03 4.75213391e+02] [-4.67402108e-01 8.84044631e-01 5.99162973e-04 -1.04398299e+02] [ 1.30406286e-03 1.17180342e-05 9.99999150e-01 -3.60985604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters 0.051976470293532036 Centerline is valid? [True, True] Translation: X:475.27, Y:-104.43, Z:-3.61 [[ 8.83491988e-01 4.68445902e-01 -5.85809136e-04 4.75268421e+02] [-4.68445804e-01 8.83492182e-01 3.03645079e-04 -1.04429101e+02] [ 6.59799085e-04 6.15183706e-06 9.99999782e-01 -3.60910618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters 0.05256371070826185 Centerline is valid? [True, True] Translation: X:475.32, Y:-104.46, Z:-3.61 [[ 8.83059479e-01 4.69260502e-01 -7.34109946e-04 4.75322450e+02] [-4.69260348e-01 8.83059784e-01 3.80214788e-04 -1.04459289e+02] [ 8.26682752e-04 8.73641626e-06 9.99999658e-01 -3.61012568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters 0.05235010053930283 Centerline is valid? [True, True] Translation: X:475.38, Y:-104.49, Z:-3.61 [[ 8.83221149e-01 4.68954157e-01 -1.54928352e-03 4.75376872e+02] [-4.68953473e-01 8.83222508e-01 8.01672727e-04 -1.04489056e+02] [ 1.74430983e-03 1.84875773e-05 9.99998479e-01 -3.61154337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters 0.05272910232383724 Centerline is valid? [True, True] Translation: X:475.43, Y:-104.52, Z:-3.61 [[ 8.83618991e-01 4.68201750e-01 -2.14469113e-03 4.75430243e+02] [-4.68200436e-01 8.83621593e-01 1.10962938e-03 -1.04520172e+02] [ 2.41462581e-03 2.36557262e-05 9.99997085e-01 -3.61192442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters 0.052451998710604526 Centerline is valid? [True, True] Translation: X:475.48, Y:-104.55, Z:-3.61 [[ 8.84125653e-01 4.67242636e-01 -2.47967328e-03 4.75484089e+02] [-4.67240874e-01 8.84129130e-01 1.28317996e-03 -1.04551731e+02] [ 2.79190777e-03 2.41123884e-05 9.99996102e-01 -3.61087087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters 0.052851371792716165 Centerline is valid? [True, True] Translation: X:475.54, Y:-104.58, Z:-3.61 [[ 8.84268281e-01 4.66974290e-01 -2.14927236e-03 4.75538615e+02] [-4.66972965e-01 8.84270893e-01 1.11264282e-03 -1.04581599e+02] [ 2.42011458e-03 1.97773364e-05 9.99997071e-01 -3.61099871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters 0.05241411494532064 Centerline is valid? [True, True] Translation: X:475.59, Y:-104.61, Z:-3.61 [[ 8.84061525e-01 4.67368376e-01 -1.42151675e-03 4.75592509e+02] [-4.67367796e-01 8.84062668e-01 7.36449366e-04 -1.04611881e+02] [ 1.60090303e-03 1.33046004e-05 9.99998718e-01 -3.60989312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters 0.052249663993478905 Centerline is valid? [True, True] Translation: X:475.65, Y:-104.64, Z:-3.61 [[ 8.83596066e-01 4.68249202e-01 -8.22736966e-04 4.75647272e+02] [-4.68249008e-01 8.83596449e-01 4.26837740e-04 -1.04640110e+02] [ 9.26833893e-04 8.09362071e-06 9.99999570e-01 -3.61034542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters 0.05307841936502702 Centerline is valid? [True, True] Translation: X:475.70, Y:-104.67, Z:-3.61 [[ 8.82693031e-01 4.69949463e-01 -7.17735158e-04 4.75701904e+02] [-4.69949316e-01 8.82693323e-01 3.72432470e-04 -1.04666988e+02] [ 8.08564471e-04 8.55560136e-06 9.99999673e-01 -3.61145789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters 0.052054560516836386 Centerline is valid? [True, True] Translation: X:475.76, Y:-104.69, Z:-3.61 [[ 8.81811885e-01 4.71600475e-01 -8.89707200e-04 4.75757010e+02] [-4.71600249e-01 8.81812334e-01 4.61563464e-04 -1.04694727e+02] [ 1.00222833e-03 1.25739885e-05 9.99999498e-01 -3.61176054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters 0.05219847651375863 Centerline is valid? [True, True] Translation: X:475.81, Y:-104.72, Z:-3.61 [[ 8.80299853e-01 4.74415823e-01 -1.34009922e-03 4.75812732e+02] [-4.74415315e-01 8.80300873e-01 6.94243806e-04 -1.04722968e+02] [ 1.50905076e-03 2.46208720e-05 9.99998861e-01 -3.61240691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters 0.05263589119118266 Centerline is valid? [True, True] Translation: X:475.87, Y:-104.75, Z:-3.62 [[ 8.79629523e-01 4.75657553e-01 -1.33966132e-03 4.75868861e+02] [-4.75657047e-01 8.79630543e-01 6.93910059e-04 -1.04746530e+02] [ 1.50847058e-03 2.68355758e-05 9.99998862e-01 -3.61541498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters 0.05260815705324116 Centerline is valid? [True, True] Translation: X:475.92, Y:-104.78, Z:-3.61 [[ 8.79741127e-01 4.75452472e-01 -7.04333813e-04 4.75922569e+02] [-4.75452332e-01 8.79741409e-01 3.65122676e-04 -1.04778687e+02] [ 7.93230100e-04 1.36637194e-05 9.99999685e-01 -3.61429684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters 0.05275637487000003 Centerline is valid? [True, True] Translation: X:475.98, Y:-104.80, Z:-3.62 [[ 8.80031666e-01 4.74914738e-01 -5.09463657e-04 4.75979214e+02] [-4.74914664e-01 8.80031813e-01 2.64790067e-04 -1.04802998e+02] [ 5.74096930e-04 8.92811774e-06 9.99999835e-01 -3.61714691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters 0.05193431417356521 Centerline is valid? [True, True] Translation: X:476.03, Y:-104.84, Z:-3.62 [[ 8.79908940e-01 4.75142217e-01 -3.62006005e-04 4.76033254e+02] [-4.75142179e-01 8.79909014e-01 1.88632587e-04 -1.04836547e+02] [ 4.08159652e-04 6.02482285e-06 9.99999917e-01 -3.61564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters 0.05209752525905651 Centerline is valid? [True, True] Translation: X:476.09, Y:-104.87, Z:-3.62 [[ 8.79447284e-01 4.75995221e-01 -1.01182751e-03 4.76088308e+02] [-4.75994932e-01 8.79447866e-01 5.25399203e-04 -1.04865350e+02] [ 1.13993706e-03 1.95638652e-05 9.99999350e-01 -3.61735113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters 0.0517224731978694 Centerline is valid? [True, True] Translation: X:476.14, Y:-104.90, Z:-3.62 [[ 8.79284669e-01 4.76294735e-01 -1.33982381e-03 4.76141584e+02] [-4.76294228e-01 8.79285690e-01 6.95650846e-04 -1.04897579e+02] [ 1.50942273e-03 2.64752216e-05 9.99998860e-01 -3.61623197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters 0.05197903868409092 Centerline is valid? [True, True] Translation: X:476.20, Y:-104.93, Z:-3.62 [[ 8.79006207e-01 4.76809487e-01 -8.94821111e-04 4.76196113e+02] [-4.76809260e-01 8.79006663e-01 4.65115935e-04 -1.04926101e+02] [ 1.00832541e-03 1.78191982e-05 9.99999491e-01 -3.61691954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters 0.0520834083440723 Centerline is valid? [True, True] Translation: X:476.25, Y:-104.95, Z:-3.62 [[ 8.78335195e-01 4.78043925e-01 -1.13634592e-03 4.76251157e+02] [-4.78043561e-01 8.78335929e-01 5.90461710e-04 -1.04954580e+02] [ 1.28036008e-03 2.45995503e-05 9.99999180e-01 -3.61743136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters 0.05267070923269571 Centerline is valid? [True, True] Translation: X:476.31, Y:-104.98, Z:-3.62 [[ 8.77484068e-01 4.79603246e-01 -1.56122522e-03 4.76305552e+02] [-4.79602562e-01 8.77485456e-01 8.11028991e-04 -1.04983778e+02] [ 1.75892456e-03 3.71025981e-05 9.99998452e-01 -3.61766927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters 0.052277107848603156 Centerline is valid? [True, True] Translation: X:476.36, Y:-105.01, Z:-3.62 [[ 8.77273244e-01 4.79989143e-01 -1.44164255e-03 4.76360796e+02] [-4.79988560e-01 8.77274427e-01 7.49244474e-04 -1.05012933e+02] [ 1.62434535e-03 3.46797998e-05 9.99998680e-01 -3.61828237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters 0.05264498307740071 Centerline is valid? [True, True] Translation: X:476.42, Y:-105.04, Z:-3.62 [[ 8.77045399e-01 4.80405913e-01 -1.23526233e-03 4.76415492e+02] [-4.80405485e-01 8.77046269e-01 6.42290007e-04 -1.05042242e+02] [ 1.39194213e-03 3.01093014e-05 9.99999031e-01 -3.61813193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters 0.051711081164443305 Centerline is valid? [True, True] Translation: X:476.47, Y:-105.07, Z:-3.62 [[ 8.76950640e-01 4.80580276e-01 -4.16731067e-04 4.76470283e+02] [-4.80580227e-01 8.76950739e-01 2.17361272e-04 -1.05072355e+02] [ 4.69912157e-04 9.65760458e-06 9.99999890e-01 -3.61754015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters 0.05217211600106388 Centerline is valid? [True, True] Translation: X:476.53, Y:-105.10, Z:-3.62 [[ 8.77064379e-01 4.80372669e-01 4.17008575e-04 4.76526591e+02] [-4.80372620e-01 8.77064478e-01 -2.16080485e-04 -1.05096283e+02] [-4.69542568e-04 -1.08030055e-05 9.99999890e-01 -3.61878840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters 0.051687609900621274 Centerline is valid? [True, True] Translation: X:476.58, Y:-105.13, Z:-3.62 [[ 8.77081061e-01 4.80341656e-01 8.40076338e-04 4.76579224e+02] [-4.80341459e-01 8.77081463e-01 -4.35571261e-04 -1.05129140e+02] [-9.46038405e-04 -2.14921907e-05 9.99999552e-01 -3.61755169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters 0.05247921179865453 Centerline is valid? [True, True] Translation: X:476.64, Y:-105.15, Z:-3.62 [[ 8.76672565e-01 4.81087520e-01 -1.06643155e-04 4.76635760e+02] [-4.81087517e-01 8.76672572e-01 5.62641889e-05 -1.05153227e+02] [ 1.20559128e-04 1.97941973e-06 9.99999993e-01 -3.62004568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters 0.05269425496683639 Centerline is valid? [True, True] Translation: X:476.69, Y:-105.18, Z:-3.62 [[ 8.76085294e-01 4.82155418e-01 -8.43500895e-04 4.76691224e+02] [-4.82155219e-01 8.76085699e-01 4.38648940e-04 -1.05181626e+02] [ 9.50476035e-04 2.24044726e-05 9.99999548e-01 -3.62113290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters 0.05253810792287391 Centerline is valid? [True, True] Translation: X:476.74, Y:-105.21, Z:-3.62 [[ 8.75126620e-01 4.83889868e-01 -1.99880273e-03 4.76743684e+02] [-4.83888755e-01 8.75128901e-01 1.03944487e-03 -1.05212696e+02] [ 2.25218687e-03 5.75522897e-05 9.99997462e-01 -3.62062744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters 0.052451799759763634 Centerline is valid? [True, True] Translation: X:476.80, Y:-105.24, Z:-3.62 [[ 8.74863656e-01 4.84364610e-01 -2.12344066e-03 4.76798024e+02] [-4.84363353e-01 8.74866230e-01 1.10487859e-03 -1.05240770e+02] [ 2.39289061e-03 6.18987168e-05 9.99997135e-01 -3.62104741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters 0.05176287849968914 Centerline is valid? [True, True] Translation: X:476.85, Y:-105.27, Z:-3.62 [[ 8.74895101e-01 4.84311780e-01 -8.13925609e-04 4.76850703e+02] [-4.84311595e-01 8.74895479e-01 4.24227322e-04 -1.05274719e+02] [ 9.17558125e-04 2.30392042e-05 9.99999579e-01 -3.61930807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters 0.05174331397374345 Centerline is valid? [True, True] Translation: X:476.91, Y:-105.30, Z:-3.62 [[ 8.74998646e-01 4.84125362e-01 -5.59365228e-05 4.76905821e+02] [-4.84125361e-01 8.74998648e-01 3.00256932e-05 -1.05304250e+02] [ 6.34805813e-05 8.07848403e-07 9.99999998e-01 -3.61907610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters 0.051998385196029645 Centerline is valid? [True, True] Translation: X:476.96, Y:-105.33, Z:-3.62 [[ 8.74964794e-01 4.84185208e-01 1.13721281e-03 4.76962255e+02] [-4.84184848e-01 8.74965533e-01 -5.90893160e-04 -1.05327935e+02] [-1.28112374e-03 -3.36104985e-05 9.99999179e-01 -3.62046648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters 0.05137371298888923 Centerline is valid? [True, True] Translation: X:477.02, Y:-105.36, Z:-3.62 [[ 8.74555784e-01 4.84922715e-01 1.46317890e-03 4.77015572e+02] [-4.84922120e-01 8.74557007e-01 -7.60659958e-04 -1.05359644e+02] [-1.64849466e-03 -4.42882508e-05 9.99998640e-01 -3.61977306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters 0.05200975199773771 Centerline is valid? [True, True] Translation: X:477.07, Y:-105.39, Z:-3.62 [[ 8.74037708e-01 4.85857771e-01 5.57281146e-04 4.77070905e+02] [-4.85857685e-01 8.74037886e-01 -2.89823098e-04 -1.05387286e+02] [-6.27897639e-04 -1.74430110e-05 9.99999803e-01 -3.62087712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters 0.051786081201043 Centerline is valid? [True, True] Translation: X:477.12, Y:-105.42, Z:-3.62 [[ 8.73631592e-01 4.86586929e-01 1.00048017e-03 4.77123869e+02] [-4.86586653e-01 8.73632165e-01 -5.19979941e-04 -1.05420467e+02] [-1.12706710e-03 -3.25493922e-05 9.99999364e-01 -3.62049512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters 0.05208389850643881 Centerline is valid? [True, True] Translation: X:477.18, Y:-105.45, Z:-3.62 [[ 8.73809269e-01 4.86267772e-01 1.00740590e-03 4.77180552e+02] [-4.86267491e-01 8.73809849e-01 -5.23735928e-04 -1.05445136e+02] [-1.13495710e-03 -3.22234296e-05 9.99999355e-01 -3.62173450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters 0.051718084493024404 Centerline is valid? [True, True] Translation: X:477.23, Y:-105.48, Z:-3.62 [[ 8.75114050e-01 4.83915086e-01 1.26019998e-03 4.77232755e+02] [-4.83914643e-01 8.75114957e-01 -6.56169499e-04 -1.05478194e+02] [-1.42035017e-03 -3.56060748e-05 9.99998991e-01 -3.62176200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters 0.052311322723527384 Centerline is valid? [True, True] Translation: X:477.29, Y:-105.51, Z:-3.62 [[ 8.76278709e-01 4.81803489e-01 1.01078936e-03 4.77287113e+02] [-4.81803203e-01 8.76279292e-01 -5.26287550e-04 -1.05505281e+02] [-1.13930096e-03 -2.58269746e-05 9.99999351e-01 -3.62283571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters 0.05225870275009229 Centerline is valid? [True, True] Translation: X:477.34, Y:-105.53, Z:-3.63 [[ 8.76860459e-01 4.80744949e-01 1.70609393e-04 4.77343667e+02] [-4.80744941e-01 8.76860476e-01 -8.80283622e-05 -1.05528156e+02] [-1.91919824e-04 -4.83101241e-06 9.99999982e-01 -3.62514953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters 0.05200774164518224 Centerline is valid? [True, True] Translation: X:477.40, Y:-105.56, Z:-3.62 [[ 8.77347185e-01 4.79856102e-01 1.96525095e-04 4.77395753e+02] [-4.79856091e-01 8.77347207e-01 -1.01905158e-04 -1.05561836e+02] [-2.21320555e-04 -4.89756012e-06 9.99999975e-01 -3.62376608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters 0.05186247662317086 Centerline is valid? [True, True] Translation: X:477.45, Y:-105.59, Z:-3.62 [[ 8.77886014e-01 4.78867850e-01 1.31495397e-03 4.77451604e+02] [-4.78867361e-01 8.77886998e-01 -6.84937939e-04 -1.05590261e+02] [-1.48237575e-03 -2.83911016e-05 9.99998901e-01 -3.62335655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters 0.0517794240670085 Centerline is valid? [True, True] Translation: X:477.51, Y:-105.61, Z:-3.62 [[ 8.78591697e-01 4.77569958e-01 1.88835091e-03 4.77507847e+02] [-4.77568946e-01 8.78593725e-01 -9.83714048e-04 -1.05614729e+02] [-2.12888554e-03 -3.75347590e-05 9.99997733e-01 -3.62368854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters 0.05187673799350684 Centerline is valid? [True, True] Translation: X:477.56, Y:-105.65, Z:-3.62 [[ 8.79272499e-01 4.76312489e-01 2.50681765e-03 4.77561970e+02] [-4.76310701e-01 8.79276072e-01 -1.30603553e-03 -1.05645339e+02] [-2.82626581e-03 -4.56629485e-05 9.99996005e-01 -3.62259330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters 0.05194238014368604 Centerline is valid? [True, True] Translation: X:477.62, Y:-105.67, Z:-3.62 [[ 8.79700879e-01 4.75517180e-01 3.12634136e-03 4.77617520e+02] [-4.75514391e-01 8.79706433e-01 -1.62947013e-03 -1.05673031e+02] [-3.52510364e-03 -5.31740049e-05 9.99993785e-01 -3.62260397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters 0.052786621411892325 Centerline is valid? [True, True] Translation: X:477.67, Y:-105.70, Z:-3.62 [[ 8.79621429e-01 4.75666227e-01 2.78958888e-03 4.77674931e+02] [-4.75664007e-01 8.79625851e-01 -1.45421228e-03 -1.05697674e+02] [-3.14551416e-03 -4.77507383e-05 9.99995052e-01 -3.62451237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters 0.05268982481136811 Centerline is valid? [True, True] Translation: X:477.73, Y:-105.72, Z:-3.63 [[ 8.79012568e-01 4.76791984e-01 2.51186972e-03 4.77730430e+02] [-4.76790187e-01 8.79016156e-01 -1.30977038e-03 -1.05724864e+02] [-2.83246208e-03 -4.63302048e-05 9.99995987e-01 -3.62534624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters 0.05280622959612102 Centerline is valid? [True, True] Translation: X:477.79, Y:-105.75, Z:-3.63 [[ 8.78809614e-01 4.77166456e-01 2.41559953e-03 4.77786741e+02] [-4.77164795e-01 8.78812933e-01 -1.25991691e-03 -1.05749701e+02] [-2.72405019e-03 -4.54119625e-05 9.99996289e-01 -3.62629959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters 0.052708888754123856 Centerline is valid? [True, True] Translation: X:477.84, Y:-105.78, Z:-3.63 [[ 8.78981085e-01 4.76843787e-01 3.50071403e-03 4.77842474e+02] [-4.76840292e-01 8.78988054e-01 -1.82668229e-03 -1.05777496e+02] [-3.94812791e-03 -6.36623203e-05 9.99992204e-01 -3.62612070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters 0.05276372074505071 Centerline is valid? [True, True] Translation: X:477.90, Y:-105.80, Z:-3.63 [[ 8.79101174e-01 4.76608667e-01 5.03038258e-03 4.77898945e+02] [-4.76601441e-01 8.79115562e-01 -2.62592544e-03 -1.05804283e+02] [-5.67382643e-03 -8.90334512e-05 9.99983900e-01 -3.62512822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters 0.05189806129378479 Centerline is valid? [True, True] Translation: X:477.95, Y:-105.83, Z:-3.63 [[ 8.79041617e-01 4.76715403e-01 5.31605792e-03 4.77954839e+02] [-4.76707331e-01 8.79057686e-01 -2.77578686e-03 -1.05834210e+02] [-5.99638193e-03 -9.41716120e-05 9.99982017e-01 -3.62615297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters 0.05249425926927722 Centerline is valid? [True, True] Translation: X:478.01, Y:-105.86, Z:-3.63 [[ 8.79059978e-01 4.76696163e-01 3.78472239e-03 4.78009550e+02] [-4.76692070e-01 8.79068123e-01 -1.97653939e-03 -1.05863002e+02] [-4.26923755e-03 -6.66504727e-05 9.99990885e-01 -3.62709465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters 0.05241756303356171 Centerline is valid? [True, True] Translation: X:478.06, Y:-105.89, Z:-3.63 [[ 8.79593052e-01 4.75717877e-01 2.92640041e-03 4.78064515e+02] [-4.75715423e-01 8.79597919e-01 -1.52861131e-03 -1.05891488e+02] [-3.30124344e-03 -4.75779196e-05 9.99994550e-01 -3.62756996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters 0.05316766600482252 Centerline is valid? [True, True] Translation: X:478.12, Y:-105.92, Z:-3.63 [[ 8.79922369e-01 4.75109655e-01 2.72780233e-03 4.78121782e+02] [-4.75107518e-01 8.79926596e-01 -1.42543542e-03 -1.05915782e+02] [-3.07750395e-03 -4.17268823e-05 9.99995264e-01 -3.62949028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters 0.052586626648946776 Centerline is valid? [True, True] Translation: X:478.18, Y:-105.95, Z:-3.63 [[ 8.80619058e-01 4.73817057e-01 2.73327381e-03 4.78176090e+02] [-4.73814907e-01 8.80623299e-01 -1.42807120e-03 -1.05945460e+02] [-3.08362909e-03 -3.74791583e-05 9.99995245e-01 -3.62913065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters 0.052877454536369835 Centerline is valid? [True, True] Translation: X:478.23, Y:-105.97, Z:-3.63 [[ 8.81693962e-01 4.71811104e-01 3.16848048e-03 4.78230859e+02] [-4.71808199e-01 8.81699655e-01 -1.65610678e-03 -1.05973055e+02] [-3.57501772e-03 -3.47357180e-05 9.99993609e-01 -3.62911567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters 0.053110287269015295 Centerline is valid? [True, True] Translation: X:478.29, Y:-106.00, Z:-3.63 [[ 8.82551698e-01 4.70201518e-01 3.61020584e-03 4.78285201e+02] [-4.70197729e-01 8.82559081e-01 -1.88784080e-03 -1.06004208e+02] [-4.07388556e-03 -3.13934807e-05 9.99991701e-01 -3.62949879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters 0.052226979793291106 Centerline is valid? [True, True] Translation: X:478.34, Y:-106.03, Z:-3.63 [[ 8.82884912e-01 4.69575042e-01 3.67592939e-03 4.78340500e+02] [-4.69571108e-01 8.82892564e-01 -1.92216979e-03 -1.06030575e+02] [-4.14805368e-03 -2.90555355e-05 9.99991396e-01 -3.63139629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters 0.05234881511910544 Centerline is valid? [True, True] Translation: X:478.40, Y:-106.06, Z:-3.63 [[ 8.82199777e-01 4.70860772e-01 3.69973980e-03 4.78395545e+02] [-4.70856796e-01 8.82207534e-01 -1.93512843e-03 -1.06059843e+02] [-4.17511439e-03 -3.48777555e-05 9.99991284e-01 -3.63115474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters 0.05240868007514728 Centerline is valid? [True, True] Translation: X:478.45, Y:-106.09, Z:-3.63 [[ 8.80405515e-01 4.74208105e-01 3.57790072e-03 4.78451827e+02] [-4.74204413e-01 8.80412784e-01 -1.87211383e-03 -1.06085867e+02] [-4.03780109e-03 -4.84369696e-05 9.99991847e-01 -3.63263348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters 0.05301693789640799 Centerline is valid? [True, True] Translation: X:478.51, Y:-106.11, Z:-3.63 [[ 8.78802708e-01 4.77174865e-01 3.15417889e-03 4.78507632e+02] [-4.77172015e-01 8.78808366e-01 -1.65025119e-03 -1.06112479e+02] [-3.55937718e-03 -5.48406820e-05 9.99993664e-01 -3.63380275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters 0.0522386301738903 Centerline is valid? [True, True] Translation: X:478.56, Y:-106.14, Z:-3.63 [[ 8.76841601e-01 4.80773604e-01 2.35563264e-03 4.78558983e+02] [-4.80772025e-01 8.76844763e-01 -1.23304910e-03 -1.06144787e+02] [-2.65834161e-03 -5.13335292e-05 9.99996465e-01 -3.63377523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters 0.05245923548403246 Centerline is valid? [True, True] Translation: X:478.62, Y:-106.17, Z:-3.64 [[ 8.76307078e-01 4.81748910e-01 1.97283519e-03 4.78615398e+02] [-4.81747806e-01 8.76309298e-01 -1.03249578e-03 -1.06170723e+02] [-2.22621754e-03 -4.56256623e-05 9.99997521e-01 -3.63525570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters 0.053079884696787205 Centerline is valid? [True, True] Translation: X:478.67, Y:-106.20, Z:-3.64 [[ 8.76318064e-01 4.81730331e-01 1.59317489e-03 4.78672225e+02] [-4.81729612e-01 8.76319512e-01 -8.33309283e-04 -1.06196383e+02] [-1.79756060e-03 -3.72355453e-05 9.99998384e-01 -3.63762338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters 0.05300637426064924 Centerline is valid? [True, True] Translation: X:478.73, Y:-106.23, Z:-3.64 [[ 8.76735779e-01 4.80968270e-01 1.97434860e-03 4.78727086e+02] [-4.80967161e-01 8.76738001e-01 -1.03370758e-03 -1.06226367e+02] [-2.22816699e-03 -4.33084222e-05 9.99997517e-01 -3.63838885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters 0.051919043137821815 Centerline is valid? [True, True] Translation: X:478.78, Y:-106.26, Z:-3.64 [[ 8.77056634e-01 4.80379524e-01 2.67816383e-03 4.78778308e+02] [-4.80377480e-01 8.77060722e-01 -1.40242808e-03 -1.06263593e+02] [-3.02261003e-03 -5.65207453e-05 9.99995430e-01 -3.63684266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters 0.05229192671033 Centerline is valid? [True, True] Translation: X:478.83, Y:-106.29, Z:-3.64 [[ 8.76536035e-01 4.81326659e-01 3.03770937e-03 4.78832174e+02] [-4.81324035e-01 8.76541296e-01 -1.59062460e-03 -1.06292243e+02] [-3.42828773e-03 -6.78827546e-05 9.99994121e-01 -3.63721906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters 0.05221492713290271 Centerline is valid? [True, True] Translation: X:478.89, Y:-106.32, Z:-3.64 [[ 8.75609294e-01 4.83013315e-01 2.54972958e-03 4.78887269e+02] [-4.83011472e-01 8.75613005e-01 -1.33567788e-03 -1.06321269e+02] [-2.87772658e-03 -6.20166711e-05 9.99995857e-01 -3.63842184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters 0.053487046693792686 Centerline is valid? [True, True] Translation: X:478.94, Y:-106.34, Z:-3.64 [[ 8.74338926e-01 4.85313924e-01 1.35547470e-03 4.78943839e+02] [-4.85313406e-01 8.74339976e-01 -7.09951904e-04 -1.06342340e+02] [-1.52969527e-03 -3.70914600e-05 9.99998829e-01 -3.64154963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters 0.05233394343261964 Centerline is valid? [True, True] Translation: X:478.99, Y:-106.38, Z:-3.64 [[ 8.72935368e-01 4.87835683e-01 4.35515580e-04 4.78993035e+02] [-4.87835630e-01 8.72935476e-01 -2.27488902e-04 -1.06381006e+02] [-4.91154204e-04 -1.38769095e-05 9.99999879e-01 -3.64039897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters 0.05239253062156273 Centerline is valid? [True, True] Translation: X:479.05, Y:-106.40, Z:-3.64 [[ 8.72667624e-01 4.88314282e-01 6.17183412e-04 4.79050130e+02] [-4.88314176e-01 8.72667842e-01 -3.22703707e-04 -1.06404717e+02] [-6.96176945e-04 -1.97663321e-05 9.99999757e-01 -3.64262562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters 0.052663753664550124 Centerline is valid? [True, True] Translation: X:479.10, Y:-106.44, Z:-3.64 [[ 8.73171718e-01 4.87405872e-01 2.58203432e-03 4.79102484e+02] [-4.87403999e-01 8.73175532e-01 -1.35356527e-03 -1.06437346e+02] [-2.91430485e-03 -7.65989353e-05 9.99995750e-01 -3.64153788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters 0.05233383489038071 Centerline is valid? [True, True] Translation: X:479.16, Y:-106.47, Z:-3.64 [[ 8.73522101e-01 4.86770093e-01 3.74380003e-03 4.79156852e+02] [-4.86766149e-01 8.73530117e-01 -1.96240211e-03 -1.06467954e+02] [-4.22556073e-03 -1.08153511e-04 9.99991066e-01 -3.64136091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters 0.05174768543360474 Centerline is valid? [True, True] Translation: X:479.21, Y:-106.50, Z:-3.64 [[ 8.73603983e-01 4.86619066e-01 4.23849284e-03 4.79209261e+02] [-4.86614006e-01 8.73614257e-01 -2.22237613e-03 -1.06502279e+02] [-4.78425837e-03 -1.21033340e-04 9.99988548e-01 -3.64153016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters 0.05243099904355633 Centerline is valid? [True, True] Translation: X:479.27, Y:-106.53, Z:-3.64 [[ 8.73578575e-01 4.86670450e-01 3.51370743e-03 4.79265559e+02] [-4.86666972e-01 8.73585636e-01 -1.84265096e-03 -1.06528319e+02] [-3.96628811e-03 -1.00304957e-04 9.99992129e-01 -3.64313586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters 0.05199823909696722 Centerline is valid? [True, True] Translation: X:479.32, Y:-106.56, Z:-3.64 [[ 8.74269587e-01 4.85435589e-01 2.23109897e-03 4.79318079e+02] [-4.85434183e-01 8.74272432e-01 -1.17006146e-03 -1.06561231e+02] [-2.51857780e-03 -6.01025599e-05 9.99996827e-01 -3.64493616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters 0.052054347682259416 Centerline is valid? [True, True] Translation: X:479.37, Y:-106.59, Z:-3.65 [[ 8.74304012e-01 4.85375371e-01 1.80099097e-03 4.79373815e+02] [-4.85374454e-01 8.74305866e-01 -9.44476311e-04 -1.06590633e+02] [-2.03304251e-03 -4.83955831e-05 9.99997932e-01 -3.64586469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters 0.05122275077885119 Centerline is valid? [True, True] Translation: X:479.43, Y:-106.63, Z:-3.64 [[ 8.74274555e-01 4.85429329e-01 1.53925253e-03 4.79425104e+02] [-4.85428660e-01 8.74275909e-01 -8.07267960e-04 -1.06628901e+02] [-1.73760295e-03 -4.14234575e-05 9.99998490e-01 -3.64461952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters 0.05113976668509632 Centerline is valid? [True, True] Translation: X:479.48, Y:-106.66, Z:-3.65 [[ 8.74303925e-01 4.85377369e-01 1.20667560e-03 4.79477649e+02] [-4.85376957e-01 8.74304757e-01 -6.32873969e-04 -1.06661195e+02] [-1.36218492e-03 -3.23683352e-05 9.99999072e-01 -3.64516252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters 0.051090997468436684 Centerline is valid? [True, True] Translation: X:479.53, Y:-106.69, Z:-3.64 [[ 8.74939906e-01 4.84227908e-01 1.86941555e-03 4.79530495e+02] [-4.84226915e-01 8.74941902e-01 -9.81722322e-04 -1.06693763e+02] [-2.11100734e-03 -4.62732894e-05 9.99997771e-01 -3.64484674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters 0.051648627736712145 Centerline is valid? [True, True] Translation: X:479.59, Y:-106.72, Z:-3.65 [[ 8.76081131e-01 4.82156189e-01 2.69450384e-03 4.79587190e+02] [-4.82154115e-01 8.76085273e-01 -1.41539850e-03 -1.06716860e+02] [-3.04305828e-03 -5.91621919e-05 9.99995368e-01 -3.64607753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters 0.050957436962093115 Centerline is valid? [True, True] Translation: X:479.64, Y:-106.75, Z:-3.65 [[ 8.76827827e-01 4.80791169e-01 3.57948976e-03 4.79639570e+02] [-4.80787499e-01 8.76835131e-01 -1.88010908e-03 -1.06750432e+02] [-4.04256221e-03 -7.24419662e-05 9.99991826e-01 -3.64509476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters 0.05146982662002688 Centerline is valid? [True, True] Translation: X:479.69, Y:-106.78, Z:-3.65 [[ 8.77994919e-01 4.78649868e-01 4.38476360e-03 4.79693167e+02] [-4.78644328e-01 8.78005865e-01 -2.30412421e-03 -1.06777878e+02] [-4.95271690e-03 -7.57328814e-05 9.99987732e-01 -3.64540195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters 0.05197340974632415 Centerline is valid? [True, True] Translation: X:479.75, Y:-106.81, Z:-3.65 [[ 8.79236656e-01 4.76372830e-01 3.43951283e-03 4.79747707e+02] [-4.76369404e-01 8.79243382e-01 -1.80736083e-03 -1.06808484e+02] [-3.88514649e-03 -4.93807839e-05 9.99992452e-01 -3.64783884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters 0.05121634321669903 Centerline is valid? [True, True] Translation: X:479.80, Y:-106.84, Z:-3.65 [[ 8.79854219e-01 4.75236560e-01 2.60116240e-03 4.79800721e+02] [-4.75234596e-01 8.79858063e-01 -1.36650197e-03 -1.06840693e+02] [-2.93806541e-03 -3.38398415e-05 9.99995683e-01 -3.64810837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters 0.050782870663584216 Centerline is valid? [True, True] Translation: X:479.85, Y:-106.87, Z:-3.65 [[ 8.80081744e-01 4.74817216e-01 2.17595725e-03 4.79854220e+02] [-4.74815840e-01 8.80084434e-01 -1.14333271e-03 -1.06870230e+02] [-2.45790016e-03 -2.69527275e-05 9.99996979e-01 -3.64837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters 0.050543913415434794 Centerline is valid? [True, True] Translation: X:479.91, Y:-106.90, Z:-3.65 [[ 8.81113910e-01 4.72899019e-01 2.18990761e-03 4.79909551e+02] [-4.72897618e-01 8.81116631e-01 -1.15131891e-03 -1.06898773e+02] [-2.47402160e-03 -2.11589904e-05 9.99996939e-01 -3.64933123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters 0.05074413153453917 Centerline is valid? [True, True] Translation: X:479.96, Y:-106.93, Z:-3.65 [[ 8.81875743e-01 4.71473893e-01 2.74636637e-03 4.79964330e+02] [-4.71471683e-01 8.81880019e-01 -1.44378632e-03 -1.06926101e+02] [-3.10267319e-03 -2.15938373e-05 9.99995186e-01 -3.65086707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters 0.050756149662881306 Centerline is valid? [True, True] Translation: X:480.02, Y:-106.96, Z:-3.65 [[ 8.82785192e-01 4.69764643e-01 3.38883653e-03 4.80018373e+02] [-4.69761262e-01 8.82791697e-01 -1.78245602e-03 -1.06956521e+02] [-3.82897157e-03 -1.84183447e-05 9.99992669e-01 -3.64956591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters 0.05072946744537182 Centerline is valid? [True, True] Translation: X:480.07, Y:-106.98, Z:-3.65 [[ 8.83000340e-01 4.69362980e-01 2.96504290e-03 4.80073576e+02] [-4.69360390e-01 8.83005319e-01 -1.55928936e-03 -1.06983668e+02] [-3.35002135e-03 -1.48206557e-05 9.99994389e-01 -3.65139934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters 0.05126973027028749 Centerline is valid? [True, True] Translation: X:480.13, Y:-107.01, Z:-3.65 [[ 8.82791796e-01 4.69757789e-01 2.50270781e-03 4.80129507e+02] [-4.69755945e-01 8.82795344e-01 -1.31634210e-03 -1.07013471e+02] [-2.82774076e-03 -1.36058635e-05 9.99996002e-01 -3.65120658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters 0.05104694744303925 Centerline is valid? [True, True] Translation: X:480.18, Y:-107.04, Z:-3.65 [[ 8.82354653e-01 4.70582580e-01 1.51697962e-03 4.80184369e+02] [-4.70581904e-01 8.82355957e-01 -7.97866733e-04 -1.07039816e+02] [-1.71397819e-03 -9.86173114e-06 9.99998531e-01 -3.65347755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters 0.05121792296189012 Centerline is valid? [True, True] Translation: X:480.24, Y:-107.07, Z:-3.65 [[ 8.82161545e-01 4.70942569e-01 2.02611218e-03 4.80240081e+02] [-4.70941362e-01 8.82163872e-01 -1.06611281e-03 -1.07068191e+02] [-2.28944087e-03 -1.36963110e-05 9.99997379e-01 -3.65366969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters 0.0507222452064182 Centerline is valid? [True, True] Translation: X:480.30, Y:-107.10, Z:-3.65 [[ 8.82324923e-01 4.70635496e-01 2.22706387e-03 4.80295742e+02] [-4.70634036e-01 8.82327734e-01 -1.17229253e-03 -1.07097857e+02] [-2.51672269e-03 -1.37891399e-05 9.99996833e-01 -3.65356911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters 0.05156186493021066 Centerline is valid? [True, True] Translation: X:480.35, Y:-107.13, Z:-3.66 [[ 8.82899014e-01 4.69558056e-01 2.13629794e-03 4.80349673e+02] [-4.69556708e-01 8.82901598e-01 -1.12518567e-03 -1.07126712e+02] [-2.41448086e-03 -9.68770499e-06 9.99997085e-01 -3.65509177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters 0.05086693327167043 Centerline is valid? [True, True] Translation: X:480.41, Y:-107.16, Z:-3.65 [[ 8.83196962e-01 4.68999616e-01 1.57657584e-03 4.80405023e+02] [-4.68998882e-01 8.83198370e-01 -8.29924579e-04 -1.07157617e+02] [-1.78166352e-03 -6.42544047e-06 9.99998413e-01 -3.65457916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters 0.05133411804384308 Centerline is valid? [True, True] Translation: X:480.46, Y:-107.19, Z:-3.66 [[ 8.82972173e-01 4.69423426e-01 1.33764593e-03 4.80460304e+02] [-4.69422898e-01 8.82973186e-01 -7.04271263e-04 -1.07186096e+02] [-1.51170692e-03 -6.06970365e-06 9.99998857e-01 -3.65595148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters 0.051382304073967794 Centerline is valid? [True, True] Translation: X:480.52, Y:-107.21, Z:-3.66 [[ 8.82338039e-01 4.70614953e-01 1.07237014e-03 4.80515730e+02] [-4.70614615e-01 8.82338691e-01 -5.64629763e-04 -1.07214965e+02] [-1.21191688e-03 -6.47874168e-06 9.99999266e-01 -3.65632044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters 0.051536760056489786 Centerline is valid? [True, True] Translation: X:480.57, Y:-107.24, Z:-3.66 [[ 8.81956805e-01 4.71330048e-01 4.25074050e-04 4.80570480e+02] [-4.71329995e-01 8.81956907e-01 -2.23367829e-04 -1.07243128e+02] [-4.80176964e-04 -3.34937285e-06 9.99999885e-01 -3.65777910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters 0.05152695085740722 Centerline is valid? [True, True] Translation: X:480.63, Y:-107.27, Z:-3.66 [[ 8.81515478e-01 4.72154957e-01 3.97787092e-04 4.80626495e+02] [-4.72154911e-01 8.81515568e-01 -2.08831937e-04 -1.07272781e+02] [-4.49256549e-04 -3.72854459e-06 9.99999899e-01 -3.65797646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters 0.05105577586606871 Centerline is valid? [True, True] Translation: X:480.68, Y:-107.30, Z:-3.66 [[ 8.81206912e-01 4.72729830e-01 9.41545642e-04 4.80681600e+02] [-4.72729569e-01 8.81207415e-01 -4.95923378e-04 -1.07303605e+02] [-1.06413478e-03 -8.08535752e-06 9.99999434e-01 -3.65696931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters 0.05161824988646985 Centerline is valid? [True, True] Translation: X:480.74, Y:-107.33, Z:-3.66 [[ 8.81157330e-01 4.72821894e-01 1.10283845e-03 4.80736662e+02] [-4.72821537e-01 8.81158020e-01 -5.81318428e-04 -1.07332008e+02] [-1.24663503e-03 -9.21277707e-06 9.99999223e-01 -3.65859195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters 0.051356326927112166 Centerline is valid? [True, True] Translation: X:480.79, Y:-107.36, Z:-3.66 [[ 8.80691148e-01 4.73690468e-01 6.65949885e-04 4.80790846e+02] [-4.73690338e-01 8.80691399e-01 -3.50894182e-04 -1.07360016e+02] [-7.52711565e-04 -6.42462645e-06 9.99999717e-01 -3.66004098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters 0.05098104778815242 Centerline is valid? [True, True] Translation: X:480.84, Y:-107.39, Z:-3.66 [[ 8.80278658e-01 4.74456917e-01 3.42874119e-04 4.80844731e+02] [-4.74456883e-01 8.80278725e-01 -1.80194940e-04 -1.07390371e+02] [-3.87319528e-04 -4.05722612e-06 9.99999925e-01 -3.65922571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters 0.05145278166635684 Centerline is valid? [True, True] Translation: X:480.90, Y:-107.42, Z:-3.66 [[ 8.80448243e-01 4.74142048e-01 4.57943700e-04 4.80898457e+02] [-4.74141987e-01 8.80448362e-01 -2.41129658e-04 -1.07419283e+02] [-5.17525491e-04 -4.82815235e-06 9.99999866e-01 -3.65994161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters 0.050813063341456056 Centerline is valid? [True, True] Translation: X:480.95, Y:-107.45, Z:-3.66 [[ 8.81351116e-01 4.72461274e-01 7.44702876e-04 4.80951813e+02] [-4.72461111e-01 8.81351431e-01 -3.92789662e-04 -1.07448694e+02] [-8.41922850e-04 -5.65754199e-06 9.99999646e-01 -3.66067517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters 0.05060477690701803 Centerline is valid? [True, True] Translation: X:481.00, Y:-107.48, Z:-3.66 [[ 8.83551348e-01 4.68332131e-01 1.42491267e-03 4.81004068e+02] [-4.68331526e-01 8.83552497e-01 -7.52504953e-04 -1.07481683e+02] [-1.61140739e-03 -2.45475744e-06 9.99998702e-01 -3.65981748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters 0.051202315849116865 Centerline is valid? [True, True] Translation: X:481.06, Y:-107.51, Z:-3.66 [[ 8.85224625e-01 4.65160519e-01 1.74784642e-03 4.81059287e+02] [-4.65159602e-01 8.85226350e-01 -9.23791770e-04 -1.07512948e+02] [-1.97695117e-03 4.73567804e-06 9.99998046e-01 -3.65912689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters 0.05114307156471491 Centerline is valid? [True, True] Translation: X:481.11, Y:-107.54, Z:-3.66 [[ 8.86128815e-01 4.63437827e-01 1.05085745e-03 4.81114475e+02] [-4.63437494e-01 8.86129438e-01 -5.55410233e-04 -1.07541795e+02] [-1.18859383e-03 5.15826857e-06 9.99999294e-01 -3.66061290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters 0.051360577567126045 Centerline is valid? [True, True] Translation: X:481.17, Y:-107.57, Z:-3.66 [[ 8.86282448e-01 4.63144561e-01 7.33724998e-04 4.81169664e+02] [-4.63144399e-01 8.86282752e-01 -3.87121788e-04 -1.07570743e+02] [-8.29581161e-04 3.27862337e-06 9.99999656e-01 -3.66124842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters 0.051521083942390924 Centerline is valid? [True, True] Translation: X:481.23, Y:-107.60, Z:-3.66 [[ 8.86290984e-01 4.63128293e-01 6.89345064e-04 4.81225948e+02] [-4.63128150e-01 8.86291253e-01 -3.64077922e-04 -1.07597406e+02] [-7.79575287e-04 3.42387595e-06 9.99999696e-01 -3.65991430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters 0.05172640828318037 Centerline is valid? [True, True] Translation: X:481.28, Y:-107.63, Z:-3.66 [[ 8.86381292e-01 4.62954905e-01 9.80870795e-04 4.81281534e+02] [-4.62954614e-01 8.86381834e-01 -5.18624023e-04 -1.07626139e+02] [-1.10952559e-03 5.59997111e-06 9.99999384e-01 -3.66177164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters 0.051680611900082836 Centerline is valid? [True, True] Translation: X:481.34, Y:-107.65, Z:-3.66 [[ 8.86730393e-01 4.62285874e-01 9.90556413e-04 4.81338969e+02] [-4.62285577e-01 8.86730946e-01 -5.23893484e-04 -1.07651170e+02] [-1.12054558e-03 6.63233278e-06 9.99999372e-01 -3.66032720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters 0.052738902742587405 Centerline is valid? [True, True] Translation: X:481.39, Y:-107.68, Z:-3.66 [[ 8.87397144e-01 4.61005365e-01 6.02145161e-04 4.81394706e+02] [-4.61005255e-01 8.87397348e-01 -3.17860451e-04 -1.07677157e+02] [-6.80877393e-04 4.47637244e-06 9.99999768e-01 -3.66141596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters 0.052367139848971844 Centerline is valid? [True, True] Translation: X:481.45, Y:-107.70, Z:-3.66 [[ 8.87975234e-01 4.59891238e-01 -1.81665818e-04 4.81451051e+02] [-4.59891228e-01 8.87975253e-01 9.70812646e-05 -1.07700668e+02] [ 2.05961573e-04 -2.65924256e-06 9.99999979e-01 -3.66047781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters 0.0522470170673562 Centerline is valid? [True, True] Translation: X:481.51, Y:-107.73, Z:-3.66 [[ 8.88162077e-01 4.59530322e-01 8.35023574e-05 4.81507239e+02] [-4.59530320e-01 8.88162081e-01 -4.37653879e-05 -1.07730177e+02] [-9.42751506e-05 4.98892822e-07 9.99999996e-01 -3.66245620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters 0.05234285747998456 Centerline is valid? [True, True] Translation: X:481.56, Y:-107.76, Z:-3.66 [[ 8.88173771e-01 4.59507680e-01 2.11467471e-04 4.81563761e+02] [-4.59507667e-01 8.88173796e-01 -1.10982115e-04 -1.07757643e+02] [-2.38817001e-04 1.40047937e-06 9.99999971e-01 -3.66249389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters 0.05205520423489779 Centerline is valid? [True, True] Translation: X:481.62, Y:-107.79, Z:-3.66 [[ 8.88079003e-01 4.59690681e-01 4.02593196e-04 4.81619926e+02] [-4.59690632e-01 8.88079094e-01 -2.12946352e-04 -1.07785326e+02] [-4.55424055e-04 4.04486287e-06 9.99999896e-01 -3.66264996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters 0.052205598862189284 Centerline is valid? [True, True] Translation: X:481.68, Y:-107.81, Z:-3.66 [[ 8.86937064e-01 4.61889339e-01 9.39686889e-04 4.81676338e+02] [-4.61889071e-01 8.86937562e-01 -4.97073252e-04 -1.07809052e+02] [-1.06303643e-03 6.84158631e-06 9.99999435e-01 -3.66285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters 0.05219597299053559 Centerline is valid? [True, True] Translation: X:481.73, Y:-107.83, Z:-3.66 [[ 8.85814778e-01 4.64038395e-01 7.40050518e-04 4.81732699e+02] [-4.64038230e-01 8.85815087e-01 -3.91400966e-04 -1.07832428e+02] [-8.37172990e-04 3.29702737e-06 9.99999650e-01 -3.66128726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters 0.05253435389938144 Centerline is valid? [True, True] Translation: X:481.79, Y:-107.86, Z:-3.66 [[ 8.83525283e-01 4.68383202e-01 4.99759527e-04 4.81790614e+02] [-4.68383128e-01 8.83525425e-01 -2.64154085e-04 -1.07856173e+02] [-5.65275585e-04 -6.92118120e-07 9.99999840e-01 -3.66177597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters 0.05265350581735908 Centerline is valid? [True, True] Translation: X:481.85, Y:-107.88, Z:-3.66 [[ 8.81819876e-01 4.71586341e-01 1.73095957e-04 4.81848197e+02] [-4.71586332e-01 8.81819893e-01 -9.14515198e-05 -1.07881087e+02] [-1.95766746e-04 -9.85919330e-07 9.99999981e-01 -3.66394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters 0.05278867729168077 Centerline is valid? [True, True] Translation: X:481.91, Y:-107.90, Z:-3.66 [[ 8.79107685e-01 4.76623176e-01 -1.60714919e-04 4.81906399e+02] [-4.76623169e-01 8.79107700e-01 8.55004593e-05 -1.07904402e+02] [ 1.82037223e-04 1.43634294e-06 9.99999983e-01 -3.66427552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters 0.05254796849538075 Centerline is valid? [True, True] Translation: X:481.96, Y:-107.93, Z:-3.67 [[ 8.77488754e-01 4.79597041e-01 -4.05552341e-04 4.81963296e+02] [-4.79596993e-01 8.77488848e-01 2.16002908e-04 -1.07927217e+02] [ 4.59462012e-04 4.96156003e-06 9.99999894e-01 -3.66658514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters 0.05262641931656161 Centerline is valid? [True, True] Translation: X:482.02, Y:-107.95, Z:-3.66 [[ 8.75898854e-01 4.82494432e-01 5.65939179e-04 4.82018716e+02] [-4.82494339e-01 8.75899037e-01 -2.99371000e-04 -1.07954597e+02] [-6.40150422e-04 -1.08437340e-05 9.99999795e-01 -3.66474219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters 0.052299784590039186 Centerline is valid? [True, True] Translation: X:482.07, Y:-107.98, Z:-3.66 [[ 8.75852307e-01 4.82574011e-01 2.24939662e-03 4.82074784e+02] [-4.82572539e-01 8.75855195e-01 -1.19281229e-03 -1.07981600e+02] [-2.54576593e-03 -4.07696380e-05 9.99996759e-01 -3.66437990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters 0.05275886404626162 Centerline is valid? [True, True] Translation: X:482.13, Y:-108.01, Z:-3.67 [[ 8.76746128e-01 4.80946313e-01 2.62122441e-03 4.82130848e+02] [-4.80944304e-01 8.76750046e-01 -1.39057602e-03 -1.08006026e+02] [-2.96695103e-03 -4.14808019e-05 9.99995598e-01 -3.66635210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters 0.0530754961744905 Centerline is valid? [True, True] Translation: X:482.18, Y:-108.04, Z:-3.67 [[ 8.79461138e-01 4.75964896e-01 2.35050696e-03 4.82183462e+02] [-4.75963261e-01 8.79464279e-01 -1.24754233e-03 -1.08038758e+02] [-2.66097326e-03 -2.15899655e-05 9.99996459e-01 -3.66629397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters 0.0528106847362657 Centerline is valid? [True, True] Translation: X:482.24, Y:-108.07, Z:-3.67 [[ 8.81917246e-01 4.71396624e-01 2.68227624e-03 4.82237380e+02] [-4.71394474e-01 8.81921325e-01 -1.42367677e-03 -1.08067702e+02] [-3.03667304e-03 -8.84510101e-06 9.99995389e-01 -3.66790017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters 0.05269253157987401 Centerline is valid? [True, True] Translation: X:482.29, Y:-108.10, Z:-3.67 [[ 8.86048588e-01 4.63581661e-01 3.15331324e-03 4.82291569e+02] [-4.63578639e-01 8.86054199e-01 -1.67388356e-03 -1.08097031e+02] [-3.56998816e-03 2.13335005e-05 9.99993627e-01 -3.66637940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters 0.05306605534870395 Centerline is valid? [True, True] Translation: X:482.35, Y:-108.12, Z:-3.67 [[ 8.88680649e-01 4.58519016e-01 2.64888312e-03 4.82346705e+02] [-4.58516860e-01 8.88684596e-01 -1.40674854e-03 -1.08124773e+02] [-2.99904258e-03 3.55926385e-05 9.99995502e-01 -3.66715371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters 0.05363253954917299 Centerline is valid? [True, True] Translation: X:482.40, Y:-108.15, Z:-3.67 [[ 8.92062148e-01 4.51905525e-01 2.55373457e-03 4.82400854e+02] [-4.51903493e-01 8.92065801e-01 -1.35631251e-03 -1.08153742e+02] [-2.89102439e-03 5.58734752e-05 9.99995819e-01 -3.66930667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters 0.05418949024062369 Centerline is valid? [True, True] Translation: X:482.46, Y:-108.18, Z:-3.67 [[ 8.93873919e-01 4.48309049e-01 2.90074475e-03 4.82456762e+02] [-4.48306408e-01 8.93878622e-01 -1.54072191e-03 -1.08179798e+02] [-3.28363329e-03 7.67886707e-05 9.99994606e-01 -3.66941724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters 0.053772331333499325 Centerline is valid? [True, True] Translation: X:482.51, Y:-108.21, Z:-3.67 [[ 8.94034597e-01 4.47986625e-01 3.18166801e-03 4.82509788e+02] [-4.47983447e-01 8.94040254e-01 -1.68969497e-03 -1.08209445e+02] [-3.60150003e-03 8.53111582e-05 9.99993511e-01 -3.67084682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters 0.05357520203738211 Centerline is valid? [True, True] Translation: X:482.56, Y:-108.24, Z:-3.67 [[ 8.93263241e-01 4.49520118e-01 3.52779647e-03 4.82562357e+02] [-4.49516219e-01 8.93270203e-01 -1.87434010e-03 -1.08242173e+02] [-3.99382905e-03 8.84773846e-05 9.99992021e-01 -3.67291434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters 0.053810004933350544 Centerline is valid? [True, True] Translation: X:482.62, Y:-108.26, Z:-3.67 [[ 8.90298749e-01 4.55358294e-01 4.11831645e-03 4.82620430e+02] [-4.55353042e-01 8.90308272e-01 -2.18837927e-03 -1.08262876e+02] [-4.66306785e-03 7.30234032e-05 9.99989125e-01 -3.67399310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters 0.05299017095427413 Centerline is valid? [True, True] Translation: X:482.68, Y:-108.28, Z:-3.67 [[ 8.85744445e-01 4.64157671e-01 3.79938874e-03 4.82679502e+02] [-4.64153281e-01 8.85752593e-01 -2.01895951e-03 -1.08282624e+02] [-4.30243397e-03 2.47834184e-05 9.99990744e-01 -3.67398546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters 0.05312724337869201 Centerline is valid? [True, True] Translation: X:482.74, Y:-108.31, Z:-3.67 [[ 8.82077311e-01 4.71086263e-01 4.16534500e-03 4.82735043e+02] [-4.71081064e-01 8.82087146e-01 -2.21324182e-03 -1.08308574e+02] [-4.71682510e-03 -9.96476135e-06 9.99988876e-01 -3.67406880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters 0.05261898582449204 Centerline is valid? [True, True] Translation: X:482.79, Y:-108.33, Z:-3.68 [[ 8.76516701e-01 4.81353118e-01 4.20110113e-03 4.82793529e+02] [-4.81347943e-01 8.76526766e-01 -2.23304141e-03 -1.08328675e+02] [-4.75725903e-03 -6.48932996e-05 9.99988682e-01 -3.67558764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters 0.0523247113432921 Centerline is valid? [True, True] Translation: X:482.85, Y:-108.35, Z:-3.68 [[ 8.72494251e-01 4.88612239e-01 3.44402288e-03 4.82849519e+02] [-4.88608817e-01 8.72501044e-01 -1.83063152e-03 -1.08352569e+02] [-3.89938252e-03 -8.55644688e-05 9.99992394e-01 -3.67597869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters 0.0526157634711389 Centerline is valid? [True, True] Translation: X:482.91, Y:-108.38, Z:-3.68 [[ 8.71071794e-01 4.91142293e-01 3.63004597e-03 4.82905430e+02] [-4.91138513e-01 8.71079352e-01 -1.92959954e-03 -1.08375175e+02] [-4.10976604e-03 -1.02035644e-04 9.99991550e-01 -3.67647747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters 0.05412839629849202 Centerline is valid? [True, True] Translation: X:482.96, Y:-108.40, Z:-3.68 [[ 8.71345711e-01 4.90653938e-01 3.91972887e-03 4.82962869e+02] [-4.90649526e-01 8.71354521e-01 -2.08360911e-03 -1.08396982e+02] [-4.43780449e-03 -1.07669252e-04 9.99990147e-01 -3.67740669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters 0.052958802267682674 Centerline is valid? [True, True] Translation: X:483.01, Y:-108.43, Z:-3.68 [[ 8.73032203e-01 4.87649412e-01 3.58094152e-03 4.83012874e+02] [-4.87645701e-01 8.73039543e-01 -1.90424379e-03 -1.08433132e+02] [-4.05490691e-03 -8.37645883e-05 9.99991775e-01 -3.67785744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters 0.05349377093138454 Centerline is valid? [True, True] Translation: X:483.07, Y:-108.46, Z:-3.68 [[ 8.74247760e-01 4.85473499e-01 2.51704525e-03 4.83067685e+02] [-4.85471656e-01 8.74251382e-01 -1.33851295e-03 -1.08459521e+02] [-2.85034286e-03 -5.17621773e-05 9.99995936e-01 -3.67950123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters 0.05333526176713195 Centerline is valid? [True, True] Translation: X:483.12, Y:-108.49, Z:-3.68 [[ 8.75291657e-01 4.83593379e-01 1.39926876e-03 4.83119386e+02] [-4.83592809e-01 8.75292775e-01 -7.43457388e-04 -1.08493876e+02] [-1.58430091e-03 -2.59342628e-05 9.99998745e-01 -3.67980321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters 0.052916342531349 Centerline is valid? [True, True] Translation: X:483.17, Y:-108.53, Z:-3.68 [[ 8.75703537e-01 4.82848168e-01 9.80671900e-04 4.83172173e+02] [-4.82847887e-01 8.75704086e-01 -5.21395292e-04 -1.08527154e+02] [-1.11053315e-03 -1.69276533e-05 9.99999383e-01 -3.67888787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters 0.053527683005634694 Centerline is valid? [True, True] Translation: X:483.22, Y:-108.56, Z:-3.68 [[ 8.76497356e-01 4.81405756e-01 9.40150462e-04 4.83224526e+02] [-4.81405497e-01 8.76497860e-01 -4.99410328e-04 -1.08558065e+02] [-1.06445887e-03 -1.48617688e-05 9.99999433e-01 -3.67911091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters 0.05246214446231088 Centerline is valid? [True, True] Translation: X:483.28, Y:-108.59, Z:-3.68 [[ 8.77418983e-01 4.79724315e-01 7.14288186e-04 4.83276599e+02] [-4.79724165e-01 8.77419274e-01 -3.79315963e-04 -1.08589709e+02] [-8.08697312e-04 -9.84227675e-06 9.99999673e-01 -3.68015911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters 0.053170824591611765 Centerline is valid? [True, True] Translation: X:483.33, Y:-108.62, Z:-3.68 [[ 8.77497334e-01 4.79581223e-01 5.28322999e-04 4.83332038e+02] [-4.79581141e-01 8.77497493e-01 -2.80212052e-04 -1.08620153e+02] [-5.97986546e-04 -7.48841818e-06 9.99999821e-01 -3.68081604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters 0.05305327213929858 Centerline is valid? [True, True] Translation: X:483.39, Y:-108.65, Z:-3.68 [[ 8.77261297e-01 4.80013044e-01 3.06260586e-04 4.83385425e+02] [-4.80013017e-01 8.77261351e-01 -1.62131360e-04 -1.08651562e+02] [-3.46495743e-04 -4.77750052e-06 9.99999940e-01 -3.68079280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters 0.05316338389992177 Centerline is valid? [True, True] Translation: X:483.44, Y:-108.68, Z:-3.68 [[ 8.76097848e-01 4.82133201e-01 3.71146467e-04 4.83438179e+02] [-4.82133160e-01 8.76097926e-01 -1.97550122e-04 -1.08681647e+02] [-4.20406123e-04 -5.86878208e-06 9.99999912e-01 -3.68104589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters 0.05285946377095 Centerline is valid? [True, True] Translation: X:483.49, Y:-108.71, Z:-3.68 [[ 8.74573998e-01 4.84891712e-01 5.91628677e-04 4.83491551e+02] [-4.84891610e-01 8.74574198e-01 -3.14314128e-04 -1.08712582e+02] [-6.69831492e-04 -1.19848182e-05 9.99999776e-01 -3.68091793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters 0.05307843638339543 Centerline is valid? [True, True] Translation: X:483.55, Y:-108.74, Z:-3.68 [[ 8.73356776e-01 4.87080948e-01 3.03470848e-04 4.83545225e+02] [-4.87080921e-01 8.73356829e-01 -1.61229409e-04 -1.08740692e+02] [-3.43570112e-04 -7.00406307e-06 9.99999941e-01 -3.68169370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters 0.053181596017932445 Centerline is valid? [True, True] Translation: X:483.60, Y:-108.77, Z:-3.68 [[ 8.71088121e-01 4.91126503e-01 -4.92873382e-04 4.83599083e+02] [-4.91126433e-01 8.71088261e-01 2.62708317e-04 -1.08768205e+02] [ 5.58359234e-04 1.32210521e-05 9.99999844e-01 -3.68280550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters 0.052619430019842484 Centerline is valid? [True, True] Translation: X:483.65, Y:-108.80, Z:-3.68 [[ 8.69523063e-01 4.93892130e-01 -4.55735369e-04 4.83652224e+02] [-4.93892070e-01 8.69523182e-01 2.42918370e-04 -1.08798310e+02] [ 5.16247939e-04 1.38609597e-05 9.99999867e-01 -3.68287352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters 0.05375431860408475 Centerline is valid? [True, True] Translation: X:483.71, Y:-108.82, Z:-3.68 [[ 8.67545884e-01 4.97357107e-01 -2.17845759e-04 4.83706365e+02] [-4.97357093e-01 8.67545911e-01 1.16302102e-04 -1.08824229e+02] [ 2.46834874e-04 7.44972400e-06 9.99999970e-01 -3.68334326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters 0.05268531991893014 Centerline is valid? [True, True] Translation: X:483.76, Y:-108.86, Z:-3.68 [[ 8.66708774e-01 4.98814246e-01 4.99066717e-04 4.83758883e+02] [-4.98814176e-01 8.66708918e-01 -2.65722495e-04 -1.08857658e+02] [-5.65091740e-04 -1.86375349e-05 9.99999840e-01 -3.68196761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters 0.05324854579527237 Centerline is valid? [True, True] Translation: X:483.81, Y:-108.89, Z:-3.68 [[ 8.66518199e-01 4.99144003e-01 1.21485498e-03 4.83812880e+02] [-4.99143586e-01 8.66519049e-01 -6.46626037e-04 -1.08889635e+02] [-1.37545449e-03 -4.60738427e-05 9.99999053e-01 -3.68145059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters 0.05247287058321989 Centerline is valid? [True, True] Translation: X:483.86, Y:-108.92, Z:-3.68 [[ 8.67729651e-01 4.97033770e-01 1.63809011e-03 4.83864675e+02] [-4.97033007e-01 8.67731196e-01 -8.73249184e-04 -1.08921640e+02] [-1.85545622e-03 -5.64406410e-05 9.99998277e-01 -3.68230629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters 0.052168348027452946 Centerline is valid? [True, True] Translation: X:483.91, Y:-108.96, Z:-3.68 [[ 8.69602015e-01 4.93753285e-01 1.69456378e-04 4.83914490e+02] [-4.93753277e-01 8.69602032e-01 -9.01372293e-05 -1.08959363e+02] [-1.91865164e-04 -5.28612558e-06 9.99999982e-01 -3.68284641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters 0.05244571522024169 Centerline is valid? [True, True] Translation: X:483.97, Y:-108.99, Z:-3.68 [[ 8.71134347e-01 4.91043755e-01 -9.89970010e-04 4.83967973e+02] [-4.91043472e-01 8.71134909e-01 5.28036063e-04 -1.08990875e+02] [ 1.12168625e-03 2.61279596e-05 9.99999371e-01 -3.68398547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters 0.05208522085390209 Centerline is valid? [True, True] Translation: X:484.02, Y:-109.03, Z:-3.68 [[ 8.73925319e-01 4.86056651e-01 -1.86281759e-03 4.84019103e+02] [-4.86055637e-01 8.73927303e-01 9.93402600e-04 -1.09025747e+02] [ 2.11081709e-03 3.72733073e-05 9.99997772e-01 -3.68402718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters 0.05205357005251683 Centerline is valid? [True, True] Translation: X:484.07, Y:-109.06, Z:-3.68 [[ 8.76156331e-01 4.82024554e-01 -1.55306791e-03 4.84070901e+02] [-4.82023843e-01 8.76157708e-01 8.28265711e-04 -1.09057443e+02] [ 1.75997683e-03 2.29255157e-05 9.99998451e-01 -3.68458965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters 0.05198275952719342 Centerline is valid? [True, True] Translation: X:484.12, Y:-109.09, Z:-3.68 [[ 8.79019519e-01 4.76785760e-01 1.56604339e-04 4.84121768e+02] [-4.76785753e-01 8.79019533e-01 -8.33045089e-05 -1.09092250e+02] [-1.77376676e-04 -1.44042824e-06 9.99999984e-01 -3.68320527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters 0.05183542933782286 Centerline is valid? [True, True] Translation: X:484.17, Y:-109.12, Z:-3.69 [[ 8.80467394e-01 4.74106698e-01 7.92350097e-05 4.84174747e+02] [-4.74106697e-01 8.80467398e-01 -4.13599447e-05 -1.09123502e+02] [-8.93728698e-05 -1.14976593e-06 9.99999996e-01 -3.68624621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters 0.0519087946719357 Centerline is valid? [True, True] Translation: X:484.23, Y:-109.16, Z:-3.68 [[ 8.80580222e-01 4.73896624e-01 -6.80384498e-04 4.84229097e+02] [-4.73896484e-01 8.80580485e-01 3.64154127e-04 -1.09156391e+02] [ 7.71704722e-04 1.76489947e-06 9.99999702e-01 -3.68429601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters 0.05183875658663697 Centerline is valid? [True, True] Translation: X:484.28, Y:-109.19, Z:-3.69 [[ 8.79523775e-01 4.75853640e-01 -1.11481733e-03 4.84282438e+02] [-4.75853267e-01 8.79524481e-01 5.95892534e-04 -1.09186402e+02] [ 1.26406677e-03 6.38781989e-06 9.99999201e-01 -3.68534131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters 0.0513993109406215 Centerline is valid? [True, True] Translation: X:484.34, Y:-109.22, Z:-3.69 [[ 8.78049200e-01 4.78570360e-01 -1.13008629e-04 4.84336698e+02] [-4.78570356e-01 8.78049207e-01 6.12119145e-05 -1.09215151e+02] [ 1.28521345e-04 3.35507343e-07 9.99999992e-01 -3.68603671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters 0.051577282230210825 Centerline is valid? [True, True] Translation: X:484.39, Y:-109.25, Z:-3.69 [[ 8.76645523e-01 4.81136664e-01 3.70423224e-04 4.84390918e+02] [-4.81136624e-01 8.76645601e-01 -1.96845333e-04 -1.09245482e+02] [-4.19439397e-04 -5.66059948e-06 9.99999912e-01 -3.68555385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters 0.051356616196871985 Centerline is valid? [True, True] Translation: X:484.44, Y:-109.27, Z:-3.69 [[ 8.73699031e-01 4.86466851e-01 7.40149804e-05 4.84444562e+02] [-4.86466850e-01 8.73699034e-01 -3.92082694e-05 -1.09272957e+02] [-8.37403405e-05 -1.74960743e-06 9.99999996e-01 -3.68677731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters 0.0513373097445219 Centerline is valid? [True, True] Translation: X:484.50, Y:-109.30, Z:-3.69 [[ 8.71323786e-01 4.90708499e-01 -1.72259939e-04 4.84497942e+02] [-4.90708490e-01 8.71323803e-01 9.27572411e-05 -1.09302669e+02] [ 1.95610952e-04 3.70782431e-06 9.99999981e-01 -3.68702011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters 0.05072137766778752 Centerline is valid? [True, True] Translation: X:484.55, Y:-109.33, Z:-3.69 [[ 8.68119515e-01 4.96354936e-01 -5.32823822e-04 4.84551025e+02] [-4.96354855e-01 8.68119679e-01 2.84835629e-04 -1.09333756e+02] [ 6.03934415e-04 1.71983224e-05 9.99999817e-01 -3.68692728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters 0.05069550740906994 Centerline is valid? [True, True] Translation: X:484.60, Y:-109.36, Z:-3.69 [[ 8.66474203e-01 4.99219384e-01 -1.56876260e-03 4.84604390e+02] [-4.99218684e-01 8.66475622e-01 8.38331473e-04 -1.09362525e+02] [ 1.77780587e-03 5.67630057e-05 9.99998418e-01 -3.68674619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters 0.052051345370744684 Centerline is valid? [True, True] Translation: X:484.66, Y:-109.39, Z:-3.69 [[ 8.66224917e-01 4.99653358e-01 -9.56015889e-04 4.84661255e+02] [-4.99653098e-01 8.66225444e-01 5.11707596e-04 -1.09386484e+02] [ 1.08380171e-03 3.44224302e-05 9.99999412e-01 -3.68920274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters 0.050617339109678514 Centerline is valid? [True, True] Translation: X:484.71, Y:-109.42, Z:-3.69 [[ 8.66768133e-01 4.98709730e-01 -1.26867467e-03 4.84711918e+02] [-4.98709270e-01 8.66769060e-01 6.79029498e-04 -1.09423158e+02] [ 1.43828657e-03 4.41386905e-05 9.99998965e-01 -3.68767915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters 0.051371486110600106 Centerline is valid? [True, True] Translation: X:484.77, Y:-109.45, Z:-3.69 [[ 8.67770660e-01 4.96962795e-01 -1.43622973e-03 4.84766122e+02] [-4.96962204e-01 8.67771847e-01 7.67743923e-04 -1.09449630e+02] [ 1.62785989e-03 4.75262418e-05 9.99998674e-01 -3.68957740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters 0.0507902135162976 Centerline is valid? [True, True] Translation: X:484.82, Y:-109.49, Z:-3.69 [[ 8.69796758e-01 4.93407311e-01 -1.68070496e-03 4.84816336e+02] [-4.93406494e-01 8.69798381e-01 8.98880208e-04 -1.09485501e+02] [ 1.90538852e-03 4.74276506e-05 9.99998184e-01 -3.68929381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters 0.051293719329140036 Centerline is valid? [True, True] Translation: X:484.87, Y:-109.52, Z:-3.69 [[ 8.71002231e-01 4.91277686e-01 -1.16139095e-03 4.84866648e+02] [-4.91277294e-01 8.71003005e-01 6.21092196e-04 -1.09522678e+02] [ 1.31670374e-03 2.95923149e-05 9.99999133e-01 -3.68728394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters 0.05105764610792116 Centerline is valid? [True, True] Translation: X:484.92, Y:-109.55, Z:-3.69 [[ 8.72621223e-01 4.88396521e-01 -1.01985083e-03 4.84921139e+02] [-4.88396217e-01 8.72621818e-01 5.45642077e-04 -1.09550037e+02] [ 1.15643378e-03 2.19524318e-05 9.99999331e-01 -3.68900824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters 0.05169056020889637 Centerline is valid? [True, True] Translation: X:484.97, Y:-109.58, Z:-3.69 [[ 8.74526355e-01 4.84975699e-01 -1.49152523e-03 4.84972793e+02] [-4.84975044e-01 8.74527627e-01 7.97709436e-04 -1.09582907e+02] [ 1.69124972e-03 2.57345904e-05 9.99998570e-01 -3.68865540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters 0.05144542508720971 Centerline is valid? [True, True] Translation: X:485.03, Y:-109.61, Z:-3.69 [[ 8.74937983e-01 4.84233436e-01 -1.22712548e-03 4.85027718e+02] [-4.84232990e-01 8.74938843e-01 6.57259769e-04 -1.09612242e+02] [ 1.39192691e-03 1.91531053e-05 9.99999031e-01 -3.68919734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters 0.05161579494418142 Centerline is valid? [True, True] Translation: X:485.08, Y:-109.64, Z:-3.69 [[ 8.75690423e-01 4.82872307e-01 -7.86299289e-04 4.85083273e+02] [-4.82872123e-01 8.75690776e-01 4.21600883e-04 -1.09640900e+02] [ 8.92134426e-04 1.04901517e-05 9.99999602e-01 -3.68893170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters 0.051405745185461406 Centerline is valid? [True, True] Translation: X:485.14, Y:-109.67, Z:-3.69 [[ 8.76600914e-01 4.81218058e-01 -1.39640628e-04 4.85138478e+02] [-4.81218052e-01 8.76600925e-01 7.52391208e-05 -1.09670185e+02] [ 1.58615527e-04 1.24290902e-06 9.99999987e-01 -3.68824125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters 0.051042755350549925 Centerline is valid? [True, True] Translation: X:485.19, Y:-109.70, Z:-3.69 [[ 8.76739415e-01 4.80965599e-01 -2.99525811e-04 4.85194389e+02] [-4.80965572e-01 8.76739467e-01 1.61430573e-04 -1.09699620e+02] [ 3.40248652e-04 2.52905694e-06 9.99999942e-01 -3.68794915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters 0.05143577240718755 Centerline is valid? [True, True] Translation: X:485.25, Y:-109.72, Z:-3.69 [[ 8.76237654e-01 4.81878527e-01 -8.12050338e-04 4.85250220e+02] [-4.81878330e-01 8.76238030e-01 4.35647499e-04 -1.09724568e+02] [ 9.21478563e-04 9.57871848e-06 9.99999575e-01 -3.68937035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters 0.0518660284984488 Centerline is valid? [True, True] Translation: X:485.31, Y:-109.75, Z:-3.69 [[ 8.75243068e-01 4.83680719e-01 -1.59184657e-03 4.85306563e+02] [-4.83679967e-01 8.75244515e-01 8.53433991e-04 -1.09750609e+02] [ 1.80604454e-03 2.29821113e-05 9.99998369e-01 -3.68983869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters 0.05184134077477523 Centerline is valid? [True, True] Translation: X:485.36, Y:-109.78, Z:-3.69 [[ 8.74388997e-01 4.85221343e-01 -2.03256630e-03 4.85362522e+02] [-4.85220120e-01 8.74391358e-01 1.08975410e-03 -1.09778180e+02] [ 2.30603035e-03 3.33730695e-05 9.99997341e-01 -3.68962193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters 0.05158558445937738 Centerline is valid? [True, True] Translation: X:485.42, Y:-109.81, Z:-3.69 [[ 8.73636358e-01 4.86575966e-01 -1.82875149e-03 4.85418248e+02] [-4.86574978e-01 8.73638271e-01 9.80842056e-04 -1.09805782e+02] [ 2.07492146e-03 3.29254380e-05 9.99997847e-01 -3.68898743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters 0.05185978127466282 Centerline is valid? [True, True] Translation: X:485.47, Y:-109.83, Z:-3.69 [[ 8.73216327e-01 4.87331199e-01 -1.24447953e-03 4.85474103e+02] [-4.87330743e-01 8.73217213e-01 6.67438994e-04 -1.09830819e+02] [ 1.41196479e-03 2.36545063e-05 9.99999003e-01 -3.69074395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters 0.051752202896944544 Centerline is valid? [True, True] Translation: X:485.53, Y:-109.86, Z:-3.69 [[ 8.72382553e-01 4.88822488e-01 -1.12075743e-03 4.85529073e+02] [-4.88822119e-01 8.72383273e-01 6.01715670e-04 -1.09860178e+02] [ 1.27186219e-03 2.29247712e-05 9.99999191e-01 -3.68964929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters 0.05189644797439672 Centerline is valid? [True, True] Translation: X:485.58, Y:-109.89, Z:-3.69 [[ 8.71586624e-01 4.90240822e-01 -8.32245734e-04 4.85583515e+02] [-4.90240619e-01 8.71587021e-01 4.47204049e-04 -1.09890508e+02] [ 9.44612261e-04 1.82235957e-05 9.99999554e-01 -3.68877261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters 0.05253943864188775 Centerline is valid? [True, True] Translation: X:485.64, Y:-109.91, Z:-3.69 [[ 8.70947329e-01 4.91375069e-01 -1.13663452e-03 4.85640906e+02] [-4.91374691e-01 8.70948070e-01 6.10491483e-04 -1.09913664e+02] [ 1.28992994e-03 2.68075115e-05 9.99999168e-01 -3.69104487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters 0.05284842755058935 Centerline is valid? [True, True] Translation: X:485.70, Y:-109.94, Z:-3.69 [[ 8.69572348e-01 4.93803922e-01 -1.27178907e-03 4.85697161e+02] [-4.93803453e-01 8.69573278e-01 6.82096250e-04 -1.09936028e+02] [ 1.44273559e-03 3.48817947e-05 9.99998959e-01 -3.69322758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters 0.05262439539534318 Centerline is valid? [True, True] Translation: X:485.75, Y:-109.96, Z:-3.69 [[ 8.68097235e-01 4.96390524e-01 -1.90739985e-03 4.85751106e+02] [-4.96389474e-01 8.68099328e-01 1.02307245e-03 -1.09964921e+02] [ 2.16365600e-03 5.86868428e-05 9.99997658e-01 -3.69373641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters 0.0519013605553393 Centerline is valid? [True, True] Translation: X:485.80, Y:-110.00, Z:-3.69 [[ 8.65919203e-01 5.00166840e-01 -4.13117052e-03 4.85802693e+02] [-5.00161953e-01 8.65929045e-01 2.21591515e-03 -1.09998476e+02] [ 4.68562782e-03 1.47450832e-04 9.99989012e-01 -3.69266890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters 0.05213409748735469 Centerline is valid? [True, True] Translation: X:485.86, Y:-110.03, Z:-3.69 [[ 8.65006883e-01 5.01735054e-01 -5.00285568e-03 4.85857177e+02] [-5.01727912e-01 8.65021329e-01 2.68373682e-03 -1.10025653e+02] [ 5.67410171e-03 1.88621509e-04 9.99983884e-01 -3.69398512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters 0.05179853668696812 Centerline is valid? [True, True] Translation: X:485.91, Y:-110.06, Z:-3.69 [[ 8.64674762e-01 5.02314110e-01 -4.25343851e-03 4.85909726e+02] [-5.02308947e-01 8.64685208e-01 2.28304557e-03 -1.10058607e+02] [ 4.82469137e-03 1.62448336e-04 9.99988348e-01 -3.69212026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters 0.0524258365790988 Centerline is valid? [True, True] Translation: X:485.96, Y:-110.09, Z:-3.69 [[ 8.64912090e-01 5.01910514e-01 -3.59350704e-03 4.85964004e+02] [-5.01906824e-01 8.64919544e-01 1.92937264e-03 -1.10086606e+02] [ 4.07646688e-03 1.34867981e-04 9.99991682e-01 -3.69216258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters 0.05183459808009405 Centerline is valid? [True, True] Translation: X:486.02, Y:-110.12, Z:-3.69 [[ 8.66334232e-01 4.99460082e-01 -2.15040478e-03 4.86015036e+02] [-4.99458753e-01 8.66336898e-01 1.15436676e-03 -1.10120495e+02] [ 2.43953512e-03 7.39710485e-05 9.99997022e-01 -3.69026699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters 0.05177112223727525 Centerline is valid? [True, True] Translation: X:486.07, Y:-110.15, Z:-3.69 [[ 8.67002921e-01 4.98301944e-01 -1.05259001e-03 4.86068048e+02] [-4.98301624e-01 8.67003559e-01 5.65118305e-04 -1.10151604e+02] [ 1.19419883e-03 3.45480906e-05 9.99999286e-01 -3.68925594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters 0.05265182117011304 Centerline is valid? [True, True] Translation: X:486.13, Y:-110.17, Z:-3.69 [[ 8.66708656e-01 4.98813240e-01 -1.20686514e-03 4.86127204e+02] [-4.98812820e-01 8.66709496e-01 6.48316697e-04 -1.10169684e+02] [ 1.36939043e-03 4.00981103e-05 9.99999062e-01 -3.69290989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters 0.05180826873965693 Centerline is valid? [True, True] Translation: X:486.18, Y:-110.20, Z:-3.69 [[ 8.65571466e-01 5.00783111e-01 -1.52122140e-03 4.86178140e+02] [-5.00782446e-01 8.65572801e-01 8.17538053e-04 -1.10204608e+02] [ 1.72613712e-03 5.41633621e-05 9.99998509e-01 -3.69127543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters 0.05373135046954908 Centerline is valid? [True, True] Translation: X:486.24, Y:-110.22, Z:-3.70 [[ 8.64843907e-01 5.02038081e-01 -1.66780995e-03 4.86238211e+02] [-5.02037285e-01 8.64845513e-01 8.95900929e-04 -1.10220697e+02] [ 1.89217433e-03 6.24883176e-05 9.99998208e-01 -3.69528818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters 0.05197245990117163 Centerline is valid? [True, True] Translation: X:486.29, Y:-110.26, Z:-3.69 [[ 8.63672067e-01 5.04052137e-01 -1.41569254e-03 4.86286830e+02] [-5.04051566e-01 8.63673225e-01 7.61116406e-04 -1.10259361e+02] [ 1.60633810e-03 5.62270637e-05 9.99998708e-01 -3.69206413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters 0.05337516631102521 Centerline is valid? [True, True] Translation: X:486.35, Y:-110.28, Z:-3.69 [[ 8.62325936e-01 5.06350995e-01 -1.62796679e-03 4.86346515e+02] [-5.06350243e-01 8.62327470e-01 8.75251455e-04 -1.10276595e+02] [ 1.84702493e-03 6.95693498e-05 9.99998292e-01 -3.69472036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters 0.052154714780684175 Centerline is valid? [True, True] Translation: X:486.40, Y:-110.31, Z:-3.69 [[ 8.61173053e-01 5.08308805e-01 -1.76969152e-03 4.86397892e+02] [-5.08307920e-01 8.61174868e-01 9.51606715e-04 -1.10310276e+02] [ 2.00772393e-03 8.00501553e-05 9.99997981e-01 -3.69365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters 0.05277199026631896 Centerline is valid? [True, True] Translation: X:486.46, Y:-110.33, Z:-3.70 [[ 8.59585502e-01 5.10990588e-01 -1.17648109e-03 4.86455520e+02] [-5.10990200e-01 8.59586305e-01 6.32460976e-04 -1.10330792e+02] [ 1.33446864e-03 5.75160210e-05 9.99999108e-01 -3.69522094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters 0.0515897994058748 Centerline is valid? [True, True] Translation: X:486.51, Y:-110.37, Z:-3.69 [[ 8.59520296e-01 5.11101599e-01 -1.24682461e-04 4.86505573e+02] [-5.11101595e-01 8.59520305e-01 6.74972292e-05 -1.10368964e+02] [ 1.41665048e-04 5.71016612e-06 9.99999990e-01 -3.69333111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters 0.051589629545183445 Centerline is valid? [True, True] Translation: X:486.56, Y:-110.39, Z:-3.69 [[ 8.60167503e-01 5.10008309e-01 1.84167553e-03 4.86561224e+02] [-5.10007356e-01 8.60169470e-01 -9.89504687e-04 -1.10394088e+02] [-2.08880868e-03 -8.81282929e-05 9.99997815e-01 -3.69307791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters 0.05163495237026637 Centerline is valid? [True, True] Translation: X:486.62, Y:-110.42, Z:-3.69 [[ 8.59791987e-01 5.10638004e-01 2.56271338e-03 4.86618010e+02] [-5.10636162e-01 8.59795798e-01 -1.37714255e-03 -1.10417958e+02] [-2.90663152e-03 -1.24557996e-04 9.99995768e-01 -3.69388272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters 0.054128009041519404 Centerline is valid? [True, True] Translation: X:486.68, Y:-110.44, Z:-3.70 [[ 8.59817997e-01 5.10594652e-01 2.47262462e-03 4.86677441e+02] [-5.10592937e-01 8.59821544e-01 -1.32867602e-03 -1.10436966e+02] [-2.80443079e-03 -1.20085112e-04 9.99996060e-01 -3.69591029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters 0.052045256750904545 Centerline is valid? [True, True] Translation: X:486.73, Y:-110.47, Z:-3.70 [[ 8.59572063e-01 5.11007310e-01 2.71982767e-03 4.86729256e+02] [-5.11005236e-01 8.59576356e-01 -1.46189008e-03 -1.10471592e+02] [-3.08493608e-03 -1.33246313e-04 9.99995233e-01 -3.69640398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters 0.05273467757586637 Centerline is valid? [True, True] Translation: X:486.79, Y:-110.50, Z:-3.70 [[ 8.59655411e-01 5.10870787e-01 1.90119062e-03 4.86785100e+02] [-5.10869772e-01 8.59657508e-01 -1.02226893e-03 -1.10498232e+02] [-2.15662012e-03 -9.24618034e-05 9.99997670e-01 -3.69740274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters 0.056502680286101746 Centerline is valid? [True, True] Translation: X:486.85, Y:-110.51, Z:-3.70 [[ 8.60032857e-01 5.10238472e-01 4.32625476e-04 4.86845919e+02] [-5.10238420e-01 8.60032965e-01 -2.31933791e-04 -1.10514440e+02] [-4.90413715e-04 -2.12714581e-05 9.99999880e-01 -3.70132441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters 0.051835190602357736 Centerline is valid? [True, True] Translation: X:486.89, Y:-110.56, Z:-3.70 [[ 8.60652682e-01 5.09192319e-01 3.77304825e-04 4.86890903e+02] [-5.09192279e-01 8.60652765e-01 -2.02801138e-04 -1.10560557e+02] [-4.27993222e-04 -1.75793607e-05 9.99999908e-01 -3.69835957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters 0.056200571714785916 Centerline is valid? [True, True] Translation: X:486.95, Y:-110.57, Z:-3.70 [[ 8.61529633e-01 5.07707262e-01 1.68885747e-04 4.86954195e+02] [-5.07707254e-01 8.61529649e-01 -9.07362465e-05 -1.10570627e+02] [-1.91567530e-04 -7.57255380e-06 9.99999982e-01 -3.70222213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters 0.05199678412797808 Centerline is valid? [True, True] Translation: X:487.00, Y:-110.62, Z:-3.70 [[ 8.64246202e-01 5.03067054e-01 1.42869863e-03 4.86998747e+02] [-5.03066470e-01 8.64247381e-01 -7.68576692e-04 -1.10616339e+02] [-1.62139466e-03 -5.44908906e-05 9.99998684e-01 -3.69900706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters 0.053144757300887156 Centerline is valid? [True, True] Translation: X:487.05, Y:-110.64, Z:-3.70 [[ 8.68647914e-01 4.95422783e-01 2.65855948e-03 4.87052271e+02] [-4.95420725e-01 8.68651979e-01 -1.43012545e-03 -1.10644125e+02] [-3.01787969e-03 -7.48299736e-05 9.99995443e-01 -3.69945643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters 0.052923222495389353 Centerline is valid? [True, True] Translation: X:487.11, Y:-110.67, Z:-3.70 [[ 8.71674225e-01 4.90077603e-01 2.82635572e-03 4.87106594e+02] [-4.90075247e-01 8.71678805e-01 -1.52095902e-03 -1.10671183e+02] [-3.20906233e-03 -5.93462053e-05 9.99994849e-01 -3.70089372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters 0.05278887877629862 Centerline is valid? [True, True] Translation: X:487.16, Y:-110.71, Z:-3.70 [[ 8.75792649e-01 4.82684212e-01 1.78519029e-03 4.87156752e+02] [-4.82683256e-01 8.75794469e-01 -9.60577552e-04 -1.10706827e+02] [-2.02711540e-03 -2.04147052e-05 9.99997945e-01 -3.70111988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters 0.05220446721670401 Centerline is valid? [True, True] Translation: X:487.21, Y:-110.74, Z:-3.70 [[ 8.78319567e-01 4.78072618e-01 1.14464961e-03 4.87210467e+02] [-4.78072222e-01 8.78320313e-01 -6.15326381e-04 -1.10736505e+02] [-1.29953970e-03 -6.77198315e-06 9.99999156e-01 -3.70328995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters 0.053229736034867144 Centerline is valid? [True, True] Translation: X:487.26, Y:-110.77, Z:-3.70 [[ 8.82090691e-01 4.71077227e-01 1.50308637e-03 4.87263587e+02] [-4.71076532e-01 8.82091972e-01 -8.08901385e-04 -1.10769379e+02] [-1.70691545e-03 5.45566532e-06 9.99998543e-01 -3.70282157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters 0.053356488260466954 Centerline is valid? [True, True] Translation: X:487.32, Y:-110.80, Z:-3.70 [[ 8.85513432e-01 4.64611890e-01 1.32438472e-03 4.87316264e+02] [-4.64611344e-01 8.85514422e-01 -7.12648613e-04 -1.10799998e+02] [-1.50386679e-03 1.57357540e-05 9.99998869e-01 -3.70236580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters 0.05412579361148015 Centerline is valid? [True, True] Translation: X:487.37, Y:-110.83, Z:-3.70 [[ 8.87342755e-01 4.61108149e-01 1.45258348e-03 4.87371853e+02] [-4.61107487e-01 8.87343943e-01 -7.81928237e-04 -1.10828469e+02] [-1.64949463e-03 2.40412398e-05 9.99998639e-01 -3.70178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters 0.053495073533287696 Centerline is valid? [True, True] Translation: X:487.42, Y:-110.86, Z:-3.70 [[ 8.88723371e-01 4.58442958e-01 9.08245790e-04 4.87423940e+02] [-4.58442698e-01 8.88723835e-01 -4.88871967e-04 -1.10861594e+02] [-1.03129959e-03 1.80932923e-05 9.99999468e-01 -3.70464778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters 0.05438234665216009 Centerline is valid? [True, True] Translation: X:487.48, Y:-110.89, Z:-3.71 [[ 8.88567333e-01 4.58746022e-01 4.27988602e-04 4.87477745e+02] [-4.58745964e-01 8.88567436e-01 -2.29525157e-04 -1.10891792e+02] [-4.85590487e-04 7.61051239e-06 9.99999882e-01 -3.70705887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters 0.05413773861606173 Centerline is valid? [True, True] Translation: X:487.54, Y:-110.92, Z:-3.71 [[ 8.87363028e-01 4.61071396e-01 1.55807369e-04 4.87535637e+02] [-4.61071388e-01 8.87363042e-01 -8.29871482e-05 -1.10915560e+02] [-1.76520702e-04 1.80140699e-06 9.99999984e-01 -3.70617320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters 0.05347288311915932 Centerline is valid? [True, True] Translation: X:487.59, Y:-110.94, Z:-3.70 [[ 8.85523862e-01 4.64593854e-01 -2.00692530e-04 4.87591724e+02] [-4.64593841e-01 8.85523885e-01 1.08575650e-04 -1.10938057e+02] [ 2.28161608e-04 -2.90581542e-06 9.99999974e-01 -3.70473190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters 0.05287457484785598 Centerline is valid? [True, True] Translation: X:487.65, Y:-110.96, Z:-3.71 [[ 8.82575319e-01 4.70170896e-01 -3.66639596e-04 4.87647273e+02] [-4.70170854e-01 8.82575395e-01 1.97809277e-04 -1.10964304e+02] [ 4.16591251e-04 -2.19833406e-06 9.99999913e-01 -3.70742998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters 0.05293021463037619 Centerline is valid? [True, True] Translation: X:487.70, Y:-110.99, Z:-3.71 [[ 8.80410559e-01 4.74211969e-01 -5.05809757e-04 4.87703335e+02] [-4.74211890e-01 8.80410704e-01 2.73555858e-04 -1.10989506e+02] [ 5.75043786e-04 -9.80464951e-07 9.99999835e-01 -3.70715773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters 0.053369251003683595 Centerline is valid? [True, True] Translation: X:487.76, Y:-111.01, Z:-3.71 [[ 8.76990526e-01 4.80507647e-01 1.37443770e-04 4.87760541e+02] [-4.80507641e-01 8.76990537e-01 -7.37514829e-05 -1.11014431e+02] [-1.55975037e-04 -1.36342984e-06 9.99999988e-01 -3.70590103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters 0.05356108256808377 Centerline is valid? [True, True] Translation: X:487.82, Y:-111.04, Z:-3.71 [[ 8.74633406e-01 4.84784360e-01 7.27952564e-04 4.87816712e+02] [-4.84784202e-01 8.74633709e-01 -3.91668829e-04 -1.11038692e+02] [-8.26566774e-04 -1.03332614e-05 9.99999658e-01 -3.70717008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters 0.053512096586522985 Centerline is valid? [True, True] Translation: X:487.87, Y:-111.07, Z:-3.71 [[ 8.71781639e-01 4.89892192e-01 1.55361948e-03 4.87871764e+02] [-4.89891477e-01 8.71783023e-01 -8.37761667e-04 -1.11065636e+02] [-1.76483198e-03 -3.07597003e-05 9.99998442e-01 -3.70588646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters 0.05304225766115268 Centerline is valid? [True, True] Translation: X:487.93, Y:-111.09, Z:-3.71 [[ 8.69628773e-01 4.93702986e-01 1.77708452e-03 4.87926317e+02] [-4.93702058e-01 8.69630588e-01 -9.58370216e-04 -1.11093348e+02] [-2.01855730e-03 -4.39239705e-05 9.99997962e-01 -3.70550530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters 0.05420945268265094 Centerline is valid? [True, True] Translation: X:487.98, Y:-111.12, Z:-3.71 [[ 8.68222952e-01 4.96172910e-01 1.16151247e-03 4.87982686e+02] [-4.96172515e-01 8.68223729e-01 -6.26385584e-04 -1.11116400e+02] [-1.31924824e-03 -3.24682209e-05 9.99999129e-01 -3.70770144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters 0.05286267493197037 Centerline is valid? [True, True] Translation: X:488.03, Y:-111.15, Z:-3.71 [[ 8.66120504e-01 4.99835193e-01 -2.28141205e-04 4.88034070e+02] [-4.99835178e-01 8.66120534e-01 1.23144232e-04 -1.11150030e+02] [ 2.59149604e-04 7.37525523e-06 9.99999966e-01 -3.70738026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters 0.05259858844375165 Centerline is valid? [True, True] Translation: X:488.09, Y:-111.18, Z:-3.71 [[ 8.65415940e-01 5.01053677e-01 -6.81435660e-04 4.88088761e+02] [-5.01053542e-01 8.65416208e-01 3.67905708e-04 -1.11179406e+02] [ 7.74065972e-04 2.30442867e-05 9.99999700e-01 -3.70834027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters 0.05365944227073071 Centerline is valid? [True, True] Translation: X:488.14, Y:-111.21, Z:-3.71 [[ 8.66632551e-01 4.98946820e-01 -3.03598784e-04 4.88142444e+02] [-4.98946793e-01 8.66632604e-01 1.63883507e-04 -1.11208222e+02] [ 3.44877759e-04 9.45285795e-06 9.99999940e-01 -3.70901206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters 0.0528372559839205 Centerline is valid? [True, True] Translation: X:488.19, Y:-111.25, Z:-3.71 [[ 8.69879738e-01 4.93262934e-01 9.58481774e-04 4.88190967e+02] [-4.93262664e-01 8.69880266e-01 -5.16886261e-04 -1.11247286e+02] [-1.08872521e-03 -2.31543876e-05 9.99999407e-01 -3.70758808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters 0.05296716377729103 Centerline is valid? [True, True] Translation: X:488.24, Y:-111.28, Z:-3.71 [[ 8.72416404e-01 4.88762522e-01 9.03187450e-04 4.88242288e+02] [-4.88762279e-01 8.72416871e-01 -4.87163096e-04 -1.11280510e+02] [-1.02606303e-03 -1.64348801e-05 9.99999473e-01 -3.70765021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters 0.05313260999032274 Centerline is valid? [True, True] Translation: X:488.29, Y:-111.32, Z:-3.71 [[ 8.76708482e-01 4.81021433e-01 7.86588648e-04 4.88293232e+02] [-4.81021246e-01 8.76708835e-01 -4.24158777e-04 -1.11315880e+02] [-8.93638680e-04 -6.50225481e-06 9.99999601e-01 -3.70909677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters 0.05359757062443315 Centerline is valid? [True, True] Translation: X:488.35, Y:-111.35, Z:-3.71 [[ 8.79703572e-01 4.75521022e-01 1.17609899e-03 4.88345570e+02] [-4.75520599e-01 8.79704358e-01 -6.34208410e-04 -1.11350632e+02] [-1.33619884e-03 -1.34389380e-06 9.99999107e-01 -3.70803065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters 0.05298921657867469 Centerline is valid? [True, True] Translation: X:488.40, Y:-111.39, Z:-3.71 [[ 8.83597887e-01 4.68243567e-01 1.65390021e-03 4.88395449e+02] [-4.68242718e-01 8.83599435e-01 -8.91681938e-04 -1.11387280e+02] [-1.87890962e-03 1.34615489e-05 9.99998235e-01 -3.70944416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters 0.05369848716312402 Centerline is valid? [True, True] Translation: X:488.45, Y:-111.42, Z:-3.71 [[ 8.85438807e-01 4.64752587e-01 1.77527391e-03 4.88449539e+02] [-4.64751600e-01 8.85440587e-01 -9.57843432e-04 -1.11418729e+02] [-2.01705978e-03 2.30503569e-05 9.99997965e-01 -3.70892787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters 0.05344231984337047 Centerline is valid? [True, True] Translation: X:488.50, Y:-111.45, Z:-3.71 [[ 8.86383629e-01 4.62950483e-01 9.54702147e-04 4.88503124e+02] [-4.62950198e-01 8.86384143e-01 -5.14452035e-04 -1.11450639e+02] [-1.08439866e-03 1.40223144e-05 9.99999412e-01 -3.70951473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters 0.05374933832394938 Centerline is valid? [True, True] Translation: X:488.55, Y:-111.48, Z:-3.71 [[ 8.86377536e-01 4.62963000e-01 3.52298609e-04 4.88554792e+02] [-4.62962961e-01 8.86377606e-01 -1.89277422e-04 -1.11482809e+02] [-3.99898041e-04 4.67004715e-06 9.99999920e-01 -3.71162578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters 0.05382205419011002 Centerline is valid? [True, True] Translation: X:488.61, Y:-111.51, Z:-3.71 [[ 8.84748954e-01 4.66066777e-01 1.02359527e-03 4.88610235e+02] [-4.66066450e-01 8.84749546e-01 -5.52549241e-04 -1.11509545e+02] [-1.16315030e-03 1.18039468e-05 9.99999323e-01 -3.71065587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters 0.053573347702961766 Centerline is valid? [True, True] Translation: X:488.67, Y:-111.54, Z:-3.71 [[ 8.82986625e-01 4.69397166e-01 9.59861788e-04 4.88666575e+02] [-4.69396880e-01 8.82987146e-01 -5.18099539e-04 -1.11537183e+02] [-1.09074008e-03 6.91883416e-06 9.99999405e-01 -3.71002893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters 0.05276560553333407 Centerline is valid? [True, True] Translation: X:488.72, Y:-111.56, Z:-3.71 [[ 8.79812242e-01 4.75320783e-01 7.56661587e-04 4.88721459e+02] [-4.75320608e-01 8.79812567e-01 -4.07870172e-04 -1.11564748e+02] [-8.59589543e-04 -8.07675122e-07 9.99999631e-01 -3.71184108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters 0.053015991223393934 Centerline is valid? [True, True] Translation: X:488.78, Y:-111.59, Z:-3.71 [[ 8.77168562e-01 4.80181707e-01 9.18042242e-04 4.88776838e+02] [-4.80181452e-01 8.77169042e-01 -4.95266576e-04 -1.11590494e+02] [-1.04309618e-03 -6.39458648e-06 9.99999456e-01 -3.71274410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters 0.053137935885304424 Centerline is valid? [True, True] Translation: X:488.83, Y:-111.62, Z:-3.71 [[ 8.75760624e-01 4.82743711e-01 1.35618886e-03 4.88832313e+02] [-4.82743156e-01 8.75761674e-01 -7.32258356e-04 -1.11616725e+02] [-1.54119135e-03 -1.34078577e-05 9.99998812e-01 -3.71383215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters 0.0523715579776428 Centerline is valid? [True, True] Translation: X:488.89, Y:-111.65, Z:-3.71 [[ 8.74370807e-01 4.85250263e-01 2.80592173e-03 4.88885344e+02] [-4.85247896e-01 8.74375309e-01 -1.51623441e-03 -1.11648481e+02] [-3.18918183e-03 -3.58165102e-05 9.99994914e-01 -3.71181473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters 0.052703037989596455 Centerline is valid? [True, True] Translation: X:488.94, Y:-111.68, Z:-3.71 [[ 8.73538747e-01 4.86745463e-01 2.98541082e-03 4.88939405e+02] [-4.86742790e-01 8.73543847e-01 -1.61371985e-03 -1.11678902e+02] [-3.39335807e-03 -4.34803716e-05 9.99994242e-01 -3.71177104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters 0.052104978896035783 Centerline is valid? [True, True] Translation: X:488.99, Y:-111.71, Z:-3.71 [[ 8.72471767e-01 4.88658512e-01 2.42356114e-03 4.88994298e+02] [-4.88656758e-01 8.72475132e-01 -1.31025370e-03 -1.11705481e+02] [-2.75476345e-03 -4.11301624e-05 9.99996205e-01 -3.71368333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters 0.05252193102562003 Centerline is valid? [True, True] Translation: X:489.05, Y:-111.73, Z:-3.72 [[ 8.70355096e-01 4.92423474e-01 1.06257965e-03 4.89049852e+02] [-4.92423139e-01 8.70355745e-01 -5.74594492e-04 -1.11729212e+02] [-1.20776612e-03 -2.31375617e-05 9.99999270e-01 -3.71705665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters 0.05202931434289863 Centerline is valid? [True, True] Translation: X:489.10, Y:-111.76, Z:-3.72 [[ 8.68741069e-01 4.95266539e-01 1.05324224e-04 4.89101383e+02] [-4.95266536e-01 8.68741075e-01 -5.68013926e-05 -1.11762258e+02] [-1.19631309e-04 -2.81786086e-06 9.99999993e-01 -3.71704674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters 0.052050565497448874 Centerline is valid? [True, True] Translation: X:489.15, Y:-111.80, Z:-3.72 [[ 8.68424765e-01 4.95820872e-01 -2.99570756e-04 4.89154412e+02] [-4.95820846e-01 8.68424817e-01 1.63081731e-04 -1.11795686e+02] [ 3.41014005e-04 6.90921123e-06 9.99999942e-01 -3.71670585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters 0.05218907699774203 Centerline is valid? [True, True] Translation: X:489.21, Y:-111.83, Z:-3.72 [[ 8.69085669e-01 4.94661382e-01 -4.67001090e-04 4.89206794e+02] [-4.94661317e-01 8.69085794e-01 2.53764116e-04 -1.11828819e+02] [ 5.31391321e-04 1.04646179e-05 9.99999859e-01 -3.71692229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters 0.05182328235983993 Centerline is valid? [True, True] Translation: X:489.26, Y:-111.86, Z:-3.72 [[ 8.69856264e-01 4.93305225e-01 1.86096421e-04 4.89259715e+02] [-4.93305215e-01 8.69856284e-01 -1.00416974e-04 -1.11862430e+02] [-2.11413360e-04 -4.45400163e-06 9.99999978e-01 -3.71670706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters 0.05185482251620194 Centerline is valid? [True, True] Translation: X:489.31, Y:-111.89, Z:-3.72 [[ 8.71291372e-01 4.90765578e-01 7.01849562e-04 4.89311055e+02] [-4.90765431e-01 8.71291655e-01 -3.79877736e-04 -1.11894279e+02] [-7.97946583e-04 -1.34593087e-05 9.99999682e-01 -3.71699255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters 0.05190457880267904 Centerline is valid? [True, True] Translation: X:489.37, Y:-111.92, Z:-3.72 [[ 8.71956759e-01 4.89582481e-01 6.36051095e-04 4.89365519e+02] [-4.89582360e-01 8.71956991e-01 -3.43590025e-04 -1.11922496e+02] [-7.22824856e-04 -1.18037517e-05 9.99999739e-01 -3.71937807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters 0.05252352467053214 Centerline is valid? [True, True] Translation: X:489.42, Y:-111.96, Z:-3.72 [[ 8.72380956e-01 4.88826623e-01 2.28150254e-05 4.89417446e+02] [-4.88826622e-01 8.72380956e-01 -1.14566667e-05 -1.11957071e+02] [-2.55037176e-05 -1.15801393e-06 1.00000000e+00 -3.71926537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters 0.051659073652048006 Centerline is valid? [True, True] Translation: X:489.47, Y:-111.99, Z:-3.72 [[ 8.72400427e-01 4.88791832e-01 -2.00921284e-04 4.89470374e+02] [-4.88791820e-01 8.72400450e-01 1.09970117e-04 -1.11992357e+02] [ 2.29036314e-04 2.27070344e-06 9.99999974e-01 -3.71863639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters 0.05163686398196476 Centerline is valid? [True, True] Translation: X:489.53, Y:-112.02, Z:-3.72 [[ 8.72188121e-01 4.89170550e-01 2.34413566e-04 4.89525129e+02] [-4.89170534e-01 8.72188152e-01 -1.26046665e-04 -1.12022333e+02] [-2.66111052e-04 -4.73180507e-06 9.99999965e-01 -3.71965523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters 0.05128406698242699 Centerline is valid? [True, True] Translation: X:489.58, Y:-112.06, Z:-3.72 [[ 8.73135735e-01 4.87476735e-01 6.48899434e-04 4.89576916e+02] [-4.87476608e-01 8.73135976e-01 -3.50856271e-04 -1.12056476e+02] [-7.37611711e-04 -9.97814723e-06 9.99999728e-01 -3.71858466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters 0.05164957030841447 Centerline is valid? [True, True] Translation: X:489.63, Y:-112.09, Z:-3.72 [[ 8.74722020e-01 4.84623910e-01 1.02697720e-03 4.89630962e+02] [-4.84623590e-01 8.74722622e-01 -5.56537002e-04 -1.12088272e+02] [-1.16803133e-03 -1.08822068e-05 9.99999318e-01 -3.71947951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters 0.05214296823350572 Centerline is valid? [True, True] Translation: X:489.68, Y:-112.12, Z:-3.72 [[ 8.77880543e-01 4.78878294e-01 1.15435939e-03 4.89682589e+02] [-4.78877886e-01 8.77881302e-01 -6.25218025e-04 -1.12121401e+02] [-1.31279386e-03 -3.93044419e-06 9.99999138e-01 -3.72083430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters 0.05207858304553671 Centerline is valid? [True, True] Translation: X:489.74, Y:-112.15, Z:-3.72 [[ 8.80846927e-01 4.73397477e-01 1.87604570e-03 4.89736171e+02] [-4.73396385e-01 8.80848925e-01 -1.01678400e-03 -1.12153926e+02] [-2.13385582e-03 7.51781133e-06 9.99997723e-01 -3.71813271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters 0.051689311690510734 Centerline is valid? [True, True] Translation: X:489.79, Y:-112.19, Z:-3.72 [[ 8.81863729e-01 4.71497210e-01 2.59689981e-03 4.89790221e+02] [-4.71495106e-01 8.81867553e-01 -1.40876406e-03 -1.12185208e+02] [-2.95435001e-03 1.79123769e-05 9.99995636e-01 -3.72067887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters 0.05261501939199341 Centerline is valid? [True, True] Translation: X:489.85, Y:-112.21, Z:-3.72 [[ 8.82719108e-01 4.69894453e-01 2.48573177e-03 4.89846690e+02] [-4.69892519e-01 8.82722608e-01 -1.34818760e-03 -1.12211659e+02] [-2.82771751e-03 2.20441922e-05 9.99996002e-01 -3.71984853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters 0.05164865679470371 Centerline is valid? [True, True] Translation: X:489.90, Y:-112.24, Z:-3.72 [[ 8.83070047e-01 4.69233220e-01 2.73441802e-03 4.89898193e+02] [-4.69230875e-01 8.83074280e-01 -1.48358654e-03 -1.12244064e+02] [-3.11084232e-03 2.70374713e-05 9.99995161e-01 -3.72291981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters 0.05234712413488853 Centerline is valid? [True, True] Translation: X:489.95, Y:-112.27, Z:-3.72 [[ 8.83698564e-01 4.68052339e-01 1.96337886e-03 4.89951899e+02] [-4.68051128e-01 8.83700745e-01 -1.06532908e-03 -1.12273067e+02] [-2.23366913e-03 2.24680857e-05 9.99997505e-01 -3.72440420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters 0.05222591660370299 Centerline is valid? [True, True] Translation: X:490.01, Y:-112.30, Z:-3.72 [[ 8.84121838e-01 4.67253491e-01 1.65836430e-03 4.90008074e+02] [-4.67252625e-01 8.84123394e-01 -8.99886160e-04 -1.12298879e+02] [-1.88667362e-03 2.07339342e-05 9.99998220e-01 -3.72426937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters 0.0530544794349763 Centerline is valid? [True, True] Translation: X:490.06, Y:-112.33, Z:-3.73 [[ 8.83715134e-01 4.68022739e-01 1.50883815e-03 4.90062982e+02] [-4.68022023e-01 8.83716422e-01 -8.19178606e-04 -1.12327092e+02] [-1.71677927e-03 1.77510477e-05 9.99998526e-01 -3.72632480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters 0.05242298982826394 Centerline is valid? [True, True] Translation: X:490.12, Y:-112.36, Z:-3.73 [[ 8.82895336e-01 4.69568357e-01 1.17624122e-03 4.90116919e+02] [-4.69567923e-01 8.82896119e-01 -6.38555342e-04 -1.12355168e+02] [-1.33834419e-03 1.14523846e-05 9.99999104e-01 -3.72825089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters 0.05245582670439536 Centerline is valid? [True, True] Translation: X:490.18, Y:-112.38, Z:-3.73 [[ 8.81823581e-01 4.71577283e-01 1.42782641e-03 4.90175305e+02] [-4.71576646e-01 8.81824736e-01 -7.75555025e-04 -1.12378893e+02] [-1.62482678e-03 1.05731188e-05 9.99998680e-01 -3.72553798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters 0.052352674621819195 Centerline is valid? [True, True] Translation: X:490.23, Y:-112.41, Z:-3.73 [[ 8.80624229e-01 4.73811944e-01 1.79132461e-03 4.90230406e+02] [-4.73810945e-01 8.80626051e-01 -9.73178213e-04 -1.12408453e+02] [-2.03859058e-03 8.25510584e-06 9.99997922e-01 -3.72833488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters 0.052682874424444526 Centerline is valid? [True, True] Translation: X:490.29, Y:-112.43, Z:-3.73 [[ 8.78650556e-01 4.77461603e-01 1.90222513e-03 4.90286942e+02] [-4.77460485e-01 8.78652615e-01 -1.03310151e-03 -1.12434992e+02] [-2.16466139e-03 -5.02119437e-07 9.99997657e-01 -3.72868864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters 0.05231426431928801 Centerline is valid? [True, True] Translation: X:490.34, Y:-112.46, Z:-3.73 [[ 8.77028517e-01 4.80436613e-01 1.28080544e-03 4.90343242e+02] [-4.80436110e-01 8.77029452e-01 -6.95482278e-04 -1.12462248e+02] [-1.45743924e-03 -5.38739071e-06 9.99998938e-01 -3.72927182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters 0.05255061951815626 Centerline is valid? [True, True] Translation: X:490.40, Y:-112.49, Z:-3.73 [[ 8.74254060e-01 4.85468337e-01 5.75664232e-04 4.90400015e+02] [-4.85468237e-01 8.74254250e-01 -3.12590882e-04 -1.12486438e+02] [-6.55029877e-04 -6.18285151e-06 9.99999785e-01 -3.73139780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters 0.051482367821203814 Centerline is valid? [True, True] Translation: X:490.46, Y:-112.51, Z:-3.73 [[ 8.71954078e-01 4.89587647e-01 1.49340017e-04 4.90455705e+02] [-4.89587640e-01 8.71954090e-01 -8.03547399e-05 -1.12513311e+02] [-1.69558327e-04 -3.04938357e-06 9.99999986e-01 -3.73175812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters 0.05166011470593417 Centerline is valid? [True, True] Translation: X:490.51, Y:-112.54, Z:-3.73 [[ 8.70771059e-01 4.91688666e-01 1.35210146e-04 4.90511115e+02] [-4.91688660e-01 8.70771070e-01 -7.32875790e-05 -1.12541541e+02] [-1.53771756e-04 -2.66459275e-06 9.99999988e-01 -3.73264654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters 0.05166006175447368 Centerline is valid? [True, True] Translation: X:490.57, Y:-112.57, Z:-3.73 [[ 8.69441579e-01 4.94035679e-01 2.98958509e-04 4.90566464e+02] [-4.94035652e-01 8.69441630e-01 -1.62383386e-04 -1.12570553e+02] [-3.40150160e-04 -6.51329491e-06 9.99999942e-01 -3.73235150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters 0.0517709315304905 Centerline is valid? [True, True] Translation: X:490.62, Y:-112.60, Z:-3.73 [[ 8.68564066e-01 4.95576898e-01 -3.83085558e-05 4.90621731e+02] [-4.95576898e-01 8.68564067e-01 2.11142159e-05 -1.12599726e+02] [ 4.37371525e-05 6.45786012e-07 9.99999999e-01 -3.73274644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters 0.05227044832414748 Centerline is valid? [True, True] Translation: X:490.68, Y:-112.63, Z:-3.73 [[ 8.67477907e-01 4.97475050e-01 -8.10049694e-04 4.90677031e+02] [-4.97474854e-01 8.67478285e-01 4.41736075e-04 -1.12626293e+02] [ 9.22453195e-04 1.97830676e-05 9.99999574e-01 -3.73438486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters 0.0521984349498373 Centerline is valid? [True, True] Translation: X:490.73, Y:-112.66, Z:-3.73 [[ 8.66981181e-01 4.98340215e-01 -8.13654278e-04 4.90731608e+02] [-4.98340018e-01 8.66981562e-01 4.43860867e-04 -1.12655740e+02] [ 9.26616977e-04 2.06574686e-05 9.99999570e-01 -3.73450509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters 0.052213658361578194 Centerline is valid? [True, True] Translation: X:490.79, Y:-112.68, Z:-3.73 [[ 8.67292647e-01 4.97798615e-01 5.44666507e-05 4.90786129e+02] [-4.97798614e-01 8.67292649e-01 -2.88131373e-05 -1.12683656e+02] [-6.15816658e-05 -2.12400103e-06 9.99999998e-01 -3.73398934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters 0.0516474843624774 Centerline is valid? [True, True] Translation: X:490.84, Y:-112.72, Z:-3.73 [[ 8.68005882e-01 4.96549459e-01 2.10296305e-03 4.90836963e+02] [-4.96548143e-01 8.68008428e-01 -1.14469300e-03 -1.12718757e+02] [-2.39378634e-03 -5.06221434e-05 9.99997134e-01 -3.73147995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters 0.052026208075238826 Centerline is valid? [True, True] Translation: X:490.89, Y:-112.75, Z:-3.73 [[ 8.68253761e-01 4.96117095e-01 1.79849749e-03 4.90891587e+02] [-4.96116131e-01 8.68255623e-01 -9.78844977e-04 -1.12746379e+02] [-2.04717729e-03 -4.23777849e-05 9.99997904e-01 -3.73233970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters 0.052347464051695665 Centerline is valid? [True, True] Translation: X:490.95, Y:-112.77, Z:-3.73 [[ 8.68327411e-01 4.95990229e-01 1.09575724e-03 4.90947998e+02] [-4.95989872e-01 8.68328102e-01 -5.96075746e-04 -1.12773086e+02] [-1.24712455e-03 -2.58955863e-05 9.99999222e-01 -3.73433812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters 0.05209628935137065 Centerline is valid? [True, True] Translation: X:491.00, Y:-112.80, Z:-3.74 [[ 8.68643077e-01 4.95438007e-01 6.20282479e-04 4.91002660e+02] [-4.95437893e-01 8.68643299e-01 -3.37159550e-04 -1.12802064e+02] [-7.05845875e-04 -1.44401352e-05 9.99999751e-01 -3.73557375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters 0.05247309505780519 Centerline is valid? [True, True] Translation: X:491.06, Y:-112.83, Z:-3.74 [[ 8.68998672e-01 4.94813686e-01 8.51514182e-04 4.91057636e+02] [-4.94813469e-01 8.68999089e-01 -4.63378633e-04 -1.12829043e+02] [-9.69251138e-04 -1.86652701e-05 9.99999530e-01 -3.73586452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters 0.05278668061783412 Centerline is valid? [True, True] Translation: X:491.11, Y:-112.86, Z:-3.74 [[ 8.69251793e-01 4.94368083e-01 1.23234269e-03 4.91112300e+02] [-4.94367628e-01 8.69252666e-01 -6.71176010e-04 -1.12855852e+02] [-1.40302517e-03 -2.58093824e-05 9.99999015e-01 -3.73627838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters 0.05250002048395181 Centerline is valid? [True, True] Translation: X:491.17, Y:-112.89, Z:-3.74 [[ 8.69579480e-01 4.93789884e-01 1.75426637e-03 4.91166085e+02] [-4.93788960e-01 8.69581249e-01 -9.55959248e-04 -1.12886486e+02] [-1.99752014e-03 -3.49548187e-05 9.99998004e-01 -3.73616356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters 0.052192696371770056 Centerline is valid? [True, True] Translation: X:491.22, Y:-112.92, Z:-3.74 [[ 8.69223615e-01 4.94413270e-01 2.41341658e-03 4.91220846e+02] [-4.94411522e-01 8.69226964e-01 -1.31581686e-03 -1.12916146e+02] [-2.74836409e-03 -4.94818804e-05 9.99996222e-01 -3.73530655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters 0.052042117875374966 Centerline is valid? [True, True] Translation: X:491.28, Y:-112.95, Z:-3.74 [[ 8.68524525e-01 4.95638176e-01 2.81904607e-03 4.91275095e+02] [-4.95635795e-01 8.68529098e-01 -1.53755532e-03 -1.12945407e+02] [-3.21049465e-03 -6.18156336e-05 9.99994844e-01 -3.73526672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters 0.05290705852009895 Centerline is valid? [True, True] Translation: X:491.33, Y:-112.97, Z:-3.74 [[ 8.67763033e-01 4.96968391e-01 3.12033223e-03 4.91331599e+02] [-4.96965480e-01 8.67768640e-01 -1.70261142e-03 -1.12970053e+02] [-3.55387051e-03 -7.32341490e-05 9.99993682e-01 -3.73587938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters 0.052748160643723535 Centerline is valid? [True, True] Translation: X:491.39, Y:-113.00, Z:-3.74 [[ 8.67233038e-01 4.97891522e-01 3.29998263e-03 4.91387115e+02] [-4.97888272e-01 8.67239313e-01 -1.80070091e-03 -1.12997880e+02] [-3.75842839e-03 -8.13953257e-05 9.99992934e-01 -3.73641725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters 0.05284320586167244 Centerline is valid? [True, True] Translation: X:491.44, Y:-113.02, Z:-3.74 [[ 8.66971449e-01 4.98345303e-01 3.53059367e-03 4.91444154e+02] [-4.98341585e-01 8.66978633e-01 -1.92714080e-03 -1.13020677e+02] [-4.02133085e-03 -8.86655939e-05 9.99991910e-01 -3.73745680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters 0.053531223935591565 Centerline is valid? [True, True] Translation: X:491.50, Y:-113.05, Z:-3.74 [[ 8.67392238e-01 4.97614168e-01 3.29305933e-03 4.91498629e+02] [-4.97610926e-01 8.67398486e-01 -1.79812429e-03 -1.13051706e+02] [-3.75116680e-03 -7.89832523e-05 9.99992961e-01 -3.73829291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters 0.052412074484278114 Centerline is valid? [True, True] Translation: X:491.55, Y:-113.08, Z:-3.74 [[ 8.69265357e-01 4.94340203e-01 2.34577169e-03 4.91551117e+02] [-4.94338545e-01 8.69268521e-01 -1.28097362e-03 -1.13084494e+02] [-2.67234225e-03 -4.60993734e-05 9.99996428e-01 -3.73919336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters 0.05296757758601437 Centerline is valid? [True, True] Translation: X:491.61, Y:-113.11, Z:-3.74 [[ 8.71440776e-01 4.90496688e-01 1.99290336e-03 4.91605013e+02] [-4.90495482e-01 8.71443055e-01 -1.08840610e-03 -1.13111881e+02] [-2.27056138e-03 -2.90286305e-05 9.99997422e-01 -3.74101550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters 0.05278087496801353 Centerline is valid? [True, True] Translation: X:491.66, Y:-113.15, Z:-3.74 [[ 8.72800848e-01 4.88071924e-01 2.11554075e-03 4.91657971e+02] [-4.88070558e-01 8.72803412e-01 -1.15522041e-03 -1.13145350e+02] [-2.41028183e-03 -2.42558023e-05 9.99997095e-01 -3.74001979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters 0.05298465204260288 Centerline is valid? [True, True] Translation: X:491.71, Y:-113.17, Z:-3.74 [[ 8.73876041e-01 4.86138988e-01 3.09018303e-03 4.91712786e+02] [-4.86136060e-01 8.73881504e-01 -1.68743881e-03 -1.13173633e+02] [-3.52078359e-03 -2.76370568e-05 9.99993802e-01 -3.74124914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters 0.05319655444200561 Centerline is valid? [True, True] Translation: X:491.77, Y:-113.20, Z:-3.74 [[ 8.74327597e-01 4.85323717e-01 3.48471029e-03 4.91767583e+02] [-4.85319985e-01 8.74334541e-01 -1.90354040e-03 -1.13203474e+02] [-3.97063588e-03 -2.68816417e-05 9.99992117e-01 -3.74144890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters 0.05268243136528043 Centerline is valid? [True, True] Translation: X:491.82, Y:-113.23, Z:-3.74 [[ 8.74839558e-01 4.84397514e-01 3.84650135e-03 4.91822511e+02] [-4.84392954e-01 8.74848014e-01 -2.10207482e-03 -1.13233162e+02] [-4.38334388e-03 -2.42399455e-05 9.99990393e-01 -3.74216037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters 0.05269189422477323 Centerline is valid? [True, True] Translation: X:491.88, Y:-113.26, Z:-3.74 [[ 8.74748364e-01 4.84565498e-01 3.40258118e-03 4.91876624e+02] [-4.84561931e-01 8.74754982e-01 -1.85929103e-03 -1.13262619e+02] [-3.87737312e-03 -2.23495131e-05 9.99992483e-01 -3.74231945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters 0.05259390389354706 Centerline is valid? [True, True] Translation: X:491.93, Y:-113.29, Z:-3.74 [[ 8.74604574e-01 4.84824669e-01 3.44656793e-03 4.91932521e+02] [-4.84821009e-01 8.74611365e-01 -1.88414818e-03 -1.13292462e+02] [-3.92788900e-03 -2.30839219e-05 9.99992286e-01 -3.74333564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters 0.05319401885269478 Centerline is valid? [True, True] Translation: X:491.99, Y:-113.32, Z:-3.74 [[ 8.74053760e-01 4.85822400e-01 2.57310408e-03 4.91985719e+02] [-4.85820364e-01 8.74057547e-01 -1.40646632e-03 -1.13322449e+02] [-2.93233389e-03 -2.07391891e-05 9.99995700e-01 -3.74282446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters 0.05314622868159717 Centerline is valid? [True, True] Translation: X:492.04, Y:-113.35, Z:-3.75 [[ 8.73273426e-01 4.87227479e-01 1.70519184e-03 4.92042609e+02] [-4.87226587e-01 8.73275090e-01 -9.32291654e-04 -1.13348643e+02] [-1.94333967e-03 -1.66692748e-05 9.99998112e-01 -3.74547554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters 0.053169295364668905 Centerline is valid? [True, True] Translation: X:492.10, Y:-113.38, Z:-3.75 [[ 8.72982095e-01 4.87749857e-01 1.52905142e-03 4.92098191e+02] [-4.87749142e-01 8.72983434e-01 -8.35599617e-04 -1.13378533e+02] [-1.74240016e-03 -1.63300161e-05 9.99998482e-01 -3.74582836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters 0.05300120105978952 Centerline is valid? [True, True] Translation: X:492.15, Y:-113.41, Z:-3.75 [[ 8.73333547e-01 4.87119915e-01 1.64454755e-03 4.92152608e+02] [-4.87119085e-01 8.73335095e-01 -8.99246558e-04 -1.13407165e+02] [-1.87428200e-03 -1.57483140e-05 9.99998243e-01 -3.74646488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters 0.05279855311715834 Centerline is valid? [True, True] Translation: X:492.21, Y:-113.44, Z:-3.74 [[ 8.74761453e-01 4.84548581e-01 2.25233678e-03 4.92205491e+02] [-4.84547014e-01 8.74764353e-01 -1.23217864e-03 -1.13439527e+02] [-2.56731434e-03 -1.35006872e-05 9.99996704e-01 -3.74475381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters 0.05343609447909965 Centerline is valid? [True, True] Translation: X:492.26, Y:-113.47, Z:-3.75 [[ 8.75731052e-01 4.82792222e-01 2.60664875e-03 4.92259131e+02] [-4.82790114e-01 8.75734932e-01 -1.42659787e-03 -1.13468502e+02] [-2.97148372e-03 -9.14819951e-06 9.99995585e-01 -3.74676016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters 0.05334872984142055 Centerline is valid? [True, True] Translation: X:492.31, Y:-113.50, Z:-3.75 [[ 8.76483483e-01 4.81426709e-01 2.24239306e-03 4.92313523e+02] [-4.81425144e-01 8.76486351e-01 -1.22769046e-03 -1.13499754e+02] [-2.55646989e-03 -3.49398811e-06 9.99996732e-01 -3.74584830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters 0.053611612014053685 Centerline is valid? [True, True] Translation: X:492.37, Y:-113.53, Z:-3.75 [[ 8.76112984e-01 4.82103266e-01 1.57489475e-03 4.92368595e+02] [-4.82102495e-01 8.76114400e-01 -8.61784812e-04 -1.13528542e+02] [-1.79525724e-03 -4.23982486e-06 9.99998389e-01 -3.74883122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters 0.05332480978756446 Centerline is valid? [True, True] Translation: X:492.42, Y:-113.56, Z:-3.75 [[ 8.74877378e-01 4.84344456e-01 1.46371413e-04 4.92423574e+02] [-4.84344449e-01 8.74877390e-01 -7.92306027e-05 -1.13557810e+02] [-1.66431943e-04 -1.57711942e-06 9.99999986e-01 -3.74788945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters 0.053020296050116246 Centerline is valid? [True, True] Translation: X:492.48, Y:-113.59, Z:-3.75 [[ 8.73104463e-01 4.87533002e-01 -4.10166956e-04 4.92476984e+02] [-4.87532950e-01 8.73104560e-01 2.25757305e-04 -1.13587568e+02] [ 4.68182776e-04 2.86019516e-06 9.99999890e-01 -3.74717700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters 0.05351779604867007 Centerline is valid? [True, True] Translation: X:492.53, Y:-113.62, Z:-3.75 [[ 8.72208975e-01 4.89133212e-01 -4.52276884e-04 4.92531945e+02] [-4.89133148e-01 8.72209093e-01 2.48973069e-04 -1.13615607e+02] [ 5.16261007e-04 4.06707098e-06 9.99999867e-01 -3.74879352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters 0.05313371113207489 Centerline is valid? [True, True] Translation: X:492.59, Y:-113.64, Z:-3.75 [[ 8.71830289e-01 4.89807875e-01 4.37720346e-04 4.92587939e+02] [-4.89807817e-01 8.71830399e-01 -2.39033547e-04 -1.13642864e+02] [-4.98698418e-04 -6.00216050e-06 9.99999876e-01 -3.75120576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters 0.05286653665175815 Centerline is valid? [True, True] Translation: X:492.64, Y:-113.67, Z:-3.75 [[ 8.72269773e-01 4.89024356e-01 7.88704755e-04 4.92641872e+02] [-4.89024166e-01 8.72270130e-01 -4.31809171e-04 -1.13674314e+02] [-8.99128801e-04 -9.04159751e-06 9.99999596e-01 -3.75102088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters 0.053160255911118684 Centerline is valid? [True, True] Translation: X:492.69, Y:-113.71, Z:-3.75 [[ 8.73582619e-01 4.86672737e-01 1.74764745e-03 4.92694718e+02] [-4.86671793e-01 8.73584367e-01 -9.58562593e-04 -1.13708458e+02] [-1.99322377e-03 -1.31470974e-05 9.99998013e-01 -3.74915522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters 0.052961798625565604 Centerline is valid? [True, True] Translation: X:492.75, Y:-113.74, Z:-3.75 [[ 8.75160300e-01 4.83830330e-01 1.63104069e-03 4.92747701e+02] [-4.83829503e-01 8.75161820e-01 -8.94657035e-04 -1.13741559e+02] [-1.86028675e-03 -6.17728912e-06 9.99998270e-01 -3.74903876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters 0.05322305776605729 Centerline is valid? [True, True] Translation: X:492.80, Y:-113.77, Z:-3.75 [[ 8.76196463e-01 4.81953898e-01 4.45883919e-04 4.92800734e+02] [-4.81953836e-01 8.76196576e-01 -2.43716782e-04 -1.13773063e+02] [-5.08142216e-04 -1.35168311e-06 9.99999871e-01 -3.75037391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters 0.053480092080471685 Centerline is valid? [True, True] Translation: X:492.85, Y:-113.81, Z:-3.75 [[ 8.77831647e-01 4.78966637e-01 -1.59991911e-03 4.92853635e+02] [-4.78965832e-01 8.77833105e-01 8.78607528e-04 -1.13806129e+02] [ 1.82528566e-03 -4.96290420e-06 9.99998334e-01 -3.75116746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters 0.053820412730503725 Centerline is valid? [True, True] Translation: X:492.91, Y:-113.84, Z:-3.75 [[ 8.78629984e-01 4.77497552e-01 -2.33218156e-03 4.92907186e+02] [-4.77495833e-01 8.78633079e-01 1.28156766e-03 -1.13837624e+02] [ 2.66107729e-03 -1.24167981e-05 9.99996459e-01 -3.75101764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters 0.054268362925527024 Centerline is valid? [True, True] Translation: X:492.96, Y:-113.87, Z:-3.75 [[ 8.79286971e-01 4.76287769e-01 -2.09383209e-03 4.92962190e+02] [-4.76286378e-01 8.79289464e-01 1.15125169e-03 -1.13869320e+02] [ 2.38941159e-03 -1.50169081e-05 9.99997145e-01 -3.74812228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters 0.05345747801162373 Centerline is valid? [True, True] Translation: X:493.01, Y:-113.90, Z:-3.75 [[ 8.79313658e-01 4.76241585e-01 -1.20100107e-03 4.93014231e+02] [-4.76241127e-01 8.79314479e-01 6.60874116e-04 -1.13901697e+02] [ 1.37079337e-03 -9.14953235e-06 9.99999060e-01 -3.74975750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters 0.0536457161586726 Centerline is valid? [True, True] Translation: X:493.07, Y:-113.93, Z:-3.75 [[ 8.78403059e-01 4.77920258e-01 -5.40762901e-04 4.93068399e+02] [-4.77920166e-01 8.78403226e-01 2.97715734e-04 -1.13930662e+02] [ 6.17292257e-04 -3.07291609e-06 9.99999809e-01 -3.74597305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters 0.053592688928253515 Centerline is valid? [True, True] Translation: X:493.12, Y:-113.96, Z:-3.75 [[ 8.77186012e-01 4.80150357e-01 -5.79089639e-04 4.93122387e+02] [-4.80150251e-01 8.77186203e-01 3.19158122e-04 -1.13960430e+02] [ 6.61213328e-04 -1.91100449e-06 9.99999781e-01 -3.74691300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters 0.053230189318938526 Centerline is valid? [True, True] Translation: X:493.18, Y:-113.99, Z:-3.75 [[ 8.74662986e-01 4.84729165e-01 -1.51597673e-03 4.93177153e+02] [-4.84728446e-01 8.74664300e-01 8.34454005e-04 -1.13988729e+02] [ 1.73045492e-03 4.97101478e-06 9.99998503e-01 -3.74861445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters 0.05363906233707078 Centerline is valid? [True, True] Translation: X:493.23, Y:-114.02, Z:-3.75 [[ 8.72284139e-01 4.88994013e-01 -2.28816148e-03 4.93232077e+02] [-4.88992394e-01 8.72287140e-01 1.25869202e-03 -1.14015071e+02] [ 2.61142669e-03 2.09564777e-05 9.99996590e-01 -3.75107344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters 0.05302352410971324 Centerline is valid? [True, True] Translation: X:493.29, Y:-114.05, Z:-3.75 [[ 8.71599108e-01 4.90212138e-01 -2.65606408e-03 4.93285223e+02] [-4.90209959e-01 8.71603155e-01 1.46189263e-03 -1.14046803e+02] [ 3.03167134e-03 2.78447552e-05 9.99995404e-01 -3.74880217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters 0.052775137159492946 Centerline is valid? [True, True] Translation: X:493.34, Y:-114.08, Z:-3.75 [[ 8.72190673e-01 4.89163176e-01 -1.67826649e-03 4.93339497e+02] [-4.89162303e-01 8.72192288e-01 9.24323515e-04 -1.14075824e+02] [ 1.91591612e-03 1.47583532e-05 9.99998165e-01 -3.75195723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters 0.05328716883258682 Centerline is valid? [True, True] Translation: X:493.39, Y:-114.11, Z:-3.75 [[ 8.73457785e-01 4.86898518e-01 -1.15399142e-03 4.93392007e+02] [-4.86898103e-01 8.73458547e-01 6.35985328e-04 -1.14109190e+02] [ 1.31762398e-03 6.36989512e-06 9.99999132e-01 -3.75141153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters 0.05263732381231562 Centerline is valid? [True, True] Translation: X:493.44, Y:-114.14, Z:-3.75 [[ 8.76157997e-01 4.82021632e-01 -1.52008706e-03 4.93443220e+02] [-4.82020906e-01 8.76159315e-01 8.36953789e-04 -1.14144811e+02] [ 1.73526827e-03 -5.90011944e-07 9.99998494e-01 -3.75156665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters 0.05313660205931961 Centerline is valid? [True, True] Translation: X:493.49, Y:-114.18, Z:-3.75 [[ 8.79061859e-01 4.76703751e-01 -1.94491845e-03 4.93494576e+02] [-4.76702546e-01 8.79064010e-01 1.07173057e-03 -1.14179531e+02] [ 2.22060579e-03 -1.49698877e-05 9.99997534e-01 -3.75134532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters 0.05366845971012953 Centerline is valid? [True, True] Translation: X:493.55, Y:-114.21, Z:-3.75 [[ 8.80953290e-01 4.73199250e-01 -1.94180151e-03 4.93545890e+02] [-4.73198042e-01 8.80955430e-01 1.06966639e-03 -1.14212154e+02] [ 2.21680591e-03 -2.34694520e-05 9.99997543e-01 -3.75071496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters 0.053847941795141234 Centerline is valid? [True, True] Translation: X:493.60, Y:-114.24, Z:-3.75 [[ 8.82666426e-01 4.69996234e-01 -1.87637403e-03 4.93599592e+02] [-4.69995099e-01 8.82668420e-01 1.03349921e-03 -1.14243673e+02] [ 2.14195684e-03 -3.03484509e-05 9.99997706e-01 -3.75011758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters 0.05399405276958847 Centerline is valid? [True, True] Translation: X:493.65, Y:-114.27, Z:-3.75 [[ 8.84084135e-01 4.67324540e-01 -1.73680676e-03 4.93654354e+02] [-4.67323562e-01 8.84085841e-01 9.56715274e-04 -1.14273004e+02] [ 1.98258279e-03 -3.41660766e-05 9.99998034e-01 -3.74927219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters 0.053603920658448635 Centerline is valid? [True, True] Translation: X:493.70, Y:-114.31, Z:-3.75 [[ 8.85008949e-01 4.65572569e-01 -1.15905982e-03 4.93704453e+02] [-4.65572132e-01 8.85009707e-01 6.38749823e-04 -1.14307847e+02] [ 1.32316359e-03 -2.56733575e-05 9.99999124e-01 -3.75245079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters 0.05422785608018166 Centerline is valid? [True, True] Translation: X:493.76, Y:-114.34, Z:-3.75 [[ 8.85275134e-01 4.65066512e-01 -1.03792163e-03 4.93755415e+02] [-4.65066160e-01 8.85275742e-01 5.72629884e-04 -1.14341602e+02] [ 1.18515782e-03 -2.42327711e-05 9.99999297e-01 -3.75402275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters 0.0541710001770203 Centerline is valid? [True, True] Translation: X:493.81, Y:-114.37, Z:-3.75 [[ 8.83835979e-01 4.67796441e-01 -6.71826351e-04 4.93810375e+02] [-4.67796295e-01 8.83836235e-01 3.70478191e-04 -1.14369714e+02] [ 7.67092851e-04 -1.31640771e-05 9.99999706e-01 -3.75318104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters 0.05356874352876333 Centerline is valid? [True, True] Translation: X:493.86, Y:-114.40, Z:-3.75 [[ 8.82206203e-01 4.70863166e-01 -3.07573482e-04 4.93863438e+02] [-4.70863135e-01 8.82206257e-01 1.69531140e-04 -1.14398407e+02] [ 3.51169219e-04 -4.73640894e-06 9.99999938e-01 -3.75378900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters 0.05376347536491848 Centerline is valid? [True, True] Translation: X:493.92, Y:-114.43, Z:-3.76 [[ 8.78786304e-01 4.77215390e-01 3.20645975e-04 4.93919133e+02] [-4.77215357e-01 8.78786363e-01 -1.76341364e-04 -1.14425358e+02] [-3.65932123e-04 1.94919195e-06 9.99999933e-01 -3.75508862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters 0.052700355301103896 Centerline is valid? [True, True] Translation: X:493.97, Y:-114.45, Z:-3.76 [[ 8.76248055e-01 4.81859929e-01 -5.94802446e-04 4.93974274e+02] [-4.81859818e-01 8.76248257e-01 3.28344029e-04 -1.14452541e+02] [ 6.79410437e-04 -1.09941851e-06 9.99999769e-01 -3.75676860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters 0.05301178640193988 Centerline is valid? [True, True] Translation: X:494.03, Y:-114.48, Z:-3.76 [[ 8.72018219e-01 4.89471217e-01 -1.46749699e-03 4.94030899e+02] [-4.89470548e-01 8.72019454e-01 8.09059706e-04 -1.14478441e+02] [ 1.67569736e-03 1.27817533e-05 9.99998596e-01 -3.75585324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters 0.05283571532459656 Centerline is valid? [True, True] Translation: X:494.09, Y:-114.51, Z:-3.76 [[ 8.68999620e-01 4.94808989e-01 -1.92985419e-03 4.94085042e+02] [-4.94807845e-01 8.69001762e-01 1.06463838e-03 -1.14506547e+02] [ 2.20383933e-03 2.97366425e-05 9.99997571e-01 -3.75522745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters 0.05258497352426122 Centerline is valid? [True, True] Translation: X:494.14, Y:-114.53, Z:-3.76 [[ 8.65196834e-01 5.01427817e-01 -2.14076030e-03 4.94139507e+02] [-5.01426431e-01 8.65199481e-01 1.18050160e-03 -1.14533510e+02] [ 2.44412104e-03 5.20675486e-05 9.99997012e-01 -3.75564914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters 0.052277374039714955 Centerline is valid? [True, True] Translation: X:494.19, Y:-114.57, Z:-3.75 [[ 8.63509819e-01 5.04329464e-01 -1.60779166e-03 4.94192311e+02] [-5.04328686e-01 8.63511314e-01 8.86764855e-04 -1.14565124e+02] [ 1.83556793e-03 4.51252965e-05 9.99998314e-01 -3.75462894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters 0.05272706150107791 Centerline is valid? [True, True] Translation: X:494.25, Y:-114.59, Z:-3.76 [[ 8.61622262e-01 5.07549873e-01 -4.51984767e-04 4.94248585e+02] [-5.07549812e-01 8.61622380e-01 2.49260705e-04 -1.14587603e+02] [ 5.15952429e-04 1.46362112e-05 9.99999867e-01 -3.75565778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters 0.05305203631260332 Centerline is valid? [True, True] Translation: X:494.30, Y:-114.62, Z:-3.76 [[ 8.59711551e-01 5.10779727e-01 -3.45563837e-04 4.94302153e+02] [-5.10779691e-01 8.59711621e-01 1.90688324e-04 -1.14616344e+02] [ 3.94484976e-04 1.25700354e-05 9.99999922e-01 -3.75586654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters 0.054142045668522994 Centerline is valid? [True, True] Translation: X:494.36, Y:-114.64, Z:-3.76 [[ 8.58591463e-01 5.12659813e-01 -7.84854556e-04 4.94359200e+02] [-5.12659631e-01 8.58591821e-01 4.33266094e-04 -1.14638129e+02] [ 8.95987817e-04 3.03646769e-05 9.99999598e-01 -3.75842919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters 0.052311700157371424 Centerline is valid? [True, True] Translation: X:494.41, Y:-114.68, Z:-3.76 [[ 8.57083590e-01 5.15173815e-01 -1.91285339e-03 4.94407094e+02] [-5.15172740e-01 8.57085721e-01 1.05584700e-03 -1.14678088e+02] [ 2.18342406e-03 8.05007869e-05 9.99997613e-01 -3.75666024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters 0.05206271839208549 Centerline is valid? [True, True] Translation: X:494.46, Y:-114.71, Z:-3.76 [[ 8.56900739e-01 5.15475199e-01 -2.53828339e-03 4.94459599e+02] [-5.15473305e-01 8.56904492e-01 1.40132769e-03 -1.14710827e+02] [ 2.89741610e-03 1.07618599e-04 9.99995797e-01 -3.75727619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters 0.052731930068266306 Centerline is valid? [True, True] Translation: X:494.52, Y:-114.73, Z:-3.76 [[ 8.57121143e-01 5.15109935e-01 -2.25856793e-03 4.94516081e+02] [-5.15108435e-01 8.57124114e-01 1.24679337e-03 -1.14734599e+02] [ 2.57810869e-03 9.47544313e-05 9.99996672e-01 -3.75976810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters 0.052910838362447664 Centerline is valid? [True, True] Translation: X:494.57, Y:-114.77, Z:-3.76 [[ 8.57577159e-01 5.14353158e-01 -1.49848086e-03 4.94566928e+02] [-5.14352496e-01 8.57578466e-01 8.27675687e-04 -1.14769844e+02] [ 1.71078252e-03 6.09516047e-05 9.99998535e-01 -3.75870709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters 0.0531868259751763 Centerline is valid? [True, True] Translation: X:494.62, Y:-114.80, Z:-3.76 [[ 8.58339344e-01 5.13082217e-01 -4.57022043e-04 4.94620754e+02] [-5.13082155e-01 8.58339466e-01 2.52367904e-04 -1.14798099e+02] [ 5.21765539e-04 1.78725535e-05 9.99999864e-01 -3.75986186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters 0.053468396526474504 Centerline is valid? [True, True] Translation: X:494.67, Y:-114.82, Z:-3.76 [[ 8.58813179e-01 5.12288899e-01 -9.14150333e-05 4.94674866e+02] [-5.12288896e-01 8.58813184e-01 5.08240404e-05 -1.14824391e+02] [ 1.04545027e-04 3.18255081e-06 9.99999995e-01 -3.76146944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters 0.05324002532570773 Centerline is valid? [True, True] Translation: X:494.73, Y:-114.85, Z:-3.76 [[ 8.58433404e-01 5.12924968e-01 -2.60517249e-04 4.94729576e+02] [-5.12924948e-01 8.58433443e-01 1.44697787e-04 -1.14854478e+02] [ 2.97855827e-04 9.41238284e-06 9.99999956e-01 -3.76124581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters 0.05403282960623145 Centerline is valid? [True, True] Translation: X:494.79, Y:-114.88, Z:-3.76 [[ 8.56950425e-01 5.15398807e-01 -1.96831176e-04 4.94786055e+02] [-5.15398795e-01 8.56950448e-01 1.08764944e-04 -1.14878334e+02] [ 2.24731886e-04 8.24038607e-06 9.99999975e-01 -3.76279693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters 0.05295002102769949 Centerline is valid? [True, True] Translation: X:494.84, Y:-114.91, Z:-3.76 [[ 8.55148440e-01 5.18383194e-01 -1.02345066e-04 4.94837128e+02] [-5.18383191e-01 8.55148446e-01 5.66316175e-05 -1.14913339e+02] [ 1.16877103e-04 4.62552276e-06 9.99999993e-01 -3.76282245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters 0.0534800667630775 Centerline is valid? [True, True] Translation: X:494.89, Y:-114.94, Z:-3.76 [[ 8.54733748e-01 5.19065529e-01 -1.09363368e-03 4.94893152e+02] [-5.19065180e-01 8.54734446e-01 6.04785768e-04 -1.14938780e+02] [ 1.24868983e-03 5.07363578e-05 9.99999219e-01 -3.76443078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters 0.05189960097835588 Centerline is valid? [True, True] Translation: X:494.94, Y:-114.98, Z:-3.76 [[ 8.54529336e-01 5.19402489e-01 -8.17995709e-04 4.94943299e+02] [-5.19402293e-01 8.54529726e-01 4.52758274e-04 -1.14977355e+02] [ 9.34165423e-04 3.79736195e-05 9.99999563e-01 -3.76244950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters 0.052953462610195276 Centerline is valid? [True, True] Translation: X:495.00, Y:-115.00, Z:-3.76 [[ 8.54748824e-01 5.19041852e-01 -6.15796733e-05 4.95001511e+02] [-5.19041851e-01 8.54748826e-01 3.49095231e-05 -1.14999469e+02] [ 7.07546568e-05 2.12355379e-06 9.99999997e-01 -3.76433070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters 0.053323544638336606 Centerline is valid? [True, True] Translation: X:495.06, Y:-115.03, Z:-3.76 [[ 8.55017516e-01 5.18598655e-01 6.93595841e-04 4.95055589e+02] [-5.18598515e-01 8.55017797e-01 -3.82478392e-04 -1.15029403e+02] [-7.91389568e-04 -3.26720489e-05 9.99999686e-01 -3.76464846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters 0.05145322713541149 Centerline is valid? [True, True] Translation: X:495.10, Y:-115.07, Z:-3.76 [[ 8.56010431e-01 5.16954514e-01 2.04280947e-03 4.95103782e+02] [-5.16953289e-01 8.56012864e-01 -1.12882587e-03 -1.15069186e+02] [-2.33222282e-03 -8.97503548e-05 9.99997276e-01 -3.76373802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters 0.053422240605417025 Centerline is valid? [True, True] Translation: X:495.16, Y:-115.09, Z:-3.77 [[ 8.56955660e-01 5.15385437e-01 2.20174779e-03 4.95161891e+02] [-5.15384010e-01 8.56958483e-01 -1.21669867e-03 -1.15089231e+02] [-2.51387522e-03 -9.20887901e-05 9.99996836e-01 -3.76558291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters 0.052449963078333633 Centerline is valid? [True, True] Translation: X:495.22, Y:-115.12, Z:-3.77 [[ 8.58642758e-01 5.12568507e-01 2.47770305e-03 4.95215308e+02] [-5.12566686e-01 8.58646328e-01 -1.36953107e-03 -1.15119208e+02] [-2.82944912e-03 -9.40501096e-05 9.99995993e-01 -3.76563775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters 0.053404033705197314 Centerline is valid? [True, True] Translation: X:495.27, Y:-115.15, Z:-3.77 [[ 8.60433220e-01 5.09558636e-01 2.16129912e-03 4.95270330e+02] [-5.09557241e-01 8.60435931e-01 -1.19465138e-03 -1.15146830e+02] [-2.46840435e-03 -7.33878889e-05 9.99996951e-01 -3.76707116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters 0.0516658806843002 Centerline is valid? [True, True] Translation: X:495.32, Y:-115.19, Z:-3.77 [[ 8.64058790e-01 5.03389438e-01 1.21691657e-03 4.95319039e+02] [-5.03388990e-01 8.64059646e-01 -6.72540826e-04 -1.15186359e+02] [-1.39003845e-03 -3.14675933e-05 9.99999033e-01 -3.76708688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters 0.05190326026653595 Centerline is valid? [True, True] Translation: X:495.37, Y:-115.22, Z:-3.77 [[ 8.65480438e-01 5.00941402e-01 1.15015431e-03 4.95370385e+02] [-5.00941000e-01 8.65481202e-01 -6.35697428e-04 -1.15220402e+02] [-1.31388410e-03 -2.59757627e-05 9.99999137e-01 -3.76628461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters 0.05233841993181047 Centerline is valid? [True, True] Translation: X:495.42, Y:-115.25, Z:-3.77 [[ 8.69904494e-01 4.93219085e-01 1.05144307e-03 4.95424471e+02] [-4.93218743e-01 8.69905129e-01 -5.80960746e-04 -1.15247784e+02] [-1.20119664e-03 -1.32110629e-05 9.99999278e-01 -3.76885130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters 0.053068842149085305 Centerline is valid? [True, True] Translation: X:495.48, Y:-115.28, Z:-3.77 [[ 8.72653201e-01 4.88335422e-01 2.21506935e-03 4.95476186e+02] [-4.88333887e-01 8.72656012e-01 -1.22475590e-03 -1.15281262e+02] [-2.53108527e-03 -1.29062702e-05 9.99996797e-01 -3.76781547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters 0.052814605552961504 Centerline is valid? [True, True] Translation: X:495.53, Y:-115.31, Z:-3.76 [[ 8.75864064e-01 4.82549670e-01 2.82085496e-03 4.95528909e+02] [-4.82547150e-01 8.75868607e-01 -1.55935695e-03 -1.15314194e+02] [-3.22316548e-03 4.58919320e-06 9.99994806e-01 -3.76468352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters 0.05283024643704805 Centerline is valid? [True, True] Translation: X:495.58, Y:-115.35, Z:-3.77 [[ 8.78061524e-01 4.78532533e-01 3.81778905e-03 4.95582558e+02] [-4.78527875e-01 8.78069823e-01 -2.11156290e-03 -1.15346296e+02] [-4.36273690e-03 2.71636579e-05 9.99990483e-01 -3.76656287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters 0.05367261665235652 Centerline is valid? [True, True] Translation: X:495.64, Y:-115.37, Z:-3.77 [[ 8.78658292e-01 4.77433081e-01 4.15433628e-03 4.95637624e+02] [-4.77427553e-01 8.78668112e-01 -2.29775809e-03 -1.15372933e+02] [-4.74730855e-03 3.55495919e-05 9.99988731e-01 -3.76679612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters 0.05334244552689792 Centerline is valid? [True, True] Translation: X:495.69, Y:-115.40, Z:-3.77 [[ 8.78268811e-01 4.78152701e-01 3.72699388e-03 4.95691584e+02] [-4.78148257e-01 8.78276718e-01 -2.06175599e-03 -1.15402827e+02] [-4.25916615e-03 2.87203557e-05 9.99990929e-01 -3.76925416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters 0.05398727782095737 Centerline is valid? [True, True] Translation: X:495.75, Y:-115.43, Z:-3.77 [[ 8.77451660e-01 4.79650546e-01 3.73321839e-03 4.95747492e+02] [-4.79646098e-01 8.77459602e-01 -2.06583741e-03 -1.15430236e+02] [-4.26662836e-03 2.20488300e-05 9.99990898e-01 -3.76957369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters 0.053698439651998345 Centerline is valid? [True, True] Translation: X:495.80, Y:-115.46, Z:-3.77 [[ 8.75371389e-01 4.83439071e-01 3.40529541e-03 4.95803365e+02] [-4.83435397e-01 8.75378012e-01 -1.88482071e-03 -1.15455606e+02] [-3.89211670e-03 3.67778933e-06 9.99992426e-01 -3.76879987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters 0.053273537467140586 Centerline is valid? [True, True] Translation: X:495.86, Y:-115.48, Z:-3.77 [[ 8.73546575e-01 4.86721718e-01 4.28371551e-03 4.95860009e+02] [-4.86715938e-01 8.73557079e-01 -2.37195613e-03 -1.15482829e+02] [-4.89655257e-03 -1.29384641e-05 9.99988012e-01 -3.77046312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters 0.05321536668104532 Centerline is valid? [True, True] Translation: X:495.92, Y:-115.51, Z:-3.77 [[ 8.70347325e-01 4.92413576e-01 4.94000390e-03 4.95915894e+02] [-4.92405979e-01 8.70361343e-01 -2.73578250e-03 -1.15509126e+02] [-5.64672487e-03 -5.14064719e-05 9.99984056e-01 -3.77085615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters 0.052782215533088934 Centerline is valid? [True, True] Translation: X:495.97, Y:-115.54, Z:-3.77 [[ 8.68002948e-01 4.96540495e-01 4.29172447e-03 4.95970392e+02] [-4.96534810e-01 8.68013555e-01 -2.37709389e-03 -1.15535444e+02] [-4.90559840e-03 -6.76660907e-05 9.99987965e-01 -3.77129273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters 0.05408817577392268 Centerline is valid? [True, True] Translation: X:496.03, Y:-115.56, Z:-3.77 [[ 8.64915795e-01 5.01904784e-01 3.50061612e-03 4.96028137e+02] [-5.01901045e-01 8.64922876e-01 -1.93901968e-03 -1.15556058e+02] [-4.00096622e-03 -7.98741362e-05 9.99991993e-01 -3.77321384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters 0.053571297261689084 Centerline is valid? [True, True] Translation: X:496.08, Y:-115.59, Z:-3.77 [[ 8.63492994e-01 5.04347043e-01 3.72958914e-03 4.96081421e+02] [-5.04342821e-01 8.63501043e-01 -2.06595990e-03 -1.15585961e+02] [-4.26246488e-03 -9.70496074e-05 9.99990911e-01 -3.77261404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters 0.052896738364780496 Centerline is valid? [True, True] Translation: X:496.14, Y:-115.62, Z:-3.77 [[ 8.62301751e-01 5.06378065e-01 4.11656503e-03 4.96135260e+02] [-5.06372943e-01 8.62311569e-01 -2.28065518e-03 -1.15615708e+02] [-4.70463540e-03 -1.17904192e-04 9.99988926e-01 -3.77309800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters 0.05345468941556466 Centerline is valid? [True, True] Translation: X:496.19, Y:-115.64, Z:-3.77 [[ 8.62229216e-01 5.06508763e-01 3.10685031e-03 4.96190686e+02] [-5.06505846e-01 8.62234809e-01 -1.72138984e-03 -1.15644079e+02] [-3.55073352e-03 -8.94052284e-05 9.99993692e-01 -3.77497521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters 0.05353729313350233 Centerline is valid? [True, True] Translation: X:496.24, Y:-115.68, Z:-3.78 [[ 8.62726331e-01 5.05662883e-01 2.88558189e-03 4.96244734e+02] [-5.05660361e-01 8.62731153e-01 -1.59921682e-03 -1.15675473e+02] [-3.29814598e-03 -7.94379189e-05 9.99994558e-01 -3.77603201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters 0.0532592491413054 Centerline is valid? [True, True] Translation: X:496.30, Y:-115.71, Z:-3.78 [[ 8.64472992e-01 5.02667514e-01 3.43756777e-03 4.96296208e+02] [-5.02663906e-01 8.64479823e-01 -1.90613463e-03 -1.15710179e+02] [-3.92985993e-03 -8.01393360e-05 9.99992275e-01 -3.77547936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters 0.052508951208520456 Centerline is valid? [True, True] Translation: X:496.35, Y:-115.75, Z:-3.77 [[ 8.67679568e-01 4.97103764e-01 4.47372615e-03 4.96346502e+02] [-4.97097579e-01 8.67691098e-01 -2.48083257e-03 -1.15745833e+02] [-5.11504356e-03 -7.13107052e-05 9.99986916e-01 -3.77464289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters 0.052630728278300364 Centerline is valid? [True, True] Translation: X:496.40, Y:-115.77, Z:-3.78 [[ 8.70759802e-01 4.91687785e-01 4.52652837e-03 4.96399466e+02] [-4.91681378e-01 8.70771566e-01 -2.51030864e-03 -1.15774897e+02] [-5.17586030e-03 -3.97338587e-05 9.99986604e-01 -3.77627757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters 0.05286343264158979 Centerline is valid? [True, True] Translation: X:496.45, Y:-115.82, Z:-3.78 [[ 8.76150527e-01 4.82011890e-01 4.97918380e-03 4.96448482e+02] [-4.82003982e-01 8.76164675e-01 -2.76121297e-03 -1.15815094e+02] [-5.69352243e-03 1.92517808e-05 9.99983792e-01 -3.77729431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters 0.05373307161802511 Centerline is valid? [True, True] Translation: X:496.50, Y:-115.85, Z:-3.78 [[ 8.81758506e-01 4.71671065e-01 5.32396596e-03 4.96497869e+02] [-4.71661828e-01 8.81774573e-01 -2.95333714e-03 -1.15852727e+02] [-6.08754149e-03 9.30186273e-05 9.99981466e-01 -3.77782161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters 0.05427425141725085 Centerline is valid? [True, True] Translation: X:496.55, Y:-115.89, Z:-3.78 [[ 8.84931568e-01 4.65685196e-01 5.78086734e-03 4.96550040e+02] [-4.65674176e-01 8.84950438e-01 -3.20697472e-03 -1.15885866e+02] [-6.60922173e-03 1.45952525e-04 9.99978148e-01 -3.77779236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters 0.053836517707009854 Centerline is valid? [True, True] Translation: X:496.61, Y:-115.91, Z:-3.78 [[ 8.88135530e-01 4.59551646e-01 5.25024028e-03 4.96607565e+02] [-4.59542448e-01 8.88151031e-01 -2.91274239e-03 -1.15905959e+02] [-6.00156188e-03 1.74201740e-04 9.99981975e-01 -3.77765471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters 0.054465718279750025 Centerline is valid? [True, True] Translation: X:496.66, Y:-115.95, Z:-3.78 [[ 8.88634163e-01 4.58584724e-01 5.41993662e-03 4.96656331e+02] [-4.58574903e-01 8.88650671e-01 -3.00707930e-03 -1.15945897e+02] [-6.19543094e-03 1.86746488e-04 9.99980791e-01 -3.77889750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters 0.054217586321727816 Centerline is valid? [True, True] Translation: X:496.71, Y:-115.97, Z:-3.78 [[ 8.87100106e-01 4.61550649e-01 4.93958658e-03 4.96714432e+02] [-4.61542536e-01 8.87113846e-01 -2.74078872e-03 -1.15968601e+02] [-5.64698846e-03 1.51524647e-04 9.99984044e-01 -3.77972928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters 0.054168487418010426 Centerline is valid? [True, True] Translation: X:496.77, Y:-116.00, Z:-3.78 [[ 8.85042845e-01 4.65496133e-01 3.53735033e-03 4.96765430e+02] [-4.65492004e-01 8.85049909e-01 -1.96270525e-03 -1.16001041e+02] [-4.04436329e-03 9.04699435e-05 9.99991817e-01 -3.78161588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters 0.05403507600929325 Centerline is valid? [True, True] Translation: X:496.82, Y:-116.02, Z:-3.78 [[ 8.81335939e-01 4.72473452e-01 3.97493402e-03 4.96823217e+02] [-4.72468307e-01 8.81344900e-01 -2.20594452e-03 -1.16023017e+02] [-4.54553805e-03 6.61478409e-05 9.99989667e-01 -3.78131881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters 0.05336413226832884 Centerline is valid? [True, True] Translation: X:496.88, Y:-116.05, Z:-3.78 [[ 8.77449133e-01 4.79648054e-01 4.55657354e-03 4.96877649e+02] [-4.79641389e-01 8.77460964e-01 -2.52886818e-03 -1.16049775e+02] [-5.21118211e-03 3.34319361e-05 9.99986421e-01 -3.78172788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters 0.052741414880095594 Centerline is valid? [True, True] Translation: X:496.93, Y:-116.08, Z:-3.78 [[ 8.74964777e-01 4.84151168e-01 5.85541466e-03 4.96932433e+02] [-4.84140259e-01 8.74984369e-01 -3.25017879e-03 -1.16078586e+02] [-6.69697416e-03 8.94998595e-06 9.99977575e-01 -3.78225577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters 0.052174101831002045 Centerline is valid? [True, True] Translation: X:496.99, Y:-116.10, Z:-3.78 [[ 8.71944409e-01 4.89543258e-01 7.76826180e-03 4.96989145e+02] [-4.89524262e-01 8.71979012e-01 -4.31273658e-03 -1.16102781e+02] [-8.88503236e-03 -4.22860738e-05 9.99960526e-01 -3.78184451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters 0.05235385374261413 Centerline is valid? [True, True] Translation: X:497.04, Y:-116.13, Z:-3.78 [[ 8.71092847e-01 4.91055377e-01 7.86568520e-03 4.97043330e+02] [-4.91035957e-01 8.71128357e-01 -4.36756829e-03 -1.16132317e+02] [-8.99673931e-03 -5.77767600e-05 9.99959527e-01 -3.78247891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters 0.05214023934704873 Centerline is valid? [True, True] Translation: X:497.10, Y:-116.16, Z:-3.78 [[ 8.69750643e-01 4.93437883e-01 7.27154608e-03 4.97098522e+02] [-4.93421360e-01 8.69781036e-01 -4.03869190e-03 -1.16158022e+02] [-8.31749647e-03 -7.52812841e-05 9.99965406e-01 -3.78354735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters 0.05242095909482286 Centerline is valid? [True, True] Translation: X:497.15, Y:-116.19, Z:-3.79 [[ 8.69169797e-01 4.94481341e-01 5.66277866e-03 4.97153127e+02] [-4.94471339e-01 8.69188241e-01 -3.14575666e-03 -1.16188383e+02] [-6.47753859e-03 -6.58850684e-05 9.99979018e-01 -3.78513938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters 0.05233048533527679 Centerline is valid? [True, True] Translation: X:497.21, Y:-116.22, Z:-3.79 [[ 8.69088436e-01 4.94641613e-01 3.86857581e-03 4.97208360e+02] [-4.94636945e-01 8.69097045e-01 -2.14929962e-03 -1.16215945e+02] [-4.42530084e-03 -4.56090746e-05 9.99990207e-01 -3.78712841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters 0.05296249476388704 Centerline is valid? [True, True] Translation: X:497.26, Y:-116.25, Z:-3.79 [[ 8.70515393e-01 4.92127683e-01 3.64608405e-03 4.97261645e+02] [-4.92123512e-01 8.70523028e-01 -2.02643897e-03 -1.16247580e+02] [-4.17126685e-03 -3.02773714e-05 9.99991300e-01 -3.78752376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters 0.05239339513931506 Centerline is valid? [True, True] Translation: X:497.31, Y:-116.28, Z:-3.79 [[ 8.72065335e-01 4.89373427e-01 3.96235545e-03 4.97314278e+02] [-4.89368471e-01 8.72074337e-01 -2.20258035e-03 -1.16278280e+02] [-4.53335279e-03 -1.82578590e-05 9.99989724e-01 -3.78803612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters 0.05283526038373051 Centerline is valid? [True, True] Translation: X:497.37, Y:-116.31, Z:-3.79 [[ 8.73538162e-01 4.86741719e-01 3.68499405e-03 4.97366575e+02] [-4.86737407e-01 8.73545934e-01 -2.04870125e-03 -1.16309453e+02] [-4.21619993e-03 -4.00572801e-06 9.99991112e-01 -3.78886472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters 0.052979219111220784 Centerline is valid? [True, True] Translation: X:497.42, Y:-116.34, Z:-3.79 [[ 8.74869781e-01 4.84346369e-01 3.38549611e-03 4.97420881e+02] [-4.84342711e-01 8.74876331e-01 -1.88244825e-03 -1.16341050e+02] [-3.87364739e-03 7.15672394e-06 9.99992497e-01 -3.78829053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters 0.05284522685316335 Centerline is valid? [True, True] Translation: X:497.48, Y:-116.37, Z:-3.79 [[ 8.75110968e-01 4.83910323e-01 3.40487794e-03 4.97475063e+02] [-4.83906620e-01 8.75117592e-01 -1.89322380e-03 -1.16371687e+02] [-3.89581913e-03 9.13793584e-06 9.99992411e-01 -3.78877199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters 0.05320648503750444 Centerline is valid? [True, True] Translation: X:497.53, Y:-116.40, Z:-3.79 [[ 8.75151250e-01 4.83838060e-01 3.31992928e-03 4.97530501e+02] [-4.83834537e-01 8.75157547e-01 -1.84648077e-03 -1.16402510e+02] [-3.79885884e-03 9.65351123e-06 9.99992784e-01 -3.78926140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters 0.05278503989555097 Centerline is valid? [True, True] Translation: X:497.59, Y:-116.43, Z:-3.79 [[ 8.74907504e-01 4.84279344e-01 3.22133609e-03 4.97586181e+02] [-4.84276028e-01 8.74913434e-01 -1.79215722e-03 -1.16432717e+02] [-3.68629494e-03 7.95595561e-06 9.99993206e-01 -3.78942568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters 0.0526929564625632 Centerline is valid? [True, True] Translation: X:497.64, Y:-116.46, Z:-3.79 [[ 8.74097813e-01 4.85736438e-01 3.62314802e-03 4.97640502e+02] [-4.85732252e-01 8.74105322e-01 -2.01654624e-03 -1.16461888e+02] [-4.14652296e-03 2.77881113e-06 9.99991403e-01 -3.78884252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters 0.05307298379321835 Centerline is valid? [True, True] Translation: X:497.69, Y:-116.49, Z:-3.79 [[ 8.73155814e-01 4.87433499e-01 2.73999711e-03 4.97693512e+02] [-4.87431112e-01 8.73160113e-01 -1.52548446e-03 -1.16491614e+02] [-3.13602841e-03 -3.57421273e-06 9.99995083e-01 -3.79075629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters 0.05264418340994506 Centerline is valid? [True, True] Translation: X:497.75, Y:-116.52, Z:-3.79 [[ 8.72440456e-01 4.88710368e-01 3.13480699e-03 4.97748544e+02] [-4.88707251e-01 8.72446088e-01 -1.74547755e-03 -1.16522579e+02] [-3.58798307e-03 -9.17767727e-06 9.99993563e-01 -3.79084086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters 0.05251381829826439 Centerline is valid? [True, True] Translation: X:497.80, Y:-116.55, Z:-3.79 [[ 8.71550156e-01 4.90293861e-01 3.50084966e-03 4.97803534e+02] [-4.90289986e-01 8.71557186e-01 -1.94952825e-03 -1.16552210e+02] [-4.00703242e-03 -1.73198811e-05 9.99991972e-01 -3.79183377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters 0.052254761286368356 Centerline is valid? [True, True] Translation: X:497.86, Y:-116.58, Z:-3.79 [[ 8.70993803e-01 4.91282726e-01 3.32842190e-03 4.97857824e+02] [-4.91279228e-01 8.71000162e-01 -1.85407378e-03 -1.16581240e+02] [-3.80993043e-03 -2.02977644e-05 9.99992742e-01 -3.79281635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters 0.05259523694808736 Centerline is valid? [True, True] Translation: X:497.91, Y:-116.61, Z:-3.79 [[ 8.70266673e-01 4.92567530e-01 3.62583759e-03 4.97911855e+02] [-4.92563387e-01 8.70274225e-01 -2.02048070e-03 -1.16611500e+02] [-4.15069618e-03 -2.75978303e-05 9.99991385e-01 -3.79221743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters 0.05191740466911288 Centerline is valid? [True, True] Translation: X:497.97, Y:-116.64, Z:-3.79 [[ 8.69655387e-01 4.93641395e-01 4.20493803e-03 4.97966140e+02] [-4.93635831e-01 8.69665552e-01 -2.34397035e-03 -1.16641517e+02] [-4.81397054e-03 -3.72616370e-05 9.99988412e-01 -3.79231249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters 0.05235966419942536 Centerline is valid? [True, True] Translation: X:498.02, Y:-116.67, Z:-3.79 [[ 8.68878675e-01 4.95011407e-01 3.68179905e-03 4.98019826e+02] [-4.95007152e-01 8.68886474e-01 -2.05283420e-03 -1.16670367e+02] [-4.21524174e-03 -3.88530075e-05 9.99991115e-01 -3.79310751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters 0.05255645160503685 Centerline is valid? [True, True] Translation: X:498.07, Y:-116.70, Z:-3.79 [[ 8.68007186e-01 4.96542226e-01 3.05662443e-03 4.98074317e+02] [-4.96539302e-01 8.68012567e-01 -1.70455243e-03 -1.16697541e+02] [-3.49957068e-03 -3.81703975e-05 9.99993876e-01 -3.79497757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters 0.05255098652760369 Centerline is valid? [True, True] Translation: X:498.13, Y:-116.73, Z:-3.80 [[ 8.66635175e-01 4.98934235e-01 2.84657594e-03 4.98129506e+02] [-4.98931709e-01 8.66639849e-01 -1.58810647e-03 -1.16726932e+02] [-3.25931683e-03 -4.39380704e-05 9.99994687e-01 -3.79597347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters 0.05249606591140135 Centerline is valid? [True, True] Translation: X:498.18, Y:-116.76, Z:-3.80 [[ 8.65809772e-01 5.00365305e-01 2.82829936e-03 4.98183098e+02] [-5.00362821e-01 8.65814390e-01 -1.57764279e-03 -1.16758937e+02] [-3.23818000e-03 -4.92373013e-05 9.99994756e-01 -3.79649277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters 0.052140419879722254 Centerline is valid? [True, True] Translation: X:498.24, Y:-116.79, Z:-3.80 [[ 8.64621973e-01 5.02417851e-01 2.26867987e-03 4.98235278e+02] [-5.02416258e-01 8.64624948e-01 -1.26613209e-03 -1.16790193e+02] [-2.59768458e-03 -4.50960302e-05 9.99996625e-01 -3.79729347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters 0.051831852913385885 Centerline is valid? [True, True] Translation: X:498.29, Y:-116.82, Z:-3.80 [[ 8.63788972e-01 5.03846676e-01 2.67188223e-03 4.98288280e+02] [-5.03844474e-01 8.63793103e-01 -1.49079757e-03 -1.16821920e+02] [-3.05908684e-03 -5.84785990e-05 9.99995319e-01 -3.79762508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters 0.052684345912366086 Centerline is valid? [True, True] Translation: X:498.34, Y:-116.85, Z:-3.80 [[ 8.62653635e-01 5.05789788e-01 2.32304513e-03 4.98343939e+02] [-5.05788130e-01 8.62656761e-01 -1.29642390e-03 -1.16847437e+02] [-2.65970856e-03 -5.66038668e-05 9.99996461e-01 -3.79941139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters 0.051765317712102174 Centerline is valid? [True, True] Translation: X:498.39, Y:-116.88, Z:-3.80 [[ 8.62200060e-01 5.06560266e-01 2.78438795e-03 4.98394473e+02] [-5.06557886e-01 8.62204554e-01 -1.55440507e-03 -1.16884380e+02] [-3.18811182e-03 -7.02455280e-05 9.99994915e-01 -3.79822461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters 0.05270239598417152 Centerline is valid? [True, True] Translation: X:498.45, Y:-116.91, Z:-3.80 [[ 8.62480199e-01 5.06082928e-01 2.82416423e-03 4.98450434e+02] [-5.06080476e-01 8.62484820e-01 -1.57708219e-03 -1.16909956e+02] [-3.23393315e-03 -6.90522185e-05 9.99994768e-01 -3.79986312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters 0.05235720500598468 Centerline is valid? [True, True] Translation: X:498.50, Y:-116.95, Z:-3.80 [[ 8.63262864e-01 5.04746549e-01 2.85459935e-03 4.98501805e+02] [-5.04744035e-01 8.63267581e-01 -1.59447507e-03 -1.16945401e+02] [-3.26908887e-03 -6.43908781e-05 9.99994654e-01 -3.80009000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters 0.05181951388516296 Centerline is valid? [True, True] Translation: X:498.55, Y:-116.98, Z:-3.80 [[ 8.64118118e-01 5.03285255e-01 1.95730624e-03 4.98554913e+02] [-5.03284068e-01 8.64120333e-01 -1.09366966e-03 -1.16978855e+02] [-2.24177593e-03 -4.00212795e-05 9.99997486e-01 -3.80249303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters 0.051740010519368614 Centerline is valid? [True, True] Translation: X:498.60, Y:-117.02, Z:-3.80 [[ 8.64401822e-01 5.02798345e-01 1.82046716e-03 4.98604914e+02] [-5.02797318e-01 8.64403738e-01 -1.01682018e-03 -1.17016021e+02] [-2.08487412e-03 -3.63847889e-05 9.99997826e-01 -3.80190280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters 0.051734127151271396 Centerline is valid? [True, True] Translation: X:498.66, Y:-117.05, Z:-3.80 [[ 8.64647621e-01 5.02377692e-01 1.07069608e-03 4.98658262e+02] [-5.02377337e-01 8.64648283e-01 -5.97806221e-04 -1.17048318e+02] [-1.22610004e-03 -2.10017203e-05 9.99999248e-01 -3.80231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters 0.051828444930500546 Centerline is valid? [True, True] Translation: X:498.71, Y:-117.08, Z:-3.80 [[ 8.66016299e-01 5.00014961e-01 8.99296689e-04 4.98710425e+02] [-5.00014709e-01 8.66016766e-01 -5.02311015e-04 -1.17080552e+02] [-1.02996903e-03 -1.46520466e-05 9.99999469e-01 -3.80302368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters 0.05169537860624884 Centerline is valid? [True, True] Translation: X:498.76, Y:-117.11, Z:-3.80 [[ 8.66659370e-01 4.98898643e-01 1.29655324e-03 4.98763865e+02] [-4.98898117e-01 8.66660339e-01 -7.24433938e-04 -1.17112679e+02] [-1.48509038e-03 -1.90105126e-05 9.99998897e-01 -3.80345531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters 0.05183448501079176 Centerline is valid? [True, True] Translation: X:498.81, Y:-117.15, Z:-3.80 [[ 8.69859228e-01 4.93289113e-01 3.28246096e-03 4.98813913e+02] [-4.93285695e-01 8.69865421e-01 -1.83635662e-03 -1.17149430e+02] [-3.76115402e-03 -2.18192805e-05 9.99992927e-01 -3.80098559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters 0.051302811527081146 Centerline is valid? [True, True] Translation: X:498.87, Y:-117.18, Z:-3.80 [[ 8.72421902e-01 4.88729870e-01 4.81026954e-03 4.98868123e+02] [-4.88722460e-01 8.72435163e-01 -2.69129679e-03 -1.17180204e+02] [-5.51196542e-03 -2.94049800e-06 9.99984809e-01 -3.80234031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters 0.05177691081278645 Centerline is valid? [True, True] Translation: X:498.92, Y:-117.21, Z:-3.80 [[ 8.76726508e-01 4.80960767e-01 5.23168915e-03 4.98920455e+02] [-4.80951861e-01 8.76742116e-01 -2.92728632e-03 -1.17212412e+02] [-5.99475210e-03 5.02388803e-05 9.99982030e-01 -3.80354120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters 0.052359481831761624 Centerline is valid? [True, True] Translation: X:498.97, Y:-117.25, Z:-3.81 [[ 8.81027931e-01 4.73046349e-01 4.11550294e-03 4.98971351e+02] [-4.73040748e-01 8.81037539e-01 -2.30337763e-03 -1.17247853e+02] [-4.71551696e-03 8.25394375e-05 9.99988878e-01 -3.80603128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters 0.05249479608739794 Centerline is valid? [True, True] Translation: X:499.03, Y:-117.27, Z:-3.81 [[ 8.82934598e-01 4.69484390e-01 3.30194937e-03 4.99025452e+02] [-4.69480760e-01 8.82940769e-01 -1.84802419e-03 -1.17274029e+02] [-3.78304422e-03 8.14827956e-05 9.99992841e-01 -3.80625897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters 0.05333307517664279 Centerline is valid? [True, True] Translation: X:499.08, Y:-117.30, Z:-3.81 [[ 8.85616032e-01 4.64401619e-01 3.92161138e-03 4.99082572e+02] [-4.64396447e-01 8.85624706e-01 -2.19523083e-03 -1.17297246e+02] [-4.49254468e-03 1.22949220e-04 9.99989901e-01 -3.80682408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters 0.05346571629838233 Centerline is valid? [True, True] Translation: X:499.13, Y:-117.34, Z:-3.81 [[ 8.87573779e-01 4.60636376e-01 5.18798645e-03 4.99129552e+02] [-4.60627258e-01 8.87588922e-01 -2.90437272e-03 -1.17336764e+02] [-5.94265903e-03 1.88117097e-04 9.99982325e-01 -3.80806383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters 0.05419412283803849 Centerline is valid? [True, True] Translation: X:499.18, Y:-117.37, Z:-3.81 [[ 8.88960872e-01 4.57965920e-01 3.97299915e-03 4.99183567e+02] [-4.57960547e-01 8.88969736e-01 -2.22407369e-03 -1.17366011e+02] [-4.55042596e-03 1.57637627e-04 9.99989634e-01 -3.81081413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters 0.05319735377633212 Centerline is valid? [True, True] Translation: X:499.24, Y:-117.38, Z:-3.81 [[ 8.88408322e-01 4.59034013e-01 4.29284628e-03 4.99244039e+02] [-4.59027749e-01 8.88418678e-01 -2.40361813e-03 -1.17384333e+02] [-4.91718730e-03 1.64858787e-04 9.99987897e-01 -3.81015687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters 0.05324752632759289 Centerline is valid? [True, True] Translation: X:499.30, Y:-117.41, Z:-3.81 [[ 8.86593810e-01 4.62526451e-01 4.54960132e-03 4.99300446e+02] [-4.62519457e-01 8.86605469e-01 -2.54819411e-03 -1.17408528e+02] [-5.21230859e-03 1.54933989e-04 9.99986404e-01 -3.81090648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters 0.052880843105192185 Centerline is valid? [True, True] Translation: X:499.36, Y:-117.43, Z:-3.81 [[ 8.82983400e-01 4.69390820e-01 3.54577047e-03 4.99357845e+02] [-4.69386625e-01 8.82990515e-01 -1.98645249e-03 -1.17431784e+02] [-4.06330426e-03 8.96673391e-05 9.99991741e-01 -3.81275306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters 0.05264015250403435 Centerline is valid? [True, True] Translation: X:499.42, Y:-117.45, Z:-3.81 [[ 8.77937966e-01 4.78766377e-01 2.77207882e-03 4.99415188e+02] [-4.78763859e-01 8.77942342e-01 -1.55318168e-03 -1.17451863e+02] [-3.17733654e-03 3.64260068e-05 9.99994952e-01 -3.81292946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters 0.0531838884946131 Centerline is valid? [True, True] Translation: X:499.47, Y:-117.48, Z:-3.81 [[ 8.73937442e-01 4.86026038e-01 3.46951598e-03 4.99471656e+02] [-4.86022151e-01 8.73944329e-01 -1.94394371e-03 -1.17475468e+02] [-3.97697108e-03 1.26235709e-05 9.99992092e-01 -3.81369613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters 0.052335400787583856 Centerline is valid? [True, True] Translation: X:499.53, Y:-117.50, Z:-3.81 [[ 8.67494972e-01 4.97427706e-01 4.26050266e-03 4.99530021e+02] [-4.97421980e-01 8.67505432e-01 -2.38719588e-03 -1.17498619e+02] [-4.88346657e-03 -4.83872429e-05 9.99988075e-01 -3.81326714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters 0.052484006199791204 Centerline is valid? [True, True] Translation: X:499.59, Y:-117.52, Z:-3.81 [[ 8.63438208e-01 5.04439752e-01 3.87277526e-03 4.99586425e+02] [-5.04435091e-01 8.63446889e-01 -2.16993030e-03 -1.17520383e+02] [-4.43853485e-03 -7.99630104e-05 9.99990146e-01 -3.81352623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters 0.051994324061351925 Centerline is valid? [True, True] Translation: X:499.64, Y:-117.55, Z:-3.81 [[ 8.60153465e-01 5.10026369e-01 3.01973023e-03 4.99640917e+02] [-5.10023568e-01 8.60158762e-01 -1.69240426e-03 -1.17549261e+02] [-3.46061822e-03 -8.44061935e-05 9.99994008e-01 -3.81332578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters 0.052710686565735514 Centerline is valid? [True, True] Translation: X:499.70, Y:-117.57, Z:-3.82 [[ 8.57062865e-01 5.15205439e-01 2.56925624e-03 4.99697923e+02] [-5.15203435e-01 8.57066711e-01 -1.43992012e-03 -1.17570630e+02] [-2.94387867e-03 -8.95875772e-05 9.99995663e-01 -3.81544147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters 0.05394628248102368 Centerline is valid? [True, True] Translation: X:499.76, Y:-117.59, Z:-3.82 [[ 8.56181157e-01 5.16665859e-01 3.19638788e-03 4.99755110e+02] [-5.16662768e-01 8.56187115e-01 -1.79122811e-03 -1.17593462e+02] [-3.66217253e-03 -1.17838849e-04 9.99993287e-01 -3.81530310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters 0.053614487931237166 Centerline is valid? [True, True] Translation: X:499.81, Y:-117.63, Z:-3.82 [[ 8.56401068e-01 5.16300975e-01 3.24261665e-03 4.99808561e+02] [-5.16297789e-01 8.56407198e-01 -1.81753794e-03 -1.17625650e+02] [-3.71539685e-03 -1.17614376e-04 9.99993091e-01 -3.81564573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters 0.05347766716813404 Centerline is valid? [True, True] Translation: X:499.86, Y:-117.66, Z:-3.82 [[ 8.56883409e-01 5.15502867e-01 2.75986608e-03 4.99861247e+02] [-5.15500554e-01 8.56887848e-01 -1.54718012e-03 -1.17658981e+02] [-3.16247149e-03 -9.69595199e-05 9.99994995e-01 -3.81610487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters 0.05359463932966211 Centerline is valid? [True, True] Translation: X:499.92, Y:-117.69, Z:-3.82 [[ 8.56894920e-01 5.15487248e-01 1.99829929e-03 4.99916989e+02] [-5.15486036e-01 8.56897247e-01 -1.12023334e-03 -1.17686566e+02] [-2.28980316e-03 -7.01731206e-05 9.99997376e-01 -3.81689048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters 0.05265921888803792 Centerline is valid? [True, True] Translation: X:499.97, Y:-117.72, Z:-3.82 [[ 8.57956502e-01 5.13718931e-01 1.87101910e-03 4.99967264e+02] [-5.13717862e-01 8.57958540e-01 -1.04969104e-03 -1.17722179e+02] [-2.14450297e-03 -6.05866757e-05 9.99997699e-01 -3.81575710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters 0.05285735329318251 Centerline is valid? [True, True] Translation: X:500.02, Y:-117.75, Z:-3.82 [[ 8.58121003e-01 5.13445678e-01 1.37094547e-03 5.00021419e+02] [-5.13445105e-01 8.58122097e-01 -7.68501938e-04 -1.17752877e+02] [-1.57102260e-03 -4.44375874e-05 9.99998765e-01 -3.81591944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters 0.05303407088456224 Centerline is valid? [True, True] Translation: X:500.08, Y:-117.78, Z:-3.82 [[ 8.58212325e-01 5.13293382e-01 1.22854382e-03 5.00076274e+02] [-5.13292921e-01 8.58213204e-01 -6.89087688e-04 -1.17781034e+02] [-1.40805668e-03 -3.92192981e-05 9.99999008e-01 -3.81717533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters 0.05241487894569626 Centerline is valid? [True, True] Translation: X:500.13, Y:-117.82, Z:-3.82 [[ 8.58276195e-01 5.13187082e-01 9.95954302e-04 5.00127825e+02] [-5.13186780e-01 8.58276772e-01 -5.58268323e-04 -1.17816116e+02] [-1.14130054e-03 -3.19621688e-05 9.99999348e-01 -3.81628615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters 0.05400506700985593 Centerline is valid? [True, True] Translation: X:500.19, Y:-117.84, Z:-3.82 [[ 8.58161673e-01 5.13378609e-01 9.73145910e-04 5.00186377e+02] [-5.13378320e-01 8.58162224e-01 -5.45570612e-04 -1.17838833e+02] [-1.11520134e-03 -3.14042228e-05 9.99999378e-01 -3.81819148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters 0.053366311260322576 Centerline is valid? [True, True] Translation: X:500.24, Y:-117.87, Z:-3.82 [[ 8.58288540e-01 5.13164434e-01 1.74543463e-03 5.00241020e+02] [-5.13163501e-01 8.58290313e-01 -9.79863817e-04 -1.17869481e+02] [-2.00092089e-03 -5.46874598e-05 9.99997997e-01 -3.81767710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters 0.05268723346360047 Centerline is valid? [True, True] Translation: X:500.29, Y:-117.90, Z:-3.82 [[ 8.57864771e-01 5.13870280e-01 2.31741495e-03 5.00292249e+02] [-5.13868638e-01 8.57867898e-01 -1.30110297e-03 -1.17904849e+02] [-2.65663404e-03 -7.46764564e-05 9.99996468e-01 -3.81625895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters 0.05287884813129173 Centerline is valid? [True, True] Translation: X:500.35, Y:-117.93, Z:-3.82 [[ 8.57301698e-01 5.14810700e-01 1.93458905e-03 5.00347464e+02] [-5.14809556e-01 8.57303878e-01 -1.08685871e-03 -1.17930186e+02] [-2.21805718e-03 -6.41791137e-05 9.99997538e-01 -3.81680584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters 0.052868990969189046 Centerline is valid? [True, True] Translation: X:500.40, Y:-117.96, Z:-3.82 [[ 8.56668218e-01 5.15865701e-01 1.46357187e-03 5.00401247e+02] [-5.15865049e-01 8.56669467e-01 -8.22133956e-04 -1.17961797e+02] [-1.67790804e-03 -5.07095409e-05 9.99998591e-01 -3.81651595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters 0.05462113527262574 Centerline is valid? [True, True] Translation: X:500.46, Y:-117.98, Z:-3.82 [[ 8.56195328e-01 5.16649448e-01 1.70542906e-03 5.00459470e+02] [-5.16648564e-01 8.56197024e-01 -9.57671996e-04 -1.17982529e+02] [-1.95496400e-03 -6.11531883e-05 9.99998087e-01 -3.81800955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters 0.05290242553718402 Centerline is valid? [True, True] Translation: X:500.51, Y:-118.02, Z:-3.82 [[ 8.56155739e-01 5.16715194e-01 1.66116732e-03 5.00510184e+02] [-5.16714355e-01 8.56157348e-01 -9.32867194e-04 -1.18020135e+02] [-1.90424726e-03 -5.96693998e-05 9.99998185e-01 -3.81640259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters 0.05422707521362011 Centerline is valid? [True, True] Translation: X:500.57, Y:-118.04, Z:-3.82 [[ 8.56123345e-01 5.16770282e-01 1.13732326e-03 5.00568102e+02] [-5.16769889e-01 8.56124099e-01 -6.38600344e-04 -1.18043619e+02] [-1.30369953e-03 -4.10137507e-05 9.99999149e-01 -3.81812742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters 0.05402598620521288 Centerline is valid? [True, True] Translation: X:500.62, Y:-118.08, Z:-3.82 [[ 8.56344479e-01 5.16404880e-01 3.66248143e-04 5.00620739e+02] [-5.16404839e-01 8.56344557e-01 -2.05106240e-04 -1.18076185e+02] [-4.19552467e-04 -1.34907169e-05 9.99999912e-01 -3.81839643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters 0.05350372427926681 Centerline is valid? [True, True] Translation: X:500.67, Y:-118.11, Z:-3.82 [[ 8.57465393e-01 5.14541573e-01 -2.63886774e-04 5.00673213e+02] [-5.14541552e-01 8.57465433e-01 1.48577585e-04 -1.18108154e+02] [ 3.02723132e-04 8.38057263e-06 9.99999954e-01 -3.81867716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters 0.05333740244417348 Centerline is valid? [True, True] Translation: X:500.73, Y:-118.14, Z:-3.82 [[ 8.58326311e-01 5.13103942e-01 -5.36429391e-04 5.00725328e+02] [-5.13103854e-01 8.58326479e-01 3.01981557e-04 -1.18141663e+02] [ 6.15379478e-04 1.60452720e-05 9.99999811e-01 -3.81817695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters 0.05388867153147865 Centerline is valid? [True, True] Translation: X:500.78, Y:-118.17, Z:-3.82 [[ 8.60052390e-01 5.10205254e-01 -6.96850923e-04 5.00778020e+02] [-5.10205104e-01 8.60052672e-01 3.92115929e-04 -1.18172651e+02] [ 7.99388105e-04 1.82966561e-05 9.99999680e-01 -3.81822934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters 0.05423069694175607 Centerline is valid? [True, True] Translation: X:500.83, Y:-118.20, Z:-3.82 [[ 8.60833047e-01 5.08886721e-01 -8.77272663e-04 5.00832134e+02] [-5.08886481e-01 8.60833494e-01 4.94617535e-04 -1.18201946e+02] [ 1.00688999e-03 2.06490786e-05 9.99999493e-01 -3.81908078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters 0.05311200049317734 Centerline is valid? [True, True] Translation: X:500.88, Y:-118.24, Z:-3.82 [[ 8.62235513e-01 5.06505630e-01 -1.40239909e-03 5.00883808e+02] [-5.06505015e-01 8.62236653e-01 7.89416701e-04 -1.18235219e+02] [ 1.60904390e-03 2.96590589e-05 9.99998705e-01 -3.81898928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters 0.05333828587130269 Centerline is valid? [True, True] Translation: X:500.94, Y:-118.27, Z:-3.82 [[ 8.63178619e-01 5.04895800e-01 -1.70391890e-03 5.00936847e+02] [-5.04894888e-01 8.63180300e-01 9.60122832e-04 -1.18268347e+02] [ 1.95555121e-03 3.15424427e-05 9.99998087e-01 -3.81920063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters 0.05411226881284758 Centerline is valid? [True, True] Translation: X:500.99, Y:-118.30, Z:-3.82 [[ 8.63717081e-01 5.03976108e-01 -9.41054605e-04 5.00990141e+02] [-5.03975829e-01 8.63717594e-01 5.30752498e-04 -1.18298605e+02] [ 1.08029200e-03 1.58487765e-05 9.99999416e-01 -3.81996625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters 0.05362891548202185 Centerline is valid? [True, True] Translation: X:501.04, Y:-118.33, Z:-3.82 [[ 8.63930575e-01 5.03610294e-01 -7.95683873e-04 5.01042386e+02] [-5.03610094e-01 8.63930942e-01 4.49101265e-04 -1.18333331e+02] [ 9.13587938e-04 1.27221151e-05 9.99999583e-01 -3.81868005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters 0.05303308068493555 Centerline is valid? [True, True] Translation: X:501.09, Y:-118.37, Z:-3.82 [[ 8.63819870e-01 5.03800139e-01 -8.07783866e-04 5.01094208e+02] [-5.03799933e-01 8.63820247e-01 4.56103321e-04 -1.18367690e+02] [ 9.27564975e-04 1.29703466e-05 9.99999570e-01 -3.81720739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters 0.053590277491261884 Centerline is valid? [True, True] Translation: X:501.15, Y:-118.40, Z:-3.82 [[ 8.63110186e-01 5.05015168e-01 -6.97540829e-04 5.01148839e+02] [-5.05015014e-01 8.63110468e-01 3.93986738e-04 -1.18396159e+02] [ 8.01024070e-04 1.22146256e-05 9.99999679e-01 -3.81936001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters 0.05359925209556048 Centerline is valid? [True, True] Translation: X:501.20, Y:-118.43, Z:-3.82 [[ 8.62343523e-01 5.06323394e-01 -5.17766072e-04 5.01202585e+02] [-5.06323310e-01 8.62343679e-01 2.92123230e-04 -1.18426606e+02] [ 5.94401125e-04 1.02464561e-05 9.99999823e-01 -3.82019705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters 0.0538922514241471 Centerline is valid? [True, True] Translation: X:501.25, Y:-118.46, Z:-3.82 [[ 8.61004201e-01 5.08596880e-01 -9.89544753e-04 5.01254649e+02] [-5.08596574e-01 8.61004770e-01 5.57945465e-04 -1.18460021e+02] [ 1.13577208e-03 2.28856820e-05 9.99999355e-01 -3.81947421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters 0.05308071766500476 Centerline is valid? [True, True] Translation: X:501.31, Y:-118.49, Z:-3.82 [[ 8.60202355e-01 5.09952007e-01 -9.26824795e-04 5.01307958e+02] [-5.09951739e-01 8.60202854e-01 5.23451724e-04 -1.18491472e+02] [ 1.06419259e-03 2.23615096e-05 9.99999433e-01 -3.81955639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters 0.053556210382505534 Centerline is valid? [True, True] Translation: X:501.36, Y:-118.52, Z:-3.82 [[ 8.59414253e-01 5.11279870e-01 -1.91594839e-04 5.01362152e+02] [-5.11279858e-01 8.59414274e-01 1.08923917e-04 -1.18519803e+02] [ 2.20349945e-04 4.34781510e-06 9.99999976e-01 -3.82081743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters 0.0529310143081369 Centerline is valid? [True, True] Translation: X:501.41, Y:-118.55, Z:-3.82 [[ 8.58482474e-01 5.12842830e-01 2.69833534e-04 5.01413836e+02] [-5.12842808e-01 8.58482517e-01 -1.51897225e-04 -1.18554605e+02] [-3.09546774e-04 -7.98108199e-06 9.99999952e-01 -3.81960544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters 0.05315747429291911 Centerline is valid? [True, True] Translation: X:501.47, Y:-118.58, Z:-3.82 [[ 8.57542198e-01 5.14413539e-01 2.98613433e-04 5.01467139e+02] [-5.14413512e-01 8.57542250e-01 -1.68268028e-04 -1.18583385e+02] [-3.42632987e-04 -9.31385046e-06 9.99999941e-01 -3.82037895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters 0.05279222753996241 Centerline is valid? [True, True] Translation: X:501.52, Y:-118.61, Z:-3.82 [[ 8.55811863e-01 5.17287141e-01 -2.63187136e-04 5.01520224e+02] [-5.17287119e-01 8.55811903e-01 1.48518238e-04 -1.18614256e+02] [ 3.02065258e-04 9.03964553e-06 9.99999954e-01 -3.82117398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters 0.05405467940888182 Centerline is valid? [True, True] Translation: X:501.57, Y:-118.64, Z:-3.82 [[ 8.55030524e-01 5.18577101e-01 -7.70149751e-04 5.01574483e+02] [-5.18576919e-01 8.55030871e-01 4.35263727e-04 -1.18642101e+02] [ 8.84219614e-04 2.72181129e-05 9.99999609e-01 -3.82251679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters 0.052932886402690116 Centerline is valid? [True, True] Translation: X:501.63, Y:-118.68, Z:-3.82 [[ 8.53787234e-01 5.20621547e-01 -7.50806405e-04 5.01625261e+02] [-5.20621375e-01 8.53787564e-01 4.23671634e-04 -1.18677185e+02] [ 8.61601753e-04 2.91604307e-05 9.99999628e-01 -3.82164608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters 0.05445270725324983 Centerline is valid? [True, True] Translation: X:501.68, Y:-118.70, Z:-3.82 [[ 8.52854334e-01 5.22148906e-01 7.81669310e-05 5.01680750e+02] [-5.22148904e-01 8.52854337e-01 -4.37759368e-05 -1.18700757e+02] [-8.95225638e-05 -3.48027994e-06 9.99999996e-01 -3.82277173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters 0.05346636456275863 Centerline is valid? [True, True] Translation: X:501.73, Y:-118.73, Z:-3.82 [[ 8.52728533e-01 5.22354333e-01 2.72849703e-05 5.01734223e+02] [-5.22354333e-01 8.52728533e-01 -1.43971488e-05 -1.18734539e+02] [-3.07870859e-05 -1.97556293e-06 1.00000000e+00 -3.82220321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters 0.05316946166788543 Centerline is valid? [True, True] Translation: X:501.78, Y:-118.77, Z:-3.82 [[ 8.52909867e-01 5.22057611e-01 -7.80868422e-04 5.01784640e+02] [-5.22057425e-01 8.52910224e-01 4.41687526e-04 -1.18771531e+02] [ 8.96596995e-04 3.09385086e-05 9.99999598e-01 -3.82160890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters 0.05385399962111338 Centerline is valid? [True, True] Translation: X:501.84, Y:-118.80, Z:-3.82 [[ 8.53440875e-01 5.21185368e-01 -2.11794586e-03 5.01840452e+02] [-5.21184002e-01 8.53443499e-01 1.19619039e-03 -1.18796841e+02] [ 2.43098405e-03 8.29617241e-05 9.99997042e-01 -3.82498728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters 0.05280451606760429 Centerline is valid? [True, True] Translation: X:501.89, Y:-118.84, Z:-3.82 [[ 8.53985948e-01 5.20285589e-01 -3.30238270e-03 5.01889137e+02] [-5.20282259e-01 8.53992324e-01 1.86574652e-03 -1.18836865e+02] [ 3.79093051e-03 1.24849816e-04 9.99992807e-01 -3.82246796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters 0.05238868308423966 Centerline is valid? [True, True] Translation: X:501.94, Y:-118.87, Z:-3.82 [[ 8.54822617e-01 5.18911429e-01 -3.03682969e-03 5.01942263e+02] [-5.18908606e-01 8.54828004e-01 1.71528172e-03 -1.18868775e+02] [ 3.48604635e-03 1.09575446e-04 9.99993918e-01 -3.82274711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters 0.05327061114788917 Centerline is valid? [True, True] Translation: X:502.00, Y:-118.90, Z:-3.82 [[ 8.56263905e-01 5.16532541e-01 -2.50166162e-03 5.01996873e+02] [-5.16530616e-01 8.56267556e-01 1.41287467e-03 -1.18895634e+02] [ 2.87188743e-03 8.23912387e-05 9.99995873e-01 -3.82484026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters 0.052522449210689125 Centerline is valid? [True, True] Translation: X:502.05, Y:-118.93, Z:-3.82 [[ 8.57631439e-01 5.14260920e-01 -2.00513449e-03 5.02048319e+02] [-5.14259676e-01 8.57633781e-01 1.13259766e-03 -1.18929812e+02] [ 2.30212179e-03 5.98084543e-05 9.99997348e-01 -3.82427768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters 0.052621205807783275 Centerline is valid? [True, True] Translation: X:502.10, Y:-118.96, Z:-3.82 [[ 8.57885526e-01 5.13837327e-01 -1.90413756e-03 5.02101154e+02] [-5.13836203e-01 8.57887637e-01 1.07662512e-03 -1.18963086e+02] [ 2.18674624e-03 5.47937075e-05 9.99997608e-01 -3.82336779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters 0.053018715179543555 Centerline is valid? [True, True] Translation: X:502.16, Y:-118.99, Z:-3.83 [[ 8.57783921e-01 5.14008753e-01 -1.32197655e-03 5.02156485e+02] [-5.14008211e-01 8.57784938e-01 7.47441830e-04 -1.18989739e+02] [ 1.51816322e-03 3.83632196e-05 9.99998847e-01 -3.82531719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters 0.052307302373509425 Centerline is valid? [True, True] Translation: X:502.21, Y:-119.03, Z:-3.82 [[ 8.57518936e-01 5.14450842e-01 -1.26667693e-03 5.02208263e+02] [-5.14450344e-01 8.57519871e-01 7.16800890e-04 -1.19025017e+02] [ 1.45495946e-03 3.69720452e-05 9.99998941e-01 -3.82394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters 0.052837489203958296 Centerline is valid? [True, True] Translation: X:502.26, Y:-119.05, Z:-3.83 [[ 8.56911846e-01 5.15459865e-01 -1.79336051e-03 5.02262987e+02] [-5.15458869e-01 8.56913721e-01 1.01462421e-03 -1.19052782e+02] [ 2.05975328e-03 5.49600741e-05 9.99997877e-01 -3.82554125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters 0.0526722092134363 Centerline is valid? [True, True] Translation: X:502.32, Y:-119.09, Z:-3.83 [[ 8.56529560e-01 5.16091522e-01 -2.57945587e-03 5.02315288e+02] [-5.16089464e-01 8.56533441e-01 1.45945684e-03 -1.19086543e+02] [ 2.96260351e-03 8.11620672e-05 9.99995608e-01 -3.82573280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters 0.05344210065202318 Centerline is valid? [True, True] Translation: X:502.37, Y:-119.11, Z:-3.83 [[ 8.56491498e-01 5.16153083e-01 -2.88232723e-03 5.02373169e+02] [-5.16150514e-01 8.56496343e-01 1.63123336e-03 -1.19110164e+02] [ 3.31066886e-03 9.05771754e-05 9.99994516e-01 -3.82968856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters 0.05301505783970626 Centerline is valid? [True, True] Translation: X:502.43, Y:-119.14, Z:-3.83 [[ 8.56428418e-01 5.16259697e-01 -2.50803848e-03 5.02425460e+02] [-5.16257751e-01 8.56432086e-01 1.41976744e-03 -1.19144662e+02] [ 2.88093333e-03 7.88651220e-05 9.99995847e-01 -3.82727790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters 0.05384625208543736 Centerline is valid? [True, True] Translation: X:502.48, Y:-119.17, Z:-3.83 [[ 8.56334343e-01 5.16420571e-01 -1.13457952e-03 5.02480969e+02] [-5.16420172e-01 8.56335093e-01 6.42838345e-04 -1.19170344e+02] [ 1.30355520e-03 3.54351989e-05 9.99999150e-01 -3.82806574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters 0.05261590133088765 Centerline is valid? [True, True] Translation: X:502.53, Y:-119.21, Z:-3.83 [[ 8.55979619e-01 5.17009227e-01 -5.92418224e-04 5.02531311e+02] [-5.17009118e-01 8.55979824e-01 3.36232046e-04 -1.19208188e+02] [ 6.80933117e-04 1.84778443e-05 9.99999768e-01 -3.82570248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters 0.05215959902166952 Centerline is valid? [True, True] Translation: X:502.58, Y:-119.24, Z:-3.83 [[ 8.55325454e-01 5.18090352e-01 -8.68943844e-04 5.02584676e+02] [-5.18090119e-01 8.55325895e-01 4.92126724e-04 -1.19240696e+02] [ 9.98196278e-04 2.92627057e-05 9.99999501e-01 -3.82582402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters 0.05224697052602999 Centerline is valid? [True, True] Translation: X:502.64, Y:-119.27, Z:-3.83 [[ 8.54428746e-01 5.19563219e-01 -2.36222183e-03 5.02637730e+02] [-5.19561504e-01 8.54432007e-01 1.33753488e-03 -1.19271366e+02] [ 2.71329187e-03 8.44912737e-05 9.99996315e-01 -3.82621076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters 0.0527952139744884 Centerline is valid? [True, True] Translation: X:502.69, Y:-119.30, Z:-3.83 [[ 8.53919951e-01 5.20390776e-01 -3.76268206e-03 5.02694641e+02] [-5.20386430e-01 8.53928229e-01 2.13139224e-03 -1.19295253e+02] [ 4.32221729e-03 1.38010328e-04 9.99990650e-01 -3.82961492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters 0.05275865043977146 Centerline is valid? [True, True] Translation: X:502.75, Y:-119.33, Z:-3.83 [[ 8.54278017e-01 5.19795840e-01 -4.62099516e-03 5.02748474e+02] [-5.19789273e-01 8.54290499e-01 2.61805281e-03 -1.19325825e+02] [ 5.30852522e-03 1.65398753e-04 9.99985896e-01 -3.82986747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters 0.05259216000708661 Centerline is valid? [True, True] Translation: X:502.80, Y:-119.36, Z:-3.83 [[ 8.55323646e-01 5.18078168e-01 -4.05864139e-03 5.02800666e+02] [-5.18073085e-01 8.55333264e-01 2.29898314e-03 -1.19359157e+02] [ 4.66254396e-03 1.36298231e-04 9.99989121e-01 -3.82843988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters 0.05245948400831133 Centerline is valid? [True, True] Translation: X:502.85, Y:-119.39, Z:-3.83 [[ 8.56719245e-01 5.15772549e-01 -3.28832508e-03 5.02852152e+02] [-5.15769194e-01 8.56725550e-01 1.86287267e-03 -1.19393202e+02] [ 3.77801069e-03 1.00057912e-04 9.99992858e-01 -3.82644734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters 0.053076665107303606 Centerline is valid? [True, True] Translation: X:502.91, Y:-119.42, Z:-3.83 [[ 8.58346784e-01 5.13064098e-01 -2.45540478e-03 5.02906740e+02] [-5.13062216e-01 8.58350294e-01 1.39112298e-03 -1.19419187e+02] [ 2.82133267e-03 6.57094847e-05 9.99996018e-01 -3.82893497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters 0.0521359670236529 Centerline is valid? [True, True] Translation: X:502.96, Y:-119.45, Z:-3.83 [[ 8.59083818e-01 5.11830447e-01 -2.14200845e-03 5.02958035e+02] [-5.11829008e-01 8.59086486e-01 1.21464452e-03 -1.19454300e+02] [ 2.46186257e-03 5.28606067e-05 9.99996968e-01 -3.82723931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters 0.05235775971687778 Centerline is valid? [True, True] Translation: X:503.01, Y:-119.49, Z:-3.83 [[ 8.59646978e-01 5.10882732e-01 -2.43043068e-03 5.03012387e+02] [-5.10880875e-01 8.59650412e-01 1.37843257e-03 -1.19485189e+02] [ 2.79353814e-03 5.66951597e-05 9.99996096e-01 -3.82738707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters 0.05222801501138806 Centerline is valid? [True, True] Translation: X:503.07, Y:-119.52, Z:-3.83 [[ 8.60687845e-01 5.09125531e-01 -2.76172692e-03 5.03066633e+02] [-5.09123124e-01 8.60692274e-01 1.56660621e-03 -1.19515576e+02] [ 3.17459624e-03 5.77001131e-05 9.99994959e-01 -3.82836905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters 0.05303674459383005 Centerline is valid? [True, True] Translation: X:503.12, Y:-119.55, Z:-3.83 [[ 8.62253341e-01 5.06474071e-01 -1.78620335e-03 5.03119284e+02] [-5.06473059e-01 8.62255191e-01 1.01279381e-03 -1.19547029e+02] [ 2.05311691e-03 3.13790245e-05 9.99997892e-01 -3.82832067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters 0.05313348056092392 Centerline is valid? [True, True] Translation: X:503.17, Y:-119.58, Z:-3.83 [[ 8.62943155e-01 5.05297571e-01 -1.86421764e-03 5.03172913e+02] [-5.05296464e-01 8.62945169e-01 1.05801651e-03 -1.19575946e+02] [ 2.14333078e-03 2.89744790e-05 9.99997703e-01 -3.83071434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters 0.05252228600631144 Centerline is valid? [True, True] Translation: X:503.22, Y:-119.61, Z:-3.83 [[ 8.64129474e-01 5.03269139e-01 -6.52311000e-04 5.03223942e+02] [-5.03269003e-01 8.64129720e-01 3.70136318e-04 -1.19609665e+02] [ 7.49959508e-04 8.44220507e-06 9.99999719e-01 -3.82956395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters 0.05262449009523827 Centerline is valid? [True, True] Translation: X:503.28, Y:-119.64, Z:-3.83 [[ 8.63939982e-01 5.03594289e-01 -7.07339057e-04 5.03278988e+02] [-5.03594129e-01 8.63940271e-01 4.02294172e-04 -1.19638302e+02] [ 8.13691744e-04 8.65377643e-06 9.99999669e-01 -3.83126646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters 0.05302242842247173 Centerline is valid? [True, True] Translation: X:503.33, Y:-119.67, Z:-3.83 [[ 8.62940629e-01 5.05303851e-01 -1.22004305e-03 5.03333357e+02] [-5.05303376e-01 8.62941491e-01 6.93247034e-04 -1.19668777e+02] [ 1.40312617e-03 1.82608408e-05 9.99999015e-01 -3.83140086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters 0.05302853004251111 Centerline is valid? [True, True] Translation: X:503.39, Y:-119.70, Z:-3.83 [[ 8.62356315e-01 5.06300668e-01 -1.10436398e-03 5.03386652e+02] [-5.06300279e-01 8.62357022e-01 6.27724056e-04 -1.19699878e+02] [ 1.27017314e-03 1.78179859e-05 9.99999193e-01 -3.83123456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters 0.052989429934475744 Centerline is valid? [True, True] Translation: X:503.44, Y:-119.73, Z:-3.83 [[ 8.62123510e-01 5.06697027e-01 -1.08439596e-03 5.03442007e+02] [-5.06696652e-01 8.62124192e-01 6.16705564e-04 -1.19727746e+02] [ 1.24736686e-03 1.77834349e-05 9.99999222e-01 -3.83243827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters 0.05293867501827768 Centerline is valid? [True, True] Translation: X:503.50, Y:-119.76, Z:-3.83 [[ 8.63062948e-01 5.05095872e-01 -7.11871392e-04 5.03495404e+02] [-5.05095710e-01 8.63063242e-01 4.05238302e-04 -1.19759029e+02] [ 8.19074225e-04 9.81702253e-06 9.99999665e-01 -3.83197250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters 0.05331612677403233 Centerline is valid? [True, True] Translation: X:503.55, Y:-119.79, Z:-3.83 [[ 8.63948299e-01 5.03580513e-01 5.42377940e-05 5.03549168e+02] [-5.03580512e-01 8.63948301e-01 -2.98201238e-05 -1.19789468e+02] [-6.18754834e-05 -1.55005078e-06 9.99999998e-01 -3.83181350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters 0.05328221995176044 Centerline is valid? [True, True] Translation: X:503.60, Y:-119.82, Z:-3.83 [[ 8.64323096e-01 5.02936760e-01 4.48464478e-04 5.03602850e+02] [-5.02936696e-01 8.64323212e-01 -2.53820785e-04 -1.19819981e+02] [-5.15274062e-04 -6.16607572e-06 9.99999867e-01 -3.83165666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters 0.053161698572909914 Centerline is valid? [True, True] Translation: X:503.66, Y:-119.85, Z:-3.84 [[ 8.65057216e-01 5.01673200e-01 -1.19012088e-04 5.03658583e+02] [-5.01673195e-01 8.65057224e-01 6.85527181e-05 -1.19846479e+02] [ 1.37343328e-04 4.03151155e-07 9.99999991e-01 -3.83606305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters 0.05338907060834579 Centerline is valid? [True, True] Translation: X:503.71, Y:-119.88, Z:-3.83 [[ 8.65302961e-01 5.01249140e-01 2.91432230e-04 5.03711521e+02] [-5.01249113e-01 8.65303010e-01 -1.64724584e-04 -1.19879322e+02] [-3.34745243e-04 -3.54347658e-06 9.99999944e-01 -3.83429172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters 0.05308850249272705 Centerline is valid? [True, True] Translation: X:503.77, Y:-119.91, Z:-3.84 [[ 8.65246274e-01 5.01347067e-01 5.99956363e-05 5.03766480e+02] [-5.01347066e-01 8.65246276e-01 -3.31056469e-05 -1.19907709e+02] [-6.85084201e-05 -1.43409860e-06 9.99999998e-01 -3.83596653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters 0.05363897072798684 Centerline is valid? [True, True] Translation: X:503.82, Y:-119.94, Z:-3.83 [[ 8.64924935e-01 5.01901170e-01 2.70824971e-04 5.03821013e+02] [-5.01901146e-01 8.64924977e-01 -1.52934783e-04 -1.19939871e+02] [-3.11001429e-04 -3.65025637e-06 9.99999952e-01 -3.83446239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters 0.053219571778528395 Centerline is valid? [True, True] Translation: X:503.88, Y:-119.97, Z:-3.83 [[ 8.64647201e-01 5.02378198e-01 1.16805779e-03 5.03876499e+02] [-5.02377760e-01 8.64647990e-01 -6.63489536e-04 -1.19969572e+02] [-1.34328150e-03 -1.31218858e-05 9.99999098e-01 -3.83450022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters 0.05326382086866941 Centerline is valid? [True, True] Translation: X:503.93, Y:-120.00, Z:-3.84 [[ 8.64179979e-01 5.03179960e-01 1.70047427e-03 5.03932434e+02] [-5.03179032e-01 8.64181652e-01 -9.66784345e-04 -1.19996660e+02] [-1.95598517e-03 -2.01673238e-05 9.99998087e-01 -3.83567150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters 0.05366617559321141 Centerline is valid? [True, True] Translation: X:503.99, Y:-120.02, Z:-3.84 [[ 8.64093194e-01 5.03329855e-01 1.41707961e-03 5.03987503e+02] [-5.03329210e-01 8.64094356e-01 -8.06017627e-04 -1.20024293e+02] [-1.63018323e-03 -1.67832169e-05 9.99998671e-01 -3.83681509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters 0.052624378822663145 Centerline is valid? [True, True] Translation: X:504.04, Y:-120.06, Z:-3.83 [[ 8.64317969e-01 5.02941006e-01 2.18932902e-03 5.04040375e+02] [-5.02939464e-01 8.64320741e-01 -1.24562975e-03 -1.20056697e+02] [-2.51876076e-03 -2.44797948e-05 9.99996828e-01 -3.83440098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters 0.05292936004394139 Centerline is valid? [True, True] Translation: X:504.10, Y:-120.08, Z:-3.83 [[ 8.64167877e-01 5.03196646e-01 2.64876488e-03 5.04095969e+02] [-5.03194388e-01 8.64171936e-01 -1.50760656e-03 -1.20084987e+02] [-3.04761083e-03 -3.00184652e-05 9.99995356e-01 -3.83491776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters 0.0534731722709315 Centerline is valid? [True, True] Translation: X:504.15, Y:-120.11, Z:-3.84 [[ 8.63788117e-01 5.03847706e-01 2.75305293e-03 5.04150192e+02] [-5.03845267e-01 8.63792503e-01 -1.56786958e-03 -1.20114867e+02] [-3.16803397e-03 -3.28055789e-05 9.99994981e-01 -3.83500061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters 0.05327488404290588 Centerline is valid? [True, True] Translation: X:504.21, Y:-120.14, Z:-3.84 [[ 8.62718585e-01 5.05678382e-01 2.45290929e-03 5.04206191e+02] [-5.05676455e-01 8.62722071e-01 -1.39668817e-03 -1.20139973e+02] [-2.82245400e-03 -3.54296286e-05 9.99996016e-01 -3.83679167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters 0.05361610492814716 Centerline is valid? [True, True] Translation: X:504.26, Y:-120.17, Z:-3.84 [[ 8.61629264e-01 5.07530688e-01 2.75907185e-03 5.04260968e+02] [-5.07528257e-01 8.61633680e-01 -1.57155747e-03 -1.20168462e+02] [-3.17492287e-03 -4.62070235e-05 9.99994959e-01 -3.83710859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters 0.05312253009210245 Centerline is valid? [True, True] Translation: X:504.31, Y:-120.20, Z:-3.84 [[ 8.59512222e-01 5.11105747e-01 3.10730958e-03 5.04314552e+02] [-5.11102683e-01 8.59517837e-01 -1.77079547e-03 -1.20198435e+02] [-3.57585175e-03 -6.61339142e-05 9.99993604e-01 -3.83649747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters 0.05334140969455271 Centerline is valid? [True, True] Translation: X:504.37, Y:-120.23, Z:-3.84 [[ 8.57396753e-01 5.14648270e-01 2.82239959e-03 5.04368618e+02] [-5.14645762e-01 8.57401395e-01 -1.60833583e-03 -1.20227216e+02] [-3.24765660e-03 -7.35540699e-05 9.99994724e-01 -3.83662438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters 0.05317612768146011 Centerline is valid? [True, True] Translation: X:504.42, Y:-120.25, Z:-3.84 [[ 8.56506000e-01 5.16130784e-01 2.54662787e-03 5.04423259e+02] [-5.16128748e-01 8.56509783e-01 -1.45144326e-03 -1.20253770e+02] [-2.93034623e-03 -7.12179899e-05 9.99995704e-01 -3.83752628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters 0.05353494621486428 Centerline is valid? [True, True] Translation: X:504.48, Y:-120.29, Z:-3.84 [[ 8.56171928e-01 5.16683737e-01 2.74716040e-03 5.04477063e+02] [-5.16681371e-01 8.56176331e-01 -1.56538512e-03 -1.20285084e+02] [-3.16086274e-03 -7.91678038e-05 9.99995001e-01 -3.83763633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters 0.05318541180927787 Centerline is valid? [True, True] Translation: X:504.53, Y:-120.32, Z:-3.84 [[ 8.56626662e-01 5.15928319e-01 2.95506612e-03 5.04530794e+02] [-5.15925576e-01 8.56631755e-01 -1.68435337e-03 -1.20316593e+02] [-3.40040908e-03 -8.17321887e-05 9.99994215e-01 -3.83806157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters 0.05270453790862464 Centerline is valid? [True, True] Translation: X:504.58, Y:-120.35, Z:-3.84 [[ 8.56967240e-01 5.15359701e-01 3.39517838e-03 5.04581255e+02] [-5.15356074e-01 8.56973961e-01 -1.93580145e-03 -1.20352812e+02] [-3.90721352e-03 -9.08073707e-05 9.99992363e-01 -3.83836653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters 0.05316601829704595 Centerline is valid? [True, True] Translation: X:504.63, Y:-120.38, Z:-3.84 [[ 8.58598770e-01 5.12643804e-01 2.11707547e-03 5.04634505e+02] [-5.12642384e-01 8.58601379e-01 -1.20759437e-03 -1.20381920e+02] [-2.43678969e-03 -4.84635757e-05 9.99997030e-01 -3.84025185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters 0.05296761838541048 Centerline is valid? [True, True] Translation: X:504.69, Y:-120.42, Z:-3.84 [[ 8.59937581e-01 5.10393889e-01 2.33122470e-03 5.04686111e+02] [-5.10392158e-01 8.59940740e-01 -1.32981533e-03 -1.20415723e+02] [-2.68344471e-03 -4.62806288e-05 9.99996398e-01 -3.84090976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters 0.05270309053076344 Centerline is valid? [True, True] Translation: X:504.74, Y:-120.45, Z:-3.84 [[ 8.60596137e-01 5.09283780e-01 2.07854110e-03 5.04739761e+02] [-5.09282403e-01 8.60598646e-01 -1.18517087e-03 -1.20445974e+02] [-2.39237796e-03 -3.86109301e-05 9.99997138e-01 -3.84183662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters 0.052505896749688696 Centerline is valid? [True, True] Translation: X:504.79, Y:-120.48, Z:-3.84 [[ 8.62857609e-01 5.05442032e-01 2.25812366e-03 5.04790687e+02] [-5.05440391e-01 8.62860563e-01 -1.28840068e-03 -1.20481861e+02] [-2.59965771e-03 -2.96405741e-05 9.99996620e-01 -3.84273783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters 0.05289244152995291 Centerline is valid? [True, True] Translation: X:504.84, Y:-120.52, Z:-3.84 [[ 8.64120278e-01 5.03277142e-01 2.87459258e-03 5.04842682e+02] [-5.03274470e-01 8.64125059e-01 -1.64028757e-03 -1.20516391e+02] [-3.30952673e-03 -2.93033085e-05 9.99994523e-01 -3.84289312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters 0.052968853792357426 Centerline is valid? [True, True] Translation: X:504.89, Y:-120.55, Z:-3.84 [[ 8.64352051e-01 5.02876605e-01 3.26372064e-03 5.04894582e+02] [-5.02873158e-01 8.64358212e-01 -1.86222610e-03 -1.20550314e+02] [-3.75749368e-03 -3.16185554e-05 9.99992940e-01 -3.84198899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters 0.05294602732025779 Centerline is valid? [True, True] Translation: X:504.95, Y:-120.58, Z:-3.84 [[ 8.64070552e-01 5.03362928e-01 2.80066659e-03 5.04947061e+02] [-5.03360391e-01 8.64075091e-01 -1.59835916e-03 -1.20580827e+02] [-3.22454099e-03 -2.86495514e-05 9.99994801e-01 -3.84352684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters 0.052924822420140856 Centerline is valid? [True, True] Translation: X:505.00, Y:-120.61, Z:-3.84 [[ 8.63311514e-01 5.04664238e-01 2.69002503e-03 5.05000189e+02] [-5.04661903e-01 8.63315705e-01 -1.53552800e-03 -1.20613359e+02] [-3.09726693e-03 -3.19141480e-05 9.99995203e-01 -3.84394508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters 0.05311948128548159 Centerline is valid? [True, True] Translation: X:505.05, Y:-120.65, Z:-3.84 [[ 8.61554061e-01 5.07659271e-01 2.58165475e-03 5.05052878e+02] [-5.07657132e-01 8.61557928e-01 -1.47406854e-03 -1.20645592e+02] [-2.97256968e-03 -4.06057063e-05 9.99995581e-01 -3.84435120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters 0.05284238405367654 Centerline is valid? [True, True] Translation: X:505.11, Y:-120.67, Z:-3.85 [[ 8.59311499e-01 5.11449489e-01 1.78000985e-03 5.05107117e+02] [-5.11448480e-01 8.59313342e-01 -1.01669862e-03 -1.20671468e+02] [-2.04957620e-03 -3.67225199e-05 9.99997899e-01 -3.84628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters 0.05277448097765288 Centerline is valid? [True, True] Translation: X:505.16, Y:-120.70, Z:-3.85 [[ 8.57746611e-01 5.14069215e-01 1.89563410e-03 5.05159679e+02] [-5.14068077e-01 8.57748705e-01 -1.08275440e-03 -1.20702359e+02] [-2.18258840e-03 -4.57560555e-05 9.99997617e-01 -3.84676304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters 0.052163326646476944 Centerline is valid? [True, True] Translation: X:505.21, Y:-120.74, Z:-3.85 [[ 8.56034039e-01 5.16914686e-01 2.22085595e-03 5.05209177e+02] [-5.16913133e-01 8.56036917e-01 -1.26866158e-03 -1.20738799e+02] [-2.55692449e-03 -6.19721141e-05 9.99996729e-01 -3.84571534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters 0.05312948887654473 Centerline is valid? [True, True] Translation: X:505.26, Y:-120.77, Z:-3.85 [[ 8.55338570e-01 5.18065321e-01 2.06230625e-03 5.05264294e+02] [-5.18063985e-01 8.55341055e-01 -1.17822681e-03 -1.20766274e+02] [-2.37437365e-03 -6.06237592e-05 9.99997179e-01 -3.84765223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters 0.05307166177574032 Centerline is valid? [True, True] Translation: X:505.31, Y:-120.80, Z:-3.85 [[ 8.54959000e-01 5.18691069e-01 2.16389509e-03 5.05314912e+02] [-5.18689599e-01 8.54961736e-01 -1.23654919e-03 -1.20803504e+02] [-2.49143452e-03 -6.51910195e-05 9.99996894e-01 -3.84735608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters 0.051757148901830446 Centerline is valid? [True, True] Translation: X:505.37, Y:-120.84, Z:-3.85 [[ 8.54722716e-01 5.19077944e-01 2.67696681e-03 5.05366824e+02] [-5.19075695e-01 8.54726904e-01 -1.53034956e-03 -1.20837808e+02] [-3.08244626e-03 -8.15238752e-05 9.99995246e-01 -3.84755385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters 0.05174676347803951 Centerline is valid? [True, True] Translation: X:505.42, Y:-120.87, Z:-3.85 [[ 8.54497608e-01 5.19446222e-01 3.07590437e-03 5.05420460e+02] [-5.19443251e-01 8.54503138e-01 -1.75922272e-03 -1.20868112e+02] [-3.54219154e-03 -9.45061651e-05 9.99993722e-01 -3.84826828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters 0.051835140036702546 Centerline is valid? [True, True] Translation: X:505.47, Y:-120.90, Z:-3.85 [[ 8.54517633e-01 5.19414655e-01 2.83392549e-03 5.05472887e+02] [-5.19412134e-01 8.54522328e-01 -1.62071480e-03 -1.20902609e+02] [-3.26347562e-03 -8.70459065e-05 9.99994671e-01 -3.84918780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters 0.05189636881776282 Centerline is valid? [True, True] Translation: X:505.52, Y:-120.93, Z:-3.85 [[ 8.55328871e-01 5.18080485e-01 2.26576094e-03 5.05523982e+02] [-5.18078867e-01 8.55331869e-01 -1.29634834e-03 -1.20934250e+02] [-2.60959031e-03 -6.50386956e-05 9.99996593e-01 -3.85111526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters 0.05191657567527865 Centerline is valid? [True, True] Translation: X:505.58, Y:-120.97, Z:-3.85 [[ 8.55721102e-01 5.17431148e-01 2.53042483e-03 5.05576375e+02] [-5.17429127e-01 8.55724840e-01 -1.44793510e-03 -1.20968893e+02] [-2.91455411e-03 -7.02868907e-05 9.99995750e-01 -3.85087214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters 0.05209088912612898 Centerline is valid? [True, True] Translation: X:505.63, Y:-121.00, Z:-3.85 [[ 8.57564585e-01 5.14372708e-01 1.92365677e-03 5.05627150e+02] [-5.14371532e-01 8.57566741e-01 -1.10108336e-03 -1.21000842e+02] [-2.21603129e-03 -4.52241842e-05 9.99997544e-01 -3.85261117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters 0.05198226801767191 Centerline is valid? [True, True] Translation: X:505.68, Y:-121.03, Z:-3.85 [[ 8.58610792e-01 5.12622850e-01 2.30696191e-03 5.05679586e+02] [-5.12621152e-01 8.58613889e-01 -1.32044124e-03 -1.21032097e+02] [-2.65767789e-03 -4.88523724e-05 9.99996467e-01 -3.85345442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters 0.05149932422366466 Centerline is valid? [True, True] Translation: X:505.73, Y:-121.07, Z:-3.85 [[ 8.59427630e-01 5.11245968e-01 3.42180419e-03 5.05731426e+02] [-5.11242221e-01 8.59434440e-01 -1.95858205e-03 -1.21066584e+02] [-3.94213354e-03 -6.61112456e-05 9.99992228e-01 -3.85270458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters 0.051442370732737185 Centerline is valid? [True, True] Translation: X:505.79, Y:-121.10, Z:-3.85 [[ 8.59471730e-01 5.11170025e-01 3.68103354e-03 5.05786661e+02] [-5.11165688e-01 8.59479610e-01 -2.10692044e-03 -1.21095715e+02] [-4.24076784e-03 -7.07794814e-05 9.99991005e-01 -3.85349876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters 0.05073176439321782 Centerline is valid? [True, True] Translation: X:505.84, Y:-121.13, Z:-3.85 [[ 8.59805080e-01 5.10612718e-01 3.14262031e-03 5.05839009e+02] [-5.10609552e-01 8.59810822e-01 -1.79904103e-03 -1.21128905e+02] [-3.62067218e-03 -5.78273275e-05 9.99993444e-01 -3.85367332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters 0.051353935416973695 Centerline is valid? [True, True] Translation: X:505.89, Y:-121.16, Z:-3.85 [[ 8.60802138e-01 5.08933650e-01 2.49395087e-03 5.05892921e+02] [-5.08931649e-01 8.60805749e-01 -1.42787818e-03 -1.21159807e+02] [-2.87350250e-03 -4.01299325e-05 9.99995871e-01 -3.85452083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters 0.05126999024260132 Centerline is valid? [True, True] Translation: X:505.95, Y:-121.19, Z:-3.86 [[ 8.61334747e-01 5.08032802e-01 2.26422603e-03 5.05947168e+02] [-5.08031148e-01 8.61337722e-01 -1.29660568e-03 -1.21189036e+02] [-2.60898151e-03 -3.34858192e-05 9.99996596e-01 -3.85574356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters 0.05114744003980196 Centerline is valid? [True, True] Translation: X:506.00, Y:-121.22, Z:-3.86 [[ 8.62405033e-01 5.06214615e-01 2.07895691e-03 5.06000972e+02] [-5.06213215e-01 8.62407539e-01 -1.19102890e-03 -1.21217714e+02] [-2.39582435e-03 -2.52461488e-05 9.99997130e-01 -3.85665492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters 0.05163225263901805 Centerline is valid? [True, True] Translation: X:506.05, Y:-121.25, Z:-3.86 [[ 8.63463279e-01 5.04407165e-01 2.13963686e-03 5.06054036e+02] [-5.04405676e-01 8.63465930e-01 -1.22577899e-03 -1.21247316e+02] [-2.46579524e-03 -2.08298273e-05 9.99996960e-01 -3.85748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters 0.05185652270353965 Centerline is valid? [True, True] Translation: X:506.11, Y:-121.28, Z:-3.86 [[ 8.65445743e-01 5.00992578e-01 3.17837628e-03 5.06107629e+02] [-5.00989266e-01 8.65451580e-01 -1.82167113e-03 -1.21278558e+02] [-3.66337449e-03 -1.57748772e-05 9.99993290e-01 -3.85793025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters 0.05241462000598764 Centerline is valid? [True, True] Translation: X:506.16, Y:-121.31, Z:-3.86 [[ 8.66740659e-01 4.98741702e-01 4.16477942e-03 5.06160300e+02] [-4.98735985e-01 8.66750665e-01 -2.38785620e-03 -1.21311937e+02] [-4.80074880e-03 -7.47331690e-06 9.99988476e-01 -3.85568620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters 0.05190819221594722 Centerline is valid? [True, True] Translation: X:506.21, Y:-121.34, Z:-3.86 [[ 8.68245061e-01 4.96116059e-01 4.40111661e-03 5.06214347e+02] [-4.96109638e-01 8.68256216e-01 -2.52406268e-03 -1.21342457e+02] [-5.07352488e-03 8.06858459e-06 9.99987130e-01 -3.85656144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters 0.05204857408108341 Centerline is valid? [True, True] Translation: X:506.27, Y:-121.37, Z:-3.86 [[ 8.69634417e-01 4.93675551e-01 4.52005502e-03 5.06267352e+02] [-4.93668742e-01 8.69646163e-01 -2.59309045e-03 -1.21372761e+02] [-5.21099387e-03 2.36308259e-05 9.99986422e-01 -3.85793693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters 0.05234818670747819 Centerline is valid? [True, True] Translation: X:506.32, Y:-121.40, Z:-3.86 [[ 8.70578937e-01 4.92006172e-01 4.71601304e-03 5.06322245e+02] [-4.91998731e-01 8.70591710e-01 -2.70616222e-03 -1.21402596e+02] [-5.43717037e-03 3.56554056e-05 9.99985218e-01 -3.85809405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters 0.05264187242948172 Centerline is valid? [True, True] Translation: X:506.38, Y:-121.43, Z:-3.86 [[ 8.70772334e-01 4.91664537e-01 4.63950807e-03 5.06377131e+02] [-4.91657327e-01 8.70784693e-01 -2.66292869e-03 -1.21431951e+02] [-5.34928021e-03 3.77564938e-05 9.99985692e-01 -3.85978216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters 0.052295514904738584 Centerline is valid? [True, True] Translation: X:506.43, Y:-121.46, Z:-3.86 [[ 8.69542502e-01 4.93845013e-01 3.59731017e-03 5.06434471e+02] [-4.93840695e-01 8.69549943e-01 -2.06511697e-03 -1.21457644e+02] [-4.14788857e-03 1.92088227e-05 9.99991397e-01 -3.86097537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters 0.052609940005952226 Centerline is valid? [True, True] Translation: X:506.49, Y:-121.48, Z:-3.86 [[ 8.68124762e-01 4.96336646e-01 3.05480866e-03 5.06489691e+02] [-4.96333546e-01 8.68130137e-01 -1.75421555e-03 -1.21484935e+02] [-3.52265292e-03 6.67394342e-06 9.99993795e-01 -3.86255608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters 0.0524425016568495 Centerline is valid? [True, True] Translation: X:506.55, Y:-121.51, Z:-3.86 [[ 8.66396566e-01 4.99348438e-01 2.85106652e-03 5.06545896e+02] [-4.99345754e-01 8.66401257e-01 -1.63717332e-03 -1.21511616e+02] [-3.28768755e-03 -5.22661647e-06 9.99994596e-01 -3.86365948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters 0.05205591257009997 Centerline is valid? [True, True] Translation: X:506.60, Y:-121.54, Z:-3.86 [[ 8.64006571e-01 5.03467402e-01 3.63589911e-03 5.06602555e+02] [-5.03463070e-01 8.64014221e-01 -2.08875233e-03 -1.21536794e+02] [-4.19308725e-03 -2.58451918e-05 9.99991209e-01 -3.86377999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters 0.05291814646122787 Centerline is valid? [True, True] Translation: X:506.66, Y:-121.56, Z:-3.86 [[ 8.61931631e-01 5.07010481e-01 3.77301925e-03 5.06659007e+02] [-5.07005848e-01 8.61939888e-01 -2.16805051e-03 -1.21563546e+02] [-4.35134012e-03 -4.42315128e-05 9.99990532e-01 -3.86424500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters 0.05221485573103731 Centerline is valid? [True, True] Translation: X:506.71, Y:-121.59, Z:-3.86 [[ 8.60811418e-01 5.08909197e-01 3.89003190e-03 5.06713994e+02] [-5.08904288e-01 8.60820206e-01 -2.23591335e-03 -1.21591639e+02] [-4.48649493e-03 -5.49541773e-05 9.99989934e-01 -3.86464343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters 0.05202190025721237 Centerline is valid? [True, True] Translation: X:506.77, Y:-121.62, Z:-3.87 [[ 8.59851501e-01 5.10523198e-01 4.63251728e-03 5.06770170e+02] [-5.10516256e-01 8.59863977e-01 -2.66345053e-03 -1.21618860e+02] [-5.34308801e-03 -7.48034434e-05 9.99985723e-01 -3.86542953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters 0.0520993230667867 Centerline is valid? [True, True] Translation: X:506.82, Y:-121.65, Z:-3.87 [[ 8.60213354e-01 5.09913741e-01 4.57840030e-03 5.06824951e+02] [-5.09906948e-01 8.60225535e-01 -2.63301339e-03 -1.21646004e+02] [-5.28106656e-03 -6.96048492e-05 9.99986053e-01 -3.86702514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters 0.05273034077885834 Centerline is valid? [True, True] Translation: X:506.88, Y:-121.68, Z:-3.87 [[ 8.61231172e-01 5.08195226e-01 4.29888177e-03 5.06877560e+02] [-5.08189213e-01 8.61241899e-01 -2.47274582e-03 -1.21679684e+02] [-4.95901472e-03 -5.50395647e-05 9.99987702e-01 -3.86825033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters 0.05281259243985519 Centerline is valid? [True, True] Translation: X:506.93, Y:-121.71, Z:-3.87 [[ 8.63215453e-01 5.04823968e-01 3.44142217e-03 5.06931188e+02] [-5.04820086e-01 8.63222312e-01 -1.97986042e-03 -1.21710457e+02] [-3.97019340e-03 -2.82529325e-05 9.99992118e-01 -3.87037955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters 0.052664723399719705 Centerline is valid? [True, True] Translation: X:506.98, Y:-121.74, Z:-3.87 [[ 8.64504751e-01 5.02614493e-01 3.19464997e-03 5.06984302e+02] [-5.02611132e-01 8.64510654e-01 -1.83835053e-03 -1.21740702e+02] [-3.68579055e-03 -1.64038701e-05 9.99993207e-01 -3.87162990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters 0.0528114671862561 Centerline is valid? [True, True] Translation: X:507.04, Y:-121.77, Z:-3.87 [[ 8.65630084e-01 5.00675141e-01 2.99353862e-03 5.07038145e+02] [-5.00672177e-01 8.65635260e-01 -1.72293547e-03 -1.21772018e+02] [-3.45394354e-03 -7.35671917e-06 9.99994035e-01 -3.87215281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters 0.05239829623205028 Centerline is valid? [True, True] Translation: X:507.09, Y:-121.80, Z:-3.87 [[ 8.65592005e-01 5.00742640e-01 2.69992588e-03 5.07092468e+02] [-5.00740228e-01 8.65596216e-01 -1.55423163e-03 -1.21802520e+02] [-3.11531567e-03 -6.63102681e-06 9.99995147e-01 -3.87311147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters 0.052555711574312436 Centerline is valid? [True, True] Translation: X:507.15, Y:-121.83, Z:-3.87 [[ 8.64904587e-01 5.01930816e-01 2.34765989e-03 5.07146446e+02] [-5.01928996e-01 8.64907773e-01 -1.35171640e-03 -1.21832126e+02] [-2.70897740e-03 -9.25285416e-06 9.99996331e-01 -3.87415393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters 0.05264477398347071 Centerline is valid? [True, True] Translation: X:507.20, Y:-121.86, Z:-3.88 [[ 8.64238474e-01 5.03080743e-01 1.27562539e-03 5.07200226e+02] [-5.03080207e-01 8.64239415e-01 -7.34319027e-04 -1.21861307e+02] [-1.47186750e-03 -7.11512836e-06 9.99998917e-01 -3.87600640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters 0.052314783077885896 Centerline is valid? [True, True] Translation: X:507.25, Y:-121.89, Z:-3.87 [[ 8.63451256e-01 5.04426723e-01 2.36826423e-03 5.07254632e+02] [-5.04424879e-01 8.63454504e-01 -1.36426491e-03 -1.21893035e+02] [-2.73306009e-03 -1.66351502e-05 9.99996265e-01 -3.87437887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters 0.052398068224283 Centerline is valid? [True, True] Translation: X:507.31, Y:-121.92, Z:-3.87 [[ 8.63125759e-01 5.04980228e-01 2.98232696e-03 5.07309520e+02] [-5.04977303e-01 8.63130911e-01 -1.71881898e-03 -1.21924128e+02] [-3.44210818e-03 -2.24504848e-05 9.99994076e-01 -3.87460854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters 0.05223148965314002 Centerline is valid? [True, True] Translation: X:507.36, Y:-121.95, Z:-3.87 [[ 8.62524951e-01 5.05998768e-01 3.99450473e-03 5.07364296e+02] [-5.05993527e-01 8.62534200e-01 -2.30325982e-03 -1.21954774e+02] [-4.61084357e-03 -3.45744775e-05 9.99989369e-01 -3.87430946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters 0.05230713974876966 Centerline is valid? [True, True] Translation: X:507.42, Y:-121.99, Z:-3.87 [[ 8.62436220e-01 5.06146778e-01 4.38238811e-03 5.07418177e+02] [-5.06140467e-01 8.62447353e-01 -2.52782529e-03 -1.21985177e+02] [-5.05902966e-03 -3.80158782e-05 9.99987202e-01 -3.87484362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters 0.052264576968415945 Centerline is valid? [True, True] Translation: X:507.47, Y:-122.02, Z:-3.87 [[ 8.62520265e-01 5.06001635e-01 4.59763245e-03 5.07470019e+02] [-5.05994683e-01 8.62532517e-01 -2.65279493e-03 -1.22018403e+02] [-5.30792606e-03 -3.82881929e-05 9.99985912e-01 -3.87443754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters 0.051896919141933485 Centerline is valid? [True, True] Translation: X:507.52, Y:-122.05, Z:-3.88 [[ 8.62503574e-01 5.06037461e-01 3.69758561e-03 5.07524613e+02] [-5.06032963e-01 8.62511500e-01 -2.13386891e-03 -1.22050116e+02] [-4.26902771e-03 -3.06306391e-05 9.99990887e-01 -3.87563402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters 0.052394598388966714 Centerline is valid? [True, True] Translation: X:507.58, Y:-122.08, Z:-3.88 [[ 8.62511310e-01 5.06034760e-01 1.74972550e-03 5.07579756e+02] [-5.06033752e-01 8.62513085e-01 -1.00984819e-03 -1.22079096e+02] [-2.02017943e-03 -1.44146743e-05 9.99997959e-01 -3.87897722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters 0.05239923675949589 Centerline is valid? [True, True] Translation: X:507.63, Y:-122.11, Z:-3.88 [[ 8.62257573e-01 5.06468651e-01 1.17609804e-03 5.07631929e+02] [-5.06468197e-01 8.62258375e-01 -6.78313211e-04 -1.22112203e+02] [-1.35764476e-03 -1.07755497e-05 9.99999078e-01 -3.87798147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters 0.05283038957758043 Centerline is valid? [True, True] Translation: X:507.69, Y:-122.14, Z:-3.88 [[ 8.62084324e-01 5.06763178e-01 1.30366387e-03 5.07686277e+02] [-5.06762620e-01 8.62085310e-01 -7.52085618e-04 -1.22143632e+02] [-1.50499877e-03 -1.22868966e-05 9.99998867e-01 -3.87875542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters 0.05234567168494018 Centerline is valid? [True, True] Translation: X:507.74, Y:-122.17, Z:-3.88 [[ 8.61875228e-01 5.07117335e-01 1.76053585e-03 5.07740499e+02] [-5.07116316e-01 8.61877026e-01 -1.01666229e-03 -1.22173432e+02] [-2.03293248e-03 -1.65604138e-05 9.99997933e-01 -3.88098754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters 0.05263094264027486 Centerline is valid? [True, True] Translation: X:507.79, Y:-122.21, Z:-3.88 [[ 8.61545230e-01 5.07675066e-01 2.41726564e-03 5.07792729e+02] [-5.07673147e-01 8.61548621e-01 -1.39615716e-03 -1.22208041e+02] [-2.79138606e-03 -2.43283179e-05 9.99996104e-01 -3.87934061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters 0.05199137599057829 Centerline is valid? [True, True] Translation: X:507.85, Y:-122.24, Z:-3.88 [[ 8.60394051e-01 5.09626109e-01 1.81822490e-03 5.07845204e+02] [-5.09625027e-01 8.60395972e-01 -1.05036160e-03 -1.22238788e+02] [-2.09968508e-03 -2.28880381e-05 9.99997795e-01 -3.87990646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters 0.05204176398020555 Centerline is valid? [True, True] Translation: X:507.90, Y:-122.27, Z:-3.88 [[ 8.58946385e-01 5.12061963e-01 1.91136078e-03 5.07898745e+02] [-5.12060773e-01 8.58948511e-01 -1.10443243e-03 -1.22270546e+02] [-2.20729834e-03 -3.00846350e-05 9.99997563e-01 -3.88007254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters 0.051815947833489986 Centerline is valid? [True, True] Translation: X:507.95, Y:-122.30, Z:-3.88 [[ 8.56035405e-01 5.16913120e-01 2.05227657e-03 5.07951063e+02] [-5.16911760e-01 8.56037864e-01 -1.18665509e-03 -1.22300128e+02] [-2.37022404e-03 -4.50271282e-05 9.99997190e-01 -3.88090917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters 0.05214669882341436 Centerline is valid? [True, True] Translation: X:508.00, Y:-122.33, Z:-3.88 [[ 8.53434135e-01 5.21197345e-01 1.87208853e-03 5.08004185e+02] [-5.21196223e-01 8.53436187e-01 -1.08278685e-03 -1.22328994e+02] [-2.16205373e-03 -5.16382131e-05 9.99997661e-01 -3.88172077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters 0.05168027673466785 Centerline is valid? [True, True] Translation: X:508.05, Y:-122.37, Z:-3.88 [[ 8.51131212e-01 5.24949785e-01 1.83912666e-03 5.08054611e+02] [-5.24948712e-01 8.51133197e-01 -1.06316999e-03 -1.22365159e+02] [-2.12345261e-03 -6.05500074e-05 9.99997744e-01 -3.88125052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters 0.051357080565332204 Centerline is valid? [True, True] Translation: X:508.11, Y:-122.40, Z:-3.88 [[ 8.50576819e-01 5.25846656e-01 2.09029792e-03 5.08108170e+02] [-5.25845272e-01 8.50579384e-01 -1.20868068e-03 -1.22396606e+02] [-2.41354501e-03 -7.10975096e-05 9.99997085e-01 -3.88208148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters 0.05133476960786355 Centerline is valid? [True, True] Translation: X:508.16, Y:-122.43, Z:-3.88 [[ 8.49255576e-01 5.27978025e-01 2.04264849e-03 5.08160629e+02] [-5.27976708e-01 8.49258029e-01 -1.18149843e-03 -1.22427604e+02] [-2.35854084e-03 -7.50766992e-05 9.99997216e-01 -3.88276706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters 0.05071373212425322 Centerline is valid? [True, True] Translation: X:508.21, Y:-122.46, Z:-3.88 [[ 8.48515735e-01 5.29168417e-01 1.35461494e-03 5.08212141e+02] [-5.29167839e-01 8.48516814e-01 -7.83877035e-04 -1.22462185e+02] [-1.56421652e-03 -5.16866602e-05 9.99998775e-01 -3.88422471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters 0.052181249352931315 Centerline is valid? [True, True] Translation: X:508.27, Y:-122.49, Z:-3.89 [[ 8.48462626e-01 5.29254611e-01 8.54099684e-04 5.08268897e+02] [-5.29254382e-01 8.48463055e-01 -4.93527704e-04 -1.22487990e+02] [-9.85873840e-04 -3.32961890e-05 9.99999513e-01 -3.88669172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters 0.050715941212514035 Centerline is valid? [True, True] Translation: X:508.32, Y:-122.53, Z:-3.88 [[ 8.48972349e-01 5.28430767e-01 2.62205245e-03 5.08318184e+02] [-5.28428595e-01 8.48976393e-01 -1.51810722e-03 -1.22526548e+02] [-3.02827519e-03 -9.67364426e-05 9.99995410e-01 -3.88456140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters 0.050921625528325846 Centerline is valid? [True, True] Translation: X:508.37, Y:-122.56, Z:-3.89 [[ 8.49468511e-01 5.27634417e-01 2.27395025e-03 5.08370774e+02] [-5.27632781e-01 8.49471550e-01 -1.31658105e-03 -1.22560477e+02] [-2.62632952e-03 -8.14165563e-05 9.99996548e-01 -3.88534212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters 0.0511909222780558 Centerline is valid? [True, True] Translation: X:508.42, Y:-122.59, Z:-3.89 [[ 8.50198352e-01 5.26453251e-01 3.12047908e-03 5.08422337e+02] [-5.26450160e-01 8.50204071e-01 -1.80705660e-03 -1.22594772e+02] [-3.60437484e-03 -1.06420166e-04 9.99993499e-01 -3.88620217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters 0.05207100753121274 Centerline is valid? [True, True] Translation: X:508.48, Y:-122.62, Z:-3.89 [[ 8.50207757e-01 5.26432083e-01 4.00389387e-03 5.08479661e+02] [-5.26426995e-01 8.50217174e-01 -2.31857356e-03 -1.22617470e+02] [-4.62475084e-03 -1.36488599e-04 9.99989296e-01 -3.88786193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters 0.050891630632884426 Centerline is valid? [True, True] Translation: X:508.53, Y:-122.65, Z:-3.89 [[ 8.49210879e-01 5.28035734e-01 4.37570874e-03 5.08531508e+02] [-5.28029675e-01 8.49222137e-01 -2.53456858e-03 -1.22651449e+02] [-5.05429151e-03 -1.58120846e-04 9.99987214e-01 -3.88836255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters 0.05128399784048802 Centerline is valid? [True, True] Translation: X:508.59, Y:-122.68, Z:-3.89 [[ 8.47311908e-01 5.31077946e-01 4.32957734e-03 5.08586643e+02] [-5.31072050e-01 8.47322952e-01 -2.50860643e-03 -1.22677594e+02] [-5.00081581e-03 -1.73745411e-04 9.99987481e-01 -3.88981243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters 0.05079868523167039 Centerline is valid? [True, True] Translation: X:508.64, Y:-122.71, Z:-3.89 [[ 8.46428713e-01 5.32480865e-01 4.74992507e-03 5.08638694e+02] [-5.32473788e-01 8.46442017e-01 -2.75248171e-03 -1.22711372e+02] [-5.48618000e-03 -1.99431047e-04 9.99984931e-01 -3.89037469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters 0.053248619440166414 Centerline is valid? [True, True] Translation: X:508.70, Y:-122.73, Z:-3.89 [[ 8.45720941e-01 5.33607256e-01 4.40301094e-03 5.08700934e+02] [-5.33601191e-01 8.45732380e-01 -2.55140796e-03 -1.22726537e+02] [-5.08521873e-03 -1.91672743e-04 9.99987052e-01 -3.89195454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters 0.05327933895107868 Centerline is valid? [True, True] Translation: X:508.76, Y:-122.76, Z:-3.89 [[ 8.45874634e-01 5.33361011e-01 4.70491979e-03 5.08755842e+02] [-5.33354077e-01 8.45887694e-01 -2.72705768e-03 -1.22756469e+02] [-5.43434000e-03 -2.02639240e-04 9.99985213e-01 -3.89276757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters 0.05423209195268833 Centerline is valid? [True, True] Translation: X:508.81, Y:-122.78, Z:-3.89 [[ 8.46719551e-01 5.32007727e-01 5.81198038e-03 5.08811972e+02] [-5.31997109e-01 8.46739465e-01 -3.36978594e-03 -1.22782595e+02] [-6.71398532e-03 -2.38693118e-04 9.99977432e-01 -3.89280815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters 0.05283599696383279 Centerline is valid? [True, True] Translation: X:508.86, Y:-122.82, Z:-3.89 [[ 8.48286432e-01 5.29504191e-01 5.95324534e-03 5.08862713e+02] [-5.29492987e-01 8.48307292e-01 -3.45187547e-03 -1.22817863e+02] [-6.87796396e-03 -2.24022531e-04 9.99976321e-01 -3.89387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters 0.052356480633118575 Centerline is valid? [True, True] Translation: X:508.91, Y:-122.86, Z:-3.90 [[ 8.52025219e-01 5.23475006e-01 5.19073924e-03 5.08911516e+02] [-5.23466375e-01 8.52041017e-01 -3.00980414e-03 -1.22855008e+02] [-5.99827998e-03 -1.52748417e-04 9.99981998e-01 -3.89576288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters 0.051722617812914554 Centerline is valid? [True, True] Translation: X:508.96, Y:-122.89, Z:-3.90 [[ 8.55078678e-01 5.18471221e-01 5.29594849e-03 5.08963277e+02] [-5.18462140e-01 8.55095070e-01 -3.07099282e-03 -1.22888570e+02] [-6.12076084e-03 -1.19808306e-04 9.99981261e-01 -3.89622817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters 0.051469915991167264 Centerline is valid? [True, True] Translation: X:509.01, Y:-122.92, Z:-3.90 [[ 8.58143256e-01 5.13377260e-01 5.82595567e-03 5.09014800e+02] [-5.13366151e-01 8.58163027e-01 -3.37850857e-03 -1.22921910e+02] [-6.73406922e-03 -9.16040910e-05 9.99977322e-01 -3.89616909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters 0.050981138483645994 Centerline is valid? [True, True] Translation: X:509.07, Y:-122.96, Z:-3.90 [[ 8.62191307e-01 5.06537604e-01 6.76802840e-03 5.09065438e+02] [-5.06522398e-01 8.62217869e-01 -3.92507976e-03 -1.22955789e+02] [-7.82371552e-03 -4.39883325e-05 9.99969393e-01 -3.89558010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters 0.051331390725243904 Centerline is valid? [True, True] Translation: X:509.12, Y:-122.99, Z:-3.90 [[ 8.64797173e-01 5.02083055e-01 6.20129776e-03 5.09117891e+02] [-5.02070173e-01 8.64819407e-01 -3.59651999e-03 -1.22987598e+02] [-7.16875440e-03 -3.22632088e-06 9.99974304e-01 -3.89643412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters 0.05215923576634807 Centerline is valid? [True, True] Translation: X:509.17, Y:-123.02, Z:-3.90 [[ 8.64501994e-01 5.02610585e-01 4.34765977e-03 5.09173615e+02] [-5.02604258e-01 8.64512927e-01 -2.52176559e-03 -1.23017130e+02] [-5.02607415e-03 -5.08093425e-06 9.99987369e-01 -3.89814152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters 0.05215923576634807 Centerline is valid? [True, True] Translation: X:509.23, Y:-123.05, Z:-3.90 [[ 8.64435686e-01 5.02724621e-01 4.34732610e-03 5.09227661e+02] [-5.02718294e-01 8.64446618e-01 -2.52234064e-03 -1.23048457e+02] [-5.02607409e-03 -5.07909365e-06 9.99987369e-01 -3.89860220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters 0.0521750212124692 Centerline is valid? [True, True] Translation: X:509.28, Y:-123.08, Z:-3.90 [[ 8.63999488e-01 5.03481091e-01 3.41694083e-03 5.09281425e+02] [-5.03477187e-01 8.64006244e-01 -1.98292454e-03 -1.23078680e+02] [-3.95062323e-03 -7.10596849e-06 9.99992196e-01 -3.89903066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters 0.052028194067095516 Centerline is valid? [True, True] Translation: X:509.34, Y:-123.11, Z:-3.90 [[ 8.61547462e-01 5.07673730e-01 1.83167656e-03 5.09337283e+02] [-5.07672618e-01 8.61549409e-01 -1.06292934e-03 -1.23106523e+02] [-2.11770116e-03 -1.41279595e-05 9.99997758e-01 -3.90084876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters 0.05194204633038432 Centerline is valid? [True, True] Translation: X:509.39, Y:-123.13, Z:-3.90 [[ 8.58531267e-01 5.12758148e-01 1.77371737e-03 5.09392927e+02] [-5.12757114e-01 8.58533099e-01 -1.02984757e-03 -1.23134579e+02] [-2.05085780e-03 -2.53298626e-05 9.99997897e-01 -3.90121106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters 0.05252765651983554 Centerline is valid? [True, True] Translation: X:509.45, Y:-123.16, Z:-3.90 [[ 8.56928630e-01 5.15431037e-01 2.04173502e-03 5.09446694e+02] [-5.15429674e-01 8.56931062e-01 -1.18561592e-03 -1.23162695e+02] [-2.36072940e-03 -3.63825926e-05 9.99997213e-01 -3.90101449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters 0.05247226645916374 Centerline is valid? [True, True] Translation: X:509.50, Y:-123.19, Z:-3.90 [[ 8.55871485e-01 5.17182703e-01 2.46020662e-03 5.09502719e+02] [-5.17180733e-01 8.55875019e-01 -1.42851118e-03 -1.23187902e+02] [-2.84443066e-03 -4.97494773e-05 9.99995953e-01 -3.90148108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters 0.052150664140496975 Centerline is valid? [True, True] Translation: X:509.56, Y:-123.22, Z:-3.90 [[ 8.55274454e-01 5.18156888e-01 4.36437455e-03 5.09557564e+02] [-5.18150693e-01 8.55285584e-01 -2.53547104e-03 -1.23217789e+02] [-5.04655842e-03 -9.28800841e-05 9.99987262e-01 -3.89978676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters 0.05263812140738808 Centerline is valid? [True, True] Translation: X:509.61, Y:-123.25, Z:-3.90 [[ 8.54611723e-01 5.19248116e-01 4.49413869e-03 5.09611560e+02] [-5.19241559e-01 8.54623533e-01 -2.61152124e-03 -1.23248380e+02] [-5.19682417e-03 -1.01706911e-04 9.99986491e-01 -3.89963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters 0.05286800187157986 Centerline is valid? [True, True] Translation: X:509.67, Y:-123.27, Z:-3.90 [[ 8.54220990e-01 5.19900512e-01 3.15574018e-03 5.09666372e+02] [-5.19897281e-01 8.54226816e-01 -1.83435900e-03 -1.23274952e+02] [-3.64940207e-03 -7.37127821e-05 9.99993338e-01 -3.90130575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters 0.05180663062545575 Centerline is valid? [True, True] Translation: X:509.72, Y:-123.31, Z:-3.90 [[ 8.53296317e-01 5.21425128e-01 1.10984243e-03 5.09718327e+02] [-5.21424730e-01 8.53297038e-01 -6.44949935e-04 -1.23308977e+02] [-1.28331836e-03 -2.83658866e-05 9.99999176e-01 -3.90197647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters 0.05203504799858232 Centerline is valid? [True, True] Translation: X:509.77, Y:-123.34, Z:-3.90 [[ 8.52610907e-01 5.22546287e-01 1.38877696e-04 5.09772913e+02] [-5.22546281e-01 8.52610918e-01 -8.04688636e-05 -1.23338689e+02] [-1.60457346e-04 -3.96139303e-06 9.99999987e-01 -3.90366331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters 0.051851993108923494 Centerline is valid? [True, True] Translation: X:509.83, Y:-123.37, Z:-3.90 [[ 8.52713179e-01 5.22379067e-01 -5.87609871e-04 5.09827629e+02] [-5.22378955e-01 8.52713381e-01 3.42843864e-04 -1.23370117e+02] [ 6.80157257e-04 1.46075489e-05 9.99999769e-01 -3.90350849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters 0.05255832758579835 Centerline is valid? [True, True] Translation: X:509.88, Y:-123.40, Z:-3.91 [[ 8.53910420e-01 5.20419978e-01 2.02358197e-04 5.09882081e+02] [-5.20419965e-01 8.53910444e-01 -1.17489970e-04 -1.23397696e+02] [-2.33939905e-04 -4.98533642e-06 9.99999973e-01 -3.90501704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters 0.052146495438257334 Centerline is valid? [True, True] Translation: X:509.93, Y:-123.43, Z:-3.90 [[ 8.55068294e-01 5.18514287e-01 1.07067148e-03 5.09932249e+02] [-5.18513914e-01 8.55068964e-01 -6.22603465e-04 -1.23433289e+02] [-1.23832675e-03 -2.27895762e-05 9.99999233e-01 -3.90334954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters 0.051533584714955304 Centerline is valid? [True, True] Translation: X:509.98, Y:-123.46, Z:-3.90 [[ 8.56579623e-01 5.16009589e-01 2.33509130e-03 5.09984912e+02] [-5.16007804e-01 8.56582805e-01 -1.35813501e-03 -1.23462845e+02] [-2.70100974e-03 -4.15745580e-05 9.99996351e-01 -3.90264138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters 0.05186161334293173 Centerline is valid? [True, True] Translation: X:510.04, Y:-123.49, Z:-3.90 [[ 8.57335714e-01 5.14752071e-01 2.40407333e-03 5.10039497e+02] [-5.14750174e-01 8.57339083e-01 -1.39808078e-03 -1.23493429e+02] [-2.78077100e-03 -3.88725821e-05 9.99996133e-01 -3.90297942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters 0.05151958328322393 Centerline is valid? [True, True] Translation: X:510.09, Y:-123.53, Z:-3.90 [[ 8.57390622e-01 5.14662137e-01 2.05062438e-03 5.10092405e+02] [-5.14660758e-01 8.57393074e-01 -1.19208673e-03 -1.23527795e+02] [-2.37171304e-03 -3.32919107e-05 9.99997187e-01 -3.90271757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters 0.05185503917275795 Centerline is valid? [True, True] Translation: X:510.15, Y:-123.56, Z:-3.90 [[ 8.56764919e-01 5.15705487e-01 1.31283657e-03 5.10146890e+02] [-5.15704923e-01 8.56765925e-01 -7.63187427e-04 -1.23555816e+02] [-1.51837359e-03 -2.31640702e-05 9.99998847e-01 -3.90480307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters 0.052107256223357726 Centerline is valid? [True, True] Translation: X:510.20, Y:-123.58, Z:-3.91 [[ 8.55896544e-01 5.17146956e-01 -3.62513040e-04 5.10200860e+02] [-5.17146912e-01 8.55896621e-01 2.11948784e-04 -1.23584012e+02] [ 4.19882354e-04 6.06626728e-06 9.99999912e-01 -3.90701909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters 0.05205534661602331 Centerline is valid? [True, True] Translation: X:510.25, Y:-123.62, Z:-3.91 [[ 8.55733595e-01 5.17416503e-01 -4.20833031e-04 5.10252335e+02] [-5.17416445e-01 8.55733698e-01 2.45368036e-04 -1.23619272e+02] [ 4.87078477e-04 7.77625972e-06 9.99999881e-01 -3.90636215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters 0.05208544496171208 Centerline is valid? [True, True] Translation: X:510.30, Y:-123.65, Z:-3.91 [[ 8.56167843e-01 5.16697762e-01 2.17450229e-04 5.10304259e+02] [-5.16697746e-01 8.56167871e-01 -1.25745303e-04 -1.23651101e+02] [-2.51146216e-04 -4.69695869e-06 9.99999968e-01 -3.90597832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters 0.05191727186707396 Centerline is valid? [True, True] Translation: X:510.36, Y:-123.68, Z:-3.91 [[ 8.56105774e-01 5.16799874e-01 8.90488647e-04 5.10357349e+02] [-5.16799615e-01 8.56106237e-01 -5.17772706e-04 -1.23682863e+02] [-1.02993775e-03 -1.69359870e-05 9.99999469e-01 -3.90604593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters 0.05194144626599535 Centerline is valid? [True, True] Translation: X:510.41, Y:-123.72, Z:-3.91 [[ 8.55621223e-01 5.17600059e-01 1.58164024e-03 5.10409785e+02] [-5.17599241e-01 8.55622684e-01 -9.20603750e-04 -1.23716157e+02] [-1.82979183e-03 -3.09676821e-05 9.99998325e-01 -3.90518676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters 0.05139325322511186 Centerline is valid? [True, True] Translation: X:510.46, Y:-123.75, Z:-3.91 [[ 8.53623520e-01 5.20885302e-01 2.32131583e-03 5.10462539e+02] [-5.20883550e-01 8.53626674e-01 -1.35208559e-03 -1.23746462e+02] [-2.68581862e-03 -5.49631697e-05 9.99996392e-01 -3.90579736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters 0.051326804267197226 Centerline is valid? [True, True] Translation: X:510.52, Y:-123.78, Z:-3.91 [[ 8.51896910e-01 5.23706744e-01 1.70320701e-03 5.10515455e+02] [-5.23705807e-01 8.51898611e-01 -9.92053933e-04 -1.23777274e+02] [-1.97050502e-03 -4.68517213e-05 9.99998057e-01 -3.90674018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters 0.050520729755317365 Centerline is valid? [True, True] Translation: X:510.57, Y:-123.81, Z:-3.91 [[ 8.49158959e-01 5.28135937e-01 1.22201968e-03 5.10566763e+02] [-5.28135459e-01 8.49159838e-01 -7.12180943e-04 -1.23810392e+02] [-1.41381838e-03 -4.06370955e-05 9.99999000e-01 -3.90714532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters 0.051662972168012675 Centerline is valid? [True, True] Translation: X:510.62, Y:-123.83, Z:-3.91 [[ 8.46995995e-01 5.31599175e-01 3.18339070e-04 5.10622036e+02] [-5.31599143e-01 8.46996055e-01 -1.85283543e-04 -1.23834724e+02] [-3.68128515e-04 -1.22943579e-05 9.99999932e-01 -3.91016149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters 0.05217778996001963 Centerline is valid? [True, True] Translation: X:510.68, Y:-123.87, Z:-3.91 [[ 8.46443362e-01 5.32478737e-01 1.72244963e-04 5.10675947e+02] [-5.32478728e-01 8.46443380e-01 -1.00171012e-04 -1.23866183e+02] [-1.99134542e-04 -6.92769062e-06 9.99999980e-01 -3.91121257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters 0.051421310269314985 Centerline is valid? [True, True] Translation: X:510.73, Y:-123.90, Z:-3.91 [[ 8.45964414e-01 5.33239100e-01 -5.21781906e-04 5.10727368e+02] [-5.33239013e-01 8.45964575e-01 3.04516519e-04 -1.23901944e+02] [ 6.03789122e-04 2.06243301e-05 9.99999818e-01 -3.91141197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters 0.05029368777819787 Centerline is valid? [True, True] Translation: X:510.78, Y:-123.94, Z:-3.91 [[ 8.46907314e-01 5.31740494e-01 -2.22383035e-04 5.10775494e+02] [-5.31740478e-01 8.46907343e-01 1.29885780e-04 -1.23942341e+02] [ 2.57403354e-04 8.24884388e-06 9.99999967e-01 -3.91051379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters 0.05029545021309906 Centerline is valid? [True, True] Translation: X:510.82, Y:-123.98, Z:-3.91 [[ 8.49595531e-01 5.27432541e-01 1.53256141e-03 5.10824922e+02] [-5.27431786e-01 8.49596912e-01 -8.93456214e-04 -1.23979107e+02] [-1.77329732e-03 -4.92451937e-05 9.99998426e-01 -3.90989530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters 0.050269604255733076 Centerline is valid? [True, True] Translation: X:510.88, Y:-124.01, Z:-3.91 [[ 8.52913988e-01 5.22046285e-01 2.32469646e-03 5.10876249e+02] [-5.22044530e-01 8.52917155e-01 -1.35518418e-03 -1.24010806e+02] [-2.69024235e-03 -5.77395253e-05 9.99996380e-01 -3.91016898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters 0.0503807800078325 Centerline is valid? [True, True] Translation: X:510.93, Y:-124.04, Z:-3.91 [[ 8.55032415e-01 5.18569902e-01 2.19686060e-03 5.10927928e+02] [-5.18568321e-01 8.55035236e-01 -1.28128000e-03 -1.24043729e+02] [-2.54282647e-03 -4.36863821e-05 9.99996766e-01 -3.91062178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters 0.050413829363089455 Centerline is valid? [True, True] Translation: X:510.98, Y:-124.07, Z:-3.91 [[ 8.56811926e-01 5.15626906e-01 1.48947528e-03 5.10980295e+02] [-5.15626175e-01 8.56813220e-01 -8.68578622e-04 -1.24073564e+02] [-1.72406462e-03 -2.38039202e-05 9.99998514e-01 -3.91312273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters 0.05034552335512772 Centerline is valid? [True, True] Translation: X:511.03, Y:-124.11, Z:-3.91 [[ 8.59983828e-01 5.10321134e-01 -3.94946402e-04 5.11030403e+02] [-5.10321082e-01 8.59983918e-01 2.30642758e-04 -1.24110591e+02] [ 4.57349428e-04 3.20043346e-06 9.99999895e-01 -3.91403956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters 0.05121820033868902 Centerline is valid? [True, True] Translation: X:511.08, Y:-124.15, Z:-3.92 [[ 8.62609762e-01 5.05869795e-01 -3.85431770e-04 5.11081323e+02] [-5.05869745e-01 8.62609848e-01 2.25250610e-04 -1.24145928e+02] [ 4.46424720e-04 6.74895992e-07 9.99999900e-01 -3.91513689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters 0.05186364993465691 Centerline is valid? [True, True] Translation: X:511.13, Y:-124.18, Z:-3.91 [[ 8.63829120e-01 5.03784620e-01 5.55849312e-04 5.11133721e+02] [-5.03784516e-01 8.63829298e-01 -3.23432843e-04 -1.24179313e+02] [-6.43099413e-04 -6.37568796e-07 9.99999793e-01 -3.91105365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters 0.05099116032851891 Centerline is valid? [True, True] Translation: X:511.19, Y:-124.21, Z:-3.91 [[ 8.63757364e-01 5.03905798e-01 1.47083865e-03 5.11186206e+02] [-5.03905068e-01 8.63758616e-01 -8.57725701e-04 -1.24211124e+02] [-1.70266251e-03 -2.96157055e-07 9.99998550e-01 -3.91397429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters 0.05069583300764582 Centerline is valid? [True, True] Translation: X:511.24, Y:-124.24, Z:-3.91 [[ 8.62897244e-01 5.05375959e-01 1.86731327e-03 5.11240748e+02] [-5.05374784e-01 8.62899264e-01 -1.08938875e-03 -1.24242609e+02] [-2.16185413e-03 -3.66249452e-06 9.99997663e-01 -3.91442254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters 0.05056212857291333 Centerline is valid? [True, True] Translation: X:511.30, Y:-124.27, Z:-3.91 [[ 8.61828960e-01 5.07195110e-01 1.99101045e-03 5.11295449e+02] [-5.07193779e-01 8.61831260e-01 -1.16198739e-03 -1.24273458e+02] [-2.30526936e-03 -8.39373217e-06 9.99997343e-01 -3.91453802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters 0.0509309296230377 Centerline is valid? [True, True] Translation: X:511.35, Y:-124.30, Z:-3.92 [[ 8.59908820e-01 5.10441206e-01 2.56840809e-03 5.11349684e+02] [-5.10439003e-01 8.59912655e-01 -1.49988144e-03 -1.24301044e+02] [-2.97420792e-03 -2.12543837e-05 9.99995577e-01 -3.91552860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters 0.05107790713533225 Centerline is valid? [True, True] Translation: X:511.40, Y:-124.33, Z:-3.92 [[ 8.58362874e-01 5.13036402e-01 2.61294904e-03 5.11404497e+02] [-5.13034132e-01 8.58366850e-01 -1.52625019e-03 -1.24330414e+02] [-3.02589075e-03 -3.04555433e-05 9.99995422e-01 -3.91575098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters 0.05086447010100968 Centerline is valid? [True, True] Translation: X:511.46, Y:-124.36, Z:-3.92 [[ 8.56363544e-01 5.16364660e-01 3.00297609e-03 5.11460004e+02] [-5.16361679e-01 8.56368808e-01 -1.75502296e-03 -1.24359298e+02] [-3.47788689e-03 -4.76840942e-05 9.99993951e-01 -3.91604349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters 0.05049446191514973 Centerline is valid? [True, True] Translation: X:511.51, Y:-124.39, Z:-3.92 [[ 8.55351288e-01 5.18039029e-01 3.12068248e-03 5.11514988e+02] [-5.18035822e-01 8.55356979e-01 -1.82365188e-03 -1.24387126e+02] [-3.61402039e-03 -5.67623325e-05 9.99993468e-01 -3.91698701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters 0.05077966789403064 Centerline is valid? [True, True] Translation: X:511.57, Y:-124.42, Z:-3.92 [[ 8.54673226e-01 5.19155418e-01 3.36580905e-03 5.11568838e+02] [-5.19151694e-01 8.54679851e-01 -1.96739680e-03 -1.24418326e+02] [-3.89807388e-03 -6.58841015e-05 9.99992400e-01 -3.91752700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters 0.050391785596914936 Centerline is valid? [True, True] Translation: X:511.62, Y:-124.45, Z:-3.92 [[ 8.54397814e-01 5.19609719e-01 3.18049129e-03 5.11621866e+02] [-5.19606396e-01 8.54403731e-01 -1.85948788e-03 -1.24450114e+02] [-3.68363160e-03 -6.38612353e-05 9.99993213e-01 -3.91789503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters 0.05111880503889517 Centerline is valid? [True, True] Translation: X:511.68, Y:-124.48, Z:-3.92 [[ 8.54741059e-01 5.19051951e-01 1.67143863e-03 5.11677223e+02] [-5.19051032e-01 8.54742693e-01 -9.77064858e-04 -1.24476718e+02] [-1.93579738e-03 -3.24244948e-05 9.99998126e-01 -3.92121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters 0.0511650873409303 Centerline is valid? [True, True] Translation: X:511.73, Y:-124.51, Z:-3.92 [[ 8.55904694e-01 5.17132823e-01 8.93154249e-04 5.11727451e+02] [-5.17132560e-01 8.55905160e-01 -5.21747264e-04 -1.24514001e+02] [-1.03426797e-03 -1.53132110e-05 9.99999465e-01 -3.92076588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters 0.05109205099627713 Centerline is valid? [True, True] Translation: X:511.78, Y:-124.55, Z:-3.92 [[ 8.56989815e-01 5.15333121e-01 4.81891251e-04 5.11779902e+02] [-5.15333044e-01 8.56989950e-01 -2.81130072e-04 -1.24546626e+02] [-5.57851597e-04 -7.40887700e-06 9.99999844e-01 -3.92118116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters 0.051236035954936324 Centerline is valid? [True, True] Translation: X:511.83, Y:-124.58, Z:-3.92 [[ 8.58550086e-01 5.12729454e-01 5.06611165e-04 5.11831362e+02] [-5.12729368e-01 8.58550236e-01 -2.96062909e-04 -1.24579142e+02] [-5.86751309e-04 -5.56958632e-06 9.99999828e-01 -3.92239175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters 0.0510402846263102 Centerline is valid? [True, True] Translation: X:511.88, Y:-124.61, Z:-3.92 [[ 8.59352652e-01 5.11383356e-01 2.85603724e-04 5.11883991e+02] [-5.11383329e-01 8.59352700e-01 -1.66299784e-04 -1.24611961e+02] [-3.30477274e-04 -3.14282267e-06 9.99999945e-01 -3.92235739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters 0.05148150768419774 Centerline is valid? [True, True] Translation: X:511.94, Y:-124.65, Z:-3.92 [[ 8.60509977e-01 5.09431302e-01 1.52566613e-03 5.11936292e+02] [-5.09430519e-01 8.60511330e-01 -8.92765425e-04 -1.24645489e+02] [-1.76765564e-03 -8.98733258e-06 9.99998438e-01 -3.92126324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters 0.050879563703112134 Centerline is valid? [True, True] Translation: X:511.99, Y:-124.68, Z:-3.92 [[ 8.60561467e-01 5.09340890e-01 2.41220445e-03 5.11989866e+02] [-5.09338932e-01 8.60564848e-01 -1.41243594e-03 -1.24677766e+02] [-2.79526973e-03 -1.31416919e-05 9.99996093e-01 -3.92051231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters 0.05105416613489645 Centerline is valid? [True, True] Translation: X:512.04, Y:-124.71, Z:-3.92 [[ 8.60476748e-01 5.09487234e-01 1.58866793e-03 5.12044354e+02] [-5.09486385e-01 8.60478215e-01 -9.30085979e-04 -1.24708079e+02] [-1.84088108e-03 -9.08732057e-06 9.99998306e-01 -3.92243215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters 0.05126414951113703 Centerline is valid? [True, True] Translation: X:512.10, Y:-124.74, Z:-3.92 [[ 8.60584313e-01 5.09306855e-01 1.08110429e-03 5.12098792e+02] [-5.09306462e-01 8.60584992e-01 -6.32754201e-04 -1.24739548e+02] [-1.25264818e-03 -6.07506091e-06 9.99999215e-01 -3.92332270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters 0.0514812234481896 Centerline is valid? [True, True] Translation: X:512.15, Y:-124.77, Z:-3.92 [[ 8.60648746e-01 5.09197156e-01 1.41158425e-03 5.12153178e+02] [-5.09196485e-01 8.60649903e-01 -8.26708847e-04 -1.24771798e+02] [-1.63583765e-03 -7.26780923e-06 9.99998662e-01 -3.92255205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters 0.051347794881118125 Centerline is valid? [True, True] Translation: X:512.21, Y:-124.80, Z:-3.93 [[ 8.60645302e-01 5.09204439e-01 7.09764954e-04 5.12207788e+02] [-5.09204270e-01 8.60645594e-01 -4.15308424e-04 -1.24800827e+02] [-8.22332974e-04 -3.98210118e-06 9.99999662e-01 -3.92503242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters 0.05120227568028421 Centerline is valid? [True, True] Translation: X:512.26, Y:-124.83, Z:-3.93 [[ 8.60457480e-01 5.09521893e-01 6.04266946e-04 5.12262321e+02] [-5.09521770e-01 8.60457693e-01 -3.53523753e-04 -1.24831842e+02] [-7.00074234e-04 -3.69500578e-06 9.99999755e-01 -3.92547876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters 0.051569448727209456 Centerline is valid? [True, True] Translation: X:512.32, Y:-124.86, Z:-3.93 [[ 8.60007096e-01 5.10280950e-01 1.07142447e-03 5.12317584e+02] [-5.10280563e-01 8.60007763e-01 -6.27896766e-04 -1.24860591e+02] [-1.24183712e-03 -6.73140783e-06 9.99999229e-01 -3.92722788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters 0.05205021298649739 Centerline is valid? [True, True] Translation: X:512.37, Y:-124.89, Z:-3.93 [[ 8.60105128e-01 5.10113056e-01 1.95918191e-03 5.12371394e+02] [-5.10111761e-01 8.60107359e-01 -1.14958433e-03 -1.24892730e+02] [-2.27152475e-03 -1.06383563e-05 9.99997420e-01 -3.92528618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters 0.05160094688887162 Centerline is valid? [True, True] Translation: X:512.43, Y:-124.92, Z:-3.93 [[ 8.60227230e-01 5.09905299e-01 2.38724488e-03 5.12425790e+02] [-5.09903375e-01 8.60230542e-01 -1.40069258e-03 -1.24923860e+02] [-2.76780152e-03 -1.23503181e-05 9.99996170e-01 -3.92537611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters 0.051015767465459536 Centerline is valid? [True, True] Translation: X:512.48, Y:-124.95, Z:-3.93 [[ 8.60659684e-01 5.09171968e-01 2.96901067e-03 5.12478968e+02] [-5.09168984e-01 8.60664805e-01 -1.74316902e-03 -1.24954138e+02] [-3.44289579e-03 -1.14528502e-05 9.99994073e-01 -3.92577884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters 0.05150461683888366 Centerline is valid? [True, True] Translation: X:512.53, Y:-124.98, Z:-3.93 [[ 8.60257983e-01 5.09848661e-01 3.24752696e-03 5.12533118e+02] [-5.09845095e-01 8.60264112e-01 -1.90679593e-03 -1.24984442e+02] [-3.76590825e-03 -1.53992730e-05 9.99992909e-01 -3.92629513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters 0.05183119431216089 Centerline is valid? [True, True] Translation: X:512.59, Y:-125.01, Z:-3.93 [[ 8.59670951e-01 5.10838835e-01 3.08891727e-03 5.12588884e+02] [-5.10835612e-01 8.59676500e-01 -1.81449505e-03 -1.25012707e+02] [-3.58238412e-03 -1.80602625e-05 9.99993583e-01 -3.92892212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters 0.051626241717850595 Centerline is valid? [True, True] Translation: X:512.64, Y:-125.04, Z:-3.93 [[ 8.58813494e-01 5.12285111e-01 1.82954111e-03 5.12642699e+02] [-5.12283985e-01 8.58815443e-01 -1.07420934e-03 -1.25042952e+02] [-2.12153961e-03 -1.46991326e-05 9.99997749e-01 -3.93008577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters 0.05170404289757652 Centerline is valid? [True, True] Translation: X:512.70, Y:-125.07, Z:-3.93 [[ 8.58519580e-01 5.12779214e-01 1.26824850e-03 5.12695643e+02] [-5.12778674e-01 8.58520517e-01 -7.44604449e-04 -1.25072928e+02] [-1.47063505e-03 -1.10732873e-05 9.99998919e-01 -3.93158961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters 0.05190143349101915 Centerline is valid? [True, True] Translation: X:512.75, Y:-125.11, Z:-3.93 [[ 8.58655618e-01 5.12552008e-01 9.84155183e-04 5.12749544e+02] [-5.12551683e-01 8.58656182e-01 -5.77546714e-04 -1.25105864e+02] [-1.14107366e-03 -8.51666498e-06 9.99999349e-01 -3.93148222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters 0.05203195022079174 Centerline is valid? [True, True] Translation: X:512.80, Y:-125.14, Z:-3.93 [[ 8.58724914e-01 5.12435169e-01 1.31098148e-03 5.12802457e+02] [-5.12434591e-01 8.58725915e-01 -7.70133582e-04 -1.25135669e+02] [-1.52041730e-03 -1.04593641e-05 9.99998844e-01 -3.93247539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters 0.051223328239196765 Centerline is valid? [True, True] Translation: X:512.86, Y:-125.17, Z:-3.93 [[ 8.57990363e-01 5.13659149e-01 2.61082052e-03 5.12856551e+02] [-5.13656856e-01 8.57994335e-01 -1.53495107e-03 -1.25166681e+02] [-3.02851087e-03 -2.40926326e-05 9.99995414e-01 -3.93166947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters 0.05136228159378637 Centerline is valid? [True, True] Translation: X:512.91, Y:-125.20, Z:-3.93 [[ 8.56711319e-01 5.15786500e-01 3.16283306e-03 5.12909118e+02] [-5.15783146e-01 8.56717156e-01 -1.86029199e-03 -1.25198472e+02] [-3.66916684e-03 -3.76027779e-05 9.99993268e-01 -3.93048824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters 0.051710745886021085 Centerline is valid? [True, True] Translation: X:512.96, Y:-125.23, Z:-3.93 [[ 8.54433209e-01 5.19553187e-01 2.89449499e-03 5.12963734e+02] [-5.19550398e-01 8.54438110e-01 -1.70310907e-03 -1.25227224e+02] [-3.35802258e-03 -4.86430759e-05 9.99994361e-01 -3.93160093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters 0.05122008349313957 Centerline is valid? [True, True] Translation: X:513.02, Y:-125.26, Z:-3.93 [[ 8.52694638e-01 5.22405227e-01 2.15227059e-03 5.13017390e+02] [-5.22403694e-01 8.52697353e-01 -1.26641471e-03 -1.25258603e+02] [-2.49681710e-03 -4.44890743e-05 9.99996882e-01 -3.93243062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters 0.05160858106321981 Centerline is valid? [True, True] Translation: X:513.07, Y:-125.29, Z:-3.93 [[ 8.50568019e-01 5.25863341e-01 1.33860038e-03 5.13070057e+02] [-5.25862752e-01 8.50569072e-01 -7.87749110e-04 -1.25288102e+02] [-1.55282046e-03 -3.38858780e-05 9.99998794e-01 -3.93341197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters 0.05141446201782289 Centerline is valid? [True, True] Translation: X:513.12, Y:-125.32, Z:-3.93 [[ 8.49537850e-01 5.27526044e-01 1.30921891e-03 5.13124029e+02] [-5.27525483e-01 8.49538858e-01 -7.70296758e-04 -1.25319254e+02] [-1.51858394e-03 -3.62500880e-05 9.99998846e-01 -3.93379788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters 0.051656384493123035 Centerline is valid? [True, True] Translation: X:513.18, Y:-125.35, Z:-3.93 [[ 8.49184541e-01 5.28093981e-01 1.53705727e-03 5.13178522e+02] [-5.28093209e-01 8.49185931e-01 -9.04004018e-04 -1.25347661e+02] [-1.78264649e-03 -4.40432698e-05 9.99998410e-01 -3.93430238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters 0.05207597389791721 Centerline is valid? [True, True] Translation: X:513.23, Y:-125.38, Z:-3.93 [[ 8.48692187e-01 5.28881382e-01 2.46091163e-03 5.13232938e+02] [-5.28879404e-01 8.48695752e-01 -1.44824420e-03 -1.25375356e+02] [-2.85451463e-03 -7.24119390e-05 9.99995923e-01 -3.93389486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters 0.05138790039046188 Centerline is valid? [True, True] Translation: X:513.29, Y:-125.41, Z:-3.93 [[ 8.48254839e-01 5.29583548e-01 2.23457151e-03 5.13285906e+02] [-5.29581919e-01 8.48257780e-01 -1.31523417e-03 -1.25408562e+02] [-2.59201905e-03 -6.77349184e-05 9.99996638e-01 -3.93399720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters 0.051001144217869346 Centerline is valid? [True, True] Translation: X:513.34, Y:-125.44, Z:-3.93 [[ 8.47873926e-01 5.30197042e-01 9.50406887e-04 5.13337447e+02] [-5.30196748e-01 8.47874458e-01 -5.58958658e-04 -1.25443824e+02] [-1.10218395e-03 -2.99761694e-05 9.99999392e-01 -3.93388926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters 0.051523122271991253 Centerline is valid? [True, True] Translation: X:513.39, Y:-125.47, Z:-3.94 [[ 8.47033303e-01 5.31539668e-01 -4.05665059e-04 5.13394713e+02] [-5.31539614e-01 8.47033400e-01 2.39949845e-04 -1.25467144e+02] [ 4.71154715e-04 1.23815392e-05 9.99999889e-01 -3.93656067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters 0.051493360537473026 Centerline is valid? [True, True] Translation: X:513.45, Y:-125.50, Z:-3.94 [[ 8.46792113e-01 5.31922294e-01 -1.33801511e-03 5.13447135e+02] [-5.31921710e-01 8.46793169e-01 7.89588762e-04 -1.25499848e+02] [ 1.55302192e-03 4.31017489e-05 9.99998793e-01 -3.93621799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters 0.05175181069259128 Centerline is valid? [True, True] Translation: X:513.50, Y:-125.53, Z:-3.94 [[ 8.47318266e-01 5.31081468e-01 -2.05686941e-03 5.13499590e+02] [-5.31080085e-01 8.47320760e-01 1.21363667e-03 -1.25532707e+02] [ 2.38736809e-03 6.40258636e-05 9.99997148e-01 -3.93565104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters 0.05176786276857678 Centerline is valid? [True, True] Translation: X:513.55, Y:-125.56, Z:-3.94 [[ 8.48217498e-01 5.29645366e-01 -1.69171997e-03 5.13552869e+02] [-5.29644428e-01 8.48219184e-01 9.97773224e-04 -1.25564228e+02] [ 1.96341529e-03 4.96813466e-05 9.99998071e-01 -3.93528866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters 0.05177386714775257 Centerline is valid? [True, True] Translation: X:513.61, Y:-125.60, Z:-3.93 [[ 8.50213633e-01 5.26437817e-01 5.14047918e-05 5.13605810e+02] [-5.26437816e-01 8.50213635e-01 -3.00407696e-05 -1.25595302e+02] [-5.95196522e-05 -1.52035451e-06 9.99999998e-01 -3.93390240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters 0.0526247670088829 Centerline is valid? [True, True] Translation: X:513.66, Y:-125.62, Z:-3.93 [[ 8.52229107e-01 5.23167641e-01 1.08142545e-03 5.13660962e+02] [-5.23167253e-01 8.52229793e-01 -6.37603047e-04 -1.25621441e+02] [-1.25519627e-03 -2.23825074e-05 9.99999212e-01 -3.93467294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters 0.05154097447157926 Centerline is valid? [True, True] Translation: X:513.71, Y:-125.66, Z:-3.93 [[ 8.53649976e-01 5.20846508e-01 7.96107151e-04 5.13711792e+02] [-5.20846297e-01 8.53650347e-01 -4.69268684e-04 -1.25656390e+02] [-9.24014101e-04 -1.40582610e-05 9.99999573e-01 -3.93338904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters 0.05241030504543353 Centerline is valid? [True, True] Translation: X:513.77, Y:-125.69, Z:-3.93 [[ 8.54916104e-01 5.18766281e-01 1.26034335e-05 5.13765285e+02] [-5.18766281e-01 8.54916104e-01 -6.43595534e-06 -1.25688037e+02] [-1.41136351e-05 -1.03603445e-06 1.00000000e+00 -3.93446823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters 0.052671151010310904 Centerline is valid? [True, True] Translation: X:513.82, Y:-125.72, Z:-3.94 [[ 8.56537919e-01 5.16079988e-01 -2.05920447e-03 5.13819689e+02] [-5.16078556e-01 8.56540394e-01 1.21598257e-03 -1.25717666e+02] [ 2.39133608e-03 2.11760891e-05 9.99997141e-01 -3.93582536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters 0.05284644925786582 Centerline is valid? [True, True] Translation: X:513.87, Y:-125.75, Z:-3.94 [[ 8.58526335e-01 5.12761746e-01 -2.81496386e-03 5.13873736e+02] [-5.12759051e-01 8.58530950e-01 1.66234809e-03 -1.25748632e+02] [ 3.26912210e-03 1.62285797e-05 9.99994656e-01 -3.93638964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters 0.053052994216726684 Centerline is valid? [True, True] Translation: X:513.93, Y:-125.78, Z:-3.93 [[ 8.59703781e-01 5.10784573e-01 -2.92031989e-03 5.13927283e+02] [-5.10781663e-01 8.59708741e-01 1.72431828e-03 -1.25781248e+02] [ 3.39137971e-03 9.24289914e-06 9.99994249e-01 -3.93261951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters 0.05254507757654408 Centerline is valid? [True, True] Translation: X:513.98, Y:-125.81, Z:-3.94 [[ 8.60589749e-01 5.09290064e-01 -2.98577808e-03 5.13981867e+02] [-5.09287008e-01 8.60594929e-01 1.76409114e-03 -1.25810345e+02] [ 3.46797956e-03 2.45923281e-06 9.99993987e-01 -3.93964920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters 0.05295212549544975 Centerline is valid? [True, True] Translation: X:514.04, Y:-125.84, Z:-3.94 [[ 8.59947449e-01 5.10374668e-01 -2.84304487e-03 5.14037497e+02] [-5.10371902e-01 8.59952149e-01 1.68035108e-03 -1.25839773e+02] [ 3.30249117e-03 5.99658929e-06 9.99994547e-01 -3.93734822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters 0.052626364051310194 Centerline is valid? [True, True] Translation: X:514.09, Y:-125.87, Z:-3.94 [[ 8.59227238e-01 5.11588284e-01 -2.44556483e-03 5.14091957e+02] [-5.11586240e-01 8.59230719e-01 1.44604464e-03 -1.25870478e+02] [ 2.84108392e-03 8.63637298e-06 9.99995964e-01 -3.93724138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters 0.05290577638359311 Centerline is valid? [True, True] Translation: X:514.15, Y:-125.90, Z:-3.94 [[ 8.56473511e-01 5.16187321e-01 -1.94266290e-03 5.14147522e+02] [-5.16186043e-01 8.56475714e-01 1.14898566e-03 -1.25896817e+02] [ 2.25693542e-03 1.86996943e-05 9.99997453e-01 -3.93768776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters 0.05265920917879674 Centerline is valid? [True, True] Translation: X:514.20, Y:-125.93, Z:-3.94 [[ 8.54657053e-01 5.19187920e-01 -2.28588472e-03 5.14202720e+02] [-5.19186162e-01 8.54660110e-01 1.35126501e-03 -1.25925537e+02] [ 2.65521496e-03 3.19315415e-05 9.99996474e-01 -3.93872942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters 0.05320293969535669 Centerline is valid? [True, True] Translation: X:514.26, Y:-125.95, Z:-3.94 [[ 8.51894762e-01 5.23708976e-01 -2.05477347e-03 5.14259573e+02] [-5.23707568e-01 8.51897240e-01 1.21510406e-03 -1.25948393e+02] [ 2.38681675e-03 4.09596321e-05 9.99997151e-01 -3.94135215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters 0.05287757539931338 Centerline is valid? [True, True] Translation: X:514.31, Y:-125.98, Z:-3.94 [[ 8.50735383e-01 5.25591061e-01 -1.82898850e-03 5.14313372e+02] [-5.25589950e-01 8.50737348e-01 1.08144341e-03 -1.25978398e+02] [ 2.12438582e-03 4.12758055e-05 9.99997743e-01 -3.94064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters 0.05288601599481271 Centerline is valid? [True, True] Translation: X:514.37, Y:-126.01, Z:-3.94 [[ 8.50179043e-01 5.26491955e-01 -1.34758123e-03 5.14366078e+02] [-5.26491351e-01 8.50180111e-01 7.97774739e-04 -1.26011483e+02] [ 1.56570874e-03 3.12384994e-05 9.99998774e-01 -3.93919277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters 0.05311926953856409 Centerline is valid? [True, True] Translation: X:514.42, Y:-126.04, Z:-3.94 [[ 8.50122377e-01 5.26584132e-01 -1.04726778e-03 5.14421047e+02] [-5.26583767e-01 8.50123021e-01 6.20439032e-04 -1.26040265e+02] [ 1.21701980e-03 2.40251097e-05 9.99999259e-01 -3.94029643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters 0.05287286658066802 Centerline is valid? [True, True] Translation: X:514.47, Y:-126.07, Z:-3.94 [[ 8.50259492e-01 5.26359163e-01 -2.19708598e-03 5.14473687e+02] [-5.26357558e-01 8.50262330e-01 1.30099165e-03 -1.26074279e+02] [ 2.55288832e-03 5.02723040e-05 9.99996740e-01 -3.93961072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters 0.05297286536464367 Centerline is valid? [True, True] Translation: X:514.53, Y:-126.10, Z:-3.94 [[ 8.50121130e-01 5.26577504e-01 -3.19341010e-03 5.14528562e+02] [-5.26574117e-01 8.50127124e-01 1.89011058e-03 -1.26102297e+02] [ 3.71009426e-03 7.47441632e-05 9.99993115e-01 -3.94207348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters 0.053427655188648455 Centerline is valid? [True, True] Translation: X:514.58, Y:-126.13, Z:-3.94 [[ 8.49951041e-01 5.26848138e-01 -3.77724239e-03 5.14582622e+02] [-5.26843398e-01 8.49959429e-01 2.23654689e-03 -1.26133164e+02] [ 4.38882335e-03 8.90598605e-05 9.99990365e-01 -3.94325096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters 0.05276340204879724 Centerline is valid? [True, True] Translation: X:514.64, Y:-126.17, Z:-3.94 [[ 8.49890169e-01 5.26944019e-01 -4.08664865e-03 5.14635830e+02] [-5.26938469e-01 8.49899989e-01 2.42055560e-03 -1.26167258e+02] [ 4.74873994e-03 9.62059709e-05 9.99988720e-01 -3.94201397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters 0.05347801504091106 Centerline is valid? [True, True] Translation: X:514.69, Y:-126.20, Z:-3.94 [[ 8.49983511e-01 5.26796972e-01 -3.60302576e-03 5.14688872e+02] [-5.26792656e-01 8.49991143e-01 2.13398689e-03 -1.26197637e+02] [ 4.18671782e-03 8.41938399e-05 9.99991232e-01 -3.94218600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters 0.05333909554023404 Centerline is valid? [True, True] Translation: X:514.74, Y:-126.23, Z:-3.94 [[ 8.50052453e-01 5.26689208e-01 -3.05053917e-03 5.14740119e+02] [-5.26686111e-01 8.50057923e-01 1.80777512e-03 -1.26233691e+02] [ 3.54527064e-03 6.99729371e-05 9.99993713e-01 -3.93945387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters 0.05321520086213821 Centerline is valid? [True, True] Translation: X:514.80, Y:-126.26, Z:-3.94 [[ 8.49824187e-01 5.27058413e-01 -2.87767810e-03 5.14795729e+02] [-5.27055656e-01 8.49829056e-01 1.70594276e-03 -1.26260863e+02] [ 3.34466595e-03 6.69451075e-05 9.99994404e-01 -3.94260978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters 0.05265951272525353 Centerline is valid? [True, True] Translation: X:514.85, Y:-126.30, Z:-3.94 [[ 8.49773238e-01 5.27139886e-01 -2.99748322e-03 5.14847491e+02] [-5.27136894e-01 8.49778522e-01 1.77748710e-03 -1.26297413e+02] [ 3.48418120e-03 6.96230222e-05 9.99993928e-01 -3.94103370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters 0.052916167300692124 Centerline is valid? [True, True] Translation: X:514.90, Y:-126.33, Z:-3.94 [[ 8.50051836e-01 5.26689425e-01 -3.18210900e-03 5.14899737e+02] [-5.26686049e-01 8.50057789e-01 1.88725594e-03 -1.26330833e+02] [ 3.69897429e-03 7.17070356e-05 9.99993156e-01 -3.94100698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters 0.052447991403697936 Centerline is valid? [True, True] Translation: X:514.95, Y:-126.36, Z:-3.94 [[ 8.51086062e-01 5.25020547e-01 -2.43706583e-03 5.14951755e+02] [-5.25018562e-01 8.51089550e-01 1.44473259e-03 -1.26361076e+02] [ 2.83267555e-03 4.99130249e-05 9.99995987e-01 -3.94345857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters 0.05290352889432676 Centerline is valid? [True, True] Translation: X:515.00, Y:-126.40, Z:-3.94 [[ 8.52569641e-01 5.22609844e-01 -1.98962316e-03 5.15002209e+02] [-5.22608514e-01 8.52571961e-01 1.17959969e-03 -1.26395638e+02] [ 2.31276733e-03 3.41031215e-05 9.99997325e-01 -3.94306647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters 0.0526495999079285 Centerline is valid? [True, True] Translation: X:515.05, Y:-126.43, Z:-3.94 [[ 8.53841878e-01 5.20527127e-01 -2.35760589e-03 5.15052965e+02] [-5.20525248e-01 8.53845132e-01 1.39895435e-03 -1.26432316e+02] [ 2.74122400e-03 3.27075811e-05 9.99996242e-01 -3.94181090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters 0.0530947389304458 Centerline is valid? [True, True] Translation: X:515.10, Y:-126.47, Z:-3.94 [[ 8.56496591e-01 5.16143940e-01 -3.00369307e-03 5.15102708e+02] [-5.16140867e-01 8.56501858e-01 1.78118406e-03 -1.26466567e+02] [ 3.49201605e-03 2.47506716e-05 9.99993903e-01 -3.94324195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters 0.05286066932753232 Centerline is valid? [True, True] Translation: X:515.15, Y:-126.50, Z:-3.94 [[ 8.57965177e-01 5.13696802e-01 -3.36912741e-03 5.15154337e+02] [-5.13692912e-01 8.57971791e-01 1.99917912e-03 -1.26500018e+02] [ 3.91758820e-03 1.54708049e-05 9.99992326e-01 -3.94451153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters 0.05305155643823029 Centerline is valid? [True, True] Translation: X:515.21, Y:-126.53, Z:-3.95 [[ 8.59839610e-01 5.10552203e-01 -3.50615909e-03 5.15205164e+02] [-5.10547962e-01 8.59846759e-01 2.08093349e-03 -1.26534439e+02] [ 4.07718470e-03 7.93339018e-07 9.99991688e-01 -3.94557575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters 0.05319142654021878 Centerline is valid? [True, True] Translation: X:515.26, Y:-126.57, Z:-3.94 [[ 8.60604352e-01 5.09265052e-01 -3.04230921e-03 5.15257654e+02] [-5.09261849e-01 8.60609729e-01 1.80636151e-03 -1.26567521e+02] [ 3.53815769e-03 -5.23056064e-06 9.99993741e-01 -3.94180164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters 0.05243834300721542 Centerline is valid? [True, True] Translation: X:515.31, Y:-126.60, Z:-3.94 [[ 8.60627622e-01 5.09230127e-01 -2.18492845e-03 5.15309235e+02] [-5.09228473e-01 8.60630396e-01 1.29782323e-03 -1.26600036e+02] [ 2.54130653e-03 -4.31473959e-06 9.99996771e-01 -3.94450211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters 0.0528489385837585 Centerline is valid? [True, True] Translation: X:515.36, Y:-126.63, Z:-3.94 [[ 8.59538587e-01 5.11064441e-01 -2.56007911e-03 5.15363398e+02] [-5.11062179e-01 8.59542400e-01 1.52065536e-03 -1.26631414e+02] [ 2.97764942e-03 1.29764933e-06 9.99995567e-01 -3.94323953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters 0.052978905645550405 Centerline is valid? [True, True] Translation: X:515.42, Y:-126.66, Z:-3.94 [[ 8.58225525e-01 5.13266844e-01 -2.46909276e-03 5.15417673e+02] [-5.13264746e-01 8.58229076e-01 1.46747326e-03 -1.26663443e+02] [ 2.87225256e-03 7.87525948e-06 9.99995875e-01 -3.94330181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters 0.05269382947586201 Centerline is valid? [True, True] Translation: X:515.47, Y:-126.69, Z:-3.94 [[ 8.54717523e-01 5.19087981e-01 -2.37162467e-03 5.15471162e+02] [-5.19086067e-01 8.54720813e-01 1.40971347e-03 -1.26692571e+02] [ 2.75884229e-03 2.61705165e-05 9.99996194e-01 -3.94496437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters 0.051942438458164104 Centerline is valid? [True, True] Translation: X:515.52, Y:-126.72, Z:-3.95 [[ 8.51931650e-01 5.23648723e-01 -2.11656579e-03 5.15524754e+02] [-5.23647213e-01 8.51934278e-01 1.25796098e-03 -1.26720913e+02] [ 2.46190461e-03 3.66370060e-05 9.99996969e-01 -3.94610512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters 0.05218498571509597 Centerline is valid? [True, True] Translation: X:515.58, Y:-126.75, Z:-3.95 [[ 8.47435950e-01 5.30896603e-01 -1.05195789e-03 5.15578532e+02] [-5.30896236e-01 8.47436603e-01 6.25109876e-04 -1.26750788e+02] [ 1.22333633e-03 2.87399033e-05 9.99999251e-01 -3.94511436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters 0.05198405595385708 Centerline is valid? [True, True] Translation: X:515.63, Y:-126.78, Z:-3.94 [[ 8.43790586e-01 5.36672535e-01 -1.92041016e-04 5.15630148e+02] [-5.36672523e-01 8.43790608e-01 1.14573941e-04 -1.26783653e+02] [ 2.23531092e-04 6.38672379e-06 9.99999975e-01 -3.94420741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters 0.05397595817289746 Centerline is valid? [True, True] Translation: X:515.69, Y:-126.80, Z:-3.95 [[ 8.41968121e-01 5.39526990e-01 -5.56897498e-04 5.15688813e+02] [-5.39526889e-01 8.41968305e-01 3.30960402e-04 -1.26803425e+02] [ 6.47452112e-04 2.18030667e-05 9.99999790e-01 -3.94809941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters 0.05448199589869975 Centerline is valid? [True, True] Translation: X:515.74, Y:-126.83, Z:-3.95 [[ 8.40483001e-01 5.41836960e-01 -1.01688681e-03 5.15741074e+02] [-5.41836625e-01 8.40483615e-01 6.04312095e-04 -1.26834029e+02] [ 1.18211533e-03 4.30724751e-05 9.99999300e-01 -3.94871388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters 0.051794731036627434 Centerline is valid? [True, True] Translation: X:515.79, Y:-126.88, Z:-3.95 [[ 8.40119628e-01 5.42400056e-01 -1.09067524e-03 5.15789001e+02] [-5.42399670e-01 8.40120335e-01 6.49175908e-04 -1.26875098e+02] [ 1.26841150e-03 4.61964675e-05 9.99999194e-01 -3.94700938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters 0.05110753837878262 Centerline is valid? [True, True] Translation: X:515.84, Y:-126.91, Z:-3.95 [[ 8.39379342e-01 5.43541042e-01 -2.33575063e-03 5.15838077e+02] [-5.43539275e-01 8.39382586e-01 1.38944491e-03 -1.26912524e+02] [ 2.71580874e-03 1.03300854e-04 9.99996307e-01 -3.94713540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters 0.05153286381072645 Centerline is valid? [True, True] Translation: X:515.89, Y:-126.94, Z:-3.95 [[ 8.39160865e-01 5.43873864e-01 -3.20368048e-03 5.15892357e+02] [-5.43870543e-01 8.39166968e-01 1.90590137e-03 -1.26941065e+02] [ 3.72499277e-03 1.43029601e-04 9.99993052e-01 -3.94904339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters 0.0515304508483264 Centerline is valid? [True, True] Translation: X:515.94, Y:-126.98, Z:-3.95 [[ 8.39381058e-01 5.43536759e-01 -2.68899656e-03 5.15943183e+02] [-5.43534416e-01 8.39385357e-01 1.60034115e-03 -1.26977914e+02] [ 3.12694857e-03 1.18266128e-04 9.99995104e-01 -3.94816753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters 0.05099383043899221 Centerline is valid? [True, True] Translation: X:516.00, Y:-127.01, Z:-3.95 [[ 8.39976313e-01 5.42618767e-01 -2.16030967e-03 5.15995733e+02] [-5.42617253e-01 8.39979086e-01 1.28513636e-03 -1.27007945e+02] [ 2.51195405e-03 9.27371959e-05 9.99996841e-01 -3.94880053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters 0.05151245153261515 Centerline is valid? [True, True] Translation: X:516.05, Y:-127.04, Z:-3.95 [[ 8.41001830e-01 5.41031987e-01 -5.58309381e-04 5.16047304e+02] [-5.41031885e-01 8.41002015e-01 3.32275018e-04 -1.27041740e+02] [ 6.49310727e-04 2.26192789e-05 9.99999789e-01 -3.94852433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters 0.05132909223785504 Centerline is valid? [True, True] Translation: X:516.10, Y:-127.07, Z:-3.95 [[ 8.41247149e-01 5.40650695e-01 -2.45459241e-04 5.16100962e+02] [-5.40650675e-01 8.41247185e-01 1.46991182e-04 -1.27073094e+02] [ 2.85962780e-04 9.05179113e-06 9.99999959e-01 -3.94983577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters 0.05191080258412944 Centerline is valid? [True, True] Translation: X:516.16, Y:-127.10, Z:-3.95 [[ 8.41190923e-01 5.40737625e-01 -8.08043047e-04 5.16155653e+02] [-5.40737411e-01 8.41191310e-01 4.81917739e-04 -1.27102457e+02] [ 9.40309843e-04 3.15542775e-05 9.99999557e-01 -3.95124778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters 0.05166090898749069 Centerline is valid? [True, True] Translation: X:516.21, Y:-127.13, Z:-3.95 [[ 8.41547167e-01 5.40183596e-01 -2.20888380e-04 5.16209045e+02] [-5.40183580e-01 8.41547196e-01 1.32419087e-04 -1.27134521e+02] [ 2.57418615e-04 7.88336823e-06 9.99999967e-01 -3.95275439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters 0.05179993465862 Centerline is valid? [True, True] Translation: X:516.26, Y:-127.17, Z:-3.95 [[ 8.41796260e-01 5.39795384e-01 -2.17124237e-05 5.16262181e+02] [-5.39795383e-01 8.41796260e-01 1.34550546e-05 -1.27165026e+02] [ 2.55404132e-05 3.93851428e-07 1.00000000e+00 -3.95340927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters 0.05216767752305123 Centerline is valid? [True, True] Translation: X:516.32, Y:-127.20, Z:-3.95 [[ 8.41705086e-01 5.39937536e-01 -7.09497126e-05 5.16316200e+02] [-5.39937534e-01 8.41705089e-01 4.32217856e-05 -1.27196415e+02] [ 8.30557984e-05 1.92841607e-06 9.99999997e-01 -3.95419518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters 0.05148085983447041 Centerline is valid? [True, True] Translation: X:516.37, Y:-127.23, Z:-3.95 [[ 8.41404325e-01 5.40406077e-01 1.83226188e-04 5.16367532e+02] [-5.40406066e-01 8.41404345e-01 -1.08211227e-04 -1.27231940e+02] [-2.12645316e-04 -7.96714874e-06 9.99999977e-01 -3.95459391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters 0.052559905617626815 Centerline is valid? [True, True] Translation: X:516.42, Y:-127.26, Z:-3.96 [[ 8.41289948e-01 5.40584094e-01 -2.48902749e-04 5.16424656e+02] [-5.40584073e-01 8.41289984e-01 1.48792553e-04 -1.27255943e+02] [ 2.89834278e-04 9.37518259e-06 9.99999958e-01 -3.95725487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters 0.053405068565601656 Centerline is valid? [True, True] Translation: X:516.48, Y:-127.29, Z:-3.96 [[ 8.41319941e-01 5.40537132e-01 6.04893508e-04 5.16479632e+02] [-5.40537012e-01 8.41320158e-01 -3.59571154e-04 -1.27285408e+02] [-7.03270662e-04 -2.44529477e-05 9.99999752e-01 -3.95796413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters 0.05157053456672456 Centerline is valid? [True, True] Translation: X:516.53, Y:-127.33, Z:-3.96 [[ 8.41703344e-01 5.39937408e-01 1.75405199e-03 5.16528329e+02] [-5.39936401e-01 8.41705169e-01 -1.04499251e-03 -1.27325054e+02] [-2.04062518e-03 -6.75028287e-05 9.99997916e-01 -3.95576937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters 0.05220683799839207 Centerline is valid? [True, True] Translation: X:516.58, Y:-127.35, Z:-3.96 [[ 8.41710969e-01 5.39924969e-01 1.91610382e-03 5.16582292e+02] [-5.39923768e-01 8.41713147e-01 -1.14129696e-03 -1.27354437e+02] [-2.22902450e-03 -7.39078238e-05 9.99997513e-01 -3.95649104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters 0.051723417854136575 Centerline is valid? [True, True] Translation: X:516.64, Y:-127.39, Z:-3.96 [[ 8.42165638e-01 5.39216866e-01 1.48611863e-03 5.16636049e+02] [-5.39216143e-01 8.42166948e-01 -8.85157431e-04 -1.27386280e+02] [-1.72885180e-03 -5.58899805e-05 9.99998504e-01 -3.95668784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters 0.05228964108417388 Centerline is valid? [True, True] Translation: X:516.69, Y:-127.42, Z:-3.96 [[ 8.43731908e-01 5.36764791e-01 1.62972852e-04 5.16688865e+02] [-5.36764783e-01 8.43731923e-01 -9.71011676e-05 -1.27415324e+02] [-1.89625886e-04 -5.55073392e-06 9.99999982e-01 -3.95822215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters 0.05159577142695579 Centerline is valid? [True, True] Translation: X:516.74, Y:-127.45, Z:-3.96 [[ 8.46437067e-01 5.32487283e-01 -1.25934945e-03 5.16738256e+02] [-5.32486754e-01 8.46438003e-01 7.51152333e-04 -1.27452557e+02] [ 1.46594030e-03 3.47837226e-05 9.99998925e-01 -3.95741018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters 0.0519160344235188 Centerline is valid? [True, True] Translation: X:516.79, Y:-127.49, Z:-3.96 [[ 8.48652171e-01 5.28949465e-01 -1.39860006e-03 5.16789184e+02] [-5.28948808e-01 8.48653323e-01 8.34263368e-04 -1.27486690e+02] [ 1.62820975e-03 3.17884163e-05 9.99998674e-01 -3.95758203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters 0.05208058793205688 Centerline is valid? [True, True] Translation: X:516.84, Y:-127.52, Z:-3.96 [[ 8.53010141e-01 5.21892142e-01 -1.51378874e-03 5.16840052e+02] [-5.21891360e-01 8.53011484e-01 9.03686891e-04 -1.27519792e+02] [ 1.76290627e-03 1.91791826e-05 9.99998446e-01 -3.95779724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters 0.05219484235714817 Centerline is valid? [True, True] Translation: X:516.89, Y:-127.55, Z:-3.96 [[ 8.56275762e-01 5.16517251e-01 -1.32264080e-03 5.16890530e+02] [-5.16516649e-01 8.56276783e-01 7.88962440e-04 -1.27552399e+02] [ 1.54005932e-03 7.59657839e-06 9.99998814e-01 -3.95982295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters 0.05237322116362908 Centerline is valid? [True, True] Translation: X:516.94, Y:-127.59, Z:-3.96 [[ 8.60963488e-01 5.08666757e-01 -5.82981622e-05 5.16940638e+02] [-5.08666756e-01 8.60963490e-01 3.51378034e-05 -1.27589107e+02] [ 6.80660215e-05 -5.98028695e-07 9.99999998e-01 -3.95607787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters 0.05233596422793145 Centerline is valid? [True, True] Translation: X:516.99, Y:-127.62, Z:-3.96 [[ 8.64821733e-01 5.02078698e-01 5.92113301e-04 5.16990207e+02] [-5.02078574e-01 8.64821936e-01 -3.52916214e-04 -1.27624175e+02] [-6.89264285e-04 7.92221040e-06 9.99999762e-01 -3.95726276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters 0.05280750052522578 Centerline is valid? [True, True] Translation: X:517.04, Y:-127.65, Z:-3.96 [[ 8.67297268e-01 4.97790017e-01 7.39894531e-04 5.17043190e+02] [-4.97789822e-01 8.67297584e-01 -4.41334685e-04 -1.27652352e+02] [-8.61400740e-04 1.44563997e-05 9.99999629e-01 -3.95555888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters 0.053096964156301184 Centerline is valid? [True, True] Translation: X:517.09, Y:-127.69, Z:-3.96 [[ 8.68010972e-01 4.96542909e-01 1.44652931e-03 5.17094345e+02] [-4.96542161e-01 8.68012176e-01 -8.62687662e-04 -1.27687985e+02] [-1.68396650e-03 3.05595644e-05 9.99998582e-01 -3.95845783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters 0.05341370281212325 Centerline is valid? [True, True] Translation: X:517.15, Y:-127.71, Z:-3.96 [[ 8.68444790e-01 4.95782251e-01 1.89911525e-03 5.17153285e+02] [-4.95780960e-01 8.68446865e-01 -1.13235209e-03 -1.27710871e+02] [-2.21068075e-03 4.18400877e-05 9.99997556e-01 -3.95685672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters 0.05331185565954242 Centerline is valid? [True, True] Translation: X:517.21, Y:-127.74, Z:-3.96 [[ 8.68436216e-01 4.95796429e-01 2.10705763e-03 5.17206607e+02] [-4.95794838e-01 8.68438771e-01 -1.25680261e-03 -1.27743268e+02] [-2.45296879e-03 4.67846016e-05 9.99996990e-01 -3.95826672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters 0.053118103287352614 Centerline is valid? [True, True] Translation: X:517.26, Y:-127.78, Z:-3.96 [[ 8.67138146e-01 4.98062821e-01 2.20482747e-03 5.17257650e+02] [-4.98061085e-01 8.67140948e-01 -1.31596979e-03 -1.27778481e+02] [-2.56733181e-03 4.29888421e-05 9.99996703e-01 -3.96052711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters 0.052513045431479964 Centerline is valid? [True, True] Translation: X:517.32, Y:-127.80, Z:-3.96 [[ 8.63801161e-01 5.03824435e-01 2.91428771e-03 5.17315040e+02] [-5.03821433e-01 8.63806076e-01 -1.73970795e-03 -1.27802907e+02] [-3.39388681e-03 3.44811359e-05 9.99994240e-01 -3.96091814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters 0.05250801909108069 Centerline is valid? [True, True] Translation: X:517.37, Y:-127.83, Z:-3.96 [[ 8.59013956e-01 5.11939355e-01 3.62220339e-03 5.17371320e+02] [-5.11934788e-01 8.59021593e-01 -2.16248231e-03 -1.27826652e+02] [-4.21861072e-03 3.27055744e-06 9.99991102e-01 -3.96134462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters 0.052137386076397264 Centerline is valid? [True, True] Translation: X:517.43, Y:-127.86, Z:-3.96 [[ 8.57248036e-01 5.14890838e-01 3.63713969e-03 5.17426597e+02] [-5.14886262e-01 8.57255752e-01 -2.17101909e-03 -1.27855273e+02] [-4.23579676e-03 -1.16114062e-05 9.99991029e-01 -3.96248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters 0.05270377244316603 Centerline is valid? [True, True] Translation: X:517.48, Y:-127.88, Z:-3.96 [[ 8.53958831e-01 5.20323262e-01 4.24484951e-03 5.17481991e+02] [-5.20317090e-01 8.53969380e-01 -2.53471154e-03 -1.27882581e+02] [-4.94384088e-03 -4.41284368e-05 9.99987778e-01 -3.96156425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters 0.052955017729895464 Centerline is valid? [True, True] Translation: X:517.54, Y:-127.91, Z:-3.96 [[ 8.49522816e-01 5.27543201e-01 3.02597931e-03 5.17538644e+02] [-5.27540108e-01 8.49528203e-01 -1.80748505e-03 -1.27907240e+02] [-3.52418122e-03 -6.08256617e-05 9.99993788e-01 -3.96323013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters 0.05235426247734439 Centerline is valid? [True, True] Translation: X:517.59, Y:-127.94, Z:-3.96 [[ 8.46945303e-01 5.31668756e-01 3.46230388e-03 5.17593091e+02] [-5.31664741e-01 8.46952375e-01 -2.06818692e-03 -1.27935786e+02] [-4.03199686e-03 -8.91436945e-05 9.99991867e-01 -3.96385879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters 0.05372629184271024 Centerline is valid? [True, True] Translation: X:517.65, Y:-127.96, Z:-3.97 [[ 8.44061983e-01 5.36238684e-01 2.72794394e-03 5.17651465e+02] [-5.36236216e-01 8.44066387e-01 -1.62946026e-03 -1.27955936e+02] [-3.17634541e-03 -8.74568708e-05 9.99994952e-01 -3.96504249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters 0.053635734995613034 Centerline is valid? [True, True] Translation: X:517.70, Y:-127.99, Z:-3.97 [[ 8.43005682e-01 5.37900233e-01 2.18134923e-03 5.17703546e+02] [-5.37898660e-01 8.43008501e-01 -1.30311377e-03 -1.27987246e+02] [-2.53984115e-03 -7.48125197e-05 9.99996772e-01 -3.96617413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters 0.054610825152506454 Centerline is valid? [True, True] Translation: X:517.76, Y:-128.01, Z:-3.97 [[ 8.42211938e-01 5.39144076e-01 1.64815459e-03 5.17759370e+02] [-5.39143182e-01 8.42213548e-01 -9.84026822e-04 -1.28014313e+02] [-1.91863036e-03 -5.98321717e-05 9.99998158e-01 -3.96841758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters 0.0534805268392778 Centerline is valid? [True, True] Translation: X:517.81, Y:-128.05, Z:-3.97 [[ 8.42400023e-01 5.38849794e-01 1.76067601e-03 5.17811050e+02] [-5.38848772e-01 8.42401861e-01 -1.05144807e-03 -1.28048578e+02] [-2.04976932e-03 -6.29982318e-05 9.99997897e-01 -3.96786992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters 0.05293220963483145 Centerline is valid? [True, True] Translation: X:517.86, Y:-128.09, Z:-3.97 [[ 8.43219812e-01 5.37564515e-01 2.17750872e-03 5.17860093e+02] [-5.37562945e-01 8.43222620e-01 -1.30138595e-03 -1.28085838e+02] [-2.53570352e-03 -7.31935850e-05 9.99996782e-01 -3.96654403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters 0.05338159303712438 Centerline is valid? [True, True] Translation: X:517.91, Y:-128.11, Z:-3.97 [[ 8.43809622e-01 5.36638256e-01 2.16899666e-03 5.17914643e+02] [-5.36636696e-01 8.43812406e-01 -1.29586195e-03 -1.28113062e+02] [-2.52563538e-03 -7.05024207e-05 9.99996808e-01 -3.96734747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters 0.05307841883363438 Centerline is valid? [True, True] Translation: X:517.97, Y:-128.15, Z:-3.97 [[ 8.43810617e-01 5.36635524e-01 2.44065938e-03 5.17966977e+02] [-5.36633547e-01 8.43814143e-01 -1.45894199e-03 -1.28147230e+02] [-2.84238300e-03 -7.86689553e-05 9.99995957e-01 -3.96706829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters 0.053808422904873414 Centerline is valid? [True, True] Translation: X:518.02, Y:-128.17, Z:-3.97 [[ 8.43733399e-01 5.36759422e-01 1.80937376e-03 5.18022238e+02] [-5.36758336e-01 8.43735337e-01 -1.08121727e-03 -1.28173890e+02] [-2.10698614e-03 -5.89373321e-05 9.99997779e-01 -3.96880660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters 0.053289790738372304 Centerline is valid? [True, True] Translation: X:518.07, Y:-128.21, Z:-3.97 [[ 8.44336755e-01 5.35808586e-01 2.14540339e-03 5.18073148e+02] [-5.35807055e-01 8.44339478e-01 -1.28276346e-03 -1.28210943e+02] [-2.49876446e-03 -6.64379375e-05 9.99996876e-01 -3.96775126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters 0.0545406611816661 Centerline is valid? [True, True] Translation: X:518.13, Y:-128.24, Z:-3.97 [[ 8.44646357e-01 5.35321330e-01 1.89863983e-03 5.18129329e+02] [-5.35320130e-01 8.44648489e-01 -1.13497224e-03 -1.28235746e+02] [-2.21125811e-03 -5.77299519e-05 9.99997553e-01 -3.96910525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters 0.05242647397045435 Centerline is valid? [True, True] Translation: X:518.18, Y:-128.28, Z:-3.97 [[ 8.44903700e-01 5.34914827e-01 1.96593772e-03 5.18177276e+02] [-5.34913538e-01 8.44905985e-01 -1.17573468e-03 -1.28276502e+02] [-2.28995047e-03 -5.82241205e-05 9.99997376e-01 -3.96660471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters 0.053373540390093434 Centerline is valid? [True, True] Translation: X:518.23, Y:-128.30, Z:-3.97 [[ 8.43829381e-01 5.36609992e-01 1.30103589e-03 5.18231789e+02] [-5.36609430e-01 8.43830382e-01 -7.78240519e-04 -1.28303376e+02] [-1.51546525e-03 -4.14459099e-05 9.99998851e-01 -3.96757350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters 0.053088201353087075 Centerline is valid? [True, True] Translation: X:518.28, Y:-128.34, Z:-3.97 [[ 8.42148150e-01 5.39246207e-01 1.48188121e-04 5.18283006e+02] [-5.39246200e-01 8.42148163e-01 -8.85759459e-05 -1.28335946e+02] [-1.72560597e-04 -5.31581194e-06 9.99999985e-01 -3.96791277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters 0.052882749995279185 Centerline is valid? [True, True] Translation: X:518.34, Y:-128.37, Z:-3.97 [[ 8.41210870e-01 5.40706758e-01 -6.89152006e-04 5.18336251e+02] [-5.40706601e-01 8.41211152e-01 4.12511357e-04 -1.28366855e+02] [ 8.02770031e-04 2.56200011e-05 9.99999677e-01 -3.96840444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters 0.053106037594219606 Centerline is valid? [True, True] Translation: X:518.39, Y:-128.40, Z:-3.97 [[ 8.41251911e-01 5.40643162e-01 -4.40240118e-04 5.18389337e+02] [-5.40643098e-01 8.41252026e-01 2.64439421e-04 -1.28399962e+02] [ 5.13320256e-04 1.55526127e-05 9.99999868e-01 -3.96821838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters 0.053536476281766214 Centerline is valid? [True, True] Translation: X:518.44, Y:-128.43, Z:-3.97 [[ 8.41459287e-01 5.40320523e-01 -3.06863941e-05 5.18444099e+02] [-5.40320523e-01 8.41459288e-01 1.92396454e-05 -1.28426961e+02] [ 3.62169264e-05 3.91110209e-07 9.99999999e-01 -3.96916871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters 0.05324236514615641 Centerline is valid? [True, True] Translation: X:518.50, Y:-128.46, Z:-3.97 [[ 8.41921862e-01 5.39598623e-01 9.50817453e-04 5.18495827e+02] [-5.39598324e-01 8.41922398e-01 -5.68948401e-04 -1.28462029e+02] [-1.10751828e-03 -3.40494068e-05 9.99999386e-01 -3.96848390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters 0.053629990665925255 Centerline is valid? [True, True] Translation: X:518.55, Y:-128.49, Z:-3.97 [[ 8.43245307e-01 5.37523755e-01 2.35886376e-03 5.18548573e+02] [-5.37521905e-01 8.43248603e-01 -1.41231910e-03 -1.28490017e+02] [-2.74826364e-03 -7.70094884e-05 9.99996221e-01 -3.96950430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters 0.05300915423073491 Centerline is valid? [True, True] Translation: X:518.60, Y:-128.53, Z:-3.97 [[ 8.43635880e-01 5.36909192e-01 2.64982498e-03 5.18599733e+02] [-5.36906857e-01 8.43640037e-01 -1.58596901e-03 -1.28525469e+02] [-3.08701979e-03 -8.47288419e-05 9.99995232e-01 -3.96957277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters 0.05388127673714531 Centerline is valid? [True, True] Translation: X:518.65, Y:-128.55, Z:-3.97 [[ 8.42899958e-01 5.38070244e-01 2.69470052e-04 5.18653073e+02] [-5.38070220e-01 8.42900001e-01 -1.61374839e-04 -1.28553179e+02] [-3.13967307e-04 -8.97096541e-06 9.99999951e-01 -3.97275467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters 0.05367803419250757 Centerline is valid? [True, True] Translation: X:518.70, Y:-128.59, Z:-3.97 [[ 8.41389765e-01 5.40427735e-01 -1.06119345e-03 5.18704126e+02] [-5.40427362e-01 8.41390434e-01 6.35647341e-04 -1.28585826e+02] [ 1.23639947e-03 3.86708104e-05 9.99999235e-01 -3.97424333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters 0.05427196850938016 Centerline is valid? [True, True] Translation: X:518.76, Y:-128.62, Z:-3.97 [[ 8.40527641e-01 5.41765765e-01 -1.77249122e-03 5.18756870e+02] [-5.41764729e-01 8.40529507e-01 1.06167130e-03 -1.28617480e+02] [ 2.06500833e-03 6.79091538e-05 9.99997866e-01 -3.97456682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters 0.05205845045127044 Centerline is valid? [True, True] Translation: X:518.80, Y:-128.66, Z:-3.97 [[ 8.39912031e-01 5.42721885e-01 -8.57280398e-04 5.18804170e+02] [-5.42721642e-01 8.39912468e-01 5.14515829e-04 -1.28659220e+02] [ 9.99279496e-04 3.31165905e-05 9.99999500e-01 -3.97150371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters 0.052859268320334676 Centerline is valid? [True, True] Translation: X:518.86, Y:-128.69, Z:-3.97 [[ 8.39895138e-01 5.42748677e-01 1.75997690e-04 5.18859073e+02] [-5.42748667e-01 8.39895157e-01 -1.04569578e-04 -1.28687087e+02] [-2.04574608e-04 -7.69503133e-06 9.99999979e-01 -3.97226327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters 0.05561602926121376 Centerline is valid? [True, True] Translation: X:518.92, Y:-128.71, Z:-3.97 [[ 8.39757010e-01 5.42961148e-01 1.16429015e-03 5.18917065e+02] [-5.42960703e-01 8.39757816e-01 -6.96839974e-04 -1.28710895e+02] [-1.35607879e-03 -4.69875446e-05 9.99999079e-01 -3.97347933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters 0.0536653908328411 Centerline is valid? [True, True] Translation: X:518.97, Y:-128.75, Z:-3.97 [[ 8.39334687e-01 5.43614232e-01 9.22514390e-04 5.18967484e+02] [-5.43613953e-01 8.39335193e-01 -5.52148864e-04 -1.28747464e+02] [-1.07445477e-03 -3.80540000e-05 9.99999422e-01 -3.97305478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters 0.05600962359308799 Centerline is valid? [True, True] Translation: X:519.02, Y:-128.78, Z:-3.98 [[ 8.39147607e-01 5.43903292e-01 7.08361984e-04 5.19022588e+02] [-5.43903128e-01 8.39147906e-01 -4.23866558e-04 -1.28775591e+02] [-8.24962892e-04 -2.95936905e-05 9.99999659e-01 -3.97528652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters 0.05528911550819167 Centerline is valid? [True, True] Translation: X:519.08, Y:-128.81, Z:-3.98 [[ 8.39427649e-01 5.43471449e-01 -8.05741383e-05 5.19075244e+02] [-5.43471447e-01 8.39427653e-01 4.92088536e-05 -1.28808597e+02] [ 9.43797666e-05 2.48247121e-06 9.99999996e-01 -3.97646647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters 0.05192285491692532 Centerline is valid? [True, True] Translation: X:519.12, Y:-128.85, Z:-3.97 [[ 8.40395159e-01 5.41974098e-01 2.31436773e-04 5.19119818e+02] [-5.41974080e-01 8.40395191e-01 -1.38615247e-04 -1.28854396e+02] [-2.69624224e-04 -8.94114976e-06 9.99999964e-01 -3.97350429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters 0.05319451060064929 Centerline is valid? [True, True] Translation: X:519.17, Y:-128.88, Z:-3.98 [[ 8.41242760e-01 5.40657577e-01 5.13298962e-05 5.19174542e+02] [-5.40657576e-01 8.41242762e-01 -3.06557351e-05 -1.28881319e+02] [-5.97551593e-05 -1.96298202e-06 9.99999998e-01 -3.97503947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters 0.05201458598179884 Centerline is valid? [True, True] Translation: X:519.22, Y:-128.92, Z:-3.97 [[ 8.43816785e-01 5.36631193e-01 4.42195930e-04 5.19222049e+02] [-5.36631128e-01 8.43816901e-01 -2.65070076e-04 -1.28920711e+02] [-5.15377270e-04 -1.36255208e-05 9.99999867e-01 -3.97383992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters 0.052029463061763495 Centerline is valid? [True, True] Translation: X:519.27, Y:-128.96, Z:-3.97 [[ 8.46037283e-01 5.33122173e-01 1.29025582e-03 5.19272770e+02] [-5.33121612e-01 8.46038266e-01 -7.73847538e-04 -1.28955538e+02] [-1.50416108e-03 -3.31593970e-05 9.99998868e-01 -3.97387781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters 0.05293408572440156 Centerline is valid? [True, True] Translation: X:519.33, Y:-128.98, Z:-3.98 [[ 8.47587718e-01 5.30654235e-01 1.06934973e-03 5.19326777e+02] [-5.30653848e-01 8.47588392e-01 -6.41356215e-04 -1.28983524e+02] [-1.24670681e-03 -2.38488970e-05 9.99999223e-01 -3.97618065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters 0.052859650064532214 Centerline is valid? [True, True] Translation: X:519.38, Y:-129.02, Z:-3.98 [[ 8.48759991e-01 5.28777179e-01 1.08317376e-03 5.19377612e+02] [-5.28776780e-01 8.48760682e-01 -6.49676404e-04 -1.29018016e+02] [-1.26288936e-03 -2.13377939e-05 9.99999202e-01 -3.97644044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters 0.0522536874100471 Centerline is valid? [True, True] Translation: X:519.43, Y:-129.06, Z:-3.98 [[ 8.51446356e-01 5.24441705e-01 3.61950415e-05 5.19426588e+02] [-5.24441704e-01 8.51446357e-01 -2.14123005e-05 -1.29056816e+02] [-4.20476398e-05 -7.50763983e-07 9.99999999e-01 -3.97526473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters 0.05278448170472857 Centerline is valid? [True, True] Translation: X:519.48, Y:-129.09, Z:-3.98 [[ 8.53176084e-01 5.21622816e-01 -4.56716302e-04 5.19479142e+02] [-5.21622743e-01 8.53176206e-01 2.74984762e-04 -1.29087530e+02] [ 5.33097808e-04 3.62318766e-06 9.99999858e-01 -3.97859428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters 0.052586756289026544 Centerline is valid? [True, True] Translation: X:519.53, Y:-129.12, Z:-3.98 [[ 8.55165029e-01 5.18355836e-01 -5.38221880e-06 5.19530036e+02] [-5.18355836e-01 8.55165029e-01 4.20400393e-06 -1.29123313e+02] [ 6.78185508e-06 -8.05212621e-07 1.00000000e+00 -3.97777477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters 0.052902598311006875 Centerline is valid? [True, True] Translation: X:519.58, Y:-129.16, Z:-3.97 [[ 8.58081421e-01 5.13513037e-01 7.97090248e-04 5.19580635e+02] [-5.13512815e-01 8.58081792e-01 -4.77608997e-04 -1.29158864e+02] [-9.29227075e-04 5.11349657e-07 9.99999568e-01 -3.97491945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters 0.05272653136690952 Centerline is valid? [True, True] Translation: X:519.63, Y:-129.19, Z:-3.98 [[ 8.59490673e-01 5.11149170e-01 1.51974858e-03 5.19632687e+02] [-5.11148356e-01 8.59492016e-01 -9.12205850e-04 -1.29193832e+02] [-1.77248504e-03 7.21542974e-06 9.99998429e-01 -3.97734029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters 0.05305965367754871 Centerline is valid? [True, True] Translation: X:519.69, Y:-129.23, Z:-3.98 [[ 8.59697158e-01 5.10801492e-01 1.62225663e-03 5.19686297e+02] [-5.10800565e-01 8.59698689e-01 -9.73274666e-04 -1.29227448e+02] [-1.89180205e-03 8.07186364e-06 9.99998211e-01 -3.97826869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters 0.052646873379144574 Centerline is valid? [True, True] Translation: X:519.74, Y:-129.26, Z:-3.98 [[ 8.58751904e-01 5.12389006e-01 1.63508741e-03 5.19738656e+02] [-5.12388066e-01 8.58753461e-01 -9.81430316e-04 -1.29258303e+02] [-1.90701107e-03 5.00587887e-06 9.99998182e-01 -3.97912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters 0.052940008915661745 Centerline is valid? [True, True] Translation: X:519.79, Y:-129.29, Z:-3.98 [[ 8.56292690e-01 5.16488236e-01 1.65246777e-03 5.19793339e+02] [-5.16487282e-01 8.56294285e-01 -9.92516627e-04 -1.29288830e+02] [-1.92762187e-03 -3.59385338e-06 9.99998142e-01 -3.97979921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters 0.05283817661256399 Centerline is valid? [True, True] Translation: X:519.85, Y:-129.32, Z:-3.98 [[ 8.54283109e-01 5.19805664e-01 1.56235945e-03 5.19846717e+02] [-5.19804818e-01 8.54284538e-01 -9.38037316e-04 -1.29318756e+02] [-1.82229663e-03 -1.07725325e-05 9.99998340e-01 -3.98074611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters 0.053125694064086015 Centerline is valid? [True, True] Translation: X:519.90, Y:-129.35, Z:-3.98 [[ 8.51820654e-01 5.23832119e-01 1.21817649e-03 5.19900038e+02] [-5.23831608e-01 8.51821525e-01 -7.31990914e-04 -1.29347806e+02] [-1.42110931e-03 -1.45943726e-05 9.99998990e-01 -3.98262490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters 0.053002358519105605 Centerline is valid? [True, True] Translation: X:519.95, Y:-129.38, Z:-3.98 [[ 8.50212060e-01 5.26438606e-01 1.35914826e-03 5.19952715e+02] [-5.26437973e-01 8.50213146e-01 -8.16645493e-04 -1.29380239e+02] [-1.58547943e-03 -2.11854056e-05 9.99998743e-01 -3.98209803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters 0.05241325481609769 Centerline is valid? [True, True] Translation: X:520.01, Y:-129.41, Z:-3.98 [[ 8.49387374e-01 5.27768113e-01 1.38118100e-03 5.20005129e+02] [-5.27767462e-01 8.49388497e-01 -8.29405666e-04 -1.29413367e+02] [-1.61089312e-03 -2.44556910e-05 9.99998702e-01 -3.98260629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters 0.052160477582261125 Centerline is valid? [True, True] Translation: X:520.06, Y:-129.44, Z:-3.98 [[ 8.49201866e-01 5.28065648e-01 1.69191717e-03 5.20059811e+02] [-5.28064671e-01 8.49203551e-01 -1.01644047e-03 -1.29443311e+02] [-1.97352936e-03 -3.02785427e-05 9.99998052e-01 -3.98481728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters 0.052508410838631815 Centerline is valid? [True, True] Translation: X:520.11, Y:-129.48, Z:-3.99 [[ 8.49082919e-01 5.28256627e-01 1.76983175e-03 5.20112887e+02] [-5.28255557e-01 8.49084763e-01 -1.06357197e-03 -1.29477966e+02] [-2.06457611e-03 -3.18626600e-05 9.99997868e-01 -3.98511380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters 0.052539882920769256 Centerline is valid? [True, True] Translation: X:520.17, Y:-129.51, Z:-3.99 [[ 8.48302476e-01 5.29510542e-01 1.22257093e-03 5.20166334e+02] [-5.29510033e-01 8.48303357e-01 -7.34688698e-04 -1.29510071e+02] [-1.42613643e-03 -2.41253319e-05 9.99998983e-01 -3.98627658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters 0.051527275356883305 Centerline is valid? [True, True] Translation: X:520.22, Y:-129.55, Z:-3.98 [[ 8.47363306e-01 5.31012816e-01 9.04326534e-04 5.20215087e+02] [-5.31012538e-01 8.47363788e-01 -5.43324912e-04 -1.29548602e+02] [-1.05480605e-03 -1.98151351e-05 9.99999443e-01 -3.98454410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters 0.052098000411035496 Centerline is valid? [True, True] Translation: X:520.27, Y:-129.58, Z:-3.99 [[ 8.45539042e-01 5.33913471e-01 3.66952566e-04 5.20268431e+02] [-5.33913426e-01 8.45539121e-01 -2.20443404e-04 -1.29577517e+02] [-4.27970453e-04 -9.52739683e-06 9.99999908e-01 -3.98661714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters 0.051748098088569734 Centerline is valid? [True, True] Translation: X:520.32, Y:-129.61, Z:-3.99 [[ 8.44058647e-01 5.36250830e-01 -2.19188878e-04 5.20319138e+02] [-5.36250813e-01 8.44058676e-01 1.32165334e-04 -1.29613620e+02] [ 2.55882044e-04 5.98492095e-06 9.99999967e-01 -3.98589885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters 0.051634782786795085 Centerline is valid? [True, True] Translation: X:520.37, Y:-129.64, Z:-3.99 [[ 8.43413243e-01 5.37265378e-01 -1.20416539e-04 5.20372468e+02] [-5.37265373e-01 8.43413252e-01 7.34007864e-05 -1.29643180e+02] [ 1.40996606e-04 2.78844142e-06 9.99999990e-01 -3.98686878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters 0.05120339311591418 Centerline is valid? [True, True] Translation: X:520.42, Y:-129.68, Z:-3.99 [[ 8.42649766e-01 5.38461849e-01 4.58323604e-04 5.20423002e+02] [-5.38461779e-01 8.42649890e-01 -2.75051950e-04 -1.29679087e+02] [-5.34311316e-04 -1.50172815e-05 9.99999857e-01 -3.98586865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters 0.05221100604236957 Centerline is valid? [True, True] Translation: X:520.48, Y:-129.71, Z:-3.99 [[ 8.41923763e-01 5.39596444e-01 -2.33358867e-04 5.20477916e+02] [-5.39596425e-01 8.41923796e-01 1.41454807e-04 -1.29706081e+02] [ 2.72798894e-04 6.82544691e-06 9.99999963e-01 -3.98767173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters 0.05163388729712146 Centerline is valid? [True, True] Translation: X:520.53, Y:-129.74, Z:-3.99 [[ 8.41256277e-01 5.40636457e-01 -3.13287877e-04 5.20530826e+02] [-5.40636424e-01 8.41256335e-01 1.88988147e-04 -1.29739170e+02] [ 3.65729293e-04 1.03873726e-05 9.99999933e-01 -3.98837428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters 0.05260868624692976 Centerline is valid? [True, True] Translation: X:520.59, Y:-129.77, Z:-3.99 [[ 8.40666414e-01 5.41553287e-01 -1.30846836e-04 5.20586079e+02] [-5.41553281e-01 8.40666424e-01 7.96773889e-05 -1.29765381e+02] [ 1.53148094e-04 3.87842871e-06 9.99999988e-01 -3.98962458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters 0.05168161084458448 Centerline is valid? [True, True] Translation: X:520.64, Y:-129.80, Z:-3.99 [[ 8.40301271e-01 5.42119220e-01 7.24771845e-04 5.20636052e+02] [-5.42119045e-01 8.40301583e-01 -4.35896789e-04 -1.29803059e+02] [-8.45334957e-04 -2.66279947e-05 9.99999642e-01 -3.98754440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters 0.05129259052444169 Centerline is valid? [True, True] Translation: X:520.69, Y:-129.84, Z:-3.99 [[ 8.40855570e-01 5.41259559e-01 1.91226205e-06 5.20689364e+02] [-5.41259559e-01 8.40855570e-01 -2.47712707e-07 -1.29835074e+02] [-1.74201326e-06 -8.26739505e-07 1.00000000e+00 -3.98848762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters 0.051044264753624405 Centerline is valid? [True, True] Translation: X:520.74, Y:-129.87, Z:-3.99 [[ 8.42263519e-01 5.39065353e-01 -8.42555694e-04 5.20739830e+02] [-5.39065114e-01 8.42263940e-01 5.08145640e-04 -1.29871543e+02] [ 9.83577987e-04 2.61998468e-05 9.99999516e-01 -3.98866995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters 0.051777636403025205 Centerline is valid? [True, True] Translation: X:520.79, Y:-129.90, Z:-3.99 [[ 8.42522986e-01 5.38659515e-01 -9.72390142e-04 5.20793557e+02] [-5.38659195e-01 8.42523546e-01 5.87234544e-04 -1.29900241e+02] [ 1.13558107e-03 2.90282898e-05 9.99999355e-01 -3.99006791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters 0.05156461396902075 Centerline is valid? [True, True] Translation: X:520.85, Y:-129.93, Z:-3.99 [[ 8.43840483e-01 5.36593740e-01 -6.31293902e-04 5.20846257e+02] [-5.36593605e-01 8.43840718e-01 3.80816439e-04 -1.29930469e+02] [ 7.37055217e-04 1.73999429e-05 9.99999728e-01 -3.99059415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters 0.05104291228182118 Centerline is valid? [True, True] Translation: X:520.90, Y:-129.97, Z:-3.99 [[ 8.45114666e-01 5.34585057e-01 -1.34625981e-04 5.20895395e+02] [-5.34585051e-01 8.45114677e-01 8.13953882e-05 -1.29968831e+02] [ 1.57287151e-04 3.18060087e-06 9.99999988e-01 -3.98832666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters 0.05203530216360356 Centerline is valid? [True, True] Translation: X:520.95, Y:-130.00, Z:-3.99 [[ 8.46197559e-01 5.32868973e-01 -5.90423208e-04 5.20949687e+02] [-5.32868853e-01 8.46197765e-01 3.57116600e-04 -1.29997802e+02] [ 6.89911154e-04 1.24269425e-05 9.99999762e-01 -3.98984254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters 0.052060784408167436 Centerline is valid? [True, True] Translation: X:521.00, Y:-130.03, Z:-3.99 [[ 8.46912819e-01 5.31729840e-01 -1.43303359e-03 5.21003072e+02] [-5.31729137e-01 8.46914031e-01 8.65482236e-04 -1.30028193e+02] [ 1.67385899e-03 2.89977149e-05 9.99998599e-01 -3.99190750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters 0.05203033088230752 Centerline is valid? [True, True] Translation: X:521.05, Y:-130.06, Z:-3.99 [[ 8.47684291e-01 5.30497803e-01 -1.85007485e-03 5.21053168e+02] [-5.30496627e-01 8.47686310e-01 1.11750000e-03 -1.30064873e+02] [ 2.16111442e-03 3.41712740e-05 9.99997664e-01 -3.99021032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters 0.05236012532395836 Centerline is valid? [True, True] Translation: X:521.11, Y:-130.09, Z:-3.99 [[ 8.47914835e-01 5.30130236e-01 -1.53829747e-03 5.21108599e+02] [-5.30129422e-01 8.47916230e-01 9.29057109e-04 -1.30091957e+02] [ 1.79686866e-03 2.77354467e-05 9.99998385e-01 -3.99393479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters 0.051820495200288356 Centerline is valid? [True, True] Translation: X:521.16, Y:-130.13, Z:-3.99 [[ 8.48936907e-01 5.28494207e-01 -4.31926109e-05 5.21159229e+02] [-5.28494206e-01 8.48936908e-01 2.62032417e-05 -1.30126748e+02] [ 5.05160628e-05 5.82145661e-07 9.99999999e-01 -3.99205233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters 0.05167058513968516 Centerline is valid? [True, True] Translation: X:521.21, Y:-130.16, Z:-3.99 [[ 8.49573241e-01 5.27469657e-01 1.03394394e-03 5.21211260e+02] [-5.27469289e-01 8.49573870e-01 -6.23304226e-04 -1.30160834e+02] [-1.20718582e-03 -1.58310805e-05 9.99999271e-01 -3.99053013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters 0.05209740860919719 Centerline is valid? [True, True] Translation: X:521.26, Y:-130.19, Z:-3.99 [[ 8.49216469e-01 5.28042959e-01 1.42206056e-03 5.21264239e+02] [-5.28042263e-01 8.49217659e-01 -8.57768684e-04 -1.30193961e+02] [-1.66057765e-03 -2.24767811e-05 9.99998621e-01 -3.98955494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters 0.051824527078587486 Centerline is valid? [True, True] Translation: X:521.32, Y:-130.22, Z:-3.99 [[ 8.49204199e-01 5.28063262e-01 1.19167921e-03 5.21318701e+02] [-5.28062773e-01 8.49205035e-01 -7.18843161e-04 -1.30224098e+02] [-1.39157465e-03 -1.88367980e-05 9.99999032e-01 -3.99155172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters 0.05219371250913511 Centerline is valid? [True, True] Translation: X:521.37, Y:-130.25, Z:-3.99 [[ 8.49907503e-01 5.26931353e-01 7.65800215e-04 5.21373282e+02] [-5.26931151e-01 8.49907848e-01 -4.61779331e-04 -1.30252861e+02] [-8.94185620e-04 -1.10542710e-05 9.99999600e-01 -3.99478855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters 0.05176111863032229 Centerline is valid? [True, True] Translation: X:521.42, Y:-130.29, Z:-3.99 [[ 8.51337370e-01 5.24615667e-01 1.75605887e-03 5.21424147e+02] [-5.24614596e-01 8.51339181e-01 -1.06040996e-03 -1.30288284e+02] [-2.05130940e-03 -1.84874875e-05 9.99997896e-01 -3.99334633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters 0.051581552728933305 Centerline is valid? [True, True] Translation: X:521.48, Y:-130.32, Z:-3.99 [[ 8.52107089e-01 5.23363745e-01 1.97457781e-03 5.21477422e+02] [-5.23362387e-01 8.52109377e-01 -1.19277476e-03 -1.30319284e+02] [-2.30681133e-03 -1.70479254e-05 9.99997339e-01 -3.99425463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters 0.05171993342495684 Centerline is valid? [True, True] Translation: X:521.53, Y:-130.35, Z:-3.99 [[ 8.52566188e-01 5.22613110e-01 2.53615680e-03 5.21530596e+02] [-5.22610863e-01 8.52569960e-01 -1.53263864e-03 -1.30352273e+02] [-2.96322815e-03 -1.87472095e-05 9.99995609e-01 -3.99371818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters 0.0524717912873724 Centerline is valid? [True, True] Translation: X:521.58, Y:-130.38, Z:-3.99 [[ 8.52042441e-01 5.23468872e-01 2.00457018e-03 5.21584317e+02] [-5.23467471e-01 8.52044799e-01 -1.21147461e-03 -1.30383312e+02] [-2.34215284e-03 -1.70994964e-05 9.99997257e-01 -3.99398042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters 0.05267485846431104 Centerline is valid? [True, True] Translation: X:521.64, Y:-130.41, Z:-4.00 [[ 8.50802010e-01 5.25485167e-01 1.13135749e-03 5.21638016e+02] [-5.25484722e-01 8.50802762e-01 -6.84044450e-04 -1.30411837e+02] [-1.32201729e-03 -1.25246853e-05 9.99999126e-01 -3.99506902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters 0.05320201747908355 Centerline is valid? [True, True] Translation: X:521.69, Y:-130.44, Z:-4.00 [[ 8.49813520e-01 5.27082697e-01 9.01064555e-04 5.21692043e+02] [-5.27082416e-01 8.49813998e-01 -5.44621031e-04 -1.30441235e+02] [-1.05279759e-03 -1.21089669e-05 9.99999446e-01 -3.99623698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters 0.05188479119109218 Centerline is valid? [True, True] Translation: X:521.74, Y:-130.47, Z:-3.99 [[ 8.48513711e-01 5.29172162e-01 1.14254124e-03 5.21744476e+02] [-5.29171711e-01 8.48514480e-01 -6.90774952e-04 -1.30474822e+02] [-1.33500166e-03 -1.84684843e-05 9.99999109e-01 -3.99424629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters 0.05205404021937666 Centerline is valid? [True, True] Translation: X:521.80, Y:-130.51, Z:-3.99 [[ 8.47793348e-01 5.30321618e-01 2.32817261e-03 5.21797627e+02] [-5.30319750e-01 8.47796544e-01 -1.40802417e-03 -1.30506465e+02] [-2.72052235e-03 -4.09623869e-05 9.99996299e-01 -3.99440508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters 0.05210515598586562 Centerline is valid? [True, True] Translation: X:521.85, Y:-130.53, Z:-3.99 [[ 8.46190696e-01 5.32862708e-01 4.31754438e-03 5.21852154e+02] [-5.32856310e-01 8.46201706e-01 -2.61268391e-03 -1.30534218e+02] [-5.04571524e-03 -8.98019486e-05 9.99987266e-01 -3.99439357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters 0.05312769805782877 Centerline is valid? [True, True] Translation: X:521.91, Y:-130.56, Z:-3.99 [[ 8.44624766e-01 5.35335168e-01 5.02614342e-03 5.21906329e+02] [-5.35326536e-01 8.44639712e-01 -3.04245736e-03 -1.30560660e+02] [-5.87401475e-03 -1.20893111e-04 9.99982741e-01 -3.99465592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters 0.05293717768583968 Centerline is valid? [True, True] Translation: X:521.96, Y:-130.59, Z:-4.00 [[ 8.42319429e-01 5.38964019e-01 3.97060015e-03 5.21960692e+02] [-5.38958671e-01 8.42328780e-01 -2.40372990e-03 -1.30589170e+02] [-4.64007470e-03 -1.15280985e-04 9.99989228e-01 -3.99628662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters 0.05245251440795338 Centerline is valid? [True, True] Translation: X:522.01, Y:-130.62, Z:-4.00 [[ 8.41282952e-01 5.40588874e-01 2.58132070e-03 5.22012344e+02] [-5.40586621e-01 8.41286909e-01 -1.56271464e-03 -1.30622097e+02] [-3.01641746e-03 -8.07422530e-05 9.99995447e-01 -3.99808074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters 0.052585824454119225 Centerline is valid? [True, True] Translation: X:522.06, Y:-130.66, Z:-4.00 [[ 8.40963986e-01 5.41086104e-01 2.32438282e-03 5.22063767e+02] [-5.41084281e-01 8.40967195e-01 -1.40670558e-03 -1.30656348e+02] [-2.71587853e-03 -7.46982760e-05 9.99996309e-01 -3.99919143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters 0.052618967168048605 Centerline is valid? [True, True] Translation: X:522.12, Y:-130.69, Z:-4.00 [[ 8.41021700e-01 5.40994547e-01 2.72012654e-03 5.22116506e+02] [-5.40992048e-01 8.41026095e-01 -1.64675692e-03 -1.30688519e+02] [-3.17858392e-03 -8.66085216e-05 9.99994945e-01 -3.99958815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters 0.05276433484417797 Centerline is valid? [True, True] Translation: X:522.17, Y:-130.72, Z:-4.00 [[ 8.41390118e-01 5.40412401e-01 4.13599607e-03 5.22169248e+02] [-5.40406610e-01 8.41400274e-01 -2.50499445e-03 -1.30720862e+02] [-4.83375829e-03 -1.27442036e-04 9.99988309e-01 -3.99913926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters 0.05311474284817285 Centerline is valid? [True, True] Translation: X:522.22, Y:-130.75, Z:-4.00 [[ 8.41352175e-01 5.40469148e-01 4.42924353e-03 5.22223841e+02] [-5.40462504e-01 8.41363822e-01 -2.68338726e-03 -1.30751082e+02] [-5.17689329e-03 -1.36166338e-04 9.99986591e-01 -3.99940393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters 0.05260084623422602 Centerline is valid? [True, True] Translation: X:522.28, Y:-130.78, Z:-4.00 [[ 8.41068720e-01 5.40914399e-01 3.87576330e-03 5.22277280e+02] [-5.40909315e-01 8.41077641e-01 -2.34829450e-03 -1.30782875e+02] [-4.53004417e-03 -1.21359424e-04 9.99989732e-01 -4.00022159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters 0.052749269645553806 Centerline is valid? [True, True] Translation: X:522.33, Y:-130.81, Z:-4.00 [[ 8.40943448e-01 5.41104426e-01 4.48524400e-03 5.22331461e+02] [-5.41097616e-01 8.40955397e-01 -2.71831450e-03 -1.30814904e+02] [-5.24278216e-03 -1.41006070e-04 9.99986247e-01 -4.00104224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters 0.05236219513741659 Centerline is valid? [True, True] Translation: X:522.38, Y:-130.85, Z:-4.00 [[ 8.41170990e-01 5.40752708e-01 4.22779810e-03 5.22380890e+02] [-5.40746650e-01 8.41181605e-01 -2.56293400e-03 -1.30853049e+02] [-4.94225949e-03 -1.30301926e-04 9.99987778e-01 -4.00140235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters 0.051939239824000547 Centerline is valid? [True, True] Translation: X:522.43, Y:-130.88, Z:-4.00 [[ 8.41379096e-01 5.40431867e-01 3.82284160e-03 5.22434423e+02] [-5.40426908e-01 8.41387773e-01 -2.31796800e-03 -1.30882129e+02] [-4.46919595e-03 -1.15676642e-04 9.99990006e-01 -4.00215577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters 0.0520545919462487 Centerline is valid? [True, True] Translation: X:522.49, Y:-130.92, Z:-4.00 [[ 8.41248611e-01 5.40633545e-01 4.01812646e-03 5.22487257e+02] [-5.40628066e-01 8.41258198e-01 -2.43691501e-03 -1.30915972e+02] [-4.69775983e-03 -1.22260571e-04 9.99988958e-01 -4.00241653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters 0.05353300804269724 Centerline is valid? [True, True] Translation: X:522.55, Y:-130.94, Z:-4.00 [[ 8.40767221e-01 5.41382982e-01 3.86616416e-03 5.22545566e+02] [-5.41377914e-01 8.40776101e-01 -2.34561945e-03 -1.30937532e+02] [-4.52045688e-03 -1.20935941e-04 9.99989775e-01 -4.00390962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters 0.052693772687633374 Centerline is valid? [True, True] Translation: X:522.60, Y:-130.97, Z:-4.00 [[ 8.40046945e-01 5.42495683e-01 4.42306575e-03 5.22598731e+02] [-5.42489063e-01 8.40058577e-01 -2.68399349e-03 -1.30969380e+02] [-5.17168920e-03 -1.44784257e-04 9.99986616e-01 -4.00428427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters 0.05298258605060171 Centerline is valid? [True, True] Translation: X:522.65, Y:-131.00, Z:-4.00 [[ 8.39047167e-01 5.44038984e-01 4.62983561e-03 5.22651668e+02] [-5.44031752e-01 8.39059925e-01 -2.80967259e-03 -1.31001403e+02] [-5.41328094e-03 -1.61329751e-04 9.99985335e-01 -4.00470020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters 0.051678503124256314 Centerline is valid? [True, True] Translation: X:522.70, Y:-131.04, Z:-4.01 [[ 8.37909490e-01 5.45788393e-01 4.76625706e-03 5.22702593e+02] [-5.45780757e-01 8.37923027e-01 -2.89249053e-03 -1.31036233e+02] [-5.57244430e-03 -1.77686127e-04 9.99984458e-01 -4.00554940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters 0.052606986088328096 Centerline is valid? [True, True] Translation: X:522.76, Y:-131.06, Z:-4.01 [[ 8.35927203e-01 5.48820045e-01 4.71912829e-03 5.22758705e+02] [-5.48812603e-01 8.35940500e-01 -2.86465861e-03 -1.31059160e+02] [-5.51709253e-03 -1.95271024e-04 9.99984762e-01 -4.00697866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters 0.05122273751673652 Centerline is valid? [True, True] Translation: X:522.81, Y:-131.10, Z:-4.01 [[ 8.34590518e-01 5.50851193e-01 4.65079328e-03 5.22807706e+02] [-5.50843997e-01 8.34603451e-01 -2.82325080e-03 -1.31096248e+02] [-5.43675919e-03 -2.05603211e-04 9.99985200e-01 -4.00685891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters 0.052988595897202104 Centerline is valid? [True, True] Translation: X:522.87, Y:-131.12, Z:-4.01 [[ 8.34281378e-01 5.51321860e-01 4.33454319e-03 5.22866258e+02] [-5.51315612e-01 8.34292616e-01 -2.63192152e-03 -1.31116754e+02] [-5.06731325e-03 -1.93938221e-04 9.99987142e-01 -4.00798630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters 0.053608219083305236 Centerline is valid? [True, True] Translation: X:522.92, Y:-131.14, Z:-4.01 [[ 8.34376376e-01 5.51177985e-01 4.34659280e-03 5.22921290e+02] [-5.51171699e-01 8.34387675e-01 -2.63944140e-03 -1.31143173e+02] [-5.08154545e-03 -1.93431385e-04 9.99987070e-01 -4.00841119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters 0.054776282372400044 Centerline is valid? [True, True] Translation: X:522.98, Y:-131.17, Z:-4.01 [[ 8.34598621e-01 5.50840409e-01 4.47062112e-03 5.22976821e+02] [-5.50833751e-01 8.34610571e-01 -2.71547916e-03 -1.31170178e+02] [-5.22702329e-03 -1.96233839e-04 9.99986320e-01 -4.00895919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters 0.05225106373957497 Centerline is valid? [True, True] Translation: X:523.02, Y:-131.21, Z:-4.01 [[ 8.35281246e-01 5.49802771e-01 4.70665736e-03 5.23024481e+02] [-5.49795372e-01 8.35294483e-01 -2.85934921e-03 -1.31210097e+02] [-5.50352304e-03 -1.99337656e-04 9.99984836e-01 -4.00852532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters 0.05362446392805501 Centerline is valid? [True, True] Translation: X:523.08, Y:-131.23, Z:-4.01 [[ 8.35005577e-01 5.50220426e-01 4.81357662e-03 5.23081655e+02] [-5.50212693e-01 8.35019425e-01 -2.92436402e-03 -1.31232709e+02] [-5.62847480e-03 -2.06630689e-04 9.99984139e-01 -4.00974600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters 0.05422997326759836 Centerline is valid? [True, True] Translation: X:523.14, Y:-131.26, Z:-4.01 [[ 8.34572984e-01 5.50881743e-01 4.15201927e-03 5.23137285e+02] [-5.50875998e-01 8.34583292e-01 -2.52245540e-03 -1.31259887e+02] [-4.85478054e-03 -1.82074625e-04 9.99988199e-01 -4.01093173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters 0.05348785352725012 Centerline is valid? [True, True] Translation: X:523.19, Y:-131.29, Z:-4.01 [[ 8.33264314e-01 5.52865234e-01 3.25839182e-03 5.23188666e+02] [-5.52861708e-01 8.33270671e-01 -1.98012785e-03 -1.31293825e+02] [-3.80986618e-03 -1.51470189e-04 9.99992731e-01 -4.01204169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters 0.05358328883078888 Centerline is valid? [True, True] Translation: X:523.24, Y:-131.32, Z:-4.01 [[ 8.32093332e-01 5.54629608e-01 2.58553226e-03 5.23242310e+02] [-5.54627396e-01 8.32097340e-01 -1.57129614e-03 -1.31322685e+02] [-3.02290188e-03 -1.26541982e-04 9.99995423e-01 -4.01249529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters 0.05303337027135282 Centerline is valid? [True, True] Translation: X:523.30, Y:-131.35, Z:-4.01 [[ 8.30710528e-01 5.56699212e-01 2.45080006e-03 5.23295128e+02] [-5.56697235e-01 8.30714133e-01 -1.48908014e-03 -1.31353601e+02] [-2.86488399e-03 -1.27359066e-04 9.99995888e-01 -4.01213745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters 0.053952138677365556 Centerline is valid? [True, True] Translation: X:523.35, Y:-131.38, Z:-4.01 [[ 8.30280015e-01 5.57340922e-01 2.48866425e-03 5.23350487e+02] [-5.57338886e-01 8.30283734e-01 -1.51226263e-03 -1.31380301e+02] [-2.90914329e-03 -1.31427919e-04 9.99995760e-01 -4.01292425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters 0.05210089371873063 Centerline is valid? [True, True] Translation: X:523.40, Y:-131.42, Z:-4.01 [[ 8.31048769e-01 5.56190174e-01 3.23021717e-03 5.23398144e+02] [-5.56186731e-01 8.31055030e-01 -1.96382540e-03 -1.31419793e+02] [-3.77674862e-03 -1.64569246e-04 9.99992855e-01 -4.01172025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters 0.05578483559961908 Centerline is valid? [True, True] Translation: X:523.46, Y:-131.43, Z:-4.01 [[ 8.32075808e-01 5.54648356e-01 3.87971212e-03 5.23460205e+02] [-5.54643371e-01 8.32084831e-01 -2.35908693e-03 -1.31433526e+02] [-4.53671329e-03 -1.88917443e-04 9.99989691e-01 -4.01343206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters 0.05825101425222423 Centerline is valid? [True, True] Translation: X:523.52, Y:-131.46, Z:-4.01 [[ 8.34043326e-01 5.51685168e-01 3.89938909e-03 5.23517064e+02] [-5.51680100e-01 8.34052424e-01 -2.37105857e-03 -1.31456577e+02] [-4.56037276e-03 -1.73649781e-04 9.99989586e-01 -4.01459168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters 0.05370728193963949 Centerline is valid? [True, True] Translation: X:523.56, Y:-131.50, Z:-4.01 [[ 8.35805392e-01 5.49016208e-01 3.24797962e-03 5.23560739e+02] [-5.49012672e-01 8.35811693e-01 -1.97494277e-03 -1.31503194e+02] [-3.79897493e-03 -1.32514154e-04 9.99992775e-01 -4.01421976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters 0.053808034809189643 Centerline is valid? [True, True] Translation: X:523.61, Y:-131.53, Z:-4.02 [[ 8.39815219e-01 5.42868066e-01 2.15907404e-03 5.23612813e+02] [-5.42866483e-01 8.39817991e-01 -1.31291747e-03 -1.31534024e+02] [-2.52597019e-03 -6.94808563e-05 9.99996807e-01 -4.01565823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters 0.05311729440911864 Centerline is valid? [True, True] Translation: X:523.66, Y:-131.57, Z:-4.02 [[ 8.45812111e-01 5.33472114e-01 3.06225728e-03 5.23660601e+02] [-5.33468867e-01 8.45817652e-01 -1.86208111e-03 -1.31573530e+02] [-3.58347961e-03 -5.86481712e-05 9.99993578e-01 -4.01510278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters 0.05310320742623148 Centerline is valid? [True, True] Translation: X:523.71, Y:-131.61, Z:-4.02 [[ 8.50098969e-01 5.26613700e-01 3.12300638e-03 5.23711381e+02] [-5.26610276e-01 8.50104705e-01 -1.89915087e-03 -1.31606620e+02] [-3.65500129e-03 -3.01410516e-05 9.99993320e-01 -4.01605745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters 0.053404802734288256 Centerline is valid? [True, True] Translation: X:523.76, Y:-131.64, Z:-4.02 [[ 8.56931147e-01 5.15420452e-01 3.28150616e-03 5.23760863e+02] [-5.15416589e-01 8.56937429e-01 -1.99550064e-03 -1.31644460e+02] [-3.84056730e-03 1.86639374e-05 9.99992625e-01 -4.01691548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters 0.05418711029684179 Centerline is valid? [True, True] Translation: X:523.81, Y:-131.68, Z:-4.02 [[ 8.60574748e-01 5.09312916e-01 3.38479370e-03 5.23810665e+02] [-5.09308759e-01 8.60581403e-01 -2.05832125e-03 -1.31679442e+02] [-3.96122011e-03 4.74342073e-05 9.99992153e-01 -4.01814797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters 0.0547208248362402 Centerline is valid? [True, True] Translation: X:523.86, Y:-131.71, Z:-4.02 [[ 8.63699852e-01 5.03997808e-01 2.96234942e-03 5.23861998e+02] [-5.03994590e-01 8.63704930e-01 -1.80204006e-03 -1.31711927e+02] [-3.46682004e-03 6.34136514e-05 9.99993989e-01 -4.01907485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters 0.054602322248410474 Centerline is valid? [True, True] Translation: X:523.92, Y:-131.74, Z:-4.02 [[ 8.64612244e-01 5.02427681e-01 3.47759098e-03 5.23918339e+02] [-5.02423235e-01 8.64619233e-01 -2.11520092e-03 -1.31737813e+02] [-4.06952754e-03 8.16061051e-05 9.99991716e-01 -4.01876978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters 0.054436232445995096 Centerline is valid? [True, True] Translation: X:523.97, Y:-131.77, Z:-4.02 [[ 8.64197644e-01 5.03138889e-01 3.70002867e-03 5.23972063e+02] [-5.03133859e-01 8.64205561e-01 -2.25132188e-03 -1.31766711e+02] [-4.33031294e-03 8.39773579e-05 9.99990621e-01 -4.01895405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters 0.054435348175262674 Centerline is valid? [True, True] Translation: X:524.03, Y:-131.80, Z:-4.02 [[ 8.63039952e-01 5.05122135e-01 3.69743392e-03 5.24026248e+02] [-5.05117128e-01 8.63047869e-01 -2.25016875e-03 -1.31798042e+02] [-4.32767251e-03 7.43483200e-05 9.99990633e-01 -4.02083990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters 0.05471432199846642 Centerline is valid? [True, True] Translation: X:524.08, Y:-131.83, Z:-4.02 [[ 8.61115588e-01 5.08401007e-01 2.89132142e-03 5.24079471e+02] [-5.08397963e-01 8.61120441e-01 -1.75990517e-03 -1.31826263e+02] [-3.38451354e-03 4.55398555e-05 9.99994271e-01 -4.02268975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters 0.05440283770705918 Centerline is valid? [True, True] Translation: X:524.14, Y:-131.86, Z:-4.02 [[ 8.60273631e-01 5.09822467e-01 3.21432651e-03 5.24135123e+02] [-5.09818715e-01 8.60279635e-01 -1.95642046e-03 -1.31855058e+02] [-3.76264674e-03 4.43331205e-05 9.99992920e-01 -4.02225203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters 0.054132739233716996 Centerline is valid? [True, True] Translation: X:524.19, Y:-131.88, Z:-4.02 [[ 8.57460174e-01 5.14536187e-01 3.81602075e-03 5.24189378e+02] [-5.14530943e-01 8.57468665e-01 -2.32305120e-03 -1.31882430e+02] [-4.46741212e-03 2.84631358e-05 9.99990021e-01 -4.02304098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters 0.053733267552144574 Centerline is valid? [True, True] Translation: X:524.25, Y:-131.91, Z:-4.02 [[ 8.55968706e-01 5.17014365e-01 3.70414178e-03 5.24245322e+02] [-5.17009448e-01 8.55976720e-01 -2.25488184e-03 -1.31910642e+02] [-4.33646544e-03 1.50319921e-05 9.99990597e-01 -4.02314860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters 0.05358640817527376 Centerline is valid? [True, True] Translation: X:524.30, Y:-131.94, Z:-4.03 [[ 8.54579310e-01 5.19310092e-01 3.35140904e-03 5.24298549e+02] [-5.19306085e-01 8.54585881e-01 -2.04001039e-03 -1.31940776e+02] [-3.92346484e-03 2.94356424e-06 9.99992303e-01 -4.02526843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters 0.053472398931166856 Centerline is valid? [True, True] Translation: X:524.35, Y:-131.97, Z:-4.03 [[ 8.52637352e-01 5.22490652e-01 3.61456552e-03 5.24354645e+02] [-5.22486016e-01 8.52645013e-01 -2.20098936e-03 -1.31970152e+02] [-4.23193763e-03 -1.19141965e-05 9.99991045e-01 -4.02563493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters 0.05384183620282286 Centerline is valid? [True, True] Translation: X:524.41, Y:-132.00, Z:-4.03 [[ 8.50915886e-01 5.25285043e-01 4.21648791e-03 5.24408372e+02] [-5.25278768e-01 8.50926332e-01 -2.56779852e-03 -1.31999495e+02] [-4.93674675e-03 -2.98510170e-05 9.99987814e-01 -4.02605130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters 0.05312643251182115 Centerline is valid? [True, True] Translation: X:524.46, Y:-132.03, Z:-4.03 [[ 8.50003330e-01 5.26763652e-01 3.79395392e-03 5.24461574e+02] [-5.26758584e-01 8.50011796e-01 -2.31093431e-03 -1.32031259e+02] [-4.44222178e-03 -3.41959365e-05 9.99990133e-01 -4.02642479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters 0.0538237022301208 Centerline is valid? [True, True] Translation: X:524.51, Y:-132.06, Z:-4.03 [[ 8.48611921e-01 5.29002916e-01 3.70432868e-03 5.24514996e+02] [-5.28998103e-01 8.48620005e-01 -2.25718556e-03 -1.32062343e+02] [-4.33762516e-03 -4.41082709e-05 9.99990591e-01 -4.02680883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters 0.054023580354786806 Centerline is valid? [True, True] Translation: X:524.57, Y:-132.10, Z:-4.03 [[ 8.46889290e-01 5.31764174e-01 2.32245984e-03 5.24567503e+02] [-5.31762293e-01 8.46892473e-01 -1.41507458e-03 -1.32095007e+02] [-2.71935972e-03 -3.65850641e-05 9.99996302e-01 -4.02855550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters 0.053990029159052634 Centerline is valid? [True, True] Translation: X:524.62, Y:-132.13, Z:-4.03 [[ 8.45629145e-01 5.33765198e-01 2.46201038e-03 5.24619517e+02] [-5.33763093e-01 8.45632728e-01 -1.50005487e-03 -1.32127059e+02] [-2.88263364e-03 -4.56401614e-05 9.99995844e-01 -4.02915396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters 0.053638405557788676 Centerline is valid? [True, True] Translation: X:524.67, Y:-132.16, Z:-4.03 [[ 8.44381182e-01 5.35736715e-01 2.56754192e-03 5.24671823e+02] [-5.35734432e-01 8.44385084e-01 -1.56478108e-03 -1.32159111e+02] [-3.00630477e-03 -5.42489163e-05 9.99995480e-01 -4.02913733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters 0.053736032455898024 Centerline is valid? [True, True] Translation: X:524.72, Y:-132.19, Z:-4.03 [[ 8.44480667e-01 5.35578803e-01 2.78391004e-03 5.24724128e+02] [-5.35576117e-01 8.44485253e-01 -1.69712722e-03 -1.32193119e+02] [-3.25991634e-03 -5.78046034e-05 9.99994685e-01 -4.02917800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters 0.052898071059089696 Centerline is valid? [True, True] Translation: X:524.77, Y:-132.23, Z:-4.03 [[ 8.45466321e-01 5.34014754e-01 3.86567661e-03 5.24773425e+02] [-5.34009554e-01 8.45475155e-01 -2.35772183e-03 -1.32232753e+02] [-4.52739177e-03 -7.09338417e-05 9.99989749e-01 -4.02818330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters 0.052855256536676026 Centerline is valid? [True, True] Translation: X:524.82, Y:-132.27, Z:-4.03 [[ 8.47692207e-01 5.30477135e-01 3.45417337e-03 5.24823432e+02] [-5.30472953e-01 8.47699243e-01 -2.10706337e-03 -1.32267117e+02] [-4.04584909e-03 -4.62043495e-05 9.99991814e-01 -4.02927386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters 0.0532102054766723 Centerline is valid? [True, True] Translation: X:524.87, Y:-132.30, Z:-4.03 [[ 8.50092395e-01 5.26627029e-01 2.62552708e-03 5.24874126e+02] [-5.26624594e-01 8.50096449e-01 -1.60148780e-03 -1.32303736e+02] [-3.07533801e-03 -2.12545377e-05 9.99995271e-01 -4.03068154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters 0.05375903480936103 Centerline is valid? [True, True] Translation: X:524.92, Y:-132.34, Z:-4.03 [[ 8.53058946e-01 5.21811534e-01 1.77686837e-03 5.24924140e+02] [-5.21810408e-01 8.53060797e-01 -1.08380714e-03 -1.32341403e+02] [-2.08131982e-03 -2.63703157e-06 9.99997834e-01 -4.03048067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters 0.05407773897478929 Centerline is valid? [True, True] Translation: X:524.97, Y:-132.38, Z:-4.03 [[ 8.57723480e-01 5.14107530e-01 1.96969157e-03 5.24972703e+02] [-5.14106126e-01 8.57725741e-01 -1.20147494e-03 -1.32378505e+02] [-2.30714247e-03 1.79027597e-05 9.99997338e-01 -4.02849135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters 0.053761167858717714 Centerline is valid? [True, True] Translation: X:525.02, Y:-132.42, Z:-4.03 [[ 8.61543394e-01 5.07676828e-01 2.68679173e-03 5.25019350e+02] [-5.07674183e-01 8.61547582e-01 -1.63947709e-03 -1.32419865e+02] [-3.14712345e-03 4.84658652e-05 9.99995047e-01 -4.03001082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters 0.05392899636190715 Centerline is valid? [True, True] Translation: X:525.07, Y:-132.45, Z:-4.03 [[ 8.62951644e-01 5.05279698e-01 2.62436616e-03 5.25071393e+02] [-5.05277163e-01 8.62955633e-01 -1.60137549e-03 -1.32454484e+02] [-3.07385408e-03 5.58773203e-05 9.99995274e-01 -4.03014608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters 0.05407617792000934 Centerline is valid? [True, True] Translation: X:525.12, Y:-132.49, Z:-4.03 [[ 8.63219435e-01 5.04823834e-01 2.25912713e-03 5.25121828e+02] [-5.04821955e-01 8.63222390e-01 -1.37820043e-03 -1.32489440e+02] [-2.64587755e-03 4.92324195e-05 9.99996498e-01 -4.03033378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters 0.05415104098640457 Centerline is valid? [True, True] Translation: X:525.18, Y:-132.52, Z:-4.03 [[ 8.62226397e-01 5.06516402e-01 2.60281144e-03 5.25177557e+02] [-5.06513914e-01 8.62230324e-01 -1.58842306e-03 -1.32517098e+02] [-3.04878528e-03 5.12200866e-05 9.99995351e-01 -4.02894375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters 0.05429831347565056 Centerline is valid? [True, True] Translation: X:525.23, Y:-132.55, Z:-4.03 [[ 8.59248986e-01 5.11550352e-01 2.72349484e-03 5.25228917e+02] [-5.11547650e-01 8.59253301e-01 -1.66290342e-03 -1.32549337e+02] [-3.19083076e-03 3.56506857e-05 9.99994909e-01 -4.02883997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters 0.05305350490822533 Centerline is valid? [True, True] Translation: X:525.28, Y:-132.58, Z:-4.03 [[ 8.54116710e-01 5.20071677e-01 3.17758974e-03 5.25282035e+02] [-5.20068057e-01 8.54122620e-01 -1.94045825e-03 -1.32580616e+02] [-3.72322866e-03 4.81489123e-06 9.99993069e-01 -4.03005796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters 0.053292220194405535 Centerline is valid? [True, True] Translation: X:525.34, Y:-132.61, Z:-4.03 [[ 8.49753969e-01 5.27171987e-01 2.80878822e-03 5.25337420e+02] [-5.27169198e-01 8.49758610e-01 -1.71502651e-03 -1.32607710e+02] [-3.29090590e-03 -2.33560463e-05 9.99994585e-01 -4.03218659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters 0.05335571522911098 Centerline is valid? [True, True] Translation: X:525.39, Y:-132.64, Z:-4.03 [[ 8.48308284e-01 5.29496684e-01 2.51318549e-03 5.25390060e+02] [-5.29494461e-01 8.48312006e-01 -1.53476043e-03 -1.32641423e+02] [-2.94461599e-03 -2.87678088e-05 9.99995664e-01 -4.03155575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters 0.053134740605767436 Centerline is valid? [True, True] Translation: X:525.44, Y:-132.67, Z:-4.03 [[ 8.45267967e-01 5.34341166e-01 1.25764104e-03 5.25442596e+02] [-5.34340614e-01 8.45268903e-01 -7.68520733e-04 -1.32670643e+02] [-1.47369713e-03 -2.24027273e-05 9.99998914e-01 -4.03267151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters 0.053243712254452624 Centerline is valid? [True, True] Translation: X:525.50, Y:-132.70, Z:-4.03 [[ 8.40943181e-01 5.41123421e-01 9.93262012e-05 5.25495646e+02] [-5.41123418e-01 8.40943186e-01 -6.05443310e-05 -1.32700797e+02] [-1.16289648e-04 -2.83339129e-06 9.99999993e-01 -4.03305856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters 0.054203420645765 Centerline is valid? [True, True] Translation: X:525.55, Y:-132.73, Z:-4.03 [[ 8.38684723e-01 5.44617227e-01 1.06369166e-04 5.25549267e+02] [-5.44617223e-01 8.38684730e-01 -6.50036669e-05 -1.32727121e+02] [-1.24612312e-04 -3.41289714e-06 9.99999992e-01 -4.03422541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters 0.05278205632613961 Centerline is valid? [True, True] Translation: X:525.60, Y:-132.77, Z:-4.03 [[ 8.37673959e-01 5.46170598e-01 1.22644995e-04 5.25598258e+02] [-5.46170593e-01 8.37673968e-01 -7.46840829e-05 -1.32766044e+02] [-1.43526770e-04 -4.42417829e-06 9.99999990e-01 -4.03221331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters 0.05363082354483462 Centerline is valid? [True, True] Translation: X:525.65, Y:-132.80, Z:-4.03 [[ 8.38456373e-01 5.44968722e-01 4.78460453e-05 5.25649649e+02] [-5.44968721e-01 8.38456375e-01 -2.91739162e-05 -1.32797015e+02] [-5.60156937e-05 -1.61354217e-06 9.99999998e-01 -4.03298313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters 0.053015848014651916 Centerline is valid? [True, True] Translation: X:525.70, Y:-132.83, Z:-4.03 [[ 8.40401904e-01 5.41962950e-01 -8.95424180e-04 5.25699735e+02] [-5.41962674e-01 8.40402380e-01 5.47395577e-04 -1.32833207e+02] [ 1.04918473e-03 2.52541979e-05 9.99999449e-01 -4.03324819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters 0.05299387254472926 Centerline is valid? [True, True] Translation: X:525.75, Y:-132.87, Z:-4.03 [[ 8.42511745e-01 5.38675260e-01 -1.70964470e-03 5.25748407e+02] [-5.38674248e-01 8.42513479e-01 1.04501534e-03 -1.32870696e+02] [ 2.00332262e-03 4.05038770e-05 9.99997993e-01 -4.03322676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters 0.052690132929153054 Centerline is valid? [True, True] Translation: X:525.80, Y:-132.91, Z:-4.03 [[ 8.43231826e-01 5.37546035e-01 -2.08507276e-03 5.25799050e+02] [-5.37544525e-01 8.43234403e-01 1.27486118e-03 -1.32908037e+02] [ 2.44350165e-03 4.58159274e-05 9.99997014e-01 -4.03202315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters 0.05312105334787866 Centerline is valid? [True, True] Translation: X:525.85, Y:-132.94, Z:-4.03 [[ 8.44676934e-01 5.35271132e-01 -2.38574966e-03 5.25848945e+02] [-5.35269147e-01 8.44680302e-01 1.45859772e-03 -1.32943466e+02] [ 2.79594100e-03 4.49743378e-05 9.99996090e-01 -4.03263402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters 0.05325615092789879 Centerline is valid? [True, True] Translation: X:525.90, Y:-132.98, Z:-4.03 [[ 8.46265488e-01 5.32756834e-01 -2.20888009e-03 5.25897797e+02] [-5.32755124e-01 8.46268370e-01 1.35045824e-03 -1.32980376e+02] [ 2.58877121e-03 3.39459840e-05 9.99996649e-01 -4.03342271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters 0.05260189395252772 Centerline is valid? [True, True] Translation: X:525.95, Y:-133.02, Z:-4.03 [[ 8.46099989e-01 5.33023008e-01 -1.13253947e-03 5.25947994e+02] [-5.33022557e-01 8.46100746e-01 6.93508766e-04 -1.33017754e+02] [ 1.32789862e-03 1.68913223e-05 9.99999118e-01 -4.03176004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters 0.05302555846407776 Centerline is valid? [True, True] Translation: X:526.00, Y:-133.05, Z:-4.03 [[ 8.44875454e-01 5.34962940e-01 -3.47432231e-04 5.26001671e+02] [-5.34962897e-01 8.44875525e-01 2.13411977e-04 -1.33047770e+02] [ 4.07704487e-04 5.55681201e-06 9.99999917e-01 -4.03365899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters 0.0521494504459126 Centerline is valid? [True, True] Translation: X:526.05, Y:-133.08, Z:-4.03 [[ 8.41924966e-01 5.39594113e-01 -7.38248745e-04 5.26050765e+02] [-5.39593924e-01 8.41925289e-01 4.52371956e-04 -1.33084751e+02] [ 8.65647533e-04 1.74912934e-05 9.99999625e-01 -4.03148472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters 0.05233210201218843 Centerline is valid? [True, True] Translation: X:526.10, Y:-133.12, Z:-4.03 [[ 8.39534768e-01 5.43305181e-01 -9.24464964e-04 5.26103274e+02] [-5.43304886e-01 8.39535276e-01 5.65958471e-04 -1.33115031e+02] [ 1.08360912e-03 2.71245188e-05 9.99999413e-01 -4.03283574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters 0.053649352589966226 Centerline is valid? [True, True] Translation: X:526.16, Y:-133.14, Z:-4.04 [[ 8.36576042e-01 5.47848897e-01 -1.45309194e-03 5.26159427e+02] [-5.47848177e-01 8.36577303e-01 8.89416936e-04 -1.33137806e+02] [ 1.70288983e-03 5.20088725e-05 9.99998549e-01 -4.03641567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters 0.053006379658328766 Centerline is valid? [True, True] Translation: X:526.21, Y:-133.17, Z:-4.04 [[ 8.35625218e-01 5.49298251e-01 -1.38779029e-03 5.26209795e+02] [-5.49297597e-01 8.35626369e-01 8.49286980e-04 -1.33173527e+02] [ 1.62618601e-03 5.26242533e-05 9.99998676e-01 -4.03531627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters 0.05256386281728306 Centerline is valid? [True, True] Translation: X:526.26, Y:-133.21, Z:-4.04 [[ 8.35142062e-01 5.50032990e-01 -1.20252060e-03 5.26261233e+02] [-5.50032498e-01 8.35142927e-01 7.36776099e-04 -1.33207709e+02] [ 1.40952774e-03 4.61127014e-05 9.99999006e-01 -4.03518739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters 0.05195190954198549 Centerline is valid? [True, True] Translation: X:526.31, Y:-133.25, Z:-4.03 [[ 8.35854619e-01 5.48949933e-01 -1.01363315e-03 5.26309581e+02] [-5.48949583e-01 8.35855233e-01 6.20581795e-04 -1.33245605e+02] [ 1.18791891e-03 3.77173346e-05 9.99999294e-01 -4.03467765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters 0.053195673097156705 Centerline is valid? [True, True] Translation: X:526.37, Y:-133.27, Z:-4.04 [[ 8.35044226e-01 5.50181679e-01 -1.12269793e-03 5.26365277e+02] [-5.50181251e-01 8.35044980e-01 6.87685580e-04 -1.33270880e+02] [ 1.31585527e-03 4.34394768e-05 9.99999133e-01 -4.03689917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters 0.05178845265209952 Centerline is valid? [True, True] Translation: X:526.41, Y:-133.31, Z:-4.03 [[ 8.34481498e-01 5.51033851e-01 -1.52477657e-03 5.26412926e+02] [-5.51033063e-01 8.34482889e-01 9.33662725e-04 -1.33312527e+02] [ 1.78687972e-03 6.10780345e-05 9.99998402e-01 -4.03490742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters 0.051493035889880814 Centerline is valid? [True, True] Translation: X:526.47, Y:-133.34, Z:-4.04 [[ 8.34036374e-01 5.51707873e-01 -1.32276715e-03 5.26465736e+02] [-5.51707280e-01 8.34037421e-01 8.10857256e-04 -1.33344694e+02] [ 1.55059364e-03 5.34958234e-05 9.99998796e-01 -4.03528113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters 0.05292253902839673 Centerline is valid? [True, True] Translation: X:526.52, Y:-133.37, Z:-4.04 [[ 8.34228607e-01 5.51418030e-01 -8.87545232e-04 5.26521356e+02] [-5.51417762e-01 8.34229078e-01 5.44420278e-04 -1.33371347e+02] [ 1.04061920e-03 3.52372357e-05 9.99999458e-01 -4.03698540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters 0.053154292451660465 Centerline is valid? [True, True] Translation: X:526.57, Y:-133.40, Z:-4.04 [[ 8.34930441e-01 5.50355205e-01 -5.53837666e-04 5.26573916e+02] [-5.50355101e-01 8.34930624e-01 3.39397200e-04 -1.33403993e+02] [ 6.49205043e-04 2.14343304e-05 9.99999789e-01 -4.03759973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters 0.05220026919899301 Centerline is valid? [True, True] Translation: X:526.62, Y:-133.44, Z:-4.04 [[ 8.35443310e-01 5.49576633e-01 1.70856774e-05 5.26622970e+02] [-5.49576633e-01 8.35443310e-01 -9.67575740e-06 -1.33441127e+02] [-1.95916853e-05 -1.30634228e-06 1.00000000e+00 -4.03563520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters 0.05229868039279432 Centerline is valid? [True, True] Translation: X:526.68, Y:-133.47, Z:-4.04 [[ 8.36143321e-01 5.48510978e-01 -2.31378350e-04 5.26676602e+02] [-5.48510960e-01 8.36143353e-01 1.42445343e-04 -1.33469973e+02] [ 2.71598303e-04 7.80883877e-06 9.99999963e-01 -4.03672667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters 0.05153139924007245 Centerline is valid? [True, True] Translation: X:526.73, Y:-133.51, Z:-4.04 [[ 8.36201570e-01 5.48421210e-01 -1.05384338e-03 5.26727747e+02] [-5.48420829e-01 8.36202234e-01 6.46966382e-04 -1.33507336e+02] [ 1.23603627e-03 3.69553534e-05 9.99999235e-01 -4.03641645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters 0.05218965480791586 Centerline is valid? [True, True] Translation: X:526.78, Y:-133.54, Z:-4.04 [[ 8.35480688e-01 5.49514850e-01 -2.33433528e-03 5.26781708e+02] [-5.49512993e-01 8.35483945e-01 1.43130506e-03 -1.33535199e+02] [ 2.73682303e-03 8.69198272e-05 9.99996251e-01 -4.03809122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters 0.052309255974434365 Centerline is valid? [True, True] Translation: X:526.83, Y:-133.57, Z:-4.04 [[ 8.34945660e-01 5.50328273e-01 -2.12978692e-03 5.26833011e+02] [-5.50326728e-01 8.34948373e-01 1.30665158e-03 -1.33569690e+02] [ 2.49734943e-03 8.10956025e-05 9.99996878e-01 -4.03752640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters 0.05382868071449961 Centerline is valid? [True, True] Translation: X:526.89, Y:-133.59, Z:-4.04 [[ 8.34234435e-01 5.51407903e-01 -1.49376215e-03 5.26891986e+02] [-5.51407144e-01 8.34235771e-01 9.16910217e-04 -1.33590261e+02] [ 1.75174136e-03 5.87530418e-05 9.99998464e-01 -4.04057456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters 0.0525941679468509 Centerline is valid? [True, True] Translation: X:526.94, Y:-133.63, Z:-4.04 [[ 8.34005559e-01 5.51755991e-01 -2.30654591e-04 5.26942376e+02] [-5.51755973e-01 8.34005591e-01 1.42520941e-04 -1.33627998e+02] [ 2.71004001e-04 8.40179097e-06 9.99999963e-01 -4.03849846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters 0.05358806542720613 Centerline is valid? [True, True] Translation: X:527.00, Y:-133.65, Z:-4.04 [[ 8.34348414e-01 5.51236680e-01 9.20332578e-04 5.26998012e+02] [-5.51236393e-01 8.34348921e-01 -5.63815634e-04 -1.33653634e+02] [-1.07867435e-03 -3.69021308e-05 9.99999418e-01 -4.03928516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters 0.05327931298600059 Centerline is valid? [True, True] Translation: X:527.05, Y:-133.68, Z:-4.04 [[ 8.34919351e-01 5.50369882e-01 1.63392329e-03 5.27050861e+02] [-5.50368973e-01 8.34920948e-01 -1.00237105e-03 -1.33684348e+02] [-1.91587162e-03 -6.23616955e-05 9.99998163e-01 -4.03920835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters 0.05358965690754601 Centerline is valid? [True, True] Translation: X:527.10, Y:-133.71, Z:-4.04 [[ 8.36418560e-01 5.48088209e-01 1.81888043e-03 5.27103932e+02] [-5.48087077e-01 8.36420535e-01 -1.11589665e-03 -1.33714563e+02] [-2.13295874e-03 -6.35481917e-05 9.99997723e-01 -4.04080186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters 0.05313234704829984 Centerline is valid? [True, True] Translation: X:527.15, Y:-133.75, Z:-4.04 [[ 8.39864094e-01 5.42796696e-01 2.24434238e-04 5.27153699e+02] [-5.42796679e-01 8.39864124e-01 -1.37545040e-04 -1.33750847e+02] [-2.63153258e-04 -6.30301862e-06 9.99999965e-01 -4.04240139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters 0.052689722824584444 Centerline is valid? [True, True] Translation: X:527.20, Y:-133.79, Z:-4.04 [[ 8.45098813e-01 5.34610053e-01 -2.96397670e-04 5.27202652e+02] [-5.34610022e-01 8.45098864e-01 1.82147814e-04 -1.33788359e+02] [ 3.47863387e-04 4.52426398e-06 9.99999939e-01 -4.04208299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters 0.05281723727490944 Centerline is valid? [True, True] Translation: X:527.26, Y:-133.82, Z:-4.05 [[ 8.46928247e-01 5.31706773e-01 -6.72386123e-04 5.27256682e+02] [-5.31706613e-01 8.46928514e-01 4.13678370e-04 -1.33818072e+02] [ 7.89418571e-04 7.15625079e-06 9.99999688e-01 -4.04513720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters 0.053401566347353005 Centerline is valid? [True, True] Translation: X:527.31, Y:-133.85, Z:-4.04 [[ 8.52023565e-01 5.23503378e-01 2.39423928e-04 5.27305993e+02] [-5.23503358e-01 8.52023599e-01 -1.46745000e-04 -1.33854986e+02] [-2.80816340e-04 -3.09031798e-07 9.99999961e-01 -4.04137323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters 0.05402996442266012 Centerline is valid? [True, True] Translation: X:527.36, Y:-133.89, Z:-4.04 [[ 8.55322157e-01 5.18094753e-01 1.35469120e-03 5.27358056e+02] [-5.18094087e-01 8.55323230e-01 -8.30738027e-04 -1.33886738e+02] [-1.58909986e-03 8.69114357e-06 9.99998737e-01 -4.04258924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters 0.053787275966329734 Centerline is valid? [True, True] Translation: X:527.41, Y:-133.92, Z:-4.04 [[ 8.56241845e-01 5.16572371e-01 1.69958848e-03 5.27411227e+02] [-5.16571318e-01 8.56243532e-01 -1.04278336e-03 -1.33918131e+02] [-1.99393471e-03 1.49160846e-05 9.99998012e-01 -4.04272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters 0.053587973442152145 Centerline is valid? [True, True] Translation: X:527.47, Y:-133.95, Z:-4.04 [[ 8.56367720e-01 5.16364453e-01 1.44238163e-03 5.27465066e+02] [-5.16363694e-01 8.56368934e-01 -8.84941556e-04 -1.33950318e+02] [-1.69216318e-03 1.30418754e-05 9.99998568e-01 -4.04311407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters 0.05396436792828232 Centerline is valid? [True, True] Translation: X:527.52, Y:-133.98, Z:-4.04 [[ 8.55668301e-01 5.17523053e-01 1.28397338e-03 5.27520560e+02] [-5.17522453e-01 8.55669264e-01 -7.88045202e-04 -1.33976391e+02] [-1.50648812e-03 9.82024346e-06 9.99998865e-01 -4.04109737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters 0.05364784504987692 Centerline is valid? [True, True] Translation: X:527.57, Y:-134.01, Z:-4.04 [[ 8.54450702e-01 5.19529788e-01 1.67219701e-03 5.27574406e+02] [-5.19528773e-01 8.54452339e-01 -1.02728898e-03 -1.34008142e+02] [-1.96251988e-03 9.01332571e-06 9.99998074e-01 -4.04333318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters 0.05338308605791304 Centerline is valid? [True, True] Translation: X:527.63, Y:-134.04, Z:-4.05 [[ 8.51570381e-01 5.24236383e-01 2.02494591e-03 5.27629007e+02] [-5.24234908e-01 8.51572789e-01 -1.24378951e-03 -1.34035370e+02] [-2.37642855e-03 -2.37303120e-06 9.99997176e-01 -4.04599205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters 0.053838563619781794 Centerline is valid? [True, True] Translation: X:527.68, Y:-134.06, Z:-4.05 [[ 8.48216247e-01 5.29647496e-01 1.65199970e-03 5.27684820e+02] [-5.29646524e-01 8.48217855e-01 -1.01476865e-03 -1.34062830e+02] [-1.93872532e-03 -1.42326426e-05 9.99998121e-01 -4.04649632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters 0.05353522472254774 Centerline is valid? [True, True] Translation: X:527.74, Y:-134.09, Z:-4.05 [[ 8.46022356e-01 5.33146333e-01 1.07735260e-03 5.27739485e+02] [-5.33145921e-01 8.46023042e-01 -6.62198367e-04 -1.34093070e+02] [-1.26451375e-03 -1.41515212e-05 9.99999200e-01 -4.04832152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters 0.05349297397861024 Centerline is valid? [True, True] Translation: X:527.79, Y:-134.12, Z:-4.05 [[ 8.42898449e-01 5.38072662e-01 -1.19527659e-04 5.27792647e+02] [-5.38072657e-01 8.42898458e-01 7.35178318e-05 -1.34121550e+02] [ 1.40307615e-04 2.34649866e-06 9.99999990e-01 -4.04940834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters 0.05333518706285036 Centerline is valid? [True, True] Translation: X:527.85, Y:-134.15, Z:-4.05 [[ 8.40703544e-01 5.41495534e-01 3.70795284e-04 5.27845797e+02] [-5.41495487e-01 8.40703626e-01 -2.27249542e-04 -1.34152425e+02] [-4.34783552e-04 -9.73447749e-06 9.99999905e-01 -4.04994851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters 0.05312389940994058 Centerline is valid? [True, True] Translation: X:527.90, Y:-134.18, Z:-4.05 [[ 8.37917688e-01 5.45796248e-01 6.36107665e-04 5.27898198e+02] [-5.45796108e-01 8.37917929e-01 -3.90705852e-04 -1.34183581e+02] [-7.46251805e-04 -1.98057441e-05 9.99999721e-01 -4.04991601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters 0.05283454064045407 Centerline is valid? [True, True] Translation: X:527.95, Y:-134.22, Z:-4.05 [[ 8.36705461e-01 5.47652469e-01 8.63458935e-04 5.27949291e+02] [-5.47652212e-01 8.36705906e-01 -5.30950874e-04 -1.34218508e+02] [-1.01323775e-03 -2.86256997e-05 9.99999486e-01 -4.04995428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters 0.052545094762139734 Centerline is valid? [True, True] Translation: X:528.00, Y:-134.25, Z:-4.05 [[ 8.35819487e-01 5.49002925e-01 1.25466607e-03 5.28001126e+02] [-5.49002385e-01 8.35820427e-01 -7.71116925e-04 -1.34251700e+02] [-1.47202097e-03 -4.43001111e-05 9.99998916e-01 -4.05076545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters 0.05287869730272621 Centerline is valid? [True, True] Translation: X:528.05, Y:-134.28, Z:-4.05 [[ 8.34535344e-01 5.50953848e-01 7.85529671e-04 5.28054935e+02] [-5.50953638e-01 8.34535713e-01 -4.82650389e-04 -1.34280245e+02] [-9.21470654e-04 -3.00016209e-05 9.99999575e-01 -4.05239687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters 0.05321789078537676 Centerline is valid? [True, True] Translation: X:528.11, Y:-134.31, Z:-4.05 [[ 8.33489191e-01 5.52535686e-01 2.92156429e-04 5.28106472e+02] [-5.52535657e-01 8.33489242e-01 -1.79094212e-04 -1.34313334e+02] [-3.42465184e-04 -1.21537544e-05 9.99999941e-01 -4.05298622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters 0.052076255558594985 Centerline is valid? [True, True] Translation: X:528.15, Y:-134.35, Z:-4.05 [[ 8.31720739e-01 5.55193933e-01 5.56002346e-04 5.28154816e+02] [-5.55193829e-01 8.31720924e-01 -3.41487188e-04 -1.34351533e+02] [-6.52030401e-04 -2.46670952e-05 9.99999787e-01 -4.05214928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters 0.05241295296491653 Centerline is valid? [True, True] Translation: X:528.21, Y:-134.38, Z:-4.05 [[ 8.30916566e-01 5.56395819e-01 1.16370411e-03 5.28208675e+02] [-5.56395361e-01 8.30917379e-01 -7.15772157e-04 -1.34380515e+02] [-1.36519461e-03 -5.27326273e-05 9.99999067e-01 -4.05236568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters 0.05213548284785345 Centerline is valid? [True, True] Translation: X:528.26, Y:-134.42, Z:-4.05 [[ 8.30346795e-01 5.57242648e-01 2.19796803e-03 5.28259580e+02] [-5.57241014e-01 8.30349698e-01 -1.35340597e-03 -1.34416417e+02] [-2.57925762e-03 -1.01001628e-04 9.99996669e-01 -4.05264050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters 0.051611311515738695 Centerline is valid? [True, True] Translation: X:528.31, Y:-134.45, Z:-4.05 [[ 8.31144422e-01 5.56051211e-01 2.44947138e-03 5.28311321e+02] [-5.56049175e-01 8.31148025e-01 -1.50852440e-03 -1.34450606e+02] [-2.87469012e-03 -1.08224894e-04 9.99995862e-01 -4.05351362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters 0.051674858162406974 Centerline is valid? [True, True] Translation: X:528.36, Y:-134.48, Z:-4.05 [[ 8.31822579e-01 5.55037847e-01 2.04590988e-03 5.28363471e+02] [-5.55036424e-01 8.31825090e-01 -1.26002112e-03 -1.34483693e+02] [-2.40119858e-03 -8.74404900e-05 9.99997113e-01 -4.05431374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters 0.051949547034946544 Centerline is valid? [True, True] Translation: X:528.41, Y:-134.52, Z:-4.05 [[ 8.32472411e-01 5.54063243e-01 1.89958645e-03 5.28412816e+02] [-5.54062013e-01 8.32474574e-01 -1.16994899e-03 -1.34521182e+02] [-2.22958315e-03 -7.85384338e-05 9.99997511e-01 -4.05368995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters 0.05452511891551316 Centerline is valid? [True, True] Translation: X:528.47, Y:-134.54, Z:-4.06 [[ 8.32993562e-01 5.53279290e-01 1.93705510e-03 5.28473044e+02] [-5.53278011e-01 8.32995811e-01 -1.19262144e-03 -1.34540528e+02] [-2.27341152e-03 -7.82840144e-05 9.99997413e-01 -4.05591993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters 0.052976982265695735 Centerline is valid? [True, True] Translation: X:528.52, Y:-134.58, Z:-4.06 [[ 8.33084107e-01 5.53142344e-01 2.10189031e-03 5.28523431e+02] [-5.53140835e-01 8.33086754e-01 -1.29448893e-03 -1.34576496e+02] [-2.46709361e-03 -8.42232055e-05 9.99996953e-01 -4.05585414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters 0.053266226727087626 Centerline is valid? [True, True] Translation: X:528.57, Y:-134.61, Z:-4.06 [[ 8.32731763e-01 5.53669873e-01 2.73524675e-03 5.28574489e+02] [-5.53667320e-01 8.32736248e-01 -1.68520032e-03 -1.34611632e+02] [-3.21078376e-03 -1.11096900e-04 9.99994839e-01 -4.05588128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters 0.05187573550026744 Centerline is valid? [True, True] Translation: X:528.62, Y:-134.65, Z:-4.06 [[ 8.31637135e-01 5.55311105e-01 3.04173914e-03 5.28624232e+02] [-5.55307956e-01 8.31642687e-01 -1.87461165e-03 -1.34647823e+02] [-3.57063278e-03 -1.30105285e-04 9.99993617e-01 -4.05519910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters 0.05607443937186837 Centerline is valid? [True, True] Translation: X:528.69, Y:-134.66, Z:-4.06 [[ 8.30536108e-01 5.56959176e-01 2.49986539e-03 5.28685878e+02] [-5.56957055e-01 8.30539863e-01 -1.54119761e-03 -1.34663138e+02] [-2.93462201e-03 -1.12297394e-04 9.99995688e-01 -4.05719188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters 0.05236313402104203 Centerline is valid? [True, True] Translation: X:528.73, Y:-134.71, Z:-4.06 [[ 8.29309222e-01 5.58784107e-01 2.55647443e-03 5.28730116e+02] [-5.58781898e-01 8.29313153e-01 -1.57590724e-03 -1.34708014e+02] [-3.00070979e-03 -1.21597231e-04 9.99995490e-01 -4.05604657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters 0.051668948260704804 Centerline is valid? [True, True] Translation: X:528.78, Y:-134.74, Z:-4.06 [[ 8.29431433e-01 5.58601055e-01 2.89115886e-03 5.28780696e+02] [-5.58598228e-01 8.29436461e-01 -1.78255954e-03 -1.34744481e+02] [-3.39377221e-03 -1.36485304e-04 9.99994232e-01 -4.05630984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters 0.05196831048056464 Centerline is valid? [True, True] Translation: X:528.83, Y:-134.78, Z:-4.06 [[ 8.31055481e-01 5.56177778e-01 3.61487163e-03 5.28834209e+02] [-5.56173330e-01 8.31063328e-01 -2.22987124e-03 -1.34775633e+02] [-4.24439208e-03 -1.57348479e-04 9.99990980e-01 -4.05623198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters 0.0526067288491365 Centerline is valid? [True, True] Translation: X:528.89, Y:-134.80, Z:-4.06 [[ 8.31926957e-01 5.54868091e-01 4.35185969e-03 5.28887919e+02] [-5.54861626e-01 8.31938320e-01 -2.68466778e-03 -1.34804766e+02] [-5.11011532e-03 -1.81232447e-04 9.99986927e-01 -4.05562774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters 0.05173737436723798 Centerline is valid? [True, True] Translation: X:528.94, Y:-134.84, Z:-4.06 [[ 8.32316756e-01 5.54284072e-01 4.24080787e-03 5.28939251e+02] [-5.54277925e-01 8.32327542e-01 -2.61612970e-03 -1.34839631e+02] [-4.97982021e-03 -1.73137602e-04 9.99987586e-01 -4.05612099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters 0.05317218513905576 Centerline is valid? [True, True] Translation: X:529.00, Y:-134.86, Z:-4.06 [[ 8.32254653e-01 5.54389647e-01 2.07637221e-03 5.28996035e+02] [-5.54388174e-01 8.32257239e-01 -1.28077906e-03 -1.34864550e+02] [-2.43812645e-03 -8.51818685e-05 9.99997024e-01 -4.05864634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters 0.052692015735553675 Centerline is valid? [True, True] Translation: X:529.05, Y:-134.90, Z:-4.06 [[ 8.32061028e-01 5.54684084e-01 1.12812805e-04 5.29046190e+02] [-5.54684080e-01 8.32061035e-01 -6.86947480e-05 -1.34902049e+02] [-1.31971023e-04 -5.41724448e-06 9.99999991e-01 -4.05866735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters 0.052293315444406886 Centerline is valid? [True, True] Translation: X:529.10, Y:-134.93, Z:-4.06 [[ 8.31965500e-01 5.54827306e-01 -2.60378513e-04 5.29100266e+02] [-5.54827282e-01 8.31965541e-01 1.61757310e-04 -1.34933579e+02] [ 3.06373323e-04 9.88860128e-06 9.99999953e-01 -4.05929993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters 0.05333757518154082 Centerline is valid? [True, True] Translation: X:529.16, Y:-134.96, Z:-4.06 [[ 8.31874599e-01 5.54963624e-01 -1.67228252e-04 5.29155977e+02] [-5.54963614e-01 8.31874616e-01 1.04319702e-04 -1.34961133e+02] [ 1.97006577e-04 6.02468522e-06 9.99999981e-01 -4.06034264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters 0.052384874912254964 Centerline is valid? [True, True] Translation: X:529.21, Y:-135.00, Z:-4.06 [[ 8.31716793e-01 5.55199960e-01 4.24076695e-04 5.29207407e+02] [-5.55199899e-01 8.31716901e-01 -2.60969550e-04 -1.34996872e+02] [-4.97602039e-04 -1.83945807e-05 9.99999876e-01 -4.05910097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters 0.052767736148040145 Centerline is valid? [True, True] Translation: X:529.26, Y:-135.03, Z:-4.06 [[ 8.31918217e-01 5.54895070e-01 1.88181149e-03 5.29258414e+02] [-5.54893859e-01 8.31920342e-01 -1.16209959e-03 -1.35031882e+02] [-2.21036060e-03 -7.74338189e-05 9.99997554e-01 -4.05788443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters 0.05206698982484423 Centerline is valid? [True, True] Translation: X:529.31, Y:-135.06, Z:-4.06 [[ 8.31730568e-01 5.55175275e-01 2.16259342e-03 5.29313036e+02] [-5.55173674e-01 8.31733375e-01 -1.33601731e-03 -1.35059557e+02] [-2.54042490e-03 -8.94085054e-05 9.99996769e-01 -4.05890727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters 0.052252026263161874 Centerline is valid? [True, True] Translation: X:529.36, Y:-135.10, Z:-4.06 [[ 8.31554289e-01 5.55440634e-01 1.77941159e-03 5.29362783e+02] [-5.55439551e-01 8.31556190e-01 -1.09931863e-03 -1.35096506e+02] [-2.09028696e-03 -7.42124590e-05 9.99997813e-01 -4.05850191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters 0.0525639550070327 Centerline is valid? [True, True] Translation: X:529.42, Y:-135.13, Z:-4.06 [[ 8.31400911e-01 5.55671510e-01 1.30317534e-03 5.29416397e+02] [-5.55670929e-01 8.31401931e-01 -8.05046332e-04 -1.35128256e+02] [-1.53080380e-03 -5.48203981e-05 9.99998827e-01 -4.05877677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters 0.05228053937885315 Centerline is valid? [True, True] Translation: X:529.47, Y:-135.16, Z:-4.06 [[ 8.31796310e-01 5.55080970e-01 1.26300059e-04 5.29469569e+02] [-5.55080965e-01 8.31796319e-01 -7.71584063e-05 -1.35159894e+02] [-1.47885087e-04 -5.92668087e-06 9.99999989e-01 -4.05869162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters 0.05262985839339693 Centerline is valid? [True, True] Translation: X:529.52, Y:-135.19, Z:-4.06 [[ 8.32714788e-01 5.53702159e-01 2.57827185e-05 5.29522860e+02] [-5.53702159e-01 8.32714788e-01 -1.57273858e-05 -1.35189192e+02] [-3.01779387e-05 -1.17952020e-06 1.00000000e+00 -4.05984317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters 0.05287809664080305 Centerline is valid? [True, True] Translation: X:529.57, Y:-135.22, Z:-4.06 [[ 8.35337252e-01 5.49735771e-01 1.50261302e-03 5.29573701e+02] [-5.49734988e-01 8.35338602e-01 -9.29071405e-04 -1.35222832e+02] [-1.76593444e-03 -4.99509967e-05 9.99998439e-01 -4.05946305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters 0.053264805394629376 Centerline is valid? [True, True] Translation: X:529.63, Y:-135.25, Z:-4.06 [[ 8.38975778e-01 5.44161180e-01 2.87319626e-03 5.29626792e+02] [-5.44158280e-01 8.38980694e-01 -1.77791349e-03 -1.35252033e+02] [-3.37802769e-03 -7.18471862e-05 9.99994292e-01 -4.06005348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters 0.05413127521798231 Centerline is valid? [True, True] Translation: X:529.68, Y:-135.28, Z:-4.06 [[ 8.41126437e-01 5.40832254e-01 2.60580036e-03 5.29679971e+02] [-5.40829853e-01 8.41130471e-01 -1.61255714e-03 -1.35281688e+02] [-3.06394100e-03 -5.29301848e-05 9.99995305e-01 -4.06165883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters 0.053472317584183755 Centerline is valid? [True, True] Translation: X:529.73, Y:-135.32, Z:-4.06 [[ 8.43480447e-01 5.37155274e-01 2.22420597e-03 5.29730088e+02] [-5.37153512e-01 8.43483379e-01 -1.37637971e-03 -1.35317537e+02] [-2.61541038e-03 -3.37906712e-05 9.99996579e-01 -4.06186504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters 0.05350080718958326 Centerline is valid? [True, True] Translation: X:529.78, Y:-135.35, Z:-4.06 [[ 8.45003045e-01 5.34756601e-01 2.28717719e-03 5.29781233e+02] [-5.34754729e-01 8.45006140e-01 -1.41532433e-03 -1.35352468e+02] [-2.68953279e-03 -2.71254477e-05 9.99996383e-01 -4.06136601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters 0.05357000410888345 Centerline is valid? [True, True] Translation: X:529.83, Y:-135.39, Z:-4.06 [[ 8.45818649e-01 5.33464067e-01 2.62735209e-03 5.29833903e+02] [-5.33461591e-01 8.45822729e-01 -1.62564978e-03 -1.35385241e+02] [-3.08949986e-03 -2.65865272e-05 9.99995227e-01 -4.06111568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters 0.05412120838077727 Centerline is valid? [True, True] Translation: X:529.89, Y:-135.42, Z:-4.06 [[ 8.46550072e-01 5.32297698e-01 3.48378565e-03 5.29886044e+02] [-5.32293330e-01 8.46557240e-01 -2.15650054e-03 -1.35416350e+02] [-4.09712424e-03 -2.88101793e-05 9.99991606e-01 -4.06209309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters 0.05373451089384256 Centerline is valid? [True, True] Translation: X:529.94, Y:-135.45, Z:-4.06 [[ 8.46777989e-01 5.31930929e-01 4.06504978e-03 5.29939102e+02] [-5.31924975e-01 8.46787745e-01 -2.51705361e-03 -1.35448491e+02] [-4.78113300e-03 -3.09159093e-05 9.99988570e-01 -4.06308134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters 0.05323756144800425 Centerline is valid? [True, True] Translation: X:529.99, Y:-135.48, Z:-4.06 [[ 8.45634925e-01 5.33740523e-01 4.75691331e-03 5.29991623e+02] [-5.33732392e-01 8.45648303e-01 -2.94641054e-03 -1.35479184e+02] [-5.59529437e-03 -4.73310627e-05 9.99984345e-01 -4.06321967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters 0.053592141698593755 Centerline is valid? [True, True] Translation: X:530.05, Y:-135.51, Z:-4.06 [[ 8.44022088e-01 5.36283051e-01 5.21581667e-03 5.30045816e+02] [-5.36273319e-01 8.44038201e-01 -3.23158882e-03 -1.35507523e+02] [-6.13539484e-03 -6.95709734e-05 9.99981176e-01 -4.06432776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters 0.05296106789227573 Centerline is valid? [True, True] Translation: X:530.10, Y:-135.54, Z:-4.07 [[ 8.40577503e-01 5.41661444e-01 5.68690134e-03 5.30097612e+02] [-5.41649993e-01 8.40596732e-01 -3.52399031e-03 -1.35540811e+02] [-6.68920037e-03 -1.18123098e-04 9.99977620e-01 -4.06575433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters 0.052515146617622376 Centerline is valid? [True, True] Translation: X:530.15, Y:-135.57, Z:-4.07 [[ 8.38457789e-01 5.44942065e-01 5.16543365e-03 5.30148064e+02] [-5.44932679e-01 8.38473690e-01 -3.20102181e-03 -1.35573760e+02] [-6.07545165e-03 -1.30891923e-04 9.99981536e-01 -4.06657780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters 0.054419858173974454 Centerline is valid? [True, True] Translation: X:530.21, Y:-135.59, Z:-4.07 [[ 8.35137835e-01 5.50014222e-01 5.39922722e-03 5.30208092e+02] [-5.50004073e-01 8.35155270e-01 -3.34595130e-03 -1.35592027e+02] [-6.34951387e-03 -1.75266434e-04 9.99979826e-01 -4.06742029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters 0.052771873774978 Centerline is valid? [True, True] Translation: X:530.25, Y:-135.63, Z:-4.07 [[ 8.30768008e-01 5.56614053e-01 2.30486913e-03 5.30254614e+02] [-5.56612229e-01 8.30771200e-01 -1.42831117e-03 -1.35633460e+02] [-2.70983696e-03 -9.63231170e-05 9.99996324e-01 -4.06883583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters 0.05274259482632957 Centerline is valid? [True, True] Translation: X:530.31, Y:-135.67, Z:-4.07 [[ 8.27791806e-01 5.61035400e-01 -6.91576527e-05 5.30306283e+02] [-5.61035399e-01 8.27791809e-01 4.35060712e-05 -1.35665633e+02] [ 8.16565843e-05 2.78592198e-06 9.99999997e-01 -4.07020638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters 0.051114855516482295 Centerline is valid? [True, True] Translation: X:530.36, Y:-135.70, Z:-4.07 [[ 8.23735196e-01 5.66974674e-01 2.13260222e-04 5.30355257e+02] [-5.66974659e-01 8.23735224e-01 -1.32007816e-04 -1.35703955e+02] [-2.50515045e-04 -1.21736571e-05 9.99999969e-01 -4.06864149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters 0.0528636886838821 Centerline is valid? [True, True] Translation: X:530.41, Y:-135.73, Z:-4.07 [[ 8.21814794e-01 5.69754002e-01 9.06124490e-04 5.30411841e+02] [-5.69753728e-01 8.21815292e-01 -5.61447130e-04 -1.35726369e+02] [-1.06455371e-03 -5.48622490e-05 9.99999432e-01 -4.06978766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters 0.05164486382688244 Centerline is valid? [True, True] Translation: X:530.46, Y:-135.77, Z:-4.07 [[ 8.19823273e-01 5.72613641e-01 1.84891691e-03 5.30458727e+02] [-5.72612507e-01 8.19825350e-01 -1.14605980e-03 -1.35767813e+02] [-2.17203843e-03 -1.19146452e-04 9.99997634e-01 -4.06779754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters 0.05213171335396373 Centerline is valid? [True, True] Translation: X:530.52, Y:-135.79, Z:-4.07 [[ 8.20142545e-01 5.72146393e-01 3.83548911e-03 5.30516146e+02] [-5.72141504e-01 8.20151477e-01 -2.37773613e-03 -1.35789851e+02] [-4.50609520e-03 -2.44359946e-04 9.99989818e-01 -4.06786480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters 0.05471666357853924 Centerline is valid? [True, True] Translation: X:530.57, Y:-135.81, Z:-4.07 [[ 8.22297426e-01 5.69034006e-01 5.21943997e-03 5.30572205e+02] [-5.69024888e-01 8.22313933e-01 -3.23603150e-03 -1.35813481e+02] [-6.13343018e-03 -3.09010876e-04 9.99981143e-01 -4.06757542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters 0.05289928158466311 Centerline is valid? [True, True] Translation: X:530.62, Y:-135.85, Z:-4.07 [[ 8.27610133e-01 5.61265230e-01 6.54287026e-03 5.30619341e+02] [-5.61250657e-01 8.27635936e-01 -4.05677037e-03 -1.35853494e+02] [-7.69203870e-03 -3.14765964e-04 9.99970366e-01 -4.06750952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters 0.05298154899274784 Centerline is valid? [True, True] Translation: X:530.67, Y:-135.89, Z:-4.07 [[ 8.34095511e-01 5.51586634e-01 6.07162293e-03 5.30670223e+02] [-5.51573825e-01 8.34117583e-01 -3.76479232e-03 -1.35887472e+02] [-7.14105657e-03 -2.08751913e-04 9.99974481e-01 -4.07030341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters 0.052848566551692094 Centerline is valid? [True, True] Translation: X:530.72, Y:-135.93, Z:-4.07 [[ 8.41126005e-01 5.40825857e-01 3.79954310e-03 5.30718704e+02] [-5.40820730e-01 8.41134583e-01 -2.35596542e-03 -1.35925796e+02] [-4.47009412e-03 -7.32078926e-05 9.99990006e-01 -4.07368412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters 0.05257151399379398 Centerline is valid? [True, True] Translation: X:530.77, Y:-135.96, Z:-4.07 [[ 8.48111080e-01 5.29805742e-01 3.67044951e-03 5.30765332e+02] [-5.29800853e-01 8.48119022e-01 -2.27611709e-03 -1.35964061e+02] [-4.31887795e-03 -1.42071589e-05 9.99990674e-01 -4.07439872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters 0.05238204570948648 Centerline is valid? [True, True] Translation: X:530.82, Y:-136.00, Z:-4.08 [[ 8.51085270e-01 5.25017107e-01 3.30165267e-03 5.30815842e+02] [-5.25013116e-01 8.51091674e-01 -2.04723484e-03 -1.36002235e+02] [-3.88484241e-03 8.96045881e-06 9.99992454e-01 -4.07951645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters 0.05238204570948648 Centerline is valid? [True, True] Translation: X:530.87, Y:-136.04, Z:-4.08 [[ 8.51016663e-01 5.25128306e-01 3.30167192e-03 5.30868952e+02] [-5.25124316e-01 8.51023068e-01 -2.04720385e-03 -1.36035128e+02] [-3.88484366e-03 8.41638088e-06 9.99992454e-01 -4.07997695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters 0.05251270849272372 Centerline is valid? [True, True] Translation: X:530.92, Y:-136.07, Z:-4.08 [[ 8.49870522e-01 5.26982367e-01 3.11140890e-03 5.30922235e+02] [-5.26978834e-01 8.49876217e-01 -1.92972711e-03 -1.36067881e+02] [-3.66124458e-03 3.71549147e-07 9.99993298e-01 -4.08043104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters 0.05251270849272372 Centerline is valid? [True, True] Translation: X:530.98, Y:-136.10, Z:-4.08 [[ 8.49801114e-01 5.27094287e-01 3.11115716e-03 5.30975335e+02] [-5.27090753e-01 8.49806809e-01 -1.93013282e-03 -1.36100789e+02] [-3.66124452e-03 3.66852624e-07 9.99993298e-01 -4.08089173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters 0.052299470573049456 Centerline is valid? [True, True] Translation: X:531.03, Y:-136.13, Z:-4.08 [[ 8.48785424e-01 5.28730631e-01 2.68769759e-03 5.31028516e+02] [-5.28728000e-01 8.48789679e-01 -1.66800443e-03 -1.36133333e+02] [-3.16321501e-03 -5.28312285e-06 9.99994997e-01 -4.08208211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters 0.052299470573049456 Centerline is valid? [True, True] Translation: X:531.08, Y:-136.17, Z:-4.08 [[ 8.48719577e-01 5.28836322e-01 2.68765601e-03 5.31081600e+02] [-5.28833691e-01 8.48723833e-01 -1.66807145e-03 -1.36166273e+02] [-3.16321448e-03 -5.59815495e-06 9.99994997e-01 -4.08254269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters 0.052299470573049456 Centerline is valid? [True, True] Translation: X:531.13, Y:-136.20, Z:-4.08 [[ 8.48653717e-01 5.28942006e-01 2.68744823e-03 5.31134680e+02] [-5.28939375e-01 8.48657972e-01 -1.66840609e-03 -1.36199220e+02] [-3.16321443e-03 -5.59815478e-06 9.99994997e-01 -4.08300338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters 0.05232534583463832 Centerline is valid? [True, True] Translation: X:531.19, Y:-136.23, Z:-4.08 [[ 8.47814395e-01 5.30286658e-01 2.60975883e-03 5.31188417e+02] [-5.30284182e-01 8.47818412e-01 -1.62059484e-03 -1.36231941e+02] [-3.07198141e-03 -9.95019536e-06 9.99995281e-01 -4.08384517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters 0.05238709463838354 Centerline is valid? [True, True] Translation: X:531.24, Y:-136.26, Z:-4.08 [[ 8.46436434e-01 5.32480334e-01 3.17131804e-03 5.31241236e+02] [-5.32476690e-01 8.46442374e-01 -1.97012628e-03 -1.36264603e+02] [-3.73339147e-03 -2.10662685e-05 9.99993031e-01 -4.08381305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters 0.0524058407431977 Centerline is valid? [True, True] Translation: X:531.29, Y:-136.30, Z:-4.08 [[ 8.45916257e-01 5.33300081e-01 4.08775572e-03 5.31292904e+02] [-5.33294031e-01 8.45926133e-01 -2.54036725e-03 -1.36298551e+02] [-4.81271745e-03 -3.10377688e-05 9.99988418e-01 -4.08410292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters 0.051678984184515366 Centerline is valid? [True, True] Translation: X:531.35, Y:-136.33, Z:-4.08 [[ 8.45270636e-01 5.34322061e-01 4.18171767e-03 5.31345336e+02] [-5.34315738e-01 8.45280979e-01 -2.59952780e-03 -1.36332664e+02] [-4.92371146e-03 -3.70530404e-05 9.99987878e-01 -4.08387294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters 0.051478902234525066 Centerline is valid? [True, True] Translation: X:531.40, Y:-136.36, Z:-4.08 [[ 8.43905124e-01 5.36477318e-01 4.02858607e-03 5.31398226e+02] [-5.36471472e-01 8.43914738e-01 -2.50494566e-03 -1.36364588e+02] [-4.74362969e-03 -4.72850230e-05 9.99988748e-01 -4.08475699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters 0.05176112185178597 Centerline is valid? [True, True] Translation: X:531.45, Y:-136.40, Z:-4.09 [[ 8.41248007e-01 5.40639903e-01 3.20712439e-03 5.31450578e+02] [-5.40636226e-01 8.41254119e-01 -1.99456389e-03 -1.36395907e+02] [-3.77634743e-03 -5.59647308e-05 9.99992868e-01 -4.08683512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters 0.051747984784334046 Centerline is valid? [True, True] Translation: X:531.50, Y:-136.43, Z:-4.09 [[ 8.39513396e-01 5.43337033e-01 1.45821161e-03 5.31502230e+02] [-5.43336277e-01 8.39514662e-01 -9.06612297e-04 -1.36428344e+02] [-1.71678607e-03 -3.11861015e-05 9.99998526e-01 -4.08804892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters 0.05188169772177448 Centerline is valid? [True, True] Translation: X:531.55, Y:-136.47, Z:-4.09 [[ 8.39391635e-01 5.43526287e-01 9.26368463e-04 5.31553032e+02] [-5.43525983e-01 8.39392146e-01 -5.75650588e-04 -1.36465003e+02] [-1.09046764e-03 -2.03090414e-05 9.99999405e-01 -4.08782135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters 0.051856738991630784 Centerline is valid? [True, True] Translation: X:531.60, Y:-136.50, Z:-4.09 [[ 8.39865884e-01 5.42791800e-01 1.53578724e-03 5.31604491e+02] [-5.42790960e-01 8.39867288e-01 -9.55711446e-04 -1.36500996e+02] [-1.80860980e-03 -3.09419922e-05 9.99998364e-01 -4.08846162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters 0.05148063329343432 Centerline is valid? [True, True] Translation: X:531.66, Y:-136.53, Z:-4.09 [[ 8.40118819e-01 5.42397724e-01 2.25368971e-03 5.31655829e+02] [-5.42395913e-01 8.40121840e-01 -1.40239107e-03 -1.36534907e+02] [-2.65402767e-03 -4.42169567e-05 9.99996477e-01 -4.08880725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters 0.05155511071086033 Centerline is valid? [True, True] Translation: X:531.71, Y:-136.57, Z:-4.09 [[ 8.40272987e-01 5.42156842e-01 2.69550529e-03 5.31705122e+02] [-5.42154248e-01 8.40277309e-01 -1.67784281e-03 -1.36573060e+02] [-3.17462589e-03 -5.15336551e-05 9.99994960e-01 -4.08818830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters 0.05136421905978229 Centerline is valid? [True, True] Translation: X:531.76, Y:-136.61, Z:-4.09 [[ 8.40111873e-01 5.42408440e-01 2.26389543e-03 5.31756982e+02] [-5.42406611e-01 8.40114922e-01 -1.40943190e-03 -1.36606184e+02] [-2.66642009e-03 -4.38713695e-05 9.99996444e-01 -4.08955454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters 0.050812642697532266 Centerline is valid? [True, True] Translation: X:531.81, Y:-136.64, Z:-4.09 [[ 8.39072917e-01 5.44013568e-01 2.42440401e-03 5.31806943e+02] [-5.44011475e-01 8.39076418e-01 -1.50973033e-03 -1.36644174e+02] [-2.85557402e-03 -5.21297695e-05 9.99995921e-01 -4.08977656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters 0.05183135779554984 Centerline is valid? [True, True] Translation: X:531.86, Y:-136.68, Z:-4.09 [[ 8.37366265e-01 5.46635240e-01 2.76629596e-03 5.31858201e+02] [-5.46632527e-01 8.37370832e-01 -1.72350492e-03 -1.36675937e+02] [-3.25854408e-03 -6.89424745e-05 9.99994689e-01 -4.09056100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters 0.051236069849292756 Centerline is valid? [True, True] Translation: X:531.91, Y:-136.71, Z:-4.09 [[ 8.36183989e-01 5.48441477e-01 2.87787861e-03 5.31907817e+02] [-5.48438551e-01 8.36188938e-01 -1.79333856e-03 -1.36714061e+02] [-3.38999151e-03 -7.87785862e-05 9.99994251e-01 -4.09012049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters 0.05093466299077815 Centerline is valid? [True, True] Translation: X:531.96, Y:-136.75, Z:-4.09 [[ 8.34634334e-01 5.50797959e-01 2.67137854e-03 5.31959461e+02] [-5.50795450e-01 8.34638605e-01 -1.66442987e-03 -1.36746351e+02] [-3.14640023e-03 -8.21928320e-05 9.99995047e-01 -4.09095403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters 0.050375784124329685 Centerline is valid? [True, True] Translation: X:532.01, Y:-136.78, Z:-4.09 [[ 8.33975281e-01 5.51796001e-01 2.53068754e-03 5.32011333e+02] [-5.51793754e-01 8.33979116e-01 -1.57701675e-03 -1.36780258e+02] [-2.98073209e-03 -8.12245876e-05 9.99995554e-01 -4.09141713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters 0.051569473426741466 Centerline is valid? [True, True] Translation: X:532.07, Y:-136.81, Z:-4.09 [[ 8.33734705e-01 5.52163062e-01 1.54717189e-03 5.32065435e+02] [-5.52162223e-01 8.33736140e-01 -9.64055405e-04 -1.36809348e+02] [-1.82224891e-03 -5.05234235e-05 9.99998338e-01 -4.09283426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters 0.05132542407732667 Centerline is valid? [True, True] Translation: X:532.12, Y:-136.85, Z:-4.09 [[ 8.33853022e-01 5.51983829e-01 1.72923577e-03 5.32115748e+02] [-5.51982779e-01 8.33854813e-01 -1.07780417e-03 -1.36845849e+02] [-2.03686204e-03 -5.57780989e-05 9.99997924e-01 -4.09205306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters 0.05050049536597558 Centerline is valid? [True, True] Translation: X:532.17, Y:-136.88, Z:-4.09 [[ 8.33744636e-01 5.52147127e-01 1.85261638e-03 5.32168106e+02] [-5.52145923e-01 8.33746692e-01 -1.15493389e-03 -1.36881718e+02] [-2.18230621e-03 -5.99946399e-05 9.99997617e-01 -4.09176600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters 0.05041535998790882 Centerline is valid? [True, True] Translation: X:532.22, Y:-136.92, Z:-4.09 [[ 8.33065590e-01 5.53173412e-01 9.48284842e-04 5.32220956e+02] [-5.53173097e-01 8.33066129e-01 -5.91485165e-04 -1.36915026e+02] [-1.11717785e-03 -3.18197248e-05 9.99999375e-01 -4.09218615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters 0.051272114221195625 Centerline is valid? [True, True] Translation: X:532.28, Y:-136.94, Z:-4.09 [[ 8.33145550e-01 5.53053786e-01 4.34949698e-05 5.32276647e+02] [-5.53053786e-01 8.33145551e-01 -2.61300619e-05 -1.36942975e+02] [-5.06889704e-05 -2.28491289e-06 9.99999999e-01 -4.09445383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters 0.05070899680829575 Centerline is valid? [True, True] Translation: X:532.33, Y:-136.98, Z:-4.09 [[ 8.32880080e-01 5.53453495e-01 3.18340779e-05 5.32328262e+02] [-5.53453495e-01 8.32880081e-01 -1.89356575e-05 -1.36978477e+02] [-3.69939753e-05 -1.84754971e-06 9.99999999e-01 -4.09367905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters 0.05153849320759161 Centerline is valid? [True, True] Translation: X:532.38, Y:-137.00, Z:-4.10 [[ 8.32442030e-01 5.54112096e-01 2.30032740e-04 5.32384592e+02] [-5.54112077e-01 8.32442061e-01 -1.42785158e-04 -1.37003698e+02] [-2.70607912e-04 -8.60355255e-06 9.99999963e-01 -4.09500673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters 0.051308191433182736 Centerline is valid? [True, True] Translation: X:532.43, Y:-137.04, Z:-4.09 [[ 8.32639364e-01 5.53815491e-01 3.00770444e-04 5.32434974e+02] [-5.53815460e-01 8.32639419e-01 -1.86958423e-04 -1.37040918e+02] [-3.53973799e-04 -1.09023791e-05 9.99999937e-01 -4.09428154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters 0.05112345681622015 Centerline is valid? [True, True] Translation: X:532.49, Y:-137.08, Z:-4.09 [[ 8.32907937e-01 5.53410179e-01 1.24142005e-03 5.32486962e+02] [-5.53409639e-01 8.32908862e-01 -7.74675226e-04 -1.37075042e+02] [-1.46270292e-03 -4.17806784e-05 9.99998929e-01 -4.09404454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters 0.050913470425488494 Centerline is valid? [True, True] Translation: X:532.54, Y:-137.11, Z:-4.09 [[ 8.32751663e-01 5.53645286e-01 1.25132593e-03 5.32540784e+02] [-5.53644736e-01 8.32752602e-01 -7.80942262e-04 -1.37107150e+02] [-1.47440993e-03 -4.24590474e-05 9.99998912e-01 -4.09423719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters 0.050725068487504126 Centerline is valid? [True, True] Translation: X:532.59, Y:-137.14, Z:-4.09 [[ 8.31810004e-01 5.55059776e-01 8.73194303e-04 5.32593918e+02] [-5.55059509e-01 8.31810462e-01 -5.45326876e-04 -1.37138266e+02] [-1.02902117e-03 -3.10664506e-05 9.99999470e-01 -4.09457120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters 0.0508411984952756 Centerline is valid? [True, True] Translation: X:532.65, Y:-137.17, Z:-4.10 [[ 8.31109549e-01 5.56108156e-01 7.98299002e-04 5.32647326e+02] [-5.56107933e-01 8.31109931e-01 -4.98541960e-04 -1.37167481e+02] [-9.40717479e-04 -2.95974245e-05 9.99999557e-01 -4.09553568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters 0.05080698922425223 Centerline is valid? [True, True] Translation: X:532.70, Y:-137.20, Z:-4.10 [[ 8.30023342e-01 5.57728445e-01 4.83173614e-04 5.32700167e+02] [-5.57728364e-01 8.30023482e-01 -3.01814556e-04 -1.37198338e+02] [-5.69376009e-04 -1.89665033e-05 9.99999838e-01 -4.09595235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters 0.052019705910932516 Centerline is valid? [True, True] Translation: X:532.75, Y:-137.22, Z:-4.10 [[ 8.29193393e-01 5.58961745e-01 -2.90518631e-04 5.32754895e+02] [-5.58961716e-01 8.29193444e-01 1.81738819e-04 -1.37224530e+02] [ 3.42481192e-04 1.16921644e-05 9.99999941e-01 -4.09841316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters 0.05086179585108424 Centerline is valid? [True, True] Translation: X:532.80, Y:-137.26, Z:-4.10 [[ 8.28854702e-01 5.59462955e-01 -1.04125523e-03 5.32804458e+02] [-5.59462577e-01 8.28855355e-01 6.52035802e-04 -1.37263269e+02] [ 1.22783985e-03 4.21003918e-05 9.99999245e-01 -4.09753911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters 0.05198722630486566 Centerline is valid? [True, True] Translation: X:532.86, Y:-137.29, Z:-4.10 [[ 8.28933210e-01 5.59346336e-01 -1.18729469e-03 5.32860889e+02] [-5.59345844e-01 8.28934059e-01 7.43440321e-04 -1.37288932e+02] [ 1.40002963e-03 4.78459812e-05 9.99999019e-01 -4.09964425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters 0.0508010105145799 Centerline is valid? [True, True] Translation: X:532.91, Y:-137.33, Z:-4.10 [[ 8.30014574e-01 5.57741696e-01 8.79867345e-05 5.32910368e+02] [-5.57741693e-01 8.30014579e-01 -5.48767837e-05 -1.37326163e+02] [-1.03637343e-04 -3.52534002e-06 9.99999995e-01 -4.09769614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters 0.051905612439071186 Centerline is valid? [True, True] Translation: X:532.96, Y:-137.36, Z:-4.10 [[ 8.32318070e-01 5.54295895e-01 1.64076509e-03 5.32963748e+02] [-5.54294948e-01 8.32319685e-01 -1.02577194e-03 -1.37355395e+02] [-1.93422225e-03 -5.56992820e-05 9.99998128e-01 -4.09798915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters 0.05135828964012181 Centerline is valid? [True, True] Translation: X:533.01, Y:-137.39, Z:-4.10 [[ 8.33602164e-01 5.52363224e-01 1.51697283e-03 5.33014044e+02] [-5.52362411e-01 8.33603543e-01 -9.48868876e-04 -1.37390158e+02] [-1.78867420e-03 -4.69396211e-05 9.99998399e-01 -4.09777071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters 0.05193501128089943 Centerline is valid? [True, True] Translation: X:533.07, Y:-137.42, Z:-4.10 [[ 8.36002942e-01 5.48723905e-01 1.07544012e-03 5.33065974e+02] [-5.48723494e-01 8.36003633e-01 -6.72682798e-04 -1.37421269e+02] [-1.26818898e-03 -2.77544606e-05 9.99999195e-01 -4.09966215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters 0.0511864098764634 Centerline is valid? [True, True] Translation: X:533.11, Y:-137.46, Z:-4.10 [[ 8.37265401e-01 5.46796678e-01 2.04919056e-04 5.33114147e+02] [-5.46796663e-01 8.37265426e-01 -1.27998085e-04 -1.37460730e+02] [-2.41560568e-04 -4.88068806e-06 9.99999971e-01 -4.09850398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters 0.05147003220602746 Centerline is valid? [True, True] Translation: X:533.17, Y:-137.49, Z:-4.10 [[ 8.39084916e-01 5.44000191e-01 -5.44171737e-04 5.33166598e+02] [-5.44000084e-01 8.39085092e-01 3.40812830e-04 -1.37493472e+02] [ 6.42008637e-04 1.00585657e-05 9.99999794e-01 -4.09854915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters 0.05205741424945928 Centerline is valid? [True, True] Translation: X:533.22, Y:-137.53, Z:-4.10 [[ 8.40796279e-01 5.41349237e-01 -1.61863681e-03 5.33219899e+02] [-5.41348288e-01 8.40797837e-01 1.01401689e-03 -1.37526051e+02] [ 1.90988360e-03 2.36646404e-05 9.99998176e-01 -4.09903120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters 0.051959278247895764 Centerline is valid? [True, True] Translation: X:533.27, Y:-137.56, Z:-4.10 [[ 8.42312962e-01 5.38984473e-01 -2.14737439e-03 5.33272447e+02] [-5.38982795e-01 8.42315699e-01 1.34528067e-03 -1.37558984e+02] [ 2.53385256e-03 2.42505037e-05 9.99996789e-01 -4.09883931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters 0.05225267264594531 Centerline is valid? [True, True] Translation: X:533.33, Y:-137.59, Z:-4.10 [[ 8.43711633e-01 5.36792593e-01 -2.09561839e-03 5.33326365e+02] [-5.36790989e-01 8.43714236e-01 1.31236385e-03 -1.37591088e+02] [ 2.47257026e-03 1.76524243e-05 9.99996943e-01 -4.09799481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters 0.052732819592899174 Centerline is valid? [True, True] Translation: X:533.38, Y:-137.62, Z:-4.09 [[ 8.44760371e-01 5.35142271e-01 -1.63254760e-03 5.33377683e+02] [-5.35141292e-01 8.44761949e-01 1.02326681e-03 -1.37623691e+02] [ 1.92670742e-03 9.22838651e-06 9.99998144e-01 -4.09421016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters 0.052359912544037074 Centerline is valid? [True, True] Translation: X:533.43, Y:-137.65, Z:-4.10 [[ 8.46130992e-01 5.32974375e-01 -8.12263113e-04 5.33431825e+02] [-5.32974131e-01 8.46131382e-01 5.09765170e-04 -1.37652082e+02] [ 9.58973083e-04 1.58711799e-06 9.99999540e-01 -4.09877422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters 0.05259385867413059 Centerline is valid? [True, True] Translation: X:533.49, Y:-137.68, Z:-4.10 [[ 8.46417502e-01 5.32519851e-01 -1.45729726e-04 5.33485979e+02] [-5.32519843e-01 8.46417514e-01 9.23254540e-05 -1.37682636e+02] [ 1.72513329e-04 -5.41909289e-07 9.99999985e-01 -4.09641034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters 0.05244265923752824 Centerline is valid? [True, True] Translation: X:533.54, Y:-137.71, Z:-4.10 [[ 8.45395196e-01 5.34140597e-01 -8.86231478e-04 5.33541596e+02] [-5.34140308e-01 8.45395660e-01 5.55891103e-04 -1.37708905e+02] [ 1.04614025e-03 3.42428712e-06 9.99999453e-01 -4.10053507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters 0.05309305902496031 Centerline is valid? [True, True] Translation: X:533.60, Y:-137.74, Z:-4.10 [[ 8.44165182e-01 5.36082380e-01 -9.09656106e-04 5.33596970e+02] [-5.36082076e-01 8.44165672e-01 5.71082588e-04 -1.37737882e+02] [ 1.07404777e-03 5.56229716e-06 9.99999423e-01 -4.10172338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters 0.05291968899034705 Centerline is valid? [True, True] Translation: X:533.65, Y:-137.77, Z:-4.10 [[ 8.41739038e-01 5.39882855e-01 -1.37620413e-03 5.33651872e+02] [-5.39882165e-01 8.41740163e-01 8.63684362e-04 -1.37766517e+02] [ 1.62469467e-03 1.59912212e-05 9.99998680e-01 -4.10007401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters 0.052920178903005516 Centerline is valid? [True, True] Translation: X:533.71, Y:-137.80, Z:-4.10 [[ 8.40125093e-01 5.42391320e-01 -1.21821706e-03 5.33706489e+02] [-5.42390781e-01 8.40125976e-01 7.64894956e-04 -1.37796289e+02] [ 1.43832818e-03 1.81422548e-05 9.99998965e-01 -4.09984153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters 0.053015443223371095 Centerline is valid? [True, True] Translation: X:533.76, Y:-137.82, Z:-4.10 [[ 8.37980515e-01 5.45698351e-01 -1.40183342e-03 5.33761183e+02] [-5.45697644e-01 8.37981688e-01 8.79302785e-04 -1.37824827e+02] [ 1.65454481e-03 2.81385921e-05 9.99998631e-01 -4.09977204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters 0.0532362892619113 Centerline is valid? [True, True] Translation: X:533.82, Y:-137.85, Z:-4.10 [[ 8.35794350e-01 5.49039077e-01 -1.97390072e-03 5.33817187e+02] [-5.49037683e-01 8.35796680e-01 1.23829847e-03 -1.37848435e+02] [ 2.32965391e-03 4.87830086e-05 9.99997285e-01 -4.10308188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters 0.05395151106189705 Centerline is valid? [True, True] Translation: X:533.87, Y:-137.88, Z:-4.10 [[ 8.34783875e-01 5.50572311e-01 -2.45197699e-03 5.33871578e+02] [-5.50570163e-01 8.34787474e-01 1.53899982e-03 -1.37876422e+02] [ 2.89421036e-03 6.52531344e-05 9.99995810e-01 -4.10484394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters 0.05395711152795274 Centerline is valid? [True, True] Translation: X:533.92, Y:-137.91, Z:-4.10 [[ 8.34221861e-01 5.51424888e-01 -2.11627242e-03 5.33922884e+02] [-5.51423292e-01 8.34224543e-01 1.32800266e-03 -1.37911473e+02] [ 2.49774012e-03 5.91130554e-05 9.99996879e-01 -4.10212572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters 0.053321790086750386 Centerline is valid? [True, True] Translation: X:533.98, Y:-137.94, Z:-4.10 [[ 8.34416313e-01 5.51134016e-01 -8.45044440e-04 5.33975075e+02] [-5.51133761e-01 8.34416740e-01 5.30547002e-04 -1.37944665e+02] [ 9.97521726e-04 2.30354469e-05 9.99999502e-01 -4.10014920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters 0.0525642286792144 Centerline is valid? [True, True] Translation: X:534.03, Y:-137.98, Z:-4.10 [[ 8.34972772e-01 5.50291220e-01 -2.09499241e-04 5.34027586e+02] [-5.50291204e-01 8.34972798e-01 1.32475713e-04 -1.37978252e+02] [ 2.47826389e-04 4.67197577e-06 9.99999969e-01 -4.09982197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters 0.05372243652766592 Centerline is valid? [True, True] Translation: X:534.08, Y:-138.00, Z:-4.10 [[ 8.36773753e-01 5.47548753e-01 -2.21644020e-04 5.34082768e+02] [-5.47548735e-01 8.36773783e-01 1.39244059e-04 -1.38004781e+02] [ 2.61708816e-04 4.84512870e-06 9.99999966e-01 -4.10384608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters 0.053614635831848924 Centerline is valid? [True, True] Translation: X:534.13, Y:-138.04, Z:-4.10 [[ 8.37716013e-01 5.46105732e-01 -6.40732365e-04 5.34133943e+02] [-5.46105584e-01 8.37716258e-01 4.02483560e-04 -1.38040165e+02] [ 7.56550498e-04 1.27405991e-05 9.99999714e-01 -4.10404448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters 0.05348197555883109 Centerline is valid? [True, True] Translation: X:534.18, Y:-138.08, Z:-4.10 [[ 8.41107656e-01 5.40865667e-01 -1.49719459e-03 5.34181661e+02] [-5.40864851e-01 8.41108988e-01 9.39950872e-04 -1.38079416e+02] [ 1.76769099e-03 1.91800558e-05 9.99998437e-01 -4.10266928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters 0.05332395309970375 Centerline is valid? [True, True] Translation: X:534.23, Y:-138.11, Z:-4.10 [[ 8.43533403e-01 5.37074859e-01 -1.41231365e-03 5.34232176e+02] [-5.37074125e-01 8.43534585e-01 8.87629927e-04 -1.38113517e+02] [ 1.66805913e-03 9.77162575e-06 9.99998609e-01 -4.10319961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters 0.05335959847550081 Centerline is valid? [True, True] Translation: X:534.28, Y:-138.15, Z:-4.11 [[ 8.47268294e-01 5.31162916e-01 -1.54736804e-03 5.34281806e+02] [-5.31162026e-01 8.47269707e-01 9.72646069e-04 -1.38149819e+02] [ 1.82767159e-03 -2.18903193e-06 9.99998330e-01 -4.10549782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters 0.05364661259354463 Centerline is valid? [True, True] Translation: X:534.33, Y:-138.19, Z:-4.10 [[ 8.49771329e-01 5.27150454e-01 -1.04312640e-03 5.34332952e+02] [-5.27150046e-01 8.49771969e-01 6.55494705e-04 -1.38185074e+02] [ 1.23196391e-03 -7.13647553e-06 9.99999241e-01 -4.10369342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters 0.05391130898650601 Centerline is valid? [True, True] Translation: X:534.39, Y:-138.22, Z:-4.10 [[ 8.52945291e-01 5.22000275e-01 -2.10856788e-04 5.34386427e+02] [-5.22000258e-01 8.52945317e-01 1.32735038e-04 -1.38216891e+02] [ 2.49137036e-04 -3.14842773e-06 9.99999969e-01 -4.10140270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters 0.054119341650216035 Centerline is valid? [True, True] Translation: X:534.43, Y:-138.26, Z:-4.11 [[ 8.54569704e-01 5.19336505e-01 4.63872480e-04 5.34433630e+02] [-5.19336424e-01 8.54569830e-01 -2.91082437e-04 -1.38256639e+02] [-5.47581162e-04 7.84435773e-06 9.99999850e-01 -4.10653975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters 0.053684296679265386 Centerline is valid? [True, True] Translation: X:534.49, Y:-138.29, Z:-4.11 [[ 8.54400862e-01 5.19613764e-01 8.39102814e-04 5.34487617e+02] [-5.19613497e-01 8.54401274e-01 -5.26735896e-04 -1.38288218e+02] [-9.90629735e-04 1.40344552e-05 9.99999509e-01 -4.10588719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters 0.053637089000871045 Centerline is valid? [True, True] Translation: X:534.54, Y:-138.32, Z:-4.11 [[ 8.53383045e-01 5.21284273e-01 2.91476239e-04 5.34539650e+02] [-5.21284241e-01 8.53383095e-01 -1.82151275e-04 -1.38320620e+02] [-3.43693490e-04 3.50283998e-06 9.99999941e-01 -4.10647982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters 0.053452905545011996 Centerline is valid? [True, True] Translation: X:534.59, Y:-138.35, Z:-4.11 [[ 8.51851456e-01 5.23782171e-01 1.15555863e-03 5.34592938e+02] [-5.23781668e-01 8.51852239e-01 -7.25747244e-04 -1.38353624e+02] [-1.36449867e-03 1.29684207e-05 9.99999069e-01 -4.10721700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters 0.05354635355644371 Centerline is valid? [True, True] Translation: X:534.65, Y:-138.39, Z:-4.11 [[ 8.51207779e-01 5.24826994e-01 1.39377143e-03 5.34645806e+02] [-5.24826265e-01 8.51208920e-01 -8.75081439e-04 -1.38386115e+02] [-1.64565704e-03 1.33882752e-05 9.99998646e-01 -4.10764263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters 0.052811171531050714 Centerline is valid? [True, True] Translation: X:534.70, Y:-138.42, Z:-4.11 [[ 8.50881611e-01 5.25355035e-01 1.60335597e-03 5.34697629e+02] [-5.25354070e-01 8.50883122e-01 -1.00714876e-03 -1.38418945e+02] [-1.89337921e-03 1.46347778e-05 9.99998207e-01 -4.10845416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters 0.0528396709189541 Centerline is valid? [True, True] Translation: X:534.75, Y:-138.45, Z:-4.11 [[ 8.50792048e-01 5.25498600e-01 2.02792120e-03 5.34752776e+02] [-5.25497055e-01 8.50794465e-01 -1.27431446e-03 -1.38450405e+02] [-2.39499460e-03 1.85099912e-05 9.99997132e-01 -4.10752073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters 0.0527495116930939 Centerline is valid? [True, True] Translation: X:534.81, Y:-138.48, Z:-4.11 [[ 8.50334045e-01 5.26238004e-01 2.36124116e-03 5.34805038e+02] [-5.26235911e-01 8.50337323e-01 -1.48451200e-03 -1.38482690e+02] [-2.78905812e-03 1.97611994e-05 9.99996110e-01 -4.10849926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters 0.05244904466225394 Centerline is valid? [True, True] Translation: X:534.86, Y:-138.51, Z:-4.11 [[ 8.48811769e-01 5.28691420e-01 1.99060857e-03 5.34858850e+02] [-5.28689938e-01 8.48814103e-01 -1.25182852e-03 -1.38514174e+02] [-2.35148763e-03 1.01520587e-05 9.99997235e-01 -4.11127930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters 0.052363570318158865 Centerline is valid? [True, True] Translation: X:534.91, Y:-138.55, Z:-4.11 [[ 8.47585003e-01 5.30658440e-01 1.13210625e-03 5.34913155e+02] [-5.30657963e-01 8.47585759e-01 -7.11672607e-04 -1.38545082e+02] [-1.33721221e-03 2.44183211e-06 9.99999106e-01 -4.11288290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters 0.05381226983186936 Centerline is valid? [True, True] Translation: X:534.97, Y:-138.58, Z:-4.11 [[ 8.45529363e-01 5.33928907e-01 -1.36339206e-04 5.34967431e+02] [-5.33928900e-01 8.45529374e-01 8.68235060e-05 -1.38575590e+02] [ 1.61636383e-04 -6.16381521e-07 9.99999987e-01 -4.10955599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters 0.0533580436728325 Centerline is valid? [True, True] Translation: X:535.02, Y:-138.61, Z:-4.11 [[ 8.43379080e-01 5.37317750e-01 -1.16737975e-03 5.35021175e+02] [-5.37317247e-01 8.43379888e-01 7.35172273e-04 -1.38606476e+02] [ 1.37956571e-03 7.22435906e-06 9.99999048e-01 -4.11140239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters 0.05344041274386497 Centerline is valid? [True, True] Translation: X:535.07, Y:-138.64, Z:-4.11 [[ 8.41631253e-01 5.40052065e-01 -7.75043020e-04 5.35074899e+02] [-5.40051845e-01 8.41631610e-01 4.88268607e-04 -1.38637530e+02] [ 9.15991174e-04 7.62129324e-06 9.99999580e-01 -4.11193635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters 0.053000129151466 Centerline is valid? [True, True] Translation: X:535.13, Y:-138.67, Z:-4.11 [[ 8.38302764e-01 5.45204900e-01 -3.06364857e-04 5.35126741e+02] [-5.45204866e-01 8.38302820e-01 1.93288187e-04 -1.38668783e+02] [ 3.62208190e-04 4.99758915e-06 9.99999934e-01 -4.11045075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters 0.05382939462236977 Centerline is valid? [True, True] Translation: X:535.18, Y:-138.69, Z:-4.11 [[ 8.34554977e-01 5.50924449e-01 -4.90538540e-04 5.35182269e+02] [-5.50924363e-01 8.34555122e-01 3.08967431e-04 -1.38694141e+02] [ 5.79599162e-04 1.23993248e-05 9.99999832e-01 -4.11276750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters 0.05298302181337999 Centerline is valid? [True, True] Translation: X:535.23, Y:-138.73, Z:-4.11 [[ 8.32053926e-01 5.54694718e-01 -1.85039564e-04 5.35233152e+02] [-5.54694706e-01 8.32053946e-01 1.16697934e-04 -1.38727779e+02] [ 2.18694627e-04 5.54149251e-06 9.99999976e-01 -4.11219119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters 0.05250367817125975 Centerline is valid? [True, True] Translation: X:535.28, Y:-138.76, Z:-4.11 [[ 8.28273156e-01 5.60324516e-01 -1.26553747e-04 5.35284385e+02] [-5.60324511e-01 8.28273165e-01 7.98519589e-05 -1.38761846e+02] [ 1.49564083e-04 4.77193245e-06 9.99999989e-01 -4.11138150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters 0.05438644786009464 Centerline is valid? [True, True] Translation: X:535.34, Y:-138.78, Z:-4.11 [[ 8.25836415e-01 5.63909679e-01 2.99908943e-04 5.35342500e+02] [-5.63909647e-01 8.25836469e-01 -1.88575903e-04 -1.38783322e+02] [-3.54015520e-04 -1.33886985e-05 9.99999937e-01 -4.11382423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters 0.05309840281083759 Centerline is valid? [True, True] Translation: X:535.39, Y:-138.82, Z:-4.11 [[ 8.25080740e-01 5.65014826e-01 1.35433066e-04 5.35390720e+02] [-5.65014820e-01 8.25080751e-01 -8.50179504e-05 -1.38823545e+02] [-1.59779619e-04 -6.37501591e-06 9.99999987e-01 -4.11337727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters 0.052317451074438845 Centerline is valid? [True, True] Translation: X:535.44, Y:-138.86, Z:-4.11 [[ 8.24992389e-01 5.65142635e-01 -1.16642882e-03 5.35440241e+02] [-5.65142159e-01 8.24993212e-01 7.35703143e-04 -1.38861004e+02] [ 1.37807307e-03 5.22486101e-05 9.99999049e-01 -4.11423963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters 0.052238757886545265 Centerline is valid? [True, True] Translation: X:535.49, Y:-138.90, Z:-4.11 [[ 8.26386317e-01 5.63098904e-01 -2.29746911e-03 5.35488783e+02] [-5.63097052e-01 8.26389505e-01 1.44774952e-03 -1.38898821e+02] [ 2.71383053e-03 9.72976900e-05 9.99996313e-01 -4.11383788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters 0.052542681225037795 Centerline is valid? [True, True] Translation: X:535.54, Y:-138.93, Z:-4.11 [[ 8.27232089e-01 5.61857207e-01 -1.88403236e-03 5.35539749e+02] [-5.61855958e-01 8.27234231e-01 1.18715977e-03 -1.38934273e+02] [ 2.22555033e-03 7.64981475e-05 9.99997521e-01 -4.11390285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters 0.05289709207168696 Centerline is valid? [True, True] Translation: X:535.59, Y:-138.97, Z:-4.11 [[ 8.28373922e-01 5.60174366e-01 -1.15127375e-03 5.35591709e+02] [-5.60173897e-01 8.28374721e-01 7.25787583e-04 -1.38966150e+02] [ 1.36025367e-03 4.36899994e-05 9.99999074e-01 -4.11489939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters 0.05328009036606784 Centerline is valid? [True, True] Translation: X:535.64, Y:-139.00, Z:-4.12 [[ 8.29677715e-01 5.58242675e-01 6.23332825e-05 5.35643566e+02] [-5.58242674e-01 8.29677718e-01 -3.91887128e-05 -1.38997449e+02] [-7.35933476e-05 -2.28309654e-06 9.99999997e-01 -4.11595263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters 0.05299584773352667 Centerline is valid? [True, True] Translation: X:535.69, Y:-139.03, Z:-4.12 [[ 8.31322724e-01 5.55789619e-01 6.54389884e-04 5.35692210e+02] [-5.55789467e-01 8.31322981e-01 -4.12221233e-04 -1.39034536e+02] [-7.73117632e-04 -2.10141267e-05 9.99999701e-01 -4.11636272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters 0.05286154390645783 Centerline is valid? [True, True] Translation: X:535.74, Y:-139.07, Z:-4.12 [[ 8.32420165e-01 5.54144816e-01 4.37273039e-04 5.35740877e+02] [-5.54144748e-01 8.32420280e-01 -2.75401504e-04 -1.39072253e+02] [-5.16607262e-04 -1.30627919e-05 9.99999866e-01 -4.11604641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters 0.05272288305739296 Centerline is valid? [True, True] Translation: X:535.79, Y:-139.10, Z:-4.12 [[ 8.32748122e-01 5.53652016e-01 1.01341314e-04 5.35793586e+02] [-5.53652013e-01 8.32748128e-01 -6.33332183e-05 -1.39103789e+02] [-1.19456354e-04 -3.36720387e-06 9.99999993e-01 -4.11774806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters 0.052187192544165664 Centerline is valid? [True, True] Translation: X:535.84, Y:-139.15, Z:-4.12 [[ 8.32973584e-01 5.53312728e-01 -1.83780851e-04 5.35839812e+02] [-5.53312715e-01 8.32973604e-01 1.16849007e-04 -1.39147726e+02] [ 2.17738640e-04 4.35614563e-06 9.99999976e-01 -4.11597314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters 0.051965214707038125 Centerline is valid? [True, True] Translation: X:535.89, Y:-139.18, Z:-4.12 [[ 8.32661573e-01 5.53782182e-01 -2.26923867e-05 5.35892076e+02] [-5.53782182e-01 8.32661573e-01 1.53036208e-05 -1.39181972e+02] [ 2.73699508e-05 -1.76097556e-07 1.00000000e+00 -4.11688765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters 0.05392755752267378 Centerline is valid? [True, True] Translation: X:535.95, Y:-139.21, Z:-4.12 [[ 8.32678913e-01 5.53756049e-01 2.55692393e-04 5.35949010e+02] [-5.53756026e-01 8.32678952e-01 -1.60336212e-04 -1.39206556e+02] [-3.01696822e-04 -8.08262086e-06 9.99999954e-01 -4.12122182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters 0.05198378968496436 Centerline is valid? [True, True] Translation: X:536.00, Y:-139.25, Z:-4.12 [[ 8.32864222e-01 5.53477359e-01 -9.43274765e-07 5.35995271e+02] [-5.53477359e-01 8.32864222e-01 1.57305450e-06 -1.39249871e+02] [ 1.65626966e-06 -7.88059589e-07 1.00000000e+00 -4.11919840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters 0.052239589193331014 Centerline is valid? [True, True] Translation: X:536.05, Y:-139.28, Z:-4.12 [[ 8.32796580e-01 5.53579114e-01 -1.42844229e-04 5.36049681e+02] [-5.53579106e-01 8.32796593e-01 9.11751666e-05 -1.39280474e+02] [ 1.69432855e-04 3.14521372e-06 9.99999986e-01 -4.12117765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters 0.05232593302806121 Centerline is valid? [True, True] Translation: X:536.10, Y:-139.32, Z:-4.12 [[ 8.32552503e-01 5.53946133e-01 1.12109000e-04 5.36099838e+02] [-5.53946128e-01 8.32552510e-01 -7.02274721e-05 -1.39316504e+02] [-1.32238866e-04 -3.63428879e-06 9.99999991e-01 -4.12100041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters 0.052542061701218244 Centerline is valid? [True, True] Translation: X:536.15, Y:-139.34, Z:-4.12 [[ 8.31977048e-01 5.54809374e-01 8.65726036e-04 5.36154360e+02] [-5.54809106e-01 8.31977498e-01 -5.45588852e-04 -1.39344811e+02] [-1.02296239e-03 -2.63952856e-05 9.99999476e-01 -4.12305132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters 0.05198713839285732 Centerline is valid? [True, True] Translation: X:536.20, Y:-139.38, Z:-4.12 [[ 8.31685385e-01 5.55246321e-01 9.71315458e-04 5.36204862e+02] [-5.55245984e-01 8.31685952e-01 -6.12336664e-04 -1.39381187e+02] [-1.14782710e-03 -3.00475526e-05 9.99999341e-01 -4.12378969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters 0.051723966127033366 Centerline is valid? [True, True] Translation: X:536.25, Y:-139.42, Z:-4.12 [[ 8.31779205e-01 5.55106159e-01 7.11769608e-04 5.36254451e+02] [-5.55105978e-01 8.31779509e-01 -4.49081719e-04 -1.39419940e+02] [-8.41323403e-04 -2.15707292e-05 9.99999646e-01 -4.12401460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters 0.0513421893381987 Centerline is valid? [True, True] Translation: X:536.30, Y:-139.46, Z:-4.12 [[ 8.31669104e-01 5.55271548e-01 1.01386564e-04 5.36304914e+02] [-5.55271544e-01 8.31669110e-01 -6.30496070e-05 -1.39456464e+02] [-1.19329727e-04 -3.86066384e-06 9.99999993e-01 -4.12436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters 0.051808921622677404 Centerline is valid? [True, True] Translation: X:536.36, Y:-139.49, Z:-4.13 [[ 8.31357713e-01 5.55737655e-01 -1.05848973e-04 5.36357201e+02] [-5.55737651e-01 8.31357720e-01 6.77654906e-05 -1.39488539e+02] [ 1.25658195e-04 2.48689619e-06 9.99999992e-01 -4.12557016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters 0.0512268657905417 Centerline is valid? [True, True] Translation: X:536.41, Y:-139.53, Z:-4.13 [[ 8.30621036e-01 5.56837803e-01 5.96542351e-04 5.36406962e+02] [-5.56837677e-01 8.30621250e-01 -3.75960848e-04 -1.39526832e+02] [-7.04849966e-04 -1.98962679e-05 9.99999751e-01 -4.12537080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters 0.05075764029713873 Centerline is valid? [True, True] Translation: X:536.46, Y:-139.56, Z:-4.13 [[ 8.29823434e-01 5.58025000e-01 1.08058120e-03 5.36457854e+02] [-5.58024584e-01 8.29824137e-01 -6.82399695e-04 -1.39559936e+02] [-1.27748845e-03 -3.67196146e-05 9.99999183e-01 -4.12677512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters 0.05062242114217569 Centerline is valid? [True, True] Translation: X:536.51, Y:-139.60, Z:-4.13 [[ 8.29702574e-01 5.58205076e-01 8.55587598e-04 5.36510479e+02] [-5.58204816e-01 8.29703015e-01 -5.39751243e-04 -1.39595177e+02] [-1.01117549e-03 -2.97601220e-05 9.99999488e-01 -4.12765535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters 0.05134297842684155 Centerline is valid? [True, True] Translation: X:536.56, Y:-139.63, Z:-4.13 [[ 8.30321662e-01 5.57284422e-01 -1.01399651e-04 5.36561358e+02] [-5.57284419e-01 8.30321668e-01 6.44521965e-05 -1.39631784e+02] [ 1.20112532e-04 2.99239051e-06 9.99999993e-01 -4.12830425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters 0.0508591728192727 Centerline is valid? [True, True] Translation: X:536.61, Y:-139.67, Z:-4.13 [[ 8.31341840e-01 5.55760834e-01 -8.00732174e-04 5.36612938e+02] [-5.55760604e-01 8.31342225e-01 5.06458028e-04 -1.39665641e+02] [ 9.47152003e-04 2.39756478e-05 9.99999551e-01 -4.12852220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters 0.05104269458779037 Centerline is valid? [True, True] Translation: X:536.66, Y:-139.70, Z:-4.13 [[ 8.32193526e-01 5.54485240e-01 -2.32958777e-04 5.36663839e+02] [-5.54485220e-01 8.32193559e-01 1.47504320e-04 -1.39700469e+02] [ 2.75655762e-04 6.42005800e-06 9.99999962e-01 -4.12796463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters 0.05116066509814989 Centerline is valid? [True, True] Translation: X:536.72, Y:-139.73, Z:-4.13 [[ 8.32973311e-01 5.53312480e-01 8.73286494e-04 5.36716526e+02] [-5.53312206e-01 8.32973768e-01 -5.51652060e-04 -1.39730357e+02] [-1.03266071e-03 -2.36886329e-05 9.99999467e-01 -4.12886209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters 0.05187699627978049 Centerline is valid? [True, True] Translation: X:536.77, Y:-139.76, Z:-4.13 [[ 8.33328999e-01 5.52775684e-01 1.35040338e-03 5.36770818e+02] [-5.52775026e-01 8.33330092e-01 -8.53244750e-04 -1.39758932e+02] [-1.59698472e-03 -3.54356688e-05 9.99998724e-01 -4.13003655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters 0.05191549232018889 Centerline is valid? [True, True] Translation: X:536.82, Y:-139.79, Z:-4.13 [[ 8.33781476e-01 5.52094278e-01 5.99428025e-04 5.36823425e+02] [-5.52094148e-01 8.33781691e-01 -3.78700100e-04 -1.39793027e+02] [-7.08870270e-04 -1.51875765e-05 9.99999749e-01 -4.13073911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters 0.05242511413627083 Centerline is valid? [True, True] Translation: X:536.88, Y:-139.82, Z:-4.13 [[ 8.33631439e-01 5.52321124e-01 -4.55490721e-06 5.36877872e+02] [-5.52321124e-01 8.33631439e-01 3.78798209e-06 -1.39823779e+02] [ 5.88929618e-06 -6.42009486e-07 1.00000000e+00 -4.13225177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters 0.051664674119658464 Centerline is valid? [True, True] Translation: X:536.92, Y:-139.86, Z:-4.13 [[ 8.32932122e-01 5.53375060e-01 3.51089265e-04 5.36924974e+02] [-5.53375016e-01 8.32932196e-01 -2.21190413e-04 -1.39864936e+02] [-4.14834811e-04 -1.00474279e-05 9.99999914e-01 -4.12890015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters 0.051848852842772526 Centerline is valid? [True, True] Translation: X:536.98, Y:-139.89, Z:-4.13 [[ 8.31698759e-01 5.55227092e-01 -2.25022073e-04 5.36980945e+02] [-5.55227074e-01 8.31698789e-01 1.42930490e-04 -1.39890201e+02] [ 2.66509465e-04 6.06323600e-06 9.99999964e-01 -4.13069463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters 0.05301876135860224 Centerline is valid? [True, True] Translation: X:537.04, Y:-139.92, Z:-4.13 [[ 8.31290875e-01 5.55837283e-01 -6.29370280e-04 5.37035894e+02] [-5.55837140e-01 8.31291113e-01 3.99329298e-04 -1.39917603e+02] [ 7.45152033e-04 1.78685751e-05 9.99999722e-01 -4.13228243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters 0.05228855149568447 Centerline is valid? [True, True] Translation: X:537.09, Y:-139.95, Z:-4.13 [[ 8.31662445e-01 5.55281529e-01 1.28946514e-05 5.37087963e+02] [-5.55281529e-01 8.31662445e-01 -7.23801302e-06 -1.39951736e+02] [-1.47431325e-05 -1.14057816e-06 1.00000000e+00 -4.13196978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters 0.05171269504473105 Centerline is valid? [True, True] Translation: X:537.14, Y:-139.99, Z:-4.13 [[ 8.33288960e-01 5.52836792e-01 9.94820630e-04 5.37137210e+02] [-5.52836434e-01 8.33289554e-01 -6.29691373e-04 -1.39989541e+02] [-1.17709020e-03 -2.52582203e-05 9.99999307e-01 -4.13027570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters 0.05211472815933264 Centerline is valid? [True, True] Translation: X:537.19, Y:-140.02, Z:-4.13 [[ 8.34700405e-01 5.50701948e-01 1.61218294e-03 5.37190615e+02] [-5.50701003e-01 8.34701961e-01 -1.02086072e-03 -1.40019078e+02] [-1.90788225e-03 -3.57179066e-05 9.99998179e-01 -4.13153613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters 0.05203758378500158 Centerline is valid? [True, True] Translation: X:537.24, Y:-140.05, Z:-4.13 [[ 8.37246041e-01 5.46823395e-01 1.80045627e-03 5.37240787e+02] [-5.46822208e-01 8.37247976e-01 -1.14002783e-03 -1.40054100e+02] [-2.13082225e-03 -3.00456839e-05 9.99997729e-01 -4.13114614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters 0.051761436690651794 Centerline is valid? [True, True] Translation: X:537.29, Y:-140.09, Z:-4.13 [[ 8.40944882e-01 5.41117692e-01 1.83015627e-03 5.37292016e+02] [-5.41116451e-01 8.40946873e-01 -1.15902525e-03 -1.40087422e+02] [-2.16623327e-03 -1.56513109e-05 9.99997654e-01 -4.13202263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters 0.05230923986272492 Centerline is valid? [True, True] Translation: X:537.34, Y:-140.12, Z:-4.13 [[ 8.44596519e-01 5.35400379e-01 1.77597299e-03 5.37342765e+02] [-5.35399198e-01 8.44598386e-01 -1.12475969e-03 -1.40122404e+02] [-2.10218069e-03 -8.86391334e-07 9.99997790e-01 -4.13312521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters 0.052522427350262066 Centerline is valid? [True, True] Translation: X:537.40, Y:-140.16, Z:-4.13 [[ 8.45596677e-01 5.33819110e-01 1.84886411e-03 5.37395395e+02] [-5.33817827e-01 8.45598698e-01 -1.17048962e-03 -1.40156676e+02] [-2.18822681e-03 2.80550748e-06 9.99997606e-01 -4.13237841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters 0.05235560306881719 Centerline is valid? [True, True] Translation: X:537.45, Y:-140.19, Z:-4.13 [[ 8.47253648e-01 5.31186003e-01 1.63925285e-03 5.37447543e+02] [-5.31184987e-01 8.47255233e-01 -1.03854022e-03 -1.40190559e+02] [-1.94052358e-03 9.16048873e-06 9.99998117e-01 -4.13292617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters 0.05309920494304663 Centerline is valid? [True, True] Translation: X:537.50, Y:-140.22, Z:-4.13 [[ 8.47966811e-01 5.30046473e-01 1.73860624e-03 5.37500926e+02] [-5.30045330e-01 8.47968594e-01 -1.10112043e-03 -1.40223094e+02] [-2.05792849e-03 1.21734563e-05 9.99997882e-01 -4.13333539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters 0.05223797272515246 Centerline is valid? [True, True] Translation: X:537.55, Y:-140.25, Z:-4.13 [[ 8.45969456e-01 5.33227621e-01 1.99582046e-03 5.37553613e+02] [-5.33226122e-01 8.45971810e-01 -1.26456851e-03 -1.40254778e+02] [-2.36271070e-03 5.56272977e-06 9.99997209e-01 -4.13360122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters 0.052295302931797766 Centerline is valid? [True, True] Translation: X:537.61, Y:-140.28, Z:-4.14 [[ 8.42799649e-01 5.38226574e-01 9.52637775e-04 5.37607555e+02] [-5.38226236e-01 8.42800187e-01 -6.03268433e-04 -1.40284302e+02] [-1.12757840e-03 -4.30022082e-06 9.99999364e-01 -4.13590235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters 0.05250868954613959 Centerline is valid? [True, True] Translation: X:537.66, Y:-140.31, Z:-4.14 [[ 8.40243533e-01 5.42209085e-01 3.35887645e-04 5.37661661e+02] [-5.42209044e-01 8.40243600e-01 -2.12206584e-04 -1.40313245e+02] [-3.97287782e-04 -3.81610904e-06 9.99999921e-01 -4.13753549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters 0.05165215857999828 Centerline is valid? [True, True] Translation: X:537.71, Y:-140.34, Z:-4.14 [[ 8.36482528e-01 5.47993593e-01 4.11769756e-05 5.37714657e+02] [-5.47993593e-01 8.36482529e-01 -2.59263936e-05 -1.40344717e+02] [-4.86513185e-05 -8.77743506e-07 9.99999999e-01 -4.13645165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters 0.05221361828722249 Centerline is valid? [True, True] Translation: X:537.77, Y:-140.38, Z:-4.14 [[ 8.33428535e-01 5.52627035e-01 4.88372525e-04 5.37767368e+02] [-5.52626948e-01 8.33428678e-01 -3.09651869e-04 -1.40376558e+02] [-5.78145662e-04 -1.18151148e-05 9.99999833e-01 -4.13634472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters 0.052109305410110364 Centerline is valid? [True, True] Translation: X:537.82, Y:-140.40, Z:-4.14 [[ 8.30863269e-01 5.56473327e-01 1.91425342e-03 5.37821523e+02] [-5.56472006e-01 8.30865472e-01 -1.21395042e-03 -1.40404642e+02] [-2.26601810e-03 -5.66016257e-05 9.99997431e-01 -4.13668499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters 0.05190948142659765 Centerline is valid? [True, True] Translation: X:537.87, Y:-140.44, Z:-4.14 [[ 8.29009596e-01 5.59231708e-01 1.72829142e-03 5.37872664e+02] [-5.59230636e-01 8.29011395e-01 -1.09658963e-03 -1.40439063e+02] [-2.04602098e-03 -5.74301834e-05 9.99997905e-01 -4.13682223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters 0.05254649037034774 Centerline is valid? [True, True] Translation: X:537.93, Y:-140.47, Z:-4.14 [[ 8.28169868e-01 5.60476160e-01 1.06935708e-03 5.37925384e+02] [-5.60475751e-01 8.28170558e-01 -6.77887655e-04 -1.40469839e+02] [-1.26554992e-03 -3.79425843e-05 9.99999198e-01 -4.13795158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters 0.05141362663881307 Centerline is valid? [True, True] Translation: X:537.97, Y:-140.51, Z:-4.14 [[ 8.27495539e-01 5.61472236e-01 -2.46943167e-04 5.37974074e+02] [-5.61472214e-01 8.27495576e-01 1.57037884e-04 -1.40509635e+02] [ 2.92516790e-04 8.70357811e-06 9.99999957e-01 -4.13752599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters 0.051787560439493084 Centerline is valid? [True, True] Translation: X:538.03, Y:-140.54, Z:-4.14 [[ 8.27625873e-01 5.61277693e-01 -1.66293204e-03 5.38027263e+02] [-5.61276701e-01 8.27627542e-01 1.05693714e-03 -1.40541583e+02] [ 1.96952359e-03 5.86164860e-05 9.99998059e-01 -4.13932829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters 0.05186746916333359 Centerline is valid? [True, True] Translation: X:538.08, Y:-140.58, Z:-4.14 [[ 8.28362780e-01 5.60188583e-01 -1.96368881e-03 5.38078344e+02] [-5.60187196e-01 8.28365105e-01 1.24813215e-03 -1.40577430e+02] [ 2.32584067e-03 6.61271052e-05 9.99997293e-01 -4.13972454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters 0.05257190927386713 Centerline is valid? [True, True] Translation: X:538.13, Y:-140.61, Z:-4.14 [[ 8.29828616e-01 5.58016989e-01 -1.22776587e-03 5.38127654e+02] [-5.58016445e-01 8.29829524e-01 7.80258499e-04 -1.40613655e+02] [ 1.45423387e-03 3.76327176e-05 9.99998942e-01 -4.13893741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters 0.051961150236292566 Centerline is valid? [True, True] Translation: X:538.18, Y:-140.65, Z:-4.14 [[ 8.31075426e-01 5.56159148e-01 -7.99204143e-04 5.38178301e+02] [-5.56158917e-01 8.31075810e-01 5.07975102e-04 -1.40648841e+02] [ 9.46714230e-04 2.23188869e-05 9.99999552e-01 -4.13851751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters 0.05198311892226256 Centerline is valid? [True, True] Translation: X:538.23, Y:-140.69, Z:-4.14 [[ 8.32869338e-01 5.53469649e-01 1.15071155e-04 5.38227383e+02] [-5.53469644e-01 8.32869346e-01 -7.27588476e-05 -1.40686117e+02] [-1.36109051e-04 -3.08977771e-06 9.99999991e-01 -4.13778272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters 0.05230344760190697 Centerline is valid? [True, True] Translation: X:538.28, Y:-140.72, Z:-4.14 [[ 8.34228172e-01 5.51418625e-01 9.26136779e-04 5.38278571e+02] [-5.51418311e-01 8.34228686e-01 -5.88188250e-04 -1.40718816e+02] [-1.09694782e-03 -2.00055700e-05 9.99999398e-01 -4.13856312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters 0.05294210103929642 Centerline is valid? [True, True] Translation: X:538.33, Y:-140.75, Z:-4.14 [[ 8.35456870e-01 5.49555703e-01 5.90388681e-04 5.38331390e+02] [-5.49555575e-01 8.35457078e-01 -3.74211768e-04 -1.40750522e+02] [-6.98894614e-04 -1.18135991e-05 9.99999756e-01 -4.14019613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters 0.051881794898195 Centerline is valid? [True, True] Translation: X:538.38, Y:-140.79, Z:-4.14 [[ 8.37369476e-01 5.46636975e-01 -6.15168052e-04 5.38380170e+02] [-5.46636834e-01 8.37369702e-01 3.91996995e-04 -1.40788962e+02] [ 7.29403139e-04 8.02719847e-06 9.99999734e-01 -4.13938902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters 0.052236704504068324 Centerline is valid? [True, True] Translation: X:538.43, Y:-140.82, Z:-4.14 [[ 8.39584764e-01 5.43227644e-01 -1.07292194e-03 5.38431733e+02] [-5.43227216e-01 8.39585449e-01 6.82391510e-04 -1.40823751e+02] [ 1.27150358e-03 9.91488209e-06 9.99999192e-01 -4.13922103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters 0.05241877170872745 Centerline is valid? [True, True] Translation: X:538.48, Y:-140.86, Z:-4.14 [[ 8.42103483e-01 5.39315936e-01 2.10142307e-04 5.38483397e+02] [-5.39315920e-01 8.42103509e-01 -1.32625346e-04 -1.40857573e+02] [-2.48488537e-04 -1.64882596e-06 9.99999969e-01 -4.13857602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters 0.05314252630431989 Centerline is valid? [True, True] Translation: X:538.53, Y:-140.89, Z:-4.14 [[ 8.44296298e-01 5.35876095e-01 7.56890066e-04 5.38534842e+02] [-5.35875880e-01 8.44296637e-01 -4.80410792e-04 -1.40891545e+02] [-8.96480397e-04 9.92307894e-09 9.99999598e-01 -4.13612911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters 0.05281470805194778 Centerline is valid? [True, True] Translation: X:538.59, Y:-140.92, Z:-4.14 [[ 8.45304515e-01 5.34284534e-01 5.60640055e-04 5.38587051e+02] [-5.34284415e-01 8.45304701e-01 -3.56221375e-04 -1.40924599e+02] [-6.64235245e-04 1.57429191e-06 9.99999779e-01 -4.13695992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters 0.05261265492381166 Centerline is valid? [True, True] Translation: X:538.64, Y:-140.96, Z:-4.14 [[ 8.45581647e-01 5.33846117e-01 -2.96976472e-05 5.38638381e+02] [-5.33846117e-01 8.45581648e-01 1.97282686e-05 -1.40956835e+02] [ 3.56436448e-05 -8.27888234e-07 9.99999999e-01 -4.13939207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters 0.05307056766098788 Centerline is valid? [True, True] Translation: X:538.69, Y:-140.99, Z:-4.14 [[ 8.43849304e-01 5.36580229e-01 -9.61729142e-05 5.38692923e+02] [-5.36580226e-01 8.43849310e-01 6.22226226e-05 -1.40986264e+02] [ 1.14542876e-04 -9.02032790e-07 9.99999993e-01 -4.13961682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters 0.05323560629100733 Centerline is valid? [True, True] Translation: X:538.75, Y:-141.02, Z:-4.14 [[ 8.41882703e-01 5.39660547e-01 -8.89851616e-05 5.38747951e+02] [-5.39660544e-01 8.41882708e-01 5.78224745e-05 -1.41017525e+02] [ 1.06119577e-04 -6.57960365e-07 9.99999994e-01 -4.14003051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters 0.052956581149862576 Centerline is valid? [True, True] Translation: X:538.80, Y:-141.05, Z:-4.14 [[ 8.38822191e-01 5.44404704e-01 9.22008994e-04 5.38802868e+02] [-5.44404389e-01 8.38822698e-01 -5.86040577e-04 -1.41046858e+02] [-1.09244532e-03 -1.03619021e-05 9.99999403e-01 -4.14080552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters 0.0523690399043866 Centerline is valid? [True, True] Translation: X:538.86, Y:-141.08, Z:-4.14 [[ 8.36692209e-01 5.47665829e-01 2.87887362e-03 5.38856875e+02] [-5.47662765e-01 8.36697160e-01 -1.83246775e-03 -1.41078050e+02] [-3.41232535e-03 -4.34404008e-05 9.99994177e-01 -4.13919105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters 0.05246760934470148 Centerline is valid? [True, True] Translation: X:538.91, Y:-141.11, Z:-4.14 [[ 8.36115624e-01 5.48552784e-01 7.11279236e-04 5.38910284e+02] [-5.48552598e-01 8.36115927e-01 -4.52114778e-04 -1.41109658e+02] [-8.42720718e-04 -1.21538429e-05 9.99999645e-01 -4.14090801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters 0.052625343918167665 Centerline is valid? [True, True] Translation: X:538.96, Y:-141.14, Z:-4.14 [[ 8.35906295e-01 5.48871310e-01 -9.74913244e-04 5.38963729e+02] [-5.48870957e-01 8.35906864e-01 6.22193006e-04 -1.41141598e+02] [ 1.15644056e-03 1.50065151e-05 9.99999331e-01 -4.14291140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters 0.0528885081687006 Centerline is valid? [True, True] Translation: X:539.02, Y:-141.17, Z:-4.15 [[ 8.36819622e-01 5.47475790e-01 -1.78323480e-03 5.39017498e+02] [-5.47474609e-01 8.36821521e-01 1.13743252e-03 -1.41171241e+02] [ 2.11496603e-03 2.44499231e-05 9.99997763e-01 -4.14592214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters 0.05268390858856422 Centerline is valid? [True, True] Translation: X:539.07, Y:-141.21, Z:-4.14 [[ 8.38407628e-01 5.45039660e-01 -2.10200222e-03 5.39068608e+02] [-5.45038011e-01 8.38410263e-01 1.34103704e-03 -1.41207341e+02] [ 2.49325860e-03 2.13354258e-05 9.99996892e-01 -4.14325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters 0.05377876292776609 Centerline is valid? [True, True] Translation: X:539.12, Y:-141.24, Z:-4.15 [[ 8.40448681e-01 5.41884241e-01 -2.73565735e-03 5.39120668e+02] [-5.41881430e-01 8.40453133e-01 1.74542955e-03 -1.41238942e+02] [ 3.24501256e-03 1.54579559e-05 9.99994735e-01 -4.14510598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters 0.05379373974717818 Centerline is valid? [True, True] Translation: X:539.17, Y:-141.27, Z:-4.14 [[ 8.43817378e-01 5.36628630e-01 -1.39530046e-03 5.39172715e+02] [-5.36627891e-01 8.43818531e-01 8.90399766e-04 -1.41273878e+02] [ 1.65519439e-03 -2.57765285e-06 9.99998630e-01 -4.14313961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters 0.05427167098007214 Centerline is valid? [True, True] Translation: X:539.23, Y:-141.31, Z:-4.14 [[ 8.46625785e-01 5.32188464e-01 4.68270010e-04 5.39225514e+02] [-5.32188381e-01 8.46625914e-01 -2.97546958e-04 -1.41307958e+02] [-5.54800585e-04 2.70306805e-06 9.99999846e-01 -4.14050184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters 0.054032364825133496 Centerline is valid? [True, True] Translation: X:539.28, Y:-141.34, Z:-4.14 [[ 8.47639525e-01 5.30571461e-01 1.07772823e-03 5.39276745e+02] [-5.30571016e-01 8.47640210e-01 -6.86736529e-04 -1.41340638e+02] [-1.27788858e-03 1.02936655e-05 9.99999183e-01 -4.14107207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters 0.05434204962935747 Centerline is valid? [True, True] Translation: X:539.33, Y:-141.37, Z:-4.14 [[ 8.46721240e-01 5.32033653e-01 1.82606762e-03 5.39331666e+02] [-5.32032379e-01 8.46723209e-01 -1.16446569e-03 -1.41370481e+02] [-2.16570877e-03 1.44507371e-05 9.99997655e-01 -4.14153451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters 0.054391955728684535 Centerline is valid? [True, True] Translation: X:539.39, Y:-141.40, Z:-4.14 [[ 8.43673747e-01 5.36854005e-01 1.54472291e-03 5.39387214e+02] [-5.36853101e-01 8.43675161e-01 -9.85147674e-04 -1.41398311e+02] [-1.83212482e-03 1.85394535e-06 9.99998322e-01 -4.14343803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters 0.054152942991317295 Centerline is valid? [True, True] Translation: X:539.44, Y:-141.42, Z:-4.15 [[ 8.38891363e-01 5.44297460e-01 1.24747847e-03 5.39443674e+02] [-5.44296879e-01 8.38892290e-01 -7.95661698e-04 -1.41422752e+02] [-1.47957672e-03 -1.15249145e-05 9.99998905e-01 -4.14747240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters 0.054152312180318705 Centerline is valid? [True, True] Translation: X:539.50, Y:-141.45, Z:-4.15 [[ 8.32335434e-01 5.54270607e-01 1.34906105e-03 5.39497841e+02] [-5.54269938e-01 8.32336527e-01 -8.61359434e-04 -1.41451162e+02] [-1.60029901e-03 -3.08040084e-05 9.99998719e-01 -4.14601998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters 0.053938694696843904 Centerline is valid? [True, True] Translation: X:539.55, Y:-141.48, Z:-4.15 [[ 8.27294373e-01 5.61767061e-01 1.33772690e-03 5.39551634e+02] [-5.61766413e-01 8.27295453e-01 -8.54104793e-04 -1.41480087e+02] [-1.58650332e-03 -4.48939540e-05 9.99998740e-01 -4.14708368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters 0.05367012121956045 Centerline is valid? [True, True] Translation: X:539.60, Y:-141.51, Z:-4.15 [[ 8.26918823e-01 5.62320951e-01 6.38878722e-04 5.39604913e+02] [-5.62320804e-01 8.26919070e-01 -4.07140822e-04 -1.41512486e+02] [-7.57244813e-04 -2.25823871e-05 9.99999713e-01 -4.14810358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters 0.05428749469632401 Centerline is valid? [True, True] Translation: X:539.66, Y:-141.54, Z:-4.15 [[ 8.26730491e-01 5.62598136e-01 -1.79873118e-04 5.39660000e+02] [-5.62598124e-01 8.26730511e-01 1.15835676e-04 -1.41539976e+02] [ 2.13875530e-04 5.43139357e-06 9.99999977e-01 -4.15084928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters 0.05428749469632401 Centerline is valid? [True, True] Translation: X:539.71, Y:-141.57, Z:-4.15 [[ 8.26661439e-01 5.62699594e-01 -1.79782853e-04 5.39712682e+02] [-5.62699582e-01 8.26661458e-01 1.15976842e-04 -1.41573613e+02] [ 2.13879677e-04 5.29015310e-06 9.99999977e-01 -4.15131012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters 0.054070891635025445 Centerline is valid? [True, True] Translation: X:539.76, Y:-141.61, Z:-4.15 [[ 8.26517588e-01 5.62910646e-01 -5.30995754e-04 5.39762496e+02] [-5.62910543e-01 8.26517758e-01 3.40417152e-04 -1.41610320e+02] [ 6.30501859e-04 1.75423450e-05 9.99999801e-01 -4.15125217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters 0.053918666924917695 Centerline is valid? [True, True] Translation: X:539.81, Y:-141.65, Z:-4.15 [[ 8.27052477e-01 5.62123673e-01 -1.08440552e-03 5.39812232e+02] [-5.62123245e-01 8.27053187e-01 6.94384578e-04 -1.41647158e+02] [ 1.28719105e-03 3.52770634e-05 9.99999171e-01 -4.15153436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters 0.0537492141501901 Centerline is valid? [True, True] Translation: X:539.86, Y:-141.68, Z:-4.15 [[ 8.28797806e-01 5.59547514e-01 -8.80607184e-04 5.39861906e+02] [-5.59547231e-01 8.28798274e-01 5.63384542e-04 -1.41683985e+02] [ 1.04508613e-03 2.58094397e-05 9.99999454e-01 -4.15156090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters 0.053793387263652154 Centerline is valid? [True, True] Translation: X:539.91, Y:-141.72, Z:-4.15 [[ 8.33720662e-01 5.52186199e-01 5.08945111e-04 5.39909628e+02] [-5.52186103e-01 8.33720817e-01 -3.25247510e-04 -1.41721325e+02] [-6.03915321e-04 -9.86684838e-06 9.99999818e-01 -4.15089346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters 0.05438594383767108 Centerline is valid? [True, True] Translation: X:539.96, Y:-141.76, Z:-4.15 [[ 8.36115662e-01 5.48553121e-01 -2.69632888e-04 5.39958912e+02] [-5.48553094e-01 8.36115706e-01 1.72507614e-04 -1.41756102e+02] [ 3.20073882e-04 3.67163721e-06 9.99999949e-01 -4.15295944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters 0.05418476564313583 Centerline is valid? [True, True] Translation: X:540.01, Y:-141.79, Z:-4.15 [[ 8.37961215e-01 5.45729646e-01 3.95795071e-04 5.40008296e+02] [-5.45729587e-01 8.37961308e-01 -2.52194014e-04 -1.41793612e+02] [-4.69290705e-04 -4.66827851e-06 9.99999890e-01 -4.15126525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters 0.05363220211170356 Centerline is valid? [True, True] Translation: X:540.06, Y:-141.83, Z:-4.15 [[ 8.39978028e-01 5.42618234e-01 1.53762562e-03 5.40060038e+02] [-5.42617343e-01 8.39979435e-01 -9.83276728e-04 -1.41828990e+02] [-1.82511779e-03 -8.41148443e-06 9.99998334e-01 -4.15138759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters 0.05451290334383335 Centerline is valid? [True, True] Translation: X:540.11, Y:-141.86, Z:-4.15 [[ 8.41275853e-01 5.40603972e-01 1.51181818e-03 5.40112429e+02] [-5.40603108e-01 8.41277211e-01 -9.66424399e-04 -1.41863008e+02] [-1.79431105e-03 -4.26409607e-06 9.99998390e-01 -4.15194663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters 0.05464910333004798 Centerline is valid? [True, True] Translation: X:540.16, Y:-141.90, Z:-4.15 [[ 8.41725019e-01 5.39905047e-01 1.23801247e-03 5.40164630e+02] [-5.39904467e-01 8.41725930e-01 -7.91360271e-04 -1.41896422e+02] [-1.46932660e-03 -2.30072056e-06 9.99998921e-01 -4.15240063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters 0.05460493419601465 Centerline is valid? [True, True] Translation: X:540.22, Y:-141.93, Z:-4.15 [[ 8.41392646e-01 5.40423967e-01 5.92595817e-04 5.40217339e+02] [-5.40423835e-01 8.41392854e-01 -3.78490862e-04 -1.41927116e+02] [-7.03151419e-04 -1.79347613e-06 9.99999753e-01 -4.15292284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters 0.054854932075710454 Centerline is valid? [True, True] Translation: X:540.27, Y:-141.96, Z:-4.15 [[ 8.41030090e-01 5.40986461e-01 1.42723890e-03 5.40270738e+02] [-5.40985690e-01 8.41031301e-01 -9.13489093e-04 -1.41959755e+02] [-1.69453782e-03 -3.84400775e-06 9.99998564e-01 -4.15148915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters 0.05443635540875904 Centerline is valid? [True, True] Translation: X:540.32, Y:-141.99, Z:-4.15 [[ 8.40441421e-01 5.41898899e-01 1.94969783e-03 5.40323652e+02] [-5.41897463e-01 8.40443682e-01 -1.24762738e-03 -1.41991989e+02] [-2.31469913e-03 -7.97858269e-06 9.99997321e-01 -4.15248204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters 0.05438636682703191 Centerline is valid? [True, True] Translation: X:540.38, Y:-142.02, Z:-4.15 [[ 8.38971817e-01 5.44169673e-01 2.37844812e-03 5.40376247e+02] [-5.44167543e-01 8.38975188e-01 -1.52279393e-03 -1.42023391e+02] [-2.82411723e-03 -1.66930779e-05 9.99996012e-01 -4.15167228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters 0.054588327040755266 Centerline is valid? [True, True] Translation: X:540.43, Y:-142.05, Z:-4.15 [[ 8.36076504e-01 5.48606000e-01 2.74533970e-03 5.40431746e+02] [-5.48603182e-01 8.36081010e-01 -1.75852769e-03 -1.42051912e+02] [-3.26006523e-03 -3.58384129e-05 9.99994685e-01 -4.15351908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters 0.054700958822147976 Centerline is valid? [True, True] Translation: X:540.48, Y:-142.08, Z:-4.15 [[ 8.31876930e-01 5.54949523e-01 3.43512655e-03 5.40484643e+02] [-5.54945165e-01 8.31884019e-01 -2.20076314e-03 -1.42082150e+02] [-4.07893933e-03 -7.55427843e-05 9.99991678e-01 -4.15265012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters 0.05565814566343706 Centerline is valid? [True, True] Translation: X:540.54, Y:-142.11, Z:-4.15 [[ 8.27642691e-01 5.61247748e-01 2.92262656e-03 5.40539231e+02] [-5.61244633e-01 8.27647846e-01 -1.87232780e-03 -1.42107966e+02] [-3.46974534e-03 -9.06900523e-05 9.99993976e-01 -4.15397341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters 0.05521955574567173 Centerline is valid? [True, True] Translation: X:540.59, Y:-142.14, Z:-4.16 [[ 8.22955977e-01 5.68105110e-01 2.08215612e-04 5.40591325e+02] [-5.68105094e-01 8.22956004e-01 -1.33110523e-04 -1.42137278e+02] [-2.46973057e-04 -8.74424977e-06 9.99999969e-01 -4.15801299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters 0.05428598649136141 Centerline is valid? [True, True] Translation: X:540.64, Y:-142.18, Z:-4.16 [[ 8.22422999e-01 5.68876158e-01 -5.72137900e-04 5.40639084e+02] [-5.68876039e-01 8.22423198e-01 3.67615509e-04 -1.42177117e+02] [ 6.79667179e-04 2.31400926e-05 9.99999769e-01 -4.15827913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters 0.05467609216621028 Centerline is valid? [True, True] Translation: X:540.69, Y:-142.21, Z:-4.16 [[ 8.22655481e-01 5.68539858e-01 -6.23683134e-04 5.40690634e+02] [-5.68539717e-01 8.22655717e-01 4.00823553e-04 -1.42211131e+02] [ 7.40960662e-04 2.48489397e-05 9.99999725e-01 -4.15916764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters 0.05467609216621028 Centerline is valid? [True, True] Translation: X:540.74, Y:-142.24, Z:-4.16 [[ 8.22582775e-01 5.68645047e-01 -6.23567769e-04 5.40743286e+02] [-5.68644906e-01 8.22583011e-01 4.01003378e-04 -1.42244829e+02] [ 7.40964837e-04 2.47301640e-05 9.99999725e-01 -4.15962858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters 0.05429489615641783 Centerline is valid? [True, True] Translation: X:540.79, Y:-142.28, Z:-4.16 [[ 8.24259385e-01 5.66212009e-01 6.53427249e-04 5.40792306e+02] [-5.66211855e-01 8.24259644e-01 -4.18486274e-04 -1.42282455e+02] [-7.75545666e-04 -2.50370160e-05 9.99999699e-01 -4.15858744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters 0.05430244822540708 Centerline is valid? [True, True] Translation: X:540.84, Y:-142.32, Z:-4.16 [[ 8.26491407e-01 5.62948857e-01 7.33996264e-04 5.40841483e+02] [-5.62948661e-01 8.26491733e-01 -4.70554942e-04 -1.42319633e+02] [-8.71540211e-04 -2.42925972e-05 9.99999620e-01 -4.15903055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters 0.0542209948210369 Centerline is valid? [True, True] Translation: X:540.89, Y:-142.36, Z:-4.16 [[ 8.29581545e-01 5.58384928e-01 8.55610588e-04 5.40890036e+02] [-5.58384659e-01 8.29581986e-01 -5.48616399e-04 -1.42357144e+02] [-1.01613826e-03 -2.26377864e-05 9.99999483e-01 -4.15944541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters 0.05403010395072245 Centerline is valid? [True, True] Translation: X:540.94, Y:-142.40, Z:-4.16 [[ 8.36956006e-01 5.47269844e-01 6.01923746e-04 5.40935846e+02] [-5.47269708e-01 8.36956222e-01 -3.85538873e-04 -1.42397347e+02] [-7.14777624e-04 -6.73555787e-06 9.99999745e-01 -4.16091706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters 0.054592042380846695 Centerline is valid? [True, True] Translation: X:540.98, Y:-142.44, Z:-4.16 [[ 8.40561110e-01 5.41716674e-01 2.54574329e-04 5.40984683e+02] [-5.41716649e-01 8.40561149e-01 -1.62800249e-04 -1.42437151e+02] [-3.02176900e-04 -1.06359456e-06 9.99999954e-01 -4.16062534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters 0.05453717272268345 Centerline is valid? [True, True] Translation: X:541.03, Y:-142.48, Z:-4.16 [[ 8.45494264e-01 5.33984463e-01 2.03849936e-04 5.41031182e+02] [-5.33984448e-01 8.45494289e-01 -1.29902508e-04 -1.42478126e+02] [-2.41719878e-04 9.79130237e-07 9.99999971e-01 -4.16126584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters 0.054720320532934213 Centerline is valid? [True, True] Translation: X:541.08, Y:-142.52, Z:-4.16 [[ 8.49022433e-01 5.28352842e-01 2.04512653e-03 5.41079742e+02] [-5.28351213e-01 8.49024896e-01 -1.31236703e-03 -1.42516210e+02] [-2.42975619e-03 3.36839725e-05 9.99997048e-01 -4.15945755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters 0.05503254814744103 Centerline is valid? [True, True] Translation: X:541.13, Y:-142.55, Z:-4.16 [[ 8.50217634e-01 5.26423603e-01 2.85747514e-03 5.41129947e+02] [-5.26420413e-01 8.50222434e-01 -1.83352978e-03 -1.42551226e+02] [-3.39470282e-03 5.46661122e-05 9.99994236e-01 -4.15931914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters 0.05499807701403177 Centerline is valid? [True, True] Translation: X:541.18, Y:-142.59, Z:-4.16 [[ 8.50048743e-01 5.26695970e-01 2.91382124e-03 5.41180418e+02] [-5.26692652e-01 8.50053735e-01 -1.87036900e-03 -1.42586311e+02] [-3.46202044e-03 5.52165824e-05 9.99994006e-01 -4.16010285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters 0.054786057988864 Centerline is valid? [True, True] Translation: X:541.23, Y:-142.62, Z:-4.16 [[ 8.47486313e-01 5.30809099e-01 2.94092188e-03 5.41234406e+02] [-5.30805742e-01 8.47491415e-01 -1.88818253e-03 -1.42616390e+02] [-3.49467052e-03 3.91506275e-05 9.99993893e-01 -4.16079133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters 0.05397148212678323 Centerline is valid? [True, True] Translation: X:541.29, Y:-142.65, Z:-4.16 [[ 8.45096725e-01 5.34607670e-01 2.48262119e-03 5.41286863e+02] [-5.34605296e-01 8.45100372e-01 -1.59356344e-03 -1.42648705e+02] [-2.94999533e-03 1.94928133e-05 9.99995649e-01 -4.16215550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters 0.05357461310042334 Centerline is valid? [True, True] Translation: X:541.34, Y:-142.68, Z:-4.16 [[ 8.41900002e-01 5.39626164e-01 2.82656605e-03 5.41340679e+02] [-5.39623111e-01 8.41904747e-01 -1.81521480e-03 -1.42678414e+02] [-3.35923677e-03 2.94898412e-06 9.99994358e-01 -4.16357780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters 0.05300483351745503 Centerline is valid? [True, True] Translation: X:541.39, Y:-142.71, Z:-4.16 [[ 8.39570374e-01 5.43236578e-01 3.95057122e-03 5.41394671e+02] [-5.43230652e-01 8.39579668e-01 -2.53741683e-03 -1.42710796e+02] [-4.69523691e-03 -1.57313805e-05 9.99988977e-01 -4.16312916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters 0.052966959004167584 Centerline is valid? [True, True] Translation: X:541.45, Y:-142.74, Z:-4.16 [[ 8.38392411e-01 5.45047706e-01 4.60045054e-03 5.41446020e+02] [-5.45039691e-01 8.38405032e-01 -2.95594342e-03 -1.42744367e+02] [-5.46817106e-03 -2.91876123e-05 9.99985049e-01 -4.16376558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters 0.05225779246136586 Centerline is valid? [True, True] Translation: X:541.50, Y:-142.78, Z:-4.17 [[ 8.38043913e-01 5.45572461e-01 5.75238344e-03 5.41499766e+02] [-5.45559934e-01 8.38063654e-01 -3.69722874e-03 -1.42776715e+02] [-6.83796967e-03 -3.98298908e-05 9.99976620e-01 -4.16550961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters 0.05279914597631896 Centerline is valid? [True, True] Translation: X:541.55, Y:-142.81, Z:-4.17 [[ 8.38294422e-01 5.45189455e-01 5.56067580e-03 5.41551364e+02] [-5.45177738e-01 8.38312864e-01 -3.57441698e-03 -1.42810602e+02] [-6.61032050e-03 -3.51428445e-05 9.99978151e-01 -4.16773705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters 0.05286700765406624 Centerline is valid? [True, True] Translation: X:541.60, Y:-142.85, Z:-4.17 [[ 8.40246959e-01 5.42191183e-01 3.71072215e-03 5.41601896e+02] [-5.42185935e-01 8.40255153e-01 -2.38544528e-03 -1.42846235e+02] [-4.41132080e-03 -7.53821084e-06 9.99990270e-01 -4.17071651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters 0.052835046383317395 Centerline is valid? [True, True] Translation: X:541.65, Y:-142.88, Z:-4.17 [[ 8.42862169e-01 5.38117588e-01 3.58136714e-03 5.41653064e+02] [-5.38112664e-01 8.42869777e-01 -2.30215063e-03 -1.42883332e+02] [-4.25745387e-03 1.32166601e-05 9.99990937e-01 -4.17202793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters 0.05296887969344789 Centerline is valid? [True, True] Translation: X:541.70, Y:-142.92, Z:-4.17 [[ 8.45949958e-01 5.33249970e-01 3.62469694e-03 5.41702642e+02] [-5.33244877e-01 8.45957722e-01 -2.33102338e-03 -1.42920173e+02] [-4.30935852e-03 3.90780569e-05 9.99990714e-01 -4.17200725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters 0.053791394733998195 Centerline is valid? [True, True] Translation: X:541.75, Y:-142.96, Z:-4.17 [[ 8.49479661e-01 5.27598891e-01 4.86992202e-03 5.41752875e+02] [-5.27589603e-01 8.49493615e-01 -3.13202921e-03 -1.42955719e+02] [-5.78942280e-03 9.12748887e-05 9.99983237e-01 -4.17205730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters 0.0537363380832474 Centerline is valid? [True, True] Translation: X:541.80, Y:-142.99, Z:-4.17 [[ 8.51701431e-01 5.24006420e-01 4.68450188e-03 5.41804301e+02] [-5.23997767e-01 8.51714306e-01 -3.01352775e-03 -1.42989384e+02] [-5.56896516e-03 1.11957376e-04 9.99984487e-01 -4.17228059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters 0.0532230685945144 Centerline is valid? [True, True] Translation: X:541.86, Y:-143.02, Z:-4.17 [[ 8.52603681e-01 5.22541710e-01 4.13819354e-03 5.41856643e+02] [-5.22534941e-01 8.52613716e-01 -2.66198371e-03 -1.43021659e+02] [-4.91927809e-03 1.07266389e-04 9.99987895e-01 -4.17255536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters 0.05411919339707784 Centerline is valid? [True, True] Translation: X:541.91, Y:-143.06, Z:-4.17 [[ 8.52984853e-01 5.21920994e-01 3.91365942e-03 5.41908390e+02] [-5.21914929e-01 8.52993824e-01 -2.51833066e-03 -1.43056029e+02] [-4.65269696e-03 1.05500626e-04 9.99989171e-01 -4.17406737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters 0.053393199037408544 Centerline is valid? [True, True] Translation: X:541.96, Y:-143.08, Z:-4.17 [[ 8.52553713e-01 5.22633299e-01 2.56921745e-03 5.41964678e+02] [-5.22630690e-01 8.52557582e-01 -1.65289747e-03 -1.43082032e+02] [-3.05426508e-03 6.64319859e-05 9.99995334e-01 -4.17363148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters 0.053991661537875345 Centerline is valid? [True, True] Translation: X:542.02, Y:-143.11, Z:-4.17 [[ 8.51651916e-01 5.24094751e-01 3.70218530e-03 5.42018166e+02] [-5.24089341e-01 8.51659958e-01 -2.38291236e-03 -1.43114733e+02] [-4.40187483e-03 8.91360223e-05 9.99990308e-01 -4.17427571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters 0.0530747662337054 Centerline is valid? [True, True] Translation: X:542.07, Y:-143.14, Z:-4.17 [[ 8.50813294e-01 5.25457209e-01 3.38524965e-03 5.42071993e+02] [-5.25452696e-01 8.50820025e-01 -2.17908378e-03 -1.43143576e+02] [-4.02525348e-03 7.52048919e-05 9.99991896e-01 -4.17365164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters 0.05340404751936377 Centerline is valid? [True, True] Translation: X:542.13, Y:-143.18, Z:-4.17 [[ 8.50366883e-01 5.26164793e-01 5.17447221e-03 5.42125120e+02] [-5.26154253e-01 8.50382619e-01 -3.33221468e-03 -1.43176730e+02] [-6.15357528e-03 1.11034453e-04 9.99981060e-01 -4.17477146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters 0.05326313644012812 Centerline is valid? [True, True] Translation: X:542.18, Y:-143.20, Z:-4.17 [[ 8.50854746e-01 5.25369328e-01 5.76803675e-03 5.42182042e+02] [-5.25356209e-01 8.50874287e-01 -3.71512005e-03 -1.43201790e+02] [-6.85968428e-03 1.30753610e-04 9.99976464e-01 -4.17436581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters 0.053515491012934416 Centerline is valid? [True, True] Translation: X:542.23, Y:-143.24, Z:-4.17 [[ 8.51292412e-01 5.24657704e-01 5.96015113e-03 5.42232049e+02] [-5.24643671e-01 8.51313264e-01 -3.83984225e-03 -1.43238473e+02] [-7.08855853e-03 1.41872998e-04 9.99974866e-01 -4.17498178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters 0.053377512351961955 Centerline is valid? [True, True] Translation: X:542.29, Y:-143.27, Z:-4.18 [[ 8.51343028e-01 5.24579851e-01 5.57032032e-03 5.42286061e+02] [-5.24567590e-01 8.51361240e-01 -3.58907080e-03 -1.43270003e+02] [-6.62510905e-03 1.33520894e-04 9.99978045e-01 -4.17626283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters 0.05359630087066497 Centerline is valid? [True, True] Translation: X:542.34, Y:-143.30, Z:-4.18 [[ 8.50919336e-01 5.25270766e-01 5.18704916e-03 5.42342422e+02] [-5.25260141e-01 8.50935137e-01 -3.34317446e-03 -1.43298160e+02] [-6.16991420e-03 1.20221623e-04 9.99980959e-01 -4.17777629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters 0.053641040277432 Centerline is valid? [True, True] Translation: X:542.40, Y:-143.33, Z:-4.18 [[ 8.50557195e-01 5.25864408e-01 4.36846128e-03 5.42395359e+02] [-5.25856879e-01 8.50568407e-01 -2.81561200e-03 -1.43329645e+02] [-5.19630529e-03 9.76536244e-05 9.99986494e-01 -4.17835763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters 0.053212730678742 Centerline is valid? [True, True] Translation: X:542.45, Y:-143.36, Z:-4.18 [[ 8.49225085e-01 5.28008545e-01 4.87146362e-03 5.42450350e+02] [-5.27999212e-01 8.49239052e-01 -3.14078142e-03 -1.43357396e+02] [-5.79539657e-03 9.51014221e-05 9.99983202e-01 -4.17850806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters 0.05317927046636525 Centerline is valid? [True, True] Translation: X:542.50, Y:-143.39, Z:-4.18 [[ 8.47230793e-01 5.31205058e-01 4.60098997e-03 5.42501394e+02] [-5.31196777e-01 8.47243284e-01 -2.96687980e-03 -1.43389767e+02] [-5.47417941e-03 6.96008852e-05 9.99985014e-01 -4.17939343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters 0.053385245293374524 Centerline is valid? [True, True] Translation: X:542.56, Y:-143.42, Z:-4.18 [[ 8.45459938e-01 5.34009981e-01 5.55272537e-03 5.42555378e+02] [-5.33997977e-01 8.45478170e-01 -3.58104290e-03 -1.43420537e+02] [-6.60702073e-03 6.24841935e-05 9.99978171e-01 -4.17972715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters 0.05337734098543644 Centerline is valid? [True, True] Translation: X:542.61, Y:-143.45, Z:-4.18 [[ 8.41786297e-01 5.39772188e-01 6.46652460e-03 5.42611469e+02] [-5.39756074e-01 8.41811134e-01 -4.17084333e-03 -1.43448714e+02] [-7.69489763e-03 2.06128328e-05 9.99970394e-01 -4.17902358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters 0.053354053636277446 Centerline is valid? [True, True] Translation: X:542.67, Y:-143.48, Z:-4.18 [[ 8.38079769e-01 5.45505501e-01 6.78593267e-03 5.42666204e+02] [-5.45487933e-01 8.38107241e-01 -4.37805491e-03 -1.43477940e+02] [-8.07559234e-03 -3.24851382e-05 9.99967391e-01 -4.17887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters 0.0536195306187 Centerline is valid? [True, True] Translation: X:542.72, Y:-143.51, Z:-4.18 [[ 8.35823898e-01 5.48951435e-01 7.12276015e-03 5.42721864e+02] [-5.48932194e-01 8.35854244e-01 -4.59666821e-03 -1.43505559e+02] [-8.47693691e-03 -6.79072166e-05 9.99964068e-01 -4.17906586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters 0.0529055585888223 Centerline is valid? [True, True] Translation: X:542.78, Y:-143.53, Z:-4.18 [[ 8.32863076e-01 5.53440921e-01 6.49944102e-03 5.42776573e+02] [-5.53425029e-01 8.32888430e-01 -4.19533398e-03 -1.43534339e+02] [-7.73517872e-03 -1.02814574e-04 9.99970078e-01 -4.18000990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters 0.05362500416519956 Centerline is valid? [True, True] Translation: X:542.83, Y:-143.57, Z:-4.18 [[ 8.31205923e-01 5.55939270e-01 5.31432328e-03 5.42829436e+02] [-5.55928693e-01 8.31222905e-01 -3.43095583e-03 -1.43565916e+02] [-6.32479031e-03 -1.02553988e-04 9.99979993e-01 -4.18152355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters 0.05342164333497829 Centerline is valid? [True, True] Translation: X:542.88, Y:-143.60, Z:-4.18 [[ 8.30992931e-01 5.56264644e-01 4.51604814e-03 5.42880476e+02] [-5.56257007e-01 8.31005198e-01 -2.91608792e-03 -1.43600741e+02] [-5.37497608e-03 -8.88349732e-05 9.99985551e-01 -4.18187965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters 0.053636928062375126 Centerline is valid? [True, True] Translation: X:542.93, Y:-143.63, Z:-4.18 [[ 8.32165596e-01 5.54512329e-01 4.06178484e-03 5.42932433e+02] [-5.54506127e-01 8.32175506e-01 -2.62336107e-03 -1.43632923e+02] [-4.83480391e-03 -6.92137525e-05 9.99988310e-01 -4.18266418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters 0.053715975678850114 Centerline is valid? [True, True] Translation: X:542.98, Y:-143.67, Z:-4.18 [[ 8.34045585e-01 5.51679931e-01 4.14916948e-03 5.42982343e+02] [-5.51673420e-01 8.34055904e-01 -2.68074520e-03 -1.43666285e+02] [-4.93955263e-03 -5.31228189e-05 9.99987799e-01 -4.18277824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters 0.05341495972575869 Centerline is valid? [True, True] Translation: X:543.03, Y:-143.70, Z:-4.18 [[ 8.35733126e-01 5.49121159e-01 4.01198036e-03 5.43032950e+02] [-5.49115042e-01 8.35742755e-01 -2.59198096e-03 -1.43702227e+02] [-4.77629510e-03 -3.68344159e-05 9.99988593e-01 -4.18285496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters 0.05331732972383008 Centerline is valid? [True, True] Translation: X:543.08, Y:-143.74, Z:-4.18 [[ 8.37198606e-01 5.46885199e-01 3.88239087e-03 5.43084623e+02] [-5.46879446e-01 8.37207608e-01 -2.50857932e-03 -1.43735518e+02] [-4.62227208e-03 -2.30206512e-05 9.99989317e-01 -4.18412394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters 0.053267543413288876 Centerline is valid? [True, True] Translation: X:543.13, Y:-143.77, Z:-4.18 [[ 8.39271471e-01 5.43699363e-01 3.79477187e-03 5.43134829e+02] [-5.43693833e-01 8.39280050e-01 -2.45216881e-03 -1.43772609e+02] [-4.51811895e-03 -5.15874129e-06 9.99989793e-01 -4.18390965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters 0.05416382243805078 Centerline is valid? [True, True] Translation: X:543.19, Y:-143.81, Z:-4.18 [[ 8.40687906e-01 5.41510162e-01 3.25412375e-03 5.43185953e+02] [-5.41506077e-01 8.40694204e-01 -2.10328459e-03 -1.43808628e+02] [-3.87467296e-03 6.07812798e-06 9.99992493e-01 -4.18316290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters 0.05355295256895962 Centerline is valid? [True, True] Translation: X:543.24, Y:-143.84, Z:-4.18 [[ 8.42766101e-01 5.38273586e-01 2.61647433e-03 5.43236016e+02] [-5.38270929e-01 8.42770162e-01 -1.69142204e-03 -1.43844500e+02] [-3.11553430e-03 1.71010885e-05 9.99995147e-01 -4.18388140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters 0.05429165052442903 Centerline is valid? [True, True] Translation: X:543.29, Y:-143.88, Z:-4.18 [[ 8.45159591e-01 5.34506315e-01 2.87468989e-03 5.43286568e+02] [-5.34503086e-01 8.45164480e-01 -1.85844468e-03 -1.43878486e+02] [-3.42293620e-03 3.41517289e-05 9.99994141e-01 -4.18403558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters 0.05399619623918416 Centerline is valid? [True, True] Translation: X:543.34, Y:-143.91, Z:-4.18 [[ 8.47390753e-01 5.30964567e-01 2.35388863e-03 5.43336600e+02] [-5.30962386e-01 8.47394021e-01 -1.52236158e-03 -1.43914871e+02] [-2.80299121e-03 4.02088027e-05 9.99996071e-01 -4.18417769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters 0.05535104174786419 Centerline is valid? [True, True] Translation: X:543.39, Y:-143.95, Z:-4.18 [[ 8.50626962e-01 5.25764975e-01 2.22769735e-03 5.43385035e+02] [-5.25763004e-01 8.50629877e-01 -1.44089632e-03 -1.43952999e+02] [-2.65251874e-03 5.44244050e-05 9.99996481e-01 -4.18475863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters 0.0550073976678658 Centerline is valid? [True, True] Translation: X:543.44, Y:-143.99, Z:-4.18 [[ 8.52005741e-01 5.23528167e-01 2.11534020e-03 5.43437289e+02] [-5.23526384e-01 8.52008365e-01 -1.36776728e-03 -1.43985299e+02] [-2.51835225e-03 5.79091719e-05 9.99996827e-01 -4.18404742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters 0.055735472748882714 Centerline is valid? [True, True] Translation: X:543.49, Y:-144.02, Z:-4.18 [[ 8.52728906e-01 5.22350576e-01 1.81362268e-03 5.43488220e+02] [-5.22349261e-01 8.52730833e-01 -1.17333038e-03 -1.44020306e+02] [-2.15942178e-03 5.31882616e-05 9.99997667e-01 -4.18456975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters 0.055226198951853024 Centerline is valid? [True, True] Translation: X:543.55, Y:-144.04, Z:-4.18 [[ 8.51762191e-01 5.23926346e-01 1.53440803e-03 5.43547310e+02] [-5.23925407e-01 8.51763572e-01 -9.92762379e-04 -1.44042812e+02] [-1.82708723e-03 4.16821082e-05 9.99998330e-01 -4.18226512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters 0.05523268423945251 Centerline is valid? [True, True] Translation: X:543.60, Y:-144.08, Z:-4.18 [[ 8.49606754e-01 5.27416203e-01 7.15659072e-04 5.43597730e+02] [-5.27416000e-01 8.49607055e-01 -4.62973408e-04 -1.44076890e+02] [-8.52208674e-04 1.58952888e-05 9.99999637e-01 -4.18466425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters 0.054474881438489296 Centerline is valid? [True, True] Translation: X:543.65, Y:-144.11, Z:-4.19 [[ 8.47540117e-01 5.30731197e-01 3.82495716e-04 5.43648042e+02] [-5.30731139e-01 8.47540204e-01 -2.47332426e-04 -1.44111820e+02] [-4.55447532e-04 6.62176624e-06 9.99999896e-01 -4.18650899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters 0.05409897710939503 Centerline is valid? [True, True] Translation: X:543.70, Y:-144.14, Z:-4.19 [[ 8.43716116e-01 5.36789273e-01 6.26969830e-04 5.43699780e+02] [-5.36789119e-01 8.43716349e-01 -4.05691324e-04 -1.44142886e+02] [-7.46755446e-04 5.73772498e-06 9.99999721e-01 -4.18720763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters 0.054523940821171714 Centerline is valid? [True, True] Translation: X:543.76, Y:-144.17, Z:-4.19 [[ 8.39889874e-01 5.42756536e-01 5.85129580e-04 5.43755248e+02] [-5.42756405e-01 8.39890077e-01 -3.77797435e-04 -1.44171647e+02] [-6.96496556e-04 -2.74586905e-07 9.99999757e-01 -4.18611577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters 0.05453323175188102 Centerline is valid? [True, True] Translation: X:543.81, Y:-144.20, Z:-4.19 [[ 8.37521946e-01 5.46402641e-01 1.06924566e-03 5.43809000e+02] [-5.46402203e-01 8.37522629e-01 -6.91795991e-04 -1.44203788e+02] [-1.27351659e-03 -4.84385928e-06 9.99999189e-01 -4.18730619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters 0.054078815646849986 Centerline is valid? [True, True] Translation: X:543.86, Y:-144.24, Z:-4.19 [[ 8.35343955e-01 5.49725722e-01 1.45190371e-03 5.43862162e+02] [-5.49724920e-01 8.35345216e-01 -9.39282343e-04 -1.44235486e+02] [-1.72918848e-03 -1.35238212e-05 9.99998505e-01 -4.18717269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters 0.053571082567207495 Centerline is valid? [True, True] Translation: X:543.91, Y:-144.27, Z:-4.19 [[ 8.32521441e-01 5.53988839e-01 2.10157240e-03 5.43913738e+02] [-5.53987170e-01 8.32524093e-01 -1.36042944e-03 -1.44268078e+02] [-2.50327238e-03 -3.16574667e-05 9.99996866e-01 -4.18695738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters 0.05362057103294077 Centerline is valid? [True, True] Translation: X:543.97, Y:-144.30, Z:-4.19 [[ 8.30311884e-01 5.57293122e-01 2.55965200e-03 5.43967341e+02] [-5.57290658e-01 8.30315828e-01 -1.65796192e-03 -1.44298498e+02] [-3.04929035e-03 -4.98446641e-05 9.99995350e-01 -4.18691190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters 0.054234649840934 Centerline is valid? [True, True] Translation: X:544.02, Y:-144.33, Z:-4.19 [[ 8.29667785e-01 5.58252582e-01 2.32840175e-03 5.44020648e+02] [-5.58250548e-01 8.29671050e-01 -1.50782778e-03 -1.44329455e+02] [-2.77355627e-03 -4.88354193e-05 9.99996152e-01 -4.18836812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters 0.05411438044471851 Centerline is valid? [True, True] Translation: X:544.07, Y:-144.37, Z:-4.19 [[ 8.29093316e-01 5.59110249e-01 5.12151529e-05 5.44071140e+02] [-5.59110248e-01 8.29093318e-01 -3.22322812e-05 -1.44365209e+02] [-6.04835400e-05 -1.91134795e-06 9.99999998e-01 -4.19046699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters 0.053748619121413516 Centerline is valid? [True, True] Translation: X:544.12, Y:-144.40, Z:-4.19 [[ 8.29267677e-01 5.58851005e-01 -8.20725475e-04 5.44123706e+02] [-5.58850751e-01 8.29268083e-01 5.33188739e-04 -1.44400555e+02] [ 9.78574504e-04 1.65068606e-05 9.99999521e-01 -4.19164916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters 0.053853056479113086 Centerline is valid? [True, True] Translation: X:544.17, Y:-144.44, Z:-4.19 [[ 8.31168306e-01 5.56017944e-01 -1.81478239e-03 5.44172641e+02] [-5.56016700e-01 8.31170286e-01 1.17670983e-03 -1.44436862e+02] [ 2.16266498e-03 3.10053953e-05 9.99997661e-01 -4.19356735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters 0.05442696821170734 Centerline is valid? [True, True] Translation: X:544.22, Y:-144.48, Z:-4.19 [[ 8.33749072e-01 5.52138547e-01 -2.34754767e-03 5.44220641e+02] [-5.52136449e-01 8.33752376e-01 1.52227143e-03 -1.44475738e+02] [ 2.79777818e-03 2.69742475e-05 9.99996086e-01 -4.19257108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters 0.053797850404454055 Centerline is valid? [True, True] Translation: X:544.27, Y:-144.52, Z:-4.19 [[ 8.38232696e-01 5.45312182e-01 -7.55976893e-04 5.44266662e+02] [-5.45311962e-01 8.38233037e-01 4.90226003e-04 -1.44515903e+02] [ 9.01011018e-04 1.31977771e-06 9.99999594e-01 -4.19225724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters 0.05419762740052225 Centerline is valid? [True, True] Translation: X:544.32, Y:-144.55, Z:-4.19 [[ 8.42254275e-01 5.39080226e-01 4.95517570e-04 5.44315365e+02] [-5.39080131e-01 8.42254421e-01 -3.20406420e-04 -1.44554227e+02] [-5.90076630e-04 2.74000021e-06 9.99999826e-01 -4.18816647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters 0.05453472348326247 Centerline is valid? [True, True] Translation: X:544.36, Y:-144.59, Z:-4.19 [[ 8.44421203e-01 5.35679485e-01 5.65974176e-04 5.44363913e+02] [-5.35679360e-01 8.44421393e-01 -3.66723753e-04 -1.44593400e+02] [-6.74367093e-04 6.48862894e-06 9.99999773e-01 -4.19059992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters 0.0546568220919652 Centerline is valid? [True, True] Translation: X:544.41, Y:-144.63, Z:-4.19 [[ 8.47813292e-01 5.30294811e-01 1.86261773e-04 5.44410711e+02] [-5.30294797e-01 8.47813313e-01 -1.20478396e-04 -1.44631222e+02] [-2.21804279e-04 3.36953613e-06 9.99999975e-01 -4.19044188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters 0.05504767527949555 Centerline is valid? [True, True] Translation: X:544.46, Y:-144.67, Z:-4.19 [[ 8.50129173e-01 5.26573887e-01 -5.74882462e-04 5.44458348e+02] [-5.26573755e-01 8.50129367e-01 3.73020441e-04 -1.44670630e+02] [ 6.85147287e-04 -1.43975425e-05 9.99999765e-01 -4.19203144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters 0.05668458121163545 Centerline is valid? [True, True] Translation: X:544.51, Y:-144.71, Z:-4.19 [[ 8.52985893e-01 5.21931180e-01 -1.70592432e-03 5.44506644e+02] [-5.21930009e-01 8.52987597e-01 1.10669815e-03 -1.44708855e+02] [ 2.03275256e-03 -5.36248134e-05 9.99997933e-01 -4.19397134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters 0.05607727556570706 Centerline is valid? [True, True] Translation: X:544.56, Y:-144.74, Z:-4.19 [[ 8.53946347e-01 5.20358322e-01 -1.68921806e-03 5.44559479e+02] [-5.20357171e-01 8.53948016e-01 1.09612279e-03 -1.44741302e+02] [ 2.01288102e-03 -5.70333222e-05 9.99997973e-01 -4.19326815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters 0.05573509643589854 Centerline is valid? [True, True] Translation: X:544.61, Y:-144.77, Z:-4.19 [[ 8.53727915e-01 5.20718692e-01 -8.31797804e-04 5.44613607e+02] [-5.20718412e-01 8.53728319e-01 5.40643064e-04 -1.44770224e+02] [ 9.91652290e-04 -2.84296447e-05 9.99999508e-01 -4.19081680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters 0.055821940645434276 Centerline is valid? [True, True] Translation: X:544.66, Y:-144.80, Z:-4.19 [[ 8.52162563e-01 5.23276709e-01 -6.72116533e-04 5.44664672e+02] [-5.23276527e-01 8.52162828e-01 4.36367492e-04 -1.44804522e+02] [ 8.01093670e-04 -2.01532347e-05 9.99999679e-01 -4.19218963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters 0.055102798012322145 Centerline is valid? [True, True] Translation: X:544.72, Y:-144.83, Z:-4.19 [[ 8.48912209e-01 5.28533494e-01 -6.37494586e-04 5.44719529e+02] [-5.28533332e-01 8.48912448e-01 4.13899151e-04 -1.44832449e+02] [ 7.59936654e-04 -1.44269047e-05 9.99999711e-01 -4.19115496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters 0.054283229868788405 Centerline is valid? [True, True] Translation: X:544.77, Y:-144.86, Z:-4.19 [[ 8.43887273e-01 5.36520278e-01 -5.11975259e-04 5.44772493e+02] [-5.36520175e-01 8.43887428e-01 3.32291028e-04 -1.44860632e+02] [ 6.10330359e-04 -5.73111332e-06 9.99999814e-01 -4.19174654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters 0.05411384603673421 Centerline is valid? [True, True] Translation: X:544.83, Y:-144.89, Z:-4.19 [[ 8.37952573e-01 5.45741881e-01 -1.13353437e-03 5.44827492e+02] [-5.45741385e-01 8.37953339e-01 7.35974476e-04 -1.44888052e+02] [ 1.35150101e-03 1.90491178e-06 9.99999087e-01 -4.19240751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters 0.054475185860518895 Centerline is valid? [True, True] Translation: X:544.88, Y:-144.92, Z:-4.20 [[ 8.35835720e-01 5.48977850e-01 -1.40332767e-03 5.44881087e+02] [-5.48977094e-01 8.35836898e-01 9.11177353e-04 -1.44919275e+02] [ 1.67316923e-03 8.80016580e-06 9.99998600e-01 -4.19541957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters 0.054061501324058715 Centerline is valid? [True, True] Translation: X:544.94, Y:-144.95, Z:-4.20 [[ 8.30144885e-01 5.57545661e-01 -1.51830718e-03 5.44935788e+02] [-5.57544791e-01 8.30146273e-01 9.85547897e-04 -1.44947215e+02] [ 1.80990500e-03 2.83767135e-05 9.99998362e-01 -4.19592341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters 0.055712839815705115 Centerline is valid? [True, True] Translation: X:544.99, Y:-144.97, Z:-4.20 [[ 8.26698190e-01 5.62643864e-01 -1.40913867e-03 5.44992537e+02] [-5.62643121e-01 8.26699390e-01 9.14623784e-04 -1.44969028e+02] [ 1.67954154e-03 3.67243532e-05 9.99998589e-01 -4.19984197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters 0.05390172420919854 Centerline is valid? [True, True] Translation: X:545.04, Y:-145.01, Z:-4.20 [[ 8.22841092e-01 5.68270355e-01 -1.15811775e-03 5.45039623e+02] [-5.68269859e-01 8.22841906e-01 7.51751493e-04 -1.45007811e+02] [ 1.38014591e-03 3.95513923e-05 9.99999047e-01 -4.19571935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters 0.05510581710343247 Centerline is valid? [True, True] Translation: X:545.09, Y:-145.04, Z:-4.20 [[ 8.20733598e-01 5.71310503e-01 -8.18141350e-04 5.45091815e+02] [-5.71310257e-01 8.20734006e-01 5.31042569e-04 -1.45037757e+02] [ 9.74866624e-04 3.15680669e-05 9.99999524e-01 -4.19751404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters 0.05423740316789689 Centerline is valid? [True, True] Translation: X:545.14, Y:-145.07, Z:-4.20 [[ 8.20225616e-01 5.72038717e-01 -1.28237894e-03 5.45142647e+02] [-5.72038112e-01 8.20226617e-01 8.33441462e-04 -1.45074121e+02] [ 1.52860212e-03 4.99595920e-05 9.99998830e-01 -4.19827802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters 0.05441945272982044 Centerline is valid? [True, True] Translation: X:545.19, Y:-145.11, Z:-4.20 [[ 8.20614070e-01 5.71479356e-01 -1.97358042e-03 5.45194058e+02] [-5.71477921e-01 8.20616439e-01 1.28248370e-03 -1.45109512e+02] [ 2.35246549e-03 7.54334664e-05 9.99997230e-01 -4.20016091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters 0.052854989297799686 Centerline is valid? [True, True] Translation: X:545.23, Y:-145.16, Z:-4.20 [[ 8.22712508e-01 5.68448639e-01 -3.20526070e-03 5.45233712e+02] [-5.68444835e-01 8.22718745e-01 2.08235421e-03 -1.45161762e+02] [ 3.82073948e-03 1.08835034e-04 9.99992695e-01 -4.19598380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters 0.053555312960182504 Centerline is valid? [True, True] Translation: X:545.29, Y:-145.19, Z:-4.20 [[ 8.25087421e-01 5.64996867e-01 -3.04757315e-03 5.45289841e+02] [-5.64993402e-01 8.25093045e-01 1.98064031e-03 -1.45185487e+02] [ 3.63358698e-03 8.76573175e-05 9.99993395e-01 -4.20281724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters 0.052660432324856156 Centerline is valid? [True, True] Translation: X:545.33, Y:-145.23, Z:-4.20 [[ 8.30369621e-01 5.57210783e-01 -1.56087605e-03 5.45332108e+02] [-5.57209860e-01 8.30371088e-01 1.01417048e-03 -1.45232574e+02] [ 1.86121307e-03 2.75991647e-05 9.99998268e-01 -4.19958188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters 0.05251335737345078 Centerline is valid? [True, True] Translation: X:545.38, Y:-145.27, Z:-4.20 [[ 8.34430927e-01 5.51112272e-01 -5.40654649e-04 5.45378620e+02] [-5.51112160e-01 8.34431102e-01 3.51464176e-04 -1.45273612e+02] [ 6.44835275e-04 4.68877315e-06 9.99999792e-01 -4.19894987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters 0.0526415224890999 Centerline is valid? [True, True] Translation: X:545.42, Y:-145.32, Z:-4.20 [[ 8.40778337e-01 5.41379442e-01 2.95984582e-04 5.45422611e+02] [-5.41379408e-01 8.40778389e-01 -1.91428622e-04 -1.45317778e+02] [-3.52492961e-04 7.09080944e-07 9.99999938e-01 -4.20083453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters 0.05364724413568362 Centerline is valid? [True, True] Translation: X:545.47, Y:-145.36, Z:-4.20 [[ 8.46663934e-01 5.32127976e-01 -1.83508656e-05 5.45470056e+02] [-5.32127976e-01 8.46663934e-01 1.21599484e-05 -1.45358186e+02] [ 2.20076646e-05 -5.30380779e-07 1.00000000e+00 -4.19990010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters 0.053955760504357936 Centerline is valid? [True, True] Translation: X:545.52, Y:-145.39, Z:-4.20 [[ 8.49042044e-01 5.28325284e-01 -3.19426382e-05 5.45518612e+02] [-5.28325284e-01 8.49042045e-01 2.12113801e-05 -1.45394136e+02] [ 3.83271511e-05 -1.13325014e-06 9.99999999e-01 -4.20057560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters 0.05375996361440384 Centerline is valid? [True, True] Translation: X:545.57, Y:-145.43, Z:-4.20 [[ 8.49600009e-01 5.27427548e-01 7.76685299e-05 5.45570699e+02] [-5.27427546e-01 8.49600013e-01 -4.96751909e-05 -1.45427262e+02] [-9.21872483e-05 1.23952055e-06 9.99999996e-01 -4.20082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters 0.05400714508161236 Centerline is valid? [True, True] Translation: X:545.62, Y:-145.46, Z:-4.20 [[ 8.49876193e-01 5.26982342e-01 -2.61499726e-04 5.45622330e+02] [-5.26982314e-01 8.49876233e-01 1.70551552e-04 -1.45462538e+02] [ 3.12120058e-04 -7.14197264e-06 9.99999951e-01 -4.20197817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters 0.0540961425812437 Centerline is valid? [True, True] Translation: X:545.67, Y:-145.50, Z:-4.20 [[ 8.50524549e-01 5.25934583e-01 -8.98012047e-04 5.45671518e+02] [-5.25934259e-01 8.50525022e-01 5.84422985e-04 -1.45498319e+02] [ 1.07114998e-03 -2.47707955e-05 9.99999426e-01 -4.20331911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters 0.054769366023342037 Centerline is valid? [True, True] Translation: X:545.73, Y:-145.53, Z:-4.20 [[ 8.50457277e-01 5.26044030e-01 -3.13253736e-04 5.45725623e+02] [-5.26043990e-01 8.50457335e-01 2.04740055e-04 -1.45529964e+02] [ 3.74111221e-04 -9.33742435e-06 9.99999930e-01 -4.20336500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters 0.05402904728179869 Centerline is valid? [True, True] Translation: X:545.78, Y:-145.56, Z:-4.20 [[ 8.48971587e-01 5.28437591e-01 9.78210829e-04 5.45782112e+02] [-5.28437209e-01 8.48972150e-01 -6.36039361e-04 -1.45556589e+02] [-1.16658086e-03 2.30563455e-05 9.99999319e-01 -4.20211847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters 0.0541742793050302 Centerline is valid? [True, True] Translation: X:545.83, Y:-145.59, Z:-4.20 [[ 8.47337943e-01 5.31052623e-01 1.23363197e-03 5.45832014e+02] [-5.31052018e-01 8.47338840e-01 -8.02189413e-04 -1.45590453e+02] [-1.47130908e-03 2.46027785e-05 9.99998917e-01 -4.20301440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters 0.05369441619738887 Centerline is valid? [True, True] Translation: X:545.89, Y:-145.62, Z:-4.20 [[ 8.43485786e-01 5.37149159e-01 1.58455344e-03 5.45885614e+02] [-5.37148170e-01 8.43487274e-01 -1.03062121e-03 -1.45617750e+02] [-1.89014798e-03 1.81743604e-05 9.99998214e-01 -4.20444875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters 0.05382869171782079 Centerline is valid? [True, True] Translation: X:545.94, Y:-145.64, Z:-4.20 [[ 8.40349919e-01 5.42042777e-01 1.28112538e-03 5.45943299e+02] [-5.42042137e-01 8.40350896e-01 -8.32512428e-04 -1.45643474e+02] [-1.52785221e-03 5.17781365e-06 9.99998833e-01 -4.20341344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters 0.0535083571394118 Centerline is valid? [True, True] Translation: X:546.00, Y:-145.67, Z:-4.21 [[ 8.35244690e-01 5.49878351e-01 -3.27659712e-04 5.45998355e+02] [-5.49878309e-01 8.35244754e-01 2.14213059e-04 -1.45671369e+02] [ 3.91467179e-04 1.25264896e-06 9.99999923e-01 -4.20597856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters 0.053340725075108175 Centerline is valid? [True, True] Translation: X:546.05, Y:-145.70, Z:-4.21 [[ 8.30407260e-01 5.57154790e-01 -1.52412762e-03 5.46052187e+02] [-5.57153905e-01 8.30408658e-01 9.92928878e-04 -1.45700231e+02] [ 1.81886385e-03 2.46383081e-05 9.99998346e-01 -4.20670231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters 0.05340954995821101 Centerline is valid? [True, True] Translation: X:546.10, Y:-145.73, Z:-4.21 [[ 8.27554953e-01 5.61381945e-01 -1.76410558e-03 5.46103795e+02] [-5.61380770e-01 8.27556832e-01 1.14950033e-03 -1.45733151e+02] [ 2.10520635e-03 3.90602595e-05 9.99997783e-01 -4.20596165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters 0.053238408217325214 Centerline is valid? [True, True] Translation: X:546.16, Y:-145.76, Z:-4.21 [[ 8.24318286e-01 5.66124073e-01 -1.70226253e-03 5.46156585e+02] [-5.66122989e-01 8.24320042e-01 1.10878635e-03 -1.45763429e+02] [ 2.03091977e-03 4.96970876e-05 9.99997936e-01 -4.20713441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters 0.05248524206309595 Centerline is valid? [True, True] Translation: X:546.21, Y:-145.80, Z:-4.21 [[ 8.22997856e-01 5.68041130e-01 -1.95016759e-03 5.46207807e+02] [-5.68039712e-01 8.23000164e-01 1.27100863e-03 -1.45796999e+02] [ 2.32697342e-03 6.17352584e-05 9.99997291e-01 -4.20691259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters 0.053154228860050654 Centerline is valid? [True, True] Translation: X:546.26, Y:-145.83, Z:-4.21 [[ 8.22252950e-01 5.69116200e-01 -2.61494598e-03 5.46259515e+02] [-5.69113657e-01 8.22257103e-01 1.70363907e-03 -1.45828513e+02] [ 3.11972650e-03 8.73792157e-05 9.99995130e-01 -4.20886132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters 0.053096260905306975 Centerline is valid? [True, True] Translation: X:546.31, Y:-145.87, Z:-4.21 [[ 8.22669176e-01 5.68512106e-01 -3.06798282e-03 5.46307555e+02] [-5.68508597e-01 8.22674891e-01 1.99983418e-03 -1.45868467e+02] [ 3.66088237e-03 9.89726710e-05 9.99993294e-01 -4.20780692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters 0.052939038514688896 Centerline is valid? [True, True] Translation: X:546.36, Y:-145.90, Z:-4.21 [[ 8.23521696e-01 5.67275312e-01 -3.27675678e-03 5.46358195e+02] [-5.67271297e-01 8.23528209e-01 2.13637656e-03 -1.45904707e+02] [ 3.91041532e-03 9.94576222e-05 9.99992349e-01 -4.20769604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters 0.052836727095690136 Centerline is valid? [True, True] Translation: X:546.41, Y:-145.94, Z:-4.21 [[ 8.24967806e-01 5.65170154e-01 -3.28881343e-03 5.46407795e+02] [-5.65166096e-01 8.24974356e-01 2.14356999e-03 -1.45941834e+02] [ 3.92466852e-03 9.03496094e-05 9.99992294e-01 -4.20725958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters 0.05260751426890985 Centerline is valid? [True, True] Translation: X:546.46, Y:-145.98, Z:-4.21 [[ 8.27172741e-01 5.61941645e-01 -2.61619239e-03 5.46457221e+02] [-5.61939059e-01 8.27176876e-01 1.70563122e-03 -1.45977449e+02] [ 3.12251906e-03 5.92890361e-05 9.99995123e-01 -4.20773264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters 0.05273824625439511 Centerline is valid? [True, True] Translation: X:546.51, Y:-146.02, Z:-4.21 [[ 8.29239783e-01 5.58889050e-01 -2.10058627e-03 5.46506397e+02] [-5.58887373e-01 8.29242443e-01 1.36951070e-03 -1.46015277e+02] [ 2.50729982e-03 3.83383850e-05 9.99996856e-01 -4.20762532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters 0.052778880624520234 Centerline is valid? [True, True] Translation: X:546.55, Y:-146.05, Z:-4.21 [[ 8.32713319e-01 5.53701824e-01 -1.67902421e-03 5.46554642e+02] [-5.53700741e-01 8.32715011e-01 1.09496877e-03 -1.46052132e+02] [ 2.00443486e-03 1.78818736e-05 9.99997991e-01 -4.20780143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters 0.0530149346304595 Centerline is valid? [True, True] Translation: X:546.61, Y:-146.09, Z:-4.21 [[ 8.34775310e-01 5.50588446e-01 -1.59545427e-03 5.46605343e+02] [-5.50587461e-01 8.34776835e-01 1.04131314e-03 -1.46087083e+02] [ 1.90518325e-03 9.17461562e-06 9.99998185e-01 -4.21051339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters 0.05346191753672727 Centerline is valid? [True, True] Translation: X:546.65, Y:-146.13, Z:-4.21 [[ 8.38350768e-01 5.45129779e-01 -1.23038682e-03 5.46654403e+02] [-5.45129188e-01 8.38351671e-01 8.02912830e-04 -1.46125374e+02] [ 1.46918854e-03 -2.40281880e-06 9.99998921e-01 -4.21006876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters 0.05386499132264879 Centerline is valid? [True, True] Translation: X:546.70, Y:-146.16, Z:-4.21 [[ 8.42840942e-01 5.38162730e-01 -1.46698072e-04 5.46704506e+02] [-5.38162722e-01 8.42840955e-01 9.62037010e-05 -1.46162132e+02] [ 1.75416389e-04 -2.13698419e-06 9.99999985e-01 -4.20930537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters 0.05334513079818484 Centerline is valid? [True, True] Translation: X:546.75, Y:-146.20, Z:-4.21 [[ 8.46516005e-01 5.32363266e-01 8.26508385e-05 5.46753212e+02] [-5.32363263e-01 8.46516009e-01 -5.34646631e-05 -1.46197445e+02] [-9.84278808e-05 1.25842292e-06 9.99999995e-01 -4.20852831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters 0.05479577372887577 Centerline is valid? [True, True] Translation: X:546.80, Y:-146.23, Z:-4.21 [[ 8.52573102e-01 5.22607983e-01 -4.58020446e-05 5.46800430e+02] [-5.22607982e-01 8.52573103e-01 3.02416798e-05 -1.46234868e+02] [ 5.48541343e-05 -1.84672862e-06 9.99999998e-01 -4.20898000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters 0.05523950487913412 Centerline is valid? [True, True] Translation: X:546.85, Y:-146.26, Z:-4.21 [[ 8.56351169e-01 5.16392834e-01 1.05634290e-03 5.46854624e+02] [-5.16392376e-01 8.56351820e-01 -6.88863062e-04 -1.46264906e+02] [-1.26032512e-03 4.44212680e-05 9.99999205e-01 -4.20869547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters 0.05591902083845066 Centerline is valid? [True, True] Translation: X:546.91, Y:-146.30, Z:-4.21 [[ 8.59575837e-01 5.11008099e-01 3.19800630e-04 5.46905858e+02] [-5.11008057e-01 8.59575897e-01 -2.08249174e-04 -1.46296249e+02] [-3.81309928e-04 1.55852592e-05 9.99999927e-01 -4.20910589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters 0.05626869004332423 Centerline is valid? [True, True] Translation: X:546.96, Y:-146.33, Z:-4.21 [[ 8.60158596e-01 5.10026521e-01 3.70460039e-04 5.46960583e+02] [-5.10026464e-01 8.60158676e-01 -2.41508183e-04 -1.46325856e+02] [-4.41829995e-04 1.87909157e-05 9.99999902e-01 -4.20980943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters 0.05525545971473234 Centerline is valid? [True, True] Translation: X:547.02, Y:-146.35, Z:-4.21 [[ 8.59457028e-01 5.11204814e-01 1.80434738e-03 5.47017335e+02] [-5.11203466e-01 8.59458917e-01 -1.17721600e-03 -1.46350965e+02] [-2.15256094e-03 8.93779285e-05 9.99997679e-01 -4.20920802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters 0.05651646755457357 Centerline is valid? [True, True] Translation: X:547.07, Y:-146.39, Z:-4.21 [[ 8.57907705e-01 5.13798344e-01 2.37316671e-03 5.47066937e+02] [-5.13796022e-01 8.57910980e-01 -1.54844981e-03 -1.46387534e+02] [-2.83155672e-03 1.09103404e-04 9.99995985e-01 -4.20982198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters 0.0562633132756066 Centerline is valid? [True, True] Translation: X:547.12, Y:-146.41, Z:-4.21 [[ 8.54187448e-01 5.19954978e-01 3.25952102e-03 5.47123061e+02] [-5.19950642e-01 8.54193659e-01 -2.12698376e-03 -1.46412741e+02] [-3.89019798e-03 1.22052783e-04 9.99992426e-01 -4.21014822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters 0.05511492385585469 Centerline is valid? [True, True] Translation: X:547.18, Y:-146.43, Z:-4.21 [[ 8.49504824e-01 5.27570753e-01 3.26401460e-03 5.47182133e+02] [-5.27566460e-01 8.49511090e-01 -2.13011729e-03 -1.46431962e+02] [-3.89660419e-03 8.75602849e-05 9.99992404e-01 -4.21029109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters 0.05539536381355769 Centerline is valid? [True, True] Translation: X:547.24, Y:-146.46, Z:-4.21 [[ 8.46356318e-01 5.32608540e-01 3.02090798e-03 5.47237043e+02] [-5.32604894e-01 8.46361708e-01 -1.97141589e-03 -1.46458946e+02] [-3.60677378e-03 5.95699128e-05 9.99993494e-01 -4.21140781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters 0.05494171787750343 Centerline is valid? [True, True] Translation: X:547.29, Y:-146.49, Z:-4.21 [[ 8.44867019e-01 5.34970050e-01 2.60100170e-03 5.47290542e+02] [-5.34967359e-01 8.44871022e-01 -1.69735741e-03 -1.46490224e+02] [-3.10554635e-03 4.25902870e-05 9.99995177e-01 -4.21219561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters 0.05562164346535783 Centerline is valid? [True, True] Translation: X:547.35, Y:-146.51, Z:-4.21 [[ 8.41149767e-01 5.40800191e-01 1.49094588e-03 5.47349748e+02] [-5.40799316e-01 8.41151088e-01 -9.72993376e-04 -1.46512897e+02] [-1.78030575e-03 1.21306394e-05 9.99998415e-01 -4.21201980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters 0.05510984511652718 Centerline is valid? [True, True] Translation: X:547.41, Y:-146.54, Z:-4.21 [[ 8.39087972e-01 5.43994730e-01 1.05338612e-03 5.47405148e+02] [-5.43994296e-01 8.39088633e-01 -6.86785928e-04 -1.46540324e+02] [-1.25749224e-03 3.23777289e-06 9.99999209e-01 -4.21444212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters 0.054960499155252654 Centerline is valid? [True, True] Translation: X:547.46, Y:-146.57, Z:-4.21 [[ 8.38793163e-01 5.44449387e-01 9.45712972e-04 5.47461040e+02] [-5.44449038e-01 8.38793696e-01 -6.17027576e-04 -1.46569810e+02] [-1.12919837e-03 2.66599415e-06 9.99999362e-01 -4.21288936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters 0.05586096990042213 Centerline is valid? [True, True] Translation: X:547.52, Y:-146.60, Z:-4.22 [[ 8.39225825e-01 5.43783049e-01 -9.90946406e-05 5.47515058e+02] [-5.43783045e-01 8.39225831e-01 6.57022650e-05 -1.46598511e+02] [ 1.18890560e-04 -1.25305218e-06 9.99999993e-01 -4.21504708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters 0.055554844133947144 Centerline is valid? [True, True] Translation: X:547.57, Y:-146.63, Z:-4.21 [[ 8.39906081e-01 5.42731219e-01 -7.74311155e-04 5.47568790e+02] [-5.42730982e-01 8.39906438e-01 5.06925579e-04 -1.46629249e+02] [ 9.25473261e-04 -5.52722296e-06 9.99999572e-01 -4.21388116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters 0.056253880995883826 Centerline is valid? [True, True] Translation: X:547.62, Y:-146.66, Z:-4.21 [[ 8.40778470e-01 5.41379255e-01 -2.57412684e-04 5.47622788e+02] [-5.41379228e-01 8.40778510e-01 1.69323274e-04 -1.46660256e+02] [ 3.08095160e-04 -3.00548315e-06 9.99999953e-01 -4.21363545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters 0.0561078163562325 Centerline is valid? [True, True] Translation: X:547.68, Y:-146.69, Z:-4.21 [[ 8.41104299e-01 5.40872607e-01 6.17673857e-04 5.47676354e+02] [-5.40872457e-01 8.41104525e-01 -4.03335361e-04 -1.46692421e+02] [-7.37681325e-04 5.16432907e-06 9.99999728e-01 -4.21324414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters 0.0559377944914507 Centerline is valid? [True, True] Translation: X:547.73, Y:-146.72, Z:-4.21 [[ 8.41286609e-01 5.40588979e-01 6.29887757e-04 5.47729797e+02] [-5.40588822e-01 8.41286845e-01 -4.11345014e-04 -1.46724674e+02] [-7.52284865e-04 5.54877191e-06 9.99999717e-01 -4.21422491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters 0.0561353340124271 Centerline is valid? [True, True] Translation: X:547.78, Y:-146.75, Z:-4.21 [[ 8.41323541e-01 5.40531847e-01 -1.47493670e-04 5.47784684e+02] [-5.40531838e-01 8.41323554e-01 9.74686790e-05 -1.46754491e+02] [ 1.76774824e-04 -2.27766960e-06 9.99999984e-01 -4.21226929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters 0.055289269001785366 Centerline is valid? [True, True] Translation: X:547.83, Y:-146.79, Z:-4.22 [[ 8.41123925e-01 5.40842372e-01 2.67084855e-04 5.47834330e+02] [-5.40842344e-01 8.41123967e-01 -1.73646334e-04 -1.46789768e+02] [-3.18566768e-04 1.60728722e-06 9.99999949e-01 -4.21694621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters 0.05638491049318142 Centerline is valid? [True, True] Translation: X:547.89, Y:-146.82, Z:-4.22 [[ 8.39920346e-01 5.42708768e-01 1.00290211e-03 5.47888522e+02] [-5.42708372e-01 8.39920944e-01 -6.55545573e-04 -1.46821363e+02] [-1.19812882e-03 6.32269368e-06 9.99999282e-01 -4.21673613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters 0.05622992390110692 Centerline is valid? [True, True] Translation: X:547.94, Y:-146.85, Z:-4.22 [[ 8.37214942e-01 5.46871359e-01 1.69049637e-03 5.47941387e+02] [-5.46870242e-01 8.37216649e-01 -1.10518641e-03 -1.46852310e+02] [-2.01970650e-03 7.96416472e-07 9.99997960e-01 -4.21540632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters 0.055366692372981335 Centerline is valid? [True, True] Translation: X:547.99, Y:-146.88, Z:-4.22 [[ 8.34704579e-01 5.50694918e-01 1.83659074e-03 5.47994304e+02] [-5.50693609e-01 8.34706599e-01 -1.20095777e-03 -1.46884440e+02] [-2.19437575e-03 -8.95383383e-06 9.99997592e-01 -4.21780430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters 0.05549802918459232 Centerline is valid? [True, True] Translation: X:548.05, Y:-146.91, Z:-4.22 [[ 8.30188675e-01 5.57479137e-01 1.94345045e-03 5.48048438e+02] [-5.57477688e-01 8.30190949e-01 -1.27117386e-03 -1.46911392e+02] [-2.32208788e-03 -2.81161185e-05 9.99997304e-01 -4.21979001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters 0.05567430707610713 Centerline is valid? [True, True] Translation: X:548.10, Y:-146.94, Z:-4.22 [[ 8.25345941e-01 5.64624862e-01 1.68588853e-03 5.48102433e+02] [-5.64623786e-01 8.25347662e-01 -1.10301611e-03 -1.46939129e+02] [-2.01423448e-03 -4.15228949e-05 9.99997971e-01 -4.22033165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters 0.055216809775254845 Centerline is valid? [True, True] Translation: X:548.15, Y:-146.98, Z:-4.22 [[ 8.22641779e-01 5.68555501e-01 2.26837738e-03 5.48150934e+02] [-5.68553568e-01 8.22644904e-01 -1.48408651e-03 -1.46976633e+02] [-2.70985464e-03 -6.88224876e-05 9.99996326e-01 -4.21901627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters 0.05602907318994725 Centerline is valid? [True, True] Translation: X:548.20, Y:-147.00, Z:-4.22 [[ 8.19523610e-01 5.73039750e-01 2.54887264e-03 5.48204388e+02] [-5.73037332e-01 8.19527569e-01 -1.66748849e-03 -1.47004032e+02] [-3.04440858e-03 -9.40529847e-05 9.99995361e-01 -4.22056177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters 0.057177010278360765 Centerline is valid? [True, True] Translation: X:548.26, Y:-147.03, Z:-4.22 [[ 8.18296209e-01 5.74789868e-01 2.81461590e-03 5.48257881e+02] [-5.74786929e-01 8.18301042e-01 -1.84160686e-03 -1.47032805e+02] [-3.36174008e-03 -1.10824518e-04 9.99994343e-01 -4.22171325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters 0.05495722877246488 Centerline is valid? [True, True] Translation: X:548.30, Y:-147.08, Z:-4.22 [[ 8.17460757e-01 5.75975883e-01 3.11355311e-03 5.48303811e+02] [-5.75972295e-01 8.17466676e-01 -2.03695586e-03 -1.47075317e+02] [-3.71846336e-03 -1.28188853e-04 9.99993078e-01 -4.22136598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters 0.056292101689355355 Centerline is valid? [True, True] Translation: X:548.36, Y:-147.11, Z:-4.22 [[ 8.17302857e-01 5.76202768e-01 2.53177852e-03 5.48356153e+02] [-5.76200396e-01 8.17306772e-01 -1.65663170e-03 -1.47106147e+02] [-3.02379550e-03 -1.04841967e-04 9.99995423e-01 -4.22363337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters 0.05425089543791496 Centerline is valid? [True, True] Translation: X:548.40, Y:-147.15, Z:-4.22 [[ 8.17472161e-01 5.75962719e-01 2.49264049e-03 5.48401207e+02] [-5.75960417e-01 8.17475955e-01 -1.63155352e-03 -1.47151619e+02] [-2.97738767e-03 -1.01912675e-04 9.99995562e-01 -4.22355376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters 0.054690996567725234 Centerline is valid? [True, True] Translation: X:548.45, Y:-147.19, Z:-4.23 [[ 8.17697990e-01 5.75644293e-01 1.90920807e-03 5.48452671e+02] [-5.75642942e-01 8.17700215e-01 -1.24926646e-03 -1.47185424e+02] [-2.28029296e-03 -7.74994760e-05 9.99997397e-01 -4.22553605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters 0.05437682867814008 Centerline is valid? [True, True] Translation: X:548.50, Y:-147.23, Z:-4.23 [[ 8.18161892e-01 5.74985875e-01 1.53701835e-03 5.48499661e+02] [-5.74984999e-01 8.18163333e-01 -1.00577768e-03 -1.47226860e+02] [-1.83584002e-03 -6.08735206e-05 9.99998313e-01 -4.22609013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters 0.054079792706366495 Centerline is valid? [True, True] Translation: X:548.55, Y:-147.26, Z:-4.23 [[ 8.18856048e-01 5.73997395e-01 1.32773002e-03 5.48548962e+02] [-5.73996739e-01 8.18857123e-01 -8.69347465e-04 -1.47262009e+02] [-1.58622436e-03 -5.02422709e-05 9.99998741e-01 -4.22761982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters 0.05348629356946497 Centerline is valid? [True, True] Translation: X:548.60, Y:-147.30, Z:-4.23 [[ 8.19940177e-01 5.72445288e-01 2.12122779e-03 5.48595468e+02] [-5.72443606e-01 8.19942917e-01 -1.38945331e-03 -1.47302505e+02] [-2.53467170e-03 -7.50146921e-05 9.99996785e-01 -4.22676762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters 0.053196765917548156 Centerline is valid? [True, True] Translation: X:548.64, Y:-147.35, Z:-4.23 [[ 8.22256840e-01 5.69106546e-01 3.38064007e-03 5.48639457e+02] [-5.69102247e-01 8.22263783e-01 -2.21444064e-03 -1.47347128e+02] [-4.04003056e-03 -1.03090895e-04 9.99991834e-01 -4.22536074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters 0.05240702302593953 Centerline is valid? [True, True] Translation: X:548.68, Y:-147.39, Z:-4.23 [[ 8.24065050e-01 5.66486183e-01 3.19322725e-03 5.48684414e+02] [-5.66482327e-01 8.24071233e-01 -2.09202809e-03 -1.47388406e+02] [-3.81655172e-03 -8.49395712e-05 9.99992713e-01 -4.22536075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters 0.05275317345901191 Centerline is valid? [True, True] Translation: X:548.73, Y:-147.43, Z:-4.23 [[ 8.26880657e-01 5.62367044e-01 3.41861527e-03 5.48732368e+02] [-5.62362589e-01 8.26887721e-01 -2.23967663e-03 -1.47426253e+02] [-4.08633131e-03 -7.05560517e-05 9.99991648e-01 -4.22752610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters 0.052084918869470136 Centerline is valid? [True, True] Translation: X:548.78, Y:-147.47, Z:-4.23 [[ 8.29022345e-01 5.59202795e-01 3.76639531e-03 5.48778344e+02] [-5.59197354e-01 8.29030898e-01 -2.46761627e-03 -1.47469114e+02] [-4.50235600e-03 -6.04492660e-05 9.99989863e-01 -4.22773691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters 0.05237600520743353 Centerline is valid? [True, True] Translation: X:548.83, Y:-147.50, Z:-4.23 [[ 8.30280643e-01 5.57337953e-01 2.90844588e-03 5.48828942e+02] [-5.57334698e-01 8.30285737e-01 -1.90520370e-03 -1.47503750e+02] [-3.47668346e-03 -3.91240538e-05 9.99993956e-01 -4.22976334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters 0.052273952625202715 Centerline is valid? [True, True] Translation: X:548.88, Y:-147.55, Z:-4.23 [[ 8.31614006e-01 5.55348344e-01 2.52216032e-03 5.48875593e+02] [-5.55345886e-01 8.31617831e-01 -1.65264057e-03 -1.47545581e+02] [-3.01526470e-03 -2.63123123e-05 9.99995454e-01 -4.22929485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters 0.05206823755657481 Centerline is valid? [True, True] Translation: X:548.92, Y:-147.58, Z:-4.23 [[ 8.32920084e-01 5.53388333e-01 2.34226585e-03 5.48923969e+02] [-5.53386206e-01 8.32923377e-01 -1.53464801e-03 -1.47584188e+02] [-2.80018428e-03 -1.79384595e-05 9.99996079e-01 -4.23073325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters 0.05251882134952387 Centerline is valid? [True, True] Translation: X:548.97, Y:-147.62, Z:-4.23 [[ 8.34086377e-01 5.51626763e-01 2.79812846e-03 5.48971594e+02] [-5.51623715e-01 8.34091070e-01 -1.83398927e-03 -1.47624921e+02] [-3.34557153e-03 -1.38085513e-05 9.99994403e-01 -4.22954518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters 0.051800844088297944 Centerline is valid? [True, True] Translation: X:549.02, Y:-147.66, Z:-4.23 [[ 8.34753187e-01 5.50611169e-01 3.80225924e-03 5.49019283e+02] [-5.50605525e-01 8.34761847e-01 -2.49307710e-03 -1.47664918e+02] [-4.54669704e-03 -1.24408925e-05 9.99989664e-01 -4.23024142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters 0.05143300358344745 Centerline is valid? [True, True] Translation: X:549.07, Y:-147.70, Z:-4.23 [[ 8.34064994e-01 5.51653189e-01 3.78737003e-03 5.49068591e+02] [-5.51647598e-01 8.34073593e-01 -2.48375551e-03 -1.47702002e+02] [-4.52911698e-03 -1.76800485e-05 9.99989743e-01 -4.23231756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters 0.05137117026994004 Centerline is valid? [True, True] Translation: X:549.12, Y:-147.74, Z:-4.23 [[ 8.32834035e-01 5.53509317e-01 3.86090192e-03 5.49118665e+02] [-5.53503523e-01 8.32842984e-01 -2.53268960e-03 -1.47738979e+02] [-4.61739236e-03 -2.77127132e-05 9.99989339e-01 -4.23169469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters 0.050992047495891125 Centerline is valid? [True, True] Translation: X:549.17, Y:-147.77, Z:-4.23 [[ 8.30668093e-01 5.56756025e-01 3.63982366e-03 5.49169354e+02] [-5.56750904e-01 8.30676066e-01 -2.38819520e-03 -1.47774437e+02] [-4.35315647e-03 -4.26775600e-05 9.99990524e-01 -4.23248593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters 0.05097793233737025 Centerline is valid? [True, True] Translation: X:549.22, Y:-147.81, Z:-4.23 [[ 8.29456644e-01 5.58556425e-01 4.04929695e-03 5.49220179e+02] [-5.58550105e-01 8.29466526e-01 -2.65760890e-03 -1.47810068e+02] [-4.84318080e-03 -5.73638774e-05 9.99988270e-01 -4.23274538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters 0.05114354751053459 Centerline is valid? [True, True] Translation: X:549.27, Y:-147.84, Z:-4.23 [[ 8.28792533e-01 5.59540143e-01 4.21487217e-03 5.49271268e+02] [-5.59533305e-01 8.28803248e-01 -2.76703467e-03 -1.47844139e+02] [-5.04156672e-03 -6.50636848e-05 9.99987289e-01 -4.23326915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters 0.051075151480541585 Centerline is valid? [True, True] Translation: X:549.33, Y:-147.88, Z:-4.23 [[ 8.28879863e-01 5.59412561e-01 3.96983054e-03 5.49325617e+02] [-5.59406490e-01 8.28889367e-01 -2.60691442e-03 -1.47875104e+02] [-4.74889100e-03 -5.99301000e-05 9.99988722e-01 -4.23493480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters 0.05170269836310754 Centerline is valid? [True, True] Translation: X:549.38, Y:-147.91, Z:-4.24 [[ 8.29428718e-01 5.58605461e-01 2.81787005e-03 5.49379373e+02] [-5.58602399e-01 8.29433504e-01 -1.85015417e-03 -1.47906226e+02] [-3.37074205e-03 -3.94979692e-05 9.99994318e-01 -4.23641315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters 0.051551832877541566 Centerline is valid? [True, True] Translation: X:549.43, Y:-147.94, Z:-4.24 [[ 8.29605657e-01 5.58338931e-01 3.47754404e-03 5.49431339e+02] [-5.58334261e-01 8.29612944e-01 -2.28407762e-03 -1.47940400e+02] [-4.16030500e-03 -4.67482627e-05 9.99991345e-01 -4.23588374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters 0.05132740453611989 Centerline is valid? [True, True] Translation: X:549.48, Y:-147.97, Z:-4.24 [[ 8.30338640e-01 5.57250953e-01 3.01973672e-03 5.49483113e+02] [-5.57247423e-01 8.30344130e-01 -1.98378325e-03 -1.47972517e+02] [-3.61288577e-03 -3.55286193e-05 9.99993473e-01 -4.23713094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters 0.051268796991249775 Centerline is valid? [True, True] Translation: X:549.54, Y:-148.01, Z:-4.24 [[ 8.31391615e-01 5.55682943e-01 2.10922733e-03 5.49535139e+02] [-5.55681216e-01 8.31394290e-01 -1.38562317e-03 -1.48006810e+02] [-2.52356672e-03 -2.00625247e-05 9.99996816e-01 -4.23898066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters 0.051816944380613406 Centerline is valid? [True, True] Translation: X:549.59, Y:-148.04, Z:-4.24 [[ 8.33586694e-01 5.52387343e-01 1.20261107e-03 5.49585844e+02] [-5.52386779e-01 8.33587562e-01 -7.89797506e-04 -1.48042346e+02] [-1.43875577e-03 -5.94175974e-06 9.99998965e-01 -4.23977129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters 0.051698689022352154 Centerline is valid? [True, True] Translation: X:549.64, Y:-148.08, Z:-4.24 [[ 8.35010184e-01 5.50233801e-01 8.70253376e-04 5.49636003e+02] [-5.50233505e-01 8.35010637e-01 -5.71332886e-04 -1.48078008e+02] [-1.04103749e-03 -1.77378685e-06 9.99999458e-01 -4.24051805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters 0.0523061905680508 Centerline is valid? [True, True] Translation: X:549.69, Y:-148.11, Z:-4.24 [[ 8.37121899e-01 5.47011966e-01 2.19890822e-03 5.49687044e+02] [-5.47010056e-01 8.37124787e-01 -1.44565968e-03 -1.48113604e+02] [-2.63155372e-03 7.36846696e-06 9.99996537e-01 -4.23882728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters 0.05245249533622469 Centerline is valid? [True, True] Translation: X:549.74, Y:-148.15, Z:-4.24 [[ 8.38477855e-01 5.44928824e-01 2.73202164e-03 5.49737525e+02] [-5.44925861e-01 8.38482306e-01 -1.79691976e-03 -1.48148593e+02] [-3.26994518e-03 1.79281802e-05 9.99994654e-01 -4.23979130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters 0.05216245674893212 Centerline is valid? [True, True] Translation: X:549.79, Y:-148.18, Z:-4.24 [[ 8.40456773e-01 5.41865236e-01 3.80512320e-03 5.49787775e+02] [-5.41859452e-01 8.40465386e-01 -2.50387015e-03 -1.48185000e+02] [-4.55483453e-03 4.25526585e-05 9.99989626e-01 -4.24057779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters 0.05245100839248953 Centerline is valid? [True, True] Translation: X:549.84, Y:-148.22, Z:-4.24 [[ 8.41236826e-01 5.40646846e-01 4.64646284e-03 5.49837352e+02] [-5.40638203e-01 8.41249656e-01 -3.05768116e-03 -1.48220433e+02] [-5.56196095e-03 6.01786757e-05 9.99984530e-01 -4.24146885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters 0.052695209235231036 Centerline is valid? [True, True] Translation: X:549.89, Y:-148.25, Z:-4.24 [[ 8.41625355e-01 5.40040796e-01 4.76451397e-03 5.49890917e+02] [-5.40031694e-01 8.41638838e-01 -3.13615680e-03 -1.48252601e+02] [-5.70365261e-03 6.64805278e-05 9.99983732e-01 -4.24204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters 0.05260498878182201 Centerline is valid? [True, True] Translation: X:549.94, Y:-148.29, Z:-4.24 [[ 8.41786743e-01 5.39800146e-01 3.29874311e-03 5.49943178e+02] [-5.39795780e-01 8.41793205e-01 -2.17156898e-03 -1.48285596e+02] [-3.94907278e-03 4.73503674e-05 9.99992201e-01 -4.24375733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters 0.0521174512547719 Centerline is valid? [True, True] Translation: X:550.00, Y:-148.32, Z:-4.25 [[ 8.41322175e-01 5.40531625e-01 1.60033706e-03 5.49996898e+02] [-5.40530599e-01 8.41323696e-01 -1.05314482e-03 -1.48317880e+02] [-1.91565957e-03 2.10029396e-05 9.99998165e-01 -4.24572284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters 0.05231555503335975 Centerline is valid? [True, True] Translation: X:550.05, Y:-148.35, Z:-4.25 [[ 8.40126830e-01 5.42388961e-01 1.05996142e-03 5.50050095e+02] [-5.42388513e-01 8.40127499e-01 -6.97534256e-04 -1.48348446e+02] [-1.26883762e-03 1.11063441e-05 9.99999195e-01 -4.24741002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters 0.05287484768257502 Centerline is valid? [True, True] Translation: X:550.10, Y:-148.38, Z:-4.25 [[ 8.39490684e-01 5.43367602e-01 2.65351786e-03 5.50104069e+02] [-5.43364790e-01 8.39494877e-01 -1.74831020e-03 -1.48379873e+02] [-3.17758977e-03 2.58619469e-05 9.99994951e-01 -4.24597789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters 0.05208187341583433 Centerline is valid? [True, True] Translation: X:550.16, Y:-148.41, Z:-4.25 [[ 8.39150032e-01 5.43888181e-01 3.58758584e-03 5.50155551e+02] [-5.43883046e-01 8.39157700e-01 -2.36383513e-03 -1.48413630e+02] [-4.29621227e-03 3.23852095e-05 9.99990771e-01 -4.24614211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters 0.052527661150841225 Centerline is valid? [True, True] Translation: X:550.21, Y:-148.44, Z:-4.25 [[ 8.38125379e-01 5.45462615e-01 4.04789417e-03 5.50210469e+02] [-5.45456091e-01 8.38135153e-01 -2.66786471e-03 -1.48444002e+02] [-4.84790286e-03 2.80565935e-05 9.99988248e-01 -4.24653846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters 0.05262691052336027 Centerline is valid? [True, True] Translation: X:550.26, Y:-148.47, Z:-4.25 [[ 8.35868032e-01 5.48916435e-01 3.92188256e-03 5.50264993e+02] [-5.48910346e-01 8.35877232e-01 -2.58544675e-03 -1.48474754e+02] [-4.69740656e-03 8.33037220e-06 9.99988967e-01 -4.24648122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters 0.05229019555965213 Centerline is valid? [True, True] Translation: X:550.32, Y:-148.51, Z:-4.25 [[ 8.33942685e-01 5.51839078e-01 3.63729964e-03 5.50318656e+02] [-5.51833867e-01 8.33950617e-01 -2.39836041e-03 -1.48506365e+02] [-4.35683728e-03 -7.09000246e-06 9.99990509e-01 -4.24717608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters 0.05244953339346202 Centerline is valid? [True, True] Translation: X:550.37, Y:-148.53, Z:-4.25 [[ 8.30475348e-01 5.57047132e-01 3.03127618e-03 5.50372569e+02] [-5.57043544e-01 8.30480880e-01 -1.99955153e-03 -1.48534660e+02] [-3.63126136e-03 -2.79745772e-05 9.99993407e-01 -4.24860941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters 0.05191535987469594 Centerline is valid? [True, True] Translation: X:550.43, Y:-148.57, Z:-4.25 [[ 8.28206710e-01 5.60417061e-01 2.52247486e-03 5.50425050e+02] [-5.60414592e-01 8.28210551e-01 -1.66385818e-03 -1.48567027e+02] [-3.02159480e-03 -3.56132121e-05 9.99995434e-01 -4.24931580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters 0.05173174086876284 Centerline is valid? [True, True] Translation: X:550.48, Y:-148.59, Z:-4.25 [[ 8.24965256e-01 5.65181579e-01 1.45206969e-03 5.50479673e+02] [-5.65180768e-01 8.24966534e-01 -9.57897068e-04 -1.48594163e+02] [-1.73929468e-03 -3.04500649e-05 9.99998487e-01 -4.25142701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters 0.05209777937515215 Centerline is valid? [True, True] Translation: X:550.53, Y:-148.63, Z:-4.25 [[ 8.24033073e-01 5.66539999e-01 1.38717022e-03 5.50529537e+02] [-5.66539261e-01 8.24034240e-01 -9.14614757e-04 -1.48630573e+02] [-1.66124160e-03 -3.22135852e-05 9.99998620e-01 -4.25079912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters 0.05185605493357727 Centerline is valid? [True, True] Translation: X:550.58, Y:-148.66, Z:-4.25 [[ 8.22337905e-01 5.68997503e-01 1.48681348e-03 5.50582379e+02] [-5.68996659e-01 8.22339249e-01 -9.81109690e-04 -1.48662450e+02] [-1.78091404e-03 -3.91882123e-05 9.99998413e-01 -4.25110857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters 0.051656999318322155 Centerline is valid? [True, True] Translation: X:550.63, Y:-148.69, Z:-4.25 [[ 8.21818915e-01 5.69745083e-01 2.05226995e-03 5.50634204e+02] [-5.69743477e-01 8.21821475e-01 -1.35398337e-03 -1.48694619e+02] [-2.45802488e-03 -5.65382725e-05 9.99996977e-01 -4.25171061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters 0.05190883549722814 Centerline is valid? [True, True] Translation: X:550.69, Y:-148.73, Z:-4.25 [[ 8.22078368e-01 5.69372209e-01 1.56337697e-03 5.50685215e+02] [-5.69371276e-01 8.22079854e-01 -1.03141583e-03 -1.48729391e+02] [-1.87248022e-03 -4.22372982e-05 9.99998246e-01 -4.25223281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters 0.051770796923781615 Centerline is valid? [True, True] Translation: X:550.73, Y:-148.77, Z:-4.25 [[ 8.23990269e-01 5.66603687e-01 5.46354794e-04 5.50734689e+02] [-5.66603572e-01 8.23990450e-01 -3.60599518e-04 -1.48766854e+02] [-6.54508149e-04 -1.24360839e-05 9.99999786e-01 -4.25333873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters 0.05197098621902258 Centerline is valid? [True, True] Translation: X:550.78, Y:-148.80, Z:-4.25 [[ 8.25936494e-01 5.63763103e-01 2.66460436e-04 5.50783802e+02] [-5.63763076e-01 8.25936537e-01 -1.75740865e-04 -1.48804081e+02] [-3.19155625e-04 -5.06976086e-06 9.99999949e-01 -4.25297880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters 0.05228574965296477 Centerline is valid? [True, True] Translation: X:550.83, Y:-148.84, Z:-4.25 [[ 8.30784498e-01 5.56594076e-01 3.90478407e-04 5.50831331e+02] [-5.56594016e-01 8.30784590e-01 -2.57712567e-04 -1.48842977e+02] [-4.67844731e-04 -3.23433845e-06 9.99999891e-01 -4.25213622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters 0.05201280554437732 Centerline is valid? [True, True] Translation: X:550.88, Y:-148.88, Z:-4.25 [[ 8.37322615e-01 5.46708373e-01 8.90596015e-04 5.50877415e+02] [-5.46708057e-01 8.37323089e-01 -5.87323232e-04 -1.48883724e+02] [-1.06681113e-03 4.88300733e-06 9.99999431e-01 -4.25208314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters 0.05236100661626419 Centerline is valid? [True, True] Translation: X:550.92, Y:-148.92, Z:-4.25 [[ 8.42306298e-01 5.38997628e-01 1.28729746e-03 5.50923228e+02] [-5.38996958e-01 8.42307281e-01 -8.50091408e-04 -1.48923601e+02] [-1.54249728e-03 2.21879318e-05 9.99998810e-01 -4.25271323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters 0.05375249539615569 Centerline is valid? [True, True] Translation: X:550.97, Y:-148.96, Z:-4.25 [[ 8.50096141e-01 5.26626320e-01 1.12692397e-03 5.50971501e+02] [-5.26625795e-01 8.50096887e-01 -7.44337715e-04 -1.48961298e+02] [-1.34998239e-03 3.92913898e-05 9.99999088e-01 -4.25164657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters 0.054174466740303004 Centerline is valid? [True, True] Translation: X:551.02, Y:-148.99, Z:-4.25 [[ 8.56222204e-01 5.16605936e-01 1.35757651e-03 5.51024641e+02] [-5.16605162e-01 8.56223278e-01 -8.96812355e-04 -1.48992413e+02] [-1.62568720e-03 6.65396173e-05 9.99998676e-01 -4.25011350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters 0.05377363344962034 Centerline is valid? [True, True] Translation: X:551.08, Y:-149.02, Z:-4.25 [[ 8.58508409e-01 5.12797041e-01 1.58323633e-03 5.51079695e+02] [-5.12795981e-01 8.58509865e-01 -1.04590795e-03 -1.49020718e+02] [-1.89556251e-03 8.60435450e-05 9.99998200e-01 -4.24922063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters 0.05435298098772489 Centerline is valid? [True, True] Translation: X:551.13, Y:-149.05, Z:-4.25 [[ 8.59097708e-01 5.11810873e-01 8.70743057e-04 5.51133841e+02] [-5.11810553e-01 8.59098148e-01 -5.74628681e-04 -1.49050768e+02] [-1.04215495e-03 4.80066975e-05 9.99999456e-01 -4.25023561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters 0.05516037973405854 Centerline is valid? [True, True] Translation: X:551.18, Y:-149.10, Z:-4.25 [[ 8.58115959e-01 5.13455888e-01 2.26384960e-04 5.51176574e+02] [-5.13455866e-01 8.58115989e-01 -1.49207060e-04 -1.49095170e+02] [-2.70875798e-04 1.17982735e-05 9.99999963e-01 -4.25360308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters 0.05455580046258957 Centerline is valid? [True, True] Translation: X:551.23, Y:-149.12, Z:-4.25 [[ 8.55798857e-01 5.17308184e-01 7.47840443e-04 5.51234557e+02] [-5.17307949e-01 8.55799183e-01 -4.93729274e-04 -1.49118381e+02] [-8.95411434e-04 3.56691421e-05 9.99999598e-01 -4.25260582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters 0.05413480753682213 Centerline is valid? [True, True] Translation: X:551.29, Y:-149.15, Z:-4.25 [[ 8.52627018e-01 5.22516394e-01 1.94577119e-03 5.51287325e+02] [-5.22514817e-01 8.52629234e-01 -1.28632336e-03 -1.49150137e+02] [-2.33114644e-03 8.00597732e-05 9.99997280e-01 -4.25316004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters 0.05427090788101442 Centerline is valid? [True, True] Translation: X:551.34, Y:-149.18, Z:-4.25 [[ 8.49763358e-01 5.27157697e-01 2.64526714e-03 5.51339089e+02] [-5.27154804e-01 8.49767471e-01 -1.74873855e-03 -1.49180490e+02] [-3.16972296e-03 9.15486654e-05 9.99994972e-01 -4.25355343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters 0.053786067019335325 Centerline is valid? [True, True] Translation: X:551.40, Y:-149.20, Z:-4.25 [[ 8.44146989e-01 5.36103728e-01 2.94171619e-03 5.51398731e+02] [-5.36100202e-01 8.44152112e-01 -1.94537895e-03 -1.49200795e+02] [-3.52618085e-03 6.51311409e-05 9.99993781e-01 -4.25401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters 0.053113071457589124 Centerline is valid? [True, True] Translation: X:551.45, Y:-149.23, Z:-4.26 [[ 8.39776989e-01 5.42924013e-01 2.85025188e-03 5.51449557e+02] [-5.42920742e-01 8.39781825e-01 -1.88504965e-03 -1.49233194e+02] [-3.41702845e-03 3.55604553e-05 9.99994161e-01 -4.25733671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters 0.05289099840218807 Centerline is valid? [True, True] Translation: X:551.51, Y:-149.26, Z:-4.26 [[ 8.32822455e-01 5.53533814e-01 2.65991551e-03 5.51507603e+02] [-5.53531018e-01 8.32826703e-01 -1.75921841e-03 -1.49256950e+02] [-3.18903554e-03 -7.22914660e-06 9.99994915e-01 -4.25907415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters 0.0527129458947289 Centerline is valid? [True, True] Translation: X:551.56, Y:-149.28, Z:-4.26 [[ 8.26351012e-01 5.63152478e-01 1.81406536e-03 5.51561107e+02] [-5.63151201e-01 8.26353003e-01 -1.19987666e-03 -1.49284456e+02] [-2.17477187e-03 -3.00737939e-05 9.99997635e-01 -4.25957806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters 0.05388952106271553 Centerline is valid? [True, True] Translation: X:551.62, Y:-149.31, Z:-4.26 [[ 8.22802209e-01 5.68325611e-01 1.58857008e-03 5.51617192e+02] [-5.68324642e-01 8.22803742e-01 -1.05067112e-03 -1.49308639e+02] [-1.90420471e-03 -3.83290005e-05 9.99998186e-01 -4.26257660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters 0.05244148247578268 Centerline is valid? [True, True] Translation: X:551.67, Y:-149.35, Z:-4.26 [[ 8.19688614e-01 5.72806741e-01 1.73578613e-03 5.51665804e+02] [-5.72805594e-01 8.19690450e-01 -1.14752773e-03 -1.49346613e+02] [-2.08011893e-03 -5.36525885e-05 9.99997835e-01 -4.26124041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters 0.052950164427417803 Centerline is valid? [True, True] Translation: X:551.72, Y:-149.38, Z:-4.26 [[ 8.18999527e-01 5.73792166e-01 1.52447309e-03 5.51717936e+02] [-5.73791283e-01 8.19000945e-01 -1.00788935e-03 -1.49378834e+02] [-1.82686392e-03 -4.92684729e-05 9.99998330e-01 -4.26219191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters 0.05321989376386776 Centerline is valid? [True, True] Translation: X:551.77, Y:-149.41, Z:-4.26 [[ 8.19207860e-01 5.73494965e-01 1.41697603e-03 5.51771634e+02] [-5.73494201e-01 8.19209084e-01 -9.36985000e-04 -1.49408650e+02] [-1.69815582e-03 -4.50420629e-05 9.99998557e-01 -4.26385555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters 0.05251690445325806 Centerline is valid? [True, True] Translation: X:551.82, Y:-149.45, Z:-4.26 [[ 8.19850779e-01 5.72577226e-01 1.42774280e-04 5.51817185e+02] [-5.72577219e-01 8.19850791e-01 -9.35217312e-05 -1.49451955e+02] [-1.70602020e-04 -5.07543585e-06 9.99999985e-01 -4.26313688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters 0.05199886880869475 Centerline is valid? [True, True] Translation: X:551.87, Y:-149.49, Z:-4.26 [[ 8.20534771e-01 5.71596607e-01 -9.51585643e-05 5.51867133e+02] [-5.71596603e-01 8.20534776e-01 6.40319013e-05 -1.49488760e+02] [ 1.14681329e-04 1.85191063e-06 9.99999993e-01 -4.26319185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters 0.053028519178989125 Centerline is valid? [True, True] Translation: X:551.92, Y:-149.52, Z:-4.26 [[ 8.22255451e-01 5.69117756e-01 9.76297722e-04 5.51918209e+02] [-5.69117390e-01 8.22256030e-01 -6.46184785e-04 -1.49521636e+02] [-1.17052192e-03 -2.42990491e-05 9.99999315e-01 -4.26470439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters 0.052333047256841285 Centerline is valid? [True, True] Translation: X:551.97, Y:-149.56, Z:-4.26 [[ 8.24172518e-01 5.66336332e-01 1.67904764e-03 5.51966935e+02] [-5.66335242e-01 8.24174228e-01 -1.11187241e-03 -1.49560080e+02] [-2.01352154e-03 -3.45291672e-05 9.99997972e-01 -4.26442365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters 0.05216388134851252 Centerline is valid? [True, True] Translation: X:552.01, Y:-149.60, Z:-4.26 [[ 8.27591675e-01 5.61325856e-01 2.30293137e-03 5.52013569e+02] [-5.61323784e-01 8.27594879e-01 -1.52515378e-03 -1.49601406e+02] [-2.76200246e-03 -3.04855804e-05 9.99996185e-01 -4.26418746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters 0.05266085876624281 Centerline is valid? [True, True] Translation: X:552.06, Y:-149.64, Z:-4.27 [[ 8.31652198e-01 5.55293639e-01 1.89647691e-03 5.52059663e+02] [-5.55292219e-01 8.31654360e-01 -1.25610518e-03 -1.49641216e+02] [-2.27472051e-03 -8.45623549e-06 9.99997413e-01 -4.26525352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters 0.05245220112180584 Centerline is valid? [True, True] Translation: X:552.11, Y:-149.68, Z:-4.27 [[ 8.34735774e-01 5.50648712e-01 1.47793102e-03 5.52107925e+02] [-5.50647843e-01 8.34737082e-01 -9.78157120e-04 -1.49680503e+02] [-1.77230478e-03 2.68321307e-06 9.99998429e-01 -4.26696365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters 0.05244975266489545 Centerline is valid? [True, True] Translation: X:552.16, Y:-149.72, Z:-4.27 [[ 8.36405234e-01 5.48109856e-01 1.36798930e-03 5.52158914e+02] [-5.48109108e-01 8.36406352e-01 -9.05551981e-04 -1.49716530e+02] [-1.64053691e-03 7.60102089e-06 9.99998654e-01 -4.26615139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters 0.05316404574749107 Centerline is valid? [True, True] Translation: X:552.21, Y:-149.75, Z:-4.27 [[ 8.41824239e-01 5.39750009e-01 1.37065970e-03 5.52207979e+02] [-5.39749246e-01 8.41825355e-01 -9.07725431e-04 -1.49753696e+02] [-1.64380090e-03 2.43327313e-05 9.99998649e-01 -4.26520691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters 0.05383555186423823 Centerline is valid? [True, True] Translation: X:552.25, Y:-149.80, Z:-4.27 [[ 8.45048186e-01 5.34686937e-01 1.85529658e-03 5.52252572e+02] [-5.34685527e-01 8.45050221e-01 -1.22918389e-03 -1.49795244e+02] [-2.22504736e-03 4.67193859e-05 9.99997523e-01 -4.26747808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters 0.05362401277894106 Centerline is valid? [True, True] Translation: X:552.31, Y:-149.83, Z:-4.27 [[ 8.48192674e-01 5.29682154e-01 2.45013230e-03 5.52305962e+02] [-5.29679671e-01 8.48196210e-01 -1.62380339e-03 -1.49826764e+02] [-2.93829261e-03 7.95128737e-05 9.99995680e-01 -4.26571670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters 0.054080006009894044 Centerline is valid? [True, True] Translation: X:552.36, Y:-149.86, Z:-4.27 [[ 8.48838996e-01 5.28639517e-01 3.55242218e-03 5.52356774e+02] [-5.28634284e-01 8.48846421e-01 -2.35529249e-03 -1.49860489e+02] [-4.26056154e-03 1.21331955e-04 9.99990916e-01 -4.26568036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters 0.054191582425483206 Centerline is valid? [True, True] Translation: X:552.41, Y:-149.90, Z:-4.27 [[ 8.46966086e-01 5.31630660e-01 4.15824840e-03 5.52405675e+02] [-5.31623520e-01 8.46976284e-01 -2.75805402e-03 -1.49897250e+02] [-4.98820385e-03 1.25355566e-04 9.99987551e-01 -4.26702221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters 0.05430004887092041 Centerline is valid? [True, True] Translation: X:552.46, Y:-149.92, Z:-4.27 [[ 8.42631547e-01 5.38479670e-01 3.42370370e-03 5.52463670e+02] [-5.38474885e-01 8.42638499e-01 -2.27099011e-03 -1.49919311e+02] [-4.10782656e-03 7.00294514e-05 9.99991560e-01 -4.26753539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters 0.053552241197507594 Centerline is valid? [True, True] Translation: X:552.52, Y:-149.95, Z:-4.27 [[ 8.38926740e-01 5.44235731e-01 3.06497677e-03 5.52517036e+02] [-5.44231935e-01 8.38932338e-01 -2.03299831e-03 -1.49949997e+02] [-3.67773845e-03 3.74784018e-05 9.99993236e-01 -4.26903105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters 0.05253538207600828 Centerline is valid? [True, True] Translation: X:552.57, Y:-149.98, Z:-4.27 [[ 8.32558540e-01 5.53931800e-01 2.41617666e-03 5.52569001e+02] [-5.53929481e-01 8.32562046e-01 -1.60278870e-03 -1.49980166e+02] [-2.89945261e-03 -3.97606581e-06 9.99995797e-01 -4.27270879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters 0.05246104487830754 Centerline is valid? [True, True] Translation: X:552.62, Y:-150.01, Z:-4.27 [[ 8.28029559e-01 5.60679581e-01 2.33580459e-03 5.52621411e+02] [-5.60677442e-01 8.28032853e-01 -1.54930713e-03 -1.50011115e+02] [-2.80278781e-03 -2.67608454e-05 9.99996072e-01 -4.27194897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters 0.05233770431474502 Centerline is valid? [True, True] Translation: X:552.68, Y:-150.04, Z:-4.27 [[ 8.23626986e-01 5.67125458e-01 2.70216241e-03 5.52676734e+02] [-5.67122627e-01 8.23631417e-01 -1.79277516e-03 -1.50038667e+02] [-3.24231429e-03 -5.58794451e-05 9.99994742e-01 -4.27331417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters 0.05247842160854021 Centerline is valid? [True, True] Translation: X:552.73, Y:-150.07, Z:-4.27 [[ 8.18234974e-01 5.74877278e-01 2.76460917e-03 5.52730641e+02] [-5.74874358e-01 8.18239639e-01 -1.83435076e-03 -1.50066746e+02] [-3.31663939e-03 -8.83729759e-05 9.99994496e-01 -4.27341683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters 0.05316349711375604 Centerline is valid? [True, True] Translation: X:552.79, Y:-150.09, Z:-4.27 [[ 8.15100554e-01 5.79313046e-01 2.73531985e-03 5.52785154e+02] [-5.79310212e-01 8.15105137e-01 -1.81496693e-03 -1.50092548e+02] [-3.28100728e-03 -1.05218176e-04 9.99994612e-01 -4.27389796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters 0.051685746525801976 Centerline is valid? [True, True] Translation: X:552.83, Y:-150.13, Z:-4.27 [[ 8.13954581e-01 5.80924498e-01 2.16056157e-03 5.52831577e+02] [-5.80922736e-01 8.13957443e-01 -1.43344290e-03 -1.50133142e+02] [-2.59132727e-03 -8.83619195e-05 9.99996639e-01 -4.27387976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters 0.05401202980335199 Centerline is valid? [True, True] Translation: X:552.89, Y:-150.16, Z:-4.28 [[ 8.13398142e-01 5.81706729e-01 -8.62994534e-04 5.52888637e+02] [-5.81706448e-01 8.13398599e-01 5.73178255e-04 -1.50156364e+02] [ 1.03538019e-03 3.57873575e-05 9.99999463e-01 -4.27836892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters 0.05257065670479941 Centerline is valid? [True, True] Translation: X:552.93, Y:-150.20, Z:-4.28 [[ 8.13744157e-01 5.81218444e-01 -2.35947712e-03 5.52934121e+02] [-5.81216339e-01 8.13747572e-01 1.56727585e-03 -1.50199942e+02] [ 2.83094841e-03 9.60050873e-05 9.99995988e-01 -4.27685003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters 0.05293497239540649 Centerline is valid? [True, True] Translation: X:552.98, Y:-150.24, Z:-4.28 [[ 8.15245044e-01 5.79110509e-01 -2.55679586e-03 5.52983807e+02] [-5.79108029e-01 8.15249048e-01 1.69754240e-03 -1.50236186e+02] [ 3.06749004e-03 9.67479813e-05 9.99995291e-01 -4.27634249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters 0.0521569442587082 Centerline is valid? [True, True] Translation: X:553.03, Y:-150.27, Z:-4.27 [[ 8.16917359e-01 5.76753505e-01 -1.19308345e-03 5.53032169e+02] [-5.76752963e-01 8.16918229e-01 7.92349126e-04 -1.50274399e+02] [ 1.43164175e-03 4.08306571e-05 9.99998974e-01 -4.27426901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters 0.0523467217880988 Centerline is valid? [True, True] Translation: X:553.08, Y:-150.31, Z:-4.27 [[ 8.18800991e-01 5.74077047e-01 6.94429671e-04 5.53081369e+02] [-5.74076862e-01 8.18801285e-01 -4.60823959e-04 -1.50308715e+02] [-8.33148364e-04 -2.13328923e-05 9.99999653e-01 -4.27357525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters 0.052359852584029656 Centerline is valid? [True, True] Translation: X:553.13, Y:-150.35, Z:-4.27 [[ 8.19778220e-01 5.72680030e-01 1.11969164e-03 5.53130201e+02] [-5.72679549e-01 8.19778984e-01 -7.42975600e-04 -1.50345702e+02] [-1.34338696e-03 -3.21492872e-05 9.99999097e-01 -4.27340690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters 0.05232527208014313 Centerline is valid? [True, True] Translation: X:553.18, Y:-150.38, Z:-4.28 [[ 8.20417750e-01 5.71764563e-01 9.03246937e-06 5.53182054e+02] [-5.71764563e-01 8.20417750e-01 -5.43654599e-06 -1.50378532e+02] [-1.05188227e-05 -7.04207074e-07 1.00000000e+00 -4.27501967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters 0.052210467770653544 Centerline is valid? [True, True] Translation: X:553.23, Y:-150.41, Z:-4.28 [[ 8.20271252e-01 5.71974684e-01 -1.84100320e-04 5.53233187e+02] [-5.71974671e-01 8.20271273e-01 1.23180725e-04 -1.50411335e+02] [ 2.21468460e-04 4.25911210e-06 9.99999975e-01 -4.27574075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters 0.05148228679966667 Centerline is valid? [True, True] Translation: X:553.28, Y:-150.45, Z:-4.27 [[ 8.19675853e-01 5.72827374e-01 -5.43329637e-04 5.53279186e+02] [-5.72827260e-01 8.19676033e-01 3.61863427e-04 -1.50452366e+02] [ 6.52639558e-04 1.46233148e-05 9.99999787e-01 -4.27290610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters 0.0520398233554482 Centerline is valid? [True, True] Translation: X:553.33, Y:-150.48, Z:-4.28 [[ 8.19922112e-01 5.72473639e-01 -1.28971870e-03 5.53333917e+02] [-5.72472998e-01 8.19923126e-01 8.57323612e-04 -1.50482240e+02] [ 1.54826535e-03 3.53905414e-05 9.99998801e-01 -4.27563965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters 0.05151616535187489 Centerline is valid? [True, True] Translation: X:553.39, Y:-150.52, Z:-4.28 [[ 8.20425061e-01 5.71750514e-01 -2.01715004e-03 5.53385324e+02] [-5.71748942e-01 8.20427539e-01 1.34162635e-03 -1.50516224e+02] [ 2.42200099e-03 5.25995193e-05 9.99997066e-01 -4.27617858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters 0.05173625859765183 Centerline is valid? [True, True] Translation: X:553.44, Y:-150.55, Z:-4.28 [[ 8.21620086e-01 5.70033786e-01 -1.38438964e-03 5.53435618e+02] [-5.70033044e-01 8.21621252e-01 9.20185573e-04 -1.50549440e+02] [ 1.66198081e-03 3.31048898e-05 9.99998618e-01 -4.27657258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters 0.05228435668786343 Centerline is valid? [True, True] Translation: X:553.49, Y:-150.58, Z:-4.28 [[ 8.22161807e-01 5.69253744e-01 -3.72287856e-04 5.53487632e+02] [-5.69253690e-01 8.22161891e-01 2.48468374e-04 -1.50583750e+02] [ 4.47522439e-04 7.64502799e-06 9.99999900e-01 -4.27690348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters 0.052497456053304636 Centerline is valid? [True, True] Translation: X:553.54, Y:-150.61, Z:-4.28 [[ 8.22605939e-01 5.68611404e-01 7.35656403e-04 5.53541834e+02] [-5.68611194e-01 8.22606268e-01 -4.88208567e-04 -1.50613416e+02] [-8.82756527e-04 -1.66991994e-05 9.99999610e-01 -4.27798485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters 0.05167628960609733 Centerline is valid? [True, True] Translation: X:553.59, Y:-150.65, Z:-4.28 [[ 8.22716467e-01 5.68451083e-01 9.90255832e-04 5.53591492e+02] [-5.68450703e-01 8.22717063e-01 -6.57638659e-04 -1.50651735e+02] [-1.18853578e-03 -2.18614692e-05 9.99999293e-01 -4.27663339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters 0.052325919298942064 Centerline is valid? [True, True] Translation: X:553.65, Y:-150.68, Z:-4.28 [[ 8.22793070e-01 5.68340795e-01 5.51803153e-04 5.53645580e+02] [-5.68340678e-01 8.22793255e-01 -3.66048490e-04 -1.50681788e+02] [-6.62060203e-04 -1.24300170e-05 9.99999781e-01 -4.27904152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters 0.05237460726469008 Centerline is valid? [True, True] Translation: X:553.70, Y:-150.72, Z:-4.28 [[ 8.23136417e-01 5.67843627e-01 -2.31175055e-04 5.53696581e+02] [-5.67843606e-01 8.23136450e-01 1.54831941e-04 -1.50716687e+02] [ 2.78208945e-04 3.82346770e-06 9.99999961e-01 -4.27931978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters 0.05222086012427422 Centerline is valid? [True, True] Translation: X:553.75, Y:-150.75, Z:-4.28 [[ 8.24156865e-01 5.66359581e-01 -1.51261872e-03 5.53748033e+02] [-5.66358686e-01 8.24158252e-01 1.00725719e-03 -1.50752565e+02] [ 1.81710696e-03 2.65468234e-05 9.99998349e-01 -4.27863257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters 0.0526198350884073 Centerline is valid? [True, True] Translation: X:553.80, Y:-150.79, Z:-4.28 [[ 8.24609401e-01 5.65700277e-01 -1.59132861e-03 5.53799848e+02] [-5.65699284e-01 8.24610936e-01 1.06038892e-03 -1.50787538e+02] [ 1.91208928e-03 2.58067783e-05 9.99998172e-01 -4.27860652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters 0.053313074267676806 Centerline is valid? [True, True] Translation: X:553.85, Y:-150.82, Z:-4.28 [[ 8.25524758e-01 5.64364273e-01 -1.35671258e-03 5.53851997e+02] [-5.64363550e-01 8.25525873e-01 9.03621154e-04 -1.50822352e+02] [ 1.62997283e-03 1.97174935e-05 9.99998671e-01 -4.27867464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters 0.05248605653398523 Centerline is valid? [True, True] Translation: X:553.90, Y:-150.85, Z:-4.28 [[ 8.26544402e-01 5.62870270e-01 -1.18768819e-03 5.53904975e+02] [-5.62869713e-01 8.26545255e-01 7.91857366e-04 -1.50853496e+02] [ 1.42739101e-03 1.40084370e-05 9.99998981e-01 -4.28124478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters 0.053313984926760226 Centerline is valid? [True, True] Translation: X:553.95, Y:-150.89, Z:-4.28 [[ 8.28190652e-01 5.60441354e-01 -2.39443951e-03 5.53953393e+02] [-5.60439082e-01 8.28194113e-01 1.59597423e-03 -1.50892498e+02] [ 2.87751067e-03 2.01665405e-05 9.99995860e-01 -4.27696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters 0.05294828863122858 Centerline is valid? [True, True] Translation: X:554.00, Y:-150.93, Z:-4.28 [[ 8.29917961e-01 5.57879004e-01 -2.68241050e-03 5.54004072e+02] [-5.57876140e-01 8.29922295e-01 1.78760366e-03 -1.50926079e+02] [ 3.22345882e-03 1.28884343e-05 9.99994805e-01 -4.28159886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters 0.05297567569412085 Centerline is valid? [True, True] Translation: X:554.05, Y:-150.96, Z:-4.28 [[ 8.32448747e-01 5.54094721e-01 -2.85030601e-03 5.54053552e+02] [-5.54091462e-01 8.32453627e-01 1.90036473e-03 -1.50964177e+02] [ 3.42572964e-03 -2.62601522e-06 9.99994132e-01 -4.27794179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters 0.05346666354699412 Centerline is valid? [True, True] Translation: X:554.10, Y:-151.00, Z:-4.28 [[ 8.34924010e-01 5.50355887e-01 -3.20854115e-03 5.54103822e+02] [-5.50351728e-01 8.34930175e-01 2.13964588e-03 -1.51000832e+02] [ 3.85647453e-03 -2.06155567e-05 9.99992564e-01 -4.27780738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters 0.053339862732065424 Centerline is valid? [True, True] Translation: X:554.15, Y:-151.04, Z:-4.28 [[ 8.36767320e-01 5.47548938e-01 -3.25756347e-03 5.54153018e+02] [-5.47544628e-01 8.36773661e-01 2.17276303e-03 -1.51036678e+02] [ 3.91553740e-03 -3.44357161e-05 9.99992334e-01 -4.27905529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters 0.054117828288350794 Centerline is valid? [True, True] Translation: X:554.20, Y:-151.08, Z:-4.28 [[ 8.40301352e-01 5.42109658e-01 -3.27960300e-03 5.54199913e+02] [-5.42105252e-01 8.40307750e-01 2.18657608e-03 -1.51075068e+02] [ 3.94123983e-03 -5.94928276e-05 9.99992232e-01 -4.28023075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters 0.053821850695483606 Centerline is valid? [True, True] Translation: X:554.25, Y:-151.11, Z:-4.28 [[ 8.44225099e-01 5.35978826e-01 -3.26795364e-03 5.54250928e+02] [-5.35974404e-01 8.44231420e-01 2.17912109e-03 -1.51108433e+02] [ 3.92687191e-03 -8.81292095e-05 9.99992286e-01 -4.27644989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters 0.054611508588156804 Centerline is valid? [True, True] Translation: X:554.30, Y:-151.15, Z:-4.28 [[ 8.46525714e-01 5.32337845e-01 -3.26110821e-03 5.54297273e+02] [-5.32333410e-01 8.46531988e-01 2.17554436e-03 -1.51147486e+02] [ 3.91875701e-03 -1.05657390e-04 9.99992316e-01 -4.27865416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters 0.05457347062217344 Centerline is valid? [True, True] Translation: X:554.35, Y:-151.18, Z:-4.28 [[ 8.48388782e-01 5.29367688e-01 -2.51527745e-03 5.54351128e+02] [-5.29365037e-01 8.48392505e-01 1.67766054e-03 -1.51178153e+02] [ 3.02204182e-03 -9.18084460e-05 9.99995429e-01 -4.27749836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters 0.05500050308261078 Centerline is valid? [True, True] Translation: X:554.40, Y:-151.21, Z:-4.28 [[ 8.48628772e-01 5.28982847e-01 -2.52084471e-03 5.54403574e+02] [-5.28980180e-01 8.48632511e-01 1.68260383e-03 -1.51212032e+02] [ 3.02933934e-03 -9.44291375e-05 9.99995407e-01 -4.27817815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters 0.055150770310604134 Centerline is valid? [True, True] Translation: X:554.45, Y:-151.25, Z:-4.28 [[ 8.48549250e-01 5.29113863e-01 -1.64029868e-03 5.54453154e+02] [-5.29112733e-01 8.48550833e-01 1.09539303e-03 -1.51247788e+02] [ 1.97146445e-03 -6.15920221e-05 9.99998055e-01 -4.27965607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters 0.05497290446614879 Centerline is valid? [True, True] Translation: X:554.51, Y:-151.27, Z:-4.28 [[ 8.47574764e-01 5.30672474e-01 -1.93506948e-03 5.54510440e+02] [-5.30670907e-01 8.47576970e-01 1.29139608e-03 -1.51272804e+02] [ 2.32542868e-03 -6.76696500e-05 9.99997294e-01 -4.27866470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters 0.05513444238466784 Centerline is valid? [True, True] Translation: X:554.56, Y:-151.31, Z:-4.28 [[ 8.46432222e-01 5.32494843e-01 -1.31740953e-03 5.54558426e+02] [-5.32494119e-01 8.46433246e-01 8.79325268e-04 -1.51311166e+02] [ 1.58333539e-03 -4.27764150e-05 9.99998746e-01 -4.28168506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters 0.054852283164029104 Centerline is valid? [True, True] Translation: X:554.62, Y:-151.34, Z:-4.28 [[ 8.44072917e-01 5.36227816e-01 -7.99961731e-04 5.54615399e+02] [-5.36227550e-01 8.44073296e-01 5.33971647e-04 -1.51336524e+02] [ 9.61556785e-04 -2.17494872e-05 9.99999537e-01 -4.28052925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters 0.05457342182477074 Centerline is valid? [True, True] Translation: X:554.66, Y:-151.37, Z:-4.29 [[ 8.42337373e-01 5.38950205e-01 -6.52818163e-04 5.54663120e+02] [-5.38950029e-01 8.42337626e-01 4.35882629e-04 -1.51374271e+02] [ 7.84812334e-04 -1.53238609e-05 9.99999692e-01 -4.28517747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters 0.0546770190204778 Centerline is valid? [True, True] Translation: X:554.72, Y:-151.40, Z:-4.28 [[ 8.39412306e-01 5.43494223e-01 1.00476323e-03 5.54718143e+02] [-5.43493810e-01 8.39412907e-01 -6.70415418e-04 -1.51401670e+02] [-1.20777813e-03 1.66723543e-05 9.99999270e-01 -4.28429764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters 0.05401679415032094 Centerline is valid? [True, True] Translation: X:554.77, Y:-151.43, Z:-4.28 [[ 8.37339299e-01 5.46681877e-01 1.35039659e-03 5.54770908e+02] [-5.46681134e-01 8.37340388e-01 -9.01167529e-04 -1.51430876e+02] [-1.62339356e-03 1.63466461e-05 9.99998682e-01 -4.28387004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters 0.05360312467212198 Centerline is valid? [True, True] Translation: X:554.83, Y:-151.46, Z:-4.28 [[ 8.33248418e-01 5.52896786e-01 1.48945795e-03 5.54825537e+02] [-5.52895893e-01 8.33249749e-01 -9.93898571e-04 -1.51460096e+02] [-1.79061379e-03 4.64923027e-06 9.99998397e-01 -4.28324804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters 0.05348536300907663 Centerline is valid? [True, True] Translation: X:554.88, Y:-151.49, Z:-4.29 [[ 8.28138996e-01 5.60519129e-01 2.02714883e-03 5.54880734e+02] [-5.60517497e-01 8.28141477e-01 -1.35259453e-03 -1.51489713e+02] [-2.43692113e-03 -1.61161123e-05 9.99997031e-01 -4.28572036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters 0.0534170444961365 Centerline is valid? [True, True] Translation: X:554.94, Y:-151.52, Z:-4.29 [[ 8.24575598e-01 5.65750632e-01 1.14294155e-03 5.54935345e+02] [-5.65750118e-01 8.24576390e-01 -7.62744383e-04 -1.51516946e+02] [-1.37396573e-03 -1.76789081e-05 9.99999056e-01 -4.28849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters 0.05328488796376122 Centerline is valid? [True, True] Translation: X:554.99, Y:-151.55, Z:-4.29 [[ 8.19864123e-01 5.72555650e-01 1.68727374e-03 5.54986793e+02] [-5.72554544e-01 8.19865858e-01 -1.12613777e-03 -1.51549253e+02] [-2.02811468e-03 -4.27762907e-05 9.99997942e-01 -4.28826490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters 0.05406956957045126 Centerline is valid? [True, True] Translation: X:555.04, Y:-151.57, Z:-4.29 [[ 8.16961003e-01 5.76686499e-01 2.72055795e-03 5.55042781e+02] [-5.76683645e-01 8.16965529e-01 -1.81621293e-03 -1.51573595e+02] [-3.26998754e-03 -8.51261424e-05 9.99994650e-01 -4.28817033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters 0.05340865102160591 Centerline is valid? [True, True] Translation: X:555.09, Y:-151.61, Z:-4.29 [[ 8.15190905e-01 5.79181205e-01 3.59431822e-03 5.55091466e+02] [-5.79176249e-01 8.15198820e-01 -2.39949715e-03 -1.51610164e+02] [-4.31982762e-03 -1.25695492e-04 9.99990662e-01 -4.28752679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters 0.05431986494161631 Centerline is valid? [True, True] Translation: X:555.14, Y:-151.64, Z:-4.29 [[ 8.12785469e-01 5.82550015e-01 3.90648054e-03 5.55143738e+02] [-5.82544198e-01 8.12794842e-01 -2.60803098e-03 -1.51641915e+02] [-4.69447572e-03 -1.55927891e-04 9.99988969e-01 -4.28876089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters 0.05286765955679727 Centerline is valid? [True, True] Translation: X:555.19, Y:-151.68, Z:-4.29 [[ 8.11592030e-01 5.84214347e-01 3.46034062e-03 5.55190136e+02] [-5.84209799e-01 8.11599393e-01 -2.30991331e-03 -1.51682733e+02] [-4.15789484e-03 -1.46857671e-04 9.99991345e-01 -4.28929565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters 0.05456509700963307 Centerline is valid? [True, True] Translation: X:555.25, Y:-151.71, Z:-4.29 [[ 8.13478183e-01 5.81590194e-01 2.46806700e-03 5.55245661e+02] [-5.81587867e-01 8.13481922e-01 -1.64806931e-03 -1.51708944e+02] [-2.96622884e-03 -9.47293968e-05 9.99995596e-01 -4.29149918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters 0.05348449056907283 Centerline is valid? [True, True] Translation: X:555.29, Y:-151.75, Z:-4.29 [[ 8.17816145e-01 5.75461309e-01 4.58636838e-03 5.55290541e+02] [-5.75453175e-01 8.17828994e-01 -3.06268312e-03 -1.51751271e+02] [-5.51332068e-03 -1.34528543e-04 9.99984792e-01 -4.28937398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters 0.05335043617120804 Centerline is valid? [True, True] Translation: X:555.34, Y:-151.79, Z:-4.29 [[ 8.21560777e-01 5.70095991e-01 5.33387829e-03 5.55337103e+02] [-5.70084874e-01 8.21578084e-01 -3.56201044e-03 -1.51790984e+02] [-6.41288538e-03 -1.14355265e-04 9.99979431e-01 -4.28888720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters 0.05251502242175449 Centerline is valid? [True, True] Translation: X:555.38, Y:-151.83, Z:-4.29 [[ 8.25450306e-01 5.64446374e-01 5.66422822e-03 5.55382223e+02] [-5.64433703e-01 8.25469736e-01 -3.78278213e-03 -1.51833433e+02] [-6.81082663e-03 -7.45826455e-05 9.99976803e-01 -4.28982729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters 0.053131712451495165 Centerline is valid? [True, True] Translation: X:555.43, Y:-151.87, Z:-4.29 [[ 8.29641165e-01 5.58277767e-01 4.63373956e-03 5.55428620e+02] [-5.58269190e-01 8.29654105e-01 -3.09468581e-03 -1.51873013e+02] [-5.57209533e-03 -1.93952971e-05 9.99984476e-01 -4.29158691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters 0.05312598846274644 Centerline is valid? [True, True] Translation: X:555.48, Y:-151.91, Z:-4.29 [[ 8.33709820e-01 5.52183747e-01 4.58756251e-03 5.55477714e+02] [-5.52175248e-01 8.33722441e-01 -3.06380298e-03 -1.51912609e+02] [-5.51653603e-03 2.11841676e-05 9.99984784e-01 -4.29274171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters 0.05362269681345061 Centerline is valid? [True, True] Translation: X:555.52, Y:-151.95, Z:-4.29 [[ 8.38951769e-01 5.44183198e-01 4.95746179e-03 5.55523040e+02] [-5.44173130e-01 8.38966412e-01 -3.31125845e-03 -1.51953334e+02] [-5.96107514e-03 8.02686370e-05 9.99982229e-01 -4.29234561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters 0.05353727429679207 Centerline is valid? [True, True] Translation: X:555.57, Y:-151.99, Z:-4.29 [[ 8.41929852e-01 5.39564663e-01 4.90897378e-03 5.55571719e+02] [-5.39554710e-01 8.41944156e-01 -3.27920307e-03 -1.51991543e+02] [-5.90242389e-03 1.12199032e-04 9.99982574e-01 -4.29214967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters 0.05323319670710453 Centerline is valid? [True, True] Translation: X:555.63, Y:-152.02, Z:-4.29 [[ 8.42442296e-01 5.38752046e-01 6.10011053e-03 5.55625478e+02] [-5.38736654e-01 8.42464368e-01 -4.07509660e-03 -1.52022326e+02] [-7.33459240e-03 1.46680597e-04 9.99973091e-01 -4.29369824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters 0.053695092156572206 Centerline is valid? [True, True] Translation: X:555.67, Y:-152.06, Z:-4.29 [[ 8.41749624e-01 5.39848213e-01 4.63447704e-03 5.55672385e+02] [-5.39839345e-01 8.41762375e-01 -3.09604413e-03 -1.52062856e+02] [-5.57252229e-03 1.04220937e-04 9.99984468e-01 -4.29437576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters 0.05259764118121508 Centerline is valid? [True, True] Translation: X:555.73, Y:-152.09, Z:-4.30 [[ 8.38660657e-01 5.44635270e-01 4.55242930e-03 5.55725333e+02] [-5.44626779e-01 8.38673010e-01 -3.04206226e-03 -1.52094156e+02] [-5.47481398e-03 7.18830294e-05 9.99985011e-01 -4.29569973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters 0.05286576367725402 Centerline is valid? [True, True] Translation: X:555.78, Y:-152.13, Z:-4.30 [[ 8.33869287e-01 5.51949380e-01 3.72739713e-03 5.55776109e+02] [-5.51943760e-01 8.33877618e-01 -2.49088870e-03 -1.52126281e+02] [-4.48303751e-03 1.97619977e-05 9.99989951e-01 -4.29575863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters 0.052271503419898176 Centerline is valid? [True, True] Translation: X:555.83, Y:-152.16, Z:-4.30 [[ 8.28524305e-01 5.59938763e-01 4.00711067e-03 5.55830938e+02] [-5.59932361e-01 8.28533995e-01 -2.67772188e-03 -1.52158092e+02] [-4.81938769e-03 -2.51532737e-05 9.99988386e-01 -4.29561282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters 0.052851919783332625 Centerline is valid? [True, True] Translation: X:555.89, Y:-152.19, Z:-4.30 [[ 8.23746215e-01 5.66936147e-01 5.05746960e-03 5.55885051e+02] [-5.66926074e-01 8.23761737e-01 -3.38050652e-03 -1.52185306e+02] [-6.08268128e-03 -8.25319310e-05 9.99981497e-01 -4.29552205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters 0.05241145984685653 Centerline is valid? [True, True] Translation: X:555.94, Y:-152.22, Z:-4.30 [[ 8.22208204e-01 5.69161718e-01 5.34867041e-03 5.55937078e+02] [-5.69150497e-01 8.22225594e-01 -3.57546364e-03 -1.52218847e+02] [-6.43283073e-03 -1.04422881e-04 9.99979304e-01 -4.29549934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters 0.053240521444994644 Centerline is valid? [True, True] Translation: X:555.99, Y:-152.25, Z:-4.30 [[ 8.18270630e-01 5.74811344e-01 5.00951603e-03 5.55989900e+02] [-5.74801605e-01 8.18285952e-01 -3.34897806e-03 -1.52249479e+02] [-6.02424717e-03 -1.39107465e-04 9.99981844e-01 -4.29701513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters 0.05158001255785189 Centerline is valid? [True, True] Translation: X:556.04, Y:-152.29, Z:-4.30 [[ 8.14806543e-01 5.79722313e-01 3.51245733e-03 5.56036846e+02] [-5.79717570e-01 8.14814105e-01 -2.34814307e-03 -1.52289372e+02] [-4.22327070e-03 -1.22950889e-04 9.99991074e-01 -4.29800461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters 0.05174513469117066 Centerline is valid? [True, True] Translation: X:556.09, Y:-152.33, Z:-4.30 [[ 8.12739683e-01 5.82619929e-01 2.86799973e-03 5.56085831e+02] [-5.82616786e-01 8.12744736e-01 -1.91702699e-03 -1.52325968e+02] [-3.44784981e-03 -1.12900875e-04 9.99994050e-01 -4.29891098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters 0.0511554059818806 Centerline is valid? [True, True] Translation: X:556.14, Y:-152.36, Z:-4.30 [[ 8.11264818e-01 5.84675982e-01 1.84154626e-03 5.56136823e+02] [-5.84674690e-01 8.11266904e-01 -1.23132029e-03 -1.52360924e+02] [-2.21390893e-03 -7.77786625e-05 9.99997546e-01 -4.30042954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters 0.053034154793365096 Centerline is valid? [True, True] Translation: X:556.19, Y:-152.39, Z:-4.30 [[ 8.11468615e-01 5.84394442e-01 1.35027701e-03 5.56191894e+02] [-5.84393749e-01 8.11469736e-01 -9.02294619e-04 -1.52388713e+02] [-1.62300489e-03 -5.69096816e-05 9.99998681e-01 -4.30285233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters 0.05152995883254163 Centerline is valid? [True, True] Translation: X:556.23, Y:-152.44, Z:-4.30 [[ 8.13639097e-01 5.81369679e-01 8.46173047e-04 5.56232809e+02] [-5.81369406e-01 8.13639536e-01 -5.65230535e-04 -1.52438566e+02] [-1.01708774e-03 -3.20454589e-05 9.99999482e-01 -4.30125737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters 0.051645506518991774 Centerline is valid? [True, True] Translation: X:556.28, Y:-152.47, Z:-4.30 [[ 8.16532645e-01 5.77299086e-01 4.52520832e-04 5.56282922e+02] [-5.77299007e-01 8.16532771e-01 -3.02167624e-04 -1.52472160e+02] [-5.43939182e-04 -1.45100971e-05 9.99999852e-01 -4.30323251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters 0.050947203688616056 Centerline is valid? [True, True] Translation: X:556.33, Y:-152.51, Z:-4.30 [[ 8.18259726e-01 5.74847790e-01 1.01931809e-03 5.56328871e+02] [-5.74847386e-01 8.18260360e-01 -6.81913477e-04 -1.52514663e+02] [-1.22606404e-03 -2.79700032e-05 9.99999248e-01 -4.30151076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters 0.05170716368511298 Centerline is valid? [True, True] Translation: X:556.38, Y:-152.55, Z:-4.30 [[ 8.19799239e-01 5.72649690e-01 1.24094475e-03 5.56378116e+02] [-5.72649090e-01 8.19800178e-01 -8.29837402e-04 -1.52550093e+02] [-1.49253286e-03 -3.03258129e-05 9.99998886e-01 -4.30139684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters 0.051910087560586585 Centerline is valid? [True, True] Translation: X:556.43, Y:-152.59, Z:-4.30 [[ 8.20730073e-01 5.71315163e-01 1.06396290e-03 5.56426885e+02] [-5.71314720e-01 8.20730762e-01 -7.11825302e-04 -1.52589988e+02] [-1.27990367e-03 -2.36412320e-05 9.99999181e-01 -4.30041761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters 0.051735586577933194 Centerline is valid? [True, True] Translation: X:556.48, Y:-152.62, Z:-4.30 [[ 8.20406614e-01 5.71780014e-01 7.76503300e-04 5.56482195e+02] [-5.71779779e-01 8.20406981e-01 -5.18957712e-04 -1.52616998e+02] [-9.33778377e-04 -1.82325454e-05 9.99999564e-01 -4.30273257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters 0.05160941117709484 Centerline is valid? [True, True] Translation: X:556.53, Y:-152.65, Z:-4.30 [[ 8.19589750e-01 5.72949356e-01 1.29520721e-03 5.56532753e+02] [-5.72948702e-01 8.19590773e-01 -8.66404098e-04 -1.52653145e+02] [-1.55794555e-03 -3.19913693e-05 9.99998786e-01 -4.30071748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters 0.052749093648395466 Centerline is valid? [True, True] Translation: X:556.59, Y:-152.68, Z:-4.30 [[ 8.17962377e-01 5.75271230e-01 7.49169214e-04 5.56586947e+02] [-5.75271012e-01 8.17962720e-01 -5.01334690e-04 -1.52680947e+02] [-9.01195912e-04 -2.09024171e-05 9.99999594e-01 -4.30296044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters 0.05281583236173591 Centerline is valid? [True, True] Translation: X:556.64, Y:-152.71, Z:-4.30 [[ 8.15979917e-01 5.78080248e-01 5.50836557e-05 5.56641043e+02] [-5.78080246e-01 8.15979918e-01 -3.68032879e-05 -1.52709555e+02] [-6.62224109e-05 -1.81202952e-06 9.99999998e-01 -4.30448957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters 0.05103699564069247 Centerline is valid? [True, True] Translation: X:556.69, Y:-152.75, Z:-4.30 [[ 8.15180822e-01 5.79206427e-01 -3.77401272e-04 5.56688819e+02] [-5.79206372e-01 8.15180909e-01 2.53717931e-04 -1.52748941e+02] [ 4.54605368e-04 1.17672300e-05 9.99999897e-01 -4.30264162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters 0.05178063941425436 Centerline is valid? [True, True] Translation: X:556.74, Y:-152.78, Z:-4.30 [[ 8.15397373e-01 5.78901591e-01 2.69356890e-04 5.56741277e+02] [-5.78901563e-01 8.15397417e-01 -1.79525988e-04 -1.52781979e+02] [-3.23560792e-04 -9.54610593e-06 9.99999948e-01 -4.30237685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters 0.05168819134262167 Centerline is valid? [True, True] Translation: X:556.79, Y:-152.81, Z:-4.30 [[ 8.16151873e-01 5.77835464e-01 1.51569161e-03 5.56793897e+02] [-5.77834574e-01 8.16153279e-01 -1.01526522e-03 -1.52812477e+02] [-1.82369293e-03 -4.72084030e-05 9.99998336e-01 -4.30183817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters 0.05212355177605021 Centerline is valid? [True, True] Translation: X:556.85, Y:-152.85, Z:-4.30 [[ 8.17749090e-01 5.75569824e-01 2.40900956e-03 5.56845117e+02] [-5.75567565e-01 8.17752636e-01 -1.61423658e-03 -1.52846449e+02] [-2.89907978e-03 -6.65072680e-05 9.99995795e-01 -4.30149095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters 0.051237957514617224 Centerline is valid? [True, True] Translation: X:556.89, Y:-152.88, Z:-4.30 [[ 8.19696817e-01 5.72792961e-01 2.31358424e-03 5.56894965e+02] [-5.72790865e-01 8.19700080e-01 -1.55035541e-03 -1.52883211e+02] [-2.78447785e-03 -5.43785256e-05 9.99996122e-01 -4.30212105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters 0.05166344171462876 Centerline is valid? [True, True] Translation: X:556.95, Y:-152.92, Z:-4.30 [[ 8.22574286e-01 5.68656625e-01 1.08947891e-03 5.56945423e+02] [-5.68656157e-01 8.22575007e-01 -7.30006637e-04 -1.52917195e+02] [-1.31130123e-03 -1.90542001e-05 9.99999140e-01 -4.30457009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters 0.051671378616026574 Centerline is valid? [True, True] Translation: X:557.00, Y:-152.95, Z:-4.31 [[ 8.23773095e-01 5.66919399e-01 5.30974457e-04 5.56996399e+02] [-5.66919288e-01 8.23773267e-01 -3.55045565e-04 -1.52951659e+02] [-6.38684782e-04 -8.54267780e-06 9.99999796e-01 -4.30602275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters 0.052326594830608524 Centerline is valid? [True, True] Translation: X:557.04, Y:-152.99, Z:-4.30 [[ 8.28277818e-01 5.60316987e-01 -8.54480869e-04 5.57043699e+02] [-5.60316694e-01 8.28278259e-01 5.73187891e-04 -1.52992174e+02] [ 1.02891484e-03 4.02108011e-06 9.99999471e-01 -4.30440822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters 0.05272415305099039 Centerline is valid? [True, True] Translation: X:557.09, Y:-153.03, Z:-4.31 [[ 8.31480196e-01 5.55554383e-01 -1.02006082e-04 5.57093311e+02] [-5.55554379e-01 8.31480203e-01 6.93438266e-05 -1.53028665e+02] [ 1.23340305e-04 -9.88092723e-07 9.99999992e-01 -4.30688776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters 0.05265020456255978 Centerline is valid? [True, True] Translation: X:557.14, Y:-153.06, Z:-4.30 [[ 8.35270407e-01 5.49839276e-01 -3.42135196e-04 5.57144070e+02] [-5.49839228e-01 8.35270477e-01 2.29832727e-04 -1.53064563e+02] [ 4.12146488e-04 -3.85312326e-06 9.99999915e-01 -4.30468758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters 0.05261275538503936 Centerline is valid? [True, True] Translation: X:557.20, Y:-153.10, Z:-4.30 [[ 8.37346489e-01 5.46670906e-01 -1.33335760e-03 5.57195881e+02] [-5.46670173e-01 8.37347551e-01 8.95441538e-04 -1.53098167e+02] [ 1.60599556e-03 -2.08879997e-05 9.99998710e-01 -4.30473287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters 0.05413994045424842 Centerline is valid? [True, True] Translation: X:557.25, Y:-153.13, Z:-4.30 [[ 8.39196193e-01 5.43826723e-01 -1.49831845e-03 5.57249478e+02] [-5.43825793e-01 8.39197530e-01 1.00633155e-03 -1.53127743e+02] [ 1.80465513e-03 -2.96853881e-05 9.99998371e-01 -4.30189637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters 0.05364965031587948 Centerline is valid? [True, True] Translation: X:557.30, Y:-153.16, Z:-4.30 [[ 8.39540766e-01 5.43293683e-01 -1.80997170e-03 5.57299159e+02] [-5.43292325e-01 8.39542716e-01 1.21562256e-03 -1.53162772e+02] [ 2.17998861e-03 -3.72209629e-05 9.99997623e-01 -4.30356033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters 0.05396271505381326 Centerline is valid? [True, True] Translation: X:557.35, Y:-153.20, Z:-4.31 [[ 8.39312462e-01 5.43644179e-01 -2.36597498e-03 5.57351301e+02] [-5.43641859e-01 8.39315795e-01 1.58898592e-03 -1.53198517e+02] [ 2.84964312e-03 -4.74126515e-05 9.99995939e-01 -4.30666199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters 0.053355794050135914 Centerline is valid? [True, True] Translation: X:557.40, Y:-153.23, Z:-4.31 [[ 8.38148472e-01 5.45439462e-01 -1.71203748e-03 5.57404152e+02] [-5.45438252e-01 8.38150220e-01 1.14951840e-03 -1.53229569e+02] [ 2.06193729e-03 -2.96563613e-05 9.99997874e-01 -4.30590437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters 0.05398761741057742 Centerline is valid? [True, True] Translation: X:557.46, Y:-153.26, Z:-4.30 [[ 8.35433001e-01 5.49592297e-01 -9.12753946e-05 5.57458861e+02] [-5.49592294e-01 8.35433006e-01 6.14220385e-05 -1.53257357e+02] [ 1.10011556e-04 -1.14974437e-06 9.99999994e-01 -4.30320753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters 0.05384166697418939 Centerline is valid? [True, True] Translation: X:557.51, Y:-153.29, Z:-4.30 [[ 8.32342634e-01 5.54261373e-01 -2.64890902e-04 5.57513441e+02] [-5.54261344e-01 8.32342676e-01 1.78104979e-04 -1.53287161e+02] [ 3.19196713e-04 -1.42557998e-06 9.99999949e-01 -4.30315545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters 0.05270169133648759 Centerline is valid? [True, True] Translation: X:557.57, Y:-153.32, Z:-4.31 [[ 8.30123687e-01 5.57579236e-01 -2.45631541e-04 5.57566336e+02] [-5.57579212e-01 8.30123723e-01 1.65449220e-04 -1.53318948e+02] [ 2.96155619e-04 -3.84275329e-07 9.99999956e-01 -4.30765559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters 0.05274513992959835 Centerline is valid? [True, True] Translation: X:557.62, Y:-153.35, Z:-4.31 [[ 8.26554232e-01 5.62856841e-01 -5.27271827e-04 5.57622852e+02] [-5.62856729e-01 8.26554400e-01 3.55073191e-04 -1.53345619e+02] [ 6.35674223e-04 3.29124689e-06 9.99999798e-01 -4.30875894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters 0.05359757377037578 Centerline is valid? [True, True] Translation: X:557.68, Y:-153.38, Z:-4.31 [[ 8.23639588e-01 5.67110939e-01 -1.73530445e-03 5.57676209e+02] [-5.67109739e-01 8.23641416e-01 1.16666808e-03 -1.53377156e+02] [ 2.09089884e-03 2.31940317e-05 9.99997814e-01 -4.30636270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters 0.05332295018872992 Centerline is valid? [True, True] Translation: X:557.73, Y:-153.40, Z:-4.31 [[ 8.22217986e-01 5.69170406e-01 -1.62250931e-03 5.57731091e+02] [-5.69169361e-01 8.22219587e-01 1.09060125e-03 -1.53404596e+02] [ 1.95479689e-03 2.67706273e-05 9.99998089e-01 -4.31012909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters 0.052968476573261536 Centerline is valid? [True, True] Translation: X:557.78, Y:-153.44, Z:-4.31 [[ 8.21666979e-01 5.69964164e-01 -2.05612184e-03 5.57782655e+02] [-5.69962488e-01 8.21669551e-01 1.38268896e-03 -1.53439396e+02] [ 2.47753587e-03 3.58024528e-05 9.99996930e-01 -4.30828722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters 0.05367235456040077 Centerline is valid? [True, True] Translation: X:557.83, Y:-153.47, Z:-4.31 [[ 8.21989249e-01 5.69499095e-01 -2.11077604e-03 5.57834540e+02] [-5.69497326e-01 8.21991958e-01 1.41975442e-03 -1.53473394e+02] [ 2.54358978e-03 3.50584417e-05 9.99996764e-01 -4.30893044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters 0.053434788966798416 Centerline is valid? [True, True] Translation: X:557.88, Y:-153.51, Z:-4.31 [[ 8.22663910e-01 5.68523958e-01 -2.14482687e-03 5.57882906e+02] [-5.68522128e-01 8.22666705e-01 1.44287780e-03 -1.53511487e+02] [ 2.58478825e-03 3.23780398e-05 9.99996659e-01 -4.30554214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters 0.05384196071091004 Centerline is valid? [True, True] Translation: X:557.94, Y:-153.54, Z:-4.31 [[ 8.23515829e-01 5.67285625e-01 -2.94924135e-03 5.57938260e+02] [-5.67282160e-01 8.23521110e-01 1.98330187e-03 -1.53540801e+02] [ 3.55386115e-03 3.97715213e-05 9.99993684e-01 -4.31184032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters 0.0539014418317522 Centerline is valid? [True, True] Translation: X:557.99, Y:-153.58, Z:-4.31 [[ 8.24653313e-01 5.65629664e-01 -3.16171617e-03 5.57988068e+02] [-5.65625664e-01 8.24659374e-01 2.12737035e-03 -1.53578102e+02] [ 3.81064265e-03 3.40048015e-05 9.99992739e-01 -4.30934982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters 0.05373318026307312 Centerline is valid? [True, True] Translation: X:558.04, Y:-153.61, Z:-4.31 [[ 8.27833540e-01 5.60969465e-01 -2.21131563e-03 5.58037192e+02] [-5.60967493e-01 8.27836493e-01 1.48737732e-03 -1.53613758e+02] [ 2.66498104e-03 9.17535084e-06 9.99996449e-01 -4.30839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters 0.053698898579468066 Centerline is valid? [True, True] Translation: X:558.09, Y:-153.65, Z:-4.31 [[ 8.30848270e-01 5.56496429e-01 -1.69633548e-03 5.58087675e+02] [-5.56495259e-01 8.30850001e-01 1.14132343e-03 -1.53650032e+02] [ 2.04454275e-03 -4.26394339e-06 9.99997910e-01 -4.30931978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters 0.054337961348469466 Centerline is valid? [True, True] Translation: X:558.14, Y:-153.68, Z:-4.31 [[ 8.35804990e-01 5.49023929e-01 -1.65643785e-03 5.58137941e+02] [-5.49022797e-01 8.35806632e-01 1.11519117e-03 -1.53684396e+02] [ 1.99672837e-03 -2.26602029e-05 9.99998006e-01 -4.30791615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters 0.05504859334631373 Centerline is valid? [True, True] Translation: X:558.18, Y:-153.72, Z:-4.31 [[ 8.41299877e-01 5.40566628e-01 -1.49603159e-03 5.58184855e+02] [-5.40565692e-01 8.41301206e-01 1.00671102e-03 -1.53724971e+02] [ 1.80280756e-03 -3.82425003e-05 9.99998374e-01 -4.31260401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters 0.056000499335521085 Centerline is valid? [True, True] Translation: X:558.24, Y:-153.75, Z:-4.31 [[ 8.45115183e-01 5.34583021e-01 -1.14911402e-03 5.58240359e+02] [-5.34582463e-01 8.45115964e-01 7.73291620e-04 -1.53752452e+02] [ 1.38452318e-03 -3.92242842e-05 9.99999041e-01 -4.31057901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters 0.05621081180182122 Centerline is valid? [True, True] Translation: X:558.29, Y:-153.78, Z:-4.31 [[ 8.50703199e-01 5.25646291e-01 -2.10387142e-04 5.58293594e+02] [-5.25646271e-01 8.50703225e-01 1.41955830e-04 -1.53781739e+02] [ 2.53595575e-04 -1.01730617e-05 9.99999968e-01 -4.31087966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters 0.056128339970386056 Centerline is valid? [True, True] Translation: X:558.34, Y:-153.82, Z:-4.31 [[ 8.53658002e-01 5.20832937e-01 1.03336791e-03 5.58339378e+02] [-5.20832476e-01 8.53658625e-01 -6.95149558e-04 -1.53822837e+02] [-1.24420022e-03 5.52084147e-05 9.99999224e-01 -4.31286933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters 0.05577970077057762 Centerline is valid? [True, True] Translation: X:558.39, Y:-153.85, Z:-4.31 [[ 8.55655138e-01 5.17539576e-01 2.65927043e-03 5.58391330e+02] [-5.17536506e-01 8.55659257e-01 -1.78934731e-03 -1.53854868e+02] [-3.20148741e-03 1.54794690e-04 9.99994863e-01 -4.31418731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters 0.056646296403310065 Centerline is valid? [True, True] Translation: X:558.44, Y:-153.89, Z:-4.31 [[ 8.54665868e-01 5.19175227e-01 1.82682002e-03 5.58441904e+02] [-5.19173782e-01 8.54667814e-01 -1.22925826e-03 -1.53887608e+02] [-2.19952471e-03 1.02168022e-04 9.99997576e-01 -4.31477712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters 0.056183514880486965 Centerline is valid? [True, True] Translation: X:558.50, Y:-153.91, Z:-4.32 [[ 8.50002172e-01 5.26768715e-01 3.32082994e-03 5.58499389e+02] [-5.26763997e-01 8.50008646e-01 -2.23464478e-03 -1.53911488e+02] [-3.99987512e-03 1.50159263e-04 9.99991989e-01 -4.31699204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters 0.05578412935418247 Centerline is valid? [True, True] Translation: X:558.55, Y:-153.94, Z:-4.32 [[ 8.42179769e-01 5.39190392e-01 2.63769774e-03 5.58553383e+02] [-5.39187475e-01 8.42183897e-01 -1.77503635e-03 -1.53938774e+02] [-3.17850910e-03 7.26861201e-05 9.99994946e-01 -4.31850709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters 0.05504411434027764 Centerline is valid? [True, True] Translation: X:558.61, Y:-153.96, Z:-4.32 [[ 8.36198015e-01 5.48420877e-01 2.72420507e-03 5.58612113e+02] [-5.48417814e-01 8.36202452e-01 -1.83329923e-03 -1.53961305e+02] [-3.28340653e-03 3.89985847e-05 9.99994609e-01 -4.31980068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters 0.05517440221458056 Centerline is valid? [True, True] Translation: X:558.66, Y:-153.99, Z:-4.32 [[ 8.33058706e-01 5.53180804e-01 2.04706634e-03 5.58663762e+02] [-5.53179089e-01 8.33061221e-01 -1.37763185e-03 -1.53993208e+02] [-2.46741108e-03 1.52539158e-05 9.99996956e-01 -4.32236101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters 0.05405145767995976 Centerline is valid? [True, True] Translation: X:558.72, Y:-154.01, Z:-4.32 [[ 8.23893195e-01 5.66737451e-01 2.94354755e-03 5.58724856e+02] [-5.66733991e-01 8.23898452e-01 -1.98072010e-03 -1.54013976e+02] [-3.54773253e-03 -3.63066418e-05 9.99993706e-01 -4.32157747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters 0.055164105082728086 Centerline is valid? [True, True] Translation: X:558.78, Y:-154.03, Z:-4.32 [[ 8.16298005e-01 5.77622631e-01 3.10859830e-03 5.58784657e+02] [-5.77618846e-01 8.16303919e-01 -2.09289168e-03 -1.54032020e+02] [-3.74646257e-03 -8.71616612e-05 9.99992978e-01 -4.32279449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters 0.05576834633428675 Centerline is valid? [True, True] Translation: X:558.84, Y:-154.06, Z:-4.32 [[ 8.10922795e-01 5.85140254e-01 3.88630952e-03 5.58839452e+02] [-5.85134424e-01 8.10932094e-01 -2.61645349e-03 -1.54059933e+02] [-4.68252538e-03 -1.52271705e-04 9.99989025e-01 -4.32284627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters 0.05845354652697738 Centerline is valid? [True, True] Translation: X:558.90, Y:-154.08, Z:-4.32 [[ 8.08638619e-01 5.88296913e-01 3.21331850e-03 5.58896008e+02] [-5.88292952e-01 8.08644991e-01 -2.16341961e-03 -1.54084084e+02] [-3.87116699e-03 -1.40947981e-04 9.99992497e-01 -4.32430127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters 0.05412419014820513 Centerline is valid? [True, True] Translation: X:558.94, Y:-154.13, Z:-4.32 [[ 8.07237017e-01 5.90221823e-01 2.56865486e-03 5.58937269e+02] [-5.90219302e-01 8.07241095e-01 -1.72927984e-03 -1.54131921e+02] [-3.09418246e-03 -1.20130980e-04 9.99995206e-01 -4.32463867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters 0.05384665083062952 Centerline is valid? [True, True] Translation: X:558.99, Y:-154.17, Z:-4.33 [[ 8.07491989e-01 5.89877274e-01 1.22053703e-03 5.58988546e+02] [-5.89876705e-01 8.07492909e-01 -8.20985075e-04 -1.54167527e+02] [-1.46985543e-03 -5.70274883e-05 9.99998918e-01 -4.32657011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters 0.05341474511223652 Centerline is valid? [True, True] Translation: X:559.04, Y:-154.21, Z:-4.33 [[ 8.09206877e-01 5.87523615e-01 4.81808648e-04 5.59036661e+02] [-5.87523526e-01 8.09207020e-01 -3.24301620e-04 -1.54205986e+02] [-5.80417801e-04 -2.06468148e-05 9.99999831e-01 -4.32770800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters 0.05444244017294599 Centerline is valid? [True, True] Translation: X:559.09, Y:-154.24, Z:-4.33 [[ 8.12247657e-01 5.83312368e-01 6.52282004e-04 5.59085152e+02] [-5.83312203e-01 8.12247918e-01 -4.39284015e-04 -1.54241868e+02] [-7.86054499e-04 -2.36766401e-05 9.99999691e-01 -4.32904167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters 0.05398175232788316 Centerline is valid? [True, True] Translation: X:559.13, Y:-154.28, Z:-4.33 [[ 8.14645588e-01 5.79957593e-01 1.32546707e-03 5.59134442e+02] [-5.79956907e-01 8.14646665e-01 -8.92684213e-04 -1.54276837e+02] [-1.59750632e-03 -4.14925290e-05 9.99998723e-01 -4.32928543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters 0.05426142778175406 Centerline is valid? [True, True] Translation: X:559.18, Y:-154.32, Z:-4.33 [[ 8.18150865e-01 5.74994747e-01 3.19425482e-03 5.59179889e+02] [-5.74990728e-01 8.18157097e-01 -2.15130639e-03 -1.54316544e+02] [-3.85039213e-03 -7.65737189e-05 9.99992584e-01 -4.32850330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters 0.0536702068325343 Centerline is valid? [True, True] Translation: X:559.22, Y:-154.36, Z:-4.33 [[ 8.20919283e-01 5.71025307e-01 4.65081030e-03 5.59224205e+02] [-5.71016722e-01 8.20932453e-01 -3.13235986e-03 -1.54360037e+02] [-5.60665786e-03 -8.42758406e-05 9.99984279e-01 -4.32732200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters 0.05378817942486403 Centerline is valid? [True, True] Translation: X:559.27, Y:-154.40, Z:-4.33 [[ 8.22046329e-01 5.69402439e-01 4.54932194e-03 5.59274043e+02] [-5.69394200e-01 8.22058914e-01 -3.06398686e-03 -1.54397917e+02] [-5.48445224e-03 -7.16183805e-05 9.99984958e-01 -4.32862521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters 0.05326023032448608 Centerline is valid? [True, True] Translation: X:559.32, Y:-154.44, Z:-4.33 [[ 8.22427415e-01 5.68857412e-01 3.79364909e-03 5.59320441e+02] [-5.68851677e-01 8.22436163e-01 -2.55494825e-03 -1.54439878e+02] [-4.57343545e-03 -5.67641609e-05 9.99989540e-01 -4.32959981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters 0.05283472232537271 Centerline is valid? [True, True] Translation: X:559.37, Y:-154.48, Z:-4.33 [[ 8.22261319e-01 5.69099161e-01 3.53107923e-03 5.59367994e+02] [-5.69094193e-01 8.22268899e-01 -2.37851664e-03 -1.54482136e+02] [-4.25710845e-03 -5.37544533e-05 9.99990937e-01 -4.33030132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters 0.05307644406791653 Centerline is valid? [True, True] Translation: X:559.42, Y:-154.52, Z:-4.33 [[ 8.22700006e-01 5.68468178e-01 2.93783353e-03 5.59417604e+02] [-5.68464733e-01 8.22705251e-01 -1.97940401e-03 -1.54518186e+02] [-3.54219926e-03 -4.15990576e-05 9.99993726e-01 -4.33167285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters 0.053318911203124215 Centerline is valid? [True, True] Translation: X:559.47, Y:-154.56, Z:-4.33 [[ 8.23398380e-01 5.67447149e-01 4.34059163e-03 5.59465975e+02] [-5.67439608e-01 8.23409819e-01 -2.92579634e-03 -1.54558378e+02] [-5.23432056e-03 -5.39276498e-05 9.99986299e-01 -4.33071853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters 0.052905515206584354 Centerline is valid? [True, True] Translation: X:559.52, Y:-154.59, Z:-4.33 [[ 8.23834246e-01 5.66812077e-01 4.60487216e-03 5.59516473e+02] [-5.66803579e-01 8.23847113e-01 -3.10428681e-03 -1.54593625e+02] [-5.55325790e-03 -5.26402395e-05 9.99984579e-01 -4.32997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters 0.05323753150298991 Centerline is valid? [True, True] Translation: X:559.57, Y:-154.63, Z:-4.33 [[ 8.23802970e-01 5.66850125e-01 5.44083562e-03 5.59566845e+02] [-5.66838255e-01 8.23820935e-01 -3.66883279e-03 -1.54631951e+02] [-6.56195261e-03 -6.16784213e-05 9.99978468e-01 -4.32982027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters 0.053125210726526484 Centerline is valid? [True, True] Translation: X:559.62, Y:-154.67, Z:-4.33 [[ 8.22915074e-01 5.68136604e-01 5.61955336e-03 5.59616964e+02] [-5.68123965e-01 8.22934258e-01 -3.79042501e-03 -1.54668120e+02] [-6.77800217e-03 -7.34050608e-05 9.99977026e-01 -4.33046974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters 0.053416874662710924 Centerline is valid? [True, True] Translation: X:559.67, Y:-154.70, Z:-4.33 [[ 8.20324649e-01 5.71880109e-01 4.54000714e-03 5.59667563e+02] [-5.71871912e-01 8.20337208e-01 -3.06303810e-03 -1.54702507e+02] [-5.47602734e-03 -8.36169128e-05 9.99985003e-01 -4.33078831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters 0.053545015957962294 Centerline is valid? [True, True] Translation: X:559.72, Y:-154.73, Z:-4.33 [[ 8.16850554e-01 5.76841424e-01 3.02384450e-03 5.59720171e+02] [-5.76837822e-01 8.16856147e-01 -2.04007371e-03 -1.54732020e+02] [-3.64684499e-03 -7.78325337e-05 9.99993347e-01 -4.33233584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters 0.05381445072809035 Centerline is valid? [True, True] Translation: X:559.77, Y:-154.76, Z:-4.33 [[ 8.14691518e-01 5.79887758e-01 2.81395756e-03 5.59772432e+02] [-5.79884656e-01 8.14696373e-01 -1.89869276e-03 -1.54763682e+02] [-3.39354971e-03 -8.49219250e-05 9.99994238e-01 -4.33313798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters 0.05261620713801521 Centerline is valid? [True, True] Translation: X:559.82, Y:-154.80, Z:-4.33 [[ 8.12826589e-01 5.82499511e-01 2.69371080e-03 5.59819437e+02] [-5.82496683e-01 8.12831047e-01 -1.81745526e-03 -1.54803002e+02] [-3.24819857e-03 -9.18016516e-05 9.99994720e-01 -4.33242702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters 0.05272492257716517 Centerline is valid? [True, True] Translation: X:559.87, Y:-154.84, Z:-4.33 [[ 8.12291481e-01 5.83242430e-01 3.28887484e-03 5.59870280e+02] [-5.83238221e-01 8.12298131e-01 -2.21893526e-03 -1.54839421e+02] [-3.96572409e-03 -1.15775300e-04 9.99992130e-01 -4.33220406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters 0.05265217058478984 Centerline is valid? [True, True] Translation: X:559.92, Y:-154.88, Z:-4.33 [[ 8.12534628e-01 5.82901674e-01 3.62163836e-03 5.59917985e+02] [-5.82896563e-01 8.12542690e-01 -2.44409840e-03 -1.54879066e+02] [-4.36740482e-03 -1.25125965e-04 9.99990455e-01 -4.33109824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters 0.05226840494532467 Centerline is valid? [True, True] Translation: X:559.97, Y:-154.91, Z:-4.33 [[ 8.13595662e-01 5.81424229e-01 2.82233687e-03 5.59968038e+02] [-5.81421114e-01 8.13600552e-01 -1.90540865e-03 -1.54912863e+02] [-3.40410559e-03 -9.07340329e-05 9.99994202e-01 -4.33215864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters 0.05339174089172546 Centerline is valid? [True, True] Translation: X:560.02, Y:-154.95, Z:-4.33 [[ 8.14650910e-01 5.79948863e-01 1.79224046e-03 5.60019247e+02] [-5.79947603e-01 8.14652879e-01 -1.20992193e-03 -1.54945458e+02] [-2.16174670e-03 -5.37415640e-05 9.99997662e-01 -4.33436038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters 0.0526990629167397 Centerline is valid? [True, True] Translation: X:560.07, Y:-154.99, Z:-4.34 [[ 8.16872977e-01 5.76817596e-01 -2.00367518e-06 5.60066469e+02] [-5.76817596e-01 8.16872977e-01 1.55562968e-06 -1.54985526e+02] [ 2.53406248e-06 -1.14996748e-07 1.00000000e+00 -4.33614825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters 0.05235749735723156 Centerline is valid? [True, True] Translation: X:560.11, Y:-155.03, Z:-4.33 [[ 8.19641690e-01 5.72874692e-01 -1.44463367e-03 5.60110092e+02] [-5.72873861e-01 8.19642963e-01 9.75928497e-04 -1.55030377e+02] [ 1.74316856e-03 2.76811865e-05 9.99998480e-01 -4.33423636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters 0.052641467438874934 Centerline is valid? [True, True] Translation: X:560.16, Y:-155.07, Z:-4.34 [[ 8.24058002e-01 5.66502599e-01 -1.79274313e-03 5.60157452e+02] [-5.66501305e-01 8.24059952e-01 1.21114820e-03 -1.55068804e+02] [ 2.16344642e-03 1.75349529e-05 9.99997660e-01 -4.33615605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters 0.052568588217405676 Centerline is valid? [True, True] Translation: X:560.21, Y:-155.11, Z:-4.34 [[ 8.28012244e-01 5.60706330e-01 -2.03356261e-03 5.60205181e+02] [-5.60704647e-01 8.28014741e-01 1.37382400e-03 -1.55109760e+02] [ 2.45413163e-03 2.68491554e-06 9.99996989e-01 -4.33512968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters 0.052479893263268046 Centerline is valid? [True, True] Translation: X:560.26, Y:-155.15, Z:-4.33 [[ 8.30055532e-01 5.57677731e-01 -1.83376915e-03 5.60255692e+02] [-5.57676352e-01 8.30057557e-01 1.24006384e-03 -1.55147638e+02] [ 2.21368993e-03 -6.67216121e-06 9.99997550e-01 -4.33461827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters 0.05223423874469966 Centerline is valid? [True, True] Translation: X:560.30, Y:-155.19, Z:-4.33 [[ 8.34832278e-01 5.50503702e-01 -8.60889238e-04 5.60302953e+02] [-5.50503395e-01 8.34832722e-01 5.82035847e-04 -1.55188841e+02] [ 1.03911139e-03 -1.19798643e-05 9.99999460e-01 -4.33498354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters 0.05240377004062395 Centerline is valid? [True, True] Translation: X:560.35, Y:-155.23, Z:-4.33 [[ 8.37739029e-01 5.46070099e-01 8.75146825e-04 5.60349879e+02] [-5.46069780e-01 8.37739486e-01 -5.90485455e-04 -1.55228271e+02] [-1.05559150e-03 1.67814777e-05 9.99999443e-01 -4.33494169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters 0.05325038128807772 Centerline is valid? [True, True] Translation: X:560.40, Y:-155.27, Z:-4.34 [[ 8.39225972e-01 5.43781431e-01 1.23377151e-03 5.60399432e+02] [-5.43780794e-01 8.39226879e-01 -8.33393153e-04 -1.55265872e+02] [-1.48859794e-03 2.85039267e-05 9.99998892e-01 -4.33545820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters 0.053581455051333333 Centerline is valid? [True, True] Translation: X:560.45, Y:-155.30, Z:-4.33 [[ 8.40976330e-01 5.41071364e-01 7.69533517e-04 5.60451963e+02] [-5.41071115e-01 8.40976681e-01 -5.19906029e-04 -1.55298926e+02] [-9.28466007e-04 2.08563060e-05 9.99999569e-01 -4.33459279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters 0.05332483789921261 Centerline is valid? [True, True] Translation: X:560.51, Y:-155.33, Z:-4.33 [[ 8.41913094e-01 5.39613141e-01 -2.40513956e-05 5.60505977e+02] [-5.39613141e-01 8.41913094e-01 1.68319344e-05 -1.55327333e+02] [ 2.93319176e-05 -1.19257684e-06 1.00000000e+00 -4.33352156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters 0.054182157046669004 Centerline is valid? [True, True] Translation: X:560.55, Y:-155.37, Z:-4.34 [[ 8.42170149e-01 5.39211855e-01 -1.21971082e-04 5.60553095e+02] [-5.39211849e-01 8.42170158e-01 8.30185572e-05 -1.55367973e+02] [ 1.47484995e-04 -4.14749802e-06 9.99999989e-01 -4.33651995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters 0.053201393834370704 Centerline is valid? [True, True] Translation: X:560.61, Y:-155.39, Z:-4.33 [[ 8.41549230e-01 5.40180321e-01 3.38228356e-04 5.60611211e+02] [-5.40180273e-01 8.41549298e-01 -2.27691616e-04 -1.55393573e+02] [-4.07630366e-04 8.90941827e-06 9.99999917e-01 -4.33443953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters 0.05356121413678584 Centerline is valid? [True, True] Translation: X:560.66, Y:-155.43, Z:-4.34 [[ 8.40602437e-01 5.41651294e-01 1.19074795e-03 5.60661295e+02] [-5.41650697e-01 8.40603280e-01 -8.04901634e-04 -1.55427152e+02] [-1.43692264e-03 3.16328197e-05 9.99998967e-01 -4.33518125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters 0.05249847952575389 Centerline is valid? [True, True] Translation: X:560.72, Y:-155.45, Z:-4.33 [[ 8.38321283e-01 5.45174017e-01 1.64815325e-03 5.60716494e+02] [-5.45172879e-01 8.38322903e-01 -1.11452083e-03 -1.55454896e+02] [-1.98929242e-03 3.57980776e-05 9.99998021e-01 -4.33452035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters 0.05260290405240751 Centerline is valid? [True, True] Translation: X:560.77, Y:-155.49, Z:-4.34 [[ 8.34650190e-01 5.50779705e-01 8.81651636e-04 5.60766974e+02] [-5.50779382e-01 8.34650656e-01 -5.96227305e-04 -1.55487997e+02] [-1.06426101e-03 1.20456905e-05 9.99999434e-01 -4.33874017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters 0.05260312170448725 Centerline is valid? [True, True] Translation: X:560.82, Y:-155.52, Z:-4.34 [[ 8.31955796e-01 5.54841836e-01 -3.00415226e-04 5.60822887e+02] [-5.54841799e-01 8.31955850e-01 2.03609150e-04 -1.55516457e+02] [ 3.62903079e-04 -2.71088796e-06 9.99999934e-01 -4.33893513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters 0.05234935240025306 Centerline is valid? [True, True] Translation: X:560.88, Y:-155.55, Z:-4.34 [[ 8.28293072e-01 5.60294335e-01 -9.19003571e-04 5.60877203e+02] [-5.60293989e-01 8.28293582e-01 6.22836870e-04 -1.55545268e+02] [ 1.11017673e-03 -9.79287683e-07 9.99999384e-01 -4.34063424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters 0.0524740176876481 Centerline is valid? [True, True] Translation: X:560.93, Y:-155.58, Z:-4.34 [[ 8.26438984e-01 5.63025241e-01 -1.08773595e-03 5.60931178e+02] [-5.63024759e-01 8.26439700e-01 7.37269280e-04 -1.55577259e+02] [ 1.31404938e-03 3.11419304e-06 9.99999137e-01 -4.33942588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters 0.052832527243235554 Centerline is valid? [True, True] Translation: X:560.98, Y:-155.61, Z:-4.34 [[ 8.24271011e-01 5.66195426e-01 2.02184253e-04 5.60984348e+02] [-5.66195410e-01 8.24271035e-01 -1.35912120e-04 -1.55608437e+02] [-2.43607445e-04 -2.44737542e-06 9.99999970e-01 -4.33856216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters 0.05233264176136119 Centerline is valid? [True, True] Translation: X:561.04, Y:-155.64, Z:-4.34 [[ 8.22242502e-01 5.69137300e-01 5.43054679e-05 5.61037523e+02] [-5.69137298e-01 8.22242503e-01 -3.64029950e-05 -1.55640599e+02] [-6.53705664e-05 -9.75177614e-07 9.99999998e-01 -4.33947114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters 0.05191425389170721 Centerline is valid? [True, True] Translation: X:561.09, Y:-155.68, Z:-4.34 [[ 8.20907244e-01 5.71060385e-01 -1.15445285e-03 5.61089220e+02] [-5.71059850e-01 8.20908056e-01 7.81979221e-04 -1.55675475e+02] [ 1.39425700e-03 1.73292670e-05 9.99999028e-01 -4.33952033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters 0.05239044359336565 Centerline is valid? [True, True] Translation: X:561.14, Y:-155.71, Z:-4.34 [[ 8.19594496e-01 5.72938372e-01 -2.54629021e-03 5.61140727e+02] [-5.72935776e-01 8.19598450e-01 1.72544672e-03 -1.55708389e+02] [ 3.07551015e-03 4.46941206e-05 9.99995270e-01 -4.34155926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters 0.05270426153868462 Centerline is valid? [True, True] Translation: X:561.19, Y:-155.74, Z:-4.34 [[ 8.19103111e-01 5.73642340e-01 -2.13527386e-03 5.61192151e+02] [-5.73640516e-01 8.19105893e-01 1.44738606e-03 -1.55741547e+02] [ 2.57929733e-03 3.93211776e-05 9.99996673e-01 -4.34324993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters 0.05251062848358399 Centerline is valid? [True, True] Translation: X:561.24, Y:-155.78, Z:-4.34 [[ 8.19109550e-01 5.73635129e-01 -1.51122835e-03 5.61240667e+02] [-5.73634216e-01 8.19110944e-01 1.02416620e-03 -1.55780082e+02] [ 1.82536139e-03 2.79879740e-05 9.99998334e-01 -4.34172674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters 0.053086012022274635 Centerline is valid? [True, True] Translation: X:561.29, Y:-155.82, Z:-4.34 [[ 8.19868936e-01 5.72549728e-01 -1.31795739e-03 5.61288649e+02] [-5.72549030e-01 8.19869995e-01 8.94001391e-04 -1.55817577e+02] [ 1.59241397e-03 2.16312558e-05 9.99998732e-01 -4.34202712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters 0.0524755124978576 Centerline is valid? [True, True] Translation: X:561.34, Y:-155.86, Z:-4.34 [[ 8.20975741e-01 5.70962360e-01 -9.03671271e-04 5.61337954e+02] [-5.70962030e-01 8.20976238e-01 6.13489913e-04 -1.55855246e+02] [ 1.09217229e-03 1.23016481e-05 9.99999404e-01 -4.34225980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters 0.05254251564086761 Centerline is valid? [True, True] Translation: X:561.39, Y:-155.90, Z:-4.34 [[ 8.23611580e-01 5.67154163e-01 -3.47826272e-04 5.61385380e+02] [-5.67154114e-01 8.23611654e-01 2.35979771e-04 -1.55895335e+02] [ 4.20310681e-04 2.91542888e-06 9.99999912e-01 -4.34211109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters 0.0523966598592348 Centerline is valid? [True, True] Translation: X:561.43, Y:-155.93, Z:-4.34 [[ 8.26303322e-01 5.63225262e-01 3.52126700e-04 5.61433204e+02] [-5.63225212e-01 8.26303397e-01 -2.37800142e-04 -1.55933075e+02] [-4.24898536e-04 -1.83158818e-06 9.99999910e-01 -4.34437062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters 0.05200442185632018 Centerline is valid? [True, True] Translation: X:561.48, Y:-155.98, Z:-4.34 [[ 8.32009841e-01 5.54760660e-01 4.84713673e-04 5.61478813e+02] [-5.54760563e-01 8.32009982e-01 -3.28288402e-04 -1.55976483e+02] [-5.85408105e-04 4.23915102e-06 9.99999829e-01 -4.34355468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters 0.053202120524440025 Centerline is valid? [True, True] Translation: X:561.53, Y:-156.02, Z:-4.34 [[ 8.37136182e-01 5.46994526e-01 -3.58809148e-05 5.61526427e+02] [-5.46994526e-01 8.37136183e-01 2.52453759e-05 -1.56015607e+02] [ 4.38462942e-05 -1.50715360e-06 9.99999999e-01 -4.34443377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters 0.053834656068827924 Centerline is valid? [True, True] Translation: X:561.57, Y:-156.05, Z:-4.35 [[ 8.39582816e-01 5.43231542e-01 -4.31922761e-04 5.61574536e+02] [-5.43231463e-01 8.39582927e-01 2.93384491e-04 -1.56052666e+02] [ 5.22010685e-04 -1.16865438e-05 9.99999864e-01 -4.34570761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters 0.054037299453037875 Centerline is valid? [True, True] Translation: X:561.62, Y:-156.09, Z:-4.35 [[ 8.40646842e-01 5.41583628e-01 2.46525671e-04 5.61624586e+02] [-5.41583603e-01 8.40646878e-01 -1.66846883e-04 -1.56089706e+02] [-2.97602576e-04 6.74504456e-06 9.99999956e-01 -4.34654898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters 0.05388810151262319 Centerline is valid? [True, True] Translation: X:561.68, Y:-156.12, Z:-4.35 [[ 8.39769234e-01 5.42943486e-01 -6.65076925e-05 5.61676516e+02] [-5.42943484e-01 8.39769237e-01 4.61745926e-05 -1.56123766e+02] [ 8.09213082e-05 -2.66608400e-06 9.99999997e-01 -4.34705468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters 0.05400787369213431 Centerline is valid? [True, True] Translation: X:561.73, Y:-156.15, Z:-4.34 [[ 8.38875412e-01 5.44323429e-01 2.20380910e-04 5.61733346e+02] [-5.44323409e-01 8.38875441e-01 -1.48528949e-04 -1.56149959e+02] [-2.65719920e-04 4.63879526e-06 9.99999965e-01 -4.34467377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters 0.053508073290393074 Centerline is valid? [True, True] Translation: X:561.78, Y:-156.19, Z:-4.35 [[ 8.37593172e-01 5.46292746e-01 1.38345259e-03 5.61782336e+02] [-5.46291940e-01 8.37594314e-01 -9.38717011e-04 -1.56186970e+02] [-1.67158631e-03 3.04939618e-05 9.99998602e-01 -4.34798663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters 0.05348938329164671 Centerline is valid? [True, True] Translation: X:561.84, Y:-156.22, Z:-4.35 [[ 8.36401988e-01 5.48114066e-01 1.63836637e-03 5.61835714e+02] [-5.48112941e-01 8.36403592e-01 -1.11124876e-03 -1.56217594e+02] [-1.97942659e-03 3.14408668e-05 9.99998040e-01 -4.34838820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters 0.05342707287971034 Centerline is valid? [True, True] Translation: X:561.89, Y:-156.25, Z:-4.35 [[ 8.35756553e-01 5.49095340e-01 2.30040025e-03 5.61889230e+02] [-5.49093123e-01 8.35759718e-01 -1.56104057e-03 -1.56248761e+02] [-2.77974197e-03 4.15159254e-05 9.99996136e-01 -4.34783181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters 0.052871098182163956 Centerline is valid? [True, True] Translation: X:561.94, Y:-156.28, Z:-4.35 [[ 8.33943827e-01 5.51843631e-01 2.51010059e-03 5.61938370e+02] [-5.51841001e-01 8.33947603e-01 -1.70423054e-03 -1.56284774e+02] [-3.03376114e-03 3.60561180e-05 9.99995397e-01 -4.34953923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters 0.052944894286800465 Centerline is valid? [True, True] Translation: X:561.99, Y:-156.31, Z:-4.35 [[ 8.32576411e-01 5.53908850e-01 1.22715102e-03 5.61994572e+02] [-5.53908225e-01 8.32577315e-01 -8.32430228e-04 -1.56311878e+02] [-1.48278857e-03 1.33327290e-05 9.99998901e-01 -4.35092690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters 0.05328561924882615 Centerline is valid? [True, True] Translation: X:562.05, Y:-156.34, Z:-4.35 [[ 8.32014086e-01 5.54754336e-01 4.31829593e-04 5.62047248e+02] [-5.54754259e-01 8.32014198e-01 -2.92257744e-04 -1.56344537e+02] [-5.21419604e-04 3.60325393e-06 9.99999864e-01 -4.35325167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters 0.05305048492071355 Centerline is valid? [True, True] Translation: X:562.10, Y:-156.38, Z:-4.35 [[ 8.31329653e-01 5.55778645e-01 1.05155389e-03 5.62099937e+02] [-5.55778187e-01 8.31330318e-01 -7.13630329e-04 -1.56375784e+02] [-1.27080913e-03 8.83133686e-06 9.99999192e-01 -4.35285353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters 0.05287752505459056 Centerline is valid? [True, True] Translation: X:562.15, Y:-156.41, Z:-4.35 [[ 8.30411158e-01 5.57149169e-01 1.45321022e-03 5.62153707e+02] [-5.57148295e-01 8.30412430e-01 -9.87253773e-04 -1.56406648e+02] [-1.75681145e-03 1.01729523e-05 9.99998457e-01 -4.35262502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters 0.05293673991630674 Centerline is valid? [True, True] Translation: X:562.21, Y:-156.44, Z:-4.35 [[ 8.29380506e-01 5.58683084e-01 1.08939569e-03 5.62206530e+02] [-5.58682595e-01 8.29381222e-01 -7.39526989e-04 -1.56438688e+02] [-1.31668555e-03 4.72285888e-06 9.99999133e-01 -4.35390574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters 0.05330696592672993 Centerline is valid? [True, True] Translation: X:562.26, Y:-156.47, Z:-4.35 [[ 8.27027833e-01 5.62160574e-01 6.72099335e-04 5.62260169e+02] [-5.62160389e-01 8.27028106e-01 -4.55956030e-04 -1.56469463e+02] [-8.12165544e-04 -7.39296699e-07 9.99999670e-01 -4.35426589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters 0.05278318478982121 Centerline is valid? [True, True] Translation: X:562.31, Y:-156.50, Z:-4.36 [[ 8.24705508e-01 5.65562329e-01 2.76394471e-04 5.62312660e+02] [-5.65562298e-01 8.24705555e-01 -1.87026383e-04 -1.56500893e+02] [-3.33719132e-04 -2.07660343e-06 9.99999944e-01 -4.35523690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters 0.05322350583093418 Centerline is valid? [True, True] Translation: X:562.37, Y:-156.53, Z:-4.36 [[ 8.20512799e-01 5.71628125e-01 1.85839342e-04 5.62366672e+02] [-5.71628111e-01 8.20512820e-01 -1.25472432e-04 -1.56531295e+02] [-2.24207133e-04 -3.27925571e-06 9.99999975e-01 -4.35541381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters 0.0525723821790153 Centerline is valid? [True, True] Translation: X:562.42, Y:-156.56, Z:-4.35 [[ 8.17676587e-01 5.75677657e-01 4.84812378e-04 5.62418161e+02] [-5.75677563e-01 8.17676730e-01 -3.29030093e-04 -1.56564672e+02] [-5.85835073e-04 -1.00554050e-05 9.99999828e-01 -4.35472252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters 0.05285609356742486 Centerline is valid? [True, True] Translation: X:562.47, Y:-156.60, Z:-4.36 [[ 8.14757437e-01 5.79801579e-01 6.68926124e-04 5.62470736e+02] [-5.79801401e-01 8.14757712e-01 -4.54411234e-04 -1.56595552e+02] [-8.08481069e-04 -1.76093714e-05 9.99999673e-01 -4.35533952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters 0.05268092856871846 Centerline is valid? [True, True] Translation: X:562.52, Y:-156.63, Z:-4.36 [[ 8.14380819e-01 5.80330177e-01 8.76065923e-04 5.62521824e+02] [-5.80329872e-01 8.14381290e-01 -5.95341464e-04 -1.56630416e+02] [-1.05894631e-03 -2.35725559e-05 9.99999439e-01 -4.35603997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters 0.052100089589870904 Centerline is valid? [True, True] Translation: X:562.57, Y:-156.67, Z:-4.36 [[ 8.16646662e-01 5.77136516e-01 1.29275576e-03 5.62571035e+02] [-5.77135846e-01 8.16647685e-01 -8.79772551e-04 -1.56667563e+02] [-1.56347486e-03 -2.76323708e-05 9.99998777e-01 -4.35675162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters 0.05202945746743037 Centerline is valid? [True, True] Translation: X:562.62, Y:-156.71, Z:-4.36 [[ 8.19338801e-01 5.73308499e-01 1.13794931e-03 5.62618942e+02] [-5.73307976e-01 8.19339591e-01 -7.74519653e-04 -1.56705750e+02] [-1.37640562e-03 -1.78014121e-05 9.99999053e-01 -4.35688312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters 0.05274309734365551 Centerline is valid? [True, True] Translation: X:562.67, Y:-156.74, Z:-4.36 [[ 8.24356324e-01 5.66070994e-01 5.29594097e-04 5.62666345e+02] [-5.66070879e-01 8.24356494e-01 -3.60324855e-04 -1.56744295e+02] [-6.40543782e-04 -2.75172269e-06 9.99999795e-01 -4.35985132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters 0.05326533589459698 Centerline is valid? [True, True] Translation: X:562.72, Y:-156.78, Z:-4.36 [[ 8.27784090e-01 5.61046174e-01 8.30736373e-04 5.62715066e+02] [-5.61045890e-01 8.27784507e-01 -5.64668273e-04 -1.56782638e+02] [-1.00447567e-03 1.34218493e-06 9.99999496e-01 -4.35742834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters 0.05268642745995721 Centerline is valid? [True, True] Translation: X:562.76, Y:-156.83, Z:-4.36 [[ 8.32619678e-01 5.53844286e-01 9.89231656e-04 5.62761298e+02] [-5.53843877e-01 8.32620265e-01 -6.73318333e-04 -1.56825285e+02] [-1.19656784e-03 1.27381982e-05 9.99999284e-01 -4.36148019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters 0.05369135541570975 Centerline is valid? [True, True] Translation: X:562.81, Y:-156.86, Z:-4.36 [[ 8.35769380e-01 5.49080183e-01 7.03615817e-04 5.62808130e+02] [-5.49079975e-01 8.35769676e-01 -4.78858631e-04 -1.56863010e+02] [-8.50992549e-04 1.38740265e-05 9.99999638e-01 -4.36232919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters 0.05307195438169469 Centerline is valid? [True, True] Translation: X:562.86, Y:-156.90, Z:-4.36 [[ 8.36740851e-01 5.47598798e-01 5.51860064e-04 5.62860517e+02] [-5.47598669e-01 8.36741033e-01 -3.75396264e-04 -1.56895282e+02] [-6.67330504e-04 1.19115528e-05 9.99999777e-01 -4.36141257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters 0.0536546499062935 Centerline is valid? [True, True] Translation: X:562.91, Y:-156.93, Z:-4.36 [[ 8.36410854e-01 5.48100774e-01 1.55713902e-03 5.62910949e+02] [-5.48099750e-01 8.36412303e-01 -1.05997645e-03 -1.56932350e+02] [-1.88338414e-03 3.31082985e-05 9.99998226e-01 -4.36202599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters 0.05340620734561445 Centerline is valid? [True, True] Translation: X:562.96, Y:-156.97, Z:-4.36 [[ 8.34944439e-01 5.50329000e-01 2.40321150e-03 5.62960479e+02] [-5.50326566e-01 8.34947897e-01 -1.63724420e-03 -1.56967784e+02] [-2.90757935e-03 4.44568119e-05 9.99995772e-01 -4.36240909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters 0.05318722812236627 Centerline is valid? [True, True] Translation: X:563.01, Y:-157.00, Z:-4.36 [[ 8.30764754e-01 5.56612146e-01 3.58358398e-03 5.63010380e+02] [-5.56606792e-01 8.30772483e-01 -2.44157507e-03 -1.57002703e+02] [-4.33615330e-03 3.37273305e-05 9.99990598e-01 -4.36450213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters 0.051987413546500515 Centerline is valid? [True, True] Translation: X:563.06, Y:-157.03, Z:-4.37 [[ 8.24867592e-01 5.65311960e-01 3.98038986e-03 5.63064579e+02] [-5.65305456e-01 8.24877196e-01 -2.71182180e-03 -1.57031605e+02] [-4.81635812e-03 -1.32421817e-05 9.99988401e-01 -4.36516721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters 0.05164454598250366 Centerline is valid? [True, True] Translation: X:563.12, Y:-157.06, Z:-4.37 [[ 8.20514644e-01 5.71614889e-01 3.48399141e-03 5.63117668e+02] [-5.71609961e-01 8.20522039e-01 -2.37405214e-03 -1.57061884e+02] [-4.21573528e-03 -4.35396476e-05 9.99991113e-01 -4.36625242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters 0.05179572626763762 Centerline is valid? [True, True] Translation: X:563.17, Y:-157.09, Z:-4.37 [[ 8.15019117e-01 5.79424983e-01 3.24470161e-03 5.63168932e+02] [-5.79420767e-01 8.15025572e-01 -2.21173561e-03 -1.57094381e+02] [-3.92604965e-03 -7.74406865e-05 9.99992290e-01 -4.36665358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters 0.05139536476883196 Centerline is valid? [True, True] Translation: X:563.22, Y:-157.13, Z:-4.37 [[ 8.12516306e-01 5.82927066e-01 3.64525321e-03 5.63219244e+02] [-5.82921780e-01 8.12524476e-01 -2.48495172e-03 -1.57130125e+02] [-4.41040307e-03 -1.05833692e-04 9.99990269e-01 -4.36723775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters 0.05231823101253261 Centerline is valid? [True, True] Translation: X:563.27, Y:-157.16, Z:-4.37 [[ 8.10397513e-01 5.85867138e-01 3.94569928e-03 5.63270060e+02] [-5.85860978e-01 8.10407107e-01 -2.68983990e-03 -1.57162872e+02] [-4.77351155e-03 -1.31791674e-04 9.99988598e-01 -4.36800641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters 0.05188249548436555 Centerline is valid? [True, True] Translation: X:563.32, Y:-157.20, Z:-4.37 [[ 8.10542745e-01 5.85668326e-01 3.61518740e-03 5.63318472e+02] [-5.85663153e-01 8.10550799e-01 -2.46447125e-03 -1.57202413e+02] [-4.37365579e-03 -1.19722756e-04 9.99990428e-01 -4.36878323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters 0.05091218729662137 Centerline is valid? [True, True] Translation: X:563.37, Y:-157.24, Z:-4.37 [[ 8.11391889e-01 5.84487398e-01 4.20529557e-03 5.63367272e+02] [-5.84480378e-01 8.11402776e-01 -2.86765561e-03 -1.57239123e+02] [-5.08829706e-03 -1.31120240e-04 9.99987046e-01 -4.36974470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters 0.05118725040157103 Centerline is valid? [True, True] Translation: X:563.41, Y:-157.28, Z:-4.37 [[ 8.13598550e-01 5.81413624e-01 3.94928832e-03 5.63414507e+02] [-5.81407394e-01 8.13608128e-01 -2.69360266e-03 -1.57278225e+02] [-4.77927036e-03 -1.04634218e-04 9.99988574e-01 -4.37042472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters 0.05160355762347522 Centerline is valid? [True, True] Translation: X:563.46, Y:-157.31, Z:-4.37 [[ 8.14680001e-01 5.79898504e-01 3.77101358e-03 5.63464180e+02] [-5.79892806e-01 8.14688724e-01 -2.57226096e-03 -1.57312258e+02] [-4.56385253e-03 -9.12140804e-05 9.99989581e-01 -4.37130868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters 0.05100758664150841 Centerline is valid? [True, True] Translation: X:563.51, Y:-157.35, Z:-4.37 [[ 8.19342184e-01 5.73296056e-01 3.16520250e-03 5.63510917e+02] [-5.73291991e-01 8.19348296e-01 -2.15925972e-03 -1.57353258e+02] [-3.83129836e-03 -4.54126659e-05 9.99992660e-01 -4.37269765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters 0.05193081478294774 Centerline is valid? [True, True] Translation: X:563.56, Y:-157.39, Z:-4.37 [[ 8.22413964e-01 5.68875355e-01 4.01278154e-03 5.63559891e+02] [-5.68868768e-01 8.22423753e-01 -2.73773874e-03 -1.57390724e+02] [-4.85763895e-03 -3.11915185e-05 9.99988201e-01 -4.37304608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters 0.052003668033597635 Centerline is valid? [True, True] Translation: X:563.61, Y:-157.43, Z:-4.37 [[ 8.25191729e-01 5.64831870e-01 4.85485513e-03 5.63609866e+02] [-5.64822158e-01 8.25206010e-01 -3.31227798e-03 -1.57426308e+02] [-5.87713579e-03 -8.86535833e-06 9.99982729e-01 -4.37236559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters 0.05242800392886075 Centerline is valid? [True, True] Translation: X:563.66, Y:-157.46, Z:-4.37 [[ 8.28565263e-01 5.59872816e-01 4.69409303e-03 5.63660574e+02] [-5.59863653e-01 8.28578559e-01 -3.20326884e-03 -1.57461398e+02] [-5.68284799e-03 2.60652158e-05 9.99983852e-01 -4.37256569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters 0.05259734987469406 Centerline is valid? [True, True] Translation: X:563.71, Y:-157.50, Z:-4.37 [[ 8.29800018e-01 5.58037926e-01 5.05995024e-03 5.63709948e+02] [-5.58027240e-01 8.29815444e-01 -3.45376023e-03 -1.57498215e+02] [-6.12615406e-03 4.23402381e-05 9.99981234e-01 -4.37452904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters 0.05270306761615404 Centerline is valid? [True, True] Translation: X:563.76, Y:-157.53, Z:-4.38 [[ 8.31290785e-01 5.55822866e-01 4.07092832e-03 5.63763344e+02] [-5.55815920e-01 8.31300751e-01 -2.77920151e-03 -1.57528530e+02] [-4.92890952e-03 4.76378374e-05 9.99987852e-01 -4.37595139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters 0.052988539957129925 Centerline is valid? [True, True] Translation: X:563.81, Y:-157.56, Z:-4.38 [[ 8.31947689e-01 5.54842014e-01 3.65825768e-03 5.63814121e+02] [-5.54836392e-01 8.31955730e-01 -2.49816452e-03 -1.57564603e+02] [-4.42959507e-03 4.86077098e-05 9.99990188e-01 -4.37662087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters 0.05257771902167916 Centerline is valid? [True, True] Translation: X:563.87, Y:-157.60, Z:-4.38 [[ 8.32010924e-01 5.54752005e-01 2.83463983e-03 5.63865095e+02] [-5.54748630e-01 8.32015752e-01 -1.93558654e-03 -1.57597474e+02] [-3.43223551e-03 3.79165845e-05 9.99994109e-01 -4.37703847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters 0.052828054345873864 Centerline is valid? [True, True] Translation: X:563.92, Y:-157.63, Z:-4.38 [[ 8.31263690e-01 5.55870853e-01 2.87602009e-03 5.63916931e+02] [-5.55867384e-01 8.31268665e-01 -1.96416308e-03 -1.57630200e+02] [-3.48256638e-03 3.40516846e-05 9.99993935e-01 -4.37780278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters 0.05261516787535577 Centerline is valid? [True, True] Translation: X:563.97, Y:-157.66, Z:-4.38 [[ 8.29139198e-01 5.59033792e-01 3.06747909e-03 5.63973157e+02] [-5.59029864e-01 8.29144872e-01 -2.09568700e-03 -1.57658272e+02] [-3.71494441e-03 2.28038209e-05 9.99993099e-01 -4.37633452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters 0.052695912634339974 Centerline is valid? [True, True] Translation: X:564.03, Y:-157.69, Z:-4.38 [[ 8.26485956e-01 5.62952808e-01 2.25839576e-03 5.64027094e+02] [-5.62950694e-01 8.26489042e-01 -1.54258891e-03 -1.57686962e+02] [-2.73494411e-03 3.56261136e-06 9.99996260e-01 -4.37581128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters 0.052675430084541626 Centerline is valid? [True, True] Translation: X:564.08, Y:-157.72, Z:-4.37 [[ 8.24065630e-01 5.66489086e-01 2.43974397e-03 5.64082125e+02] [-5.66486634e-01 8.24069242e-01 -1.66690218e-03 -1.57717624e+02] [-2.95479985e-03 -8.44555187e-06 9.99995635e-01 -4.37475846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters 0.053155882933664564 Centerline is valid? [True, True] Translation: X:564.13, Y:-157.75, Z:-4.38 [[ 8.22970737e-01 5.68076388e-01 2.89546298e-03 5.64134902e+02] [-5.68072940e-01 8.22975830e-01 -1.97921126e-03 -1.57748886e+02] [-3.50723923e-03 -1.60012205e-05 9.99993849e-01 -4.37530908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters 0.052827143251607186 Centerline is valid? [True, True] Translation: X:564.19, Y:-157.78, Z:-4.38 [[ 8.22190201e-01 5.69206017e-01 2.78980978e-03 5.64189210e+02] [-5.69202823e-01 8.22194934e-01 -1.90694420e-03 -1.57778652e+02] [-3.37921158e-03 -2.00967638e-05 9.99994290e-01 -4.37677669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters 0.051923048170647 Centerline is valid? [True, True] Translation: X:564.24, Y:-157.81, Z:-4.38 [[ 8.21922787e-01 5.69594691e-01 2.19539402e-03 5.64242555e+02] [-5.69592714e-01 8.21925719e-01 -1.50068723e-03 -1.57811779e+02] [-2.65923429e-03 -1.70314119e-05 9.99996464e-01 -4.37716205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters 0.052565143452158604 Centerline is valid? [True, True] Translation: X:564.30, Y:-157.85, Z:-4.38 [[ 8.21946455e-01 5.69561818e-01 1.83304910e-03 5.64295208e+02] [-5.69560440e-01 8.21948499e-01 -1.25314926e-03 -1.57846949e+02] [-2.22041793e-03 -1.40106612e-05 9.99997535e-01 -4.37638404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters 0.052107963617292766 Centerline is valid? [True, True] Translation: X:564.35, Y:-157.88, Z:-4.38 [[ 8.22596972e-01 5.68623815e-01 1.08573231e-03 5.64349313e+02] [-5.68623330e-01 8.22597688e-01 -7.42510954e-04 -1.57880185e+02] [-1.31533030e-03 -6.58545864e-06 9.99999135e-01 -4.37942783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters 0.052868669644764756 Centerline is valid? [True, True] Translation: X:564.40, Y:-157.92, Z:-4.38 [[ 8.24476311e-01 5.65896454e-01 1.26230162e-04 5.64400032e+02] [-5.65896448e-01 8.24476321e-01 -8.52510023e-05 -1.57917370e+02] [-1.52317019e-04 -1.14576816e-06 9.99999988e-01 -4.37919523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters 0.052728312845324775 Centerline is valid? [True, True] Translation: X:564.45, Y:-157.95, Z:-4.38 [[ 8.26027311e-01 5.63630066e-01 -1.73306051e-04 5.64450194e+02] [-5.63630053e-01 8.26027329e-01 1.19738120e-04 -1.57953635e+02] [ 2.10643538e-04 -1.22645887e-06 9.99999978e-01 -4.38146161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters 0.05353683626677729 Centerline is valid? [True, True] Translation: X:564.50, Y:-157.99, Z:-4.38 [[ 8.27851402e-01 5.60947337e-01 3.75815508e-04 5.64501467e+02] [-5.60947278e-01 8.27851488e-01 -2.56380325e-04 -1.57988432e+02] [-4.54935288e-04 1.43212535e-06 9.99999897e-01 -4.37743222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters 0.053626720377485074 Centerline is valid? [True, True] Translation: X:564.55, Y:-158.02, Z:-4.38 [[ 8.29910910e-01 5.57894480e-01 1.27706713e-03 5.64550422e+02] [-5.57893796e-01 8.29911892e-01 -8.73936783e-04 -1.58024492e+02] [-1.54741770e-03 1.28218440e-05 9.99998803e-01 -4.37818149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters 0.053662474170420284 Centerline is valid? [True, True] Translation: X:564.60, Y:-158.06, Z:-4.38 [[ 8.31185152e-01 5.55993380e-01 1.61357726e-03 5.64600156e+02] [-5.55992282e-01 8.31186718e-01 -1.10502500e-03 -1.58062467e+02] [-1.95557057e-03 2.13438714e-05 9.99998088e-01 -4.37916732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters 0.05427894450713505 Centerline is valid? [True, True] Translation: X:564.65, Y:-158.10, Z:-4.38 [[ 8.31724147e-01 5.55182541e-01 2.69990256e-03 5.64650929e+02] [-5.55179464e-01 8.31728528e-01 -1.84905286e-03 -1.58096410e+02] [-3.27214785e-03 3.89714600e-05 9.99994646e-01 -4.37855385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters 0.05358980340673977 Centerline is valid? [True, True] Translation: X:564.70, Y:-158.13, Z:-4.38 [[ 8.30399438e-01 5.57165863e-01 1.72464296e-03 5.64704365e+02] [-5.57164612e-01 8.30401228e-01 -1.18108961e-03 -1.58126446e+02] [-2.09020844e-03 1.98661243e-05 9.99997815e-01 -4.37887300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters 0.053575624239570435 Centerline is valid? [True, True] Translation: X:564.76, Y:-158.16, Z:-4.38 [[ 8.28731880e-01 5.59644508e-01 1.22320326e-03 5.64757767e+02] [-5.59643881e-01 8.28732782e-01 -8.38006610e-04 -1.58159381e+02] [-1.48269444e-03 9.92457642e-06 9.99998901e-01 -4.38011137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters 0.0532350858273256 Centerline is valid? [True, True] Translation: X:564.81, Y:-158.19, Z:-4.38 [[ 8.26326106e-01 5.63191167e-01 9.35766694e-04 5.64809969e+02] [-5.63190802e-01 8.26326636e-01 -6.40675707e-04 -1.58191304e+02] [-1.13407184e-03 2.39186716e-06 9.99999357e-01 -4.38053147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters 0.052942860300453164 Centerline is valid? [True, True] Translation: X:564.86, Y:-158.22, Z:-4.38 [[ 8.25379935e-01 5.64576393e-01 1.20797186e-03 5.64861731e+02] [-5.64575786e-01 8.25380819e-01 -8.27830025e-04 -1.58224977e+02] [-1.46441009e-03 1.28263053e-06 9.99998928e-01 -4.38195449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters 0.05229453935848336 Centerline is valid? [True, True] Translation: X:564.91, Y:-158.26, Z:-4.38 [[ 8.24523070e-01 5.65826224e-01 1.54673347e-03 5.64914692e+02] [-5.65825231e-01 8.24524520e-01 -1.05958324e-03 -1.58258801e+02] [-1.87485966e-03 -1.53000059e-06 9.99998242e-01 -4.38149780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters 0.05272360905706591 Centerline is valid? [True, True] Translation: X:564.97, Y:-158.29, Z:-4.38 [[ 8.24140036e-01 5.66382541e-01 2.00446630e-03 5.64966504e+02] [-5.66380874e-01 8.24142474e-01 -1.37393237e-03 -1.58293356e+02] [-2.43013712e-03 -2.97870653e-06 9.99997047e-01 -4.38142178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters 0.052626835617149655 Centerline is valid? [True, True] Translation: X:565.02, Y:-158.33, Z:-4.38 [[ 8.22632220e-01 5.68571152e-01 1.75376156e-03 5.65019426e+02] [-5.68569879e-01 8.22634090e-01 -1.20278518e-03 -1.58325556e+02] [-2.12657300e-03 -7.68615762e-06 9.99997739e-01 -4.38448951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters 0.052647448346411545 Centerline is valid? [True, True] Translation: X:565.07, Y:-158.36, Z:-4.38 [[ 8.20691859e-01 5.71366570e-01 2.26186175e-03 5.65071799e+02] [-5.71364464e-01 8.20694975e-01 -1.55146604e-03 -1.58359452e+02] [-2.74275441e-03 -1.90718744e-05 9.99996238e-01 -4.38434714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters 0.052894172990225044 Centerline is valid? [True, True] Translation: X:565.12, Y:-158.39, Z:-4.39 [[ 8.18356196e-01 5.74705539e-01 2.58469003e-03 5.65124601e+02] [-5.74702805e-01 8.18360277e-01 -1.77322351e-03 -1.58389889e+02] [-3.13428902e-03 -3.43001665e-05 9.99995088e-01 -4.38526949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters 0.05245753608765936 Centerline is valid? [True, True] Translation: X:565.17, Y:-158.43, Z:-4.38 [[ 8.15932559e-01 5.78140717e-01 2.71502619e-03 5.65174862e+02] [-5.78137720e-01 8.15937074e-01 -1.86228313e-03 -1.58425293e+02] [-3.29195223e-03 -5.01616097e-05 9.99994580e-01 -4.38468447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters 0.052728892955525526 Centerline is valid? [True, True] Translation: X:565.23, Y:-158.46, Z:-4.39 [[ 8.13554885e-01 5.81484817e-01 1.96381481e-03 5.65226347e+02] [-5.81483257e-01 8.13557254e-01 -1.34762868e-03 -1.58457245e+02] [-2.38130140e-03 -4.55555334e-05 9.99997164e-01 -4.38585911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters 0.05323001634185019 Centerline is valid? [True, True] Translation: X:565.28, Y:-158.49, Z:-4.39 [[ 8.12517826e-01 5.82932506e-01 2.11559823e-03 5.65278505e+02] [-5.82930701e-01 8.12520578e-01 -1.45168560e-03 -1.58490781e+02] [-2.56520182e-03 -5.37267351e-05 9.99996708e-01 -4.38704498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters 0.051859510528724916 Centerline is valid? [True, True] Translation: X:565.32, Y:-158.53, Z:-4.39 [[ 8.11563046e-01 5.84260804e-01 2.17599863e-03 5.65324525e+02] [-5.84258900e-01 8.11565961e-01 -1.49276087e-03 -1.58532930e+02] [-2.63812808e-03 -5.98770124e-05 9.99996518e-01 -4.38652616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters 0.05250799837694855 Centerline is valid? [True, True] Translation: X:565.38, Y:-158.57, Z:-4.39 [[ 8.11761704e-01 5.83988265e-01 8.01812088e-04 5.65376206e+02] [-5.83988006e-01 8.11762100e-01 -5.49483901e-04 -1.58567842e+02] [-9.71772814e-04 -2.21986555e-05 9.99999528e-01 -4.38927510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters 0.052630632835493366 Centerline is valid? [True, True] Translation: X:565.42, Y:-158.61, Z:-4.39 [[ 8.12880119e-01 5.82430544e-01 7.57416461e-04 5.65424854e+02] [-5.82430312e-01 8.12880472e-01 -5.19962985e-04 -1.58605825e+02] [-9.18531375e-04 -1.84747325e-05 9.99999578e-01 -4.38974924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters 0.051577140837555886 Centerline is valid? [True, True] Translation: X:565.47, Y:-158.65, Z:-4.39 [[ 8.15753220e-01 5.78395279e-01 2.36331609e-03 5.65469703e+02] [-5.78393005e-01 8.15756642e-01 -1.62269766e-03 -1.58649068e+02] [-2.86645146e-03 -4.32046535e-05 9.99995891e-01 -4.38805797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters 0.05156354171433251 Centerline is valid? [True, True] Translation: X:565.52, Y:-158.69, Z:-4.39 [[ 8.19416379e-01 5.73188973e-01 3.34644488e-03 5.65515225e+02] [-5.73184368e-01 8.19423212e-01 -2.29800152e-03 -1.58689976e+02] [-4.05934375e-03 -3.51098134e-05 9.99991760e-01 -4.38766985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters 0.05160973237063917 Centerline is valid? [True, True] Translation: X:565.56, Y:-158.73, Z:-4.39 [[ 8.22458761e-01 5.68815391e-01 3.26151338e-03 5.65563912e+02] [-5.68810982e-01 8.22465228e-01 -2.23962147e-03 -1.58729305e+02] [-3.95641251e-03 -1.31883337e-05 9.99992173e-01 -4.38879015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters 0.05224532316464133 Centerline is valid? [True, True] Translation: X:565.61, Y:-158.77, Z:-4.39 [[ 8.26987301e-01 5.62214347e-01 2.65179668e-03 5.65611276e+02] [-5.62211399e-01 8.26991553e-01 -1.82069889e-03 -1.58768606e+02] [-3.21663650e-03 1.48245427e-05 9.99994827e-01 -4.38902396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters 0.05185315320786182 Centerline is valid? [True, True] Translation: X:565.66, Y:-158.81, Z:-4.39 [[ 8.29562576e-01 5.58408298e-01 2.47091738e-03 5.65658764e+02] [-5.58405720e-01 8.29566255e-01 -1.69718326e-03 -1.58809410e+02] [-2.99751089e-03 2.81453187e-05 9.99995507e-01 -4.39170369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters 0.052505025192821936 Centerline is valid? [True, True] Translation: X:565.71, Y:-158.85, Z:-4.39 [[ 8.31813537e-01 5.55050651e-01 2.23933511e-03 5.65708741e+02] [-5.55048522e-01 8.31816550e-01 -1.53784167e-03 -1.58845210e+02] [-2.71629603e-03 3.62578766e-05 9.99996310e-01 -4.39046981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters 0.05214643592761507 Centerline is valid? [True, True] Translation: X:565.75, Y:-158.89, Z:-4.39 [[ 8.32088759e-01 5.54639708e-01 1.75821162e-03 5.65754084e+02] [-5.54638394e-01 8.32090616e-01 -1.20786563e-03 -1.58886362e+02] [-2.13292163e-03 2.98797472e-05 9.99997725e-01 -4.39329689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters 0.05195224460421841 Centerline is valid? [True, True] Translation: X:565.81, Y:-158.92, Z:-4.39 [[ 8.30929182e-01 5.56374825e-01 1.93593944e-03 5.65806162e+02] [-5.56373235e-01 8.30931437e-01 -1.33026857e-03 -1.58919841e+02] [-2.34876089e-03 2.82540875e-05 9.99997241e-01 -4.39386810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters 0.052124600000187184 Centerline is valid? [True, True] Translation: X:565.86, Y:-158.95, Z:-4.39 [[ 8.29044425e-01 5.59176197e-01 2.70585536e-03 5.65856339e+02] [-5.59173106e-01 8.29048841e-01 -1.85958668e-03 -1.58954932e+02] [-3.28312286e-03 2.86384225e-05 9.99994610e-01 -4.39431592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters 0.051469959205487005 Centerline is valid? [True, True] Translation: X:565.91, Y:-158.99, Z:-4.39 [[ 8.27533879e-01 5.61408845e-01 2.79047881e-03 5.65906910e+02] [-5.61405570e-01 8.27538584e-01 -1.91774153e-03 -1.58989972e+02] [-3.38586594e-03 2.04057431e-05 9.99994268e-01 -4.39448634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters 0.05158227437709176 Centerline is valid? [True, True] Translation: X:565.96, Y:-159.02, Z:-4.39 [[ 8.25241812e-01 5.64766839e-01 3.79070998e-03 5.65958576e+02] [-5.64760827e-01 8.25250518e-01 -2.60578983e-03 -1.59023918e+02] [-4.59994906e-03 9.56221442e-06 9.99989420e-01 -4.39497653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters 0.051623244672333056 Centerline is valid? [True, True] Translation: X:566.01, Y:-159.06, Z:-4.40 [[ 8.23552402e-01 5.67224543e-01 4.21405473e-03 5.66011140e+02] [-5.67217146e-01 8.23563184e-01 -2.89684931e-03 -1.59058089e+02] [-5.11370435e-03 -4.57688951e-06 9.99986925e-01 -4.39592031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters 0.05160295646249868 Centerline is valid? [True, True] Translation: X:566.06, Y:-159.09, Z:-4.40 [[ 8.20941553e-01 5.70988359e-01 5.22124387e-03 5.66063593e+02] [-5.70977070e-01 8.20958156e-01 -3.59055101e-03 -1.59090314e+02] [-6.33658557e-03 -3.35780072e-05 9.99979923e-01 -4.39620468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters 0.05136446797634007 Centerline is valid? [True, True] Translation: X:566.12, Y:-159.12, Z:-4.40 [[ 8.18761634e-01 5.74109635e-01 5.24533983e-03 5.66115975e+02] [-5.74098301e-01 8.18778434e-01 -3.60795367e-03 -1.59122263e+02] [-6.36613209e-03 -5.72866401e-05 9.99979734e-01 -4.39744471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters 0.05116848574553354 Centerline is valid? [True, True] Translation: X:566.17, Y:-159.16, Z:-4.40 [[ 8.17705143e-01 5.75614029e-01 5.17581223e-03 5.66167597e+02] [-5.75603018e-01 8.17721520e-01 -3.56097041e-03 -1.59157235e+02] [-6.28211757e-03 -6.73893218e-05 9.99980265e-01 -4.39898235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters 0.051041225541528075 Centerline is valid? [True, True] Translation: X:566.22, Y:-159.19, Z:-4.40 [[ 8.15978076e-01 5.78064724e-01 4.57749601e-03 5.66216836e+02] [-5.78056149e-01 8.15990912e-01 -3.14956042e-03 -1.59194964e+02] [-5.55584492e-03 -7.60774586e-05 9.99984563e-01 -4.40036871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters 0.051627098170941584 Centerline is valid? [True, True] Translation: X:566.27, Y:-159.23, Z:-4.40 [[ 8.14843798e-01 5.79672648e-01 3.03424128e-03 5.66269190e+02] [-5.79668892e-01 8.14849445e-01 -2.08743929e-03 -1.59226767e+02] [-3.68248129e-03 -5.79183199e-05 9.99993218e-01 -4.40256089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters 0.05108986587065087 Centerline is valid? [True, True] Translation: X:566.32, Y:-159.26, Z:-4.41 [[ 8.13425566e-01 5.81665518e-01 2.01813004e-03 5.66321036e+02] [-5.81663863e-01 8.13428069e-01 -1.38842194e-03 -1.59260206e+02] [-2.44920079e-03 -4.44954113e-05 9.99997000e-01 -4.40551686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters 0.050941576133193396 Centerline is valid? [True, True] Translation: X:566.37, Y:-159.30, Z:-4.41 [[ 8.12687570e-01 5.82694941e-01 2.34931531e-03 5.66370963e+02] [-5.82692700e-01 8.12690964e-01 -1.61671378e-03 -1.59297359e+02] [-2.85131827e-03 -5.50456913e-05 9.99995933e-01 -4.40536026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters 0.051382909162955834 Centerline is valid? [True, True] Translation: X:566.42, Y:-159.33, Z:-4.41 [[ 8.11836496e-01 5.83878930e-01 2.62653375e-03 5.66421582e+02] [-5.83876135e-01 8.11840742e-01 -1.80803984e-03 -1.59333902e+02] [-3.18800348e-03 -6.57376444e-05 9.99994916e-01 -4.40566852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters 0.050598089812995774 Centerline is valid? [True, True] Translation: X:566.47, Y:-159.37, Z:-4.41 [[ 8.11521454e-01 5.84316961e-01 2.57290754e-03 5.66471964e+02] [-5.84314279e-01 8.11525530e-01 -1.77153096e-03 -1.59370549e+02] [-3.12311574e-03 -6.57512319e-05 9.99995121e-01 -4.40584248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters 0.05101864792448777 Centerline is valid? [True, True] Translation: X:566.52, Y:-159.41, Z:-4.41 [[ 8.11398355e-01 5.84491548e-01 1.52975966e-03 5.66523532e+02] [-5.84490601e-01 8.11399796e-01 -1.05314217e-03 -1.59405159e+02] [-1.85679937e-03 -3.96123160e-05 9.99998275e-01 -4.40730396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters 0.051347355705959795 Centerline is valid? [True, True] Translation: X:566.58, Y:-159.44, Z:-4.41 [[ 8.11204639e-01 5.84761581e-01 9.63211445e-04 5.66576150e+02] [-5.84761205e-01 8.11205210e-01 -6.62961632e-04 -1.59435753e+02] [-1.16903664e-03 -2.54511346e-05 9.99999316e-01 -4.40942525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters 0.05161217655548667 Centerline is valid? [True, True] Translation: X:566.63, Y:-159.47, Z:-4.41 [[ 8.10578034e-01 5.85629501e-01 1.15706919e-03 5.66628423e+02] [-5.85628960e-01 8.10578859e-01 -7.96728839e-04 -1.59469478e+02] [-1.40448374e-03 -3.18023297e-05 9.99999013e-01 -4.40955512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters 0.051481030544719114 Centerline is valid? [True, True] Translation: X:566.68, Y:-159.50, Z:-4.41 [[ 8.10211246e-01 5.86133795e-01 2.21594678e-03 5.66681548e+02] [-5.86131809e-01 8.10214274e-01 -1.52701962e-03 -1.59501735e+02] [-2.69042951e-03 -6.16284288e-05 9.99996379e-01 -4.40928491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters 0.0507138901591915 Centerline is valid? [True, True] Translation: X:566.73, Y:-159.54, Z:-4.41 [[ 8.09992550e-01 5.86431741e-01 3.14350673e-03 5.66729452e+02] [-5.86427744e-01 8.09998645e-01 -2.16709645e-03 -1.59542386e+02] [-3.81709034e-03 -8.81075829e-05 9.99992711e-01 -4.40812414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters 0.05098362163825036 Centerline is valid? [True, True] Translation: X:566.78, Y:-159.58, Z:-4.41 [[ 8.09677291e-01 5.86864179e-01 3.62223329e-03 5.66779685e+02] [-5.86858871e-01 8.09685387e-01 -2.49802793e-03 -1.59579313e+02] [-4.39887248e-03 -1.03143254e-04 9.99990320e-01 -4.40815670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters 0.05114566358354265 Centerline is valid? [True, True] Translation: X:566.83, Y:-159.61, Z:-4.41 [[ 8.09015351e-01 5.87782683e-01 2.38319126e-03 5.66833096e+02] [-5.87780389e-01 8.09018858e-01 -1.64363665e-03 -1.59609652e+02] [-2.89414783e-03 -7.10658043e-05 9.99995809e-01 -4.40994452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters 0.051600156561106586 Centerline is valid? [True, True] Translation: X:566.89, Y:-159.64, Z:-4.41 [[ 8.07930759e-01 5.89276626e-01 9.72816906e-04 5.66886194e+02] [-5.89276245e-01 8.07931344e-01 -6.70563037e-04 -1.59640610e+02] [-1.18111639e-03 -3.14893895e-05 9.99999302e-01 -4.41158513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters 0.0518291181363743 Centerline is valid? [True, True] Translation: X:566.94, Y:-159.67, Z:-4.41 [[ 8.06950903e-01 5.90618357e-01 -4.43663390e-04 5.66937540e+02] [-5.90618278e-01 8.06951024e-01 3.07001124e-04 -1.59673736e+02] [ 5.39335126e-04 1.43008738e-05 9.99999854e-01 -4.41262962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters 0.050421429003985274 Centerline is valid? [True, True] Translation: X:566.99, Y:-159.72, Z:-4.41 [[ 8.06947612e-01 5.90622685e-01 -6.29153912e-04 5.66985306e+02] [-5.90622525e-01 8.06947857e-01 4.35592270e-04 -1.59715663e+02] [ 7.64965076e-04 2.00923300e-05 9.99999707e-01 -4.41058658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters 0.05074882048220511 Centerline is valid? [True, True] Translation: X:567.04, Y:-159.75, Z:-4.41 [[ 8.07887858e-01 5.89336067e-01 4.57483242e-04 5.67035186e+02] [-5.89335983e-01 8.07887987e-01 -3.15709520e-04 -1.59752039e+02] [-5.55654223e-04 -1.45534477e-05 9.99999846e-01 -4.40954523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters 0.05128691873871173 Centerline is valid? [True, True] Translation: X:567.09, Y:-159.79, Z:-4.41 [[ 8.08754911e-01 5.88144391e-01 1.29217819e-03 5.67085165e+02] [-5.88143715e-01 8.08755942e-01 -8.92127402e-04 -1.59786146e+02] [-1.56975652e-03 -3.84740658e-05 9.99998767e-01 -4.40894469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters 0.05097694220395374 Centerline is valid? [True, True] Translation: X:567.13, Y:-159.82, Z:-4.41 [[ 8.11237249e-01 5.84711251e-01 2.62275383e-03 5.67134783e+02] [-5.84708450e-01 8.11241486e-01 -1.81121201e-03 -1.59822273e+02] [-3.18672276e-03 -6.42236767e-05 9.99994920e-01 -4.40847845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters 0.05185411176015844 Centerline is valid? [True, True] Translation: X:567.19, Y:-159.85, Z:-4.41 [[ 8.14876722e-01 5.79630580e-01 2.07834974e-03 5.67185471e+02] [-5.79628804e-01 8.14879371e-01 -1.43529005e-03 -1.59854868e+02] [-2.52554233e-03 -3.50869278e-05 9.99996810e-01 -4.41062355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters 0.05102054783689658 Centerline is valid? [True, True] Translation: X:567.23, Y:-159.90, Z:-4.41 [[ 8.21328898e-01 5.70454730e-01 -4.91427943e-04 5.67228391e+02] [-5.70454629e-01 8.21329045e-01 3.39797366e-04 -1.59901468e+02] [ 5.97463058e-04 1.25194895e-06 9.99999822e-01 -4.40921255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters 0.05199822938125982 Centerline is valid? [True, True] Translation: X:567.28, Y:-159.94, Z:-4.41 [[ 8.24829020e-01 5.65381247e-01 -1.06474424e-03 5.67278726e+02] [-5.65380767e-01 8.24829707e-01 7.36672387e-04 -1.59938314e+02] [ 1.29473343e-03 -5.64284775e-06 9.99999162e-01 -4.40982215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters 0.05224469632109008 Centerline is valid? [True, True] Translation: X:567.33, Y:-159.97, Z:-4.41 [[ 8.27702437e-01 5.61167027e-01 -4.93355144e-04 5.67328188e+02] [-5.61166923e-01 8.27702584e-01 3.41968328e-04 -1.59974319e+02] [ 6.00252677e-04 -6.19343026e-06 9.99999820e-01 -4.41104422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters 0.0518174774658223 Centerline is valid? [True, True] Translation: X:567.38, Y:-160.01, Z:-4.41 [[ 8.29551087e-01 5.58430360e-01 7.26870010e-04 5.67378314e+02] [-5.58430134e-01 8.29551405e-01 -5.01979004e-04 -1.60010742e+02] [-8.83296354e-04 1.05111113e-05 9.99999610e-01 -4.41050366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters 0.052134024715116474 Centerline is valid? [True, True] Translation: X:567.43, Y:-160.05, Z:-4.41 [[ 8.31244360e-01 5.55906440e-01 9.18854952e-04 5.67428733e+02] [-5.55906079e-01 8.31244867e-01 -6.34184937e-04 -1.60046165e+02] [-1.11634095e-03 1.63655984e-05 9.99999377e-01 -4.40884989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters 0.05171621086100026 Centerline is valid? [True, True] Translation: X:567.48, Y:-160.08, Z:-4.41 [[ 8.30899196e-01 5.56422621e-01 6.27524353e-04 5.67479330e+02] [-5.56422452e-01 8.30899433e-01 -4.32899433e-04 -1.60080264e+02] [-7.62284666e-04 1.05271512e-05 9.99999709e-01 -4.40975107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters 0.051971708767195264 Centerline is valid? [True, True] Translation: X:567.53, Y:-160.11, Z:-4.41 [[ 8.27982893e-01 5.60753224e-01 -3.87135258e-04 5.67531903e+02] [-5.60753161e-01 8.27982984e-01 2.67767020e-04 -1.60110606e+02] [ 4.70692626e-04 -4.61919245e-06 9.99999889e-01 -4.41206943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters 0.05195145905613124 Centerline is valid? [True, True] Translation: X:567.59, Y:-160.14, Z:-4.41 [[ 8.23039067e-01 5.67984381e-01 -6.61602402e-04 5.67587261e+02] [-5.67984196e-01 8.23039333e-01 4.57729025e-04 -1.60138162e+02] [ 8.04507736e-04 -9.49160773e-07 9.99999676e-01 -4.40978364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters 0.051788298117915355 Centerline is valid? [True, True] Translation: X:567.64, Y:-160.17, Z:-4.41 [[ 8.19038652e-01 5.73737940e-01 -6.80241003e-04 5.67641107e+02] [-5.73737747e-01 8.19038934e-01 4.71474748e-04 -1.60168295e+02] [ 8.27646817e-04 4.12389867e-06 9.99999657e-01 -4.41049187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters 0.0522651919524562 Centerline is valid? [True, True] Translation: X:567.70, Y:-160.20, Z:-4.41 [[ 8.13650099e-01 5.81354740e-01 4.27688478e-04 5.67696071e+02] [-5.81354665e-01 8.13650211e-01 -2.95512453e-04 -1.60196607e+02] [-5.19786386e-04 -8.19495527e-06 9.99999865e-01 -4.40914662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters 0.051612029817045255 Centerline is valid? [True, True] Translation: X:567.75, Y:-160.23, Z:-4.41 [[ 8.10952622e-01 5.85110901e-01 1.03843267e-03 5.67748807e+02] [-5.85110460e-01 8.10953287e-01 -7.18188353e-04 -1.60228385e+02] [-1.26234022e-03 -2.51810869e-05 9.99999203e-01 -4.40817252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters 0.052581733254383194 Centerline is valid? [True, True] Translation: X:567.80, Y:-160.26, Z:-4.41 [[ 8.08130477e-01 5.89002053e-01 1.30912183e-03 5.67803269e+02] [-5.89001358e-01 8.08131536e-01 -9.05503610e-04 -1.60256247e+02] [-1.59128612e-03 -3.93094725e-05 9.99998733e-01 -4.40760113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters 0.05141101117098209 Centerline is valid? [True, True] Translation: X:567.85, Y:-160.29, Z:-4.41 [[ 8.06091890e-01 5.91788409e-01 1.53083746e-03 5.67850929e+02] [-5.91787464e-01 8.06093342e-01 -1.05892981e-03 -1.60293789e+02] [-1.86066027e-03 -5.23356933e-05 9.99998268e-01 -4.40604297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters 0.05333484100902401 Centerline is valid? [True, True] Translation: X:567.91, Y:-160.32, Z:-4.41 [[ 8.05309895e-01 5.92854089e-01 4.61172116e-05 5.67907985e+02] [-5.92854088e-01 8.05309896e-01 -3.16426721e-05 -1.60319776e+02] [-5.58981346e-05 -1.85862052e-06 9.99999998e-01 -4.41002747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters 0.051985351259984054 Centerline is valid? [True, True] Translation: X:567.95, Y:-160.36, Z:-4.41 [[ 8.05331004e-01 5.92816531e-01 -3.24585098e-03 5.67954167e+02] [-5.92812286e-01 8.05337537e-01 2.24632999e-03 -1.60361538e+02] [ 3.94566718e-03 1.15141150e-04 9.99992209e-01 -4.40936440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters 0.05183430376698198 Centerline is valid? [True, True] Translation: X:568.00, Y:-160.40, Z:-4.41 [[ 8.06878132e-01 5.90707850e-01 -3.45202963e-03 5.68003721e+02] [-5.90703029e-01 8.06885508e-01 2.38909020e-03 -1.60397555e+02] [ 4.19664702e-03 1.11419724e-04 9.99991188e-01 -4.40903142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters 0.051785747276007495 Centerline is valid? [True, True] Translation: X:568.05, Y:-160.43, Z:-4.41 [[ 8.08431775e-01 5.88585651e-01 -2.23546351e-03 5.68053865e+02] [-5.88583620e-01 8.08434863e-01 1.54745666e-03 -1.60431427e+02] [ 2.71803742e-03 6.47440738e-05 9.99996304e-01 -4.40872387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters 0.052195099245228194 Centerline is valid? [True, True] Translation: X:568.10, Y:-160.47, Z:-4.41 [[ 8.10491067e-01 5.85749906e-01 -1.13082644e-03 5.68103771e+02] [-5.85749383e-01 8.10491855e-01 7.82867436e-04 -1.60467558e+02] [ 1.37509015e-03 2.78738293e-05 9.99999054e-01 -4.40829378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters 0.05236749744155429 Centerline is valid? [True, True] Translation: X:568.15, Y:-160.50, Z:-4.41 [[ 8.14683752e-01 5.79904939e-01 -8.03726681e-04 5.68152211e+02] [-5.79904673e-01 8.14684148e-01 5.56320626e-04 -1.60502814e+02] [ 9.77396465e-04 1.28594834e-05 9.99999522e-01 -4.40926088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters 0.05163373357499481 Centerline is valid? [True, True] Translation: X:568.20, Y:-160.54, Z:-4.41 [[ 8.20411592e-01 5.71771711e-01 -1.38915349e-03 5.68197375e+02] [-5.71770903e-01 8.20412768e-01 9.61447792e-04 -1.60543225e+02] [ 1.68940791e-03 5.49463189e-06 9.99998573e-01 -4.40746483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters 0.05326306040805999 Centerline is valid? [True, True] Translation: X:568.25, Y:-160.58, Z:-4.41 [[ 8.24834341e-01 5.65371211e-01 -1.92446459e-03 5.68247114e+02] [-5.65369641e-01 8.24836586e-01 1.33234537e-03 -1.60580268e+02] [ 2.34063852e-03 -1.09303626e-05 9.99997261e-01 -4.40706458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters 0.05362096831685739 Centerline is valid? [True, True] Translation: X:568.30, Y:-160.62, Z:-4.41 [[ 8.31133106e-01 5.56067981e-01 -2.48209825e-03 5.68297118e+02] [-5.56065326e-01 8.31136811e-01 1.71914077e-03 -1.60616747e+02] [ 3.01892236e-03 -4.86260372e-05 9.99995442e-01 -4.40707028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters 0.0536545548384041 Centerline is valid? [True, True] Translation: X:568.34, Y:-160.66, Z:-4.41 [[ 8.32811245e-01 5.53552678e-01 -2.20530686e-03 5.68343503e+02] [-5.53550573e-01 8.32814163e-01 1.52733997e-03 -1.60656554e+02] [ 2.68207391e-03 -5.12370227e-05 9.99996402e-01 -4.41048037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters 0.0539676778136497 Centerline is valid? [True, True] Translation: X:568.40, Y:-160.69, Z:-4.41 [[ 8.35680692e-01 5.49213021e-01 -1.68487943e-03 5.68396593e+02] [-5.49211784e-01 8.35682389e-01 1.16687005e-03 -1.60688309e+02] [ 2.04888430e-03 -4.97751352e-05 9.99997900e-01 -4.40766969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters 0.05432738624018388 Centerline is valid? [True, True] Translation: X:568.45, Y:-160.72, Z:-4.41 [[ 8.38303588e-01 5.45198803e-01 -2.31492111e-03 5.68446910e+02] [-5.45196452e-01 8.38306781e-01 1.60307969e-03 -1.60723089e+02] [ 2.81461119e-03 -8.17806772e-05 9.99996036e-01 -4.40908091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters 0.0545498396160838 Centerline is valid? [True, True] Translation: X:568.50, Y:-160.75, Z:-4.41 [[ 8.39188886e-01 5.43834217e-01 -2.52151655e-03 5.68502215e+02] [-5.43831421e-01 8.39192669e-01 1.74646790e-03 -1.60752548e+02] [ 3.06582720e-03 -9.43365260e-05 9.99995296e-01 -4.40843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters 0.05434419288014812 Centerline is valid? [True, True] Translation: X:568.55, Y:-160.79, Z:-4.41 [[ 8.38184022e-01 5.45385471e-01 -1.49453283e-03 5.68552583e+02] [-5.45384491e-01 8.38185353e-01 1.03520950e-03 -1.60787012e+02] [ 1.81728374e-03 -5.26010386e-05 9.99998347e-01 -4.41003292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters 0.05386516278435642 Centerline is valid? [True, True] Translation: X:568.60, Y:-160.82, Z:-4.41 [[ 8.34910281e-01 5.50386061e-01 8.81787471e-05 5.68604746e+02] [-5.50386057e-01 8.34910285e-01 -6.02895422e-05 -1.60819692e+02] [-1.06803867e-04 1.80400566e-06 9.99999994e-01 -4.41056388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters 0.0537456369559164 Centerline is valid? [True, True] Translation: X:568.66, Y:-160.86, Z:-4.41 [[ 8.31386850e-01 5.55692691e-01 1.24096664e-03 5.68655089e+02] [-5.55692027e-01 8.31387775e-01 -8.59358600e-04 -1.60855292e+02] [-1.50926378e-03 2.48641739e-05 9.99998861e-01 -4.41241668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters 0.05327517718080691 Centerline is valid? [True, True] Translation: X:568.71, Y:-160.88, Z:-4.41 [[ 8.24366807e-01 5.66052242e-01 2.05581822e-03 5.68711047e+02] [-5.66050451e-01 8.24369371e-01 -1.42402418e-03 -1.60880798e+02] [-2.50082565e-03 1.02214380e-05 9.99996873e-01 -4.41326014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters 0.05233785964721105 Centerline is valid? [True, True] Translation: X:568.77, Y:-160.91, Z:-4.41 [[ 8.19643085e-01 5.72869900e-01 2.30012484e-03 5.68766798e+02] [-5.72867686e-01 8.19646312e-01 -1.59298808e-03 -1.60910962e+02] [-2.79786376e-03 -1.19855266e-05 9.99996086e-01 -4.41482481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters 0.052712747603277425 Centerline is valid? [True, True] Translation: X:568.82, Y:-160.94, Z:-4.42 [[ 8.13829787e-01 5.81101339e-01 1.52071240e-03 5.68821107e+02] [-5.81100384e-01 8.13831207e-01 -1.05352605e-03 -1.60938412e+02] [-1.84980861e-03 -2.62956768e-05 9.99998289e-01 -4.41590459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters 0.0529817208922379 Centerline is valid? [True, True] Translation: X:568.88, Y:-160.97, Z:-4.42 [[ 8.11068613e-01 5.84950173e-01 1.00013070e-03 5.68875429e+02] [-5.84949763e-01 8.11069229e-01 -6.92762347e-04 -1.60967039e+02] [-1.21640669e-03 -2.31484206e-05 9.99999260e-01 -4.41771467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters 0.05300824233578987 Centerline is valid? [True, True] Translation: X:568.93, Y:-161.00, Z:-4.42 [[ 8.08292079e-01 5.88781721e-01 6.17326353e-06 5.68925086e+02] [-5.88781721e-01 8.08292079e-01 -4.17253010e-06 -1.61002663e+02] [-7.44650968e-06 -2.62081696e-07 1.00000000e+00 -4.41791663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters 0.053074274172190995 Centerline is valid? [True, True] Translation: X:568.98, Y:-161.03, Z:-4.42 [[ 8.07424464e-01 5.89968965e-01 -1.53466171e-03 5.68976824e+02] [-5.89968008e-01 8.07425921e-01 1.06343159e-03 -1.61034443e+02] [ 1.86651728e-03 4.67606308e-05 9.99998257e-01 -4.42018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters 0.05297673934167344 Centerline is valid? [True, True] Translation: X:569.03, Y:-161.07, Z:-4.42 [[ 8.07737134e-01 5.89536876e-01 -2.64466378e-03 5.69028106e+02] [-5.89534029e-01 8.07741460e-01 1.83385596e-03 -1.61068716e+02] [ 3.21733029e-03 7.78457392e-05 9.99994821e-01 -4.42231547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters 0.05249239103530515 Centerline is valid? [True, True] Translation: X:569.07, Y:-161.11, Z:-4.42 [[ 8.09710257e-01 5.86827343e-01 -1.72322514e-03 5.69072980e+02] [-5.86826129e-01 8.09712089e-01 1.19440571e-03 -1.61111141e+02] [ 2.09622615e-03 4.41109828e-05 9.99997802e-01 -4.41919974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters 0.05240155069537416 Centerline is valid? [True, True] Translation: X:569.12, Y:-161.15, Z:-4.42 [[ 8.12052195e-01 5.83584049e-01 -9.43601416e-04 5.69120129e+02] [-5.83583683e-01 8.12052743e-01 6.54152861e-04 -1.61150641e+02] [ 1.14800729e-03 1.94641224e-05 9.99999341e-01 -4.41859086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters 0.05235653682396399 Centerline is valid? [True, True] Translation: X:569.17, Y:-161.19, Z:-4.42 [[ 8.13014266e-01 5.82243456e-01 -6.00655186e-04 5.69169267e+02] [-5.82243307e-01 8.13014488e-01 4.17416193e-04 -1.61188395e+02] [ 7.31379215e-04 1.03621427e-05 9.99999732e-01 -4.41882957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters 0.0521666613461142 Centerline is valid? [True, True] Translation: X:569.22, Y:-161.23, Z:-4.42 [[ 8.14046584e-01 5.80799185e-01 -6.81825004e-04 5.69217224e+02] [-5.80798992e-01 8.14046870e-01 4.73312997e-04 -1.61226068e+02] [ 8.29937313e-04 1.07044467e-05 9.99999656e-01 -4.42012748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters 0.05244818650764051 Centerline is valid? [True, True] Translation: X:569.27, Y:-161.26, Z:-4.42 [[ 8.14907757e-01 5.79589255e-01 -1.28187327e-03 5.69265587e+02] [-5.79588573e-01 8.14908765e-01 8.89458441e-04 -1.61263368e+02] [ 1.56013031e-03 1.81325142e-05 9.99998783e-01 -4.42076981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters 0.05272932717100235 Centerline is valid? [True, True] Translation: X:569.31, Y:-161.31, Z:-4.42 [[ 8.16650424e-01 5.77130499e-01 -1.57240437e-03 5.69312945e+02] [-5.77129468e-01 8.16651937e-01 1.09116350e-03 -1.61305048e+02] [ 1.91385081e-03 1.63817579e-05 9.99998168e-01 -4.42082171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters 0.05200914773627817 Centerline is valid? [True, True] Translation: X:569.36, Y:-161.35, Z:-4.42 [[ 8.18641220e-01 5.74303535e-01 -1.41493250e-03 5.69360422e+02] [-5.74302695e-01 8.18642443e-01 9.82599079e-04 -1.61346269e+02] [ 1.72263392e-03 8.20343650e-06 9.99998516e-01 -4.42033990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters 0.05251016667915297 Centerline is valid? [True, True] Translation: X:569.41, Y:-161.39, Z:-4.42 [[ 8.19840203e-01 5.72591772e-01 -8.39163688e-04 5.69408061e+02] [-5.72591475e-01 8.19840633e-01 5.83238440e-04 -1.61385314e+02] [ 1.02193802e-03 2.33565280e-06 9.99999478e-01 -4.41808272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters 0.0521605094128271 Centerline is valid? [True, True] Translation: X:569.46, Y:-161.42, Z:-4.42 [[ 8.21405525e-01 5.70344536e-01 -2.70486789e-04 5.69456455e+02] [-5.70344505e-01 8.21405570e-01 1.88075222e-04 -1.61424762e+02] [ 3.29447030e-04 -2.15372864e-07 9.99999946e-01 -4.42165880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters 0.05210612424999777 Centerline is valid? [True, True] Translation: X:569.51, Y:-161.46, Z:-4.42 [[ 8.21815872e-01 5.69752788e-01 -6.58771012e-04 5.69505717e+02] [-5.69752603e-01 8.21816136e-01 4.58392654e-04 -1.61463145e+02] [ 8.02559140e-04 -1.37785969e-06 9.99999678e-01 -4.42484489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters 0.052504470850455155 Centerline is valid? [True, True] Translation: X:569.55, Y:-161.50, Z:-4.42 [[ 8.22788556e-01 5.68347293e-01 -5.89022646e-04 5.69554960e+02] [-5.68347145e-01 8.22788767e-01 4.10147580e-04 -1.61503447e+02] [ 7.17747483e-04 -2.69539601e-06 9.99999742e-01 -4.42461303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters 0.05202518179034823 Centerline is valid? [True, True] Translation: X:569.60, Y:-161.54, Z:-4.42 [[ 8.23137277e-01 5.67842405e-01 -1.64390379e-04 5.69604991e+02] [-5.67842393e-01 8.23137293e-01 1.15363802e-04 -1.61541794e+02] [ 2.00824310e-04 -1.61242015e-06 9.99999980e-01 -4.42403197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters 0.05181825515109209 Centerline is valid? [True, True] Translation: X:569.65, Y:-161.58, Z:-4.42 [[ 8.23146738e-01 5.67828007e-01 8.95931088e-04 5.69654357e+02] [-5.67827667e-01 8.23147225e-01 -6.21346564e-04 -1.61580395e+02] [-1.09030117e-03 2.72493682e-06 9.99999406e-01 -4.42390292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters 0.05135093962295789 Centerline is valid? [True, True] Translation: X:569.71, Y:-161.62, Z:-4.43 [[ 8.21854149e-01 5.69690395e-01 2.93458980e-03 5.69705900e+02] [-5.69686749e-01 8.21859388e-01 -2.03807514e-03 -1.61615479e+02] [-3.57289201e-03 3.20358829e-06 9.99993617e-01 -4.42527897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters 0.051055668695756326 Centerline is valid? [True, True] Translation: X:569.76, Y:-161.65, Z:-4.43 [[ 8.19790370e-01 5.72652928e-01 3.51753052e-03 5.69757764e+02] [-5.72647714e-01 8.19797916e-01 -2.44385665e-03 -1.61649856e+02] [-4.28314586e-03 -1.08556643e-05 9.99990827e-01 -4.42692902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters 0.05101981213478285 Centerline is valid? [True, True] Translation: X:569.81, Y:-161.69, Z:-4.43 [[ 8.19352735e-01 5.73279027e-01 3.50045526e-03 5.69809125e+02] [-5.73273867e-01 8.19360212e-01 -2.43223689e-03 -1.61685977e+02] [-4.26248417e-03 -1.38595757e-05 9.99990915e-01 -4.42710147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters 0.05180737292204584 Centerline is valid? [True, True] Translation: X:569.86, Y:-161.72, Z:-4.43 [[ 8.18484534e-01 5.74517119e-01 3.62594905e-03 5.69860338e+02] [-5.74511592e-01 8.18492565e-01 -2.52016530e-03 -1.61723121e+02] [-4.41569045e-03 -2.04334440e-05 9.99990251e-01 -4.42849289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters 0.05136720678698837 Centerline is valid? [True, True] Translation: X:569.91, Y:-161.76, Z:-4.43 [[ 8.17289355e-01 5.76213420e-01 4.02545605e-03 5.69911519e+02] [-5.76206624e-01 8.17299268e-01 -2.79875740e-03 -1.61758162e+02] [-4.90268385e-03 -3.20998084e-05 9.99987981e-01 -4.42848345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters 0.051362921483668715 Centerline is valid? [True, True] Translation: X:569.96, Y:-161.79, Z:-4.43 [[ 8.16009662e-01 5.78022524e-01 4.26535226e-03 5.69964171e+02] [-5.78014914e-01 8.16020808e-01 -2.96648318e-03 -1.61789671e+02] [-5.19531029e-03 -4.47582846e-05 9.99986503e-01 -4.43023642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters 0.05097457808065036 Centerline is valid? [True, True] Translation: X:570.02, Y:-161.83, Z:-4.43 [[ 8.14383710e-01 5.80313416e-01 3.93856741e-03 5.70015356e+02] [-5.80306953e-01 8.14393232e-01 -2.73938711e-03 -1.61825474e+02] [-4.79724574e-03 -5.46658168e-05 9.99988492e-01 -4.43133758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters 0.05155131236766102 Centerline is valid? [True, True] Translation: X:570.07, Y:-161.86, Z:-4.43 [[ 8.14175317e-01 5.80607718e-01 3.63753377e-03 5.70069987e+02] [-5.80602204e-01 8.14183441e-01 -2.53075165e-03 -1.61856429e+02] [-4.43099370e-03 -5.14845987e-05 9.99990182e-01 -4.43370652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters 0.05097384333723558 Centerline is valid? [True, True] Translation: X:570.12, Y:-161.89, Z:-4.43 [[ 8.14837194e-01 5.79678731e-01 3.59374059e-03 5.70120282e+02] [-5.79673341e-01 8.14845118e-01 -2.50022798e-03 -1.61892288e+02] [-4.37767095e-03 -4.59168629e-05 9.99990417e-01 -4.43463931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters 0.05127361078650415 Centerline is valid? [True, True] Translation: X:570.17, Y:-161.93, Z:-4.44 [[ 8.15285193e-01 5.79045622e-01 4.02754562e-03 5.70170618e+02] [-5.79038841e-01 8.15295140e-01 -2.80277913e-03 -1.61929048e+02] [-4.90657535e-03 -4.70410271e-05 9.99987962e-01 -4.43586187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters 0.05131177985547476 Centerline is valid? [True, True] Translation: X:570.22, Y:-161.96, Z:-4.44 [[ 8.15576182e-01 5.78638141e-01 3.65956115e-03 5.70221831e+02] [-5.78632536e-01 8.15584392e-01 -2.54721926e-03 -1.61963938e+02] [-4.45859917e-03 -4.00897909e-05 9.99990060e-01 -4.43819479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters 0.051086074883496736 Centerline is valid? [True, True] Translation: X:570.27, Y:-162.00, Z:-4.44 [[ 8.15168244e-01 5.79205295e-01 4.68611091e-03 5.70272685e+02] [-5.79196108e-01 8.15181712e-01 -3.26278943e-03 -1.62001274e+02] [-5.70985683e-03 -5.44548675e-05 9.99983697e-01 -4.43945611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters 0.051011043707659985 Centerline is valid? [True, True] Translation: X:570.32, Y:-162.04, Z:-4.44 [[ 8.13801248e-01 5.81117985e-01 5.42364610e-03 5.70322963e+02] [-5.81105711e-01 8.13819318e-01 -3.77759284e-03 -1.62036124e+02] [-6.60909511e-03 -7.75019591e-05 9.99978157e-01 -4.44021251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters 0.05120619830347737 Centerline is valid? [True, True] Translation: X:570.37, Y:-162.07, Z:-4.44 [[ 8.12251524e-01 5.83279524e-01 5.69727900e-03 5.70374263e+02] [-5.83266028e-01 8.12271498e-01 -3.96913230e-03 -1.62071159e+02] [-6.94285095e-03 -9.90955335e-05 9.99975893e-01 -4.44061514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters 0.05023404219401954 Centerline is valid? [True, True] Translation: X:570.43, Y:-162.10, Z:-4.44 [[ 8.09634108e-01 5.86903024e-01 6.11976914e-03 5.70425853e+02] [-5.86887547e-01 8.09657224e-01 -4.26457731e-03 -1.62104422e+02] [-7.45780861e-03 -1.38869052e-04 9.99972181e-01 -4.44179367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters 0.05152839849249585 Centerline is valid? [True, True] Translation: X:570.48, Y:-162.13, Z:-4.44 [[ 8.07825095e-01 5.89396796e-01 5.48029416e-03 5.70482025e+02] [-5.89384436e-01 8.07843671e-01 -3.81968496e-03 -1.62130383e+02] [-6.67853103e-03 -1.44362717e-04 9.99977688e-01 -4.44284915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters 0.05209244217349847 Centerline is valid? [True, True] Translation: X:570.53, Y:-162.16, Z:-4.44 [[ 8.05566376e-01 5.92483554e-01 5.10422808e-03 5.70534984e+02] [-5.92472889e-01 8.05582531e-01 -3.55834944e-03 -1.62160997e+02] [-6.22014050e-03 -1.57630095e-04 9.99980642e-01 -4.44413488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters 0.051417404591504276 Centerline is valid? [True, True] Translation: X:570.58, Y:-162.20, Z:-4.45 [[ 8.04992154e-01 5.93271294e-01 4.09920058e-03 5.70584031e+02] [-5.93264427e-01 8.05002580e-01 -2.85746082e-03 -1.62198760e+02] [-4.99511652e-03 -1.31676343e-04 9.99987516e-01 -4.44577455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters 0.050464502382551304 Centerline is valid? [True, True] Translation: X:570.63, Y:-162.24, Z:-4.45 [[ 8.05364763e-01 5.92759593e-01 4.86457487e-03 5.70630446e+02] [-5.92749907e-01 8.05379440e-01 -3.39202283e-03 -1.62240712e+02] [-5.92848266e-03 -1.51660638e-04 9.99982415e-01 -4.44578420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters 0.050474143750794315 Centerline is valid? [True, True] Translation: X:570.68, Y:-162.28, Z:-4.45 [[ 8.06529861e-01 5.91170975e-01 5.14406590e-03 5.70679363e+02] [-5.91160110e-01 8.06546252e-01 -3.58725641e-03 -1.62277413e+02] [-6.26960894e-03 -1.47737147e-04 9.99980335e-01 -4.44636825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters 0.05005992338691583 Centerline is valid? [True, True] Translation: X:570.73, Y:-162.32, Z:-4.45 [[ 8.07377419e-01 5.90012832e-01 5.15368557e-03 5.70729399e+02] [-5.90001902e-01 8.07393856e-01 -3.59410543e-03 -1.62315364e+02] [-6.28162239e-03 -1.38884715e-04 9.99980261e-01 -4.44626415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters 0.05057844518306676 Centerline is valid? [True, True] Translation: X:570.78, Y:-162.35, Z:-4.45 [[ 8.09353118e-01 5.87301901e-01 4.89977028e-03 5.70781327e+02] [-5.87291969e-01 8.09367942e-01 -3.41730441e-03 -1.62346881e+02] [-5.97270636e-03 -1.11789762e-04 9.99982157e-01 -4.44699788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters 0.050757778493485076 Centerline is valid? [True, True] Translation: X:570.83, Y:-162.39, Z:-4.45 [[ 8.10774842e-01 5.85328583e-01 5.88268340e-03 5.70829291e+02] [-5.85314212e-01 8.10796174e-01 -4.10327165e-03 -1.62386259e+02] [-7.17141938e-03 -1.16388776e-04 9.99974278e-01 -4.44747679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters 0.05076151501505004 Centerline is valid? [True, True] Translation: X:570.88, Y:-162.42, Z:-4.45 [[ 8.12052050e-01 5.83543634e-01 6.94956929e-03 5.70879046e+02] [-5.83523507e-01 8.12081778e-01 -4.84793759e-03 -1.62423845e+02] [-8.47260170e-03 -1.18459391e-04 9.99964100e-01 -4.44715053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters 0.05040179869812535 Centerline is valid? [True, True] Translation: X:570.93, Y:-162.46, Z:-4.45 [[ 8.12564005e-01 5.82833141e-01 6.72813273e-03 5.70930654e+02] [-5.82814244e-01 8.12591852e-01 -4.69453586e-03 -1.62457001e+02] [-8.20335692e-03 -1.06640733e-04 9.99966346e-01 -4.44774472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters 0.05063927758323468 Centerline is valid? [True, True] Translation: X:570.98, Y:-162.49, Z:-4.45 [[ 8.12712002e-01 5.82633834e-01 6.08425620e-03 5.70981570e+02] [-5.82618371e-01 8.12734770e-01 -4.24581498e-03 -1.62492118e+02] [-7.41864202e-03 -9.41746436e-05 9.99972477e-01 -4.44986377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters 0.050563027696376085 Centerline is valid? [True, True] Translation: X:571.03, Y:-162.53, Z:-4.45 [[ 8.12290691e-01 5.83236620e-01 4.34486668e-03 5.71033539e+02] [-5.83228741e-01 8.12302308e-01 -3.03244812e-03 -1.62527023e+02] [-5.29798002e-03 -7.08217472e-05 9.99985963e-01 -4.45146458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters 0.05068766118408915 Centerline is valid? [True, True] Translation: X:571.08, Y:-162.56, Z:-4.45 [[ 8.12036000e-01 5.83597474e-01 3.39456220e-03 5.71084547e+02] [-5.83592666e-01 8.12043093e-01 -2.36953467e-03 -1.62562913e+02] [-4.13938523e-03 -5.68941509e-05 9.99991431e-01 -4.45241095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters 0.05073512993644099 Centerline is valid? [True, True] Translation: X:571.14, Y:-162.60, Z:-4.45 [[ 8.12041301e-01 5.83591884e-01 3.07205602e-03 5.71136256e+02] [-5.83587946e-01 8.12047111e-01 -2.14476709e-03 -1.62598201e+02] [-3.74632288e-03 -5.11754019e-05 9.99992981e-01 -4.45388576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters 0.051140185241215864 Centerline is valid? [True, True] Translation: X:571.19, Y:-162.63, Z:-4.45 [[ 8.12701442e-01 5.82668466e-01 3.71807574e-03 5.71186714e+02] [-5.82662681e-01 8.12709946e-01 -2.59699185e-03 -1.62632989e+02] [-4.53490239e-03 -5.58049533e-05 9.99989716e-01 -4.45390130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters 0.050755798947081765 Centerline is valid? [True, True] Translation: X:571.24, Y:-162.67, Z:-4.45 [[ 8.14276874e-01 5.80460404e-01 4.34645342e-03 5.71236830e+02] [-5.80452465e-01 8.14288473e-01 -3.03630167e-03 -1.62669126e+02] [-5.30171981e-03 -5.05193648e-05 9.99985945e-01 -4.45387672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters 0.0506338657839408 Centerline is valid? [True, True] Translation: X:571.29, Y:-162.71, Z:-4.45 [[ 8.15405231e-01 5.78869600e-01 4.92907045e-03 5.71287080e+02] [-5.78859355e-01 8.15420127e-01 -3.44438636e-03 -1.62706664e+02] [-6.01311381e-03 -4.46678879e-05 9.99981920e-01 -4.45409793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters 0.05097132670528459 Centerline is valid? [True, True] Translation: X:571.34, Y:-162.74, Z:-4.45 [[ 8.16360003e-01 5.77515932e-01 5.62970795e-03 5.71337281e+02] [-5.77502532e-01 8.16379413e-01 -3.93434694e-03 -1.62742271e+02] [-6.86812571e-03 -3.93271169e-05 9.99976413e-01 -4.45452949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters 0.05056088137424202 Centerline is valid? [True, True] Translation: X:571.39, Y:-162.78, Z:-4.45 [[ 8.16138602e-01 5.77827030e-01 5.80563139e-03 5.71388282e+02] [-5.77812780e-01 8.16159250e-01 -4.05824518e-03 -1.62777441e+02] [-7.08328352e-03 -4.24774685e-05 9.99974912e-01 -4.45435004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters 0.05085034114181329 Centerline is valid? [True, True] Translation: X:571.44, Y:-162.81, Z:-4.46 [[ 8.14021145e-01 5.80818625e-01 4.39333195e-03 5.71440989e+02] [-5.80810504e-01 8.14032999e-01 -3.07174772e-03 -1.62810877e+02] [-5.36044547e-03 -5.12257450e-05 9.99985631e-01 -4.45606558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters 0.05094387557634294 Centerline is valid? [True, True] Translation: X:571.49, Y:-162.84, Z:-4.46 [[ 8.11168346e-01 5.84804571e-01 3.08676949e-03 5.71492396e+02] [-5.84800591e-01 8.11174218e-01 -2.15802312e-03 -1.62844382e+02] [-3.76592962e-03 -5.46245780e-05 9.99992907e-01 -4.45847417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters 0.05042676011891321 Centerline is valid? [True, True] Translation: X:571.54, Y:-162.88, Z:-4.46 [[ 8.09974358e-01 5.86460927e-01 2.26300440e-03 5.71543999e+02] [-5.86458793e-01 8.09977518e-01 -1.58260806e-03 -1.62877170e+02] [-2.76112048e-03 -4.52868847e-05 9.99996187e-01 -4.45890364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters 0.051359814853717864 Centerline is valid? [True, True] Translation: X:571.60, Y:-162.91, Z:-4.46 [[ 8.07567463e-01 5.89772207e-01 1.88080655e-03 5.71596179e+02] [-5.89770741e-01 8.07569652e-01 -1.31552142e-03 -1.62907530e+02] [-2.29474027e-03 -4.68723765e-05 9.99997366e-01 -4.45914664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters 0.05056511209170495 Centerline is valid? [True, True] Translation: X:571.65, Y:-162.94, Z:-4.46 [[ 8.07749428e-01 5.89520743e-01 2.48095969e-03 5.71646557e+02] [-5.89518194e-01 8.07753235e-01 -1.73478159e-03 -1.62944267e+02] [-3.02669295e-03 -6.13020462e-05 9.99995418e-01 -4.45839793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters 0.05000617696437027 Centerline is valid? [True, True] Translation: X:571.69, Y:-162.98, Z:-4.46 [[ 8.08960935e-01 5.87852533e-01 3.40657263e-03 5.71692019e+02] [-5.87847707e-01 8.08968104e-01 -2.38326441e-03 -1.62984898e+02] [-4.15681662e-03 -7.45781011e-05 9.99991358e-01 -4.45632818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters 0.05079190341534627 Centerline is valid? [True, True] Translation: X:571.74, Y:-163.02, Z:-4.46 [[ 8.11772296e-01 5.83952247e-01 5.05104945e-03 5.71744558e+02] [-5.83941558e-01 8.11788006e-01 -3.53413008e-03 -1.63017197e+02] [-6.16414456e-03 -8.06087954e-05 9.99980998e-01 -4.45596876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters 0.05102072221439944 Centerline is valid? [True, True] Translation: X:571.79, Y:-163.05, Z:-4.46 [[ 8.14795619e-01 5.79723891e-01 5.32070002e-03 5.71794310e+02] [-5.79711938e-01 8.14812989e-01 -3.72310382e-03 -1.63052098e+02] [-6.49374772e-03 -5.09046439e-05 9.99978914e-01 -4.45651631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters 0.05096679670851917 Centerline is valid? [True, True] Translation: X:571.84, Y:-163.09, Z:-4.46 [[ 8.16471242e-01 5.77360652e-01 5.42114383e-03 5.71844532e+02] [-5.77348190e-01 8.16489239e-01 -3.79349370e-03 -1.63088450e+02] [-6.61651960e-03 -3.26090667e-05 9.99978110e-01 -4.45633922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters 0.0508561051045315 Centerline is valid? [True, True] Translation: X:571.90, Y:-163.12, Z:-4.46 [[ 8.17494991e-01 5.75924902e-01 3.52788783e-03 5.71896219e+02] [-5.75919611e-01 8.17502604e-01 -2.46888416e-03 -1.63123434e+02] [-4.30594936e-03 -1.34793519e-05 9.99990729e-01 -4.45722898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters 0.051705509381788174 Centerline is valid? [True, True] Translation: X:571.95, Y:-163.16, Z:-4.46 [[ 8.18292034e-01 5.74798381e-01 2.22887772e-03 5.71947735e+02] [-5.74796264e-01 8.18295069e-01 -1.56028316e-03 -1.63157575e+02] [-2.72072788e-03 -4.38330136e-06 9.99996299e-01 -4.45893927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters 0.051768403883801606 Centerline is valid? [True, True] Translation: X:572.00, Y:-163.19, Z:-4.46 [[ 8.19296055e-01 5.73365318e-01 2.48724178e-03 5.72000546e+02] [-5.73362675e-01 8.19299831e-01 -1.74086984e-03 -1.63192020e+02] [-3.03595116e-03 1.96193889e-07 9.99995391e-01 -4.45693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters 0.0516052464527035 Centerline is valid? [True, True] Translation: X:572.05, Y:-163.23, Z:-4.46 [[ 8.21177257e-01 5.70667504e-01 2.55202576e-03 5.72052332e+02] [-5.70664705e-01 8.21181223e-01 -1.78720362e-03 -1.63226538e+02] [-3.11557466e-03 1.12599375e-05 9.99995147e-01 -4.45595100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters 0.05269747621020664 Centerline is valid? [True, True] Translation: X:572.10, Y:-163.26, Z:-4.45 [[ 8.22242324e-01 5.69129700e-01 2.99073935e-03 5.72104079e+02] [-5.69125847e-01 8.22247763e-01 -2.09456046e-03 -1.63260649e+02] [-3.65120531e-03 2.01291965e-05 9.99993334e-01 -4.45499305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters 0.05184480650618394 Centerline is valid? [True, True] Translation: X:572.16, Y:-163.30, Z:-4.46 [[ 8.22044411e-01 5.69420959e-01 1.66032656e-03 5.72156076e+02] [-5.69419772e-01 8.22046088e-01 -1.16281827e-03 -1.63295074e+02] [-2.02699805e-03 1.04654881e-05 9.99997946e-01 -4.45581550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters 0.052519921674279296 Centerline is valid? [True, True] Translation: X:572.21, Y:-163.33, Z:-4.46 [[ 8.20143761e-01 5.72156588e-01 1.02495933e-03 5.72209482e+02] [-5.72156138e-01 8.20144401e-01 -7.17247284e-04 -1.63325439e+02] [-1.25099241e-03 1.80911376e-06 9.99999218e-01 -4.45742804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters 0.05252337256745764 Centerline is valid? [True, True] Translation: X:572.26, Y:-163.36, Z:-4.46 [[ 8.19254972e-01 5.73428715e-01 8.94969842e-04 5.72261728e+02] [-5.73428372e-01 8.19255460e-01 -6.26695648e-04 -1.63359912e+02] [-1.09257421e-03 2.22425998e-07 9.99999403e-01 -4.45654665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters 0.052698461104780825 Centerline is valid? [True, True] Translation: X:572.32, Y:-163.39, Z:-4.46 [[ 8.16791692e-01 5.76931491e-01 1.17777371e-03 5.72315044e+02] [-5.76930902e-01 8.16792541e-01 -8.24509896e-04 -1.63391679e+02] [-1.43768250e-03 -6.04121580e-06 9.99998967e-01 -4.45719381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters 0.052297797990946256 Centerline is valid? [True, True] Translation: X:572.37, Y:-163.42, Z:-4.46 [[ 8.13144722e-01 5.82060035e-01 1.33301043e-03 5.72370458e+02] [-5.82059287e-01 8.13145814e-01 -9.33761318e-04 -1.63419872e+02] [-1.62743700e-03 -1.66080149e-05 9.99998676e-01 -4.45706684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters 0.053222803023452905 Centerline is valid? [True, True] Translation: X:572.43, Y:-163.45, Z:-4.46 [[ 8.09457575e-01 5.87176944e-01 1.29255538e-03 5.72425568e+02] [-5.87176245e-01 8.09458607e-01 -9.06313494e-04 -1.63445383e+02] [-1.57843646e-03 -2.53354908e-05 9.99998754e-01 -4.45870378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters 0.05319378868606481 Centerline is valid? [True, True] Translation: X:572.48, Y:-163.48, Z:-4.46 [[ 8.07571959e-01 5.89768580e-01 7.43830881e-04 5.72476783e+02] [-5.89768350e-01 8.07572301e-01 -5.21499160e-04 -1.63478776e+02] [-9.08261035e-04 -1.75398139e-05 9.99999587e-01 -4.45877751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters 0.052811623254730995 Centerline is valid? [True, True] Translation: X:572.53, Y:-163.51, Z:-4.46 [[ 8.05194809e-01 5.93009883e-01 -7.73595251e-04 5.72527390e+02] [-5.93009636e-01 8.05195180e-01 5.42599605e-04 -1.63513710e+02] [ 9.44662095e-04 2.18510527e-05 9.99999554e-01 -4.45898658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters 0.052735133177519405 Centerline is valid? [True, True] Translation: X:572.58, Y:-163.55, Z:-4.46 [[ 8.04345700e-01 5.94157078e-01 -2.31543742e-03 5.72580371e+02] [-5.94154862e-01 8.04349030e-01 1.62400962e-03 -1.63545967e+02] [ 2.82733665e-03 6.94632430e-05 9.99996001e-01 -4.46086121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters 0.052629797758960324 Centerline is valid? [True, True] Translation: X:572.63, Y:-163.58, Z:-4.46 [[ 8.05657590e-01 5.92375340e-01 -2.70249849e-03 5.72629390e+02] [-5.92372312e-01 8.05662120e-01 1.89536995e-03 -1.63582611e+02] [ 3.30007108e-03 7.38660889e-05 9.99994552e-01 -4.45859760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters 0.05262512811218165 Centerline is valid? [True, True] Translation: X:572.68, Y:-163.62, Z:-4.46 [[ 8.06521704e-01 5.91200170e-01 -2.25842115e-03 5.72680211e+02] [-5.91198047e-01 8.06524864e-01 1.58520504e-03 -1.63618475e+02] [ 2.75864630e-03 5.66719026e-05 9.99996193e-01 -4.45882257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters 0.05266555182850585 Centerline is valid? [True, True] Translation: X:572.73, Y:-163.65, Z:-4.46 [[ 8.06910135e-01 5.90669961e-01 -2.24299946e-03 5.72731849e+02] [-5.90667865e-01 8.06913250e-01 1.57465677e-03 -1.63651911e+02] [ 2.74000844e-03 5.42611973e-05 9.99996245e-01 -4.46022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters 0.052664576799786006 Centerline is valid? [True, True] Translation: X:572.78, Y:-163.69, Z:-4.46 [[ 8.08549764e-01 5.88423533e-01 -2.24142660e-03 5.72780295e+02] [-5.88421433e-01 8.08552870e-01 1.57291220e-03 -1.63690185e+02] [ 2.73785047e-03 4.71256629e-05 9.99996251e-01 -4.45939398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters 0.053245468542586286 Centerline is valid? [True, True] Translation: X:572.83, Y:-163.73, Z:-4.46 [[ 8.09914875e-01 5.86540170e-01 -2.91946994e-03 5.72830274e+02] [-5.86536590e-01 8.09920136e-01 2.04994964e-03 -1.63726366e+02] [ 3.56691530e-03 5.20912375e-05 9.99993637e-01 -4.46157763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters 0.05278856188388717 Centerline is valid? [True, True] Translation: X:572.88, Y:-163.77, Z:-4.46 [[ 8.11788393e-01 5.83940775e-01 -3.57440612e-03 5.72877718e+02] [-5.83935387e-01 8.11796260e-01 2.50916429e-03 -1.63767272e+02] [ 4.36689286e-03 5.03117766e-05 9.99990464e-01 -4.46021245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters 0.05279497661891552 Centerline is valid? [True, True] Translation: X:572.93, Y:-163.81, Z:-4.46 [[ 8.13748903e-01 5.81208272e-01 -3.10928364e-03 5.72926187e+02] [-5.81204170e-01 8.13754842e-01 2.18389314e-03 -1.63805246e+02] [ 3.79949138e-03 2.99879743e-05 9.99992781e-01 -4.46056735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters 0.053126584088634576 Centerline is valid? [True, True] Translation: X:572.97, Y:-163.85, Z:-4.46 [[ 8.16971772e-01 5.76668697e-01 -3.21515638e-03 5.72973469e+02] [-5.76664277e-01 8.16978099e-01 2.25777373e-03 -1.63845468e+02] [ 3.92869978e-03 9.52842617e-06 9.99992283e-01 -4.45882082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters 0.05342296786272885 Centerline is valid? [True, True] Translation: X:573.02, Y:-163.89, Z:-4.46 [[ 8.23587747e-01 5.67179013e-01 -3.34521573e-03 5.73018849e+02] [-5.67174149e-01 8.23594540e-01 2.34918677e-03 -1.63888262e+02] [ 4.08751084e-03 -3.74415510e-05 9.99991645e-01 -4.45816676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters 0.05378845105393346 Centerline is valid? [True, True] Translation: X:573.07, Y:-163.93, Z:-4.45 [[ 8.29705203e-01 5.58196122e-01 -2.52300165e-03 5.73066809e+02] [-5.58193314e-01 8.29709036e-01 1.77164155e-03 -1.63925112e+02] [ 3.08228071e-03 -6.16175549e-05 9.99995248e-01 -4.45445951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters 0.054240736070522336 Centerline is valid? [True, True] Translation: X:573.11, Y:-163.96, Z:-4.46 [[ 8.32295476e-01 5.54326984e-01 -2.41560883e-03 5.73114444e+02] [-5.54324392e-01 8.32298979e-01 1.69656594e-03 -1.63964581e+02] [ 2.95096104e-03 -7.30132644e-05 9.99995643e-01 -4.45579678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters 0.05552100460345868 Centerline is valid? [True, True] Translation: X:573.16, Y:-164.00, Z:-4.46 [[ 8.33607081e-01 5.52351605e-01 -2.63419572e-03 5.73162098e+02] [-5.52348510e-01 8.33611239e-01 1.85101659e-03 -1.64001668e+02] [ 3.21830714e-03 -8.80264518e-05 9.99994817e-01 -4.45719272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters 0.05483868414356799 Centerline is valid? [True, True] Translation: X:573.21, Y:-164.04, Z:-4.46 [[ 8.33721283e-01 5.52177727e-01 -2.92930868e-03 5.73209190e+02] [-5.52173897e-01 8.33726423e-01 2.05890771e-03 -1.64040579e+02] [ 3.57912502e-03 -9.90673890e-05 9.99993590e-01 -4.45965984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters 0.05437010207021281 Centerline is valid? [True, True] Translation: X:573.26, Y:-164.07, Z:-4.46 [[ 8.32152724e-01 5.54523687e-01 -5.03240010e-03 5.73263286e+02] [-5.54512435e-01 8.32167926e-01 3.53581791e-03 -1.64069999e+02] [ 6.14849674e-03 -1.51812071e-04 9.99981086e-01 -4.45824819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters 0.054650521625470405 Centerline is valid? [True, True] Translation: X:573.32, Y:-164.10, Z:-4.46 [[ 8.29120902e-01 5.59050408e-01 -4.60125924e-03 5.73315583e+02] [-5.59041071e-01 8.29133662e-01 3.23278511e-03 -1.64099846e+02] [ 5.62234875e-03 -1.08076815e-04 9.99984189e-01 -4.45663117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters 0.05404056423519046 Centerline is valid? [True, True] Translation: X:573.36, Y:-164.14, Z:-4.46 [[ 8.26752117e-01 5.62559019e-01 -2.87868946e-03 5.73361563e+02] [-5.62555385e-01 8.26757127e-01 2.02261412e-03 -1.64138692e+02] [ 3.51781685e-03 -5.27782485e-05 9.99993811e-01 -4.46031178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters 0.05325776992077381 Centerline is valid? [True, True] Translation: X:573.41, Y:-164.17, Z:-4.46 [[ 8.22943622e-01 5.68121245e-01 -1.43044631e-03 5.73414478e+02] [-5.68120356e-01 8.22944865e-01 1.00514462e-03 -1.64169026e+02] [ 1.74822246e-03 -1.45116809e-05 9.99998472e-01 -4.45838493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters 0.05303235907513299 Centerline is valid? [True, True] Translation: X:573.47, Y:-164.20, Z:-4.46 [[ 8.19829622e-01 5.72606558e-01 -1.05874040e-03 5.73467523e+02] [-5.72606073e-01 8.19830305e-01 7.45010824e-04 -1.64199578e+02] [ 1.29458555e-03 -4.54075691e-06 9.99999162e-01 -4.45553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters 0.052778480943662165 Centerline is valid? [True, True] Translation: X:573.52, Y:-164.23, Z:-4.46 [[ 8.15043394e-01 5.79399301e-01 -8.46059020e-04 5.73520959e+02] [-5.79398996e-01 8.15043833e-01 5.95005823e-04 -1.64230864e+02] [ 1.03432114e-03 5.25018083e-06 9.99999465e-01 -4.45685418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters 0.05227050768089474 Centerline is valid? [True, True] Translation: X:573.57, Y:-164.26, Z:-4.46 [[ 8.11847613e-01 5.83868277e-01 -1.13532345e-03 5.73574315e+02] [-5.83867730e-01 8.11848407e-01 7.99086843e-04 -1.64261612e+02] [ 1.38827199e-03 1.41419802e-05 9.99999036e-01 -4.45884807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters 0.052965257047554296 Centerline is valid? [True, True] Translation: X:573.63, Y:-164.29, Z:-4.46 [[ 8.07046492e-01 5.90484647e-01 -1.96005856e-03 5.73628692e+02] [-5.90483041e-01 8.07048870e-01 1.37815408e-03 -1.64288737e+02] [ 2.39564187e-03 4.51469204e-05 9.99997129e-01 -4.46194850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters 0.05299069220201233 Centerline is valid? [True, True] Translation: X:573.68, Y:-164.32, Z:-4.46 [[ 8.05564359e-01 5.92503364e-01 -2.41410815e-03 5.73679487e+02] [-5.92500936e-01 8.05567974e-01 1.69726163e-03 -1.64322259e+02] [ 2.95036144e-03 6.31078568e-05 9.99995646e-01 -4.46284682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters 0.05273513799561052 Centerline is valid? [True, True] Translation: X:573.73, Y:-164.36, Z:-4.46 [[ 8.04624354e-01 5.93776944e-01 -2.93088394e-03 5.73726049e+02] [-5.93773373e-01 8.04629687e-01 2.06093992e-03 -1.64363784e+02] [ 3.58201483e-03 8.19983924e-05 9.99993581e-01 -4.46022790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters 0.052697383313205795 Centerline is valid? [True, True] Translation: X:573.78, Y:-164.40, Z:-4.46 [[ 8.03497214e-01 5.95282265e-01 -5.59038001e-03 5.73775359e+02] [-5.95269302e-01 8.03516644e-01 3.93210558e-03 -1.64399672e+02] [ 6.83267610e-03 1.68345730e-04 9.99976643e-01 -4.46265867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters 0.05283698498615202 Centerline is valid? [True, True] Translation: X:573.83, Y:-164.43, Z:-4.46 [[ 8.03218398e-01 5.95652137e-01 -6.22391902e-03 5.73825843e+02] [-5.95636073e-01 8.03242488e-01 4.37869961e-03 -1.64434692e+02] [ 7.60749799e-03 1.90138604e-04 9.99971044e-01 -4.46473696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters 0.05231231215819317 Centerline is valid? [True, True] Translation: X:573.87, Y:-164.48, Z:-4.46 [[ 8.03728062e-01 5.94976866e-01 -4.87148050e-03 5.73871976e+02] [-5.94967015e-01 8.03742812e-01 3.42687401e-03 -1.64476699e+02] [ 5.95432820e-03 1.44095406e-04 9.99982262e-01 -4.46178045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters 0.053218979433225524 Centerline is valid? [True, True] Translation: X:573.92, Y:-164.51, Z:-4.46 [[ 8.04383326e-01 5.94102413e-01 -3.12845385e-03 5.73921986e+02] [-5.94098344e-01 8.04389405e-01 2.20070081e-03 -1.64510003e+02] [ 3.82393680e-03 8.84022149e-05 9.99992685e-01 -4.46412815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters 0.052165156016293186 Centerline is valid? [True, True] Translation: X:573.97, Y:-164.55, Z:-4.46 [[ 8.04699661e-01 5.93677376e-01 -2.37254911e-03 5.73967355e+02] [-5.93675030e-01 8.04703156e-01 1.67032533e-03 -1.64554022e+02] [ 2.90083212e-03 6.44129386e-05 9.99995791e-01 -4.46102343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters 0.052990762106263994 Centerline is valid? [True, True] Translation: X:574.02, Y:-164.59, Z:-4.46 [[ 8.04038198e-01 5.94575764e-01 -1.49538754e-03 5.74019099e+02] [-5.94574833e-01 8.04039588e-01 1.05332227e-03 -1.64586645e+02] [ 1.82863068e-03 4.22084538e-05 9.99998327e-01 -4.46443439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters 0.05205399242188927 Centerline is valid? [True, True] Translation: X:574.07, Y:-164.63, Z:-4.46 [[ 8.03133122e-01 5.95796353e-01 -1.97306057e-03 5.74066055e+02] [-5.95794738e-01 8.03135544e-01 1.38890611e-03 -1.64628196e+02] [ 2.41214027e-03 6.00626053e-05 9.99997089e-01 -4.46319560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters 0.05150793346624482 Centerline is valid? [True, True] Translation: X:574.11, Y:-164.67, Z:-4.46 [[ 8.02178492e-01 5.97079509e-01 -2.39312121e-03 5.74112365e+02] [-5.97077137e-01 8.02182058e-01 1.68467116e-03 -1.64670509e+02] [ 2.92560153e-03 7.74709897e-05 9.99995717e-01 -4.46185241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters 0.053222006718422366 Centerline is valid? [True, True] Translation: X:574.17, Y:-164.70, Z:-4.47 [[ 8.00828783e-01 5.98882700e-01 -3.57380951e-03 5.74166338e+02] [-5.98877430e-01 8.00836747e-01 2.51549727e-03 -1.64698139e+02] [ 4.36852577e-03 1.25791240e-04 9.99990450e-01 -4.46865927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters 0.051806544760543305 Centerline is valid? [True, True] Translation: X:574.21, Y:-164.75, Z:-4.46 [[ 8.00084550e-01 5.99872149e-01 -4.25651201e-03 5.74208853e+02] [-5.99864683e-01 8.00095857e-01 2.99675248e-03 -1.64745103e+02] [ 5.20328597e-03 1.55675864e-04 9.99986451e-01 -4.46487066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters 0.05182954099765551 Centerline is valid? [True, True] Translation: X:574.26, Y:-164.79, Z:-4.46 [[ 7.99843094e-01 6.00191988e-01 -4.53894830e-03 5.74256289e+02] [-6.00183497e-01 7.99855956e-01 3.19684055e-03 -1.64785837e+02] [ 5.54922291e-03 1.67231026e-04 9.99984589e-01 -4.46469698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters 0.05221796702872617 Centerline is valid? [True, True] Translation: X:574.31, Y:-164.82, Z:-4.47 [[ 8.00388211e-01 5.99462919e-01 -4.78759466e-03 5.74306406e+02] [-5.99453456e-01 8.00402511e-01 3.37255313e-03 -1.64821013e+02] [ 5.85372333e-03 1.70588403e-04 9.99982852e-01 -4.46714314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters 0.052205652057747236 Centerline is valid? [True, True] Translation: X:574.36, Y:-164.86, Z:-4.47 [[ 8.00262609e-01 5.99638014e-01 -3.74294192e-03 5.74356200e+02] [-5.99632231e-01 8.00271350e-01 2.63681849e-03 -1.64856486e+02] [ 4.57650578e-03 1.34241377e-04 9.99989519e-01 -4.46739226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters 0.05143936838577809 Centerline is valid? [True, True] Translation: X:574.40, Y:-164.90, Z:-4.46 [[ 8.00952706e-01 5.98726444e-01 -1.18641190e-03 5.74400550e+02] [-5.98725862e-01 8.00953584e-01 8.35880793e-04 -1.64900636e+02] [ 1.45072480e-03 4.08345035e-05 9.99998947e-01 -4.46283652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters 0.0510092562698835 Centerline is valid? [True, True] Translation: X:574.45, Y:-164.94, Z:-4.46 [[ 8.02202891e-01 5.97050279e-01 -1.21890669e-03 5.74447441e+02] [-5.97049663e-01 8.02203816e-01 8.58822812e-04 -1.64941569e+02] [ 1.49057200e-03 3.87976875e-05 9.99998888e-01 -4.46223787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters 0.05126114254912054 Centerline is valid? [True, True] Translation: X:574.50, Y:-164.98, Z:-4.46 [[ 8.03387577e-01 5.95454418e-01 -1.56105806e-03 5.74496813e+02] [-5.95453404e-01 8.03389093e-01 1.09989780e-03 -1.64978737e+02] [ 1.90907602e-03 4.58931070e-05 9.99998177e-01 -4.46284521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters 0.05211473485189148 Centerline is valid? [True, True] Translation: X:574.55, Y:-165.01, Z:-4.47 [[ 8.05038573e-01 5.93213900e-01 -3.18823486e-03 5.74549021e+02] [-5.93209651e-01 8.05044882e-01 2.24660438e-03 -1.65008770e+02] [ 3.89938910e-03 8.26885090e-05 9.99992394e-01 -4.46784879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters 0.05192640617204454 Centerline is valid? [True, True] Translation: X:574.60, Y:-165.05, Z:-4.47 [[ 8.06010729e-01 5.91891524e-01 -3.33588740e-03 5.74595710e+02] [-5.91886860e-01 8.06017629e-01 2.35104348e-03 -1.65050687e+02] [ 4.08034676e-03 7.95016449e-05 9.99991672e-01 -4.46592942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters 0.0518618922922186 Centerline is valid? [True, True] Translation: X:574.65, Y:-165.09, Z:-4.47 [[ 8.07308780e-01 5.90120072e-01 -3.29150856e-03 5.74645011e+02] [-5.90115513e-01 8.07315487e-01 2.32058016e-03 -1.65087686e+02] [ 4.02670676e-03 6.89455266e-05 9.99991890e-01 -4.46532999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters 0.05145591882356898 Centerline is valid? [True, True] Translation: X:574.70, Y:-165.12, Z:-4.47 [[ 8.07521828e-01 5.89833525e-01 -2.21587756e-03 5.74696622e+02] [-5.89831456e-01 8.07524867e-01 1.56294440e-03 -1.65120940e+02] [ 2.71125323e-03 4.48825632e-05 9.99996324e-01 -4.46597341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters 0.05211898480573853 Centerline is valid? [True, True] Translation: X:574.75, Y:-165.15, Z:-4.47 [[ 8.07150747e-01 5.90342656e-01 -1.79454248e-03 5.74749760e+02] [-5.90341301e-01 8.07152741e-01 1.26569387e-03 -1.65151438e+02] [ 2.19566296e-03 3.77867903e-05 9.99997589e-01 -4.46833713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters 0.05227597043599606 Centerline is valid? [True, True] Translation: X:574.80, Y:-165.18, Z:-4.47 [[ 8.06572449e-01 5.91133063e-01 -1.60809745e-03 5.74801742e+02] [-5.91131975e-01 8.06574052e-01 1.13481424e-03 -1.65184794e+02] [ 1.96787589e-03 3.52879207e-05 9.99998063e-01 -4.46899996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters 0.05157702783021573 Centerline is valid? [True, True] Translation: X:574.85, Y:-165.22, Z:-4.47 [[ 8.05455972e-01 5.92653736e-01 -1.49207151e-03 5.74850931e+02] [-5.92652800e-01 8.05457354e-01 1.05335905e-03 -1.65222634e+02] [ 1.82607715e-03 3.58460276e-05 9.99998332e-01 -4.46688856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters 0.052463880660001946 Centerline is valid? [True, True] Translation: X:574.90, Y:-165.25, Z:-4.47 [[ 8.03644575e-01 5.95104075e-01 -2.55662132e-03 5.74903674e+02] [-5.95101348e-01 8.03648639e-01 1.80329230e-03 -1.65252211e+02] [ 3.12777184e-03 7.22427198e-05 9.99995106e-01 -4.46878743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters 0.052746678610893605 Centerline is valid? [True, True] Translation: X:574.96, Y:-165.28, Z:-4.47 [[ 8.02267300e-01 5.96951878e-01 -3.95409376e-03 5.74955666e+02] [-5.96945374e-01 8.02277035e-01 2.78930855e-03 -1.65284227e+02] [ 4.83736159e-03 1.22606936e-04 9.99988292e-01 -4.47009592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters 0.05231148783195616 Centerline is valid? [True, True] Translation: X:575.00, Y:-165.32, Z:-4.47 [[ 8.00876209e-01 5.98809513e-01 -4.94629045e-03 5.75004987e+02] [-5.98799363e-01 8.00891466e-01 3.49051455e-03 -1.65320502e+02] [ 6.05159513e-03 1.66365509e-04 9.99981675e-01 -4.46833930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters 0.05266471423388395 Centerline is valid? [True, True] Translation: X:575.06, Y:-165.35, Z:-4.47 [[ 8.01043168e-01 5.98588617e-01 -4.63791332e-03 5.75057515e+02] [-5.98579688e-01 8.01056580e-01 3.27307706e-03 -1.65352859e+02] [ 5.67445765e-03 1.54284688e-04 9.99983888e-01 -4.46774279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters 0.05326765004856039 Centerline is valid? [True, True] Translation: X:575.11, Y:-165.38, Z:-4.47 [[ 8.02819468e-01 5.96216966e-01 -2.49632558e-03 5.75109293e+02] [-5.96214368e-01 8.02823346e-01 1.76150838e-03 -1.65383472e+02] [ 3.05434963e-03 7.41719626e-05 9.99995333e-01 -4.46733329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters 0.053167614334648734 Centerline is valid? [True, True] Translation: X:575.16, Y:-165.42, Z:-4.47 [[ 8.04726256e-01 5.93645295e-01 -9.57097652e-04 5.75159331e+02] [-5.93644911e-01 8.04726825e-01 6.75472478e-04 -1.65417832e+02] [ 1.17119321e-03 2.46057118e-05 9.99999314e-01 -4.46551487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters 0.0530068208938837 Centerline is valid? [True, True] Translation: X:575.21, Y:-165.45, Z:-4.47 [[ 8.05389419e-01 5.92744773e-01 -1.23206629e-03 5.75209961e+02] [-5.92744135e-01 8.05390360e-01 8.70523040e-04 -1.65453478e+02] [ 1.50829229e-03 2.91900216e-05 9.99998862e-01 -4.46603070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters 0.05330679089014236 Centerline is valid? [True, True] Translation: X:575.26, Y:-165.49, Z:-4.47 [[ 8.07387408e-01 5.90016803e-01 -2.39709488e-03 5.75262075e+02] [-5.90014378e-01 8.07390965e-01 1.69212329e-03 -1.65486934e+02] [ 2.93377392e-03 4.81214103e-05 9.99995695e-01 -4.46945090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters 0.052783588034414075 Centerline is valid? [True, True] Translation: X:575.31, Y:-165.53, Z:-4.47 [[ 8.09530711e-01 5.87068598e-01 -3.23856932e-03 5.75309022e+02] [-5.87064149e-01 8.09537188e-01 2.28619385e-03 -1.65526990e+02] [ 3.96389491e-03 5.05038080e-05 9.99992142e-01 -4.46649732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters 0.053507345327652944 Centerline is valid? [True, True] Translation: X:575.36, Y:-165.56, Z:-4.47 [[ 8.12316430e-01 5.83208622e-01 -3.11776596e-03 5.75359625e+02] [-5.83204469e-01 8.12322413e-01 2.20104180e-03 -1.65562558e+02] [ 3.81629772e-03 3.03526193e-05 9.99992717e-01 -4.46687252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters 0.05332810220432839 Centerline is valid? [True, True] Translation: X:575.41, Y:-165.60, Z:-4.47 [[ 8.13759004e-01 5.81198005e-01 -2.27215413e-03 5.75410327e+02] [-5.81195788e-01 8.13762176e-01 1.60535224e-03 -1.65598613e+02] [ 2.78202061e-03 1.41965709e-05 9.99996130e-01 -4.46694411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters 0.05292751875902822 Centerline is valid? [True, True] Translation: X:575.46, Y:-165.63, Z:-4.47 [[ 8.14768310e-01 5.79785849e-01 -9.84760874e-04 5.75461127e+02] [-5.79785431e-01 8.14768905e-01 6.96536099e-04 -1.65633977e+02] [ 1.20619431e-03 3.43446711e-06 9.99999273e-01 -4.46721238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters 0.05292726168444281 Centerline is valid? [True, True] Translation: X:575.51, Y:-165.67, Z:-4.47 [[ 8.14524847e-01 5.80128289e-01 -6.64865525e-04 5.75513492e+02] [-5.80128098e-01 8.14525118e-01 4.70803803e-04 -1.65666866e+02] [ 8.14676275e-04 2.22577750e-06 9.99999668e-01 -4.47112366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters 0.05282942087453008 Centerline is valid? [True, True] Translation: X:575.57, Y:-165.70, Z:-4.47 [[ 8.13532499e-01 5.81519449e-01 6.37949001e-05 5.75565915e+02] [-5.81519447e-01 8.13532501e-01 -4.39763765e-05 -1.65701127e+02] [-7.74723431e-05 -1.32176358e-06 9.99999997e-01 -4.47147576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters 0.05284728355144062 Centerline is valid? [True, True] Translation: X:575.62, Y:-165.73, Z:-4.47 [[ 8.11972617e-01 5.83695497e-01 1.89298437e-04 5.75618016e+02] [-5.83695482e-01 8.11972639e-01 -1.32825953e-04 -1.65734505e+02] [-2.31235062e-04 -2.64160559e-06 9.99999973e-01 -4.47138554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters 0.053300756117874167 Centerline is valid? [True, True] Translation: X:575.67, Y:-165.76, Z:-4.47 [[ 8.09197202e-01 5.87537126e-01 -1.17213809e-04 5.75671400e+02] [-5.87537120e-01 8.09197211e-01 8.30526731e-05 -1.65764634e+02] [ 1.43645616e-04 1.66147278e-06 9.99999990e-01 -4.47276752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters 0.052814982567007555 Centerline is valid? [True, True] Translation: X:575.72, Y:-165.80, Z:-4.47 [[ 8.06605796e-01 5.91089190e-01 8.11755692e-04 5.75720453e+02] [-5.91088912e-01 8.06606205e-01 -5.72929583e-04 -1.65802160e+02] [-9.93419661e-04 -1.76914668e-05 9.99999506e-01 -4.46993218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters 0.054150028105020113 Centerline is valid? [True, True] Translation: X:575.78, Y:-165.83, Z:-4.47 [[ 8.04355034e-01 5.94148141e-01 9.82743340e-04 5.75775969e+02] [-5.94147735e-01 8.04355634e-01 -6.94712319e-04 -1.65827770e+02] [-1.20323718e-03 -2.50993789e-05 9.99999276e-01 -4.47290889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters 0.05363676086883096 Centerline is valid? [True, True] Translation: X:575.83, Y:-165.86, Z:-4.47 [[ 8.03206721e-01 5.95698762e-01 1.39540538e-03 5.75826191e+02] [-5.95697948e-01 8.03207933e-01 -9.85845799e-04 -1.65863428e+02] [-1.70806779e-03 -3.94021508e-05 9.99998540e-01 -4.47282653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters 0.05336743795033588 Centerline is valid? [True, True] Translation: X:575.88, Y:-165.90, Z:-4.47 [[ 8.02388606e-01 5.96799746e-01 1.60873861e-03 5.75875756e+02] [-5.96798665e-01 8.02390217e-01 -1.13686806e-03 -1.65901248e+02] [-1.96931869e-03 -4.78830722e-05 9.99998060e-01 -4.47246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters 0.05260290941071071 Centerline is valid? [True, True] Translation: X:575.93, Y:-165.94, Z:-4.47 [[ 8.02324085e-01 5.96885140e-01 2.04737061e-03 5.75926116e+02] [-5.96883388e-01 8.02326695e-01 -1.44733267e-03 -1.65939413e+02] [-2.50655146e-03 -6.08116430e-05 9.99996857e-01 -4.47276647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters 0.05316487055082957 Centerline is valid? [True, True] Translation: X:575.98, Y:-165.97, Z:-4.47 [[ 8.02925282e-01 5.96074762e-01 2.42285264e-03 5.75979176e+02] [-5.96072303e-01 8.02928934e-01 -1.71352004e-03 -1.65970006e+02] [-2.96676454e-03 -6.83667942e-05 9.99995597e-01 -4.47446761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters 0.05286322362406653 Centerline is valid? [True, True] Translation: X:576.03, Y:-166.01, Z:-4.47 [[ 8.04326396e-01 5.94177155e-01 3.54354852e-03 5.76027447e+02] [-5.94171871e-01 8.04334197e-01 -2.50746855e-03 -1.66008412e+02] [-4.34007778e-03 -8.86537073e-05 9.99990578e-01 -4.47435674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters 0.05270772660977431 Centerline is valid? [True, True] Translation: X:576.07, Y:-166.05, Z:-4.48 [[ 8.08706700e-01 5.88202620e-01 3.33933317e-03 5.76074515e+02] [-5.88197875e-01 8.08713593e-01 -2.36307006e-03 -1.66047863e+02] [-4.09052813e-03 -5.31580830e-05 9.99991632e-01 -4.47527875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters 0.05249987288497775 Centerline is valid? [True, True] Translation: X:576.12, Y:-166.09, Z:-4.48 [[ 8.12808405e-01 5.82524022e-01 2.87412792e-03 5.76122359e+02] [-5.82520472e-01 8.12813486e-01 -2.03392801e-03 -1.66086329e+02] [-3.52094186e-03 -2.10445685e-05 9.99993801e-01 -4.47652810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters 0.052902875967676705 Centerline is valid? [True, True] Translation: X:576.17, Y:-166.13, Z:-4.48 [[ 8.19165771e-01 5.73555168e-01 1.38156711e-03 5.76170640e+02] [-5.73554336e-01 8.19166936e-01 -9.76942448e-04 -1.66125799e+02] [-1.69206449e-03 7.87400761e-06 9.99998568e-01 -4.47853943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters 0.053783447894721115 Centerline is valid? [True, True] Translation: X:576.22, Y:-166.16, Z:-4.48 [[ 8.24846345e-01 5.65354621e-01 1.63112064e-03 5.76219390e+02] [-5.65353442e-01 8.24847957e-01 -1.15467843e-03 -1.66161883e+02] [-1.99822931e-03 3.02726166e-05 9.99998003e-01 -4.47800006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters 0.05433084846529572 Centerline is valid? [True, True] Translation: X:576.27, Y:-166.19, Z:-4.48 [[ 8.28045443e-01 5.60650907e-01 3.36237167e-03 5.76270974e+02] [-5.60645861e-01 8.28052265e-01 -2.38025883e-03 -1.66194895e+02] [-4.11871374e-03 8.58627184e-05 9.99991514e-01 -4.47689531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters 0.05412850027103992 Centerline is valid? [True, True] Translation: X:576.32, Y:-166.24, Z:-4.48 [[ 8.28566030e-01 5.59881355e-01 3.34682140e-03 5.76316113e+02] [-5.59876350e-01 8.28572785e-01 -2.36907037e-03 -1.66237375e+02] [-4.09948346e-03 8.91250800e-05 9.99991593e-01 -4.47875589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters 0.05455689398996547 Centerline is valid? [True, True] Translation: X:576.37, Y:-166.27, Z:-4.48 [[ 8.29393666e-01 5.58650641e-01 3.95072528e-03 5.76369851e+02] [-5.58643649e-01 8.29403067e-01 -2.79747125e-03 -1.66269012e+02] [-4.83955277e-03 1.13157354e-04 9.99988283e-01 -4.47916236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters 0.05426836031604815 Centerline is valid? [True, True] Translation: X:576.43, Y:-166.30, Z:-4.48 [[ 8.27891300e-01 5.60879673e-01 3.16037417e-03 5.76425084e+02] [-5.60875214e-01 8.27897328e-01 -2.23805726e-03 -1.66295825e+02] [-3.87174616e-03 8.02925941e-05 9.99992502e-01 -4.48056278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters 0.0543006421008896 Centerline is valid? [True, True] Translation: X:576.48, Y:-166.33, Z:-4.48 [[ 8.24532863e-01 5.65805632e-01 3.08936641e-03 5.76477164e+02] [-5.65801405e-01 8.24538649e-01 -2.18781441e-03 -1.66328786e+02] [-3.78517972e-03 5.59570253e-05 9.99992835e-01 -4.48220599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters 0.05426928455097898 Centerline is valid? [True, True] Translation: X:576.53, Y:-166.36, Z:-4.48 [[ 8.22124514e-01 5.69296400e-01 3.59044607e-03 5.76533096e+02] [-5.69290723e-01 8.22132353e-01 -2.54285004e-03 -1.66356294e+02] [-4.39945725e-03 4.65317086e-05 9.99990321e-01 -4.48158205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters 0.0540664718924059 Centerline is valid? [True, True] Translation: X:576.58, Y:-166.39, Z:-4.48 [[ 8.19128387e-01 5.73596016e-01 4.03691683e-03 5.76584412e+02] [-5.73588892e-01 8.19138334e-01 -2.85895419e-03 -1.66388881e+02] [-4.94667806e-03 2.63198851e-05 9.99987765e-01 -4.48277069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters 0.054042023016912515 Centerline is valid? [True, True] Translation: X:576.63, Y:-166.42, Z:-4.48 [[ 8.17915064e-01 5.75323653e-01 4.20027389e-03 5.76634999e+02] [-5.75315960e-01 8.17925849e-01 -2.97522336e-03 -1.66422531e+02] [-5.14722895e-03 1.69953975e-05 9.99986753e-01 -4.48405289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters 0.05326815683773851 Centerline is valid? [True, True] Translation: X:576.69, Y:-166.46, Z:-4.48 [[ 8.17203363e-01 5.76330861e-01 4.62620601e-03 5.76688527e+02] [-5.76321539e-01 8.17216458e-01 -3.27791294e-03 -1.66455348e+02] [-5.66977408e-03 1.25393074e-05 9.99983927e-01 -4.48386844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters 0.05434774031750552 Centerline is valid? [True, True] Translation: X:576.74, Y:-166.49, Z:-4.49 [[ 8.17426918e-01 5.76016115e-01 4.32085240e-03 5.76739897e+02] [-5.76007979e-01 8.17438337e-01 -3.06156948e-03 -1.66489909e+02] [-5.29554376e-03 1.37638485e-05 9.99985978e-01 -4.48500329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters 0.05388630244095484 Centerline is valid? [True, True] Translation: X:576.79, Y:-166.52, Z:-4.49 [[ 8.17850770e-01 5.75417528e-01 3.84543066e-03 5.76792537e+02] [-5.75411074e-01 8.17859810e-01 -2.72532647e-03 -1.66524487e+02] [-4.71322380e-03 1.62069663e-05 9.99988893e-01 -4.48517945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters 0.054014082168704985 Centerline is valid? [True, True] Translation: X:576.84, Y:-166.56, Z:-4.49 [[ 8.18323166e-01 5.74750105e-01 3.08414628e-03 5.76843201e+02] [-5.74745946e-01 8.18328978e-01 -2.18644391e-03 -1.66560403e+02] [-3.78050514e-03 1.66171332e-05 9.99992854e-01 -4.48667909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters 0.05383888169377829 Centerline is valid? [True, True] Translation: X:576.89, Y:-166.60, Z:-4.49 [[ 8.19319805e-01 5.73332628e-01 2.18062528e-03 5.76892098e+02] [-5.73330544e-01 8.19322707e-01 -1.54594838e-03 -1.66597206e+02] [-2.67297845e-03 1.64070466e-05 9.99996427e-01 -4.48784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters 0.054362206005526784 Centerline is valid? [True, True] Translation: X:576.94, Y:-166.63, Z:-4.49 [[ 8.19999697e-01 5.72360925e-01 1.86246549e-03 5.76942068e+02] [-5.72359403e-01 8.20001812e-01 -1.32016176e-03 -1.66634026e+02] [-2.28283408e-03 1.65326131e-05 9.99997394e-01 -4.48850816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters 0.05415253413358943 Centerline is valid? [True, True] Translation: X:576.99, Y:-166.67, Z:-4.49 [[ 8.19813856e-01 5.72627622e-01 1.68781536e-03 5.76994061e+02] [-5.72626372e-01 8.19815593e-01 -1.19645135e-03 -1.66670255e+02] [-2.06881844e-03 1.43798119e-05 9.99997860e-01 -4.48818012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters 0.05376652246536336 Centerline is valid? [True, True] Translation: X:577.04, Y:-166.71, Z:-4.49 [[ 8.18810449e-01 5.74061213e-01 1.78102392e-03 5.77044951e+02] [-5.74059823e-01 8.18812386e-01 -1.26306553e-03 -1.66706211e+02] [-2.18340138e-03 1.17969748e-05 9.99997616e-01 -4.48794720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters 0.05387906764475795 Centerline is valid? [True, True] Translation: X:577.10, Y:-166.74, Z:-4.49 [[ 8.16305015e-01 5.77613835e-01 2.89482618e-03 5.77096580e+02] [-5.77610181e-01 8.16310148e-01 -2.05441353e-03 -1.66741216e+02] [-3.54973367e-03 4.94699609e-06 9.99993700e-01 -4.48708881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters 0.05345561795187101 Centerline is valid? [True, True] Translation: X:577.15, Y:-166.78, Z:-4.49 [[ 8.12025177e-01 5.83612734e-01 3.35970189e-03 5.77147238e+02] [-5.83607864e-01 8.12032127e-01 -2.38433436e-03 -1.66775361e+02] [-4.11971377e-03 -2.46089182e-05 9.99991514e-01 -4.48543812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters 0.053932155593035595 Centerline is valid? [True, True] Translation: X:577.20, Y:-166.81, Z:-4.49 [[ 8.06224925e-01 5.91606408e-01 1.79708075e-03 5.77199353e+02] [-5.91605033e-01 8.06226927e-01 -1.27576791e-03 -1.66806652e+02] [-2.20360736e-03 -3.46061290e-05 9.99997571e-01 -4.48823242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters 0.05372575480597481 Centerline is valid? [True, True] Translation: X:577.25, Y:-166.84, Z:-4.49 [[ 8.02170962e-01 5.97093421e-01 1.09268725e-03 5.77250256e+02] [-5.97092918e-01 8.02171706e-01 -7.75724960e-04 -1.66840085e+02] [-1.33970307e-03 -3.01717815e-05 9.99999102e-01 -4.48933246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters 0.05311429704159322 Centerline is valid? [True, True] Translation: X:577.30, Y:-166.88, Z:-4.49 [[ 7.96730602e-01 6.04334532e-01 -3.48631419e-04 5.77298378e+02] [-6.04334481e-01 7.96730678e-01 2.47668640e-04 -1.66878100e+02] [ 4.27440058e-04 1.33648029e-05 9.99999909e-01 -4.48872415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters 0.05310085922443141 Centerline is valid? [True, True] Translation: X:577.35, Y:-166.92, Z:-4.49 [[ 7.96359703e-01 6.04823158e-01 -4.12582756e-04 5.77346320e+02] [-6.04823087e-01 7.96359810e-01 2.94043135e-04 -1.66917497e+02] [ 5.06408422e-04 1.53754716e-05 9.99999872e-01 -4.48809991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters 0.05346979951378193 Centerline is valid? [True, True] Translation: X:577.40, Y:-166.95, Z:-4.49 [[ 7.97275337e-01 6.03615799e-01 -5.99423904e-05 5.77397527e+02] [-6.03615797e-01 7.97275340e-01 4.30112498e-05 -1.66949211e+02] [ 7.37528593e-05 1.89036511e-06 9.99999997e-01 -4.48958025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters 0.0534225436869619 Centerline is valid? [True, True] Translation: X:577.44, Y:-166.99, Z:-4.49 [[ 8.00223981e-01 5.99700843e-01 6.92026080e-04 5.77442477e+02] [-5.99700642e-01 8.00224280e-01 -4.91436592e-04 -1.66991918e+02] [-8.48491011e-04 -2.17491385e-05 9.99999640e-01 -4.48878589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters 0.053528020262582854 Centerline is valid? [True, True] Translation: X:577.49, Y:-167.03, Z:-4.49 [[ 8.02681974e-01 5.96406806e-01 7.55366281e-04 5.77490869e+02] [-5.96406565e-01 8.02682329e-01 -5.36485212e-04 -1.67028124e+02] [-9.26282597e-04 -1.98784000e-05 9.99999571e-01 -4.48970293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters 0.053143054175849434 Centerline is valid? [True, True] Translation: X:577.54, Y:-167.07, Z:-4.49 [[ 8.05044685e-01 5.93214037e-01 4.02902424e-04 5.77536598e+02] [-5.93213968e-01 8.05044786e-01 -2.86036942e-04 -1.67070456e+02] [-4.94035625e-04 -8.73482581e-06 9.99999878e-01 -4.48968821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters 0.05282733447780016 Centerline is valid? [True, True] Translation: X:577.58, Y:-167.11, Z:-4.49 [[ 8.08735797e-01 5.88172014e-01 3.02381095e-04 5.77580938e+02] [-5.88171975e-01 8.08735854e-01 -2.14572462e-04 -1.67113909e+02] [-3.70751951e-04 -4.31965422e-06 9.99999931e-01 -4.49031307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters 0.05318702668319609 Centerline is valid? [True, True] Translation: X:577.63, Y:-167.16, Z:-4.49 [[ 8.13464891e-01 5.81613050e-01 -1.06369852e-03 5.77625324e+02] [-5.81612559e-01 8.13465586e-01 7.55983902e-04 -1.67158321e+02] [ 1.30497224e-03 3.69405408e-06 9.99999149e-01 -4.49076345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters 0.053710083324502916 Centerline is valid? [True, True] Translation: X:577.67, Y:-167.20, Z:-4.49 [[ 8.19644737e-01 5.72870572e-01 -1.34655579e-03 5.77666952e+02] [-5.72869772e-01 8.19645843e-01 9.57220336e-04 -1.67204497e+02] [ 1.65206221e-03 -1.31795039e-05 9.99998635e-01 -4.49388611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters 0.05329689287108048 Centerline is valid? [True, True] Translation: X:577.71, Y:-167.25, Z:-4.49 [[ 8.26745645e-01 5.62575524e-01 -6.46409066e-04 5.77711362e+02] [-5.62575337e-01 8.26745898e-01 4.59480262e-04 -1.67247617e+02] [ 7.92908392e-04 -1.62195082e-05 9.99999686e-01 -4.49142802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters 0.054045428889466465 Centerline is valid? [True, True] Translation: X:577.76, Y:-167.29, Z:-4.49 [[ 8.30858475e-01 5.56483703e-01 -2.87791744e-04 5.77755562e+02] [-5.56483665e-01 8.30858525e-01 2.04779960e-04 -1.67288622e+02] [ 3.53070934e-04 -9.99176059e-06 9.99999938e-01 -4.49188061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters 0.053909794073679324 Centerline is valid? [True, True] Translation: X:577.81, Y:-167.32, Z:-4.49 [[ 8.35289455e-01 5.49810436e-01 1.05354221e-04 5.77805616e+02] [-5.49810431e-01 8.35289461e-01 -7.45940202e-05 -1.67324800e+02] [-1.29013842e-04 4.38274867e-06 9.99999992e-01 -4.48999749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters 0.053996131599554735 Centerline is valid? [True, True] Translation: X:577.86, Y:-167.36, Z:-4.49 [[ 8.36482863e-01 5.47992461e-01 8.26131615e-04 5.77857446e+02] [-5.47992148e-01 8.36483270e-01 -5.86787802e-04 -1.67357619e+02] [-1.01260057e-03 3.81243027e-05 9.99999487e-01 -4.48907758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters 0.05368513069501037 Centerline is valid? [True, True] Translation: X:577.91, Y:-167.39, Z:-4.49 [[ 8.35657384e-01 5.49250637e-01 6.88332940e-04 5.77907302e+02] [-5.49250421e-01 8.35657667e-01 -4.88924200e-04 -1.67394271e+02] [-8.43752628e-04 3.05059611e-05 9.99999644e-01 -4.49018624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters 0.05389998724786376 Centerline is valid? [True, True] Translation: X:577.96, Y:-167.43, Z:-4.49 [[ 8.33467959e-01 5.52567294e-01 7.39291592e-04 5.77959424e+02] [-5.52567046e-01 8.33468286e-01 -5.24619576e-04 -1.67427199e+02] [-9.06063716e-04 2.87454365e-05 9.99999589e-01 -4.49014305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters 0.05346569009700301 Centerline is valid? [True, True] Translation: X:578.01, Y:-167.46, Z:-4.49 [[ 8.30350726e-01 5.57240312e-01 9.52676186e-04 5.78010942e+02] [-5.57239902e-01 8.30351271e-01 -6.76792645e-04 -1.67458792e+02] [-1.16819203e-03 3.11060791e-05 9.99999317e-01 -4.48974842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters 0.053296290408093555 Centerline is valid? [True, True] Translation: X:578.06, Y:-167.49, Z:-4.49 [[ 8.26480916e-01 5.62964677e-01 2.60940727e-04 5.78062865e+02] [-5.62964646e-01 8.26480957e-01 -1.84703335e-04 -1.67491331e+02] [-3.19643996e-04 5.75337747e-06 9.99999949e-01 -4.49024501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters 0.053689732009875764 Centerline is valid? [True, True] Translation: X:578.11, Y:-167.52, Z:-4.49 [[ 8.19972663e-01 5.72402676e-01 -9.18784084e-05 5.78113543e+02] [-5.72402673e-01 8.19972668e-01 6.58786845e-05 -1.67523672e+02] [ 1.13046919e-04 -1.42727377e-06 9.99999994e-01 -4.49289944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters 0.052539926892800376 Centerline is valid? [True, True] Translation: X:578.17, Y:-167.56, Z:-4.50 [[ 8.14580917e-01 5.80049843e-01 -3.30662784e-04 5.78165464e+02] [-5.80049795e-01 8.14580984e-01 2.36216850e-04 -1.67555846e+02] [ 4.06369162e-04 -6.16857957e-07 9.99999917e-01 -4.49667215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters 0.05284024385603114 Centerline is valid? [True, True] Translation: X:578.22, Y:-167.59, Z:-4.50 [[ 8.11518690e-01 5.84326455e-01 9.99425632e-05 5.78217953e+02] [-5.84326451e-01 8.11518696e-01 -7.00854986e-05 -1.67589256e+02] [-1.22058070e-04 -1.52339121e-06 9.99999993e-01 -4.49503000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters 0.05195052831626254 Centerline is valid? [True, True] Translation: X:578.27, Y:-167.62, Z:-4.50 [[ 8.05373644e-01 5.92766100e-01 1.28226177e-03 5.78271538e+02] [-5.92765399e-01 8.05374664e-01 -9.12378778e-04 -1.67617233e+02] [-1.57352835e-03 -2.52745894e-05 9.99998762e-01 -4.49500444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters 0.05213214361480294 Centerline is valid? [True, True] Translation: X:578.32, Y:-167.65, Z:-4.49 [[ 8.02400700e-01 5.96784649e-01 1.09534606e-03 5.78320684e+02] [-5.96784141e-01 8.02401447e-01 -7.78748875e-04 -1.67654031e+02] [-1.34365264e-03 -2.88165140e-05 9.99999097e-01 -4.49369062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters 0.0527989707813471 Centerline is valid? [True, True] Translation: X:578.37, Y:-167.68, Z:-4.50 [[ 7.99152935e-01 6.01127666e-01 -3.39631931e-04 5.78374137e+02] [-6.01127617e-01 7.99153008e-01 2.41786786e-04 -1.67683617e+02] [ 4.16762605e-04 1.09375133e-05 9.99999913e-01 -4.49640523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters 0.052150078781654 Centerline is valid? [True, True] Translation: X:578.42, Y:-167.72, Z:-4.50 [[ 7.98109612e-01 6.02509690e-01 -1.76647012e-03 5.78420712e+02] [-6.02508381e-01 7.98111565e-01 1.25743612e-03 -1.67724018e+02] [ 2.16745768e-03 6.07411920e-05 9.99997649e-01 -4.49586429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters 0.05166442019979032 Centerline is valid? [True, True] Translation: X:578.47, Y:-167.76, Z:-4.50 [[ 7.97643228e-01 6.03125364e-01 -2.25299844e-03 5.78468551e+02] [-6.03123234e-01 7.97646406e-01 1.60482343e-03 -1.67763064e+02] [ 2.76500582e-03 7.87591610e-05 9.99996174e-01 -4.49576445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters 0.05242661417846079 Centerline is valid? [True, True] Translation: X:578.52, Y:-167.80, Z:-4.50 [[ 7.99134098e-01 6.01143478e-01 -3.34841949e-03 5.78515247e+02] [-6.01138760e-01 7.99141106e-01 2.38403927e-03 -1.67802867e+02] [ 4.10900931e-03 1.07697670e-04 9.99991552e-01 -4.49602055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters 0.05288466160102866 Centerline is valid? [True, True] Translation: X:578.56, Y:-167.84, Z:-4.50 [[ 8.01119122e-01 5.98497787e-01 -2.92429034e-03 5.78563134e+02] [-5.98494169e-01 8.01124455e-01 2.08252644e-03 -1.67840990e+02] [ 3.58910797e-03 8.18189651e-05 9.99993556e-01 -4.49613892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters 0.05277248695919664 Centerline is valid? [True, True] Translation: X:578.61, Y:-167.88, Z:-4.50 [[ 8.04912436e-01 5.93391568e-01 -1.55486723e-03 5.78612111e+02] [-5.93390534e-01 8.04913937e-01 1.10814319e-03 -1.67877136e+02] [ 1.90909713e-03 3.06852582e-05 9.99998177e-01 -4.49845831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters 0.05220820836989942 Centerline is valid? [True, True] Translation: X:578.66, Y:-167.92, Z:-4.50 [[ 8.07462746e-01 5.89918411e-01 -4.26295567e-04 5.78658477e+02] [-5.89918333e-01 8.07462859e-01 3.03744938e-04 -1.67917628e+02] [ 5.23402569e-04 6.21684856e-06 9.99999863e-01 -4.49760517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters 0.052180139654289824 Centerline is valid? [True, True] Translation: X:578.70, Y:-167.96, Z:-4.49 [[ 8.10426034e-01 5.85840971e-01 7.25244452e-06 5.78703255e+02] [-5.85840970e-01 8.10426034e-01 -4.87638938e-06 -1.67961262e+02] [-8.73435877e-06 -2.96826227e-07 1.00000000e+00 -4.49487042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters 0.05193334684492477 Centerline is valid? [True, True] Translation: X:578.75, Y:-168.00, Z:-4.50 [[ 8.12788424e-01 5.82558527e-01 -7.34511010e-04 5.78750219e+02] [-5.82558292e-01 8.12788756e-01 5.24182547e-04 -1.68000718e+02] [ 9.02369303e-04 1.84597270e-06 9.99999593e-01 -4.49707636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters 0.05201721779552188 Centerline is valid? [True, True] Translation: X:578.80, Y:-168.04, Z:-4.50 [[ 8.14669240e-01 5.79918758e-01 -2.87457663e-03 5.78797798e+02] [-5.79915138e-01 8.14674311e-01 2.04923600e-03 -1.68040368e+02] [ 3.53023413e-03 -2.43903526e-06 9.99993769e-01 -4.49816292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters 0.0528114945101549 Centerline is valid? [True, True] Translation: X:578.85, Y:-168.08, Z:-4.50 [[ 8.15390271e-01 5.78904454e-01 -2.88777682e-03 5.78846939e+02] [-5.78900792e-01 8.15395384e-01 2.05922301e-03 -1.68077347e+02] [ 3.54677326e-03 -7.33411895e-06 9.99993710e-01 -4.49969550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters 0.051986300428540466 Centerline is valid? [True, True] Translation: X:578.90, Y:-168.11, Z:-4.50 [[ 8.16741273e-01 5.77001356e-01 -1.76854722e-03 5.78895098e+02] [-5.76999978e-01 8.16743188e-01 1.26118767e-03 -1.68114554e+02] [ 2.17215589e-03 -9.61231808e-06 9.99997641e-01 -4.49990952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters 0.05285568362988516 Centerline is valid? [True, True] Translation: X:578.94, Y:-168.15, Z:-4.50 [[ 8.19664641e-01 5.72843622e-01 2.45817932e-04 5.78943326e+02] [-5.72843596e-01 8.19664678e-01 -1.74887700e-04 -1.68153658e+02] [-3.01671580e-04 2.53403622e-06 9.99999954e-01 -4.49789357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters 0.053311549965848894 Centerline is valid? [True, True] Translation: X:579.00, Y:-168.19, Z:-4.50 [[ 8.22226193e-01 5.69158378e-01 1.68189042e-03 5.78995352e+02] [-5.69157117e-01 8.22227912e-01 -1.19831067e-03 -1.68185895e+02] [-2.06492581e-03 2.80225125e-05 9.99997868e-01 -4.49534596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters 0.052343472931767034 Centerline is valid? [True, True] Translation: X:579.04, Y:-168.22, Z:-4.50 [[ 8.23685481e-01 5.67044422e-01 1.68881062e-03 5.79043827e+02] [-5.67043145e-01 8.23687211e-01 -1.20396598e-03 -1.68224978e+02] [-2.07375390e-03 3.40608102e-05 9.99997849e-01 -4.49735349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters 0.052788770485489335 Centerline is valid? [True, True] Translation: X:579.10, Y:-168.25, Z:-4.50 [[ 8.24762537e-01 5.65474612e-01 2.28509760e-03 5.79098547e+02] [-5.65472268e-01 8.24765701e-01 -1.62883512e-03 -1.68254657e+02] [-2.80573502e-03 5.12428616e-05 9.99996063e-01 -4.49699872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters 0.053383695210146805 Centerline is valid? [True, True] Translation: X:579.15, Y:-168.29, Z:-4.50 [[ 8.24376381e-01 5.66035482e-01 2.72317826e-03 5.79149738e+02] [-5.66032154e-01 8.24380876e-01 -1.94199026e-03 -1.68290529e+02] [-3.34417148e-03 5.95244454e-05 9.99994406e-01 -4.50066339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters 0.0528469834608254 Centerline is valid? [True, True] Translation: X:579.20, Y:-168.32, Z:-4.50 [[ 8.23134332e-01 5.67842869e-01 2.08489568e-03 5.79202188e+02] [-5.67840925e-01 8.23136972e-01 -1.48640274e-03 -1.68324277e+02] [-2.56019791e-03 3.96200314e-05 9.99996722e-01 -4.50234949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters 0.05288689822804627 Centerline is valid? [True, True] Translation: X:579.25, Y:-168.36, Z:-4.50 [[ 8.20848925e-01 5.71140418e-01 2.38024333e-03 5.79253167e+02] [-5.71137894e-01 8.20852375e-01 -1.69809603e-03 -1.68357282e+02] [-2.92367967e-03 3.44331333e-05 9.99995725e-01 -4.50344512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters 0.052588808152811695 Centerline is valid? [True, True] Translation: X:579.31, Y:-168.39, Z:-4.50 [[ 8.18750969e-01 5.74140737e-01 3.04391318e-03 5.79307830e+02] [-5.74136632e-01 8.18756627e-01 -2.17123507e-03 -1.68387089e+02] [-3.73881859e-03 3.00787514e-05 9.99993010e-01 -4.50316011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters 0.05185963856945449 Centerline is valid? [True, True] Translation: X:579.36, Y:-168.42, Z:-4.50 [[ 8.14751842e-01 5.79799545e-01 3.45315243e-03 5.79362415e+02] [-5.79794310e-01 8.14759159e-01 -2.46394387e-03 -1.68416182e+02] [-4.24208110e-03 5.38467588e-06 9.99991002e-01 -4.50424550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters 0.051890083701555755 Centerline is valid? [True, True] Translation: X:579.42, Y:-168.45, Z:-4.50 [[ 8.10187879e-01 5.86156653e-01 3.99725768e-03 5.79416444e+02] [-5.86149711e-01 8.10197739e-01 -2.85300053e-03 -1.68445585e+02] [-4.91087437e-03 -3.15249843e-05 9.99987941e-01 -4.50432697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters 0.05206519286927041 Centerline is valid? [True, True] Translation: X:579.47, Y:-168.48, Z:-4.51 [[ 8.07401869e-01 5.89990902e-01 3.59971876e-03 5.79469532e+02] [-5.89985308e-01 8.07409892e-01 -2.56974876e-03 -1.68476987e+02] [-4.42257693e-03 -4.89612302e-05 9.99990219e-01 -4.50543607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters 0.051785479935044065 Centerline is valid? [True, True] Translation: X:579.52, Y:-168.51, Z:-4.51 [[ 8.04961012e-01 5.93318283e-01 3.34435172e-03 5.79521402e+02] [-5.93313480e-01 8.04967957e-01 -2.38818308e-03 -1.68511139e+02] [-4.10904866e-03 -6.18546848e-05 9.99991556e-01 -4.50639051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters 0.05236340121129573 Centerline is valid? [True, True] Translation: X:579.57, Y:-168.55, Z:-4.51 [[ 8.03196804e-01 5.95703828e-01 3.44158312e-03 5.79573671e+02] [-5.95698762e-01 8.03204173e-01 -2.45777987e-03 -1.68545038e+02] [-4.22840280e-03 -7.60658692e-05 9.99991057e-01 -4.50792189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters 0.053454944684264 Centerline is valid? [True, True] Translation: X:579.63, Y:-168.57, Z:-4.51 [[ 8.02107696e-01 5.97175901e-01 2.04621916e-03 5.79629073e+02] [-5.97174116e-01 8.02110305e-01 -1.46114114e-03 -1.68573132e+02] [-2.51385175e-03 -4.99565635e-05 9.99996839e-01 -4.51045677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters 0.052046446717613826 Centerline is valid? [True, True] Translation: X:579.68, Y:-168.61, Z:-4.51 [[ 8.02511507e-01 5.96627843e-01 3.24013041e-03 5.79676067e+02] [-5.96623361e-01 8.02518044e-01 -2.31399490e-03 -1.68613997e+02] [-3.98085690e-03 -7.61299655e-05 9.99992073e-01 -4.50879663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters 0.05267549994988995 Centerline is valid? [True, True] Translation: X:579.73, Y:-168.65, Z:-4.51 [[ 8.03657068e-01 5.95082720e-01 3.44589952e-03 5.79728472e+02] [-5.95077633e-01 8.03664452e-01 -2.46159625e-03 -1.68646835e+02] [-4.23420034e-03 -7.22985069e-05 9.99991033e-01 -4.50974418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters 0.05193366101555173 Centerline is valid? [True, True] Translation: X:579.77, Y:-168.69, Z:-4.51 [[ 8.07125039e-01 5.90367805e-01 3.87636746e-03 5.79774484e+02] [-5.90361308e-01 8.07134346e-01 -2.77021860e-03 -1.68686986e+02] [-4.76419719e-03 -5.25445617e-05 9.99988650e-01 -4.51011241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters 0.052417274564853254 Centerline is valid? [True, True] Translation: X:579.82, Y:-168.73, Z:-4.51 [[ 8.10632639e-01 5.85539455e-01 4.27440475e-03 5.79822184e+02] [-5.85531488e-01 8.10643908e-01 -3.05470941e-03 -1.68725158e+02] [-5.25367305e-03 -2.65514220e-05 9.99986199e-01 -4.51094148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters 0.052818650333471336 Centerline is valid? [True, True] Translation: X:579.87, Y:-168.77, Z:-4.51 [[ 8.16743381e-01 5.76981476e-01 4.75660726e-03 5.79869573e+02] [-5.76971463e-01 8.16757231e-01 -3.39936726e-03 -1.68766882e+02] [-5.84636532e-03 3.19840552e-05 9.99982909e-01 -4.51189720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters 0.05336153393051791 Centerline is valid? [True, True] Translation: X:579.92, Y:-168.81, Z:-4.51 [[ 8.22609459e-01 5.68592503e-01 4.03030396e-03 5.79915605e+02] [-5.68585212e-01 8.22619328e-01 -2.88049921e-03 -1.68806968e+02] [-4.95323620e-03 7.79546675e-05 9.99987730e-01 -4.51323700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters 0.053567427858282606 Centerline is valid? [True, True] Translation: X:579.96, Y:-168.84, Z:-4.51 [[ 8.27306867e-01 5.61738009e-01 3.70908626e-03 5.79963242e+02] [-5.61731762e-01 8.27315174e-01 -2.65140867e-03 -1.68843850e+02] [-4.55798037e-03 1.10017041e-04 9.99989606e-01 -4.51409206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters 0.0538413466616925 Centerline is valid? [True, True] Translation: X:580.01, Y:-168.88, Z:-4.52 [[ 8.30768110e-01 5.56599007e-01 4.67893469e-03 5.80011032e+02] [-5.56588982e-01 8.30781267e-01 -3.34530282e-03 -1.68882009e+02] [-5.74916352e-03 1.74927404e-04 9.99983458e-01 -4.51569169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters 0.05411964964055922 Centerline is valid? [True, True] Translation: X:580.06, Y:-168.92, Z:-4.52 [[ 8.32106147e-01 5.54591796e-01 5.22495526e-03 5.80060051e+02] [-5.54579253e-01 8.32122524e-01 -3.73586203e-03 -1.68919516e+02] [-6.41968140e-03 2.10981972e-04 9.99979371e-01 -4.51626924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters 0.054818046341904805 Centerline is valid? [True, True] Translation: X:580.11, Y:-168.96, Z:-4.52 [[ 8.31976233e-01 5.54780957e-01 5.79981337e-03 5.80106770e+02] [-5.54765505e-01 8.31996416e-01 -4.14720058e-03 -1.68958796e+02] [-7.12621184e-03 2.32835928e-04 9.99974581e-01 -4.51667353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters 0.05392995556850778 Centerline is valid? [True, True] Translation: X:580.16, Y:-168.99, Z:-4.52 [[ 8.30015286e-01 5.57705869e-01 6.22809384e-03 5.80160280e+02] [-5.57688124e-01 8.30038622e-01 -4.45453517e-03 -1.68989651e+02] [-7.65387884e-03 2.23998315e-04 9.99970684e-01 -4.51757138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters 0.05305527676024204 Centerline is valid? [True, True] Translation: X:580.21, Y:-169.02, Z:-4.52 [[ 8.25968201e-01 5.63679836e-01 6.44775490e-03 5.80214021e+02] [-5.63660997e-01 8.25993348e-01 -4.61181146e-03 -1.69020680e+02] [-7.92538779e-03 1.74861659e-04 9.99968578e-01 -4.51850935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters 0.05227456276516973 Centerline is valid? [True, True] Translation: X:580.27, Y:-169.05, Z:-4.52 [[ 8.20722141e-01 5.71284260e-01 7.03288973e-03 5.80267189e+02] [-5.71262120e-01 8.20752266e-01 -5.03067416e-03 -1.69050973e+02] [-8.64620515e-03 1.11162167e-04 9.99962615e-01 -4.51948639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters 0.052512788761566426 Centerline is valid? [True, True] Translation: X:580.32, Y:-169.08, Z:-4.52 [[ 8.17192579e-01 5.76323604e-01 6.88429144e-03 5.80319825e+02] [-5.76302565e-01 8.17221574e-01 -4.92469843e-03 -1.69080985e+02] [-8.46421144e-03 5.69921925e-05 9.99964176e-01 -4.52099505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters 0.05210469640084955 Centerline is valid? [True, True] Translation: X:580.37, Y:-169.11, Z:-4.52 [[ 8.12883258e-01 5.82391441e-01 6.40456265e-03 5.80373125e+02] [-5.82373416e-01 8.12908488e-01 -4.58201213e-03 -1.69112170e+02] [-7.87484798e-03 -5.20608191e-06 9.99968993e-01 -4.52129451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters 0.05180691320791992 Centerline is valid? [True, True] Translation: X:580.43, Y:-169.14, Z:-4.52 [[ 8.08913317e-01 5.87883302e-01 7.24347651e-03 5.80425785e+02] [-5.87860455e-01 8.08945745e-01 -5.18332804e-03 -1.69144744e+02] [-8.90677151e-03 -6.52903222e-05 9.99960332e-01 -4.52259617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters 0.0522671459934984 Centerline is valid? [True, True] Translation: X:580.48, Y:-169.17, Z:-4.52 [[ 8.04464397e-01 5.93974078e-01 5.64164681e-03 5.80478373e+02] [-5.93960365e-01 8.04484173e-01 -4.03737461e-03 -1.69174563e+02] [-6.93671143e-03 -1.02990471e-04 9.99975935e-01 -4.52382868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters 0.05317357612129181 Centerline is valid? [True, True] Translation: X:580.53, Y:-169.20, Z:-4.53 [[ 8.01816740e-01 5.97551030e-01 4.76255136e-03 5.80532387e+02] [-5.97541321e-01 8.01830876e-01 -3.40824226e-03 -1.69202436e+02] [-5.85535940e-03 -1.13035530e-04 9.99982851e-01 -4.52524354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters 0.052334259770453063 Centerline is valid? [True, True] Translation: X:580.58, Y:-169.24, Z:-4.53 [[ 7.99716819e-01 6.00358343e-01 4.78216076e-03 5.80581741e+02] [-6.00348602e-01 7.99731106e-01 -3.42261871e-03 -1.69237774e+02] [-5.87924041e-03 -1.33837780e-04 9.99982708e-01 -4.52597698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters 0.05166868013760962 Centerline is valid? [True, True] Translation: X:580.63, Y:-169.28, Z:-4.53 [[ 7.97925503e-01 6.02746404e-01 3.41523538e-03 5.80625870e+02] [-6.02741458e-01 7.97932804e-01 -2.44420630e-03 -1.69281420e+02] [-4.19836490e-03 -1.08209415e-04 9.99991181e-01 -4.52651281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters 0.05241415142002744 Centerline is valid? [True, True] Translation: X:580.68, Y:-169.32, Z:-4.53 [[ 7.97669792e-01 6.03087229e-01 2.94910009e-03 5.80675761e+02] [-6.03083544e-01 7.97675238e-01 -2.11060942e-03 -1.69317132e+02] [-3.62530570e-03 -9.49843535e-05 9.99993424e-01 -4.52744095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters 0.05131937286940162 Centerline is valid? [True, True] Translation: X:580.72, Y:-169.36, Z:-4.53 [[ 7.97972953e-01 6.02680319e-01 3.94952676e-03 5.80724228e+02] [-6.02673702e-01 7.97982717e-01 -2.82700140e-03 -1.69355886e+02] [-4.85543220e-03 -1.24405253e-04 9.99988205e-01 -4.52664942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters 0.05220043071545032 Centerline is valid? [True, True] Translation: X:580.77, Y:-169.39, Z:-4.53 [[ 8.00101113e-01 5.99850790e-01 4.15201916e-03 5.80774944e+02] [-5.99843433e-01 8.00111878e-01 -2.97288014e-03 -1.69389609e+02] [-5.10536435e-03 -1.11956725e-04 9.99986961e-01 -4.52786514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters 0.05110358607849736 Centerline is valid? [True, True] Translation: X:580.82, Y:-169.44, Z:-4.53 [[ 8.04936501e-01 5.93336004e-01 5.44204339e-03 5.80815861e+02] [-5.93323213e-01 8.04954892e-01 -3.89709659e-03 -1.69437226e+02] [-6.69288717e-03 -9.19753730e-05 9.99977598e-01 -4.52754264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters 0.051718239586606596 Centerline is valid? [True, True] Translation: X:580.86, Y:-169.48, Z:-4.53 [[ 8.11408178e-01 5.84457782e-01 5.08615985e-03 5.80861732e+02] [-5.84446432e-01 8.11424119e-01 -3.64241355e-03 -1.69478872e+02] [-6.25586972e-03 -1.71038320e-05 9.99980432e-01 -4.52800541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters 0.05167563629936851 Centerline is valid? [True, True] Translation: X:580.91, Y:-169.52, Z:-4.53 [[ 8.15733076e-01 5.78420936e-01 2.96143823e-03 5.80906923e+02] [-5.78417048e-01 8.15738451e-01 -2.12073427e-03 -1.69520539e+02] [-3.64243614e-03 1.70067308e-05 9.99993366e-01 -4.53076322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters 0.05234366550601095 Centerline is valid? [True, True] Translation: X:580.95, Y:-169.56, Z:-4.53 [[ 8.20494737e-01 5.71647812e-01 2.67694026e-03 5.80952495e+02] [-5.71644598e-01 8.20499102e-01 -1.91738292e-03 -1.69562920e+02] [-3.29249483e-03 4.29441526e-05 9.99994579e-01 -4.53139574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters 0.0530677563807403 Centerline is valid? [True, True] Translation: X:581.00, Y:-169.60, Z:-4.53 [[ 8.23575786e-01 5.67204599e-01 1.36674409e-03 5.81002175e+02] [-5.67203755e-01 8.23576919e-01 -9.78995439e-04 -1.69598046e+02] [-1.68090960e-03 3.10545576e-05 9.99998587e-01 -4.53127192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters 0.052994219370826774 Centerline is valid? [True, True] Translation: X:581.05, Y:-169.64, Z:-4.53 [[ 8.25240946e-01 5.64776109e-01 2.30807351e-03 5.81048482e+02] [-5.64773693e-01 8.25244172e-01 -1.65319486e-03 -1.69640325e+02] [-2.83840918e-03 6.07448882e-05 9.99995970e-01 -4.53145637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters 0.05233098621048454 Centerline is valid? [True, True] Translation: X:581.10, Y:-169.68, Z:-4.53 [[ 8.25141988e-01 5.64919139e-01 2.65809296e-03 5.81097656e+02] [-5.64915935e-01 8.25146267e-01 -1.90370286e-03 -1.69677865e+02] [-3.26875366e-03 6.92260938e-05 9.99994655e-01 -4.53135028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters 0.05285517072384346 Centerline is valid? [True, True] Translation: X:581.14, Y:-169.72, Z:-4.53 [[ 8.24278475e-01 5.66175342e-01 3.23702797e-03 5.81144891e+02] [-5.66170597e-01 8.24284827e-01 -2.31924563e-03 -1.69716249e+02] [-3.98133273e-03 7.89941881e-05 9.99992071e-01 -4.53138058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters 0.052066233235820936 Centerline is valid? [True, True] Translation: X:581.20, Y:-169.75, Z:-4.53 [[ 8.21233127e-01 5.70583585e-01 3.24400983e-03 5.81195915e+02] [-5.70578851e-01 8.21239532e-01 -2.32509211e-03 -1.69749753e+02] [-3.99076851e-03 5.84792601e-05 9.99992035e-01 -4.53171918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters 0.0513478616104513 Centerline is valid? [True, True] Translation: X:581.25, Y:-169.79, Z:-4.53 [[ 8.18151463e-01 5.74994411e-01 3.10025950e-03 5.81245328e+02] [-5.74990117e-01 8.18157336e-01 -2.22243209e-03 -1.69785129e+02] [-3.81438608e-03 3.56674943e-05 9.99992725e-01 -4.53279897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters 0.051794269717547796 Centerline is valid? [True, True] Translation: X:581.30, Y:-169.82, Z:-4.53 [[ 8.12378221e-01 5.83123017e-01 3.02885649e-03 5.81299127e+02] [-5.83118975e-01 8.12383867e-01 -2.17128123e-03 -1.69815885e+02] [-3.72671821e-03 -2.28210798e-06 9.99993056e-01 -4.53208977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters 0.05130333247276344 Centerline is valid? [True, True] Translation: X:581.35, Y:-169.85, Z:-4.53 [[ 8.06561913e-01 5.91145409e-01 2.23285165e-03 5.81351816e+02] [-5.91143243e-01 8.06565004e-01 -1.60048351e-03 -1.69846476e+02] [-2.74705848e-03 -2.90461284e-05 9.99996226e-01 -4.53418673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters 0.051112386818237425 Centerline is valid? [True, True] Translation: X:581.40, Y:-169.88, Z:-4.53 [[ 8.02959639e-01 5.96029208e-01 2.23649118e-03 5.81403342e+02] [-5.96027053e-01 8.02962752e-01 -1.60338073e-03 -1.69877951e+02] [-2.75148086e-03 -4.55592333e-05 9.99996214e-01 -4.53449417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters 0.05132711085620025 Centerline is valid? [True, True] Translation: X:581.46, Y:-169.91, Z:-4.53 [[ 7.97720642e-01 6.03020373e-01 2.86480334e-03 5.81455854e+02] [-6.03016880e-01 7.97725781e-01 -2.05426805e-03 -1.69910410e+02] [-3.52409297e-03 -8.87927493e-05 9.99993786e-01 -4.53372107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters 0.05075675833341947 Centerline is valid? [True, True] Translation: X:581.50, Y:-169.95, Z:-4.53 [[ 7.96642540e-01 6.04443120e-01 3.02958113e-03 5.81504701e+02] [-6.04439224e-01 7.96648294e-01 -2.17244770e-03 -1.69949162e+02] [-3.72663171e-03 -1.00533414e-04 9.99993051e-01 -4.53332212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters 0.051188205740880344 Centerline is valid? [True, True] Translation: X:581.56, Y:-169.98, Z:-4.53 [[ 7.95551278e-01 6.05876364e-01 3.46335564e-03 5.81556725e+02] [-6.05871287e-01 7.95558808e-01 -2.48344014e-03 -1.69981945e+02] [-4.25996077e-03 -1.22643756e-04 9.99990919e-01 -4.53416937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters 0.05040218025036886 Centerline is valid? [True, True] Translation: X:581.60, Y:-170.02, Z:-4.53 [[ 7.94617650e-01 6.07104978e-01 2.51723250e-03 5.81604872e+02] [-6.07102301e-01 7.94621631e-01 -1.80551023e-03 -1.70021561e+02] [-3.09638165e-03 -9.35273465e-05 9.99995202e-01 -4.53493130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters 0.050199563845273215 Centerline is valid? [True, True] Translation: X:581.65, Y:-170.06, Z:-4.54 [[ 7.93356737e-01 6.08756898e-01 -3.57412106e-04 5.81654250e+02] [-6.08756844e-01 7.93356817e-01 2.57380994e-04 -1.70057855e+02] [ 4.40237786e-04 1.33821203e-05 9.99999903e-01 -4.53720952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters 0.05198213510208281 Centerline is valid? [True, True] Translation: X:581.71, Y:-170.09, Z:-4.54 [[ 7.94231864e-01 6.07612950e-01 -1.49984713e-03 5.81708641e+02] [-6.07611997e-01 7.94233278e-01 1.07735773e-03 -1.70087036e+02] [ 1.84584501e-03 5.56532676e-05 9.99998295e-01 -4.54070609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters 0.05086833203970487 Centerline is valid? [True, True] Translation: X:581.75, Y:-170.13, Z:-4.54 [[ 7.98099291e-01 6.02525881e-01 2.91057395e-04 5.81754056e+02] [-6.02525845e-01 7.98099344e-01 -2.08216156e-04 -1.70128743e+02] [-3.57748339e-04 -9.19243596e-06 9.99999936e-01 -4.53835937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters 0.05110587858956966 Centerline is valid? [True, True] Translation: X:581.80, Y:-170.16, Z:-4.54 [[ 8.02083663e-01 5.97209362e-01 1.66618194e-03 5.81803016e+02] [-5.97208166e-01 8.02085393e-01 -1.19585029e-03 -1.70164547e+02] [-2.05059318e-03 -3.58854795e-05 9.99997897e-01 -4.53893650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters 0.051005657332619414 Centerline is valid? [True, True] Translation: X:581.85, Y:-170.21, Z:-4.54 [[ 8.09464718e-01 5.87163163e-01 2.50830018e-03 5.81846176e+02] [-5.87160402e-01 8.09468604e-01 -1.80044972e-03 -1.70208747e+02] [-3.08754799e-03 -1.53740207e-05 9.99995233e-01 -4.53763252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters 0.051563556641014835 Centerline is valid? [True, True] Translation: X:581.89, Y:-170.25, Z:-4.54 [[ 8.14284687e-01 5.80462939e-01 1.79603244e-03 5.81892402e+02] [-5.80461508e-01 8.14286667e-01 -1.28905061e-03 -1.70250634e+02] [-2.21073137e-03 7.12647276e-06 9.99997556e-01 -4.53691093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters 0.05202653385224001 Centerline is valid? [True, True] Translation: X:581.94, Y:-170.29, Z:-4.54 [[ 8.19006413e-01 5.73783644e-01 9.08273818e-04 5.81941701e+02] [-5.73783274e-01 8.19006917e-01 -6.51297278e-04 -1.70286582e+02] [-1.11758626e-03 1.22643229e-05 9.99999375e-01 -4.53530557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters 0.05195998069460946 Centerline is valid? [True, True] Translation: X:581.99, Y:-170.32, Z:-4.54 [[ 8.19782896e-01 5.72673783e-01 8.61279148e-04 5.81989617e+02] [-5.72673450e-01 8.19783348e-01 -6.18042270e-04 -1.70324457e+02] [-1.05999891e-03 1.34287815e-05 9.99999438e-01 -4.53784307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters 0.051722737969617044 Centerline is valid? [True, True] Translation: X:582.04, Y:-170.36, Z:-4.54 [[ 8.19115489e-01 5.73628169e-01 7.34630741e-04 5.82039794e+02] [-5.73627926e-01 8.19115819e-01 -5.27095283e-04 -1.70361361e+02] [-9.04104363e-04 1.03472026e-05 9.99999591e-01 -4.53906429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters 0.05198355380562925 Centerline is valid? [True, True] Translation: X:582.09, Y:-170.39, Z:-4.54 [[ 8.16801898e-01 5.76917586e-01 8.70841238e-04 5.82093106e+02] [-5.76917248e-01 8.16802362e-01 -6.24585936e-04 -1.70394143e+02] [-1.07163979e-03 7.75964831e-06 9.99999426e-01 -4.53926207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters 0.052375948502292005 Centerline is valid? [True, True] Translation: X:582.15, Y:-170.43, Z:-4.54 [[ 8.14006471e-01 5.80855144e-01 8.75245685e-04 5.82146084e+02] [-5.80854804e-01 8.14006942e-01 -6.28296166e-04 -1.70425597e+02] [-1.07740512e-03 3.04648360e-06 9.99999420e-01 -4.54016444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters 0.051455988913467574 Centerline is valid? [True, True] Translation: X:582.20, Y:-170.46, Z:-4.54 [[ 8.12245080e-01 5.83315353e-01 1.06279414e-03 5.82198060e+02] [-5.83314854e-01 8.12245775e-01 -7.63172679e-04 -1.70458520e+02] [-1.30842039e-03 -6.03548808e-08 9.99999144e-01 -4.54251661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters 0.05199030388752516 Centerline is valid? [True, True] Translation: X:582.25, Y:-170.49, Z:-4.54 [[ 8.09974334e-01 5.86463238e-01 1.56489606e-03 5.82251424e+02] [-5.86462161e-01 8.09975846e-01 -1.12373070e-03 -1.70491489e+02] [-1.92655476e-03 -7.55929992e-06 9.99998144e-01 -4.54072853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters 0.0513171280495974 Centerline is valid? [True, True] Translation: X:582.30, Y:-170.53, Z:-4.54 [[ 8.08639229e-01 5.88302897e-01 1.51611061e-03 5.82303702e+02] [-5.88301889e-01 8.08640650e-01 -1.08907060e-03 -1.70525341e+02] [-1.86669206e-03 -1.12655236e-05 9.99998258e-01 -4.54149218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters 0.05165389554932846 Centerline is valid? [True, True] Translation: X:582.35, Y:-170.56, Z:-4.54 [[ 8.09274945e-01 5.87429098e-01 1.05754070e-03 5.82354934e+02] [-5.87428607e-01 8.09275636e-01 -7.59486134e-04 -1.70559687e+02] [-1.30198618e-03 -6.59656122e-06 9.99999152e-01 -4.54355751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters 0.05166261583852031 Centerline is valid? [True, True] Translation: X:582.40, Y:-170.60, Z:-4.54 [[ 8.10827481e-01 5.85284458e-01 9.48302417e-04 5.82404713e+02] [-5.85284061e-01 8.10828036e-01 -6.81122964e-04 -1.70597258e+02] [-1.16756087e-03 -2.75307207e-06 9.99999318e-01 -4.54258843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters 0.05128004863708062 Centerline is valid? [True, True] Translation: X:582.45, Y:-170.64, Z:-4.54 [[ 8.14789635e-01 5.79756032e-01 8.90700335e-04 5.82453643e+02] [-5.79755679e-01 8.14790122e-01 -6.40396517e-04 -1.70635758e+02] [-1.09700758e-03 5.39986675e-06 9.99999398e-01 -4.54113543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters 0.052648904469040546 Centerline is valid? [True, True] Translation: X:582.50, Y:-170.67, Z:-4.54 [[ 8.19327679e-01 5.73324636e-01 1.00811091e-03 5.82502423e+02] [-5.73324178e-01 8.19328299e-01 -7.25032989e-04 -1.70672625e+02] [-1.24165307e-03 1.60652384e-05 9.99999229e-01 -4.54109552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters 0.05286996296510878 Centerline is valid? [True, True] Translation: X:582.55, Y:-170.71, Z:-4.54 [[ 8.23008627e-01 5.68028709e-01 -4.30380219e-04 5.82548982e+02] [-5.68028625e-01 8.23008740e-01 3.10174773e-04 -1.70711683e+02] [ 5.30394858e-04 -1.08082303e-05 9.99999859e-01 -4.54370556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters 0.05346716150401608 Centerline is valid? [True, True] Translation: X:582.60, Y:-170.75, Z:-4.54 [[ 8.24465520e-01 5.65910921e-01 -1.19802125e-03 5.82599574e+02] [-5.65910264e-01 8.24466390e-01 8.63179735e-04 -1.70746239e+02] [ 1.47621109e-03 -3.36894077e-05 9.99998910e-01 -4.54417461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters 0.05337883436876748 Centerline is valid? [True, True] Translation: X:582.65, Y:-170.78, Z:-4.54 [[ 8.25066167e-01 5.65031838e-01 -2.20030068e-03 5.82651974e+02] [-5.65029619e-01 8.25069099e-01 1.58493073e-03 -1.70777736e+02] [ 2.71093642e-03 -6.44376701e-05 9.99996323e-01 -4.54269126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters 0.05345054894387956 Centerline is valid? [True, True] Translation: X:582.71, Y:-170.81, Z:-4.54 [[ 8.24487262e-01 5.65876807e-01 -2.04820915e-03 5.82706511e+02] [-5.65874885e-01 8.24489804e-01 1.47576478e-03 -1.70808333e+02] [ 2.52382862e-03 -5.77191407e-05 9.99996813e-01 -4.54056476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters 0.05344032844871537 Centerline is valid? [True, True] Translation: X:582.76, Y:-170.84, Z:-4.54 [[ 8.21784421e-01 5.69797661e-01 -9.95437819e-04 5.82755212e+02] [-5.69797209e-01 8.21785024e-01 7.17619133e-04 -1.70844187e+02] [ 1.22693359e-03 -2.25305324e-05 9.99999247e-01 -4.54095657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters 0.05309501884200584 Centerline is valid? [True, True] Translation: X:582.81, Y:-170.87, Z:-4.54 [[ 8.16636885e-01 5.77151253e-01 -7.93680548e-04 5.82809124e+02] [-5.77150969e-01 8.16637270e-01 5.71832732e-04 -1.70874056e+02] [ 9.78183094e-04 -8.90620354e-06 9.99999522e-01 -4.54222849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters 0.052584696396634066 Centerline is valid? [True, True] Translation: X:582.86, Y:-170.90, Z:-4.54 [[ 8.12050886e-01 5.83585906e-01 -9.21379837e-04 5.82862729e+02] [-5.83585527e-01 8.12051409e-01 6.64732768e-04 -1.70903825e+02] [ 1.13613647e-03 -2.09289536e-06 9.99999355e-01 -4.54244756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters 0.0525818953237005 Centerline is valid? [True, True] Translation: X:582.92, Y:-170.93, Z:-4.54 [[ 8.04677902e-01 5.93711356e-01 -5.47380547e-04 5.82917901e+02] [-5.93711225e-01 8.04678088e-01 3.95191306e-04 -1.70930582e+02] [ 6.75094699e-04 6.98426371e-06 9.99999772e-01 -4.54212557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters 0.0524700594924444 Centerline is valid? [True, True] Translation: X:582.97, Y:-170.96, Z:-4.54 [[ 8.00742585e-01 5.99008092e-01 -7.86410866e-04 5.82970585e+02] [-5.99007824e-01 8.00742971e-01 5.66721056e-04 -1.70961478e+02] [ 9.69183471e-04 1.72685785e-05 9.99999530e-01 -4.54157383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters 0.05216223869836407 Centerline is valid? [True, True] Translation: X:583.02, Y:-170.99, Z:-4.54 [[ 7.96698694e-01 6.04376608e-01 -3.28079560e-04 5.83022420e+02] [-6.04376561e-01 7.96698761e-01 2.36717269e-04 -1.70993567e+02] [ 4.04446959e-04 9.69125737e-06 9.99999918e-01 -4.54073139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters 0.05287178015781424 Centerline is valid? [True, True] Translation: X:583.07, Y:-171.02, Z:-4.54 [[ 7.95193224e-01 6.06355973e-01 -4.12056044e-04 5.83074930e+02] [-6.06355900e-01 7.95193331e-01 2.97207224e-04 -1.71023923e+02] [ 5.07877593e-04 1.35154432e-05 9.99999871e-01 -4.54218741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters 0.052759786073499515 Centerline is valid? [True, True] Translation: X:583.13, Y:-171.06, Z:-4.54 [[ 7.95990448e-01 6.05307142e-01 -1.57193038e-03 5.83126097e+02] [-6.05306082e-01 7.95991998e-01 1.13401389e-03 -1.71059224e+02] [ 1.93767071e-03 4.88347989e-05 9.99998122e-01 -4.54348178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters 0.05340431307496197 Centerline is valid? [True, True] Translation: X:583.18, Y:-171.10, Z:-4.54 [[ 7.97175457e-01 6.03745208e-01 -1.73617427e-03 5.83175877e+02] [-6.03743913e-01 7.97177346e-01 1.25167884e-03 -1.71095440e+02] [ 2.13973390e-03 5.03969993e-05 9.99997709e-01 -4.54453796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters 0.05283518555102144 Centerline is valid? [True, True] Translation: X:583.22, Y:-171.13, Z:-4.54 [[ 7.98706395e-01 6.01717718e-01 -1.97031693e-03 5.83224989e+02] [-6.01716044e-01 7.98708824e-01 1.42042859e-03 -1.71132369e+02] [ 2.42840657e-03 5.10659116e-05 9.99997050e-01 -4.54499830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters 0.05284998660083086 Centerline is valid? [True, True] Translation: X:583.27, Y:-171.17, Z:-4.55 [[ 7.99859299e-01 6.00179545e-01 -3.10090336e-03 5.83274591e+02] [-6.00175381e-01 7.99865307e-01 2.23678150e-03 -1.71169264e+02] [ 3.82277552e-03 7.19753713e-05 9.99992691e-01 -4.54656209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters 0.0531845708307735 Centerline is valid? [True, True] Translation: X:583.32, Y:-171.21, Z:-4.55 [[ 8.00205291e-01 5.99716798e-01 -3.35480244e-03 5.83324626e+02] [-5.99711918e-01 8.00212320e-01 2.42040421e-03 -1.71206370e+02] [ 4.13611130e-03 7.50947478e-05 9.99991443e-01 -4.54819202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters 0.0527591653827202 Centerline is valid? [True, True] Translation: X:583.37, Y:-171.25, Z:-4.55 [[ 8.00669355e-01 5.99099370e-01 -2.92021777e-03 5.83372676e+02] [-5.99095667e-01 8.00674678e-01 2.10752218e-03 -1.71246169e+02] [ 3.60075964e-03 6.20613907e-05 9.99993515e-01 -4.54702289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters 0.05264083697051864 Centerline is valid? [True, True] Translation: X:583.42, Y:-171.29, Z:-4.55 [[ 7.99577528e-01 6.00558000e-01 -2.42181460e-03 5.83421170e+02] [-6.00555458e-01 7.99581194e-01 1.74841852e-03 -1.71285393e+02] [ 2.98646414e-03 5.64378143e-05 9.99995539e-01 -4.54509644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters 0.052682011467297056 Centerline is valid? [True, True] Translation: X:583.47, Y:-171.32, Z:-4.55 [[ 7.97988551e-01 6.02669989e-01 -1.77655736e-03 5.83471457e+02] [-6.02668627e-01 7.97990528e-01 1.28220333e-03 -1.71321742e+02] [ 2.19042142e-03 4.74918066e-05 9.99997600e-01 -4.54519628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters 0.05262908209187037 Centerline is valid? [True, True] Translation: X:583.52, Y:-171.36, Z:-4.55 [[ 7.94590487e-01 6.07145307e-01 -7.30652735e-04 5.83521772e+02] [-6.07145079e-01 7.94590823e-01 5.27287034e-04 -1.71355063e+02] [ 9.00709806e-04 2.46349506e-05 9.99999594e-01 -4.54513430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters 0.053149449880412813 Centerline is valid? [True, True] Translation: X:583.57, Y:-171.39, Z:-4.55 [[ 7.90866045e-01 6.11988500e-01 -9.87748136e-04 5.83572870e+02] [-6.11988085e-01 7.90866660e-01 7.13146246e-04 -1.71386689e+02] [ 1.21761437e-03 4.04869398e-05 9.99999258e-01 -4.54655429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters 0.05257489718643344 Centerline is valid? [True, True] Translation: X:583.62, Y:-171.43, Z:-4.55 [[ 7.89349764e-01 6.13942884e-01 -1.04166929e-03 5.83620346e+02] [-6.13942425e-01 7.89350450e-01 7.52650064e-04 -1.71425007e+02] [ 1.28432627e-03 4.54208179e-05 9.99999174e-01 -4.54639071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters 0.05200525509982336 Centerline is valid? [True, True] Translation: X:583.67, Y:-171.46, Z:-4.55 [[ 7.88402450e-01 6.15159601e-01 -4.92219804e-04 5.83669365e+02] [-6.15159499e-01 7.88402603e-01 3.55575704e-04 -1.71463636e+02] [ 6.06803183e-04 2.24569325e-05 9.99999816e-01 -4.54615738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters 0.05380502474150526 Centerline is valid? [True, True] Translation: X:583.72, Y:-171.49, Z:-4.55 [[ 7.89850383e-01 6.13299556e-01 1.65987764e-04 5.83721513e+02] [-6.13299544e-01 7.89850400e-01 -1.19804259e-04 -1.71493836e+02] [-2.04581401e-04 -7.17278020e-06 9.99999979e-01 -4.54763102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters 0.05213563914129715 Centerline is valid? [True, True] Translation: X:583.77, Y:-171.54, Z:-4.55 [[ 7.92007665e-01 6.10507665e-01 2.06160386e-03 5.83767053e+02] [-6.10505857e-01 7.92010344e-01 -1.48796752e-03 -1.71536171e+02] [-2.54122716e-03 -8.01395508e-05 9.99996768e-01 -4.54594839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters 0.05254170625619151 Centerline is valid? [True, True] Translation: X:583.82, Y:-171.57, Z:-4.55 [[ 7.94246749e-01 6.07591937e-01 2.03453687e-03 5.83816260e+02] [-6.07590166e-01 7.94249352e-01 -1.46856143e-03 -1.71572860e+02] [-2.50821568e-03 -6.97644518e-05 9.99996852e-01 -4.54685526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters 0.052565897971159334 Centerline is valid? [True, True] Translation: X:583.86, Y:-171.62, Z:-4.55 [[ 8.00216391e-01 5.99708598e-01 1.82328410e-03 5.83859054e+02] [-5.99707156e-01 8.00218468e-01 -1.31594355e-03 -1.71618370e+02] [-2.24820827e-03 -4.03969175e-05 9.99997472e-01 -4.54827079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters 0.05245961893011263 Centerline is valid? [True, True] Translation: X:583.91, Y:-171.65, Z:-4.55 [[ 8.02675280e-01 5.96414569e-01 1.43399910e-03 5.83909207e+02] [-5.96413671e-01 8.02676561e-01 -1.03516784e-03 -1.71652007e+02] [-1.76842665e-03 -2.43530315e-05 9.99998436e-01 -4.55057894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters 0.0527121582709319 Centerline is valid? [True, True] Translation: X:583.96, Y:-171.69, Z:-4.55 [[ 8.04363168e-01 5.94134577e-01 1.99965232e-03 5.83955859e+02] [-5.94132824e-01 8.04365653e-01 -1.44350634e-03 -1.71692100e+02] [-2.46608868e-03 -2.69557468e-05 9.99996959e-01 -4.55004779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters 0.052237604342400615 Centerline is valid? [True, True] Translation: X:584.00, Y:-171.73, Z:-4.55 [[ 8.06046957e-01 5.91846313e-01 2.49913101e-03 5.84004823e+02] [-5.91843565e-01 8.06050831e-01 -1.80376184e-03 -1.71730411e+02] [-3.08197642e-03 -2.51778635e-05 9.99995250e-01 -4.55095597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters 0.05243253970329442 Centerline is valid? [True, True] Translation: X:584.05, Y:-171.77, Z:-4.55 [[ 8.06747517e-01 5.90892698e-01 2.06470940e-03 5.84053764e+02] [-5.90890819e-01 8.06750159e-01 -1.49038155e-03 -1.71768485e+02] [-2.54636021e-03 -1.76562111e-05 9.99996758e-01 -4.55208952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters 0.05253609439048697 Centerline is valid? [True, True] Translation: X:584.10, Y:-171.81, Z:-4.55 [[ 8.06577909e-01 5.91126716e-01 1.13228073e-03 5.84101628e+02] [-5.91126151e-01 8.06578704e-01 -8.17434307e-04 -1.71806147e+02] [-1.39648078e-03 -9.99629685e-06 9.99999025e-01 -4.55217967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters 0.0522119024609104 Centerline is valid? [True, True] Translation: X:584.15, Y:-171.84, Z:-4.55 [[ 8.05154295e-01 5.93065139e-01 5.50571530e-04 5.84153163e+02] [-5.93065005e-01 8.05154483e-01 -3.97444114e-04 -1.71840348e+02] [-6.79005384e-04 -6.52087277e-06 9.99999769e-01 -4.55439063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters 0.05219787812710645 Centerline is valid? [True, True] Translation: X:584.20, Y:-171.88, Z:-4.55 [[ 8.03452929e-01 5.95368029e-01 5.48313739e-04 5.84202386e+02] [-5.95367898e-01 8.03453116e-01 -3.95217979e-04 -1.71878977e+02] [-6.75844531e-04 -8.90935506e-06 9.99999772e-01 -4.55217740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters 0.05253927153242072 Centerline is valid? [True, True] Translation: X:584.25, Y:-171.91, Z:-4.55 [[ 8.02471331e-01 5.96690585e-01 3.28137136e-04 5.84253071e+02] [-5.96690539e-01 8.02471398e-01 -2.36629415e-04 -1.71913319e+02] [-4.04515211e-04 -5.90800251e-06 9.99999918e-01 -4.55333916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters 0.05243940575770628 Centerline is valid? [True, True] Translation: X:584.30, Y:-171.95, Z:-4.55 [[ 7.99568114e-01 6.00575304e-01 -3.69276913e-04 5.84303107e+02] [-6.00575244e-01 7.99568199e-01 2.67187959e-04 -1.71948748e+02] [ 4.55728566e-04 8.14359978e-06 9.99999896e-01 -4.55346916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters 0.05198648398495316 Centerline is valid? [True, True] Translation: X:584.35, Y:-171.98, Z:-4.55 [[ 7.97428885e-01 6.03408573e-01 -2.29513381e-03 5.84352981e+02] [-6.03406292e-01 7.97432185e-01 1.66020998e-03 -1.71984197e+02] [ 2.83199851e-03 6.09987860e-05 9.99995988e-01 -4.55484629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters 0.051392636952625616 Centerline is valid? [True, True] Translation: X:584.40, Y:-172.02, Z:-4.55 [[ 7.96508746e-01 6.04622215e-01 -2.40713705e-03 5.84401419e+02] [-6.04619711e-01 7.96512380e-01 1.74163802e-03 -1.72022451e+02] [ 2.97034750e-03 6.81725922e-05 9.99995586e-01 -4.55261684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters 0.051980627813272375 Centerline is valid? [True, True] Translation: X:584.45, Y:-172.06, Z:-4.55 [[ 7.96280298e-01 6.04923235e-01 -2.35942066e-03 5.84451889e+02] [-6.04920829e-01 7.96283791e-01 1.70750410e-03 -1.72057580e+02] [ 2.91167733e-03 6.76108285e-05 9.99995759e-01 -4.55307823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters 0.05148190841138516 Centerline is valid? [True, True] Translation: X:584.50, Y:-172.09, Z:-4.55 [[ 7.96150608e-01 6.05086721e-01 -3.77740957e-03 5.84501995e+02] [-6.05080555e-01 7.96159562e-01 2.73380618e-03 -1.72093630e+02] [ 4.66161057e-03 1.09115628e-04 9.99989129e-01 -4.55428979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters 0.05254450551056761 Centerline is valid? [True, True] Translation: X:584.55, Y:-172.13, Z:-4.55 [[ 7.96554464e-01 6.04544999e-01 -5.13130593e-03 5.84552264e+02] [-6.04533605e-01 7.96570978e-01 3.71444114e-03 -1.72131262e+02] [ 6.33299620e-03 1.43292202e-04 9.99979936e-01 -4.55495834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters 0.052598889012535954 Centerline is valid? [True, True] Translation: X:584.60, Y:-172.17, Z:-4.56 [[ 7.97464389e-01 6.03341198e-01 -5.47239931e-03 5.84601410e+02] [-6.03328205e-01 7.97483153e-01 3.96205211e-03 -1.72168847e+02] [ 6.75461551e-03 1.42057390e-04 9.99977177e-01 -4.55511762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters 0.0525459465499431 Centerline is valid? [True, True] Translation: X:584.65, Y:-172.21, Z:-4.56 [[ 7.99542437e-01 6.00587112e-01 -5.19726188e-03 5.84649249e+02] [-6.00575340e-01 7.99559321e-01 3.76216939e-03 -1.72205309e+02] [ 6.41502963e-03 1.13333240e-04 9.99979417e-01 -4.55576517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters 0.052267589876576454 Centerline is valid? [True, True] Translation: X:584.70, Y:-172.25, Z:-4.55 [[ 8.01828620e-01 5.97540616e-01 -4.00962328e-03 5.84695279e+02] [-5.97533568e-01 8.01838642e-01 2.90295156e-03 -1.72247544e+02] [ 4.94970235e-03 6.82148599e-05 9.99987748e-01 -4.55237095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters 0.05234603587512149 Centerline is valid? [True, True] Translation: X:584.75, Y:-172.28, Z:-4.56 [[ 8.02311180e-01 5.96896362e-01 -3.39168270e-03 5.84745583e+02] [-5.96891311e-01 8.02318347e-01 2.45619466e-03 -1.72282096e+02] [ 4.18730291e-03 5.38334952e-05 9.99991232e-01 -4.55587092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters 0.052429959436721074 Centerline is valid? [True, True] Translation: X:584.79, Y:-172.32, Z:-4.55 [[ 8.01847932e-01 5.97520165e-01 -3.08982372e-03 5.84793616e+02] [-5.97515972e-01 8.01853883e-01 2.23887773e-03 -1.72322601e+02] [ 3.81536174e-03 5.09795419e-05 9.99992720e-01 -4.55333574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters 0.052855658258277795 Centerline is valid? [True, True] Translation: X:584.84, Y:-172.36, Z:-4.56 [[ 8.01122274e-01 5.98493315e-01 -2.97544186e-03 5.84844040e+02] [-5.98489433e-01 8.01127798e-01 2.15628896e-03 -1.72356492e+02] [ 3.67423371e-03 5.33193955e-05 9.99993249e-01 -4.55557606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters 0.051915571776804406 Centerline is valid? [True, True] Translation: X:584.89, Y:-172.39, Z:-4.56 [[ 7.99774767e-01 6.00295188e-01 -2.45124731e-03 5.84894109e+02] [-6.00292560e-01 7.99778522e-01 1.77697338e-03 -1.72392406e+02] [ 3.02716352e-03 5.02870535e-05 9.99995417e-01 -4.55593033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters 0.05207655901555635 Centerline is valid? [True, True] Translation: X:584.94, Y:-172.43, Z:-4.56 [[ 7.97495309e-01 6.03316631e-01 -3.20543379e-03 5.84943211e+02] [-6.03312161e-01 7.97501747e-01 2.32371175e-03 -1.72429401e+02] [ 3.95827300e-03 8.07279685e-05 9.99992163e-01 -4.55635036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters 0.05225252744091043 Centerline is valid? [True, True] Translation: X:584.99, Y:-172.47, Z:-4.56 [[ 7.95736738e-01 6.05636889e-01 -2.64621880e-03 5.84993392e+02] [-6.05633856e-01 7.95741135e-01 1.91800313e-03 -1.72465934e+02] [ 3.26731860e-03 7.64141395e-05 9.99994659e-01 -4.55674401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters 0.051469940110024016 Centerline is valid? [True, True] Translation: X:585.04, Y:-172.51, Z:-4.56 [[ 7.95926065e-01 6.05390121e-01 -2.12131051e-03 5.85041390e+02] [-6.05388168e-01 7.95928890e-01 1.53872138e-03 -1.72505624e+02] [ 2.61993904e-03 5.95078307e-05 9.99996566e-01 -4.55502353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters 0.05187349798800144 Centerline is valid? [True, True] Translation: X:585.09, Y:-172.54, Z:-4.56 [[ 7.95989729e-01 6.05307942e-01 -1.62681774e-03 5.85092021e+02] [-6.05306792e-01 7.95991391e-01 1.18044676e-03 -1.72539258e+02] [ 2.00946671e-03 4.51003269e-05 9.99997980e-01 -4.55634726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters 0.05131624088554345 Centerline is valid? [True, True] Translation: X:585.14, Y:-172.58, Z:-4.55 [[ 7.95471147e-01 6.05991204e-01 -5.60910082e-04 5.85140874e+02] [-6.05991067e-01 7.95471345e-01 4.07960261e-04 -1.72578777e+02] [ 6.93408227e-04 1.53858824e-05 9.99999759e-01 -4.55495835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters 0.05144311381753144 Centerline is valid? [True, True] Translation: X:585.19, Y:-172.61, Z:-4.56 [[ 7.94685742e-01 6.07019622e-01 -1.32241089e-03 5.85192273e+02] [-6.07018864e-01 7.94686842e-01 9.60217779e-04 -1.72612005e+02] [ 1.63377357e-03 3.96569794e-05 9.99998665e-01 -4.55664932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters 0.05127458971790931 Centerline is valid? [True, True] Translation: X:585.24, Y:-172.65, Z:-4.56 [[ 7.93306039e-01 6.08819493e-01 -2.08635283e-03 5.85242655e+02] [-6.08817615e-01 7.93308780e-01 1.51374577e-03 -1.72647863e+02] [ 2.57671995e-03 6.93446910e-05 9.99996678e-01 -4.55868944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters 0.05101416996882196 Centerline is valid? [True, True] Translation: X:585.29, Y:-172.69, Z:-4.56 [[ 7.92797555e-01 6.09480655e-01 -2.31694611e-03 5.85292115e+02] [-6.09478339e-01 7.92800937e-01 1.68218274e-03 -1.72685034e+02] [ 2.86213489e-03 7.84981056e-05 9.99995901e-01 -4.55917723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters 0.05177755072046145 Centerline is valid? [True, True] Translation: X:585.34, Y:-172.72, Z:-4.56 [[ 7.93189317e-01 6.08970954e-01 -2.25490913e-03 5.85343084e+02] [-6.08968757e-01 7.93192519e-01 1.63753841e-03 -1.72719803e+02] [ 2.78579038e-03 7.42912385e-05 9.99996117e-01 -4.56125734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters 0.051495818866878734 Centerline is valid? [True, True] Translation: X:585.39, Y:-172.76, Z:-4.56 [[ 7.93453560e-01 6.08628301e-01 -1.74341590e-03 5.85392953e+02] [-6.08626986e-01 7.93455473e-01 1.26660052e-03 -1.72756562e+02] [ 2.15421181e-03 5.61012753e-05 9.99997678e-01 -4.56084374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters 0.05188922066776898 Centerline is valid? [True, True] Translation: X:585.45, Y:-172.79, Z:-4.56 [[ 7.93484094e-01 6.08590939e-01 -2.49596195e-04 5.85445712e+02] [-6.08590912e-01 7.93484133e-01 1.82141869e-04 -1.72787937e+02] [ 3.08900511e-04 7.37529995e-06 9.99999952e-01 -4.56178655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters 0.05117894311429538 Centerline is valid? [True, True] Translation: X:585.49, Y:-172.83, Z:-4.56 [[ 7.93639163e-01 6.08388619e-01 4.08016119e-04 5.85494384e+02] [-6.08388548e-01 7.93639268e-01 -2.95352020e-04 -1.72826141e+02] [-5.03506422e-04 -1.38294047e-05 9.99999873e-01 -4.56133352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters 0.05144540908268433 Centerline is valid? [True, True] Translation: X:585.54, Y:-172.86, Z:-4.56 [[ 7.94210647e-01 6.07642399e-01 4.03737395e-04 5.85544772e+02] [-6.07642329e-01 7.94210750e-01 -2.92308115e-04 -1.72863115e+02] [-4.98271384e-04 -1.31737135e-05 9.99999876e-01 -4.56263520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters 0.05083318564701326 Centerline is valid? [True, True] Translation: X:585.59, Y:-172.90, Z:-4.56 [[ 7.92923427e-01 6.09318263e-01 -1.92167842e-03 5.85593284e+02] [-6.09316666e-01 7.92925754e-01 1.39624655e-03 -1.72901823e+02] [ 2.37450683e-03 6.37940870e-05 9.99997179e-01 -4.56324301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters 0.05151376622125288 Centerline is valid? [True, True] Translation: X:585.64, Y:-172.94, Z:-4.56 [[ 7.93004581e-01 6.09208990e-01 -2.85339540e-03 5.85644185e+02] [-6.09205465e-01 7.93009709e-01 2.07459200e-03 -1.72939634e+02] [ 3.52663035e-03 9.31431112e-05 9.99993777e-01 -4.56358994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters 0.05093542257199733 Centerline is valid? [True, True] Translation: X:585.69, Y:-172.97, Z:-4.56 [[ 7.92899631e-01 6.09348062e-01 -2.26178102e-03 5.85694569e+02] [-6.09345846e-01 7.92902853e-01 1.64483025e-03 -1.72974858e+02] [ 2.79564675e-03 7.40215685e-05 9.99996089e-01 -4.56344016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters 0.05205946838271917 Centerline is valid? [True, True] Translation: X:585.75, Y:-173.01, Z:-4.56 [[ 7.93336560e-01 6.08782085e-01 -1.21497827e-03 5.85747134e+02] [-6.08781444e-01 7.93337489e-01 8.84176152e-04 -1.73006228e+02] [ 1.50215841e-03 3.82069580e-05 9.99998871e-01 -4.56460780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters 0.051531614515686684 Centerline is valid? [True, True] Translation: X:585.80, Y:-173.04, Z:-4.56 [[ 7.94991027e-01 6.06620836e-01 -6.54032621e-04 5.85795568e+02] [-6.06620650e-01 7.94991296e-01 4.75680279e-04 -1.73044188e+02] [ 8.08507809e-04 1.85881395e-05 9.99999673e-01 -4.56457481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters 0.05174289558368149 Centerline is valid? [True, True] Translation: X:585.85, Y:-173.08, Z:-4.56 [[ 7.95532293e-01 6.05911159e-01 -1.96811256e-04 5.85845046e+02] [-6.05911142e-01 7.95532317e-01 1.43456638e-04 -1.73082525e+02] [ 2.43491692e-04 5.12574459e-06 9.99999970e-01 -4.56440314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters 0.051892584036942836 Centerline is valid? [True, True] Translation: X:585.90, Y:-173.11, Z:-4.57 [[ 7.97084361e-01 6.03867966e-01 -4.11083566e-06 5.85896384e+02] [-6.03867966e-01 7.97084361e-01 3.10606193e-06 -1.73114499e+02] [ 5.15233389e-06 6.60858314e-09 1.00000000e+00 -4.56533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters 0.05173240991849818 Centerline is valid? [True, True] Translation: X:585.94, Y:-173.15, Z:-4.57 [[ 7.98500985e-01 6.01993444e-01 -2.65471638e-04 5.85944051e+02] [-6.01993413e-01 7.98501029e-01 1.93948192e-04 -1.73153246e+02] [ 3.28734916e-04 4.94435546e-06 9.99999946e-01 -4.56517340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters 0.05208578095933884 Centerline is valid? [True, True] Translation: X:585.99, Y:-173.19, Z:-4.57 [[ 7.99676939e-01 6.00430216e-01 -5.90486411e-04 5.85994555e+02] [-6.00430062e-01 7.99677157e-01 4.30564294e-04 -1.73189649e+02] [ 7.30722306e-04 1.02334550e-05 9.99999733e-01 -4.56632717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters 0.051911724228645414 Centerline is valid? [True, True] Translation: X:586.05, Y:-173.22, Z:-4.57 [[ 8.01716195e-01 5.97704721e-01 -4.57426482e-04 5.86045167e+02] [-5.97704628e-01 8.01716326e-01 3.32973912e-04 -1.73223056e+02] [ 5.65746357e-04 6.45534708e-06 9.99999840e-01 -4.56811929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters 0.052656839895570295 Centerline is valid? [True, True] Translation: X:586.09, Y:-173.26, Z:-4.57 [[ 8.03268570e-01 5.95616987e-01 -9.05082307e-05 5.86093687e+02] [-5.95616984e-01 8.03268575e-01 6.68883845e-05 -1.73262383e+02] [ 1.12542275e-04 1.78902349e-07 9.99999994e-01 -4.56616500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters 0.052818926810061055 Centerline is valid? [True, True] Translation: X:586.14, Y:-173.30, Z:-4.57 [[ 8.05620590e-01 5.92431293e-01 7.92976117e-04 5.86143464e+02] [-5.92431013e-01 8.05620980e-01 -5.76085842e-04 -1.73298706e+02] [-9.80129476e-04 -5.67702815e-06 9.99999520e-01 -4.56657068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters 0.0525667795606199 Centerline is valid? [True, True] Translation: X:586.19, Y:-173.33, Z:-4.57 [[ 8.06930760e-01 5.90645802e-01 -5.33550337e-04 5.86193452e+02] [-5.90645674e-01 8.06930937e-01 3.89496337e-04 -1.73334951e+02] [ 6.60592649e-04 8.42622855e-07 9.99999782e-01 -4.56998513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters 0.052875932229762786 Centerline is valid? [True, True] Translation: X:586.25, Y:-173.37, Z:-4.57 [[ 8.06605876e-01 5.91089476e-01 -4.38705399e-04 5.86245531e+02] [-5.91089389e-01 8.06605995e-01 3.20646209e-04 -1.73371275e+02] [ 5.43393004e-04 6.78990007e-07 9.99999852e-01 -4.56761722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters 0.05232012429186977 Centerline is valid? [True, True] Translation: X:586.30, Y:-173.41, Z:-4.57 [[ 8.06371574e-01 5.91408444e-01 -9.67516401e-04 5.86298000e+02] [-5.91408023e-01 8.06372155e-01 7.05751064e-04 -1.73405571e+02] [ 1.19756542e-03 3.09936553e-06 9.99999283e-01 -4.56790822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters 0.05293721489163233 Centerline is valid? [True, True] Translation: X:586.35, Y:-173.44, Z:-4.57 [[ 8.05771521e-01 5.92222070e-01 -2.29690868e-03 5.86350300e+02] [-5.92219703e-01 8.05774794e-01 1.67441872e-03 -1.73439186e+02] [ 2.84241885e-03 1.10756569e-05 9.99995960e-01 -4.56845933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters 0.05325589759855402 Centerline is valid? [True, True] Translation: X:586.40, Y:-173.48, Z:-4.57 [[ 8.05639103e-01 5.92401902e-01 -2.37114284e-03 5.86401756e+02] [-5.92399378e-01 8.05642593e-01 1.72912638e-03 -1.73475222e+02] [ 2.93463142e-03 1.16117199e-05 9.99995694e-01 -4.56844068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters 0.05355066472374213 Centerline is valid? [True, True] Translation: X:586.45, Y:-173.51, Z:-4.57 [[ 8.05692063e-01 5.92329706e-01 -2.41236883e-03 5.86453941e+02] [-5.92327092e-01 8.05695674e-01 1.75967411e-03 -1.73510629e+02] [ 2.98594238e-03 1.11559523e-05 9.99995542e-01 -4.56801481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters 0.053205567920129856 Centerline is valid? [True, True] Translation: X:586.51, Y:-173.54, Z:-4.57 [[ 8.06119178e-01 5.91749461e-01 -2.10873684e-03 5.86505983e+02] [-5.91747461e-01 8.06121936e-01 1.53856568e-03 -1.73544120e+02] [ 2.61034444e-03 7.57236339e-06 9.99996593e-01 -4.56719296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters 0.05271167955598418 Centerline is valid? [True, True] Translation: X:586.56, Y:-173.58, Z:-4.57 [[ 8.06128368e-01 5.91739269e-01 -1.30072883e-03 5.86557253e+02] [-5.91738507e-01 8.06129418e-01 9.49112786e-04 -1.73577589e+02] [ 1.61018308e-03 4.58459764e-06 9.99998704e-01 -4.56873528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters 0.053926135941720334 Centerline is valid? [True, True] Translation: X:586.61, Y:-173.61, Z:-4.57 [[ 8.05183517e-01 5.93022745e-01 -1.87810340e-03 5.86609508e+02] [-5.93021161e-01 8.05185708e-01 1.37088126e-03 -1.73611330e+02] [ 2.32518578e-03 9.94406486e-06 9.99997297e-01 -4.56649796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters 0.05378243082363891 Centerline is valid? [True, True] Translation: X:586.66, Y:-173.64, Z:-4.57 [[ 8.04474614e-01 5.93983550e-01 -2.03413565e-03 5.86661867e+02] [-5.93981694e-01 8.04477185e-01 1.48501536e-03 -1.73643428e+02] [ 2.51849042e-03 1.35821774e-05 9.99996829e-01 -4.57040462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters 0.05420286668614872 Centerline is valid? [True, True] Translation: X:586.71, Y:-173.68, Z:-4.57 [[ 8.04373481e-01 5.94120412e-01 -2.05884327e-03 5.86713522e+02] [-5.94118510e-01 8.04376116e-01 1.50368764e-03 -1.73680097e+02] [ 2.54945587e-03 1.36704352e-05 9.99996750e-01 -4.56735050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters 0.05348204796321289 Centerline is valid? [True, True] Translation: X:586.76, Y:-173.71, Z:-4.57 [[ 8.04670163e-01 5.93719961e-01 -1.59270669e-03 5.86764652e+02] [-5.93718821e-01 8.04671739e-01 1.16355095e-03 -1.73713694e+02] [ 1.97242948e-03 9.34520684e-06 9.99998055e-01 -4.57033981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters 0.05400126909448089 Centerline is valid? [True, True] Translation: X:586.81, Y:-173.75, Z:-4.57 [[ 8.04903851e-01 5.93403545e-01 -1.42261434e-03 5.86814115e+02] [-5.93402634e-01 8.04905108e-01 1.03970985e-03 -1.73751859e+02] [ 1.76203706e-03 7.31663682e-06 9.99998448e-01 -4.56551156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters 0.053385365791229614 Centerline is valid? [True, True] Translation: X:586.87, Y:-173.78, Z:-4.57 [[ 8.05121517e-01 5.93107177e-01 -1.79404722e-03 5.86866417e+02] [-5.93105728e-01 8.05123516e-01 1.31138820e-03 -1.73784866e+02] [ 2.22222336e-03 8.23282208e-06 9.99997531e-01 -4.57206323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters 0.053856347795351124 Centerline is valid? [True, True] Translation: X:586.92, Y:-173.82, Z:-4.57 [[ 8.04681427e-01 5.93701283e-01 -2.56667087e-03 5.86916276e+02] [-5.93698320e-01 8.04685520e-01 1.87583541e-03 -1.73821058e+02] [ 3.17904877e-03 1.43782691e-05 9.99994947e-01 -4.57238474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters 0.05333908252644045 Centerline is valid? [True, True] Translation: X:586.97, Y:-173.86, Z:-4.57 [[ 8.04218378e-01 5.94324668e-01 -3.31493321e-03 5.86966550e+02] [-5.94319729e-01 8.04225210e-01 2.42307404e-03 -1.73856842e+02] [ 4.10604553e-03 2.14495360e-05 9.99991570e-01 -4.57350832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters 0.05388611086611763 Centerline is valid? [True, True] Translation: X:587.02, Y:-173.89, Z:-4.57 [[ 8.02479639e-01 5.96670368e-01 -3.30179673e-03 5.87017690e+02] [-5.96665485e-01 8.02486431e-01 2.41406651e-03 -1.73891570e+02] [ 4.09004903e-03 3.28289333e-05 9.99991635e-01 -4.57426496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters 0.05380469335925863 Centerline is valid? [True, True] Translation: X:587.07, Y:-173.93, Z:-4.57 [[ 8.01372390e-01 5.98159635e-01 -2.70986539e-03 5.87068049e+02] [-5.98156352e-01 8.01376972e-01 1.98193795e-03 -1.73927356e+02] [ 3.35713900e-03 3.26528391e-05 9.99994364e-01 -4.57462113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters 0.05261882028652466 Centerline is valid? [True, True] Translation: X:587.12, Y:-173.97, Z:-4.57 [[ 8.00571678e-01 5.99235503e-01 -1.34155412e-03 5.87118376e+02] [-5.99234698e-01 8.00572802e-01 9.82132243e-04 -1.73965092e+02] [ 1.66254025e-03 1.76385186e-05 9.99998618e-01 -4.57312605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters 0.053177592332483495 Centerline is valid? [True, True] Translation: X:587.17, Y:-174.00, Z:-4.57 [[ 7.99638718e-01 6.00480823e-01 -8.37059502e-04 5.87168057e+02] [-6.00480511e-01 7.99639156e-01 6.13146546e-04 -1.74000049e+02] [ 1.03752830e-03 1.23421993e-05 9.99999462e-01 -4.57383292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters 0.05304468678151512 Centerline is valid? [True, True] Translation: X:587.22, Y:-174.04, Z:-4.57 [[ 7.98367006e-01 6.02171171e-01 6.47089120e-05 5.87218694e+02] [-6.02171169e-01 7.98367009e-01 -4.63133851e-05 -1.74036307e+02] [-7.95500461e-05 -1.99076263e-06 9.99999997e-01 -4.57380697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters 0.0530789523258005 Centerline is valid? [True, True] Translation: X:587.27, Y:-174.07, Z:-4.57 [[ 7.97076450e-01 6.03878403e-01 8.65719925e-05 5.87268100e+02] [-6.03878400e-01 7.97076455e-01 -6.22854558e-05 -1.74074537e+02] [-1.06617339e-04 -2.63268628e-06 9.99999994e-01 -4.57372289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters 0.05342274338513421 Centerline is valid? [True, True] Translation: X:587.32, Y:-174.11, Z:-4.58 [[ 7.95546800e-01 6.05891773e-01 -6.70013847e-04 5.87318896e+02] [-6.05891574e-01 7.95547082e-01 4.91338214e-04 -1.74108987e+02] [ 8.30725342e-04 1.50732002e-05 9.99999655e-01 -4.57645316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters 0.05290733610381069 Centerline is valid? [True, True] Translation: X:587.37, Y:-174.15, Z:-4.58 [[ 7.94795966e-01 6.06876730e-01 8.08077794e-05 5.87367999e+02] [-6.06876727e-01 7.94795971e-01 -5.81505346e-05 -1.74147745e+02] [-9.95159039e-05 -2.82255032e-06 9.99999995e-01 -4.57574348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters 0.05301646086441044 Centerline is valid? [True, True] Translation: X:587.42, Y:-174.19, Z:-4.57 [[ 7.94489507e-01 6.07276884e-01 1.09955548e-03 5.87416703e+02] [-6.07276352e-01 7.94490268e-01 -8.03976991e-04 -1.74187795e+02] [-1.36182277e-03 -2.89827579e-05 9.99999072e-01 -4.57484205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters 0.05250033808252931 Centerline is valid? [True, True] Translation: X:587.47, Y:-174.23, Z:-4.57 [[ 7.94287294e-01 6.07539852e-01 1.73869855e-03 5.87466923e+02] [-6.07538521e-01 7.94289195e-01 -1.27276866e-03 -1.74226430e+02] [-2.15428715e-03 -4.53823722e-05 9.99997678e-01 -4.57449430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters 0.0525104127991795 Centerline is valid? [True, True] Translation: X:587.52, Y:-174.26, Z:-4.58 [[ 7.93173569e-01 6.08993508e-01 1.61132927e-03 5.87516649e+02] [-6.08992368e-01 7.93175204e-01 -1.17931319e-03 -1.74261571e+02] [-1.99626050e-03 -4.58871813e-05 9.99998006e-01 -4.57653056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters 0.05334418359250534 Centerline is valid? [True, True] Translation: X:587.57, Y:-174.30, Z:-4.58 [[ 7.91105054e-01 6.11679379e-01 1.06318445e-03 5.87566156e+02] [-6.11678885e-01 7.91105768e-01 -7.78492851e-04 -1.74295848e+02] [-1.31727937e-03 -3.44578485e-05 9.99999132e-01 -4.57807470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters 0.05304922129314806 Centerline is valid? [True, True] Translation: X:587.62, Y:-174.33, Z:-4.58 [[ 7.88985988e-01 6.14411162e-01 1.83307170e-04 5.87615376e+02] [-6.14411148e-01 7.88986010e-01 -1.34205701e-04 -1.74331467e+02] [-2.27084273e-04 -6.73955146e-06 9.99999974e-01 -4.57897072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters 0.05141869504243808 Centerline is valid? [True, True] Translation: X:587.66, Y:-174.38, Z:-4.58 [[ 7.87026043e-01 6.16919473e-01 -6.09851089e-04 5.87657153e+02] [-6.16919311e-01 7.87026279e-01 4.47777766e-04 -1.74378840e+02] [ 7.56211656e-04 2.38161511e-05 9.99999714e-01 -4.57608110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters 0.052157743812890976 Centerline is valid? [True, True] Translation: X:587.71, Y:-174.41, Z:-4.58 [[ 7.86276352e-01 6.17873923e-01 -1.14575567e-03 5.87707352e+02] [-6.17873353e-01 7.86277186e-01 8.40642225e-04 -1.74414036e+02] [ 1.42029245e-03 4.69547930e-05 9.99998990e-01 -4.57776501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters 0.05281401932457076 Centerline is valid? [True, True] Translation: X:587.76, Y:-174.45, Z:-4.58 [[ 7.86026504e-01 6.18192077e-01 -9.43945602e-04 5.87758030e+02] [-6.18191690e-01 7.86027070e-01 6.92421050e-04 -1.74447612e+02] [ 1.17001600e-03 3.92780296e-05 9.99999315e-01 -4.57886046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters 0.052083387318063286 Centerline is valid? [True, True] Translation: X:587.80, Y:-174.49, Z:-4.58 [[ 7.85961394e-01 6.18275479e-01 -3.44240857e-04 5.87802982e+02] [-6.18275427e-01 7.85961470e-01 2.53380155e-04 -1.74491987e+02] [ 4.27218786e-04 1.36886426e-05 9.99999909e-01 -4.57632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters 0.05198067667041686 Centerline is valid? [True, True] Translation: X:587.85, Y:-174.53, Z:-4.58 [[ 7.86087265e-01 6.18115393e-01 4.15980481e-04 5.87851747e+02] [-6.18115318e-01 7.86087375e-01 -3.04027365e-04 -1.74530878e+02] [-5.14920998e-04 -1.81318677e-05 9.99999867e-01 -4.57577520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters 0.05424133352257993 Centerline is valid? [True, True] Translation: X:587.91, Y:-174.56, Z:-4.58 [[ 7.86117767e-01 6.18076099e-01 8.90505279e-04 5.87908286e+02] [-6.18075756e-01 7.86118270e-01 -6.52214548e-04 -1.74557392e+02] [-1.10316069e-03 -3.76822795e-05 9.99999391e-01 -4.57900426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters 0.057017329018629506 Centerline is valid? [True, True] Translation: X:587.96, Y:-174.59, Z:-4.58 [[ 7.85414282e-01 6.18970435e-01 7.33854589e-05 5.87964140e+02] [-6.18970433e-01 7.85414286e-01 -5.35599888e-05 -1.74586415e+02] [-9.07900376e-05 -3.35664908e-06 9.99999996e-01 -4.58220342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters 0.05200230657118069 Centerline is valid? [True, True] Translation: X:588.00, Y:-174.64, Z:-4.58 [[ 7.85081226e-01 6.19392535e-01 -5.97069632e-04 5.88000179e+02] [-6.19392380e-01 7.85081452e-01 4.39057959e-04 -1.74641992e+02] [ 7.40697516e-04 2.51242201e-05 9.99999725e-01 -4.57867095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters 0.054464683112142066 Centerline is valid? [True, True] Translation: X:588.06, Y:-174.67, Z:-4.58 [[ 7.84811696e-01 6.19734292e-01 -9.78394837e-05 5.88059382e+02] [-6.19734288e-01 7.84811702e-01 7.23364999e-05 -1.74665007e+02] [ 1.21614981e-04 3.86395154e-06 9.99999993e-01 -4.58200535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters 0.05378433238777324 Centerline is valid? [True, True] Translation: X:588.11, Y:-174.71, Z:-4.58 [[ 7.84342041e-01 6.20328266e-01 6.37089146e-04 5.88106683e+02] [-6.20328091e-01 7.84342299e-01 -4.66628963e-04 -1.74705576e+02] [-7.89159101e-04 -2.92075809e-05 9.99999688e-01 -4.58132846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters 0.05492226724815011 Centerline is valid? [True, True] Translation: X:588.16, Y:-174.74, Z:-4.58 [[ 7.85174915e-01 6.19273999e-01 2.56981599e-04 5.88159113e+02] [-6.19273971e-01 7.85174957e-01 -1.88331091e-04 -1.74738860e+02] [-3.18404064e-04 -1.12691672e-05 9.99999949e-01 -4.58431391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters 0.052866145314638645 Centerline is valid? [True, True] Translation: X:588.20, Y:-174.78, Z:-4.58 [[ 7.85469069e-01 6.18900692e-01 5.24354986e-04 5.88203525e+02] [-6.18900573e-01 7.85469244e-01 -3.83966391e-04 -1.74783102e+02] [-6.49501779e-04 -2.29298781e-05 9.99999789e-01 -4.58372273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters 0.05280531741717096 Centerline is valid? [True, True] Translation: X:588.25, Y:-174.82, Z:-4.58 [[ 7.86359856e-01 6.17768003e-01 9.33518271e-04 5.88250051e+02] [-6.17767625e-01 7.86360409e-01 -6.84679972e-04 -1.74823538e+02] [-1.15705519e-03 -3.82925210e-05 9.99999330e-01 -4.58445743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters 0.0531714584776285 Centerline is valid? [True, True] Translation: X:588.30, Y:-174.86, Z:-4.59 [[ 7.87462116e-01 6.16362150e-01 1.05632491e-03 5.88299829e+02] [-6.16361664e-01 7.87462823e-01 -7.74987335e-04 -1.74858743e+02] [-1.30948946e-03 -4.08050126e-05 9.99999142e-01 -4.58554714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters 0.05347397611309917 Centerline is valid? [True, True] Translation: X:588.35, Y:-174.89, Z:-4.59 [[ 7.90518093e-01 6.12430688e-01 3.12992208e-03 5.88349517e+02] [-6.12426385e-01 7.90524283e-01 -2.29817678e-03 -1.74893991e+02] [-3.88175340e-03 -1.00096541e-04 9.99992461e-01 -4.58610070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters 0.0530762476173976 Centerline is valid? [True, True] Translation: X:588.40, Y:-174.93, Z:-4.59 [[ 7.93191653e-01 6.08952758e-01 4.85189854e-03 5.88400642e+02] [-6.08942342e-01 7.93206482e-01 -3.56384805e-03 -1.74926723e+02] [-6.01877246e-03 -1.27711938e-04 9.99981879e-01 -4.58644541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters 0.05259218358470986 Centerline is valid? [True, True] Translation: X:588.45, Y:-174.96, Z:-4.59 [[ 7.95913820e-01 6.05381667e-01 5.85058113e-03 5.88449638e+02] [-6.05366424e-01 7.95935313e-01 -4.29770838e-03 -1.74963351e+02] [-7.25843799e-03 -1.21139883e-04 9.99973650e-01 -4.58708713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters 0.05245370346807888 Centerline is valid? [True, True] Translation: X:588.50, Y:-175.00, Z:-4.59 [[ 7.96560872e-01 6.04530630e-01 5.78744829e-03 5.88499790e+02] [-6.04515690e-01 7.96581889e-01 -4.25149255e-03 -1.75000086e+02] [-7.18033395e-03 -1.12030686e-04 9.99974215e-01 -4.58765395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters 0.0528140569418441 Centerline is valid? [True, True] Translation: X:588.55, Y:-175.03, Z:-4.59 [[ 7.98687015e-01 6.01727646e-01 4.78447464e-03 5.88549270e+02] [-6.01717381e-01 7.98701343e-01 -3.51547403e-03 -1.75034433e+02] [-5.93672423e-03 -7.11380826e-05 9.99982375e-01 -4.58968161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters 0.0527184126692368 Centerline is valid? [True, True] Translation: X:588.60, Y:-175.07, Z:-4.59 [[ 8.00019871e-01 5.99960411e-01 3.96369001e-03 5.88597632e+02] [-5.99953346e-01 8.00029689e-01 -2.91214966e-03 -1.75074177e+02] [-4.91824419e-03 -4.82514907e-05 9.99987904e-01 -4.59092854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters 0.053134999570147945 Centerline is valid? [True, True] Translation: X:588.65, Y:-175.11, Z:-4.59 [[ 8.01539398e-01 5.97934998e-01 2.88638923e-03 5.88647887e+02] [-5.97931237e-01 8.01544595e-01 -2.12091961e-03 -1.75108590e+02] [-3.58174175e-03 -2.58616509e-05 9.99993585e-01 -4.59310561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters 0.052445689987561196 Centerline is valid? [True, True] Translation: X:588.70, Y:-175.15, Z:-4.59 [[ 8.03178570e-01 5.95730891e-01 2.98150332e-03 5.88697147e+02] [-5.95726862e-01 8.03184104e-01 -2.19130055e-03 -1.75146407e+02] [-3.70012150e-03 -1.61559745e-05 9.99993154e-01 -4.59277269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters 0.0531004021010774 Centerline is valid? [True, True] Translation: X:588.75, Y:-175.18, Z:-4.59 [[ 8.05000497e-01 5.93263664e-01 3.52486602e-03 5.88748256e+02] [-5.93258003e-01 8.05008214e-01 -2.59173827e-03 -1.75182528e+02] [-4.37513024e-03 -4.80437557e-06 9.99990429e-01 -4.59388513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters 0.05258138247339997 Centerline is valid? [True, True] Translation: X:588.80, Y:-175.22, Z:-4.59 [[ 8.06200762e-01 5.91626946e-01 4.22947312e-03 5.88798518e+02] [-5.91618771e-01 8.06211856e-01 -3.11015486e-03 -1.75218607e+02] [-5.24990279e-03 5.17352994e-06 9.99986219e-01 -4.59481293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters 0.052849910511039426 Centerline is valid? [True, True] Translation: X:588.85, Y:-175.25, Z:-4.59 [[ 8.05919467e-01 5.92007275e-01 4.60430968e-03 5.88849710e+02] [-5.91997592e-01 8.05932619e-01 -3.38593303e-03 -1.75254873e+02] [-5.71526034e-03 3.04909542e-06 9.99983668e-01 -4.59417289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters 0.05304849980849054 Centerline is valid? [True, True] Translation: X:588.90, Y:-175.29, Z:-4.59 [[ 8.03571789e-01 5.95187898e-01 4.87291540e-03 5.88902387e+02] [-5.95177104e-01 8.03586564e-01 -3.58470992e-03 -1.75288883e+02] [-6.04938531e-03 -1.96759074e-05 9.99981702e-01 -4.59483306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters 0.05295534119806282 Centerline is valid? [True, True] Translation: X:588.95, Y:-175.32, Z:-4.60 [[ 8.01605273e-01 5.97833985e-01 4.84897255e-03 5.88953604e+02] [-5.97823343e-01 8.01619938e-01 -3.56737890e-03 -1.75321642e+02] [-6.01973342e-03 -3.91992418e-05 9.99981880e-01 -4.59626228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters 0.05277166255738317 Centerline is valid? [True, True] Translation: X:589.01, Y:-175.35, Z:-4.60 [[ 7.99521512e-01 6.00617264e-01 4.92474684e-03 5.89005533e+02] [-6.00606337e-01 7.99536677e-01 -3.62357986e-03 -1.75353540e+02] [-6.11390034e-03 -6.07041110e-05 9.99981308e-01 -4.59676391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters 0.053358993773667755 Centerline is valid? [True, True] Translation: X:589.06, Y:-175.39, Z:-4.60 [[ 7.97545622e-01 6.03237287e-01 5.07502392e-03 5.89057099e+02] [-6.03225732e-01 7.97561765e-01 -3.73465139e-03 -1.75387887e+02] [-6.30052600e-03 -8.28301551e-05 9.99980148e-01 -4.59697399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters 0.05346511689277278 Centerline is valid? [True, True] Translation: X:589.11, Y:-175.42, Z:-4.60 [[ 7.95462650e-01 6.05980912e-01 5.12912551e-03 5.89107139e+02] [-6.05969165e-01 7.95479179e-01 -3.77462241e-03 -1.75423834e+02] [-6.36746168e-03 -1.05520762e-04 9.99979722e-01 -4.59772377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters 0.05274533139697633 Centerline is valid? [True, True] Translation: X:589.16, Y:-175.46, Z:-4.60 [[ 7.93165533e-01 6.08993683e-01 3.88987654e-03 5.89158127e+02] [-6.08986960e-01 7.93175066e-01 -2.86322798e-03 -1.75456298e+02] [-4.82904083e-03 -9.78703411e-05 9.99988335e-01 -4.59906234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters 0.05263116749573229 Centerline is valid? [True, True] Translation: X:589.21, Y:-175.49, Z:-4.60 [[ 7.92203166e-01 6.10236921e-01 5.00434241e-03 5.89209789e+02] [-6.10225816e-01 7.92218961e-01 -3.68391601e-03 -1.75491434e+02] [-6.21259651e-03 -1.35369006e-04 9.99980692e-01 -4.59839385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters 0.05338037287125369 Centerline is valid? [True, True] Translation: X:589.26, Y:-175.53, Z:-4.60 [[ 7.92212943e-01 6.10226024e-01 4.78045651e-03 5.89260899e+02] [-6.10215886e-01 7.92227356e-01 -3.51986778e-03 -1.75526769e+02] [-5.93512334e-03 -1.28625689e-04 9.99982379e-01 -4.59887034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters 0.0528934066494025 Centerline is valid? [True, True] Translation: X:589.31, Y:-175.57, Z:-4.60 [[ 7.92849128e-01 6.09398251e-01 4.90233642e-03 5.89308479e+02] [-6.09387568e-01 7.92864274e-01 -3.61054484e-03 -1.75566476e+02] [-6.08714712e-03 -1.24805540e-04 9.99981465e-01 -4.59956499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters 0.05329457890893599 Centerline is valid? [True, True] Translation: X:589.36, Y:-175.60, Z:-4.60 [[ 7.93173799e-01 6.08968838e-01 5.68155123e-03 5.89359315e+02] [-6.08954469e-01 7.93194135e-01 -4.18559322e-03 -1.75599995e+02] [-7.05546895e-03 -1.39903136e-04 9.99975100e-01 -4.59992987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters 0.052920970581373745 Centerline is valid? [True, True] Translation: X:589.41, Y:-175.64, Z:-4.60 [[ 7.92797608e-01 6.09457690e-01 5.76870344e-03 5.89408970e+02] [-6.09442883e-01 7.92818582e-01 -4.25074716e-03 -1.75637976e+02] [-7.16418582e-03 -1.45713075e-04 9.99974326e-01 -4.60026913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters 0.05249920630984642 Centerline is valid? [True, True] Translation: X:589.46, Y:-175.68, Z:-4.60 [[ 7.91769560e-01 6.10794359e-01 5.58703389e-03 5.89457096e+02] [-6.10780497e-01 7.91789257e-01 -4.11781039e-03 -1.75676473e+02] [-6.93888878e-03 -1.52094414e-04 9.99975914e-01 -4.60200646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters 0.05212745178749572 Centerline is valid? [True, True] Translation: X:589.51, Y:-175.71, Z:-4.60 [[ 7.90440004e-01 6.12518375e-01 5.08337962e-03 5.89507600e+02] [-6.12506931e-01 7.90456335e-01 -3.74736330e-03 -1.75710873e+02] [-6.31351850e-03 -1.51539388e-04 9.99980058e-01 -4.60240232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters 0.05230482288383346 Centerline is valid? [True, True] Translation: X:589.56, Y:-175.75, Z:-4.60 [[ 7.87823571e-01 6.15881697e-01 4.87405083e-03 5.89557643e+02] [-6.15871235e-01 7.87838630e-01 -3.59382796e-03 -1.75746407e+02] [-6.05333839e-03 -1.70485325e-04 9.99981664e-01 -4.60316722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters 0.053180237414273655 Centerline is valid? [True, True] Translation: X:589.61, Y:-175.78, Z:-4.60 [[ 7.85824797e-01 6.18434206e-01 4.30368973e-03 5.89611508e+02] [-6.18426084e-01 7.85836564e-01 -3.17398010e-03 -1.75775038e+02] [-5.34489461e-03 -1.67321722e-04 9.99985702e-01 -4.60450732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters 0.053898943235752436 Centerline is valid? [True, True] Translation: X:589.66, Y:-175.81, Z:-4.60 [[ 7.83421970e-01 6.21476503e-01 4.11996955e-03 5.89662089e+02] [-6.21469099e-01 7.83432782e-01 -3.03877986e-03 -1.75806899e+02] [-5.11624949e-03 -1.79786857e-04 9.99986896e-01 -4.60498150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters 0.05196071828724475 Centerline is valid? [True, True] Translation: X:589.71, Y:-175.85, Z:-4.61 [[ 7.81762064e-01 6.23563694e-01 4.04911216e-03 5.89705854e+02] [-6.23556571e-01 7.81772527e-01 -2.98653996e-03 -1.75850575e+02] [-5.02778254e-03 -1.90086848e-04 9.99987343e-01 -4.60537589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters 0.053959480146227756 Centerline is valid? [True, True] Translation: X:589.76, Y:-175.88, Z:-4.61 [[ 7.81793328e-01 6.23521368e-01 4.50511431e-03 5.89760457e+02] [-6.23512545e-01 7.81806280e-01 -3.32364153e-03 -1.75879870e+02] [-5.59448818e-03 -2.10594514e-04 9.99984329e-01 -4.60542122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters 0.05337733489799729 Centerline is valid? [True, True] Translation: X:589.81, Y:-175.92, Z:-4.60 [[ 7.82352441e-01 6.22810598e-01 5.62286717e-03 5.89806886e+02] [-6.22796828e-01 7.82372605e-01 -4.14943111e-03 -1.75921072e+02] [-6.98348691e-03 -2.55586281e-04 9.99975582e-01 -4.60440191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters 0.05531146249930105 Centerline is valid? [True, True] Translation: X:589.86, Y:-175.95, Z:-4.60 [[ 7.84568149e-01 6.20011284e-01 6.23113253e-03 5.89859197e+02] [-6.19994283e-01 7.84592852e-01 -4.59853766e-03 -1.75951514e+02] [-7.74004728e-03 -2.55400361e-04 9.99970013e-01 -4.60406323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters 0.05277390541112194 Centerline is valid? [True, True] Translation: X:589.90, Y:-176.00, Z:-4.61 [[ 7.86753697e-01 6.17241481e-01 5.61914016e-03 5.89899492e+02] [-6.17227584e-01 7.86773736e-01 -4.14691510e-03 -1.75999817e+02] [-6.98063991e-03 -2.05687517e-04 9.99975614e-01 -4.60617714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters 0.05289419324886539 Centerline is valid? [True, True] Translation: X:589.95, Y:-176.04, Z:-4.61 [[ 7.87872615e-01 6.15824151e-01 4.16620632e-03 5.89948129e+02] [-6.15816492e-01 7.87883618e-01 -3.07465156e-03 -1.76038034e+02] [-5.17593039e-03 -1.43184789e-04 9.99986595e-01 -4.60725225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters 0.05258619755300137 Centerline is valid? [True, True] Translation: X:589.99, Y:-176.08, Z:-4.61 [[ 7.88843478e-01 6.14584073e-01 3.51919044e-03 5.89994179e+02] [-6.14578595e-01 7.88851320e-01 -2.59737187e-03 -1.76078601e+02] [-4.37242140e-03 -1.13899256e-04 9.99990434e-01 -4.60757140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters 0.05183579137534539 Centerline is valid? [True, True] Translation: X:590.04, Y:-176.12, Z:-4.61 [[ 7.88833041e-01 6.14598253e-01 3.37930231e-03 5.90041559e+02] [-6.14593204e-01 7.88840272e-01 -2.49375232e-03 -1.76121006e+02] [-4.19838557e-03 -1.09742003e-04 9.99991181e-01 -4.60767331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters 0.05226995339467994 Centerline is valid? [True, True] Translation: X:590.09, Y:-176.16, Z:-4.61 [[ 7.88743651e-01 6.14716525e-01 2.65449513e-03 5.90091162e+02] [-6.14713409e-01 7.88748113e-01 -1.95916430e-03 -1.76160241e+02] [-3.29805870e-03 -8.64753470e-05 9.99994558e-01 -4.60796574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters 0.05164293389675187 Centerline is valid? [True, True] Translation: X:590.14, Y:-176.20, Z:-4.61 [[ 7.88499707e-01 6.15030690e-01 2.33728665e-03 5.90138743e+02] [-6.15028274e-01 7.88503167e-01 -1.72545494e-03 -1.76200090e+02] [-2.90416567e-03 -7.69766657e-05 9.99995780e-01 -4.60881826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters 0.05214035508724446 Centerline is valid? [True, True] Translation: X:590.19, Y:-176.24, Z:-4.61 [[ 7.88127316e-01 6.15509908e-01 1.69906816e-03 5.90187512e+02] [-6.15508632e-01 7.88129146e-01 -1.25437654e-03 -1.76236439e+02] [-2.11116633e-03 -5.71827053e-05 9.99997770e-01 -4.60950013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters 0.0518065676032312 Centerline is valid? [True, True] Translation: X:590.24, Y:-176.28, Z:-4.61 [[ 7.87276361e-01 6.16595762e-01 2.36581910e-03 5.90235534e+02] [-6.16593292e-01 7.87279911e-01 -1.74738726e-03 -1.76275040e+02] [-2.93999343e-03 -8.30715048e-05 9.99995675e-01 -4.60852834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters 0.053812104356885236 Centerline is valid? [True, True] Translation: X:590.29, Y:-176.30, Z:-4.61 [[ 7.86373671e-01 6.17744494e-01 2.86185734e-03 5.90290633e+02] [-6.17740883e-01 7.86378872e-01 -2.11465530e-03 -1.76302411e+02] [-3.55682082e-03 -1.04977029e-04 9.99993669e-01 -4.60949496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters 0.053086603171074304 Centerline is valid? [True, True] Translation: X:590.34, Y:-176.34, Z:-4.61 [[ 7.85437648e-01 6.18932172e-01 3.26604296e-03 5.90338468e+02] [-6.18927479e-01 7.85444429e-01 -2.41349598e-03 -1.76341495e+02] [-4.05908556e-03 -1.25793134e-04 9.99991754e-01 -4.60917772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters 0.05403913093985858 Centerline is valid? [True, True] Translation: X:590.39, Y:-176.38, Z:-4.61 [[ 7.84442412e-01 6.20193844e-01 3.11419690e-03 5.90389697e+02] [-6.20189585e-01 7.84448583e-01 -2.30206704e-03 -1.76375769e+02] [-3.87065515e-03 -1.25553461e-04 9.99992501e-01 -4.60961392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters 0.052571733630085646 Centerline is valid? [True, True] Translation: X:590.44, Y:-176.42, Z:-4.61 [[ 7.83706601e-01 6.21123889e-01 3.01283352e-03 5.90436889e+02] [-6.21119911e-01 7.83712382e-01 -2.22683198e-03 -1.76415828e+02] [-3.74433347e-03 -1.26147962e-04 9.99992982e-01 -4.60983337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters 0.052247324815090326 Centerline is valid? [True, True] Translation: X:590.49, Y:-176.46, Z:-4.61 [[ 7.83373254e-01 6.21542312e-01 3.39109124e-03 5.90485435e+02] [-6.21537273e-01 7.83380580e-01 -2.50699150e-03 -1.76455461e+02] [-4.21471632e-03 -1.43779511e-04 9.99991108e-01 -4.60998238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters 0.05160651354048684 Centerline is valid? [True, True] Translation: X:590.53, Y:-176.50, Z:-4.61 [[ 7.83127652e-01 6.21853182e-01 3.11479188e-03 5.90532637e+02] [-6.21848931e-01 7.83133835e-01 -2.30314739e-03 -1.76495695e+02] [-3.87151844e-03 -1.33271595e-04 9.99992497e-01 -4.61075723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters 0.053388461946000915 Centerline is valid? [True, True] Translation: X:590.59, Y:-176.52, Z:-4.61 [[ 7.83203825e-01 6.21759906e-01 2.52744951e-03 5.90587940e+02] [-6.21757105e-01 7.83207896e-01 -1.86913518e-03 -1.76524350e+02] [-3.14167172e-03 -1.07545865e-04 9.99995059e-01 -4.61267058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters 0.05269829742771352 Centerline is valid? [True, True] Translation: X:590.63, Y:-176.57, Z:-4.61 [[ 7.83275181e-01 6.21672283e-01 1.88767975e-03 5.90634619e+02] [-6.21670720e-01 7.83277452e-01 -1.39604483e-03 -1.76565168e+02] [-2.34645936e-03 -8.00279636e-05 9.99997244e-01 -4.61332666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters 0.052168772422351066 Centerline is valid? [True, True] Translation: X:590.68, Y:-176.60, Z:-4.61 [[ 7.83647605e-01 6.21202778e-01 1.88150710e-03 5.90684118e+02] [-6.21201224e-01 7.83649860e-01 -1.39177917e-03 -1.76603207e+02] [-2.33901987e-03 -7.81301018e-05 9.99997261e-01 -4.61393437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters 0.052398116686570524 Centerline is valid? [True, True] Translation: X:590.73, Y:-176.64, Z:-4.61 [[ 7.84615297e-01 6.19979125e-01 2.17260745e-03 5.90732812e+02] [-6.19977045e-01 7.84618300e-01 -1.60807923e-03 -1.76641255e+02] [-2.70164312e-03 -8.52431873e-05 9.99996347e-01 -4.61469786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters 0.05119538255310139 Centerline is valid? [True, True] Translation: X:590.78, Y:-176.69, Z:-4.61 [[ 7.86730019e-01 6.17294165e-01 1.94685704e-03 5.90776630e+02] [-6.17292488e-01 7.86732425e-01 -1.44073439e-03 -1.76685921e+02] [-2.42101250e-03 -6.83112284e-05 9.99997067e-01 -4.61379501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters 0.05145096819401677 Centerline is valid? [True, True] Translation: X:590.82, Y:-176.72, Z:-4.62 [[ 7.88809965e-01 6.14635033e-01 1.61719380e-03 5.90824562e+02] [-6.14633869e-01 7.88811621e-01 -1.19711649e-03 -1.76724931e+02] [-2.01145099e-03 -4.96846637e-05 9.99997976e-01 -4.61515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters 0.05135719751551072 Centerline is valid? [True, True] Translation: X:590.87, Y:-176.76, Z:-4.62 [[ 7.90217877e-01 6.12824659e-01 1.28249752e-03 5.90872371e+02] [-6.12823924e-01 7.90218917e-01 -9.49427242e-04 -1.76763308e+02] [-1.59528623e-03 -3.56907848e-05 9.99998727e-01 -4.61592390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters 0.05200405240835391 Centerline is valid? [True, True] Translation: X:590.92, Y:-176.80, Z:-4.62 [[ 7.91437079e-01 6.11249552e-01 1.15494213e-03 5.90919118e+02] [-6.11248956e-01 7.91437922e-01 -8.54458098e-04 -1.76802935e+02] [-1.43635213e-03 -2.97073472e-05 9.99998968e-01 -4.61571424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters 0.05173560160067717 Centerline is valid? [True, True] Translation: X:590.97, Y:-176.84, Z:-4.62 [[ 7.92876202e-01 6.09381290e-01 1.33121026e-03 5.90967893e+02] [-6.09380493e-01 7.92877319e-01 -9.85713947e-04 -1.76838731e+02] [-1.65616206e-03 -2.96644340e-05 9.99998628e-01 -4.61697813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters 0.05204093746133526 Centerline is valid? [True, True] Translation: X:591.02, Y:-176.88, Z:-4.62 [[ 7.93575750e-01 6.08470146e-01 1.26888859e-03 5.91017055e+02] [-6.08469422e-01 7.93576764e-01 -9.39057088e-04 -1.76875021e+02] [-1.57834870e-03 -2.68669739e-05 9.99998754e-01 -4.61754152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters 0.05183625655573342 Centerline is valid? [True, True] Translation: X:591.07, Y:-176.92, Z:-4.62 [[ 7.93668584e-01 6.08349717e-01 8.94628540e-04 5.91065155e+02] [-6.08349357e-01 7.93669088e-01 -6.61739729e-04 -1.76916109e+02] [-1.11260819e-03 -1.90446635e-05 9.99999381e-01 -4.61652022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters 0.052271164720484486 Centerline is valid? [True, True] Translation: X:591.11, Y:-176.95, Z:-4.62 [[ 7.93782179e-01 6.08201286e-01 1.02401695e-03 5.91114378e+02] [-6.08200814e-01 7.93782839e-01 -7.57998277e-04 -1.76951662e+02] [-1.27386261e-03 -2.11224198e-05 9.99999188e-01 -4.61772799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters 0.051957327883945026 Centerline is valid? [True, True] Translation: X:591.16, Y:-176.99, Z:-4.62 [[ 7.93540515e-01 6.08516773e-01 8.87367017e-04 5.91162995e+02] [-6.08516419e-01 7.93541011e-01 -6.56653361e-04 -1.76991277e+02] [-1.10374670e-03 -1.88963532e-05 9.99999391e-01 -4.61736438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters 0.05177054033091918 Centerline is valid? [True, True] Translation: X:591.21, Y:-177.03, Z:-4.62 [[ 7.93316001e-01 6.08809877e-01 5.06903330e-04 5.91213872e+02] [-6.08809761e-01 7.93316163e-01 -3.74913219e-04 -1.77025002e+02] [-6.30385475e-04 -1.11830402e-05 9.99999801e-01 -4.61907069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters 0.051503879335576555 Centerline is valid? [True, True] Translation: X:591.26, Y:-177.06, Z:-4.62 [[ 7.93735845e-01 6.08262608e-01 -8.49753477e-05 5.91263397e+02] [-6.08262605e-01 7.93735850e-01 6.40360640e-05 -1.77063265e+02] [ 1.06398723e-04 8.59606986e-07 9.99999994e-01 -4.61902138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters 0.051700887874960764 Centerline is valid? [True, True] Translation: X:591.31, Y:-177.10, Z:-4.62 [[ 7.94493036e-01 6.07273250e-01 -1.25402949e-04 5.91312587e+02] [-6.07273243e-01 7.94493046e-01 9.40643624e-05 -1.77101823e+02] [ 1.56754542e-04 1.42037480e-06 9.99999988e-01 -4.61847632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters 0.05244940875289325 Centerline is valid? [True, True] Translation: X:591.36, Y:-177.14, Z:-4.62 [[ 7.95636970e-01 6.05773682e-01 -2.43081701e-04 5.91362295e+02] [-6.05773655e-01 7.95637007e-01 1.81407038e-04 -1.77139179e+02] [ 3.03296406e-04 2.91834471e-06 9.99999954e-01 -4.61884901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters 0.05197774524124286 Centerline is valid? [True, True] Translation: X:591.41, Y:-177.18, Z:-4.62 [[ 7.97884761e-01 6.02809682e-01 -6.28846343e-04 5.91411699e+02] [-6.02809501e-01 7.97885009e-01 4.67025664e-04 -1.77176321e+02] [ 7.83274662e-04 6.44189043e-06 9.99999693e-01 -4.61913529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters 0.05197032309828778 Centerline is valid? [True, True] Translation: X:591.46, Y:-177.21, Z:-4.62 [[ 8.00077564e-01 5.99895766e-01 -9.81159478e-04 5.91460270e+02] [-5.99895322e-01 8.00078165e-01 7.29226096e-04 -1.77213222e+02] [ 1.22246392e-03 5.15554338e-06 9.99999253e-01 -4.61962400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters 0.0523020447420845 Centerline is valid? [True, True] Translation: X:591.51, Y:-177.25, Z:-4.62 [[ 8.01509828e-01 5.97980827e-01 -9.62746058e-04 5.91508742e+02] [-5.97980399e-01 8.01510406e-01 7.15228919e-04 -1.77250275e+02] [ 1.19934416e-03 2.44026443e-06 9.99999281e-01 -4.62046016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters 0.052514045916415474 Centerline is valid? [True, True] Translation: X:591.56, Y:-177.29, Z:-4.62 [[ 8.02821299e-01 5.96218055e-01 -1.41169516e-03 5.91558575e+02] [-5.96217132e-01 8.02822540e-01 1.04895129e-03 -1.77288035e+02] [ 1.75874439e-03 -4.43597549e-07 9.99998453e-01 -4.61900969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters 0.05240214991634663 Centerline is valid? [True, True] Translation: X:591.61, Y:-177.32, Z:-4.62 [[ 8.03186270e-01 5.95724336e-01 -2.08127871e-03 5.91609151e+02] [-5.95722328e-01 8.03188966e-01 1.54672362e-03 -1.77324205e+02] [ 2.59308100e-03 -2.44297455e-06 9.99996638e-01 -4.61883210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters 0.05255121463963202 Centerline is valid? [True, True] Translation: X:591.66, Y:-177.36, Z:-4.62 [[ 8.02634678e-01 5.96466468e-01 -2.30783785e-03 5.91659573e+02] [-5.96464001e-01 8.02637996e-01 1.71548798e-03 -1.77360936e+02] [ 2.87558940e-03 -3.67947829e-07 9.99995865e-01 -4.61956515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters 0.052688676803083215 Centerline is valid? [True, True] Translation: X:591.71, Y:-177.40, Z:-4.62 [[ 8.01540555e-01 5.97937811e-01 -1.76429367e-03 5.91710623e+02] [-5.97936372e-01 8.01542497e-01 1.31190407e-03 -1.77396514e+02] [ 2.19859340e-03 3.39104286e-06 9.99997583e-01 -4.61936422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters 0.05270452545052878 Centerline is valid? [True, True] Translation: X:591.76, Y:-177.43, Z:-4.62 [[ 8.00736782e-01 5.99015522e-01 -1.00516715e-03 5.91761129e+02] [-5.99015055e-01 8.00737413e-01 7.48062508e-04 -1.77432518e+02] [ 1.25297600e-03 3.10908940e-06 9.99999215e-01 -4.61861196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters 0.05190352614292477 Centerline is valid? [True, True] Translation: X:591.81, Y:-177.47, Z:-4.62 [[ 7.99186285e-01 6.01083137e-01 -5.86278732e-04 5.91811784e+02] [-6.01082979e-01 7.99186500e-01 4.36337944e-04 -1.77467186e+02] [ 7.30821428e-04 3.68686627e-06 9.99999733e-01 -4.61906441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters 0.05212859364735164 Centerline is valid? [True, True] Translation: X:591.86, Y:-177.51, Z:-4.62 [[ 7.97823216e-01 6.02891350e-01 -3.69848877e-04 5.91860545e+02] [-6.02891286e-01 7.97823302e-01 2.75970617e-04 -1.77505856e+02] [ 4.61454350e-04 2.80290050e-06 9.99999894e-01 -4.61610968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters 0.05162204287815253 Centerline is valid? [True, True] Translation: X:591.91, Y:-177.54, Z:-4.62 [[ 7.95564477e-01 6.05868835e-01 -3.44546785e-04 5.91913808e+02] [-6.05868781e-01 7.95564551e-01 2.56530531e-04 -1.77537886e+02] [ 4.29533062e-04 4.66356259e-06 9.99999908e-01 -4.61986103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters 0.0518989984534655 Centerline is valid? [True, True] Translation: X:591.96, Y:-177.57, Z:-4.62 [[ 7.93874996e-01 6.08080956e-01 -2.04173273e-04 5.91963114e+02] [-6.08080937e-01 7.93875022e-01 1.52800616e-04 -1.77574749e+02] [ 2.55003206e-04 2.84928684e-06 9.99999967e-01 -4.61909125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters 0.052767354910935066 Centerline is valid? [True, True] Translation: X:592.02, Y:-177.61, Z:-4.62 [[ 7.91106014e-01 6.11678864e-01 -4.91422647e-04 5.92015754e+02] [-6.11678755e-01 7.91106167e-01 3.66378186e-04 -1.77605845e+02] [ 6.12873279e-04 1.07488058e-05 9.99999812e-01 -4.62240128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters 0.05272105415769011 Centerline is valid? [True, True] Translation: X:592.06, Y:-177.64, Z:-4.62 [[ 7.89429790e-01 6.13839893e-01 -1.09258360e-03 5.92064776e+02] [-6.13839354e-01 7.89430545e-01 8.13634824e-04 -1.77642354e+02] [ 1.36196038e-03 2.83632447e-05 9.99999072e-01 -4.62278340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters 0.05203422979338706 Centerline is valid? [True, True] Translation: X:592.11, Y:-177.68, Z:-4.62 [[ 7.88240740e-01 6.15365335e-01 -1.42866925e-03 5.92111172e+02] [-6.15364417e-01 7.88242033e-01 1.06348479e-03 -1.77683528e+02] [ 1.78056882e-03 4.08701826e-05 9.99998414e-01 -4.62043598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters 0.05188690170860536 Centerline is valid? [True, True] Translation: X:592.16, Y:-177.72, Z:-4.62 [[ 7.88045719e-01 6.15615531e-01 -1.20929936e-03 5.92162347e+02] [-6.15614873e-01 7.88046646e-01 9.01100497e-04 -1.77718291e+02] [ 1.50771577e-03 3.43542817e-05 9.99998863e-01 -4.62195436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters 0.0519817762017271 Centerline is valid? [True, True] Translation: X:592.21, Y:-177.75, Z:-4.62 [[ 7.88601420e-01 6.14904704e-01 7.54790361e-05 5.92212183e+02] [-6.14904701e-01 7.88601424e-01 -5.52590893e-05 -1.77753260e+02] [-9.35019495e-05 -2.83501790e-06 9.99999996e-01 -4.62306357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters 0.05159933051797241 Centerline is valid? [True, True] Translation: X:592.26, Y:-177.79, Z:-4.62 [[ 7.89036228e-01 6.14346433e-01 5.39201457e-04 5.92259518e+02] [-6.14346302e-01 7.89036413e-01 -4.00447170e-04 -1.77793998e+02] [-6.71462874e-04 -1.52890961e-05 9.99999774e-01 -4.62258502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters 0.05243943748684979 Centerline is valid? [True, True] Translation: X:592.31, Y:-177.83, Z:-4.62 [[ 7.88356910e-01 6.15217770e-01 -6.91385670e-04 5.92306812e+02] [-6.15217555e-01 7.88357213e-01 5.15111067e-04 -1.77834634e+02] [ 8.61964361e-04 1.92612322e-05 9.99999628e-01 -4.62235254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters 0.052799593279351346 Centerline is valid? [True, True] Translation: X:592.36, Y:-177.86, Z:-4.63 [[ 7.87068280e-01 6.16865050e-01 -1.01623213e-03 5.92361824e+02] [-6.16864585e-01 7.87068936e-01 7.57824712e-04 -1.77863284e+02] [ 1.26732032e-03 3.04178199e-05 9.99999196e-01 -4.62690566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters 0.05215665962335676 Centerline is valid? [True, True] Translation: X:592.41, Y:-177.90, Z:-4.63 [[ 7.86928878e-01 6.17043287e-01 -7.24101809e-04 5.92413459e+02] [-6.17043050e-01 7.86929210e-01 5.40511479e-04 -1.77899009e+02] [ 9.03335844e-04 2.14578973e-05 9.99999592e-01 -4.62824238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters 0.05210475472495021 Centerline is valid? [True, True] Translation: X:592.46, Y:-177.94, Z:-4.63 [[ 7.88591564e-01 6.14917085e-01 5.68481984e-04 5.92459155e+02] [-6.14916939e-01 7.88591769e-01 -4.23360937e-04 -1.77940896e+02] [-7.08632087e-04 -1.57103378e-05 9.99999749e-01 -4.62596189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters 0.051579015325122504 Centerline is valid? [True, True] Translation: X:592.51, Y:-177.98, Z:-4.62 [[ 7.90700245e-01 6.12201659e-01 1.50033302e-03 5.92505657e+02] [-6.12200640e-01 7.90701668e-01 -1.11752340e-03 -1.77981874e+02] [-1.87046550e-03 -3.48788062e-05 9.99998250e-01 -4.62488612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters 0.0522440408786959 Centerline is valid? [True, True] Translation: X:592.56, Y:-178.02, Z:-4.63 [[ 7.91807593e-01 6.10769263e-01 1.28165744e-03 5.92556589e+02] [-6.10768519e-01 7.91808630e-01 -9.54091878e-04 -1.78016403e+02] [-1.59755742e-03 -2.73388252e-05 9.99998724e-01 -4.62689386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters 0.051521598691343255 Centerline is valid? [True, True] Translation: X:592.60, Y:-178.06, Z:-4.63 [[ 7.93182963e-01 6.08982696e-01 9.29182123e-04 5.92603675e+02] [-6.08982304e-01 7.93183507e-01 -6.91581998e-04 -1.78056693e+02] [-1.15817340e-03 -1.73044116e-05 9.99999329e-01 -4.62699779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters 0.05175925404538189 Centerline is valid? [True, True] Translation: X:592.65, Y:-178.09, Z:-4.63 [[ 7.94008278e-01 6.07906387e-01 8.24261498e-04 5.92653320e+02] [-6.07906078e-01 7.94008706e-01 -6.13584968e-04 -1.78092019e+02] [-1.02747303e-03 -1.38820310e-05 9.99999472e-01 -4.62888896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters 0.05149946518729554 Centerline is valid? [True, True] Translation: X:592.70, Y:-178.13, Z:-4.63 [[ 7.94000297e-01 6.07916869e-01 7.79740023e-04 5.92702052e+02] [-6.07916593e-01 7.94000680e-01 -5.80298413e-04 -1.78131863e+02] [-9.71887303e-04 -1.32597854e-05 9.99999528e-01 -4.62742872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters 0.05188295218419341 Centerline is valid? [True, True] Translation: X:592.75, Y:-178.17, Z:-4.63 [[ 7.93883075e-01 6.08070324e-01 -3.80044392e-04 5.92751813e+02] [-6.08070257e-01 7.93883166e-01 2.84533715e-04 -1.78168998e+02] [ 4.74727352e-04 5.20719065e-06 9.99999887e-01 -4.62818274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters 0.05179083271095778 Centerline is valid? [True, True] Translation: X:592.80, Y:-178.20, Z:-4.63 [[ 7.93552374e-01 6.08501691e-01 -5.67256754e-04 5.92804281e+02] [-6.08501543e-01 7.93552577e-01 4.23748387e-04 -1.78201496e+02] [ 7.07999669e-04 8.91007120e-06 9.99999749e-01 -4.63161258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters 0.05196808791306373 Centerline is valid? [True, True] Translation: X:592.85, Y:-178.24, Z:-4.63 [[ 7.94049764e-01 6.07852635e-01 3.81798498e-04 5.92851615e+02] [-6.07852569e-01 7.94049856e-01 -2.83854151e-04 -1.78241468e+02] [-4.75708536e-04 -6.68287625e-06 9.99999887e-01 -4.62877567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters 0.05183325748147549 Centerline is valid? [True, True] Translation: X:592.90, Y:-178.28, Z:-4.63 [[ 7.95470090e-01 6.05990809e-01 1.57351696e-03 5.92900979e+02] [-6.05989673e-01 7.95471646e-01 -1.17334599e-03 -1.78278199e+02] [-1.96272501e-03 -2.01733892e-05 9.99998074e-01 -4.62927082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters 0.05179337091446134 Centerline is valid? [True, True] Translation: X:592.95, Y:-178.32, Z:-4.63 [[ 7.98525484e-01 6.01954582e-01 2.78056498e-03 5.92948156e+02] [-6.01951006e-01 7.98530325e-01 -2.07499953e-03 -1.78315484e+02] [-3.46942094e-03 -1.68238837e-05 9.99993981e-01 -4.63016465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters 0.05155705937711771 Centerline is valid? [True, True] Translation: X:593.00, Y:-178.36, Z:-4.63 [[ 8.01525857e-01 5.97952514e-01 3.01523280e-03 5.92996416e+02] [-5.97948279e-01 8.01531529e-01 -2.25041676e-03 -1.78355643e+02] [-3.76244651e-03 8.13957883e-07 9.99992922e-01 -4.62970208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters 0.05185730401096085 Centerline is valid? [True, True] Translation: X:593.05, Y:-178.39, Z:-4.63 [[ 8.02914116e-01 5.96088980e-01 2.61737931e-03 5.93046294e+02] [-5.96085780e-01 8.02918382e-01 -1.95320765e-03 -1.78392607e+02] [-3.26582751e-03 8.07540705e-06 9.99994667e-01 -4.63081714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters 0.052006141500429974 Centerline is valid? [True, True] Translation: X:593.10, Y:-178.43, Z:-4.63 [[ 8.04601623e-01 5.93812134e-01 1.83763953e-03 5.93095192e+02] [-5.93810551e-01 8.04603722e-01 -1.37139699e-03 -1.78429063e+02] [-2.29292378e-03 1.22185020e-05 9.99997371e-01 -4.63308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters 0.05198415583534871 Centerline is valid? [True, True] Translation: X:593.14, Y:-178.46, Z:-4.63 [[ 8.05736911e-01 5.92270336e-01 1.96950849e-03 5.93144963e+02] [-5.92268511e-01 8.05739318e-01 -1.47048727e-03 -1.78463964e+02] [-2.45783642e-03 1.83480143e-05 9.99996979e-01 -4.63115443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters 0.05269312595290965 Centerline is valid? [True, True] Translation: X:593.20, Y:-178.50, Z:-4.63 [[ 8.06988310e-01 5.90563553e-01 2.13479336e-03 5.93195869e+02] [-5.90561403e-01 8.06991133e-01 -1.59388746e-03 -1.78498800e+02] [-2.66405116e-03 2.55219804e-05 9.99996451e-01 -4.63042904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters 0.0527233847751734 Centerline is valid? [True, True] Translation: X:593.25, Y:-178.53, Z:-4.63 [[ 8.07270572e-01 5.90180473e-01 1.11064292e-03 5.93245956e+02] [-5.90179891e-01 8.07271336e-01 -8.28958027e-04 -1.78533225e+02] [-1.38582504e-03 1.37143016e-05 9.99999040e-01 -4.63166478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters 0.05269420829166305 Centerline is valid? [True, True] Translation: X:593.30, Y:-178.57, Z:-4.63 [[ 8.06152345e-01 5.91707950e-01 3.13569078e-04 5.93296877e+02] [-5.91707904e-01 8.06152406e-01 -2.33733148e-04 -1.78569681e+02] [-3.91086229e-04 2.88322387e-06 9.99999924e-01 -4.63347103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters 0.0523009989415096 Centerline is valid? [True, True] Translation: X:593.35, Y:-178.61, Z:-4.63 [[ 8.04523159e-01 5.93921140e-01 4.07717543e-04 5.93348031e+02] [-5.93921062e-01 8.04523262e-01 -3.04174487e-04 -1.78605557e+02] [-5.08673906e-04 2.56338280e-06 9.99999871e-01 -4.63417815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters 0.05284897335282125 Centerline is valid? [True, True] Translation: X:593.40, Y:-178.64, Z:-4.63 [[ 8.01050844e-01 5.98596249e-01 2.74493067e-04 5.93400929e+02] [-5.98596214e-01 8.01050891e-01 -2.04591680e-04 -1.78637408e+02] [-3.42350728e-04 -4.22173196e-07 9.99999941e-01 -4.63238899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters 0.05220508652342218 Centerline is valid? [True, True] Translation: X:593.45, Y:-178.67, Z:-4.64 [[ 7.97946677e-01 6.02728048e-01 -3.38469887e-05 5.93453944e+02] [-6.02728048e-01 7.97946677e-01 2.56612871e-05 -1.78670612e+02] [ 4.24748694e-05 -7.58093375e-08 9.99999999e-01 -4.63522840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters 0.05249751240318956 Centerline is valid? [True, True] Translation: X:593.51, Y:-178.70, Z:-4.63 [[ 7.92941550e-01 6.09297699e-01 1.09211507e-04 5.93505345e+02] [-6.09297694e-01 7.92941558e-01 -8.13728728e-05 -1.78703956e+02] [-1.36178647e-04 -2.01838722e-06 9.99999991e-01 -4.63374289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters 0.052408780811620155 Centerline is valid? [True, True] Translation: X:593.56, Y:-178.73, Z:-4.63 [[ 7.89871210e-01 6.13272462e-01 5.98793803e-04 5.93557664e+02] [-6.13272299e-01 7.89871437e-01 -4.47620849e-04 -1.78734923e+02] [-7.47483662e-04 -1.36608300e-05 9.99999721e-01 -4.63497100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters 0.053318654997378555 Centerline is valid? [True, True] Translation: X:593.61, Y:-178.76, Z:-4.64 [[ 7.86364203e-01 6.17761773e-01 1.31591200e-03 5.93610157e+02] [-6.17760992e-01 7.86365303e-01 -9.83626215e-04 -1.78764217e+02] [-1.64243421e-03 -3.94306547e-05 9.99998650e-01 -4.63558619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters 0.05457293726145472 Centerline is valid? [True, True] Translation: X:593.66, Y:-178.80, Z:-4.64 [[ 7.84222504e-01 6.20479144e-01 8.34170267e-04 5.93662151e+02] [-6.20478831e-01 7.84222947e-01 -6.23637485e-04 -1.78795935e+02] [-1.04112952e-03 -2.85144424e-05 9.99999458e-01 -4.63739146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters 0.05260786135787928 Centerline is valid? [True, True] Translation: X:593.71, Y:-178.84, Z:-4.64 [[ 7.83144317e-01 6.21839610e-01 6.90838678e-04 5.93708727e+02] [-6.21839397e-01 7.83144622e-01 -5.15752707e-04 -1.78836615e+02] [-8.61742058e-04 -2.56819047e-05 9.99999628e-01 -4.63689216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters 0.052817417967359524 Centerline is valid? [True, True] Translation: X:593.76, Y:-178.87, Z:-4.64 [[ 7.82679832e-01 6.22424311e-01 5.07184676e-04 5.93758964e+02] [-6.22424196e-01 7.82679996e-01 -3.78417566e-04 -1.78873559e+02] [-6.32499594e-04 -1.95042175e-05 9.99999800e-01 -4.63758686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters 0.05284508699550883 Centerline is valid? [True, True] Translation: X:593.81, Y:-178.91, Z:-4.64 [[ 7.83115607e-01 6.21876143e-01 9.40094798e-05 5.93805795e+02] [-6.21876139e-01 7.83115612e-01 -6.93533626e-05 -1.78914005e+02] [-1.16749493e-04 -4.15055173e-06 9.99999993e-01 -4.63839340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters 0.052618528802229274 Centerline is valid? [True, True] Translation: X:593.85, Y:-178.96, Z:-4.64 [[ 7.86982985e-01 6.16974627e-01 -3.03167638e-04 5.93849588e+02] [-6.16974585e-01 7.86983043e-01 2.27049240e-04 -1.78957752e+02] [ 3.78671410e-04 8.36283900e-06 9.99999928e-01 -4.63799240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters 0.05271716677370135 Centerline is valid? [True, True] Translation: X:593.90, Y:-179.00, Z:-4.64 [[ 7.91008873e-01 6.11804646e-01 -1.95260021e-04 5.93896259e+02] [-6.11804628e-01 7.91008897e-01 1.47010016e-04 -1.78995514e+02] [ 2.44393825e-04 3.17475757e-06 9.99999970e-01 -4.63862416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters 0.05243097085685989 Centerline is valid? [True, True] Translation: X:593.94, Y:-179.04, Z:-4.64 [[ 7.98476527e-01 6.02024967e-01 1.08389007e-03 5.93940229e+02] [-6.02024421e-01 7.98477262e-01 -8.10935275e-04 -1.79039547e+02] [-1.35366486e-03 -5.01551109e-06 9.99999084e-01 -4.63729567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters 0.05256147921732528 Centerline is valid? [True, True] Translation: X:593.99, Y:-179.08, Z:-4.64 [[ 8.03753470e-01 5.94959569e-01 1.86310350e-03 5.93986157e+02] [-5.94957937e-01 8.03755629e-01 -1.39356568e-03 -1.79080777e+02] [-2.32659516e-03 1.16150330e-05 9.99997293e-01 -4.63830239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters 0.053002992222034494 Centerline is valid? [True, True] Translation: X:594.03, Y:-179.13, Z:-4.64 [[ 8.11373392e-01 5.84519701e-01 3.15249876e-03 5.94029465e+02] [-5.84514942e-01 8.11379513e-01 -2.35986311e-03 -1.79125118e+02] [-3.93725939e-03 7.20475078e-05 9.99992246e-01 -4.63806600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters 0.05354628091977466 Centerline is valid? [True, True] Translation: X:594.08, Y:-179.16, Z:-4.64 [[ 8.15655374e-01 5.78532139e-01 2.62211232e-03 5.94078742e+02] [-5.78528815e-01 8.15659584e-01 -1.96297847e-03 -1.79159518e+02] [-3.27439717e-03 8.41464037e-05 9.99994636e-01 -4.63829712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters 0.05437465485280459 Centerline is valid? [True, True] Translation: X:594.13, Y:-179.20, Z:-4.64 [[ 8.21321608e-01 5.70460789e-01 2.30328599e-03 5.94127790e+02] [-5.70458192e-01 8.21324831e-01 -1.72418384e-03 -1.79197012e+02] [-2.87532525e-03 1.02181084e-04 9.99995861e-01 -4.63937025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters 0.05471686979388981 Centerline is valid? [True, True] Translation: X:594.18, Y:-179.23, Z:-4.64 [[ 8.24181611e-01 5.66320600e-01 2.37720541e-03 5.94178106e+02] [-5.66317816e-01 8.24185030e-01 -1.77962028e-03 -1.79231826e+02] [-2.96709273e-03 1.20476531e-04 9.99995591e-01 -4.63906866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters 0.05426294449339592 Centerline is valid? [True, True] Translation: X:594.23, Y:-179.26, Z:-4.64 [[ 8.27509303e-01 5.61440478e-01 3.59768653e-03 5.94232127e+02] [-5.61434056e-01 8.27517097e-01 -2.69343132e-03 -1.79263086e+02] [-4.48934848e-03 2.08975731e-04 9.99989901e-01 -4.63845462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters 0.05498543673132815 Centerline is valid? [True, True] Translation: X:594.28, Y:-179.30, Z:-4.64 [[ 8.28688481e-01 5.59693343e-01 4.33161965e-03 5.94284219e+02] [-5.59684005e-01 8.28699760e-01 -3.24394977e-03 -1.79295641e+02] [-5.40522926e-03 2.63885571e-04 9.99985357e-01 -4.64039425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters 0.05562415867464765 Centerline is valid? [True, True] Translation: X:594.33, Y:-179.34, Z:-4.64 [[ 8.27628949e-01 5.61261996e-01 3.91086618e-03 5.94328528e+02] [-5.61254401e-01 8.27638157e-01 -2.92882309e-03 -1.79337514e+02] [-4.88061917e-03 2.28987926e-04 9.99988063e-01 -4.64168486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters 0.05537257691195536 Centerline is valid? [True, True] Translation: X:594.38, Y:-179.37, Z:-4.64 [[ 8.23121103e-01 5.67845118e-01 4.85514445e-03 5.94384005e+02] [-5.67833520e-01 8.23135388e-01 -3.63696338e-03 -1.79365724e+02] [-6.06167311e-03 2.36747548e-04 9.99981600e-01 -4.64200219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters 0.05478051877917409 Centerline is valid? [True, True] Translation: X:594.44, Y:-179.39, Z:-4.64 [[ 8.15620239e-01 5.78568310e-01 4.72614330e-03 5.94439038e+02] [-5.78557498e-01 8.15633917e-01 -3.54047542e-03 -1.79393541e+02] [-5.90320965e-03 1.53337769e-04 9.99982564e-01 -4.64300022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters 0.05414068829351016 Centerline is valid? [True, True] Translation: X:594.50, Y:-179.42, Z:-4.64 [[ 8.09966563e-01 5.86461971e-01 4.06500181e-03 5.94495571e+02] [-5.86454067e-01 8.09976759e-01 -3.04580771e-03 -1.79420317e+02] [-5.07880738e-03 8.30655579e-05 9.99987099e-01 -4.64427509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters 0.054302817689920624 Centerline is valid? [True, True] Translation: X:594.55, Y:-179.45, Z:-4.65 [[ 8.02696862e-01 5.96376421e-01 3.59352164e-03 5.94552547e+02] [-5.96370342e-01 8.02704905e-01 -2.69268940e-03 -1.79445026e+02] [-4.49039392e-03 1.83435993e-05 9.99989918e-01 -4.64526373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters 0.053390936329339965 Centerline is valid? [True, True] Translation: X:594.61, Y:-179.47, Z:-4.65 [[ 7.98429438e-01 6.02069399e-01 4.78241960e-03 5.94608820e+02] [-6.02058734e-01 7.98443761e-01 -3.58354727e-03 -1.79473636e+02] [-5.97603724e-03 -1.80878522e-05 9.99982143e-01 -4.64593607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters 0.05339496132348499 Centerline is valid? [True, True] Translation: X:594.66, Y:-179.51, Z:-4.65 [[ 7.97162171e-01 6.03749805e-01 4.31824772e-03 5.94659887e+02] [-6.03741134e-01 7.97173866e-01 -3.23581557e-03 -1.79506741e+02] [-5.39601725e-03 -2.76340158e-05 9.99985441e-01 -4.64647998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters 0.053736884877215466 Centerline is valid? [True, True] Translation: X:594.71, Y:-179.54, Z:-4.65 [[ 7.97360676e-01 6.03495690e-01 2.98418576e-03 5.94714337e+02] [-6.03491546e-01 7.97366260e-01 -2.23644750e-03 -1.79539501e+02] [-3.72917547e-03 -1.76755855e-05 9.99993046e-01 -4.64886270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters 0.05325574502735903 Centerline is valid? [True, True] Translation: X:594.76, Y:-179.57, Z:-4.65 [[ 7.98832263e-01 6.01550531e-01 1.99360496e-03 5.94764687e+02] [-6.01548675e-01 7.98834750e-01 -1.49423205e-03 -1.79573924e+02] [-2.49141701e-03 -5.60965473e-06 9.99996896e-01 -4.65137420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters 0.05439086480400341 Centerline is valid? [True, True] Translation: X:594.81, Y:-179.61, Z:-4.65 [[ 8.03013167e-01 5.95959317e-01 1.53153727e-03 5.94814258e+02] [-5.95958211e-01 8.03014628e-01 -1.14807171e-03 -1.79611153e+02] [-1.91405086e-03 9.18449048e-06 9.99998168e-01 -4.65135623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters 0.05441027208647679 Centerline is valid? [True, True] Translation: X:594.86, Y:-179.65, Z:-4.65 [[ 8.09407613e-01 5.87244184e-01 1.89328276e-03 5.94862771e+02] [-5.87242470e-01 8.09409826e-01 -1.41966111e-03 -1.79648460e+02] [-2.36612940e-03 3.72684704e-05 9.99997200e-01 -4.65095427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters 0.0545333628599892 Centerline is valid? [True, True] Translation: X:594.91, Y:-179.69, Z:-4.65 [[ 8.13624169e-01 5.81387744e-01 2.00052205e-03 5.94911687e+02] [-5.81385812e-01 8.13626627e-01 -1.50006909e-03 -1.79685018e+02] [-2.49979979e-03 5.74173286e-05 9.99996874e-01 -4.65107485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters 0.05472349721802193 Centerline is valid? [True, True] Translation: X:594.96, Y:-179.72, Z:-4.65 [[ 8.17104263e-01 5.76485302e-01 2.30627459e-03 5.94960281e+02] [-5.76482715e-01 8.17107514e-01 -1.72935731e-03 -1.79722641e+02] [-2.88142337e-03 8.35377961e-05 9.99995845e-01 -4.65154267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters 0.05566937715084071 Centerline is valid? [True, True] Translation: X:595.01, Y:-179.76, Z:-4.65 [[ 8.19147737e-01 5.73577379e-01 2.44443707e-03 5.95006529e+02] [-5.73574458e-01 8.19151378e-01 -1.83316818e-03 -1.79760651e+02] [-3.05382779e-03 9.95689010e-05 9.99995332e-01 -4.65314506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters 0.05599526460356591 Centerline is valid? [True, True] Translation: X:595.06, Y:-179.79, Z:-4.65 [[ 8.17335317e-01 5.76157208e-01 2.41890296e-03 5.95062223e+02] [-5.76154359e-01 8.17338892e-01 -1.81391262e-03 -1.79788254e+02] [-3.02216229e-03 8.89133603e-05 9.99995429e-01 -4.65304245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters 0.055239148290044275 Centerline is valid? [True, True] Translation: X:595.11, Y:-179.82, Z:-4.65 [[ 8.14558019e-01 5.80076451e-01 2.55824109e-03 5.95114024e+02] [-5.80073284e-01 8.14562032e-01 -1.91853416e-03 -1.79821539e+02] [-3.19674255e-03 7.87900731e-05 9.99994887e-01 -4.65334143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters 0.054584190099915296 Centerline is valid? [True, True] Translation: X:595.17, Y:-179.85, Z:-4.65 [[ 8.08580592e-01 5.88380127e-01 2.50040704e-03 5.95168443e+02] [-5.88377141e-01 8.08584457e-01 -1.87522322e-03 -1.79851781e+02] [-3.12513435e-03 4.50867538e-05 9.99995116e-01 -4.65332564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters 0.05510341402065269 Centerline is valid? [True, True] Translation: X:595.22, Y:-179.89, Z:-4.65 [[ 8.03997842e-01 5.94627519e-01 2.36283848e-03 5.95218675e+02] [-5.94624879e-01 8.04001314e-01 -1.77219770e-03 -1.79885532e+02] [-2.95352276e-03 1.98405815e-05 9.99995638e-01 -4.65449204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters 0.05515213801223684 Centerline is valid? [True, True] Translation: X:595.27, Y:-179.92, Z:-4.65 [[ 7.98036412e-01 6.02601202e-01 3.11077465e-03 5.95271733e+02] [-6.02596685e-01 7.98042475e-01 -2.33315382e-03 -1.79918321e+02] [-3.88849159e-03 -1.26007889e-05 9.99992440e-01 -4.65491599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters 0.054584809526747956 Centerline is valid? [True, True] Translation: X:595.32, Y:-179.95, Z:-4.66 [[ 7.96316386e-01 6.04872454e-01 3.08660448e-03 5.95322979e+02] [-6.04868024e-01 7.96322368e-01 -2.31517546e-03 -1.79953243e+02] [-3.85831805e-03 -2.33762000e-05 9.99992556e-01 -4.65643284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters 0.05440995658533592 Centerline is valid? [True, True] Translation: X:595.37, Y:-179.99, Z:-4.66 [[ 7.92170814e-01 6.10294000e-01 2.57585417e-03 5.95373150e+02] [-6.10290942e-01 7.92175001e-01 -1.93240591e-03 -1.79986557e+02] [-3.21986301e-03 -4.12249044e-05 9.99994815e-01 -4.65699012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters 0.054584707090852516 Centerline is valid? [True, True] Translation: X:595.42, Y:-180.02, Z:-4.66 [[ 7.89999191e-01 6.13103223e-01 2.39080038e-03 5.95424485e+02] [-6.13100602e-01 7.90002807e-01 -1.79335129e-03 -1.80021544e+02] [-2.98824846e-03 -4.90550819e-05 9.99995534e-01 -4.65805882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters 0.05480592028287979 Centerline is valid? [True, True] Translation: X:595.47, Y:-180.06, Z:-4.66 [[ 7.87319324e-01 6.16540824e-01 2.38642339e-03 5.95474209e+02] [-6.16538227e-01 7.87322938e-01 -1.79040425e-03 -1.80055785e+02] [-2.98274319e-03 -6.17013829e-05 9.99995550e-01 -4.65948929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters 0.05445339826810276 Centerline is valid? [True, True] Translation: X:595.52, Y:-180.09, Z:-4.66 [[ 7.85253550e-01 6.19168913e-01 2.59209894e-03 5.95522025e+02] [-6.19165864e-01 7.85257824e-01 -1.94467133e-03 -1.80094117e+02] [-3.23954601e-03 -7.78791107e-05 9.99994750e-01 -4.65996348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters 0.05450808956309552 Centerline is valid? [True, True] Translation: X:595.57, Y:-180.13, Z:-4.66 [[ 7.83998639e-01 6.20757870e-01 2.40861959e-03 5.95570032e+02] [-6.20755244e-01 7.84002335e-01 -1.80704592e-03 -1.80133460e+02] [-3.01010136e-03 -7.84417023e-05 9.99995467e-01 -4.66092844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters 0.054282567767215135 Centerline is valid? [True, True] Translation: X:595.62, Y:-180.17, Z:-4.66 [[ 7.82480894e-01 6.22673110e-01 1.35986906e-03 5.95616461e+02] [-6.22672276e-01 7.82482074e-01 -1.02013219e-03 -1.80171614e+02] [-1.69928205e-03 -4.85188135e-05 9.99998555e-01 -4.66226850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters 0.054150766781545796 Centerline is valid? [True, True] Translation: X:595.66, Y:-180.21, Z:-4.66 [[ 7.82076463e-01 6.23181195e-01 1.26628446e-03 5.95663300e+02] [-6.23180472e-01 7.82077487e-01 -9.50135434e-04 -1.80210370e+02] [-1.58243910e-03 -4.60451872e-05 9.99998747e-01 -4.66249410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters 0.053864754517266564 Centerline is valid? [True, True] Translation: X:595.71, Y:-180.25, Z:-4.66 [[ 7.82511983e-01 6.22631591e-01 2.21330022e-03 5.95708588e+02] [-6.22629382e-01 7.82515109e-01 -1.66032861e-03 -1.80253791e+02] [-2.76571391e-03 -7.88387140e-05 9.99996172e-01 -4.66108562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters 0.05473455546070184 Centerline is valid? [True, True] Translation: X:595.75, Y:-180.29, Z:-4.66 [[ 7.83513141e-01 6.21368704e-01 2.84448819e-03 5.95753919e+02] [-6.21365043e-01 7.83518299e-01 -2.13506867e-03 -1.80294666e+02] [-3.55537340e-03 -9.46111685e-05 9.99993675e-01 -4.66114503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters 0.05428862661026837 Centerline is valid? [True, True] Translation: X:595.80, Y:-180.33, Z:-4.66 [[ 7.84485654e-01 6.20138979e-01 3.14742131e-03 5.95799785e+02] [-6.20134486e-01 7.84491961e-01 -2.36257865e-03 -1.80333517e+02] [-3.93425383e-03 -9.84154410e-05 9.99992256e-01 -4.66187369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters 0.05372810860901195 Centerline is valid? [True, True] Translation: X:595.84, Y:-180.38, Z:-4.66 [[ 7.85999308e-01 6.18218646e-01 3.28542894e-03 5.95840105e+02] [-6.18213734e-01 7.86006168e-01 -2.46618010e-03 -1.80381951e+02] [-4.10700593e-03 -9.26814461e-05 9.99991562e-01 -4.66119912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters 0.05333249201851812 Centerline is valid? [True, True] Translation: X:595.89, Y:-180.42, Z:-4.66 [[ 7.87132325e-01 6.16774298e-01 3.48832002e-03 5.95885547e+02] [-6.16768746e-01 7.87140049e-01 -2.61857713e-03 -1.80422624e+02] [-4.36086746e-03 -9.03200641e-05 9.99990487e-01 -4.66119748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters 0.05386177187353048 Centerline is valid? [True, True] Translation: X:595.94, Y:-180.46, Z:-4.66 [[ 7.87965169e-01 6.15711772e-01 3.14738050e-03 5.95935117e+02] [-6.15707245e-01 7.87971451e-01 -2.36233455e-03 -1.80458628e+02] [-3.93456317e-03 -7.64276312e-05 9.99992257e-01 -4.66267942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters 0.053159905082355484 Centerline is valid? [True, True] Translation: X:595.98, Y:-180.51, Z:-4.66 [[ 7.91298450e-01 6.11422807e-01 2.98581463e-03 5.95976410e+02] [-6.11418698e-01 7.91304081e-01 -2.24193959e-03 -1.80505126e+02] [-3.73346030e-03 -5.15395752e-05 9.99993029e-01 -4.66265445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters 0.053541242138716715 Centerline is valid? [True, True] Translation: X:596.02, Y:-180.55, Z:-4.66 [[ 7.97117970e-01 6.03813349e-01 3.51891152e-03 5.96016690e+02] [-6.03807568e-01 7.97125736e-01 -2.64223649e-03 -1.80553027e+02] [-4.40043260e-03 -1.85712180e-05 9.99990318e-01 -4.66218894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters 0.053298326926165845 Centerline is valid? [True, True] Translation: X:596.06, Y:-180.60, Z:-4.66 [[ 8.01390274e-01 5.98131096e-01 3.58065366e-03 5.96060515e+02] [-5.98125054e-01 8.01398273e-01 -2.68862728e-03 -1.80597557e+02] [-4.47768124e-03 1.29610862e-05 9.99989975e-01 -4.66284439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters 0.053015099066367 Centerline is valid? [True, True] Translation: X:596.11, Y:-180.64, Z:-4.66 [[ 8.06232957e-01 5.91585810e-01 3.82720489e-03 5.96105199e+02] [-5.91578831e-01 8.06242040e-01 -2.87409463e-03 -1.80640401e+02] [-4.78592708e-03 5.30964144e-05 9.99988546e-01 -4.66256314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters 0.05302526166972761 Centerline is valid? [True, True] Translation: X:596.15, Y:-180.68, Z:-4.66 [[ 8.08277107e-01 5.88793350e-01 3.24188026e-03 5.96149193e+02] [-5.88788319e-01 8.08283606e-01 -2.43451861e-03 -1.80684436e+02] [-4.05378704e-03 5.89844281e-05 9.99991782e-01 -4.66337658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters 0.052694262598569755 Centerline is valid? [True, True] Translation: X:596.20, Y:-180.72, Z:-4.66 [[ 8.07868193e-01 5.89356919e-01 2.72101892e-03 5.96196970e+02] [-5.89353380e-01 8.07872774e-01 -2.04304176e-03 -1.80723624e+02] [-3.40231790e-03 4.68667531e-05 9.99994211e-01 -4.66433038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters 0.05297725342118504 Centerline is valid? [True, True] Translation: X:596.25, Y:-180.76, Z:-4.66 [[ 8.05793406e-01 5.92190397e-01 2.74242324e-03 5.96245537e+02] [-5.92186817e-01 8.05798072e-01 -2.05963723e-03 -1.80762109e+02] [-3.42953675e-03 3.56152127e-05 9.99994118e-01 -4.66457824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters 0.05302832568438324 Centerline is valid? [True, True] Translation: X:596.29, Y:-180.80, Z:-4.67 [[ 8.03877261e-01 5.94789433e-01 2.62286157e-03 5.96293795e+02] [-5.94786170e-01 8.03881540e-01 -1.97033817e-03 -1.80799432e+02] [-3.28040633e-03 2.38682657e-05 9.99994619e-01 -4.66516548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters 0.05289888616601318 Centerline is valid? [True, True] Translation: X:596.34, Y:-180.84, Z:-4.67 [[ 8.01003988e-01 5.98655556e-01 2.03394692e-03 5.96341644e+02] [-5.98653605e-01 8.01006570e-01 -1.52832572e-03 -1.80837042e+02] [-2.54414553e-03 6.56533671e-06 9.99996764e-01 -4.66650822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters 0.05269480244824723 Centerline is valid? [True, True] Translation: X:596.39, Y:-180.87, Z:-4.67 [[ 7.99295291e-01 6.00934144e-01 2.27865879e-03 5.96391731e+02] [-6.00931704e-01 7.99298539e-01 -1.71255107e-03 -1.80874068e+02] [-2.85045905e-03 -4.84304388e-07 9.99995937e-01 -4.66634113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters 0.05244127049384516 Centerline is valid? [True, True] Translation: X:596.44, Y:-180.91, Z:-4.67 [[ 7.97697667e-01 6.03054069e-01 2.05495693e-03 5.96441868e+02] [-6.03052092e-01 7.97700314e-01 -1.54413109e-03 -1.80912437e+02] [-2.57043433e-03 -7.49630727e-06 9.99996696e-01 -4.66598534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters 0.052585822950813654 Centerline is valid? [True, True] Translation: X:596.49, Y:-180.95, Z:-4.67 [[ 7.98108163e-01 6.02510405e-01 2.13813939e-03 5.96489695e+02] [-6.02508261e-01 7.98111027e-01 -1.60742462e-03 -1.80951598e+02] [-2.67496269e-03 -5.34793649e-06 9.99996422e-01 -4.66552945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters 0.05254902566866806 Centerline is valid? [True, True] Translation: X:596.54, Y:-180.99, Z:-4.67 [[ 7.99687290e-01 6.00413636e-01 1.92464763e-03 5.96538862e+02] [-6.00411892e-01 7.99689606e-01 -1.44728148e-03 -1.80991507e+02] [-2.40808824e-03 1.79127609e-06 9.99997101e-01 -4.66743893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters 0.052982689077980726 Centerline is valid? [True, True] Translation: X:596.59, Y:-181.03, Z:-4.67 [[ 8.03727870e-01 5.94994988e-01 1.57339263e-03 5.96586185e+02] [-5.94993811e-01 8.03729410e-01 -1.18326400e-03 -1.81032016e+02] [-1.96861807e-03 1.48633760e-05 9.99998062e-01 -4.66784635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters 0.052802630658241055 Centerline is valid? [True, True] Translation: X:596.63, Y:-181.07, Z:-4.67 [[ 8.06973719e-01 5.90586239e-01 1.14564635e-03 5.96631119e+02] [-5.90585611e-01 8.06974532e-01 -8.61129440e-04 -1.81073080e+02] [-1.43307862e-03 1.83065775e-05 9.99998973e-01 -4.66951404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters 0.05333053449287381 Centerline is valid? [True, True] Translation: X:596.68, Y:-181.11, Z:-4.67 [[ 8.11944461e-01 5.83734584e-01 3.56429163e-04 5.96678830e+02] [-5.83734523e-01 8.11944539e-01 -2.68028840e-04 -1.81111554e+02] [-4.45858416e-04 9.56452432e-06 9.99999901e-01 -4.66900529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters 0.05393992709138349 Centerline is valid? [True, True] Translation: X:596.73, Y:-181.15, Z:-4.67 [[ 8.15300140e-01 5.79038584e-01 -1.75234245e-05 5.96727313e+02] [-5.79038584e-01 8.15300140e-01 1.39146343e-05 -1.81148575e+02] [ 2.23439603e-05 -1.19786436e-06 1.00000000e+00 -4.66952421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters 0.0538170309853348 Centerline is valid? [True, True] Translation: X:596.78, Y:-181.18, Z:-4.67 [[ 8.15874772e-01 5.78228631e-01 -7.48013665e-05 5.96783086e+02] [-5.78228628e-01 8.15874776e-01 5.74295001e-05 -1.81178467e+02] [ 9.42359292e-05 -3.60298879e-06 9.99999996e-01 -4.66711249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters 0.054159776864742264 Centerline is valid? [True, True] Translation: X:596.82, Y:-181.23, Z:-4.67 [[ 8.15449017e-01 5.78828901e-01 6.52039262e-05 5.96824254e+02] [-5.78828899e-01 8.15449019e-01 -4.80028764e-05 -1.81225648e+02] [-8.09559301e-05 1.40198152e-06 9.99999997e-01 -4.67093576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters 0.05369081345503821 Centerline is valid? [True, True] Translation: X:596.87, Y:-181.26, Z:-4.67 [[ 8.12596971e-01 5.82826007e-01 -9.05485247e-05 5.96874649e+02] [-5.82826003e-01 8.12596976e-01 6.82464854e-05 -1.81258859e+02] [ 1.13355284e-04 -2.68285263e-06 9.99999994e-01 -4.67167804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters 0.05335903373076466 Centerline is valid? [True, True] Translation: X:596.93, Y:-181.29, Z:-4.67 [[ 8.09440228e-01 5.87202277e-01 5.42819179e-05 5.96926090e+02] [-5.87202276e-01 8.09440230e-01 -4.06187068e-05 -1.81292470e+02] [-6.77893655e-05 1.00394960e-06 9.99999998e-01 -4.67228737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters 0.052759197395096685 Centerline is valid? [True, True] Translation: X:596.98, Y:-181.32, Z:-4.67 [[ 8.02662937e-01 5.96431822e-01 1.13634853e-03 5.96978264e+02] [-5.96431208e-01 8.02663741e-01 -8.55650069e-04 -1.81323956e+02] [-1.42244269e-03 9.04487321e-06 9.99998988e-01 -4.67221348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters 0.05207936707358692 Centerline is valid? [True, True] Translation: X:597.03, Y:-181.35, Z:-4.67 [[ 7.94948700e-01 6.06673956e-01 1.80965289e-03 5.97031870e+02] [-6.06672427e-01 7.94950760e-01 -1.36231180e-03 -1.81353885e+02] [-2.26506403e-03 -1.48985128e-05 9.99997435e-01 -4.67272772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters 0.0521794682148496 Centerline is valid? [True, True] Translation: X:597.08, Y:-181.39, Z:-4.67 [[ 7.87828038e-01 6.15892058e-01 1.98877883e-03 5.97082660e+02] [-6.15890239e-01 7.87830547e-01 -1.49773043e-03 -1.81388283e+02] [-2.48926099e-03 -4.49154426e-05 9.99996901e-01 -4.67173339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters 0.051913442381817686 Centerline is valid? [True, True] Translation: X:597.13, Y:-181.43, Z:-4.67 [[ 7.84003334e-01 6.20753356e-01 2.01083068e-03 5.97128596e+02] [-6.20751513e-01 7.84005910e-01 -1.51390270e-03 -1.81429571e+02] [-2.51626332e-03 -6.13214191e-05 9.99996832e-01 -4.67050619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters 0.0524405988934761 Centerline is valid? [True, True] Translation: X:597.19, Y:-181.45, Z:-4.67 [[ 7.80916254e-01 6.24633725e-01 1.58578728e-03 5.97186903e+02] [-6.24632585e-01 7.80917862e-01 -1.19448362e-03 -1.81452610e+02] [-1.98448436e-03 -5.77427327e-05 9.99998029e-01 -4.67398573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters 0.0516476152678741 Centerline is valid? [True, True] Translation: X:597.23, Y:-181.50, Z:-4.67 [[ 7.80531439e-01 6.25115839e-01 9.27704363e-04 5.97229568e+02] [-6.25115450e-01 7.80531990e-01 -6.98060713e-04 -1.81499694e+02] [-1.16047174e-03 -3.50639979e-05 9.99999326e-01 -4.67292171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters 0.05155709562534815 Centerline is valid? [True, True] Translation: X:597.27, Y:-181.55, Z:-4.67 [[ 7.82280368e-01 6.22926367e-01 -4.08534636e-04 5.97272609e+02] [-6.22926291e-01 7.82280475e-01 3.08097634e-04 -1.81545134e+02] [ 5.11510809e-04 1.34682354e-05 9.99999869e-01 -4.67216774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters 0.051898232620651366 Centerline is valid? [True, True] Translation: X:597.32, Y:-181.58, Z:-4.67 [[ 7.84163168e-01 6.20553900e-01 -9.91254395e-04 5.97322108e+02] [-6.20553451e-01 7.84163794e-01 7.47284309e-04 -1.81581849e+02] [ 1.24103600e-03 2.91335039e-05 9.99999229e-01 -4.67384580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters 0.05145727526903442 Centerline is valid? [True, True] Translation: X:597.37, Y:-181.62, Z:-4.67 [[ 7.87733594e-01 6.16016058e-01 -4.91545173e-05 5.97366461e+02] [-6.16016056e-01 7.87733595e-01 3.74275404e-05 -1.81624588e+02] [ 6.17766303e-05 7.97041035e-07 9.99999998e-01 -4.67366165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters 0.05215447621166761 Centerline is valid? [True, True] Translation: X:597.41, Y:-181.67, Z:-4.67 [[ 7.92356898e-01 6.10056063e-01 1.46493138e-03 5.97410198e+02] [-6.10055065e-01 7.92358252e-01 -1.10346450e-03 -1.81667099e+02] [-1.83392568e-03 -1.93511010e-05 9.99998318e-01 -4.67307716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters 0.0514894888393513 Centerline is valid? [True, True] Translation: X:597.45, Y:-181.71, Z:-4.67 [[ 7.96969738e-01 6.04013357e-01 2.66464205e-03 5.97452095e+02] [-6.04010018e-01 7.96974193e-01 -2.00852134e-03 -1.81711831e+02] [-3.33682467e-03 -8.73976955e-06 9.99994433e-01 -4.67296592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters 0.05172405670668765 Centerline is valid? [True, True] Translation: X:597.50, Y:-181.75, Z:-4.67 [[ 7.99195358e-01 6.01065453e-01 2.66477001e-03 5.97498943e+02] [-6.01062098e-01 7.99199801e-01 -2.00811011e-03 -1.81754309e+02] [-3.33668927e-03 3.18002472e-06 9.99994433e-01 -4.67259763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters 0.051914111169457725 Centerline is valid? [True, True] Translation: X:597.55, Y:-181.79, Z:-4.67 [[ 7.98773666e-01 6.01624232e-01 2.98558384e-03 5.97548455e+02] [-6.01620022e-01 7.98779245e-01 -2.25095218e-03 -1.81792334e+02] [-3.73904978e-03 1.81430813e-06 9.99993010e-01 -4.67331659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters 0.051746351097849884 Centerline is valid? [True, True] Translation: X:597.60, Y:-181.83, Z:-4.67 [[ 7.95575953e-01 6.05850732e-01 1.94802586e-03 5.97599044e+02] [-6.05848953e-01 7.95578337e-01 -1.46823401e-03 -1.81829137e+02] [-2.43933782e-03 -1.21177575e-05 9.99997025e-01 -4.67297470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters 0.05207890389830369 Centerline is valid? [True, True] Translation: X:597.65, Y:-181.87, Z:-4.67 [[ 7.94207670e-01 6.07644453e-01 1.54771248e-03 5.97648316e+02] [-6.07643334e-01 7.94209178e-01 -1.16661498e-03 -1.81865257e+02] [-1.93809458e-03 -1.39226024e-05 9.99998122e-01 -4.67378891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters 0.051278434894963594 Centerline is valid? [True, True] Translation: X:597.70, Y:-181.90, Z:-4.67 [[ 7.93871050e-01 6.08083136e-01 1.91170574e-03 5.97697584e+02] [-6.08081427e-01 7.93873352e-01 -1.44173382e-03 -1.81903324e+02] [-2.39434627e-03 -1.79220123e-05 9.99997133e-01 -4.67394374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters 0.05189344847188165 Centerline is valid? [True, True] Translation: X:597.75, Y:-181.94, Z:-4.68 [[ 7.94251419e-01 6.07585428e-01 2.15210227e-03 5.97747527e+02] [-6.07583260e-01 7.94254334e-01 -1.62328303e-03 -1.81938910e+02] [-2.69559967e-03 -1.82864652e-05 9.99996367e-01 -4.67511819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters 0.05154536824736468 Centerline is valid? [True, True] Translation: X:597.80, Y:-181.98, Z:-4.67 [[ 7.94160146e-01 6.07703652e-01 2.43579784e-03 5.97797073e+02] [-6.07700874e-01 7.94163881e-01 -1.83760868e-03 -1.81977380e+02] [-3.05114418e-03 -2.08808958e-05 9.99995345e-01 -4.67483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters 0.051760767724262795 Centerline is valid? [True, True] Translation: X:597.85, Y:-182.02, Z:-4.67 [[ 7.93457837e-01 6.08618883e-01 2.77767594e-03 5.97845993e+02] [-6.08615274e-01 7.93462699e-01 -2.09621776e-03 -1.82015082e+02] [-3.47977996e-03 -2.72755943e-05 9.99993945e-01 -4.67423369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters 0.05151969604996171 Centerline is valid? [True, True] Translation: X:597.90, Y:-182.05, Z:-4.67 [[ 7.92008578e-01 6.10500035e-01 3.48145511e-03 5.97895886e+02] [-6.10494378e-01 7.92016228e-01 -2.62836599e-03 -1.82052310e+02] [-4.36198647e-03 -4.37203612e-05 9.99990486e-01 -4.67445073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters 0.0513510760085602 Centerline is valid? [True, True] Translation: X:597.95, Y:-182.09, Z:-4.68 [[ 7.90993400e-01 6.11813439e-01 3.70899886e-03 5.97946694e+02] [-6.11807033e-01 7.91002094e-01 -2.80018824e-03 -1.82086011e+02] [-4.64701866e-03 -5.42611751e-05 9.99989201e-01 -4.67571620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters 0.05119633568779351 Centerline is valid? [True, True] Translation: X:598.00, Y:-182.12, Z:-4.68 [[ 7.89576710e-01 6.13640326e-01 3.76422642e-03 5.97996390e+02] [-6.13633746e-01 7.89585680e-01 -2.84244445e-03 -1.82122888e+02] [-4.71641781e-03 -6.55284257e-05 9.99988875e-01 -4.67590541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters 0.05125165776812254 Centerline is valid? [True, True] Translation: X:598.05, Y:-182.16, Z:-4.68 [[ 7.89058066e-01 6.14310040e-01 3.24711047e-03 5.98046031e+02] [-6.14305148e-01 7.89064744e-01 -2.45233165e-03 -1.82160048e+02] [-4.06867235e-03 -5.96846170e-05 9.99991721e-01 -4.67626025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters 0.051989250642209196 Centerline is valid? [True, True] Translation: X:598.09, Y:-182.20, Z:-4.68 [[ 7.90178826e-01 6.12871250e-01 2.50069880e-03 5.98093398e+02] [-6.12868341e-01 7.90182782e-01 -1.88879007e-03 -1.82200119e+02] [-3.13359427e-03 -4.01172053e-05 9.99995089e-01 -4.67615779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters 0.05110242383055916 Centerline is valid? [True, True] Translation: X:598.14, Y:-182.24, Z:-4.68 [[ 7.91947102e-01 6.10586531e-01 1.96881593e-03 5.98144250e+02] [-6.10584720e-01 7.91949548e-01 -1.48753465e-03 -1.82236312e+02] [-2.46747152e-03 -2.40801669e-05 9.99996955e-01 -4.67839452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters 0.05124877680930015 Centerline is valid? [True, True] Translation: X:598.19, Y:-182.28, Z:-4.68 [[ 7.95529120e-01 6.05912690e-01 1.79733246e-03 5.98188175e+02] [-6.05911168e-01 7.95531151e-01 -1.35823919e-03 -1.82278382e+02] [-2.25280832e-03 -8.50498373e-06 9.99997462e-01 -4.67723967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters 0.051201450933620905 Centerline is valid? [True, True] Translation: X:598.24, Y:-182.32, Z:-4.68 [[ 7.97676356e-01 6.03076469e-01 3.34707666e-03 5.98237759e+02] [-6.03071166e-01 7.97683379e-01 -2.52912607e-03 -1.82316402e+02] [-4.19516384e-03 -1.10135799e-06 9.99991200e-01 -4.67616524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters 0.05169869862112828 Centerline is valid? [True, True] Translation: X:598.29, Y:-182.35, Z:-4.68 [[ 7.98640797e-01 6.01794627e-01 4.01302654e-03 5.98287398e+02] [-6.01786983e-01 7.98650879e-01 -3.03323476e-03 -1.82354677e+02] [-5.03039156e-03 7.47788986e-06 9.99987347e-01 -4.67748018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters 0.051427091922891334 Centerline is valid? [True, True] Translation: X:598.34, Y:-182.39, Z:-4.68 [[ 7.98532905e-01 6.01941361e-01 3.43469031e-03 5.98337532e+02] [-6.01935763e-01 7.98540292e-01 -2.59605164e-03 -1.82392017e+02] [-4.30540946e-03 5.56972189e-06 9.99990732e-01 -4.67738985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters 0.05211278200920599 Centerline is valid? [True, True] Translation: X:598.39, Y:-182.43, Z:-4.68 [[ 7.98292966e-01 6.02262717e-01 2.82149210e-03 5.98386958e+02] [-6.02258940e-01 7.98297952e-01 -2.13297406e-03 -1.82428730e+02] [-3.53700212e-03 3.46934750e-06 9.99993745e-01 -4.67717449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters 0.051885799539745696 Centerline is valid? [True, True] Translation: X:598.44, Y:-182.47, Z:-4.68 [[ 7.98157398e-01 6.02446082e-01 1.86708071e-03 5.98436883e+02] [-6.02444428e-01 7.98159582e-01 -1.41191431e-03 -1.82465832e+02] [-2.34083060e-03 2.11748064e-06 9.99997260e-01 -4.67979391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters 0.05143002086731022 Centerline is valid? [True, True] Translation: X:598.49, Y:-182.50, Z:-4.68 [[ 7.96814751e-01 6.04221427e-01 1.64912360e-03 5.98487039e+02] [-6.04220140e-01 7.96816458e-01 -1.24665208e-03 -1.82501543e+02] [-2.06730272e-03 -3.08293043e-06 9.99997863e-01 -4.68108736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters 0.05135753760299258 Centerline is valid? [True, True] Translation: X:598.54, Y:-182.54, Z:-4.68 [[ 7.95289180e-01 6.06224307e-01 2.68511701e-03 5.98538448e+02] [-6.06220905e-01 7.95293713e-01 -2.03089125e-03 -1.82538480e+02] [-3.36663232e-03 -1.26282285e-05 9.99994333e-01 -4.67962988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters 0.05114814154450231 Centerline is valid? [True, True] Translation: X:598.59, Y:-182.58, Z:-4.68 [[ 7.95704593e-01 6.05671282e-01 4.06187853e-03 5.98587206e+02] [-6.05663483e-01 7.95714960e-01 -3.07371444e-03 -1.82577283e+02] [-5.09375808e-03 -1.43627959e-05 9.99987027e-01 -4.67834567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters 0.050834237388352015 Centerline is valid? [True, True] Translation: X:598.63, Y:-182.62, Z:-4.68 [[ 7.98249055e-01 6.02291732e-01 6.56631289e-03 5.98634250e+02] [-6.02271227e-01 7.98276061e-01 -4.96984523e-03 -1.82617110e+02] [-8.23502708e-03 1.24729385e-05 9.99966092e-01 -4.67744075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters 0.050958389902151895 Centerline is valid? [True, True] Translation: X:598.68, Y:-182.66, Z:-4.68 [[ 8.00152765e-01 5.99742989e-01 7.99376904e-03 5.98682523e+02] [-5.99712462e-01 8.00192692e-01 -6.05129934e-03 -1.82655065e+02] [-1.00257799e-02 4.80009932e-05 9.99949739e-01 -4.67738016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters 0.051442946494405214 Centerline is valid? [True, True] Translation: X:598.73, Y:-182.69, Z:-4.68 [[ 8.01653236e-01 5.97716602e-01 9.32490588e-03 5.98731370e+02] [-5.97674904e-01 8.01707463e-01 -7.06061294e-03 -1.82692755e+02] [-1.16960922e-02 8.69009789e-05 9.99931595e-01 -4.67646616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters 0.05155377342700141 Centerline is valid? [True, True] Translation: X:598.78, Y:-182.73, Z:-4.68 [[ 8.02325006e-01 5.96811368e-01 9.52758301e-03 5.98779439e+02] [-5.96767761e-01 8.02381568e-01 -7.21523333e-03 -1.82732334e+02] [-1.19508903e-02 1.03207749e-04 9.99928580e-01 -4.67577811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters 0.05197085688373947 Centerline is valid? [True, True] Translation: X:598.83, Y:-182.77, Z:-4.68 [[ 8.02402549e-01 5.96695048e-01 1.02552197e-02 5.98827110e+02] [-5.96644502e-01 8.02468072e-01 -7.76736802e-03 -1.82770065e+02] [-1.28642364e-02 1.13835443e-04 9.99917246e-01 -4.67529660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters 0.0520995304807387 Centerline is valid? [True, True] Translation: X:598.88, Y:-182.80, Z:-4.68 [[ 8.00877246e-01 5.98730587e-01 1.08314750e-02 5.98878270e+02] [-5.98674361e-01 8.00950483e-01 -8.20566679e-03 -1.82804777e+02] [-1.35884589e-02 8.72054324e-05 9.99907669e-01 -4.67675667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters 0.05142760449455166 Centerline is valid? [True, True] Translation: X:598.93, Y:-182.84, Z:-4.68 [[ 7.99375797e-01 6.00710556e-01 1.20483701e-02 5.98930865e+02] [-6.00641175e-01 7.99466587e-01 -9.12989307e-03 -1.82839918e+02] [-1.51166925e-02 6.14683718e-05 9.99885734e-01 -4.68079843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters 0.05151889553151231 Centerline is valid? [True, True] Translation: X:598.98, Y:-182.88, Z:-4.68 [[ 7.98516201e-01 6.01818196e-01 1.36650910e-02 5.98978893e+02] [-6.01729061e-01 7.98633117e-01 -1.03576513e-02 -1.82877674e+02] [-1.71468173e-02 4.80699740e-05 9.99852981e-01 -4.67628905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters 0.05133461226234132 Centerline is valid? [True, True] Translation: X:599.03, Y:-182.92, Z:-4.68 [[ 7.99732127e-01 6.00148160e-01 1.58338769e-02 5.99028678e+02] [-6.00028122e-01 7.99888853e-01 -1.20031800e-02 -1.82915128e+02] [-1.98690280e-02 9.85572284e-05 9.99802587e-01 -4.67728152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters 0.05212424387091846 Centerline is valid? [True, True] Translation: X:599.08, Y:-182.95, Z:-4.68 [[ 8.01561565e-01 5.97572458e-01 2.01547700e-02 5.99077844e+02] [-5.97377073e-01 8.01814888e-01 -1.52813273e-02 -1.82951543e+02] [-2.52920949e-02 2.08927172e-04 9.99680082e-01 -4.67660664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters 0.05150331717975301 Centerline is valid? [True, True] Translation: X:599.13, Y:-182.99, Z:-4.68 [[ 8.02764319e-01 5.95794802e-01 2.44540859e-02 5.99128984e+02] [-5.95506189e-01 8.03136631e-01 -1.85453635e-02 -1.82986287e+02] [-3.06892033e-02 3.24996602e-04 9.99528923e-01 -4.67932992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters 0.05227554890038455 Centerline is valid? [True, True] Translation: X:599.18, Y:-183.02, Z:-4.68 [[ 8.03531480e-01 5.94641466e-01 2.71788016e-02 5.99178632e+02] [-5.94284188e-01 8.03990893e-01 -2.06142393e-02 -1.83023305e+02] [-3.41095904e-02 4.12258178e-04 9.99418014e-01 -4.67958239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters 0.05257080670413517 Centerline is valid? [True, True] Translation: X:599.23, Y:-183.06, Z:-4.68 [[ 8.04474569e-01 5.93229600e-01 2.99884769e-02 5.99226465e+02] [-5.92793485e-01 8.05033147e-01 -2.27490104e-02 -1.83060243e+02] [-3.76371042e-02 5.24026584e-04 9.99291336e-01 -4.67723573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters 0.051933731987066904 Centerline is valid? [True, True] Translation: X:599.28, Y:-183.10, Z:-4.68 [[ 8.05721680e-01 5.91508932e-01 3.04919412e-02 5.99276622e+02] [-5.91056614e-01 8.06298209e-01 -2.31360691e-02 -1.83095644e+02] [-3.82707891e-02 6.18768933e-04 9.99267213e-01 -4.68287433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters 0.05341904783351007 Centerline is valid? [True, True] Translation: X:599.32, Y:-183.14, Z:-4.68 [[ 8.07123044e-01 5.89628708e-01 2.98392183e-02 5.99322795e+02] [-5.89194173e-01 8.07674133e-01 -2.26433692e-02 -1.83138286e+02] [-3.74515452e-02 6.94891545e-04 9.99298203e-01 -4.67622891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters 0.05434314823099732 Centerline is valid? [True, True] Translation: X:599.37, Y:-183.18, Z:-4.68 [[ 8.09476052e-01 5.86417157e-01 2.93843258e-02 5.99371338e+02] [-5.85993503e-01 8.10008779e-01 -2.23023069e-02 -1.83175949e+02] [-3.68800173e-02 8.34159365e-04 9.99319353e-01 -4.67826018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters 0.053005224096765814 Centerline is valid? [True, True] Translation: X:599.42, Y:-183.21, Z:-4.69 [[ 8.11552532e-01 5.83568845e-01 2.88078083e-02 5.99423702e+02] [-5.83159785e-01 8.12063117e-01 -2.18668436e-02 -1.83209934e+02] [-3.61545673e-02 9.46537021e-04 9.99345762e-01 -4.68636392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters 0.05418794811603322 Centerline is valid? [True, True] Translation: X:599.47, Y:-183.25, Z:-4.69 [[ 8.15589885e-01 5.77933832e-01 2.83835437e-02 5.99471421e+02] [-5.77533257e-01 8.16082773e-01 -2.15463329e-02 -1.83248606e+02] [-3.56156758e-02 1.18053075e-03 9.99364863e-01 -4.68764539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters 0.05306023044954335 Centerline is valid? [True, True] Translation: X:599.53, Y:-183.28, Z:-4.70 [[ 8.18522811e-01 5.73850971e-01 2.67482936e-02 5.99525797e+02] [-5.73492984e-01 8.18958741e-01 -2.03070661e-02 -1.83276266e+02] [-3.35589784e-02 1.28183815e-03 9.99435917e-01 -4.69807846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters 0.055808768605522405 Centerline is valid? [True, True] Translation: X:599.57, Y:-183.32, Z:-4.69 [[ 8.20096591e-01 5.71719359e-01 2.40531792e-02 5.99567830e+02] [-5.71428860e-01 8.20448323e-01 -1.82649272e-02 -1.83321975e+02] [-3.01768030e-02 1.23432377e-03 9.99543814e-01 -4.69348879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters 0.05387153024203541 Centerline is valid? [True, True] Translation: X:599.63, Y:-183.35, Z:-4.71 [[ 8.22437372e-01 5.68582978e-01 1.76115610e-02 5.99625471e+02] [-5.68426493e-01 8.22625321e-01 -1.33755059e-02 -1.83346525e+02] [-2.20928010e-02 9.89638059e-04 9.99755434e-01 -4.70568734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters 0.05556429985784068 Centerline is valid? [True, True] Translation: X:599.67, Y:-183.38, Z:-4.71 [[ 8.24262183e-01 5.66094250e-01 1.13645797e-02 5.99674726e+02] [-5.66028841e-01 8.24340241e-01 -8.63233007e-03 -1.83382766e+02] [-1.42549928e-02 6.82623366e-04 9.99898159e-01 -4.71135351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters 0.05587386322088965 Centerline is valid? [True, True] Translation: X:599.73, Y:-183.41, Z:-4.71 [[ 8.24136718e-01 5.66331127e-01 8.22949498e-03 5.99728631e+02] [-5.66296830e-01 8.24177659e-01 -6.25199160e-03 -1.83414688e+02] [-1.03232634e-02 4.92158916e-04 9.99946593e-01 -4.71498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters 0.054496711814421166 Centerline is valid? [True, True] Translation: X:599.79, Y:-183.44, Z:-4.72 [[ 8.21934420e-01 5.69568062e-01 4.00393979e-03 5.99787995e+02] [-5.69559980e-01 8.21944143e-01 -3.04215808e-03 -1.83438459e+02] [-5.02373094e-03 2.19970565e-04 9.99987357e-01 -4.71959327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters 0.053960903783939175 Centerline is valid? [True, True] Translation: X:599.85, Y:-183.46, Z:-4.72 [[ 8.17920986e-01 5.75330482e-01 3.10600723e-04 5.99845386e+02] [-5.75330434e-01 8.17921045e-01 -2.35719120e-04 -1.83464324e+02] [-3.89663263e-04 1.41015666e-05 9.99999924e-01 -4.72257857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters 0.055128662959257516 Centerline is valid? [True, True] Translation: X:599.90, Y:-183.50, Z:-4.73 [[ 8.14109504e-01 5.80706088e-01 -2.48110566e-03 5.99899412e+02] [-5.80703033e-01 8.14113279e-01 1.88587700e-03 -1.83495421e+02] [ 3.11504132e-03 -9.45248056e-05 9.99995144e-01 -4.72697533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters 0.054967131250242926 Centerline is valid? [True, True] Translation: X:599.95, Y:-183.52, Z:-4.73 [[ 8.09481390e-01 5.87114547e-01 -6.03219836e-03 5.99954676e+02] [-5.87096673e-01 8.09503848e-01 4.58440000e-03 -1.83521707e+02] [ 7.57465571e-03 -1.69502902e-04 9.99971298e-01 -4.72996649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters 0.054553029086089645 Centerline is valid? [True, True] Translation: X:600.01, Y:-183.55, Z:-4.73 [[ 8.05102073e-01 5.93073175e-01 -8.65223951e-03 6.00009938e+02] [-5.93036741e-01 8.05148547e-01 6.57577994e-03 -1.83549321e+02] [ 1.08662568e-02 -1.63078137e-04 9.99940947e-01 -4.73252335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters 0.054157782202290145 Centerline is valid? [True, True] Translation: X:600.07, Y:-183.58, Z:-4.73 [[ 8.01269894e-01 5.98210852e-01 -1.05039527e-02 6.00066761e+02] [-5.98157561e-01 8.01338732e-01 7.98559787e-03 -1.83577808e+02] [ 1.31942955e-02 -1.15600424e-04 9.99912945e-01 -4.73445112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters 0.05437134737656676 Centerline is valid? [True, True] Translation: X:600.13, Y:-183.60, Z:-4.73 [[ 7.97479842e-01 6.03200634e-01 -1.32248678e-02 6.00126790e+02] [-6.03116809e-01 7.97589489e-01 1.00559331e-02 -1.83600914e+02] [ 1.66137607e-02 -4.32638552e-05 9.99861981e-01 -4.73120502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters 0.05462196357726945 Centerline is valid? [True, True] Translation: X:600.18, Y:-183.63, Z:-4.74 [[ 7.96576136e-01 6.04387771e-01 -1.34863219e-02 6.00184242e+02] [-6.04300754e-01 7.96690292e-01 1.02555793e-02 -1.83626618e+02] [ 1.69427685e-02 -1.95551863e-05 9.99856461e-01 -4.73582148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters 0.05417495376563203 Centerline is valid? [True, True] Translation: X:600.24, Y:-183.66, Z:-4.74 [[ 7.97037154e-01 6.03779915e-01 -1.34754972e-02 6.00239151e+02] [-6.03692900e-01 7.97151060e-01 1.02503211e-02 -1.83658416e+02] [ 1.69309449e-02 -3.48248071e-05 9.99856661e-01 -4.73611226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters 0.05385030471324367 Centerline is valid? [True, True] Translation: X:600.29, Y:-183.69, Z:-4.74 [[ 7.98571086e-01 6.01743673e-01 -1.37394679e-02 6.00291807e+02] [-6.01652883e-01 7.98689267e-01 1.04529185e-02 -1.83691037e+02] [ 1.72635431e-02 -8.10079709e-05 9.99850971e-01 -4.73619988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters 0.05379435162517759 Centerline is valid? [True, True] Translation: X:600.34, Y:-183.73, Z:-4.74 [[ 7.99400336e-01 6.00621705e-01 -1.45832486e-02 6.00342305e+02] [-6.00519233e-01 7.99533336e-01 1.10948638e-02 -1.83726345e+02] [ 1.83236094e-02 -1.11716591e-04 9.99832102e-01 -4.73812813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters 0.054625416342919425 Centerline is valid? [True, True] Translation: X:600.39, Y:-183.76, Z:-4.73 [[ 7.97875685e-01 6.02604986e-01 -1.61747513e-02 6.00394900e+02] [-6.02479315e-01 7.98039614e-01 1.23064516e-02 -1.83759240e+02] [ 2.03240213e-02 -7.40654244e-05 9.99793443e-01 -4.72996593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters 0.05528057671082711 Centerline is valid? [True, True] Translation: X:600.44, Y:-183.79, Z:-4.73 [[ 7.93001303e-01 6.09045281e-01 -1.45869347e-02 6.00444988e+02] [-6.08944154e-01 7.93135448e-01 1.10986131e-02 -1.83793843e+02] [ 1.83289729e-02 8.14139775e-05 9.99832007e-01 -4.73278838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters 0.05463422044302171 Centerline is valid? [True, True] Translation: X:600.50, Y:-183.83, Z:-4.74 [[ 7.89666262e-01 6.13401114e-01 -1.28944933e-02 6.00495216e+02] [-6.13322627e-01 7.89771517e-01 9.81361106e-03 -1.83828594e+02] [ 1.62033835e-02 1.59006941e-04 9.99868704e-01 -4.73526167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters 0.054426261322451576 Centerline is valid? [True, True] Translation: X:600.54, Y:-183.87, Z:-4.73 [[ 7.87973141e-01 6.15610061e-01 -1.10716504e-02 6.00542665e+02] [-6.15552411e-01 7.88050901e-01 8.42659299e-03 -1.83869211e+02] [ 1.39125195e-02 1.75252134e-04 9.99903201e-01 -4.73025633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters 0.055048690141849925 Centerline is valid? [True, True] Translation: X:600.59, Y:-183.91, Z:-4.73 [[ 7.88428657e-01 6.15043671e-01 -1.00764619e-02 6.00589656e+02] [-6.14995854e-01 7.88493031e-01 7.67063227e-03 -1.83910788e+02] [ 1.26629938e-02 1.49236005e-04 9.99919810e-01 -4.73158409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters 0.054660194315988085 Centerline is valid? [True, True] Translation: X:600.63, Y:-183.95, Z:-4.73 [[ 7.91178080e-01 6.11530585e-01 -8.22130207e-03 6.00631894e+02] [-6.11498570e-01 7.91220789e-01 6.25786367e-03 -1.83954470e+02] [ 1.03317401e-02 7.62298997e-05 9.99946623e-01 -4.73167311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters 0.054889431488023686 Centerline is valid? [True, True] Translation: X:600.67, Y:-184.00, Z:-4.72 [[ 7.93538083e-01 6.08482789e-01 -6.78278424e-03 6.00674572e+02] [-6.08460885e-01 7.93567070e-01 5.16305424e-03 -1.83998115e+02] [ 8.52422387e-03 2.99787352e-05 9.99963668e-01 -4.72454882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters 0.05392818158436531 Centerline is valid? [True, True] Translation: X:600.72, Y:-184.04, Z:-4.73 [[ 7.95982970e-01 6.05303031e-01 -4.39917287e-03 6.00718150e+02] [-6.05293766e-01 7.95995126e-01 3.34912933e-03 -1.84042795e+02] [ 5.52895830e-03 -3.05799559e-06 9.99984715e-01 -4.72516691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters 0.05439660452428907 Centerline is valid? [True, True] Translation: X:600.76, Y:-184.08, Z:-4.73 [[ 7.96355595e-01 6.04819373e-01 -3.36030522e-03 6.00763059e+02] [-6.04813958e-01 7.96362685e-01 2.55953779e-03 -1.84084093e+02] [ 4.22407973e-03 -5.94273964e-06 9.99991079e-01 -4.72595282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters 0.054462341948788746 Centerline is valid? [True, True] Translation: X:600.81, Y:-184.13, Z:-4.72 [[ 7.96284803e-01 6.04915707e-01 -2.73877671e-03 6.00808051e+02] [-6.04912107e-01 7.96289513e-01 2.08691864e-03 -1.84128166e+02] [ 3.44326904e-03 -5.06240834e-06 9.99994072e-01 -4.72400440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters 0.054661911322768764 Centerline is valid? [True, True] Translation: X:600.85, Y:-184.17, Z:-4.72 [[ 7.95634091e-01 6.05772952e-01 -2.35034735e-03 6.00853669e+02] [-6.05770303e-01 7.95637562e-01 1.79141925e-03 -1.84168570e+02] [ 2.95521797e-03 -1.54359538e-06 9.99995633e-01 -4.72178222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters 0.05389867632948891 Centerline is valid? [True, True] Translation: X:600.90, Y:-184.21, Z:-4.72 [[ 7.94378911e-01 6.07422165e-01 -6.77600897e-04 6.00897814e+02] [-6.07421945e-01 7.94379200e-01 5.16815109e-04 -1.84213005e+02] [ 8.52197011e-04 1.04263227e-06 9.99999637e-01 -4.72345043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters 0.05346234000367116 Centerline is valid? [True, True] Translation: X:600.94, Y:-184.26, Z:-4.72 [[ 7.93308487e-01 6.08819403e-01 -7.61760499e-04 6.00943244e+02] [-6.08819125e-01 7.93308852e-01 5.81691202e-04 -1.84256525e+02] [ 9.58456237e-04 2.31379352e-06 9.99999541e-01 -4.71917583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters 0.05274396889031459 Centerline is valid? [True, True] Translation: X:600.99, Y:-184.30, Z:-4.72 [[ 7.91862828e-01 6.10698901e-01 -3.36620394e-04 6.00988680e+02] [-6.10698847e-01 7.91862900e-01 2.56941823e-04 -1.84299170e+02] [ 4.23471290e-04 2.11100825e-06 9.99999910e-01 -4.72179812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters 0.05243425988035256 Centerline is valid? [True, True] Translation: X:601.04, Y:-184.34, Z:-4.72 [[ 7.90760669e-01 6.12124740e-01 9.30992926e-04 6.01035572e+02] [-6.12124330e-01 7.90761217e-01 -7.08480052e-04 -1.84341398e+02] [-1.16987127e-03 -9.64526098e-06 9.99999316e-01 -4.72082773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters 0.053524568950659705 Centerline is valid? [True, True] Translation: X:601.08, Y:-184.38, Z:-4.72 [[ 7.90223334e-01 6.12817131e-01 1.49882154e-03 6.01080215e+02] [-6.12816068e-01 7.90224755e-01 -1.14177310e-03 -1.84384670e+02] [-1.88410400e-03 -1.62461827e-05 9.99998225e-01 -4.72200049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters 0.05347959529720238 Centerline is valid? [True, True] Translation: X:601.13, Y:-184.43, Z:-4.72 [[ 7.91307561e-01 6.11416448e-01 1.50713782e-03 6.01125210e+02] [-6.11415370e-01 7.91308996e-01 -1.14845247e-03 -1.84428517e+02] [-1.89479444e-03 -1.27081061e-05 9.99998205e-01 -4.72115367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters 0.05355655290079334 Centerline is valid? [True, True] Translation: X:601.17, Y:-184.47, Z:-4.72 [[ 7.94340639e-01 6.07469322e-01 1.99291785e-03 6.01169793e+02] [-6.07467421e-01 7.94343139e-01 -1.51979091e-03 -1.84472748e+02] [-2.50628698e-03 -3.40098578e-06 9.99996859e-01 -4.72211628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters 0.05307513958777456 Centerline is valid? [True, True] Translation: X:601.22, Y:-184.51, Z:-4.72 [[ 7.96375532e-01 6.04800212e-01 1.64795186e-03 6.01216097e+02] [-6.04798907e-01 7.96377237e-01 -1.25675583e-03 -1.84514659e+02] [-2.07247754e-03 4.17010555e-06 9.99997852e-01 -4.72207987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters 0.05374488040289941 Centerline is valid? [True, True] Translation: X:601.26, Y:-184.56, Z:-4.73 [[ 7.99072570e-01 6.01234534e-01 2.52057177e-04 6.01260363e+02] [-6.01234503e-01 7.99072609e-01 -1.91749747e-04 -1.84556645e+02] [-3.16698557e-04 1.67649162e-06 9.99999950e-01 -4.72581611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters 0.053687242842405274 Centerline is valid? [True, True] Translation: X:601.31, Y:-184.60, Z:-4.73 [[ 8.00248391e-01 5.99667801e-01 -1.02000784e-03 6.01307315e+02] [-5.99667295e-01 8.00249041e-01 7.79382129e-04 -1.84596454e+02] [ 1.28363067e-03 -1.20339512e-05 9.99999176e-01 -4.72995228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters 0.053015585100576426 Centerline is valid? [True, True] Translation: X:601.35, Y:-184.64, Z:-4.73 [[ 8.01440108e-01 5.98070235e-01 -2.39745593e-03 6.01353697e+02] [-5.98067436e-01 8.01443693e-01 1.82998587e-03 -1.84638654e+02] [ 3.01588602e-03 -3.27837515e-05 9.99995452e-01 -4.73021609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters 0.05326471830929307 Centerline is valid? [True, True] Translation: X:601.40, Y:-184.68, Z:-4.73 [[ 8.02364916e-01 5.96827542e-01 -2.72520443e-03 6.01400239e+02] [-5.96823915e-01 8.02369543e-01 2.08127367e-03 -1.84679227e+02] [ 3.42878248e-03 -4.34737932e-05 9.99994121e-01 -4.72816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters 0.05307524278533123 Centerline is valid? [True, True] Translation: X:601.45, Y:-184.72, Z:-4.73 [[ 8.02281266e-01 5.96936446e-01 -3.41333878e-03 6.01447375e+02] [-5.96930759e-01 8.02288525e-01 2.60617331e-03 -1.84719920e+02] [ 4.29420237e-03 -5.33571166e-05 9.99990778e-01 -4.72931614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters 0.05233692877690995 Centerline is valid? [True, True] Translation: X:601.49, Y:-184.76, Z:-4.73 [[ 8.01570114e-01 5.97882046e-01 -4.73400287e-03 6.01494322e+02] [-5.97871116e-01 8.01584090e-01 3.61582074e-03 -1.84758808e+02] [ 5.95653569e-03 -6.80102637e-05 9.99982257e-01 -4.73101806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters 0.05238718523037507 Centerline is valid? [True, True] Translation: X:601.54, Y:-184.79, Z:-4.73 [[ 7.99718817e-01 6.00361690e-01 -3.95657147e-03 6.01544470e+02] [-6.00354083e-01 7.99728604e-01 3.02244015e-03 -1.84794625e+02] [ 4.97874065e-03 -4.17584234e-05 9.99987605e-01 -4.73024589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters 0.052932160100653096 Centerline is valid? [True, True] Translation: X:601.59, Y:-184.83, Z:-4.73 [[ 7.98412160e-01 6.02104562e-01 -2.84941715e-03 6.01594387e+02] [-6.02100624e-01 7.98417244e-01 2.17767864e-03 -1.84831462e+02] [ 3.58621403e-03 -2.30492639e-05 9.99993569e-01 -4.72561087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters 0.05360383095312087 Centerline is valid? [True, True] Translation: X:601.64, Y:-184.87, Z:-4.73 [[ 7.98957189e-01 6.01383275e-01 -2.35941784e-03 6.01643016e+02] [-6.01380570e-01 7.98960673e-01 1.80376948e-03 -1.84870094e+02] [ 2.96983886e-03 -2.22265490e-05 9.99995590e-01 -4.72686328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters 0.0533677354749869 Centerline is valid? [True, True] Translation: X:601.69, Y:-184.91, Z:-4.73 [[ 8.01094523e-01 5.98535641e-01 -1.62838462e-03 6.01689371e+02] [-5.98534348e-01 8.01096177e-01 1.24465400e-03 -1.84911173e+02] [ 2.04946248e-03 -2.24413746e-05 9.99997900e-01 -4.72948860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters 0.05344930046715556 Centerline is valid? [True, True] Translation: X:601.74, Y:-184.95, Z:-4.73 [[ 8.02904899e-01 5.96105164e-01 -1.53506334e-03 6.01739478e+02] [-5.96104010e-01 8.02906366e-01 1.17345720e-03 -1.84948457e+02] [ 1.93201602e-03 -2.71171191e-05 9.99998133e-01 -4.73088119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters 0.05343526820130672 Centerline is valid? [True, True] Translation: X:601.79, Y:-184.99, Z:-4.73 [[ 8.04879812e-01 5.93435417e-01 -1.70105548e-03 6.01787287e+02] [-5.93433994e-01 8.04881609e-01 1.30042229e-03 -1.84988466e+02] [ 2.14086492e-03 -3.72195012e-05 9.99997708e-01 -4.73307111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters 0.05341235137278764 Centerline is valid? [True, True] Translation: X:601.84, Y:-185.02, Z:-4.73 [[ 8.05753909e-01 5.92248920e-01 -1.36149350e-03 6.01839143e+02] [-5.92248005e-01 8.05755059e-01 1.04189549e-03 -1.85023131e+02] [ 1.71409175e-03 -3.31695526e-05 9.99998530e-01 -4.73261045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters 0.05338444700761969 Centerline is valid? [True, True] Translation: X:601.89, Y:-185.06, Z:-4.73 [[ 8.06026591e-01 5.91878449e-01 -1.01739366e-03 6.01890398e+02] [-5.91877937e-01 8.06027233e-01 7.78925058e-04 -1.85056740e+02] [ 1.28107595e-03 -2.56614501e-05 9.99999179e-01 -4.73105658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters 0.053080472082426465 Centerline is valid? [True, True] Translation: X:601.94, Y:-185.09, Z:-4.73 [[ 8.05178662e-01 5.93029299e-01 -1.89033247e-03 6.01939482e+02] [-5.93027536e-01 8.05180880e-01 1.44665105e-03 -1.85094066e+02] [ 2.37996601e-03 -4.37933475e-05 9.99997167e-01 -4.73064550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters 0.05344616085299384 Centerline is valid? [True, True] Translation: X:601.99, Y:-185.13, Z:-4.73 [[ 8.03554309e-01 5.95229017e-01 -1.69998575e-03 6.01991566e+02] [-5.95227598e-01 8.03556106e-01 1.30038392e-03 -1.85127990e+02] [ 2.14006017e-03 -3.30506638e-05 9.99997710e-01 -4.72938808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters 0.05333429679236146 Centerline is valid? [True, True] Translation: X:602.04, Y:-185.16, Z:-4.73 [[ 7.99952694e-01 6.00062180e-01 -1.03327967e-03 6.02040333e+02] [-6.00061659e-01 7.99953361e-01 7.90512535e-04 -1.85164961e+02] [ 1.30093222e-03 -1.23411203e-05 9.99999154e-01 -4.73250752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters 0.05207427699494768 Centerline is valid? [True, True] Translation: X:602.09, Y:-185.20, Z:-4.73 [[ 7.96954041e-01 6.04039876e-01 -2.90234814e-04 6.02089265e+02] [-6.04039835e-01 7.96954094e-01 2.22478002e-04 -1.85200719e+02] [ 3.65689408e-04 -1.99135332e-06 9.99999933e-01 -4.73359777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters 0.052725123248076065 Centerline is valid? [True, True] Translation: X:602.14, Y:-185.24, Z:-4.73 [[ 7.92494255e-01 6.09879248e-01 3.97027305e-04 6.02140856e+02] [-6.09879173e-01 7.92494355e-01 -3.03339796e-04 -1.85235803e+02] [-4.99642545e-04 -1.74363826e-06 9.99999875e-01 -4.73278103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters 0.05234255102916522 Centerline is valid? [True, True] Translation: X:602.19, Y:-185.27, Z:-4.73 [[ 7.89605579e-01 6.13614711e-01 1.27077406e-04 6.02190893e+02] [-6.13614703e-01 7.89605589e-01 -9.62347677e-05 -1.85271482e+02] [-1.59392100e-04 -1.98905563e-06 9.99999987e-01 -4.73381212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters 0.05192735563830769 Centerline is valid? [True, True] Translation: X:602.24, Y:-185.31, Z:-4.73 [[ 7.85799558e-01 6.18481212e-01 2.11356465e-04 6.02240186e+02] [-6.18481191e-01 7.85799587e-01 -1.60805699e-04 -1.85307894e+02] [-2.65539127e-04 -4.35895065e-06 9.99999965e-01 -4.73358441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters 0.0516959646602679 Centerline is valid? [True, True] Translation: X:602.29, Y:-185.35, Z:-4.73 [[ 7.83309238e-01 6.21631257e-01 1.10415733e-03 6.02289418e+02] [-6.21630683e-01 7.83310015e-01 -8.44800031e-04 -1.85346289e+02] [-1.39005160e-03 -2.46384080e-05 9.99999034e-01 -4.73245084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters 0.051599425739605735 Centerline is valid? [True, True] Translation: X:602.34, Y:-185.38, Z:-4.73 [[ 7.82112035e-01 6.23134075e-01 2.16531419e-03 6.02339256e+02] [-6.23131875e-01 7.82115031e-01 -1.65667857e-03 -1.85382216e+02] [-2.72585764e-03 -5.35680429e-05 9.99996283e-01 -4.73215941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters 0.05107573068980142 Centerline is valid? [True, True] Translation: X:602.39, Y:-185.42, Z:-4.73 [[ 7.80773049e-01 6.24814449e-01 5.91936998e-04 6.02386203e+02] [-6.24814286e-01 7.80773273e-01 -4.52276249e-04 -1.85422625e+02] [-7.44757323e-04 -1.67255869e-05 9.99999723e-01 -4.73172766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters 0.05142836411407125 Centerline is valid? [True, True] Translation: X:602.44, Y:-185.46, Z:-4.73 [[ 7.80936224e-01 6.24610639e-01 -4.03815829e-04 6.02435599e+02] [-6.24610562e-01 7.80936329e-01 3.10497253e-04 -1.85462144e+02] [ 5.09294339e-04 9.74907940e-06 9.99999870e-01 -4.73292156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters 0.05267159679191036 Centerline is valid? [True, True] Translation: X:602.48, Y:-185.50, Z:-4.73 [[ 7.84608146e-01 6.19991445e-01 -8.15906706e-04 6.02481269e+02] [-6.19991129e-01 7.84608570e-01 6.25749906e-04 -1.85502610e+02] [ 1.02812698e-03 1.48864464e-05 9.99999471e-01 -4.73306827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters 0.05268229888171558 Centerline is valid? [True, True] Translation: X:602.53, Y:-185.54, Z:-4.73 [[ 7.88158161e-01 6.15471489e-01 -1.24890254e-03 6.02526866e+02] [-6.15470745e-01 7.88159150e-01 9.56992854e-04 -1.85544987e+02] [ 1.57333578e-03 1.44012511e-05 9.99998762e-01 -4.73241505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters 0.05257386728474287 Centerline is valid? [True, True] Translation: X:602.57, Y:-185.59, Z:-4.73 [[ 7.93574830e-01 6.08471457e-01 -1.21468358e-03 6.02571782e+02] [-6.08470745e-01 7.93575759e-01 9.31309836e-04 -1.85585294e+02] [ 1.53061889e-03 3.53753913e-08 9.99998829e-01 -4.73160320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters 0.05335665799947349 Centerline is valid? [True, True] Translation: X:602.62, Y:-185.62, Z:-4.73 [[ 7.96213590e-01 6.05015504e-01 -3.98991943e-04 6.02621090e+02] [-6.05015426e-01 7.96213690e-01 3.06980325e-04 -1.85623405e+02] [ 5.03410703e-04 -3.02562659e-06 9.99999873e-01 -4.73257472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters 0.053007137412660256 Centerline is valid? [True, True] Translation: X:602.67, Y:-185.66, Z:-4.73 [[ 7.99028234e-01 6.01290410e-01 -1.92969584e-03 6.02670303e+02] [-6.01288591e-01 7.99030564e-01 1.47931489e-03 -1.85660750e+02] [ 2.43138381e-03 -2.17102752e-05 9.99997044e-01 -4.73287717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters 0.05446638389757538 Centerline is valid? [True, True] Translation: X:602.72, Y:-185.70, Z:-4.73 [[ 8.01557102e-01 5.97908205e-01 -3.46286589e-03 6.02715549e+02] [-5.97902314e-01 8.01564580e-01 2.65483498e-03 -1.85700989e+02] [ 4.36305825e-03 -5.75463062e-05 9.99990480e-01 -4.73449574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters 0.053803154592681465 Centerline is valid? [True, True] Translation: X:602.77, Y:-185.74, Z:-4.73 [[ 8.02966656e-01 5.96015741e-01 -3.12815706e-03 6.02765909e+02] [-5.96010918e-01 8.02972747e-01 2.39858719e-03 -1.85735093e+02] [ 3.94142059e-03 -6.15697698e-05 9.99992231e-01 -4.73289266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters 0.05332344149923971 Centerline is valid? [True, True] Translation: X:602.82, Y:-185.77, Z:-4.73 [[ 8.06264151e-01 5.91546001e-01 -3.38349815e-03 6.02815515e+02] [-5.91540319e-01 8.06271245e-01 2.59416254e-03 -1.85770891e+02] [ 4.26258374e-03 -9.01046781e-05 9.99990911e-01 -4.73276303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters 0.053644880367490606 Centerline is valid? [True, True] Translation: X:602.87, Y:-185.80, Z:-4.73 [[ 8.08704161e-01 5.88205272e-01 -3.48389557e-03 6.02869199e+02] [-5.88199213e-01 8.08711658e-01 2.67227100e-03 -1.85801739e+02] [ 4.38931085e-03 -1.11852045e-04 9.99990361e-01 -4.72880233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters 0.05443150887055764 Centerline is valid? [True, True] Translation: X:602.92, Y:-185.84, Z:-4.73 [[ 8.11208073e-01 5.84741452e-01 -4.34700416e-03 6.02915410e+02] [-5.84731972e-01 8.11219704e-01 3.33365569e-03 -1.85842495e+02] [ 5.47570209e-03 -1.62456098e-04 9.99984995e-01 -4.73341681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters 0.05475358918731949 Centerline is valid? [True, True] Translation: X:602.97, Y:-185.87, Z:-4.73 [[ 8.11999501e-01 5.83645446e-01 -3.84748408e-03 6.02971569e+02] [-5.83638000e-01 8.12008602e-01 2.95204947e-03 -1.85870111e+02] [ 4.84714040e-03 -1.51524785e-04 9.99988241e-01 -4.73117926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters 0.05555834891612105 Centerline is valid? [True, True] Translation: X:603.02, Y:-185.90, Z:-4.73 [[ 8.13270539e-01 5.81874322e-01 -3.64741211e-03 6.03023392e+02] [-5.81867614e-01 8.13278704e-01 2.79815927e-03 -1.85903789e+02] [ 4.59453963e-03 -1.53349515e-04 9.99989433e-01 -4.73261882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters 0.05490109684777753 Centerline is valid? [True, True] Translation: X:603.07, Y:-185.94, Z:-4.73 [[ 8.13923599e-01 5.80957493e-01 -4.09462412e-03 6.03072431e+02] [-5.80949026e-01 8.13933879e-01 3.14166478e-03 -1.85940885e+02] [ 5.15792699e-03 -1.78307216e-04 9.99986682e-01 -4.73325818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters 0.05505476758387024 Centerline is valid? [True, True] Translation: X:603.12, Y:-185.97, Z:-4.73 [[ 8.15540896e-01 5.78688135e-01 -3.61786975e-03 6.03124886e+02] [-5.78681501e-01 8.15548903e-01 2.77609515e-03 -1.85972040e+02] [ 4.55704303e-03 -1.70424835e-04 9.99989602e-01 -4.73328607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters 0.05408489020021097 Centerline is valid? [True, True] Translation: X:603.17, Y:-186.01, Z:-4.73 [[ 8.16177183e-01 5.77800264e-01 -1.28873977e-03 6.03173377e+02] [-5.77799421e-01 8.16178198e-01 9.89377435e-04 -1.86009385e+02] [ 1.62350384e-03 -6.28741958e-05 9.99998680e-01 -4.73427106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters 0.05563344724181981 Centerline is valid? [True, True] Translation: X:603.22, Y:-186.05, Z:-4.74 [[ 8.16365998e-01 5.77533531e-01 1.25617271e-03 6.03220178e+02] [-5.77532731e-01 8.16366962e-01 -9.63480156e-04 -1.86050030e+02] [-1.58194000e-03 6.10715822e-05 9.99998747e-01 -4.73606025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters 0.0540831061745775 Centerline is valid? [True, True] Translation: X:603.28, Y:-186.08, Z:-4.74 [[ 8.15067291e-01 5.79366290e-01 -1.15649733e-04 6.03277573e+02] [-5.79366283e-01 8.15067299e-01 8.89606374e-05 -1.86076662e+02] [ 1.45803110e-04 -5.50534968e-06 9.99999989e-01 -4.73609475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters 0.05470100074712933 Centerline is valid? [True, True] Translation: X:603.33, Y:-186.10, Z:-4.74 [[ 8.11040164e-01 5.84986738e-01 -2.08996456e-03 6.03334150e+02] [-5.84984544e-01 8.11042853e-01 1.60415128e-03 -1.86103739e+02] [ 2.63345804e-03 -7.84341542e-05 9.99996529e-01 -4.73611454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters 0.05498628258108186 Centerline is valid? [True, True] Translation: X:603.39, Y:-186.13, Z:-4.74 [[ 8.04586511e-01 5.93831768e-01 -2.09213379e-03 6.03385853e+02] [-5.93829599e-01 8.04589230e-01 1.60612783e-03 -1.86134853e+02] [ 2.63707805e-03 -4.98978205e-05 9.99996522e-01 -4.73910309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters 0.05397171545015393 Centerline is valid? [True, True] Translation: X:603.44, Y:-186.16, Z:-4.74 [[ 7.97350747e-01 6.03513644e-01 -1.75168411e-03 6.03440216e+02] [-6.03512146e-01 7.97352671e-01 1.34460546e-03 -1.86164802e+02] [ 2.20819774e-03 -1.49595315e-05 9.99997562e-01 -4.74024840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters 0.053711988638444 Centerline is valid? [True, True] Translation: X:603.49, Y:-186.20, Z:-4.74 [[ 7.93313098e-01 6.08811628e-01 -1.65246772e-03 6.03491983e+02] [-6.08810304e-01 7.93314819e-01 1.26963225e-03 -1.86198392e+02] [ 2.08389401e-03 -1.17651731e-06 9.99997829e-01 -4.74385401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters 0.05358279213365709 Centerline is valid? [True, True] Translation: X:603.55, Y:-186.23, Z:-4.74 [[ 7.88304392e-01 6.15285369e-01 -3.16646393e-04 6.03545664e+02] [-6.15285321e-01 7.88304455e-01 2.43462961e-04 -1.86230672e+02] [ 3.99412959e-04 2.90495624e-06 9.99999920e-01 -4.74228309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters 0.053066489272350005 Centerline is valid? [True, True] Translation: X:603.60, Y:-186.27, Z:-4.74 [[ 7.83324268e-01 6.21611818e-01 1.35630861e-03 6.03596260e+02] [-6.21610946e-01 7.83325441e-01 -1.04119159e-03 -1.86265851e+02] [-1.70964804e-03 -2.75056406e-05 9.99998538e-01 -4.73980648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters 0.05325669809545134 Centerline is valid? [True, True] Translation: X:603.65, Y:-186.30, Z:-4.74 [[ 7.80841764e-01 6.24725881e-01 1.92707981e-03 6.03647997e+02] [-6.24724131e-01 7.80844140e-01 -1.47936928e-03 -1.86296379e+02] [-2.42894925e-03 -4.87399406e-05 9.99997049e-01 -4.74126845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters 0.05308738271644046 Centerline is valid? [True, True] Translation: X:603.69, Y:-186.34, Z:-4.74 [[ 7.79412678e-01 6.26507679e-01 2.00125289e-03 6.03694709e+02] [-6.26505797e-01 7.79415246e-01 -1.53650631e-03 -1.86337890e+02] [-2.52244001e-03 -5.62240377e-05 9.99996817e-01 -4.74052969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters 0.05322650523210902 Centerline is valid? [True, True] Translation: X:603.74, Y:-186.38, Z:-4.74 [[ 7.79529438e-01 6.26364934e-01 9.08148135e-04 6.03744035e+02] [-6.26364548e-01 7.79529966e-01 -6.96360982e-04 -1.86376497e+02] [-1.14410479e-03 -2.59979110e-05 9.99999345e-01 -4.74185133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters 0.05303067699403207 Centerline is valid? [True, True] Translation: X:603.79, Y:-186.42, Z:-4.74 [[ 7.80847782e-01 6.24720248e-01 -1.16320203e-03 6.03791292e+02] [-6.24719608e-01 7.80848648e-01 8.94786045e-04 -1.86416914e+02] [ 1.46727569e-03 2.79834158e-05 9.99998923e-01 -4.74454298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters 0.05363258955837468 Centerline is valid? [True, True] Translation: X:603.84, Y:-186.46, Z:-4.75 [[ 7.82096457e-01 6.23155815e-01 -1.40088008e-03 6.03838661e+02] [-6.23154884e-01 7.82097711e-01 1.07764430e-03 -1.86456365e+02] [ 1.76716542e-03 3.01434757e-05 9.99998438e-01 -4.74539824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters 0.053560253360290334 Centerline is valid? [True, True] Translation: X:603.88, Y:-186.50, Z:-4.74 [[ 7.85446791e-01 6.18929161e-01 1.80598343e-04 6.03882132e+02] [-6.18929145e-01 7.85446812e-01 -1.38662583e-04 -1.86500523e+02] [-2.27672710e-04 -2.86549701e-06 9.99999974e-01 -4.74375407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters 0.05324390191647429 Centerline is valid? [True, True] Translation: X:603.93, Y:-186.54, Z:-4.74 [[ 7.89691622e-01 6.13501035e-01 1.90339845e-03 6.03926206e+02] [-6.13499291e-01 7.89693915e-01 -1.46264534e-03 -1.86543981e+02] [-2.40043661e-03 -1.26948348e-05 9.99997119e-01 -4.74275048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters 0.05339599697576277 Centerline is valid? [True, True] Translation: X:603.97, Y:-186.59, Z:-4.74 [[ 7.92629206e-01 6.09701210e-01 1.83744091e-03 6.03970773e+02] [-6.09699576e-01 7.92631336e-01 -1.41148931e-03 -1.86585814e+02] [-2.31699999e-03 -1.49929610e-06 9.99997316e-01 -4.74420891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters 0.05389004848709878 Centerline is valid? [True, True] Translation: X:604.02, Y:-186.63, Z:-4.74 [[ 7.96985068e-01 6.03993937e-01 2.47486731e-03 6.04015691e+02] [-6.03990943e-01 7.96988911e-01 -1.90194113e-03 -1.86628500e+02] [-3.12120271e-03 2.10212353e-05 9.99995129e-01 -4.74104484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters 0.05472722158895369 Centerline is valid? [True, True] Translation: X:604.06, Y:-186.67, Z:-4.74 [[ 7.99953978e-01 6.00056490e-01 2.41686010e-03 6.04063959e+02] [-6.00053614e-01 7.99957628e-01 -1.85817941e-03 -1.86667723e+02] [-3.04839829e-03 3.62123719e-05 9.99995353e-01 -4.74231779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters 0.0541931989811951 Centerline is valid? [True, True] Translation: X:604.11, Y:-186.71, Z:-4.75 [[ 8.03961276e-01 5.94680540e-01 1.14952291e-03 6.04105645e+02] [-5.94679885e-01 8.03962098e-01 -8.83355284e-04 -1.86712504e+02] [-1.44948705e-03 2.65852886e-05 9.99998949e-01 -4.74541839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters 0.05433753235529275 Centerline is valid? [True, True] Translation: X:604.15, Y:-186.75, Z:-4.75 [[ 8.07526222e-01 5.89831397e-01 5.69263472e-04 6.04152454e+02] [-5.89831235e-01 8.07526422e-01 -4.37460169e-04 -1.86751605e+02] [-7.17723038e-04 1.74911808e-05 9.99999742e-01 -4.74509101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters 0.054755842456633785 Centerline is valid? [True, True] Translation: X:604.20, Y:-186.79, Z:-4.75 [[ 8.09255188e-01 5.87455153e-01 1.57613303e-03 6.04200086e+02] [-5.87453905e-01 8.09256721e-01 -1.21209663e-03 -1.86790558e+02] [-1.98754866e-03 5.49899817e-05 9.99998023e-01 -4.74589055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters 0.05418865939019147 Centerline is valid? [True, True] Translation: X:604.25, Y:-186.83, Z:-4.75 [[ 8.09408884e-01 5.87240197e-01 2.49209024e-03 6.04247502e+02] [-5.87237077e-01 8.09412715e-01 -1.91623218e-03 -1.86830000e+02] [-3.14241809e-03 8.75675643e-05 9.99995059e-01 -4.74646763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters 0.053928170075213104 Centerline is valid? [True, True] Translation: X:604.29, Y:-186.87, Z:-4.75 [[ 8.06346224e-01 5.91440508e-01 1.97291397e-03 6.04293277e+02] [-5.91438563e-01 8.06348636e-01 -1.51776888e-03 -1.86870622e+02] [-2.48852649e-03 5.69898051e-05 9.99996902e-01 -4.74807362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters 0.05386990123818709 Centerline is valid? [True, True] Translation: X:604.34, Y:-186.91, Z:-4.75 [[ 8.02919906e-01 5.96079933e-01 2.88740744e-03 6.04342993e+02] [-5.96075797e-01 8.02925096e-01 -2.22155100e-03 -1.86906993e+02] [-3.64259386e-03 6.26138292e-05 9.99993364e-01 -4.74867478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters 0.052702381388159365 Centerline is valid? [True, True] Translation: X:604.40, Y:-186.94, Z:-4.75 [[ 7.96049848e-01 6.05225288e-01 2.64384979e-03 6.04395178e+02] [-6.05221869e-01 7.96054239e-01 -2.03437437e-03 -1.86937866e+02] [-3.33590264e-03 1.93476946e-05 9.99994436e-01 -4.74883610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters 0.051898679045112625 Centerline is valid? [True, True] Translation: X:604.45, Y:-186.97, Z:-4.75 [[ 7.90693345e-01 6.12210820e-01 1.39477842e-03 6.04446560e+02] [-6.12209880e-01 7.90694575e-01 -1.07297971e-03 -1.86973078e+02] [-1.75973352e-03 -5.49921707e-06 9.99998452e-01 -4.75152770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters 0.05269297033580066 Centerline is valid? [True, True] Translation: X:604.49, Y:-187.01, Z:-4.75 [[ 7.83896007e-01 6.20891974e-01 4.54516655e-04 6.04494333e+02] [-6.20891875e-01 7.83896139e-01 -3.49617938e-04 -1.87011808e+02] [-5.73368823e-04 -8.14159264e-06 9.99999836e-01 -4.75104784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters 0.052342958293594165 Centerline is valid? [True, True] Translation: X:604.55, Y:-187.05, Z:-4.75 [[ 7.80071487e-01 6.25689961e-01 -7.40678062e-04 6.04545417e+02] [-6.25689701e-01 7.80071838e-01 5.70278485e-04 -1.87045570e+02] [ 9.34599620e-04 1.85766502e-05 9.99999563e-01 -4.75471316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters 0.05183476057701723 Centerline is valid? [True, True] Translation: X:604.59, Y:-187.08, Z:-4.76 [[ 7.78401196e-01 6.27766960e-01 -4.70876015e-04 6.04593594e+02] [-6.27766855e-01 7.78401338e-01 3.63458493e-04 -1.87083320e+02] [ 5.94697753e-04 1.26838295e-05 9.99999823e-01 -4.75538415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters 0.051673053669022556 Centerline is valid? [True, True] Translation: X:604.64, Y:-187.12, Z:-4.75 [[ 7.76343267e-01 6.30310145e-01 5.03364360e-04 6.04640851e+02] [-6.30310027e-01 7.76343430e-01 -3.86640514e-04 -1.87122678e+02] [-6.34487052e-04 -1.71098440e-05 9.99999799e-01 -4.75455233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters 0.05195667993981566 Centerline is valid? [True, True] Translation: X:604.69, Y:-187.16, Z:-4.75 [[ 7.74082319e-01 6.33082527e-01 1.75454474e-03 6.04689330e+02] [-6.33081089e-01 7.74084304e-01 -1.35074887e-03 -1.87161110e+02] [-2.21330105e-03 -6.51782813e-05 9.99997549e-01 -4.75488563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters 0.05210220100287526 Centerline is valid? [True, True] Translation: X:604.74, Y:-187.20, Z:-4.76 [[ 7.74045507e-01 6.33129204e-01 9.82116422e-04 6.04737889e+02] [-6.33128754e-01 7.74046129e-01 -7.55298912e-04 -1.87199700e+02] [-1.23840521e-03 -3.71704173e-05 9.99999232e-01 -4.75606549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters 0.052265619508300706 Centerline is valid? [True, True] Translation: X:604.78, Y:-187.24, Z:-4.76 [[ 7.74141386e-01 6.33012462e-01 -5.79978176e-04 6.04784767e+02] [-6.33012304e-01 7.74141603e-01 4.47714684e-04 -1.87238378e+02] [ 7.32394209e-04 2.05388552e-05 9.99999732e-01 -4.75739757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters 0.051957333737281085 Centerline is valid? [True, True] Translation: X:604.83, Y:-187.28, Z:-4.76 [[ 7.74536340e-01 6.32525008e-01 -2.36063568e-03 6.04830660e+02] [-6.32522394e-01 7.74539933e-01 1.82011002e-03 -1.87281849e+02] [ 2.97967171e-03 8.34135769e-05 9.99995557e-01 -4.75934796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters 0.05328886499906982 Centerline is valid? [True, True] Translation: X:604.88, Y:-187.31, Z:-4.77 [[ 7.74996986e-01 6.31947142e-01 -4.74137480e-03 6.04882732e+02] [-6.31936597e-01 7.75011472e-01 3.65439514e-03 -1.87314206e+02] [ 5.98400444e-03 1.64103037e-04 9.99982082e-01 -4.76643977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters 0.05188840991139696 Centerline is valid? [True, True] Translation: X:604.92, Y:-187.37, Z:-4.76 [[ 7.76658083e-01 6.29909289e-01 -4.06309269e-03 6.04920958e+02] [-6.29901519e-01 7.76668701e-01 3.13138047e-03 -1.87365442e+02] [ 5.12816257e-03 1.27336299e-04 9.99986843e-01 -4.76210167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters 0.05107600762521536 Centerline is valid? [True, True] Translation: X:604.96, Y:-187.41, Z:-4.76 [[ 7.81797297e-01 6.23531990e-01 -9.18524086e-04 6.04962998e+02] [-6.23531589e-01 7.81797836e-01 7.07934975e-04 -1.87409269e+02] [ 1.15952025e-03 1.92671324e-05 9.99999328e-01 -4.76157924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters 0.05040589931908315 Centerline is valid? [True, True] Translation: X:605.01, Y:-187.45, Z:-4.76 [[ 7.84328667e-01 6.20338011e-01 3.04878085e-03 6.05005217e+02] [-6.20333563e-01 7.84334591e-01 -2.34948809e-03 -1.87454893e+02] [-3.84874105e-03 -4.84902252e-05 9.99992592e-01 -4.75619092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters 0.05086133826155341 Centerline is valid? [True, True] Translation: X:605.05, Y:-187.49, Z:-4.76 [[ 7.84233196e-01 6.20450770e-01 4.37443610e-03 6.05054521e+02] [-6.20441615e-01 7.84245393e-01 -3.37115970e-03 -1.87490830e+02] [-5.52226999e-03 -7.03068557e-05 9.99984750e-01 -4.75560909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters 0.05091704530233332 Centerline is valid? [True, True] Translation: X:605.10, Y:-187.53, Z:-4.76 [[ 7.84321528e-01 6.20347404e-01 2.97298142e-03 6.05101892e+02] [-6.20343175e-01 7.84327161e-01 -2.29115480e-03 -1.87532568e+02] [-3.75310201e-03 -4.72667035e-05 9.99992956e-01 -4.75715464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters 0.05132175900004583 Centerline is valid? [True, True] Translation: X:605.15, Y:-187.57, Z:-4.76 [[ 7.85202668e-01 6.19236870e-01 1.57134231e-03 6.05153536e+02] [-6.19235686e-01 7.85204240e-01 -1.21089095e-03 -1.87565726e+02] [-1.98365297e-03 -2.22364237e-05 9.99998032e-01 -4.76176289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters 0.050855309494880784 Centerline is valid? [True, True] Translation: X:605.20, Y:-187.61, Z:-4.76 [[ 7.87303948e-01 6.16558425e-01 2.86402062e-03 6.05200557e+02] [-6.16554469e-01 7.87309157e-01 -2.20869570e-03 -1.87605766e+02] [-3.61665961e-03 -2.69098702e-05 9.99993460e-01 -4.75972089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters 0.05115701142167591 Centerline is valid? [True, True] Translation: X:605.25, Y:-187.64, Z:-4.76 [[ 7.88968987e-01 6.14426873e-01 2.74869589e-03 6.05250355e+02] [-6.14423217e-01 7.88973775e-01 -2.11974494e-03 -1.87642776e+02] [-3.47107723e-03 -1.64495534e-05 9.99993976e-01 -4.76083838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters 0.05193800475976459 Centerline is valid? [True, True] Translation: X:605.30, Y:-187.68, Z:-4.76 [[ 7.91814260e-01 6.10761934e-01 1.94722332e-04 6.05299967e+02] [-6.10761916e-01 7.91814284e-01 -1.49642495e-04 -1.87679095e+02] [-2.45579863e-04 -4.39923070e-07 9.99999970e-01 -4.76321272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters 0.051781576982263065 Centerline is valid? [True, True] Translation: X:605.35, Y:-187.72, Z:-4.76 [[ 7.94808277e-01 6.06859581e-01 1.11877550e-03 6.05350698e+02] [-6.06858969e-01 7.94809064e-01 -8.62105041e-04 -1.87716361e+02] [-1.41238961e-03 6.26927657e-06 9.99999003e-01 -4.76112792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters 0.05131246701971467 Centerline is valid? [True, True] Translation: X:605.40, Y:-187.75, Z:-4.76 [[ 7.94860178e-01 6.06791281e-01 1.27978818e-03 6.05399728e+02] [-6.06790479e-01 7.94861209e-01 -9.86644314e-04 -1.87754015e+02] [-1.61594115e-03 7.68099039e-06 9.99998694e-01 -4.76311070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters 0.051021400411777926 Centerline is valid? [True, True] Translation: X:605.45, Y:-187.79, Z:-4.76 [[ 7.91916571e-01 6.10628442e-01 1.02458171e-03 6.05450386e+02] [-6.10627931e-01 7.91917234e-01 -7.90392353e-04 -1.87787934e+02] [-1.29401997e-03 2.86592405e-07 9.99999163e-01 -4.76134522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters 0.05114554324933185 Centerline is valid? [True, True] Translation: X:605.50, Y:-187.82, Z:-4.76 [[ 7.88793437e-01 6.14655548e-01 1.86325122e-03 6.05502532e+02] [-6.14653865e-01 7.88795637e-01 -1.43822394e-03 -1.87821943e+02] [-2.35373676e-03 -1.07929628e-05 9.99997230e-01 -4.76402495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters 0.0511298317527968 Centerline is valid? [True, True] Translation: X:605.55, Y:-187.86, Z:-4.76 [[ 7.83989471e-01 6.20772427e-01 1.45016260e-03 6.05553002e+02] [-6.20771418e-01 7.83990812e-01 -1.11946504e-03 -1.87858149e+02] [-1.83184718e-03 -2.25706927e-05 9.99998322e-01 -4.76364123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters 0.051506578168442355 Centerline is valid? [True, True] Translation: X:605.61, Y:-187.89, Z:-4.77 [[ 7.79728893e-01 6.26112780e-01 2.37485976e-03 6.05606843e+02] [-6.26110098e-01 7.79732507e-01 -1.83345434e-03 -1.87887605e+02] [-2.99970455e-03 -5.73263568e-05 9.99995499e-01 -4.76546424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters 0.05147924224640777 Centerline is valid? [True, True] Translation: X:605.66, Y:-187.92, Z:-4.77 [[ 7.76752980e-01 6.29802284e-01 1.97256096e-03 6.05657249e+02] [-6.29800445e-01 7.76755483e-01 -1.52310755e-03 -1.87922941e+02] [-2.49145416e-03 -5.92414413e-05 9.99996895e-01 -4.76747829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters 0.05062667032468094 Centerline is valid? [True, True] Translation: X:605.70, Y:-187.96, Z:-4.77 [[ 7.76233786e-01 6.30443833e-01 1.29741478e-03 6.05703837e+02] [-6.30443039e-01 7.76234869e-01 -1.00147881e-03 -1.87964673e+02] [-1.63847473e-03 -4.05644261e-05 9.99998657e-01 -4.76735125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters 0.05083003289188756 Centerline is valid? [True, True] Translation: X:605.75, Y:-188.01, Z:-4.77 [[ 7.77144116e-01 6.29320912e-01 1.48720132e-03 6.05750646e+02] [-6.29319867e-01 7.77145538e-01 -1.14781838e-03 -1.88005946e+02] [-1.87811798e-03 -4.39050376e-05 9.99998235e-01 -4.76651182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters 0.050811111038537984 Centerline is valid? [True, True] Translation: X:605.80, Y:-188.04, Z:-4.77 [[ 7.80170199e-01 6.25566087e-01 1.23772109e-03 6.05797969e+02] [-6.25565357e-01 7.80171180e-01 -9.55996276e-04 -1.88043993e+02] [-1.56367318e-03 -2.84356338e-05 9.99998777e-01 -4.76926642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters 0.05127048383698705 Centerline is valid? [True, True] Translation: X:605.84, Y:-188.08, Z:-4.77 [[ 7.82686823e-01 6.22413841e-01 1.53227660e-03 6.05844792e+02] [-6.22412717e-01 7.82688322e-01 -1.18347935e-03 -1.88084614e+02] [-1.93590893e-03 -2.74147498e-05 9.99998126e-01 -4.76997067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters 0.05075268516993516 Centerline is valid? [True, True] Translation: X:605.89, Y:-188.13, Z:-4.77 [[ 7.87139906e-01 6.16773912e-01 8.42343619e-04 6.05888940e+02] [-6.16773569e-01 7.87140357e-01 -6.50601913e-04 -1.88128784e+02] [-1.06431694e-03 -7.42055258e-06 9.99999434e-01 -4.77035571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters 0.051303297495655424 Centerline is valid? [True, True] Translation: X:605.93, Y:-188.17, Z:-4.77 [[ 7.91182536e-01 6.11579531e-01 -8.20061246e-04 6.05932918e+02] [-6.11579202e-01 7.91182961e-01 6.34730017e-04 -1.88171125e+02] [ 1.03700637e-03 -6.54902156e-07 9.99999462e-01 -4.77258675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters 0.05165719333192388 Centerline is valid? [True, True] Translation: X:605.98, Y:-188.21, Z:-4.77 [[ 7.91657691e-01 6.10964664e-01 -5.28859993e-04 6.05982588e+02] [-6.10964527e-01 7.91657867e-01 4.10030792e-04 -1.88209803e+02] [ 6.69190499e-04 -1.48933482e-06 9.99999776e-01 -4.76887343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters 0.05102811971119942 Centerline is valid? [True, True] Translation: X:606.03, Y:-188.25, Z:-4.77 [[ 7.90513309e-01 6.12444829e-01 -1.99164419e-04 6.06032270e+02] [-6.12444810e-01 7.90513334e-01 1.54355679e-04 -1.88247332e+02] [ 2.51976467e-04 -4.30037831e-08 9.99999968e-01 -4.77092370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters 0.05133909626192092 Centerline is valid? [True, True] Translation: X:606.08, Y:-188.28, Z:-4.77 [[ 7.89942830e-01 6.13180277e-01 5.23095631e-04 6.06081736e+02] [-6.13180144e-01 7.89943003e-01 -4.03485237e-04 -1.88282530e+02] [-6.60624923e-04 -2.02158475e-06 9.99999782e-01 -4.77208272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters 0.051716107421296995 Centerline is valid? [True, True] Translation: X:606.13, Y:-188.32, Z:-4.77 [[ 7.91061731e-01 6.11735814e-01 7.94933738e-04 6.06131736e+02] [-6.11735506e-01 7.91062130e-01 -6.13765017e-04 -1.88319032e+02] [-1.00430402e-03 -7.63176066e-07 9.99999496e-01 -4.77300794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters 0.05195596852169858 Centerline is valid? [True, True] Translation: X:606.18, Y:-188.36, Z:-4.77 [[ 7.91755304e-01 6.10838211e-01 4.67379578e-04 6.06181300e+02] [-6.10838105e-01 7.91755442e-01 -3.60374166e-04 -1.88357510e+02] [-5.90180635e-04 -1.65097795e-07 9.99999826e-01 -4.77349164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters 0.052164894873162615 Centerline is valid? [True, True] Translation: X:606.23, Y:-188.40, Z:-4.77 [[ 7.93685684e-01 6.08327450e-01 -8.65341441e-04 6.06230852e+02] [-6.08327080e-01 7.93686156e-01 6.70684879e-04 -1.88395345e+02] [ 1.09480554e-03 -5.90235481e-06 9.99999401e-01 -4.77409311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters 0.052581663525200224 Centerline is valid? [True, True] Translation: X:606.28, Y:-188.43, Z:-4.77 [[ 7.94753497e-01 6.06931165e-01 -1.20050745e-03 6.06280250e+02] [-6.06930453e-01 7.94754403e-01 9.29699001e-04 -1.88432328e+02] [ 1.51837188e-03 -1.02570021e-05 9.99998847e-01 -4.77417965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters 0.05302456262704413 Centerline is valid? [True, True] Translation: X:606.33, Y:-188.47, Z:-4.77 [[ 7.97797788e-01 6.02924988e-01 -3.85981881e-04 6.06328027e+02] [-6.02924913e-01 7.97797881e-01 2.99801827e-04 -1.88470002e+02] [ 4.88693540e-04 -6.46314269e-06 9.99999881e-01 -4.77401033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters 0.05313262925892074 Centerline is valid? [True, True] Translation: X:606.38, Y:-188.50, Z:-4.77 [[ 8.00290958e-01 5.99611842e-01 1.47220031e-04 6.06380800e+02] [-5.99611832e-01 8.00290971e-01 -1.13667066e-04 -1.88503813e+02] [-1.85974981e-04 2.69185308e-06 9.99999983e-01 -4.77024887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters 0.052961819979851735 Centerline is valid? [True, True] Translation: X:606.43, Y:-188.55, Z:-4.77 [[ 8.01824611e-01 5.97558694e-01 -9.48249933e-04 6.06427505e+02] [-5.97558243e-01 8.01825172e-01 7.34548223e-04 -1.88545250e+02] [ 1.19926634e-03 -2.23442796e-05 9.99999281e-01 -4.77051719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters 0.05273548262268801 Centerline is valid? [True, True] Translation: X:606.48, Y:-188.58, Z:-4.77 [[ 7.99902441e-01 6.00127865e-01 -1.62220356e-03 6.06478285e+02] [-6.00126550e-01 7.99904085e-01 1.25641465e-03 -1.88578451e+02] [ 2.05161670e-03 -3.14817230e-05 9.99997895e-01 -4.77165481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters 0.053194992739006346 Centerline is valid? [True, True] Translation: X:606.53, Y:-188.61, Z:-4.77 [[ 7.95440256e-01 6.06029591e-01 -1.71274423e-03 6.06530314e+02] [-6.06028140e-01 7.95442100e-01 1.32631216e-03 -1.88610421e+02] [ 2.16617328e-03 -1.70308891e-05 9.99997654e-01 -4.77322010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters 0.05238411750012863 Centerline is valid? [True, True] Translation: X:606.58, Y:-188.64, Z:-4.77 [[ 7.92752214e-01 6.09542828e-01 -1.21152093e-03 6.06582873e+02] [-6.09542105e-01 7.92753140e-01 9.38552247e-04 -1.88644720e+02] [ 1.53252481e-03 -5.56635314e-06 9.99998826e-01 -4.77311636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters 0.0521272997853479 Centerline is valid? [True, True] Translation: X:606.63, Y:-188.68, Z:-4.77 [[ 7.89434099e-01 6.13834640e-01 -9.15236444e-04 6.06633681e+02] [-6.13834231e-01 7.89434630e-01 7.09176126e-04 -1.88681058e+02] [ 1.15783622e-03 1.95564202e-06 9.99999330e-01 -4.77177285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters 0.05234789087726802 Centerline is valid? [True, True] Translation: X:606.68, Y:-188.71, Z:-4.77 [[ 7.87128277e-01 6.16787664e-01 -1.43310674e-03 6.06684382e+02] [-6.16786663e-01 7.87129581e-01 1.11109043e-03 -1.88714952e+02] [ 1.81334758e-03 9.35042685e-06 9.99998356e-01 -4.77368777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters 0.05230766433434458 Centerline is valid? [True, True] Translation: X:606.74, Y:-188.75, Z:-4.78 [[ 7.83173585e-01 6.21798401e-01 -2.42586332e-03 6.06735769e+02] [-6.21795562e-01 7.83177341e-01 1.87930866e-03 -1.88748820e+02] [ 3.06843230e-03 3.65661411e-05 9.99995292e-01 -4.77511648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters 0.051751446639061366 Centerline is valid? [True, True] Translation: X:606.79, Y:-188.78, Z:-4.77 [[ 7.79831870e-01 6.25986988e-01 -1.59534648e-03 6.06785339e+02] [-6.25985767e-01 7.79833502e-01 1.23689459e-03 -1.88784738e+02] [ 2.01838455e-03 3.40943623e-05 9.99997962e-01 -4.77327608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters 0.051667779967166316 Centerline is valid? [True, True] Translation: X:606.83, Y:-188.82, Z:-4.77 [[ 7.79537205e-01 6.26355920e-01 8.47314729e-05 6.06833855e+02] [-6.26355917e-01 7.79537210e-01 -6.46823002e-05 -1.88822473e+02] [-1.06565478e-04 -2.64979991e-06 9.99999994e-01 -4.77178260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters 0.052872348877078694 Centerline is valid? [True, True] Translation: X:606.88, Y:-188.86, Z:-4.77 [[ 7.82627656e-01 6.22489970e-01 4.34617850e-04 6.06879864e+02] [-6.22489879e-01 7.82627777e-01 -3.36594926e-04 -1.88863233e+02] [-5.49670968e-04 -7.11671457e-06 9.99999849e-01 -4.77084322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters 0.0525652776526872 Centerline is valid? [True, True] Translation: X:606.92, Y:-188.90, Z:-4.77 [[ 7.88225621e-01 6.15385290e-01 -1.14685288e-03 6.06924416e+02] [-6.15384648e-01 7.88226456e-01 8.88954180e-04 -1.88904307e+02] [ 1.45102910e-03 5.05919253e-06 9.99998947e-01 -4.77355315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters 0.053149202766252235 Centerline is valid? [True, True] Translation: X:606.97, Y:-188.95, Z:-4.78 [[ 7.93683121e-01 6.08330116e-01 -1.25416064e-03 6.06968671e+02] [-6.08329339e-01 7.93684112e-01 9.72458798e-04 -1.88948384e+02] [ 1.58698335e-03 -8.88142032e-06 9.99998741e-01 -4.77520545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters 0.05247004319426594 Centerline is valid? [True, True] Translation: X:607.01, Y:-188.99, Z:-4.78 [[ 7.97244213e-01 6.03656323e-01 -8.42367962e-04 6.07014726e+02] [-6.03655969e-01 7.97244658e-01 6.53351816e-04 -1.88990872e+02] [ 1.06597331e-03 -1.23805056e-05 9.99999432e-01 -4.77553294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters 0.05335718588106426 Centerline is valid? [True, True] Translation: X:607.06, Y:-189.03, Z:-4.77 [[ 8.01926815e-01 5.97420945e-01 -1.26399118e-03 6.07060325e+02] [-5.97420142e-01 8.01927811e-01 9.79997916e-04 -1.89030074e+02] [ 1.59910096e-03 -3.07528183e-05 9.99998721e-01 -4.77412956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters 0.05478367210558677 Centerline is valid? [True, True] Translation: X:607.11, Y:-189.07, Z:-4.77 [[ 8.05515229e-01 5.92568139e-01 -2.86643335e-03 6.07105654e+02] [-5.92563978e-01 8.05520324e-01 2.22243921e-03 -1.89072284e+02] [ 3.62591699e-03 -9.16634781e-05 9.99993422e-01 -4.77399267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters 0.055001541413405915 Centerline is valid? [True, True] Translation: X:607.15, Y:-189.12, Z:-4.78 [[ 8.06794342e-01 5.90822558e-01 -3.40514339e-03 6.07145658e+02] [-5.90816672e-01 8.06801519e-01 2.64008972e-03 -1.89120380e+02] [ 4.30709942e-03 -1.18193961e-04 9.99990717e-01 -4.78047281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters 0.053365090606049034 Centerline is valid? [True, True] Translation: X:607.20, Y:-189.15, Z:-4.77 [[ 8.05798644e-01 5.92185796e-01 -2.12815323e-03 6.07197154e+02] [-5.92183501e-01 8.05801451e-01 1.64998724e-03 -1.89152083e+02] [ 2.69196797e-03 -6.93002540e-05 9.99996374e-01 -4.77448874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters 0.05249285570544925 Centerline is valid? [True, True] Translation: X:607.24, Y:-189.19, Z:-4.78 [[ 8.03544185e-01 5.95244806e-01 -6.03446945e-04 6.07244023e+02] [-5.95244622e-01 8.03544411e-01 4.68200763e-04 -1.89192354e+02] [ 7.63590492e-04 -1.70214514e-05 9.99999708e-01 -4.77531384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters 0.052858143697329656 Centerline is valid? [True, True] Translation: X:607.29, Y:-189.23, Z:-4.78 [[ 8.00217646e-01 5.99709554e-01 4.12167723e-04 6.07294758e+02] [-5.99709469e-01 8.00217752e-01 -3.18919273e-04 -1.89226964e+02] [-5.21082864e-04 8.02394442e-06 9.99999864e-01 -4.77545890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters 0.052535186164060846 Centerline is valid? [True, True] Translation: X:607.34, Y:-189.26, Z:-4.77 [[ 7.98203420e-01 6.02385216e-01 1.83094539e-03 6.07343724e+02] [-6.02383544e-01 7.98205519e-01 -1.41972018e-03 -1.89261957e+02] [-2.31668916e-03 3.02941320e-05 9.99997316e-01 -4.77445552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters 0.05158120344328742 Centerline is valid? [True, True] Translation: X:607.39, Y:-189.30, Z:-4.78 [[ 7.95664457e-01 6.05737550e-01 3.04570823e-04 6.07392249e+02] [-6.05737504e-01 7.95664515e-01 -2.35249578e-04 -1.89298834e+02] [-3.84835700e-04 2.68975757e-06 9.99999926e-01 -4.77804415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters 0.0505436284387653 Centerline is valid? [True, True] Translation: X:607.44, Y:-189.33, Z:-4.78 [[ 7.93579327e-01 6.08466613e-01 4.82129387e-04 6.07444258e+02] [-6.08466498e-01 7.93579474e-01 -3.73538141e-04 -1.89333899e+02] [-6.09893473e-04 3.07256696e-06 9.99999814e-01 -4.77727490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters 0.05330338289849399 Centerline is valid? [True, True] Translation: X:607.50, Y:-189.37, Z:-4.78 [[ 7.89175125e-01 6.14168223e-01 1.29994026e-04 6.07497988e+02] [-6.14168215e-01 7.89175135e-01 -9.97733975e-05 -1.89366414e+02] [-1.63865703e-04 -1.09951539e-06 9.99999987e-01 -4.77995796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters 0.052781779146063336 Centerline is valid? [True, True] Translation: X:607.55, Y:-189.40, Z:-4.78 [[ 7.84211261e-01 6.20493389e-01 -8.07267191e-04 6.07549168e+02] [-6.20493073e-01 7.84211677e-01 6.26720838e-04 -1.89402355e+02] [ 1.02194449e-03 9.42216109e-06 9.99999478e-01 -4.78124762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters 0.05166628228389891 Centerline is valid? [True, True] Translation: X:607.60, Y:-189.44, Z:-4.78 [[ 7.82562307e-01 6.22572122e-01 4.32807347e-04 6.07598578e+02] [-6.22572032e-01 7.82562427e-01 -3.34852898e-04 -1.89440181e+02] [-5.47168848e-04 -7.41049316e-06 9.99999850e-01 -4.78054034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters 0.05177394706935254 Centerline is valid? [True, True] Translation: X:607.65, Y:-189.48, Z:-4.78 [[ 7.81741255e-01 6.23599783e-01 1.97984693e-03 6.07646434e+02] [-6.23597893e-01 7.81743762e-01 -1.53583923e-03 -1.89481682e+02] [-2.50548200e-03 -3.39994831e-05 9.99996861e-01 -4.77968748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters 0.05157891461087663 Centerline is valid? [True, True] Translation: X:607.69, Y:-189.52, Z:-4.78 [[ 7.80861808e-01 6.24695302e-01 3.25841604e-03 6.07694155e+02] [-6.24690184e-01 7.80868604e-01 -2.52945602e-03 -1.89519611e+02] [-4.12453408e-03 -6.03449156e-05 9.99991492e-01 -4.78008758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters 0.05126856307123421 Centerline is valid? [True, True] Translation: X:607.74, Y:-189.56, Z:-4.78 [[ 7.78551765e-01 6.27564173e-01 4.51202875e-03 6.07742080e+02] [-6.27554403e-01 7.78564833e-01 -3.50333933e-03 -1.89558003e+02] [-5.71147716e-03 -1.04012485e-04 9.99983684e-01 -4.77961905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters 0.05140883338808592 Centerline is valid? [True, True] Translation: X:607.79, Y:-189.59, Z:-4.78 [[ 7.74150315e-01 6.32996574e-01 2.57441927e-03 6.07791168e+02] [-6.32993423e-01 7.74154591e-01 -1.99893898e-03 -1.89593683e+02] [-3.25832002e-03 -8.21112273e-05 9.99994688e-01 -4.78317089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters 0.051411472966059635 Centerline is valid? [True, True] Translation: X:607.84, Y:-189.63, Z:-4.78 [[ 7.69722706e-01 6.38378349e-01 -1.97341850e-04 6.07836723e+02] [-6.38378330e-01 7.69722732e-01 1.53556047e-04 -1.89634945e+02] [ 2.49925363e-04 7.78318463e-06 9.99999969e-01 -4.78465273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters 0.05135371695465625 Centerline is valid? [True, True] Translation: X:607.89, Y:-189.67, Z:-4.79 [[ 7.68896139e-01 6.39370972e-01 -1.86726675e-03 6.07885594e+02] [-6.39369330e-01 7.68898403e-01 1.45137681e-03 -1.89671777e+02] [ 2.36370662e-03 7.79150662e-05 9.99997203e-01 -4.78685195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters 0.0512689489485341 Centerline is valid? [True, True] Translation: X:607.93, Y:-189.71, Z:-4.79 [[ 7.73035499e-01 6.34361906e-01 1.04424291e-03 6.07930828e+02] [-6.34361389e-01 7.73036203e-01 -8.10420161e-04 -1.89714157e+02] [-1.32133725e-03 -3.59438263e-05 9.99999126e-01 -4.78586534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters 0.050411646524014454 Centerline is valid? [True, True] Translation: X:607.98, Y:-189.76, Z:-4.78 [[ 7.79658083e-01 6.26184468e-01 5.12684229e-03 6.07975104e+02] [-6.26171808e-01 7.79674933e-01 -3.98320541e-03 -1.89755570e+02] [-6.49149178e-03 -1.04745811e-04 9.99978925e-01 -4.78225285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters 0.051669013060322996 Centerline is valid? [True, True] Translation: X:608.02, Y:-189.80, Z:-4.78 [[ 7.83939612e-01 6.20801707e-01 6.62760379e-03 6.08021711e+02] [-6.20780354e-01 7.83967623e-01 -5.14955949e-03 -1.89795223e+02] [-8.39268211e-03 -7.73425520e-05 9.99964778e-01 -4.78125813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters 0.050877551179695876 Centerline is valid? [True, True] Translation: X:608.07, Y:-189.83, Z:-4.78 [[ 7.84484640e-01 6.20121521e-01 5.75742308e-03 6.08071102e+02] [-6.20105388e-01 7.84505765e-01 -4.47358520e-03 -1.89833516e+02] [-7.29089806e-03 -6.07501992e-05 9.99973419e-01 -4.78281530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters 0.05134986801360188 Centerline is valid? [True, True] Translation: X:608.12, Y:-189.87, Z:-4.79 [[ 7.85138364e-01 6.19313271e-01 2.97012061e-03 6.08121649e+02] [-6.19308972e-01 7.85143981e-01 -2.30781327e-03 -1.89869725e+02] [-3.76123171e-03 -2.74696077e-05 9.99992926e-01 -4.78706652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters 0.052687318567329174 Centerline is valid? [True, True] Translation: X:608.17, Y:-189.91, Z:-4.79 [[ 7.88226673e-01 6.15377657e-01 3.00832742e-03 6.08169032e+02] [-6.15373216e-01 7.88232414e-01 -2.33808687e-03 -1.89909842e+02] [-3.81006761e-03 -8.30168208e-06 9.99992742e-01 -4.78830719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters 0.05073542460314158 Centerline is valid? [True, True] Translation: X:608.22, Y:-189.95, Z:-4.79 [[ 7.92799633e-01 6.09476306e-01 2.71559417e-03 6.08216579e+02] [-6.09472649e-01 7.92804284e-01 -2.11129877e-03 -1.89949676e+02] [-3.43972126e-03 1.87565142e-05 9.99994084e-01 -4.78684116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters 0.05172825715516259 Centerline is valid? [True, True] Translation: X:608.27, Y:-189.98, Z:-4.79 [[ 7.96468656e-01 6.04673281e-01 2.81128125e-03 6.08265946e+02] [-6.04669332e-01 7.96473616e-01 -2.18571068e-03 -1.89984761e+02] [-3.56075219e-03 4.09544939e-05 9.99993660e-01 -4.78685965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters 0.053340879116325964 Centerline is valid? [True, True] Translation: X:608.31, Y:-190.03, Z:-4.79 [[ 8.00739395e-01 5.99000938e-01 3.78126170e-03 6.08310528e+02] [-5.98993727e-01 8.00748317e-01 -2.94057076e-03 -1.90025519e+02] [-4.78924358e-03 8.96788134e-05 9.99988527e-01 -4.78732298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters 0.05226765419759147 Centerline is valid? [True, True] Translation: X:608.36, Y:-190.06, Z:-4.79 [[ 8.04588544e-01 5.93813459e-01 4.78026077e-03 6.08364499e+02] [-5.93801837e-01 8.04602730e-01 -3.71839668e-03 -1.90057021e+02] [-6.05424486e-03 1.53251744e-04 9.99981661e-01 -4.78731882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters 0.052656246248209936 Centerline is valid? [True, True] Translation: X:608.41, Y:-190.10, Z:-4.79 [[ 8.04649174e-01 5.93740952e-01 3.37467560e-03 6.08411315e+02] [-5.93735158e-01 8.04656243e-01 -2.62533900e-03 -1.90096481e+02] [-4.27422507e-03 1.08813306e-04 9.99990860e-01 -4.78862809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters 0.05273667782383282 Centerline is valid? [True, True] Translation: X:608.46, Y:-190.13, Z:-4.79 [[ 8.02455093e-01 5.96708951e-01 2.06183131e-03 6.08460356e+02] [-5.96706797e-01 8.02457740e-01 -1.60432455e-03 -1.90131867e+02] [-2.61184731e-03 5.70896492e-05 9.99996587e-01 -4.79139249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters 0.0516326118053499 Centerline is valid? [True, True] Translation: X:608.51, Y:-190.17, Z:-4.79 [[ 8.00865063e-01 5.98842837e-01 1.55162686e-03 6.08509810e+02] [-5.98841620e-01 8.00866566e-01 -1.20747014e-03 -1.90168352e+02] [-1.96573092e-03 3.78419067e-05 9.99998067e-01 -4.79221383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters 0.0514500104848222 Centerline is valid? [True, True] Translation: X:608.56, Y:-190.20, Z:-4.79 [[ 7.99149844e-01 6.01129806e-01 1.57559194e-03 6.08560371e+02] [-6.01128557e-01 7.99151397e-01 -1.22618678e-03 -1.90203814e+02] [-1.99623392e-03 3.27736687e-05 9.99998007e-01 -4.79314986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters 0.05156062118691853 Centerline is valid? [True, True] Translation: X:608.61, Y:-190.24, Z:-4.79 [[ 7.96167752e-01 6.05072308e-01 2.10056298e-03 6.08610812e+02] [-6.05070100e-01 7.96170523e-01 -1.63495592e-03 -1.90237697e+02] [-2.66167288e-03 3.07113286e-05 9.99996457e-01 -4.79402186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters 0.052358087401340576 Centerline is valid? [True, True] Translation: X:608.66, Y:-190.27, Z:-4.80 [[ 7.92962336e-01 6.09269842e-01 -9.96948350e-04 6.08664544e+02] [-6.09269346e-01 7.92962962e-01 7.77303631e-04 -1.90270363e+02] [ 1.26413078e-03 -8.96243322e-06 9.99999201e-01 -4.79689666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters 0.051396997521418936 Centerline is valid? [True, True] Translation: X:608.72, Y:-190.30, Z:-4.80 [[ 7.87314397e-01 6.16547013e-01 -2.41265377e-03 6.08718108e+02] [-6.16544146e-01 7.87318094e-01 1.88028016e-03 -1.90303360e+02] [ 3.05880709e-03 7.13591583e-06 9.99995322e-01 -4.79550782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters 0.051290458092843993 Centerline is valid? [True, True] Translation: X:608.77, Y:-190.34, Z:-4.80 [[ 7.83662066e-01 6.21182769e-01 -2.39441734e-03 6.08770481e+02] [-6.21179966e-01 7.83665724e-01 1.86637753e-03 -1.90337497e+02] [ 3.03578436e-03 2.47548116e-05 9.99995392e-01 -4.79587632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters 0.0526542413097152 Centerline is valid? [True, True] Translation: X:608.82, Y:-190.37, Z:-4.80 [[ 7.81315611e-01 6.24134066e-01 -1.60725623e-03 6.08819980e+02] [-6.24132808e-01 7.81317264e-01 1.25335972e-03 -1.90372956e+02] [ 2.03804154e-03 2.38718294e-05 9.99997923e-01 -4.79711931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters 0.05106776127996269 Centerline is valid? [True, True] Translation: X:608.87, Y:-190.41, Z:-4.80 [[ 7.78959029e-01 6.27074187e-01 -8.92202612e-04 6.08867668e+02] [-6.27073800e-01 7.78959539e-01 6.96344067e-04 -1.90411759e+02] [ 1.13164913e-03 1.70533851e-05 9.99999360e-01 -4.79513395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters 0.05184368513028173 Centerline is valid? [True, True] Translation: X:608.92, Y:-190.45, Z:-4.80 [[ 7.77291638e-01 6.29139562e-01 -1.05897553e-03 6.08916036e+02] [-6.29139019e-01 7.77292359e-01 8.26503792e-04 -1.90450175e+02] [ 1.34311982e-03 2.38083393e-05 9.99999098e-01 -4.79559110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters 0.05157317090509794 Centerline is valid? [True, True] Translation: X:608.96, Y:-190.49, Z:-4.80 [[ 7.76944780e-01 6.29563950e-01 -2.45811264e-03 6.08962888e+02] [-6.29561034e-01 7.76948666e-01 1.91687060e-03 -1.90488919e+02] [ 3.11661996e-03 5.82293304e-05 9.99995142e-01 -4.79567693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters 0.0507297766171757 Centerline is valid? [True, True] Translation: X:609.01, Y:-190.53, Z:-4.80 [[ 7.76633651e-01 6.29947277e-01 -2.56913547e-03 6.09011149e+02] [-6.29944094e-01 7.76637898e-01 2.00346704e-03 -1.90528159e+02] [ 3.25736657e-03 6.24517908e-05 9.99994693e-01 -4.79735484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters 0.05234472524115212 Centerline is valid? [True, True] Translation: X:609.06, Y:-190.57, Z:-4.80 [[ 7.76495741e-01 6.30118150e-01 -2.34123028e-03 6.09058551e+02] [-6.30115504e-01 7.76499268e-01 1.82712258e-03 -1.90569677e+02] [ 2.96926670e-03 5.64925965e-05 9.99995590e-01 -4.79605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters 0.051518771659598214 Centerline is valid? [True, True] Translation: X:609.10, Y:-190.61, Z:-4.80 [[ 7.77918696e-01 6.28360969e-01 -2.23499100e-03 6.09103896e+02] [-6.28358550e-01 7.77921905e-01 1.74412719e-03 -1.90610398e+02] [ 2.83458990e-03 4.75865510e-05 9.99995981e-01 -4.79710817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters 0.051494031183414564 Centerline is valid? [True, True] Translation: X:609.15, Y:-190.65, Z:-4.80 [[ 7.80062425e-01 6.25696755e-01 -2.48687399e-03 6.09146766e+02] [-6.25693748e-01 7.80066388e-01 1.94012196e-03 -1.90654246e+02] [ 3.15385483e-03 4.26052673e-05 9.99995026e-01 -4.79647838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters 0.05079581183483697 Centerline is valid? [True, True] Translation: X:609.19, Y:-190.70, Z:-4.80 [[ 7.81188855e-01 6.24290879e-01 -2.20709427e-03 6.09192086e+02] [-6.24288503e-01 7.81191972e-01 1.72245707e-03 -1.90697195e+02] [ 2.79947856e-03 3.22993115e-05 9.99996081e-01 -4.79575088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters 0.050625838986964114 Centerline is valid? [True, True] Translation: X:609.24, Y:-190.74, Z:-4.79 [[ 7.82110977e-01 6.23136075e-01 -1.96228416e-03 6.09238943e+02] [-6.23134192e-01 7.82113439e-01 1.53232348e-03 -1.90738037e+02] [ 2.48957485e-03 2.43193403e-05 9.99996901e-01 -4.79473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters 0.05213954192782237 Centerline is valid? [True, True] Translation: X:609.29, Y:-190.78, Z:-4.80 [[ 7.84820600e-01 6.19722477e-01 -8.22906202e-04 6.09285315e+02] [-6.19722143e-01 7.84821032e-01 6.43064023e-04 -1.90777661e+02] [ 1.04435532e-03 5.28330208e-06 9.99999455e-01 -4.79520499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters 0.05188363397679257 Centerline is valid? [True, True] Translation: X:609.33, Y:-190.82, Z:-4.80 [[ 7.86981222e-01 6.16976949e-01 -3.68852315e-05 6.09334746e+02] [-6.16976948e-01 7.86981222e-01 2.92470332e-05 -1.90816151e+02] [ 4.70727297e-05 -2.59528323e-07 9.99999999e-01 -4.79595405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters 0.051581028098204494 Centerline is valid? [True, True] Translation: X:609.38, Y:-190.85, Z:-4.80 [[ 7.88657876e-01 6.14831417e-01 -1.04053146e-03 6.09382706e+02] [-6.14830879e-01 7.88658563e-01 8.13360682e-04 -1.90854153e+02] [ 1.32070375e-03 -1.71243682e-06 9.99999128e-01 -4.79631794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters 0.052436070793876896 Centerline is valid? [True, True] Translation: X:609.43, Y:-190.89, Z:-4.80 [[ 7.90427104e-01 6.12554007e-01 -1.60650815e-03 6.09431436e+02] [-6.12552720e-01 7.90428737e-01 1.25559956e-03 -1.90892630e+02] [ 2.03895275e-03 -8.38898794e-06 9.99997921e-01 -4.79674171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters 0.051980863663052074 Centerline is valid? [True, True] Translation: X:609.48, Y:-190.93, Z:-4.79 [[ 7.93739504e-01 6.08252651e-01 -2.51239600e-03 6.09482542e+02] [-6.08249483e-01 7.93743480e-01 1.96334374e-03 -1.90927710e+02] [ 3.18840698e-03 -3.02199213e-05 9.99994917e-01 -4.79485979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters 0.05377834645037631 Centerline is valid? [True, True] Translation: X:609.53, Y:-190.97, Z:-4.80 [[ 7.99596151e-01 6.00532935e-01 -2.48797477e-03 6.09530337e+02] [-6.00529789e-01 7.99600019e-01 1.94461782e-03 -1.90965965e+02] [ 3.15719171e-03 -6.08059568e-05 9.99995014e-01 -4.79670266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters 0.05335340399521985 Centerline is valid? [True, True] Translation: X:609.57, Y:-191.01, Z:-4.80 [[ 8.04497974e-01 5.93954175e-01 -1.20344771e-03 6.09574379e+02] [-5.93953432e-01 8.04498873e-01 9.40522948e-04 -1.91009984e+02] [ 1.52679986e-03 -4.18569093e-05 9.99998834e-01 -4.79660170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters 0.053429587895859144 Centerline is valid? [True, True] Translation: X:609.62, Y:-191.05, Z:-4.80 [[ 8.05130551e-01 5.93097487e-01 4.09096697e-04 6.09621376e+02] [-5.93097401e-01 8.05130655e-01 -3.18585745e-04 -1.91048906e+02] [-5.18328696e-04 1.38689279e-05 9.99999866e-01 -4.79626338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters 0.05377700321925266 Centerline is valid? [True, True] Translation: X:609.68, Y:-191.07, Z:-4.79 [[ 8.04193210e-01 5.94365170e-01 1.82378179e-03 6.09680088e+02] [-5.94363464e-01 8.04195276e-01 -1.42503381e-03 -1.91072979e+02] [-2.31366717e-03 6.20132514e-05 9.99997322e-01 -4.79435662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters 0.05417572927241561 Centerline is valid? [True, True] Translation: X:609.73, Y:-191.11, Z:-4.80 [[ 8.02476915e-01 5.96682793e-01 6.68194179e-04 6.09725146e+02] [-5.96682565e-01 8.02477192e-01 -5.21830040e-04 -1.91112810e+02] [-8.47577595e-04 2.00567436e-05 9.99999641e-01 -4.79879363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters 0.054058229906568625 Centerline is valid? [True, True] Translation: X:609.78, Y:-191.15, Z:-4.80 [[ 8.01580257e-01 5.97887037e-01 -4.27983279e-04 6.09778087e+02] [-5.97886943e-01 8.01580371e-01 3.34944158e-04 -1.91146413e+02] [ 5.43321766e-04 -1.25990097e-05 9.99999852e-01 -4.79796101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters 0.052817280920956236 Centerline is valid? [True, True] Translation: X:609.83, Y:-191.18, Z:-4.80 [[ 7.98614598e-01 6.01841457e-01 -1.25862745e-03 6.09830402e+02] [-6.01840653e-01 7.98615589e-01 9.84118656e-04 -1.91177312e+02] [ 1.59744290e-03 -2.84383617e-05 9.99998724e-01 -4.79961963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters 0.0537096922572193 Centerline is valid? [True, True] Translation: X:609.88, Y:-191.21, Z:-4.80 [[ 7.94929512e-01 6.06701506e-01 -5.94321185e-04 6.09883661e+02] [-6.06701328e-01 7.94929734e-01 4.64691407e-04 -1.91208205e+02] [ 7.54372558e-04 -8.82146074e-06 9.99999715e-01 -4.80024194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters 0.05244182704431108 Centerline is valid? [True, True] Translation: X:609.93, Y:-191.24, Z:-4.80 [[ 7.91448371e-01 6.11235823e-01 -4.94349520e-04 6.09934093e+02] [-6.11235701e-01 7.91448525e-01 3.86958975e-04 -1.91241712e+02] [ 6.27775386e-04 -4.09397519e-06 9.99999803e-01 -4.79978916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters 0.0532918039296794 Centerline is valid? [True, True] Translation: X:609.99, Y:-191.27, Z:-4.80 [[ 7.86729820e-01 6.17295872e-01 -1.41334112e-03 6.09988094e+02] [-6.17294882e-01 7.86731089e-01 1.10544820e-03 -1.91272924e+02] [ 1.79430801e-03 2.75917790e-06 9.99998390e-01 -4.80154797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters 0.052470461509113706 Centerline is valid? [True, True] Translation: X:610.04, Y:-191.31, Z:-4.80 [[ 7.84918920e-01 6.19597791e-01 -9.30699846e-04 6.10039418e+02] [-6.19597362e-01 7.84919472e-01 7.29144120e-04 -1.91310159e+02] [ 1.18230052e-03 4.34015331e-06 9.99999301e-01 -4.80113651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters 0.05310535898023269 Centerline is valid? [True, True] Translation: X:610.09, Y:-191.35, Z:-4.80 [[ 7.82767378e-01 6.22313329e-01 -1.16300816e-03 6.10088987e+02] [-6.22312663e-01 7.82768242e-01 9.10885493e-04 -1.91347213e+02] [ 1.47722204e-03 1.07432575e-05 9.99998909e-01 -4.80109166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters 0.05237003553754317 Centerline is valid? [True, True] Translation: X:610.14, Y:-191.38, Z:-4.80 [[ 7.81695300e-01 6.23659371e-01 -1.20292794e-03 6.10137169e+02] [-6.23658660e-01 7.81696225e-01 9.42227496e-04 -1.91384593e+02] [ 1.52795324e-03 1.36816212e-05 9.99998833e-01 -4.80198836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters 0.052640065638015605 Centerline is valid? [True, True] Translation: X:610.18, Y:-191.42, Z:-4.80 [[ 7.83214651e-01 6.21750416e-01 1.10901812e-03 6.10184275e+02] [-6.21749811e-01 7.83215436e-01 -8.67570565e-04 -1.91424679e+02] [-1.40801247e-03 -1.00378289e-05 9.99999009e-01 -4.80080816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters 0.05167301327753944 Centerline is valid? [True, True] Translation: X:610.23, Y:-191.47, Z:-4.80 [[ 7.84640293e-01 6.19949121e-01 1.64257587e-03 6.10230169e+02] [-6.19947790e-01 7.84642012e-01 -1.28454312e-03 -1.91466731e+02] [-2.08518541e-03 -1.04069925e-05 9.99997826e-01 -4.80027175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters 0.052900202344615704 Centerline is valid? [True, True] Translation: X:610.28, Y:-191.51, Z:-4.80 [[ 7.84957389e-01 6.19549201e-01 8.27724698e-04 6.10277046e+02] [-6.19548863e-01 7.84957825e-01 -6.47346248e-04 -1.91505800e+02] [-1.05079183e-03 -4.67667552e-06 9.99999448e-01 -4.80357913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters 0.05212226064523794 Centerline is valid? [True, True] Translation: X:610.32, Y:-191.55, Z:-4.80 [[ 7.83940387e-01 6.20835977e-01 3.99091672e-04 6.10322828e+02] [-6.20835899e-01 7.83940489e-01 -3.11475361e-04 -1.91547517e+02] [-5.06239231e-04 -3.59232184e-06 9.99999872e-01 -4.80190432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters 0.051530204223456055 Centerline is valid? [True, True] Translation: X:610.37, Y:-191.59, Z:-4.80 [[ 7.81875121e-01 6.23434162e-01 -1.06813305e-03 6.10370075e+02] [-6.23433601e-01 7.81875850e-01 8.36735842e-04 -1.91587910e+02] [ 1.35679714e-03 1.16870933e-05 9.99999079e-01 -4.80417125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters 0.05252347859940882 Centerline is valid? [True, True] Translation: X:610.42, Y:-191.63, Z:-4.81 [[ 7.78855018e-01 6.27203933e-01 -2.95752514e-04 6.10418078e+02] [-6.27203890e-01 7.78855074e-01 2.32612167e-04 -1.91625516e+02] [ 3.76243611e-04 4.32597362e-06 9.99999929e-01 -4.80612024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters 0.051377779962872135 Centerline is valid? [True, True] Translation: X:610.46, Y:-191.67, Z:-4.80 [[ 7.77169629e-01 6.29291080e-01 -3.22511781e-04 6.10463248e+02] [-6.29291029e-01 7.77169696e-01 2.53136973e-04 -1.91667756e+02] [ 4.09943222e-04 6.22340332e-06 9.99999916e-01 -4.80493545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters 0.05164459643871604 Centerline is valid? [True, True] Translation: X:610.51, Y:-191.71, Z:-4.81 [[ 7.73855804e-01 6.33361684e-01 -4.15086042e-04 6.10507068e+02] [-6.33361600e-01 7.73855915e-01 3.25570538e-04 -1.91710285e+02] [ 5.27420692e-04 1.09549096e-05 9.99999861e-01 -4.80577273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters 0.051618559571027234 Centerline is valid? [True, True] Translation: X:610.55, Y:-191.75, Z:-4.81 [[ 7.73641957e-01 6.33622364e-01 9.06070108e-04 6.10553293e+02] [-6.33621968e-01 7.73642488e-01 -7.08960539e-04 -1.91749906e+02] [-1.15018759e-03 -2.56243057e-05 9.99999338e-01 -4.80540309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters 0.05199443877197557 Centerline is valid? [True, True] Translation: X:610.60, Y:-191.79, Z:-4.81 [[ 7.76042385e-01 6.30680728e-01 -1.90023328e-04 6.10598927e+02] [-6.30680710e-01 7.76042408e-01 1.49030208e-04 -1.91790425e+02] [ 2.41456641e-04 4.19028896e-06 9.99999971e-01 -4.80827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters 0.050849218236828364 Centerline is valid? [True, True] Translation: X:610.64, Y:-191.83, Z:-4.80 [[ 7.78133004e-01 6.28098070e-01 1.35758499e-03 6.10642820e+02] [-6.28097170e-01 7.78134187e-01 -1.06347444e-03 -1.91834669e+02] [-1.72434954e-03 -2.51707268e-05 9.99998513e-01 -4.80491408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters 0.05039746178110879 Centerline is valid? [True, True] Translation: X:610.69, Y:-191.87, Z:-4.80 [[ 7.77684799e-01 6.28648913e-01 2.62633240e-03 6.10690596e+02] [-6.28645549e-01 7.77689232e-01 -2.05736303e-03 -1.91873399e+02] [-3.33582946e-03 -5.10522172e-05 9.99994435e-01 -4.80286072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters 0.052182205084142536 Centerline is valid? [True, True] Translation: X:610.75, Y:-191.90, Z:-4.80 [[ 7.76795383e-01 6.29735890e-01 4.65211011e-03 6.10745145e+02] [-6.29725343e-01 7.76809307e-01 -3.64595382e-03 -1.91902263e+02] [-5.90979041e-03 -9.73915436e-05 9.99982532e-01 -4.80359565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters 0.05114388051121618 Centerline is valid? [True, True] Translation: X:610.79, Y:-191.94, Z:-4.80 [[ 7.77208319e-01 6.29218045e-01 5.64632052e-03 6.10793446e+02] [-6.29202486e-01 7.77228820e-01 -4.42629772e-03 -1.91941832e+02] [-7.17358944e-03 -1.12523498e-04 9.99974263e-01 -4.80371622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters 0.052198167073312665 Centerline is valid? [True, True] Translation: X:610.84, Y:-191.98, Z:-4.80 [[ 7.79411407e-01 6.26467487e-01 7.50641485e-03 6.10838685e+02] [-6.26439846e-01 7.79447545e-01 -5.88591897e-03 -1.91983006e+02] [-9.53819349e-03 -1.14764979e-04 9.99954504e-01 -4.80266335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters 0.05028638106233283 Centerline is valid? [True, True] Translation: X:610.89, Y:-192.02, Z:-4.80 [[ 7.81528790e-01 6.23794439e-01 9.65652349e-03 6.10885565e+02] [-6.23748477e-01 7.81588438e-01 -7.57303626e-03 -1.92024111e+02] [-1.22714450e-02 -1.04695964e-04 9.99924698e-01 -4.80016648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters 0.05138520410422888 Centerline is valid? [True, True] Translation: X:610.93, Y:-192.06, Z:-4.80 [[ 7.82975898e-01 6.21965245e-01 1.03911649e-02 6.10933695e+02] [-6.21911837e-01 7.83044844e-01 -8.15105274e-03 -1.92062130e+02] [-1.32064196e-02 -8.03106293e-05 9.99912788e-01 -4.80053663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters 0.051290789484170436 Centerline is valid? [True, True] Translation: X:610.98, Y:-192.10, Z:-4.80 [[ 7.83376365e-01 6.21462712e-01 1.02746145e-02 6.10981814e+02] [-6.21410430e-01 7.83443739e-01 -8.06131215e-03 -1.92099840e+02] [-1.30593873e-02 -6.97112131e-05 9.99914720e-01 -4.80109800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters 0.05166952246337263 Centerline is valid? [True, True] Translation: X:611.03, Y:-192.14, Z:-4.80 [[ 7.85170648e-01 6.19201050e-01 9.85458223e-03 6.11029017e+02] [-6.19152756e-01 7.85232487e-01 -7.73340103e-03 -1.92140693e+02] [-1.25266682e-02 -2.94522453e-05 9.99921538e-01 -4.80333041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters 0.05060383645968825 Centerline is valid? [True, True] Translation: X:611.08, Y:-192.18, Z:-4.80 [[ 7.85849056e-01 6.18321176e-01 1.09628855e-02 6.11077019e+02] [-6.18261295e-01 7.85925520e-01 -8.60516678e-03 -1.92178998e+02] [-1.39367683e-02 -1.55655867e-05 9.99902878e-01 -4.80166603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters 0.05115724621224974 Centerline is valid? [True, True] Translation: X:611.13, Y:-192.22, Z:-4.80 [[ 7.86750940e-01 6.17120795e-01 1.35971672e-02 6.11125374e+02] [-6.17028451e-01 7.86868429e-01 -1.06755063e-02 -1.92217794e+02] [-1.72872586e-02 9.12563902e-06 9.99850564e-01 -4.80061370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters 0.05156563186504914 Centerline is valid? [True, True] Translation: X:611.17, Y:-192.26, Z:-4.80 [[ 7.87745371e-01 6.15856562e-01 1.33388623e-02 6.11174741e+02] [-6.15767469e-01 7.87858295e-01 -1.04752698e-02 -1.92256197e+02] [-1.69603969e-02 3.82078372e-05 9.99856161e-01 -4.80244207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters 0.050745452869187024 Centerline is valid? [True, True] Translation: X:611.22, Y:-192.29, Z:-4.81 [[ 7.89021022e-01 6.14265273e-01 1.11355956e-02 6.11221831e+02] [-6.14202997e-01 7.89099595e-01 -8.74687791e-03 -1.92294667e+02] [-1.41599974e-02 6.19543252e-05 9.99899740e-01 -4.80583545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters 0.05236733247301129 Centerline is valid? [True, True] Translation: X:611.27, Y:-192.33, Z:-4.81 [[ 7.89368115e-01 6.13811564e-01 1.15474378e-02 6.11272616e+02] [-6.13744527e-01 7.89452569e-01 -9.07173983e-03 -1.92330729e+02] [-1.46844933e-02 7.37653941e-05 9.99892174e-01 -4.80753438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters 0.05170202782451347 Centerline is valid? [True, True] Translation: X:611.32, Y:-192.37, Z:-4.81 [[ 7.90085609e-01 6.12914390e-01 1.00340022e-02 6.11322917e+02] [-6.12863689e-01 7.90149318e-01 -7.88380509e-03 -1.92365859e+02] [-1.27604575e-02 7.94053649e-05 9.99918579e-01 -4.81113059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters 0.051760611626283495 Centerline is valid? [True, True] Translation: X:611.37, Y:-192.40, Z:-4.81 [[ 7.90538132e-01 6.12363582e-01 7.76566934e-03 6.11372088e+02] [-6.12333179e-01 7.90576270e-01 -6.10242837e-03 -1.92404460e+02] [-9.87625880e-03 6.90253281e-05 9.99951226e-01 -4.81402775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters 0.05176831000497774 Centerline is valid? [True, True] Translation: X:611.43, Y:-192.44, Z:-4.82 [[ 7.91024096e-01 6.11766053e-01 4.81408463e-03 6.11425571e+02] [-6.11754358e-01 7.91038744e-01 -3.78303573e-03 -1.92438933e+02] [-6.12246030e-03 4.74351744e-05 9.99981256e-01 -4.81885220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters 0.05362362905233067 Centerline is valid? [True, True] Translation: X:611.48, Y:-192.48, Z:-4.83 [[ 7.92204293e-01 6.10253786e-01 1.63575122e-03 6.11475423e+02] [-6.10252432e-01 7.92205981e-01 -1.28554929e-03 -1.92476020e+02] [-2.08036322e-03 2.01965074e-05 9.99997836e-01 -4.82562553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters 0.0526333261541303 Centerline is valid? [True, True] Translation: X:611.52, Y:-192.51, Z:-4.83 [[ 7.93936780e-01 6.07999766e-01 -8.20905605e-04 6.11524656e+02] [-6.07999423e-01 7.93937205e-01 6.45701460e-04 -1.92514255e+02] [ 1.04433384e-03 -1.35360038e-05 9.99999455e-01 -4.82835749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters 0.05367734391194474 Centerline is valid? [True, True] Translation: X:611.58, Y:-192.55, Z:-4.83 [[ 7.95390076e-01 6.06078278e-01 -4.87322960e-03 6.11575223e+02] [-6.06066175e-01 7.95404999e-01 3.83134017e-03 -1.92547253e+02] [ 6.19828324e-03 -9.39103271e-05 9.99980786e-01 -4.83255435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters 0.053590182267649174 Centerline is valid? [True, True] Translation: X:611.63, Y:-192.58, Z:-4.83 [[ 7.95100329e-01 6.06385558e-01 -1.05840166e-02 6.11629469e+02] [-6.06328470e-01 7.95170746e-01 8.32301215e-03 -1.92577838e+02] [ 1.34630547e-02 -2.00239115e-04 9.99909349e-01 -4.83444958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters 0.05510115415271536 Centerline is valid? [True, True] Translation: X:611.68, Y:-192.61, Z:-4.84 [[ 7.94734452e-01 6.06841557e-01 -1.18521939e-02 6.11680828e+02] [-6.06770013e-01 7.94822796e-01 9.32060240e-03 -1.92612588e+02] [ 1.50765227e-02 -2.15848018e-04 9.99886319e-01 -4.83607206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters 0.053257019592986655 Centerline is valid? [True, True] Translation: X:611.73, Y:-192.65, Z:-4.84 [[ 7.94874798e-01 6.06664283e-01 -1.15110426e-02 6.11730708e+02] [-6.06596745e-01 7.94958113e-01 9.05471229e-03 -1.92647280e+02] [ 1.46439672e-02 -2.14801647e-04 9.99892748e-01 -4.83865657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters 0.05302294401944806 Centerline is valid? [True, True] Translation: X:611.78, Y:-192.68, Z:-4.84 [[ 7.95487831e-01 6.05871339e-01 -1.09100910e-02 6.11782888e+02] [-6.05810588e-01 7.95562614e-01 8.58250459e-03 -1.92683054e+02] [ 1.38795541e-02 -2.17829339e-04 9.99903651e-01 -4.83791618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters 0.053270883304622325 Centerline is valid? [True, True] Translation: X:611.84, Y:-192.72, Z:-4.84 [[ 7.95158009e-01 6.06308958e-01 -1.06389695e-02 6.11835536e+02] [-6.06251219e-01 7.95229152e-01 8.36989183e-03 -1.92717362e+02] [ 1.35351591e-02 -2.05498302e-04 9.99908374e-01 -4.83587195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters 0.05471488539064096 Centerline is valid? [True, True] Translation: X:611.89, Y:-192.75, Z:-4.84 [[ 7.92552667e-01 6.09717678e-01 -1.02285794e-02 6.11887774e+02] [-6.09664592e-01 7.92618656e-01 8.04686814e-03 -1.92748381e+02] [ 1.30136806e-02 -1.41564147e-04 9.99915308e-01 -4.83551327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters 0.05302293002268077 Centerline is valid? [True, True] Translation: X:611.94, Y:-192.78, Z:-4.83 [[ 7.90265922e-01 6.12690622e-01 -9.48550814e-03 6.11940662e+02] [-6.12645176e-01 7.90322842e-01 7.46284875e-03 -1.92780612e+02] [ 1.20690312e-02 -8.63842448e-05 9.99927163e-01 -4.83255827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters 0.05289869004445951 Centerline is valid? [True, True] Translation: X:611.99, Y:-192.81, Z:-4.84 [[ 7.89109198e-01 6.14208084e-01 -7.42321274e-03 6.11991659e+02] [-6.14180315e-01 7.89144111e-01 5.84063825e-03 -1.92814760e+02] [ 9.44535184e-03 -4.97102218e-05 9.99955390e-01 -4.83668410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters 0.05362969932631074 Centerline is valid? [True, True] Translation: X:612.04, Y:-192.85, Z:-4.83 [[ 7.91520322e-01 6.11089216e-01 -8.09625923e-03 6.12038466e+02] [-6.11055998e-01 7.91561723e-01 6.37229250e-03 -1.92854418e+02] [ 1.03027281e-02 -9.65312431e-05 9.99946921e-01 -4.83006522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters 0.05369466836034585 Centerline is valid? [True, True] Translation: X:612.09, Y:-192.89, Z:-4.83 [[ 7.94352578e-01 6.07411329e-01 -7.44702921e-03 6.12086779e+02] [-6.07383066e-01 7.94387474e-01 5.86104048e-03 -1.92893818e+02] [ 9.47588912e-03 -1.32533180e-04 9.99955094e-01 -4.82735626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters 0.05373419630167422 Centerline is valid? [True, True] Translation: X:612.13, Y:-192.93, Z:-4.83 [[ 7.98030583e-01 6.02578331e-01 -6.82235640e-03 6.12134836e+02] [-6.02554421e-01 7.98059725e-01 5.37076030e-03 -1.92932015e+02] [ 8.68095165e-03 -1.75189956e-04 9.99962304e-01 -4.82655662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters 0.05353001178965417 Centerline is valid? [True, True] Translation: X:612.18, Y:-192.97, Z:-4.83 [[ 8.01206870e-01 5.98358246e-01 -5.91279448e-03 6.12181484e+02] [-5.98340173e-01 8.01228664e-01 4.65454505e-03 -1.92972284e+02] [ 7.52258584e-03 -1.91390990e-04 9.99971687e-01 -4.82547272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters 0.05522592688567126 Centerline is valid? [True, True] Translation: X:612.23, Y:-193.01, Z:-4.82 [[ 8.06810090e-01 5.90793527e-01 -4.52632147e-03 6.12225729e+02] [-5.90782814e-01 8.06822761e-01 3.56350770e-03 -1.93014650e+02] [ 5.75723646e-03 -2.01001029e-04 9.99983407e-01 -4.82337007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters 0.05586712421142474 Centerline is valid? [True, True] Translation: X:612.28, Y:-193.05, Z:-4.82 [[ 8.09487624e-01 5.87112929e-01 -5.30986880e-03 6.12277079e+02] [-5.87098102e-01 8.09504995e-01 4.18106168e-03 -1.93047622e+02] [ 6.75312069e-03 -2.67103793e-04 9.99977162e-01 -4.81948860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters 0.054123189836264 Centerline is valid? [True, True] Translation: X:612.32, Y:-193.09, Z:-4.82 [[ 8.07782940e-01 5.89475188e-01 -2.39288729e-03 6.12323134e+02] [-5.89472187e-01 8.07786476e-01 1.88423844e-03 -1.93088524e+02] [ 3.04365380e-03 -1.11515161e-04 9.99995362e-01 -4.81986520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters 0.053970122789922165 Centerline is valid? [True, True] Translation: X:612.37, Y:-193.12, Z:-4.82 [[ 8.06611414e-01 5.91079438e-01 -1.76777560e-03 6.12372990e+02] [-5.91077804e-01 8.06613347e-01 1.39201877e-03 -1.93123862e+02] [ 2.24870507e-03 -7.79253049e-05 9.99997469e-01 -4.81951814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters 0.054791355434966306 Centerline is valid? [True, True] Translation: X:612.42, Y:-193.16, Z:-4.82 [[ 8.03076658e-01 5.95875191e-01 -7.99027873e-04 6.12418247e+02] [-5.95874859e-01 8.03077055e-01 6.29797122e-04 -1.93163903e+02] [ 1.01696143e-03 -2.96547467e-05 9.99999482e-01 -4.81977955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters 0.054288268299085826 Centerline is valid? [True, True] Translation: X:612.47, Y:-193.20, Z:-4.82 [[ 8.01116712e-01 5.98505960e-01 -1.62144368e-03 6.12466482e+02] [-5.98504600e-01 8.01118351e-01 1.27711945e-03 -1.93201609e+02] [ 2.06333189e-03 -5.26802328e-05 9.99997870e-01 -4.82306382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters 0.054844156053204605 Centerline is valid? [True, True] Translation: X:612.52, Y:-193.23, Z:-4.82 [[ 7.98642163e-01 6.01800210e-01 -2.68379707e-03 6.12520461e+02] [-6.01796502e-01 7.98646669e-01 2.11368481e-03 -1.93232031e+02] [ 3.41542155e-03 -7.29781210e-05 9.99994165e-01 -4.82204992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters 0.05513854348387205 Centerline is valid? [True, True] Translation: X:612.57, Y:-193.27, Z:-4.82 [[ 7.97976400e-01 6.02687221e-01 -1.33391409e-03 6.12567648e+02] [-6.02686304e-01 7.97977514e-01 1.05175623e-03 -1.93271732e+02] [ 1.69831349e-03 -3.53448959e-05 9.99998557e-01 -4.82228876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters 0.0533487691686681 Centerline is valid? [True, True] Translation: X:612.61, Y:-193.31, Z:-4.82 [[ 7.96872622e-01 6.04147352e-01 -4.10105972e-05 6.12611294e+02] [-6.04147351e-01 7.96872623e-01 3.27446051e-05 -1.93314155e+02] [ 5.24627884e-05 -1.31683560e-06 9.99999999e-01 -4.82177216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters 0.054077092738967394 Centerline is valid? [True, True] Translation: X:612.66, Y:-193.35, Z:-4.83 [[ 7.94053088e-01 6.07848383e-01 -1.92498792e-04 6.12656741e+02] [-6.07848364e-01 7.94053111e-01 1.51841100e-04 -1.93354259e+02] [ 2.45150631e-04 -3.55981890e-06 9.99999970e-01 -4.82558720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters 0.05282351422715781 Centerline is valid? [True, True] Translation: X:612.71, Y:-193.39, Z:-4.82 [[ 7.90704265e-01 6.12198300e-01 -8.47178968e-05 6.12709402e+02] [-6.12198296e-01 7.90704269e-01 6.68899200e-05 -1.93386257e+02] [ 1.07936698e-04 -1.02599293e-06 9.99999994e-01 -4.82481239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters 0.05356164271971927 Centerline is valid? [True, True] Translation: X:612.76, Y:-193.42, Z:-4.83 [[ 7.84128854e-01 6.20597547e-01 7.90487963e-04 6.12760762e+02] [-6.20597234e-01 7.84129253e-01 -6.22570276e-04 -1.93420214e+02] [-1.00621032e-03 -2.39932636e-06 9.99999494e-01 -4.82578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters 0.05347246646435444 Centerline is valid? [True, True] Translation: X:612.81, Y:-193.45, Z:-4.83 [[ 7.78461568e-01 6.27692237e-01 2.06953477e-04 6.12811259e+02] [-6.27692215e-01 7.78461596e-01 -1.62503833e-04 -1.93453821e+02] [-2.63107729e-04 -3.40009791e-06 9.99999965e-01 -4.82783464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters 0.052198171885433436 Centerline is valid? [True, True] Translation: X:612.86, Y:-193.50, Z:-4.83 [[ 7.76746966e-01 6.29812775e-01 -1.39176261e-04 6.12857102e+02] [-6.29812765e-01 7.76746979e-01 1.09991463e-04 -1.93496022e+02] [ 1.77378768e-04 2.21945016e-06 9.99999984e-01 -4.82710953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters 0.05399869270412674 Centerline is valid? [True, True] Translation: X:612.90, Y:-193.54, Z:-4.83 [[ 7.74719020e-01 6.32305116e-01 -8.25037365e-04 6.12903938e+02] [-6.32304782e-01 7.74719459e-01 6.50461904e-04 -1.93535453e+02] [ 1.05046289e-03 1.77498625e-05 9.99999448e-01 -4.82820092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters 0.05360561569268419 Centerline is valid? [True, True] Translation: X:612.95, Y:-193.57, Z:-4.83 [[ 7.73321534e-01 6.34012099e-01 -1.56974853e-03 6.12952257e+02] [-6.34010892e-01 7.73323126e-01 1.23746515e-03 -1.93574168e+02] [ 1.99849072e-03 3.82792229e-05 9.99998002e-01 -4.82998670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters 0.053119038007291106 Centerline is valid? [True, True] Translation: X:613.00, Y:-193.61, Z:-4.83 [[ 7.71512687e-01 6.36211404e-01 -1.79510884e-03 6.12998764e+02] [-6.36209833e-01 7.71514774e-01 1.41497559e-03 -1.93614283e+02] [ 2.28517660e-03 5.03942807e-05 9.99997388e-01 -4.83136334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters 0.05286960466444808 Centerline is valid? [True, True] Translation: X:613.04, Y:-193.66, Z:-4.83 [[ 7.71415157e-01 6.36331859e-01 -6.48939814e-04 6.13043728e+02] [-6.36331653e-01 7.71415429e-01 5.12609719e-04 -1.93656799e+02] [ 8.26792081e-04 1.75060373e-05 9.99999658e-01 -4.83002148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters 0.05248978738496939 Centerline is valid? [True, True] Translation: X:613.09, Y:-193.70, Z:-4.83 [[ 7.72427538e-01 6.35102498e-01 7.18073198e-04 6.13088014e+02] [-6.35102246e-01 7.72427872e-01 -5.65956206e-04 -1.93698882e+02] [-9.14099952e-04 -1.88897419e-05 9.99999582e-01 -4.82924353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters 0.05129562486535497 Centerline is valid? [True, True] Translation: X:613.13, Y:-193.75, Z:-4.83 [[ 7.71589148e-01 6.36121116e-01 3.36173653e-04 6.13129858e+02] [-6.36121061e-01 7.71589221e-01 -2.64099030e-04 -1.93745242e+02] [-4.27386937e-04 -1.00711951e-05 9.99999909e-01 -4.82881851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters 0.0519352810767207 Centerline is valid? [True, True] Translation: X:613.18, Y:-193.78, Z:-4.83 [[ 7.70233485e-01 6.37761903e-01 3.66259113e-04 6.13176795e+02] [-6.37761838e-01 7.70233571e-01 -2.88314793e-04 -1.93784007e+02] [-4.65981256e-04 -1.15163779e-05 9.99999891e-01 -4.82899788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters 0.05147435380002116 Centerline is valid? [True, True] Translation: X:613.22, Y:-193.82, Z:-4.83 [[ 7.67925623e-01 6.40538663e-01 -6.77617808e-04 6.13223867e+02] [-6.40538440e-01 7.67925921e-01 5.35273202e-04 -1.93822798e+02] [ 8.63223460e-04 2.29902464e-05 9.99999627e-01 -4.83178143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters 0.052095541557041145 Centerline is valid? [True, True] Translation: X:613.27, Y:-193.87, Z:-4.83 [[ 7.66047775e-01 6.42780010e-01 -2.15974773e-03 6.13265597e+02] [-6.42777755e-01 7.66050815e-01 1.70478614e-03 -1.93869309e+02] [ 2.75027896e-03 8.22901652e-05 9.99996215e-01 -4.82978701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters 0.05121972855495582 Centerline is valid? [True, True] Translation: X:613.31, Y:-193.91, Z:-4.83 [[ 7.67003346e-01 6.41638225e-01 -2.50088636e-03 6.13309879e+02] [-6.41635197e-01 7.67007418e-01 1.97346692e-03 -1.93913773e+02] [ 3.18445021e-03 9.10009797e-05 9.99994925e-01 -4.83081030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters 0.0526228015693686 Centerline is valid? [True, True] Translation: X:613.36, Y:-193.95, Z:-4.83 [[ 7.69817759e-01 6.38259906e-01 -2.21570774e-03 6.13356249e+02] [-6.38257513e-01 7.69820945e-01 1.74929856e-03 -1.93952306e+02] [ 2.82220536e-03 6.75510123e-05 9.99996015e-01 -4.83167900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters 0.050631164780554766 Centerline is valid? [True, True] Translation: X:613.40, Y:-194.00, Z:-4.83 [[ 7.76886253e-01 6.29640647e-01 -6.37074501e-04 6.13397638e+02] [-6.29640446e-01 7.76886514e-01 5.03033806e-04 -1.93999375e+02] [ 8.11665119e-04 1.03278242e-05 9.99999671e-01 -4.83055123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters 0.05103972034780804 Centerline is valid? [True, True] Translation: X:613.45, Y:-194.04, Z:-4.83 [[ 7.79848689e-01 6.25967862e-01 -5.07395390e-04 6.13446186e+02] [-6.25967734e-01 7.79848854e-01 4.00608172e-04 -1.94035488e+02] [ 6.46459554e-04 5.19938480e-06 9.99999791e-01 -4.83440394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters 0.0521840966614162 Centerline is valid? [True, True] Translation: X:613.49, Y:-194.08, Z:-4.83 [[ 7.83655441e-01 6.21195358e-01 -6.89963684e-04 6.13492142e+02] [-6.21195119e-01 7.83655745e-01 5.44957344e-04 -1.94077474e+02] [ 8.79218977e-04 1.54328515e-06 9.99999613e-01 -4.83181490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters 0.05220809772587644 Centerline is valid? [True, True] Translation: X:613.54, Y:-194.12, Z:-4.83 [[ 7.89200377e-01 6.14135784e-01 -6.33647113e-05 6.13538159e+02] [-6.14135782e-01 7.89200380e-01 5.11249391e-05 -1.94118050e+02] [ 8.14051085e-05 -1.43328470e-06 9.99999997e-01 -4.83199641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters 0.051972364503324535 Centerline is valid? [True, True] Translation: X:613.58, Y:-194.16, Z:-4.83 [[ 7.92779511e-01 6.09508431e-01 3.47494508e-04 6.13583209e+02] [-6.09508369e-01 7.92779587e-01 -2.73393336e-04 -1.94159453e+02] [-4.42122096e-04 4.93982372e-06 9.99999902e-01 -4.83210190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters 0.05165016842790265 Centerline is valid? [True, True] Translation: X:613.63, Y:-194.19, Z:-4.83 [[ 7.99622465e-01 6.00503016e-01 2.00751951e-04 6.13633658e+02] [-6.00502995e-01 7.99622491e-01 -1.58290086e-04 -1.94194813e+02] [-2.55579450e-04 6.02016130e-06 9.99999967e-01 -4.83330509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters 0.05422989839204219 Centerline is valid? [True, True] Translation: X:613.69, Y:-194.23, Z:-4.83 [[ 8.03229624e-01 5.95669406e-01 -3.60048169e-04 6.13686979e+02] [-5.95669338e-01 8.03229704e-01 2.85016964e-04 -1.94225625e+02] [ 4.58977270e-04 -1.44644141e-05 9.99999895e-01 -4.83250813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters 0.053526456297260105 Centerline is valid? [True, True] Translation: X:613.73, Y:-194.27, Z:-4.83 [[ 8.08233392e-01 5.88857523e-01 -2.36665332e-03 6.13733113e+02] [-5.88854567e-01 8.08236849e-01 1.86947494e-03 -1.94266086e+02] [ 3.01367081e-03 -1.17357460e-04 9.99995452e-01 -4.83430159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters 0.054129907537664966 Centerline is valid? [True, True] Translation: X:613.79, Y:-194.29, Z:-4.83 [[ 8.09353382e-01 5.87314742e-01 -2.91501772e-03 6.13789986e+02] [-5.87310244e-01 8.09358617e-01 2.30377536e-03 -1.94292833e+02] [ 3.71233594e-03 -1.52548614e-04 9.99993098e-01 -4.83320150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters 0.05415257439167904 Centerline is valid? [True, True] Translation: X:613.83, Y:-194.34, Z:-4.84 [[ 8.09069857e-01 5.87707931e-01 -2.31383456e-03 6.13832192e+02] [-5.87705099e-01 8.09073157e-01 1.82855704e-03 -1.94340467e+02] [ 2.94671890e-03 -1.19578015e-04 9.99995651e-01 -4.83728514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters 0.053619832898015626 Centerline is valid? [True, True] Translation: X:613.89, Y:-194.37, Z:-4.83 [[ 8.06934640e-01 5.90639079e-01 1.40176701e-03 6.13888249e+02] [-5.90638046e-01 8.06935855e-01 -1.10674982e-03 -1.94368187e+02] [-1.78482576e-03 6.51378419e-05 9.99998405e-01 -4.83366782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters 0.0540120726604466 Centerline is valid? [True, True] Translation: X:613.94, Y:-194.40, Z:-4.83 [[ 8.04287476e-01 5.94235759e-01 2.34911600e-03 6.13941876e+02] [-5.94232869e-01 8.04290901e-01 -1.85578090e-03 -1.94399461e+02] [-2.99214399e-03 9.66593964e-05 9.99995519e-01 -4.83348588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters 0.05239973809620369 Centerline is valid? [True, True] Translation: X:613.99, Y:-194.44, Z:-4.84 [[ 7.98830057e-01 6.01554192e-01 1.75901007e-03 6.13986628e+02] [-6.01552589e-01 7.98831992e-01 -1.38975904e-03 -1.94440402e+02] [-2.24116889e-03 5.20442291e-05 9.99997487e-01 -4.83610167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters 0.05369906429904674 Centerline is valid? [True, True] Translation: X:614.04, Y:-194.47, Z:-4.84 [[ 7.91930978e-01 6.10600988e-01 3.42928570e-03 6.14039233e+02] [-6.10594972e-01 7.91938401e-01 -2.71093418e-03 -1.94472327e+02] [-4.37108212e-03 5.29681514e-05 9.99990445e-01 -4.83683035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters 0.05210173306524472 Centerline is valid? [True, True] Translation: X:614.09, Y:-194.51, Z:-4.84 [[ 7.87673337e-01 6.16091303e-01 1.49009022e-03 6.14090149e+02] [-6.16090177e-01 7.87674746e-01 -1.17798915e-03 -1.94505597e+02] [-1.89945530e-03 9.84069427e-06 9.99998196e-01 -4.83879688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters 0.05176763977632073 Centerline is valid? [True, True] Translation: X:614.14, Y:-194.54, Z:-4.84 [[ 7.83267998e-01 6.21683694e-01 7.91991441e-04 6.14142210e+02] [-6.21683379e-01 7.83268399e-01 -6.25814796e-04 -1.94540677e+02] [-1.00940072e-03 -2.18721321e-06 9.99999491e-01 -4.84082802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters 0.05283307252332151 Centerline is valid? [True, True] Translation: X:614.19, Y:-194.58, Z:-4.84 [[ 7.78840632e-01 6.27221495e-01 6.83089165e-04 6.14193455e+02] [-6.27221263e-01 7.78840931e-01 -5.39624400e-04 -1.94575329e+02] [-8.70481825e-04 -8.16664012e-06 9.99999621e-01 -4.84190598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters 0.05223827879040098 Centerline is valid? [True, True] Translation: X:614.24, Y:-194.62, Z:-4.84 [[ 7.78393650e-01 6.27776452e-01 -2.29002178e-04 6.14239640e+02] [-6.27776426e-01 7.78393683e-01 1.82206611e-04 -1.94617618e+02] [ 2.92638869e-04 1.93369995e-06 9.99999957e-01 -4.84141691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters 0.05218310951106227 Centerline is valid? [True, True] Translation: X:614.29, Y:-194.66, Z:-4.84 [[ 7.78748511e-01 6.27336213e-01 -1.78041334e-04 6.14286162e+02] [-6.27336197e-01 7.78748532e-01 1.41930148e-04 -1.94659112e+02] [ 2.27687349e-04 1.16388189e-06 9.99999974e-01 -4.84189538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters 0.051595526528662755 Centerline is valid? [True, True] Translation: X:614.33, Y:-194.70, Z:-4.84 [[ 7.80191817e-01 6.25540327e-01 1.68503524e-04 6.14332400e+02] [-6.25540313e-01 7.80191835e-01 -1.32262917e-04 -1.94700730e+02] [-2.14200862e-04 -2.21530164e-06 9.99999977e-01 -4.84310426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters 0.051792632363614644 Centerline is valid? [True, True] Translation: X:614.38, Y:-194.75, Z:-4.84 [[ 7.84011719e-01 6.20746021e-01 4.10221161e-05 6.14376416e+02] [-6.20746020e-01 7.84011720e-01 -3.18846717e-05 -1.94746048e+02] [-5.19541032e-05 -4.66359090e-07 9.99999999e-01 -4.84288266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters 0.051909426833071814 Centerline is valid? [True, True] Translation: X:614.42, Y:-194.79, Z:-4.84 [[ 7.87439291e-01 6.16392029e-01 -4.79331663e-04 6.14419940e+02] [-6.16391912e-01 7.87439437e-01 3.79771504e-04 -1.94790973e+02] [ 6.11532782e-04 -3.59084337e-06 9.99999813e-01 -4.84288241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters 0.05176191226961974 Centerline is valid? [True, True] Translation: X:614.46, Y:-194.84, Z:-4.85 [[ 7.93668668e-01 6.08350182e-01 -3.17635999e-04 6.14461310e+02] [-6.08350130e-01 7.93668732e-01 2.51669356e-04 -1.94837731e+02] [ 4.05200858e-04 -6.50818108e-06 9.99999918e-01 -4.84506729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters 0.05323652684144025 Centerline is valid? [True, True] Translation: X:614.50, Y:-194.88, Z:-4.85 [[ 7.96608032e-01 6.04496182e-01 1.00625774e-04 6.14504849e+02] [-6.04496177e-01 7.96608038e-01 -7.91635529e-05 -1.94880169e+02] [-1.28013366e-04 2.23442653e-06 9.99999992e-01 -4.84531705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters 0.052216032197070626 Centerline is valid? [True, True] Translation: X:614.56, Y:-194.92, Z:-4.84 [[ 7.95676541e-01 6.05721051e-01 9.22207125e-04 6.14555739e+02] [-6.05720612e-01 7.95677075e-01 -7.29704743e-04 -1.94916471e+02] [-1.17577659e-03 2.20090813e-05 9.99999309e-01 -4.84266677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters 0.05222179685521937 Centerline is valid? [True, True] Translation: X:614.60, Y:-194.95, Z:-4.84 [[ 7.93806225e-01 6.08170032e-01 9.43025979e-04 6.14604857e+02] [-6.08169574e-01 7.93806785e-01 -7.46427067e-04 -1.94952052e+02] [-1.20253499e-03 1.89987442e-05 9.99999277e-01 -4.84196203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters 0.052072737342629086 Centerline is valid? [True, True] Translation: X:614.65, Y:-194.99, Z:-4.84 [[ 7.92423354e-01 6.09970894e-01 8.58407809e-04 6.14654118e+02] [-6.09970516e-01 7.92423818e-01 -6.79208305e-04 -1.94990806e+02] [-1.09452009e-03 1.46170682e-05 9.99999401e-01 -4.84415533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters 0.0521714814791689 Centerline is valid? [True, True] Translation: X:614.70, Y:-195.03, Z:-4.85 [[ 7.89577713e-01 6.13650473e-01 3.63453413e-04 6.14704171e+02] [-6.13650405e-01 7.89577797e-01 -2.87632196e-04 -1.95025402e+02] [-4.63480378e-04 4.07463748e-06 9.99999893e-01 -4.84556686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters 0.05179400216930123 Centerline is valid? [True, True] Translation: X:614.76, Y:-195.06, Z:-4.85 [[ 7.82751300e-01 6.22334604e-01 2.07998706e-04 6.14758829e+02] [-6.22334582e-01 7.82751327e-01 -1.64325649e-04 -1.95056281e+02] [-2.65076801e-04 -8.18672535e-07 9.99999965e-01 -4.84505690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters 0.051135438941969355 Centerline is valid? [True, True] Translation: X:614.81, Y:-195.09, Z:-4.85 [[ 7.77200177e-01 6.29253390e-01 -2.35590571e-04 6.14808441e+02] [-6.29253362e-01 7.77200213e-01 1.87547957e-04 -1.95091696e+02] [ 3.01116230e-04 2.48385378e-06 9.99999955e-01 -4.84536340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters 0.05209270130212256 Centerline is valid? [True, True] Translation: X:614.86, Y:-195.13, Z:-4.85 [[ 7.75727044e-01 6.31068577e-01 -5.83517627e-05 6.14857521e+02] [-6.31068576e-01 7.75727046e-01 4.72096359e-05 -1.95127651e+02] [ 7.50575581e-05 2.02172507e-07 9.99999997e-01 -4.84650571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters 0.051693363789192315 Centerline is valid? [True, True] Translation: X:614.91, Y:-195.16, Z:-4.85 [[ 7.73532607e-01 6.33755443e-01 -1.15954585e-03 6.14907667e+02] [-6.33754777e-01 7.73533475e-01 9.19231333e-04 -1.95161848e+02] [ 1.47951539e-03 2.38123122e-05 9.99998905e-01 -4.84943062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters 0.052234363080119535 Centerline is valid? [True, True] Translation: X:614.95, Y:-195.20, Z:-4.85 [[ 7.71961650e-01 6.35668862e-01 -5.55631115e-04 6.14952988e+02] [-6.35668709e-01 7.71961850e-01 4.40565941e-04 -1.95204713e+02] [ 7.08980074e-04 1.30973033e-05 9.99999749e-01 -4.84745139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters 0.05109326109727255 Centerline is valid? [True, True] Translation: X:615.00, Y:-195.25, Z:-4.85 [[ 7.72942277e-01 6.34476270e-01 3.16477933e-04 6.14999046e+02] [-6.34476221e-01 7.72942341e-01 -2.49774207e-04 -1.95246156e+02] [-4.03095001e-04 -7.73667883e-06 9.99999919e-01 -4.84714305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters 0.05047027353663012 Centerline is valid? [True, True] Translation: X:615.04, Y:-195.29, Z:-4.85 [[ 7.74049830e-01 6.33124640e-01 -2.25812088e-04 6.15044991e+02] [-6.33124614e-01 7.74049863e-01 1.79590496e-04 -1.95286939e+02] [ 2.88492984e-04 3.95519811e-06 9.99999958e-01 -4.84837136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters 0.05121352279935119 Centerline is valid? [True, True] Translation: X:615.09, Y:-195.33, Z:-4.85 [[ 7.75725832e-01 6.31069634e-01 -7.41894344e-04 6.15088205e+02] [-6.31069360e-01 7.75726187e-01 5.88499158e-04 -1.95332335e+02] [ 9.46890818e-04 1.16727894e-05 9.99999552e-01 -4.84844122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters 0.050761374185163036 Centerline is valid? [True, True] Translation: X:615.14, Y:-195.37, Z:-4.85 [[ 7.73516369e-01 6.33776297e-01 1.81491003e-04 6.15140343e+02] [-6.33776281e-01 7.73516390e-01 -1.42901091e-04 -1.95365471e+02] [-2.30953590e-04 -4.48835998e-06 9.99999973e-01 -4.85108387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters 0.05094155211244885 Centerline is valid? [True, True] Translation: X:615.19, Y:-195.40, Z:-4.85 [[ 7.72461382e-01 6.35061723e-01 -1.45195257e-04 6.15188469e+02] [-6.35061712e-01 7.72461396e-01 1.16165441e-04 -1.95404318e+02] [ 1.85929956e-04 2.47463109e-06 9.99999983e-01 -4.85116605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters 0.051044759315573375 Centerline is valid? [True, True] Translation: X:615.24, Y:-195.44, Z:-4.85 [[ 7.72888742e-01 6.34541216e-01 -6.61077597e-04 6.15235279e+02] [-6.34540999e-01 7.72889025e-01 5.25408309e-04 -1.95444954e+02] [ 8.44332846e-04 1.33986719e-05 9.99999643e-01 -4.85126520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters 0.050197441671097486 Centerline is valid? [True, True] Translation: X:615.28, Y:-195.48, Z:-4.85 [[ 7.72601085e-01 6.34891543e-01 5.41541693e-04 6.15283205e+02] [-6.34891398e-01 7.72601274e-01 -4.28616290e-04 -1.95484714e+02] [-6.90520660e-04 -1.26707522e-05 9.99999762e-01 -4.85008854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters 0.05135424186428994 Centerline is valid? [True, True] Translation: X:615.33, Y:-195.52, Z:-4.85 [[ 7.73827901e-01 6.33395747e-01 -4.54126104e-04 6.15333092e+02] [-6.33395644e-01 7.73828035e-01 3.61453517e-04 -1.95521218e+02] [ 5.80358630e-04 7.93867984e-06 9.99999832e-01 -4.85312811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters 0.050836533159703975 Centerline is valid? [True, True] Translation: X:615.38, Y:-195.56, Z:-4.85 [[ 7.74134115e-01 6.33020568e-01 -1.15459729e-03 6.15382351e+02] [-6.33019903e-01 7.74134975e-01 9.17752457e-04 -1.95560733e+02] [ 1.47477032e-03 2.04195771e-05 9.99998912e-01 -4.85443155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters 0.0515194498752226 Centerline is valid? [True, True] Translation: X:615.43, Y:-195.60, Z:-4.86 [[ 7.75893497e-01 6.30862268e-01 -1.44256634e-03 6.15430390e+02] [-6.30861227e-01 7.75894838e-01 1.14588987e-03 -1.95599055e+02] [ 1.84217846e-03 2.09706781e-05 9.99998303e-01 -4.85605214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters 0.051653216765484636 Centerline is valid? [True, True] Translation: X:615.48, Y:-195.64, Z:-4.86 [[ 7.78262143e-01 6.27939258e-01 -5.69053988e-04 6.15476807e+02] [-6.27939096e-01 7.78262351e-01 4.51949781e-04 -1.95639405e+02] [ 7.26670305e-04 5.59584096e-06 9.99999736e-01 -4.85540219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters 0.051045452866076695 Centerline is valid? [True, True] Translation: X:615.52, Y:-195.68, Z:-4.85 [[ 7.80371670e-01 6.25314920e-01 1.14325917e-03 6.15524464e+02] [-6.25314263e-01 7.80372507e-01 -9.06849502e-04 -1.95679453e+02] [-1.45923455e-03 -7.21660227e-06 9.99998935e-01 -4.85364033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters 0.05103790208588082 Centerline is valid? [True, True] Translation: X:615.57, Y:-195.72, Z:-4.85 [[ 7.81483992e-01 6.23923209e-01 1.61224827e-03 6.15571566e+02] [-6.23921896e-01 7.81485655e-01 -1.27990680e-03 -1.95718717e+02] [-2.05851245e-03 -5.69032473e-06 9.99997881e-01 -4.85399473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters 0.05092875046398636 Centerline is valid? [True, True] Translation: X:615.62, Y:-195.76, Z:-4.85 [[ 7.84014669e-01 6.20735930e-01 2.81157862e-03 6.15619445e+02] [-6.20731914e-01 7.84019710e-01 -2.23281528e-03 -1.95759219e+02] [-3.59032172e-03 5.32335139e-06 9.99993555e-01 -4.85405998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters 0.05098107915895756 Centerline is valid? [True, True] Translation: X:615.66, Y:-195.80, Z:-4.86 [[ 7.86505141e-01 6.17580500e-01 1.99743970e-03 6.15664088e+02] [-6.17578464e-01 7.86507677e-01 -1.58593913e-03 -1.95800861e+02] [-2.55044674e-03 1.37735371e-05 9.99996748e-01 -4.85579336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters 0.05094653403238946 Centerline is valid? [True, True] Translation: X:615.71, Y:-195.84, Z:-4.85 [[ 7.88271381e-01 6.15320313e-01 3.02366701e-03 6.15712620e+02] [-6.15315626e-01 7.88277179e-01 -2.40208131e-03 -1.95839601e+02] [-3.86153713e-03 3.29823964e-05 9.99992544e-01 -4.85343891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters 0.05145198506676631 Centerline is valid? [True, True] Translation: X:615.76, Y:-195.88, Z:-4.85 [[ 7.90618201e-01 6.12297202e-01 3.87265507e-03 6.15760377e+02] [-6.12289475e-01 7.90627683e-01 -3.07671028e-03 -1.95877289e+02] [-4.94568940e-03 6.13172047e-05 9.99987768e-01 -4.85359153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters 0.05239587498021815 Centerline is valid? [True, True] Translation: X:615.81, Y:-195.92, Z:-4.85 [[ 7.92190404e-01 6.10260617e-01 4.04255430e-03 6.15808924e+02] [-6.10252166e-01 7.92200715e-01 -3.21267882e-03 -1.95916405e+02] [-5.16308577e-03 7.80758182e-05 9.99986668e-01 -4.85375998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters 0.0520855139643098 Centerline is valid? [True, True] Translation: X:615.86, Y:-195.95, Z:-4.85 [[ 7.95293624e-01 6.06210745e-01 4.07230712e-03 6.15856898e+02] [-6.06202115e-01 7.95304043e-01 -3.23650659e-03 -1.95953306e+02] [-5.20072739e-03 1.05331862e-04 9.99986471e-01 -4.85459259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters 0.05351786240831058 Centerline is valid? [True, True] Translation: X:615.90, Y:-195.99, Z:-4.86 [[ 7.97789974e-01 6.02924727e-01 3.59584007e-03 6.15903001e+02] [-6.02917963e-01 7.97798070e-01 -2.85811645e-03 -1.95994844e+02] [-4.59198335e-03 1.12180082e-04 9.99989450e-01 -4.85528592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters 0.05187896299252989 Centerline is valid? [True, True] Translation: X:615.96, Y:-196.03, Z:-4.86 [[ 7.99461417e-01 6.00714950e-01 1.72989034e-03 6.15955895e+02] [-6.00713380e-01 7.99463286e-01 -1.37444192e-03 -1.96027145e+02] [-2.20863162e-03 5.96450098e-05 9.99997559e-01 -4.85574492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters 0.05305860483530967 Centerline is valid? [True, True] Translation: X:616.00, Y:-196.07, Z:-4.86 [[ 7.97919692e-01 6.02763257e-01 7.87809160e-04 6.15999930e+02] [-6.02762932e-01 7.97920081e-01 -6.25812459e-04 -1.96068209e+02] [-1.00582551e-03 2.44859255e-05 9.99999494e-01 -4.85787233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters 0.05235363669764556 Centerline is valid? [True, True] Translation: X:616.05, Y:-196.11, Z:-4.86 [[ 7.96069658e-01 6.05203848e-01 1.18362249e-03 6.16047908e+02] [-6.05203118e-01 7.96070538e-01 -9.41035243e-04 -1.96107338e+02] [-1.51176514e-03 3.27975853e-05 9.99998857e-01 -4.85812689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters 0.052327129309949566 Centerline is valid? [True, True] Translation: X:616.10, Y:-196.14, Z:-4.86 [[ 7.93384758e-01 6.08719019e-01 1.33486423e-03 6.16098024e+02] [-6.08718094e-01 7.93385880e-01 -1.06130919e-03 -1.96143038e+02] [-1.70510152e-03 2.94705196e-05 9.99998546e-01 -4.85747517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters 0.05103727512721728 Centerline is valid? [True, True] Translation: X:616.15, Y:-196.18, Z:-4.86 [[ 7.91703751e-01 6.10902015e-01 1.97470520e-03 6.16147627e+02] [-6.10899998e-01 7.91706212e-01 -1.57028335e-03 -1.96180037e+02] [-2.52267564e-03 3.68518138e-05 9.99996817e-01 -4.85666872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters 0.05264465087529975 Centerline is valid? [True, True] Translation: X:616.20, Y:-196.21, Z:-4.86 [[ 7.89321965e-01 6.13977158e-01 1.69875573e-03 6.16198165e+02] [-6.13975673e-01 7.89323792e-01 -1.35054756e-03 -1.96213978e+02] [-2.17007367e-03 2.30221600e-05 9.99997645e-01 -4.85609908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters 0.051187249453116944 Centerline is valid? [True, True] Translation: X:616.25, Y:-196.25, Z:-4.86 [[ 7.88241310e-01 6.15362944e-01 2.02107330e-03 6.16246466e+02] [-6.15360844e-01 7.88243901e-01 -1.60753622e-03 -1.96253340e+02] [-2.58231692e-03 2.34370867e-05 9.99996666e-01 -4.85680960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters 0.05177082524301429 Centerline is valid? [True, True] Translation: X:616.30, Y:-196.29, Z:-4.86 [[ 7.87813191e-01 6.15912479e-01 1.48169794e-03 6.16296916e+02] [-6.15911352e-01 7.87814584e-01 -1.17789196e-03 -1.96291691e+02] [-1.89278161e-03 1.53642403e-05 9.99998209e-01 -4.85865685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters 0.05072547826208482 Centerline is valid? [True, True] Translation: X:616.34, Y:-196.33, Z:-4.86 [[ 7.87726439e-01 6.16018962e-01 2.77404981e-03 6.16344614e+02] [-6.16015009e-01 7.87731323e-01 -2.20703719e-03 -1.96329909e+02] [-3.54478269e-03 2.96852244e-05 9.99993717e-01 -4.85604190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters 0.05163269183062652 Centerline is valid? [True, True] Translation: X:616.39, Y:-196.37, Z:-4.86 [[ 7.88187675e-01 6.15429428e-01 2.60903958e-03 6.16392399e+02] [-6.15425926e-01 7.88191993e-01 -2.07647587e-03 -1.96369986e+02] [-3.33434846e-03 3.09820898e-05 9.99994441e-01 -4.85846924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters 0.051415080259117965 Centerline is valid? [True, True] Translation: X:616.44, Y:-196.41, Z:-4.86 [[ 7.88535638e-01 6.14988102e-01 1.08706329e-03 6.16439170e+02] [-6.14987494e-01 7.88536387e-01 -8.65146321e-04 -1.96408574e+02] [-1.38924365e-03 1.36683787e-05 9.99999035e-01 -4.86049142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters 0.05104746536848443 Centerline is valid? [True, True] Translation: X:616.49, Y:-196.45, Z:-4.86 [[ 7.88096555e-01 6.15551609e-01 -1.94100023e-04 6.16485736e+02] [-6.15551589e-01 7.88096578e-01 1.54913639e-04 -1.96449548e+02] [ 2.48326903e-04 -2.60832701e-06 9.99999969e-01 -4.86279366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters 0.050978903240155846 Centerline is valid? [True, True] Translation: X:616.54, Y:-196.49, Z:-4.86 [[ 7.87011380e-01 6.16937420e-01 -1.14314347e-03 6.16535829e+02] [-6.16936747e-01 7.87012210e-01 9.11567861e-04 -1.96488465e+02] [ 1.46204819e-03 -1.21670680e-05 9.99998931e-01 -4.86406122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters 0.0507176717048473 Centerline is valid? [True, True] Translation: X:616.59, Y:-196.53, Z:-4.86 [[ 7.84915838e-01 6.19600366e-01 -1.58540189e-03 6.16585698e+02] [-6.19599077e-01 7.84917439e-01 1.26391641e-03 -1.96525196e+02] [ 2.02753266e-03 -9.75445973e-06 9.99997945e-01 -4.86399670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters 0.05144722726543815 Centerline is valid? [True, True] Translation: X:616.63, Y:-196.56, Z:-4.87 [[ 7.82266372e-01 6.22941817e-01 -1.67812847e-03 6.16634562e+02] [-6.22940380e-01 7.82268172e-01 1.33796924e-03 -1.96562677e+02] [ 2.14622348e-03 -1.27435553e-06 9.99997697e-01 -4.86556549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters 0.05067373932825935 Centerline is valid? [True, True] Translation: X:616.68, Y:-196.60, Z:-4.86 [[ 7.81955278e-01 6.23334007e-01 8.12235115e-04 6.16680169e+02] [-6.23333672e-01 7.81955700e-01 -6.46194749e-04 -1.96602983e+02] [-1.03792704e-03 -9.98102699e-07 9.99999461e-01 -4.86431767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters 0.05081346584166627 Centerline is valid? [True, True] Translation: X:616.73, Y:-196.64, Z:-4.86 [[ 7.83108971e-01 6.21877418e-01 2.96917221e-03 6.16728393e+02] [-6.21872919e-01 7.83114600e-01 -2.36560310e-03 -1.96642079e+02] [-3.79631726e-03 6.07722020e-06 9.99992794e-01 -4.86323829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters 0.05065321431272512 Centerline is valid? [True, True] Translation: X:616.78, Y:-196.68, Z:-4.86 [[ 7.83704371e-01 6.21121849e-01 3.88696917e-03 6.16778705e+02] [-6.21114124e-01 7.83714010e-01 -3.09780288e-03 -1.96680246e+02] [-4.97038524e-03 1.35102034e-05 9.99987647e-01 -4.86234680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters 0.05192687156353835 Centerline is valid? [True, True] Translation: X:616.83, Y:-196.72, Z:-4.86 [[ 7.84316602e-01 6.20352500e-01 3.20061714e-03 6.16828094e+02] [-6.20347254e-01 7.84323132e-01 -2.55134683e-03 -1.96717282e+02] [-4.09305244e-03 1.55696260e-05 9.99991623e-01 -4.86335639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters 0.05112084712763162 Centerline is valid? [True, True] Translation: X:616.87, Y:-196.76, Z:-4.86 [[ 7.84487886e-01 6.20141185e-01 1.91527574e-03 6.16874411e+02] [-6.20139306e-01 7.84490224e-01 -1.52672653e-03 -1.96756625e+02] [-2.44930109e-03 9.96070047e-06 9.99997000e-01 -4.86495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters 0.050121943984255526 Centerline is valid? [True, True] Translation: X:616.92, Y:-196.79, Z:-4.86 [[ 7.84679740e-01 6.19899668e-01 1.45194093e-03 6.16923929e+02] [-6.19898587e-01 7.84681083e-01 -1.15735964e-03 -1.96794912e+02] [-1.85675744e-03 8.10052511e-06 9.99998276e-01 -4.86462516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters 0.051947978886360144 Centerline is valid? [True, True] Translation: X:616.97, Y:-196.83, Z:-4.87 [[ 7.85526334e-01 6.18827873e-01 6.64945195e-04 6.16971316e+02] [-6.18827646e-01 7.85526616e-01 -5.29555212e-04 -1.96832831e+02] [-8.50035674e-04 4.49309443e-06 9.99999639e-01 -4.87070802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters 0.051707518540833504 Centerline is valid? [True, True] Translation: X:617.02, Y:-196.87, Z:-4.87 [[ 7.86546715e-01 6.17530612e-01 4.56533723e-04 6.17020808e+02] [-6.17530504e-01 7.86546848e-01 -3.63931015e-04 -1.96871041e+02] [-5.83823703e-04 4.32524377e-06 9.99999830e-01 -4.86995675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters 0.05175238926066709 Centerline is valid? [True, True] Translation: X:617.07, Y:-196.91, Z:-4.87 [[ 7.87191366e-01 6.16707698e-01 1.17017267e-03 6.17068118e+02] [-6.16706992e-01 7.87192235e-01 -9.32884246e-04 -1.96911223e+02] [-1.49646774e-03 1.27047558e-05 9.99998880e-01 -4.87002677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters 0.05175983691275239 Centerline is valid? [True, True] Translation: X:617.12, Y:-196.95, Z:-4.87 [[ 7.87075609e-01 6.16850533e-01 2.72136750e-03 6.17118115e+02] [-6.16846709e-01 7.87080313e-01 -2.17208112e-03 -1.96947971e+02] [-3.48178418e-03 3.09254849e-05 9.99993938e-01 -4.86934154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters 0.05182592858561321 Centerline is valid? [True, True] Translation: X:617.17, Y:-196.99, Z:-4.87 [[ 7.86890952e-01 6.17083035e-01 3.34034354e-03 6.17166045e+02] [-6.17077277e-01 7.86898041e-01 -2.66617246e-03 -1.96985844e+02] [-4.27375958e-03 3.67368956e-05 9.99990867e-01 -4.87045377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters 0.050827201208844944 Centerline is valid? [True, True] Translation: X:617.22, Y:-197.02, Z:-4.87 [[ 7.86202554e-01 6.17954032e-01 4.28468324e-03 6.17216050e+02] [-6.17944563e-01 7.86214228e-01 -3.42106224e-03 -1.97023649e+02] [-5.48273813e-03 4.19511532e-05 9.99984969e-01 -4.86900938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters 0.051040201942764776 Centerline is valid? [True, True] Translation: X:617.27, Y:-197.06, Z:-4.87 [[ 7.84562714e-01 6.20036270e-01 4.04625965e-03 6.17267475e+02] [-6.20027854e-01 7.84573147e-01 -3.23073838e-03 -1.97059055e+02] [-5.17776164e-03 2.59231860e-05 9.99986595e-01 -4.87089493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters 0.05121850050840792 Centerline is valid? [True, True] Translation: X:617.32, Y:-197.10, Z:-4.87 [[ 7.82836541e-01 6.22215644e-01 3.82647883e-03 6.17317147e+02] [-6.22208139e-01 7.82845893e-01 -3.05612262e-03 -1.97095790e+02] [-4.89711055e-03 1.15781919e-05 9.99988009e-01 -4.87178180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters 0.05043764925350319 Centerline is valid? [True, True] Translation: X:617.37, Y:-197.13, Z:-4.87 [[ 7.80146234e-01 6.25594030e-01 1.99061013e-03 6.17366880e+02] [-6.25592012e-01 7.80148774e-01 -1.58935658e-03 -1.97133357e+02] [-2.54726404e-03 -5.37924381e-06 9.99996756e-01 -4.87438989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters 0.050054256741815795 Centerline is valid? [True, True] Translation: X:617.42, Y:-197.17, Z:-4.88 [[ 7.78554453e-01 6.27575024e-01 1.59771646e-03 6.17415608e+02] [-6.27573727e-01 7.78556092e-01 -1.27623403e-03 -1.97172487e+02] [-2.04484449e-03 -9.06718652e-06 9.99997909e-01 -4.87502213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters 0.05112259674521313 Centerline is valid? [True, True] Translation: X:617.46, Y:-197.21, Z:-4.88 [[ 7.76865684e-01 6.29664856e-01 1.37035952e-03 6.17462384e+02] [-6.29663906e-01 7.76866892e-01 -1.09418966e-03 -1.97211424e+02] [-1.75355972e-03 -1.28275309e-05 9.99998462e-01 -4.87600328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters 0.05070053720757355 Centerline is valid? [True, True] Translation: X:617.51, Y:-197.25, Z:-4.88 [[ 7.75909031e-01 6.30841186e-01 2.13869751e-03 6.17510965e+02] [-6.30838873e-01 7.75911978e-01 -1.70848567e-03 -1.97250865e+02] [-2.73722414e-03 -2.35440643e-05 9.99996254e-01 -4.87677336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters 0.04974046069894264 Centerline is valid? [True, True] Translation: X:617.56, Y:-197.29, Z:-4.88 [[ 7.72023117e-01 6.35584279e-01 3.59586283e-03 6.17560092e+02] [-6.35577784e-01 7.72031489e-01 -2.87426038e-03 -1.97286670e+02] [-4.60295404e-03 -6.64550758e-05 9.99989404e-01 -4.87607044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters 0.05040958168957866 Centerline is valid? [True, True] Translation: X:617.61, Y:-197.32, Z:-4.88 [[ 7.70076062e-01 6.37939384e-01 4.02498278e-03 6.17609163e+02] [-6.37931273e-01 7.70086576e-01 -3.21816302e-03 -1.97324797e+02] [-5.15257814e-03 -8.94320897e-05 9.99986721e-01 -4.87692543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters 0.049569737275744055 Centerline is valid? [True, True] Translation: X:617.66, Y:-197.36, Z:-4.88 [[ 7.68972279e-01 6.39275745e-01 2.85596337e-03 6.17658017e+02] [-6.39271670e-01 7.68977579e-01 -2.28353914e-03 -1.97363101e+02] [-3.65598298e-03 -6.97581771e-05 9.99993314e-01 -4.87778527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters 0.050913355187060444 Centerline is valid? [True, True] Translation: X:617.71, Y:-197.40, Z:-4.88 [[ 7.68231132e-01 6.40167052e-01 2.65952875e-03 6.17708545e+02] [-6.40163524e-01 7.68235732e-01 -2.12646138e-03 -1.97397476e+02] [-3.40443553e-03 -6.89194615e-05 9.99994203e-01 -4.88061764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters 0.050476623271588694 Centerline is valid? [True, True] Translation: X:617.76, Y:-197.44, Z:-4.88 [[ 7.68088233e-01 6.40339058e-01 2.52126108e-03 6.17756749e+02] [-6.40335889e-01 7.68092368e-01 -2.01574259e-03 -1.97438750e+02] [-3.22732011e-03 -6.61857888e-05 9.99994790e-01 -4.88162907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters 0.05067574031566058 Centerline is valid? [True, True] Translation: X:617.81, Y:-197.48, Z:-4.88 [[ 7.68692791e-01 6.39612612e-01 2.66464400e-03 6.17805136e+02] [-6.39609064e-01 7.68697406e-01 -2.13133004e-03 -1.97476056e+02] [-3.41153051e-03 -6.59924150e-05 9.99994179e-01 -4.88226907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters 0.04980115768221219 Centerline is valid? [True, True] Translation: X:617.85, Y:-197.52, Z:-4.88 [[ 7.68964688e-01 6.39285547e-01 2.70162703e-03 6.17851501e+02] [-6.39281898e-01 7.68969431e-01 -2.16097472e-03 -1.97517718e+02] [-3.45894850e-03 -6.53880008e-05 9.99994016e-01 -4.88183672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters 0.0498858402228308 Centerline is valid? [True, True] Translation: X:617.90, Y:-197.56, Z:-4.88 [[ 7.70234268e-01 6.37757854e-01 2.02281996e-03 6.17898032e+02] [-6.37755803e-01 7.70236923e-01 -1.61809943e-03 -1.97559022e+02] [-2.59000625e-03 -4.37495381e-05 9.99996645e-01 -4.88249218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters 0.04997176002690821 Centerline is valid? [True, True] Translation: X:617.95, Y:-197.60, Z:-4.88 [[ 7.71506353e-01 6.36219540e-01 1.62608466e-03 6.17946459e+02] [-6.36218211e-01 7.71508066e-01 -1.30083220e-03 -1.97597600e+02] [-2.08215229e-03 -3.09443648e-05 9.99997832e-01 -4.88463883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters 0.05044748145929351 Centerline is valid? [True, True] Translation: X:618.00, Y:-197.63, Z:-4.89 [[ 7.72710680e-01 6.34754263e-01 2.28697008e-03 6.17995363e+02] [-6.34751624e-01 7.72714064e-01 -1.83065306e-03 -1.97633815e+02] [-2.92918878e-03 -3.70927987e-05 9.99995709e-01 -4.88564444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters 0.050148983794395266 Centerline is valid? [True, True] Translation: X:618.04, Y:-197.67, Z:-4.88 [[ 7.72878889e-01 6.34543573e-01 3.56058730e-03 6.18043698e+02] [-6.34537172e-01 7.72887088e-01 -2.85070857e-03 -1.97673461e+02] [-4.56083076e-03 -5.60725224e-05 9.99989598e-01 -4.88370053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters 0.049197674000204084 Centerline is valid? [True, True] Translation: X:618.09, Y:-197.71, Z:-4.88 [[ 7.72348810e-01 6.35187747e-01 3.72050380e-03 6.18090389e+02] [-6.35180762e-01 7.72357769e-01 -2.97940483e-03 -1.97713835e+02] [-4.76604145e-03 -6.20526630e-05 9.99988640e-01 -4.88374735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters 0.051284640851801115 Centerline is valid? [True, True] Translation: X:618.14, Y:-197.75, Z:-4.89 [[ 7.71190808e-01 6.36601338e-01 1.86390711e-03 6.18142129e+02] [-6.36599588e-01 7.71193060e-01 -1.49286246e-03 -1.97746409e+02] [-2.38779047e-03 -3.52806855e-05 9.99997149e-01 -4.88838764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters 0.05113622985864426 Centerline is valid? [True, True] Translation: X:618.19, Y:-197.79, Z:-4.89 [[ 7.70710407e-01 6.37185413e-01 4.66329018e-04 6.18189282e+02] [-6.37185304e-01 7.70710549e-01 -3.72662743e-04 -1.97787444e+02] [-5.96859958e-04 -9.92294258e-06 9.99999822e-01 -4.89015367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters 0.050230515278639774 Centerline is valid? [True, True] Translation: X:618.24, Y:-197.83, Z:-4.89 [[ 7.70811381e-01 6.37063321e-01 -3.73861194e-04 6.18236705e+02] [-6.37063250e-01 7.70811472e-01 3.00690984e-04 -1.97826593e+02] [ 4.79735694e-04 6.39719448e-06 9.99999885e-01 -4.88987894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters 0.0509082332835209 Centerline is valid? [True, True] Translation: X:618.28, Y:-197.87, Z:-4.89 [[ 7.72362188e-01 6.35176851e-01 2.64929870e-03 6.18282335e+02] [-6.35173303e-01 7.72366730e-01 -2.12338209e-03 -1.97868486e+02] [-3.39495332e-03 -4.27437698e-05 9.99994236e-01 -4.88725931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters 0.04938197061228363 Centerline is valid? [True, True] Translation: X:618.33, Y:-197.90, Z:-4.89 [[ 7.73057140e-01 6.34319884e-01 4.57642054e-03 6.18332869e+02] [-6.34309281e-01 7.73070683e-01 -3.66814085e-03 -1.97903681e+02] [-5.86467123e-03 -6.71835484e-05 9.99982800e-01 -4.88697505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters 0.05021431495136201 Centerline is valid? [True, True] Translation: X:618.38, Y:-197.94, Z:-4.89 [[ 7.73822980e-01 6.33376050e-01 5.72502028e-03 6.18380154e+02] [-6.33359422e-01 7.73844154e-01 -4.59000578e-03 -1.97944024e+02] [-7.33747321e-03 -7.41435866e-05 9.99973078e-01 -4.88651941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters 0.0499066768837715 Centerline is valid? [True, True] Translation: X:618.43, Y:-197.98, Z:-4.89 [[ 7.74695158e-01 6.32313158e-01 5.24228995e-03 6.18430272e+02] [-6.32299187e-01 7.74712893e-01 -4.20381349e-03 -1.97981451e+02] [-6.71939620e-03 -5.80217138e-05 9.99977423e-01 -4.89001514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters 0.048777483660790655 Centerline is valid? [True, True] Translation: X:618.48, Y:-198.02, Z:-4.89 [[ 7.74939582e-01 6.32014291e-01 5.15553418e-03 6.18477460e+02] [-6.32000766e-01 7.74956730e-01 -4.13511957e-03 -1.98022210e+02] [-6.60877057e-03 -5.38337162e-05 9.99978160e-01 -4.89091727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters 0.050073684476934506 Centerline is valid? [True, True] Translation: X:618.53, Y:-198.06, Z:-4.89 [[ 7.76532518e-01 6.30062409e-01 4.31387314e-03 6.18525915e+02] [-6.30052905e-01 7.76544500e-01 -3.46069700e-03 -1.98058879e+02] [-5.53036955e-03 -3.06245442e-05 9.99984707e-01 -4.89408587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters 0.04879077760428363 Centerline is valid? [True, True] Translation: X:618.57, Y:-198.10, Z:-4.89 [[ 7.78017424e-01 6.28230743e-01 3.87584091e-03 6.18572018e+02] [-6.28223046e-01 7.78027078e-01 -3.10985449e-03 -1.98100367e+02] [-4.96921537e-03 -1.53716019e-05 9.99987653e-01 -4.89473587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters 0.05006889620516389 Centerline is valid? [True, True] Translation: X:618.62, Y:-198.14, Z:-4.90 [[ 7.79164875e-01 6.26809336e-01 3.48634293e-03 6.18621332e+02] [-6.26803090e-01 7.79172675e-01 -2.79811498e-03 -1.98138257e+02] [-4.47034774e-03 -5.05761720e-06 9.99990008e-01 -4.89720872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters 0.04895452557814425 Centerline is valid? [True, True] Translation: X:618.67, Y:-198.18, Z:-4.90 [[ 7.80834028e-01 6.24730344e-01 3.19643413e-03 6.18668936e+02] [-6.24725078e-01 7.80840571e-01 -2.56527622e-03 -1.98178214e+02] [-4.09851135e-03 6.16240934e-06 9.99991601e-01 -4.89901319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters 0.05093306591607843 Centerline is valid? [True, True] Translation: X:618.72, Y:-198.22, Z:-4.90 [[ 7.82252264e-01 6.22943917e-01 4.71931185e-03 6.18719093e+02] [-6.22932395e-01 7.82266499e-01 -3.78893875e-03 -1.98216113e+02] [-6.05205591e-03 2.40936795e-05 9.99981686e-01 -4.89903624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters 0.04927320315679552 Centerline is valid? [True, True] Translation: X:618.77, Y:-198.25, Z:-4.90 [[ 7.84158506e-01 6.20545017e-01 4.39541468e-03 6.18766965e+02] [-6.20534978e-01 7.84170823e-01 -3.52991405e-03 -1.98253864e+02] [-5.63722652e-03 4.05035776e-05 9.99984110e-01 -4.89899746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters 0.050494770722423914 Centerline is valid? [True, True] Translation: X:618.81, Y:-198.29, Z:-4.90 [[ 7.84734129e-01 6.19821627e-01 3.67390686e-03 6.18814685e+02] [-6.19814604e-01 7.84742728e-01 -2.95082295e-03 -1.98293201e+02] [-4.71205557e-03 3.84703533e-05 9.99988897e-01 -4.90120724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters 0.05093482601384268 Centerline is valid? [True, True] Translation: X:618.86, Y:-198.33, Z:-4.90 [[ 7.82994910e-01 6.22026111e-01 1.57740013e-03 6.18864071e+02] [-6.22024822e-01 7.82996499e-01 -1.26638577e-03 -1.98329399e+02] [-2.02282379e-03 1.03915788e-05 9.99997954e-01 -4.90474091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters 0.05004772917305727 Centerline is valid? [True, True] Translation: X:618.91, Y:-198.37, Z:-4.91 [[ 7.80665426e-01 6.24947615e-01 1.40374649e-03 6.18914596e+02] [-6.24946599e-01 7.80666688e-01 -1.12708813e-03 -1.98365316e+02] [-1.80022916e-03 2.61213749e-06 9.99998380e-01 -4.90556017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters 0.048978995467737575 Centerline is valid? [True, True] Translation: X:618.97, Y:-198.40, Z:-4.90 [[ 7.78139101e-01 6.28089941e-01 1.60176871e-03 6.18965426e+02] [-6.28088622e-01 7.78140750e-01 -1.28685507e-03 -1.98402211e+02] [-2.05466223e-03 -4.70045986e-06 9.99997889e-01 -4.90466843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters 0.050743417941794086 Centerline is valid? [True, True] Translation: X:619.02, Y:-198.44, Z:-4.90 [[ 7.75573969e-01 6.31245487e-01 3.76227211e-03 6.19017641e+02] [-6.31238247e-01 7.75583093e-01 -3.02345940e-03 -1.98436583e+02] [-4.82649974e-03 -2.99736409e-05 9.99988352e-01 -4.90449847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters 0.04901807967177534 Centerline is valid? [True, True] Translation: X:619.06, Y:-198.48, Z:-4.90 [[ 7.73988527e-01 6.33170534e-01 6.06922483e-03 6.19064133e+02] [-6.33151737e-01 7.74012320e-01 -4.87925995e-03 -1.98478477e+02] [-7.78705842e-03 -6.62490185e-05 9.99969678e-01 -4.90210221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters 0.04951752762137271 Centerline is valid? [True, True] Translation: X:619.11, Y:-198.51, Z:-4.90 [[ 7.73029585e-01 6.34330394e-01 7.08604069e-03 6.19113040e+02] [-6.34304814e-01 7.73062056e-01 -5.69741201e-03 -1.98514712e+02] [-9.09199079e-03 -9.04416767e-05 9.99958663e-01 -4.90131530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters 0.04898736785917499 Centerline is valid? [True, True] Translation: X:619.16, Y:-198.55, Z:-4.90 [[ 7.72226364e-01 6.35304516e-01 7.39014834e-03 6.19159860e+02] [-6.35276724e-01 7.72261718e-01 -5.94326395e-03 -1.98554737e+02] [-9.48291108e-03 -1.05244121e-04 9.99955031e-01 -4.90316946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters 0.049371808877484574 Centerline is valid? [True, True] Translation: X:619.21, Y:-198.59, Z:-4.90 [[ 7.71744886e-01 6.35889793e-01 7.34860178e-03 6.19210409e+02] [-6.35862330e-01 7.71779864e-01 -5.91089955e-03 -1.98590618e+02] [-9.43018358e-03 -1.10992557e-04 9.99955529e-01 -4.90279051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters 0.04930258129393618 Centerline is valid? [True, True] Translation: X:619.26, Y:-198.63, Z:-4.91 [[ 7.71646081e-01 6.36018413e-01 6.55017174e-03 6.19259598e+02] [-6.35996594e-01 7.71673874e-01 -5.26916900e-03 -1.98629127e+02] [-8.40588490e-03 -9.99533107e-05 9.99964665e-01 -4.90541199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters 0.04921316942937053 Centerline is valid? [True, True] Translation: X:619.31, Y:-198.67, Z:-4.91 [[ 7.73330008e-01 6.33983286e-01 5.08831949e-03 6.19305407e+02] [-6.33970070e-01 7.73346746e-01 -4.09407919e-03 -1.98671941e+02] [-6.53061310e-03 -5.97679722e-05 9.99978674e-01 -4.90674117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters 0.04876758620348632 Centerline is valid? [True, True] Translation: X:619.35, Y:-198.71, Z:-4.91 [[ 7.76798586e-01 6.29731106e-01 4.76340978e-03 6.19352091e+02] [-6.29719443e-01 7.76813191e-01 -3.83283454e-03 -1.98712311e+02] [-6.11393468e-03 -2.22712994e-05 9.99981309e-01 -4.90760319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters 0.05035208579948611 Centerline is valid? [True, True] Translation: X:619.39, Y:-198.76, Z:-4.91 [[ 7.83389986e-01 6.21520994e-01 3.43271809e-03 6.19394110e+02] [-6.21514856e-01 7.83397506e-01 -2.76246302e-03 -1.98757276e+02] [-4.40611155e-03 3.06005748e-05 9.99990293e-01 -4.90944785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters 0.050419863085083054 Centerline is valid? [True, True] Translation: X:619.44, Y:-198.79, Z:-4.91 [[ 7.87453718e-01 6.16367425e-01 2.80008853e-03 6.19443355e+02] [-6.16363305e-01 7.87458695e-01 -2.25402975e-03 -1.98793717e+02] [-3.59426458e-03 4.90722862e-05 9.99993539e-01 -4.90834619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters 0.050157673574203386 Centerline is valid? [True, True] Translation: X:619.49, Y:-198.83, Z:-4.91 [[ 7.91448082e-01 6.11230581e-01 2.66647168e-03 6.19490127e+02] [-6.11226816e-01 7.91452571e-01 -2.14656935e-03 -1.98831838e+02] [-3.42243469e-03 6.90791979e-05 9.99994141e-01 -4.90890372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters 0.050311246871941974 Centerline is valid? [True, True] Translation: X:619.54, Y:-198.87, Z:-4.91 [[ 7.92994264e-01 6.09220843e-01 3.17191643e-03 6.19539945e+02] [-6.09215497e-01 7.93000603e-01 -2.55381119e-03 -1.98869029e+02] [-4.07116665e-03 9.27769739e-05 9.99991708e-01 -4.90845502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters 0.0511521365217366 Centerline is valid? [True, True] Translation: X:619.59, Y:-198.90, Z:-4.91 [[ 7.92651401e-01 6.09665567e-01 3.41353836e-03 6.19589819e+02] [-6.09659380e-01 7.92658746e-01 -2.74835518e-03 -1.98904230e+02] [-4.38134855e-03 9.73919099e-05 9.99990397e-01 -4.90770692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters 0.051387196386345896 Centerline is valid? [True, True] Translation: X:619.64, Y:-198.94, Z:-4.91 [[ 7.91763606e-01 6.10818487e-01 3.34180351e-03 6.19636913e+02] [-6.10812565e-01 7.91770654e-01 -2.69114629e-03 -1.98943393e+02] [-4.28974386e-03 8.95361195e-05 9.99990795e-01 -4.90805744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters 0.05100606184589823 Centerline is valid? [True, True] Translation: X:619.69, Y:-198.97, Z:-4.91 [[ 7.89838167e-01 6.13305784e-01 3.41821317e-03 6.19693052e+02] [-6.13299608e-01 7.89845560e-01 -2.75361531e-03 -1.98971026e+02] [-4.38866869e-03 7.85216793e-05 9.99990367e-01 -4.90903958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters 0.05222805019618321 Centerline is valid? [True, True] Translation: X:619.74, Y:-199.01, Z:-4.91 [[ 7.88299071e-01 6.15281745e-01 3.59863023e-03 6.19738723e+02] [-6.15274918e-01 7.88307281e-01 -2.89919951e-03 -1.99012284e+02] [-4.62065094e-03 7.12893590e-05 9.99989322e-01 -4.91030034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters 0.05038340542387285 Centerline is valid? [True, True] Translation: X:619.79, Y:-199.05, Z:-4.91 [[ 7.85892685e-01 6.18346180e-01 4.54853546e-03 6.19787577e+02] [-6.18335324e-01 7.85905845e-01 -3.66474177e-03 -1.99048523e+02] [-5.84079968e-03 6.75735994e-05 9.99982940e-01 -4.90972496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters 0.051068625062945724 Centerline is valid? [True, True] Translation: X:619.84, Y:-199.08, Z:-4.91 [[ 7.81484168e-01 6.23902635e-01 5.29125694e-03 6.19840827e+02] [-6.23888069e-01 7.81502080e-01 -4.26330522e-03 -1.99081045e+02] [-6.79501567e-03 3.05534595e-05 9.99976913e-01 -4.91124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters 0.05107705516296006 Centerline is valid? [True, True] Translation: X:619.89, Y:-199.12, Z:-4.91 [[ 7.78851939e-01 6.27180962e-01 5.80504528e-03 6.19890246e+02] [-6.27163519e-01 7.78873572e-01 -4.67764402e-03 -1.99118963e+02] [-7.45512563e-03 2.47949132e-06 9.99972210e-01 -4.91110235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters 0.0499813366890469 Centerline is valid? [True, True] Translation: X:619.94, Y:-199.16, Z:-4.91 [[ 7.75560300e-01 6.31251427e-01 5.27790569e-03 6.19939713e+02] [-6.31237095e-01 7.75578258e-01 -4.25382697e-03 -1.99155606e+02] [-6.77866325e-03 -3.25105402e-05 9.99977024e-01 -4.91189432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters 0.04987406417907478 Centerline is valid? [True, True] Translation: X:619.99, Y:-199.20, Z:-4.91 [[ 7.74460566e-01 6.32600626e-01 5.22295978e-03 6.19988031e+02] [-6.32586615e-01 7.74478177e-01 -4.21049215e-03 -1.99195270e+02] [-6.70862834e-03 -4.31143142e-05 9.99977496e-01 -4.91242036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters 0.050074649614378276 Centerline is valid? [True, True] Translation: X:620.04, Y:-199.23, Z:-4.91 [[ 7.72538563e-01 6.34945465e-01 5.33145162e-03 6.20038098e+02] [-6.34930916e-01 7.72556957e-01 -4.29886851e-03 -1.99231824e+02] [-6.84839711e-03 -6.40617579e-05 9.99976547e-01 -4.91426153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters 0.049815140489219485 Centerline is valid? [True, True] Translation: X:620.09, Y:-199.27, Z:-4.92 [[ 7.70621772e-01 6.37278178e-01 4.31373111e-03 6.20085859e+02] [-6.37268689e-01 7.70633842e-01 -3.47843461e-03 -1.99269055e+02] [-5.54103765e-03 -6.84483202e-05 9.99984646e-01 -4.91614415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters 0.0508532585494414 Centerline is valid? [True, True] Translation: X:620.13, Y:-199.31, Z:-4.92 [[ 7.69067563e-01 6.39162924e-01 2.41664629e-03 6.20133821e+02] [-6.39159956e-01 7.69071359e-01 -1.94844325e-03 -1.99307446e+02] [-3.10394613e-03 -4.61390338e-05 9.99995182e-01 -4.91921837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters 0.04963671838313168 Centerline is valid? [True, True] Translation: X:620.18, Y:-199.35, Z:-4.92 [[ 7.67922378e-01 6.40542792e-01 3.90892395e-04 6.20177654e+02] [-6.40542715e-01 7.67922477e-01 -3.15025464e-04 -1.99351565e+02] [-5.01962348e-04 -8.46817261e-06 9.99999874e-01 -4.92034752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters 0.05015290091929775 Centerline is valid? [True, True] Translation: X:620.22, Y:-199.39, Z:-4.92 [[ 7.68509422e-01 6.39838018e-01 -7.60868168e-04 6.20223409e+02] [-6.39837723e-01 7.68509799e-01 6.14492700e-04 -1.99391968e+02] [ 9.77910434e-04 1.45887263e-05 9.99999522e-01 -4.92358708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters 0.0495236919305996 Centerline is valid? [True, True] Translation: X:620.26, Y:-199.44, Z:-4.92 [[ 7.71240746e-01 6.36542854e-01 -9.51916977e-04 6.20263304e+02] [-6.36542391e-01 7.71241333e-01 7.68199436e-04 -1.99440298e+02] [ 1.22314958e-03 1.34688028e-05 9.99999252e-01 -4.92282907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters 0.048784409539571014 Centerline is valid? [True, True] Translation: X:620.31, Y:-199.48, Z:-4.93 [[ 7.72840704e-01 6.34597840e-01 -1.68147175e-03 6.20307417e+02] [-6.34596387e-01 7.72842533e-01 1.35795398e-03 -1.99482298e+02] [ 2.16126755e-03 1.75737923e-05 9.99997664e-01 -4.92527275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters 0.049238587342027275 Centerline is valid? [True, True] Translation: X:620.35, Y:-199.53, Z:-4.92 [[ 7.72826622e-01 6.34615673e-01 1.40000596e-03 6.20352881e+02] [-6.34614669e-01 7.72827890e-01 -1.12899612e-03 -1.99525149e+02] [-1.79844229e-03 -1.59460609e-05 9.99998383e-01 -4.92134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters 0.04933653745630288 Centerline is valid? [True, True] Translation: X:620.40, Y:-199.56, Z:-4.92 [[ 7.71568046e-01 6.36143750e-01 1.96960689e-03 6.20400076e+02] [-6.36141766e-01 7.71570559e-01 -1.58921009e-03 -1.99564048e+02] [-2.53065676e-03 -2.67654786e-05 9.99996798e-01 -4.92045999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters 0.04956298328207377 Centerline is valid? [True, True] Translation: X:620.45, Y:-199.60, Z:-4.92 [[ 7.70298557e-01 6.37681543e-01 1.54342202e-03 6.20448286e+02] [-6.37680328e-01 7.70300103e-01 -1.24534395e-03 -1.99603134e+02] [-1.98303100e-03 -2.49232158e-05 9.99998033e-01 -4.92157638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters 0.04943637176540261 Centerline is valid? [True, True] Translation: X:620.50, Y:-199.64, Z:-4.93 [[ 7.69303628e-01 6.38882368e-01 1.11701704e-03 6.20499870e+02] [-6.38881733e-01 7.69304439e-01 -9.01274405e-04 -1.99636079e+02] [-1.43513449e-03 -2.02881134e-05 9.99998970e-01 -4.92502411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters 0.05032632656156768 Centerline is valid? [True, True] Translation: X:620.55, Y:-199.68, Z:-4.92 [[ 7.68753214e-01 6.39544750e-01 1.00472371e-03 6.20545151e+02] [-6.39544236e-01 7.68753870e-01 -8.10696613e-04 -1.99679037e+02] [-1.29086200e-03 -1.93396318e-05 9.99999167e-01 -4.92271544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters 0.049607468172172486 Centerline is valid? [True, True] Translation: X:620.59, Y:-199.72, Z:-4.92 [[ 7.69546416e-01 6.38590741e-01 4.23200892e-04 6.20592911e+02] [-6.38590650e-01 7.69546532e-01 -3.41561021e-04 -1.99719676e+02] [-5.43790484e-04 -7.40507301e-06 9.99999852e-01 -4.92269714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters 0.050133305875331456 Centerline is valid? [True, True] Translation: X:620.64, Y:-199.76, Z:-4.92 [[ 7.70066103e-01 6.37964102e-01 -3.69856909e-05 6.20641311e+02] [-6.37964101e-01 7.70066104e-01 3.09529618e-05 -1.99757893e+02] [ 4.82283051e-05 -2.40283574e-07 9.99999999e-01 -4.92375373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters 0.04980831627984256 Centerline is valid? [True, True] Translation: X:620.69, Y:-199.80, Z:-4.92 [[ 7.71111838e-01 6.36698860e-01 1.04597729e-03 6.20689802e+02] [-6.36698300e-01 7.71112548e-01 -8.44951644e-04 -1.99797648e+02] [-1.34454596e-03 -1.44197477e-05 9.99999096e-01 -4.92358135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters 0.049457107794082036 Centerline is valid? [True, True] Translation: X:620.74, Y:-199.83, Z:-4.92 [[ 7.72368806e-01 6.35169294e-01 2.52894372e-03 6.20738608e+02] [-6.35166008e-01 7.72372945e-01 -2.04346770e-03 -1.99834561e+02] [-3.25123565e-03 -2.79883768e-05 9.99994714e-01 -4.92348849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters 0.04956121178772775 Centerline is valid? [True, True] Translation: X:620.78, Y:-199.88, Z:-4.92 [[ 7.74967491e-01 6.31990955e-01 3.58070550e-03 6.20784408e+02] [-6.31984328e-01 7.74975762e-01 -2.89437117e-03 -1.99876642e+02] [-4.60417637e-03 -1.99061932e-05 9.99989401e-01 -4.92207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters 0.04959883011304886 Centerline is valid? [True, True] Translation: X:620.83, Y:-199.92, Z:-4.92 [[ 7.77053977e-01 6.29414743e-01 4.91915442e-03 6.20832243e+02] [-6.29402175e-01 7.77069547e-01 -3.97756817e-03 -1.99916719e+02] [-6.32606514e-03 -5.34132240e-06 9.99979990e-01 -4.92138398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters 0.04936692184969541 Centerline is valid? [True, True] Translation: X:620.88, Y:-199.96, Z:-4.92 [[ 7.78050855e-01 6.28178820e-01 5.31388613e-03 6.20880615e+02] [-6.28164121e-01 7.78069001e-01 -4.29731617e-03 -1.99955601e+02] [-6.83405307e-03 5.53791227e-06 9.99976648e-01 -4.92159072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters 0.05021957073007935 Centerline is valid? [True, True] Translation: X:620.93, Y:-199.99, Z:-4.93 [[ 7.77997845e-01 6.28248904e-01 4.76105193e-03 6.20932230e+02] [-6.28237103e-01 7.78012413e-01 -3.85072993e-03 -1.99992515e+02] [-6.12337436e-03 4.79012312e-06 9.99981252e-01 -4.92510352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters 0.050725822324838916 Centerline is valid? [True, True] Translation: X:620.98, Y:-200.03, Z:-4.93 [[ 7.76131196e-01 6.30570481e-01 -1.11133944e-03 6.20980957e+02] [-6.30569839e-01 7.76131992e-01 8.99772909e-04 -2.00030104e+02] [ 1.42991633e-03 2.43530861e-06 9.99998978e-01 -4.92980355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters 0.05039319025554366 Centerline is valid? [True, True] Translation: X:621.03, Y:-200.06, Z:-4.93 [[ 7.72637318e-01 6.34831693e-01 -4.50521783e-03 6.21031666e+02] [-6.34821221e-01 7.72650452e-01 3.64644429e-03 -2.00063573e+02] [ 5.79583699e-03 4.26289492e-05 9.99983203e-01 -4.93349452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters 0.049917592570732826 Centerline is valid? [True, True] Translation: X:621.08, Y:-200.10, Z:-4.93 [[ 7.70817591e-01 6.37024731e-01 -6.30338095e-03 6.21079214e+02] [-6.37004299e-01 7.70843360e-01 5.10273800e-03 -2.00102313e+02] [ 8.10948965e-03 8.20005499e-05 9.99967114e-01 -4.93269358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters 0.04980313702560265 Centerline is valid? [True, True] Translation: X:621.13, Y:-200.14, Z:-4.93 [[ 7.70891415e-01 6.36936585e-01 -6.18174147e-03 6.21127944e+02] [-6.36916931e-01 7.70916196e-01 5.00419889e-03 -2.00140620e+02] [ 7.95296197e-03 7.95618456e-05 9.99968372e-01 -4.93333862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters 0.05013964735127232 Centerline is valid? [True, True] Translation: X:621.17, Y:-200.18, Z:-4.93 [[ 7.76237019e-01 6.30431170e-01 -3.55391890e-03 6.21173181e+02] [-6.30424606e-01 7.76245154e-01 2.87697440e-03 -2.00181173e+02] [ 4.57244666e-03 7.26388555e-06 9.99989546e-01 -4.93339992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters 0.050210856375848094 Centerline is valid? [True, True] Translation: X:621.22, Y:-200.23, Z:-4.93 [[ 7.83696381e-01 6.21143785e-01 -6.17027793e-04 6.21217423e+02] [-6.21143584e-01 7.83696624e-01 4.99892337e-04 -2.00225985e+02] [ 7.94067616e-04 -8.50096024e-06 9.99999685e-01 -4.92716465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters 0.04947899816620436 Centerline is valid? [True, True] Translation: X:621.26, Y:-200.27, Z:-4.92 [[ 7.87314527e-01 6.16548048e-01 2.08310362e-03 6.21261730e+02] [-6.16545744e-01 7.87317282e-01 -1.68620571e-03 -2.00267750e+02] [-2.67969032e-03 4.32455754e-05 9.99996409e-01 -4.92467672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters 0.05104110112076218 Centerline is valid? [True, True] Translation: X:621.31, Y:-200.30, Z:-4.93 [[ 7.89090840e-01 6.14272585e-01 2.19948609e-03 6.21312387e+02] [-6.14270007e-01 7.89093903e-01 -1.78048913e-03 -2.00303383e+02] [-2.82930672e-03 5.38893296e-05 9.99995996e-01 -4.92515748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters 0.051128211133450605 Centerline is valid? [True, True] Translation: X:621.36, Y:-200.34, Z:-4.93 [[ 7.88198319e-01 6.15420542e-01 9.82851094e-04 6.21363781e+02] [-6.15420029e-01 7.88198931e-01 -7.94897815e-04 -2.00336490e+02] [-1.26387863e-03 2.16708724e-05 9.99999201e-01 -4.92567350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters 0.05098278718913053 Centerline is valid? [True, True] Translation: X:621.41, Y:-200.38, Z:-4.93 [[ 7.84780019e-01 6.19772816e-01 -1.40652815e-03 6.21407846e+02] [-6.19771768e-01 7.84781279e-01 1.13999539e-03 -2.00378974e+02] [ 1.81035512e-03 -2.29191683e-05 9.99998361e-01 -4.93185508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters 0.0508179173298256 Centerline is valid? [True, True] Translation: X:621.46, Y:-200.41, Z:-4.93 [[ 7.81689016e-01 6.23668062e-01 -6.56372775e-04 6.21458758e+02] [-6.23667835e-01 7.81689292e-01 5.31865049e-04 -2.00414172e+02] [ 8.44786814e-04 -6.39447986e-06 9.99999643e-01 -4.92944104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters 0.05027941830396179 Centerline is valid? [True, True] Translation: X:621.51, Y:-200.45, Z:-4.93 [[ 7.80445536e-01 6.25221643e-01 1.63166767e-03 6.21507344e+02] [-6.25220248e-01 7.80447241e-01 -1.32113575e-03 -2.00453811e+02] [-2.09943319e-03 1.09228332e-05 9.99997796e-01 -4.92790419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters 0.04924449455252374 Centerline is valid? [True, True] Translation: X:621.56, Y:-200.49, Z:-4.93 [[ 7.68271038e-01 6.40123611e-01 1.17284070e-03 6.21558698e+02] [-6.40122907e-01 7.68271933e-01 -9.49394389e-04 -2.00486821e+02] [-1.50879036e-03 -2.13699880e-05 9.99998862e-01 -4.93272862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters 0.04873085743724792 Centerline is valid? [True, True] Translation: X:621.61, Y:-200.52, Z:-4.94 [[ 7.62161331e-01 6.47380342e-01 -2.96606392e-03 6.21609254e+02] [-6.47375887e-01 7.62167098e-01 2.40343003e-03 -2.00519640e+02] [ 3.81656968e-03 8.83568286e-05 9.99992713e-01 -4.93743657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters 0.04897802682317245 Centerline is valid? [True, True] Translation: X:621.66, Y:-200.55, Z:-4.94 [[ 7.61299886e-01 6.48385602e-01 -4.31215611e-03 6.21658145e+02] [-6.48376200e-01 7.61312086e-01 3.49428315e-03 -2.00554945e+02] [ 5.54853945e-03 1.35702031e-04 9.99984598e-01 -4.94065250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters 0.04897802682317245 Centerline is valid? [True, True] Translation: X:621.71, Y:-200.59, Z:-4.94 [[ 7.61221884e-01 6.48477183e-01 -4.31122119e-03 6.21706710e+02] [-6.48467777e-01 7.61234080e-01 3.49543678e-03 -2.00594284e+02] [ 5.54855949e-03 1.34885054e-04 9.99984598e-01 -4.94111308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters 0.04985329288606311 Centerline is valid? [True, True] Translation: X:621.76, Y:-200.63, Z:-4.94 [[ 7.60688917e-01 6.49095356e-01 -5.25268074e-03 6.21755022e+02] [-6.49081412e-01 7.60707033e-01 4.25790663e-03 -2.00633521e+02] [ 6.75953860e-03 1.70475054e-04 9.99977140e-01 -4.94261449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters 0.04985329288606311 Centerline is valid? [True, True] Translation: X:621.80, Y:-200.67, Z:-4.94 [[ 7.60611259e-01 6.49186361e-01 -5.25175564e-03 6.21803585e+02] [-6.49172412e-01 7.60629371e-01 4.25904778e-03 -2.00672867e+02] [ 6.75955532e-03 1.69815183e-04 9.99977140e-01 -4.94307514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters 0.04948364116986807 Centerline is valid? [True, True] Translation: X:621.85, Y:-200.72, Z:-4.94 [[ 7.60686276e-01 6.49087495e-01 -6.46634273e-03 6.21848667e+02] [-6.49066346e-01 7.60713731e-01 5.24379834e-03 -2.00715098e+02] [ 8.32271963e-03 2.08200010e-04 9.99965344e-01 -4.94297987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters 0.049013903315985985 Centerline is valid? [True, True] Translation: X:621.90, Y:-200.76, Z:-4.94 [[ 7.62472250e-01 6.47000709e-01 -5.11377103e-03 6.21895329e+02] [-6.46987437e-01 7.62489384e-01 4.14680718e-03 -2.00755566e+02] [ 6.58218331e-03 1.46720212e-04 9.99978326e-01 -4.94244743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters 0.050054717738241425 Centerline is valid? [True, True] Translation: X:621.94, Y:-200.79, Z:-4.94 [[ 7.63637194e-01 6.45629123e-01 -4.61213492e-03 6.21943037e+02] [-6.45618302e-01 7.63651112e-01 3.74002127e-03 -2.00792055e+02] [ 5.93672861e-03 1.21659364e-04 9.99982370e-01 -4.94366591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters 0.04955991787161018 Centerline is valid? [True, True] Translation: X:621.99, Y:-200.84, Z:-4.94 [[ 7.64562173e-01 6.44536594e-01 -4.15471818e-03 6.21988410e+02] [-6.44527788e-01 7.64573455e-01 3.37086738e-03 -2.00835088e+02] [ 5.34923462e-03 1.00593626e-04 9.99985688e-01 -4.94038235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters 0.04908184330383726 Centerline is valid? [True, True] Translation: X:622.03, Y:-200.87, Z:-4.94 [[ 7.66759775e-01 6.41925272e-01 -3.37524414e-03 6.22034758e+02] [-6.41919437e-01 7.66767201e-01 2.73782073e-03 -2.00873747e+02] [ 4.34550282e-03 6.73840121e-05 9.99990556e-01 -4.94183115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters 0.04817166287926174 Centerline is valid? [True, True] Translation: X:622.08, Y:-200.91, Z:-4.94 [[ 7.67141214e-01 6.41471633e-01 -2.91584447e-03 6.22081655e+02] [-6.41467269e-01 7.67146753e-01 2.36664530e-03 -2.00914762e+02] [ 3.75501644e-03 5.48676438e-05 9.99992948e-01 -4.94174785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters 0.04901213092369788 Centerline is valid? [True, True] Translation: X:622.13, Y:-200.95, Z:-4.94 [[ 7.66922339e-01 6.41734690e-01 -2.59103759e-03 6.22130707e+02] [-6.41731243e-01 7.66926715e-01 2.10383502e-03 -2.00954575e+02] [ 3.33723986e-03 4.92717032e-05 9.99994430e-01 -4.94159328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters 0.04877770442204249 Centerline is valid? [True, True] Translation: X:622.18, Y:-200.99, Z:-4.94 [[ 7.66606330e-01 6.42108055e-01 -3.46140495e-03 6.22180166e+02] [-6.42101911e-01 7.66614141e-01 2.80977102e-03 -2.00989993e+02] [ 4.45773858e-03 6.85864883e-05 9.99990062e-01 -4.94327909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters 0.04964850704563331 Centerline is valid? [True, True] Translation: X:622.23, Y:-201.02, Z:-4.95 [[ 7.66140946e-01 6.42655012e-01 -4.75252315e-03 6.22230431e+02] [-6.42643439e-01 7.66155680e-01 3.85806188e-03 -2.01024302e+02] [ 6.12057541e-03 9.83586385e-05 9.99981264e-01 -4.94536320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters 0.050433007043381946 Centerline is valid? [True, True] Translation: X:622.28, Y:-201.06, Z:-4.94 [[ 7.66346656e-01 6.42412678e-01 -4.33053728e-03 6.22277860e+02] [-6.42403057e-01 7.66358887e-01 3.51687092e-03 -2.01064129e+02] [ 5.57802820e-03 8.68081172e-05 9.99984439e-01 -4.94368232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters 0.048552308376212175 Centerline is valid? [True, True] Translation: X:622.32, Y:-201.11, Z:-4.94 [[ 7.69065851e-01 6.39155005e-01 -4.31236208e-03 6.22323268e+02] [-6.39145417e-01 7.69077938e-01 3.50146631e-03 -2.01106290e+02] [ 5.55452226e-03 6.33682985e-05 9.99984572e-01 -4.94195147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters 0.04917661284826247 Centerline is valid? [True, True] Translation: X:622.37, Y:-201.15, Z:-4.94 [[ 7.70668242e-01 6.37212780e-01 -5.50767172e-03 6.22369572e+02] [-6.37197079e-01 7.70687920e-01 4.47366317e-03 -2.01145571e+02] [ 7.09537141e-03 6.17622000e-05 9.99974826e-01 -4.94381200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters 0.04970802057574628 Centerline is valid? [True, True] Translation: X:622.42, Y:-201.19, Z:-4.94 [[ 7.73457862e-01 6.33823389e-01 -5.55395192e-03 6.22415339e+02] [-6.33807336e-01 7.73477802e-01 4.51113230e-03 -2.01188397e+02] [ 7.15511968e-03 3.09647266e-05 9.99974401e-01 -4.94452615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters 0.05048402378374753 Centerline is valid? [True, True] Translation: X:622.46, Y:-201.23, Z:-4.94 [[ 7.75562138e-01 6.31261287e-01 -3.54366942e-03 6.22461199e+02] [-6.31254721e-01 7.75570234e-01 2.87929669e-03 -2.01229362e+02] [ 4.56595306e-03 3.88455429e-06 9.99989576e-01 -4.93898257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters 0.05018181057874353 Centerline is valid? [True, True] Translation: X:622.51, Y:-201.27, Z:-4.94 [[ 7.75663815e-01 6.31143876e-01 -1.74766790e-03 6.22507375e+02] [-6.31142276e-01 7.75665784e-01 1.42103717e-03 -2.01269407e+02] [ 2.25248509e-03 7.79982730e-07 9.99997463e-01 -4.94321080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters 0.04977659644116888 Centerline is valid? [True, True] Translation: X:622.56, Y:-201.31, Z:-4.94 [[ 7.74045659e-01 6.33129020e-01 -9.80385759e-04 6.22556438e+02] [-6.33128517e-01 7.74046280e-01 7.97845749e-04 -2.01307115e+02] [ 1.26400325e-03 3.14114307e-06 9.99999201e-01 -4.94297988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters 0.049811431689532434 Centerline is valid? [True, True] Translation: X:622.61, Y:-201.34, Z:-4.94 [[ 7.70695727e-01 6.37200756e-01 -1.81489830e-03 6.22605944e+02] [-6.37199046e-01 7.70697863e-01 1.47627520e-03 -2.01344047e+02] [ 2.33942192e-03 1.86924765e-05 9.99997263e-01 -4.94319029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters 0.04925834033548113 Centerline is valid? [True, True] Translation: X:622.66, Y:-201.38, Z:-4.95 [[ 7.67725419e-01 6.40776430e-01 -1.80220237e-03 6.22656894e+02] [-6.40774755e-01 7.67727533e-01 1.46545967e-03 -2.01377860e+02] [ 2.32263240e-03 2.97351444e-05 9.99997302e-01 -4.94572164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters 0.05008327942325123 Centerline is valid? [True, True] Translation: X:622.71, Y:-201.42, Z:-4.95 [[ 7.66161019e-01 6.42647022e-01 -1.44819160e-03 6.22705654e+02] [-6.42645942e-01 7.66162388e-01 1.17864750e-03 -2.01415859e+02] [ 1.86700423e-03 2.76406854e-05 9.99998257e-01 -4.94534906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters 0.04900245824285527 Centerline is valid? [True, True] Translation: X:622.75, Y:-201.45, Z:-4.95 [[ 7.65349540e-01 6.43611506e-01 -2.07620180e-03 6.22753114e+02] [-6.43609292e-01 7.65352355e-01 1.68893643e-03 -2.01453776e+02] [ 2.67604486e-03 4.36360450e-05 9.99996418e-01 -4.94520596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters 0.04889500402443464 Centerline is valid? [True, True] Translation: X:622.80, Y:-201.49, Z:-4.95 [[ 7.65253533e-01 6.43720921e-01 -3.22567779e-03 6.22800702e+02] [-6.43715574e-01 7.65260329e-01 2.62471666e-03 -2.01492283e+02] [ 4.15806827e-03 6.78453261e-05 9.99991353e-01 -4.94696760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters 0.049411138969326834 Centerline is valid? [True, True] Translation: X:622.85, Y:-201.53, Z:-4.95 [[ 7.66682473e-01 6.42021485e-01 -2.52951003e-03 6.22846412e+02] [-6.42018186e-01 7.66686644e-01 2.05861783e-03 -2.01532961e+02] [ 3.26101844e-03 4.56852297e-05 9.99994682e-01 -4.94687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters 0.04987460819796429 Centerline is valid? [True, True] Translation: X:622.89, Y:-201.58, Z:-4.95 [[ 7.69922810e-01 6.38132812e-01 -2.31987923e-03 6.22890964e+02] [-6.38130020e-01 7.69926304e-01 1.88761092e-03 -2.01575285e+02] [ 2.99068250e-03 2.70698765e-05 9.99995528e-01 -4.94803436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters 0.05003561031118662 Centerline is valid? [True, True] Translation: X:622.93, Y:-201.62, Z:-4.95 [[ 7.72542965e-01 6.34955551e-01 -2.96901622e-03 6.22934649e+02] [-6.34950951e-01 7.72548670e-01 2.41702939e-03 -2.01618072e+02] [ 3.82841576e-03 1.79206232e-05 9.99992671e-01 -4.94701079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters 0.04867510765211494 Centerline is valid? [True, True] Translation: X:622.99, Y:-201.66, Z:-4.95 [[ 7.71569705e-01 6.36140507e-01 -2.33358358e-03 6.22985121e+02] [-6.36137669e-01 7.71573234e-01 1.90012438e-03 -2.01655426e+02] [ 3.00927672e-03 1.84020155e-05 9.99995472e-01 -4.94883431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters 0.04888161915067189 Centerline is valid? [True, True] Translation: X:623.03, Y:-201.69, Z:-4.95 [[ 7.71456636e-01 6.36272307e-01 -3.49427442e-03 6.23032837e+02] [-6.36265948e-01 7.71464549e-01 2.84488110e-03 -2.01694200e+02] [ 4.50582790e-03 2.85854195e-05 9.99989848e-01 -4.95042015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters 0.0498326317710892 Centerline is valid? [True, True] Translation: X:623.08, Y:-201.73, Z:-4.95 [[ 7.71492053e-01 6.36221307e-01 -4.73938379e-03 6.23080607e+02] [-6.36209600e-01 7.71506609e-01 3.85976439e-03 -2.01734627e+02] [ 6.11213025e-03 3.74639121e-05 9.99981320e-01 -4.95052222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters 0.049535414182324676 Centerline is valid? [True, True] Translation: X:623.13, Y:-201.77, Z:-4.95 [[ 7.71233122e-01 6.36537385e-01 -4.43051723e-03 6.23130783e+02] [-6.36527153e-01 7.71245847e-01 3.60923697e-03 -2.01771686e+02] [ 5.71443228e-03 3.65814219e-05 9.99983672e-01 -4.95188120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters 0.05014506349636134 Centerline is valid? [True, True] Translation: X:623.18, Y:-201.81, Z:-4.95 [[ 7.72661602e-01 6.34808508e-01 -3.49389883e-03 6.23176306e+02] [-6.34802127e-01 7.72669501e-01 2.84630640e-03 -2.01812312e+02] [ 4.50648858e-03 1.87027461e-05 9.99989846e-01 -4.94677955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters 0.04995049112975266 Centerline is valid? [True, True] Translation: X:623.22, Y:-201.85, Z:-4.95 [[ 7.74799022e-01 6.32196937e-01 -3.67527288e-03 6.23222661e+02] [-6.32189847e-01 7.74807739e-01 2.99408128e-03 -2.01853753e+02] [ 4.74047889e-03 3.65895680e-06 9.99988764e-01 -4.94734556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters 0.050930118797920344 Centerline is valid? [True, True] Translation: X:623.27, Y:-201.89, Z:-4.95 [[ 7.75948290e-01 6.30781403e-01 -4.36724372e-03 6.23270523e+02] [-6.30771362e-01 7.75960580e-01 3.55913319e-03 -2.01891814e+02] [ 5.63384399e-03 -6.97104496e-06 9.99984130e-01 -4.94501930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters 0.05046190560435183 Centerline is valid? [True, True] Translation: X:623.32, Y:-201.93, Z:-4.95 [[ 7.76179952e-01 6.30500951e-01 -3.63779826e-03 6.23319080e+02] [-6.30493982e-01 7.76188476e-01 2.96453444e-03 -2.01931291e+02] [ 4.69275888e-03 -7.40229180e-06 9.99988989e-01 -4.94910021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters 0.05055640520156109 Centerline is valid? [True, True] Translation: X:623.37, Y:-201.97, Z:-4.95 [[ 7.76843259e-01 6.29688597e-01 -2.61175286e-03 6.23365958e+02] [-6.29684999e-01 7.76847649e-01 2.12891991e-03 -2.01971880e+02] [ 3.36949067e-03 -9.25548333e-06 9.99994323e-01 -4.94641374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters 0.05024019856316841 Centerline is valid? [True, True] Translation: X:623.41, Y:-202.01, Z:-4.95 [[ 7.76713453e-01 6.29850135e-01 -2.24058486e-03 6.23414338e+02] [-6.29847486e-01 7.76716684e-01 1.82672546e-03 -2.02009765e+02] [ 2.89086292e-03 -7.61550356e-06 9.99995821e-01 -4.94661371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters 0.050170949651415164 Centerline is valid? [True, True] Translation: X:623.46, Y:-202.05, Z:-4.94 [[ 7.75613857e-01 6.31203983e-01 -2.16270000e-03 6.23462660e+02] [-6.31201520e-01 7.75616872e-01 1.76343918e-03 -2.02047221e+02] [ 2.79051645e-03 -2.64833884e-06 9.99996106e-01 -4.94438048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters 0.05031319535771561 Centerline is valid? [True, True] Translation: X:623.51, Y:-202.08, Z:-4.94 [[ 7.72443973e-01 6.35080543e-01 -1.73602304e-03 6.23513528e+02] [-6.35078963e-01 7.72445923e-01 1.41667344e-03 -2.02083676e+02] [ 2.24068566e-03 8.21085132e-06 9.99997490e-01 -4.94487795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters 0.05010534098054564 Centerline is valid? [True, True] Translation: X:623.56, Y:-202.12, Z:-4.94 [[ 7.69876899e-01 6.38189888e-01 -1.79648045e-03 6.23562754e+02] [-6.38188204e-01 7.69878995e-01 1.46618993e-03 -2.02121177e+02] [ 2.31878015e-03 1.77068810e-05 9.99997311e-01 -4.94326511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters 0.04987459226016283 Centerline is valid? [True, True] Translation: X:623.61, Y:-202.16, Z:-4.94 [[ 7.68659258e-01 6.39656648e-01 -1.52234052e-03 6.23611011e+02] [-6.39655441e-01 7.68660765e-01 1.24280530e-03 -2.02158681e+02] [ 1.96513210e-03 1.84795922e-05 9.99998069e-01 -4.94335292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters 0.050964425325067675 Centerline is valid? [True, True] Translation: X:623.66, Y:-202.19, Z:-4.95 [[ 7.65853090e-01 6.43011030e-01 -2.42078638e-03 6.23659847e+02] [-6.43007996e-01 7.65856915e-01 1.97589641e-03 -2.02194995e+02] [ 3.12449917e-03 4.33386288e-05 9.99995118e-01 -4.94512445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters 0.050147220935538035 Centerline is valid? [True, True] Translation: X:623.71, Y:-202.23, Z:-4.95 [[ 7.64119656e-01 6.45066047e-01 -3.30858474e-03 6.23711822e+02] [-6.45060397e-01 7.64126815e-01 2.70087696e-03 -2.02228410e+02] [ 4.27042234e-03 7.04438096e-05 9.99990879e-01 -4.94977164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters 0.05093257609460052 Centerline is valid? [True, True] Translation: X:623.76, Y:-202.27, Z:-4.95 [[ 7.63443179e-01 6.45859837e-01 -4.42524381e-03 6.23755206e+02] [-6.45849740e-01 7.63455998e-01 3.61289566e-03 -2.02272638e+02] [ 5.71190314e-03 9.98020154e-05 9.99983682e-01 -4.94614088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters 0.04999745547502029 Centerline is valid? [True, True] Translation: X:623.80, Y:-202.31, Z:-4.94 [[ 7.64336070e-01 6.44803478e-01 -4.34129407e-03 6.23801372e+02] [-6.44793738e-01 7.64348394e-01 3.54526548e-03 -2.02313965e+02] [ 5.60426066e-03 8.94649487e-05 9.99984292e-01 -4.94493210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters 0.050378344542290676 Centerline is valid? [True, True] Translation: X:623.85, Y:-202.36, Z:-4.95 [[ 7.66613621e-01 6.42097653e-01 -3.76304143e-03 6.23846603e+02] [-6.42090305e-01 7.66622854e-01 3.07249949e-03 -2.02356597e+02] [ 4.85767827e-03 6.07924642e-05 9.99988200e-01 -4.94505547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters 0.04922406264793699 Centerline is valid? [True, True] Translation: X:623.89, Y:-202.40, Z:-4.94 [[ 7.68348539e-01 6.40023784e-01 -3.17463376e-03 6.23891320e+02] [-6.40018535e-01 7.68355097e-01 2.59223259e-03 -2.02399572e+02] [ 4.09833655e-03 4.00863268e-05 9.99991601e-01 -4.94390668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters 0.05032204696798397 Centerline is valid? [True, True] Translation: X:623.94, Y:-202.44, Z:-4.94 [[ 7.69989344e-01 6.38049026e-01 -3.13849039e-03 6.23936862e+02] [-6.38043875e-01 7.69995740e-01 2.56419547e-03 -2.02441895e+02] [ 4.05270665e-03 2.80913845e-05 9.99991787e-01 -4.94341408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters 0.05058552795111721 Centerline is valid? [True, True] Translation: X:623.99, Y:-202.48, Z:-4.95 [[ 7.68848593e-01 6.39423198e-01 -3.13284387e-03 6.23985958e+02] [-6.39418077e-01 7.68854975e-01 2.55940669e-03 -2.02478710e+02] [ 4.04524661e-03 3.54007696e-05 9.99991817e-01 -4.94632487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters 0.050318339767334436 Centerline is valid? [True, True] Translation: X:624.03, Y:-202.52, Z:-4.94 [[ 7.66446238e-01 6.42298172e-01 -3.63635544e-03 6.24034185e+02] [-6.42291304e-01 7.66454862e-01 2.97089770e-03 -2.02517153e+02] [ 4.69530447e-03 5.85661075e-05 9.99988975e-01 -4.94499036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters 0.050613815846458333 Centerline is valid? [True, True] Translation: X:624.08, Y:-202.55, Z:-4.95 [[ 7.63397399e-01 6.45915189e-01 -4.24024542e-03 6.24084384e+02] [-6.45905907e-01 7.63409169e-01 3.46404962e-03 -2.02553131e+02] [ 5.47452450e-03 9.43530938e-05 9.99985010e-01 -4.94584590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters 0.05050728634119478 Centerline is valid? [True, True] Translation: X:624.13, Y:-202.59, Z:-4.95 [[ 7.62599706e-01 6.46858518e-01 -3.96814409e-03 6.24132422e+02] [-6.46850394e-01 7.62610024e-01 3.24336263e-03 -2.02591931e+02] [ 5.12414320e-03 9.34081801e-05 9.99986867e-01 -4.94536884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters 0.05049569260966807 Centerline is valid? [True, True] Translation: X:624.18, Y:-202.63, Z:-4.95 [[ 7.64534894e-01 6.44567854e-01 -4.32172746e-03 6.24180102e+02] [-6.44558181e-01 7.64547104e-01 3.53226901e-03 -2.02629478e+02] [ 5.58095127e-03 8.50618745e-05 9.99984423e-01 -4.94676033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters 0.05048748507221772 Centerline is valid? [True, True] Translation: X:624.22, Y:-202.67, Z:-4.94 [[ 7.67808218e-01 6.40665411e-01 -4.28622272e-03 6.24224355e+02] [-6.40655836e-01 7.67820180e-01 3.50305229e-03 -2.02672764e+02] [ 5.53533274e-03 5.63212624e-05 9.99984678e-01 -4.94494188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters 0.05055370808672786 Centerline is valid? [True, True] Translation: X:624.27, Y:-202.71, Z:-4.95 [[ 7.72301625e-01 6.35246124e-01 -3.54427225e-03 6.24269908e+02] [-6.35239519e-01 7.72309757e-01 2.89695304e-03 -2.02712311e+02] [ 4.57755424e-03 1.41402573e-05 9.99989523e-01 -4.94760179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters 0.050790023206594745 Centerline is valid? [True, True] Translation: X:624.32, Y:-202.75, Z:-4.95 [[ 7.75088306e-01 6.31843955e-01 -3.36680201e-03 6.24317490e+02] [-6.31837961e-01 7.75095618e-01 2.75224912e-03 -2.02752584e+02] [ 4.34858545e-03 -5.96279097e-06 9.99990545e-01 -4.94554623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters 0.05089351561982139 Centerline is valid? [True, True] Translation: X:624.37, Y:-202.79, Z:-4.95 [[ 7.76730873e-01 6.29826320e-01 -2.82090464e-03 6.24365312e+02] [-6.29822094e-01 7.76735995e-01 2.30744301e-03 -2.02792180e+02] [ 3.64438651e-03 -1.55941592e-05 9.99993359e-01 -4.94599316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters 0.05024634981108913 Centerline is valid? [True, True] Translation: X:624.41, Y:-202.83, Z:-4.95 [[ 7.76974095e-01 6.29520852e-01 -3.84084603e-03 6.24414525e+02] [-6.29513018e-01 7.76983588e-01 3.14075087e-03 -2.02829876e+02] [ 4.96144250e-03 -2.24194934e-05 9.99987692e-01 -4.94855042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters 0.05102990466138144 Centerline is valid? [True, True] Translation: X:624.46, Y:-202.87, Z:-4.95 [[ 7.76446007e-01 6.30167841e-01 -4.48231227e-03 6.24464704e+02] [-6.30157178e-01 7.76458944e-01 3.66592430e-03 -2.02865895e+02] [ 5.79047906e-03 -2.18310295e-05 9.99983235e-01 -4.94683411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters 0.05093957798317906 Centerline is valid? [True, True] Translation: X:624.51, Y:-202.90, Z:-4.94 [[ 7.75707636e-01 6.31079965e-01 -3.96750930e-03 6.24514433e+02] [-6.31071616e-01 7.75717782e-01 3.24622041e-03 -2.02903451e+02] [ 5.12629217e-03 -1.43354567e-05 9.99986860e-01 -4.94462193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters 0.05174382909926831 Centerline is valid? [True, True] Translation: X:624.56, Y:-202.94, Z:-4.94 [[ 7.74862075e-01 6.32118497e-01 -3.86922041e-03 6.24564978e+02] [-6.32110566e-01 7.74871735e-01 3.16656014e-03 -2.02940071e+02] [ 4.99979076e-03 -7.87225869e-06 9.99987501e-01 -4.94018460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters 0.051660523511812766 Centerline is valid? [True, True] Translation: X:624.61, Y:-202.98, Z:-4.95 [[ 7.73967277e-01 6.33211951e-01 -4.15675139e-03 6.24614055e+02] [-6.33202808e-01 7.73978439e-01 3.40286374e-03 -2.02977541e+02] [ 5.37196994e-03 -1.63853381e-06 9.99985571e-01 -4.94863199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters 0.05181159392340571 Centerline is valid? [True, True] Translation: X:624.66, Y:-203.02, Z:-4.95 [[ 7.72962570e-01 6.34437098e-01 -4.29356972e-03 6.24662491e+02] [-6.34427358e-01 7.72974494e-01 3.51556126e-03 -2.03016423e+02] [ 5.54922237e-03 6.56083292e-06 9.99984603e-01 -4.94966406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters 0.05099696585812165 Centerline is valid? [True, True] Translation: X:624.71, Y:-203.05, Z:-4.95 [[ 7.71780964e-01 6.35870648e-01 -4.76054201e-03 6.24711843e+02] [-6.35858697e-01 7.71795646e-01 3.89865218e-03 -2.03054794e+02] [ 6.15320409e-03 1.81265009e-05 9.99981069e-01 -4.94762146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters 0.05172179430042428 Centerline is valid? [True, True] Translation: X:624.76, Y:-203.09, Z:-4.95 [[ 7.70676471e-01 6.37209923e-01 -4.61419534e-03 6.24760862e+02] [-6.37198712e-01 7.70690284e-01 3.78004279e-03 -2.03094464e+02] [ 5.96479629e-03 2.69692828e-05 9.99982210e-01 -4.94651312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters 0.050963795280147335 Centerline is valid? [True, True] Translation: X:624.81, Y:-203.13, Z:-4.95 [[ 7.70034663e-01 6.37992685e-01 -3.45698347e-03 6.24807716e+02] [-6.37986397e-01 7.70042423e-01 2.83271140e-03 -2.03134178e+02] [ 4.46927308e-03 2.42224582e-05 9.99990012e-01 -4.94609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters 0.0516631978015946 Centerline is valid? [True, True] Translation: X:624.85, Y:-203.17, Z:-4.95 [[ 7.69208240e-01 6.38988471e-01 -3.52383221e-03 6.24854085e+02] [-6.38981945e-01 7.69216311e-01 2.88807264e-03 -2.03173908e+02] [ 4.55603434e-03 3.01358845e-05 9.99989621e-01 -4.94504836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters 0.05080864296746098 Centerline is valid? [True, True] Translation: X:624.90, Y:-203.21, Z:-4.95 [[ 7.67977578e-01 6.40466069e-01 -3.69512695e-03 6.24902467e+02] [-6.40458912e-01 7.67986467e-01 3.02804488e-03 -2.03212354e+02] [ 4.77716749e-03 4.11064130e-05 9.99988588e-01 -4.94764349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters 0.05067736284047636 Centerline is valid? [True, True] Translation: X:624.95, Y:-203.25, Z:-4.95 [[ 7.67266884e-01 6.41319848e-01 -3.22206190e-03 6.24949932e+02] [-6.41314407e-01 7.67273648e-01 2.64198060e-03 -2.03253371e+02] [ 4.16655779e-03 3.92504914e-05 9.99991319e-01 -4.94785928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters 0.050372816554552564 Centerline is valid? [True, True] Translation: X:625.00, Y:-203.29, Z:-4.95 [[ 7.67167016e-01 6.41430833e-01 -4.61045949e-03 6.24997057e+02] [-6.41419694e-01 7.67180868e-01 3.78059930e-03 -2.03294036e+02] [ 5.96204927e-03 5.68884266e-05 9.99982225e-01 -4.94973564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters 0.05044980713598584 Centerline is valid? [True, True] Translation: X:625.04, Y:-203.34, Z:-4.95 [[ 7.67005991e-01 6.41620051e-01 -5.05173062e-03 6.25043223e+02] [-6.41606677e-01 7.67022624e-01 4.14328272e-03 -2.03336360e+02] [ 6.53320495e-03 6.33014290e-05 9.99978656e-01 -4.95150459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters 0.051055757478256594 Centerline is valid? [True, True] Translation: X:625.09, Y:-203.38, Z:-4.95 [[ 7.67735503e-01 6.40748272e-01 -4.88362995e-03 6.25088098e+02] [-6.40735748e-01 7.67751034e-01 4.00637390e-03 -2.03379048e+02] [ 6.31648910e-03 5.32808106e-05 9.99980049e-01 -4.95173755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters 0.05103220724377054 Centerline is valid? [True, True] Translation: X:625.14, Y:-203.42, Z:-4.95 [[ 7.67284648e-01 6.41290539e-01 -4.55127275e-03 6.25135972e+02] [-6.41279665e-01 7.67298144e-01 3.73495744e-03 -2.03420464e+02] [ 5.88737600e-03 5.28631583e-05 9.99982668e-01 -4.95221751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters 0.049818722986025694 Centerline is valid? [True, True] Translation: X:625.19, Y:-203.46, Z:-4.95 [[ 7.62697875e-01 6.46741133e-01 -4.22593912e-03 6.25185576e+02] [-6.46731843e-01 7.62709577e-01 3.46765426e-03 -2.03455311e+02] [ 5.46583888e-03 8.82768621e-05 9.99985058e-01 -4.95446275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters 0.05029233517371025 Centerline is valid? [True, True] Translation: X:625.23, Y:-203.49, Z:-4.95 [[ 7.60267252e-01 6.49594987e-01 -4.47870419e-03 6.25233029e+02] [-6.49584596e-01 7.60280435e-01 3.67608491e-03 -2.03493692e+02] [ 5.79303750e-03 1.14490277e-04 9.99983214e-01 -4.95474109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters 0.050747390611579145 Centerline is valid? [True, True] Translation: X:625.28, Y:-203.53, Z:-4.95 [[ 7.57746079e-01 6.52538358e-01 -3.81715191e-03 6.25279839e+02] [-6.52530843e-01 7.57755684e-01 3.13391431e-03 -2.03533773e+02] [ 4.93746786e-03 1.16098072e-04 9.99987804e-01 -4.95308142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters 0.04997388992813348 Centerline is valid? [True, True] Translation: X:625.33, Y:-203.57, Z:-4.95 [[ 7.56989031e-01 6.53419182e-01 -3.31361358e-03 6.25328430e+02] [-6.53413523e-01 7.56996276e-01 2.72135914e-03 -2.03572561e+02] [ 4.28658140e-03 1.05120900e-04 9.99990807e-01 -4.95338978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters 0.05060539800846364 Centerline is valid? [True, True] Translation: X:625.38, Y:-203.61, Z:-4.95 [[ 7.57470544e-01 6.52861413e-01 -3.21732793e-03 6.25377193e+02] [-6.52856071e-01 7.57477370e-01 2.64277247e-03 -2.03609698e+02] [ 4.16241726e-03 9.86297751e-05 9.99991332e-01 -4.95491917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters 0.05057542954046812 Centerline is valid? [True, True] Translation: X:625.42, Y:-203.65, Z:-4.95 [[ 7.58372842e-01 6.51811149e-01 -3.58594115e-03 6.25423235e+02] [-6.51804504e-01 7.58381313e-01 2.94509089e-03 -2.03652159e+02] [ 4.63915383e-03 1.03855645e-04 9.99989234e-01 -4.95470104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters 0.05045058246439032 Centerline is valid? [True, True] Translation: X:625.47, Y:-203.69, Z:-4.96 [[ 7.58966323e-01 6.51121230e-01 -3.35629330e-03 6.25470957e+02] [-6.51115396e-01 7.58973738e-01 2.75778998e-03 -2.03691533e+02] [ 4.34299408e-03 9.22645208e-05 9.99990565e-01 -4.95612503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters 0.0508902997278762 Centerline is valid? [True, True] Translation: X:625.52, Y:-203.73, Z:-4.96 [[ 7.59740204e-01 6.50222563e-01 -2.33259761e-03 6.25518219e+02] [-6.50219742e-01 7.59743782e-01 1.91650755e-03 -2.03729279e+02] [ 3.01833298e-03 6.06531799e-05 9.99995443e-01 -4.95694347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters 0.05012152565365821 Centerline is valid? [True, True] Translation: X:625.56, Y:-203.77, Z:-4.96 [[ 7.60888769e-01 6.48881565e-01 -9.98506415e-04 6.25564946e+02] [-6.48881046e-01 7.60889423e-01 8.20730679e-04 -2.03767502e+02] [ 1.29230998e-03 2.34271314e-05 9.99999165e-01 -4.95664418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters 0.05091588079568269 Centerline is valid? [True, True] Translation: X:625.61, Y:-203.81, Z:-4.96 [[ 7.61422503e-01 6.48255859e-01 -3.35911797e-04 6.25612922e+02] [-6.48255800e-01 7.61422577e-01 2.77045665e-04 -2.03807229e+02] [ 4.35367301e-04 6.80796749e-06 9.99999905e-01 -4.95762547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters 0.05087670285097981 Centerline is valid? [True, True] Translation: X:625.66, Y:-203.85, Z:-4.96 [[ 7.63137383e-01 6.46236264e-01 1.61779555e-04 6.25659558e+02] [-6.46236250e-01 7.63137400e-01 -1.32507089e-04 -2.03845711e+02] [-2.09090916e-04 -3.42670021e-06 9.99999978e-01 -4.95905064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters 0.05061426621714526 Centerline is valid? [True, True] Translation: X:625.71, Y:-203.89, Z:-4.96 [[ 7.64805683e-01 6.44261019e-01 8.15615180e-05 6.25705029e+02] [-6.44261015e-01 7.64805687e-01 -6.66499090e-05 -2.03888820e+02] [-1.05318651e-04 -1.57267728e-06 9.99999994e-01 -4.95879014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters 0.05063811875360633 Centerline is valid? [True, True] Translation: X:625.75, Y:-203.93, Z:-4.96 [[ 7.65475697e-01 6.43463710e-01 -1.18802760e-03 6.25753516e+02] [-6.43462968e-01 7.65476618e-01 9.77845938e-04 -2.03928344e+02] [ 1.53861573e-03 1.59344651e-05 9.99998816e-01 -4.96007925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters 0.05004936373019328 Centerline is valid? [True, True] Translation: X:625.80, Y:-203.97, Z:-4.96 [[ 7.64972878e-01 6.44062204e-01 -6.10966082e-04 6.25802792e+02] [-6.44062007e-01 7.64973122e-01 5.03604397e-04 -2.03967414e+02] [ 7.91725188e-04 8.25633607e-06 9.99999687e-01 -4.95927120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters 0.0506594009370529 Centerline is valid? [True, True] Translation: X:625.85, Y:-204.01, Z:-4.96 [[ 7.63249809e-01 6.46103288e-01 -5.19892171e-04 6.25852291e+02] [-6.46103146e-01 7.63249986e-01 4.28660906e-04 -2.04005602e+02] [ 6.73766913e-04 8.72861257e-06 9.99999773e-01 -4.95820268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters 0.050815879364119625 Centerline is valid? [True, True] Translation: X:625.90, Y:-204.04, Z:-4.96 [[ 7.62554242e-01 6.46923008e-01 -1.28424676e-03 6.25901029e+02] [-6.46922144e-01 7.62555323e-01 1.05755518e-03 -2.04043821e+02] [ 1.66346598e-03 2.43644787e-05 9.99998616e-01 -4.95930675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters 0.05036500152238385 Centerline is valid? [True, True] Translation: X:625.95, Y:-204.08, Z:-4.96 [[ 7.62482565e-01 6.47001199e-01 -3.12854165e-03 6.25949735e+02] [-6.46996076e-01 7.62488981e-01 2.57520886e-03 -2.04080510e+02] [ 4.05164175e-03 6.06023209e-05 9.99991790e-01 -4.96275943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters 0.05066306159529969 Centerline is valid? [True, True] Translation: X:625.99, Y:-204.12, Z:-4.96 [[ 7.64678152e-01 6.44408167e-01 -2.33180959e-03 6.25994904e+02] [-6.44405311e-01 7.64681707e-01 1.91912027e-03 -2.04123105e+02] [ 3.01978892e-03 3.51211386e-05 9.99995440e-01 -4.96017879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters 0.05102066536505124 Centerline is valid? [True, True] Translation: X:626.04, Y:-204.16, Z:-4.96 [[ 7.65818170e-01 6.43054713e-01 -1.77940637e-03 6.26041786e+02] [-6.43053043e-01 7.65820237e-01 1.46566448e-03 -2.04163772e+02] [ 2.30520786e-03 2.18201943e-05 9.99997343e-01 -4.95950023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters 0.05120036946563889 Centerline is valid? [True, True] Translation: X:626.09, Y:-204.20, Z:-4.96 [[ 7.68401268e-01 6.39966574e-01 -1.50870256e-03 6.26087442e+02] [-6.39965366e-01 7.68402749e-01 1.24304185e-03 -2.04203967e+02] [ 1.95479643e-03 1.03624527e-05 9.99998089e-01 -4.95979530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters 0.05142460134916734 Centerline is valid? [True, True] Translation: X:626.13, Y:-204.25, Z:-4.96 [[ 7.71943088e-01 6.35691150e-01 -7.94306535e-04 6.26132116e+02] [-6.35690813e-01 7.71943496e-01 6.55143214e-04 -2.04245627e+02] [ 1.02962851e-03 -7.99908626e-07 9.99999470e-01 -4.95818275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters 0.05071210518378671 Centerline is valid? [True, True] Translation: X:626.18, Y:-204.29, Z:-4.96 [[ 7.73618517e-01 6.33651421e-01 -5.17248830e-04 6.26178860e+02] [-6.33651277e-01 7.73618689e-01 4.26765309e-04 -2.04285858e+02] [ 6.70573806e-04 -2.39816318e-06 9.99999775e-01 -4.95547423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters 0.050567896484070333 Centerline is valid? [True, True] Translation: X:626.23, Y:-204.32, Z:-4.96 [[ 7.73398035e-01 6.33919463e-01 -1.26249958e-03 6.26228098e+02] [-6.33918609e-01 7.73399066e-01 1.04022388e-03 -2.04324194e+02] [ 1.63583416e-03 -4.18512528e-06 9.99998662e-01 -4.95774927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters 0.05125880009717221 Centerline is valid? [True, True] Translation: X:626.28, Y:-204.36, Z:-4.96 [[ 7.72228714e-01 6.35340137e-01 -2.39235737e-03 6.26277170e+02] [-6.35337077e-01 7.72232420e-01 1.97198322e-03 -2.04362581e+02] [ 3.10033601e-03 -2.86872680e-06 9.99995194e-01 -4.95814808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters 0.0509933438481013 Centerline is valid? [True, True] Translation: X:626.33, Y:-204.40, Z:-4.96 [[ 7.72770470e-01 6.34672382e-01 -4.09491488e-03 6.26325843e+02] [-6.34663406e-01 7.72781319e-01 3.37538664e-03 -2.04401643e+02] [ 5.30673840e-03 -9.50649523e-06 9.99985919e-01 -4.95822544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters 0.052139124673346554 Centerline is valid? [True, True] Translation: X:626.37, Y:-204.44, Z:-4.95 [[ 7.73748640e-01 6.33471946e-01 -5.13195229e-03 6.26374416e+02] [-6.33457824e-01 7.73765658e-01 4.22991802e-03 -2.04439215e+02] [ 6.65046284e-03 -2.20179808e-05 9.99977885e-01 -4.95482870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters 0.051048158543829436 Centerline is valid? [True, True] Translation: X:626.42, Y:-204.48, Z:-4.96 [[ 7.75907923e-01 6.30815543e-01 -6.21664913e-03 6.26421018e+02] [-6.30794735e-01 7.75932824e-01 5.12388363e-03 -2.04478816e+02] [ 8.05592755e-03 -5.42323632e-05 9.99967549e-01 -4.96200828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters 0.05207077738583608 Centerline is valid? [True, True] Translation: X:626.47, Y:-204.52, Z:-4.96 [[ 7.77739349e-01 6.28546520e-01 -7.12584281e-03 6.26469535e+02] [-6.28519068e-01 7.77771987e-01 5.87508040e-03 -2.04517046e+02] [ 9.23504226e-03 -9.05531202e-05 9.99957352e-01 -4.95547560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters 0.05265699299256824 Centerline is valid? [True, True] Translation: X:626.51, Y:-204.56, Z:-4.96 [[ 7.82071856e-01 6.23149497e-01 -6.95102726e-03 6.26513652e+02] [-6.23123166e-01 7.82102731e-01 5.73055432e-03 -2.04560152e+02] [ 9.00740944e-03 -1.50359138e-04 9.99959421e-01 -4.95854507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters 0.052693756816162576 Centerline is valid? [True, True] Translation: X:626.56, Y:-204.60, Z:-4.95 [[ 7.86269862e-01 6.17856716e-01 -5.72561199e-03 6.26563675e+02] [-6.17838697e-01 7.86290689e-01 4.72195630e-03 -2.04596701e+02] [ 7.41948781e-03 -1.75227274e-04 9.99972460e-01 -4.95378370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters 0.053074387908817175 Centerline is valid? [True, True] Translation: X:626.61, Y:-204.64, Z:-4.95 [[ 7.88390133e-01 6.15157953e-01 -4.65740396e-03 6.26609746e+02] [-6.15145984e-01 7.88403873e-01 3.84077165e-03 -2.04637315e+02] [ 6.03459654e-03 -1.63043129e-04 9.99981778e-01 -4.95375185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters 0.05308938969950137 Centerline is valid? [True, True] Translation: X:626.66, Y:-204.68, Z:-4.95 [[ 7.88150377e-01 6.15467588e-01 -4.31636656e-03 6.26655528e+02] [-6.15457303e-01 7.88162182e-01 3.56122795e-03 -2.04678196e+02] [ 5.59381726e-03 -1.50243833e-04 9.99984343e-01 -4.95451479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters 0.05366544609770562 Centerline is valid? [True, True] Translation: X:626.70, Y:-204.72, Z:-4.96 [[ 7.84589683e-01 6.19996500e-01 -4.83427759e-03 6.26704533e+02] [-6.19983689e-01 7.84604565e-01 3.98781546e-03 -2.04715742e+02] [ 6.26542789e-03 -1.31625613e-04 9.99980363e-01 -4.95574856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters 0.05299810364319332 Centerline is valid? [True, True] Translation: X:626.76, Y:-204.74, Z:-4.95 [[ 7.80671575e-01 6.24924163e-01 -4.65631709e-03 6.26758323e+02] [-6.24912366e-01 7.80685457e-01 3.84086795e-03 -2.04744766e+02] [ 6.03537023e-03 -8.86663030e-05 9.99981783e-01 -4.95226727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters 0.05180866335678616 Centerline is valid? [True, True] Translation: X:626.81, Y:-204.78, Z:-4.96 [[ 7.74670694e-01 6.32350941e-01 -4.19572766e-03 6.26806638e+02] [-6.32341469e-01 7.74682055e-01 3.46117659e-03 -2.04781589e+02] [ 5.43903320e-03 -2.81394758e-05 9.99985208e-01 -4.95587515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters 0.05248649679311458 Centerline is valid? [True, True] Translation: X:626.86, Y:-204.82, Z:-4.96 [[ 7.68638840e-01 6.39664214e-01 -4.90168243e-03 6.26858628e+02] [-6.39651431e-01 7.68654469e-01 4.04405487e-03 -2.04815719e+02] [ 6.35453729e-03 2.69505418e-05 9.99979809e-01 -4.95590570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters 0.051487998669063256 Centerline is valid? [True, True] Translation: X:626.91, Y:-204.85, Z:-4.96 [[ 7.63565802e-01 6.45714727e-01 -4.44491058e-03 6.26910733e+02] [-6.45704309e-01 7.63578736e-01 3.66863373e-03 -2.04848435e+02] [ 5.76293003e-03 6.88546622e-05 9.99983392e-01 -4.95721523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters 0.051618132078029885 Centerline is valid? [True, True] Translation: X:626.96, Y:-204.89, Z:-4.95 [[ 7.62490887e-01 6.46990536e-01 -3.30061495e-03 6.26959128e+02] [-6.46984798e-01 7.62498029e-01 2.72542958e-03 -2.04888689e+02] [ 4.28003954e-03 5.73324801e-05 9.99990839e-01 -4.95459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters 0.05094879554007163 Centerline is valid? [True, True] Translation: X:627.01, Y:-204.93, Z:-4.96 [[ 7.63889320e-01 6.45341140e-01 -2.81435624e-03 6.27007667e+02] [-6.45336955e-01 7.63894503e-01 2.32435691e-03 -2.04926333e+02] [ 3.64987440e-03 4.06566666e-05 9.99993338e-01 -4.95570320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters 0.05243505559379601 Centerline is valid? [True, True] Translation: X:627.05, Y:-204.97, Z:-4.96 [[ 7.67269447e-01 6.41321931e-01 -1.94332895e-03 6.27054628e+02] [-6.41319924e-01 7.67271908e-01 1.60458248e-03 -2.04966439e+02] [ 2.52011565e-03 1.51484629e-05 9.99996824e-01 -4.95594925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters 0.05226878148813824 Centerline is valid? [True, True] Translation: X:627.10, Y:-205.01, Z:-4.96 [[ 7.69355112e-01 6.38819574e-01 -1.50468487e-03 6.27102036e+02] [-6.38818365e-01 7.69356583e-01 1.24269720e-03 -2.05005884e+02] [ 1.95149850e-03 5.14488722e-06 9.99998096e-01 -4.95867104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters 0.0513964679215235 Centerline is valid? [True, True] Translation: X:627.15, Y:-205.05, Z:-4.96 [[ 7.72313700e-01 6.35238303e-01 -1.96130520e-03 6.27148889e+02] [-6.35236238e-01 7.72316191e-01 1.61987209e-03 -2.05047253e+02] [ 2.54375256e-03 -5.15726615e-06 9.99996765e-01 -4.95549905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters 0.05270123631303564 Centerline is valid? [True, True] Translation: X:627.20, Y:-205.09, Z:-4.96 [[ 7.73839374e-01 6.33372420e-01 -3.46434112e-03 6.27195865e+02] [-6.33365953e-01 7.73847128e-01 2.86223295e-03 -2.05086485e+02] [ 4.49372984e-03 -2.07128366e-05 9.99989903e-01 -4.95774200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters 0.05200455247946763 Centerline is valid? [True, True] Translation: X:627.24, Y:-205.13, Z:-4.96 [[ 7.74976297e-01 6.31980102e-01 -3.59021731e-03 6.27242232e+02] [-6.31973139e-01 7.74984613e-01 2.96679548e-03 -2.05126220e+02] [ 4.65731888e-03 -3.02752704e-05 9.99989154e-01 -4.96013527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters 0.05330238945430736 Centerline is valid? [True, True] Translation: X:627.29, Y:-205.17, Z:-4.96 [[ 7.76105607e-01 6.30598295e-01 -2.42424863e-03 6.27289084e+02] [-6.30595113e-01 7.76109393e-01 2.00344129e-03 -2.05167443e+02] [ 3.14484879e-03 -2.61626858e-05 9.99995055e-01 -4.95844079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters 0.05260271538803948 Centerline is valid? [True, True] Translation: X:627.34, Y:-205.21, Z:-4.96 [[ 7.75471320e-01 6.31381902e-01 -1.06076835e-03 6.27335732e+02] [-6.31381293e-01 7.75472045e-01 8.77116267e-04 -2.05207162e+02] [ 1.37639154e-03 -1.04292173e-05 9.99999053e-01 -4.95887978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters 0.05195069815191084 Centerline is valid? [True, True] Translation: X:627.38, Y:-205.24, Z:-4.96 [[ 7.73867224e-01 6.33347818e-01 -2.48497606e-04 6.27384231e+02] [-6.33347784e-01 7.73867264e-01 2.06361032e-04 -2.05244677e+02] [ 3.23002472e-04 -2.31063084e-06 9.99999948e-01 -4.95643694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters 0.052004462299854504 Centerline is valid? [True, True] Translation: X:627.43, Y:-205.28, Z:-4.96 [[ 7.70457250e-01 6.37491266e-01 7.15444500e-04 6.27433445e+02] [-6.37490992e-01 7.70457582e-01 -5.90962309e-04 -2.05283030e+02] [-9.27952951e-04 -7.78228827e-07 9.99999569e-01 -4.96049604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters 0.05199221003105115 Centerline is valid? [True, True] Translation: X:627.48, Y:-205.32, Z:-4.96 [[ 7.67567772e-01 6.40967088e-01 9.52585368e-04 6.27482448e+02] [-6.40966606e-01 7.67568363e-01 -7.86409364e-04 -2.05321036e+02] [-1.23523691e-03 -6.95292685e-06 9.99999237e-01 -4.95992210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters 0.05198553330148629 Centerline is valid? [True, True] Translation: X:627.53, Y:-205.36, Z:-4.96 [[ 7.63120066e-01 6.46256061e-01 9.31983683e-04 6.27531300e+02] [-6.46255602e-01 7.63120635e-01 -7.70258262e-04 -2.05358975e+02] [-1.20900005e-03 -1.45001406e-05 9.99999269e-01 -4.96086807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters 0.05223447797449625 Centerline is valid? [True, True] Translation: X:627.58, Y:-205.40, Z:-4.96 [[ 7.61951585e-01 6.47633732e-01 5.76216424e-04 6.27580914e+02] [-6.47633558e-01 7.61951802e-01 -4.75470017e-04 -2.05395420e+02] [-7.46979564e-04 -1.08919599e-05 9.99999721e-01 -4.96320015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters 0.05214366890327355 Centerline is valid? [True, True] Translation: X:627.63, Y:-205.43, Z:-4.97 [[ 7.59938287e-01 6.49995225e-01 8.10258892e-05 6.27629606e+02] [-6.49995222e-01 7.59938292e-01 -6.65419916e-05 -2.05432704e+02] [-1.04826653e-04 -2.09863376e-06 9.99999995e-01 -4.96584225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters 0.05160921451923893 Centerline is valid? [True, True] Translation: X:627.68, Y:-205.48, Z:-4.97 [[ 7.59560871e-01 6.50435281e-01 1.10801917e-03 6.27676083e+02] [-6.50434638e-01 7.59561679e-01 -9.15422931e-04 -2.05475817e+02] [-1.43703228e-03 -2.53746098e-05 9.99998967e-01 -4.96661262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters 0.05154920035210809 Centerline is valid? [True, True] Translation: X:627.72, Y:-205.52, Z:-4.96 [[ 7.60035083e-01 6.49878571e-01 2.12503501e-03 6.27719274e+02] [-6.49876196e-01 7.60038053e-01 -1.75723458e-03 -2.05520597e+02] [-2.75709657e-03 -4.54497349e-05 9.99996198e-01 -4.96481052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters 0.05081710845875267 Centerline is valid? [True, True] Translation: X:627.76, Y:-205.56, Z:-4.97 [[ 7.61130324e-01 6.48596515e-01 1.78624428e-03 6.27764470e+02] [-6.48594834e-01 7.61132419e-01 -1.47724675e-03 -2.05563873e+02] [-2.31770552e-03 -3.41715162e-05 9.99997314e-01 -4.96559674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters 0.05097067659035291 Centerline is valid? [True, True] Translation: X:627.81, Y:-205.61, Z:-4.97 [[ 7.61201086e-01 6.48513083e-01 1.92029444e-03 6.27810205e+02] [-6.48511138e-01 7.61203508e-01 -1.58856191e-03 -2.05605375e+02] [-2.49193805e-03 -3.61172812e-05 9.99996894e-01 -4.96738256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters 0.051358973562610606 Centerline is valid? [True, True] Translation: X:627.86, Y:-205.65, Z:-4.97 [[ 7.60864462e-01 6.48907992e-01 1.92039816e-03 6.27856059e+02] [-6.48906047e-01 7.60866885e-01 -1.58933746e-03 -2.05645346e+02] [-2.49250114e-03 -3.68875867e-05 9.99996893e-01 -4.96845265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters 0.04980439540908728 Centerline is valid? [True, True] Translation: X:627.90, Y:-205.69, Z:-4.97 [[ 7.60650858e-01 6.49158149e-01 1.99263611e-03 6.27901208e+02] [-6.49156056e-01 7.60653467e-01 -1.64892030e-03 -2.05689297e+02] [-2.58611562e-03 -3.92791623e-05 9.99996655e-01 -4.96895863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters 0.05004134499824721 Centerline is valid? [True, True] Translation: X:627.95, Y:-205.73, Z:-4.97 [[ 7.60510386e-01 6.49323027e-01 1.88632700e-03 6.27947976e+02] [-6.49321151e-01 7.60512725e-01 -1.56129510e-03 -2.05731673e+02] [-2.44836055e-03 -3.74508760e-05 9.99997002e-01 -4.97005546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters 0.05053129353997842 Centerline is valid? [True, True] Translation: X:627.99, Y:-205.77, Z:-4.97 [[ 7.59955541e-01 6.49974679e-01 7.01533020e-04 6.27993714e+02] [-6.49974420e-01 7.59955865e-01 -5.80233288e-04 -2.05771692e+02] [-9.10271078e-04 -1.50270150e-05 9.99999586e-01 -4.97201705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters 0.05028702977792428 Centerline is valid? [True, True] Translation: X:628.04, Y:-205.81, Z:-4.97 [[ 7.59193734e-01 6.50864114e-01 -8.82775873e-04 6.28040367e+02] [-6.50863703e-01 7.59194247e-01 7.31761278e-04 -2.05812717e+02] [ 1.14647552e-03 1.90181959e-05 9.99999343e-01 -4.97331796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters 0.051037000361966456 Centerline is valid? [True, True] Translation: X:628.09, Y:-205.85, Z:-4.98 [[ 7.57337567e-01 6.53020093e-01 -2.13696200e-03 6.28088757e+02] [-6.53017694e-01 7.57340580e-01 1.77122022e-03 -2.05848649e+02] [ 2.77505043e-03 5.40623850e-05 9.99996148e-01 -4.97769510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters 0.05063508863838456 Centerline is valid? [True, True] Translation: X:628.13, Y:-205.90, Z:-4.97 [[ 7.56230857e-01 6.54303388e-01 -1.40262814e-03 6.28129519e+02] [-6.54302355e-01 7.56232156e-01 1.16367594e-03 -2.05897334e+02] [ 1.82210961e-03 3.77352447e-05 9.99998339e-01 -4.97178858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters 0.0509380623681514 Centerline is valid? [True, True] Translation: X:628.18, Y:-205.93, Z:-4.97 [[ 7.56870190e-01 6.53562720e-01 -1.81295640e-03 6.28179416e+02] [-6.53560991e-01 7.56872360e-01 1.50402016e-03 -2.05933213e+02] [ 2.35514810e-03 4.65295575e-05 9.99997226e-01 -4.97385139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters 0.050050232576840756 Centerline is valid? [True, True] Translation: X:628.23, Y:-205.97, Z:-4.97 [[ 7.57384844e-01 6.52966041e-01 -1.88352285e-03 6.28228117e+02] [-6.52964172e-01 7.57387184e-01 1.56291253e-03 -2.05972336e+02] [ 2.44708488e-03 4.61466777e-05 9.99997005e-01 -4.97424179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters 0.052144980552225995 Centerline is valid? [True, True] Translation: X:628.28, Y:-206.01, Z:-4.98 [[ 7.56658249e-01 6.53810411e-01 -4.90167324e-04 6.28278413e+02] [-6.53810284e-01 7.56658408e-01 4.07683491e-04 -2.06008169e+02] [ 6.37436937e-04 1.19993605e-05 9.99999797e-01 -4.97503938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters 0.05115552954336174 Centerline is valid? [True, True] Translation: X:628.33, Y:-206.05, Z:-4.97 [[ 7.55683606e-01 6.54935794e-01 1.18037434e-03 6.28325416e+02] [-6.54935064e-01 7.55684527e-01 -9.78223045e-04 -2.06049135e+02] [-1.53266391e-03 -3.38414268e-05 9.99998825e-01 -4.97367951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters 0.05110807507656466 Centerline is valid? [True, True] Translation: X:628.37, Y:-206.09, Z:-4.98 [[ 7.55136836e-01 6.55566330e-01 1.07047815e-03 6.28371515e+02] [-6.55565730e-01 7.55137594e-01 -8.87282909e-04 -2.06090051e+02] [-1.39003110e-03 -3.17487818e-05 9.99999033e-01 -4.97509774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters 0.051027997821058865 Centerline is valid? [True, True] Translation: X:628.42, Y:-206.13, Z:-4.98 [[ 7.57291086e-01 6.53076374e-01 1.20815608e-03 6.28418324e+02] [-6.53075606e-01 7.57292050e-01 -1.00231556e-03 -2.06129577e+02] [-1.56951561e-03 -2.99726240e-05 9.99998768e-01 -4.97607365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters 0.05024316678370943 Centerline is valid? [True, True] Translation: X:628.47, Y:-206.17, Z:-4.98 [[ 7.58726756e-01 6.51408333e-01 9.44869909e-04 6.28465142e+02] [-6.51407862e-01 7.58727345e-01 -7.83873545e-04 -2.06170167e+02] [-1.22752040e-03 -2.07498545e-05 9.99999246e-01 -4.97643256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters 0.04962130065688079 Centerline is valid? [True, True] Translation: X:628.51, Y:-206.21, Z:-4.98 [[ 7.58911526e-01 6.51191391e-01 1.75129111e-03 6.28512404e+02] [-6.51189772e-01 7.58913546e-01 -1.45256396e-03 -2.06210913e+02] [-2.27497569e-03 -3.80553304e-05 9.99997412e-01 -4.97668631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters 0.050594961252242436 Centerline is valid? [True, True] Translation: X:628.56, Y:-206.25, Z:-4.98 [[ 7.58261704e-01 6.51943164e-01 3.04944754e-03 6.28560022e+02] [-6.51938256e-01 7.58267832e-01 -2.53066422e-03 -2.06250397e+02] [-3.96214722e-03 -6.91457526e-05 9.99992148e-01 -4.97678148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters 0.049763789943232585 Centerline is valid? [True, True] Translation: X:628.61, Y:-206.29, Z:-4.98 [[ 7.58599213e-01 6.51552262e-01 2.62372445e-03 6.28607602e+02] [-6.51548625e-01 7.58603748e-01 -2.17775881e-03 -2.06289219e+02] [-3.40929089e-03 -5.74379360e-05 9.99994187e-01 -4.97761717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters 0.04989505111817402 Centerline is valid? [True, True] Translation: X:628.66, Y:-206.33, Z:-4.98 [[ 7.59561849e-01 6.50429268e-01 2.75041533e-03 6.28655518e+02] [-6.50425262e-01 7.59566827e-01 -2.28345929e-03 -2.06326926e+02] [-3.57435300e-03 -5.45110501e-05 9.99993610e-01 -4.97898957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters 0.050499975823290744 Centerline is valid? [True, True] Translation: X:628.70, Y:-206.37, Z:-4.98 [[ 7.59434030e-01 6.50577592e-01 2.95841573e-03 6.28700572e+02] [-6.50572955e-01 7.59439790e-01 -2.45677256e-03 -2.06370769e+02] [-3.84505980e-03 -5.89085832e-05 9.99992606e-01 -4.97796234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters 0.050965539097797156 Centerline is valid? [True, True] Translation: X:628.75, Y:-206.41, Z:-4.98 [[ 7.60075353e-01 6.49829742e-01 2.60077378e-03 6.28750222e+02] [-6.49826153e-01 7.60079801e-01 -2.16018927e-03 -2.06407338e+02] [-3.38055086e-03 -4.81442002e-05 9.99994285e-01 -4.98064035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters 0.05020581351817838 Centerline is valid? [True, True] Translation: X:628.80, Y:-206.45, Z:-4.98 [[ 7.61668257e-01 6.47966101e-01 1.18255119e-03 6.28797156e+02] [-6.47965358e-01 7.61669174e-01 -9.81718908e-04 -2.06446639e+02] [-1.53683336e-03 -1.85080737e-05 9.99998819e-01 -4.98087289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters 0.05114256356142942 Centerline is valid? [True, True] Translation: X:628.84, Y:-206.49, Z:-4.98 [[ 7.63494530e-01 6.45812460e-01 1.53929164e-03 6.28844669e+02] [-6.45811195e-01 7.63496081e-01 -1.27839422e-03 -2.06487145e+02] [-2.00084605e-03 -1.80447791e-05 9.99997998e-01 -4.98062051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters 0.05062254111737826 Centerline is valid? [True, True] Translation: X:628.89, Y:-206.53, Z:-4.98 [[ 7.68426900e-01 6.39930321e-01 3.04690245e-03 6.28889193e+02] [-6.39925311e-01 7.68432940e-01 -2.53225426e-03 -2.06528154e+02] [-3.96180649e-03 -3.93770612e-06 9.99992152e-01 -4.97987070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters 0.05075015419008868 Centerline is valid? [True, True] Translation: X:628.94, Y:-206.57, Z:-4.98 [[ 7.74413694e-01 6.32664441e-01 4.37441960e-03 6.28935079e+02] [-6.32653993e-01 7.74426047e-01 -3.63630034e-03 -2.06570391e+02] [-5.68822240e-03 4.85067551e-05 9.99983821e-01 -4.97867289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters 0.05099062903966006 Centerline is valid? [True, True] Translation: X:628.98, Y:-206.61, Z:-4.98 [[ 7.78844998e-01 6.27201550e-01 4.32262766e-03 6.28980611e+02] [-6.27191258e-01 7.78856988e-01 -3.59423091e-03 -2.06611829e+02] [-5.62101596e-03 8.82344823e-05 9.99984198e-01 -4.97982915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters 0.05234277215867603 Centerline is valid? [True, True] Translation: X:629.03, Y:-206.65, Z:-4.98 [[ 7.80623990e-01 6.24986431e-01 4.25991454e-03 6.29031017e+02] [-6.24976402e-01 7.80635607e-01 -3.54207972e-03 -2.06647379e+02] [-5.53919274e-03 1.02686346e-04 9.99984653e-01 -4.98045431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters 0.053057607143994476 Centerline is valid? [True, True] Translation: X:629.08, Y:-206.69, Z:-4.98 [[ 7.81081843e-01 6.24418863e-01 3.49820686e-03 6.29077027e+02] [-6.24412092e-01 7.81089672e-01 -2.90930460e-03 -2.06687278e+02] [-4.54903792e-03 8.80823383e-05 9.99989649e-01 -4.98216245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters 0.05147857457121573 Centerline is valid? [True, True] Translation: X:629.13, Y:-206.73, Z:-4.98 [[ 7.80428028e-01 6.25245225e-01 7.08666555e-04 6.29125862e+02] [-6.25244947e-01 7.80428350e-01 -5.88801338e-04 -2.06727521e+02] [-9.21208695e-04 1.64268840e-05 9.99999576e-01 -4.98415672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters 0.05214803355430802 Centerline is valid? [True, True] Translation: X:629.17, Y:-206.77, Z:-4.99 [[ 7.78802850e-01 6.27268627e-01 -4.35596938e-04 6.29174612e+02] [-6.27268522e-01 7.78802972e-01 3.62905402e-04 -2.06766950e+02] [ 5.66883363e-04 -9.39551456e-06 9.99999839e-01 -4.98668897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters 0.05229815952294996 Centerline is valid? [True, True] Translation: X:629.23, Y:-206.80, Z:-4.99 [[ 7.75310833e-01 6.31579528e-01 -6.42307548e-04 6.29226898e+02] [-6.31579302e-01 7.75311099e-01 5.34501653e-04 -2.06798461e+02] [ 8.35568472e-04 -8.73676914e-06 9.99999651e-01 -4.98738557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters 0.051366677887306075 Centerline is valid? [True, True] Translation: X:629.28, Y:-206.83, Z:-4.99 [[ 7.71344909e-01 6.36416618e-01 9.58523958e-04 6.29278810e+02] [-6.36416119e-01 7.71345505e-01 -7.97213546e-04 -2.06832753e+02] [-1.24671310e-03 4.90651252e-06 9.99999223e-01 -4.98763726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters 0.05082804375668686 Centerline is valid? [True, True] Translation: X:629.33, Y:-206.87, Z:-4.99 [[ 7.66312666e-01 6.42465324e-01 1.79031425e-03 6.29330401e+02] [-6.42463598e-01 7.66314757e-01 -1.48928680e-03 -2.06866368e+02] [-2.32875936e-03 -8.95239117e-06 9.99997288e-01 -4.98718291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters 0.05132989843389498 Centerline is valid? [True, True] Translation: X:629.38, Y:-206.90, Z:-4.99 [[ 7.61621737e-01 6.48019479e-01 1.75617762e-03 6.29383529e+02] [-6.48017833e-01 7.61623762e-01 -1.46081111e-03 -2.06898606e+02] [-2.28418066e-03 -2.54489219e-05 9.99997391e-01 -4.98876824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters 0.050677117702753495 Centerline is valid? [True, True] Translation: X:629.43, Y:-206.94, Z:-4.99 [[ 7.57133636e-01 6.53255520e-01 2.42545541e-03 6.29432302e+02] [-6.53252405e-01 7.57137518e-01 -2.01841861e-03 -2.06935155e+02] [-3.15494639e-03 -5.62219554e-05 9.99995022e-01 -4.98759411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters 0.051237512059760924 Centerline is valid? [True, True] Translation: X:629.48, Y:-206.97, Z:-4.99 [[ 7.52091259e-01 6.59057315e-01 1.48131986e-03 6.29484245e+02] [-6.59056164e-01 7.52092716e-01 -1.23297622e-03 -2.06966468e+02] [-1.92669188e-03 -4.89623474e-05 9.99998143e-01 -4.99036095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters 0.05083674066747017 Centerline is valid? [True, True] Translation: X:629.53, Y:-207.00, Z:-4.99 [[ 7.49009581e-01 6.62559011e-01 -4.53193333e-04 6.29532515e+02] [-6.62558903e-01 7.49009718e-01 3.77581013e-04 -2.07004885e+02] [ 5.89615912e-04 1.74554812e-05 9.99999826e-01 -4.99154095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters 0.05156515249155115 Centerline is valid? [True, True] Translation: X:629.58, Y:-207.04, Z:-4.99 [[ 7.48426882e-01 6.63214983e-01 -1.75744238e-03 6.29583006e+02] [-6.63213370e-01 7.48428942e-01 1.46462209e-03 -2.07039578e+02] [ 2.28668006e-03 6.93967327e-05 9.99997383e-01 -4.99484655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters 0.05118703934517246 Centerline is valid? [True, True] Translation: X:629.63, Y:-207.08, Z:-4.99 [[ 7.49654364e-01 6.61827322e-01 -1.71180262e-03 6.29629760e+02] [-6.61825789e-01 7.49656315e-01 1.42592257e-03 -2.07079220e+02] [ 2.22697816e-03 6.39660384e-05 9.99997518e-01 -4.99412747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters 0.051316816247774726 Centerline is valid? [True, True] Translation: X:629.67, Y:-207.12, Z:-4.99 [[ 7.54042524e-01 6.56825472e-01 -4.13875144e-04 6.29671638e+02] [-6.56825382e-01 7.54042637e-01 3.45032279e-04 -2.07124169e+02] [ 5.38705495e-04 1.16746891e-05 9.99999855e-01 -4.99165445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters 0.051076096631135236 Centerline is valid? [True, True] Translation: X:629.72, Y:-207.17, Z:-4.99 [[ 7.58192881e-01 6.52030271e-01 2.85123798e-04 6.29716241e+02] [-6.52030228e-01 7.58192935e-01 -2.37157473e-04 -2.07165021e+02] [-3.70812701e-04 -6.09822681e-06 9.99999931e-01 -4.99115541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters 0.051718155259418044 Centerline is valid? [True, True] Translation: X:629.76, Y:-207.21, Z:-4.99 [[ 7.64542923e-01 6.44572808e-01 1.15090697e-04 6.29758974e+02] [-6.44572801e-01 7.64542932e-01 -9.56037113e-05 -2.07209797e+02] [-1.49615332e-04 -1.09119203e-06 9.99999989e-01 -4.99115634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters 0.051662544139742264 Centerline is valid? [True, True] Translation: X:629.80, Y:-207.25, Z:-4.99 [[ 7.68429585e-01 6.39934173e-01 -4.76763526e-04 6.29802776e+02] [-6.39934049e-01 7.68429733e-01 3.98281448e-04 -2.07252040e+02] [ 6.21233177e-04 -9.54034530e-07 9.99999807e-01 -4.99164440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters 0.05202363446309277 Centerline is valid? [True, True] Translation: X:629.85, Y:-207.29, Z:-4.99 [[ 7.72838140e-01 6.34599345e-01 -2.20928348e-03 6.29847518e+02] [-6.34596671e-01 7.72841298e-01 1.84218358e-03 -2.07294818e+02] [ 2.87647400e-03 -2.17057929e-05 9.99995863e-01 -4.99429177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters 0.0517425676724594 Centerline is valid? [True, True] Translation: X:629.89, Y:-207.34, Z:-5.00 [[ 7.75340944e-01 6.31525743e-01 -4.65366350e-03 6.29890904e+02] [-6.31513834e-01 7.75354906e-01 3.87894501e-03 -2.07338851e+02] [ 6.05789446e-03 -6.86520044e-05 9.99981648e-01 -4.99506640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters 0.05229969349294263 Centerline is valid? [True, True] Translation: X:629.93, Y:-207.38, Z:-5.00 [[ 7.76419109e-01 6.30205899e-01 -3.72726917e-03 6.29934571e+02] [-6.30198237e-01 7.76428052e-01 3.10830211e-03 -2.07381852e+02] [ 4.85282667e-03 -6.44266948e-05 9.99988223e-01 -4.99640476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters 0.0515145739776596 Centerline is valid? [True, True] Translation: X:629.98, Y:-207.42, Z:-4.99 [[ 7.76335220e-01 6.30316776e-01 -2.09496919e-03 6.29981900e+02] [-6.30314353e-01 7.76338046e-01 1.74798676e-03 -2.07422281e+02] [ 2.72818967e-03 -3.65345401e-05 9.99996278e-01 -4.99471807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters 0.051154763770437026 Centerline is valid? [True, True] Translation: X:630.03, Y:-207.46, Z:-4.99 [[ 7.74832952e-01 6.32166004e-01 -2.00161510e-04 6.30026917e+02] [-6.32165982e-01 7.74832978e-01 1.67153285e-04 -2.07463590e+02] [ 2.60760362e-04 -2.98057576e-06 9.99999966e-01 -4.99448189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters 0.05170759577807795 Centerline is valid? [True, True] Translation: X:630.07, Y:-207.50, Z:-4.99 [[ 7.71555187e-01 6.36161852e-01 8.31173075e-04 6.30073937e+02] [-6.36161475e-01 7.71555635e-01 -6.92962990e-04 -2.07502452e+02] [-1.08213289e-03 5.89889987e-06 9.99999414e-01 -4.99349154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters 0.05096752054300277 Centerline is valid? [True, True] Translation: X:630.12, Y:-207.54, Z:-4.99 [[ 7.66075545e-01 6.42750001e-01 8.34236206e-04 6.30123716e+02] [-6.42749625e-01 7.66075999e-01 -6.94738406e-04 -2.07540381e+02] [-1.08563145e-03 -3.98290633e-06 9.99999411e-01 -4.99248216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters 0.05103059997880432 Centerline is valid? [True, True] Translation: X:630.17, Y:-207.58, Z:-4.99 [[ 7.59157755e-01 6.50906057e-01 8.98523353e-04 6.30173788e+02] [-6.50905627e-01 7.59158287e-01 -7.48709529e-04 -2.07575678e+02] [-1.16946102e-03 -1.64652606e-05 9.99999316e-01 -4.99329023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters 0.050999850193737435 Centerline is valid? [True, True] Translation: X:630.22, Y:-207.61, Z:-4.99 [[ 7.54059137e-01 6.56804390e-01 1.67665020e-03 6.30222517e+02] [-6.56802903e-01 7.54060999e-01 -1.39859372e-03 -2.07612653e+02] [-2.18289902e-03 -4.66063434e-05 9.99997616e-01 -4.99369119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters 0.05082421832796232 Centerline is valid? [True, True] Translation: X:630.27, Y:-207.65, Z:-4.99 [[ 7.52515771e-01 6.58571813e-01 1.78394837e-03 6.30269657e+02] [-6.58570134e-01 7.52517883e-01 -1.48815205e-03 -2.07653002e+02] [-2.32250805e-03 -5.49972311e-05 9.99997301e-01 -4.99423054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters 0.05074541522139942 Centerline is valid? [True, True] Translation: X:630.31, Y:-207.70, Z:-4.99 [[ 7.52136646e-01 6.59004633e-01 1.83294673e-03 6.30314688e+02] [-6.59002863e-01 7.52138877e-01 -1.52860557e-03 -2.07696025e+02] [-2.38598865e-03 -5.81968735e-05 9.99997152e-01 -4.99324004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters 0.05071579552617563 Centerline is valid? [True, True] Translation: X:630.36, Y:-207.73, Z:-4.99 [[ 7.52130772e-01 6.59012569e-01 1.31760774e-03 6.30364692e+02] [-6.59011654e-01 7.52131925e-01 -1.09872939e-03 -2.07733256e+02] [-1.71509133e-03 -4.19306721e-05 9.99998528e-01 -4.99412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters 0.05141161772408185 Centerline is valid? [True, True] Translation: X:630.41, Y:-207.77, Z:-5.00 [[ 7.51641309e-01 6.59571991e-01 -3.62312089e-04 6.30412899e+02] [-6.59571922e-01 7.51641396e-01 3.03001979e-04 -2.07770619e+02] [ 4.72180383e-04 1.12220767e-05 9.99999888e-01 -4.99664216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters 0.05095265942609795 Centerline is valid? [True, True] Translation: X:630.46, Y:-207.81, Z:-5.00 [[ 7.51284662e-01 6.59976874e-01 -1.37170450e-03 6.30459839e+02] [-6.59975880e-01 7.51285913e-01 1.14633551e-03 -2.07810542e+02] [ 1.78709719e-03 4.40676038e-05 9.99998402e-01 -4.99833747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters 0.0509449187737587 Centerline is valid? [True, True] Translation: X:630.50, Y:-207.85, Z:-5.00 [[ 7.50927979e-01 6.60377052e-01 -3.05291555e-03 6.30504844e+02] [-6.60372137e-01 7.50934178e-01 2.54969662e-03 -2.07853114e+02] [ 3.97629977e-03 1.01421838e-04 9.99992089e-01 -4.99943315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters 0.050202098094768506 Centerline is valid? [True, True] Translation: X:630.55, Y:-207.90, Z:-5.00 [[ 7.51462869e-01 6.59761592e-01 -4.26593664e-03 6.30549094e+02] [-6.59751979e-01 7.51474965e-01 3.56420932e-03 -2.07897775e+02] [ 5.55727301e-03 1.36089181e-04 9.99984549e-01 -4.99887701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters 0.05095508714810368 Centerline is valid? [True, True] Translation: X:630.59, Y:-207.94, Z:-5.00 [[ 7.53238151e-01 6.57734892e-01 -4.13518611e-03 6.30594531e+02] [-6.57725832e-01 7.53249493e-01 3.45417095e-03 -2.07937128e+02] [ 5.38675559e-03 1.18005390e-04 9.99985484e-01 -4.99952555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters 0.051009549126976264 Centerline is valid? [True, True] Translation: X:630.64, Y:-207.98, Z:-5.00 [[ 7.55783387e-01 6.54812742e-01 -3.42699247e-03 6.30637322e+02] [-6.54806489e-01 7.55791152e-01 2.86280253e-03 -2.07982276e+02] [ 4.46469016e-03 8.03583138e-05 9.99990030e-01 -4.99743551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters 0.050698293055421895 Centerline is valid? [True, True] Translation: X:630.68, Y:-208.02, Z:-4.99 [[ 7.57568866e-01 6.52753975e-01 -1.28903616e-03 6.30682802e+02] [-6.52753086e-01 7.57569963e-01 1.07702511e-03 -2.08024080e+02] [ 1.67956749e-03 2.55016408e-05 9.99998589e-01 -4.99475404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters 0.05107401229455961 Centerline is valid? [True, True] Translation: X:630.73, Y:-208.06, Z:-4.99 [[ 7.58235180e-01 6.51980700e-01 -7.60804936e-04 6.30730276e+02] [-6.51980390e-01 7.58235561e-01 6.36761283e-04 -2.08064272e+02] [ 9.92025424e-04 1.32150926e-05 9.99999508e-01 -4.99466007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters 0.05060162095744017 Centerline is valid? [True, True] Translation: X:630.78, Y:-208.10, Z:-5.00 [[ 7.59326003e-01 6.50709645e-01 -9.89277758e-04 6.30777805e+02] [-6.50709119e-01 7.59326647e-01 8.27755362e-04 -2.08102567e+02] [ 1.28981336e-03 1.51958873e-05 9.99999168e-01 -4.99573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters 0.050562420853445304 Centerline is valid? [True, True] Translation: X:630.83, Y:-208.14, Z:-5.00 [[ 7.59775551e-01 6.50180046e-01 -2.64969653e-03 6.30825442e+02] [-6.50176271e-01 7.59780170e-01 2.21598651e-03 -2.08142743e+02] [ 3.45397709e-03 3.91174330e-05 9.99994034e-01 -4.99678346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters 0.05179695438788053 Centerline is valid? [True, True] Translation: X:630.87, Y:-208.18, Z:-5.00 [[ 7.59539506e-01 6.50455918e-01 -2.61478583e-03 6.30874306e+02] [-6.50452241e-01 7.59544006e-01 2.18753475e-03 -2.08183102e+02] [ 3.40893983e-03 3.92742353e-05 9.99994189e-01 -4.99614449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters 0.050721117366749585 Centerline is valid? [True, True] Translation: X:630.92, Y:-208.22, Z:-5.00 [[ 7.58968407e-01 6.51124097e-01 -2.08983887e-03 6.30923830e+02] [-6.51121749e-01 7.58971283e-01 1.74907772e-03 -2.08222045e+02] [ 2.72499434e-03 3.32448100e-05 9.99996287e-01 -4.99608032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters 0.051279635409958876 Centerline is valid? [True, True] Translation: X:630.97, Y:-208.26, Z:-5.00 [[ 7.59891057e-01 6.50047328e-01 -2.01338611e-03 6.30971999e+02] [-6.50045143e-01 7.59893723e-01 1.68539172e-03 -2.08260733e+02] [ 2.62554385e-03 2.80777695e-05 9.99996553e-01 -4.99681401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters 0.050888465656481315 Centerline is valid? [True, True] Translation: X:631.02, Y:-208.30, Z:-5.00 [[ 7.60920535e-01 6.48841185e-01 -2.24843706e-03 6.31019061e+02] [-6.48838455e-01 7.60923857e-01 1.88233856e-03 -2.08299804e+02] [ 2.93222819e-03 2.65623658e-05 9.99995701e-01 -4.99879802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters 0.05188344932848516 Centerline is valid? [True, True] Translation: X:631.06, Y:-208.34, Z:-5.00 [[ 7.63939311e-01 6.45287688e-01 -7.27971353e-04 6.31063756e+02] [-6.45287400e-01 7.63939657e-01 6.09524780e-04 -2.08342428e+02] [ 9.49445022e-04 4.11080140e-06 9.99999549e-01 -4.99740227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters 0.05102485406634381 Centerline is valid? [True, True] Translation: X:631.11, Y:-208.38, Z:-5.00 [[ 7.65608124e-01 6.43306907e-01 -6.51664520e-04 6.31110751e+02] [-6.43306674e-01 7.65608401e-01 5.46446815e-04 -2.08381772e+02] [ 8.50452842e-04 8.56014342e-07 9.99999638e-01 -4.99998205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters 0.05071397963512893 Centerline is valid? [True, True] Translation: X:631.16, Y:-208.42, Z:-5.00 [[ 7.66480149e-01 6.42267671e-01 6.48127635e-04 6.31158896e+02] [-6.42267442e-01 7.66480423e-01 -5.41951853e-04 -2.08421906e+02] [-8.44855298e-04 -8.75941413e-07 9.99999643e-01 -4.99702344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters 0.0510644238270637 Centerline is valid? [True, True] Translation: X:631.21, Y:-208.46, Z:-5.00 [[ 7.66786111e-01 6.41899187e-01 2.11989011e-03 6.31205593e+02] [-6.41896736e-01 7.66789041e-01 -1.77385082e-03 -2.08461017e+02] [-2.76414190e-03 -5.86369220e-07 9.99996180e-01 -5.00106887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters 0.05199644718095263 Centerline is valid? [True, True] Translation: X:631.25, Y:-208.50, Z:-5.00 [[ 7.67318800e-01 6.41264143e-01 1.46908412e-03 6.31252379e+02] [-6.41262964e-01 7.67320206e-01 -1.22972721e-03 -2.08501599e+02] [-1.91583789e-03 1.52357431e-06 9.99998165e-01 -5.00132943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters 0.05109224728523157 Centerline is valid? [True, True] Translation: X:631.30, Y:-208.54, Z:-5.00 [[ 7.67868088e-01 6.40607611e-01 6.98781696e-04 6.31301729e+02] [-6.40607344e-01 7.67868406e-01 -5.84195969e-04 -2.08539146e+02] [-9.10812771e-04 9.40755030e-07 9.99999585e-01 -5.00433440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters 0.05198737646761791 Centerline is valid? [True, True] Translation: X:631.35, Y:-208.58, Z:-5.00 [[ 7.68823751e-01 6.39455413e-01 2.61056339e-03 6.31349095e+02] [-6.39451677e-01 7.68828183e-01 -2.18603783e-03 -2.08579835e+02] [-3.40494843e-03 1.13486622e-05 9.99994203e-01 -5.00179858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters 0.050606219048436187 Centerline is valid? [True, True] Translation: X:631.40, Y:-208.62, Z:-5.00 [[ 7.69840158e-01 6.38234201e-01 1.79903684e-03 6.31397055e+02] [-6.38232424e-01 7.69842260e-01 -1.50612235e-03 -2.08619192e+02] [-2.34623338e-03 1.12698268e-05 9.99997248e-01 -5.00303978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters 0.05156343646809254 Centerline is valid? [True, True] Translation: X:631.44, Y:-208.66, Z:-5.01 [[ 7.70516667e-01 6.37417675e-01 1.66532811e-03 6.31444995e+02] [-6.37416150e-01 7.70518467e-01 -1.39449247e-03 -2.08657633e+02] [-2.17204021e-03 1.29726541e-05 9.99997641e-01 -5.00564581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters 0.05051568026026459 Centerline is valid? [True, True] Translation: X:631.49, Y:-208.70, Z:-5.01 [[ 7.71035122e-01 6.36789628e-01 1.95205118e-03 6.31494323e+02] [-6.36787527e-01 7.71037593e-01 -1.63555852e-03 -2.08695560e+02] [-2.54661154e-03 1.80312159e-05 9.99996757e-01 -5.00634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters 0.05160133212324608 Centerline is valid? [True, True] Translation: X:631.54, Y:-208.74, Z:-5.01 [[ 7.70772995e-01 6.37109327e-01 8.34526504e-04 6.31541437e+02] [-6.37108944e-01 7.70773446e-01 -6.98510503e-04 -2.08735131e+02] [-1.08825843e-03 6.70873247e-06 9.99999408e-01 -5.00845015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters 0.05110645705937351 Centerline is valid? [True, True] Translation: X:631.59, Y:-208.77, Z:-5.01 [[ 7.69395207e-01 6.38772783e-01 5.89242667e-04 6.31591377e+02] [-6.38772592e-01 7.69395433e-01 -4.92937779e-04 -2.08771646e+02] [-7.68235854e-04 2.87189840e-06 9.99999705e-01 -5.00777446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters 0.05177753782698707 Centerline is valid? [True, True] Translation: X:631.64, Y:-208.81, Z:-5.01 [[ 7.67680723e-01 6.40831756e-01 9.84178413e-04 6.31640781e+02] [-6.40831226e-01 7.67681354e-01 -8.24238496e-04 -2.08809064e+02] [-1.28373362e-03 2.05974490e-06 9.99999176e-01 -5.00801154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters 0.050641628487042505 Centerline is valid? [True, True] Translation: X:631.69, Y:-208.85, Z:-5.01 [[ 7.63488489e-01 6.45819491e-01 1.58526562e-03 6.31691953e+02] [-6.45818124e-01 7.63490135e-01 -1.32861295e-03 -2.08845029e+02] [-2.06837880e-03 -9.41257459e-06 9.99997861e-01 -5.00918988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters 0.05101587681475984 Centerline is valid? [True, True] Translation: X:631.74, Y:-208.88, Z:-5.01 [[ 7.60989293e-01 6.48754889e-01 3.51997343e-03 6.31742283e+02] [-6.48748172e-01 7.60997433e-01 -2.95239524e-03 -2.08882240e+02] [-4.59407159e-03 -3.68351603e-05 9.99989447e-01 -5.00851719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters 0.05107050418610575 Centerline is valid? [True, True] Translation: X:631.79, Y:-208.92, Z:-5.01 [[ 7.59103367e-01 6.50955730e-01 4.32614881e-03 6.31790700e+02] [-6.50945613e-01 7.59115692e-01 -3.62976619e-03 -2.08919097e+02] [-5.64686455e-03 -6.07198480e-05 9.99984054e-01 -5.00786824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters 0.05063003171051429 Centerline is valid? [True, True] Translation: X:631.84, Y:-208.96, Z:-5.01 [[ 7.56984698e-01 6.53419777e-01 4.09401290e-03 6.31839335e+02] [-6.53410750e-01 7.56995765e-01 -3.43543712e-03 -2.08958278e+02] [-5.34393299e-03 -7.44987104e-05 9.99985718e-01 -5.00862565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters 0.05128351352223583 Centerline is valid? [True, True] Translation: X:631.89, Y:-209.00, Z:-5.01 [[ 7.55855298e-01 6.54731348e-01 3.10311947e-03 6.31888554e+02] [-6.54726174e-01 7.55861666e-01 -2.60368775e-03 -2.08996115e+02] [-4.05024504e-03 -6.36823575e-05 9.99991796e-01 -5.01049216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters 0.05079505271761734 Centerline is valid? [True, True] Translation: X:631.94, Y:-209.03, Z:-5.01 [[ 7.55906975e-01 6.54678959e-01 3.26347333e-04 6.31937292e+02] [-6.54678902e-01 7.55907045e-01 -2.72984805e-04 -2.09033020e+02] [-4.25405656e-04 -7.30159496e-06 9.99999909e-01 -5.01401201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters 0.05123905020459212 Centerline is valid? [True, True] Translation: X:631.98, Y:-209.08, Z:-5.01 [[ 7.57398798e-01 6.52952424e-01 4.38998502e-04 6.31983222e+02] [-6.52952321e-01 7.57398925e-01 -3.67564111e-04 -2.09075201e+02] [-5.72498871e-04 -8.25247502e-06 9.99999836e-01 -5.01441083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters 0.0519494765186502 Centerline is valid? [True, True] Translation: X:632.03, Y:-209.11, Z:-5.02 [[ 7.58552959e-01 6.51611372e-01 1.68429153e-04 6.32030701e+02] [-6.51611357e-01 7.58552977e-01 -1.40456248e-04 -2.09113590e+02] [-2.19285325e-04 -3.20684621e-06 9.99999976e-01 -5.01621032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters 0.05201190548050951 Centerline is valid? [True, True] Translation: X:632.08, Y:-209.15, Z:-5.02 [[ 7.59765664e-01 6.50196684e-01 6.39185831e-04 6.32077170e+02] [-6.50196463e-01 7.59765933e-01 -5.35949057e-04 -2.09154625e+02] [-8.34103919e-04 -8.40067536e-06 9.99999652e-01 -5.01638374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters 0.051123697970888435 Centerline is valid? [True, True] Translation: X:632.12, Y:-209.20, Z:-5.02 [[ 7.64729612e-01 6.44349389e-01 1.57644853e-03 6.32119952e+02] [-6.44348028e-01 7.64731237e-01 -1.32428785e-03 -2.09199546e+02] [-2.05886351e-03 -3.05936708e-06 9.99997881e-01 -5.01546949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters 0.05177995099597299 Centerline is valid? [True, True] Translation: X:632.17, Y:-209.24, Z:-5.02 [[ 7.67550214e-01 6.40986913e-01 1.56393130e-03 6.32166225e+02] [-6.40985567e-01 7.67551807e-01 -1.31371109e-03 -2.09241072e+02] [-2.04246991e-03 5.88183954e-06 9.99997914e-01 -5.01596676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters 0.051495312935108 Centerline is valid? [True, True] Translation: X:632.21, Y:-209.28, Z:-5.02 [[ 7.70051832e-01 6.37979998e-01 1.30285470e-03 6.32211816e+02] [-6.37979060e-01 7.70052935e-01 -1.09393605e-03 -2.09281319e+02] [-1.70117640e-03 1.11934393e-05 9.99998553e-01 -5.01582233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters 0.052284738047157046 Centerline is valid? [True, True] Translation: X:632.26, Y:-209.32, Z:-5.02 [[ 7.73155953e-01 6.34214513e-01 1.35067095e-03 6.32256230e+02] [-6.34213497e-01 7.73157133e-01 -1.13491891e-03 -2.09324276e+02] [-1.76406292e-03 2.08555598e-05 9.99998444e-01 -5.01681906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters 0.05195497299191487 Centerline is valid? [True, True] Translation: X:632.30, Y:-209.36, Z:-5.02 [[ 7.73441255e-01 6.33866934e-01 1.15501951e-03 6.32304043e+02] [-6.33866193e-01 7.73442118e-01 -9.69870280e-04 -2.09364096e+02] [-1.50810944e-03 1.80098689e-05 9.99998863e-01 -5.01589960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters 0.05206667672548941 Centerline is valid? [True, True] Translation: X:632.35, Y:-209.40, Z:-5.02 [[ 7.72264407e-01 6.35300192e-01 1.16243274e-03 6.32350759e+02] [-6.35299442e-01 7.72265282e-01 -9.76439186e-04 -2.09403280e+02] [-1.51803845e-03 1.55763563e-05 9.99998848e-01 -5.01678340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters 0.05166849183695545 Centerline is valid? [True, True] Translation: X:632.40, Y:-209.44, Z:-5.02 [[ 7.68681224e-01 6.39630403e-01 1.45700156e-03 6.32399894e+02] [-6.39629231e-01 7.68682605e-01 -1.22458017e-03 -2.09439323e+02] [-1.90325046e-03 9.37099293e-06 9.99998189e-01 -5.01572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters 0.05181220837195715 Centerline is valid? [True, True] Translation: X:632.45, Y:-209.48, Z:-5.02 [[ 7.64250722e-01 6.44917994e-01 1.27092975e-03 6.32447301e+02] [-6.44917108e-01 7.64251779e-01 -1.06860056e-03 -2.09478798e+02] [-1.66047005e-03 -2.96558634e-06 9.99998621e-01 -5.01714263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters 0.05183576411458159 Centerline is valid? [True, True] Translation: X:632.50, Y:-209.52, Z:-5.02 [[ 7.60304967e-01 6.49565514e-01 1.00033057e-03 6.32496934e+02] [-6.49564970e-01 7.60305625e-01 -8.40459722e-04 -2.09516660e+02] [-1.30649061e-03 -1.07739950e-05 9.99999146e-01 -5.01721308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters 0.051492144542050755 Centerline is valid? [True, True] Translation: X:632.55, Y:-209.55, Z:-5.02 [[ 7.57651754e-01 6.52657411e-01 1.45753006e-03 6.32545263e+02] [-6.52656260e-01 7.57653155e-01 -1.22548283e-03 -2.09554221e+02] [-1.90412270e-03 -2.27768998e-05 9.99998187e-01 -5.01703666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters 0.05066129657645583 Centerline is valid? [True, True] Translation: X:632.59, Y:-209.59, Z:-5.02 [[ 7.54728655e-01 6.56032237e-01 2.52226748e-03 6.32593286e+02] [-6.56028806e-01 7.54732867e-01 -2.12233795e-03 -2.09593635e+02] [-3.29596028e-03 -5.28908620e-05 9.99994567e-01 -5.01565295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters 0.0511811245736377 Centerline is valid? [True, True] Translation: X:632.64, Y:-209.63, Z:-5.02 [[ 7.53291114e-01 6.57682567e-01 2.47760633e-03 6.32641170e+02] [-6.57679265e-01 7.53295186e-01 -2.08487297e-03 -2.09632773e+02] [-3.23755353e-03 -5.89540206e-05 9.99994757e-01 -5.01694911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters 0.050451912294544946 Centerline is valid? [True, True] Translation: X:632.69, Y:-209.67, Z:-5.02 [[ 7.52666986e-01 6.58400125e-01 1.29756550e-03 6.32689582e+02] [-6.58399221e-01 7.52668104e-01 -1.09126004e-03 -2.09670287e+02] [-1.69512191e-03 -3.29607067e-05 9.99998563e-01 -5.01828999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters 0.05099130319750782 Centerline is valid? [True, True] Translation: X:632.74, Y:-209.71, Z:-5.02 [[ 7.53094605e-01 6.57910156e-01 1.65607692e-03 6.32735555e+02] [-6.57908682e-01 7.53096425e-01 -1.39330903e-03 -2.09712790e+02] [-2.16385777e-03 -4.02538653e-05 9.99997658e-01 -5.01887366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters 0.05131594449466745 Centerline is valid? [True, True] Translation: X:632.78, Y:-209.75, Z:-5.02 [[ 7.53278295e-01 6.57701451e-01 7.82226300e-04 6.32782487e+02] [-6.57701123e-01 7.53278701e-01 -6.57626606e-04 -2.09753223e+02] [-1.02175638e-03 -1.90952671e-05 9.99999478e-01 -5.02051683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters 0.050160084962379614 Centerline is valid? [True, True] Translation: X:632.83, Y:-209.80, Z:-5.02 [[ 7.52306689e-01 6.58812306e-01 -9.95186284e-04 6.32828527e+02] [-6.58811773e-01 7.52307347e-01 8.38517078e-04 -2.09795466e+02] [ 1.30111132e-03 2.48184334e-05 9.99999153e-01 -5.02180306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters 0.05157534284684026 Centerline is valid? [True, True] Translation: X:632.88, Y:-209.83, Z:-5.03 [[ 7.51629693e-01 6.59580947e-01 -2.40391596e-03 6.32876743e+02] [-6.59577838e-01 7.51633535e-01 2.02615688e-03 -2.09833487e+02] [ 3.14327832e-03 6.26500140e-05 9.99995058e-01 -5.02543641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters 0.05129919851083949 Centerline is valid? [True, True] Translation: X:632.92, Y:-209.88, Z:-5.02 [[ 7.52328040e-01 6.58785994e-01 -1.88004081e-03 6.32920790e+02] [-6.58784088e-01 7.52330388e-01 1.58525263e-03 -2.09877266e+02] [ 2.45875406e-03 4.59109684e-05 9.99996976e-01 -5.02476847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters 0.05087390418332778 Centerline is valid? [True, True] Translation: X:632.97, Y:-209.92, Z:-5.02 [[ 7.54755184e-01 6.56006296e-01 -5.92968877e-04 6.32965038e+02] [-6.56006105e-01 7.54755417e-01 4.99886281e-04 -2.09920538e+02] [ 7.75475019e-04 1.16994417e-05 9.99999699e-01 -5.02365591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters 0.050410879301482685 Centerline is valid? [True, True] Translation: X:633.01, Y:-209.96, Z:-5.02 [[ 7.56471140e-01 6.54026990e-01 3.32406667e-04 6.33009310e+02] [-6.54026930e-01 7.56471213e-01 -2.79882958e-04 -2.09963455e+02] [-4.34507084e-04 -5.67953157e-06 9.99999906e-01 -5.02268357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters 0.05028298419836903 Centerline is valid? [True, True] Translation: X:633.05, Y:-210.01, Z:-5.02 [[ 7.58538813e-01 6.51627569e-01 6.17166496e-04 6.33054252e+02] [-6.51627362e-01 7.58539064e-01 -5.19097227e-04 -2.10006352e+02] [-8.06402960e-04 -8.40718160e-06 9.99999675e-01 -5.02322006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters 0.05090444974418016 Centerline is valid? [True, True] Translation: X:633.10, Y:-210.05, Z:-5.02 [[ 7.57297664e-01 6.53069358e-01 8.13125736e-04 6.33101957e+02] [-6.53068999e-01 7.57298101e-01 -6.84426681e-04 -2.10046798e+02] [-1.06275667e-03 -1.27124843e-05 9.99999435e-01 -5.02383921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters 0.05091930155493042 Centerline is valid? [True, True] Translation: X:633.15, Y:-210.08, Z:-5.03 [[ 7.54654850e-01 6.56121978e-01 -8.34589804e-05 6.33153502e+02] [-6.56121974e-01 7.54654855e-01 7.07725915e-05 -2.10079759e+02] [ 1.09418177e-04 1.35039156e-06 9.99999994e-01 -5.02734074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters 0.05013163024589616 Centerline is valid? [True, True] Translation: X:633.20, Y:-210.12, Z:-5.03 [[ 7.51212642e-01 6.60059335e-01 -1.11390357e-03 6.33201748e+02] [-6.60058666e-01 7.51213467e-01 9.40177801e-04 -2.10117730e+02] [ 1.45735250e-03 2.89682540e-05 9.99998938e-01 -5.02789890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters 0.05104574610890711 Centerline is valid? [True, True] Translation: X:633.25, Y:-210.16, Z:-5.03 [[ 7.48883320e-01 6.62700775e-01 -1.20656585e-03 6.33249438e+02] [-6.62699993e-01 7.48884291e-01 1.01866114e-03 -2.10156419e+02] [ 1.57864574e-03 3.67328432e-05 9.99998753e-01 -5.02817525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters 0.05103879387727678 Centerline is valid? [True, True] Translation: X:633.30, Y:-210.20, Z:-5.03 [[ 7.47942955e-01 6.63761911e-01 -1.20885575e-03 6.33297943e+02] [-6.63761127e-01 7.47943931e-01 1.02093545e-03 -2.10195531e+02] [ 1.58181439e-03 3.87899798e-05 9.99998748e-01 -5.02855710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters 0.052185226775164004 Centerline is valid? [True, True] Translation: X:633.35, Y:-210.23, Z:-5.03 [[ 7.48455508e-01 6.63184435e-01 -8.70990805e-04 6.33345497e+02] [-6.63184027e-01 7.48456014e-01 7.35948303e-04 -2.10233372e+02] [ 1.13996777e-03 2.68026288e-05 9.99999350e-01 -5.02933270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters 0.05046564354918855 Centerline is valid? [True, True] Translation: X:633.39, Y:-210.27, Z:-5.03 [[ 7.50353085e-01 6.61037244e-01 -9.54238795e-05 6.33391600e+02] [-6.61037239e-01 7.50353091e-01 8.06519676e-05 -2.10272459e+02] [ 1.24915557e-04 2.56128508e-06 9.99999992e-01 -5.02903333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters 0.05032518242901502 Centerline is valid? [True, True] Translation: X:633.43, Y:-210.32, Z:-5.03 [[ 7.54615621e-01 6.56165107e-01 1.61758169e-03 6.33432433e+02] [-6.56163688e-01 7.54617354e-01 -1.36476881e-03 -2.10318758e+02] [-2.11616889e-03 -3.15225070e-05 9.99997760e-01 -5.02673830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters 0.050313804085045696 Centerline is valid? [True, True] Translation: X:633.48, Y:-210.36, Z:-5.03 [[ 7.58454457e-01 6.51723554e-01 1.80175172e-03 6.33477949e+02] [-6.51721781e-01 7.58456596e-01 -1.52039364e-03 -2.10359149e+02] [-2.35742682e-03 -2.10915098e-05 9.99997221e-01 -5.02930309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters 0.050041611927879794 Centerline is valid? [True, True] Translation: X:633.52, Y:-210.40, Z:-5.03 [[ 7.59253605e-01 6.50793678e-01 1.24549245e-03 6.33524026e+02] [-6.50792831e-01 7.59254627e-01 -1.05027352e-03 -2.10401278e+02] [-1.62915728e-03 -1.31335996e-05 9.99998673e-01 -5.02924257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters 0.05035538586369445 Centerline is valid? [True, True] Translation: X:633.57, Y:-210.44, Z:-5.03 [[ 7.59196774e-01 6.50861017e-01 4.41374241e-04 6.33571355e+02] [-6.50860910e-01 7.59196903e-01 -3.71630451e-04 -2.10439949e+02] [-5.76969730e-04 -5.13260068e-06 9.99999834e-01 -5.03052296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters 0.051559600256680216 Centerline is valid? [True, True] Translation: X:633.62, Y:-210.48, Z:-5.03 [[ 7.59442902e-01 6.50573952e-01 1.06708183e-04 6.33619603e+02] [-6.50573946e-01 7.59442909e-01 -8.88173277e-05 -2.10480226e+02] [-1.38821013e-04 -1.96987438e-06 9.99999990e-01 -5.03085138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters 0.05101375586364414 Centerline is valid? [True, True] Translation: X:633.67, Y:-210.52, Z:-5.03 [[ 7.60039515e-01 6.49876806e-01 -2.70505604e-04 6.33666527e+02] [-6.49876765e-01 7.60039563e-01 2.29133119e-04 -2.10518825e+02] [ 3.54503260e-04 1.64508283e-06 9.99999937e-01 -5.03211852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters 0.05007041156153754 Centerline is valid? [True, True] Translation: X:633.71, Y:-210.56, Z:-5.03 [[ 7.60271656e-01 6.49605123e-01 4.39390083e-04 6.33714524e+02] [-6.49605017e-01 7.60271783e-01 -3.70793585e-04 -2.10558640e+02] [-5.74925294e-04 -3.52614918e-06 9.99999835e-01 -5.03186384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters 0.050990615330459066 Centerline is valid? [True, True] Translation: X:633.76, Y:-210.60, Z:-5.03 [[ 7.60163022e-01 6.49732250e-01 4.27634770e-04 6.33762802e+02] [-6.49732150e-01 7.60163143e-01 -3.60084837e-04 -2.10599398e+02] [-5.59030922e-04 -4.12488122e-06 9.99999844e-01 -5.03138957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters 0.051470259650116326 Centerline is valid? [True, True] Translation: X:633.81, Y:-210.64, Z:-5.03 [[ 7.59451387e-01 6.50564028e-01 -1.87476046e-04 6.33811654e+02] [-6.50564009e-01 7.59451411e-01 1.59575737e-04 -2.10637582e+02] [ 2.46193181e-04 7.75153299e-07 9.99999970e-01 -5.03202698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters 0.05047241787873131 Centerline is valid? [True, True] Translation: X:633.86, Y:-210.68, Z:-5.03 [[ 7.57278842e-01 6.53090497e-01 -1.24850125e-03 6.33859854e+02] [-6.53089644e-01 7.57279871e-01 1.05562301e-03 -2.10676559e+02] [ 1.63488222e-03 1.59822616e-05 9.99998663e-01 -5.03255598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters 0.0504641483768741 Centerline is valid? [True, True] Translation: X:633.91, Y:-210.72, Z:-5.03 [[ 7.55950277e-01 6.54628765e-01 -5.97968916e-04 6.33907442e+02] [-6.54628570e-01 7.55950514e-01 5.06575764e-04 -2.10715059e+02] [ 7.83653976e-04 8.50144712e-06 9.99999693e-01 -5.03206741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters 0.05137080636673028 Centerline is valid? [True, True] Translation: X:633.96, Y:-210.75, Z:-5.03 [[ 7.54315243e-01 6.56512384e-01 6.38405276e-05 6.33955744e+02] [-6.56512382e-01 7.54315246e-01 -5.29669496e-05 -2.10753300e+02] [-8.29293418e-05 -1.95831935e-06 9.99999997e-01 -5.03273444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters 0.05141895393327101 Centerline is valid? [True, True] Translation: X:634.00, Y:-210.79, Z:-5.03 [[ 7.53161405e-01 6.57835548e-01 -5.38654818e-04 6.34003812e+02] [-6.57835389e-01 7.53161598e-01 4.56692662e-04 -2.10793080e+02] [ 7.06122790e-04 1.03829147e-05 9.99999751e-01 -5.03415310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters 0.05082801743493782 Centerline is valid? [True, True] Translation: X:634.05, Y:-210.83, Z:-5.03 [[ 7.51230527e-01 6.60039081e-01 -1.05209350e-03 6.34051027e+02] [-6.60038480e-01 7.51231263e-01 8.91072062e-04 -2.10832477e+02] [ 1.37850792e-03 2.50216638e-05 9.99999050e-01 -5.03496469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters 0.05079251689097336 Centerline is valid? [True, True] Translation: X:634.10, Y:-210.87, Z:-5.03 [[ 7.49680329e-01 6.61799666e-01 -7.77995387e-04 6.34099089e+02] [-6.61799339e-01 7.49680733e-01 6.58530574e-04 -2.10872457e+02] [ 1.01906347e-03 2.11894148e-05 9.99999481e-01 -5.03442460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters 0.050898189339877026 Centerline is valid? [True, True] Translation: X:634.15, Y:-210.91, Z:-5.03 [[ 7.47733903e-01 6.63998076e-01 -7.52134158e-04 6.34147495e+02] [-6.63997770e-01 7.47734281e-01 6.37413748e-04 -2.10910589e+02] [ 9.85637996e-04 2.27995346e-05 9.99999514e-01 -5.03486514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters 0.050972121532091116 Centerline is valid? [True, True] Translation: X:634.20, Y:-210.95, Z:-5.04 [[ 7.46845915e-01 6.64993025e-01 -2.33584351e-03 6.34195762e+02] [-6.64990087e-01 7.46849564e-01 1.97802904e-03 -2.10948952e+02] [ 3.05989922e-03 7.60298686e-05 9.99995316e-01 -5.03689005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters 0.051707924656882745 Centerline is valid? [True, True] Translation: X:634.25, Y:-210.98, Z:-5.04 [[ 7.47039752e-01 6.64772667e-01 -2.98495246e-03 6.34246712e+02] [-6.64767867e-01 7.47045709e-01 2.52817263e-03 -2.10983986e+02] [ 3.91055599e-03 9.56550251e-05 9.99992349e-01 -5.04110782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters 0.051367822069968795 Centerline is valid? [True, True] Translation: X:634.29, Y:-211.03, Z:-5.04 [[ 7.48592843e-01 6.63025904e-01 -2.32531978e-03 6.34287561e+02] [-6.63022983e-01 7.48596451e-01 1.96906849e-03 -2.11031319e+02] [ 3.04626954e-03 6.77098789e-05 9.99995358e-01 -5.03736297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters 0.05043415722667199 Centerline is valid? [True, True] Translation: X:634.33, Y:-211.07, Z:-5.04 [[ 7.50155773e-01 6.61260092e-01 -1.18649233e-03 6.34332948e+02] [-6.61259329e-01 7.50156710e-01 1.00500138e-03 -2.11071368e+02] [ 1.55462249e-03 3.06715326e-05 9.99998791e-01 -5.03742286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters 0.05032590071703572 Centerline is valid? [True, True] Translation: X:634.38, Y:-211.11, Z:-5.04 [[ 7.52280202e-01 6.58842757e-01 -8.48035667e-04 6.34377594e+02] [-6.58842365e-01 7.52280680e-01 7.18313895e-04 -2.11113311e+02] [ 1.11121675e-03 1.83485026e-05 9.99999382e-01 -5.03746143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters 0.051352023614635534 Centerline is valid? [True, True] Translation: X:634.43, Y:-211.15, Z:-5.04 [[ 7.52593794e-01 6.58481743e-01 -2.09170915e-03 6.34426234e+02] [-6.58479358e-01 7.52596699e-01 1.77287353e-03 -2.11152753e+02] [ 2.74161826e-03 4.30936842e-05 9.99996241e-01 -5.03986301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters 0.05093146909443488 Centerline is valid? [True, True] Translation: X:634.47, Y:-211.19, Z:-5.04 [[ 7.51803068e-01 6.59383293e-01 -2.41257788e-03 6.34473557e+02] [-6.59380127e-01 7.51806937e-01 2.04421349e-03 -2.11192267e+02] [ 3.16171301e-03 5.39599367e-05 9.99995000e-01 -5.04008584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters 0.05104763605661578 Centerline is valid? [True, True] Translation: X:634.52, Y:-211.23, Z:-5.04 [[ 7.50500097e-01 6.60869128e-01 -1.26471820e-03 6.34524072e+02] [-6.60868259e-01 7.50501162e-01 1.07201027e-03 -2.11226692e+02] [ 1.65763097e-03 3.12682997e-05 9.99998626e-01 -5.04085092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters 0.051175922120678306 Centerline is valid? [True, True] Translation: X:634.57, Y:-211.27, Z:-5.04 [[ 7.49453054e-01 6.62055501e-01 -1.62312258e-03 6.34572982e+02] [-6.62054071e-01 7.49454810e-01 1.37643053e-03 -2.11265215e+02] [ 2.12773043e-03 4.30248459e-05 9.99997735e-01 -5.04087930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters 0.05210820176927065 Centerline is valid? [True, True] Translation: X:634.62, Y:-211.30, Z:-5.04 [[ 7.50104746e-01 6.61314838e-01 -2.35690037e-03 6.34621320e+02] [-6.61311821e-01 7.50108446e-01 1.99868369e-03 -2.11304673e+02] [ 3.08969006e-03 5.94239554e-05 9.99995225e-01 -5.04153983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters 0.050247461224181625 Centerline is valid? [True, True] Translation: X:634.67, Y:-211.35, Z:-5.04 [[ 7.53754396e-01 6.57148439e-01 -3.20012573e-03 6.34666172e+02] [-6.57142842e-01 7.53761187e-01 2.71262180e-03 -2.11346781e+02] [ 4.19472575e-03 5.82891120e-05 9.99991200e-01 -5.04161772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters 0.05222390627363933 Centerline is valid? [True, True] Translation: X:634.71, Y:-211.39, Z:-5.04 [[ 7.60659944e-01 6.49148134e-01 -1.77483099e-03 6.34710052e+02] [-6.49146389e-01 7.60662014e-01 1.50522357e-03 -2.11389042e+02] [ 2.32715959e-03 7.16185442e-06 9.99997292e-01 -5.04329262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters 0.05160934420942774 Centerline is valid? [True, True] Translation: X:634.75, Y:-211.43, Z:-5.04 [[ 7.66121839e-01 6.42695127e-01 -5.49479443e-04 6.34753597e+02] [-6.42694958e-01 7.66122036e-01 4.66236826e-04 -2.11433654e+02] [ 7.20616445e-04 -4.04654692e-06 9.99999740e-01 -5.04175353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters 0.05227765800205481 Centerline is valid? [True, True] Translation: X:634.79, Y:-211.48, Z:-5.04 [[ 7.72417668e-01 6.35114743e-01 -4.57950945e-04 6.34793766e+02] [-6.35114624e-01 7.72417803e-01 3.88480105e-04 -2.11480724e+02] [ 6.00458905e-04 -9.21755450e-06 9.99999820e-01 -5.04071706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters 0.05217355468943017 Centerline is valid? [True, True] Translation: X:634.84, Y:-211.52, Z:-5.04 [[ 7.74147642e-01 6.33004521e-01 8.39635255e-04 6.34841063e+02] [-6.33004122e-01 7.74148097e-01 -7.10966036e-04 -2.11520252e+02] [-1.10004675e-03 1.89001033e-05 9.99999395e-01 -5.04109166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters 0.05209093328297829 Centerline is valid? [True, True] Translation: X:634.89, Y:-211.56, Z:-5.04 [[ 7.73533387e-01 6.33755018e-01 8.21888194e-04 6.34889295e+02] [-6.33754636e-01 7.73533824e-01 -6.96627369e-04 -2.11560226e+02] [-1.07724941e-03 1.79890750e-05 9.99999420e-01 -5.04137901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters 0.052140332614270604 Centerline is valid? [True, True] Translation: X:634.94, Y:-211.60, Z:-5.04 [[ 7.70983856e-01 6.36853813e-01 1.05551270e-03 6.34936988e+02] [-6.36853184e-01 7.70984579e-01 -8.94905920e-04 -2.11598427e+02] [-1.38370826e-03 1.77513925e-05 9.99999043e-01 -5.04056465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters 0.05129995835481285 Centerline is valid? [True, True] Translation: X:634.99, Y:-211.63, Z:-5.04 [[ 7.67655648e-01 6.40861752e-01 1.01030131e-03 6.34986364e+02] [-6.40861180e-01 7.67656313e-01 -8.56675112e-04 -2.11634638e+02] [-1.32457449e-03 1.01685986e-05 9.99999123e-01 -5.04133149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters 0.051953019327452644 Centerline is valid? [True, True] Translation: X:635.04, Y:-211.67, Z:-5.04 [[ 7.60925612e-01 6.48839062e-01 -2.89083635e-04 6.35036478e+02] [-6.48839016e-01 7.60925667e-01 2.46317174e-04 -2.11669539e+02] [ 3.79791362e-04 1.39694789e-07 9.99999928e-01 -5.03929663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters 0.05126295519932306 Centerline is valid? [True, True] Translation: X:635.09, Y:-211.71, Z:-5.04 [[ 7.58544269e-01 6.51621334e-01 -4.78013629e-04 6.35085091e+02] [-6.51621207e-01 7.58544420e-01 4.06718663e-04 -2.11706621e+02] [ 6.27621128e-04 2.96970640e-06 9.99999803e-01 -5.04339485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters 0.05141194745798009 Centerline is valid? [True, True] Translation: X:635.14, Y:-211.74, Z:-5.04 [[ 7.51666971e-01 6.59540157e-01 -1.88318205e-03 6.35136286e+02] [-6.59538222e-01 7.51669328e-01 1.59826469e-03 -2.11741195e+02] [ 2.46964994e-03 4.06677602e-05 9.99996950e-01 -5.04481286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters 0.051264389170526 Centerline is valid? [True, True] Translation: X:635.18, Y:-211.78, Z:-5.04 [[ 7.46838910e-01 6.65004860e-01 -4.22717463e-04 6.35184094e+02] [-6.65004763e-01 7.46839030e-01 3.59418305e-04 -2.11780354e+02] [ 5.54716819e-04 1.26815511e-05 9.99999846e-01 -5.04270866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters 0.052661075854112185 Centerline is valid? [True, True] Translation: X:635.24, Y:-211.81, Z:-5.04 [[ 7.45031663e-01 6.67029072e-01 1.93510434e-04 6.35236202e+02] [-6.67029052e-01 7.45031689e-01 -1.63364214e-04 -2.11813160e+02] [-2.53140085e-04 -7.36556937e-06 9.99999968e-01 -5.04456544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters 0.05226409515879172 Centerline is valid? [True, True] Translation: X:635.28, Y:-211.86, Z:-5.04 [[ 7.44487911e-01 6.67635746e-01 -5.11466017e-04 6.35280437e+02] [-6.67635604e-01 7.44488086e-01 4.35301890e-04 -2.11857688e+02] [ 6.71403458e-04 1.73959290e-05 9.99999774e-01 -5.04295276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters 0.05194239704815354 Centerline is valid? [True, True] Translation: X:635.33, Y:-211.90, Z:-5.04 [[ 7.44070962e-01 6.68100591e-01 6.66034091e-05 6.35327859e+02] [-6.68100588e-01 7.44070965e-01 -5.55315223e-05 -2.11897517e+02] [-8.66583060e-05 -3.17838363e-06 9.99999996e-01 -5.04293013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters 0.05077268218556974 Centerline is valid? [True, True] Translation: X:635.37, Y:-211.94, Z:-5.04 [[ 7.43299475e-01 6.68958786e-01 -1.81545646e-04 6.35373076e+02] [-6.68958768e-01 7.43299497e-01 1.54727214e-04 -2.11939398e+02] [ 2.38448916e-04 6.43789508e-06 9.99999972e-01 -5.04298784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters 0.052359486387988464 Centerline is valid? [True, True] Translation: X:635.42, Y:-211.97, Z:-5.05 [[ 7.42119730e-01 6.70263569e-01 -2.24832458e-03 6.35421919e+02] [-6.70260855e-01 7.42123130e-01 1.90968365e-03 -2.11974877e+02] [ 2.94852505e-03 8.97500396e-05 9.99995649e-01 -5.04661637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters 0.05255232621534978 Centerline is valid? [True, True] Translation: X:635.46, Y:-212.02, Z:-5.05 [[ 7.43671667e-01 6.68533519e-01 -3.92238786e-03 6.35464208e+02] [-6.68525232e-01 7.43681997e-01 3.33187018e-03 -2.12020692e+02] [ 5.14447613e-03 1.44397803e-04 9.99986757e-01 -5.04744946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters 0.050835002562221926 Centerline is valid? [True, True] Translation: X:635.51, Y:-212.06, Z:-5.05 [[ 7.45794326e-01 6.66165944e-01 -3.70915118e-03 6.35508354e+02] [-6.66158504e-01 7.45803540e-01 3.15079266e-03 -2.12063475e+02] [ 4.86524885e-03 1.21039317e-04 9.99988157e-01 -5.04680778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters 0.05115375973008827 Centerline is valid? [True, True] Translation: X:635.55, Y:-212.11, Z:-5.04 [[ 7.48569640e-01 6.63050832e-01 -2.66232641e-03 6.35550550e+02] [-6.63046975e-01 7.48574371e-01 2.26285207e-03 -2.12109466e+02] [ 3.49333527e-03 7.13451140e-05 9.99993896e-01 -5.04462404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters 0.0503802089498616 Centerline is valid? [True, True] Translation: X:635.59, Y:-212.15, Z:-5.04 [[ 7.51042130e-01 6.60253303e-01 -1.13793532e-03 6.35593408e+02] [-6.60252594e-01 7.51042992e-01 9.67781754e-04 -2.12153306e+02] [ 1.49361945e-03 2.44798796e-05 9.99998884e-01 -5.04306187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters 0.05128491495471825 Centerline is valid? [True, True] Translation: X:635.64, Y:-212.20, Z:-5.04 [[ 7.54721027e-01 6.56045464e-01 -7.21706550e-04 6.35638078e+02] [-6.56045177e-01 7.54721372e-01 6.13609390e-04 -2.12196371e+02] [ 9.47243014e-04 1.03681935e-05 9.99999551e-01 -5.04360368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters 0.051597269387156725 Centerline is valid? [True, True] Translation: X:635.69, Y:-212.24, Z:-5.05 [[ 7.54848041e-01 6.55898786e-01 -1.10343925e-03 6.35685853e+02] [-6.55898114e-01 7.54848847e-01 9.39126805e-04 -2.12235417e+02] [ 1.44890198e-03 1.48456939e-05 9.99998950e-01 -5.04527312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters 0.05085019863472129 Centerline is valid? [True, True] Translation: X:635.73, Y:-212.27, Z:-5.05 [[ 7.53747612e-01 6.57160836e-01 -2.04303022e-03 6.35733522e+02] [-6.57158540e-01 7.53750380e-01 1.73726180e-03 -2.12272852e+02] [ 2.68159522e-03 3.31378244e-05 9.99996404e-01 -5.04607332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters 0.05194419639788041 Centerline is valid? [True, True] Translation: X:635.78, Y:-212.31, Z:-5.05 [[ 7.54215542e-01 6.56624595e-01 -1.74856283e-03 6.35780579e+02] [-6.56622910e-01 7.54217568e-01 1.48788205e-03 -2.12313271e+02] [ 2.29577675e-03 2.59626437e-05 9.99997364e-01 -5.04522264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters 0.051072341166191734 Centerline is valid? [True, True] Translation: X:635.83, Y:-212.35, Z:-5.05 [[ 7.55021960e-01 6.55695099e-01 -2.40360972e-03 6.35829806e+02] [-6.55691910e-01 7.55025785e-01 2.04520492e-03 -2.12350135e+02] [ 3.15581815e-03 3.18528252e-05 9.99995020e-01 -5.04911830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters 0.051941680481932415 Centerline is valid? [True, True] Translation: X:635.88, Y:-212.39, Z:-5.05 [[ 7.56557591e-01 6.53924586e-01 -1.80195447e-03 6.35876019e+02] [-6.53922787e-01 7.56559737e-01 1.53398548e-03 -2.12391584e+02] [ 2.36639702e-03 1.77907322e-05 9.99997200e-01 -5.04790027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters 0.05092981085691739 Centerline is valid? [True, True] Translation: X:635.92, Y:-212.43, Z:-5.05 [[ 7.59956921e-01 6.49972023e-01 -1.35933942e-03 6.35921344e+02] [-6.49970993e-01 7.59958137e-01 1.15684113e-03 -2.12433301e+02] [ 1.78495542e-03 4.38176311e-06 9.99998407e-01 -5.04882842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters 0.05106633024366058 Centerline is valid? [True, True] Translation: X:635.97, Y:-212.48, Z:-5.05 [[ 7.63363795e-01 6.45967621e-01 -1.24436714e-03 6.35967916e+02] [-6.45966751e-01 7.63364810e-01 1.06020829e-03 -2.12475947e+02] [ 1.63476631e-03 -5.50482216e-06 9.99998664e-01 -5.04884640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters 0.051738019839028246 Centerline is valid? [True, True] Translation: X:636.01, Y:-212.52, Z:-5.05 [[ 7.68126435e-01 6.40298190e-01 -8.48245522e-05 6.36013809e+02] [-6.40298186e-01 7.68126440e-01 7.25104062e-05 -2.12518377e+02] [ 1.11584263e-04 -1.38415289e-06 9.99999994e-01 -5.04913873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters 0.051969728128197924 Centerline is valid? [True, True] Translation: X:636.06, Y:-212.56, Z:-5.05 [[ 7.70835750e-01 6.37033219e-01 9.61832092e-04 6.36061131e+02] [-6.37032694e-01 7.70836350e-01 -8.18048669e-04 -2.12558353e+02] [-1.26253932e-03 1.78626706e-05 9.99999203e-01 -5.04784941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters 0.053084874590017025 Centerline is valid? [True, True] Translation: X:636.10, Y:-212.60, Z:-5.05 [[ 7.74468934e-01 6.32610559e-01 1.32332227e-03 6.36104981e+02] [-6.32609558e-01 7.74470064e-01 -1.12589399e-03 -2.12599992e+02] [-1.73712591e-03 3.48236010e-05 9.99998491e-01 -5.04961799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters 0.05234588346834109 Centerline is valid? [True, True] Translation: X:636.15, Y:-212.64, Z:-5.05 [[ 7.77871399e-01 6.28421033e-01 1.75803549e-03 6.36153500e+02] [-6.28419255e-01 7.77873384e-01 -1.49623139e-03 -2.12636728e+02] [-2.30779229e-03 5.90922530e-05 9.99997335e-01 -5.05020605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters 0.05274675267714925 Centerline is valid? [True, True] Translation: X:636.20, Y:-212.68, Z:-5.05 [[ 7.80068419e-01 6.25687915e-01 2.80978846e-03 6.36199587e+02] [-6.25683352e-01 7.80073472e-01 -2.39183696e-03 -2.12677375e+02] [-3.68838492e-03 1.07758616e-04 9.99993192e-01 -5.05014912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters 0.05270964644763581 Centerline is valid? [True, True] Translation: X:636.25, Y:-212.71, Z:-5.05 [[ 7.82305489e-01 6.22889812e-01 2.53055411e-03 6.36254653e+02] [-6.22886098e-01 7.82309574e-01 -2.15385444e-03 -2.12706823e+02] [-3.32129069e-03 1.08725173e-04 9.99994479e-01 -5.04932020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters 0.05342380399187953 Centerline is valid? [True, True] Translation: X:636.30, Y:-212.75, Z:-5.05 [[ 7.82027565e-01 6.23242359e-01 1.36025899e-03 6.36298322e+02] [-6.23241287e-01 7.82028746e-01 -1.15756817e-03 -2.12749479e+02] [-1.78520715e-03 5.74806559e-05 9.99998405e-01 -5.05117805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters 0.05284393341192722 Centerline is valid? [True, True] Translation: X:636.35, Y:-212.78, Z:-5.05 [[ 7.79192718e-01 6.26784046e-01 6.83575497e-04 6.36351009e+02] [-6.26783777e-01 7.79193018e-01 -5.81400969e-04 -2.12782623e+02] [-8.97050106e-04 2.45693695e-05 9.99999597e-01 -5.05181651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters 0.053741468064809915 Centerline is valid? [True, True] Translation: X:636.40, Y:-212.82, Z:-5.05 [[ 7.75482963e-01 6.31368376e-01 3.85013496e-04 6.36397894e+02] [-6.31368291e-01 7.75483058e-01 -3.27711591e-04 -2.12822065e+02] [-5.05478178e-04 1.10494424e-05 9.99999872e-01 -5.05374842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters 0.05194601123347742 Centerline is valid? [True, True] Translation: X:636.45, Y:-212.86, Z:-5.05 [[ 7.73075505e-01 6.34313382e-01 8.92621624e-04 6.36450154e+02] [-6.34312927e-01 7.73076020e-01 -7.60256647e-04 -2.12855977e+02] [-1.17230534e-03 2.15343561e-05 9.99999313e-01 -5.05309465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters 0.05266384652056787 Centerline is valid? [True, True] Translation: X:636.50, Y:-212.89, Z:-5.05 [[ 7.69517186e-01 6.38625276e-01 1.02827275e-03 6.36504474e+02] [-6.38624676e-01 7.69517872e-01 -8.75961325e-04 -2.12885743e+02] [-1.35068530e-03 1.73869421e-05 9.99999088e-01 -5.05142932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters 0.05267964135532124 Centerline is valid? [True, True] Translation: X:636.55, Y:-212.92, Z:-5.05 [[ 7.68358395e-01 6.40018125e-01 1.47523182e-03 6.36551412e+02] [-6.40016892e-01 7.68359811e-01 -1.25616814e-03 -2.12924787e+02] [-1.93747922e-03 2.10140488e-05 9.99998123e-01 -5.05229300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters 0.05267964135532124 Centerline is valid? [True, True] Translation: X:636.60, Y:-212.97, Z:-5.05 [[ 7.68280821e-01 6.40111243e-01 1.47518533e-03 6.36599003e+02] [-6.40110011e-01 7.68282237e-01 -1.25622276e-03 -2.12965270e+02] [-1.93748100e-03 2.08509579e-05 9.99998123e-01 -5.05275366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters 0.05232957035008077 Centerline is valid? [True, True] Translation: X:636.65, Y:-213.00, Z:-5.05 [[ 7.64849057e-01 6.44206915e-01 1.83621366e-03 6.36649131e+02] [-6.44205014e-01 7.64851261e-01 -1.56490065e-03 -2.13000921e+02] [-2.41255016e-03 1.40147402e-05 9.99997090e-01 -5.05466321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters 0.05238172870690136 Centerline is valid? [True, True] Translation: X:636.70, Y:-213.04, Z:-5.06 [[ 7.61612931e-01 6.48031942e-01 5.87881089e-04 6.36699170e+02] [-6.48031749e-01 7.61613158e-01 -5.00535214e-04 -2.13036929e+02] [-7.72100780e-04 2.48480759e-07 9.99999702e-01 -5.05643601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters 0.05222297821696224 Centerline is valid? [True, True] Translation: X:636.75, Y:-213.08, Z:-5.06 [[ 7.59991326e-01 6.49932960e-01 5.75474719e-04 6.36747636e+02] [-6.49932776e-01 7.59991544e-01 -4.89808002e-04 -2.13076733e+02] [-7.55698285e-04 -1.77004858e-06 9.99999714e-01 -5.05620067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters 0.052593881633534505 Centerline is valid? [True, True] Translation: X:636.80, Y:-213.11, Z:-5.06 [[ 7.58066783e-01 6.52176905e-01 1.95345503e-04 6.36796560e+02] [-6.52176883e-01 7.58066808e-01 -1.65969823e-04 -2.13114202e+02] [-2.56326627e-04 -1.58361165e-06 9.99999967e-01 -5.05804685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters 0.051982570226719524 Centerline is valid? [True, True] Translation: X:636.84, Y:-213.16, Z:-5.06 [[ 7.57851549e-01 6.52426995e-01 -2.15761603e-04 6.36844034e+02] [-6.52426968e-01 7.57851580e-01 1.85334192e-04 -2.13155258e+02] [ 2.84432302e-04 3.12884097e-07 9.99999960e-01 -5.05901253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters 0.052188700569906384 Centerline is valid? [True, True] Translation: X:636.89, Y:-213.20, Z:-5.06 [[ 7.57696722e-01 6.52606747e-01 -3.32840323e-04 6.36890588e+02] [-6.52606685e-01 7.57696795e-01 2.85320522e-04 -2.13197050e+02] [ 4.38394143e-04 1.02739525e-06 9.99999904e-01 -5.05898256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters 0.05174108798375383 Centerline is valid? [True, True] Translation: X:636.94, Y:-213.24, Z:-5.06 [[ 7.56479637e-01 6.54017117e-01 4.12883351e-04 6.36938151e+02] [-6.54017022e-01 7.56479749e-01 -3.51167949e-04 -2.13236968e+02] [-5.42007744e-04 -4.38133688e-06 9.99999853e-01 -5.06008092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters 0.05190545563602458 Centerline is valid? [True, True] Translation: X:636.99, Y:-213.28, Z:-5.06 [[ 7.55110109e-01 6.55597944e-01 2.44535805e-04 6.36985054e+02] [-6.55597911e-01 7.55110149e-01 -2.07617414e-04 -2.13278284e+02] [-3.20765018e-04 -3.54315474e-06 9.99999949e-01 -5.05903852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters 0.0521326248799483 Centerline is valid? [True, True] Translation: X:637.03, Y:-213.32, Z:-5.06 [[ 7.52436826e-01 6.58664343e-01 3.25402649e-04 6.37029852e+02] [-6.58664284e-01 7.52436897e-01 -2.77488124e-04 -2.13321120e+02] [-4.27616493e-04 -5.53881946e-06 9.99999909e-01 -5.05823223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters 0.051230277310567084 Centerline is valid? [True, True] Translation: X:637.08, Y:-213.36, Z:-5.06 [[ 7.49585042e-01 6.61908021e-01 1.94127814e-04 6.37078911e+02] [-6.61908000e-01 7.49585067e-01 -1.64830439e-04 -2.13357189e+02] [-2.54617900e-04 -4.94032192e-06 9.99999968e-01 -5.06169247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters 0.052542585938341504 Centerline is valid? [True, True] Translation: X:637.12, Y:-213.40, Z:-5.06 [[ 7.48247485e-01 6.63417868e-01 1.56002698e-03 6.37122723e+02] [-6.63416533e-01 7.48249111e-01 -1.33134791e-03 -2.13402241e+02] [-2.05052879e-03 -3.87699689e-05 9.99997897e-01 -5.06033794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters 0.05146605722329989 Centerline is valid? [True, True] Translation: X:637.17, Y:-213.45, Z:-5.06 [[ 7.46346171e-01 6.65555605e-01 1.76909552e-03 6.37167128e+02] [-6.65553893e-01 7.46348266e-01 -1.51032193e-03 -2.13445048e+02] [-2.32556460e-03 -5.02054193e-05 9.99997295e-01 -5.06071654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters 0.0517154508147878 Centerline is valid? [True, True] Translation: X:637.21, Y:-213.48, Z:-5.06 [[ 7.44467810e-01 6.67655732e-01 1.87186263e-03 6.37213505e+02] [-6.67653821e-01 7.44470161e-01 -1.59853923e-03 -2.13484449e+02] [-2.46081976e-03 -5.96952337e-05 9.99996970e-01 -5.06169696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters 0.0512739104264068 Centerline is valid? [True, True] Translation: X:637.25, Y:-213.53, Z:-5.06 [[ 7.42637350e-01 6.69690101e-01 2.22124083e-03 6.37254652e+02] [-6.69687418e-01 7.42640668e-01 -1.89739760e-03 -2.13530516e+02] [-2.92025216e-03 -7.84587142e-05 9.99995733e-01 -5.06150341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters 0.05147451117604385 Centerline is valid? [True, True] Translation: X:637.30, Y:-213.57, Z:-5.06 [[ 7.41430136e-01 6.71028535e-01 1.43486269e-03 6.37304842e+02] [-6.71027417e-01 7.41431522e-01 -1.22605599e-03 -2.13565001e+02] [-1.88657098e-03 -5.37973465e-05 9.99998219e-01 -5.06428965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters 0.050881086355649245 Centerline is valid? [True, True] Translation: X:637.34, Y:-213.61, Z:-5.06 [[ 7.38904346e-01 6.73807447e-01 1.97260126e-03 6.37344196e+02] [-6.73805344e-01 7.38906975e-01 -1.68538058e-03 -2.13612971e+02] [-2.59319081e-03 -8.38142382e-05 9.99996634e-01 -5.06275296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters 0.05250425781487351 Centerline is valid? [True, True] Translation: X:637.40, Y:-213.65, Z:-5.06 [[ 7.38354446e-01 6.74411264e-01 1.46943943e-03 6.37396045e+02] [-6.74410098e-01 7.38355906e-01 -1.25544160e-03 -2.13646752e+02] [-1.93165324e-03 -6.40439041e-05 9.99998132e-01 -5.06481879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters 0.04992962669126895 Centerline is valid? [True, True] Translation: X:637.43, Y:-213.70, Z:-5.06 [[ 7.38513187e-01 6.74238773e-01 5.91859021e-04 6.37434097e+02] [-6.74238584e-01 7.38513423e-01 -5.05098381e-04 -2.13698282e+02] [-7.77652745e-04 -2.60323737e-05 9.99999697e-01 -5.06400616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters 0.05052153143961251 Centerline is valid? [True, True] Translation: X:637.48, Y:-213.74, Z:-5.07 [[ 7.40216082e-01 6.72368514e-01 -8.56631639e-04 6.37479360e+02] [-6.72368115e-01 7.40216577e-01 7.33542547e-04 -2.13738818e+02] [ 1.12730385e-03 3.29918101e-05 9.99999364e-01 -5.06634604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters 0.050416379167137974 Centerline is valid? [True, True] Translation: X:637.52, Y:-213.78, Z:-5.07 [[ 7.42270267e-01 6.70100576e-01 -2.62866602e-04 6.37522272e+02] [-6.70100538e-01 7.42270314e-01 2.25544820e-04 -2.13783489e+02] [ 3.46255788e-04 8.73183724e-06 9.99999940e-01 -5.06576546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters 0.0504328505920092 Centerline is valid? [True, True] Translation: X:637.57, Y:-213.83, Z:-5.07 [[ 7.46069860e-01 6.65867048e-01 9.15465018e-04 6.37566320e+02] [-6.65866588e-01 7.46070421e-01 -7.82964834e-04 -2.13826494e+02] [-1.20435185e-03 -2.54311047e-05 9.99999274e-01 -5.06615726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters 0.050239147865890094 Centerline is valid? [True, True] Translation: X:637.61, Y:-213.87, Z:-5.07 [[ 7.48563164e-01 6.63062740e-01 9.96455331e-04 6.37612274e+02] [-6.63062193e-01 7.48563827e-01 -8.52186711e-04 -2.13868218e+02] [-1.31096367e-03 -2.27962759e-05 9.99999140e-01 -5.06674935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters 0.050575524956887816 Centerline is valid? [True, True] Translation: X:637.66, Y:-213.91, Z:-5.07 [[ 7.50061003e-01 6.61368318e-01 6.62909061e-04 6.37660649e+02] [-6.61368076e-01 7.50061296e-01 -5.66629865e-04 -2.13905296e+02] [-8.71973471e-04 -1.34199260e-05 9.99999620e-01 -5.06940437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters 0.050664268325258485 Centerline is valid? [True, True] Translation: X:637.71, Y:-213.95, Z:-5.07 [[ 7.50130038e-01 6.61290343e-01 9.42419376e-05 6.37706839e+02] [-6.61290338e-01 7.50130044e-01 -7.94139721e-05 -2.13947923e+02] [-1.23209402e-04 -2.75047694e-06 9.99999992e-01 -5.06870316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters 0.05023621982187354 Centerline is valid? [True, True] Translation: X:637.76, Y:-213.99, Z:-5.07 [[ 7.48832183e-01 6.62759618e-01 2.22993326e-04 6.37756423e+02] [-6.62759591e-01 7.48832217e-01 -1.89811129e-04 -2.13985978e+02] [-2.92783738e-04 -5.65428300e-06 9.99999957e-01 -5.06902511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters 0.05121977760908655 Centerline is valid? [True, True] Translation: X:637.81, Y:-214.02, Z:-5.07 [[ 7.48263748e-01 6.63401145e-01 5.33140718e-04 6.37805040e+02] [-6.63400989e-01 7.48263938e-01 -4.55520937e-04 -2.14023718e+02] [-7.01123085e-04 -1.28362761e-05 9.99999754e-01 -5.06975612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters 0.05016174728409746 Centerline is valid? [True, True] Translation: X:637.85, Y:-214.07, Z:-5.07 [[ 7.49228598e-01 6.62311388e-01 -3.65906826e-04 6.37851155e+02] [-6.62311313e-01 7.49228687e-01 3.14502333e-04 -2.14065699e+02] [ 4.82446367e-04 6.71008866e-06 9.99999884e-01 -5.06992193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters 0.05099912961044076 Centerline is valid? [True, True] Translation: X:637.90, Y:-214.11, Z:-5.07 [[ 7.49514512e-01 6.61985674e-01 -1.72162286e-03 6.37898379e+02] [-6.61984029e-01 7.49516489e-01 1.47600812e-03 -2.14106328e+02] [ 2.26748095e-03 3.33973349e-05 9.99997429e-01 -5.07179295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters 0.05045973822017725 Centerline is valid? [True, True] Translation: X:637.95, Y:-214.15, Z:-5.07 [[ 7.49827745e-01 6.61626874e-01 -2.86932341e-03 6.37945099e+02] [-6.61622303e-01 7.49833233e-01 2.45980538e-03 -2.14146858e+02] [ 3.77898739e-03 5.39780489e-05 9.99992858e-01 -5.07285853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters 0.05094256421154579 Centerline is valid? [True, True] Translation: X:637.99, Y:-214.19, Z:-5.07 [[ 7.49911067e-01 6.61529811e-01 -3.42077226e-03 6.37992854e+02] [-6.61523310e-01 7.49918866e-01 2.93326576e-03 -2.14188632e+02] [ 4.50574440e-03 6.32321407e-05 9.99989847e-01 -5.07295605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters 0.05132404575985569 Centerline is valid? [True, True] Translation: X:638.04, Y:-214.23, Z:-5.07 [[ 7.49335496e-01 6.62181416e-01 -3.47671966e-03 6.38040212e+02] [-6.62174710e-01 7.49343558e-01 2.98092347e-03 -2.14227177e+02] [ 4.57916960e-03 6.84840690e-05 9.99989513e-01 -5.07436051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters 0.05140279576964898 Centerline is valid? [True, True] Translation: X:638.09, Y:-214.27, Z:-5.07 [[ 7.48273272e-01 6.63382646e-01 -3.25190792e-03 6.38086706e+02] [-6.63376790e-01 7.48280335e-01 2.78823543e-03 -2.14268189e+02] [ 4.28300574e-03 7.08781857e-05 9.99990825e-01 -5.07365630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters 0.0502829420441825 Centerline is valid? [True, True] Translation: X:638.13, Y:-214.31, Z:-5.07 [[ 7.46445431e-01 6.65437103e-01 -3.56104872e-03 6.38132840e+02] [-6.65430098e-01 7.46453919e-01 3.05453818e-03 -2.14309028e+02] [ 4.69076181e-03 8.95829380e-05 9.99988994e-01 -5.07316464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters 0.05094793408314168 Centerline is valid? [True, True] Translation: X:638.18, Y:-214.35, Z:-5.07 [[ 7.45570780e-01 6.66419015e-01 -3.14772123e-03 6.38180954e+02] [-6.66413547e-01 7.45577420e-01 2.70079197e-03 -2.14348636e+02] [ 4.14672899e-03 8.40524939e-05 9.99991399e-01 -5.07376371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters 0.05140463775192313 Centerline is valid? [True, True] Translation: X:638.23, Y:-214.39, Z:-5.08 [[ 7.44669878e-01 6.67425881e-01 -3.07677327e-03 6.38228837e+02] [-6.67420666e-01 7.44676229e-01 2.63969323e-03 -2.14386117e+02] [ 4.05299949e-03 8.78020312e-05 9.99991783e-01 -5.07500600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters 0.050524026955137656 Centerline is valid? [True, True] Translation: X:638.28, Y:-214.43, Z:-5.07 [[ 7.44752544e-01 6.67335712e-01 -2.58758302e-03 6.38276279e+02] [-6.67332020e-01 7.44757036e-01 2.22109382e-03 -2.14426631e+02] [ 3.40933588e-03 7.26117314e-05 9.99994186e-01 -5.07447212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters 0.05032640236301659 Centerline is valid? [True, True] Translation: X:638.32, Y:-214.47, Z:-5.07 [[ 7.45252126e-01 6.66778552e-01 -2.37318801e-03 6.38322483e+02] [-6.66775442e-01 7.45255901e-01 2.03763536e-03 -2.14468751e+02] [ 3.12728393e-03 6.38314049e-05 9.99995108e-01 -5.07346606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters 0.050528982451568207 Centerline is valid? [True, True] Translation: X:638.37, Y:-214.51, Z:-5.07 [[ 7.46468236e-01 6.65414354e-01 -2.98495739e-03 6.38368083e+02] [-6.65409421e-01 7.46474200e-01 2.56320383e-03 -2.14511380e+02] [ 3.93378630e-03 7.28685329e-05 9.99992260e-01 -5.07345708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters 0.05169876558059908 Centerline is valid? [True, True] Translation: X:638.41, Y:-214.55, Z:-5.08 [[ 7.47358750e-01 6.64409873e-01 -3.79740453e-03 6.38414566e+02] [-6.64401875e-01 7.47368392e-01 3.26115999e-03 -2.14550493e+02] [ 5.00480701e-03 8.57462415e-05 9.99987472e-01 -5.07586421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters 0.05080659514643956 Centerline is valid? [True, True] Translation: X:638.46, Y:-214.59, Z:-5.08 [[ 7.48394911e-01 6.63230444e-01 -5.51682199e-03 6.38461777e+02] [-6.63213524e-01 7.48415236e-01 4.73874693e-03 -2.14590412e+02] [ 7.27175487e-03 1.12376868e-04 9.99973554e-01 -5.07843118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters 0.050563117333416306 Centerline is valid? [True, True] Translation: X:638.51, Y:-214.63, Z:-5.08 [[ 7.50875789e-01 6.60427690e-01 -4.56242022e-03 6.38508169e+02] [-6.60416071e-01 7.50889646e-01 3.91820952e-03 -2.14629213e+02] [ 6.01356817e-03 7.10069700e-05 9.99981916e-01 -5.07980642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters 0.05116006909844416 Centerline is valid? [True, True] Translation: X:638.55, Y:-214.67, Z:-5.08 [[ 7.52977464e-01 6.58035020e-01 -3.85388950e-03 6.38552952e+02] [-6.58026695e-01 7.52987325e-01 3.31013265e-03 -2.14672007e+02] [ 5.08011314e-03 4.35068818e-05 9.99987095e-01 -5.07772503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters 0.05081752119649799 Centerline is valid? [True, True] Translation: X:638.60, Y:-214.72, Z:-5.07 [[ 7.57350498e-01 6.53001988e-01 -2.93712343e-03 6.38595360e+02] [-6.52997115e-01 7.57356193e-01 2.52283513e-03 -2.14716727e+02] [ 3.87186498e-03 7.26268208e-06 9.99992504e-01 -5.07420878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters 0.050899683971001974 Centerline is valid? [True, True] Translation: X:638.64, Y:-214.76, Z:-5.08 [[ 7.60026400e-01 6.49886681e-01 -2.67832248e-03 6.38641637e+02] [-6.49882604e-01 7.60031119e-01 2.30206996e-03 -2.14757815e+02] [ 3.53169304e-03 -9.03875958e-06 9.99993764e-01 -5.07578573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters 0.05231653598060662 Centerline is valid? [True, True] Translation: X:638.69, Y:-214.80, Z:-5.07 [[ 7.64774424e-01 6.44295174e-01 -1.95155064e-03 6.38687346e+02] [-6.44292991e-01 7.64776914e-01 1.67733676e-03 -2.14799679e+02] [ 2.57320085e-03 -2.54138562e-05 9.99996689e-01 -5.07412738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters 0.053103529429827885 Centerline is valid? [True, True] Translation: X:638.73, Y:-214.84, Z:-5.07 [[ 7.68832047e-01 6.39446179e-01 -2.42231489e-03 6.38734075e+02] [-6.39442792e-01 7.68835861e-01 2.08186153e-03 -2.14837257e+02] [ 3.19360096e-03 -5.16700623e-05 9.99994899e-01 -5.06935622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters 0.05292454459755721 Centerline is valid? [True, True] Translation: X:638.78, Y:-214.88, Z:-5.07 [[ 7.69856708e-01 6.38210343e-01 -2.86487116e-03 6.38777292e+02] [-6.38205597e-01 7.69862035e-01 2.46226554e-03 -2.14882233e+02] [ 3.77699888e-03 -6.72148298e-05 9.99992865e-01 -5.07448195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters 0.052637021162671355 Centerline is valid? [True, True] Translation: X:638.83, Y:-214.92, Z:-5.07 [[ 7.68966612e-01 6.39284161e-01 -2.47217818e-03 6.38826254e+02] [-6.39280632e-01 7.68970584e-01 2.12500448e-03 -2.14920520e+02] [ 3.25951400e-03 -5.36418616e-05 9.99994686e-01 -5.07419980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters 0.053278008370372214 Centerline is valid? [True, True] Translation: X:638.88, Y:-214.95, Z:-5.07 [[ 7.66777306e-01 6.41911637e-01 -1.41868594e-03 6.38878142e+02] [-6.41910480e-01 7.66778618e-01 1.21943076e-03 -2.14953876e+02] [ 1.87058484e-03 -2.43624646e-05 9.99998250e-01 -5.06861135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters 0.05285104727395688 Centerline is valid? [True, True] Translation: X:638.92, Y:-215.00, Z:-5.07 [[ 7.64747483e-01 6.44328652e-01 -1.36920681e-03 6.38923683e+02] [-6.44327577e-01 7.64748709e-01 1.17723925e-03 -2.14995787e+02] [ 1.80562812e-03 -1.80730471e-05 9.99998370e-01 -5.07145115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters 0.052212815942770156 Centerline is valid? [True, True] Translation: X:638.97, Y:-215.03, Z:-5.07 [[ 7.61148359e-01 6.48577802e-01 -9.57994071e-05 6.38973670e+02] [-6.48577797e-01 7.61148365e-01 8.25875494e-05 -2.15031712e+02] [ 1.26482013e-04 -7.28009328e-07 9.99999992e-01 -5.07141377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters 0.05245283076404891 Centerline is valid? [True, True] Translation: X:639.02, Y:-215.07, Z:-5.07 [[ 7.57388091e-01 6.52964968e-01 1.73374240e-04 6.39023222e+02] [-6.52964951e-01 7.57388111e-01 -1.47925940e-04 -2.15068588e+02] [-2.27902045e-04 -1.16995667e-06 9.99999974e-01 -5.07168123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters 0.052660680221456 Centerline is valid? [True, True] Translation: X:639.07, Y:-215.11, Z:-5.07 [[ 7.55703364e-01 6.54914050e-01 -1.11270163e-04 6.39070097e+02] [-6.54914043e-01 7.55703372e-01 9.67025492e-05 -2.15107515e+02] [ 1.47419095e-04 -2.06049713e-07 9.99999989e-01 -5.06950088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters 0.051979513160974974 Centerline is valid? [True, True] Translation: X:639.12, Y:-215.14, Z:-5.07 [[ 7.53977279e-01 6.56900483e-01 -1.38437060e-04 6.39119848e+02] [-6.56900472e-01 7.53977291e-01 1.20094183e-04 -2.15143280e+02] [ 1.83268326e-04 3.91084715e-07 9.99999983e-01 -5.07357584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters 0.05223839647009521 Centerline is valid? [True, True] Translation: X:639.17, Y:-215.18, Z:-5.07 [[ 7.52539417e-01 6.58544756e-01 -1.79745453e-03 6.39166537e+02] [-6.58542939e-01 7.52541563e-01 1.54680669e-03 -2.15184133e+02] [ 2.37130068e-03 1.96679843e-05 9.99997188e-01 -5.07269147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters 0.05238914706958769 Centerline is valid? [True, True] Translation: X:639.21, Y:-215.23, Z:-5.07 [[ 7.52631855e-01 6.58436099e-01 -2.68223254e-03 6.39213395e+02] [-6.58432051e-01 7.52636634e-01 2.30899655e-03 -2.15225441e+02] [ 3.53907315e-03 2.82435118e-05 9.99993737e-01 -5.07349690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters 0.05265011772770673 Centerline is valid? [True, True] Translation: X:639.26, Y:-215.27, Z:-5.07 [[ 7.53305157e-01 6.57664563e-01 -2.94318035e-03 6.39259523e+02] [-6.57659685e-01 7.53310906e-01 2.53335517e-03 -2.15265985e+02] [ 3.88322778e-03 2.72215411e-05 9.99992460e-01 -5.07487515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters 0.0520062819642252 Centerline is valid? [True, True] Translation: X:639.31, Y:-215.31, Z:-5.08 [[ 7.53972773e-01 6.56901036e-01 -2.46701661e-03 6.39305532e+02] [-6.56897603e-01 7.53976809e-01 2.12386870e-03 -2.15305602e+02] [ 3.25524486e-03 1.92381220e-05 9.99994701e-01 -5.07735093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters 0.05249994434993684 Centerline is valid? [True, True] Translation: X:639.35, Y:-215.35, Z:-5.08 [[ 7.54422939e-01 6.56384809e-01 -2.23848909e-03 6.39350494e+02] [-6.56381978e-01 7.54426260e-01 1.92811447e-03 -2.15348302e+02] [ 2.95436000e-03 1.46901118e-05 9.99995636e-01 -5.07549668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters 0.05250208617300967 Centerline is valid? [True, True] Translation: X:639.40, Y:-215.39, Z:-5.08 [[ 7.54775628e-01 6.55977444e-01 -2.71017770e-03 6.39396038e+02] [-6.55973292e-01 7.54780493e-01 2.33396836e-03 -2.15389245e+02] [ 3.57661986e-03 1.61817525e-05 9.99993604e-01 -5.07661766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters 0.05111970276339733 Centerline is valid? [True, True] Translation: X:639.44, Y:-215.43, Z:-5.08 [[ 7.53692859e-01 6.57211689e-01 -4.45757657e-03 6.39443001e+02] [-6.57200481e-01 7.53706040e-01 3.83836645e-03 -2.15430144e+02] [ 5.88232169e-03 3.65720791e-05 9.99982698e-01 -5.07805775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters 0.05216311104418457 Centerline is valid? [True, True] Translation: X:639.49, Y:-215.47, Z:-5.08 [[ 7.53069511e-01 6.57926706e-01 -4.33131456e-03 6.39489470e+02] [-6.57916125e-01 7.53081966e-01 3.73158822e-03 -2.15472567e+02] [ 5.71694643e-03 3.94963728e-05 9.99983657e-01 -5.07877273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters 0.05234988642018464 Centerline is valid? [True, True] Translation: X:639.53, Y:-215.51, Z:-5.08 [[ 7.53420464e-01 6.57530257e-01 -3.40085469e-03 6.39533491e+02] [-6.57523727e-01 7.53428139e-01 2.93061291e-03 -2.15514887e+02] [ 4.48926627e-03 2.81589120e-05 9.99989923e-01 -5.07793212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters 0.051723091605392416 Centerline is valid? [True, True] Translation: X:639.58, Y:-215.56, Z:-5.08 [[ 7.53717628e-01 6.57191567e-01 -2.99693460e-03 6.39578719e+02] [-6.57186490e-01 7.53723586e-01 2.58334770e-03 -2.15558205e+02] [ 3.95661462e-03 2.24302341e-05 9.99992172e-01 -5.07838079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters 0.051294605223632266 Centerline is valid? [True, True] Translation: X:639.62, Y:-215.60, Z:-5.08 [[ 7.53275965e-01 6.57698812e-01 -2.75538492e-03 6.39624441e+02] [-6.57694521e-01 7.53281004e-01 2.37604533e-03 -2.15601347e+02] [ 3.63830131e-03 2.23837230e-05 9.99993381e-01 -5.07780456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters 0.05136980755640083 Centerline is valid? [True, True] Translation: X:639.67, Y:-215.64, Z:-5.08 [[ 7.53006692e-01 6.58011611e-01 -1.28148938e-03 6.39668525e+02] [-6.58010683e-01 7.53007782e-01 1.10524899e-03 -2.15643988e+02] [ 1.69223814e-03 1.09738173e-05 9.99998568e-01 -5.07763884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters 0.0512655741191479 Centerline is valid? [True, True] Translation: X:639.72, Y:-215.68, Z:-5.08 [[ 7.52897719e-01 6.58136726e-01 -1.03677869e-03 6.39715548e+02] [-6.58136118e-01 7.52898433e-01 8.95073136e-04 -2.15684924e+02] [ 1.36966956e-03 8.44298221e-06 9.99999062e-01 -5.07867917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters 0.051509112144848816 Centerline is valid? [True, True] Translation: X:639.76, Y:-215.72, Z:-5.08 [[ 7.49626611e-01 6.61859418e-01 -1.43351648e-03 6.39763229e+02] [-6.61858262e-01 7.49627981e-01 1.23727365e-03 -2.15724146e+02] [ 1.89350528e-03 2.12914788e-05 9.99998207e-01 -5.07865403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters 0.0506713231785299 Centerline is valid? [True, True] Translation: X:639.81, Y:-215.76, Z:-5.08 [[ 7.45875218e-01 6.66081689e-01 -2.31118425e-03 6.39811644e+02] [-6.66078705e-01 7.45878797e-01 1.99448475e-03 -2.15761342e+02] [ 3.05235310e-03 5.17938682e-05 9.99995340e-01 -5.08000978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters 0.0513234637943061 Centerline is valid? [True, True] Translation: X:639.86, Y:-215.80, Z:-5.08 [[ 7.44782548e-01 6.67300021e-01 -3.10446605e-03 6.39859780e+02] [-6.67294651e-01 7.44789014e-01 2.67822162e-03 -2.15800463e+02] [ 4.09934955e-03 7.69008711e-05 9.99991595e-01 -5.08152154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters 0.05125353964590655 Centerline is valid? [True, True] Translation: X:639.91, Y:-215.84, Z:-5.08 [[ 7.45553226e-01 6.66443193e-01 -1.96426986e-03 6.39906306e+02] [-6.66441037e-01 7.45555812e-01 1.69584375e-03 -2.15841221e+02] [ 2.59465634e-03 4.47282592e-05 9.99996633e-01 -5.08054418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters 0.0509281815679315 Centerline is valid? [True, True] Translation: X:639.95, Y:-215.88, Z:-5.08 [[ 7.47250210e-01 6.64542752e-01 -2.33431740e-04 6.39951933e+02] [-6.64542722e-01 7.47250246e-01 2.02263851e-04 -2.15882304e+02] [ 3.08844901e-04 3.98365920e-06 9.99999952e-01 -5.07952858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters 0.05089567640635217 Centerline is valid? [True, True] Translation: X:640.00, Y:-215.92, Z:-5.08 [[ 7.50733758e-01 6.60603220e-01 1.48680043e-03 6.39997175e+02] [-6.60601974e-01 7.50735230e-01 -1.28279773e-03 -2.15922568e+02] [-1.96361377e-03 -1.91437391e-05 9.99998072e-01 -5.07910808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters 0.0517255265298898 Centerline is valid? [True, True] Translation: X:640.04, Y:-215.97, Z:-5.08 [[ 7.54592898e-01 6.56191059e-01 1.68904900e-03 6.40041430e+02] [-6.56189441e-01 7.54594788e-01 -1.45708248e-03 -2.15965361e+02] [-2.23067207e-03 -8.83203164e-06 9.99997512e-01 -5.08037790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters 0.05163832529692677 Centerline is valid? [True, True] Translation: X:640.09, Y:-216.01, Z:-5.08 [[ 7.56743615e-01 6.53710374e-01 1.35949113e-03 6.40087267e+02] [-6.53709323e-01 7.56744836e-01 -1.17255841e-03 -2.16006819e+02] [-1.79530149e-03 -1.38593726e-06 9.99998388e-01 -5.08103622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters 0.051530127689333516 Centerline is valid? [True, True] Translation: X:640.14, Y:-216.04, Z:-5.08 [[ 7.55926578e-01 6.54656375e-01 -1.99317700e-04 6.40135751e+02] [-6.54656352e-01 7.55926604e-01 1.73192223e-04 -2.16044302e+02] [ 2.64050945e-04 -4.36006179e-07 9.99999965e-01 -5.08450292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters 0.052221851959533216 Centerline is valid? [True, True] Translation: X:640.18, Y:-216.08, Z:-5.08 [[ 7.54858202e-01 6.55887838e-01 -4.88867477e-04 6.40183988e+02] [-6.55887702e-01 7.54858360e-01 4.23374430e-04 -2.16082867e+02] [ 6.46711841e-04 1.05450555e-06 9.99999791e-01 -5.08477703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters 0.052722844528613144 Centerline is valid? [True, True] Translation: X:640.23, Y:-216.12, Z:-5.08 [[ 7.54219242e-01 6.56622545e-01 -4.09468931e-04 6.40231829e+02] [-6.56622449e-01 7.54219353e-01 3.55070426e-04 -2.16123866e+02] [ 5.41976639e-04 1.06554435e-06 9.99999853e-01 -5.08462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters 0.05056765376737829 Centerline is valid? [True, True] Translation: X:640.28, Y:-216.16, Z:-5.09 [[ 7.51990084e-01 6.59174257e-01 -4.60528868e-04 6.40280711e+02] [-6.59174137e-01 7.51990225e-01 3.99104378e-04 -2.16162108e+02] [ 6.09392538e-04 3.44618427e-06 9.99999814e-01 -5.08546050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters 0.05193610147957224 Centerline is valid? [True, True] Translation: X:640.33, Y:-216.20, Z:-5.09 [[ 7.50235679e-01 6.61170051e-01 -7.68278678e-04 6.40329757e+02] [-6.61169716e-01 7.50236072e-01 6.65110322e-04 -2.16199325e+02] [ 1.01614140e-03 8.97310224e-06 9.99999484e-01 -5.08806727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters 0.0518701552904008 Centerline is valid? [True, True] Translation: X:640.38, Y:-216.24, Z:-5.09 [[ 7.49236980e-01 6.62301918e-01 -3.44167337e-04 6.40375589e+02] [-6.62301850e-01 7.49237059e-01 2.98571872e-04 -2.16239189e+02] [ 4.55607646e-04 4.24157608e-06 9.99999896e-01 -5.08735230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters 0.05089184395284645 Centerline is valid? [True, True] Translation: X:640.42, Y:-216.28, Z:-5.09 [[ 7.48194555e-01 6.63479355e-01 2.31877497e-04 6.40421417e+02] [-6.63479325e-01 7.48194591e-01 -1.99485480e-04 -2.16280531e+02] [-3.05843987e-04 -4.59197565e-06 9.99999953e-01 -5.08629939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters 0.05107362325809982 Centerline is valid? [True, True] Translation: X:640.47, Y:-216.32, Z:-5.09 [[ 7.46600118e-01 6.65272175e-01 1.09416049e-03 6.40468982e+02] [-6.65271504e-01 7.46600919e-01 -9.45330037e-04 -2.16319787e+02] [-1.44580300e-03 -2.21302769e-05 9.99998955e-01 -5.08703588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters 0.05255601806847334 Centerline is valid? [True, True] Translation: X:640.52, Y:-216.35, Z:-5.09 [[ 7.46101930e-01 6.65831236e-01 8.21693650e-04 6.40519961e+02] [-6.65830858e-01 7.46102382e-01 -7.09829025e-04 -2.16353678e+02] [-1.08569393e-03 -1.75041831e-05 9.99999410e-01 -5.09055543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters 0.051171378886135446 Centerline is valid? [True, True] Translation: X:640.56, Y:-216.40, Z:-5.09 [[ 7.46326020e-01 6.65580174e-01 7.09531306e-04 6.40561827e+02] [-6.65579891e-01 7.46326358e-01 -6.13473354e-04 -2.16399694e+02] [-9.37857617e-04 -1.43986425e-05 9.99999560e-01 -5.08894336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters 0.05081225993518377 Centerline is valid? [True, True] Translation: X:640.61, Y:-216.44, Z:-5.09 [[ 7.46863053e-01 6.64977360e-01 8.31597974e-04 6.40607158e+02] [-6.64976972e-01 7.46863516e-01 -7.18518083e-04 -2.16441931e+02] [-1.09888844e-03 -1.63588929e-05 9.99999396e-01 -5.08867847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters 0.05139520477279442 Centerline is valid? [True, True] Translation: X:640.65, Y:-216.48, Z:-5.09 [[ 7.47596688e-01 6.64152880e-01 3.79461548e-04 6.40654365e+02] [-6.64152799e-01 7.47596784e-01 -3.27415338e-04 -2.16480308e+02] [-5.01138073e-04 -7.24582632e-06 9.99999874e-01 -5.09054419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters 0.05071626920375385 Centerline is valid? [True, True] Translation: X:640.70, Y:-216.52, Z:-5.09 [[ 7.47011165e-01 6.64811359e-01 -4.20458271e-04 6.40699867e+02] [-6.64811258e-01 7.47011283e-01 3.65002927e-04 -2.16521957e+02] [ 5.56745164e-04 6.86413045e-06 9.99999845e-01 -5.09117716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters 0.051460130380745484 Centerline is valid? [True, True] Translation: X:640.75, Y:-216.56, Z:-5.09 [[ 7.46439451e-01 6.65453316e-01 1.76119256e-04 6.40747953e+02] [-6.65453298e-01 7.46439472e-01 -1.51287573e-04 -2.16563328e+02] [-2.32137181e-04 -4.27212704e-06 9.99999973e-01 -5.09194204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters 0.051685030228413496 Centerline is valid? [True, True] Translation: X:640.79, Y:-216.61, Z:-5.09 [[ 7.45779745e-01 6.66192485e-01 3.81716217e-04 6.40793725e+02] [-6.66192403e-01 7.45779842e-01 -3.29522777e-04 -2.16605168e+02] [-5.04201858e-04 -8.54503107e-06 9.99999873e-01 -5.09155841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters 0.05119002602411984 Centerline is valid? [True, True] Translation: X:640.84, Y:-216.64, Z:-5.09 [[ 7.45420660e-01 6.66594353e-01 -9.09133026e-05 6.40840964e+02] [-6.66594348e-01 7.45420666e-01 7.97740995e-05 -2.16643902e+02] [ 1.20945619e-04 1.13703175e-06 9.99999993e-01 -5.09297844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters 0.05116543295414472 Centerline is valid? [True, True] Translation: X:640.89, Y:-216.69, Z:-5.09 [[ 7.45535256e-01 6.66466183e-01 8.81175507e-05 6.40885347e+02] [-6.66466179e-01 7.45535262e-01 -7.52318969e-05 -2.16688284e+02] [-1.15834257e-04 -2.63933573e-06 9.99999993e-01 -5.09105910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters 0.052006587979097435 Centerline is valid? [True, True] Translation: X:640.93, Y:-216.73, Z:-5.09 [[ 7.45855582e-01 6.66107363e-01 6.57024881e-04 6.40934518e+02] [-6.66107120e-01 7.45855872e-01 -5.68354391e-04 -2.16725626e+02] [-8.68630910e-04 -1.37386567e-05 9.99999623e-01 -5.09171715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters 0.05130420021017315 Centerline is valid? [True, True] Translation: X:640.98, Y:-216.76, Z:-5.09 [[ 7.47180508e-01 6.64620381e-01 1.01910939e-03 6.40982230e+02] [-6.64619795e-01 7.47181202e-01 -8.82510645e-04 -2.16763911e+02] [-1.34799394e-03 -1.79255209e-05 9.99999091e-01 -5.09289081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters 0.05053665087770048 Centerline is valid? [True, True] Translation: X:641.03, Y:-216.81, Z:-5.09 [[ 7.47765905e-01 6.63961093e-01 1.34878577e-03 6.41028782e+02] [-6.63960065e-01 7.47767121e-01 -1.16848169e-03 -2.16805546e+02] [-1.78440403e-03 -2.17891259e-05 9.99998408e-01 -5.09285954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters 0.05132022183814048 Centerline is valid? [True, True] Translation: X:641.07, Y:-216.85, Z:-5.09 [[ 7.48705240e-01 6.62901239e-01 1.55269299e-03 6.41071462e+02] [-6.62899873e-01 7.48706850e-01 -1.34563757e-03 -2.16849319e+02] [-2.05453669e-03 -2.17940887e-05 9.99997889e-01 -5.09061958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters 0.05145654557790234 Centerline is valid? [True, True] Translation: X:641.12, Y:-216.89, Z:-5.09 [[ 7.50047080e-01 6.61382161e-01 1.73633123e-03 6.41119298e+02] [-6.61380447e-01 7.50049090e-01 -1.50560273e-03 -2.16889149e+02] [-2.29811244e-03 -1.91025888e-05 9.99997359e-01 -5.09147797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters 0.05165422920481152 Centerline is valid? [True, True] Translation: X:641.17, Y:-216.93, Z:-5.10 [[ 7.50090817e-01 6.61334438e-01 7.26162692e-04 6.41168948e+02] [-6.61334139e-01 7.50091169e-01 -6.28931382e-04 -2.16925643e+02] [-9.60622205e-04 -8.48052412e-06 9.99999539e-01 -5.09597262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters 0.05183576300457823 Centerline is valid? [True, True] Translation: X:641.22, Y:-216.97, Z:-5.09 [[ 7.50117252e-01 6.61304229e-01 9.08293481e-04 6.41215242e+02] [-6.61303761e-01 7.50117802e-01 -7.86898542e-04 -2.16968163e+02] [-1.20170644e-03 -1.03917231e-05 9.99999278e-01 -5.09471000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters 0.05190703199154313 Centerline is valid? [True, True] Translation: X:641.26, Y:-217.01, Z:-5.10 [[ 7.50363353e-01 6.61024788e-01 1.03356675e-03 6.41262394e+02] [-6.61024180e-01 7.50364065e-01 -8.95978450e-04 -2.17009252e+02] [-1.36781531e-03 -1.09032201e-05 9.99999064e-01 -5.09574008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters 0.05148784449517005 Centerline is valid? [True, True] Translation: X:641.31, Y:-217.05, Z:-5.10 [[ 7.50433048e-01 6.60945204e-01 1.29546194e-03 6.41310310e+02] [-6.60944249e-01 7.50434166e-01 -1.12342404e-03 -2.17049463e+02] [-1.71468063e-03 -1.31735904e-05 9.99998530e-01 -5.09648707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters 0.05198332656257013 Centerline is valid? [True, True] Translation: X:641.36, Y:-217.09, Z:-5.10 [[ 7.51040898e-01 6.60251181e-01 2.43888625e-03 6.41356790e+02] [-6.60247787e-01 7.51044857e-01 -2.11708066e-03 -2.17089303e+02] [-3.22951798e-03 -2.02550902e-05 9.99994785e-01 -5.09702942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters 0.050967830499271075 Centerline is valid? [True, True] Translation: X:641.40, Y:-217.13, Z:-5.10 [[ 7.52037412e-01 6.59113916e-01 2.92862754e-03 6.41403319e+02] [-6.59109013e-01 7.52043114e-01 -2.54244969e-03 -2.17129732e+02] [-3.87821815e-03 -1.82675244e-05 9.99992480e-01 -5.09770974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters 0.05168940094366322 Centerline is valid? [True, True] Translation: X:641.45, Y:-217.17, Z:-5.10 [[ 7.52334997e-01 6.58772149e-01 3.36277511e-03 6.41450155e+02] [-6.58765677e-01 7.52342512e-01 -2.92019722e-03 -2.17170760e+02] [-4.45370327e-03 -1.83142526e-05 9.99990082e-01 -5.09738380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters 0.051397716053633025 Centerline is valid? [True, True] Translation: X:641.50, Y:-217.21, Z:-5.10 [[ 7.51842469e-01 6.59338681e-01 2.32509040e-03 6.41498549e+02] [-6.59335588e-01 7.51846064e-01 -2.01951913e-03 -2.17207525e+02] [-3.07965714e-03 -1.46545994e-05 9.99995258e-01 -5.10127304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters 0.05218406233047722 Centerline is valid? [True, True] Translation: X:641.55, Y:-217.25, Z:-5.10 [[ 7.52232552e-01 6.58895970e-01 1.51262566e-03 6.41545585e+02] [-6.58894660e-01 7.52234073e-01 -1.31380868e-03 -2.17249637e+02] [-2.00351181e-03 -8.37131292e-06 9.99997993e-01 -5.10230842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters 0.05119630125066245 Centerline is valid? [True, True] Translation: X:641.59, Y:-217.29, Z:-5.10 [[ 7.53253301e-01 6.57730163e-01 7.04621874e-04 6.41592049e+02] [-6.57729879e-01 7.53253631e-01 -6.11751667e-04 -2.17291578e+02] [-9.33126509e-04 -2.64689703e-06 9.99999565e-01 -5.10310564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters 0.05171617011976525 Centerline is valid? [True, True] Translation: X:641.64, Y:-217.33, Z:-5.10 [[ 7.54058652e-01 6.56806972e-01 3.87492778e-04 6.41639067e+02] [-6.56806887e-01 7.54058752e-01 -3.35514464e-04 -2.17333588e+02] [-5.12560560e-04 -1.51034066e-06 9.99999869e-01 -5.10393245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters 0.05237963447677584 Centerline is valid? [True, True] Translation: X:641.69, Y:-217.38, Z:-5.10 [[ 7.54461487e-01 6.56344153e-01 4.66512410e-04 6.41686038e+02] [-6.56344028e-01 7.54461631e-01 -4.04319560e-04 -2.17375371e+02] [-6.17338493e-04 -1.14909812e-06 9.99999809e-01 -5.10491382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters 0.05142975495646782 Centerline is valid? [True, True] Translation: X:641.73, Y:-217.42, Z:-5.11 [[ 7.53519442e-01 6.57425269e-01 6.82731497e-04 6.41732829e+02] [-6.57425002e-01 7.53519751e-01 -5.92554240e-04 -2.17415795e+02] [-9.04011799e-04 -2.34361571e-06 9.99999591e-01 -5.10558838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters 0.05123683719182 Centerline is valid? [True, True] Translation: X:641.78, Y:-217.45, Z:-5.11 [[ 7.50738731e-01 6.60598433e-01 1.03319309e-03 6.41780605e+02] [-6.60597823e-01 7.50739442e-01 -8.97652969e-04 -2.17454971e+02] [-1.36864695e-03 -8.62225497e-06 9.99999063e-01 -5.10514673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters 0.05135486185256907 Centerline is valid? [True, True] Translation: X:641.83, Y:-217.49, Z:-5.11 [[ 7.47883396e-01 6.63829919e-01 5.15153564e-04 6.41828012e+02] [-6.63829768e-01 7.47883573e-01 -4.47626042e-04 -2.17494565e+02] [-6.82422447e-04 -7.20218650e-06 9.99999767e-01 -5.10586722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters 0.05159311306456013 Centerline is valid? [True, True] Translation: X:641.88, Y:-217.53, Z:-5.11 [[ 7.46111268e-01 6.65821145e-01 4.23039426e-04 6.41878265e+02] [-6.65821044e-01 7.46111388e-01 -3.67093666e-04 -2.17529935e+02] [-5.60053258e-04 -7.77583181e-06 9.99999843e-01 -5.10916934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters 0.051343693441952845 Centerline is valid? [True, True] Translation: X:641.92, Y:-217.57, Z:-5.11 [[ 7.44941977e-01 6.67129092e-01 4.74653566e-04 6.41922445e+02] [-6.67128965e-01 7.44942128e-01 -4.12024861e-04 -2.17573627e+02] [-6.28463209e-04 -9.72052786e-06 9.99999802e-01 -5.10662759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters 0.05173274201770618 Centerline is valid? [True, True] Translation: X:641.97, Y:-217.61, Z:-5.11 [[ 7.47654140e-01 6.64087032e-01 1.30409699e-03 6.41966810e+02] [-6.64086062e-01 7.47655277e-01 -1.13495818e-03 -2.17614110e+02] [-1.72872600e-03 -1.74764575e-05 9.99998506e-01 -5.10683333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters 0.05088930030761129 Centerline is valid? [True, True] Translation: X:642.01, Y:-217.66, Z:-5.11 [[ 7.52753979e-01 6.58301260e-01 9.47704185e-04 6.42008566e+02] [-6.58300744e-01 7.52754575e-01 -8.24236394e-04 -2.17658160e+02] [-1.25598452e-03 -3.42714610e-06 9.99999211e-01 -5.10738107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters 0.05166122074713834 Centerline is valid? [True, True] Translation: X:642.05, Y:-217.70, Z:-5.11 [[ 7.58788223e-01 6.51336943e-01 7.87429432e-04 6.42051228e+02] [-6.51336582e-01 7.58788631e-01 -6.85155320e-04 -2.17704131e+02] [-1.04375947e-03 7.00619279e-06 9.99999455e-01 -5.10893894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters 0.05213527132915439 Centerline is valid? [True, True] Translation: X:642.10, Y:-217.75, Z:-5.11 [[ 7.61420841e-01 6.48257239e-01 9.24788706e-04 6.42097268e+02] [-6.48256740e-01 7.61421402e-01 -8.04865150e-04 -2.17745627e+02] [-1.22591357e-03 1.33405878e-05 9.99999248e-01 -5.10868672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters 0.052678400802166 Centerline is valid? [True, True] Translation: X:642.15, Y:-217.78, Z:-5.11 [[ 7.62859673e-01 6.46562826e-01 1.27699294e-03 6.42145088e+02] [-6.46561872e-01 7.62860742e-01 -1.11100948e-03 -2.17784572e+02] [-1.69250521e-03 2.18893815e-05 9.99998567e-01 -5.10926997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters 0.05230674065536463 Centerline is valid? [True, True] Translation: X:642.19, Y:-217.83, Z:-5.11 [[ 7.63722380e-01 6.45544753e-01 3.13999560e-04 6.42190725e+02] [-6.45544695e-01 7.63722444e-01 -2.72444906e-04 -2.17825492e+02] [-4.15683891e-04 5.37152206e-06 9.99999914e-01 -5.11100153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters 0.051873121554735294 Centerline is valid? [True, True] Translation: X:642.24, Y:-217.86, Z:-5.11 [[ 7.63438804e-01 6.45880004e-01 -4.61299192e-04 6.42241353e+02] [-6.45879879e-01 7.63438943e-01 4.03182958e-04 -2.17862888e+02] [ 6.12581578e-04 -9.86164872e-06 9.99999812e-01 -5.11004995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters 0.05248946746854532 Centerline is valid? [True, True] Translation: X:642.29, Y:-217.90, Z:-5.11 [[ 7.62753942e-01 6.46688814e-01 -3.64556933e-05 6.42290017e+02] [-6.46688814e-01 7.62753943e-01 3.21600484e-05 -2.17901259e+02] [ 4.86042671e-05 -9.54714654e-07 9.99999999e-01 -5.11167387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters 0.05292314808692418 Centerline is valid? [True, True] Translation: X:642.34, Y:-217.94, Z:-5.11 [[ 7.61972128e-01 6.47608214e-01 1.44131065e-03 6.42337415e+02] [-6.47606998e-01 7.61973491e-01 -1.25512108e-03 -2.17940473e+02] [-1.91106723e-03 2.29644125e-05 9.99998174e-01 -5.10977091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters 0.052689769640773904 Centerline is valid? [True, True] Translation: X:642.39, Y:-217.98, Z:-5.11 [[ 7.61097891e-01 6.48632496e-01 2.42604528e-03 6.42385587e+02] [-6.48629051e-01 7.61101757e-01 -2.11414915e-03 -2.17979828e+02] [-3.21777317e-03 3.54710117e-05 9.99994822e-01 -5.10889953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters 0.05185580871616386 Centerline is valid? [True, True] Translation: X:642.44, Y:-218.02, Z:-5.11 [[ 7.58823555e-01 6.51289941e-01 2.86792202e-03 6.42435548e+02] [-6.51285146e-01 7.58828974e-01 -2.49918792e-03 -2.18015829e+02] [-3.80395828e-03 2.86076547e-05 9.99992765e-01 -5.10904518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters 0.05239625384601003 Centerline is valid? [True, True] Translation: X:642.49, Y:-218.05, Z:-5.11 [[ 7.56116322e-01 6.54428077e-01 3.46406480e-03 6.42486995e+02] [-6.54421110e-01 7.56124257e-01 -3.01974794e-03 -2.18052140e+02] [-4.59547126e-03 1.63235741e-05 9.99989441e-01 -5.10861857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters 0.05236204370397472 Centerline is valid? [True, True] Translation: X:642.53, Y:-218.09, Z:-5.11 [[ 7.55135888e-01 6.55559366e-01 3.42162795e-03 6.42534466e+02] [-6.55552580e-01 7.55143640e-01 -2.98282900e-03 -2.18091392e+02] [-4.53924208e-03 9.38419238e-06 9.99989698e-01 -5.10892460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters 0.052236495871095634 Centerline is valid? [True, True] Translation: X:642.58, Y:-218.13, Z:-5.11 [[ 7.53597479e-01 6.57326004e-01 3.65577796e-03 6.42584244e+02] [-6.57318275e-01 7.53606346e-01 -3.18766471e-03 -2.18128917e+02] [-4.85035238e-03 -7.93569890e-07 9.99988237e-01 -5.10889239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters 0.051946831918631364 Centerline is valid? [True, True] Translation: X:642.63, Y:-218.17, Z:-5.11 [[ 7.51207660e-01 6.60058032e-01 3.23195683e-03 6.42633803e+02] [-6.60052014e-01 7.51214612e-01 -2.81865196e-03 -2.18165858e+02] [-4.28836707e-03 -1.58666732e-05 9.99990805e-01 -5.10883358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters 0.05220714026595873 Centerline is valid? [True, True] Translation: X:642.68, Y:-218.20, Z:-5.11 [[ 7.49546503e-01 6.61945823e-01 2.78703088e-03 6.42683408e+02] [-6.61941359e-01 7.49551684e-01 -2.43108474e-03 -2.18201731e+02] [-3.69827008e-03 -2.26399459e-05 9.99993161e-01 -5.11071165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters 0.05266934825922992 Centerline is valid? [True, True] Translation: X:642.73, Y:-218.24, Z:-5.11 [[ 7.47994768e-01 6.63700057e-01 2.46200580e-03 6.42733766e+02] [-6.63696581e-01 7.47998819e-01 -2.14843310e-03 -2.18236261e+02] [-3.26749260e-03 -2.70081149e-05 9.99994661e-01 -5.11194123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters 0.05315996344920623 Centerline is valid? [True, True] Translation: X:642.78, Y:-218.28, Z:-5.11 [[ 7.47890954e-01 6.63819537e-01 1.65621829e-03 6.42780128e+02] [-6.63817965e-01 7.47892788e-01 -1.44446014e-03 -2.18278150e+02] [-2.19753457e-03 -1.91287835e-05 9.99997585e-01 -5.11092395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters 0.053254599650080864 Centerline is valid? [True, True] Translation: X:642.83, Y:-218.32, Z:-5.11 [[ 7.48161974e-01 6.63514645e-01 1.40610126e-03 6.42828587e+02] [-6.63513511e-01 7.48163295e-01 -1.22651626e-03 -2.18317563e+02] [-1.86580486e-03 -1.53343578e-05 9.99998259e-01 -5.11153016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters 0.0530909978120733 Centerline is valid? [True, True] Translation: X:642.88, Y:-218.36, Z:-5.11 [[ 7.48222794e-01 6.63446113e-01 1.38029774e-03 6.42876702e+02] [-6.63445021e-01 7.48224067e-01 -1.20422345e-03 -2.18358653e+02] [-1.83170935e-03 -1.47242283e-05 9.99998322e-01 -5.11168663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters 0.0532073234278323 Centerline is valid? [True, True] Translation: X:642.92, Y:-218.40, Z:-5.11 [[ 7.49197555e-01 6.62344502e-01 1.66851093e-03 6.42923885e+02] [-6.62342900e-01 7.49199413e-01 -1.45680041e-03 -2.18397815e+02] [-2.21495115e-03 -1.36950688e-05 9.99997547e-01 -5.11269606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters 0.05306518378486238 Centerline is valid? [True, True] Translation: X:642.97, Y:-218.44, Z:-5.11 [[ 7.51046197e-01 6.60246232e-01 2.12663078e-03 6.42968811e+02] [-6.60243620e-01 7.51049208e-01 -1.85737998e-03 -2.18441271e+02] [-2.82353250e-03 -9.11623546e-06 9.99996014e-01 -5.11123189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters 0.053026212624899496 Centerline is valid? [True, True] Translation: X:643.02, Y:-218.48, Z:-5.11 [[ 7.52236018e-01 6.58891778e-01 1.61165028e-03 6.43016369e+02] [-6.58890276e-01 7.52237745e-01 -1.40699016e-03 -2.18482315e+02] [-2.13939842e-03 -3.51201845e-06 9.99997711e-01 -5.11285432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters 0.05355690520012011 Centerline is valid? [True, True] Translation: X:643.06, Y:-218.52, Z:-5.11 [[ 7.53949208e-01 6.56932334e-01 7.07116629e-04 6.43060982e+02] [-6.56932044e-01 7.53949540e-01 -6.17119824e-04 -2.18523393e+02] [-9.38536224e-04 7.49430345e-07 9.99999560e-01 -5.11481837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters 0.053322428142689754 Centerline is valid? [True, True] Translation: X:643.11, Y:-218.56, Z:-5.11 [[ 7.54817882e-01 6.55934359e-01 2.86861958e-04 6.43107205e+02] [-6.55934311e-01 7.54817936e-01 -2.50324046e-04 -2.18564622e+02] [-3.80724694e-04 7.86465231e-07 9.99999928e-01 -5.11400811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters 0.052643353711048446 Centerline is valid? [True, True] Translation: X:643.15, Y:-218.61, Z:-5.11 [[ 7.55173216e-01 6.55525156e-01 4.29978879e-04 6.43154329e+02] [-6.55525049e-01 7.55173338e-01 -3.74696972e-04 -2.18605435e+02] [-5.70331877e-04 1.09919188e-06 9.99999837e-01 -5.11457420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters 0.05412910050032081 Centerline is valid? [True, True] Translation: X:643.20, Y:-218.65, Z:-5.11 [[ 7.55112385e-01 6.55594277e-01 1.19613731e-03 6.43199459e+02] [-6.55593444e-01 7.55113332e-01 -1.04487363e-03 -2.18646391e+02] [-1.58823240e-03 4.81723800e-06 9.99998739e-01 -5.11485204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters 0.05225995541619286 Centerline is valid? [True, True] Translation: X:643.25, Y:-218.69, Z:-5.12 [[ 7.54053183e-01 6.56813244e-01 3.99739058e-04 6.43247457e+02] [-6.56813152e-01 7.54053289e-01 -3.48398952e-04 -2.18687763e+02] [-5.30257598e-04 1.57468333e-07 9.99999859e-01 -5.11548538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters 0.05285309739406255 Centerline is valid? [True, True] Translation: X:643.29, Y:-218.73, Z:-5.11 [[ 7.53339273e-01 6.57631587e-01 7.97252070e-04 6.43294879e+02] [-6.57631218e-01 7.53339695e-01 -6.96380952e-04 -2.18727217e+02] [-1.05856374e-03 3.13270179e-07 9.99999440e-01 -5.11492871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters 0.05320234396770899 Centerline is valid? [True, True] Translation: X:643.34, Y:-218.77, Z:-5.11 [[ 7.52752229e-01 6.58298290e-01 2.72803616e-03 6.43340844e+02] [-6.58293966e-01 7.52757173e-01 -2.38613686e-03 -2.18768516e+02] [-3.62433861e-03 3.20095930e-07 9.99993432e-01 -5.11329096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters 0.05256948435314455 Centerline is valid? [True, True] Translation: X:643.39, Y:-218.81, Z:-5.12 [[ 7.52518363e-01 6.58566310e-01 2.55531953e-03 6.43386945e+02] [-6.58562515e-01 7.52522701e-01 -2.23548876e-03 -2.18809288e+02] [-3.39515354e-03 -5.91314394e-07 9.99994236e-01 -5.11504426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters 0.052580702738618146 Centerline is valid? [True, True] Translation: X:643.43, Y:-218.85, Z:-5.12 [[ 7.50736596e-01 6.60593770e-01 3.23019316e-03 6.43434885e+02] [-6.60587721e-01 7.50743545e-01 -2.82693756e-03 -2.18850004e+02] [-4.29250400e-03 -1.15404544e-05 9.99990787e-01 -5.11577425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters 0.052475107080114845 Centerline is valid? [True, True] Translation: X:643.48, Y:-218.89, Z:-5.12 [[ 7.49220955e-01 6.62308730e-01 3.88669204e-03 6.43482658e+02] [-6.62299990e-01 7.49231036e-01 -3.40261635e-03 -2.18891432e+02] [-5.16561282e-03 -2.48446263e-05 9.99986658e-01 -5.11608565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters 0.05193943090255249 Centerline is valid? [True, True] Translation: X:643.53, Y:-218.93, Z:-5.12 [[ 7.47976597e-01 6.63717321e-01 3.21380034e-03 6.43530101e+02] [-6.63711355e-01 7.47983501e-01 -2.81419873e-03 -2.18930243e+02] [-4.27170207e-03 -2.80809881e-05 9.99990876e-01 -5.11928336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters 0.05253381842740003 Centerline is valid? [True, True] Translation: X:643.58, Y:-218.97, Z:-5.12 [[ 7.46181850e-01 6.65738189e-01 2.30439825e-03 6.43575161e+02] [-6.65735130e-01 7.46185408e-01 -2.01834333e-03 -2.18970786e+02] [-3.06319658e-03 -2.80677082e-05 9.99995308e-01 -5.12045137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters 0.05230673627388629 Centerline is valid? [True, True] Translation: X:643.62, Y:-219.01, Z:-5.12 [[ 7.44287456e-01 6.67854558e-01 2.54404019e-03 6.43620755e+02] [-6.67850842e-01 7.44291803e-01 -2.22822282e-03 -2.19013424e+02] [-3.38163702e-03 -4.06010888e-05 9.99994281e-01 -5.12084518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters 0.05190970240515077 Centerline is valid? [True, True] Translation: X:643.67, Y:-219.06, Z:-5.12 [[ 7.42549305e-01 6.69788629e-01 1.92927696e-03 6.43666205e+02] [-6.69786497e-01 7.42551810e-01 -1.69042038e-03 -2.19056371e+02] [-2.56481245e-03 -3.69831820e-05 9.99996710e-01 -5.12163480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters 0.052256012617175954 Centerline is valid? [True, True] Translation: X:643.71, Y:-219.09, Z:-5.12 [[ 7.41697385e-01 6.70733378e-01 1.31309392e-03 6.43713891e+02] [-6.70732393e-01 7.41698547e-01 -1.14995520e-03 -2.19094951e+02] [-1.74523319e-03 -2.78158584e-05 9.99998477e-01 -5.12431262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters 0.05167632725043683 Centerline is valid? [True, True] Translation: X:643.76, Y:-219.14, Z:-5.12 [[ 7.41047083e-01 6.71452048e-01 1.16997927e-03 6.43755919e+02] [-6.71451267e-01 7.41048006e-01 -1.02466204e-03 -2.19141187e+02] [-1.55502223e-03 -2.62612430e-05 9.99998791e-01 -5.12269242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters 0.051642701721413 Centerline is valid? [True, True] Translation: X:643.80, Y:-219.18, Z:-5.12 [[ 7.40488060e-01 6.72067020e-01 1.83127535e-03 6.43800694e+02] [-6.72065105e-01 7.40490323e-01 -1.60482933e-03 -2.19184310e+02] [-2.43459455e-03 -4.23793030e-05 9.99997035e-01 -5.12196960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters 0.05101491627160321 Centerline is valid? [True, True] Translation: X:643.85, Y:-219.23, Z:-5.12 [[ 7.40528767e-01 6.72019631e-01 2.60007854e-03 6.43845732e+02] [-6.72015767e-01 7.40533329e-01 -2.27959315e-03 -2.19225793e+02] [-3.45737616e-03 -5.91894726e-05 9.99994022e-01 -5.12166087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters 0.052172601613204486 Centerline is valid? [True, True] Translation: X:643.89, Y:-219.27, Z:-5.12 [[ 7.40999767e-01 6.71501208e-01 2.33949424e-03 6.43892661e+02] [-6.71498076e-01 7.41003458e-01 -2.05146857e-03 -2.19265160e+02] [-3.11113695e-03 -5.08281535e-05 9.99995159e-01 -5.12345273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters 0.05150106431322486 Centerline is valid? [True, True] Translation: X:643.93, Y:-219.32, Z:-5.12 [[ 7.42056041e-01 6.70336396e-01 1.39586986e-03 6.43931023e+02] [-6.70335279e-01 7.42057353e-01 -1.22377955e-03 -2.19315560e+02] [-1.85615946e-03 -2.75878029e-05 9.99998277e-01 -5.12258438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters 0.050996713832406525 Centerline is valid? [True, True] Translation: X:643.97, Y:-219.36, Z:-5.12 [[ 7.43067228e-01 6.69216668e-01 3.82185778e-04 6.43974764e+02] [-6.69216584e-01 7.43067326e-01 -3.34332131e-04 -2.19360517e+02] [-5.07730399e-04 -7.33381121e-06 9.99999871e-01 -5.12218190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters 0.05136039793968223 Centerline is valid? [True, True] Translation: X:644.02, Y:-219.40, Z:-5.12 [[ 7.43790218e-01 6.68413047e-01 -3.32704575e-04 6.44018902e+02] [-6.68412983e-01 7.43790292e-01 2.93207295e-04 -2.19404521e+02] [ 4.43446014e-04 4.29933962e-06 9.99999902e-01 -5.12182536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters 0.05055280033171371 Centerline is valid? [True, True] Translation: X:644.07, Y:-219.44, Z:-5.13 [[ 7.43532285e-01 6.68699830e-01 -5.27659163e-04 6.44066773e+02] [-6.68699669e-01 7.43532472e-01 4.64372837e-04 -2.19443046e+02] [ 7.02857759e-04 7.56931129e-06 9.99999753e-01 -5.12596767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters 0.05175636934918888 Centerline is valid? [True, True] Translation: X:644.11, Y:-219.49, Z:-5.12 [[ 7.42644181e-01 6.69685561e-01 -9.32492595e-04 6.44109890e+02] [-6.69685059e-01 7.42644767e-01 8.20065742e-04 -2.19488114e+02] [ 1.24169693e-03 1.54593071e-05 9.99999229e-01 -5.12396519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters 0.05093721667025624 Centerline is valid? [True, True] Translation: X:644.16, Y:-219.53, Z:-5.13 [[ 7.41195901e-01 6.71285829e-01 -1.99277494e-03 6.44156399e+02] [-6.71283545e-01 7.41198579e-01 1.75158117e-03 -2.19527894e+02] [ 2.65285357e-03 3.94522411e-05 9.99996480e-01 -5.12666766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters 0.051480138031185244 Centerline is valid? [True, True] Translation: X:644.20, Y:-219.57, Z:-5.12 [[ 7.39912610e-01 6.72700165e-01 -1.95397150e-03 6.44198614e+02] [-6.72697972e-01 7.39915189e-01 1.71798674e-03 -2.19574503e+02] [ 2.60146315e-03 4.32726080e-05 9.99996615e-01 -5.12300928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters 0.05105418478872782 Centerline is valid? [True, True] Translation: X:644.24, Y:-219.62, Z:-5.12 [[ 7.39457918e-01 6.73202181e-01 -9.00072183e-04 6.44244452e+02] [-6.73201715e-01 7.39458466e-01 7.92305270e-04 -2.19617110e+02] [ 1.19894763e-03 2.00537320e-05 9.99999281e-01 -5.12196708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters 0.05113811524222761 Centerline is valid? [True, True] Translation: X:644.29, Y:-219.66, Z:-5.12 [[ 7.39613962e-01 6.73031313e-01 1.98176520e-04 6.44290539e+02] [-6.73031291e-01 7.39613988e-01 -1.73217042e-04 -2.19657550e+02] [-2.63154619e-04 -5.26525647e-06 9.99999965e-01 -5.12272244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters 0.05084592958968735 Centerline is valid? [True, True] Translation: X:644.33, Y:-219.70, Z:-5.12 [[ 7.40111200e-01 6.72484506e-01 -3.74773200e-06 6.44333644e+02] [-6.72484506e-01 7.40111200e-01 4.37068871e-06 -2.19702979e+02] [ 5.71295861e-06 -7.14503967e-07 1.00000000e+00 -5.12204166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters 0.051672231150203085 Centerline is valid? [True, True] Translation: X:644.38, Y:-219.74, Z:-5.12 [[ 7.41352929e-01 6.71114516e-01 -1.06856792e-03 6.44379908e+02] [-6.71113858e-01 7.41353699e-01 9.40033644e-04 -2.19744576e+02] [ 1.42305700e-03 2.02340445e-05 9.99998987e-01 -5.12389843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters 0.05180562725560837 Centerline is valid? [True, True] Translation: X:644.42, Y:-219.79, Z:-5.12 [[ 7.42679640e-01 6.69642879e-01 -2.31646090e-03 6.44424629e+02] [-6.69639778e-01 7.42683252e-01 2.03842522e-03 -2.19786141e+02] [ 3.08541365e-03 3.72974523e-05 9.99995239e-01 -5.12309439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters 0.051494939001580746 Centerline is valid? [True, True] Translation: X:644.47, Y:-219.83, Z:-5.13 [[ 7.42258297e-01 6.70111338e-01 -1.84784988e-03 6.44474388e+02] [-6.70109366e-01 7.42260597e-01 1.62597467e-03 -2.19825375e+02] [ 2.46117022e-03 3.13683169e-05 9.99996971e-01 -5.12500351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters 0.05132555589440921 Centerline is valid? [True, True] Translation: X:644.52, Y:-219.86, Z:-5.13 [[ 7.40935134e-01 6.71575049e-01 -1.44242017e-03 6.44522540e+02] [-6.71573849e-01 7.40936537e-01 1.27008733e-03 -2.19863814e+02] [ 1.92170077e-03 2.76393422e-05 9.99998153e-01 -5.12610083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters 0.051052944710856335 Centerline is valid? [True, True] Translation: X:644.57, Y:-219.90, Z:-5.13 [[ 7.39013972e-01 6.73689470e-01 -9.20477795e-04 6.44570634e+02] [-6.73688984e-01 7.39014545e-01 8.10211140e-04 -2.19902765e+02] [ 1.22607719e-03 2.13583976e-05 9.99999248e-01 -5.12636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters 0.05124109763070705 Centerline is valid? [True, True] Translation: X:644.62, Y:-219.95, Z:-5.13 [[ 7.38234610e-01 6.74542919e-01 -1.22961544e-03 6.44616713e+02] [-6.74542049e-01 7.38235633e-01 1.08326975e-03 -2.19945017e+02] [ 1.63845787e-03 2.97200959e-05 9.99998657e-01 -5.12610463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters 0.050737338555870704 Centerline is valid? [True, True] Translation: X:644.66, Y:-219.98, Z:-5.13 [[ 7.38170660e-01 6.74612499e-01 -1.43309312e-03 6.44664157e+02] [-6.74611318e-01 7.38172050e-01 1.26271018e-03 -2.19984207e+02] [ 1.90970935e-03 3.46852370e-05 9.99998176e-01 -5.12714021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters 0.05198796862044958 Centerline is valid? [True, True] Translation: X:644.71, Y:-220.02, Z:-5.13 [[ 7.38890157e-01 6.73824776e-01 -1.22809223e-03 6.44713885e+02] [-6.73823907e-01 7.38891177e-01 1.08228215e-03 -2.20020548e+02] [ 1.63669504e-03 2.78302810e-05 9.99998660e-01 -5.12954543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters 0.05133582871678705 Centerline is valid? [True, True] Translation: X:644.76, Y:-220.07, Z:-5.12 [[ 7.39372590e-01 6.73294227e-01 -1.74839211e-03 6.44755276e+02] [-6.73292465e-01 7.39374656e-01 1.54087715e-03 -2.20068172e+02] [ 2.33018051e-03 3.78969089e-05 9.99997284e-01 -5.12496008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters 0.05119434607114722 Centerline is valid? [True, True] Translation: X:644.80, Y:-220.11, Z:-5.13 [[ 7.39944981e-01 6.72665318e-01 -1.67183567e-03 6.44803013e+02] [-6.72663704e-01 7.39946869e-01 1.47368568e-03 -2.20107032e+02] [ 2.22836681e-03 3.41368568e-05 9.99997517e-01 -5.12688086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters 0.051355945617495916 Centerline is valid? [True, True] Translation: X:644.85, Y:-220.14, Z:-5.13 [[ 7.40496483e-01 6.72056848e-01 -2.13360653e-03 6.44850852e+02] [-6.72054217e-01 7.40499555e-01 1.88082336e-03 -2.20144781e+02] [ 2.84395490e-03 4.11561795e-05 9.99995955e-01 -5.12981846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters 0.05131072939899989 Centerline is valid? [True, True] Translation: X:644.90, Y:-220.19, Z:-5.13 [[ 7.41648911e-01 6.70782059e-01 -2.88487199e-03 6.44896650e+02] [-6.70777239e-01 7.41654520e-01 2.54326317e-03 -2.20186631e+02] [ 3.84555366e-03 4.88981080e-05 9.99992605e-01 -5.13028690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters 0.05184220969405629 Centerline is valid? [True, True] Translation: X:644.94, Y:-220.23, Z:-5.13 [[ 7.42205572e-01 6.70162851e-01 -3.55557464e-03 6.44940687e+02] [-6.70155522e-01 7.42214086e-01 3.13472932e-03 -2.20232037e+02] [ 4.73977672e-03 5.61744069e-05 9.99988766e-01 -5.12713544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters 0.051201957052285536 Centerline is valid? [True, True] Translation: X:644.99, Y:-220.27, Z:-5.13 [[ 7.42504357e-01 6.69833372e-01 -3.24558119e-03 6.44986303e+02] [-6.69827261e-01 7.42511449e-01 2.86164097e-03 -2.20272135e+02] [ 4.32670381e-03 4.91978740e-05 9.99990639e-01 -5.12722832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters 0.05099787834854704 Centerline is valid? [True, True] Translation: X:645.03, Y:-220.31, Z:-5.13 [[ 7.42394851e-01 6.69948238e-01 -4.38677862e-03 6.45033241e+02] [-6.69937069e-01 7.42407809e-01 3.86894602e-03 -2.20313273e+02] [ 5.84877227e-03 6.65800069e-05 9.99982894e-01 -5.12836799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters 0.05252183377962621 Centerline is valid? [True, True] Translation: X:645.08, Y:-220.36, Z:-5.13 [[ 7.42943548e-01 6.69329097e-01 -5.78302187e-03 6.45079553e+02] [-6.69309663e-01 7.42966051e-01 5.10116810e-03 -2.20355245e+02] [ 7.71094916e-03 8.07524923e-05 9.99970267e-01 -5.12977990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters 0.051566542984307205 Centerline is valid? [True, True] Translation: X:645.12, Y:-220.40, Z:-5.13 [[ 7.44051013e-01 6.68096364e-01 -5.94466132e-03 6.45124620e+02] [-6.68075780e-01 7.44074757e-01 5.24489233e-03 -2.20397442e+02] [ 7.92736592e-03 6.90167927e-05 9.99968576e-01 -5.12929734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters 0.05102084710968283 Centerline is valid? [True, True] Translation: X:645.17, Y:-220.44, Z:-5.13 [[ 7.45823843e-01 6.66128769e-01 -4.38846353e-03 6.45168985e+02] [-6.66117520e-01 7.45836753e-01 3.87136104e-03 -2.20438077e+02] [ 5.85190235e-03 3.58790734e-05 9.99982877e-01 -5.12898755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters 0.05142721050615299 Centerline is valid? [True, True] Translation: X:645.21, Y:-220.48, Z:-5.13 [[ 7.46870564e-01 6.64963632e-01 -2.78007913e-03 6.45214544e+02] [-6.64959105e-01 7.46875738e-01 2.45388864e-03 -2.20478993e+02] [ 3.70812036e-03 1.59017359e-05 9.99993125e-01 -5.12822362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters 0.05188690192633299 Centerline is valid? [True, True] Translation: X:645.26, Y:-220.52, Z:-5.13 [[ 7.48764188e-01 6.62835990e-01 -8.00902816e-04 6.45260961e+02] [-6.62835612e-01 7.48764616e-01 7.07900655e-04 -2.20520599e+02] [ 1.06890972e-03 8.16250037e-07 9.99999429e-01 -5.12638752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters 0.05144835242841445 Centerline is valid? [True, True] Translation: X:645.31, Y:-220.56, Z:-5.13 [[ 7.50228851e-01 6.61172773e-01 -2.68988876e-03 6.45307332e+02] [-6.61168505e-01 7.50233673e-01 2.37556048e-03 -2.20561544e+02] [ 3.58870104e-03 -3.74428292e-06 9.99993561e-01 -5.12695329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters 0.052100432251680755 Centerline is valid? [True, True] Translation: X:645.35, Y:-220.60, Z:-5.13 [[ 7.52010594e-01 6.59143647e-01 -3.11770882e-03 6.45353678e+02] [-6.59137895e-01 7.52017056e-01 2.75372373e-03 -2.20601630e+02] [ 4.15966970e-03 -1.58293877e-05 9.99991348e-01 -5.12868913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters 0.052720080600561416 Centerline is valid? [True, True] Translation: X:645.40, Y:-220.64, Z:-5.12 [[ 7.53602603e-01 6.57315534e-01 -4.40518744e-03 6.45402777e+02] [-6.57304016e-01 7.53615477e-01 3.89139593e-03 -2.20639805e+02] [ 5.87769243e-03 -3.70187088e-05 9.99982726e-01 -5.12388323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters 0.05257222893750653 Centerline is valid? [True, True] Translation: X:645.45, Y:-220.68, Z:-5.13 [[ 7.53983137e-01 6.56875294e-01 -4.92717698e-03 6.45447849e+02] [-6.56860872e-01 7.53999235e-01 4.35302886e-03 -2.20681643e+02] [ 6.57448478e-03 -4.56405919e-05 9.99978387e-01 -5.12862146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters 0.052238353568922515 Centerline is valid? [True, True] Translation: X:645.50, Y:-220.72, Z:-5.13 [[ 7.54693704e-01 6.56056457e-01 -5.22864440e-03 6.45495539e+02] [-6.56040191e-01 7.54711814e-01 4.62023639e-03 -2.20721100e+02] [ 6.97725562e-03 -5.66624472e-05 9.99975657e-01 -5.12972229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters 0.052926256505961555 Centerline is valid? [True, True] Translation: X:645.54, Y:-220.76, Z:-5.13 [[ 7.54590859e-01 6.56182603e-01 -4.12638893e-03 6.45542602e+02] [-6.56172474e-01 7.54602140e-01 3.64618791e-03 -2.20762265e+02] [ 5.50634699e-03 -4.37572308e-05 9.99984839e-01 -5.13211078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters 0.05234230584793893 Centerline is valid? [True, True] Translation: X:645.59, Y:-220.80, Z:-5.13 [[ 7.53692467e-01 6.57221569e-01 -2.73389199e-03 6.45592461e+02] [-6.57217125e-01 7.53697425e-01 2.41715848e-03 -2.20798859e+02] [ 3.64913604e-03 -2.50335093e-05 9.99993342e-01 -5.12772798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters 0.05196080346407213 Centerline is valid? [True, True] Translation: X:645.64, Y:-220.84, Z:-5.13 [[ 7.50723695e-01 6.60612326e-01 -2.29965356e-03 6.45641456e+02] [-6.60609196e-01 7.50727217e-01 2.03370064e-03 -2.20836961e+02] [ 3.06990023e-03 -7.57496865e-06 9.99995288e-01 -5.12845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters 0.05241379571023699 Centerline is valid? [True, True] Translation: X:645.69, Y:-220.88, Z:-5.13 [[ 7.48018350e-01 6.63676280e-01 -1.53097660e-03 6.45689331e+02] [-6.63674899e-01 7.48019916e-01 1.35377471e-03 -2.20876113e+02] [ 2.04366916e-03 3.42241729e-06 9.99997912e-01 -5.13096135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters 0.051375635162480386 Centerline is valid? [True, True] Translation: X:645.74, Y:-220.91, Z:-5.13 [[ 7.43367120e-01 6.68883508e-01 -4.22106126e-04 6.45738734e+02] [-6.68883403e-01 7.43367240e-01 3.74291725e-04 -2.20913204e+02] [ 5.64137427e-04 4.10362076e-06 9.99999841e-01 -5.13109248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters 0.05269991766847518 Centerline is valid? [True, True] Translation: X:645.79, Y:-220.95, Z:-5.13 [[ 7.38152393e-01 6.74633765e-01 -5.72054629e-04 6.45788021e+02] [-6.74633576e-01 7.38152615e-01 5.06310792e-04 -2.20948096e+02] [ 7.63837976e-04 1.21927373e-05 9.99999708e-01 -5.13298494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters 0.05186465973135111 Centerline is valid? [True, True] Translation: X:645.83, Y:-220.99, Z:-5.13 [[ 7.35313985e-01 6.77721476e-01 -2.63514850e-03 6.45834315e+02] [-6.77717470e-01 7.35318703e-01 2.33144233e-03 -2.20987906e+02] [ 3.51774252e-03 7.15440197e-05 9.99993810e-01 -5.13491250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters 0.051952007599789 Centerline is valid? [True, True] Translation: X:645.88, Y:-221.03, Z:-5.14 [[ 7.32343961e-01 6.80928181e-01 -3.02245256e-03 6.45881580e+02] [-6.80922941e-01 7.32350191e-01 2.67321922e-03 -2.21025566e+02] [ 4.03376401e-03 1.00341333e-04 9.99991859e-01 -5.13686818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters 0.05175225306177841 Centerline is valid? [True, True] Translation: X:645.93, Y:-221.07, Z:-5.14 [[ 7.33462359e-01 6.79727151e-01 -1.99216277e-03 6.45927607e+02] [-6.79724869e-01 7.33465062e-01 1.76225472e-03 -2.21067009e+02] [ 2.65903417e-03 6.15750776e-05 9.99996463e-01 -5.13722311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters 0.051444536883791116 Centerline is valid? [True, True] Translation: X:645.97, Y:-221.11, Z:-5.13 [[ 7.37381238e-01 6.75476780e-01 1.70498007e-04 6.45970453e+02] [-6.75476763e-01 7.37381258e-01 -1.49847242e-04 -2.21111215e+02] [-2.26940368e-04 -4.67289749e-06 9.99999974e-01 -5.13483174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters 0.05198818815765624 Centerline is valid? [True, True] Translation: X:646.02, Y:-221.15, Z:-5.14 [[ 7.38166038e-01 6.74619014e-01 -2.93644217e-04 6.46017427e+02] [-6.74618964e-01 7.38166096e-01 2.60966479e-04 -2.21151899e+02] [ 3.92811154e-04 5.46136553e-06 9.99999923e-01 -5.13597997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters 0.05175177268302899 Centerline is valid? [True, True] Translation: X:646.06, Y:-221.19, Z:-5.14 [[ 7.38476661e-01 6.74278978e-01 -2.82817069e-04 6.46064704e+02] [-6.74278932e-01 7.38476715e-01 2.51440660e-04 -2.21190957e+02] [ 3.78394971e-04 5.01453195e-06 9.99999928e-01 -5.13762628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters 0.05174498496886493 Centerline is valid? [True, True] Translation: X:646.11, Y:-221.23, Z:-5.14 [[ 7.38844449e-01 6.73875875e-01 -4.29437465e-04 6.46111237e+02] [-6.73875767e-01 7.38844574e-01 3.81289439e-04 -2.21232324e+02] [ 5.74229296e-04 7.67391563e-06 9.99999835e-01 -5.13794404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters 0.051212536803375716 Centerline is valid? [True, True] Translation: X:646.16, Y:-221.27, Z:-5.14 [[ 7.38528507e-01 6.74221469e-01 1.02743892e-03 6.46157323e+02] [-6.74220857e-01 7.38529221e-01 -9.08631169e-04 -2.21273984e+02] [-1.37141231e-03 -2.16707306e-05 9.99999059e-01 -5.13658078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters 0.05213242181146694 Centerline is valid? [True, True] Translation: X:646.20, Y:-221.32, Z:-5.14 [[ 7.39710308e-01 6.72920784e-01 2.50555673e-03 6.46203021e+02] [-6.72917131e-01 7.39714550e-01 -2.21798238e-03 -2.21315534e+02] [-3.34592322e-03 -4.53676140e-05 9.99994401e-01 -5.13816352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters 0.051009723776198085 Centerline is valid? [True, True] Translation: X:646.25, Y:-221.36, Z:-5.14 [[ 7.41614400e-01 6.70808879e-01 4.85076845e-03 6.46247187e+02] [-6.70795125e-01 7.41630261e-01 -4.29620501e-03 -2.21357262e+02] [-6.47940913e-03 -6.77443272e-05 9.99979006e-01 -5.13732570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters 0.05191661694234541 Centerline is valid? [True, True] Translation: X:646.30, Y:-221.39, Z:-5.14 [[ 7.39455613e-01 6.73171462e-01 6.75120110e-03 6.46296948e+02] [-6.73144914e-01 7.39486421e-01 -5.97977481e-03 -2.21393708e+02] [-9.01783530e-03 -1.22758634e-04 9.99959331e-01 -5.13848239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters 0.0521993778291574 Centerline is valid? [True, True] Translation: X:646.35, Y:-221.42, Z:-5.14 [[ 7.30702689e-01 6.82685526e-01 3.74865768e-03 6.46353248e+02] [-6.82677464e-01 7.30712293e-01 -3.32045008e-03 -2.21421965e+02] [-5.00601345e-03 -1.32862315e-04 9.99987461e-01 -5.14448667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters 0.0521993778291574 Centerline is valid? [True, True] Translation: X:646.40, Y:-221.46, Z:-5.14 [[ 7.30616805e-01 6.82777438e-01 3.74878689e-03 6.46400053e+02] [-6.82769378e-01 7.30626411e-01 -3.32030423e-03 -2.21463380e+02] [-5.00599153e-03 -1.33686823e-04 9.99987461e-01 -5.14494724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters 0.05165608689796648 Centerline is valid? [True, True] Translation: X:646.45, Y:-221.51, Z:-5.15 [[ 7.30510622e-01 6.82889429e-01 4.03217837e-03 6.46446533e+02] [-6.82880101e-01 7.30521736e-01 -3.57229611e-03 -2.21505970e+02] [-5.38507720e-03 -1.43894118e-04 9.99985490e-01 -5.14506523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters 0.05165608689796648 Centerline is valid? [True, True] Translation: X:646.49, Y:-221.55, Z:-5.15 [[ 7.30422468e-01 6.82983722e-01 4.03171981e-03 6.46493332e+02] [-6.82974392e-01 7.30433580e-01 -3.57281355e-03 -2.21547389e+02] [-5.38507703e-03 -1.43898095e-04 9.99985490e-01 -5.14552607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters 0.05140986409235982 Centerline is valid? [True, True] Translation: X:646.54, Y:-221.59, Z:-5.15 [[ 7.30305479e-01 6.83109325e-01 3.94442696e-03 6.46541451e+02] [-6.83100392e-01 7.30316117e-01 -3.49636345e-03 -2.21586388e+02] [-5.26907706e-03 -1.41026212e-04 9.99986108e-01 -5.14603833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters 0.052723417136586896 Centerline is valid? [True, True] Translation: X:646.59, Y:-221.62, Z:-5.15 [[ 7.30059894e-01 6.83366599e-01 4.75838338e-03 6.46592777e+02] [-6.83353596e-01 7.30075381e-01 -4.21912923e-03 -2.21622102e+02] [-6.35719055e-03 -1.71441360e-04 9.99979778e-01 -5.14568134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters 0.052592522389562815 Centerline is valid? [True, True] Translation: X:646.64, Y:-221.66, Z:-5.15 [[ 7.30842513e-01 6.82529748e-01 4.72911592e-03 6.46641711e+02] [-6.82516880e-01 7.30857795e-01 -4.19417553e-03 -2.21660668e+02] [-6.31896080e-03 -1.62419657e-04 9.99980022e-01 -5.14671877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters 0.052972339941046165 Centerline is valid? [True, True] Translation: X:646.68, Y:-221.71, Z:-5.15 [[ 7.31999782e-01 6.81276097e-01 6.26099619e-03 6.46683016e+02] [-6.81253485e-01 7.32026530e-01 -5.55417517e-03 -2.21706515e+02] [-8.36714210e-03 -1.99670460e-04 9.99964975e-01 -5.14686466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters 0.052972339941046165 Centerline is valid? [True, True] Translation: X:646.73, Y:-221.75, Z:-5.15 [[ 7.31913128e-01 6.81369191e-01 6.26079581e-03 6.46729785e+02] [-6.81346581e-01 7.31939878e-01 -5.55440103e-03 -2.21747964e+02] [-8.36712386e-03 -2.00432783e-04 9.99964975e-01 -5.14732522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters 0.05227302138577164 Centerline is valid? [True, True] Translation: X:646.78, Y:-221.79, Z:-5.15 [[ 7.31737030e-01 6.81555386e-01 6.57077976e-03 6.46777680e+02] [-6.81530475e-01 7.31766500e-01 -5.83096569e-03 -2.21789420e+02] [-8.78240258e-03 -2.11453142e-04 9.99961412e-01 -5.14874799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters 0.05202913922431005 Centerline is valid? [True, True] Translation: X:646.82, Y:-221.83, Z:-5.15 [[ 7.30681822e-01 6.82693168e-01 5.84069211e-03 6.46823925e+02] [-6.82673513e-01 7.30705138e-01 -5.18421168e-03 -2.21830996e+02] [-7.80704963e-03 -1.99276568e-04 9.99969505e-01 -5.15053148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters 0.05156836953044643 Centerline is valid? [True, True] Translation: X:646.87, Y:-221.87, Z:-5.15 [[ 7.29602808e-01 6.83840336e-01 6.49128812e-03 6.46870192e+02] [-6.83816100e-01 7.29631646e-01 -5.76209143e-03 -2.21872186e+02] [-8.67659978e-03 -2.34809238e-04 9.99962330e-01 -5.15115458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters 0.05292294877500431 Centerline is valid? [True, True] Translation: X:646.92, Y:-221.91, Z:-5.15 [[ 7.27314763e-01 6.86268823e-01 6.95259683e-03 6.46921056e+02] [-6.86241126e-01 7.27347938e-01 -6.17202805e-03 -2.21905671e+02] [-9.29262740e-03 -2.82150760e-04 9.99956783e-01 -5.15173593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters 0.05162889602320727 Centerline is valid? [True, True] Translation: X:646.96, Y:-221.95, Z:-5.15 [[ 7.26222990e-01 6.87426998e-01 6.65520514e-03 6.46963846e+02] [-6.87401663e-01 7.26253428e-01 -5.90863235e-03 -2.21950619e+02] [-8.89511895e-03 -2.83814424e-04 9.99960397e-01 -5.15304078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters 0.052841158238554425 Centerline is valid? [True, True] Translation: X:647.01, Y:-221.98, Z:-5.15 [[ 7.23770779e-01 6.90025452e-01 4.55356921e-03 6.47014091e+02] [-6.90013638e-01 7.23785071e-01 -4.04343009e-03 -2.21984549e+02] [-6.08587509e-03 -2.15508310e-04 9.99981458e-01 -5.15437103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters 0.053137083968856934 Centerline is valid? [True, True] Translation: X:647.06, Y:-222.02, Z:-5.16 [[ 7.22118215e-01 6.91760665e-01 3.53070724e-03 6.47060597e+02] [-6.91753583e-01 7.22126825e-01 -3.13524579e-03 -2.22023576e+02] [-4.71845812e-03 -1.78361290e-04 9.99988852e-01 -5.15713135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters 0.05319695910137129 Centerline is valid? [True, True] Translation: X:647.11, Y:-222.06, Z:-5.16 [[ 7.21654791e-01 6.92244715e-01 3.40830218e-03 6.47106786e+02] [-6.92238122e-01 7.21662818e-01 -3.02625759e-03 -2.22064358e+02] [-4.55455578e-03 -1.75443413e-04 9.99989613e-01 -5.15811309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters 0.05298318265806188 Centerline is valid? [True, True] Translation: X:647.15, Y:-222.11, Z:-5.16 [[ 7.21923379e-01 6.91960320e-01 4.18930375e-03 6.47151837e+02] [-6.91950350e-01 7.21935503e-01 -3.72064483e-03 -2.22107728e+02] [-5.59894570e-03 -2.12769703e-04 9.99984303e-01 -5.15740303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters 0.052902928285245863 Centerline is valid? [True, True] Translation: X:647.20, Y:-222.15, Z:-5.16 [[ 7.23642193e-01 6.90156967e-01 5.03359929e-03 6.47196937e+02] [-6.90142521e-01 7.23659660e-01 -4.47173195e-03 -2.22146613e+02] [-6.72880971e-03 -2.37966990e-04 9.99977333e-01 -5.15706920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters 0.05356574124661886 Centerline is valid? [True, True] Translation: X:647.24, Y:-222.19, Z:-5.16 [[ 7.26457869e-01 6.87176564e-01 6.87995014e-03 6.47241923e+02] [-6.87149443e-01 7.26490390e-01 -6.11195841e-03 -2.22188062e+02] [-9.19821225e-03 -2.87473621e-04 9.99957654e-01 -5.15589781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters 0.05049416451446817 Centerline is valid? [True, True] Translation: X:647.28, Y:-222.24, Z:-5.16 [[ 7.28795722e-01 6.84695318e-01 7.00838032e-03 6.47276985e+02] [-6.84667058e-01 7.28829372e-01 -6.22628190e-03 -2.22241722e+02] [-9.37101949e-03 -2.60719517e-04 9.99956057e-01 -5.15773157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters 0.051483902931609656 Centerline is valid? [True, True] Translation: X:647.32, Y:-222.28, Z:-5.16 [[ 7.29604649e-01 6.83843755e-01 5.89694648e-03 6.47324737e+02] [-6.83823717e-01 7.29628450e-01 -5.23919957e-03 -2.22280006e+02] [-7.88537383e-03 -2.09927496e-04 9.99968888e-01 -5.15903791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters 0.0518265076785302 Centerline is valid? [True, True] Translation: X:647.37, Y:-222.32, Z:-5.16 [[ 7.30265187e-01 6.83144648e-01 5.11330319e-03 6.47369407e+02] [-6.83129559e-01 7.30283068e-01 -4.54379169e-03 -2.22323086e+02] [-6.83822572e-03 -1.74875670e-04 9.99976604e-01 -5.16051185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters 0.05093092034343381 Centerline is valid? [True, True] Translation: X:647.41, Y:-222.37, Z:-5.16 [[ 7.32846697e-01 6.80373467e-01 5.25955555e-03 6.47410702e+02] [-6.80357424e-01 7.32865555e-01 -4.67485989e-03 -2.22369375e+02] [-7.03519773e-03 -1.52422030e-04 9.99975241e-01 -5.16148476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters 0.05128484541398349 Centerline is valid? [True, True] Translation: X:647.45, Y:-222.42, Z:-5.16 [[ 7.37336919e-01 6.75506058e-01 5.08269933e-03 6.47451472e+02] [-6.75490958e-01 7.37354430e-01 -4.51783428e-03 -2.22416439e+02] [-6.79957529e-03 -1.02151433e-04 9.99976877e-01 -5.16170196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters 0.05176154331676076 Centerline is valid? [True, True] Translation: X:647.49, Y:-222.46, Z:-5.16 [[ 7.41274252e-01 6.71181756e-01 5.24729818e-03 6.47494133e+02] [-6.71165551e-01 7.41292821e-01 -4.66441281e-03 -2.22459896e+02] [-7.02045325e-03 -6.41966525e-05 9.99975354e-01 -5.16224880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters 0.05125373994609365 Centerline is valid? [True, True] Translation: X:647.54, Y:-222.51, Z:-5.16 [[ 7.47076604e-01 6.64716558e-01 5.33330700e-03 6.47535501e+02] [-6.64699649e-01 7.47095641e-01 -4.74129377e-03 -2.22506416e+02] [-7.13610689e-03 -2.93763862e-06 9.99974538e-01 -5.16286073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters 0.051721792718705285 Centerline is valid? [True, True] Translation: X:647.58, Y:-222.55, Z:-5.16 [[ 7.53178305e-01 6.57798997e-01 4.78764553e-03 6.47576537e+02] [-6.57785229e-01 7.53193519e-01 -4.25629671e-03 -2.22552381e+02] [-6.40581129e-03 5.65078284e-05 9.99979481e-01 -5.16342124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters 0.05226992191707411 Centerline is valid? [True, True] Translation: X:647.62, Y:-222.60, Z:-5.16 [[ 7.58881666e-01 6.51216054e-01 4.03327162e-03 6.47618723e+02] [-6.51206186e-01 7.58892378e-01 -3.58636865e-03 -2.22597421e+02] [-5.39631993e-03 9.51379890e-05 9.99985435e-01 -5.16399309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters 0.05216023359370587 Centerline is valid? [True, True] Translation: X:647.66, Y:-222.64, Z:-5.17 [[ 7.61580042e-01 6.48060703e-01 3.62839824e-03 6.47659028e+02] [-6.48052681e-01 7.61588678e-01 -3.22629034e-03 -2.22644177e+02] [-4.85417900e-03 1.05685128e-04 9.99988213e-01 -5.16526546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters 0.052697719842876495 Centerline is valid? [True, True] Translation: X:647.71, Y:-222.68, Z:-5.16 [[ 7.62918608e-01 6.46482177e-01 3.99894974e-03 6.47712678e+02] [-6.46472405e-01 7.62929078e-01 -3.55686809e-03 -2.22677219e+02] [-5.35036686e-03 1.28390203e-04 9.99985678e-01 -5.16393687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters 0.052761901759358576 Centerline is valid? [True, True] Translation: X:647.75, Y:-222.73, Z:-5.16 [[ 7.63144338e-01 6.46213276e-01 4.37288137e-03 6.47750186e+02] [-6.46201586e-01 7.63156853e-01 -3.88958990e-03 -2.22727251e+02] [-5.85069901e-03 1.42555639e-04 9.99982874e-01 -5.16443569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters 0.05239436048683729 Centerline is valid? [True, True] Translation: X:647.80, Y:-222.77, Z:-5.16 [[ 7.61092619e-01 6.48629599e-01 4.20351251e-03 6.47797113e+02] [-6.48618827e-01 7.61104217e-01 -3.73999683e-03 -2.22765866e+02] [-5.62518374e-03 1.20006629e-04 9.99984171e-01 -5.16417544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters 0.05264748172992941 Centerline is valid? [True, True] Translation: X:647.85, Y:-222.80, Z:-5.16 [[ 7.55463414e-01 6.55177511e-01 4.17837706e-03 6.47846575e+02] [-6.55166965e-01 7.55474966e-01 -3.71796420e-03 -2.22802693e+02] [-5.59258580e-03 7.12513096e-05 9.99984359e-01 -5.16403799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters 0.05134864645456188 Centerline is valid? [True, True] Translation: X:647.89, Y:-222.84, Z:-5.17 [[ 7.46714987e-01 6.65131470e-01 4.10564530e-03 6.47893026e+02] [-6.65121436e-01 7.46726274e-01 -3.65349620e-03 -2.22840993e+02] [-5.49584851e-03 -2.63232625e-06 9.99984898e-01 -5.16562823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters 0.05142889896334143 Centerline is valid? [True, True] Translation: X:647.94, Y:-222.88, Z:-5.17 [[ 7.40179263e-01 6.72400842e-01 3.43020650e-03 6.47942426e+02] [-6.72393914e-01 7.40187210e-01 -3.05273576e-03 -2.22878638e+02] [-4.59165708e-03 -4.68782720e-05 9.99989457e-01 -5.16579517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters 0.05212892023186107 Centerline is valid? [True, True] Translation: X:647.99, Y:-222.91, Z:-5.17 [[ 7.31236833e-01 6.82120444e-01 2.09610006e-03 6.47993686e+02] [-6.82117896e-01 7.31239835e-01 -1.86539950e-03 -2.22911851e+02] [-2.80517900e-03 -6.57385391e-05 9.99996063e-01 -5.16762726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters 0.05127384912634264 Centerline is valid? [True, True] Translation: X:648.04, Y:-222.95, Z:-5.17 [[ 7.25162960e-01 6.88576608e-01 9.67979674e-04 6.48041830e+02] [-6.88576070e-01 7.25163605e-01 -8.61380040e-04 -2.22949177e+02] [-1.29506978e-03 -4.18867401e-05 9.99999161e-01 -5.16814664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters 0.04999505382070127 Centerline is valid? [True, True] Translation: X:648.08, Y:-222.99, Z:-5.17 [[ 7.23199531e-01 6.90639051e-01 3.74145984e-04 6.48083446e+02] [-6.90638971e-01 7.23199628e-01 -3.32130319e-04 -2.22994767e+02] [-4.99964405e-04 -1.82033059e-05 9.99999875e-01 -5.16710574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters 0.05131567446571526 Centerline is valid? [True, True] Translation: X:648.13, Y:-223.03, Z:-5.17 [[ 7.23540373e-01 6.90281912e-01 4.58735091e-04 6.48130315e+02] [-6.90281792e-01 7.23540518e-01 -4.07431517e-04 -2.23034675e+02] [-6.13156032e-04 -2.18633290e-05 9.99999812e-01 -5.16687554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters 0.05067506753426521 Centerline is valid? [True, True] Translation: X:648.17, Y:-223.08, Z:-5.17 [[ 7.25287548e-01 6.88445864e-01 -5.14636054e-04 6.48173398e+02] [-6.88445711e-01 7.25287731e-01 4.59189444e-04 -2.23078499e+02] [ 6.89386289e-04 2.12545983e-05 9.99999762e-01 -5.16683042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters 0.05195924497830131 Centerline is valid? [True, True] Translation: X:648.22, Y:-223.11, Z:-5.17 [[ 7.27310442e-01 6.86306665e-01 -1.63786120e-03 6.48222217e+02] [-6.86305117e-01 7.27312283e-01 1.45937896e-03 -2.23114097e+02] [ 2.19281808e-03 6.26509626e-05 9.99997594e-01 -5.17145556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters 0.05127486975900009 Centerline is valid? [True, True] Translation: X:648.26, Y:-223.16, Z:-5.17 [[ 7.29427268e-01 6.84053659e-01 -2.54030771e-03 6.48260025e+02] [-6.84049920e-01 7.29431686e-01 2.26311003e-03 -2.23164124e+02] [ 3.40106963e-03 8.69231156e-05 9.99994213e-01 -5.16906899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters 0.05156965554932212 Centerline is valid? [True, True] Translation: X:648.30, Y:-223.21, Z:-5.17 [[ 7.33128973e-01 6.80080647e-01 -3.49610730e-03 6.48303059e+02] [-6.80073517e-01 7.33137303e-01 3.11549531e-03 -2.23206608e+02] [ 4.68191475e-03 9.35501094e-05 9.99989035e-01 -5.17088126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters 0.0510849214250562 Centerline is valid? [True, True] Translation: X:648.34, Y:-223.25, Z:-5.17 [[ 7.34482570e-01 6.78619782e-01 -3.24738174e-03 6.48344533e+02] [-6.78613613e-01 7.34489745e-01 2.89465779e-03 -2.23252339e+02] [ 4.34954062e-03 7.76417628e-05 9.99990538e-01 -5.16824187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters 0.05039917360751299 Centerline is valid? [True, True] Translation: X:648.39, Y:-223.30, Z:-5.16 [[ 7.34074728e-01 6.79064105e-01 -2.49686494e-03 6.48387075e+02] [-6.79060457e-01 7.34078972e-01 2.22677708e-03 -2.23299158e+02] [ 3.34502043e-03 6.09014705e-05 9.99994404e-01 -5.16372134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters 0.051362216342874814 Centerline is valid? [True, True] Translation: X:648.44, Y:-223.34, Z:-5.16 [[ 7.32860536e-01 6.80377137e-01 -1.54486429e-03 6.48435497e+02] [-6.80375744e-01 7.32862163e-01 1.37744672e-03 -2.23338086e+02] [ 2.06935584e-03 4.16118519e-05 9.99997858e-01 -5.16407911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters 0.05146870051580281 Centerline is valid? [True, True] Translation: X:648.49, Y:-223.38, Z:-5.17 [[ 7.32637970e-01 6.80616977e-01 -1.46131033e-03 6.48485154e+02] [-6.80615729e-01 7.32639426e-01 1.30409562e-03 -2.23375052e+02] [ 1.95820318e-03 3.91608276e-05 9.99998082e-01 -5.16573887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters 0.051111856003142615 Centerline is valid? [True, True] Translation: X:648.53, Y:-223.42, Z:-5.17 [[ 7.33355552e-01 6.79843536e-01 -1.54932161e-03 6.48531363e+02] [-6.79842131e-01 7.33357188e-01 1.38268587e-03 -2.23416973e+02] [ 2.07621619e-03 3.92937415e-05 9.99997844e-01 -5.16592288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters 0.05019576245535535 Centerline is valid? [True, True] Translation: X:648.58, Y:-223.46, Z:-5.17 [[ 7.35141371e-01 6.77912547e-01 -1.32073065e-03 6.48577391e+02] [-6.77911522e-01 7.35142557e-01 1.17889080e-03 -2.23457617e+02] [ 1.77011017e-03 2.86871236e-05 9.99998433e-01 -5.16646929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters 0.05171132332843152 Centerline is valid? [True, True] Translation: X:648.62, Y:-223.50, Z:-5.17 [[ 7.37965527e-01 6.74837883e-01 -8.44211609e-04 6.48624054e+02] [-6.74837462e-01 7.37966010e-01 7.53993846e-04 -2.23496109e+02] [ 1.13182308e-03 1.32841535e-05 9.99999359e-01 -5.16780091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters 0.05148820169191911 Centerline is valid? [True, True] Translation: X:648.67, Y:-223.54, Z:-5.17 [[ 7.42144869e-01 6.70239419e-01 -3.38823708e-04 6.48669330e+02] [-6.70239351e-01 7.42144946e-01 3.02495907e-04 -2.23536632e+02] [ 4.54200983e-04 2.59719746e-06 9.99999897e-01 -5.16848331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters 0.05191422424794237 Centerline is valid? [True, True] Translation: X:648.71, Y:-223.58, Z:-5.17 [[ 7.45547734e-01 6.66452031e-01 -5.17030672e-04 6.48714092e+02] [-6.66451871e-01 7.45547913e-01 4.61904974e-04 -2.23580516e+02] [ 6.93308646e-04 2.03851522e-07 9.99999760e-01 -5.16504879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters 0.05217160958781872 Centerline is valid? [True, True] Translation: X:648.76, Y:-223.62, Z:-5.17 [[ 7.49400637e-01 6.62116632e-01 -5.01136723e-04 6.48758974e+02] [-6.62116481e-01 7.49400804e-01 4.47975192e-04 -2.23621320e+02] [ 6.72164088e-04 -3.90201014e-06 9.99999774e-01 -5.16801202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters 0.05229615950309756 Centerline is valid? [True, True] Translation: X:648.81, Y:-223.66, Z:-5.17 [[ 7.51248322e-01 6.60017158e-01 -1.81937039e-03 6.48807866e+02] [-6.60015160e-01 7.51250525e-01 1.62429708e-03 -2.23659809e+02] [ 2.43886690e-03 -1.94384212e-05 9.99997026e-01 -5.16520273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters 0.05290549111811815 Centerline is valid? [True, True] Translation: X:648.85, Y:-223.70, Z:-5.17 [[ 7.50280691e-01 6.61113466e-01 -2.80546969e-03 6.48854134e+02] [-6.61108721e-01 7.50285936e-01 2.50467465e-03 -2.23699941e+02] [ 3.76077859e-03 -2.44885494e-05 9.99992928e-01 -5.16973378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters 0.05232492881382517 Centerline is valid? [True, True] Translation: X:648.90, Y:-223.74, Z:-5.17 [[ 7.48272058e-01 6.63386004e-01 -2.81738061e-03 6.48901760e+02] [-6.63381231e-01 7.48277362e-01 2.51642792e-03 -2.23739902e+02] [ 3.77754519e-03 -1.39752813e-05 9.99992865e-01 -5.16832440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters 0.0519269083770211 Centerline is valid? [True, True] Translation: X:648.95, Y:-223.78, Z:-5.17 [[ 7.43798851e-01 6.68400997e-01 -1.83769635e-03 6.48950408e+02] [-6.68398980e-01 7.43801121e-01 1.64214980e-03 -2.23777810e+02] [ 2.46449517e-03 6.88523488e-06 9.99996963e-01 -5.16930959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters 0.051887169157877944 Centerline is valid? [True, True] Translation: X:649.00, Y:-223.81, Z:-5.17 [[ 7.38816540e-01 6.73905390e-01 -1.28267524e-03 6.49001235e+02] [-6.73904415e-01 7.38817653e-01 1.14668139e-03 -2.23812342e+02] [ 1.72041788e-03 1.72133260e-05 9.99998520e-01 -5.17337632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters 0.052153814316941736 Centerline is valid? [True, True] Translation: X:649.05, Y:-223.85, Z:-5.17 [[ 7.35730568e-01 6.77273232e-01 -1.22507379e-03 6.49047449e+02] [-6.77272348e-01 7.35731587e-01 1.09473619e-03 -2.23853397e+02] [ 1.64276100e-03 2.42777267e-05 9.99998650e-01 -5.17161167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters 0.051746818114742556 Centerline is valid? [True, True] Translation: X:649.10, Y:-223.89, Z:-5.17 [[ 7.31863332e-01 6.81450804e-01 -9.30795413e-04 6.49097805e+02] [-6.81450296e-01 7.31863923e-01 8.31746535e-04 -2.23888049e+02] [ 1.24800993e-03 2.55660199e-05 9.99999221e-01 -5.17360729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters 0.05238066107646614 Centerline is valid? [True, True] Translation: X:649.14, Y:-223.93, Z:-5.17 [[ 7.29556469e-01 6.83916346e-01 -2.40628808e-03 6.49140753e+02] [-6.83912971e-01 7.29560433e-01 2.14999936e-03 -2.23932380e+02] [ 3.22595228e-03 7.71456869e-05 9.99994794e-01 -5.17263430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters 0.05198904884413484 Centerline is valid? [True, True] Translation: X:649.19, Y:-223.97, Z:-5.17 [[ 7.29059105e-01 6.84446296e-01 -2.46782055e-03 6.49187441e+02] [-6.84442745e-01 7.29063277e-01 2.20609499e-03 -2.23971548e+02] [ 3.30915088e-03 8.07082334e-05 9.99994521e-01 -5.17457632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters 0.05173357342520087 Centerline is valid? [True, True] Translation: X:649.23, Y:-224.02, Z:-5.17 [[ 7.30371980e-01 6.83045383e-01 -2.40327631e-03 6.49229309e+02] [-6.83042010e-01 7.30375930e-01 2.14776914e-03 -2.24017347e+02] [ 3.22231896e-03 7.28682842e-05 9.99994806e-01 -5.17305897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters 0.051891660730885046 Centerline is valid? [True, True] Translation: X:649.27, Y:-224.06, Z:-5.17 [[ 7.34102311e-01 6.79036856e-01 -1.65690341e-03 6.49271782e+02] [-6.79035240e-01 7.34104180e-01 1.48187681e-03 -2.24060309e+02] [ 2.22258869e-03 3.72466124e-05 9.99997529e-01 -5.17319956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters 0.05160049707196115 Centerline is valid? [True, True] Translation: X:649.31, Y:-224.11, Z:-5.17 [[ 7.38693000e-01 6.74039417e-01 -1.87523316e-03 6.49312289e+02] [-6.74037332e-01 7.38695380e-01 1.67642959e-03 -2.24107062e+02] [ 2.51520570e-03 2.56103545e-05 9.99996837e-01 -5.17312779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters 0.05221722008725297 Centerline is valid? [True, True] Translation: X:649.36, Y:-224.15, Z:-5.17 [[ 7.43069937e-01 6.69208463e-01 -2.66507136e-03 6.49355049e+02] [-6.69204221e-01 7.43074716e-01 2.38270410e-03 -2.24153259e+02] [ 3.57487289e-03 1.29612163e-05 9.99993610e-01 -5.17492839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters 0.05156296680624564 Centerline is valid? [True, True] Translation: X:649.40, Y:-224.20, Z:-5.18 [[ 7.45138724e-01 6.66902222e-01 -3.11573144e-03 6.49399978e+02] [-6.66896398e-01 7.45145238e-01 2.78705233e-03 -2.24196509e+02] [ 4.18036384e-03 1.12945607e-06 9.99991262e-01 -5.17606521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters 0.0519236618306357 Centerline is valid? [True, True] Translation: X:649.45, Y:-224.24, Z:-5.17 [[ 7.46689588e-01 6.65165901e-01 -2.99728308e-03 6.49446198e+02] [-6.65160494e-01 7.46695603e-01 2.68195038e-03 -2.24239098e+02] [ 4.02200004e-03 -8.91012523e-06 9.99991912e-01 -5.17492953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters 0.051554376856287575 Centerline is valid? [True, True] Translation: X:649.49, Y:-224.28, Z:-5.18 [[ 7.49655562e-01 6.61824682e-01 -2.15127752e-03 6.49489988e+02] [-6.61821881e-01 7.49658649e-01 1.92559795e-03 -2.24282182e+02] [ 2.88713205e-03 -1.97726769e-05 9.99995832e-01 -5.17689940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters 0.0523712838687191 Centerline is valid? [True, True] Translation: X:649.53, Y:-224.32, Z:-5.18 [[ 7.52526914e-01 6.58558976e-01 -1.82173632e-03 6.49534491e+02] [-6.58556957e-01 7.52529118e-01 1.63101454e-03 -2.24324545e+02] [ 2.44502890e-03 -2.76652130e-05 9.99997011e-01 -5.17740666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters 0.05256399698429954 Centerline is valid? [True, True] Translation: X:649.58, Y:-224.36, Z:-5.18 [[ 7.54164332e-01 6.56684687e-01 -1.17562639e-03 6.49584567e+02] [-6.56683842e-01 7.54165248e-01 1.05330712e-03 -2.24361209e+02] [ 1.57830722e-03 -2.23518070e-05 9.99998754e-01 -5.17527673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters 0.053088938573264306 Centerline is valid? [True, True] Translation: X:649.63, Y:-224.40, Z:-5.18 [[ 7.55265056e-01 6.55418622e-01 -1.06019170e-03 6.49628745e+02] [-6.55417934e-01 7.55265800e-01 9.50243719e-04 -2.24403689e+02] [ 1.42353397e-03 -2.28172199e-05 9.99998987e-01 -5.17741932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters 0.05245552730927029 Centerline is valid? [True, True] Translation: X:649.68, Y:-224.44, Z:-5.18 [[ 7.54657000e-01 6.56119474e-01 -2.17787762e-04 6.49677739e+02] [-6.56119445e-01 7.54657032e-01 1.95381530e-04 -2.24442889e+02] [ 2.92548693e-04 -4.55125353e-06 9.99999957e-01 -5.17750337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters 0.052465332737983525 Centerline is valid? [True, True] Translation: X:649.73, Y:-224.48, Z:-5.18 [[ 7.51974227e-01 6.59192268e-01 5.62507624e-04 6.49728844e+02] [-6.59192076e-01 7.51974437e-01 -5.03266198e-04 -2.24478138e+02] [-7.54740541e-04 7.64264120e-06 9.99999715e-01 -5.17694419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters 0.0517816356212347 Centerline is valid? [True, True] Translation: X:649.78, Y:-224.51, Z:-5.18 [[ 7.48333770e-01 6.63317517e-01 2.53792608e-03 6.49779429e+02] [-6.63313626e-01 7.48338073e-01 -2.27207121e-03 -2.24514013e+02] [-3.40633135e-03 1.68266586e-05 9.99994198e-01 -5.17789343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters 0.05167242133361606 Centerline is valid? [True, True] Translation: X:649.83, Y:-224.55, Z:-5.18 [[ 7.46796025e-01 6.65046588e-01 2.95493421e-03 6.49827319e+02] [-6.65041328e-01 7.46801871e-01 -2.64528696e-03 -2.24552661e+02] [-3.96598946e-03 1.03364182e-05 9.99992135e-01 -5.17696438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters 0.05147919458698896 Centerline is valid? [True, True] Translation: X:649.88, Y:-224.59, Z:-5.18 [[ 7.43406670e-01 6.68828018e-01 3.95038508e-03 6.49875529e+02] [-6.68818662e-01 7.43417166e-01 -3.53754410e-03 -2.24590157e+02] [-5.30279270e-03 -1.22573842e-05 9.99985940e-01 -5.17788224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters 0.05185417424399588 Centerline is valid? [True, True] Translation: X:649.93, Y:-224.62, Z:-5.18 [[ 7.36096535e-01 6.76861468e-01 4.52145070e-03 6.49930375e+02] [-6.76849356e-01 7.36110417e-01 -4.05014428e-03 -2.24620206e+02] [-6.06967356e-03 -7.90438219e-05 9.99981576e-01 -5.17907278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters 0.05142369764695561 Centerline is valid? [True, True] Translation: X:649.97, Y:-224.66, Z:-5.18 [[ 7.32995373e-01 6.80221835e-01 4.00476945e-03 6.49974105e+02] [-6.80212382e-01 7.33006307e-01 -3.58734737e-03 -2.24663284e+02] [-5.37571328e-03 -9.45847516e-05 9.99985546e-01 -5.17993120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters 0.05171656733512758 Centerline is valid? [True, True] Translation: X:650.03, Y:-224.70, Z:-5.18 [[ 7.30698218e-01 6.82687731e-01 4.19239310e-03 6.50027100e+02] [-6.82677411e-01 7.30710235e-01 -3.75551853e-03 -2.24695920e+02] [-5.62727097e-03 -1.17901368e-04 9.99984160e-01 -5.18225247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters 0.05178288588361771 Centerline is valid? [True, True] Translation: X:650.07, Y:-224.74, Z:-5.18 [[ 7.30729354e-01 6.82656605e-01 3.81722776e-03 6.50072992e+02] [-6.82648050e-01 7.30739316e-01 -3.41928198e-03 -2.24738907e+02] [-5.12359383e-03 -1.07253377e-04 9.99986869e-01 -5.18255759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters 0.051852792211611966 Centerline is valid? [True, True] Translation: X:650.12, Y:-224.78, Z:-5.18 [[ 7.31527707e-01 6.81801847e-01 3.66811958e-03 6.50120124e+02] [-6.81793931e-01 7.31536897e-01 -3.28677905e-03 -2.24779711e+02] [-4.92429684e-03 -9.65317248e-05 9.99987871e-01 -5.18383522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters 0.051560308635305814 Centerline is valid? [True, True] Translation: X:650.16, Y:-224.82, Z:-5.18 [[ 7.33960479e-01 6.79182245e-01 3.67317597e-03 6.50164234e+02] [-6.79174273e-01 7.33969667e-01 -3.29164021e-03 -2.24822575e+02] [-4.93162333e-03 -7.87927976e-05 9.99987836e-01 -5.18488291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters 0.05103411735310743 Centerline is valid? [True, True] Translation: X:650.21, Y:-224.87, Z:-5.19 [[ 7.35496762e-01 6.77516822e-01 3.93317824e-03 6.50206585e+02] [-6.77507658e-01 7.35507275e-01 -3.52447316e-03 -2.24868068e+02] [-5.28077107e-03 -7.25197842e-05 9.99986054e-01 -5.18579399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters 0.051625718811563255 Centerline is valid? [True, True] Translation: X:650.25, Y:-224.91, Z:-5.19 [[ 7.38361024e-01 6.74399700e-01 2.83592662e-03 6.50250903e+02] [-6.74394912e-01 7.38366469e-01 -2.54166267e-03 -2.24909593e+02] [-3.80804967e-03 -3.58698300e-05 9.99992749e-01 -5.18821625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters 0.05142760794138513 Centerline is valid? [True, True] Translation: X:650.29, Y:-224.96, Z:-5.19 [[ 7.41855461e-01 6.70551708e-01 3.29861181e-03 6.50292697e+02] [-6.70545189e-01 7.41862795e-01 -2.95687400e-03 -2.24956359e+02] [-4.42985429e-03 -1.82951548e-05 9.99990188e-01 -5.18822177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters 0.050971796172943604 Centerline is valid? [True, True] Translation: X:650.33, Y:-225.00, Z:-5.19 [[ 7.45402384e-01 6.66605393e-01 3.54055711e-03 6.50334152e+02] [-6.66597834e-01 7.45410793e-01 -3.17458949e-03 -2.25002120e+02] [-4.75536795e-03 6.21887727e-06 9.99988693e-01 -5.18703200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters 0.05093380288639266 Centerline is valid? [True, True] Translation: X:650.38, Y:-225.05, Z:-5.19 [[ 7.48867652e-01 6.62716258e-01 2.09786138e-03 6.50375218e+02] [-6.62713589e-01 7.48870590e-01 -1.88126090e-03 -2.25049954e+02] [-2.81776887e-03 1.85341914e-05 9.99996030e-01 -5.19040436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters 0.05201479047474194 Centerline is valid? [True, True] Translation: X:650.42, Y:-225.09, Z:-5.19 [[ 7.51911867e-01 6.59258969e-01 2.48102315e-03 6.50418696e+02] [-6.59255214e-01 7.51915960e-01 -2.22539003e-03 -2.25094920e+02] [-3.33262924e-03 3.76697231e-05 9.99994446e-01 -5.19080835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters 0.052202226823196314 Centerline is valid? [True, True] Translation: X:650.46, Y:-225.14, Z:-5.19 [[ 7.56807590e-01 6.53631449e-01 2.86370140e-03 6.50460954e+02] [-6.53626405e-01 7.56813005e-01 -2.56879175e-03 -2.25138977e+02] [-3.84632953e-03 7.22902392e-05 9.99992600e-01 -5.19051387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters 0.05226467033290925 Centerline is valid? [True, True] Translation: X:650.50, Y:-225.19, Z:-5.19 [[ 7.60423251e-01 6.49418456e-01 3.48544318e-03 6.50500857e+02] [-6.49410938e-01 7.60431230e-01 -3.12700582e-03 -2.25187167e+02] [-4.68117513e-03 1.14363005e-04 9.99989037e-01 -5.19154549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters 0.05187785538721539 Centerline is valid? [True, True] Translation: X:650.55, Y:-225.23, Z:-5.19 [[ 7.63989979e-01 6.45213878e-01 4.28536518e-03 6.50546174e+02] [-6.45202445e-01 7.64001978e-01 -3.84474350e-03 -2.25229184e+02] [-5.75470934e-03 1.72417411e-04 9.99983427e-01 -5.18968075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters 0.051781281218167344 Centerline is valid? [True, True] Translation: X:650.59, Y:-225.27, Z:-5.19 [[ 7.64556552e-01 6.44543348e-01 4.14149723e-03 6.50591793e+02] [-6.44532655e-01 7.64567749e-01 -3.71661895e-03 -2.25269074e+02] [-5.56197723e-03 1.72235162e-04 9.99984517e-01 -5.18937149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters 0.05219980431108505 Centerline is valid? [True, True] Translation: X:650.64, Y:-225.30, Z:-5.19 [[ 7.62791470e-01 6.46631019e-01 4.18319527e-03 6.50642116e+02] [-6.46620139e-01 7.62802924e-01 -3.75446501e-03 -2.25303418e+02] [-5.61870712e-03 1.58935580e-04 9.99984202e-01 -5.19023399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters 0.05245188027018278 Centerline is valid? [True, True] Translation: X:650.68, Y:-225.35, Z:-5.19 [[ 7.57451552e-01 6.52874245e-01 4.72938196e-03 6.50684331e+02] [-6.52860453e-01 7.57466306e-01 -4.24552394e-03 -2.25348985e+02] [-6.35414072e-03 1.28152248e-04 9.99979804e-01 -5.19092748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters 0.05103018360027107 Centerline is valid? [True, True] Translation: X:650.73, Y:-225.39, Z:-5.19 [[ 7.50697476e-01 6.60630105e-01 4.60053459e-03 6.50730012e+02] [-6.60617197e-01 7.50711570e-01 -4.13017433e-03 -2.25388114e+02] [-6.18219205e-03 6.13191791e-05 9.99980888e-01 -5.19143963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters 0.051703649912549894 Centerline is valid? [True, True] Translation: X:650.78, Y:-225.42, Z:-5.19 [[ 7.43307301e-01 6.68935566e-01 4.41185730e-03 6.50782045e+02] [-6.68923839e-01 7.43320394e-01 -3.96096456e-03 -2.25421887e+02] [-5.92905358e-03 -6.98265211e-06 9.99982423e-01 -5.19230574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters 0.0516462974006096 Centerline is valid? [True, True] Translation: X:650.83, Y:-225.46, Z:-5.19 [[ 7.35237282e-01 6.77795078e-01 4.46900748e-03 6.50833834e+02] [-6.77783206e-01 7.35250859e-01 -4.01239977e-03 -2.25456029e+02] [-6.00542640e-03 -7.89523209e-05 9.99981964e-01 -5.19319663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters 0.05184220601651449 Centerline is valid? [True, True] Translation: X:650.89, Y:-225.49, Z:-5.19 [[ 7.28008400e-01 6.85549847e-01 5.01755522e-03 6.50885046e+02] [-6.85535064e-01 7.28025673e-01 -4.50505418e-03 -2.25490889e+02] [-6.74134822e-03 -1.59992751e-04 9.99977264e-01 -5.19441507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters 0.05099896383390934 Centerline is valid? [True, True] Translation: X:650.93, Y:-225.53, Z:-5.19 [[ 7.26508703e-01 6.87144539e-01 4.18172364e-03 6.50928630e+02] [-6.87134296e-01 7.26520723e-01 -3.75466117e-03 -2.25534621e+02] [-5.61810380e-03 -1.45611720e-04 9.99984208e-01 -5.19473862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters 0.05074523044150165 Centerline is valid? [True, True] Translation: X:650.97, Y:-225.58, Z:-5.20 [[ 7.27561771e-01 6.86041245e-01 1.13126585e-03 6.50970725e+02] [-6.86040495e-01 7.27562649e-01 -1.01492275e-03 -2.25581135e+02] [-1.51934564e-03 -3.76751908e-05 9.99998845e-01 -5.19890240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters 0.05074523044150165 Centerline is valid? [True, True] Translation: X:651.02, Y:-225.62, Z:-5.20 [[ 7.27474413e-01 6.86133878e-01 1.13121570e-03 6.51017252e+02] [-6.86133128e-01 7.27475292e-01 -1.01497865e-03 -2.25622852e+02] [-1.51934271e-03 -3.77935756e-05 9.99998845e-01 -5.19936318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters 0.05099360589061357 Centerline is valid? [True, True] Translation: X:651.06, Y:-225.67, Z:-5.20 [[ 7.28001707e-01 6.85575144e-01 4.86332861e-04 6.51062501e+02] [-6.85575006e-01 7.28001869e-01 -4.35885477e-04 -2.25665416e+02] [-6.52883481e-04 -1.60922833e-05 9.99999787e-01 -5.20032442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters 0.051065434430699566 Centerline is valid? [True, True] Translation: X:651.11, Y:-225.71, Z:-5.20 [[ 7.28761699e-01 6.84767396e-01 -2.08684083e-05 6.51108398e+02] [-6.84767395e-01 7.28761699e-01 1.93921212e-05 -2.25705847e+02] [ 2.84871888e-05 1.57770465e-07 1.00000000e+00 -5.20176371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters 0.051112458834261625 Centerline is valid? [True, True] Translation: X:651.15, Y:-225.75, Z:-5.20 [[ 7.31939797e-01 6.81369181e-01 -4.16092811e-04 6.51150211e+02] [-6.81369078e-01 7.31939915e-01 3.74767655e-04 -2.25749648e+02] [ 5.59910067e-04 9.20541403e-06 9.99999843e-01 -5.20353584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters 0.05059805983711854 Centerline is valid? [True, True] Translation: X:651.19, Y:-225.80, Z:-5.20 [[ 7.35016690e-01 6.78048007e-01 1.16825890e-03 6.51190630e+02] [-6.78047195e-01 7.35017618e-01 -1.04980444e-03 -2.25796871e+02] [-1.57050868e-03 -2.05108829e-05 9.99998767e-01 -5.20113409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters 0.05028153324758249 Centerline is valid? [True, True] Translation: X:651.24, Y:-225.84, Z:-5.20 [[ 7.34964377e-01 6.78099774e-01 2.83917559e-03 6.51238246e+02] [-6.78094974e-01 7.34969860e-01 -2.55178011e-03 -2.25836025e+02] [-3.81706999e-03 -4.97632178e-05 9.99992714e-01 -5.20035578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters 0.05112533035412725 Centerline is valid? [True, True] Translation: X:651.29, Y:-225.88, Z:-5.20 [[ 7.34727378e-01 6.78356760e-01 2.79046426e-03 6.51285543e+02] [-6.78352125e-01 7.34732675e-01 -2.50802257e-03 -2.25877792e+02] [-3.75157933e-03 -5.02045122e-05 9.99992962e-01 -5.20077150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters 0.05037195642986712 Centerline is valid? [True, True] Translation: X:651.33, Y:-225.92, Z:-5.20 [[ 7.34501342e-01 6.78603425e-01 2.27384825e-03 6.51331267e+02] [-6.78600348e-01 7.34504861e-01 -2.04404640e-03 -2.25920154e+02] [-3.05724948e-03 -4.16793838e-05 9.99995326e-01 -5.20068092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters 0.05066230700543475 Centerline is valid? [True, True] Translation: X:651.38, Y:-225.96, Z:-5.20 [[ 7.33477298e-01 6.79712099e-01 1.58603961e-03 6.51378548e+02] [-6.79710605e-01 7.33479012e-01 -1.42572205e-03 -2.25959882e+02] [-2.13240730e-03 -3.23131822e-05 9.99997726e-01 -5.20134374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters 0.05101653169327385 Centerline is valid? [True, True] Translation: X:651.43, Y:-226.00, Z:-5.20 [[ 7.33210622e-01 6.80000758e-01 1.07358191e-03 6.51426143e+02] [-6.80000074e-01 7.33211408e-01 -9.64918922e-04 -2.25999669e+02] [-1.44330810e-03 -2.25469766e-05 9.99998958e-01 -5.20223681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters 0.05059179058317285 Centerline is valid? [True, True] Translation: X:651.47, Y:-226.04, Z:-5.20 [[ 7.33587793e-01 6.79594491e-01 5.28063540e-04 6.51471300e+02] [-6.79594325e-01 7.33587982e-01 -4.74162318e-04 -2.26041962e+02] [-7.09619166e-04 -1.10292970e-05 9.99999748e-01 -5.20167953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters 0.05106111440915631 Centerline is valid? [True, True] Translation: X:651.52, Y:-226.08, Z:-5.20 [[ 7.35936141e-01 6.77050840e-01 3.96501711e-04 6.51517614e+02] [-6.77050746e-01 7.35936247e-01 -3.56493426e-04 -2.26082619e+02] [-5.33164155e-04 -6.09538330e-06 9.99999858e-01 -5.20294542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters 0.05084869711097891 Centerline is valid? [True, True] Translation: X:651.56, Y:-226.13, Z:-5.20 [[ 7.38855124e-01 6.73862744e-01 1.45183763e-03 6.51561486e+02] [-6.73861479e-01 7.38856550e-01 -1.30608228e-03 -2.26125394e+02] [-1.95281994e-03 -1.33318673e-05 9.99998093e-01 -5.20217704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters 0.05100977563266595 Centerline is valid? [True, True] Translation: X:651.61, Y:-226.17, Z:-5.20 [[ 7.40155290e-01 6.72431280e-01 2.51383331e-03 6.51606903e+02] [-6.72427474e-01 7.40159559e-01 -2.26251737e-03 -2.26166806e+02] [-3.38202521e-03 -1.57563816e-05 9.99994281e-01 -5.20226547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters 0.05097644288651298 Centerline is valid? [True, True] Translation: X:651.65, Y:-226.21, Z:-5.20 [[ 7.40684983e-01 6.71843460e-01 3.48153759e-03 6.51652288e+02] [-6.71836148e-01 7.40693165e-01 -3.13455558e-03 -2.26207201e+02] [-4.68468177e-03 -1.73045585e-05 9.99989027e-01 -5.20286180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters 0.050536572915414225 Centerline is valid? [True, True] Translation: X:651.70, Y:-226.25, Z:-5.20 [[ 7.40562800e-01 6.71978603e-01 3.39053436e-03 6.51698389e+02] [-6.71971667e-01 7.40570562e-01 -3.05314706e-03 -2.26249777e+02] [-4.56257944e-03 -1.72958875e-05 9.99989591e-01 -5.20421846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters 0.050806480691293045 Centerline is valid? [True, True] Translation: X:651.75, Y:-226.29, Z:-5.20 [[ 7.39850837e-01 6.72758639e-01 4.06856881e-03 6.51745145e+02] [-6.72748657e-01 7.39862023e-01 -3.66487861e-03 -2.26292081e+02] [-5.47575829e-03 -2.56607019e-05 9.99985008e-01 -5.20452361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters 0.05045298204673711 Centerline is valid? [True, True] Translation: X:651.79, Y:-226.33, Z:-5.21 [[ 7.38666613e-01 6.74054899e-01 4.65058636e-03 6.51791472e+02] [-6.74041875e-01 7.38681252e-01 -4.19041062e-03 -2.26332742e+02] [-6.25986776e-03 -3.93735334e-05 9.99980406e-01 -5.20542468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters 0.05061091623187109 Centerline is valid? [True, True] Translation: X:651.84, Y:-226.37, Z:-5.21 [[ 7.37484433e-01 6.75350470e-01 4.29582951e-03 6.51838351e+02] [-6.75339374e-01 7.37496943e-01 -3.87148656e-03 -2.26372934e+02] [-5.78277139e-03 -4.59817468e-05 9.99983279e-01 -5.20686489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters 0.05060405581519965 Centerline is valid? [True, True] Translation: X:651.89, Y:-226.41, Z:-5.21 [[ 7.35438589e-01 6.77581421e-01 3.67430786e-03 6.51886157e+02] [-6.77573328e-01 7.35447765e-01 -3.31216867e-03 -2.26410452e+02] [-4.94652546e-03 -5.37163503e-05 9.99987764e-01 -5.20868824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters 0.050498359064664905 Centerline is valid? [True, True] Translation: X:651.93, Y:-226.45, Z:-5.21 [[ 7.33160806e-01 6.80047520e-01 3.25624956e-03 6.51933185e+02] [-6.80041188e-01 7.33168034e-01 -2.93536433e-03 -2.26450569e+02] [-4.38356532e-03 -6.22897450e-05 9.99990390e-01 -5.20953734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters 0.051720146595302934 Centerline is valid? [True, True] Translation: X:651.98, Y:-226.49, Z:-5.21 [[ 7.32271246e-01 6.81005629e-01 3.18670619e-03 6.51980416e+02] [-6.80999571e-01 7.32278177e-01 -2.87324152e-03 -2.26490024e+02] [-4.29024905e-03 -6.61534001e-05 9.99990795e-01 -5.21070707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters 0.050401080787012734 Centerline is valid? [True, True] Translation: X:652.03, Y:-226.53, Z:-5.21 [[ 7.32245068e-01 6.81033310e-01 3.28484476e-03 6.52026443e+02] [-6.81026871e-01 7.32252433e-01 -2.96227045e-03 -2.26533490e+02] [-4.42274042e-03 -6.79596166e-05 9.99990217e-01 -5.21100813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters 0.05006223588945041 Centerline is valid? [True, True] Translation: X:652.07, Y:-226.58, Z:-5.21 [[ 7.33183410e-01 6.80027271e-01 2.23566036e-03 6.52066973e+02] [-6.80024283e-01 7.33186817e-01 -2.01631173e-03 -2.26580939e+02] [-3.01030367e-03 -4.19770246e-05 9.99995468e-01 -5.21050669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters 0.051344492065821826 Centerline is valid? [True, True] Translation: X:652.11, Y:-226.62, Z:-5.21 [[ 7.38335430e-01 6.74432725e-01 1.13662507e-03 6.52112033e+02] [-6.74431946e-01 7.38336305e-01 -1.02544769e-03 -2.26622328e+02] [-1.53080703e-03 -9.45189641e-06 9.99998828e-01 -5.21272242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters 0.051087172197097075 Centerline is valid? [True, True] Translation: X:652.16, Y:-226.67, Z:-5.21 [[ 7.42146085e-01 6.70237017e-01 1.23634865e-03 6.52155283e+02] [-6.70236090e-01 7.42147115e-01 -1.11485983e-03 -2.26665653e+02] [-1.66477291e-03 -1.25662873e-06 9.99998614e-01 -5.21323839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters 0.05094090259558332 Centerline is valid? [True, True] Translation: X:652.20, Y:-226.71, Z:-5.21 [[ 7.46039132e-01 6.65899901e-01 1.71356933e-03 6.52200771e+02] [-6.65898106e-01 7.46041100e-01 -1.54624307e-03 -2.26706833e+02] [-2.30803626e-03 1.24952636e-05 9.99997336e-01 -5.21224240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters 0.05115695998170014 Centerline is valid? [True, True] Translation: X:652.24, Y:-226.75, Z:-5.21 [[ 7.50546309e-01 6.60811848e-01 2.81760760e-03 6.52243212e+02] [-6.60806956e-01 7.50551597e-01 -2.54324194e-03 -2.26750548e+02] [-3.79536429e-03 4.69261531e-05 9.99992796e-01 -5.21321598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters 0.05186716184686567 Centerline is valid? [True, True] Translation: X:652.29, Y:-226.79, Z:-5.21 [[ 7.53472035e-01 6.57472663e-01 3.09667097e-03 6.52290693e+02] [-6.57466724e-01 7.53478395e-01 -2.79549222e-03 -2.26790284e+02] [-4.17123439e-03 7.03670963e-05 9.99991298e-01 -5.21240336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters 0.0516948733188151 Centerline is valid? [True, True] Translation: X:652.34, Y:-226.83, Z:-5.21 [[ 7.57051943e-01 6.53347700e-01 3.02292538e-03 6.52338436e+02] [-6.53342008e-01 7.57057973e-01 -2.72890708e-03 -2.26829677e+02] [-4.07145493e-03 9.09202723e-05 9.99991707e-01 -5.21252318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters 0.052454399192633255 Centerline is valid? [True, True] Translation: X:652.39, Y:-226.87, Z:-5.21 [[ 7.57229534e-01 6.53145552e-01 2.07863967e-03 6.52388628e+02] [-6.53142858e-01 7.57232385e-01 -1.87689226e-03 -2.26866885e+02] [-2.79989710e-03 6.35895961e-05 9.99996078e-01 -5.21478601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters 0.05251955231471815 Centerline is valid? [True, True] Translation: X:652.44, Y:-226.91, Z:-5.22 [[ 7.55535171e-01 6.55104076e-01 2.29250529e-03 6.52436882e+02] [-6.55100809e-01 7.55538646e-01 -2.06988303e-03 -2.26905025e+02] [-3.08806516e-03 6.20473586e-05 9.99995230e-01 -5.21526798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters 0.05258510608606874 Centerline is valid? [True, True] Translation: X:652.49, Y:-226.94, Z:-5.22 [[ 7.51135922e-01 6.60146661e-01 1.10127546e-03 6.52485444e+02] [-6.60145912e-01 7.51136729e-01 -9.94066942e-04 -2.26941279e+02] [-1.48343842e-03 1.96768983e-05 9.99998900e-01 -5.21610072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters 0.05241951065921788 Centerline is valid? [True, True] Translation: X:652.53, Y:-226.98, Z:-5.22 [[ 7.46874134e-01 6.64964998e-01 7.61199331e-04 6.52532245e+02] [-6.64964643e-01 7.46874522e-01 -6.87499280e-04 -2.26981182e+02] [-1.02568334e-03 7.30478856e-06 9.99999474e-01 -5.21978676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters 0.05154061660145348 Centerline is valid? [True, True] Translation: X:652.59, Y:-227.02, Z:-5.22 [[ 7.40025962e-01 6.72575798e-01 1.83608254e-03 6.52585086e+02] [-6.72573755e-01 7.40028240e-01 -1.65813535e-03 -2.27015350e+02] [-2.47397464e-03 -7.83771923e-06 9.99996940e-01 -5.21881706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters 0.0513693221118613 Centerline is valid? [True, True] Translation: X:652.64, Y:-227.05, Z:-5.22 [[ 7.33205881e-01 6.79994782e-01 4.02906569e-03 6.52637064e+02] [-6.79985037e-01 7.33216948e-01 -3.64106772e-03 -2.27049686e+02] [-5.43008629e-03 -7.00521162e-05 9.99985255e-01 -5.21760076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters 0.051590826850011796 Centerline is valid? [True, True] Translation: X:652.69, Y:-227.08, Z:-5.22 [[ 7.29124364e-01 6.84363968e-01 4.86014473e-03 6.52686700e+02] [-6.84349884e-01 7.29140552e-01 -4.39230686e-03 -2.27084098e+02] [-6.54966516e-03 -1.23501536e-04 9.99978543e-01 -5.21736801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters 0.05185903161454706 Centerline is valid? [True, True] Translation: X:652.73, Y:-227.12, Z:-5.22 [[ 7.27344864e-01 6.86247832e-01 5.77591124e-03 6.52734550e+02] [-6.86227999e-01 7.27367778e-01 -5.21996200e-03 -2.27123698e+02] [-7.78339933e-03 -1.66879466e-04 9.99969695e-01 -5.21699789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters 0.05166360820411025 Centerline is valid? [True, True] Translation: X:652.78, Y:-227.16, Z:-5.22 [[ 7.26809952e-01 6.86813859e-01 5.83239133e-03 6.52781348e+02] [-6.86793652e-01 7.26833333e-01 -5.27132537e-03 -2.27163868e+02] [-7.85959574e-03 -1.74397601e-04 9.99969098e-01 -5.21750819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters 0.050765996818649656 Centerline is valid? [True, True] Translation: X:652.83, Y:-227.21, Z:-5.22 [[ 7.26649660e-01 6.86997500e-01 3.83485432e-03 6.52827474e+02] [-6.86988766e-01 7.26659770e-01 -3.46621937e-03 -2.27207356e+02] [-5.16791840e-03 -1.15774708e-04 9.99986640e-01 -5.22085546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters 0.05179133338045201 Centerline is valid? [True, True] Translation: X:652.87, Y:-227.25, Z:-5.22 [[ 7.26974218e-01 6.86659331e-01 2.72933069e-03 6.52873696e+02] [-6.86654903e-01 7.26979337e-01 -2.46732009e-03 -2.27248403e+02] [-3.67837538e-03 -8.04302118e-05 9.99993232e-01 -5.22262336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters 0.05187046610327405 Centerline is valid? [True, True] Translation: X:652.92, Y:-227.29, Z:-5.23 [[ 7.28623797e-01 6.84914001e-01 4.17671705e-04 6.52917294e+02] [-6.84913897e-01 7.28623916e-01 -3.76782976e-04 -2.27291291e+02] [-5.62389529e-04 -1.15361124e-05 9.99999842e-01 -5.22522246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters 0.05130800820415669 Centerline is valid? [True, True] Translation: X:652.96, Y:-227.34, Z:-5.23 [[ 7.32475307e-01 6.80793486e-01 -3.93933226e-04 6.52959514e+02] [-6.80793392e-01 7.32475413e-01 3.56474994e-04 -2.27335687e+02] [ 5.31232256e-04 7.07800683e-06 9.99999859e-01 -5.22646039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters 0.0511148728137904 Centerline is valid? [True, True] Translation: X:653.00, Y:-227.38, Z:-5.23 [[ 7.38383902e-01 6.74380280e-01 6.72191474e-04 6.52999607e+02] [-6.74380006e-01 7.38384208e-01 -6.07997595e-04 -2.27380668e+02] [-9.06357157e-04 -4.37685399e-06 9.99999589e-01 -5.22805843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters 0.05108587521962251 Centerline is valid? [True, True] Translation: X:653.04, Y:-227.43, Z:-5.22 [[ 7.45595611e-01 6.66389346e-01 3.52493412e-03 6.53039766e+02] [-6.66381718e-01 7.45603942e-01 -3.18855379e-03 -2.27429683e+02] [-4.75302305e-03 2.84200581e-05 9.99988704e-01 -5.22482501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters 0.05146811129410417 Centerline is valid? [True, True] Translation: X:653.08, Y:-227.48, Z:-5.23 [[ 7.50975684e-01 6.60319043e-01 3.77937165e-03 6.53080246e+02] [-6.60310194e-01 7.50985191e-01 -3.41918267e-03 -2.27475825e+02] [-5.09600357e-03 7.21654153e-05 9.99987013e-01 -5.22602986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters 0.05181833834894464 Centerline is valid? [True, True] Translation: X:653.12, Y:-227.52, Z:-5.23 [[ 7.53324168e-01 6.57644654e-01 2.49153945e-03 6.53123248e+02] [-6.57640791e-01 7.53328285e-01 -2.25476693e-03 -2.27517177e+02] [-3.35978256e-03 6.00324441e-05 9.99994354e-01 -5.22680663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters 0.05167840680213013 Centerline is valid? [True, True] Translation: X:653.17, Y:-227.56, Z:-5.23 [[ 7.54472705e-01 6.56328234e-01 2.04605365e-03 6.53168556e+02] [-6.56325625e-01 7.54475478e-01 -1.85135487e-03 -2.27559269e+02] [-2.75879378e-03 5.39192808e-05 9.99996193e-01 -5.22713930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters 0.051573290196030984 Centerline is valid? [True, True] Translation: X:653.22, Y:-227.60, Z:-5.23 [[ 7.54438531e-01 6.56369132e-01 1.43737459e-03 6.53215573e+02] [-6.56367846e-01 7.54439899e-01 -1.29987994e-03 -2.27600883e+02] [-1.93761381e-03 3.72330463e-05 9.99998122e-01 -5.22789447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters 0.05219684718930478 Centerline is valid? [True, True] Translation: X:653.26, Y:-227.64, Z:-5.23 [[ 7.53472724e-01 6.57476080e-01 2.01459470e-03 6.53263432e+02] [-6.57473554e-01 7.53475416e-01 -1.82310440e-03 -2.27639367e+02] [-2.71659511e-03 4.91167056e-05 9.99996309e-01 -5.22719044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters 0.0516452114331582 Centerline is valid? [True, True] Translation: X:653.31, Y:-227.68, Z:-5.23 [[ 7.51892350e-01 6.59281666e-01 2.36203493e-03 6.53309406e+02] [-6.59278200e-01 7.51896058e-01 -2.13830171e-03 -2.27680230e+02] [-3.18574787e-03 5.05345562e-05 9.99994924e-01 -5.22727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters 0.05150528251236666 Centerline is valid? [True, True] Translation: X:653.35, Y:-227.72, Z:-5.23 [[ 7.50375931e-01 6.61005025e-01 2.88437030e-03 6.53353195e+02] [-6.60999867e-01 7.50381473e-01 -2.61178118e-03 -2.27723733e+02] [-3.89077851e-03 5.32493480e-05 9.99992429e-01 -5.22771590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters 0.0511810834386993 Centerline is valid? [True, True] Translation: X:653.40, Y:-227.76, Z:-5.23 [[ 7.47741451e-01 6.63976352e-01 4.25754172e-03 6.53399739e+02] [-6.63965154e-01 7.47753569e-01 -3.85669544e-03 -2.27763422e+02] [-5.74434659e-03 5.69517049e-05 9.99983499e-01 -5.22770032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters 0.05111118347472021 Centerline is valid? [True, True] Translation: X:653.45, Y:-227.80, Z:-5.23 [[ 7.44324430e-01 6.67801527e-01 4.71832225e-03 6.53448108e+02] [-6.67787849e-01 7.44339384e-01 -4.27425186e-03 -2.27803484e+02] [-6.36638500e-03 3.05918151e-05 9.99979734e-01 -5.22809007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters 0.050774071930578805 Centerline is valid? [True, True] Translation: X:653.50, Y:-227.84, Z:-5.23 [[ 7.39981840e-01 6.72609360e-01 4.85024167e-03 6.53497139e+02] [-6.72595005e-01 7.39997735e-01 -4.39437966e-03 -2.27841156e+02] [-6.54486875e-03 -1.04871749e-05 9.99978582e-01 -5.22850718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters 0.05054418972422749 Centerline is valid? [True, True] Translation: X:653.55, Y:-227.88, Z:-5.23 [[ 7.37554831e-01 6.75270157e-01 4.80479190e-03 6.53546209e+02] [-6.75256119e-01 7.37570480e-01 -4.35430425e-03 -2.27879786e+02] [-6.48420438e-03 -3.29269963e-05 9.99978977e-01 -5.23022048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters 0.05081973883004409 Centerline is valid? [True, True] Translation: X:653.59, Y:-227.92, Z:-5.23 [[ 7.35407657e-01 6.77612630e-01 4.08676363e-03 6.53593713e+02] [-6.77602509e-01 7.35419011e-01 -3.70367335e-03 -2.27919179e+02] [-5.51513950e-03 -4.54915501e-05 9.99984790e-01 -5.23143998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters 0.050808459133928015 Centerline is valid? [True, True] Translation: X:653.64, Y:-227.96, Z:-5.23 [[ 7.32902202e-01 6.80320060e-01 4.35651914e-03 6.53639420e+02] [-6.80308601e-01 7.32915146e-01 -3.94915346e-03 -2.27959205e+02] [-5.87964719e-03 -6.94341752e-05 9.99982712e-01 -5.23163512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters 0.050319787199744455 Centerline is valid? [True, True] Translation: X:653.68, Y:-228.00, Z:-5.23 [[ 7.31453438e-01 6.81876100e-01 4.56628952e-03 6.53684772e+02] [-6.81863539e-01 7.31467686e-01 -4.13982928e-03 -2.28001497e+02] [-6.16294388e-03 -8.54939655e-05 9.99981005e-01 -5.23194861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters 0.05059000929446467 Centerline is valid? [True, True] Translation: X:653.73, Y:-228.04, Z:-5.23 [[ 7.29001257e-01 6.84504178e-01 3.34629107e-03 6.53732887e+02] [-6.84497460e-01 7.29008933e-01 -3.03366164e-03 -2.28039419e+02] [-4.51603015e-03 -7.89845933e-05 9.99989800e-01 -5.23459448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters 0.050673585971657734 Centerline is valid? [True, True] Translation: X:653.78, Y:-228.08, Z:-5.24 [[ 7.27891035e-01 6.85686948e-01 2.83724744e-03 6.53778027e+02] [-6.85682126e-01 7.27896561e-01 -2.57258254e-03 -2.28081569e+02] [-3.82920892e-03 -7.28900876e-05 9.99992666e-01 -5.23550108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters 0.049651799726115456 Centerline is valid? [True, True] Translation: X:653.82, Y:-228.13, Z:-5.24 [[ 7.26922603e-01 6.86714393e-01 2.62156726e-03 6.53820085e+02] [-6.86710281e-01 7.26927326e-01 -2.37736142e-03 -2.28127687e+02] [-3.53825718e-03 -7.20994361e-05 9.99993738e-01 -5.23574106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters 0.049919476093060425 Centerline is valid? [True, True] Translation: X:653.87, Y:-228.17, Z:-5.24 [[ 7.27342441e-01 6.86271243e-01 2.18045969e-03 6.53866123e+02] [-6.86268396e-01 7.27345707e-01 -1.97766973e-03 -2.28168321e+02] [-2.94316586e-03 -5.79374477e-05 9.99995667e-01 -5.23721888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters 0.049655449353962225 Centerline is valid? [True, True] Translation: X:653.91, Y:-228.21, Z:-5.24 [[ 7.30990647e-01 6.82380162e-01 3.16061579e-03 6.53906517e+02] [-6.82374137e-01 7.30997477e-01 -2.86806547e-03 -2.28214656e+02] [-4.26751315e-03 -6.01934410e-05 9.99990892e-01 -5.23577042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters 0.04949734857359419 Centerline is valid? [True, True] Translation: X:653.95, Y:-228.26, Z:-5.24 [[ 7.34797795e-01 6.78278518e-01 3.23283805e-03 6.53948894e+02] [-6.78272175e-01 7.34804906e-01 -2.93375752e-03 -2.28257431e+02] [-4.36540996e-03 -3.70255344e-05 9.99990471e-01 -5.23648981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters 0.04934855423350663 Centerline is valid? [True, True] Translation: X:653.99, Y:-228.30, Z:-5.24 [[ 7.40779058e-01 6.71743660e-01 2.61582697e-03 6.53990403e+02] [-6.71739467e-01 7.40783676e-01 -2.37336786e-03 -2.28303888e+02] [-3.53205674e-03 9.86991864e-07 9.99993762e-01 -5.23841747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters 0.050168557450313775 Centerline is valid? [True, True] Translation: X:654.03, Y:-228.35, Z:-5.24 [[ 7.44416594e-01 6.67714383e-01 1.19911797e-03 6.54033910e+02] [-6.67713497e-01 7.44417559e-01 -1.08759950e-03 -2.28348119e+02] [-1.61885030e-03 8.95986599e-06 9.99998690e-01 -5.23997109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters 0.05071438170735362 Centerline is valid? [True, True] Translation: X:654.08, Y:-228.39, Z:-5.24 [[ 7.49154628e-01 6.62394559e-01 -8.90063999e-04 6.54076502e+02] [-6.62394065e-01 7.49155156e-01 8.09337813e-04 -2.28392672e+02] [ 1.20289700e-03 -1.67460575e-05 9.99999276e-01 -5.24051707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters 0.05131414594440841 Centerline is valid? [True, True] Translation: X:654.12, Y:-228.43, Z:-5.24 [[ 7.52668423e-01 6.58397549e-01 -1.70690460e-03 6.54120702e+02] [-6.58395723e-01 7.52670357e-01 1.55109361e-03 -2.28433639e+02] [ 2.30597273e-03 -4.36404875e-05 9.99997340e-01 -5.23966544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters 0.0508727749943692 Centerline is valid? [True, True] Translation: X:654.17, Y:-228.48, Z:-5.24 [[ 7.53523230e-01 6.57420132e-01 -1.23012715e-03 6.54166549e+02] [-6.57419181e-01 7.53524233e-01 1.11860111e-03 -2.28475931e+02] [ 1.66232151e-03 -3.41827327e-05 9.99998618e-01 -5.24010933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters 0.05095814492140306 Centerline is valid? [True, True] Translation: X:654.21, Y:-228.52, Z:-5.24 [[ 7.53207551e-01 6.57782602e-01 -6.59011012e-04 6.54210554e+02] [-6.57782329e-01 7.53207839e-01 5.99803322e-04 -2.28517828e+02] [ 8.90912450e-04 -1.82905924e-05 9.99999603e-01 -5.24127360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters 0.051576430504493016 Centerline is valid? [True, True] Translation: X:654.26, Y:-228.56, Z:-5.24 [[ 7.51520172e-01 6.59710096e-01 -1.41138063e-04 6.54256259e+02] [-6.59710084e-01 7.51520185e-01 1.28718151e-04 -2.28557541e+02] [ 1.90984767e-04 -3.62408384e-06 9.99999982e-01 -5.24224017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters 0.05079258320459381 Centerline is valid? [True, True] Translation: X:654.30, Y:-228.60, Z:-5.25 [[ 7.46686341e-01 6.65176255e-01 -2.39304816e-04 6.54301950e+02] [-6.65176220e-01 7.46686379e-01 2.17678955e-04 -2.28598295e+02] [ 3.23480518e-04 -3.35803004e-06 9.99999948e-01 -5.24565428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters 0.05050082939936018 Centerline is valid? [True, True] Translation: X:654.35, Y:-228.63, Z:-5.24 [[ 7.42997126e-01 6.69294500e-01 3.76657550e-04 6.54351257e+02] [-6.69294413e-01 7.42997222e-01 -3.41486589e-04 -2.28634747e+02] [-5.08410610e-04 1.62876054e-06 9.99999871e-01 -5.24391553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters 0.050439238983945346 Centerline is valid? [True, True] Translation: X:654.40, Y:-228.67, Z:-5.24 [[ 7.37615000e-01 6.75220917e-01 9.08120971e-04 6.54402210e+02] [-6.75220414e-01 7.37615559e-01 -8.24512938e-04 -2.28669370e+02] [-1.22657254e-03 -5.00870619e-06 9.99999248e-01 -5.24438562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters 0.04998053310862189 Centerline is valid? [True, True] Translation: X:654.45, Y:-228.71, Z:-5.24 [[ 7.33642788e-01 6.79534603e-01 9.91964819e-04 6.54452329e+02] [-6.79534006e-01 7.33643458e-01 -9.00899736e-04 -2.28707024e+02] [-1.33994104e-03 -1.31352329e-05 9.99999102e-01 -5.24409201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters 0.05048353253263298 Centerline is valid? [True, True] Translation: X:654.50, Y:-228.75, Z:-5.24 [[ 7.32522909e-01 6.80741781e-01 9.02385480e-04 6.54499970e+02] [-6.80741288e-01 7.32523465e-01 -8.19595102e-04 -2.28746744e+02] [-1.21895117e-03 -1.39188650e-05 9.99999257e-01 -5.24470656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters 0.05053390213325799 Centerline is valid? [True, True] Translation: X:654.55, Y:-228.79, Z:-5.24 [[ 7.33798728e-01 6.79365966e-01 1.14459305e-03 6.54546225e+02] [-6.79365170e-01 7.33799621e-01 -1.04014789e-03 -2.28787419e+02] [-1.54654303e-03 -1.43374517e-05 9.99998804e-01 -5.24457519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters 0.05052755503254346 Centerline is valid? [True, True] Translation: X:654.59, Y:-228.83, Z:-5.25 [[ 7.36752827e-01 6.76161161e-01 1.16458861e-03 6.54593867e+02] [-6.76160332e-01 7.36753747e-01 -1.05912543e-03 -2.28828110e+02] [-1.57415450e-03 -7.13496139e-06 9.99998761e-01 -5.24765838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters 0.05094775304470627 Centerline is valid? [True, True] Translation: X:654.64, Y:-228.87, Z:-5.25 [[ 7.38486974e-01 6.74266456e-01 1.31715966e-03 6.54638907e+02] [-6.74265393e-01 7.38488149e-01 -1.19755564e-03 -2.28871611e+02] [-1.78017840e-03 -3.73593937e-06 9.99998415e-01 -5.24708885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters 0.051086792944255395 Centerline is valid? [True, True] Translation: X:654.69, Y:-228.91, Z:-5.25 [[ 7.39547922e-01 6.73102856e-01 1.19067473e-03 6.54685248e+02] [-6.73101984e-01 7.39548880e-01 -1.08310900e-03 -2.28914287e+02] [-1.60960593e-03 -4.34513611e-07 9.99998705e-01 -5.24699241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters 0.05082765693842881 Centerline is valid? [True, True] Translation: X:654.73, Y:-228.96, Z:-5.25 [[ 7.38509618e-01 6.74242604e-01 6.75052746e-04 6.54730913e+02] [-6.74242325e-01 7.38509927e-01 -6.13298485e-04 -2.28956118e+02] [-9.12045121e-04 -2.22230310e-06 9.99999584e-01 -5.24593913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters 0.05042577158154546 Centerline is valid? [True, True] Translation: X:654.78, Y:-229.00, Z:-5.25 [[ 7.35669953e-01 6.77340090e-01 -3.51018723e-04 6.54778093e+02] [-6.77340014e-01 7.35670037e-01 3.19993666e-04 -2.28996221e+02] [ 4.74978495e-04 2.34930124e-06 9.99999887e-01 -5.24952489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters 0.05034061875566963 Centerline is valid? [True, True] Translation: X:654.83, Y:-229.04, Z:-5.25 [[ 7.31876139e-01 6.81437594e-01 -3.50592448e-04 6.54825293e+02] [-6.81437519e-01 7.31876223e-01 3.19548128e-04 -2.29036975e+02] [ 4.74342384e-04 5.03719807e-06 9.99999887e-01 -5.24991905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters 0.05060480268622339 Centerline is valid? [True, True] Translation: X:654.87, Y:-229.08, Z:-5.25 [[ 7.29383399e-01 6.84104728e-01 -7.61228171e-04 6.54871958e+02] [-6.84104375e-01 7.29383796e-01 6.94305086e-04 -2.29076440e+02] [ 1.03020488e-03 1.43449193e-05 9.99999469e-01 -5.25088550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters 0.0504747379732993 Centerline is valid? [True, True] Translation: X:654.92, Y:-229.12, Z:-5.25 [[ 7.27226456e-01 6.86397010e-01 -9.09161072e-04 6.54917430e+02] [-6.86396511e-01 7.27227024e-01 8.28358177e-04 -2.29118558e+02] [ 1.22974908e-03 2.16410063e-05 9.99999244e-01 -5.25138439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters 0.050437611575506594 Centerline is valid? [True, True] Translation: X:654.96, Y:-229.16, Z:-5.25 [[ 7.24921074e-01 6.88829406e-01 -1.86704805e-03 6.54961102e+02] [-6.88827308e-01 7.24923477e-01 1.70084747e-03 -2.29161043e+02] [ 2.52506071e-03 5.30935095e-05 9.99996811e-01 -5.25135755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters 0.050973725333869936 Centerline is valid? [True, True] Translation: X:655.01, Y:-229.20, Z:-5.25 [[ 7.24154183e-01 6.89636254e-01 -1.59879567e-03 6.55005697e+02] [-6.89634717e-01 7.24155947e-01 1.45693656e-03 -2.29202218e+02] [ 2.16253367e-03 4.75382944e-05 9.99997661e-01 -5.25228874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters 0.050212673593692365 Centerline is valid? [True, True] Translation: X:655.05, Y:-229.25, Z:-5.25 [[ 7.24770234e-01 6.88990092e-01 -8.72324237e-04 6.55049181e+02] [-6.88989634e-01 7.24770758e-01 7.95320771e-04 -2.29247487e+02] [ 1.18020323e-03 2.45975356e-05 9.99999303e-01 -5.25103495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters 0.0501831398309123 Centerline is valid? [True, True] Translation: X:655.09, Y:-229.29, Z:-5.25 [[ 7.26038308e-01 6.87654225e-01 -2.05646672e-04 6.55091958e+02] [-6.87654200e-01 7.26038337e-01 1.87603372e-04 -2.29292373e+02] [ 2.78313619e-04 5.20656283e-06 9.99999961e-01 -5.25005869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters 0.05097462641581856 Centerline is valid? [True, True] Translation: X:655.13, Y:-229.34, Z:-5.25 [[ 7.28316659e-01 6.85240712e-01 1.00902762e-04 6.55133900e+02] [-6.85240706e-01 7.28316666e-01 -9.16900816e-05 -2.29337825e+02] [-1.36318940e-04 -2.36326581e-06 9.99999991e-01 -5.24930256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters 0.05058870774915849 Centerline is valid? [True, True] Translation: X:655.18, Y:-229.38, Z:-5.25 [[ 7.30519127e-01 6.82892182e-01 -2.69611617e-04 6.55176663e+02] [-6.82892138e-01 7.30519177e-01 2.46670667e-04 -2.29380276e+02] [ 3.65405926e-04 3.91801339e-06 9.99999933e-01 -5.25104123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters 0.050601596352334056 Centerline is valid? [True, True] Translation: X:655.22, Y:-229.42, Z:-5.25 [[ 7.31443708e-01 6.81901407e-01 -7.57255427e-04 6.55220522e+02] [-6.81901057e-01 7.31444100e-01 6.91381547e-04 -2.29424010e+02] [ 1.02534406e-03 1.06665934e-05 9.99999474e-01 -5.25116701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters 0.0509341243692933 Centerline is valid? [True, True] Translation: X:655.26, Y:-229.47, Z:-5.25 [[ 7.32369420e-01 6.80906591e-01 -1.11670303e-03 6.55263480e+02] [-6.80905828e-01 7.32370271e-01 1.01924564e-03 -2.29468323e+02] [ 1.51185118e-03 1.39052668e-05 9.99998857e-01 -5.25153812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters 0.05067186806772946 Centerline is valid? [True, True] Translation: X:655.31, Y:-229.51, Z:-5.25 [[ 7.32834264e-01 6.80404131e-01 -2.03980667e-03 6.55308877e+02] [-6.80401585e-01 7.32837102e-01 1.86149721e-03 -2.29511986e+02] [ 2.76141640e-03 2.37187543e-05 9.99996187e-01 -5.25268636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters 0.05064280703471159 Centerline is valid? [True, True] Translation: X:655.35, Y:-229.55, Z:-5.26 [[ 7.33052057e-01 6.80168486e-01 -2.34807023e-03 6.55354741e+02] [-6.80165112e-01 7.33055817e-01 2.14248153e-03 -2.29554217e+02] [ 3.17851496e-03 2.65249556e-05 9.99994948e-01 -5.25542008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters 0.05076818397837143 Centerline is valid? [True, True] Translation: X:655.40, Y:-229.60, Z:-5.25 [[ 7.32458457e-01 6.80807915e-01 -2.27833725e-03 6.55399885e+02] [-6.80804740e-01 7.32462000e-01 2.07964179e-03 -2.29597216e+02] [ 3.08463205e-03 2.78515773e-05 9.99995242e-01 -5.25292123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters 0.05060547542281668 Centerline is valid? [True, True] Translation: X:655.45, Y:-229.64, Z:-5.25 [[ 7.32247381e-01 6.81036881e-01 -1.59355986e-03 6.55445776e+02] [-6.81035327e-01 7.32249115e-01 1.45512858e-03 -2.29637773e+02] [ 2.15787903e-03 1.97564643e-05 9.99997672e-01 -5.25217280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters 0.051193930323054734 Centerline is valid? [True, True] Translation: X:655.49, Y:-229.68, Z:-5.25 [[ 7.32728969e-01 6.80520222e-01 -6.96680094e-04 6.55491187e+02] [-6.80519924e-01 7.32729300e-01 6.36952371e-04 -2.29679958e+02] [ 9.43936886e-04 7.39123171e-06 9.99999554e-01 -5.25111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters 0.050701957269650606 Centerline is valid? [True, True] Translation: X:655.54, Y:-229.72, Z:-5.25 [[ 7.33222348e-01 6.79988794e-01 -4.78693327e-04 6.55538115e+02] [-6.79988653e-01 7.33222504e-01 4.38092897e-04 -2.29720937e+02] [ 6.48886980e-04 4.28652801e-06 9.99999789e-01 -5.25157216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters 0.05143149982730273 Centerline is valid? [True, True] Translation: X:655.59, Y:-229.76, Z:-5.25 [[ 7.33042075e-01 6.80181604e-01 -1.51700843e-03 6.55585486e+02] [-6.80180192e-01 7.33043645e-01 1.38616080e-03 -2.29760320e+02] [ 2.05487447e-03 1.57248954e-05 9.99997889e-01 -5.25300834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters 0.05092986790697505 Centerline is valid? [True, True] Translation: X:655.63, Y:-229.80, Z:-5.25 [[ 7.32580961e-01 6.80676517e-01 -2.14830306e-03 6.55632005e+02] [-6.80673687e-01 7.32584111e-01 1.96297130e-03 -2.29800818e+02] [ 2.90996115e-03 2.42579639e-05 9.99995766e-01 -5.25411298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters 0.051131717591685735 Centerline is valid? [True, True] Translation: X:655.68, Y:-229.84, Z:-5.26 [[ 7.32325803e-01 6.80947934e-01 -2.97149916e-03 6.55679129e+02] [-6.80942521e-01 7.32331831e-01 2.71543354e-03 -2.29841113e+02] [ 4.02519228e-03 3.48380843e-05 9.99991898e-01 -5.25511451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters 0.051654497970804104 Centerline is valid? [True, True] Translation: X:655.73, Y:-229.88, Z:-5.26 [[ 7.32491234e-01 6.80768394e-01 -3.31448429e-03 6.55725661e+02] [-6.80761654e-01 7.32498732e-01 3.02951018e-03 -2.29881364e+02] [ 4.49025032e-03 3.72841563e-05 9.99989918e-01 -5.25513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters 0.050809586708161165 Centerline is valid? [True, True] Translation: X:655.77, Y:-229.92, Z:-5.25 [[ 7.32645525e-01 6.80605203e-01 -2.66308351e-03 6.55772616e+02] [-6.80600848e-01 7.32650365e-01 2.43477484e-03 -2.29922206e+02] [ 3.60822953e-03 2.86700024e-05 9.99993490e-01 -5.25471879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters 0.050998668905135824 Centerline is valid? [True, True] Translation: X:655.82, Y:-229.96, Z:-5.25 [[ 7.32326218e-01 6.80951368e-01 -1.88291771e-03 6.55820375e+02] [-6.80949191e-01 7.32328638e-01 1.72216796e-03 -2.29962407e+02] [ 2.55162719e-03 2.09825389e-05 9.99996744e-01 -5.25395447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters 0.05126651453663413 Centerline is valid? [True, True] Translation: X:655.87, Y:-230.00, Z:-5.26 [[ 7.31533278e-01 6.81798500e-01 -3.14142233e-03 6.55868556e+02] [-6.81792447e-01 7.31540022e-01 2.87314177e-03 -2.30001871e+02] [ 4.25697991e-03 3.99992002e-05 9.99990938e-01 -5.25518262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters 0.05153671473339293 Centerline is valid? [True, True] Translation: X:655.91, Y:-230.04, Z:-5.26 [[ 7.31512610e-01 6.81818018e-01 -3.67311813e-03 6.55914791e+02] [-6.81809741e-01 7.31521830e-01 3.35996244e-03 -2.30043099e+02] [ 4.97784903e-03 4.65128263e-05 9.99987609e-01 -5.25596701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters 0.05155021737066873 Centerline is valid? [True, True] Translation: X:655.96, Y:-230.08, Z:-5.26 [[ 7.32828207e-01 6.80407035e-01 -3.01429464e-03 6.55961079e+02] [-6.80401446e-01 7.32834405e-01 2.75808414e-03 -2.30084389e+02] [ 4.08559867e-03 2.97285826e-05 9.99991653e-01 -5.25549537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters 0.05139638977023339 Centerline is valid? [True, True] Translation: X:656.01, Y:-230.13, Z:-5.25 [[ 7.33733543e-01 6.79432859e-01 -2.46523725e-03 6.56005857e+02] [-6.79429113e-01 7.33737684e-01 2.25637070e-03 -2.30126916e+02] [ 3.34188987e-03 1.93790948e-05 9.99994416e-01 -5.25270558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters 0.05191084634051529 Centerline is valid? [True, True] Translation: X:656.05, Y:-230.17, Z:-5.25 [[ 7.35793927e-01 6.77201683e-01 -2.27549903e-03 6.56051048e+02] [-6.77198482e-01 7.35797445e-01 2.08229907e-03 -2.30169002e+02] [ 3.08444280e-03 8.82148031e-06 9.99995243e-01 -5.25077682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters 0.05149565080902102 Centerline is valid? [True, True] Translation: X:656.10, Y:-230.21, Z:-5.25 [[ 7.38520829e-01 6.74228044e-01 -1.87893665e-03 6.56097087e+02] [-6.74225849e-01 7.38523219e-01 1.72058717e-03 -2.30209987e+02] [ 2.54770646e-03 -3.86179899e-06 9.99996755e-01 -5.25053507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters 0.05210231662415989 Centerline is valid? [True, True] Translation: X:656.14, Y:-230.25, Z:-5.25 [[ 7.40459701e-01 6.72097419e-01 -2.11904246e-03 6.56144767e+02] [-6.72094617e-01 7.40462733e-01 1.94063778e-03 -2.30249356e+02] [ 2.87336962e-03 -1.27670371e-05 9.99995872e-01 -5.24587053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters 0.051742398224394796 Centerline is valid? [True, True] Translation: X:656.19, Y:-230.29, Z:-5.25 [[ 7.42727175e-01 6.69592442e-01 -1.51835635e-03 6.56187647e+02] [-6.69590997e-01 7.42728727e-01 1.39115632e-03 -2.30292936e+02] [ 2.05923464e-03 -1.65718638e-05 9.99997880e-01 -5.25243154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters 0.05292257225516047 Centerline is valid? [True, True] Translation: X:656.24, Y:-230.33, Z:-5.25 [[ 7.43831753e-01 6.68360227e-01 -2.98820816e-03 6.56240204e+02] [-6.68354626e-01 7.43837754e-01 2.73659041e-03 -2.30326731e+02] [ 4.05177023e-03 -3.83800950e-05 9.99991791e-01 -5.24681550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters 0.05253505764970514 Centerline is valid? [True, True] Translation: X:656.28, Y:-230.37, Z:-5.26 [[ 7.43886672e-01 6.68293034e-01 -4.12795694e-03 6.56283270e+02] [-6.68282342e-01 7.43898123e-01 3.78059448e-03 -2.30370076e+02] [ 5.59732437e-03 -5.36931148e-05 9.99984333e-01 -5.25562772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters 0.053626327367356494 Centerline is valid? [True, True] Translation: X:656.34, Y:-230.41, Z:-5.25 [[ 7.44282054e-01 6.67847964e-01 -4.82928984e-03 6.56335828e+02] [-6.67833312e-01 7.44297718e-01 4.42426368e-03 -2.30405084e+02] [ 6.54916490e-03 -6.77394283e-05 9.99978552e-01 -5.24729066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters 0.05317155339052722 Centerline is valid? [True, True] Translation: X:656.38, Y:-230.45, Z:-5.25 [[ 7.44481825e-01 6.67628506e-01 -4.35778707e-03 6.56382687e+02] [-6.67616568e-01 7.44494576e-01 3.99312128e-03 -2.30445053e+02] [ 5.91027043e-03 -6.34753660e-05 9.99982532e-01 -5.24788314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters 0.053349270332240115 Centerline is valid? [True, True] Translation: X:656.43, Y:-230.48, Z:-5.25 [[ 7.44160790e-01 6.67989479e-01 -3.84362596e-03 6.56430026e+02] [-6.67980197e-01 7.44170715e-01 3.52180131e-03 -2.30484942e+02] [ 5.21284010e-03 -5.33204187e-05 9.99986412e-01 -5.25198116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters 0.053452409436113214 Centerline is valid? [True, True] Translation: X:656.48, Y:-230.52, Z:-5.25 [[ 7.43046501e-01 6.69228336e-01 -3.91557979e-03 6.56480136e+02] [-6.69218719e-01 7.43056816e-01 3.58802987e-03 -2.30522968e+02] [ 5.31070951e-03 -4.56937491e-05 9.99985897e-01 -5.24962171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters 0.05384153605839514 Centerline is valid? [True, True] Translation: X:656.53, Y:-230.56, Z:-5.25 [[ 7.39114399e-01 6.73567352e-01 -4.11425669e-03 6.56531392e+02] [-6.73556793e-01 7.39125850e-01 3.77165014e-03 -2.30558579e+02] [ 5.58141387e-03 -1.64953927e-05 9.99984424e-01 -5.24625867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters 0.05360634291931202 Centerline is valid? [True, True] Translation: X:656.58, Y:-230.59, Z:-5.25 [[ 7.32770648e-01 6.80460680e-01 -4.52099430e-03 6.56583201e+02] [-6.80448055e-01 7.32784594e-01 4.14524684e-03 -2.30591830e+02] [ 6.13359246e-03 3.87865619e-05 9.99981189e-01 -5.25326746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters 0.05350993303824353 Centerline is valid? [True, True] Translation: X:656.63, Y:-230.63, Z:-5.25 [[ 7.28364449e-01 6.85172860e-01 -4.83543308e-03 6.56632623e+02] [-6.85158526e-01 7.28380495e-01 4.43271726e-03 -2.30629037e+02] [ 6.55921270e-03 8.44045393e-05 9.99978485e-01 -5.25203426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters 0.05330845941765377 Centerline is valid? [True, True] Translation: X:656.68, Y:-230.66, Z:-5.25 [[ 7.23560734e-01 6.90239909e-01 -5.36018173e-03 6.56682289e+02] [-6.90222435e-01 7.23580574e-01 4.91361872e-03 -2.30663335e+02] [ 7.27009911e-03 1.44416112e-04 9.99973562e-01 -5.25264082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters 0.053154955760038564 Centerline is valid? [True, True] Translation: X:656.73, Y:-230.70, Z:-5.25 [[ 7.21428240e-01 6.92464525e-01 -5.84602418e-03 6.56730627e+02] [-6.92443811e-01 7.21451903e-01 5.35913011e-03 -2.30700585e+02] [ 7.92863276e-03 1.81815460e-04 9.99968551e-01 -5.25303404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters 0.05397240677121083 Centerline is valid? [True, True] Translation: X:656.78, Y:-230.74, Z:-5.25 [[ 7.20978299e-01 6.92931649e-01 -6.00188607e-03 6.56778724e+02] [-6.92909814e-01 7.21003255e-01 5.50413263e-03 -2.30738210e+02] [ 8.14136709e-03 1.90405579e-04 9.99966840e-01 -5.25491425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters 0.05434572271228841 Centerline is valid? [True, True] Translation: X:656.83, Y:-230.78, Z:-5.26 [[ 7.20820592e-01 6.93090007e-01 -6.62694325e-03 6.56826126e+02] [-6.93063383e-01 7.20851023e-01 6.07864773e-03 -2.30778703e+02] [ 8.99008882e-03 2.11277253e-04 9.99959566e-01 -5.25596217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters 0.054429034486252845 Centerline is valid? [True, True] Translation: X:656.87, Y:-230.82, Z:-5.26 [[ 7.20994513e-01 6.92904577e-01 -7.08235568e-03 6.56873121e+02] [-6.92874144e-01 7.21029263e-01 6.49791445e-03 -2.30819063e+02] [ 9.60902036e-03 2.22220465e-04 9.99953808e-01 -5.25771699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters 0.054571339791821646 Centerline is valid? [True, True] Translation: X:656.92, Y:-230.86, Z:-5.26 [[ 7.21634523e-01 6.92242510e-01 -6.62742947e-03 6.56916552e+02] [-6.92215821e-01 7.21664928e-01 6.08187198e-03 -2.30863174e+02] [ 8.99291373e-03 1.98722743e-04 9.99959543e-01 -5.25565778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters 0.05345922085495812 Centerline is valid? [True, True] Translation: X:656.96, Y:-230.91, Z:-5.25 [[ 7.22386496e-01 6.91465669e-01 -5.74275645e-03 6.56958638e+02] [-6.91445609e-01 7.22409303e-01 5.26957400e-03 -2.30908919e+02] [ 7.79235019e-03 1.64134633e-04 9.99969626e-01 -5.25150875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters 0.05359826183380163 Centerline is valid? [True, True] Translation: X:657.00, Y:-230.95, Z:-5.25 [[ 7.22639863e-01 6.91203510e-01 -5.41625091e-03 6.57004227e+02] [-6.91185651e-01 7.22660144e-01 4.97103715e-03 -2.30949168e+02] [ 7.35010700e-03 1.51365312e-04 9.99972976e-01 -5.25347421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters 0.053272481300037144 Centerline is valid? [True, True] Translation: X:657.05, Y:-231.00, Z:-5.25 [[ 7.23649573e-01 6.90144158e-01 -5.68652828e-03 6.57045985e+02] [-6.90124427e-01 7.23671900e-01 5.22076060e-03 -2.30995184e+02] [ 7.71825816e-03 1.46410896e-04 9.99970203e-01 -5.25207344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters 0.05396842606801276 Centerline is valid? [True, True] Translation: X:657.09, Y:-231.04, Z:-5.25 [[ 7.24657007e-01 6.89082897e-01 -6.08147332e-03 6.57089684e+02] [-6.89060282e-01 7.24682510e-01 5.58455408e-03 -2.31039241e+02] [ 8.25535806e-03 1.43615478e-04 9.99965914e-01 -5.25225962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters 0.05336463586276437 Centerline is valid? [True, True] Translation: X:657.13, Y:-231.08, Z:-5.25 [[ 7.25754385e-01 6.87922712e-01 -6.55103774e-03 6.57133226e+02] [-6.87896411e-01 7.25783937e-01 6.01706472e-03 -2.31083437e+02] [ 8.89391345e-03 1.39524246e-04 9.99960439e-01 -5.25155584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters 0.05374384315962017 Centerline is valid? [True, True] Translation: X:657.18, Y:-231.13, Z:-5.25 [[ 7.26696436e-01 6.86924521e-01 -6.85506933e-03 6.57175124e+02] [-6.86895666e-01 7.26728756e-01 6.29752917e-03 -2.31128247e+02] [ 9.30770322e-03 1.32325407e-04 9.99956674e-01 -5.25011301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters 0.05400688040852005 Centerline is valid? [True, True] Translation: X:657.22, Y:-231.17, Z:-5.25 [[ 7.26208321e-01 6.87443730e-01 -6.52631354e-03 6.57221147e+02] [-6.87417591e-01 7.26237634e-01 5.99622533e-03 -2.31169094e+02] [ 8.86172201e-03 1.31794008e-04 9.99960725e-01 -5.25487679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters 0.054032340378834774 Centerline is valid? [True, True] Translation: X:657.26, Y:-231.21, Z:-5.25 [[ 7.25012850e-01 6.88700967e-01 -6.88074262e-03 6.57263900e+02] [-6.88671969e-01 7.25045484e-01 6.32177462e-03 -2.31213620e+02] [ 9.34266366e-03 1.55206738e-04 9.99956344e-01 -5.25139305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters 0.053815845062241775 Centerline is valid? [True, True] Translation: X:657.31, Y:-231.25, Z:-5.25 [[ 7.22410748e-01 6.91419984e-01 -7.81774460e-03 6.57307011e+02] [-6.91382713e-01 7.22453015e-01 7.18228858e-03 -2.31254943e+02] [ 1.06139310e-02 2.16490999e-04 9.99943647e-01 -5.25272123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters 0.053896715970504855 Centerline is valid? [True, True] Translation: X:657.35, Y:-231.30, Z:-5.25 [[ 7.22126691e-01 6.91718296e-01 -7.67084264e-03 6.57348966e+02] [-6.91682396e-01 7.22167400e-01 7.05044827e-03 -2.31302336e+02] [ 1.04165565e-02 2.14469943e-04 9.99945723e-01 -5.25044681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters 0.0537452644756001 Centerline is valid? [True, True] Translation: X:657.39, Y:-231.35, Z:-5.25 [[ 7.23624882e-01 6.90155212e-01 -7.26722489e-03 6.57390415e+02] [-6.90122921e-01 7.23661350e-01 6.67863055e-03 -2.31348091e+02] [ 9.86830146e-03 1.82455219e-04 9.99951290e-01 -5.24897511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters 0.05383601955871561 Centerline is valid? [True, True] Translation: X:657.43, Y:-231.39, Z:-5.25 [[ 7.26059843e-01 6.87602721e-01 -6.29300943e-03 6.57431030e+02] [-6.87578410e-01 7.26087103e-01 5.78356057e-03 -2.31394598e+02] [ 8.54606497e-03 1.27726337e-04 9.99963474e-01 -5.24770900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters 0.05294522761626641 Centerline is valid? [True, True] Translation: X:657.47, Y:-231.44, Z:-5.25 [[ 7.27674634e-01 6.85905069e-01 -4.88495148e-03 6.57472073e+02] [-6.85890379e-01 7.27691026e-01 4.48982879e-03 -2.31441529e+02] [ 6.63433168e-03 8.34066978e-05 9.99977989e-01 -5.24583549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters 0.05273422198905287 Centerline is valid? [True, True] Translation: X:657.51, Y:-231.49, Z:-5.25 [[ 7.29130837e-01 6.84357978e-01 -4.73075634e-03 6.57514928e+02] [-6.84344157e-01 7.29146181e-01 4.34987242e-03 -2.31485392e+02] [ 6.42628282e-03 6.58393389e-05 9.99979349e-01 -5.24796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters 0.053535663236186526 Centerline is valid? [True, True] Translation: X:657.55, Y:-231.53, Z:-5.24 [[ 7.31203540e-01 6.82137714e-01 -5.43339304e-03 6.57552876e+02] [-6.82119414e-01 7.31223725e-01 4.99682042e-03 -2.31534353e+02] [ 7.38154556e-03 5.25300985e-05 9.99972755e-01 -5.24241980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters 0.05276027363815373 Centerline is valid? [True, True] Translation: X:657.60, Y:-231.58, Z:-5.25 [[ 7.31130287e-01 6.82214831e-01 -5.60597665e-03 6.57597684e+02] [-6.82195355e-01 7.31151777e-01 5.15528814e-03 -2.31576714e+02] [ 7.61583382e-03 5.51839346e-05 9.99970998e-01 -5.24718031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters 0.05316315349170899 Centerline is valid? [True, True] Translation: X:657.64, Y:-231.62, Z:-5.25 [[ 7.29885131e-01 6.83545994e-01 -5.70687358e-03 6.57642791e+02] [-6.83525836e-01 7.29907438e-01 5.25004643e-03 -2.31619411e+02] [ 7.75413768e-03 6.88647051e-05 9.99969934e-01 -5.24735431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters 0.05311846220001758 Centerline is valid? [True, True] Translation: X:657.69, Y:-231.66, Z:-5.25 [[ 7.28170373e-01 6.85375988e-01 -5.25955336e-03 6.57688107e+02] [-6.85358912e-01 7.28189363e-01 4.83868912e-03 -2.31660739e+02] [ 7.14627214e-03 8.12917084e-05 9.99974462e-01 -5.24958662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters 0.05314759221325801 Centerline is valid? [True, True] Translation: X:657.73, Y:-231.70, Z:-5.25 [[ 7.26713194e-01 6.86918915e-01 -5.50792967e-03 6.57733287e+02] [-6.86900221e-01 7.26734060e-01 5.06872652e-03 -2.31703359e+02] [ 7.48460421e-03 9.98876657e-05 9.99971985e-01 -5.24957746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters 0.05299147946368182 Centerline is valid? [True, True] Translation: X:657.78, Y:-231.75, Z:-5.25 [[ 7.25792686e-01 6.87885122e-01 -6.24785873e-03 6.57778810e+02] [-6.87861108e-01 7.25819567e-01 5.74908503e-03 -2.31746136e+02] [ 8.48952817e-03 1.25015160e-04 9.99963955e-01 -5.25011529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters 0.05285407082643833 Centerline is valid? [True, True] Translation: X:657.82, Y:-231.79, Z:-5.25 [[ 7.24767150e-01 6.88967402e-01 -6.04129397e-03 6.57821291e+02] [-6.88944970e-01 7.24792317e-01 5.56111081e-03 -2.31792038e+02] [ 8.21010752e-03 1.31608658e-04 9.99966288e-01 -5.24582033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters 0.05326915273547273 Centerline is valid? [True, True] Translation: X:657.87, Y:-231.84, Z:-5.24 [[ 7.24093508e-01 6.89673771e-01 -6.21938282e-03 6.57866156e+02] [-6.89650013e-01 7.24120203e-01 5.72635547e-03 -2.31835436e+02] [ 8.45289793e-03 1.42780616e-04 9.99964263e-01 -5.24451621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters 0.053668159638449536 Centerline is valid? [True, True] Translation: X:657.91, Y:-231.88, Z:-5.24 [[ 7.23903247e-01 6.89873131e-01 -6.25713829e-03 6.57906354e+02] [-6.89849078e-01 7.23930274e-01 5.76260891e-03 -2.31883526e+02] [ 8.50520089e-03 1.44909783e-04 9.99963820e-01 -5.23699750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters 0.05341430384648627 Centerline is valid? [True, True] Translation: X:657.95, Y:-231.92, Z:-5.24 [[ 7.25440349e-01 6.88264609e-01 -5.30367368e-03 6.57951450e+02] [-6.88247279e-01 7.25459728e-01 4.88525384e-03 -2.31923753e+02] [ 7.20994899e-03 1.06278734e-04 9.99974002e-01 -5.23765027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters 0.053554414758337394 Centerline is valid? [True, True] Translation: X:658.00, Y:-231.96, Z:-5.25 [[ 7.27407520e-01 6.86179639e-01 -5.98365249e-03 6.58002496e+02] [-6.86157511e-01 7.27432123e-01 5.51139239e-03 -2.31959078e+02] [ 8.13450628e-03 9.66998355e-05 9.99966910e-01 -5.24918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters 0.05371837806535912 Centerline is valid? [True, True] Translation: X:658.04, Y:-232.01, Z:-5.25 [[ 7.29924363e-01 6.83494110e-01 -6.79888802e-03 6.58044350e+02] [-6.83465406e-01 7.29956023e-01 6.26441142e-03 -2.32005501e+02] [ 9.24457757e-03 7.42582428e-05 9.99957265e-01 -5.24540854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters 0.053549395201684724 Centerline is valid? [True, True] Translation: X:658.09, Y:-232.05, Z:-5.24 [[ 7.32417768e-01 6.80809171e-01 -7.94261535e-03 6.58088284e+02] [-6.80769842e-01 7.32460832e-01 7.31791912e-03 -2.32049005e+02] [ 1.07997611e-02 4.73190072e-05 9.99941680e-01 -5.24444843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters 0.05401568403770431 Centerline is valid? [True, True] Translation: X:658.13, Y:-232.09, Z:-5.25 [[ 7.34373012e-01 6.78694217e-01 -8.39278945e-03 6.58133399e+02] [-6.78650131e-01 7.34420969e-01 7.73565449e-03 -2.32092423e+02] [ 1.14139845e-02 1.49117659e-05 9.99934858e-01 -5.24501462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters 0.05368877161100931 Centerline is valid? [True, True] Translation: X:658.18, Y:-232.14, Z:-5.24 [[ 7.36407121e-01 6.76500773e-01 -7.15930115e-03 6.58176781e+02] [-6.76468577e-01 7.36441921e-01 6.60011293e-03 -2.32135412e+02] [ 9.73739100e-03 -1.73279001e-05 9.99952590e-01 -5.24486460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters 0.05362680665179867 Centerline is valid? [True, True] Translation: X:658.22, Y:-232.18, Z:-5.24 [[ 7.36631889e-01 6.76270373e-01 -5.64290994e-03 6.58223118e+02] [-6.76250353e-01 7.36653502e-01 5.20368032e-03 -2.32176805e+02] [ 7.67596420e-03 -1.71770268e-05 9.99970539e-01 -5.24416815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters 0.054483917979737735 Centerline is valid? [True, True] Translation: X:658.27, Y:-232.22, Z:-5.24 [[ 7.36124760e-01 6.76821259e-01 -5.77248977e-03 6.58270368e+02] [-6.76800313e-01 7.36147392e-01 5.32477186e-03 -2.32218832e+02] [ 7.85332208e-03 -1.28735259e-05 9.99969162e-01 -5.24324369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters 0.05338889557436956 Centerline is valid? [True, True] Translation: X:658.32, Y:-232.26, Z:-5.25 [[ 7.33819668e-01 6.79313504e-01 -6.46977746e-03 6.58317037e+02] [-6.79287280e-01 7.33848188e-01 5.96884334e-03 -2.32257940e+02] [ 8.80255035e-03 1.47828939e-05 9.99961257e-01 -5.24585870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters 0.05410371257730456 Centerline is valid? [True, True] Translation: X:658.37, Y:-232.30, Z:-5.25 [[ 7.30633252e-01 6.82748365e-01 -5.45165446e-03 6.58367117e+02] [-6.82729830e-01 7.30653590e-01 5.03107812e-03 -2.32295421e+02] [ 7.41823126e-03 4.61341537e-05 9.99972483e-01 -5.24794781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters 0.05352737242375876 Centerline is valid? [True, True] Translation: X:658.41, Y:-232.34, Z:-5.24 [[ 7.28910545e-01 6.84592951e-01 -4.68069045e-03 6.58414133e+02] [-6.84579316e-01 7.28925572e-01 4.32100147e-03 -2.32337389e+02] [ 6.37000210e-03 5.46803336e-05 9.99979710e-01 -5.24426019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters 0.05381767487629054 Centerline is valid? [True, True] Translation: X:658.46, Y:-232.37, Z:-5.25 [[ 7.27722045e-01 6.85858119e-01 -4.38916352e-03 6.58462860e+02] [-6.85846149e-01 7.27735279e-01 4.05256173e-03 -2.32374657e+02] [ 5.97363151e-03 6.11523906e-05 9.99982156e-01 -5.24849669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters 0.05351296025039504 Centerline is valid? [True, True] Translation: X:658.51, Y:-232.42, Z:-5.24 [[ 7.28055724e-01 6.85500548e-01 -4.88479198e-03 6.58507121e+02] [-6.85485716e-01 7.28072108e-01 4.50979562e-03 -2.32418029e+02] [ 6.64794816e-03 6.50726165e-05 9.99977900e-01 -5.24484135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters 0.05367232051895766 Centerline is valid? [True, True] Translation: X:658.55, Y:-232.46, Z:-5.24 [[ 7.28344055e-01 6.85194207e-01 -4.88225073e-03 6.58550771e+02] [-6.85179373e-01 7.28360415e-01 4.50909599e-03 -2.32460633e+02] [ 6.64564462e-03 6.10442411e-05 9.99977916e-01 -5.24228948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters 0.05305426387597725 Centerline is valid? [True, True] Translation: X:658.60, Y:-232.50, Z:-5.25 [[ 7.28959662e-01 6.84537046e-01 -5.18119358e-03 6.58599993e+02] [-6.84520314e-01 7.28978072e-01 4.78639720e-03 -2.32499002e+02] [ 7.05344271e-03 5.75417803e-05 9.99975123e-01 -5.25108992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters 0.05337307972052685 Centerline is valid? [True, True] Translation: X:658.64, Y:-232.54, Z:-5.25 [[ 7.30728311e-01 6.82646217e-01 -5.50247935e-03 6.58643537e+02] [-6.82627297e-01 7.30749027e-01 5.08269475e-03 -2.32543071e+02] [ 7.49061378e-03 4.20736539e-05 9.99971944e-01 -5.24944124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters 0.05399131574418126 Centerline is valid? [True, True] Translation: X:658.69, Y:-232.59, Z:-5.25 [[ 7.32211505e-01 6.81061305e-01 -4.67028966e-03 6.58688070e+02] [-6.81047639e-01 7.32226399e-01 4.31444435e-03 -2.32586141e+02] [ 6.35811047e-03 2.16039598e-05 9.99979787e-01 -5.24646372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters 0.053666371308582476 Centerline is valid? [True, True] Translation: X:658.73, Y:-232.63, Z:-5.25 [[ 7.32343894e-01 6.80918504e-01 -4.73415527e-03 6.58734554e+02] [-6.80904447e-01 7.32359195e-01 4.37536679e-03 -2.32627384e+02] [ 6.44637035e-03 1.92342196e-05 9.99979222e-01 -5.25060464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters 0.053784732166534045 Centerline is valid? [True, True] Translation: X:658.78, Y:-232.67, Z:-5.24 [[ 7.31307245e-01 6.82031001e-01 -4.84005243e-03 6.58778570e+02] [-6.82016328e-01 7.31323261e-01 4.47387433e-03 -2.32670342e+02] [ 6.59096391e-03 2.92180767e-05 9.99978279e-01 -5.24396444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters 0.05367417791456889 Centerline is valid? [True, True] Translation: X:658.83, Y:-232.71, Z:-5.25 [[ 7.29647062e-01 6.83807182e-01 -4.78558766e-03 6.58826825e+02] [-6.83792875e-01 7.29662754e-01 4.42364786e-03 -2.32709925e+02] [ 6.51678725e-03 4.46490769e-05 9.99978765e-01 -5.24854787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters 0.054357557284481495 Centerline is valid? [True, True] Translation: X:658.87, Y:-232.75, Z:-5.25 [[ 7.26373421e-01 6.87286424e-01 -4.36173182e-03 6.58873320e+02] [-6.87274593e-01 7.26386513e-01 4.03323659e-03 -2.32750468e+02] [ 5.94029192e-03 6.80716063e-05 9.99982354e-01 -5.24701839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters 0.05393734842026825 Centerline is valid? [True, True] Translation: X:658.92, Y:-232.79, Z:-5.25 [[ 7.23732723e-01 6.90069627e-01 -3.85415922e-03 6.58921609e+02] [-6.90060425e-01 7.23742981e-01 3.56475605e-03 -2.32788800e+02] [ 5.24935056e-03 7.96721491e-05 9.99986219e-01 -5.24840743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters 0.05380860301750639 Centerline is valid? [True, True] Translation: X:658.97, Y:-232.83, Z:-5.25 [[ 7.21332808e-01 6.92577946e-01 -3.84304139e-03 6.58968017e+02] [-6.92568837e-01 7.21343038e-01 3.55355285e-03 -2.32828137e+02] [ 5.23326349e-03 9.82764512e-05 9.99986302e-01 -5.24891904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters 0.05339723676164247 Centerline is valid? [True, True] Translation: X:659.01, Y:-232.87, Z:-5.25 [[ 7.19483869e-01 6.94498109e-01 -3.91660090e-03 6.59013094e+02] [-6.94488666e-01 7.19494520e-01 3.62326791e-03 -2.32870153e+02] [ 5.33432559e-03 1.13152122e-04 9.99985766e-01 -5.24835750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters 0.053363664499338985 Centerline is valid? [True, True] Translation: X:659.06, Y:-232.91, Z:-5.25 [[ 7.17409433e-01 6.96634535e-01 -4.90202006e-03 6.59056733e+02] [-6.96619790e-01 7.17426162e-01 4.53535853e-03 -2.32913521e+02] [ 6.67632482e-03 1.61135192e-04 9.99977700e-01 -5.24742247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters 0.05356400409860469 Centerline is valid? [True, True] Translation: X:659.10, Y:-232.96, Z:-5.25 [[ 7.16726628e-01 6.97332602e-01 -5.49385953e-03 6.59101540e+02] [-6.97314093e-01 7.16747659e-01 5.08413941e-03 -2.32956615e+02] [ 7.48304712e-03 1.87007579e-04 9.99971984e-01 -5.24695034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters 0.05347677586507417 Centerline is valid? [True, True] Translation: X:659.15, Y:-233.00, Z:-5.25 [[ 7.15475046e-01 6.98621302e-01 -4.87191944e-03 6.59148088e+02] [-6.98606775e-01 7.15491611e-01 4.50866267e-03 -2.32996244e+02] [ 6.63566527e-03 1.77720296e-04 9.99977968e-01 -5.24790096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters 0.05347147300871248 Centerline is valid? [True, True] Translation: X:659.19, Y:-233.04, Z:-5.25 [[ 7.14046187e-01 7.00080734e-01 -5.00084996e-03 6.59192699e+02] [-7.00065466e-01 7.14063671e-01 4.62780949e-03 -2.33038510e+02] [ 6.81076555e-03 1.96452638e-04 9.99976787e-01 -5.24877661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters 0.05398953264680877 Centerline is valid? [True, True] Translation: X:659.24, Y:-233.08, Z:-5.25 [[ 7.13392195e-01 7.00744374e-01 -5.37570493e-03 6.59236999e+02] [-7.00726736e-01 7.13412416e-01 4.97662283e-03 -2.33082425e+02] [ 7.32243509e-03 2.16616289e-04 9.99973167e-01 -5.24879974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters 0.05363763082253267 Centerline is valid? [True, True] Translation: X:659.28, Y:-233.12, Z:-5.25 [[ 7.12946023e-01 7.01201150e-01 -4.99158552e-03 6.59281314e+02] [-7.01185947e-01 7.12963467e-01 4.62194578e-03 -2.33124047e+02] [ 6.79973181e-03 2.04831758e-04 9.99976861e-01 -5.24905724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters 0.054627872104218246 Centerline is valid? [True, True] Translation: X:659.33, Y:-233.17, Z:-5.25 [[ 7.13818949e-01 7.00321686e-01 -3.47051895e-03 6.59325128e+02] [-7.00314329e-01 7.13827372e-01 3.21306799e-03 -2.33166271e+02] [ 4.72753262e-03 1.36905332e-04 9.99988816e-01 -5.24914000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters 0.05327675845354904 Centerline is valid? [True, True] Translation: X:659.36, Y:-233.21, Z:-5.25 [[ 7.15497778e-01 6.98610107e-01 -2.61680598e-03 6.59364933e+02] [-6.98605912e-01 7.15502557e-01 2.42283450e-03 -2.33213740e+02] [ 3.56494804e-03 9.45834249e-05 9.99993641e-01 -5.24677087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters 0.05355294136209518 Centerline is valid? [True, True] Translation: X:659.40, Y:-233.26, Z:-5.25 [[ 7.19516395e-01 6.94472755e-01 -1.93617974e-03 6.59404754e+02] [-6.94470443e-01 7.19518998e-01 1.79283738e-03 -2.33260386e+02] [ 2.63819482e-03 5.46437137e-05 9.99996518e-01 -5.24723505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters 0.05315406053373022 Centerline is valid? [True, True] Translation: X:659.44, Y:-233.31, Z:-5.25 [[ 7.24656476e-01 6.89107042e-01 -2.11584593e-03 6.59444733e+02] [-6.89104255e-01 7.24659564e-01 1.96029159e-03 -2.33307558e+02] [ 2.88411873e-03 3.75004353e-05 9.99995840e-01 -5.24761041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters 0.05361801619349581 Centerline is valid? [True, True] Translation: X:659.49, Y:-233.35, Z:-5.25 [[ 7.28462289e-01 6.85084063e-01 -1.58713767e-03 6.59485945e+02] [-6.85082486e-01 7.28464018e-01 1.47023514e-03 -2.33353990e+02] [ 2.16340735e-03 1.63093620e-05 9.99997660e-01 -5.24725940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters 0.05321683796384384 Centerline is valid? [True, True] Translation: X:659.53, Y:-233.40, Z:-5.25 [[ 7.32848780e-01 6.80388097e-01 -2.16881162e-03 6.59528545e+02] [-6.80385130e-01 7.32851989e-01 2.00922494e-03 -2.33400246e+02] [ 2.95647064e-03 3.16912708e-06 9.99995630e-01 -5.24872330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters 0.05381720851102984 Centerline is valid? [True, True] Translation: X:659.57, Y:-233.44, Z:-5.25 [[ 7.35471877e-01 6.77551771e-01 -2.17164756e-03 6.59572130e+02] [-6.77548780e-01 7.35475083e-01 2.01308776e-03 -2.33444546e+02] [ 2.96116385e-03 -9.17228348e-06 9.99995616e-01 -5.24656384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters 0.054155539435116806 Centerline is valid? [True, True] Translation: X:659.62, Y:-233.49, Z:-5.25 [[ 7.37712706e-01 6.75112171e-01 -1.87587270e-03 6.59615858e+02] [-6.75109933e-01 7.37715091e-01 1.73832329e-03 -2.33489379e+02] [ 2.55742281e-03 -1.59628836e-05 9.99996730e-01 -5.24725690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters 0.053019457689209404 Centerline is valid? [True, True] Translation: X:659.66, Y:-233.54, Z:-5.25 [[ 7.38487421e-01 6.74265418e-01 -1.57315552e-03 6.59657781e+02] [-6.74263841e-01 7.38489097e-01 1.45827335e-03 -2.33535094e+02] [ 2.14502149e-03 -1.61946398e-05 9.99997699e-01 -5.25080536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters 0.05368014994134474 Centerline is valid? [True, True] Translation: X:659.70, Y:-233.58, Z:-5.25 [[ 7.38153190e-01 6.74631757e-01 -1.36426414e-03 6.59704069e+02] [-6.74630570e-01 7.38154450e-01 1.26553868e-03 -2.33577121e+02] [ 1.86081023e-03 -1.37871196e-05 9.99998269e-01 -5.25115308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters 0.05378897690430518 Centerline is valid? [True, True] Translation: X:659.75, Y:-233.62, Z:-5.25 [[ 7.36975659e-01 6.75918412e-01 -1.08552541e-03 6.59750354e+02] [-6.75917661e-01 7.36976459e-01 1.00747324e-03 -2.33618405e+02] [ 1.48097638e-03 -8.75745739e-06 9.99998903e-01 -5.25092944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters 0.052907459688833064 Centerline is valid? [True, True] Translation: X:659.80, Y:-233.66, Z:-5.25 [[ 7.34319783e-01 6.78803192e-01 -8.26330598e-04 6.59796148e+02] [-6.78802758e-01 7.34320248e-01 7.67263246e-04 -2.33658861e+02] [ 1.12761203e-03 -2.50109187e-06 9.99999364e-01 -5.25095821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters 0.05352736785026461 Centerline is valid? [True, True] Translation: X:659.84, Y:-233.70, Z:-5.25 [[ 7.30628761e-01 6.82774925e-01 -1.21904951e-04 6.59844249e+02] [-6.82774915e-01 7.30628772e-01 1.14391660e-04 -2.33699430e+02] [ 1.67171021e-04 -3.44194047e-07 9.99999986e-01 -5.25038477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters 0.05335880193118684 Centerline is valid? [True, True] Translation: X:659.89, Y:-233.74, Z:-5.25 [[ 7.27411595e-01 6.86201236e-01 -4.85500583e-04 6.59892181e+02] [-6.86201088e-01 7.27411757e-01 4.51447490e-04 -2.33737138e+02] [ 6.62942658e-04 4.76288969e-06 9.99999780e-01 -5.25382199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters 0.05302213524952433 Centerline is valid? [True, True] Translation: X:659.94, Y:-233.78, Z:-5.25 [[ 7.21316600e-01 6.92604760e-01 -1.00433781e-03 6.59938329e+02] [-6.92604132e-01 7.21317299e-01 9.32823917e-04 -2.33777920e+02] [ 1.37052452e-03 2.27471449e-05 9.99999061e-01 -5.25343604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters 0.05326877196799786 Centerline is valid? [True, True] Translation: X:659.99, Y:-233.82, Z:-5.26 [[ 7.19242198e-01 6.94758185e-01 -1.31337323e-03 6.59986334e+02] [-6.94757117e-01 7.19243396e-01 1.21877699e-03 -2.33815035e+02] [ 1.79139031e-03 3.58795554e-05 9.99998395e-01 -5.25592794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters 0.05326763081396059 Centerline is valid? [True, True] Translation: X:660.03, Y:-233.86, Z:-5.25 [[ 7.13642291e-01 7.00509471e-01 -1.07718072e-03 6.60030934e+02] [-7.00508759e-01 7.13643103e-01 9.99862397e-04 -2.33856932e+02] [ 1.46913567e-03 4.10304377e-05 9.99998920e-01 -5.25484132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters 0.05187234230413382 Centerline is valid? [True, True] Translation: X:660.08, Y:-233.90, Z:-5.26 [[ 7.10083145e-01 7.04116630e-01 -1.30304094e-03 6.60076146e+02] [-7.04115594e-01 7.10084338e-01 1.20948301e-03 -2.33898677e+02] [ 1.77688606e-03 5.86579467e-05 9.99998420e-01 -5.25538133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters 0.052771744421734726 Centerline is valid? [True, True] Translation: X:660.12, Y:-233.94, Z:-5.26 [[ 7.09361645e-01 7.04843366e-01 -1.37353928e-03 6.60122585e+02] [-7.04842216e-01 7.09362971e-01 1.27500367e-03 -2.33940323e+02] [ 1.87301578e-03 6.36897715e-05 9.99998244e-01 -5.25727099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters 0.053833348309282984 Centerline is valid? [True, True] Translation: X:660.17, Y:-233.98, Z:-5.26 [[ 7.09991007e-01 7.04209035e-01 -1.55095511e-03 6.60169521e+02] [-7.04207564e-01 7.09992698e-01 1.44073418e-03 -2.33980162e+02] [ 2.11574483e-03 6.92860076e-05 9.99997759e-01 -5.25929436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters 0.053148561893698085 Centerline is valid? [True, True] Translation: X:660.21, Y:-234.03, Z:-5.26 [[ 7.11051950e-01 7.03138920e-01 -8.84789837e-04 6.60211696e+02] [-7.03138441e-01 7.11052500e-01 8.21556170e-04 -2.34025879e+02] [ 1.20680014e-03 3.79606293e-05 9.99999271e-01 -5.25853419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters 0.052763772390106434 Centerline is valid? [True, True] Translation: X:660.25, Y:-234.07, Z:-5.26 [[ 7.13816721e-01 7.00332511e-01 -2.49818832e-04 6.60254998e+02] [-7.00332473e-01 7.13816765e-01 2.32153055e-04 -2.34067244e+02] [ 3.40909202e-04 9.24150795e-06 9.99999942e-01 -5.25929853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters 0.05275855879335349 Centerline is valid? [True, True] Translation: X:660.29, Y:-234.12, Z:-5.26 [[ 7.16453764e-01 6.97634011e-01 8.89429746e-04 6.60292484e+02] [-6.97633523e-01 7.16454316e-01 -8.24986129e-04 -2.34116707e+02] [-1.21277416e-03 -2.94315906e-05 9.99999264e-01 -5.25716157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters 0.05243441576720767 Centerline is valid? [True, True] Translation: X:660.34, Y:-234.16, Z:-5.26 [[ 7.17370036e-01 6.96691589e-01 1.03000877e-03 6.60337647e+02] [-6.96690935e-01 7.17370775e-01 -9.55522074e-04 -2.34158180e+02] [-1.40460238e-03 -3.21348671e-05 9.99999013e-01 -5.25836947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters 0.052696176422205025 Centerline is valid? [True, True] Translation: X:660.38, Y:-234.20, Z:-5.26 [[ 7.18162605e-01 6.95874645e-01 9.75018204e-04 6.60380236e+02] [-6.95874057e-01 7.18163266e-01 -9.05137591e-04 -2.34204268e+02] [-1.33008456e-03 -2.84539032e-05 9.99999115e-01 -5.25910567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters 0.05372557672340019 Centerline is valid? [True, True] Translation: X:660.43, Y:-234.24, Z:-5.26 [[ 7.18281129e-01 6.95752973e-01 1.42354720e-04 6.60432485e+02] [-6.95752960e-01 7.18281143e-01 -1.31436819e-04 -2.34238363e+02] [-1.93698269e-04 -4.63513156e-06 9.99999981e-01 -5.26300002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters 0.05205896398936084 Centerline is valid? [True, True] Translation: X:660.47, Y:-234.29, Z:-5.26 [[ 7.18501069e-01 6.95524503e-01 1.37107087e-03 6.60472163e+02] [-6.95523339e-01 7.18502376e-01 -1.27275104e-03 -2.34286970e+02] [-1.87034721e-03 -3.91388113e-05 9.99998250e-01 -5.26007114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters 0.05258956070715446 Centerline is valid? [True, True] Translation: X:660.52, Y:-234.32, Z:-5.26 [[ 7.19112403e-01 6.94890249e-01 2.21216360e-03 6.60522000e+02] [-6.94887214e-01 7.19115803e-01 -2.05469136e-03 -2.34323415e+02] [-3.01858680e-03 -5.96501601e-05 9.99995442e-01 -5.26137555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters 0.0522968121849544 Centerline is valid? [True, True] Translation: X:660.57, Y:-234.37, Z:-5.26 [[ 7.19289431e-01 6.94702580e-01 3.32265110e-03 6.60565186e+02] [-6.94695725e-01 7.19297099e-01 -3.08750218e-03 -2.34368956e+02] [-4.53486903e-03 -8.74238321e-05 9.99989714e-01 -5.25984257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters 0.05256399414116175 Centerline is valid? [True, True] Translation: X:660.61, Y:-234.41, Z:-5.26 [[ 7.19842438e-01 6.94128117e-01 3.60858875e-03 6.60611022e+02] [-6.94120023e-01 7.19851477e-01 -3.35325672e-03 -2.34410480e+02] [-4.92523771e-03 -9.09772102e-05 9.99987867e-01 -5.26087209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters 0.052797346407997006 Centerline is valid? [True, True] Translation: X:660.66, Y:-234.45, Z:-5.26 [[ 7.21098329e-01 6.92830086e-01 1.91602010e-03 6.60658428e+02] [-6.92827800e-01 7.21100873e-01 -1.78037436e-03 -2.34448667e+02] [-2.61514069e-03 -4.36470201e-05 9.99996580e-01 -5.26368271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters 0.05337451298519839 Centerline is valid? [True, True] Translation: X:660.70, Y:-234.49, Z:-5.27 [[ 7.22161276e-01 6.91723210e-01 1.44632527e-03 6.60704790e+02] [-6.91721905e-01 7.22162724e-01 -1.34442878e-03 -2.34490710e+02] [-1.97445479e-03 -2.95604650e-05 9.99998050e-01 -5.26584091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters 0.0528541744528449 Centerline is valid? [True, True] Translation: X:660.75, Y:-234.53, Z:-5.27 [[ 7.24991510e-01 6.88755186e-01 1.89855185e-03 6.60748180e+02] [-6.88752925e-01 7.24993995e-01 -1.76504136e-03 -2.34534956e+02] [-2.59212008e-03 -2.79931405e-05 9.99996640e-01 -5.26536997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters 0.052656113535013205 Centerline is valid? [True, True] Translation: X:660.79, Y:-234.58, Z:-5.27 [[ 7.28977604e-01 6.84526825e-01 3.83131801e-03 6.60793307e+02] [-6.84517555e-01 7.28987672e-01 -3.56258435e-03 -2.34577281e+02] [-5.23166815e-03 -2.55602284e-05 9.99986314e-01 -5.26522955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters 0.05304507388935282 Centerline is valid? [True, True] Translation: X:660.84, Y:-234.62, Z:-5.27 [[ 7.32140014e-01 6.81138007e-01 4.69211338e-03 6.60838468e+02] [-6.81124032e-01 7.32155049e-01 -4.36315046e-03 -2.34620408e+02] [-6.40726211e-03 -1.47414734e-06 9.99979473e-01 -5.26580381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters 0.053148221243852455 Centerline is valid? [True, True] Translation: X:660.88, Y:-234.66, Z:-5.27 [[ 7.35491159e-01 6.77514604e-01 5.16878783e-03 6.60882549e+02] [-6.77497547e-01 7.35509320e-01 -4.80765614e-03 -2.34662241e+02] [-7.05894887e-03 3.41475068e-05 9.99975085e-01 -5.26704115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters 0.053032425762777904 Centerline is valid? [True, True] Translation: X:660.93, Y:-234.70, Z:-5.27 [[ 7.36268173e-01 6.76669195e-01 5.28945444e-03 6.60931597e+02] [-6.76651303e-01 7.36287171e-01 -4.92098752e-03 -2.34700451e+02] [-7.22443811e-03 4.40502487e-05 9.99973902e-01 -5.26907423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters 0.05288588721887441 Centerline is valid? [True, True] Translation: X:660.98, Y:-234.74, Z:-5.27 [[ 7.35741878e-01 6.77246388e-01 4.60641136e-03 6.60975401e+02] [-6.77232825e-01 7.35756297e-01 -4.28632552e-03 -2.34743034e+02] [-6.29209464e-03 3.40162135e-05 9.99980204e-01 -5.27171220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters 0.05331543596345216 Centerline is valid? [True, True] Translation: X:661.02, Y:-234.78, Z:-5.27 [[ 7.34501089e-01 6.78597358e-01 3.71165018e-03 6.61023151e+02] [-6.78588566e-01 7.34510467e-01 -3.45423727e-03 -2.34782841e+02] [-5.07028219e-03 1.84576633e-05 9.99987146e-01 -5.27288254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters 0.05295602588064839 Centerline is valid? [True, True] Translation: X:661.07, Y:-234.82, Z:-5.27 [[ 7.31715476e-01 6.81590508e-01 5.18086824e-03 6.61071716e+02] [-6.81573445e-01 7.31733817e-01 -4.82292697e-03 -2.34821435e+02] [-7.07827774e-03 -2.13191390e-06 9.99974949e-01 -5.27359632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters 0.05408009198997837 Centerline is valid? [True, True] Translation: X:661.12, Y:-234.86, Z:-5.27 [[ 7.28964659e-01 6.84518281e-01 6.72683512e-03 6.61119342e+02] [-6.84489630e-01 7.28995694e-01 -6.26287607e-03 -2.34860259e+02] [-9.19088699e-03 -3.90335696e-05 9.99957762e-01 -5.27348058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters 0.053505750602243045 Centerline is valid? [True, True] Translation: X:661.17, Y:-234.90, Z:-5.27 [[ 7.27422172e-01 6.86146699e-01 7.72602425e-03 6.61166822e+02] [-6.86108982e-01 7.27463197e-01 -7.19454537e-03 -2.34900283e+02] [-1.05569119e-02 -6.74228149e-05 9.99944272e-01 -5.27215158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters 0.052526398456362734 Centerline is valid? [True, True] Translation: X:661.21, Y:-234.94, Z:-5.27 [[ 7.25532048e-01 6.88149785e-01 7.28835615e-03 6.61213551e+02] [-6.88116314e-01 7.25568650e-01 -6.78775004e-03 -2.34939210e+02] [-9.95919146e-03 -9.05065790e-05 9.99950402e-01 -5.27330573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters 0.05386123357005427 Centerline is valid? [True, True] Translation: X:661.26, Y:-234.98, Z:-5.27 [[ 7.23493933e-01 6.90288985e-01 7.59248820e-03 6.61263691e+02] [-6.90252767e-01 7.23533760e-01 -7.07227627e-03 -2.34976275e+02] [-1.03753359e-02 -1.23987012e-04 9.99946167e-01 -5.27488113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters 0.053086956777714404 Centerline is valid? [True, True] Translation: X:661.31, Y:-235.01, Z:-5.27 [[ 7.22304780e-01 6.91535055e-01 7.42107320e-03 6.61311350e+02] [-6.91500511e-01 7.22342889e-01 -6.91341202e-03 -2.35014490e+02] [-1.01414262e-02 -1.38085360e-04 9.99948565e-01 -5.27490021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters 0.0531945731004842 Centerline is valid? [True, True] Translation: X:661.36, Y:-235.05, Z:-5.28 [[ 7.21689226e-01 6.92181043e-01 7.07566530e-03 6.61358595e+02] [-6.92149657e-01 7.21723898e-01 -6.59298073e-03 -2.35053375e+02] [-9.67021302e-03 -1.39336153e-04 9.99953233e-01 -5.27533651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters 0.05403025556876205 Centerline is valid? [True, True] Translation: X:661.41, Y:-235.10, Z:-5.28 [[ 7.21361090e-01 6.92523868e-01 6.99072620e-03 6.61405221e+02] [-6.92493234e-01 7.21394949e-01 -6.51524220e-03 -2.35095964e+02] [-9.55503530e-03 -1.41188372e-04 9.99954340e-01 -5.27588014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters 0.053240666617576066 Centerline is valid? [True, True] Translation: X:661.45, Y:-235.14, Z:-5.28 [[ 7.20359403e-01 6.93560408e-01 7.50273801e-03 6.61451333e+02] [-6.93525160e-01 7.20398455e-01 -6.99422654e-03 -2.35138007e+02] [-1.02558795e-02 -1.64980720e-04 9.99947393e-01 -5.27837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters 0.0530913770786247 Centerline is valid? [True, True] Translation: X:661.50, Y:-235.18, Z:-5.28 [[ 7.19515864e-01 6.94435985e-01 7.45547857e-03 6.61497438e+02] [-6.94401211e-01 7.19554468e-01 -6.95172165e-03 -2.35178945e+02] [-1.01921486e-02 -1.75219337e-04 9.99948043e-01 -5.27863072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters 0.05290223678025105 Centerline is valid? [True, True] Translation: X:661.54, Y:-235.22, Z:-5.28 [[ 7.19537494e-01 6.94416405e-01 7.18697383e-03 6.61541558e+02] [-6.94384075e-01 7.19573366e-01 -6.70280173e-03 -2.35222994e+02] [-9.82609043e-03 -1.67603016e-04 9.99951709e-01 -5.27927029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters 0.053680071929264384 Centerline is valid? [True, True] Translation: X:661.59, Y:-235.26, Z:-5.28 [[ 7.20206701e-01 6.93714594e-01 7.89751104e-03 6.61591452e+02] [-6.93675497e-01 7.20249979e-01 -7.36699913e-03 -2.35260129e+02] [-1.07987770e-02 -1.72547752e-04 9.99941677e-01 -5.27789067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters 0.05375440973860594 Centerline is valid? [True, True] Translation: X:661.64, Y:-235.30, Z:-5.28 [[ 7.20499295e-01 6.93416038e-01 7.41371622e-03 6.61637273e+02] [-6.93381561e-01 7.20537420e-01 -6.91645292e-03 -2.35300327e+02] [-1.01378393e-02 -1.57234678e-04 9.99948598e-01 -5.27874067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters 0.05358267771861576 Centerline is valid? [True, True] Translation: X:661.68, Y:-235.35, Z:-5.28 [[ 7.21239813e-01 6.92653186e-01 6.68553207e-03 6.61679724e+02] [-6.92625106e-01 7.21270786e-01 -6.23830821e-03 -2.35345872e+02] [-9.14306303e-03 -1.31251115e-04 9.99958193e-01 -5.28192277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters 0.05408719214347756 Centerline is valid? [True, True] Translation: X:661.72, Y:-235.39, Z:-5.28 [[ 7.23360719e-01 6.90439376e-01 6.53743106e-03 6.61724973e+02] [-6.90412423e-01 7.23390253e-01 -6.10149912e-03 -2.35387792e+02] [-8.94182916e-03 -9.99388228e-05 9.99960016e-01 -5.28188464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters 0.0534870604604155 Centerline is valid? [True, True] Translation: X:661.77, Y:-235.43, Z:-5.28 [[ 7.25331458e-01 6.88362099e-01 7.20398868e-03 6.61767912e+02] [-6.88329252e-01 7.25367227e-01 -6.72502438e-03 -2.35433495e+02] [-9.85478920e-03 -8.08444048e-05 9.99951437e-01 -5.28247722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters 0.05321759515461552 Centerline is valid? [True, True] Translation: X:661.81, Y:-235.48, Z:-5.28 [[ 7.27546204e-01 6.86023112e-01 6.98647563e-03 6.61811890e+02] [-6.85992105e-01 7.27579747e-01 -6.52256864e-03 -2.35476214e+02] [-9.55785100e-03 -4.71970689e-05 9.99954322e-01 -5.28248672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters 0.05355658223230902 Centerline is valid? [True, True] Translation: X:661.85, Y:-235.52, Z:-5.28 [[ 7.30795189e-01 6.82558041e-01 7.27409683e-03 6.61854317e+02] [-6.82524248e-01 7.30831390e-01 -6.79191652e-03 -2.35522209e+02] [-9.95201553e-03 -1.24754981e-06 9.99950477e-01 -5.28253674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters 0.054056012229866744 Centerline is valid? [True, True] Translation: X:661.90, Y:-235.57, Z:-5.28 [[ 7.33862406e-01 6.79262240e-01 6.98422023e-03 6.61896412e+02] [-6.79230931e-01 7.33895638e-01 -6.52181876e-03 -2.35568275e+02] [-9.55571399e-03 4.22191948e-05 9.99954342e-01 -5.28350228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters 0.05395499345059034 Centerline is valid? [True, True] Translation: X:661.94, Y:-235.61, Z:-5.28 [[ 7.37133573e-01 6.75717448e-01 6.32665794e-03 6.61941297e+02] [-6.75691619e-01 7.37160718e-01 -5.90855052e-03 -2.35611456e+02] [-8.65627439e-03 8.05212096e-05 9.99962531e-01 -5.28484664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters 0.05347107820840489 Centerline is valid? [True, True] Translation: X:661.98, Y:-235.66, Z:-5.29 [[ 7.39023184e-01 6.73653608e-01 5.96236195e-03 6.61983373e+02] [-6.73630592e-01 7.39047229e-01 -5.56952398e-03 -2.35655581e+02] [-8.15839700e-03 9.95779358e-05 9.99966715e-01 -5.28520572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters 0.05451906265901424 Centerline is valid? [True, True] Translation: X:662.03, Y:-235.70, Z:-5.29 [[ 7.40644011e-01 6.71867365e-01 6.37903839e-03 6.62027196e+02] [-6.71840943e-01 7.40671470e-01 -5.95986543e-03 -2.35700190e+02] [-8.72901083e-03 1.28439470e-04 9.99961893e-01 -5.28560446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters 0.053813768810502864 Centerline is valid? [True, True] Translation: X:662.07, Y:-235.74, Z:-5.29 [[ 7.39722541e-01 6.72883501e-01 6.19322041e-03 6.62069462e+02] [-6.72858627e-01 7.39748458e-01 -5.78682355e-03 -2.35744324e+02] [-8.47528333e-03 1.13482039e-04 9.99964078e-01 -5.28601203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters 0.05358125357479334 Centerline is valid? [True, True] Translation: X:662.12, Y:-235.79, Z:-5.29 [[ 7.37407935e-01 6.75413335e-01 6.80908803e-03 6.62116786e+02] [-6.75383362e-01 7.37439365e-01 -6.36367039e-03 -2.35785441e+02] [-9.31939740e-03 9.38762754e-05 9.99956569e-01 -5.28626711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters 0.0534881850482189 Centerline is valid? [True, True] Translation: X:662.16, Y:-235.82, Z:-5.29 [[ 7.33148741e-01 6.80026536e-01 7.53878621e-03 6.62163802e+02] [-6.79990027e-01 7.33187499e-01 -7.04662100e-03 -2.35824550e+02] [-1.03192331e-02 3.99218822e-05 9.99946755e-01 -5.28641268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters 0.05297958996163883 Centerline is valid? [True, True] Translation: X:662.21, Y:-235.86, Z:-5.29 [[ 7.30562715e-01 6.82801668e-01 7.74613582e-03 6.62210909e+02] [-6.82763261e-01 7.30603779e-01 -7.24206377e-03 -2.35864522e+02] [-1.06042493e-02 2.00481759e-06 9.99943773e-01 -5.28780874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters 0.05273487456461483 Centerline is valid? [True, True] Translation: X:662.26, Y:-235.91, Z:-5.29 [[ 7.27315650e-01 6.86267626e-01 6.97790708e-03 6.62256597e+02] [-6.86236605e-01 7.27349121e-01 -6.52521056e-03 -2.35905293e+02] [-9.55341534e-03 -4.26075099e-05 9.99954364e-01 -5.28981386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters 0.05285831209644024 Centerline is valid? [True, True] Translation: X:662.31, Y:-235.94, Z:-5.29 [[ 7.25238772e-01 6.88466717e-01 6.50413320e-03 6.62305274e+02] [-6.88439843e-01 7.25267933e-01 -6.08341318e-03 -2.35942412e+02] [-8.90546675e-03 -6.57773319e-05 9.99960343e-01 -5.28986157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters 0.052360916326904004 Centerline is valid? [True, True] Translation: X:662.35, Y:-235.99, Z:-5.29 [[ 7.25290201e-01 6.88413985e-01 6.34897488e-03 6.62349512e+02] [-6.88388364e-01 7.25317987e-01 -5.93959602e-03 -2.35987401e+02] [-8.69392665e-03 -6.26296359e-05 9.99962205e-01 -5.29105299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters 0.05287216814679353 Centerline is valid? [True, True] Translation: X:662.39, Y:-236.03, Z:-5.29 [[ 7.26825522e-01 6.86792621e-01 6.36834588e-03 6.62393982e+02] [-6.86766769e-01 7.26853420e-01 -5.95905154e-03 -2.36030286e+02] [-8.72148661e-03 -4.23775800e-05 9.99961966e-01 -5.29171616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters 0.05255188534638231 Centerline is valid? [True, True] Translation: X:662.44, Y:-236.08, Z:-5.29 [[ 7.29975897e-01 6.83448492e-01 5.77492489e-03 6.62436865e+02] [-6.83427124e-01 7.29998739e-01 -5.40429749e-03 -2.36075077e+02] [-7.90924686e-03 -1.73340323e-06 9.99968721e-01 -5.29227618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters 0.052299962895459975 Centerline is valid? [True, True] Translation: X:662.48, Y:-236.12, Z:-5.29 [[ 7.30924131e-01 6.82439464e-01 5.12767830e-03 6.62482145e+02] [-6.82422591e-01 7.30942117e-01 -4.79886907e-03 -2.36118530e+02] [-7.02297367e-03 8.36569081e-06 9.99975339e-01 -5.29268866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters 0.05338363709521763 Centerline is valid? [True, True] Translation: X:662.53, Y:-236.16, Z:-5.29 [[ 7.31195281e-01 6.82150850e-01 4.86605057e-03 6.62527484e+02] [-6.82135642e-01 7.31211472e-01 -4.55505568e-03 -2.36161343e+02] [-6.66534710e-03 1.13286899e-05 9.99977786e-01 -5.29404607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters 0.05285138334645238 Centerline is valid? [True, True] Translation: X:662.57, Y:-236.20, Z:-5.29 [[ 7.30403846e-01 6.83001800e-01 4.33177833e-03 6.62573780e+02] [-6.82989758e-01 7.30416691e-01 -4.05577199e-03 -2.36204401e+02] [-5.93410276e-03 3.79122392e-06 9.99982393e-01 -5.29379682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters 0.05296613304566772 Centerline is valid? [True, True] Translation: X:662.62, Y:-236.25, Z:-5.29 [[ 7.28197610e-01 6.85353447e-01 4.34673035e-03 6.62619724e+02] [-6.85341356e-01 7.28210583e-01 -4.07089385e-03 -2.36247732e+02] [-5.95533618e-03 -1.45789031e-05 9.99982267e-01 -5.29405032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters 0.05331564501040264 Centerline is valid? [True, True] Translation: X:662.67, Y:-236.29, Z:-5.29 [[ 7.26176424e-01 6.87493677e-01 4.49936533e-03 6.62666539e+02] [-6.87480762e-01 7.26190362e-01 -4.21425575e-03 -2.36287761e+02] [-6.16466993e-03 -3.29339292e-05 9.99980998e-01 -5.29483447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters 0.0528591938030569 Centerline is valid? [True, True] Translation: X:662.71, Y:-236.33, Z:-5.29 [[ 7.22227064e-01 6.91641862e-01 4.42746447e-03 6.62714010e+02] [-6.91629428e-01 7.22240632e-01 -4.14776336e-03 -2.36327529e+02] [-6.06646152e-03 -6.65377643e-05 9.99981597e-01 -5.29479948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters 0.05277175962218881 Centerline is valid? [True, True] Translation: X:662.76, Y:-236.37, Z:-5.30 [[ 7.17701219e-01 6.96336596e-01 4.50614635e-03 6.62758974e+02] [-6.96323802e-01 7.17715357e-01 -4.22247523e-03 -2.36369135e+02] [-6.17439447e-03 -1.07261345e-04 9.99980932e-01 -5.29522251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters 0.05272544449357146 Centerline is valid? [True, True] Translation: X:662.80, Y:-236.41, Z:-5.30 [[ 7.15392486e-01 6.98707290e-01 4.65986193e-03 6.62802568e+02] [-6.98693659e-01 7.15407650e-01 -4.36646327e-03 -2.36412395e+02] [-6.38458060e-03 -1.32080966e-04 9.99979610e-01 -5.29574707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters 0.05382887466578287 Centerline is valid? [True, True] Translation: X:662.85, Y:-236.45, Z:-5.30 [[ 7.15200694e-01 6.98902803e-01 4.77898842e-03 6.62852103e+02] [-6.98888464e-01 7.15216648e-01 -4.47897990e-03 -2.36449528e+02] [-6.54838369e-03 -1.36610346e-04 9.99978550e-01 -5.29638399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters 0.052600875786716635 Centerline is valid? [True, True] Translation: X:662.89, Y:-236.50, Z:-5.30 [[ 7.16024758e-01 6.98060084e-01 4.54584225e-03 6.62890054e+02] [-6.98047087e-01 7.16039178e-01 -4.26151076e-03 -2.36499887e+02] [-6.22979170e-03 -1.21864724e-04 9.99980587e-01 -5.29623345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters 0.052415132684040425 Centerline is valid? [True, True] Translation: X:662.94, Y:-236.54, Z:-5.30 [[ 7.16920245e-01 6.97139185e-01 4.72435766e-03 6.62935472e+02] [-6.97125123e-01 7.16935801e-01 -4.42941417e-03 -2.36541340e+02] [-6.47497933e-03 -1.17931720e-04 9.99979030e-01 -5.29730646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters 0.05283832168127229 Centerline is valid? [True, True] Translation: X:662.98, Y:-236.59, Z:-5.30 [[ 7.18366425e-01 6.95652415e-01 4.17089773e-03 6.62978226e+02] [-6.95641427e-01 7.18378528e-01 -3.91097070e-03 -2.36587435e+02] [-5.71695958e-03 -9.19392040e-05 9.99983654e-01 -5.29890431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters 0.052167499748605795 Centerline is valid? [True, True] Translation: X:663.02, Y:-236.63, Z:-5.30 [[ 7.18840872e-01 6.95165525e-01 3.56271401e-03 6.63021473e+02] [-6.95157502e-01 7.18849697e-01 -3.34072045e-03 -2.36632027e+02] [-4.88340957e-03 -7.52009696e-05 9.99988073e-01 -5.30022913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters 0.051877654668321296 Centerline is valid? [True, True] Translation: X:663.06, Y:-236.68, Z:-5.30 [[ 7.18333331e-01 6.95692249e-01 3.08562315e-03 6.63064017e+02] [-6.95686233e-01 7.18339954e-01 -2.89405866e-03 -2.36676556e+02] [-4.22990057e-03 -6.77267483e-05 9.99991052e-01 -5.30110417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters 0.05175076643717327 Centerline is valid? [True, True] Translation: X:663.11, Y:-236.72, Z:-5.30 [[ 7.16290540e-01 6.97796080e-01 2.91436245e-03 6.63105241e+02] [-6.97790730e-01 7.16296464e-01 -2.73350942e-03 -2.36722659e+02] [-3.99497968e-03 -7.56281590e-05 9.99992017e-01 -5.30154132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters 0.05152456978971244 Centerline is valid? [True, True] Translation: X:663.15, Y:-236.77, Z:-5.30 [[ 7.13716870e-01 7.00428127e-01 2.94427804e-03 6.63147279e+02] [-7.00422686e-01 7.13722937e-01 -2.76240607e-03 -2.36765808e+02] [-4.03626568e-03 -9.06633177e-05 9.99991850e-01 -5.30220513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters 0.051830579476916626 Centerline is valid? [True, True] Translation: X:663.19, Y:-236.81, Z:-5.30 [[ 7.12620003e-01 7.01541796e-01 3.44093400e-03 6.63191356e+02] [-7.01534376e-01 7.12628301e-01 -3.22858860e-03 -2.36808628e+02] [-4.71709679e-03 -1.13176673e-04 9.99988868e-01 -5.30197323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters 0.054719970635909 Centerline is valid? [True, True] Translation: X:663.24, Y:-236.84, Z:-5.30 [[ 7.11904280e-01 7.02261739e-01 4.55484966e-03 6.63243243e+02] [-7.02248744e-01 7.11918834e-01 -4.27496959e-03 -2.36843282e+02] [-6.24483084e-03 -1.55268302e-04 9.99980489e-01 -5.30226849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters 0.051943067964952835 Centerline is valid? [True, True] Translation: X:663.28, Y:-236.89, Z:-5.30 [[ 7.12616154e-01 7.01541764e-01 4.16770801e-03 6.63279661e+02] [-7.01530869e-01 7.12628328e-01 -3.91230435e-03 -2.36894831e+02] [-5.71467169e-03 -1.35804539e-04 9.99983662e-01 -5.30221425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters 0.051524552243751034 Centerline is valid? [True, True] Translation: X:663.32, Y:-236.94, Z:-5.30 [[ 7.14542782e-01 6.99581646e-01 3.75950907e-03 6.63320448e+02] [-6.99572748e-01 7.14552664e-01 -3.52996031e-03 -2.36941000e+02] [-5.15586267e-03 -1.07742436e-04 9.99986703e-01 -5.30348177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters 0.05121387974957223 Centerline is valid? [True, True] Translation: X:663.36, Y:-236.98, Z:-5.30 [[ 7.18570071e-01 6.95446646e-01 3.31900240e-03 6.63361913e+02] [-6.95439666e-01 7.18577732e-01 -3.11663597e-03 -2.36984453e+02] [-4.55241525e-03 -6.86445955e-05 9.99989635e-01 -5.30475708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters 0.05178154487367157 Centerline is valid? [True, True] Translation: X:663.41, Y:-237.03, Z:-5.31 [[ 7.20010673e-01 6.93953813e-01 3.56875465e-03 6.63407591e+02] [-6.93945725e-01 7.20019515e-01 -3.35091742e-03 -2.37025189e+02] [-4.89495491e-03 -6.38257306e-05 9.99988018e-01 -5.30550125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters 0.05158155737048399 Centerline is valid? [True, True] Translation: X:663.45, Y:-237.07, Z:-5.31 [[ 7.21277412e-01 6.92639387e-01 3.09414429e-03 6.63452633e+02] [-6.92633294e-01 7.21284047e-01 -2.90567107e-03 -2.37068071e+02] [-4.24433915e-03 -4.73124387e-05 9.99990992e-01 -5.30617368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters 0.05157580684265842 Centerline is valid? [True, True] Translation: X:663.49, Y:-237.11, Z:-5.31 [[ 7.24792254e-01 6.88962143e-01 2.71175564e-03 6.63494521e+02] [-6.88957434e-01 7.24797327e-01 -2.54740452e-03 -2.37113231e+02] [-3.72053852e-03 -2.19451418e-05 9.99993079e-01 -5.30625089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters 0.051982892331445714 Centerline is valid? [True, True] Translation: X:663.54, Y:-237.16, Z:-5.31 [[ 7.27580067e-01 6.86015989e-01 3.05102320e-03 6.63537668e+02] [-6.86010003e-01 7.27586464e-01 -2.86587410e-03 -2.37158629e+02] [-4.18591863e-03 -7.87956339e-06 9.99991239e-01 -5.30590664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters 0.051154462544847304 Centerline is valid? [True, True] Translation: X:663.58, Y:-237.20, Z:-5.31 [[ 7.31064708e-01 6.82300593e-01 3.20838381e-03 6.63581908e+02] [-6.82293933e-01 7.31071748e-01 -3.01472712e-03 -2.37201661e+02] [-4.40250887e-03 1.48997917e-05 9.99990309e-01 -5.30680962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters 0.05250783120930406 Centerline is valid? [True, True] Translation: X:663.63, Y:-237.24, Z:-5.31 [[ 7.32217343e-01 6.81067386e-01 2.23130231e-03 6.63625721e+02] [-6.81064160e-01 7.32220742e-01 -2.09627949e-03 -2.37244161e+02] [-3.06151343e-03 1.52721614e-05 9.99995313e-01 -5.30947328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters 0.05168277875585442 Centerline is valid? [True, True] Translation: X:663.67, Y:-237.29, Z:-5.31 [[ 7.31815833e-01 6.81500867e-01 1.46784381e-03 6.63673085e+02] [-6.81499472e-01 7.31817305e-01 -1.37931497e-03 -2.37285965e+02] [-2.01419785e-03 9.06975809e-06 9.99997971e-01 -5.30882063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters 0.05217524119449357 Centerline is valid? [True, True] Translation: X:663.72, Y:-237.33, Z:-5.31 [[ 7.28931772e-01 6.84586065e-01 6.26214613e-04 6.63720103e+02] [-6.84585812e-01 7.28932041e-01 -5.87753293e-04 -2.37325260e+02] [-8.58835610e-04 -2.65590220e-07 9.99999631e-01 -5.31091482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters 0.05195962193218412 Centerline is valid? [True, True] Translation: X:663.77, Y:-237.37, Z:-5.31 [[ 7.26114843e-01 6.87573403e-01 2.23108696e-04 6.63767571e+02] [-6.87573372e-01 7.26114877e-01 -2.08685551e-04 -2.37365863e+02] [-3.05489178e-04 -1.87392264e-06 9.99999953e-01 -5.31051791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters 0.051931400808176015 Centerline is valid? [True, True] Translation: X:663.81, Y:-237.41, Z:-5.31 [[ 7.21436301e-01 6.92480714e-01 -3.51847194e-04 6.63813666e+02] [-6.92480635e-01 7.21436387e-01 3.32031129e-04 -2.37405963e+02] [ 4.83760522e-04 4.10805857e-06 9.99999883e-01 -5.31005055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters 0.05137296227812315 Centerline is valid? [True, True] Translation: X:663.86, Y:-237.45, Z:-5.31 [[ 7.17334755e-01 6.96728673e-01 7.45295661e-05 6.63858685e+02] [-6.96728669e-01 7.17334759e-01 -6.97933209e-05 -2.37447809e+02] [-1.02089656e-04 -1.86171069e-06 9.99999995e-01 -5.30718647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters 0.05275344200556022 Centerline is valid? [True, True] Translation: X:663.91, Y:-237.48, Z:-5.31 [[ 7.14332247e-01 6.99806628e-01 3.52634678e-04 6.63909836e+02] [-6.99806550e-01 7.14332334e-01 -3.31045163e-04 -2.37481856e+02] [-4.83565952e-04 -1.02998226e-05 9.99999883e-01 -5.31020577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters 0.051386122167126756 Centerline is valid? [True, True] Translation: X:663.95, Y:-237.53, Z:-5.31 [[ 7.11703496e-01 7.02479936e-01 -2.71252883e-04 6.63951914e+02] [-7.02479890e-01 7.11703547e-01 2.55521912e-04 -2.37526918e+02] [ 3.72550655e-04 8.69385764e-06 9.99999931e-01 -5.30764956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters 0.05200958541947318 Centerline is valid? [True, True] Translation: X:664.00, Y:-237.57, Z:-5.31 [[ 7.11079028e-01 7.03111044e-01 -1.21499735e-03 6.63996887e+02] [-7.03110114e-01 7.11080064e-01 1.14451649e-03 -2.37569248e+02] [ 1.66868257e-03 4.04352505e-05 9.99998607e-01 -5.30782296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters 0.05230883873099308 Centerline is valid? [True, True] Translation: X:664.04, Y:-237.61, Z:-5.31 [[ 7.12289364e-01 7.01882087e-01 -2.32333018e-03 6.64042239e+02] [-7.01878682e-01 7.12293149e-01 2.18746214e-03 -2.37610438e+02] [ 3.19023266e-03 7.25899079e-05 9.99994909e-01 -5.30873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters 0.05233854917767843 Centerline is valid? [True, True] Translation: X:664.08, Y:-237.65, Z:-5.31 [[ 7.15681512e-01 6.98421101e-01 -2.81748270e-03 6.64084899e+02] [-6.98416067e-01 7.15687055e-01 2.65278145e-03 -2.37654054e+02] [ 3.86919443e-03 6.92285456e-05 9.99992512e-01 -5.30924392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters 0.05253347612854081 Centerline is valid? [True, True] Translation: X:664.13, Y:-237.70, Z:-5.31 [[ 7.19520992e-01 6.94463806e-01 -3.09269575e-03 6.64127064e+02] [-6.94457704e-01 7.19527637e-01 2.91163644e-03 -2.37698816e+02] [ 4.24730619e-03 5.27628529e-05 9.99990979e-01 -5.30919777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters 0.05242602836982633 Centerline is valid? [True, True] Translation: X:664.17, Y:-237.74, Z:-5.31 [[ 7.26346444e-01 6.87319042e-01 -3.65764613e-03 6.64167119e+02] [-6.87310414e-01 7.26355653e-01 3.44393657e-03 -2.37744200e+02] [ 5.02383513e-03 1.24471949e-05 9.99987380e-01 -5.31019183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters 0.052535456484011735 Centerline is valid? [True, True] Translation: X:664.21, Y:-237.79, Z:-5.31 [[ 7.30122943e-01 6.83304133e-01 -3.99359116e-03 6.64210677e+02] [-6.83293779e-01 7.30133865e-01 3.76173208e-03 -2.37787840e+02] [ 5.48626323e-03 -1.77309021e-05 9.99984950e-01 -5.31060627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters 0.053285370286216924 Centerline is valid? [True, True] Translation: X:664.26, Y:-237.83, Z:-5.31 [[ 7.33812696e-01 6.79338724e-01 -4.22195559e-03 6.64255735e+02] [-6.79327082e-01 7.33824840e-01 3.97749935e-03 -2.37829138e+02] [ 5.80024522e-03 -5.06507581e-05 9.99983177e-01 -5.30582250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters 0.05407569963894746 Centerline is valid? [True, True] Translation: X:664.30, Y:-237.87, Z:-5.31 [[ 7.38164662e-01 6.74604586e-01 -4.64587002e-03 6.64300109e+02] [-6.74590399e-01 7.38179275e-01 4.37623025e-03 -2.37871999e+02] [ 6.38170996e-03 -9.63192126e-05 9.99979632e-01 -5.30578109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters 0.054333146849198474 Centerline is valid? [True, True] Translation: X:664.34, Y:-237.92, Z:-5.31 [[ 7.45451348e-01 6.66544952e-01 -4.48491768e-03 6.64344606e+02] [-6.66531581e-01 7.45464822e-01 4.22491400e-03 -2.37915227e+02] [ 6.15944346e-03 -1.60128565e-04 9.99981018e-01 -5.30549237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters 0.05457044089190427 Centerline is valid? [True, True] Translation: X:664.39, Y:-237.95, Z:-5.30 [[ 7.51080752e-01 6.60196463e-01 -4.28194685e-03 6.64393941e+02] [-6.60184162e-01 7.51092930e-01 4.03524656e-03 -2.37952279e+02] [ 5.88019550e-03 -2.03922525e-04 9.99982691e-01 -5.30273372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters 0.05521363459328723 Centerline is valid? [True, True] Translation: X:664.44, Y:-237.99, Z:-5.30 [[ 7.52574604e-01 6.58493421e-01 -4.22830393e-03 6.64438041e+02] [-6.58481396e-01 7.52586452e-01 3.98542997e-03 -2.37994111e+02] [ 5.80654367e-03 -2.15073907e-04 9.99983119e-01 -5.30394828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters 0.05546876014787975 Centerline is valid? [True, True] Translation: X:664.49, Y:-238.03, Z:-5.30 [[ 7.52208812e-01 6.58919428e-01 -2.66284518e-03 6.64486779e+02] [-6.58914662e-01 7.52213513e-01 2.50980023e-03 -2.38032111e+02] [ 3.65678425e-03 -1.33306117e-04 9.99993305e-01 -5.30346008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters 0.05543915580418755 Centerline is valid? [True, True] Translation: X:664.54, Y:-238.07, Z:-5.30 [[ 7.48945821e-01 6.62630326e-01 -1.09928642e-03 6.64535660e+02] [-6.62629517e-01 7.48946626e-01 1.03677512e-03 -2.38068286e+02] [ 1.51030549e-03 -4.80687577e-05 9.99998858e-01 -5.30318219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters 0.05528381808671234 Centerline is valid? [True, True] Translation: X:664.59, Y:-238.11, Z:-5.30 [[ 7.45298775e-01 6.66729981e-01 -9.32068840e-04 6.64585128e+02] [-6.66729403e-01 7.45299357e-01 8.78810823e-04 -2.38105844e+02] [ 1.28059983e-03 -3.35389289e-05 9.99999179e-01 -5.30489014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters 0.054914647248948636 Centerline is valid? [True, True] Translation: X:664.64, Y:-238.14, Z:-5.31 [[ 7.39158562e-01 6.73531455e-01 -6.16747052e-06 6.64639821e+02] [-6.73531455e-01 7.39158562e-01 5.95312559e-06 -2.38137519e+02] [ 8.56835570e-06 -2.46318359e-07 1.00000000e+00 -5.30540619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters 0.0544785043780331 Centerline is valid? [True, True] Translation: X:664.68, Y:-238.18, Z:-5.31 [[ 7.35256602e-01 6.77788322e-01 8.48474518e-04 6.64684998e+02] [-6.77787850e-01 7.35257092e-01 -7.99702824e-04 -2.38177320e+02] [-1.16587614e-03 1.29010619e-05 9.99999320e-01 -5.30774374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters 0.0540420407823578 Centerline is valid? [True, True] Translation: X:664.74, Y:-238.21, Z:-5.31 [[ 7.29291439e-01 6.84201352e-01 1.58325364e-03 6.64740429e+02] [-6.84199725e-01 7.29293158e-01 -1.49222581e-03 -2.38208686e+02] [-2.17563897e-03 5.00580412e-06 9.99997633e-01 -5.30854037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters 0.05431329905579725 Centerline is valid? [True, True] Translation: X:664.80, Y:-238.24, Z:-5.31 [[ 7.22927787e-01 6.90921127e-01 1.84706385e-03 6.64795408e+02] [-6.90918935e-01 7.22930146e-01 -1.74042397e-03 -2.38241389e+02] [-2.53779383e-03 -1.79705404e-05 9.99996780e-01 -5.30908960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters 0.05415452787599565 Centerline is valid? [True, True] Translation: X:664.85, Y:-238.28, Z:-5.31 [[ 7.18608381e-01 6.95412719e-01 1.77338480e-03 6.64847148e+02] [-6.95410710e-01 7.18610568e-01 -1.67194767e-03 -2.38276132e+02] [-2.43706674e-03 -3.17551778e-05 9.99997030e-01 -5.31095887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters 0.05411292632606766 Centerline is valid? [True, True] Translation: X:664.89, Y:-238.31, Z:-5.31 [[ 7.14233524e-01 6.99904755e-01 1.95090641e-03 6.64893891e+02] [-6.99902340e-01 7.14236187e-01 -1.83939750e-03 -2.38314952e+02] [-2.68081101e-03 -5.16845971e-05 9.99996405e-01 -5.31050379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters 0.055565802115737334 Centerline is valid? [True, True] Translation: X:664.95, Y:-238.35, Z:-5.31 [[ 7.12540120e-01 7.01629385e-01 1.66841726e-03 6.64945589e+02] [-7.01627624e-01 7.12542072e-01 -1.57248433e-03 -2.38349165e+02] [-2.29211871e-03 -5.01494627e-05 9.99997372e-01 -5.31375795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters 0.05504480642683198 Centerline is valid? [True, True] Translation: X:664.99, Y:-238.39, Z:-5.31 [[ 7.14285385e-01 6.99852470e-01 1.70573081e-03 6.64988624e+02] [-6.99850623e-01 7.14287420e-01 -1.60859225e-03 -2.38392654e+02] [-2.34415932e-03 -4.47628319e-05 9.99997251e-01 -5.31323580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters 0.054913292737475895 Centerline is valid? [True, True] Translation: X:665.03, Y:-238.44, Z:-5.31 [[ 7.18873696e-01 6.95137157e-01 2.22291929e-03 6.65029479e+02] [-6.95133997e-01 7.18877132e-01 -2.09648231e-03 -2.38438601e+02] [-3.05534860e-03 -3.81207836e-05 9.99995332e-01 -5.31326200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters 0.053937554622975115 Centerline is valid? [True, True] Translation: X:665.07, Y:-238.49, Z:-5.31 [[ 7.22600124e-01 6.91260875e-01 2.73207446e-03 6.65070217e+02] [-6.91256073e-01 7.22605288e-01 -2.57666061e-03 -2.38485462e+02] [-3.75535612e-03 -2.66677860e-05 9.99992948e-01 -5.31317765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters 0.05379684544768312 Centerline is valid? [True, True] Translation: X:665.11, Y:-238.54, Z:-5.31 [[ 7.28143067e-01 6.85420482e-01 2.53693135e-03 6.65108458e+02] [-6.85416307e-01 7.28147487e-01 -2.39244859e-03 -2.38536153e+02] [-3.48709345e-03 3.19073488e-06 9.99993920e-01 -5.31231456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters 0.054628782229883315 Centerline is valid? [True, True] Translation: X:665.15, Y:-238.58, Z:-5.31 [[ 7.31481914e-01 6.81856026e-01 2.56323978e-03 6.65151741e+02] [-6.81851741e-01 7.31486405e-01 -2.41736003e-03 -2.38581434e+02] [-3.52326655e-03 2.05056350e-05 9.99993793e-01 -5.31179498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters 0.05513072970261894 Centerline is valid? [True, True] Translation: X:665.19, Y:-238.63, Z:-5.31 [[ 7.36040435e-01 6.76931833e-01 2.78795374e-03 6.65191534e+02] [-6.76926725e-01 7.36045713e-01 -2.63010083e-03 -2.38627446e+02] [-3.83246037e-03 4.86201609e-05 9.99992655e-01 -5.31280419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters 0.05480276040061947 Centerline is valid? [True, True] Translation: X:665.23, Y:-238.67, Z:-5.31 [[ 7.40512461e-01 6.72034307e-01 3.34432937e-03 6.65233739e+02] [-6.72026902e-01 7.40520008e-01 -3.15616902e-03 -2.38671724e+02] [-4.59759667e-03 8.97031796e-05 9.99989427e-01 -5.31213074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters 0.05485918419464927 Centerline is valid? [True, True] Translation: X:665.28, Y:-238.71, Z:-5.31 [[ 7.43145742e-01 6.69121109e-01 3.36864827e-03 6.65279790e+02] [-6.69113566e-01 7.43153369e-01 -3.17898323e-03 -2.38711483e+02] [-4.63054709e-03 1.08439601e-04 9.99989273e-01 -5.31195727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters 0.0558198302044805 Centerline is valid? [True, True] Translation: X:665.32, Y:-238.76, Z:-5.31 [[ 7.45448259e-01 6.66555072e-01 3.35099797e-03 6.65316996e+02] [-6.66547578e-01 7.45455781e-01 -3.16314011e-03 -2.38760051e+02] [-4.60642790e-03 1.24357707e-04 9.99989383e-01 -5.31381850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters 0.05519698198827767 Centerline is valid? [True, True] Translation: X:665.37, Y:-238.80, Z:-5.31 [[ 7.44769965e-01 6.67307917e-01 4.22411216e-03 6.65365012e+02] [-6.67296019e-01 7.44781929e-01 -3.98775182e-03 -2.38799513e+02] [-5.80710076e-03 1.51224555e-04 9.99983127e-01 -5.31476281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters 0.05512102016101274 Centerline is valid? [True, True] Translation: X:665.41, Y:-238.84, Z:-5.32 [[ 7.41425873e-01 6.71016862e-01 4.90363240e-03 6.65412433e+02] [-6.71000901e-01 7.41442075e-01 -4.63045111e-03 -2.38838466e+02] [-6.74287016e-03 1.42794492e-04 9.99977256e-01 -5.31600586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters 0.054894218057879626 Centerline is valid? [True, True] Translation: X:665.46, Y:-238.88, Z:-5.32 [[ 7.38739893e-01 6.73973536e-01 4.80037862e-03 6.65457273e+02] [-6.73958300e-01 7.38755481e-01 -4.53320374e-03 -2.38878315e+02] [-6.60156537e-03 1.13603434e-04 9.99978203e-01 -5.31722071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters 0.05372717070203477 Centerline is valid? [True, True] Translation: X:665.51, Y:-238.91, Z:-5.32 [[ 7.34958819e-01 6.78090131e-01 5.41375397e-03 6.65509059e+02] [-6.78070864e-01 7.34978752e-01 -5.11249677e-03 -2.38912739e+02] [-7.44572774e-03 8.65657572e-05 9.99972276e-01 -5.31843185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters 0.054164296178724855 Centerline is valid? [True, True] Translation: X:665.55, Y:-238.95, Z:-5.32 [[ 7.32508400e-01 6.80734972e-01 5.59833040e-03 6.65553809e+02] [-6.80714438e-01 7.32529790e-01 -5.28772245e-03 -2.38954472e+02] [-7.70048139e-03 6.24367778e-05 9.99970349e-01 -5.31878825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters 0.05393032078942491 Centerline is valid? [True, True] Translation: X:665.60, Y:-238.99, Z:-5.32 [[ 7.29435246e-01 6.84019859e-01 6.40739076e-03 6.65599884e+02] [-6.83993075e-01 7.29463386e-01 -6.05325821e-03 -2.38994396e+02] [-8.81450578e-03 3.28489792e-05 9.99961151e-01 -5.32063400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters 0.053020531359701466 Centerline is valid? [True, True] Translation: X:665.65, Y:-239.04, Z:-5.32 [[ 7.26652398e-01 6.86966680e-01 7.28506949e-03 6.65645340e+02] [-6.86932189e-01 7.26688916e-01 -6.88387633e-03 -2.39035429e+02] [-1.00229729e-02 -2.16348325e-06 9.99949769e-01 -5.32152961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters 0.05299488639413403 Centerline is valid? [True, True] Translation: X:665.69, Y:-239.08, Z:-5.32 [[ 7.24557653e-01 6.89165784e-01 8.16879209e-03 6.65691622e+02] [-6.89122542e-01 7.24603699e-01 -7.72020307e-03 -2.39077564e+02] [-1.12396368e-02 -3.55665509e-05 9.99936833e-01 -5.32266161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters 0.05283591029905811 Centerline is valid? [True, True] Translation: X:665.74, Y:-239.12, Z:-5.32 [[ 7.23848082e-01 6.89911505e-01 8.12826133e-03 6.65737125e+02] [-6.89868732e-01 7.23893716e-01 -7.68248815e-03 -2.39119586e+02] [-1.11842343e-02 -4.64790250e-05 9.99937453e-01 -5.32367410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters 0.05343973317685989 Centerline is valid? [True, True] Translation: X:665.78, Y:-239.16, Z:-5.33 [[ 7.21782944e-01 6.92080373e-01 7.35788697e-03 6.65782817e+02] [-6.92045428e-01 7.21820443e-01 -6.95512511e-03 -2.39160809e+02] [-1.01245788e-02 -7.19013627e-05 9.99948743e-01 -5.32553626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters 0.053316984041975955 Centerline is valid? [True, True] Translation: X:665.83, Y:-239.20, Z:-5.33 [[ 7.18026700e-01 6.95980900e-01 6.94594796e-03 6.65828497e+02] [-6.95949929e-01 7.18060285e-01 -6.56682665e-03 -2.39202972e+02] [-9.55799529e-03 -1.18875127e-04 9.99954314e-01 -5.32801932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters 0.0528286081101606 Centerline is valid? [True, True] Translation: X:665.87, Y:-239.25, Z:-5.33 [[ 7.15786171e-01 6.98282565e-01 7.18445571e-03 6.65873215e+02] [-6.98249542e-01 7.15822209e-01 -6.79275921e-03 -2.39246252e+02] [-9.88605828e-03 -1.54379805e-04 9.99951120e-01 -5.33016467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters 0.053019576718195065 Centerline is valid? [True, True] Translation: X:665.92, Y:-239.29, Z:-5.33 [[ 7.15521568e-01 6.98556747e-01 6.88160298e-03 6.65917913e+02] [-6.98526456e-01 7.15554644e-01 -6.50707030e-03 -2.39288554e+02] [-9.46972083e-03 -1.51032594e-04 9.99955150e-01 -5.33125680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters 0.05248829659802926 Centerline is valid? [True, True] Translation: X:665.96, Y:-239.34, Z:-5.33 [[ 7.16622903e-01 6.97422740e-01 7.28955962e-03 6.65957600e+02] [-6.97388678e-01 7.16659963e-01 -6.89423507e-03 -2.39337684e+02] [-1.00323318e-02 -1.43089596e-04 9.99949665e-01 -5.33187723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters 0.05178787206652557 Centerline is valid? [True, True] Translation: X:666.00, Y:-239.39, Z:-5.33 [[ 7.18028394e-01 6.95970741e-01 7.74292916e-03 6.65997286e+02] [-6.95932216e-01 7.18070129e-01 -7.32394637e-03 -2.39386557e+02] [-1.06572185e-02 -1.29752400e-04 9.99943202e-01 -5.33483723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters 0.05173224547497691 Centerline is valid? [True, True] Translation: X:666.04, Y:-239.43, Z:-5.34 [[ 7.18052806e-01 6.95950051e-01 7.32765180e-03 6.66039830e+02] [-6.95915531e-01 7.18090184e-01 -6.93268160e-03 -2.39431990e+02] [-1.00867149e-02 -1.21395222e-04 9.99949120e-01 -5.33525786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters 0.0516471207706736 Centerline is valid? [True, True] Translation: X:666.08, Y:-239.48, Z:-5.34 [[ 7.17911440e-01 6.96093641e-01 7.53700968e-03 6.66081975e+02] [-6.96057112e-01 7.17950992e-01 -7.13234003e-03 -2.39478001e+02] [-1.03759801e-02 -1.25800679e-04 9.99946160e-01 -5.33580654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters 0.051516117791539695 Centerline is valid? [True, True] Translation: X:666.12, Y:-239.53, Z:-5.34 [[ 7.18140488e-01 6.95861096e-01 7.18158212e-03 6.66120734e+02] [-6.95827910e-01 7.18176386e-01 -6.79696397e-03 -2.39526110e+02] [-9.88738549e-03 -1.15970256e-04 9.99951112e-01 -5.33788101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters 0.0513195840369653 Centerline is valid? [True, True] Translation: X:666.16, Y:-239.57, Z:-5.34 [[ 7.20260959e-01 6.93666867e-01 7.10130805e-03 6.66162843e+02] [-6.93634304e-01 7.20295960e-01 -6.72178461e-03 -2.39572447e+02] [-9.77772277e-03 -8.42718352e-05 9.99952193e-01 -5.33831708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters 0.051025178870289976 Centerline is valid? [True, True] Translation: X:666.20, Y:-239.62, Z:-5.34 [[ 7.23221247e-01 6.90571734e-01 7.85541593e-03 6.66203148e+02] [-6.90531692e-01 7.23263906e-01 -7.43672864e-03 -2.39620489e+02] [-1.08171334e-02 -4.60134928e-05 9.99941492e-01 -5.33811831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters 0.050881748159727624 Centerline is valid? [True, True] Translation: X:666.24, Y:-239.67, Z:-5.34 [[ 7.28515464e-01 6.84977237e-01 8.45001053e-03 6.66241920e+02] [-6.84930502e-01 7.28564467e-01 -8.00151509e-03 -2.39670678e+02] [-1.16372331e-02 4.15575220e-05 9.99932284e-01 -5.33920277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters 0.051126270014067034 Centerline is valid? [True, True] Translation: X:666.28, Y:-239.72, Z:-5.34 [[ 7.32337301e-01 6.80883497e-01 8.92977638e-03 6.66279189e+02] [-6.80830977e-01 7.32391733e-01 -8.45755326e-03 -2.39719828e+02] [-1.22987028e-02 1.14113347e-04 9.99924362e-01 -5.33836207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters 0.05114110542871083 Centerline is valid? [True, True] Translation: X:666.32, Y:-239.76, Z:-5.34 [[ 7.34081363e-01 6.79004158e-01 8.82650509e-03 6.66322364e+02] [-6.78952694e-01 7.34134411e-01 -8.36102833e-03 -2.39764606e+02] [-1.21570141e-02 1.44895659e-04 9.99926090e-01 -5.34031142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters 0.051376903601698595 Centerline is valid? [True, True] Translation: X:666.37, Y:-239.81, Z:-5.34 [[ 7.36692498e-01 6.76175984e-01 8.37862213e-03 6.66365845e+02] [-6.76129412e-01 7.36740120e-01 -7.93814414e-03 -2.39808923e+02] [-1.15404495e-02 1.82938388e-04 9.99933390e-01 -5.34368941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters 0.05060886330772364 Centerline is valid? [True, True] Translation: X:666.40, Y:-239.86, Z:-5.34 [[ 7.38036884e-01 6.74708060e-01 8.40188852e-03 6.66404520e+02] [-6.74661122e-01 7.38084677e-01 -7.96109323e-03 -2.39858608e+02] [-1.15727189e-02 2.07152898e-04 9.99933012e-01 -5.34379644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters 0.050832325433214864 Centerline is valid? [True, True] Translation: X:666.45, Y:-239.90, Z:-5.34 [[ 7.37042774e-01 6.75789326e-01 8.75986858e-03 6.66452296e+02] [-6.75738366e-01 7.37094802e-01 -8.30144496e-03 -2.39897348e+02] [-1.20668815e-02 1.99140744e-04 9.99927173e-01 -5.34462206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters 0.05111826467103505 Centerline is valid? [True, True] Translation: X:666.49, Y:-239.94, Z:-5.34 [[ 7.36157420e-01 6.76752482e-01 8.85051938e-03 6.66491948e+02] [-6.76700508e-01 7.36210597e-01 -8.38920101e-03 -2.39944868e+02] [-1.21932588e-02 1.86621610e-04 9.99925642e-01 -5.34274669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters 0.050943073308449736 Centerline is valid? [True, True] Translation: X:666.54, Y:-239.99, Z:-5.34 [[ 7.35519651e-01 6.77443098e-01 9.03834347e-03 6.66539326e+02] [-6.77388924e-01 7.35575160e-01 -8.56913394e-03 -2.39985399e+02] [-1.24534816e-02 1.80292656e-04 9.99922436e-01 -5.34448643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters 0.05116238399007151 Centerline is valid? [True, True] Translation: X:666.59, Y:-240.02, Z:-5.35 [[ 7.34561487e-01 6.78483196e-01 8.94287056e-03 6.66589451e+02] [-6.78430214e-01 7.34615904e-01 -8.48044719e-03 -2.40021994e+02] [-1.23234159e-02 1.62296313e-04 9.99924051e-01 -5.34740694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters 0.051189548166125316 Centerline is valid? [True, True] Translation: X:666.63, Y:-240.07, Z:-5.35 [[ 7.33735030e-01 6.79372254e-01 9.28692260e-03 6.66634523e+02] [-6.79315167e-01 7.33793784e-01 -8.80829596e-03 -2.40065094e+02] [-1.27987980e-02 1.54207915e-04 9.99918080e-01 -5.34677687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters 0.050733951539587034 Centerline is valid? [True, True] Translation: X:666.68, Y:-240.10, Z:-5.35 [[ 7.31240230e-01 6.82064727e-01 8.68529978e-03 6.66683102e+02] [-6.82014978e-01 7.31291801e-01 -8.23840489e-03 -2.40103866e+02] [-1.19706139e-02 1.00748548e-04 9.99928345e-01 -5.34819053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters 0.05064932379140688 Centerline is valid? [True, True] Translation: X:666.73, Y:-240.14, Z:-5.35 [[ 7.28050888e-01 6.85475676e-01 8.06243758e-03 6.66730737e+02] [-6.85433006e-01 7.28095527e-01 -7.64838643e-03 -2.40142396e+02] [-1.11130076e-02 4.21537004e-05 9.99938248e-01 -5.34941922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters 0.05026167421289922 Centerline is valid? [True, True] Translation: X:666.78, Y:-240.18, Z:-5.35 [[ 7.25061700e-01 6.88642207e-01 7.57911162e-03 6.66779378e+02] [-6.88604656e-01 7.25101311e-01 -7.19139008e-03 -2.40181006e+02] [-1.04479185e-02 -4.81003644e-06 9.99945419e-01 -5.35153685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters 0.05103606584845038 Centerline is valid? [True, True] Translation: X:666.83, Y:-240.22, Z:-5.35 [[ 7.20418467e-01 6.93497315e-01 7.66206581e-03 6.66829023e+02] [-6.93459194e-01 7.20459207e-01 -7.27165046e-03 -2.40218404e+02] [-1.05630759e-02 -7.46987096e-05 9.99944206e-01 -5.35308615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters 0.04986955495893026 Centerline is valid? [True, True] Translation: X:666.87, Y:-240.26, Z:-5.36 [[ 7.17487077e-01 6.96535926e-01 7.07101373e-03 6.66874028e+02] [-6.96503597e-01 7.17521911e-01 -6.71175508e-03 -2.40261326e+02] [-9.74858582e-03 -1.09388961e-04 9.99952475e-01 -5.35521922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters 0.0504678863954363 Centerline is valid? [True, True] Translation: X:666.92, Y:-240.30, Z:-5.36 [[ 7.16615874e-01 6.97433550e-01 6.93781762e-03 6.66919369e+02] [-6.97402463e-01 7.16649447e-01 -6.58597532e-03 -2.40301825e+02] [-9.56526330e-03 -1.18836631e-04 9.99954245e-01 -5.35642623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters 0.05000962540387362 Centerline is valid? [True, True] Translation: X:666.96, Y:-240.35, Z:-5.36 [[ 7.16508874e-01 6.97540157e-01 7.26385763e-03 6.66963941e+02] [-6.97506069e-01 7.16545682e-01 -6.89707961e-03 -2.40346948e+02] [-1.00158758e-02 -1.24766037e-04 9.99949832e-01 -5.35757689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters 0.04990755881798498 Centerline is valid? [True, True] Translation: X:667.01, Y:-240.39, Z:-5.36 [[ 7.17328729e-01 6.96703490e-01 6.61372323e-03 6.67007511e+02] [-6.96675182e-01 7.17359210e-01 -6.28125373e-03 -2.40391207e+02] [-9.12058667e-03 -1.01893083e-04 9.99958401e-01 -5.35884047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters 0.04989874344852769 Centerline is valid? [True, True] Translation: X:667.05, Y:-240.44, Z:-5.36 [[ 7.19852101e-01 6.94107463e-01 5.27095543e-03 6.67049197e+02] [-6.94089406e-01 7.19871396e-01 -5.00690521e-03 -2.40437268e+02] [-7.26974032e-03 -5.42830897e-05 9.99973574e-01 -5.36114543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters 0.0501432063422879 Centerline is valid? [True, True] Translation: X:667.09, Y:-240.48, Z:-5.36 [[ 7.20993521e-01 6.92923444e-01 5.04410257e-03 6.67093212e+02] [-6.92906877e-01 7.21011164e-01 -4.79175325e-03 -2.40480450e+02] [-6.95717243e-03 -4.02703101e-05 9.99975798e-01 -5.36160787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters 0.050182232481276956 Centerline is valid? [True, True] Translation: X:667.13, Y:-240.53, Z:-5.36 [[ 7.24447878e-01 6.89303154e-01 6.03609878e-03 6.67134901e+02] [-6.89279291e-01 7.24473023e-01 -5.73567603e-03 -2.40526492e+02] [-8.32661031e-03 -5.35955989e-06 9.99965333e-01 -5.36258195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters 0.050027448336331555 Centerline is valid? [True, True] Translation: X:667.18, Y:-240.57, Z:-5.36 [[ 7.26191551e-01 6.87461074e-01 6.56529696e-03 6.67180267e+02] [-6.87432753e-01 7.26221228e-01 -6.24006589e-03 -2.40570127e+02] [-9.05766042e-03 1.82829635e-05 9.99958978e-01 -5.36250750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters 0.05004713326843555 Centerline is valid? [True, True] Translation: X:667.22, Y:-240.61, Z:-5.36 [[ 7.30446232e-01 6.82928951e-01 7.50662638e-03 6.67224381e+02] [-6.82891667e-01 7.30484798e-01 -7.13665719e-03 -2.40612339e+02] [-1.03573063e-02 8.67317512e-05 9.99946358e-01 -5.36351506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters 0.05085639679260673 Centerline is valid? [True, True] Translation: X:667.27, Y:-240.66, Z:-5.36 [[ 7.33593376e-01 6.79546271e-01 7.59106010e-03 6.67266711e+02] [-6.79507949e-01 7.33632638e-01 -7.21808978e-03 -2.40657136e+02] [-1.04740754e-02 1.36957171e-04 9.99945136e-01 -5.36396805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters 0.05081264131129621 Centerline is valid? [True, True] Translation: X:667.31, Y:-240.70, Z:-5.37 [[ 7.38553158e-01 6.74163611e-01 6.53127725e-03 6.67312164e+02] [-6.74135027e-01 7.38582014e-01 -6.21076110e-03 -2.40696531e+02] [-9.01095303e-03 1.84014460e-04 9.99959384e-01 -5.36672118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters 0.05139950098157167 Centerline is valid? [True, True] Translation: X:667.36, Y:-240.74, Z:-5.37 [[ 7.42681287e-01 6.69626039e-01 5.04720933e-03 6.67359771e+02] [-6.69608862e-01 7.42698414e-01 -4.79978675e-03 -2.40735590e+02] [-6.96261655e-03 1.85055709e-04 9.99975744e-01 -5.36862085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters 0.05225958284505316 Centerline is valid? [True, True] Translation: X:667.41, Y:-240.78, Z:-5.37 [[ 7.44673618e-01 6.67412778e-01 4.62455598e-03 6.67405584e+02] [-6.67398309e-01 7.44687953e-01 -4.39871666e-03 -2.40777042e+02] [-6.37961084e-03 1.89187407e-04 9.99979632e-01 -5.36888877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters 0.05158268676424045 Centerline is valid? [True, True] Translation: X:667.45, Y:-240.82, Z:-5.37 [[ 7.44488128e-01 6.67611057e-01 5.73625793e-03 6.67451397e+02] [-6.67588798e-01 7.44510190e-01 -5.45655750e-03 -2.40818220e+02] [-7.91356060e-03 2.32880742e-04 9.99968660e-01 -5.36781438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters 0.051555966757343544 Centerline is valid? [True, True] Translation: X:667.50, Y:-240.86, Z:-5.37 [[ 7.41125722e-01 6.71329233e-01 7.05159933e-03 6.67499043e+02] [-6.71295750e-01 7.41159230e-01 -6.70910226e-03 -2.40856664e+02] [-9.73037440e-03 2.38579599e-04 9.99952630e-01 -5.36800319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters 0.051368353277891486 Centerline is valid? [True, True] Translation: X:667.55, Y:-240.89, Z:-5.37 [[ 7.37178982e-01 6.75660125e-01 7.10944194e-03 6.67546779e+02] [-6.75626286e-01 7.37213240e-01 -6.76458613e-03 -2.40893454e+02] [-9.81173584e-03 1.83384856e-04 9.99951847e-01 -5.36932910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters 0.05094467769685487 Centerline is valid? [True, True] Translation: X:667.60, Y:-240.93, Z:-5.37 [[ 7.28949131e-01 6.84530216e-01 7.17963887e-03 6.67595436e+02] [-6.84496125e-01 7.28984485e-01 -6.83200115e-03 -2.40931465e+02] [-9.91055656e-03 6.57463173e-05 9.99950887e-01 -5.36953797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters 0.050553025771944676 Centerline is valid? [True, True] Translation: X:667.64, Y:-240.97, Z:-5.37 [[ 7.22579723e-01 6.91252871e-01 6.92903193e-03 6.67643924e+02] [-6.91221419e-01 7.22612944e-01 -6.59410265e-03 -2.40968607e+02] [-9.56520055e-03 -2.47304148e-05 9.99954252e-01 -5.36965565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters 0.050302931469887666 Centerline is valid? [True, True] Translation: X:667.69, Y:-241.00, Z:-5.37 [[ 7.13939814e-01 7.00179606e-01 6.20171138e-03 6.67693890e+02] [-7.00154734e-01 7.13966738e-01 -5.90291642e-03 -2.41002577e+02] [-8.56091734e-03 -1.27830531e-04 9.99963347e-01 -5.37129260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters 0.04993427139180849 Centerline is valid? [True, True] Translation: X:667.74, Y:-241.04, Z:-5.37 [[ 7.10295692e-01 7.03874624e-01 6.36738704e-03 6.67739429e+02] [-7.03848553e-01 7.10324210e-01 -6.06064005e-03 -2.41043656e+02] [-8.78883990e-03 -1.76829636e-04 9.99961362e-01 -5.37160397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters 0.04978014763512368 Centerline is valid? [True, True] Translation: X:667.78, Y:-241.09, Z:-5.37 [[ 7.08031295e-01 7.06152812e-01 6.31593749e-03 6.67784309e+02] [-7.06127249e-01 7.08059436e-01 -6.01189200e-03 -2.41085775e+02] [-8.71737358e-03 -2.03247892e-04 9.99961982e-01 -5.37199321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters 0.050810024832164624 Centerline is valid? [True, True] Translation: X:667.83, Y:-241.13, Z:-5.37 [[ 7.08876629e-01 7.05314561e-01 5.02943100e-03 6.67830583e+02] [-7.05298330e-01 7.08894454e-01 -4.78745591e-03 -2.41125493e+02] [-6.94199810e-03 -1.53533679e-04 9.99975892e-01 -5.37437773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters 0.050011163131696956 Centerline is valid? [True, True] Translation: X:667.87, Y:-241.17, Z:-5.38 [[ 7.10878766e-01 7.03303533e-01 3.93948785e-03 6.67868008e+02] [-7.03293541e-01 7.10889674e-01 -3.75038429e-03 -2.41174774e+02] [-5.43819976e-03 -1.04547804e-04 9.99985207e-01 -5.37574693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters 0.049724295352176186 Centerline is valid? [True, True] Translation: X:667.91, Y:-241.22, Z:-5.38 [[ 7.16173748e-01 6.97920317e-01 1.54703653e-03 6.67908233e+02] [-6.97918764e-01 7.16175419e-01 -1.47248406e-03 -2.41219944e+02] [-2.13562607e-03 -2.51513960e-05 9.99997719e-01 -5.37863233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters 0.05005030159126999 Centerline is valid? [True, True] Translation: X:667.94, Y:-241.27, Z:-5.38 [[ 7.24558675e-01 6.89212753e-01 -7.12618273e-04 6.67944346e+02] [-6.89212419e-01 7.24559025e-01 6.78630147e-04 -2.41269315e+02] [ 9.84054553e-04 -5.61996006e-07 9.99999516e-01 -5.38081550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters 0.050883340714648735 Centerline is valid? [True, True] Translation: X:667.98, Y:-241.32, Z:-5.38 [[ 7.31728952e-01 6.81595577e-01 -4.58524394e-04 6.67982832e+02] [-6.81595437e-01 7.31729096e-01 4.36906150e-04 -2.41318031e+02] [ 6.33308939e-04 -7.16874457e-06 9.99999799e-01 -5.38114385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters 0.051986238697900894 Centerline is valid? [True, True] Translation: X:668.02, Y:-241.37, Z:-5.38 [[ 7.40194917e-01 6.72389864e-01 1.83184380e-03 6.68017072e+02] [-6.72387604e-01 7.40197182e-01 -1.74417559e-03 -2.41369509e+02] [-2.52869160e-03 5.93208439e-05 9.99996801e-01 -5.38069457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters 0.051901560267634754 Centerline is valid? [True, True] Translation: X:668.06, Y:-241.41, Z:-5.38 [[ 7.44797243e-01 6.67286630e-01 2.37062286e-03 6.68064831e+02] [-6.67282819e-01 7.44801009e-01 -2.25736206e-03 -2.41409016e+02] [-3.27194982e-03 9.94011311e-05 9.99994642e-01 -5.37798894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters 0.05296225647591982 Centerline is valid? [True, True] Translation: X:668.11, Y:-241.45, Z:-5.38 [[ 7.49558255e-01 6.61931624e-01 2.99124090e-03 6.68106160e+02] [-6.61925513e-01 7.49564207e-01 -2.84852346e-03 -2.41452488e+02] [-4.12765487e-03 1.55155600e-04 9.99991469e-01 -5.37736887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters 0.05246674720175224 Centerline is valid? [True, True] Translation: X:668.16, Y:-241.49, Z:-5.38 [[ 7.52302281e-01 6.58809958e-01 3.27360826e-03 6.68156080e+02] [-6.58802608e-01 7.52309380e-01 -3.11780243e-03 -2.41489668e+02] [-4.51680549e-03 1.88868219e-04 9.99989781e-01 -5.37789635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters 0.0525008765737085 Centerline is valid? [True, True] Translation: X:668.21, Y:-241.52, Z:-5.38 [[ 7.55085523e-01 6.55616581e-01 3.57103445e-03 6.68210686e+02] [-6.55607797e-01 7.55093933e-01 -3.40128494e-03 -2.41521265e+02] [-4.92640525e-03 2.27062991e-04 9.99987839e-01 -5.37853036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters 0.05310859106040967 Centerline is valid? [True, True] Translation: X:668.26, Y:-241.56, Z:-5.38 [[ 7.54923659e-01 6.55797230e-01 4.50136832e-03 6.68255993e+02] [-6.55783274e-01 7.54937025e-01 -4.28783217e-03 -2.41564327e+02] [-6.21019807e-03 2.85063893e-04 9.99980676e-01 -5.37941711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters 0.05254323444320355 Centerline is valid? [True, True] Translation: X:668.30, Y:-241.60, Z:-5.38 [[ 7.51525592e-01 6.59679376e-01 5.69265963e-03 6.68302378e+02] [-6.59657161e-01 7.51547083e-01 -5.42318861e-03 -2.41603543e+02] [-7.85586742e-03 3.20461337e-04 9.99969091e-01 -5.37913819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters 0.05245535010907028 Centerline is valid? [True, True] Translation: X:668.35, Y:-241.64, Z:-5.38 [[ 7.44489749e-01 6.67610694e-01 5.56554585e-03 6.68352766e+02] [-6.67589673e-01 7.44510515e-01 -5.30288165e-03 -2.41639206e+02] [-7.68386791e-03 2.32440097e-04 9.99970452e-01 -5.37969000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters 0.052201194168924596 Centerline is valid? [True, True] Translation: X:668.41, Y:-241.67, Z:-5.38 [[ 7.38717783e-01 6.73997964e-01 4.77311123e-03 6.68407063e+02] [-6.73982633e-01 7.38733189e-01 -4.54808849e-03 -2.41669083e+02] [-6.59145806e-03 1.42759771e-04 9.99978266e-01 -5.38179704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters 0.051846421716112846 Centerline is valid? [True, True] Translation: X:668.46, Y:-241.70, Z:-5.38 [[ 7.30640200e-01 6.82748969e-01 4.32941614e-03 6.68458619e+02] [-6.82736509e-01 7.30653024e-01 -4.12518713e-03 -2.41702993e+02] [-5.97976825e-03 5.81770814e-05 9.99982119e-01 -5.38392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters 0.05224178620960543 Centerline is valid? [True, True] Translation: X:668.51, Y:-241.74, Z:-5.38 [[ 7.26054068e-01 6.87617700e-01 5.23353711e-03 6.68507729e+02] [-6.87599613e-01 7.26072929e-01 -4.98736387e-03 -2.41740003e+02] [-7.22932929e-03 2.25177362e-05 9.99973868e-01 -5.38218564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters 0.051776246802700106 Centerline is valid? [True, True] Translation: X:668.55, Y:-241.78, Z:-5.38 [[ 7.25300758e-01 6.88405542e-01 6.05140130e-03 6.68553584e+02] [-6.88381382e-01 7.25326002e-01 -5.76744687e-03 -2.41782457e+02] [-8.35958110e-03 1.74615982e-05 9.99965058e-01 -5.38199152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters 0.051141084832476716 Centerline is valid? [True, True] Translation: X:668.60, Y:-241.82, Z:-5.38 [[ 7.25367207e-01 6.88330386e-01 6.61021759e-03 6.68601111e+02] [-6.88301548e-01 7.25397325e-01 -6.30080293e-03 -2.41822839e+02] [-9.13206827e-03 2.05728147e-05 9.99958302e-01 -5.38214473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters 0.05172631855296657 Centerline is valid? [True, True] Translation: X:668.65, Y:-241.86, Z:-5.38 [[ 7.28386310e-01 6.85129593e-01 7.12910172e-03 6.68648592e+02] [-6.85095880e-01 7.28421195e-01 -6.79694620e-03 -2.41862513e+02] [-9.84977778e-03 6.66843452e-05 9.99951488e-01 -5.38377265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters 0.05244379171174795 Centerline is valid? [True, True] Translation: X:668.69, Y:-241.90, Z:-5.38 [[ 7.34003157e-01 6.79120660e-01 5.87316142e-03 6.68691221e+02] [-6.79097582e-01 7.34026644e-01 -5.60001754e-03 -2.41904939e+02] [-8.11414458e-03 1.21980832e-04 9.99967072e-01 -5.38489368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters 0.052358959200796175 Centerline is valid? [True, True] Translation: X:668.74, Y:-241.95, Z:-5.39 [[ 7.37872442e-01 6.74924248e-01 4.63891245e-03 6.68737945e+02] [-6.74909765e-01 7.37887012e-01 -4.42345476e-03 -2.41945146e+02] [-6.40849012e-03 1.33098059e-04 9.99979457e-01 -5.38677772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters 0.053107471952726644 Centerline is valid? [True, True] Translation: X:668.78, Y:-241.99, Z:-5.39 [[ 7.42130781e-01 6.70250877e-01 2.38009099e-03 6.68782205e+02] [-6.70247041e-01 7.42134593e-01 -2.26953856e-03 -2.41987182e+02] [-3.28750807e-03 8.90454859e-05 9.99994592e-01 -5.38886503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters 0.05393548609940914 Centerline is valid? [True, True] Translation: X:668.82, Y:-242.03, Z:-5.39 [[ 7.42998974e-01 6.69292013e-01 8.51424290e-04 6.68822304e+02] [-6.69291522e-01 7.42999461e-01 -8.11629707e-04 -2.42033287e+02] [-1.17582507e-03 3.31889810e-05 9.99999308e-01 -5.39112986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters 0.053528291942696746 Centerline is valid? [True, True] Translation: X:668.87, Y:-242.07, Z:-5.39 [[ 7.41573767e-01 6.70871269e-01 2.97005115e-04 6.68869533e+02] [-6.70871209e-01 7.41573827e-01 -2.83117842e-04 -2.42072894e+02] [-4.10186846e-04 1.07005838e-05 9.99999916e-01 -5.39159943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters 0.05385745796411648 Centerline is valid? [True, True] Translation: X:668.91, Y:-242.11, Z:-5.39 [[ 7.38066384e-01 6.74728020e-01 3.35984610e-04 6.68914469e+02] [-6.74727944e-01 7.38066460e-01 -3.20305497e-04 -2.42112605e+02] [-4.64098066e-04 9.70851431e-06 9.99999892e-01 -5.39211034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters 0.052607862936414264 Centerline is valid? [True, True] Translation: X:668.96, Y:-242.15, Z:-5.39 [[ 7.33391954e-01 6.79805209e-01 1.05817612e-03 6.68961215e+02] [-6.79804461e-01 7.33392717e-01 -1.00922638e-03 -2.42151357e+02] [-1.46213601e-03 2.08056617e-05 9.99998931e-01 -5.39123007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters 0.05246748262487813 Centerline is valid? [True, True] Translation: X:669.01, Y:-242.19, Z:-5.39 [[ 7.29465547e-01 6.84014876e-01 1.91419540e-03 6.69008617e+02] [-6.84012441e-01 7.29468059e-01 -1.82550197e-03 -2.42191476e+02] [-2.64501491e-03 2.23073229e-05 9.99996502e-01 -5.38990138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters 0.05293252323101373 Centerline is valid? [True, True] Translation: X:669.06, Y:-242.23, Z:-5.39 [[ 7.24811938e-01 6.88941801e-01 2.61729355e-03 6.69055736e+02] [-6.88937279e-01 7.24816663e-01 -2.49596884e-03 -2.42232322e+02] [-3.61663525e-03 5.95691088e-06 9.99993460e-01 -5.38945118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters 0.05235955145033736 Centerline is valid? [True, True] Translation: X:669.10, Y:-242.27, Z:-5.39 [[ 7.17147627e-01 6.96911370e-01 3.71794423e-03 6.69102346e+02] [-6.96902344e-01 7.17157263e-01 -3.54712715e-03 -2.42271759e+02] [-5.13838395e-03 -4.72302341e-05 9.99986797e-01 -5.39067662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters 0.051914406363013185 Centerline is valid? [True, True] Translation: X:669.15, Y:-242.31, Z:-5.39 [[ 7.12780885e-01 7.01374195e-01 4.20102993e-03 6.69146534e+02] [-7.01362746e-01 7.12793260e-01 -4.00835372e-03 -2.42313572e+02] [-5.80582168e-03 -8.93679740e-05 9.99983142e-01 -5.38963834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters 0.0525759534638182 Centerline is valid? [True, True] Translation: X:669.19, Y:-242.35, Z:-5.39 [[ 7.08855177e-01 7.05341452e-01 4.21597009e-03 6.69191468e+02] [-7.05329991e-01 7.08867704e-01 -4.02277132e-03 -2.42353545e+02] [-5.82599240e-03 -1.22087867e-04 9.99983021e-01 -5.39050680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters 0.05183810439379407 Centerline is valid? [True, True] Translation: X:669.23, Y:-242.40, Z:-5.39 [[ 7.07512563e-01 7.06693989e-01 3.09502354e-03 6.69230230e+02] [-7.06687826e-01 7.07519325e-01 -2.95305343e-03 -2.42402572e+02] [-4.27669408e-03 -9.78930569e-05 9.99990850e-01 -5.39216592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters 0.051606896853882665 Centerline is valid? [True, True] Translation: X:669.27, Y:-242.45, Z:-5.39 [[ 7.06991779e-01 7.07217738e-01 2.38662280e-03 6.69271039e+02] [-7.07214077e-01 7.06995803e-01 -2.27675695e-03 -2.42450366e+02] [-3.29749520e-03 -7.82047992e-05 9.99994560e-01 -5.39317449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters 0.05109495278947499 Centerline is valid? [True, True] Translation: X:669.31, Y:-242.50, Z:-5.39 [[ 7.06690930e-01 7.07521834e-01 8.85281520e-04 6.69310406e+02] [-7.07521331e-01 7.06691484e-01 -8.43977109e-04 -2.42498642e+02] [-1.22275314e-03 -2.99245904e-05 9.99999252e-01 -5.39404250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters 0.05142772112106719 Centerline is valid? [True, True] Translation: X:669.35, Y:-242.54, Z:-5.40 [[ 7.09076583e-01 7.05131101e-01 7.28376046e-04 6.69351044e+02] [-7.05130758e-01 7.09076957e-01 -6.95217870e-04 -2.42544372e+02] [-1.00669441e-03 -2.06376423e-05 9.99999493e-01 -5.39553331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters 0.05117073418013465 Centerline is valid? [True, True] Translation: X:669.39, Y:-242.59, Z:-5.39 [[ 7.13325731e-01 7.00831968e-01 9.77244919e-04 6.69388379e+02] [-7.00831347e-01 7.13326400e-01 -9.32827836e-04 -2.42594644e+02] [-1.35085017e-03 -1.94737752e-05 9.99999087e-01 -5.39482053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters 0.050592328872472545 Centerline is valid? [True, True] Translation: X:669.42, Y:-242.65, Z:-5.39 [[ 7.22050841e-01 6.91838857e-01 1.25643736e-03 6.69422916e+02] [-6.91837818e-01 7.22051934e-01 -1.19934957e-03 -2.42647158e+02] [-1.73696966e-03 -3.25951129e-06 9.99998491e-01 -5.39436705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters 0.05089674710122044 Centerline is valid? [True, True] Translation: X:669.46, Y:-242.70, Z:-5.39 [[ 7.28937484e-01 6.84578436e-01 1.58419350e-03 6.69460898e+02] [-6.84576767e-01 7.28939205e-01 -1.51173635e-03 -2.42697661e+02] [-2.18968286e-03 1.74592264e-05 9.99997602e-01 -5.39456588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters 0.05143623995059804 Centerline is valid? [True, True] Translation: X:669.50, Y:-242.75, Z:-5.39 [[ 7.38756864e-01 6.73970608e-01 1.38426098e-03 6.69497565e+02] [-6.73969313e-01 7.38758159e-01 -1.32167406e-03 -2.42746024e+02] [-1.91340356e-03 4.34463646e-05 9.99998168e-01 -5.39371643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters 0.05208967035787371 Centerline is valid? [True, True] Translation: X:669.54, Y:-242.79, Z:-5.39 [[ 7.44983391e-01 6.67083010e-01 7.72670964e-05 6.69540453e+02] [-6.67083006e-01 7.44983395e-01 -7.34339270e-05 -2.42791360e+02] [-1.06549229e-04 3.16348907e-06 9.99999994e-01 -5.39198104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters 0.0519287195637505 Centerline is valid? [True, True] Translation: X:669.58, Y:-242.84, Z:-5.39 [[ 7.46816045e-01 6.65030453e-01 -5.39861258e-04 6.69579350e+02] [-6.65030253e-01 7.46816239e-01 5.16798517e-04 -2.42839163e+02] [ 7.46863906e-04 -2.69293558e-05 9.99999721e-01 -5.39330922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters 0.05208646218356629 Centerline is valid? [True, True] Translation: X:669.62, Y:-242.89, Z:-5.39 [[ 7.44829978e-01 6.67254293e-01 1.08736996e-04 6.69619400e+02] [-6.67254285e-01 7.44829986e-01 -1.02994682e-04 -2.42885286e+02] [-1.49714219e-04 4.15829993e-06 9.99999989e-01 -5.39399839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters 0.05194365486772853 Centerline is valid? [True, True] Translation: X:669.66, Y:-242.93, Z:-5.39 [[ 7.40612192e-01 6.71932001e-01 9.83604807e-04 6.69660274e+02] [-6.71931344e-01 7.40612844e-01 -9.39679623e-04 -2.42930898e+02] [-1.35987116e-03 3.50232855e-05 9.99999075e-01 -5.39475671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters 0.051135775626137844 Centerline is valid? [True, True] Translation: X:669.71, Y:-242.97, Z:-5.39 [[ 7.32838398e-01 6.80400814e-01 1.61708065e-03 6.69706511e+02] [-6.80399060e-01 7.32840181e-01 -1.54509111e-03 -2.42969619e+02] [-2.23634292e-03 3.20419405e-05 9.99997499e-01 -5.39348890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters 0.050270125234445046 Centerline is valid? [True, True] Translation: X:669.75, Y:-243.01, Z:-5.39 [[ 7.24785973e-01 6.88973412e-01 9.64983083e-04 6.69754184e+02] [-6.88972795e-01 7.24786615e-01 -9.21987819e-04 -2.43008103e+02] [-1.33463192e-03 3.39674617e-06 9.99999109e-01 -5.39457550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters 0.05019482477397595 Centerline is valid? [True, True] Translation: X:669.80, Y:-243.05, Z:-5.40 [[ 7.19478988e-01 6.94514079e-01 4.25591654e-04 6.69802709e+02] [-6.94513960e-01 7.19479113e-01 -4.05615954e-04 -2.43046912e+02] [-5.87910297e-04 -3.74718951e-06 9.99999827e-01 -5.39637916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters 0.0506256392797698 Centerline is valid? [True, True] Translation: X:669.85, Y:-243.08, Z:-5.40 [[ 7.12825314e-01 7.01341622e-01 5.43179990e-06 6.69850425e+02] [-7.01341622e-01 7.12825314e-01 -4.90249376e-06 -2.43084719e+02] [-7.31024768e-06 -3.14925706e-07 1.00000000e+00 -5.39791908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters 0.05051725543440852 Centerline is valid? [True, True] Translation: X:669.90, Y:-243.12, Z:-5.40 [[ 7.09674370e-01 7.04529809e-01 -1.92879495e-04 6.69897844e+02] [-7.04529785e-01 7.09674396e-01 1.84858390e-04 -2.43122489e+02] [ 2.67119885e-04 4.70008749e-06 9.99999964e-01 -5.39992204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters 0.05086781410456309 Centerline is valid? [True, True] Translation: X:669.94, Y:-243.16, Z:-5.40 [[ 7.08704137e-01 7.05505666e-01 -4.49289858e-04 6.69942970e+02] [-7.05505535e-01 7.08704279e-01 4.30629324e-04 -2.43164554e+02] [ 6.22225073e-04 1.17876981e-05 9.99999806e-01 -5.40043661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters 0.05026349823202482 Centerline is valid? [True, True] Translation: X:669.98, Y:-243.21, Z:-5.40 [[ 7.08344786e-01 7.05866161e-01 -7.92140804e-04 6.69983889e+02] [-7.05865754e-01 7.08345228e-01 7.58779477e-04 -2.43211377e+02] [ 1.09670591e-03 2.16675799e-05 9.99999398e-01 -5.39927933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters 0.050152060659687366 Centerline is valid? [True, True] Translation: X:670.03, Y:-243.25, Z:-5.40 [[ 7.10604470e-01 7.03591396e-01 -6.59141631e-04 6.70026269e+02] [-7.03591113e-01 7.10604775e-01 6.30979304e-04 -2.43254461e+02] [ 9.12340800e-04 1.53894799e-05 9.99999584e-01 -5.40040305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters 0.05056999942599751 Centerline is valid? [True, True] Translation: X:670.07, Y:-243.30, Z:-5.40 [[ 7.12281927e-01 7.01893283e-01 -5.25527694e-04 6.70068443e+02] [-7.01893102e-01 7.12282121e-01 5.02953074e-04 -2.43299791e+02] [ 7.27343364e-04 1.06198793e-05 9.99999735e-01 -5.40012726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters 0.04958928844375514 Centerline is valid? [True, True] Translation: X:670.11, Y:-243.34, Z:-5.40 [[ 7.13435832e-01 7.00719061e-01 -1.45295950e-03 6.70112256e+02] [-7.00717682e-01 7.13437311e-01 1.39039121e-03 -2.43344587e+02] [ 2.01086914e-03 2.61595076e-05 9.99997978e-01 -5.40137306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters 0.050535356486085245 Centerline is valid? [True, True] Translation: X:670.16, Y:-243.39, Z:-5.40 [[ 7.12939082e-01 7.01219071e-01 -3.11136887e-03 6.70156876e+02] [-7.01212749e-01 7.12945869e-01 2.97821213e-03 -2.43386973e+02] [ 4.30661672e-03 5.84476964e-05 9.99990725e-01 -5.40296322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters 0.05072444946815066 Centerline is valid? [True, True] Translation: X:670.20, Y:-243.43, Z:-5.41 [[ 7.11121113e-01 7.03049631e-01 -5.28960476e-03 6.70203015e+02] [-7.03031415e-01 7.11140775e-01 5.06238199e-03 -2.43426315e+02] [ 7.32075942e-03 1.18791607e-04 9.99973196e-01 -5.40712491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters 0.050452105708784833 Centerline is valid? [True, True] Translation: X:670.25, Y:-243.47, Z:-5.41 [[ 7.10322403e-01 7.03853184e-01 -5.72531835e-03 6.70246732e+02] [-7.03831868e-01 7.10345463e-01 5.47950091e-03 -2.43468247e+02] [ 7.92371808e-03 1.37449256e-04 9.99968597e-01 -5.40724016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters 0.050077872437236895 Centerline is valid? [True, True] Translation: X:670.29, Y:-243.51, Z:-5.41 [[ 7.10899747e-01 7.03282322e-01 -3.94025356e-03 6.70290699e+02] [-7.03272216e-01 7.10910661e-01 3.77127698e-03 -2.43510890e+02] [ 5.45344069e-03 9.00710050e-05 9.99985126e-01 -5.40547826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters 0.0494683216868263 Centerline is valid? [True, True] Translation: X:670.33, Y:-243.56, Z:-5.40 [[ 7.13438653e-01 7.00715700e-01 -1.67213558e-03 6.70332709e+02] [-7.00713873e-01 7.13440612e-01 1.60062931e-03 -2.43556174e+02] [ 2.31455552e-03 2.97377809e-05 9.99997321e-01 -5.40244438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters 0.050306623735815154 Centerline is valid? [True, True] Translation: X:670.38, Y:-243.60, Z:-5.40 [[ 7.15999585e-01 6.98099836e-01 -1.10103273e-03 6.70375790e+02] [-6.98099040e-01 7.16000432e-01 1.05436779e-03 -2.43597973e+02] [ 1.52439389e-03 1.37029862e-05 9.99998838e-01 -5.40342588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters 0.049965046064223036 Centerline is valid? [True, True] Translation: X:670.42, Y:-243.64, Z:-5.40 [[ 7.19501586e-01 6.94489507e-01 -1.33860526e-03 6.70418017e+02] [-6.94488322e-01 7.19502832e-01 1.28276876e-03 -2.43643651e+02] [ 1.85399972e-03 6.69156233e-06 9.99998281e-01 -5.40404596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters 0.05085467313544124 Centerline is valid? [True, True] Translation: X:670.46, Y:-243.69, Z:-5.40 [[ 7.19940173e-01 6.94035606e-01 -8.50865792e-04 6.70463211e+02] [-6.94035127e-01 7.19940676e-01 8.16002148e-04 -2.43685797e+02] [ 1.17890744e-03 3.05802005e-06 9.99999305e-01 -5.40384158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters 0.05059124446234944 Centerline is valid? [True, True] Translation: X:670.51, Y:-243.73, Z:-5.41 [[ 7.19587307e-01 6.94400563e-01 -1.40192292e-03 6.70508282e+02] [-6.94399262e-01 7.19588673e-01 1.34400735e-03 -2.43726925e+02] [ 1.94208731e-03 6.36360695e-06 9.99998114e-01 -5.40623529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters 0.05015255721421936 Centerline is valid? [True, True] Translation: X:670.55, Y:-243.77, Z:-5.41 [[ 7.18957468e-01 6.95051749e-01 -1.79606168e-03 6.70553685e+02] [-6.95049616e-01 7.18959711e-01 1.72197839e-03 -2.43769862e+02] [ 2.48816008e-03 1.03227587e-05 9.99996904e-01 -5.40505091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters 0.05035049121630213 Centerline is valid? [True, True] Translation: X:670.60, Y:-243.81, Z:-5.41 [[ 7.19044877e-01 6.94960239e-01 -2.17522889e-03 6.70599520e+02] [-6.94957108e-01 7.19048167e-01 2.08594745e-03 -2.43812595e+02] [ 3.01374489e-03 1.18009522e-05 9.99995459e-01 -5.40527549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters 0.05045497799372618 Centerline is valid? [True, True] Translation: X:670.64, Y:-243.86, Z:-5.41 [[ 7.20359866e-01 6.93599387e-01 -1.24630593e-03 6.70644263e+02] [-6.93598358e-01 7.20360945e-01 1.19489850e-03 -2.43855292e+02] [ 1.72657098e-03 3.67881838e-06 9.99998509e-01 -5.40596281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters 0.05050163234689403 Centerline is valid? [True, True] Translation: X:670.69, Y:-243.90, Z:-5.41 [[ 7.21526639e-01 6.92386577e-01 -3.70205186e-04 6.70688097e+02] [-6.92386486e-01 7.21526734e-01 3.55496551e-04 -2.43899866e+02] [ 5.13253978e-04 -1.75163731e-07 9.99999868e-01 -5.40538569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters 0.05055844337749166 Centerline is valid? [True, True] Translation: X:670.73, Y:-243.94, Z:-5.41 [[ 7.22400462e-01 6.91474881e-01 -2.47607111e-04 6.70732896e+02] [-6.91474840e-01 7.22400504e-01 2.38235098e-04 -2.43943108e+02] [ 3.43605088e-04 -8.87057108e-07 9.99999941e-01 -5.40500197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters 0.05065567841633982 Centerline is valid? [True, True] Translation: X:670.78, Y:-243.99, Z:-5.41 [[ 7.23963349e-01 6.89838277e-01 -4.70814362e-04 6.70777445e+02] [-6.89838129e-01 7.23963502e-01 4.51809682e-04 -2.43987028e+02] [ 6.52528027e-04 -2.30795177e-06 9.99999787e-01 -5.40559565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters 0.05058967970728737 Centerline is valid? [True, True] Translation: X:670.82, Y:-244.03, Z:-5.41 [[ 7.25038062e-01 6.88708410e-01 -7.31522434e-04 6.70819619e+02] [-6.88708051e-01 7.25038431e-01 7.02700144e-04 -2.44031361e+02] [ 1.01433738e-03 -5.67896048e-06 9.99999486e-01 -5.40868808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters 0.05087831654967456 Centerline is valid? [True, True] Translation: X:670.86, Y:-244.08, Z:-5.41 [[ 7.25785291e-01 6.87920877e-01 -7.60857750e-04 6.70862423e+02] [-6.87920488e-01 7.25785690e-01 7.30870025e-04 -2.44075149e+02] [ 1.05500042e-03 -7.04507875e-06 9.99999443e-01 -5.40928453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters 0.050298991632300484 Centerline is valid? [True, True] Translation: X:670.91, Y:-244.12, Z:-5.41 [[ 7.24927942e-01 6.88824264e-01 -7.82247609e-04 6.70908368e+02] [-6.88823854e-01 7.24928364e-01 7.51679165e-04 -2.44116455e+02] [ 1.08484833e-03 -6.08241711e-06 9.99999412e-01 -5.40886845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters 0.050567053212970225 Centerline is valid? [True, True] Translation: X:670.95, Y:-244.16, Z:-5.41 [[ 7.23829245e-01 6.89978916e-01 -5.65693454e-04 6.70953926e+02] [-6.89978702e-01 7.23829466e-01 5.44041973e-04 -2.44158434e+02] [ 7.84843081e-04 -3.47705554e-06 9.99999692e-01 -5.40876553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters 0.05131856645881796 Centerline is valid? [True, True] Translation: X:671.00, Y:-244.20, Z:-5.41 [[ 7.21958559e-01 6.91935316e-01 -1.16560120e-03 6.70999760e+02] [-6.91934409e-01 7.21959500e-01 1.12016275e-03 -2.44201147e+02] [ 1.61659702e-03 -2.19151023e-06 9.99998693e-01 -5.40999574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters 0.05082325149047033 Centerline is valid? [True, True] Translation: X:671.05, Y:-244.24, Z:-5.41 [[ 7.21034123e-01 6.92897551e-01 -1.66678385e-03 6.71045587e+02] [-6.92895700e-01 7.21036049e-01 1.60148519e-03 -2.44242519e+02] [ 2.31147640e-03 1.81893451e-07 9.99997329e-01 -5.40960341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters 0.0509911164490131 Centerline is valid? [True, True] Translation: X:671.09, Y:-244.28, Z:-5.41 [[ 7.20171807e-01 6.93792933e-01 -1.98357339e-03 6.71091744e+02] [-6.93790318e-01 7.20174538e-01 1.90502919e-03 -2.44283709e+02] [ 2.75021484e-03 4.23569542e-06 9.99996218e-01 -5.41129932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters 0.050729742344295975 Centerline is valid? [True, True] Translation: X:671.14, Y:-244.32, Z:-5.41 [[ 7.19166427e-01 6.94833488e-01 -2.46441038e-03 6.71136584e+02] [-6.94829454e-01 7.19170650e-01 2.36791458e-03 -2.44324952e+02] [ 3.41763796e-03 9.42024505e-06 9.99994160e-01 -5.41146793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters 0.0506882796936877 Centerline is valid? [True, True] Translation: X:671.18, Y:-244.37, Z:-5.41 [[ 7.18698358e-01 6.95317980e-01 -2.36174183e-03 6.71183041e+02] [-6.95314278e-01 7.18702238e-01 2.26905622e-03 -2.44367522e+02] [ 3.27510472e-03 1.13858350e-05 9.99994637e-01 -5.41282435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters 0.0506175927210573 Centerline is valid? [True, True] Translation: X:671.23, Y:-244.41, Z:-5.41 [[ 7.19487065e-01 6.94502973e-01 -1.99585236e-03 6.71227271e+02] [-6.94500323e-01 7.19489834e-01 1.91852696e-03 -2.44410210e+02] [ 2.76841815e-03 5.76477858e-06 9.99996168e-01 -5.41307318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters 0.05096228730977384 Centerline is valid? [True, True] Translation: X:671.27, Y:-244.45, Z:-5.41 [[ 7.20932967e-01 6.93002541e-01 -1.77033048e-03 6.71271150e+02] [-6.93000450e-01 7.20935141e-01 1.70237718e-03 -2.44454788e+02] [ 2.45604517e-03 -4.60009717e-07 9.99996984e-01 -5.41160132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters 0.051058605121145836 Centerline is valid? [True, True] Translation: X:671.31, Y:-244.50, Z:-5.41 [[ 7.22932704e-01 6.90916225e-01 -1.75365074e-03 6.71313761e+02] [-6.90914166e-01 7.22934831e-01 1.68685084e-03 -2.44499872e+02] [ 2.43324782e-03 -7.85750097e-06 9.99997040e-01 -5.41151495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters 0.05138759498936413 Centerline is valid? [True, True] Translation: X:671.36, Y:-244.54, Z:-5.41 [[ 7.23406023e-01 6.90421450e-01 -1.39569446e-03 6.71359509e+02] [-6.90420146e-01 7.23407369e-01 1.34198788e-03 -2.44541868e+02] [ 1.93619288e-03 -7.18654136e-06 9.99998126e-01 -5.40792535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters 0.05100297073884786 Centerline is valid? [True, True] Translation: X:671.40, Y:-244.58, Z:-5.41 [[ 7.22650702e-01 6.91212586e-01 -1.06052580e-03 6.71403829e+02] [-6.91211833e-01 7.22651480e-01 1.01993459e-03 -2.44584969e+02] [ 1.47138217e-03 -4.00846735e-06 9.99998918e-01 -5.41292470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters 0.05159740878739228 Centerline is valid? [True, True] Translation: X:671.45, Y:-244.63, Z:-5.41 [[ 7.20658798e-01 6.93288469e-01 -1.41249540e-03 6.71449312e+02] [-6.93287136e-01 7.20660183e-01 1.35947083e-03 -2.44627168e+02] [ 1.96043464e-03 -4.49728901e-07 9.99998078e-01 -5.41023556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters 0.051109472779571036 Centerline is valid? [True, True] Translation: X:671.50, Y:-244.67, Z:-5.41 [[ 7.16514432e-01 6.97570020e-01 -1.77101218e-03 6.71495487e+02] [-6.97567937e-01 7.16516621e-01 1.70444895e-03 -2.44668070e+02] [ 2.45793215e-03 1.41390425e-05 9.99996979e-01 -5.41200241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters 0.05039547745954121 Centerline is valid? [True, True] Translation: X:671.54, Y:-244.71, Z:-5.41 [[ 7.12230769e-01 7.01941584e-01 -2.31180860e-03 6.71542595e+02] [-7.01938063e-01 7.12234519e-01 2.22374916e-03 -2.44707245e+02] [ 3.20749190e-03 3.89238726e-05 9.99994855e-01 -5.41435789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters 0.05062029559103512 Centerline is valid? [True, True] Translation: X:671.59, Y:-244.75, Z:-5.41 [[ 7.10433989e-01 7.03759263e-01 -2.53915941e-03 6.71587521e+02] [-7.03755026e-01 7.10438524e-01 2.44269951e-03 -2.44750581e+02] [ 3.52298907e-03 5.15694407e-05 9.99993793e-01 -5.41417069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters 0.050508060548192076 Centerline is valid? [True, True] Translation: X:671.63, Y:-244.80, Z:-5.41 [[ 7.09062554e-01 7.05143458e-01 -1.73165720e-03 6.71629948e+02] [-7.05141488e-01 7.09064667e-01 1.66720602e-03 -2.44796704e+02] [ 2.40347635e-03 3.89099721e-05 9.99997111e-01 -5.41192520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters 0.0504837762635066 Centerline is valid? [True, True] Translation: X:671.67, Y:-244.84, Z:-5.41 [[ 7.09174746e-01 7.05032154e-01 -9.17042019e-04 6.71674435e+02] [-7.05031601e-01 7.09175339e-01 8.83554195e-04 -2.44839216e+02] [ 1.27327770e-03 1.99492803e-05 9.99999189e-01 -5.41243808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters 0.05041478728756752 Centerline is valid? [True, True] Translation: X:671.72, Y:-244.88, Z:-5.41 [[ 7.09843702e-01 7.04359155e-01 3.15800013e-04 6.71717447e+02] [-7.04359090e-01 7.09843772e-01 -3.02792087e-04 -2.44883668e+02] [-4.37443051e-04 -7.50155422e-06 9.99999904e-01 -5.41198011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters 0.05026346945120822 Centerline is valid? [True, True] Translation: X:671.76, Y:-244.92, Z:-5.41 [[ 7.10119704e-01 7.04080463e-01 8.40674245e-04 6.71763072e+02] [-7.04080000e-01 7.10120202e-01 -8.08255072e-04 -2.44924675e+02] [-1.16605637e-03 -1.79440688e-05 9.99999320e-01 -5.41375807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters 0.050073129393955015 Centerline is valid? [True, True] Translation: X:671.80, Y:-244.97, Z:-5.41 [[ 7.09748378e-01 7.04455094e-01 5.10831586e-04 6.71804920e+02] [-7.04454923e-01 7.09748562e-01 -4.90746859e-04 -2.44970975e+02] [-7.08271108e-04 -1.15510390e-05 9.99999749e-01 -5.41295759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters 0.05070268915609707 Centerline is valid? [True, True] Translation: X:671.85, Y:-245.01, Z:-5.42 [[ 7.08247198e-01 7.05964287e-01 -5.76331325e-04 6.71850152e+02] [-7.05964068e-01 7.08247432e-01 5.56173119e-04 -2.45013025e+02] [ 8.00823540e-04 1.29611538e-05 9.99999679e-01 -5.41633553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters 0.05031190052408141 Centerline is valid? [True, True] Translation: X:671.89, Y:-245.06, Z:-5.42 [[ 7.07030950e-01 7.07181557e-01 -1.21705940e-03 6.71892841e+02] [-7.07180586e-01 7.07031997e-01 1.17262738e-03 -2.45058045e+02] [ 1.68976040e-03 3.15969276e-05 9.99998572e-01 -5.41628871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters 0.05013876621241623 Centerline is valid? [True, True] Translation: X:671.94, Y:-245.10, Z:-5.42 [[ 7.07679768e-01 7.06533291e-01 -2.35525037e-04 6.71936665e+02] [-7.06533254e-01 7.07679807e-01 2.27980289e-04 -2.45100248e+02] [ 3.27751976e-04 5.06923302e-06 9.99999946e-01 -5.41613982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters 0.050478080102794635 Centerline is valid? [True, True] Translation: X:671.98, Y:-245.14, Z:-5.42 [[ 7.08944392e-01 7.05264354e-01 -1.99437641e-04 6.71982582e+02] [-7.05264328e-01 7.08944420e-01 1.93321616e-04 -2.45141443e+02] [ 2.77733047e-04 3.60197794e-06 9.99999961e-01 -5.41773447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters 0.0497836236448749 Centerline is valid? [True, True] Translation: X:672.02, Y:-245.19, Z:-5.42 [[ 7.11950263e-01 7.02229335e-01 8.85260831e-04 6.72022721e+02] [-7.02228817e-01 7.11950814e-01 -8.52735760e-04 -2.45188748e+02] [-1.22907823e-03 -1.45502176e-05 9.99999245e-01 -5.41587135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters 0.05002795475883433 Centerline is valid? [True, True] Translation: X:672.07, Y:-245.23, Z:-5.42 [[ 7.14246027e-01 6.99893435e-01 1.33905655e-03 6.72065860e+02] [-6.99892247e-01 7.14247282e-01 -1.28958472e-03 -2.45233075e+02] [-1.85898938e-03 -1.61145357e-05 9.99998272e-01 -5.41593875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters 0.05019019070989513 Centerline is valid? [True, True] Translation: X:672.11, Y:-245.27, Z:-5.42 [[ 7.15434639e-01 6.98678151e-01 1.45536924e-03 6.72111027e+02] [-6.98676744e-01 7.15436120e-01 -1.40208555e-03 -2.45274184e+02] [-2.02083026e-03 -1.37320750e-05 9.99997958e-01 -5.41829261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters 0.049834939601916275 Centerline is valid? [True, True] Translation: X:672.16, Y:-245.32, Z:-5.42 [[ 7.16718822e-01 6.97361651e-01 9.26815436e-04 6.72155107e+02] [-6.97361079e-01 7.16719421e-01 -8.92617499e-04 -2.45317483e+02] [-1.28674384e-03 -6.56925081e-06 9.99999172e-01 -5.41857671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters 0.050072421088534005 Centerline is valid? [True, True] Translation: X:672.20, Y:-245.36, Z:-5.42 [[ 7.17008927e-01 6.97063973e-01 1.31444952e-04 6.72200718e+02] [-6.97063961e-01 7.17008939e-01 -1.25555476e-04 -2.45359650e+02] [-1.81767405e-04 -1.60114250e-06 9.99999983e-01 -5.42062169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters 0.05031765610571355 Centerline is valid? [True, True] Translation: X:672.25, Y:-245.40, Z:-5.42 [[ 7.17001433e-01 6.97071640e-01 -2.73923264e-04 6.72246723e+02] [-6.97071589e-01 7.17001485e-01 2.65623760e-04 -2.45402218e+02] [ 3.81562177e-04 4.91508228e-07 9.99999927e-01 -5.42129695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters 0.05036405226570929 Centerline is valid? [True, True] Translation: X:672.29, Y:-245.44, Z:-5.42 [[ 7.17341640e-01 6.96721519e-01 -3.09282954e-04 6.72292937e+02] [-6.96721455e-01 7.17341707e-01 2.99817023e-04 -2.45444336e+02] [ 4.30750534e-04 4.12834383e-07 9.99999907e-01 -5.42174688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters 0.04999181858114341 Centerline is valid? [True, True] Translation: X:672.34, Y:-245.49, Z:-5.42 [[ 7.17023904e-01 6.97048568e-01 1.20797516e-04 6.72338724e+02] [-6.97048559e-01 7.17023914e-01 -1.15240385e-04 -2.45487740e+02] [-1.66942853e-04 -1.57162341e-06 9.99999986e-01 -5.42159888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters 0.05035259574344954 Centerline is valid? [True, True] Translation: X:672.39, Y:-245.53, Z:-5.42 [[ 7.15757037e-01 6.98349194e-01 5.17199889e-04 6.72385423e+02] [-6.98349016e-01 7.15757224e-01 -4.98124289e-04 -2.45528630e+02] [-7.18054253e-04 -4.65006787e-06 9.99999742e-01 -5.42298952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters 0.05048261713500411 Centerline is valid? [True, True] Translation: X:672.43, Y:-245.57, Z:-5.42 [[ 7.13516549e-01 7.00638204e-01 4.91917811e-04 6.72432652e+02] [-7.00638043e-01 7.13516719e-01 -4.73954356e-04 -2.45569203e+02] [-6.83062111e-04 -6.48205666e-06 9.99999767e-01 -5.42411702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters 0.050828922991228084 Centerline is valid? [True, True] Translation: X:672.48, Y:-245.61, Z:-5.42 [[ 7.12263145e-01 7.01912371e-01 4.86264884e-04 6.72477454e+02] [-7.01912214e-01 7.12263311e-01 -4.68570320e-04 -2.45612213e+02] [-6.75243941e-04 -7.56989147e-06 9.99999772e-01 -5.42401708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters 0.050229905644216956 Centerline is valid? [True, True] Translation: X:672.52, Y:-245.65, Z:-5.42 [[ 7.10898650e-01 7.03293773e-01 9.88981599e-04 6.72522974e+02] [-7.03293125e-01 7.10899338e-01 -9.54429823e-04 -2.45654113e+02] [-1.37431092e-03 -1.70410869e-05 9.99999055e-01 -5.42463388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters 0.0503271119000353 Centerline is valid? [True, True] Translation: X:672.57, Y:-245.69, Z:-5.43 [[ 7.10550903e-01 7.03644004e-01 1.59067717e-03 6.72570138e+02] [-7.03642327e-01 7.10552683e-01 -1.53639289e-03 -2.45694803e+02] [-2.21133357e-03 -2.75824340e-05 9.99997555e-01 -5.42690916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters 0.05036248227627786 Centerline is valid? [True, True] Translation: X:672.62, Y:-245.74, Z:-5.43 [[ 7.10296181e-01 7.03901168e-01 1.57519437e-03 6.72615565e+02] [-7.03899524e-01 7.10297927e-01 -1.52137093e-03 -2.45738075e+02] [-2.18975207e-03 -2.81546069e-05 9.99997602e-01 -5.42753532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters 0.050409122586893014 Centerline is valid? [True, True] Translation: X:672.66, Y:-245.78, Z:-5.43 [[ 7.09437162e-01 7.04767028e-01 1.53253563e-03 6.72660878e+02] [-7.04765474e-01 7.09438817e-01 -1.48061263e-03 -2.45780757e+02] [-2.13072723e-03 -2.96765830e-05 9.99997730e-01 -5.42891713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters 0.05007442711764559 Centerline is valid? [True, True] Translation: X:672.70, Y:-245.83, Z:-5.43 [[ 7.08481497e-01 7.05728257e-01 1.26359768e-03 6.72703560e+02] [-7.05727200e-01 7.08482623e-01 -1.22123078e-03 -2.45825444e+02] [-1.75709406e-03 -2.65358438e-05 9.99998456e-01 -5.42954908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters 0.04956596945438018 Centerline is valid? [True, True] Translation: X:672.75, Y:-245.87, Z:-5.43 [[ 7.07970163e-01 7.06242090e-01 5.98925233e-04 6.72746902e+02] [-7.06241854e-01 7.07970416e-01 -5.78067902e-04 -2.45869844e+02] [-8.32277230e-04 -1.37312405e-05 9.99999654e-01 -5.42931258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters 0.05088558425959251 Centerline is valid? [True, True] Translation: X:672.80, Y:-245.91, Z:-5.44 [[ 7.07528880e-01 7.06683363e-01 -1.22820793e-03 6.72796307e+02] [-7.06682364e-01 7.07529946e-01 1.18864115e-03 -2.45905845e+02] [ 1.70898682e-03 2.69549403e-05 9.99998539e-01 -5.43752438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters 0.05038267086779701 Centerline is valid? [True, True] Translation: X:672.84, Y:-245.95, Z:-5.44 [[ 7.08217237e-01 7.05992924e-01 -1.52830112e-03 6.72835943e+02] [-7.05991374e-01 7.08218886e-01 1.47975979e-03 -2.45954577e+02] [ 2.12707166e-03 3.09760195e-05 9.99997737e-01 -5.43601275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters 0.049995173299979406 Centerline is valid? [True, True] Translation: X:672.88, Y:-246.00, Z:-5.43 [[ 7.10125241e-01 7.04074312e-01 -1.22688740e-03 6.72875562e+02] [-7.04073310e-01 7.10126301e-01 1.18805752e-03 -2.46001654e+02] [ 1.70772579e-03 2.01490354e-05 9.99998542e-01 -5.43470239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters 0.050440567459280466 Centerline is valid? [True, True] Translation: X:672.92, Y:-246.05, Z:-5.43 [[ 7.11763526e-01 7.02419101e-01 -2.99919351e-04 6.72916870e+02] [-7.02419040e-01 7.11763589e-01 2.91490212e-04 -2.46047840e+02] [ 4.18219966e-04 3.19696181e-06 9.99999913e-01 -5.43316936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters 0.0500359760113371 Centerline is valid? [True, True] Translation: X:672.96, Y:-246.09, Z:-5.43 [[ 7.14684789e-01 6.99446066e-01 9.22960315e-04 6.72959439e+02] [-6.99445497e-01 7.14685385e-01 -8.92715059e-04 -2.46090632e+02] [-1.28403228e-03 -7.55056198e-06 9.99999176e-01 -5.43459190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters 0.04989511562950103 Centerline is valid? [True, True] Translation: X:673.00, Y:-246.14, Z:-5.43 [[ 7.16208259e-01 6.97882854e-01 2.29174318e-03 6.73002240e+02] [-6.97879329e-01 7.16211926e-01 -2.21824025e-03 -2.46135783e+02] [-3.18944563e-03 -1.06382055e-05 9.99994914e-01 -5.43274960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters 0.04990075526525917 Centerline is valid? [True, True] Translation: X:673.05, Y:-246.18, Z:-5.43 [[ 7.16121339e-01 6.97971280e-01 2.51391314e-03 6.73046946e+02] [-6.97967039e-01 7.16125752e-01 -2.43308014e-03 -2.46178351e+02] [-3.49849800e-03 -1.22479073e-05 9.99993880e-01 -5.43394322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters 0.04984572944304784 Centerline is valid? [True, True] Translation: X:673.09, Y:-246.22, Z:-5.44 [[ 7.15278938e-01 6.98836764e-01 1.79406715e-03 6.73092472e+02] [-6.98834606e-01 7.15281188e-01 -1.73659227e-03 -2.46219152e+02] [-2.49685700e-03 -1.16083376e-05 9.99996883e-01 -5.43568994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters 0.04955354407224862 Centerline is valid? [True, True] Translation: X:673.14, Y:-246.26, Z:-5.44 [[ 7.14803460e-01 6.99323486e-01 1.63575583e-03 6.73138239e+02] [-6.99321693e-01 7.14805332e-01 -1.58344103e-03 -2.46262282e+02] [-2.27658449e-03 -1.20704109e-05 9.99997409e-01 -5.43614353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters 0.050298106134744475 Centerline is valid? [True, True] Translation: X:673.18, Y:-246.30, Z:-5.44 [[ 7.14422000e-01 6.99714172e-01 1.13315658e-03 6.73184747e+02] [-6.99713312e-01 7.14422899e-01 -1.09690319e-03 -2.46303992e+02] [-1.57707172e-03 -9.23297401e-06 9.99998756e-01 -5.43660389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters 0.0504170689607549 Centerline is valid? [True, True] Translation: X:673.23, Y:-246.35, Z:-5.44 [[ 7.14732577e-01 6.99397350e-01 8.30316132e-04 6.73230677e+02] [-6.99396888e-01 7.14733060e-01 -8.04093999e-04 -2.46347335e+02] [-1.15583560e-03 -6.00834246e-06 9.99999332e-01 -5.43657748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters 0.05029550144458192 Centerline is valid? [True, True] Translation: X:673.28, Y:-246.39, Z:-5.44 [[ 7.17059443e-01 6.97010957e-01 1.21667924e-03 6.73275098e+02] [-6.97009961e-01 7.17060475e-01 -1.17827743e-03 -2.46389549e+02] [-1.69370488e-03 -3.14258819e-06 9.99998566e-01 -5.43791470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters 0.050511305253203104 Centerline is valid? [True, True] Translation: X:673.32, Y:-246.43, Z:-5.44 [[ 7.18850782e-01 6.95162726e-01 1.52908271e-03 6.73319559e+02] [-6.95161147e-01 7.18852408e-01 -1.48187417e-03 -2.46432754e+02] [-2.12932848e-03 2.28751616e-06 9.99997733e-01 -5.43567542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters 0.0500348191136422 Centerline is valid? [True, True] Translation: X:673.36, Y:-246.48, Z:-5.44 [[ 7.21074993e-01 6.92854552e-01 1.85043571e-03 6.73364687e+02] [-6.92852232e-01 7.21077367e-01 -1.79303771e-03 -2.46475815e+02] [-2.57662165e-03 1.08361387e-05 9.99996680e-01 -5.43577333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters 0.050744695129248264 Centerline is valid? [True, True] Translation: X:673.41, Y:-246.52, Z:-5.44 [[ 7.21959530e-01 6.91933774e-01 1.44571293e-03 6.73408174e+02] [-6.91932356e-01 7.21960977e-01 -1.40100262e-03 -2.46518195e+02] [-2.01314935e-03 1.11316365e-05 9.99997974e-01 -5.43720183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters 0.05053905667505402 Centerline is valid? [True, True] Translation: X:673.46, Y:-246.56, Z:-5.44 [[ 7.21967326e-01 6.91925535e-01 1.49458062e-03 6.73455917e+02] [-6.91924019e-01 7.21968873e-01 -1.44864201e-03 -2.46558325e+02] [-2.08139309e-03 1.17359657e-05 9.99997834e-01 -5.43555101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters 0.05125647033966299 Centerline is valid? [True, True] Translation: X:673.50, Y:-246.60, Z:-5.44 [[ 7.21237683e-01 6.92684931e-01 1.94680829e-03 6.73501714e+02] [-6.92682359e-01 7.21240311e-01 -1.88791134e-03 -2.46599891e+02] [-2.71184435e-03 1.31130417e-05 9.99996323e-01 -5.43575181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters 0.050667297952260354 Centerline is valid? [True, True] Translation: X:673.55, Y:-246.64, Z:-5.44 [[ 7.19243813e-01 6.94756141e-01 1.49715872e-03 6.73548517e+02] [-6.94754623e-01 7.19245371e-01 -1.45234070e-03 -2.46641169e+02] [-2.08584710e-03 4.42912466e-06 9.99997825e-01 -5.43729131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters 0.050784881331184015 Centerline is valid? [True, True] Translation: X:673.60, Y:-246.68, Z:-5.44 [[ 7.15865973e-01 6.98237378e-01 6.86747084e-04 6.73595605e+02] [-6.98237061e-01 7.15866303e-01 -6.65397766e-04 -2.46680579e+02] [-9.56224688e-04 -3.17664698e-06 9.99999543e-01 -5.43915545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters 0.05076917826874564 Centerline is valid? [True, True] Translation: X:673.64, Y:-246.72, Z:-5.44 [[ 7.13779492e-01 7.00370458e-01 2.42774012e-04 6.73642251e+02] [-7.00370419e-01 7.13779533e-01 -2.34572950e-04 -2.46720227e+02] [-3.37575086e-04 -2.59837575e-06 9.99999943e-01 -5.44209635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters 0.05069301306768995 Centerline is valid? [True, True] Translation: X:673.69, Y:-246.76, Z:-5.44 [[ 7.11977060e-01 7.02202710e-01 -1.38511771e-04 6.73688239e+02] [-7.02202697e-01 7.11977074e-01 1.35675100e-04 -2.46762699e+02] [ 1.93888628e-04 6.65780744e-07 9.99999981e-01 -5.44089505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters 0.05014000903458077 Centerline is valid? [True, True] Translation: X:673.73, Y:-246.81, Z:-5.44 [[ 7.11027752e-01 7.03163626e-01 -6.71524538e-04 6.73734093e+02] [-7.03163322e-01 7.11028069e-01 6.53385239e-04 -2.46805266e+02] [ 9.36909529e-04 7.61638760e-06 9.99999561e-01 -5.44102497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters 0.050091922603388454 Centerline is valid? [True, True] Translation: X:673.78, Y:-246.85, Z:-5.44 [[ 7.10826078e-01 7.03367227e-01 -9.11245589e-04 6.73780081e+02] [-7.03366669e-01 7.10826662e-01 8.86613020e-04 -2.46848818e+02] [ 1.27135220e-03 1.07121190e-05 9.99999192e-01 -5.44186710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters 0.049920763045290764 Centerline is valid? [True, True] Translation: X:673.83, Y:-246.89, Z:-5.44 [[ 7.11548683e-01 7.02636401e-01 -7.48099825e-04 6.73825043e+02] [-7.02636024e-01 7.11549076e-01 7.28109833e-04 -2.46892212e+02] [ 1.04390621e-03 7.55629395e-06 9.99999455e-01 -5.44220323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters 0.050478352232945486 Centerline is valid? [True, True] Translation: X:673.87, Y:-246.94, Z:-5.44 [[ 7.13615826e-01 7.00537247e-01 1.37834307e-04 6.73868071e+02] [-7.00537234e-01 7.13615839e-01 -1.32782539e-04 -2.46937608e+02] [-1.91379859e-04 -1.80234352e-06 9.99999982e-01 -5.44110095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters 0.0508077671630981 Centerline is valid? [True, True] Translation: X:673.91, Y:-246.98, Z:-5.44 [[ 7.14995009e-01 6.99129402e-01 4.65931526e-04 6.73911198e+02] [-6.99129256e-01 7.14995161e-01 -4.51747393e-04 -2.46982117e+02] [-6.48968671e-04 -2.74922919e-06 9.99999789e-01 -5.44068009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters 0.050934494339115795 Centerline is valid? [True, True] Translation: X:673.95, Y:-247.03, Z:-5.44 [[ 7.16699145e-01 6.97382252e-01 -5.75190005e-04 6.73953700e+02] [-6.97382027e-01 7.16699376e-01 5.60422381e-04 -2.47026679e+02] [ 8.03066940e-04 -5.27069963e-07 9.99999678e-01 -5.44071484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters 0.0510507375975461 Centerline is valid? [True, True] Translation: X:674.00, Y:-247.07, Z:-5.44 [[ 7.17380153e-01 6.96679587e-01 -1.80801811e-03 6.73997390e+02] [-6.96677367e-01 7.17382432e-01 1.75854610e-03 -2.47070808e+02] [ 2.52218360e-03 -1.94077993e-06 9.99996819e-01 -5.44410507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters 0.050814467759316084 Centerline is valid? [True, True] Translation: X:674.04, Y:-247.12, Z:-5.44 [[ 7.18025336e-01 6.96013224e-01 -2.28234820e-03 6.74040438e+02] [-6.96009684e-01 7.18028963e-01 2.21996669e-03 -2.47115070e+02] [ 3.18391829e-03 -5.45587987e-06 9.99994931e-01 -5.44328174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters 0.0507592265163026 Centerline is valid? [True, True] Translation: X:674.08, Y:-247.16, Z:-5.44 [[ 7.18047943e-01 6.95991384e-01 -1.77337507e-03 6.74084416e+02] [-6.95989244e-01 7.18050133e-01 1.72605126e-03 -2.47159380e+02] [ 2.47468901e-03 -5.13758649e-06 9.99996938e-01 -5.44051742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters 0.05074074311833837 Centerline is valid? [True, True] Translation: X:674.13, Y:-247.20, Z:-5.45 [[ 7.17330300e-01 6.96731256e-01 -1.67242824e-03 6.74128133e+02] [-6.96729353e-01 7.17332250e-01 1.62850489e-03 -2.47203729e+02] [ 2.33431697e-03 -2.94605797e-06 9.99997275e-01 -5.44732827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters 0.05120340833215114 Centerline is valid? [True, True] Translation: X:674.17, Y:-247.25, Z:-5.44 [[ 7.16585625e-01 6.97497487e-01 -1.51588398e-03 6.74172954e+02] [-6.97495924e-01 7.16587228e-01 1.47654844e-03 -2.47247614e+02] [ 2.11615193e-03 -7.50492101e-07 9.99997761e-01 -5.44248143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters 0.05014703100750452 Centerline is valid? [True, True] Translation: X:674.22, Y:-247.29, Z:-5.45 [[ 7.14611424e-01 6.99520220e-01 -1.40511545e-03 6.74217225e+02] [-6.99518882e-01 7.14612806e-01 1.36797764e-03 -2.47291144e+02] [ 1.96104152e-03 5.33233952e-06 9.99998077e-01 -5.44619348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters 0.04986426887330735 Centerline is valid? [True, True] Translation: X:674.26, Y:-247.34, Z:-5.45 [[ 7.12238205e-01 7.01936293e-01 -1.47644523e-03 6.74261283e+02] [-7.01934819e-01 7.12239735e-01 1.43849728e-03 -2.47335462e+02] [ 2.06131641e-03 1.18155985e-05 9.99997875e-01 -5.44552672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters 0.04973478322375481 Centerline is valid? [True, True] Translation: X:674.30, Y:-247.38, Z:-5.44 [[ 7.10438019e-01 7.03758687e-01 -1.23758155e-03 6.74304732e+02] [-7.03757655e-01 7.10439096e-01 1.20557365e-03 -2.47379232e+02] [ 1.72765925e-03 1.44721330e-05 9.99998507e-01 -5.44486895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters 0.0501589817076428 Centerline is valid? [True, True] Translation: X:674.35, Y:-247.42, Z:-5.45 [[ 7.07808730e-01 7.06402529e-01 -1.50627681e-03 6.74350006e+02] [-7.06401006e-01 7.07810332e-01 1.46696825e-03 -2.47420178e+02] [ 2.10242837e-03 2.57025218e-05 9.99997790e-01 -5.44850065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters 0.05021384401933824 Centerline is valid? [True, True] Translation: X:674.39, Y:-247.47, Z:-5.45 [[ 7.06162114e-01 7.08048464e-01 -1.56230691e-03 6.74391673e+02] [-7.08046828e-01 7.06163842e-01 1.52270442e-03 -2.47466527e+02] [ 2.18139317e-03 3.09102818e-05 9.99997620e-01 -5.44642617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters 0.050373623165505116 Centerline is valid? [True, True] Translation: X:674.43, Y:-247.51, Z:-5.45 [[ 7.04579017e-01 7.09623927e-01 -1.51360843e-03 6.74434510e+02] [-7.09622394e-01 7.04580642e-01 1.47549961e-03 -2.47510984e+02] [ 2.11350903e-03 3.44843664e-05 9.99997766e-01 -5.44610372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters 0.05004194128955988 Centerline is valid? [True, True] Translation: X:674.48, Y:-247.56, Z:-5.45 [[ 7.03712947e-01 7.10484287e-01 -4.09150956e-04 6.74477753e+02] [-7.10484174e-01 7.03713065e-01 3.99802861e-04 -2.47556128e+02] [ 5.71978524e-04 9.34882993e-06 9.99999836e-01 -5.44559432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters 0.05031435436266104 Centerline is valid? [True, True] Translation: X:674.52, Y:-247.60, Z:-5.45 [[ 7.03376875e-01 7.10816832e-01 -6.34290339e-04 6.74524471e+02] [-7.10816563e-01 7.03377161e-01 6.18707370e-04 -2.47596267e+02] [ 8.85932951e-04 1.56796220e-05 9.99999607e-01 -5.44848989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters 0.05035467032343627 Centerline is valid? [True, True] Translation: X:674.57, Y:-247.64, Z:-5.45 [[ 7.03093440e-01 7.11094796e-01 -1.95063838e-03 6.74565802e+02] [-7.11092254e-01 7.03096144e-01 1.90228808e-03 -2.47642760e+02] [ 2.72419348e-03 4.95975764e-05 9.99996288e-01 -5.44930866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters 0.0498388100844433 Centerline is valid? [True, True] Translation: X:674.61, Y:-247.69, Z:-5.45 [[ 7.02992015e-01 7.11189921e-01 -3.33507346e-03 6.74608850e+02] [-7.11182490e-01 7.02999921e-01 3.25235806e-03 -2.47687994e+02] [ 4.65760065e-03 8.54641004e-05 9.99989150e-01 -5.45054809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters 0.0503020077476582 Centerline is valid? [True, True] Translation: X:674.65, Y:-247.73, Z:-5.45 [[ 7.03345234e-01 7.10841306e-01 -3.18113547e-03 6.74652567e+02] [-7.10834538e-01 7.03352423e-01 3.10300831e-03 -2.47732098e+02] [ 4.44320582e-03 7.87748544e-05 9.99990126e-01 -5.45008466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters 0.05024747450705962 Centerline is valid? [True, True] Translation: X:674.70, Y:-247.77, Z:-5.45 [[ 7.05138561e-01 7.09065970e-01 -2.24939459e-03 6.74696725e+02] [-7.09062578e-01 7.05142148e-01 2.19375036e-03 -2.47774567e+02] [ 3.14165666e-03 4.80635557e-05 9.99995064e-01 -5.44860658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters 0.05078674600135556 Centerline is valid? [True, True] Translation: X:674.74, Y:-247.81, Z:-5.45 [[ 7.08035134e-01 7.06176414e-01 -1.05915539e-03 6.74741803e+02] [-7.06175658e-01 7.08035926e-01 1.03336830e-03 -2.47814535e+02] [ 1.47966039e-03 1.62886860e-05 9.99998905e-01 -5.45114111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters 0.05033027174839622 Centerline is valid? [True, True] Translation: X:674.78, Y:-247.86, Z:-5.45 [[ 7.14410190e-01 6.99725653e-01 -1.44619994e-03 6.74780213e+02] [-6.99724231e-01 7.14411654e-01 1.41077947e-03 -2.47863672e+02] [ 2.02034067e-03 4.06591043e-06 9.99997959e-01 -5.44934322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters 0.050605818164293014 Centerline is valid? [True, True] Translation: X:674.82, Y:-247.91, Z:-5.45 [[ 7.17245842e-01 6.96819224e-01 -1.17133884e-03 6.74823338e+02] [-6.96818285e-01 7.17246798e-01 1.14397511e-03 -2.47907949e+02] [ 1.63728288e-03 -4.30106558e-06 9.99998660e-01 -5.45026340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters 0.050914141705485326 Centerline is valid? [True, True] Translation: X:674.87, Y:-247.95, Z:-5.45 [[ 7.20527889e-01 6.93424858e-01 -1.23619017e-03 6.74867338e+02] [-6.93423807e-01 7.20528949e-01 1.20736750e-03 -2.47952004e+02] [ 1.72792944e-03 -1.27382575e-05 9.99998507e-01 -5.45040565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters 0.05127821989142176 Centerline is valid? [True, True] Translation: X:674.91, Y:-247.99, Z:-5.45 [[ 7.23752848e-01 6.90058001e-01 -1.33060290e-03 6.74913162e+02] [-6.90056779e-01 7.23754071e-01 1.29875898e-03 -2.47993969e+02] [ 1.85924829e-03 -2.17889565e-05 9.99998271e-01 -5.44965289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters 0.05102161370495766 Centerline is valid? [True, True] Translation: X:674.96, Y:-248.04, Z:-5.45 [[ 7.25054091e-01 6.88689207e-01 -1.93423927e-03 6.74958712e+02] [-6.88686619e-01 7.25056671e-01 1.88803991e-03 -2.48036787e+02] [ 2.70270579e-03 -3.68463587e-05 9.99996347e-01 -5.45082897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters 0.05088312593264047 Centerline is valid? [True, True] Translation: X:675.00, Y:-248.08, Z:-5.45 [[ 7.24457025e-01 6.89317815e-01 -1.72297440e-03 6.75003424e+02] [-6.89315761e-01 7.24459073e-01 1.68291263e-03 -2.48078101e+02] [ 2.40828609e-03 -3.15244658e-05 9.99997100e-01 -5.45179169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters 0.05134115176798837 Centerline is valid? [True, True] Translation: X:675.05, Y:-248.12, Z:-5.45 [[ 7.20883037e-01 6.93054952e-01 -1.57496622e-03 6.75050833e+02] [-6.93053247e-01 7.20884757e-01 1.53754746e-03 -2.48116726e+02] [ 2.20097402e-03 -1.68564357e-05 9.99997578e-01 -5.45279685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters 0.050514778348615695 Centerline is valid? [True, True] Translation: X:675.10, Y:-248.15, Z:-5.45 [[ 7.15190999e-01 6.98927438e-01 -1.50704959e-03 6.75100638e+02] [-6.98925887e-01 7.15192587e-01 1.47259869e-03 -2.48154186e+02] [ 2.10707032e-03 1.26644212e-07 9.99997780e-01 -5.45247061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters 0.05090512085814764 Centerline is valid? [True, True] Translation: X:675.15, Y:-248.19, Z:-5.45 [[ 7.10814432e-01 7.03377652e-01 -1.64958951e-03 6.75148468e+02] [-7.03375805e-01 7.10816346e-01 1.61214856e-03 -2.48194457e+02] [ 2.30650446e-03 1.43428825e-05 9.99997340e-01 -5.45241556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters 0.050999079714049655 Centerline is valid? [True, True] Translation: X:675.20, Y:-248.23, Z:-5.45 [[ 7.05556497e-01 7.08653157e-01 -8.55740427e-04 6.75195434e+02] [-7.08652665e-01 7.05557016e-01 8.35702553e-04 -2.48231882e+02] [ 1.19599691e-03 1.67873679e-05 9.99999285e-01 -5.45235553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters 0.05042407584182197 Centerline is valid? [True, True] Translation: X:675.24, Y:-248.28, Z:-5.45 [[ 7.03203243e-01 7.10988835e-01 2.75177418e-04 6.75240056e+02] [-7.10988784e-01 7.03203297e-01 -2.68411068e-04 -2.48275575e+02] [-3.84342941e-04 -6.90052470e-06 9.99999926e-01 -5.44975406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters 0.050408059036871004 Centerline is valid? [True, True] Translation: X:675.28, Y:-248.32, Z:-5.45 [[ 7.03215290e-01 7.10976511e-01 8.11061281e-04 6.75284948e+02] [-7.10976071e-01 7.03215757e-01 -7.91191296e-04 -2.48317715e+02] [-1.13286950e-03 -2.02673463e-05 9.99999358e-01 -5.44988014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters 0.05106404994689307 Centerline is valid? [True, True] Translation: X:675.33, Y:-248.36, Z:-5.45 [[ 7.03829049e-01 7.10369075e-01 6.68034440e-04 6.75333191e+02] [-7.10368777e-01 7.03829366e-01 -6.51555881e-04 -2.48356482e+02] [-9.33027406e-04 -1.59668514e-05 9.99999565e-01 -5.45278197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters 0.050170254302113367 Centerline is valid? [True, True] Translation: X:675.37, Y:-248.40, Z:-5.45 [[ 7.03543176e-01 7.10652446e-01 3.17978476e-04 6.75374499e+02] [-7.10652378e-01 7.03543248e-01 -3.09567429e-04 -2.48403493e+02] [-4.43706460e-04 -8.17810824e-06 9.99999902e-01 -5.45130641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters 0.0506574976616735 Centerline is valid? [True, True] Translation: X:675.42, Y:-248.45, Z:-5.45 [[ 7.02942134e-01 7.11246500e-01 -8.79135540e-04 6.75416434e+02] [-7.11245980e-01 7.02942683e-01 8.60472725e-04 -2.48448646e+02] [ 1.22999011e-03 2.04190851e-05 9.99999243e-01 -5.45057750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters 0.05087711716817865 Centerline is valid? [True, True] Translation: X:675.46, Y:-248.49, Z:-5.46 [[ 7.03440155e-01 7.10748644e-01 -2.88314999e-03 6.75463861e+02] [-7.10743057e-01 7.03446061e-01 2.81896025e-03 -2.48488578e+02] [ 4.03171268e-03 6.62089992e-05 9.99991870e-01 -5.45507975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters 0.050587777654850154 Centerline is valid? [True, True] Translation: X:675.51, Y:-248.53, Z:-5.46 [[ 7.04658126e-01 7.09539448e-01 -3.27068812e-03 6.75507201e+02] [-7.09532238e-01 7.04665714e-01 3.19927487e-03 -2.48533369e+02] [ 4.57475351e-03 6.62636260e-05 9.99989534e-01 -5.45647351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters 0.051354695865107214 Centerline is valid? [True, True] Translation: X:675.55, Y:-248.58, Z:-5.46 [[ 7.08629977e-01 7.05576450e-01 -2.33004776e-03 6.75547090e+02] [-7.05572771e-01 7.08633807e-01 2.27880283e-03 -2.48580945e+02] [ 3.25902022e-03 2.91902569e-05 9.99994689e-01 -5.45525584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters 0.050973028203311746 Centerline is valid? [True, True] Translation: X:675.59, Y:-248.63, Z:-5.45 [[ 7.10055499e-01 7.04143176e-01 -1.89130464e-03 6.75588636e+02] [-7.04140743e-01 7.10058017e-01 1.85095056e-03 -2.48625713e+02] [ 2.64627023e-03 1.74670332e-05 9.99996498e-01 -5.45355850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters 0.050731711670249834 Centerline is valid? [True, True] Translation: X:675.63, Y:-248.67, Z:-5.45 [[ 7.14350794e-01 6.99787518e-01 -6.10043823e-04 6.75629784e+02] [-6.99787264e-01 7.14351055e-01 5.97090357e-04 -2.48671416e+02] [ 8.53621827e-04 3.68926480e-07 9.99999636e-01 -5.45499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters 0.05030543981633084 Centerline is valid? [True, True] Translation: X:675.67, Y:-248.72, Z:-5.45 [[ 7.16440348e-01 6.97648232e-01 -4.13719291e-04 6.75672464e+02] [-6.97648114e-01 7.16440468e-01 4.06191882e-04 -2.48717163e+02] [ 5.79784291e-04 -2.38177010e-06 9.99999832e-01 -5.45410417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters 0.051355462150511226 Centerline is valid? [True, True] Translation: X:675.71, Y:-248.76, Z:-5.45 [[ 7.18508852e-01 6.95517807e-01 9.86323823e-05 6.75714288e+02] [-6.95517800e-01 7.18508859e-01 -9.60680338e-05 -2.48762832e+02] [-1.37685269e-04 4.25155169e-07 9.99999991e-01 -5.45432184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters 0.05073803206403314 Centerline is valid? [True, True] Translation: X:675.76, Y:-248.81, Z:-5.46 [[ 7.18673911e-01 6.95347251e-01 9.54251933e-05 6.75757564e+02] [-6.95347245e-01 7.18673918e-01 -9.20655090e-05 -2.48807060e+02] [-1.32597096e-04 -1.88565832e-07 9.99999991e-01 -5.45643213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters 0.05109762614101497 Centerline is valid? [True, True] Translation: X:675.80, Y:-248.85, Z:-5.46 [[ 7.17547923e-01 6.96509133e-01 -7.97767250e-05 6.75802110e+02] [-6.96509128e-01 7.17547927e-01 7.92955451e-05 -2.48850262e+02] [ 1.12473695e-04 -1.33313653e-06 9.99999994e-01 -5.45705364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters 0.050729838209389325 Centerline is valid? [True, True] Translation: X:675.85, Y:-248.89, Z:-5.46 [[ 7.15469436e-01 6.98644030e-01 -7.15396097e-05 6.75847726e+02] [-6.98644026e-01 7.15469440e-01 7.12753809e-05 -2.48892884e+02] [ 1.00980524e-04 -1.01463560e-06 9.99999995e-01 -5.45655065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters 0.0507883601031216 Centerline is valid? [True, True] Translation: X:675.89, Y:-248.94, Z:-5.46 [[ 7.14351948e-01 6.99786234e-01 -7.22127239e-04 6.75892035e+02] [-6.99785875e-01 7.14352313e-01 7.08388577e-04 -2.48935503e+02] [ 1.01157384e-03 -7.04318123e-07 9.99999488e-01 -5.45836439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters 0.050279943384487324 Centerline is valid? [True, True] Translation: X:675.94, Y:-248.98, Z:-5.46 [[ 7.14318445e-01 6.99820420e-01 -7.34445338e-04 6.75937274e+02] [-6.99820049e-01 7.14318822e-01 7.20909417e-04 -2.48979935e+02] [ 1.02913526e-03 -9.79321399e-07 9.99999470e-01 -5.45782517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters 0.0503406117830994 Centerline is valid? [True, True] Translation: X:675.98, Y:-249.02, Z:-5.46 [[ 7.15119962e-01 6.99001655e-01 3.55913296e-04 6.75979895e+02] [-6.99001568e-01 7.15120051e-01 -3.47648066e-04 -2.49023409e+02] [-4.97527308e-04 -1.73879957e-07 9.99999876e-01 -5.45790769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters 0.05117064056958715 Centerline is valid? [True, True] Translation: X:676.02, Y:-249.07, Z:-5.46 [[ 7.15842994e-01 6.98259959e-01 1.35550212e-03 6.76023871e+02] [-6.98258697e-01 7.15844277e-01 -1.32777915e-03 -2.49067032e+02] [-1.89746345e-03 3.99025861e-06 9.99998200e-01 -5.45724001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters 0.05033557306168518 Centerline is valid? [True, True] Translation: X:676.07, Y:-249.11, Z:-5.46 [[ 7.15705550e-01 6.98400432e-01 1.54983760e-03 6.76069863e+02] [-6.98398782e-01 7.15707229e-01 -1.51790746e-03 -2.49110213e+02] [-2.16933720e-03 3.97010798e-06 9.99997647e-01 -5.45789681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters 0.05082857845015138 Centerline is valid? [True, True] Translation: X:676.12, Y:-249.15, Z:-5.46 [[ 7.14152547e-01 6.99989501e-01 9.15444736e-04 6.76115966e+02] [-6.99988927e-01 7.14153134e-01 -8.96348593e-04 -2.49151080e+02] [-1.28120233e-03 -6.71547970e-07 9.99999179e-01 -5.45780116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters 0.050779964499905 Centerline is valid? [True, True] Translation: X:676.16, Y:-249.19, Z:-5.46 [[ 7.12033787e-01 7.02145174e-01 -2.04087858e-04 6.76162941e+02] [-7.02145145e-01 7.12033816e-01 2.01149026e-04 -2.49192038e+02] [ 2.86553274e-04 7.43957004e-08 9.99999959e-01 -5.45936797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters 0.05139454657948926 Centerline is valid? [True, True] Translation: X:676.21, Y:-249.23, Z:-5.46 [[ 7.10533752e-01 7.03662569e-01 -8.81217927e-04 6.76208835e+02] [-7.03662037e-01 7.10534299e-01 8.64966056e-04 -2.49233782e+02] [ 1.23477980e-03 5.49202475e-06 9.99999238e-01 -5.46076369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters 0.05061839438120214 Centerline is valid? [True, True] Translation: X:676.26, Y:-249.27, Z:-5.46 [[ 7.07990021e-01 7.06220605e-01 -1.60864658e-03 6.76255838e+02] [-7.06218840e-01 7.07991848e-01 1.57860999e-03 -2.49273141e+02] [ 2.25375557e-03 1.84164083e-05 9.99997460e-01 -5.46311749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters 0.0515344795722807 Centerline is valid? [True, True] Translation: X:676.30, Y:-249.31, Z:-5.46 [[ 7.06239573e-01 7.07969559e-01 -2.18379071e-03 6.76301359e+02] [-7.07966314e-01 7.06242949e-01 2.14373661e-03 -2.49314929e+02] [ 3.05998705e-03 3.20586290e-05 9.99995318e-01 -5.46335824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters 0.051157343511080755 Centerline is valid? [True, True] Translation: X:676.35, Y:-249.36, Z:-5.46 [[ 7.04853314e-01 7.09347321e-01 -2.86052619e-03 6.76346847e+02] [-7.09341764e-01 7.04859117e-01 2.80844222e-03 -2.49356941e+02] [ 4.00842893e-03 4.95508819e-05 9.99991965e-01 -5.46494769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters 0.05044587810114211 Centerline is valid? [True, True] Translation: X:676.39, Y:-249.40, Z:-5.46 [[ 7.05686748e-01 7.08520541e-01 -2.20374170e-03 6.76388999e+02] [-7.08517238e-01 7.05690188e-01 2.16365535e-03 -2.49401239e+02] [ 3.08815316e-03 3.45260739e-05 9.99995231e-01 -5.46382488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters 0.05105407069748495 Centerline is valid? [True, True] Translation: X:676.43, Y:-249.45, Z:-5.46 [[ 7.06860986e-01 7.07352186e-01 -6.57320917e-04 6.76432075e+02] [-7.07351891e-01 7.06861291e-01 6.45996130e-04 -2.49446760e+02] [ 9.21581486e-04 8.32773277e-06 9.99999575e-01 -5.46240350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters 0.05077548258665702 Centerline is valid? [True, True] Translation: X:676.47, Y:-249.49, Z:-5.46 [[ 7.06958463e-01 7.07254932e-01 -4.37973030e-04 6.76473126e+02] [-7.07254801e-01 7.06958599e-01 4.31113316e-04 -2.49492110e+02] [ 6.14535819e-04 4.97932107e-06 9.99999811e-01 -5.46040331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters 0.05068874389455046 Centerline is valid? [True, True] Translation: X:676.52, Y:-249.54, Z:-5.46 [[ 7.07401676e-01 7.06811609e-01 -4.67807337e-04 6.76517943e+02] [-7.06811459e-01 7.07401831e-01 4.59771366e-04 -2.49535506e+02] [ 6.55899505e-04 5.40855169e-06 9.99999785e-01 -5.46347192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters 0.050662618067669946 Centerline is valid? [True, True] Translation: X:676.56, Y:-249.58, Z:-5.46 [[ 7.07801557e-01 7.06410584e-01 -1.02093478e-03 6.76561671e+02] [-7.06409871e-01 7.07802293e-01 1.00409375e-03 -2.49581297e+02] [ 1.43192243e-03 1.04992896e-05 9.99998975e-01 -5.46469820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters 0.051139722509655115 Centerline is valid? [True, True] Translation: X:676.61, Y:-249.63, Z:-5.47 [[ 7.07868932e-01 7.06343164e-01 -9.54138539e-04 6.76605494e+02] [-7.06342541e-01 7.07869574e-01 9.38134784e-04 -2.49625608e+02] [ 1.33805073e-03 9.87217343e-06 9.99999105e-01 -5.46578728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters 0.050531311248900965 Centerline is valid? [True, True] Translation: X:676.65, Y:-249.67, Z:-5.47 [[ 7.07377490e-01 7.06835176e-01 -1.05884562e-03 6.76647914e+02] [-7.06834409e-01 7.07378282e-01 1.04156706e-03 -2.49670927e+02] [ 1.48522064e-03 1.16474244e-05 9.99998897e-01 -5.46569872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters 0.050815267899358016 Centerline is valid? [True, True] Translation: X:676.69, Y:-249.72, Z:-5.47 [[ 7.05921275e-01 7.08289466e-01 -1.08855427e-03 6.76690547e+02] [-7.08288657e-01 7.05922115e-01 1.07103288e-03 -2.49715762e+02] [ 1.52703584e-03 1.49457459e-05 9.99998834e-01 -5.46608701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters 0.0503605828762379 Centerline is valid? [True, True] Translation: X:676.74, Y:-249.76, Z:-5.47 [[ 7.04322207e-01 7.09878858e-01 -1.49518341e-03 6.76735412e+02] [-7.09877335e-01 7.04323793e-01 1.47088206e-03 -2.49757356e+02] [ 2.09724133e-03 2.54219149e-05 9.99997800e-01 -5.46941783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters 0.05052720910957964 Centerline is valid? [True, True] Translation: X:676.78, Y:-249.80, Z:-5.47 [[ 7.01796924e-01 7.12374770e-01 -1.80702324e-03 6.76778580e+02] [-7.12372556e-01 7.01799249e-01 1.77632261e-03 -2.49798565e+02] [ 2.53357496e-03 4.06560153e-05 9.99996790e-01 -5.47110106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters 0.05007642375799815 Centerline is valid? [True, True] Translation: X:676.82, Y:-249.85, Z:-5.47 [[ 7.00573814e-01 7.13577857e-01 -1.72440262e-03 6.76819263e+02] [-7.13575842e-01 7.00575935e-01 1.69654768e-03 -2.49845113e+02] [ 2.41869383e-03 4.19351682e-05 9.99997074e-01 -5.46917039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters 0.050240335742067516 Centerline is valid? [True, True] Translation: X:676.86, Y:-249.89, Z:-5.47 [[ 6.99556190e-01 7.14576939e-01 -9.67553747e-04 6.76860551e+02] [-7.14576304e-01 6.99556858e-01 9.52688503e-04 -2.49891341e+02] [ 1.35762809e-03 2.49318415e-05 9.99999078e-01 -5.46842042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters 0.049688103744814936 Centerline is valid? [True, True] Translation: X:676.91, Y:-249.93, Z:-5.47 [[ 6.99964779e-01 7.14176545e-01 -1.08240970e-03 6.76905810e+02] [-7.14175750e-01 6.99965615e-01 1.06576540e-03 -2.49932443e+02] [ 1.51879422e-03 2.70325188e-05 9.99998846e-01 -5.47094825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters 0.050041850892332554 Centerline is valid? [True, True] Translation: X:676.95, Y:-249.98, Z:-5.47 [[ 7.00733771e-01 7.13422161e-01 -1.00127107e-03 6.76946195e+02] [-7.13421480e-01 7.00734486e-01 9.86263881e-04 -2.49979900e+02] [ 1.40524768e-03 2.32198812e-05 9.99999012e-01 -5.46924446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters 0.05005696197824114 Centerline is valid? [True, True] Translation: X:676.99, Y:-250.02, Z:-5.47 [[ 7.01624900e-01 7.12546027e-01 -8.11797353e-04 6.76990510e+02] [-7.12545579e-01 7.01625369e-01 7.99175065e-04 -2.50022900e+02] [ 1.13902663e-03 1.77214902e-05 9.99999351e-01 -5.46997259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters 0.05030673480188112 Centerline is valid? [True, True] Translation: X:677.04, Y:-250.07, Z:-5.47 [[ 7.01608647e-01 7.12562298e-01 -5.27910631e-04 6.77035222e+02] [-7.12562107e-01 7.01608845e-01 5.20744984e-04 -2.50065990e+02] [ 7.41450010e-04 1.08099283e-05 9.99999725e-01 -5.46925036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters 0.05008182414544126 Centerline is valid? [True, True] Translation: X:677.08, Y:-250.11, Z:-5.47 [[ 7.00793239e-01 7.13364442e-01 9.58711903e-05 6.77080973e+02] [-7.13364436e-01 7.00793245e-01 -9.32767873e-05 -2.50107124e+02] [-1.33726226e-04 -3.02335578e-06 9.99999991e-01 -5.47010552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters 0.05039967146506294 Centerline is valid? [True, True] Translation: X:677.13, Y:-250.15, Z:-5.47 [[ 6.99489108e-01 7.14643172e-01 -3.52333930e-04 6.77126671e+02] [-7.14643088e-01 6.99489197e-01 3.47183479e-04 -2.50149751e+02] [ 4.94566080e-04 8.94194616e-06 9.99999878e-01 -5.47149842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters 0.05012367897420841 Centerline is valid? [True, True] Translation: X:677.17, Y:-250.19, Z:-5.47 [[ 6.99039375e-01 7.15080718e-01 -1.87596600e-03 6.77170625e+02] [-7.15078330e-01 6.99041891e-01 1.84833704e-03 -2.50193472e+02] [ 2.63308900e-03 4.94022667e-05 9.99996532e-01 -5.47327995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters 0.04999032419200374 Centerline is valid? [True, True] Translation: X:677.21, Y:-250.24, Z:-5.47 [[ 7.00469730e-01 7.13679367e-01 -1.97947812e-03 6.77213621e+02] [-7.13676705e-01 7.00472526e-01 1.94968557e-03 -2.50239044e+02] [ 2.77802040e-03 4.70116994e-05 9.99996140e-01 -5.47257615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters 0.05043896688438509 Centerline is valid? [True, True] Translation: X:677.26, Y:-250.28, Z:-5.47 [[ 7.02391236e-01 7.11789396e-01 -1.55127860e-03 6.77257221e+02] [-7.11787755e-01 7.02392949e-01 1.52876997e-03 -2.50280731e+02] [ 2.17776940e-03 3.03864839e-05 9.99997628e-01 -5.47338704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters 0.050451629820765585 Centerline is valid? [True, True] Translation: X:677.30, Y:-250.33, Z:-5.47 [[ 7.06473579e-01 7.07739141e-01 -6.25461881e-04 6.77298897e+02] [-7.07738872e-01 7.06473856e-01 6.17038367e-04 -2.50325915e+02] [ 8.78574670e-04 6.74238232e-06 9.99999614e-01 -5.47258262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters 0.050257307274135576 Centerline is valid? [True, True] Translation: X:677.34, Y:-250.37, Z:-5.47 [[ 7.10946775e-01 7.03245766e-01 -2.74450268e-04 6.77340567e+02] [-7.03245714e-01 7.10946828e-01 2.71605128e-04 -2.50370691e+02] [ 3.86124704e-04 -9.08152707e-08 9.99999925e-01 -5.47365594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters 0.05124864817298357 Centerline is valid? [True, True] Translation: X:677.39, Y:-250.41, Z:-5.47 [[ 7.12429945e-01 7.01743194e-01 2.49463530e-04 6.77385005e+02] [-7.01743152e-01 7.12429989e-01 -2.44656736e-04 -2.50414778e+02] [-3.49411500e-04 -7.58538382e-07 9.99999939e-01 -5.47265587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters 0.05060340066211897 Centerline is valid? [True, True] Translation: X:677.43, Y:-250.46, Z:-5.47 [[ 7.12499753e-01 7.01671931e-01 -7.76782626e-04 6.77430573e+02] [-7.01671512e-01 7.12500176e-01 7.66934579e-04 -2.50456710e+02] [ 1.09159422e-03 -1.39445836e-06 9.99999404e-01 -5.47384513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters 0.05040245500501868 Centerline is valid? [True, True] Translation: X:677.48, Y:-250.50, Z:-5.47 [[ 7.11723936e-01 7.02458692e-01 -9.08608476e-04 6.77476736e+02] [-7.02458119e-01 7.11724516e-01 8.97285347e-04 -2.50499487e+02] [ 1.27698482e-03 -3.60057619e-07 9.99999185e-01 -5.47410330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters 0.05055798294141869 Centerline is valid? [True, True] Translation: X:677.52, Y:-250.54, Z:-5.47 [[ 7.11149547e-01 7.03040186e-01 -9.04100350e-04 6.77522262e+02] [-7.03039620e-01 7.11150122e-01 8.92464220e-04 -2.50541882e+02] [ 1.27038929e-03 9.42840180e-07 9.99999193e-01 -5.47496710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters 0.051003565009216656 Centerline is valid? [True, True] Translation: X:677.57, Y:-250.58, Z:-5.48 [[ 7.10067298e-01 7.04132730e-01 -1.23719855e-03 6.77568251e+02] [-7.04131671e-01 7.10068376e-01 1.22145113e-03 -2.50581705e+02] [ 1.73855929e-03 3.83817871e-06 9.99998489e-01 -5.47658778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters 0.0509074426357536 Centerline is valid? [True, True] Translation: X:677.61, Y:-250.63, Z:-5.47 [[ 7.08960385e-01 7.05247177e-01 -1.26204556e-03 6.77614123e+02] [-7.05246075e-01 7.08961508e-01 1.24659636e-03 -2.50625467e+02] [ 1.77390029e-03 6.26524555e-06 9.99998427e-01 -5.47456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters 0.05127997266077692 Centerline is valid? [True, True] Translation: X:677.66, Y:-250.67, Z:-5.48 [[ 7.09343381e-01 7.04862075e-01 -1.19276285e-03 6.77660062e+02] [-7.04861090e-01 7.09344384e-01 1.17855080e-03 -2.50669188e+02] [ 1.67679539e-03 4.73490917e-06 9.99998594e-01 -5.47541573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters 0.05161675222959444 Centerline is valid? [True, True] Translation: X:677.71, Y:-250.71, Z:-5.48 [[ 7.09627236e-01 7.04575794e-01 -1.46145807e-03 6.77705044e+02] [-7.04574315e-01 7.09628741e-01 1.44400195e-03 -2.50712034e+02] [ 2.05450147e-03 5.00270843e-06 9.99997889e-01 -5.47778120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters 0.051246230141535135 Centerline is valid? [True, True] Translation: X:677.75, Y:-250.76, Z:-5.47 [[ 7.10001431e-01 7.04199231e-01 -1.18758997e-03 6.77748125e+02] [-7.04198253e-01 7.10002424e-01 1.17387146e-03 -2.50756966e+02] [ 1.66983114e-03 2.84836975e-06 9.99998606e-01 -5.47461117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters 0.051040580532780315 Centerline is valid? [True, True] Translation: X:677.79, Y:-250.80, Z:-5.47 [[ 7.09692360e-01 7.04510186e-01 -1.46695632e-03 6.77792576e+02] [-7.04508694e-01 7.09693876e-01 1.45017922e-03 -2.50799876e+02] [ 2.06275595e-03 4.30237144e-06 9.99997873e-01 -5.47465428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters 0.05106264616063275 Centerline is valid? [True, True] Translation: X:677.84, Y:-250.84, Z:-5.47 [[ 7.08997462e-01 7.05210113e-01 -1.13838836e-03 6.77838925e+02] [-7.05209214e-01 7.08998376e-01 1.12603449e-03 -2.50842955e+02] [ 1.60120641e-03 4.44636548e-06 9.99998718e-01 -5.47437280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters 0.050873212558745974 Centerline is valid? [True, True] Translation: X:677.88, Y:-250.88, Z:-5.47 [[ 7.07210303e-01 7.07002649e-01 -9.17625276e-04 6.77884059e+02] [-7.07002066e-01 7.07210898e-01 9.07860878e-04 -2.50883930e+02] [ 1.29081464e-03 6.71439879e-06 9.99999167e-01 -5.47481034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters 0.05115269840568571 Centerline is valid? [True, True] Translation: X:677.93, Y:-250.93, Z:-5.47 [[ 7.05413101e-01 7.08795951e-01 -8.10727745e-04 6.77929188e+02] [-7.08795497e-01 7.05413567e-01 8.01851079e-04 -2.50925980e+02] [ 1.14024715e-03 9.00391883e-06 9.99999350e-01 -5.47423618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters 0.051492117255848645 Centerline is valid? [True, True] Translation: X:677.98, Y:-250.97, Z:-5.47 [[ 7.02654938e-01 7.11529344e-01 -1.42546290e-03 6.77975077e+02] [-7.11527949e-01 7.02656383e-01 1.40916927e-03 -2.50967966e+02] [ 2.00427589e-03 2.40969472e-05 9.99997991e-01 -5.47395424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters 0.050984557542558526 Centerline is valid? [True, True] Translation: X:678.02, Y:-251.01, Z:-5.47 [[ 7.00420456e-01 7.13723198e-01 -3.22184678e-03 6.78019152e+02] [-7.13716096e-01 7.00427863e-01 3.18475181e-03 -2.51011488e+02] [ 4.52970250e-03 6.88185898e-05 9.99989738e-01 -5.47432880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters 0.05105669009645104 Centerline is valid? [True, True] Translation: X:678.06, Y:-251.05, Z:-5.48 [[ 6.99530346e-01 7.14584431e-01 -5.13668058e-03 6.78063840e+02] [-7.14566389e-01 6.99549195e-01 5.07924814e-03 -2.51053112e+02] [ 7.22291241e-03 1.17411088e-04 9.99973908e-01 -5.47823095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters 0.05138675535314844 Centerline is valid? [True, True] Translation: X:678.11, Y:-251.10, Z:-5.48 [[ 7.00112779e-01 7.14013493e-01 -5.17969244e-03 6.78107267e+02] [-7.13995134e-01 7.00131930e-01 5.12147476e-03 -2.51098364e+02] [ 7.28327015e-03 1.12665271e-04 9.99973470e-01 -5.47833506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters 0.05108268124386226 Centerline is valid? [True, True] Translation: X:678.15, Y:-251.15, Z:-5.48 [[ 7.02271355e-01 7.11902251e-01 -3.18250675e-03 6.78147943e+02] [-7.11895297e-01 7.02278564e-01 3.14714045e-03 -2.51145054e+02] [ 4.47546264e-03 5.54650045e-05 9.99989984e-01 -5.47630815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters 0.05071363786994841 Centerline is valid? [True, True] Translation: X:678.19, Y:-251.19, Z:-5.48 [[ 7.04434316e-01 7.09768563e-01 -9.38708408e-04 6.78189175e+02] [-7.09767956e-01 7.04434941e-01 9.28628632e-04 -2.51189627e+02] [ 1.32037041e-03 1.21072729e-05 9.99999128e-01 -5.47587283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters 0.05075674979569429 Centerline is valid? [True, True] Translation: X:678.23, Y:-251.24, Z:-5.48 [[ 7.04658353e-01 7.09546147e-01 -9.32881498e-04 6.78231676e+02] [-7.09545546e-01 7.04658971e-01 9.23879626e-04 -2.51235604e+02] [ 1.31289854e-03 1.09024158e-05 9.99999138e-01 -5.47525881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters 0.05105936476323925 Centerline is valid? [True, True] Translation: X:678.28, Y:-251.28, Z:-5.48 [[ 7.02875865e-01 7.11310051e-01 -1.87883340e-03 6.78276467e+02] [-7.11307623e-01 7.02878376e-01 1.85875381e-03 -2.51278939e+02] [ 2.64274164e-03 2.99553298e-05 9.99996508e-01 -5.47802400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters 0.05061320765181181 Centerline is valid? [True, True] Translation: X:678.32, Y:-251.32, Z:-5.48 [[ 6.99029530e-01 7.15089119e-01 -2.29511921e-03 6.78320010e+02] [-7.15085516e-01 6.99033296e-01 2.27057577e-03 -2.51323027e+02] [ 3.22802877e-03 5.40069924e-05 9.99994788e-01 -5.47779519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters 0.051044911471851535 Centerline is valid? [True, True] Translation: X:678.36, Y:-251.37, Z:-5.48 [[ 6.97642034e-01 7.16441179e-01 -2.76229291e-03 6.78364048e+02] [-7.16435965e-01 6.97647499e-01 2.73409797e-03 -2.51366018e+02] [ 3.88592711e-03 7.15843187e-05 9.99992447e-01 -5.47854607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters 0.05064369159327864 Centerline is valid? [True, True] Translation: X:678.41, Y:-251.41, Z:-5.48 [[ 6.93912972e-01 7.20044809e-01 -4.50118143e-03 6.78409397e+02] [-7.20031044e-01 6.93927554e-01 4.45484209e-03 -2.51406785e+02] [ 6.33117975e-03 1.49717649e-04 9.99979947e-01 -5.48128816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters 0.051188311101080713 Centerline is valid? [True, True] Translation: X:678.45, Y:-251.45, Z:-5.48 [[ 6.92902978e-01 7.21014070e-01 -4.91683018e-03 6.78454193e+02] [-7.20997660e-01 6.92920401e-01 4.86742908e-03 -2.51448015e+02] [ 6.91645679e-03 1.72366953e-04 9.99976066e-01 -5.48374534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters 0.05118873791862587 Centerline is valid? [True, True] Translation: X:678.49, Y:-251.50, Z:-5.48 [[ 6.94450315e-01 7.19533484e-01 -3.21314939e-03 6.78492047e+02] [-7.19526458e-01 6.94457741e-01 3.18160261e-03 -2.51496953e+02] [ 4.52066608e-03 1.02481067e-04 9.99989776e-01 -5.47984770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters 0.05132864728955254 Centerline is valid? [True, True] Translation: X:678.54, Y:-251.54, Z:-5.48 [[ 6.98782903e-01 7.15333659e-01 -4.58769990e-04 6.78535114e+02] [-7.15333514e-01 6.98783054e-01 4.55238794e-04 -2.51539081e+02] [ 6.46228327e-04 1.00604634e-05 9.99999791e-01 -5.47980117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters 0.05058889000892313 Centerline is valid? [True, True] Translation: X:678.58, Y:-251.59, Z:-5.48 [[ 7.01566041e-01 7.12604125e-01 6.72193254e-04 6.78575133e+02] [-7.12603815e-01 7.01566363e-01 -6.65154090e-04 -2.51585489e+02] [-9.45579724e-04 -1.23579557e-05 9.99999553e-01 -5.47845876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters 0.05055398720672977 Centerline is valid? [True, True] Translation: X:678.62, Y:-251.63, Z:-5.48 [[ 7.02837209e-01 7.11350521e-01 5.42018048e-04 6.78618067e+02] [-7.11350319e-01 7.02837418e-01 -5.36123215e-04 -2.51630798e+02] [-7.62322094e-04 -8.75736761e-06 9.99999709e-01 -5.47968029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters 0.05106777087867318 Centerline is valid? [True, True] Translation: X:678.66, Y:-251.67, Z:-5.48 [[ 7.00487781e-01 7.13664008e-01 -7.43483323e-04 6.78663852e+02] [-7.13663628e-01 7.00488175e-01 7.36909716e-04 -2.51672171e+02] [ 1.04670722e-03 1.44007542e-05 9.99999452e-01 -5.48154567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters 0.05051618385683519 Centerline is valid? [True, True] Translation: X:678.71, Y:-251.71, Z:-5.48 [[ 6.98375686e-01 7.15727205e-01 -2.44298969e-03 6.78709898e+02] [-7.15723113e-01 6.98379957e-01 2.42109910e-03 -2.51713096e+02] [ 3.43898153e-03 5.76674389e-05 9.99994085e-01 -5.48341272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters 0.051193199452040525 Centerline is valid? [True, True] Translation: X:678.75, Y:-251.76, Z:-5.48 [[ 6.97103762e-01 7.16963946e-01 -3.00733409e-03 6.78754950e+02] [-7.16957758e-01 6.97110245e-01 2.97999511e-03 -2.51755326e+02] [ 4.23299246e-03 7.87657007e-05 9.99991038e-01 -5.48450783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters 0.050618950775858346 Centerline is valid? [True, True] Translation: X:678.80, Y:-251.80, Z:-5.49 [[ 6.96827863e-01 7.17232722e-01 -2.85519294e-03 6.78800718e+02] [-7.17227140e-01 6.96833708e-01 2.83062567e-03 -2.51797470e+02] [ 4.01981204e-03 7.53630366e-05 9.99991918e-01 -5.48563269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters 0.050650974516049725 Centerline is valid? [True, True] Translation: X:678.84, Y:-251.84, Z:-5.48 [[ 6.97877128e-01 7.16216384e-01 -1.26701293e-03 6.78841693e+02] [-7.16215282e-01 6.97878278e-01 1.25666707e-03 -2.51843458e+02] [ 1.78426635e-03 3.04548153e-05 9.99998408e-01 -5.48374263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters 0.05009157120942641 Centerline is valid? [True, True] Translation: X:678.88, Y:-251.89, Z:-5.48 [[ 6.99942588e-01 7.14198589e-01 8.65889816e-04 6.78883231e+02] [-7.14198074e-01 6.99943123e-01 -8.57994728e-04 -2.51889108e+02] [-1.21885225e-03 -1.78697882e-05 9.99999257e-01 -5.48270583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters 0.050314757848875055 Centerline is valid? [True, True] Translation: X:678.93, Y:-251.93, Z:-5.48 [[ 6.99695354e-01 7.14440750e-01 9.09173648e-04 6.78928384e+02] [-7.14440183e-01 6.99695944e-01 -9.00612331e-04 -2.51930207e+02] [-1.27957926e-03 -1.93959234e-05 9.99999181e-01 -5.48408785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters 0.05052798565503648 Centerline is valid? [True, True] Translation: X:678.97, Y:-251.98, Z:-5.48 [[ 6.98199876e-01 7.15901829e-01 1.22622396e-03 6.78971710e+02] [-7.15900800e-01 6.98200952e-01 -1.21464631e-03 -2.51975285e+02] [-1.72571825e-03 -2.97888087e-05 9.99998511e-01 -5.48352077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters 0.050698498492169335 Centerline is valid? [True, True] Translation: X:679.02, Y:-252.02, Z:-5.49 [[ 6.95972117e-01 7.18068688e-01 4.15159158e-04 6.79016380e+02] [-7.18068570e-01 6.95972240e-01 -4.11164460e-04 -2.52016205e+02] [-5.84183573e-04 -1.19537436e-05 9.99999829e-01 -5.48551659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters 0.05044947731215952 Centerline is valid? [True, True] Translation: X:679.06, Y:-252.06, Z:-5.49 [[ 6.94840481e-01 7.19163863e-01 -2.10758461e-04 6.79062433e+02] [-7.19163833e-01 6.94840513e-01 2.09583357e-04 -2.52056681e+02] [ 2.97168293e-04 5.94286247e-06 9.99999956e-01 -5.48728266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters 0.05090259932202427 Centerline is valid? [True, True] Translation: X:679.11, Y:-252.10, Z:-5.49 [[ 6.93991480e-01 7.19983196e-01 -1.55059332e-04 6.79105059e+02] [-7.19983179e-01 6.93991497e-01 1.54888208e-04 -2.52101271e+02] [ 2.19126765e-04 4.14901452e-06 9.99999976e-01 -5.48789787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters 0.050478264278698066 Centerline is valid? [True, True] Translation: X:679.15, Y:-252.15, Z:-5.49 [[ 6.93898800e-01 7.20072535e-01 1.47773782e-05 6.79150020e+02] [-7.20072535e-01 6.93898800e-01 -1.33433113e-05 -2.52145934e+02] [-1.98621572e-05 -1.38187646e-06 1.00000000e+00 -5.48851035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters 0.051367719138739616 Centerline is valid? [True, True] Translation: X:679.19, Y:-252.19, Z:-5.49 [[ 6.94405544e-01 7.19583674e-01 5.26239603e-04 6.79192794e+02] [-7.19583486e-01 6.94405743e-01 -5.21090760e-04 -2.52191274e+02] [-7.40392206e-04 -1.68250151e-05 9.99999726e-01 -5.48840970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters 0.05094000324421628 Centerline is valid? [True, True] Translation: X:679.24, Y:-252.23, Z:-5.49 [[ 6.95110051e-01 7.18902202e-01 1.28141835e-03 6.79237800e+02] [-7.18901079e-01 6.95111231e-01 -1.27089864e-03 -2.52232543e+02] [-1.80438012e-03 -3.77986174e-05 9.99998371e-01 -5.48820804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters 0.050407262359291424 Centerline is valid? [True, True] Translation: X:679.28, Y:-252.28, Z:-5.49 [[ 6.95339846e-01 7.18680982e-01 3.79500617e-04 6.79282533e+02] [-7.18680884e-01 6.95339950e-01 -3.75499107e-04 -2.52276985e+02] [-5.33746007e-04 -1.16403476e-05 9.99999857e-01 -5.49043762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters 0.050440374820547085 Centerline is valid? [True, True] Translation: X:679.33, Y:-252.32, Z:-5.49 [[ 6.95437645e-01 7.18586303e-01 4.55582829e-04 6.79326129e+02] [-7.18586161e-01 6.95437794e-01 -4.51297194e-04 -2.52320659e+02] [-6.41125500e-04 -1.35264585e-05 9.99999794e-01 -5.49056289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters 0.05054507761218872 Centerline is valid? [True, True] Translation: X:679.37, Y:-252.37, Z:-5.49 [[ 6.97922140e-01 7.16171643e-01 1.69260040e-03 6.79367304e+02] [-7.16169672e-01 6.97924191e-01 -1.68073105e-03 -2.52365998e+02] [-2.38499868e-03 -3.91696640e-05 9.99997155e-01 -5.48915247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters 0.050798126818002325 Centerline is valid? [True, True] Translation: X:679.41, Y:-252.41, Z:-5.49 [[ 7.02188240e-01 7.11988079e-01 2.15666830e-03 6.79409331e+02] [-7.11984859e-01 7.02191551e-01 -2.14133396e-03 -2.52410753e+02] [-3.03899851e-03 -3.18956551e-05 9.99995382e-01 -5.48955472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters 0.05140628060115719 Centerline is valid? [True, True] Translation: X:679.45, Y:-252.46, Z:-5.49 [[ 7.05520431e-01 7.08685693e-01 2.34723489e-03 6.79451360e+02] [-7.08681860e-01 7.05524335e-01 -2.33091881e-03 -2.52455333e+02] [-3.30792015e-03 -1.89319438e-05 9.99994529e-01 -5.48966259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters 0.05094029505140551 Centerline is valid? [True, True] Translation: X:679.49, Y:-252.50, Z:-5.49 [[ 7.09857499e-01 7.04342045e-01 2.14822231e-03 6.79492982e+02] [-7.04338813e-01 7.09860750e-01 -2.13360480e-03 -2.52499714e+02] [-3.02772627e-03 1.47901479e-06 9.99995416e-01 -5.49040393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters 0.051975520421570394 Centerline is valid? [True, True] Translation: X:679.54, Y:-252.54, Z:-5.49 [[ 7.12084402e-01 7.02091920e-01 1.65538961e-03 6.79536191e+02] [-7.02089995e-01 7.12086326e-01 -1.64429083e-03 -2.52543511e+02] [-2.33322361e-03 8.64137187e-06 9.99997278e-01 -5.49142257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters 0.05177585082243819 Centerline is valid? [True, True] Translation: X:679.58, Y:-252.59, Z:-5.49 [[ 7.12186914e-01 7.01987864e-01 1.68475468e-03 6.79581575e+02] [-7.01985868e-01 7.12188906e-01 -1.67416913e-03 -2.52586568e+02] [-2.37511001e-03 9.64736888e-06 9.99997179e-01 -5.49186691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters 0.05227064990737329 Centerline is valid? [True, True] Translation: X:679.63, Y:-252.63, Z:-5.49 [[ 7.10834388e-01 7.03358050e-01 1.38787055e-03 6.79626928e+02] [-7.03356699e-01 7.10835743e-01 -1.37882471e-03 -2.52628322e+02] [-1.95635546e-03 3.94796758e-06 9.99998086e-01 -5.49209075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters 0.05201294736104769 Centerline is valid? [True, True] Translation: X:679.67, Y:-252.67, Z:-5.49 [[ 7.08742219e-01 7.05465670e-01 1.62964778e-03 6.79672792e+02] [-7.05463810e-01 7.08744092e-01 -1.62004628e-03 -2.52669888e+02] [-2.29789027e-03 -1.46233843e-06 9.99997360e-01 -5.49175145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters 0.05168317608571772 Centerline is valid? [True, True] Translation: X:679.72, Y:-252.71, Z:-5.49 [[ 7.05855935e-01 7.08352559e-01 2.01266056e-03 6.79719275e+02] [-7.08349734e-01 7.05858804e-01 -2.00064523e-03 -2.52709553e+02] [-2.83781634e-03 -1.35002666e-05 9.99995973e-01 -5.49159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters 0.052003704290283725 Centerline is valid? [True, True] Translation: X:679.77, Y:-252.75, Z:-5.49 [[ 7.04434002e-01 7.09765534e-01 2.37156825e-03 6.79765059e+02] [-7.09761617e-01 7.04437993e-01 -2.35807322e-03 -2.52751184e+02] [-3.34430188e-03 -2.21411675e-05 9.99994408e-01 -5.49215567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters 0.05142049924067399 Centerline is valid? [True, True] Translation: X:679.81, Y:-252.79, Z:-5.49 [[ 7.01638021e-01 7.12530554e-01 2.07269838e-03 6.79812477e+02] [-7.12527573e-01 7.01641082e-01 -2.06128862e-03 -2.52789850e+02] [-2.92302146e-03 -3.05762769e-05 9.99995727e-01 -5.49386963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters 0.05174077571049709 Centerline is valid? [True, True] Translation: X:679.86, Y:-252.83, Z:-5.50 [[ 6.97888323e-01 7.16204905e-01 1.55669145e-03 6.79860358e+02] [-7.16203231e-01 6.97890058e-01 -1.54880570e-03 -2.52829381e+02] [-2.19566173e-03 -3.40140286e-05 9.99997589e-01 -5.49556578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters 0.0514374988571017 Centerline is valid? [True, True] Translation: X:679.90, Y:-252.87, Z:-5.50 [[ 6.96985646e-01 7.17083704e-01 1.40342045e-03 6.79904830e+02] [-7.17082347e-01 6.96987059e-01 -1.39571805e-03 -2.52872057e+02] [-1.97901256e-03 -3.35725872e-05 9.99998041e-01 -5.49615833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters 0.05126953798006278 Centerline is valid? [True, True] Translation: X:679.95, Y:-252.91, Z:-5.50 [[ 6.96120164e-01 7.17924491e-01 1.06879123e-03 6.79949197e+02] [-7.17923705e-01 6.96120984e-01 -1.06289406e-03 -2.52914245e+02] [-1.50708568e-03 -2.74085735e-05 9.99998864e-01 -5.49717506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters 0.05120440710533559 Centerline is valid? [True, True] Translation: X:679.99, Y:-252.96, Z:-5.50 [[ 6.95208606e-01 7.18807845e-01 5.25442747e-04 6.79993017e+02] [-7.18807655e-01 6.95208805e-01 -5.22023521e-04 -2.52957929e+02] [-7.40527026e-04 -1.47770241e-05 9.99999726e-01 -5.49799473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters 0.05121584708442277 Centerline is valid? [True, True] Translation: X:680.04, Y:-253.00, Z:-5.50 [[ 6.95742783e-01 7.18290947e-01 -3.09149903e-04 6.80036251e+02] [-7.18290881e-01 6.95742851e-01 3.08972653e-04 -2.53000647e+02] [ 4.37021094e-04 7.09406264e-06 9.99999904e-01 -5.49962476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters 0.05134698319431734 Centerline is valid? [True, True] Translation: X:680.08, Y:-253.05, Z:-5.50 [[ 6.98867861e-01 7.15250750e-01 -2.76254839e-04 6.80075661e+02] [-7.15250697e-01 6.98867916e-01 2.75395824e-04 -2.53048138e+02] [ 3.90042714e-04 5.12617586e-06 9.99999924e-01 -5.49896453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters 0.0512045259605661 Centerline is valid? [True, True] Translation: X:680.12, Y:-253.09, Z:-5.50 [[ 7.01545168e-01 7.12624842e-01 4.60742575e-04 6.80115925e+02] [-7.12624694e-01 7.01545319e-01 -4.58654833e-04 -2.53094492e+02] [-6.50080625e-04 -6.56945467e-06 9.99999789e-01 -5.49860854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters 0.050795399548451504 Centerline is valid? [True, True] Translation: X:680.15, Y:-253.14, Z:-5.50 [[ 7.05224782e-01 7.08981926e-01 1.62340134e-03 6.80154931e+02] [-7.08980083e-01 7.05226650e-01 -1.61675665e-03 -2.53140512e+02] [-2.29111714e-03 -1.07823646e-05 9.99997375e-01 -5.49754464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters 0.05116707055608082 Centerline is valid? [True, True] Translation: X:680.20, Y:-253.19, Z:-5.50 [[ 7.08129195e-01 7.06081580e-01 1.35813117e-03 6.80195969e+02] [-7.06080286e-01 7.08130498e-01 -1.35193300e-03 -2.53187709e+02] [-1.91630909e-03 -1.60642003e-06 9.99998164e-01 -5.49741163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters 0.05111624501926429 Centerline is valid? [True, True] Translation: X:680.24, Y:-253.23, Z:-5.50 [[ 7.09273701e-01 7.04932783e-01 7.67572499e-04 6.80237615e+02] [-7.04932369e-01 7.09274116e-01 -7.63946900e-04 -2.53231815e+02] [-1.08295052e-03 7.60744581e-07 9.99999414e-01 -5.49718759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters 0.05145406156815919 Centerline is valid? [True, True] Translation: X:680.28, Y:-253.28, Z:-5.50 [[ 7.09283487e-01 7.04921250e-01 1.72216689e-03 6.80279995e+02] [-7.04919162e-01 7.09285578e-01 -1.71583834e-03 -2.53276903e+02] [-2.43103905e-03 3.02735978e-06 9.99997045e-01 -5.49890806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters 0.051439808192773835 Centerline is valid? [True, True] Translation: X:680.32, Y:-253.32, Z:-5.50 [[ 7.08503421e-01 7.05705563e-01 1.60019240e-03 6.80323578e+02] [-7.05703763e-01 7.08505228e-01 -1.59381217e-03 -2.53321403e+02] [-2.25850679e-03 -4.04229717e-08 9.99997450e-01 -5.49967263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters 0.05104836527821405 Centerline is valid? [True, True] Translation: X:680.37, Y:-253.37, Z:-5.50 [[ 7.06583380e-01 7.07628122e-01 1.53894542e-03 6.80367567e+02] [-7.07626461e-01 7.06585056e-01 -1.53307672e-03 -2.53365860e+02] [-2.17224403e-03 -5.75196498e-06 9.99997641e-01 -5.50001266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters 0.05033347761192616 Centerline is valid? [True, True] Translation: X:680.41, Y:-253.41, Z:-5.50 [[ 7.04028948e-01 7.10170149e-01 1.26497051e-03 6.80411933e+02] [-7.10169031e-01 7.04030084e-01 -1.26037585e-03 -2.53409988e+02] [-1.78565860e-03 -1.10018027e-05 9.99998406e-01 -5.50056128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters 0.05072307705983614 Centerline is valid? [True, True] Translation: X:680.46, Y:-253.45, Z:-5.50 [[ 7.01840596e-01 7.12330852e-01 2.12978289e-03 6.80456174e+02] [-7.12327687e-01 7.01843827e-01 -2.12370720e-03 -2.53452555e+02] [-3.00755713e-03 -2.65993949e-05 9.99995477e-01 -5.49985946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters 0.05090248394528929 Centerline is valid? [True, True] Translation: X:680.50, Y:-253.50, Z:-5.50 [[ 6.99976461e-01 7.14160820e-01 2.69755329e-03 6.80501283e+02] [-7.14155755e-01 6.99981658e-01 -2.69010658e-03 -2.53495744e+02] [-3.80940655e-03 -4.34619241e-05 9.99992743e-01 -5.50025573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters 0.05042062103037121 Centerline is valid? [True, True] Translation: X:680.55, Y:-253.54, Z:-5.50 [[ 6.98649181e-01 7.15460474e-01 2.37321026e-03 6.80546489e+02] [-7.15456560e-01 6.98653210e-01 -2.36710808e-03 -2.53536567e+02] [-3.35162323e-03 -4.41507311e-05 9.99994382e-01 -5.50171690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters 0.05056920759539034 Centerline is valid? [True, True] Translation: X:680.59, Y:-253.58, Z:-5.50 [[ 6.96610118e-01 7.17447109e-01 1.99742722e-03 6.80591441e+02] [-7.17444343e-01 6.96612980e-01 -1.99287340e-03 -2.53578631e+02] [-2.82121498e-03 -4.47870816e-05 9.99996019e-01 -5.50199769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters 0.050685990364989116 Centerline is valid? [True, True] Translation: X:680.64, Y:-253.62, Z:-5.50 [[ 6.94619323e-01 7.19375796e-01 1.56819728e-03 6.80636283e+02] [-7.19374096e-01 6.94621092e-01 -1.56481721e-03 -2.53621714e+02] [-2.21499453e-03 -4.11682328e-05 9.99997546e-01 -5.50246273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters 0.05020529710152279 Centerline is valid? [True, True] Translation: X:680.68, Y:-253.67, Z:-5.50 [[ 6.93913227e-01 7.20057438e-01 1.31100502e-03 6.80679565e+02] [-7.20056252e-01 6.93914464e-01 -1.30756951e-03 -2.53666784e+02] [-1.85125050e-03 -3.66575775e-05 9.99998286e-01 -5.50252598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters 0.05047011049151688 Centerline is valid? [True, True] Translation: X:680.72, Y:-253.71, Z:-5.50 [[ 6.94677600e-01 7.19320933e-01 6.54185821e-04 6.80724538e+02] [-7.19320637e-01 6.94677908e-01 -6.52109448e-04 -2.53707928e+02] [-9.23524414e-04 -1.75635355e-05 9.99999573e-01 -5.50414296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters 0.050655449693993264 Centerline is valid? [True, True] Translation: X:680.77, Y:-253.75, Z:-5.51 [[ 6.97274662e-01 7.16803960e-01 -3.59071359e-04 6.80765086e+02] [-7.16803871e-01 6.97274754e-01 3.58790759e-04 -2.53753928e+02] [ 5.07554030e-04 7.20803443e-06 9.99999871e-01 -5.50536180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters 0.0502531995970545 Centerline is valid? [True, True] Translation: X:680.81, Y:-253.80, Z:-5.50 [[ 6.98967206e-01 7.15152935e-01 -1.06042798e-03 6.80806404e+02] [-7.15152149e-01 6.98968010e-01 1.06031542e-03 -2.53801039e+02] [ 1.49949292e-03 1.72416444e-05 9.99998876e-01 -5.50458460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters 0.05025689551088648 Centerline is valid? [True, True] Translation: X:680.85, Y:-253.85, Z:-5.51 [[ 7.01423163e-01 7.12744102e-01 -1.17951387e-03 6.80849157e+02] [-7.12743126e-01 7.01424155e-01 1.17951769e-03 -2.53845437e+02] [ 1.66803380e-03 1.33493726e-05 9.99998609e-01 -5.50611218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters 0.050534360584591834 Centerline is valid? [True, True] Translation: X:680.89, Y:-253.89, Z:-5.50 [[ 7.03657356e-01 7.10539437e-01 1.85075562e-04 6.80891735e+02] [-7.10539413e-01 7.03657380e-01 -1.84485452e-04 -2.53890871e+02] [-2.61313975e-04 -1.68893552e-06 9.99999966e-01 -5.50466075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters 0.05054074042664168 Centerline is valid? [True, True] Translation: X:680.93, Y:-253.93, Z:-5.51 [[ 7.04616420e-01 7.09588159e-01 5.86478739e-04 6.80934682e+02] [-7.09587918e-01 7.04616665e-01 -5.84963912e-04 -2.53933841e+02] [-8.28326159e-04 -3.98305008e-06 9.99999657e-01 -5.50531122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters 0.05053199859695248 Centerline is valid? [True, True] Translation: X:680.98, Y:-253.98, Z:-5.51 [[ 7.04765721e-01 7.09440047e-01 3.13754668e-04 6.80978945e+02] [-7.09439978e-01 7.04765791e-01 -3.12294681e-04 -2.53976571e+02] [-4.42677910e-04 -2.49551897e-06 9.99999902e-01 -5.50714041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters 0.05063292476721376 Centerline is valid? [True, True] Translation: X:681.02, Y:-254.02, Z:-5.51 [[ 7.04174753e-01 7.10026620e-01 -3.40832892e-04 6.81023853e+02] [-7.10026537e-01 7.04174836e-01 3.41915469e-04 -2.54020121e+02] [ 4.82775030e-04 1.23215657e-06 9.99999883e-01 -5.50711417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters 0.05116471428579426 Centerline is valid? [True, True] Translation: X:681.07, Y:-254.06, Z:-5.51 [[ 7.03713265e-01 7.10482782e-01 -1.36316197e-03 6.81069502e+02] [-7.10481472e-01 7.03714585e-01 1.36430623e-03 -2.54062906e+02] [ 1.92859304e-03 8.42092878e-06 9.99998140e-01 -5.50851261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters 0.05142697950728468 Centerline is valid? [True, True] Translation: X:681.11, Y:-254.10, Z:-5.51 [[ 7.04352385e-01 7.09849145e-01 -1.38171983e-03 6.81113273e+02] [-7.09847797e-01 7.04353741e-01 1.38306248e-03 -2.54104982e+02] [ 1.95498525e-03 6.64742463e-06 9.99998089e-01 -5.51005613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters 0.05154320886569262 Centerline is valid? [True, True] Translation: X:681.73, Y:-253.80, Z:-4.50 [[ 7.59017682e-01 -6.50955443e-01 -1.22134928e-02 6.81729802e+02] [-6.50858415e-01 -7.59115709e-01 1.12545105e-02 -2.53797787e+02] [-1.65976392e-02 -5.93117914e-04 -9.99862074e-01 -4.50279633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters 0.05130698258105171 Centerline is valid? [True, True] Translation: X:681.71, Y:-253.88, Z:-4.50 [[ 8.06667987e-01 -5.90868792e-01 -1.26818703e-02 6.81708623e+02] [-5.90783930e-01 -8.06767445e-01 1.00318463e-02 -2.53878407e+02] [-1.61588250e-02 -6.00124078e-04 -9.99869258e-01 -4.50417216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters 0.051487825031626556 Centerline is valid? [True, True] Translation: X:681.69, Y:-253.96, Z:-4.51 [[ 8.49635669e-01 -5.27222679e-01 -1.24689955e-02 6.81694812e+02] [-5.27155859e-01 -8.49726965e-01 8.41337871e-03 -2.53956911e+02] [-1.50309657e-02 -5.75202639e-04 -9.99886863e-01 -4.50768470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters 0.05067902083838494 Centerline is valid? [True, True] Translation: X:681.68, Y:-254.05, Z:-4.51 [[ 8.88834368e-01 -4.58080616e-01 -1.16454013e-02 6.81679675e+02] [-4.58032508e-01 -8.88910457e-01 6.66487900e-03 -2.54052341e+02] [-1.34047709e-02 -5.90001153e-04 -9.99909978e-01 -4.50653797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters 0.05156172717826571 Centerline is valid? [True, True] Translation: X:681.67, Y:-254.14, Z:-4.51 [[ 9.22727421e-01 -3.85274390e-01 -1.17367665e-02 6.81672998e+02] [-3.85234669e-01 -9.22801857e-01 5.56619236e-03 -2.54143159e+02] [-1.29752213e-02 -6.14668958e-04 -9.99915629e-01 -4.50704906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters 0.051122328301751445 Centerline is valid? [True, True] Translation: X:681.68, Y:-254.22, Z:-4.51 [[ 9.51095203e-01 -3.08663478e-01 -1.20321637e-02 6.81678982e+02] [-3.08629967e-01 -9.51171081e-01 4.59542626e-03 -2.54224099e+02] [-1.28630864e-02 -6.57201595e-04 -9.99917051e-01 -4.50525757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters 0.05149197574633417 Centerline is valid? [True, True] Translation: X:681.69, Y:-254.30, Z:-4.51 [[ 9.72947233e-01 -2.30705559e-01 -1.21912448e-02 6.81693954e+02] [-2.30678519e-01 -9.73023366e-01 3.59872365e-03 -2.54296784e+02] [-1.26926116e-02 -6.89109912e-04 -9.99919208e-01 -4.50677124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters 0.051099229100230174 Centerline is valid? [True, True] Translation: X:681.71, Y:-254.37, Z:-4.51 [[ 9.88208797e-01 -1.52632510e-01 -1.21115438e-02 6.81713670e+02] [-1.52612321e-01 -9.88282766e-01 2.57942570e-03 -2.54373109e+02] [-1.23633342e-02 -7.00640357e-04 -9.99923326e-01 -4.50730357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters 0.05118964562548811 Centerline is valid? [True, True] Translation: X:681.74, Y:-254.45, Z:-4.51 [[ 9.97250921e-01 -7.29885928e-02 -1.27775368e-02 6.81739477e+02] [-7.29732128e-02 -9.97332509e-01 1.66641480e-03 -2.54445662e+02] [-1.28650821e-02 -7.29415782e-04 -9.99916975e-01 -4.50680201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters 0.05158714268869686 Centerline is valid? [True, True] Translation: X:681.77, Y:-254.52, Z:-4.51 [[ 9.99880912e-01 6.14204771e-03 -1.41575893e-02 6.81771262e+02] [ 6.15216181e-03 -9.99980850e-01 6.70952341e-04 -2.54518187e+02] [-1.41531972e-02 -7.57972219e-04 -9.99899551e-01 -4.50668232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters 0.05035051898621671 Centerline is valid? [True, True] Translation: X:681.80, Y:-254.59, Z:-4.51 [[ 9.96328115e-01 8.42026239e-02 -1.54985420e-02 6.81803356e+02] [ 8.42044794e-02 -9.96448353e-01 -5.33963628e-04 -2.54590196e+02] [-1.54884578e-02 -7.73043686e-04 -9.99879748e-01 -4.50625453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters 0.05050921409565516 Centerline is valid? [True, True] Translation: X:681.84, Y:-254.66, Z:-4.51 [[ 9.87248599e-01 1.58486240e-01 -1.49102462e-02 6.81840850e+02] [ 1.58479024e-01 -9.87360929e-01 -1.67177818e-03 -2.54655920e+02] [-1.49867484e-02 -7.12500600e-04 -9.99887439e-01 -4.50637688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters 0.05093963021959822 Centerline is valid? [True, True] Translation: X:681.88, Y:-254.72, Z:-4.51 [[ 9.72866568e-01 2.30975820e-01 -1.34466539e-02 6.81881302e+02] [ 2.30962759e-01 -9.72959282e-01 -2.53748079e-03 -2.54715001e+02] [-1.36691435e-02 -6.37046069e-04 -9.99906370e-01 -4.50643283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters 0.050862637817773115 Centerline is valid? [True, True] Translation: X:681.93, Y:-254.77, Z:-4.51 [[ 9.54173222e-01 2.99019342e-01 -1.18699360e-02 6.81927911e+02] [ 2.99003097e-01 -9.54246902e-01 -3.16195220e-03 -2.54772795e+02] [-1.22723346e-02 -5.32097516e-04 -9.99924550e-01 -4.50882766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters 0.05162062845947207 Centerline is valid? [True, True] Translation: X:681.98, Y:-254.83, Z:-4.51 [[ 9.29451511e-01 3.68761829e-01 -1.16018107e-02 6.81976320e+02] [ 3.68739465e-01 -9.29523795e-01 -4.08915873e-03 -2.54826804e+02] [-1.22920847e-02 -4.77370702e-04 -9.99924336e-01 -4.50919694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters 0.05166913322637136 Centerline is valid? [True, True] Translation: X:682.04, Y:-254.90, Z:-4.51 [[ 8.99658360e-01 4.36417396e-01 -1.24374993e-02 6.82041836e+02] [ 4.36381916e-01 -8.99744236e-01 -5.57968732e-03 -2.54904181e+02] [-1.36256409e-02 -4.07687430e-04 -9.99907084e-01 -4.50825207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters 0.05130265251907669 Centerline is valid? [True, True] Translation: X:682.11, Y:-254.98, Z:-4.51 [[ 8.63265346e-01 5.04565273e-01 -1.36684960e-02 6.82114146e+02] [ 5.04508753e-01 -8.63373470e-01 -7.56098593e-03 -2.54977688e+02] [-1.56160277e-02 -3.68738729e-04 -9.99877994e-01 -4.50804643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters 0.05147928624744745 Centerline is valid? [True, True] Translation: X:682.20, Y:-255.05, Z:-4.51 [[ 8.20663067e-01 5.71256697e-01 -1.33385299e-02 6.82195561e+02] [ 5.71188646e-01 -8.20771372e-01 -8.82533859e-03 -2.55051675e+02] [-1.59894173e-02 -3.76187404e-04 -9.99872090e-01 -4.50722419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters 0.051894153675587376 Centerline is valid? [True, True] Translation: X:682.29, Y:-255.13, Z:-4.51 [[ 7.71701475e-01 6.35870479e-01 -1.20650858e-02 6.82290724e+02] [ 6.35801284e-01 -7.71795668e-01 -9.39011855e-03 -2.55128737e+02] [-1.52826802e-02 -4.24628722e-04 -9.99883123e-01 -4.51004297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters 0.05156097037856002 Centerline is valid? [True, True] Translation: X:682.36, Y:-255.16, Z:-4.51 [[ 7.17399171e-01 6.96570722e-01 -1.12986259e-02 6.82360317e+02] [ 6.96494540e-01 -7.17487984e-01 -1.03125192e-02 -2.55162838e+02] [-1.52900273e-02 -4.71238533e-04 -9.99882990e-01 -4.50675552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters 0.05104014623176959 Centerline is valid? [True, True] Translation: X:682.43, Y:-255.19, Z:-4.51 [[ 6.56103016e-01 7.54602801e-01 -1.01708025e-02 6.82432407e+02] [ 7.54525164e-01 -6.56181603e-01 -1.08388227e-02 -2.55192441e+02] [-1.48528995e-02 -5.62742169e-04 -9.99889531e-01 -4.50798403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters 0.05047557584750986 Centerline is valid? [True, True] Translation: X:682.52, Y:-255.22, Z:-4.51 [[ 5.89889037e-01 8.07435068e-01 -8.91824272e-03 6.82515282e+02] [ 8.07359013e-01 -5.89956088e-01 -1.11012306e-02 -2.55223313e+02] [-1.42248945e-02 -6.51729396e-04 -9.99898609e-01 -4.50770692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters 0.05021116547114811 Centerline is valid? [True, True] Translation: X:682.60, Y:-255.24, Z:-4.51 [[ 5.21658483e-01 8.53119488e-01 -7.71795866e-03 6.82595941e+02] [ 8.53045157e-01 -5.21715107e-01 -1.12830722e-02 -2.55244260e+02] [-1.36523844e-02 -6.97856938e-04 -9.99906558e-01 -4.50811261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters 0.05082958893803683 Centerline is valid? [True, True] Translation: X:682.68, Y:-255.26, Z:-4.51 [[ 4.49974461e-01 8.93015544e-01 -6.79876824e-03 6.82678132e+02] [ 8.92937474e-01 -4.50025200e-01 -1.18315742e-02 -2.55259025e+02] [-1.36253967e-02 -7.46968703e-04 -9.99906891e-01 -4.50742137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters 0.05077120468369818 Centerline is valid? [True, True] Translation: X:682.76, Y:-255.27, Z:-4.51 [[ 3.75120378e-01 9.26955898e-01 -6.12091823e-03 6.82763720e+02] [ 9.26865650e-01 -3.75169435e-01 -1.29600078e-02 -2.55267309e+02] [-1.43097371e-02 -8.11705824e-04 -9.99897281e-01 -4.50847824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters 0.05033279982592432 Centerline is valid? [True, True] Translation: X:682.86, Y:-255.27, Z:-4.51 [[ 3.01237077e-01 9.53534020e-01 -5.39404831e-03 6.82855032e+02] [ 9.53426993e-01 -3.01284218e-01 -1.43104840e-02 -2.55271373e+02] [-1.52706749e-02 -8.31982910e-04 -9.99883050e-01 -4.50880412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters 0.050138367064313245 Centerline is valid? [True, True] Translation: X:682.94, Y:-255.27, Z:-4.51 [[ 2.26760609e-01 9.73941656e-01 -4.15664272e-03 6.82944056e+02] [ 9.73837092e-01 -2.26797268e-01 -1.42939778e-02 -2.55267843e+02] [-1.48642156e-02 -8.06581742e-04 -9.99889196e-01 -4.50856625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters 0.050475402202994436 Centerline is valid? [True, True] Translation: X:683.03, Y:-255.26, Z:-4.51 [[ 1.51568414e-01 9.88442485e-01 -2.91031824e-03 6.83030831e+02] [ 9.88344931e-01 -1.51594405e-01 -1.39080168e-02 -2.55257444e+02] [-1.41884627e-02 -7.68382222e-04 -9.99899043e-01 -4.50815704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters 0.05024965993457078 Centerline is valid? [True, True] Translation: X:683.12, Y:-255.24, Z:-4.51 [[ 7.58452069e-02 9.97117811e-01 -1.89096276e-03 6.83116115e+02] [ 9.97005772e-01 -7.58650668e-02 -1.49660289e-02 -2.55239252e+02] [-1.50663520e-02 -7.50199224e-04 -9.99886215e-01 -4.50805510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters 0.05000713690619763 Centerline is valid? [True, True] Translation: X:683.20, Y:-255.22, Z:-4.51 [[-1.36218340e-03 9.99998809e-01 -7.25183196e-04 6.83198186e+02] [ 9.99869644e-01 1.35033963e-03 -1.60894639e-02 -2.55215937e+02] [-1.60884655e-02 -7.47005465e-04 -9.99870293e-01 -4.50754817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters 0.05013108984517504 Centerline is valid? [True, True] Translation: X:683.28, Y:-255.19, Z:-4.51 [[-8.01669508e-02 9.96781339e-01 4.71605872e-04 6.83279452e+02] [ 9.96667196e-01 8.01649162e-02 -1.51025455e-02 -2.55185189e+02] [-1.50917418e-02 -7.40690924e-04 -9.99885839e-01 -4.51024535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters 0.05000685356935491 Centerline is valid? [True, True] Translation: X:683.36, Y:-255.15, Z:-4.51 [[-1.60406704e-01 9.87050012e-01 1.40080027e-03 6.83360632e+02] [ 9.86960929e-01 1.60411076e-01 -1.32819609e-02 -2.55149206e+02] [-1.33346635e-02 -7.47980429e-04 -9.99910810e-01 -4.51220453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters 0.05071035302371577 Centerline is valid? [True, True] Translation: X:683.44, Y:-255.11, Z:-4.51 [[-2.37898709e-01 9.71287264e-01 2.29258978e-03 6.83436912e+02] [ 9.71207208e-01 2.37908587e-01 -1.24924914e-02 -2.55107237e+02] [-1.26792246e-02 -7.45367852e-04 -9.99919338e-01 -4.51196264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters 0.05068382100416962 Centerline is valid? [True, True] Translation: X:683.50, Y:-255.06, Z:-4.51 [[-3.14839386e-01 9.49139783e-01 3.13583823e-03 6.83502646e+02] [ 9.49065986e-01 3.14854090e-01 -1.18598839e-02 -2.55060827e+02] [-1.22440192e-02 -7.57841176e-04 -9.99924752e-01 -4.51332948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters 0.05199406825607471 Centerline is valid? [True, True] Translation: X:683.57, Y:-255.01, Z:-4.51 [[-3.89883949e-01 9.20854525e-01 4.17721224e-03 6.83573747e+02] [ 9.20778191e-01 3.89905532e-01 -1.18827315e-02 -2.55006979e+02] [-1.25709852e-02 -7.86600335e-04 -9.99920673e-01 -4.51229738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters 0.05082423920436089 Centerline is valid? [True, True] Translation: X:683.63, Y:-254.95, Z:-4.51 [[-4.61928306e-01 8.86902264e-01 5.15880979e-03 6.83630745e+02] [ 8.86826147e-01 4.61956410e-01 -1.16473530e-02 -2.54949925e+02] [-1.27132090e-02 -8.05274638e-04 -9.99918860e-01 -4.51496846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters 0.051932646248044376 Centerline is valid? [True, True] Translation: X:683.70, Y:-254.88, Z:-4.51 [[-5.30719374e-01 8.47523335e-01 6.41427722e-03 6.83695185e+02] [ 8.47441440e-01 5.30757480e-01 -1.18111604e-02 -2.54883343e+02] [-1.34146597e-02 -8.32687354e-04 -9.99909673e-01 -4.51435478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters 0.050680555300820725 Centerline is valid? [True, True] Translation: X:683.74, Y:-254.82, Z:-4.52 [[-5.95298039e-01 8.03468184e-01 7.68910480e-03 6.83744053e+02] [ 8.03382039e-01 5.95347096e-01 -1.17955144e-02 -2.54817628e+02] [-1.40550068e-02 -8.44557924e-04 -9.99900867e-01 -4.51505481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters 0.05195459307254183 Centerline is valid? [True, True] Translation: X:683.79, Y:-254.75, Z:-4.52 [[-6.55921707e-01 7.54787007e-01 7.95539628e-03 6.83787322e+02] [ 7.54715899e-01 6.55969446e-01 -1.03922339e-02 -2.54748068e+02] [-1.30624200e-02 -8.12427720e-04 -9.99914353e-01 -4.51664926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters 0.050683312402629126 Centerline is valid? [True, True] Translation: X:683.83, Y:-254.67, Z:-4.52 [[-7.11807134e-01 7.02334349e-01 7.55423077e-03 6.83828041e+02] [ 7.02283182e-01 7.11846820e-01 -8.51099899e-03 -2.54672031e+02] [-1.13550221e-02 -7.52980572e-04 -9.99935246e-01 -4.52022622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters 0.05096984311807458 Centerline is valid? [True, True] Translation: X:683.87, Y:-254.59, Z:-4.52 [[-7.63859376e-01 6.45333534e-01 7.96763988e-03 6.83866839e+02] [ 6.45288127e-01 7.63900578e-01 -7.69029370e-03 -2.54589580e+02] [-1.10492891e-02 -7.32879539e-04 -9.99938686e-01 -4.52158054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters 0.051046057202242805 Centerline is valid? [True, True] Translation: X:683.84, Y:-254.47, Z:-4.52 [[-8.06346961e-01 5.91374541e-01 8.98498832e-03 6.83844223e+02] [ 5.91328382e-01 8.06396741e-01 -7.41894999e-03 -2.54465991e+02] [-1.16328435e-02 -6.69169178e-04 -9.99932112e-01 -4.52240340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters 0.05128983435180655 Centerline is valid? [True, True] Translation: X:683.88, Y:-254.39, Z:-4.52 [[-8.44957137e-01 5.34744882e-01 9.76461705e-03 6.83875420e+02] [ 5.34700202e-01 8.45013310e-01 -6.94258660e-03 -2.54392002e+02] [-1.19637440e-02 -6.45045383e-04 -9.99928224e-01 -4.52213836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters 0.05136761067487893 Centerline is valid? [True, True] Translation: X:684.12, Y:-253.83, Z:-5.53 [[-7.91173736e-01 -6.11591438e-01 -1.81505361e-04 6.84115624e+02] [ 6.11591464e-01 -7.91173718e-01 -1.71699696e-04 -2.53826514e+02] [-3.85922074e-05 -2.46851420e-04 9.99999969e-01 -5.52703986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters 0.05195216536245814 Centerline is valid? [True, True] Translation: X:683.68, Y:-254.27, Z:-4.53 [[-8.42313716e-01 5.38891638e-01 1.01688968e-02 6.83683921e+02] [ 5.38844459e-01 8.42374920e-01 -7.15140332e-03 -2.54267559e+02] [-1.24198551e-02 -5.44271391e-04 -9.99922722e-01 -4.52511993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters 0.051397137157625394 Centerline is valid? [True, True] Translation: X:683.89, Y:-253.68, Z:-5.53 [[-7.99957373e-01 -6.00055964e-01 -1.02029674e-03 6.83892655e+02] [ 6.00055917e-01 -7.99957966e-01 3.86073099e-04 -2.53675661e+02] [-1.04785997e-03 -3.03393073e-04 9.99999405e-01 -5.52675267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters 0.05171651156739024 Centerline is valid? [True, True] Translation: X:683.48, Y:-254.13, Z:-4.53 [[-8.38689921e-01 5.44527205e-01 9.45195879e-03 6.83476127e+02] [ 5.44486956e-01 8.38743077e-01 -6.63368998e-03 -2.54132654e+02] [-1.15399897e-02 -4.17140659e-04 -9.99933325e-01 -4.52851797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters 0.05225394271675266 Centerline is valid? [True, True] Translation: X:683.63, Y:-254.14, Z:-4.53 [[-8.72611296e-01 4.88301594e-01 1.05394644e-02 6.83629993e+02] [ 4.88261139e-01 8.72674873e-01 -6.29495467e-03 -2.54135868e+02] [-1.22713622e-02 -3.47037642e-04 -9.99924644e-01 -4.52812254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters 0.05325219891865977 Centerline is valid? [True, True] Translation: X:683.91, Y:-254.18, Z:-4.53 [[-9.04180902e-01 4.26983821e-01 1.19043174e-02 6.83912716e+02] [ 4.26942539e-01 9.04259217e-01 -5.94454532e-03 -2.54175471e+02] [-1.33028134e-02 -2.92484843e-04 -9.99911471e-01 -4.52873506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters 0.05313706338026993 Centerline is valid? [True, True] Translation: X:684.18, Y:-253.67, Z:-5.52 [[-8.87270828e-01 -4.61246743e-01 1.38532135e-03 6.84176437e+02] [ 4.61245660e-01 -8.87271865e-01 -1.03908742e-03 -2.53668968e+02] [ 1.70843234e-03 -2.82978499e-04 9.99998501e-01 -5.52424261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters 0.05343616742401943 Centerline is valid? [True, True] Translation: X:683.78, Y:-254.11, Z:-4.53 [[-9.04539815e-01 4.26168808e-01 1.37065825e-02 6.83784165e+02] [ 4.26116387e-01 9.04643633e-01 -6.68738068e-03 -2.54112605e+02] [-1.52495257e-02 -2.08402655e-04 -9.99883698e-01 -4.52931452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters 0.053499711952084895 Centerline is valid? [True, True] Translation: X:683.96, Y:-253.58, Z:-5.52 [[-8.87804571e-01 -4.60217757e-01 1.63113741e-03 6.83961028e+02] [ 4.60215948e-01 -8.87805946e-01 -1.37261292e-03 -2.53584507e+02] [ 2.07983433e-03 -4.67936580e-04 9.99997728e-01 -5.52432197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters 0.05312614584509262 Centerline is valid? [True, True] Translation: X:683.37, Y:-253.35, Z:-5.53 [[-8.51545247e-01 -5.24278904e-01 1.52411166e-03 6.83369598e+02] [ 5.24277001e-01 -8.51546482e-01 -1.48798730e-03 -2.53348089e+02] [ 2.07797227e-03 -4.68031821e-04 9.99997731e-01 -5.53130772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters 0.05291933608147435 Centerline is valid? [True, True] Translation: X:682.98, Y:-253.76, Z:-4.53 [[-8.82466884e-01 4.70223312e-01 1.19262521e-02 6.82981675e+02] [ 4.70173787e-01 8.82547367e-01 -6.83773219e-03 -2.53758246e+02] [-1.37407434e-02 -4.26661110e-04 -9.99905501e-01 -4.53236089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters 0.0528060053120455 Centerline is valid? [True, True] Translation: X:683.41, Y:-253.87, Z:-4.53 [[-9.18197535e-01 3.95966544e-01 1.11258164e-02 6.83411910e+02] [ 3.95930222e-01 9.18264776e-01 -5.39067958e-03 -2.53867441e+02] [-1.23509741e-02 -5.44661734e-04 -9.99923575e-01 -4.53103349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters 0.0530941667395559 Centerline is valid? [True, True] Translation: X:682.93, Y:-253.08, Z:-5.53 [[-8.82246407e-01 -4.70787917e-01 -1.18622788e-04 6.82930633e+02] [ 4.70787931e-01 -8.82246364e-01 -2.76742540e-04 -2.53080377e+02] [ 2.56325198e-05 -3.00001289e-04 9.99999955e-01 -5.53341335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters 0.052986025340925384 Centerline is valid? [True, True] Translation: X:682.74, Y:-253.54, Z:-4.53 [[-9.23777330e-01 3.82712938e-01 1.28938411e-02 6.82739598e+02] [ 3.82665312e-01 9.23867061e-01 -6.07558887e-03 -2.53544766e+02] [-1.42374016e-02 -6.78465536e-04 -9.99898413e-01 -4.53420273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters 0.052561702106353136 Centerline is valid? [True, True] Translation: X:683.12, Y:-253.60, Z:-4.53 [[-9.50999270e-01 3.08857347e-01 1.44057917e-02 6.83117897e+02] [ 3.08809404e-01 9.51108055e-01 -5.49729050e-03 -2.53599414e+02] [-1.53993431e-02 -7.79275303e-04 -9.99881119e-01 -4.53331028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters 0.05268737889687498 Centerline is valid? [True, True] Translation: X:682.45, Y:-253.30, Z:-4.54 [[-9.70521916e-01 2.40535017e-01 1.51695507e-02 6.82445973e+02] [ 2.40493231e-01 9.70640159e-01 -4.54829889e-03 -2.53299394e+02] [-1.58182003e-02 -7.66049484e-04 -9.99874591e-01 -4.53546197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters 0.0533481623598255 Centerline is valid? [True, True] Translation: X:682.53, Y:-252.83, Z:-5.54 [[-9.39873589e-01 -3.41509166e-01 3.02082532e-03 6.82526907e+02] [ 3.41506458e-01 -9.39878405e-01 -1.38682669e-03 -2.52827033e+02] [ 3.31282251e-03 -2.71810421e-04 9.99994476e-01 -5.53676255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters 0.05349343892379774 Centerline is valid? [True, True] Translation: X:682.62, Y:-253.36, Z:-4.54 [[-9.70515839e-01 2.40555948e-01 1.52263649e-02 6.82624086e+02] [ 2.40515397e-01 9.70635040e-01 -4.46792580e-03 -2.53363255e+02] [-1.58540294e-02 -6.74017556e-04 -9.99874090e-01 -4.53915038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters 0.05292857082353753 Centerline is valid? [True, True] Translation: X:681.70, Y:-253.07, Z:-4.54 [[-9.84454801e-01 1.74938217e-01 1.56641121e-02 6.81704800e+02] [ 1.74906461e-01 9.84579234e-01 -3.38546368e-03 -2.53067150e+02] [-1.60148065e-02 -5.93081567e-04 -9.99871579e-01 -4.53837385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters 0.05353571412492362 Centerline is valid? [True, True] Translation: X:682.16, Y:-253.06, Z:-4.54 [[-9.94424233e-01 1.04333008e-01 1.53319407e-02 6.82163236e+02] [ 1.04312104e-01 9.94542268e-01 -2.15904236e-03 -2.53061435e+02] [-1.54735225e-02 -5.47697045e-04 -9.99880128e-01 -4.54115512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters 0.05359530710318752 Centerline is valid? [True, True] Translation: X:681.33, Y:-252.92, Z:-4.54 [[-9.99271787e-01 3.49776196e-02 1.52467017e-02 6.81328236e+02] [ 3.49659919e-02 9.99387973e-01 -1.02862887e-03 -2.52919114e+02] [-1.52733493e-02 -4.94763766e-04 -9.99883233e-01 -4.54361808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters 0.05360426498520739 Centerline is valid? [True, True] Translation: X:681.28, Y:-252.41, Z:-5.55 [[-9.94222563e-01 -1.07277740e-01 3.60304456e-03 6.81281020e+02] [ 1.07276004e-01 -9.94229052e-01 -6.72458242e-04 -2.52411178e+02] [ 3.65439138e-03 -2.82052935e-04 9.99993283e-01 -5.54528078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters 0.0534207819468667 Centerline is valid? [True, True] Translation: X:681.60, Y:-252.94, Z:-4.54 [[-9.99473526e-01 2.83136297e-02 1.58432544e-02 6.81602202e+02] [ 2.83021851e-02 9.99598965e-01 -9.46156131e-04 -2.52941399e+02] [-1.58636898e-02 -4.97259286e-04 -9.99874040e-01 -4.54320404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters 0.05303172295864899 Centerline is valid? [True, True] Translation: X:680.73, Y:-252.87, Z:-4.55 [[-9.98873628e-01 -4.48280761e-02 1.55537294e-02 6.80727271e+02] [-4.48304453e-02 9.98994591e-01 1.96481847e-04 -2.52866897e+02] [-1.55468994e-02 -5.01020078e-04 -9.99879014e-01 -4.54773762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters 0.053010486697061605 Centerline is valid? [True, True] Translation: X:680.80, Y:-252.79, Z:-4.55 [[-9.92290787e-01 -1.22965252e-01 1.54447493e-02 6.80795265e+02] [-1.22959663e-01 9.92410799e-01 1.31457438e-03 -2.52787443e+02] [-1.54891829e-02 -5.94641125e-04 -9.99879859e-01 -4.54837397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters 0.05308994758017326 Centerline is valid? [True, True] Translation: X:680.56, Y:-252.30, Z:-5.55 [[-9.99452293e-01 3.28484158e-02 4.01198362e-03 6.80559467e+02] [-3.28493829e-02 -9.99460298e-01 -1.75396746e-04 -2.52296030e+02] [ 4.00405684e-03 -3.07091866e-04 9.99991937e-01 -5.54902797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters 0.053114832681475606 Centerline is valid? [True, True] Translation: X:680.57, Y:-252.81, Z:-4.55 [[-9.90274722e-01 -1.38183907e-01 1.61611564e-02 6.80572294e+02] [-1.38178126e-01 9.90406289e-01 1.47918008e-03 -2.52809056e+02] [-1.62105098e-02 -7.68323664e-04 -9.99868306e-01 -4.54716569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters 0.05326862132966014 Centerline is valid? [True, True] Translation: X:680.54, Y:-252.74, Z:-4.55 [[-9.76898411e-01 -2.13250349e-01 1.39206282e-02 6.80535158e+02] [-2.13240168e-01 9.76997269e-01 2.22888791e-03 -2.52740683e+02] [-1.40757269e-02 -7.91040038e-04 -9.99900619e-01 -4.55006055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters 0.05309946214678415 Centerline is valid? [True, True] Translation: X:680.51, Y:-252.67, Z:-4.55 [[-9.58021051e-01 -2.86455326e-01 1.17903329e-02 6.80510490e+02] [-2.86443657e-01 9.58093276e-01 2.70285881e-03 -2.52672033e+02] [-1.20704870e-02 -7.87870447e-04 -9.99926839e-01 -4.55251091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters 0.053128013024842255 Centerline is valid? [True, True] Translation: X:680.42, Y:-252.62, Z:-4.55 [[-9.34400356e-01 -3.56058743e-01 1.08695021e-02 6.80424422e+02] [-3.56044323e-01 9.34463243e-01 3.29971263e-03 -2.52619016e+02] [-1.13320417e-02 -7.86771859e-04 -9.99935481e-01 -4.55326779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters 0.05326994692632482 Centerline is valid? [True, True] Translation: X:680.36, Y:-252.56, Z:-4.55 [[-9.05324136e-01 -4.24593340e-01 1.04261578e-02 6.80356042e+02] [-4.24575322e-01 9.05383808e-01 3.99460349e-03 -2.52561226e+02] [-1.11357565e-02 -8.10278366e-04 -9.99937667e-01 -4.55254051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters 0.05429847455975535 Centerline is valid? [True, True] Translation: X:680.25, Y:-252.52, Z:-4.55 [[-8.71563658e-01 -4.90157888e-01 1.10469087e-02 6.80247932e+02] [-4.90130891e-01 8.71633233e-01 5.21699128e-03 -2.52522298e+02] [-1.21860022e-02 -8.67491213e-04 -9.99925372e-01 -4.55092774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters 0.05141278126189158 Centerline is valid? [True, True] Translation: X:680.14, Y:-252.51, Z:-4.55 [[-8.33176614e-01 -5.52877631e-01 1.19605728e-02 6.80135642e+02] [-5.52836577e-01 8.33261924e-01 6.80325120e-03 -2.52510778e+02] [-1.37276553e-02 -9.43932337e-04 -9.99905326e-01 -4.55277548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters 0.051606552799052005 Centerline is valid? [True, True] Translation: X:679.78, Y:-252.08, Z:-5.55 [[-9.02352664e-01 4.30985608e-01 3.32791843e-03 6.79776288e+02] [-4.30983043e-01 -9.02358796e-01 1.48970352e-03 -2.52077884e+02] [ 3.64501725e-03 -9.00384721e-05 9.99993353e-01 -5.55340033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters 0.05207405661179026 Centerline is valid? [True, True] Translation: X:679.91, Y:-252.66, Z:-4.55 [[-8.33403489e-01 -5.52478435e-01 1.43597654e-02 6.79913028e+02] [-5.52416080e-01 8.33526629e-01 8.35665394e-03 -2.52659097e+02] [-1.65861179e-02 -9.68100730e-04 -9.99861972e-01 -4.55125681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters 0.05097524481099279 Centerline is valid? [True, True] Translation: X:679.76, Y:-252.68, Z:-4.55 [[-7.94128295e-01 -6.07598840e-01 1.35609882e-02 6.79756690e+02] [-6.07529083e-01 7.94243572e-01 9.24994047e-03 -2.52679757e+02] [-1.63909808e-02 -8.93055246e-04 -9.99865260e-01 -4.55440804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters 0.05109378049413163 Centerline is valid? [True, True] Translation: X:679.57, Y:-252.74, Z:-4.56 [[-7.53231423e-01 -6.57657237e-01 1.13745978e-02 6.79566310e+02] [-6.57596707e-01 7.53316943e-01 8.95292675e-03 -2.52736310e+02] [-1.44566343e-02 -7.36272270e-04 -9.99895226e-01 -4.55631074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters 0.051510485861353865 Centerline is valid? [True, True] Translation: X:679.40, Y:-252.79, Z:-4.56 [[-7.09514578e-01 -7.04618394e-01 1.00986672e-02 6.79403476e+02] [-7.04559008e-01 7.09586180e-01 9.16828778e-03 -2.52787966e+02] [-1.36260189e-02 -6.10073115e-04 -9.99906975e-01 -4.55737525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters 0.05103937187473549 Centerline is valid? [True, True] Translation: X:679.26, Y:-252.84, Z:-4.56 [[-6.62220739e-01 -7.49250372e-01 9.35806156e-03 6.79261754e+02] [-7.49186004e-01 6.62286668e-01 9.83361174e-03 -2.52839537e+02] [-1.35655567e-02 -4.98907118e-04 -9.99907859e-01 -4.55965094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters 0.051000813884891236 Centerline is valid? [True, True] Translation: X:679.10, Y:-252.92, Z:-4.56 [[-6.09542658e-01 -7.92704519e-01 8.79164540e-03 6.79097331e+02] [-7.92631969e-01 6.09605908e-01 1.07330105e-02 -2.52922529e+02] [-1.38675449e-02 -4.26311446e-04 -9.99903750e-01 -4.56117052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters 0.05146783157543098 Centerline is valid? [True, True] Translation: X:679.14, Y:-252.73, Z:-4.56 [[-5.53241891e-01 -8.32988127e-01 7.36139947e-03 6.79138332e+02] [-8.32922816e-01 5.53290749e-01 1.04369644e-02 -2.52725393e+02] [-1.27668616e-02 -3.57311674e-04 -9.99918436e-01 -4.56200311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters 0.05193283584413069 Centerline is valid? [True, True] Translation: X:678.20, Y:-252.92, Z:-5.56 [[-5.93568411e-01 8.04783532e-01 -9.26330998e-05 6.78196530e+02] [-8.04783285e-01 -5.93568312e-01 -7.23551176e-04 -2.52917302e+02] [-6.37286144e-04 -3.54927552e-04 9.99999734e-01 -5.55873386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters 0.05111417256990996 Centerline is valid? [True, True] Translation: X:678.93, Y:-253.03, Z:-4.57 [[-5.49422613e-01 -8.35522286e-01 6.10747862e-03 6.78930881e+02] [-8.35477147e-01 5.49456460e-01 8.69114215e-03 -2.53029252e+02] [-1.06174365e-02 -3.27548784e-04 -9.99943580e-01 -4.56573808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters 0.05092851152001754 Centerline is valid? [True, True] Translation: X:678.38, Y:-253.81, Z:-4.57 [[-4.86841541e-01 -8.73470464e-01 5.88757423e-03 6.78376494e+02] [-8.73414109e-01 4.86877041e-01 9.92677069e-03 -2.53809238e+02] [-1.15372657e-02 -3.09526062e-04 -9.99933396e-01 -4.56813618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters 0.05200458860897314 Centerline is valid? [True, True] Translation: X:678.21, Y:-253.96, Z:-4.57 [[-4.16277674e-01 -9.09220161e-01 5.62110387e-03 6.78214504e+02] [-9.09149279e-01 4.16315449e-01 1.13593574e-02 -2.53957112e+02] [-1.26683092e-02 -3.81775637e-04 -9.99919681e-01 -4.56649985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters 0.05153361802299602 Centerline is valid? [True, True] Translation: X:678.11, Y:-254.00, Z:-4.57 [[-3.44268963e-01 -9.38857055e-01 5.12952048e-03 6.78111358e+02] [-9.38770490e-01 3.44306914e-01 1.27560445e-02 -2.53999699e+02] [-1.37422318e-02 -4.23932240e-04 -9.99905481e-01 -4.56744178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters 0.05165851650321892 Centerline is valid? [True, True] Translation: X:677.96, Y:-254.20, Z:-4.57 [[-2.72415871e-01 -9.62170870e-01 4.10000436e-03 6.77964709e+02] [-9.62084975e-01 2.72446368e-01 1.28638072e-02 -2.54195040e+02] [-1.34942119e-02 -4.40247352e-04 -9.99908852e-01 -4.56916871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters 0.05067875874541756 Centerline is valid? [True, True] Translation: X:677.82, Y:-254.49, Z:-4.57 [[-2.02432086e-01 -9.79292495e-01 2.73132219e-03 6.77815007e+02] [-9.79229237e-01 2.02450077e-01 1.11386054e-02 -2.54486296e+02] [-1.14609090e-02 -4.19779416e-04 -9.99934234e-01 -4.57242142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters 0.05132311816996333 Centerline is valid? [True, True] Translation: X:677.72, Y:-254.61, Z:-4.58 [[-1.32003056e-01 -9.91247922e-01 1.65837934e-03 6.77716416e+02] [-9.91202974e-01 1.32012877e-01 9.44798521e-03 -2.54607724e+02] [-9.58422314e-03 -3.96627612e-04 -9.99953992e-01 -4.57508716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters 0.05168240979854478 Centerline is valid? [True, True] Translation: X:677.61, Y:-254.97, Z:-4.58 [[-6.28520187e-02 -9.98022392e-01 9.63371901e-04 6.77609305e+02] [-9.97975000e-01 6.28584284e-02 9.73225298e-03 -2.54967545e+02] [-9.77356245e-03 -3.49729327e-04 -9.99952176e-01 -4.57581944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters 0.051468249808614565 Centerline is valid? [True, True] Translation: X:677.53, Y:-254.66, Z:-4.58 [[ 3.98958990e-03 -9.99992019e-01 2.12342317e-04 6.77532713e+02] [-9.99932490e-01 -3.98703483e-03 1.09142050e-02 -2.54661021e+02] [-1.09132713e-02 -2.55871183e-04 -9.99940416e-01 -4.57547943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters 0.05209115924965358 Centerline is valid? [True, True] Translation: X:677.50, Y:-255.36, Z:-4.58 [[ 6.79136893e-02 -9.97690947e-01 -7.10944817e-04 6.77498767e+02] [-9.97616860e-01 -6.79173105e-02 1.21588929e-02 -2.55361912e+02] [-1.21791028e-02 -1.16504737e-04 -9.99925825e-01 -4.57758086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters 0.05276954830806318 Centerline is valid? [True, True] Translation: X:676.85, Y:-255.24, Z:-5.58 [[ 5.53524773e-02 9.98466871e-01 9.91749108e-05 6.76850359e+02] [-9.98463870e-01 5.53520666e-02 2.45945913e-03 -2.55238586e+02] [ 2.45019893e-03 -2.35159721e-04 9.99996971e-01 -5.57520675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters 0.05379255024927367 Centerline is valid? [True, True] Translation: X:677.51, Y:-255.45, Z:-4.58 [[ 6.20345515e-02 -9.98073468e-01 -1.03325183e-03 6.77508244e+02] [-9.97964405e-01 -6.20430477e-02 1.47548719e-02 -2.55449628e+02] [-1.47905523e-02 1.15836685e-04 -9.99890607e-01 -4.57819734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters 0.053544599601606596 Centerline is valid? [True, True] Translation: X:677.48, Y:-255.80, Z:-4.58 [[ 1.30609431e-01 -9.91431225e-01 -2.30258501e-03 6.77479810e+02] [-9.91307199e-01 -1.30629516e-01 1.56833297e-02 -2.55802593e+02] [-1.58497284e-02 2.34178321e-04 -9.99874358e-01 -4.57922676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters 0.053319383732755264 Centerline is valid? [True, True] Translation: X:677.34, Y:-255.63, Z:-4.58 [[ 2.05982267e-01 -9.78550538e-01 -3.18605341e-03 6.77339206e+02] [-9.78445154e-01 -2.06006844e-01 1.43617907e-02 -2.55628105e+02] [-1.47100868e-02 1.59104331e-04 -9.99891788e-01 -4.58241044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters 0.053147209247879634 Centerline is valid? [True, True] Translation: X:677.35, Y:-255.96, Z:-4.58 [[ 2.86237174e-01 -9.58152421e-01 -3.49539254e-03 6.77352006e+02] [-9.58079287e-01 -2.86258513e-01 1.18382098e-02 -2.55958591e+02] [-1.23433953e-02 -3.96725324e-05 -9.99923817e-01 -4.58329379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters 0.05297621511958139 Centerline is valid? [True, True] Translation: X:677.32, Y:-256.10, Z:-4.58 [[ 3.65534845e-01 -9.30788083e-01 -4.22147658e-03 6.77317401e+02] [-9.30720509e-01 -3.65559181e-01 1.12169718e-02 -2.56105000e+02] [-1.19838232e-02 -1.71179213e-04 -9.99928177e-01 -4.58385053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters 0.05218871775433242 Centerline is valid? [True, True] Translation: X:677.34, Y:-256.37, Z:-4.58 [[ 4.42671159e-01 -8.96669036e-01 -5.18499310e-03 6.77341663e+02] [-8.96599532e-01 -4.42701426e-01 1.11681109e-02 -2.56373676e+02] [-1.23095030e-02 -2.94938204e-04 -9.99924192e-01 -4.58412508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters 0.05166566600887907 Centerline is valid? [True, True] Translation: X:677.57, Y:-256.97, Z:-4.59 [[ 5.19940680e-01 -8.54178506e-01 -6.38516139e-03 6.77565692e+02] [-8.54102227e-01 -5.19979657e-01 1.14255053e-02 -2.56965556e+02] [-1.30795751e-02 -4.87004434e-04 -9.99914340e-01 -4.58618164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters 0.05137193314144586 Centerline is valid? [True, True] Translation: X:677.60, Y:-257.17, Z:-4.59 [[ 5.90153284e-01 -8.07258350e-01 -7.28409957e-03 6.77604293e+02] [-8.07183100e-01 -5.90197892e-01 1.10404081e-02 -2.57173397e+02] [-1.32115218e-02 -6.35931017e-04 -9.99912522e-01 -4.58749553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters 0.05126384592928001 Centerline is valid? [True, True] Translation: X:677.67, Y:-257.39, Z:-4.59 [[ 6.50644175e-01 -7.59345704e-01 -7.50069750e-03 6.77670521e+02] [-7.59283121e-01 -6.50687070e-01 9.77130000e-03 -2.57385380e+02] [-1.23004016e-02 -6.62486412e-04 -9.99924128e-01 -4.58958784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters 0.05203341247236604 Centerline is valid? [True, True] Translation: X:677.71, Y:-257.55, Z:-4.59 [[ 7.05578131e-01 -7.08590125e-01 -7.71590071e-03 6.77707765e+02] [-7.08537207e-01 -7.05620009e-01 8.68497520e-03 -2.57549504e+02] [-1.15985816e-02 -6.60925830e-04 -9.99932516e-01 -4.58925239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters 0.05142970890375598 Centerline is valid? [True, True] Translation: X:677.78, Y:-257.72, Z:-4.59 [[ 7.54828733e-01 -6.55869371e-01 -8.30373191e-03 6.77783701e+02] [-6.55820077e-01 -7.54874131e-01 8.06671148e-03 -2.57722982e+02] [-1.15589814e-02 -6.43231504e-04 -9.99932986e-01 -4.59082821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters 0.0513409142561278 Centerline is valid? [True, True] Translation: X:677.76, Y:-257.80, Z:-4.59 [[ 8.02622789e-01 -5.96409195e-01 -9.62968876e-03 6.77759546e+02] [-5.96356155e-01 -8.02680280e-01 7.98150131e-03 -2.57804938e+02] [-1.24898020e-02 -6.63410679e-04 -9.99921779e-01 -4.59039440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters 0.050941887966621816 Centerline is valid? [True, True] Translation: X:677.74, Y:-257.89, Z:-4.59 [[ 8.45743870e-01 -5.33478152e-01 -1.08797118e-02 6.77740841e+02] [-5.33423959e-01 -8.45813595e-01 7.63168398e-03 -2.57890453e+02] [-1.32735448e-02 -6.50950978e-04 -9.99911691e-01 -4.58979767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters 0.05110555970438703 Centerline is valid? [True, True] Translation: X:677.73, Y:-257.97, Z:-4.59 [[ 8.82437997e-01 -4.70286599e-01 -1.15627504e-02 6.77732483e+02] [-4.70237473e-01 -8.82513555e-01 6.82230479e-03 -2.57970690e+02] [-1.34127225e-02 -5.83022457e-04 -9.99909875e-01 -4.59030010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters 0.05076430967433109 Centerline is valid? [True, True] Translation: X:677.73, Y:-258.05, Z:-4.59 [[ 9.13088369e-01 -4.07602620e-01 -1.13900643e-02 6.77730985e+02] [-4.07564488e-01 -9.13159289e-01 5.59475264e-03 -2.58046236e+02] [-1.26813789e-02 -4.66317829e-04 -9.99919479e-01 -4.59048559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters 0.05166305252539751 Centerline is valid? [True, True] Translation: X:677.74, Y:-258.12, Z:-4.59 [[ 9.40106256e-01 -3.40691174e-01 -1.13908260e-02 6.77736970e+02] [-3.40661119e-01 -9.40175182e-01 4.54198585e-03 -2.58119321e+02] [-1.22567864e-02 -3.89537777e-04 -9.99924807e-01 -4.59159174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters 0.051814595821596796 Centerline is valid? [True, True] Translation: X:677.75, Y:-258.20, Z:-4.59 [[ 9.63278654e-01 -2.68357246e-01 -8.86700846e-03 6.77745406e+02] [-2.68342259e-01 -9.63319390e-01 2.86096728e-03 -2.58198457e+02] [-9.30952248e-03 -3.76515629e-04 -9.99956595e-01 -4.59439987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters 0.051054644053865214 Centerline is valid? [True, True] Translation: X:677.76, Y:-258.27, Z:-4.60 [[ 9.80850851e-01 -1.94530615e-01 -9.45768017e-03 6.77760838e+02] [-1.94518117e-01 -9.80896384e-01 2.23270917e-03 -2.58270097e+02] [-9.71133457e-03 -3.50264544e-04 -9.99952783e-01 -4.59612098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters 0.050970915062925094 Centerline is valid? [True, True] Translation: X:677.78, Y:-258.36, Z:-4.60 [[ 9.92815492e-01 -1.19242139e-01 -9.93533944e-03 6.77779929e+02] [-1.19232873e-01 -9.92865150e-01 1.52191777e-03 -2.58356439e+02] [-1.00459290e-02 -3.26364480e-04 -9.99949485e-01 -4.59662925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters 0.05168337540215731 Centerline is valid? [True, True] Translation: X:677.80, Y:-258.44, Z:-4.60 [[ 9.99046952e-01 -4.27572007e-02 -8.77553983e-03 6.77804026e+02] [-4.27527011e-02 -9.99085440e-01 6.99786590e-04 -2.58443027e+02] [-8.79743499e-03 -3.23941628e-04 -9.99961249e-01 -4.59698514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters 0.05188054945449793 Centerline is valid? [True, True] Translation: X:677.83, Y:-258.52, Z:-4.60 [[ 9.99349345e-01 3.51866147e-02 -7.92390567e-03 6.77830218e+02] [ 3.51881232e-02 -9.99380705e-01 5.09985499e-05 -2.58520313e+02] [-7.91720397e-03 -3.29792737e-04 -9.99968604e-01 -4.59906227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters 0.05144218913944627 Centerline is valid? [True, True] Translation: X:677.86, Y:-258.60, Z:-4.60 [[ 9.93352333e-01 1.14847040e-01 -7.82947584e-03 6.77863949e+02] [ 1.14846178e-01 -9.93383129e-01 -5.61116095e-04 -2.58599267e+02] [-7.84211173e-03 -3.41799395e-04 -9.99969192e-01 -4.59988166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters 0.051738274047998606 Centerline is valid? [True, True] Translation: X:677.90, Y:-258.67, Z:-4.60 [[ 9.81060364e-01 1.93522138e-01 -8.35132007e-03 6.77902087e+02] [ 1.93518113e-01 -9.81095848e-01 -1.29509562e-03 -2.58668943e+02] [-8.44407512e-03 -3.45564719e-04 -9.99964288e-01 -4.59999762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters 0.05210508108817002 Centerline is valid? [True, True] Translation: X:677.95, Y:-258.74, Z:-4.60 [[ 9.62229143e-01 2.72080385e-01 -9.34564172e-03 6.77946514e+02] [ 2.72071144e-01 -9.62274460e-01 -2.27073114e-03 -2.58735577e+02] [-9.61089374e-03 -3.57715758e-04 -9.99953750e-01 -4.59966646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters 0.051455138645398614 Centerline is valid? [True, True] Translation: X:677.99, Y:-258.80, Z:-4.60 [[ 9.37272317e-01 3.48461543e-01 -9.75484967e-03 6.77994867e+02] [ 3.48446790e-01 -9.37323004e-01 -3.22817575e-03 -2.58796436e+02] [-1.02683401e-02 -3.73366290e-04 -9.99947210e-01 -4.59953893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters 0.05158017585861853 Centerline is valid? [True, True] Translation: X:678.05, Y:-258.85, Z:-4.60 [[ 9.05159000e-01 4.24990033e-01 -8.40580585e-03 6.78047014e+02] [ 4.24975972e-01 -9.05197932e-01 -3.48252965e-03 -2.58852750e+02] [-9.08895846e-03 -4.20022452e-04 -9.99958606e-01 -4.60045603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters 0.05131674913194042 Centerline is valid? [True, True] Translation: X:678.10, Y:-258.90, Z:-4.60 [[ 8.67235613e-01 4.97847421e-01 -7.09489487e-03 6.78104092e+02] [ 4.97834928e-01 -8.67264518e-01 -3.55529338e-03 -2.58903285e+02] [-7.92314422e-03 -4.48809446e-04 -9.99968511e-01 -4.60177388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters 0.05110388052878654 Centerline is valid? [True, True] Translation: X:678.17, Y:-258.95, Z:-4.60 [[ 8.23372193e-01 5.67465275e-01 -6.43373623e-03 6.78166049e+02] [ 5.67452371e-01 -8.23397192e-01 -3.85637398e-03 -2.58949416e+02] [-7.48587867e-03 -4.75607769e-04 -9.99971867e-01 -4.60288585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters 0.05106510006271089 Centerline is valid? [True, True] Translation: X:678.23, Y:-258.99, Z:-4.60 [[ 7.74281335e-01 6.32804497e-01 -6.84706673e-03 6.78234884e+02] [ 6.32785453e-01 -7.74311441e-01 -4.93586571e-03 -2.58994820e+02] [-8.42520012e-03 -5.10975530e-04 -9.99964377e-01 -4.60243958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters 0.05117124312357757 Centerline is valid? [True, True] Translation: X:678.31, Y:-259.04, Z:-4.60 [[ 7.19549723e-01 6.94398116e-01 -7.71057746e-03 6.78312299e+02] [ 6.94366545e-01 -7.19590807e-01 -6.64620521e-03 -2.59040633e+02] [-1.01635730e-02 -5.71691914e-04 -9.99948186e-01 -4.60081469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters 0.0510873071374805 Centerline is valid? [True, True] Translation: X:678.39, Y:-259.08, Z:-4.60 [[ 6.61351547e-01 7.50023389e-01 -8.89080449e-03 6.78392359e+02] [ 7.49968254e-01 -6.61410997e-01 -9.11653699e-03 -2.59079825e+02] [-1.27180918e-02 -6.38585272e-04 -9.99918918e-01 -4.60093772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters 0.051417599770452314 Centerline is valid? [True, True] Translation: X:678.48, Y:-259.12, Z:-4.60 [[ 6.00859482e-01 7.99307571e-01 -8.67691244e-03 6.78478264e+02] [ 7.99239367e-01 -6.00921780e-01 -1.04618030e-02 -2.59115900e+02] [-1.35763440e-02 -6.48856497e-04 -9.99907627e-01 -4.60024056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters 0.05175462987746235 Centerline is valid? [True, True] Translation: X:678.56, Y:-259.14, Z:-4.60 [[ 5.38500559e-01 8.42584757e-01 -8.25076496e-03 6.78561086e+02] [ 8.42503130e-01 -5.38563399e-01 -1.17448854e-02 -2.59140095e+02] [-1.43396214e-02 -6.26667967e-04 -9.99896986e-01 -4.60068810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters 0.05086890139242996 Centerline is valid? [True, True] Translation: X:678.64, Y:-259.16, Z:-4.60 [[ 4.77325949e-01 8.78701977e-01 -6.54016439e-03 6.78644776e+02] [ 8.78633612e-01 -4.77370481e-01 -1.09726606e-02 -2.59157565e+02] [-1.27637800e-02 -5.08872647e-04 -9.99918410e-01 -4.60348615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters 0.05120313245943227 Centerline is valid? [True, True] Translation: X:678.73, Y:-259.17, Z:-4.60 [[ 4.13645138e-01 9.10427047e-01 -4.50453572e-03 6.78725141e+02] [ 9.10383512e-01 -4.13669457e-01 -8.91303334e-03 -2.59168397e+02] [-9.97805547e-03 -4.14022138e-04 -9.99950132e-01 -4.60439670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters 0.05101881231149335 Centerline is valid? [True, True] Translation: X:678.79, Y:-259.17, Z:-4.60 [[ 3.44654447e-01 9.38722546e-01 -3.64603246e-03 6.78794807e+02] [ 9.38681026e-01 -3.44673525e-01 -8.83695155e-03 -2.59168264e+02] [-9.55213653e-03 -3.76766842e-04 -9.99954306e-01 -4.60434434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters 0.05156708281357363 Centerline is valid? [True, True] Translation: X:678.88, Y:-259.17, Z:-4.60 [[ 2.70117822e-01 9.62821860e-01 -3.22944019e-03 6.78876667e+02] [ 9.62768641e-01 -2.70136869e-01 -1.01299971e-02 -2.59166664e+02] [-1.06257735e-02 -3.72910999e-04 -9.99943475e-01 -4.60481053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters 0.051058005303346504 Centerline is valid? [True, True] Translation: X:678.96, Y:-259.16, Z:-4.60 [[ 1.90854885e-01 9.81614088e-01 -2.86277560e-03 6.78963063e+02] [ 9.81533374e-01 -1.90875922e-01 -1.25943398e-02 -2.59159368e+02] [-1.29092163e-02 -4.06218523e-04 -9.99916590e-01 -4.60411430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters 0.05155922934302896 Centerline is valid? [True, True] Translation: X:679.05, Y:-259.15, Z:-4.60 [[ 1.10243237e-01 9.93902846e-01 -1.88715080e-03 6.79046507e+02] [ 9.93818546e-01 -1.10258480e-01 -1.29523958e-02 -2.59146682e+02] [-1.30814974e-02 -4.47571423e-04 -9.99914333e-01 -4.60385406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters 0.0511553417634931 Centerline is valid? [True, True] Translation: X:679.13, Y:-259.13, Z:-4.60 [[ 2.61173364e-02 9.99658532e-01 -8.39624452e-04 6.79129464e+02] [ 9.99582978e-01 -2.61256943e-02 -1.23011549e-02 -2.59127297e+02] [-1.23188903e-02 -5.18000908e-04 -9.99923985e-01 -4.60384589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters 0.05114042171770145 Centerline is valid? [True, True] Translation: X:679.21, Y:-259.10, Z:-4.60 [[-5.60818474e-02 9.98426163e-01 1.53613319e-04 6.79212443e+02] [ 9.98342100e-01 5.60791209e-02 -1.29685850e-02 -2.59100660e+02] [-1.29567891e-02 -5.73943564e-04 -9.99915893e-01 -4.60412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters 0.0511435125779367 Centerline is valid? [True, True] Translation: X:679.29, Y:-259.07, Z:-4.61 [[-1.34871411e-01 9.90862430e-01 1.16069024e-03 6.79293123e+02] [ 9.90779284e-01 1.34875145e-01 -1.28493745e-02 -2.59067489e+02] [-1.28885107e-02 -5.83025422e-04 -9.99916770e-01 -4.60515128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters 0.050920138261544505 Centerline is valid? [True, True] Translation: X:679.37, Y:-259.03, Z:-4.61 [[-2.11507023e-01 9.77375011e-01 1.69342826e-03 6.79372666e+02] [ 9.77319938e-01 2.11513107e-01 -1.03896422e-02 -2.59027118e+02] [-1.05127589e-02 -5.42461083e-04 -9.99944592e-01 -4.60706030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters 0.050763248936638826 Centerline is valid? [True, True] Translation: X:679.45, Y:-258.98, Z:-4.61 [[-2.82989691e-01 9.59121392e-01 1.72897806e-03 6.79454277e+02] [ 9.59092104e-01 2.82994588e-01 -7.50990941e-03 -2.58980735e+02] [-7.69220620e-03 -4.66977734e-04 -9.99970306e-01 -4.60789030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters 0.05042598176925975 Centerline is valid? [True, True] Translation: X:679.51, Y:-258.93, Z:-4.61 [[-3.53157225e-01 9.35560960e-01 2.38024044e-03 6.79510847e+02] [ 9.35530728e-01 3.53164979e-01 -7.53360583e-03 -2.58934651e+02] [-7.88876506e-03 -4.33759254e-04 -9.99968789e-01 -4.60795755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters 0.05054880676890495 Centerline is valid? [True, True] Translation: X:679.57, Y:-258.88, Z:-4.61 [[-4.23987163e-01 9.05662668e-01 3.16507120e-03 6.79570869e+02] [ 9.05629534e-01 4.23998765e-01 -7.75846385e-03 -2.58881314e+02] [-8.36853735e-03 -4.23107119e-04 -9.99964894e-01 -4.60866202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters 0.05059557556093911 Centerline is valid? [True, True] Translation: X:679.63, Y:-258.82, Z:-4.61 [[-4.90039083e-01 8.71688134e-01 4.63627198e-03 6.79627203e+02] [ 8.71641365e-01 4.90060861e-01 -9.03791584e-03 -2.58823159e+02] [-1.01502994e-02 -3.87765559e-04 -9.99948409e-01 -4.60675775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters 0.05141896238411464 Centerline is valid? [True, True] Translation: X:679.68, Y:-258.76, Z:-4.60 [[-5.53414990e-01 8.32882850e-01 6.16497914e-03 6.79675072e+02] [ 8.32824182e-01 5.53449224e-01 -9.89139256e-03 -2.58764636e+02] [-1.16503741e-02 -3.39701209e-04 -9.99932074e-01 -4.60296528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters 0.0511231741629551 Centerline is valid? [True, True] Translation: X:679.72, Y:-258.70, Z:-4.61 [[-6.15208021e-01 7.88333907e-01 6.98155333e-03 6.79723068e+02] [ 7.88277272e-01 6.15247555e-01 -9.45456107e-03 -2.58697950e+02] [-1.17487347e-02 -3.13121999e-04 -9.99930932e-01 -4.60646649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters 0.051307952206062074 Centerline is valid? [True, True] Translation: X:679.76, Y:-258.63, Z:-4.61 [[-6.74449768e-01 7.38274556e-01 8.25777796e-03 6.79761800e+02] [ 7.38213753e-01 6.74500254e-01 -9.47958393e-03 -2.58631590e+02] [-1.25684089e-02 -2.97497922e-04 -9.99920970e-01 -4.60586633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters 0.05117977576981164 Centerline is valid? [True, True] Translation: X:679.80, Y:-258.56, Z:-4.60 [[-7.30803947e-01 6.82529747e-01 8.87328248e-03 6.79799384e+02] [ 6.82474243e-01 7.30857749e-01 -8.70970980e-03 -2.58558876e+02] [-1.24297433e-02 -3.09303558e-04 -9.99922700e-01 -4.60386876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters 0.05107352462726306 Centerline is valid? [True, True] Translation: X:680.26, Y:-258.83, Z:-4.60 [[-7.80066258e-01 6.25632823e-01 8.95560681e-03 6.80257164e+02] [ 6.25587066e-01 7.80117605e-01 -7.57268229e-03 -2.58833662e+02] [-1.17241451e-02 -3.04682156e-04 -9.99931223e-01 -4.60344985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters 0.05103504609225316 Centerline is valid? [True, True] Translation: X:679.73, Y:-258.34, Z:-4.61 [[-8.23413293e-01 5.67396073e-01 7.22812295e-03 6.79725128e+02] [ 5.67370789e-01 8.23444956e-01 -5.36588527e-03 -2.58335268e+02] [-8.99654362e-03 -3.17315444e-04 -9.99959480e-01 -4.60932274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters 0.05044282967969095 Centerline is valid? [True, True] Translation: X:679.67, Y:-258.21, Z:-4.61 [[-8.62850163e-01 5.05413453e-01 6.84382005e-03 6.79669715e+02] [ 5.05394374e-01 8.62877236e-01 -4.40480303e-03 -2.58207569e+02] [-8.13162324e-03 -3.41856858e-04 -9.99966879e-01 -4.60996502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters 0.050816149691456 Centerline is valid? [True, True] Translation: X:679.69, Y:-258.13, Z:-4.61 [[-8.97406085e-01 4.41144364e-01 7.34638379e-03 6.79688361e+02] [ 4.41126271e-01 8.97436082e-01 -4.01146720e-03 -2.58130308e+02] [-8.36254603e-03 -3.59232179e-04 -9.99964969e-01 -4.60996781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters 0.05098260219245324 Centerline is valid? [True, True] Translation: X:679.97, Y:-257.54, Z:-5.61 [[-8.63265129e-01 -5.04750031e-01 -8.50319375e-04 6.79972368e+02] [ 5.04750063e-01 -8.63265508e-01 1.92397830e-04 -2.57536437e+02] [-8.31164198e-04 -2.63108420e-04 9.99999620e-01 -5.60586005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters 0.05089134750620224 Centerline is valid? [True, True] Translation: X:679.62, Y:-258.10, Z:-4.61 [[-9.00065510e-01 4.35667679e-01 8.70347952e-03 6.79619230e+02] [ 4.35643146e-01 9.00107508e-01 -4.63932310e-03 -2.58095038e+02] [-9.85527039e-03 -3.84083522e-04 -9.99951362e-01 -4.60737575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters 0.05112360856078414 Centerline is valid? [True, True] Translation: X:679.68, Y:-258.04, Z:-4.61 [[-9.28867714e-01 3.70281265e-01 9.82625508e-03 6.79680381e+02] [ 3.70256064e-01 9.28919605e-01 -4.33767872e-03 -2.58037640e+02] [-1.07339622e-02 -3.90899192e-04 -9.99942313e-01 -4.60575827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters 0.05130542607446083 Centerline is valid? [True, True] Translation: X:679.54, Y:-257.91, Z:-4.61 [[-9.52956093e-01 3.02931617e-01 1.03498432e-02 6.79542935e+02] [ 3.02909191e-01 9.53012212e-01 -3.70744596e-03 -2.57906289e+02] [-1.09866296e-02 -3.97970578e-04 -9.99939566e-01 -4.60735823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters 0.05057322039329143 Centerline is valid? [True, True] Translation: X:679.57, Y:-257.83, Z:-4.61 [[-9.72590849e-01 2.32279967e-01 1.06328375e-02 6.79571308e+02] [ 2.32261302e-01 9.72648877e-01 -2.97491122e-03 -2.57834101e+02] [-1.10330297e-02 -4.23774744e-04 -9.99939044e-01 -4.60657864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters 0.05080397986828681 Centerline is valid? [True, True] Translation: X:679.55, Y:-257.75, Z:-4.61 [[-9.86842499e-01 1.61314400e-01 1.09337680e-02 6.79548088e+02] [ 1.61299563e-01 9.86902970e-01 -2.23130594e-03 -2.57751699e+02] [-1.11505099e-02 -4.38335533e-04 -9.99937735e-01 -4.60731995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters 0.0505800446816167 Centerline is valid? [True, True] Translation: X:679.66, Y:-257.11, Z:-5.61 [[-9.69426158e-01 -2.45381850e-01 8.20117857e-04 6.79661002e+02] [ 2.45381456e-01 -9.69426447e-01 -5.52185523e-04 -2.57114794e+02] [ 9.30540245e-04 -3.34061376e-04 9.99999511e-01 -5.60991449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters 0.050887704353262286 Centerline is valid? [True, True] Translation: X:679.42, Y:-257.73, Z:-4.61 [[-9.87622425e-01 1.56551701e-01 9.67007529e-03 6.79419845e+02] [ 1.56539856e-01 9.87669669e-01 -1.97458937e-03 -2.57730244e+02] [-9.85996538e-03 -4.36396548e-04 -9.99951294e-01 -4.60732684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters 0.05066228812331651 Centerline is valid? [True, True] Translation: X:679.49, Y:-257.09, Z:-5.61 [[-9.70486323e-01 -2.41156164e-01 4.93034165e-05 6.79488960e+02] [ 2.41156138e-01 -9.70486281e-01 -3.09715715e-04 -2.57086097e+02] [ 1.22538143e-04 -2.88685044e-04 9.99999951e-01 -5.61097844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters 0.05055159946827572 Centerline is valid? [True, True] Translation: X:679.28, Y:-257.71, Z:-4.61 [[-9.87867803e-01 1.55004937e-01 9.52223785e-03 6.79284601e+02] [ 1.54993700e-01 9.87913609e-01 -1.91136500e-03 -2.57714870e+02] [-9.70341938e-03 -4.12289058e-04 -9.99952836e-01 -4.60955950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters 0.05083395672213213 Centerline is valid? [True, True] Translation: X:679.23, Y:-257.63, Z:-4.61 [[-9.96099145e-01 8.76929158e-02 9.82072652e-03 6.79227799e+02] [ 8.76848848e-02 9.96147483e-01 -1.24620624e-03 -2.57632447e+02] [-9.89217547e-03 -3.80215700e-04 -9.99950999e-01 -4.60790287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters 0.050908558849134165 Centerline is valid? [True, True] Translation: X:679.20, Y:-256.96, Z:-5.61 [[-9.87266793e-01 -1.59073186e-01 3.21910588e-05 6.79199183e+02] [ 1.59073172e-01 -9.87266759e-01 -2.68567706e-04 -2.56960070e+02] [ 7.45030827e-05 -2.60027244e-04 9.99999963e-01 -5.61214904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters 0.050848408328635 Centerline is valid? [True, True] Translation: X:679.02, Y:-257.62, Z:-4.61 [[-9.95891964e-01 9.00558190e-02 9.44165428e-03 6.79023383e+02] [ 9.00487318e-02 9.95936669e-01 -1.17394956e-03 -2.57621551e+02] [-9.50901070e-03 -3.18917937e-04 -9.99954737e-01 -4.60941599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters 0.050926285949628 Centerline is valid? [True, True] Translation: X:678.98, Y:-257.55, Z:-4.61 [[-9.99776687e-01 1.84048271e-02 1.03845690e-02 6.78981558e+02] [ 1.84004804e-02 9.99830565e-01 -5.13970956e-04 -2.57545004e+02] [-1.03922690e-02 -3.22775122e-04 -9.99945947e-01 -4.60664855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters 0.05079901382856791 Centerline is valid? [True, True] Translation: X:678.90, Y:-257.47, Z:-4.61 [[-9.98448939e-01 -5.46218464e-02 1.07782219e-02 6.78895285e+02] [-5.46223581e-02 9.98507054e-01 2.47115686e-04 -2.57470468e+02] [-1.07756285e-02 -3.41999501e-04 -9.99941883e-01 -4.60929624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters 0.050419256481606306 Centerline is valid? [True, True] Translation: X:678.89, Y:-257.39, Z:-4.61 [[-9.91474596e-01 -1.29783165e-01 1.15954817e-02 6.78888947e+02] [-1.29778886e-01 9.91542323e-01 1.12394771e-03 -2.57393009e+02] [-1.16432804e-02 -3.90483089e-04 -9.99932138e-01 -4.60934688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters 0.05029304399130749 Centerline is valid? [True, True] Translation: X:678.85, Y:-257.32, Z:-4.61 [[-9.79112560e-01 -2.03029716e-01 1.08411152e-02 6.78853906e+02] [-2.03021980e-01 9.79172487e-01 1.82103300e-03 -2.57318315e+02] [-1.09850455e-02 -4.17988386e-04 -9.99939575e-01 -4.60881674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters 0.05039913140274778 Centerline is valid? [True, True] Translation: X:678.77, Y:-257.26, Z:-4.61 [[-9.62176110e-01 -2.72276906e-01 9.07852920e-03 6.78768201e+02] [-2.72268722e-01 9.62218854e-01 2.14933871e-03 -2.57258857e+02] [-9.32074726e-03 -4.03757184e-04 -9.99956479e-01 -4.61005475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters 0.050675090348223095 Centerline is valid? [True, True] Translation: X:678.65, Y:-257.22, Z:-4.61 [[-9.41273422e-01 -3.37558055e-01 7.67495526e-03 6.78654180e+02] [-3.37550020e-01 9.41304638e-01 2.35830356e-03 -2.57215010e+02] [-8.02053535e-03 -3.70872842e-04 -9.99967766e-01 -4.61165375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters 0.050281799938150865 Centerline is valid? [True, True] Translation: X:678.53, Y:-257.18, Z:-4.61 [[-9.15657433e-01 -4.01897223e-01 7.07723771e-03 6.78530044e+02] [-4.01888160e-01 9.15684716e-01 2.72187181e-03 -2.57183272e+02] [-7.57443112e-03 -3.51955887e-04 -9.99971252e-01 -4.61250969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters 0.05067342711860548 Centerline is valid? [True, True] Translation: X:678.40, Y:-257.16, Z:-4.61 [[-8.85563378e-01 -4.64464647e-01 7.07776128e-03 6.78404520e+02] [-4.64452801e-01 8.85591599e-01 3.33414244e-03 -2.57160910e+02] [-7.81659721e-03 -3.34691602e-04 -9.99969394e-01 -4.61343145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters 0.05102845608331435 Centerline is valid? [True, True] Translation: X:678.72, Y:-256.88, Z:-4.61 [[-8.48036364e-01 -5.29881098e-01 7.76834310e-03 6.78717317e+02] [-5.29862557e-01 8.48071874e-01 4.44610488e-03 -2.56884106e+02] [-8.94402022e-03 -3.45695521e-04 -9.99959942e-01 -4.61124957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters 0.05131046135936413 Centerline is valid? [True, True] Translation: X:678.54, Y:-256.89, Z:-4.61 [[-8.08041505e-01 -5.89054392e-01 9.15698041e-03 6.78543231e+02] [-5.89020923e-01 8.08093327e-01 6.28708528e-03 -2.56888731e+02] [-1.11031300e-02 -3.13427195e-04 -9.99938309e-01 -4.61001967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters 0.0513299548986793 Centerline is valid? [True, True] Translation: X:678.03, Y:-257.19, Z:-4.61 [[-7.64810200e-01 -6.44191175e-01 9.11532065e-03 6.78033785e+02] [-6.44149971e-01 7.64864461e-01 7.29185884e-03 -2.57187322e+02] [-1.16693359e-02 -2.94745518e-04 -9.99931868e-01 -4.61364290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters 0.05126767543884239 Centerline is valid? [True, True] Translation: X:677.86, Y:-257.24, Z:-4.61 [[-7.16037075e-01 -6.98006873e-01 8.79278650e-03 6.77859600e+02] [-6.97959299e-01 7.16090998e-01 8.15478702e-03 -2.57244476e+02] [-1.19885326e-02 -2.97877254e-04 -9.99928091e-01 -4.61393391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters 0.05160019011557251 Centerline is valid? [True, True] Translation: X:678.07, Y:-256.90, Z:-4.61 [[-6.60155217e-01 -7.51074350e-01 9.07799358e-03 6.78072773e+02] [-7.51009835e-01 6.60217556e-01 9.84918183e-03 -2.56895231e+02] [-1.33909186e-02 -3.15673690e-04 -9.99910288e-01 -4.61254252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters 0.05136627942403798 Centerline is valid? [True, True] Translation: X:677.03, Y:-257.07, Z:-5.63 [[-7.06953472e-01 7.07253014e-01 3.15637647e-03 6.77031487e+02] [-7.07247507e-01 -7.06960474e-01 2.80214083e-03 -2.57072573e+02] [ 4.21325595e-03 -2.51356202e-04 9.99991093e-01 -5.62521638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters 0.05162472387933575 Centerline is valid? [True, True] Translation: X:677.33, Y:-257.71, Z:-4.62 [[-6.53090333e-01 -7.57236233e-01 8.14276107e-03 6.77328527e+02] [-7.57183930e-01 6.53141001e-01 8.90670939e-03 -2.57713425e+02] [-1.20628542e-02 -3.48682027e-04 -9.99927180e-01 -4.61833314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters 0.05144251800584036 Centerline is valid? [True, True] Translation: X:677.17, Y:-257.78, Z:-4.62 [[-5.92019921e-01 -8.05892011e-01 7.10490199e-03 6.77174849e+02] [-8.05841946e-01 5.92062416e-01 8.99187032e-03 -2.57777375e+02] [-1.14530219e-02 -4.02061686e-04 -9.99934331e-01 -4.61746388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters 0.05094127334417407 Centerline is valid? [True, True] Translation: X:677.10, Y:-257.75, Z:-4.62 [[-5.28068862e-01 -8.49176664e-01 6.50151071e-03 6.77097360e+02] [-8.49122172e-01 5.28108704e-01 9.62985149e-03 -2.57750118e+02] [-1.16109496e-02 -4.35352168e-04 -9.99932496e-01 -4.61837890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters 0.051056861403277934 Centerline is valid? [True, True] Translation: X:676.90, Y:-257.92, Z:-4.62 [[-4.62830187e-01 -8.86427103e-01 5.93374800e-03 6.76903456e+02] [-8.86366390e-01 4.62868001e-01 1.03843953e-02 -2.57924273e+02] [-1.19515515e-02 -4.53263189e-04 -9.99928475e-01 -4.62142265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters 0.05098125825394214 Centerline is valid? [True, True] Translation: X:676.71, Y:-258.13, Z:-4.62 [[-3.97436204e-01 -9.17615115e-01 5.19275575e-03 6.76712901e+02] [-9.17550834e-01 3.97469878e-01 1.08703262e-02 -2.58130002e+02] [-1.20387397e-02 -4.44356164e-04 -9.99927433e-01 -4.62128297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters 0.05131566206435549 Centerline is valid? [True, True] Translation: X:676.55, Y:-258.34, Z:-4.62 [[-3.29553580e-01 -9.44126384e-01 4.45080644e-03 6.76546499e+02] [-9.44057468e-01 3.29583341e-01 1.14157521e-02 -2.58335987e+02] [-1.22448244e-02 -4.39715077e-04 -9.99924933e-01 -4.62153292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters 0.05101997257737371 Centerline is valid? [True, True] Translation: X:676.41, Y:-258.52, Z:-4.62 [[-2.59492209e-01 -9.65738160e-01 3.68792615e-03 6.76411240e+02] [-9.65663191e-01 2.59518047e-01 1.20409724e-02 -2.58518208e+02] [-1.25855100e-02 -4.36755994e-04 -9.99920704e-01 -4.62409306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters 0.051088080386893935 Centerline is valid? [True, True] Translation: X:676.29, Y:-258.71, Z:-4.63 [[-1.87368409e-01 -9.82285427e-01 2.90153500e-03 6.76286884e+02] [-9.82201394e-01 1.87390355e-01 1.28559738e-02 -2.58713492e+02] [-1.31719554e-02 -4.41088365e-04 -9.99913149e-01 -4.62535724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters 0.05099935467800124 Centerline is valid? [True, True] Translation: X:676.19, Y:-258.81, Z:-4.63 [[-1.13417578e-01 -9.93545501e-01 1.94715478e-03 6.76191985e+02] [-9.93458950e-01 1.13433413e-01 1.31215895e-02 -2.58812979e+02] [-1.32577686e-02 -4.46199440e-04 -9.99912012e-01 -4.62527168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters 0.051198552646570514 Centerline is valid? [True, True] Translation: X:676.09, Y:-259.17, Z:-4.63 [[-4.08085548e-02 -9.99166519e-01 9.64165517e-04 6.76085807e+02] [-9.99081666e-01 4.08176613e-02 1.30285538e-02 -2.59166133e+02] [-1.30570497e-02 -4.31603641e-04 -9.99914660e-01 -4.62761434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters 0.05140059414736572 Centerline is valid? [True, True] Translation: X:676.01, Y:-259.38, Z:-4.63 [[ 3.12309524e-02 -9.99512195e-01 -1.16357139e-05 6.76008416e+02] [-9.99421774e-01 -3.12282837e-02 1.34503552e-02 -2.59381142e+02] [-1.34441574e-02 -4.08438416e-04 -9.99909540e-01 -4.62702106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters 0.05117043334329322 Centerline is valid? [True, True] Translation: X:675.96, Y:-259.68, Z:-4.63 [[ 1.00355194e-01 -9.94951222e-01 -9.48898087e-04 6.75956120e+02] [-9.94868674e-01 -1.00359095e-01 1.28208428e-02 -2.59681689e+02] [-1.28513438e-02 -3.42609188e-04 -9.99917359e-01 -4.62991925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters 0.051428671694031314 Centerline is valid? [True, True] Translation: X:675.91, Y:-259.91, Z:-4.63 [[ 1.71647117e-01 -9.85156840e-01 -1.80778124e-03 6.75914107e+02] [-9.85081316e-01 -1.71656349e-01 1.22024131e-02 -2.59911189e+02] [-1.23316079e-02 -3.13697503e-04 -9.99923914e-01 -4.62985652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters 0.05215448504454365 Centerline is valid? [True, True] Translation: X:675.92, Y:-260.24, Z:-4.63 [[ 2.35808994e-01 -9.71795953e-01 -2.59701021e-03 6.75915092e+02] [-9.71726739e-01 -2.35823199e-01 1.16001509e-02 -2.60236267e+02] [-1.18854149e-02 -2.11835634e-04 -9.99929344e-01 -4.63391174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters 0.052091618429130446 Centerline is valid? [True, True] Translation: X:675.90, Y:-260.42, Z:-4.63 [[ 3.00504599e-01 -9.53775006e-01 -3.19744204e-03 6.75897909e+02] [-9.53715986e-01 -3.00521577e-01 1.06112871e-02 -2.60423017e+02] [-1.10816807e-02 -1.39288964e-04 -9.99938587e-01 -4.63417798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters 0.05215143486270406 Centerline is valid? [True, True] Translation: X:675.68, Y:-260.07, Z:-4.63 [[ 3.69533341e-01 -9.29209273e-01 -3.90347159e-03 6.75679306e+02] [-9.29153896e-01 -3.69553937e-01 1.01452468e-02 -2.60072680e+02] [-1.08696007e-02 -1.22081115e-04 -9.99940917e-01 -4.63258452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters 0.05287334546498639 Centerline is valid? [True, True] Translation: X:675.69, Y:-260.31, Z:-4.64 [[ 4.35097330e-01 -9.00371686e-01 -4.59791783e-03 6.75687052e+02] [-9.00319154e-01 -4.35121614e-01 9.72636837e-03 -2.60310513e+02] [-1.07580001e-02 -9.23234179e-05 -9.99942127e-01 -4.63698101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters 0.05250715194243104 Centerline is valid? [True, True] Translation: X:676.05, Y:-261.10, Z:-4.64 [[ 4.98490794e-01 -8.66878644e-01 -5.32408917e-03 6.76047291e+02] [-8.66827544e-01 -4.98519219e-01 9.41263356e-03 -2.61101342e+02] [-1.08137718e-02 -7.70440326e-05 -9.99941526e-01 -4.63814769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters 0.05263383836820257 Centerline is valid? [True, True] Translation: X:675.69, Y:-260.72, Z:-4.64 [[ 5.64548511e-01 -8.25378225e-01 -5.98032027e-03 6.75688616e+02] [-8.25329627e-01 -5.64580172e-01 8.95744733e-03 -2.60720234e+02] [-1.07696522e-02 -1.21178053e-04 -9.99941998e-01 -4.63724026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters 0.05227365366475954 Centerline is valid? [True, True] Translation: X:676.05, Y:-261.33, Z:-4.64 [[ 6.28579572e-01 -7.77718802e-01 -6.41767406e-03 6.76049606e+02] [-7.77675118e-01 -6.28612303e-01 8.24514600e-03 -2.61326510e+02] [-1.04466339e-02 -1.91864909e-04 -9.99945414e-01 -4.63832069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters 0.05137940962869251 Centerline is valid? [True, True] Translation: X:676.11, Y:-261.52, Z:-4.64 [[ 6.88597223e-01 -7.25106611e-01 -7.36669136e-03 6.76111990e+02] [-7.25061069e-01 -6.88636578e-01 8.13077544e-03 -2.61520822e+02] [-1.09686522e-02 -2.57528277e-04 -9.99939809e-01 -4.64126863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters 0.052325523463411294 Centerline is valid? [True, True] Translation: X:676.12, Y:-261.65, Z:-4.64 [[ 7.46809967e-01 -6.64989246e-01 -8.01096730e-03 6.76121350e+02] [-6.64945627e-01 -7.46852842e-01 7.62536415e-03 -2.61649302e+02] [-1.10537989e-02 -3.67840276e-04 -9.99938837e-01 -4.64002056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters 0.05138273195312922 Centerline is valid? [True, True] Translation: X:676.09, Y:-261.74, Z:-4.64 [[ 8.01934446e-01 -5.97363968e-01 -7.57856402e-03 6.76092690e+02] [-5.97331659e-01 -8.01970117e-01 6.23059124e-03 -2.61738708e+02] [-9.79971258e-03 -4.69609514e-04 -9.99951871e-01 -4.64179456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters 0.051691430140782355 Centerline is valid? [True, True] Translation: X:676.08, Y:-261.82, Z:-4.64 [[ 8.48739073e-01 -5.28764522e-01 -7.07576487e-03 6.76075121e+02] [-5.28741202e-01 -8.48768423e-01 4.99060572e-03 -2.61823535e+02] [-8.64454104e-03 -4.94473647e-04 -9.99962513e-01 -4.64362724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters 0.05278042984174808 Centerline is valid? [True, True] Translation: X:676.07, Y:-261.91, Z:-4.65 [[ 8.89889229e-01 -4.56125921e-01 -6.80471312e-03 6.76065110e+02] [-4.56108027e-01 -8.89915092e-01 4.07386969e-03 -2.61910534e+02] [-7.91381447e-03 -5.21608488e-04 -9.99968549e-01 -4.64506232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters 0.052832316038698306 Centerline is valid? [True, True] Translation: X:676.06, Y:-262.00, Z:-4.64 [[ 9.24019198e-01 -3.82288762e-01 -6.62002275e-03 6.76060929e+02] [-3.82274770e-01 -9.24042759e-01 3.31350592e-03 -2.61998996e+02] [-7.38390016e-03 -5.31075412e-04 -9.99972598e-01 -4.64482256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters 0.053281568751243444 Centerline is valid? [True, True] Translation: X:676.07, Y:-262.08, Z:-4.64 [[ 9.51295511e-01 -3.08179728e-01 -7.88073874e-03 6.76066274e+02] [-3.08164174e-01 -9.51327985e-01 3.14744223e-03 -2.62082316e+02] [-8.46714519e-03 -5.65586314e-04 -9.99963993e-01 -4.64377118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters 0.051850677201373256 Centerline is valid? [True, True] Translation: X:676.08, Y:-262.17, Z:-4.64 [[ 9.72184426e-01 -2.33971468e-01 -1.07141638e-02 6.76076927e+02] [-2.33950107e-01 -9.72243261e-01 3.22304633e-03 -2.62171089e+02] [-1.11708744e-02 -6.26815691e-04 -9.99937407e-01 -4.64453876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters 0.05234087255539597 Centerline is valid? [True, True] Translation: X:676.09, Y:-262.26, Z:-4.64 [[ 9.86784716e-01 -1.61625469e-01 -1.15383092e-02 6.76091536e+02] [-1.61607401e-01 -9.86851995e-01 2.48762953e-03 -2.62264641e+02] [-1.17886677e-02 -5.90078641e-04 -9.99930337e-01 -4.64285880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters 0.05268057315294347 Centerline is valid? [True, True] Translation: X:676.11, Y:-262.34, Z:-4.64 [[ 9.95996642e-01 -8.86273445e-02 -1.16569066e-02 6.76114940e+02] [-8.86149937e-02 -9.96064711e-01 1.57281597e-03 -2.62343770e+02] [-1.17504278e-02 -5.33542721e-04 -9.99930819e-01 -4.64128041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters 0.05190129480955982 Centerline is valid? [True, True] Translation: X:676.15, Y:-262.41, Z:-4.65 [[ 9.99724243e-01 -2.02807470e-02 -1.18376158e-02 6.76145479e+02] [-2.02743693e-02 -9.99794237e-01 6.58531397e-04 -2.62406731e+02] [-1.18485356e-02 -4.18349607e-04 -9.99929716e-01 -4.64678801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters 0.05221969783359897 Centerline is valid? [True, True] Translation: X:676.17, Y:-262.52, Z:-4.65 [[ 9.98647608e-01 5.07569474e-02 -1.12555660e-02 6.76174697e+02] [ 5.07574617e-02 -9.98710980e-01 -2.40145165e-04 -2.62518659e+02] [-1.12532464e-02 -3.31483564e-04 -9.99936625e-01 -4.64556648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters 0.05209685998621977 Centerline is valid? [True, True] Translation: X:676.21, Y:-262.60, Z:-4.65 [[ 9.92797243e-01 1.19270945e-01 -1.13170383e-02 6.76210938e+02] [ 1.19265742e-01 -9.92861719e-01 -1.13600718e-03 -2.62603664e+02] [-1.13717468e-02 -2.21910174e-04 -9.99935315e-01 -4.64682942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters 0.052677425946819935 Centerline is valid? [True, True] Translation: X:676.25, Y:-262.68, Z:-4.65 [[ 9.81289137e-01 1.92200409e-01 -1.14294342e-02 6.76251587e+02] [ 1.92189350e-01 -9.81355682e-01 -2.06855810e-03 -2.62681427e+02] [-1.16139180e-02 -1.66761948e-04 -9.99932542e-01 -4.64701499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters 0.05283932878775388 Centerline is valid? [True, True] Translation: X:676.30, Y:-262.74, Z:-4.65 [[ 9.63343263e-01 2.68008839e-01 -1.18751633e-02 6.76296144e+02] [ 2.67990418e-01 -9.63416441e-01 -3.14587912e-03 -2.62744639e+02] [-1.22838510e-02 -1.51868530e-04 -9.99924539e-01 -4.64601070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters 0.052404981255147746 Centerline is valid? [True, True] Translation: X:676.35, Y:-262.81, Z:-4.65 [[ 9.38511806e-01 3.45028272e-01 -1.22915102e-02 6.76346136e+02] [ 3.45001117e-01 -9.38592276e-01 -4.33219058e-03 -2.62806132e+02] [-1.30314448e-02 -1.74772758e-04 -9.99915072e-01 -4.64783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters 0.05209773084088469 Centerline is valid? [True, True] Translation: X:676.40, Y:-262.87, Z:-4.65 [[ 9.07165533e-01 4.20605026e-01 -1.19209238e-02 6.76402626e+02] [ 4.20571886e-01 -9.07243828e-01 -5.28436454e-03 -2.62869935e+02] [-1.30378148e-02 -2.19812021e-04 -9.99914980e-01 -4.64563976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters 0.05236251478973081 Centerline is valid? [True, True] Translation: X:676.46, Y:-262.92, Z:-4.65 [[ 8.70273469e-01 4.92438755e-01 -1.13208422e-02 6.76459503e+02] [ 4.92400840e-01 -8.70347063e-01 -6.11582591e-03 -2.62922089e+02] [-1.28647315e-02 -2.51951192e-04 -9.99917214e-01 -4.64570122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters 0.052047228099962074 Centerline is valid? [True, True] Translation: X:676.52, Y:-262.97, Z:-4.65 [[ 8.26787953e-01 5.62429434e-01 -9.73716840e-03 6.76523110e+02] [ 5.62394746e-01 -8.26845232e-01 -6.25394759e-03 -2.62971687e+02] [-1.15685355e-02 -3.05443818e-04 -9.99933036e-01 -4.64725952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters 0.05093455240105805 Centerline is valid? [True, True] Translation: X:676.59, Y:-263.01, Z:-4.65 [[ 7.78837210e-01 6.27172564e-01 -8.19607086e-03 6.76587029e+02] [ 6.27142234e-01 -7.78880264e-01 -6.17677121e-03 -2.63013879e+02] [-1.02576593e-02 -3.29402934e-04 -9.99947335e-01 -4.64687209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters 0.051623661691920154 Centerline is valid? [True, True] Translation: X:676.65, Y:-263.04, Z:-4.65 [[ 7.25950402e-01 6.87715511e-01 -6.58708946e-03 6.76650179e+02] [ 6.87691440e-01 -7.25980204e-01 -5.76429114e-03 -2.63044291e+02] [-8.74628898e-03 -3.45295566e-04 -9.99961691e-01 -4.64968366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters 0.05154156048676865 Centerline is valid? [True, True] Translation: X:676.72, Y:-263.07, Z:-4.65 [[ 6.69667405e-01 7.42642026e-01 -5.32813619e-03 6.76719926e+02] [ 7.42622502e-01 -6.69688513e-01 -5.39582880e-03 -2.63074838e+02] [-7.57536083e-03 -3.43383164e-04 -9.99971248e-01 -4.64980656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters 0.05064899573691406 Centerline is valid? [True, True] Translation: X:676.79, Y:-263.10, Z:-4.65 [[ 6.08950599e-01 7.93190402e-01 -5.30610445e-03 6.76791253e+02] [ 7.93165178e-01 -6.08973615e-01 -6.33540645e-03 -2.63099344e+02] [-8.25646120e-03 -3.50667729e-04 -9.99965853e-01 -4.64980147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters 0.051019397541809314 Centerline is valid? [True, True] Translation: X:676.86, Y:-263.12, Z:-4.65 [[ 5.44171400e-01 8.38953286e-01 -5.90525897e-03 6.76864405e+02] [ 8.38911049e-01 -5.44203316e-01 -8.42630748e-03 -2.63119345e+02] [-1.02829399e-02 -3.68631458e-04 -9.99947061e-01 -4.64691269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters 0.050951792359923254 Centerline is valid? [True, True] Translation: X:676.95, Y:-263.14, Z:-4.65 [[ 4.76598021e-01 8.79104717e-01 -5.40586429e-03 6.76949755e+02] [ 8.79056777e-01 -4.76628532e-01 -9.18832449e-03 -2.63138322e+02] [-1.06540886e-02 -3.72924375e-04 -9.99943174e-01 -4.64938704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters 0.05128423736816182 Centerline is valid? [True, True] Translation: X:677.04, Y:-263.15, Z:-4.65 [[ 4.04123495e-01 9.14690148e-01 -5.11209320e-03 6.77038476e+02] [ 9.14629235e-01 -4.04155623e-01 -1.05638285e-02 -2.63152777e+02] [-1.17287111e-02 -4.06578582e-04 -9.99931134e-01 -4.64791719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters 0.05167246675902381 Centerline is valid? [True, True] Translation: X:677.12, Y:-263.16, Z:-4.65 [[ 3.30702175e-01 9.43723640e-01 -4.66498949e-03 6.77120551e+02] [ 9.43647041e-01 -3.30734805e-01 -1.20312487e-02 -2.63157259e+02] [-1.28970482e-02 -4.23343422e-04 -9.99916740e-01 -4.64698781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters 0.05170475172510228 Centerline is valid? [True, True] Translation: X:677.20, Y:-263.15, Z:-4.65 [[ 2.55393805e-01 9.66829296e-01 -3.88795676e-03 6.77195921e+02] [ 9.66741797e-01 -2.55423027e-01 -1.30144355e-02 -2.63153102e+02] [-1.35758112e-02 -4.34844094e-04 -9.99907750e-01 -4.64657135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters 0.05166776440384624 Centerline is valid? [True, True] Translation: X:677.29, Y:-263.15, Z:-4.65 [[ 1.77492146e-01 9.84118316e-01 -2.77094926e-03 6.77285671e+02] [ 9.84034796e-01 -1.77513205e-01 -1.28289722e-02 -2.63145674e+02] [-1.31171066e-02 -4.49668684e-04 -9.99913866e-01 -4.65087908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters 0.05149339951193473 Centerline is valid? [True, True] Translation: X:677.38, Y:-263.13, Z:-4.65 [[ 9.86756624e-02 9.95118211e-01 -1.69134135e-03 6.77378830e+02] [ 9.95040944e-01 -9.86890914e-02 -1.24089569e-02 -2.63133003e+02] [-1.25152959e-02 -4.58491852e-04 -9.99921576e-01 -4.65080430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters 0.051107671261929305 Centerline is valid? [True, True] Translation: X:677.47, Y:-263.11, Z:-4.65 [[ 1.91858501e-02 9.99815716e-01 -6.60631754e-04 6.77469264e+02] [ 9.99756936e-01 -1.91918919e-02 -1.08508349e-02 -2.63111558e+02] [-1.08615141e-02 -4.52288686e-04 -9.99940910e-01 -4.65226359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters 0.051844531515915955 Centerline is valid? [True, True] Translation: X:677.56, Y:-263.08, Z:-4.65 [[-6.03558683e-02 9.98176907e-01 1.77550377e-04 6.77555941e+02] [ 9.98121066e-01 6.03543716e-02 -1.05682739e-02 -2.63084254e+02] [-1.05597229e-02 -4.60640579e-04 -9.99944138e-01 -4.65156843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters 0.051203757725225965 Centerline is valid? [True, True] Translation: X:677.63, Y:-263.05, Z:-4.65 [[-1.40214220e-01 9.90120580e-01 1.09982219e-03 6.77629048e+02] [ 9.90056424e-01 1.40217667e-01 -1.12820274e-02 -2.63050642e+02] [-1.13247821e-02 -4.93014649e-04 -9.99935751e-01 -4.65134226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters 0.05132273964045038 Centerline is valid? [True, True] Translation: X:677.70, Y:-263.01, Z:-4.65 [[-2.18973749e-01 9.75728125e-01 2.26355579e-03 6.77704483e+02] [ 9.75647666e-01 2.18984788e-01 -1.25417457e-02 -2.63009906e+02] [-1.27330183e-02 -5.37880158e-04 -9.99918787e-01 -4.65172562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters 0.0517334583403971 Centerline is valid? [True, True] Translation: X:677.78, Y:-262.96, Z:-4.65 [[-2.95262343e-01 9.55409708e-01 3.52686933e-03 6.77784015e+02] [ 9.55316943e-01 2.95282865e-01 -1.33254684e-02 -2.62961354e+02] [-1.37727060e-02 -5.65231005e-04 -9.99904992e-01 -4.65198433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters 0.051745241800571835 Centerline is valid? [True, True] Translation: X:677.86, Y:-262.91, Z:-4.65 [[-3.69482623e-01 9.29225977e-01 4.65573101e-03 6.77860454e+02] [ 9.29131466e-01 3.69511506e-01 -1.32652197e-02 -2.62907798e+02] [-1.40467329e-02 -5.75481993e-04 -9.99901174e-01 -4.65030591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters 0.05164021826352129 Centerline is valid? [True, True] Translation: X:677.93, Y:-262.85, Z:-4.65 [[-4.39022528e-01 8.98457863e-01 5.71741433e-03 6.77927116e+02] [ 8.98364844e-01 4.39059418e-01 -1.29396433e-02 -2.62849683e+02] [-1.41360089e-02 -5.44470882e-04 -9.99899933e-01 -4.65108410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters 0.050708875475360266 Centerline is valid? [True, True] Translation: X:677.99, Y:-262.79, Z:-4.65 [[-5.03352886e-01 8.64054537e-01 6.75502528e-03 6.77987570e+02] [ 8.63963866e-01 5.03397992e-01 -1.25260165e-02 -2.62787994e+02] [-1.42236275e-02 -4.68908780e-04 -9.99898729e-01 -4.64850604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters 0.05117703441225868 Centerline is valid? [True, True] Translation: X:678.04, Y:-262.72, Z:-4.65 [[-5.65588132e-01 8.24657405e-01 7.08720054e-03 6.78040287e+02] [ 8.24583745e-01 5.65632397e-01 -1.10289698e-02 -2.62722237e+02] [-1.31038719e-02 -3.93864075e-04 -9.99914063e-01 -4.65341078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters 0.050728655872963484 Centerline is valid? [True, True] Translation: X:678.09, Y:-262.65, Z:-4.65 [[-6.22608571e-01 7.82509133e-01 6.16645410e-03 6.78088393e+02] [ 7.82465948e-01 6.22639036e-01 -8.22622108e-03 -2.62654222e+02] [-1.02765682e-02 -2.96675392e-04 -9.99947151e-01 -4.65499326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters 0.05105618835383377 Centerline is valid? [True, True] Translation: X:678.13, Y:-262.58, Z:-4.65 [[-6.78981583e-01 7.34127816e-01 6.35296505e-03 6.78130151e+02] [ 7.34092084e-01 6.79011255e-01 -7.24759190e-03 -2.62583246e+02] [-9.63439358e-03 -2.57320073e-04 -9.99953555e-01 -4.65460219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters 0.051395273715312 Centerline is valid? [True, True] Translation: X:678.16, Y:-262.51, Z:-4.65 [[-7.30729771e-01 6.82622369e-01 7.79123221e-03 6.78163272e+02] [ 6.82580717e-01 7.30771280e-01 -7.54327603e-03 -2.62514521e+02] [-1.08428177e-02 -1.93951500e-04 -9.99941196e-01 -4.65288959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters 0.052035496179711455 Centerline is valid? [True, True] Translation: X:678.54, Y:-261.93, Z:-5.65 [[-7.00867047e-01 -7.13287208e-01 2.59632762e-03 6.78544038e+02] [ 7.13281574e-01 -7.00871842e-01 -2.83830147e-03 -2.61929255e+02] [ 3.84421705e-03 -1.37359317e-04 9.99992602e-01 -5.65209476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters 0.0524147570589606 Centerline is valid? [True, True] Translation: X:678.50, Y:-261.89, Z:-5.65 [[-7.04065159e-01 -7.10128310e-01 3.16783044e-03 6.78504084e+02] [ 7.10120556e-01 -7.04072280e-01 -3.31969825e-03 -2.61888052e+02] [ 4.58779331e-03 -8.77423569e-05 9.99989472e-01 -5.65140923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters 0.05274060184782989 Centerline is valid? [True, True] Translation: X:678.46, Y:-261.85, Z:-5.65 [[-7.09374044e-01 -7.04826853e-01 2.75192743e-03 6.78463948e+02] [ 7.04820964e-01 -7.09379374e-01 -2.88296074e-03 -2.61846744e+02] [ 3.98414871e-03 -1.05481376e-04 9.99992058e-01 -5.65128901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters 0.05300061222826467 Centerline is valid? [True, True] Translation: X:678.42, Y:-261.81, Z:-5.65 [[-7.12657476e-01 -7.01510451e-01 1.55192377e-03 6.78420756e+02] [ 7.01508573e-01 -7.12659162e-01 -1.62507756e-03 -2.61807701e+02] [ 2.24600159e-03 -6.94358405e-05 9.99997475e-01 -5.65056039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters 0.05277393644297671 Centerline is valid? [True, True] Translation: X:678.38, Y:-261.77, Z:-5.65 [[-7.12786117e-01 -7.01381006e-01 7.97284786e-04 6.78375325e+02] [ 7.01380511e-01 -7.12786562e-01 -8.34097509e-04 -2.61773190e+02] [ 1.15331403e-03 -3.53331134e-05 9.99999334e-01 -5.64966851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters 0.05279680638452073 Centerline is valid? [True, True] Translation: X:678.33, Y:-261.74, Z:-5.65 [[-7.11096676e-01 -7.03093935e-01 6.60725242e-04 6.78329749e+02] [ 7.03093595e-01 -7.11096982e-01 -6.91204363e-04 -2.61736320e+02] [ 9.55821320e-04 -2.69614387e-05 9.99999543e-01 -5.65081624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters 0.052617798725523725 Centerline is valid? [True, True] Translation: X:678.29, Y:-261.69, Z:-5.65 [[-7.07550607e-01 -7.06661993e-01 9.83254428e-04 6.78289846e+02] [ 7.06661245e-01 -7.07551289e-01 -1.02861870e-03 -2.61694556e+02] [ 1.42258868e-03 -3.29719854e-05 9.99998988e-01 -5.65270647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters 0.05273151457189257 Centerline is valid? [True, True] Translation: X:678.24, Y:-261.66, Z:-5.65 [[-6.97391601e-01 -7.16689903e-01 7.33139659e-04 6.78236740e+02] [ 7.16689493e-01 -6.97391986e-01 -7.66626671e-04 -2.61664194e+02] [ 1.06071932e-03 -9.20551076e-06 9.99999437e-01 -5.65272156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters 0.052035030195002566 Centerline is valid? [True, True] Translation: X:678.19, Y:-261.63, Z:-5.65 [[-6.92675762e-01 -7.21248723e-01 7.53414688e-04 6.78193423e+02] [ 7.21248293e-01 -6.92676172e-01 -7.87537914e-04 -2.61626234e+02] [ 1.08988312e-03 -2.10936718e-06 9.99999406e-01 -5.65396224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters 0.05143186749904142 Centerline is valid? [True, True] Translation: X:678.15, Y:-261.59, Z:-5.65 [[-6.88113223e-01 -7.25603272e-01 -2.89385970e-04 6.78148402e+02] [ 7.25603209e-01 -6.88113284e-01 3.03631890e-04 -2.61592525e+02] [-4.19446623e-04 -1.04626999e-06 9.99999912e-01 -5.65402875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters 0.051929486964668835 Centerline is valid? [True, True] Translation: X:678.11, Y:-261.56, Z:-5.65 [[-6.86781616e-01 -7.26863674e-01 -4.60014417e-04 6.78106198e+02] [ 7.26863514e-01 -6.86781770e-01 4.81691645e-04 -2.61556638e+02] [-6.66053674e-04 -3.55072898e-06 9.99999778e-01 -5.65486002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters 0.05214301035903038 Centerline is valid? [True, True] Translation: X:678.07, Y:-261.52, Z:-5.66 [[-6.86207094e-01 -7.27406174e-01 -2.86079086e-04 6.78065393e+02] [ 7.27406112e-01 -6.86207154e-01 2.99954645e-04 -2.61519494e+02] [-4.14498376e-04 -2.26467090e-06 9.99999914e-01 -5.65506665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters 0.051868335590727996 Centerline is valid? [True, True] Translation: X:678.03, Y:-261.48, Z:-5.65 [[-6.84943464e-01 -7.28596149e-01 -3.22019340e-04 6.78025874e+02] [ 7.28596071e-01 -6.84943539e-01 3.37339044e-04 -2.61479535e+02] [-4.66348995e-04 -3.56385260e-06 9.99999891e-01 -5.65393146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters 0.051480729412651305 Centerline is valid? [True, True] Translation: X:677.98, Y:-261.44, Z:-5.65 [[-6.84067903e-01 -7.29418172e-01 4.84637835e-04 6.77983894e+02] [ 7.29417997e-01 -6.84068074e-01 -5.05757546e-04 -2.61438289e+02] [ 7.00434015e-04 7.53105475e-06 9.99999755e-01 -5.65442522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters 0.05267792719782374 Centerline is valid? [True, True] Translation: X:677.94, Y:-261.40, Z:-5.66 [[-6.84005152e-01 -7.29476476e-01 1.01179542e-03 6.77942584e+02] [ 7.29475712e-01 -6.84005900e-01 -1.05602169e-03 -2.61399280e+02] [ 1.46241701e-03 1.57559048e-05 9.99998931e-01 -5.65643494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters 0.05191261966544286 Centerline is valid? [True, True] Translation: X:677.90, Y:-261.36, Z:-5.66 [[-6.85516861e-01 -7.28050799e-01 2.94387780e-03 6.77902958e+02] [ 7.28044315e-01 -6.85523181e-01 -3.07303438e-03 -2.61357568e+02] [ 4.25542161e-03 3.66566129e-05 9.99990945e-01 -5.65926980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters 0.052314009975997736 Centerline is valid? [True, True] Translation: X:677.87, Y:-261.31, Z:-5.66 [[-6.90224654e-01 -7.23586005e-01 3.63579920e-03 6.77866587e+02] [ 7.23576053e-01 -6.90234230e-01 -3.79504522e-03 -2.61314019e+02] [ 5.25559467e-03 1.13434636e-05 9.99986189e-01 -5.66105326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters 0.05355926165200246 Centerline is valid? [True, True] Translation: X:677.83, Y:-261.27, Z:-5.66 [[-6.96470679e-01 -7.17580950e-01 2.48475187e-03 6.77829749e+02] [ 7.17576268e-01 -6.96475111e-01 -2.59236269e-03 -2.61270486e+02] [ 3.59079792e-03 -2.25056283e-05 9.99993553e-01 -5.65635734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters 0.0528129656825773 Centerline is valid? [True, True] Translation: X:677.79, Y:-261.23, Z:-5.66 [[-7.00357280e-01 -7.13790535e-01 1.65886132e-03 6.77793457e+02] [ 7.13788437e-01 -7.00359244e-01 -1.73085695e-03 -2.61225618e+02] [ 2.39726817e-03 -2.81422378e-05 9.99997126e-01 -5.65692958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters 0.0528561287843339 Centerline is valid? [True, True] Translation: X:677.76, Y:-261.18, Z:-5.66 [[-7.04385134e-01 -7.09817141e-01 1.09978462e-03 6.77761850e+02] [ 7.09816215e-01 -7.04385992e-01 -1.14669205e-03 -2.61177982e+02] [ 1.58861455e-03 -2.70678758e-05 9.99998738e-01 -5.65830316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters 0.053054498001751646 Centerline is valid? [True, True] Translation: X:677.72, Y:-261.14, Z:-5.66 [[-7.05453411e-01 -7.08751860e-01 2.50713415e-03 6.77721667e+02] [ 7.08747042e-01 -7.05457863e-01 -2.61433769e-03 -2.61136551e+02] [ 3.62159420e-03 -6.73695275e-05 9.99993440e-01 -5.65999091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters 0.05319262858015332 Centerline is valid? [True, True] Translation: X:677.68, Y:-261.10, Z:-5.66 [[-7.04084063e-01 -7.10111562e-01 2.68352295e-03 6.77681431e+02] [ 7.10106055e-01 -7.04089174e-01 -2.79757373e-03 -2.61096334e+02] [ 3.87602891e-03 -6.41411792e-05 9.99992486e-01 -5.66040932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters 0.05266657397639333 Centerline is valid? [True, True] Translation: X:677.64, Y:-261.06, Z:-5.66 [[-7.02062520e-01 -7.12112284e-01 2.07695459e-03 6.77640795e+02] [ 7.12108996e-01 -7.02065591e-01 -2.16439756e-03 -2.61056059e+02] [ 2.99945244e-03 -4.05243553e-05 9.99995501e-01 -5.66014253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters 0.05288583466169571 Centerline is valid? [True, True] Translation: X:677.60, Y:-261.02, Z:-5.66 [[-6.96501756e-01 -7.17553149e-01 1.66823571e-03 6.77599161e+02] [ 7.17551044e-01 -6.96503753e-01 -1.73815433e-03 -2.61017160e+02] [ 2.40915055e-03 -1.35832637e-05 9.99997098e-01 -5.66081252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters 0.05226444853097136 Centerline is valid? [True, True] Translation: X:677.56, Y:-260.98, Z:-5.66 [[-6.91495050e-01 -7.22379833e-01 1.40443906e-03 6.77558264e+02] [ 7.22378352e-01 -6.91496476e-01 -1.46266283e-03 -2.60979444e+02] [ 2.02776280e-03 3.11226892e-06 9.99997944e-01 -5.66104347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters 0.05131814595632201 Centerline is valid? [True, True] Translation: X:677.52, Y:-260.94, Z:-5.66 [[-6.83321734e-01 -7.30117317e-01 3.34636647e-04 6.77515277e+02] [ 7.30117234e-01 -6.83321816e-01 -3.47681607e-04 -2.60943068e+02] [ 4.82512883e-04 6.74558471e-06 9.99999884e-01 -5.66044552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters 0.05249406924161035 Centerline is valid? [True, True] Translation: X:677.47, Y:-260.91, Z:-5.66 [[-6.75544498e-01 -7.37318651e-01 -9.15751025e-04 6.77470328e+02] [ 7.37318034e-01 -6.75545118e-01 9.54442001e-04 -2.60909479e+02] [-1.32235902e-03 -3.04317033e-05 9.99999125e-01 -5.65998487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters 0.052514839106452646 Centerline is valid? [True, True] Translation: X:677.43, Y:-260.87, Z:-5.66 [[-6.70621830e-01 -7.41798180e-01 -1.34932668e-03 6.77431619e+02] [ 7.41796851e-01 -6.70623185e-01 1.40547809e-03 -2.60868786e+02] [-1.94747085e-03 -5.83819959e-05 9.99998102e-01 -5.65932921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters 0.05290781329779209 Centerline is valid? [True, True] Translation: X:677.39, Y:-260.83, Z:-5.66 [[-6.65716833e-01 -7.46202993e-01 -1.48069714e-03 6.77391269e+02] [ 7.46201404e-01 -6.65718475e-01 1.54174353e-03 -2.60829502e+02] [-2.13618108e-03 -7.85336700e-05 9.99997715e-01 -5.66044684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters 0.05276611725026864 Centerline is valid? [True, True] Translation: X:677.35, Y:-260.79, Z:-5.66 [[-6.64836436e-01 -7.46987715e-01 -1.36617751e-03 6.77352957e+02] [ 7.46986365e-01 -6.64837836e-01 1.42213930e-03 -2.60787929e+02] [-1.97060708e-03 -7.50259522e-05 9.99998056e-01 -5.66147072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters 0.053364542943725855 Centerline is valid? [True, True] Translation: X:677.31, Y:-260.75, Z:-5.66 [[-6.66790878e-01 -7.45244409e-01 -8.34060331e-04 6.77312526e+02] [ 7.45243904e-01 -6.66791399e-01 8.68174914e-04 -2.60747498e+02] [-1.20314676e-03 -4.26872641e-05 9.99999275e-01 -5.66287655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters 0.05251399264828715 Centerline is valid? [True, True] Translation: X:677.28, Y:-260.70, Z:-5.66 [[-6.72988808e-01 -7.39652665e-01 8.06817691e-06 6.77280587e+02] [ 7.39652665e-01 -6.72988808e-01 -7.77098287e-06 -2.60699301e+02] [ 1.11776207e-05 7.37864054e-07 1.00000000e+00 -5.66439505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters 0.05141550507142081 Centerline is valid? [True, True] Translation: X:677.25, Y:-260.65, Z:-5.67 [[-6.80319474e-01 -7.32915652e-01 2.47565581e-04 6.77246421e+02] [ 7.32915607e-01 -6.80319519e-01 -2.56606251e-04 -2.60654369e+02] [ 3.56494434e-04 6.87044864e-06 9.99999936e-01 -5.66595279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters 0.051412912521024 Centerline is valid? [True, True] Translation: X:677.22, Y:-260.60, Z:-5.66 [[-6.86532892e-01 -7.27098743e-01 7.31440466e-05 6.77217429e+02] [ 7.27098739e-01 -6.86532896e-01 -7.52999531e-05 -2.60602360e+02] [ 1.04966295e-04 1.48704946e-06 9.99999994e-01 -5.66496004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters 0.05114040274899791 Centerline is valid? [True, True] Translation: X:677.18, Y:-260.56, Z:-5.67 [[-6.90128163e-01 -7.23687105e-01 3.04256891e-04 6.77180277e+02] [ 7.23687036e-01 -6.90128230e-01 -3.15447863e-04 -2.60557346e+02] [ 4.38261820e-04 2.48731328e-06 9.99999904e-01 -5.66532680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters 0.050791017796344075 Centerline is valid? [True, True] Translation: X:677.15, Y:-260.51, Z:-5.67 [[-6.95170006e-01 -7.18845335e-01 2.19513376e-04 6.77146815e+02] [ 7.18845299e-01 -6.95170040e-01 -2.27149390e-04 -2.60511341e+02] [ 3.15884401e-04 -1.11284043e-07 9.99999950e-01 -5.66645416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters 0.05130574211534629 Centerline is valid? [True, True] Translation: X:677.11, Y:-260.47, Z:-5.66 [[-6.99438961e-01 -7.14691477e-01 -1.11056686e-03 6.77110627e+02] [ 7.14690545e-01 -6.99439842e-01 1.15403560e-03 -2.60467140e+02] [-1.60155411e-03 1.34658281e-05 9.99998717e-01 -5.66481359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters 0.05120366541808599 Centerline is valid? [True, True] Translation: X:677.07, Y:-260.42, Z:-5.66 [[-7.01173019e-01 -7.12989940e-01 -1.32025297e-03 6.77074068e+02] [ 7.12988621e-01 -7.01174262e-01 1.37140637e-03 -2.60422138e+02] [-1.90352635e-03 2.02678008e-05 9.99998188e-01 -5.66430579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters 0.05117520191100612 Centerline is valid? [True, True] Translation: X:677.04, Y:-260.38, Z:-5.66 [[-7.01534909e-01 -7.12633119e-01 -1.67622915e-03 6.77037136e+02] [ 7.12630994e-01 -7.01536911e-01 1.74061153e-03 -2.60379372e+02] [-2.41635404e-03 2.65669076e-05 9.99997080e-01 -5.66466498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters 0.050668473917174446 Centerline is valid? [True, True] Translation: X:677.00, Y:-260.34, Z:-5.67 [[-6.98394224e-01 -7.15712631e-01 -9.68525110e-04 6.76996857e+02] [ 7.15711924e-01 -6.98394896e-01 1.00560137e-03 -2.60340008e+02] [-1.39613459e-03 9.12121518e-06 9.99999025e-01 -5.66574567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters 0.05090153533930423 Centerline is valid? [True, True] Translation: X:676.96, Y:-260.30, Z:-5.67 [[-6.95529753e-01 -7.18497261e-01 -2.22497700e-04 6.76955580e+02] [ 7.18497224e-01 -6.95529788e-01 2.31410242e-04 -2.60298506e+02] [-3.21021404e-04 1.08872815e-06 9.99999948e-01 -5.66568846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters 0.05060346334905722 Centerline is valid? [True, True] Translation: X:676.92, Y:-260.26, Z:-5.67 [[-6.91905135e-01 -7.21988146e-01 6.33225220e-04 6.76916412e+02] [ 7.21987848e-01 -6.91905425e-01 -6.56201319e-04 -2.60255998e+02] [ 9.11901538e-04 3.15185201e-06 9.99999584e-01 -5.66705164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters 0.050799412308261495 Centerline is valid? [True, True] Translation: X:676.88, Y:-260.21, Z:-5.67 [[-6.90726608e-01 -7.23115730e-01 6.28410244e-04 6.76877008e+02] [ 7.23115437e-01 -6.90726894e-01 -6.51050614e-04 -2.60213841e+02] [ 9.04844795e-04 4.71516584e-06 9.99999591e-01 -5.66722532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters 0.050813912420226245 Centerline is valid? [True, True] Translation: X:676.84, Y:-260.17, Z:-5.67 [[-6.91424414e-01 -7.22448785e-01 1.83460948e-04 6.76840244e+02] [ 7.22448760e-01 -6.91424438e-01 -1.89434190e-04 -2.60171046e+02] [ 2.63705883e-04 1.56171052e-06 9.99999965e-01 -5.66724763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters 0.05085060961969095 Centerline is valid? [True, True] Translation: X:676.80, Y:-260.13, Z:-5.67 [[-6.93316047e-01 -7.20632714e-01 -1.16233704e-03 6.76802035e+02] [ 7.20631706e-01 -6.93317021e-01 1.20537569e-03 -2.60128917e+02] [-1.67450121e-03 -1.91061385e-06 9.99998598e-01 -5.66808106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters 0.05013700209276155 Centerline is valid? [True, True] Translation: X:676.76, Y:-260.09, Z:-5.67 [[-6.95693151e-01 -7.18336295e-01 -2.00177856e-03 6.76763196e+02] [ 7.18333299e-01 -6.95696031e-01 2.07490943e-03 -2.60087400e+02] [-2.88311216e-03 5.55608151e-06 9.99995844e-01 -5.66794418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters 0.05062679223351652 Centerline is valid? [True, True] Translation: X:676.72, Y:-260.05, Z:-5.67 [[-6.97019779e-01 -7.17049696e-01 -1.77802869e-03 6.76724373e+02] [ 7.17047329e-01 -6.97022046e-01 1.84248699e-03 -2.60046034e+02] [-2.56047994e-03 9.31915217e-06 9.99996722e-01 -5.66849092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters 0.050767190584807186 Centerline is valid? [True, True] Translation: X:676.69, Y:-260.00, Z:-5.67 [[-6.99972802e-01 -7.14168527e-01 -1.17942156e-03 6.76686728e+02] [ 7.14167482e-01 -6.99973796e-01 1.22213634e-03 -2.60004989e+02] [-1.69837549e-03 1.31576777e-05 9.99998558e-01 -5.66883997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters 0.05152677314809967 Centerline is valid? [True, True] Translation: X:676.64, Y:-259.97, Z:-5.67 [[-7.05332611e-01 -7.08876408e-01 3.82374712e-04 6.76643591e+02] [ 7.08876298e-01 -7.05332715e-01 -3.95174402e-04 -2.59965567e+02] [ 5.49831204e-04 -7.67302293e-06 9.99999849e-01 -5.66938956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters 0.05195531042976317 Centerline is valid? [True, True] Translation: X:676.60, Y:-259.92, Z:-5.67 [[-7.11149741e-01 -7.03039614e-01 1.16028051e-03 6.76602552e+02] [ 7.03038591e-01 -7.11150687e-01 -1.20017503e-03 -2.59924377e+02] [ 1.66890487e-03 -3.77821873e-05 9.99998607e-01 -5.67089095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters 0.05217311755800463 Centerline is valid? [True, True] Translation: X:676.56, Y:-259.88, Z:-5.67 [[-7.15348557e-01 -6.98764397e-01 2.18167735e-03 6.76563181e+02] [ 6.98760758e-01 -7.15351879e-01 -2.25663428e-03 -2.59881319e+02] [ 3.13752268e-03 -8.98095594e-05 9.99995074e-01 -5.67208155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters 0.052609673060375214 Centerline is valid? [True, True] Translation: X:676.52, Y:-259.84, Z:-5.67 [[-7.20106642e-01 -6.93856064e-01 3.19171593e-03 6.76518911e+02] [ 6.93848233e-01 -7.20113697e-01 -3.30060479e-03 -2.59844698e+02] [ 4.58854301e-03 -1.62220974e-04 9.99989459e-01 -5.67126571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters 0.05304793313281186 Centerline is valid? [True, True] Translation: X:676.47, Y:-259.81, Z:-5.67 [[-7.20815596e-01 -6.93113758e-01 4.26552035e-03 6.76473127e+02] [ 6.93099761e-01 -7.20828183e-01 -4.41055630e-03 -2.59806591e+02] [ 6.13172454e-03 -2.22766636e-04 9.99981176e-01 -5.67084224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters 0.05312831448569307 Centerline is valid? [True, True] Translation: X:676.43, Y:-259.77, Z:-5.67 [[-7.18372556e-01 -6.95646373e-01 4.12244212e-03 6.76431312e+02] [ 6.95633343e-01 -7.18384358e-01 -4.26218650e-03 -2.59765849e+02] [ 5.92647252e-03 -1.94129611e-04 9.99982419e-01 -5.67162286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters 0.05212775494332614 Centerline is valid? [True, True] Translation: X:676.39, Y:-259.73, Z:-5.67 [[-7.10226393e-01 -7.03964880e-01 3.45239230e-03 6.76388023e+02] [ 7.03955841e-01 -7.10234776e-01 -3.56874640e-03 -2.59727666e+02] [ 4.96428121e-03 -1.04286160e-04 9.99987672e-01 -5.67163327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters 0.05226191864204561 Centerline is valid? [True, True] Translation: X:676.34, Y:-259.69, Z:-5.67 [[-6.98657079e-01 -7.15451194e-01 2.80647500e-03 6.76341132e+02] [ 7.15445317e-01 -6.98662715e-01 -2.89982149e-03 -2.59694026e+02] [ 4.03546019e-03 -1.81014099e-05 9.99991857e-01 -5.67330923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters 0.05094275394630317 Centerline is valid? [True, True] Translation: X:676.30, Y:-259.66, Z:-5.67 [[-6.90829431e-01 -7.23014977e-01 2.01013022e-03 6.76296133e+02] [ 7.23011996e-01 -6.90832355e-01 -2.07620986e-03 -2.59657694e+02] [ 2.88979382e-03 1.90413863e-05 9.99995824e-01 -5.67367478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters 0.05221084733202764 Centerline is valid? [True, True] Translation: X:676.25, Y:-259.63, Z:-5.67 [[-6.81410645e-01 -7.31901307e-01 9.68517391e-05 6.76248088e+02] [ 7.31901301e-01 -6.81410652e-01 -9.91914772e-05 -2.59626493e+02] [ 1.38594178e-04 3.29578529e-06 9.99999990e-01 -5.67259848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters 0.05209295218895076 Centerline is valid? [True, True] Translation: X:676.21, Y:-259.59, Z:-5.67 [[-6.77745183e-01 -7.35296081e-01 -1.06784493e-03 6.76205635e+02] [ 7.35295254e-01 -6.77746023e-01 1.10349748e-03 -2.59588542e+02] [-1.53512503e-03 -3.72912033e-05 9.99998821e-01 -5.67086662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters 0.05155245409485211 Centerline is valid? [True, True] Translation: X:676.17, Y:-259.54, Z:-5.67 [[-6.75443119e-01 -7.37410097e-01 -1.71516671e-03 6.76168508e+02] [ 7.37407972e-01 -6.75445293e-01 1.77137852e-03 -2.59544817e+02] [-2.46473368e-03 -6.83121747e-05 9.99996960e-01 -5.67026601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters 0.051987119326944234 Centerline is valid? [True, True] Translation: X:676.13, Y:-259.51, Z:-5.67 [[-6.75914701e-01 -7.36979858e-01 -8.16428868e-05 6.76127239e+02] [ 7.36979853e-01 -6.75914706e-01 8.51346871e-05 -2.59507908e+02] [-1.17926178e-04 -2.62537611e-06 9.99999993e-01 -5.67438849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters 0.05078802086414245 Centerline is valid? [True, True] Translation: X:676.10, Y:-259.46, Z:-5.68 [[-6.79891889e-01 -7.33307047e-01 2.79177663e-03 6.76095304e+02] [ 7.33301398e-01 -6.79897615e-01 -2.87972199e-03 -2.59458172e+02] [ 4.00984270e-03 8.93140825e-05 9.99991957e-01 -5.67645696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters 0.051624967165028506 Centerline is valid? [True, True] Translation: X:676.06, Y:-259.41, Z:-5.68 [[-6.85291313e-01 -7.28258476e-01 3.92535905e-03 6.76058879e+02] [ 7.28247227e-01 -6.85302550e-01 -4.04864768e-03 -2.59412740e+02] [ 5.63852055e-03 8.41287516e-05 9.99984100e-01 -5.67722550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters 0.05125634719947276 Centerline is valid? [True, True] Translation: X:676.03, Y:-259.36, Z:-5.68 [[-6.96036342e-01 -7.17994461e-01 4.16708843e-03 6.76027977e+02] [ 7.17981606e-01 -6.96048815e-01 -4.29653593e-03 -2.59364168e+02] [ 5.98538597e-03 1.34769063e-06 9.99982087e-01 -5.67830864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters 0.05118477416085633 Centerline is valid? [True, True] Translation: X:675.99, Y:-259.32, Z:-5.67 [[-7.04086462e-01 -7.10103913e-01 3.83236300e-03 6.75992919e+02] [ 7.10092927e-01 -7.04096889e-01 -3.95039101e-03 -2.59316925e+02] [ 5.50354298e-03 -6.00829707e-05 9.99984854e-01 -5.67462431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters 0.05223487306455286 Centerline is valid? [True, True] Translation: X:675.96, Y:-259.27, Z:-5.67 [[-7.20194796e-01 -6.93766582e-01 2.71771998e-03 6.75962294e+02] [ 6.93760940e-01 -7.20199912e-01 -2.80095477e-03 -2.59266605e+02] [ 3.90051050e-03 -1.31785082e-04 9.99992384e-01 -5.67334943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters 0.05337521852567238 Centerline is valid? [True, True] Translation: X:675.93, Y:-259.22, Z:-5.67 [[-7.26918006e-01 -6.86718724e-01 2.75810429e-03 6.75928329e+02] [ 6.86712864e-01 -7.26923218e-01 -2.84194309e-03 -2.59220641e+02] [ 3.95654557e-03 -1.71833911e-04 9.99992158e-01 -5.67343436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters 0.053543625848008 Centerline is valid? [True, True] Translation: X:675.89, Y:-259.18, Z:-5.67 [[-7.32457563e-01 -6.80810035e-01 1.90122151e-03 6.75891401e+02] [ 6.80807233e-01 -7.32460017e-01 -1.95824033e-03 -2.59175439e+02] [ 2.72575841e-03 -1.39962584e-04 9.99996275e-01 -5.67281213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters 0.052799077657247055 Centerline is valid? [True, True] Translation: X:675.85, Y:-259.14, Z:-5.67 [[-7.32476788e-01 -6.80790697e-01 1.33520760e-03 6.75850087e+02] [ 6.80789316e-01 -7.32477998e-01 -1.37463193e-03 -2.59135704e+02] [ 1.91384682e-03 -9.78909092e-05 9.99998164e-01 -5.67172939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters 0.05269354386362495 Centerline is valid? [True, True] Translation: X:675.81, Y:-259.10, Z:-5.67 [[-7.30414169e-01 -6.83004227e-01 6.07139316e-04 6.75807822e+02] [ 6.83003942e-01 -7.30414420e-01 -6.24583340e-04 -2.59095655e+02] [ 8.70056372e-04 -4.15259750e-05 9.99999621e-01 -5.67164045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters 0.05305623643459291 Centerline is valid? [True, True] Translation: X:675.76, Y:-259.06, Z:-5.67 [[-7.24792026e-01 -6.88967713e-01 9.53216547e-05 6.75757872e+02] [ 6.88967706e-01 -7.24792032e-01 -9.73945677e-05 -2.59064176e+02] [ 1.36190088e-04 -4.91726425e-06 9.99999991e-01 -5.67138885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters 0.05315547676963063 Centerline is valid? [True, True] Translation: X:675.72, Y:-259.02, Z:-5.67 [[-7.17584647e-01 -6.96471293e-01 -1.14954714e-04 6.75723572e+02] [ 6.96471283e-01 -7.17584656e-01 1.18589230e-04 -2.59016171e+02] [-1.65083733e-04 5.03515347e-06 9.99999986e-01 -5.67402680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters 0.051800711471868634 Centerline is valid? [True, True] Translation: X:675.67, Y:-258.99, Z:-5.67 [[-7.10155907e-01 -7.04044162e-01 -6.36565624e-04 6.75666120e+02] [ 7.04043857e-01 -7.10156193e-01 6.55570060e-04 -2.58988674e+02] [-9.13611293e-04 1.73868339e-05 9.99999583e-01 -5.67207868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters 0.05153422665679348 Centerline is valid? [True, True] Translation: X:675.63, Y:-258.95, Z:-5.67 [[-7.04678280e-01 -7.09526716e-01 -6.01107789e-04 6.75626596e+02] [ 7.09526446e-01 -7.04678536e-01 6.19195371e-04 -2.58947256e+02] [-8.62923415e-04 9.83165559e-06 9.99999628e-01 -5.67320970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters 0.051201583709337924 Centerline is valid? [True, True] Translation: X:675.58, Y:-258.91, Z:-5.68 [[-6.96388169e-01 -7.17664307e-01 1.20839304e-03 6.75578401e+02] [ 7.17663231e-01 -6.96389218e-01 -1.24249057e-03 -2.58913945e+02] [ 1.73320301e-03 1.96352351e-06 9.99998498e-01 -5.67632606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters 0.05154830839120487 Centerline is valid? [True, True] Translation: X:675.53, Y:-258.88, Z:-5.68 [[-6.89592547e-01 -7.24196193e-01 1.41175162e-03 6.75532600e+02] [ 7.24194739e-01 -6.89593992e-01 -1.45122818e-03 -2.58878525e+02] [ 2.02450936e-03 2.16269616e-05 9.99997950e-01 -5.67730423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters 0.05095337080129774 Centerline is valid? [True, True] Translation: X:675.49, Y:-258.84, Z:-5.68 [[-6.86495032e-01 -7.27133990e-01 8.55369122e-04 6.75490566e+02] [ 7.27133459e-01 -6.86495565e-01 -8.78739842e-04 -2.58839419e+02] [ 1.22616872e-03 1.87169721e-05 9.99999248e-01 -5.67649725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters 0.05170475541609489 Centerline is valid? [True, True] Translation: X:675.44, Y:-258.81, Z:-5.68 [[-6.84390294e-01 -7.29115715e-01 4.47782365e-04 6.75444041e+02] [ 7.29115570e-01 -6.84390440e-01 -4.59811067e-04 -2.58805340e+02] [ 6.41713444e-04 1.17948634e-05 9.99999794e-01 -5.67842341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters 0.05118819494023769 Centerline is valid? [True, True] Translation: X:675.41, Y:-258.76, Z:-5.68 [[-6.82660905e-01 -7.30735083e-01 5.72629966e-04 6.75407424e+02] [ 7.30734847e-01 -6.82661144e-01 -5.87767256e-04 -2.58760480e+02] [ 8.20414383e-04 1.71949441e-05 9.99999663e-01 -5.67755912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters 0.05077338684347044 Centerline is valid? [True, True] Translation: X:675.37, Y:-258.72, Z:-5.68 [[-6.80689338e-01 -7.32571432e-01 1.05928775e-03 6.75368445e+02] [ 7.32570625e-01 -6.80690162e-01 -1.08764391e-03 -2.58717566e+02] [ 1.51782361e-03 3.56554764e-05 9.99998847e-01 -5.67754212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters 0.051646808177163446 Centerline is valid? [True, True] Translation: X:675.32, Y:-258.68, Z:-5.68 [[-6.78978270e-01 -7.34150102e-01 3.48361545e-03 6.75324735e+02] [ 7.34141395e-01 -6.78987195e-01 -3.57798536e-03 -2.58680635e+02] [ 4.99210860e-03 1.28091992e-04 9.99987531e-01 -5.68124920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters 0.051987253578901556 Centerline is valid? [True, True] Translation: X:675.29, Y:-258.64, Z:-5.68 [[-6.78716785e-01 -7.34378972e-01 5.57238920e-03 6.75285553e+02] [ 7.34356710e-01 -6.78739627e-01 -5.72188744e-03 -2.58639047e+02] [ 7.98423518e-03 2.08580353e-04 9.99968104e-01 -5.68330518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters 0.0523295839555985 Centerline is valid? [True, True] Translation: X:675.25, Y:-258.60, Z:-5.69 [[-6.80362014e-01 -7.32849887e-01 6.21069364e-03 6.75245451e+02] [ 7.32822186e-01 -6.80390327e-01 -6.37552897e-03 -2.58600130e+02] [ 8.89800156e-03 2.13666361e-04 9.99960389e-01 -5.68655675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters 0.051048676639486625 Centerline is valid? [True, True] Translation: X:675.22, Y:-258.55, Z:-5.68 [[-6.85500855e-01 -7.28050288e-01 5.59969056e-03 6.75215943e+02] [ 7.28027613e-01 -6.85523712e-01 -5.74761220e-03 -2.58547539e+02] [ 8.02327137e-03 1.36736276e-04 9.99967804e-01 -5.68043818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters 0.051011061334844544 Centerline is valid? [True, True] Translation: X:675.18, Y:-258.50, Z:-5.68 [[-6.93826743e-01 -7.20130839e-01 4.00322804e-03 6.75182850e+02] [ 7.20119125e-01 -6.93838291e-01 -4.10744392e-03 -2.58500988e+02] [ 5.73548993e-03 3.29466400e-05 9.99983551e-01 -5.67983068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters 0.05064960853454202 Centerline is valid? [True, True] Translation: X:675.15, Y:-258.45, Z:-5.68 [[-7.03105441e-01 -7.11082203e-01 2.19994175e-03 6.75151221e+02] [ 7.11078624e-01 -7.03108882e-01 -2.25615454e-03 -2.58452312e+02] [ 3.15110992e-03 -2.19829796e-05 9.99995035e-01 -5.67785064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters 0.05136606048659699 Centerline is valid? [True, True] Translation: X:675.12, Y:-258.41, Z:-5.68 [[-7.11690923e-01 -7.02489421e-01 2.15496682e-03 6.75116523e+02] [ 7.02485949e-01 -7.11694183e-01 -2.20949110e-03 -2.58405524e+02] [ 3.08582147e-03 -5.86408456e-05 9.99995237e-01 -5.67757249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters 0.05214574074942791 Centerline is valid? [True, True] Translation: X:675.08, Y:-258.36, Z:-5.68 [[-7.18446815e-01 -6.95574712e-01 3.16135887e-03 6.75081366e+02] [ 6.95567176e-01 -7.18453758e-01 -3.24057228e-03 -2.58360321e+02] [ 4.52535029e-03 -1.29241370e-04 9.99989752e-01 -5.67891400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters 0.052376521033028055 Centerline is valid? [True, True] Translation: X:675.04, Y:-258.32, Z:-5.68 [[-7.21559221e-01 -6.92343069e-01 3.65574826e-03 6.75040337e+02] [ 6.92332952e-01 -7.21568462e-01 -3.74688552e-03 -2.58321550e+02] [ 5.23200287e-03 -1.72604820e-04 9.99986298e-01 -5.67708216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters 0.0530918452324542 Centerline is valid? [True, True] Translation: X:675.01, Y:-258.27, Z:-5.68 [[-7.21481982e-01 -6.92426465e-01 3.05627550e-03 6.75005317e+02] [ 6.92419398e-01 -7.21488441e-01 -3.13147804e-03 -2.58274270e+02] [ 4.37338571e-03 -1.43080541e-04 9.99990426e-01 -5.67932449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters 0.052640860631891176 Centerline is valid? [True, True] Translation: X:674.97, Y:-258.23, Z:-5.68 [[-7.20170296e-01 -6.93789864e-01 3.22032565e-03 6.74965303e+02] [ 6.93782037e-01 -7.20177482e-01 -3.29848901e-03 -2.58232856e+02] [ 4.60766426e-03 -1.41269718e-04 9.99989375e-01 -5.67998830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters 0.051931645312565264 Centerline is valid? [True, True] Translation: X:674.92, Y:-258.20, Z:-5.68 [[-7.16429360e-01 -6.97649423e-01 3.77538390e-03 6.74921428e+02] [ 6.97638726e-01 -7.16439295e-01 -3.86582368e-03 -2.58197473e+02] [ 5.40182304e-03 -1.35735573e-04 9.99985401e-01 -5.67878676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters 0.0519583415218195 Centerline is valid? [True, True] Translation: X:674.88, Y:-258.16, Z:-5.68 [[-7.11202660e-01 -7.02980640e-01 2.99945228e-03 6.74876164e+02] [ 7.02973936e-01 -7.11208981e-01 -3.07089424e-03 -2.58158036e+02] [ 4.29201660e-03 -7.54913764e-05 9.99990786e-01 -5.67759093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters 0.051643996074300764 Centerline is valid? [True, True] Translation: X:674.84, Y:-258.12, Z:-5.68 [[-7.05669082e-01 -7.08538328e-01 2.14113351e-03 6.74836034e+02] [ 7.08534937e-01 -7.05672330e-01 -2.19225541e-03 -2.58115467e+02] [ 3.06423566e-03 -2.99389660e-05 9.99995305e-01 -5.67838591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters 0.05091901595543967 Centerline is valid? [True, True] Translation: X:674.80, Y:-258.08, Z:-5.68 [[-7.01713040e-01 -7.12454182e-01 2.80133243e-03 6.74795635e+02] [ 7.12448415e-01 -7.01718631e-01 -2.86684763e-03 -2.58075291e+02] [ 4.00824474e-03 -1.58995168e-05 9.99991967e-01 -5.68205234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters 0.05110425918625035 Centerline is valid? [True, True] Translation: X:674.75, Y:-258.04, Z:-5.68 [[-6.97787476e-01 -7.16298394e-01 3.04128517e-03 6.74753121e+02] [ 7.16291636e-01 -6.97794104e-01 -3.11146419e-03 -2.58036226e+02] [ 4.35092766e-03 7.30638151e-06 9.99990535e-01 -5.68106282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters 0.05058333227047641 Centerline is valid? [True, True] Translation: X:674.71, Y:-258.00, Z:-5.68 [[-6.93827823e-01 -7.20134741e-01 2.98439185e-03 6.74709434e+02] [ 7.20128272e-01 -6.93834241e-01 -3.05251738e-03 -2.57998115e+02] [ 4.26889707e-03 3.12234525e-05 9.99990888e-01 -5.68065498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters 0.05152362855787931 Centerline is valid? [True, True] Translation: X:674.67, Y:-257.96, Z:-5.68 [[-6.93889516e-01 -7.20075634e-01 2.90193814e-03 6.74667998e+02] [ 7.20069521e-01 -6.93895583e-01 -2.96737478e-03 -2.57956925e+02] [ 4.15037633e-03 3.05669561e-05 9.99991387e-01 -5.68080038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters 0.051209076191293404 Centerline is valid? [True, True] Translation: X:674.63, Y:-257.92, Z:-5.68 [[-6.95324554e-01 -7.18691382e-01 2.54222833e-03 6.74628158e+02] [ 7.18686683e-01 -6.95329201e-01 -2.59877071e-03 -2.57915542e+02] [ 3.63539970e-03 2.00765651e-05 9.99993392e-01 -5.68301612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters 0.050997361615895735 Centerline is valid? [True, True] Translation: X:674.59, Y:-257.87, Z:-5.68 [[-6.97495893e-01 -7.16582208e-01 3.06901977e-03 6.74589865e+02] [ 7.16575343e-01 -6.97502644e-01 -3.13659593e-03 -2.57871682e+02] [ 4.38827825e-03 1.14211176e-05 9.99990371e-01 -5.68057378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters 0.05129319216628054 Centerline is valid? [True, True] Translation: X:674.55, Y:-257.83, Z:-5.68 [[-6.98422902e-01 -7.15670953e-01 4.53175861e-03 6.74549817e+02] [ 7.15655973e-01 -6.98437604e-01 -4.63053968e-03 -2.57831049e+02] [ 6.47909337e-03 9.10515870e-06 9.99979010e-01 -5.68436305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters 0.051307364446516956 Centerline is valid? [True, True] Translation: X:674.51, Y:-257.79, Z:-5.68 [[-6.98299697e-01 -7.15793724e-01 4.10829062e-03 6.74511717e+02] [ 7.15781423e-01 -6.98311782e-01 -4.19645511e-03 -2.57788596e+02] [ 5.87266397e-03 1.02547702e-05 9.99982756e-01 -5.68220570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters 0.05116008219194328 Centerline is valid? [True, True] Translation: X:674.47, Y:-257.75, Z:-5.68 [[-6.96383679e-01 -7.17665056e-01 2.57648655e-03 6.74471972e+02] [ 7.17660235e-01 -6.96388445e-01 -2.63061196e-03 -2.57748640e+02] [ 3.68213375e-03 1.71267086e-05 9.99993221e-01 -5.68142355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters 0.05065311068915127 Centerline is valid? [True, True] Translation: X:674.43, Y:-257.71, Z:-5.68 [[-6.93472402e-01 -7.20478852e-01 2.50034571e-03 6.74430594e+02] [ 7.20474332e-01 -6.93476909e-01 -2.55218839e-03 -2.57708647e+02] [ 3.57272978e-03 3.15626888e-05 9.99993617e-01 -5.68142548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters 0.05047043127027883 Centerline is valid? [True, True] Translation: X:674.39, Y:-257.67, Z:-5.68 [[-6.91027473e-01 -7.22822080e-01 3.04503151e-03 6.74390788e+02] [ 7.22815402e-01 -6.91034180e-01 -3.10758333e-03 -2.57666594e+02] [ 4.35045070e-03 5.35702190e-05 9.99990535e-01 -5.68077070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters 0.05112295732753843 Centerline is valid? [True, True] Translation: X:674.35, Y:-257.63, Z:-5.68 [[-6.90755484e-01 -7.23083319e-01 2.71560939e-03 6.74350856e+02] [ 7.23078014e-01 -6.90760820e-01 -2.77031875e-03 -2.57626675e+02] [ 3.87900784e-03 4.99845724e-05 9.99992475e-01 -5.68133795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters 0.05143305465240304 Centerline is valid? [True, True] Translation: X:674.31, Y:-257.59, Z:-5.68 [[-6.90715604e-01 -7.23121778e-01 2.61684447e-03 6.74311439e+02] [ 7.23116855e-01 -6.90720560e-01 -2.66881065e-03 -2.57585877e+02] [ 3.73738338e-03 4.88951865e-05 9.99993015e-01 -5.68121544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters 0.05075307253991958 Centerline is valid? [True, True] Translation: X:674.27, Y:-257.54, Z:-5.68 [[-6.91959280e-01 -7.21933115e-01 2.22077055e-03 6.74272890e+02] [ 7.21929565e-01 -6.91962843e-01 -2.26427576e-03 -2.57541644e+02] [ 3.17134635e-03 3.64532922e-05 9.99994971e-01 -5.68022320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters 0.05124516014459613 Centerline is valid? [True, True] Translation: X:674.23, Y:-257.50, Z:-5.68 [[-6.94120845e-01 -7.19851758e-01 3.11424008e-03 6.74233663e+02] [ 7.19844759e-01 -6.94127830e-01 -3.17467684e-03 -2.57499743e+02] [ 4.44697741e-03 3.81600314e-05 9.99990111e-01 -5.68125918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters 0.05124516014459613 Centerline is valid? [True, True] Translation: X:674.19, Y:-257.46, Z:-5.68 [[-6.94226437e-01 -7.19749924e-01 3.11474908e-03 6.74193974e+02] [ 7.19742926e-01 -6.94233423e-01 -3.17417751e-03 -2.57459243e+02] [ 4.44697694e-03 3.82206762e-05 9.99990111e-01 -5.68147443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters 0.050781787845101435 Centerline is valid? [True, True] Translation: X:674.15, Y:-257.42, Z:-5.68 [[-6.95646046e-01 -7.18379064e-01 2.84580903e-03 6.74154293e+02] [ 7.18373215e-01 -6.95651866e-01 -2.89910764e-03 -2.57419499e+02] [ 4.06235060e-03 2.76002173e-05 9.99991748e-01 -5.68301924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters 0.05076421933318448 Centerline is valid? [True, True] Translation: X:674.12, Y:-257.38, Z:-5.68 [[-6.96656627e-01 -7.17400932e-01 2.33382151e-03 6.74115849e+02] [ 7.17396996e-01 -6.96660536e-01 -2.37659487e-03 -2.57378438e+02] [ 3.33085272e-03 1.86059765e-05 9.99994453e-01 -5.68162188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters 0.05095546283693692 Centerline is valid? [True, True] Translation: X:674.08, Y:-257.34, Z:-5.68 [[-6.96793232e-01 -7.17267528e-01 2.54660420e-03 6.74075011e+02] [ 7.17262842e-01 -6.96797885e-01 -2.59280847e-03 -2.57337817e+02] [ 3.63420575e-03 1.99331708e-05 9.99993396e-01 -5.68053975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters 0.051159118822222203 Centerline is valid? [True, True] Translation: X:674.03, Y:-257.30, Z:-5.68 [[-6.97253452e-01 -7.16817952e-01 3.10611900e-03 6.74034260e+02] [ 7.16810978e-01 -6.97260370e-01 -3.16199775e-03 -2.57298528e+02] [ 4.43235043e-03 2.17863503e-05 9.99990177e-01 -5.68152096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters 0.051088731812740054 Centerline is valid? [True, True] Translation: X:673.99, Y:-257.26, Z:-5.68 [[-6.98257193e-01 -7.15841762e-01 2.73197855e-03 6.73993767e+02] [ 7.15836364e-01 -6.98262538e-01 -2.78012447e-03 -2.57258483e+02] [ 3.89776747e-03 1.44076872e-05 9.99992404e-01 -5.68143924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters 0.05143095456562809 Centerline is valid? [True, True] Translation: X:673.95, Y:-257.22, Z:-5.68 [[-7.00124625e-01 -7.14020017e-01 9.61738445e-04 6.73954023e+02] [ 7.14019347e-01 -7.00125286e-01 -9.77908316e-04 -2.57218793e+02] [ 1.37158352e-03 2.04216367e-06 9.99999059e-01 -5.68163605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters 0.05116102094222657 Centerline is valid? [True, True] Translation: X:673.91, Y:-257.18, Z:-5.68 [[-7.01824849e-01 -7.12349437e-01 4.02322851e-04 6.73912943e+02] [ 7.12349319e-01 -7.01824964e-01 -4.08531370e-04 -2.57179004e+02] [ 5.73377311e-04 -1.23057604e-07 9.99999836e-01 -5.67993198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters 0.051575039381088504 Centerline is valid? [True, True] Translation: X:673.87, Y:-257.14, Z:-5.68 [[-7.02223259e-01 -7.11956497e-01 6.64659798e-04 6.73873122e+02] [ 7.11956177e-01 -7.02223573e-01 -6.75111518e-04 -2.57138998e+02] [ 9.47389809e-04 -8.70361664e-07 9.99999551e-01 -5.68136061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters 0.05159573127183246 Centerline is valid? [True, True] Translation: X:673.83, Y:-257.10, Z:-5.68 [[-7.02026933e-01 -7.12149069e-01 1.37414826e-03 6.73831369e+02] [ 7.12147700e-01 -7.02028278e-01 -1.39628808e-03 -2.57100463e+02] [ 1.95905619e-03 -1.63531456e-06 9.99998081e-01 -5.68131531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters 0.05163593106240397 Centerline is valid? [True, True] Translation: X:673.79, Y:-257.06, Z:-5.68 [[-7.00987360e-01 -7.13172066e-01 1.52503643e-03 6.73789406e+02] [ 7.13170383e-01 -7.00989019e-01 -1.54917000e-03 -2.57063460e+02] [ 2.17385856e-03 1.66222359e-06 9.99997637e-01 -5.68313621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters 0.0511408458142691 Centerline is valid? [True, True] Translation: X:673.75, Y:-257.03, Z:-5.68 [[-6.99428562e-01 -7.14700381e-01 1.74708115e-03 6.73748073e+02] [ 7.14698179e-01 -6.99430744e-01 -1.77419512e-03 -2.57026308e+02] [ 2.48998020e-03 7.71297474e-06 9.99996900e-01 -5.68087889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters 0.05151488624925352 Centerline is valid? [True, True] Translation: X:673.71, Y:-256.99, Z:-5.68 [[-6.97922497e-01 -7.16170753e-01 1.90791360e-03 6.73705471e+02] [ 7.16168133e-01 -6.97925105e-01 -1.93720650e-03 -2.56987906e+02] [ 2.71895144e-03 1.43669190e-05 9.99996304e-01 -5.68233675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters 0.0514524995700374 Centerline is valid? [True, True] Translation: X:673.66, Y:-256.95, Z:-5.68 [[-6.95857055e-01 -7.18175744e-01 2.56133605e-03 6.73664206e+02] [ 7.18171038e-01 -6.95861768e-01 -2.60001120e-03 -2.56950067e+02] [ 3.64960081e-03 3.02412315e-05 9.99993340e-01 -5.68165114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters 0.05120358353974525 Centerline is valid? [True, True] Translation: X:673.62, Y:-256.91, Z:-5.68 [[-6.95014869e-01 -7.18989548e-01 2.89155787e-03 6.73619655e+02] [ 7.18983560e-01 -6.95020883e-01 -2.93469926e-03 -2.56913077e+02] [ 4.11971120e-03 3.93229491e-05 9.99991513e-01 -5.68488793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters 0.05169157386591723 Centerline is valid? [True, True] Translation: X:673.58, Y:-256.88, Z:-5.68 [[-6.94722204e-01 -7.19273684e-01 2.53519410e-03 6.73579029e+02] [ 7.19269086e-01 -6.94726829e-01 -2.57192603e-03 -2.56875946e+02] [ 3.61118607e-03 3.67126276e-05 9.99993479e-01 -5.68498730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters 0.051945693607020046 Centerline is valid? [True, True] Translation: X:673.54, Y:-256.84, Z:-5.69 [[-6.95075936e-01 -7.18929339e-01 3.16990416e-03 6.73538711e+02] [ 7.18922151e-01 -6.95083163e-01 -3.21508894e-03 -2.56836322e+02] [ 4.51476878e-03 4.41833613e-05 9.99989807e-01 -5.68536081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters 0.05204285279378357 Centerline is valid? [True, True] Translation: X:673.50, Y:-256.80, Z:-5.69 [[-6.95854424e-01 -7.18173101e-01 3.74407750e-03 6.73498846e+02] [ 7.18163068e-01 -6.95864495e-01 -3.79640484e-03 -2.56797161e+02] [ 5.33184643e-03 4.71130840e-05 9.99985784e-01 -5.68584686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters 0.05183731915304097 Centerline is valid? [True, True] Translation: X:673.46, Y:-256.76, Z:-5.69 [[-6.97074512e-01 -7.16989902e-01 3.55037787e-03 6.73460114e+02] [ 7.16980873e-01 -6.97083552e-01 -3.59854466e-03 -2.56758230e+02] [ 5.05503020e-03 3.70992604e-05 9.99987223e-01 -5.68600977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters 0.05224045271140418 Centerline is valid? [True, True] Translation: X:673.42, Y:-256.72, Z:-5.68 [[-6.99268251e-01 -7.14852255e-01 3.18861481e-03 6.73421502e+02] [ 7.14844953e-01 -6.99275520e-01 -3.23108715e-03 -2.56715505e+02] [ 4.53947022e-03 1.99685444e-05 9.99989696e-01 -5.68331770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters 0.05129529258999253 Centerline is valid? [True, True] Translation: X:673.38, Y:-256.67, Z:-5.68 [[-7.01693926e-01 -7.12469540e-01 3.57606056e-03 6.73383205e+02] [ 7.12460331e-01 -7.01703039e-01 -3.62256656e-03 -2.56674517e+02] [ 5.09030089e-03 5.86834342e-06 9.99987044e-01 -5.68403833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters 0.05184379077255591 Centerline is valid? [True, True] Translation: X:673.35, Y:-256.63, Z:-5.69 [[-7.04723400e-01 -7.09474032e-01 3.39510978e-03 6.73345977e+02] [ 7.09465702e-01 -7.04731578e-01 -3.43808493e-03 -2.56632813e+02] [ 4.83187306e-03 -1.41849554e-05 9.99988326e-01 -5.68537300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters 0.051667124366013804 Centerline is valid? [True, True] Translation: X:673.31, Y:-256.59, Z:-5.68 [[-7.05892456e-01 -7.08309674e-01 3.63964096e-03 6.73305499e+02] [ 7.08300091e-01 -7.05901839e-01 -3.68451720e-03 -2.56593561e+02] [ 5.17900842e-03 -2.29148687e-05 9.99986589e-01 -5.68415109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters 0.05161032894104364 Centerline is valid? [True, True] Translation: X:673.26, Y:-256.55, Z:-5.68 [[-7.05179314e-01 -7.09016951e-01 4.13508691e-03 6.73264650e+02] [ 7.09004601e-01 -7.05191437e-01 -4.18479123e-03 -2.56554166e+02] [ 5.88311580e-03 -1.92325605e-05 9.99982694e-01 -5.68473881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters 0.052154244507797994 Centerline is valid? [True, True] Translation: X:673.22, Y:-256.52, Z:-5.69 [[-7.03854100e-01 -7.10330163e-01 4.52396646e-03 6.73224774e+02] [ 7.10315414e-01 -7.03868638e-01 -4.57740831e-03 -2.56516342e+02] [ 6.43574930e-03 -8.38449872e-06 9.99979290e-01 -5.68620910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters 0.052624377770910544 Centerline is valid? [True, True] Translation: X:673.18, Y:-256.48, Z:-5.68 [[-7.02265498e-01 -7.11898822e-01 4.82053754e-03 6.73183885e+02] [ 7.11882125e-01 -7.02282042e-01 -4.87581596e-03 -2.56477073e+02] [ 6.85646459e-03 7.53718650e-06 9.99976494e-01 -5.68178593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters 0.05237333321986888 Centerline is valid? [True, True] Translation: X:673.14, Y:-256.44, Z:-5.68 [[-7.01788127e-01 -7.12371826e-01 4.45045666e-03 6.73143243e+02] [ 7.12357611e-01 -7.01802238e-01 -4.50023500e-03 -2.56436982e+02] [ 6.32918107e-03 1.21051813e-05 9.99979970e-01 -5.68472143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters 0.052036790847109576 Centerline is valid? [True, True] Translation: X:673.10, Y:-256.40, Z:-5.68 [[-7.02011311e-01 -7.12156572e-01 3.62451502e-03 6.73104066e+02] [ 7.12147148e-01 -7.02020667e-01 -3.66365239e-03 -2.56396389e+02] [ 5.15357857e-03 9.26261738e-06 9.99986720e-01 -5.68383944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters 0.05185761737542453 Centerline is valid? [True, True] Translation: X:673.07, Y:-256.36, Z:-5.68 [[-7.02669014e-01 -7.11513357e-01 2.23593796e-03 6.73065223e+02] [ 7.11509771e-01 -7.02672572e-01 -2.25914536e-03 -2.56355313e+02] [ 3.17854437e-03 3.46026707e-06 9.99994948e-01 -5.68451368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters 0.05208586956830364 Centerline is valid? [True, True] Translation: X:673.03, Y:-256.32, Z:-5.68 [[-7.03275540e-01 -7.10914532e-01 2.01097829e-03 6.73025908e+02] [ 7.10911630e-01 -7.03278415e-01 -2.03102288e-03 -2.56315562e+02] [ 2.85816130e-03 1.25914180e-06 9.99995915e-01 -5.68480416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters 0.0517157960084154 Centerline is valid? [True, True] Translation: X:672.99, Y:-256.28, Z:-5.69 [[-7.03740768e-01 -7.10453921e-01 2.03909792e-03 6.72986372e+02] [ 7.10450938e-01 -7.03743722e-01 -2.05876463e-03 -2.56275206e+02] [ 2.89765976e-03 -1.57568440e-07 9.99995802e-01 -5.68579104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters 0.05210111338534177 Centerline is valid? [True, True] Translation: X:672.95, Y:-256.23, Z:-5.69 [[-7.03874853e-01 -7.10318955e-01 2.67830673e-03 6.72946831e+02] [ 7.10313810e-01 -7.03879949e-01 -2.70353994e-03 -2.56234841e+02] [ 3.80558207e-03 -5.15521097e-07 9.99992759e-01 -5.68626170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters 0.05212349129509376 Centerline is valid? [True, True] Translation: X:672.91, Y:-256.19, Z:-5.68 [[-7.04099104e-01 -7.10096564e-01 2.70584094e-03 6.72906578e+02] [ 7.10091314e-01 -7.04104303e-01 -2.73062520e-03 -2.56194533e+02] [ 3.84420182e-03 -1.23660817e-06 9.99992611e-01 -5.68304094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters 0.052404904928636115 Centerline is valid? [True, True] Translation: X:672.87, Y:-256.15, Z:-5.69 [[-7.04083374e-01 -7.10110120e-01 3.19688636e-03 6.72866682e+02] [ 7.10102795e-01 -7.04090631e-01 -3.22530640e-03 -2.56154250e+02] [ 4.54122045e-03 -7.66665742e-07 9.99989689e-01 -5.68737502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters 0.05184425773570235 Centerline is valid? [True, True] Translation: X:672.83, Y:-256.11, Z:-5.69 [[-7.04135275e-01 -7.10058248e-01 3.28619671e-03 6.72828587e+02] [ 7.10050513e-01 -7.04142943e-01 -3.31432588e-03 -2.56113447e+02] [ 4.66731665e-03 -3.68104185e-07 9.99989108e-01 -5.68911728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters 0.05188887404982695 Centerline is valid? [True, True] Translation: X:672.79, Y:-256.07, Z:-5.69 [[-7.03919469e-01 -7.10271777e-01 3.37398359e-03 6.72789991e+02] [ 7.10263628e-01 -7.03927555e-01 -3.40248807e-03 -2.56071291e+02] [ 4.79173127e-03 1.34022798e-06 9.99988520e-01 -5.68824679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters 0.05178081405774877 Centerline is valid? [True, True] Translation: X:672.75, Y:-256.03, Z:-5.69 [[-7.02161454e-01 -7.12011986e-01 2.86787172e-03 6.72750002e+02] [ 7.12006117e-01 -7.02167310e-01 -2.89102303e-03 -2.56029120e+02] [ 4.07216882e-03 1.19772773e-05 9.99991709e-01 -5.68665950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters 0.05156510445486976 Centerline is valid? [True, True] Translation: X:672.71, Y:-255.99, Z:-5.69 [[-7.00294254e-01 -7.13850509e-01 2.32553037e-03 6.72710926e+02] [ 7.13846661e-01 -7.00298115e-01 -2.34389832e-03 -2.55987904e+02] [ 3.30175755e-03 1.86535639e-05 9.99994549e-01 -5.68620024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters 0.051165712002318224 Centerline is valid? [True, True] Translation: X:672.67, Y:-255.95, Z:-5.69 [[-6.97429473e-01 -7.16651987e-01 1.43530486e-03 6.72670272e+02] [ 7.16650528e-01 -6.97430950e-01 -1.44595426e-03 -2.55946908e+02] [ 2.03727203e-03 2.01608699e-05 9.99997925e-01 -5.68637237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters 0.051038623136735684 Centerline is valid? [True, True] Translation: X:672.63, Y:-255.91, Z:-5.69 [[-6.93982630e-01 -7.19990042e-01 1.56453535e-03 6.72628910e+02] [ 7.19988319e-01 -6.93984393e-01 -1.57576714e-03 -2.55908515e+02] [ 2.22029977e-03 3.28921510e-05 9.99997535e-01 -5.68758078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters 0.05138436096621106 Centerline is valid? [True, True] Translation: X:672.59, Y:-255.87, Z:-5.69 [[-6.91612792e-01 -7.22266932e-01 1.49170783e-03 6.72588929e+02] [ 7.22265372e-01 -6.91614399e-01 -1.50171773e-03 -2.55870358e+02] [ 2.11632768e-03 3.88017199e-05 9.99997760e-01 -5.68800824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters 0.05229867729297741 Centerline is valid? [True, True] Translation: X:672.55, Y:-255.83, Z:-5.69 [[-6.88639996e-01 -7.25100158e-01 2.17163426e-03 6.72548623e+02] [ 7.25096866e-01 -6.88643417e-01 -2.18631656e-03 -2.55830573e+02] [ 3.08078012e-03 6.90601696e-05 9.99995252e-01 -5.68854725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters 0.05108693671148285 Centerline is valid? [True, True] Translation: X:672.51, Y:-255.79, Z:-5.69 [[-6.87784084e-01 -7.25910457e-01 2.65752846e-03 6.72511150e+02] [ 7.25905535e-01 -6.87789212e-01 -2.67480456e-03 -2.55787402e+02] [ 3.76948801e-03 8.94266097e-05 9.99992891e-01 -5.68848718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters 0.051389416714461046 Centerline is valid? [True, True] Translation: X:672.47, Y:-255.74, Z:-5.69 [[-6.87508134e-01 -7.26166566e-01 3.83209916e-03 6.72473142e+02] [ 7.26156334e-01 -6.87518801e-01 -3.85706319e-03 -2.55743254e+02] [ 5.43551055e-03 1.30940763e-04 9.99985219e-01 -5.68889413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters 0.05208787946491727 Centerline is valid? [True, True] Translation: X:672.43, Y:-255.70, Z:-5.69 [[-6.87681523e-01 -7.25997289e-01 4.69670911e-03 6.72434283e+02] [ 7.25981925e-01 -6.87697543e-01 -4.72585640e-03 -2.55704535e+02] [ 6.66087425e-03 1.59841802e-04 9.99977803e-01 -5.69124444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters 0.051196918783866806 Centerline is valid? [True, True] Translation: X:672.40, Y:-255.66, Z:-5.69 [[-6.88844883e-01 -7.24887749e-01 5.52080720e-03 6.72399575e+02] [ 7.24866488e-01 -6.88866983e-01 -5.55459354e-03 -2.55656488e+02] [ 7.82955861e-03 1.75594787e-04 9.99969333e-01 -5.69029343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters 0.05089971883270015 Centerline is valid? [True, True] Translation: X:672.36, Y:-255.61, Z:-5.69 [[-6.91331455e-01 -7.22517972e-01 5.34784813e-03 6.72364542e+02] [ 7.22497964e-01 -6.91352124e-01 -5.37894031e-03 -2.55609179e+02] [ 7.58362721e-03 1.45178753e-04 9.99971233e-01 -5.68857909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters 0.05127820497386047 Centerline is valid? [True, True] Translation: X:672.33, Y:-255.57, Z:-5.69 [[-6.93321826e-01 -7.20612390e-01 4.75707471e-03 6.72326230e+02] [ 7.20596523e-01 -6.93338136e-01 -4.78333478e-03 -2.55567381e+02] [ 6.74519162e-03 1.11541088e-04 9.99977245e-01 -5.68969476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters 0.05059926046510689 Centerline is valid? [True, True] Translation: X:672.29, Y:-255.52, Z:-5.69 [[-6.95796239e-01 -7.18229961e-01 3.64917238e-03 6.72291001e+02] [ 7.18220597e-01 -6.95805805e-01 -3.66813961e-03 -2.55520912e+02] [ 5.17368310e-03 6.86330159e-05 9.99986614e-01 -5.68808295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters 0.05123335520782222 Centerline is valid? [True, True] Translation: X:672.25, Y:-255.48, Z:-5.69 [[-6.95921328e-01 -7.18110594e-01 3.26816462e-03 6.72248233e+02] [ 7.18103086e-01 -6.95928999e-01 -3.28417341e-03 -2.55483070e+02] [ 4.63281025e-03 6.13527756e-05 9.99989267e-01 -5.69098481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters 0.05134851009157327 Centerline is valid? [True, True] Translation: X:672.21, Y:-255.44, Z:-5.69 [[-6.94555553e-01 -7.19430673e-01 3.47709174e-03 6.72206913e+02] [ 7.19422197e-01 -6.94564253e-01 -3.49303966e-03 -2.55444401e+02] [ 4.92806350e-03 7.53868896e-05 9.99987854e-01 -5.69083460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters 0.050914356793058224 Centerline is valid? [True, True] Translation: X:672.17, Y:-255.40, Z:-5.69 [[-6.93742651e-01 -7.20209255e-01 4.44564831e-03 6.72166221e+02] [ 7.20195420e-01 -6.93756887e-01 -4.46523424e-03 -2.55403126e+02] [ 6.30010216e-03 1.04012115e-04 9.99980149e-01 -5.68953301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters 0.051159066931531355 Centerline is valid? [True, True] Translation: X:672.12, Y:-255.36, Z:-5.69 [[-6.92639621e-01 -7.21270838e-01 4.32827533e-03 6.72124605e+02] [ 7.21257751e-01 -6.92653136e-01 -4.34627433e-03 -2.55362295e+02] [ 6.13283441e-03 1.11400326e-04 9.99981188e-01 -5.68909347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters 0.051046342515613616 Centerline is valid? [True, True] Translation: X:672.08, Y:-255.33, Z:-5.69 [[-6.90139093e-01 -7.23666053e-01 3.93403546e-03 6.72079125e+02] [ 7.23655284e-01 -6.90150295e-01 -3.94970977e-03 -2.55327207e+02] [ 5.57334661e-03 1.21036430e-04 9.99984461e-01 -5.69015276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters 0.05111232844475851 Centerline is valid? [True, True] Translation: X:672.04, Y:-255.28, Z:-5.69 [[-6.88614957e-01 -7.25115022e-01 4.20069877e-03 6.72040176e+02] [ 7.25102778e-01 -6.88627754e-01 -4.21628327e-03 -2.55283882e+02] [ 5.95000810e-03 1.42542631e-04 9.99982288e-01 -5.68894963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters 0.05096439527614291 Centerline is valid? [True, True] Translation: X:672.00, Y:-255.25, Z:-5.69 [[-6.88388326e-01 -7.25329781e-01 4.26861459e-03 6.71997438e+02] [ 7.25317148e-01 -6.88401545e-01 -4.28352352e-03 -2.55245656e+02] [ 6.04548805e-03 1.47371770e-04 9.99981715e-01 -5.69047473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters 0.051467493014745194 Centerline is valid? [True, True] Translation: X:671.95, Y:-255.21, Z:-5.69 [[-6.88837383e-01 -7.24904464e-01 4.07149542e-03 6.71954347e+02] [ 7.24892968e-01 -6.88849402e-01 -4.08480966e-03 -2.55209617e+02] [ 5.76574395e-03 1.37628803e-04 9.99983368e-01 -5.69156059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters 0.05073408006766909 Centerline is valid? [True, True] Translation: X:671.92, Y:-255.17, Z:-5.69 [[-6.89300923e-01 -7.24466095e-01 3.62158495e-03 6.71916500e+02] [ 7.24456998e-01 -6.89310426e-01 -3.63235734e-03 -2.55165064e+02] [ 5.12791600e-03 1.19895296e-04 9.99986845e-01 -5.68945679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters 0.051405421775684586 Centerline is valid? [True, True] Translation: X:671.87, Y:-255.13, Z:-5.69 [[-6.89593188e-01 -7.24187461e-01 3.70893353e-03 6.71874020e+02] [ 7.24177923e-01 -6.89603152e-01 -3.71874512e-03 -2.55128170e+02] [ 5.25076084e-03 1.21506479e-04 9.99986207e-01 -5.69134427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters 0.050829224898363654 Centerline is valid? [True, True] Translation: X:671.84, Y:-255.08, Z:-5.69 [[-6.92039642e-01 -7.21848291e-01 4.02237831e-03 6.71837094e+02] [ 7.21837037e-01 -6.92051322e-01 -4.03222246e-03 -2.55082756e+02] [ 5.69434512e-03 1.13043860e-04 9.99983781e-01 -5.69068903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters 0.050990595681571715 Centerline is valid? [True, True] Translation: X:671.80, Y:-255.04, Z:-5.69 [[-6.96257058e-01 -7.17783780e-01 3.54322474e-03 6.71798103e+02] [ 7.17775001e-01 -6.96266070e-01 -3.55068414e-03 -2.55042063e+02] [ 5.01565065e-03 7.10492470e-05 9.99987419e-01 -5.69175753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters 0.05032995041054125 Centerline is valid? [True, True] Translation: X:671.76, Y:-255.00, Z:-5.69 [[-6.99637319e-01 -7.14492929e-01 2.73441221e-03 6.71761979e+02] [ 7.14487679e-01 -6.99642661e-01 -2.73929095e-03 -2.54997558e+02] [ 3.87031545e-03 3.71936553e-05 9.99992510e-01 -5.68921254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters 0.05064673805025716 Centerline is valid? [True, True] Translation: X:671.72, Y:-254.95, Z:-5.69 [[-7.03200380e-01 -7.10989648e-01 1.71653719e-03 6.71723897e+02] [ 7.10987570e-01 -7.03202475e-01 -1.71888198e-03 -2.54954012e+02] [ 2.42918049e-03 1.17181399e-05 9.99997049e-01 -5.68803246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters 0.05110780956967279 Centerline is valid? [True, True] Translation: X:671.68, Y:-254.91, Z:-5.69 [[-7.04311046e-01 -7.09889017e-01 1.87976451e-03 6.71683007e+02] [ 7.09886523e-01 -7.04313555e-01 -1.88183991e-03 -2.54913780e+02] [ 2.65984111e-03 9.01885640e-06 9.99996463e-01 -5.69101859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters 0.05146903143437861 Centerline is valid? [True, True] Translation: X:671.64, Y:-254.87, Z:-5.69 [[-7.04562848e-01 -7.09636688e-01 2.63892835e-03 6.71644049e+02] [ 7.09631773e-01 -7.04567790e-01 -2.64107706e-03 -2.54874679e+02] [ 3.73350909e-03 1.18626244e-05 9.99993030e-01 -5.69167416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters 0.051180530964552176 Centerline is valid? [True, True] Translation: X:671.60, Y:-254.83, Z:-5.69 [[-7.04327152e-01 -7.09865788e-01 3.71835095e-03 6.71602519e+02] [ 7.09856035e-01 -7.04336967e-01 -3.72105739e-03 -2.54833062e+02] [ 5.26042337e-03 1.86521050e-05 9.99986164e-01 -5.69042419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters 0.05143713230423532 Centerline is valid? [True, True] Translation: X:671.56, Y:-254.79, Z:-5.69 [[-7.04040746e-01 -7.10143515e-01 4.77661301e-03 6.71560340e+02] [ 7.10127435e-01 -7.04056949e-01 -4.77897157e-03 -2.54793407e+02] [ 6.75676325e-03 2.74132373e-05 9.99977172e-01 -5.69170300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters 0.05206597349865659 Centerline is valid? [True, True] Translation: X:671.52, Y:-254.75, Z:-5.69 [[-7.04860180e-01 -7.09329263e-01 4.91144262e-03 6.71520446e+02] [ 7.09312254e-01 -7.04877291e-01 -4.91222778e-03 -2.54753774e+02] [ 6.94635128e-03 2.13126773e-05 9.99975874e-01 -5.69257833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters 0.05148264763534948 Centerline is valid? [True, True] Translation: X:671.48, Y:-254.71, Z:-5.69 [[-7.06147251e-01 -7.08052651e-01 4.18384573e-03 6.71480312e+02] [ 7.08040293e-01 -7.06159645e-01 -4.18320642e-03 -2.54712571e+02] [ 5.91639341e-03 8.37164766e-06 9.99982498e-01 -5.69139347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters 0.05197322310458282 Centerline is valid? [True, True] Translation: X:671.44, Y:-254.67, Z:-5.69 [[-7.06696607e-01 -7.07508147e-01 3.48242521e-03 6.71440106e+02] [ 7.07499585e-01 -7.06705188e-01 -3.48072782e-03 -2.54672427e+02] [ 4.92369125e-03 3.99584400e-06 9.99987879e-01 -5.69122329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters 0.05147663952948279 Centerline is valid? [True, True] Translation: X:670.94, Y:-255.10, Z:-4.69 [[-7.56663006e-01 6.53753441e-01 8.21784964e-03 6.70942989e+02] [ 6.53710680e-01 7.56707575e-01 -7.48279496e-03 -2.55104460e+02] [-1.11104120e-02 -2.89858053e-04 -9.99938235e-01 -4.69196643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters 0.05174941830217697 Centerline is valid? [True, True] Translation: X:671.01, Y:-255.06, Z:-4.69 [[-8.03165972e-01 5.95691677e-01 8.70903091e-03 6.71012430e+02] [ 5.95652192e-01 8.03213121e-01 -6.86643990e-03 -2.55060676e+02] [-1.10854890e-02 -3.27337526e-04 -9.99938501e-01 -4.69195249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters 0.051114472251368975 Centerline is valid? [True, True] Translation: X:671.38, Y:-254.54, Z:-5.70 [[-7.52630202e-01 -6.58434876e-01 3.36039273e-03 6.71376129e+02] [ 6.58427477e-01 -7.52637691e-01 -3.12454338e-03 -2.54536986e+02] [ 4.58646656e-03 -1.39050814e-04 9.99989472e-01 -5.69510964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters 0.05203787438036503 Centerline is valid? [True, True] Translation: X:670.94, Y:-255.00, Z:-4.69 [[-8.09695424e-01 5.86757111e-01 1.04600839e-02 6.70936220e+02] [ 5.86701116e-01 8.09762868e-01 -8.11779934e-03 -2.55000572e+02] [-1.32333640e-02 -4.36002068e-04 -9.99912340e-01 -4.69170258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters 0.05113527767094929 Centerline is valid? [True, True] Translation: X:671.31, Y:-254.50, Z:-5.69 [[-7.49989320e-01 -6.61433988e-01 4.59354676e-03 6.71307641e+02] [ 6.61420577e-01 -7.50003377e-01 -4.21371072e-03 -2.54496846e+02] [ 6.23226707e-03 -1.21971687e-04 9.99980572e-01 -5.69409405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters 0.051229471903773985 Centerline is valid? [True, True] Translation: X:670.90, Y:-254.97, Z:-4.69 [[-8.15234914e-01 5.79020278e-01 1.12939071e-02 6.70896565e+02] [ 5.78955582e-01 8.15312968e-01 -8.67169821e-03 -2.54968667e+02] [-1.42291580e-02 -5.30800622e-04 -9.99898620e-01 -4.69076627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters 0.05177449842419488 Centerline is valid? [True, True] Translation: X:670.88, Y:-254.86, Z:-4.69 [[-8.54578497e-01 5.19181003e-01 1.21110936e-02 6.70877984e+02] [ 5.19119735e-01 8.54664138e-01 -7.99450674e-03 -2.54860587e+02] [-1.45015134e-02 -5.44825850e-04 -9.99894699e-01 -4.69067611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters 0.05192805754719002 Centerline is valid? [True, True] Translation: X:670.89, Y:-254.78, Z:-4.69 [[-8.89227254e-01 4.57292005e-01 1.26060542e-02 6.70888218e+02] [ 4.57237329e-01 8.89316439e-01 -7.09204093e-03 -2.54775119e+02] [-1.44539049e-02 -5.42477516e-04 -9.99895390e-01 -4.68985241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters 0.05178809492134285 Centerline is valid? [True, True] Translation: X:670.88, Y:-254.69, Z:-4.69 [[-9.19349997e-01 3.93238369e-01 1.26161674e-02 6.70884066e+02] [ 3.93193387e-01 9.19436406e-01 -5.97119903e-03 -2.54687449e+02] [-1.39478682e-02 -5.29028230e-04 -9.99902584e-01 -4.69115159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters 0.051766465531012454 Centerline is valid? [True, True] Translation: X:670.87, Y:-254.59, Z:-4.69 [[-9.44853577e-01 3.27259130e-01 1.23765919e-02 6.70865257e+02] [ 3.27223916e-01 9.44934495e-01 -4.82793704e-03 -2.54594314e+02] [-1.32750551e-02 -5.11776716e-04 -9.99911752e-01 -4.69113055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters 0.05168629397634888 Centerline is valid? [True, True] Translation: X:670.95, Y:-254.54, Z:-4.69 [[-9.65777193e-01 2.59035673e-01 1.32262253e-02 6.70949265e+02] [ 2.59003881e-01 9.65867611e-01 -4.09229870e-03 -2.54538333e+02] [-1.38348340e-02 -5.26605060e-04 -9.99904155e-01 -4.69093101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters 0.05159722556865415 Centerline is valid? [True, True] Translation: X:670.81, Y:-254.43, Z:-4.69 [[-9.81707297e-01 1.89915282e-01 1.35265711e-02 6.70813190e+02] [ 1.89889814e-01 9.81800339e-01 -3.15475030e-03 -2.54428611e+02] [-1.38795274e-02 -5.28483323e-04 -9.99903535e-01 -4.69403550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters 0.051926963889952514 Centerline is valid? [True, True] Translation: X:670.90, Y:-253.80, Z:-5.69 [[-9.56420146e-01 -2.91927857e-01 6.21541552e-03 6.70897294e+02] [ 2.91921099e-01 -9.56440337e-01 -1.98826377e-03 -2.53804210e+02] [ 6.52510370e-03 -8.72045978e-05 9.99978707e-01 -5.69439770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters 0.05135478187926154 Centerline is valid? [True, True] Translation: X:670.68, Y:-254.40, Z:-4.69 [[-9.82018460e-01 1.88312606e-01 1.33456503e-02 6.70676454e+02] [ 1.88288336e-01 9.82109015e-01 -3.06362851e-03 -2.54401986e+02] [-1.36838033e-02 -4.95709478e-04 -9.99906250e-01 -4.69344853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters 0.05158663887249344 Centerline is valid? [True, True] Translation: X:670.73, Y:-253.77, Z:-5.70 [[-9.58330231e-01 -2.85601792e-01 5.89788011e-03 6.70729276e+02] [ 2.85595687e-01 -9.58348373e-01 -1.87051178e-03 -2.53768471e+02] [ 6.18644533e-03 -1.08158861e-04 9.99980858e-01 -5.69681655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters 0.05156794608343121 Centerline is valid? [True, True] Translation: X:670.51, Y:-254.37, Z:-4.70 [[-9.82543594e-01 1.85602940e-01 1.26346827e-02 6.70506510e+02] [ 1.85581438e-01 9.82624714e-01 -2.86379556e-03 -2.54373226e+02] [-1.29466804e-02 -4.69041392e-04 -9.99916078e-01 -4.69504392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters 0.05157232409643524 Centerline is valid? [True, True] Translation: X:670.61, Y:-253.74, Z:-5.70 [[-9.59343654e-01 -2.82194753e-01 5.08676893e-03 6.70608787e+02] [ 2.82189960e-01 -9.59357128e-01 -1.65145955e-03 -2.53742057e+02] [ 5.34606125e-03 -1.48882113e-04 9.99985699e-01 -5.69605299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters 0.05174476897355667 Centerline is valid? [True, True] Translation: X:670.83, Y:-254.46, Z:-4.70 [[-9.83810692e-01 1.78853512e-01 1.13112449e-02 6.70832149e+02] [ 1.78836453e-01 9.83875613e-01 -2.51021214e-03 -2.54458547e+02] [-1.15778183e-02 -4.46710620e-04 -9.99932875e-01 -4.69778813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters 0.05155115497405144 Centerline is valid? [True, True] Translation: X:669.86, Y:-254.21, Z:-4.70 [[-9.93910298e-01 1.09634602e-01 1.10713098e-02 6.69863821e+02] [ 1.09623152e-01 9.93971872e-01 -1.63769353e-03 -2.54207582e+02] [-1.11841184e-02 -4.14048588e-04 -9.99937370e-01 -4.69741082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters 0.05136102047334532 Centerline is valid? [True, True] Translation: X:669.91, Y:-253.56, Z:-5.70 [[-9.79056074e-01 -2.03558869e-01 3.60428987e-03 6.69914073e+02] [ 2.03556814e-01 -9.79062692e-01 -9.31749721e-04 -2.53562127e+02] [ 3.71849167e-03 -1.78557459e-04 9.99993070e-01 -5.69807470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters 0.05098103671730194 Centerline is valid? [True, True] Translation: X:669.97, Y:-254.23, Z:-4.70 [[-9.94734221e-01 1.01873963e-01 1.12038282e-02 6.69972760e+02] [ 1.01862517e-01 9.94797217e-01 -1.58908576e-03 -2.54230130e+02] [-1.13074235e-02 -4.39467853e-04 -9.99935972e-01 -4.69895344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters 0.050949316192392666 Centerline is valid? [True, True] Translation: X:669.54, Y:-254.11, Z:-4.70 [[-9.99487410e-01 3.01263864e-02 1.08313182e-02 6.69544492e+02] [ 3.01199328e-02 9.99546004e-01 -7.58496076e-04 -2.54107448e+02] [-1.08492515e-02 -4.31868703e-04 -9.99941052e-01 -4.69890530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters 0.05103380453515419 Centerline is valid? [True, True] Translation: X:669.67, Y:-254.03, Z:-4.70 [[-9.99015187e-01 -4.32669002e-02 9.83012760e-03 6.69669760e+02] [-4.32689822e-02 9.99063459e-01 8.78728970e-07 -2.54029611e+02] [-9.82095930e-03 -4.24461752e-04 -9.99951683e-01 -4.70064190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters 0.05185762114472253 Centerline is valid? [True, True] Translation: X:669.30, Y:-253.97, Z:-4.70 [[-9.93425765e-01 -1.14118696e-01 9.06491006e-03 6.69301277e+02] [-1.14117651e-01 9.93467040e-01 6.34144447e-04 -2.53965297e+02] [-9.07805710e-03 -4.04490806e-04 -9.99958712e-01 -4.70021482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters 0.05121999858958254 Centerline is valid? [True, True] Translation: X:669.37, Y:-253.88, Z:-4.70 [[-9.82224045e-01 -1.87429002e-01 1.03099263e-02 6.69365448e+02] [-1.87423394e-01 9.82278053e-01 1.51617323e-03 -2.53881667e+02] [-1.04113891e-02 -4.43099571e-04 -9.99945702e-01 -4.70185966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters 0.051755096344504994 Centerline is valid? [True, True] Translation: X:668.97, Y:-253.29, Z:-5.70 [[-9.96277545e-01 8.61022186e-02 4.17878002e-03 6.68973171e+02] [-8.61017396e-02 -9.96286306e-01 2.94722506e-04 -2.53287347e+02] [ 4.18863757e-03 -6.61748143e-05 9.99991225e-01 -5.70022689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters 0.05172688904156138 Centerline is valid? [True, True] Translation: X:668.97, Y:-253.94, Z:-4.70 [[-9.81250781e-01 -1.92423241e-01 1.09636454e-02 6.68967241e+02] [-1.92416434e-01 9.81311921e-01 1.68230662e-03 -2.53942094e+02] [-1.10824709e-02 -4.58820871e-04 -9.99938482e-01 -4.70214945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters 0.05122898709337875 Centerline is valid? [True, True] Translation: X:668.81, Y:-253.32, Z:-5.70 [[-9.95952948e-01 8.98398657e-02 2.55429834e-03 6.68814868e+02] [-8.98402475e-02 -9.95956188e-01 -3.49142227e-05 -2.53323426e+02] [ 2.54083255e-03 -2.64251718e-04 9.99996737e-01 -5.70174843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters 0.05143381973523505 Centerline is valid? [True, True] Translation: X:668.76, Y:-253.97, Z:-4.70 [[-9.81186276e-01 -1.92903456e-01 7.85802408e-03 6.68763790e+02] [-1.92900298e-01 9.81217671e-01 1.16499834e-03 -2.53974664e+02] [-7.93516429e-03 -3.72734803e-04 -9.99968447e-01 -4.70375269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters 0.051453298173201004 Centerline is valid? [True, True] Translation: X:668.59, Y:-253.36, Z:-5.70 [[-9.95041232e-01 9.94607947e-02 7.04781102e-04 6.68591874e+02] [-9.94609079e-02 -9.95041462e-01 -1.27309206e-04 -2.53358771e+02] [ 6.88624143e-04 -1.96776078e-04 9.99999744e-01 -5.70182536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters 0.051563952871121074 Centerline is valid? [True, True] Translation: X:668.56, Y:-254.02, Z:-4.70 [[-9.81982302e-01 -1.88769454e-01 8.76648330e-03 6.68555712e+02] [-1.88764779e-01 9.82021382e-01 1.36511060e-03 -2.54017143e+02] [-8.86656523e-03 -3.14288834e-04 -9.99960642e-01 -4.70238116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters 0.051813421321752894 Centerline is valid? [True, True] Translation: X:668.37, Y:-253.39, Z:-5.70 [[-9.93750352e-01 1.11591942e-01 2.73437071e-03 6.68371459e+02] [-1.11591839e-01 -9.93754107e-01 1.90640397e-04 -2.53391653e+02] [ 2.73856605e-03 -1.15684495e-04 9.99996243e-01 -5.70275267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters 0.05144818673088201 Centerline is valid? [True, True] Translation: X:668.37, Y:-254.05, Z:-4.70 [[-9.82092033e-01 -1.88108923e-01 1.05010623e-02 6.68373091e+02] [-1.88101176e-01 9.82148134e-01 1.72949405e-03 -2.54054187e+02] [-1.06389320e-02 -2.76739848e-04 -9.99943367e-01 -4.70239375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters 0.05204597602180732 Centerline is valid? [True, True] Translation: X:668.23, Y:-254.01, Z:-4.71 [[-9.66579775e-01 -2.56164047e-01 1.01744434e-02 6.68234158e+02] [-2.56152685e-01 9.66633288e-01 2.42663857e-03 -2.54009382e+02] [-1.04565732e-02 -2.60671226e-04 -9.99945295e-01 -4.70554048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters 0.05177331665298981 Centerline is valid? [True, True] Translation: X:668.16, Y:-253.95, Z:-4.71 [[-9.46061034e-01 -3.23836891e-01 9.90899465e-03 6.68158532e+02] [-3.23821910e-01 9.46112892e-01 3.12508066e-03 -2.53954521e+02] [-1.03870440e-02 -2.52232527e-04 -9.99946021e-01 -4.70523104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters 0.05193396789625216 Centerline is valid? [True, True] Translation: X:668.04, Y:-253.92, Z:-4.71 [[-9.20847770e-01 -3.89807589e-01 9.45665800e-03 6.68042601e+02] [-3.89789728e-01 9.20896294e-01 3.73941280e-03 -2.53919578e+02] [-1.01662528e-02 -2.42678213e-04 -9.99948293e-01 -4.70679497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters 0.05210991032219882 Centerline is valid? [True, True] Translation: X:668.11, Y:-253.80, Z:-4.71 [[-8.89463465e-01 -4.56910175e-01 9.37210091e-03 6.68110992e+02] [-4.56887705e-01 8.89512806e-01 4.53801007e-03 -2.53799573e+02] [-1.04100668e-02 -2.45603509e-04 -9.99945784e-01 -4.70683801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters 0.05182193421213965 Centerline is valid? [True, True] Translation: X:667.70, Y:-253.94, Z:-4.71 [[-8.54850337e-01 -5.18796590e-01 8.99993397e-03 6.67697654e+02] [-5.18770661e-01 8.54897681e-01 5.19191559e-03 -2.53941757e+02] [-1.03875708e-02 -2.30590905e-04 -9.99946021e-01 -4.70671861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters 0.05203699718329228 Centerline is valid? [True, True] Translation: X:668.07, Y:-253.59, Z:-4.71 [[-8.12326246e-01 -5.83140144e-01 8.58152247e-03 6.68066766e+02] [-5.83110875e-01 8.12371534e-01 5.84801891e-03 -2.53593480e+02] [-1.03815992e-02 -2.53479827e-04 -9.99946078e-01 -4.70774639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters 0.052064429889588204 Centerline is valid? [True, True] Translation: X:667.00, Y:-253.55, Z:-5.71 [[-8.48527915e-01 5.29144404e-01 2.56453647e-03 6.67000904e+02] [-5.29142692e-01 -8.48531767e-01 1.36105012e-03 -2.53552219e+02] [ 2.89628272e-03 -2.02116712e-04 9.99995785e-01 -5.70722037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters 0.05191697497142831 Centerline is valid? [True, True] Translation: X:667.17, Y:-254.21, Z:-4.71 [[-8.09494846e-01 -5.87076918e-01 7.66727567e-03 6.67174073e+02] [-5.87053360e-01 8.09531121e-01 5.26471637e-03 -2.54205346e+02] [-9.29769172e-03 -2.39339173e-04 -9.99956747e-01 -4.71009648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters 0.05224412727723375 Centerline is valid? [True, True] Translation: X:667.06, Y:-254.19, Z:-4.71 [[-7.64606205e-01 -6.44462056e-01 6.78306664e-03 6.67062646e+02] [-6.44439440e-01 7.64636254e-01 5.40435000e-03 -2.54194476e+02] [-8.66947719e-03 -2.39076123e-04 -9.99962391e-01 -4.71160431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters 0.05215912269844822 Centerline is valid? [True, True] Translation: X:666.88, Y:-254.26, Z:-4.71 [[-7.16294309e-01 -6.97767005e-01 6.60832783e-03 6.66881114e+02] [-6.97740238e-01 7.16324754e-01 6.11615088e-03 -2.54255856e+02] [-9.00135709e-03 -2.29932162e-04 -9.99959461e-01 -4.71170100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters 0.05198723561247045 Centerline is valid? [True, True] Translation: X:667.12, Y:-253.88, Z:-4.71 [[-6.60771682e-01 -7.50558788e-01 6.50301305e-03 6.67116261e+02] [-7.50526008e-01 6.60803637e-01 7.01892151e-03 -2.53879912e+02] [-9.56532790e-03 -2.42775850e-04 -9.99954222e-01 -4.71283334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters 0.05175692548237635 Centerline is valid? [True, True] Translation: X:666.42, Y:-254.60, Z:-4.71 [[-6.06034899e-01 -7.95411716e-01 6.47327026e-03 6.66420784e+02] [-7.95370170e-01 6.06069429e-01 8.13265819e-03 -2.54599043e+02] [-1.03920628e-02 -2.19971381e-04 -9.99945977e-01 -4.71328422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters 0.052520771915962126 Centerline is valid? [True, True] Translation: X:666.30, Y:-254.64, Z:-4.71 [[-5.45808848e-01 -8.37886064e-01 6.29650490e-03 6.66300879e+02] [-8.37834964e-01 5.45845120e-01 9.25631051e-03 -2.54635329e+02] [-1.11926500e-02 -2.23255778e-04 -9.99937335e-01 -4.71354062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters 0.05218964440329769 Centerline is valid? [True, True] Translation: X:666.11, Y:-254.81, Z:-4.71 [[-4.84619949e-01 -8.74705078e-01 5.87631982e-03 6.66107825e+02] [-8.74645770e-01 4.84655532e-01 1.01878727e-02 -2.54811689e+02] [-1.17593749e-02 -2.02451914e-04 -9.99930836e-01 -4.71229970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters 0.052873861266416675 Centerline is valid? [True, True] Translation: X:665.95, Y:-254.96, Z:-4.72 [[-4.19417574e-01 -9.07781335e-01 4.68467569e-03 6.65947206e+02] [-9.07730078e-01 4.19443685e-01 9.64889457e-03 -2.54964347e+02] [-1.07240440e-02 -2.05505078e-04 -9.99942475e-01 -4.71532551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters 0.05265883908659877 Centerline is valid? [True, True] Translation: X:665.86, Y:-254.97, Z:-4.72 [[-3.48560091e-01 -9.37280818e-01 3.24507241e-03 6.65861565e+02] [-9.37246258e-01 3.48575118e-01 8.05225121e-03 -2.54966940e+02] [-8.67837210e-03 -2.34738556e-04 -9.99962315e-01 -4.71742719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters 0.05231813326512194 Centerline is valid? [True, True] Translation: X:665.69, Y:-255.24, Z:-4.72 [[-2.76934724e-01 -9.60884956e-01 2.69448395e-03 6.65688491e+02] [-9.60847948e-01 2.76947717e-01 8.43700902e-03 -2.55237350e+02] [-8.85322621e-03 -2.52488608e-04 -9.99960778e-01 -4.71945268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters 0.052751613527118 Centerline is valid? [True, True] Translation: X:665.67, Y:-254.96, Z:-4.72 [[-2.01458251e-01 -9.79494249e-01 2.36410690e-03 6.65673492e+02] [-9.79442461e-01 2.01471920e-01 1.00762736e-02 -2.54958399e+02] [-1.03459532e-02 -2.85558221e-04 -9.99946438e-01 -4.71897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters 0.05331757257646979 Centerline is valid? [True, True] Translation: X:665.54, Y:-255.16, Z:-4.72 [[-1.27489109e-01 -9.91838565e-01 1.67001142e-03 6.65542561e+02] [-9.91781172e-01 1.27499704e-01 1.06739466e-02 -2.55164545e+02] [-1.07997578e-02 -2.95473940e-04 -9.99941637e-01 -4.71979651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters 0.0529962710460552 Centerline is valid? [True, True] Translation: X:665.44, Y:-255.25, Z:-4.72 [[-5.21474772e-02 -9.98639029e-01 8.54629645e-04 6.65441646e+02] [-9.98584965e-01 5.21535508e-02 1.03959513e-02 -2.55253305e+02] [-1.04263747e-02 -3.11297681e-04 -9.99945595e-01 -4.72232376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters 0.0531200948709589 Centerline is valid? [True, True] Translation: X:665.35, Y:-255.75, Z:-4.72 [[ 1.99418777e-02 -9.99801137e-01 9.27430617e-05 6.65346030e+02] [-9.99741834e-01 -1.99396843e-02 1.08938005e-02 -2.55749896e+02] [-1.08897849e-02 -3.09961956e-04 -9.99940656e-01 -4.72149139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters 0.052763249864604414 Centerline is valid? [True, True] Translation: X:665.29, Y:-256.09, Z:-4.72 [[ 9.20916786e-02 -9.95750260e-01 -7.36036241e-04 6.65286179e+02] [-9.95686406e-01 -9.20941115e-02 1.12807986e-02 -2.56087821e+02] [-1.13006428e-02 -3.06006401e-04 -9.99936099e-01 -4.72242114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters 0.053346779567244054 Centerline is valid? [True, True] Translation: X:665.21, Y:-256.11, Z:-4.72 [[ 1.65272287e-01 -9.86246848e-01 -1.49185866e-03 6.65211543e+02] [-9.86188794e-01 -1.65278751e-01 1.07049585e-02 -2.56105978e+02] [-1.08043041e-02 -2.97978673e-04 -9.99941587e-01 -4.72319121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters 0.05301856285632176 Centerline is valid? [True, True] Translation: X:665.09, Y:-255.93, Z:-4.72 [[ 2.38230963e-01 -9.71205739e-01 -2.32846704e-03 6.65090748e+02] [-9.71146425e-01 -2.38242157e-01 1.07375930e-02 -2.55930215e+02] [-1.09831509e-02 -2.96744666e-04 -9.99939639e-01 -4.72343735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters 0.05263353392657835 Centerline is valid? [True, True] Translation: X:665.19, Y:-256.61, Z:-4.72 [[ 3.07004738e-01 -9.51702880e-01 -3.11749619e-03 6.65191730e+02] [-9.51643945e-01 -3.07020433e-01 1.05951020e-02 -2.56614353e+02] [-1.10405241e-02 -2.86000140e-04 -9.99939011e-01 -4.72366732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters 0.052807592473556854 Centerline is valid? [True, True] Translation: X:665.03, Y:-256.40, Z:-4.72 [[ 3.78122150e-01 -9.25747531e-01 -3.89218809e-03 6.65025907e+02] [-9.25689839e-01 -3.78142057e-01 1.03395665e-02 -2.56400852e+02] [-1.10436282e-02 -3.06660150e-04 -9.99938970e-01 -4.72463426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters 0.05341474265264279 Centerline is valid? [True, True] Translation: X:665.26, Y:-257.14, Z:-4.73 [[ 4.44488197e-01 -8.95772624e-01 -4.65283311e-03 6.65263234e+02] [-8.95716037e-01 -4.44512441e-01 1.00732891e-02 -2.57135284e+02] [-1.10916188e-02 -3.09840866e-04 -9.99938438e-01 -4.72520496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters 0.053220684960847836 Centerline is valid? [True, True] Translation: X:665.29, Y:-257.34, Z:-4.72 [[ 5.10023325e-01 -8.60141492e-01 -5.72910472e-03 6.65288617e+02] [-8.60079760e-01 -5.10055394e-01 1.03103070e-02 -2.57335673e+02] [-1.17904836e-02 -3.31010040e-04 -9.99930435e-01 -4.72469327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters 0.052699920643594994 Centerline is valid? [True, True] Translation: X:665.31, Y:-257.51, Z:-4.73 [[ 5.72289976e-01 -8.20026962e-01 -6.32177232e-03 6.65313197e+02] [-8.19970391e-01 -5.72324795e-01 9.63776434e-03 -2.57508409e+02] [-1.15213337e-02 -3.31929799e-04 -9.99933572e-01 -4.72595663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters 0.052962088118472236 Centerline is valid? [True, True] Translation: X:665.30, Y:-257.61, Z:-4.72 [[ 6.33030149e-01 -7.74099970e-01 -6.48589342e-03 6.65297089e+02] [-7.74053558e-01 -6.33063278e-01 8.48384795e-03 -2.57613152e+02] [-1.06733274e-02 -3.50102654e-04 -9.99942977e-01 -4.72456452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters 0.05228352921741848 Centerline is valid? [True, True] Translation: X:665.35, Y:-257.78, Z:-4.73 [[ 6.89720507e-01 -7.24043125e-01 -6.86847641e-03 6.65346007e+02] [-7.24001818e-01 -6.89754607e-01 7.74266177e-03 -2.57780754e+02] [-1.03435843e-02 -3.67483188e-04 -9.99946436e-01 -4.72777714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters 0.05245809320553267 Centerline is valid? [True, True] Translation: X:665.51, Y:-258.05, Z:-4.73 [[ 7.43365009e-01 -6.68842168e-01 -7.65621502e-03 6.65508489e+02] [-6.68800921e-01 -7.43404322e-01 7.43919933e-03 -2.58048961e+02] [-1.06673136e-02 -4.09556824e-04 -9.99943019e-01 -4.72828768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters 0.0534246813575358 Centerline is valid? [True, True] Translation: X:665.48, Y:-258.13, Z:-4.73 [[ 7.94718586e-01 -6.06929914e-01 -7.64512216e-03 6.65483521e+02] [-6.06896471e-01 -7.94755239e-01 6.38624356e-03 -2.58132796e+02] [-9.95200314e-03 -4.35468799e-04 -9.99950383e-01 -4.72729236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters 0.05157273973191957 Centerline is valid? [True, True] Translation: X:665.47, Y:-258.21, Z:-4.73 [[ 8.40606534e-01 -5.41593929e-01 -7.52805563e-03 6.65470081e+02] [-5.41567487e-01 -8.40640128e-01 5.36948637e-03 -2.58211984e+02] [-9.23646687e-03 -4.36675159e-04 -9.99957248e-01 -4.72926287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters 0.05146831299964131 Centerline is valid? [True, True] Translation: X:665.46, Y:-258.30, Z:-4.73 [[ 8.81114010e-01 -4.72839000e-01 -7.83467585e-03 6.65459735e+02] [-4.72815723e-01 -8.81148727e-01 4.71311954e-03 -2.58296435e+02] [-9.13206138e-03 -4.48437732e-04 -9.99958201e-01 -4.73020383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters 0.05202746892187617 Centerline is valid? [True, True] Translation: X:665.45, Y:-258.39, Z:-4.73 [[ 9.16556950e-01 -3.99825074e-01 -7.95407529e-03 6.65452077e+02] [-3.99805532e-01 -9.16591343e-01 3.98074426e-03 -2.58386287e+02] [-8.88223792e-03 -4.68495515e-04 -9.99960442e-01 -4.72952022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters 0.05180021440489061 Centerline is valid? [True, True] Translation: X:665.45, Y:-258.47, Z:-4.73 [[ 9.46209353e-01 -3.23432857e-01 -8.89090029e-03 6.65453969e+02] [-3.23413363e-01 -9.46250980e-01 3.58890010e-03 -2.58471789e+02] [-9.57379132e-03 -5.20414875e-04 -9.99954035e-01 -4.72861583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters 0.052441442665407144 Centerline is valid? [True, True] Translation: X:665.47, Y:-258.55, Z:-4.73 [[ 9.69285318e-01 -2.45747444e-01 -9.70393867e-03 6.65465736e+02] [-2.45729256e-01 -9.69333727e-01 3.04271234e-03 -2.58548984e+02] [-1.01540938e-02 -5.64714769e-04 -9.99948286e-01 -4.72881659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters 0.052385746227603294 Centerline is valid? [True, True] Translation: X:665.48, Y:-258.63, Z:-4.73 [[ 9.85305130e-01 -1.70484001e-01 -1.04405852e-02 6.65481974e+02] [-1.70468304e-01 -9.85360281e-01 2.38191035e-03 -2.58631830e+02] [-1.06938155e-02 -5.67119644e-04 -9.99942659e-01 -4.72894705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters 0.05077568168437555 Centerline is valid? [True, True] Translation: X:665.50, Y:-258.72, Z:-4.73 [[ 9.94976990e-01 -9.95457902e-02 -1.05558081e-02 6.65502010e+02] [-9.95349026e-02 -9.95032859e-01 1.55311619e-03 -2.58718252e+02] [-1.06579821e-02 -4.94643541e-04 -9.99943080e-01 -4.73080528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters 0.05134629855740834 Centerline is valid? [True, True] Translation: X:665.53, Y:-258.81, Z:-4.73 [[ 9.99616891e-01 -2.55240407e-02 -1.07048837e-02 6.65527409e+02] [-2.55177336e-02 -9.99674106e-01 7.25373262e-04 -2.58810746e+02] [-1.07199095e-02 -4.51930994e-04 -9.99942438e-01 -4.73030996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters 0.0512287266139416 Centerline is valid? [True, True] Translation: X:665.56, Y:-258.90, Z:-4.73 [[ 9.98660563e-01 5.06647865e-02 -1.04957001e-02 6.65555810e+02] [ 5.06664555e-02 -9.98715625e-01 -1.06990013e-04 -2.58898192e+02] [-1.04876403e-02 -4.24933215e-04 -9.99944913e-01 -4.73064215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters 0.051109725861405955 Centerline is valid? [True, True] Translation: X:665.59, Y:-258.99, Z:-4.73 [[ 9.91563762e-01 1.29221003e-01 -1.01606145e-02 6.65590353e+02] [ 1.29218601e-01 -9.91615728e-01 -8.95368647e-04 -2.58991018e+02] [-1.01911256e-02 -4.25125280e-04 -9.99947979e-01 -4.72811742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters 0.051107889702507875 Centerline is valid? [True, True] Translation: X:665.63, Y:-259.07, Z:-4.73 [[ 9.78582836e-01 2.05641461e-01 -9.33926983e-03 6.65630579e+02] [ 2.05636020e-01 -9.78627317e-01 -1.54953215e-03 -2.59065938e+02] [-9.45831264e-03 -4.04144707e-04 -9.99955187e-01 -4.73019192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters 0.0511649495707694 Centerline is valid? [True, True] Translation: X:665.68, Y:-259.15, Z:-4.73 [[ 9.60024213e-01 2.79788227e-01 -8.48873912e-03 6.65676981e+02] [ 2.79780721e-01 -9.60061669e-01 -2.08337083e-03 -2.59145050e+02] [-8.73261567e-03 -3.74899114e-04 -9.99961800e-01 -4.72874324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters 0.051500955334055125 Centerline is valid? [True, True] Translation: X:665.73, Y:-259.21, Z:-4.73 [[ 9.36194175e-01 3.51373589e-01 -8.77879504e-03 6.65725380e+02] [ 3.51361677e-01 -9.36235267e-01 -2.91511982e-03 -2.59207149e+02] [-9.24331363e-03 -3.55413950e-04 -9.99957217e-01 -4.72812094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters 0.05101099679595769 Centerline is valid? [True, True] Translation: X:665.78, Y:-259.27, Z:-4.73 [[ 9.07954594e-01 4.19002391e-01 -7.44660058e-03 6.65781968e+02] [ 4.18990986e-01 -9.07985081e-01 -3.10598679e-03 -2.59272686e+02] [-8.06281812e-03 -2.99963542e-04 -9.99967450e-01 -4.73041749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters 0.050621570265179126 Centerline is valid? [True, True] Translation: X:665.84, Y:-259.33, Z:-4.73 [[ 8.74912407e-01 4.84231481e-01 -6.93927041e-03 6.65842354e+02] [ 4.84218559e-01 -8.74939888e-01 -3.54693368e-03 -2.59332591e+02] [-7.78898142e-03 -2.56867229e-04 -9.99969632e-01 -4.72876039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters 0.05100456819795416 Centerline is valid? [True, True] Translation: X:665.90, Y:-259.38, Z:-4.73 [[ 8.38498864e-01 5.44860123e-01 -6.86307872e-03 6.65904460e+02] [ 5.44843767e-01 -8.38526927e-01 -4.22628416e-03 -2.59381656e+02] [-8.05761002e-03 -1.95571191e-04 -9.99967518e-01 -4.72916672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters 0.052042970079478695 Centerline is valid? [True, True] Translation: X:665.97, Y:-259.43, Z:-4.73 [[ 7.96815458e-01 6.04172046e-01 -7.82715827e-03 6.65971977e+02] [ 6.04144479e-01 -7.96853890e-01 -5.77294108e-03 -2.59428544e+02] [-9.72495114e-03 -1.28765754e-04 -9.99952703e-01 -4.72855536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters 0.05263938994781231 Centerline is valid? [True, True] Translation: X:666.04, Y:-259.47, Z:-4.73 [[ 7.49667446e-01 6.61766842e-01 -7.96036194e-03 6.66040923e+02] [ 6.61730634e-01 -7.49709704e-01 -6.92295679e-03 -2.59466696e+02] [-1.05493438e-02 -7.77000225e-05 -9.99944351e-01 -4.72950328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters 0.05283070205167654 Centerline is valid? [True, True] Translation: X:666.12, Y:-259.51, Z:-4.73 [[ 7.00112147e-01 7.13993006e-01 -7.54775516e-03 6.66118067e+02] [ 7.13951602e-01 -7.00152832e-01 -7.68906983e-03 -2.59507038e+02] [-1.07745242e-02 -5.52070531e-06 -9.99941953e-01 -4.73158025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters 0.053237942392013446 Centerline is valid? [True, True] Translation: X:666.21, Y:-259.56, Z:-4.73 [[ 6.44921412e-01 7.64221418e-01 -6.48051234e-03 6.66214948e+02] [ 7.64182574e-01 -6.44953971e-01 -7.70512054e-03 -2.59555882e+02] [-1.00680503e-02 1.69026106e-05 -9.99949316e-01 -4.73035528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters 0.05269695987237682 Centerline is valid? [True, True] Translation: X:666.31, Y:-259.59, Z:-4.73 [[ 5.83015401e-01 8.12446272e-01 -4.90893153e-03 6.66312059e+02] [ 8.12417860e-01 -5.83036066e-01 -6.79464629e-03 -2.59593124e+02] [-8.38236917e-03 -2.67202156e-05 -9.99964867e-01 -4.73182325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters 0.05270364918993471 Centerline is valid? [True, True] Translation: X:666.41, Y:-259.62, Z:-4.73 [[ 5.12643719e-01 8.58594447e-01 -3.46309718e-03 6.66406557e+02] [ 8.58576288e-01 -5.12655405e-01 -5.58512221e-03 -2.59621006e+02] [-6.57073040e-03 -1.10155298e-04 -9.99978406e-01 -4.73240122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters 0.05223356866439998 Centerline is valid? [True, True] Translation: X:666.49, Y:-259.63, Z:-4.73 [[ 4.37720192e-01 8.99107695e-01 -2.52704958e-03 6.66493882e+02] [ 8.99094872e-01 -4.37727454e-01 -4.80495833e-03 -2.59633861e+02] [-5.42633399e-03 -1.68830032e-04 -9.99985263e-01 -4.73231602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters 0.051377027750156595 Centerline is valid? [True, True] Translation: X:666.58, Y:-259.64, Z:-4.73 [[ 3.58341309e-01 9.33588357e-01 -2.07026156e-03 6.66575420e+02] [ 9.33576056e-01 -3.58347226e-01 -4.79729553e-03 -2.59637763e+02] [-5.22057174e-03 -2.13677462e-04 -9.99986350e-01 -4.73147345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters 0.05192652587055441 Centerline is valid? [True, True] Translation: X:666.66, Y:-259.64, Z:-4.73 [[ 2.73430644e-01 9.61890342e-01 -1.62868049e-03 6.66661799e+02] [ 9.61878691e-01 -2.73435362e-01 -4.74210095e-03 -2.59635773e+02] [-5.00671994e-03 -2.69957338e-04 -9.99987430e-01 -4.73127772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters 0.05169261725250612 Centerline is valid? [True, True] Translation: X:666.75, Y:-259.63, Z:-4.73 [[ 1.92130350e-01 9.81368525e-01 -1.32173231e-03 6.66745500e+02] [ 9.81354848e-01 -1.92134662e-01 -5.18983004e-03 -2.59627129e+02] [-5.34708644e-03 -2.99964544e-04 -9.99985659e-01 -4.73125263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters 0.05168213671503804 Centerline is valid? [True, True] Translation: X:666.83, Y:-259.61, Z:-4.73 [[ 1.13221020e-01 9.93569393e-01 -9.28934618e-04 6.66828060e+02] [ 9.93554666e-01 -1.13224407e-01 -5.41834588e-03 -2.59609398e+02] [-5.48868070e-03 -3.09476679e-04 -9.99984889e-01 -4.73118935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters 0.051610277435844454 Centerline is valid? [True, True] Translation: X:666.90, Y:-259.59, Z:-4.73 [[ 3.82268007e-02 9.99268958e-01 -5.10287324e-04 6.66903011e+02] [ 9.99253012e-01 -3.82290774e-02 -5.65296966e-03 -2.59585715e+02] [-5.66834492e-03 -2.93811200e-04 -9.99983892e-01 -4.73121082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters 0.051272873200413946 Centerline is valid? [True, True] Translation: X:666.98, Y:-259.56, Z:-4.73 [[-3.67697815e-02 9.99323761e-01 -5.60735844e-05 6.66981227e+02] [ 9.99305739e-01 3.67687812e-02 -6.00807916e-03 -2.59556193e+02] [-6.00195451e-03 -2.76950413e-04 -9.99981950e-01 -4.73129533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters 0.052069094382048944 Centerline is valid? [True, True] Translation: X:667.05, Y:-259.52, Z:-4.73 [[-1.10200025e-01 9.93909287e-01 5.32856042e-04 6.67054197e+02] [ 9.93884056e-01 1.10201026e-01 -7.08645973e-03 -2.59520399e+02] [-7.10201942e-03 -2.51330912e-04 -9.99974749e-01 -4.73060786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters 0.051553625002745726 Centerline is valid? [True, True] Translation: X:667.12, Y:-259.48, Z:-4.73 [[-1.83510267e-01 9.83017187e-01 1.09182385e-03 6.67123877e+02] [ 9.82991916e-01 1.83513382e-01 -7.05205612e-03 -2.59480450e+02] [-7.13265665e-03 -2.20870688e-04 -9.99974538e-01 -4.73038107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters 0.05177477973612079 Centerline is valid? [True, True] Translation: X:667.19, Y:-259.44, Z:-4.73 [[-2.55613712e-01 9.66778121e-01 1.30187509e-03 6.67186106e+02] [ 9.66761385e-01 2.55616952e-01 -5.69196554e-03 -2.59436229e+02] [-5.83564910e-03 -1.96341873e-04 -9.99982953e-01 -4.73198501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters 0.05212833008179788 Centerline is valid? [True, True] Translation: X:667.24, Y:-259.39, Z:-4.73 [[-3.27233989e-01 9.44941420e-01 1.90511883e-03 6.67243136e+02] [ 9.44922229e-01 3.27239490e-01 -6.02468365e-03 -2.59389087e+02] [-6.31640323e-03 -1.71292132e-04 -9.99980037e-01 -4.73225005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters 0.052369206468073574 Centerline is valid? [True, True] Translation: X:667.32, Y:-259.33, Z:-4.73 [[-3.95458269e-01 9.18480874e-01 2.37494216e-03 6.67318090e+02] [ 9.18462160e-01 3.95465377e-01 -5.86490539e-03 -2.59327182e+02] [-6.32601083e-03 -1.38030828e-04 -9.99979981e-01 -4.73264435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters 0.05261719310478519 Centerline is valid? [True, True] Translation: X:667.38, Y:-259.27, Z:-4.73 [[-4.63586961e-01 8.86047620e-01 2.59716243e-03 6.67377240e+02] [ 8.86032140e-01 4.63594219e-01 -5.23900898e-03 -2.59266305e+02] [-5.84604092e-03 -1.27566864e-04 -9.99982904e-01 -4.73193049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters 0.05240008593170762 Centerline is valid? [True, True] Translation: X:667.41, Y:-259.21, Z:-4.73 [[-5.29694910e-01 8.48184154e-01 2.63506308e-03 6.67412766e+02] [ 8.48172438e-01 5.29701449e-01 -4.45986231e-03 -2.59212506e+02] [-5.17858128e-03 -1.27378489e-04 -9.99986583e-01 -4.73186371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters 0.051997177035003055 Centerline is valid? [True, True] Translation: X:667.45, Y:-259.16, Z:-4.73 [[-5.95352280e-01 8.03462049e-01 2.09728155e-03 6.67447261e+02] [ 8.03456096e-01 5.95355953e-01 -3.09691023e-03 -2.59155568e+02] [-3.73687890e-03 -1.58678915e-04 -9.99993005e-01 -4.73320348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters 0.052324231175976746 Centerline is valid? [True, True] Translation: X:667.50, Y:-259.07, Z:-4.73 [[-6.58336474e-01 7.52720940e-01 2.06740039e-03 6.67501948e+02] [ 7.52716373e-01 6.58339697e-01 -2.62777215e-03 -2.59073376e+02] [-3.33903087e-03 -1.73792128e-04 -9.99994410e-01 -4.73348675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters 0.05189817320199426 Centerline is valid? [True, True] Translation: X:667.56, Y:-258.98, Z:-4.73 [[-7.19297993e-01 6.94698341e-01 2.14760356e-03 6.67560691e+02] [ 6.94694413e-01 7.19301173e-01 -2.34421926e-03 -2.58976160e+02] [-3.17329899e-03 -1.94264013e-04 -9.99994946e-01 -4.73335776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters 0.05118457507645952 Centerline is valid? [True, True] Translation: X:667.06, Y:-258.43, Z:-4.74 [[-7.70979778e-01 6.36855471e-01 2.30045403e-03 6.67062371e+02] [ 6.36851866e-01 7.70983185e-01 -2.15148917e-03 -2.58426905e+02] [-3.14379902e-03 -1.93706207e-04 -9.99995039e-01 -4.73527448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters 0.0512025402429541 Centerline is valid? [True, True] Translation: X:667.45, Y:-257.95, Z:-5.74 [[-7.27268988e-01 -6.86349949e-01 -1.88870504e-03 6.67448934e+02] [ 6.86348224e-01 -7.27271420e-01 1.54821977e-03 -2.57950438e+02] [-2.43622176e-03 -1.70337130e-04 9.99997018e-01 -5.73560609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters 0.05123364678942768 Centerline is valid? [True, True] Translation: X:667.03, Y:-258.40, Z:-4.73 [[-7.80368118e-01 6.25313372e-01 2.96425994e-03 6.67033564e+02] [ 6.25307684e-01 7.80373712e-01 -2.67754784e-03 -2.58403045e+02] [-3.98753701e-03 -2.35898451e-04 -9.99992022e-01 -4.73434692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters 0.05098203630821541 Centerline is valid? [True, True] Translation: X:667.45, Y:-257.97, Z:-5.74 [[-7.21709388e-01 -6.92195672e-01 -8.43537967e-04 6.67454172e+02] [ 6.92195432e-01 -7.21709864e-01 5.96192395e-04 -2.57973352e+02] [-1.02147147e-03 -1.53615480e-04 9.99999467e-01 -5.73733498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters 0.05054586937481987 Centerline is valid? [True, True] Translation: X:667.02, Y:-258.39, Z:-4.73 [[-7.89285884e-01 6.14016047e-01 3.47679473e-03 6.67017083e+02] [ 6.14008428e-01 7.89293488e-01 -3.07255566e-03 -2.58387710e+02] [-4.63080991e-03 -2.90343546e-04 -9.99989236e-01 -4.73340519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters 0.05104134637352495 Centerline is valid? [True, True] Translation: X:667.05, Y:-258.32, Z:-4.73 [[-8.32301483e-01 5.54311515e-01 3.60364342e-03 6.67049155e+02] [ 5.54304724e-01 8.32309230e-01 -2.76009127e-03 -2.58320272e+02] [-4.52929605e-03 -2.99711486e-04 -9.99989698e-01 -4.73385458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters 0.0511559757806685 Centerline is valid? [True, True] Translation: X:667.41, Y:-257.85, Z:-5.74 [[-7.66239445e-01 -6.42554455e-01 -9.40508879e-04 6.67411344e+02] [ 6.42554243e-01 -7.66240001e-01 5.52338753e-04 -2.57847693e+02] [-1.07556325e-03 -1.81104232e-04 9.99999405e-01 -5.73779423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters 0.0509959959647427 Centerline is valid? [True, True] Translation: X:667.32, Y:-257.87, Z:-5.74 [[-7.22720804e-01 -6.91139029e-01 -1.21705194e-03 6.67322796e+02] [ 6.91138514e-01 -7.22721798e-01 8.70279631e-04 -2.57872851e+02] [-1.48107419e-03 -2.12182278e-04 9.99998881e-01 -5.73833736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters 0.05056815171488918 Centerline is valid? [True, True] Translation: X:666.87, Y:-258.30, Z:-4.73 [[-7.92921277e-01 6.09302737e-01 5.10128678e-03 6.66874706e+02] [ 6.09287491e-01 7.92937622e-01 -4.32207408e-03 -2.58299338e+02] [-6.67845378e-03 -3.18914278e-04 -9.99977648e-01 -4.73097123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters 0.05086979307479349 Centerline is valid? [True, True] Translation: X:666.87, Y:-258.21, Z:-4.73 [[-8.33687824e-01 5.52179831e-01 7.87696136e-03 6.66871484e+02] [ 5.52150979e-01 8.33724954e-01 -5.65662708e-03 -2.58210486e+02] [-9.69069463e-03 -3.66589194e-04 -9.99952977e-01 -4.72966131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters 0.05077397343765085 Centerline is valid? [True, True] Translation: X:666.87, Y:-258.12, Z:-4.73 [[-8.70342640e-01 4.92355703e-01 9.46313707e-03 6.66870760e+02] [ 4.92321773e-01 8.70394000e-01 -5.79279272e-03 -2.58124325e+02] [-1.10887723e-02 -3.82806078e-04 -9.99938444e-01 -4.73012070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters 0.050053395957501405 Centerline is valid? [True, True] Translation: X:666.88, Y:-258.04, Z:-4.73 [[-9.03027539e-01 4.29467262e-01 9.95665932e-03 6.66878686e+02] [ 4.29436444e-01 9.03082346e-01 -5.15910223e-03 -2.58042562e+02] [-1.12073488e-02 -3.83059018e-04 -9.99937122e-01 -4.73072852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters 0.050177870459102956 Centerline is valid? [True, True] Translation: X:667.11, Y:-257.44, Z:-5.74 [[-8.55165594e-01 -5.18346640e-01 2.92705335e-03 6.67112876e+02] [ 5.18342633e-01 -8.55170570e-01 -2.05218704e-03 -2.57439620e+02] [ 3.56687414e-03 -2.37743212e-04 9.99993610e-01 -5.74027017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters 0.050613235623978785 Centerline is valid? [True, True] Translation: X:666.73, Y:-257.97, Z:-4.73 [[-9.03715951e-01 4.28085181e-01 6.36849851e-03 6.66725030e+02] [ 4.28072190e-01 9.03738340e-01 -3.34859964e-03 -2.57966811e+02] [-7.18894216e-03 -3.00005806e-04 -9.99974114e-01 -4.73436922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters 0.0502308455382509 Centerline is valid? [True, True] Translation: X:666.70, Y:-257.87, Z:-4.73 [[-9.30638272e-01 3.65880080e-01 6.64627263e-03 6.66697240e+02] [ 3.65868602e-01 9.30661963e-01 -2.91136956e-03 -2.57870868e+02] [-7.25064526e-03 -2.77769465e-04 -9.99973675e-01 -4.73464618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters 0.0506480859344671 Centerline is valid? [True, True] Translation: X:666.64, Y:-257.77, Z:-4.74 [[-9.53192105e-01 3.02285419e-01 6.95245706e-03 6.66643062e+02] [ 3.02275431e-01 9.53217426e-01 -2.47029424e-03 -2.57771768e+02] [-7.37393716e-03 -2.53108015e-04 -9.99972780e-01 -4.73521501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters 0.05058949946185528 Centerline is valid? [True, True] Translation: X:666.60, Y:-257.68, Z:-4.74 [[-9.72161272e-01 2.34218530e-01 6.64386841e-03 6.66603654e+02] [ 2.34211320e-01 9.72183943e-01 -1.85412219e-03 -2.57679106e+02] [-6.89333196e-03 -2.46436600e-04 -9.99976210e-01 -4.73528250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters 0.05065538977331729 Centerline is valid? [True, True] Translation: X:667.18, Y:-257.71, Z:-4.73 [[-9.87227004e-01 1.59174893e-01 6.79670481e-03 6.67179639e+02] [ 1.59169281e-01 9.87250366e-01 -1.36224822e-03 -2.57711704e+02] [-6.92688502e-03 -2.63021614e-04 -9.99975974e-01 -4.73461150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters 0.0508378009027911 Centerline is valid? [True, True] Translation: X:666.70, Y:-257.56, Z:-4.73 [[-9.95991853e-01 8.90530861e-02 8.35325725e-03 6.66695783e+02] [ 8.90477783e-02 9.96026848e-01 -1.00594314e-03 -2.57562515e+02] [-8.40965083e-03 -2.58072177e-04 -9.99964605e-01 -4.73413031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters 0.05130283549954265 Centerline is valid? [True, True] Translation: X:666.91, Y:-257.49, Z:-4.73 [[-9.99832367e-01 1.58273600e-02 9.20508301e-03 6.66909185e+02] [ 1.58242507e-02 9.99874704e-01 -4.10518698e-04 -2.57494925e+02] [-9.21042708e-03 -2.64786340e-04 -9.99957548e-01 -4.73486657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters 0.050478198421393776 Centerline is valid? [True, True] Translation: X:666.26, Y:-256.82, Z:-5.74 [[-9.95493357e-01 -9.47938714e-02 2.66405551e-03 6.66259581e+02] [ 9.47931071e-02 -9.95496910e-01 -4.11992219e-04 -2.56824097e+02] [ 2.69111337e-03 -1.57601418e-04 9.99996367e-01 -5.74311191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters 0.051037879309594344 Centerline is valid? [True, True] Translation: X:666.51, Y:-257.48, Z:-4.74 [[-9.99893256e-01 1.25996451e-02 7.39765520e-03 6.66514579e+02] [ 1.25976868e-02 9.99920598e-01 -3.11261016e-04 -2.57479062e+02] [-7.40098959e-03 -2.18034448e-04 -9.99972589e-01 -4.73640523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters 0.05074997015686376 Centerline is valid? [True, True] Translation: X:665.94, Y:-257.41, Z:-4.74 [[-9.98401487e-01 -5.61230115e-02 6.68422440e-03 6.65942996e+02] [-5.61230242e-02 9.98423844e-01 1.85811303e-04 -2.57412799e+02] [-6.68411731e-03 -1.89624606e-04 -9.99977643e-01 -4.73725124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters 0.050847986469792945 Centerline is valid? [True, True] Translation: X:665.95, Y:-257.34, Z:-4.74 [[-9.92154966e-01 -1.24838054e-01 6.63203482e-03 6.65945510e+02] [-1.24836438e-01 9.92177116e-01 6.58707715e-04 -2.57339848e+02] [-6.66238497e-03 -1.74379469e-04 -9.99977791e-01 -4.73778383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters 0.050533169926400626 Centerline is valid? [True, True] Translation: X:665.71, Y:-256.71, Z:-5.74 [[-9.97850697e-01 6.55254914e-02 6.29950752e-04 6.65712405e+02] [-6.55255971e-02 -9.97850878e-01 -1.48659507e-04 -2.56705275e+02] [ 6.18855923e-04 -1.89617892e-04 9.99999791e-01 -5.74341172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters 0.051011547776589505 Centerline is valid? [True, True] Translation: X:666.26, Y:-257.31, Z:-4.74 [[-9.91100605e-01 -1.32969381e-01 6.22370408e-03 6.66257677e+02] [-1.32967907e-01 9.91120129e-01 6.51869812e-04 -2.57306462e+02] [-6.25511712e-03 -1.81484342e-04 -9.99980420e-01 -4.73784201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters 0.05097961518867254 Centerline is valid? [True, True] Translation: X:665.71, Y:-257.32, Z:-4.74 [[-9.78699714e-01 -2.05186963e-01 6.72164016e-03 6.65706415e+02] [-2.05183379e-01 9.78722779e-01 1.22587414e-03 -2.57321755e+02] [-6.83015573e-03 -1.79406169e-04 -9.99976658e-01 -4.73783052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters 0.050728814181325924 Centerline is valid? [True, True] Translation: X:665.64, Y:-257.26, Z:-4.74 [[-9.59894060e-01 -2.80275989e-01 6.98305134e-03 6.65642185e+02] [-2.80270254e-01 9.59919434e-01 1.80665556e-03 -2.57258329e+02] [-7.20952886e-03 -2.22943637e-04 -9.99973986e-01 -4.73824386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters 0.050690432852522165 Centerline is valid? [True, True] Translation: X:665.58, Y:-257.19, Z:-4.74 [[-9.35479416e-01 -3.53308183e-01 7.18267490e-03 6.65583647e+02] [-3.53299905e-01 9.35506953e-01 2.43265823e-03 -2.57194693e+02] [-7.57892037e-03 -2.61936658e-04 -9.99971245e-01 -4.73792046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters 0.050114549491824575 Centerline is valid? [True, True] Translation: X:665.50, Y:-257.14, Z:-4.74 [[-9.04947466e-01 -4.25448069e-01 8.00152048e-03 6.65500745e+02] [-4.25434577e-01 9.04982782e-01 3.40363993e-03 -2.57143393e+02] [-8.68931030e-03 -3.24008160e-04 -9.99962195e-01 -4.73810903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters 0.05051146083001616 Centerline is valid? [True, True] Translation: X:665.39, Y:-257.11, Z:-4.74 [[-8.70269904e-01 -4.92489772e-01 9.17160778e-03 6.65387315e+02] [-4.92466994e-01 8.70318149e-01 4.75190545e-03 -2.57109134e+02] [-1.03224815e-02 -3.81273809e-04 -9.99946649e-01 -4.73740645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters 0.05055805495671537 Centerline is valid? [True, True] Translation: X:665.24, Y:-257.11, Z:-4.74 [[-8.32854941e-01 -5.53421517e-01 8.79050212e-03 6.65238311e+02] [-5.53395403e-01 8.32901245e-01 5.38928396e-03 -2.57106286e+02] [-1.03041659e-02 -3.76131693e-04 -9.99946840e-01 -4.73779768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters 0.05035209945442825 Centerline is valid? [True, True] Translation: X:664.79, Y:-256.64, Z:-5.75 [[-8.83946783e-01 4.67577754e-01 3.02152279e-03 6.64792457e+02] [-4.67575751e-01 -8.83951926e-01 1.38187589e-03 -2.56637261e+02] [ 3.31701531e-03 -1.91286038e-04 9.99994480e-01 -5.74534608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters 0.05049073228783993 Centerline is valid? [True, True] Translation: X:664.97, Y:-257.28, Z:-4.74 [[-8.35064965e-01 -5.50123267e-01 5.55841559e-03 6.64972404e+02] [-5.50113050e-01 8.35083426e-01 3.36208519e-03 -2.57276579e+02] [-6.49130203e-03 -2.50197399e-04 -9.99978900e-01 -4.74091998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters 0.05053806425372763 Centerline is valid? [True, True] Translation: X:664.82, Y:-257.29, Z:-4.74 [[-7.94973059e-01 -6.06626128e-01 4.75142781e-03 6.64821616e+02] [-6.06616964e-01 7.94987227e-01 3.34197984e-03 -2.57288846e+02] [-5.80465671e-03 -2.25512775e-04 -9.99983127e-01 -4.74072185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters 0.05002384841014568 Centerline is valid? [True, True] Translation: X:664.65, Y:-257.33, Z:-4.74 [[-7.51395468e-01 -6.59837079e-01 4.45862182e-03 6.64650495e+02] [-6.59827050e-01 7.51408669e-01 3.64365710e-03 -2.57332742e+02] [-5.75446714e-03 -2.04091854e-04 -9.99983422e-01 -4.74058440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters 0.050550349780401016 Centerline is valid? [True, True] Translation: X:664.92, Y:-256.97, Z:-4.74 [[-6.99425579e-01 -7.14686278e-01 5.23294604e-03 6.64916965e+02] [-7.14668497e-01 6.99445123e-01 5.04582089e-03 -2.56966934e+02] [-7.26633754e-03 -2.10645483e-04 -9.99973578e-01 -4.74038862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters 0.05050544941290342 Centerline is valid? [True, True] Translation: X:664.39, Y:-257.41, Z:-4.74 [[-6.46632391e-01 -7.62781089e-01 5.61800283e-03 6.64393670e+02] [-7.62754964e-01 6.46656764e-01 6.31624306e-03 -2.57414738e+02] [-8.45083029e-03 -2.00872197e-04 -9.99964271e-01 -4.73897904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters 0.0510003320504835 Centerline is valid? [True, True] Translation: X:664.26, Y:-257.46, Z:-4.74 [[-5.87103576e-01 -8.09489021e-01 6.07589521e-03 6.64255193e+02] [-8.09449642e-01 5.87134970e-01 7.98768269e-03 -2.57463291e+02] [-1.00333120e-02 -2.28534127e-04 -9.99949639e-01 -4.73836577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters 0.05053846432256722 Centerline is valid? [True, True] Translation: X:664.31, Y:-257.23, Z:-4.74 [[-5.23162209e-01 -8.52215579e-01 5.46903849e-03 6.64309206e+02] [-8.52173786e-01 5.23190738e-01 8.44334841e-03 -2.57233714e+02] [-1.00569033e-02 -2.43330438e-04 -9.99949398e-01 -4.73863311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters 0.050506742634529866 Centerline is valid? [True, True] Translation: X:663.96, Y:-257.69, Z:-4.74 [[-4.61700365e-01 -8.87024207e-01 4.56396412e-03 6.63956033e+02] [-8.86985549e-01 4.61722868e-01 8.28424738e-03 -2.57688474e+02] [-9.45561456e-03 -2.23330185e-04 -9.99955270e-01 -4.73934351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters 0.05064128651070153 Centerline is valid? [True, True] Translation: X:663.85, Y:-257.74, Z:-4.74 [[-3.96003510e-01 -9.18242893e-01 3.34815026e-03 6.63847932e+02] [-9.18214475e-01 3.96017607e-01 7.22718404e-03 -2.57739050e+02] [-7.96223683e-03 -2.12329791e-04 -9.99968278e-01 -4.73943685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters 0.05083476304082707 Centerline is valid? [True, True] Translation: X:663.66, Y:-258.02, Z:-4.74 [[-3.31031329e-01 -9.43617003e-01 2.28283880e-03 6.63658798e+02] [-9.43598292e-01 3.31039148e-01 5.94517653e-03 -2.58018981e+02] [-6.36567867e-03 -1.86043097e-04 -9.99979722e-01 -4.74113728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters 0.05043785534918525 Centerline is valid? [True, True] Translation: X:663.53, Y:-258.19, Z:-4.74 [[-2.61566269e-01 -9.65184593e-01 1.33747210e-03 6.63529604e+02] [-9.65175334e-01 2.61569623e-01 4.23173401e-03 -2.58193241e+02] [-4.43424654e-03 -1.84016210e-04 -9.99990152e-01 -4.74246465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters 0.05050076261290152 Centerline is valid? [True, True] Translation: X:663.40, Y:-258.41, Z:-4.74 [[-1.89576567e-01 -9.81865611e-01 8.04111717e-04 6.63403448e+02] [-9.81860443e-01 1.89578183e-01 3.19118165e-03 -2.58410970e+02] [-3.28575356e-03 -1.84552224e-04 -9.99994585e-01 -4.74393425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters 0.04999569004279963 Centerline is valid? [True, True] Translation: X:663.30, Y:-258.59, Z:-4.74 [[-1.15349104e-01 -9.93324821e-01 6.20334443e-04 6.63299647e+02] [-9.93317891e-01 1.15350619e-01 3.71525217e-03 -2.58594186e+02] [-3.76200816e-03 -1.87638293e-04 -9.99992906e-01 -4.74316221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters 0.050531655643866046 Centerline is valid? [True, True] Translation: X:663.21, Y:-258.80, Z:-4.74 [[-4.07672003e-02 -9.99168611e-01 3.50691218e-04 6.63208502e+02] [-9.99160843e-01 4.07682678e-02 3.94451132e-03 -2.58804824e+02] [-3.95552896e-03 -1.89590250e-04 -9.99992159e-01 -4.74308923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters 0.05100192975936892 Centerline is valid? [True, True] Translation: X:663.13, Y:-259.04, Z:-4.74 [[ 3.36025222e-02 -9.99435275e-01 4.71679822e-05 6.63133502e+02] [-9.99426266e-01 -3.36020188e-02 4.24771070e-03 -2.59035566e+02] [-4.24372697e-03 -1.89874713e-04 -9.99990977e-01 -4.74323041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters 0.050619118702599254 Centerline is valid? [True, True] Translation: X:663.07, Y:-259.24, Z:-4.74 [[ 1.08326325e-01 -9.94115293e-01 -4.38236564e-04 6.63073427e+02] [-9.94098331e-01 -1.08327038e-01 5.81044155e-03 -2.59242738e+02] [-5.82372167e-03 -1.93773544e-04 -9.99983023e-01 -4.74251434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters 0.05097468274694256 Centerline is valid? [True, True] Translation: X:663.03, Y:-259.47, Z:-4.74 [[ 1.82972674e-01 -9.83117462e-01 -1.02752760e-03 6.63030228e+02] [-9.83095164e-01 -1.82975447e-01 6.62453124e-03 -2.59468544e+02] [-6.70070466e-03 -2.01950776e-04 -9.99977530e-01 -4.74189166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters 0.05029117455251808 Centerline is valid? [True, True] Translation: X:663.00, Y:-259.68, Z:-4.74 [[ 2.58867447e-01 -9.65911357e-01 -1.70176687e-03 6.62999592e+02] [-9.65884279e-01 -2.58872939e-01 7.23611907e-03 -2.59682569e+02] [-7.42999098e-03 -2.29485798e-04 -9.99972371e-01 -4.74237920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters 0.04991626986081703 Centerline is valid? [True, True] Translation: X:662.97, Y:-259.86, Z:-4.74 [[ 3.33126779e-01 -9.42879607e-01 -2.14390008e-03 6.62969908e+02] [-9.42854943e-01 -3.33133582e-01 6.82449193e-03 -2.59856826e+02] [-7.14887938e-03 -2.52034228e-04 -9.99974415e-01 -4.74186982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters 0.04976282330865506 Centerline is valid? [True, True] Translation: X:662.97, Y:-260.07, Z:-4.74 [[ 4.03545820e-01 -9.14956530e-01 -2.30651183e-03 6.62970399e+02] [-9.14937813e-01 -4.03552332e-01 5.85773532e-03 -2.60071066e+02] [-6.29037141e-03 -2.53549720e-04 -9.99980183e-01 -4.74353284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters 0.05022763116384816 Centerline is valid? [True, True] Translation: X:663.01, Y:-260.33, Z:-4.74 [[ 4.72034833e-01 -8.81574915e-01 -2.96423891e-03 6.63007417e+02] [-8.81553739e-01 -4.72044060e-01 6.11639789e-03 -2.60332706e+02] [-6.79131432e-03 -2.74016958e-04 -9.99976901e-01 -4.74382741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters 0.049504300708639176 Centerline is valid? [True, True] Translation: X:663.03, Y:-260.52, Z:-4.74 [[ 5.38109629e-01 -8.42867231e-01 -3.58596313e-03 6.63025503e+02] [-8.42844712e-01 -5.38121495e-01 6.16834718e-03 -2.60521390e+02] [-7.12878154e-03 -2.96836949e-04 -9.99974546e-01 -4.74416933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters 0.049821921427429555 Centerline is valid? [True, True] Translation: X:663.06, Y:-260.72, Z:-4.74 [[ 5.99732153e-01 -8.00191620e-01 -3.83615977e-03 6.63062955e+02] [-8.00171972e-01 -5.99744348e-01 5.61538733e-03 -2.60719342e+02] [-6.79410103e-03 -2.98140803e-04 -9.99976875e-01 -4.74463387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters 0.04938799449960725 Centerline is valid? [True, True] Translation: X:663.13, Y:-260.93, Z:-4.74 [[ 6.57494384e-01 -7.53443187e-01 -4.94967050e-03 6.63130138e+02] [-7.53418076e-01 -6.57512937e-01 6.15962673e-03 -2.60928523e+02] [-7.89540118e-03 -3.20748761e-04 -9.99968779e-01 -4.74494493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters 0.04981056636722497 Centerline is valid? [True, True] Translation: X:663.20, Y:-261.12, Z:-4.74 [[ 7.10846453e-01 -7.03323336e-01 -5.79694941e-03 6.63202970e+02] [-7.03296123e-01 -7.10870015e-01 6.19561521e-03 -2.61122596e+02] [-8.47839828e-03 -3.27159050e-04 -9.99964004e-01 -4.74494655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters 0.050224626385825116 Centerline is valid? [True, True] Translation: X:663.30, Y:-261.32, Z:-4.75 [[ 7.59986046e-01 -6.49908898e-01 -6.29558146e-03 6.63301002e+02] [-6.49883052e-01 -7.60012054e-01 5.80491641e-03 -2.61324739e+02] [-8.55738462e-03 -3.20263771e-04 -9.99963334e-01 -4.74519012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters 0.050212305466752594 Centerline is valid? [True, True] Translation: X:663.27, Y:-261.41, Z:-4.75 [[ 8.07824670e-01 -5.89389705e-01 -6.25126537e-03 6.63271962e+02] [-5.89369015e-01 -8.07848796e-01 4.94841077e-03 -2.61413794e+02] [-7.96661957e-03 -3.13146185e-04 -9.99968217e-01 -4.74589942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters 0.050080325531324 Centerline is valid? [True, True] Translation: X:663.25, Y:-261.50, Z:-4.75 [[ 8.51548661e-01 -5.24229601e-01 -6.94286400e-03 6.63248451e+02] [-5.24209073e-01 -8.51576904e-01 4.65027867e-03 -2.61504593e+02] [-8.35019636e-03 -3.20426267e-04 -9.99965085e-01 -4.74568114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters 0.050264842365775574 Centerline is valid? [True, True] Translation: X:663.23, Y:-261.60, Z:-4.75 [[ 8.90463370e-01 -4.54992952e-01 -7.51001048e-03 6.63233846e+02] [-4.54973575e-01 -8.90494976e-01 4.21247784e-03 -2.61596600e+02] [-8.60427433e-03 -3.34200901e-04 -9.99962927e-01 -4.74581777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters 0.050332941492589864 Centerline is valid? [True, True] Translation: X:663.22, Y:-261.69, Z:-4.74 [[ 9.24442387e-01 -3.81218571e-01 -8.86980152e-03 6.63224230e+02] [-3.81197027e-01 -9.24484859e-01 4.07081912e-03 -2.61692520e+02] [-9.75186905e-03 -3.82095775e-04 -9.99952376e-01 -4.74364937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters 0.05005422768025262 Centerline is valid? [True, True] Translation: X:663.23, Y:-261.78, Z:-4.74 [[ 9.51766730e-01 -3.06638616e-01 -1.06230830e-02 6.63228017e+02] [-3.06614496e-01 -9.51825918e-01 3.86950219e-03 -2.61779071e+02] [-1.12978645e-02 -4.25672226e-04 -9.99936086e-01 -4.74327898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters 0.05052485246625122 Centerline is valid? [True, True] Translation: X:663.24, Y:-261.87, Z:-4.74 [[ 9.72332962e-01 -2.33317607e-01 -1.14675780e-02 6.63237790e+02] [-2.33296352e-01 -9.72400495e-01 3.17627464e-03 -2.61865476e+02] [-1.18921593e-02 -4.13052419e-04 -9.99929200e-01 -4.74416303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters 0.05006788152229548 Centerline is valid? [True, True] Translation: X:663.25, Y:-261.96, Z:-4.75 [[ 9.87303342e-01 -1.58479447e-01 -1.07877149e-02 6.63252908e+02] [-1.58465831e-01 -9.87362205e-01 2.11087480e-03 -2.61956180e+02] [-1.09859122e-02 -3.74589541e-04 -9.99939583e-01 -4.74622763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters 0.050573170013715626 Centerline is valid? [True, True] Translation: X:663.27, Y:-262.05, Z:-4.74 [[ 9.96419533e-01 -8.38719479e-02 -1.06588541e-02 6.63273409e+02] [-8.38635285e-02 -9.96476484e-01 1.23520698e-03 -2.62051912e+02] [-1.07248966e-02 -3.36895251e-04 -9.99942430e-01 -4.74431818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters 0.05027416183988921 Centerline is valid? [True, True] Translation: X:663.30, Y:-262.14, Z:-4.75 [[ 9.99931123e-01 -6.25507944e-03 -9.93095338e-03 6.63302217e+02] [-6.25159275e-03 -9.99980386e-01 3.82097938e-04 -2.62137444e+02] [-9.93314864e-03 -3.19987344e-04 -9.99950614e-01 -4.74549624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters 0.0501747771069162 Centerline is valid? [True, True] Translation: X:663.33, Y:-262.22, Z:-4.75 [[ 9.97487284e-01 7.00677690e-02 -1.04702256e-02 6.63332068e+02] [ 7.00671311e-02 -9.97542186e-01 -4.28188266e-04 -2.62220201e+02] [-1.04744940e-02 -3.06506322e-04 -9.99945094e-01 -4.74528304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters 0.05051919382845081 Centerline is valid? [True, True] Translation: X:663.37, Y:-262.30, Z:-4.75 [[ 9.89589477e-01 1.43592739e-01 -9.68460542e-03 6.63368605e+02] [ 1.43588382e-01 -9.89636832e-01 -1.14735827e-03 -2.62299726e+02] [-9.74899455e-03 -2.55183153e-04 -9.99952445e-01 -4.74596943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters 0.050279428564235354 Centerline is valid? [True, True] Translation: X:663.41, Y:-262.38, Z:-4.75 [[ 9.76201471e-01 2.16705866e-01 -8.32198980e-03 6.63410536e+02] [ 2.16699838e-01 -9.76236919e-01 -1.63024044e-03 -2.62375749e+02] [-8.47751635e-03 -2.11930724e-04 -9.99964043e-01 -4.74625780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters 0.05024319182231798 Centerline is valid? [True, True] Translation: X:663.46, Y:-262.44, Z:-4.75 [[ 9.57773921e-01 2.87423622e-01 -7.53510944e-03 6.63458143e+02] [ 2.87416107e-01 -9.57803546e-01 -2.08526492e-03 -2.62444953e+02] [-7.81650894e-03 -1.68499469e-04 -9.99969436e-01 -4.74742750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters 0.051008952238389985 Centerline is valid? [True, True] Translation: X:663.51, Y:-262.51, Z:-4.75 [[ 9.33630726e-01 3.58136603e-01 -8.47586741e-03 6.63511098e+02] [ 3.58123137e-01 -9.33669190e-01 -3.10855725e-03 -2.62511042e+02] [-9.02694439e-03 -1.33159669e-04 -9.99959247e-01 -4.74703277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters 0.05046395414617533 Centerline is valid? [True, True] Translation: X:663.57, Y:-262.57, Z:-4.75 [[ 9.03632759e-01 4.28226878e-01 -8.34127988e-03 6.63566415e+02] [ 4.28209784e-01 -9.03671250e-01 -3.82783010e-03 -2.62568831e+02] [-9.17695455e-03 -1.12864987e-04 -9.99957884e-01 -4.74637391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters 0.051675252609339445 Centerline is valid? [True, True] Translation: X:663.63, Y:-262.62, Z:-4.75 [[ 8.68548897e-01 4.95533555e-01 -8.32524272e-03 6.63625027e+02] [ 4.95511745e-01 -8.68588791e-01 -4.64999269e-03 -2.62619900e+02] [-9.53543992e-03 -8.65095280e-05 -9.99954533e-01 -4.74894058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters 0.051484435289381486 Centerline is valid? [True, True] Translation: X:663.69, Y:-262.67, Z:-4.75 [[ 8.27603145e-01 5.61256718e-01 -7.99574196e-03 6.63688177e+02] [ 5.61231419e-01 -8.27641765e-01 -5.32941906e-03 -2.62665477e+02] [-9.60878224e-03 -7.68176333e-05 -9.99953832e-01 -4.74747023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters 0.05079827034600837 Centerline is valid? [True, True] Translation: X:663.75, Y:-262.71, Z:-4.75 [[ 7.80536259e-01 6.25071295e-01 -7.00174069e-03 6.63753697e+02] [ 6.25047211e-01 -7.80567657e-01 -5.48785058e-03 -2.62706440e+02] [-8.89563020e-03 -9.29521334e-05 -9.99960429e-01 -4.74748084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters 0.05164596798771581 Centerline is valid? [True, True] Translation: X:663.82, Y:-262.74, Z:-4.75 [[ 7.28780635e-01 6.84726628e-01 -5.31335624e-03 6.63824541e+02] [ 6.84709568e-01 -7.28799994e-01 -4.83484231e-03 -2.62743840e+02] [-7.18291927e-03 -1.14566408e-04 -9.99974196e-01 -4.75193904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters 0.050788355817280625 Centerline is valid? [True, True] Translation: X:663.90, Y:-262.77, Z:-4.75 [[ 6.71633886e-01 7.40879742e-01 -2.26533536e-03 6.63897571e+02] [ 7.40876296e-01 -6.71637688e-01 -2.26495342e-03 -2.62773663e+02] [-3.19954271e-03 -1.57113800e-04 -9.99994869e-01 -4.75235822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters 0.050887350583701585 Centerline is valid? [True, True] Translation: X:663.97, Y:-262.80, Z:-4.75 [[ 6.10988144e-01 7.91637567e-01 -1.85764741e-03 6.63973499e+02] [ 7.91634684e-01 -6.10990947e-01 -2.14245039e-03 -2.62798266e+02] [-2.83104996e-03 -1.61566330e-04 -9.99995980e-01 -4.75295869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters 0.05055476632838364 Centerline is valid? [True, True] Translation: X:664.05, Y:-262.82, Z:-4.75 [[ 5.43324435e-01 8.39520272e-01 -2.06674958e-03 6.64051606e+02] [ 8.39515364e-01 -5.43328338e-01 -2.87585290e-03 -2.62819418e+02] [-3.53726042e-03 -1.72546876e-04 -9.99993729e-01 -4.75245406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters 0.04998564496190728 Centerline is valid? [True, True] Translation: X:664.14, Y:-262.84, Z:-4.75 [[ 4.69579274e-01 8.82886702e-01 -2.52514714e-03 6.64136961e+02] [ 8.82876202e-01 -4.69586018e-01 -4.31074715e-03 -2.62835513e+02] [-4.99167513e-03 -2.05154797e-04 -9.99987520e-01 -4.75160045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters 0.050473653422878934 Centerline is valid? [True, True] Translation: X:664.23, Y:-262.85, Z:-4.75 [[ 3.95441872e-01 9.18487330e-01 -2.59798644e-03 6.64225073e+02] [ 9.18471232e-01 -3.95450337e-01 -5.44308287e-03 -2.62845315e+02] [-6.02677726e-03 -2.33752923e-04 -9.99981811e-01 -4.75139967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters 0.050373522434354036 Centerline is valid? [True, True] Translation: X:664.31, Y:-262.85, Z:-4.75 [[ 3.19512400e-01 9.47578437e-01 -2.63297931e-03 6.64308733e+02] [ 9.47552857e-01 -3.19523135e-01 -6.96773458e-03 -2.62846815e+02] [-7.44377284e-03 -2.68609472e-04 -9.99972259e-01 -4.75147357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters 0.05038526982072511 Centerline is valid? [True, True] Translation: X:664.40, Y:-262.84, Z:-4.75 [[ 2.44920084e-01 9.69540232e-01 -2.42714573e-03 6.64398421e+02] [ 9.69503316e-01 -2.44931950e-01 -8.46527191e-03 -2.62842747e+02] [-8.80190722e-03 -2.79810728e-04 -9.99961223e-01 -4.74931724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters 0.05058904740424327 Centerline is valid? [True, True] Translation: X:664.48, Y:-262.83, Z:-4.75 [[ 1.69659087e-01 9.85501115e-01 -1.82941539e-03 6.64479882e+02] [ 9.85459813e-01 -1.69668733e-01 -9.02650282e-03 -2.62829990e+02] [-9.20602318e-03 -2.71387128e-04 -9.99957587e-01 -4.74991996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters 0.05068667543154044 Centerline is valid? [True, True] Translation: X:664.56, Y:-262.81, Z:-4.75 [[ 9.39962634e-02 9.95572032e-01 -1.01611774e-03 6.64560425e+02] [ 9.95538612e-01 -9.40014375e-02 -8.16100175e-03 -2.62811270e+02] [-8.22038162e-03 -2.44480772e-04 -9.99966182e-01 -4.75070154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters 0.05088605999934067 Centerline is valid? [True, True] Translation: X:664.64, Y:-262.79, Z:-4.75 [[ 1.62364985e-02 9.99868114e-01 -3.60757793e-04 6.64639725e+02] [ 9.99838740e-01 -1.62387881e-02 -7.66785414e-03 -2.62787355e+02] [-7.67270113e-03 -2.36200515e-04 -9.99970537e-01 -4.74958990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters 0.05041964979296983 Centerline is valid? [True, True] Translation: X:664.71, Y:-262.76, Z:-4.75 [[-6.22584494e-02 9.98060027e-01 2.60368242e-04 6.64711383e+02] [ 9.98027745e-01 6.22585307e-02 -8.03087146e-03 -2.62756863e+02] [-8.03150193e-03 -2.40134874e-04 -9.99967718e-01 -4.75166986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters 0.05066915168567652 Centerline is valid? [True, True] Translation: X:664.78, Y:-262.72, Z:-4.75 [[-1.40975624e-01 9.90012704e-01 8.48012961e-04 6.64784548e+02] [ 9.89982927e-01 1.40977964e-01 -7.68236486e-03 -2.62722198e+02] [-7.72518995e-03 -2.43507829e-04 -9.99970131e-01 -4.75141449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters 0.050126500960440266 Centerline is valid? [True, True] Translation: X:664.86, Y:-262.68, Z:-4.75 [[-2.19343741e-01 9.75646608e-01 1.42084880e-03 6.64857380e+02] [ 9.75618039e-01 2.19348198e-01 -7.47056558e-03 -2.62679806e+02] [-7.60029259e-03 -2.52416086e-04 -9.99971086e-01 -4.75248432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters 0.05069891776738681 Centerline is valid? [True, True] Translation: X:664.93, Y:-262.63, Z:-4.75 [[-2.98109096e-01 9.54529402e-01 2.14204683e-03 6.64932390e+02] [ 9.54497501e-01 2.98116657e-01 -7.80893002e-03 -2.62631326e+02] [-8.09243314e-03 -2.83334719e-04 -9.99967216e-01 -4.75078664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters 0.05131773120047388 Centerline is valid? [True, True] Translation: X:664.99, Y:-262.58, Z:-4.75 [[-3.73976852e-01 9.27433849e-01 2.78737137e-03 6.64993537e+02] [ 9.27401748e-01 3.73987117e-01 -7.72231539e-03 -2.62580580e+02] [-8.20437767e-03 -3.02954115e-04 -9.99966298e-01 -4.75116019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters 0.0500018274676669 Centerline is valid? [True, True] Translation: X:665.06, Y:-262.52, Z:-4.75 [[-4.46906781e-01 8.94572809e-01 3.71721257e-03 6.65055271e+02] [ 8.94535483e-01 4.46922118e-01 -8.17865475e-03 -2.62522763e+02] [-8.97770668e-03 -3.29917729e-04 -9.99959645e-01 -4.75186747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters 0.050733822400257665 Centerline is valid? [True, True] Translation: X:665.11, Y:-262.46, Z:-4.75 [[-5.15736865e-01 8.56732224e-01 5.03801230e-03 6.65113693e+02] [ 8.56684401e-01 5.15761349e-01 -9.05909824e-03 -2.62461080e+02] [-1.03596334e-02 -3.56124376e-04 -9.99946274e-01 -4.75199354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters 0.05045295284657551 Centerline is valid? [True, True] Translation: X:665.17, Y:-262.39, Z:-4.75 [[-5.80753352e-01 8.14058848e-01 5.80824611e-03 6.65169090e+02] [ 8.14011918e-01 5.80782289e-01 -8.74815948e-03 -2.62392382e+02] [-1.04948431e-02 -3.52541392e-04 -9.99944865e-01 -4.75275225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters 0.05043067469091706 Centerline is valid? [True, True] Translation: X:665.22, Y:-262.32, Z:-4.75 [[-6.41577048e-01 7.67037508e-01 5.68792322e-03 6.65219100e+02] [ 7.67002889e-01 6.41602182e-01 -7.29437705e-03 -2.62319636e+02] [-9.24444475e-03 -3.17251348e-04 -9.99957219e-01 -4.75351422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters 0.0504757059934187 Centerline is valid? [True, True] Translation: X:665.27, Y:-262.24, Z:-4.75 [[-6.98050848e-01 7.16028548e-01 5.30393686e-03 6.65266150e+02] [ 7.16004799e-01 6.98070943e-01 -5.83842498e-03 -2.62241926e+02] [-7.88300317e-03 -2.77873259e-04 -9.99968890e-01 -4.75223323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters 0.05005706730085078 Centerline is valid? [True, True] Translation: X:665.30, Y:-262.17, Z:-4.75 [[-7.50700049e-01 6.60621119e-01 5.40122980e-03 6.65300254e+02] [ 6.60601516e-01 7.50719436e-01 -5.09565113e-03 -2.62167987e+02] [-7.42110294e-03 -2.57244955e-04 -9.99972430e-01 -4.75434218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters 0.05068646980538586 Centerline is valid? [True, True] Translation: X:665.29, Y:-262.05, Z:-4.75 [[-7.94211136e-01 6.07611401e-01 6.08741014e-03 6.65287760e+02] [ 6.07591336e-01 7.94234433e-01 -4.94311581e-03 -2.62053357e+02] [-7.83832426e-03 -2.27219964e-04 -9.99969254e-01 -4.75221820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters 0.05055728749060267 Centerline is valid? [True, True] Translation: X:665.31, Y:-261.98, Z:-4.75 [[-8.34858676e-01 5.50424759e-01 6.60119351e-03 6.65312631e+02] [ 5.50405427e-01 8.34884744e-01 -4.61853305e-03 -2.61975714e+02] [-8.05339069e-03 -2.22489652e-04 -9.99967546e-01 -4.75232514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters 0.0501628259092424 Centerline is valid? [True, True] Translation: X:665.28, Y:-261.86, Z:-4.75 [[-8.72614195e-01 4.88356956e-01 7.20765454e-03 6.65278007e+02] [ 4.88338015e-01 8.72643928e-01 -4.30786691e-03 -2.61861541e+02] [-8.39349274e-03 -2.39334104e-04 -9.99964745e-01 -4.75339436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters 0.05053054709052741 Centerline is valid? [True, True] Translation: X:665.29, Y:-261.78, Z:-4.75 [[-9.06091084e-01 4.23024889e-01 6.99224812e-03 6.65288117e+02] [ 4.23010129e-01 9.06118028e-01 -3.54266198e-03 -2.61778265e+02] [-7.83443626e-03 -2.52182648e-04 -9.99969279e-01 -4.75406056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters 0.05049979974007349 Centerline is valid? [True, True] Translation: X:665.61, Y:-261.24, Z:-5.77 [[-8.61253289e-01 -5.08166908e-01 3.02755981e-03 6.65613722e+02] [ 5.08163375e-01 -8.61258605e-01 -1.89730429e-03 -2.61236295e+02] [ 3.57165920e-03 -9.55645476e-05 9.99993617e-01 -5.77392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters 0.05017979563162348 Centerline is valid? [True, True] Translation: X:665.21, Y:-261.74, Z:-4.75 [[-9.09357301e-01 4.15953338e-01 7.21936185e-03 6.65210911e+02] [ 4.15937694e-01 9.09385912e-01 -3.61894233e-03 -2.61739403e+02] [-8.07049710e-03 -2.88106909e-04 -9.99967392e-01 -4.75356034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters 0.04998561736047263 Centerline is valid? [True, True] Translation: X:665.44, Y:-261.15, Z:-5.77 [[-8.63388148e-01 -5.04529311e-01 3.32874458e-03 6.65441124e+02] [ 5.04525353e-01 -8.63394563e-01 -1.99901189e-03 -2.61150506e+02] [ 3.88258007e-03 -4.64871436e-05 9.99992462e-01 -5.77333677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters 0.05013634337974066 Centerline is valid? [True, True] Translation: X:665.10, Y:-261.69, Z:-4.75 [[-9.09615194e-01 4.15400302e-01 6.54129063e-03 6.65102067e+02] [ 4.15387551e-01 9.09638679e-01 -3.26451217e-03 -2.61686074e+02] [-7.30629031e-03 -2.52279175e-04 -9.99973277e-01 -4.75299289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters 0.05003758224716696 Centerline is valid? [True, True] Translation: X:665.27, Y:-261.07, Z:-5.77 [[-8.68205267e-01 -4.96200071e-01 2.25911292e-03 6.65274938e+02] [ 4.96198122e-01 -8.68208202e-01 -1.39355910e-03 -2.61069946e+02] [ 2.65286449e-03 -8.89277645e-05 9.99996477e-01 -5.77377265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters 0.04998253807593177 Centerline is valid? [True, True] Translation: X:665.15, Y:-261.09, Z:-5.77 [[-8.35338442e-01 -5.49728170e-01 2.93706002e-03 6.65153369e+02] [ 5.49724266e-01 -8.35343597e-01 -2.07520971e-03 -2.61090733e+02] [ 3.59425552e-03 -1.18929280e-04 9.99993534e-01 -5.77478678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters 0.049714698017505596 Centerline is valid? [True, True] Translation: X:665.05, Y:-261.12, Z:-5.78 [[-7.98277115e-01 -6.02282199e-01 3.13063088e-03 6.65054718e+02] [ 6.02276930e-01 -7.98283243e-01 -2.52261161e-03 -2.61119748e+02] [ 4.01845423e-03 -1.28236363e-04 9.99991918e-01 -5.77709023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters 0.05062287672183101 Centerline is valid? [True, True] Translation: X:664.72, Y:-261.68, Z:-4.75 [[-8.39236486e-01 5.43723438e-01 6.85163403e-03 6.64719862e+02] [ 5.43703990e-01 8.39264443e-01 -4.60073402e-03 -2.61677245e+02] [-8.25185973e-03 -1.35843094e-04 -9.99965944e-01 -4.75218296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters 0.05056184816000589 Centerline is valid? [True, True] Translation: X:664.70, Y:-261.58, Z:-4.75 [[-8.75347787e-01 4.83442957e-01 7.01131078e-03 6.64702898e+02] [ 4.83426256e-01 8.75375857e-01 -4.02051321e-03 -2.61578326e+02] [-8.08122098e-03 -1.29895623e-04 -9.99967338e-01 -4.75234900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters 0.05009512561951728 Centerline is valid? [True, True] Translation: X:664.59, Y:-261.44, Z:-4.75 [[-9.07362770e-01 4.20297794e-01 6.52442286e-03 6.64591037e+02] [ 4.20285889e-01 9.07386217e-01 -3.16602366e-03 -2.61438335e+02] [-7.25084413e-03 -1.30609133e-04 -9.99973704e-01 -4.75313887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters 0.04979882648726619 Centerline is valid? [True, True] Translation: X:664.66, Y:-261.39, Z:-4.75 [[-9.35888410e-01 3.52221300e-01 7.28286864e-03 6.64663070e+02] [ 3.52209381e-01 9.35916734e-01 -2.90154007e-03 -2.61385032e+02] [-7.83814285e-03 -1.50423064e-04 -9.99969270e-01 -4.75245436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters 0.050186540489746266 Centerline is valid? [True, True] Translation: X:664.62, Y:-261.29, Z:-4.75 [[-9.59171949e-01 2.82685585e-01 8.83357158e-03 6.64623768e+02] [ 2.82671874e-01 9.59212608e-01 -2.79002221e-03 -2.61288425e+02] [-9.26197230e-03 -1.79108807e-04 -9.99957091e-01 -4.75150697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters 0.04979940245338382 Centerline is valid? [True, True] Translation: X:664.90, Y:-261.28, Z:-4.75 [[-9.78525614e-01 2.05896272e-01 9.71329965e-03 6.64900038e+02] [ 2.05883667e-01 9.78573792e-01 -2.29113157e-03 -2.61275869e+02] [-9.97691592e-03 -2.42121173e-04 -9.99950200e-01 -4.75262649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters 0.05019384315525822 Centerline is valid? [True, True] Translation: X:664.28, Y:-261.07, Z:-4.75 [[-9.91003356e-01 1.33481485e-01 9.74892060e-03 6.64278460e+02] [ 1.33472432e-01 9.91051273e-01 -1.57632999e-03 -2.61073368e+02] [-9.87209103e-03 -2.60936173e-04 -9.99951236e-01 -4.75172375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters 0.04918633744851872 Centerline is valid? [True, True] Translation: X:664.35, Y:-260.45, Z:-5.78 [[-9.74548566e-01 -2.24121865e-01 4.94798472e-03 6.64353485e+02] [ 2.24118373e-01 -9.74561120e-01 -1.25649245e-03 -2.60445446e+02] [ 5.10372096e-03 -1.15578629e-04 9.99986969e-01 -5.77913372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters 0.049635178865479815 Centerline is valid? [True, True] Translation: X:664.18, Y:-261.06, Z:-4.75 [[-9.91701025e-01 1.28294542e-01 8.34194587e-03 6.64180989e+02] [ 1.28287823e-01 9.91736076e-01 -1.33790510e-03 -2.61060820e+02] [-8.44465459e-03 -2.56631785e-04 -9.99964310e-01 -4.75336201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters 0.0496791771229939 Centerline is valid? [True, True] Translation: X:664.18, Y:-260.42, Z:-5.78 [[-9.76030433e-01 -2.17612728e-01 3.04867133e-03 6.64180330e+02] [ 2.17611211e-01 -9.76035184e-01 -8.24639080e-04 -2.60422291e+02] [ 3.15506244e-03 -1.41447778e-04 9.99995013e-01 -5.78047204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters 0.04938842175841937 Centerline is valid? [True, True] Translation: X:663.96, Y:-261.03, Z:-4.75 [[-9.91457407e-01 1.30262114e-01 6.63265928e-03 6.63956370e+02] [ 1.30257882e-01 9.91479573e-01 -1.06796534e-03 -2.61030220e+02] [-6.71526162e-03 -1.94886004e-04 -9.99977433e-01 -4.75283469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters 0.0499985000313162 Centerline is valid? [True, True] Translation: X:663.88, Y:-260.95, Z:-4.75 [[-9.97832688e-01 6.54814544e-02 6.48888002e-03 6.63881953e+02] [ 6.54790651e-02 9.97853775e-01 -5.80206674e-04 -2.60951234e+02] [-6.51294620e-03 -1.54063388e-04 -9.99978779e-01 -4.75332923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters 0.04940348786873347 Centerline is valid? [True, True] Translation: X:664.11, Y:-260.88, Z:-4.75 [[-9.99969631e-01 -4.06134723e-03 6.65149105e-03 6.64108998e+02] [-4.06210834e-03 9.99991745e-01 -1.00921096e-04 -2.60877994e+02] [-6.65102627e-03 -1.27937108e-04 -9.99977873e-01 -4.75282368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters 0.04975791770009119 Centerline is valid? [True, True] Translation: X:663.50, Y:-260.82, Z:-4.75 [[-9.97334460e-01 -7.26549606e-02 6.72543502e-03 6.63503425e+02] [-7.26540186e-02 9.97357130e-01 3.84596964e-04 -2.60824245e+02] [-6.73560345e-03 -1.05058075e-04 -9.99977310e-01 -4.75336069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters 0.04997500307301594 Centerline is valid? [True, True] Translation: X:663.39, Y:-260.77, Z:-4.75 [[-9.90215300e-01 -1.39290903e-01 8.46782905e-03 6.63386593e+02] [-1.39286324e-01 9.90251504e-01 1.13092977e-03 -2.60765934e+02] [-8.54280868e-03 -5.95888262e-05 -9.99963508e-01 -4.75130917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters 0.050570503975120557 Centerline is valid? [True, True] Translation: X:663.87, Y:-260.59, Z:-4.75 [[-9.77510107e-01 -2.10712788e-01 8.60885058e-03 6.63873717e+02] [-2.10704903e-01 9.77548014e-01 1.82315885e-03 -2.60586194e+02] [-8.79972767e-03 -3.17708191e-05 -9.99961281e-01 -4.75238827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters 0.05018219025542285 Centerline is valid? [True, True] Translation: X:663.06, Y:-260.72, Z:-4.75 [[-9.60642061e-01 -2.77651766e-01 8.73652027e-03 6.63061621e+02] [-2.77640279e-01 9.60681787e-01 2.52562590e-03 -2.60722494e+02] [-9.09426041e-03 6.12546840e-07 -9.99958646e-01 -4.75228058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters 0.05098413570838355 Centerline is valid? [True, True] Translation: X:663.35, Y:-260.53, Z:-4.75 [[-9.36449889e-01 -3.50669756e-01 9.60875523e-03 6.63351566e+02] [-3.50651293e-01 9.36499184e-01 3.59833228e-03 -2.60528791e+02] [-1.02604177e-02 3.35412262e-07 -9.99947361e-01 -4.75339358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters 0.049617015503150105 Centerline is valid? [True, True] Translation: X:662.52, Y:-260.16, Z:-5.79 [[-9.50325166e-01 3.11183710e-01 6.83942444e-03 6.62515285e+02] [-3.11176852e-01 -9.50349764e-01 2.07217986e-03 -2.60162479e+02] [ 7.14467402e-03 -1.59025898e-04 9.99974464e-01 -5.78749200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters 0.05003886391753329 Centerline is valid? [True, True] Translation: X:662.58, Y:-260.81, Z:-4.75 [[-9.31809104e-01 -3.62800417e-01 1.03754992e-02 6.62580414e+02] [-3.62778829e-01 9.31866864e-01 3.95844423e-03 -2.60813409e+02] [-1.11047091e-02 -7.54970716e-05 -9.99938338e-01 -4.74962803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters 0.05013933475505024 Centerline is valid? [True, True] Translation: X:662.47, Y:-260.77, Z:-4.75 [[-9.00689424e-01 -4.34371907e-01 8.92237993e-03 6.62471416e+02] [-4.34352192e-01 9.00733604e-01 4.14101516e-03 -2.60773776e+02] [-9.83542808e-03 -1.45686721e-04 -9.99951620e-01 -4.75323881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters 0.050093102784538684 Centerline is valid? [True, True] Translation: X:662.36, Y:-260.75, Z:-4.75 [[-8.65284390e-01 -5.01222601e-01 7.66993103e-03 6.62359096e+02] [-5.01204698e-01 8.65318365e-01 4.23995706e-03 -2.60747005e+02] [-8.76209449e-03 -1.75436815e-04 -9.99961597e-01 -4.75323878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters 0.05007096130048997 Centerline is valid? [True, True] Translation: X:662.25, Y:-260.72, Z:-4.75 [[-8.24821745e-01 -5.65353724e-01 6.65253034e-03 6.62251008e+02] [-5.65337243e-01 8.24848549e-01 4.32133352e-03 -2.60722318e+02] [-7.93041199e-03 -1.96593307e-04 -9.99968534e-01 -4.75308731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters 0.04989650841550585 Centerline is valid? [True, True] Translation: X:662.09, Y:-260.75, Z:-4.76 [[-7.81439559e-01 -6.23955720e-01 5.61031240e-03 6.62090501e+02] [-6.23941412e-01 7.81459674e-01 4.22995567e-03 -2.60747668e+02] [-7.02353793e-03 -1.95051546e-04 -9.99975316e-01 -4.75544805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters 0.04972337035975437 Centerline is valid? [True, True] Translation: X:661.94, Y:-260.78, Z:-4.76 [[-7.34051764e-01 -6.79078265e-01 4.55169921e-03 6.61940106e+02] [-6.79066790e-01 7.34065851e-01 3.95220889e-03 -2.60775927e+02] [-6.02510611e-03 -1.89781865e-04 -9.99981831e-01 -4.75541875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters 0.049907898780274615 Centerline is valid? [True, True] Translation: X:661.81, Y:-260.80, Z:-4.76 [[-6.82442013e-01 -7.30926494e-01 4.39988683e-03 6.61806027e+02] [-7.30913082e-01 6.82456170e-01 4.43199125e-03 -2.60804060e+02] [-6.24218974e-03 -1.91357814e-04 -9.99980499e-01 -4.75604740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters 0.04991767410175869 Centerline is valid? [True, True] Translation: X:661.63, Y:-260.89, Z:-4.75 [[-6.27016628e-01 -7.78985794e-01 5.59301951e-03 6.61628583e+02] [-7.78957787e-01 6.27041536e-01 6.60895466e-03 -2.60890267e+02] [-8.65533734e-03 -2.12801633e-04 -9.99962519e-01 -4.75400222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters 0.04978203903046916 Centerline is valid? [True, True] Translation: X:661.75, Y:-260.60, Z:-4.75 [[-5.65011624e-01 -8.25054370e-01 6.86668108e-03 6.61747605e+02] [-8.24998881e-01 5.65053290e-01 9.57215936e-03 -2.60597913e+02] [-1.17775926e-02 -2.56622907e-04 -9.99930609e-01 -4.75298361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters 0.05024900474893766 Centerline is valid? [True, True] Translation: X:660.74, Y:-260.96, Z:-5.80 [[-6.34646403e-01 7.72779051e-01 6.04005547e-03 6.60735789e+02] [-7.72742545e-01 -6.34675136e-01 7.51196428e-03 -2.60963043e+02] [ 9.63856165e-03 1.00033274e-04 9.99953543e-01 -5.79652771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters 0.050141571560740415 Centerline is valid? [True, True] Translation: X:661.07, Y:-261.54, Z:-4.75 [[-5.60673603e-01 -8.28002680e-01 7.52812135e-03 6.61066086e+02] [-8.27934052e-01 5.60724083e-01 1.06634395e-02 -2.61538812e+02] [-1.30505554e-02 -2.54078980e-04 -9.99914806e-01 -4.75389049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters 0.04986324533680005 Centerline is valid? [True, True] Translation: X:660.89, Y:-261.68, Z:-4.75 [[-5.02046523e-01 -8.64817123e-01 6.37440672e-03 6.60890488e+02] [-8.64752355e-01 5.02086950e-01 1.05857726e-02 -2.61680432e+02] [-1.23552638e-02 -1.97732913e-04 -9.99923651e-01 -4.75467756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters 0.050070382654210446 Centerline is valid? [True, True] Translation: X:660.71, Y:-261.88, Z:-4.76 [[-4.44790678e-01 -8.95617222e-01 5.57181364e-03 6.60706569e+02] [-8.95549607e-01 4.44825565e-01 1.10053377e-02 -2.61882250e+02] [-1.23350551e-02 -9.47639136e-05 -9.99923916e-01 -4.75657515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters 0.05016247656439914 Centerline is valid? [True, True] Translation: X:660.59, Y:-261.98, Z:-4.76 [[-3.83718840e-01 -9.23439933e-01 4.30592127e-03 6.60587432e+02] [-9.23382374e-01 3.83742999e-01 1.03103215e-02 -2.61982866e+02] [-1.11733297e-02 -1.97472077e-05 -9.99937576e-01 -4.75651323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters 0.050447206683519916 Centerline is valid? [True, True] Translation: X:660.45, Y:-262.13, Z:-4.76 [[-3.15321537e-01 -9.48979356e-01 3.24189958e-03 6.60452907e+02] [-9.48929794e-01 3.15338201e-01 9.69869155e-03 -2.62130916e+02] [-1.02261528e-02 -1.81287710e-05 -9.99947711e-01 -4.75758392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters 0.050989898157493406 Centerline is valid? [True, True] Translation: X:660.31, Y:-262.35, Z:-4.76 [[-2.45197786e-01 -9.69470105e-01 2.40042341e-03 6.60312278e+02] [-9.69424304e-01 2.45209535e-01 9.42358321e-03 -2.62348751e+02] [-9.72448891e-03 -1.63870528e-05 -9.99952716e-01 -4.76012692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters 0.050445363107826754 Centerline is valid? [True, True] Translation: X:660.19, Y:-262.56, Z:-4.76 [[-1.72617624e-01 -9.84987322e-01 1.76967723e-03 6.60193762e+02] [-9.84936319e-01 1.72626694e-01 1.00235602e-02 -2.62563486e+02] [-1.01785733e-02 -1.27762296e-05 -9.99948197e-01 -4.76006164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters 0.050372424072588594 Centerline is valid? [True, True] Translation: X:660.08, Y:-262.85, Z:-4.76 [[-9.77832925e-02 -9.95207224e-01 1.00462683e-03 6.60079891e+02] [-9.95158215e-01 9.77884472e-02 9.87660135e-03 -2.62852180e+02] [-9.92750591e-03 -3.39960451e-05 -9.99950721e-01 -4.76066927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters 0.05048436177770209 Centerline is valid? [True, True] Translation: X:660.01, Y:-262.37, Z:-4.76 [[-1.79041657e-02 -9.99839675e-01 2.54005354e-04 6.60013849e+02] [-9.99790229e-01 1.79058065e-02 9.94388069e-03 -2.62367488e+02] [-9.94683461e-03 -7.59151833e-05 -9.99950526e-01 -4.76110131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters 0.05009116019629882 Centerline is valid? [True, True] Translation: X:659.95, Y:-262.99, Z:-4.76 [[ 5.68458620e-02 -9.98382843e-01 -4.95819108e-04 6.59946942e+02] [-9.98328511e-01 -5.68479413e-02 1.04161370e-02 -2.62990215e+02] [-1.04274787e-02 -9.71239317e-05 -9.99945628e-01 -4.76100361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters 0.05028819647903609 Centerline is valid? [True, True] Translation: X:659.89, Y:-263.27, Z:-4.76 [[ 1.36125172e-01 -9.90690601e-01 -1.43934926e-03 6.59894653e+02] [-9.90621662e-01 -1.36132681e-01 1.16883142e-02 -2.63274637e+02] [-1.17754455e-02 -1.65223228e-04 -9.99930653e-01 -4.76075284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters 0.05026755183737423 Centerline is valid? [True, True] Translation: X:659.85, Y:-263.49, Z:-4.76 [[ 2.13600520e-01 -9.76917989e-01 -2.46178356e-03 6.59851275e+02] [-9.76840452e-01 -2.13614588e-01 1.23101446e-02 -2.63486904e+02] [-1.25518745e-02 -2.24683519e-04 -9.99921197e-01 -4.75947934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters 0.05045610949773944 Centerline is valid? [True, True] Translation: X:659.81, Y:-263.66, Z:-4.76 [[ 2.92147218e-01 -9.56366723e-01 -3.56303180e-03 6.59809991e+02] [-9.56281577e-01 -2.92168767e-01 1.27654994e-02 -2.63658280e+02] [-1.32495054e-02 -3.22143464e-04 -9.99912170e-01 -4.75948164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters 0.04998277478456133 Centerline is valid? [True, True] Translation: X:659.79, Y:-263.84, Z:-4.76 [[ 3.66014616e-01 -9.30599615e-01 -4.20217131e-03 6.59786337e+02] [-9.30526473e-01 -3.66038558e-01 1.16729173e-02 -2.63839024e+02] [-1.24009691e-02 -3.62226689e-04 -9.99923039e-01 -4.76087844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters 0.05103150468128299 Centerline is valid? [True, True] Translation: X:659.78, Y:-264.05, Z:-4.76 [[ 4.36351514e-01 -8.99767339e-01 -4.01147449e-03 6.59783977e+02] [-8.99721720e-01 -4.36369814e-01 9.06709750e-03 -2.64049771e+02] [-9.90876457e-03 -3.47230992e-04 -9.99950847e-01 -4.76220573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters 0.05240367458709064 Centerline is valid? [True, True] Translation: X:659.72, Y:-264.11, Z:-4.76 [[ 5.01536145e-01 -8.65127667e-01 -3.95162482e-03 6.59716979e+02] [-8.65095706e-01 -5.01551614e-01 7.44302292e-03 -2.64113155e+02] [-8.42110886e-03 -3.14411363e-04 -9.99964492e-01 -4.76067059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters 0.050360948149076885 Centerline is valid? [True, True] Translation: X:659.86, Y:-264.48, Z:-4.76 [[ 5.63031338e-01 -8.26423198e-01 -4.51781949e-03 6.59856299e+02] [-8.26392076e-01 -5.63049379e-01 7.17868920e-03 -2.64478075e+02] [-8.47639074e-03 -3.08336758e-04 -9.99964027e-01 -4.76469623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters 0.05101875287384623 Centerline is valid? [True, True] Translation: X:659.87, Y:-264.64, Z:-4.76 [[ 6.21433062e-01 -7.83445572e-01 -5.82968768e-03 6.59868743e+02] [-7.83406106e-01 -6.21460322e-01 7.87031540e-03 -2.64640577e+02] [-9.78888333e-03 -3.23861280e-04 -9.99952035e-01 -4.76145692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters 0.051877694047416274 Centerline is valid? [True, True] Translation: X:659.95, Y:-264.86, Z:-4.76 [[ 6.76782213e-01 -7.36145951e-01 -7.41451358e-03 6.59949713e+02] [-7.36096078e-01 -6.76822738e-01 8.57586589e-03 -2.64863031e+02] [-1.13314003e-02 -3.46199130e-04 -9.99935738e-01 -4.76031999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters 0.05128118748238444 Centerline is valid? [True, True] Translation: X:660.09, Y:-265.11, Z:-4.76 [[ 7.27853947e-01 -6.85671085e-01 -9.15395480e-03 6.60087483e+02] [-6.85610644e-01 -7.27911421e-01 9.11088132e-03 -2.65109257e+02] [-1.29103361e-02 -3.55342085e-04 -9.99916595e-01 -4.76387347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters 0.051001726815691185 Centerline is valid? [True, True] Translation: X:660.06, Y:-265.19, Z:-4.77 [[ 7.76649503e-01 -6.29858366e-01 -9.69473471e-03 6.60060589e+02] [-6.29804285e-01 -7.76709948e-01 8.25952277e-03 -2.65193545e+02] [-1.27323264e-02 -3.08968794e-04 -9.99918893e-01 -4.76608974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters 0.051057467589890854 Centerline is valid? [True, True] Translation: X:660.04, Y:-265.28, Z:-4.77 [[ 8.20697068e-01 -5.71290067e-01 -9.16413971e-03 6.60039497e+02] [-5.71251239e-01 -8.20748198e-01 6.66465800e-03 -2.65278441e+02] [-1.13289041e-02 -2.34639122e-04 -9.99935798e-01 -4.76702146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters 0.05120678027245091 Centerline is valid? [True, True] Translation: X:660.03, Y:-265.36, Z:-4.77 [[ 8.57565868e-01 -5.14306794e-01 -8.32494399e-03 6.60026205e+02] [-5.14281189e-01 -8.57606266e-01 5.13335156e-03 -2.65363582e+02] [-9.77964171e-03 -1.20824989e-04 -9.99952171e-01 -4.76923488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters 0.05191470400282652 Centerline is valid? [True, True] Translation: X:660.02, Y:-265.44, Z:-4.77 [[ 8.90293727e-01 -4.55303494e-01 -8.70679203e-03 6.60020588e+02] [-4.55281557e-01 -8.90336301e-01 4.46942006e-03 -2.65444898e+02] [-9.78691557e-03 -1.50548082e-05 -9.99952107e-01 -4.76905777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters 0.05232539237204592 Centerline is valid? [True, True] Translation: X:660.02, Y:-265.53, Z:-4.77 [[ 9.20835590e-01 -3.89848884e-01 -8.92549947e-03 6.60019479e+02] [-3.89831012e-01 -9.20878845e-01 3.73305295e-03 -2.65533291e+02] [-9.67463017e-03 4.19084748e-05 -9.99953199e-01 -4.77126571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters 0.05311968324399629 Centerline is valid? [True, True] Translation: X:660.02, Y:-265.62, Z:-4.77 [[ 9.46533440e-01 -3.22490753e-01 -8.61168710e-03 6.60023984e+02] [-3.22478235e-01 -9.46572610e-01 2.84273116e-03 -2.65622989e+02] [-9.06834165e-03 8.63415540e-05 -9.99958878e-01 -4.77378654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters 0.05370714861766817 Centerline is valid? [True, True] Translation: X:660.03, Y:-265.73, Z:-4.77 [[ 9.68266103e-01 -2.49776399e-01 -8.51490336e-03 6.60030641e+02] [-2.49767644e-01 -9.68303537e-01 2.09366059e-03 -2.65734436e+02] [-8.76795805e-03 9.95267713e-05 -9.99961556e-01 -4.77459537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters 0.05447996220531456 Centerline is valid? [True, True] Translation: X:660.05, Y:-265.83, Z:-4.77 [[ 9.84678109e-01 -1.74171181e-01 -8.56860401e-03 6.60047191e+02] [-1.74165514e-01 -9.84715385e-01 1.40893189e-03 -2.65834476e+02] [-8.68303153e-03 1.05010931e-04 -9.99962296e-01 -4.77278648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters 0.053587950813826495 Centerline is valid? [True, True] Translation: X:660.07, Y:-265.93, Z:-4.77 [[ 9.95396803e-01 -9.53848279e-02 -9.32413641e-03 6.60072602e+02] [-9.53817026e-02 -9.95440466e-01 7.80319461e-04 -2.65934360e+02] [-9.35605334e-03 1.12624510e-04 -9.99956225e-01 -4.77415878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters 0.05358148615128686 Centerline is valid? [True, True] Translation: X:660.10, Y:-266.02, Z:-4.77 [[ 9.99888949e-01 -1.11021602e-02 -9.94144219e-03 6.60102096e+02] [-1.11022900e-02 -9.99938367e-01 4.21271827e-05 -2.66015628e+02] [-9.94129717e-03 6.82502699e-05 -9.99950582e-01 -4.77282229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters 0.05378818310292662 Centerline is valid? [True, True] Translation: X:660.14, Y:-266.09, Z:-4.77 [[ 9.97291456e-01 7.28279652e-02 -1.02878168e-02 6.60136558e+02] [ 7.28239014e-02 -9.97344518e-01 -7.69566333e-04 -2.66092424e+02] [-1.03165437e-02 1.82829694e-05 -9.99946783e-01 -4.77347212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters 0.05299679125925603 Centerline is valid? [True, True] Translation: X:660.18, Y:-266.18, Z:-4.77 [[ 9.87067764e-01 1.59954093e-01 -1.05790965e-02 6.60180830e+02] [ 1.59945734e-01 -9.87124451e-01 -1.63710509e-03 -2.66178824e+02] [-1.07047465e-02 -7.61476820e-05 -9.99942700e-01 -4.77389881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters 0.05305148245674429 Centerline is valid? [True, True] Translation: X:660.23, Y:-266.25, Z:-4.77 [[ 9.70107563e-01 2.42455789e-01 -1.03201989e-02 6.60230756e+02] [ 2.42443596e-01 -9.70162446e-01 -2.43556902e-03 -2.66253785e+02] [-1.06027872e-02 -1.39302200e-04 -9.99943779e-01 -4.77431420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters 0.053464276899597825 Centerline is valid? [True, True] Translation: X:660.29, Y:-266.33, Z:-4.78 [[ 9.45694784e-01 3.24921303e-01 -9.35533153e-03 6.60286569e+02] [ 3.24907643e-01 -9.45741033e-01 -2.98703192e-03 -2.66327354e+02] [-9.81827121e-03 -2.14798218e-04 -9.99951777e-01 -4.77750113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters 0.05295353462691886 Centerline is valid? [True, True] Translation: X:660.35, Y:-266.40, Z:-4.77 [[ 9.15722711e-01 4.01723204e-01 -8.38957781e-03 6.60351274e+02] [ 4.01708794e-01 -9.15761108e-01 -3.41145440e-03 -2.66401488e+02] [-9.05330946e-03 -2.46220915e-04 -9.99958988e-01 -4.77350376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters 0.05305539142916301 Centerline is valid? [True, True] Translation: X:660.41, Y:-266.45, Z:-4.77 [[ 8.81288034e-01 4.72508396e-01 -8.19858261e-03 6.60414242e+02] [ 4.72490580e-01 -8.81326133e-01 -4.11080668e-03 -2.66452261e+02] [-9.16801578e-03 -2.50948313e-04 -9.99957941e-01 -4.77416325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters 0.05313611379315113 Centerline is valid? [True, True] Translation: X:660.49, Y:-266.51, Z:-4.78 [[ 8.41530626e-01 5.40137559e-01 -8.81042876e-03 6.60486702e+02] [ 5.40111238e-01 -8.41576703e-01 -5.33885341e-03 -2.66507768e+02] [-1.02983668e-02 -2.65802943e-04 -9.99946935e-01 -4.77543445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters 0.05304480184507046 Centerline is valid? [True, True] Translation: X:660.56, Y:-266.55, Z:-4.77 [[ 7.97040298e-01 6.03844614e-01 -9.92199923e-03 6.60561563e+02] [ 6.03802194e-01 -7.97102003e-01 -7.16293752e-03 -2.66554051e+02] [-1.22341467e-02 -2.81775044e-04 -9.99925120e-01 -4.77313544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters 0.05365617620877731 Centerline is valid? [True, True] Translation: X:660.63, Y:-266.59, Z:-4.78 [[ 7.47007157e-01 6.64725343e-01 -1.09784306e-02 6.60634500e+02] [ 6.64659684e-01 -7.47087759e-01 -9.34801967e-03 -2.66587170e+02] [-1.44157167e-02 -3.13882652e-04 -9.99896039e-01 -4.77500894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters 0.053466628515213624 Centerline is valid? [True, True] Translation: X:660.73, Y:-266.63, Z:-4.78 [[ 6.93143408e-01 7.20712545e-01 -1.12091052e-02 6.60727767e+02] [ 7.20625732e-01 -6.93233961e-01 -1.11905983e-02 -2.66634572e+02] [-1.58357370e-02 -3.20880226e-04 -9.99874555e-01 -4.77515223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters 0.0539190685470682 Centerline is valid? [True, True] Translation: X:660.82, Y:-266.67, Z:-4.78 [[ 6.38720037e-01 7.69377604e-01 -9.73737337e-03 6.60820371e+02] [ 7.69293684e-01 -6.38794214e-01 -1.13657412e-02 -2.66671589e+02] [-1.49647245e-02 -2.31373199e-04 -9.99887995e-01 -4.77631526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters 0.05380547065593957 Centerline is valid? [True, True] Translation: X:660.91, Y:-266.70, Z:-4.78 [[ 5.84958032e-01 8.11024130e-01 -7.99755198e-03 6.60912936e+02] [ 8.10950268e-01 -5.85012695e-01 -1.09457853e-02 -2.66698599e+02] [-1.35559655e-02 -8.27918635e-05 -9.99908110e-01 -4.77791767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters 0.054090221051849595 Centerline is valid? [True, True] Translation: X:661.00, Y:-266.72, Z:-4.78 [[ 5.26687474e-01 8.50034068e-01 -6.51058314e-03 6.61002947e+02] [ 8.49968801e-01 -5.26727712e-01 -1.05334973e-02 -2.66716304e+02] [-1.23831362e-02 1.40685558e-05 -9.99923326e-01 -4.77724130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters 0.054744432735915866 Centerline is valid? [True, True] Translation: X:661.11, Y:-266.73, Z:-4.78 [[ 4.68625665e-01 8.83379482e-01 -5.53870661e-03 6.61106156e+02] [ 8.83314005e-01 -4.68658372e-01 -1.07563179e-02 -2.66732379e+02] [-1.20976717e-02 1.48269498e-04 -9.99926810e-01 -4.78124265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters 0.05474951751020076 Centerline is valid? [True, True] Translation: X:661.20, Y:-266.74, Z:-4.78 [[ 4.03270720e-01 9.15067929e-01 -4.83864161e-03 6.61202085e+02] [ 9.14995088e-01 -4.03299682e-01 -1.15479875e-02 -2.66738303e+02] [-1.25186157e-02 2.29631946e-04 -9.99921613e-01 -4.77929180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters 0.055033413262409674 Centerline is valid? [True, True] Translation: X:661.29, Y:-266.74, Z:-4.78 [[ 3.35119782e-01 9.42166293e-01 -4.17237351e-03 6.61292277e+02] [ 9.42080934e-01 -3.35145602e-01 -1.26861657e-02 -2.66735382e+02] [-1.33508304e-02 3.20671563e-04 -9.99910822e-01 -4.77967259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters 0.055500375643995084 Centerline is valid? [True, True] Translation: X:661.40, Y:-266.73, Z:-4.78 [[ 2.61402711e-01 9.65224604e-01 -3.17579965e-03 6.61396822e+02] [ 9.65136937e-01 -2.61421786e-01 -1.30131648e-02 -2.66727723e+02] [-1.33908501e-02 3.36595018e-04 -9.99910282e-01 -4.78191610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters 0.0555250196086041 Centerline is valid? [True, True] Translation: X:661.49, Y:-266.71, Z:-4.78 [[ 1.83362174e-01 9.83043331e-01 -2.03049376e-03 6.61487573e+02] [ 9.82964492e-01 -1.83373191e-01 -1.24531401e-02 -2.66710392e+02] [-1.26143144e-02 2.87531579e-04 -9.99920395e-01 -4.78093362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters 0.055050201687284306 Centerline is valid? [True, True] Translation: X:661.59, Y:-266.69, Z:-4.78 [[ 9.89650810e-02 9.95090400e-01 -1.00466473e-03 6.61588007e+02] [ 9.95018585e-01 -9.89700101e-02 -1.19563212e-02 -2.66686669e+02] [-1.19970521e-02 1.83598217e-04 -9.99928016e-01 -4.78167872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters 0.055223706045216404 Centerline is valid? [True, True] Translation: X:661.68, Y:-266.65, Z:-4.78 [[ 9.24366561e-03 9.99957274e-01 -6.86466829e-05 6.61682181e+02] [ 9.99891012e-01 -9.24384334e-03 -1.15115528e-02 -2.66654614e+02] [-1.15116956e-02 3.77697439e-05 -9.99933738e-01 -4.78289854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters 0.05407997429334115 Centerline is valid? [True, True] Translation: X:661.79, Y:-266.61, Z:-4.78 [[-7.79994011e-02 9.96952999e-01 9.00295979e-04 6.61789943e+02] [ 9.96877277e-01 7.80045729e-02 -1.22874179e-02 -2.66613064e+02] [-1.23202053e-02 -6.09266322e-05 -9.99924102e-01 -4.78430152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters 0.05389698614756306 Centerline is valid? [True, True] Translation: X:661.89, Y:-266.56, Z:-4.78 [[-1.68930831e-01 9.85626013e-01 1.93324812e-03 6.61887080e+02] [ 9.85545102e-01 1.68941738e-01 -1.26309930e-02 -2.66564436e+02] [-1.27760416e-02 -2.28460928e-04 -9.99918357e-01 -4.78009110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters 0.05419057877884802 Centerline is valid? [True, True] Translation: X:661.96, Y:-266.51, Z:-4.78 [[-2.55607719e-01 9.66776698e-01 2.74047054e-03 6.61960165e+02] [ 9.66705646e-01 2.55622172e-01 -1.17259943e-02 -2.66512779e+02] [-1.20369431e-02 -3.48026294e-04 -9.99927493e-01 -4.78172489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters 0.05423003218612607 Centerline is valid? [True, True] Translation: X:662.05, Y:-266.45, Z:-4.78 [[-3.36050623e-01 9.41837019e-01 3.60661052e-03 6.62045496e+02] [ 9.41768781e-01 3.36069719e-01 -1.13449558e-02 -2.66448906e+02] [-1.18971720e-02 -4.15886288e-04 -9.99929140e-01 -4.78330173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters 0.05495687749765204 Centerline is valid? [True, True] Translation: X:662.10, Y:-266.39, Z:-4.78 [[-4.09356952e-01 9.12362743e-01 4.59476329e-03 6.62102465e+02] [ 9.12292951e-01 4.09382510e-01 -1.12930307e-02 -2.66387223e+02] [-1.21843562e-02 -4.31110460e-04 -9.99925675e-01 -4.78066553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters 0.054413320156877255 Centerline is valid? [True, True] Translation: X:662.14, Y:-266.33, Z:-4.78 [[-4.78691568e-01 8.77965539e-01 5.55834614e-03 6.62141949e+02] [ 8.77895719e-01 4.78723650e-01 -1.10803658e-02 -2.66328553e+02] [-1.23890911e-02 -4.24429426e-04 -9.99923162e-01 -4.78230683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters 0.053750010701934706 Centerline is valid? [True, True] Translation: X:662.19, Y:-266.26, Z:-4.78 [[-5.41479136e-01 8.40687006e-01 6.76039232e-03 6.62189387e+02] [ 8.40612744e-01 5.41521210e-01 -1.11801018e-02 -2.66260023e+02] [-1.30598621e-02 -3.70919938e-04 -9.99914648e-01 -4.78144624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters 0.053733300100594315 Centerline is valid? [True, True] Translation: X:662.22, Y:-266.19, Z:-4.78 [[-6.02294019e-01 7.98232118e-01 8.20978797e-03 6.62224964e+02] [ 7.98150362e-01 6.02349879e-01 -1.14290272e-02 -2.66192372e+02] [-1.40681814e-02 -3.30989465e-04 -9.99900983e-01 -4.78103410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters 0.053933083392761226 Centerline is valid? [True, True] Translation: X:662.25, Y:-266.12, Z:-4.78 [[-6.58453474e-01 7.52551321e-01 1.02728257e-02 6.62252317e+02] [ 7.52453467e-01 6.58533553e-01 -1.21383507e-02 -2.66124493e+02] [-1.58997323e-02 -2.62715918e-04 -9.99873557e-01 -4.78136428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters 0.054259139673549034 Centerline is valid? [True, True] Translation: X:662.27, Y:-266.06, Z:-4.78 [[-7.12398273e-01 7.01676598e-01 1.17750710e-02 6.62274568e+02] [ 7.01576110e-01 7.12495552e-01 -1.18764540e-02 -2.66055820e+02] [-1.67231156e-02 -1.99656785e-04 -9.99860139e-01 -4.78129576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters 0.053718435190865235 Centerline is valid? [True, True] Translation: X:662.32, Y:-266.01, Z:-4.78 [[-7.55937915e-01 6.54517974e-01 1.28097993e-02 6.62318025e+02] [ 6.54422396e-01 7.56046438e-01 -1.11853282e-02 -2.66007346e+02] [-1.70058015e-02 -7.23940979e-05 -9.99855388e-01 -4.78275126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters 0.054135633012778815 Centerline is valid? [True, True] Translation: X:662.21, Y:-265.84, Z:-4.78 [[-7.95776421e-01 6.05447368e-01 1.31670806e-02 6.62214371e+02] [ 6.05365631e-01 7.95885344e-01 -9.94843667e-03 -2.65842611e+02] [-1.65027413e-02 5.41667286e-05 -9.99863819e-01 -4.78475338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters 0.054278900616565276 Centerline is valid? [True, True] Translation: X:662.22, Y:-265.77, Z:-4.79 [[-8.33002741e-01 5.53118751e-01 1.28872627e-02 6.62224629e+02] [ 5.53055292e-01 8.33102410e-01 -8.37962057e-03 -2.65772455e+02] [-1.53713349e-02 1.47121953e-04 -9.99881843e-01 -4.78605225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters 0.053671523653022385 Centerline is valid? [True, True] Translation: X:662.47, Y:-265.84, Z:-4.79 [[-8.68956103e-01 4.94717662e-01 1.30278767e-02 6.62470056e+02] [ 4.94665386e-01 8.69053737e-01 -7.19433213e-03 -2.65835955e+02] [-1.48810881e-02 1.92880841e-04 -9.99889252e-01 -4.78567746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters 0.05412070890474286 Centerline is valid? [True, True] Translation: X:662.15, Y:-265.60, Z:-4.79 [[-8.99795002e-01 4.36151148e-01 1.18798288e-02 6.62152382e+02] [ 4.36116340e-01 8.99873396e-01 -5.51448570e-03 -2.65596634e+02] [-1.30954912e-02 2.19080782e-04 -9.99914226e-01 -4.78862561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters 0.05455506982768244 Centerline is valid? [True, True] Translation: X:662.40, Y:-265.61, Z:-4.79 [[-9.28465379e-01 3.71251416e-01 1.11546170e-02 6.62402000e+02] [ 3.71227393e-01 9.28532358e-01 -4.22885384e-03 -2.65608986e+02] [-1.19273908e-02 2.14555015e-04 -9.99928843e-01 -4.79165283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters 0.05407881232593732 Centerline is valid? [True, True] Translation: X:662.51, Y:-265.09, Z:-5.78 [[-9.24010192e-01 -3.82297886e-01 7.31377010e-03 6.62506404e+02] [ 3.82282816e-01 -9.24039067e-01 -3.41333073e-03 -2.65086496e+02] [ 8.06311843e-03 -3.58023759e-04 9.99967428e-01 -5.78225365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters 0.053805535480059126 Centerline is valid? [True, True] Translation: X:662.26, Y:-265.57, Z:-4.79 [[-9.31151709e-01 3.64495153e-01 9.98891076e-03 6.62264572e+02] [ 3.64475862e-01 9.31205274e-01 -3.75281819e-03 -2.65565675e+02] [-1.06696104e-02 1.46273794e-04 -9.99943067e-01 -4.79041116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters 0.05341669489292441 Centerline is valid? [True, True] Translation: X:662.24, Y:-265.47, Z:-4.79 [[-9.56722580e-01 2.90803391e-01 1.07374685e-02 6.62241160e+02] [ 2.90786037e-01 9.56782829e-01 -3.17799563e-03 -2.65471292e+02] [-1.11975974e-02 8.18457426e-05 -9.99937302e-01 -4.78794721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters 0.05347301051606093 Centerline is valid? [True, True] Translation: X:662.33, Y:-264.95, Z:-5.79 [[-9.45360046e-01 -3.25942086e-01 7.49267843e-03 6.62333265e+02] [ 3.25929756e-01 -9.45389705e-01 -2.84592886e-03 -2.64948136e+02] [ 8.01110904e-03 -2.48340590e-04 9.99967880e-01 -5.78545127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters 0.05318625903311141 Centerline is valid? [True, True] Translation: X:662.19, Y:-265.45, Z:-4.79 [[-9.60251918e-01 2.78906790e-01 1.12808111e-02 6.62185561e+02] [ 2.78887445e-01 9.60318178e-01 -3.28496774e-03 -2.65452719e+02] [-1.17493678e-02 -8.31997694e-06 -9.99930974e-01 -4.78848532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters 0.05345928102360642 Centerline is valid? [True, True] Translation: X:662.20, Y:-265.36, Z:-4.79 [[-9.78468092e-01 2.06101125e-01 1.10688157e-02 6.62198617e+02] [ 2.06087293e-01 9.78530696e-01 -2.38839263e-03 -2.65362989e+02] [-1.13234263e-02 -5.58237135e-05 -9.99935886e-01 -4.78983348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters 0.05336343948501631 Centerline is valid? [True, True] Translation: X:662.09, Y:-265.26, Z:-4.79 [[-9.90874275e-01 1.34370938e-01 1.06123280e-02 6.62093267e+02] [ 1.34362400e-01 9.90931100e-01 -1.51676105e-03 -2.65255832e+02] [-1.07198944e-02 -7.70216541e-05 -9.99942537e-01 -4.79075755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters 0.053207077811978386 Centerline is valid? [True, True] Translation: X:661.28, Y:-265.10, Z:-4.79 [[-9.97859837e-01 6.45191061e-02 1.06315555e-02 6.61279129e+02] [ 6.45146868e-02 9.97916469e-01 -7.58461556e-04 -2.65099656e+02] [-1.06583396e-02 -7.09468484e-05 -9.99943196e-01 -4.78843983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters 0.05324424575778721 Centerline is valid? [True, True] Translation: X:661.35, Y:-265.03, Z:-4.79 [[-9.99920993e-01 -6.16461737e-03 1.09547021e-02 6.61347443e+02] [-6.16485648e-03 9.99980997e-01 1.19406609e-05 -2.65028824e+02] [-1.09545675e-02 -5.55944486e-05 -9.99939995e-01 -4.78910732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters 0.05401593601891631 Centerline is valid? [True, True] Translation: X:661.18, Y:-264.50, Z:-5.79 [[-9.98835500e-01 -4.74635508e-02 8.65192416e-03 6.61180532e+02] [ 4.74611351e-02 -9.98872968e-01 -4.84429066e-04 -2.64498058e+02] [ 8.66516589e-03 -7.32348067e-05 9.99962454e-01 -5.78899923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters 0.05376407363316392 Centerline is valid? [True, True] Translation: X:660.99, Y:-265.03, Z:-4.79 [[-9.99922513e-01 -4.78581336e-03 1.14919100e-02 6.60986212e+02] [-4.78540810e-03 9.99988548e-01 6.27623580e-05 -2.65032216e+02] [-1.14920788e-02 7.76401540e-06 -9.99933964e-01 -4.78912968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters 0.05347705079057301 Centerline is valid? [True, True] Translation: X:661.43, Y:-264.93, Z:-4.79 [[-9.96682583e-01 -8.05860711e-02 1.13891684e-02 6.61434992e+02] [-8.05807637e-02 9.96747654e-01 9.24872781e-04 -2.64927374e+02] [-1.14266588e-02 4.05670249e-06 -9.99934714e-01 -4.79110576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters 0.0536622720373637 Centerline is valid? [True, True] Translation: X:660.84, Y:-264.45, Z:-5.79 [[-9.99367618e-01 3.46239238e-02 8.09620947e-03 6.60835352e+02] [-3.46241976e-02 -9.99400397e-01 1.06388803e-04 -2.64447645e+02] [ 8.09503855e-03 -1.74003232e-04 9.99967220e-01 -5.78819351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters 0.054124300630526624 Centerline is valid? [True, True] Translation: X:660.96, Y:-264.96, Z:-4.79 [[-9.95826289e-01 -9.05001869e-02 1.18202355e-02 6.60958293e+02] [-9.04941097e-02 9.95896438e-01 1.04907810e-03 -2.64960813e+02] [-1.18666722e-02 -2.49621416e-05 -9.99929588e-01 -4.79208605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters 0.05389468950620765 Centerline is valid? [True, True] Translation: X:660.90, Y:-264.88, Z:-4.79 [[-9.86370934e-01 -1.64085469e-01 1.21794758e-02 6.60899121e+02] [-1.64073617e-01 9.86446124e-01 1.97287816e-03 -2.64881163e+02] [-1.23381174e-02 -5.23409762e-05 -9.99923881e-01 -4.79150564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters 0.053311633631245775 Centerline is valid? [True, True] Translation: X:660.84, Y:-264.80, Z:-4.79 [[-9.70757606e-01 -2.39731431e-01 1.25901262e-02 6.60843586e+02] [-2.39712928e-01 9.70839238e-01 2.98106898e-03 -2.64801448e+02] [-1.29376444e-02 -1.24120614e-04 -9.99916297e-01 -4.78851179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters 0.05357685014419856 Centerline is valid? [True, True] Translation: X:660.17, Y:-264.43, Z:-5.79 [[-9.86059590e-01 1.66120062e-01 9.51894380e-03 6.60172411e+02] [-1.66113319e-01 -9.86105529e-01 1.50023713e-03 -2.64425593e+02] [ 9.63590260e-03 -1.01900139e-04 9.99953568e-01 -5.79021442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters 0.05366840431532258 Centerline is valid? [True, True] Translation: X:660.47, Y:-264.88, Z:-4.79 [[-9.66565479e-01 -2.56139002e-01 1.19994785e-02 6.60469406e+02] [-2.56122328e-01 9.66639930e-01 2.93234634e-03 -2.64882649e+02] [-1.23502633e-02 -2.39029614e-04 -9.99923704e-01 -4.79269934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters 0.05352926678458991 Centerline is valid? [True, True] Translation: X:659.79, Y:-264.53, Z:-5.79 [[-9.85616802e-01 1.68802845e-01 8.06960046e-03 6.59793940e+02] [-1.68797774e-01 -9.85649834e-01 1.31041036e-03 -2.64526506e+02] [ 8.17500135e-03 -7.05681200e-05 9.99966582e-01 -5.79038421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters 0.05312722224624745 Centerline is valid? [True, True] Translation: X:659.71, Y:-265.06, Z:-4.80 [[-9.64724865e-01 -2.63034869e-01 1.08900449e-02 6.59709277e+02] [-2.63021114e-01 9.64786293e-01 2.70221530e-03 -2.65063777e+02] [-1.12173429e-02 -2.57417453e-04 -9.99937050e-01 -4.79549540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters 0.053582781199028734 Centerline is valid? [True, True] Translation: X:659.50, Y:-264.60, Z:-5.79 [[-9.85510560e-01 1.69379113e-01 8.92478846e-03 6.59498298e+02] [-1.69371418e-01 -9.85550967e-01 1.61656276e-03 -2.64595416e+02] [ 9.06964587e-03 8.15355895e-05 9.99958867e-01 -5.78946624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters 0.053570380477090125 Centerline is valid? [True, True] Translation: X:659.48, Y:-265.12, Z:-4.79 [[-9.62023919e-01 -2.72662017e-01 1.28609575e-02 6.59480776e+02] [-2.72642715e-01 9.62109812e-01 3.26479936e-03 -2.65118694e+02] [-1.32638402e-02 -3.65631291e-04 -9.99911965e-01 -4.79150945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters 0.05334649177107112 Centerline is valid? [True, True] Translation: X:659.36, Y:-265.07, Z:-4.79 [[-9.38574584e-01 -3.44830812e-01 1.30177684e-02 6.59357170e+02] [-3.44804080e-01 9.38664754e-01 4.31585271e-03 -2.65073699e+02] [-1.37075594e-02 -4.37830004e-04 -9.99905951e-01 -4.79128872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters 0.05382175537542151 Centerline is valid? [True, True] Translation: X:659.26, Y:-265.03, Z:-4.79 [[-9.10331025e-01 -4.13684879e-01 1.27375745e-02 6.59261112e+02] [-4.13651719e-01 9.10420008e-01 5.25977703e-03 -2.65030397e+02] [-1.37724329e-02 -4.80781365e-04 -9.99905040e-01 -4.79287533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters 0.05294739603484949 Centerline is valid? [True, True] Translation: X:659.15, Y:-265.00, Z:-4.79 [[-8.77331489e-01 -4.79710916e-01 1.29187683e-02 6.59152376e+02] [-4.79667750e-01 8.77426438e-01 6.45720257e-03 -2.64999442e+02] [-1.44328594e-02 -5.31609384e-04 -9.99895700e-01 -4.79326617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters 0.05286257121447728 Centerline is valid? [True, True] Translation: X:659.05, Y:-264.98, Z:-4.80 [[-8.39865717e-01 -5.42671346e-01 1.15493248e-02 6.59045902e+02] [-5.42628416e-01 8.39944964e-01 6.84543945e-03 -2.64976747e+02] [-1.34156211e-02 -5.17741928e-04 -9.99909872e-01 -4.79528907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters 0.05308476678639422 Centerline is valid? [True, True] Translation: X:658.92, Y:-264.97, Z:-4.80 [[-7.98258089e-01 -6.02226798e-01 1.03395389e-02 6.58919231e+02] [-6.02184248e-01 7.98324893e-01 7.17610479e-03 -2.64966428e+02] [-1.25759539e-02 -4.97923731e-04 -9.99920796e-01 -4.79525909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters 0.05247465900279985 Centerline is valid? [True, True] Translation: X:658.80, Y:-264.97, Z:-4.80 [[-7.51760853e-01 -6.59361870e-01 9.87643935e-03 6.58799343e+02] [-6.59313830e-01 7.51825550e-01 7.97594442e-03 -2.64965798e+02] [-1.26843931e-02 -5.15670277e-04 -9.99919417e-01 -4.79589957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters 0.05274553083213671 Centerline is valid? [True, True] Translation: X:658.64, Y:-265.01, Z:-4.80 [[-7.01992211e-01 -7.12120180e-01 9.58042787e-03 6.58640407e+02] [-7.12063991e-01 7.02057381e-01 8.96140334e-03 -2.65008312e+02] [-1.31076063e-02 -5.31042355e-04 -9.99913951e-01 -4.79582127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters 0.053522721135078485 Centerline is valid? [True, True] Translation: X:658.49, Y:-265.05, Z:-4.79 [[-6.48334597e-01 -7.61301970e-01 9.03109736e-03 6.58486821e+02] [-7.61239351e-01 6.48397273e-01 9.77885896e-03 -2.65049019e+02] [-1.33004035e-02 -5.34854114e-04 -9.99911403e-01 -4.79448711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters 0.05339115942407764 Centerline is valid? [True, True] Translation: X:658.33, Y:-265.12, Z:-4.80 [[-5.90523097e-01 -8.06989902e-01 7.05486536e-03 6.58327519e+02] [-8.06941758e-01 5.90565042e-01 8.82785788e-03 -2.65122178e+02] [-1.12903490e-02 -4.79811479e-04 -9.99936147e-01 -4.79638479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters 0.051822669919979344 Centerline is valid? [True, True] Translation: X:658.18, Y:-265.20, Z:-4.80 [[-5.28686567e-01 -8.48797172e-01 5.82027309e-03 6.58179643e+02] [-8.48755001e-01 5.28718403e-01 8.47340302e-03 -2.65199079e+02] [-1.02694860e-02 -4.60211540e-04 -9.99947162e-01 -4.79800298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters 0.05166737811414485 Centerline is valid? [True, True] Translation: X:658.01, Y:-265.33, Z:-4.80 [[-4.63881263e-01 -8.85879242e-01 5.66947387e-03 6.58010319e+02] [-8.85825954e-01 4.63915628e-01 9.72984771e-03 -2.65330452e+02] [-1.12496276e-02 -5.08673055e-04 -9.99936592e-01 -4.79807070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters 0.05172069215771716 Centerline is valid? [True, True] Translation: X:657.84, Y:-265.49, Z:-4.80 [[-3.97923280e-01 -9.17405159e-01 4.98377014e-03 6.57838209e+02] [-9.17348569e-01 3.97954159e-01 1.02024943e-02 -2.65489385e+02] [-1.13431329e-02 -5.12044415e-04 -9.99935533e-01 -4.79815693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters 0.0516711120822773 Centerline is valid? [True, True] Translation: X:657.70, Y:-265.62, Z:-4.80 [[-3.30724329e-01 -9.43716197e-01 4.59976371e-03 6.57696723e+02] [-9.43646050e-01 3.30755888e-01 1.15184406e-02 -2.65623101e+02] [-1.23915378e-02 -5.31120330e-04 -9.99923081e-01 -4.79814996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters 0.051291626803636234 Centerline is valid? [True, True] Translation: X:657.55, Y:-265.81, Z:-4.80 [[-2.63340977e-01 -9.64696641e-01 3.45255823e-03 6.57552524e+02] [-9.64635305e-01 2.63363201e-01 1.08882196e-02 -2.65808994e+02] [-1.14131057e-02 -4.63145179e-04 -9.99934761e-01 -4.79945939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters 0.05160224442489227 Centerline is valid? [True, True] Translation: X:657.41, Y:-266.03, Z:-4.80 [[-1.93480168e-01 -9.81100745e-01 2.59843374e-03 6.57411965e+02] [-9.81040122e-01 1.93497122e-01 1.09152796e-02 -2.66029393e+02] [-1.12117784e-02 -4.37277614e-04 -9.99937050e-01 -4.79978343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters 0.05061451611335899 Centerline is valid? [True, True] Translation: X:657.30, Y:-266.23, Z:-4.80 [[-1.22376583e-01 -9.92482365e-01 1.65146466e-03 6.57301224e+02] [-9.92430097e-01 1.22387099e-01 1.01931294e-02 -2.66231364e+02] [-1.03186191e-02 -3.91562892e-04 -9.99946685e-01 -4.80158392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters 0.05078520673612048 Centerline is valid? [True, True] Translation: X:657.21, Y:-266.42, Z:-4.80 [[-5.08764180e-02 -9.98704617e-01 8.24060434e-04 6.57205008e+02] [-9.98661215e-01 5.08818949e-02 9.31724616e-03 -2.66421829e+02] [-9.34710650e-03 -3.48929084e-04 -9.99956254e-01 -4.80257066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters 0.05066908698407961 Centerline is valid? [True, True] Translation: X:656.54, Y:-266.58, Z:-5.79 [[-1.66641381e-01 9.86017111e-01 9.52782871e-04 6.56535449e+02] [-9.85999368e-01 -1.66644098e-01 5.91523444e-03 -2.66576950e+02] [ 5.99129801e-03 4.62795263e-05 9.99982051e-01 -5.79144037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters 0.050124205731407176 Centerline is valid? [True, True] Translation: X:657.16, Y:-266.97, Z:-4.80 [[-5.23798440e-02 -9.98626974e-01 7.20393304e-04 6.57161401e+02] [-9.98589268e-01 5.23841293e-02 8.68202478e-03 -2.66967111e+02] [-8.70784131e-03 -2.64613918e-04 -9.99962051e-01 -4.80224882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters 0.051244418922850136 Centerline is valid? [True, True] Translation: X:657.07, Y:-267.21, Z:-4.80 [[ 1.92624566e-02 -9.99814459e-01 7.96523850e-05 6.57073846e+02] [-9.99784908e-01 -1.92612746e-02 7.69038223e-03 -2.67214815e+02] [-7.68742113e-03 -2.27770907e-04 -9.99970425e-01 -4.80258331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters 0.05176103141276751 Centerline is valid? [True, True] Translation: X:657.00, Y:-267.47, Z:-4.80 [[ 9.25574004e-02 -9.95707217e-01 -5.14684157e-04 6.57000499e+02] [-9.95675173e-01 -9.25585525e-02 7.99154767e-03 -2.67468239e+02] [-8.00488011e-03 -2.27218640e-04 -9.99967935e-01 -4.80094251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters 0.05173934565373699 Centerline is valid? [True, True] Translation: X:656.95, Y:-267.73, Z:-4.80 [[ 1.65316537e-01 -9.86239751e-01 -1.26364538e-03 6.56951208e+02] [-9.86199022e-01 -1.65321198e-01 8.96608641e-03 -2.67726793e+02] [-9.05161819e-03 -2.36036515e-04 -9.99959005e-01 -4.80072497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters 0.05134598518041394 Centerline is valid? [True, True] Translation: X:656.92, Y:-267.99, Z:-4.80 [[ 2.37836874e-01 -9.71303253e-01 -1.90043177e-03 6.56920638e+02] [-9.71263925e-01 -2.37844352e-01 8.74370356e-03 -2.67986881e+02] [-8.94479467e-03 -2.33754301e-04 -9.99959967e-01 -4.80136291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters 0.05112203716509818 Centerline is valid? [True, True] Translation: X:656.92, Y:-268.27, Z:-4.80 [[ 3.08389600e-01 -9.51256788e-01 -2.52533149e-03 6.56918065e+02] [-9.51218628e-01 -3.08399856e-01 8.52357377e-03 -2.68270741e+02] [-8.88691927e-03 -2.26439148e-04 -9.99960485e-01 -4.80339639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters 0.051680243213255594 Centerline is valid? [True, True] Translation: X:656.91, Y:-268.48, Z:-4.80 [[ 3.76060944e-01 -9.26589512e-01 -3.16907055e-03 6.56906375e+02] [-9.26551821e-01 -3.76074240e-01 8.35992890e-03 -2.68478442e+02] [-8.93802824e-03 -2.07534668e-04 -9.99960033e-01 -4.80303497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters 0.05168562439034876 Centerline is valid? [True, True] Translation: X:656.93, Y:-268.73, Z:-4.80 [[ 4.42229025e-01 -8.96894491e-01 -3.70958645e-03 6.56927248e+02] [-8.96859206e-01 -4.42244541e-01 7.95808417e-03 -2.68728748e+02] [-8.77810621e-03 -1.92319046e-04 -9.99961453e-01 -4.80192649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters 0.052041220216408716 Centerline is valid? [True, True] Translation: X:656.98, Y:-268.99, Z:-4.80 [[ 5.05707081e-01 -8.62695666e-01 -4.06651272e-03 6.56975362e+02] [-8.62664977e-01 -5.05723402e-01 7.27859669e-03 -2.68989738e+02] [-8.33574446e-03 -1.72799781e-04 -9.99965242e-01 -4.80178716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters 0.05107698548474913 Centerline is valid? [True, True] Translation: X:657.03, Y:-269.22, Z:-4.80 [[ 5.67230823e-01 -8.23547532e-01 -4.31919645e-03 6.57027971e+02] [-8.23521466e-01 -5.67247244e-01 6.55425445e-03 -2.69216040e+02] [-7.84779236e-03 -1.60824155e-04 -9.99969193e-01 -4.80349831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters 0.051900273868143325 Centerline is valid? [True, True] Translation: X:656.66, Y:-268.86, Z:-4.80 [[ 6.26574975e-01 -7.79345506e-01 -4.93797938e-03 6.56658741e+02] [-7.79319303e-01 -6.26594412e-01 6.39266715e-03 -2.68856311e+02] [-8.07620670e-03 -1.57222607e-04 -9.99967375e-01 -4.80446804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters 0.051398429129692606 Centerline is valid? [True, True] Translation: X:657.28, Y:-269.72, Z:-4.80 [[ 6.81598269e-01 -7.31706790e-01 -5.38260104e-03 6.57282362e+02] [-7.31682087e-01 -6.81619503e-01 6.01469556e-03 -2.69724720e+02] [-8.06987943e-03 -1.61253317e-04 -9.99967425e-01 -4.80401190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters 0.051352688502535083 Centerline is valid? [True, True] Translation: X:657.34, Y:-269.89, Z:-4.80 [[ 7.34816498e-01 -6.78243740e-01 -5.49032776e-03 6.57339440e+02] [-6.78223014e-01 -7.34836988e-01 5.30514292e-03 -2.69894407e+02] [-7.63267588e-03 -1.74639901e-04 -9.99970855e-01 -4.80437263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters 0.051356655914411714 Centerline is valid? [True, True] Translation: X:657.32, Y:-269.97, Z:-4.81 [[ 7.86238695e-01 -6.17894644e-01 -5.90955493e-03 6.57319161e+02] [-6.17875363e-01 -7.86260881e-01 4.88498261e-03 -2.69969197e+02] [-7.66485646e-03 -1.89393954e-04 -9.99970607e-01 -4.80716322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters 0.05095711252504419 Centerline is valid? [True, True] Translation: X:657.29, Y:-270.06, Z:-4.81 [[ 8.32705388e-01 -5.53697709e-01 -4.53686058e-03 6.57293114e+02] [-5.53688346e-01 -8.32717729e-01 3.22461882e-03 -2.70061398e+02] [-5.56338830e-03 -1.73150637e-04 -9.99984509e-01 -4.80651733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters 0.050876010750585565 Centerline is valid? [True, True] Translation: X:657.27, Y:-270.15, Z:-4.81 [[ 8.73930466e-01 -4.86023342e-01 -5.18178091e-03 6.57274935e+02] [-4.86013537e-01 -8.73945809e-01 3.09265632e-03 -2.70151855e+02] [-6.03169887e-03 -1.84350908e-04 -9.99981792e-01 -4.80508140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters 0.051476891404762734 Centerline is valid? [True, True] Translation: X:657.27, Y:-270.23, Z:-4.80 [[ 9.10063496e-01 -4.14431339e-01 -5.57662140e-03 6.57270383e+02] [-4.14422211e-01 -9.10080560e-01 2.75777768e-03 -2.70232931e+02] [-6.21808422e-03 -1.98677027e-04 -9.99980648e-01 -4.80478694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters 0.05181467694508707 Centerline is valid? [True, True] Translation: X:657.27, Y:-270.32, Z:-4.80 [[ 9.40830118e-01 -3.38812207e-01 -6.70653574e-03 6.57270481e+02] [-3.38801790e-01 -9.40853991e-01 2.66736762e-03 -2.70316981e+02] [-7.21360762e-03 -2.37353476e-04 -9.99973953e-01 -4.80298672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters 0.05118461477905072 Centerline is valid? [True, True] Translation: X:657.28, Y:-270.40, Z:-4.80 [[ 9.65138109e-01 -2.61654938e-01 -6.71746863e-03 6.57277025e+02] [-2.61646771e-01 -9.65161453e-01 2.08271510e-03 -2.70402605e+02] [-7.02839447e-03 -2.52503739e-04 -9.99975269e-01 -4.80422322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters 0.05202932407885205 Centerline is valid? [True, True] Translation: X:657.29, Y:-270.50, Z:-4.80 [[ 9.82743157e-01 -1.84844926e-01 -6.94550405e-03 6.57287914e+02] [-1.84838447e-01 -9.82767667e-01 1.56894962e-03 -2.70495541e+02] [-7.11582918e-03 -2.58078323e-04 -9.99974649e-01 -4.80306294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters 0.05117465270910377 Centerline is valid? [True, True] Translation: X:657.31, Y:-270.58, Z:-4.81 [[ 9.94261501e-01 -1.06816997e-01 -5.84776391e-03 6.57307990e+02] [-1.06813749e-01 -9.94278670e-01 8.65842868e-04 -2.70583038e+02] [-5.90679366e-03 -2.36252645e-04 -9.99982527e-01 -4.80610573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters 0.05093502301162541 Centerline is valid? [True, True] Translation: X:657.33, Y:-270.68, Z:-4.81 [[ 9.99574775e-01 -2.85429554e-02 -5.96402251e-03 6.57332271e+02] [-2.85410208e-02 -9.99592538e-01 4.09244658e-04 -2.70676503e+02] [-5.97327345e-03 -2.38851346e-04 -9.99982131e-01 -4.80561928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters 0.05135988691029998 Centerline is valid? [True, True] Translation: X:657.36, Y:-270.76, Z:-4.80 [[ 9.98772740e-01 4.90552800e-02 -6.82593519e-03 6.57361741e+02] [ 4.90558603e-02 -9.98796033e-01 -8.24859375e-05 -2.70763397e+02] [-6.82176336e-03 -2.52467417e-04 -9.99976700e-01 -4.80320440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters 0.05084687720496579 Centerline is valid? [True, True] Translation: X:657.39, Y:-270.84, Z:-4.80 [[ 9.92389357e-01 1.22919121e-01 -7.36571205e-03 6.57394872e+02] [ 1.22917478e-01 -9.92416664e-01 -6.76989974e-04 -2.70835095e+02] [-7.39307039e-03 -2.33537105e-04 -9.99972644e-01 -4.80319232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters 0.05109161315142342 Centerline is valid? [True, True] Translation: X:657.44, Y:-270.92, Z:-4.80 [[ 9.80561835e-01 1.96109951e-01 -6.27487178e-03 6.57435014e+02] [ 1.96107167e-01 -9.80581894e-01 -1.06194162e-03 -2.70915019e+02] [-6.36128298e-03 -1.89247902e-04 -9.99979749e-01 -4.80482306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters 0.050863239989543695 Centerline is valid? [True, True] Translation: X:657.48, Y:-270.99, Z:-4.80 [[ 9.63427919e-01 2.67917336e-01 -5.19098150e-03 6.57479943e+02] [ 2.67914293e-01 -9.63441891e-01 -1.28589939e-03 -2.70994200e+02] [-5.34572377e-03 -1.51866768e-04 -9.99985700e-01 -4.80434033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters 0.05061553399331779 Centerline is valid? [True, True] Translation: X:657.53, Y:-271.06, Z:-4.80 [[ 9.40852085e-01 3.38786149e-01 -4.61516159e-03 6.57528801e+02] [ 3.38782739e-01 -9.40863395e-01 -1.52542912e-03 -2.71063028e+02] [-4.85903086e-03 -1.28333917e-04 -9.99988187e-01 -4.80431989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters 0.050813910811247004 Centerline is valid? [True, True] Translation: X:657.58, Y:-271.13, Z:-4.80 [[ 9.13339493e-01 4.07169157e-01 -4.92424570e-03 6.57582899e+02] [ 4.07163860e-01 -9.13352761e-01 -2.07952081e-03 -2.71126333e+02] [-5.34429014e-03 -1.05666407e-04 -9.99985714e-01 -4.80470223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters 0.05157711498323611 Centerline is valid? [True, True] Translation: X:657.64, Y:-271.18, Z:-4.80 [[ 8.80138807e-01 4.74691721e-01 -4.84246546e-03 6.57640647e+02] [ 4.74685089e-01 -8.80152124e-01 -2.51092197e-03 -2.71184002e+02] [-5.45402014e-03 -8.86862752e-05 -9.99985123e-01 -4.80361470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters 0.051586564253655716 Centerline is valid? [True, True] Translation: X:657.70, Y:-271.24, Z:-4.80 [[ 8.41111021e-01 5.40843854e-01 -4.49178855e-03 6.57704634e+02] [ 5.40836654e-01 -8.41123010e-01 -2.79195169e-03 -2.71240045e+02] [-5.28815662e-03 -8.09825554e-05 -9.99986014e-01 -4.80348792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters 0.051874556942564286 Centerline is valid? [True, True] Translation: X:657.77, Y:-271.29, Z:-4.80 [[ 7.97048255e-01 6.03898549e-01 -4.54113084e-03 6.57771134e+02] [ 6.03889254e-01 -7.97061188e-01 -3.35118857e-03 -2.71288672e+02] [-5.64333706e-03 -7.12811133e-05 -9.99984074e-01 -4.80329470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters 0.051663190448400384 Centerline is valid? [True, True] Translation: X:657.85, Y:-271.34, Z:-4.80 [[ 7.46665084e-01 6.65191821e-01 -3.33078983e-03 6.57845459e+02] [ 6.65185695e-01 -7.46672508e-01 -2.85596779e-03 -2.71335534e+02] [-4.38677561e-03 -8.31423156e-05 -9.99990375e-01 -4.80447681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters 0.051149700166125536 Centerline is valid? [True, True] Translation: X:657.93, Y:-271.38, Z:-4.81 [[ 6.91067294e-01 7.22786309e-01 -2.43844906e-03 6.57926116e+02] [ 7.22782281e-01 -6.91071590e-01 -2.41489423e-03 -2.71379242e+02] [-3.43059536e-03 -9.36133525e-05 -9.99994111e-01 -4.80554934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters 0.05145416266015533 Centerline is valid? [True, True] Translation: X:658.01, Y:-271.42, Z:-4.81 [[ 6.29067612e-01 7.77346964e-01 -2.37427467e-03 6.58008442e+02] [ 7.77342065e-01 -6.29072084e-01 -2.76179403e-03 -2.71415123e+02] [-3.64046212e-03 -1.08268396e-04 -9.99993368e-01 -4.80618157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters 0.05158599540831209 Centerline is valid? [True, True] Translation: X:658.10, Y:-271.45, Z:-4.81 [[ 5.62806351e-01 8.26585444e-01 -2.34864847e-03 6.58102762e+02] [ 8.26579155e-01 -5.62811237e-01 -3.22678262e-03 -2.71449562e+02] [-3.98905729e-03 -1.25290118e-04 -9.99992036e-01 -4.80563325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters 0.05159088994896397 Centerline is valid? [True, True] Translation: X:658.19, Y:-271.47, Z:-4.81 [[ 4.93698973e-01 8.69629850e-01 -2.29078053e-03 6.58193873e+02] [ 8.69621777e-01 -4.93704267e-01 -3.74979953e-03 -2.71473821e+02] [-4.39190573e-03 -1.40840462e-04 -9.99990346e-01 -4.80544565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters 0.05140669729729382 Centerline is valid? [True, True] Translation: X:658.29, Y:-271.49, Z:-4.80 [[ 4.18294783e-01 9.08308503e-01 -2.26670462e-03 6.58285351e+02] [ 9.08297396e-01 -4.18300886e-01 -4.49547924e-03 -2.71489890e+02] [-5.03144656e-03 -1.78406388e-04 -9.99987326e-01 -4.80464540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters 0.0518748109199613 Centerline is valid? [True, True] Translation: X:658.38, Y:-271.50, Z:-4.80 [[ 3.39522657e-01 9.40596055e-01 -1.85110807e-03 6.58381776e+02] [ 9.40585255e-01 -3.39527638e-01 -4.51230184e-03 -2.71499722e+02] [-4.87275566e-03 -2.09096251e-04 -9.99988106e-01 -4.80409096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters 0.05086104063214851 Centerline is valid? [True, True] Translation: X:658.47, Y:-271.50, Z:-4.81 [[ 2.61116468e-01 9.65306227e-01 -1.44141358e-03 6.58474045e+02] [ 9.65295888e-01 -2.61120350e-01 -4.47331637e-03 -2.71499176e+02] [-4.69450257e-03 -2.23334033e-04 -9.99988956e-01 -4.80533236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters 0.05179268363791512 Centerline is valid? [True, True] Translation: X:658.57, Y:-271.49, Z:-4.81 [[ 1.83108574e-01 9.83092243e-01 -9.44959356e-04 6.58570353e+02] [ 9.83084481e-01 -1.83110889e-01 -3.91226023e-03 -2.71492865e+02] [-4.01914503e-03 -2.12606488e-04 -9.99991901e-01 -4.80581883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters 0.050789864496080396 Centerline is valid? [True, True] Translation: X:658.67, Y:-271.48, Z:-4.81 [[ 1.02153758e-01 9.94768313e-01 -7.83440064e-04 6.58668327e+02] [ 9.94755392e-01 -1.02156430e-01 -5.07675475e-03 -2.71478840e+02] [-5.13022819e-03 -2.60721650e-04 -9.99986806e-01 -4.80565917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters 0.05229678518926485 Centerline is valid? [True, True] Translation: X:658.78, Y:-271.46, Z:-4.80 [[ 2.07891914e-02 9.99783756e-01 -5.00667422e-04 6.58778974e+02] [ 9.99757499e-01 -2.07922782e-02 -7.25429734e-03 -2.71458707e+02] [-7.26313866e-03 -3.49735033e-04 -9.99973562e-01 -4.80315172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters 0.051395023269067495 Centerline is valid? [True, True] Translation: X:658.87, Y:-271.43, Z:-4.80 [[-5.84531754e-02 9.98290146e-01 1.00032919e-04 6.58867306e+02] [ 9.98253141e-01 5.84518709e-02 -8.60497933e-03 -2.71428824e+02] [-8.59611318e-03 -4.03130190e-04 -9.99962971e-01 -4.80410345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters 0.05149989167771317 Centerline is valid? [True, True] Translation: X:658.96, Y:-271.39, Z:-4.80 [[-1.34650459e-01 9.90892873e-01 7.53591549e-04 6.58958463e+02] [ 9.90857520e-01 1.34652027e-01 -8.37889569e-03 -2.71393251e+02] [-8.40406065e-03 -3.81520296e-04 -9.99964612e-01 -4.80368981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters 0.05176811108497058 Centerline is valid? [True, True] Translation: X:659.04, Y:-271.35, Z:-4.81 [[-2.05942011e-01 9.78563720e-01 9.66527039e-04 6.59038597e+02] [ 9.78546129e-01 2.05944110e-01 -5.87347667e-03 -2.71350441e+02] [-5.94662173e-03 -2.63804306e-04 -9.99982284e-01 -4.80559154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters 0.05113391447324162 Centerline is valid? [True, True] Translation: X:659.12, Y:-271.30, Z:-4.81 [[-2.76895296e-01 9.60899243e-01 1.28049806e-03 6.59117368e+02] [ 9.60884987e-01 2.76898169e-01 -5.23885305e-03 -2.71302511e+02] [-5.38857750e-03 -2.20202401e-04 -9.99985457e-01 -4.80603374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters 0.05188790427086188 Centerline is valid? [True, True] Translation: X:659.18, Y:-271.25, Z:-4.80 [[-3.44054905e-01 9.38947966e-01 1.71457674e-03 6.59180528e+02] [ 9.38933572e-01 3.44059130e-01 -5.20213736e-03 -2.71251807e+02] [-5.47445207e-03 -1.79947215e-04 -9.99984999e-01 -4.80489632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters 0.051771696182200636 Centerline is valid? [True, True] Translation: X:659.25, Y:-271.19, Z:-4.81 [[-4.12084040e-01 9.11142140e-01 2.59687750e-03 6.59245279e+02] [ 9.11121455e-01 4.12092190e-01 -6.14183048e-03 -2.71193567e+02] [-6.66623351e-03 -1.64879516e-04 -9.99977767e-01 -4.80586300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters 0.0512873601140336 Centerline is valid? [True, True] Translation: X:659.31, Y:-271.13, Z:-4.81 [[-4.80758036e-01 8.76847002e-01 3.32359114e-03 6.59308921e+02] [ 8.76823719e-01 4.80769498e-01 -6.39189310e-03 -2.71129188e+02] [-7.20259355e-03 -1.58750427e-04 -9.99974048e-01 -4.80575113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters 0.05178380573496516 Centerline is valid? [True, True] Translation: X:659.37, Y:-271.06, Z:-4.80 [[-5.48431567e-01 8.36186100e-01 3.95251203e-03 6.59367581e+02] [ 8.36162173e-01 5.48445784e-01 -6.32791442e-03 -2.71060857e+02] [-7.45905265e-03 -1.65486977e-04 -9.99972167e-01 -4.80486116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters 0.05148157514049245 Centerline is valid? [True, True] Translation: X:659.42, Y:-270.99, Z:-4.81 [[-6.14165078e-01 7.89160690e-01 5.16353830e-03 6.59416581e+02] [ 7.89130054e-01 6.14186751e-01 -6.95648869e-03 -2.70990375e+02] [-8.66116423e-03 -1.97729162e-04 -9.99962472e-01 -4.80556075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters 0.05175074700834227 Centerline is valid? [True, True] Translation: X:659.47, Y:-270.91, Z:-4.80 [[-6.76127325e-01 7.36754933e-01 6.63394002e-03 6.59468451e+02] [ 7.36715908e-01 6.76159826e-01 -7.58693078e-03 -2.70910929e+02] [-1.00753124e-02 -2.42402069e-04 -9.99949213e-01 -4.80360356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters 0.05195573952013067 Centerline is valid? [True, True] Translation: X:659.51, Y:-270.83, Z:-4.81 [[-7.32854812e-01 6.80352955e-01 6.60912024e-03 6.59509523e+02] [ 6.80322223e-01 7.32884572e-01 -6.47126558e-03 -2.70829257e+02] [-9.24646692e-03 -2.46166745e-04 -9.99957220e-01 -4.80588717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters 0.05146530336891661 Centerline is valid? [True, True] Translation: X:659.52, Y:-270.74, Z:-4.81 [[-7.79448756e-01 6.26436237e-01 6.10555978e-03 6.59521984e+02] [ 6.26414783e-01 7.79472638e-01 -5.18909353e-03 -2.70736963e+02] [-8.00975301e-03 -2.20019593e-04 -9.99967897e-01 -4.80697769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters 0.05112743947053402 Centerline is valid? [True, True] Translation: X:659.86, Y:-270.22, Z:-5.80 [[-7.13951423e-01 -7.00191013e-01 2.43114120e-03 6.59856047e+02] [ 7.00186321e-01 -7.13955550e-01 -2.56683592e-03 -2.70221786e+02] [ 3.53300220e-03 -1.30344341e-04 9.99993750e-01 -5.80263611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters 0.0515045138858292 Centerline is valid? [True, True] Translation: X:659.44, Y:-270.68, Z:-4.81 [[-7.79582283e-01 6.26286042e-01 4.15427740e-03 6.59441999e+02] [ 6.26276054e-01 7.79593335e-01 -3.54061204e-03 -2.70676763e+02] [-5.45608288e-03 -1.58473962e-04 -9.99985103e-01 -4.80886772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters 0.051653015707180026 Centerline is valid? [True, True] Translation: X:659.40, Y:-270.54, Z:-4.81 [[-8.20472445e-01 5.71668299e-01 4.50811617e-03 6.59400905e+02] [ 5.71658691e-01 8.20484817e-01 -3.31760759e-03 -2.70544714e+02] [-5.59541195e-03 -1.44901821e-04 -9.99984335e-01 -4.80698247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters 0.05182010040268003 Centerline is valid? [True, True] Translation: X:659.35, Y:-270.42, Z:-4.81 [[-8.57238138e-01 5.14880563e-01 6.38600848e-03 6.59349212e+02] [ 5.14865056e-01 8.57261912e-01 -3.99857665e-03 -2.70422159e+02] [-7.53327124e-03 -1.39799792e-04 -9.99971615e-01 -4.80617925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters 0.051944322288805786 Centerline is valid? [True, True] Translation: X:659.62, Y:-270.49, Z:-4.81 [[-8.91525637e-01 4.52907635e-01 7.53076163e-03 6.59618645e+02] [ 4.52890192e-01 8.91557433e-01 -3.97720076e-03 -2.70485838e+02] [-8.51541109e-03 -1.35168362e-04 -9.99963734e-01 -4.80814874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters 0.05180232324520435 Centerline is valid? [True, True] Translation: X:659.38, Y:-270.28, Z:-4.81 [[-9.20794588e-01 3.89940372e-01 9.15609238e-03 6.59378996e+02] [ 3.89919721e-01 9.20840100e-01 -4.01509492e-03 -2.70281803e+02] [-9.99694463e-03 -1.26936686e-04 -9.99950021e-01 -4.80670865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters 0.051907420139823135 Centerline is valid? [True, True] Translation: X:659.46, Y:-269.64, Z:-5.81 [[-8.89332882e-01 -4.57198019e-01 7.54959669e-03 6.59457991e+02] [ 4.57181799e-01 -8.89364925e-01 -3.85119664e-03 -2.69643351e+02] [ 8.47510597e-03 2.65423962e-05 9.99964085e-01 -5.80735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters 0.051893086730915 Centerline is valid? [True, True] Translation: X:659.06, Y:-270.14, Z:-4.81 [[-9.21030231e-01 3.89375872e-01 9.47335244e-03 6.59063865e+02] [ 3.89354188e-01 9.21078944e-01 -4.11040681e-03 -2.70144646e+02] [-1.03261987e-02 -9.73194754e-05 -9.99946679e-01 -4.80713772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters 0.05252604802385703 Centerline is valid? [True, True] Translation: X:659.41, Y:-270.19, Z:-4.81 [[-9.47135325e-01 3.20724816e-01 8.38266831e-03 6.59412241e+02] [ 3.20711397e-01 9.47172415e-01 -2.93519467e-03 -2.70192274e+02] [-8.88122196e-03 -9.16092885e-05 -9.99960557e-01 -4.81143079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters 0.05219843294641089 Centerline is valid? [True, True] Translation: X:658.80, Y:-269.93, Z:-4.81 [[-9.67388718e-01 2.53187538e-01 7.42550618e-03 6.58798483e+02] [ 2.53179404e-01 9.67417213e-01 -2.03125913e-03 -2.69925268e+02] [-7.69785199e-03 -8.50319380e-05 -9.99970367e-01 -4.80951375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters 0.0520174345208423 Centerline is valid? [True, True] Translation: X:658.83, Y:-269.86, Z:-4.81 [[-9.83295556e-01 1.81804495e-01 8.77359183e-03 6.58829540e+02] [ 1.81796324e-01 9.83334691e-01 -1.72672156e-03 -2.69855224e+02] [-8.94130296e-03 -1.02870889e-04 -9.99960020e-01 -4.80813796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters 0.05201381690485618 Centerline is valid? [True, True] Translation: X:658.88, Y:-269.24, Z:-5.81 [[-9.67515834e-01 -2.52719032e-01 6.79714125e-03 6.58882744e+02] [ 2.52712594e-01 -9.67539710e-01 -1.80407129e-03 -2.69238203e+02] [ 7.03242722e-03 -2.77443437e-05 9.99975272e-01 -5.80502475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters 0.05323400250928924 Centerline is valid? [True, True] Translation: X:658.83, Y:-269.86, Z:-4.81 [[-9.84599971e-01 1.74607097e-01 8.67520112e-03 6.58828819e+02] [ 1.74599191e-01 9.84638180e-01 -1.66631821e-03 -2.69856713e+02] [-8.83288523e-03 -1.25973768e-04 -9.99960981e-01 -4.80870952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters 0.05236184573318125 Centerline is valid? [True, True] Translation: X:658.74, Y:-269.22, Z:-5.80 [[-9.68675439e-01 -2.48280701e-01 4.95859240e-03 6.58744197e+02] [ 2.48276803e-01 -9.68688123e-01 -1.39642938e-03 -2.69215726e+02] [ 5.15003603e-03 -1.21583368e-04 9.99986731e-01 -5.80366141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters 0.052167214621590394 Centerline is valid? [True, True] Translation: X:658.49, Y:-269.79, Z:-4.81 [[-9.85161565e-01 1.71514826e-01 6.27343368e-03 6.58485953e+02] [ 1.71510639e-01 9.85181533e-01 -1.20350246e-03 -2.69792853e+02] [-6.38688952e-03 -1.09683745e-04 -9.99979598e-01 -4.81215198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters 0.05192581625258369 Centerline is valid? [True, True] Translation: X:658.59, Y:-269.19, Z:-5.80 [[-9.69249314e-01 -2.46047125e-01 4.07173519e-03 6.58591217e+02] [ 2.46044763e-01 -9.69257866e-01 -1.07914357e-03 -2.69189180e+02] [ 4.21208153e-03 -4.41300435e-05 9.99991128e-01 -5.80236243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters 0.05181989909986457 Centerline is valid? [True, True] Translation: X:658.43, Y:-269.78, Z:-4.81 [[-9.86657647e-01 1.62619691e-01 7.84373692e-03 6.58429676e+02] [ 1.62613285e-01 9.86688812e-01 -1.45195945e-03 -2.69781709e+02] [-7.97544465e-03 -1.57091065e-04 -9.99968183e-01 -4.81024358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters 0.052472407573785525 Centerline is valid? [True, True] Translation: X:658.54, Y:-269.19, Z:-5.81 [[-9.68513195e-01 -2.48877287e-01 6.50284108e-03 6.58537985e+02] [ 2.48872079e-01 -9.68535024e-01 -1.61109699e-03 -2.69191395e+02] [ 6.69919479e-03 5.80068831e-05 9.99977558e-01 -5.80574424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters 0.052059644105831415 Centerline is valid? [True, True] Translation: X:658.34, Y:-269.77, Z:-4.81 [[-9.88162846e-01 1.53049682e-01 1.04873052e-02 6.58340219e+02] [ 1.53038436e-01 9.88218465e-01 -1.87140198e-03 -2.69767557e+02] [-1.06501661e-02 -2.44289128e-04 -9.99943256e-01 -4.80920352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters 0.0519149294343375 Centerline is valid? [True, True] Translation: X:658.32, Y:-269.69, Z:-4.81 [[-9.96731218e-01 8.01819858e-02 9.88577611e-03 6.58323829e+02] [ 8.01754960e-02 9.96780208e-01 -1.05168571e-03 -2.69686625e+02] [-9.93827222e-03 -2.55650977e-04 -9.99950581e-01 -4.80931562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters 0.05156379467063718 Centerline is valid? [True, True] Translation: X:658.37, Y:-269.09, Z:-5.80 [[-9.83327596e-01 -1.81784666e-01 4.60154943e-03 6.58369677e+02] [ 1.81781802e-01 -9.83338346e-01 -1.03659818e-03 -2.69089996e+02] [ 4.71331766e-03 -1.82837650e-04 9.99988876e-01 -5.80260635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters 0.051864885891630214 Centerline is valid? [True, True] Translation: X:658.21, Y:-269.68, Z:-4.81 [[-9.97085442e-01 7.60658838e-02 5.88243767e-03 6.58211510e+02] [ 7.60634495e-02 9.97102776e-01 -6.36781454e-04 -2.69679944e+02] [-5.91383227e-03 -1.87487017e-04 -9.99982496e-01 -4.81235600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters 0.05127617246649209 Centerline is valid? [True, True] Translation: X:658.18, Y:-269.07, Z:-5.80 [[-9.84152140e-01 -1.77299832e-01 3.05517028e-03 6.58180861e+02] [ 1.77298841e-01 -9.84156882e-01 -5.94137756e-04 -2.69072374e+02] [ 3.11210738e-03 -4.30437926e-05 9.99995156e-01 -5.80322672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters 0.05174142141687004 Centerline is valid? [True, True] Translation: X:658.10, Y:-269.68, Z:-4.81 [[-9.97529982e-01 6.99538204e-02 6.35587830e-03 6.58096679e+02] [ 6.99510611e-02 9.97550209e-01 -6.55681297e-04 -2.69675647e+02] [-6.38617514e-03 -2.09461322e-04 -9.99979586e-01 -4.81130382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters 0.051474149309177854 Centerline is valid? [True, True] Translation: X:658.15, Y:-269.07, Z:-5.80 [[-9.83798758e-01 -1.79195739e-01 5.37497092e-03 6.58154055e+02] [ 1.79193758e-01 -9.83813433e-01 -8.51876206e-04 -2.69071907e+02] [ 5.44062118e-03 1.25086483e-04 9.99985192e-01 -5.80421207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters 0.05188576910599729 Centerline is valid? [True, True] Translation: X:658.04, Y:-269.68, Z:-4.81 [[-9.98233910e-01 5.87319083e-02 8.92317100e-03 6.58038779e+02] [ 5.87266352e-02 9.98273738e-01 -8.52041349e-04 -2.69677251e+02] [-8.95780929e-03 -3.26508759e-04 -9.99959825e-01 -4.81001344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters 0.0514929010210956 Centerline is valid? [True, True] Translation: X:658.00, Y:-269.60, Z:-4.81 [[-9.99895976e-01 -1.16195858e-02 8.54527123e-03 6.57996138e+02] [-1.16217958e-02 9.99932443e-01 -2.09014519e-04 -2.69598404e+02] [-8.54226527e-03 -3.08304174e-04 -9.99963467e-01 -4.80999122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters 0.051285955173426 Centerline is valid? [True, True] Translation: X:657.92, Y:-268.97, Z:-5.80 [[-9.94803747e-01 -1.01717196e-01 4.37238363e-03 6.57921745e+02] [ 1.01716015e-01 -9.94813354e-01 -4.92314044e-04 -2.68968085e+02] [ 4.39978243e-03 -4.50144169e-05 9.99990320e-01 -5.80376456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters 0.05148147277385639 Centerline is valid? [True, True] Translation: X:657.76, Y:-269.61, Z:-4.81 [[-9.99982874e-01 -2.57677447e-03 5.25475981e-03 6.57761936e+02] [-2.57754562e-03 9.99996668e-01 -1.39985005e-04 -2.69608740e+02] [-5.25438159e-03 -1.53526990e-04 -9.99986184e-01 -4.81284972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters 0.05115920920233079 Centerline is valid? [True, True] Translation: X:657.61, Y:-269.54, Z:-4.81 [[-9.97810870e-01 -6.59170839e-02 5.32969814e-03 6.57606908e+02] [-6.59167499e-02 9.97825098e-01 2.38503946e-04 -2.69541849e+02] [-5.33382805e-03 -1.13334549e-04 -9.99985769e-01 -4.81239771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters 0.0509501480931834 Centerline is valid? [True, True] Translation: X:657.51, Y:-269.48, Z:-4.81 [[-9.91179903e-01 -1.32340793e-01 6.95088668e-03 6.57511053e+02] [-1.32338191e-01 9.91204271e-01 8.35018441e-04 -2.69481295e+02] [-7.00025556e-03 -9.22142701e-05 -9.99975494e-01 -4.81203787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters 0.051372085839612516 Centerline is valid? [True, True] Translation: X:657.54, Y:-269.40, Z:-4.81 [[-9.79050030e-01 -2.03477544e-01 7.61102583e-03 6.57544555e+02] [-2.03472082e-01 9.79079609e-01 1.49336607e-03 -2.69398631e+02] [-7.75566666e-03 -8.65511776e-05 -9.99969921e-01 -4.81156436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters 0.052033108003626066 Centerline is valid? [True, True] Translation: X:657.25, Y:-269.39, Z:-4.81 [[-9.62323552e-01 -2.71802771e-01 7.52554891e-03 6.57252037e+02] [-2.71795098e-01 9.62352974e-01 2.04389269e-03 -2.69392206e+02] [-7.79777007e-03 -7.85212313e-05 -9.99969594e-01 -4.81137590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters 0.051528854419205634 Centerline is valid? [True, True] Translation: X:657.15, Y:-269.35, Z:-4.81 [[-9.40168401e-01 -3.40645231e-01 6.64868661e-03 6.57146789e+02] [-3.40637356e-01 9.40191906e-01 2.31786277e-03 -2.69347615e+02] [-7.04061023e-03 -8.56096940e-05 -9.99975211e-01 -4.81340101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters 0.051109481353469724 Centerline is valid? [True, True] Translation: X:657.04, Y:-269.31, Z:-4.81 [[-9.13110458e-01 -4.07664526e-01 6.23909346e-03 6.57043242e+02] [-4.07655674e-01 9.13131768e-01 2.68795047e-03 -2.69307950e+02] [-6.79289649e-03 -8.90061698e-05 -9.99976924e-01 -4.81356141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters 0.051224111562878816 Centerline is valid? [True, True] Translation: X:656.92, Y:-269.28, Z:-4.81 [[-8.80324586e-01 -4.74318531e-01 7.11016917e-03 6.56921723e+02] [-4.74304037e-01 8.80353293e-01 3.70949834e-03 -2.69282221e+02] [-8.01894464e-03 -1.06819349e-04 -9.99967842e-01 -4.81211653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters 0.05090144845996083 Centerline is valid? [True, True] Translation: X:656.80, Y:-269.27, Z:-4.81 [[-8.42406432e-01 -5.38788625e-01 7.63019973e-03 6.56796201e+02] [-5.38767935e-01 8.42440977e-01 4.72359282e-03 -2.69265497e+02] [-8.97301100e-03 -1.31721975e-04 -9.99959733e-01 -4.81136621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters 0.050895354242463726 Centerline is valid? [True, True] Translation: X:656.66, Y:-269.27, Z:-4.81 [[-7.99763514e-01 -6.00276243e-01 6.83773636e-03 6.56655895e+02] [-6.00255833e-01 7.99792731e-01 4.95206215e-03 -2.69267418e+02] [-8.44137709e-03 -1.43912507e-04 -9.99964361e-01 -4.81360622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters 0.0509860740125482 Centerline is valid? [True, True] Translation: X:656.47, Y:-269.32, Z:-4.81 [[-7.54357781e-01 -6.56436953e-01 5.90469803e-03 6.56466687e+02] [-6.56418268e-01 7.54380877e-01 4.95480005e-03 -2.69318281e+02] [-7.70690513e-03 -1.38259684e-04 -9.99970292e-01 -4.81391238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters 0.05057733206115272 Centerline is valid? [True, True] Translation: X:656.30, Y:-269.37, Z:-4.82 [[-7.04661060e-01 -7.09524077e-01 5.32676484e-03 6.56303766e+02] [-7.09505218e-01 7.04681180e-01 5.17487053e-03 -2.69365096e+02] [-7.42536617e-03 -1.32837699e-04 -9.99972423e-01 -4.81532548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters 0.05043748897015568 Centerline is valid? [True, True] Translation: X:656.12, Y:-269.45, Z:-4.81 [[-6.51101357e-01 -7.58972915e-01 5.20929924e-03 6.56118203e+02] [-7.58950233e-01 6.51122182e-01 5.86919345e-03 -2.69449508e+02] [-7.84644915e-03 -1.32159059e-04 -9.99969207e-01 -4.81446668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters 0.05099397363653219 Centerline is valid? [True, True] Translation: X:655.95, Y:-269.53, Z:-4.81 [[-5.93384932e-01 -8.04903953e-01 4.89368648e-03 6.55949973e+02] [-8.04878443e-01 5.93405096e-01 6.40963370e-03 -2.69533764e+02] [-8.06307800e-03 -1.35442693e-04 -9.99967484e-01 -4.81427323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters 0.0508791430487773 Centerline is valid? [True, True] Translation: X:655.78, Y:-269.64, Z:-4.81 [[-5.31939040e-01 -8.46770467e-01 4.54239917e-03 6.55778281e+02] [-8.46741865e-01 5.31958415e-01 6.96123493e-03 -2.69641601e+02] [-8.31093562e-03 -1.43286917e-04 -9.99965453e-01 -4.81307122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters 0.05084411894880981 Centerline is valid? [True, True] Translation: X:655.60, Y:-269.79, Z:-4.81 [[-4.67581779e-01 -8.83936958e-01 4.76803744e-03 6.55603834e+02] [-8.83894486e-01 4.67606061e-01 8.66653301e-03 -2.69788527e+02] [-9.89023203e-03 -1.62129075e-04 -9.99951077e-01 -4.81490057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters 0.050721175849160915 Centerline is valid? [True, True] Translation: X:655.45, Y:-269.91, Z:-4.81 [[-4.00382916e-01 -9.16337325e-01 4.40763223e-03 6.55453957e+02] [-9.16286512e-01 4.00407138e-01 9.65149622e-03 -2.69914790e+02] [-1.06088736e-02 -1.74359764e-04 -9.99943709e-01 -4.81379102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters 0.050712565539094215 Centerline is valid? [True, True] Translation: X:655.29, Y:-270.11, Z:-4.81 [[-3.31679753e-01 -9.43384483e-01 3.77611940e-03 6.55293285e+02] [-9.43329304e-01 3.31701200e-01 1.02048509e-02 -2.70106403e+02] [-1.08796414e-02 -1.77381643e-04 -9.99940799e-01 -4.81476475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters 0.05191638950344047 Centerline is valid? [True, True] Translation: X:655.16, Y:-270.28, Z:-4.82 [[-2.61257690e-01 -9.65264356e-01 3.02375072e-03 6.55155652e+02] [-9.65207222e-01 2.61275129e-01 1.05036055e-02 -2.70281461e+02] [-1.09287869e-02 -1.74398318e-04 -9.99940264e-01 -4.81521678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters 0.05222805035969835 Centerline is valid? [True, True] Translation: X:655.10, Y:-270.19, Z:-4.82 [[-1.88712193e-01 -9.82030225e-01 2.08471926e-03 6.55097950e+02] [-9.81979315e-01 1.88723640e-01 1.00006761e-02 -2.70185735e+02] [-1.02144020e-02 -1.59901671e-04 -9.99947819e-01 -4.81945089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters 0.051714468473535544 Centerline is valid? [True, True] Translation: X:654.22, Y:-271.03, Z:-5.81 [[-2.68363437e-01 9.63315357e-01 2.14211549e-03 6.54223954e+02] [-9.63284633e-01 -2.68371987e-01 7.69373671e-03 -2.71028051e+02] [ 7.98637851e-03 1.25069946e-06 9.99968108e-01 -5.81124249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters 0.0509035584045025 Centerline is valid? [True, True] Translation: X:654.82, Y:-271.44, Z:-4.82 [[-1.83126464e-01 -9.83087439e-01 1.94557670e-03 6.54816033e+02] [-9.83040024e-01 1.83136742e-01 9.65638721e-03 -2.71444772e+02] [-9.84937955e-03 -1.44239729e-04 -9.99951483e-01 -4.81746282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters 0.05091476692535824 Centerline is valid? [True, True] Translation: X:654.70, Y:-271.67, Z:-4.82 [[-1.09166553e-01 -9.94022630e-01 1.29420553e-03 6.54702128e+02] [-9.93968618e-01 1.09174114e-01 1.03633702e-02 -2.71672348e+02] [-1.04427182e-02 -1.55066286e-04 -9.99945461e-01 -4.81746966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters 0.051198907751718245 Centerline is valid? [True, True] Translation: X:654.61, Y:-271.87, Z:-4.82 [[-3.51924374e-02 -9.99380420e-01 5.19037077e-04 6.54609458e+02] [-9.99326694e-01 3.51959280e-02 1.03636456e-02 -2.71866738e+02] [-1.03754925e-02 -1.53965657e-04 -9.99946161e-01 -4.81798112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters 0.05139855590920034 Centerline is valid? [True, True] Translation: X:654.53, Y:-272.09, Z:-4.82 [[ 3.75202573e-02 -9.99295834e-01 -2.57751736e-04 6.54531251e+02] [-9.99239840e-01 -3.75208837e-02 1.05795252e-02 -2.72089969e+02] [-1.05817465e-02 -1.39390705e-04 -9.99944002e-01 -4.81833627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters 0.05147133683308539 Centerline is valid? [True, True] Translation: X:654.47, Y:-272.38, Z:-4.82 [[ 1.09110700e-01 -9.94029074e-01 -1.02720626e-03 6.54474445e+02] [-9.93974542e-01 -1.09115475e-01 1.04126449e-02 -2.72379177e+02] [-1.04625559e-02 -1.15114108e-04 -9.99945259e-01 -4.81933252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters 0.050884105584034854 Centerline is valid? [True, True] Translation: X:654.43, Y:-272.63, Z:-4.82 [[ 1.79940938e-01 -9.83676083e-01 -1.61954889e-03 6.54434381e+02] [-9.83631785e-01 -1.79948205e-01 9.33571556e-03 -2.72629038e+02] [-9.47475503e-03 -8.68376448e-05 -9.99955110e-01 -4.82028257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters 0.05136156799616173 Centerline is valid? [True, True] Translation: X:654.42, Y:-272.89, Z:-4.82 [[ 2.50871837e-01 -9.68017722e-01 -2.23867063e-03 6.54415638e+02] [-9.67976575e-01 -2.50881815e-01 8.92553829e-03 -2.72890609e+02] [-9.20172100e-03 -7.21854536e-05 -9.99957661e-01 -4.82080669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters 0.05175222751663778 Centerline is valid? [True, True] Translation: X:654.41, Y:-273.13, Z:-4.82 [[ 3.20166661e-01 -9.47356410e-01 -3.02367974e-03 6.54408175e+02] [-9.47312586e-01 -3.20180934e-01 9.11227260e-03 -2.73126694e+02] [-9.60069446e-03 -5.30760136e-05 -9.99953911e-01 -4.82059805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters 0.05121156235992264 Centerline is valid? [True, True] Translation: X:654.42, Y:-273.37, Z:-4.82 [[ 3.88528685e-01 -9.21428426e-01 -3.88795542e-03 6.54420054e+02] [-9.21381251e-01 -3.88548135e-01 9.32400272e-03 -2.73366139e+02] [-1.01020590e-02 -4.03532863e-05 -9.99948972e-01 -4.82067208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters 0.05153616947577022 Centerline is valid? [True, True] Translation: X:654.46, Y:-273.62, Z:-4.82 [[ 4.55606317e-01 -8.90169211e-01 -4.65399871e-03 6.54457914e+02] [-8.90121902e-01 -4.55630085e-01 9.17741859e-03 -2.73620500e+02] [-1.02899573e-02 -3.86636962e-05 -9.99947056e-01 -4.82088249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters 0.05133756229157724 Centerline is valid? [True, True] Translation: X:654.49, Y:-273.83, Z:-4.82 [[ 5.20869105e-01 -8.53619693e-01 -5.36607031e-03 6.54488503e+02] [-8.53573490e-01 -5.20896743e-01 8.88148393e-03 -2.73828682e+02] [-1.03765781e-02 -4.57552222e-05 -9.99946161e-01 -4.82162546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters 0.05167684346486616 Centerline is valid? [True, True] Translation: X:654.52, Y:-274.01, Z:-4.82 [[ 5.84397498e-01 -8.11447870e-01 -5.64973276e-03 6.54520170e+02] [-8.11408805e-01 -5.84424803e-01 7.96252055e-03 -2.74014064e+02] [-9.76301429e-03 -6.90341776e-05 -9.99952338e-01 -4.82123931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters 0.05096937710979388 Centerline is valid? [True, True] Translation: X:654.59, Y:-274.23, Z:-4.82 [[ 6.43770342e-01 -7.65192555e-01 -6.33252266e-03 6.54592784e+02] [-7.65154261e-01 -6.43801482e-01 7.65567729e-03 -2.74231475e+02] [-9.93495473e-03 -8.31412984e-05 -9.99950644e-01 -4.82100547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters 0.05141561516784151 Centerline is valid? [True, True] Translation: X:654.66, Y:-274.42, Z:-4.82 [[ 6.99359798e-01 -7.14734406e-01 -7.11353788e-03 6.54656964e+02] [-7.14696013e-01 -6.99395968e-01 7.40875877e-03 -2.74417069e+02] [-1.02704745e-02 -9.73708783e-05 -9.99947253e-01 -4.82106342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters 0.05163521799598352 Centerline is valid? [True, True] Translation: X:654.74, Y:-274.60, Z:-4.82 [[ 7.50092957e-01 -6.61289106e-01 -7.56796009e-03 6.54743010e+02] [-6.61254123e-01 -7.50131127e-01 6.80274521e-03 -2.74604391e+02] [-1.01755437e-02 -9.83464609e-05 -9.99948223e-01 -4.82102280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters 0.05164466380727471 Centerline is valid? [True, True] Translation: X:654.72, Y:-274.69, Z:-4.82 [[ 7.98823688e-01 -6.01513244e-01 -7.90774473e-03 6.54716105e+02] [-6.01482632e-01 -7.98862822e-01 6.06916924e-03 -2.74689144e+02] [-9.96788895e-03 -9.18250418e-05 -9.99950315e-01 -4.82216583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters 0.051508204141351495 Centerline is valid? [True, True] Translation: X:654.70, Y:-274.77, Z:-4.82 [[ 8.42743641e-01 -5.38257314e-01 -7.88789376e-03 6.54696895e+02] [-5.38232853e-01 -8.42780551e-01 5.13211084e-03 -2.74774830e+02] [-9.41015964e-03 -7.95302154e-05 -9.99955720e-01 -4.82225481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters 0.05157936210575857 Centerline is valid? [True, True] Translation: X:654.69, Y:-274.86, Z:-4.82 [[ 8.81543008e-01 -4.72035321e-01 -8.03622364e-03 6.54685022e+02] [-4.72015024e-01 -8.81579634e-01 4.37790373e-03 -2.74861799e+02] [-9.15109629e-03 -6.60921318e-05 -9.99958126e-01 -4.82186252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters 0.05172091333391995 Centerline is valid? [True, True] Translation: X:654.68, Y:-274.94, Z:-4.82 [[ 9.15015610e-01 -4.03338090e-01 -8.05099502e-03 6.54680923e+02] [-4.03321990e-01 -9.15051027e-01 3.60406128e-03 -2.74944894e+02] [-8.82072646e-03 -5.06289959e-05 -9.99961095e-01 -4.82274097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters 0.05191978592017596 Centerline is valid? [True, True] Translation: X:654.68, Y:-275.03, Z:-4.82 [[ 9.43648817e-01 -3.30843370e-01 -8.34116705e-03 6.54682600e+02] [-3.30829996e-01 -9.43685680e-01 2.97515029e-03 -2.75031922e+02] [-8.85574865e-03 -4.79887925e-05 -9.99960786e-01 -4.82364435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters 0.051906019464293116 Centerline is valid? [True, True] Translation: X:654.69, Y:-275.12, Z:-4.82 [[ 9.67247575e-01 -2.53665258e-01 -9.27720026e-03 6.54690318e+02] [-2.53652906e-01 -9.67292062e-01 2.50418753e-03 -2.75117014e+02] [-9.60898754e-03 -6.89805055e-05 -9.99953830e-01 -4.82204069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters 0.05188471865251157 Centerline is valid? [True, True] Translation: X:654.70, Y:-275.21, Z:-4.82 [[ 9.84699425e-01 -1.73989115e-01 -9.73809458e-03 6.54704920e+02] [-1.73979588e-01 -9.84747570e-01 1.82356607e-03 -2.75206515e+02] [-9.90684562e-03 -1.01434774e-04 -9.99950921e-01 -4.82263287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters 0.05157980690849386 Centerline is valid? [True, True] Translation: X:654.73, Y:-275.29, Z:-4.82 [[ 9.95449731e-01 -9.47318555e-02 -1.02814627e-02 6.54726181e+02] [-9.47255543e-02 -9.95502818e-01 1.09921507e-03 -2.75289594e+02] [-1.03393558e-02 -1.20296094e-04 -9.99946540e-01 -4.82227287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters 0.051666431386088 Centerline is valid? [True, True] Translation: X:654.75, Y:-275.37, Z:-4.82 [[ 9.99812165e-01 -1.62810553e-02 -1.05148809e-02 6.54753238e+02] [-1.62788522e-02 -9.99867447e-01 2.95085781e-04 -2.75372537e+02] [-1.05182914e-02 -1.23860162e-04 -9.99944674e-01 -4.82363762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters 0.051853103500545526 Centerline is valid? [True, True] Translation: X:654.78, Y:-275.45, Z:-4.82 [[ 9.98057473e-01 6.14304854e-02 -1.03718536e-02 6.54782953e+02] [ 6.14283874e-02 -9.98111357e-01 -5.21029190e-04 -2.75454885e+02] [-1.03842719e-02 -1.17109163e-04 -9.99946075e-01 -4.82407019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters 0.052159345807326264 Centerline is valid? [True, True] Translation: X:654.82, Y:-275.53, Z:-4.83 [[ 9.90335136e-01 1.38403267e-01 -8.99194914e-03 6.54819866e+02] [ 1.38398511e-01 -9.90375951e-01 -1.15199468e-03 -2.75534065e+02] [-9.06485001e-03 -1.03611567e-04 -9.99958908e-01 -4.82514848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters 0.05171986463445212 Centerline is valid? [True, True] Translation: X:654.86, Y:-275.61, Z:-4.83 [[ 9.76607850e-01 2.14923893e-01 -6.69540326e-03 6.54862211e+02] [ 2.14919499e-01 -9.76630796e-01 -1.37746979e-03 -2.75612242e+02] [-6.83498819e-03 -9.37249106e-05 -9.99976637e-01 -4.82561957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters 0.0517933991859589 Centerline is valid? [True, True] Translation: X:654.91, Y:-275.68, Z:-4.82 [[ 9.56798680e-01 2.90679717e-01 -6.44891122e-03 6.54909192e+02] [ 2.90673770e-01 -9.56820408e-01 -1.86176071e-03 -2.75682288e+02] [-6.71162595e-03 -9.31991446e-05 -9.99977472e-01 -4.82490756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters 0.05197073930210114 Centerline is valid? [True, True] Translation: X:654.96, Y:-275.75, Z:-4.82 [[ 9.31090426e-01 3.64715503e-01 -7.29521472e-03 6.54962082e+02] [ 3.64705112e-01 -9.31119001e-01 -2.75473479e-03 -2.75747475e+02] [-7.79740752e-03 -9.56949071e-05 -9.99969595e-01 -4.82427604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters 0.05192847012725888 Centerline is valid? [True, True] Translation: X:655.02, Y:-275.81, Z:-4.82 [[ 8.99225881e-01 4.37404419e-01 -8.37794607e-03 6.55018205e+02] [ 4.37386557e-01 -8.99264901e-01 -3.95434994e-03 -2.75807092e+02] [-9.26364298e-03 -1.08547184e-04 -9.99957086e-01 -4.82271623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters 0.052122403311973285 Centerline is valid? [True, True] Translation: X:655.08, Y:-275.87, Z:-4.82 [[ 8.60925975e-01 5.08668027e-01 -7.95631914e-03 6.55082612e+02] [ 5.08647717e-01 -8.60962729e-01 -4.54742187e-03 -2.75866828e+02] [-9.16322235e-03 -1.31969955e-04 -9.99958008e-01 -4.82306117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters 0.05220063435106515 Centerline is valid? [True, True] Translation: X:655.15, Y:-275.92, Z:-4.82 [[ 8.17272142e-01 5.76193360e-01 -8.21326554e-03 6.55150871e+02] [ 5.76166190e-01 -8.17313396e-01 -5.59766937e-03 -2.75920845e+02] [-9.93815187e-03 -1.57386685e-04 -9.99950603e-01 -4.82303801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters 0.0520892592656169 Centerline is valid? [True, True] Translation: X:655.22, Y:-275.97, Z:-4.82 [[ 7.67200677e-01 6.41360495e-01 -7.73536323e-03 6.55222904e+02] [ 6.41330447e-01 -7.67239648e-01 -6.21135631e-03 -2.75969470e+02] [-9.91859592e-03 -1.95567186e-04 -9.99950790e-01 -4.82243707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters 0.05197985384454391 Centerline is valid? [True, True] Translation: X:655.30, Y:-276.01, Z:-4.82 [[ 7.12187882e-01 7.01954161e-01 -6.98404744e-03 6.55300769e+02] [ 7.01923481e-01 -7.12222090e-01 -6.56669356e-03 -2.76014281e+02] [-9.58371073e-03 -2.25547316e-04 -9.99954050e-01 -4.82320448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters 0.05194682642535571 Centerline is valid? [True, True] Translation: X:655.38, Y:-276.05, Z:-4.82 [[ 6.53585583e-01 7.56827183e-01 -6.20490599e-03 6.55381313e+02] [ 7.56796484e-01 -6.53614993e-01 -6.82076548e-03 -2.76051812e+02] [-9.21776031e-03 -2.37897050e-04 -9.99957487e-01 -4.82362790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters 0.05090285204206861 Centerline is valid? [True, True] Translation: X:655.46, Y:-276.08, Z:-4.83 [[ 5.91139066e-01 8.06556848e-01 -4.54486067e-03 6.55464441e+02] [ 8.06535783e-01 -5.91156497e-01 -5.83329464e-03 -2.76083542e+02] [-7.39160765e-03 -2.17304417e-04 -9.99972658e-01 -4.82515434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters 0.05248997222134198 Centerline is valid? [True, True] Translation: X:655.55, Y:-276.11, Z:-4.83 [[ 5.27426741e-01 8.49592286e-01 -3.73902311e-03 6.55551259e+02] [ 8.49573512e-01 -5.27439958e-01 -5.65141623e-03 -2.76108916e+02] [-6.77350983e-03 -1.95866951e-04 -9.99977040e-01 -4.82524190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters 0.05249051425070307 Centerline is valid? [True, True] Translation: X:655.64, Y:-276.13, Z:-4.82 [[ 4.63050597e-01 8.86323128e-01 -3.93166892e-03 6.55638460e+02] [ 8.86294509e-01 -4.63067251e-01 -7.12487823e-03 -2.76127146e+02] [-8.13557147e-03 -1.85437465e-04 -9.99966888e-01 -4.82464587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters 0.051884670923800655 Centerline is valid? [True, True] Translation: X:655.73, Y:-276.14, Z:-4.82 [[ 3.95868482e-01 9.18299847e-01 -3.67909298e-03 6.55726519e+02] [ 9.18263890e-01 -3.95885546e-01 -8.12796469e-03 -2.76138093e+02] [-8.92040846e-03 -1.60773188e-04 -9.99960199e-01 -4.82461159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters 0.05188443111785846 Centerline is valid? [True, True] Translation: X:655.81, Y:-276.14, Z:-4.82 [[ 3.28095210e-01 9.44640578e-01 -2.77681709e-03 6.55813069e+02] [ 9.44609476e-01 -3.28106943e-01 -7.66622286e-03 -2.76142434e+02] [-8.15291816e-03 -1.07756736e-04 -9.99966759e-01 -4.82492981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters 0.052000842072829005 Centerline is valid? [True, True] Translation: X:655.90, Y:-276.14, Z:-4.83 [[ 2.57767718e-01 9.66204634e-01 -2.09985573e-03 6.55899365e+02] [ 9.66174728e-01 -2.57776262e-01 -7.60225573e-03 -2.76139113e+02] [-7.88662767e-03 -6.92114287e-05 -9.99968898e-01 -4.82759797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters 0.0518451051387524 Centerline is valid? [True, True] Translation: X:655.99, Y:-276.13, Z:-4.82 [[ 1.84129124e-01 9.82900840e-01 -1.55028596e-03 6.55990805e+02] [ 9.82868075e-01 -1.84135645e-01 -8.02566285e-03 -2.76131275e+02] [-8.17389367e-03 -4.59683047e-05 -9.99966592e-01 -4.82397295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters 0.05181210049476912 Centerline is valid? [True, True] Translation: X:656.07, Y:-276.11, Z:-4.82 [[ 1.06425733e-01 9.94320210e-01 -9.39814341e-04 6.56071833e+02] [ 9.94285256e-01 -1.06429872e-01 -8.33738493e-03 -2.76114621e+02] [-8.39005466e-03 -4.71312395e-05 -9.99964802e-01 -4.82371687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters 0.0520802995216094 Centerline is valid? [True, True] Translation: X:656.15, Y:-276.09, Z:-4.82 [[ 2.55939272e-02 9.99672381e-01 -2.85789158e-04 6.56150399e+02] [ 9.99636798e-01 -2.55954275e-02 -8.43484623e-03 -2.76091438e+02] [-8.43939771e-03 -6.98045191e-05 -9.99964385e-01 -4.82346232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters 0.05213257262420582 Centerline is valid? [True, True] Translation: X:656.23, Y:-276.06, Z:-4.82 [[-5.67647186e-02 9.98387526e-01 3.38604057e-04 6.56231377e+02] [ 9.98357486e-01 5.67656375e-02 -7.74551381e-03 -2.76062314e+02] [-7.75224544e-03 -1.01624016e-04 -9.99969946e-01 -4.82418259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters 0.05251730579615937 Centerline is valid? [True, True] Translation: X:656.31, Y:-276.03, Z:-4.82 [[-1.37352284e-01 9.90521834e-01 9.20143151e-04 6.56310614e+02] [ 9.90493324e-01 1.37355313e-01 -7.51624934e-03 -2.76027929e+02] [-7.57139563e-03 -1.20978364e-04 -9.99971329e-01 -4.82256484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters 0.05138456808414032 Centerline is valid? [True, True] Translation: X:656.38, Y:-275.99, Z:-4.82 [[-2.15140966e-01 9.76582015e-01 1.39029774e-03 6.56380944e+02] [ 9.76557785e-01 2.15145424e-01 -6.88036389e-03 -2.75988105e+02] [-7.01835583e-03 -1.22542055e-04 -9.99975364e-01 -4.82379546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters 0.05150263322215228 Centerline is valid? [True, True] Translation: X:656.45, Y:-275.94, Z:-4.82 [[-2.90326990e-01 9.56925884e-01 1.75846482e-03 6.56445875e+02] [ 9.56905868e-01 2.90332293e-01 -6.19020315e-03 -2.75944398e+02] [-6.43410475e-03 -1.14497739e-04 -9.99979294e-01 -4.82361027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters 0.05162745486678796 Centerline is valid? [True, True] Translation: X:656.52, Y:-275.89, Z:-4.83 [[-3.63342330e-01 9.31653965e-01 1.80038079e-03 6.56516264e+02] [ 9.31641110e-01 3.63346776e-01 -4.89516056e-03 -2.75891153e+02] [-5.21475830e-03 -1.01310291e-04 -9.99986398e-01 -4.82545346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters 0.05180322947226374 Centerline is valid? [True, True] Translation: X:656.58, Y:-275.83, Z:-4.82 [[-4.35137808e-01 9.00360949e-01 2.29129115e-03 6.56582656e+02] [ 9.00347200e-01 4.35143829e-01 -4.97665779e-03 -2.75833390e+02] [-5.47782953e-03 -1.02574388e-04 -9.99984991e-01 -4.82431670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters 0.05158639228341154 Centerline is valid? [True, True] Translation: X:656.64, Y:-275.77, Z:-4.83 [[-5.05101372e-01 8.63054834e-01 2.99290385e-03 6.56639112e+02] [ 8.63038353e-01 5.05110227e-01 -5.33482688e-03 -2.75772557e+02] [-6.11599447e-03 -1.11637570e-04 -9.99981291e-01 -4.82514332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters 0.051436124026440634 Centerline is valid? [True, True] Translation: X:656.69, Y:-275.70, Z:-4.82 [[-5.72221016e-01 8.20084981e-01 4.87161372e-03 6.56694854e+02] [ 8.20053161e-01 5.72241736e-01 -7.22554070e-03 -2.75704737e+02] [-8.71329810e-03 -1.39624010e-04 -9.99962029e-01 -4.82329183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters 0.05193964920181578 Centerline is valid? [True, True] Translation: X:656.74, Y:-275.64, Z:-4.82 [[-6.36121944e-01 7.71563588e-01 6.20504127e-03 6.56742265e+02] [ 7.71524276e-01 6.36152184e-01 -7.79043694e-03 -2.75635332e+02] [-9.95816803e-03 -1.68327920e-04 -9.99950402e-01 -4.82229017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters 0.052026116902023745 Centerline is valid? [True, True] Translation: X:656.78, Y:-275.56, Z:-4.82 [[-6.95404208e-01 7.18593895e-01 5.98347859e-03 6.56784296e+02] [ 7.18565206e-01 6.95429929e-01 -6.42333326e-03 -2.75563091e+02] [-8.77685815e-03 -1.67293454e-04 -9.99961469e-01 -4.82363299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters 0.0520608281719101 Centerline is valid? [True, True] Translation: X:656.82, Y:-275.49, Z:-4.83 [[-7.49893998e-01 6.61536366e-01 5.35052541e-03 6.56818276e+02] [ 6.61518037e-01 7.49913070e-01 -4.92693726e-03 -2.75488517e+02] [-7.27177711e-03 -1.55211608e-04 -9.99973548e-01 -4.82512884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters 0.05194931242348599 Centerline is valid? [True, True] Translation: X:657.23, Y:-274.99, Z:-5.81 [[-6.87210982e-01 -7.26452824e-01 2.71299179e-03 6.57231819e+02] [ 7.26446655e-01 -6.87216332e-01 -2.99521379e-03 -2.74990697e+02] [ 4.04029378e-03 -8.75000006e-05 9.99991834e-01 -5.81189406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters 0.051995240686117036 Centerline is valid? [True, True] Translation: X:657.19, Y:-274.95, Z:-5.81 [[-6.87976419e-01 -7.25727785e-01 2.76208074e-03 6.57193702e+02] [ 7.25722184e-01 -6.87981962e-01 -2.85163658e-03 -2.74947428e+02] [ 3.96977363e-03 4.26445456e-05 9.99992120e-01 -5.81135404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters 0.05200477082562471 Centerline is valid? [True, True] Translation: X:657.15, Y:-274.91, Z:-5.81 [[-6.88742291e-01 -7.25000540e-01 2.87646032e-03 6.57154141e+02] [ 7.24994462e-01 -6.88748296e-01 -2.96891253e-03 -2.74905980e+02] [ 4.13362033e-03 4.06021894e-05 9.99991456e-01 -5.81242627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters 0.052207479841758886 Centerline is valid? [True, True] Translation: X:657.11, Y:-274.87, Z:-5.81 [[-6.89002477e-01 -7.24749773e-01 3.65413173e-03 6.57113874e+02] [ 7.24739965e-01 -6.89012165e-01 -3.77080588e-03 -2.74867059e+02] [ 5.25063192e-03 5.02007043e-05 9.99986214e-01 -5.81493305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters 0.05245036079265481 Centerline is valid? [True, True] Translation: X:657.08, Y:-274.82, Z:-5.81 [[-6.89696842e-01 -7.24087183e-01 4.00221635e-03 6.57077211e+02] [ 7.24075414e-01 -6.89708452e-01 -4.12865904e-03 -2.74824542e+02] [ 5.74987153e-03 5.03833551e-05 9.99983468e-01 -5.81340929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters 0.05182018468490602 Centerline is valid? [True, True] Translation: X:657.04, Y:-274.78, Z:-5.81 [[-6.91702242e-01 -7.22172889e-01 3.78506339e-03 6.57038630e+02] [ 7.22162339e-01 -6.91712598e-01 -3.90364952e-03 -2.74780622e+02] [ 5.43728588e-03 3.32671085e-05 9.99985217e-01 -5.81249650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters 0.051577961680228504 Centerline is valid? [True, True] Translation: X:657.00, Y:-274.74, Z:-5.81 [[-6.94555487e-01 -7.19429754e-01 3.67491768e-03 6.57001175e+02] [ 7.19419775e-01 -6.94565209e-01 -3.78920730e-03 -2.74739169e+02] [ 5.27853844e-03 1.19937336e-05 9.99986068e-01 -5.81344716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters 0.05182797841534008 Centerline is valid? [True, True] Translation: X:656.96, Y:-274.70, Z:-5.81 [[-6.97012033e-01 -7.17048065e-01 4.03719042e-03 6.56963585e+02] [ 7.17035989e-01 -6.97023725e-01 -4.16136487e-03 -2.74696964e+02] [ 5.79791613e-03 -5.71056037e-06 9.99983192e-01 -5.81347293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters 0.052299900323101806 Centerline is valid? [True, True] Translation: X:656.92, Y:-274.65, Z:-5.81 [[-7.00811785e-01 -7.13329723e-01 4.85264688e-03 6.56924132e+02] [ 7.13312196e-01 -7.00828584e-01 -5.00072602e-03 -2.74653844e+02] [ 6.96804015e-03 -4.31155211e-05 9.99975722e-01 -5.81252883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters 0.052017060498992046 Centerline is valid? [True, True] Translation: X:656.89, Y:-274.61, Z:-5.81 [[-7.03942089e-01 -7.10240692e-01 4.86771227e-03 6.56887174e+02] [ 7.10222989e-01 -7.03958915e-01 -5.01514535e-03 -2.74610719e+02] [ 6.98862975e-03 -7.32107326e-05 9.99975577e-01 -5.81236799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters 0.05248453692461995 Centerline is valid? [True, True] Translation: X:656.85, Y:-274.57, Z:-5.81 [[-7.05181390e-01 -7.09011046e-01 4.74804435e-03 6.56850111e+02] [ 7.08994185e-01 -7.05197369e-01 -4.89040716e-03 -2.74567830e+02] [ 6.81566108e-03 -8.22882819e-05 9.99976770e-01 -5.81372116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters 0.05266442746503084 Centerline is valid? [True, True] Translation: X:656.81, Y:-274.53, Z:-5.81 [[-7.05678198e-01 -7.08521179e-01 4.00257263e-03 6.56805665e+02] [ 7.08509196e-01 -7.05689545e-01 -4.12135648e-03 -2.74531479e+02] [ 5.74464201e-03 -7.24918937e-05 9.99983497e-01 -5.81079092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters 0.05219337003485736 Centerline is valid? [True, True] Translation: X:656.76, Y:-274.49, Z:-5.81 [[-7.04244522e-01 -7.09949381e-01 3.39567518e-03 6.56764641e+02] [ 7.09940778e-01 -7.04252706e-01 -3.49539479e-03 -2.74492516e+02] [ 4.87296680e-03 -5.08843528e-05 9.99988126e-01 -5.81202311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters 0.05253073903262743 Centerline is valid? [True, True] Translation: X:656.72, Y:-274.46, Z:-5.81 [[-7.01190215e-01 -7.12963905e-01 3.84092805e-03 6.56720292e+02] [ 7.12952950e-01 -7.01200733e-01 -3.95258274e-03 -2.74455625e+02] [ 5.51131039e-03 -3.31113560e-05 9.99984812e-01 -5.81142390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters 0.052492739961904886 Centerline is valid? [True, True] Translation: X:656.67, Y:-274.42, Z:-5.81 [[-6.96317013e-01 -7.17713995e-01 5.40739960e-03 6.56674854e+02] [ 7.17692435e-01 -6.96338008e-01 -5.56296453e-03 -2.74420115e+02] [ 7.75799536e-03 7.26294758e-06 9.99969906e-01 -5.81106774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters 0.052185344237414374 Centerline is valid? [True, True] Translation: X:656.63, Y:-274.38, Z:-5.81 [[-6.93103611e-01 -7.20813184e-01 5.97810201e-03 6.56630723e+02] [ 7.20786960e-01 -6.93129390e-01 -6.14872809e-03 -2.74381227e+02] [ 8.57568247e-03 4.72323337e-05 9.99963227e-01 -5.81224924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters 0.052368966429939816 Centerline is valid? [True, True] Translation: X:656.59, Y:-274.34, Z:-5.81 [[-6.90355128e-01 -7.23450418e-01 5.41200011e-03 6.56586971e+02] [ 7.23429019e-01 -6.90376337e-01 -5.56485359e-03 -2.74343825e+02] [ 7.76221247e-03 7.34727220e-05 9.99969871e-01 -5.81325585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters 0.05193907154130259 Centerline is valid? [True, True] Translation: X:656.55, Y:-274.30, Z:-5.81 [[-6.90564581e-01 -7.23259074e-01 4.10759596e-03 6.56546936e+02] [ 7.23246752e-01 -6.90576795e-01 -4.22223323e-03 -2.74304946e+02] [ 5.89037895e-03 5.50807163e-05 9.99982650e-01 -5.81191534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters 0.05161646255089113 Centerline is valid? [True, True] Translation: X:656.51, Y:-274.26, Z:-5.81 [[-6.91106376e-01 -7.22748105e-01 2.67457934e-03 6.56506863e+02] [ 7.22742880e-01 -6.91111551e-01 -2.74836816e-03 -2.74263822e+02] [ 3.83481056e-03 3.36184165e-05 9.99992647e-01 -5.81050095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters 0.05127374813737475 Centerline is valid? [True, True] Translation: X:656.47, Y:-274.22, Z:-5.81 [[-6.90217487e-01 -7.23596497e-01 2.81606306e-03 6.56468218e+02] [ 7.23590716e-01 -6.90223230e-01 -2.89287813e-03 -2.74222834e+02] [ 4.03698863e-03 4.09620125e-05 9.99991850e-01 -5.80947175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters 0.052096255858749926 Centerline is valid? [True, True] Translation: X:656.43, Y:-274.18, Z:-5.81 [[-6.88785774e-01 -7.24951204e-01 4.46211412e-03 6.56425250e+02] [ 7.24936722e-01 -6.88800222e-01 -4.58285590e-03 -2.74183565e+02] [ 6.39585210e-03 7.81444380e-05 9.99979543e-01 -5.81268306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters 0.05190908417206856 Centerline is valid? [True, True] Translation: X:656.38, Y:-274.14, Z:-5.81 [[-6.88099985e-01 -7.25596402e-01 5.31708102e-03 6.56384425e+02] [ 7.25575871e-01 -6.88120520e-01 -5.45943605e-03 -2.74143262e+02] [ 7.62013972e-03 1.01307825e-04 9.99970961e-01 -5.81433667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters 0.052359927093230334 Centerline is valid? [True, True] Translation: X:656.34, Y:-274.10, Z:-5.82 [[-6.88721188e-01 -7.24996142e-01 6.61203563e-03 6.56344539e+02] [ 7.24964382e-01 -6.88752917e-01 -6.78711671e-03 -2.74101674e+02] [ 9.47469226e-03 1.19059233e-04 9.99955107e-01 -5.81554527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters 0.05276046507076893 Centerline is valid? [True, True] Translation: X:656.31, Y:-274.06, Z:-5.82 [[-6.90826858e-01 -7.22983358e-01 7.30179026e-03 6.56305784e+02] [ 7.22944533e-01 -6.90865438e-01 -7.49324831e-03 -2.74059101e+02] [ 1.04620483e-02 1.02252162e-04 9.99945266e-01 -5.81656567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters 0.052004328414811125 Centerline is valid? [True, True] Translation: X:656.27, Y:-274.01, Z:-5.81 [[-6.96305803e-01 -7.17717712e-01 6.28611633e-03 6.56270975e+02] [ 7.17688730e-01 -6.96334177e-01 -6.44985225e-03 -2.74012207e+02] [ 9.00641084e-03 2.04052982e-05 9.99959441e-01 -5.81403038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters 0.05265568535721252 Centerline is valid? [True, True] Translation: X:656.23, Y:-273.97, Z:-5.81 [[-7.00552513e-01 -7.13587188e-01 4.41608845e-03 6.56234066e+02] [ 7.13572808e-01 -7.00566432e-01 -4.53015550e-03 -2.73967576e+02] [ 6.32642425e-03 -2.24111879e-05 9.99979988e-01 -5.81265227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters 0.05212115895872445 Centerline is valid? [True, True] Translation: X:656.20, Y:-273.92, Z:-5.81 [[-7.04398597e-01 -7.09798527e-01 2.94410933e-03 6.56195917e+02] [ 7.09792106e-01 -7.04404749e-01 -3.01932298e-03 -2.73923175e+02] [ 4.21695559e-03 -3.71013131e-05 9.99991108e-01 -5.81117929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters 0.05281399137588123 Centerline is valid? [True, True] Translation: X:656.16, Y:-273.88, Z:-5.81 [[-7.09201525e-01 -7.05001817e-01 2.37400522e-03 6.56158619e+02] [ 7.04997618e-01 -7.09205496e-01 -2.43375485e-03 -2.73881658e+02] [ 3.39945914e-03 -5.23546250e-05 9.99994220e-01 -5.81053803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters 0.05306384095795651 Centerline is valid? [True, True] Translation: X:656.12, Y:-273.84, Z:-5.81 [[-7.12881195e-01 -7.01278316e-01 3.02073473e-03 6.56122865e+02] [ 7.01271487e-01 -7.12887590e-01 -3.09616430e-03 -2.73836664e+02] [ 4.32471719e-03 -8.88421737e-05 9.99990644e-01 -5.81177422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters 0.053552852961568115 Centerline is valid? [True, True] Translation: X:656.08, Y:-273.80, Z:-5.81 [[-7.14853187e-01 -6.99265791e-01 3.50345167e-03 6.56078942e+02] [ 6.99256584e-01 -7.14861763e-01 -3.59022634e-03 -2.73798047e+02] [ 5.01500610e-03 -1.16673099e-04 9.99987418e-01 -5.81085235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters 0.053734772148593894 Centerline is valid? [True, True] Translation: X:656.03, Y:-273.76, Z:-5.81 [[-7.15243965e-01 -6.98864849e-01 3.74089488e-03 6.56033582e+02] [ 6.98854350e-01 -7.15253736e-01 -3.83271605e-03 -2.73760268e+02] [ 5.35423956e-03 -1.26986362e-04 9.99985658e-01 -5.81037834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters 0.05335162381768874 Centerline is valid? [True, True] Translation: X:656.00, Y:-273.72, Z:-5.81 [[-7.15153614e-01 -6.98955875e-01 3.99920418e-03 6.55997617e+02] [ 6.98943885e-01 -7.15164783e-01 -4.09615504e-03 -2.73715081e+02] [ 5.72312162e-03 -1.34160777e-04 9.99983614e-01 -5.81238139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters 0.05330962914522888 Centerline is valid? [True, True] Translation: X:655.96, Y:-273.68, Z:-5.81 [[-7.14808359e-01 -6.99311426e-01 3.54099673e-03 6.55956916e+02] [ 6.99302037e-01 -7.14817120e-01 -3.62570268e-03 -2.73675424e+02] [ 5.06666040e-03 -1.15456361e-04 9.99987158e-01 -5.81175977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters 0.053873127177168044 Centerline is valid? [True, True] Translation: X:655.91, Y:-273.64, Z:-5.81 [[-7.13378453e-01 -7.00773128e-01 2.86455157e-03 6.55909035e+02] [ 7.00766998e-01 -7.13384199e-01 -2.93223278e-03 -2.73641237e+02] [ 4.09835577e-03 -8.44084804e-05 9.99991598e-01 -5.81031398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters 0.05302714240210439 Centerline is valid? [True, True] Translation: X:655.87, Y:-273.60, Z:-5.81 [[-7.10049626e-01 -7.04144864e-01 3.08845797e-03 6.55865786e+02] [ 7.04137773e-01 -7.10056339e-01 -3.16094106e-03 -2.73603041e+02] [ 4.41873958e-03 -6.97250979e-05 9.99990235e-01 -5.80989843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters 0.0531533336049026 Centerline is valid? [True, True] Translation: X:655.83, Y:-273.56, Z:-5.81 [[-7.07406394e-01 -7.06801216e-01 2.86966573e-03 6.55825679e+02] [ 7.06795119e-01 -7.07412213e-01 -2.93618603e-03 -2.73561169e+02] [ 4.10533644e-03 -4.88110388e-05 9.99991572e-01 -5.81165002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters 0.05305461422867704 Centerline is valid? [True, True] Translation: X:655.78, Y:-273.53, Z:-5.81 [[-7.02106383e-01 -7.12069273e-01 1.99446826e-03 6.55779383e+02] [ 7.12066351e-01 -7.02109215e-01 -2.04000109e-03 -2.73527051e+02] [ 2.85295664e-03 -1.21040456e-05 9.99995930e-01 -5.81238587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters 0.05263496530995877 Centerline is valid? [True, True] Translation: X:655.74, Y:-273.49, Z:-5.81 [[-6.99784575e-01 -7.14350703e-01 2.14971570e-03 6.55737668e+02] [ 7.14347321e-01 -6.99787877e-01 -2.19802037e-03 -2.73490338e+02] [ 3.07450238e-03 -2.49709544e-06 9.99995274e-01 -5.81280828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters 0.05225837863958929 Centerline is valid? [True, True] Translation: X:655.69, Y:-273.45, Z:-5.81 [[-6.96420757e-01 -7.17627284e-01 3.03485327e-03 6.55693863e+02] [ 7.17620579e-01 -6.96427370e-01 -3.10226806e-03 -2.73453568e+02] [ 4.33982709e-03 1.73892911e-05 9.99990583e-01 -5.81447513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters 0.05257717494330533 Centerline is valid? [True, True] Translation: X:655.65, Y:-273.42, Z:-5.82 [[-6.92928703e-01 -7.20994273e-01 4.13181619e-03 6.55649850e+02] [ 7.20981910e-01 -6.92941019e-01 -4.22257027e-03 -2.73415278e+02] [ 5.90755390e-03 5.30245843e-05 9.99982549e-01 -5.81503017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters 0.052699100138395565 Centerline is valid? [True, True] Translation: X:655.61, Y:-273.37, Z:-5.81 [[-6.91173326e-01 -7.22673177e-01 4.78668566e-03 6.55608312e+02] [ 7.22656634e-01 -6.91189896e-01 -4.89053746e-03 -2.73374980e+02] [ 6.84276901e-03 7.89210996e-05 9.99976585e-01 -5.81487093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters 0.05220061006639253 Centerline is valid? [True, True] Translation: X:655.57, Y:-273.33, Z:-5.81 [[-6.89812156e-01 -7.23974136e-01 4.54320903e-03 6.55566776e+02] [ 7.23959268e-01 -6.89827111e-01 -4.64061272e-03 -2.73334426e+02] [ 6.49371234e-03 8.79472235e-05 9.99978912e-01 -5.81448882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters 0.05226711932127592 Centerline is valid? [True, True] Translation: X:655.53, Y:-273.29, Z:-5.81 [[-6.90064646e-01 -7.23737363e-01 3.87474060e-03 6.55526620e+02] [ 7.23726551e-01 -6.90075521e-01 -3.95669080e-03 -2.73293729e+02] [ 5.53746860e-03 7.38802145e-05 9.99984665e-01 -5.81405723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters 0.05260470612866839 Centerline is valid? [True, True] Translation: X:655.49, Y:-273.25, Z:-5.81 [[-6.90235169e-01 -7.23576155e-01 3.59985164e-03 6.55487394e+02] [ 7.23566827e-01 -6.90244553e-01 -3.67487455e-03 -2.73251778e+02] [ 5.14382958e-03 6.82055704e-05 9.99986768e-01 -5.81381166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters 0.0522149384044923 Centerline is valid? [True, True] Translation: X:655.45, Y:-273.21, Z:-5.82 [[-6.89330013e-01 -7.24435910e-01 4.09216311e-03 6.55447293e+02] [ 7.24423877e-01 -6.89342154e-01 -4.17632335e-03 -2.73211655e+02] [ 5.84637914e-03 8.55956346e-05 9.99982906e-01 -5.81524164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters 0.052454808431224596 Centerline is valid? [True, True] Translation: X:655.41, Y:-273.17, Z:-5.81 [[-6.87409627e-01 -7.26258691e-01 4.03952374e-03 6.55408757e+02] [ 7.26247004e-01 -6.87421489e-01 -4.12145285e-03 -2.73168801e+02] [ 5.77009638e-03 1.00565650e-04 9.99983348e-01 -5.81432405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters 0.05265468764680812 Centerline is valid? [True, True] Translation: X:655.37, Y:-273.13, Z:-5.81 [[-6.86471115e-01 -7.27148251e-01 3.58183333e-03 6.55368862e+02] [ 7.27139078e-01 -6.86480453e-01 -3.65360192e-03 -2.73126864e+02] [ 5.11556881e-03 9.63988038e-05 9.99986911e-01 -5.81430171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters 0.052995524120169606 Centerline is valid? [True, True] Translation: X:655.33, Y:-273.09, Z:-5.82 [[-6.86254314e-01 -7.27351031e-01 3.93641010e-03 6.55327518e+02] [ 7.27339962e-01 -6.86265595e-01 -4.01417031e-03 -2.73088063e+02] [ 5.62113373e-03 1.08366686e-04 9.99984195e-01 -5.81599366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters 0.05276426311555854 Centerline is valid? [True, True] Translation: X:655.29, Y:-273.04, Z:-5.81 [[-6.86979474e-01 -7.26667928e-01 3.59521565e-03 6.55291854e+02] [ 7.26658690e-01 -6.86988875e-01 -3.66530478e-03 -2.73042209e+02] [ 5.13333258e-03 9.45055435e-05 9.99986820e-01 -5.81473945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters 0.05177726162725916 Centerline is valid? [True, True] Translation: X:655.25, Y:-273.00, Z:-5.81 [[-6.88515513e-01 -7.25215186e-01 3.05332440e-03 6.55254498e+02] [ 7.25208512e-01 -6.88522279e-01 -3.11199493e-03 -2.72997941e+02] [ 4.35914786e-03 7.16400582e-05 9.99990496e-01 -5.81455027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters 0.05129956128302982 Centerline is valid? [True, True] Translation: X:655.21, Y:-272.96, Z:-5.82 [[-6.89767733e-01 -7.24023784e-01 3.16790097e-03 6.55214886e+02] [ 7.24016591e-01 -6.89775004e-01 -3.22796728e-03 -2.72957383e+02] [ 4.52226399e-03 6.70651883e-05 9.99989772e-01 -5.81560125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters 0.05187399983183118 Centerline is valid? [True, True] Translation: X:655.18, Y:-272.92, Z:-5.82 [[-6.90268005e-01 -7.23544081e-01 3.74764077e-03 6.55178015e+02] [ 7.23534014e-01 -6.90278174e-01 -3.81744539e-03 -2.72916005e+02] [ 5.34900464e-03 7.64851600e-05 9.99985691e-01 -5.81622700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters 0.052148792758425044 Centerline is valid? [True, True] Translation: X:655.14, Y:-272.88, Z:-5.82 [[-6.90412611e-01 -7.23404862e-01 3.97896258e-03 6.55138874e+02] [ 7.23393519e-01 -6.90424071e-01 -4.05192491e-03 -2.72875415e+02] [ 5.67835373e-03 8.08556892e-05 9.99983875e-01 -5.81662328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters 0.05261062520424993 Centerline is valid? [True, True] Translation: X:655.10, Y:-272.83, Z:-5.82 [[-6.91122163e-01 -7.22726776e-01 4.02042796e-03 6.55102057e+02] [ 7.22715190e-01 -6.91133852e-01 -4.09295439e-03 -2.72831468e+02] [ 5.73674159e-03 7.68928671e-05 9.99983542e-01 -5.81610714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters 0.05210473282149596 Centerline is valid? [True, True] Translation: X:655.06, Y:-272.79, Z:-5.82 [[-6.92252863e-01 -7.21647948e-01 3.19584310e-03 6.55063872e+02] [ 7.21640619e-01 -6.92260238e-01 -3.25266065e-03 -2.72788978e+02] [ 4.55963099e-03 5.45865496e-05 9.99989603e-01 -5.81542674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters 0.05164269896799482 Centerline is valid? [True, True] Translation: X:655.03, Y:-272.75, Z:-5.81 [[-6.93156044e-01 -7.20782166e-01 2.78696153e-03 6.55025699e+02] [ 7.20776589e-01 -6.93161646e-01 -2.83568116e-03 -2.72745679e+02] [ 3.97572325e-03 4.32070937e-05 9.99992096e-01 -5.81487605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters 0.051802099170057105 Centerline is valid? [True, True] Translation: X:654.99, Y:-272.70, Z:-5.82 [[-6.93801500e-01 -7.20161796e-01 2.54306980e-03 6.54987124e+02] [ 7.20157151e-01 -6.93806159e-01 -2.58668879e-03 -2.72704973e+02] [ 3.62723194e-03 3.67613391e-05 9.99993421e-01 -5.81577511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters 0.05171300124134099 Centerline is valid? [True, True] Translation: X:654.95, Y:-272.67, Z:-5.82 [[-6.93564413e-01 -7.20390659e-01 2.38837010e-03 6.54948797e+02] [ 7.20386566e-01 -6.93568524e-01 -2.42849414e-03 -2.72665453e+02] [ 3.40596282e-03 3.62326216e-05 9.99994199e-01 -5.81632277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters 0.05157289990837892 Centerline is valid? [True, True] Translation: X:654.91, Y:-272.62, Z:-5.82 [[-6.92493075e-01 -7.21421200e-01 2.18932092e-03 6.54910306e+02] [ 7.21417767e-01 -6.92496535e-01 -2.22587403e-03 -2.72620918e+02] [ 3.12188986e-03 3.80126579e-05 9.99995126e-01 -5.81580339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters 0.05116263998806324 Centerline is valid? [True, True] Translation: X:654.87, Y:-272.58, Z:-5.82 [[-6.90307124e-01 -7.23509700e-01 3.12847652e-03 6.54868999e+02] [ 7.23502714e-01 -6.90314210e-01 -3.18021644e-03 -2.72580853e+02] [ 4.46054925e-03 6.81351901e-05 9.99990049e-01 -5.81741093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters 0.051642202059336 Centerline is valid? [True, True] Translation: X:654.83, Y:-272.54, Z:-5.82 [[-6.88770981e-01 -7.24970637e-01 3.48008470e-03 6.54829882e+02] [ 7.24962015e-01 -6.88779768e-01 -3.53669598e-03 -2.72538143e+02] [ 4.96101266e-03 8.69556549e-05 9.99987690e-01 -5.81765449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters 0.051703086112585554 Centerline is valid? [True, True] Translation: X:654.79, Y:-272.49, Z:-5.82 [[-6.88220910e-01 -7.25492221e-01 3.60779148e-03 6.54792425e+02] [ 7.25482965e-01 -6.88230360e-01 -3.66601199e-03 -2.72493458e+02] [ 5.14265481e-03 9.43651554e-05 9.99986772e-01 -5.81678761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters 0.05095493983674304 Centerline is valid? [True, True] Translation: X:654.75, Y:-272.45, Z:-5.82 [[-6.87638550e-01 -7.26043751e-01 3.70088490e-03 6.54753566e+02] [ 7.26034022e-01 -6.87648502e-01 -3.75998055e-03 -2.72451415e+02] [ 5.27481834e-03 1.01460776e-04 9.99986083e-01 -5.81770824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters 0.05120732922394617 Centerline is valid? [True, True] Translation: X:654.71, Y:-272.41, Z:-5.82 [[-6.87308095e-01 -7.26354573e-01 4.07641435e-03 6.54713407e+02] [ 7.26342780e-01 -6.87320173e-01 -4.14072422e-03 -2.72410512e+02] [ 5.80943579e-03 1.14920855e-04 9.99983118e-01 -5.81895079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters 0.05125607132298502 Centerline is valid? [True, True] Translation: X:654.68, Y:-272.36, Z:-5.82 [[-6.87398506e-01 -7.26266198e-01 4.55000163e-03 6.54677181e+02] [ 7.26251511e-01 -6.87413553e-01 -4.62056394e-03 -2.72364081e+02] [ 6.48349220e-03 1.28276807e-04 9.99978974e-01 -5.81862701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters 0.05175770378129263 Centerline is valid? [True, True] Translation: X:654.64, Y:-272.32, Z:-5.82 [[-6.85874301e-01 -7.27706816e-01 4.38548898e-03 6.54635554e+02] [ 7.27693208e-01 -6.85888308e-01 -4.45243738e-03 -2.72323324e+02] [ 6.24802465e-03 1.37478171e-04 9.99980471e-01 -5.81866428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters 0.05140500963194961 Centerline is valid? [True, True] Translation: X:654.59, Y:-272.29, Z:-5.82 [[-6.85846479e-01 -7.27729971e-01 4.86782490e-03 6.54592636e+02] [ 7.27713212e-01 -6.85863737e-01 -4.94126989e-03 -2.72285576e+02] [ 6.93457477e-03 1.53427935e-04 9.99975944e-01 -5.81919416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters 0.05124016399287283 Centerline is valid? [True, True] Translation: X:654.55, Y:-272.24, Z:-5.82 [[-6.87749230e-01 -7.25934899e-01 4.41803941e-03 6.54552431e+02] [ 7.25921063e-01 -6.87763410e-01 -4.48350131e-03 -2.72243618e+02] [ 6.29329591e-03 1.23623292e-04 9.99980189e-01 -5.81852560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters 0.051113116538364194 Centerline is valid? [True, True] Translation: X:654.51, Y:-272.20, Z:-5.82 [[-6.89996413e-01 -7.23801525e-01 4.03757564e-03 6.54511704e+02] [ 7.23789941e-01 -6.90008219e-01 -4.09623260e-03 -2.72204021e+02] [ 5.75081978e-03 9.59708325e-05 9.99983459e-01 -5.81936305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters 0.05130665144951053 Centerline is valid? [True, True] Translation: X:654.47, Y:-272.16, Z:-5.82 [[-6.94143184e-01 -7.19825154e-01 4.12163364e-03 6.54474145e+02] [ 7.19813018e-01 -6.94155418e-01 -4.18027199e-03 -2.72163093e+02] [ 5.87011925e-03 6.50982453e-05 9.99982769e-01 -5.82023055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters 0.05151144569418646 Centerline is valid? [True, True] Translation: X:654.44, Y:-272.12, Z:-5.82 [[-6.98522564e-01 -7.15568083e-01 5.34281860e-03 6.54436112e+02] [ 7.15547571e-01 -6.98542996e-01 -5.41823809e-03 -2.72118141e+02] [ 7.60930675e-03 3.82793040e-05 9.99971048e-01 -5.82027546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters 0.0510435117205512 Centerline is valid? [True, True] Translation: X:654.40, Y:-272.08, Z:-5.82 [[-7.00668970e-01 -7.13465472e-01 5.47860383e-03 6.54396612e+02] [ 7.13443850e-01 -7.00690388e-01 -5.55459909e-03 -2.72077808e+02] [ 7.80181971e-03 1.67409867e-05 9.99969565e-01 -5.82169988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters 0.05146325405744315 Centerline is valid? [True, True] Translation: X:654.36, Y:-272.04, Z:-5.82 [[-7.02239697e-01 -7.11926738e-01 4.44160870e-03 6.54356025e+02] [ 7.11912504e-01 -7.02253743e-01 -4.50191655e-03 -2.72037092e+02] [ 6.32417110e-03 6.12259289e-07 9.99980002e-01 -5.81959520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters 0.05156423099449139 Centerline is valid? [True, True] Translation: X:654.32, Y:-272.00, Z:-5.82 [[-7.02773846e-01 -7.11399865e-01 4.37652213e-03 6.54315827e+02] [ 7.11386043e-01 -7.02787473e-01 -4.43462213e-03 -2.71996443e+02] [ 6.23055452e-03 -3.13969285e-06 9.99980590e-01 -5.81947296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters 0.051687006223645256 Centerline is valid? [True, True] Translation: X:654.28, Y:-271.96, Z:-5.82 [[-7.03034821e-01 -7.11142265e-01 4.32663353e-03 6.54276000e+02] [ 7.11128759e-01 -7.03048134e-01 -4.38277264e-03 -2.71955078e+02] [ 6.15860649e-03 -4.44824686e-06 9.99981036e-01 -5.81900203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters 0.051759616033387953 Centerline is valid? [True, True] Translation: X:654.24, Y:-271.92, Z:-5.82 [[-7.02466487e-01 -7.11706763e-01 3.78390181e-03 6.54235208e+02] [ 7.11696448e-01 -7.02476678e-01 -3.83183448e-03 -2.71915136e+02] [ 5.38524529e-03 1.25417359e-06 9.99985499e-01 -5.81804371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters 0.05169883053793472 Centerline is valid? [True, True] Translation: X:654.19, Y:-271.88, Z:-5.82 [[-7.01818932e-01 -7.12349332e-01 2.93545641e-03 6.54194684e+02] [ 7.12343133e-01 -7.01825071e-01 -2.97165790e-03 -2.71876011e+02] [ 4.17703542e-03 5.48644720e-06 9.99991276e-01 -5.81779216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters 0.05112097427083549 Centerline is valid? [True, True] Translation: X:654.15, Y:-271.84, Z:-5.82 [[-7.01122926e-01 -7.13037721e-01 1.96255639e-03 6.54153733e+02] [ 7.13034955e-01 -7.01125673e-01 -1.98610894e-03 -2.71835867e+02] [ 2.79216926e-03 6.86480226e-06 9.99996102e-01 -5.81585607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters 0.05085322015349198 Centerline is valid? [True, True] Translation: X:654.11, Y:-271.80, Z:-5.82 [[-7.01024942e-01 -7.13133563e-01 2.13384175e-03 6.54113617e+02] [ 7.13130295e-01 -7.01028189e-01 -2.15878468e-03 -2.71795819e+02] [ 3.03538502e-03 8.34529514e-06 9.99995393e-01 -5.81611894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters 0.0514681726262339 Centerline is valid? [True, True] Translation: X:654.07, Y:-271.75, Z:-5.82 [[-7.01246144e-01 -7.12916831e-01 1.85412502e-03 6.54071949e+02] [ 7.12914364e-01 -7.01248595e-01 -1.87542099e-03 -2.71754933e+02] [ 2.63722176e-03 6.70062401e-06 9.99996523e-01 -5.81599549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters 0.05206845569535684 Centerline is valid? [True, True] Translation: X:654.03, Y:-271.72, Z:-5.82 [[-7.01227844e-01 -7.12935647e-01 1.50785820e-03 6.54031082e+02] [ 7.12934017e-01 -7.01229465e-01 -1.52459153e-03 -2.71717363e+02] [ 2.14429025e-03 5.91737036e-06 9.99997701e-01 -5.81748320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters 0.051133553274391806 Centerline is valid? [True, True] Translation: X:653.99, Y:-271.68, Z:-5.82 [[-7.00871808e-01 -7.13284670e-01 1.92042624e-03 6.53991815e+02] [ 7.13282029e-01 -7.00874439e-01 -1.94118588e-03 -2.71676358e+02] [ 2.73059579e-03 9.28306566e-06 9.99996272e-01 -5.81562472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters 0.05126339339184453 Centerline is valid? [True, True] Translation: X:653.95, Y:-271.64, Z:-5.82 [[-6.99918920e-01 -7.14217560e-01 2.60410551e-03 6.53950365e+02] [ 7.14212711e-01 -6.99923764e-01 -2.63186476e-03 -2.71636904e+02] [ 3.70239936e-03 1.77933145e-05 9.99993146e-01 -5.81739055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters 0.051198224473400326 Centerline is valid? [True, True] Translation: X:653.91, Y:-271.60, Z:-5.82 [[-6.97317064e-01 -7.16752861e-01 3.77470768e-03 6.53907789e+02] [ 7.16742713e-01 -6.97327279e-01 -3.81428086e-03 -2.71598693e+02] [ 5.36610335e-03 4.57310946e-05 9.99985601e-01 -5.81903915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters 0.05155003663286159 Centerline is valid? [True, True] Translation: X:653.86, Y:-271.56, Z:-5.82 [[-6.94031984e-01 -7.19933531e-01 3.91345147e-03 6.53863518e+02] [ 7.19922681e-01 -6.94043014e-01 -3.95327674e-03 -2.71563800e+02] [ 5.56220014e-03 7.36819746e-05 9.99984528e-01 -5.82025221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters 0.05123786164556142 Centerline is valid? [True, True] Translation: X:653.82, Y:-271.52, Z:-5.82 [[-6.90842571e-01 -7.22999013e-01 2.99498188e-03 6.53824085e+02] [ 7.22992690e-01 -6.90849058e-01 -3.02465595e-03 -2.71521283e+02] [ 4.25590368e-03 7.57889124e-05 9.99990941e-01 -5.81674457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters 0.051660414133320696 Centerline is valid? [True, True] Translation: X:653.78, Y:-271.48, Z:-5.82 [[-6.89130392e-01 -7.24634990e-01 1.85342711e-03 6.53781585e+02] [ 7.24632576e-01 -6.89132882e-01 -1.87114036e-03 -2.71484690e+02] [ 2.63315134e-03 5.35939732e-05 9.99996532e-01 -5.81614464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters 0.05195766165873159 Centerline is valid? [True, True] Translation: X:653.74, Y:-271.45, Z:-5.81 [[-6.86997149e-01 -7.26659453e-01 9.77523180e-04 6.53740617e+02] [ 7.26658785e-01 -6.86997844e-01 -9.86470080e-04 -2.71445927e+02] [ 1.38838413e-03 3.26236732e-05 9.99999036e-01 -5.81484173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters 0.05262686718161245 Centerline is valid? [True, True] Translation: X:653.70, Y:-271.41, Z:-5.82 [[-6.85711120e-01 -7.27872299e-01 1.47524129e-03 6.53698974e+02] [ 7.27870779e-01 -6.85712705e-01 -1.48839963e-03 -2.71407693e+02] [ 2.09495656e-03 5.31728498e-05 9.99997804e-01 -5.81626417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters 0.05257865042271793 Centerline is valid? [True, True] Translation: X:653.66, Y:-271.37, Z:-5.82 [[-6.85450475e-01 -7.28116833e-01 1.87692641e-03 6.53656386e+02] [ 7.28114375e-01 -6.85453042e-01 -1.89323919e-03 -2.71369520e+02] [ 2.66504424e-03 6.88954003e-05 9.99996446e-01 -5.81705093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters 0.05225033800153847 Centerline is valid? [True, True] Translation: X:653.62, Y:-271.33, Z:-5.82 [[-6.84982126e-01 -7.28555214e-01 2.60512765e-03 6.53618925e+02] [ 7.28550484e-01 -6.84987073e-01 -2.62710725e-03 -2.71325627e+02] [ 3.69847145e-03 9.84455060e-05 9.99993156e-01 -5.81773585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters 0.05119450683052267 Centerline is valid? [True, True] Translation: X:653.58, Y:-271.28, Z:-5.82 [[-6.84733020e-01 -7.28780853e-01 4.37719546e-03 6.53581378e+02] [ 7.28767509e-01 -6.84746990e-01 -4.41322053e-03 -2.71280320e+02] [ 6.21354203e-03 1.68080008e-04 9.99980682e-01 -5.81832674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters 0.05195408533696831 Centerline is valid? [True, True] Translation: X:653.54, Y:-271.24, Z:-5.82 [[-6.85382625e-01 -7.28162469e-01 5.48411279e-03 6.53540190e+02] [ 7.28141512e-01 -6.85404535e-01 -5.52829231e-03 -2.71240454e+02] [ 7.78433075e-03 2.04214680e-04 9.99969681e-01 -5.81967996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters 0.051298148224856094 Centerline is valid? [True, True] Translation: X:653.50, Y:-271.20, Z:-5.82 [[-6.88312890e-01 -7.25392747e-01 5.54324172e-03 6.53502739e+02] [ 7.25371258e-01 -6.88335188e-01 -5.58623963e-03 -2.71197330e+02] [ 7.86782604e-03 1.75827474e-04 9.99969033e-01 -5.81931261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters 0.05155118296963574 Centerline is valid? [True, True] Translation: X:653.46, Y:-271.16, Z:-5.82 [[-6.92715373e-01 -7.21198229e-01 4.30414836e-03 6.53464982e+02] [ 7.21185200e-01 -6.92728738e-01 -4.33628094e-03 -2.71156166e+02] [ 6.10892540e-03 1.00279628e-04 9.99981335e-01 -5.82005571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters 0.05134848849838424 Centerline is valid? [True, True] Translation: X:653.43, Y:-271.11, Z:-5.82 [[-6.95882811e-01 -7.18147922e-01 3.26740140e-03 6.53429475e+02] [ 7.18140384e-01 -6.95890479e-01 -3.29079364e-03 -2.71111002e+02] [ 4.63703014e-03 5.64461700e-05 9.99989247e-01 -5.81831919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters 0.05155012358401109 Centerline is valid? [True, True] Translation: X:653.39, Y:-271.07, Z:-5.82 [[-6.98523147e-01 -7.15583090e-01 2.50092507e-03 6.53392823e+02] [ 7.15578660e-01 -6.98527623e-01 -2.51813555e-03 -2.71065441e+02] [ 3.54890046e-03 3.06326420e-05 9.99993702e-01 -5.81786444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters 0.05081748511804369 Centerline is valid? [True, True] Translation: X:653.35, Y:-271.02, Z:-5.82 [[-6.98117814e-01 -7.15972869e-01 3.79057758e-03 6.53353434e+02] [ 7.15962701e-01 -6.98128103e-01 -3.81606679e-03 -2.71023505e+02] [ 5.37850902e-03 4.98479557e-05 9.99985534e-01 -5.81982675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters 0.05118428391185041 Centerline is valid? [True, True] Translation: X:653.31, Y:-270.98, Z:-5.82 [[-6.96699340e-01 -7.17347396e-01 4.76894918e-03 6.53313403e+02] [ 7.17331343e-01 -6.96715657e-01 -4.79976726e-03 -2.70981561e+02] [ 6.76570211e-03 7.69220394e-05 9.99977109e-01 -5.82004199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters 0.05075231473354842 Centerline is valid? [True, True] Translation: X:653.27, Y:-270.94, Z:-5.82 [[-6.93698069e-01 -7.20248173e-01 5.05566575e-03 6.53270857e+02] [ 7.20230213e-01 -6.93716482e-01 -5.08758673e-03 -2.70943358e+02] [ 7.17152370e-03 1.11994125e-04 9.99974278e-01 -5.82141226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters 0.05114560463081715 Centerline is valid? [True, True] Translation: X:653.23, Y:-270.90, Z:-5.82 [[-6.92192438e-01 -7.21700862e-01 4.18264742e-03 6.53230112e+02] [ 7.21688602e-01 -6.92205067e-01 -4.20796475e-03 -2.70900900e+02] [ 5.93214152e-03 1.05847590e-04 9.99982399e-01 -5.82066295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters 0.050963812001429236 Centerline is valid? [True, True] Translation: X:653.19, Y:-270.86, Z:-5.82 [[-6.91356941e-01 -7.22505951e-01 3.27581857e-03 6.53187993e+02] [ 7.22498444e-01 -6.91364696e-01 -3.29480254e-03 -2.70860303e+02] [ 4.64529975e-03 8.88892196e-05 9.99989207e-01 -5.82066029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters 0.05145215372444955 Centerline is valid? [True, True] Translation: X:653.15, Y:-270.82, Z:-5.82 [[-6.92506275e-01 -7.21401224e-01 3.91574692e-03 6.53145496e+02] [ 7.21390486e-01 -6.92517338e-01 -3.93743386e-03 -2.70822362e+02] [ 5.55219224e-03 9.80849153e-05 9.99984582e-01 -5.82263161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters 0.05111759041968779 Centerline is valid? [True, True] Translation: X:653.11, Y:-270.78, Z:-5.82 [[-6.93614289e-01 -7.20332468e-01 4.51157289e-03 6.53106780e+02] [ 7.20318198e-01 -6.93628953e-01 -4.53530494e-03 -2.70779474e+02] [ 6.39628498e-03 1.04015751e-04 9.99979538e-01 -5.82194998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters 0.050955684863971853 Centerline is valid? [True, True] Translation: X:653.07, Y:-270.74, Z:-5.82 [[-6.94150355e-01 -7.19818651e-01 4.04889515e-03 6.53065786e+02] [ 7.19807155e-01 -6.94162158e-01 -4.06913791e-03 -2.70738634e+02] [ 5.73963116e-03 8.98301776e-05 9.99983524e-01 -5.82141449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters 0.05106970780571329 Centerline is valid? [True, True] Translation: X:653.02, Y:-270.70, Z:-5.82 [[-6.94102883e-01 -7.19869404e-01 3.03786876e-03 6.53022425e+02] [ 7.19862937e-01 -6.94109527e-01 -3.05218999e-03 -2.70700978e+02] [ 4.30579184e-03 6.83152546e-05 9.99990728e-01 -5.82128603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters 0.05114911385234914 Centerline is valid? [True, True] Translation: X:652.98, Y:-270.66, Z:-5.82 [[-6.94833432e-01 -7.19168369e-01 1.83277180e-03 6.52984357e+02] [ 7.19166014e-01 -6.94835848e-01 -1.84088261e-03 -2.70657014e+02] [ 2.59738009e-03 3.89604104e-05 9.99996626e-01 -5.81953302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters 0.050670367399614995 Centerline is valid? [True, True] Translation: X:652.94, Y:-270.62, Z:-5.82 [[-6.96373224e-01 -7.17677506e-01 1.82487110e-03 6.52941594e+02] [ 7.17675167e-01 -6.96375614e-01 -1.83271777e-03 -2.70618469e+02] [ 2.58609605e-03 3.34090836e-05 9.99996655e-01 -5.82048700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters 0.05114283706763881 Centerline is valid? [True, True] Translation: X:652.90, Y:-270.57, Z:-5.82 [[-6.99819957e-01 -7.14318832e-01 7.96704030e-04 6.52904817e+02] [ 7.14318384e-01 -6.99820410e-01 -7.99847704e-04 -2.70572697e+02] [ 1.12889602e-03 9.35094944e-06 9.99999363e-01 -5.81845057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters 0.05105516593078343 Centerline is valid? [True, True] Translation: X:652.86, Y:-270.53, Z:-5.82 [[-7.03076363e-01 -7.11114004e-01 7.07741446e-04 6.52864614e+02] [ 7.11113650e-01 -7.03076719e-01 -7.10333886e-04 -2.70531450e+02] [ 1.00272491e-03 3.86563831e-06 9.99999497e-01 -5.81887094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters 0.0507591885893178 Centerline is valid? [True, True] Translation: X:652.83, Y:-270.49, Z:-5.82 [[-7.04845763e-01 -7.09359596e-01 1.18874018e-03 6.52825466e+02] [ 7.09358593e-01 -7.04846766e-01 -1.19282315e-03 -2.70490266e+02] [ 1.68402022e-03 2.48671899e-06 9.99998582e-01 -5.81992236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters 0.051105114207555806 Centerline is valid? [True, True] Translation: X:652.79, Y:-270.45, Z:-5.82 [[-7.06760898e-01 -7.07446003e-01 3.03094524e-03 6.52785511e+02] [ 7.07439468e-01 -7.06767397e-01 -3.04083013e-03 -2.70448966e+02] [ 4.29339640e-03 -4.92955032e-06 9.99990783e-01 -5.82118709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters 0.051882921297669374 Centerline is valid? [True, True] Translation: X:652.74, Y:-270.41, Z:-5.82 [[-7.06981019e-01 -7.07222953e-01 3.67871207e-03 6.52742385e+02] [ 7.07213327e-01 -7.06990590e-01 -3.69003247e-03 -2.70408920e+02] [ 5.21049048e-03 -7.14871621e-06 9.99986425e-01 -5.82032383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters 0.05231604346861645 Centerline is valid? [True, True] Translation: X:652.70, Y:-270.37, Z:-5.82 [[-7.06756584e-01 -7.07446120e-01 3.88826936e-03 6.52700435e+02] [ 7.07435374e-01 -7.06767279e-01 -3.89927391e-03 -2.70369445e+02] [ 5.50662776e-03 -5.13821760e-06 9.99984838e-01 -5.82264695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters 0.0516845957907473 Centerline is valid? [True, True] Translation: X:652.66, Y:-270.33, Z:-5.82 [[-7.06630818e-01 -7.07577270e-01 2.70084171e-03 6.52659735e+02] [ 7.07572089e-01 -7.06635979e-01 -2.70761507e-03 -2.70330036e+02] [ 3.82435880e-03 -2.24403910e-06 9.99992687e-01 -5.82167240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters 0.05117397173744466 Centerline is valid? [True, True] Translation: X:652.62, Y:-270.29, Z:-5.82 [[-7.06095943e-01 -7.08113354e-01 1.99927209e-03 6.52618958e+02] [ 7.08110519e-01 -7.06098774e-01 -2.00356959e-03 -2.70290718e+02] [ 2.83043795e-03 9.93237328e-07 9.99995994e-01 -5.82102982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters 0.05127546190515476 Centerline is valid? [True, True] Translation: X:652.58, Y:-270.25, Z:-5.82 [[-7.02783613e-01 -7.11401126e-01 1.90566134e-03 6.52575640e+02] [ 7.11398564e-01 -7.02786197e-01 -1.90930181e-03 -2.70251669e+02] [ 2.69755194e-03 1.38587216e-05 9.99996362e-01 -5.82093446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters 0.05125142237939272 Centerline is valid? [True, True] Translation: X:652.53, Y:-270.22, Z:-5.82 [[-6.97997206e-01 -7.16097081e-01 2.20700297e-03 6.52530206e+02] [ 7.16093670e-01 -6.98000694e-01 -2.21077969e-03 -2.70216896e+02] [ 3.12362249e-03 3.73028061e-05 9.99995121e-01 -5.82220551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters 0.05138507267137092 Centerline is valid? [True, True] Translation: X:652.49, Y:-270.18, Z:-5.82 [[-6.93431521e-01 -7.20518949e-01 2.27372121e-03 6.52488861e+02] [ 7.20515353e-01 -6.93435246e-01 -2.27717066e-03 -2.70177414e+02] [ 3.21742304e-03 5.91891285e-05 9.99994822e-01 -5.82194622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters 0.05124001981614859 Centerline is valid? [True, True] Translation: X:652.45, Y:-270.14, Z:-5.82 [[-6.91812343e-01 -7.22072691e-01 2.59078438e-03 6.52445396e+02] [ 7.22068034e-01 -6.91817189e-01 -2.59425320e-03 -2.70139909e+02] [ 3.66558855e-03 7.59862007e-05 9.99993279e-01 -5.82273005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters 0.05188683443803651 Centerline is valid? [True, True] Translation: X:652.41, Y:-270.10, Z:-5.82 [[-6.91387569e-01 -7.22481411e-01 1.95957164e-03 6.52405184e+02] [ 7.22478750e-01 -6.91390344e-01 -1.96156576e-03 -2.70099670e+02] [ 2.77202370e-03 5.95466880e-05 9.99996156e-01 -5.82249741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters 0.05185960905186897 Centerline is valid? [True, True] Translation: X:652.37, Y:-270.06, Z:-5.82 [[-6.91917848e-01 -7.21975063e-01 1.30378851e-03 6.52366839e+02] [ 7.21973885e-01 -6.91919075e-01 -1.30467789e-03 -2.70057078e+02] [ 1.84406104e-03 3.85713357e-05 9.99998299e-01 -5.82152109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters 0.05130332004686521 Centerline is valid? [True, True] Translation: X:652.33, Y:-270.02, Z:-5.82 [[-6.93775382e-01 -7.20191418e-01 2.04535829e-04 6.52325005e+02] [ 7.20191389e-01 -6.93775412e-01 -2.04502912e-04 -2.70018681e+02] [ 2.89183171e-04 5.42585651e-06 9.99999958e-01 -5.82130821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters 0.05077486299370978 Centerline is valid? [True, True] Translation: X:652.29, Y:-269.97, Z:-5.82 [[-6.98320886e-01 -7.15784837e-01 -8.15983827e-05 6.52290254e+02] [ 7.15784833e-01 -6.98320891e-01 8.17407471e-05 -2.69971391e+02] [-1.15490643e-04 -1.32561371e-06 9.99999993e-01 -5.82158983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters 0.051371880872648795 Centerline is valid? [True, True] Translation: X:652.25, Y:-269.93, Z:-5.82 [[-7.03113415e-01 -7.11077276e-01 7.95101511e-04 6.52252357e+02] [ 7.11076832e-01 -7.03113865e-01 -7.95050378e-04 -2.69928346e+02] [ 1.12438915e-03 6.36767724e-06 9.99999368e-01 -5.82340421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters 0.05090420522049907 Centerline is valid? [True, True] Translation: X:652.21, Y:-269.89, Z:-5.83 [[-7.06144199e-01 -7.08063975e-01 2.40369269e-03 6.52214364e+02] [ 7.08059897e-01 -7.06148290e-01 -2.40311514e-03 -2.69886788e+02] [ 3.39892274e-03 5.01257863e-06 9.99994224e-01 -5.82601234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters 0.05069767960627808 Centerline is valid? [True, True] Translation: X:651.69, Y:-270.30, Z:-4.83 [[-7.55369155e-01 6.55281228e-01 4.89413636e-03 6.51692333e+02] [ 6.55266920e-01 7.55385007e-01 -4.33066424e-03 -2.70304336e+02] [-6.53476021e-03 -6.42845219e-05 -9.99978646e-01 -4.82556457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters 0.05179573897681607 Centerline is valid? [True, True] Translation: X:651.68, Y:-270.20, Z:-4.83 [[-7.99106846e-01 6.01164049e-01 5.48042365e-03 6.51682770e+02] [ 6.01149439e-01 7.99125637e-01 -4.19140372e-03 -2.70201745e+02] [-6.89926827e-03 -5.48257991e-05 -9.99976198e-01 -4.82509410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters 0.05149812922039035 Centerline is valid? [True, True] Translation: X:651.71, Y:-270.13, Z:-4.82 [[-8.39940691e-01 5.42645845e-01 5.92643193e-03 6.51711702e+02] [ 5.42631856e-01 8.39961596e-01 -3.89688864e-03 -2.70130277e+02] [-7.09260566e-03 -5.72845772e-05 -9.99974846e-01 -4.82445634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters 0.051034006407367855 Centerline is valid? [True, True] Translation: X:651.71, Y:-270.04, Z:-4.83 [[-8.76588418e-01 4.81218424e-01 4.64478176e-03 6.51714318e+02] [ 4.81211292e-01 8.76600722e-01 -2.62065980e-03 -2.70043914e+02] [-5.33272882e-03 -6.21186030e-05 -9.99985779e-01 -4.82622462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters 0.050772167516363244 Centerline is valid? [True, True] Translation: X:651.72, Y:-269.96, Z:-4.83 [[-9.08923949e-01 4.16949926e-01 3.16446916e-03 6.51722587e+02] [ 4.16947144e-01 9.08929455e-01 -1.52455281e-03 -2.69962316e+02] [-3.51194141e-03 -6.62861843e-05 -9.99993831e-01 -4.82710553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters 0.05100640806550232 Centerline is valid? [True, True] Translation: X:651.97, Y:-269.36, Z:-5.83 [[-8.77647502e-01 -4.79306449e-01 4.35553708e-04 6.51972484e+02] [ 4.79306312e-01 -8.77647601e-01 -3.85100427e-04 -2.69360749e+02] [ 5.66843785e-04 -1.29218786e-04 9.99999831e-01 -5.82631974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters 0.05074617888074432 Centerline is valid? [True, True] Translation: X:651.61, Y:-269.91, Z:-4.83 [[-9.11727383e-01 4.10789788e-01 2.22012873e-03 6.51607021e+02] [ 4.10788374e-01 9.11730083e-01 -1.08022480e-03 -2.69906128e+02] [-2.46790347e-03 -7.28674619e-05 -9.99996952e-01 -4.82650024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters 0.050983169276130516 Centerline is valid? [True, True] Translation: X:651.58, Y:-269.81, Z:-4.83 [[-9.39057944e-01 3.43747111e-01 2.84618286e-03 6.51577380e+02] [ 3.43745276e-01 9.39062254e-01 -1.12607482e-03 -2.69811534e+02] [-3.05982786e-03 -7.90875899e-05 -9.99995316e-01 -4.82607810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters 0.05009951645660785 Centerline is valid? [True, True] Translation: X:651.57, Y:-269.73, Z:-4.83 [[-9.61364343e-01 2.75264429e-01 2.84515096e-03 6.51574513e+02] [ 2.75262971e-01 9.61368549e-01 -8.99440623e-04 -2.69730114e+02] [-2.98282266e-03 -8.15254374e-05 -9.99995548e-01 -4.82620167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters 0.05045498152316288 Centerline is valid? [True, True] Translation: X:651.74, Y:-269.11, Z:-5.83 [[-9.36292889e-01 -3.51219602e-01 6.45755391e-04 6.51742440e+02] [ 3.51219458e-01 -9.36293108e-01 -3.28767856e-04 -2.69112789e+02] [ 7.20086038e-04 -8.10211472e-05 9.99999737e-01 -5.82784520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters 0.05073680046822157 Centerline is valid? [True, True] Translation: X:651.49, Y:-269.71, Z:-4.83 [[-9.63047810e-01 2.69313901e-01 2.98980178e-03 6.51493232e+02] [ 2.69312313e-01 9.63052447e-01 -9.29153854e-04 -2.69707336e+02] [-3.12956996e-03 -8.96291524e-05 -9.99995099e-01 -4.82508161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters 0.050451081550997486 Centerline is valid? [True, True] Translation: X:651.47, Y:-269.62, Z:-4.82 [[-9.79836830e-01 1.99751673e-01 4.36531278e-03 6.51465910e+02] [ 1.99749222e-01 9.79846548e-01 -9.94887782e-04 -2.69618854e+02] [-4.47606716e-03 -1.02859858e-04 -9.99989977e-01 -4.82360865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters 0.050940859891620116 Centerline is valid? [True, True] Translation: X:651.43, Y:-269.53, Z:-4.82 [[-9.91798987e-01 1.27698693e-01 5.27385645e-03 6.51429022e+02] [ 1.27696239e-01 9.91813001e-01 -8.00851682e-04 -2.69534346e+02] [-5.33294711e-03 -1.20832252e-04 -9.99985772e-01 -4.82360850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters 0.05068369365933288 Centerline is valid? [True, True] Translation: X:651.38, Y:-269.45, Z:-4.82 [[-9.98458595e-01 5.52937015e-02 4.79998032e-03 6.51381892e+02] [ 5.52924701e-02 9.98470125e-01 -3.88980337e-04 -2.69454297e+02] [-4.81414512e-03 -1.22977993e-04 -9.99988404e-01 -4.82435203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters 0.050686669197027884 Centerline is valid? [True, True] Translation: X:651.34, Y:-269.38, Z:-4.82 [[-9.99847162e-01 -1.66647136e-02 5.28578043e-03 6.51337747e+02] [-1.66651845e-02 9.99861125e-01 -4.50561205e-05 -2.69376791e+02] [-5.28429552e-03 -1.33137740e-04 -9.99986029e-01 -4.82388184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters 0.05065855680726792 Centerline is valid? [True, True] Translation: X:651.31, Y:-269.30, Z:-4.82 [[-9.96055290e-01 -8.84912513e-02 6.56946145e-03 6.51306937e+02] [-8.84903516e-02 9.96076942e-01 4.28069513e-04 -2.69302829e+02] [-6.58156948e-03 -1.54953050e-04 -9.99978329e-01 -4.82382775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters 0.05119128902767989 Centerline is valid? [True, True] Translation: X:651.25, Y:-269.23, Z:-4.82 [[-9.87094165e-01 -1.59955182e-01 7.71032396e-03 6.51253616e+02] [-1.59951707e-01 9.87124262e-01 1.06932959e-03 -2.69230722e+02] [-7.78209265e-03 -1.77750476e-04 -9.99969703e-01 -4.82209777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters 0.05099376757509679 Centerline is valid? [True, True] Translation: X:651.12, Y:-268.60, Z:-5.83 [[-9.97953301e-01 6.36532211e-02 6.12187658e-03 6.51124357e+02] [-6.36517545e-02 -9.97972077e-01 4.34292391e-04 -2.68603503e+02] [ 6.13710600e-03 4.37353391e-05 9.99981167e-01 -5.83288653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters 0.0508564664261078 Centerline is valid? [True, True] Translation: X:651.05, Y:-269.26, Z:-4.82 [[-9.86610757e-01 -1.62941235e-01 7.02617651e-03 6.51050129e+02] [-1.62938271e-01 9.86635762e-01 9.96181888e-04 -2.69260857e+02] [-7.09459612e-03 -1.61989282e-04 -9.99974820e-01 -4.82185664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters 0.05043480085911672 Centerline is valid? [True, True] Translation: X:651.00, Y:-269.19, Z:-4.82 [[-9.72434957e-01 -2.33095177e-01 6.07398517e-03 6.51003807e+02] [-2.33091596e-01 9.72453914e-01 1.30082473e-03 -2.69191126e+02] [-6.20988663e-03 -1.50827464e-04 -9.99980707e-01 -4.82237020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters 0.0506345178727179 Centerline is valid? [True, True] Translation: X:650.94, Y:-269.13, Z:-4.82 [[-9.52720286e-01 -3.03789280e-01 6.01079440e-03 6.50943864e+02] [-3.03784309e-01 9.52739233e-01 1.74544143e-03 -2.69125543e+02] [-6.25696605e-03 -1.63067566e-04 -9.99980412e-01 -4.82238064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters 0.050678245897376455 Centerline is valid? [True, True] Translation: X:650.81, Y:-269.09, Z:-4.82 [[-9.28324070e-01 -3.71719871e-01 6.22557750e-03 6.50813135e+02] [-3.71712768e-01 9.28344929e-01 2.30453676e-03 -2.69086483e+02] [-6.63612541e-03 -1.74769702e-04 -9.99977965e-01 -4.82148931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters 0.05026594887695437 Centerline is valid? [True, True] Translation: X:650.72, Y:-269.04, Z:-4.82 [[-8.99460136e-01 -4.36944658e-01 7.12941190e-03 6.50716712e+02] [-4.36932592e-01 8.99488371e-01 3.25279963e-03 -2.69040891e+02] [-7.83411652e-03 -1.89308819e-04 -9.99969295e-01 -4.82091698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters 0.049955854637900234 Centerline is valid? [True, True] Translation: X:650.57, Y:-269.03, Z:-4.82 [[-8.68211240e-01 -4.96149254e-01 6.72017950e-03 6.50565983e+02] [-4.96135731e-01 8.68237234e-01 3.66619808e-03 -2.69034578e+02] [-7.65369151e-03 -1.51086791e-04 -9.99970699e-01 -4.82163663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters 0.050453784421802435 Centerline is valid? [True, True] Translation: X:650.42, Y:-269.04, Z:-4.82 [[-8.32771428e-01 -5.53581197e-01 6.29340522e-03 6.50421116e+02] [-5.53566424e-01 8.32795200e-01 4.04584616e-03 -2.69035748e+02] [-7.48082203e-03 -1.14552736e-04 -9.99972012e-01 -4.82320948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters 0.05042036515925367 Centerline is valid? [True, True] Translation: X:650.21, Y:-269.09, Z:-4.82 [[-7.95591655e-01 -6.05811436e-01 5.14021225e-03 6.50213762e+02] [-6.05799276e-01 7.95608258e-01 3.83891425e-03 -2.69090660e+02] [-6.41525347e-03 -5.97287112e-05 -9.99979420e-01 -4.82315756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters 0.05115255764735498 Centerline is valid? [True, True] Translation: X:650.06, Y:-269.13, Z:-4.82 [[-7.51101916e-01 -6.60169879e-01 4.65227814e-03 6.50055075e+02] [-6.60157601e-01 7.51116322e-01 4.02655108e-03 -2.69125711e+02] [-6.15260979e-03 -4.68865464e-05 -9.99981071e-01 -4.82363958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters 0.05149397100716044 Centerline is valid? [True, True] Translation: X:649.87, Y:-269.20, Z:-4.82 [[-7.05487802e-01 -7.08708461e-01 4.39087114e-03 6.49872379e+02] [-7.08694825e-01 7.05501466e-01 4.39618828e-03 -2.69199957e+02] [-6.21338186e-03 -1.03304538e-05 -9.99980697e-01 -4.82375325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters 0.051626493934529505 Centerline is valid? [True, True] Translation: X:649.76, Y:-269.21, Z:-4.82 [[-6.52630398e-01 -7.57663239e-01 4.46984643e-03 6.49757775e+02] [-7.57645378e-01 6.52645705e-01 5.20237254e-03 -2.69213020e+02] [-6.85887250e-03 8.66797329e-06 -9.99976478e-01 -4.82451933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters 0.051819118608660855 Centerline is valid? [True, True] Translation: X:649.79, Y:-269.04, Z:-4.82 [[-5.92999363e-01 -8.05190272e-01 4.51461875e-03 6.49786889e+02] [-8.05166793e-01 5.93016548e-01 6.14890811e-03 -2.69042006e+02] [-7.62828461e-03 1.12774917e-05 -9.99970904e-01 -4.82352009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters 0.05240770093042583 Centerline is valid? [True, True] Translation: X:648.87, Y:-269.20, Z:-5.84 [[-6.32997276e-01 7.74141501e-01 4.40285630e-03 6.48865312e+02] [-7.74123361e-01 -6.33012586e-01 5.29985289e-03 -2.69196586e+02] [ 6.88989952e-03 -5.35614692e-05 9.99976263e-01 -5.83518957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters 0.05250507646043269 Centerline is valid? [True, True] Translation: X:649.19, Y:-269.82, Z:-4.82 [[-5.82962377e-01 -8.12483949e-01 4.96980030e-03 6.49190437e+02] [-8.12455011e-01 5.82983560e-01 6.85747603e-03 -2.69820428e+02] [-8.46890108e-03 -4.00886230e-05 -9.99964137e-01 -4.82290512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters 0.05256465654970351 Centerline is valid? [True, True] Translation: X:649.05, Y:-269.89, Z:-4.82 [[-5.18080531e-01 -8.55321978e-01 4.10828580e-03 6.49053920e+02] [-8.55296190e-01 5.18096815e-01 6.64210940e-03 -2.69886952e+02] [-7.80963193e-03 -7.26536323e-05 -9.99969502e-01 -4.82423057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters 0.05183559268774895 Centerline is valid? [True, True] Translation: X:648.90, Y:-270.00, Z:-4.82 [[-4.50942401e-01 -8.92547591e-01 3.12237066e-03 6.48901215e+02] [-8.92527583e-01 4.50953202e-01 5.97686573e-03 -2.70000648e+02] [-6.74268015e-03 -9.15797605e-05 -9.99977264e-01 -4.82486316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters 0.05211644461513031 Centerline is valid? [True, True] Translation: X:648.75, Y:-270.14, Z:-4.83 [[-3.81736809e-01 -9.24267860e-01 2.43556832e-03 6.48752864e+02] [-9.24250746e-01 3.81744564e-01 5.62543002e-03 -2.70137092e+02] [-6.12916913e-03 -1.03642131e-04 -9.99981211e-01 -4.82594009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters 0.052329811044760866 Centerline is valid? [True, True] Translation: X:648.61, Y:-270.28, Z:-4.83 [[-3.08538179e-01 -9.51210429e-01 1.70648560e-03 6.48614186e+02] [-9.51197936e-01 3.08542875e-01 4.87658608e-03 -2.70281439e+02] [-5.16518351e-03 -1.18592589e-04 -9.99986653e-01 -4.82672516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters 0.05211657502080689 Centerline is valid? [True, True] Translation: X:648.48, Y:-270.46, Z:-4.83 [[-2.34760767e-01 -9.72052429e-01 1.20753914e-03 6.48479596e+02] [-9.72042187e-01 2.34763839e-01 4.46401487e-03 -2.70456361e+02] [-4.62274302e-03 -1.25803433e-04 -9.99989307e-01 -4.82727507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters 0.05219308375218347 Centerline is valid? [True, True] Translation: X:648.37, Y:-270.59, Z:-4.83 [[-1.57744236e-01 -9.87479637e-01 8.49722966e-04 6.48369252e+02] [-9.87469812e-01 1.57746459e-01 4.40733337e-03 -2.70585198e+02] [-4.48619275e-03 -1.43844344e-04 -9.99989927e-01 -4.82770190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters 0.05274575176804864 Centerline is valid? [True, True] Translation: X:648.25, Y:-270.77, Z:-4.83 [[-8.13748374e-02 -9.96683335e-01 6.82120486e-04 6.48254912e+02] [-9.96665212e-01 8.13774733e-02 6.01344158e-03 -2.70769297e+02] [-6.04900625e-03 -1.90502928e-04 -9.99981686e-01 -4.82532849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters 0.05303088197426551 Centerline is valid? [True, True] Translation: X:648.17, Y:-270.90, Z:-4.83 [[-6.41019821e-03 -9.99979421e-01 2.57085452e-04 6.48166167e+02] [-9.99956058e-01 6.41180668e-03 6.83898518e-03 -2.70902663e+02] [-6.84049283e-03 -2.13234904e-04 -9.99976581e-01 -4.82543069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters 0.053038975245153316 Centerline is valid? [True, True] Translation: X:648.09, Y:-271.24, Z:-4.83 [[ 6.61001032e-02 -9.97812952e-01 -2.97402294e-04 6.48093351e+02] [-9.97780932e-01 -6.61003656e-02 7.99714690e-03 -2.71241002e+02] [-7.99931516e-03 -2.31869897e-04 -9.99967978e-01 -4.82644271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters 0.05308502612149256 Centerline is valid? [True, True] Translation: X:648.03, Y:-271.45, Z:-4.83 [[ 1.36836904e-01 -9.90593196e-01 -8.84424385e-04 6.48034186e+02] [-9.90561505e-01 -1.36839603e-01 7.92642556e-03 -2.71445667e+02] [-7.97288751e-03 -2.08550786e-04 -9.99968194e-01 -4.82771986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters 0.053067718194249595 Centerline is valid? [True, True] Translation: X:648.00, Y:-271.72, Z:-4.83 [[ 2.05342878e-01 -9.78689216e-01 -1.31188185e-03 6.48000843e+02] [-9.78663839e-01 -2.05347003e-01 7.04974774e-03 -2.71718306e+02] [-7.16890309e-03 -1.63724163e-04 -9.99974290e-01 -4.83002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters 0.05331306270228333 Centerline is valid? [True, True] Translation: X:647.98, Y:-271.97, Z:-4.83 [[ 2.72856593e-01 -9.62052938e-01 -1.85073174e-03 6.47982545e+02] [-9.62027379e-01 -2.72862837e-01 7.01392843e-03 -2.71968731e+02] [-7.25276636e-03 -1.33342010e-04 -9.99973689e-01 -4.82994594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters 0.05280822302447924 Centerline is valid? [True, True] Translation: X:647.99, Y:-272.23, Z:-4.83 [[ 3.41403561e-01 -9.39913858e-01 -2.35538362e-03 6.47986063e+02] [-9.39889016e-01 -3.41411665e-01 6.83475015e-03 -2.72230212e+02] [-7.22823182e-03 -1.19608847e-04 -9.99973869e-01 -4.83082352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters 0.053431489585536396 Centerline is valid? [True, True] Translation: X:647.99, Y:-272.45, Z:-4.83 [[ 4.08831613e-01 -9.12605653e-01 -2.76300196e-03 6.47991605e+02] [-9.12582973e-01 -4.08840935e-01 6.43490325e-03 -2.72453601e+02] [-7.00215739e-03 -1.09323335e-04 -9.99975479e-01 -4.82995156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters 0.05300509269515489 Centerline is valid? [True, True] Translation: X:648.01, Y:-272.68, Z:-4.83 [[ 4.75698149e-01 -8.79601638e-01 -3.49714930e-03 6.48012413e+02] [-8.79576011e-01 -4.75710989e-01 6.71531763e-03 -2.72678660e+02] [-7.57043673e-03 -1.18455534e-04 -9.99971337e-01 -4.82846269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters 0.05328275107511249 Centerline is valid? [True, True] Translation: X:648.04, Y:-272.88, Z:-4.83 [[ 5.40280515e-01 -8.41473766e-01 -4.34341774e-03 6.48043732e+02] [-8.41444568e-01 -5.40297957e-01 7.01115300e-03 -2.72880811e+02] [-8.24644106e-03 -1.33244097e-04 -9.99965989e-01 -4.83031782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters 0.05284758896947839 Centerline is valid? [True, True] Translation: X:648.09, Y:-273.09, Z:-4.83 [[ 6.02032314e-01 -7.98456742e-01 -4.89122233e-03 6.48092335e+02] [-7.98428384e-01 -6.02052165e-01 6.73096295e-03 -2.73088628e+02] [-8.31915374e-03 -1.46966457e-04 -9.99965384e-01 -4.83079117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters 0.05200333012537916 Centerline is valid? [True, True] Translation: X:648.16, Y:-273.29, Z:-4.83 [[ 6.59962472e-01 -7.51285277e-01 -4.46861398e-03 6.48155200e+02] [-7.51266601e-01 -6.59977585e-01 5.29917296e-03 -2.73292081e+02] [-6.93037569e-03 -1.40134844e-04 -9.99975975e-01 -4.83188582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters 0.052121634632093565 Centerline is valid? [True, True] Translation: X:648.22, Y:-273.48, Z:-4.83 [[ 7.13284440e-01 -7.00865055e-01 -3.67174071e-03 6.48218902e+02] [-7.00854893e-01 -7.13293881e-01 3.77608426e-03 -2.73476671e+02] [-5.26555568e-03 -1.20064702e-04 -9.99986130e-01 -4.83214579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters 0.05219513303918452 Centerline is valid? [True, True] Translation: X:648.30, Y:-273.66, Z:-4.83 [[ 7.61764129e-01 -6.47839960e-01 -4.33571437e-03 6.48297178e+02] [-6.47828582e-01 -7.61776459e-01 3.84123897e-03 -2.73655359e+02] [-5.79135323e-03 -1.17318368e-04 -9.99983223e-01 -4.83194635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters 0.052182529963523384 Centerline is valid? [True, True] Translation: X:648.27, Y:-273.74, Z:-4.83 [[ 8.09058429e-01 -5.87703412e-01 -5.39981911e-03 6.48273289e+02] [-5.87689332e-01 -8.09076440e-01 4.06979336e-03 -2.73742825e+02] [-6.76069786e-03 -1.19284539e-04 -9.99977139e-01 -4.83168608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters 0.051701627408492094 Centerline is valid? [True, True] Translation: X:648.26, Y:-273.83, Z:-4.83 [[ 8.52173341e-01 -5.23224431e-01 -6.06570672e-03 6.48257374e+02] [-5.23210185e-01 -8.52194920e-01 3.86271374e-03 -2.73829177e+02] [-7.19023065e-03 -1.18062132e-04 -9.99974143e-01 -4.83139580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters 0.05139999664133187 Centerline is valid? [True, True] Translation: X:648.25, Y:-273.92, Z:-4.83 [[ 8.89735767e-01 -4.56424964e-01 -6.82034931e-03 6.48247358e+02] [-4.56410605e-01 -8.89761901e-01 3.62205765e-03 -2.73917095e+02] [-7.72168450e-03 -1.09794489e-04 -9.99970181e-01 -4.83015237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters 0.05194817795482433 Centerline is valid? [True, True] Translation: X:648.25, Y:-274.00, Z:-4.83 [[ 9.22594901e-01 -3.85702321e-01 -7.23656837e-03 6.48245980e+02] [-3.85689529e-01 -9.22623275e-01 3.14316606e-03 -2.74004489e+02] [-7.88895285e-03 -1.08800337e-04 -9.99968876e-01 -4.83054745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters 0.0517179493806274 Centerline is valid? [True, True] Translation: X:648.25, Y:-274.09, Z:-4.83 [[ 9.50171521e-01 -3.11615329e-01 -8.36465771e-03 6.48250519e+02] [-3.11602126e-01 -9.50208331e-01 2.87114455e-03 -2.74090948e+02] [-8.84286010e-03 -1.21634657e-04 -9.99960894e-01 -4.82836096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters 0.05154894037750829 Centerline is valid? [True, True] Translation: X:648.26, Y:-274.18, Z:-4.83 [[ 9.71855628e-01 -2.35384808e-01 -9.51994983e-03 6.48263249e+02] [-2.35372120e-01 -9.71902245e-01 2.44784579e-03 -2.74175574e+02] [-9.82864632e-03 -1.38221932e-04 -9.99951688e-01 -4.82792932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters 0.05185187200050089 Centerline is valid? [True, True] Translation: X:648.28, Y:-274.26, Z:-4.83 [[ 9.87236134e-01 -1.59002461e-01 -9.11224223e-03 6.48281248e+02] [-1.58994466e-01 -9.87278178e-01 1.59980638e-03 -2.74263663e+02] [-9.25069106e-03 -1.30590572e-04 -9.99957203e-01 -4.82936103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters 0.05180321054052223 Centerline is valid? [True, True] Translation: X:648.31, Y:-274.35, Z:-4.83 [[ 9.96588415e-01 -8.20558332e-02 -8.85270418e-03 6.48306293e+02] [-8.20515128e-02 -9.96627727e-01 8.50733185e-04 -2.74347760e+02] [-8.89265807e-03 -1.21453066e-04 -9.99960452e-01 -4.82963273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters 0.05142800562794109 Centerline is valid? [True, True] Translation: X:648.34, Y:-274.43, Z:-4.83 [[ 9.99949391e-01 -5.26649233e-03 -8.57198294e-03 6.48336175e+02] [-5.26537983e-03 -9.99986126e-01 1.52345392e-04 -2.74427856e+02] [-8.57266634e-03 -1.07202936e-04 -9.99963248e-01 -4.82789056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters 0.05172729087087023 Centerline is valid? [True, True] Translation: X:648.37, Y:-274.51, Z:-4.83 [[ 9.97340722e-01 7.24332223e-02 -8.05688583e-03 6.48369099e+02] [ 7.24316673e-02 -9.97373259e-01 -4.85022018e-04 -2.74505887e+02] [-8.07085419e-03 -9.98414642e-05 -9.99967425e-01 -4.83044533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters 0.05141782831275412 Centerline is valid? [True, True] Translation: X:648.41, Y:-274.58, Z:-4.83 [[ 9.88864684e-01 1.48648137e-01 -7.09704700e-03 6.48405769e+02] [ 1.48644916e-01 -9.88890148e-01 -9.82075641e-04 -2.74578869e+02] [-7.16418357e-03 -8.38000357e-05 -9.99974333e-01 -4.83102090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters 0.051737085986548706 Centerline is valid? [True, True] Translation: X:648.45, Y:-274.65, Z:-4.83 [[ 9.74494365e-01 2.24297637e-01 -7.16254054e-03 6.48450066e+02] [ 2.24292140e-01 -9.74520685e-01 -1.57198832e-03 -2.74649963e+02] [-7.33263717e-03 -7.46077897e-05 -9.99973113e-01 -4.83146593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters 0.05144818573210534 Centerline is valid? [True, True] Translation: X:648.50, Y:-274.72, Z:-4.83 [[ 9.54016481e-01 2.99654725e-01 -7.72002385e-03 6.48498349e+02] [ 2.99645542e-01 -9.54047714e-01 -2.34715477e-03 -2.74716407e+02] [-8.06860712e-03 -7.40463925e-05 -9.99967446e-01 -4.83108455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters 0.051177731829367905 Centerline is valid? [True, True] Translation: X:648.55, Y:-274.78, Z:-4.83 [[ 9.27949059e-01 3.72602473e-01 -8.82844199e-03 6.48549950e+02] [ 3.72586312e-01 -9.27991052e-01 -3.47101613e-03 -2.74775202e+02] [-9.48602436e-03 -6.84304895e-05 -9.99955004e-01 -4.82971148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters 0.05104192159011253 Centerline is valid? [True, True] Translation: X:648.61, Y:-274.83, Z:-4.83 [[ 8.96288473e-01 4.43381254e-01 -8.94629008e-03 6.48606124e+02] [ 4.43359849e-01 -8.96333119e-01 -4.35715391e-03 -2.74828616e+02] [-9.95073645e-03 -6.11589859e-05 -9.99950488e-01 -4.82966294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters 0.05164552613041745 Centerline is valid? [True, True] Translation: X:648.67, Y:-274.88, Z:-4.83 [[ 8.59130282e-01 5.11689200e-01 -8.32588181e-03 6.48666309e+02] [ 5.11665804e-01 -8.59170623e-01 -4.89350841e-03 -2.74876841e+02] [-9.65730847e-03 -5.59077425e-05 -9.99953366e-01 -4.83042579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters 0.05107518108956293 Centerline is valid? [True, True] Translation: X:648.73, Y:-274.92, Z:-4.83 [[ 8.16838550e-01 5.76814039e-01 -7.76839991e-03 6.48728396e+02] [ 5.76788533e-01 -8.16875488e-01 -5.42458475e-03 -2.74920202e+02] [-9.47479211e-03 -4.97140419e-05 -9.99955112e-01 -4.83048877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters 0.05151863410251578 Centerline is valid? [True, True] Translation: X:648.79, Y:-274.96, Z:-4.83 [[ 7.69372570e-01 6.38759759e-01 -7.19848907e-03 6.48792337e+02] [ 6.38732375e-01 -7.69406244e-01 -5.91475938e-03 -2.74957125e+02] [-9.31667272e-03 -4.72543961e-05 -9.99956598e-01 -4.83063604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters 0.05135155710833656 Centerline is valid? [True, True] Translation: X:648.86, Y:-274.99, Z:-4.83 [[ 7.16849923e-01 6.97200969e-01 -6.08252801e-03 6.48862920e+02] [ 6.97176470e-01 -7.16875726e-01 -5.84487359e-03 -2.74992156e+02] [-8.43546822e-03 -5.06982305e-05 -9.99964420e-01 -4.83474358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters 0.051219201443297044 Centerline is valid? [True, True] Translation: X:648.94, Y:-275.02, Z:-4.83 [[ 6.59347942e-01 7.51815057e-01 -5.86621033e-03 6.48935089e+02] [ 7.51786095e-01 -6.59374034e-01 -6.59924850e-03 -2.75020372e+02] [-8.82944116e-03 -5.89344360e-05 -9.99961018e-01 -4.83142963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters 0.051325023965402894 Centerline is valid? [True, True] Translation: X:649.01, Y:-275.04, Z:-4.83 [[ 5.95806515e-01 8.03111506e-01 -5.14836124e-03 6.49009756e+02] [ 8.03082783e-01 -5.95828752e-01 -6.79274089e-03 -2.75043172e+02] [-8.52287002e-03 -8.74009933e-05 -9.99963676e-01 -4.83192315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters 0.05107819804351425 Centerline is valid? [True, True] Translation: X:649.09, Y:-275.06, Z:-4.83 [[ 5.26978680e-01 8.49866177e-01 -4.57726441e-03 6.49091645e+02] [ 8.49836217e-01 -5.26998543e-01 -7.13720981e-03 -2.75063940e+02] [-8.47788489e-03 -1.28767665e-04 -9.99964054e-01 -4.83228151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters 0.05028508734725774 Centerline is valid? [True, True] Translation: X:649.17, Y:-275.08, Z:-4.83 [[ 4.53837614e-01 8.91070491e-01 -4.98001787e-03 6.49174250e+02] [ 8.91021723e-01 -4.53864890e-01 -9.32470040e-03 -2.75078191e+02] [-1.05692206e-02 -2.05404317e-04 -9.99944123e-01 -4.83185678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters 0.05055204956915134 Centerline is valid? [True, True] Translation: X:649.26, Y:-275.09, Z:-4.83 [[ 3.79682352e-01 9.25105792e-01 -4.53705094e-03 6.49260295e+02] [ 9.25047509e-01 -3.79709374e-01 -1.03873764e-02 -2.75087618e+02] [-1.13321828e-02 -2.53084186e-04 -9.99935757e-01 -4.83180157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters 0.05068377734511501 Centerline is valid? [True, True] Translation: X:649.35, Y:-275.09, Z:-4.83 [[ 3.03020904e-01 9.52975822e-01 -3.92622425e-03 6.49349833e+02] [ 9.52908342e-01 -3.03046187e-01 -1.13446044e-02 -2.75091046e+02] [-1.20009610e-02 -3.03679563e-04 -9.99927940e-01 -4.83110354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters 0.050602614154978263 Centerline is valid? [True, True] Translation: X:649.44, Y:-275.09, Z:-4.83 [[ 2.29366834e-01 9.73336489e-01 -2.63356970e-03 6.49436529e+02] [ 9.73284335e-01 -2.29381815e-01 -1.00789624e-02 -2.75086526e+02] [-1.04143149e-02 -2.51432438e-04 -9.99945738e-01 -4.83237756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters 0.0507678694155091 Centerline is valid? [True, True] Translation: X:649.52, Y:-275.08, Z:-4.83 [[ 1.58846174e-01 9.87302060e-01 -1.59234217e-03 6.49521593e+02] [ 9.87262465e-01 -1.58854067e-01 -8.84364915e-03 -2.75075443e+02] [-8.98430305e-03 -1.67279821e-04 -9.99959626e-01 -4.83422000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters 0.05046496077258534 Centerline is valid? [True, True] Translation: X:649.60, Y:-275.06, Z:-4.83 [[ 8.62752615e-02 9.96271018e-01 -7.98315317e-04 6.49604265e+02] [ 9.96239673e-01 -8.62788803e-02 -7.90368774e-03 -2.75058728e+02] [-7.94309279e-03 -1.13420664e-04 -9.99968447e-01 -4.83409528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters 0.05047417661277297 Centerline is valid? [True, True] Translation: X:649.68, Y:-275.04, Z:-4.83 [[ 1.19866209e-02 9.99928143e-01 -1.72775471e-04 6.49676910e+02] [ 9.99898955e-01 -1.19875912e-02 -7.64052474e-03 -2.75035111e+02] [-7.64204688e-03 -8.11739392e-05 -9.99970796e-01 -4.83456811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters 0.05082591501996222 Centerline is valid? [True, True] Translation: X:649.76, Y:-275.01, Z:-4.83 [[-6.32215554e-02 9.97999367e-01 5.45575382e-04 6.49755425e+02] [ 9.97953937e-01 6.32238831e-02 -9.52261042e-03 -2.75005299e+02] [-9.53805257e-03 -5.75751410e-05 -9.99954510e-01 -4.83462538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters 0.05054543174984633 Centerline is valid? [True, True] Translation: X:649.83, Y:-274.97, Z:-4.83 [[-1.41673644e-01 9.89912316e-01 1.47818034e-03 6.49831564e+02] [ 9.89853652e-01 1.41681341e-01 -1.07771109e-02 -2.74969413e+02] [-1.08778254e-02 -6.36503576e-05 -9.99940833e-01 -4.83356683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters 0.051302458060161885 Centerline is valid? [True, True] Translation: X:649.90, Y:-274.93, Z:-4.83 [[-2.19502376e-01 9.75608162e-01 2.72407456e-03 6.49904738e+02] [ 9.75528729e-01 2.19519266e-01 -1.24495045e-02 -2.74929405e+02] [-1.27438251e-02 -7.52828395e-05 -9.99918791e-01 -4.83171169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters 0.05115525771488041 Centerline is valid? [True, True] Translation: X:649.97, Y:-274.88, Z:-4.83 [[-2.94271759e-01 9.55714192e-01 3.80989485e-03 6.49973187e+02] [ 9.55631280e-01 2.94296414e-01 -1.25887847e-02 -2.74883391e+02] [-1.31525186e-02 -6.36691341e-05 -9.99913500e-01 -4.83243161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters 0.05110768819308431 Centerline is valid? [True, True] Translation: X:650.04, Y:-274.83, Z:-4.83 [[-3.66176891e-01 9.30535062e-01 4.35687858e-03 6.50035055e+02] [ 9.30467977e-01 3.66202808e-01 -1.11735327e-02 -2.74833575e+02] [-1.19928651e-02 -3.75534754e-05 -9.99928082e-01 -4.83218326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters 0.05150567643278472 Centerline is valid? [True, True] Translation: X:650.09, Y:-274.78, Z:-4.84 [[-4.34446845e-01 9.00687027e-01 4.33812186e-03 6.50093825e+02] [ 9.00642070e-01 4.34468503e-01 -8.99903297e-03 -2.74777550e+02] [-9.99008956e-03 -2.50642625e-06 -9.99950098e-01 -4.83526149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters 0.0513344995920536 Centerline is valid? [True, True] Translation: X:650.15, Y:-274.72, Z:-4.83 [[-5.02244589e-01 8.64711776e-01 4.89057351e-03 6.50147026e+02] [ 8.64671001e-01 5.02268399e-01 -8.39734414e-03 -2.74720190e+02] [-9.71766289e-03 1.12164388e-05 -9.99952782e-01 -4.83263523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters 0.051179861172006916 Centerline is valid? [True, True] Translation: X:650.19, Y:-274.66, Z:-4.83 [[-5.68201519e-01 8.22868910e-01 5.81302238e-03 6.50189799e+02] [ 8.22826153e-01 5.68231253e-01 -8.38839743e-03 -2.74662211e+02] [-1.02056924e-02 1.68066824e-05 -9.99947920e-01 -4.83278965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters 0.05151300859410595 Centerline is valid? [True, True] Translation: X:650.24, Y:-274.59, Z:-4.83 [[-6.32168246e-01 7.74797737e-01 7.19555198e-03 6.50236805e+02] [ 7.74747658e-01 6.32209196e-01 -8.80902985e-03 -2.74593064e+02] [-1.13743105e-02 5.94810047e-06 -9.99935310e-01 -4.83421988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters 0.05075924924898575 Centerline is valid? [True, True] Translation: X:650.28, Y:-274.52, Z:-4.83 [[-6.91576709e-01 7.22258437e-01 8.02531484e-03 6.50277660e+02] [ 7.22209741e-01 6.91623272e-01 -8.38687233e-03 -2.74522885e+02] [-1.16079838e-02 -4.20500936e-06 -9.99932625e-01 -4.83195898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters 0.05176008926160196 Centerline is valid? [True, True] Translation: X:650.32, Y:-274.44, Z:-4.83 [[-7.47946258e-01 6.63696577e-01 9.12408733e-03 6.50315491e+02] [ 6.63646581e-01 7.48001906e-01 -8.14637140e-03 -2.74444315e+02] [-1.22315535e-02 -3.78786374e-05 -9.99925191e-01 -4.83431158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters 0.05119437798789759 Centerline is valid? [True, True] Translation: X:650.75, Y:-273.94, Z:-5.84 [[-7.02165899e-01 -7.11978797e-01 7.01731459e-03 6.50751830e+02] [ 7.11941823e-01 -7.02200956e-01 -7.25655541e-03 -2.73939192e+02] [ 1.00940786e-02 -9.93860124e-05 9.99949049e-01 -5.83688220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters 0.05082430130683052 Centerline is valid? [True, True] Translation: X:650.71, Y:-273.90, Z:-5.83 [[-7.00476679e-01 -7.13648115e-01 6.22816817e-03 6.50708697e+02] [ 7.13620268e-01 -7.00504367e-01 -6.30442649e-03 -2.73899975e+02] [ 8.86200108e-03 2.84433042e-05 9.99960731e-01 -5.83413410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters 0.05069753294218653 Centerline is valid? [True, True] Translation: X:650.67, Y:-273.86, Z:-5.84 [[-6.99603274e-01 -7.14502095e-01 6.48195580e-03 6.50667037e+02] [ 7.14471988e-01 -6.99633300e-01 -6.55924117e-03 -2.73862006e+02] [ 9.22158368e-03 4.23092475e-05 9.99957479e-01 -5.83619485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters 0.05132472913551745 Centerline is valid? [True, True] Translation: X:650.63, Y:-273.82, Z:-5.84 [[-6.99920153e-01 -7.14178938e-01 7.76036888e-03 6.50625861e+02] [ 7.14135784e-01 -6.99963172e-01 -7.85107383e-03 -2.73821210e+02] [ 1.10390440e-02 4.68323226e-05 9.99939067e-01 -5.83600698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters 0.05152286058507843 Centerline is valid? [True, True] Translation: X:650.59, Y:-273.78, Z:-5.84 [[-7.01760061e-01 -7.12371443e-01 7.72943989e-03 6.50585704e+02] [ 7.12328545e-01 -7.01802627e-01 -7.81770127e-03 -2.73779756e+02] [ 1.09936484e-02 1.97501486e-05 9.99939568e-01 -5.83608192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters 0.051282941366798805 Centerline is valid? [True, True] Translation: X:650.55, Y:-273.74, Z:-5.84 [[-7.02740791e-01 -7.11407497e-01 7.39956953e-03 6.50545827e+02] [ 7.11368154e-01 -7.02779747e-01 -7.48180357e-03 -2.73738636e+02] [ 1.05228788e-02 6.04955783e-06 9.99944633e-01 -5.83593132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters 0.05161270147999849 Centerline is valid? [True, True] Translation: X:650.51, Y:-273.70, Z:-5.84 [[-7.05634105e-01 -7.08546819e-01 6.47421809e-03 6.50507980e+02] [ 7.08516599e-01 -7.05663804e-01 -6.54408032e-03 -2.73697666e+02] [ 9.20540866e-03 -3.06352810e-05 9.99957629e-01 -5.83600731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters 0.051551096556711876 Centerline is valid? [True, True] Translation: X:650.47, Y:-273.66, Z:-5.84 [[-7.08483935e-01 -7.05695357e-01 6.67653129e-03 6.50467349e+02] [ 7.05663104e-01 -7.08515390e-01 -6.74731400e-03 -2.73657041e+02] [ 9.49197334e-03 -6.89817814e-05 9.99954948e-01 -5.83500823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters 0.051862775675277396 Centerline is valid? [True, True] Translation: X:650.43, Y:-273.62, Z:-5.83 [[-7.09967995e-01 -7.04197223e-01 7.19142558e-03 6.50425741e+02] [ 7.04159744e-01 -7.10004410e-01 -7.26587196e-03 -2.73617938e+02] [ 1.02225507e-02 -9.46241518e-05 9.99947744e-01 -5.83253731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters 0.0521537384119394 Centerline is valid? [True, True] Translation: X:650.39, Y:-273.57, Z:-5.84 [[-7.10747310e-01 -7.03405419e-01 7.68622773e-03 6.50385797e+02] [ 7.03362578e-01 -7.10788860e-01 -7.76402398e-03 -2.73574913e+02] [ 1.09245416e-02 -1.12054203e-04 9.99940319e-01 -5.83609910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters 0.05174268575360393 Centerline is valid? [True, True] Translation: X:650.35, Y:-273.54, Z:-5.84 [[-7.09592532e-01 -7.04565548e-01 8.11339950e-03 6.50345347e+02] [ 7.04517915e-01 -7.09638908e-01 -8.19316972e-03 -2.73535116e+02] [ 1.15302091e-02 -9.77767497e-05 9.99933520e-01 -5.83636478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters 0.05158762520068419 Centerline is valid? [True, True] Translation: X:650.30, Y:-273.50, Z:-5.83 [[-7.06014176e-01 -7.08156350e-01 7.65297177e-03 6.50301769e+02] [ 7.08114201e-01 -7.06055652e-01 -7.72624160e-03 -2.73495856e+02] [ 1.08748110e-02 -3.56581071e-05 9.99940867e-01 -5.83495040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters 0.05106347303937449 Centerline is valid? [True, True] Translation: X:650.26, Y:-273.46, Z:-5.83 [[-7.01471745e-01 -7.12656808e-01 7.59374663e-03 6.50258750e+02] [ 7.12615596e-01 -7.01512846e-01 -7.66410529e-03 -2.73458312e+02] [ 1.07889876e-02 3.52689689e-05 9.99941797e-01 -5.83423442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters 0.05123441933477089 Centerline is valid? [True, True] Translation: X:650.22, Y:-273.42, Z:-5.83 [[-6.98061312e-01 -7.15999896e-01 7.38599030e-03 6.50216592e+02] [ 7.15961117e-01 -6.98100381e-01 -7.45232823e-03 -2.73419189e+02] [ 1.04920289e-02 8.58998415e-05 9.99944953e-01 -5.83426977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters 0.05140029852164549 Centerline is valid? [True, True] Translation: X:650.17, Y:-273.38, Z:-5.83 [[-6.92872209e-01 -7.21026473e-01 6.99478705e-03 6.50173870e+02] [ 7.20991966e-01 -6.92907499e-01 -7.05568707e-03 -2.73379727e+02] [ 9.93407755e-03 1.54495779e-04 9.99950644e-01 -5.83289687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters 0.05143372376157363 Centerline is valid? [True, True] Translation: X:650.13, Y:-273.34, Z:-5.83 [[-6.88481371e-01 -7.25222350e-01 6.77831213e-03 6.50129491e+02] [ 7.25190161e-01 -6.88514705e-01 -6.83601831e-03 -2.73343123e+02] [ 9.62460085e-03 2.09094008e-04 9.99953661e-01 -5.83296688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters 0.05181653872159161 Centerline is valid? [True, True] Translation: X:650.09, Y:-273.30, Z:-5.83 [[-6.86224768e-01 -7.27356733e-01 6.91017940e-03 6.50086937e+02] [ 7.27323405e-01 -6.86259516e-01 -6.96719977e-03 -2.73303678e+02] [ 9.80981603e-03 2.44870155e-04 9.99951853e-01 -5.83263180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters 0.05133950328099124 Centerline is valid? [True, True] Translation: X:650.04, Y:-273.26, Z:-5.83 [[-6.84556773e-01 -7.28924019e-01 7.19716653e-03 6.50044574e+02] [ 7.28887972e-01 -6.84594548e-01 -7.25459492e-03 -2.73264588e+02] [ 1.02151895e-02 2.79746025e-04 9.99947784e-01 -5.83310710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters 0.0513880855809618 Centerline is valid? [True, True] Translation: X:650.01, Y:-273.22, Z:-5.83 [[-6.85608400e-01 -7.27928726e-01 7.80330215e-03 6.50005452e+02] [ 7.27886308e-01 -6.85652745e-01 -7.86360345e-03 -2.73221725e+02] [ 1.10744984e-02 2.88564206e-04 9.99938634e-01 -5.83200669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters 0.05188104931859967 Centerline is valid? [True, True] Translation: X:649.97, Y:-273.18, Z:-5.83 [[-6.87379489e-01 -7.26255548e-01 7.89410886e-03 6.49965278e+02] [ 7.26212051e-01 -6.87424765e-01 -7.95293183e-03 -2.73180804e+02] [ 1.12024668e-02 2.66114772e-04 9.99937215e-01 -5.83169249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters 0.052254374671755394 Centerline is valid? [True, True] Translation: X:649.93, Y:-273.14, Z:-5.83 [[-6.90525329e-01 -7.23268835e-01 7.54728173e-03 6.49925115e+02] [ 7.23228921e-01 -6.90566541e-01 -7.60132723e-03 -2.73140647e+02] [ 1.07097033e-02 2.09503433e-04 9.99942628e-01 -5.83191133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters 0.052305515770604695 Centerline is valid? [True, True] Translation: X:649.89, Y:-273.10, Z:-5.83 [[-6.92843888e-01 -7.21045698e-01 7.77479744e-03 6.49885446e+02] [ 7.21003225e-01 -6.92887486e-01 -7.82823870e-03 -2.73101149e+02] [ 1.10315777e-02 1.81906698e-04 9.99939134e-01 -5.83306341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters 0.05195075853400236 Centerline is valid? [True, True] Translation: X:649.85, Y:-273.06, Z:-5.83 [[-6.93761257e-01 -7.20157128e-01 8.30840898e-03 6.49845563e+02] [ 7.20108591e-01 -6.93810982e-01 -8.36289186e-03 -2.73060744e+02] [ 1.17870616e-02 1.81106317e-04 9.99930514e-01 -5.83298479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters 0.05195367934500978 Centerline is valid? [True, True] Translation: X:649.81, Y:-273.02, Z:-5.83 [[-6.95192901e-01 -7.18763610e-01 9.25762533e-03 6.49806641e+02] [ 7.18703265e-01 -6.95254516e-01 -9.31529406e-03 -2.73021523e+02] [ 1.31319002e-02 1.77559254e-04 9.99913757e-01 -5.83289604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters 0.05260336217676691 Centerline is valid? [True, True] Translation: X:649.77, Y:-272.98, Z:-5.83 [[-6.96822740e-01 -7.17193592e-01 8.45110815e-03 6.49766251e+02] [ 7.17143215e-01 -6.96873972e-01 -8.50154894e-03 -2.72980344e+02] [ 1.19866137e-02 1.36582248e-04 9.99928149e-01 -5.83233250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters 0.051766768636247476 Centerline is valid? [True, True] Translation: X:649.73, Y:-272.94, Z:-5.83 [[-6.99114620e-01 -7.14979762e-01 6.53361252e-03 6.49727779e+02] [ 7.14949575e-01 -6.99145145e-01 -6.57048723e-03 -2.72940193e+02] [ 9.26570887e-03 7.76798095e-05 9.99957069e-01 -5.82904254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters 0.052466613762507656 Centerline is valid? [True, True] Translation: X:649.69, Y:-272.90, Z:-5.83 [[-6.99307688e-01 -7.14790892e-01 6.53748647e-03 6.49686385e+02] [ 7.14760679e-01 -6.99338241e-01 -6.57241508e-03 -2.72902368e+02] [ 9.26981673e-03 7.65978794e-05 9.99957031e-01 -5.82871401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters 0.05220198573691898 Centerline is valid? [True, True] Translation: X:649.64, Y:-272.87, Z:-5.83 [[-6.99965587e-01 -7.14145002e-01 6.71516850e-03 6.49644484e+02] [ 7.14113116e-01 -6.99997794e-01 -6.74875827e-03 -2.72865936e+02] [ 9.52019513e-03 7.14913565e-05 9.99954679e-01 -5.83018007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters 0.05259831927863871 Centerline is valid? [True, True] Translation: X:649.60, Y:-272.83, Z:-5.83 [[-7.00321604e-01 -7.13795594e-01 6.74539919e-03 6.49604165e+02] [ 7.13763427e-01 -7.00354085e-01 -6.77685748e-03 -2.72827946e+02] [ 9.56145889e-03 6.86395389e-05 9.99954286e-01 -5.83034857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters 0.05284017118705152 Centerline is valid? [True, True] Translation: X:649.56, Y:-272.79, Z:-5.83 [[-7.01562032e-01 -7.12569039e-01 7.48873208e-03 6.49562754e+02] [ 7.12529347e-01 -7.01601997e-01 -7.52114138e-03 -2.72791039e+02] [ 1.06134419e-02 5.93941572e-05 9.99943674e-01 -5.83053156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters 0.05313415996217449 Centerline is valid? [True, True] Translation: X:649.52, Y:-272.75, Z:-5.83 [[-7.01803087e-01 -7.12331165e-01 7.53245970e-03 6.49522513e+02] [ 7.12291022e-01 -7.01843507e-01 -7.56250662e-03 -2.72752534e+02] [ 1.06736171e-02 5.79129262e-05 9.99943034e-01 -5.83023699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters 0.05336451880537071 Centerline is valid? [True, True] Translation: X:649.48, Y:-272.72, Z:-5.83 [[-7.00710044e-01 -7.13397172e-01 8.36117239e-03 6.49478092e+02] [ 7.13347816e-01 -7.00759922e-01 -8.39197801e-03 -2.72716711e+02] [ 1.18459879e-02 8.40807852e-05 9.99929830e-01 -5.83074120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters 0.05306773251015488 Centerline is valid? [True, True] Translation: X:649.44, Y:-272.68, Z:-5.83 [[-6.99643236e-01 -7.14441326e-01 8.54019671e-03 6.49437512e+02] [ 7.14389943e-01 -6.99695349e-01 -8.56902851e-03 -2.72677930e+02] [ 1.20976040e-02 1.05767808e-04 9.99926816e-01 -5.82577092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters 0.053362151935077144 Centerline is valid? [True, True] Translation: X:649.39, Y:-272.65, Z:-5.83 [[-6.98896455e-01 -7.15173450e-01 8.40724584e-03 6.49391243e+02] [ 7.15123740e-01 -6.98947010e-01 -8.43294239e-03 -2.72646104e+02] [ 1.19072358e-02 1.18467547e-04 9.99929099e-01 -5.83052612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters 0.05353466133051499 Centerline is valid? [True, True] Translation: X:649.35, Y:-272.61, Z:-5.83 [[-6.99270859e-01 -7.14816034e-01 7.63565831e-03 6.49349024e+02] [ 7.14775033e-01 -6.99312538e-01 -7.65675548e-03 -2.72610330e+02] [ 1.08128832e-02 1.03631942e-04 9.99941534e-01 -5.83021955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters 0.05385989663228938 Centerline is valid? [True, True] Translation: X:649.31, Y:-272.57, Z:-5.83 [[-7.00985976e-01 -7.13139443e-01 7.12706230e-03 6.49307508e+02] [ 7.13103658e-01 -7.01022203e-01 -7.14453854e-03 -2.72571718e+02] [ 1.00912812e-02 7.41128662e-05 9.99949079e-01 -5.82877054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters 0.054217357978340375 Centerline is valid? [True, True] Translation: X:649.27, Y:-272.53, Z:-5.82 [[-7.03131478e-01 -7.11024511e-01 7.09012121e-03 6.49267433e+02] [ 7.10989009e-01 -7.03167223e-01 -7.10533411e-03 -2.72532485e+02] [ 1.00376075e-02 4.50141804e-05 9.99949621e-01 -5.82479075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters 0.05378336142179152 Centerline is valid? [True, True] Translation: X:649.23, Y:-272.49, Z:-5.83 [[-7.06755431e-01 -7.07418581e-01 7.46408067e-03 6.49228788e+02] [ 7.07379059e-01 -7.06794844e-01 -7.47768593e-03 -2.72493153e+02] [ 1.05654277e-02 -4.96078151e-06 9.99944184e-01 -5.83030506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters 0.05417930020596985 Centerline is valid? [True, True] Translation: X:649.19, Y:-272.45, Z:-5.83 [[-7.09553268e-01 -7.04608992e-01 7.76706923e-03 6.49191063e+02] [ 7.04566054e-01 -7.09595776e-01 -7.77880826e-03 -2.72451003e+02] [ 1.09924978e-02 -4.70655051e-05 9.99939580e-01 -5.83146885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters 0.05452476059170244 Centerline is valid? [True, True] Translation: X:649.15, Y:-272.41, Z:-5.82 [[-7.13112582e-01 -7.00998750e-01 8.43783118e-03 6.49148850e+02] [ 7.00947851e-01 -7.13162492e-01 -8.44813798e-03 -2.72411774e+02] [ 1.19396789e-02 -1.09993864e-04 9.99928713e-01 -5.82466522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters 0.05481638346897161 Centerline is valid? [True, True] Translation: X:649.11, Y:-272.37, Z:-5.83 [[-7.14492713e-01 -6.99588197e-01 8.74741155e-03 6.49114383e+02] [ 6.99533421e-01 -7.14546244e-01 -8.75540237e-03 -2.72367363e+02] [ 1.23756062e-02 -1.36564463e-04 9.99923410e-01 -5.83294586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters 0.054960564827797403 Centerline is valid? [True, True] Translation: X:649.07, Y:-272.33, Z:-5.83 [[-7.11577169e-01 -7.02552417e-01 8.83371316e-03 6.49066927e+02] [ 7.02496813e-01 -7.11631994e-01 -8.83926838e-03 -2.72333919e+02] [ 1.24964023e-02 -8.41662267e-05 9.99921913e-01 -5.82562058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters 0.055292227009378185 Centerline is valid? [True, True] Translation: X:649.03, Y:-272.30, Z:-5.82 [[-7.10395428e-01 -7.03746296e-01 8.91557374e-03 6.49025395e+02] [ 7.03689789e-01 -7.10451369e-01 -8.91813480e-03 -2.72295160e+02] [ 1.26101859e-02 -6.16039847e-05 9.99920487e-01 -5.82463680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters 0.054485389888882255 Centerline is valid? [True, True] Translation: X:648.98, Y:-272.26, Z:-5.82 [[-7.05363065e-01 -7.08786323e-01 9.21383162e-03 6.48981865e+02] [ 7.08726434e-01 -7.05423239e-01 -9.21387199e-03 -2.72257730e+02] [ 1.30303174e-02 3.09610426e-05 9.99915101e-01 -5.82474741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters 0.054391848442284244 Centerline is valid? [True, True] Translation: X:648.94, Y:-272.22, Z:-5.82 [[-7.00258443e-01 -7.13837408e-01 8.61792008e-03 6.48938999e+02] [ 7.13785423e-01 -7.00311460e-01 -8.61561740e-03 -2.72218995e+02] [ 1.21853782e-02 1.18186898e-04 9.99925749e-01 -5.82313944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters 0.05440666605613746 Centerline is valid? [True, True] Translation: X:648.59, Y:-272.61, Z:-4.85 [[-7.66114256e-01 6.42654673e-01 7.99486212e-03 6.48591521e+02] [ 6.42616619e-01 7.66155938e-01 -6.99710412e-03 -2.72609070e+02] [-1.06220328e-02 -2.22949953e-04 -9.99943560e-01 -4.85167398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters 0.055081907158889845 Centerline is valid? [True, True] Translation: X:648.95, Y:-272.25, Z:-5.82 [[-6.95575851e-01 -7.18434391e-01 5.12459972e-03 6.48946062e+02] [ 7.18414380e-01 -6.95594727e-01 -5.36234637e-03 -2.72250354e+02] [ 7.41713858e-03 -4.83325123e-05 9.99972491e-01 -5.82286187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters 0.05422783436934449 Centerline is valid? [True, True] Translation: X:648.53, Y:-272.56, Z:-4.85 [[-7.72678112e-01 6.34761632e-01 6.79749852e-03 6.48534249e+02] [ 6.34734125e-01 7.72707969e-01 -5.91485462e-03 -2.72560480e+02] [-9.00700404e-03 -2.55674424e-04 -9.99959403e-01 -4.85175472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters 0.05423660153543644 Centerline is valid? [True, True] Translation: X:648.56, Y:-272.49, Z:-4.85 [[-8.16123459e-01 5.77820127e-01 8.14866077e-03 6.48562053e+02] [ 5.77787753e-01 8.16164088e-01 -6.12325266e-03 -2.72485683e+02] [-1.01887829e-02 -2.89133744e-04 -9.99948051e-01 -4.85085121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters 0.054006966264734176 Centerline is valid? [True, True] Translation: X:648.56, Y:-272.40, Z:-4.85 [[-8.54669321e-01 5.19078017e-01 9.91785434e-03 6.48564891e+02] [ 5.19038715e-01 8.54726805e-01 -6.39544575e-03 -2.72400550e+02] [-1.17967912e-02 -3.18240911e-04 -9.99930365e-01 -4.85071464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters 0.05440595177031596 Centerline is valid? [True, True] Translation: X:648.51, Y:-272.29, Z:-4.85 [[-8.88104562e-01 4.59516427e-01 1.07210334e-02 6.48511363e+02] [ 4.59478908e-01 8.88169222e-01 -5.87936110e-03 -2.72286963e+02] [-1.22237549e-02 -2.95398677e-04 -9.99925243e-01 -4.85135268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters 0.054041954869832425 Centerline is valid? [True, True] Translation: X:648.48, Y:-272.19, Z:-4.85 [[-9.17079647e-01 3.98544846e-01 1.12661423e-02 6.48483388e+02] [ 3.98511338e-01 9.17148810e-01 -5.17426628e-03 -2.72192469e+02] [-1.23949062e-02 -2.55528852e-04 -9.99923148e-01 -4.85083336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters 0.05400925543547361 Centerline is valid? [True, True] Translation: X:648.67, Y:-271.68, Z:-5.82 [[-8.74012904e-01 -4.85812068e-01 9.38506193e-03 6.48672052e+02] [ 4.85785546e-01 -8.74063282e-01 -5.07768448e-03 -2.71681973e+02] [ 1.06699384e-02 1.21165679e-04 9.99943067e-01 -5.82251750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters 0.054226015887750806 Centerline is valid? [True, True] Translation: X:648.64, Y:-272.29, Z:-4.86 [[-9.15439445e-01 4.02311541e-01 1.07724559e-02 6.48642640e+02] [ 4.02282083e-01 9.15502817e-01 -4.87007060e-03 -2.72288141e+02] [-1.18214994e-02 -1.24688725e-04 -9.99930116e-01 -4.85518645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters 0.05367856208059894 Centerline is valid? [True, True] Translation: X:648.05, Y:-271.97, Z:-4.85 [[-9.39086968e-01 3.43508858e-01 1.08319126e-02 6.48054132e+02] [ 3.43485573e-01 9.39149436e-01 -3.99972649e-03 -2.71970494e+02] [-1.15467261e-02 -3.54853301e-05 -9.99933334e-01 -4.85260615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters 0.054318279477300065 Centerline is valid? [True, True] Translation: X:648.00, Y:-271.88, Z:-4.85 [[-9.59744580e-01 2.80668356e-01 1.07524533e-02 6.48004877e+02] [ 2.80650962e-01 9.59804810e-01 -3.12474897e-03 -2.71884312e+02] [-1.11972745e-02 1.87254583e-05 -9.99937308e-01 -4.85304109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters 0.05406889658495676 Centerline is valid? [True, True] Translation: X:647.97, Y:-271.81, Z:-4.85 [[-9.77054406e-01 2.12704336e-01 1.10250718e-02 6.47972216e+02] [ 2.12691136e-01 9.77116607e-01 -2.36983358e-03 -2.71805356e+02] [-1.12768546e-02 2.94787005e-05 -9.99936414e-01 -4.85147240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters 0.05482447914402176 Centerline is valid? [True, True] Translation: X:648.10, Y:-271.75, Z:-4.85 [[-9.89762527e-01 1.42292076e-01 1.10952932e-02 6.48100773e+02] [ 1.42283527e-01 9.89824714e-01 -1.56016291e-03 -2.71753374e+02] [-1.12043942e-02 3.44866666e-05 -9.99937228e-01 -4.85285658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters 0.05426227932879882 Centerline is valid? [True, True] Translation: X:647.83, Y:-271.66, Z:-4.85 [[-9.97144754e-01 7.47361208e-02 1.08098190e-02 6.47834307e+02] [ 7.47324327e-02 9.97203343e-01 -7.45271386e-04 -2.71655289e+02] [-1.08352863e-02 6.47006185e-05 -9.99941294e-01 -4.85373008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters 0.054225324092776826 Centerline is valid? [True, True] Translation: X:647.84, Y:-271.04, Z:-5.82 [[-9.93021128e-01 -1.17577787e-01 9.19253676e-03 6.47837205e+02] [ 1.17571392e-01 -9.93063665e-01 -1.23491610e-03 -2.71041844e+02] [ 9.27397295e-03 -1.45518437e-04 9.99956985e-01 -5.82138300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters 0.05419823170281374 Centerline is valid? [True, True] Translation: X:647.66, Y:-271.65, Z:-4.85 [[-9.97105074e-01 7.53592070e-02 1.01222905e-02 6.47660664e+02] [ 7.53563595e-02 9.97156447e-01 -6.62955654e-04 -2.71649557e+02] [-1.01434670e-02 1.01742516e-04 -9.99948549e-01 -4.85414481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters 0.05396049454580256 Centerline is valid? [True, True] Translation: X:647.65, Y:-271.03, Z:-5.82 [[-9.93531035e-01 -1.13270671e-01 8.11401340e-03 6.47645477e+02] [ 1.13265237e-01 -9.93564147e-01 -1.12760669e-03 -2.71027926e+02] [ 8.18951757e-03 -2.01276587e-04 9.99966445e-01 -5.82131429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters 0.05422303486536027 Centerline is valid? [True, True] Translation: X:648.03, Y:-271.68, Z:-4.86 [[-9.97924595e-01 6.35191078e-02 1.05747946e-02 6.48030965e+02] [ 6.35163353e-02 9.97980620e-01 -5.98162011e-04 -2.71676005e+02] [-1.05914348e-02 7.47516194e-05 -9.99943906e-01 -4.85541807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters 0.05406884370718382 Centerline is valid? [True, True] Translation: X:647.55, Y:-271.59, Z:-4.86 [[-9.99893353e-01 -9.84790073e-03 1.07843347e-02 6.47549253e+02] [-9.84675196e-03 9.99951507e-01 1.59614721e-04 -2.71586687e+02] [-1.07853836e-02 5.34070299e-05 -9.99941835e-01 -4.85545915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters 0.0540934633793527 Centerline is valid? [True, True] Translation: X:647.38, Y:-270.98, Z:-5.82 [[-9.98909156e-01 -4.56586089e-02 9.78716850e-03 6.47384649e+02] [ 4.56552940e-02 -9.98957095e-01 -5.61967016e-04 -2.70982686e+02] [ 9.80262005e-03 -1.14517942e-04 9.99951947e-01 -5.82133520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters 0.05384345650729679 Centerline is valid? [True, True] Translation: X:647.42, Y:-271.59, Z:-4.85 [[-9.99586758e-01 -2.60396985e-02 1.21756881e-02 6.47415776e+02] [-2.60384898e-02 9.99660908e-01 2.57808478e-04 -2.71585168e+02] [-1.21782727e-02 -5.93345916e-05 -9.99925840e-01 -4.85170143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters 0.05422407211783656 Centerline is valid? [True, True] Translation: X:647.83, Y:-271.47, Z:-4.86 [[-9.94318916e-01 -1.05700722e-01 1.25399910e-02 6.47828664e+02] [-1.05693716e-01 9.94397981e-01 1.22194138e-03 -2.71471108e+02] [-1.25989018e-02 -1.10398824e-04 -9.99920625e-01 -4.85524186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters 0.053860481511730694 Centerline is valid? [True, True] Translation: X:647.11, Y:-270.93, Z:-5.82 [[-9.99562823e-01 2.77685748e-02 1.01522762e-02 6.47110652e+02] [-2.77676655e-02 -9.99614377e-01 2.30537109e-04 -2.70931881e+02] [ 1.01547629e-02 -5.14686855e-05 9.99948438e-01 -5.82300815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters 0.05365782986412736 Centerline is valid? [True, True] Translation: X:647.06, Y:-271.54, Z:-4.85 [[-9.93672108e-01 -1.11785563e-01 1.09421330e-02 6.47062389e+02] [-1.11780144e-01 9.93732345e-01 1.10748443e-03 -2.71535771e+02] [-1.09973523e-02 -1.22636816e-04 -9.99939520e-01 -4.85451413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters 0.052989317699933654 Centerline is valid? [True, True] Translation: X:646.97, Y:-270.95, Z:-5.82 [[-9.99549664e-01 2.85064454e-02 9.37289142e-03 6.46968178e+02] [-2.85051926e-02 -9.99593609e-01 2.67256731e-04 -2.70947244e+02] [ 9.37670090e-03 -3.96986595e-08 9.99956038e-01 -5.82156328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters 0.053182329715403834 Centerline is valid? [True, True] Translation: X:646.96, Y:-271.55, Z:-4.85 [[-9.92391506e-01 -1.22571625e-01 1.16316488e-02 6.46960197e+02] [-1.22565650e-01 9.92459648e-01 1.22783350e-03 -2.71546999e+02] [-1.16944397e-02 -2.07149063e-04 -9.99931596e-01 -4.85280223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters 0.05321015051806374 Centerline is valid? [True, True] Translation: X:646.92, Y:-270.96, Z:-5.83 [[-9.99660777e-01 2.31813102e-02 1.18725501e-02 6.46923508e+02] [-2.31770254e-02 -9.99731252e-01 4.98382252e-04 -2.70962919e+02] [ 1.18809126e-02 2.23042794e-04 9.99929395e-01 -5.82584424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters 0.053155588793338385 Centerline is valid? [True, True] Translation: X:646.92, Y:-271.56, Z:-4.85 [[-9.91038394e-01 -1.33002307e-01 1.23809819e-02 6.46922730e+02] [-1.32995682e-01 9.91115683e-01 1.36056221e-03 -2.71556436e+02] [-1.24519433e-02 -2.98247751e-04 -9.99922427e-01 -4.85246450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters 0.05253937646339918 Centerline is valid? [True, True] Translation: X:646.81, Y:-270.97, Z:-5.82 [[-9.99609755e-01 2.63748317e-02 9.20355206e-03 6.46812845e+02] [-2.63735330e-02 -9.99652123e-01 2.62459633e-04 -2.70970532e+02] [ 9.20727269e-03 1.96270252e-05 9.99957612e-01 -5.82236993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters 0.053192375078623406 Centerline is valid? [True, True] Translation: X:646.74, Y:-271.59, Z:-4.86 [[-9.90850830e-01 -1.34709075e-01 8.25214053e-03 6.46737119e+02] [-1.34706048e-01 9.90885173e-01 9.24079048e-04 -2.71586659e+02] [-8.30140553e-03 -1.95988746e-04 -9.99965524e-01 -4.85520607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters 0.05237341514625658 Centerline is valid? [True, True] Translation: X:646.62, Y:-270.98, Z:-5.82 [[-9.99433660e-01 3.31665296e-02 5.68687107e-03 6.46623893e+02] [-3.31661093e-02 -9.99449839e-01 1.68232722e-04 -2.70984604e+02] [ 5.68932207e-03 -2.04739421e-05 9.99983815e-01 -5.82104899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters 0.0529197903807087 Centerline is valid? [True, True] Translation: X:646.56, Y:-271.61, Z:-4.85 [[-9.91254249e-01 -1.31704708e-01 8.29967601e-03 6.46564979e+02] [-1.31701265e-01 9.91288984e-01 9.62346795e-04 -2.71614828e+02] [-8.35412301e-03 -1.39147482e-04 -9.99965094e-01 -4.85231476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters 0.05221940069884781 Centerline is valid? [True, True] Translation: X:646.43, Y:-271.00, Z:-5.83 [[-9.98829628e-01 4.78141476e-02 7.29251344e-03 6.46431790e+02] [-4.78124077e-02 -9.98856248e-01 4.12833289e-04 -2.71000486e+02] [ 7.30391188e-03 6.36774947e-05 9.99973324e-01 -5.82589650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters 0.05272300797017395 Centerline is valid? [True, True] Translation: X:646.37, Y:-271.65, Z:-4.85 [[-9.91869467e-01 -1.27001618e-01 8.09632710e-03 6.46370276e+02] [-1.26997939e-01 9.91902508e-01 9.69001838e-04 -2.71647425e+02] [-8.15383195e-03 -6.70935162e-05 -9.99966755e-01 -4.85371307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters 0.05288684619451447 Centerline is valid? [True, True] Translation: X:646.20, Y:-271.61, Z:-4.85 [[-9.81938051e-01 -1.89029697e-01 8.08940490e-03 6.46196371e+02] [-1.89023273e-01 9.81971371e-01 1.55828438e-03 -2.71605870e+02] [-8.23812605e-03 1.05292778e-06 -9.99966066e-01 -4.85416517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters 0.05333776265889999 Centerline is valid? [True, True] Translation: X:645.94, Y:-270.98, Z:-5.82 [[-9.89174307e-01 1.46590181e-01 6.74602471e-03 6.45940697e+02] [-1.46587241e-01 -9.89197308e-01 9.30773090e-04 -2.70977980e+02] [ 6.80959168e-03 -6.81843263e-05 9.99976812e-01 -5.82383356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters 0.05385681503418753 Centerline is valid? [True, True] Translation: X:646.34, Y:-271.59, Z:-4.86 [[-9.83905438e-01 -1.78517809e-01 7.84095983e-03 6.46335107e+02] [-1.78510913e-01 9.83936669e-01 1.57632220e-03 -2.71588837e+02] [-7.99640948e-03 1.51255083e-04 -9.99968017e-01 -4.85643236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters 0.054270838181956355 Centerline is valid? [True, True] Translation: X:645.69, Y:-271.02, Z:-5.82 [[-9.85678884e-01 1.68550850e-01 5.26760753e-03 6.45693934e+02] [-1.68549689e-01 -9.85692933e-01 6.66874064e-04 -2.71019265e+02] [ 5.30464571e-03 -2.30529926e-04 9.99985904e-01 -5.82135113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters 0.054453459315275635 Centerline is valid? [True, True] Translation: X:645.71, Y:-271.72, Z:-4.86 [[-9.84943744e-01 -1.72758445e-01 6.35151297e-03 6.45712130e+02] [-1.72753658e-01 9.84964206e-01 1.29894510e-03 -2.71716380e+02] [-6.48041666e-03 1.82140753e-04 -9.99978985e-01 -4.85682921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters 0.054404810983479955 Centerline is valid? [True, True] Translation: X:645.64, Y:-271.66, Z:-4.86 [[-9.70266869e-01 -2.41947266e-01 6.61238866e-03 6.45637971e+02] [-2.41940231e-01 9.70289380e-01 1.85595447e-03 -2.71661715e+02] [-6.86497360e-03 2.00968292e-04 -9.99976416e-01 -4.85624317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters 0.05415367413811821 Centerline is valid? [True, True] Translation: X:645.73, Y:-271.54, Z:-4.86 [[-9.48552423e-01 -3.16538439e-01 7.19148655e-03 6.45733745e+02] [-3.16527691e-01 9.48579662e-01 2.61653058e-03 -2.71539901e+02] [-7.64993038e-03 2.05611790e-04 -9.99970718e-01 -4.85745472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters 0.05517841630459378 Centerline is valid? [True, True] Translation: X:645.09, Y:-271.73, Z:-4.85 [[-9.22744950e-01 -3.85352508e-01 6.72316704e-03 6.45091331e+02] [-3.85340859e-01 9.22769425e-01 3.00162528e-03 -2.71733033e+02] [-7.36061682e-03 1.79023602e-04 -9.99972894e-01 -4.85490492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters 0.053849310880178754 Centerline is valid? [True, True] Translation: X:645.04, Y:-271.67, Z:-4.86 [[-8.90088263e-01 -4.55753057e-01 5.66002315e-03 6.45041688e+02] [-4.55742946e-01 8.90106250e-01 3.03835131e-03 -2.71674898e+02] [-6.42275988e-03 1.24885214e-04 -9.99979366e-01 -4.85540117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters 0.05344646048268843 Centerline is valid? [True, True] Translation: X:644.60, Y:-271.14, Z:-5.82 [[-8.99781729e-01 4.36318304e-01 4.37923295e-03 6.44604026e+02] [-4.36314224e-01 -8.99792363e-01 1.89764162e-03 -2.71143078e+02] [ 4.76837614e-03 -2.03258365e-04 9.99988611e-01 -5.82419594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters 0.053789940815005065 Centerline is valid? [True, True] Translation: X:644.80, Y:-271.79, Z:-4.85 [[-8.80096925e-01 -4.74764355e-01 5.31128136e-03 6.44804986e+02] [-4.74755556e-01 8.80112951e-01 2.89047707e-03 -2.71787980e+02] [-6.04682299e-03 2.23396429e-05 -9.99981718e-01 -4.85450239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters 0.05300497020568621 Centerline is valid? [True, True] Translation: X:644.68, Y:-271.77, Z:-4.85 [[-8.40774089e-01 -5.41355582e-01 5.75022679e-03 6.44684581e+02] [-5.41342915e-01 8.40793752e-01 3.70339876e-03 -2.71771334e+02] [-6.83961035e-03 8.77189028e-07 -9.99976610e-01 -4.85310117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters 0.05351489301431582 Centerline is valid? [True, True] Translation: X:644.52, Y:-271.79, Z:-4.85 [[-7.97773057e-01 -6.02924522e-01 6.33802221e-03 6.44520299e+02] [-6.02905635e-01 7.97798233e-01 4.77220825e-03 -2.71793060e+02] [-7.93374430e-03 -1.40901405e-05 -9.99968527e-01 -4.85246172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters 0.05347693406446248 Centerline is valid? [True, True] Translation: X:644.37, Y:-271.82, Z:-4.86 [[-7.52092091e-01 -6.59035688e-01 5.42670463e-03 6.44366517e+02] [-6.59018650e-01 7.52111669e-01 4.73888736e-03 -2.71823118e+02] [-7.20458376e-03 -1.22198522e-05 -9.99974047e-01 -4.85522920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters 0.053025868181132495 Centerline is valid? [True, True] Translation: X:644.19, Y:-271.89, Z:-4.85 [[-7.02452508e-01 -7.11709530e-01 5.47897173e-03 6.44194470e+02] [-7.11687950e-01 7.02473875e-01 5.54222100e-03 -2.71886990e+02] [-7.79328600e-03 -6.17112669e-06 -9.99969632e-01 -4.85337901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters 0.052950966001263894 Centerline is valid? [True, True] Translation: X:644.01, Y:-271.98, Z:-4.85 [[-6.49800051e-01 -7.60085399e-01 5.48446632e-03 6.44014036e+02] [-7.60058188e-01 6.49823196e-01 6.43158250e-03 -2.71975321e+02] [-8.45248538e-03 1.07291092e-05 -9.99964277e-01 -4.85341810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters 0.05308227786467357 Centerline is valid? [True, True] Translation: X:643.84, Y:-272.08, Z:-4.85 [[-5.92966843e-01 -8.05211050e-01 5.04866746e-03 6.43839811e+02] [-8.05181608e-01 5.92988335e-01 6.88570114e-03 -2.72079929e+02] [-8.53824355e-03 1.78982841e-05 -9.99963548e-01 -4.85335781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters 0.05340677102008674 Centerline is valid? [True, True] Translation: X:643.76, Y:-272.06, Z:-4.86 [[-5.30436317e-01 -8.47716782e-01 3.68395124e-03 6.43764030e+02] [-8.47696333e-01 5.30449110e-01 5.88806654e-03 -2.72060618e+02] [-6.94556147e-03 3.72373354e-07 -9.99975879e-01 -4.85625175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters 0.05342382995825079 Centerline is valid? [True, True] Translation: X:643.54, Y:-272.30, Z:-4.86 [[-4.66228772e-01 -8.84659030e-01 3.02196384e-03 6.43542472e+02] [-8.84640644e-01 4.66238566e-01 5.70352271e-03 -2.72297574e+02] [-6.45462895e-03 -1.42056484e-05 -9.99979169e-01 -4.85605950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters 0.053720320428784864 Centerline is valid? [True, True] Translation: X:643.40, Y:-272.43, Z:-4.86 [[-3.96604162e-01 -9.17985535e-01 2.77431812e-03 6.43399148e+02] [-9.17963700e-01 3.96613863e-01 6.33160385e-03 -2.72426437e+02] [-6.91265378e-03 -3.55828862e-05 -9.99976107e-01 -4.85530883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters 0.053297444510986766 Centerline is valid? [True, True] Translation: X:643.28, Y:-272.53, Z:-4.86 [[-3.21104205e-01 -9.47041226e-01 2.23750588e-03 6.43278945e+02] [-9.47019942e-01 3.21111990e-01 6.34979816e-03 -2.72526808e+02] [-6.73201060e-03 -8.00157976e-05 -9.99977337e-01 -4.85636758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters 0.05264725297645649 Centerline is valid? [True, True] Translation: X:643.15, Y:-272.69, Z:-4.86 [[-2.45971966e-01 -9.69275338e-01 1.76389844e-03 6.43150942e+02] [-9.69253495e-01 2.45978267e-01 6.50800914e-03 -2.72686185e+02] [-6.74193344e-03 -1.08876921e-04 -9.99977267e-01 -4.85707610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters 0.052857057487296674 Centerline is valid? [True, True] Translation: X:643.05, Y:-272.79, Z:-4.86 [[-1.67552043e-01 -9.85862700e-01 1.02472638e-03 6.43046378e+02] [-9.85848675e-01 1.67555127e-01 5.26014310e-03 -2.72794461e+02] [-5.35747703e-03 -1.28877425e-04 -9.99985640e-01 -4.85678857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters 0.05269860343411635 Centerline is valid? [True, True] Translation: X:642.95, Y:-272.94, Z:-4.86 [[-8.79270914e-02 -9.96126786e-01 5.03472572e-04 6.42946996e+02] [-9.96118098e-01 8.79284284e-02 4.16249943e-03 -2.72939054e+02] [-4.19064673e-03 -1.35521672e-04 -9.99991210e-01 -4.85763054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters 0.0523710567948127 Centerline is valid? [True, True] Translation: X:642.85, Y:-273.11, Z:-4.86 [[-7.86369547e-03 -9.99969058e-01 2.11165390e-04 6.42854624e+02] [-9.99958075e-01 7.86459950e-03 4.69000228e-03 -2.73112733e+02] [-4.69151789e-03 -1.74275787e-04 -9.99988980e-01 -4.85721715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters 0.05227256267569477 Centerline is valid? [True, True] Translation: X:642.78, Y:-273.30, Z:-4.86 [[ 7.05853573e-02 -9.97505728e-01 -1.70594118e-04 6.42777203e+02] [-9.97490269e-01 -7.05852139e-02 5.55788831e-03 -2.73297094e+02] [-5.55606685e-03 -2.22139559e-04 -9.99984540e-01 -4.85675990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters 0.05189044582345063 Centerline is valid? [True, True] Translation: X:642.71, Y:-273.54, Z:-4.86 [[ 1.44914469e-01 -9.89443963e-01 -6.64665598e-04 6.42713566e+02] [-9.89424124e-01 -1.44915775e-01 6.27061783e-03 -2.73542616e+02] [-6.30074548e-03 -2.51067073e-04 -9.99980119e-01 -4.85691425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters 0.052543763658528884 Centerline is valid? [True, True] Translation: X:642.67, Y:-273.76, Z:-4.86 [[ 2.15558563e-01 -9.76490310e-01 -1.08654018e-03 6.42666501e+02] [-9.76471976e-01 -2.15561179e-01 5.98810192e-03 -2.73757961e+02] [-6.08153939e-03 -2.29810607e-04 -9.99981481e-01 -4.85707533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters 0.05287601288581687 Centerline is valid? [True, True] Translation: X:642.64, Y:-274.02, Z:-4.86 [[ 2.86446093e-01 -9.58095119e-01 -1.54249809e-03 6.42638007e+02] [-9.58076653e-01 -2.86450156e-01 5.95266525e-03 -2.74016764e+02] [-6.14506834e-03 -2.27286294e-04 -9.99981093e-01 -4.85653708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters 0.051637827766818974 Centerline is valid? [True, True] Translation: X:642.66, Y:-274.32, Z:-4.86 [[ 3.54263867e-01 -9.35143726e-01 -1.82323676e-03 6.42659101e+02] [-9.35128284e-01 -3.54268502e-01 5.37781658e-03 -2.74315945e+02] [-5.67494679e-03 -2.00205839e-04 -9.99983877e-01 -4.85889997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters 0.05208087118795674 Centerline is valid? [True, True] Translation: X:642.67, Y:-274.57, Z:-4.86 [[ 4.19424739e-01 -9.07787589e-01 -2.14058957e-03 6.42666606e+02] [-9.07773539e-01 -4.19430164e-01 5.05362841e-03 -2.74566484e+02] [-5.48544898e-03 -1.76446208e-04 -9.99984939e-01 -4.85753956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters 0.051824948379511494 Centerline is valid? [True, True] Translation: X:642.72, Y:-274.85, Z:-4.86 [[ 4.83652092e-01 -8.75258407e-01 -1.83684040e-03 6.42723174e+02] [-8.75251015e-01 -4.83655562e-01 3.59970927e-03 -2.74851718e+02] [-4.03907388e-03 -1.33310496e-04 -9.99991834e-01 -4.85922051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters 0.05188433962798809 Centerline is valid? [True, True] Translation: X:642.76, Y:-275.08, Z:-4.86 [[ 5.43967631e-01 -8.39103526e-01 -2.11883615e-03 6.42760509e+02] [-8.39096287e-01 -5.43971745e-01 3.48734917e-03 -2.75081245e+02] [-4.07883398e-03 -1.19097523e-04 -9.99991674e-01 -4.85950541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters 0.052012776425554706 Centerline is valid? [True, True] Translation: X:642.80, Y:-275.29, Z:-4.86 [[ 6.03659989e-01 -7.97239369e-01 -2.00150397e-03 6.42800837e+02] [-7.97234405e-01 -6.03663299e-01 2.81520795e-03 -2.75290602e+02] [-3.45262910e-03 -1.03760570e-04 -9.99994034e-01 -4.85891187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters 0.05174675938262156 Centerline is valid? [True, True] Translation: X:642.88, Y:-275.52, Z:-4.86 [[ 6.61468967e-01 -7.49967532e-01 -2.73984288e-03 6.42876339e+02] [-7.49960320e-01 -6.61474630e-01 3.29127433e-03 -2.75517735e+02] [-4.28068544e-03 -1.22302384e-04 -9.99990830e-01 -4.85802113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters 0.05188287924029594 Centerline is valid? [True, True] Translation: X:642.96, Y:-275.73, Z:-4.86 [[ 7.16648083e-01 -6.97425862e-01 -3.56256044e-03 6.42962697e+02] [-6.97416184e-01 -7.16656922e-01 3.67734160e-03 -2.75726256e+02] [-5.11780674e-03 -1.50772504e-04 -9.99986893e-01 -4.85796583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters 0.051704040927159654 Centerline is valid? [True, True] Translation: X:643.03, Y:-275.90, Z:-4.86 [[ 7.67120638e-01 -6.41491012e-01 -3.89978375e-03 6.43028037e+02] [-6.41481634e-01 -7.67130533e-01 3.47240527e-03 -2.75903157e+02] [-5.21915996e-03 -1.62114093e-04 -9.99986367e-01 -4.85763264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters 0.055130377787310954 Centerline is valid? [True, True] Translation: X:642.99, Y:-276.01, Z:-4.85 [[ 8.15494374e-01 -5.78747589e-01 -4.48942174e-03 6.42985858e+02] [-5.78737590e-01 -8.15506711e-01 3.40662111e-03 -2.76005335e+02] [-5.63272732e-03 -1.79883230e-04 -9.99984120e-01 -4.85492611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters 0.05308224010600997 Centerline is valid? [True, True] Translation: X:642.97, Y:-276.09, Z:-4.86 [[ 8.58762533e-01 -5.12364445e-01 -3.09635919e-03 6.42968202e+02] [-5.12360534e-01 -8.58768104e-01 2.00656792e-03 -2.76090392e+02] [-3.68714857e-03 -1.36713099e-04 -9.99993193e-01 -4.85725114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters 0.051786706144905215 Centerline is valid? [True, True] Translation: X:642.96, Y:-276.17, Z:-4.86 [[ 8.96484390e-01 -4.43066917e-01 -2.72865747e-03 6.42957832e+02] [-4.43064439e-01 -8.96488534e-01 1.48703233e-03 -2.76173860e+02] [-3.10506496e-03 -1.24130176e-04 -9.99995172e-01 -4.85804149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters 0.053051109228224876 Centerline is valid? [True, True] Translation: X:642.95, Y:-276.26, Z:-4.86 [[ 9.28683882e-01 -3.70859726e-01 -3.05152143e-03 6.42950596e+02] [-3.70857250e-01 -9.28688886e-01 1.36163138e-03 -2.76263920e+02] [-3.33888827e-03 -1.32846274e-04 -9.99994417e-01 -4.85747896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters 0.052532573008798766 Centerline is valid? [True, True] Translation: X:642.95, Y:-276.35, Z:-4.86 [[ 9.54934421e-01 -2.96800006e-01 -3.16344874e-03 6.42952620e+02] [-2.96797908e-01 -9.54939652e-01 1.12391753e-03 -2.76352255e+02] [-3.35448137e-03 -1.34362574e-04 -9.99994365e-01 -4.85754976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters 0.051590252508185774 Centerline is valid? [True, True] Translation: X:642.96, Y:-276.44, Z:-4.86 [[ 9.75031478e-01 -2.22039362e-01 -3.48414554e-03 6.42959841e+02] [-2.22037436e-01 -9.75037693e-01 9.34997535e-04 -2.76443830e+02] [-3.60477948e-03 -1.38041286e-04 -9.99993493e-01 -4.85770959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters 0.052631917810428065 Centerline is valid? [True, True] Translation: X:642.97, Y:-276.54, Z:-4.86 [[ 9.89134414e-01 -1.46947156e-01 -4.43225338e-03 6.42972989e+02] [-1.46944985e-01 -9.89144332e-01 8.13361243e-04 -2.76535994e+02] [-4.50365943e-03 -1.53226191e-04 -9.99989847e-01 -4.85728297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters 0.0523277157063425 Centerline is valid? [True, True] Translation: X:642.99, Y:-276.62, Z:-4.86 [[ 9.97412044e-01 -7.17825347e-02 -4.05989737e-03 6.42994765e+02] [-7.17814002e-02 -9.97420298e-01 4.24658158e-04 -2.76624826e+02] [-4.07990708e-03 -1.32134044e-04 -9.99991668e-01 -4.85701006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters 0.052372977730045164 Centerline is valid? [True, True] Translation: X:643.02, Y:-276.72, Z:-4.86 [[ 9.99993934e-01 1.36891136e-04 -3.48028344e-03 6.43022644e+02] [ 1.37228186e-04 -9.99999986e-01 9.66068671e-05 -2.76715011e+02] [-3.48027016e-03 -9.70838741e-05 -9.99993939e-01 -4.85762276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters 0.052812055504364394 Centerline is valid? [True, True] Translation: X:643.05, Y:-276.81, Z:-4.86 [[ 9.97133450e-01 7.55957436e-02 -3.18858987e-03 6.43051008e+02] [ 7.55956250e-02 -9.97138544e-01 -1.57898949e-04 -2.76806517e+02] [-3.19140235e-03 -8.35971195e-05 -9.99994904e-01 -4.85733911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters 0.05206314075015966 Centerline is valid? [True, True] Translation: X:643.09, Y:-276.88, Z:-4.86 [[ 9.89605320e-01 1.43786181e-01 -2.61631601e-03 6.43085611e+02] [ 1.43785815e-01 -9.89608777e-01 -3.28737251e-04 -2.76883237e+02] [-2.63639717e-03 -5.08689971e-05 -9.99996523e-01 -4.85741595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters 0.052059048238745576 Centerline is valid? [True, True] Translation: X:643.13, Y:-276.95, Z:-4.86 [[ 9.76638192e-01 2.14865858e-01 -3.24109572e-03 6.43125730e+02] [ 2.14864786e-01 -9.76643570e-01 -6.79525496e-04 -2.76951364e+02] [-3.31140212e-03 -3.27467846e-05 -9.99994517e-01 -4.85682849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters 0.05344395014385776 Centerline is valid? [True, True] Translation: X:643.17, Y:-277.02, Z:-4.86 [[ 9.58964668e-01 2.83490772e-01 -4.44386348e-03 6.43170820e+02] [ 2.83487700e-01 -9.58974964e-01 -1.31985884e-03 -2.77018022e+02] [-4.63572162e-03 5.91735678e-06 -9.99989255e-01 -4.85597333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters 0.05291679412368652 Centerline is valid? [True, True] Translation: X:643.22, Y:-277.09, Z:-4.86 [[ 9.35787206e-01 3.52534076e-01 -4.69365600e-03 6.43223454e+02] [ 3.52529439e-01 -9.35798976e-01 -1.80858120e-03 -2.77087834e+02] [-5.02990499e-03 3.77952323e-05 -9.99987349e-01 -4.85648905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters 0.05339230803914291 Centerline is valid? [True, True] Translation: X:643.28, Y:-277.16, Z:-4.86 [[ 9.06478055e-01 4.22236538e-01 -3.72042423e-03 6.43283360e+02] [ 4.22232826e-01 -9.06485689e-01 -1.77090504e-03 -2.77156723e+02] [-4.12025214e-03 3.44013158e-05 -9.99991511e-01 -4.85784838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters 0.053097301477775076 Centerline is valid? [True, True] Translation: X:643.36, Y:-277.24, Z:-4.86 [[ 8.72480828e-01 4.88644974e-01 -1.81481698e-03 6.43360087e+02] [ 4.88643907e-01 -8.72482716e-01 -1.02116939e-03 -2.77243015e+02] [-2.08238574e-03 4.15145190e-06 -9.99997832e-01 -4.85845798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters 0.053727828873415484 Centerline is valid? [True, True] Translation: X:643.42, Y:-277.28, Z:-4.86 [[ 8.31134319e-01 5.56067547e-01 -2.15115489e-03 6.43415087e+02] [ 5.56065642e-01 -8.31137102e-01 -1.45578203e-03 -2.77279628e+02] [-2.59741778e-03 1.37670792e-05 -9.99996627e-01 -4.85788432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters 0.053870993983937694 Centerline is valid? [True, True] Translation: X:643.48, Y:-277.32, Z:-4.86 [[ 7.83222388e-01 6.21737093e-01 -2.38262243e-03 6.43476795e+02] [ 6.21734160e-01 -7.83226012e-01 -1.91001763e-03 -2.77318723e+02] [-3.05366067e-03 1.46108122e-05 -9.99995337e-01 -4.85820728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters 0.0536800563169194 Centerline is valid? [True, True] Translation: X:643.55, Y:-277.36, Z:-4.86 [[ 7.27869904e-01 6.85711670e-01 -2.21560654e-03 6.43553976e+02] [ 6.85708513e-01 -7.27873276e-01 -2.08081098e-03 -2.77363530e+02] [-3.03951716e-03 -4.70057421e-06 -9.99995381e-01 -4.85759068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters 0.053408379579840896 Centerline is valid? [True, True] Translation: X:643.63, Y:-277.40, Z:-4.86 [[ 6.67603929e-01 7.44512779e-01 -2.39080802e-03 6.43632959e+02] [ 7.44508108e-01 -6.67608210e-01 -2.63747117e-03 -2.77400214e+02] [-3.55975406e-03 -1.91898383e-05 -9.99993664e-01 -4.85857955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters 0.053526259023940446 Centerline is valid? [True, True] Translation: X:643.72, Y:-277.43, Z:-4.86 [[ 6.04684266e-01 7.96462744e-01 -2.00895346e-03 6.43716743e+02] [ 7.96458521e-01 -6.04687602e-01 -2.59373524e-03 -2.77432807e+02] [-3.28060274e-03 -3.16572156e-05 -9.99994618e-01 -4.85820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters 0.05341043538766633 Centerline is valid? [True, True] Translation: X:643.81, Y:-277.46, Z:-4.86 [[ 5.37231240e-01 8.43433805e-01 -1.41820051e-03 6.43807516e+02] [ 8.43431078e-01 -5.37233110e-01 -2.14503375e-03 -2.77460224e+02] [-2.57109825e-03 -4.37752433e-05 -9.99996694e-01 -4.85958144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters 0.05312804025321531 Centerline is valid? [True, True] Translation: X:643.89, Y:-277.48, Z:-4.86 [[ 4.66830159e-01 8.84345738e-01 -1.48900820e-03 6.43894994e+02] [ 8.84341601e-01 -4.66832531e-01 -2.70563760e-03 -2.77478409e+02] [-3.08783655e-03 -5.37186684e-05 -9.99995231e-01 -4.85875585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters 0.05315998311425116 Centerline is valid? [True, True] Translation: X:643.97, Y:-277.48, Z:-4.86 [[ 3.94207530e-01 9.19020676e-01 -1.19181518e-03 6.43972431e+02] [ 9.19016918e-01 -3.94209327e-01 -2.62866706e-03 -2.77483541e+02] [-2.88562404e-03 -5.90579641e-05 -9.99995835e-01 -4.85784578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters 0.05343765752191086 Centerline is valid? [True, True] Translation: X:644.05, Y:-277.48, Z:-4.86 [[ 3.19483785e-01 9.47591219e-01 -9.96600068e-04 6.44047033e+02] [ 9.47587216e-01 -3.19485333e-01 -2.75494376e-03 -2.77480908e+02] [-2.92895962e-03 -6.42056234e-05 -9.99995709e-01 -4.85747726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters 0.05361246784661814 Centerline is valid? [True, True] Translation: X:644.13, Y:-277.47, Z:-4.86 [[ 2.42178568e-01 9.70231122e-01 -1.05438206e-03 6.44128379e+02] [ 9.70223340e-01 -2.42180849e-01 -3.88663026e-03 -2.77472902e+02] [-4.02628078e-03 -8.17275380e-05 -9.99991891e-01 -4.85692523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters 0.053351250112133417 Centerline is valid? [True, True] Translation: X:644.22, Y:-277.46, Z:-4.86 [[ 1.61695433e-01 9.86840020e-01 -1.16678942e-03 6.44215607e+02] [ 9.86819836e-01 -1.61699590e-01 -6.31291888e-03 -2.77460054e+02] [-6.41851037e-03 -1.30640789e-04 -9.99979393e-01 -4.85528930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters 0.05352269439116751 Centerline is valid? [True, True] Translation: X:644.30, Y:-277.44, Z:-4.85 [[ 8.15472751e-02 9.96669260e-01 -6.53824521e-04 6.44303662e+02] [ 9.96649806e-01 -8.15497696e-02 -6.22886191e-03 -2.77441031e+02] [-6.26143443e-03 -1.43687366e-04 -9.99980387e-01 -4.85373135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters 0.05297852150991746 Centerline is valid? [True, True] Translation: X:644.38, Y:-277.41, Z:-4.86 [[ 2.92631969e-03 9.99995708e-01 -1.45828599e-04 6.44381903e+02] [ 9.99981566e-01 -2.92705408e-03 -5.31971948e-03 -2.77413492e+02] [-5.32012349e-03 -1.30258711e-04 -9.99985840e-01 -4.85661890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters 0.05385788842500195 Centerline is valid? [True, True] Translation: X:644.47, Y:-277.38, Z:-4.86 [[-7.55016107e-02 9.97145654e-01 2.28736305e-04 6.44467309e+02] [ 9.97135068e-01 7.55018635e-02 -4.59617865e-03 -2.77380970e+02] [-4.60032958e-03 -1.18937900e-04 -9.99989411e-01 -4.85584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters 0.0532831302144015 Centerline is valid? [True, True] Translation: X:644.53, Y:-277.34, Z:-4.86 [[-1.53790289e-01 9.88103356e-01 5.51600293e-04 6.44528407e+02] [ 9.88094001e-01 1.53791234e-01 -4.30133987e-03 -2.77343591e+02] [-4.33499965e-03 -1.16471360e-04 -9.99990597e-01 -4.85635248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters 0.05369511062627548 Centerline is valid? [True, True] Translation: X:644.60, Y:-277.30, Z:-4.86 [[-2.30943747e-01 9.72966435e-01 1.14158148e-03 6.44597318e+02] [ 9.72951396e-01 2.30946526e-01 -5.41133490e-03 -2.77299246e+02] [-5.52869150e-03 -1.39010656e-04 -9.99984707e-01 -4.85634203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters 0.053257077085833264 Centerline is valid? [True, True] Translation: X:644.67, Y:-277.25, Z:-4.86 [[-3.06531501e-01 9.51858969e-01 1.71545963e-03 6.44666446e+02] [ 9.51841220e-01 3.06536264e-01 -5.81467448e-03 -2.77248660e+02] [-6.06060064e-03 -1.49535712e-04 -9.99981623e-01 -4.85654193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters 0.05311076538122141 Centerline is valid? [True, True] Translation: X:644.73, Y:-277.19, Z:-4.86 [[-3.80755779e-01 9.24672978e-01 2.21824391e-03 6.44734405e+02] [ 9.24654810e-01 3.80762209e-01 -5.79844512e-03 -2.77192909e+02] [-6.20628897e-03 -1.56681586e-04 -9.99980729e-01 -4.85597676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters 0.05372092754068975 Centerline is valid? [True, True] Translation: X:644.80, Y:-277.13, Z:-4.85 [[-4.54032610e-01 8.90979295e-01 3.20688707e-03 6.44795716e+02] [ 8.90953917e-01 4.54043892e-01 -6.72765965e-03 -2.77133456e+02] [-7.45027294e-03 -1.97388270e-04 -9.99972227e-01 -4.85410971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters 0.05382754870827472 Centerline is valid? [True, True] Translation: X:644.85, Y:-277.07, Z:-4.85 [[-5.23321714e-01 8.52125986e-01 3.96082026e-03 6.44848204e+02] [ 8.52098378e-01 5.23336658e-01 -6.86263185e-03 -2.77070292e+02] [-7.92066936e-03 -2.16355746e-04 -9.99968608e-01 -4.85480196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters 0.05275221096911501 Centerline is valid? [True, True] Translation: X:644.90, Y:-277.00, Z:-4.86 [[-5.90274315e-01 8.07192616e-01 4.03891191e-03 6.44901034e+02] [ 8.07171168e-01 5.90288094e-01 -5.88825006e-03 -2.76999562e+02] [-7.13707358e-03 -2.15589529e-04 -9.99974508e-01 -4.85598596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters 0.05240419801729904 Centerline is valid? [True, True] Translation: X:644.95, Y:-276.93, Z:-4.86 [[-6.53744232e-01 7.56706420e-01 3.72463918e-03 6.44947829e+02] [ 7.56692339e-01 6.53754811e-01 -4.62068674e-03 -2.76926438e+02] [-5.93150410e-03 -2.02341375e-04 -9.99982388e-01 -4.85657031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters 0.052539648816483 Centerline is valid? [True, True] Translation: X:644.99, Y:-276.85, Z:-4.86 [[-7.11692275e-01 7.02482289e-01 3.56915208e-03 6.44992433e+02] [ 7.02472109e-01 7.11701200e-01 -3.78658337e-03 -2.76845383e+02] [-5.20017757e-03 -1.87652344e-04 -9.99986461e-01 -4.85809829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters 0.05302510204781859 Centerline is valid? [True, True] Translation: X:645.04, Y:-276.76, Z:-4.86 [[-7.65344676e-01 6.43612754e-01 3.18581692e-03 6.45038076e+02] [ 6.43606250e-01 7.65351289e-01 -2.89836085e-03 -2.76755213e+02] [-4.30369110e-03 -1.67833365e-04 -9.99990725e-01 -4.85758860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters 0.053434588227801005 Centerline is valid? [True, True] Translation: X:645.43, Y:-276.35, Z:-5.83 [[-6.77109030e-01 -7.35878450e-01 2.50359943e-03 6.45425369e+02] [ 7.35873958e-01 -6.77113651e-01 -2.57331281e-03 -2.76349105e+02] [ 3.58886679e-03 9.99202786e-05 9.99993555e-01 -5.83185631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters 0.05280645695611644 Centerline is valid? [True, True] Translation: X:645.39, Y:-276.30, Z:-5.83 [[-6.76721173e-01 -7.36235027e-01 2.53750569e-03 6.45389037e+02] [ 7.36230469e-01 -6.76725921e-01 -2.59315150e-03 -2.76302920e+02] [ 3.62636484e-03 1.13348482e-04 9.99993418e-01 -5.83108782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters 0.05347422094870816 Centerline is valid? [True, True] Translation: X:645.35, Y:-276.27, Z:-5.83 [[-6.75860874e-01 -7.37022290e-01 3.19739990e-03 6.45345837e+02] [ 7.37015066e-01 -6.75868421e-01 -3.26657741e-03 -2.76266543e+02] [ 4.56856198e-03 1.48780034e-04 9.99989553e-01 -5.83253293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters 0.05252607729555659 Centerline is valid? [True, True] Translation: X:645.31, Y:-276.21, Z:-5.83 [[-6.75434373e-01 -7.37405463e-01 4.64655330e-03 6.45313908e+02] [ 7.37390222e-01 -6.75450320e-01 -4.74618010e-03 -2.76214919e+02] [ 6.63837505e-03 2.20589790e-04 9.99977941e-01 -5.83158833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters 0.05321771350990484 Centerline is valid? [True, True] Translation: X:645.27, Y:-276.18, Z:-5.83 [[-6.75305705e-01 -7.37515914e-01 5.69925864e-03 6.45270439e+02] [ 7.37492999e-01 -6.75329699e-01 -5.82008891e-03 -2.76177360e+02] [ 8.14128681e-03 2.72824102e-04 9.99966822e-01 -5.83376553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters 0.05223990941192713 Centerline is valid? [True, True] Translation: X:645.24, Y:-276.13, Z:-5.83 [[-6.75848444e-01 -7.37018343e-01 5.73094585e-03 6.45235469e+02] [ 7.36995165e-01 -6.75872688e-01 -5.85115583e-03 -2.76129150e+02] [ 8.18579895e-03 2.69184822e-04 9.99966460e-01 -5.83137311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters 0.052622599088777665 Centerline is valid? [True, True] Translation: X:645.20, Y:-276.09, Z:-5.83 [[-6.77990228e-01 -7.35049055e-01 5.66899340e-03 6.45197250e+02] [ 7.35026319e-01 -6.78013885e-01 -5.78641687e-03 -2.76085276e+02] [ 8.09695648e-03 2.43725254e-04 9.99967189e-01 -5.83061932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters 0.0535974268232203 Centerline is valid? [True, True] Translation: X:645.15, Y:-276.05, Z:-5.83 [[-6.81527743e-01 -7.31775058e-01 5.01996954e-03 6.45151610e+02] [ 7.31757150e-01 -6.81546206e-01 -5.12271960e-03 -2.76050427e+02] [ 7.17001963e-03 1.82123078e-04 9.99974278e-01 -5.83333653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters 0.052053290878222046 Centerline is valid? [True, True] Translation: X:645.12, Y:-276.00, Z:-5.83 [[-6.84283325e-01 -7.29202964e-01 4.40087023e-03 6.45120254e+02] [ 7.29189154e-01 -6.84297463e-01 -4.48987957e-03 -2.75999712e+02] [ 6.28553783e-03 1.36717123e-04 9.99980236e-01 -5.82988680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters 0.05197066164151531 Centerline is valid? [True, True] Translation: X:645.08, Y:-275.95, Z:-5.83 [[-6.88289002e-01 -7.25422897e-01 4.45750915e-03 6.45083560e+02] [ 7.25408654e-01 -6.88303428e-01 -4.54696660e-03 -2.75954620e+02] [ 6.36659252e-03 1.03888612e-04 9.99979728e-01 -5.82952170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters 0.052535222832483554 Centerline is valid? [True, True] Translation: X:645.04, Y:-275.91, Z:-5.83 [[-6.90266005e-01 -7.23539702e-01 4.81053701e-03 6.45044435e+02] [ 7.23523076e-01 -6.90282761e-01 -4.90588893e-03 -2.75911022e+02] [ 6.87023619e-03 9.41661798e-05 9.99976395e-01 -5.82987208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters 0.05245603562037576 Centerline is valid? [True, True] Translation: X:645.01, Y:-275.87, Z:-5.83 [[-6.91685745e-01 -7.22177881e-01 5.47152509e-03 6.45005346e+02] [ 7.22156340e-01 -6.91707380e-01 -5.57862726e-03 -2.75867414e+02] [ 7.81345549e-03 9.26395796e-05 9.99969470e-01 -5.83086159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters 0.052857830996790395 Centerline is valid? [True, True] Translation: X:644.97, Y:-275.82, Z:-5.83 [[-6.92034719e-01 -7.21830770e-01 6.94889862e-03 6.44966485e+02] [ 7.21796026e-01 -6.92069596e-01 -7.08309663e-03 -2.75824672e+02] [ 9.92191856e-03 1.13938626e-04 9.99950770e-01 -5.83211173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters 0.052837862096747956 Centerline is valid? [True, True] Translation: X:644.93, Y:-275.78, Z:-5.83 [[-6.92447359e-01 -7.21428351e-01 7.60194780e-03 6.44929426e+02] [ 7.21386764e-01 -6.92489076e-01 -7.74703688e-03 -2.75782687e+02] [ 1.08531978e-02 1.19529294e-04 9.99941095e-01 -5.83208543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters 0.0521219218716521 Centerline is valid? [True, True] Translation: X:644.89, Y:-275.74, Z:-5.83 [[-6.93076556e-01 -7.20833934e-01 6.58228784e-03 6.44891777e+02] [ 7.20802744e-01 -6.93107805e-01 -6.70627752e-03 -2.75738815e+02] [ 9.39634748e-03 9.65674110e-05 9.99955849e-01 -5.83130365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters 0.052455333546443314 Centerline is valid? [True, True] Translation: X:644.85, Y:-275.70, Z:-5.83 [[-6.93492600e-01 -7.20439928e-01 5.85860546e-03 6.44853188e+02] [ 7.20415221e-01 -6.93517341e-01 -5.96710218e-03 -2.75697864e+02] [ 8.36198315e-03 8.24873403e-05 9.99965035e-01 -5.83224857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters 0.052007927124368226 Centerline is valid? [True, True] Translation: X:644.82, Y:-275.65, Z:-5.83 [[-6.94836353e-01 -7.19150421e-01 5.01150856e-03 6.44816187e+02] [ 7.19132318e-01 -6.94854423e-01 -5.10302631e-03 -2.75651958e+02] [ 7.15211241e-03 5.81695826e-05 9.99974422e-01 -5.83071393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters 0.051936419128148816 Centerline is valid? [True, True] Translation: X:644.78, Y:-275.61, Z:-5.83 [[-6.95492821e-01 -7.18516802e-01 4.83124028e-03 6.44777691e+02] [ 7.18499972e-01 -6.95509599e-01 -4.91810975e-03 -2.75609736e+02] [ 6.89391848e-03 5.07359756e-05 9.99976235e-01 -5.83107855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters 0.05196864175046167 Centerline is valid? [True, True] Translation: X:644.74, Y:-275.57, Z:-5.83 [[-6.96827359e-01 -7.17220484e-01 5.13907671e-03 6.44739551e+02] [ 7.17201415e-01 -6.96846308e-01 -5.23008631e-03 -2.75565429e+02] [ 7.33227166e-03 4.12858584e-05 9.99973118e-01 -5.83004508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters 0.0521162749491628 Centerline is valid? [True, True] Translation: X:644.70, Y:-275.52, Z:-5.83 [[-6.98304782e-01 -7.15777463e-01 5.74936741e-03 6.44700413e+02] [ 7.15753559e-01 -6.98328449e-01 -5.84978529e-03 -2.75523939e+02] [ 8.20209130e-03 3.01971430e-05 9.99966362e-01 -5.83298899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters 0.0525264679595311 Centerline is valid? [True, True] Translation: X:644.66, Y:-275.48, Z:-5.83 [[-7.00880151e-01 -7.13256389e-01 5.68659385e-03 6.44662843e+02] [ 7.13232934e-01 -7.00903219e-01 -5.78437943e-03 -2.75479599e+02] [ 8.11149752e-03 1.70928614e-06 9.99967101e-01 -5.83148219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters 0.05200923934897388 Centerline is valid? [True, True] Translation: X:644.62, Y:-275.44, Z:-5.83 [[-7.01366633e-01 -7.12782459e-01 5.10027600e-03 6.44621641e+02] [ 7.12763589e-01 -7.01385177e-01 -5.18657800e-03 -2.75438117e+02] [ 7.27415980e-03 -2.40172612e-06 9.99973543e-01 -5.83092368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters 0.052499030400058225 Centerline is valid? [True, True] Translation: X:644.58, Y:-275.40, Z:-5.83 [[-7.01860919e-01 -7.12293113e-01 5.45628227e-03 6.44581601e+02] [ 7.12271514e-01 -7.01882128e-01 -5.54704203e-03 -2.75397410e+02] [ 7.78078685e-03 -6.89758612e-06 9.99969729e-01 -5.83228587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters 0.05252148100629906 Centerline is valid? [True, True] Translation: X:644.54, Y:-275.36, Z:-5.83 [[-7.02211834e-01 -7.11944736e-01 5.76477530e-03 6.44543049e+02] [ 7.11920624e-01 -7.02235497e-01 -5.85935191e-03 -2.75356609e+02] [ 8.21976459e-03 -1.04438185e-05 9.99966217e-01 -5.83287710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters 0.05271850319070508 Centerline is valid? [True, True] Translation: X:644.50, Y:-275.32, Z:-5.83 [[-7.02553062e-01 -7.11611866e-01 5.26760621e-03 6.44503266e+02] [ 7.11591736e-01 -7.02572809e-01 -5.35241426e-03 -2.75315351e+02] [ 7.50971839e-03 -1.19699772e-05 9.99971802e-01 -5.83175475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters 0.052296653586535784 Centerline is valid? [True, True] Translation: X:644.46, Y:-275.28, Z:-5.83 [[-7.01937722e-01 -7.12220910e-01 4.98090507e-03 6.44462455e+02] [ 7.12202939e-01 -7.01955394e-01 -5.05951856e-03 -2.75276116e+02] [ 7.09986809e-03 -4.05170200e-06 9.99974796e-01 -5.83194838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters 0.05215692258419686 Centerline is valid? [True, True] Translation: X:644.42, Y:-275.24, Z:-5.83 [[-7.00816771e-01 -7.13327540e-01 4.43557058e-03 6.44421314e+02] [ 7.13313320e-01 -7.00830807e-01 -4.50423925e-03 -2.75236985e+02] [ 6.32158241e-03 7.30517240e-06 9.99980019e-01 -5.83110682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters 0.05235038431628385 Centerline is valid? [True, True] Translation: X:644.38, Y:-275.20, Z:-5.83 [[-6.98006433e-01 -7.16081566e-01 3.76964647e-03 6.44379035e+02] [ 7.16071340e-01 -6.98016611e-01 -3.82713634e-03 -2.75199115e+02] [ 5.37181764e-03 2.79700111e-05 9.99985571e-01 -5.83052281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters 0.052368191781537 Centerline is valid? [True, True] Translation: X:644.34, Y:-275.16, Z:-5.83 [[-6.95322553e-01 -7.18689799e-01 3.39419543e-03 6.44336742e+02] [ 7.18681544e-01 -6.95330836e-01 -3.44497727e-03 -2.75159995e+02] [ 4.83595877e-03 4.39752265e-05 9.99988306e-01 -5.83028393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters 0.052345215863291106 Centerline is valid? [True, True] Translation: X:644.29, Y:-275.12, Z:-5.83 [[-6.92651708e-01 -7.21265398e-01 3.13630155e-03 6.44294205e+02] [ 7.21258380e-01 -6.92658807e-01 -3.18233871e-03 -2.75121633e+02] [ 4.46769769e-03 5.78314303e-05 9.99990018e-01 -5.83063398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters 0.05233629453842917 Centerline is valid? [True, True] Translation: X:644.25, Y:-275.08, Z:-5.83 [[-6.90935371e-01 -7.22910968e-01 2.83663164e-03 6.44253352e+02] [ 7.22905243e-01 -6.90941191e-01 -2.87757102e-03 -2.75080156e+02] [ 4.04017330e-03 6.24002862e-05 9.99991837e-01 -5.83002577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters 0.05247519596579974 Centerline is valid? [True, True] Translation: X:644.21, Y:-275.05, Z:-5.83 [[-6.88241104e-01 -7.25475156e-01 3.15916486e-03 6.44205587e+02] [ 7.25468085e-01 -6.88248349e-01 -3.20420939e-03 -2.75047320e+02] [ 4.49886431e-03 8.66046735e-05 9.99989876e-01 -5.83259342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters 0.053304687586656165 Centerline is valid? [True, True] Translation: X:644.16, Y:-275.01, Z:-5.83 [[-6.87449037e-01 -7.26224925e-01 3.34360390e-03 6.44164665e+02] [ 7.26217018e-01 -6.87457161e-01 -3.39023052e-03 -2.75008659e+02] [ 4.76065435e-03 9.75713496e-05 9.99988663e-01 -5.83360442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters 0.052032630094066966 Centerline is valid? [True, True] Translation: X:644.13, Y:-274.96, Z:-5.83 [[-6.86046835e-01 -7.27548511e-01 3.59243122e-03 6.44129799e+02] [ 7.27539406e-01 -6.86056231e-01 -3.64160856e-03 -2.74961797e+02] [ 5.11405670e-03 1.15321252e-04 9.99986916e-01 -5.83189623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters 0.052407026274825574 Centerline is valid? [True, True] Translation: X:644.09, Y:-274.92, Z:-5.83 [[-6.85201850e-01 -7.28340949e-01 4.22917578e-03 6.44087629e+02] [ 7.28328351e-01 -6.85214887e-01 -4.28633399e-03 -2.74923320e+02] [ 6.01980677e-03 1.43224636e-04 9.99981871e-01 -5.83249399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters 0.05151194921501356 Centerline is valid? [True, True] Translation: X:644.05, Y:-274.88, Z:-5.83 [[-6.85758081e-01 -7.27821721e-01 3.37583989e-03 6.44047224e+02] [ 7.27813692e-01 -6.85766381e-01 -3.42057375e-03 -2.74881678e+02] [ 4.80460538e-03 1.11296406e-04 9.99988452e-01 -5.83100491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters 0.051974162685682085 Centerline is valid? [True, True] Translation: X:644.01, Y:-274.84, Z:-5.83 [[-6.86928564e-01 -7.26719984e-01 2.68575078e-03 6.44005830e+02] [ 7.26714896e-01 -6.86933809e-01 -2.72063716e-03 -2.74841929e+02] [ 3.82207440e-03 8.28917213e-05 9.99992692e-01 -5.83102545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters 0.05218294620609177 Centerline is valid? [True, True] Translation: X:643.97, Y:-274.80, Z:-5.83 [[-6.89844465e-01 -7.23955724e-01 1.65059924e-03 6.43968747e+02] [ 7.23953795e-01 -6.89846438e-01 -1.67177689e-03 -2.74797185e+02] [ 2.34895246e-03 4.16915509e-05 9.99997240e-01 -5.83025240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters 0.051992816642662844 Centerline is valid? [True, True] Translation: X:643.93, Y:-274.76, Z:-5.83 [[-6.91880762e-01 -7.22008891e-01 2.04244081e-03 6.43928279e+02] [ 7.22005930e-01 -6.91883776e-01 -2.06823974e-03 -2.74756768e+02] [ 2.90641914e-03 4.36790894e-05 9.99995775e-01 -5.83060711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters 0.051961311250386534 Centerline is valid? [True, True] Translation: X:643.89, Y:-274.71, Z:-5.83 [[-6.95153631e-01 -7.18857596e-01 2.27700576e-03 6.43889577e+02] [ 7.18853901e-01 -6.95157360e-01 -2.30518220e-03 -2.74713306e+02] [ 3.23997505e-03 3.43786999e-05 9.99994751e-01 -5.83112654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters 0.051727550961681606 Centerline is valid? [True, True] Translation: X:643.85, Y:-274.67, Z:-5.83 [[-6.98187288e-01 -7.15910009e-01 2.71474931e-03 6.43848196e+02] [ 7.15904737e-01 -6.98192565e-01 -2.74765703e-03 -2.74672888e+02] [ 3.86249295e-03 2.51226821e-05 9.99992540e-01 -5.83319766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters 0.05237826779148807 Centerline is valid? [True, True] Translation: X:643.81, Y:-274.63, Z:-5.83 [[-7.00064062e-01 -7.14075682e-01 2.49589700e-03 6.43810173e+02] [ 7.14071216e-01 -7.00068511e-01 -2.52552904e-03 -2.74628357e+02] [ 3.55071777e-03 1.42160856e-05 9.99993696e-01 -5.83141643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters 0.05226303110111823 Centerline is valid? [True, True] Translation: X:643.77, Y:-274.59, Z:-5.83 [[-7.02085742e-01 -7.12088180e-01 2.45678453e-03 6.43769564e+02] [ 7.12083842e-01 -7.02090040e-01 -2.48533632e-03 -2.74587126e+02] [ 3.49466257e-03 4.51737816e-06 9.99993894e-01 -5.83193796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters 0.052182268957612805 Centerline is valid? [True, True] Translation: X:643.73, Y:-274.55, Z:-5.83 [[-7.03329229e-01 -7.10860184e-01 2.40722475e-03 6.43729946e+02] [ 7.10856016e-01 -7.03333348e-01 -2.43441320e-03 -2.74547392e+02] [ 3.42360885e-03 -1.00376434e-06 9.99994139e-01 -5.83251944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters 0.051811942051821124 Centerline is valid? [True, True] Translation: X:643.69, Y:-274.51, Z:-5.83 [[-7.04749197e-01 -7.09454005e-01 1.89319140e-03 6.43689587e+02] [ 7.09451422e-01 -7.04751740e-01 -1.91419273e-03 -2.74506202e+02] [ 2.69226164e-03 -5.89845682e-06 9.99996376e-01 -5.83197035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters 0.051672138756152924 Centerline is valid? [True, True] Translation: X:643.65, Y:-274.47, Z:-5.83 [[-7.05279075e-01 -7.08926910e-01 2.01547476e-03 6.43649284e+02] [ 7.08923983e-01 -7.05281955e-01 -2.03719319e-03 -2.74466280e+02] [ 2.86569905e-03 -7.97133610e-06 9.99995894e-01 -5.83195502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters 0.05152450373078577 Centerline is valid? [True, True] Translation: X:643.61, Y:-274.43, Z:-5.83 [[-7.04335440e-01 -7.09863767e-01 2.24061625e-03 6.43608761e+02] [ 7.09860156e-01 -7.04339004e-01 -2.26405586e-03 -2.74427847e+02] [ 3.18532464e-03 -4.13057622e-06 9.99994927e-01 -5.83288317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters 0.05233261358744813 Centerline is valid? [True, True] Translation: X:643.57, Y:-274.39, Z:-5.83 [[-7.00759807e-01 -7.13393491e-01 2.32802663e-03 6.43565616e+02] [ 7.13389615e-01 -7.00763674e-01 -2.35179893e-03 -2.74392038e+02] [ 3.30915454e-03 1.27438545e-05 9.99994525e-01 -5.83414342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters 0.052408648203473004 Centerline is valid? [True, True] Translation: X:643.52, Y:-274.36, Z:-5.83 [[-6.96205689e-01 -7.17837151e-01 2.73178500e-03 6.43522156e+02] [ 7.17831851e-01 -6.96211047e-01 -2.75896597e-03 -2.74356693e+02] [ 3.88238717e-03 4.01544778e-05 9.99992463e-01 -5.83448869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters 0.05190600867289046 Centerline is valid? [True, True] Translation: X:643.48, Y:-274.32, Z:-5.83 [[-6.93668997e-01 -7.20288810e-01 2.71157299e-03 6.43480548e+02] [ 7.20283608e-01 -6.93674295e-01 -2.73785405e-03 -2.74315787e+02] [ 3.85299412e-03 5.39371047e-05 9.99992576e-01 -5.83370722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters 0.05207864027735566 Centerline is valid? [True, True] Translation: X:643.44, Y:-274.28, Z:-5.83 [[-6.91035106e-01 -7.22817798e-01 2.21647274e-03 6.43439141e+02] [ 7.22814338e-01 -6.91038659e-01 -2.23731091e-03 -2.74275736e+02] [ 3.14883649e-03 5.60378952e-05 9.99995041e-01 -5.83308844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters 0.052021069983395056 Centerline is valid? [True, True] Translation: X:643.40, Y:-274.24, Z:-5.83 [[-6.89338117e-01 -7.24436269e-01 2.24785756e-03 6.43396808e+02] [ 7.24432720e-01 -6.89341779e-01 -2.26841979e-03 -2.74235936e+02] [ 3.19286770e-03 6.47133445e-05 9.99994901e-01 -5.83290459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters 0.051605634327633626 Centerline is valid? [True, True] Translation: X:643.36, Y:-274.19, Z:-5.83 [[-6.88160208e-01 -7.25553359e-01 2.80207293e-03 6.43356438e+02] [ 7.25547857e-01 -6.88165907e-01 -2.82704472e-03 -2.74193351e+02] [ 3.97946285e-03 8.75783269e-05 9.99992078e-01 -5.83333421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters 0.05233561369773118 Centerline is valid? [True, True] Translation: X:643.31, Y:-274.16, Z:-5.83 [[-6.88003854e-01 -7.25701897e-01 2.73020357e-03 6.43312496e+02] [ 7.25696677e-01 -6.88009266e-01 -2.75377259e-03 -2.74156330e+02] [ 3.87682335e-03 8.66935083e-05 9.99992481e-01 -5.83467553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters 0.05211897777066925 Centerline is valid? [True, True] Translation: X:643.28, Y:-274.11, Z:-5.83 [[-6.88994163e-01 -7.24761159e-01 2.88214916e-03 6.43275449e+02] [ 7.24755337e-01 -6.89000185e-01 -2.90632485e-03 -2.74110618e+02] [ 4.09219267e-03 8.64121268e-05 9.99991623e-01 -5.83346697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters 0.052061207389245585 Centerline is valid? [True, True] Translation: X:643.24, Y:-274.07, Z:-5.83 [[-6.90104484e-01 -7.23702539e-01 3.23054360e-03 6.43236042e+02] [ 7.23695216e-01 -6.90112040e-01 -3.25690748e-03 -2.74066448e+02] [ 4.58646924e-03 9.03224939e-05 9.99989478e-01 -5.83333760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters 0.0519704975991728 Centerline is valid? [True, True] Translation: X:643.20, Y:-274.03, Z:-5.83 [[-6.91571515e-01 -7.22300471e-01 3.29682897e-03 6.43195042e+02] [ 7.22292831e-01 -6.91579368e-01 -3.32324657e-03 -2.74026189e+02] [ 4.68040146e-03 8.30132658e-05 9.99989043e-01 -5.83442015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters 0.05269319650029491 Centerline is valid? [True, True] Translation: X:643.16, Y:-273.99, Z:-5.84 [[-6.92991947e-01 -7.20936465e-01 3.57410822e-03 6.43155027e+02] [ 7.20927472e-01 -6.93001159e-01 -3.60185583e-03 -2.73985645e+02] [ 5.07357035e-03 8.06157232e-05 9.99987126e-01 -5.83556661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters 0.05251803747510953 Centerline is valid? [True, True] Translation: X:643.12, Y:-273.94, Z:-5.83 [[-6.94296272e-01 -7.19679718e-01 3.71352156e-03 6.43117219e+02] [ 7.19669996e-01 -6.94306199e-01 -3.74140108e-03 -2.73941932e+02] [ 5.27093151e-03 7.48692207e-05 9.99986106e-01 -5.83486927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters 0.05181636513975688 Centerline is valid? [True, True] Translation: X:643.08, Y:-273.90, Z:-5.84 [[-6.96257770e-01 -7.17780633e-01 4.01017208e-03 6.43078838e+02] [ 7.17769271e-01 -6.96269315e-01 -4.03913012e-03 -2.73900242e+02] [ 5.69136913e-03 6.61025633e-05 9.99983802e-01 -5.83553590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters 0.051963244183049005 Centerline is valid? [True, True] Translation: X:643.04, Y:-273.86, Z:-5.84 [[-6.97700181e-01 -7.16379562e-01 3.84455851e-03 6.43040653e+02] [ 7.16369104e-01 -6.97710772e-01 -3.87118141e-03 -2.73858862e+02] [ 5.45562513e-03 5.31989591e-05 9.99985117e-01 -5.83570974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters 0.052078808232250244 Centerline is valid? [True, True] Translation: X:643.00, Y:-273.82, Z:-5.84 [[-6.97675217e-01 -7.16404592e-01 3.70848258e-03 6.43002424e+02] [ 7.16394869e-01 -6.97685071e-01 -3.73289935e-03 -2.73819188e+02] [ 5.26161917e-03 5.23865284e-05 9.99986156e-01 -5.83515552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters 0.05189740067700647 Centerline is valid? [True, True] Translation: X:642.96, Y:-273.77, Z:-5.83 [[-6.95903458e-01 -7.18124242e-01 3.99382331e-03 6.42964073e+02] [ 7.18112997e-01 -6.95914915e-01 -4.01942157e-03 -2.73774904e+02] [ 5.66580527e-03 7.08870549e-05 9.99983947e-01 -5.83316740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters 0.052000313303946694 Centerline is valid? [True, True] Translation: X:642.92, Y:-273.73, Z:-5.83 [[-6.92888502e-01 -7.21031069e-01 4.44077265e-03 6.42922688e+02] [ 7.21017231e-01 -6.92902725e-01 -4.46849297e-03 -2.73734947e+02] [ 6.29894573e-03 1.05706192e-04 9.99980156e-01 -5.83420287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters 0.051690030551623696 Centerline is valid? [True, True] Translation: X:642.88, Y:-273.70, Z:-5.84 [[-6.92106234e-01 -7.21781220e-01 4.56424421e-03 6.42881225e+02] [ 7.21766625e-01 -6.92121274e-01 -4.59145371e-03 -2.73695352e+02] [ 6.47303557e-03 1.16545405e-04 9.99979043e-01 -5.83520744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters 0.05120806484546537 Centerline is valid? [True, True] Translation: X:642.84, Y:-273.65, Z:-5.83 [[-6.90599873e-01 -7.23219956e-01 4.97107180e-03 6.42841496e+02] [ 7.23202689e-01 -6.90617749e-01 -4.99945662e-03 -2.73653383e+02] [ 7.04881721e-03 1.42468386e-04 9.99975147e-01 -5.83452198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters 0.051193640007613374 Centerline is valid? [True, True] Translation: X:642.80, Y:-273.61, Z:-5.83 [[-6.91399932e-01 -7.22457752e-01 4.57491322e-03 6.42802879e+02] [ 7.22443119e-01 -6.91415057e-01 -4.59989254e-03 -2.73609031e+02] [ 6.48639191e-03 1.24749191e-04 9.99978955e-01 -5.83320334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters 0.052126515463731565 Centerline is valid? [True, True] Translation: X:642.76, Y:-273.57, Z:-5.83 [[-6.94733620e-01 -7.19254777e-01 4.21472613e-03 6.42761323e+02] [ 7.19242304e-01 -6.94746399e-01 -4.23664989e-03 -2.73569967e+02] [ 5.97539647e-03 8.80662170e-05 9.99982143e-01 -5.83460515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters 0.05165485680780659 Centerline is valid? [True, True] Translation: X:642.73, Y:-273.53, Z:-5.83 [[-6.98488160e-01 -7.15612005e-01 3.70787505e-03 6.42726477e+02] [ 7.15602306e-01 -6.98498000e-01 -3.72599592e-03 -2.73525828e+02] [ 5.25631072e-03 5.07999028e-05 9.99986184e-01 -5.83205701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters 0.051625125465190005 Centerline is valid? [True, True] Translation: X:642.68, Y:-273.49, Z:-5.83 [[-7.00142051e-01 -7.13996324e-01 3.21837579e-03 6.42684389e+02] [ 7.13989005e-01 -7.00149447e-01 -3.23316491e-03 -2.73488371e+02] [ 4.56181189e-03 3.42102110e-05 9.99989594e-01 -5.83437371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters 0.05150316990339772 Centerline is valid? [True, True] Translation: X:642.65, Y:-273.45, Z:-5.83 [[-7.01154687e-01 -7.13001493e-01 3.31294603e-03 6.42645143e+02] [ 7.12993730e-01 -7.01162513e-01 -3.32729518e-03 -2.73445420e+02] [ 4.69528000e-03 2.91611333e-05 9.99988977e-01 -5.83275757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters 0.05190379902823092 Centerline is valid? [True, True] Translation: X:642.60, Y:-273.41, Z:-5.83 [[-7.01327346e-01 -7.12830082e-01 3.63710621e-03 6.42602873e+02] [ 7.12820728e-01 -7.01336776e-01 -3.65183123e-03 -2.73406572e+02] [ 5.15397150e-03 3.14755938e-05 9.99986718e-01 -5.83454979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters 0.05170804124910972 Centerline is valid? [True, True] Translation: X:642.56, Y:-273.37, Z:-5.83 [[-7.02012277e-01 -7.12149555e-01 4.66633389e-03 6.42561057e+02] [ 7.12134152e-01 -7.02027784e-01 -4.68401741e-03 -2.73366082e+02] [ 6.61161695e-03 3.48179975e-05 9.99978142e-01 -5.83486304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters 0.051683919045348976 Centerline is valid? [True, True] Translation: X:642.52, Y:-273.33, Z:-5.84 [[-7.02481287e-01 -7.11683800e-01 5.11953654e-03 6.42520258e+02] [ 7.11665259e-01 -7.02499941e-01 -5.13732183e-03 -2.73327082e+02] [ 7.25262284e-03 3.45238435e-05 9.99973699e-01 -5.83519213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters 0.051736499069666944 Centerline is valid? [True, True] Translation: X:642.48, Y:-273.29, Z:-5.84 [[-7.02411264e-01 -7.11752400e-01 5.19006752e-03 6.42478488e+02] [ 7.11733357e-01 -7.02430438e-01 -5.20657873e-03 -2.73288322e+02] [ 7.35145631e-03 3.67846349e-05 9.99972977e-01 -5.83607908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters 0.051554865689252896 Centerline is valid? [True, True] Translation: X:642.44, Y:-273.25, Z:-5.84 [[-7.01834061e-01 -7.12317337e-01 5.74126051e-03 6.42436593e+02] [ 7.12294066e-01 -7.01857542e-01 -5.75794431e-03 -2.73248813e+02] [ 8.13103055e-03 4.83443586e-05 9.99966941e-01 -5.83687336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters 0.05182803926014469 Centerline is valid? [True, True] Translation: X:642.40, Y:-273.21, Z:-5.84 [[-7.01238476e-01 -7.12907204e-01 5.28375996e-03 6.42396439e+02] [ 7.12887524e-01 -7.01258380e-01 -5.29746013e-03 -2.73209918e+02] [ 7.48187844e-03 5.19436819e-05 9.99972009e-01 -5.83596802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters 0.05149757824266689 Centerline is valid? [True, True] Translation: X:642.36, Y:-273.17, Z:-5.84 [[-7.00646511e-01 -7.13490973e-01 5.00973621e-03 6.42356049e+02] [ 7.13473304e-01 -7.00664419e-01 -5.02162546e-03 -2.73171271e+02] [ 7.09302835e-03 5.59286853e-05 9.99974843e-01 -5.83553045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters 0.05169047728359078 Centerline is valid? [True, True] Translation: X:642.32, Y:-273.13, Z:-5.83 [[-6.99504562e-01 -7.14614157e-01 4.46930456e-03 6.42317432e+02] [ 7.14600125e-01 -6.99518837e-01 -4.47852025e-03 -2.73130519e+02] [ 6.32677670e-03 6.10202534e-05 9.99979984e-01 -5.83312799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters 0.051568434261522245 Centerline is valid? [True, True] Translation: X:642.28, Y:-273.09, Z:-5.83 [[-6.98452380e-01 -7.15645423e-01 3.98773296e-03 6.42275791e+02] [ 7.15634274e-01 -6.98463760e-01 -3.99521707e-03 -2.73088677e+02] [ 5.64444577e-03 6.32895090e-05 9.99984068e-01 -5.83307329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters 0.05138348579785714 Centerline is valid? [True, True] Translation: X:642.23, Y:-273.05, Z:-5.84 [[-6.98316512e-01 -7.15778129e-01 3.96469235e-03 6.42232671e+02] [ 7.15767118e-01 -6.98327764e-01 -3.97083950e-03 -2.73052721e+02] [ 5.61089481e-03 6.48936277e-05 9.99984257e-01 -5.83580352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters 0.05162730598639134 Centerline is valid? [True, True] Translation: X:642.19, Y:-273.01, Z:-5.84 [[-6.98608156e-01 -7.15492341e-01 4.16571781e-03 6.42194293e+02] [ 7.15480188e-01 -6.98620573e-01 -4.17089475e-03 -2.73010842e+02] [ 5.89449942e-03 6.66674684e-05 9.99982625e-01 -5.83558598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters 0.05202976604855006 Centerline is valid? [True, True] Translation: X:642.16, Y:-272.97, Z:-5.84 [[-6.98718133e-01 -7.15380457e-01 4.87567632e-03 6.42155233e+02] [ 7.15363815e-01 -6.98735140e-01 -4.88016868e-03 -2.72972249e+02] [ 6.89798367e-03 7.80200616e-05 9.99976206e-01 -5.83671492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters 0.05150613405194029 Centerline is valid? [True, True] Translation: X:642.12, Y:-272.93, Z:-5.84 [[-6.98835420e-01 -7.15264077e-01 5.13374821e-03 6.42115773e+02] [ 7.15245636e-01 -6.98854272e-01 -5.13676045e-03 -2.72933028e+02] [ 7.26188209e-03 8.21408581e-05 9.99973629e-01 -5.83776514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters 0.05319580551965106 Centerline is valid? [True, True] Translation: X:642.09, Y:-272.88, Z:-5.83 [[-6.99155407e-01 -7.14947677e-01 5.61561735e-03 6.42089537e+02] [ 7.14925617e-01 -6.99177954e-01 -5.61704995e-03 -2.72881343e+02] [ 7.94221266e-03 8.75578576e-05 9.99968456e-01 -5.82500204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters 0.05178590437571795 Centerline is valid? [True, True] Translation: X:642.04, Y:-272.85, Z:-5.84 [[-6.99610966e-01 -7.14501896e-01 5.61573390e-03 6.42038826e+02] [ 7.14479831e-01 -6.99633499e-01 -5.61583623e-03 -2.72849899e+02] [ 7.94148119e-03 8.34280009e-05 9.99968462e-01 -5.83539576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters 0.05270319475052546 Centerline is valid? [True, True] Translation: X:642.01, Y:-272.80, Z:-5.83 [[-7.00444713e-01 -7.13691661e-01 4.62788537e-03 6.42006150e+02] [ 7.13676666e-01 -7.00459998e-01 -4.62676936e-03 -2.72801387e+02] [ 6.54373529e-03 6.20176619e-05 9.99978588e-01 -5.82677437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters 0.05148365287014235 Centerline is valid? [True, True] Translation: X:640.95, Y:-272.73, Z:-4.86 [[-7.60598167e-01 6.49192568e-01 6.27998804e-03 6.40949901e+02] [ 6.49169322e-01 7.60624085e-01 -5.49478840e-03 -2.72731323e+02] [-8.34388595e-03 -1.02550403e-04 -9.99965184e-01 -4.85792039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters 0.05150567653689928 Centerline is valid? [True, True] Translation: X:640.80, Y:-272.51, Z:-4.86 [[-8.03850168e-01 5.94785395e-01 7.43246751e-03 6.40802967e+02] [ 5.94758841e-01 8.03884522e-01 -5.62103656e-03 -2.72512621e+02] [-9.31815604e-03 -9.79454150e-05 -9.99956580e-01 -4.85738405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters 0.05132558656799481 Centerline is valid? [True, True] Translation: X:640.79, Y:-272.41, Z:-4.86 [[-8.42883309e-01 5.38036706e-01 8.01436947e-03 6.40789730e+02] [ 5.38011485e-01 8.42921406e-01 -5.21009247e-03 -2.72412248e+02] [-9.55870457e-03 -7.96771698e-05 -9.99954311e-01 -4.85717643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters 0.05216717175922792 Centerline is valid? [True, True] Translation: X:640.78, Y:-272.32, Z:-4.86 [[-8.77016439e-01 4.80397570e-01 7.76793534e-03 6.40776050e+02] [ 4.80378302e-01 8.77050839e-01 -4.30279481e-03 -2.72318341e+02] [-8.87992637e-03 -4.20741975e-05 -9.99960572e-01 -4.85826886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters 0.053158335803427284 Centerline is valid? [True, True] Translation: X:641.17, Y:-272.42, Z:-4.87 [[-9.08579301e-01 4.17657489e-01 6.77319808e-03 6.41173862e+02] [ 4.17645787e-01 9.08604547e-01 -3.12644178e-03 -2.72421790e+02] [-7.45994039e-03 -1.18226377e-05 -9.99972174e-01 -4.86794693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters 0.05200762946669965 Centerline is valid? [True, True] Translation: X:640.39, Y:-272.01, Z:-4.86 [[-9.34486273e-01 3.55958706e-01 5.36700474e-03 6.40386648e+02] [ 3.55952872e-01 9.34501685e-01 -2.03795653e-03 -2.72008586e+02] [-5.74090334e-03 5.95835218e-06 -9.99983521e-01 -4.86010835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters 0.052041972828932775 Centerline is valid? [True, True] Translation: X:640.38, Y:-271.27, Z:-5.84 [[-9.15093726e-01 -4.03218275e-01 4.30056755e-03 6.40383760e+02] [ 4.03213514e-01 -9.15103830e-01 -1.96021128e-03 -2.71273941e+02] [ 4.72585885e-03 -5.97300879e-05 9.99988831e-01 -5.83674317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters 0.05327408034648862 Centerline is valid? [True, True] Translation: X:640.91, Y:-272.20, Z:-4.87 [[-9.37417098e-01 3.48159175e-01 5.86290932e-03 6.40908012e+02] [ 3.48152475e-01 9.37435432e-01 -2.16009580e-03 -2.72198124e+02] [-6.24815610e-03 1.62756468e-05 -9.99980480e-01 -4.86564233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters 0.05194997042254032 Centerline is valid? [True, True] Translation: X:640.49, Y:-271.33, Z:-5.84 [[-9.18013316e-01 -3.96520396e-01 4.80918165e-03 6.40492916e+02] [ 3.96514570e-01 -9.18025910e-01 -2.15049984e-03 -2.71331845e+02] [ 5.26767041e-03 -6.72768977e-05 9.99986123e-01 -5.83702319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters 0.053253039572511804 Centerline is valid? [True, True] Translation: X:640.57, Y:-272.07, Z:-4.87 [[-9.41138529e-01 3.37966296e-01 6.08701092e-03 6.40573406e+02] [ 3.37959225e-01 9.41158214e-01 -2.18618046e-03 -2.72066126e+02] [-6.46769563e-03 -3.37167840e-07 -9.99979084e-01 -4.86535561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters 0.05250096273791881 Centerline is valid? [True, True] Translation: X:640.77, Y:-272.04, Z:-4.86 [[-9.63610135e-01 2.67245839e-01 5.93041025e-03 6.40768306e+02] [ 2.67240692e-01 9.63628383e-01 -1.65869065e-03 -2.72036744e+02] [-6.15798982e-03 -1.34841764e-05 -9.99981039e-01 -4.86168090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters 0.05299006469510802 Centerline is valid? [True, True] Translation: X:640.44, Y:-271.87, Z:-4.86 [[-9.80859688e-01 1.94635624e-01 5.58981856e-03 6.40435938e+02] [ 1.94632255e-01 9.80875615e-01 -1.14582712e-03 -2.71865273e+02] [-5.70593549e-03 -3.59366409e-05 -9.99983720e-01 -4.86431367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters 0.05292347210929374 Centerline is valid? [True, True] Translation: X:640.66, Y:-271.81, Z:-4.86 [[-9.92957817e-01 1.18359165e-01 5.08737765e-03 6.40664521e+02] [ 1.18357326e-01 9.92970848e-01 -6.62059227e-04 -2.71805830e+02] [-5.12997848e-03 -5.52684709e-05 -9.99986840e-01 -4.86445292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters 0.05254042685872291 Centerline is valid? [True, True] Translation: X:640.20, Y:-271.11, Z:-5.83 [[-9.80124256e-01 -1.98333541e-01 4.49996328e-03 6.40198750e+02] [ 1.98331528e-01 -9.80134586e-01 -8.93626726e-04 -2.71109180e+02] [ 4.58780580e-03 1.66193648e-05 9.99989476e-01 -5.83212046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters 0.05222460246706809 Centerline is valid? [True, True] Translation: X:639.96, Y:-271.69, Z:-4.86 [[-9.94690666e-01 1.02760850e-01 5.53958015e-03 6.39961705e+02] [ 1.02758573e-01 9.94706084e-01 -6.94811046e-04 -2.71693393e+02] [-5.58165344e-03 -1.21882712e-04 -9.99984415e-01 -4.86358617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters 0.05231704519875145 Centerline is valid? [True, True] Translation: X:639.44, Y:-271.55, Z:-4.86 [[-9.99580384e-01 2.84239960e-02 5.57955763e-03 6.39438672e+02] [ 2.84227582e-02 9.99595946e-01 -3.01015568e-04 -2.71551650e+02] [-5.58585926e-03 -1.42302839e-04 -9.99984389e-01 -4.85965885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters 0.0527192799116626 Centerline is valid? [True, True] Translation: X:639.41, Y:-271.47, Z:-4.86 [[-9.99050908e-01 -4.30579205e-02 6.58023416e-03 6.39405217e+02] [-4.30580641e-02 9.99072564e-01 1.19907104e-04 -2.71470402e+02] [-6.57929437e-03 -1.63538843e-04 -9.99978343e-01 -4.85915165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters 0.05277007790725978 Centerline is valid? [True, True] Translation: X:639.32, Y:-271.39, Z:-4.86 [[-9.93671983e-01 -1.12142266e-01 6.33271100e-03 6.39322057e+02] [-1.12140932e-01 9.93692151e-01 5.66460707e-04 -2.71393146e+02] [-6.35628940e-03 -1.47279980e-04 -9.99979788e-01 -4.85773019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters 0.05296534887026349 Centerline is valid? [True, True] Translation: X:639.23, Y:-271.33, Z:-4.86 [[-9.83623806e-01 -1.80111051e-01 6.64962288e-03 6.39232109e+02] [-1.80107876e-01 9.83646273e-01 1.07815597e-03 -2.71333379e+02] [-6.73506456e-03 -1.37149577e-04 -9.99977310e-01 -4.85986172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters 0.05292532861921949 Centerline is valid? [True, True] Translation: X:639.42, Y:-271.22, Z:-4.86 [[-9.68553608e-01 -2.48699010e-01 7.26027238e-03 6.39415988e+02] [-2.48692908e-01 9.68580812e-01 1.74589454e-03 -2.71221384e+02] [-7.46636276e-03 -1.14585801e-04 -9.99972120e-01 -4.86474053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters 0.05347529607403362 Centerline is valid? [True, True] Translation: X:639.06, Y:-271.22, Z:-4.86 [[-9.49933041e-01 -3.12359075e-01 7.68287278e-03 6.39064931e+02] [-3.12349549e-01 9.49964106e-01 2.44076800e-03 -2.71221740e+02] [-8.06084940e-03 -8.11756767e-05 -9.99967508e-01 -4.86455633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters 0.05330273577523504 Centerline is valid? [True, True] Translation: X:639.09, Y:-271.11, Z:-4.87 [[-9.25686589e-01 -3.78225611e-01 7.05162447e-03 6.39093391e+02] [-3.78215054e-01 9.25713446e-01 2.82629214e-03 -2.71112137e+02] [-7.59675966e-03 -5.07697994e-05 -9.99971143e-01 -4.86540227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters 0.05310627134694485 Centerline is valid? [True, True] Translation: X:638.48, Y:-271.28, Z:-4.86 [[-8.99785463e-01 -4.36295884e-01 5.65879715e-03 6.38481183e+02] [-4.36287260e-01 8.99803257e-01 2.74308187e-03 -2.71281909e+02] [-6.28859944e-03 -6.75913290e-07 -9.99980227e-01 -4.86303904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters 0.05327660174976745 Centerline is valid? [True, True] Translation: X:638.32, Y:-271.25, Z:-4.86 [[-8.68733024e-01 -4.95260709e-01 4.44560325e-03 6.38322606e+02] [-4.95254113e-01 8.68744398e-01 2.55621129e-03 -2.71254388e+02] [-5.12808394e-03 1.89618638e-05 -9.99986851e-01 -4.86241171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters 0.054208952622990615 Centerline is valid? [True, True] Translation: X:638.38, Y:-271.10, Z:-4.86 [[-8.33253474e-01 -5.52881354e-01 3.29510651e-03 6.38384543e+02] [-5.52876866e-01 8.33259988e-01 2.22792451e-03 -2.71095260e+02] [-3.97745833e-03 3.46376764e-05 -9.99992089e-01 -4.86386094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters 0.05431347359863361 Centerline is valid? [True, True] Translation: X:638.13, Y:-271.17, Z:-4.86 [[-7.93892263e-01 -6.08051066e-01 2.99616597e-03 6.38125169e+02] [-6.08046512e-01 7.93897915e-01 2.35375503e-03 -2.71172904e+02] [-3.80985317e-03 4.68196429e-05 -9.99992741e-01 -4.86305710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters 0.05464531416630564 Centerline is valid? [True, True] Translation: X:638.10, Y:-271.07, Z:-4.86 [[-7.46136901e-01 -6.65788087e-01 2.43876653e-03 6.38097592e+02] [-6.65784384e-01 7.46140886e-01 2.22092030e-03 -2.71071109e+02] [-3.29832570e-03 3.34179179e-05 -9.99994560e-01 -4.86302762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters 0.053828799752691246 Centerline is valid? [True, True] Translation: X:637.55, Y:-271.49, Z:-4.86 [[-6.94319764e-01 -7.19662458e-01 2.45195561e-03 6.37554761e+02] [-7.19657832e-01 6.94324093e-01 2.58046462e-03 -2.71488889e+02] [-3.55951537e-03 2.70985326e-05 -9.99993665e-01 -4.86212657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters 0.05356138258070434 Centerline is valid? [True, True] Translation: X:637.53, Y:-271.36, Z:-4.86 [[-6.33794815e-01 -7.73497580e-01 2.37223596e-03 6.37534157e+02] [-7.73492128e-01 6.33799254e-01 2.90394390e-03 -2.71359556e+02] [-3.74971496e-03 5.59873915e-06 -9.99992970e-01 -4.86194574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters 0.052885596941916906 Centerline is valid? [True, True] Translation: X:636.24, Y:-271.97, Z:-5.84 [[-6.72066700e-01 7.40487822e-01 2.03364844e-03 6.36236090e+02] [-7.40484642e-01 -6.72069775e-01 2.17072382e-03 -2.71965874e+02] [ 2.97414820e-03 -4.70142463e-05 9.99995576e-01 -5.84074893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters 0.053125726329412586 Centerline is valid? [True, True] Translation: X:636.55, Y:-272.54, Z:-4.86 [[-6.19935957e-01 -7.84648680e-01 2.42036992e-03 6.36545913e+02] [-7.84642938e-01 6.19940681e-01 3.00197730e-03 -2.72539594e+02] [-3.85598331e-03 -3.80924938e-05 -9.99992565e-01 -4.85971045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters 0.05246772845534242 Centerline is valid? [True, True] Translation: X:636.39, Y:-272.62, Z:-4.86 [[-5.57825746e-01 -8.29955983e-01 1.87164177e-03 6.36390322e+02] [-8.29951603e-01 5.57828884e-01 2.69684842e-03 -2.72620606e+02] [-3.28232132e-03 -4.90006011e-05 -9.99994612e-01 -4.86000883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters 0.053141782948326284 Centerline is valid? [True, True] Translation: X:636.29, Y:-272.64, Z:-4.86 [[-4.93518814e-01 -8.69734195e-01 1.26871052e-03 6.36285596e+02] [-8.69731573e-01 4.93520442e-01 2.13626638e-03 -2.72640890e+02] [-2.48411850e-03 -4.91499449e-05 -9.99996913e-01 -4.86056704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters 0.05283828013611068 Centerline is valid? [True, True] Translation: X:636.10, Y:-272.83, Z:-4.86 [[-4.31408363e-01 -9.02156098e-01 1.09495178e-03 6.36099862e+02] [-9.02153437e-01 4.31409751e-01 2.19148484e-03 -2.72833628e+02] [-2.44943428e-03 -4.23896295e-05 -9.99996999e-01 -4.86108480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters 0.05301679254203213 Centerline is valid? [True, True] Translation: X:635.93, Y:-273.04, Z:-4.86 [[-3.70054865e-01 -9.29009259e-01 1.09247743e-03 6.35933363e+02] [-9.29005415e-01 3.70056477e-01 2.67242838e-03 -2.73038602e+02] [-2.88698905e-03 -2.59723211e-05 -9.99995832e-01 -4.86096977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters 0.05283100873535292 Centerline is valid? [True, True] Translation: X:635.79, Y:-273.24, Z:-4.86 [[-3.05078750e-01 -9.52326578e-01 1.02213155e-03 6.35786488e+02] [-9.52321344e-01 3.05080462e-01 3.15739042e-03 -2.73243726e+02] [-3.31869918e-03 -1.01449667e-05 -9.99994493e-01 -4.86034290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters 0.05341575522656272 Centerline is valid? [True, True] Translation: X:635.67, Y:-273.39, Z:-4.86 [[-2.39159770e-01 -9.70979883e-01 8.19476655e-04 6.35673388e+02] [-9.70974033e-01 2.39161173e-01 3.37040184e-03 -2.73389755e+02] [-3.46857938e-03 1.03739734e-05 -9.99993984e-01 -4.86027988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters 0.05360536406235726 Centerline is valid? [True, True] Translation: X:635.65, Y:-273.10, Z:-4.86 [[-1.68485618e-01 -9.85703887e-01 6.66444046e-04 6.35645093e+02] [-9.85695363e-01 1.68486933e-01 4.09938707e-03 -2.73101795e+02] [-4.15306888e-03 3.37769595e-05 -9.99991375e-01 -4.85979483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters 0.05389552087910854 Centerline is valid? [True, True] Translation: X:635.50, Y:-273.70, Z:-4.86 [[-9.85592556e-02 -9.95131078e-01 4.59457127e-04 6.35498772e+02] [-9.95117364e-01 9.85603097e-02 5.22458479e-03 -2.73702505e+02] [-5.24443092e-03 5.77174224e-05 -9.99986246e-01 -4.85904895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters 0.05366823081046023 Centerline is valid? [True, True] Translation: X:635.42, Y:-273.47, Z:-4.86 [[-1.97170700e-02 -9.99805597e-01 6.87078311e-05 6.35421647e+02] [-9.99788888e-01 1.97171378e-02 5.78053719e-03 -2.73465983e+02] [-5.78076816e-03 4.52819307e-05 -9.99983290e-01 -4.86005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters 0.05335059490547259 Centerline is valid? [True, True] Translation: X:635.34, Y:-273.57, Z:-4.86 [[ 6.09670568e-02 -9.98139707e-01 -3.79583177e-04 6.35337923e+02] [-9.98121375e-01 -6.09682376e-02 6.04933725e-03 -2.73574077e+02] [-6.06122623e-03 1.00597953e-05 -9.99981631e-01 -4.86015814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters 0.05324344781728723 Centerline is valid? [True, True] Translation: X:635.30, Y:-274.01, Z:-4.86 [[ 1.35482765e-01 -9.90779316e-01 -8.75817314e-04 6.35296899e+02] [-9.90758506e-01 -1.35485595e-01 6.42153871e-03 -2.74011781e+02] [-6.48098836e-03 -2.28436457e-06 -9.99978998e-01 -4.85925423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters 0.05297362576565107 Centerline is valid? [True, True] Translation: X:634.79, Y:-274.61, Z:-5.84 [[ 7.01599211e-02 9.97535733e-01 -2.18126050e-04 6.34793930e+02] [-9.97524362e-01 7.01601631e-02 4.76434691e-03 -2.74612580e+02] [ 4.76791004e-03 -1.16680154e-04 9.99988627e-01 -5.84381066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters 0.0524661374595226 Centerline is valid? [True, True] Translation: X:635.39, Y:-274.83, Z:-4.86 [[ 1.57270619e-01 -9.87555381e-01 -5.67104287e-04 6.35394350e+02] [-9.87547045e-01 -1.57271622e-01 4.05847651e-03 -2.74834256e+02] [-4.09715972e-03 -7.82369492e-05 -9.99991604e-01 -4.85964247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters 0.05306944966255221 Centerline is valid? [True, True] Translation: X:635.34, Y:-275.01, Z:-4.86 [[ 2.34589015e-01 -9.72094400e-01 -6.86582117e-04 6.35343650e+02] [-9.72089111e-01 -2.34590004e-01 3.20796457e-03 -2.75011282e+02] [-3.27950969e-03 -8.51342487e-05 -9.99994619e-01 -4.85898573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters 0.05294648015176192 Centerline is valid? [True, True] Translation: X:635.31, Y:-275.19, Z:-4.86 [[ 3.10627878e-01 -9.50531223e-01 -8.46309213e-04 6.35314339e+02] [-9.50526805e-01 -3.10629016e-01 2.89953392e-03 -2.75194116e+02] [-3.01898572e-03 -9.62364739e-05 -9.99995438e-01 -4.85934225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters 0.05352440309875828 Centerline is valid? [True, True] Translation: X:635.30, Y:-275.41, Z:-4.86 [[ 3.81428154e-01 -9.24397631e-01 -1.25799414e-03 6.35303297e+02] [-9.24391578e-01 -3.81430211e-01 3.34718740e-03 -2.75410655e+02] [-3.57396908e-03 -1.13832323e-04 -9.99993607e-01 -4.85797974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters 0.052464612640901576 Centerline is valid? [True, True] Translation: X:635.32, Y:-275.62, Z:-4.86 [[ 4.48720445e-01 -8.93670390e-01 -1.78805958e-03 6.35321989e+02] [-8.93662106e-01 -4.48723989e-01 3.85000336e-03 -2.75619286e+02] [-4.24297923e-03 -1.29654129e-04 -9.99990990e-01 -4.85900833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters 0.0522919908609414 Centerline is valid? [True, True] Translation: X:635.35, Y:-275.84, Z:-4.86 [[ 5.12326006e-01 -8.58788215e-01 -2.20584356e-03 6.35352481e+02] [-8.58779131e-01 -5.12330738e-01 3.95220075e-03 -2.75839397e+02] [-4.52422489e-03 -1.30482807e-04 -9.99989757e-01 -4.85842894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters 0.05220934896247673 Centerline is valid? [True, True] Translation: X:635.42, Y:-276.09, Z:-4.86 [[ 5.70591324e-01 -8.21228334e-01 -3.09270404e-03 6.35423744e+02] [-8.21215017e-01 -5.70599690e-01 4.67851241e-03 -2.76094195e+02] [-5.60682292e-03 -1.29743581e-04 -9.99984273e-01 -4.85721971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters 0.05223435688917838 Centerline is valid? [True, True] Translation: X:635.51, Y:-276.33, Z:-4.86 [[ 6.25285984e-01 -7.80387707e-01 -3.53049851e-03 6.35505633e+02] [-7.80374340e-01 -6.25295943e-01 4.56874286e-03 -2.76325663e+02] [-5.77299717e-03 -1.01660429e-04 -9.99983331e-01 -4.85702525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters 0.05199743366315891 Centerline is valid? [True, True] Translation: X:635.47, Y:-276.38, Z:-4.86 [[ 6.72761158e-01 -7.39852167e-01 -3.34597378e-03 6.35468196e+02] [-7.39842757e-01 -6.72769478e-01 3.73154071e-03 -2.76382597e+02] [-5.01185751e-03 -3.49411830e-05 -9.99987440e-01 -4.85856817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters 0.05274285884079929 Centerline is valid? [True, True] Translation: X:635.80, Y:-276.82, Z:-4.86 [[ 7.18740820e-01 -6.95273985e-01 -2.39145948e-03 6.35796978e+02] [-6.95270121e-01 -7.18744799e-01 2.31808891e-03 -2.76816514e+02] [-3.33055598e-03 -3.39480238e-06 -9.99994454e-01 -4.85934760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters 0.052104310218256594 Centerline is valid? [True, True] Translation: X:635.78, Y:-276.89, Z:-4.86 [[ 7.62862536e-01 -6.46557785e-01 -1.94442892e-03 6.35777433e+02] [-6.46555750e-01 -7.62865014e-01 1.62256032e-03 -2.76887458e+02] [-2.53241580e-03 1.93912202e-05 -9.99996793e-01 -4.85975787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters 0.053076221407750986 Centerline is valid? [True, True] Translation: X:635.75, Y:-276.97, Z:-4.86 [[ 8.05962068e-01 -5.91964633e-01 -1.73722808e-03 6.35751536e+02] [-5.91963336e-01 -8.05963940e-01 1.23920942e-03 -2.76974536e+02] [-2.13371133e-03 2.96195447e-05 -9.99997723e-01 -4.85902271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters 0.05293363522614046 Centerline is valid? [True, True] Translation: X:635.71, Y:-277.09, Z:-4.86 [[ 8.48241266e-01 -5.29607216e-01 -1.71801037e-03 6.35714530e+02] [-5.29606205e-01 -8.48243005e-01 1.03526031e-03 -2.77094006e+02] [-2.00557161e-03 3.17184386e-05 -9.99997988e-01 -4.85871240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters 0.053370244620104555 Centerline is valid? [True, True] Translation: X:635.70, Y:-277.18, Z:-4.86 [[ 8.87173466e-01 -4.61425262e-01 -3.15732832e-03 6.35704045e+02] [-4.61422659e-01 -8.87179081e-01 1.55199606e-03 -2.77183023e+02] [-3.51724583e-03 7.99731063e-05 -9.99993811e-01 -4.85746210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters 0.053187665921421316 Centerline is valid? [True, True] Translation: X:635.70, Y:-277.27, Z:-4.86 [[ 9.21794203e-01 -3.87661093e-01 -3.78476088e-03 6.35702320e+02] [-3.87658201e-01 -9.21801969e-01 1.49994219e-03 -2.77268906e+02] [-4.07026925e-03 8.45555783e-05 -9.99991713e-01 -4.85705841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters 0.052474400623590954 Centerline is valid? [True, True] Translation: X:635.70, Y:-277.36, Z:-4.86 [[ 9.51614218e-01 -3.07272407e-01 -3.74798498e-03 6.35704958e+02] [-3.07270234e-01 -9.51621598e-01 1.15683418e-03 -2.77356542e+02] [-3.92212668e-03 5.07843717e-05 -9.99992307e-01 -4.85728168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters 0.052141695582595356 Centerline is valid? [True, True] Translation: X:635.72, Y:-277.44, Z:-4.86 [[ 9.74646899e-01 -2.23730384e-01 -2.85277098e-03 6.35718264e+02] [-2.23729440e-01 -9.74651074e-01 6.49960825e-04 -2.77437186e+02] [-2.92587228e-03 4.76655121e-06 -9.99995720e-01 -4.85675867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters 0.051361530187517414 Centerline is valid? [True, True] Translation: X:635.74, Y:-277.51, Z:-4.86 [[ 9.90029489e-01 -1.40851544e-01 -1.56653336e-03 6.35736732e+02] [-1.40851333e-01 -9.90030728e-01 2.45244300e-04 -2.77513713e+02] [-1.58545920e-03 -2.21507766e-05 -9.99998743e-01 -4.85782029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters 0.051275294335886956 Centerline is valid? [True, True] Translation: X:635.76, Y:-277.59, Z:-4.86 [[ 9.98471300e-01 -5.52539426e-02 1.43722818e-03 6.35761941e+02] [-5.52539309e-02 -9.98472334e-01 -4.78611219e-05 -2.77588650e+02] [ 1.43767709e-03 -3.16245499e-05 -9.99998966e-01 -4.85969661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters 0.05090082211324082 Centerline is valid? [True, True] Translation: X:635.79, Y:-277.66, Z:-4.86 [[ 9.99624521e-01 2.73668180e-02 1.36934653e-03 6.35791369e+02] [ 2.73667571e-02 -9.99625458e-01 6.31749116e-05 -2.77660086e+02] [ 1.37056255e-03 -2.56766169e-05 -9.99999060e-01 -4.85910275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters 0.05134021035606754 Centerline is valid? [True, True] Translation: X:635.82, Y:-277.74, Z:-4.86 [[ 9.93796485e-01 1.11213432e-01 -3.45815908e-04 6.35824990e+02] [ 1.11213438e-01 -9.93796544e-01 -1.89012179e-06 -2.77738063e+02] [-3.43880861e-04 -3.65809795e-05 -9.99999940e-01 -4.85620493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters 0.05159013467582821 Centerline is valid? [True, True] Translation: X:635.87, Y:-277.82, Z:-4.85 [[ 9.81440131e-01 1.91758233e-01 -2.01208955e-03 6.35865115e+02] [ 1.91757958e-01 -9.81442192e-01 -3.30345904e-04 -2.77818564e+02] [-2.03809613e-03 -6.16194571e-05 -9.99997921e-01 -4.85429034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters 0.051244406617037 Centerline is valid? [True, True] Translation: X:635.91, Y:-277.89, Z:-4.85 [[ 9.62517455e-01 2.71201588e-01 -3.13793139e-03 6.35910295e+02] [ 2.71200449e-01 -9.62522566e-01 -7.91206245e-04 -2.77885225e+02] [-3.23490616e-03 -8.94585792e-05 -9.99994764e-01 -4.85285167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters 0.051016257828948565 Centerline is valid? [True, True] Translation: X:635.96, Y:-277.95, Z:-4.85 [[ 9.37842965e-01 3.47047026e-01 -2.98917941e-03 6.35961957e+02] [ 3.47045576e-01 -9.37847724e-01 -1.00750122e-03 -2.77954417e+02] [-3.15304541e-03 -9.25035569e-05 -9.99995025e-01 -4.85252439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters 0.050918092601549135 Centerline is valid? [True, True] Translation: X:636.02, Y:-278.02, Z:-4.85 [[ 9.07625642e-01 4.19767079e-01 -3.36054507e-03 6.36018356e+02] [ 4.19764622e-01 -9.07631857e-01 -1.44004099e-03 -2.78021341e+02] [-3.65461957e-03 -1.03619799e-04 -9.99993316e-01 -4.85196369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters 0.050165247108304716 Centerline is valid? [True, True] Translation: X:636.08, Y:-278.08, Z:-4.85 [[ 8.71637864e-01 4.90131452e-01 -4.31199824e-03 6.36079631e+02] [ 4.90126192e-01 -8.71648520e-01 -2.27454761e-03 -2.78081992e+02] [-4.87337421e-03 -1.30841455e-04 -9.99988116e-01 -4.85156096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters 0.05129724146948427 Centerline is valid? [True, True] Translation: X:636.15, Y:-278.14, Z:-4.85 [[ 8.30002654e-01 5.57737417e-01 -4.95650136e-03 6.36148409e+02] [ 5.57728595e-01 -8.30017439e-01 -3.14097790e-03 -2.78144488e+02] [-5.86582347e-03 -1.57362546e-04 -9.99982784e-01 -4.84960077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters 0.05036268665243227 Centerline is valid? [True, True] Translation: X:636.22, Y:-278.19, Z:-4.85 [[ 7.83277914e-01 6.21651361e-01 -5.02946061e-03 6.36217971e+02] [ 6.21639939e-01 -7.83294042e-01 -3.77225204e-03 -2.78193383e+02] [-6.28457214e-03 -1.71791884e-04 -9.99980237e-01 -4.85118804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters 0.051119028461978626 Centerline is valid? [True, True] Translation: X:636.30, Y:-278.24, Z:-4.85 [[ 7.32560830e-01 6.80684677e-01 -4.79587561e-03 6.36296021e+02] [ 6.80671600e-01 -7.32576509e-01 -4.22269223e-03 -2.78243714e+02] [-6.38766771e-03 -1.71037400e-04 -9.99979584e-01 -4.85078576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters 0.05080534416116177 Centerline is valid? [True, True] Translation: X:636.38, Y:-278.29, Z:-4.85 [[ 6.78771122e-01 7.34337134e-01 -4.32870648e-03 6.36377143e+02] [ 7.34323618e-01 -6.78784908e-01 -4.45799149e-03 -2.78288061e+02] [-6.21192932e-03 -1.52715510e-04 -9.99980694e-01 -4.85079162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters 0.05060028433357322 Centerline is valid? [True, True] Translation: X:636.46, Y:-278.33, Z:-4.85 [[ 6.21536947e-01 7.83375539e-01 -3.81939819e-03 6.36461080e+02] [ 7.83362022e-01 -6.21548669e-01 -4.60385820e-03 -2.78325269e+02] [-5.98049176e-03 -1.30503515e-04 -9.99982108e-01 -4.85159862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters 0.05211510231366022 Centerline is valid? [True, True] Translation: X:636.55, Y:-278.36, Z:-4.85 [[ 5.60263268e-01 8.28310909e-01 -2.47181586e-03 6.36553004e+02] [ 8.28303564e-01 -5.60268713e-01 -3.48941493e-03 -2.78360267e+02] [-4.27520153e-03 -9.24228749e-05 -9.99990857e-01 -4.85156575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters 0.05097153550815618 Centerline is valid? [True, True] Translation: X:636.64, Y:-278.38, Z:-4.85 [[ 4.91812890e-01 8.70700488e-01 -8.60988317e-04 6.36637153e+02] [ 8.70699356e-01 -4.91813640e-01 -1.40502130e-03 -2.78380321e+02] [-1.64679853e-03 -5.86543875e-05 -9.99998642e-01 -4.85371435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters 0.05147954391732939 Centerline is valid? [True, True] Translation: X:636.72, Y:-278.40, Z:-4.85 [[ 4.20244064e-01 9.07410653e-01 -9.12685462e-04 6.36724489e+02] [ 9.07408858e-01 -4.20245049e-01 -1.80641240e-03 -2.78396024e+02] [-2.02270940e-03 -6.90447838e-05 -9.99997952e-01 -4.85320446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters 0.05083523556721851 Centerline is valid? [True, True] Translation: X:636.82, Y:-278.40, Z:-4.85 [[ 3.45685257e-01 9.38349600e-01 -1.31592740e-03 6.36815200e+02] [ 9.38343917e-01 -3.45687746e-01 -3.26744504e-03 -2.78404962e+02] [-3.52090573e-03 -1.05284891e-04 -9.99993796e-01 -4.85270367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters 0.05069089942243915 Centerline is valid? [True, True] Translation: X:636.91, Y:-278.41, Z:-4.85 [[ 2.70176522e-01 9.62809836e-01 -1.36607914e-03 6.36911634e+02] [ 9.62799891e-01 -2.70179943e-01 -4.37816347e-03 -2.78408111e+02] [-4.58442604e-03 -1.32383872e-04 -9.99989483e-01 -4.85307315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters 0.05044461088934492 Centerline is valid? [True, True] Translation: X:637.01, Y:-278.41, Z:-4.85 [[ 1.95013781e-01 9.80799933e-01 -1.05667465e-03 6.37010911e+02] [ 9.80788962e-01 -1.95016599e-01 -4.64083496e-03 -2.78405328e+02] [-4.75779971e-03 -1.31348062e-04 -9.99988673e-01 -4.85254172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters 0.05067422862358085 Centerline is valid? [True, True] Translation: X:637.10, Y:-278.39, Z:-4.85 [[ 1.23796518e-01 9.92307543e-01 -4.01639246e-04 6.37096802e+02] [ 9.92304018e-01 -1.23797149e-01 -2.64624932e-03 -2.78391421e+02] [-2.67561495e-03 -7.09517854e-05 -9.99996418e-01 -4.85344818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters 0.05098015721162137 Centerline is valid? [True, True] Translation: X:637.18, Y:-278.37, Z:-4.85 [[ 5.17390916e-02 9.98660626e-01 -1.46629998e-04 6.37179141e+02] [ 9.98658815e-01 -5.17392771e-02 -1.90217235e-03 -2.78371872e+02] [-1.90721115e-03 -4.80166707e-05 -9.99998180e-01 -4.85392010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters 0.05029873918824762 Centerline is valid? [True, True] Translation: X:637.25, Y:-278.35, Z:-4.85 [[-1.76163889e-02 9.99844819e-01 3.17043347e-06 6.37251011e+02] [ 9.99842952e-01 1.76163621e-02 -1.93240038e-03 -2.78346160e+02] [-1.93215636e-03 -3.08719810e-05 -9.99998133e-01 -4.85428684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters 0.05051349225012534 Centerline is valid? [True, True] Translation: X:637.32, Y:-278.31, Z:-4.85 [[-9.27650100e-02 9.95688021e-01 1.32978930e-04 6.37321770e+02] [ 9.95686565e-01 9.27651018e-02 -1.70326358e-03 -2.78314932e+02] [-1.70825494e-03 -2.55979291e-05 -9.99998541e-01 -4.85408513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters 0.05092147006433017 Centerline is valid? [True, True] Translation: X:637.39, Y:-278.28, Z:-4.85 [[-1.70782784e-01 9.85308606e-01 4.37873825e-04 6.37394589e+02] [ 9.85305004e-01 1.70783344e-01 -2.66437593e-03 -2.78278252e+02] [-2.70001409e-03 -2.35902680e-05 -9.99996355e-01 -4.85283255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters 0.05106641651976643 Centerline is valid? [True, True] Translation: X:637.46, Y:-278.24, Z:-4.85 [[-2.50004007e-01 9.68244292e-01 9.93658546e-04 6.37462359e+02] [ 9.68236145e-01 2.50005980e-01 -3.97220443e-03 -2.78236392e+02] [-4.09448485e-03 -3.09709042e-05 -9.99991617e-01 -4.85122367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters 0.0510003305194082 Centerline is valid? [True, True] Translation: X:637.52, Y:-278.19, Z:-4.85 [[-3.26145710e-01 9.45318376e-01 1.46424305e-03 6.37521149e+02] [ 9.45308341e-01 3.26148995e-01 -4.35582583e-03 -2.78190739e+02] [-4.59520360e-03 -3.64727368e-05 -9.99989441e-01 -4.85033276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters 0.05107733602584865 Centerline is valid? [True, True] Translation: X:637.58, Y:-278.14, Z:-4.85 [[-4.01074082e-01 9.16044176e-01 1.62730777e-03 6.37576820e+02] [ 9.16036179e-01 4.01077381e-01 -3.82802415e-03 -2.78140752e+02] [-4.15931556e-03 -4.46484777e-05 -9.99991349e-01 -4.85005958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters 0.050988070638203105 Centerline is valid? [True, True] Translation: X:637.64, Y:-278.08, Z:-4.85 [[-4.73441222e-01 8.80823718e-01 1.72837579e-03 6.37635092e+02] [ 8.80817448e-01 4.73444374e-01 -3.32385041e-03 -2.78081909e+02] [-3.74601607e-03 -5.12642481e-05 -9.99992982e-01 -4.85018587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters 0.05048778948460036 Centerline is valid? [True, True] Translation: X:637.69, Y:-278.02, Z:-4.85 [[-5.44304048e-01 8.38886275e-01 1.70889745e-03 6.37692742e+02] [ 8.38881782e-01 5.44306727e-01 -2.74651889e-03 -2.78015163e+02] [-3.23418138e-03 -6.13784163e-05 -9.99994768e-01 -4.84984929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters 0.049954369217494 Centerline is valid? [True, True] Translation: X:637.75, Y:-277.94, Z:-4.85 [[-6.10184918e-01 7.92256328e-01 2.06780044e-03 6.37746217e+02] [ 7.92251373e-01 6.10188418e-01 -2.80289281e-03 -2.77943428e+02] [-3.48235744e-03 -7.20651774e-05 -9.99993934e-01 -4.84925106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters 0.0501962072740537 Centerline is valid? [True, True] Translation: X:637.79, Y:-277.87, Z:-4.85 [[-6.72257799e-01 7.40313438e-01 2.33772426e-03 6.37794103e+02] [ 7.40308530e-01 6.72261859e-01 -2.69703329e-03 -2.77868774e+02] [-3.56821285e-03 -8.24644572e-05 -9.99993631e-01 -4.84783056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters 0.05013332104626656 Centerline is valid? [True, True] Translation: X:637.83, Y:-277.79, Z:-4.85 [[-7.29004787e-01 6.84501271e-01 3.16700485e-03 6.37834087e+02] [ 6.84494204e-01 7.29011659e-01 -3.11210014e-03 -2.77790244e+02] [-4.43901996e-03 -1.00939440e-04 -9.99990142e-01 -4.84604585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters 0.04990622247752414 Centerline is valid? [True, True] Translation: X:638.23, Y:-277.33, Z:-5.86 [[-6.57610504e-01 -7.53350567e-01 3.36867762e-03 6.38227903e+02] [ 7.53341774e-01 -6.57619116e-01 -3.64274835e-03 -2.77327043e+02] [ 4.95957334e-03 1.42255995e-04 9.99987691e-01 -5.86217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters 0.050385668395400963 Centerline is valid? [True, True] Translation: X:638.19, Y:-277.28, Z:-5.86 [[-6.58902073e-01 -7.52219434e-01 3.73933267e-03 6.38191068e+02] [ 7.52208004e-01 -6.58912678e-01 -4.14746970e-03 -2.77281877e+02] [ 5.58370102e-03 7.99795849e-05 9.99984408e-01 -5.86278747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters 0.0504584065639319 Centerline is valid? [True, True] Translation: X:638.15, Y:-277.24, Z:-5.86 [[-6.60523081e-01 -7.50798824e-01 3.22265294e-03 6.38153440e+02] [ 7.50790322e-01 -6.60530939e-01 -3.57350819e-03 -2.77239509e+02] [ 4.81164772e-03 5.91520067e-05 9.99988422e-01 -5.86362879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters 0.049850550645009414 Centerline is valid? [True, True] Translation: X:638.12, Y:-277.19, Z:-5.86 [[-6.64228338e-01 -7.47527149e-01 1.96888444e-03 6.38120777e+02] [ 7.47523963e-01 -6.64231255e-01 -2.18269430e-03 -2.77190154e+02] [ 2.93941783e-03 2.19808933e-05 9.99995680e-01 -5.86194244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters 0.05020220783650212 Centerline is valid? [True, True] Translation: X:638.09, Y:-277.14, Z:-5.86 [[-6.69047098e-01 -7.43218784e-01 1.34926748e-03 6.38086226e+02] [ 7.43217279e-01 -6.69048458e-01 -1.49554616e-03 -2.77143866e+02] [ 2.01424332e-03 2.20808760e-06 9.99997971e-01 -5.86272133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters 0.0506756724796778 Centerline is valid? [True, True] Translation: X:638.05, Y:-277.10, Z:-5.86 [[-6.72049312e-01 -7.40504795e-01 1.53959844e-03 6.38049513e+02] [ 7.40502830e-01 -6.72051076e-01 -1.70602371e-03 -2.77098631e+02] [ 2.29800752e-03 -6.45506267e-06 9.99997360e-01 -5.86263736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters 0.05106713332283355 Centerline is valid? [True, True] Translation: X:638.01, Y:-277.06, Z:-5.86 [[-6.74014113e-01 -7.38715967e-01 1.92242396e-03 6.38011430e+02] [ 7.38712897e-01 -6.74016855e-01 -2.12963444e-03 -2.77056516e+02] [ 2.86894112e-03 -1.52842927e-05 9.99995884e-01 -5.86353111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters 0.050587794606759905 Centerline is valid? [True, True] Translation: X:637.97, Y:-277.01, Z:-5.86 [[-6.75628706e-01 -7.37236274e-01 2.92037245e-03 6.37972738e+02] [ 7.37229180e-01 -6.75635017e-01 -3.23436539e-03 -2.77013200e+02] [ 4.35759737e-03 -3.22463194e-05 9.99990505e-01 -5.86349075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters 0.05061731235823578 Centerline is valid? [True, True] Translation: X:637.93, Y:-276.97, Z:-5.86 [[-6.77161332e-01 -7.35826884e-01 3.36559347e-03 6.37932553e+02] [ 7.35817450e-01 -6.77169694e-01 -3.72650153e-03 -2.76971352e+02] [ 5.02113791e-03 -4.69803374e-05 9.99987393e-01 -5.86125379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters 0.05167486963332544 Centerline is valid? [True, True] Translation: X:637.89, Y:-276.93, Z:-5.86 [[-6.79194936e-01 -7.33951889e-01 2.97714979e-03 6.37894412e+02] [ 7.33944492e-01 -6.79201459e-01 -3.29555882e-03 -2.76927893e+02] [ 4.44086610e-03 -5.32641707e-05 9.99990138e-01 -5.86310625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters 0.05143421970590488 Centerline is valid? [True, True] Translation: X:637.85, Y:-276.89, Z:-5.86 [[-6.80700970e-01 -7.32558333e-01 2.11601121e-03 6.37854507e+02] [ 7.32554592e-01 -6.80704258e-01 -2.34163445e-03 -2.76886407e+02] [ 3.15576167e-03 -4.38591113e-05 9.99995020e-01 -5.86259628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters 0.05125185384821161 Centerline is valid? [True, True] Translation: X:637.81, Y:-276.85, Z:-5.86 [[-6.81435163e-01 -7.31875366e-01 2.13712692e-03 6.37814489e+02] [ 7.31871549e-01 -6.81438513e-01 -2.36429208e-03 -2.76845447e+02] [ 3.18668772e-03 -4.70093751e-05 9.99994921e-01 -5.86105606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters 0.05220703185915608 Centerline is valid? [True, True] Translation: X:637.78, Y:-276.80, Z:-5.86 [[-6.82608406e-01 -7.30784192e-01 4.78842733e-04 6.37775146e+02] [ 7.30784000e-01 -6.82608574e-01 -5.29576150e-04 -2.76801819e+02] [ 7.13868034e-04 -1.15625235e-05 9.99999745e-01 -5.85954888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters 0.051571300777163986 Centerline is valid? [True, True] Translation: X:637.73, Y:-276.76, Z:-5.86 [[-6.81674445e-01 -7.31654353e-01 -1.36347372e-03 6.37731160e+02] [ 7.31652800e-01 -6.81675807e-01 1.50785816e-03 -2.76762000e+02] [-2.03267804e-03 3.02790079e-05 9.99997934e-01 -5.85893593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters 0.05122383260822876 Centerline is valid? [True, True] Translation: X:637.69, Y:-276.72, Z:-5.86 [[-6.79751639e-01 -7.33440844e-01 -1.49620604e-03 6.37687306e+02] [ 7.33438978e-01 -6.79753285e-01 1.65443309e-03 -2.76721565e+02] [-2.23047977e-03 2.72277720e-05 9.99997512e-01 -5.86005926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters 0.05108319234077984 Centerline is valid? [True, True] Translation: X:637.65, Y:-276.68, Z:-5.86 [[-6.77868463e-01 -7.35182119e-01 -1.26457491e-03 6.37649230e+02] [ 7.35180790e-01 -6.77869642e-01 1.39796015e-03 -2.76679407e+02] [-1.88497225e-03 1.79419232e-05 9.99998223e-01 -5.86059836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters 0.05105930606069356 Centerline is valid? [True, True] Translation: X:637.61, Y:-276.64, Z:-5.86 [[-6.77054350e-01 -7.35932252e-01 -1.06191765e-03 6.37608796e+02] [ 7.35931316e-01 -6.77055183e-01 1.17354142e-03 -2.76641497e+02] [-1.58262383e-03 1.30528693e-05 9.99998748e-01 -5.86192102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters 0.05064257248996756 Centerline is valid? [True, True] Translation: X:637.57, Y:-276.60, Z:-5.86 [[-6.76130974e-01 -7.36780485e-01 -1.19244329e-03 6.37568840e+02] [ 7.36779308e-01 -6.76132026e-01 1.31737618e-03 -2.76600946e+02] [-1.77686616e-03 1.21512977e-05 9.99998421e-01 -5.86336307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters 0.051027450048960574 Centerline is valid? [True, True] Translation: X:637.53, Y:-276.56, Z:-5.86 [[-6.74819332e-01 -7.37982289e-01 -1.00528509e-03 6.37528870e+02] [ 7.37981454e-01 -6.74820081e-01 1.11028755e-03 -2.76559986e+02] [-1.49775911e-03 7.36174930e-06 9.99998878e-01 -5.86405648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters 0.051379969479911164 Centerline is valid? [True, True] Translation: X:637.49, Y:-276.52, Z:-5.86 [[-6.73166708e-01 -7.39490572e-01 -5.26174401e-04 6.37489560e+02] [ 7.39490344e-01 -6.73166913e-01 5.81002126e-04 -2.76518127e+02] [-7.83848793e-04 2.01039936e-06 9.99999693e-01 -5.86460465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters 0.05148826119589316 Centerline is valid? [True, True] Translation: X:637.45, Y:-276.48, Z:-5.87 [[-6.68567375e-01 -7.43651046e-01 8.87322525e-04 6.37450195e+02] [ 7.43650401e-01 -6.68567964e-01 -9.79230223e-04 -2.76477900e+02] [ 1.32144099e-03 5.17637150e-06 9.99999127e-01 -5.86571072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters 0.05100229032441806 Centerline is valid? [True, True] Translation: X:637.41, Y:-276.44, Z:-5.87 [[-6.62769840e-01 -7.48821585e-01 1.54062035e-03 6.37408104e+02] [ 7.48819656e-01 -6.62771630e-01 -1.69986410e-03 -2.76437744e+02] [ 2.29397439e-03 2.70281445e-05 9.99997368e-01 -5.86768448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters 0.05065150829977419 Centerline is valid? [True, True] Translation: X:637.37, Y:-276.39, Z:-5.87 [[-6.58740229e-01 -7.52368317e-01 1.79601261e-03 6.37371112e+02] [ 7.52365710e-01 -6.58742676e-01 -1.98127958e-03 -2.76394141e+02] [ 2.67376213e-03 4.61097388e-05 9.99996424e-01 -5.86720213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters 0.05028438737666473 Centerline is valid? [True, True] Translation: X:637.33, Y:-276.35, Z:-5.87 [[-6.57223623e-01 -7.53694477e-01 1.32102325e-03 6.37333348e+02] [ 7.53693070e-01 -6.57224950e-01 -1.45687812e-03 -2.76350304e+02] [ 1.96625043e-03 3.81513525e-05 9.99998066e-01 -5.86637222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters 0.050483615972206075 Centerline is valid? [True, True] Translation: X:637.30, Y:-276.31, Z:-5.87 [[-6.55538930e-01 -7.55161105e-01 6.45229232e-04 6.37296884e+02] [ 7.55160770e-01 -6.55539248e-01 -7.11341789e-04 -2.76305940e+02] [ 9.60150736e-04 2.09395687e-05 9.99999539e-01 -5.86551218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters 0.05011607994843803 Centerline is valid? [True, True] Translation: X:637.26, Y:-276.26, Z:-5.87 [[-6.55499497e-01 -7.55193110e-01 1.94310540e-03 6.37259111e+02] [ 7.55190076e-01 -6.55502374e-01 -2.14177756e-03 -2.76262880e+02] [ 2.89116586e-03 6.34798066e-05 9.99995819e-01 -5.86589842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters 0.05063522340118292 Centerline is valid? [True, True] Translation: X:637.22, Y:-276.22, Z:-5.87 [[-6.56834756e-01 -7.54030306e-01 2.53006834e-03 6.37222730e+02] [ 7.54025155e-01 -6.56839624e-01 -2.78812406e-03 -2.76216888e+02] [ 3.76417917e-03 7.63983817e-05 9.99992913e-01 -5.86606780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters 0.05018410218898303 Centerline is valid? [True, True] Translation: X:637.19, Y:-276.17, Z:-5.87 [[-6.60617996e-01 -7.50716011e-01 3.05527181e-03 6.37190227e+02] [ 7.50708468e-01 -6.60625057e-01 -3.36597924e-03 -2.76169027e+02] [ 4.54528362e-03 6.99919590e-05 9.99989668e-01 -5.86600537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters 0.050185006790660416 Centerline is valid? [True, True] Translation: X:637.16, Y:-276.12, Z:-5.87 [[-6.66030384e-01 -7.45920422e-01 2.50041206e-03 6.37157306e+02] [ 7.45915339e-01 -6.66035077e-01 -2.75391579e-03 -2.76121234e+02] [ 3.71956416e-03 3.09041204e-05 9.99993082e-01 -5.86574845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters 0.05033622837550087 Centerline is valid? [True, True] Translation: X:637.12, Y:-276.08, Z:-5.87 [[-6.68830728e-01 -7.43412864e-01 1.66486189e-03 6.37119624e+02] [ 7.43410603e-01 -6.68832800e-01 -1.83315294e-03 -2.76077572e+02] [ 2.47630372e-03 1.16069688e-05 9.99996934e-01 -5.86507800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters 0.05012933595628118 Centerline is valid? [True, True] Translation: X:637.08, Y:-276.04, Z:-5.87 [[-6.69125606e-01 -7.43146863e-01 1.91380221e-03 6.37080004e+02] [ 7.43143877e-01 -6.69128343e-01 -2.10663809e-03 -2.76036015e+02] [ 2.84612079e-03 1.26249099e-05 9.99995950e-01 -5.86548730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters 0.050089363988854586 Centerline is valid? [True, True] Translation: X:637.04, Y:-275.99, Z:-5.87 [[-6.72191309e-01 -7.40370578e-01 3.20166621e-03 6.37042820e+02] [ 7.40362195e-01 -6.72198934e-01 -3.52328214e-03 -2.75992307e+02] [ 4.76069105e-03 2.07299238e-06 9.99988668e-01 -5.86555656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters 0.05027501709192539 Centerline is valid? [True, True] Translation: X:637.00, Y:-275.95, Z:-5.87 [[-6.74119366e-01 -7.38615040e-01 3.30202327e-03 6.37004873e+02] [ 7.38606107e-01 -6.74127453e-01 -3.63276691e-03 -2.75950147e+02] [ 4.90920081e-03 -1.00239782e-05 9.99987950e-01 -5.86516199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters 0.05100699239424215 Centerline is valid? [True, True] Translation: X:636.97, Y:-275.91, Z:-5.87 [[-6.75880091e-01 -7.37004599e-01 3.21313788e-03 6.36965037e+02] [ 7.36996125e-01 -6.75887728e-01 -3.53427735e-03 -2.75908859e+02] [ 4.77649912e-03 -2.06775335e-05 9.99988592e-01 -5.86744752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters 0.05141980749900886 Centerline is valid? [True, True] Translation: X:636.92, Y:-275.87, Z:-5.87 [[-6.75917276e-01 -7.36970791e-01 3.14461895e-03 6.36923303e+02] [ 7.36962679e-01 -6.75924591e-01 -3.45786983e-03 -2.75869241e+02] [ 4.67387434e-03 -1.97671506e-05 9.99989077e-01 -5.86503119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters 0.05081455009634925 Centerline is valid? [True, True] Translation: X:636.88, Y:-275.83, Z:-5.87 [[-6.75509517e-01 -7.37346769e-01 2.57570429e-03 6.36884750e+02] [ 7.37341333e-01 -6.75514427e-01 -2.83148724e-03 -2.75826972e+02] [ 3.82771338e-03 -1.35233439e-05 9.99992674e-01 -5.86543770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters 0.050272501406127976 Centerline is valid? [True, True] Translation: X:636.84, Y:-275.79, Z:-5.86 [[-6.74154149e-01 -7.38588843e-01 1.64450467e-03 6.36843668e+02] [ 7.38586632e-01 -6.74156154e-01 -1.80721583e-03 -2.75787800e+02] [ 2.44344239e-03 -3.73288444e-06 9.99997015e-01 -5.86464774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters 0.051128323396821794 Centerline is valid? [True, True] Translation: X:636.80, Y:-275.75, Z:-5.87 [[-6.71624054e-01 -7.40890764e-01 1.41644826e-03 6.36802068e+02] [ 7.40889130e-01 -6.71625547e-01 -1.55618967e-03 -2.75749279e+02] [ 2.10428940e-03 4.25670490e-06 9.99997786e-01 -5.86521255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters 0.050715336287682995 Centerline is valid? [True, True] Translation: X:636.76, Y:-275.71, Z:-5.87 [[-6.68937492e-01 -7.43314749e-01 2.41133395e-03 6.36761076e+02] [ 7.43310031e-01 -6.68941838e-01 -2.64849065e-03 -2.75709063e+02] [ 3.58170433e-03 2.06940211e-05 9.99993585e-01 -5.86517013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters 0.05037717190630325 Centerline is valid? [True, True] Translation: X:636.72, Y:-275.67, Z:-5.87 [[-6.67000473e-01 -7.45053203e-01 2.46867158e-03 6.36720390e+02] [ 7.45048272e-01 -6.67005041e-01 -2.71066925e-03 -2.75668665e+02] [ 3.66620920e-03 3.12618261e-05 9.99993279e-01 -5.86507778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters 0.0508048956780486 Centerline is valid? [True, True] Translation: X:636.68, Y:-275.63, Z:-5.86 [[-6.66454140e-01 -7.45543381e-01 1.98661894e-03 6.36681014e+02] [ 7.45540192e-01 -6.66457100e-01 -2.18070149e-03 -2.75627440e+02] [ 2.94980386e-03 2.77667366e-05 9.99995649e-01 -5.86490007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters 0.050810311407088735 Centerline is valid? [True, True] Translation: X:636.64, Y:-275.59, Z:-5.86 [[-6.66817037e-01 -7.45218395e-01 2.14107551e-03 6.36643190e+02] [ 7.45214691e-01 -6.66820473e-01 -2.34955338e-03 -2.75585033e+02] [ 3.17864338e-03 2.88386994e-05 9.99994948e-01 -5.86436692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters 0.05089838976232128 Centerline is valid? [True, True] Translation: X:636.61, Y:-275.54, Z:-5.86 [[-6.67346250e-01 -7.44743648e-01 2.42516523e-03 6.36605690e+02] [ 7.44738896e-01 -6.67350656e-01 -2.66048251e-03 -2.75543116e+02] [ 3.59981305e-03 3.06518452e-05 9.99993520e-01 -5.86480035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters 0.05026916049756358 Centerline is valid? [True, True] Translation: X:636.57, Y:-275.50, Z:-5.87 [[-6.67447950e-01 -7.44650697e-01 2.92825299e-03 6.36567396e+02] [ 7.44643772e-01 -6.67454372e-01 -3.21146137e-03 -2.75500591e+02] [ 4.34589220e-03 3.70220445e-05 9.99990556e-01 -5.86504048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters 0.05024367015950094 Centerline is valid? [True, True] Translation: X:636.53, Y:-275.46, Z:-5.87 [[-6.65870201e-01 -7.46058307e-01 3.72548726e-03 6.36529620e+02] [ 7.46047127e-01 -6.65880620e-01 -4.08469974e-03 -2.75457405e+02] [ 5.52815394e-03 5.95092298e-05 9.99984718e-01 -5.86504347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters 0.05068229263334519 Centerline is valid? [True, True] Translation: X:636.49, Y:-275.42, Z:-5.87 [[-6.64119281e-01 -7.47612925e-01 4.52716992e-03 6.36489392e+02] [ 7.47596460e-01 -6.64134705e-01 -4.96250822e-03 -2.75415303e+02] [ 6.71668595e-03 8.87988132e-05 9.99977439e-01 -5.86674865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters 0.050582241723663914 Centerline is valid? [True, True] Translation: X:636.45, Y:-275.37, Z:-5.87 [[-6.62499729e-01 -7.49037583e-01 6.06704596e-03 6.36451545e+02] [ 7.49008088e-01 -6.62527494e-01 -6.64863806e-03 -2.75372813e+02] [ 8.99966453e-03 1.39545579e-04 9.99959492e-01 -5.86877565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters 0.050886978581153305 Centerline is valid? [True, True] Translation: X:636.42, Y:-275.33, Z:-5.87 [[-6.62120299e-01 -7.49372092e-01 6.17877372e-03 6.36415857e+02] [ 7.49341533e-01 -6.62149111e-01 -6.76915135e-03 -2.75328204e+02] [ 9.16388264e-03 1.48019259e-04 9.99958000e-01 -5.86861772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters 0.05072180161461146 Centerline is valid? [True, True] Translation: X:636.38, Y:-275.28, Z:-5.87 [[-6.62404416e-01 -7.49125497e-01 5.60184663e-03 6.36381006e+02] [ 7.49100384e-01 -6.62428089e-01 -6.13529284e-03 -2.75282924e+02] [ 8.30692485e-03 1.32300394e-04 9.99965488e-01 -5.86643000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters 0.04975489026136948 Centerline is valid? [True, True] Translation: X:636.35, Y:-275.24, Z:-5.87 [[-6.62834129e-01 -7.48750615e-01 4.84091628e-03 6.36345765e+02] [ 7.48731862e-01 -6.62851797e-01 -5.30034949e-03 -2.75237812e+02] [ 7.17744999e-03 1.11295722e-04 9.99974236e-01 -5.86529987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters 0.05046630985982092 Centerline is valid? [True, True] Translation: X:636.31, Y:-275.20, Z:-5.87 [[-6.61482527e-01 -7.49949996e-01 3.98367677e-03 6.36307212e+02] [ 7.49937326e-01 -6.61494515e-01 -4.36055593e-03 -2.75196279e+02] [ 5.90537923e-03 1.03076350e-04 9.99982558e-01 -5.86541511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters 0.05081423328775107 Centerline is valid? [True, True] Translation: X:636.26, Y:-275.16, Z:-5.87 [[-6.59568486e-01 -7.51631914e-01 4.34491736e-03 6.36263478e+02] [ 7.51616884e-01 -6.59582785e-01 -4.75494688e-03 -2.75160235e+02] [ 6.43980252e-03 1.29500133e-04 9.99979256e-01 -5.86749719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters 0.050896851368954055 Centerline is valid? [True, True] Translation: X:636.22, Y:-275.12, Z:-5.87 [[-6.58532733e-01 -7.52535975e-01 4.92406144e-03 6.36223982e+02] [ 7.52516707e-01 -6.58551123e-01 -5.38736255e-03 -2.75117732e+02] [ 7.29693032e-03 1.57683914e-04 9.99973365e-01 -5.86678712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters 0.050900913348094726 Centerline is valid? [True, True] Translation: X:636.18, Y:-275.08, Z:-5.87 [[-6.56299168e-01 -7.54488312e-01 4.33458597e-03 6.36182351e+02] [ 7.54473433e-01 -6.56313463e-01 -4.74109079e-03 -2.75077850e+02] [ 6.42194471e-03 1.58756016e-04 9.99979367e-01 -5.86613938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters 0.05007414688021237 Centerline is valid? [True, True] Translation: X:636.14, Y:-275.04, Z:-5.87 [[-6.53546639e-01 -7.56876253e-01 3.88951696e-03 6.36142839e+02] [ 7.56864320e-01 -6.53558193e-01 -4.25315758e-03 -2.75035648e+02] [ 5.76113965e-03 1.64199764e-04 9.99983391e-01 -5.86531488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters 0.0505599091160014 Centerline is valid? [True, True] Translation: X:636.10, Y:-275.00, Z:-5.87 [[-6.52727330e-01 -7.57580520e-01 4.33452374e-03 6.36101801e+02] [ 7.57565720e-01 -6.52741694e-01 -4.73930118e-03 -2.74996127e+02] [ 6.41972662e-03 1.90215196e-04 9.99979375e-01 -5.86663863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters 0.051044076005281436 Centerline is valid? [True, True] Translation: X:636.06, Y:-274.95, Z:-5.87 [[-6.54949120e-01 -7.55655463e-01 5.14504546e-03 6.36063869e+02] [ 7.55634561e-01 -6.54969297e-01 -5.62406553e-03 -2.74952921e+02] [ 7.61970265e-03 2.04297396e-04 9.99970949e-01 -5.86743565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters 0.05077070126701679 Centerline is valid? [True, True] Translation: X:636.03, Y:-274.91, Z:-5.87 [[-6.60373692e-01 -7.50920054e-01 5.06551381e-03 6.36027273e+02] [ 7.50899664e-01 -6.60393103e-01 -5.53568123e-03 -2.74908459e+02] [ 7.50208443e-03 1.48074366e-04 9.99971848e-01 -5.86712536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters 0.05033935108869588 Centerline is valid? [True, True] Translation: X:635.99, Y:-274.86, Z:-5.87 [[-6.65710487e-01 -7.46193851e-01 4.92783113e-03 6.35992704e+02] [ 7.46174436e-01 -6.65728719e-01 -5.38359763e-03 -2.74863708e+02] [ 7.29780616e-03 9.31042133e-05 9.99973366e-01 -5.86721779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters 0.05032735200311107 Centerline is valid? [True, True] Translation: X:635.96, Y:-274.82, Z:-5.87 [[-6.68593809e-01 -7.43611767e-01 4.88450421e-03 6.35957223e+02] [ 7.43592633e-01 -6.68611648e-01 -5.33486439e-03 -2.74817879e+02] [ 7.23290434e-03 6.52240402e-05 9.99973840e-01 -5.86636997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters 0.05081828966932706 Centerline is valid? [True, True] Translation: X:635.92, Y:-274.77, Z:-5.87 [[-6.71816399e-01 -7.40703224e-01 4.63242080e-03 6.35921202e+02] [ 7.40685955e-01 -6.71832369e-01 -5.05805576e-03 -2.74774252e+02] [ 6.85872846e-03 3.30842164e-05 9.99976478e-01 -5.86772721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters 0.05072537686418745 Centerline is valid? [True, True] Translation: X:635.89, Y:-274.73, Z:-5.87 [[-6.73288207e-01 -7.39369052e-01 4.04925097e-03 6.35885800e+02] [ 7.39355841e-01 -6.73300383e-01 -4.41985903e-03 -2.74730657e+02] [ 5.99426920e-03 1.79983957e-05 9.99982034e-01 -5.86723171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters 0.05014080560981902 Centerline is valid? [True, True] Translation: X:635.85, Y:-274.69, Z:-5.87 [[-6.73710969e-01 -7.38984613e-01 3.90808156e-03 6.35848539e+02] [ 7.38972308e-01 -6.73722304e-01 -4.26450943e-03 -2.74687315e+02] [ 5.78436856e-03 1.49172756e-05 9.99983270e-01 -5.86621397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters 0.05065961611196854 Centerline is valid? [True, True] Translation: X:635.81, Y:-274.65, Z:-5.87 [[-6.72649862e-01 -7.39950293e-01 3.96574253e-03 6.35811019e+02] [ 7.39937647e-01 -6.72661552e-01 -4.32608552e-03 -2.74645765e+02] [ 5.86869077e-03 2.44613700e-05 9.99982779e-01 -5.86587449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters 0.05073468906864368 Centerline is valid? [True, True] Translation: X:635.77, Y:-274.61, Z:-5.87 [[-6.69537412e-01 -7.42764698e-01 4.50072744e-03 6.35768865e+02] [ 7.42748482e-01 -6.69552537e-01 -4.90844765e-03 -2.74606186e+02] [ 6.65929512e-03 5.65191351e-05 9.99977825e-01 -5.86792080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters 0.05081390909076386 Centerline is valid? [True, True] Translation: X:635.73, Y:-274.57, Z:-5.87 [[-6.67433962e-01 -7.44650196e-01 5.29074525e-03 6.35728287e+02] [ 7.44627856e-01 -6.67454926e-01 -5.76875801e-03 -2.74567008e+02] [ 7.82704076e-03 8.93712758e-05 9.99969364e-01 -5.86967719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters 0.05132307532432701 Centerline is valid? [True, True] Translation: X:635.69, Y:-274.52, Z:-5.87 [[-6.67083714e-01 -7.44961248e-01 5.66192522e-03 6.35689609e+02] [ 7.44935688e-01 -6.67107734e-01 -6.17185013e-03 -2.74523520e+02] [ 8.37490328e-03 1.00629446e-04 9.99964925e-01 -5.86893736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters 0.04997699499461286 Centerline is valid? [True, True] Translation: X:635.65, Y:-274.48, Z:-5.87 [[-6.69553279e-01 -7.42751900e-01 4.24516138e-03 6.35651687e+02] [ 7.42737496e-01 -6.69566734e-01 -4.62611050e-03 -2.74481332e+02] [ 6.27847121e-03 5.56130748e-05 9.99980289e-01 -5.86842776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters 0.05032633848808165 Centerline is valid? [True, True] Translation: X:635.61, Y:-274.44, Z:-5.87 [[-6.72234358e-01 -7.40332589e-01 2.93700787e-03 6.35614074e+02] [ 7.40325675e-01 -6.72240773e-01 -3.19966878e-03 -2.74437982e+02] [ 4.34319551e-03 2.34150478e-05 9.99990568e-01 -5.86727274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters 0.05003367492637936 Centerline is valid? [True, True] Translation: X:635.58, Y:-274.40, Z:-5.87 [[-6.72551727e-01 -7.40045635e-01 2.57537468e-03 6.35575173e+02] [ 7.40040320e-01 -6.72556658e-01 -2.80471555e-03 -2.74398461e+02] [ 3.80770289e-03 1.95648129e-05 9.99992750e-01 -5.86854592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters 0.05035473896366885 Centerline is valid? [True, True] Translation: X:635.54, Y:-274.36, Z:-5.87 [[-6.71488739e-01 -7.41006918e-01 3.40876701e-03 6.35535399e+02] [ 7.40997625e-01 -6.71497391e-01 -3.71129664e-03 -2.74356894e+02] [ 5.03907464e-03 3.37943578e-05 9.99987303e-01 -5.86888960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters 0.050384259508484144 Centerline is valid? [True, True] Translation: X:635.50, Y:-274.32, Z:-5.87 [[-6.68687542e-01 -7.43519648e-01 5.95857255e-03 6.35495037e+02] [ 7.43491368e-01 -6.68714083e-01 -6.48549672e-03 -2.74317748e+02] [ 8.80667562e-03 9.33763950e-05 9.99961216e-01 -5.87171261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters 0.05077563270703419 Centerline is valid? [True, True] Translation: X:635.46, Y:-274.28, Z:-5.87 [[-6.67793320e-01 -7.44305115e-01 7.87258429e-03 6.35455084e+02] [ 7.44255828e-01 -6.67839708e-01 -8.56659037e-03 -2.74277088e+02] [ 1.16337814e-02 1.38504922e-04 9.99932316e-01 -5.87497575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters 0.05057100526344997 Centerline is valid? [True, True] Translation: X:635.42, Y:-274.23, Z:-5.87 [[-6.68829631e-01 -7.43372291e-01 8.03507840e-03 6.35417836e+02] [ 7.43320912e-01 -6.68877882e-01 -8.74071528e-03 -2.74234469e+02] [ 1.18720918e-02 1.26592431e-04 9.99929516e-01 -5.87476920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters 0.05036846035498383 Centerline is valid? [True, True] Translation: X:635.38, Y:-274.19, Z:-5.87 [[-6.71814699e-01 -7.40685202e-01 7.10216371e-03 6.35382535e+02] [ 7.40644935e-01 -6.71852235e-01 -7.72359242e-03 -2.74189976e+02] [ 1.04923552e-02 7.13586621e-05 9.99944951e-01 -5.87180239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters 0.05048443231104503 Centerline is valid? [True, True] Translation: X:635.34, Y:-274.15, Z:-5.87 [[-6.73166485e-01 -7.39461679e-01 6.58100528e-03 6.35344937e+02] [ 7.39427063e-01 -6.73198651e-01 -7.15507682e-03 -2.74147588e+02] [ 9.72122899e-03 4.96154906e-05 9.99952747e-01 -5.87113950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters 0.05050618166346358 Centerline is valid? [True, True] Translation: X:635.31, Y:-274.10, Z:-5.87 [[-6.76709042e-01 -7.36230284e-01 5.46275781e-03 6.35308262e+02] [ 7.36206341e-01 -6.76731091e-01 -5.93752315e-03 -2.74103272e+02] [ 8.06820240e-03 3.74133520e-06 9.99967452e-01 -5.86859138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters 0.050347903085690426 Centerline is valid? [True, True] Translation: X:635.27, Y:-274.06, Z:-5.87 [[-6.78291565e-01 -7.34769114e-01 5.90778165e-03 6.35270805e+02] [ 7.34741071e-01 -6.78317292e-01 -6.41944705e-03 -2.74059958e+02] [ 8.72416187e-03 -1.35669641e-05 9.99961944e-01 -5.86916205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters 0.051083506604873374 Centerline is valid? [True, True] Translation: X:635.23, Y:-274.02, Z:-5.87 [[-6.77458756e-01 -7.35527864e-01 6.95660482e-03 6.35232192e+02] [ 7.35489045e-01 -6.77494473e-01 -7.55676025e-03 -2.74019080e+02] [ 1.02712690e-02 -2.88676767e-06 9.99947249e-01 -5.86723117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters 0.050115528911584876 Centerline is valid? [True, True] Translation: X:635.19, Y:-273.98, Z:-5.87 [[-6.74175992e-01 -7.38513655e-01 9.18222004e-03 6.35190719e+02] [ 7.38446332e-01 -6.74238517e-01 -9.97180634e-03 -2.73980043e+02] [ 1.35553216e-02 5.78242796e-05 9.99908121e-01 -5.87224457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters 0.05082571589694576 Centerline is valid? [True, True] Translation: X:635.15, Y:-273.94, Z:-5.88 [[-6.70737248e-01 -7.41614709e-01 1.09164457e-02 6.35147925e+02] [ 7.41520008e-01 -6.70826060e-01 -1.18521754e-02 -2.73941425e+02] [ 1.61127838e-02 1.45067414e-04 9.99870170e-01 -5.87665019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters 0.05131288017609864 Centerline is valid? [True, True] Translation: X:635.11, Y:-273.90, Z:-5.88 [[-6.69064855e-01 -7.43126300e-01 1.07481582e-02 6.35108261e+02] [ 7.43034747e-01 -6.69151156e-01 -1.16659500e-02 -2.73901409e+02] [ 1.58614168e-02 1.80977906e-04 9.99874183e-01 -5.87665178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters 0.05023012593977723 Centerline is valid? [True, True] Translation: X:635.07, Y:-273.86, Z:-5.87 [[-6.68994904e-01 -7.43218848e-01 8.45946960e-03 6.35071296e+02] [ 7.43162171e-01 -6.69048371e-01 -9.17958342e-03 -2.73857208e+02] [ 1.24822338e-02 1.45663267e-04 9.99922083e-01 -5.87008588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters 0.049967615880426704 Centerline is valid? [True, True] Translation: X:635.03, Y:-273.82, Z:-5.87 [[-6.71582638e-01 -7.40909961e-01 5.40287525e-03 6.35033802e+02] [ 7.40886778e-01 -6.71604367e-01 -5.86139296e-03 -2.73815048e+02] [ 7.97135904e-03 6.65090919e-05 9.99968226e-01 -5.86801192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters 0.05037146197685399 Centerline is valid? [True, True] Translation: X:635.00, Y:-273.77, Z:-5.87 [[-6.73291786e-01 -7.39361636e-01 4.74788518e-03 6.34996410e+02] [ 7.39343703e-01 -6.73308525e-01 -5.14967063e-03 -2.73773276e+02] [ 7.00426046e-03 4.30880818e-05 9.99975469e-01 -5.86819358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters 0.050218041743631356 Centerline is valid? [True, True] Translation: X:634.96, Y:-273.73, Z:-5.87 [[-6.75098762e-01 -7.37710922e-01 4.92517876e-03 6.34960106e+02] [ 7.37691593e-01 -6.75116727e-01 -5.34034815e-03 -2.73730214e+02] [ 7.26470372e-03 2.80005364e-05 9.99973611e-01 -5.86790805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters 0.050947456976574594 Centerline is valid? [True, True] Translation: X:634.92, Y:-273.69, Z:-5.87 [[-6.75367679e-01 -7.37454544e-01 6.26850463e-03 6.34922736e+02] [ 7.37423238e-01 -6.75396768e-01 -6.79507085e-03 -2.73688932e+02] [ 9.24478364e-03 3.33697552e-05 9.99957266e-01 -5.86642800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters 0.05107116269556341 Centerline is valid? [True, True] Translation: X:634.88, Y:-273.65, Z:-5.87 [[-6.75276938e-01 -7.37521861e-01 7.90961262e-03 6.34882720e+02] [ 7.37472048e-01 -6.75323258e-01 -8.57175015e-03 -2.73649052e+02] [ 1.16633985e-02 4.48130218e-05 9.99931979e-01 -5.87198841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters 0.05125432013769157 Centerline is valid? [True, True] Translation: X:634.84, Y:-273.61, Z:-5.87 [[-6.75478390e-01 -7.37325377e-01 8.95731581e-03 6.34844173e+02] [ 7.37261515e-01 -6.75537776e-01 -9.70424673e-03 -2.73607494e+02] [ 1.32061926e-02 4.88752692e-05 9.99912793e-01 -5.87091161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters 0.05110531665010135 Centerline is valid? [True, True] Translation: X:634.81, Y:-273.57, Z:-5.87 [[-6.77304273e-01 -7.35658027e-01 8.13562195e-03 6.34806278e+02] [ 7.35605253e-01 -6.77353133e-01 -8.81167490e-03 -2.73565292e+02] [ 1.19930684e-02 1.64211787e-05 9.99928080e-01 -5.87151586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters 0.05093790982451433 Centerline is valid? [True, True] Translation: X:634.77, Y:-273.52, Z:-5.87 [[-6.79319540e-01 -7.33804289e-01 7.49852338e-03 6.34769928e+02] [ 7.33759373e-01 -6.79360925e-01 -8.11891620e-03 -2.73522798e+02] [ 1.10518993e-02 -1.32266053e-05 9.99938926e-01 -5.86829782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters 0.0505584802605187 Centerline is valid? [True, True] Translation: X:634.73, Y:-273.48, Z:-5.87 [[-6.81293911e-01 -7.31973264e-01 7.33132738e-03 6.34734375e+02] [ 7.31930248e-01 -6.81333354e-01 -7.93554895e-03 -2.73478704e+02] [ 1.08036875e-02 -4.04209126e-05 9.99941638e-01 -5.86877936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters 0.05126417767938752 Centerline is valid? [True, True] Translation: X:634.70, Y:-273.44, Z:-5.87 [[-6.80876025e-01 -7.32365795e-01 6.94125772e-03 6.34696579e+02] [ 7.32327280e-01 -6.80911405e-01 -7.51094977e-03 -2.73437327e+02] [ 1.02271442e-02 -3.07532398e-05 9.99947701e-01 -5.86761633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters 0.05103586865136225 Centerline is valid? [True, True] Translation: X:634.66, Y:-273.40, Z:-5.87 [[-6.79830838e-01 -7.33340063e-01 6.51026710e-03 6.34658034e+02] [ 7.33306248e-01 -6.79862010e-01 -7.04235869e-03 -2.73396985e+02] [ 9.59052704e-03 -1.35930706e-05 9.99954010e-01 -5.86757281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters 0.05085937902343597 Centerline is valid? [True, True] Translation: X:634.62, Y:-273.36, Z:-5.87 [[-6.77804303e-01 -7.35221274e-01 5.56821845e-03 6.34619343e+02] [ 7.35196615e-01 -6.77827174e-01 -6.02159522e-03 -2.73359062e+02] [ 8.20149469e-03 1.22722077e-05 9.99966367e-01 -5.86576160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters 0.05041490526074166 Centerline is valid? [True, True] Translation: X:634.58, Y:-273.32, Z:-5.86 [[-6.76203904e-01 -7.36696354e-01 5.17328176e-03 6.34579997e+02] [ 7.36675125e-01 -6.76223692e-01 -5.59280253e-03 -2.73318563e+02] [ 7.61849292e-03 2.91530784e-05 9.99970978e-01 -5.86367266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters 0.05159722538328897 Centerline is valid? [True, True] Translation: X:634.54, Y:-273.28, Z:-5.86 [[-6.73483255e-01 -7.39185642e-01 4.98917320e-03 6.34538424e+02] [ 7.39165977e-01 -6.73501732e-01 -5.39221717e-03 -2.73278792e+02] [ 7.34606630e-03 5.62591183e-05 9.99973016e-01 -5.86267390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters 0.05140362400968905 Centerline is valid? [True, True] Translation: X:634.50, Y:-273.24, Z:-5.87 [[-6.70100608e-01 -7.42249006e-01 5.62035584e-03 6.34495803e+02] [ 7.42224173e-01 -6.70124169e-01 -6.07251937e-03 -2.73242390e+02] [ 8.27365776e-03 1.02365048e-04 9.99965767e-01 -5.86555637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters 0.05151058740377464 Centerline is valid? [True, True] Translation: X:634.46, Y:-273.20, Z:-5.86 [[-6.68171840e-01 -7.43980895e-01 6.23060797e-03 6.34457000e+02] [ 7.43950470e-01 -6.68200874e-01 -6.72979346e-03 -2.73201383e+02] [ 9.17013545e-03 1.38605249e-04 9.99957944e-01 -5.86427382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters 0.05170434412341348 Centerline is valid? [True, True] Translation: X:634.42, Y:-273.16, Z:-5.87 [[-6.66235158e-01 -7.45712019e-01 6.65578621e-03 6.34416800e+02] [ 7.45677408e-01 -6.66268380e-01 -7.18673709e-03 -2.73163304e+02] [ 9.79377612e-03 1.75012488e-04 9.99952025e-01 -5.86555631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters 0.0512311083178951 Centerline is valid? [True, True] Translation: X:634.38, Y:-273.12, Z:-5.86 [[-6.65715400e-01 -7.46182080e-01 5.94220804e-03 6.34379055e+02] [ 7.46154531e-01 -6.65741899e-01 -6.41398507e-03 -2.73123215e+02] [ 8.74197759e-03 1.63916823e-04 9.99961775e-01 -5.86467185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters 0.05152780686735248 Centerline is valid? [True, True] Translation: X:634.34, Y:-273.08, Z:-5.86 [[-6.66121621e-01 -7.45824313e-01 5.29909530e-03 6.34340268e+02] [ 7.45802408e-01 -6.66142683e-01 -5.71790831e-03 -2.73083934e+02] [ 7.79450860e-03 1.43255684e-04 9.99969612e-01 -5.86465099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters 0.05127927228751074 Centerline is valid? [True, True] Translation: X:634.31, Y:-273.04, Z:-5.86 [[-6.67969369e-01 -7.44170891e-01 5.15824705e-03 6.34305066e+02] [ 7.44150098e-01 -6.67989274e-01 -5.56425254e-03 -2.73040083e+02] [ 7.58640847e-03 1.21759785e-04 9.99971215e-01 -5.86378375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters 0.050787115317358696 Centerline is valid? [True, True] Translation: X:634.27, Y:-273.00, Z:-5.86 [[-6.69147071e-01 -7.43110429e-01 5.39322987e-03 6.34267813e+02] [ 7.43087678e-01 -6.69168795e-01 -5.81597487e-03 -2.72997663e+02] [ 7.93089272e-03 1.15900108e-04 9.99968543e-01 -5.86455905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters 0.05115352855735205 Centerline is valid? [True, True] Translation: X:634.23, Y:-272.95, Z:-5.86 [[-6.69285499e-01 -7.42979756e-01 6.16462621e-03 6.34230681e+02] [ 7.42950043e-01 -6.69313876e-01 -6.64601669e-03 -2.72954553e+02] [ 9.06392572e-03 1.31926709e-04 9.99958913e-01 -5.86491942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters 0.051458411783741866 Centerline is valid? [True, True] Translation: X:634.19, Y:-272.91, Z:-5.87 [[-6.69784983e-01 -7.42523521e-01 6.84807530e-03 6.34192959e+02] [ 7.42486853e-01 -6.69819976e-01 -7.38057331e-03 -2.72912709e+02] [ 1.00672269e-02 1.41208702e-04 9.99949314e-01 -5.86537165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters 0.05097892275550741 Centerline is valid? [True, True] Translation: X:634.16, Y:-272.87, Z:-5.86 [[-6.70395058e-01 -7.41975282e-01 6.56869734e-03 6.34157354e+02] [ 7.41941536e-01 -6.70427226e-01 -7.07761509e-03 -2.72867190e+02] [ 9.65524898e-03 1.28791216e-04 9.99953379e-01 -5.86215422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters 0.050863463856334994 Centerline is valid? [True, True] Translation: X:634.12, Y:-272.83, Z:-5.86 [[-6.73627575e-01 -7.39049717e-01 5.60404372e-03 6.34118893e+02] [ 7.39025064e-01 -6.73650881e-01 -6.03700335e-03 -2.72825745e+02] [ 8.23681461e-03 7.48368394e-05 9.99966074e-01 -5.86422344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters 0.05128399317327052 Centerline is valid? [True, True] Translation: X:634.09, Y:-272.78, Z:-5.86 [[-6.78659035e-01 -7.34435029e-01 5.20602530e-03 6.34086063e+02] [ 7.34413627e-01 -6.78679002e-01 -5.60678637e-03 -2.72777056e+02] [ 7.65104037e-03 1.82797026e-05 9.99970730e-01 -5.85887667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters 0.051180060084167124 Centerline is valid? [True, True] Translation: X:634.05, Y:-272.73, Z:-5.86 [[-6.82307835e-01 -7.31046340e-01 5.22172374e-03 6.34049331e+02] [ 7.31024722e-01 -6.82327816e-01 -5.62205232e-03 -2.72733901e+02] [ 7.67290813e-03 -1.87612083e-05 9.99970563e-01 -5.85948171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters 0.05136820516759234 Centerline is valid? [True, True] Translation: X:634.02, Y:-272.69, Z:-5.86 [[-6.87954561e-01 -7.25734847e-01 5.23964944e-03 6.34015006e+02] [ 7.25712937e-01 -6.87974510e-01 -5.63973373e-03 -2.72688203e+02] [ 7.69769655e-03 -7.73991556e-05 9.99970369e-01 -5.86126680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters 0.051599049992450456 Centerline is valid? [True, True] Translation: X:633.98, Y:-272.65, Z:-5.86 [[-6.92857247e-01 -7.21052306e-01 5.69282323e-03 6.33975948e+02] [ 7.21026297e-01 -6.92880620e-01 -6.12585874e-03 -2.72645725e+02] [ 8.36151146e-03 -1.39670367e-04 9.99965032e-01 -5.85916892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters 0.05197768991624118 Centerline is valid? [True, True] Translation: X:633.94, Y:-272.60, Z:-5.86 [[-6.94920282e-01 -7.19060541e-01 6.14335023e-03 6.33939214e+02] [ 7.19030193e-01 -6.94947414e-01 -6.60865376e-03 -2.72602015e+02] [ 9.02132750e-03 -1.75233238e-04 9.99959292e-01 -5.86000958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters 0.05221482846091136 Centerline is valid? [True, True] Translation: X:633.90, Y:-272.56, Z:-5.86 [[-6.95433438e-01 -7.18567249e-01 5.78288923e-03 6.33898418e+02] [ 7.18540355e-01 -6.95457461e-01 -6.21923640e-03 -2.72561090e+02] [ 8.49069305e-03 -1.69825676e-04 9.99963939e-01 -5.85921443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters 0.052166560326265925 Centerline is valid? [True, True] Translation: X:633.86, Y:-272.52, Z:-5.86 [[-6.93953335e-01 -7.19999941e-01 5.37163841e-03 6.33855548e+02] [ 7.19976789e-01 -6.93974110e-01 -5.77555423e-03 -2.72522983e+02] [ 7.88617668e-03 -1.40510145e-04 9.99968894e-01 -5.85704249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters 0.05157617257707154 Centerline is valid? [True, True] Translation: X:633.81, Y:-272.48, Z:-5.86 [[-6.89476261e-01 -7.24293714e-01 4.59351580e-03 6.33813417e+02] [ 7.24276886e-01 -6.89491559e-01 -4.93789080e-03 -2.72481549e+02] [ 6.74367364e-03 -7.75811660e-05 9.99977258e-01 -5.85683658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters 0.05121321498654531 Centerline is valid? [True, True] Translation: X:633.77, Y:-272.44, Z:-5.86 [[-6.83051525e-01 -7.30353849e-01 4.88563635e-03 6.33773798e+02] [ 7.30334974e-01 -6.83068997e-01 -5.25084931e-03 -2.72440878e+02] [ 7.17220473e-03 -1.84495269e-05 9.99974279e-01 -5.86092713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters 0.05161916648416343 Centerline is valid? [True, True] Translation: X:633.73, Y:-272.40, Z:-5.86 [[-6.78705309e-01 -7.34393950e-01 4.96272814e-03 6.33731756e+02] [ 7.34374594e-01 -6.78723453e-01 -5.33205133e-03 -2.72402321e+02] [ 7.28414621e-03 2.56099178e-05 9.99973470e-01 -5.85976604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters 0.05083343909957085 Centerline is valid? [True, True] Translation: X:633.69, Y:-272.36, Z:-5.86 [[-6.74519472e-01 -7.38242669e-01 4.60902227e-03 6.33689663e+02] [ 7.38226071e-01 -6.74535216e-01 -4.95075025e-03 -2.72361510e+02] [ 6.76380291e-03 6.31229599e-05 9.99977123e-01 -5.85845819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters 0.050038075930738876 Centerline is valid? [True, True] Translation: X:633.65, Y:-272.32, Z:-5.86 [[-6.73288570e-01 -7.39369973e-01 3.81375197e-03 6.33648461e+02] [ 7.39358632e-01 -6.73299369e-01 -4.09551555e-03 -2.72321288e+02] [ 5.59589801e-03 6.22666291e-05 9.99984341e-01 -5.85856202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters 0.05095153729398842 Centerline is valid? [True, True] Translation: X:633.61, Y:-272.28, Z:-5.86 [[-6.73652477e-01 -7.39040870e-01 3.30644421e-03 6.33608155e+02] [ 7.39032346e-01 -6.73660590e-01 -3.54973163e-03 -2.72281060e+02] [ 4.85081791e-03 5.22837174e-05 9.99988233e-01 -5.85903658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters 0.050724627410008515 Centerline is valid? [True, True] Translation: X:633.57, Y:-272.24, Z:-5.86 [[-6.75968420e-01 -7.36923545e-01 3.22240146e-03 6.33568374e+02] [ 7.36915430e-01 -6.75976100e-01 -3.45861711e-03 -2.72238412e+02] [ 4.72700275e-03 3.67214142e-05 9.99988827e-01 -5.85912860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters 0.050550949104930104 Centerline is valid? [True, True] Translation: X:633.53, Y:-272.20, Z:-5.86 [[-6.77564898e-01 -7.35455279e-01 3.36774343e-03 6.33529428e+02] [ 7.35446401e-01 -6.77573267e-01 -3.61377471e-03 -2.72198005e+02] [ 4.93966260e-03 2.82278953e-05 9.99987799e-01 -5.86003520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters 0.050935331314123 Centerline is valid? [True, True] Translation: X:633.49, Y:-272.16, Z:-5.86 [[-6.78436593e-01 -7.34647308e-01 4.13779581e-03 6.33490013e+02] [ 7.34633899e-01 -6.78449211e-01 -4.43871753e-03 -2.72157931e+02] [ 6.06817619e-03 2.83766704e-05 9.99981588e-01 -5.86196907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters 0.050986082640776094 Centerline is valid? [True, True] Translation: X:633.45, Y:-272.12, Z:-5.86 [[-6.77610730e-01 -7.35390144e-01 6.71071483e-03 6.33449420e+02] [ 7.35354930e-01 -6.77643957e-01 -7.19687746e-03 -2.72116646e+02] [ 9.83998810e-03 5.80758411e-05 9.99951584e-01 -5.86364786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters 0.051164477832906695 Centerline is valid? [True, True] Translation: X:633.41, Y:-272.08, Z:-5.86 [[-6.76691901e-01 -7.36220310e-01 8.22964446e-03 6.33410249e+02] [ 7.36167434e-01 -6.76741936e-01 -8.82393493e-03 -2.72075982e+02] [ 1.20657056e-02 8.73109417e-05 9.99927203e-01 -5.86487418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters 0.050953392396655535 Centerline is valid? [True, True] Translation: X:633.37, Y:-272.03, Z:-5.86 [[-6.76750084e-01 -7.36165750e-01 8.32544270e-03 6.33371837e+02] [ 7.36111654e-01 -6.76801286e-01 -8.92481528e-03 -2.72034204e+02] [ 1.22048137e-02 8.85859049e-05 9.99925515e-01 -5.86383187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters 0.051100883001776114 Centerline is valid? [True, True] Translation: X:633.33, Y:-271.99, Z:-5.86 [[-6.77791335e-01 -7.35222443e-01 6.84575913e-03 6.33332945e+02] [ 7.35185840e-01 -6.77825903e-01 -7.33661035e-03 -2.71990831e+02] [ 1.00342735e-02 6.02142462e-05 9.99949654e-01 -5.86205294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters 0.05080599161491716 Centerline is valid? [True, True] Translation: X:633.30, Y:-271.95, Z:-5.86 [[-6.80594069e-01 -7.32642822e-01 5.11939239e-03 6.33295164e+02] [ 7.32622291e-01 -6.80613322e-01 -5.48496418e-03 -2.71947657e+02] [ 7.50284630e-03 1.75468930e-05 9.99971853e-01 -5.86110939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters 0.051239243729401966 Centerline is valid? [True, True] Translation: X:633.26, Y:-271.90, Z:-5.86 [[-6.82653163e-01 -7.30727382e-01 4.70661817e-03 6.33257699e+02] [ 7.30709992e-01 -6.82669388e-01 -5.04124950e-03 -2.71904757e+02] [ 6.89684320e-03 -2.25198377e-06 9.99976216e-01 -5.85975479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters 0.051223972447767024 Centerline is valid? [True, True] Translation: X:633.22, Y:-271.86, Z:-5.86 [[-6.84695485e-01 -7.28817512e-01 4.13847554e-03 6.33219904e+02] [ 7.28804040e-01 -6.84707992e-01 -4.43133739e-03 -2.71861989e+02] [ 6.06328356e-03 -1.79790087e-05 9.99981618e-01 -5.85882374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters 0.05124765919985508 Centerline is valid? [True, True] Translation: X:633.18, Y:-271.82, Z:-5.86 [[-6.84118311e-01 -7.29359061e-01 4.18295946e-03 6.33180529e+02] [ 7.29345317e-01 -6.84131099e-01 -4.47751951e-03 -2.71821539e+02] [ 6.12741208e-03 -1.23311983e-05 9.99981227e-01 -5.85967635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters 0.05116946190048077 Centerline is valid? [True, True] Translation: X:633.14, Y:-271.78, Z:-5.86 [[-6.82763184e-01 -7.30624349e-01 4.74294069e-03 6.33140089e+02] [ 7.30606720e-01 -6.82779658e-01 -5.07541340e-03 -2.71780734e+02] [ 6.94660403e-03 -8.10779635e-08 9.99975872e-01 -5.86065946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters 0.051229834801494664 Centerline is valid? [True, True] Translation: X:633.10, Y:-271.74, Z:-5.86 [[-6.80782165e-01 -7.32452293e-01 7.02013025e-03 6.33100651e+02] [ 7.32413790e-01 -6.80818359e-01 -7.51015151e-03 -2.71739042e+02] [ 1.02802612e-02 2.88629998e-05 9.99947156e-01 -5.86304145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters 0.050912268067111244 Centerline is valid? [True, True] Translation: X:633.06, Y:-271.70, Z:-5.86 [[-6.80277915e-01 -7.32916881e-01 7.40295310e-03 6.33062403e+02] [ 7.32874117e-01 -6.80318193e-01 -7.91737319e-03 -2.71697216e+02] [ 1.08391401e-02 3.94185894e-05 9.99941254e-01 -5.86335170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters 0.050783408071707455 Centerline is valid? [True, True] Translation: X:633.02, Y:-271.65, Z:-5.86 [[-6.81232641e-01 -7.32040382e-01 6.24239163e-03 6.33024282e+02] [ 7.32009955e-01 -6.81261241e-01 -6.67436062e-03 -2.71652906e+02] [ 9.13860097e-03 2.27005024e-05 9.99958242e-01 -5.86261166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters 0.050793322003264765 Centerline is valid? [True, True] Translation: X:632.99, Y:-271.61, Z:-5.86 [[-6.83135995e-01 -7.30269391e-01 5.64181099e-03 6.32988373e+02] [ 7.30244492e-01 -6.83159291e-01 -6.03027874e-03 -2.71609989e+02] [ 8.25798358e-03 4.00933847e-07 9.99965902e-01 -5.86398373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters 0.05091712749565291 Centerline is valid? [True, True] Translation: X:632.95, Y:-271.56, Z:-5.86 [[-6.87518941e-01 -7.26152214e-01 4.54624218e-03 6.32954634e+02] [ 7.26135962e-01 -6.87533971e-01 -4.85827532e-03 -2.71562940e+02] [ 6.65354332e-03 -3.89663600e-05 9.99977864e-01 -5.86104941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters 0.05015547575905011 Centerline is valid? [True, True] Translation: X:632.92, Y:-271.52, Z:-5.86 [[-6.89020477e-01 -7.24728793e-01 4.35419885e-03 6.32915091e+02] [ 7.24713866e-01 -6.89034233e-01 -4.65176122e-03 -2.71520022e+02] [ 6.37145735e-03 -4.96104511e-05 9.99979701e-01 -5.85982206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters 0.050601712409118045 Centerline is valid? [True, True] Translation: X:632.88, Y:-271.48, Z:-5.86 [[-6.92314793e-01 -7.21585419e-01 3.83545254e-03 6.32877536e+02] [ 7.21573795e-01 -6.92325413e-01 -4.09639308e-03 -2.71477125e+02] [ 5.61127878e-03 -6.84314798e-05 9.99984254e-01 -5.85919681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters 0.05089696187964451 Centerline is valid? [True, True] Translation: X:632.84, Y:-271.43, Z:-5.86 [[-6.93059264e-01 -7.20872139e-01 3.49509209e-03 6.32838666e+02] [ 7.20862482e-01 -6.93068073e-01 -3.73201257e-03 -2.71433765e+02] [ 5.11264063e-03 -6.70251186e-05 9.99986928e-01 -5.86003974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters 0.051493665076750496 Centerline is valid? [True, True] Translation: X:632.80, Y:-271.39, Z:-5.86 [[-6.91883956e-01 -7.21995468e-01 4.37448528e-03 6.32799134e+02] [ 7.21980369e-01 -6.91897781e-01 -4.66979831e-03 -2.71391174e+02] [ 6.39826987e-03 -7.26660297e-05 9.99979528e-01 -5.86031792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters 0.05086570341729483 Centerline is valid? [True, True] Translation: X:632.76, Y:-271.35, Z:-5.86 [[-6.88263052e-01 -7.25438855e-01 5.69560662e-03 6.32760189e+02] [ 7.25413389e-01 -6.88286616e-01 -6.07860639e-03 -2.71348954e+02] [ 8.32986706e-03 -5.20108822e-05 9.99965305e-01 -5.86425022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters 0.051180528415739154 Centerline is valid? [True, True] Translation: X:632.72, Y:-271.31, Z:-5.86 [[-6.85410866e-01 -7.28130414e-01 6.16806157e-03 6.32720379e+02] [ 7.28100677e-01 -6.85438619e-01 -6.58063038e-03 -2.71309606e+02] [ 9.01938472e-03 -1.94657635e-05 9.99959324e-01 -5.86407648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters 0.050721940472749874 Centerline is valid? [True, True] Translation: X:632.68, Y:-271.27, Z:-5.86 [[-6.80619253e-01 -7.32609004e-01 6.44056699e-03 6.32679470e+02] [ 7.32576797e-01 -6.80649724e-01 -6.86957969e-03 -2.71269146e+02] [ 9.41648607e-03 4.26417412e-05 9.99955663e-01 -5.86437912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters 0.04979111472037086 Centerline is valid? [True, True] Translation: X:632.64, Y:-271.23, Z:-5.86 [[-6.74795759e-01 -7.37974941e-01 6.60823412e-03 6.32638832e+02] [ 7.37941309e-01 -6.74828105e-01 -7.04648853e-03 -2.71229873e+02] [ 9.65955407e-03 1.21548365e-04 9.99953338e-01 -5.86499135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters 0.04993331839331316 Centerline is valid? [True, True] Translation: X:632.60, Y:-271.19, Z:-5.86 [[-6.71074091e-01 -7.41363817e-01 6.26546789e-03 6.32599548e+02] [ 7.41333748e-01 -6.71103319e-01 -6.67907062e-03 -2.71188076e+02] [ 9.15639759e-03 1.62651551e-04 9.99958066e-01 -5.86410875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters 0.05055493294225275 Centerline is valid? [True, True] Translation: X:632.56, Y:-271.15, Z:-5.86 [[-6.66765719e-01 -7.45248123e-01 5.35820736e-03 6.32558342e+02] [ 7.45226266e-01 -6.66787223e-01 -5.71068922e-03 -2.71149556e+02] [ 7.82866463e-03 1.85385062e-04 9.99969338e-01 -5.86384432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters 0.05008131484633427 Centerline is valid? [True, True] Translation: X:632.52, Y:-271.11, Z:-5.86 [[-6.64925890e-01 -7.46895793e-01 4.49839019e-03 6.32520300e+02] [ 7.46880434e-01 -6.64941083e-01 -4.79304338e-03 -2.71105919e+02] [ 6.57106838e-03 1.72740982e-04 9.99978395e-01 -5.86205104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters 0.04963520817259109 Centerline is valid? [True, True] Translation: X:632.48, Y:-271.06, Z:-5.86 [[-6.64359320e-01 -7.47403499e-01 3.83441913e-03 6.32480654e+02] [ 7.47392353e-01 -6.64370368e-01 -4.08459572e-03 -2.71062585e+02] [ 5.60031558e-03 1.52176297e-04 9.99984307e-01 -5.86104730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters 0.05086526670840391 Centerline is valid? [True, True] Translation: X:632.44, Y:-271.03, Z:-5.86 [[-6.65092993e-01 -7.46748546e-01 4.23321759e-03 6.32436626e+02] [ 7.46734952e-01 -6.65106445e-01 -4.50869090e-03 -2.71025666e+02] [ 6.18239868e-03 1.62392807e-04 9.99980876e-01 -5.86401546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters 0.050306207688919205 Centerline is valid? [True, True] Translation: X:632.40, Y:-270.98, Z:-5.86 [[-6.65645312e-01 -7.46249836e-01 5.24420592e-03 6.32402407e+02] [ 7.46228965e-01 -6.65665940e-01 -5.58459550e-03 -2.70978209e+02] [ 7.65839274e-03 1.96018544e-04 9.99970655e-01 -5.86386210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters 0.050323042208994515 Centerline is valid? [True, True] Translation: X:632.36, Y:-270.94, Z:-5.87 [[-6.66239639e-01 -7.45692506e-01 8.21165414e-03 6.32364481e+02] [ 7.45641308e-01 -6.66290176e-01 -8.74304027e-03 -2.70935137e+02] [ 1.19909641e-02 2.97988547e-04 9.99928061e-01 -5.86648263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters 0.050643340448808916 Centerline is valid? [True, True] Translation: X:632.32, Y:-270.89, Z:-5.87 [[-6.66502017e-01 -7.45448773e-01 9.01047072e-03 6.32324303e+02] [ 7.45387142e-01 -6.66562842e-01 -9.59096775e-03 -2.70894370e+02] [ 1.31556201e-02 3.23889670e-04 9.99913409e-01 -5.86849759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters 0.05038660565550763 Centerline is valid? [True, True] Translation: X:632.29, Y:-270.85, Z:-5.86 [[-6.67299859e-01 -7.44749261e-01 7.70952441e-03 6.32289039e+02] [ 7.44704120e-01 -6.67344339e-01 -8.20406900e-03 -2.70848127e+02] [ 1.12548818e-02 2.66740510e-04 9.99936626e-01 -5.86452211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters 0.05059244013222405 Centerline is valid? [True, True] Translation: X:632.25, Y:-270.80, Z:-5.86 [[-6.68061506e-01 -7.44080924e-01 6.11578488e-03 6.32250952e+02] [ 7.44052504e-01 -6.68089468e-01 -6.50650898e-03 -2.70803460e+02] [ 8.92726068e-03 2.03716871e-04 9.99960130e-01 -5.86235163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters 0.0511922931434824 Centerline is valid? [True, True] Translation: X:632.21, Y:-270.77, Z:-5.87 [[-6.68871786e-01 -7.43360334e-01 5.09392665e-03 6.32205104e+02] [ 7.43340604e-01 -6.68891163e-01 -5.41845249e-03 -2.70768300e+02] [ 7.43514517e-03 1.62272515e-04 9.99972346e-01 -5.86503254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters 0.049661523004973555 Centerline is valid? [True, True] Translation: X:632.17, Y:-270.72, Z:-5.86 [[-6.69304649e-01 -7.42971081e-01 5.02588519e-03 6.32173046e+02] [ 7.42951873e-01 -6.69323501e-01 -5.34470301e-03 -2.70718873e+02] [ 7.33490285e-03 1.56756241e-04 9.99973087e-01 -5.86191949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters 0.050260138420911586 Centerline is valid? [True, True] Translation: X:632.13, Y:-270.68, Z:-5.86 [[-6.69388998e-01 -7.42892581e-01 5.38349930e-03 6.32129061e+02] [ 7.42870553e-01 -6.69410625e-01 -5.72342160e-03 -2.70682538e+02] [ 7.85565907e-03 1.68047649e-04 9.99969130e-01 -5.86422550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters 0.049835324484549436 Centerline is valid? [True, True] Translation: X:632.09, Y:-270.64, Z:-5.86 [[-6.69314253e-01 -7.42956437e-01 5.84488792e-03 6.32091875e+02] [ 7.42930486e-01 -6.69339748e-01 -6.21241539e-03 -2.70637958e+02] [ 8.52776982e-03 1.84287261e-04 9.99963621e-01 -5.86263611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters 0.05063854492106385 Centerline is valid? [True, True] Translation: X:632.05, Y:-270.60, Z:-5.86 [[-6.69962668e-01 -7.42366229e-01 6.51195460e-03 6.32052347e+02] [ 7.42334006e-01 -6.69994285e-01 -6.91961291e-03 -2.70596126e+02] [ 9.49985931e-03 1.98163016e-04 9.99954856e-01 -5.86278942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters 0.05049586421787731 Centerline is valid? [True, True] Translation: X:632.01, Y:-270.55, Z:-5.86 [[-6.72670002e-01 -7.39902630e-01 7.69195218e-03 6.32013200e+02] [ 7.39857533e-01 -6.72713951e-01 -8.17136570e-03 -2.70553555e+02] [ 1.12204985e-02 1.94316187e-04 9.99937029e-01 -5.86303619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters 0.05087929712118226 Centerline is valid? [True, True] Translation: X:631.98, Y:-270.51, Z:-5.86 [[-6.78601384e-01 -7.34469027e-01 7.44379380e-03 6.31975518e+02] [ 7.34426485e-01 -6.78642201e-01 -7.90576342e-03 -2.70509959e+02] [ 1.08582110e-02 1.02057318e-04 9.99941043e-01 -5.86267122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters 0.05073695822151232 Centerline is valid? [True, True] Translation: X:631.94, Y:-270.47, Z:-5.86 [[-6.83968639e-01 -7.29481242e-01 6.63470019e-03 6.31938135e+02] [ 7.29447219e-01 -6.84000817e-01 -7.04529623e-03 -2.70465462e+02] [ 9.67755179e-03 2.09019355e-05 9.99953171e-01 -5.86199974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters 0.051016428398726096 Centerline is valid? [True, True] Translation: X:631.90, Y:-270.42, Z:-5.86 [[-6.92080904e-01 -7.21796454e-01 5.82247398e-03 6.31903976e+02] [ 7.21769991e-01 -6.92105392e-01 -6.18111742e-03 -2.70419730e+02] [ 8.49127427e-03 -7.53463411e-05 9.99963946e-01 -5.86162975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters 0.051593521110506864 Centerline is valid? [True, True] Translation: X:631.87, Y:-270.38, Z:-5.86 [[-6.98057765e-01 -7.16019190e-01 5.64597487e-03 6.31865583e+02] [ 7.15994131e-01 -6.98080583e-01 -5.99203891e-03 -2.70376597e+02] [ 8.23176028e-03 -1.40304412e-04 9.99966109e-01 -5.86103364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters 0.051828216685121616 Centerline is valid? [True, True] Translation: X:631.82, Y:-270.34, Z:-5.86 [[-7.00664780e-01 -7.13468035e-01 5.67709308e-03 6.31821901e+02] [ 7.13442632e-01 -7.00687758e-01 -6.02308362e-03 -2.70340271e+02] [ 8.27514725e-03 -1.69882329e-04 9.99965746e-01 -5.85753009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters 0.052041446439238366 Centerline is valid? [True, True] Translation: X:631.79, Y:-270.29, Z:-5.86 [[-7.02448659e-01 -7.11713790e-01 5.41875070e-03 6.31786160e+02] [ 7.11690606e-01 -7.02469535e-01 -5.74746118e-03 -2.70294738e+02] [ 7.89705466e-03 -1.80822427e-04 9.99968801e-01 -5.86019679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters 0.05230867531946886 Centerline is valid? [True, True] Translation: X:631.74, Y:-270.26, Z:-5.86 [[-7.01557250e-01 -7.12589698e-01 5.77469017e-03 6.31742143e+02] [ 7.12563414e-01 -7.01580993e-01 -6.12303167e-03 -2.70258497e+02] [ 8.41462214e-03 -1.80824316e-04 9.99964580e-01 -5.85909639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters 0.05234284496370469 Centerline is valid? [True, True] Translation: X:631.70, Y:-270.22, Z:-5.86 [[-6.98683487e-01 -7.15402091e-01 6.42123985e-03 6.31696991e+02] [ 7.15369713e-01 -6.98712975e-01 -6.80828250e-03 -2.70220075e+02] [ 9.35726313e-03 -1.63274054e-04 9.99956207e-01 -5.85676057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters 0.05134068736647894 Centerline is valid? [True, True] Translation: X:631.66, Y:-270.18, Z:-5.86 [[-6.97332454e-01 -7.16719014e-01 6.42684212e-03 6.31657481e+02] [ 7.16686640e-01 -6.97362054e-01 -6.81369366e-03 -2.70177618e+02] [ 9.36533962e-03 -1.45377837e-04 9.99956134e-01 -5.85748119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters 0.05137072471458409 Centerline is valid? [True, True] Translation: X:631.62, Y:-270.14, Z:-5.86 [[-6.92906121e-01 -7.21001539e-01 6.15534879e-03 6.31617185e+02] [ 7.20972025e-01 -6.92933455e-01 -6.52427506e-03 -2.70137392e+02] [ 8.96925947e-03 -8.28758446e-05 9.99959772e-01 -5.86068164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters 0.05196496995241189 Centerline is valid? [True, True] Translation: X:631.57, Y:-270.10, Z:-5.86 [[-6.89871551e-01 -7.23907999e-01 5.86955982e-03 6.31573240e+02] [ 7.23881283e-01 -6.89896519e-01 -6.21944834e-03 -2.70099952e+02] [ 8.55169730e-03 -4.17559853e-05 9.99963433e-01 -5.86020543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters 0.051673766469015114 Centerline is valid? [True, True] Translation: X:631.53, Y:-270.06, Z:-5.86 [[-6.86483250e-01 -7.27125022e-01 5.47265686e-03 6.31529533e+02] [ 7.27101912e-01 -6.86505064e-01 -5.79711027e-03 -2.70062570e+02] [ 7.97223057e-03 -4.39835796e-07 9.99968221e-01 -5.85898180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters 0.05128046184309075 Centerline is valid? [True, True] Translation: X:631.49, Y:-270.02, Z:-5.86 [[-6.85380168e-01 -7.28164779e-01 5.48451392e-03 6.31488854e+02] [ 7.28141617e-01 -6.85402111e-01 -5.80781812e-03 -2.70024052e+02] [ 7.98814602e-03 1.29394761e-05 9.99968094e-01 -5.85700218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters 0.05081686875364492 Centerline is valid? [True, True] Translation: X:631.45, Y:-269.99, Z:-5.86 [[-6.85510657e-01 -7.28047240e-01 4.72815186e-03 6.31445153e+02] [ 7.28030030e-01 -6.85526962e-01 -5.00594118e-03 -2.69986246e+02] [ 6.88583724e-03 1.06105186e-05 9.99976292e-01 -5.85815536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters 0.05219774574114327 Centerline is valid? [True, True] Translation: X:631.40, Y:-269.95, Z:-5.86 [[-6.87318919e-01 -7.26339086e-01 4.92303980e-03 6.31404169e+02] [ 7.26320395e-01 -6.87336550e-01 -5.21065989e-03 -2.69947944e+02] [ 7.16849113e-03 -5.68091524e-06 9.99974306e-01 -5.85561635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters 0.05216767001944061 Centerline is valid? [True, True] Translation: X:631.36, Y:-269.91, Z:-5.86 [[-6.90114192e-01 -7.23675647e-01 5.99668112e-03 6.31362797e+02] [ 7.23647828e-01 -6.90140244e-01 -6.34544037e-03 -2.69906934e+02] [ 8.73059164e-03 -3.95931833e-05 9.99961887e-01 -5.85753127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters 0.052917706785972816 Centerline is valid? [True, True] Translation: X:631.32, Y:-269.87, Z:-5.86 [[-6.92357684e-01 -7.21526674e-01 6.33211646e-03 6.31322569e+02] [ 7.21495584e-01 -6.92386636e-01 -6.69844116e-03 -2.69866732e+02] [ 9.21737678e-03 -6.91231452e-05 9.99957517e-01 -5.85651429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters 0.05299001154875433 Centerline is valid? [True, True] Translation: X:631.28, Y:-269.82, Z:-5.86 [[-6.94604504e-01 -7.19373226e-01 5.17146114e-03 6.31282898e+02] [ 7.19352439e-01 -6.94623751e-01 -5.46928761e-03 -2.69824796e+02] [ 7.52667880e-03 -7.88886229e-05 9.99971671e-01 -5.85555820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters 0.05326978630597052 Centerline is valid? [True, True] Translation: X:631.24, Y:-269.79, Z:-5.85 [[-6.94327376e-01 -7.19638430e-01 5.47949356e-03 6.31241069e+02] [ 7.19615115e-01 -6.94348993e-01 -5.79323505e-03 -2.69787393e+02] [ 7.97371541e-03 -7.92753049e-05 9.99968206e-01 -5.85369522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters 0.05320709760280019 Centerline is valid? [True, True] Translation: X:631.20, Y:-269.75, Z:-5.85 [[-6.93197636e-01 -7.20723715e-01 5.86208863e-03 6.31196715e+02] [ 7.20697081e-01 -6.93222419e-01 -6.19643833e-03 -2.69748505e+02] [ 8.52965131e-03 -7.05662418e-05 9.99963619e-01 -5.85238330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters 0.05295138888156293 Centerline is valid? [True, True] Translation: X:631.15, Y:-269.71, Z:-5.85 [[-6.91427870e-01 -7.22421355e-01 5.90651117e-03 6.31154503e+02] [ 7.22394393e-01 -6.91453096e-01 -6.24156178e-03 -2.69709581e+02] [ 8.59311295e-03 -4.87592126e-05 9.99963077e-01 -5.85486414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters 0.0531718374045189 Centerline is valid? [True, True] Translation: X:631.11, Y:-269.67, Z:-5.85 [[-6.90717500e-01 -7.23104908e-01 5.35041470e-03 6.31114214e+02] [ 7.23082819e-01 -6.90738222e-01 -5.65206884e-03 -2.69670730e+02] [ 7.78277465e-03 -3.51899164e-05 9.99969713e-01 -5.85464897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters 0.053500919620896474 Centerline is valid? [True, True] Translation: X:631.07, Y:-269.63, Z:-5.85 [[-6.89560943e-01 -7.24211109e-01 4.89649109e-03 6.31070118e+02] [ 7.24192650e-01 -6.89578327e-01 -5.17079263e-03 -2.69634530e+02] [ 7.12125960e-03 -1.95737892e-05 9.99974643e-01 -5.85148624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters 0.05396678165990731 Centerline is valid? [True, True] Translation: X:631.03, Y:-269.60, Z:-5.85 [[-6.88094177e-01 -7.25603737e-01 5.06176067e-03 6.31027219e+02] [ 7.25584058e-01 -6.88112794e-01 -5.34397423e-03 -2.69595353e+02] [ 7.36066994e-03 -4.42470292e-06 9.99972910e-01 -5.85158849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters 0.05332479462046857 Centerline is valid? [True, True] Translation: X:630.98, Y:-269.56, Z:-5.85 [[-6.85098707e-01 -7.28432089e-01 5.14324928e-03 6.30983118e+02] [ 7.28411862e-01 -6.85118012e-01 -5.42845175e-03 -2.69558074e+02] [ 7.47799117e-03 2.73785173e-05 9.99972039e-01 -5.85339208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters 0.053751090846342324 Centerline is valid? [True, True] Translation: X:630.94, Y:-269.52, Z:-5.85 [[-6.82654018e-01 -7.30720409e-01 5.58358707e-03 6.30941130e+02] [ 7.30696657e-01 -6.82676850e-01 -5.89183531e-03 -2.69519729e+02] [ 8.11706993e-03 5.78233583e-05 9.99967054e-01 -5.85275450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters 0.0537999813709993 Centerline is valid? [True, True] Translation: X:630.90, Y:-269.48, Z:-5.85 [[-6.81903078e-01 -7.31416509e-01 6.17111223e-03 6.30899839e+02] [ 7.31387540e-01 -6.81930997e-01 -6.51008506e-03 -2.69478788e+02] [ 8.96985641e-03 7.42275501e-05 9.99959767e-01 -5.85360667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters 0.05411320491185775 Centerline is valid? [True, True] Translation: X:630.86, Y:-269.44, Z:-5.85 [[-6.82306177e-01 -7.31029667e-01 7.34210083e-03 6.30859758e+02] [ 7.30988659e-01 -6.82345674e-01 -7.74344939e-03 -2.69436300e+02] [ 1.06705420e-02 8.35890814e-05 9.99943065e-01 -5.85344064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters 0.053394905373787126 Centerline is valid? [True, True] Translation: X:630.82, Y:-269.39, Z:-5.85 [[-6.84396315e-01 -7.29077576e-01 6.89722201e-03 6.30821269e+02] [ 7.29041307e-01 -6.84431067e-01 -7.27234411e-03 -2.69394099e+02] [ 1.00227760e-02 5.11942406e-05 9.99949769e-01 -5.85443237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters 0.05316022420697219 Centerline is valid? [True, True] Translation: X:630.78, Y:-269.35, Z:-5.85 [[-6.85911332e-01 -7.27659081e-01 6.15681319e-03 6.30783423e+02] [ 7.27630141e-01 -6.85938963e-01 -6.48967443e-03 -2.69352703e+02] [ 8.94546858e-03 2.85416156e-05 9.99959988e-01 -5.85403944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters 0.05366878303866741 Centerline is valid? [True, True] Translation: X:630.74, Y:-269.31, Z:-5.85 [[-6.86946483e-01 -7.26685293e-01 5.74585879e-03 6.30744986e+02] [ 7.26660068e-01 -6.86970513e-01 -6.05474331e-03 -2.69310334e+02] [ 8.34712848e-03 1.60015191e-05 9.99965162e-01 -5.85225675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters 0.053621692841143556 Centerline is valid? [True, True] Translation: X:630.70, Y:-269.27, Z:-5.85 [[-6.85785741e-01 -7.27777469e-01 6.15407761e-03 6.30704834e+02] [ 7.27748594e-01 -6.85813353e-01 -6.48303099e-03 -2.69269449e+02] [ 8.93875248e-03 3.26511108e-05 9.99960048e-01 -5.85492716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters 0.054124989172455035 Centerline is valid? [True, True] Translation: X:630.67, Y:-269.23, Z:-5.86 [[-6.83790545e-01 -7.29645127e-01 6.96266423e-03 6.30665124e+02] [ 7.29608284e-01 -6.83825990e-01 -7.33265569e-03 -2.69229334e+02] [ 1.01114873e-02 6.60168654e-05 9.99948875e-01 -5.85621058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters 0.053901258850989335 Centerline is valid? [True, True] Translation: X:630.63, Y:-269.19, Z:-5.85 [[-6.79271026e-01 -7.33849172e-01 7.50109414e-03 6.30626330e+02] [ 7.33806692e-01 -6.79312427e-01 -7.89720085e-03 -2.69187854e+02] [ 1.08909408e-02 1.40013350e-04 9.99940682e-01 -5.85308479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters 0.053791339725923405 Centerline is valid? [True, True] Translation: X:630.59, Y:-269.15, Z:-5.85 [[-6.76119269e-01 -7.36757888e-01 7.10975834e-03 6.30585438e+02] [ 7.36719905e-01 -6.76156626e-01 -7.48323832e-03 -2.69146465e+02] [ 1.03206451e-02 1.78338870e-04 9.99946725e-01 -5.85307228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters 0.053462057417844336 Centerline is valid? [True, True] Translation: X:630.55, Y:-269.10, Z:-5.85 [[-6.73940643e-01 -7.38756808e-01 6.51063184e-03 6.30546050e+02] [ 7.38725066e-01 -6.73972063e-01 -6.85092149e-03 -2.69103012e+02] [ 9.44914887e-03 1.92452498e-04 9.99955337e-01 -5.85212010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters 0.053532744184166044 Centerline is valid? [True, True] Translation: X:630.51, Y:-269.06, Z:-5.85 [[-6.72426425e-01 -7.40137198e-01 6.29527363e-03 6.30507373e+02] [ 7.40107596e-01 -6.72455862e-01 -6.62278355e-03 -2.69061837e+02] [ 9.13506212e-03 2.05845164e-04 9.99958253e-01 -5.85311772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters 0.052858449040975086 Centerline is valid? [True, True] Translation: X:630.47, Y:-269.02, Z:-5.85 [[-6.72602376e-01 -7.39981770e-01 5.74664854e-03 6.30472996e+02] [ 7.39957110e-01 -6.72626899e-01 -6.04398352e-03 -2.69015008e+02] [ 8.33778800e-03 1.87075769e-04 9.99965223e-01 -5.85062828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters 0.0536623170311798 Centerline is valid? [True, True] Translation: X:630.43, Y:-268.97, Z:-5.85 [[-6.72462921e-01 -7.40113839e-01 5.01252646e-03 6.30433218e+02] [ 7.40095092e-01 -6.72481582e-01 -5.27037440e-03 -2.68974473e+02] [ 7.27150876e-03 1.65614866e-04 9.99973549e-01 -5.85089020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters 0.05414413384796273 Centerline is valid? [True, True] Translation: X:630.39, Y:-268.94, Z:-5.85 [[-6.72062689e-01 -7.40481984e-01 4.26296861e-03 6.30393692e+02] [ 7.40468439e-01 -6.72076193e-01 -4.48119564e-03 -2.68935234e+02] [ 6.18328436e-03 1.44949321e-04 9.99980873e-01 -5.85077937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters 0.053394540494005355 Centerline is valid? [True, True] Translation: X:630.36, Y:-268.89, Z:-5.85 [[-6.72054005e-01 -7.40489910e-01 4.25540233e-03 6.30358304e+02] [ 7.40476421e-01 -6.72067461e-01 -4.47194518e-03 -2.68889694e+02] [ 6.17134772e-03 1.45636426e-04 9.99980946e-01 -5.84972316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters 0.054270140370720504 Centerline is valid? [True, True] Translation: X:630.32, Y:-268.85, Z:-5.85 [[-6.70828083e-01 -7.41587864e-01 6.09287747e-03 6.30318954e+02] [ 7.41560268e-01 -6.70855715e-01 -6.40144643e-03 -2.68850162e+02] [ 8.83467665e-03 2.23965817e-04 9.99960948e-01 -5.85305516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters 0.05339992245894319 Centerline is valid? [True, True] Translation: X:630.28, Y:-268.81, Z:-5.85 [[-6.70052417e-01 -7.42274962e-01 7.59206012e-03 6.30282502e+02] [ 7.42232184e-01 -6.70095363e-01 -7.97429327e-03 -2.68805579e+02] [ 1.10065225e-02 2.91876885e-04 9.99939384e-01 -5.85359918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters 0.05341880328285044 Centerline is valid? [True, True] Translation: X:630.25, Y:-268.76, Z:-5.85 [[-6.69997518e-01 -7.42313084e-01 8.63771380e-03 6.30245561e+02] [ 7.42257742e-01 -6.70053112e-01 -9.07033453e-03 -2.68760551e+02] [ 1.25207550e-02 3.34308325e-04 9.99921556e-01 -5.85390114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters 0.05294175731761537 Centerline is valid? [True, True] Translation: X:630.21, Y:-268.71, Z:-5.85 [[-6.72021738e-01 -7.40486806e-01 8.12864777e-03 6.30213524e+02] [ 7.40437687e-01 -6.72070837e-01 -8.53357261e-03 -2.68710830e+02] [ 1.17820250e-02 2.84010860e-04 9.99930549e-01 -5.85113224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters 0.0527022678487594 Centerline is valid? [True, True] Translation: X:630.18, Y:-268.67, Z:-5.85 [[-6.76126429e-01 -7.36753795e-01 6.84817703e-03 6.30178385e+02] [ 7.36718759e-01 -6.76161084e-01 -7.18745049e-03 -2.68665522e+02] [ 9.92585223e-03 1.85555246e-04 9.99950720e-01 -5.85035093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters 0.052764563595688076 Centerline is valid? [True, True] Translation: X:630.14, Y:-268.62, Z:-5.85 [[-6.79647574e-01 -7.33514632e-01 5.95477518e-03 6.30142735e+02] [ 7.33488031e-01 -6.79673649e-01 -6.24811857e-03 -2.68619503e+02] [ 8.63039017e-03 1.21237695e-04 9.99962750e-01 -5.84856347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters 0.052460698641910615 Centerline is valid? [True, True] Translation: X:630.11, Y:-268.58, Z:-5.85 [[-6.84814904e-01 -7.28698242e-01 5.23629919e-03 6.30106592e+02] [ 7.28677543e-01 -6.84834921e-01 -5.49268982e-03 -2.68575463e+02] [ 7.58851396e-03 5.40977726e-05 9.99971205e-01 -5.85066099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters 0.052102346485785184 Centerline is valid? [True, True] Translation: X:630.07, Y:-268.53, Z:-5.85 [[-6.87266234e-01 -7.26384251e-01 5.57171170e-03 6.30072154e+02] [ 7.26360754e-01 -6.87288818e-01 -5.84269062e-03 -2.68530000e+02] [ 8.07341360e-03 3.15887289e-05 9.99967409e-01 -5.84700316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters 0.05285886884740833 Centerline is valid? [True, True] Translation: X:630.03, Y:-268.49, Z:-5.85 [[-6.88462433e-01 -7.25244109e-01 6.36089566e-03 6.30034864e+02] [ 7.25213450e-01 -6.88491817e-01 -6.66861556e-03 -2.68485625e+02] [ 9.21579876e-03 2.19157956e-05 9.99957533e-01 -5.84882570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters 0.0525257465160683 Centerline is valid? [True, True] Translation: X:630.00, Y:-268.44, Z:-5.85 [[-6.87475528e-01 -7.26172247e-01 7.16007008e-03 6.29995584e+02] [ 7.26133471e-01 -6.87512812e-01 -7.50443489e-03 -2.68442578e+02] [ 1.03721523e-02 4.00512015e-05 9.99946207e-01 -5.84930524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters 0.05258274511328772 Centerline is valid? [True, True] Translation: X:629.96, Y:-268.40, Z:-5.85 [[-6.84332973e-01 -7.29125471e-01 8.02681678e-03 6.29955847e+02] [ 7.29076968e-01 -6.84380040e-01 -8.41049172e-03 -2.68402046e+02] [ 1.16256969e-02 9.65904352e-05 9.99932415e-01 -5.85283038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters 0.05242796400053808 Centerline is valid? [True, True] Translation: X:629.92, Y:-268.36, Z:-5.85 [[-6.80937017e-01 -7.32292959e-01 8.47360373e-03 6.29918094e+02] [ 7.32239175e-01 -6.80989719e-01 -8.87658173e-03 -2.68357353e+02] [ 1.22706953e-02 1.60311519e-04 9.99924699e-01 -5.85044123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters 0.05195092699068224 Centerline is valid? [True, True] Translation: X:629.88, Y:-268.32, Z:-5.85 [[-6.78559238e-01 -7.34498515e-01 8.32418963e-03 6.29878792e+02] [ 7.34446806e-01 -6.78610265e-01 -8.71761246e-03 -2.68316072e+02] [ 1.20519539e-02 1.98258024e-04 9.99927353e-01 -5.85079300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters 0.05176875524960022 Centerline is valid? [True, True] Translation: X:629.84, Y:-268.27, Z:-5.85 [[-6.74910552e-01 -7.37860202e-01 7.62033094e-03 6.29840003e+02] [ 7.37817098e-01 -6.74953529e-01 -7.97894278e-03 -2.68273368e+02] [ 1.10307136e-02 2.37337782e-04 9.99939132e-01 -5.84991204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters 0.051549885149623255 Centerline is valid? [True, True] Translation: X:629.80, Y:-268.23, Z:-5.85 [[-6.71064329e-01 -7.41370527e-01 6.51215504e-03 6.29801427e+02] [ 7.41339230e-01 -6.71095878e-01 -6.81678535e-03 -2.68230153e+02] [ 9.42404415e-03 2.53214516e-04 9.99955561e-01 -5.84883482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters 0.051171696399201744 Centerline is valid? [True, True] Translation: X:629.76, Y:-268.19, Z:-5.85 [[-6.68489155e-01 -7.43696945e-01 6.09135501e-03 6.29763331e+02] [ 7.43669672e-01 -6.68516853e-01 -6.37463076e-03 -2.68186789e+02] [ 8.81296690e-03 2.68584457e-04 9.99961129e-01 -5.84808463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters 0.05938553271362678 Centerline is valid? [True, True] Translation: X:629.70, Y:-268.17, Z:-5.86 [[-6.67326039e-01 -7.44742163e-01 5.92182861e-03 6.29702000e+02] [ 7.44716443e-01 -6.67352256e-01 -6.19564242e-03 -2.68166311e+02] [ 8.56610183e-03 2.75569621e-04 9.99963272e-01 -5.85720490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters 0.05147529437983802 Centerline is valid? [True, True] Translation: X:629.68, Y:-268.10, Z:-5.85 [[-6.66920349e-01 -7.45106219e-01 5.82846307e-03 6.29683716e+02] [ 7.45081328e-01 -6.66945759e-01 -6.09655721e-03 -2.68103467e+02] [ 8.42985142e-03 2.76760946e-04 9.99964430e-01 -5.84921873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters 0.05257162145090841 Centerline is valid? [True, True] Translation: X:629.64, Y:-268.07, Z:-5.85 [[-6.66892666e-01 -7.45130610e-01 5.87760616e-03 6.29639962e+02] [ 7.45105313e-01 -6.66918507e-01 -6.14635676e-03 -2.68065781e+02] [ 8.49972289e-03 2.80475329e-04 9.99963837e-01 -5.85196526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters 0.05066302332457791 Centerline is valid? [True, True] Translation: X:629.61, Y:-268.01, Z:-5.85 [[-6.67066749e-01 -7.44970096e-01 6.44273969e-03 6.29609231e+02] [ 7.44939708e-01 -6.67097791e-01 -6.73565391e-03 -2.68014791e+02] [ 9.31579816e-03 3.06321871e-04 9.99956560e-01 -5.84945452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters 0.051452252547999885 Centerline is valid? [True, True] Translation: X:629.57, Y:-267.98, Z:-5.85 [[-6.66228026e-01 -7.45707321e-01 7.79804484e-03 6.29565485e+02] [ 7.45662868e-01 -6.66273551e-01 -8.15128698e-03 -2.67978008e+02] [ 1.12741054e-02 3.84096643e-04 9.99936371e-01 -5.85291588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters 0.051223251587032476 Centerline is valid? [True, True] Translation: X:629.53, Y:-267.93, Z:-5.85 [[-6.66909393e-01 -7.45089419e-01 8.58017573e-03 6.29531341e+02] [ 7.45035577e-01 -6.66964457e-01 -8.96667043e-03 -2.67930372e+02] [ 1.24036435e-02 4.12579448e-04 9.99922987e-01 -5.85139485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters 0.052018376842090125 Centerline is valid? [True, True] Translation: X:629.49, Y:-267.89, Z:-5.85 [[-6.67897636e-01 -7.44208483e-01 8.15367093e-03 6.29489190e+02] [ 7.44159808e-01 -6.67947298e-01 -8.51985572e-03 -2.67891885e+02] [ 1.17867714e-02 3.77242698e-04 9.99930462e-01 -5.85337082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters 0.050303348923042696 Centerline is valid? [True, True] Translation: X:629.46, Y:-267.84, Z:-5.85 [[-6.69944372e-01 -7.42384121e-01 6.35257969e-03 6.29457870e+02] [ 7.42354508e-01 -6.69974435e-01 -6.63631277e-03 -2.67840386e+02] [ 9.18275921e-03 2.69905778e-04 9.99957801e-01 -5.84814764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters 0.05085327056266814 Centerline is valid? [True, True] Translation: X:629.42, Y:-267.80, Z:-5.85 [[-6.71845710e-01 -7.40669720e-01 5.63097573e-03 6.29415867e+02] [ 7.40646404e-01 -6.71869271e-01 -5.88097229e-03 -2.67801429e+02] [ 8.13913766e-03 2.19455926e-04 9.99966853e-01 -5.84911004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters 0.052787328653193175 Centerline is valid? [True, True] Translation: X:629.37, Y:-267.77, Z:-5.85 [[-6.73449972e-01 -7.39216219e-01 4.95153929e-03 6.29371442e+02] [ 7.39198160e-01 -6.73468151e-01 -5.17014097e-03 -2.67765924e+02] [ 7.15655606e-03 1.78337445e-04 9.99974376e-01 -5.85170407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters 0.05175403754379143 Centerline is valid? [True, True] Translation: X:629.34, Y:-267.72, Z:-5.85 [[-6.73407642e-01 -7.39255570e-01 4.83215428e-03 6.29335651e+02] [ 7.39238380e-01 -6.73424956e-01 -5.04441989e-03 -2.67721702e+02] [ 6.98320878e-03 1.75162996e-04 9.99975602e-01 -5.84910618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters 0.05321893838401984 Centerline is valid? [True, True] Translation: X:629.29, Y:-267.69, Z:-5.85 [[-6.72333707e-01 -7.40230875e-01 5.06338976e-03 6.29291723e+02] [ 7.40212039e-01 -6.72352745e-01 -5.28426910e-03 -2.67686859e+02] [ 7.31596314e-03 1.95189826e-04 9.99973219e-01 -5.85155619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters 0.0513882677493399 Centerline is valid? [True, True] Translation: X:629.26, Y:-267.64, Z:-5.85 [[-6.71553021e-01 -7.40936903e-01 5.38929665e-03 6.29258020e+02] [ 7.40915598e-01 -6.71574611e-01 -5.62298601e-03 -2.67638692e+02] [ 7.78559264e-03 2.16880706e-04 9.99969668e-01 -5.84823250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters 0.05205816693101302 Centerline is valid? [True, True] Translation: X:629.21, Y:-267.60, Z:-5.85 [[-6.71069212e-01 -7.41369467e-01 6.11765584e-03 6.29213116e+02] [ 7.41342046e-01 -6.71097049e-01 -6.38136333e-03 -2.67601660e+02] [ 8.83648871e-03 2.52939036e-04 9.99960925e-01 -5.84989707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters 0.05222889548400103 Centerline is valid? [True, True] Translation: X:629.17, Y:-267.56, Z:-5.85 [[-6.71205354e-01 -7.41244280e-01 6.34745358e-03 6.29173321e+02] [ 7.41214772e-01 -6.71235316e-01 -6.61907195e-03 -2.67562155e+02] [ 9.16698423e-03 2.62069831e-04 9.99957948e-01 -5.85016527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters 0.05173091882859756 Centerline is valid? [True, True] Translation: X:629.14, Y:-267.52, Z:-5.85 [[-6.71412174e-01 -7.41061038e-01 5.85066591e-03 6.29137254e+02] [ 7.41035968e-01 -6.71437622e-01 -6.10028051e-03 -2.67515444e+02] [ 8.44903742e-03 2.39751274e-04 9.99964278e-01 -5.84766522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters 0.0523104922511207 Centerline is valid? [True, True] Translation: X:629.09, Y:-267.48, Z:-5.85 [[-6.72680670e-01 -7.39917401e-01 4.79131759e-03 6.29093736e+02] [ 7.39900565e-01 -6.72697708e-01 -4.99481341e-03 -2.67478143e+02] [ 6.91885771e-03 1.85184162e-04 9.99976047e-01 -5.84739822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters 0.05134868338264955 Centerline is valid? [True, True] Translation: X:629.06, Y:-267.43, Z:-5.85 [[-6.74369703e-01 -7.38378833e-01 4.71196370e-03 6.29055086e+02] [ 7.38362521e-01 -6.74386144e-01 -4.91081415e-03 -2.67434747e+02] [ 6.80372424e-03 1.67433116e-04 9.99976840e-01 -5.84640861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters 0.05127209333304071 Centerline is valid? [True, True] Translation: X:629.01, Y:-267.39, Z:-5.85 [[-6.74993701e-01 -7.37804817e-01 5.24942074e-03 6.29013644e+02] [ 7.37784565e-01 -6.75014088e-01 -5.46954484e-03 -2.67394933e+02] [ 7.57888948e-03 1.81033284e-04 9.99971263e-01 -5.84731423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters 0.052109485768742976 Centerline is valid? [True, True] Translation: X:628.97, Y:-267.35, Z:-5.85 [[-6.75448803e-01 -7.37380488e-01 6.23945767e-03 6.28974288e+02] [ 7.37351874e-01 -6.75477588e-01 -6.49942197e-03 -2.67352449e+02] [ 9.00716075e-03 2.10649011e-04 9.99959413e-01 -5.84719575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters 0.05257823013024121 Centerline is valid? [True, True] Translation: X:628.93, Y:-267.32, Z:-5.85 [[-6.75305168e-01 -7.37508119e-01 6.68613479e-03 6.28930422e+02] [ 7.37475275e-01 -6.75338228e-01 -6.96396125e-03 -2.67315652e+02] [ 9.65138038e-03 2.28060066e-04 9.99953398e-01 -5.84959704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters 0.052787352333730525 Centerline is valid? [True, True] Translation: X:628.89, Y:-267.27, Z:-5.85 [[-6.75924086e-01 -7.36942989e-01 6.45454426e-03 6.28890313e+02] [ 7.36912372e-01 -6.75954870e-01 -6.72091959e-03 -2.67274216e+02] [ 9.31591519e-03 2.13602088e-04 9.99956583e-01 -5.84953514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters 0.052487533821759066 Centerline is valid? [True, True] Translation: X:628.85, Y:-267.23, Z:-5.85 [[-6.77348411e-01 -7.35641485e-01 5.54406365e-03 6.28850305e+02] [ 7.35618863e-01 -6.77371078e-01 -5.77148471e-03 -2.67232145e+02] [ 8.00113195e-03 1.69011800e-04 9.99967976e-01 -5.84891071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters 0.05233003320500023 Centerline is valid? [True, True] Translation: X:628.81, Y:-267.19, Z:-5.85 [[-6.78120756e-01 -7.34931330e-01 5.30858823e-03 6.28808889e+02] [ 7.34910581e-01 -6.78141517e-01 -5.52468078e-03 -2.67193754e+02] [ 7.66023506e-03 1.54936953e-04 9.99970648e-01 -5.85008085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters 0.05249037654707936 Centerline is valid? [True, True] Translation: X:628.77, Y:-267.15, Z:-5.85 [[-6.78661102e-01 -7.34433944e-01 5.08822464e-03 6.28770822e+02] [ 7.34414880e-01 -6.78680161e-01 -5.29371829e-03 -2.67152241e+02] [ 7.34116352e-03 1.44227202e-04 9.99973043e-01 -5.84942941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters 0.052250544702535526 Centerline is valid? [True, True] Translation: X:628.73, Y:-267.11, Z:-5.85 [[-6.78314554e-01 -7.34753824e-01 5.11708005e-03 6.28732297e+02] [ 7.34734561e-01 -6.78333838e-01 -5.32245107e-03 -2.67108620e+02] [ 7.38177982e-03 1.49399542e-04 9.99972743e-01 -5.84816422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters 0.05231549567088996 Centerline is valid? [True, True] Translation: X:628.69, Y:-267.07, Z:-5.85 [[-6.78460830e-01 -7.34616472e-01 5.43520385e-03 6.28692267e+02] [ 7.34594747e-01 -6.78482582e-01 -5.65187486e-03 -2.67066741e+02] [ 7.83965152e-03 1.58096493e-04 9.99969257e-01 -5.84802388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters 0.05274326361191972 Centerline is valid? [True, True] Translation: X:628.65, Y:-267.03, Z:-5.85 [[-6.78824060e-01 -7.34273911e-01 6.30231423e-03 6.28650045e+02] [ 7.34244697e-01 -6.78853292e-01 -6.55234826e-03 -2.67028477e+02] [ 9.08956514e-03 1.79549156e-04 9.99958673e-01 -5.84958322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters 0.051737812571083924 Centerline is valid? [True, True] Translation: X:628.61, Y:-266.99, Z:-5.85 [[-6.79300828e-01 -7.33827548e-01 6.89307739e-03 6.28610703e+02] [ 7.33792596e-01 -6.79335774e-01 -7.16469070e-03 -2.66985414e+02] [ 9.94036147e-03 1.91108828e-04 9.99950575e-01 -5.84873611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters 0.052428519489503805 Centerline is valid? [True, True] Translation: X:628.57, Y:-266.94, Z:-5.85 [[-6.81630816e-01 -7.31663287e-01 6.94738748e-03 6.28572401e+02] [ 7.31627687e-01 -6.81666200e-01 -7.21935528e-03 -2.66941132e+02] [ 1.00179364e-02 1.61966005e-04 9.99949806e-01 -5.84730692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters 0.05260748648574686 Centerline is valid? [True, True] Translation: X:628.53, Y:-266.90, Z:-5.85 [[-6.86320231e-01 -7.27260622e-01 7.51848276e-03 6.28533972e+02] [ 7.27218683e-01 -6.86361404e-01 -7.81093367e-03 -2.66897149e+02] [ 1.08409809e-02 1.06779327e-04 9.99941229e-01 -5.84759407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters 0.05249749797698207 Centerline is valid? [True, True] Translation: X:628.50, Y:-266.85, Z:-5.85 [[-6.90319713e-01 -7.23470231e-01 7.03696132e-03 6.28495947e+02] [ 7.23433313e-01 -6.90355578e-01 -7.30872973e-03 -2.66853280e+02] [ 1.01456539e-02 4.54120324e-05 9.99948531e-01 -5.84761763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters 0.052072487471176654 Centerline is valid? [True, True] Translation: X:628.46, Y:-266.81, Z:-5.85 [[-6.96155751e-01 -7.17863213e-01 6.29104868e-03 6.28459999e+02] [ 7.17833494e-01 -6.96184175e-01 -6.53213696e-03 -2.66808297e+02] [ 9.06890937e-03 -3.14592593e-05 9.99958876e-01 -5.84664893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters 0.05280472601124307 Centerline is valid? [True, True] Translation: X:628.42, Y:-266.76, Z:-5.85 [[-7.00822798e-01 -7.13312191e-01 5.75531974e-03 6.28423494e+02] [ 7.13287178e-01 -7.00846425e-01 -5.97416953e-03 -2.66764358e+02] [ 8.29504322e-03 -8.16384321e-05 9.99965592e-01 -5.84659737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters 0.05352435479087527 Centerline is valid? [True, True] Translation: X:628.38, Y:-266.72, Z:-5.85 [[-7.02755887e-01 -7.11409536e-01 5.53503309e-03 6.28383497e+02] [ 7.11386352e-01 -7.02777677e-01 -5.74411869e-03 -2.66721594e+02] [ 7.97631851e-03 -9.91662227e-05 9.99968184e-01 -5.84662959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters 0.053348617607694805 Centerline is valid? [True, True] Translation: X:628.35, Y:-266.68, Z:-5.85 [[-7.04659431e-01 -7.09522565e-01 5.72852682e-03 6.28345390e+02] [ 7.09497685e-01 -7.04682705e-01 -5.94315342e-03 -2.66679342e+02] [ 8.25359523e-03 -1.23522594e-04 9.99965931e-01 -5.84697762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters 0.05324498292518385 Centerline is valid? [True, True] Translation: X:628.31, Y:-266.64, Z:-5.85 [[-7.05353945e-01 -7.08838101e-01 4.93537271e-03 6.28307015e+02] [ 7.08819627e-01 -7.05371203e-01 -5.11882394e-03 -2.66636759e+02] [ 7.10968723e-03 -1.12293621e-04 9.99974720e-01 -5.84678167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters 0.05305315606074129 Centerline is valid? [True, True] Translation: X:628.27, Y:-266.60, Z:-5.85 [[-7.04619868e-01 -7.09574766e-01 3.80697077e-03 6.28266728e+02] [ 7.09563791e-01 -7.04630148e-01 -3.94725901e-03 -2.66595830e+02] [ 5.48338177e-03 -8.00285180e-05 9.99984963e-01 -5.84644891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters 0.05278460583707987 Centerline is valid? [True, True] Translation: X:628.23, Y:-266.56, Z:-5.85 [[-7.03302709e-01 -7.10882898e-01 3.28708541e-03 6.28225579e+02] [ 7.10874736e-01 -7.03310388e-01 -3.40717081e-03 -2.66556313e+02] [ 4.73394077e-03 -5.95664928e-05 9.99988793e-01 -5.84573933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters 0.05294005729650689 Centerline is valid? [True, True] Translation: X:628.18, Y:-266.52, Z:-5.85 [[-6.99897273e-01 -7.14238039e-01 2.79854465e-03 6.28182678e+02] [ 7.14232152e-01 -6.99902867e-01 -2.90001130e-03 -2.66517044e+02] [ 4.03000781e-03 -3.08994315e-05 9.99991879e-01 -5.84587175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters 0.05211434739840555 Centerline is valid? [True, True] Translation: X:628.14, Y:-266.48, Z:-5.85 [[-6.95244103e-01 -7.18768234e-01 2.80412843e-03 6.28140124e+02] [ 7.18762363e-01 -6.95249758e-01 -2.90507994e-03 -2.66478720e+02] [ 4.03764879e-03 -4.23771769e-06 9.99991849e-01 -5.84514935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters 0.052676168055372105 Centerline is valid? [True, True] Translation: X:628.10, Y:-266.44, Z:-5.85 [[-6.92493174e-01 -7.21417571e-01 3.14539628e-03 6.28098455e+02] [ 7.21410213e-01 -6.92500317e-01 -3.25812160e-03 -2.66438148e+02] [ 4.52865409e-03 1.28940317e-05 9.99989746e-01 -5.84578085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters 0.05186514547774316 Centerline is valid? [True, True] Translation: X:628.06, Y:-266.40, Z:-5.85 [[-6.89711235e-01 -7.24075507e-01 3.61560450e-03 6.28055159e+02] [ 7.24065825e-01 -6.89720711e-01 -3.74456741e-03 -2.66400123e+02] [ 5.20510685e-03 3.52654482e-05 9.99986453e-01 -5.84772578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters 0.05203927114099361 Centerline is valid? [True, True] Translation: X:628.01, Y:-266.36, Z:-5.85 [[-6.89613195e-01 -7.24173955e-01 2.39260131e-03 6.28014810e+02] [ 7.24169718e-01 -6.89617345e-01 -2.47724855e-03 -2.66357810e+02] [ 3.44393824e-03 2.43061257e-05 9.99994069e-01 -5.84661420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters 0.052063153390751744 Centerline is valid? [True, True] Translation: X:627.98, Y:-266.32, Z:-5.85 [[-6.90720931e-01 -7.23119763e-01 1.55067599e-03 6.27975294e+02] [ 7.23117981e-01 -6.90722671e-01 -1.60502229e-03 -2.66316740e+02] [ 2.23171040e-03 1.26992017e-05 9.99997510e-01 -5.84633201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters 0.05201140614192858 Centerline is valid? [True, True] Translation: X:627.94, Y:-266.27, Z:-5.85 [[-6.94201995e-01 -7.19778659e-01 1.50741391e-03 6.27936270e+02] [ 7.19776969e-01 -6.94203631e-01 -1.56004606e-03 -2.66273135e+02] [ 2.16934007e-03 2.01472956e-06 9.99997647e-01 -5.84718783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters 0.05193483165668872 Centerline is valid? [True, True] Translation: X:627.90, Y:-266.23, Z:-5.85 [[-6.95742638e-01 -7.18288909e-01 1.79543355e-03 6.27897510e+02] [ 7.18286508e-01 -6.95744955e-01 -1.85755942e-03 -2.66230884e+02] [ 2.58342816e-03 -2.74759777e-06 9.99996663e-01 -5.84792917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters 0.0523526848144891 Centerline is valid? [True, True] Translation: X:627.86, Y:-266.19, Z:-5.85 [[-6.99575947e-01 -7.14552665e-01 2.82546486e-03 6.27858815e+02] [ 7.14546689e-01 -6.99581652e-01 -2.92253081e-03 -2.66186574e+02] [ 4.06494555e-03 -2.56056987e-05 9.99991738e-01 -5.84727419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters 0.0525100511491668 Centerline is valid? [True, True] Translation: X:627.82, Y:-266.14, Z:-5.85 [[-7.01044458e-01 -7.13103975e-01 4.40327209e-03 6.27821175e+02] [ 7.13089441e-01 -7.01058284e-01 -4.55324463e-03 -2.66143059e+02] [ 6.33388722e-03 -5.21000781e-05 9.99979939e-01 -5.84994377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters 0.05271787040245423 Centerline is valid? [True, True] Translation: X:627.78, Y:-266.10, Z:-5.85 [[-7.00607566e-01 -7.13532382e-01 4.53633827e-03 6.27780067e+02] [ 7.13516973e-01 -7.00622250e-01 -4.68966567e-03 -2.66102530e+02] [ 6.52448784e-03 -4.88608983e-05 9.99978714e-01 -5.84958914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters 0.052453747610344104 Centerline is valid? [True, True] Translation: X:627.74, Y:-266.06, Z:-5.85 [[-6.98120614e-01 -7.15965633e-01 4.56296095e-03 6.27739553e+02] [ 7.15950103e-01 -6.98135525e-01 -4.71584045e-03 -2.66062223e+02] [ 6.56194483e-03 -2.53730741e-05 9.99978470e-01 -5.84941899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters 0.05205922160895284 Centerline is valid? [True, True] Translation: X:627.70, Y:-266.02, Z:-5.85 [[-6.95309994e-01 -7.18698030e-01 4.14176653e-03 6.27698600e+02] [ 7.18685289e-01 -6.95322329e-01 -4.27946181e-03 -2.66020563e+02] [ 5.95550352e-03 1.07410899e-06 9.99982266e-01 -5.84831403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters 0.05259356152630563 Centerline is valid? [True, True] Translation: X:627.66, Y:-265.98, Z:-5.85 [[-6.92522236e-01 -7.21386528e-01 3.79868655e-03 6.27658209e+02] [ 7.21375856e-01 -6.92532654e-01 -3.92384387e-03 -2.65980287e+02] [ 5.46132259e-03 2.29316293e-05 9.99985087e-01 -5.84818682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters 0.051319076369165696 Centerline is valid? [True, True] Translation: X:627.62, Y:-265.94, Z:-5.85 [[-6.86619828e-01 -7.27010528e-01 2.98400634e-03 6.27616347e+02] [ 7.27004000e-01 -6.86626310e-01 -3.08147979e-03 -2.65940271e+02] [ 4.28916551e-03 5.35794186e-05 9.99990800e-01 -5.84677775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters 0.05194273354380569 Centerline is valid? [True, True] Translation: X:627.57, Y:-265.90, Z:-5.85 [[-6.80712637e-01 -7.32544460e-01 2.98672858e-03 6.27572059e+02] [ 7.32537976e-01 -6.80719183e-01 -3.08338291e-03 -2.65904649e+02] [ 4.29183851e-03 8.89943947e-05 9.99990786e-01 -5.84804620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters 0.052020347820816146 Centerline is valid? [True, True] Translation: X:627.53, Y:-265.86, Z:-5.85 [[-6.77957402e-01 -7.35095501e-01 2.89237108e-03 6.27533751e+02] [ 7.35089446e-01 -6.77963564e-01 -2.98533664e-03 -2.65862696e+02] [ 4.15542974e-03 1.02220382e-04 9.99991361e-01 -5.84805701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters 0.0519221187879273 Centerline is valid? [True, True] Translation: X:627.50, Y:-265.82, Z:-5.85 [[-6.76238107e-01 -7.36677005e-01 3.00216270e-03 6.27498036e+02] [ 7.36670500e-01 -6.76244761e-01 -3.09816667e-03 -2.65817003e+02] [ 4.31254494e-03 1.16506337e-04 9.99990694e-01 -5.84793365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters 0.05255913966940779 Centerline is valid? [True, True] Translation: X:627.46, Y:-265.78, Z:-5.85 [[-6.77075074e-01 -7.35906814e-01 3.24115365e-03 6.27455846e+02] [ 7.35899225e-01 -6.77082821e-01 -3.34426242e-03 -2.65778494e+02] [ 4.65559496e-03 1.20845738e-04 9.99989155e-01 -5.84915575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters 0.05163876305873535 Centerline is valid? [True, True] Translation: X:627.42, Y:-265.73, Z:-5.85 [[-6.78120467e-01 -7.34944188e-01 3.11007399e-03 6.27420080e+02] [ 7.34937195e-01 -6.78127590e-01 -3.20809973e-03 -2.65733881e+02] [ 4.46680123e-03 1.10230965e-04 9.99990018e-01 -5.84819987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters 0.05161276626957048 Centerline is valid? [True, True] Translation: X:627.38, Y:-265.69, Z:-5.85 [[-6.78676771e-01 -7.34426069e-01 4.02375244e-03 6.27383518e+02] [ 7.34414360e-01 -6.78688684e-01 -4.14943116e-03 -2.65689086e+02] [ 5.77832567e-03 1.38979032e-04 9.99983296e-01 -5.84979886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters 0.05211621321540483 Centerline is valid? [True, True] Translation: X:627.34, Y:-265.65, Z:-5.85 [[-6.79175959e-01 -7.33957657e-01 5.11612079e-03 6.27341642e+02] [ 7.33938722e-01 -6.79195207e-01 -5.27481271e-03 -2.65651523e+02] [ 7.34633389e-03 1.72393177e-04 9.99973000e-01 -5.85319958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters 0.05170169891357794 Centerline is valid? [True, True] Translation: X:627.31, Y:-265.60, Z:-5.85 [[-6.80917155e-01 -7.32336967e-01 5.86480505e-03 6.27307509e+02] [ 7.32312032e-01 -6.80942388e-01 -6.04577693e-03 -2.65603149e+02] [ 8.42114029e-03 1.78194086e-04 9.99964526e-01 -5.85222248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters 0.051077417317126436 Centerline is valid? [True, True] Translation: X:627.27, Y:-265.56, Z:-5.85 [[-6.82549358e-01 -7.30819987e-01 5.34048700e-03 6.27268698e+02] [ 7.30799277e-01 -6.82570235e-01 -5.50371024e-03 -2.65561893e+02] [ 7.66747891e-03 1.46270144e-04 9.99970594e-01 -5.85199296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters 0.05080296943733859 Centerline is valid? [True, True] Translation: X:627.23, Y:-265.52, Z:-5.85 [[-6.83516115e-01 -7.29919769e-01 4.78040812e-03 6.27229341e+02] [ 7.29903161e-01 -6.83532820e-01 -4.92539098e-03 -2.65519235e+02] [ 6.86270609e-03 1.22650890e-04 9.99976444e-01 -5.85105073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters 0.05172199701222791 Centerline is valid? [True, True] Translation: X:627.19, Y:-265.48, Z:-5.85 [[-6.85075852e-01 -7.28461597e-01 3.84433945e-03 6.27189131e+02] [ 7.28450839e-01 -6.85086633e-01 -3.95988821e-03 -2.65477843e+02] [ 5.51833206e-03 8.75885073e-05 9.99984770e-01 -5.85078465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters 0.0513122929905069 Centerline is valid? [True, True] Translation: X:627.15, Y:-265.44, Z:-5.85 [[-6.85734297e-01 -7.27844470e-01 3.30177554e-03 6.27149238e+02] [ 7.27836531e-01 -6.85742242e-01 -3.40012730e-03 -2.65436098e+02] [ 4.73893082e-03 7.15689523e-05 9.99988769e-01 -5.85009347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters 0.05115719180300169 Centerline is valid? [True, True] Translation: X:627.11, Y:-265.39, Z:-5.85 [[-6.85714233e-01 -7.27865198e-01 2.87121426e-03 6.27109239e+02] [ 7.27859199e-01 -6.85720241e-01 -2.95594579e-03 -2.65393395e+02] [ 4.12037980e-03 6.29056147e-05 9.99991509e-01 -5.84925056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters 0.05130844299791068 Centerline is valid? [True, True] Translation: X:627.07, Y:-265.36, Z:-5.85 [[-6.85666724e-01 -7.27911890e-01 2.32912609e-03 6.27066269e+02] [ 7.27907944e-01 -6.85670678e-01 -2.39728968e-03 -2.65355990e+02] [ 3.34202913e-03 5.16476200e-05 9.99994414e-01 -5.85024803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters 0.05106492815616858 Centerline is valid? [True, True] Translation: X:627.03, Y:-265.31, Z:-5.85 [[-6.86632546e-01 -7.27001731e-01 2.05686686e-03 6.27026267e+02] [ 7.26998651e-01 -6.86635625e-01 -2.11651719e-03 -2.65314211e+02] [ 2.95102973e-03 4.20698465e-05 9.99995645e-01 -5.84930292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters 0.05122984979884881 Centerline is valid? [True, True] Translation: X:626.99, Y:-265.27, Z:-5.85 [[-6.88805938e-01 -7.24943178e-01 1.94107739e-03 6.26985345e+02] [ 7.24940429e-01 -6.88808672e-01 -1.99688828e-03 -2.65273542e+02] [ 2.78466148e-03 3.16969667e-05 9.99996122e-01 -5.84931572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters 0.05161107570024037 Centerline is valid? [True, True] Translation: X:626.95, Y:-265.23, Z:-5.85 [[-6.91968538e-01 -7.21924379e-01 2.17558517e-03 6.26946006e+02] [ 7.21920912e-01 -6.91971958e-01 -2.23754838e-03 -2.65231186e+02] [ 3.12078465e-03 2.22873470e-05 9.99995130e-01 -5.85013896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters 0.05188690191852706 Centerline is valid? [True, True] Translation: X:626.91, Y:-265.19, Z:-5.85 [[-6.94306795e-01 -7.19675125e-01 2.40610313e-03 6.26906852e+02] [ 7.19670872e-01 -6.94310964e-01 -2.47408405e-03 -2.65190327e+02] [ 3.45112053e-03 1.38289722e-05 9.99994045e-01 -5.85074600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters 0.051890859848613226 Centerline is valid? [True, True] Translation: X:626.87, Y:-265.15, Z:-5.85 [[-6.98433465e-01 -7.15668094e-01 3.14240775e-03 6.26868341e+02] [ 7.15660804e-01 -6.98440534e-01 -3.23023308e-03 -2.65147803e+02] [ 4.50655969e-03 -7.20482650e-06 9.99989845e-01 -5.85117458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters 0.05193440314426523 Centerline is valid? [True, True] Translation: X:626.83, Y:-265.11, Z:-5.85 [[-7.03437792e-01 -7.10748175e-01 3.50781789e-03 6.26830621e+02] [ 7.10739033e-01 -7.03446537e-01 -3.60508498e-03 -2.65105548e+02] [ 5.02986991e-03 -4.28099195e-05 9.99987349e-01 -5.85225879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters 0.05158112775745133 Centerline is valid? [True, True] Translation: X:626.79, Y:-265.06, Z:-5.85 [[-7.05154688e-01 -7.09048593e-01 2.63802385e-03 6.26793708e+02] [ 7.09043414e-01 -7.05159621e-01 -2.71030444e-03 -2.65063377e+02] [ 3.78196545e-03 -4.07104470e-05 9.99992848e-01 -5.85245499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters 0.05179873904300081 Centerline is valid? [True, True] Translation: X:626.75, Y:-265.03, Z:-5.85 [[-7.05291884e-01 -7.08913898e-01 2.10812157e-03 6.26752820e+02] [ 7.08910592e-01 -7.05295034e-01 -2.16519608e-03 -2.65025029e+02] [ 3.02178526e-03 -3.26255111e-05 9.99995434e-01 -5.85157758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters 0.05163455229496435 Centerline is valid? [True, True] Translation: X:626.71, Y:-264.99, Z:-5.85 [[-7.03737450e-01 -7.10458031e-01 1.72867018e-03 6.26709833e+02] [ 7.10455814e-01 -7.03739573e-01 -1.77498964e-03 -2.64985540e+02] [ 2.47758926e-03 -2.09828979e-05 9.99996931e-01 -5.85126795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters 0.05172505655392143 Centerline is valid? [True, True] Translation: X:626.67, Y:-264.95, Z:-5.85 [[-7.01131583e-01 -7.13029671e-01 1.78643244e-03 6.26669283e+02] [ 7.13027313e-01 -7.01133859e-01 -1.83370453e-03 -2.64946751e+02] [ 2.56001401e-03 -1.18930372e-05 9.99996723e-01 -5.85260755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters 0.05144895373831895 Centerline is valid? [True, True] Translation: X:626.63, Y:-264.91, Z:-5.85 [[-6.99496370e-01 -7.14634528e-01 1.52300774e-03 6.26626626e+02] [ 7.14632820e-01 -6.99498028e-01 -1.56283273e-03 -2.64907959e+02] [ 2.18219514e-03 -4.80450686e-06 9.99997619e-01 -5.85242894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters 0.051156455538487126 Centerline is valid? [True, True] Translation: X:626.58, Y:-264.87, Z:-5.85 [[-6.93321211e-01 -7.20626129e-01 1.91848093e-03 6.26581588e+02] [ 7.20623442e-01 -6.93323865e-01 -1.96814574e-03 -2.64870476e+02] [ 2.74842586e-03 1.79451403e-05 9.99996223e-01 -5.85367100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters 0.051579933519130594 Centerline is valid? [True, True] Translation: X:626.54, Y:-264.83, Z:-5.85 [[-6.87458848e-01 -7.26218458e-01 2.66148569e-03 6.26537512e+02] [ 7.26213330e-01 -6.87463998e-01 -2.72960859e-03 -2.64834629e+02] [ 3.81196773e-03 5.63128141e-05 9.99992733e-01 -5.85468168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters 0.051947328517913276 Centerline is valid? [True, True] Translation: X:626.50, Y:-264.79, Z:-5.86 [[-6.84717574e-01 -7.28800862e-01 3.33881954e-03 6.26496033e+02] [ 7.28792827e-01 -6.84725709e-01 -3.42334950e-03 -2.64794836e+02] [ 4.78111564e-03 8.92801614e-05 9.99988566e-01 -5.85511579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters 0.05093144722778747 Centerline is valid? [True, True] Translation: X:626.46, Y:-264.75, Z:-5.86 [[-6.83132445e-01 -7.30288252e-01 3.02183439e-03 6.26455154e+02] [ 7.30281689e-01 -6.83139123e-01 -3.09748384e-03 -2.64754408e+02] [ 4.32638935e-03 9.07986159e-05 9.99990637e-01 -5.85525081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters 0.05141022042360656 Centerline is valid? [True, True] Translation: X:626.42, Y:-264.71, Z:-5.85 [[-6.83435074e-01 -7.30007398e-01 2.38714144e-03 6.26415573e+02] [ 7.30003303e-01 -6.83439239e-01 -2.44613794e-03 -2.64714106e+02] [ 3.41716492e-03 7.08446701e-05 9.99994159e-01 -5.85454866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters 0.05203771315094078 Centerline is valid? [True, True] Translation: X:626.37, Y:-264.68, Z:-5.86 [[-6.84781799e-01 -7.28744221e-01 2.39771878e-03 6.26373698e+02] [ 7.28740083e-01 -6.84785993e-01 -2.45655057e-03 -2.64675503e+02] [ 3.43212127e-03 6.51126609e-05 9.99994108e-01 -5.85625314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters 0.051926736837752695 Centerline is valid? [True, True] Translation: X:626.33, Y:-264.64, Z:-5.86 [[-6.85649299e-01 -7.27927998e-01 2.42275795e-03 6.26333272e+02] [ 7.27923771e-01 -6.85653576e-01 -2.48142952e-03 -2.64635820e+02] [ 3.46747467e-03 6.21926941e-05 9.99993986e-01 -5.85696710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters 0.05159162130975432 Centerline is valid? [True, True] Translation: X:626.30, Y:-264.59, Z:-5.86 [[-6.86399176e-01 -7.27220363e-01 2.59135375e-03 6.26297016e+02] [ 7.27215525e-01 -6.86404064e-01 -2.65337406e-03 -2.64591485e+02] [ 3.70830340e-03 6.31989084e-05 9.99993122e-01 -5.85665594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters 0.05092549842685688 Centerline is valid? [True, True] Translation: X:626.26, Y:-264.55, Z:-5.86 [[-6.88127407e-01 -7.25581818e-01 3.42023394e-03 6.26259103e+02] [ 7.25573374e-01 -6.88135903e-01 -3.50113652e-03 -2.64549378e+02] [ 4.89394677e-03 7.24026885e-05 9.99988022e-01 -5.85794174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters 0.05022142393593911 Centerline is valid? [True, True] Translation: X:626.22, Y:-264.50, Z:-5.86 [[-6.89786070e-01 -7.24002726e-01 3.90268695e-03 6.26221531e+02] [ 7.23991712e-01 -6.89797107e-01 -3.99405473e-03 -2.64504890e+02] [ 5.58376868e-03 7.04696919e-05 9.99984408e-01 -5.85812060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters 0.05107768118588323 Centerline is valid? [True, True] Translation: X:626.18, Y:-264.46, Z:-5.86 [[-6.91457238e-01 -7.22403903e-01 4.41467849e-03 6.26183469e+02] [ 7.22389784e-01 -6.91471328e-01 -4.51688359e-03 -2.64461922e+02] [ 6.31563793e-03 6.58867955e-05 9.99980054e-01 -5.85898306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters 0.051647748064264906 Centerline is valid? [True, True] Translation: X:626.15, Y:-264.42, Z:-5.86 [[-6.92518247e-01 -7.21383926e-01 4.86918609e-03 6.26145028e+02] [ 7.21366736e-01 -6.92535362e-01 -4.98047571e-03 -2.64418944e+02] [ 6.96491868e-03 6.33985684e-05 9.99975743e-01 -5.85839421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters 0.05212280069015957 Centerline is valid? [True, True] Translation: X:626.11, Y:-264.38, Z:-5.86 [[-6.93156902e-01 -7.20773364e-01 4.38937133e-03 6.26106330e+02] [ 7.20759390e-01 -6.93170798e-01 -4.48852310e-03 -2.64375887e+02] [ 6.27779192e-03 5.24298369e-05 9.99980293e-01 -5.85673546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters 0.051265866845757 Centerline is valid? [True, True] Translation: X:626.07, Y:-264.33, Z:-5.86 [[-6.94203785e-01 -7.19773733e-01 2.62268895e-03 6.26067794e+02] [ 7.19768739e-01 -6.94208739e-01 -2.68122833e-03 -2.64334044e+02] [ 3.75057132e-03 2.64106665e-05 9.99992966e-01 -5.85530078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters 0.051165900186867036 Centerline is valid? [True, True] Translation: X:626.03, Y:-264.29, Z:-5.85 [[-6.95638235e-01 -7.18390375e-01 1.64772059e-03 6.26029222e+02] [ 7.18388402e-01 -6.95640186e-01 -1.68388575e-03 -2.64294800e+02] [ 2.35590798e-03 1.23280504e-05 9.99997225e-01 -5.85482336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters 0.05125141990172427 Centerline is valid? [True, True] Translation: X:625.99, Y:-264.25, Z:-5.86 [[-6.97578606e-01 -7.16506623e-01 1.53228833e-03 6.25991205e+02] [ 7.16504913e-01 -6.97580289e-01 -1.56545769e-03 -2.64253311e+02] [ 2.19055494e-03 5.86232728e-06 9.99997601e-01 -5.85513767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters 0.05166262957201821 Centerline is valid? [True, True] Translation: X:625.95, Y:-264.21, Z:-5.86 [[-6.98690707e-01 -7.15420084e-01 2.32382499e-03 6.25952790e+02] [ 7.15416147e-01 -6.98694571e-01 -2.37341222e-03 -2.64212156e+02] [ 3.32163068e-03 4.22085665e-06 9.99994483e-01 -5.85517710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters 0.05197341863611653 Centerline is valid? [True, True] Translation: X:625.91, Y:-264.17, Z:-5.86 [[-6.99824637e-01 -7.14303733e-01 3.95666394e-03 6.25913079e+02] [ 7.14292308e-01 -6.99835822e-01 -4.04001844e-03 -2.64171430e+02] [ 5.65481542e-03 -1.08981806e-06 9.99984011e-01 -5.85720455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters 0.05180949474337943 Centerline is valid? [True, True] Translation: X:625.87, Y:-264.13, Z:-5.86 [[-7.00669696e-01 -7.13470057e-01 4.73868332e-03 6.25874199e+02] [ 7.13453661e-01 -7.00685720e-01 -4.83692507e-03 -2.64131806e+02] [ 6.77132894e-03 -8.25586041e-06 9.99977074e-01 -5.85877175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters 0.05245450317024994 Centerline is valid? [True, True] Translation: X:625.83, Y:-264.09, Z:-5.86 [[-7.02105552e-01 -7.12054765e-01 5.07995177e-03 6.25834725e+02] [ 7.12035896e-01 -7.02123929e-01 -5.18376455e-03 -2.64089741e+02] [ 7.25787994e-03 -2.24418591e-05 9.99973661e-01 -5.85708035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters 0.05169681719288151 Centerline is valid? [True, True] Translation: X:625.80, Y:-264.05, Z:-5.85 [[-7.03382467e-01 -7.10802953e-01 3.50243207e-03 6.25796241e+02] [ 7.10793975e-01 -7.03391186e-01 -3.57275317e-03 -2.64050133e+02] [ 5.00310336e-03 -2.35043228e-05 9.99987484e-01 -5.85425714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters 0.052332914279138595 Centerline is valid? [True, True] Translation: X:625.75, Y:-264.01, Z:-5.85 [[-7.03456983e-01 -7.10733282e-01 2.54466024e-03 6.25754747e+02] [ 7.10728544e-01 -7.03461585e-01 -2.59509274e-03 -2.64009213e+02] [ 3.63448951e-03 -1.69734380e-05 9.99993395e-01 -5.85407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters 0.051684545855295486 Centerline is valid? [True, True] Translation: X:625.71, Y:-263.97, Z:-5.85 [[-7.02114207e-01 -7.12059598e-01 2.60178928e-03 6.25713684e+02] [ 7.12054658e-01 -7.02119027e-01 -2.65248586e-03 -2.63970549e+02] [ 3.71549377e-03 -9.73183214e-06 9.99993097e-01 -5.85462255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters 0.05187468274714417 Centerline is valid? [True, True] Translation: X:625.67, Y:-263.93, Z:-5.86 [[-6.98610883e-01 -7.15490354e-01 4.04801784e-03 6.25670472e+02] [ 7.15478459e-01 -6.98622611e-01 -4.12585857e-03 -2.63932069e+02] [ 5.78004881e-03 1.38998611e-05 9.99983295e-01 -5.85604216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters 0.051572134738698865 Centerline is valid? [True, True] Translation: X:625.63, Y:-263.89, Z:-5.86 [[-6.94579810e-01 -7.19399879e-01 4.76468568e-03 6.25627138e+02] [ 7.19383499e-01 -6.94596150e-01 -4.85495796e-03 -2.63893958e+02] [ 6.80218850e-03 5.54804785e-05 9.99976863e-01 -5.85629677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters 0.052670394222059554 Centerline is valid? [True, True] Translation: X:625.58, Y:-263.86, Z:-5.86 [[-6.92178367e-01 -7.21713388e-01 4.34677866e-03 6.25584475e+02] [ 7.21699808e-01 -6.92192012e-01 -4.42790585e-03 -2.63855441e+02] [ 6.20448440e-03 7.21686841e-05 9.99980749e-01 -5.85710434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters 0.05238324518397624 Centerline is valid? [True, True] Translation: X:625.54, Y:-263.81, Z:-5.86 [[-6.90578938e-01 -7.23243874e-01 4.36224445e-03 6.25543819e+02] [ 7.23230235e-01 -6.90592710e-01 -4.44250929e-03 -2.63814222e+02] [ 6.22555185e-03 8.70037238e-05 9.99980617e-01 -5.85628232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters 0.0516759054456987 Centerline is valid? [True, True] Translation: X:625.50, Y:-263.77, Z:-5.86 [[-6.89205927e-01 -7.24553998e-01 4.08588846e-03 6.25503572e+02] [ 7.24542061e-01 -6.89218032e-01 -4.16003825e-03 -2.63771923e+02] [ 5.83024035e-03 9.32750301e-05 9.99983000e-01 -5.85597796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters 0.051212061492315955 Centerline is valid? [True, True] Translation: X:625.46, Y:-263.73, Z:-5.86 [[-6.88951035e-01 -7.24797608e-01 3.85987458e-03 6.25463344e+02] [ 7.24786965e-01 -6.88961842e-01 -3.92880896e-03 -2.63731175e+02] [ 5.50689764e-03 9.08297841e-05 9.99984833e-01 -5.85528033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters 0.05213356830274382 Centerline is valid? [True, True] Translation: X:625.42, Y:-263.69, Z:-5.86 [[-6.89431331e-01 -7.24339573e-01 4.07706199e-03 6.25419580e+02] [ 7.24327696e-01 -6.89443380e-01 -4.14911878e-03 -2.63693809e+02] [ 5.81627432e-03 9.25964282e-05 9.99983081e-01 -5.85795056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters 0.0512439817521913 Centerline is valid? [True, True] Translation: X:625.38, Y:-263.65, Z:-5.86 [[-6.90119870e-01 -7.23673651e-01 5.56877457e-03 6.25382742e+02] [ 7.23651481e-01 -6.90142327e-01 -5.66583345e-03 -2.63648445e+02] [ 7.94346142e-03 1.19747722e-04 9.99968443e-01 -5.85759897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters 0.051233267039995 Centerline is valid? [True, True] Translation: X:625.34, Y:-263.61, Z:-5.86 [[-6.90501566e-01 -7.23303863e-01 6.25368363e-03 6.25343050e+02] [ 7.23275907e-01 -6.90529872e-01 -6.36072569e-03 -2.63608589e+02] [ 8.91909282e-03 1.31047652e-04 9.99960216e-01 -5.85892861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters 0.05139415083166484 Centerline is valid? [True, True] Translation: X:625.31, Y:-263.57, Z:-5.86 [[-6.91774078e-01 -7.22077941e-01 7.21609161e-03 6.25305491e+02] [ 7.22040674e-01 -6.91811701e-01 -7.33732419e-03 -2.63566144e+02] [ 1.02902966e-02 1.34540972e-04 9.99947044e-01 -5.85995988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters 0.05141715108804136 Centerline is valid? [True, True] Translation: X:625.27, Y:-263.52, Z:-5.86 [[-6.93341328e-01 -7.20574770e-01 7.05711909e-03 6.25267694e+02] [ 7.20539069e-01 -6.93377234e-01 -7.17365797e-03 -2.63522840e+02] [ 1.00624027e-02 1.11136478e-04 9.99949367e-01 -5.85909428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters 0.05075790749185448 Centerline is valid? [True, True] Translation: X:625.23, Y:-263.48, Z:-5.86 [[-6.96412878e-01 -7.17619276e-01 5.62830228e-03 6.25232480e+02] [ 7.17596485e-01 -6.96435619e-01 -5.71956116e-03 -2.63477372e+02] [ 8.02421752e-03 5.56738833e-05 9.99967804e-01 -5.85674654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters 0.05131497434988177 Centerline is valid? [True, True] Translation: X:625.19, Y:-263.43, Z:-5.85 [[-6.97718590e-01 -7.16363069e-01 3.56691898e-03 6.25193663e+02] [ 7.16353904e-01 -6.97727707e-01 -3.62378644e-03 -2.63434637e+02] [ 5.08468498e-03 2.67931714e-05 9.99987073e-01 -5.85471266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters 0.05130725949147051 Centerline is valid? [True, True] Translation: X:625.15, Y:-263.40, Z:-5.86 [[-6.97011740e-01 -7.17056633e-01 2.10230494e-03 6.25151834e+02] [ 7.17053455e-01 -6.97014910e-01 -2.13515539e-03 -2.63395946e+02] [ 2.99636522e-03 1.92366430e-05 9.99995511e-01 -5.85549249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters 0.05141653287156926 Centerline is valid? [True, True] Translation: X:625.11, Y:-263.36, Z:-5.86 [[-6.95836258e-01 -7.18195331e-01 2.71447465e-03 6.25110806e+02] [ 7.18190043e-01 -6.95841552e-01 -2.75619638e-03 -2.63355152e+02] [ 3.86833162e-03 3.16472830e-05 9.99992517e-01 -5.85566623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters 0.051556724679616736 Centerline is valid? [True, True] Translation: X:625.07, Y:-263.32, Z:-5.86 [[-6.95280682e-01 -7.18730821e-01 3.28341181e-03 6.25069200e+02] [ 7.18723092e-01 -6.95288434e-01 -3.33327408e-03 -2.63316586e+02] [ 4.67864507e-03 4.23028073e-05 9.99989054e-01 -5.85655185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters 0.051483923788531887 Centerline is valid? [True, True] Translation: X:625.03, Y:-263.28, Z:-5.86 [[-6.95283992e-01 -7.18726970e-01 3.42238945e-03 6.25027427e+02] [ 7.18718579e-01 -6.95292413e-01 -3.47332904e-03 -2.63277017e+02] [ 4.87593668e-03 4.47848008e-05 9.99988112e-01 -5.85702212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters 0.05126291148883233 Centerline is valid? [True, True] Translation: X:624.99, Y:-263.24, Z:-5.86 [[-6.96382935e-01 -7.17661626e-01 3.54951627e-03 6.24985971e+02] [ 7.17652591e-01 -6.96391980e-01 -3.60125164e-03 -2.63239329e+02] [ 5.05633476e-03 3.94693629e-05 9.99987216e-01 -5.85819717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters 0.051640382254123256 Centerline is valid? [True, True] Translation: X:624.95, Y:-263.20, Z:-5.86 [[-6.99383679e-01 -7.14736148e-01 3.83524754e-03 6.24946102e+02] [ 7.14725561e-01 -6.99394194e-01 -3.89014924e-03 -2.63197138e+02] [ 5.46278015e-03 2.04425657e-05 9.99985079e-01 -5.85820721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters 0.05187192423159438 Centerline is valid? [True, True] Translation: X:624.91, Y:-263.16, Z:-5.86 [[-7.01930950e-01 -7.12238596e-01 3.02054046e-03 6.24906412e+02] [ 7.12232010e-01 -7.01937449e-01 -3.06300910e-03 -2.63155020e+02] [ 4.30182377e-03 1.30470951e-06 9.99990747e-01 -5.85772381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters 0.051535030661701925 Centerline is valid? [True, True] Translation: X:624.87, Y:-263.11, Z:-5.86 [[-7.05038613e-01 -7.09166374e-01 1.89973232e-03 6.24867169e+02] [ 7.09163759e-01 -7.05041172e-01 -1.92579414e-03 -2.63114289e+02] [ 2.70509795e-03 -1.05379141e-05 9.99996341e-01 -5.85837749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters 0.05122914963753624 Centerline is valid? [True, True] Translation: X:624.83, Y:-263.07, Z:-5.86 [[-7.06453883e-01 -7.07758356e-01 1.00999591e-03 6.24829942e+02] [ 7.07757616e-01 -7.06454605e-01 -1.02347068e-03 -2.63073918e+02] [ 1.43788619e-03 -8.20253719e-06 9.99998966e-01 -5.85797703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters 0.051084111105841705 Centerline is valid? [True, True] Translation: X:624.79, Y:-263.04, Z:-5.86 [[-7.05401227e-01 -7.08808228e-01 7.65159203e-05 6.24787393e+02] [ 7.08808223e-01 -7.05401231e-01 -7.74342354e-05 -2.63035979e+02] [ 1.08860447e-04 -3.87091089e-07 9.99999994e-01 -5.85678387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters 0.05158908821392167 Centerline is valid? [True, True] Translation: X:624.74, Y:-263.00, Z:-5.86 [[-7.04147268e-01 -7.10053698e-01 -6.09238166e-04 6.24744572e+02] [ 7.10053430e-01 -7.04147532e-01 6.17142451e-04 -2.62996894e+02] [-8.67197831e-04 1.96752170e-06 9.99999624e-01 -5.85690285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters 0.050995769460789445 Centerline is valid? [True, True] Translation: X:624.70, Y:-262.96, Z:-5.86 [[-7.00991405e-01 -7.13169499e-01 5.62141160e-04 6.24700555e+02] [ 7.13169271e-01 -7.00991631e-01 -5.69124462e-04 -2.62959541e+02] [ 7.99938456e-04 1.95044513e-06 9.99999680e-01 -5.85874821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters 0.05114449769699175 Centerline is valid? [True, True] Translation: X:624.66, Y:-262.92, Z:-5.86 [[-6.98111742e-01 -7.15986466e-01 1.83766881e-03 6.24657936e+02] [ 7.15984049e-01 -6.98114160e-01 -1.86033210e-03 -2.62922159e+02] [ 2.61487523e-03 1.70218739e-05 9.99996581e-01 -5.86022084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters 0.05151536787085797 Centerline is valid? [True, True] Translation: X:624.62, Y:-262.88, Z:-5.86 [[-6.97288428e-01 -7.16784896e-01 2.87410007e-03 6.24617075e+02] [ 7.16778995e-01 -6.97294351e-01 -2.90867223e-03 -2.62883522e+02] [ 4.08898606e-03 3.19110693e-05 9.99991640e-01 -5.86071296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters 0.0516081487558449 Centerline is valid? [True, True] Translation: X:624.58, Y:-262.84, Z:-5.86 [[-6.97317055e-01 -7.16754506e-01 3.45015446e-03 6.24578552e+02] [ 7.16746007e-01 -6.97325589e-01 -3.49066951e-03 -2.62841513e+02] [ 4.90783409e-03 3.87810465e-05 9.99987956e-01 -5.85900858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters 0.05166683985880911 Centerline is valid? [True, True] Translation: X:624.54, Y:-262.80, Z:-5.86 [[-6.98227667e-01 -7.15865119e-01 3.90588787e-03 6.24536239e+02] [ 7.15854218e-01 -6.98238591e-01 -3.95068150e-03 -2.62803098e+02] [ 5.55539673e-03 3.75711761e-05 9.99984568e-01 -5.86130106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters 0.05216539143413858 Centerline is valid? [True, True] Translation: X:624.50, Y:-262.76, Z:-5.86 [[-7.01063681e-01 -7.13087007e-01 4.07868153e-03 6.24497963e+02] [ 7.13075080e-01 -7.01075545e-01 -4.12436574e-03 -2.62759211e+02] [ 5.80049549e-03 1.69631317e-05 9.99983177e-01 -5.85957923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters 0.05231545263993028 Centerline is valid? [True, True] Translation: X:624.46, Y:-262.72, Z:-5.86 [[-7.05083584e-01 -7.09114654e-01 3.68068228e-03 6.24461666e+02] [ 7.09104893e-01 -7.05093190e-01 -3.72078135e-03 -2.62716257e+02] [ 5.23368460e-03 -1.34720345e-05 9.99986304e-01 -5.85933755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters 0.05179629678289019 Centerline is valid? [True, True] Translation: X:624.42, Y:-262.67, Z:-5.86 [[-7.08499072e-01 -7.05707685e-01 2.39335595e-03 6.24424021e+02] [ 7.05703540e-01 -7.08503114e-01 -2.41872595e-03 -2.62673268e+02] [ 3.40261363e-03 -2.46653283e-05 9.99994211e-01 -5.85803511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters 0.052103115589077015 Centerline is valid? [True, True] Translation: X:624.38, Y:-262.63, Z:-5.86 [[-7.10083170e-01 -7.04115510e-01 1.80013089e-03 6.24383900e+02] [ 7.04113161e-01 -7.10085451e-01 -1.81894776e-03 -2.62631109e+02] [ 2.55899609e-03 -2.41083441e-05 9.99996725e-01 -5.85769247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters 0.05202085095512902 Centerline is valid? [True, True] Translation: X:624.35, Y:-262.59, Z:-5.86 [[-7.09743935e-01 -7.04456219e-01 2.23195203e-03 6.24345437e+02] [ 7.04452611e-01 -7.09747444e-01 -2.25472740e-03 -2.62590105e+02] [ 3.17247899e-03 -2.79746687e-05 9.99994967e-01 -5.85850485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters 0.05149062031005795 Centerline is valid? [True, True] Translation: X:624.30, Y:-262.55, Z:-5.86 [[-7.06226049e-01 -7.07980538e-01 2.88545572e-03 6.24303185e+02] [ 7.07974541e-01 -7.06231943e-01 -2.91404617e-03 -2.62551739e+02] [ 4.10088897e-03 -1.51461268e-05 9.99991591e-01 -5.85957253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters 0.05158821516481983 Centerline is valid? [True, True] Translation: X:624.26, Y:-262.51, Z:-5.86 [[-7.03751426e-01 -7.10439242e-01 3.16444124e-03 6.24262205e+02] [ 7.10432059e-01 -7.03758540e-01 -3.19470130e-03 -2.62514106e+02] [ 4.49664372e-03 -1.55092131e-07 9.99989890e-01 -5.86068870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters 0.05182224129872094 Centerline is valid? [True, True] Translation: X:624.22, Y:-262.47, Z:-5.86 [[-6.99839934e-01 -7.14292082e-01 3.29974611e-03 6.24219855e+02] [ 7.14284318e-01 -6.99847712e-01 -3.33045154e-03 -2.62474992e+02] [ 4.68823493e-03 2.61739160e-05 9.99989010e-01 -5.85919553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters 0.05170962668313817 Centerline is valid? [True, True] Translation: X:624.18, Y:-262.44, Z:-5.86 [[-6.95511955e-01 -7.18507793e-01 3.11018480e-03 6.24175967e+02] [ 7.18500940e-01 -6.95518907e-01 -3.13853328e-03 -2.62437999e+02] [ 4.41825295e-03 5.17832825e-05 9.99990238e-01 -5.85989873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters 0.05141527903247423 Centerline is valid? [True, True] Translation: X:624.13, Y:-262.40, Z:-5.86 [[-6.92466125e-01 -7.21444777e-01 2.84582669e-03 6.24134571e+02] [ 7.21439068e-01 -6.92471970e-01 -2.87094694e-03 -2.62398179e+02] [ 4.04188489e-03 6.50570521e-05 9.99991829e-01 -5.85905671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters 0.05194789350844243 Centerline is valid? [True, True] Translation: X:624.09, Y:-262.36, Z:-5.86 [[-6.92082743e-01 -7.21812777e-01 2.79139831e-03 6.24093704e+02] [ 7.21807289e-01 -6.92088369e-01 -2.81532380e-03 -2.62357185e+02] [ 3.96403100e-03 6.64146284e-05 9.99992141e-01 -5.85887730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters 0.05130308915385087 Centerline is valid? [True, True] Translation: X:624.05, Y:-262.32, Z:-5.86 [[-6.91994382e-01 -7.21897830e-01 2.70148188e-03 6.24053400e+02] [ 7.21892695e-01 -6.91999652e-01 -2.72380190e-03 -2.62318639e+02] [ 3.83573120e-03 6.53244242e-05 9.99992641e-01 -5.85864128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters 0.051469437921742536 Centerline is valid? [True, True] Translation: X:624.02, Y:-262.28, Z:-5.86 [[-6.92696794e-01 -7.21222318e-01 3.08529333e-03 6.24015353e+02] [ 7.21215617e-01 -6.92703662e-01 -3.10983096e-03 -2.62277445e+02] [ 4.38007348e-03 7.09917957e-05 9.99990405e-01 -5.85880946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters 0.05131453745298927 Centerline is valid? [True, True] Translation: X:623.98, Y:-262.23, Z:-5.86 [[-6.92999771e-01 -7.20927920e-01 3.77512571e-03 6.23977031e+02] [ 7.20917888e-01 -6.93010048e-01 -3.80419285e-03 -2.62234296e+02] [ 5.35874888e-03 8.52508787e-05 9.99985638e-01 -5.85860662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters 0.05232450598067154 Centerline is valid? [True, True] Translation: X:623.93, Y:-262.20, Z:-5.86 [[-6.93252005e-01 -7.20682596e-01 4.27246317e-03 6.23934032e+02] [ 7.20669750e-01 -6.93265164e-01 -4.30404034e-03 -2.62198141e+02] [ 6.06379684e-03 9.52503662e-05 9.99981610e-01 -5.86135559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters 0.05120809453589389 Centerline is valid? [True, True] Translation: X:623.90, Y:-262.15, Z:-5.86 [[-6.93058473e-01 -7.20866825e-01 4.57958523e-03 6.23898149e+02] [ 7.20852078e-01 -6.93073596e-01 -4.61225665e-03 -2.62151655e+02] [ 6.49881241e-03 1.04639974e-04 9.99978877e-01 -5.85854642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters 0.05072750913427159 Centerline is valid? [True, True] Translation: X:623.86, Y:-262.11, Z:-5.86 [[-6.92115595e-01 -7.21768812e-01 5.07785839e-03 6.23856915e+02] [ 7.21750714e-01 -6.92134211e-01 -5.11276743e-03 -2.62110593e+02] [ 7.20479559e-03 1.26321850e-04 9.99974037e-01 -5.85891551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters 0.05127919112728433 Centerline is valid? [True, True] Translation: X:623.82, Y:-262.07, Z:-5.86 [[-6.90162056e-01 -7.23631124e-01 5.85933016e-03 6.23816816e+02] [ 7.23607107e-01 -6.90186908e-01 -5.89807126e-03 -2.62068750e+02] [ 8.31206091e-03 1.69227959e-04 9.99965440e-01 -5.85913380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters 0.051493350501526536 Centerline is valid? [True, True] Translation: X:623.78, Y:-262.03, Z:-5.86 [[-6.89331450e-01 -7.24416916e-01 6.50267364e-03 6.23777946e+02] [ 7.24387379e-01 -6.89362091e-01 -6.54465062e-03 -2.62025675e+02] [ 9.22375231e-03 1.99021214e-04 9.99957440e-01 -5.85849089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters 0.05109317294408582 Centerline is valid? [True, True] Translation: X:623.74, Y:-261.98, Z:-5.86 [[-6.90251174e-01 -7.23547918e-01 5.63268036e-03 6.23738032e+02] [ 7.23525738e-01 -6.90274136e-01 -5.66770079e-03 -2.61982467e+02] [ 7.98894668e-03 1.63252091e-04 9.99968075e-01 -5.85752785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters 0.05117979725686222 Centerline is valid? [True, True] Translation: X:623.70, Y:-261.94, Z:-5.86 [[-6.92264580e-01 -7.21626398e-01 5.00923776e-03 6.23697039e+02] [ 7.21608815e-01 -6.92282692e-01 -5.03905860e-03 -2.61941886e+02] [ 7.10412631e-03 1.26348334e-04 9.99974757e-01 -5.85788040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters 0.05073691371174155 Centerline is valid? [True, True] Translation: X:623.66, Y:-261.90, Z:-5.86 [[-6.96279444e-01 -7.17761826e-01 3.59116098e-03 6.23659415e+02] [ 7.17752742e-01 -6.96288702e-01 -3.61182299e-03 -2.61898017e+02] [ 5.09291349e-03 6.27275376e-05 9.99987029e-01 -5.85666641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters 0.050622806057753995 Centerline is valid? [True, True] Translation: X:623.62, Y:-261.85, Z:-5.86 [[-6.99691841e-01 -7.14438409e-01 3.01455179e-03 6.23621810e+02] [ 7.14431980e-01 -6.99698334e-01 -3.03104618e-03 -2.61854699e+02] [ 4.27477268e-03 3.28939160e-05 9.99990863e-01 -5.85633841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters 0.05041099326505525 Centerline is valid? [True, True] Translation: X:623.58, Y:-261.81, Z:-5.86 [[-7.00821845e-01 -7.13327340e-01 3.58434659e-03 6.23581747e+02] [ 7.13318242e-01 -7.00831010e-01 -3.60292261e-03 -2.61813393e+02] [ 5.08208444e-03 3.17729424e-05 9.99987086e-01 -5.85792579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters 0.05139979713359449 Centerline is valid? [True, True] Translation: X:623.54, Y:-261.78, Z:-5.86 [[-6.99311028e-01 -7.14803035e-01 4.55051566e-03 6.23539953e+02] [ 7.14788408e-01 -6.99325831e-01 -4.57311141e-03 -2.61775745e+02] [ 6.45116706e-03 5.46286005e-05 9.99979190e-01 -5.86007474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters 0.05094113286149314 Centerline is valid? [True, True] Translation: X:623.50, Y:-261.74, Z:-5.86 [[-6.98205629e-01 -7.15874367e-01 5.72627289e-03 6.23498477e+02] [ 7.15851253e-01 -6.98229105e-01 -5.75322257e-03 -2.61735453e+02] [ 8.11683496e-03 8.22272443e-05 9.99967055e-01 -5.86066897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters 0.05105524116694118 Centerline is valid? [True, True] Translation: X:623.46, Y:-261.70, Z:-5.86 [[-6.97824612e-01 -7.16247130e-01 5.55518408e-03 6.23458125e+02] [ 7.16225401e-01 -6.97846718e-01 -5.57968184e-03 -2.61695150e+02] [ 7.87309808e-03 8.51246291e-05 9.99969003e-01 -5.85988695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters 0.05146018048436922 Centerline is valid? [True, True] Translation: X:623.42, Y:-261.66, Z:-5.86 [[-6.97840140e-01 -7.16238735e-01 4.60585568e-03 6.23415981e+02] [ 7.16223807e-01 -6.97855336e-01 -4.62480602e-03 -2.61656622e+02] [ 6.52668618e-03 7.14482112e-05 9.99978698e-01 -5.85997509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters 0.050964523375619845 Centerline is valid? [True, True] Translation: X:623.37, Y:-261.62, Z:-5.86 [[-6.98598498e-01 -7.15502972e-01 3.95427541e-03 6.23373944e+02] [ 7.15491963e-01 -6.98609687e-01 -3.96951156e-03 -2.61616694e+02] [ 5.60269243e-03 5.61574618e-05 9.99984303e-01 -5.85978776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters 0.05138869114409123 Centerline is valid? [True, True] Translation: X:623.33, Y:-261.58, Z:-5.86 [[-6.99017133e-01 -7.15093647e-01 4.01548883e-03 6.23332164e+02] [ 7.15082295e-01 -6.99028664e-01 -4.02977519e-03 -2.61577023e+02] [ 5.68860843e-03 5.45230648e-05 9.99983818e-01 -5.85994937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters 0.0511881808396463 Centerline is valid? [True, True] Translation: X:623.29, Y:-261.54, Z:-5.86 [[-6.99159791e-01 -7.14952587e-01 4.28772038e-03 6.23290614e+02] [ 7.14939649e-01 -6.99172936e-01 -4.30165280e-03 -2.61538737e+02] [ 6.07333585e-03 5.79186257e-05 9.99981555e-01 -5.86140237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters 0.0511928880904962 Centerline is valid? [True, True] Translation: X:623.25, Y:-261.50, Z:-5.86 [[-6.99761657e-01 -7.14360761e-01 4.72504351e-03 6.23250097e+02] [ 7.14345044e-01 -6.99777607e-01 -4.73901815e-03 -2.61498523e+02] [ 6.69184825e-03 5.91282253e-05 9.99977608e-01 -5.86171767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters 0.050890644184141146 Centerline is valid? [True, True] Translation: X:623.21, Y:-261.46, Z:-5.86 [[-7.00640710e-01 -7.13501356e-01 4.29076856e-03 6.23209473e+02] [ 7.13488388e-01 -7.00653846e-01 -4.30212543e-03 -2.61459874e+02] [ 6.07591582e-03 4.71693277e-05 9.99981540e-01 -5.86282607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters 0.050794239432460475 Centerline is valid? [True, True] Translation: X:623.17, Y:-261.42, Z:-5.86 [[-7.01484420e-01 -7.12674648e-01 3.80192749e-03 6.23169282e+02] [ 7.12664460e-01 -7.01494722e-01 -3.81097687e-03 -2.61417876e+02] [ 5.38301867e-03 3.61577041e-05 9.99985511e-01 -5.86143668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters 0.05104316236791138 Centerline is valid? [True, True] Translation: X:623.13, Y:-261.38, Z:-5.86 [[-7.02421390e-01 -7.11751958e-01 3.65254848e-03 6.23129578e+02] [ 7.11742547e-01 -7.02430886e-01 -3.66023164e-03 -2.61377321e+02] [ 5.17083990e-03 2.86491592e-05 9.99986631e-01 -5.86200160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters 0.05112302943073323 Centerline is valid? [True, True] Translation: X:623.09, Y:-261.34, Z:-5.87 [[-7.02105333e-01 -7.12063778e-01 3.64393480e-03 6.23088100e+02] [ 7.12054419e-01 -7.02114788e-01 -3.65077825e-03 -2.61339047e+02] [ 5.15804746e-03 3.14490015e-05 9.99986697e-01 -5.86539690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters 0.051101994896194415 Centerline is valid? [True, True] Translation: X:623.05, Y:-261.30, Z:-5.86 [[-7.01060580e-01 -7.13091691e-01 3.78183530e-03 6.23048155e+02] [ 7.13081633e-01 -7.01070780e-01 -3.78776774e-03 -2.61298673e+02] [ 5.35235993e-03 4.13026356e-05 9.99985675e-01 -5.86435783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters 0.05039136985072671 Centerline is valid? [True, True] Translation: X:623.01, Y:-261.26, Z:-5.86 [[-6.98617895e-01 -7.15484273e-01 3.91054131e-03 6.23008076e+02] [ 7.15473561e-01 -6.98628837e-01 -3.91567335e-03 -2.61256942e+02] [ 5.53361962e-03 6.23294405e-05 9.99984687e-01 -5.86346029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters 0.05119021145784743 Centerline is valid? [True, True] Translation: X:622.97, Y:-261.22, Z:-5.86 [[-6.94910202e-01 -7.19088934e-01 3.30400762e-03 6.22966048e+02] [ 7.19081332e-01 -6.94918052e-01 -3.30744853e-03 -2.61219084e+02] [ 4.67436418e-03 7.74704780e-05 9.99989072e-01 -5.86345678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters 0.05111918039181925 Centerline is valid? [True, True] Translation: X:622.92, Y:-261.18, Z:-5.86 [[-6.91954142e-01 -7.21933933e-01 3.29555967e-03 6.22923846e+02] [ 7.21926406e-01 -6.91961983e-01 -3.29813804e-03 -2.61179587e+02] [ 4.66143977e-03 9.69912642e-05 9.99989131e-01 -5.86307018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters 0.05109454163549774 Centerline is valid? [True, True] Translation: X:622.88, Y:-261.14, Z:-5.86 [[-6.89633962e-01 -7.24148448e-01 3.74468502e-03 6.22880722e+02] [ 7.24138768e-01 -6.89644117e-01 -3.74660821e-03 -2.61142232e+02] [ 5.29560052e-03 1.27883331e-04 9.99985970e-01 -5.86382626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters 0.05097541630534593 Centerline is valid? [True, True] Translation: X:622.84, Y:-261.10, Z:-5.86 [[-6.87430767e-01 -7.26242871e-01 3.19879626e-03 6.22838858e+02] [ 7.26235834e-01 -6.87438198e-01 -3.19954859e-03 -2.61103094e+02] [ 4.52262410e-03 1.23612329e-04 9.99989765e-01 -5.86321608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters 0.05379647829132153 Centerline is valid? [True, True] Translation: X:622.79, Y:-261.07, Z:-5.86 [[-6.86300294e-01 -7.27311699e-01 3.09809335e-03 6.22791331e+02] [ 7.27305113e-01 -6.86307275e-01 -3.09792712e-03 -2.61070785e+02] [ 4.37940264e-03 1.27150842e-04 9.99990402e-01 -5.86405289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters 0.05492821710340693 Centerline is valid? [True, True] Translation: X:622.38, Y:-261.49, Z:-4.86 [[-7.75061928e-01 6.31867555e-01 4.73292649e-03 6.22377265e+02] [ 6.31854026e-01 7.75076348e-01 -4.14052388e-03 -2.61485143e+02] [-6.28464208e-03 -2.18643761e-04 -9.99980228e-01 -4.85837675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters 0.05117326213319335 Centerline is valid? [True, True] Translation: X:622.73, Y:-261.01, Z:-5.86 [[-6.88032403e-01 -7.25663585e-01 4.87589381e-03 6.22725994e+02] [ 7.25648065e-01 -6.88049628e-01 -4.75357756e-03 -2.61012510e+02] [ 6.80435505e-03 2.67567518e-04 9.99976814e-01 -5.86401752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters 0.0525734754907285 Centerline is valid? [True, True] Translation: X:622.27, Y:-261.40, Z:-4.86 [[-7.76988428e-01 6.29487742e-01 5.84517270e-03 6.22269982e+02] [ 6.29467392e-01 7.77010371e-01 -5.06809589e-03 -2.61403781e+02] [-7.73206404e-03 -2.58506244e-04 -9.99970074e-01 -4.85876058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters 0.051405831663086286 Centerline is valid? [True, True] Translation: X:622.59, Y:-260.89, Z:-5.86 [[-6.92993600e-01 -7.20927087e-01 4.89953855e-03 6.22589596e+02] [ 7.20910896e-01 -6.93010896e-01 -4.83500722e-03 -2.60894043e+02] [ 6.88112127e-03 1.81501662e-04 9.99976308e-01 -5.86370570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters 0.050664370712680845 Centerline is valid? [True, True] Translation: X:622.04, Y:-261.23, Z:-4.86 [[-7.73331259e-01 6.33980194e-01 5.28001971e-03 6.22043801e+02] [ 6.33963898e-01 7.73349265e-01 -4.54869815e-03 -2.61228091e+02] [-6.96708389e-03 -1.70308584e-04 -9.99975715e-01 -4.86283958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters 0.051267119583872915 Centerline is valid? [True, True] Translation: X:622.01, Y:-261.10, Z:-4.86 [[-8.13322399e-01 5.81790840e-01 5.10823630e-03 6.22006998e+02] [ 5.81778393e-01 8.13338431e-01 -3.80764501e-03 -2.61101024e+02] [-6.36997789e-03 -1.24981466e-04 -9.99979704e-01 -4.86313237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters 0.050841353342139226 Centerline is valid? [True, True] Translation: X:621.95, Y:-260.97, Z:-4.86 [[-8.48288005e-01 5.29508592e-01 5.30200492e-03 6.21954455e+02] [ 5.29497709e-01 8.48304571e-01 -3.39572458e-03 -2.60973908e+02] [-6.29578035e-03 -7.31529715e-05 -9.99980179e-01 -4.86135664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters 0.05130859661190428 Centerline is valid? [True, True] Translation: X:622.43, Y:-261.16, Z:-4.86 [[-8.82037080e-01 4.71130999e-01 6.79491737e-03 6.22434396e+02] [ 4.71116786e-01 8.82063252e-01 -3.65963310e-03 -2.61161137e+02] [-7.71771351e-03 -2.67324660e-05 -9.99970218e-01 -4.86309451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters 0.05131520243411694 Centerline is valid? [True, True] Translation: X:621.78, Y:-260.75, Z:-4.86 [[-9.11494408e-01 4.11246780e-01 7.35050427e-03 6.21777461e+02] [ 4.11233472e-01 9.11524046e-01 -3.30846359e-03 -2.60751870e+02] [-8.06075639e-03 7.12732775e-06 -9.99967512e-01 -4.86143928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters 0.05129721192339433 Centerline is valid? [True, True] Translation: X:621.98, Y:-260.13, Z:-5.86 [[-8.87200516e-01 -4.61339660e-01 6.40019982e-03 6.21977381e+02] [ 4.61327221e-01 -8.87223599e-01 -3.38814833e-03 -2.60125733e+02] [ 7.24149552e-03 -5.33805453e-05 9.99973779e-01 -5.86413097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters 0.05169538461840184 Centerline is valid? [True, True] Translation: X:621.58, Y:-260.67, Z:-4.86 [[-9.10989272e-01 4.12357759e-01 7.72166422e-03 6.21579231e+02] [ 4.12343410e-01 9.11021995e-01 -3.44043193e-03 -2.60666280e+02] [-8.45329474e-03 4.97807735e-05 -9.99964269e-01 -4.85990332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters 0.05214891900082163 Centerline is valid? [True, True] Translation: X:621.75, Y:-260.65, Z:-4.86 [[-9.38102875e-01 3.46261407e-01 8.12612125e-03 6.21745851e+02] [ 3.46248879e-01 9.38138069e-01 -2.94585510e-03 -2.60651399e+02] [-8.64345963e-03 5.01452303e-05 -9.99962643e-01 -4.86014657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters 0.051731318120901905 Centerline is valid? [True, True] Translation: X:621.58, Y:-260.52, Z:-4.86 [[-9.60744560e-01 2.77306804e-01 8.41586036e-03 6.21577560e+02] [ 2.77296500e-01 9.60781419e-01 -2.39081267e-03 -2.60517088e+02] [-8.74879088e-03 3.67283561e-05 -9.99961728e-01 -4.85994689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters 0.0511448082415759 Centerline is valid? [True, True] Translation: X:621.85, Y:-259.93, Z:-5.87 [[-9.43686236e-01 -3.30730736e-01 8.57139804e-03 6.21850599e+02] [ 3.30716945e-01 -9.43725161e-01 -3.02031537e-03 -2.59927689e+02] [ 9.08795512e-03 -1.55234692e-05 9.99958704e-01 -5.86616846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters 0.051930142073219776 Centerline is valid? [True, True] Translation: X:621.95, Y:-260.63, Z:-4.86 [[-9.64761401e-01 2.62965096e-01 9.20860096e-03 6.21949500e+02] [ 2.62952821e-01 9.64805347e-01 -2.54091459e-03 -2.60627413e+02] [-9.55267929e-03 -2.99487137e-05 -9.99954372e-01 -4.86072991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters 0.05125236029061585 Centerline is valid? [True, True] Translation: X:621.11, Y:-260.34, Z:-4.86 [[-9.81867696e-01 1.89401755e-01 7.92483956e-03 6.21109143e+02] [ 1.89395035e-01 9.81899675e-01 -1.59685502e-03 -2.60340845e+02] [-8.08384453e-03 -6.69750923e-05 -9.99967323e-01 -4.85909251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters 0.051307006349563526 Centerline is valid? [True, True] Translation: X:621.21, Y:-260.28, Z:-4.86 [[-9.93271635e-01 1.15590956e-01 7.08442587e-03 6.21212169e+02] [ 1.15587398e-01 9.93296896e-01 -9.11055541e-04 -2.60276287e+02] [-7.14224801e-03 -8.60552739e-05 -9.99974490e-01 -4.85906407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters 0.051240157430421644 Centerline is valid? [True, True] Translation: X:621.17, Y:-259.64, Z:-5.87 [[-9.79206250e-01 -2.02800957e-01 5.18566453e-03 6.21173397e+02] [ 2.02797810e-01 -9.79219980e-01 -1.13116675e-03 -2.59640632e+02] [ 5.30730801e-03 -5.60041378e-05 9.99985915e-01 -5.86507274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters 0.05111273709399804 Centerline is valid? [True, True] Translation: X:621.04, Y:-260.25, Z:-4.86 [[-9.94476112e-01 1.04774984e-01 6.28208552e-03 6.21037381e+02] [ 1.04772111e-01 9.94495946e-01 -7.85649897e-04 -2.60248445e+02] [-6.32982504e-03 -1.23122693e-04 -9.99979959e-01 -4.85914577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters 0.050815198787306594 Centerline is valid? [True, True] Translation: X:621.09, Y:-259.64, Z:-5.87 [[-9.79076972e-01 -2.03396906e-01 6.16294909e-03 6.21088505e+02] [ 2.03393635e-01 -9.79096361e-01 -1.15961193e-03 -2.59637173e+02] [ 6.26998251e-03 1.18155281e-04 9.99980336e-01 -5.86506267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters 0.05063994927442302 Centerline is valid? [True, True] Translation: X:620.91, Y:-260.24, Z:-4.86 [[-9.95083644e-01 9.86624002e-02 8.61818829e-03 6.20909476e+02] [ 9.86571351e-02 9.95120947e-01 -1.03497525e-03 -2.60239043e+02] [-8.67825283e-03 -1.79641176e-04 -9.99962327e-01 -4.86051112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters 0.051068848936841195 Centerline is valid? [True, True] Translation: X:620.84, Y:-260.15, Z:-4.86 [[-9.99509817e-01 2.94291669e-02 1.06794329e-02 6.20840540e+02] [ 2.94253849e-02 9.99566849e-01 -5.11133375e-04 -2.60152372e+02] [-1.06898493e-02 -1.96636402e-04 -9.99942843e-01 -4.85693286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters 0.051528500500179014 Centerline is valid? [True, True] Translation: X:620.76, Y:-260.08, Z:-4.86 [[-9.99178192e-01 -3.88947052e-02 1.14080372e-02 6.20762698e+02] [-3.88941813e-02 9.99243299e-01 2.67868294e-04 -2.60078541e+02] [-1.14098234e-02 -1.76058110e-04 -9.99934890e-01 -4.85817772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters 0.05104089122690152 Centerline is valid? [True, True] Translation: X:620.72, Y:-259.46, Z:-5.87 [[-9.98634454e-01 -5.11484357e-02 1.06331916e-02 6.20715302e+02] [ 5.11467915e-02 -9.98691055e-01 -4.26680234e-04 -2.59458376e+02] [ 1.06410973e-02 1.17756050e-04 9.99943375e-01 -5.87178651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters 0.05109681947987472 Centerline is valid? [True, True] Translation: X:620.59, Y:-260.09, Z:-4.86 [[-9.99289466e-01 -3.63466592e-02 9.97411311e-03 6.20588318e+02] [-3.63457915e-02 9.99339237e-01 2.68297031e-04 -2.60092866e+02] [-9.97727429e-03 -9.44106385e-05 -9.99950221e-01 -4.86039399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters 0.05058914462883587 Centerline is valid? [True, True] Translation: X:620.54, Y:-260.02, Z:-4.86 [[-9.94285597e-01 -1.06396329e-01 8.71621812e-03 6.20535617e+02] [-1.06392924e-01 9.94323798e-01 8.54683182e-04 -2.60020499e+02] [-8.75767826e-03 -7.75447541e-05 -9.99961648e-01 -4.85980439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters 0.05089276874632728 Centerline is valid? [True, True] Translation: X:620.46, Y:-259.96, Z:-4.86 [[-9.84275737e-01 -1.76426845e-01 8.65113806e-03 6.20455516e+02] [-1.76420687e-01 9.84313752e-01 1.47589154e-03 -2.59957901e+02] [-8.77582105e-03 -7.35554942e-05 -9.99961489e-01 -4.86257767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters 0.051125488471931047 Centerline is valid? [True, True] Translation: X:620.35, Y:-259.90, Z:-4.86 [[-9.69400548e-01 -2.45343440e-01 8.31706885e-03 6.20353720e+02] [-2.45334993e-01 9.69436224e-01 2.03684450e-03 -2.59903394e+02] [-8.56259426e-03 -6.59498537e-05 -9.99963338e-01 -4.86285755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters 0.05158813721571034 Centerline is valid? [True, True] Translation: X:620.28, Y:-259.85, Z:-4.86 [[-9.49895152e-01 -3.12459402e-01 8.26575566e-03 6.20275084e+02] [-3.12448056e-01 9.49931113e-01 2.66328363e-03 -2.59849755e+02] [-8.68406648e-03 -5.27790793e-05 -9.99962291e-01 -4.86432725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters 0.051909659936307743 Centerline is valid? [True, True] Translation: X:620.13, Y:-259.82, Z:-4.86 [[-9.26021754e-01 -3.77391086e-01 7.72530160e-03 6.20129445e+02] [-3.77378263e-01 9.26053976e-01 3.11122647e-03 -2.59824056e+02] [-8.32819540e-03 -3.42975109e-05 -9.99965319e-01 -4.86448595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters 0.05118097684259868 Centerline is valid? [True, True] Translation: X:620.01, Y:-259.80, Z:-4.86 [[-8.98863196e-01 -4.38177297e-01 6.75355658e-03 6.20006633e+02] [-4.38164887e-01 8.98888567e-01 3.29784975e-03 -2.59801408e+02] [-7.51573769e-03 5.14440822e-06 -9.99971756e-01 -4.86438511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters 0.05169949122713345 Centerline is valid? [True, True] Translation: X:619.87, Y:-259.79, Z:-4.87 [[-8.65963822e-01 -5.00065668e-01 6.40202869e-03 6.19866272e+02] [-5.00051844e-01 8.65987487e-01 3.71832828e-03 -2.59792649e+02] [-7.40348505e-03 1.85915135e-05 -9.99972594e-01 -4.86610970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters 0.05228366572774195 Centerline is valid? [True, True] Translation: X:619.76, Y:-259.77, Z:-4.87 [[-8.29757037e-01 -5.58083836e-01 6.75954671e-03 6.19763356e+02] [-5.58064677e-01 8.29784567e-01 4.62471923e-03 -2.59769193e+02] [-8.18994858e-03 6.51290713e-05 -9.99966460e-01 -4.86746336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters 0.05286576224134233 Centerline is valid? [True, True] Translation: X:619.17, Y:-259.35, Z:-5.86 [[-8.51674435e-01 5.24011663e-01 7.90153825e-03 6.19166761e+02] [-5.23989225e-01 -8.51711088e-01 4.84923263e-03 -2.59351935e+02] [ 9.27088219e-03 -1.03534413e-05 9.99957024e-01 -5.86377032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters 0.05291032578069155 Centerline is valid? [True, True] Translation: X:619.38, Y:-260.03, Z:-4.87 [[-8.30033902e-01 -5.57638573e-01 9.10731198e-03 6.19375317e+02] [-5.57602816e-01 8.30083848e-01 6.31703202e-03 -2.60029779e+02] [-1.10824533e-02 1.65087936e-04 -9.99938574e-01 -4.86533259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters 0.05269570285156963 Centerline is valid? [True, True] Translation: X:619.26, Y:-260.02, Z:-4.87 [[-7.87205233e-01 -6.16632790e-01 8.48080727e-03 6.19264558e+02] [-6.16594644e-01 7.87250896e-01 6.86091344e-03 -2.60018526e+02] [-1.09071873e-02 1.71726621e-04 -9.99940500e-01 -4.86732499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters 0.05303510283043559 Centerline is valid? [True, True] Translation: X:619.09, Y:-260.08, Z:-4.87 [[-7.39611563e-01 -6.72988702e-01 7.80666897e-03 6.19088403e+02] [-6.72948956e-01 7.39652745e-01 7.31567422e-03 -2.60075816e+02] [-1.06975902e-02 1.57267502e-04 -9.99942767e-01 -4.86552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters 0.052090316047844504 Centerline is valid? [True, True] Translation: X:618.88, Y:-260.17, Z:-4.87 [[-6.86212790e-01 -7.27367729e-01 6.94224154e-03 6.18884866e+02] [-7.27328883e-01 6.86247897e-01 7.51797994e-03 -2.60167715e+02] [-1.02324346e-02 1.09641201e-04 -9.99947641e-01 -4.86740489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters 0.05221549258732742 Centerline is valid? [True, True] Translation: X:618.74, Y:-260.22, Z:-4.87 [[-6.25148707e-01 -7.80481813e-01 6.10191493e-03 6.18736926e+02] [-7.80444120e-01 6.25178485e-01 7.67057509e-03 -2.60216916e+02] [-9.80153029e-03 3.30464773e-05 -9.99951963e-01 -4.86803224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters 0.052645151205350786 Centerline is valid? [True, True] Translation: X:618.57, Y:-260.31, Z:-4.87 [[-5.60736307e-01 -8.27977375e-01 5.31600888e-03 6.18572139e+02] [-8.27940687e-01 5.60761505e-01 7.79449266e-03 -2.60307973e+02] [-9.43467671e-03 -3.06850057e-05 -9.99955492e-01 -4.86958758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters 0.051914587528437355 Centerline is valid? [True, True] Translation: X:618.45, Y:-260.34, Z:-4.87 [[-4.88932692e-01 -8.72310290e-01 4.42497680e-03 6.18451201e+02] [-8.72276765e-01 4.88952701e-01 7.64861266e-03 -2.60344492e+02] [-8.83556789e-03 -1.20147671e-04 -9.99960958e-01 -4.87035676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters 0.052453620560327006 Centerline is valid? [True, True] Translation: X:618.31, Y:-260.42, Z:-4.87 [[-4.16126065e-01 -9.09298538e-01 3.90739426e-03 6.18308393e+02] [-9.09262669e-01 4.16144366e-01 8.07876420e-03 -2.60422317e+02] [-8.97204858e-03 -1.91063379e-04 -9.99959732e-01 -4.86737295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters 0.05238514544874167 Centerline is valid? [True, True] Translation: X:618.15, Y:-260.59, Z:-4.87 [[-3.45383598e-01 -9.38454850e-01 3.55875683e-03 6.18153706e+02] [-9.38411809e-01 3.45401853e-01 8.99091884e-03 -2.60587829e+02] [-9.66677259e-03 -2.34263537e-04 -9.99953248e-01 -4.87016683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters 0.053991535341927174 Centerline is valid? [True, True] Translation: X:618.01, Y:-260.71, Z:-4.87 [[-2.73486326e-01 -9.61870857e-01 3.11181645e-03 6.18013004e+02] [-9.61819342e-01 2.73503896e-01 9.95854230e-03 -2.60705074e+02] [-1.04299255e-02 -2.69480111e-04 -9.99945571e-01 -4.86501121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters 0.05190301106364636 Centerline is valid? [True, True] Translation: X:617.90, Y:-260.87, Z:-4.87 [[-2.01759551e-01 -9.79431672e-01 2.58505678e-03 6.17897387e+02] [-9.79368856e-01 2.01775899e-01 1.10963858e-02 -2.60874321e+02] [-1.13897539e-02 -2.92922275e-04 -9.99935092e-01 -4.86984001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters 0.052862701827866745 Centerline is valid? [True, True] Translation: X:617.77, Y:-261.10, Z:-4.87 [[-1.32035712e-01 -9.91242712e-01 2.11125441e-03 6.17769324e+02] [-9.91150692e-01 1.32052229e-01 1.35097642e-02 -2.61099463e+02] [-1.36702512e-02 -3.08799933e-04 -9.99906510e-01 -4.86619902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters 0.052276351357438564 Centerline is valid? [True, True] Translation: X:617.67, Y:-261.30, Z:-4.87 [[-6.13984356e-02 -9.98112744e-01 1.08764258e-03 6.17673348e+02] [-9.98023326e-01 6.14074964e-02 1.33626751e-02 -2.61296337e+02] [-1.34042458e-02 -2.65045316e-04 -9.99910124e-01 -4.86975305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters 0.05270183909636537 Centerline is valid? [True, True] Translation: X:617.59, Y:-261.57, Z:-4.87 [[ 5.78667173e-03 -9.99983253e-01 9.04954144e-05 6.17588109e+02] [-9.99920353e-01 -5.78529264e-03 1.12168778e-02 -2.61570705e+02] [-1.12161665e-02 -1.55396597e-04 -9.99937085e-01 -4.87223016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters 0.05339889885304195 Centerline is valid? [True, True] Translation: X:617.53, Y:-261.87, Z:-4.87 [[ 7.06492052e-02 -9.97500985e-01 -6.88722234e-04 6.17525290e+02] [-9.97445480e-01 -7.06525396e-02 1.05229560e-02 -2.61869019e+02] [-1.05453190e-02 -5.64756007e-05 -9.99944395e-01 -4.87142501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters 0.0532608681165847 Centerline is valid? [True, True] Translation: X:617.49, Y:-262.17, Z:-4.87 [[ 1.34371081e-01 -9.90929788e-01 -1.60269829e-03 6.17490139e+02] [-9.90863858e-01 -1.34380629e-01 1.14307615e-02 -2.62173008e+02] [-1.15424537e-02 5.20920237e-05 -9.99933382e-01 -4.87128246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters 0.05362725419782265 Centerline is valid? [True, True] Translation: X:617.43, Y:-262.24, Z:-4.87 [[ 2.01699622e-01 -9.79444147e-01 -2.53493338e-03 6.17430877e+02] [-9.79374722e-01 -2.01715508e-01 1.16622661e-02 -2.62236301e+02] [-1.19338736e-02 1.30375009e-04 -9.99928780e-01 -4.87022984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters 0.0548274053755468 Centerline is valid? [True, True] Translation: X:617.31, Y:-262.14, Z:-4.88 [[ 2.65133564e-01 -9.64206594e-01 -3.13629143e-03 6.17314646e+02] [-9.64148790e-01 -2.65152019e-01 1.05601953e-02 -2.62140232e+02] [-1.10138039e-02 2.23989377e-04 -9.99939321e-01 -4.87768265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters 0.05492924527976341 Centerline is valid? [True, True] Translation: X:617.34, Y:-262.45, Z:-4.87 [[ 3.28185187e-01 -9.44606441e-01 -3.62686456e-03 6.17342364e+02] [-9.44557963e-01 -3.28205104e-01 9.57413434e-03 -2.62449362e+02] [-1.02341444e-02 2.83694735e-04 -9.99947590e-01 -4.87498593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters 0.0553675711950197 Centerline is valid? [True, True] Translation: X:617.28, Y:-262.54, Z:-4.88 [[ 3.94053580e-01 -9.19076661e-01 -4.45731361e-03 6.17279572e+02] [-9.19026960e-01 -3.94078652e-01 9.56362503e-03 -2.62536614e+02] [-1.05462367e-02 3.27810698e-04 -9.99944333e-01 -4.87556147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters 0.05490019842692 Centerline is valid? [True, True] Translation: X:617.32, Y:-262.82, Z:-4.88 [[ 4.59868602e-01 -8.87970009e-01 -5.48926863e-03 6.17319338e+02] [-8.87915790e-01 -4.59901222e-01 9.81917304e-03 -2.62818382e+02] [-1.12436525e-02 3.58478911e-04 -9.99936724e-01 -4.87782298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters 0.05524676501100223 Centerline is valid? [True, True] Translation: X:617.33, Y:-263.00, Z:-4.88 [[ 5.26159738e-01 -8.50362012e-01 -6.35443836e-03 6.17332953e+02] [-8.50307575e-01 -5.26198000e-01 9.62772746e-03 -2.63004716e+02] [-1.15307465e-02 3.37504510e-04 -9.99933462e-01 -4.87781956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters 0.055252738122564996 Centerline is valid? [True, True] Translation: X:617.74, Y:-263.69, Z:-4.87 [[ 5.92235555e-01 -8.05734514e-01 -6.99574568e-03 6.17735299e+02] [-8.05683198e-01 -5.92276820e-01 9.09691427e-03 -2.63688263e+02] [-1.14731158e-02 2.48838676e-04 -9.99934151e-01 -4.87363332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters 0.05452078469735279 Centerline is valid? [True, True] Translation: X:617.64, Y:-263.70, Z:-4.88 [[ 6.58310750e-01 -7.52709809e-01 -7.40939773e-03 6.17636473e+02] [-7.52664170e-01 -6.58352435e-01 8.28965114e-03 -2.63701564e+02] [-1.11176968e-02 1.19621733e-04 -9.99938189e-01 -4.87552731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters 0.054233736021480655 Centerline is valid? [True, True] Translation: X:617.79, Y:-263.97, Z:-4.87 [[ 7.17775150e-01 -6.96231823e-01 -7.75129921e-03 6.17789933e+02] [-6.96191541e-01 -7.17817002e-01 7.48931102e-03 -2.63974630e+02] [-1.07783110e-02 2.07476085e-05 -9.99941912e-01 -4.87275121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters 0.054101250105748594 Centerline is valid? [True, True] Translation: X:617.77, Y:-264.06, Z:-4.88 [[ 7.78900899e-01 -6.27089991e-01 -8.45768139e-03 6.17767550e+02] [-6.27051139e-01 -7.78946805e-01 6.98173322e-03 -2.64057169e+02] [-1.09662589e-02 -1.34679538e-04 -9.99939860e-01 -4.87555266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters 0.054543161067664894 Centerline is valid? [True, True] Translation: X:617.74, Y:-264.16, Z:-4.87 [[ 8.31870031e-01 -5.54909496e-01 -8.22824624e-03 6.17740469e+02] [-5.54879484e-01 -8.31910689e-01 5.77611395e-03 -2.64156360e+02] [-1.00503865e-02 -2.39291055e-04 -9.99949465e-01 -4.87370494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters 0.055645601300658494 Centerline is valid? [True, True] Translation: X:617.73, Y:-264.24, Z:-4.87 [[ 8.75011402e-01 -4.84026014e-01 -8.59445249e-03 6.17734458e+02] [-4.83999440e-01 -8.75053562e-01 5.07993173e-03 -2.64240673e+02] [-9.97942537e-03 -2.85287987e-04 -9.99950164e-01 -4.87324717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters 0.05465492815177657 Centerline is valid? [True, True] Translation: X:617.74, Y:-264.32, Z:-4.88 [[ 9.11384329e-01 -4.11435837e-01 -9.95775977e-03 6.17737078e+02] [-4.11407095e-01 -9.11438661e-01 4.87547959e-03 -2.64322493e+02] [-1.10818342e-02 -3.46742676e-04 -9.99938534e-01 -4.87632314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters 0.05534033047374867 Centerline is valid? [True, True] Translation: X:617.74, Y:-264.41, Z:-4.87 [[ 9.40860771e-01 -3.38630581e-01 -1.05042059e-02 6.17739316e+02] [-3.38605225e-01 -9.40919339e-01 4.15922735e-03 -2.64414525e+02] [-1.12920521e-02 -3.56474837e-04 -9.99936179e-01 -4.87387058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters 0.05483990455572766 Centerline is valid? [True, True] Translation: X:617.75, Y:-264.50, Z:-4.88 [[ 9.64371084e-01 -2.64293596e-01 -1.17178322e-02 6.17752067e+02] [-2.64269262e-01 -9.64442196e-01 3.60658871e-03 -2.64499922e+02] [-1.22543702e-02 -3.81426980e-04 -9.99924840e-01 -4.87635941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters 0.054606468651663645 Centerline is valid? [True, True] Translation: X:617.77, Y:-264.59, Z:-4.88 [[ 9.81532544e-01 -1.90830397e-01 -1.33275746e-02 6.17769465e+02] [-1.90807485e-01 -9.81622948e-01 2.98182462e-03 -2.64589861e+02] [-1.36516759e-02 -3.83756909e-04 -9.99906738e-01 -4.87695114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters 0.053871047876935745 Centerline is valid? [True, True] Translation: X:617.79, Y:-264.68, Z:-4.88 [[ 9.92917359e-01 -1.18000941e-01 -1.38164983e-02 6.17792354e+02] [-1.17984907e-01 -9.93013429e-01 1.97275923e-03 -2.64677024e+02] [-1.39527558e-02 -3.28648612e-04 -9.99902602e-01 -4.87613644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters 0.05437660589589198 Centerline is valid? [True, True] Translation: X:617.82, Y:-264.76, Z:-4.88 [[ 9.98972629e-01 -4.31841759e-02 -1.37409064e-02 6.17823974e+02] [-4.31762212e-02 -9.99067089e-01 8.75175669e-04 -2.64756339e+02] [-1.37658811e-02 -2.80996127e-04 -9.99905206e-01 -4.87625419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters 0.054265245578628635 Centerline is valid? [True, True] Translation: X:617.86, Y:-264.83, Z:-4.88 [[ 9.99467438e-01 2.99620333e-02 -1.29273642e-02 6.17858957e+02] [ 2.99621017e-02 -9.99551018e-01 -1.88424597e-04 -2.64828879e+02] [-1.29272056e-02 -1.99006751e-04 -9.99916420e-01 -4.87705111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters 0.054140443525359176 Centerline is valid? [True, True] Translation: X:617.90, Y:-264.90, Z:-4.88 [[ 9.94763876e-01 1.01493975e-01 -1.19918374e-02 6.17896192e+02] [ 1.01487902e-01 -9.94836148e-01 -1.11545743e-03 -2.64900672e+02] [-1.20431255e-02 -1.07409664e-04 -9.99927473e-01 -4.87843364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters 0.05472798509915548 Centerline is valid? [True, True] Translation: X:617.94, Y:-264.97, Z:-4.88 [[ 9.85082164e-01 1.71676944e-01 -1.18387863e-02 6.17937862e+02] [ 1.71664759e-01 -9.85153301e-01 -2.04542501e-03 -2.64967240e+02] [-1.20141717e-02 -1.73906932e-05 -9.99927827e-01 -4.87945216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters 0.053535019433534475 Centerline is valid? [True, True] Translation: X:617.98, Y:-265.03, Z:-4.88 [[ 9.69580069e-01 2.44479251e-01 -1.20160867e-02 6.17983043e+02] [ 2.44460080e-01 -9.69654523e-01 -3.06178733e-03 -2.65028644e+02] [-1.23999963e-02 3.11944449e-05 -9.99923117e-01 -4.87759331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters 0.05476094628396615 Centerline is valid? [True, True] Translation: X:618.03, Y:-265.09, Z:-4.88 [[ 9.48371950e-01 3.16980305e-01 -1.06831934e-02 6.18034377e+02] [ 3.16959518e-01 -9.48432118e-01 -3.63062122e-03 -2.65088108e+02] [-1.12831191e-02 5.70395079e-05 -9.99936342e-01 -4.87937600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters 0.05426397106751187 Centerline is valid? [True, True] Translation: X:618.09, Y:-265.14, Z:-4.88 [[ 9.20428901e-01 3.90779762e-01 -1.00903690e-02 6.18087928e+02] [ 3.90755711e-01 -9.20484207e-01 -4.33583419e-03 -2.65141004e+02] [-1.09823816e-02 4.79577925e-05 -9.99939691e-01 -4.87920278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters 0.05353656485338028 Centerline is valid? [True, True] Translation: X:618.15, Y:-265.19, Z:-4.88 [[ 8.85670452e-01 4.64202998e-01 -1.01699288e-02 6.18145921e+02] [ 4.64172169e-01 -8.85728839e-01 -5.34980966e-03 -2.65189031e+02] [-1.14911969e-02 1.75704199e-05 -9.99933974e-01 -4.87824426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters 0.05377579710214795 Centerline is valid? [True, True] Translation: X:618.21, Y:-265.23, Z:-4.88 [[ 8.45061638e-01 5.34577130e-01 -9.90553478e-03 6.18206306e+02] [ 5.34540634e-01 -8.45119691e-01 -6.24651855e-03 -2.65234388e+02] [-1.17106085e-02 -1.62176480e-05 -9.99931428e-01 -4.87594750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters 0.05436356204094907 Centerline is valid? [True, True] Translation: X:618.27, Y:-265.27, Z:-4.88 [[ 7.98024336e-01 6.02572645e-01 -7.96029199e-03 6.18268393e+02] [ 6.02543432e-01 -7.98064035e-01 -5.93365220e-03 -2.65270708e+02] [-9.92827924e-03 -6.12228041e-05 -9.99950712e-01 -4.88264661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters 0.05346056223744356 Centerline is valid? [True, True] Translation: X:618.35, Y:-265.32, Z:-4.88 [[ 7.45217090e-01 6.66790243e-01 -6.50081860e-03 6.18346940e+02] [ 6.66766019e-01 -7.45245438e-01 -5.68448592e-03 -2.65319214e+02] [-8.63506515e-03 -9.83488773e-05 -9.99962712e-01 -4.88143088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters 0.052470435272209716 Centerline is valid? [True, True] Translation: X:618.43, Y:-265.36, Z:-4.88 [[ 6.88645799e-01 7.25075937e-01 -5.64354523e-03 6.18425847e+02] [ 7.25052976e-01 -6.88668914e-01 -5.77146656e-03 -2.65359604e+02] [-8.07128569e-03 -1.17373063e-04 -9.99967420e-01 -4.88057424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters 0.0527880308647515 Centerline is valid? [True, True] Translation: X:618.51, Y:-265.39, Z:-4.88 [[ 6.28249056e-01 7.77996753e-01 -4.91691473e-03 6.18509031e+02] [ 7.77974506e-01 -6.28268283e-01 -5.88496943e-03 -2.65393544e+02] [-7.66762868e-03 -1.28007819e-04 -9.99970595e-01 -4.88158995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters 0.05273389676233757 Centerline is valid? [True, True] Translation: X:618.60, Y:-265.43, Z:-4.88 [[ 5.64540341e-01 8.25393264e-01 -4.49034213e-03 6.18598013e+02] [ 8.25369071e-01 -5.64558182e-01 -6.32102757e-03 -2.65425471e+02] [-7.75239297e-03 -1.37714451e-04 -9.99969940e-01 -4.87808985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters 0.05195688690137218 Centerline is valid? [True, True] Translation: X:618.68, Y:-265.44, Z:-4.88 [[ 4.99689942e-01 8.66192835e-01 -4.46490236e-03 6.18679911e+02] [ 8.66160669e-01 -4.99709870e-01 -7.46597227e-03 -2.65443096e+02] [-8.69812746e-03 -1.36651571e-04 -9.99962161e-01 -4.87966885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters 0.05274139216215543 Centerline is valid? [True, True] Translation: X:618.77, Y:-265.46, Z:-4.88 [[ 4.31673357e-01 9.02019838e-01 -4.28071121e-03 6.18769773e+02] [ 9.01978543e-01 -4.31694561e-01 -8.63213569e-03 -2.65459262e+02] [-9.63431739e-03 -1.34846668e-04 -9.99953580e-01 -4.87672707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters 0.05200568786496543 Centerline is valid? [True, True] Translation: X:618.85, Y:-265.46, Z:-4.88 [[ 3.62823734e-01 9.31850753e-01 -3.62118831e-03 6.18848608e+02] [ 9.31807169e-01 -3.62841790e-01 -9.01304435e-03 -2.65462674e+02] [-9.71273061e-03 -1.04102822e-04 -9.99952825e-01 -4.87626462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters 0.05180250168161341 Centerline is valid? [True, True] Translation: X:618.92, Y:-265.46, Z:-4.88 [[ 2.93529793e-01 9.55945463e-01 -2.92099617e-03 6.18923037e+02] [ 9.55900021e-01 -2.93544321e-01 -9.32097646e-03 -2.65460478e+02] [-9.76778700e-03 -5.61960114e-05 -9.99952292e-01 -4.87518792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters 0.05201101938819836 Centerline is valid? [True, True] Translation: X:619.00, Y:-265.45, Z:-4.88 [[ 2.20657053e-01 9.75349231e-01 -2.08408322e-03 6.19001259e+02] [ 9.75306920e-01 -2.20666893e-01 -9.08480862e-03 -2.65452141e+02] [-9.32074927e-03 -2.79936889e-05 -9.99956560e-01 -4.87656717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters 0.05205291887194949 Centerline is valid? [True, True] Translation: X:619.07, Y:-265.44, Z:-4.87 [[ 1.46087633e-01 9.89270455e-01 -1.53940431e-03 6.19073459e+02] [ 9.89215715e-01 -1.46095743e-01 -1.04068399e-02 -2.65438727e+02] [-1.05200797e-02 -2.49232624e-06 -9.99944662e-01 -4.87413635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters 0.051992610957959276 Centerline is valid? [True, True] Translation: X:619.15, Y:-265.42, Z:-4.88 [[ 6.91200387e-02 9.97608065e-01 -7.54431833e-04 6.19148729e+02] [ 9.97547308e-01 -6.91241553e-02 -1.10100034e-02 -2.65419973e+02] [-1.10358177e-02 8.43041998e-06 -9.99939103e-01 -4.87559667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters 0.051914282989942655 Centerline is valid? [True, True] Translation: X:619.23, Y:-265.40, Z:-4.88 [[-1.30321020e-02 9.99915074e-01 9.51407058e-05 6.19233627e+02] [ 9.99866401e-01 1.30324064e-02 -9.86597597e-03 -2.65395488e+02] [-9.86637801e-03 -3.34464104e-05 -9.99951326e-01 -4.87712300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters 0.051455681124368435 Centerline is valid? [True, True] Translation: X:619.32, Y:-265.37, Z:-4.88 [[-9.51112658e-02 9.95466210e-01 9.33323229e-04 6.19315285e+02] [ 9.95410189e-01 9.51158151e-02 -1.05611028e-02 -2.65365763e+02] [-1.06019948e-02 -7.54404078e-05 -9.99943794e-01 -4.87598047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters 0.05155102745318772 Centerline is valid? [True, True] Translation: X:619.39, Y:-265.33, Z:-4.87 [[-1.74461614e-01 9.84662444e-01 1.73689029e-03 6.19390149e+02] [ 9.84608163e-01 1.74470234e-01 -1.03393880e-02 -2.65330202e+02] [-1.04838427e-02 -9.36699541e-05 -9.99945039e-01 -4.87488498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters 0.05226313395089022 Centerline is valid? [True, True] Translation: X:619.47, Y:-265.29, Z:-4.88 [[-2.51732019e-01 9.67794074e-01 2.37081100e-03 6.19467174e+02] [ 9.67747461e-01 2.51743164e-01 -9.49903734e-03 -2.65287005e+02] [-9.78994751e-03 -9.68655185e-05 -9.99952073e-01 -4.87659372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters 0.05227296248936452 Centerline is valid? [True, True] Translation: X:619.53, Y:-265.24, Z:-4.88 [[-3.25867685e-01 9.45408241e-01 3.67557308e-03 6.19534716e+02] [ 9.45344602e-01 3.25888398e-01 -1.09697789e-02 -2.65240957e+02] [-1.15687460e-02 -1.00013280e-04 -9.99933075e-01 -4.88069347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters 0.051865872114202745 Centerline is valid? [True, True] Translation: X:619.61, Y:-265.19, Z:-4.88 [[-3.96525691e-01 9.18009797e-01 5.03869080e-03 6.19605673e+02] [ 9.17933232e-01 3.96557696e-01 -1.18564380e-02 -2.65185967e+02] [-1.28824578e-02 -7.62005359e-05 -9.99917015e-01 -4.87561851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters 0.05217473721963108 Centerline is valid? [True, True] Translation: X:619.67, Y:-265.13, Z:-4.88 [[-4.65102621e-01 8.85238777e-01 5.64441856e-03 6.19667675e+02] [ 8.85172408e-01 4.65136868e-01 -1.08398611e-02 -2.65127693e+02] [-1.22212926e-02 -4.53642554e-05 -9.99925316e-01 -4.87619100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters 0.05243641757885568 Centerline is valid? [True, True] Translation: X:619.73, Y:-265.06, Z:-4.88 [[-5.30973380e-01 8.47365492e-01 6.24443035e-03 6.19727282e+02] [ 8.47306518e-01 5.31010097e-01 -9.99704347e-03 -2.65062831e+02] [-1.17870052e-02 -1.72174275e-05 -9.99930531e-01 -4.87782062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters 0.05221546264023932 Centerline is valid? [True, True] Translation: X:619.78, Y:-264.99, Z:-4.88 [[-5.93548302e-01 8.04774589e-01 6.18657665e-03 6.19781264e+02] [ 8.04731040e-01 5.93580543e-01 -8.37218247e-03 -2.64993930e+02] [-1.04099512e-02 9.23556997e-06 -9.99945815e-01 -4.87854387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters 0.05185797022931088 Centerline is valid? [True, True] Translation: X:619.83, Y:-264.93, Z:-4.88 [[-6.54323731e-01 7.56191065e-01 5.96052109e-03 6.19826487e+02] [ 7.56159823e-01 6.54350879e-01 -6.87379816e-03 -2.64925729e+02] [-9.09817697e-03 9.41730882e-06 -9.99958611e-01 -4.87725484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters 0.05147358182996533 Centerline is valid? [True, True] Translation: X:619.86, Y:-264.86, Z:-4.88 [[-7.12528179e-01 7.01615761e-01 6.23845436e-03 6.19857845e+02] [ 7.01588813e-01 7.12555488e-01 -6.14935683e-03 -2.64862266e+02] [-8.75973056e-03 -4.76023110e-06 -9.99961633e-01 -4.87615132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters 0.051791788124415684 Centerline is valid? [True, True] Translation: X:619.91, Y:-264.80, Z:-4.88 [[-7.62888509e-01 6.46491205e-01 7.08842634e-03 6.19909068e+02] [ 6.46462862e-01 7.62921438e-01 -6.05362751e-03 -2.64800896e+02] [-9.32152936e-03 -3.58384877e-05 -9.99956553e-01 -4.87838279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters 0.05210973215450227 Centerline is valid? [True, True] Translation: X:620.35, Y:-264.29, Z:-5.85 [[-7.12868102e-01 -7.01261330e-01 7.18438929e-03 6.20348535e+02] [ 7.01226881e-01 -7.12904299e-01 -6.95135924e-03 -2.64290419e+02] [ 9.99650144e-03 8.24846255e-05 9.99950030e-01 -5.85477060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters 0.05185928936470598 Centerline is valid? [True, True] Translation: X:619.85, Y:-264.75, Z:-4.88 [[-7.69211112e-01 6.38950242e-01 7.54007508e-03 6.19848143e+02] [ 6.38918251e-01 7.69248060e-01 -6.39454529e-03 -2.64749894e+02] [-9.88598439e-03 -1.01263706e-04 -9.99951127e-01 -4.87718466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters 0.05150660458719717 Centerline is valid? [True, True] Translation: X:620.29, Y:-264.25, Z:-5.85 [[-7.10848509e-01 -7.03329768e-01 4.65137018e-03 6.20286295e+02] [ 7.03313405e-01 -7.10863713e-01 -4.79962143e-03 -2.64247682e+02] [ 6.68220691e-03 -1.40432737e-04 9.99977664e-01 -5.85367349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters 0.050703548676122846 Centerline is valid? [True, True] Translation: X:619.74, Y:-264.66, Z:-4.88 [[-7.76182071e-01 6.30493286e-01 4.42813491e-03 6.19736228e+02] [ 6.30482209e-01 7.76194695e-01 -3.73899188e-03 -2.64657629e+02] [-5.79450410e-03 -1.10278187e-04 -9.99983206e-01 -4.88065932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters 0.05087335617375059 Centerline is valid? [True, True] Translation: X:619.86, Y:-264.66, Z:-4.88 [[-8.20190752e-01 5.72073428e-01 4.37315612e-03 6.19864450e+02] [ 5.72064539e-01 8.20202402e-01 -3.19118835e-03 -2.64655838e+02] [-5.41246721e-03 -1.15655631e-04 -9.99985346e-01 -4.88056189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters 0.05179736769039594 Centerline is valid? [True, True] Translation: X:619.92, Y:-264.58, Z:-4.88 [[-8.57859084e-01 5.13865067e-01 4.52605947e-03 6.19916410e+02] [ 5.13857223e-01 8.57871016e-01 -2.84151739e-03 -2.64579550e+02] [-5.34293175e-03 -1.11873152e-04 -9.99985720e-01 -4.87932149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters 0.05095204702421706 Centerline is valid? [True, True] Translation: X:619.92, Y:-264.49, Z:-4.88 [[-8.92622217e-01 4.50769970e-01 5.65788554e-03 6.19915330e+02] [ 4.50759823e-01 8.92640135e-01 -3.02830737e-03 -2.64489622e+02] [-6.41552574e-03 -1.52786956e-04 -9.99979409e-01 -4.87990514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters 0.051520519940745864 Centerline is valid? [True, True] Translation: X:619.89, Y:-264.39, Z:-4.88 [[-9.22301819e-01 3.86413666e-01 6.62065298e-03 6.19891473e+02] [ 3.86402389e-01 9.22325566e-01 -2.95701813e-03 -2.64390253e+02] [-7.24902972e-03 -1.69027071e-04 -9.99973711e-01 -4.88012557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters 0.05168189933281218 Centerline is valid? [True, True] Translation: X:619.85, Y:-264.28, Z:-4.88 [[-9.46812647e-01 3.21708508e-01 7.03189252e-03 6.19854601e+02] [ 3.21698375e-01 9.46838746e-01 -2.55840566e-03 -2.64283175e+02] [-7.48112916e-03 -1.60182439e-04 -9.99972003e-01 -4.87732294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters 0.0509907931948383 Centerline is valid? [True, True] Translation: X:620.03, Y:-263.64, Z:-5.85 [[-9.08950252e-01 -4.16878860e-01 4.63201892e-03 6.20027989e+02] [ 4.16873268e-01 -9.08962054e-01 -2.15945465e-03 -2.63643255e+02] [ 5.11056042e-03 -3.18719852e-05 9.99986940e-01 -5.85188282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters 0.0513680219013396 Centerline is valid? [True, True] Translation: X:619.71, Y:-264.24, Z:-4.88 [[-9.47141082e-01 3.20788721e-01 4.28578836e-03 6.19710045e+02] [ 3.20784993e-01 9.47150774e-01 -1.54942049e-03 -2.64242298e+02] [-4.55632438e-03 -9.27032082e-05 -9.99989616e-01 -4.88225245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters 0.05199652823212677 Centerline is valid? [True, True] Translation: X:619.71, Y:-264.15, Z:-4.88 [[-9.67662714e-01 2.52210081e-01 4.35291381e-03 6.19705296e+02] [ 2.52207089e-01 9.67672499e-01 -1.23225430e-03 -2.64150384e+02] [-4.52298194e-03 -9.45708183e-05 -9.99989767e-01 -4.88130188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters 0.05132767026196347 Centerline is valid? [True, True] Translation: X:619.65, Y:-264.06, Z:-4.88 [[-9.83364155e-01 1.81584170e-01 4.70407298e-03 6.19652813e+02] [ 1.81581578e-01 9.83375400e-01 -9.75907535e-04 -2.64059070e+02] [-4.80307901e-03 -1.05499491e-04 -9.99988460e-01 -4.88169864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters 0.05101602070645298 Centerline is valid? [True, True] Translation: X:619.76, Y:-263.40, Z:-5.85 [[-9.58671414e-01 -2.84454332e-01 5.90364203e-03 6.19757737e+02] [ 2.84450323e-01 -9.58689567e-01 -1.52570222e-03 -2.63404842e+02] [ 6.09375263e-03 2.16645779e-04 9.99981409e-01 -5.85190027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters 0.052100517226062334 Centerline is valid? [True, True] Translation: X:619.53, Y:-264.03, Z:-4.88 [[-9.85072933e-01 1.71959906e-01 7.81714014e-03 6.19527826e+02] [ 1.71952793e-01 9.85103927e-01 -1.57815433e-03 -2.64029476e+02] [-7.97207472e-03 -2.10418032e-04 -9.99968200e-01 -4.87964738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters 0.05159510579021322 Centerline is valid? [True, True] Translation: X:619.53, Y:-263.94, Z:-4.88 [[-9.94969246e-01 9.98594371e-02 8.01829638e-03 6.19530828e+02] [ 9.98543588e-02 9.95001528e-01 -1.03220327e-03 -2.63944929e+02] [-8.08129239e-03 -2.26348662e-04 -9.99967320e-01 -4.87967085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters 0.05109130550562327 Centerline is valid? [True, True] Translation: X:619.60, Y:-263.30, Z:-5.85 [[-9.75896184e-01 -2.18144838e-01 6.28237053e-03 6.19601976e+02] [ 2.18140792e-01 -9.75916402e-01 -1.33053040e-03 -2.63302607e+02] [ 6.42131678e-03 7.19817421e-05 9.99979381e-01 -5.85082044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters 0.051118822429204236 Centerline is valid? [True, True] Translation: X:619.41, Y:-263.94, Z:-4.88 [[-9.95545942e-01 9.40221663e-02 6.93616368e-03 6.19410371e+02] [ 9.40183922e-02 9.95570081e-01 -8.68917261e-04 -2.63936070e+02] [-6.98713452e-03 -2.12920095e-04 -9.99975567e-01 -4.88303436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters 0.052407595431827776 Centerline is valid? [True, True] Translation: X:619.35, Y:-263.84, Z:-4.88 [[-9.99700409e-01 2.30938549e-02 8.10965393e-03 6.19352353e+02] [ 2.30911170e-02 9.99733272e-01 -4.31086152e-04 -2.63842299e+02] [-8.11744629e-03 -2.43696035e-04 -9.99967023e-01 -4.88141079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters 0.05196413281971521 Centerline is valid? [True, True] Translation: X:619.35, Y:-263.20, Z:-5.85 [[-9.89663863e-01 -1.43163737e-01 8.34167625e-03 6.19346269e+02] [ 1.43160935e-01 -9.89698981e-01 -9.35240233e-04 -2.63201734e+02] [ 8.38964096e-03 2.68628706e-04 9.99964770e-01 -5.85124968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters 0.05188921050139462 Centerline is valid? [True, True] Translation: X:619.14, Y:-263.84, Z:-4.88 [[-9.99633424e-01 2.56544266e-02 8.65263962e-03 6.19141127e+02] [ 2.56516938e-02 9.99670850e-01 -4.26691068e-04 -2.63837504e+02] [-8.66073812e-03 -2.04579792e-04 -9.99962474e-01 -4.88316739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters 0.052096955635503914 Centerline is valid? [True, True] Translation: X:619.04, Y:-263.76, Z:-4.88 [[-9.99105085e-01 -4.15633082e-02 7.84350523e-03 6.19035736e+02] [-4.15632588e-02 9.99135860e-01 1.69374198e-04 -2.63758785e+02] [-7.84376710e-03 -1.56779015e-04 -9.99969225e-01 -4.88442650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters 0.051903181954351896 Centerline is valid? [True, True] Translation: X:618.99, Y:-263.68, Z:-4.88 [[-9.94230645e-01 -1.06988325e-01 7.67609023e-03 6.18988658e+02] [-1.06985998e-01 9.94260271e-01 7.14368800e-04 -2.63684577e+02] [-7.70846067e-03 -1.10986817e-04 -9.99970283e-01 -4.88468284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters 0.05246334931969591 Centerline is valid? [True, True] Translation: X:618.77, Y:-263.63, Z:-4.88 [[-9.84851041e-01 -1.73193136e-01 8.51851683e-03 6.18771887e+02] [-1.73187409e-01 9.84887877e-01 1.41107734e-03 -2.63634185e+02] [-8.63417286e-03 -8.55988700e-05 -9.99962721e-01 -4.88265463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters 0.05226741791222086 Centerline is valid? [True, True] Translation: X:618.69, Y:-263.57, Z:-4.88 [[-9.70491335e-01 -2.40953501e-01 9.37966955e-03 6.18691777e+02] [-2.40942981e-01 9.70536658e-01 2.25278352e-03 -2.63574782e+02] [-9.64612921e-03 -7.36586606e-05 -9.99953472e-01 -4.88392525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters 0.05244384328220528 Centerline is valid? [True, True] Translation: X:618.60, Y:-263.52, Z:-4.88 [[-9.51449144e-01 -3.07648040e-01 9.85955288e-03 6.18603037e+02] [-3.07632134e-01 9.51500226e-01 3.12880637e-03 -2.63519156e+02] [-1.03439379e-02 -5.62151553e-05 -9.99946498e-01 -4.88313991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters 0.05259392324251252 Centerline is valid? [True, True] Translation: X:618.49, Y:-263.48, Z:-4.88 [[-9.27358469e-01 -3.74057363e-01 9.34666000e-03 6.18494205e+02] [-3.74038878e-01 9.27405568e-01 3.71900418e-03 -2.63477239e+02] [-1.00592654e-02 -4.71641935e-05 -9.99949403e-01 -4.88282788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters 0.05239387248187528 Centerline is valid? [True, True] Translation: X:618.38, Y:-263.45, Z:-4.88 [[-8.99213887e-01 -4.37417561e-01 8.95893700e-03 6.18376908e+02] [-4.37396099e-01 8.99258515e-01 4.33307370e-03 -2.63445771e+02] [-9.95176291e-03 -2.22440554e-05 -9.99950480e-01 -4.88451461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters 0.05260361142585099 Centerline is valid? [True, True] Translation: X:618.21, Y:-263.45, Z:-4.88 [[-8.67014843e-01 -4.98215094e-01 8.18424994e-03 6.18213463e+02] [-4.98192865e-01 8.67053470e-01 4.70629538e-03 -2.63447362e+02] [-9.44092971e-03 3.09302510e-06 -9.99955433e-01 -4.88442170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters 0.05382523763448361 Centerline is valid? [True, True] Translation: X:618.32, Y:-263.29, Z:-4.89 [[-8.27417556e-01 -5.61542174e-01 7.11160709e-03 6.18317296e+02] [-5.61521360e-01 8.27448117e-01 4.83483593e-03 -2.63285044e+02] [-8.59945017e-03 7.10883893e-06 -9.99963024e-01 -4.88569220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters 0.05350691420104443 Centerline is valid? [True, True] Translation: X:618.14, Y:-263.30, Z:-4.89 [[-7.84114432e-01 -6.20585929e-01 6.13693624e-03 6.18140260e+02] [-6.20566933e-01 7.84138447e-01 4.85561062e-03 -2.63298980e+02] [-7.82553128e-03 -1.02533824e-06 -9.99969380e-01 -4.88641836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters 0.05292730465067206 Centerline is valid? [True, True] Translation: X:617.41, Y:-263.81, Z:-4.88 [[-7.36631192e-01 -6.76275313e-01 5.11740277e-03 6.17406462e+02] [-6.76259175e-01 7.36648967e-01 4.67202584e-03 -2.63812230e+02] [-6.92930521e-03 -1.91306085e-05 -9.99975992e-01 -4.88408042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters 0.0527696299600033 Centerline is valid? [True, True] Translation: X:617.25, Y:-263.85, Z:-4.88 [[-6.82261250e-01 -7.31090382e-01 5.14206909e-03 6.17254234e+02] [-7.31070149e-01 6.82280625e-01 5.43934691e-03 -2.63849953e+02] [-7.48498833e-03 -4.81575917e-05 -9.99971986e-01 -4.88472516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters 0.05296467083564575 Centerline is valid? [True, True] Translation: X:617.08, Y:-263.93, Z:-4.88 [[-6.23883694e-01 -7.81502804e-01 4.74374310e-03 6.17075592e+02] [-7.81481145e-01 6.23901724e-01 5.81889055e-03 -2.63932613e+02] [-7.50710878e-03 -7.68348605e-05 -9.99971818e-01 -4.88455316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters 0.05358888730500802 Centerline is valid? [True, True] Translation: X:616.92, Y:-264.01, Z:-4.88 [[-5.63132579e-01 -8.26352994e-01 4.73573144e-03 6.16915219e+02] [-8.26325247e-01 5.63152483e-01 6.77245943e-03 -2.64010942e+02] [-8.26338105e-03 -9.94619056e-05 -9.99965853e-01 -4.88195994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters 0.05331478025815497 Centerline is valid? [True, True] Translation: X:616.74, Y:-264.14, Z:-4.88 [[-4.99512057e-01 -8.66293727e-01 4.78364104e-03 6.16740754e+02] [-8.66256405e-01 4.99534946e-01 8.04233573e-03 -2.64143772e+02] [-9.35662086e-03 -1.26616030e-04 -9.99956218e-01 -4.88477119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters 0.05368157143235588 Centerline is valid? [True, True] Translation: X:616.59, Y:-264.25, Z:-4.88 [[-4.33794986e-01 -9.01001273e-01 4.31460564e-03 6.16589796e+02] [-9.00959765e-01 4.33816421e-01 8.64955931e-03 -2.64254250e+02] [-9.66501073e-03 -1.35150625e-04 -9.99953284e-01 -4.88330555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters 0.05325632893444271 Centerline is valid? [True, True] Translation: X:616.44, Y:-264.41, Z:-4.89 [[-3.66746596e-01 -9.30314027e-01 3.57024809e-03 6.16438018e+02] [-9.30273270e-01 3.66763951e-01 8.70901732e-03 -2.64405486e+02] [-9.41155927e-03 -1.27303914e-04 -9.99955702e-01 -4.88593011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters 0.05356565927683069 Centerline is valid? [True, True] Translation: X:616.29, Y:-264.58, Z:-4.89 [[-2.98722953e-01 -9.54334880e-01 3.08764169e-03 6.16291546e+02] [-9.54287903e-01 2.98738886e-01 9.46978541e-03 -2.64577989e+02] [-9.95974517e-03 -1.17656853e-04 -9.99950394e-01 -4.88517568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters 0.053519943515191966 Centerline is valid? [True, True] Translation: X:616.15, Y:-264.79, Z:-4.89 [[-2.28979703e-01 -9.73428455e-01 2.31078498e-03 6.16153079e+02] [-9.73383283e-01 2.28991339e-01 9.37824032e-03 -2.64786453e+02] [-9.65819573e-03 -1.01852793e-04 -9.99953353e-01 -4.88564203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters 0.05415359772354656 Centerline is valid? [True, True] Translation: X:616.03, Y:-264.98, Z:-4.89 [[-1.58281239e-01 -9.87392544e-01 1.73597343e-03 6.16034920e+02] [-9.87339177e-01 1.58290734e-01 1.02661621e-02 -2.64983880e+02] [-1.04115205e-02 -8.90537116e-05 -9.99945795e-01 -4.88602008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters 0.05417616154646118 Centerline is valid? [True, True] Translation: X:615.93, Y:-265.24, Z:-4.89 [[-8.78226867e-02 -9.96135598e-01 1.02325843e-03 6.15927394e+02] [-9.96076070e-01 8.78286253e-02 1.08901493e-02 -2.65239141e+02] [-1.09379368e-02 -6.28410672e-05 -9.99940177e-01 -4.88633350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters 0.053377206994836 Centerline is valid? [True, True] Translation: X:615.84, Y:-265.45, Z:-4.89 [[-1.60553832e-02 -9.99871084e-01 1.99743124e-04 6.15842894e+02] [-9.99819652e-01 1.60565833e-02 1.01415259e-02 -2.65450250e+02] [-1.01434257e-02 -3.68810160e-05 -9.99948553e-01 -4.88658888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters 0.0539833405441015 Centerline is valid? [True, True] Translation: X:615.76, Y:-265.15, Z:-4.89 [[ 5.46148939e-02 -9.98507343e-01 -5.47870439e-04 6.15758334e+02] [-9.98459429e-01 -5.46176403e-02 9.78173437e-03 -2.65146356e+02] [-9.79705699e-03 1.27980204e-05 -9.99952008e-01 -4.88829219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters 0.05416382953749752 Centerline is valid? [True, True] Translation: X:615.77, Y:-266.12, Z:-4.89 [[ 1.21414871e-01 -9.92601046e-01 -1.26192102e-03 6.15771748e+02] [-9.92552062e-01 -1.21421416e-01 9.86121730e-03 -2.66116860e+02] [-9.94147884e-03 5.52238828e-05 -9.99950581e-01 -4.88601476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters 0.05425050610033122 Centerline is valid? [True, True] Translation: X:615.75, Y:-266.37, Z:-4.89 [[ 1.89581559e-01 -9.81863165e-01 -1.88637959e-03 6.15746532e+02] [-9.81819663e-01 -1.89590917e-01 9.24301410e-03 -2.66374585e+02] [-9.43301551e-03 9.97795585e-05 -9.99955503e-01 -4.88576049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters 0.05459953999864764 Centerline is valid? [True, True] Translation: X:615.73, Y:-266.60, Z:-4.89 [[ 2.58710571e-01 -9.65951439e-01 -2.58036174e-03 6.15727813e+02] [-9.65908202e-01 -2.58723408e-01 9.14018816e-03 -2.66603417e+02] [-9.49657788e-03 1.27729274e-04 -9.99954898e-01 -4.88743391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters 0.05450150735524131 Centerline is valid? [True, True] Translation: X:615.55, Y:-266.32, Z:-4.89 [[ 3.26698846e-01 -9.45123286e-01 -3.13675841e-03 6.15550481e+02] [-9.45084337e-01 -3.26713864e-01 8.58177801e-03 -2.66319038e+02] [-9.13566069e-03 1.60844270e-04 -9.99958256e-01 -4.88920228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters 0.054159996178334405 Centerline is valid? [True, True] Translation: X:615.77, Y:-267.05, Z:-4.89 [[ 3.88707660e-01 -9.21353954e-01 -3.63972274e-03 6.15768962e+02] [-9.21318447e-01 -3.88724644e-01 8.09132065e-03 -2.67045259e+02] [-8.86982020e-03 2.08185387e-04 -9.99960641e-01 -4.88804680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters 0.05517901111678632 Centerline is valid? [True, True] Translation: X:615.80, Y:-267.27, Z:-4.89 [[ 4.52117461e-01 -8.91949553e-01 -3.97447012e-03 6.15799184e+02] [-8.91919436e-01 -4.52134872e-01 7.33335410e-03 -2.67272117e+02] [-8.33797844e-03 2.29369710e-04 -9.99965212e-01 -4.88847793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters 0.055550561883054336 Centerline is valid? [True, True] Translation: X:615.61, Y:-267.12, Z:-4.89 [[ 5.13756621e-01 -8.57925862e-01 -4.16521027e-03 6.15607037e+02] [-8.57901405e-01 -5.13773448e-01 6.48251175e-03 -2.67123614e+02] [-7.70148892e-03 2.42906408e-04 -9.99970314e-01 -4.89148467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters 0.055675120241522234 Centerline is valid? [True, True] Translation: X:615.95, Y:-267.73, Z:-4.89 [[ 5.74061299e-01 -8.18800146e-01 -4.46603727e-03 6.15954767e+02] [-8.18778546e-01 -5.74078621e-01 5.95220531e-03 -2.67732177e+02] [-7.43752310e-03 2.39764793e-04 -9.99972313e-01 -4.88878606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters 0.055529085746448256 Centerline is valid? [True, True] Translation: X:615.66, Y:-267.51, Z:-4.89 [[ 6.35012734e-01 -7.72485507e-01 -4.99690905e-03 6.15655390e+02] [-7.72464372e-01 -6.35032353e-01 5.71882737e-03 -2.67510165e+02] [-7.59091018e-03 2.28406006e-04 -9.99971163e-01 -4.88982609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters 0.0550358381970548 Centerline is valid? [True, True] Translation: X:616.00, Y:-267.98, Z:-4.89 [[ 6.92385932e-01 -7.21508951e-01 -5.15306186e-03 6.15997397e+02] [-7.21490969e-01 -6.92405082e-01 5.09749140e-03 -2.67978689e+02] [-7.24589189e-03 1.88456260e-04 -9.99973730e-01 -4.88836055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters 0.0553391991026488 Centerline is valid? [True, True] Translation: X:615.97, Y:-268.06, Z:-4.89 [[ 7.48805944e-01 -6.62772128e-01 -4.77122076e-03 6.15969990e+02] [-6.62759841e-01 -7.48821131e-01 4.03809839e-03 -2.68059088e+02] [-6.24912999e-03 1.38421440e-04 -9.99980464e-01 -4.88822913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters 0.05558540856234881 Centerline is valid? [True, True] Translation: X:615.95, Y:-268.14, Z:-4.89 [[ 7.99691678e-01 -6.00391689e-01 -4.79993415e-03 6.15951402e+02] [-6.00381741e-01 -7.99706075e-01 3.45814175e-03 -2.68138373e+02] [-5.91477606e-03 1.16345640e-04 -9.99982501e-01 -4.88820709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters 0.05477322168351047 Centerline is valid? [True, True] Translation: X:615.94, Y:-268.23, Z:-4.89 [[ 8.47095313e-01 -5.31424330e-01 -4.20857093e-03 6.15935126e+02] [-5.31418161e-01 -8.47105765e-01 2.56162939e-03 -2.68226079e+02] [-4.92641688e-03 6.65667738e-05 -9.99987863e-01 -4.88839126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters 0.05471164578959498 Centerline is valid? [True, True] Translation: X:615.91, Y:-268.34, Z:-4.89 [[ 8.88501741e-01 -4.58850061e-01 -4.61270362e-03 6.15914671e+02] [-4.58844130e-01 -8.88513714e-01 2.33343976e-03 -2.68337864e+02] [-5.16914940e-03 4.32466913e-05 -9.99986639e-01 -4.88865279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters 0.05410710486123897 Centerline is valid? [True, True] Translation: X:615.91, Y:-268.43, Z:-4.89 [[ 9.24000637e-01 -3.82358916e-01 -4.94806524e-03 6.15912827e+02] [-3.82353508e-01 -9.24013885e-01 2.03355397e-03 -2.68429067e+02] [-5.34962848e-03 1.29049438e-05 -9.99985691e-01 -4.88783441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters 0.054452721243192545 Centerline is valid? [True, True] Translation: X:615.92, Y:-268.52, Z:-4.89 [[ 9.53023364e-01 -3.02829585e-01 -6.38042410e-03 6.15920014e+02] [-3.02822645e-01 -9.53044722e-01 2.05030112e-03 -2.68518163e+02] [-6.70172135e-03 -2.18479740e-05 -9.99977543e-01 -4.88679153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters 0.05417318725623852 Centerline is valid? [True, True] Translation: X:615.93, Y:-268.61, Z:-4.89 [[ 9.75662773e-01 -2.19131885e-01 -7.96048575e-03 6.15933969e+02] [-2.19123825e-01 -9.75695244e-01 1.88172569e-03 -2.68606398e+02] [-8.17935418e-03 -9.15976221e-05 -9.99966544e-01 -4.88582541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters 0.05450746394911585 Centerline is valid? [True, True] Translation: X:615.95, Y:-268.69, Z:-4.89 [[ 9.90700114e-01 -1.35807898e-01 -8.33664648e-03 6.15954639e+02] [-1.35801830e-01 -9.90735178e-01 1.29238752e-03 -2.68693429e+02] [-8.43492536e-03 -1.48236613e-04 -9.99964414e-01 -4.88543529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters 0.05398138480755126 Centerline is valid? [True, True] Translation: X:615.98, Y:-268.77, Z:-4.89 [[ 9.98459094e-01 -5.49474853e-02 -7.75959732e-03 6.15984067e+02] [-5.49445668e-02 -9.98489233e-01 5.88960358e-04 -2.68772667e+02] [-7.78023626e-03 -1.61705113e-04 -9.99969720e-01 -4.88663616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters 0.05448905280349494 Centerline is valid? [True, True] Translation: X:616.02, Y:-268.85, Z:-4.89 [[ 9.99625617e-01 2.65603449e-02 -6.57061661e-03 6.16020026e+02] [ 2.65608315e-02 -9.99647199e-01 -1.32102010e-05 -2.68854484e+02] [-6.56864936e-03 -1.61315785e-04 -9.99978413e-01 -4.88854881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters 0.05432018478791216 Centerline is valid? [True, True] Translation: X:616.06, Y:-268.94, Z:-4.89 [[ 9.94132611e-01 1.07940536e-01 -7.01379927e-03 6.16056048e+02] [ 1.07939226e-01 -9.94157333e-01 -5.66094283e-04 -2.68940982e+02] [-7.03392449e-03 -1.94291279e-04 -9.99975243e-01 -4.88758243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters 0.05438381866256617 Centerline is valid? [True, True] Translation: X:616.10, Y:-269.02, Z:-4.89 [[ 9.82132906e-01 1.88023718e-01 -7.87630773e-03 6.16099337e+02] [ 1.88019616e-01 -9.82164459e-01 -1.26463675e-03 -2.69015773e+02] [-7.97361122e-03 -2.38858992e-04 -9.99968182e-01 -4.88714325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters 0.054508896912656216 Centerline is valid? [True, True] Translation: X:616.15, Y:-269.09, Z:-4.89 [[ 9.63558100e-01 2.67339274e-01 -9.24661189e-03 6.16148701e+02] [ 2.67330050e-01 -9.63602416e-01 -2.24238415e-03 -2.69091201e+02] [-9.50953491e-03 -3.11229811e-04 -9.99954735e-01 -4.88661316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters 0.0558899926828011 Centerline is valid? [True, True] Translation: X:616.21, Y:-269.17, Z:-4.88 [[ 9.39389228e-01 3.42710881e-01 -9.85550509e-03 6.16205972e+02] [ 3.42695865e-01 -9.39440862e-01 -3.22672230e-03 -2.69172326e+02] [-1.03644970e-02 -3.46292678e-04 -9.99946227e-01 -4.88353961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters 0.05388707868620895 Centerline is valid? [True, True] Translation: X:616.26, Y:-269.23, Z:-4.89 [[ 9.10449613e-01 4.13506189e-01 -9.70228216e-03 6.16262028e+02] [ 4.13486565e-01 -9.10501248e-01 -4.04213977e-03 -2.69228230e+02] [-1.05053898e-02 -3.31598726e-04 -9.99944762e-01 -4.88535691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters 0.054835544523819384 Centerline is valid? [True, True] Translation: X:616.33, Y:-269.29, Z:-4.89 [[ 8.76778180e-01 4.80813638e-01 -8.84695761e-03 6.16325718e+02] [ 4.80792409e-01 -8.76822767e-01 -4.52711025e-03 -2.69286301e+02] [-9.93391020e-03 -2.84278570e-04 -9.99950617e-01 -4.88514329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters 0.05360475308479977 Centerline is valid? [True, True] Translation: X:616.39, Y:-269.34, Z:-4.89 [[ 8.38322712e-01 5.45111364e-01 -8.28441246e-03 6.16393162e+02] [ 5.45087620e-01 -8.38363609e-01 -5.09372231e-03 -2.69340823e+02] [-9.72199585e-03 -2.45547572e-04 -9.99952710e-01 -4.88701767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters 0.05452569250430903 Centerline is valid? [True, True] Translation: X:616.47, Y:-269.39, Z:-4.89 [[ 7.93560649e-01 6.08438953e-01 -7.97106760e-03 6.16465892e+02] [ 6.08411287e-01 -7.93600644e-01 -5.80714877e-03 -2.69393448e+02] [-9.85913989e-03 -2.41362756e-04 -9.99951368e-01 -4.88624538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters 0.053849710079935116 Centerline is valid? [True, True] Translation: X:616.54, Y:-269.44, Z:-4.89 [[ 7.43531829e-01 6.68659555e-01 -7.40398832e-03 6.16540442e+02] [ 6.68629567e-01 -7.43568654e-01 -6.33716190e-03 -2.69435225e+02] [-9.74277748e-03 -2.38643923e-04 -9.99952510e-01 -4.88653673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters 0.05347713784457953 Centerline is valid? [True, True] Translation: X:616.62, Y:-269.47, Z:-4.89 [[ 6.88762226e-01 7.24957182e-01 -6.60916664e-03 6.16617152e+02] [ 7.24926999e-01 -6.88793896e-01 -6.61930124e-03 -2.69470939e+02] [-9.35106361e-03 -2.32038683e-04 -9.99956251e-01 -4.88657136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters 0.05315400709520666 Centerline is valid? [True, True] Translation: X:616.69, Y:-269.50, Z:-4.89 [[ 6.30498872e-01 7.76166570e-01 -6.05214145e-03 6.16694404e+02] [ 7.76134184e-01 -6.30527879e-01 -7.09383516e-03 -2.69499245e+02] [-9.32204162e-03 -2.24618798e-04 -9.99956524e-01 -4.88666478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters 0.053196604022710516 Centerline is valid? [True, True] Translation: X:616.77, Y:-269.52, Z:-4.89 [[ 5.69213737e-01 8.22169793e-01 -5.70545298e-03 6.16773861e+02] [ 8.22132255e-01 -5.69242289e-01 -7.85951548e-03 -2.69521851e+02] [-9.70964134e-03 -2.16892742e-04 -9.99952837e-01 -4.88602039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters 0.05378830841839573 Centerline is valid? [True, True] Translation: X:616.85, Y:-269.54, Z:-4.89 [[ 5.07029204e-01 8.61913982e-01 -5.06687556e-03 6.16854261e+02] [ 8.61874303e-01 -5.07054492e-01 -8.27220356e-03 -2.69538902e+02] [-9.69910992e-03 -1.72761048e-04 -9.99952948e-01 -4.88739886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters 0.05311623889161746 Centerline is valid? [True, True] Translation: X:616.94, Y:-269.55, Z:-4.89 [[ 4.42518024e-01 8.96749781e-01 -4.19866142e-03 6.16935418e+02] [ 8.96711950e-01 -4.42537926e-01 -8.23792652e-03 -2.69551003e+02] [-9.24542572e-03 -1.19558903e-04 -9.99957253e-01 -4.88763859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters 0.05300637089461366 Centerline is valid? [True, True] Translation: X:617.01, Y:-269.55, Z:-4.89 [[ 3.79937897e-01 9.25006240e-01 -3.26346894e-03 6.17007894e+02] [ 9.24972783e-01 -3.79951912e-01 -7.86738550e-03 -2.69553579e+02] [-8.51734194e-03 -2.95020496e-05 -9.99963726e-01 -4.88996496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters 0.05369435662899862 Centerline is valid? [True, True] Translation: X:617.11, Y:-269.56, Z:-4.89 [[ 3.14920163e-01 9.49115149e-01 -2.39250270e-03 6.17113439e+02] [ 9.49086773e-01 -3.14929249e-01 -7.33936765e-03 -2.69562135e+02] [-7.71937410e-03 4.06221939e-05 -9.99970204e-01 -4.88914024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters 0.05368560264110308 Centerline is valid? [True, True] Translation: X:617.18, Y:-269.55, Z:-4.89 [[ 2.45010890e-01 9.69518403e-01 -1.93112468e-03 6.17181121e+02] [ 9.69485344e-01 -2.45018484e-01 -8.00695951e-03 -2.69551721e+02] [-8.23605584e-03 8.95952047e-05 -9.99966079e-01 -4.88793835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters 0.05391980843439092 Centerline is valid? [True, True] Translation: X:617.25, Y:-269.54, Z:-4.89 [[ 1.71188771e-01 9.85237245e-01 -1.40591981e-03 6.17254420e+02] [ 9.85197812e-01 -1.71194499e-01 -8.81561773e-03 -2.69538255e+02] [-8.92616066e-03 1.24025647e-04 -9.99960153e-01 -4.88858145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters 0.05400586100267279 Centerline is valid? [True, True] Translation: X:617.34, Y:-269.52, Z:-4.89 [[ 9.88200459e-02 9.95105093e-01 -6.72435177e-04 6.17337480e+02] [ 9.95069728e-01 -9.88222041e-02 -8.39098291e-03 -2.69519814e+02] [-8.41636136e-03 1.60077428e-04 -9.99964569e-01 -4.88937502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters 0.05415208092219742 Centerline is valid? [True, True] Translation: X:617.41, Y:-269.50, Z:-4.89 [[ 2.66085071e-02 9.99645931e-01 -1.50686821e-05 6.17414763e+02] [ 9.99627244e-01 -2.66081019e-02 -6.11405756e-03 -2.69495538e+02] [-6.11229371e-03 1.47622879e-04 -9.99981309e-01 -4.88987684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters 0.0536435070054687 Centerline is valid? [True, True] Translation: X:617.50, Y:-269.46, Z:-4.89 [[-4.83277138e-02 9.98831448e-01 4.12536551e-04 6.17498044e+02] [ 9.98816571e-01 4.83292464e-02 -5.45363153e-03 -2.69464879e+02] [-5.46719626e-03 1.48486799e-04 -9.99985044e-01 -4.89064120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters 0.05472518560627269 Centerline is valid? [True, True] Translation: X:617.57, Y:-269.43, Z:-4.89 [[-1.24540008e-01 9.92214248e-01 8.19684762e-04 6.17566588e+02] [ 9.92200165e-01 1.24542610e-01 -5.28876103e-03 -2.69429273e+02] [-5.34966973e-03 1.54629013e-04 -9.99985678e-01 -4.88971760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters 0.054825638449499295 Centerline is valid? [True, True] Translation: X:617.64, Y:-269.39, Z:-4.89 [[-2.04999203e-01 9.78761138e-01 1.40095428e-03 6.17637880e+02] [ 9.78743270e-01 2.05003928e-01 -5.91616498e-03 -2.69387967e+02] [-6.07771350e-03 1.58365467e-04 -9.99981518e-01 -4.89041966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters 0.0545415863512575 Centerline is valid? [True, True] Translation: X:617.73, Y:-269.33, Z:-4.89 [[-2.84904928e-01 9.58553765e-01 1.96521024e-03 6.17728651e+02] [ 9.58534277e-01 2.84911670e-01 -6.11394474e-03 -2.69334880e+02] [-6.42045607e-03 1.41828390e-04 -9.99979379e-01 -4.88979654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters 0.05431009095466919 Centerline is valid? [True, True] Translation: X:617.80, Y:-269.28, Z:-4.89 [[-3.64123576e-01 9.31348127e-01 2.16521073e-03 6.17799719e+02] [ 9.31333149e-01 3.64130002e-01 -5.28277310e-03 -2.69279173e+02] [-5.70851902e-03 9.29502992e-05 -9.99983702e-01 -4.88910360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters 0.054378168909775655 Centerline is valid? [True, True] Translation: X:617.86, Y:-269.22, Z:-4.89 [[-4.38307327e-01 8.98821545e-01 2.55277569e-03 6.17855687e+02] [ 8.98807308e-01 4.38314754e-01 -5.05955685e-03 -2.69223649e+02] [-5.66655796e-03 7.68126096e-05 -9.99983942e-01 -4.88771103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters 0.05447517952516437 Centerline is valid? [True, True] Translation: X:617.91, Y:-269.16, Z:-4.89 [[-5.08464915e-01 8.61077755e-01 2.92056927e-03 6.17913948e+02] [ 8.61064319e-01 5.08473298e-01 -4.81089476e-03 -2.69158815e+02] [-5.62758595e-03 6.86267912e-05 -9.99984163e-01 -4.88904793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters 0.054312258884704256 Centerline is valid? [True, True] Translation: X:617.97, Y:-269.09, Z:-4.89 [[-5.77843946e-01 8.16141534e-01 3.06121374e-03 6.17965730e+02] [ 8.16130445e-01 5.77852053e-01 -4.25469885e-03 -2.69090341e+02] [-5.24136509e-03 3.97977603e-05 -9.99986263e-01 -4.88985947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters 0.05440635525430323 Centerline is valid? [True, True] Translation: X:618.02, Y:-269.01, Z:-4.89 [[-6.44316453e-01 7.64753286e-01 2.95303685e-03 6.18017426e+02] [ 7.64745298e-01 6.44323220e-01 -3.49539693e-03 -2.69012434e+02] [-4.57582650e-03 6.17929635e-06 -9.99989531e-01 -4.89061414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters 0.05387890284505503 Centerline is valid? [True, True] Translation: X:618.06, Y:-268.94, Z:-4.89 [[-7.05108249e-01 7.09091860e-01 3.33032934e-03 6.18058061e+02] [ 7.09083868e-01 7.05116113e-01 -3.36680553e-03 -2.68935345e+02] [-4.73564328e-03 -1.24795364e-05 -9.99988787e-01 -4.89043056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters 0.05391661691123074 Centerline is valid? [True, True] Translation: X:618.09, Y:-268.85, Z:-4.89 [[-7.62840566e-01 6.46567072e-01 5.02916346e-03 6.18093470e+02] [ 6.46552541e-01 7.62857142e-01 -4.33509331e-03 -2.68854283e+02] [-6.63946185e-03 -5.53666246e-05 -9.99977957e-01 -4.88963616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters 0.05389010461408566 Centerline is valid? [True, True] Translation: X:618.13, Y:-268.78, Z:-4.89 [[-8.09010574e-01 5.87765187e-01 5.82888409e-03 6.18126072e+02] [ 5.87749174e-01 8.09031568e-01 -4.33945981e-03 -2.68779425e+02] [-7.26633464e-03 -8.47470589e-05 -9.99973596e-01 -4.88857830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters 0.05383320471844164 Centerline is valid? [True, True] Translation: X:618.48, Y:-268.32, Z:-5.85 [[-7.53190391e-01 -6.57778634e-01 5.61285518e-03 6.18484047e+02] [ 6.57761284e-01 -7.53211298e-01 -4.77847949e-03 -2.68323128e+02] [ 7.37084765e-03 9.28139913e-05 9.99972831e-01 -5.84945701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters 0.05377611341781078 Centerline is valid? [True, True] Translation: X:618.09, Y:-268.75, Z:-4.89 [[-8.13621363e-01 5.81362393e-01 6.16804603e-03 6.18088066e+02] [ 5.81344556e-01 8.13644734e-01 -4.55566953e-03 -2.68754164e+02] [-7.66709311e-03 -1.20830073e-04 -9.99970600e-01 -4.88999929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters 0.0535334436325176 Centerline is valid? [True, True] Translation: X:618.05, Y:-268.64, Z:-4.89 [[-8.52246631e-01 5.23121053e-01 4.47705395e-03 6.18052663e+02] [ 5.23113321e-01 8.52258386e-01 -2.84545668e-03 -2.68638067e+02] [-5.30412507e-03 -8.30243128e-05 -9.99985930e-01 -4.89070578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters 0.05394571218183187 Centerline is valid? [True, True] Translation: X:618.04, Y:-268.54, Z:-4.89 [[-8.86169597e-01 4.63345812e-01 3.75560471e-03 6.18041629e+02] [ 4.63341361e-01 8.86177553e-01 -2.03182913e-03 -2.68544270e+02] [-4.26957211e-03 -6.04182026e-05 -9.99990884e-01 -4.89063979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters 0.053538412316387916 Centerline is valid? [True, True] Translation: X:618.30, Y:-268.02, Z:-5.85 [[-8.42205223e-01 -5.39148530e-01 3.03721458e-03 6.18299186e+02] [ 5.39145070e-01 -8.42210699e-01 -1.93174620e-03 -2.68020269e+02] [ 3.59947274e-03 1.05725267e-05 9.99993522e-01 -5.84752604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters 0.05364930040292192 Centerline is valid? [True, True] Translation: X:617.93, Y:-268.49, Z:-4.89 [[-8.88347197e-01 4.59150838e-01 4.44578340e-03 6.17930547e+02] [ 4.59144672e-01 8.88358319e-01 -2.38073963e-03 -2.68490586e+02] [-5.04256726e-03 -7.36656167e-05 -9.99987283e-01 -4.89039778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters 0.05354642999341771 Centerline is valid? [True, True] Translation: X:617.97, Y:-268.43, Z:-4.89 [[-9.19344996e-01 3.93399856e-01 6.42895197e-03 6.17965025e+02] [ 3.93389413e-01 9.19367468e-01 -2.86838857e-03 -2.68425101e+02] [-7.03899294e-03 -1.07957036e-04 -9.99975220e-01 -4.88954071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters 0.053798021671340054 Centerline is valid? [True, True] Translation: X:618.14, Y:-267.86, Z:-5.85 [[-8.79042092e-01 -4.76691780e-01 7.06736122e-03 6.18144877e+02] [ 4.76677984e-01 -8.79070484e-01 -3.63100879e-03 -2.67855242e+02] [ 7.94358069e-03 1.77045937e-04 9.99968434e-01 -5.85062176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters 0.05367466705598213 Centerline is valid? [True, True] Translation: X:617.79, Y:-268.36, Z:-4.89 [[-9.17890919e-01 3.96756130e-01 7.79957400e-03 6.17787141e+02] [ 3.96741200e-01 9.17924054e-01 -3.44253911e-03 -2.68356804e+02] [-8.52526508e-03 -6.54630384e-05 -9.99963657e-01 -4.88828098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters 0.05322079719855928 Centerline is valid? [True, True] Translation: X:617.93, Y:-267.74, Z:-5.85 [[-8.87079133e-01 -4.61573246e-01 6.38359642e-03 6.17926816e+02] [ 4.61561160e-01 -8.87102101e-01 -3.34028160e-03 -2.67740224e+02] [ 7.20468642e-03 -1.66739357e-05 9.99974046e-01 -5.85121544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters 0.05351623923951542 Centerline is valid? [True, True] Translation: X:617.79, Y:-267.74, Z:-5.85 [[-8.59322634e-01 -5.11415426e-01 4.34433485e-03 6.17785014e+02] [ 5.11408476e-01 -8.59333612e-01 -2.66717499e-03 -2.67739530e+02] [ 5.09726739e-03 -7.02341706e-05 9.99987006e-01 -5.84850430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters 0.05394055633972743 Centerline is valid? [True, True] Translation: X:617.70, Y:-267.77, Z:-5.85 [[-8.26354015e-01 -5.63141756e-01 3.22552707e-03 6.17698024e+02] [ 5.63137064e-01 -8.26360306e-01 -2.30026228e-03 -2.67766533e+02] [ 3.96082127e-03 -8.44171324e-05 9.99992152e-01 -5.84810831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters 0.05392478775606714 Centerline is valid? [True, True] Translation: X:617.24, Y:-268.26, Z:-4.89 [[-8.45182285e-01 5.34464409e-01 3.83413578e-03 6.17236106e+02] [ 5.34459280e-01 8.45190979e-01 -2.34249401e-03 -2.68258824e+02] [-4.49255665e-03 6.93550097e-05 -9.99989906e-01 -4.89216510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters 0.05332778819068816 Centerline is valid? [True, True] Translation: X:617.27, Y:-268.20, Z:-4.89 [[-8.81962712e-01 4.71266631e-01 7.03832288e-03 6.17272468e+02] [ 4.71252689e-01 8.81990787e-01 -3.62687411e-03 -2.68200323e+02] [-7.91696068e-03 1.18060859e-04 -9.99968653e-01 -4.88923554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters 0.05387140947928408 Centerline is valid? [True, True] Translation: X:617.30, Y:-268.14, Z:-4.89 [[-9.14645962e-01 4.04177302e-01 7.96696008e-03 6.17295059e+02] [ 4.04162915e-01 9.14680654e-01 -3.41160765e-03 -2.68135891e+02] [-8.66611863e-03 9.95366532e-05 -9.99962444e-01 -4.88814114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters 0.05404788898687141 Centerline is valid? [True, True] Translation: X:617.29, Y:-268.06, Z:-4.89 [[-9.41758218e-01 3.36182954e-01 8.51349054e-03 6.17289982e+02] [ 3.36170028e-01 9.41796695e-01 -2.94926540e-03 -2.68056243e+02] [-9.00947001e-03 8.44854247e-05 -9.99959410e-01 -4.88834867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters 0.05274115519119322 Centerline is valid? [True, True] Translation: X:617.33, Y:-267.99, Z:-4.89 [[-9.64333571e-01 2.64587222e-01 7.37338759e-03 6.17334402e+02] [ 2.64579796e-01 9.64361758e-01 -1.98268716e-03 -2.67992568e+02] [-7.63520671e-03 3.88775993e-05 -9.99970851e-01 -4.88975218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters 0.05253978038565145 Centerline is valid? [True, True] Translation: X:617.32, Y:-267.91, Z:-4.89 [[-9.81277954e-01 1.92524629e-01 5.27681119e-03 6.17319679e+02] [ 1.92521882e-01 9.81292142e-01 -1.02845387e-03 -2.67913889e+02] [-5.37609606e-03 6.70251861e-06 -9.99985549e-01 -4.89020551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters 0.05197912944969543 Centerline is valid? [True, True] Translation: X:617.31, Y:-267.83, Z:-4.89 [[-9.93219884e-01 1.16202759e-01 3.34373618e-03 6.17306074e+02] [ 1.16202024e-01 9.93225512e-01 -4.13863951e-04 -2.67833876e+02] [-3.36917622e-03 -2.25089929e-05 -9.99994324e-01 -4.89184965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters 0.05170348571774248 Centerline is valid? [True, True] Translation: X:617.48, Y:-267.20, Z:-5.85 [[-9.80589933e-01 -1.96035121e-01 3.68982893e-03 6.17483732e+02] [ 1.96033934e-01 -9.80596874e-01 -6.84152948e-04 -2.67204869e+02] [ 3.75235272e-03 5.24581882e-05 9.99992959e-01 -5.84919408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters 0.05164054807504713 Centerline is valid? [True, True] Translation: X:617.38, Y:-267.84, Z:-4.89 [[-9.95699506e-01 9.24932993e-02 5.24242328e-03 6.17378628e+02] [ 9.24913208e-02 9.95713298e-01 -6.19107213e-04 -2.67842947e+02] [-5.27721384e-03 -1.31566093e-04 -9.99986067e-01 -4.89051139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters 0.05185619079075119 Centerline is valid? [True, True] Translation: X:617.42, Y:-267.76, Z:-4.89 [[-9.99876214e-01 1.45829216e-02 5.90713733e-03 6.17423946e+02] [ 1.45815721e-02 9.99893646e-01 -2.71467609e-04 -2.67764822e+02] [-5.91046787e-03 -1.85298657e-04 -9.99982516e-01 -4.89005793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters 0.05191172253976939 Centerline is valid? [True, True] Translation: X:617.38, Y:-267.68, Z:-4.89 [[-9.98255140e-01 -5.87151517e-02 6.26151476e-03 6.17379300e+02] [-5.87153074e-02 9.98274755e-01 1.59104504e-04 -2.67677544e+02] [-6.26005396e-03 -2.08819875e-04 -9.99980384e-01 -4.88897023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters 0.051669046224605615 Centerline is valid? [True, True] Translation: X:617.33, Y:-267.60, Z:-4.89 [[-9.91582905e-01 -1.29308606e-01 6.52895867e-03 6.17328649e+02] [-1.29307234e-01 9.91604376e-01 6.33631728e-04 -2.67604954e+02] [-6.55607802e-03 -2.15943199e-04 -9.99978485e-01 -4.88971965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters 0.05223522935208053 Centerline is valid? [True, True] Translation: X:617.22, Y:-267.54, Z:-4.89 [[-9.80552952e-01 -1.96155323e-01 6.24485160e-03 6.17215245e+02] [-1.96152559e-01 9.80572819e-01 1.05806031e-03 -2.67537284e+02] [-6.33107591e-03 -1.87459464e-04 -9.99979941e-01 -4.88910404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters 0.051938796113114576 Centerline is valid? [True, True] Translation: X:617.02, Y:-266.92, Z:-5.85 [[-9.96879942e-01 7.87108487e-02 5.91477447e-03 6.17016376e+02] [-7.87085544e-02 -9.96897477e-01 6.20035179e-04 -2.66915978e+02] [ 5.94522724e-03 1.52557285e-04 9.99982315e-01 -5.85012077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters 0.052104870075691 Centerline is valid? [True, True] Translation: X:616.99, Y:-267.58, Z:-4.89 [[-9.81221575e-01 -1.92769802e-01 6.63513929e-03 6.16991646e+02] [-1.92766419e-01 9.81243997e-01 1.15169962e-03 -2.67581330e+02] [-6.73270351e-03 -1.48959521e-04 -9.99977324e-01 -4.88632095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters 0.0519628996117852 Centerline is valid? [True, True] Translation: X:616.94, Y:-267.52, Z:-4.89 [[-9.65589923e-01 -2.59976681e-01 6.94448661e-03 6.16935227e+02] [-2.59970998e-01 9.65614885e-01 1.72461356e-03 -2.67517592e+02] [-7.15405895e-03 -1.40095642e-04 -9.99974400e-01 -4.88626350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters 0.0519628996117852 Centerline is valid? [True, True] Translation: X:616.84, Y:-267.46, Z:-4.89 [[-9.44587319e-01 -3.28189751e-01 6.80322410e-03 6.16842751e+02] [-3.28182303e-01 9.44611808e-01 2.21542096e-03 -2.67460271e+02] [-7.15348427e-03 -1.40039214e-04 -9.99974404e-01 -4.88628668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters 0.05171197869566645 Centerline is valid? [True, True] Translation: X:616.70, Y:-267.43, Z:-4.89 [[-9.18916221e-01 -3.94396157e-01 6.68207540e-03 6.16700601e+02] [-3.94386825e-01 9.18940505e-01 2.71668787e-03 -2.67431507e+02] [-7.21188100e-03 -1.38913947e-04 -9.99973984e-01 -4.88723994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters 0.0520049638074699 Centerline is valid? [True, True] Translation: X:616.58, Y:-267.40, Z:-4.89 [[-8.88487849e-01 -4.58849934e-01 6.78831154e-03 6.16578834e+02] [-4.58837754e-01 8.88513769e-01 3.34621143e-03 -2.67402273e+02] [-7.56691716e-03 -1.41665430e-04 -9.99971360e-01 -4.88663690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters 0.05160621556393098 Centerline is valid? [True, True] Translation: X:616.45, Y:-267.38, Z:-4.89 [[-8.53138806e-01 -5.21646161e-01 6.28179595e-03 6.16449329e+02] [-5.21633181e-01 8.53161922e-01 3.68240838e-03 -2.67384762e+02] [-7.28030330e-03 -1.35187710e-04 -9.99973489e-01 -4.88656297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters 0.05213620103448163 Centerline is valid? [True, True] Translation: X:616.29, Y:-267.39, Z:-4.89 [[-8.13089364e-01 -5.82112385e-01 5.55492455e-03 6.16290878e+02] [-5.82099872e-01 8.13108329e-01 3.81891664e-03 -2.67392262e+02] [-6.73979409e-03 -1.28400367e-04 -9.99977279e-01 -4.88615407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters 0.052074842392548226 Centerline is valid? [True, True] Translation: X:616.14, Y:-267.41, Z:-4.89 [[-7.67704584e-01 -6.40779102e-01 5.64039921e-03 6.16136339e+02] [-6.40763195e-01 7.67725290e-01 4.51738091e-03 -2.67407886e+02] [-7.22492040e-03 -1.46146182e-04 -9.99973889e-01 -4.88626571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters 0.05178778182465245 Centerline is valid? [True, True] Translation: X:615.96, Y:-267.45, Z:-4.89 [[-7.18345986e-01 -6.95659301e-01 6.09764596e-03 6.15963225e+02] [-6.95636270e-01 7.18371844e-01 5.66334806e-03 -2.67449887e+02] [-8.32013793e-03 -1.73500343e-04 -9.99965372e-01 -4.88509223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters 0.05099556938312692 Centerline is valid? [True, True] Translation: X:615.78, Y:-267.53, Z:-4.89 [[-6.67380216e-01 -7.44697280e-01 5.44142794e-03 6.15776556e+02] [-7.44674377e-01 6.67402381e-01 5.84238708e-03 -2.67530773e+02] [-7.98243173e-03 -1.52998414e-04 -9.99968128e-01 -4.88713118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters 0.05168232082522215 Centerline is valid? [True, True] Translation: X:615.60, Y:-267.60, Z:-4.89 [[-6.11659702e-01 -7.91113794e-01 3.37246760e-03 6.15599316e+02] [-7.91102696e-01 6.11668990e-01 4.19184787e-03 -2.67603614e+02] [-5.37906253e-03 -1.03983793e-04 -9.99985527e-01 -4.88652508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters 0.051987494865648826 Centerline is valid? [True, True] Translation: X:615.41, Y:-267.72, Z:-4.89 [[-5.51640162e-01 -8.34078460e-01 2.50080819e-03 6.15409489e+02] [-8.34070619e-01 5.51645824e-01 3.61780043e-03 -2.67722843e+02] [-4.39708981e-03 -9.01266154e-05 -9.99990329e-01 -4.88753118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters 0.05172546123436245 Centerline is valid? [True, True] Translation: X:615.25, Y:-267.82, Z:-4.89 [[-4.87499028e-01 -8.73120939e-01 2.12667118e-03 6.15251121e+02] [-8.73113440e-01 4.87503658e-01 3.61997142e-03 -2.67818192e+02] [-4.19743283e-03 -9.20926375e-05 -9.99991187e-01 -4.88674319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters 0.05151014483214861 Centerline is valid? [True, True] Translation: X:615.08, Y:-267.98, Z:-4.89 [[-4.20937114e-01 -9.07085188e-01 2.89965748e-03 6.15077542e+02] [-9.07065951e-01 4.20947077e-01 5.90929707e-03 -2.67977205e+02] [-6.58083819e-03 -1.42738113e-04 -9.99978336e-01 -4.88631493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters 0.05136712777076126 Centerline is valid? [True, True] Translation: X:614.92, Y:-268.13, Z:-4.89 [[-3.52225983e-01 -9.35910096e-01 3.02467759e-03 6.14924230e+02] [-9.35879785e-01 3.52238925e-01 7.53437883e-03 -2.68128463e+02] [-8.11691040e-03 -1.76930627e-04 -9.99967042e-01 -4.88715108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters 0.050988458325844 Centerline is valid? [True, True] Translation: X:614.76, Y:-268.33, Z:-4.89 [[-2.82567925e-01 -9.59244352e-01 2.37516657e-03 6.14763653e+02] [-9.59215329e-01 2.82577857e-01 7.46376286e-03 -2.68333003e+02] [-7.83074185e-03 -1.69276193e-04 -9.99969325e-01 -4.88757350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters 0.05280596851625928 Centerline is valid? [True, True] Translation: X:614.62, Y:-268.52, Z:-4.88 [[-2.13179762e-01 -9.77011654e-01 1.61766112e-03 6.14617503e+02] [-9.76988182e-01 2.13185855e-01 6.77372453e-03 -2.68518746e+02] [-6.96287028e-03 -1.36414820e-04 -9.99975750e-01 -4.88408257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters 0.051374004248570734 Centerline is valid? [True, True] Translation: X:614.49, Y:-268.80, Z:-4.89 [[-1.44747703e-01 -9.89467938e-01 1.14145199e-03 6.14489067e+02] [-9.89442881e-01 1.44752162e-01 7.04254195e-03 -2.68795460e+02] [-7.13359710e-03 -1.10009773e-04 -9.99974550e-01 -4.88564929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters 0.05268164851971043 Centerline is valid? [True, True] Translation: X:614.38, Y:-269.04, Z:-4.89 [[-7.36384198e-02 -9.97284759e-01 7.01645678e-04 6.14382048e+02] [-9.97251830e-01 7.36416906e-02 8.10489696e-03 -2.69035700e+02] [-8.13456058e-03 -1.02885631e-04 -9.99966909e-01 -4.88505075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters 0.05218034447152818 Centerline is valid? [True, True] Translation: X:614.29, Y:-269.29, Z:-4.88 [[-3.29136368e-03 -9.99994578e-01 1.04872101e-04 6.14293544e+02] [-9.99956966e-01 3.29214949e-03 8.67343085e-03 -2.69286881e+02] [-8.67372907e-03 -7.63201728e-05 -9.99962380e-01 -4.88472473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters 0.05236915471182531 Centerline is valid? [True, True] Translation: X:613.60, Y:-269.52, Z:-5.85 [[-8.16047898e-02 9.96664574e-01 6.20102085e-04 6.13602767e+02] [-9.96635626e-01 -8.16071458e-02 7.59623211e-03 -2.69516376e+02] [ 7.62150020e-03 1.87309502e-06 9.99970956e-01 -5.85332936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters 0.05202867646690666 Centerline is valid? [True, True] Translation: X:614.29, Y:-269.84, Z:-4.89 [[-2.11655695e-03 -9.99997759e-01 4.25827036e-05 6.14287924e+02] [-9.99968998e-01 2.11681903e-03 7.58429827e-03 -2.69839491e+02] [-7.58437141e-03 -2.65287842e-05 -9.99971238e-01 -4.88774166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters 0.051614503906826606 Centerline is valid? [True, True] Translation: X:614.22, Y:-270.08, Z:-4.89 [[ 7.11682721e-02 -9.97464208e-01 -4.80639612e-04 6.14219971e+02] [-9.97439655e-01 -7.11698926e-02 6.99860521e-03 -2.70078155e+02] [-7.01506527e-03 -1.86696309e-05 -9.99975394e-01 -4.88838471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters 0.052528969983388275 Centerline is valid? [True, True] Translation: X:614.17, Y:-270.33, Z:-4.89 [[ 1.44053715e-01 -9.89569524e-01 -8.27615203e-04 6.14169718e+02] [-9.89552702e-01 -1.44056092e-01 5.76988242e-03 -2.70327365e+02] [-5.82892281e-03 -1.22041395e-05 -9.99983012e-01 -4.88764406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters 0.05164197481367092 Centerline is valid? [True, True] Translation: X:614.14, Y:-270.58, Z:-4.89 [[ 2.17507579e-01 -9.76057751e-01 -1.31164942e-03 6.14138047e+02] [-9.76039603e-01 -2.17511534e-01 5.95205267e-03 -2.70577670e+02] [-6.09484602e-03 -1.43947948e-05 -9.99981426e-01 -4.88752557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters 0.05195955342371688 Centerline is valid? [True, True] Translation: X:614.11, Y:-270.78, Z:-4.89 [[ 2.92464656e-01 -9.56273969e-01 -2.12638223e-03 6.14107553e+02] [-9.56247772e-01 -2.92472384e-01 7.07833015e-03 -2.70775347e+02] [-7.39073095e-03 -3.68131276e-05 -9.99972688e-01 -4.88616442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters 0.05158635183073419 Centerline is valid? [True, True] Translation: X:614.11, Y:-271.02, Z:-4.89 [[ 3.64810238e-01 -9.31077485e-01 -2.86495478e-03 6.14108893e+02] [-9.31047519e-01 -3.64821483e-01 7.47012868e-03 -2.71021706e+02] [-8.00046567e-03 -5.77703830e-05 -9.99967994e-01 -4.88638774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters 0.051941053122942726 Centerline is valid? [True, True] Translation: X:614.12, Y:-271.24, Z:-4.88 [[ 4.34599334e-01 -9.00615923e-01 -3.79187842e-03 6.14115436e+02] [-9.00580026e-01 -4.34615869e-01 8.04138165e-03 -2.71242203e+02] [-8.89020689e-03 -7.98891481e-05 -9.99960478e-01 -4.88334362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters 0.05199740402662913 Centerline is valid? [True, True] Translation: X:614.15, Y:-271.47, Z:-4.89 [[ 4.99319369e-01 -8.66407286e-01 -4.31072435e-03 6.14148810e+02] [-8.66373764e-01 -4.99337971e-01 7.62179423e-03 -2.71469372e+02] [-8.75608640e-03 -7.10110065e-05 -9.99961662e-01 -4.88651289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters 0.05197625463844369 Centerline is valid? [True, True] Translation: X:614.21, Y:-271.72, Z:-4.89 [[ 5.60650035e-01 -8.28044116e-01 -3.80533954e-03 6.14213082e+02] [-8.28024462e-01 -5.60662947e-01 5.70527780e-03 -2.71718069e+02] [-6.85773459e-03 -4.77499727e-05 -9.99976484e-01 -4.88730421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters 0.05241471553866965 Centerline is valid? [True, True] Translation: X:614.30, Y:-271.96, Z:-4.89 [[ 6.19992011e-01 -7.84599896e-01 -3.59298368e-03 6.14297108e+02] [-7.84586336e-01 -6.20002421e-01 4.61303618e-03 -2.71964465e+02] [-5.84704629e-03 -4.10396801e-05 -9.99982905e-01 -4.88780195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters 0.05235881929678789 Centerline is valid? [True, True] Translation: X:614.34, Y:-272.14, Z:-4.89 [[ 6.76445604e-01 -7.36481777e-01 -3.99211323e-03 6.14340914e+02] [-7.36468572e-01 -6.76457383e-01 4.41041127e-03 -2.72136792e+02] [-5.94868199e-03 -4.33373895e-05 -9.99982306e-01 -4.88639153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters 0.051657909022669125 Centerline is valid? [True, True] Translation: X:614.44, Y:-272.35, Z:-4.89 [[ 7.29720182e-01 -6.83725615e-01 -5.26682697e-03 6.14440215e+02] [-6.83707216e-01 -7.29739186e-01 5.01634818e-03 -2.72348758e+02] [-7.27321577e-03 -5.95628966e-05 -9.99973548e-01 -4.88571419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters 0.052212870512993025 Centerline is valid? [True, True] Translation: X:614.41, Y:-272.43, Z:-4.89 [[ 7.81653748e-01 -6.23685193e-01 -5.84796042e-03 6.14409134e+02] [-6.23667057e-01 -7.81675620e-01 4.75678091e-03 -2.72431163e+02] [-7.53794191e-03 -7.09753667e-05 -9.99971587e-01 -4.88541330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters 0.05226880188145725 Centerline is valid? [True, True] Translation: X:614.38, Y:-272.52, Z:-4.89 [[ 8.28644605e-01 -5.59739385e-01 -6.31975439e-03 6.14383696e+02] [-5.59722360e-01 -8.28668700e-01 4.36628145e-03 -2.72517936e+02] [-7.68096235e-03 -8.07877314e-05 -9.99970498e-01 -4.88595640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters 0.05171522033512387 Centerline is valid? [True, True] Translation: X:614.36, Y:-272.61, Z:-4.89 [[ 8.70942404e-01 -4.91342618e-01 -6.46228808e-03 6.14364409e+02] [-4.91328277e-01 -8.70966373e-01 3.75523767e-03 -2.72607479e+02] [-7.47354391e-03 -9.54908601e-05 -9.99972068e-01 -4.88688470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters 0.05172356604172223 Centerline is valid? [True, True] Translation: X:614.35, Y:-272.70, Z:-4.89 [[ 9.07866152e-01 -4.19196772e-01 -7.28806990e-03 6.14351986e+02] [-4.19182157e-01 -9.07895396e-01 3.50266709e-03 -2.72701337e+02] [-8.08511185e-03 -1.24924036e-04 -9.99967307e-01 -4.88726430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters 0.05160816266584973 Centerline is valid? [True, True] Translation: X:614.35, Y:-272.79, Z:-4.89 [[ 9.38227715e-01 -3.45915115e-01 -8.45509414e-03 6.14346453e+02] [-3.45899643e-01 -9.38265800e-01 3.27494222e-03 -2.72794973e+02] [-9.06597769e-03 -1.48027510e-04 -9.99958892e-01 -4.88655354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters 0.05245270117478111 Centerline is valid? [True, True] Translation: X:614.35, Y:-272.89, Z:-4.89 [[ 9.62173047e-01 -2.72284659e-01 -9.17020485e-03 6.14348390e+02] [-2.72270826e-01 -9.62216734e-01 2.74857230e-03 -2.72888631e+02] [-9.57211863e-03 -1.47822935e-04 -9.99954175e-01 -4.88613129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters 0.05172709322809746 Centerline is valid? [True, True] Translation: X:614.36, Y:-272.98, Z:-4.89 [[ 9.79880333e-01 -1.99433999e-01 -7.78543772e-03 6.14358485e+02] [-1.99426894e-01 -9.79911256e-01 1.68635563e-03 -2.72976715e+02] [-7.96535470e-03 -9.98010489e-05 -9.99968271e-01 -4.88763621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters 0.05226977043629736 Centerline is valid? [True, True] Translation: X:614.37, Y:-273.07, Z:-4.89 [[ 9.92154338e-01 -1.24823923e-01 -6.98268424e-03 6.14374905e+02] [-1.24820322e-01 -9.92178907e-01 9.50780206e-04 -2.73066320e+02] [-7.04675213e-03 -7.17398083e-05 -9.99975169e-01 -4.88910919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters 0.052365967635324515 Centerline is valid? [True, True] Translation: X:614.40, Y:-273.16, Z:-4.89 [[ 9.98573549e-01 -5.27735672e-02 -8.11278630e-03 6.14398393e+02] [-5.27715617e-02 -9.98606504e-01 4.61213601e-04 -2.73155430e+02] [-8.12582105e-03 -3.24312992e-05 -9.99966984e-01 -4.88843223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters 0.05259755827503176 Centerline is valid? [True, True] Translation: X:614.42, Y:-273.24, Z:-4.89 [[ 9.99707995e-01 2.24593756e-02 -8.91633737e-03 6.14422455e+02] [ 2.24585419e-02 -9.99747756e-01 -1.93637081e-04 -2.73239086e+02] [-8.91843725e-03 -6.66739839e-06 -9.99960230e-01 -4.88638334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters 0.05255591185505812 Centerline is valid? [True, True] Translation: X:614.45, Y:-273.32, Z:-4.89 [[ 9.95278183e-01 9.66737540e-02 -8.69049494e-03 6.14453648e+02] [ 9.66698251e-02 -9.95316123e-01 -8.72014063e-04 -2.73318545e+02] [-8.73409060e-03 2.77879469e-05 -9.99961857e-01 -4.88826229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters 0.05308109852821258 Centerline is valid? [True, True] Translation: X:614.49, Y:-273.39, Z:-4.89 [[ 9.84705314e-01 1.74052172e-01 -7.82857988e-03 6.14489257e+02] [ 1.74046465e-01 -9.84736432e-01 -1.40972796e-03 -2.73394119e+02] [-7.95445403e-03 2.56299594e-05 -9.99968363e-01 -4.88799585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters 0.05264593689313698 Centerline is valid? [True, True] Translation: X:614.53, Y:-273.47, Z:-4.89 [[ 9.67430532e-01 2.53014333e-01 -7.86844690e-03 6.14532722e+02] [ 2.53005914e-01 -9.67462530e-01 -2.06402418e-03 -2.73470845e+02] [-8.13465525e-03 6.03641334e-06 -9.99966913e-01 -4.88847618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters 0.052504983908107795 Centerline is valid? [True, True] Translation: X:614.58, Y:-273.54, Z:-4.89 [[ 9.43786507e-01 3.30440596e-01 -8.72016308e-03 6.14581904e+02] [ 3.30426645e-01 -9.43826791e-01 -3.03641656e-03 -2.73539828e+02] [-9.23367884e-03 -1.56452561e-05 -9.99957369e-01 -4.88842001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters 0.05255622741400037 Centerline is valid? [True, True] Translation: X:614.64, Y:-273.61, Z:-4.89 [[ 9.14596772e-01 4.04268963e-01 -8.90786072e-03 6.14636377e+02] [ 4.04250069e-01 -9.14640151e-01 -3.90857506e-03 -2.73605763e+02] [-9.72760266e-03 -2.62331741e-05 -9.99952685e-01 -4.88864428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters 0.05233249871141195 Centerline is valid? [True, True] Translation: X:614.70, Y:-273.67, Z:-4.89 [[ 8.79359198e-01 4.76100017e-01 -7.49498814e-03 6.14696135e+02] [ 4.76083108e-01 -8.79391137e-01 -4.01276717e-03 -2.73669453e+02] [-8.50150467e-03 -3.95735236e-05 -9.99963861e-01 -4.88824208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters 0.05317838440257299 Centerline is valid? [True, True] Translation: X:614.76, Y:-273.73, Z:-4.89 [[ 8.37977119e-01 5.45671556e-01 -6.07458848e-03 6.14764802e+02] [ 5.45657695e-01 -8.37999135e-01 -3.88979001e-03 -2.73733042e+02] [-7.21304766e-03 -5.50909164e-05 -9.99973984e-01 -4.89055350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters 0.052607082414348416 Centerline is valid? [True, True] Translation: X:614.84, Y:-273.79, Z:-4.89 [[ 7.90732252e-01 6.12135556e-01 -5.70675560e-03 6.14837336e+02] [ 6.12120322e-01 -7.90752841e-01 -4.31918972e-03 -2.73790169e+02] [-7.15656280e-03 -7.78984605e-05 -9.99974388e-01 -4.88928531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters 0.053210781529138065 Centerline is valid? [True, True] Translation: X:614.91, Y:-273.84, Z:-4.89 [[ 7.38659836e-01 6.74060357e-01 -4.92765504e-03 6.14909474e+02] [ 6.74046168e-01 -7.38676267e-01 -4.37457907e-03 -2.73835201e+02] [-6.58867215e-03 -9.01411387e-05 -9.99978290e-01 -4.88895329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters 0.05244576669049315 Centerline is valid? [True, True] Translation: X:614.99, Y:-273.88, Z:-4.89 [[ 6.82585152e-01 7.30794727e-01 -4.07149502e-03 6.14991200e+02] [ 7.30782512e-01 -6.82597289e-01 -4.22626083e-03 -2.73878500e+02] [-5.86772059e-03 -9.05944664e-05 -9.99982781e-01 -4.89116796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters 0.05198217007952606 Centerline is valid? [True, True] Translation: X:615.08, Y:-273.92, Z:-4.89 [[ 6.22471941e-01 7.82630476e-01 -4.26855992e-03 6.15076975e+02] [ 7.82613261e-01 -6.22486567e-01 -5.19212545e-03 -2.73916934e+02] [-6.72063682e-03 -1.08679199e-04 -9.99977410e-01 -4.89143950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters 0.05248263059971748 Centerline is valid? [True, True] Translation: X:615.16, Y:-273.95, Z:-4.89 [[ 5.56954613e-01 8.30528663e-01 -4.86813439e-03 6.15164669e+02] [ 8.30499381e-01 -5.56975866e-01 -6.97593294e-03 -2.73947834e+02] [-8.50514562e-03 -1.57704561e-04 -9.99963818e-01 -4.89054692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters 0.05297025698357436 Centerline is valid? [True, True] Translation: X:615.26, Y:-273.98, Z:-4.89 [[ 4.87333863e-01 8.73202274e-01 -4.84705009e-03 6.15261331e+02] [ 8.73163247e-01 -4.87357923e-01 -8.25829707e-03 -2.73976296e+02] [-9.57341204e-03 -2.07718176e-04 -9.99954152e-01 -4.88801901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters 0.05325888547566968 Centerline is valid? [True, True] Translation: X:615.35, Y:-273.99, Z:-4.89 [[ 4.17057391e-01 9.08872391e-01 -3.75620838e-03 6.15350955e+02] [ 9.08839588e-01 -4.17074261e-01 -7.72427350e-03 -2.73990508e+02] [-8.58699676e-03 -1.92325527e-04 -9.99963113e-01 -4.89062758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters 0.053161792728645164 Centerline is valid? [True, True] Translation: X:615.44, Y:-274.00, Z:-4.89 [[ 3.47411877e-01 9.37709785e-01 -2.31215988e-03 6.15442964e+02] [ 9.37691389e-01 -3.47419548e-01 -5.87510305e-03 -2.73998779e+02] [-6.31243116e-03 -1.27011831e-04 -9.99980068e-01 -4.89304159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters 0.053583668165546064 Centerline is valid? [True, True] Translation: X:615.53, Y:-274.00, Z:-4.89 [[ 2.76471701e-01 9.61020405e-01 -1.78338015e-03 6.15534900e+02] [ 9.61002706e-01 -2.76477434e-01 -5.83334942e-03 -2.74000333e+02] [-6.09903218e-03 -1.01077113e-04 -9.99981396e-01 -4.89273513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters 0.053606660856533934 Centerline is valid? [True, True] Translation: X:615.62, Y:-273.99, Z:-4.89 [[ 2.05218237e-01 9.78714906e-01 -1.61510439e-03 6.15622486e+02] [ 9.78687731e-01 -2.05224575e-01 -7.29381856e-03 -2.73992052e+02] [-7.47002806e-03 -8.38582607e-05 -9.99972095e-01 -4.89135554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters 0.053527159028641226 Centerline is valid? [True, True] Translation: X:615.71, Y:-273.98, Z:-4.89 [[ 1.32231284e-01 9.91218149e-01 -1.21169314e-03 6.15707158e+02] [ 9.91180483e-01 -1.32236823e-01 -8.64135253e-03 -2.73977345e+02] [-8.72569592e-03 -5.83494484e-05 -9.99961929e-01 -4.89094745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters 0.054409628347466085 Centerline is valid? [True, True] Translation: X:615.79, Y:-273.96, Z:-4.89 [[ 6.05894623e-02 9.98162613e-01 -5.62196751e-04 6.15788354e+02] [ 9.98120000e-01 -6.05920705e-02 -9.22313968e-03 -2.73956331e+02] [-9.24025786e-03 -2.31474699e-06 -9.99957308e-01 -4.89112407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters 0.05420269715740048 Centerline is valid? [True, True] Translation: X:615.86, Y:-273.93, Z:-4.89 [[-1.30615455e-02 9.99914682e-01 1.57709214e-04 6.15863523e+02] [ 9.99873603e-01 1.30624385e-02 -9.06369100e-03 -2.73928504e+02] [-9.06497777e-03 3.93034673e-05 -9.99958911e-01 -4.89062538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters 0.05449727298014121 Centerline is valid? [True, True] Translation: X:615.93, Y:-273.90, Z:-4.89 [[-9.03346405e-02 9.95911110e-01 8.44347204e-04 6.15934156e+02] [ 9.95872243e-01 9.03385747e-02 -8.79873539e-03 -2.73896380e+02] [-8.83903545e-03 4.60313459e-05 -9.99960934e-01 -4.89311706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters 0.054414826067110886 Centerline is valid? [True, True] Translation: X:616.00, Y:-273.86, Z:-4.89 [[-1.66694997e-01 9.86007667e-01 1.28796897e-03 6.16002512e+02] [ 9.85980344e-01 1.66699966e-01 -7.34051590e-03 -2.73857487e+02] [-7.45250934e-03 4.62848125e-05 -9.99972229e-01 -4.89185334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters 0.05454023182524606 Centerline is valid? [True, True] Translation: X:616.07, Y:-273.81, Z:-4.89 [[-2.44878010e-01 9.69552220e-01 1.80335329e-03 6.16071527e+02] [ 9.69526911e-01 2.44884648e-01 -7.00554405e-03 -2.73811872e+02] [-7.23385433e-03 3.28958576e-05 -9.99973835e-01 -4.89210828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters 0.0542423535236451 Centerline is valid? [True, True] Translation: X:616.14, Y:-273.76, Z:-4.89 [[-3.23981651e-01 9.46060429e-01 2.35664329e-03 6.16135939e+02] [ 9.46035455e-01 3.23990222e-01 -6.87409520e-03 -2.73762829e+02] [-7.26683884e-03 2.38739266e-06 -9.99973596e-01 -4.89120883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters 0.05438774648247533 Centerline is valid? [True, True] Translation: X:616.20, Y:-273.71, Z:-4.89 [[-4.00157738e-01 9.16441472e-01 2.96879935e-03 6.16196337e+02] [ 9.16415828e-01 4.00168750e-01 -6.85586314e-03 -2.73706802e+02] [-7.47101803e-03 -2.27719734e-05 -9.99972091e-01 -4.89166824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters 0.053535979081577846 Centerline is valid? [True, True] Translation: X:616.26, Y:-273.65, Z:-4.89 [[-4.75855833e-01 8.79517969e-01 3.06079379e-03 6.16255308e+02] [ 8.79498951e-01 4.75865673e-01 -5.78413590e-03 -2.73645758e+02] [-6.54377816e-03 -6.04498797e-05 -9.99978587e-01 -4.89097862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters 0.053872092118549667 Centerline is valid? [True, True] Translation: X:616.30, Y:-273.58, Z:-4.89 [[-5.45734741e-01 8.37952160e-01 3.12569038e-03 6.16303621e+02] [ 8.37937643e-01 5.45743687e-01 -4.93296398e-03 -2.73583697e+02] [-5.83941362e-03 -7.29561824e-05 -9.99982948e-01 -4.88996839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters 0.05364074169107215 Centerline is valid? [True, True] Translation: X:616.35, Y:-273.51, Z:-4.89 [[-6.12903850e-01 7.90150353e-01 3.36019780e-03 6.16349667e+02] [ 7.90137630e-01 6.12913053e-01 -4.48496905e-03 -2.73514147e+02] [-5.60330897e-03 -9.38360719e-05 -9.99984297e-01 -4.89026544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters 0.053602504349907897 Centerline is valid? [True, True] Translation: X:616.39, Y:-273.44, Z:-4.89 [[-6.75877887e-01 7.37003196e-01 3.92051870e-03 6.16392813e+02] [ 7.36989732e-01 6.75889246e-01 -4.45666984e-03 -2.73439030e+02] [-5.93441635e-03 -1.22782564e-04 -9.99982384e-01 -4.89008578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters 0.0536648815469612 Centerline is valid? [True, True] Translation: X:616.43, Y:-273.36, Z:-4.89 [[-7.33847834e-01 6.79297096e-01 4.77617473e-03 6.16432424e+02] [ 6.79281281e-01 7.33863360e-01 -4.63800226e-03 -2.73359996e+02] [-6.65564110e-03 -1.59221829e-04 -9.99977838e-01 -4.88983469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters 0.05373682776548803 Centerline is valid? [True, True] Translation: X:616.53, Y:-273.34, Z:-4.89 [[-7.82572218e-01 6.22535007e-01 5.55774715e-03 6.16532467e+02] [ 6.22517481e-01 7.82591928e-01 -4.67541549e-03 -2.73339416e+02] [-7.26005787e-03 -1.99055516e-04 -9.99973626e-01 -4.88903255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters 0.053732843963952975 Centerline is valid? [True, True] Translation: X:616.46, Y:-273.19, Z:-4.89 [[-8.25014645e-01 5.65082331e-01 5.72661327e-03 6.16462898e+02] [ 5.65067037e-01 8.25034496e-01 -4.16215571e-03 -2.73190816e+02] [-7.07661415e-03 -1.97919027e-04 -9.99974941e-01 -4.88984787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters 0.05347126771348769 Centerline is valid? [True, True] Translation: X:616.51, Y:-273.13, Z:-4.89 [[-8.63196121e-01 5.04831745e-01 6.11285273e-03 6.16512818e+02] [ 5.04817403e-01 8.63217741e-01 -3.81078656e-03 -2.73133234e+02] [-7.20052895e-03 -2.03581737e-04 -9.99974055e-01 -4.88987110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters 0.05467127176152436 Centerline is valid? [True, True] Translation: X:616.54, Y:-273.05, Z:-4.89 [[-8.96749377e-01 4.42491846e-01 6.44369921e-03 6.16538957e+02] [ 4.42478776e-01 8.96772505e-01 -3.40703681e-03 -2.73052303e+02] [-7.28611828e-03 -2.04057998e-04 -9.99973435e-01 -4.88791180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters 0.05362664713908111 Centerline is valid? [True, True] Translation: X:616.79, Y:-272.56, Z:-5.85 [[-8.37328569e-01 -5.46673361e-01 5.39487364e-03 6.16794282e+02] [ 5.46662932e-01 -8.37345939e-01 -3.37887833e-03 -2.72557009e+02] [ 6.36451830e-03 1.19946083e-04 9.99979739e-01 -5.85382882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters 0.05306668289739697 Centerline is valid? [True, True] Translation: X:616.44, Y:-273.02, Z:-4.89 [[-8.99264396e-01 4.37373894e-01 5.25581186e-03 6.16440098e+02] [ 4.37365242e-01 8.99279736e-01 -2.75687365e-03 -2.73016970e+02] [-5.93222967e-03 -1.80448893e-04 -9.99982388e-01 -4.89105920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters 0.052563645249127995 Centerline is valid? [True, True] Translation: X:616.46, Y:-272.94, Z:-4.89 [[-9.29472525e-01 3.68849542e-01 5.55341123e-03 6.16464983e+02] [ 3.68841616e-01 9.29489092e-01 -2.42689224e-03 -2.72941593e+02] [-6.05699325e-03 -2.07400489e-04 -9.99981635e-01 -4.89127278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters 0.05543468554418675 Centerline is valid? [True, True] Translation: X:616.50, Y:-272.85, Z:-4.89 [[-9.54429911e-01 2.98366880e-01 6.38354952e-03 6.16495392e+02] [ 2.98358407e-01 9.54451224e-01 -2.26305359e-03 -2.72851521e+02] [-6.76800689e-03 -2.55340367e-04 -9.99977064e-01 -4.88847806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters 0.05347290518632751 Centerline is valid? [True, True] Translation: X:616.48, Y:-272.77, Z:-4.89 [[-9.73660290e-01 2.27895015e-01 7.03576124e-03 6.16476219e+02] [ 2.27886913e-01 9.73685667e-01 -1.94321566e-03 -2.72771786e+02] [-7.29346904e-03 -2.88674013e-04 -9.99973361e-01 -4.89036158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters 0.052851520715131176 Centerline is valid? [True, True] Translation: X:616.57, Y:-272.20, Z:-5.85 [[-9.30786904e-01 -3.65494142e-01 7.05492018e-03 6.16566372e+02] [ 3.65486115e-01 -9.30813590e-01 -2.44153374e-03 -2.72202720e+02] [ 7.45918186e-03 3.05927737e-04 9.99972133e-01 -5.85306001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters 0.05382108088752789 Centerline is valid? [True, True] Translation: X:616.27, Y:-272.71, Z:-4.89 [[-9.75000904e-01 2.22066772e-01 7.71913531e-03 6.16269980e+02] [ 2.22057090e-01 9.75031403e-01 -2.10037209e-03 -2.72710780e+02] [-7.99282218e-03 -3.33775964e-04 -9.99968001e-01 -4.88957785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters 0.05473010271742599 Centerline is valid? [True, True] Translation: X:616.45, Y:-272.18, Z:-5.86 [[-9.31496369e-01 -3.63671496e-01 7.58672214e-03 6.16448691e+02] [ 3.63662348e-01 -9.31527203e-01 -2.60124141e-03 -2.72182908e+02] [ 8.01323541e-03 3.35958257e-04 9.99967837e-01 -5.85515421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters 0.05397291672433227 Centerline is valid? [True, True] Translation: X:616.17, Y:-272.69, Z:-4.89 [[-9.76103695e-01 2.17183534e-01 7.27257290e-03 6.16168225e+02] [ 2.17175013e-01 9.76130733e-01 -1.95109847e-03 -2.72688972e+02] [-7.52272838e-03 -3.25053312e-04 -9.99971651e-01 -4.88983262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters 0.05219174751884519 Centerline is valid? [True, True] Translation: X:616.22, Y:-272.63, Z:-4.89 [[-9.89088744e-01 1.47175539e-01 6.54351184e-03 6.16220751e+02] [ 1.47170378e-01 9.89110346e-01 -1.26610100e-03 -2.72628651e+02] [-6.65859436e-03 -2.89275141e-04 -9.99977789e-01 -4.89215479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters 0.05522215330438901 Centerline is valid? [True, True] Translation: X:616.28, Y:-272.06, Z:-5.85 [[-9.56053090e-01 -2.93135083e-01 5.85766946e-03 6.16277004e+02] [ 2.93131017e-01 -9.56071008e-01 -1.56031262e-03 -2.72055830e+02] [ 6.05773031e-03 2.25322901e-04 9.99981626e-01 -5.85395101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters 0.054504641412343784 Centerline is valid? [True, True] Translation: X:616.08, Y:-272.59, Z:-4.89 [[-9.89439147e-01 1.44845304e-01 5.47825427e-03 6.16078376e+02] [ 1.44841758e-01 9.89454285e-01 -1.04069053e-03 -2.72592919e+02] [-5.57122130e-03 -2.36219968e-04 -9.99984453e-01 -4.89080936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters 0.05393790407763678 Centerline is valid? [True, True] Translation: X:616.10, Y:-272.02, Z:-5.85 [[-9.57603976e-01 -2.88034489e-01 5.54605151e-03 6.16104439e+02] [ 2.88031168e-01 -9.57620003e-01 -1.40568764e-03 -2.72019734e+02] [ 5.71589638e-03 2.51343619e-04 9.99983633e-01 -5.85434498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters 0.052442593230691247 Centerline is valid? [True, True] Translation: X:615.87, Y:-272.56, Z:-4.89 [[-9.89597521e-01 1.43740271e-01 5.95666646e-03 6.15868136e+02] [ 1.43736203e-01 9.89615419e-01 -1.10778137e-03 -2.72561569e+02] [-6.05404176e-03 -2.40069079e-04 -9.99981645e-01 -4.89020504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters 0.05320962929804131 Centerline is valid? [True, True] Translation: X:615.80, Y:-272.46, Z:-4.89 [[-9.97190130e-01 7.46666986e-02 6.06048758e-03 6.15795536e+02] [ 7.46639034e-02 9.97208519e-01 -6.86471112e-04 -2.72464310e+02] [-6.09482638e-03 -2.32042558e-04 -9.99981399e-01 -4.88973605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters 0.05258037229066616 Centerline is valid? [True, True] Translation: X:615.78, Y:-271.88, Z:-5.85 [[-9.77436558e-01 -2.11146040e-01 5.92669909e-03 6.15783443e+02] [ 2.11143543e-01 -9.77454500e-01 -1.05104305e-03 -2.71878015e+02] [ 6.01500227e-03 2.24056345e-04 9.99981885e-01 -5.85422922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters 0.05313952976566199 Centerline is valid? [True, True] Translation: X:615.66, Y:-272.45, Z:-4.89 [[-9.97306527e-01 7.30042958e-02 7.07566138e-03 6.15661928e+02] [ 7.30006545e-02 9.97331594e-01 -7.71876525e-04 -2.72449924e+02] [-7.11313095e-03 -2.53269583e-04 -9.99974669e-01 -4.88831114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters 0.053209418479608084 Centerline is valid? [True, True] Translation: X:615.62, Y:-271.86, Z:-5.86 [[-9.78484248e-01 -2.06194627e-01 7.23547877e-03 6.15618596e+02] [ 2.06191061e-01 -9.78510961e-01 -1.24337087e-03 -2.71864750e+02] [ 7.33637168e-03 2.75272235e-04 9.99973051e-01 -5.85594724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters 0.05353869113582984 Centerline is valid? [True, True] Translation: X:615.45, Y:-272.43, Z:-4.89 [[-9.97536269e-01 6.97360996e-02 7.63338402e-03 6.15452268e+02] [ 6.97319970e-02 9.97565439e-01 -8.02615941e-04 -2.72428420e+02] [-7.67077138e-03 -2.68347400e-04 -9.99970543e-01 -4.88822093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters 0.05360720971046284 Centerline is valid? [True, True] Translation: X:615.39, Y:-272.34, Z:-4.89 [[-9.99974700e-01 6.29739232e-04 7.08541216e-03 6.15394950e+02] [ 6.28059966e-04 9.99999774e-01 -2.39225727e-04 -2.72342079e+02] [-7.08556121e-03 -2.34769611e-04 -9.99974870e-01 -4.88886981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters 0.05214726349830472 Centerline is valid? [True, True] Translation: X:615.31, Y:-272.27, Z:-4.89 [[-9.97668681e-01 -6.79623312e-02 6.19064748e-03 6.15307088e+02] [-6.79622109e-02 9.97687870e-01 2.30029800e-04 -2.72268134e+02] [-6.19196725e-03 -1.91236562e-04 -9.99980811e-01 -4.89013934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters 0.052916346085634815 Centerline is valid? [True, True] Translation: X:615.17, Y:-271.68, Z:-5.85 [[-9.98612965e-01 -5.24460478e-02 4.64315119e-03 6.15172067e+02] [ 5.24457256e-02 -9.98623758e-01 -1.91212338e-04 -2.71683920e+02] [ 4.64678942e-03 5.25663130e-05 9.99989202e-01 -5.85377513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters 0.053316593118549555 Centerline is valid? [True, True] Translation: X:615.05, Y:-272.28, Z:-4.89 [[-9.98110619e-01 -6.12766903e-02 4.51213248e-03 6.15054617e+02] [-6.12764953e-02 9.98120813e-01 1.81582593e-04 -2.72275568e+02] [-4.51478012e-03 -9.52481507e-05 -9.99989804e-01 -4.88954810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters 0.05285936114470241 Centerline is valid? [True, True] Translation: X:614.91, Y:-272.22, Z:-4.89 [[-9.92247824e-01 -1.24188718e-01 4.62789171e-03 6.14911175e+02] [-1.24187654e-01 9.92258615e-01 5.17744915e-04 -2.72215739e+02] [-4.65636349e-03 -6.09957463e-05 -9.99989157e-01 -4.88949301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters 0.052736606674086535 Centerline is valid? [True, True] Translation: X:614.72, Y:-272.17, Z:-4.89 [[-9.82462473e-01 -1.86376228e-01 5.60275754e-03 6.14721841e+02] [-1.86373346e-01 9.82478448e-01 1.03682627e-03 -2.72172974e+02] [-5.69782830e-03 -2.55617671e-05 -9.99983767e-01 -4.88849409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters 0.0536909794271796 Centerline is valid? [True, True] Translation: X:614.91, Y:-272.05, Z:-4.89 [[-9.67233343e-01 -2.53809289e-01 6.36439786e-03 6.14909711e+02] [-2.53803717e-01 9.67254281e-01 1.68183796e-03 -2.72051215e+02] [-6.58285718e-03 1.14219105e-05 -9.99978333e-01 -4.88934100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters 0.05421255346347142 Centerline is valid? [True, True] Translation: X:614.76, Y:-272.00, Z:-4.89 [[-9.47517550e-01 -3.19639731e-01 6.39807224e-03 6.14763230e+02] [-3.19632230e-01 9.47539150e-01 2.19000185e-03 -2.72003646e+02] [-6.76243554e-03 3.00350884e-05 -9.99977134e-01 -4.88933371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters 0.05363538668022898 Centerline is valid? [True, True] Translation: X:614.65, Y:-271.95, Z:-4.89 [[-9.23217239e-01 -3.84234488e-01 5.81267912e-03 6.14653057e+02] [-3.84226573e-01 9.23235537e-01 2.46666634e-03 -2.71953214e+02] [-6.31425020e-03 4.38831077e-05 -9.99980064e-01 -4.89044779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters 0.053083062181666786 Centerline is valid? [True, True] Translation: X:613.80, Y:-271.63, Z:-5.86 [[-9.40788592e-01 3.38950985e-01 5.39029926e-03 6.13800297e+02] [-3.38945880e-01 -9.40804031e-01 1.86181980e-03 -2.71626579e+02] [ 5.70228093e-03 -7.54409002e-05 9.99983739e-01 -5.85588519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters 0.053243490901074865 Centerline is valid? [True, True] Translation: X:613.83, Y:-272.29, Z:-4.89 [[-9.21619579e-01 -3.88051833e-01 5.75552811e-03 6.13827661e+02] [-3.88043979e-01 9.21637550e-01 2.46934243e-03 -2.72294754e+02] [-6.26274368e-03 4.23963022e-05 -9.99980388e-01 -4.88865891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters 0.053628870544501016 Centerline is valid? [True, True] Translation: X:614.06, Y:-272.09, Z:-4.89 [[-8.87713167e-01 -4.60368011e-01 5.16019015e-03 6.14061883e+02] [-4.60360133e-01 8.87728165e-01 2.69319743e-03 -2.72093884e+02] [-5.82070808e-03 1.52409971e-05 -9.99983059e-01 -4.88974146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters 0.05320403245002739 Centerline is valid? [True, True] Translation: X:614.10, Y:-271.97, Z:-4.89 [[-8.47805736e-01 -5.30285828e-01 4.73022729e-03 6.14098125e+02] [-5.30277694e-01 8.47818931e-01 2.93727818e-03 -2.71967367e+02] [-5.56797324e-03 -1.80927286e-05 -9.99984499e-01 -4.89037972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters 0.053396423822718836 Centerline is valid? [True, True] Translation: X:613.08, Y:-271.86, Z:-5.86 [[-8.85500772e-01 4.64615122e-01 4.60117533e-03 6.13076603e+02] [-4.64608894e-01 -8.85512726e-01 2.40561737e-03 -2.71860516e+02] [ 5.19208552e-03 -7.57094206e-06 9.99986521e-01 -5.85579767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters 0.052616774400613686 Centerline is valid? [True, True] Translation: X:613.27, Y:-272.46, Z:-4.89 [[-8.38605891e-01 -5.44717853e-01 4.75620426e-03 6.13271341e+02] [-5.44709631e-01 8.38619374e-01 2.99392344e-03 -2.72457319e+02] [-5.61948859e-03 -8.00284327e-05 -9.99984207e-01 -4.89008240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters 0.052972123307220044 Centerline is valid? [True, True] Translation: X:613.14, Y:-272.45, Z:-4.89 [[-7.92802306e-01 -6.09457273e-01 5.13182899e-03 6.13141784e+02] [-6.09445585e-01 7.92818904e-01 3.77692222e-03 -2.72449119e+02] [-6.37048375e-03 -1.33217873e-04 -9.99979699e-01 -4.89021909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters 0.053226121207234973 Centerline is valid? [True, True] Translation: X:613.02, Y:-272.44, Z:-4.89 [[-7.41967965e-01 -6.70414213e-01 5.32195378e-03 6.13017787e+02] [-6.70398762e-01 7.41987027e-01 4.55542377e-03 -2.72440930e+02] [-7.00284150e-03 -1.87852716e-04 -9.99975462e-01 -4.88866246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters 0.05307724226707377 Centerline is valid? [True, True] Translation: X:612.87, Y:-272.47, Z:-4.89 [[-6.88968036e-01 -7.24773017e-01 5.20759281e-03 6.12873947e+02] [-7.24754639e-01 6.88987683e-01 5.16581934e-03 -2.72468917e+02] [-7.33201377e-03 -2.15142643e-04 -9.99973097e-01 -4.88910688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters 0.0530970938884202 Centerline is valid? [True, True] Translation: X:612.71, Y:-272.52, Z:-4.89 [[-6.32378279e-01 -7.74644961e-01 4.78508243e-03 6.12713877e+02] [-7.74625489e-01 6.32396341e-01 5.49727972e-03 -2.72520657e+02] [-7.28450866e-03 -2.30286529e-04 -9.99973441e-01 -4.88839278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters 0.05297053332680346 Centerline is valid? [True, True] Translation: X:612.54, Y:-272.62, Z:-4.89 [[-5.73270972e-01 -8.19355152e-01 4.18653807e-03 6.12538398e+02] [-8.19336181e-01 5.73286213e-01 5.58034014e-03 -2.72615089e+02] [-6.97236500e-03 -2.31135100e-04 -9.99975666e-01 -4.88945545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters 0.052199850111504555 Centerline is valid? [True, True] Translation: X:612.39, Y:-272.69, Z:-4.89 [[-5.10532694e-01 -8.59849233e-01 3.95794865e-03 6.12390872e+02] [-8.59827106e-01 5.10547974e-01 6.17365077e-03 -2.72694357e+02] [-7.32913154e-03 -2.51300972e-04 -9.99973110e-01 -4.89005276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters 0.05205339901851768 Centerline is valid? [True, True] Translation: X:612.22, Y:-272.83, Z:-4.89 [[-4.45125993e-01 -8.95460296e-01 3.70268583e-03 6.12218403e+02] [-8.95434278e-01 4.45141308e-01 6.83152323e-03 -2.72831792e+02] [-7.76557622e-03 -2.74623251e-04 -9.99969810e-01 -4.88929832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters 0.051556969224354626 Centerline is valid? [True, True] Translation: X:612.08, Y:-272.95, Z:-4.89 [[-3.78726346e-01 -9.25503183e-01 3.19579678e-03 6.12075145e+02] [-9.25475978e-01 3.78739735e-01 7.10118320e-03 -2.72949195e+02] [-7.78254288e-03 -2.68227986e-04 -9.99969680e-01 -4.88956139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters 0.051827781900511766 Centerline is valid? [True, True] Translation: X:611.91, Y:-273.15, Z:-4.89 [[-3.11591828e-01 -9.50213420e-01 2.23342803e-03 6.11907631e+02] [-9.50193727e-01 3.11599758e-01 6.12146033e-03 -2.73146509e+02] [-6.51262939e-03 -2.14792285e-04 -9.99978770e-01 -4.88920675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters 0.051948961901671045 Centerline is valid? [True, True] Translation: X:611.76, Y:-273.35, Z:-4.89 [[-2.42008233e-01 -9.70272934e-01 1.56487500e-03 6.11759546e+02] [-9.70257285e-01 2.42013223e-01 5.51367499e-03 -2.73350707e+02] [-5.72849005e-03 -1.83976630e-04 -9.99983575e-01 -4.88953992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters 0.05168607284501485 Centerline is valid? [True, True] Translation: X:611.63, Y:-273.57, Z:-4.89 [[-1.71918549e-01 -9.85110460e-01 1.18051011e-03 6.11629635e+02] [-9.85093746e-01 1.71922512e-01 5.74125367e-03 -2.73569367e+02] [-5.85872531e-03 -1.75885124e-04 -9.99982822e-01 -4.88966059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters 0.052469332823839886 Centerline is valid? [True, True] Translation: X:611.51, Y:-273.75, Z:-4.89 [[-1.01398259e-01 -9.94845643e-01 7.34661109e-04 6.11513047e+02] [-9.94829469e-01 1.01400802e-01 5.67497424e-03 -2.73745806e+02] [-5.72021862e-03 -1.55430010e-04 -9.99983627e-01 -4.88729357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters 0.05115541164074951 Centerline is valid? [True, True] Translation: X:611.42, Y:-274.06, Z:-4.89 [[-3.28394286e-02 -9.99460610e-01 2.48760952e-04 6.11418572e+02] [-9.99450668e-01 3.28402118e-02 4.45897322e-03 -2.74063798e+02] [-4.46473746e-03 -1.02194166e-04 -9.99990028e-01 -4.88952431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters 0.051273117116492455 Centerline is valid? [True, True] Translation: X:611.34, Y:-274.33, Z:-4.89 [[ 3.50306149e-02 -9.99386238e-01 -6.04858335e-05 6.11338965e+02] [-9.99380273e-01 -3.50306148e-02 3.45329754e-03 -2.74333844e+02] [-3.45329690e-03 -6.05227877e-05 -9.99994036e-01 -4.88935715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters 0.05103555852335113 Centerline is valid? [True, True] Translation: X:611.28, Y:-274.63, Z:-4.89 [[ 1.04816080e-01 -9.94491594e-01 -2.43992350e-04 6.11280830e+02] [-9.94487964e-01 -1.04816356e-01 2.68732946e-03 -2.74633015e+02] [-2.69810094e-03 -3.90278839e-05 -9.99996359e-01 -4.88907267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters 0.051029608008143 Centerline is valid? [True, True] Translation: X:611.24, Y:-274.86, Z:-4.89 [[ 1.75013004e-01 -9.84566071e-01 -3.16049421e-04 6.11236013e+02] [-9.84564201e-01 -1.75013288e-01 1.91936755e-03 -2.74857507e+02] [-1.94505702e-03 -2.47433364e-05 -9.99998108e-01 -4.88879929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters 0.05102254714452515 Centerline is valid? [True, True] Translation: X:611.21, Y:-275.11, Z:-4.89 [[ 2.45521735e-01 -9.69391012e-01 -3.79206271e-04 6.11213546e+02] [-9.69389733e-01 -2.45522027e-01 1.57474420e-03 -2.75109820e+02] [-1.61964637e-03 -1.90352635e-05 -9.99998688e-01 -4.88952171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters 0.05131396296050998 Centerline is valid? [True, True] Translation: X:611.20, Y:-275.34, Z:-4.89 [[ 3.17043003e-01 -9.48411074e-01 -4.10746078e-04 6.11199383e+02] [-9.48410203e-01 -3.17043269e-01 1.28567277e-03 -2.75337092e+02] [-1.34957057e-03 -1.80577851e-05 -9.99999089e-01 -4.88931600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters 0.051078934278463196 Centerline is valid? [True, True] Translation: X:611.21, Y:-275.58, Z:-4.89 [[ 3.89940917e-01 -9.20839694e-01 -5.82296285e-04 6.11206045e+02] [-9.20838571e-01 -3.89941351e-01 1.43832059e-03 -2.75579064e+02] [-1.55152410e-03 -2.46591717e-05 -9.99998796e-01 -4.88825701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters 0.051198290584364876 Centerline is valid? [True, True] Translation: X:611.21, Y:-275.79, Z:-4.89 [[ 4.61933442e-01 -8.86913916e-01 -1.09635366e-03 6.11212463e+02] [-8.86911180e-01 -4.61934740e-01 2.20308008e-03 -2.75785321e+02] [-2.46038622e-03 -4.53080471e-05 -9.99996972e-01 -4.88751161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters 0.05137143815608557 Centerline is valid? [True, True] Translation: X:611.22, Y:-275.97, Z:-4.89 [[ 5.29684751e-01 -8.48193741e-01 -1.20090893e-03 6.11219993e+02] [-8.48191330e-01 -5.29686110e-01 2.02280214e-03 -2.75971139e+02] [-2.35183289e-03 -5.28469033e-05 -9.99997233e-01 -4.88749720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters 0.050550219093428224 Centerline is valid? [True, True] Translation: X:611.28, Y:-276.21, Z:-4.89 [[ 5.92206080e-01 -8.05785510e-01 -1.29246442e-03 6.11280394e+02] [-8.05783386e-01 -5.92207488e-01 1.85106375e-03 -2.76206596e+02] [-2.25696746e-03 -5.47648530e-05 -9.99997452e-01 -4.88789869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters 0.05063586346686754 Centerline is valid? [True, True] Translation: X:611.35, Y:-276.43, Z:-4.89 [[ 6.48868982e-01 -7.60899468e-01 -1.02176605e-03 6.11349798e+02] [-7.60898426e-01 -6.48869785e-01 1.25991992e-03 -2.76433175e+02] [-1.62166552e-03 -4.00627767e-05 -9.99998684e-01 -4.88816129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters 0.05202687192911005 Centerline is valid? [True, True] Translation: X:611.39, Y:-276.60, Z:-4.89 [[ 7.03671844e-01 -7.10524249e-01 -1.10813391e-03 6.11386249e+02] [-7.10523275e-01 -7.03672715e-01 1.17719429e-03 -2.76601091e+02] [-1.61618869e-03 -4.10035412e-05 -9.99998693e-01 -4.88772727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters 0.05105476805183368 Centerline is valid? [True, True] Translation: X:611.50, Y:-276.82, Z:-4.89 [[ 7.55204657e-01 -6.55486627e-01 -1.79120292e-03 6.11498832e+02] [-6.55484592e-01 -7.55206779e-01 1.63437137e-03 -2.76817570e+02] [-2.42403717e-03 -6.01789568e-05 -9.99997060e-01 -4.88699564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters 0.05056743147589834 Centerline is valid? [True, True] Translation: X:611.46, Y:-276.91, Z:-4.89 [[ 8.04678454e-01 -5.93707450e-01 -2.01252442e-03 6.11460696e+02] [-5.93705387e-01 -8.04680968e-01 1.56661080e-03 -2.76912773e+02] [-2.54954860e-03 -6.57713716e-05 -9.99996748e-01 -4.88619367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters 0.05175602715531205 Centerline is valid? [True, True] Translation: X:611.43, Y:-277.01, Z:-4.89 [[ 8.49214207e-01 -5.28042597e-01 -2.49938174e-03 6.11427771e+02] [-5.28040036e-01 -8.49217881e-01 1.64643341e-03 -2.77013376e+02] [-2.99190663e-03 -7.84010180e-05 -9.99995521e-01 -4.88525128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters 0.05120012315700932 Centerline is valid? [True, True] Translation: X:611.41, Y:-277.10, Z:-4.89 [[ 8.87954528e-01 -4.59921309e-01 -3.02419171e-03 6.11413460e+02] [-4.59918298e-01 -8.87959673e-01 1.66667440e-03 -2.77100791e+02] [-3.45189935e-03 -8.90499734e-05 -9.99994038e-01 -4.88555403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters 0.05054166399178077 Centerline is valid? [True, True] Translation: X:611.40, Y:-277.20, Z:-4.89 [[ 9.21228965e-01 -3.89012848e-01 -2.48948980e-03 6.11401579e+02] [-3.89011211e-01 -9.21232326e-01 1.13082133e-03 -2.77197614e+02] [-2.73330251e-03 -7.33059227e-05 -9.99996262e-01 -4.88515645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters 0.050773537030808 Centerline is valid? [True, True] Translation: X:611.40, Y:-277.30, Z:-4.89 [[ 9.49004921e-01 -3.15253347e-01 -2.23334102e-03 6.11396125e+02] [-3.15252308e-01 -9.49007546e-01 8.12180280e-04 -2.77296983e+02] [-2.37550003e-03 -6.66971718e-05 -9.99997176e-01 -4.88544881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters 0.05127030737728493 Centerline is valid? [True, True] Translation: X:611.40, Y:-277.40, Z:-4.88 [[ 9.70992575e-01 -2.39095197e-01 -2.62807773e-03 6.11395935e+02] [-2.39094104e-01 -9.70996128e-01 7.26985324e-04 -2.77402124e+02] [-2.72567200e-03 -7.75394622e-05 -9.99996282e-01 -4.88483303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters 0.05083349431691994 Centerline is valid? [True, True] Translation: X:611.41, Y:-277.50, Z:-4.88 [[ 9.87010301e-01 -1.60638821e-01 -2.41542494e-03 6.11406382e+02] [-1.60638152e-01 -9.87013254e-01 4.69811986e-04 -2.77499735e+02] [-2.45952648e-03 -7.56998709e-05 -9.99996973e-01 -4.88491297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters 0.05153260493233601 Centerline is valid? [True, True] Translation: X:611.42, Y:-277.61, Z:-4.88 [[ 9.96714152e-01 -8.09664951e-02 -2.30768189e-03 6.11422622e+02] [-8.09660994e-02 -9.96716821e-01 2.64535363e-04 -2.77605604e+02] [-2.32152386e-03 -7.68221384e-05 -9.99997302e-01 -4.88492696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters 0.051423510233991034 Centerline is valid? [True, True] Translation: X:611.45, Y:-277.69, Z:-4.88 [[ 9.99996522e-01 -7.94617885e-04 -2.51500727e-03 6.11449489e+02] [-7.94395824e-04 -9.99999681e-01 8.92919903e-05 -2.77693197e+02] [-2.51507742e-03 -8.72937685e-05 -9.99996833e-01 -4.88448587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters 0.050394852797767425 Centerline is valid? [True, True] Translation: X:611.48, Y:-277.79, Z:-4.88 [[ 9.96791262e-01 8.00016565e-02 -2.62964054e-03 6.11478318e+02] [ 8.00016357e-02 -9.96794726e-01 -1.13289191e-04 -2.77785230e+02] [-2.63027514e-03 -9.74498686e-05 -9.99996536e-01 -4.88485995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters 0.05290947990545598 Centerline is valid? [True, True] Translation: X:611.52, Y:-277.89, Z:-4.88 [[ 9.87206121e-01 1.59421099e-01 -2.99784490e-03 6.11515258e+02] [ 1.59420717e-01 -9.87210667e-01 -3.67434739e-04 -2.77894398e+02] [-3.01808131e-03 -1.15184759e-04 -9.99995439e-01 -4.88330583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters 0.051103435234279015 Centerline is valid? [True, True] Translation: X:611.56, Y:-277.97, Z:-4.88 [[ 9.71443309e-01 2.37247563e-01 -3.38997706e-03 6.11556773e+02] [ 2.37246598e-01 -9.71449214e-01 -6.89910786e-04 -2.77974067e+02] [-3.45687020e-03 -1.34051307e-04 -9.99994016e-01 -4.88319709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters 0.05316048991555245 Centerline is valid? [True, True] Translation: X:611.61, Y:-278.06, Z:-4.88 [[ 9.49960743e-01 3.12357858e-01 -2.67483037e-03 6.11606650e+02] [ 3.12356943e-01 -9.49964503e-01 -7.64095442e-04 -2.78061277e+02] [-2.77966512e-03 -1.09641164e-04 -9.99996131e-01 -4.88252188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters 0.05280560343652076 Centerline is valid? [True, True] Translation: X:611.66, Y:-278.13, Z:-4.88 [[ 9.23164016e-01 3.84402672e-01 -1.66859767e-03 6.11659841e+02] [ 3.84402184e-01 -9.23165522e-01 -6.17003074e-04 -2.78129586e+02] [-1.77756947e-03 -7.18175515e-05 -9.99998418e-01 -4.88265924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters 0.05053511632989295 Centerline is valid? [True, True] Translation: X:611.72, Y:-278.20, Z:-4.88 [[ 8.90887116e-01 4.54223302e-01 -1.15677454e-03 6.11720257e+02] [ 4.54222996e-01 -8.90887866e-01 -5.30384221e-04 -2.78199165e+02] [-1.27146927e-03 -5.29211267e-05 -9.99999190e-01 -4.88274940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters 0.05098477214953464 Centerline is valid? [True, True] Translation: X:611.79, Y:-278.28, Z:-4.88 [[ 8.54198208e-01 5.19945865e-01 -1.31126957e-03 6.11790479e+02] [ 5.19945352e-01 -8.54199212e-01 -7.32871496e-04 -2.78275777e+02] [-1.50113893e-03 -5.57709974e-05 -9.99998872e-01 -4.88146734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters 0.05144712084881833 Centerline is valid? [True, True] Translation: X:611.86, Y:-278.34, Z:-4.88 [[ 8.12434032e-01 5.83051538e-01 -1.35925047e-03 6.11862656e+02] [ 5.83050835e-01 -8.12435167e-01 -9.07369917e-04 -2.78340338e+02] [-1.63334631e-03 -5.53339229e-05 -9.99998665e-01 -4.88115763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters 0.05130610008720469 Centerline is valid? [True, True] Translation: X:611.93, Y:-278.39, Z:-4.88 [[ 7.66904777e-01 6.41759259e-01 -1.45501885e-03 6.11934801e+02] [ 6.41758235e-01 -7.66906155e-01 -1.14751267e-03 -2.78390846e+02] [-1.85228979e-03 -5.37373840e-05 -9.99998283e-01 -4.88120473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters 0.05154044379099664 Centerline is valid? [True, True] Translation: X:612.01, Y:-278.44, Z:-4.88 [[ 7.17077703e-01 6.96991661e-01 -1.48059778e-03 6.12011741e+02] [ 6.96990316e-01 -7.17079230e-01 -1.37001429e-03 -2.78439287e+02] [-2.01659445e-03 -4.95556133e-05 -9.99997965e-01 -4.88034396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters 0.05135140076700014 Centerline is valid? [True, True] Translation: X:612.09, Y:-278.48, Z:-4.88 [[ 6.62235657e-01 7.49293806e-01 -1.65126516e-03 6.12087620e+02] [ 7.49291668e-01 -6.62237714e-01 -1.79093214e-03 -2.78475632e+02] [-2.43546442e-03 -5.12600999e-05 -9.99997033e-01 -4.87993651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters 0.051142853608091614 Centerline is valid? [True, True] Translation: X:612.17, Y:-278.51, Z:-4.88 [[ 6.03680906e-01 7.97223544e-01 -1.99602649e-03 6.12171168e+02] [ 7.97219488e-01 -6.03684203e-01 -2.54366166e-03 -2.78509933e+02] [-3.23283663e-03 -5.57112370e-05 -9.99994773e-01 -4.87972486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters 0.051362283303080916 Centerline is valid? [True, True] Translation: X:612.26, Y:-278.54, Z:-4.88 [[ 5.40167976e-01 8.41555818e-01 -1.53703818e-03 6.12258927e+02] [ 8.41552656e-01 -5.40170161e-01 -2.30749664e-03 -2.78538547e+02] [-2.77214938e-03 -4.70627728e-05 -9.99996156e-01 -4.88000742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters 0.05118734961379477 Centerline is valid? [True, True] Translation: X:612.35, Y:-278.56, Z:-4.88 [[ 4.72883334e-01 8.81123871e-01 -1.44117758e-03 6.12349097e+02] [ 8.81120087e-01 -4.72885528e-01 -2.58246766e-03 -2.78562138e+02] [-2.95698592e-03 -4.86446012e-05 -9.99995627e-01 -4.87958578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters 0.05151696503639539 Centerline is valid? [True, True] Translation: X:612.43, Y:-278.57, Z:-4.88 [[ 4.03516533e-01 9.14971687e-01 -1.10403636e-03 6.12429343e+02] [ 9.14968540e-01 -4.03518041e-01 -2.40009853e-03 -2.78571636e+02] [-2.64152079e-03 -4.16791036e-05 -9.99996510e-01 -4.87980162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters 0.05081309286618638 Centerline is valid? [True, True] Translation: X:612.51, Y:-278.58, Z:-4.88 [[ 3.31873889e-01 9.43323542e-01 -6.45206558e-04 6.12513360e+02] [ 9.43321933e-01 -3.31874515e-01 -1.74252257e-03 -2.78576374e+02] [-1.85789018e-03 -3.03397540e-05 -9.99998274e-01 -4.88005131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters 0.05088268423258326 Centerline is valid? [True, True] Translation: X:612.60, Y:-278.58, Z:-4.88 [[ 2.57783253e-01 9.66202558e-01 -6.41110578e-04 6.12596832e+02] [ 9.66199887e-01 -2.57784048e-01 -2.27230331e-03 -2.78575672e+02] [-2.36077335e-03 -3.36792285e-05 -9.99997213e-01 -4.87984717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters 0.05078951517577129 Centerline is valid? [True, True] Translation: X:612.67, Y:-278.57, Z:-4.88 [[ 1.82224065e-01 9.83256922e-01 -4.63963440e-04 6.12674873e+02] [ 9.83254165e-01 -1.82224652e-01 -2.32882043e-03 -2.78566976e+02] [-2.37437438e-03 -3.18268610e-05 -9.99997181e-01 -4.87915455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters 0.05070847092072112 Centerline is valid? [True, True] Translation: X:612.75, Y:-278.55, Z:-4.88 [[ 1.05949587e-01 9.94371485e-01 -1.84941648e-04 6.12746260e+02] [ 9.94370321e-01 -1.05949746e-01 -1.52171879e-03 -2.78552548e+02] [-1.53274829e-03 -2.26750086e-05 -9.99998825e-01 -4.88000111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters 0.05114907760814747 Centerline is valid? [True, True] Translation: X:612.83, Y:-278.53, Z:-4.88 [[ 3.04223943e-02 9.99537131e-01 -3.70128239e-05 6.12825665e+02] [ 9.99536865e-01 -3.04224133e-02 -7.30138924e-04 -2.78531188e+02] [-7.30926984e-04 -1.47831077e-05 -9.99999733e-01 -4.88049132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters 0.051465431101248515 Centerline is valid? [True, True] Translation: X:612.91, Y:-278.50, Z:-4.88 [[-4.54587444e-02 9.98966216e-01 4.35661914e-05 6.12907043e+02] [ 9.98965406e-01 4.54587630e-02 -1.27186977e-03 -2.78503503e+02] [-1.27253540e-03 -1.42964849e-05 -9.99999190e-01 -4.88011314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters 0.051558258284008285 Centerline is valid? [True, True] Translation: X:612.99, Y:-278.47, Z:-4.88 [[-1.20127569e-01 9.92758443e-01 2.02267522e-04 6.12989076e+02] [ 9.92756899e-01 1.20127739e-01 -1.75090790e-03 -2.78468815e+02] [-1.76252654e-03 -9.52983216e-06 -9.99998447e-01 -4.87884648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters 0.051283187618504956 Centerline is valid? [True, True] Translation: X:613.06, Y:-278.43, Z:-4.88 [[-1.95032347e-01 9.80796572e-01 6.84226018e-04 6.13063213e+02] [ 9.80790549e-01 1.95033547e-01 -3.43712363e-03 -2.78430790e+02] [-3.50456610e-03 7.32124086e-07 -9.99993859e-01 -4.87784361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters 0.052094694391363425 Centerline is valid? [True, True] Translation: X:613.13, Y:-278.39, Z:-4.88 [[-2.70059299e-01 9.62843008e-01 1.14776666e-03 6.13131404e+02] [ 9.62834438e-01 2.70061738e-01 -4.06229868e-03 -2.78387997e+02] [-4.22132374e-03 8.04773045e-06 -9.99991090e-01 -4.87904183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters 0.0514620665451768 Centerline is valid? [True, True] Translation: X:613.20, Y:-278.34, Z:-4.88 [[-3.44669248e-01 9.38723055e-01 1.46130036e-03 6.13199944e+02] [ 9.38714711e-01 3.44672346e-01 -3.95802122e-03 -2.78336747e+02] [-4.21915560e-03 7.53594347e-06 -9.99991099e-01 -4.87768216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters 0.05252857346899279 Centerline is valid? [True, True] Translation: X:613.26, Y:-278.28, Z:-4.88 [[-4.18916781e-01 9.08023198e-01 1.61287293e-03 6.13262923e+02] [ 9.08016451e-01 4.18919886e-01 -3.50064815e-03 -2.78281943e+02] [-3.85433427e-03 -1.96509741e-06 -9.99992572e-01 -4.87787956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters 0.05197157213110288 Centerline is valid? [True, True] Translation: X:613.33, Y:-278.22, Z:-4.88 [[-4.90008925e-01 8.71715674e-01 1.74257251e-03 6.13329722e+02] [ 8.71710104e-01 4.90012023e-01 -3.11641310e-03 -2.78216776e+02] [-3.57050762e-03 -8.05216808e-06 -9.99993626e-01 -4.87716270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters 0.05152755982341525 Centerline is valid? [True, True] Translation: X:613.39, Y:-278.15, Z:-4.88 [[-5.59109802e-01 8.29091201e-01 2.00256577e-03 6.13389067e+02] [ 8.29085764e-01 5.59113388e-01 -3.00245626e-03 -2.78149038e+02] [-3.60897140e-03 -1.84039506e-05 -9.99993487e-01 -4.87705892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters 0.05092835289513776 Centerline is valid? [True, True] Translation: X:613.44, Y:-278.08, Z:-4.88 [[-6.25091551e-01 7.80549845e-01 1.57856127e-03 6.13442758e+02] [ 7.80547253e-01 6.25093544e-01 -2.01178185e-03 -2.78075963e+02] [-2.55704447e-03 -2.54061764e-05 -9.99996730e-01 -4.87755859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters 0.05097503278884143 Centerline is valid? [True, True] Translation: X:613.49, Y:-278.00, Z:-4.88 [[-6.86114158e-01 7.27492347e-01 1.49909811e-03 6.13490070e+02] [ 7.27490517e-01 6.86115795e-01 -1.63194074e-03 -2.77997987e+02] [-2.21577929e-03 -2.91179918e-05 -9.99997545e-01 -4.87783153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters 0.050743054154942825 Centerline is valid? [True, True] Translation: X:613.53, Y:-277.92, Z:-4.88 [[-7.43027796e-01 6.69258733e-01 1.56310098e-03 6.13530797e+02] [ 6.69257152e-01 7.43029439e-01 -1.45515715e-03 -2.77917128e+02] [-2.13530667e-03 -3.51057010e-05 -9.99997720e-01 -4.87758086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters 0.05105836775297434 Centerline is valid? [True, True] Translation: X:613.53, Y:-277.81, Z:-4.88 [[-7.89310600e-01 6.13991351e-01 1.84313459e-03 6.13528816e+02] [ 6.13989560e-01 7.89312751e-01 -1.48372433e-03 -2.77812641e+02] [-2.36580354e-03 -3.94539429e-05 -9.99997201e-01 -4.87671254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters 0.05126537246688143 Centerline is valid? [True, True] Translation: X:613.55, Y:-277.73, Z:-4.88 [[-8.30413569e-01 5.57140496e-01 2.78778916e-03 6.13546337e+02] [ 5.57137155e-01 8.30418247e-01 -1.93010113e-03 -2.77729631e+02] [-3.39036848e-03 -4.96012454e-05 -9.99994251e-01 -4.87667686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters 0.05136596764867772 Centerline is valid? [True, True] Translation: X:613.55, Y:-277.64, Z:-4.88 [[-8.66852134e-01 4.98548257e-01 4.12467492e-03 6.13550535e+02] [ 4.98542301e-01 8.66861945e-01 -2.43749925e-03 -2.77641443e+02] [-4.79073472e-03 -5.66264986e-05 -9.99988523e-01 -4.87516585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters 0.05147669621189391 Centerline is valid? [True, True] Translation: X:613.82, Y:-277.08, Z:-5.87 [[-8.21182641e-01 -5.70644734e-01 4.86385281e-03 6.13821515e+02] [ 5.70635667e-01 -8.21197035e-01 -3.21956657e-03 -2.77075027e+02] [ 5.83141021e-03 1.31635716e-04 9.99982989e-01 -5.87411649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters 0.05131213404750408 Centerline is valid? [True, True] Translation: X:613.42, Y:-277.57, Z:-4.87 [[-8.66996068e-01 4.98281852e-01 5.74573100e-03 6.13415520e+02] [ 4.98270504e-01 8.67015105e-01 -3.36329351e-03 -2.77566291e+02] [-6.65750368e-03 -5.30339655e-05 -9.99977837e-01 -4.87395153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters 0.05190208082102224 Centerline is valid? [True, True] Translation: X:613.33, Y:-277.44, Z:-4.88 [[-8.99939766e-01 4.35972510e-01 6.03219798e-03 6.13326778e+02] [ 4.35962340e-01 8.99959981e-01 -2.97832712e-03 -2.77436742e+02] [-6.72720553e-03 -5.05038681e-05 -9.99977371e-01 -4.87542425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters 0.05146045283618219 Centerline is valid? [True, True] Translation: X:613.41, Y:-277.39, Z:-4.87 [[-9.28906817e-01 3.70260964e-01 6.24044866e-03 6.13406437e+02] [ 3.70252208e-01 9.28927777e-01 -2.54701229e-03 -2.77389354e+02] [-6.73998533e-03 -5.53971881e-05 -9.99977285e-01 -4.87387305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters 0.05125657642691025 Centerline is valid? [True, True] Translation: X:613.55, Y:-277.36, Z:-4.88 [[-9.53461396e-01 3.01458434e-01 5.84629177e-03 6.13553771e+02] [ 3.01452363e-01 9.53479317e-01 -1.91425162e-03 -2.77363165e+02] [-6.15138558e-03 -6.27865552e-05 -9.99981078e-01 -4.87598427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters 0.05108995543427454 Centerline is valid? [True, True] Translation: X:613.55, Y:-276.68, Z:-5.87 [[-9.24395373e-01 -3.81406346e-01 4.73216945e-03 6.13548481e+02] [ 3.81401286e-01 -9.24407485e-01 -1.96468189e-03 -2.76684391e+02] [ 5.12379500e-03 -1.12873330e-05 9.99986873e-01 -5.87044725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters 0.051446304341571825 Centerline is valid? [True, True] Translation: X:613.27, Y:-277.27, Z:-4.88 [[-9.54769989e-01 2.97314536e-01 4.28191555e-03 6.13265380e+02] [ 2.97311307e-01 9.54779589e-01 -1.38671675e-03 -2.77272303e+02] [-4.50057661e-03 -5.09336305e-05 -9.99989871e-01 -4.87717734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters 0.05130162933628254 Centerline is valid? [True, True] Translation: X:613.45, Y:-276.65, Z:-5.87 [[-9.26207760e-01 -3.76995166e-01 3.71893276e-03 6.13453308e+02] [ 3.76992192e-01 -9.26215226e-01 -1.49754904e-03 -2.76651724e+02] [ 4.00910090e-03 1.49670672e-05 9.99991963e-01 -5.87030805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters 0.051511642734627765 Centerline is valid? [True, True] Translation: X:613.12, Y:-277.23, Z:-4.88 [[-9.55080252e-01 2.96323365e-01 3.76521635e-03 6.13118075e+02] [ 2.96320915e-01 9.55087673e-01 -1.20533240e-03 -2.77234026e+02] [-3.95327988e-03 -3.54768188e-05 -9.99992185e-01 -4.87821887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters 0.05121490586023259 Centerline is valid? [True, True] Translation: X:613.08, Y:-277.15, Z:-4.88 [[-9.73460462e-01 2.28800911e-01 4.98722003e-03 6.13081145e+02] [ 2.28797710e-01 9.73473236e-01 -1.21093292e-03 -2.77146121e+02] [-5.13198778e-03 -3.77307985e-05 -9.99986831e-01 -4.87655157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters 0.05093971011542034 Centerline is valid? [True, True] Translation: X:613.05, Y:-277.07, Z:-4.88 [[-9.87110665e-01 1.59932216e-01 5.84982198e-03 6.13053829e+02] [ 1.59929186e-01 9.87127998e-01 -9.85167480e-04 -2.77066602e+02] [-5.93208308e-03 -3.69120582e-05 -9.99982404e-01 -4.87683554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters 0.05062608401715319 Centerline is valid? [True, True] Translation: X:613.16, Y:-276.41, Z:-5.87 [[-9.71958677e-01 -2.35082229e-01 5.71632294e-03 6.13163666e+02] [ 2.35078361e-01 -9.71975486e-01 -1.34884014e-03 -2.76409153e+02] [ 5.87321411e-03 3.27669553e-05 9.99982752e-01 -5.87283137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters 0.05115473297342895 Centerline is valid? [True, True] Translation: X:612.94, Y:-277.05, Z:-4.88 [[-9.87794135e-01 1.55657497e-01 5.78717554e-03 6.12941931e+02] [ 1.55654588e-01 9.87811086e-01 -9.52508824e-04 -2.77053130e+02] [-5.86490130e-03 -4.00822064e-05 -9.99982801e-01 -4.87696251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters 0.051320459673859016 Centerline is valid? [True, True] Translation: X:612.94, Y:-276.97, Z:-4.88 [[-9.96681811e-01 8.12013890e-02 5.63050525e-03 6.12937190e+02] [ 8.11997480e-02 9.96697713e-01 -5.19805805e-04 -2.76974282e+02] [-5.65412066e-03 -6.08853832e-05 -9.99984013e-01 -4.87682667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters 0.050451621417265585 Centerline is valid? [True, True] Translation: X:612.92, Y:-276.89, Z:-4.88 [[-9.99970560e-01 4.86460226e-03 5.93416482e-03 6.12918087e+02] [ 4.86395534e-03 9.99988163e-01 -1.23443135e-04 -2.76893523e+02] [-5.93469508e-03 -9.45759880e-05 -9.99982385e-01 -4.87622823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters 0.05076091011404932 Centerline is valid? [True, True] Translation: X:612.90, Y:-276.23, Z:-5.87 [[-9.94479106e-01 -1.04786773e-01 5.57130300e-03 6.12901281e+02] [ 1.04785499e-01 -9.94494710e-01 -5.20762762e-04 -2.76229713e+02] [ 5.59520041e-03 6.59040800e-05 9.99984345e-01 -5.87167632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters 0.05130882797404491 Centerline is valid? [True, True] Translation: X:612.86, Y:-276.89, Z:-4.88 [[-9.99971719e-01 -4.91423232e-03 5.69308441e-03 6.12863739e+02] [-4.91485583e-03 9.99987917e-01 -9.55357273e-05 -2.76890555e+02] [-5.69254614e-03 -1.23513715e-04 -9.99983790e-01 -4.87536699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters 0.050961646672172005 Centerline is valid? [True, True] Translation: X:612.78, Y:-276.24, Z:-5.87 [[-9.94791879e-01 -1.01812620e-01 4.82773401e-03 6.12784213e+02] [ 1.01811673e-01 -9.94803593e-01 -4.42067853e-04 -2.76238365e+02] [ 4.84765523e-03 5.17541672e-05 9.99988249e-01 -5.87279755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters 0.051028218225245836 Centerline is valid? [True, True] Translation: X:612.65, Y:-276.89, Z:-4.88 [[-9.99967483e-01 -6.13907377e-03 5.22925722e-03 6.12654514e+02] [-6.13951501e-03 9.99981151e-01 -6.83305194e-05 -2.76889637e+02] [-5.22873917e-03 -1.00433401e-04 -9.99986325e-01 -4.87676665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters 0.050666388707320674 Centerline is valid? [True, True] Translation: X:612.59, Y:-276.81, Z:-4.88 [[-9.97074805e-01 -7.62613185e-02 5.10336051e-03 6.12589224e+02] [-7.62607989e-02 9.97087861e-01 2.96626824e-04 -2.76812912e+02] [-5.11111997e-03 -9.34272167e-05 -9.99986934e-01 -4.87686748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters 0.05119525949459399 Centerline is valid? [True, True] Translation: X:612.51, Y:-276.73, Z:-4.87 [[-9.89121230e-01 -1.47007953e-01 5.27773402e-03 6.12513244e+02] [-1.47006383e-01 9.89135305e-01 6.86376642e-04 -2.76734776e+02] [-5.32129587e-03 -9.69508793e-05 -9.99985837e-01 -4.87480710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters 0.05092685323781706 Centerline is valid? [True, True] Translation: X:612.39, Y:-276.68, Z:-4.87 [[-9.76083480e-01 -2.17298589e-01 6.50877748e-03 6.12394312e+02] [-2.17294581e-01 9.76105173e-01 1.32526627e-03 -2.76680551e+02] [-6.64122986e-03 -1.20751560e-04 -9.99977940e-01 -4.87463816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters 0.051048134410905895 Centerline is valid? [True, True] Translation: X:612.36, Y:-276.60, Z:-4.87 [[-9.57839998e-01 -2.87200486e-01 7.64325764e-03 6.12355056e+02] [-2.87192553e-01 9.57870482e-01 2.13958866e-03 -2.76604920e+02] [-7.93574178e-03 -1.45703081e-04 -9.99968501e-01 -4.87186197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters 0.051437308216275755 Centerline is valid? [True, True] Translation: X:612.26, Y:-276.56, Z:-4.87 [[-9.34902467e-01 -3.54823462e-01 7.59521955e-03 6.12259050e+02] [-3.54813035e-01 9.34933307e-01 2.72416411e-03 -2.76556074e+02] [-8.06762107e-03 -1.48055155e-04 -9.99967445e-01 -4.87324511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters 0.05118484115524054 Centerline is valid? [True, True] Translation: X:612.15, Y:-276.52, Z:-4.88 [[-9.08061215e-01 -4.18799580e-01 5.63404589e-03 6.12150095e+02] [-4.18792212e-01 9.08078687e-01 2.48626224e-03 -2.76521530e+02] [-6.15740258e-03 -1.01816238e-04 -9.99981038e-01 -4.87595070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters 0.05131908637731288 Centerline is valid? [True, True] Translation: X:612.01, Y:-276.51, Z:-4.88 [[-8.76960354e-01 -4.80539111e-01 4.76455104e-03 6.12006232e+02] [-4.80532499e-01 8.76973293e-01 2.52207973e-03 -2.76506050e+02] [-5.39034197e-03 -7.77576885e-05 -9.99985469e-01 -4.87541130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters 0.051206137807406106 Centerline is valid? [True, True] Translation: X:611.86, Y:-276.51, Z:-4.88 [[-8.41733863e-01 -5.39873795e-01 4.51542444e-03 6.11858730e+02] [-5.39866415e-01 8.41745972e-01 2.82360172e-03 -2.76505066e+02] [-5.32522891e-03 -6.10048243e-05 -9.99985819e-01 -4.87545826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters 0.05078215178750779 Centerline is valid? [True, True] Translation: X:611.69, Y:-276.53, Z:-4.87 [[-8.02775552e-01 -5.96266920e-01 4.14404057e-03 6.11687115e+02] [-5.96259243e-01 8.02786247e-01 3.02609627e-03 -2.76531638e+02] [-5.13113988e-03 -4.16463864e-05 -9.99986835e-01 -4.87496050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters 0.05091142889863047 Centerline is valid? [True, True] Translation: X:611.53, Y:-276.56, Z:-4.88 [[-7.57790654e-01 -6.52486025e-01 3.91294746e-03 6.11528438e+02] [-6.52477580e-01 7.57800756e-01 3.31986980e-03 -2.76559871e+02] [-5.13140320e-03 -3.73441825e-05 -9.99986834e-01 -4.87551949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters 0.0514437063346993 Centerline is valid? [True, True] Translation: X:611.36, Y:-276.61, Z:-4.87 [[-7.08367105e-01 -7.05833210e-01 3.94005891e-03 6.11355134e+02] [-7.05822581e-01 7.08378061e-01 3.87379708e-03 -2.76609880e+02] [-5.52530593e-03 -3.69121259e-05 -9.99984735e-01 -4.87346648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters 0.05160756523736078 Centerline is valid? [True, True] Translation: X:611.60, Y:-276.23, Z:-4.87 [[-6.52141318e-01 -7.58087098e-01 3.95643419e-03 6.11595482e+02] [-7.58073523e-01 6.52153319e-01 4.53690642e-03 -2.76228345e+02] [-6.01957190e-03 -4.05638652e-05 -9.99981881e-01 -4.87450426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters 0.05067585270878924 Centerline is valid? [True, True] Translation: X:610.55, Y:-276.39, Z:-5.87 [[-7.09246228e-01 7.04948728e-01 4.13263055e-03 6.10550419e+02] [-7.04936519e-01 -7.09258267e-01 4.14900130e-03 -2.76394399e+02] [ 5.85593557e-03 2.94213282e-05 9.99982853e-01 -5.87455893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters 0.051526398958380536 Centerline is valid? [True, True] Translation: X:610.87, Y:-277.03, Z:-4.87 [[-6.46725074e-01 -7.62714003e-01 3.74561013e-03 6.10868546e+02] [-7.62701612e-01 6.46735919e-01 4.34765234e-03 -2.77026855e+02] [-5.73843593e-03 -4.50471057e-05 -9.99983534e-01 -4.87480187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters 0.05117193102806419 Centerline is valid? [True, True] Translation: X:610.71, Y:-277.10, Z:-4.87 [[-5.87244810e-01 -8.09402495e-01 3.33669983e-03 6.10712244e+02] [-8.09389962e-01 5.87254287e-01 4.50468594e-03 -2.77097753e+02] [-5.60559532e-03 -5.53379068e-05 -9.99984287e-01 -4.87497592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters 0.05099208295724679 Centerline is valid? [True, True] Translation: X:610.55, Y:-277.19, Z:-4.87 [[-5.24572424e-01 -8.51360175e-01 3.10243106e-03 6.10553525e+02] [-8.51346035e-01 5.24581593e-01 4.90722984e-03 -2.77190699e+02] [-5.80529829e-03 -6.70449299e-05 -9.99983147e-01 -4.87490236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters 0.05105909343302884 Centerline is valid? [True, True] Translation: X:610.38, Y:-277.33, Z:-4.88 [[-4.58531229e-01 -8.88675062e-01 2.39700618e-03 6.10384385e+02] [-8.88663727e-01 4.58537489e-01 4.48894791e-03 -2.77325179e+02] [-5.08833326e-03 -7.18096411e-05 -9.99987052e-01 -4.87552249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters 0.051361882151453646 Centerline is valid? [True, True] Translation: X:610.39, Y:-277.13, Z:-4.88 [[-3.87764105e-01 -9.21757347e-01 1.54655572e-03 6.10391328e+02] [-9.21750678e-01 3.87767183e-01 3.50703756e-03 -2.77126666e+02] [-3.83234119e-03 -6.56355041e-05 -9.99992654e-01 -4.87705504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters 0.05115498457889065 Centerline is valid? [True, True] Translation: X:609.42, Y:-277.71, Z:-5.87 [[-4.76934001e-01 8.78937452e-01 1.70687119e-03 6.09417572e+02] [-8.78931419e-01 -4.76937053e-01 3.25700349e-03 -2.77713693e+02] [ 3.67677247e-03 5.31529893e-05 9.99993239e-01 -5.87322271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters 0.05210418564168522 Centerline is valid? [True, True] Translation: X:609.89, Y:-278.17, Z:-4.87 [[-3.77673443e-01 -9.25936991e-01 1.85997450e-03 6.09894950e+02] [-9.25927005e-01 3.77678010e-01 4.30144593e-03 -2.78170710e+02] [-4.68533937e-03 -9.76587292e-05 -9.99989019e-01 -4.87464027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters 0.0508933670851547 Centerline is valid? [True, True] Translation: X:609.76, Y:-278.32, Z:-4.87 [[-3.06088794e-01 -9.52001231e-01 1.81830505e-03 6.09756353e+02] [-9.51986811e-01 3.06094169e-01 5.24141208e-03 -2.78316055e+02] [-5.54640333e-03 -1.26664927e-04 -9.99984611e-01 -4.87439760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters 0.05086434686478716 Centerline is valid? [True, True] Translation: X:609.61, Y:-278.53, Z:-4.87 [[-2.34785648e-01 -9.72045821e-01 1.61912685e-03 6.09610266e+02] [-9.72026835e-01 2.34791185e-01 6.07713586e-03 -2.78531838e+02] [-6.28741123e-03 -1.47010467e-04 -9.99980223e-01 -4.87439097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters 0.050989944296026025 Centerline is valid? [True, True] Translation: X:609.50, Y:-278.68, Z:-4.88 [[-1.64162705e-01 -9.86432460e-01 1.26851264e-03 6.09499778e+02] [-9.86409462e-01 1.64167541e-01 6.73740404e-03 -2.78683885e+02] [-6.85424264e-03 -1.45242398e-04 -9.99976499e-01 -4.87530706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters 0.05124672347942335 Centerline is valid? [True, True] Translation: X:609.38, Y:-278.92, Z:-4.87 [[-9.57622279e-02 -9.95403929e-01 7.83598212e-04 6.09384772e+02] [-9.95379653e-01 9.57653658e-02 6.95275888e-03 -2.78921195e+02] [-6.99584507e-03 -1.14166036e-04 -9.99975522e-01 -4.87448649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters 0.051427064571914954 Centerline is valid? [True, True] Translation: X:609.29, Y:-279.17, Z:-4.88 [[-2.43642815e-02 -9.99703113e-01 2.59429058e-04 6.09292637e+02] [-9.99680274e-01 2.43654787e-02 6.75820801e-03 -2.79174301e+02] [-6.76252270e-03 -9.46872293e-05 -9.99977129e-01 -4.87620706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters 0.05135474804248169 Centerline is valid? [True, True] Translation: X:609.22, Y:-279.43, Z:-4.87 [[ 4.28127135e-02 -9.99083082e-01 -2.60252595e-04 6.09217165e+02] [-9.99056557e-01 -4.28134733e-02 7.28031265e-03 -2.79434337e+02] [-7.28477952e-03 -5.16828780e-05 -9.99973464e-01 -4.87412803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters 0.05167286892596494 Centerline is valid? [True, True] Translation: X:609.17, Y:-279.74, Z:-4.88 [[ 1.11537093e-01 -9.93759947e-01 -8.03484108e-04 6.09167599e+02] [-9.93733169e-01 -1.11539986e-01 7.29528076e-03 -2.79735784e+02] [-7.33937842e-03 -1.52455975e-05 -9.99973066e-01 -4.87511694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters 0.05187009860445238 Centerline is valid? [True, True] Translation: X:608.54, Y:-280.06, Z:-5.87 [[ 4.99117406e-02 9.98753579e-01 -3.25365844e-04 6.08538388e+02] [-9.98730284e-01 4.99127987e-02 6.82151288e-03 -2.80058639e+02] [ 6.82925032e-03 -1.55208595e-05 9.99976680e-01 -5.87459414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters 0.052220279135150136 Centerline is valid? [True, True] Translation: X:609.23, Y:-280.32, Z:-4.88 [[ 1.04907686e-01 -9.94481719e-01 -6.99262065e-04 6.09233111e+02] [-9.94463630e-01 -1.04909996e-01 5.99849844e-03 -2.80316139e+02] [-6.03875662e-03 6.61021002e-05 -9.99981764e-01 -4.87631069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters 0.052002101234134755 Centerline is valid? [True, True] Translation: X:608.58, Y:-280.37, Z:-5.87 [[ 6.37743268e-02 9.97964295e-01 -3.18309864e-04 6.08575350e+02] [-9.97946119e-01 6.37750865e-02 6.02347258e-03 -2.80374233e+02] [ 6.03151080e-03 -6.64868147e-05 9.99981808e-01 -5.87366854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters 0.05176835179896168 Centerline is valid? [True, True] Translation: X:609.20, Y:-279.96, Z:-4.88 [[ 1.13284717e-01 -9.93562252e-01 -7.90631986e-04 6.09203559e+02] [-9.93542092e-01 -1.13287455e-01 6.32956354e-03 -2.79964042e+02] [-6.37838409e-03 6.84833438e-05 -9.99979656e-01 -4.87629920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters 0.052353412637124015 Centerline is valid? [True, True] Translation: X:609.24, Y:-280.67, Z:-4.88 [[ 1.88603271e-01 -9.82052457e-01 -1.33370575e-03 6.09235407e+02] [-9.82029522e-01 -1.88607981e-01 6.71177606e-03 -2.80666455e+02] [-6.84286371e-03 4.38755039e-05 -9.99976586e-01 -4.87592895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters 0.051771547572017844 Centerline is valid? [True, True] Translation: X:609.21, Y:-280.87, Z:-4.87 [[ 2.66423525e-01 -9.63854185e-01 -1.90146847e-03 6.09206321e+02] [-9.63829804e-01 -2.66430310e-01 6.85550525e-03 -2.80873539e+02] [-7.11431626e-03 6.22410464e-06 -9.99974693e-01 -4.87499038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters 0.05166888339003683 Centerline is valid? [True, True] Translation: X:609.12, Y:-280.86, Z:-4.88 [[ 3.41040439e-01 -9.40046118e-01 -2.17130551e-03 6.09119580e+02] [-9.40026734e-01 -3.41047350e-01 6.03684113e-03 -2.80859813e+02] [-6.41542706e-03 -1.77217253e-05 -9.99979421e-01 -4.87714350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters 0.05133663652771839 Centerline is valid? [True, True] Translation: X:609.19, Y:-281.25, Z:-4.88 [[ 4.14099185e-01 -9.10228568e-01 -2.41233019e-03 6.09192347e+02] [-9.10212425e-01 -4.14106209e-01 5.42113856e-03 -2.81254679e+02] [-5.93343609e-03 -4.91561483e-05 -9.99982396e-01 -4.87782857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters 0.05144126568115664 Centerline is valid? [True, True] Translation: X:609.20, Y:-281.45, Z:-4.88 [[ 4.83780907e-01 -8.75185195e-01 -2.62853748e-03 6.09201893e+02] [-8.75171499e-01 -4.83788043e-01 4.89665651e-03 -2.81452662e+02] [-5.55713629e-03 -6.84878433e-05 -9.99984557e-01 -4.87778915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters 0.05093554711505975 Centerline is valid? [True, True] Translation: X:609.21, Y:-281.62, Z:-4.88 [[ 5.50991292e-01 -8.34506546e-01 -2.72417984e-03 6.09209685e+02] [-8.34495559e-01 -5.50998019e-01 4.28298970e-03 -2.81622965e+02] [-5.07520064e-03 -8.65740462e-05 -9.99987117e-01 -4.87760924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters 0.05105181119791742 Centerline is valid? [True, True] Translation: X:609.25, Y:-281.82, Z:-4.88 [[ 6.13092850e-01 -7.90002929e-01 -3.53970335e-03 6.09247939e+02] [-7.89988668e-01 -6.13103058e-01 4.74826991e-03 -2.81817019e+02] [-5.92135009e-03 -1.14804798e-04 -9.99982462e-01 -4.87685781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters 0.05105701284290132 Centerline is valid? [True, True] Translation: X:609.30, Y:-282.02, Z:-4.87 [[ 6.70157845e-01 -7.42203064e-01 -4.80350501e-03 6.09304368e+02] [-7.42182422e-01 -6.70175044e-01 5.53739326e-03 -2.82021244e+02] [-7.32905942e-03 -1.45850554e-04 -9.99973131e-01 -4.87409913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters 0.051170012990724406 Centerline is valid? [True, True] Translation: X:609.38, Y:-282.22, Z:-4.87 [[ 7.22444109e-01 -6.91397096e-01 -6.67566663e-03 6.09383121e+02] [-6.91365269e-01 -7.22474929e-01 6.63642226e-03 -2.82215612e+02] [-9.41140485e-03 -1.79120109e-04 -9.99955696e-01 -4.87376446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters 0.05132763138911773 Centerline is valid? [True, True] Translation: X:609.35, Y:-282.30, Z:-4.88 [[ 7.72195230e-01 -6.35337192e-01 -7.82172045e-03 6.09353537e+02] [-6.35302470e-01 -7.72234826e-01 6.64423673e-03 -2.82299386e+02] [-1.02615356e-02 -1.61489589e-04 -9.99947336e-01 -4.87613895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters 0.051859140456173104 Centerline is valid? [True, True] Translation: X:609.33, Y:-282.38, Z:-4.88 [[ 8.17603490e-01 -5.75718273e-01 -8.54421504e-03 6.09328269e+02] [-5.75685158e-01 -8.17648123e-01 6.17622852e-03 -2.82384357e+02] [-1.05419290e-02 -1.30928200e-04 -9.99944424e-01 -4.87516120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters 0.05204620867247937 Centerline is valid? [True, True] Translation: X:609.31, Y:-282.47, Z:-4.88 [[ 8.56431278e-01 -5.16162908e-01 -1.00657178e-02 6.09312770e+02] [-5.16126418e-01 -8.56490425e-01 6.13780749e-03 -2.82467843e+02] [-1.17892994e-02 -6.14274667e-05 -9.99930502e-01 -4.87583732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters 0.051725655341425064 Centerline is valid? [True, True] Translation: X:609.30, Y:-282.55, Z:-4.87 [[ 8.91975961e-01 -4.51973260e-01 -9.95275553e-03 6.09303762e+02] [-4.51945070e-01 -8.92031486e-01 5.04795680e-03 -2.82549700e+02] [-1.11597128e-02 -4.55732207e-06 -9.99937728e-01 -4.87426280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters 0.05153169895426942 Centerline is valid? [True, True] Translation: X:609.30, Y:-282.63, Z:-4.88 [[ 9.22842044e-01 -3.85088156e-01 -8.34711315e-03 6.09302841e+02] [-3.85072755e-01 -9.22879792e-01 3.44414949e-03 -2.82631164e+02] [-9.02968322e-03 3.58399089e-05 -9.99959231e-01 -4.87698566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters 0.05191486334382615 Centerline is valid? [True, True] Translation: X:609.31, Y:-282.71, Z:-4.88 [[ 9.49345957e-01 -3.14126852e-01 -8.15928830e-03 6.09307401e+02] [-3.14115748e-01 -9.49381018e-01 2.64187316e-03 -2.82709194e+02] [-8.57615673e-03 5.49093433e-05 -9.99963223e-01 -4.87611693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters 0.05177188378505147 Centerline is valid? [True, True] Translation: X:609.32, Y:-282.79, Z:-4.88 [[ 9.70128155e-01 -2.42404076e-01 -9.57216753e-03 6.09318137e+02] [-2.42393285e-01 -9.70175373e-01 2.28938946e-03 -2.82792142e+02] [-9.84163854e-03 9.92279564e-05 -9.99951565e-01 -4.87658591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters 0.052118398098084634 Centerline is valid? [True, True] Translation: X:609.34, Y:-282.87, Z:-4.88 [[ 9.85485780e-01 -1.69398235e-01 -1.10460545e-02 6.09336581e+02] [-1.69389348e-01 -9.85547672e-01 1.74202849e-03 -2.82866980e+02] [-1.11815099e-02 1.54339663e-04 -9.99937473e-01 -4.87511999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters 0.052995939909041605 Centerline is valid? [True, True] Translation: X:609.36, Y:-282.94, Z:-4.88 [[ 9.94888007e-01 -1.00263630e-01 -1.20439798e-02 6.09360801e+02] [-1.00259560e-01 -9.94960870e-01 9.42745954e-04 -2.82943242e+02] [-1.20778117e-02 2.69597467e-04 -9.99927024e-01 -4.87670135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters 0.053452260479198314 Centerline is valid? [True, True] Translation: X:609.38, Y:-283.03, Z:-4.88 [[ 9.99510930e-01 -2.89657319e-02 -1.17850601e-02 6.09384024e+02] [-2.89677686e-02 -9.99580346e-01 -2.12225342e-06 -2.83028694e+02] [-1.17800530e-02 3.43508110e-04 -9.99930554e-01 -4.88050486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters 0.05350296442172804 Centerline is valid? [True, True] Translation: X:609.42, Y:-283.13, Z:-4.88 [[ 9.99155113e-01 3.97175699e-02 -1.05628542e-02 6.09415899e+02] [ 3.97110120e-02 -9.99210862e-01 -8.29940745e-04 -2.83134034e+02] [-1.05874819e-02 4.09777911e-04 -9.99943867e-01 -4.88043999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters 0.05424126365477742 Centerline is valid? [True, True] Translation: X:609.45, Y:-283.23, Z:-4.88 [[ 9.93434952e-01 1.14017907e-01 -9.32273482e-03 6.09453467e+02] [ 1.14009103e-01 -9.93478614e-01 -1.47212650e-03 -2.83227936e+02] [-9.42978646e-03 3.99585285e-04 -9.99955459e-01 -4.87991759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters 0.05384331909284579 Centerline is valid? [True, True] Translation: X:609.51, Y:-283.35, Z:-4.88 [[ 9.81536975e-01 1.91134368e-01 -7.26775695e-03 6.09505884e+02] [ 1.91126732e-01 -9.81563830e-01 -1.73758982e-03 -2.83348683e+02] [-7.46588049e-03 3.16446024e-04 -9.99972080e-01 -4.88295914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters 0.054342020730637756 Centerline is valid? [True, True] Translation: X:609.55, Y:-283.41, Z:-4.88 [[ 9.61588598e-01 2.74397932e-01 -7.28986812e-03 6.09552989e+02] [ 2.74387920e-01 -9.61616193e-01 -2.35940689e-03 -2.83409631e+02] [-7.65747160e-03 2.68527017e-04 -9.99970645e-01 -4.88036012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters 0.05391349643665869 Centerline is valid? [True, True] Translation: X:609.61, Y:-283.48, Z:-4.88 [[ 9.34111178e-01 3.56891478e-01 -8.04860234e-03 6.09607686e+02] [ 3.56876090e-01 -9.34145824e-01 -3.32215438e-03 -2.83475728e+02] [-8.70421684e-03 2.30907815e-04 -9.99962091e-01 -4.87994418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters 0.05348717054228474 Centerline is valid? [True, True] Translation: X:609.67, Y:-283.54, Z:-4.88 [[ 9.01209494e-01 4.33304277e-01 -8.29771875e-03 6.09669673e+02] [ 4.33283839e-01 -9.01247670e-01 -4.21328565e-03 -2.83541372e+02] [-9.30393438e-03 2.01785587e-04 -9.99956697e-01 -4.87966279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters 0.053400987088278874 Centerline is valid? [True, True] Translation: X:609.74, Y:-283.60, Z:-4.88 [[ 8.57280296e-01 5.14773537e-01 -8.87130266e-03 6.09738236e+02] [ 5.14745033e-01 -8.57326192e-01 -5.41777309e-03 -2.83602689e+02] [-1.03945263e-02 7.80911402e-05 -9.99945972e-01 -4.87805675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters 0.053276719365469814 Centerline is valid? [True, True] Translation: X:609.81, Y:-283.66, Z:-4.88 [[ 8.09524699e-01 5.87034107e-01 -7.79225327e-03 6.09812010e+02] [ 5.87007014e-01 -8.09562201e-01 -5.63991433e-03 -2.83657408e+02] [-9.61913578e-03 -8.45737161e-06 -9.99953735e-01 -4.87895250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters 0.053179757100362164 Centerline is valid? [True, True] Translation: X:609.89, Y:-283.70, Z:-4.88 [[ 7.54835066e-01 6.55881694e-01 -6.57466963e-03 6.09887870e+02] [ 6.55857869e-01 -7.54863693e-01 -5.59112138e-03 -2.83703510e+02] [-8.63009356e-03 -9.16743361e-05 -9.99962756e-01 -4.87918234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters 0.05235276327935641 Centerline is valid? [True, True] Translation: X:609.97, Y:-283.74, Z:-4.88 [[ 6.96666866e-01 7.17366857e-01 -6.33015674e-03 6.09965847e+02] [ 7.17339200e-01 -6.96695608e-01 -6.30091551e-03 -2.83741011e+02] [-8.93026035e-03 -1.51230514e-04 -9.99960113e-01 -4.88016156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters 0.05295877634403419 Centerline is valid? [True, True] Translation: X:610.05, Y:-283.77, Z:-4.88 [[ 6.36035863e-01 7.71636962e-01 -5.89740902e-03 6.10047807e+02] [ 7.71606403e-01 -6.36063177e-01 -6.86971911e-03 -2.83773632e+02] [-9.05205390e-03 -1.81090838e-04 -9.99959013e-01 -4.87975802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters 0.053119889567130485 Centerline is valid? [True, True] Translation: X:610.13, Y:-283.80, Z:-4.88 [[ 5.72607885e-01 8.19808374e-01 -5.86853584e-03 6.10134051e+02] [ 8.19769051e-01 -5.72637917e-01 -8.03233978e-03 -2.83800089e+02] [-9.94552556e-03 -2.11462965e-04 -9.99950520e-01 -4.88053940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters 0.05286971520751936 Centerline is valid? [True, True] Translation: X:610.22, Y:-283.82, Z:-4.88 [[ 5.07716851e-01 8.61505423e-01 -5.65731137e-03 6.10222545e+02] [ 8.61456602e-01 -5.07748323e-01 -9.17406034e-03 -2.83819971e+02] [-1.07759931e-02 -2.15703200e-04 -9.99941914e-01 -4.88082724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters 0.05333454478385308 Centerline is valid? [True, True] Translation: X:610.31, Y:-283.83, Z:-4.88 [[ 4.43781784e-01 8.96117939e-01 -5.51059640e-03 6.10307911e+02] [ 8.96053631e-01 -4.43815963e-01 -1.07369279e-02 -2.83830086e+02] [-1.20672444e-02 -1.72936888e-04 -9.99927173e-01 -4.88064116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters 0.053459152836561365 Centerline is valid? [True, True] Translation: X:610.39, Y:-283.83, Z:-4.88 [[ 3.81648009e-01 9.24295212e-01 -4.81239611e-03 6.10391392e+02] [ 9.24223463e-01 -3.81678345e-01 -1.15165497e-02 -2.83832872e+02] [-1.24814791e-02 -5.24611474e-05 -9.99922102e-01 -4.88110357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters 0.0539806447173392 Centerline is valid? [True, True] Translation: X:610.47, Y:-283.83, Z:-4.88 [[ 3.15491739e-01 9.48921017e-01 -3.72377115e-03 6.10470771e+02] [ 9.48853376e-01 -3.15513712e-01 -1.13299507e-02 -2.83828741e+02] [-1.19261292e-02 4.11930137e-05 -9.99928880e-01 -4.88425853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters 0.0543465497508356 Centerline is valid? [True, True] Translation: X:610.58, Y:-283.83, Z:-4.89 [[ 2.49541586e-01 9.68361301e-01 -2.32097192e-03 6.10583984e+02] [ 9.68314615e-01 -2.49552347e-01 -9.50963030e-03 -2.83827543e+02] [-9.78796196e-03 1.25617197e-04 -9.99952089e-01 -4.88618129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters 0.053728854836798685 Centerline is valid? [True, True] Translation: X:610.69, Y:-283.82, Z:-4.89 [[ 1.76208600e-01 9.84351890e-01 -1.37312068e-03 6.10688435e+02] [ 9.84315678e-01 -1.76213897e-01 -8.44448402e-03 -2.83817953e+02] [-8.55430676e-03 1.36406498e-04 -9.99963402e-01 -4.88504585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters 0.05434381715807856 Centerline is valid? [True, True] Translation: X:610.79, Y:-283.80, Z:-4.89 [[ 9.73117080e-02 9.95253692e-01 -7.20846675e-04 6.10791113e+02] [ 9.95215846e-01 -9.73142946e-02 -8.68030089e-03 -2.83799752e+02] [-8.70925019e-03 1.27296872e-04 -9.99962066e-01 -4.88551999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters 0.05409888347478946 Centerline is valid? [True, True] Translation: X:610.87, Y:-283.77, Z:-4.88 [[ 1.39585933e-02 9.99902573e-01 -4.19519128e-05 6.10874399e+02] [ 9.99857950e-01 -1.39583667e-02 -9.44693190e-03 -2.83772567e+02] [-9.44659709e-03 8.99199270e-05 -9.99955376e-01 -4.88245349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters 0.0534999105872928 Centerline is valid? [True, True] Translation: X:610.95, Y:-283.74, Z:-4.88 [[-6.88169576e-02 9.97629022e-01 7.49446085e-04 6.10949155e+02] [ 9.97577712e-01 6.88210192e-02 -1.01181394e-02 -2.83738524e+02] [-1.01457271e-02 5.13311409e-05 -9.99948529e-01 -4.88105166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters 0.053309089765490605 Centerline is valid? [True, True] Translation: X:611.02, Y:-283.70, Z:-4.88 [[-1.53171752e-01 9.88198305e-01 1.58879596e-03 6.11024483e+02] [ 9.88144084e-01 1.53179991e-01 -1.03518209e-02 -2.83697956e+02] [-1.04730236e-02 -1.56472193e-05 -9.99945156e-01 -4.88185747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters 0.05318670731409441 Centerline is valid? [True, True] Translation: X:611.09, Y:-283.65, Z:-4.88 [[-2.34976758e-01 9.71998720e-01 2.10031480e-03 6.11091677e+02] [ 9.71957520e-01 2.34986136e-01 -8.94958326e-03 -2.83652766e+02] [-9.19252834e-03 -6.15272930e-05 -9.99957746e-01 -4.88316412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters 0.053280614078333004 Centerline is valid? [True, True] Translation: X:611.16, Y:-283.60, Z:-4.88 [[-3.12134820e-01 9.50033954e-01 2.70926135e-03 6.11158182e+02] [ 9.49995993e-01 3.12146569e-01 -8.49308803e-03 -2.83600461e+02] [-8.91440864e-03 -7.72010801e-05 -9.99960263e-01 -4.88444111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters 0.05307110766539511 Centerline is valid? [True, True] Translation: X:611.22, Y:-283.54, Z:-4.88 [[-3.86798100e-01 9.22158458e-01 3.31772984e-03 6.11223526e+02] [ 9.22122547e-01 3.86812319e-01 -8.13872849e-03 -2.83543572e+02] [-8.78853609e-03 -8.86912286e-05 -9.99961376e-01 -4.88321386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters 0.05361987487576671 Centerline is valid? [True, True] Translation: X:611.28, Y:-283.48, Z:-4.88 [[-4.58192897e-01 8.88843276e-01 4.11102422e-03 6.11280109e+02] [ 8.88805589e-01 4.58211329e-01 -8.18554628e-03 -2.83482220e+02] [-9.15938564e-03 -9.66578593e-05 -9.99958047e-01 -4.88360617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters 0.05310726357674745 Centerline is valid? [True, True] Translation: X:611.33, Y:-283.42, Z:-4.88 [[-5.26130615e-01 8.50390588e-01 4.73531038e-03 6.11332542e+02] [ 8.50354518e-01 5.26151916e-01 -7.83291582e-03 -2.83417401e+02] [-9.15253052e-03 -9.44442416e-05 -9.99958110e-01 -4.88353601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters 0.05342657972017331 Centerline is valid? [True, True] Translation: X:611.38, Y:-283.35, Z:-4.88 [[-5.89936480e-01 8.07436089e-01 4.68095880e-03 6.11378614e+02] [ 8.07409686e-01 5.89955047e-01 -6.53002065e-03 -2.83348488e+02] [-8.03412960e-03 -7.28459281e-05 -9.99967723e-01 -4.88334818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters 0.053101827000719075 Centerline is valid? [True, True] Translation: X:611.42, Y:-283.28, Z:-4.88 [[-6.50895953e-01 7.59149674e-01 5.12162333e-03 6.11420359e+02] [ 7.59125349e-01 6.50916099e-01 -6.07757002e-03 -2.83277465e+02] [-7.94753238e-03 -6.79116339e-05 -9.99968416e-01 -4.88252988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters 0.05303361125286777 Centerline is valid? [True, True] Translation: X:611.45, Y:-283.21, Z:-4.88 [[-7.08292481e-01 7.05891330e-01 6.26038763e-03 6.11452092e+02] [ 7.05862816e-01 7.08320143e-01 -6.34503405e-03 -2.83207930e+02] [-8.91326318e-03 -7.51650672e-05 -9.99960273e-01 -4.88137289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters 0.05285857557212225 Centerline is valid? [True, True] Translation: X:611.48, Y:-283.13, Z:-4.88 [[-7.61364229e-01 6.48283806e-01 7.25376995e-03 6.11481961e+02] [ 6.48253374e-01 7.61398779e-01 -6.28197066e-03 -2.83131775e+02] [-9.59551143e-03 -8.05869051e-05 -9.99953959e-01 -4.88020660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters 0.05314531948344128 Centerline is valid? [True, True] Translation: X:611.49, Y:-283.05, Z:-4.88 [[-8.05793170e-01 5.92134770e-01 8.58956514e-03 6.11490565e+02] [ 5.92099867e-01 8.05838945e-01 -6.42983293e-03 -2.83047990e+02] [-1.07291338e-02 -9.52350833e-05 -9.99942437e-01 -4.88042795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters 0.05288791216422711 Centerline is valid? [True, True] Translation: X:611.66, Y:-283.07, Z:-4.88 [[-8.46362452e-01 5.32519757e-01 9.65966279e-03 6.11655298e+02] [ 5.32483530e-01 8.46417566e-01 -6.21244999e-03 -2.83069614e+02] [-1.14843606e-02 -1.14373060e-04 -9.99934046e-01 -4.87880332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters 0.05274528871968069 Centerline is valid? [True, True] Translation: X:611.52, Y:-282.91, Z:-4.88 [[-8.83228512e-01 4.68858603e-01 8.88850457e-03 6.11520423e+02] [ 4.68833390e-01 8.83273227e-01 -4.86403193e-03 -2.82905482e+02] [-1.01315213e-02 -1.28823959e-04 -9.99948667e-01 -4.88175107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters 0.05241490315479831 Centerline is valid? [True, True] Translation: X:611.54, Y:-282.83, Z:-4.88 [[-9.15424173e-01 4.02394915e-01 8.77016418e-03 6.11535720e+02] [ 4.02374872e-01 9.15466171e-01 -4.01902171e-03 -2.82832537e+02] [-9.64602252e-03 -1.50215942e-04 -9.99953465e-01 -4.88284930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters 0.052782325465035 Centerline is valid? [True, True] Translation: X:611.54, Y:-282.75, Z:-4.88 [[-9.42793105e-01 3.33238917e-01 9.64292841e-03 6.11540411e+02] [ 3.33219375e-01 9.42842398e-01 -3.61410532e-03 -2.82754903e+02] [-1.02961223e-02 -1.94143000e-04 -9.99946975e-01 -4.88286441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters 0.05218481370039366 Centerline is valid? [True, True] Translation: X:611.71, Y:-282.17, Z:-5.87 [[-9.02307348e-01 -4.31005440e-01 8.70397756e-03 6.11709361e+02] [ 4.30986811e-01 -9.02349318e-01 -4.00954469e-03 -2.82171170e+02] [ 9.58216379e-03 1.33457890e-04 9.99954081e-01 -5.86653243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters 0.052069500724486864 Centerline is valid? [True, True] Translation: X:611.47, Y:-282.74, Z:-4.88 [[-9.45288051e-01 3.26129820e-01 8.35710722e-03 6.11474474e+02] [ 3.26115177e-01 9.45324970e-01 -3.09707423e-03 -2.82738532e+02] [-8.91023040e-03 -2.02247757e-04 -9.99960283e-01 -4.88401125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters 0.051943513811191874 Centerline is valid? [True, True] Translation: X:611.44, Y:-282.65, Z:-4.88 [[-9.66328800e-01 2.57187795e-01 7.94278573e-03 6.11441233e+02] [ 2.57177425e-01 9.66361423e-01 -2.31784583e-03 -2.82650561e+02] [-8.27172338e-03 -1.97095994e-04 -9.99965769e-01 -4.88493331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters 0.05185101579777399 Centerline is valid? [True, True] Translation: X:611.48, Y:-282.59, Z:-4.89 [[-9.82207899e-01 1.87640800e-01 7.65326324e-03 6.11484044e+02] [ 1.87633605e-01 9.82237698e-01 -1.65399685e-03 -2.82586344e+02] [-7.82768096e-03 -1.88559396e-04 -9.99969345e-01 -4.88546174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters 0.05132838400485427 Centerline is valid? [True, True] Translation: X:611.53, Y:-281.94, Z:-5.87 [[-9.54866227e-01 -2.96949591e-01 7.17147351e-03 6.11527243e+02] [ 2.96942445e-01 -9.54893144e-01 -2.06601511e-03 -2.81944640e+02] [ 7.46149323e-03 1.56746827e-04 9.99972150e-01 -5.86539163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters 0.051810126155594265 Centerline is valid? [True, True] Translation: X:611.34, Y:-282.57, Z:-4.89 [[-9.82323894e-01 1.87027039e-01 7.78811630e-03 6.11336864e+02] [ 1.87019817e-01 9.82354752e-01 -1.65206619e-03 -2.82567792e+02] [-7.95967411e-03 -1.66332010e-04 -9.99968307e-01 -4.88572252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters 0.051014708703770624 Centerline is valid? [True, True] Translation: X:611.42, Y:-281.91, Z:-5.86 [[-9.56776907e-01 -2.90737721e-01 7.03765115e-03 6.11420460e+02] [ 2.90730718e-01 -9.56802783e-01 -2.02106982e-03 -2.81914563e+02] [ 7.32124544e-03 1.12348440e-04 9.99973193e-01 -5.86489772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters 0.05148416295527189 Centerline is valid? [True, True] Translation: X:611.22, Y:-282.55, Z:-4.89 [[-9.83311093e-01 1.81798862e-01 6.96189794e-03 6.11224407e+02] [ 1.81793150e-01 9.83335725e-01 -1.44998870e-03 -2.82550110e+02] [-7.10948925e-03 -1.60164621e-04 -9.99974714e-01 -4.88578735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters 0.05131150380318118 Centerline is valid? [True, True] Translation: X:611.17, Y:-282.46, Z:-4.89 [[-9.93541109e-01 1.13145817e-01 8.60743683e-03 6.11172167e+02] [ 1.13139923e-01 9.93578376e-01 -1.17021966e-03 -2.82460423e+02] [-8.68456856e-03 -1.88816598e-04 -9.99962271e-01 -4.88563158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters 0.050981832027338456 Centerline is valid? [True, True] Translation: X:611.06, Y:-282.37, Z:-4.88 [[-9.98923174e-01 4.55505684e-02 8.81124022e-03 6.11057797e+02] [ 4.55473520e-02 9.98962021e-01 -5.65457758e-04 -2.82368997e+02] [-8.82785126e-03 -1.63520198e-04 -9.99961020e-01 -4.88424850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters 0.05177026066097168 Centerline is valid? [True, True] Translation: X:610.99, Y:-282.29, Z:-4.88 [[-9.99777401e-01 -2.00477612e-02 6.57533502e-03 6.10989301e+02] [-2.00479024e-02 9.99799020e-01 4.44463671e-05 -2.82287330e+02] [-6.57490456e-03 -8.73852015e-05 -9.99978381e-01 -4.88294907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters 0.05137623088975784 Centerline is valid? [True, True] Translation: X:610.91, Y:-281.62, Z:-5.86 [[-9.97670103e-01 -6.81016291e-02 4.06622222e-03 6.10906068e+02] [ 6.81006649e-02 -9.97678384e-01 -3.75271842e-04 -2.81620541e+02] [ 4.08233864e-03 -9.74850607e-05 9.99991662e-01 -5.86445716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters 0.0515163202052752 Centerline is valid? [True, True] Translation: X:610.77, Y:-282.30, Z:-4.89 [[-9.99821821e-01 -1.83166231e-02 4.56378371e-03 6.10770661e+02] [-1.83166011e-02 9.99832236e-01 4.66077013e-05 -2.82296139e+02] [-4.56387177e-03 -3.69936091e-05 -9.99989585e-01 -4.88682542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters 0.05180433810060224 Centerline is valid? [True, True] Translation: X:610.70, Y:-282.22, Z:-4.88 [[-9.96314532e-01 -8.55752000e-02 5.85143528e-03 6.10696379e+02] [-8.55738624e-02 9.96331714e-01 4.79037610e-04 -2.82221747e+02] [-5.87096429e-03 -2.34577857e-05 -9.99982765e-01 -4.88377868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters 0.05205420703010797 Centerline is valid? [True, True] Translation: X:610.60, Y:-281.55, Z:-5.87 [[-9.99860407e-01 1.54385843e-02 6.38876484e-03 6.10596172e+02] [-1.54378994e-02 -9.99880816e-01 1.56504133e-04 -2.81554411e+02] [ 6.39041961e-03 5.78531778e-05 9.99979579e-01 -5.86639389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters 0.05201970830557028 Centerline is valid? [True, True] Translation: X:610.58, Y:-282.24, Z:-4.88 [[-9.96608105e-01 -8.20294426e-02 6.59211380e-03 6.10582601e+02] [-8.20274845e-02 9.96629906e-01 5.67314287e-04 -2.82236547e+02] [-6.61643423e-03 2.46555034e-05 -9.99978111e-01 -4.88483901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters 0.05242761341054596 Centerline is valid? [True, True] Translation: X:610.38, Y:-282.19, Z:-4.88 [[-9.88692957e-01 -1.49781214e-01 7.19890698e-03 6.10376524e+02] [-1.49776886e-01 9.88719164e-01 1.13964948e-03 -2.82186860e+02] [-7.28839538e-03 4.85335429e-05 -9.99973438e-01 -4.88285844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters 0.052239797013073866 Centerline is valid? [True, True] Translation: X:610.30, Y:-282.12, Z:-4.88 [[-9.75633677e-01 -2.19304374e-01 6.67238697e-03 6.10296314e+02] [-2.19298903e-01 9.75656491e-01 1.54981568e-03 -2.82124233e+02] [-6.84983902e-03 4.88052242e-05 -9.99976538e-01 -4.88434956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters 0.05228877341002407 Centerline is valid? [True, True] Translation: X:610.07, Y:-281.48, Z:-5.87 [[-9.85703925e-01 1.68361482e-01 6.49482453e-03 6.10065133e+02] [-1.68358261e-01 -9.85725320e-01 1.04348762e-03 -2.81483344e+02] [ 6.57779611e-03 -6.48875245e-05 9.99978364e-01 -5.86642869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters 0.05242879860719929 Centerline is valid? [True, True] Translation: X:610.18, Y:-282.15, Z:-4.88 [[-9.73796354e-01 -2.27343604e-01 5.96206017e-03 6.10184501e+02] [-2.27339155e-01 9.73814605e-01 1.42272683e-03 -2.82148479e+02] [-6.12938911e-03 3.00364823e-05 -9.99981215e-01 -4.88413103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters 0.05190887175731982 Centerline is valid? [True, True] Translation: X:609.98, Y:-282.12, Z:-4.88 [[-9.54328758e-01 -2.98718079e-01 4.91240336e-03 6.09980090e+02] [-2.98714070e-01 9.54341401e-01 1.54763109e-03 -2.82123057e+02] [-5.15041529e-03 9.54485957e-06 -9.99986736e-01 -4.88429284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters 0.05246309794967321 Centerline is valid? [True, True] Translation: X:609.90, Y:-282.07, Z:-4.89 [[-9.29126330e-01 -3.69734348e-01 4.55796292e-03 6.09896724e+02] [-3.69729944e-01 9.29137510e-01 1.80461503e-03 -2.82068110e+02] [-4.90220248e-03 -8.50003564e-06 -9.99987984e-01 -4.88663070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters 0.052289361683941236 Centerline is valid? [True, True] Translation: X:609.80, Y:-282.03, Z:-4.89 [[-8.98882460e-01 -4.38162725e-01 4.87324323e-03 6.09795383e+02] [-4.38156423e-01 8.98895670e-01 2.35018184e-03 -2.82027221e+02] [-5.41029932e-03 -2.27055849e-05 -9.99985364e-01 -4.88672581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters 0.051750528349589764 Centerline is valid? [True, True] Translation: X:609.66, Y:-282.01, Z:-4.89 [[-8.63565562e-01 -5.04211810e-01 4.99712872e-03 6.09663086e+02] [-5.04203640e-01 8.63580019e-01 2.87055317e-03 -2.82006986e+02] [-5.76278733e-03 -4.06596337e-05 -9.99983394e-01 -4.88578951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters 0.05198058438804614 Centerline is valid? [True, True] Translation: X:609.68, Y:-281.90, Z:-4.89 [[-8.23043508e-01 -5.67955747e-01 5.06487940e-03 6.09683988e+02] [-5.67945345e-01 8.23059091e-01 3.43761914e-03 -2.81899393e+02] [-6.12111058e-03 -4.72645631e-05 -9.99981265e-01 -4.88649938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters 0.051661997892712495 Centerline is valid? [True, True] Translation: X:609.32, Y:-282.07, Z:-4.89 [[-7.80570916e-01 -6.25047634e-01 4.94970303e-03 6.09320348e+02] [-6.25035465e-01 7.80586608e-01 3.90068939e-03 -2.82066693e+02] [-6.30178858e-03 -4.89752452e-05 -9.99980142e-01 -4.88590299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters 0.05126042079688494 Centerline is valid? [True, True] Translation: X:609.16, Y:-282.10, Z:-4.89 [[-7.32410102e-01 -6.80845988e-01 4.91764527e-03 6.09161275e+02] [-6.80831173e-01 7.32426609e-01 4.49190258e-03 -2.82102118e+02] [-6.66010810e-03 -5.81713741e-05 -9.99977820e-01 -4.88666653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters 0.05197967201459897 Centerline is valid? [True, True] Translation: X:608.99, Y:-282.17, Z:-4.89 [[-6.80490949e-01 -7.32741032e-01 4.75902196e-03 6.08987182e+02] [-7.32723783e-01 6.80507586e-01 5.02822157e-03 -2.82165534e+02] [-6.92293481e-03 -6.53893023e-05 -9.99976034e-01 -4.88546701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters 0.051991746768871354 Centerline is valid? [True, True] Translation: X:608.81, Y:-282.25, Z:-4.88 [[-6.25382018e-01 -7.80303345e-01 4.90117325e-03 6.08810614e+02] [-7.80280235e-01 6.25401220e-01 6.00577588e-03 -2.82254315e+02] [-7.75152673e-03 -6.83843751e-05 -9.99969954e-01 -4.88479300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters 0.05262808124738249 Centerline is valid? [True, True] Translation: X:608.63, Y:-282.37, Z:-4.89 [[-5.69205172e-01 -8.22184447e-01 4.26704126e-03 6.08633641e+02] [-8.22161891e-01 5.69221164e-01 6.09031409e-03 -2.82368585e+02] [-7.43625171e-03 -4.15604320e-05 -9.99972350e-01 -4.88517602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters 0.05193262856390456 Centerline is valid? [True, True] Translation: X:608.46, Y:-282.51, Z:-4.88 [[-5.09946814e-01 -8.60198855e-01 3.48948896e-03 6.08458687e+02] [-8.60178962e-01 5.09958753e-01 5.85014143e-03 -2.82506311e+02] [-6.81178039e-03 -1.83240116e-05 -9.99976799e-01 -4.88460452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters 0.05284822486113881 Centerline is valid? [True, True] Translation: X:608.61, Y:-282.07, Z:-4.89 [[-4.46686317e-01 -8.94686894e-01 2.58754175e-03 6.08608412e+02] [-8.94671754e-01 4.46693811e-01 5.20496262e-03 -2.82065006e+02] [-5.81265073e-03 9.98506492e-06 -9.99983106e-01 -4.88752537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters 0.05239304274777099 Centerline is valid? [True, True] Translation: X:607.57, Y:-282.61, Z:-5.87 [[-4.98369427e-01 8.66959951e-01 2.89110749e-03 6.07572031e+02] [-8.66945500e-01 -4.98377812e-01 5.00554208e-03 -2.82613201e+02] [ 5.78046835e-03 -1.18234934e-05 9.99983293e-01 -5.86818387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters 0.05245514056780036 Centerline is valid? [True, True] Translation: X:608.05, Y:-283.16, Z:-4.88 [[-4.43840018e-01 -8.96102229e-01 2.61407191e-03 6.08046087e+02] [-8.96086273e-01 4.43847714e-01 5.34772501e-03 -2.83159068e+02] [-5.95235814e-03 3.11004077e-05 -9.99982284e-01 -4.88382921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters 0.05237366992643973 Centerline is valid? [True, True] Translation: X:607.94, Y:-283.22, Z:-4.88 [[-3.75408120e-01 -9.26856301e-01 2.47799266e-03 6.07940889e+02] [-9.26835514e-01 3.75416296e-01 6.20767490e-03 -2.83216803e+02] [-6.68390142e-03 3.37199644e-05 -9.99977662e-01 -4.88420686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters 0.0517928661858114 Centerline is valid? [True, True] Translation: X:607.77, Y:-283.47, Z:-4.88 [[-3.04585171e-01 -9.52483201e-01 1.90414758e-03 6.07772893e+02] [-9.52464187e-01 3.04591122e-01 6.01841772e-03 -2.83465359e+02] [-6.31242822e-03 1.94884113e-05 -9.99980076e-01 -4.88432373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters 0.05213232515050744 Centerline is valid? [True, True] Translation: X:607.82, Y:-282.95, Z:-4.89 [[-2.26346765e-01 -9.74045983e-01 1.25094919e-03 6.07824326e+02] [-9.74031332e-01 2.26350222e-01 5.34238389e-03 -2.82954777e+02] [-5.48688019e-03 -9.23239604e-06 -9.99984947e-01 -4.88678593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters 0.05108083184969146 Centerline is valid? [True, True] Translation: X:607.57, Y:-283.79, Z:-4.88 [[-1.50862837e-01 -9.88554328e-01 8.62904235e-04 6.07573480e+02] [-9.88539654e-01 1.50865299e-01 5.38649298e-03 -2.83788388e+02] [-5.45502326e-03 -4.03934412e-05 -9.99985120e-01 -4.88425491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters 0.05198753595811739 Centerline is valid? [True, True] Translation: X:607.48, Y:-283.96, Z:-4.88 [[-7.32198436e-02 -9.97315735e-01 4.22629752e-04 6.07476800e+02] [-9.97303282e-01 7.32210415e-02 4.98430537e-03 -2.83955532e+02] [-5.00187157e-03 -5.65399783e-05 -9.99987489e-01 -4.88460722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters 0.05125345248107197 Centerline is valid? [True, True] Translation: X:607.39, Y:-284.11, Z:-4.88 [[ 5.69451061e-03 -9.99983785e-01 4.90044985e-05 6.07389812e+02] [-9.99972175e-01 -5.69420833e-03 4.81917996e-03 -2.84114357e+02] [-4.81882278e-03 -7.64460064e-05 -9.99988386e-01 -4.88428369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters 0.05091427266041501 Centerline is valid? [True, True] Translation: X:607.32, Y:-284.29, Z:-4.88 [[ 8.20520374e-02 -9.96628015e-01 -2.50997249e-04 6.07316186e+02] [-9.96620301e-01 -8.20523900e-02 3.92192368e-03 -2.84293514e+02] [-3.92929393e-03 -7.16528739e-05 -9.99992278e-01 -4.88488610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters 0.05114510380990102 Centerline is valid? [True, True] Translation: X:607.27, Y:-284.58, Z:-4.89 [[ 1.57090859e-01 -9.87584060e-01 -4.30689106e-04 6.07268467e+02] [-9.87579160e-01 -1.57091437e-01 3.11191755e-03 -2.84575057e+02] [-3.14093774e-03 -6.35142163e-05 -9.99995065e-01 -4.88610613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters 0.050766384807780736 Centerline is valid? [True, True] Translation: X:607.23, Y:-284.80, Z:-4.89 [[ 2.29901264e-01 -9.73213684e-01 -7.31224351e-04 6.07228405e+02] [-9.73207755e-01 -2.29902416e-01 3.39765855e-03 -2.84802803e+02] [-3.47475804e-03 -6.94927840e-05 -9.99993961e-01 -4.88573100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters 0.051418908776427956 Centerline is valid? [True, True] Translation: X:607.21, Y:-285.07, Z:-4.88 [[ 2.99605455e-01 -9.54062419e-01 -1.21315089e-03 6.07213327e+02] [-9.54053532e-01 -2.99607901e-01 4.11882654e-03 -2.85067986e+02] [-4.29308721e-03 -7.66120028e-05 -9.99990782e-01 -4.88458367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters 0.05149181350395139 Centerline is valid? [True, True] Translation: X:607.21, Y:-285.34, Z:-4.88 [[ 3.68668965e-01 -9.29558679e-01 -1.96378142e-03 6.07214564e+02] [-9.29544112e-01 -3.68674184e-01 5.20489849e-03 -2.85337441e+02] [-5.56225408e-03 -9.34630843e-05 -9.99984526e-01 -4.88242661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters 0.051525504932165234 Centerline is valid? [True, True] Translation: X:607.23, Y:-285.57, Z:-4.88 [[ 4.37116386e-01 -8.99401755e-01 -2.39738917e-03 6.07229277e+02] [-8.99386948e-01 -4.37122949e-01 5.16193291e-03 -2.85565726e+02] [-5.69060534e-03 -1.00184927e-04 -9.99983803e-01 -4.88376655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters 0.05112624616400393 Centerline is valid? [True, True] Translation: X:607.25, Y:-285.78, Z:-4.88 [[ 5.03517000e-01 -8.63978691e-01 -3.38404287e-03 6.07250710e+02] [-8.63957423e-01 -5.03528355e-01 6.06362882e-03 -2.85783319e+02] [-6.94280763e-03 -1.29471237e-04 -9.99975890e-01 -4.88287190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters 0.05101365816414287 Centerline is valid? [True, True] Translation: X:607.32, Y:-286.05, Z:-4.88 [[ 5.65045095e-01 -8.25051504e-01 -3.74921017e-03 6.07320193e+02] [-8.25031912e-01 -5.65057521e-01 5.68705119e-03 -2.86046890e+02] [-6.81062954e-03 -1.20222351e-04 -9.99976800e-01 -4.88260086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters 0.051860806499155206 Centerline is valid? [True, True] Translation: X:607.38, Y:-286.25, Z:-4.88 [[ 6.22646585e-01 -7.82493016e-01 -3.98881828e-03 6.07375003e+02] [-7.82475911e-01 -6.22659353e-01 5.17480147e-03 -2.86252389e+02] [-6.53292102e-03 -1.00918250e-04 -9.99978655e-01 -4.88393068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters 0.051786658942215645 Centerline is valid? [True, True] Translation: X:607.45, Y:-286.47, Z:-4.88 [[ 6.77407099e-01 -7.35597417e-01 -4.00786631e-03 6.07454774e+02] [-7.35583807e-01 -6.77418950e-01 4.47534430e-03 -2.86469117e+02] [-6.00705630e-03 -8.35084406e-05 -9.99981954e-01 -4.88435219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters 0.0520065594185064 Centerline is valid? [True, True] Translation: X:607.53, Y:-286.66, Z:-4.88 [[ 7.28852786e-01 -6.84656897e-01 -4.30681641e-03 6.07531252e+02] [-6.84644325e-01 -7.28865507e-01 4.14982032e-03 -2.86663434e+02] [-5.98029303e-03 -7.59706845e-05 -9.99982115e-01 -4.88395448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters 0.051182115647805414 Centerline is valid? [True, True] Translation: X:607.50, Y:-286.75, Z:-4.89 [[ 7.79266367e-01 -6.26678611e-01 -4.22471940e-03 6.07501320e+02] [-6.26668962e-01 -7.79277816e-01 3.47810788e-03 -2.86747141e+02] [-5.47188593e-03 -6.28719677e-05 -9.99985027e-01 -4.88551030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters 0.051606844560719164 Centerline is valid? [True, True] Translation: X:607.48, Y:-286.84, Z:-4.89 [[ 8.25782884e-01 -5.63967537e-01 -4.82133737e-03 6.07475484e+02] [-5.63957454e-01 -8.25796956e-01 3.37307608e-03 -2.86836080e+02] [-5.88375113e-03 -6.63993466e-05 -9.99982688e-01 -4.88563604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters 0.05140391768725389 Centerline is valid? [True, True] Translation: X:607.45, Y:-286.93, Z:-4.88 [[ 8.67780227e-01 -4.96927100e-01 -4.57539426e-03 6.07454684e+02] [-4.96919795e-01 -8.67792287e-01 2.69534135e-03 -2.86927399e+02] [-5.30988000e-03 -6.53599530e-05 -9.99985900e-01 -4.88466520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters 0.051135305729730095 Centerline is valid? [True, True] Translation: X:607.44, Y:-287.02, Z:-4.88 [[ 9.04189708e-01 -4.27104001e-01 -4.81086042e-03 6.07442787e+02] [-4.27097551e-01 -9.04202504e-01 2.34838327e-03 -2.87018638e+02] [-5.35299593e-03 -6.86772768e-05 -9.99985670e-01 -4.88463412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters 0.05113543521349001 Centerline is valid? [True, True] Translation: X:607.44, Y:-287.11, Z:-4.88 [[ 9.35232506e-01 -3.53985295e-01 -5.87962123e-03 6.07437449e+02] [-3.53977710e-01 -9.35250984e-01 2.31901787e-03 -2.87109134e+02] [-6.31981977e-03 -8.75660400e-05 -9.99980026e-01 -4.88262675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters 0.05125442521461244 Centerline is valid? [True, True] Translation: X:607.44, Y:-287.20, Z:-4.88 [[ 9.60290172e-01 -2.78901312e-01 -7.53951686e-03 6.07441555e+02] [-2.78891774e-01 -9.60319762e-01 2.30941491e-03 -2.87198426e+02] [-7.88444588e-03 -1.14999211e-04 -9.99968911e-01 -4.88319620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters 0.05181661132807193 Centerline is valid? [True, True] Translation: X:607.45, Y:-287.29, Z:-4.88 [[ 9.79280378e-01 -2.02358323e-01 -7.81341644e-03 6.07450816e+02] [-2.02350888e-01 -9.79311541e-01 1.73887952e-03 -2.87291751e+02] [-8.00364564e-03 -1.21798840e-04 -9.99967963e-01 -4.88022043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters 0.051397229974822295 Centerline is valid? [True, True] Translation: X:607.47, Y:-287.37, Z:-4.88 [[ 9.92065297e-01 -1.25552248e-01 -6.56341850e-03 6.07470600e+02] [-1.25548836e-01 -9.92087004e-01 9.31076099e-04 -2.87373250e+02] [-6.62838089e-03 -9.96587378e-05 -9.99978027e-01 -4.88298372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters 0.051166223725781376 Centerline is valid? [True, True] Translation: X:607.50, Y:-287.46, Z:-4.88 [[ 9.98782297e-01 -4.89553846e-02 -6.10682448e-03 6.07495226e+02] [-4.89539531e-02 -9.98800963e-01 3.83763222e-04 -2.87456346e+02] [-6.11828945e-03 -8.43427137e-05 -9.99981280e-01 -4.88451895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters 0.051115375146665566 Centerline is valid? [True, True] Translation: X:607.52, Y:-287.54, Z:-4.88 [[ 9.99614662e-01 2.72166856e-02 -5.45709329e-03 6.07520868e+02] [ 2.72166300e-02 -9.99629555e-01 -8.44745656e-05 -2.87535905e+02] [-5.45737086e-03 -6.40816744e-05 -9.99985106e-01 -4.88471654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters 0.05066659444861655 Centerline is valid? [True, True] Translation: X:607.55, Y:-287.61, Z:-4.88 [[ 9.94582505e-01 1.03820174e-01 -5.19736648e-03 6.07552147e+02] [ 1.03819038e-01 -9.94596083e-01 -4.88715822e-04 -2.87610716e+02] [-5.22001890e-03 -5.35173794e-05 -9.99986374e-01 -4.88390319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters 0.05107328268415334 Centerline is valid? [True, True] Translation: X:607.59, Y:-287.68, Z:-4.88 [[ 9.83833381e-01 1.79006352e-01 -5.34826338e-03 6.07588907e+02] [ 1.79003943e-01 -9.83847917e-01 -9.29712975e-04 -2.87676900e+02] [-5.42830232e-03 -4.26775718e-05 -9.99985266e-01 -4.88369378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters 0.05106491388515326 Centerline is valid? [True, True] Translation: X:607.63, Y:-287.74, Z:-4.88 [[ 9.67519629e-01 2.52699388e-01 -6.98473414e-03 6.07630487e+02] [ 2.52693058e-01 -9.67544840e-01 -1.78898512e-03 -2.87740632e+02] [-7.21011892e-03 -3.41156020e-05 -9.99974006e-01 -4.88266419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters 0.05199626761328695 Centerline is valid? [True, True] Translation: X:607.68, Y:-287.81, Z:-4.88 [[ 9.45035398e-01 3.26890717e-01 -7.11019015e-03 6.07679355e+02] [ 3.26881700e-01 -9.45062145e-01 -2.42817726e-03 -2.87808945e+02] [-7.51332016e-03 -2.94775816e-05 -9.99971774e-01 -4.88256610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters 0.0515101658965789 Centerline is valid? [True, True] Translation: X:607.73, Y:-287.87, Z:-4.88 [[ 9.16393036e-01 4.00212170e-01 -7.34995106e-03 6.07733624e+02] [ 4.00199598e-01 -9.16422511e-01 -3.17235944e-03 -2.87873665e+02] [-8.00527746e-03 -3.43193552e-05 -9.99967957e-01 -4.88250914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters 0.05122598934076081 Centerline is valid? [True, True] Translation: X:607.79, Y:-287.93, Z:-4.88 [[ 8.83258343e-01 4.68826669e-01 -7.50022655e-03 6.07791388e+02] [ 4.68809942e-01 -8.83290187e-01 -3.96034460e-03 -2.87930319e+02] [-8.48159167e-03 -1.81733695e-05 -9.99964030e-01 -4.88250532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters 0.051777872314866545 Centerline is valid? [True, True] Translation: X:607.86, Y:-287.99, Z:-4.88 [[ 8.45454465e-01 5.34003784e-01 -6.83425332e-03 6.07856689e+02] [ 5.33986277e-01 -8.45482087e-01 -4.32398009e-03 -2.87987459e+02] [-8.08726048e-03 6.33078613e-06 -9.99967298e-01 -4.88414066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters 0.05212387014524468 Centerline is valid? [True, True] Translation: X:607.92, Y:-288.04, Z:-4.88 [[ 8.03854369e-01 5.94805191e-01 -4.99376782e-03 6.07923989e+02] [ 5.94793464e-01 -8.03869880e-01 -3.73525490e-03 -2.88038663e+02] [-6.23608855e-03 3.23405111e-05 -9.99980555e-01 -4.88400902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters 0.05222668062314869 Centerline is valid? [True, True] Translation: X:607.99, Y:-288.08, Z:-4.89 [[ 7.57363843e-01 6.52975476e-01 -4.79963846e-03 6.07992462e+02] [ 6.52961879e-01 -7.57379049e-01 -4.21430067e-03 -2.88081479e+02] [-6.38698060e-03 5.77780012e-05 -9.99979601e-01 -4.88586700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters 0.05295970624368106 Centerline is valid? [True, True] Translation: X:608.06, Y:-288.11, Z:-4.88 [[ 7.07484555e-01 7.06709935e-01 -5.16448431e-03 6.08057917e+02] [ 7.06690017e-01 -7.07503397e-01 -5.30695098e-03 -2.88110963e+02] [-7.40436518e-03 1.04896348e-04 -9.99972582e-01 -4.88306611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters 0.05288481119662093 Centerline is valid? [True, True] Translation: X:608.13, Y:-288.14, Z:-4.89 [[ 6.51443466e-01 7.58683026e-01 -4.63433965e-03 6.08132603e+02] [ 7.58662548e-01 -6.51459939e-01 -5.57545157e-03 -2.88140644e+02] [-7.24908710e-03 1.16191564e-04 -9.99973718e-01 -4.88527569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters 0.052730154201295044 Centerline is valid? [True, True] Translation: X:608.20, Y:-288.16, Z:-4.88 [[ 5.89911003e-01 8.07458577e-01 -3.95666295e-03 6.08198789e+02] [ 8.07439174e-01 -5.89924262e-01 -5.59872675e-03 -2.88156012e+02] [-6.85487140e-03 1.07985850e-04 -9.99976499e-01 -4.88217574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters 0.05259755326478711 Centerline is valid? [True, True] Translation: X:608.27, Y:-288.17, Z:-4.88 [[ 5.22796632e-01 8.52449800e-01 -3.60823635e-03 6.08267504e+02] [ 8.52428248e-01 -5.22809075e-01 -6.06248565e-03 -2.88169586e+02] [-7.05438339e-03 9.36844921e-05 -9.99975113e-01 -4.88165991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters 0.052634871100219 Centerline is valid? [True, True] Translation: X:608.34, Y:-288.18, Z:-4.88 [[ 4.50215773e-01 8.92913090e-01 -3.45990541e-03 6.08338978e+02] [ 8.92885570e-01 -4.50229063e-01 -7.01075552e-03 -2.88178207e+02] [-7.81774534e-03 6.70531018e-05 -9.99969439e-01 -4.87995235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters 0.052341832643030356 Centerline is valid? [True, True] Translation: X:608.41, Y:-288.18, Z:-4.88 [[ 3.75125416e-01 9.26969323e-01 -2.96579692e-03 6.08410079e+02] [ 9.26939600e-01 -3.75137138e-01 -7.42331997e-03 -2.88179052e+02] [-7.99377046e-03 3.55613880e-05 -9.99968049e-01 -4.87954686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters 0.052062868014203005 Centerline is valid? [True, True] Translation: X:608.48, Y:-288.18, Z:-4.88 [[ 2.94909315e-01 9.55522410e-01 -2.32805766e-03 6.08484740e+02] [ 9.55493143e-01 -2.94918504e-01 -7.47865233e-03 -2.88176223e+02] [-7.83260718e-03 -1.89188907e-05 -9.99969324e-01 -4.87945486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters 0.05177847646800972 Centerline is valid? [True, True] Translation: X:608.56, Y:-288.17, Z:-4.88 [[ 2.14665126e-01 9.76686220e-01 -1.70631083e-03 6.08559521e+02] [ 9.76657364e-01 -2.14671900e-01 -7.50785562e-03 -2.88167361e+02] [-7.69911612e-03 -5.48062650e-05 -9.99970360e-01 -4.87974671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters 0.051290492165419935 Centerline is valid? [True, True] Translation: X:608.63, Y:-288.15, Z:-4.88 [[ 1.31034829e-01 9.91377355e-01 -9.01616518e-04 6.08634297e+02] [ 9.91358226e-01 -1.31037902e-01 -6.15925640e-03 -2.88153654e+02] [-6.22429326e-03 -8.67478419e-05 -9.99980625e-01 -4.88074070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters 0.05135811833487895 Centerline is valid? [True, True] Translation: X:608.72, Y:-288.13, Z:-4.88 [[ 4.75386348e-02 9.98869332e-01 -3.69389154e-04 6.08716285e+02] [ 9.98854233e-01 -4.75399476e-02 -5.49312312e-03 -2.88133292e+02] [-5.50447296e-03 -1.07830346e-04 -9.99984844e-01 -4.88042877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters 0.05106239844883993 Centerline is valid? [True, True] Translation: X:608.80, Y:-288.11, Z:-4.88 [[-3.31366212e-02 9.99450829e-01 7.24219793e-05 6.08798511e+02] [ 9.99430413e-01 3.31364073e-02 -6.38971981e-03 -2.88106344e+02] [-6.38861056e-03 -1.39352996e-04 -9.99979583e-01 -4.88121281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters 0.05120195101673789 Centerline is valid? [True, True] Translation: X:608.89, Y:-288.07, Z:-4.88 [[-1.10870563e-01 9.93834662e-01 6.18721378e-04 6.08885809e+02] [ 9.93810883e-01 1.10872191e-01 -6.87645988e-03 -2.88073706e+02] [-6.90266317e-03 -1.47504939e-04 -9.99976165e-01 -4.87997319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters 0.050867674964626866 Centerline is valid? [True, True] Translation: X:608.97, Y:-288.03, Z:-4.88 [[-1.85194805e-01 9.82700951e-01 1.31350542e-03 6.08966032e+02] [ 9.82670499e-01 1.85199408e-01 -7.73756598e-03 -2.88034486e+02] [-7.84697387e-03 -1.42213996e-04 -9.99969202e-01 -4.88007928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters 0.050814417577042616 Centerline is valid? [True, True] Translation: X:609.04, Y:-287.99, Z:-4.88 [[-2.57448998e-01 9.66290019e-01 1.90053124e-03 6.09040731e+02] [ 9.66260498e-01 2.57455990e-01 -7.55409487e-03 -2.87991202e+02] [-7.78874963e-03 -1.08385888e-04 -9.99969661e-01 -4.87939508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters 0.05116992800906634 Centerline is valid? [True, True] Translation: X:609.10, Y:-287.94, Z:-4.88 [[-3.22119468e-01 9.46696410e-01 2.22603375e-03 6.09100916e+02] [ 9.46673311e-01 3.22127159e-01 -6.61325089e-03 -2.87944565e+02] [-6.97780681e-03 -2.29301195e-05 -9.99975655e-01 -4.87956355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters 0.05160967149529288 Centerline is valid? [True, True] Translation: X:609.16, Y:-287.89, Z:-4.88 [[-3.86717431e-01 9.22195307e-01 2.33314081e-03 6.09159157e+02] [ 9.22179058e-01 3.86724468e-01 -5.47458248e-03 -2.87893558e+02] [-5.95091691e-03 3.44571193e-05 -9.99982293e-01 -4.88003359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters 0.05193796840600398 Centerline is valid? [True, True] Translation: X:609.21, Y:-287.84, Z:-4.88 [[-4.49637302e-01 8.93209935e-01 1.51924048e-03 6.09212816e+02] [ 8.93205178e-01 4.49639867e-01 -2.91539333e-03 -2.87840257e+02] [-3.28716937e-03 4.61238724e-05 -9.99994596e-01 -4.88153640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters 0.052803494834335114 Centerline is valid? [True, True] Translation: X:609.26, Y:-287.78, Z:-4.88 [[-5.12183891e-01 8.58874091e-01 1.71964292e-03 6.09264213e+02] [ 8.58869689e-01 5.12186773e-01 -2.75084370e-03 -2.87780875e+02] [-3.24340674e-03 6.80113473e-05 -9.99994738e-01 -4.88155900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters 0.05210993585942482 Centerline is valid? [True, True] Translation: X:609.31, Y:-287.72, Z:-4.88 [[-5.70497222e-01 8.21294690e-01 2.81984390e-03 6.09314232e+02] [ 8.21285882e-01 5.70504173e-01 -3.80647442e-03 -2.87716985e+02] [-4.73496994e-03 1.44314902e-04 -9.99988780e-01 -4.88137462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters 0.05349226668766298 Centerline is valid? [True, True] Translation: X:609.38, Y:-287.63, Z:-4.88 [[-6.28028923e-01 7.78184430e-01 2.94371732e-03 6.09375007e+02] [ 7.78177087e-01 6.28035800e-01 -3.38471531e-03 -2.87634432e+02] [-4.48269262e-03 1.65034261e-04 -9.99989939e-01 -4.88142120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters 0.05401021722645404 Centerline is valid? [True, True] Translation: X:609.44, Y:-287.54, Z:-4.88 [[-6.80512391e-01 7.32733500e-01 2.12230821e-03 6.09436457e+02] [ 7.32730537e-01 6.80515687e-01 -2.08827104e-03 -2.87538697e+02] [-2.97441017e-03 1.33985719e-04 -9.99995567e-01 -4.88161456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters 0.05375258041450915 Centerline is valid? [True, True] Translation: X:609.39, Y:-287.39, Z:-4.88 [[-7.26178146e-01 6.87503437e-01 2.07950795e-03 6.09392160e+02] [ 6.87501162e-01 7.26181110e-01 -1.77429524e-03 -2.87388320e+02] [-2.72993346e-03 1.41209703e-04 -9.99996264e-01 -4.88274803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters 0.05468592278674228 Centerline is valid? [True, True] Translation: X:609.54, Y:-287.41, Z:-4.88 [[-7.72035234e-01 6.35575346e-01 2.36141603e-03 6.09542720e+02] [ 6.35572983e-01 7.72038830e-01 -1.74034158e-03 -2.87408157e+02] [-2.92922307e-03 1.57247211e-04 -9.99995697e-01 -4.88278399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters 0.05631800280753014 Centerline is valid? [True, True] Translation: X:609.84, Y:-287.45, Z:-4.88 [[-8.16665894e-01 5.77108118e-01 1.74273028e-03 6.09837795e+02] [ 5.77107077e-01 8.16667747e-01 -1.10144914e-03 -2.87450481e+02] [-2.05888685e-03 1.06226028e-04 -9.99997875e-01 -4.88337516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters 0.054260742079336385 Centerline is valid? [True, True] Translation: X:609.71, Y:-287.30, Z:-4.88 [[-8.57502403e-01 5.14479131e-01 9.23197670e-04 6.09711062e+02] [ 5.14478892e-01 8.57502899e-01 -4.98523481e-04 -2.87303820e+02] [-1.04812461e-03 4.74806307e-05 -9.99999450e-01 -4.88242998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters 0.05378798319471024 Centerline is valid? [True, True] Translation: X:609.82, Y:-287.26, Z:-4.88 [[-8.96652108e-01 4.42734284e-01 1.16207703e-03 6.09815599e+02] [ 4.42733978e-01 8.96652860e-01 -5.23277409e-04 -2.87257735e+02] [-1.27365254e-03 4.52931941e-05 -9.99999188e-01 -4.88276299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters 0.0546728563893597 Centerline is valid? [True, True] Translation: X:609.36, Y:-286.99, Z:-4.88 [[-9.29152652e-01 3.69694101e-01 1.27336919e-03 6.09362900e+02] [ 3.69693807e-01 9.29153524e-01 -4.67763314e-04 -2.86988807e+02] [-1.35608481e-03 3.61331808e-05 -9.99999080e-01 -4.88233089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters 0.05352815803774147 Centerline is valid? [True, True] Translation: X:609.77, Y:-287.02, Z:-4.88 [[-9.57157583e-01 2.89564286e-01 1.37294537e-03 6.09769500e+02] [ 2.89564024e-01 9.57158568e-01 -3.90187345e-04 -2.87018759e+02] [-1.42711074e-03 2.40848084e-05 -9.99998981e-01 -4.88214958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters 0.053304267361783536 Centerline is valid? [True, True] Translation: X:608.93, Y:-286.72, Z:-4.88 [[-9.78118088e-01 2.08040618e-01 2.02645986e-03 6.08929496e+02] [ 2.08040192e-01 9.78120188e-01 -4.20936507e-04 -2.86718790e+02] [-2.06969319e-03 9.85948702e-06 -9.99997858e-01 -4.88096805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters 0.05310053268924066 Centerline is valid? [True, True] Translation: X:608.99, Y:-286.19, Z:-5.87 [[-9.62305208e-01 -2.71947620e-01 3.63017836e-03 6.08992396e+02] [ 2.71946109e-01 -9.62312049e-01 -9.12864824e-04 -2.86194081e+02] [ 3.74161579e-03 1.08758306e-04 9.99992994e-01 -5.87356004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters 0.05350753186953201 Centerline is valid? [True, True] Translation: X:608.79, Y:-286.67, Z:-4.88 [[-9.82931925e-01 1.83917931e-01 4.36177559e-03 6.08786911e+02] [ 1.83915821e-01 9.82941601e-01 -8.83324557e-04 -2.86666813e+02] [-4.44982991e-03 -6.60483661e-05 -9.99990097e-01 -4.87958892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters 0.053373404280464005 Centerline is valid? [True, True] Translation: X:608.94, Y:-286.21, Z:-5.87 [[-9.58870712e-01 -2.83776970e-01 6.13103119e-03 6.08941139e+02] [ 2.83772707e-01 -9.58890284e-01 -1.57265246e-03 -2.86206416e+02] [ 6.32526879e-03 2.31848930e-04 9.99979968e-01 -5.87438577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters 0.05317997726403841 Centerline is valid? [True, True] Translation: X:608.79, Y:-286.66, Z:-4.88 [[-9.85256201e-01 1.70931253e-01 7.26127437e-03 6.08791172e+02] [ 1.70925290e-01 9.85282942e-01 -1.43866801e-03 -2.86662879e+02] [-7.40032310e-03 -1.76321149e-04 -9.99972602e-01 -4.87880766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters 0.05322781502990671 Centerline is valid? [True, True] Translation: X:608.81, Y:-286.18, Z:-5.87 [[-9.60712218e-01 -2.77462011e-01 6.84587685e-03 6.08807402e+02] [ 2.77456073e-01 -9.60736598e-01 -1.82138334e-03 -2.86180718e+02] [ 7.08244912e-03 1.49604885e-04 9.99974908e-01 -5.87363172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters 0.052963426509105786 Centerline is valid? [True, True] Translation: X:608.52, Y:-286.61, Z:-4.88 [[-9.84152250e-01 1.77196781e-01 6.75641847e-03 6.08522603e+02] [ 1.77191936e-01 9.84175438e-01 -1.31374961e-03 -2.86613975e+02] [-6.88229331e-03 -9.57467626e-05 -9.99976312e-01 -4.87960458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters 0.05377831527091146 Centerline is valid? [True, True] Translation: X:608.50, Y:-286.54, Z:-4.88 [[-9.93951705e-01 1.09594121e-01 7.00977704e-03 6.08495873e+02] [ 1.09590841e-01 9.93976420e-01 -8.51487652e-04 -2.86538043e+02] [-7.06087112e-03 -7.81302450e-05 -9.99975069e-01 -4.87991497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters 0.0537147769173756 Centerline is valid? [True, True] Translation: X:608.68, Y:-286.48, Z:-4.88 [[-9.99236934e-01 3.82339823e-02 7.98195264e-03 6.08678042e+02] [ 3.82322136e-02 9.99268812e-01 -3.74108756e-04 -2.86478656e+02] [-7.99042000e-03 -6.86555682e-05 -9.99968074e-01 -4.88077161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters 0.05323012192246371 Centerline is valid? [True, True] Translation: X:608.65, Y:-285.98, Z:-5.87 [[-9.92833568e-01 -1.19265081e-01 7.57271212e-03 6.08650159e+02] [ 1.19261936e-01 -9.92862447e-01 -8.67216540e-04 -2.85984690e+02] [ 7.62209014e-03 4.21346141e-05 9.99970951e-01 -5.87168664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters 0.0533718838501348 Centerline is valid? [True, True] Translation: X:608.30, Y:-286.46, Z:-4.88 [[-9.99285370e-01 3.70048066e-02 7.70676523e-03 6.08303505e+02] [ 3.70033338e-02 9.99315086e-01 -3.33647773e-04 -2.86464363e+02] [-7.71383334e-03 -4.82333318e-05 -9.99970247e-01 -4.88065647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters 0.05329918962915035 Centerline is valid? [True, True] Translation: X:608.04, Y:-285.93, Z:-5.87 [[-9.93477206e-01 -1.13767280e-01 7.74903864e-03 6.08040089e+02] [ 1.13764240e-01 -9.93507425e-01 -8.33409493e-04 -2.85932753e+02] [ 7.79354215e-03 5.35901601e-05 9.99969628e-01 -5.87344731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters 0.053136211739234725 Centerline is valid? [True, True] Translation: X:608.03, Y:-286.46, Z:-4.88 [[-9.99291586e-01 3.67659272e-02 8.03694681e-03 6.08032173e+02] [ 3.67646234e-02 9.99323905e-01 -3.09958129e-04 -2.86460704e+02] [-8.04290896e-03 -1.42632281e-05 -9.99967655e-01 -4.87950381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters 0.05250819429490719 Centerline is valid? [True, True] Translation: X:607.96, Y:-285.92, Z:-5.87 [[-9.94906821e-01 -1.00517193e-01 7.53068137e-03 6.07962294e+02] [ 1.00514204e-01 -9.94935321e-01 -7.75351930e-04 -2.85919612e+02] [ 7.57047709e-03 -1.44624822e-05 9.99971343e-01 -5.87329143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters 0.05313733943144428 Centerline is valid? [True, True] Translation: X:607.83, Y:-286.47, Z:-4.88 [[-9.99092849e-01 4.20005343e-02 7.03092800e-03 6.07834348e+02] [ 4.19998480e-02 9.99117587e-01 -2.45288756e-04 -2.86465549e+02] [-7.03502608e-03 5.02316651e-05 -9.99975253e-01 -4.88279192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters 0.053978222650784204 Centerline is valid? [True, True] Translation: X:608.10, Y:-286.39, Z:-4.88 [[-9.99557636e-01 -2.90564082e-02 6.34485915e-03 6.08104403e+02] [-2.90553774e-02 9.99577771e-01 2.54595094e-04 -2.86389638e+02] [-6.34957778e-03 7.01301931e-05 -9.99979839e-01 -4.88302500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters 0.053111176708708144 Centerline is valid? [True, True] Translation: X:607.43, Y:-286.37, Z:-4.88 [[-9.95145036e-01 -9.82298328e-02 6.10391298e-03 6.07433017e+02] [-9.82275095e-02 9.95163752e-01 6.79984874e-04 -2.86366685e+02] [-6.14118774e-03 7.71114022e-05 -9.99981140e-01 -4.88324777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters 0.05351031954147576 Centerline is valid? [True, True] Translation: X:607.43, Y:-286.30, Z:-4.88 [[-9.85377012e-01 -1.70264165e-01 6.50061824e-03 6.07425231e+02] [-1.70259944e-01 9.85398451e-01 1.20139051e-03 -2.86297208e+02] [-6.61025290e-03 7.70276890e-05 -9.99978149e-01 -4.88343228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters 0.05293744985875845 Centerline is valid? [True, True] Translation: X:607.31, Y:-286.25, Z:-4.88 [[-9.70089993e-01 -2.42648303e-01 6.87073102e-03 6.07307128e+02] [-2.42641754e-01 9.70114322e-01 1.78390039e-03 -2.86248196e+02] [-7.09825497e-03 6.34176859e-05 -9.99974805e-01 -4.88381569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters 0.05298938561406948 Centerline is valid? [True, True] Translation: X:607.16, Y:-286.22, Z:-4.88 [[-9.48288466e-01 -3.17339608e-01 6.67518274e-03 6.07161690e+02] [-3.17331626e-01 9.48311960e-01 2.25078439e-03 -2.86216875e+02] [-7.04441866e-03 1.61462847e-05 -9.99975188e-01 -4.88344608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters 0.0529273921896919 Centerline is valid? [True, True] Translation: X:607.45, Y:-286.02, Z:-4.89 [[-9.18690870e-01 -3.94914377e-01 7.05128567e-03 6.07453914e+02] [-3.94903045e-01 9.18717929e-01 2.99189894e-03 -2.86022622e+02] [-7.65968647e-03 -3.59439412e-05 -9.99970664e-01 -4.88604556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters 0.05277641477154204 Centerline is valid? [True, True] Translation: X:606.91, Y:-286.19, Z:-4.88 [[-8.84987355e-01 -4.65556300e-01 7.39688428e-03 6.06912437e+02] [-4.65540975e-01 8.85018261e-01 3.77873763e-03 -2.86186385e+02] [-8.30559277e-03 -9.94177004e-05 -9.99965503e-01 -4.88317347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters 0.05265103690780003 Centerline is valid? [True, True] Translation: X:606.82, Y:-286.15, Z:-4.88 [[-8.45989170e-01 -5.33155790e-01 6.87225527e-03 6.06823563e+02] [-5.33139515e-01 8.46017071e-01 4.16805840e-03 -2.86148951e+02] [-8.03626974e-03 -1.37738571e-04 -9.99967699e-01 -4.88319150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters 0.052234184293444084 Centerline is valid? [True, True] Translation: X:606.70, Y:-286.14, Z:-4.88 [[-8.01497062e-01 -5.97960687e-01 6.74369035e-03 6.06696725e+02] [-5.97941534e-01 8.01525408e-01 4.78981565e-03 -2.86142381e+02] [-8.26936062e-03 -1.93309385e-04 -9.99965790e-01 -4.88415601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters 0.05277070116093223 Centerline is valid? [True, True] Translation: X:606.57, Y:-286.13, Z:-4.88 [[-7.53841394e-01 -6.57029330e-01 5.96764402e-03 6.06570989e+02] [-6.57010837e-01 7.53864988e-01 4.93365168e-03 -2.86133908e+02] [-7.74035174e-03 -2.01615934e-04 -9.99970023e-01 -4.88250258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters 0.05239823697093833 Centerline is valid? [True, True] Translation: X:606.43, Y:-286.16, Z:-4.88 [[-7.02553943e-01 -7.11606713e-01 5.81749309e-03 6.06425781e+02] [-7.11584972e-01 7.02577991e-01 5.56728711e-03 -2.86163883e+02] [-8.04896149e-03 -2.28321145e-04 -9.99967581e-01 -4.88275078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters 0.05123369867451947 Centerline is valid? [True, True] Translation: X:606.28, Y:-286.21, Z:-4.88 [[-6.46857653e-01 -7.62582993e-01 6.50811896e-03 6.06280745e+02] [-7.62548916e-01 6.46890324e-01 7.21523297e-03 -2.86214504e+02] [-9.71225314e-03 -2.95530397e-04 -9.99952791e-01 -4.88453446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters 0.05190194493906123 Centerline is valid? [True, True] Translation: X:606.12, Y:-286.28, Z:-4.88 [[-5.88316458e-01 -8.08601503e-01 6.88146802e-03 6.06117348e+02] [-8.08553066e-01 5.88356597e-01 8.85748114e-03 -2.86279464e+02] [-1.12109297e-02 -3.53030129e-04 -9.99937093e-01 -4.88183755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters 0.053220889225051415 Centerline is valid? [True, True] Translation: X:605.95, Y:-286.38, Z:-4.88 [[-5.27657415e-01 -8.49427244e-01 7.14213449e-03 6.05947983e+02] [-8.49359515e-01 5.27705596e-01 1.07339996e-02 -2.86376193e+02] [-1.28866960e-02 -4.02365407e-04 -9.99916882e-01 -4.87914208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters 0.051633339874081516 Centerline is valid? [True, True] Translation: X:605.78, Y:-286.53, Z:-4.89 [[-4.67124744e-01 -8.84169306e-01 6.25394462e-03 6.05782360e+02] [-8.84099933e-01 4.67166474e-01 1.10812989e-02 -2.86528922e+02] [-1.27193776e-02 -3.52763118e-04 -9.99919043e-01 -4.88540116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters 0.05134462260301239 Centerline is valid? [True, True] Translation: X:605.60, Y:-286.70, Z:-4.89 [[-4.02754177e-01 -9.15293509e-01 5.18319309e-03 6.05603673e+02] [-9.15227520e-01 4.02787405e-01 1.09951614e-02 -2.86704736e+02] [-1.21515248e-02 -3.15453764e-04 -9.99926118e-01 -4.88583815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters 0.050839379978016776 Centerline is valid? [True, True] Translation: X:605.52, Y:-286.71, Z:-4.89 [[-3.38370661e-01 -9.41007160e-01 3.28954388e-03 6.05524143e+02] [-9.40968004e-01 3.38386598e-01 8.58633470e-03 -2.86710048e+02] [-9.19293998e-03 -1.89991786e-04 -9.99957726e-01 -4.88828000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters 0.051247257942049616 Centerline is valid? [True, True] Translation: X:605.28, Y:-287.17, Z:-4.89 [[-2.73914128e-01 -9.61750840e-01 2.52440956e-03 6.05282931e+02] [-9.61714854e-01 2.73925720e-01 8.32105134e-03 -2.87167957e+02] [-8.69427882e-03 -1.48508650e-04 -9.99962193e-01 -4.88664533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters 0.05133098125692811 Centerline is valid? [True, True] Translation: X:605.16, Y:-287.33, Z:-4.88 [[-2.02066693e-01 -9.79369624e-01 2.04708964e-03 6.05156025e+02] [-9.79327010e-01 2.02077000e-01 9.13745319e-03 -2.87332903e+02] [-9.36261383e-03 -1.58395229e-04 -9.99956157e-01 -4.88395897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters 0.05090358450416047 Centerline is valid? [True, True] Translation: X:605.03, Y:-287.56, Z:-4.88 [[-1.28642460e-01 -9.91689852e-01 1.53468076e-03 6.05034634e+02] [-9.91635276e-01 1.28651483e-01 1.04055181e-02 -2.87563649e+02] [-1.05164857e-02 -1.83252129e-04 -9.99944683e-01 -4.88497470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters 0.05092987087936413 Centerline is valid? [True, True] Translation: X:604.93, Y:-287.75, Z:-4.88 [[-5.34386931e-02 -9.98570827e-01 7.81147590e-04 6.04932219e+02] [-9.98512339e-01 5.34440190e-02 1.08095495e-02 -2.87747013e+02] [-1.08358485e-02 -2.02337308e-04 -9.99941270e-01 -4.88479964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters 0.051155159739509 Centerline is valid? [True, True] Translation: X:604.84, Y:-287.98, Z:-4.88 [[ 2.34541707e-02 -9.99724913e-01 -1.96090151e-05 6.04838570e+02] [-9.99668876e-01 -2.34530637e-02 1.05873795e-02 -2.87979637e+02] [-1.05849269e-02 -2.28715683e-04 -9.99943952e-01 -4.88452643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters 0.050655892433732794 Centerline is valid? [True, True] Translation: X:604.77, Y:-288.21, Z:-4.89 [[ 9.95633198e-02 -9.95030866e-01 -8.49312575e-04 6.04768720e+02] [-9.94968355e-01 -9.95665876e-02 1.11564569e-02 -2.88210623e+02] [-1.11855822e-02 -2.65734755e-04 -9.99937404e-01 -4.88610250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters 0.05080398257546056 Centerline is valid? [True, True] Translation: X:604.72, Y:-288.47, Z:-4.89 [[ 1.72510335e-01 -9.85006232e-01 -1.70512586e-03 6.04717229e+02] [-9.84941474e-01 -1.72518551e-01 1.12979181e-02 -2.88474701e+02] [-1.14226856e-02 -2.69558458e-04 -9.99934723e-01 -4.88572296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters 0.051555821414565633 Centerline is valid? [True, True] Translation: X:604.69, Y:-288.74, Z:-4.89 [[ 2.41827915e-01 -9.70316471e-01 -2.28151305e-03 6.04686223e+02] [-9.70264676e-01 -2.41838585e-01 1.00278700e-02 -2.88735960e+02] [-1.02819653e-02 -2.11347375e-04 -9.99947117e-01 -4.88589946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters 0.0514687864782248 Centerline is valid? [True, True] Translation: X:604.66, Y:-288.96, Z:-4.89 [[ 3.11084601e-01 -9.50378843e-01 -2.53500452e-03 6.04659978e+02] [-9.50342944e-01 -3.11094888e-01 8.26193706e-03 -2.88957782e+02] [-8.64059713e-03 -1.61037734e-04 -9.99962656e-01 -4.88555075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters 0.051167789400579956 Centerline is valid? [True, True] Translation: X:604.67, Y:-289.22, Z:-4.89 [[ 3.76397733e-01 -9.26454992e-01 -2.42797265e-03 6.04666261e+02] [-9.26433972e-01 -3.76405550e-01 6.24159248e-03 -2.89216599e+02] [-6.69645689e-03 -9.99649141e-05 -9.99977573e-01 -4.88632976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters 0.05171581515324394 Centerline is valid? [True, True] Translation: X:604.70, Y:-289.49, Z:-4.89 [[ 4.41561765e-01 -8.97225955e-01 -2.96554013e-03 6.04698957e+02] [-8.97204404e-01 -4.41571714e-01 6.21913643e-03 -2.89487430e+02] [-6.88946926e-03 -8.54371899e-05 -9.99976264e-01 -4.88538458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters 0.05096195161873572 Centerline is valid? [True, True] Translation: X:604.74, Y:-289.72, Z:-4.88 [[ 5.05167685e-01 -8.63009316e-01 -4.53118392e-03 6.04735688e+02] [-8.62972894e-01 -5.05187997e-01 7.92914890e-03 -2.89720187e+02] [-9.13202910e-03 -9.52608838e-05 -9.99958298e-01 -4.88379990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters 0.05188001087667533 Centerline is valid? [True, True] Translation: X:604.78, Y:-289.94, Z:-4.88 [[ 5.65978174e-01 -8.24398670e-01 -5.96148141e-03 6.04779172e+02] [-8.24351243e-01 -5.66009563e-01 8.84324678e-03 -2.89936399e+02] [-1.06646164e-02 -9.07300603e-05 -9.99943127e-01 -4.88151479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters 0.051900271682932306 Centerline is valid? [True, True] Translation: X:604.87, Y:-290.18, Z:-4.88 [[ 6.22356233e-01 -7.82703539e-01 -6.92015530e-03 6.04868393e+02] [-7.82654182e-01 -6.22394703e-01 8.79008270e-03 -2.90181243e+02] [-1.11870968e-02 -5.44742730e-05 -9.99937421e-01 -4.88348870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters 0.05143251194217259 Centerline is valid? [True, True] Translation: X:604.95, Y:-290.40, Z:-4.89 [[ 6.77157223e-01 -7.35806827e-01 -6.81248669e-03 6.04953221e+02] [-7.35769093e-01 -6.77191489e-01 7.45180050e-03 -2.90395901e+02] [-1.00964437e-02 -3.36233796e-05 -9.99949029e-01 -4.88552777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters 0.05186037468381263 Centerline is valid? [True, True] Translation: X:605.03, Y:-290.58, Z:-4.89 [[ 7.29655255e-01 -6.83782280e-01 -6.70838697e-03 6.05032562e+02] [-6.83752946e-01 -7.29686091e-01 6.33380880e-03 -2.90584766e+02] [-9.22596289e-03 -3.46175202e-05 -9.99957439e-01 -4.88604077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters 0.051572826762118794 Centerline is valid? [True, True] Translation: X:605.00, Y:-290.67, Z:-4.88 [[ 7.81864453e-01 -6.23402380e-01 -7.57952370e-03 6.05000252e+02] [-6.23372441e-01 -7.81901189e-01 6.10985834e-03 -2.90670173e+02] [-9.73533883e-03 -5.22148565e-05 -9.99952609e-01 -4.88403390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters 0.05134534830341078 Centerline is valid? [True, True] Translation: X:604.98, Y:-290.75, Z:-4.88 [[ 8.28296971e-01 -5.60223126e-01 -8.61263364e-03 6.04981714e+02] [-5.60192120e-01 -8.28341745e-01 5.89433568e-03 -2.90748986e+02] [-1.04363471e-02 -5.75308964e-05 -9.99945538e-01 -4.88279207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters 0.05207268792386152 Centerline is valid? [True, True] Translation: X:604.97, Y:-290.83, Z:-4.89 [[ 8.69333079e-01 -4.94145562e-01 -8.95327890e-03 6.04967520e+02] [-4.94118737e-01 -8.69379181e-01 5.14910752e-03 -2.90833421e+02] [-1.03282029e-02 -5.23066364e-05 -9.99946661e-01 -4.88544124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters 0.05225545810602031 Centerline is valid? [True, True] Translation: X:604.96, Y:-290.92, Z:-4.89 [[ 9.05052567e-01 -4.25213662e-01 -8.55525405e-03 6.04957095e+02] [-4.25194218e-01 -9.05093000e-01 4.06662788e-03 -2.90924390e+02] [-9.47248630e-03 -4.28674461e-05 -9.99955134e-01 -4.88581400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters 0.051850592945118415 Centerline is valid? [True, True] Translation: X:604.95, Y:-291.01, Z:-4.88 [[ 9.35484875e-01 -3.53243968e-01 -9.31381813e-03 6.04953532e+02] [-3.53225993e-01 -9.35531238e-01 3.56380051e-03 -2.91013242e+02] [-9.97225884e-03 -4.39988143e-05 -9.99950275e-01 -4.88494961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters 0.05152496224971447 Centerline is valid? [True, True] Translation: X:604.96, Y:-291.10, Z:-4.88 [[ 9.60248995e-01 -2.78957930e-01 -1.02147014e-02 6.04959086e+02] [-2.78941623e-01 -9.60303322e-01 3.01668128e-03 -2.91097403e+02] [-1.06507388e-02 -4.74597927e-05 -9.99943278e-01 -4.88303494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters 0.05240633361472591 Centerline is valid? [True, True] Translation: X:604.97, Y:-291.18, Z:-4.89 [[ 9.79150115e-01 -2.02846895e-01 -1.08715122e-02 6.04970461e+02] [-2.02833808e-01 -9.79210465e-01 2.30469240e-03 -2.91184676e+02] [-1.11129982e-02 -5.15296085e-05 -9.99938247e-01 -4.88520218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters 0.05164164703028512 Centerline is valid? [True, True] Translation: X:604.99, Y:-291.27, Z:-4.89 [[ 9.92162298e-01 -1.24416057e-01 -1.16025787e-02 6.04988300e+02] [-1.24406739e-01 -9.92230135e-01 1.52427057e-03 -2.91272492e+02] [-1.17020720e-02 -6.88848050e-05 -9.99931526e-01 -4.88573570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters 0.052507609769050195 Centerline is valid? [True, True] Translation: X:605.01, Y:-291.36, Z:-4.89 [[ 9.98930370e-01 -4.47021346e-02 -1.18251892e-02 6.05012480e+02] [-4.46979267e-02 -9.99000356e-01 6.20029696e-04 -2.91359227e+02] [-1.18410848e-02 -9.08050548e-05 -9.99929888e-01 -4.88520230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters 0.052852552371232354 Centerline is valid? [True, True] Translation: X:605.04, Y:-291.44, Z:-4.89 [[ 9.99350256e-01 3.39719518e-02 -1.20404458e-02 6.05038435e+02] [ 3.39706544e-02 -9.99422782e-01 -3.12312864e-04 -2.91444578e+02] [-1.20441058e-02 -9.69118839e-05 -9.99927462e-01 -4.88633176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters 0.05176098876419684 Centerline is valid? [True, True] Translation: X:605.07, Y:-291.53, Z:-4.89 [[ 9.93739749e-01 1.11104238e-01 -1.17115292e-02 6.05070226e+02] [ 1.11097513e-01 -9.93808755e-01 -1.22531269e-03 -2.91526002e+02] [-1.17751577e-02 -8.34798351e-05 -9.99930667e-01 -4.88529740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters 0.05308611520911343 Centerline is valid? [True, True] Translation: X:605.11, Y:-291.60, Z:-4.89 [[ 9.82364370e-01 1.86657547e-01 -1.09180990e-02 6.05109478e+02] [ 1.86646676e-01 -9.82425039e-01 -2.01536698e-03 -2.91603817e+02] [-1.11023973e-02 -5.80021690e-05 -9.99938365e-01 -4.88735110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters 0.051693065721708245 Centerline is valid? [True, True] Translation: X:605.15, Y:-291.68, Z:-4.89 [[ 9.65177794e-01 2.61385863e-01 -1.04526356e-02 6.05154123e+02] [ 2.61370974e-01 -9.65234391e-01 -2.79007252e-03 -2.91678257e+02] [-1.08185288e-02 -3.90995000e-05 -9.99941477e-01 -4.88767737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters 0.05221032579230027 Centerline is valid? [True, True] Translation: X:605.20, Y:-291.75, Z:-4.89 [[ 9.42591649e-01 3.33785574e-01 -1.04006601e-02 6.05203480e+02] [ 3.33765404e-01 -9.42649028e-01 -3.66945300e-03 -2.91748254e+02] [-1.10289826e-02 -1.25847729e-05 -9.99939179e-01 -4.88696625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters 0.05280169550068953 Centerline is valid? [True, True] Translation: X:605.26, Y:-291.81, Z:-4.89 [[ 9.13942203e-01 4.05718356e-01 -1.01125963e-02 6.05259309e+02] [ 4.05693557e-01 -9.13998149e-01 -4.48571667e-03 -2.91814396e+02] [-1.10628319e-02 -2.92939510e-06 -9.99938805e-01 -4.88752963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters 0.05335375773225595 Centerline is valid? [True, True] Translation: X:605.32, Y:-291.88, Z:-4.89 [[ 8.80551671e-01 4.73855638e-01 -9.46520902e-03 6.05319366e+02] [ 4.73827984e-01 -8.80602540e-01 -5.11934211e-03 -2.91875780e+02] [-1.07609162e-02 2.29643442e-05 -9.99942099e-01 -4.88647381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters 0.052736867551001675 Centerline is valid? [True, True] Translation: X:605.38, Y:-291.93, Z:-4.89 [[ 8.42004950e-01 5.39396728e-01 -8.87879232e-03 6.05381688e+02] [ 5.39366161e-01 -8.42051761e-01 -5.74252248e-03 -2.91926941e+02] [-1.05739005e-02 4.63122233e-05 -9.99944094e-01 -4.88682143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters 0.05236478470282505 Centerline is valid? [True, True] Translation: X:605.45, Y:-291.97, Z:-4.89 [[ 7.99591500e-01 6.00500442e-01 -7.25612239e-03 6.05445028e+02] [ 6.00474863e-01 -7.99624420e-01 -5.54309959e-03 -2.91972548e+02] [-9.13080641e-03 7.50962227e-05 -9.99958311e-01 -4.88631638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters 0.052610220940857946 Centerline is valid? [True, True] Translation: X:605.51, Y:-292.01, Z:-4.89 [[ 7.51040667e-01 6.60229109e-01 -5.95311871e-03 6.05511149e+02] [ 6.60207568e-01 -7.51064256e-01 -5.33378563e-03 -2.92011029e+02] [-7.99269521e-03 7.55958886e-05 -9.99968055e-01 -4.88702498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters 0.052914497196051215 Centerline is valid? [True, True] Translation: X:605.59, Y:-292.05, Z:-4.89 [[ 6.96837549e-01 7.17213500e-01 -4.71441780e-03 6.05592121e+02] [ 7.17196487e-01 -6.96853494e-01 -4.94029165e-03 -2.92054690e+02] [-6.82850238e-03 6.14168399e-05 -9.99976684e-01 -4.88879263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters 0.05246295740720938 Centerline is valid? [True, True] Translation: X:605.67, Y:-292.09, Z:-4.89 [[ 6.36343027e-01 7.71393957e-01 -4.34911616e-03 6.05670994e+02] [ 7.71375490e-01 -6.36357887e-01 -5.33778937e-03 -2.92087743e+02] [-6.88513284e-03 4.18634356e-05 -9.99976296e-01 -4.88751400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters 0.052681991957023604 Centerline is valid? [True, True] Translation: X:605.75, Y:-292.12, Z:-4.89 [[ 5.69923083e-01 8.21687878e-01 -4.08791227e-03 6.05754960e+02] [ 8.21666642e-01 -5.69937744e-01 -5.90736003e-03 -2.92116363e+02] [-7.18386162e-03 7.83969252e-06 -9.99974196e-01 -4.88878878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters 0.053008542086946525 Centerline is valid? [True, True] Translation: X:605.84, Y:-292.14, Z:-4.89 [[ 5.00643456e-01 8.65646328e-01 -3.54469699e-03 6.05840701e+02] [ 8.65624897e-01 -5.00656005e-01 -6.09123572e-03 -2.92136925e+02] [-7.04752967e-03 -1.88406639e-05 -9.99975166e-01 -4.88906151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters 0.053179874543656094 Centerline is valid? [True, True] Translation: X:605.93, Y:-292.15, Z:-4.89 [[ 4.27162511e-01 9.04171492e-01 -2.47049398e-03 6.05930511e+02] [ 9.04156947e-01 -4.27169652e-01 -5.12871972e-03 -2.92153550e+02] [-5.69256221e-03 -4.29174994e-05 -9.99983796e-01 -4.88874429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters 0.05284371814281963 Centerline is valid? [True, True] Translation: X:606.02, Y:-292.16, Z:-4.89 [[ 3.52845893e-01 9.35680136e-01 -1.56817849e-03 6.06015044e+02] [ 9.35671448e-01 -3.52849375e-01 -4.03233174e-03 -2.92159936e+02] [-4.32630351e-03 -4.45081487e-05 -9.99990641e-01 -4.88911600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters 0.052796529676041204 Centerline is valid? [True, True] Translation: X:606.11, Y:-292.16, Z:-4.89 [[ 2.76356697e-01 9.61054632e-01 -9.84793542e-04 6.06108105e+02] [ 9.61049087e-01 -2.76358448e-01 -3.26497704e-03 -2.92161501e+02] [-3.40997732e-03 -4.41366634e-05 -9.99994185e-01 -4.89142861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters 0.05236847588070556 Centerline is valid? [True, True] Translation: X:606.21, Y:-292.16, Z:-4.89 [[ 1.99597050e-01 9.79877757e-01 -7.74038659e-04 6.06206151e+02] [ 9.79871319e-01 -1.99598545e-01 -3.55243680e-03 -2.92157161e+02] [-3.63545079e-03 -4.94023759e-05 -9.99993391e-01 -4.88988320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters 0.052419560503545404 Centerline is valid? [True, True] Translation: X:606.29, Y:-292.14, Z:-4.89 [[ 1.20848364e-01 9.92670818e-01 -5.65475757e-04 6.06285375e+02] [ 9.92662220e-01 -1.20849671e-01 -4.13199672e-03 -2.92141314e+02] [-4.17005012e-03 -6.19813788e-05 -9.99991303e-01 -4.88972327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters 0.05288902686259631 Centerline is valid? [True, True] Translation: X:606.37, Y:-292.12, Z:-4.89 [[ 4.18828335e-02 9.99122484e-01 -3.01465271e-04 6.06368097e+02] [ 9.99108718e-01 -4.18838392e-02 -5.24543336e-03 -2.92118801e+02] [-5.25345693e-03 -8.15029685e-05 -9.99986197e-01 -4.88959493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters 0.05306410117599549 Centerline is valid? [True, True] Translation: X:606.45, Y:-292.09, Z:-4.89 [[-3.65910732e-02 9.99330311e-01 1.52340071e-04 6.06454451e+02] [ 9.99304534e-01 3.65912236e-02 -7.17851242e-03 -2.92090193e+02] [-7.17927935e-03 -1.10435350e-04 -9.99974223e-01 -4.88803464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters 0.05291177033603872 Centerline is valid? [True, True] Translation: X:606.53, Y:-292.06, Z:-4.89 [[-1.11806395e-01 9.93729682e-01 8.06049937e-04 6.06533625e+02] [ 9.93696978e-01 1.11809256e-01 -8.06260802e-03 -2.92055363e+02] [-8.10217674e-03 -1.00481752e-04 -9.99967172e-01 -4.88792628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters 0.052751367945383196 Centerline is valid? [True, True] Translation: X:606.61, Y:-292.02, Z:-4.89 [[-1.85654146e-01 9.82614401e-01 1.21561285e-03 6.06610794e+02] [ 9.82591125e-01 1.85658116e-01 -6.76344950e-03 -2.92015185e+02] [-6.87155126e-03 -6.12120453e-05 -9.99976389e-01 -4.88910036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters 0.05271586416935854 Centerline is valid? [True, True] Translation: X:606.68, Y:-291.97, Z:-4.89 [[-2.57981129e-01 9.66148743e-01 1.53085074e-03 6.06684770e+02] [ 9.66131046e-01 2.57985669e-01 -5.84781297e-03 -2.91967909e+02] [-6.04479471e-03 -2.96229655e-05 -9.99981730e-01 -4.88978527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters 0.052963978095815656 Centerline is valid? [True, True] Translation: X:606.75, Y:-291.92, Z:-4.89 [[-3.26621161e-01 9.45153763e-01 1.72686454e-03 6.06749130e+02] [ 9.45140681e-01 3.26625726e-01 -4.97283222e-03 -2.91919077e+02] [-5.26412947e-03 7.89769626e-06 -9.99986144e-01 -4.88818847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters 0.0526912730377959 Centerline is valid? [True, True] Translation: X:606.81, Y:-291.87, Z:-4.89 [[-3.94735995e-01 9.18792139e-01 2.12144080e-03 6.06805790e+02] [ 9.18779356e-01 3.94741694e-01 -4.84677274e-03 -2.91866241e+02] [-5.29059782e-03 3.59403584e-05 -9.99986004e-01 -4.88902683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters 0.053207812382188226 Centerline is valid? [True, True] Translation: X:606.86, Y:-291.81, Z:-4.89 [[-4.63027674e-01 8.86338441e-01 3.08901753e-03 6.06855044e+02] [ 8.86319623e-01 4.63037973e-01 -5.77586341e-03 -2.91812170e+02] [-6.54970218e-03 6.34722567e-05 -9.99978548e-01 -4.88788794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters 0.05326413355538635 Centerline is valid? [True, True] Translation: X:606.90, Y:-291.75, Z:-4.89 [[-5.30236923e-01 8.47842583e-01 3.42938122e-03 6.06901547e+02] [ 8.47825659e-01 5.30248008e-01 -5.35732559e-03 -2.91753758e+02] [-6.36059133e-03 6.68655573e-05 -9.99979769e-01 -4.89010739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters 0.053030224184997074 Centerline is valid? [True, True] Translation: X:606.94, Y:-291.69, Z:-4.89 [[-5.94795382e-01 8.03870530e-01 3.25959924e-03 6.06941604e+02] [ 8.03858980e-01 5.94804311e-01 -4.30955742e-03 -2.91691187e+02] [-5.40314988e-03 5.69532654e-05 -9.99985401e-01 -4.88872946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters 0.05304618491089191 Centerline is valid? [True, True] Translation: X:606.98, Y:-291.62, Z:-4.89 [[-6.57422301e-01 7.53514003e-01 3.54485225e-03 6.06982415e+02] [ 7.53503418e-01 6.57431856e-01 -3.99416650e-03 -2.91620467e+02] [-5.34015918e-03 4.52041550e-05 -9.99985740e-01 -4.88818705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters 0.05270307706429567 Centerline is valid? [True, True] Translation: X:607.02, Y:-291.54, Z:-4.89 [[-7.16136863e-01 6.97945882e-01 4.42030060e-03 6.07021735e+02] [ 6.97932905e-01 7.16150504e-01 -4.25615509e-03 -2.91541457e+02] [-6.13616642e-03 3.70836878e-05 -9.99981173e-01 -4.88780422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters 0.05294387872247175 Centerline is valid? [True, True] Translation: X:607.10, Y:-291.52, Z:-4.89 [[-7.67045593e-01 6.41572876e-01 5.03019486e-03 6.07102127e+02] [ 6.41559148e-01 7.67062086e-01 -4.19700031e-03 -2.91515437e+02] [-6.55115333e-03 7.87694375e-06 -9.99978541e-01 -4.88569286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters 0.05248847218170521 Centerline is valid? [True, True] Translation: X:607.14, Y:-291.45, Z:-4.89 [[-8.12627419e-01 5.82766047e-01 4.51809177e-03 6.07135886e+02] [ 5.82756949e-01 8.12639979e-01 -3.25635993e-03 -2.91446233e+02] [-5.56927800e-03 -1.32579924e-05 -9.99984491e-01 -4.88641342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters 0.051950954099306126 Centerline is valid? [True, True] Translation: X:607.50, Y:-290.94, Z:-5.87 [[-7.66881163e-01 -6.41784458e-01 2.44778944e-03 6.07495290e+02] [ 6.41780577e-01 -7.66885055e-01 -2.23678591e-03 -2.90940076e+02] [ 3.31270757e-03 -1.44405257e-04 9.99994503e-01 -5.86670130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters 0.05186011839634125 Centerline is valid? [True, True] Translation: X:607.06, Y:-291.39, Z:-4.89 [[-8.18013128e-01 5.75195802e-01 2.07634206e-03 6.07061496e+02] [ 5.75193879e-01 8.18015763e-01 -1.48746051e-03 -2.91393205e+02] [-2.55406157e-03 -2.24629837e-05 -9.99996738e-01 -4.88773364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters 0.051801736142025295 Centerline is valid? [True, True] Translation: X:607.39, Y:-290.87, Z:-5.87 [[-7.68550372e-01 -6.39787539e-01 1.49347241e-03 6.07389424e+02] [ 6.39786281e-01 -7.68551823e-01 -1.26864709e-03 -2.90865147e+02] [ 1.95947554e-03 -1.95160365e-05 9.99998080e-01 -5.86678275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters 0.05187490152541787 Centerline is valid? [True, True] Translation: X:606.97, Y:-291.33, Z:-4.89 [[-8.19855126e-01 5.72566211e-01 2.34673143e-03 6.06965067e+02] [ 5.72563784e-01 8.19858484e-01 -1.66730960e-03 -2.91333520e+02] [-2.87863281e-03 -2.32988933e-05 -9.99995856e-01 -4.88683825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters 0.051505271936590366 Centerline is valid? [True, True] Translation: X:607.32, Y:-290.82, Z:-5.87 [[-7.71091495e-01 -6.36716723e-01 3.11771627e-03 6.07316095e+02] [ 6.36712036e-01 -7.71097792e-01 -2.44509927e-03 -2.90815884e+02] [ 3.96089973e-03 9.96922232e-05 9.99992151e-01 -5.86869201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters 0.052093446502958024 Centerline is valid? [True, True] Translation: X:606.86, Y:-291.27, Z:-4.88 [[-8.22578018e-01 5.68633069e-01 4.67301629e-03 6.06864399e+02] [ 5.68623553e-01 8.22591290e-01 -3.29010165e-03 -2.91265677e+02] [-5.71484310e-03 -4.91781664e-05 -9.99983669e-01 -4.88482680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters 0.05208339122989802 Centerline is valid? [True, True] Translation: X:606.89, Y:-291.19, Z:-4.88 [[-8.61403143e-01 5.07888039e-01 5.86210658e-03 6.06893598e+02] [ 5.07875753e-01 8.61423087e-01 -3.53335771e-03 -2.91190231e+02] [-6.84430407e-03 -6.64236474e-05 -9.99976575e-01 -4.88161456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters 0.05218960022019301 Centerline is valid? [True, True] Translation: X:607.20, Y:-290.65, Z:-5.87 [[-8.14191321e-01 -5.80565684e-01 5.99826337e-03 6.07202288e+02] [ 5.80550830e-01 -8.14213410e-01 -4.15413161e-03 -2.90645553e+02] [ 7.29561273e-03 1.00038874e-04 9.99973382e-01 -5.87115484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters 0.05238301602869204 Centerline is valid? [True, True] Translation: X:606.79, Y:-291.14, Z:-4.88 [[-8.63971124e-01 5.03502725e-01 6.23725623e-03 6.06792762e+02] [ 5.03488928e-01 8.63993634e-01 -3.72822907e-03 -2.91142502e+02] [-7.26612317e-03 -8.06928074e-05 -9.99973598e-01 -4.88382713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters 0.051691401117063676 Centerline is valid? [True, True] Translation: X:606.80, Y:-291.06, Z:-4.88 [[-8.97293144e-01 4.41391680e-01 6.19668935e-03 6.06800860e+02] [ 4.41380586e-01 8.97314538e-01 -3.13028633e-03 -2.91060389e+02] [-6.94206178e-03 -7.36860843e-05 -9.99975901e-01 -4.88360012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters 0.051558970898205755 Centerline is valid? [True, True] Translation: X:606.79, Y:-290.97, Z:-4.89 [[-9.26107885e-01 3.77231267e-01 4.55582851e-03 6.06788419e+02] [ 3.77226435e-01 9.26119090e-01 -1.91013663e-03 -2.90974528e+02] [-4.93980302e-03 -5.04136533e-05 -9.99987798e-01 -4.88548945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters 0.051754973918368544 Centerline is valid? [True, True] Translation: X:607.02, Y:-290.36, Z:-5.87 [[-8.89640712e-01 -4.56650675e-01 3.09285313e-03 6.07015731e+02] [ 4.56647689e-01 -8.89646086e-01 -1.65220929e-03 -2.90360664e+02] [ 3.50602717e-03 -5.75284114e-05 9.99993852e-01 -5.86729261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters 0.05086295394547624 Centerline is valid? [True, True] Translation: X:606.70, Y:-290.95, Z:-4.89 [[-9.29045459e-01 3.69949202e-01 3.48174378e-03 6.06695301e+02] [ 3.69946382e-01 9.29051982e-01 -1.44546600e-03 -2.90945286e+02] [-3.76946996e-03 -5.48451076e-05 -9.99992894e-01 -4.88703537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters 0.05204174066629884 Centerline is valid? [True, True] Translation: X:606.75, Y:-290.88, Z:-4.88 [[-9.54102446e-01 2.99442122e-01 4.78935409e-03 6.06753634e+02] [ 2.99437870e-01 9.54114462e-01 -1.59838961e-03 -2.90879649e+02] [-5.04821718e-03 -9.09134522e-05 -9.99987254e-01 -4.88490948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters 0.051280365654500885 Centerline is valid? [True, True] Translation: X:606.74, Y:-290.80, Z:-4.88 [[-9.73268324e-01 2.29610325e-01 5.27895653e-03 6.06742101e+02] [ 2.29606359e-01 9.73282635e-01 -1.35363753e-03 -2.90796328e+02] [-5.44872587e-03 -1.05370543e-04 -9.99985150e-01 -4.88465053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters 0.05116282791249708 Centerline is valid? [True, True] Translation: X:606.70, Y:-290.71, Z:-4.89 [[-9.86846412e-01 1.61559361e-01 5.72120857e-03 6.06702651e+02] [ 1.61556043e-01 9.86862991e-01 -1.04048858e-03 -2.90710591e+02] [-5.81414967e-03 -1.02506599e-04 -9.99983092e-01 -4.88510890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters 0.05094307401817774 Centerline is valid? [True, True] Translation: X:606.56, Y:-290.61, Z:-4.88 [[-9.95407215e-01 9.55241631e-02 6.29365425e-03 6.06558884e+02] [ 9.55217241e-02 9.95427108e-01 -6.87681708e-04 -2.90614827e+02] [-6.33056427e-03 -8.33426290e-05 -9.99979958e-01 -4.88499125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters 0.05093030695127801 Centerline is valid? [True, True] Translation: X:606.60, Y:-289.94, Z:-5.87 [[-9.82527296e-01 -1.86014544e-01 6.22106519e-03 6.06601612e+02] [ 1.86011345e-01 -9.82546988e-01 -1.09408626e-03 -2.89935251e+02] [ 6.31600482e-03 8.22190856e-05 9.99980050e-01 -5.86996471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters 0.051314011821540696 Centerline is valid? [True, True] Translation: X:606.41, Y:-290.59, Z:-4.88 [[-9.95694970e-01 9.25107706e-02 5.76929651e-03 6.06406196e+02] [ 9.25087945e-02 9.95711681e-01 -6.09009184e-04 -2.90592245e+02] [-5.80089583e-03 -7.26767158e-05 -9.99983172e-01 -4.88344707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters 0.05127429747157201 Centerline is valid? [True, True] Translation: X:606.40, Y:-290.51, Z:-4.88 [[-9.99757093e-01 2.15386756e-02 4.67339994e-03 6.06398997e+02] [ 2.15381648e-02 9.99768014e-01 -1.59617361e-04 -2.90509572e+02] [-4.67575373e-03 -5.89221303e-05 -9.99989067e-01 -4.88367336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters 0.050830399822873 Centerline is valid? [True, True] Translation: X:606.32, Y:-289.84, Z:-5.87 [[-9.93933375e-01 -1.09910072e-01 4.02771428e-03 6.06318218e+02] [ 1.09909220e-01 -9.93941535e-01 -4.33023228e-04 -2.89838838e+02] [ 4.05090613e-03 1.22866963e-05 9.99991795e-01 -5.86920057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters 0.05095220571738222 Centerline is valid? [True, True] Translation: X:606.17, Y:-290.51, Z:-4.88 [[-9.99720796e-01 2.31888983e-02 4.53922941e-03 6.06169752e+02] [ 2.31885117e-02 9.99731101e-01 -1.37796878e-04 -2.90506985e+02] [-4.54120418e-03 -3.25004306e-05 -9.99989688e-01 -4.88360418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters 0.05124173301842914 Centerline is valid? [True, True] Translation: X:606.06, Y:-290.43, Z:-4.88 [[-9.99137739e-01 -4.11863282e-02 5.24061427e-03 6.06064898e+02] [-4.11857709e-02 9.99151483e-01 2.14279914e-04 -2.90434866e+02] [-5.24499293e-03 -1.74358927e-06 -9.99986245e-01 -4.88321196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters 0.05147954372724358 Centerline is valid? [True, True] Translation: X:605.95, Y:-290.37, Z:-4.88 [[-9.94247939e-01 -1.06953136e-01 5.66229625e-03 6.05950042e+02] [-1.06951241e-01 9.94264062e-01 6.37254720e-04 -2.90373177e+02] [-5.69797406e-03 2.79995792e-05 -9.99983766e-01 -4.88240370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters 0.051577685510067424 Centerline is valid? [True, True] Translation: X:605.94, Y:-290.30, Z:-4.88 [[-9.85290112e-01 -1.70815021e-01 5.06201603e-03 6.05935658e+02] [-1.70812442e-01 9.85303113e-01 9.40856816e-04 -2.90303057e+02] [-5.14833263e-03 6.23616003e-05 -9.99986745e-01 -4.88345393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters 0.05176236288681891 Centerline is valid? [True, True] Translation: X:606.23, Y:-290.15, Z:-4.88 [[-9.70365410e-01 -2.41589792e-01 5.03433693e-03 6.06227165e+02] [-2.41586107e-01 9.70378465e-01 1.33678807e-03 -2.90147658e+02] [-5.20816649e-03 8.09470475e-05 -9.99986434e-01 -4.88422980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters 0.0522340180556568 Centerline is valid? [True, True] Translation: X:606.12, Y:-290.09, Z:-4.89 [[-9.51130873e-01 -3.08747205e-01 5.02243256e-03 6.06115079e+02] [-3.08742394e-01 9.51144129e-01 1.72615425e-03 -2.90085235e+02] [-5.31000255e-03 9.11607471e-05 -9.99985898e-01 -4.88503234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters 0.051856395123833894 Centerline is valid? [True, True] Translation: X:605.44, Y:-290.26, Z:-4.88 [[-9.26209669e-01 -3.76979902e-01 4.66939246e-03 6.05435776e+02] [-3.76974687e-01 9.26221435e-01 1.98452983e-03 -2.90262877e+02] [-5.07301924e-03 7.78479597e-05 -9.99987129e-01 -4.88356363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters 0.052151512561789716 Centerline is valid? [True, True] Translation: X:605.25, Y:-290.27, Z:-4.88 [[-8.96081338e-01 -4.43869565e-01 4.24787036e-03 6.05246828e+02] [-4.43864244e-01 8.96091405e-01 2.17435248e-03 -2.90267534e+02] [-4.77160901e-03 6.29189154e-05 -9.99988614e-01 -4.88398206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters 0.051148753017648166 Centerline is valid? [True, True] Translation: X:605.13, Y:-290.24, Z:-4.88 [[-8.58501536e-01 -5.12795084e-01 4.03929402e-03 6.05134013e+02] [-5.12789213e-01 8.58511037e-01 2.45403958e-03 -2.90241332e+02] [-4.72619793e-03 3.54903504e-05 -9.99988831e-01 -4.88349971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters 0.05165870402958968 Centerline is valid? [True, True] Translation: X:605.00, Y:-290.24, Z:-4.88 [[-8.15721959e-01 -5.78427810e-01 4.35354934e-03 6.04998559e+02] [-5.78419501e-01 8.15733577e-01 3.10048014e-03 -2.90236049e+02] [-5.34474031e-03 1.09519032e-05 -9.99985717e-01 -4.88322915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters 0.05129651394500247 Centerline is valid? [True, True] Translation: X:604.89, Y:-290.22, Z:-4.88 [[-7.65751635e-01 -6.43120435e-01 4.53208879e-03 6.04886003e+02] [-6.43109444e-01 7.65765046e-01 3.75996253e-03 -2.90218288e+02] [-5.88862391e-03 -3.54316424e-05 -9.99982661e-01 -4.88279348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters 0.05188889838597516 Centerline is valid? [True, True] Translation: X:604.73, Y:-290.25, Z:-4.88 [[-7.13162012e-01 -7.00988108e-01 3.95179985e-03 6.04730730e+02] [-7.00977827e-01 7.13172958e-01 3.79700284e-03 -2.90249227e+02] [-5.47997063e-03 -6.22458884e-05 -9.99984983e-01 -4.88303590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters 0.05158366020491684 Centerline is valid? [True, True] Translation: X:604.57, Y:-290.30, Z:-4.88 [[-6.58843969e-01 -7.52271559e-01 3.48221167e-03 6.04571614e+02] [-7.52261583e-01 6.58853168e-01 3.87474453e-03 -2.90300302e+02] [-5.20912630e-03 -6.66819974e-05 -9.99986430e-01 -4.88257362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters 0.05105152940455621 Centerline is valid? [True, True] Translation: X:604.39, Y:-290.39, Z:-4.88 [[-6.01864140e-01 -7.98593762e-01 2.74965801e-03 6.04392877e+02] [-7.98585874e-01 6.01870418e-01 3.54977028e-03 -2.90388632e+02] [-4.48976222e-03 -5.93586114e-05 -9.99989919e-01 -4.88296405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters 0.05150507499336659 Centerline is valid? [True, True] Translation: X:604.23, Y:-290.49, Z:-4.88 [[-5.41582226e-01 -8.40644693e-01 2.27848854e-03 6.04225790e+02] [-8.40637681e-01 5.41587016e-01 3.43419140e-03 -2.90489612e+02] [-4.12093459e-03 -5.54863016e-05 -9.99991507e-01 -4.88350233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters 0.05115366193052673 Centerline is valid? [True, True] Translation: X:604.06, Y:-290.61, Z:-4.88 [[-4.77683378e-01 -8.78529009e-01 2.31750270e-03 6.04057501e+02] [-8.78519342e-01 4.77688995e-01 4.12182174e-03 -2.90609129e+02] [-4.72818550e-03 -6.70452168e-05 -9.99988820e-01 -4.88220941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters 0.051462181962682846 Centerline is valid? [True, True] Translation: X:603.89, Y:-290.76, Z:-4.88 [[-4.12019851e-01 -9.11170359e-01 2.86703747e-03 6.03893197e+02] [-9.11149853e-01 4.12029815e-01 6.11368707e-03 -2.90760754e+02] [-6.75191536e-03 -9.33403355e-05 -9.99977201e-01 -4.88059100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters 0.05169481833478733 Centerline is valid? [True, True] Translation: X:603.74, Y:-290.92, Z:-4.88 [[-3.45115142e-01 -9.38555808e-01 2.92140110e-03 6.03744935e+02] [-9.38524606e-01 3.45127492e-01 7.65369088e-03 -2.90916990e+02] [-8.19167186e-03 -1.00402201e-04 -9.99966443e-01 -4.88058394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters 0.05149942086122768 Centerline is valid? [True, True] Translation: X:603.59, Y:-291.14, Z:-4.88 [[-2.78726132e-01 -9.60367642e-01 2.39476879e-03 6.03591894e+02] [-9.60334396e-01 2.78736410e-01 7.99138828e-03 -2.91137398e+02] [-8.34217998e-03 -7.23700952e-05 -9.99965201e-01 -4.88037171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters 0.05122438416679544 Centerline is valid? [True, True] Translation: X:603.46, Y:-291.36, Z:-4.88 [[-2.12534825e-01 -9.77152416e-01 1.45079543e-03 6.03460949e+02] [-9.77130359e-01 2.12539775e-01 6.56555189e-03 -2.91360024e+02] [-6.72389662e-03 -2.22078390e-05 -9.99977394e-01 -4.88158183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters 0.051319551472542156 Centerline is valid? [True, True] Translation: X:603.35, Y:-291.58, Z:-4.88 [[-1.43837996e-01 -9.89600779e-01 9.64262445e-04 6.03347458e+02] [-9.89578411e-01 1.43841228e-01 6.65359456e-03 -2.91584450e+02] [-6.72310305e-03 2.82640891e-06 -9.99977400e-01 -4.88187389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters 0.05206961831452441 Centerline is valid? [True, True] Translation: X:603.25, Y:-291.82, Z:-4.88 [[-7.43833634e-02 -9.97229597e-01 4.95614185e-04 6.03251816e+02] [-9.97204378e-01 7.43850071e-02 7.09219111e-03 -2.91819273e+02] [-7.10940915e-03 3.33123936e-05 -9.99974727e-01 -4.88092923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters 0.05108614514778721 Centerline is valid? [True, True] Translation: X:603.17, Y:-292.06, Z:-4.88 [[-2.36585608e-03 -9.99997201e-01 -3.43263108e-05 6.03174439e+02] [-9.99967962e-01 2.36552440e-03 7.64717272e-03 -2.92058650e+02] [-7.64707011e-03 5.24173211e-05 -9.99970759e-01 -4.88032431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters 0.05159372535156961 Centerline is valid? [True, True] Translation: X:603.11, Y:-292.27, Z:-4.88 [[ 7.21699029e-02 -9.97392145e-01 -6.44012079e-04 6.03110021e+02] [-9.97358901e-01 -7.21727556e-02 8.14348565e-03 -2.92272233e+02] [-8.16872874e-03 5.45966109e-05 -9.99966634e-01 -4.88097554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters 0.051891308194525816 Centerline is valid? [True, True] Translation: X:602.46, Y:-292.34, Z:-5.87 [[ 1.53185061e-02 9.99882662e-01 -7.77892863e-05 6.02464128e+02] [-9.99848540e-01 1.53186260e-02 8.26058614e-03 -2.92335680e+02] [ 8.26080848e-03 -4.87623351e-05 9.99965878e-01 -5.87381311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters 0.05191297275936701 Centerline is valid? [True, True] Translation: X:603.14, Y:-292.65, Z:-4.88 [[ 8.53597423e-02 -9.96349945e-01 -7.08242607e-04 6.03136276e+02] [-9.96315440e-01 -8.53626805e-02 8.29195445e-03 -2.92647729e+02] [-8.32214585e-03 -2.16605020e-06 -9.99965370e-01 -4.88201857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters 0.05135643096042017 Centerline is valid? [True, True] Translation: X:603.09, Y:-292.88, Z:-4.88 [[ 1.63547377e-01 -9.86534664e-01 -1.27013676e-03 6.03086335e+02] [-9.86503039e-01 -1.63552304e-01 7.89926685e-03 -2.92875997e+02] [-8.00063436e-03 -3.89106022e-05 -9.99967994e-01 -4.88200603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters 0.05135839599976582 Centerline is valid? [True, True] Translation: X:603.05, Y:-293.09, Z:-4.88 [[ 2.38749981e-01 -9.71079891e-01 -1.51389779e-03 6.03050571e+02] [-9.71059043e-01 -2.38754776e-01 6.36331822e-03 -2.93092265e+02] [-6.54074069e-03 -4.91579672e-05 -9.99978608e-01 -4.88167165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters 0.05144557549760622 Centerline is valid? [True, True] Translation: X:603.04, Y:-293.32, Z:-4.88 [[ 3.11022916e-01 -9.50400731e-01 -1.78802538e-03 6.03035158e+02] [-9.50384078e-01 -3.11028052e-01 5.62640364e-03 -2.93321049e+02] [-5.90346418e-03 -5.06296162e-05 -9.99982573e-01 -4.88265189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters 0.05170334380431217 Centerline is valid? [True, True] Translation: X:603.03, Y:-293.54, Z:-4.88 [[ 3.81786835e-01 -9.24248275e-01 -1.98478770e-03 6.03033034e+02] [-9.24235046e-01 -3.81791990e-01 4.94526948e-03 -2.93539593e+02] [-5.32843283e-03 -5.36284298e-05 -9.99985802e-01 -4.88352080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters 0.0512275129114431 Centerline is valid? [True, True] Translation: X:603.05, Y:-293.77, Z:-4.88 [[ 4.50303949e-01 -8.92871033e-01 -2.76977915e-03 6.03046575e+02] [-8.92853164e-01 -4.50312462e-01 5.64928256e-03 -2.93767124e+02] [-6.29134682e-03 -7.08881686e-05 -9.99980207e-01 -4.88112413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters 0.05099035807565494 Centerline is valid? [True, True] Translation: X:603.07, Y:-293.97, Z:-4.88 [[ 5.14970162e-01 -8.57200969e-01 -3.49731637e-03 6.03070565e+02] [-8.57180185e-01 -5.14982032e-01 5.96974165e-03 -2.93971739e+02] [-6.91832341e-03 -7.64085340e-05 -9.99976065e-01 -4.88101151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters 0.05140993965557192 Centerline is valid? [True, True] Translation: X:603.13, Y:-294.20, Z:-4.88 [[ 5.75367502e-01 -8.17882661e-01 -4.49340583e-03 6.03127261e+02] [-8.17856727e-01 -5.75385043e-01 6.51356012e-03 -2.94201771e+02] [-7.91276638e-03 -7.27286354e-05 -9.99968691e-01 -4.88035479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters 0.05157369676416917 Centerline is valid? [True, True] Translation: X:603.20, Y:-294.43, Z:-4.88 [[ 6.32239939e-01 -7.74755077e-01 -5.21822812e-03 6.03204384e+02] [-7.74727949e-01 -6.32261470e-01 6.48367864e-03 -2.94428974e+02] [-8.32254753e-03 -5.65334190e-05 -9.99965365e-01 -4.88095191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters 0.05101278750449232 Centerline is valid? [True, True] Translation: X:603.30, Y:-294.66, Z:-4.88 [[ 6.86861371e-01 -7.26767041e-01 -5.57896052e-03 6.03302876e+02] [-7.26742499e-01 -6.86884026e-01 5.97277473e-03 -2.94657462e+02] [-8.17291468e-03 -4.80005340e-05 -9.99966600e-01 -4.88066227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters 0.05134909311334856 Centerline is valid? [True, True] Translation: X:603.38, Y:-294.84, Z:-4.88 [[ 7.38389858e-01 -6.74349135e-01 -5.80188628e-03 6.03376586e+02] [-6.74327826e-01 -7.38412650e-01 5.36115936e-03 -2.94835795e+02] [-7.89947940e-03 -4.62523388e-05 -9.99968798e-01 -4.88078377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters 0.05102830261100068 Centerline is valid? [True, True] Translation: X:603.35, Y:-294.92, Z:-4.88 [[ 7.89123361e-01 -6.14205024e-01 -6.04235980e-03 6.03349939e+02] [-6.14186544e-01 -7.89146492e-01 4.76472344e-03 -2.94917525e+02] [-7.69482411e-03 -4.88184919e-05 -9.99970393e-01 -4.88132774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters 0.05128744776849215 Centerline is valid? [True, True] Translation: X:603.33, Y:-295.00, Z:-4.88 [[ 8.35612044e-01 -5.49281881e-01 -6.47511925e-03 6.03328500e+02] [-5.49264814e-01 -8.35637129e-01 4.33048886e-03 -2.95003200e+02] [-7.78950913e-03 -6.20534758e-05 -9.99969659e-01 -4.88197333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters 0.05104651585125945 Centerline is valid? [True, True] Translation: X:603.31, Y:-295.09, Z:-4.88 [[ 8.77421255e-01 -4.79668412e-01 -7.08205722e-03 6.03312094e+02] [-4.79651969e-01 -8.77449832e-01 3.97267993e-03 -2.95090819e+02] [-8.11971899e-03 -8.87911261e-05 -9.99967031e-01 -4.88048474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters 0.050927653043501164 Centerline is valid? [True, True] Translation: X:603.31, Y:-295.17, Z:-4.88 [[ 9.13150205e-01 -4.07556968e-01 -7.34987447e-03 6.03306314e+02] [-4.07542821e-01 -9.13179778e-01 3.39744394e-03 -2.95173342e+02] [-8.09640869e-03 -1.06988053e-04 -9.99967218e-01 -4.88138930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters 0.05132706686783254 Centerline is valid? [True, True] Translation: X:603.30, Y:-295.26, Z:-4.88 [[ 9.43245089e-01 -3.32037632e-01 -6.30176835e-03 6.03304456e+02] [-3.32029440e-01 -9.43266134e-01 2.33496889e-03 -2.95261020e+02] [-6.71954221e-03 -1.10075321e-04 -9.99977418e-01 -4.88096931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters 0.0512717709527171 Centerline is valid? [True, True] Translation: X:603.31, Y:-295.35, Z:-4.88 [[ 9.66748150e-01 -2.55688208e-01 -4.64273501e-03 6.03309586e+02] [-2.55684821e-01 -9.66759294e-01 1.31908075e-03 -2.95350131e+02] [-4.82568061e-03 -8.81420034e-05 -9.99988352e-01 -4.88432276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters 0.0507945457651823 Centerline is valid? [True, True] Translation: X:603.32, Y:-295.45, Z:-4.88 [[ 9.83858573e-01 -1.78883382e-01 -4.80040495e-03 6.03318158e+02] [-1.78880797e-01 -9.83870280e-01 9.65966960e-04 -2.95446999e+02] [-4.89577120e-03 -9.16746119e-05 -9.99988011e-01 -4.88361996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters 0.05055655456968974 Centerline is valid? [True, True] Translation: X:603.34, Y:-295.54, Z:-4.88 [[ 9.94873833e-01 -1.00953798e-01 -5.86413341e-03 6.03336221e+02] [-1.00951376e-01 -9.94891109e-01 7.08336332e-04 -2.95536619e+02] [-5.90568343e-03 -1.12712946e-04 -9.99982555e-01 -4.88412868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters 0.05124426356884774 Centerline is valid? [True, True] Translation: X:603.36, Y:-295.63, Z:-4.88 [[ 9.99737154e-01 -2.17957686e-02 -7.11111181e-03 6.03360031e+02] [-2.17942016e-02 -9.99762434e-01 2.97779397e-04 -2.95631117e+02] [-7.11591278e-03 -1.42720122e-04 -9.99974671e-01 -4.88252624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters 0.05145827459789661 Centerline is valid? [True, True] Translation: X:603.39, Y:-295.72, Z:-4.88 [[ 9.98259425e-01 5.83394847e-02 -8.63852318e-03 6.03386874e+02] [ 5.83389320e-02 -9.98296784e-01 -3.16168434e-04 -2.95718947e+02] [-8.64225502e-03 -1.88344097e-04 -9.99962637e-01 -4.88143220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters 0.05215892973111604 Centerline is valid? [True, True] Translation: X:603.42, Y:-295.80, Z:-4.88 [[ 9.90459827e-01 1.37543620e-01 -8.43113696e-03 6.03419993e+02] [ 1.37540318e-01 -9.90495691e-01 -9.72973537e-04 -2.95799035e+02] [-8.48483113e-03 -1.95930060e-04 -9.99963984e-01 -4.88087650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters 0.051663557426838785 Centerline is valid? [True, True] Translation: X:603.46, Y:-295.87, Z:-4.88 [[ 9.76481361e-01 2.15474372e-01 -7.41265350e-03 6.03459175e+02] [ 2.15469570e-01 -9.76509479e-01 -1.44995800e-03 -2.95871449e+02] [-7.55095520e-03 -1.81344304e-04 -9.99971475e-01 -4.88190307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters 0.05104174390784209 Centerline is valid? [True, True] Translation: X:603.50, Y:-295.94, Z:-4.88 [[ 9.56379105e-01 2.92079745e-01 -5.33202361e-03 6.03504614e+02] [ 2.92076013e-01 -9.56393958e-01 -1.48314988e-03 -2.95943817e+02] [-5.53271320e-03 -1.38902639e-04 -9.99984685e-01 -4.88480704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters 0.05203855203373192 Centerline is valid? [True, True] Translation: X:603.56, Y:-296.02, Z:-4.88 [[ 9.30234336e-01 3.66934060e-01 -4.84522927e-03 6.03558164e+02] [ 3.66929834e-01 -9.30246944e-01 -1.76630191e-03 -2.96021512e+02] [-5.15537606e-03 -1.34784491e-04 -9.99986702e-01 -4.88450408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters 0.05123124335170073 Centerline is valid? [True, True] Translation: X:603.62, Y:-296.09, Z:-4.89 [[ 8.98451143e-01 4.39044574e-01 -5.04040733e-03 6.03617253e+02] [ 4.39038580e-01 -8.98465269e-01 -2.29897247e-03 -2.96090584e+02] [-5.53798232e-03 -1.47418830e-04 -9.99984654e-01 -4.88561572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters 0.05198559249053902 Centerline is valid? [True, True] Translation: X:603.68, Y:-296.16, Z:-4.88 [[ 8.60819248e-01 5.08881008e-01 -5.50828080e-03 6.03684686e+02] [ 5.08871870e-01 -8.60836854e-01 -3.05454411e-03 -2.96163372e+02] [-6.29613060e-03 -1.73598788e-04 -9.99980164e-01 -4.88473898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters 0.05133488720714787 Centerline is valid? [True, True] Translation: X:603.76, Y:-296.22, Z:-4.89 [[ 8.18154355e-01 5.74972067e-01 -5.52934370e-03 6.03755241e+02] [ 5.74960450e-01 -8.18173018e-01 -3.65963147e-03 -2.96224153e+02] [-6.62814569e-03 -1.85010521e-04 -9.99978016e-01 -4.88559408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters 0.051701502003267216 Centerline is valid? [True, True] Translation: X:603.83, Y:-296.28, Z:-4.89 [[ 7.71039432e-01 6.36766598e-01 -5.14726830e-03 6.03831713e+02] [ 6.36753937e-01 -7.71056592e-01 -4.01938849e-03 -2.96282043e+02] [-6.52824749e-03 -1.78436329e-04 -9.99978675e-01 -4.88519417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters 0.05107824605344496 Centerline is valid? [True, True] Translation: X:603.91, Y:-296.33, Z:-4.89 [[ 7.19745463e-01 6.94222224e-01 -4.68745882e-03 6.03912233e+02] [ 6.94208982e-01 -7.19760708e-01 -4.29095661e-03 -2.96332923e+02] [-6.35272612e-03 -1.65679464e-04 -9.99979808e-01 -4.88545270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters 0.05153598385703009 Centerline is valid? [True, True] Translation: X:604.00, Y:-296.38, Z:-4.89 [[ 6.65330427e-01 7.46535871e-01 -4.42903495e-03 6.04000642e+02] [ 7.46520820e-01 -6.65345152e-01 -4.74278505e-03 -2.96381052e+02] [-6.48749610e-03 -1.50847597e-04 -9.99978945e-01 -4.88664074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters 0.05260425569462388 Centerline is valid? [True, True] Translation: X:604.10, Y:-296.43, Z:-4.88 [[ 6.07376782e-01 7.94401033e-01 -4.52154020e-03 6.04096399e+02] [ 7.94380781e-01 -6.07393594e-01 -5.67417535e-03 -2.96426856e+02] [-7.25392532e-03 -1.45462270e-04 -9.99973679e-01 -4.88368684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters 0.05215792971994676 Centerline is valid? [True, True] Translation: X:604.18, Y:-296.45, Z:-4.89 [[ 5.46755466e-01 8.37280504e-01 -4.45186764e-03 6.04181247e+02] [ 8.37254614e-01 -5.46773575e-01 -6.58546549e-03 -2.96453604e+02] [-7.94804545e-03 -1.26707473e-04 -9.99968406e-01 -4.88543322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters 0.05170624965925134 Centerline is valid? [True, True] Translation: X:604.27, Y:-296.47, Z:-4.89 [[ 4.82912219e-01 8.75659598e-01 -4.00718089e-03 6.04269259e+02] [ 8.75631127e-01 -4.82928835e-01 -7.06187433e-03 -2.96474428e+02] [-8.11898123e-03 -9.85469183e-05 -9.99967036e-01 -4.88523835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters 0.052216093458959056 Centerline is valid? [True, True] Translation: X:604.35, Y:-296.49, Z:-4.89 [[ 4.19621427e-01 9.07693106e-01 -3.32904945e-03 6.04353730e+02] [ 9.07665249e-01 -4.19634630e-01 -7.11144724e-03 -2.96485973e+02] [-7.85199607e-03 -3.75468553e-05 -9.99969172e-01 -4.88560505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters 0.05309147069473517 Centerline is valid? [True, True] Translation: X:604.44, Y:-296.49, Z:-4.89 [[ 3.52505188e-01 9.35806889e-01 -2.35763564e-03 6.04436726e+02] [ 9.35785875e-01 -3.52513072e-01 -6.27143707e-03 -2.96489926e+02] [-6.69995140e-03 4.47196935e-06 -9.99977555e-01 -4.88577236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters 0.05260011944907172 Centerline is valid? [True, True] Translation: X:604.52, Y:-296.49, Z:-4.89 [[ 2.86165310e-01 9.58178953e-01 -1.58408756e-03 6.04519282e+02] [ 9.58163279e-01 -2.86169690e-01 -5.48084180e-03 -2.96487754e+02] [-5.70494510e-03 5.06122573e-05 -9.99983725e-01 -4.88642932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters 0.05311587373347809 Centerline is valid? [True, True] Translation: X:604.59, Y:-296.48, Z:-4.88 [[ 2.13926542e-01 9.76849052e-01 -1.16779796e-03 6.04594230e+02] [ 9.76832581e-01 -2.13929717e-01 -5.67316544e-03 -2.96477683e+02] [-5.79165297e-03 7.28975680e-05 -9.99983226e-01 -4.88414409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters 0.053237817061639915 Centerline is valid? [True, True] Translation: X:604.67, Y:-296.46, Z:-4.88 [[ 1.39808929e-01 9.90178122e-01 -8.66469785e-04 6.04669197e+02] [ 9.90153961e-01 -1.39811572e-01 -6.91799156e-03 -2.96462024e+02] [-6.97118639e-03 1.09258503e-04 -9.99975695e-01 -4.88416695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters 0.05327249528557542 Centerline is valid? [True, True] Translation: X:604.74, Y:-296.44, Z:-4.88 [[ 6.15701362e-02 9.98102691e-01 -3.68942745e-04 6.04737740e+02] [ 9.98070812e-01 -6.15711188e-02 -7.97825636e-03 -2.96441373e+02] [-7.98583536e-03 1.22991346e-04 -9.99968105e-01 -4.88261923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters 0.053563113071770495 Centerline is valid? [True, True] Translation: X:604.81, Y:-296.42, Z:-4.88 [[-1.86322905e-02 9.99826371e-01 2.55931877e-04 6.04806958e+02] [ 9.99794643e-01 1.86337383e-02 -7.96590199e-03 -2.96415317e+02] [-7.96928785e-03 1.07456319e-04 -9.99968239e-01 -4.88339900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters 0.052876296335166606 Centerline is valid? [True, True] Translation: X:604.88, Y:-296.38, Z:-4.88 [[-1.00808753e-01 9.94905443e-01 8.68986960e-04 6.04877333e+02] [ 9.94874572e-01 1.00812471e-01 -7.83778071e-03 -2.96382223e+02] [-7.88545541e-03 7.44161310e-05 -9.99968907e-01 -4.88231942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters 0.05296214384732748 Centerline is valid? [True, True] Translation: X:604.95, Y:-296.34, Z:-4.88 [[-1.83149707e-01 9.83084162e-01 1.30933396e-03 6.04952560e+02] [ 9.83060252e-01 1.83154384e-01 -6.85653183e-03 -2.96340987e+02] [-6.98035811e-03 3.13823772e-05 -9.99975637e-01 -4.88459351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters 0.052733120008311256 Centerline is valid? [True, True] Translation: X:605.02, Y:-296.30, Z:-4.89 [[-2.65423749e-01 9.64130849e-01 1.39292247e-03 6.05024023e+02] [ 9.64117385e-01 2.65427404e-01 -5.09526571e-03 -2.96295250e+02] [-5.28222265e-03 -9.46375895e-06 -9.99986049e-01 -4.88596542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters 0.05243044538449992 Centerline is valid? [True, True] Translation: X:605.09, Y:-296.24, Z:-4.89 [[-3.44151779e-01 9.38912233e-01 1.83627083e-03 6.05094191e+02] [ 9.38898347e-01 3.44156676e-01 -5.10653690e-03 -2.96241296e+02] [-5.42655483e-03 -3.33521046e-05 -9.99985276e-01 -4.88564689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters 0.05266916605747252 Centerline is valid? [True, True] Translation: X:605.16, Y:-296.18, Z:-4.88 [[-4.20850086e-01 9.07126063e-01 2.74066719e-03 6.05155850e+02] [ 9.07105706e-01 4.20859003e-01 -6.07757357e-03 -2.96184284e+02] [-6.66655985e-03 -7.16725140e-05 -9.99977776e-01 -4.88494389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters 0.05337209039276567 Centerline is valid? [True, True] Translation: X:605.23, Y:-296.11, Z:-4.89 [[-4.95397100e-01 8.68660414e-01 3.28602293e-03 6.05226101e+02] [ 8.68639789e-01 4.95407985e-01 -5.98702942e-03 -2.96114876e+02] [-6.82861745e-03 -1.11586742e-04 -9.99976679e-01 -4.88501069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters 0.05230673135712328 Centerline is valid? [True, True] Translation: X:605.29, Y:-296.04, Z:-4.89 [[-5.64425500e-01 8.25478454e-01 3.02927051e-03 6.05285983e+02] [ 8.25465522e-01 5.64433619e-01 -4.62195444e-03 -2.96043973e+02] [-5.52514592e-03 -1.08190584e-04 -9.99984730e-01 -4.88521251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters 0.05314032558982759 Centerline is valid? [True, True] Translation: X:605.33, Y:-295.97, Z:-4.89 [[-6.27724241e-01 7.78428812e-01 3.29559132e-03 6.05332627e+02] [ 7.78417165e-01 6.27732883e-01 -4.25963748e-03 -2.95973770e+02] [-5.38457558e-03 -1.08532851e-04 -9.99985497e-01 -4.88506280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters 0.0529868798179644 Centerline is valid? [True, True] Translation: X:605.37, Y:-295.90, Z:-4.88 [[-6.86558757e-01 7.27060035e-01 4.55835616e-03 6.05368223e+02] [ 7.27042696e-01 6.86573876e-01 -5.02305231e-03 -2.95903605e+02] [-6.78170885e-03 -1.34500998e-04 -9.99976995e-01 -4.88391358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters 0.05296431498980983 Centerline is valid? [True, True] Translation: X:605.40, Y:-295.83, Z:-4.88 [[-7.41046964e-01 6.71425744e-01 6.07175502e-03 6.05398797e+02] [ 6.71401411e-01 7.41071821e-01 -5.71848209e-03 -2.95829778e+02] [-8.33914264e-03 -1.61078903e-04 -9.99965216e-01 -4.88366502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters 0.05266513404183295 Centerline is valid? [True, True] Translation: X:605.43, Y:-295.76, Z:-4.88 [[-7.86351733e-01 6.17735226e-01 7.35815128e-03 6.05426578e+02] [ 6.17706076e-01 7.86386139e-01 -6.00369825e-03 -2.95757189e+02] [-9.49504407e-03 -1.75843775e-04 -9.99954906e-01 -4.88388572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters 0.05262677751976482 Centerline is valid? [True, True] Translation: X:605.42, Y:-295.65, Z:-4.88 [[-8.27731584e-01 5.61071015e-01 7.72919943e-03 6.05415041e+02] [ 5.61044653e-01 8.27767653e-01 -5.44147824e-03 -2.95654918e+02] [-9.45103700e-03 -1.67657386e-04 -9.99955324e-01 -4.88426434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters 0.05237925924411746 Centerline is valid? [True, True] Translation: X:605.44, Y:-295.58, Z:-4.88 [[-8.65405785e-01 5.01005051e-01 8.17107713e-03 6.05442393e+02] [ 5.00980875e-01 8.65444343e-01 -4.92461612e-03 -2.95576027e+02] [-9.53887003e-03 -1.68237904e-04 -9.99954490e-01 -4.88171832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters 0.053144734260493716 Centerline is valid? [True, True] Translation: X:605.37, Y:-295.45, Z:-4.88 [[-8.98736368e-01 4.38400895e-01 8.80881170e-03 6.05367328e+02] [ 4.38377932e-01 8.98779520e-01 -4.49044592e-03 -2.95451134e+02] [-9.88579506e-03 -1.74138399e-04 -9.99951119e-01 -4.88183377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters 0.05297420276643704 Centerline is valid? [True, True] Translation: X:605.38, Y:-295.38, Z:-4.88 [[-9.27922560e-01 3.72672671e-01 8.64893492e-03 6.05381130e+02] [ 3.72654728e-01 9.27962850e-01 -3.66106925e-03 -2.95379911e+02] [-9.39027075e-03 -1.74122265e-04 -9.99955895e-01 -4.88417175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters 0.05254524125233073 Centerline is valid? [True, True] Translation: X:605.39, Y:-295.30, Z:-4.88 [[-9.52268831e-01 3.05153579e-01 8.08493491e-03 6.05389486e+02] [ 3.05141107e-01 9.52303138e-01 -2.76383773e-03 -2.95299900e+02] [-8.54270386e-03 -1.64870531e-04 -9.99963497e-01 -4.88305022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters 0.05230391625810633 Centerline is valid? [True, True] Translation: X:605.58, Y:-294.74, Z:-5.87 [[-9.14677714e-01 -4.04130697e-01 6.56196990e-03 6.05584315e+02] [ 4.04120664e-01 -9.14701251e-01 -2.84798004e-03 -2.94744349e+02] [ 7.15319824e-03 4.68437600e-05 9.99974414e-01 -5.87145103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters 0.05200811527360749 Centerline is valid? [True, True] Translation: X:605.23, Y:-295.26, Z:-4.89 [[-9.53658426e-01 3.00820522e-01 6.52846407e-03 6.05228610e+02] [ 3.00812468e-01 9.53680761e-01 -2.20559388e-03 -2.95257623e+02] [-6.88955849e-03 -1.39539792e-04 -9.99976257e-01 -4.88551641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters 0.05195064097060914 Centerline is valid? [True, True] Translation: X:605.28, Y:-295.19, Z:-4.88 [[-9.72433732e-01 2.33054977e-01 7.61673118e-03 6.05281121e+02] [ 2.33046595e-01 9.72463549e-01 -1.98248234e-03 -2.95192846e+02] [-7.86902081e-03 -1.52779437e-04 -9.99969027e-01 -4.88337923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters 0.05160392799364213 Centerline is valid? [True, True] Translation: X:605.24, Y:-295.11, Z:-4.88 [[-9.86264142e-01 1.64966903e-01 8.30446264e-03 6.05237092e+02] [ 1.64959770e-01 9.86299092e-01 -1.54142766e-03 -2.95109075e+02] [-8.44496850e-03 -1.50352579e-04 -9.99964329e-01 -4.88381130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters 0.05190446054746175 Centerline is valid? [True, True] Translation: X:605.15, Y:-295.02, Z:-4.88 [[-9.95337105e-01 9.61277048e-02 7.96947321e-03 6.05148687e+02] [ 9.61235768e-02 9.95369001e-01 -9.00281324e-04 -2.95021195e+02] [-8.01910856e-03 -1.30029136e-04 -9.99967838e-01 -4.88490528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters 0.05161766653293655 Centerline is valid? [True, True] Translation: X:605.15, Y:-294.94, Z:-4.88 [[-9.99615286e-01 2.67034720e-02 7.49697779e-03 6.05145454e+02] [ 2.67018989e-02 9.99643393e-01 -3.09860687e-04 -2.94942811e+02] [-7.50257867e-03 -1.09557936e-04 -9.99971849e-01 -4.88277723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters 0.05132086306411027 Centerline is valid? [True, True] Translation: X:605.12, Y:-294.31, Z:-5.87 [[-9.92566210e-01 -1.21459709e-01 7.73679682e-03 6.05117813e+02] [ 1.21457050e-01 -9.92596354e-01 -8.14351090e-04 -2.94305886e+02] [ 7.77842716e-03 1.31391146e-04 9.99969739e-01 -5.87248281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters 0.05124815352313096 Centerline is valid? [True, True] Translation: X:604.98, Y:-294.95, Z:-4.88 [[-9.99706628e-01 2.29817947e-02 7.64819577e-03 6.04981480e+02] [ 2.29802698e-02 9.99735877e-01 -2.87205208e-04 -2.94947100e+02] [-7.65277620e-03 -1.11363348e-04 -9.99970711e-01 -4.88481765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters 0.05148370963145428 Centerline is valid? [True, True] Translation: X:604.95, Y:-294.87, Z:-4.88 [[-9.98724541e-01 -4.99671148e-02 7.25115367e-03 6.04953475e+02] [-4.99666591e-02 9.98750857e-01 2.44101409e-04 -2.94870795e+02] [-7.25429298e-03 -1.18525856e-04 -9.99973680e-01 -4.88448400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters 0.0514690757538728 Centerline is valid? [True, True] Translation: X:604.90, Y:-294.80, Z:-4.88 [[-9.92598789e-01 -1.21257027e-01 6.66157575e-03 6.04899757e+02] [-1.21255053e-01 9.92621137e-01 7.00897428e-04 -2.94795796e+02] [-6.69740963e-03 -1.12039786e-04 -9.99977566e-01 -4.88428428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters 0.051983432414438084 Centerline is valid? [True, True] Translation: X:604.84, Y:-294.72, Z:-4.88 [[-9.81442795e-01 -1.91653215e-01 6.25190413e-03 6.04840168e+02] [-1.91650017e-01 9.81462701e-01 1.11229319e-03 -2.94720704e+02] [-6.34918528e-03 -1.06525394e-04 -9.99979838e-01 -4.88282210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters 0.05049883245550423 Centerline is valid? [True, True] Translation: X:604.73, Y:-294.67, Z:-4.89 [[-9.65463735e-01 -2.60493125e-01 4.80716907e-03 6.04728387e+02] [-2.60490314e-01 9.65475699e-01 1.21295621e-03 -2.94670870e+02] [-4.95717167e-03 -8.11557503e-05 -9.99987710e-01 -4.88509650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters 0.050941240540604504 Centerline is valid? [True, True] Translation: X:604.65, Y:-294.61, Z:-4.89 [[-9.44666196e-01 -3.28004118e-01 4.36770642e-03 6.04653371e+02] [-3.28000962e-01 9.44676290e-01 1.44069444e-03 -2.94611998e+02] [-4.59862241e-03 -7.16365714e-05 -9.99989424e-01 -4.88507279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters 0.050527055486159864 Centerline is valid? [True, True] Translation: X:604.54, Y:-294.57, Z:-4.89 [[-9.19318957e-01 -3.93491330e-01 4.15069162e-03 6.04544712e+02] [-3.93487634e-01 9.19328325e-01 1.70659053e-03 -2.94569614e+02] [-4.48737695e-03 -6.43447970e-05 -9.99989930e-01 -4.88526629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters 0.05133993213134857 Centerline is valid? [True, True] Translation: X:604.42, Y:-294.54, Z:-4.88 [[-8.88931970e-01 -4.58012732e-01 4.92850048e-03 6.04419066e+02] [-4.58006168e-01 8.88945629e-01 2.45331945e-03 -2.94538941e+02] [-5.50482050e-03 -7.64495249e-05 -9.99984845e-01 -4.88349199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters 0.0505191293393477 Centerline is valid? [True, True] Translation: X:604.29, Y:-294.52, Z:-4.88 [[-8.53566205e-01 -5.20949779e-01 6.00503768e-03 6.04294562e+02] [-5.20937668e-01 8.53587323e-01 3.55361523e-03 -2.94520594e+02] [-6.97707911e-03 -9.50044596e-05 -9.99975655e-01 -4.88419379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters 0.050659059059268846 Centerline is valid? [True, True] Translation: X:604.14, Y:-294.52, Z:-4.88 [[-8.13880154e-01 -5.80996554e-01 6.48835893e-03 6.04139958e+02] [-5.80979110e-01 8.13906010e-01 4.50328751e-03 -2.94524528e+02] [-7.89730886e-03 -1.04464664e-04 -9.99968810e-01 -4.88371015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters 0.051748295182047085 Centerline is valid? [True, True] Translation: X:603.98, Y:-294.54, Z:-4.88 [[-7.69755875e-01 -6.38302938e-01 6.72697937e-03 6.03982030e+02] [-6.38279849e-01 7.69785260e-01 5.43025516e-03 -2.94543528e+02] [-8.64447739e-03 -1.13724562e-04 -9.99962629e-01 -4.88338312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters 0.051671191857989976 Centerline is valid? [True, True] Translation: X:603.81, Y:-294.58, Z:-4.88 [[-7.21438870e-01 -6.92443704e-01 6.90463909e-03 6.03809399e+02] [-6.92413584e-01 7.21471900e-01 6.45963728e-03 -2.94580900e+02] [-9.45443825e-03 -1.20632482e-04 -9.99955299e-01 -4.87936224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters 0.05121881701398349 Centerline is valid? [True, True] Translation: X:603.62, Y:-294.66, Z:-4.88 [[-6.70361936e-01 -7.42008894e-01 6.13800021e-03 6.03624680e+02] [-7.41979191e-01 6.70390028e-01 6.64001635e-03 -2.94660188e+02] [-9.04180532e-03 -1.03054212e-04 -9.99959117e-01 -4.88218829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters 0.051345636002734535 Centerline is valid? [True, True] Translation: X:603.43, Y:-294.77, Z:-4.88 [[-6.15814510e-01 -7.87878121e-01 4.53391222e-03 6.03431073e+02] [-7.87857612e-01 6.15831196e-01 5.68523813e-03 -2.94767504e+02] [-7.27139932e-03 -7.10251227e-05 -9.99973561e-01 -4.88445836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters 0.05188490088644799 Centerline is valid? [True, True] Translation: X:603.27, Y:-294.85, Z:-4.89 [[-5.55729205e-01 -8.31356125e-01 3.47041455e-03 6.03273089e+02] [-8.31340618e-01 5.55740037e-01 5.07815842e-03 -2.94845444e+02] [-6.15040642e-03 -6.30156389e-05 -9.99981084e-01 -4.88550232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters 0.05152638228328306 Centerline is valid? [True, True] Translation: X:603.09, Y:-294.98, Z:-4.89 [[-4.91645860e-01 -8.70790215e-01 2.95788228e-03 6.03087738e+02] [-8.70775324e-01 4.91654753e-01 5.09305236e-03 -2.94984398e+02] [-5.88923704e-03 -7.16727970e-05 -9.99982656e-01 -4.88533532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters 0.050828824905814925 Centerline is valid? [True, True] Translation: X:602.92, Y:-295.12, Z:-4.88 [[-4.24399667e-01 -9.05470147e-01 2.95559495e-03 6.02924942e+02] [-9.05449726e-01 4.24409947e-01 6.08201380e-03 -2.95115534e+02] [-6.76146583e-03 -9.49380100e-05 -9.99977137e-01 -4.88416603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters 0.051348022620279515 Centerline is valid? [True, True] Translation: X:602.78, Y:-295.24, Z:-4.88 [[-3.53428130e-01 -9.35457350e-01 2.84681933e-03 6.02777093e+02] [-9.35429934e-01 3.53439571e-01 7.16299215e-03 -2.95235539e+02] [-7.70685226e-03 -1.31397094e-04 -9.99970293e-01 -4.88201774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters 0.051694932427031874 Centerline is valid? [True, True] Translation: X:602.63, Y:-295.42, Z:-4.88 [[-2.81631159e-01 -9.59519586e-01 2.46040714e-03 6.02625253e+02] [-9.59487673e-01 2.81641863e-01 7.82733809e-03 -2.95423754e+02] [-8.20343786e-03 -1.56308019e-04 -9.99966339e-01 -4.88279837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters 0.0512133288227185 Centerline is valid? [True, True] Translation: X:602.49, Y:-295.60, Z:-4.88 [[-2.09395315e-01 -9.77829198e-01 1.91350507e-03 6.02492937e+02] [-9.77795254e-01 2.09403993e-01 8.14919753e-03 -2.95601591e+02] [-8.36921888e-03 -1.64612393e-04 -9.99964964e-01 -4.88330706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters 0.051119328127021926 Centerline is valid? [True, True] Translation: X:602.37, Y:-295.81, Z:-4.88 [[-1.36093011e-01 -9.90695253e-01 1.26818218e-03 6.02369847e+02] [-9.90662767e-01 1.36098820e-01 8.02454798e-03 -2.95814161e+02] [-8.12247969e-03 -1.64255970e-04 -9.99966999e-01 -4.88461058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters 0.05102063232032899 Centerline is valid? [True, True] Translation: X:602.26, Y:-296.04, Z:-4.88 [[-6.25189826e-02 -9.98043562e-01 6.52353373e-04 6.02261507e+02] [-9.98012638e-01 6.25221818e-02 7.85814940e-03 -2.96037593e+02] [-7.88356197e-03 -1.59773406e-04 -9.99968911e-01 -4.88437814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters 0.05121264719342679 Centerline is valid? [True, True] Translation: X:602.17, Y:-296.28, Z:-4.88 [[ 1.04816538e-02 -9.99945064e-01 6.43845596e-05 6.02169712e+02] [-9.99918944e-01 -1.04809146e-02 7.22880445e-03 -2.96281934e+02] [-7.22773252e-03 -1.40149167e-04 -9.99973870e-01 -4.88487310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters 0.05098432606168221 Centerline is valid? [True, True] Translation: X:602.10, Y:-296.51, Z:-4.88 [[ 8.29868004e-02 -9.96550553e-01 -4.32547590e-04 6.02095306e+02] [-9.96528504e-01 -8.29878421e-02 6.63012738e-03 -2.96506740e+02] [-6.64315330e-03 -1.19167055e-04 -9.99977927e-01 -4.88490358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters 0.05216298197866089 Centerline is valid? [True, True] Translation: X:601.48, Y:-296.76, Z:-5.87 [[-1.76083100e-02 9.99844960e-01 6.47365944e-05 6.01478013e+02] [-9.99829212e-01 -1.76083960e-02 5.61163821e-03 -2.96764039e+02] [ 5.61190809e-03 3.40859272e-05 9.99984253e-01 -5.87260825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters 0.05106745610715743 Centerline is valid? [True, True] Translation: X:602.12, Y:-297.03, Z:-4.88 [[ 8.56896111e-02 -9.96321796e-01 -4.10741322e-04 6.02123797e+02] [-9.96305311e-01 -8.56905563e-02 5.73207872e-03 -2.97032790e+02] [-5.74619162e-03 -8.19558357e-05 -9.99983487e-01 -4.88465927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters 0.0510236012086876 Centerline is valid? [True, True] Translation: X:602.07, Y:-297.28, Z:-4.89 [[ 1.58162504e-01 -9.87412744e-01 -8.33689442e-04 6.02074496e+02] [-9.87396383e-01 -1.58164683e-01 5.68479261e-03 -2.97275579e+02] [-5.74509690e-03 -7.59390955e-05 -9.99983494e-01 -4.88534150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters 0.05182889212807368 Centerline is valid? [True, True] Translation: X:602.05, Y:-297.56, Z:-4.88 [[ 2.28842237e-01 -9.73462558e-01 -1.37094391e-03 6.02047604e+02] [-9.73443186e-01 -2.28846333e-01 6.14169755e-03 -2.97560486e+02] [-6.29244809e-03 -7.09438005e-05 -9.99980200e-01 -4.88489723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters 0.05124098780914769 Centerline is valid? [True, True] Translation: X:601.97, Y:-297.58, Z:-4.89 [[ 2.97107217e-01 -9.54842579e-01 -1.71790747e-03 6.01971662e+02] [-9.54825487e-01 -2.97112178e-01 5.71338897e-03 -2.97584980e+02] [-5.96579829e-03 -5.71872626e-05 -9.99982203e-01 -4.88614097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters 0.0513698938749816 Centerline is valid? [True, True] Translation: X:601.98, Y:-297.86, Z:-4.88 [[ 3.65244012e-01 -9.30909228e-01 -2.19573496e-03 6.01976746e+02] [-9.30891598e-01 -3.65250609e-01 5.72939096e-03 -2.97860726e+02] [-6.13553645e-03 -4.86345207e-05 -9.99981176e-01 -4.88406138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters 0.05171042399423222 Centerline is valid? [True, True] Translation: X:602.01, Y:-298.15, Z:-4.89 [[ 4.32587502e-01 -9.01588564e-01 -2.47268331e-03 6.02013091e+02] [-9.01573247e-01 -4.32594567e-01 5.25568185e-03 -2.98148929e+02] [-5.80813202e-03 -4.42371622e-05 -9.99983132e-01 -4.88506973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters 0.05210591766714358 Centerline is valid? [True, True] Translation: X:602.09, Y:-298.46, Z:-4.89 [[ 4.98999043e-01 -8.66597292e-01 -3.01467048e-03 6.02085055e+02] [-8.66580805e-01 -4.99008146e-01 5.34590059e-03 -2.98463018e+02] [-6.13708810e-03 -5.51437114e-05 -9.99981166e-01 -4.88521756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters 0.05176842704816376 Centerline is valid? [True, True] Translation: X:602.15, Y:-298.72, Z:-4.88 [[ 5.63020896e-01 -8.26434585e-01 -3.65323343e-03 6.02151965e+02] [-8.26416363e-01 -5.63032744e-01 5.48852597e-03 -2.98723770e+02] [-6.59279773e-03 -7.10629262e-05 -9.99978265e-01 -4.88445182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters 0.051464940925599 Centerline is valid? [True, True] Translation: X:602.19, Y:-298.91, Z:-4.88 [[ 6.23413320e-01 -7.81880950e-01 -4.24412908e-03 6.02186606e+02] [-7.81861921e-01 -6.23427761e-01 5.45558276e-03 -2.98907500e+02] [-6.91152412e-03 -8.27600443e-05 -9.99976112e-01 -4.88409423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters 0.05229385494768992 Centerline is valid? [True, True] Translation: X:602.27, Y:-299.12, Z:-4.89 [[ 6.80655250e-01 -7.32589746e-01 -4.54915238e-03 6.02265088e+02] [-7.32572445e-01 -6.80670445e-01 5.03570827e-03 -2.99121618e+02] [-6.78558182e-03 -9.49975841e-05 -9.99976973e-01 -4.88513921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters 0.05284728443723727 Centerline is valid? [True, True] Translation: X:602.30, Y:-299.28, Z:-4.88 [[ 7.33663752e-01 -6.79498544e-01 -4.38499116e-03 6.02299053e+02] [-6.79485635e-01 -7.33676850e-01 4.18947586e-03 -2.99280902e+02] [-6.06390925e-03 -9.41280790e-05 -9.99981610e-01 -4.88373638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters 0.05183862377488618 Centerline is valid? [True, True] Translation: X:602.27, Y:-299.36, Z:-4.89 [[ 7.85021042e-01 -6.19456230e-01 -3.99290944e-03 6.02274232e+02] [-6.19447666e-01 -7.85031192e-01 3.25844882e-03 -2.99360532e+02] [-5.15302488e-03 -8.45524563e-05 -9.99986720e-01 -4.88669682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters 0.05186306073279906 Centerline is valid? [True, True] Translation: X:602.25, Y:-299.45, Z:-4.89 [[ 8.31765752e-01 -5.55117209e-01 -3.25848185e-03 6.02250961e+02] [-5.55112614e-01 -8.31772132e-01 2.25972408e-03 -2.99446584e+02] [-3.96472612e-03 -7.07367252e-05 -9.99992138e-01 -4.88664967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters 0.05252281550895574 Centerline is valid? [True, True] Translation: X:602.24, Y:-299.53, Z:-4.89 [[ 8.73294437e-01 -4.87179401e-01 -3.61343757e-03 6.02237576e+02] [-4.87174848e-01 -8.73301909e-01 2.10787111e-03 -2.99531985e+02] [-4.18253331e-03 -8.04162163e-05 -9.99991250e-01 -4.88606774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters 0.05238966195870683 Centerline is valid? [True, True] Translation: X:602.23, Y:-299.61, Z:-4.88 [[ 9.09214499e-01 -4.16303280e-01 -4.53590634e-03 6.02231484e+02] [-4.16297534e-01 -9.09225807e-01 2.18963593e-03 -2.99613595e+02] [-5.03571572e-03 -1.02562114e-04 -9.99987315e-01 -4.88480829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters 0.05189893060205242 Centerline is valid? [True, True] Translation: X:602.23, Y:-299.71, Z:-4.89 [[ 9.39613498e-01 -3.42193489e-01 -5.48542240e-03 6.02229773e+02] [-3.42186843e-01 -9.39629501e-01 2.13674845e-03 -2.99705127e+02] [-5.88544612e-03 -1.30678314e-04 -9.99982672e-01 -4.88526639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters 0.0515689129467864 Centerline is valid? [True, True] Translation: X:602.23, Y:-299.80, Z:-4.88 [[ 9.63790205e-01 -2.66588813e-01 -6.23262203e-03 6.02232062e+02] [-2.66582217e-01 -9.63810345e-01 1.88153132e-03 -2.99800490e+02] [-6.50866079e-03 -1.51895259e-04 -9.99978807e-01 -4.88437582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters 0.05129561016189967 Centerline is valid? [True, True] Translation: X:602.24, Y:-299.90, Z:-4.88 [[ 9.81617350e-01 -1.90735527e-01 -6.88018011e-03 6.02243224e+02] [-1.90729682e-01 -9.81641448e-01 1.50191000e-03 -2.99895057e+02] [-7.04033756e-03 -1.62046347e-04 -9.99975203e-01 -4.88445180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters 0.05177864297860033 Centerline is valid? [True, True] Translation: X:602.26, Y:-299.99, Z:-4.88 [[ 9.93344252e-01 -1.14983456e-01 -6.78244087e-03 6.02261542e+02] [-1.14979764e-01 -9.93367396e-01 9.33003350e-04 -2.99989589e+02] [-6.84473558e-03 -1.46950061e-04 -9.99976564e-01 -4.88483828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters 0.05224254601266352 Centerline is valid? [True, True] Translation: X:602.29, Y:-300.09, Z:-4.88 [[ 9.99234843e-01 -3.86108591e-02 -6.23934340e-03 6.02285180e+02] [-3.86093292e-02 -9.99254315e-01 3.65508405e-04 -3.00089746e+02] [-6.24880341e-03 -1.24331870e-04 -9.99980468e-01 -4.88282535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters 0.051719864571997246 Centerline is valid? [True, True] Translation: X:602.31, Y:-300.17, Z:-4.89 [[ 9.99305134e-01 3.68757290e-02 -5.42486586e-03 6.02314267e+02] [ 3.68756900e-02 -9.99319855e-01 -1.07247051e-04 -3.00167696e+02] [-5.42513097e-03 -9.28731428e-05 -9.99985280e-01 -4.88505491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters 0.05227022944116202 Centerline is valid? [True, True] Translation: X:602.35, Y:-300.25, Z:-4.88 [[ 9.93747627e-01 1.11547791e-01 -4.76902955e-03 6.02346423e+02] [ 1.11546825e-01 -9.93759068e-01 -4.68953384e-04 -3.00246904e+02] [-4.79157707e-03 -6.59487916e-05 -9.99988518e-01 -4.88378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters 0.05129798385355833 Centerline is valid? [True, True] Translation: X:602.39, Y:-300.32, Z:-4.88 [[ 9.82431802e-01 1.86572113e-01 -4.31295439e-03 6.02385395e+02] [ 1.86570537e-01 -9.82441268e-01 -7.68304618e-04 -3.00321021e+02] [-4.38056859e-03 -4.98633278e-05 -9.99990404e-01 -4.88428889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters 0.05193051670330346 Centerline is valid? [True, True] Translation: X:602.43, Y:-300.39, Z:-4.88 [[ 9.65633283e-01 2.59851121e-01 -5.45512247e-03 6.02429388e+02] [ 2.59847243e-01 -9.65648690e-01 -1.42037750e-03 -3.00389676e+02] [-5.63681855e-03 -4.59347459e-05 -9.99984112e-01 -4.88376507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters 0.05119050148554169 Centerline is valid? [True, True] Translation: X:602.48, Y:-300.45, Z:-4.88 [[ 9.43144337e-01 3.32320229e-01 -6.48272146e-03 6.02477030e+02] [ 3.32312660e-01 -9.43166615e-01 -2.24311019e-03 -3.00454852e+02] [-6.85971735e-03 -3.87137388e-05 -9.99976471e-01 -4.88159698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters 0.05165310851761779 Centerline is valid? [True, True] Translation: X:602.53, Y:-300.52, Z:-4.88 [[ 9.14807241e-01 4.03834461e-01 -6.74098489e-03 6.02531553e+02] [ 4.03823749e-01 -9.14832076e-01 -2.94148362e-03 -3.00519755e+02] [-7.35474165e-03 -3.12792800e-05 -9.99972953e-01 -4.88287687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters 0.05194356344476618 Centerline is valid? [True, True] Translation: X:602.59, Y:-300.58, Z:-4.88 [[ 8.80954174e-01 4.73159673e-01 -6.29814284e-03 6.02589738e+02] [ 4.73147763e-01 -8.80976687e-01 -3.35729687e-03 -3.00578042e+02] [-7.13705450e-03 -2.23275066e-05 -9.99974531e-01 -4.88201274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters 0.05191151661370298 Centerline is valid? [True, True] Translation: X:602.65, Y:-300.63, Z:-4.88 [[ 8.41696502e-01 5.39921234e-01 -5.66208610e-03 6.02652172e+02] [ 5.39909143e-01 -8.41715546e-01 -3.61352168e-03 -3.00630103e+02] [-6.71688298e-03 -1.55234991e-05 -9.99977441e-01 -4.88232549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters 0.05195617689978392 Centerline is valid? [True, True] Translation: X:602.72, Y:-300.68, Z:-4.88 [[ 7.97025004e-01 6.03929027e-01 -4.56868528e-03 6.02716693e+02] [ 6.03919192e-01 -7.97038098e-01 -3.44659258e-03 -3.00675592e+02] [-5.72291353e-03 -1.20962636e-05 -9.99983624e-01 -4.88253547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters 0.05183644190449656 Centerline is valid? [True, True] Translation: X:602.79, Y:-300.72, Z:-4.88 [[ 7.46841439e-01 6.64990298e-01 -3.97088736e-03 6.02785609e+02] [ 6.64981008e-01 -7.46851995e-01 -3.51519714e-03 -3.00717618e+02] [-5.30323715e-03 -1.52697851e-05 -9.99985938e-01 -4.88278769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters 0.051759259768675014 Centerline is valid? [True, True] Translation: X:602.86, Y:-300.76, Z:-4.88 [[ 6.90645796e-01 7.23181232e-01 -4.15826497e-03 6.02858678e+02] [ 7.23168406e-01 -6.90658313e-01 -4.30710753e-03 -3.00755626e+02] [-5.98675959e-03 -3.24401436e-05 -9.99982079e-01 -4.88213886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters 0.051504668990548064 Centerline is valid? [True, True] Translation: X:602.93, Y:-300.79, Z:-4.88 [[ 6.30162215e-01 7.76454276e-01 -3.78692200e-03 6.02933787e+02] [ 7.76440692e-01 -6.30173592e-01 -4.59309443e-03 -3.00787868e+02] [-5.95274605e-03 -4.59257753e-05 -9.99982281e-01 -4.88087711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters 0.05137956130260097 Centerline is valid? [True, True] Translation: X:603.01, Y:-300.81, Z:-4.88 [[ 5.64622859e-01 8.25341848e-01 -3.44406328e-03 6.03007991e+02] [ 8.25327213e-01 -5.64633359e-01 -4.91537590e-03 -3.00810739e+02] [-6.00149844e-03 -6.71455514e-05 -9.99981989e-01 -4.88013340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters 0.05132330137635941 Centerline is valid? [True, True] Translation: X:603.08, Y:-300.83, Z:-4.88 [[ 4.96005506e-01 8.68315798e-01 -2.49266097e-03 6.03082952e+02] [ 8.68305518e-01 -4.96011765e-01 -4.22580529e-03 -3.00826096e+02] [-4.90572265e-03 -6.83685846e-05 -9.99987965e-01 -4.88070981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters 0.05063082895267974 Centerline is valid? [True, True] Translation: X:603.17, Y:-300.84, Z:-4.88 [[ 4.24243930e-01 9.05545887e-01 -1.93266881e-03 6.03168127e+02] [ 9.05537258e-01 -4.24248326e-01 -3.95368637e-03 -3.00840539e+02] [-4.40017593e-03 -7.27761693e-05 -9.99990317e-01 -4.88184032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters 0.050778640904775206 Centerline is valid? [True, True] Translation: X:603.26, Y:-300.85, Z:-4.88 [[ 3.50405093e-01 9.36596710e-01 -1.69500406e-03 6.03257594e+02] [ 9.36586892e-01 -3.50409182e-01 -4.28938441e-03 -3.00851510e+02] [-4.61136831e-03 -8.44964413e-05 -9.99989364e-01 -4.88116597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters 0.050645385640033916 Centerline is valid? [True, True] Translation: X:603.34, Y:-300.85, Z:-4.88 [[ 2.73351780e-01 9.61912991e-01 -1.48412054e-03 6.03340363e+02] [ 9.61900859e-01 -2.73355788e-01 -4.83223135e-03 -3.00851703e+02] [-5.05387905e-03 -1.06677780e-04 -9.99987223e-01 -4.88111615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters 0.051148394263824636 Centerline is valid? [True, True] Translation: X:603.43, Y:-300.85, Z:-4.88 [[ 1.94548362e-01 9.80892188e-01 -1.20432106e-03 6.03434520e+02] [ 9.80877361e-01 -1.94552045e-01 -5.39479141e-03 -3.00848633e+02] [-5.52601187e-03 -1.31743428e-04 -9.99984723e-01 -4.88106857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters 0.051049194311418494 Centerline is valid? [True, True] Translation: X:603.53, Y:-300.84, Z:-4.88 [[ 1.16886069e-01 9.93144782e-01 -1.04340776e-03 6.03531578e+02] [ 9.93117674e-01 -1.16890590e-01 -7.33995020e-03 -3.00839142e+02] [-7.41159779e-03 -1.78288769e-04 -9.99972518e-01 -4.88067460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters 0.050717430636401516 Centerline is valid? [True, True] Translation: X:603.63, Y:-300.82, Z:-4.88 [[ 3.99328684e-02 9.99202235e-01 -5.09773189e-04 6.03630104e+02] [ 9.99169431e-01 -3.99356892e-02 -8.09868958e-03 -3.00822525e+02] [-8.11258687e-03 -1.85945883e-04 -9.99967075e-01 -4.88023144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters 0.05100897452086483 Centerline is valid? [True, True] Translation: X:603.72, Y:-300.80, Z:-4.88 [[-3.53928694e-02 9.99373469e-01 1.20330478e-04 6.03720798e+02] [ 9.99343149e-01 3.53927332e-02 -7.78614377e-03 -3.00799243e+02] [-7.78552434e-03 -1.55322531e-04 -9.99969680e-01 -4.88067397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters 0.05098272716385501 Centerline is valid? [True, True] Translation: X:603.80, Y:-300.77, Z:-4.88 [[-1.09126651e-01 9.94027651e-01 6.34526982e-04 6.03802887e+02] [ 9.94004730e-01 1.09128444e-01 -6.75126419e-03 -3.00767842e+02] [-6.78018823e-03 -1.06020029e-04 -9.99977009e-01 -4.88077529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters 0.05069255799365535 Centerline is valid? [True, True] Translation: X:603.88, Y:-300.73, Z:-4.88 [[-1.80435185e-01 9.83586304e-01 1.06099396e-03 6.03875751e+02] [ 9.83567341e-01 1.80438295e-01 -6.10794630e-03 -3.00732831e+02] [-6.19913627e-03 -5.85294114e-05 -9.99980783e-01 -4.88120140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters 0.05067805590298588 Centerline is valid? [True, True] Translation: X:603.94, Y:-300.69, Z:-4.88 [[-2.52843902e-01 9.67506025e-01 1.43287065e-03 6.03941047e+02] [ 9.67489790e-01 2.52847960e-01 -5.60487804e-03 -3.00692417e+02] [-5.78505169e-03 -3.08715075e-05 -9.99983266e-01 -4.88145690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters 0.05100943029050259 Centerline is valid? [True, True] Translation: X:604.02, Y:-300.64, Z:-4.88 [[-3.23705860e-01 9.46156087e-01 1.78176473e-03 6.04015284e+02] [ 9.46141655e-01 3.23710764e-01 -5.22594099e-03 -3.00643199e+02] [-5.52133230e-03 -5.86589588e-06 -9.99984757e-01 -4.88323220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters 0.05045038164544149 Centerline is valid? [True, True] Translation: X:604.09, Y:-300.59, Z:-4.88 [[-3.95587949e-01 9.18424806e-01 2.45981749e-03 6.04085886e+02] [ 9.18407075e-01 3.95595597e-01 -5.70692992e-03 -3.00588319e+02] [-6.21447897e-03 1.52108277e-06 -9.99980690e-01 -4.88193723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters 0.05047435202956707 Centerline is valid? [True, True] Translation: X:604.14, Y:-300.53, Z:-4.88 [[-4.66196593e-01 8.84674642e-01 3.39331701e-03 6.04144659e+02] [ 8.84651247e-01 4.66208942e-01 -6.43375878e-03 -3.00531552e+02] [-7.27377798e-03 2.50569791e-06 -9.99973546e-01 -4.88165068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters 0.050419442729345315 Centerline is valid? [True, True] Translation: X:604.20, Y:-300.47, Z:-4.88 [[-5.34990395e-01 8.44847238e-01 4.29204976e-03 6.04198510e+02] [ 8.44819952e-01 5.35007611e-01 -6.79006291e-03 -3.00472239e+02] [-8.03284518e-03 -6.60916474e-06 -9.99967736e-01 -4.87978896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters 0.050914240533377224 Centerline is valid? [True, True] Translation: X:604.25, Y:-300.40, Z:-4.88 [[-6.01966789e-01 7.98504695e-01 5.12228118e-03 6.04254056e+02] [ 7.98475308e-01 6.01988581e-01 -6.85063044e-03 -3.00402040e+02] [-8.55381534e-03 -3.38369646e-05 -9.99963415e-01 -4.88185471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters 0.05126323855794573 Centerline is valid? [True, True] Translation: X:604.30, Y:-300.33, Z:-4.88 [[-6.64273733e-01 7.47471541e-01 5.16748529e-03 6.04302099e+02] [ 7.47448353e-01 6.64293831e-01 -5.88779585e-03 -3.00328529e+02] [-7.83368843e-03 -4.86797668e-05 -9.99969315e-01 -4.88272303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters 0.05103786120073313 Centerline is valid? [True, True] Translation: X:604.35, Y:-300.25, Z:-4.88 [[-7.22680336e-01 6.91168286e-01 4.41963928e-03 6.04346495e+02] [ 6.91154883e-01 7.22693848e-01 -4.30462755e-03 -3.00249795e+02] [-6.16926816e-03 -5.62144162e-05 -9.99980968e-01 -4.88254944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters 0.05081277591700455 Centerline is valid? [True, True] Translation: X:604.41, Y:-300.20, Z:-4.88 [[-7.71247402e-01 6.36522367e-01 4.08921468e-03 6.04409167e+02] [ 6.36512996e-01 7.71258240e-01 -3.45442658e-03 -3.00196476e+02] [-5.35266030e-03 -6.13792395e-05 -9.99985673e-01 -4.88342229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters 0.05101557968565446 Centerline is valid? [True, True] Translation: X:604.78, Y:-299.68, Z:-5.87 [[-7.10242823e-01 -7.03946737e-01 3.75820281e-03 6.04784974e+02] [ 7.03937273e-01 -7.10252764e-01 -3.65056905e-03 -2.99676495e+02] [ 5.23908011e-03 5.27485719e-05 9.99986275e-01 -5.87397101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters 0.05117643634562103 Centerline is valid? [True, True] Translation: X:604.28, Y:-300.08, Z:-4.88 [[-7.75187589e-01 6.31715752e-01 4.40576496e-03 6.04284564e+02] [ 6.31704954e-01 7.75200104e-01 -3.69452282e-03 -3.00083670e+02] [-5.74923772e-03 -8.08046862e-05 -9.99983470e-01 -4.88236541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters 0.0513596400500724 Centerline is valid? [True, True] Translation: X:604.29, Y:-299.99, Z:-4.88 [[-8.17653398e-01 5.75681153e-01 5.84220870e-03 6.04290098e+02] [ 5.75665614e-01 8.17674264e-01 -4.23083749e-03 -2.99991350e+02] [-7.21263710e-03 -9.61999933e-05 -9.99973984e-01 -4.88307662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters 0.05094302319688426 Centerline is valid? [True, True] Translation: X:604.28, Y:-299.89, Z:-4.88 [[-8.55628813e-01 5.17546115e-01 6.73451617e-03 6.04279066e+02] [ 5.17529222e-01 8.55655311e-01 -4.18259937e-03 -2.99887254e+02] [-7.92711258e-03 -9.34436263e-05 -9.99968576e-01 -4.88211892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters 0.05094142694999593 Centerline is valid? [True, True] Translation: X:604.23, Y:-299.77, Z:-4.88 [[-8.89014450e-01 4.57824378e-01 7.08136168e-03 6.04232993e+02] [ 4.57809190e-01 8.89042650e-01 -3.72989000e-03 -2.99772282e+02] [-8.00326712e-03 -7.40136585e-05 -9.99967971e-01 -4.88234234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters 0.05148938809870526 Centerline is valid? [True, True] Translation: X:604.23, Y:-299.68, Z:-4.88 [[-9.18417004e-01 3.95539123e-01 7.68175994e-03 6.04228635e+02] [ 3.95524744e-01 9.18449127e-01 -3.37308311e-03 -2.99683683e+02] [-8.38949204e-03 -5.95707455e-05 -9.99964806e-01 -4.88017070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters 0.05215190127311744 Centerline is valid? [True, True] Translation: X:604.18, Y:-299.58, Z:-4.88 [[-9.43545267e-01 3.31129048e-01 8.71103888e-03 6.04175158e+02] [ 3.31114463e-01 9.43585476e-01 -3.10822414e-03 -2.99582403e+02] [-9.24883307e-03 -4.83992131e-05 -9.99957227e-01 -4.88130518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters 0.05258808112348697 Centerline is valid? [True, True] Translation: X:604.36, Y:-298.98, Z:-5.88 [[-9.15197498e-01 -4.02909108e-01 8.81984875e-03 6.04359029e+02] [ 4.02891169e-01 -9.15239993e-01 -3.80279262e-03 -2.98979398e+02] [ 9.60445809e-03 7.31328819e-05 9.99953873e-01 -5.87535516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters 0.051817962520005124 Centerline is valid? [True, True] Translation: X:604.05, Y:-299.54, Z:-4.88 [[-9.44778240e-01 3.27546774e-01 1.03532065e-02 6.04053068e+02] [ 3.27526431e-01 9.44834963e-01 -3.65091377e-03 -2.99541085e+02] [-1.09779165e-02 -5.83551043e-05 -9.99939739e-01 -4.87951087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters 0.05238542965322028 Centerline is valid? [True, True] Translation: X:604.01, Y:-299.45, Z:-4.88 [[-9.65676955e-01 2.59550217e-01 1.00848198e-02 6.04005469e+02] [ 2.59535449e-01 9.65729611e-01 -2.76922273e-03 -2.99448183e+02] [-1.04579615e-02 -5.68063262e-05 -9.99945312e-01 -4.88163343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters 0.05192878308251539 Centerline is valid? [True, True] Translation: X:604.00, Y:-299.37, Z:-4.88 [[-9.81667053e-01 1.90346302e-01 9.90362299e-03 6.03996858e+02] [ 1.90336057e-01 9.81717007e-01 -1.97560832e-03 -2.99369497e+02] [-1.00986049e-02 -5.43730418e-05 -9.99949006e-01 -4.88354805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters 0.05177631434685943 Centerline is valid? [True, True] Translation: X:603.98, Y:-299.29, Z:-4.88 [[-9.92681333e-01 1.20449789e-01 8.69592429e-03 6.03983047e+02] [ 1.20444777e-01 9.92719420e-01 -1.09975291e-03 -2.99288678e+02] [-8.76507792e-03 -4.43255283e-05 -9.99961585e-01 -4.88106393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters 0.05189994795320184 Centerline is valid? [True, True] Translation: X:603.86, Y:-299.20, Z:-4.88 [[-9.98704527e-01 5.02727632e-02 7.86876113e-03 6.03859182e+02] [ 5.02709225e-02 9.98735525e-01 -4.31661209e-04 -2.99201661e+02] [-7.88051208e-03 -3.55321222e-05 -9.99968948e-01 -4.88157320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters 0.05245801994157939 Centerline is valid? [True, True] Translation: X:603.83, Y:-299.13, Z:-4.88 [[-9.99760010e-01 -2.07930772e-02 6.89719732e-03 6.03826150e+02] [-2.07927933e-02 9.99783800e-01 1.12873618e-04 -2.99125608e+02] [-6.89805313e-03 -3.05654692e-05 -9.99976208e-01 -4.88263732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters 0.051574594966994895 Centerline is valid? [True, True] Translation: X:603.81, Y:-298.50, Z:-5.87 [[-9.98353457e-01 -5.69067161e-02 7.21118762e-03 6.03805319e+02] [ 5.69056217e-02 -9.98379498e-01 -3.57020000e-04 -2.98498031e+02] [ 7.21981871e-03 5.39249633e-05 9.99973935e-01 -5.87255367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters 0.051720281095655754 Centerline is valid? [True, True] Translation: X:603.78, Y:-299.12, Z:-4.88 [[-9.99469629e-01 -3.12674678e-02 9.09982094e-03 6.03775997e+02] [-3.12670669e-02 9.99511048e-01 1.86350512e-04 -2.99123161e+02] [-9.10119828e-03 -9.82730337e-05 -9.99958578e-01 -4.87957327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters 0.051909123804053305 Centerline is valid? [True, True] Translation: X:603.73, Y:-298.51, Z:-5.87 [[-9.98170739e-01 -5.96077298e-02 1.01041385e-02 6.03733045e+02] [ 5.96064830e-02 -9.98221863e-01 -4.24763322e-04 -2.98508491e+02] [ 1.01114911e-02 1.78285840e-04 9.99948862e-01 -5.87456253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters 0.05193755927393501 Centerline is valid? [True, True] Translation: X:603.64, Y:-299.13, Z:-4.88 [[-9.99235791e-01 -3.75738599e-02 1.07721502e-02 6.03642717e+02] [-3.75732196e-02 9.99293843e-01 2.61884922e-04 -2.99128374e+02] [-1.07743834e-02 -1.43059578e-04 -9.99941944e-01 -4.87985272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters 0.052170915901412845 Centerline is valid? [True, True] Translation: X:603.53, Y:-298.51, Z:-5.87 [[-9.98617119e-01 -5.18353475e-02 8.77193038e-03 6.03527182e+02] [ 5.18333033e-02 -9.98655645e-01 -4.60378678e-04 -2.98509896e+02] [ 8.78400167e-03 -5.06390072e-06 9.99961420e-01 -5.87337935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters 0.052336123230633434 Centerline is valid? [True, True] Translation: X:603.41, Y:-299.14, Z:-4.88 [[-9.99478755e-01 -3.14800481e-02 7.15716978e-03 6.03414427e+02] [-3.14794162e-02 9.99504380e-01 2.00957117e-04 -2.99141924e+02] [-7.15994868e-03 -2.44511572e-05 -9.99974367e-01 -4.88461859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters 0.05281473405117523 Centerline is valid? [True, True] Translation: X:603.31, Y:-298.51, Z:-5.87 [[-9.99267496e-01 -3.76950996e-02 6.59925481e-03 6.03305814e+02] [ 3.76942036e-02 -9.99289287e-01 -2.60133624e-04 -2.98508440e+02] [ 6.60437039e-03 -1.11894202e-05 9.99978191e-01 -5.87151349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters 0.05223506337291625 Centerline is valid? [True, True] Translation: X:603.17, Y:-299.15, Z:-4.89 [[-9.99663349e-01 -2.50680561e-02 6.69192710e-03 6.03170398e+02] [-2.50671912e-02 9.99685746e-01 2.13096272e-04 -2.99152551e+02] [-6.69516604e-03 4.52767168e-05 -9.99977586e-01 -4.88513358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters 0.052576139989582237 Centerline is valid? [True, True] Translation: X:603.31, Y:-299.06, Z:-4.89 [[-9.95246821e-01 -9.71008907e-02 7.42848243e-03 6.03312910e+02] [-9.70976945e-02 9.95274541e-01 7.90558618e-04 -2.99063841e+02] [-7.47014339e-03 6.55124336e-05 -9.99972096e-01 -4.88565586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters 0.05207493770812038 Centerline is valid? [True, True] Translation: X:603.18, Y:-298.99, Z:-4.88 [[-9.85777338e-01 -1.67847107e-01 8.38975896e-03 6.03177441e+02] [-1.67840394e-01 9.85813037e-01 1.50294318e-03 -2.98991662e+02] [-8.52299842e-03 7.34268770e-05 -9.99963676e-01 -4.88352435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters 0.05215044304175687 Centerline is valid? [True, True] Translation: X:602.37, Y:-299.08, Z:-4.88 [[-9.71047885e-01 -2.38711568e-01 9.09899919e-03 6.02368708e+02] [-2.38700451e-01 9.71090512e-01 2.30471790e-03 -2.99081780e+02] [-9.38611461e-03 6.60562252e-05 -9.99955947e-01 -4.88217803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters 0.05291541382392239 Centerline is valid? [True, True] Translation: X:602.30, Y:-299.02, Z:-4.88 [[-9.49902057e-01 -3.12407805e-01 9.35126569e-03 6.02303226e+02] [-3.12392458e-01 9.49948084e-01 3.09664215e-03 -2.99019618e+02] [-9.85063210e-03 2.02418719e-05 -9.99951481e-01 -4.88232080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters 0.05202572860937745 Centerline is valid? [True, True] Translation: X:602.19, Y:-298.98, Z:-4.88 [[-9.22102721e-01 -3.86837219e-01 9.13992026e-03 6.02186144e+02] [-3.86818858e-01 9.22148015e-01 3.76943944e-03 -2.98978099e+02] [-9.88651880e-03 -5.96831541e-05 -9.99951125e-01 -4.88093496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters 0.05226141918230326 Centerline is valid? [True, True] Translation: X:602.14, Y:-298.91, Z:-4.88 [[-8.87169778e-01 -4.61380913e-01 7.57878323e-03 6.02140730e+02] [-4.61365297e-01 8.87202140e-01 3.79812286e-03 -2.98912640e+02] [-8.47629409e-03 -1.27007762e-04 -9.99964068e-01 -4.88484502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters 0.05274307159867695 Centerline is valid? [True, True] Translation: X:602.04, Y:-298.87, Z:-4.88 [[-8.48778264e-01 -5.28715782e-01 5.92285249e-03 6.02037565e+02] [-5.28704048e-01 8.48798918e-01 3.52522753e-03 -2.98869114e+02] [-6.89115422e-03 -1.39299580e-04 -9.99976246e-01 -4.88303571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters 0.051274738853016984 Centerline is valid? [True, True] Translation: X:601.93, Y:-298.85, Z:-4.89 [[-8.03630213e-01 -5.95114911e-01 4.08951418e-03 6.01929212e+02] [-5.95108071e-01 8.03640606e-01 2.85670923e-03 -2.98845008e+02] [-4.98656991e-03 -1.37965043e-04 -9.99987557e-01 -4.88645927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters 0.052903426772105376 Centerline is valid? [True, True] Translation: X:601.79, Y:-298.83, Z:-4.88 [[-7.53827534e-01 -6.57061185e-01 3.82727612e-03 6.01794513e+02] [-6.57053846e-01 7.53837231e-01 3.11023552e-03 -2.98828900e+02] [-4.92875827e-03 -1.70145321e-04 -9.99987839e-01 -4.88475546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters 0.053539300611401455 Centerline is valid? [True, True] Translation: X:601.64, Y:-298.85, Z:-4.88 [[-7.01052173e-01 -7.13096624e-01 4.36530933e-03 6.01635323e+02] [-7.13084838e-01 7.01065725e-01 4.10643943e-03 -2.98852729e+02] [-5.98865684e-03 -2.34007613e-04 -9.99982040e-01 -4.88378020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters 0.05109760779940937 Centerline is valid? [True, True] Translation: X:601.46, Y:-298.93, Z:-4.89 [[-6.46968372e-01 -7.62502833e-01 4.62120766e-03 6.01462809e+02] [-7.62486329e-01 6.46984818e-01 5.02430798e-03 -2.98925629e+02] [-6.82090027e-03 -2.73039317e-04 -9.99976700e-01 -4.88538256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters 0.051448251561426246 Centerline is valid? [True, True] Translation: X:601.31, Y:-298.98, Z:-4.89 [[-5.89971731e-01 -8.07407125e-01 5.20494831e-03 6.01309256e+02] [-8.07380491e-01 5.89994599e-01 6.56622294e-03 -2.98979017e+02] [-8.37250658e-03 -3.28487807e-04 -9.99964896e-01 -4.88501658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters 0.0519433593714767 Centerline is valid? [True, True] Translation: X:601.13, Y:-299.08, Z:-4.88 [[-5.32215762e-01 -8.46591889e-01 5.34371788e-03 6.01131640e+02] [-8.46555532e-01 5.32242477e-01 7.85347594e-03 -2.99075904e+02] [-9.49284268e-03 -3.44010251e-04 -9.99954883e-01 -4.88341316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters 0.051828266096671384 Centerline is valid? [True, True] Translation: X:600.96, Y:-299.21, Z:-4.88 [[-4.71450991e-01 -8.81879993e-01 4.65197596e-03 6.00955053e+02] [-8.81843362e-01 4.71473840e-01 8.04388907e-03 -2.99205560e+02] [-9.28702980e-03 -3.10014648e-04 -9.99956827e-01 -4.88382853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters 0.05204294973413693 Centerline is valid? [True, True] Translation: X:600.78, Y:-299.37, Z:-4.89 [[-4.09337009e-01 -9.12378012e-01 3.09475631e-03 6.00780500e+02] [-9.12355677e-01 4.09348654e-01 6.38737960e-03 -2.99369075e+02] [-7.09453903e-03 -2.08927626e-04 -9.99974812e-01 -4.88551333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters 0.05191647723700544 Centerline is valid? [True, True] Translation: X:600.61, Y:-299.56, Z:-4.89 [[-3.43429075e-01 -9.39176670e-01 1.91146954e-03 6.00608197e+02] [-9.39164343e-01 3.43434365e-01 4.81394023e-03 -2.99563059e+02] [-5.17760468e-03 -1.41936995e-04 -9.99986586e-01 -4.88668035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters 0.05174597411426642 Centerline is valid? [True, True] Translation: X:600.46, Y:-299.73, Z:-4.89 [[-2.72351001e-01 -9.62197000e-01 1.36550163e-03 6.00456693e+02] [-9.62187203e-01 2.72354393e-01 4.34412960e-03 -2.99730325e+02] [-4.55180884e-03 -1.30740150e-04 -9.99989632e-01 -4.88613831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters 0.053354597906806765 Centerline is valid? [True, True] Translation: X:600.33, Y:-299.87, Z:-4.89 [[-1.99714357e-01 -9.79853585e-01 1.06193982e-03 6.00329671e+02] [-9.79843163e-01 1.99717133e-01 4.52125473e-03 -2.99874070e+02] [-4.64225523e-03 -1.37574986e-04 -9.99989215e-01 -4.88546314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters 0.05134096261078833 Centerline is valid? [True, True] Translation: X:600.21, Y:-300.09, Z:-4.89 [[-1.24132413e-01 -9.92265107e-01 1.04949662e-03 6.00211623e+02] [-9.92242984e-01 1.24136658e-01 6.62948371e-03 -3.00091402e+02] [-6.70848637e-03 -2.18421842e-04 -9.99977474e-01 -4.88500980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters 0.051978881984118666 Centerline is valid? [True, True] Translation: X:600.11, Y:-300.24, Z:-4.88 [[-4.97783231e-02 -9.98760059e-01 6.80995171e-04 6.00108325e+02] [-9.98726462e-01 4.97822373e-02 8.19647549e-03 -3.00244670e+02] [-8.22021381e-03 -2.72121093e-04 -9.99966176e-01 -4.88363128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters 0.051424061895453614 Centerline is valid? [True, True] Translation: X:600.02, Y:-300.50, Z:-4.88 [[ 2.20714764e-02 -9.99756393e-01 7.36265081e-05 6.00018061e+02] [-9.99725093e-01 -2.20702025e-02 7.91483594e-03 -3.00500914e+02] [-7.91128287e-03 -2.48298382e-04 -9.99968674e-01 -4.88451603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters 0.05157121323494437 Centerline is valid? [True, True] Translation: X:599.95, Y:-300.76, Z:-4.89 [[ 9.29026486e-02 -9.95675105e-01 -4.26978816e-04 5.99950547e+02] [-9.95653097e-01 -9.29034351e-02 6.62285822e-03 -3.00758916e+02] [-6.63388285e-03 -1.90158289e-04 -9.99977977e-01 -4.88596307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters 0.0522565594700906 Centerline is valid? [True, True] Translation: X:599.90, Y:-301.09, Z:-4.88 [[ 1.60845857e-01 -9.86979297e-01 -6.91326863e-04 5.99900270e+02] [-9.86966697e-01 -1.60847298e-01 4.98846818e-03 -3.01090469e+02] [-5.03471287e-03 -1.20057849e-04 -9.99987319e-01 -4.88493420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters 0.051176516514380155 Centerline is valid? [True, True] Translation: X:599.87, Y:-301.32, Z:-4.89 [[ 2.31436549e-01 -9.72849533e-01 -9.53751665e-04 5.99867591e+02] [-9.72839414e-01 -2.31438493e-01 4.43834557e-03 -3.01323811e+02] [-4.53857726e-03 -9.93481709e-05 -9.99989696e-01 -4.88605358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters 0.05131436603316148 Centerline is valid? [True, True] Translation: X:599.83, Y:-301.51, Z:-4.88 [[ 3.04179282e-01 -9.52613497e-01 -1.57797719e-03 5.99833314e+02] [-9.52598375e-01 -3.04183347e-01 5.36917847e-03 -3.01514843e+02] [-5.59474626e-03 -1.30014351e-04 -9.99984341e-01 -4.88479833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters 0.05199896968205001 Centerline is valid? [True, True] Translation: X:599.83, Y:-301.76, Z:-4.88 [[ 3.74957511e-01 -9.27038905e-01 -2.39461131e-03 5.99827337e+02] [-9.27017062e-01 -3.74965120e-01 6.36596097e-03 -3.01759322e+02] [-6.79938920e-03 -1.67119337e-04 -9.99976870e-01 -4.88327656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters 0.05169348114035809 Centerline is valid? [True, True] Translation: X:599.86, Y:-302.05, Z:-4.88 [[ 4.43953982e-01 -8.96044130e-01 -3.12719215e-03 5.99864105e+02] [-8.96018680e-01 -4.43964952e-01 6.75631236e-03 -3.02049471e+02] [-7.44231774e-03 -1.97469187e-04 -9.99972286e-01 -4.88267855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters 0.05148063057277935 Centerline is valid? [True, True] Translation: X:599.87, Y:-302.23, Z:-4.88 [[ 5.09384859e-01 -8.60530832e-01 -3.70845243e-03 5.99869746e+02] [-8.60505006e-01 -5.09398316e-01 6.67016472e-03 -3.02233206e+02] [-7.62896182e-03 -2.06539035e-04 -9.99970878e-01 -4.88278114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters 0.05142316541138327 Centerline is valid? [True, True] Translation: X:599.87, Y:-302.39, Z:-4.88 [[ 5.70815175e-01 -8.21070220e-01 -3.70541295e-03 5.99873302e+02] [-8.21050868e-01 -5.70827174e-01 5.63998358e-03 -3.02391169e+02] [-6.74597296e-03 -1.77055690e-04 -9.99977230e-01 -4.88283237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters 0.051824880544198634 Centerline is valid? [True, True] Translation: X:599.95, Y:-302.64, Z:-4.88 [[ 6.27998865e-01 -7.78204356e-01 -3.92502670e-03 5.99953724e+02] [-7.78187582e-01 -6.28011112e-01 5.11188140e-03 -3.02641064e+02] [-6.44304875e-03 -1.55848684e-04 -9.99979231e-01 -4.88293837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters 0.05143176362058305 Centerline is valid? [True, True] Translation: X:600.04, Y:-302.87, Z:-4.88 [[ 6.82613226e-01 -7.30767619e-01 -4.22747074e-03 6.00044996e+02] [-7.30752260e-01 -6.82626300e-01 4.74010803e-03 -3.02872297e+02] [-6.34970018e-03 -1.46426635e-04 -9.99979830e-01 -4.88343798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters 0.0515528769719785 Centerline is valid? [True, True] Translation: X:600.17, Y:-303.12, Z:-4.88 [[ 7.34769100e-01 -6.78298240e-01 -5.08601298e-03 6.00172419e+02] [-6.78280394e-01 -7.34786683e-01 4.92305895e-03 -3.03122202e+02] [-7.07643682e-03 -1.67568708e-04 -9.99974948e-01 -4.88244490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters 0.05160777958948182 Centerline is valid? [True, True] Translation: X:600.14, Y:-303.21, Z:-4.88 [[ 7.87019898e-01 -6.16888900e-01 -6.91128551e-03 6.00143717e+02] [-6.16862481e-01 -7.87050208e-01 5.71397740e-03 -3.03206688e+02] [-8.96441794e-03 -2.33701181e-04 -9.99959791e-01 -4.88195700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters 0.05115120103367364 Centerline is valid? [True, True] Translation: X:600.12, Y:-303.30, Z:-4.88 [[ 8.33239657e-01 -5.52866472e-01 -7.09490540e-03 6.00117136e+02] [-5.52844034e-01 -8.33269830e-01 4.98639564e-03 -3.03298939e+02] [-8.66878159e-03 -2.32486468e-04 -9.99962398e-01 -4.88194358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters 0.051566668186847825 Centerline is valid? [True, True] Translation: X:600.10, Y:-303.39, Z:-4.88 [[ 8.73031811e-01 -4.87612373e-01 -7.04497868e-03 6.00097915e+02] [-4.87594590e-01 -8.73060211e-01 4.16938730e-03 -3.03393375e+02] [-8.18373541e-03 -2.04914252e-04 -9.99966492e-01 -4.88248891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters 0.05143101736106098 Centerline is valid? [True, True] Translation: X:600.09, Y:-303.49, Z:-4.88 [[ 9.07547970e-01 -4.19898560e-01 -6.47165010e-03 6.00086301e+02] [-4.19886584e-01 -9.07571029e-01 3.17565080e-03 -3.03488233e+02] [-7.20693334e-03 -1.64696382e-04 -9.99974016e-01 -4.88275811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters 0.05198721108353854 Centerline is valid? [True, True] Translation: X:600.08, Y:-303.58, Z:-4.88 [[ 9.36200056e-01 -3.51403316e-01 -6.72048510e-03 6.00081565e+02] [-3.51393212e-01 -9.36224167e-01 2.66823814e-03 -3.03582783e+02] [-7.22950829e-03 -1.36471851e-04 -9.99973857e-01 -4.88047497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters 0.050914831997535416 Centerline is valid? [True, True] Translation: X:600.09, Y:-303.67, Z:-4.88 [[ 9.59695573e-01 -2.80953661e-01 -7.03192102e-03 6.00085884e+02] [-2.80945278e-01 -9.59721329e-01 2.17304310e-03 -3.03674613e+02] [-7.35920900e-03 -1.09874839e-04 -9.99972915e-01 -4.88335702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters 0.05138176430027068 Centerline is valid? [True, True] Translation: X:600.09, Y:-303.77, Z:-4.88 [[ 9.78088312e-01 -2.08056834e-01 -7.45707386e-03 6.00094102e+02] [-2.08050078e-01 -9.78116734e-01 1.67910846e-03 -3.03770251e+02] [-7.64323872e-03 -9.08715652e-05 -9.99970786e-01 -4.88213631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters 0.05100563666390723 Centerline is valid? [True, True] Translation: X:600.11, Y:-303.86, Z:-4.88 [[ 9.90798071e-01 -1.35123020e-01 -7.80720058e-03 6.00112500e+02] [-1.35118342e-01 -9.90828828e-01 1.12598002e-03 -3.03857823e+02] [-7.88774522e-03 -6.07228367e-05 -9.99968889e-01 -4.88306977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters 0.05151986110673358 Centerline is valid? [True, True] Translation: X:600.14, Y:-303.95, Z:-4.88 [[ 9.98194081e-01 -5.96447930e-02 -7.14666527e-03 6.00136635e+02] [-5.96429903e-02 -9.98219664e-01 4.65301983e-04 -3.03946200e+02] [-7.16169464e-03 -3.82131982e-05 -9.99974354e-01 -4.88233758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters 0.05163913153016296 Centerline is valid? [True, True] Translation: X:600.16, Y:-304.03, Z:-4.88 [[ 9.99812316e-01 1.77086705e-02 -7.85715328e-03 6.00161880e+02] [ 1.77083931e-02 -9.99843189e-01 -1.04887087e-04 -3.04027534e+02] [-7.85777860e-03 -3.42701573e-05 -9.99969127e-01 -4.88199486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters 0.052182128524767134 Centerline is valid? [True, True] Translation: X:600.19, Y:-304.10, Z:-4.88 [[ 9.95228972e-01 9.72267455e-02 -8.13961074e-03 6.00192755e+02] [ 9.72238768e-02 -9.95262256e-01 -7.48329284e-04 -3.04104213e+02] [-8.17380497e-03 -4.66055280e-05 -9.99966593e-01 -4.88113099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters 0.05149298494454225 Centerline is valid? [True, True] Translation: X:600.23, Y:-304.18, Z:-4.88 [[ 9.84186892e-01 1.76971434e-01 -7.56795601e-03 6.00231145e+02] [ 1.76966677e-01 -9.84215986e-01 -1.29894518e-03 -3.04181260e+02] [-7.67837948e-03 -6.08712129e-05 -9.99970519e-01 -4.88209704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters 0.05163146170680829 Centerline is valid? [True, True] Translation: X:600.28, Y:-304.26, Z:-4.88 [[ 9.66150526e-01 2.57893532e-01 -6.63988181e-03 6.00276310e+02] [ 2.57888054e-01 -9.66173338e-01 -1.68312634e-03 -3.04259695e+02] [-6.84934417e-03 -8.61928028e-05 -9.99976539e-01 -4.88338681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters 0.05167636069871137 Centerline is valid? [True, True] Translation: X:600.33, Y:-304.34, Z:-4.88 [[ 9.41138728e-01 3.37968794e-01 -5.91517180e-03 6.00327703e+02] [ 3.37962875e-01 -9.41157310e-01 -2.00334441e-03 -3.04335496e+02] [-6.24417507e-03 -1.13683457e-04 -9.99980498e-01 -4.88332753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters 0.05113388964553312 Centerline is valid? [True, True] Translation: X:600.39, Y:-304.41, Z:-4.88 [[ 9.10034607e-01 4.14489129e-01 -5.98128811e-03 6.00385996e+02] [ 4.14481228e-01 -9.10054252e-01 -2.56341403e-03 -3.04408059e+02] [-6.50580393e-03 -1.46336155e-04 -9.99978826e-01 -4.88340144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters 0.05200870364768023 Centerline is valid? [True, True] Translation: X:600.45, Y:-304.48, Z:-4.88 [[ 8.71859517e-01 4.89711773e-01 -6.58491022e-03 6.00451648e+02] [ 4.89699628e-01 -8.71884358e-01 -3.45538875e-03 -3.04483355e+02] [-7.43342478e-03 -2.12014517e-04 -9.99972349e-01 -4.88211403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters 0.050980381634158606 Centerline is valid? [True, True] Translation: X:600.52, Y:-304.54, Z:-4.88 [[ 8.29176300e-01 5.58951076e-01 -6.35287083e-03 6.00520400e+02] [ 5.58936836e-01 -8.29200602e-01 -3.99677786e-03 -3.04544912e+02] [-7.50180760e-03 -2.36820051e-04 -9.99971833e-01 -4.88379553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters 0.05082931912661312 Centerline is valid? [True, True] Translation: X:600.60, Y:-304.61, Z:-4.88 [[ 7.82687546e-01 6.22387449e-01 -5.83680021e-03 6.00597519e+02] [ 6.22372330e-01 -7.82709275e-01 -4.34441618e-03 -3.04607546e+02] [-7.27242776e-03 -2.32342509e-04 -9.99973529e-01 -4.88396503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters 0.050926315396597276 Centerline is valid? [True, True] Translation: X:600.68, Y:-304.66, Z:-4.88 [[ 7.31124029e-01 6.82220586e-01 -5.72064243e-03 6.00678781e+02] [ 6.82202316e-01 -7.31146368e-01 -4.99898277e-03 -3.04663457e+02] [-7.59303589e-03 -2.47759082e-04 -9.99971142e-01 -4.88368875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters 0.05092071015105068 Centerline is valid? [True, True] Translation: X:600.76, Y:-304.71, Z:-4.88 [[ 6.75788137e-01 7.37066819e-01 -6.54969155e-03 6.00764124e+02] [ 7.37036452e-01 -6.75819809e-01 -6.69728910e-03 -3.04712777e+02] [-9.36276086e-03 -3.01412896e-04 -9.99956123e-01 -4.88298151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters 0.05155178496620529 Centerline is valid? [True, True] Translation: X:600.85, Y:-304.76, Z:-4.88 [[ 6.17107758e-01 7.86852454e-01 -6.42112322e-03 6.00854204e+02] [ 7.86814969e-01 -6.17141086e-01 -7.68667722e-03 -3.04757679e+02] [-1.00110198e-02 -3.08727725e-04 -9.99949841e-01 -4.88188322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters 0.0509727150639527 Centerline is valid? [True, True] Translation: X:600.94, Y:-304.79, Z:-4.88 [[ 5.56609746e-01 8.30755130e-01 -5.61295075e-03 6.00940550e+02] [ 8.30717590e-01 -5.56637983e-01 -7.90195329e-03 -3.04788245e+02] [-9.68896981e-03 -2.64472708e-04 -9.99953026e-01 -4.88326016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters 0.051161486641041094 Centerline is valid? [True, True] Translation: X:601.03, Y:-304.81, Z:-4.88 [[ 4.91781422e-01 8.70706726e-01 -4.56398974e-03 6.01028139e+02] [ 8.70673361e-01 -4.91802549e-01 -7.62566066e-03 -3.04813701e+02] [-8.88429581e-03 -2.23586042e-04 -9.99960509e-01 -4.88333373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters 0.05109780783222414 Centerline is valid? [True, True] Translation: X:601.12, Y:-304.83, Z:-4.88 [[ 4.22163737e-01 9.06511830e-01 -3.75256155e-03 6.01120585e+02] [ 9.06480371e-01 -4.22180362e-01 -7.55503167e-03 -3.04834110e+02] [-8.43298338e-03 -2.12162978e-04 -9.99964419e-01 -4.88352086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters 0.05146210881779016 Centerline is valid? [True, True] Translation: X:601.22, Y:-304.85, Z:-4.88 [[ 3.50007656e-01 9.36741330e-01 -3.21265209e-03 6.01215081e+02] [ 9.36707351e-01 -3.50022334e-01 -7.98149685e-03 -3.04845687e+02] [-8.60109796e-03 -2.15729825e-04 -9.99962987e-01 -4.88354133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters 0.05096501416088572 Centerline is valid? [True, True] Translation: X:601.31, Y:-304.85, Z:-4.88 [[ 2.75631394e-01 9.61259984e-01 -2.56466290e-03 6.01309680e+02] [ 9.61225328e-01 -2.75643242e-01 -8.16535368e-03 -3.04850683e+02] [-8.55595975e-03 -2.14591121e-04 -9.99963374e-01 -4.88379223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters 0.05087383038348457 Centerline is valid? [True, True] Translation: X:601.41, Y:-304.85, Z:-4.88 [[ 1.99194787e-01 9.79958235e-01 -1.81491062e-03 6.01408403e+02] [ 9.79926474e-01 -1.99202948e-01 -7.89249869e-03 -3.04849044e+02] [-8.09585464e-03 -2.06334366e-04 -9.99967207e-01 -4.88448557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters 0.05015838704498636 Centerline is valid? [True, True] Translation: X:601.51, Y:-304.84, Z:-4.89 [[ 1.20424518e-01 9.92721955e-01 -1.02751461e-03 6.01506306e+02] [ 9.92697966e-01 -1.20428754e-01 -6.90384506e-03 -3.04839115e+02] [-6.97734087e-03 -1.88619446e-04 -9.99975640e-01 -4.88546129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters 0.05111966594945632 Centerline is valid? [True, True] Translation: X:601.60, Y:-304.82, Z:-4.88 [[ 4.10613620e-02 9.99156471e-01 -5.57425605e-04 6.01603335e+02] [ 9.99124323e-01 -4.10645142e-02 -8.01832934e-03 -3.04822707e+02] [-8.03445606e-03 -2.27693957e-04 -9.99967697e-01 -4.88386296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters 0.05113738957527136 Centerline is valid? [True, True] Translation: X:601.70, Y:-304.80, Z:-4.88 [[-3.75530465e-02 9.99294632e-01 8.16857524e-05 6.01699564e+02] [ 9.99252833e-01 3.75522231e-02 -9.14367246e-03 -3.04797190e+02] [-9.14029029e-03 -2.61748037e-04 -9.99958192e-01 -4.88457215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters 0.05150309683289905 Centerline is valid? [True, True] Translation: X:601.79, Y:-304.76, Z:-4.89 [[-1.15086491e-01 9.93355152e-01 8.01023482e-04 6.01794213e+02] [ 9.93312962e-01 1.15088989e-01 -9.15882787e-03 -3.04763910e+02] [-9.19015783e-03 -2.58390356e-04 -9.99957736e-01 -4.88500539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters 0.051465746564656994 Centerline is valid? [True, True] Translation: X:601.89, Y:-304.72, Z:-4.88 [[-1.88742829e-01 9.82025815e-01 1.20153473e-03 6.01890117e+02] [ 9.81999488e-01 1.88746570e-01 -7.19292189e-03 -3.04724241e+02] [-7.29042054e-03 -1.77705936e-04 -9.99973409e-01 -4.88484100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters 0.050930697031173824 Centerline is valid? [True, True] Translation: X:601.97, Y:-304.68, Z:-4.89 [[-2.57562206e-01 9.66260742e-01 1.37408642e-03 6.01967380e+02] [ 9.66244953e-01 2.57565853e-01 -5.52467387e-03 -3.04679448e+02] [-5.69219321e-03 -9.52431223e-05 -9.99983795e-01 -4.88715669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters 0.051717048232647146 Centerline is valid? [True, True] Translation: X:602.05, Y:-304.63, Z:-4.88 [[-3.25725760e-01 9.45462090e-01 2.04107344e-03 6.02045729e+02] [ 9.45442310e-01 3.25732149e-01 -6.11595810e-03 -3.04628261e+02] [-6.44724977e-03 -6.24079115e-05 -9.99979214e-01 -4.88315796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters 0.051771109943855496 Centerline is valid? [True, True] Translation: X:602.10, Y:-304.58, Z:-4.89 [[-3.88726974e-01 9.21349359e-01 2.58808052e-03 6.02104311e+02] [ 9.21329072e-01 3.88735589e-01 -6.11415966e-03 -3.04576566e+02] [-6.63935610e-03 7.73504230e-06 -9.99977959e-01 -4.88639129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters 0.052312350404143025 Centerline is valid? [True, True] Translation: X:602.17, Y:-304.52, Z:-4.89 [[-4.52769192e-01 8.91623197e-01 2.85205082e-03 6.02165145e+02] [ 8.91606263e-01 4.52778171e-01 -5.49533715e-03 -3.04517110e+02] [-6.19111643e-03 5.47870137e-05 -9.99980833e-01 -4.88793109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters 0.052474519024929146 Centerline is valid? [True, True] Translation: X:602.21, Y:-304.46, Z:-4.88 [[-5.18492822e-01 8.55074449e-01 3.58901458e-03 6.02214312e+02] [ 8.55055040e-01 5.18505237e-01 -5.76169669e-03 -3.04458661e+02] [-6.78760248e-03 8.14066286e-05 -9.99976961e-01 -4.88497019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters 0.05238933303071706 Centerline is valid? [True, True] Translation: X:602.26, Y:-304.39, Z:-4.89 [[-5.82554597e-01 8.12780991e-01 4.14762706e-03 6.02262837e+02] [ 8.12761537e-01 5.82569354e-01 -5.62425201e-03 -3.04393450e+02] [-6.98756554e-03 9.45978766e-05 -9.99975582e-01 -4.88717455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters 0.05267747103176248 Centerline is valid? [True, True] Translation: X:602.30, Y:-304.33, Z:-4.89 [[-6.46224212e-01 7.63130561e-01 5.10047000e-03 6.02303529e+02] [ 7.63107843e-01 6.46244334e-01 -5.88901675e-03 -3.04328156e+02] [-7.79023850e-03 8.65834532e-05 -9.99969652e-01 -4.88610181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters 0.052372859485329736 Centerline is valid? [True, True] Translation: X:602.34, Y:-304.25, Z:-4.89 [[-7.05625226e-01 7.08560896e-01 5.87341356e-03 6.02344731e+02] [ 7.08537201e-01 7.05649666e-01 -5.79518472e-03 -3.04251167e+02] [-8.25081359e-03 7.23034736e-05 -9.99965959e-01 -4.88731303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters 0.05318827265746973 Centerline is valid? [True, True] Translation: X:602.69, Y:-304.45, Z:-4.89 [[-7.57673393e-01 6.52597638e-01 6.88129173e-03 6.02689925e+02] [ 6.52571234e-01 7.57704639e-01 -5.87056159e-03 -3.04453260e+02] [-9.04510130e-03 4.25647235e-05 -9.99959091e-01 -4.89092102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters 0.052417169440099415 Centerline is valid? [True, True] Translation: X:602.46, Y:-303.40, Z:-5.87 [[-7.16169489e-01 -6.97890080e-01 7.12039212e-03 6.02460401e+02] [ 6.97855692e-01 -7.16204885e-01 -6.92797851e-03 -3.03397187e+02] [ 9.93462709e-03 7.39933682e-06 9.99950650e-01 -5.87130090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters 0.052430886209949845 Centerline is valid? [True, True] Translation: X:602.38, Y:-303.43, Z:-5.87 [[-6.65737472e-01 -7.46157705e-01 6.50370073e-03 6.02377498e+02] [ 7.46122303e-01 -6.65769239e-01 -7.26840239e-03 -3.03432215e+02] [ 9.75333833e-03 1.37083415e-05 9.99952435e-01 -5.86935593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters 0.05224892697790015 Centerline is valid? [True, True] Translation: X:602.33, Y:-303.39, Z:-5.87 [[-6.63192874e-01 -7.48430109e-01 5.25203568e-03 6.02334804e+02] [ 7.48407119e-01 -6.63213669e-01 -5.86630042e-03 -3.03394595e+02] [ 7.87373772e-03 4.01722556e-05 9.99969001e-01 -5.86973182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters 0.051938569727239745 Centerline is valid? [True, True] Translation: X:602.29, Y:-303.35, Z:-5.87 [[-6.60252342e-01 -7.51030356e-01 4.49997834e-03 6.02294950e+02] [ 7.51013548e-01 -6.60267674e-01 -5.02494722e-03 -3.03352878e+02] [ 6.74507813e-03 6.18115287e-05 9.99977250e-01 -5.86552363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters 0.05270318115637183 Centerline is valid? [True, True] Translation: X:602.25, Y:-303.32, Z:-5.87 [[-6.57005102e-01 -7.53866027e-01 5.50532951e-03 6.02248414e+02] [ 7.53840982e-01 -6.57028158e-01 -6.14596892e-03 -3.03318023e+02] [ 8.25039368e-03 1.12210065e-04 9.99965959e-01 -5.86994069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters 0.05207046922974627 Centerline is valid? [True, True] Translation: X:602.21, Y:-303.27, Z:-5.87 [[-6.54911252e-01 -7.55674537e-01 6.87354988e-03 6.02210560e+02] [ 7.55635618e-01 -6.54947299e-01 -7.67123263e-03 -3.03274807e+02] [ 1.02987681e-02 1.69922552e-04 9.99946952e-01 -5.86847897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters 0.05256507578546059 Centerline is valid? [True, True] Translation: X:602.17, Y:-303.23, Z:-5.87 [[-6.52665106e-01 -7.57601865e-01 8.22642218e-03 6.02169781e+02] [ 7.57546299e-01 -6.52716903e-01 -9.17875904e-03 -3.03233095e+02] [ 1.23233698e-02 2.41239933e-04 9.99924035e-01 -5.86881410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters 0.05290304576977112 Centerline is valid? [True, True] Translation: X:602.13, Y:-303.19, Z:-5.87 [[-6.52441855e-01 -7.57791986e-01 8.42210908e-03 6.02130315e+02] [ 7.57733788e-01 -6.52496163e-01 -9.39487853e-03 -3.03191952e+02] [ 1.26147575e-02 2.52104651e-04 9.99920399e-01 -5.86960439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters 0.0529258584040497 Centerline is valid? [True, True] Translation: X:602.09, Y:-303.15, Z:-5.87 [[-6.53653325e-01 -7.56741295e-01 8.94109155e-03 6.02093497e+02] [ 7.56675641e-01 -6.53714426e-01 -9.97115443e-03 -3.03146839e+02] [ 1.33905048e-02 2.47827931e-04 9.99910312e-01 -5.86736031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters 0.053488568334110725 Centerline is valid? [True, True] Translation: X:602.06, Y:-303.10, Z:-5.87 [[-6.57955579e-01 -7.53009902e-01 8.39897685e-03 6.02055772e+02] [ 7.52951692e-01 -6.58009164e-01 -9.36421326e-03 -3.03102813e+02] [ 1.25779491e-02 1.62787470e-04 9.99920881e-01 -5.86818317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters 0.05348566827818015 Centerline is valid? [True, True] Translation: X:602.02, Y:-303.06, Z:-5.87 [[-6.64601884e-01 -7.47164648e-01 7.02307469e-03 6.02020859e+02] [ 7.47123634e-01 -6.64638989e-01 -7.82874419e-03 -3.03056862e+02] [ 1.05171702e-02 4.41069429e-05 9.99944692e-01 -5.86769646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters 0.05311092029067641 Centerline is valid? [True, True] Translation: X:601.99, Y:-303.01, Z:-5.87 [[-6.68783384e-01 -7.43429355e-01 6.44827303e-03 6.01985866e+02] [ 7.43394621e-01 -6.68814469e-01 -7.18629475e-03 -3.03013283e+02] [ 9.65520078e-03 -1.24630351e-05 9.99953387e-01 -5.86534914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters 0.05391359606093577 Centerline is valid? [True, True] Translation: X:601.95, Y:-302.97, Z:-5.86 [[-6.74060450e-01 -7.38651345e-01 6.05809145e-03 6.01946466e+02] [ 7.38620505e-01 -6.74087669e-01 -6.75008158e-03 -3.02969361e+02] [ 9.06964158e-03 -7.53324649e-05 9.99958867e-01 -5.86288996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters 0.05339770335544471 Centerline is valid? [True, True] Translation: X:601.91, Y:-302.92, Z:-5.87 [[-6.79111021e-01 -7.34002625e-01 6.95468072e-03 6.01909990e+02] [ 7.33961739e-01 -6.79146612e-01 -7.74884025e-03 -3.02922922e+02] [ 1.04109169e-02 -1.57853257e-04 9.99945792e-01 -5.86591487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters 0.05387355776101587 Centerline is valid? [True, True] Translation: X:601.87, Y:-302.88, Z:-5.87 [[-6.83386828e-01 -7.30017661e-01 7.52713872e-03 6.01871400e+02] [ 7.29969536e-01 -6.83428240e-01 -8.38559009e-03 -3.02878166e+02] [ 1.12658880e-02 -2.36019856e-04 9.99936510e-01 -5.86566541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters 0.05433662144848863 Centerline is valid? [True, True] Translation: X:601.84, Y:-302.83, Z:-5.87 [[-6.88676906e-01 -7.25028674e-01 7.58558292e-03 6.01838878e+02] [ 7.24979523e-01 -6.88718607e-01 -8.44814572e-03 -3.02831657e+02] [ 1.13494800e-02 -3.18650572e-04 9.99935542e-01 -5.86744370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters 0.05537564292667834 Centerline is valid? [True, True] Translation: X:601.80, Y:-302.79, Z:-5.87 [[-6.96640150e-01 -7.17388500e-01 6.80006191e-03 6.01799198e+02] [ 7.17348655e-01 -6.96673225e-01 -7.57132149e-03 -3.02788805e+02] [ 1.01690000e-02 -3.96471281e-04 9.99948216e-01 -5.86586373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters 0.055217310398432716 Centerline is valid? [True, True] Translation: X:601.76, Y:-302.75, Z:-5.86 [[-7.01791339e-01 -7.12359459e-01 5.73741440e-03 6.01755717e+02] [ 7.12330938e-01 -7.01814680e-01 -6.38671739e-03 -3.02751890e+02] [ 8.57624020e-03 -3.95205158e-04 9.99963145e-01 -5.86348191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters 0.056160400744316975 Centerline is valid? [True, True] Translation: X:601.72, Y:-302.71, Z:-5.86 [[-7.01511216e-01 -7.12636420e-01 5.59880649e-03 6.01719583e+02] [ 7.12609280e-01 -7.01533454e-01 -6.23103345e-03 -3.02705885e+02] [ 8.36821143e-03 -3.81378387e-04 9.99964913e-01 -5.86442084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters 0.05530676461958071 Centerline is valid? [True, True] Translation: X:601.67, Y:-302.67, Z:-5.86 [[-6.98008668e-01 -7.16069893e-01 5.27324965e-03 6.01670668e+02] [ 7.16045926e-01 -6.98028514e-01 -5.86735711e-03 -3.02670927e+02] [ 7.88231639e-03 -3.19577192e-04 9.99968883e-01 -5.86296367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters 0.05532391309982106 Centerline is valid? [True, True] Translation: X:601.62, Y:-302.64, Z:-5.86 [[-6.87769511e-01 -7.25907607e-01 5.58984119e-03 6.01622580e+02] [ 7.25881001e-01 -6.87792191e-01 -6.21887387e-03 -3.02635039e+02] [ 8.35897696e-03 -2.19592320e-04 9.99965039e-01 -5.86274099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters 0.054447765511696326 Centerline is valid? [True, True] Translation: X:601.58, Y:-302.60, Z:-5.86 [[-6.74501154e-01 -7.38252151e-01 5.65278329e-03 6.01576868e+02] [ 7.38225381e-01 -6.74524838e-01 -6.28734884e-03 -3.02598420e+02] [ 8.45459154e-03 -6.77959507e-05 9.99964257e-01 -5.86308684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters 0.054458002712459555 Centerline is valid? [True, True] Translation: X:601.53, Y:-302.56, Z:-5.87 [[-6.65007254e-01 -7.46817522e-01 5.37972621e-03 6.01532065e+02] [ 7.46793565e-01 -6.65029012e-01 -5.98191363e-03 -3.02562487e+02] [ 8.04507193e-03 3.95289652e-05 9.99967637e-01 -5.86639930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters 0.054223475733812476 Centerline is valid? [True, True] Translation: X:601.49, Y:-302.53, Z:-5.86 [[-6.52741552e-01 -7.57563135e-01 5.15390919e-03 6.01485643e+02] [ 7.57541487e-01 -6.52761878e-01 -5.72948431e-03 -3.02527857e+02] [ 7.70472154e-03 1.64427551e-04 9.99970305e-01 -5.86418996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters 0.05378643631027552 Centerline is valid? [True, True] Translation: X:601.45, Y:-302.49, Z:-5.86 [[-6.45557053e-01 -7.63697014e-01 4.79179194e-03 6.01445404e+02] [ 7.63678478e-01 -6.45574799e-01 -5.32547624e-03 -3.02486664e+02] [ 7.16051042e-03 2.21489628e-04 9.99974339e-01 -5.86173987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters 0.054590600793201695 Centerline is valid? [True, True] Translation: X:601.40, Y:-302.45, Z:-5.86 [[-6.44109960e-01 -7.64916752e-01 4.97201140e-03 6.01402074e+02] [ 7.64896843e-01 -6.44129103e-01 -5.52426744e-03 -3.02448689e+02] [ 7.42822196e-03 2.44840147e-04 9.99972380e-01 -5.86178066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters 0.054389075824606614 Centerline is valid? [True, True] Translation: X:601.36, Y:-302.41, Z:-5.86 [[-6.45109558e-01 -7.64069619e-01 5.59245767e-03 6.01362614e+02] [ 7.64044412e-01 -6.45133744e-01 -6.21204451e-03 -3.02405758e+02] [ 8.35431763e-03 2.65436743e-04 9.99965067e-01 -5.86241377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters 0.05445949328997584 Centerline is valid? [True, True] Translation: X:601.33, Y:-302.36, Z:-5.86 [[-6.48049568e-01 -7.61565649e-01 7.03701528e-03 6.01326903e+02] [ 7.61525611e-01 -6.48087707e-01 -7.81459247e-03 -3.02360694e+02] [ 1.05119283e-02 2.94624082e-04 9.99944705e-01 -5.86308834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters 0.05464788033309725 Centerline is valid? [True, True] Translation: X:601.29, Y:-302.31, Z:-5.86 [[-6.50533530e-01 -7.59431832e-01 8.33185651e-03 6.01290153e+02] [ 7.59375557e-01 -6.50586810e-01 -9.25019779e-03 -3.02314960e+02] [ 1.24454906e-02 3.09444361e-04 9.99922504e-01 -5.86321080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters 0.054129770264137865 Centerline is valid? [True, True] Translation: X:601.26, Y:-302.27, Z:-5.86 [[-6.54779500e-01 -7.55768836e-01 8.79050154e-03 6.01255011e+02] [ 7.55705900e-01 -6.54838455e-01 -9.75658140e-03 -3.02269707e+02] [ 1.31300786e-02 2.54624389e-04 9.99913764e-01 -5.86403797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters 0.053994644274212 Centerline is valid? [True, True] Translation: X:601.22, Y:-302.22, Z:-5.86 [[-6.59064679e-01 -7.52041695e-01 8.18763948e-03 6.01221080e+02] [ 7.51986838e-01 -6.59115514e-01 -9.08487567e-03 -3.02224235e+02] [ 1.22288055e-02 1.69476456e-04 9.99925211e-01 -5.86438577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters 0.05358808907260509 Centerline is valid? [True, True] Translation: X:601.19, Y:-302.18, Z:-5.86 [[-6.61448433e-01 -7.49952811e-01 7.53339336e-03 6.01186495e+02] [ 7.49906263e-01 -6.61491320e-01 -8.35643277e-03 -3.02179602e+02] [ 1.12502046e-02 1.21989500e-04 9.99936707e-01 -5.86454734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters 0.05433703675384879 Centerline is valid? [True, True] Translation: X:601.16, Y:-302.13, Z:-5.86 [[-6.64957189e-01 -7.46850129e-01 6.84265175e-03 6.01156261e+02] [ 7.46811587e-01 -6.64992392e-01 -7.58767162e-03 -3.02132728e+02] [ 1.02171649e-02 6.46948200e-05 9.99947801e-01 -5.86449812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters 0.054012201454686395 Centerline is valid? [True, True] Translation: X:601.12, Y:-302.09, Z:-5.86 [[-6.66381956e-01 -7.45579216e-01 6.83531730e-03 6.01122095e+02] [ 7.45540716e-01 -6.66417009e-01 -7.57693534e-03 -3.02088377e+02] [ 1.02043772e-02 4.68743667e-05 9.99947933e-01 -5.86374983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters 0.053788974413640264 Centerline is valid? [True, True] Translation: X:601.09, Y:-302.04, Z:-5.86 [[-6.67560153e-01 -7.44527557e-01 6.49303827e-03 6.01088355e+02] [ 7.44492788e-01 -6.67591729e-01 -7.19527481e-03 -3.02043093e+02] [ 9.69177902e-03 3.07414109e-05 9.99953033e-01 -5.86148402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters 0.05320688954962183 Centerline is valid? [True, True] Translation: X:601.05, Y:-302.00, Z:-5.86 [[-6.67962403e-01 -7.44158836e-01 7.33857843e-03 6.01053610e+02] [ 7.44114428e-01 -6.68002714e-01 -8.12972627e-03 -3.01999031e+02] [ 1.09519979e-02 3.03905867e-05 9.99940025e-01 -5.86195111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters 0.05358570448479117 Centerline is valid? [True, True] Translation: X:601.02, Y:-301.96, Z:-5.86 [[-6.67745684e-01 -7.44354926e-01 7.17249978e-03 6.01017027e+02] [ 7.44312543e-01 -6.67784204e-01 -7.94329893e-03 -3.01955717e+02] [ 1.07023157e-02 3.44779706e-05 9.99942728e-01 -5.86037810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters 0.05354633968708243 Centerline is valid? [True, True] Translation: X:600.98, Y:-301.91, Z:-5.86 [[-6.66221651e-01 -7.45721754e-01 6.91210822e-03 6.00980086e+02] [ 7.45682491e-01 -6.66257505e-01 -7.65242754e-03 -3.01913298e+02] [ 1.03118257e-02 5.60251646e-05 9.99946830e-01 -5.86086523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters 0.053879297297951205 Centerline is valid? [True, True] Translation: X:600.94, Y:-301.87, Z:-5.86 [[-6.65021177e-01 -7.46791090e-01 7.06413355e-03 6.00942738e+02] [ 7.46750162e-01 -6.65058691e-01 -7.81873581e-03 -3.01868787e+02] [ 1.05370256e-02 7.55179815e-05 9.99944481e-01 -5.85909197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters 0.053760542983709726 Centerline is valid? [True, True] Translation: X:600.91, Y:-301.82, Z:-5.86 [[-6.64224181e-01 -7.47499162e-01 7.15819633e-03 6.00905418e+02] [ 7.47457201e-01 -6.64262745e-01 -7.92067709e-03 -3.01824201e+02] [ 1.06756226e-02 8.93401351e-05 9.99943010e-01 -5.85844455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters 0.05364332872896012 Centerline is valid? [True, True] Translation: X:600.87, Y:-301.78, Z:-5.86 [[-6.63445799e-01 -7.48196987e-01 6.39850298e-03 6.00868824e+02] [ 7.48163515e-01 -6.63476647e-01 -7.07778612e-03 -3.01781429e+02] [ 9.54083555e-03 9.13990123e-05 9.99954481e-01 -5.85793777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters 0.05308720598872521 Centerline is valid? [True, True] Translation: X:600.83, Y:-301.74, Z:-5.86 [[-6.62646221e-01 -7.48909105e-01 5.92774414e-03 6.00830747e+02] [ 7.48880424e-01 -6.62672727e-01 -6.55496424e-03 -3.01740365e+02] [ 8.83722678e-03 9.55492673e-05 9.99960946e-01 -5.86002760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters 0.05329573462698261 Centerline is valid? [True, True] Translation: X:600.80, Y:-301.70, Z:-5.86 [[-6.61697869e-01 -7.49751433e-01 5.35895116e-03 6.00795041e+02] [ 7.49728033e-01 -6.61719562e-01 -5.92430378e-03 -3.01696149e+02] [ 7.98787807e-03 9.76567288e-05 9.99968092e-01 -5.85876047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters 0.05281662157451907 Centerline is valid? [True, True] Translation: X:600.76, Y:-301.65, Z:-5.86 [[-6.60250321e-01 -7.51026282e-01 5.38859649e-03 6.00757982e+02] [ 7.51002679e-01 -6.60272300e-01 -5.95535204e-03 -3.01652997e+02] [ 8.03056690e-03 1.14827304e-04 9.99967748e-01 -5.85866168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters 0.052948604962035205 Centerline is valid? [True, True] Translation: X:600.72, Y:-301.61, Z:-5.86 [[-6.57598819e-01 -7.53346356e-01 5.74996917e-03 6.00720247e+02] [ 7.53319583e-01 -6.57623939e-01 -6.35304948e-03 -3.01608735e+02] [ 8.56736405e-03 1.53806540e-04 9.99963288e-01 -5.85850093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters 0.0530395716336273 Centerline is valid? [True, True] Translation: X:600.68, Y:-301.57, Z:-5.86 [[-6.54981707e-01 -7.55618207e-01 6.33155210e-03 6.00681436e+02] [ 7.55585863e-01 -6.55012278e-01 -6.99425527e-03 -3.01567153e+02] [ 9.43223098e-03 2.02922000e-04 9.99955495e-01 -5.85904762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters 0.05236803817665474 Centerline is valid? [True, True] Translation: X:600.65, Y:-301.52, Z:-5.86 [[-6.54326509e-01 -7.56180844e-01 6.88121206e-03 6.00645714e+02] [ 7.56142694e-01 -6.54362650e-01 -7.59925441e-03 -3.01522467e+02] [ 1.02492188e-02 2.30784615e-04 9.99947449e-01 -5.85860488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters 0.053131624907820904 Centerline is valid? [True, True] Translation: X:600.61, Y:-301.48, Z:-5.86 [[-6.55101643e-01 -7.55505576e-01 7.29124805e-03 6.00606989e+02] [ 7.55462727e-01 -6.55142175e-01 -8.04979786e-03 -3.01481199e+02] [ 1.08584713e-02 2.34830333e-04 9.99941017e-01 -5.86091057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters 0.05252699991734462 Centerline is valid? [True, True] Translation: X:600.58, Y:-301.43, Z:-5.86 [[-6.57630129e-01 -7.53300949e-01 7.76491031e-03 6.00575531e+02] [ 7.53252222e-01 -6.57675935e-01 -8.57060932e-03 -3.01430818e+02] [ 1.15630428e-02 2.12645031e-04 9.99933123e-01 -5.85860399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters 0.052935453013369306 Centerline is valid? [True, True] Translation: X:600.54, Y:-301.38, Z:-5.86 [[-6.60533027e-01 -7.50745758e-01 8.77077980e-03 6.00541108e+02] [ 7.50683396e-01 -6.60591228e-01 -9.67824721e-03 -3.01384756e+02] [ 1.30598032e-02 1.91276839e-04 9.99914699e-01 -5.85990045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters 0.05304214716817411 Centerline is valid? [True, True] Translation: X:600.51, Y:-301.34, Z:-5.86 [[-6.63973452e-01 -7.47702803e-01 8.93154103e-03 6.00507883e+02] [ 7.47637890e-01 -6.64033508e-01 -9.85320170e-03 -3.01335675e+02] [ 1.32981091e-02 1.35294140e-04 9.99911567e-01 -5.85848652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters 0.05270039002126855 Centerline is valid? [True, True] Translation: X:600.47, Y:-301.29, Z:-5.86 [[-6.66239058e-01 -7.45694637e-01 8.06388130e-03 6.00472515e+02] [ 7.45641603e-01 -6.66287851e-01 -8.89379808e-03 -3.01289721e+02] [ 1.20049237e-02 8.73697250e-05 9.99927935e-01 -5.85802216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters 0.05260347091543811 Centerline is valid? [True, True] Translation: X:600.44, Y:-301.24, Z:-5.86 [[-6.69849857e-01 -7.42470436e-01 6.23063577e-03 6.00439097e+02] [ 7.42438652e-01 -6.69878833e-01 -6.86998034e-03 -3.01242590e+02] [ 9.27452832e-03 2.40094835e-05 9.99956990e-01 -5.85665140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters 0.05220807346206938 Centerline is valid? [True, True] Translation: X:600.41, Y:-301.19, Z:-5.86 [[-6.72916226e-01 -7.39704346e-01 4.60803983e-03 6.00405581e+02] [ 7.39686904e-01 -6.72932003e-01 -5.07959838e-03 -3.01194440e+02] [ 6.85829847e-03 -9.63744949e-06 9.99976482e-01 -5.85569478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters 0.05222312121677178 Centerline is valid? [True, True] Translation: X:600.37, Y:-301.15, Z:-5.86 [[-6.73792764e-01 -7.38903590e-01 4.97947908e-03 6.00370490e+02] [ 7.38883215e-01 -6.73811164e-01 -5.48728755e-03 -3.01150177e+02] [ 7.40980506e-03 -1.80411362e-05 9.99972547e-01 -5.85710685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters 0.052288632692942 Centerline is valid? [True, True] Translation: X:600.33, Y:-301.11, Z:-5.86 [[-6.71447411e-01 -7.41032888e-01 5.35105557e-03 6.00331904e+02] [ 7.41009439e-01 -6.71468733e-01 -5.89502407e-03 -3.01107627e+02] [ 7.96147322e-03 6.98403623e-06 9.99968307e-01 -5.85686729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters 0.05211216967189815 Centerline is valid? [True, True] Translation: X:600.29, Y:-301.07, Z:-5.86 [[-6.65978484e-01 -7.45939171e-01 6.88567102e-03 6.00291808e+02] [ 7.45900628e-01 -6.66014073e-01 -7.58331873e-03 -3.01068129e+02] [ 1.02426483e-02 8.56992351e-05 9.99947539e-01 -5.85821808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters 0.05247449323080001 Centerline is valid? [True, True] Translation: X:600.25, Y:-301.03, Z:-5.86 [[-6.62222691e-01 -7.49273372e-01 7.10784906e-03 6.00250653e+02] [ 7.49232515e-01 -6.62260819e-01 -7.82594140e-03 -3.01027187e+02] [ 1.05710195e-02 1.42915657e-04 9.99944115e-01 -5.85746020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters 0.05246196908593504 Centerline is valid? [True, True] Translation: X:600.21, Y:-300.99, Z:-5.86 [[-6.61687895e-01 -7.49749299e-01 6.71703421e-03 6.00211806e+02] [ 7.49712858e-01 -6.61721972e-01 -7.39337362e-03 -3.00986851e+02] [ 9.98798581e-03 1.43741088e-04 9.99950109e-01 -5.85674974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters 0.05203673649019032 Centerline is valid? [True, True] Translation: X:600.17, Y:-300.94, Z:-5.85 [[-6.62766750e-01 -7.48806652e-01 5.36964266e-03 6.00173608e+02] [ 7.48783346e-01 -6.62788494e-01 -5.90876014e-03 -3.00943435e+02] [ 7.98345626e-03 1.04569241e-04 9.99968126e-01 -5.85453026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters 0.051808183392094594 Centerline is valid? [True, True] Translation: X:600.13, Y:-300.90, Z:-5.86 [[-6.63303845e-01 -7.48333752e-01 4.96039460e-03 6.00132276e+02] [ 7.48313862e-01 -6.63322386e-01 -5.45683615e-03 -3.00904436e+02] [ 7.37387545e-03 9.23916383e-05 9.99972808e-01 -5.85615653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters 0.05209119058033485 Centerline is valid? [True, True] Translation: X:600.09, Y:-300.86, Z:-5.86 [[-6.63295954e-01 -7.48341828e-01 4.79437720e-03 6.00094708e+02] [ 7.48323260e-01 -6.63313274e-01 -5.27243566e-03 -3.00863936e+02] [ 7.12575818e-03 9.05587364e-05 9.99974607e-01 -5.85591166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters 0.05212992637054569 Centerline is valid? [True, True] Translation: X:600.06, Y:-300.82, Z:-5.86 [[-6.62623646e-01 -7.48938073e-01 4.65476539e-03 6.00056022e+02] [ 7.48920595e-01 -6.62639988e-01 -5.11747084e-03 -3.00822068e+02] [ 6.91710243e-03 9.50924838e-05 9.99976072e-01 -5.85639452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters 0.05286037385660535 Centerline is valid? [True, True] Translation: X:600.02, Y:-300.78, Z:-5.86 [[-6.61161247e-01 -7.50226886e-01 5.04233631e-03 6.00015693e+02] [ 7.50206425e-01 -6.61180464e-01 -5.54201456e-03 -3.00780999e+02] [ 7.49166258e-03 1.18627844e-04 9.99971930e-01 -5.85747064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters 0.05271134450952519 Centerline is valid? [True, True] Translation: X:599.98, Y:-300.74, Z:-5.86 [[-6.59136313e-01 -7.51999759e-01 5.97357706e-03 5.99976755e+02] [ 7.51971132e-01 -6.59163360e-01 -6.56358612e-03 -3.00739579e+02] [ 8.87337831e-03 1.65659549e-04 9.99960617e-01 -5.85825413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters 0.05184950744299951 Centerline is valid? [True, True] Translation: X:599.94, Y:-300.70, Z:-5.86 [[-6.57209008e-01 -7.53682703e-01 6.22120165e-03 5.99939781e+02] [ 7.53651746e-01 -6.57238423e-01 -6.83385720e-03 -3.00695274e+02] [ 9.23937273e-03 1.97346972e-04 9.99957297e-01 -5.85705829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters 0.051982530120638026 Centerline is valid? [True, True] Translation: X:599.90, Y:-300.66, Z:-5.86 [[-6.56483607e-01 -7.54317421e-01 5.87380142e-03 5.99896155e+02] [ 7.54289864e-01 -6.56509855e-01 -6.45071349e-03 -3.00656875e+02] [ 8.72209409e-03 1.95761207e-04 9.99961943e-01 -5.85882996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters 0.0526149390368945 Centerline is valid? [True, True] Translation: X:599.86, Y:-300.62, Z:-5.86 [[-6.57645384e-01 -7.53308528e-01 5.36765445e-03 5.99856453e+02] [ 7.53285494e-01 -6.57667267e-01 -5.89323776e-03 -3.00616333e+02] [ 7.96955689e-03 1.67715631e-04 9.99968229e-01 -5.85871085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters 0.052279567255413634 Centerline is valid? [True, True] Translation: X:599.82, Y:-300.57, Z:-5.86 [[-6.59807994e-01 -7.51420907e-01 4.47572271e-03 5.99822933e+02] [ 7.51404856e-01 -6.59823163e-01 -4.91284367e-03 -3.00567637e+02] [ 6.64479896e-03 1.21546254e-04 9.99977916e-01 -5.85651745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters 0.05146711491223158 Centerline is valid? [True, True] Translation: X:599.78, Y:-300.53, Z:-5.86 [[-6.60450555e-01 -7.50856772e-01 4.37871625e-03 5.99782643e+02] [ 7.50841405e-01 -6.60465060e-01 -4.80510235e-03 -3.00526535e+02] [ 6.49993272e-03 1.14188951e-04 9.99978869e-01 -5.85761694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters 0.05222896435723467 Centerline is valid? [True, True] Translation: X:599.75, Y:-300.48, Z:-5.86 [[-6.60514169e-01 -7.50802827e-01 4.01838725e-03 5.99745079e+02] [ 7.50789892e-01 -6.60526384e-01 -4.40853905e-03 -3.00482779e+02] [ 5.96419438e-03 1.05062015e-04 9.99982209e-01 -5.85781281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters 0.05223377924561943 Centerline is valid? [True, True] Translation: X:599.71, Y:-300.44, Z:-5.86 [[-6.60585947e-01 -7.50739280e-01 4.09143544e-03 5.99706130e+02] [ 7.50725877e-01 -6.60598609e-01 -4.48729749e-03 -3.00442187e+02] [ 6.07158705e-03 1.07300797e-04 9.99981562e-01 -5.85857837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters 0.051645188201005075 Centerline is valid? [True, True] Translation: X:599.67, Y:-300.40, Z:-5.86 [[-6.61035743e-01 -7.50344343e-01 3.88751010e-03 5.99669650e+02] [ 7.50332242e-01 -6.61047167e-01 -4.26254291e-03 -3.00397084e+02] [ 5.76820250e-03 9.92309473e-05 9.99983359e-01 -5.85830793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters 0.05168729168673776 Centerline is valid? [True, True] Translation: X:599.63, Y:-300.35, Z:-5.86 [[-6.62027866e-01 -7.49469322e-01 3.85236085e-03 5.99630523e+02] [ 7.49457428e-01 -6.62039068e-01 -4.22330490e-03 -3.00353622e+02] [ 5.71565085e-03 9.12349213e-05 9.99983661e-01 -5.85915248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters 0.051928573407952455 Centerline is valid? [True, True] Translation: X:599.59, Y:-300.31, Z:-5.86 [[-6.62516422e-01 -7.49037480e-01 3.85284543e-03 5.99590066e+02] [ 7.49025581e-01 -6.62527619e-01 -4.22301688e-03 -3.00312753e+02] [ 5.71581443e-03 8.80617510e-05 9.99983661e-01 -5.86005877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters 0.05137297660713572 Centerline is valid? [True, True] Translation: X:599.55, Y:-300.27, Z:-5.86 [[-6.61880118e-01 -7.49603428e-01 3.06757776e-03 5.99552341e+02] [ 7.49595895e-01 -6.61887222e-01 -3.36145127e-03 -3.00268744e+02] [ 4.55014592e-03 7.45659354e-05 9.99989645e-01 -5.85912957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters 0.05265260817992853 Centerline is valid? [True, True] Translation: X:599.51, Y:-300.23, Z:-5.86 [[-6.59988715e-01 -7.51268420e-01 3.26458068e-03 5.99509730e+02] [ 7.51259913e-01 -6.59996783e-01 -3.57637795e-03 -3.00230087e+02] [ 4.84143256e-03 9.21795031e-05 9.99988276e-01 -5.85990528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters 0.05184473610718415 Centerline is valid? [True, True] Translation: X:599.47, Y:-300.19, Z:-5.86 [[-6.58504801e-01 -7.52566765e-01 3.83307339e-03 5.99469592e+02] [ 7.52555064e-01 -6.58515946e-01 -4.19826401e-03 -3.00189682e+02] [ 5.68361391e-03 1.20021786e-04 9.99983841e-01 -5.86129196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters 0.051824661156245996 Centerline is valid? [True, True] Translation: X:599.43, Y:-300.15, Z:-5.86 [[-6.57919679e-01 -7.53075453e-01 4.36565525e-03 5.99431972e+02] [ 7.53060294e-01 -6.57934147e-01 -4.78037840e-03 -3.00145267e+02] [ 6.47229929e-03 1.42496606e-04 9.99979044e-01 -5.86097174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters 0.051445120835282784 Centerline is valid? [True, True] Translation: X:599.40, Y:-300.10, Z:-5.86 [[-6.57735556e-01 -7.53235823e-01 4.44221951e-03 5.99395211e+02] [ 7.53220139e-01 -6.57750541e-01 -4.86299845e-03 -3.00099448e+02] [ 6.58485692e-03 1.47402204e-04 9.99978309e-01 -5.85995422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters 0.051564067554411876 Centerline is valid? [True, True] Translation: X:599.35, Y:-300.06, Z:-5.86 [[-6.57713857e-01 -7.53259042e-01 3.64650864e-03 5.99353027e+02] [ 7.53248480e-01 -6.57723954e-01 -3.99081654e-03 -3.00061046e+02] [ 5.40451473e-03 1.21911757e-04 9.99985388e-01 -5.86028908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters 0.05181143850928848 Centerline is valid? [True, True] Translation: X:599.31, Y:-300.02, Z:-5.86 [[-6.58273051e-01 -7.52774353e-01 2.71365897e-03 5.99311769e+02] [ 7.52768503e-01 -6.58278639e-01 -2.96902756e-03 -3.00022888e+02] [ 4.02135153e-03 8.83261726e-05 9.99991910e-01 -5.85998602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters 0.051012983339976316 Centerline is valid? [True, True] Translation: X:599.28, Y:-299.97, Z:-5.86 [[-6.59597786e-01 -7.51616788e-01 1.72167579e-03 5.99278917e+02] [ 7.51614430e-01 -6.59600031e-01 -1.88343714e-03 -2.99973246e+02] [ 2.55124038e-03 5.17254015e-05 9.99996744e-01 -5.85887728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters 0.051343137363309824 Centerline is valid? [True, True] Translation: X:599.24, Y:-299.93, Z:-5.86 [[-6.60638798e-01 -7.50700253e-01 2.34722714e-03 5.99236903e+02] [ 7.50695866e-01 -6.60642964e-01 -2.56732838e-03 -2.99933822e+02] [ 3.47797316e-03 6.59769769e-05 9.99993950e-01 -5.85993365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters 0.051258716143992814 Centerline is valid? [True, True] Translation: X:599.20, Y:-299.89, Z:-5.86 [[-6.61728645e-01 -7.49737190e-01 3.05731442e-03 5.99198831e+02] [ 7.49729741e-01 -6.61735702e-01 -3.34307208e-03 -2.99891339e+02] [ 4.52955957e-03 7.99529892e-05 9.99989738e-01 -5.86135685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters 0.05114844152531488 Centerline is valid? [True, True] Translation: X:599.16, Y:-299.85, Z:-5.86 [[-6.61786809e-01 -7.49681788e-01 3.92881940e-03 5.99161114e+02] [ 7.49669492e-01 -6.61798463e-01 -4.29492417e-03 -2.99846686e+02] [ 5.81991307e-03 1.02991888e-04 9.99983059e-01 -5.86182298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters 0.05080575426801165 Centerline is valid? [True, True] Translation: X:599.12, Y:-299.80, Z:-5.86 [[-6.61292689e-01 -7.50107484e-01 5.54446225e-03 5.99120538e+02] [ 7.50083024e-01 -6.61315915e-01 -6.05955548e-03 -2.99804998e+02] [ 8.21195904e-03 1.51667269e-04 9.99966270e-01 -5.86386964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters 0.05200151242927657 Centerline is valid? [True, True] Translation: X:599.08, Y:-299.76, Z:-5.86 [[-6.62340207e-01 -7.49182049e-01 5.63090619e-03 5.99081709e+02] [ 7.49156800e-01 -6.62364127e-01 -6.15244582e-03 -2.99762211e+02] [ 8.33901223e-03 1.43419421e-04 9.99965220e-01 -5.86423434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters 0.05095180833077615 Centerline is valid? [True, True] Translation: X:599.04, Y:-299.72, Z:-5.86 [[-6.64801986e-01 -7.47002486e-01 5.06014345e-03 5.99044767e+02] [ 7.46982043e-01 -6.64821236e-01 -5.52736273e-03 -2.99717763e+02] [ 7.49304452e-03 1.05234574e-04 9.99971921e-01 -5.86436159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters 0.05099470465765373 Centerline is valid? [True, True] Translation: X:599.01, Y:-299.67, Z:-5.86 [[-6.69738522e-01 -7.42589175e-01 3.41010240e-03 5.99009334e+02] [ 7.42579838e-01 -6.69747203e-01 -3.72397826e-03 -2.99671821e+02] [ 5.04929249e-03 3.81815868e-05 9.99987252e-01 -5.86426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters 0.05026330865467235 Centerline is valid? [True, True] Translation: X:598.97, Y:-299.63, Z:-5.86 [[-6.74156615e-01 -7.38584339e-01 2.45624499e-03 5.98972978e+02] [ 7.38579470e-01 -6.74161090e-01 -2.68161192e-03 -2.99628256e+02] [ 3.63650136e-03 6.30571041e-06 9.99993388e-01 -5.86436055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters 0.05101902478964463 Centerline is valid? [True, True] Translation: X:598.93, Y:-299.59, Z:-5.87 [[-6.76952400e-01 -7.36023406e-01 2.23473254e-03 5.98934270e+02] [ 7.36019365e-01 -6.76956088e-01 -2.43905089e-03 -2.99585609e+02] [ 3.30801434e-03 -6.31492556e-06 9.99994528e-01 -5.86616369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters 0.05176042818309151 Centerline is valid? [True, True] Translation: X:598.90, Y:-299.54, Z:-5.87 [[-6.78616426e-01 -7.34487895e-01 2.69785089e-03 5.98895793e+02] [ 7.34481997e-01 -6.78621788e-01 -2.94359484e-03 -2.99544656e+02] [ 3.99285517e-03 -1.60488954e-05 9.99992028e-01 -5.86564707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters 0.05174437424082924 Centerline is valid? [True, True] Translation: X:598.86, Y:-299.50, Z:-5.87 [[-6.80079415e-01 -7.33133374e-01 2.72852314e-03 5.98855442e+02] [ 7.33127332e-01 -6.80084888e-01 -2.97670904e-03 -2.99502144e+02] [ 4.03795210e-03 -2.40436559e-05 9.99991847e-01 -5.86584909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters 0.05133375672552855 Centerline is valid? [True, True] Translation: X:598.82, Y:-299.46, Z:-5.87 [[-6.80310801e-01 -7.32917806e-01 2.95030101e-03 5.98816130e+02] [ 7.32910742e-01 -6.80317198e-01 -3.21774832e-03 -2.99459979e+02] [ 4.36548556e-03 -2.67616377e-05 9.99990471e-01 -5.86807707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters 0.05144338378236549 Centerline is valid? [True, True] Translation: X:598.78, Y:-299.42, Z:-5.87 [[-6.79900539e-01 -7.33300072e-01 2.50226527e-03 5.98775199e+02] [ 7.33294997e-01 -6.79905143e-01 -2.72817980e-03 -2.99421583e+02] [ 3.70187747e-03 -1.99923192e-05 9.99993148e-01 -5.86747791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters 0.05203041302218712 Centerline is valid? [True, True] Translation: X:598.74, Y:-299.38, Z:-5.87 [[-6.79321135e-01 -7.33838640e-01 1.90961850e-03 5.98735078e+02] [ 7.33835688e-01 -6.79323819e-01 -2.08142859e-03 -2.99380950e+02] [ 2.82468205e-03 -1.26122218e-05 9.99996011e-01 -5.86775168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters 0.05197189504443352 Centerline is valid? [True, True] Translation: X:598.69, Y:-299.34, Z:-5.87 [[-6.78009483e-01 -7.35050981e-01 1.78786804e-03 5.98692625e+02] [ 7.35048399e-01 -6.78011840e-01 -1.94815902e-03 -2.99341585e+02] [ 2.64419190e-03 -6.70075174e-06 9.99996504e-01 -5.86885466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters 0.051410869966701134 Centerline is valid? [True, True] Translation: X:598.65, Y:-299.30, Z:-5.87 [[-6.75276267e-01 -7.37563056e-01 1.64404108e-03 5.98650588e+02] [ 7.37560881e-01 -6.75278268e-01 -1.79088778e-03 -2.99302428e+02] [ 2.43107787e-03 3.23637087e-06 9.99997045e-01 -5.86850849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters 0.05139635498520036 Centerline is valid? [True, True] Translation: X:598.61, Y:-299.26, Z:-5.87 [[-6.73560155e-01 -7.39130481e-01 1.68830652e-03 5.98608166e+02] [ 7.39128194e-01 -6.73562271e-01 -1.83864541e-03 -2.99262156e+02] [ 2.49617844e-03 9.43666198e-06 9.99996885e-01 -5.87011964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters 0.050836792115584846 Centerline is valid? [True, True] Translation: X:598.57, Y:-299.22, Z:-5.87 [[-6.71243021e-01 -7.41236553e-01 1.08658550e-03 5.98566333e+02] [ 7.41235609e-01 -6.71243900e-01 -1.18300322e-03 -2.99222965e+02] [ 1.60624912e-03 1.13332048e-05 9.99998710e-01 -5.87041184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters 0.05144770563121897 Centerline is valid? [True, True] Translation: X:598.52, Y:-299.18, Z:-5.87 [[-6.69803123e-01 -7.42538677e-01 3.00224384e-04 5.98524349e+02] [ 7.42538605e-01 -6.69803190e-01 -3.26778464e-04 -2.99182110e+02] [ 4.43736898e-04 4.05095964e-06 9.99999902e-01 -5.87060857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters 0.05160249989156208 Centerline is valid? [True, True] Translation: X:598.48, Y:-299.14, Z:-5.87 [[-6.69394509e-01 -7.42907111e-01 1.28251318e-04 5.98484420e+02] [ 7.42907098e-01 -6.69394521e-01 -1.39554404e-04 -2.99140599e+02] [ 1.89526689e-04 1.86186265e-06 9.99999982e-01 -5.87071094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters 0.05155552925564955 Centerline is valid? [True, True] Translation: X:598.44, Y:-299.10, Z:-5.87 [[-6.68876752e-01 -7.43373290e-01 2.07892643e-04 5.98442390e+02] [ 7.43373255e-01 -6.68876784e-01 -2.26152854e-04 -2.99101759e+02] [ 3.07170553e-04 3.27344382e-06 9.99999953e-01 -5.87052012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters 0.0515464296394839 Centerline is valid? [True, True] Translation: X:598.41, Y:-299.06, Z:-5.87 [[-6.68316342e-01 -7.43877155e-01 2.13034270e-04 5.98405106e+02] [ 7.43877119e-01 -6.68316376e-01 -2.31684830e-04 -2.99057068e+02] [ 3.14719344e-04 3.63256117e-06 9.99999950e-01 -5.86953699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters 0.051801811886704414 Centerline is valid? [True, True] Translation: X:598.36, Y:-299.02, Z:-5.87 [[-6.67357752e-01 -7.44737097e-01 5.35640035e-04 5.98363005e+02] [ 7.44736870e-01 -6.67357967e-01 -5.82376754e-04 -2.99018478e+02] [ 7.91181218e-04 1.02572413e-05 9.99999687e-01 -5.86986356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters 0.051306862434257465 Centerline is valid? [True, True] Translation: X:598.32, Y:-298.98, Z:-5.87 [[-6.65301318e-01 -7.46574341e-01 9.54388324e-04 5.98324750e+02] [ 7.46573620e-01 -6.65302002e-01 -1.03737787e-03 -2.98975292e+02] [ 1.40943616e-03 2.23522791e-05 9.99999007e-01 -5.87054438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters 0.05164131588465563 Centerline is valid? [True, True] Translation: X:598.28, Y:-298.93, Z:-5.87 [[-6.63497399e-01 -7.48176120e-01 1.92209398e-03 5.98284809e+02] [ 7.48173207e-01 -6.63500181e-01 -2.08865144e-03 -2.98933885e+02] [ 2.83798883e-03 5.22444221e-05 9.99995972e-01 -5.87107121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters 0.051313247337492686 Centerline is valid? [True, True] Translation: X:598.25, Y:-298.89, Z:-5.87 [[-6.62750122e-01 -7.48838200e-01 1.90426049e-03 5.98245430e+02] [ 7.48835344e-01 -6.62752855e-01 -2.06887021e-03 -2.98893383e+02] [ 2.81130312e-03 5.48335754e-05 9.99996047e-01 -5.87131363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters 0.05185101359409179 Centerline is valid? [True, True] Translation: X:598.21, Y:-298.85, Z:-5.87 [[-6.62830248e-01 -7.48768786e-01 1.16961093e-03 5.98207428e+02] [ 7.48767709e-01 -6.62831279e-01 -1.27034963e-03 -2.98850817e+02] [ 1.72645286e-03 3.37407323e-05 9.99998509e-01 -5.87000879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters 0.05120653576136144 Centerline is valid? [True, True] Translation: X:598.17, Y:-298.80, Z:-5.87 [[-6.63869242e-01 -7.47848605e-01 3.06644130e-04 5.98170615e+02] [ 7.47848531e-01 -6.63869313e-01 -3.32969095e-04 -2.98804997e+02] [ 4.52582101e-04 8.27542174e-06 9.99999898e-01 -5.86899018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters 0.0514454133342304 Centerline is valid? [True, True] Translation: X:598.13, Y:-298.76, Z:-5.87 [[-6.65137464e-01 -7.46720875e-01 2.98688925e-04 5.98131583e+02] [ 7.46720804e-01 -6.65137531e-01 -3.24288947e-04 -2.98761078e+02] [ 4.40822540e-04 7.34050667e-06 9.99999903e-01 -5.86952964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters 0.05105405597437053 Centerline is valid? [True, True] Translation: X:598.10, Y:-298.71, Z:-5.87 [[-6.68510310e-01 -7.43702302e-01 9.22895443e-04 5.98095434e+02] [ 7.43701628e-01 -6.68510947e-01 -1.00174317e-03 -2.98714984e+02] [ 1.36196440e-03 1.66832091e-05 9.99999072e-01 -5.86987537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters 0.05137572497705476 Centerline is valid? [True, True] Translation: X:598.06, Y:-298.67, Z:-5.87 [[-6.72812455e-01 -7.39812268e-01 1.09942396e-03 5.98058970e+02] [ 7.39811306e-01 -6.72813353e-01 -1.19305407e-03 -2.98669124e+02] [ 1.62234316e-03 1.06646357e-05 9.99998684e-01 -5.86945429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters 0.05121115614086822 Centerline is valid? [True, True] Translation: X:598.02, Y:-298.62, Z:-5.87 [[-6.76853603e-01 -7.36115769e-01 1.66573105e-03 5.98023111e+02] [ 7.36113551e-01 -6.76855652e-01 -1.80723621e-03 -2.98624975e+02] [ 2.45779455e-03 2.93285984e-06 9.99996980e-01 -5.86976632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters 0.05100327663496714 Centerline is valid? [True, True] Translation: X:597.99, Y:-298.58, Z:-5.87 [[-6.79179538e-01 -7.33969193e-01 2.09263465e-03 5.97987162e+02] [ 7.33965684e-01 -6.79182761e-01 -2.26969982e-03 -2.98581562e+02] [ 3.08717112e-03 -5.61165257e-06 9.99995235e-01 -5.87059449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters 0.052187201169554595 Centerline is valid? [True, True] Translation: X:597.95, Y:-298.54, Z:-5.87 [[-6.82225465e-01 -7.31140925e-01 1.16768841e-03 5.97950104e+02] [ 7.31139829e-01 -6.82226464e-01 -1.26616563e-03 -2.98537074e+02] [ 1.72237345e-03 -1.00669264e-05 9.99998517e-01 -5.86997859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters 0.05164607817230248 Centerline is valid? [True, True] Translation: X:597.91, Y:-298.49, Z:-5.87 [[-6.83604809e-01 -7.29851822e-01 8.85176875e-04 5.97913237e+02] [ 7.29851191e-01 -6.83605382e-01 -9.59548830e-04 -2.98493432e+02] [ 1.30544014e-03 -9.90479864e-06 9.99999148e-01 -5.86968198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters 0.05171510489466643 Centerline is valid? [True, True] Translation: X:597.87, Y:-298.45, Z:-5.87 [[-6.83053057e-01 -7.30368256e-01 8.55553441e-04 5.97871907e+02] [ 7.30367667e-01 -6.83053593e-01 -9.27243307e-04 -2.98451139e+02] [ 1.26161793e-03 -8.48780456e-06 9.99999204e-01 -5.86900472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters 0.05172380420732204 Centerline is valid? [True, True] Translation: X:597.83, Y:-298.41, Z:-5.87 [[-6.79737581e-01 -7.33453662e-01 1.59604462e-03 5.97834234e+02] [ 7.33451623e-01 -6.79739454e-01 -1.72931037e-03 -2.98408912e+02] [ 2.35326352e-03 -4.85573147e-06 9.99997231e-01 -5.87013318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters 0.05177947358317205 Centerline is valid? [True, True] Translation: X:597.79, Y:-298.37, Z:-5.87 [[-6.74536318e-01 -7.38237413e-01 2.50548836e-03 5.97793031e+02] [ 7.38232425e-01 -6.74540971e-01 -2.71387540e-03 -2.98370507e+02] [ 3.69353890e-03 1.90252276e-05 9.99993179e-01 -5.87147923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters 0.05184413765686121 Centerline is valid? [True, True] Translation: X:597.75, Y:-298.33, Z:-5.87 [[-6.69647788e-01 -7.42676139e-01 1.99814309e-03 5.97750845e+02] [ 7.42672988e-01 -6.69650768e-01 -2.16370724e-03 -2.98332569e+02] [ 2.94499180e-03 3.50451333e-05 9.99995663e-01 -5.87126038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters 0.05163501412132729 Centerline is valid? [True, True] Translation: X:597.71, Y:-298.29, Z:-5.87 [[-6.65849265e-01 -7.46085649e-01 9.79710632e-04 5.97712574e+02] [ 7.46084896e-01 -6.65849986e-01 -1.06058540e-03 -2.98290096e+02] [ 1.44362786e-03 2.47572966e-05 9.99998958e-01 -5.86984959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters 0.051379501795894275 Centerline is valid? [True, True] Translation: X:597.67, Y:-298.25, Z:-5.87 [[-6.63750420e-01 -7.47953829e-01 6.71036564e-04 5.97673455e+02] [ 7.47953476e-01 -6.63750759e-01 -7.26225322e-04 -2.98248662e+02] [ 9.88584039e-04 1.98717682e-05 9.99999511e-01 -5.86936552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters 0.0517214205683184 Centerline is valid? [True, True] Translation: X:597.63, Y:-298.21, Z:-5.87 [[-6.60909318e-01 -7.50464718e-01 1.25718280e-03 5.97633060e+02] [ 7.50463487e-01 -6.60910512e-01 -1.36018191e-03 -2.98209289e+02] [ 1.85165386e-03 4.45128918e-05 9.99998285e-01 -5.87074231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters 0.050843422487998925 Centerline is valid? [True, True] Translation: X:597.60, Y:-298.16, Z:-5.87 [[-6.58265847e-01 -7.52781831e-01 2.36412932e-03 5.97598267e+02] [ 7.52777494e-01 -6.58270085e-01 -2.55711922e-03 -2.98163692e+02] [ 3.48118850e-03 9.63990934e-05 9.99993936e-01 -5.87170785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters 0.051341225564867816 Centerline is valid? [True, True] Translation: X:597.56, Y:-298.12, Z:-5.87 [[-6.56560644e-01 -7.54265795e-01 3.35135323e-03 5.97559430e+02] [ 7.54257102e-01 -6.56569180e-01 -3.62424910e-03 -2.98121434e+02] [ 4.93404237e-03 1.48242649e-04 9.99987817e-01 -5.87313469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters 0.05058385120223809 Centerline is valid? [True, True] Translation: X:597.52, Y:-298.08, Z:-5.87 [[-6.55647996e-01 -7.55053786e-01 4.41421494e-03 5.97523354e+02] [ 7.55038730e-01 -6.55662824e-01 -4.77251210e-03 -2.98075113e+02] [ 6.49773997e-03 2.03815248e-04 9.99978869e-01 -5.87303014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters 0.050834324395705864 Centerline is valid? [True, True] Translation: X:597.49, Y:-298.03, Z:-5.87 [[-6.58084848e-01 -7.52930520e-01 4.46824728e-03 5.97486791e+02] [ 7.52915052e-01 -6.58099991e-01 -4.82972185e-03 -2.98029834e+02] [ 6.57699847e-03 1.85843859e-04 9.99978354e-01 -5.87288767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters 0.05027759525680135 Centerline is valid? [True, True] Translation: X:597.45, Y:-297.98, Z:-5.87 [[-6.63335613e-01 -7.48309520e-01 4.32742641e-03 5.97450896e+02] [ 7.48294921e-01 -6.63349714e-01 -4.67635870e-03 -2.97984499e+02] [ 6.36996081e-03 1.36195940e-04 9.99979702e-01 -5.87249665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters 0.05017861187078903 Centerline is valid? [True, True] Translation: X:597.41, Y:-297.94, Z:-5.87 [[-6.67419709e-01 -7.44672469e-01 3.72114562e-03 5.97414635e+02] [ 7.44661622e-01 -6.67430076e-01 -4.02026377e-03 -2.97937896e+02] [ 5.47738425e-03 8.77910579e-05 9.99984995e-01 -5.87099015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters 0.050711083146045666 Centerline is valid? [True, True] Translation: X:597.38, Y:-297.89, Z:-5.87 [[-6.71437542e-01 -7.41055665e-01 2.85122817e-03 5.97377444e+02] [ 7.41049267e-01 -6.71443594e-01 -3.07956782e-03 -2.97893599e+02] [ 4.19657007e-03 4.51631031e-05 9.99991193e-01 -5.87043984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters 0.05114199041016623 Centerline is valid? [True, True] Translation: X:597.34, Y:-297.85, Z:-5.87 [[-6.72748467e-01 -7.39864228e-01 3.22866937e-03 5.97335721e+02] [ 7.39856016e-01 -6.72756213e-01 -3.48630778e-03 -2.97854451e+02] [ 4.75150179e-03 4.33422460e-05 9.99988711e-01 -5.87292950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters 0.0512798442847381 Centerline is valid? [True, True] Translation: X:597.30, Y:-297.81, Z:-5.87 [[-6.73236353e-01 -7.39412310e-01 4.71689263e-03 5.97297543e+02] [ 7.39394779e-01 -6.73252874e-01 -5.09193997e-03 -2.97811175e+02] [ 6.94070462e-03 5.95666913e-05 9.99975911e-01 -5.87258762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters 0.0511626385976964 Centerline is valid? [True, True] Translation: X:597.26, Y:-297.77, Z:-5.87 [[-6.73492168e-01 -7.39178056e-01 4.90929580e-03 5.97258373e+02] [ 7.39159067e-01 -6.73510058e-01 -5.29861730e-03 -2.97769853e+02] [ 7.22308173e-03 6.01732462e-05 9.99973911e-01 -5.87243530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters 0.05081587863090713 Centerline is valid? [True, True] Translation: X:597.22, Y:-297.73, Z:-5.87 [[-6.74176208e-01 -7.38557613e-01 4.36952849e-03 5.97219031e+02] [ 7.38542565e-01 -6.74190366e-01 -4.71478641e-03 -2.97727206e+02] [ 6.42803541e-03 4.84859519e-05 9.99979339e-01 -5.87110583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters 0.0510425578879063 Centerline is valid? [True, True] Translation: X:597.18, Y:-297.69, Z:-5.87 [[-6.75497909e-01 -7.37353880e-01 3.43975477e-03 5.97177848e+02] [ 7.37344542e-01 -6.75506666e-01 -3.71082372e-03 -2.97687766e+02] [ 5.05976754e-03 2.96307434e-05 9.99987199e-01 -5.87216237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters 0.05080267772270024 Centerline is valid? [True, True] Translation: X:597.14, Y:-297.65, Z:-5.87 [[-6.77456286e-01 -7.35550692e-01 4.26146960e-03 5.97140451e+02] [ 7.35536334e-01 -6.77469689e-01 -4.59581927e-03 -2.97645345e+02] [ 6.26747453e-03 2.09990683e-05 9.99980359e-01 -5.87252347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters 0.05180227197712871 Centerline is valid? [True, True] Translation: X:597.10, Y:-297.60, Z:-5.87 [[-6.79931584e-01 -7.33261718e-01 4.50486805e-03 5.97102668e+02] [ 7.33245628e-01 -6.79946508e-01 -4.85750533e-03 -2.97601281e+02] [ 6.62489200e-03 4.03504354e-07 9.99978055e-01 -5.87092647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters 0.05159892179664878 Centerline is valid? [True, True] Translation: X:597.06, Y:-297.56, Z:-5.87 [[-6.80995620e-01 -7.32278825e-01 3.56216740e-03 5.97064662e+02] [ 7.32268756e-01 -6.81004936e-01 -3.84010858e-03 -2.97559571e+02] [ 5.23788378e-03 -6.63323364e-06 9.99986282e-01 -5.87109086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters 0.05121027421687117 Centerline is valid? [True, True] Translation: X:597.03, Y:-297.52, Z:-5.87 [[-6.81256409e-01 -7.32039232e-01 2.87551195e-03 5.97026403e+02] [ 7.32032672e-01 -6.81262477e-01 -3.09916776e-03 -2.97518048e+02] [ 4.22769078e-03 -6.35920085e-06 9.99991063e-01 -5.87203866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters 0.05154777949378193 Centerline is valid? [True, True] Translation: X:596.99, Y:-297.48, Z:-5.87 [[-6.80334246e-01 -7.32898057e-01 2.39835059e-03 5.96987546e+02] [ 7.32893502e-01 -6.80338473e-01 -2.58405690e-03 -2.97477786e+02] [ 3.52554046e-03 -2.86837327e-07 9.99993785e-01 -5.87080980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters 0.05132504198253917 Centerline is valid? [True, True] Translation: X:596.94, Y:-297.44, Z:-5.87 [[-6.75573388e-01 -7.37290021e-01 2.00562321e-03 5.96944213e+02] [ 7.37286856e-01 -6.75576365e-01 -2.16034428e-03 -2.97438407e+02] [ 2.94775192e-03 1.92485251e-05 9.99995655e-01 -5.87051640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters 0.0508834854979302 Centerline is valid? [True, True] Translation: X:596.90, Y:-297.40, Z:-5.87 [[-6.72345119e-01 -7.40234745e-01 2.13625363e-03 5.96902318e+02] [ 7.40231171e-01 -6.72348512e-01 -2.30044561e-03 -2.97397999e+02] [ 3.13917672e-03 3.46281510e-05 9.99995072e-01 -5.87044846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters 0.051488068867678885 Centerline is valid? [True, True] Translation: X:596.86, Y:-297.36, Z:-5.87 [[-6.67476605e-01 -7.44625581e-01 2.77968563e-03 5.96856744e+02] [ 7.44619571e-01 -6.67482389e-01 -2.99244122e-03 -2.97363417e+02] [ 4.08363948e-03 7.24238208e-05 9.99991659e-01 -5.87261858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters 0.051091895530048705 Centerline is valid? [True, True] Translation: X:596.82, Y:-297.32, Z:-5.87 [[-6.64043076e-01 -7.47685329e-01 3.66627306e-03 5.96817821e+02] [ 7.47674927e-01 -6.64053186e-01 -3.94579111e-03 -2.97320885e+02] [ 5.38481043e-03 1.21005179e-04 9.99985494e-01 -5.87290601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters 0.05101372533852254 Centerline is valid? [True, True] Translation: X:596.78, Y:-297.28, Z:-5.87 [[-6.62517899e-01 -7.49032810e-01 4.45897933e-03 5.96778882e+02] [ 7.49017463e-01 -6.62532884e-01 -4.79767673e-03 -2.97278215e+02] [ 6.54783772e-03 1.61306679e-04 9.99978550e-01 -5.87327939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters 0.05151018118523415 Centerline is valid? [True, True] Translation: X:596.74, Y:-297.24, Z:-5.87 [[-6.62625545e-01 -7.48936628e-01 4.61669663e-03 5.96741108e+02] [ 7.48920181e-01 -6.62641607e-01 -4.96625868e-03 -2.97236593e+02] [ 6.77862830e-03 1.66767408e-04 9.99977011e-01 -5.87361793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters 0.05096435064943705 Centerline is valid? [True, True] Translation: X:596.70, Y:-297.19, Z:-5.87 [[-6.64045577e-01 -7.47675866e-01 4.92654501e-03 5.96701862e+02] [ 7.47657108e-01 -6.64063831e-01 -5.29875587e-03 -2.97193865e+02] [ 7.23329224e-03 1.64750994e-04 9.99973826e-01 -5.87350519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters 0.0509980667070215 Centerline is valid? [True, True] Translation: X:596.66, Y:-297.15, Z:-5.87 [[-6.66900291e-01 -7.45128937e-01 5.18356608e-03 5.96663873e+02] [ 7.45108106e-01 -6.66920419e-01 -5.57359632e-03 -2.97152518e+02] [ 7.61007397e-03 1.45284101e-04 9.99971032e-01 -5.87460924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters 0.05108675818637341 Centerline is valid? [True, True] Translation: X:596.63, Y:-297.11, Z:-5.87 [[-6.70078373e-01 -7.42271746e-01 5.25628023e-03 5.96628204e+02] [ 7.42250250e-01 -6.70098979e-01 -5.65023118e-03 -2.97106660e+02] [ 7.71623498e-03 1.15377598e-04 9.99970223e-01 -5.87411691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters 0.051560904407021074 Centerline is valid? [True, True] Translation: X:596.59, Y:-297.06, Z:-5.87 [[-6.76280305e-01 -7.36630805e-01 4.47283199e-03 5.96593138e+02] [ 7.36615123e-01 -6.76295095e-01 -4.80679583e-03 -2.97060541e+02] [ 6.56578821e-03 4.40143355e-05 9.99978444e-01 -5.87331944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters 0.05160602964296831 Centerline is valid? [True, True] Translation: X:596.56, Y:-297.01, Z:-5.87 [[-6.83230813e-01 -7.30194721e-01 3.36538175e-03 5.96558487e+02] [ 7.30185769e-01 -6.83239101e-01 -3.61571215e-03 -2.97014120e+02] [ 4.93953433e-03 -1.30120852e-05 9.99987800e-01 -5.87195934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters 0.052027241117339376 Centerline is valid? [True, True] Translation: X:596.52, Y:-296.97, Z:-5.87 [[-6.91048539e-01 -7.22802664e-01 2.86818586e-03 5.96523346e+02] [ 7.22796101e-01 -6.91054489e-01 -3.08067281e-03 -2.96968728e+02] [ 4.20879123e-03 -5.57808899e-05 9.99991141e-01 -5.87149998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters 0.05296457838316011 Centerline is valid? [True, True] Translation: X:596.48, Y:-296.93, Z:-5.87 [[-6.94866647e-01 -7.19135178e-01 2.22217499e-03 5.96483245e+02] [ 7.19131222e-01 -6.94870198e-01 -2.38611734e-03 -2.96928966e+02] [ 3.26006409e-03 -5.99979372e-05 9.99994684e-01 -5.87090522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters 0.053308826642075285 Centerline is valid? [True, True] Translation: X:596.44, Y:-296.89, Z:-5.87 [[-7.01895062e-01 -7.12272273e-01 3.39570268e-03 5.96442224e+02] [ 7.12262959e-01 -7.01903262e-01 -3.64527809e-03 -2.96889068e+02] [ 4.97988530e-03 -1.39969452e-04 9.99987591e-01 -5.87093665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters 0.05435111195143491 Centerline is valid? [True, True] Translation: X:596.40, Y:-296.85, Z:-5.87 [[-7.07442932e-01 -7.06761562e-01 3.54854722e-03 5.96399016e+02] [ 7.06751325e-01 -7.07451807e-01 -3.80870960e-03 -2.96848721e+02] [ 5.20227569e-03 -1.86504232e-04 9.99986451e-01 -5.87099434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters 0.05407913003525808 Centerline is valid? [True, True] Translation: X:596.36, Y:-296.81, Z:-5.87 [[-7.14178471e-01 -6.99955538e-01 3.36987155e-03 5.96359204e+02] [ 6.99946231e-01 -7.14186386e-01 -3.61649729e-03 -2.96805644e+02] [ 4.93810369e-03 -2.24095617e-04 9.99987782e-01 -5.87183569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters 0.05521158559215255 Centerline is valid? [True, True] Translation: X:596.33, Y:-296.76, Z:-5.87 [[-7.16672643e-01 -6.97401968e-01 3.28899700e-03 5.96325394e+02] [ 6.97393078e-01 -7.16680151e-01 -3.52930067e-03 -2.96759216e+02] [ 4.81850010e-03 -2.35629500e-04 9.99988363e-01 -5.87298582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters 0.054778993093746994 Centerline is valid? [True, True] Translation: X:596.28, Y:-296.72, Z:-5.87 [[-7.15988252e-01 -6.98105434e-01 3.10263391e-03 5.96283046e+02] [ 6.98097533e-01 -7.15994941e-01 -3.32846757e-03 -2.96720727e+02] [ 4.54509148e-03 -2.17202598e-04 9.99989647e-01 -5.87278929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters 0.05446473295211928 Centerline is valid? [True, True] Translation: X:596.22, Y:-296.69, Z:-5.87 [[-7.10545310e-01 -7.03646866e-01 2.53973921e-03 5.96223920e+02] [ 7.03641608e-01 -7.10549833e-01 -2.72437728e-03 -2.96693914e+02] [ 3.72161081e-03 -1.48727322e-04 9.99993064e-01 -5.87268399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters 0.053565459327463816 Centerline is valid? [True, True] Translation: X:596.19, Y:-296.65, Z:-5.88 [[-7.00700206e-01 -7.13451510e-01 2.48272206e-03 5.96187623e+02] [ 7.13446548e-01 -7.00704598e-01 -2.66260376e-03 -2.96651407e+02] [ 3.63929344e-03 -9.43975210e-05 9.99993373e-01 -5.87501222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters 0.053286093990850804 Centerline is valid? [True, True] Translation: X:596.14, Y:-296.62, Z:-5.87 [[-6.93091714e-01 -7.20844806e-01 2.57729976e-03 5.96136923e+02] [ 7.20839512e-01 -6.93096503e-01 -2.76319154e-03 -2.96620525e+02] [ 3.77814972e-03 -5.73256560e-05 9.99992861e-01 -5.87342152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters 0.05221738053021174 Centerline is valid? [True, True] Translation: X:596.09, Y:-296.59, Z:-5.87 [[-6.81896356e-01 -7.31444999e-01 2.36078089e-03 5.96090147e+02] [ 7.31440621e-01 -6.81900443e-01 -2.53054359e-03 -2.96586578e+02] [ 3.46077099e-03 1.20258419e-06 9.99994012e-01 -5.87476185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters 0.05229823924685963 Centerline is valid? [True, True] Translation: X:596.04, Y:-296.55, Z:-5.87 [[-6.75476763e-01 -7.37379605e-01 1.56849293e-03 5.96043551e+02] [ 7.37377690e-01 -6.75478584e-01 -1.68083326e-03 -2.96551157e+02] [ 2.29889555e-03 2.12078877e-05 9.99997357e-01 -5.87442439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters 0.0522682088566794 Centerline is valid? [True, True] Translation: X:596.00, Y:-296.52, Z:-5.87 [[-6.67617443e-01 -7.44502730e-01 1.62336146e-03 5.95996930e+02] [ 7.44500700e-01 -6.67619415e-01 -1.73919646e-03 -2.96518402e+02] [ 2.37862414e-03 4.74758500e-05 9.99997170e-01 -5.87462452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters 0.052565536020378764 Centerline is valid? [True, True] Translation: X:595.95, Y:-296.48, Z:-5.88 [[-6.65552535e-01 -7.46348091e-01 2.08554336e-03 5.95954837e+02] [ 7.46344752e-01 -6.65555799e-01 -2.23373535e-03 -2.96480414e+02] [ 3.05518959e-03 6.98661183e-05 9.99995330e-01 -5.87530543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters 0.05392873655778813 Centerline is valid? [True, True] Translation: X:595.91, Y:-296.45, Z:-5.88 [[-6.60790999e-01 -7.50561939e-01 3.46856035e-03 5.95908439e+02] [ 7.50552765e-01 -6.60800086e-01 -3.71391610e-03 -2.96447061e+02] [ 5.07954905e-03 1.49215229e-04 9.99987088e-01 -5.87786436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters 0.05235931502260715 Centerline is valid? [True, True] Translation: X:595.87, Y:-296.40, Z:-5.88 [[-6.58687637e-01 -7.52399136e-01 5.11242667e-03 5.95874202e+02] [ 7.52379268e-01 -6.58707433e-01 -5.47312318e-03 -2.96399793e+02] [ 7.48556660e-03 2.41405260e-04 9.99971954e-01 -5.87675041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters 0.05321569377023108 Centerline is valid? [True, True] Translation: X:595.83, Y:-296.36, Z:-5.88 [[-6.59727446e-01 -7.51476193e-01 6.57477981e-03 5.95831424e+02] [ 7.51443305e-01 -6.59760140e-01 -7.03688860e-03 -2.96360772e+02] [ 9.62583190e-03 2.98145730e-04 9.99953626e-01 -5.87903215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters 0.05352235339010944 Centerline is valid? [True, True] Translation: X:595.79, Y:-296.32, Z:-5.88 [[-6.63554543e-01 -7.48087375e-01 7.78765345e-03 5.95794000e+02] [ 7.48041024e-01 -6.63600174e-01 -8.33275821e-03 -2.96317765e+02] [ 1.14015194e-02 2.96244704e-04 9.99934957e-01 -5.88178751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters 0.05313571631986041 Centerline is valid? [True, True] Translation: X:595.76, Y:-296.27, Z:-5.88 [[-6.66909280e-01 -7.45094309e-01 8.15371956e-03 5.95759851e+02] [ 7.45043295e-01 -6.66959072e-01 -8.72267934e-03 -2.96270749e+02] [ 1.19374160e-02 2.57638287e-04 9.99928713e-01 -5.88077885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters 0.05270440606665097 Centerline is valid? [True, True] Translation: X:595.73, Y:-296.22, Z:-5.88 [[-6.71886566e-01 -7.40607457e-01 8.30882384e-03 5.95727849e+02] [ 7.40554169e-01 -6.71937914e-01 -8.88607273e-03 -2.96222458e+02] [ 1.21641055e-02 1.82701243e-04 9.99925998e-01 -5.87862280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters 0.05249258008903963 Centerline is valid? [True, True] Translation: X:595.69, Y:-296.18, Z:-5.88 [[-6.75388614e-01 -7.37426058e-01 7.28206398e-03 5.95694425e+02] [ 7.37384963e-01 -6.75427862e-01 -7.78585863e-03 -2.96175355e+02] [ 1.06600039e-02 1.11204208e-04 9.99943174e-01 -5.87751499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters 0.052327463637655815 Centerline is valid? [True, True] Translation: X:595.66, Y:-296.13, Z:-5.88 [[-6.76181070e-01 -7.36707762e-01 6.39011767e-03 5.95658923e+02] [ 7.36676104e-01 -6.76211258e-01 -6.83024829e-03 -2.96130722e+02] [ 9.35296644e-03 8.89623893e-05 9.99956256e-01 -5.87650527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters 0.051475603061312596 Centerline is valid? [True, True] Translation: X:595.62, Y:-296.09, Z:-5.88 [[-6.74973139e-01 -7.37821467e-01 5.54468052e-03 5.95623488e+02] [ 7.37797685e-01 -6.74995907e-01 -5.92476333e-03 -2.96085742e+02] [ 8.11405423e-03 9.17963465e-05 9.99967076e-01 -5.87566247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters 0.05161412739269324 Centerline is valid? [True, True] Translation: X:595.59, Y:-296.04, Z:-5.88 [[-6.74286104e-01 -7.38445283e-01 6.06741512e-03 5.95587000e+02] [ 7.38416845e-01 -6.74313393e-01 -6.48159269e-03 -2.96040450e+02] [ 8.87764082e-03 1.09833644e-04 9.99960587e-01 -5.87659533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters 0.05156724211048568 Centerline is valid? [True, True] Translation: X:595.55, Y:-296.00, Z:-5.88 [[-6.75331216e-01 -7.37488743e-01 6.17272972e-03 5.95551720e+02] [ 7.37459288e-01 -6.75359419e-01 -6.59202202e-03 -2.95996409e+02] [ 9.03035318e-03 1.00338616e-04 9.99959221e-01 -5.87720929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters 0.05192077304174314 Centerline is valid? [True, True] Translation: X:595.52, Y:-295.95, Z:-5.88 [[-6.76814014e-01 -7.36131377e-01 5.77817636e-03 5.95515225e+02] [ 7.36105533e-01 -6.76838674e-01 -6.16881513e-03 -2.95954015e+02] [ 8.45195160e-03 7.82070623e-05 9.99964279e-01 -5.87787786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters 0.050946481720323886 Centerline is valid? [True, True] Translation: X:595.48, Y:-295.91, Z:-5.87 [[-6.79029136e-01 -7.34091560e-01 5.38645795e-03 5.95481703e+02] [ 7.34069049e-01 -6.79050498e-01 -5.74909899e-03 -2.95905547e+02] [ 7.87804199e-03 5.02263482e-05 9.99968966e-01 -5.87403480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters 0.05209604495722472 Centerline is valid? [True, True] Translation: X:595.45, Y:-295.86, Z:-5.87 [[-6.81202479e-01 -7.32080748e-01 4.57830756e-03 5.95446404e+02] [ 7.32064449e-01 -6.81217863e-01 -4.88528651e-03 -2.95859845e+02] [ 6.69524910e-03 2.37469196e-05 9.99977586e-01 -5.87259910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters 0.05166672333375736 Centerline is valid? [True, True] Translation: X:595.41, Y:-295.82, Z:-5.87 [[-6.82938935e-01 -7.30462468e-01 4.35818523e-03 5.95407945e+02] [ 7.30447670e-01 -6.82952841e-01 -4.64952160e-03 -2.95815140e+02] [ 6.37273601e-03 8.08692161e-06 9.99979694e-01 -5.87316187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters 0.05158711992154536 Centerline is valid? [True, True] Translation: X:595.37, Y:-295.77, Z:-5.88 [[-6.84670481e-01 -7.28840505e-01 4.22509055e-03 5.95372973e+02] [ 7.28826575e-01 -6.84683517e-01 -4.50614004e-03 -2.95771228e+02] [ 6.17710724e-03 -5.86279204e-06 9.99980921e-01 -5.87601608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters 0.05161040312754839 Centerline is valid? [True, True] Translation: X:595.34, Y:-295.73, Z:-5.87 [[-6.83565523e-01 -7.29877957e-01 4.04277317e-03 5.95335513e+02] [ 7.29865228e-01 -6.83577478e-01 -4.31050137e-03 -2.95726663e+02] [ 5.90968862e-03 4.16943163e-06 9.99982538e-01 -5.87369874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters 0.051027410551239556 Centerline is valid? [True, True] Translation: X:595.30, Y:-295.69, Z:-5.87 [[-6.81113746e-01 -7.32166506e-01 4.03384851e-03 5.95296531e+02] [ 7.32153881e-01 -6.81125691e-01 -4.29973505e-03 -2.95685249e+02] [ 5.89567985e-03 2.47891957e-05 9.99982620e-01 -5.87470663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters 0.051129120422423104 Centerline is valid? [True, True] Translation: X:595.26, Y:-295.64, Z:-5.88 [[-6.75495754e-01 -7.37351123e-01 4.33689979e-03 5.95255955e+02] [ 7.37336641e-01 -6.75509672e-01 -4.62185140e-03 -2.95644184e+02] [ 6.33754507e-03 7.57141260e-05 9.99979915e-01 -5.87581513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters 0.050964840511424955 Centerline is valid? [True, True] Translation: X:595.22, Y:-295.60, Z:-5.88 [[-6.71641039e-01 -7.40862472e-01 4.59477540e-03 5.95216487e+02] [ 7.40846307e-01 -6.71656746e-01 -4.89536281e-03 -2.95601816e+02] [ 6.71290249e-03 1.16095820e-04 9.99977461e-01 -5.87605910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters 0.052034221281771466 Centerline is valid? [True, True] Translation: X:595.17, Y:-295.56, Z:-5.88 [[-6.66270220e-01 -7.45698231e-01 4.25933370e-03 5.95174852e+02] [ 7.45684445e-01 -6.66283817e-01 -4.53701049e-03 -2.95563039e+02] [ 6.22116581e-03 1.53243908e-04 9.99980637e-01 -5.87604330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters 0.051129128201475214 Centerline is valid? [True, True] Translation: X:595.14, Y:-295.52, Z:-5.87 [[-6.62061347e-01 -7.49442500e-01 3.27288780e-03 5.95135435e+02] [ 7.49434410e-01 -6.62069421e-01 -3.48520961e-03 -2.95523270e+02] [ 4.77884313e-03 1.45392168e-04 9.99988571e-01 -5.87485725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters 0.050576436298721834 Centerline is valid? [True, True] Translation: X:595.10, Y:-295.48, Z:-5.87 [[-6.60388932e-01 -7.50917905e-01 2.95939494e-03 5.95101419e+02] [ 7.50911309e-01 -6.60395548e-01 -3.15052809e-03 -2.95476577e+02] [ 4.32015919e-03 1.41669245e-04 9.99990658e-01 -5.87348822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters 0.05058159953551725 Centerline is valid? [True, True] Translation: X:595.06, Y:-295.44, Z:-5.88 [[-6.60788871e-01 -7.50558848e-01 4.41396169e-03 5.95062190e+02] [ 7.50544176e-01 -6.60803580e-01 -4.69766190e-03 -2.95436111e+02] [ 6.44263339e-03 2.08710538e-04 9.99979224e-01 -5.87540040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters 0.050753343413045666 Centerline is valid? [True, True] Translation: X:595.03, Y:-295.39, Z:-5.88 [[-6.63315250e-01 -7.48318628e-01 5.66661569e-03 5.95027605e+02] [ 7.48294372e-01 -6.63339410e-01 -6.02981342e-03 -2.95389402e+02] [ 8.27111122e-03 2.40629431e-04 9.99965765e-01 -5.87584634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters 0.050745553137295174 Centerline is valid? [True, True] Translation: X:594.99, Y:-295.34, Z:-5.88 [[-6.68481733e-01 -7.43694414e-01 7.12680625e-03 5.94991772e+02] [ 7.43655796e-01 -6.68519682e-01 -7.58232837e-03 -2.95344095e+02] [ 1.04033455e-02 2.31242762e-04 9.99945857e-01 -5.87664566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters 0.051478547060880724 Centerline is valid? [True, True] Translation: X:594.95, Y:-295.30, Z:-5.88 [[-6.71091113e-01 -7.41344742e-01 6.68517948e-03 5.94952552e+02] [ 7.41310665e-01 -6.71124384e-01 -7.11044533e-03 -2.95303637e+02] [ 9.75787822e-03 1.84038180e-04 9.99952374e-01 -5.87722872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters 0.051474305274773355 Centerline is valid? [True, True] Translation: X:594.92, Y:-295.26, Z:-5.87 [[-6.75233777e-01 -7.37581055e-01 5.79089112e-03 5.94916958e+02] [ 7.37555360e-01 -6.75258598e-01 -6.15768129e-03 -2.95257432e+02] [ 8.45213808e-03 1.13228389e-04 9.99964274e-01 -5.87309864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters 0.051367810353823685 Centerline is valid? [True, True] Translation: X:594.88, Y:-295.21, Z:-5.87 [[-6.81606939e-01 -7.31701213e-01 5.03148636e-03 5.94879259e+02] [ 7.31681660e-01 -6.81625508e-01 -5.34929664e-03 -2.95212824e+02] [ 7.34367629e-03 3.53285875e-05 9.99973034e-01 -5.87215603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters 0.05125288804531246 Centerline is valid? [True, True] Translation: X:594.84, Y:-295.17, Z:-5.87 [[-6.89070462e-01 -7.24678988e-01 4.71835068e-03 5.94843195e+02] [ 7.24661637e-01 -6.89086615e-01 -5.01481065e-03 -2.95170224e+02] [ 6.88548021e-03 -3.63501603e-05 9.99976294e-01 -5.87027045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters 0.05182237249335439 Centerline is valid? [True, True] Translation: X:594.81, Y:-295.13, Z:-5.87 [[-6.93371121e-01 -7.20567306e-01 4.38703724e-03 5.94805917e+02] [ 7.20552232e-01 -6.93384995e-01 -4.66144504e-03 -2.95126216e+02] [ 6.40079070e-03 -7.10218979e-05 9.99979512e-01 -5.87082876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters 0.05268563603953494 Centerline is valid? [True, True] Translation: X:594.77, Y:-295.08, Z:-5.87 [[-6.96675965e-01 -7.17372389e-01 4.41084240e-03 5.94770044e+02] [ 7.17357093e-01 -6.96689920e-01 -4.68565238e-03 -2.95082641e+02] [ 6.43434709e-03 -1.00232309e-04 9.99979294e-01 -5.87224869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters 0.05302463171004837 Centerline is valid? [True, True] Translation: X:594.72, Y:-295.05, Z:-5.87 [[-6.98979545e-01 -7.15125629e-01 4.78861060e-03 5.94719796e+02] [ 7.15107558e-01 -6.98995936e-01 -5.08554968e-03 -2.95050461e+02] [ 6.98402626e-03 -1.30323572e-04 9.99975603e-01 -5.86831776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters 0.05323624877079504 Centerline is valid? [True, True] Translation: X:594.68, Y:-295.01, Z:-5.87 [[-6.98906825e-01 -7.15193361e-01 5.26365518e-03 5.94679966e+02] [ 7.15171532e-01 -6.98926632e-01 -5.58962125e-03 -2.95008338e+02] [ 7.67656879e-03 -1.42208109e-04 9.99970525e-01 -5.86931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters 0.05329230752582572 Centerline is valid? [True, True] Translation: X:594.64, Y:-294.97, Z:-5.87 [[-6.97846980e-01 -7.16226865e-01 5.35446751e-03 5.94635629e+02] [ 7.16204315e-01 -6.97867509e-01 -5.68492769e-03 -2.94969701e+02] [ 7.80840684e-03 -1.32316885e-04 9.99969505e-01 -5.86917248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters 0.05296361838098408 Centerline is valid? [True, True] Translation: X:594.60, Y:-294.93, Z:-5.87 [[-6.95092870e-01 -7.18901231e-01 5.18867466e-03 5.94595179e+02] [ 7.18880134e-01 -6.95112229e-01 -5.50838373e-03 -2.94928961e+02] [ 7.56669505e-03 -9.88031241e-05 9.99971367e-01 -5.87109036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters 0.05267397955840069 Centerline is valid? [True, True] Translation: X:594.55, Y:-294.89, Z:-5.87 [[-6.89908608e-01 -7.23885387e-01 4.00745004e-03 5.94550503e+02] [ 7.23872890e-01 -6.89920246e-01 -4.25357559e-03 -2.94891941e+02] [ 5.84392213e-03 -3.36939663e-05 9.99982924e-01 -5.86969948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters 0.052051775584508415 Centerline is valid? [True, True] Translation: X:594.51, Y:-294.85, Z:-5.87 [[-6.85337213e-01 -7.28218506e-01 3.27294590e-03 5.94507180e+02] [ 7.28210224e-01 -6.85345028e-01 -3.47302121e-03 -2.94854055e+02] [ 4.77221551e-03 3.20199229e-06 9.99988613e-01 -5.86939990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters 0.05176569720236087 Centerline is valid? [True, True] Translation: X:594.46, Y:-294.82, Z:-5.87 [[-6.77817198e-01 -7.35224020e-01 3.07987311e-03 5.94460672e+02] [ 7.35216762e-01 -6.77824194e-01 -3.26730501e-03 -2.94820302e+02] [ 4.48981363e-03 4.97388100e-05 9.99989920e-01 -5.86947102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters 0.05133629120863068 Centerline is valid? [True, True] Translation: X:594.42, Y:-294.78, Z:-5.87 [[-6.72976840e-01 -7.39656753e-01 3.17191408e-03 5.94421254e+02] [ 7.39649108e-01 -6.72984310e-01 -3.36388426e-03 -2.94781067e+02] [ 4.62276811e-03 8.22872244e-05 9.99989312e-01 -5.86863958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters 0.05377194956502884 Centerline is valid? [True, True] Translation: X:594.37, Y:-294.75, Z:-5.87 [[-6.66539633e-01 -7.45457615e-01 4.22638987e-03 5.94367342e+02] [ 7.45444165e-01 -6.66553012e-01 -4.48090463e-03 -2.94754928e+02] [ 6.15743737e-03 1.63837145e-04 9.99981029e-01 -5.87300059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters 0.05306222442381794 Centerline is valid? [True, True] Translation: X:594.33, Y:-294.71, Z:-5.87 [[-6.63237948e-01 -7.48385126e-01 5.92684852e-03 5.94328943e+02] [ 7.48358808e-01 -6.63264375e-01 -6.28198294e-03 -2.94712521e+02] [ 8.63241007e-03 2.68959822e-04 9.99962704e-01 -5.87363717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters 0.052125849613168594 Centerline is valid? [True, True] Translation: X:594.29, Y:-294.67, Z:-5.87 [[-6.63110639e-01 -7.48492396e-01 6.58896441e-03 5.94293062e+02] [ 7.48459891e-01 -6.63143305e-01 -6.98208834e-03 -2.94666009e+02] [ 9.59546767e-03 3.01678522e-04 9.99953917e-01 -5.87167936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters 0.0515246550814403 Centerline is valid? [True, True] Translation: X:594.25, Y:-294.62, Z:-5.87 [[-6.64740245e-01 -7.47050515e-01 5.99459982e-03 5.94254048e+02] [ 7.47023559e-01 -6.64767225e-01 -6.35133234e-03 -2.94622749e+02] [ 8.72977958e-03 2.56121077e-04 9.99961862e-01 -5.87058481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters 0.05279731235219099 Centerline is valid? [True, True] Translation: X:594.22, Y:-294.58, Z:-5.87 [[-6.72474415e-01 -7.40101726e-01 5.25332839e-03 5.94216398e+02] [ 7.40080817e-01 -6.72494918e-01 -5.56501790e-03 -2.94580236e+02] [ 7.65151599e-03 1.45555410e-04 9.99970716e-01 -5.87048249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters 0.051974550798369275 Centerline is valid? [True, True] Translation: X:594.18, Y:-294.54, Z:-5.87 [[-6.77793720e-01 -7.35231177e-01 5.54882067e-03 5.94179255e+02] [ 7.35207699e-01 -6.77816426e-01 -5.87640614e-03 -2.94535995e+02] [ 8.08159880e-03 9.65444965e-05 9.99967339e-01 -5.87066563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters 0.052971495440523084 Centerline is valid? [True, True] Translation: X:594.15, Y:-294.49, Z:-5.87 [[-6.85665377e-01 -7.27892764e-01 5.92585591e-03 5.94145367e+02] [ 7.27865726e-01 -6.85690983e-01 -6.27385393e-03 -2.94490069e+02] [ 8.62999884e-03 1.14629999e-05 9.99962761e-01 -5.87056366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters 0.05286498640393184 Centerline is valid? [True, True] Translation: X:594.11, Y:-294.45, Z:-5.87 [[-6.89547610e-01 -7.24217509e-01 5.75268165e-03 5.94108629e+02] [ 7.24191914e-01 -6.89571605e-01 -6.08879512e-03 -2.94445462e+02] [ 8.37649796e-03 -3.24685915e-05 9.99964916e-01 -5.86975744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters 0.05256633025538942 Centerline is valid? [True, True] Translation: X:594.07, Y:-294.40, Z:-5.87 [[-6.91781308e-01 -7.22071775e-01 7.13957066e-03 5.94069465e+02] [ 7.22032257e-01 -6.91818145e-01 -7.55465853e-03 -2.94403079e+02] [ 1.03942902e-02 -7.11712368e-05 9.99945975e-01 -5.86927996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters 0.05342640358337076 Centerline is valid? [True, True] Translation: X:594.03, Y:-294.36, Z:-5.87 [[-6.91410493e-01 -7.22428503e-01 6.97051006e-03 5.94028479e+02] [ 7.22390877e-01 -6.91445626e-01 -7.37338801e-03 -2.94364585e+02] [ 1.01464744e-02 -6.26049582e-05 9.99948521e-01 -5.86590572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters 0.05343484885568667 Centerline is valid? [True, True] Translation: X:593.99, Y:-294.32, Z:-5.87 [[-6.89692223e-01 -7.24072024e-01 6.65900878e-03 5.93990266e+02] [ 7.24037781e-01 -6.89724368e-01 -7.04186406e-03 -2.94323671e+02] [ 9.69169738e-03 -3.53449388e-05 9.99953034e-01 -5.86865547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters 0.052878078335707956 Centerline is valid? [True, True] Translation: X:593.95, Y:-294.29, Z:-5.87 [[-6.86120955e-01 -7.27456981e-01 6.66148965e-03 5.93948048e+02] [ 7.27422891e-01 -6.86153292e-01 -7.04249799e-03 -2.94285284e+02] [ 9.69391738e-03 1.37146119e-05 9.99953013e-01 -5.86779022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters 0.05234286050038844 Centerline is valid? [True, True] Translation: X:593.91, Y:-294.25, Z:-5.87 [[-6.81822183e-01 -7.31492651e-01 6.08371676e-03 5.93905175e+02] [ 7.31464394e-01 -6.81849321e-01 -6.42995428e-03 -2.94245448e+02] [ 8.85164244e-03 6.59367252e-05 9.99960821e-01 -5.86622521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters 0.05290038281405776 Centerline is valid? [True, True] Translation: X:593.86, Y:-294.21, Z:-5.87 [[-6.79081554e-01 -7.34040460e-01 5.73116726e-03 5.93862059e+02] [ 7.34015487e-01 -6.79105731e-01 -6.05564446e-03 -2.94207759e+02] [ 8.33715658e-03 9.44890799e-05 9.99965241e-01 -5.86810480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters 0.0526251681288281 Centerline is valid? [True, True] Translation: X:593.82, Y:-294.17, Z:-5.87 [[-6.76056619e-01 -7.36828371e-01 5.60351132e-03 5.93821577e+02] [ 7.36804607e-01 -6.76079830e-01 -5.91904109e-03 -2.94166959e+02] [ 8.14973838e-03 1.27086043e-04 9.99966782e-01 -5.86610425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters 0.052101335628918354 Centerline is valid? [True, True] Translation: X:593.78, Y:-294.13, Z:-5.87 [[-6.74428410e-01 -7.38320698e-01 5.37278493e-03 5.93779790e+02] [ 7.38298908e-01 -6.74449796e-01 -5.67405765e-03 -2.94129266e+02] [ 7.81294791e-03 1.39975565e-04 9.99969469e-01 -5.86645352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters 0.05301822125482756 Centerline is valid? [True, True] Translation: X:593.74, Y:-294.09, Z:-5.87 [[-6.74341102e-01 -7.38398117e-01 5.68325718e-03 5.93739221e+02] [ 7.38373755e-01 -6.74365033e-01 -5.99998617e-03 -2.94091370e+02] [ 8.26296840e-03 1.50330657e-04 9.99965850e-01 -5.86830839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters 0.05236919339607316 Centerline is valid? [True, True] Translation: X:593.70, Y:-294.05, Z:-5.87 [[-6.75642968e-01 -7.37202205e-01 6.28397185e-03 5.93704146e+02] [ 7.37172386e-01 -6.75672174e-01 -6.63231738e-03 -2.94046011e+02] [ 9.13526392e-03 1.51291921e-04 9.99958261e-01 -5.86735655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters 0.052244053302616916 Centerline is valid? [True, True] Translation: X:593.67, Y:-294.00, Z:-5.87 [[-6.76757764e-01 -7.36170685e-01 7.18691490e-03 5.93667484e+02] [ 7.36131644e-01 -6.76795906e-01 -7.58320872e-03 -2.94002111e+02] [ 1.04466105e-02 1.58520105e-04 9.99945420e-01 -5.86715367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters 0.052364729943260066 Centerline is valid? [True, True] Translation: X:593.63, Y:-293.96, Z:-5.87 [[-6.77964214e-01 -7.35048173e-01 8.28901452e-03 5.93630578e+02] [ 7.34996187e-01 -6.78014864e-01 -8.74349972e-03 -2.93958732e+02] [ 1.20469685e-02 1.64614156e-04 9.99927419e-01 -5.86792771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters 0.05286058747855638 Centerline is valid? [True, True] Translation: X:593.59, Y:-293.92, Z:-5.87 [[-6.78275164e-01 -7.34761542e-01 8.26304296e-03 5.93592988e+02] [ 7.34709891e-01 -6.78325475e-01 -8.71355003e-03 -2.93915371e+02] [ 1.20074140e-02 1.60754816e-04 9.99927895e-01 -5.86848584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters 0.0526221103825539 Centerline is valid? [True, True] Translation: X:593.55, Y:-293.88, Z:-5.88 [[-6.77967681e-01 -7.35037432e-01 8.93295945e-03 5.93550870e+02] [ 7.34977113e-01 -6.78026505e-01 -9.41819582e-03 -2.93877432e+02] [ 1.29795097e-02 1.80288371e-04 9.99915746e-01 -5.87521564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters 0.051777537214252635 Centerline is valid? [True, True] Translation: X:593.52, Y:-293.83, Z:-5.87 [[-6.77547930e-01 -7.35429574e-01 8.49378020e-03 5.93520109e+02] [ 7.35375103e-01 -6.77601143e-01 -8.95254395e-03 -2.93828150e+02] [ 1.23393608e-02 1.80336869e-04 9.99923851e-01 -5.86756866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters 0.05194431019115616 Centerline is valid? [True, True] Translation: X:593.48, Y:-293.79, Z:-5.87 [[-6.77146495e-01 -7.35804070e-01 8.06192742e-03 5.93481544e+02] [ 7.35755054e-01 -6.77194461e-01 -8.49488575e-03 -2.93786234e+02] [ 1.17100641e-02 1.79321734e-04 9.99931419e-01 -5.86753877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters 0.05142153686079247 Centerline is valid? [True, True] Translation: X:593.44, Y:-293.75, Z:-5.87 [[-6.76330572e-01 -7.36562460e-01 7.25949857e-03 5.93443196e+02] [ 7.36522784e-01 -6.76369508e-01 -7.64702443e-03 -2.93745008e+02] [ 1.05426146e-02 1.74869688e-04 9.99944410e-01 -5.86752539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters 0.051335344441061845 Centerline is valid? [True, True] Translation: X:593.40, Y:-293.70, Z:-5.87 [[-6.74847280e-01 -7.37929968e-01 6.36473903e-03 5.93403961e+02] [ 7.37899548e-01 -6.74877272e-01 -6.70258746e-03 -2.93702827e+02] [ 9.24145786e-03 1.73315136e-04 9.99957282e-01 -5.86744740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters 0.051924033755799646 Centerline is valid? [True, True] Translation: X:593.36, Y:-293.66, Z:-5.87 [[-6.71867640e-01 -7.40647715e-01 5.90217985e-03 5.93363575e+02] [ 7.40621677e-01 -6.71893536e-01 -6.21352998e-03 -2.93664101e+02] [ 8.56767327e-03 1.96612607e-04 9.99963277e-01 -5.86925783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters 0.051135216070438604 Centerline is valid? [True, True] Translation: X:593.33, Y:-293.62, Z:-5.87 [[-6.69098149e-01 -7.43148193e-01 6.19925679e-03 5.93330694e+02] [ 7.43119590e-01 -6.69126823e-01 -6.52455515e-03 -2.93615733e+02] [ 8.99680037e-03 2.41221397e-04 9.99959499e-01 -5.86663629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters 0.05101274284964321 Centerline is valid? [True, True] Translation: X:593.29, Y:-293.57, Z:-5.87 [[-6.67340962e-01 -7.44723167e-01 6.59128216e-03 5.93292077e+02] [ 7.44690926e-01 -6.67373454e-01 -6.93534019e-03 -2.93573056e+02] [ 9.56375525e-03 2.80231418e-04 9.99954227e-01 -5.86687153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters 0.0510094179922677 Centerline is valid? [True, True] Translation: X:593.25, Y:-293.53, Z:-5.87 [[-6.65679732e-01 -7.46206123e-01 6.84955742e-03 5.93253113e+02] [ 7.46171397e-01 -6.65714897e-01 -7.20574326e-03 -2.93531486e+02] [ 9.93682215e-03 3.14226586e-04 9.99950579e-01 -5.86758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters 0.050993604438122606 Centerline is valid? [True, True] Translation: X:593.22, Y:-293.49, Z:-5.87 [[-6.64593536e-01 -7.47173752e-01 6.84230047e-03 5.93216131e+02] [ 7.47139168e-01 -6.64628676e-01 -7.19638534e-03 -2.93486449e+02] [ 9.92453933e-03 3.29479501e-04 9.99950696e-01 -5.86684587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters 0.0506721439011743 Centerline is valid? [True, True] Translation: X:593.18, Y:-293.44, Z:-5.87 [[-6.64415159e-01 -7.47334173e-01 6.64300810e-03 5.93179814e+02] [ 7.47301598e-01 -6.64448289e-01 -6.98519479e-03 -2.93440217e+02] [ 9.63421014e-03 3.23261263e-04 9.99953538e-01 -5.86658182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters 0.05099016302793668 Centerline is valid? [True, True] Translation: X:593.14, Y:-293.40, Z:-5.87 [[-6.65634277e-01 -7.46246599e-01 6.85729002e-03 5.93139176e+02] [ 7.46211848e-01 -6.65669522e-01 -7.20874075e-03 -2.93399057e+02] [ 9.94418723e-03 3.18606122e-04 9.99950505e-01 -5.86778191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters 0.05080667350590381 Centerline is valid? [True, True] Translation: X:593.10, Y:-293.35, Z:-5.87 [[-6.68597110e-01 -7.43595990e-01 6.55050938e-03 5.93102225e+02] [ 7.43564168e-01 -6.68629144e-01 -6.88449303e-03 -2.93353869e+02] [ 9.49914289e-03 2.67771910e-04 9.99954846e-01 -5.86708676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters 0.0506434286522652 Centerline is valid? [True, True] Translation: X:593.07, Y:-293.31, Z:-5.87 [[-6.69033521e-01 -7.43207318e-01 6.08517372e-03 5.93065256e+02] [ 7.43179854e-01 -6.69061150e-01 -6.39398234e-03 -2.93308343e+02] [ 8.82340779e-03 2.44589997e-04 9.99961043e-01 -5.86588295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters 0.0510120987386927 Centerline is valid? [True, True] Translation: X:593.02, Y:-293.27, Z:-5.87 [[-6.70526363e-01 -7.41860927e-01 6.06313732e-03 5.93023457e+02] [ 7.41833612e-01 -6.70553737e-01 -6.37011356e-03 -2.93269131e+02] [ 8.79139774e-03 2.26509987e-04 9.99961329e-01 -5.86781654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters 0.05050759113378625 Centerline is valid? [True, True] Translation: X:592.99, Y:-293.22, Z:-5.87 [[-6.71356850e-01 -7.41109232e-01 6.08986570e-03 5.92986347e+02] [ 7.41081658e-01 -6.71384434e-01 -6.39664274e-03 -2.93224152e+02] [ 8.82925203e-03 2.18657849e-04 9.99960997e-01 -5.86697639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters 0.05083453462544508 Centerline is valid? [True, True] Translation: X:592.95, Y:-293.18, Z:-5.87 [[-6.74162492e-01 -7.38559551e-01 5.89281781e-03 5.92949069e+02] [ 7.38533647e-01 -6.74188221e-01 -6.18823036e-03 -2.93178197e+02] [ 8.54324499e-03 1.80171428e-04 9.99963490e-01 -5.86634133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters 0.05095097269416369 Centerline is valid? [True, True] Translation: X:592.91, Y:-293.14, Z:-5.87 [[-6.78999695e-01 -7.34117418e-01 5.57059018e-03 5.92910615e+02] [ 7.34094131e-01 -6.79022535e-01 -5.84837653e-03 -2.93136097e+02] [ 8.07595134e-03 1.18291676e-04 9.99967382e-01 -5.86740540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters 0.050690449934147154 Centerline is valid? [True, True] Translation: X:592.87, Y:-293.09, Z:-5.87 [[-6.81693854e-01 -7.31619913e-01 5.07872378e-03 5.92871866e+02] [ 7.31600497e-01 -6.81712767e-01 -5.33066228e-03 -2.93092733e+02] [ 7.36224952e-03 8.17171266e-05 9.99972895e-01 -5.86685760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters 0.050921415956382006 Centerline is valid? [True, True] Translation: X:592.83, Y:-293.05, Z:-5.87 [[-6.83389202e-01 -7.30039235e-01 4.68129530e-03 5.92832228e+02] [ 7.30022711e-01 -6.83405232e-01 -4.91221514e-03 -2.93050495e+02] [ 6.78533149e-03 6.04971076e-05 9.99976978e-01 -5.86712299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters 0.05127367888983881 Centerline is valid? [True, True] Translation: X:592.79, Y:-293.01, Z:-5.87 [[-6.84242602e-01 -7.29238047e-01 4.89204079e-03 5.92791343e+02] [ 7.29219991e-01 -6.84260087e-01 -5.13199180e-03 -2.93008917e+02] [ 7.08987193e-03 5.58465191e-05 9.99974865e-01 -5.86770909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters 0.05117543216312207 Centerline is valid? [True, True] Translation: X:592.75, Y:-292.97, Z:-5.87 [[-6.84341980e-01 -7.29141841e-01 5.31323329e-03 5.92750176e+02] [ 7.29120551e-01 -6.84362603e-01 -5.57227913e-03 -2.92969533e+02] [ 7.69916003e-03 6.06430583e-05 9.99970359e-01 -5.86993774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters 0.05126401518196148 Centerline is valid? [True, True] Translation: X:592.71, Y:-292.93, Z:-5.87 [[-6.84486281e-01 -7.29004701e-01 5.53879153e-03 5.92711551e+02] [ 7.28981574e-01 -6.84508687e-01 -5.80713144e-03 -2.92927066e+02] [ 8.02477704e-03 6.27751664e-05 9.99967799e-01 -5.86803139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters 0.051544906682140824 Centerline is valid? [True, True] Translation: X:592.67, Y:-292.89, Z:-5.87 [[-6.83666898e-01 -7.29773270e-01 5.52697207e-03 5.92669835e+02] [ 7.29750277e-01 -6.83689235e-01 -5.79342925e-03 -2.92889100e+02] [ 8.00662111e-03 7.25335931e-05 9.99967944e-01 -5.86867411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters 0.05093992131456672 Centerline is valid? [True, True] Translation: X:592.63, Y:-292.85, Z:-5.87 [[-6.83068741e-01 -7.30331074e-01 5.79804676e-03 5.92629272e+02] [ 7.30305803e-01 -6.83093343e-01 -6.07599605e-03 -2.92847042e+02] [ 8.39809586e-03 8.40242197e-05 9.99964732e-01 -5.86653537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters 0.05109440313276949 Centerline is valid? [True, True] Translation: X:592.59, Y:-292.81, Z:-5.87 [[-6.83052953e-01 -7.30343958e-01 6.03035916e-03 5.92588998e+02] [ 7.30316639e-01 -6.83079567e-01 -6.31760841e-03 -2.92806817e+02] [ 8.73324225e-03 8.88105487e-05 9.99961861e-01 -5.86707218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters 0.05186197989256789 Centerline is valid? [True, True] Translation: X:592.55, Y:-292.76, Z:-5.87 [[-6.83706036e-01 -7.29733478e-01 5.92516220e-03 5.92549520e+02] [ 7.29707095e-01 -6.83731705e-01 -6.20574863e-03 -2.92764914e+02] [ 8.57976378e-03 8.07251040e-05 9.99963190e-01 -5.86549434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters 0.0516803034911663 Centerline is valid? [True, True] Translation: X:592.51, Y:-292.72, Z:-5.86 [[-6.85028134e-01 -7.28490982e-01 6.11094086e-03 5.92508797e+02] [ 7.28462884e-01 -6.85055387e-01 -6.39865466e-03 -2.92723790e+02] [ 8.84769518e-03 6.83351348e-05 9.99960856e-01 -5.86449434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters 0.051901804866855104 Centerline is valid? [True, True] Translation: X:592.47, Y:-292.68, Z:-5.87 [[-6.86011075e-01 -7.27563220e-01 6.36906671e-03 5.92468290e+02] [ 7.27532675e-01 -6.86040638e-01 -6.66705859e-03 -2.92683702e+02] [ 9.22014521e-03 6.00281084e-05 9.99957492e-01 -5.86562322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters 0.051967779067388184 Centerline is valid? [True, True] Translation: X:592.43, Y:-292.64, Z:-5.86 [[-6.86383940e-01 -7.27210884e-01 6.43567757e-03 5.92428206e+02] [ 7.27179698e-01 -6.86414108e-01 -6.73498793e-03 -2.92641146e+02] [ 9.31529640e-03 5.71065200e-05 9.99956610e-01 -5.86465744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters 0.05242391112861105 Centerline is valid? [True, True] Translation: X:592.39, Y:-292.60, Z:-5.86 [[-6.87718947e-01 -7.25942145e-01 7.11697596e-03 5.92388115e+02] [ 7.25903959e-01 -6.87755770e-01 -7.44594994e-03 -2.92598892e+02] [ 1.03000702e-02 4.55201693e-05 9.99946952e-01 -5.86424477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters 0.05250355878854859 Centerline is valid? [True, True] Translation: X:592.35, Y:-292.56, Z:-5.87 [[-6.88923035e-01 -7.24796368e-01 7.43480053e-03 5.92348503e+02] [ 7.24754653e-01 -6.88963151e-01 -7.77623329e-03 -2.92557704e+02] [ 1.07584892e-02 3.11800361e-05 9.99942125e-01 -5.86526025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters 0.052007901526970046 Centerline is valid? [True, True] Translation: X:592.31, Y:-292.52, Z:-5.87 [[-6.89974015e-01 -7.23792097e-01 7.80116271e-03 5.92309700e+02] [ 7.23746134e-01 -6.90018115e-01 -8.15685604e-03 -2.92516863e+02] [ 1.12868115e-02 1.80426363e-05 9.99936302e-01 -5.86581495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters 0.05257542282467435 Centerline is valid? [True, True] Translation: X:592.27, Y:-292.47, Z:-5.86 [[-6.90864698e-01 -7.22942528e-01 7.75056154e-03 5.92270988e+02] [ 7.22897132e-01 -6.90908172e-01 -8.10149684e-03 -2.92474593e+02] [ 1.12118429e-02 5.82054572e-06 9.99937145e-01 -5.86447587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters 0.05325523608009851 Centerline is valid? [True, True] Translation: X:592.23, Y:-292.43, Z:-5.86 [[-6.91908124e-01 -7.21943111e-01 7.82892469e-03 5.92232968e+02] [ 7.21896751e-01 -6.91952415e-01 -8.18150145e-03 -2.92433185e+02] [ 1.13238220e-02 -9.17202474e-06 9.99935883e-01 -5.85936656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters 0.052660399637182366 Centerline is valid? [True, True] Translation: X:592.19, Y:-292.39, Z:-5.86 [[-6.92790136e-01 -7.21102542e-01 7.27678650e-03 5.92193841e+02] [ 7.21062465e-01 -6.92828351e-01 -7.60249962e-03 -2.92390741e+02] [ 1.05237458e-02 -1.99191392e-05 9.99944624e-01 -5.86314530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters 0.05254803323242219 Centerline is valid? [True, True] Translation: X:592.15, Y:-292.35, Z:-5.86 [[-6.94260393e-01 -7.19696503e-01 6.28101611e-03 5.92154455e+02] [ 7.19666604e-01 -6.94288804e-01 -6.56017260e-03 -2.92349766e+02] [ 9.08217244e-03 -3.42304716e-05 9.99958756e-01 -5.86127719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters 0.052506621213583377 Centerline is valid? [True, True] Translation: X:592.12, Y:-292.31, Z:-5.86 [[-6.95527360e-01 -7.18478073e-01 5.56324038e-03 5.92116344e+02] [ 7.18454594e-01 -6.95549608e-01 -5.80864303e-03 -2.92307908e+02] [ 8.04289231e-03 -4.31345430e-05 9.99967655e-01 -5.86068027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters 0.0522461040517404 Centerline is valid? [True, True] Translation: X:592.08, Y:-292.27, Z:-5.86 [[-6.96585594e-01 -7.17448966e-01 5.95745865e-03 5.92079048e+02] [ 7.17422020e-01 -6.96611066e-01 -6.21834443e-03 -2.92265991e+02] [ 8.61137640e-03 -5.75971287e-05 9.99962920e-01 -5.86072058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters 0.05244877283278597 Centerline is valid? [True, True] Translation: X:592.04, Y:-292.23, Z:-5.86 [[-6.98179049e-01 -7.15892000e-01 6.68275301e-03 5.92038041e+02] [ 7.15858040e-01 -6.98211026e-01 -6.97348259e-03 -2.92225943e+02] [ 9.65823223e-03 -8.48369707e-05 9.99953355e-01 -5.85984951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters 0.05305919672562764 Centerline is valid? [True, True] Translation: X:591.99, Y:-292.19, Z:-5.85 [[-6.99589508e-01 -7.14509535e-01 7.11654968e-03 5.91993403e+02] [ 7.14470972e-01 -6.99625695e-01 -7.42413445e-03 -2.92188819e+02] [ 1.02835359e-02 -1.09278402e-04 9.99947117e-01 -5.85405350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters 0.05330638993582091 Centerline is valid? [True, True] Translation: X:591.96, Y:-292.15, Z:-5.86 [[-7.02001285e-01 -7.12136224e-01 7.49625509e-03 5.91955863e+02] [ 7.12093310e-01 -7.02041292e-01 -7.81933827e-03 -2.92145417e+02] [ 1.08311146e-02 -1.51152410e-04 9.99941330e-01 -5.85620472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters 0.053904646607342295 Centerline is valid? [True, True] Translation: X:591.91, Y:-292.11, Z:-5.85 [[-7.03668526e-01 -7.10489630e-01 7.42236786e-03 5.91912336e+02] [ 7.10447485e-01 -7.03707649e-01 -7.74051118e-03 -2.92105923e+02] [ 1.07227300e-02 -1.73551511e-04 9.99942495e-01 -5.85297677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters 0.053813040705180955 Centerline is valid? [True, True] Translation: X:591.88, Y:-292.06, Z:-5.86 [[-7.04921645e-01 -7.09258364e-01 6.16829730e-03 5.91877171e+02] [ 7.09229226e-01 -7.04948614e-01 -6.43093620e-03 -2.92060050e+02] [ 8.90952792e-03 -1.58569401e-04 9.99960297e-01 -5.85657524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters 0.05407983286756033 Centerline is valid? [True, True] Translation: X:591.83, Y:-292.02, Z:-5.85 [[-7.04136991e-01 -7.10042894e-01 5.49419848e-03 5.91832639e+02] [ 7.10019815e-01 -7.04158414e-01 -5.72630104e-03 -2.92024644e+02] [ 7.93470545e-03 -1.31110593e-04 9.99968511e-01 -5.85300343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters 0.05414007735627611 Centerline is valid? [True, True] Translation: X:591.79, Y:-291.98, Z:-5.85 [[-7.00837129e-01 -7.13304347e-01 4.92208768e-03 5.91791767e+02] [ 7.13285915e-01 -7.00854408e-01 -5.12854640e-03 -2.91984455e+02] [ 7.10788128e-03 -8.34199178e-05 9.99974735e-01 -5.85393356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters 0.05357246924113384 Centerline is valid? [True, True] Translation: X:591.75, Y:-291.95, Z:-5.86 [[-6.95682301e-01 -7.18324530e-01 6.00043752e-03 5.91745867e+02] [ 7.18297339e-01 -6.95708177e-01 -6.25022292e-03 -2.91949005e+02] [ 8.66424189e-03 -3.80711607e-05 9.99962464e-01 -5.85518152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters 0.05354307509308889 Centerline is valid? [True, True] Translation: X:591.70, Y:-291.91, Z:-5.85 [[-6.91361766e-01 -7.22471872e-01 7.30089322e-03 5.91702418e+02] [ 7.22431865e-01 -6.91400314e-01 -7.60303765e-03 -2.91913432e+02] [ 1.05408207e-02 1.79483708e-05 9.99944444e-01 -5.85487424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters 0.0534808464593759 Centerline is valid? [True, True] Translation: X:591.66, Y:-291.88, Z:-5.86 [[-6.89895260e-01 -7.23870986e-01 7.43813846e-03 5.91660483e+02] [ 7.23829566e-01 -6.89935355e-01 -7.74367011e-03 -2.91875432e+02] [ 1.07372528e-02 4.16232343e-05 9.99942353e-01 -5.85760114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters 0.053397358145150293 Centerline is valid? [True, True] Translation: X:591.62, Y:-291.84, Z:-5.86 [[-6.88501954e-01 -7.25203268e-01 6.72902388e-03 5.91619523e+02] [ 7.25169456e-01 -6.88534833e-01 -7.00316108e-03 -2.91836030e+02] [ 9.71188263e-03 5.79924995e-05 9.99952837e-01 -5.85521330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters 0.05321159077603137 Centerline is valid? [True, True] Translation: X:591.58, Y:-291.80, Z:-5.86 [[-6.87674493e-01 -7.25991680e-01 6.31452020e-03 5.91578289e+02] [ 7.25961958e-01 -6.87703480e-01 -6.56955246e-03 -2.91798743e+02] [ 9.11195794e-03 6.63877899e-05 9.99958483e-01 -5.85772424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters 0.051726573855733045 Centerline is valid? [True, True] Translation: X:591.54, Y:-291.76, Z:-5.86 [[-6.86708559e-01 -7.26905457e-01 6.30958446e-03 5.91538383e+02] [ 7.26875836e-01 -6.86737541e-01 -6.56273022e-03 -2.91756166e+02] [ 9.10351292e-03 7.96014642e-05 9.99958559e-01 -5.85509741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters 0.05059101264779029 Centerline is valid? [True, True] Translation: X:591.50, Y:-291.71, Z:-5.85 [[-6.85490785e-01 -7.28051312e-01 6.60841817e-03 5.91498735e+02] [ 7.28018889e-01 -6.85522630e-01 -6.87173375e-03 -2.91713604e+02] [ 9.53319498e-03 1.00543100e-04 9.99954553e-01 -5.85444632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters 0.05039464128619949 Centerline is valid? [True, True] Translation: X:591.46, Y:-291.67, Z:-5.85 [[-6.85488674e-01 -7.28047163e-01 7.25302195e-03 5.91459144e+02] [ 7.28008126e-01 -6.85527035e-01 -7.54010471e-03 -2.91670879e+02] [ 1.04616945e-02 1.11602538e-04 9.99945269e-01 -5.85462917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters 0.05077360524119899 Centerline is valid? [True, True] Translation: X:591.42, Y:-291.63, Z:-5.86 [[-6.86328982e-01 -7.27255706e-01 7.18799380e-03 5.91418198e+02] [ 7.27217343e-01 -6.86366614e-01 -7.47048427e-03 -2.91631582e+02] [ 1.03665513e-02 1.00023892e-04 9.99946261e-01 -5.85776800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters 0.050245620160862106 Centerline is valid? [True, True] Translation: X:591.38, Y:-291.59, Z:-5.85 [[-6.88219491e-01 -7.25464785e-01 7.40119737e-03 5.91382308e+02] [ 7.25424029e-01 -6.88259283e-01 -7.69014754e-03 -2.91585762e+02] [ 1.06728740e-02 7.64969812e-05 9.99943040e-01 -5.85425271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters 0.05118205877595331 Centerline is valid? [True, True] Translation: X:591.35, Y:-291.54, Z:-5.85 [[-6.93163716e-01 -7.20744237e-01 7.19780984e-03 5.91346169e+02] [ 7.20705454e-01 -6.93201086e-01 -7.47682823e-03 -2.91540717e+02] [ 1.03784105e-02 4.83477353e-06 9.99946143e-01 -5.85446641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters 0.05118631968376107 Centerline is valid? [True, True] Translation: X:591.31, Y:-291.50, Z:-5.85 [[-6.98155990e-01 -7.15912272e-01 6.91618322e-03 5.91310267e+02] [ 7.15876244e-01 -6.98190243e-01 -7.18250635e-03 -2.91495052e+02] [ 9.97085608e-03 -6.33785639e-05 9.99950288e-01 -5.85403456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters 0.051812205861603594 Centerline is valid? [True, True] Translation: X:591.28, Y:-291.45, Z:-5.85 [[-7.07284756e-01 -7.06897091e-01 6.69158382e-03 5.91275917e+02] [ 7.06862977e-01 -7.07316385e-01 -6.94715785e-03 -2.91448586e+02] [ 9.64399255e-03 -1.83585979e-04 9.99953479e-01 -5.85218317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters 0.05132613981624545 Centerline is valid? [True, True] Translation: X:591.24, Y:-291.41, Z:-5.85 [[-7.13157757e-01 -7.00973551e-01 6.48803128e-03 5.91239570e+02] [ 7.00941252e-01 -7.13187223e-01 -6.73397176e-03 -2.91405487e+02] [ 9.34751711e-03 -2.54655423e-04 9.99956279e-01 -5.85096530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters 0.05181496533530371 Centerline is valid? [True, True] Translation: X:591.20, Y:-291.36, Z:-5.85 [[-7.20378306e-01 -6.93560020e-01 5.44011904e-03 5.91203481e+02] [ 6.93537109e-01 -7.20398787e-01 -5.64499094e-03 -2.91360466e+02] [ 7.83419519e-03 -2.93604571e-04 9.99969269e-01 -5.85023256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters 0.052820134837393944 Centerline is valid? [True, True] Translation: X:591.16, Y:-291.32, Z:-5.85 [[-7.24264122e-01 -6.89500343e-01 5.54612057e-03 5.91156920e+02] [ 6.89476422e-01 -7.24285275e-01 -5.75358956e-03 -2.91324434e+02] [ 7.98407544e-03 -3.43199124e-04 9.99968068e-01 -5.84905618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters 0.0530780382312515 Centerline is valid? [True, True] Translation: X:591.12, Y:-291.28, Z:-5.85 [[-7.25218233e-01 -6.88493177e-01 5.97160116e-03 5.91118947e+02] [ 6.88465423e-01 -7.25242718e-01 -6.19364360e-03 -2.91279314e+02] [ 8.59514162e-03 -3.80502352e-04 9.99962989e-01 -5.84976145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters 0.05284611081028178 Centerline is valid? [True, True] Translation: X:591.08, Y:-291.24, Z:-5.85 [[-7.23660593e-01 -6.90131909e-01 5.77018024e-03 5.91076097e+02] [ 6.90106058e-01 -7.23683514e-01 -5.98335169e-03 -2.91238985e+02] [ 8.30508623e-03 -3.47879489e-04 9.99965452e-01 -5.84932539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters 0.052701453094954546 Centerline is valid? [True, True] Translation: X:591.03, Y:-291.20, Z:-5.85 [[-7.18270974e-01 -6.95746268e-01 4.89261094e-03 5.91030697e+02] [ 6.95727820e-01 -7.18287598e-01 -5.07226168e-03 -2.91201250e+02] [ 7.04330890e-03 -2.39332796e-04 9.99975167e-01 -5.84949173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters 0.053154940421312816 Centerline is valid? [True, True] Translation: X:590.99, Y:-291.16, Z:-5.85 [[-7.16028366e-01 -6.98055944e-01 4.61270064e-03 5.90994788e+02] [ 6.98039603e-01 -7.16043195e-01 -4.78067750e-03 -2.91156423e+02] [ 6.64007325e-03 -2.03252977e-04 9.99977934e-01 -5.85128749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters 0.05223157871561568 Centerline is valid? [True, True] Translation: X:590.95, Y:-291.12, Z:-5.85 [[-7.08978184e-01 -7.05219700e-01 3.88717494e-03 5.90949239e+02] [ 7.05208209e-01 -7.08988831e-01 -4.02743355e-03 -2.91122236e+02] [ 5.59618910e-03 -1.14094845e-04 9.99984335e-01 -5.85124169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters 0.051866087814063176 Centerline is valid? [True, True] Translation: X:590.90, Y:-291.09, Z:-5.85 [[-7.05181299e-01 -7.09019695e-01 3.22595526e-03 5.90900130e+02] [ 7.09011822e-01 -7.05188675e-01 -3.34206890e-03 -2.91087118e+02] [ 4.64449979e-03 -6.95240708e-05 9.99989212e-01 -5.85027170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters 0.052117453087465 Centerline is valid? [True, True] Translation: X:590.86, Y:-291.05, Z:-5.85 [[-7.01930588e-01 -7.12241861e-01 2.23173771e-03 5.90860063e+02] [ 7.12238112e-01 -7.01934135e-01 -2.31141000e-03 -2.91047147e+02] [ 3.21281585e-03 -3.29207295e-05 9.99994838e-01 -5.85284268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters 0.05277169912413916 Centerline is valid? [True, True] Translation: X:590.82, Y:-291.01, Z:-5.85 [[-7.00664614e-01 -7.13485136e-01 2.83888145e-03 5.90815969e+02] [ 7.13479082e-01 -7.00670364e-01 -2.93943855e-03 -2.91009567e+02] [ 4.08636581e-03 -3.40780439e-05 9.99991650e-01 -5.85431273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters 0.052303144111606505 Centerline is valid? [True, True] Translation: X:590.77, Y:-290.97, Z:-5.86 [[-7.01073260e-01 -7.13082734e-01 3.04936302e-03 5.90773883e+02] [ 7.13075750e-01 -7.01079891e-01 -3.15630963e-03 -2.90971653e+02] [ 4.38855699e-03 -3.83774635e-05 9.99990370e-01 -5.85619610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters 0.05255608452559926 Centerline is valid? [True, True] Translation: X:590.74, Y:-290.93, Z:-5.86 [[-7.02089049e-01 -7.12080300e-01 3.55155810e-03 5.90735148e+02] [ 7.12070819e-01 -7.02098030e-01 -3.67494955e-03 -2.90931222e+02] [ 5.11040112e-03 -5.11809524e-05 9.99986941e-01 -5.85819741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters 0.052834294697004576 Centerline is valid? [True, True] Translation: X:590.69, Y:-290.90, Z:-5.86 [[-7.03424776e-01 -7.10764978e-01 2.59444218e-03 5.90688921e+02] [ 7.10759912e-01 -7.03429559e-01 -2.68383633e-03 -2.90895094e+02] [ 3.73258419e-03 -4.38514760e-05 9.99993033e-01 -5.85601007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters 0.05327249574865849 Centerline is valid? [True, True] Translation: X:590.65, Y:-290.85, Z:-5.86 [[-7.04509944e-01 -7.09688598e-01 2.79858370e-03 5.90648779e+02] [ 7.09682697e-01 -7.04515501e-01 -2.89474336e-03 -2.90854014e+02] [ 4.02601195e-03 -5.32690549e-05 9.99991894e-01 -5.85720678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters 0.05330557547942576 Centerline is valid? [True, True] Translation: X:590.61, Y:-290.81, Z:-5.86 [[-7.03745661e-01 -7.10444124e-01 3.34522590e-03 5.90608488e+02] [ 7.10435703e-01 -7.03753609e-01 -3.45972731e-03 -2.90811948e+02] [ 4.81215774e-03 -5.82001693e-05 9.99988420e-01 -5.85895833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters 0.052788260982389236 Centerline is valid? [True, True] Translation: X:590.57, Y:-290.77, Z:-5.86 [[-7.01551655e-01 -7.12612152e-01 3.03246692e-03 5.90566166e+02] [ 7.12605254e-01 -7.01558208e-01 -3.13555615e-03 -2.90771934e+02] [ 4.36188748e-03 -3.88027478e-05 9.99990486e-01 -5.85859113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters 0.05268816146657077 Centerline is valid? [True, True] Translation: X:590.53, Y:-290.73, Z:-5.86 [[-6.99739810e-01 -7.14394036e-01 2.31511432e-03 5.90527644e+02] [ 7.14390028e-01 -6.99743639e-01 -2.39313284e-03 -2.90730165e+02] [ 3.32962634e-03 -2.06757292e-05 9.99994457e-01 -5.85945756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters 0.05208025851126654 Centerline is valid? [True, True] Translation: X:590.49, Y:-290.69, Z:-5.86 [[-6.96515929e-01 -7.17539466e-01 1.63557648e-03 5.90486322e+02] [ 7.17537475e-01 -6.96517850e-01 -1.69017785e-03 -2.90690888e+02] [ 2.35197752e-03 -3.64837851e-06 9.99997234e-01 -5.85940178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters 0.05206934287003591 Centerline is valid? [True, True] Translation: X:590.45, Y:-290.65, Z:-5.86 [[-6.93989352e-01 -7.19984233e-01 1.21810253e-03 5.90445595e+02] [ 7.19983133e-01 -6.93990421e-01 -1.25837579e-03 -2.90650466e+02] [ 1.75136221e-03 3.71387350e-06 9.99998466e-01 -5.85946386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters 0.05258794993527301 Centerline is valid? [True, True] Translation: X:590.40, Y:-290.61, Z:-5.86 [[-6.89304593e-01 -7.24469817e-01 1.63173126e-03 5.90403933e+02] [ 7.24467858e-01 -6.89306524e-01 -1.68519459e-03 -2.90611473e+02] [ 2.34563562e-03 2.05244732e-05 9.99997249e-01 -5.85990074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters 0.052269630994969174 Centerline is valid? [True, True] Translation: X:590.36, Y:-290.57, Z:-5.86 [[-6.85900104e-01 -7.27693494e-01 1.79641029e-03 5.90361730e+02] [ 7.27691131e-01 -6.85902455e-01 -1.85484684e-03 -2.90574500e+02] [ 2.58192221e-03 3.49921984e-05 9.99996666e-01 -5.86106505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters 0.05180050867933543 Centerline is valid? [True, True] Translation: X:590.32, Y:-290.53, Z:-5.86 [[-6.81159287e-01 -7.32134305e-01 1.17694437e-03 5.90324531e+02] [ 7.32133298e-01 -6.81160303e-01 -1.21492158e-03 -2.90530289e+02] [ 1.69117355e-03 3.41250490e-05 9.99998569e-01 -5.86099446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters 0.05166535730490707 Centerline is valid? [True, True] Translation: X:590.29, Y:-290.49, Z:-5.86 [[-6.77853748e-01 -7.35195845e-01 1.16904736e-03 5.90285754e+02] [ 7.35194856e-01 -6.77854755e-01 -1.20645287e-03 -2.90487023e+02] [ 1.67942345e-03 4.16790064e-05 9.99998589e-01 -5.86169139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters 0.05070795894402541 Centerline is valid? [True, True] Translation: X:590.25, Y:-290.44, Z:-5.86 [[-6.76232128e-01 -7.36687583e-01 1.23045266e-03 5.90248079e+02] [ 7.36686491e-01 -6.76233246e-01 -1.26950817e-03 -2.90442188e+02] [ 1.76730390e-03 4.79756390e-05 9.99998437e-01 -5.86179978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters 0.051207467646568444 Centerline is valid? [True, True] Translation: X:590.21, Y:-290.40, Z:-5.86 [[-6.75437241e-01 -7.37417163e-01 6.79414987e-04 5.90209105e+02] [ 7.37416830e-01 -6.75437582e-01 -7.00851298e-04 -2.90400649e+02] [ 9.75722191e-04 2.76309788e-05 9.99999524e-01 -5.86183583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters 0.05078177160938542 Centerline is valid? [True, True] Translation: X:590.17, Y:-290.35, Z:-5.86 [[-6.74957294e-01 -7.37856352e-01 8.09467493e-04 5.90172881e+02] [ 7.37855881e-01 -6.74957778e-01 -8.34804090e-04 -2.90354140e+02] [ 1.16232188e-03 3.38132406e-05 9.99999324e-01 -5.86173083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters 0.052023776219539256 Centerline is valid? [True, True] Translation: X:590.13, Y:-290.32, Z:-5.86 [[-6.74579601e-01 -7.38200057e-01 1.74325816e-03 5.90129898e+02] [ 7.38197872e-01 -6.74581849e-01 -1.79754350e-03 -2.90315966e+02] [ 2.50291703e-03 7.42832864e-05 9.99996865e-01 -5.86313149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters 0.05103518957145969 Centerline is valid? [True, True] Translation: X:590.10, Y:-290.27, Z:-5.86 [[-6.74520720e-01 -7.38252834e-01 2.13329899e-03 5.90098156e+02] [ 7.38249564e-01 -6.74524088e-01 -2.19913536e-03 -2.90266563e+02] [ 3.06247947e-03 9.15446864e-05 9.99995306e-01 -5.86326751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters 0.05160194864973148 Centerline is valid? [True, True] Translation: X:590.06, Y:-290.22, Z:-5.86 [[-6.74880969e-01 -7.37920579e-01 2.98256079e-03 5.90059003e+02] [ 7.37914188e-01 -6.74887548e-01 -3.07380195e-03 -2.90224976e+02] [ 4.28111485e-03 1.26423489e-04 9.99990828e-01 -5.86499144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters 0.049470861787867866 Centerline is valid? [True, True] Translation: X:590.03, Y:-290.17, Z:-5.86 [[-6.75400436e-01 -7.37447125e-01 2.44715019e-03 5.90028516e+02] [ 7.37442822e-01 -6.75404862e-01 -2.52144044e-03 -2.90172269e+02] [ 3.51224614e-03 1.01651366e-04 9.99993827e-01 -5.86390496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters 0.05130957822387767 Centerline is valid? [True, True] Translation: X:589.99, Y:-290.13, Z:-5.86 [[-6.76008236e-01 -7.36890136e-01 2.40667633e-03 5.89986746e+02] [ 7.36885971e-01 -6.76012514e-01 -2.47932787e-03 -2.90133201e+02] [ 3.45393557e-03 9.73999681e-05 9.99994030e-01 -5.86409435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters 0.05003514905962593 Centerline is valid? [True, True] Translation: X:589.95, Y:-290.08, Z:-5.86 [[-6.76528491e-01 -7.36415891e-01 9.14810869e-04 5.89953538e+02] [ 7.36415289e-01 -6.76529108e-01 -9.42188517e-04 -2.90084410e+02] [ 1.31273878e-03 3.62633347e-05 9.99999138e-01 -5.86260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters 0.0504430108650842 Centerline is valid? [True, True] Translation: X:589.92, Y:-290.04, Z:-5.86 [[-6.76474162e-01 -7.36466179e-01 -5.23920254e-04 5.89916839e+02] [ 7.36465982e-01 -6.76474365e-01 5.39447788e-04 -2.90041913e+02] [-7.51703673e-04 -2.09269536e-05 9.99999717e-01 -5.86132100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters 0.049177328762931634 Centerline is valid? [True, True] Translation: X:589.88, Y:-289.99, Z:-5.86 [[-6.76013557e-01 -7.36888445e-01 -1.04414249e-03 5.89881882e+02] [ 7.36887662e-01 -6.76014362e-01 1.07493989e-03 -2.89994569e+02] [-1.49796611e-03 -4.27417768e-05 9.99998877e-01 -5.86189684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters 0.04946364713499274 Centerline is valid? [True, True] Translation: X:589.84, Y:-289.95, Z:-5.86 [[-6.75760926e-01 -7.37120864e-01 -5.22468640e-05 5.89842634e+02] [ 7.37120862e-01 -6.75760928e-01 5.37792605e-05 -2.89952637e+02] [-7.49482044e-05 -2.17033053e-06 9.99999997e-01 -5.86292630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters 0.04996830465252491 Centerline is valid? [True, True] Translation: X:589.80, Y:-289.91, Z:-5.86 [[-6.76528307e-01 -7.36415306e-01 1.39577583e-03 5.89800628e+02] [ 7.36413907e-01 -6.76529744e-01 -1.43626607e-03 -2.89913590e+02] [ 2.00197218e-03 5.61940859e-05 9.99997994e-01 -5.86487197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters 0.04885961254703649 Centerline is valid? [True, True] Translation: X:589.77, Y:-289.86, Z:-5.87 [[-6.79546957e-01 -7.33629354e-01 1.97609888e-03 5.89767875e+02] [ 7.33626540e-01 -6.79549827e-01 -2.03297219e-03 -2.89863493e+02] [ 2.83430572e-03 6.82185237e-05 9.99995981e-01 -5.86521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters 0.04897034967504031 Centerline is valid? [True, True] Translation: X:589.73, Y:-289.82, Z:-5.87 [[-6.81277804e-01 -7.32021828e-01 2.14406135e-03 5.89728612e+02] [ 7.32018509e-01 -6.81281175e-01 -2.20524096e-03 -2.89820000e+02] [ 3.07499316e-03 6.71108725e-05 9.99995270e-01 -5.86524126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters 0.04935015912029431 Centerline is valid? [True, True] Translation: X:589.69, Y:-289.78, Z:-5.86 [[-6.85941395e-01 -7.27654291e-01 1.90692614e-03 5.89691043e+02] [ 7.27651650e-01 -6.85944044e-01 -1.96084645e-03 -2.89775036e+02] [ 2.73486296e-03 4.25522043e-05 9.99996259e-01 -5.86496568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters 0.04970719142410758 Centerline is valid? [True, True] Translation: X:589.66, Y:-289.73, Z:-5.86 [[-6.92685256e-01 -7.21239220e-01 1.05972758e-03 5.89656028e+02] [ 7.21238398e-01 -6.92686067e-01 -1.08941200e-03 -2.89727530e+02] [ 1.51978519e-03 9.69658623e-06 9.99998845e-01 -5.86311265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters 0.0501436457158556 Centerline is valid? [True, True] Translation: X:589.61, Y:-289.69, Z:-5.86 [[-6.97223255e-01 -7.16853697e-01 7.14206133e-04 5.89614985e+02] [ 7.16853321e-01 -6.97223621e-01 -7.34020411e-04 -2.89688041e+02] [ 1.02414663e-03 2.04937226e-07 9.99999476e-01 -5.86416047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters 0.050478332972216496 Centerline is valid? [True, True] Translation: X:589.58, Y:-289.65, Z:-5.86 [[-7.00402771e-01 -7.13747115e-01 1.00738802e-03 5.89575647e+02] [ 7.13746364e-01 -7.00403495e-01 -1.03503116e-03 -2.89646450e+02] [ 1.44432859e-03 -5.91915425e-06 9.99998957e-01 -5.86457182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters 0.050259873127062725 Centerline is valid? [True, True] Translation: X:589.53, Y:-289.60, Z:-5.86 [[-7.02630812e-01 -7.11553539e-01 1.22640900e-03 5.89534912e+02] [ 7.11552424e-01 -7.02631882e-01 -1.25974652e-03 -2.89604896e+02] [ 1.75809115e-03 -1.24824236e-05 9.99998454e-01 -5.86467227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters 0.05012265479784528 Centerline is valid? [True, True] Translation: X:589.49, Y:-289.56, Z:-5.87 [[-7.05688502e-01 -7.08519756e-01 1.86928306e-03 5.89493646e+02] [ 7.08517156e-01 -7.05690977e-01 -1.91961621e-03 -2.89564215e+02] [ 2.67922219e-03 -3.02319695e-05 9.99996410e-01 -5.86523371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters 0.05152768678168645 Centerline is valid? [True, True] Translation: X:589.45, Y:-289.52, Z:-5.87 [[-7.08674175e-01 -7.05533168e-01 1.96533018e-03 5.89454387e+02] [ 7.05530284e-01 -7.08676899e-01 -2.01767020e-03 -2.89522939e+02] [ 2.81631735e-03 -4.32708047e-05 9.99996033e-01 -5.86511431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters 0.05121476852029589 Centerline is valid? [True, True] Translation: X:589.41, Y:-289.48, Z:-5.86 [[-7.12468476e-01 -7.01702837e-01 1.34143299e-03 5.89411142e+02] [ 7.01701487e-01 -7.12469738e-01 -1.37678239e-03 -2.89484638e+02] [ 1.92182252e-03 -3.96285319e-05 9.99998153e-01 -5.86401204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters 0.05085471201879394 Centerline is valid? [True, True] Translation: X:589.37, Y:-289.45, Z:-5.86 [[-7.13538319e-01 -7.00615287e-01 1.13406288e-03 5.89370134e+02] [ 7.00614322e-01 -7.13539219e-01 -1.16368012e-03 -2.89445749e+02] [ 1.62449042e-03 -3.57896608e-05 9.99998680e-01 -5.86438400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters 0.05147139902939117 Centerline is valid? [True, True] Translation: X:589.33, Y:-289.41, Z:-5.86 [[-7.12138061e-01 -7.02038346e-01 1.24204047e-03 5.89326201e+02] [ 7.02037191e-01 -7.12139143e-01 -1.27406511e-03 -2.89409899e+02] [ 1.77894820e-03 -3.53516601e-05 9.99998417e-01 -5.86431243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters 0.05099881292864609 Centerline is valid? [True, True] Translation: X:589.28, Y:-289.37, Z:-5.87 [[-7.06873755e-01 -7.07338891e-01 1.09021276e-03 5.89282697e+02] [ 7.07338008e-01 -7.06874595e-01 -1.11799262e-03 -2.89372523e+02] [ 1.56144336e-03 -1.91307242e-05 9.99998781e-01 -5.86524443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters 0.051209638950574496 Centerline is valid? [True, True] Translation: X:589.24, Y:-289.34, Z:-5.87 [[-7.01268134e-01 -7.12896417e-01 1.30490535e-03 5.89236070e+02] [ 7.12895162e-01 -7.01269348e-01 -1.33771767e-03 -2.89340275e+02] [ 1.86874426e-03 -7.83805823e-06 9.99998254e-01 -5.86530159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters 0.05104429997318513 Centerline is valid? [True, True] Translation: X:589.19, Y:-289.30, Z:-5.87 [[-6.98162636e-01 -7.15938245e-01 1.16802346e-03 5.89192177e+02] [ 7.15937244e-01 -6.98163613e-01 -1.19709657e-03 -2.89301953e+02] [ 1.67251869e-03 4.63403973e-07 9.99998601e-01 -5.86547770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters 0.050791853921107334 Centerline is valid? [True, True] Translation: X:589.15, Y:-289.27, Z:-5.87 [[-6.94673634e-01 -7.19324656e-01 7.62770593e-04 5.89148210e+02] [ 7.19324231e-01 -6.94674053e-01 -7.81534068e-04 -2.89265457e+02] [ 1.09205366e-03 5.76825879e-06 9.99999404e-01 -5.86519203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters 0.05091727988334719 Centerline is valid? [True, True] Translation: X:589.10, Y:-289.23, Z:-5.86 [[-6.91882015e-01 -7.22010293e-01 -6.43838999e-04 5.89104312e+02] [ 7.22009992e-01 -6.91882314e-01 6.59508317e-04 -2.89227177e+02] [-9.21632610e-04 -8.55624763e-06 9.99999575e-01 -5.86496147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters 0.051298619977055725 Centerline is valid? [True, True] Translation: X:589.06, Y:-289.19, Z:-5.86 [[-6.90151354e-01 -7.23664594e-01 -8.14831960e-04 5.89059721e+02] [ 7.23664113e-01 -6.90151835e-01 8.34427042e-04 -2.89190779e+02] [-1.16620308e-03 -1.37836952e-05 9.99999320e-01 -5.86410764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters 0.05098041718254656 Centerline is valid? [True, True] Translation: X:589.02, Y:-289.15, Z:-5.86 [[-6.87433102e-01 -7.26247113e-01 -9.28104992e-04 5.89019630e+02] [ 7.26246491e-01 -6.87433728e-01 9.50117405e-04 -2.89151756e+02] [-1.32803070e-03 -2.08908394e-05 9.99999118e-01 -5.86439915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters 0.05044675072789596 Centerline is valid? [True, True] Translation: X:588.98, Y:-289.11, Z:-5.86 [[-6.85234734e-01 -7.28322289e-01 -5.15063172e-05 5.88981677e+02] [ 7.28322287e-01 -6.85234736e-01 5.27215381e-05 -2.89108030e+02] [-7.36921892e-05 -1.38656963e-06 9.99999997e-01 -5.86495467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters 0.05087864468237855 Centerline is valid? [True, True] Translation: X:588.94, Y:-289.07, Z:-5.87 [[-6.84361598e-01 -7.29142433e-01 7.18148885e-04 5.88940335e+02] [ 7.29142063e-01 -6.84361974e-01 -7.34869839e-04 -2.89066951e+02] [ 1.02729857e-03 2.07158621e-05 9.99999472e-01 -5.86603593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters 0.050664013129481406 Centerline is valid? [True, True] Translation: X:588.90, Y:-289.02, Z:-5.87 [[-6.83934956e-01 -7.29538610e-01 2.52844147e-03 5.88901569e+02] [ 7.29534028e-01 -6.83939625e-01 -2.58671950e-03 -2.89022879e+02] [ 3.61641306e-03 7.54362045e-05 9.99993458e-01 -5.86644654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters 0.05018081594506061 Centerline is valid? [True, True] Translation: X:588.86, Y:-288.98, Z:-5.87 [[-6.85473332e-01 -7.28092240e-01 2.82858620e-03 5.88861115e+02] [ 7.28086495e-01 -6.85479164e-01 -2.89333286e-03 -2.88982445e+02] [ 4.04555010e-03 7.61528959e-05 9.99991814e-01 -5.86769589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters 0.05007953504162293 Centerline is valid? [True, True] Translation: X:588.82, Y:-288.94, Z:-5.87 [[-6.88360309e-01 -7.25366523e-01 1.86848735e-03 5.88824790e+02] [ 7.25364008e-01 -6.88362844e-01 -1.91070690e-03 -2.88937743e+02] [ 2.67216009e-03 4.00786797e-05 9.99996429e-01 -5.86614851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters 0.05035713597408937 Centerline is valid? [True, True] Translation: X:588.79, Y:-288.90, Z:-5.87 [[-6.90541243e-01 -7.23292588e-01 7.90119942e-04 5.88785154e+02] [ 7.23292137e-01 -6.90541695e-01 -8.07762356e-04 -2.88896380e+02] [ 1.12985929e-03 1.36943199e-05 9.99999362e-01 -5.86531395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters 0.04986938279230258 Centerline is valid? [True, True] Translation: X:588.75, Y:-288.85, Z:-5.86 [[-6.92929044e-01 -7.21005550e-01 -5.80363718e-04 5.88751388e+02] [ 7.21005306e-01 -6.92929287e-01 5.93176530e-04 -2.88847859e+02] [-8.29834588e-04 -7.41607512e-06 9.99999656e-01 -5.86430323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters 0.04972726500809264 Centerline is valid? [True, True] Translation: X:588.71, Y:-288.81, Z:-5.86 [[-6.93206580e-01 -7.20738419e-01 -8.77029744e-04 5.88712410e+02] [ 7.20737862e-01 -6.93207135e-01 8.96133352e-04 -2.88807641e+02] [-1.25384101e-03 -1.09030065e-05 9.99999214e-01 -5.86445982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters 0.04982422337222369 Centerline is valid? [True, True] Translation: X:588.67, Y:-288.77, Z:-5.87 [[-6.90841104e-01 -7.23006475e-01 4.53848605e-04 5.88672736e+02] [ 7.23006327e-01 -6.90841253e-01 -4.63626215e-04 -2.88767407e+02] [ 6.48742094e-04 7.84336703e-06 9.99999790e-01 -5.86734921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters 0.049851013194412826 Centerline is valid? [True, True] Translation: X:588.64, Y:-288.72, Z:-5.87 [[-6.88001730e-01 -7.25703588e-01 2.81456318e-03 5.88636347e+02] [ 7.25697898e-01 -6.88007484e-01 -2.87450646e-03 -2.88720956e+02] [ 4.02248019e-03 6.48571648e-05 9.99991908e-01 -5.86850913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters 0.049069268979552466 Centerline is valid? [True, True] Translation: X:588.60, Y:-288.68, Z:-5.87 [[-6.87060158e-01 -7.26595294e-01 2.76011123e-03 5.88598206e+02] [ 7.26589830e-01 -6.87065699e-01 -2.81857362e-03 -2.88678590e+02] [ 3.94434008e-03 6.89391140e-05 9.99992219e-01 -5.86948388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters 0.05008651498503494 Centerline is valid? [True, True] Translation: X:588.56, Y:-288.64, Z:-5.87 [[-6.87327474e-01 -7.26346199e-01 1.46384444e-03 5.88559192e+02] [ 7.26344663e-01 -6.87329032e-01 -1.49444589e-03 -2.88637544e+02] [ 2.09162787e-03 3.60818771e-05 9.99997812e-01 -5.86919112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters 0.050889480112710536 Centerline is valid? [True, True] Translation: X:588.52, Y:-288.60, Z:-5.87 [[-6.87813587e-01 -7.25886953e-01 7.75646130e-04 5.88516911e+02] [ 7.25886521e-01 -6.87814024e-01 -7.91623341e-04 -2.88600600e+02] [ 1.10812934e-03 1.85417811e-05 9.99999386e-01 -5.86902581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters 0.04980938125090678 Centerline is valid? [True, True] Translation: X:588.48, Y:-288.56, Z:-5.87 [[-6.87980951e-01 -7.25727573e-01 1.30413696e-03 5.88483638e+02] [ 7.25726354e-01 -6.87982186e-01 -1.33056704e-03 -2.88555767e+02] [ 1.86285218e-03 3.10417861e-05 9.99998264e-01 -5.86981719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters 0.04868935820120221 Centerline is valid? [True, True] Translation: X:588.45, Y:-288.51, Z:-5.87 [[-6.88283527e-01 -7.25440537e-01 1.34714021e-03 5.88449189e+02] [ 7.25439236e-01 -6.88284844e-01 -1.37409051e-03 -2.88508601e+02] [ 1.92403714e-03 3.15044996e-05 9.99998149e-01 -5.86992833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters 0.049227939255971076 Centerline is valid? [True, True] Translation: X:588.41, Y:-288.47, Z:-5.87 [[-6.89800222e-01 -7.23997018e-01 1.99297797e-03 5.88408099e+02] [ 7.23994166e-01 -6.89803100e-01 -2.03235376e-03 -2.88467837e+02] [ 2.84618045e-03 4.09863458e-05 9.99995949e-01 -5.87098092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters 0.049604486478531794 Centerline is valid? [True, True] Translation: X:588.37, Y:-288.42, Z:-5.87 [[-6.92546366e-01 -7.21370445e-01 2.05216630e-03 5.88370197e+02] [ 7.21367412e-01 -6.92549406e-01 -2.09220150e-03 -2.88423980e+02] [ 2.93047888e-03 3.14193452e-05 9.99995706e-01 -5.87109896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters 0.04908308242087349 Centerline is valid? [True, True] Translation: X:588.33, Y:-288.38, Z:-5.87 [[-6.94321771e-01 -7.19662354e-01 1.83679466e-03 5.88328891e+02] [ 7.19659919e-01 -6.94324201e-01 -1.87215054e-03 -2.88384730e+02] [ 2.62264725e-03 2.19926165e-05 9.99996561e-01 -5.87191547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters 0.04892082759378255 Centerline is valid? [True, True] Translation: X:588.29, Y:-288.34, Z:-5.87 [[-6.95152830e-01 -7.18859280e-01 1.96945686e-03 5.88289092e+02] [ 7.18856479e-01 -6.95155619e-01 -2.00703850e-03 -2.88341845e+02] [ 2.81185725e-03 2.05583284e-05 9.99996047e-01 -5.87156387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters 0.04917205478148585 Centerline is valid? [True, True] Translation: X:588.25, Y:-288.30, Z:-5.87 [[-6.97456512e-01 -7.16623957e-01 2.12549551e-03 5.88249892e+02] [ 7.16620685e-01 -6.97459751e-01 -2.16547238e-03 -2.88299455e+02] [ 3.03427695e-03 1.28512335e-05 9.99995397e-01 -5.87201428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters 0.04938520758200948 Centerline is valid? [True, True] Translation: X:588.21, Y:-288.26, Z:-5.87 [[-7.01049908e-01 -7.13110999e-01 1.31557907e-03 5.88210833e+02] [ 7.13109740e-01 -7.01051142e-01 -1.33995835e-03 -2.88258284e+02] [ 1.87782725e-03 -1.22543093e-06 9.99998237e-01 -5.87245861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters 0.04931573920264778 Centerline is valid? [True, True] Translation: X:588.17, Y:-288.22, Z:-5.87 [[-7.04947336e-01 -7.09259035e-01 9.35043312e-04 5.88172507e+02] [ 7.09258396e-01 -7.04947956e-01 -9.52098664e-04 -2.88215493e+02] [ 1.33444145e-03 -7.99209596e-06 9.99999110e-01 -5.87075816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters 0.04990776368547488 Centerline is valid? [True, True] Translation: X:588.13, Y:-288.17, Z:-5.87 [[-7.07154953e-01 -7.07056860e-01 1.57124760e-03 5.88131140e+02] [ 7.07055051e-01 -7.07156698e-01 -1.59948005e-03 -2.88174560e+02] [ 2.24204161e-03 -2.01216899e-05 9.99997486e-01 -5.87171285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters 0.04998246455766412 Centerline is valid? [True, True] Translation: X:588.09, Y:-288.13, Z:-5.87 [[-7.09973961e-01 -7.04220950e-01 3.13501234e-03 5.88093443e+02] [ 7.04213725e-01 -7.09980881e-01 -3.19043088e-03 -2.88131512e+02] [ 4.47256708e-03 -5.74041319e-05 9.99989996e-01 -5.87441161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters 0.04966603236488317 Centerline is valid? [True, True] Translation: X:588.05, Y:-288.09, Z:-5.87 [[-7.11394055e-01 -7.02783865e-01 3.65208733e-03 5.88050078e+02] [ 7.02774047e-01 -7.11403425e-01 -3.71563363e-03 -2.88093374e+02] [ 5.20939480e-03 -7.66874823e-05 9.99986428e-01 -5.87459406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters 0.050877832835642976 Centerline is valid? [True, True] Translation: X:588.01, Y:-288.05, Z:-5.88 [[-7.10981967e-01 -7.03203633e-01 3.04837865e-03 5.88010155e+02] [ 7.03196801e-01 -7.10988500e-01 -3.10044363e-03 -2.88053044e+02] [ 4.34760539e-03 -6.07494028e-05 9.99990547e-01 -5.87519819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters 0.04968092186301641 Centerline is valid? [True, True] Translation: X:587.97, Y:-288.02, Z:-5.87 [[-7.06197212e-01 -7.08012825e-01 1.82708072e-03 5.87965011e+02] [ 7.08010387e-01 -7.06199575e-01 -1.85785279e-03 -2.88017105e+02] [ 2.60566723e-03 -1.84183349e-05 9.99996605e-01 -5.87397940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters 0.04922389950979742 Centerline is valid? [True, True] Translation: X:587.92, Y:-287.98, Z:-5.87 [[-6.97614072e-01 -7.16472921e-01 1.07710160e-03 5.87919064e+02] [ 7.16472085e-01 -6.97614903e-01 -1.09499212e-03 -2.87984055e+02] [ 1.53593434e-03 7.83131960e-06 9.99998820e-01 -5.87459452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters 0.04922389950979742 Centerline is valid? [True, True] Translation: X:587.88, Y:-287.94, Z:-5.87 [[-6.97726422e-01 -7.16363511e-01 1.07727401e-03 5.87879866e+02] [ 7.16362675e-01 -6.97727253e-01 -1.09482251e-03 -2.87944241e+02] [ 1.53593433e-03 7.83229446e-06 9.99998820e-01 -5.87459578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters 0.04986684331153176 Centerline is valid? [True, True] Translation: X:587.84, Y:-287.91, Z:-5.87 [[-6.91996410e-01 -7.21900813e-01 4.30235946e-04 5.87835558e+02] [ 7.21900680e-01 -6.91996544e-01 -4.37094385e-04 -2.87910562e+02] [ 6.13260579e-04 8.11987665e-06 9.99999812e-01 -5.87379418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters 0.05040951086778157 Centerline is valid? [True, True] Translation: X:587.79, Y:-287.87, Z:-5.87 [[-6.89232442e-01 -7.24540275e-01 1.75193181e-04 5.87794714e+02] [ 7.24540254e-01 -6.89232464e-01 -1.77926213e-04 -2.87872040e+02] [ 2.49663535e-04 4.30199343e-06 9.99999969e-01 -5.87310982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters 0.04992760472183591 Centerline is valid? [True, True] Translation: X:587.75, Y:-287.83, Z:-5.87 [[-6.85786566e-01 -7.27802114e-01 9.32063756e-04 5.87752184e+02] [ 7.27801499e-01 -6.85787199e-01 -9.46389834e-04 -2.87834392e+02] [ 1.32798191e-03 2.93359645e-05 9.99999118e-01 -5.87393653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters 0.04927392392053292 Centerline is valid? [True, True] Translation: X:587.71, Y:-287.79, Z:-5.88 [[-6.83880168e-01 -7.29587413e-01 3.18171744e-03 5.87712862e+02] [ 7.29580272e-01 -6.83887560e-01 -3.22985466e-03 -2.87791675e+02] [ 4.53239828e-03 1.12484731e-04 9.99989722e-01 -5.87542864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters 0.049441631329499976 Centerline is valid? [True, True] Translation: X:587.67, Y:-287.75, Z:-5.88 [[-6.84606553e-01 -7.28901902e-01 3.98555358e-03 5.87674333e+02] [ 7.28890692e-01 -6.84618141e-01 -4.04480831e-03 -2.87748389e+02] [ 5.67685075e-03 1.35930627e-04 9.99983877e-01 -5.87643511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters 0.04904254839020963 Centerline is valid? [True, True] Translation: X:587.64, Y:-287.70, Z:-5.87 [[-6.91663149e-01 -7.22210386e-01 3.77445075e-03 5.87638660e+02] [ 7.22200237e-01 -6.91673443e-01 -3.82961757e-03 -2.87701952e+02] [ 5.37647694e-03 7.71038764e-05 9.99985544e-01 -5.87460714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters 0.049577612481219696 Centerline is valid? [True, True] Translation: X:587.60, Y:-287.66, Z:-5.87 [[-6.99566422e-01 -7.14563467e-01 2.42334655e-03 5.87603722e+02] [ 7.14559239e-01 -6.99570619e-01 -2.45810334e-03 -2.87656518e+02] [ 3.45177289e-03 1.20181076e-05 9.99994043e-01 -5.87400565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters 0.04968279923065866 Centerline is valid? [True, True] Translation: X:587.57, Y:-287.61, Z:-5.87 [[-7.06695374e-01 -7.07514012e-01 2.36025933e-03 5.87570557e+02] [ 7.07509964e-01 -7.06699316e-01 -2.39338209e-03 -2.87609785e+02] [ 3.36134502e-03 -2.14850550e-05 9.99994350e-01 -5.87398861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters 0.0500253621339732 Centerline is valid? [True, True] Translation: X:587.53, Y:-287.57, Z:-5.87 [[-7.08412038e-01 -7.05794933e-01 2.42851653e-03 5.87529884e+02] [ 7.05790640e-01 -7.08416200e-01 -2.46196858e-03 -2.87568437e+02] [ 3.45804540e-03 -3.00639390e-05 9.99994021e-01 -5.87369361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters 0.05049191322757843 Centerline is valid? [True, True] Translation: X:587.49, Y:-287.52, Z:-5.88 [[-7.09259189e-01 -7.04937497e-01 3.81160105e-03 5.87493075e+02] [ 7.04926914e-01 -7.09269429e-01 -3.86299310e-03 -2.87524384e+02] [ 5.42662078e-03 -5.29631911e-05 9.99985274e-01 -5.87784736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters 0.050184723171894645 Centerline is valid? [True, True] Translation: X:587.45, Y:-287.49, Z:-5.88 [[-7.06553577e-01 -7.07642727e-01 4.87981275e-03 5.87448423e+02] [ 7.07625456e-01 -7.06570427e-01 -4.94423770e-03 -2.87488532e+02] [ 6.94668523e-03 -4.02891160e-05 9.99975871e-01 -5.87675775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters 0.05011824000663794 Centerline is valid? [True, True] Translation: X:587.41, Y:-287.45, Z:-5.88 [[-7.05402337e-01 -7.08787467e-01 5.27918670e-03 5.87407418e+02] [ 7.08767296e-01 -7.05422091e-01 -5.34728871e-03 -2.87448976e+02] [ 7.51414613e-03 -3.02750685e-05 9.99971768e-01 -5.87555397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters 0.04921275017149367 Centerline is valid? [True, True] Translation: X:587.37, Y:-287.41, Z:-5.88 [[-7.03321188e-01 -7.10861481e-01 3.90651515e-03 5.87365148e+02] [ 7.10850474e-01 -7.03332037e-01 -3.95588389e-03 -2.87411054e+02] [ 5.55966274e-03 -5.30881386e-06 9.99984545e-01 -5.87651773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters 0.049735009724042885 Centerline is valid? [True, True] Translation: X:587.32, Y:-287.37, Z:-5.88 [[-7.00642678e-01 -7.13509457e-01 2.02291622e-03 5.87320908e+02] [ 7.13506519e-01 -7.00645598e-01 -2.04783302e-03 -2.87374954e+02] [ 2.87849557e-03 8.56469798e-06 9.99995857e-01 -5.87573976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters 0.04995929948599255 Centerline is valid? [True, True] Translation: X:587.28, Y:-287.34, Z:-5.88 [[-6.98965316e-01 -7.15153752e-01 1.61201045e-03 5.87279126e+02] [ 7.15151891e-01 -6.98967175e-01 -1.63145994e-03 -2.87337829e+02] [ 2.29348709e-03 1.24984060e-05 9.99997370e-01 -5.87617199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters 0.0499851268420418 Centerline is valid? [True, True] Translation: X:587.24, Y:-287.30, Z:-5.88 [[-6.96633120e-01 -7.17425206e-01 1.83590120e-03 5.87237760e+02] [ 7.17422801e-01 -6.96635539e-01 -1.85756294e-03 -2.87297194e+02] [ 2.61161650e-03 2.30775141e-05 9.99996589e-01 -5.87570487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters 0.05002955285126961 Centerline is valid? [True, True] Translation: X:587.20, Y:-287.26, Z:-5.88 [[-6.95949127e-01 -7.18089153e-01 1.66761107e-03 5.87195252e+02] [ 7.18087172e-01 -6.95951125e-01 -1.68681952e-03 -2.87258688e+02] [ 2.37186260e-03 2.35495433e-05 9.99997187e-01 -5.87640487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters 0.04963438020563615 Centerline is valid? [True, True] Translation: X:587.15, Y:-287.22, Z:-5.88 [[-6.94350437e-01 -7.19634413e-01 1.94455869e-03 5.87153001e+02] [ 7.19631727e-01 -6.94353159e-01 -1.96647460e-03 -2.87218737e+02] [ 2.76535326e-03 3.39436340e-05 9.99996176e-01 -5.87628546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters 0.049861102883027336 Centerline is valid? [True, True] Translation: X:587.11, Y:-287.18, Z:-5.88 [[-6.95780336e-01 -7.18251262e-01 2.20198316e-03 5.87112156e+02] [ 7.18247813e-01 -6.95783819e-01 -2.22621332e-03 -2.87177612e+02] [ 3.13108478e-03 3.26141366e-05 9.99995098e-01 -5.87622485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters 0.04956465145211579 Centerline is valid? [True, True] Translation: X:587.07, Y:-287.14, Z:-5.88 [[-7.00990822e-01 -7.13167669e-01 1.93479400e-03 5.87073042e+02] [ 7.13164988e-01 -7.00993492e-01 -1.95559274e-03 -2.87135026e+02] [ 2.75094352e-03 8.97478325e-06 9.99996216e-01 -5.87679139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters 0.04969986648898638 Centerline is valid? [True, True] Translation: X:587.03, Y:-287.09, Z:-5.88 [[-7.05875523e-01 -7.08333427e-01 1.87116041e-03 5.87034132e+02] [ 7.08330904e-01 -7.05878003e-01 -1.89076424e-03 -2.87091482e+02] [ 2.66010249e-03 -9.24344722e-06 9.99996462e-01 -5.87701633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters 0.05039739571503091 Centerline is valid? [True, True] Translation: X:587.00, Y:-287.05, Z:-5.88 [[-7.12288572e-01 -7.01883828e-01 2.02023462e-03 5.86997195e+02] [ 7.01880862e-01 -7.12291437e-01 -2.04083092e-03 -2.87048259e+02] [ 2.87142204e-03 -3.56965229e-05 9.99995877e-01 -5.87698007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters 0.05014388256413305 Centerline is valid? [True, True] Translation: X:586.96, Y:-287.01, Z:-5.88 [[-7.15363317e-01 -6.98744139e-01 3.45731300e-03 5.86957562e+02] [ 6.98735420e-01 -7.15371666e-01 -3.49167166e-03 -2.87006183e+02] [ 4.91304887e-03 -8.20667699e-05 9.99987928e-01 -5.87907200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters 0.05082160129210562 Centerline is valid? [True, True] Translation: X:586.92, Y:-286.97, Z:-5.88 [[-7.15475405e-01 -6.98624315e-01 4.36020217e-03 5.86916679e+02] [ 6.98610453e-01 -7.15488684e-01 -4.40219706e-03 -2.86965531e+02] [ 6.19515721e-03 -1.03580919e-04 9.99980804e-01 -5.88043246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters 0.05099711807404313 Centerline is valid? [True, True] Translation: X:586.88, Y:-286.93, Z:-5.88 [[-7.13211039e-01 -7.00938055e-01 3.98209724e-03 5.86876651e+02] [ 7.00926535e-01 -7.13222152e-01 -4.01929598e-03 -2.86925535e+02] [ 5.65739747e-03 -7.54486462e-05 9.99983994e-01 -5.88057378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters 0.05099968983057083 Centerline is valid? [True, True] Translation: X:586.83, Y:-286.89, Z:-5.88 [[-7.11895315e-01 -7.02279012e-01 3.04137194e-03 5.86833706e+02] [ 7.02272307e-01 -7.11901810e-01 -3.06899513e-03 -2.86885565e+02] [ 4.32044905e-03 -4.89319623e-05 9.99990666e-01 -5.87966415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters 0.049945099249810616 Centerline is valid? [True, True] Translation: X:586.79, Y:-286.85, Z:-5.88 [[-7.09494199e-01 -7.04707252e-01 2.38132124e-03 5.86792691e+02] [ 7.04703158e-01 -7.09498195e-01 -2.40221463e-03 -2.86846576e+02] [ 3.38240119e-03 -2.62327429e-05 9.99994279e-01 -5.87987874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters 0.04993629030374577 Centerline is valid? [True, True] Translation: X:586.75, Y:-286.81, Z:-5.88 [[-7.07193406e-01 -7.07017295e-01 2.00757824e-03 5.86752256e+02] [ 7.07014396e-01 -7.07196256e-01 -2.02455891e-03 -2.86808381e+02] [ 2.85114998e-03 -1.23679983e-05 9.99995935e-01 -5.88064468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters 0.049748525153819854 Centerline is valid? [True, True] Translation: X:586.71, Y:-286.77, Z:-5.88 [[-7.01806685e-01 -7.12364741e-01 1.96270347e-03 5.86707775e+02] [ 7.12361993e-01 -7.01809430e-01 -1.97870376e-03 -2.86771744e+02] [ 2.78700260e-03 9.48782581e-06 9.99996116e-01 -5.87960360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters 0.05068665586830467 Centerline is valid? [True, True] Translation: X:586.66, Y:-286.74, Z:-5.88 [[-6.94855981e-01 -7.19145209e-01 2.30938141e-03 5.86660959e+02] [ 7.19141444e-01 -6.94859818e-01 -2.32753487e-03 -2.86738031e+02] [ 3.27853190e-03 4.34703580e-05 9.99994625e-01 -5.88110830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters 0.04903681840118108 Centerline is valid? [True, True] Translation: X:586.62, Y:-286.69, Z:-5.88 [[-6.89482144e-01 -7.24295197e-01 3.29251623e-03 5.86621866e+02] [ 7.24287606e-01 -6.89489998e-01 -3.31751035e-03 -2.86694785e+02] [ 4.67301382e-03 9.73645545e-05 9.99989077e-01 -5.88043688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters 0.05032268500647957 Centerline is valid? [True, True] Translation: X:586.58, Y:-286.66, Z:-5.88 [[-6.87430469e-01 -7.26242431e-01 3.35878131e-03 5.86575086e+02] [ 7.26234557e-01 -6.87438665e-01 -3.38371356e-03 -2.86660363e+02] [ 4.76635250e-03 1.13195259e-04 9.99988634e-01 -5.88169448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters 0.04953134502050132 Centerline is valid? [True, True] Translation: X:586.54, Y:-286.61, Z:-5.88 [[-6.87119036e-01 -7.26540245e-01 2.58908237e-03 5.86540304e+02] [ 7.26535570e-01 -6.87123908e-01 -2.60764396e-03 -2.86612708e+02] [ 3.67357868e-03 8.92986325e-05 9.99993248e-01 -5.87993055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters 0.04980996723687138 Centerline is valid? [True, True] Translation: X:586.50, Y:-286.58, Z:-5.88 [[-6.87460244e-01 -7.26215827e-01 2.99771331e-03 5.86497023e+02] [ 7.26209560e-01 -6.87466772e-01 -3.01855307e-03 -2.86575264e+02] [ 4.25294931e-03 1.01832835e-04 9.99990951e-01 -5.88052501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters 0.04939362924472626 Centerline is valid? [True, True] Translation: X:586.46, Y:-286.53, Z:-5.88 [[-6.89837345e-01 -7.23954351e-01 3.81239987e-03 5.86459472e+02] [ 7.23944187e-01 -6.89847871e-01 -3.83796529e-03 -2.86529965e+02] [ 5.40848760e-03 1.12392935e-04 9.99985368e-01 -5.88064381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters 0.0495411218223676 Centerline is valid? [True, True] Translation: X:586.42, Y:-286.49, Z:-5.88 [[-6.92921150e-01 -7.20997446e-01 4.79196531e-03 5.86419647e+02] [ 7.20981321e-01 -6.92937710e-01 -4.82337941e-03 -2.86489373e+02] [ 6.79817771e-03 1.12695874e-04 9.99976886e-01 -5.88153084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters 0.049908029371850945 Centerline is valid? [True, True] Translation: X:586.38, Y:-286.45, Z:-5.88 [[-6.99995252e-01 -7.14131979e-01 4.70782997e-03 5.86382269e+02] [ 7.14116264e-01 -7.00011082e-01 -4.73776916e-03 -2.86446258e+02] [ 6.67892562e-03 4.55220320e-05 9.99977695e-01 -5.88242259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters 0.05060987523048268 Centerline is valid? [True, True] Translation: X:586.35, Y:-286.40, Z:-5.88 [[-7.09050999e-01 -7.05143598e-01 4.38034170e-03 5.86349417e+02] [ 7.05129829e-01 -7.09064528e-01 -4.40683142e-03 -2.86399743e+02] [ 6.21339389e-03 -3.59586273e-05 9.99980696e-01 -5.88163700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters 0.050989474488993006 Centerline is valid? [True, True] Translation: X:586.32, Y:-286.35, Z:-5.88 [[-7.19824423e-01 -6.94136739e-01 5.19493617e-03 5.86315477e+02] [ 6.94117092e-01 -7.19843152e-01 -5.22482664e-03 -2.86353517e+02] [ 7.36628335e-03 -1.55063832e-04 9.99972857e-01 -5.88095568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters 0.05182062990878599 Centerline is valid? [True, True] Translation: X:586.27, Y:-286.32, Z:-5.88 [[-7.27257322e-01 -6.86342285e-01 5.57281363e-03 5.86270548e+02] [ 6.86319451e-01 -7.27278630e-01 -5.60415559e-03 -2.86315915e+02] [ 7.89935721e-03 -2.50932795e-04 9.99968768e-01 -5.87816107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters 0.05201232356470745 Centerline is valid? [True, True] Translation: X:586.23, Y:-286.27, Z:-5.88 [[-7.35622675e-01 -6.77372177e-01 5.11997192e-03 5.86229728e+02] [ 6.77352691e-01 -7.35640424e-01 -5.14773132e-03 -2.86273511e+02] [ 7.25338828e-03 -3.18761127e-04 9.99973643e-01 -5.87715804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters 0.05229530391754455 Centerline is valid? [True, True] Translation: X:586.19, Y:-286.23, Z:-5.88 [[-7.40938516e-01 -6.71556568e-01 4.67877946e-03 5.86186611e+02] [ 6.71540186e-01 -7.40953209e-01 -4.70322319e-03 -2.86232182e+02] [ 6.62523708e-03 -3.42810781e-04 9.99977994e-01 -5.87559505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters 0.05293543491257122 Centerline is valid? [True, True] Translation: X:586.15, Y:-286.19, Z:-5.88 [[-7.42008017e-01 -6.70374186e-01 4.74905751e-03 5.86150668e+02] [ 6.70357289e-01 -7.42023128e-01 -4.77320127e-03 -2.86186738e+02] [ 6.72374143e-03 -3.58188285e-04 9.99977331e-01 -5.87767495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters 0.05251296668178577 Centerline is valid? [True, True] Translation: X:586.10, Y:-286.15, Z:-5.88 [[-7.38206721e-01 -6.74561510e-01 4.19603927e-03 5.86103924e+02] [ 6.74548390e-01 -7.38218592e-01 -4.21658897e-03 -2.86151123e+02] [ 5.94194282e-03 -2.82282785e-04 9.99982307e-01 -5.87832717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters 0.05279435628917655 Centerline is valid? [True, True] Translation: X:586.06, Y:-286.12, Z:-5.88 [[-7.33741821e-01 -6.79417136e-01 3.91089617e-03 5.86060050e+02] [ 6.79405814e-01 -7.33752209e-01 -3.92882460e-03 -2.86115106e+02] [ 5.53893946e-03 -2.25657326e-04 9.99984635e-01 -5.87749187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters 0.052508613727036496 Centerline is valid? [True, True] Translation: X:586.02, Y:-286.08, Z:-5.88 [[-7.28869855e-01 -6.84643055e-01 3.55273005e-03 5.86015484e+02] [ 6.84633776e-01 -7.28878494e-01 -3.56834254e-03 -2.86078494e+02] [ 5.03254946e-03 -1.68538325e-04 9.99987322e-01 -5.87675978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters 0.05216272769500257 Centerline is valid? [True, True] Translation: X:585.97, Y:-286.05, Z:-5.88 [[-7.21102667e-01 -6.92818382e-01 3.69228557e-03 5.85968699e+02] [ 6.92808473e-01 -7.21112110e-01 -3.70734317e-03 -2.86045250e+02] [ 5.23106734e-03 -1.15328319e-04 9.99986311e-01 -5.87747391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters 0.05209737732926488 Centerline is valid? [True, True] Translation: X:585.92, Y:-286.01, Z:-5.88 [[-7.13026909e-01 -7.01130072e-01 3.04120068e-03 5.85917749e+02] [ 7.01123427e-01 -7.13033394e-01 -3.05279490e-03 -2.86014982e+02] [ 4.30888395e-03 -4.44678661e-05 9.99990716e-01 -5.87793819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters 0.051928377729912704 Centerline is valid? [True, True] Translation: X:585.87, Y:-285.98, Z:-5.88 [[-7.08136738e-01 -7.06070972e-01 2.47842979e-03 5.85872830e+02] [ 7.06066592e-01 -7.08141075e-01 -2.48717364e-03 -2.85979203e+02] [ 3.51119904e-03 -1.13225576e-05 9.99993836e-01 -5.87749227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters 0.051835931502864516 Centerline is valid? [True, True] Translation: X:585.83, Y:-285.95, Z:-5.88 [[-7.03573816e-01 -7.10618921e-01 2.15272486e-03 5.85828225e+02] [ 7.10615640e-01 -7.03577109e-01 -2.15957288e-03 -2.85945195e+02] [ 3.04924128e-03 1.03410179e-05 9.99995351e-01 -5.87757500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters 0.05248517384234095 Centerline is valid? [True, True] Translation: X:585.78, Y:-285.91, Z:-5.88 [[-6.96914086e-01 -7.17142736e-01 4.12955277e-03 5.85782317e+02] [ 7.17130782e-01 -6.96926317e-01 -4.14137985e-03 -2.85911070e+02] [ 5.84795448e-03 7.52434459e-05 9.99982898e-01 -5.87962450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters 0.05169741911318705 Centerline is valid? [True, True] Translation: X:585.74, Y:-285.88, Z:-5.88 [[-6.92582765e-01 -7.21319700e-01 5.19664003e-03 5.85737056e+02] [ 7.21300897e-01 -6.92602246e-01 -5.21002909e-03 -2.85875872e+02] [ 7.35730118e-03 1.39964764e-04 9.99972925e-01 -5.88148787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters 0.05348957582553727 Centerline is valid? [True, True] Translation: X:585.69, Y:-285.85, Z:-5.88 [[-6.88353777e-01 -7.25347169e-01 6.36886819e-03 5.85687878e+02] [ 7.25319111e-01 -6.88383203e-01 -6.38381835e-03 -2.85845972e+02] [ 9.01470645e-03 2.25136349e-04 9.99959341e-01 -5.88483550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters 0.05247064126856447 Centerline is valid? [True, True] Translation: X:585.65, Y:-285.80, Z:-5.88 [[-6.88405625e-01 -7.25293602e-01 6.84737626e-03 5.85651231e+02] [ 7.25261185e-01 -6.88439636e-01 -6.86150162e-03 -2.85801608e+02] [ 9.69060844e-03 2.42639912e-04 9.99953016e-01 -5.88262671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters 0.05213812024877087 Centerline is valid? [True, True] Translation: X:585.62, Y:-285.76, Z:-5.88 [[-6.93227338e-01 -7.20694182e-01 5.97945554e-03 5.85615824e+02] [ 7.20669304e-01 -6.93253108e-01 -5.99021138e-03 -2.85755694e+02] [ 8.46238663e-03 1.56631777e-04 9.99964181e-01 -5.87959552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters 0.052179436969832405 Centerline is valid? [True, True] Translation: X:585.58, Y:-285.71, Z:-5.88 [[-6.98435911e-01 -7.15650756e-01 5.59223372e-03 5.85578826e+02] [ 7.15628847e-01 -6.98458293e-01 -5.60059878e-03 -2.85712401e+02] [ 7.91401477e-03 9.03044567e-05 9.99968680e-01 -5.87952248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters 0.0517300487187056 Centerline is valid? [True, True] Translation: X:585.55, Y:-285.66, Z:-5.88 [[-7.07361681e-01 -7.06834959e-01 4.87774685e-03 5.85545973e+02] [ 7.06818089e-01 -7.07378499e-01 -4.88358511e-03 -2.85664987e+02] [ 6.90230193e-03 -6.78126987e-06 9.99976179e-01 -5.88108695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters 0.05234689518604963 Centerline is valid? [True, True] Translation: X:585.51, Y:-285.62, Z:-5.88 [[-7.16409921e-01 -6.97667549e-01 4.10068809e-03 5.85510412e+02] [ 6.97655479e-01 -7.16421653e-01 -4.10467380e-03 -2.85618871e+02] [ 5.80151945e-03 -7.97615220e-05 9.99983168e-01 -5.87545499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters 0.052606947828394826 Centerline is valid? [True, True] Translation: X:585.47, Y:-285.58, Z:-5.87 [[-7.22241026e-01 -6.91630839e-01 3.83186285e-03 5.85469319e+02] [ 6.91620217e-01 -7.22251181e-01 -3.83487031e-03 -2.85576046e+02] [ 5.41988204e-03 -1.19506851e-04 9.99985305e-01 -5.87414914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters 0.05328740245453924 Centerline is valid? [True, True] Translation: X:585.44, Y:-285.53, Z:-5.88 [[-7.29655519e-01 -6.83797087e-01 4.93631638e-03 5.85436358e+02] [ 6.83779284e-01 -7.29672181e-01 -4.93955292e-03 -2.85528081e+02] [ 6.97954463e-03 -2.28821163e-04 9.99975617e-01 -5.87575332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters 0.05334111859016253 Centerline is valid? [True, True] Translation: X:585.40, Y:-285.48, Z:-5.88 [[-7.35542614e-01 -6.77455603e-01 5.56499431e-03 5.85398582e+02] [ 6.77432805e-01 -7.35563594e-01 -5.56719102e-03 -2.85484293e+02] [ 7.86493197e-03 -3.24996530e-04 9.99969018e-01 -5.87519871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters 0.053810970967598334 Centerline is valid? [True, True] Translation: X:585.36, Y:-285.44, Z:-5.87 [[-7.39134962e-01 -6.73544475e-01 4.16505508e-03 5.85359871e+02] [ 6.73531649e-01 -7.39146647e-01 -4.16570369e-03 -2.85440307e+02] [ 5.88437320e-03 -2.73720824e-04 9.99982649e-01 -5.87343573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters 0.052991309296026794 Centerline is valid? [True, True] Translation: X:585.31, Y:-285.40, Z:-5.87 [[-7.36177867e-01 -6.76778914e-01 3.52851468e-03 5.85313865e+02] [ 6.76769749e-01 -7.36186293e-01 -3.52825752e-03 -2.85403767e+02] [ 4.98549443e-03 -2.09433106e-04 9.99987550e-01 -5.87366470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters 0.05382415305670027 Centerline is valid? [True, True] Translation: X:585.02, Y:-285.21, Z:-5.88 [[-6.75648462e-01 -7.37217231e-01 3.14807870e-03 5.85023001e+02] [ 7.37207724e-01 -6.75655763e-01 -3.74999200e-03 -2.85212105e+02] [ 4.89157623e-03 -2.12888394e-04 9.99988014e-01 -5.87574715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters 0.05246243758534466 Centerline is valid? [True, True] Translation: X:584.98, Y:-285.18, Z:-5.87 [[-6.71780400e-01 -7.40742353e-01 3.44384855e-03 5.84979824e+02] [ 7.40731880e-01 -6.71789221e-01 -3.94005979e-03 -2.85175493e+02] [ 5.23210949e-03 -9.58865355e-05 9.99986308e-01 -5.87457922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters 0.05246243758534466 Centerline is valid? [True, True] Translation: X:584.94, Y:-285.13, Z:-5.87 [[-6.71872190e-01 -7.40659096e-01 3.44433634e-03 5.84942002e+02] [ 7.40648625e-01 -6.71881012e-01 -3.93963338e-03 -2.85132138e+02] [ 5.23210948e-03 -9.58871372e-05 9.99986308e-01 -5.87458014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters 0.052311466325741025 Centerline is valid? [True, True] Translation: X:584.90, Y:-285.09, Z:-5.88 [[-6.61161701e-01 -7.50236430e-01 3.24118497e-03 5.84901449e+02] [ 7.50227276e-01 -6.61169645e-01 -3.70607587e-03 -2.85093527e+02] [ 4.92340625e-03 -1.86900547e-05 9.99987880e-01 -5.87653045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters 0.051762670355852816 Centerline is valid? [True, True] Translation: X:584.86, Y:-285.06, Z:-5.88 [[-6.55838650e-01 -7.54894301e-01 3.20306850e-03 5.84859638e+02] [ 7.54885423e-01 -6.55846471e-01 -3.66121916e-03 -2.85055958e+02] [ 4.86455465e-03 1.67806964e-05 9.99988168e-01 -5.87749810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters 0.05172315770250532 Centerline is valid? [True, True] Translation: X:584.82, Y:-285.02, Z:-5.88 [[-6.50519073e-01 -7.59483427e-01 3.14013450e-03 5.84818336e+02] [ 7.59474952e-01 -6.50526650e-01 -3.58820246e-03 -2.85016443e+02] [ 4.76792148e-03 5.06593651e-05 9.99988632e-01 -5.87720643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters 0.05197649682926502 Centerline is valid? [True, True] Translation: X:584.78, Y:-284.98, Z:-5.88 [[-6.50009370e-01 -7.59918251e-01 3.47423692e-03 5.84779792e+02] [ 7.59907890e-01 -6.50018652e-01 -3.96873636e-03 -2.84975125e+02] [ 5.27423399e-03 6.03842334e-05 9.99986089e-01 -5.87792714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters 0.0511854628171982 Centerline is valid? [True, True] Translation: X:584.74, Y:-284.93, Z:-5.88 [[-6.49237946e-01 -7.60577089e-01 3.54695252e-03 5.84743651e+02] [ 7.60566305e-01 -6.49247632e-01 -4.05079316e-03 -2.84929894e+02] [ 5.38379099e-03 6.77639368e-05 9.99985505e-01 -5.87743179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters 0.05154613343740526 Centerline is valid? [True, True] Translation: X:584.71, Y:-284.89, Z:-5.88 [[-6.47278053e-01 -7.62241367e-01 4.38407413e-03 5.84706196e+02] [ 7.62224939e-01 -6.47292892e-01 -5.00541134e-03 -2.84886015e+02] [ 6.65311160e-03 1.01757733e-04 9.99977863e-01 -5.87838073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters 0.052075756462527614 Centerline is valid? [True, True] Translation: X:584.67, Y:-284.84, Z:-5.88 [[-6.46655615e-01 -7.62767531e-01 4.71266188e-03 5.84668561e+02] [ 7.62748572e-01 -6.46672777e-01 -5.37921064e-03 -2.84841098e+02] [ 7.15063736e-03 1.16079352e-04 9.99974427e-01 -5.87888918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters 0.05157018861009524 Centerline is valid? [True, True] Translation: X:584.63, Y:-284.80, Z:-5.88 [[-6.45186180e-01 -7.64003664e-01 5.76144520e-03 5.84631706e+02] [ 7.63975390e-01 -6.45211884e-01 -6.57476436e-03 -2.84798050e+02] [ 8.74049698e-03 1.59655239e-04 9.99961788e-01 -5.88010145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters 0.051488221543281865 Centerline is valid? [True, True] Translation: X:584.60, Y:-284.75, Z:-5.88 [[-6.43654503e-01 -7.65286000e-01 6.79847161e-03 5.84596521e+02] [ 7.65246725e-01 -6.43690372e-01 -7.75600307e-03 -2.84752345e+02] [ 1.03116713e-02 2.10321825e-04 9.99946811e-01 -5.88135644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters 0.051707353254353154 Centerline is valid? [True, True] Translation: X:584.56, Y:-284.71, Z:-5.88 [[-6.43690539e-01 -7.65255807e-01 6.78529341e-03 5.84563881e+02] [ 7.65216707e-01 -6.43726266e-01 -7.73858131e-03 -2.84706752e+02] [ 1.02898659e-02 2.10968304e-04 9.99947036e-01 -5.88092642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters 0.05100508608434043 Centerline is valid? [True, True] Translation: X:584.53, Y:-284.66, Z:-5.88 [[-6.45621556e-01 -7.63635190e-01 5.83980492e-03 5.84531245e+02] [ 7.63606178e-01 -6.45647947e-01 -6.65834859e-03 -2.84659170e+02] [ 8.85500735e-03 1.60537739e-04 9.99960781e-01 -5.87843185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters 0.05089076451855561 Centerline is valid? [True, True] Translation: X:584.50, Y:-284.61, Z:-5.88 [[-6.50444532e-01 -7.59541425e-01 4.32836140e-03 5.84499979e+02] [ 7.59525405e-01 -6.50458929e-01 -4.93370590e-03 -2.84609772e+02] [ 6.56277533e-03 7.83984180e-05 9.99978462e-01 -5.87697098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters 0.051081933623250995 Centerline is valid? [True, True] Translation: X:584.47, Y:-284.56, Z:-5.88 [[-6.57046396e-01 -7.53839961e-01 3.91755687e-03 5.84468450e+02] [ 7.53826742e-01 -6.57058075e-01 -4.46419610e-03 -2.84560560e+02] [ 5.93935179e-03 1.99751727e-05 9.99982362e-01 -5.87654047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters 0.051017783422448025 Centerline is valid? [True, True] Translation: X:584.44, Y:-284.52, Z:-5.88 [[-6.62371795e-01 -7.49163422e-01 4.21566352e-03 5.84435381e+02] [ 7.49148030e-01 -6.62385210e-01 -4.80236663e-03 -2.84515143e+02] [ 6.39015058e-03 -2.27961873e-05 9.99979583e-01 -5.87583419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters 0.05143088439448571 Centerline is valid? [True, True] Translation: X:584.40, Y:-284.47, Z:-5.88 [[-6.65523669e-01 -7.46363122e-01 4.50953157e-03 5.84400482e+02] [ 7.46345454e-01 -6.65538945e-01 -5.13573877e-03 -2.84469216e+02] [ 6.83439491e-03 -5.22873276e-05 9.99976644e-01 -5.87810258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters 0.051897714466980494 Centerline is valid? [True, True] Translation: X:584.37, Y:-284.42, Z:-5.88 [[-6.74797408e-01 -7.37984865e-01 5.17663039e-03 5.84369157e+02] [ 7.37961346e-01 -6.74817246e-01 -5.89376662e-03 -2.84420263e+02] [ 7.84279002e-03 -1.56945309e-04 9.99969233e-01 -5.87780322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters 0.05229601765593872 Centerline is valid? [True, True] Translation: X:584.33, Y:-284.37, Z:-5.88 [[-6.83461138e-01 -7.29967212e-01 5.36115446e-03 5.84334982e+02] [ 7.29941747e-01 -6.83482116e-01 -6.10272923e-03 -2.84372749e+02] [ 8.11904544e-03 -2.57647811e-04 9.99967007e-01 -5.87624334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters 0.05286939703566726 Centerline is valid? [True, True] Translation: X:584.30, Y:-284.32, Z:-5.88 [[-6.87741303e-01 -7.25937308e-01 5.18901899e-03 5.84302972e+02] [ 7.25913349e-01 -6.87760815e-01 -5.90518368e-03 -2.84323919e+02] [ 7.85559707e-03 -2.94460568e-04 9.99969101e-01 -5.87736770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters 0.05251255843222049 Centerline is valid? [True, True] Translation: X:584.26, Y:-284.28, Z:-5.88 [[-6.90452068e-01 -7.23362217e-01 4.80039369e-03 5.84261229e+02] [ 7.23341663e-01 -6.90468691e-01 -5.46126702e-03 -2.84284252e+02] [ 7.26499577e-03 -2.98418354e-04 9.99973565e-01 -5.87596406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters 0.05232842373164495 Centerline is valid? [True, True] Translation: X:584.22, Y:-284.24, Z:-5.87 [[-6.88368654e-01 -7.25345596e-01 4.72900765e-03 5.84220696e+02] [ 7.25325705e-01 -6.88384844e-01 -5.37861597e-03 -2.84243906e+02] [ 7.15673260e-03 -2.72399827e-04 9.99974353e-01 -5.87466778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters 0.052350198312447256 Centerline is valid? [True, True] Translation: X:584.19, Y:-284.20, Z:-5.88 [[-6.85055138e-01 -7.28476038e-01 4.70317878e-03 5.84185215e+02] [ 7.28456446e-01 -6.85071242e-01 -5.34792800e-03 -2.84197547e+02] [ 7.11784993e-03 -2.37564660e-04 9.99974640e-01 -5.87544121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters 0.052083982919572926 Centerline is valid? [True, True] Translation: X:584.14, Y:-284.16, Z:-5.88 [[-6.77533887e-01 -7.35478506e-01 4.38167321e-03 5.84143792e+02] [ 7.35461652e-01 -6.77548038e-01 -4.98139485e-03 -2.84157225e+02] [ 6.63250293e-03 -1.52511200e-04 9.99977993e-01 -5.87557595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters 0.051100061945655625 Centerline is valid? [True, True] Translation: X:584.10, Y:-284.12, Z:-5.87 [[-6.71665158e-01 -7.40843082e-01 4.17657515e-03 5.84098696e+02] [ 7.40827881e-01 -6.71678137e-01 -4.74676001e-03 -2.84121740e+02] [ 6.32191853e-03 -9.41099931e-05 9.99980012e-01 -5.87357601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters 0.051605626949686574 Centerline is valid? [True, True] Translation: X:584.06, Y:-284.08, Z:-5.88 [[-6.63814048e-01 -7.47886891e-01 4.01352339e-03 5.84056654e+02] [ 7.47872986e-01 -6.63826181e-01 -4.56062793e-03 -2.84082004e+02] [ 6.07511574e-03 -2.58031666e-05 9.99981546e-01 -5.87552743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters 0.05145495395175923 Centerline is valid? [True, True] Translation: X:584.02, Y:-284.04, Z:-5.87 [[-6.59734934e-01 -7.51485890e-01 4.33298125e-03 5.84016815e+02] [ 7.51469767e-01 -6.59749163e-01 -4.92254539e-03 -2.84042747e+02] [ 6.55790416e-03 8.52925097e-06 9.99978497e-01 -5.87439450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters 0.05102862604319537 Centerline is valid? [True, True] Translation: X:583.97, Y:-284.01, Z:-5.88 [[-6.54986557e-01 -7.55626394e-01 4.62189683e-03 5.83974825e+02] [ 7.55608163e-01 -6.55002862e-01 -5.24925177e-03 -2.84005423e+02] [ 6.99382883e-03 5.41536292e-05 9.99975541e-01 -5.87724290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters 0.05088144713509405 Centerline is valid? [True, True] Translation: X:583.94, Y:-283.96, Z:-5.88 [[-6.52414796e-01 -7.57844686e-01 5.13474068e-03 5.83935918e+02] [ 7.57822264e-01 -6.52434996e-01 -5.83018507e-03 -2.83963015e+02] [ 7.76845929e-03 8.75218016e-05 9.99969821e-01 -5.87647686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters 0.0513292046056659 Centerline is valid? [True, True] Translation: X:583.90, Y:-283.92, Z:-5.88 [[-6.52014320e-01 -7.58178969e-01 6.47900241e-03 5.83897087e+02] [ 7.58143303e-01 -6.52046499e-01 -7.35495301e-03 -2.83921892e+02] [ 9.80098153e-03 1.16477607e-04 9.99951962e-01 -5.87881625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters 0.05180342385232416 Centerline is valid? [True, True] Translation: X:583.86, Y:-283.88, Z:-5.88 [[-6.52703069e-01 -7.57587833e-01 6.27527027e-03 5.83859228e+02] [ 7.57554369e-01 -6.52733226e-01 -7.12141196e-03 -2.83880837e+02] [ 9.49117246e-03 1.05690962e-04 9.99954952e-01 -5.88090892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters 0.050968617531679195 Centerline is valid? [True, True] Translation: X:583.82, Y:-283.84, Z:-5.88 [[-6.54160710e-01 -7.56335250e-01 5.54578613e-03 5.83824419e+02] [ 7.56309085e-01 -6.54184212e-01 -6.29160003e-03 -2.83835954e+02] [ 8.38652461e-03 7.86108954e-05 9.99964829e-01 -5.87849753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters 0.051004500090399 Centerline is valid? [True, True] Translation: X:583.79, Y:-283.79, Z:-5.88 [[-6.54826588e-01 -7.55759164e-01 5.49789563e-03 5.83789094e+02] [ 7.55733444e-01 -6.54849663e-01 -6.23540170e-03 -2.83790939e+02] [ 8.31275707e-03 7.18367871e-05 9.99965446e-01 -5.87589907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters 0.05103384933119736 Centerline is valid? [True, True] Translation: X:583.75, Y:-283.75, Z:-5.88 [[-6.56431880e-01 -7.54356239e-01 6.62204496e-03 5.83753526e+02] [ 7.54318875e-01 -6.56465277e-01 -7.50834575e-03 -2.83745045e+02] [ 1.00111100e-02 6.64159892e-05 9.99949885e-01 -5.87656448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters 0.051688066621497324 Centerline is valid? [True, True] Translation: X:583.72, Y:-283.70, Z:-5.88 [[-6.56876380e-01 -7.53961578e-01 7.44043303e-03 5.83716182e+02] [ 7.53914404e-01 -6.56918514e-01 -8.43430552e-03 -2.83702839e+02] [ 1.12469005e-02 6.91535573e-05 9.99936749e-01 -5.88097687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters 0.05154243953560795 Centerline is valid? [True, True] Translation: X:583.68, Y:-283.66, Z:-5.88 [[-6.57474716e-01 -7.53438885e-01 7.53955139e-03 5.83681792e+02] [ 7.53390437e-01 -6.57517941e-01 -8.54437926e-03 -2.83656000e+02] [ 1.13950579e-02 6.25125894e-05 9.99935072e-01 -5.87772058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters 0.051639224535023925 Centerline is valid? [True, True] Translation: X:583.65, Y:-283.61, Z:-5.88 [[-6.56734481e-01 -7.54084658e-01 7.49334873e-03 5.83646850e+02] [ 7.54036873e-01 -6.56777225e-01 -8.48945169e-03 -2.83611034e+02] [ 1.13232261e-02 7.49456019e-05 9.99935887e-01 -5.87702078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters 0.05157393421530313 Centerline is valid? [True, True] Translation: X:583.61, Y:-283.57, Z:-5.88 [[-6.53787610e-01 -7.56640728e-01 7.52128562e-03 5.83610315e+02] [ 7.56592782e-01 -6.53830860e-01 -8.51869397e-03 -2.83567347e+02] [ 1.13632395e-02 1.21133840e-04 9.99935429e-01 -5.87763012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters 0.051244276964405984 Centerline is valid? [True, True] Translation: X:583.57, Y:-283.53, Z:-5.88 [[-6.50770983e-01 -7.59240308e-01 7.16107906e-03 5.83572185e+02] [ 7.59197022e-01 -6.50810363e-01 -8.10888436e-03 -2.83526304e+02] [ 1.08170963e-02 1.59643245e-04 9.99941481e-01 -5.87836201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters 0.050660812806448415 Centerline is valid? [True, True] Translation: X:583.54, Y:-283.48, Z:-5.88 [[-6.46342818e-01 -7.63019512e-01 6.49510897e-03 5.83535888e+02] [ 7.62984106e-01 -6.46375420e-01 -7.35329277e-03 -2.83481934e+02] [ 9.80898465e-03 2.02916941e-04 9.99951870e-01 -5.87516211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters 0.050673335214035435 Centerline is valid? [True, True] Translation: X:583.50, Y:-283.44, Z:-5.87 [[-6.43342551e-01 -7.65558755e-01 5.49130932e-03 5.83498612e+02] [ 7.65533554e-01 -6.43365954e-01 -6.21514951e-03 -2.83439938e+02] [ 8.29098358e-03 2.05311397e-04 9.99965608e-01 -5.87378354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters 0.05013454110771684 Centerline is valid? [True, True] Translation: X:583.46, Y:-283.40, Z:-5.87 [[-6.41817979e-01 -7.66840860e-01 4.97780603e-03 5.83460877e+02] [ 7.66820201e-01 -6.41837250e-01 -5.63244187e-03 -2.83396465e+02] [ 7.51412790e-03 2.02079766e-04 9.99971748e-01 -5.87267508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters 0.050624944459358744 Centerline is valid? [True, True] Translation: X:583.42, Y:-283.35, Z:-5.87 [[-6.40656391e-01 -7.67803500e-01 6.09697240e-03 5.83422604e+02] [ 7.67772563e-01 -6.40685349e-01 -6.89750393e-03 -2.83353694e+02] [ 9.20216855e-03 2.62158152e-04 9.99957625e-01 -5.87313512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters 0.050856933288813105 Centerline is valid? [True, True] Translation: X:583.38, Y:-283.31, Z:-5.88 [[-6.41032388e-01 -7.67477819e-01 7.43469420e-03 5.83383336e+02] [ 7.67431817e-01 -6.41075423e-01 -8.40877354e-03 -2.83310746e+02] [ 1.12197469e-02 3.15324694e-04 9.99937007e-01 -5.87546059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters 0.0507677785791836 Centerline is valid? [True, True] Translation: X:583.34, Y:-283.27, Z:-5.88 [[-6.42572458e-01 -7.66179907e-01 8.30577454e-03 5.83344277e+02] [ 7.66122414e-01 -6.42626051e-01 -9.39178141e-03 -2.83269692e+02] [ 1.25333013e-02 3.28339978e-04 9.99921401e-01 -5.87758781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters 0.051002558749753846 Centerline is valid? [True, True] Translation: X:583.31, Y:-283.22, Z:-5.87 [[-6.44571830e-01 -7.64510353e-01 7.14673108e-03 5.83310624e+02] [ 7.64467700e-01 -6.44611398e-01 -8.07966133e-03 -2.83222825e+02] [ 1.07838491e-02 2.55522986e-04 9.99941820e-01 -5.87366718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters 0.05084625270145304 Centerline is valid? [True, True] Translation: X:583.27, Y:-283.18, Z:-5.87 [[-6.46772886e-01 -7.62662770e-01 5.50758187e-03 5.83271017e+02] [ 7.62637386e-01 -6.46796312e-01 -6.22476119e-03 -2.83182448e+02] [ 8.30967725e-03 1.74281078e-04 9.99965459e-01 -5.87352870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters 0.05102557018434661 Centerline is valid? [True, True] Translation: X:583.23, Y:-283.14, Z:-5.87 [[-6.48556128e-01 -7.61150619e-01 4.96830956e-03 5.83234683e+02] [ 7.61129931e-01 -6.48575143e-01 -5.61354930e-03 -2.83139480e+02] [ 7.49507860e-03 1.40827311e-04 9.99971902e-01 -5.87271705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters 0.05068274933265731 Centerline is valid? [True, True] Translation: X:583.20, Y:-283.09, Z:-5.87 [[-6.49106333e-01 -7.60679865e-01 5.20687028e-03 5.83200046e+02] [ 7.60657140e-01 -6.49127201e-01 -5.88157082e-03 -2.83092293e+02] [ 7.85391363e-03 1.42878191e-04 9.99969147e-01 -5.87056887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters 0.04999875244296465 Centerline is valid? [True, True] Translation: X:583.16, Y:-283.05, Z:-5.87 [[-6.50261094e-01 -7.59685622e-01 6.18598740e-03 5.83159871e+02] [ 7.59653518e-01 -6.50290498e-01 -6.98574920e-03 -2.83050220e+02] [ 9.32966205e-03 1.56646176e-04 9.99956465e-01 -5.87216635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters 0.05065188929597853 Centerline is valid? [True, True] Translation: X:583.12, Y:-283.01, Z:-5.87 [[-6.50993248e-01 -7.59050285e-01 7.10323389e-03 5.83120577e+02] [ 7.59007939e-01 -6.51031978e-01 -8.01949852e-03 -2.83008099e+02] [ 1.07116350e-02 1.70771524e-04 9.99942614e-01 -5.87295677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters 0.05084642546893519 Centerline is valid? [True, True] Translation: X:583.08, Y:-282.96, Z:-5.87 [[-6.52274464e-01 -7.57942989e-01 7.77496532e-03 5.83082523e+02] [ 7.57892197e-01 -6.52320778e-01 -8.77610696e-03 -2.82964757e+02] [ 1.17235602e-02 1.68155086e-04 9.99931263e-01 -5.87305131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters 0.050785519606770566 Centerline is valid? [True, True] Translation: X:583.04, Y:-282.92, Z:-5.87 [[-6.53685717e-01 -7.56725440e-01 7.84803256e-03 5.83043698e+02] [ 7.56673630e-01 -6.53732809e-01 -8.85615284e-03 -2.82923083e+02] [ 1.18321925e-02 1.49258671e-04 9.99929986e-01 -5.87378922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters 0.051260295677405913 Centerline is valid? [True, True] Translation: X:583.01, Y:-282.88, Z:-5.87 [[-6.54716336e-01 -7.55838734e-01 7.37063848e-03 5.83006060e+02] [ 7.55793004e-01 -6.54757811e-01 -8.31530380e-03 -2.82878824e+02] [ 1.11110118e-02 1.26511752e-04 9.99938263e-01 -5.87220409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters 0.051255233727600505 Centerline is valid? [True, True] Translation: X:582.97, Y:-282.84, Z:-5.87 [[-6.56168336e-01 -7.54585526e-01 6.61810671e-03 5.82967539e+02] [ 7.54548604e-01 -6.56201703e-01 -7.46517787e-03 -2.82836183e+02] [ 9.97592806e-03 9.52698457e-05 9.99950235e-01 -5.87188858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters 0.05126070812374252 Centerline is valid? [True, True] Translation: X:582.93, Y:-282.79, Z:-5.87 [[-6.57828494e-01 -7.53145115e-01 5.84025251e-03 5.82929794e+02] [ 7.53116320e-01 -6.57854416e-01 -6.58602951e-03 -2.82792194e+02] [ 8.80227185e-03 6.59116053e-05 9.99961257e-01 -5.87112646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters 0.05111164510132101 Centerline is valid? [True, True] Translation: X:582.89, Y:-282.75, Z:-5.87 [[-6.59110829e-01 -7.52022753e-01 5.89025639e-03 5.82892318e+02] [ 7.51993436e-01 -6.59137146e-01 -6.64045598e-03 -2.82749682e+02] [ 8.87626077e-03 5.26377015e-05 9.99960604e-01 -5.87072742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters 0.051260071908132775 Centerline is valid? [True, True] Translation: X:582.85, Y:-282.71, Z:-5.87 [[-6.60106179e-01 -7.51148955e-01 5.92285852e-03 5.82853850e+02] [ 7.51119294e-01 -6.60132749e-01 -6.67531358e-03 -2.82708940e+02] [ 8.92402769e-03 4.23575716e-05 9.99960179e-01 -5.87242875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters 0.05161415770247929 Centerline is valid? [True, True] Translation: X:582.82, Y:-282.66, Z:-5.87 [[-6.61541585e-01 -7.49885496e-01 5.87141481e-03 5.82815947e+02] [ 7.49856315e-01 -6.61567639e-01 -6.61556741e-03 -2.82664799e+02] [ 8.84525608e-03 2.62445191e-05 9.99960880e-01 -5.87006325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters 0.051328221683701464 Centerline is valid? [True, True] Translation: X:582.78, Y:-282.62, Z:-5.87 [[-6.65736146e-01 -7.46160831e-01 6.27676016e-03 5.82779633e+02] [ 7.46127332e-01 -6.65765735e-01 -7.07040314e-03 -2.82621379e+02] [ 9.45450972e-03 -2.37606198e-05 9.99955305e-01 -5.87262350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters 0.051966501650750056 Centerline is valid? [True, True] Translation: X:582.74, Y:-282.58, Z:-5.87 [[-6.70661697e-01 -7.41731669e-01 6.85714468e-03 5.82743425e+02] [ 7.41691478e-01 -6.70696744e-01 -7.72196417e-03 -2.82576508e+02] [ 1.03266900e-02 -9.29398227e-05 9.99946674e-01 -5.87092030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters 0.05219794418561657 Centerline is valid? [True, True] Translation: X:582.70, Y:-282.53, Z:-5.87 [[-6.73061332e-01 -7.39552313e-01 7.12878050e-03 5.82704040e+02] [ 7.39508774e-01 -6.73099071e-01 -8.02575954e-03 -2.82534645e+02] [ 1.07338446e-02 -1.30032683e-04 9.99942382e-01 -5.86789495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters 0.0520814626240302 Centerline is valid? [True, True] Translation: X:582.67, Y:-282.49, Z:-5.87 [[-6.74182515e-01 -7.38531351e-01 7.02706880e-03 5.82665164e+02] [ 7.38489007e-01 -6.74219121e-01 -7.90970570e-03 -2.82490133e+02] [ 1.05793498e-02 -1.43172226e-04 9.99944027e-01 -5.86875937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters 0.05213942803412339 Centerline is valid? [True, True] Translation: X:582.63, Y:-282.45, Z:-5.87 [[-6.72424795e-01 -7.40128829e-01 7.36278869e-03 5.82626208e+02] [ 7.40082445e-01 -6.72465093e-01 -8.28697296e-03 -2.82447479e+02] [ 1.10846460e-02 -1.23295440e-04 9.99938556e-01 -5.86967987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters 0.05220446157130545 Centerline is valid? [True, True] Translation: X:582.58, Y:-282.40, Z:-5.87 [[-6.68978925e-01 -7.43243399e-01 7.51318695e-03 5.82584953e+02] [ 7.43195314e-01 -6.69021109e-01 -8.45463560e-03 -2.82404617e+02] [ 1.13103328e-02 -7.22076954e-05 9.99936034e-01 -5.86800802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters 0.05152807777991151 Centerline is valid? [True, True] Translation: X:582.55, Y:-282.36, Z:-5.87 [[-6.65827760e-01 -7.46070742e-01 7.20019131e-03 5.82547109e+02] [ 7.46026769e-01 -6.65866689e-01 -8.10008885e-03 -2.82362676e+02] [ 1.08376068e-02 -2.17285466e-05 9.99941271e-01 -5.87379742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters 0.05210878972198292 Centerline is valid? [True, True] Translation: X:582.50, Y:-282.32, Z:-5.87 [[-6.60117810e-01 -7.51133836e-01 6.51439314e-03 5.82504019e+02] [ 7.51098108e-01 -6.60149951e-01 -7.32633563e-03 -2.82324097e+02] [ 9.80353490e-03 5.67037235e-05 9.99951943e-01 -5.86799424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters 0.05202188794439231 Centerline is valid? [True, True] Translation: X:582.46, Y:-282.29, Z:-5.87 [[-6.54181118e-01 -7.56314822e-01 5.91227760e-03 5.82459545e+02] [ 7.56285620e-01 -6.54207822e-01 -6.64724502e-03 -2.82287214e+02] [ 8.89526819e-03 1.22868354e-04 9.99960429e-01 -5.86935547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters 0.051695460857170174 Centerline is valid? [True, True] Translation: X:582.42, Y:-282.24, Z:-5.87 [[-6.50740683e-01 -7.59277317e-01 5.87526024e-03 5.82420540e+02] [ 7.59248616e-01 -6.50767185e-01 -6.60385363e-03 -2.82244175e+02] [ 8.83758283e-03 1.63386974e-04 9.99960934e-01 -5.86738192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters 0.05211875799931905 Centerline is valid? [True, True] Translation: X:582.38, Y:-282.20, Z:-5.87 [[-6.47303179e-01 -7.62207929e-01 6.13745729e-03 5.82380946e+02] [ 7.62176757e-01 -6.47332239e-01 -6.89659023e-03 -2.82202295e+02] [ 9.22960972e-03 2.13642516e-04 9.99957383e-01 -5.86707616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters 0.051535501526177245 Centerline is valid? [True, True] Translation: X:582.34, Y:-282.16, Z:-5.87 [[-6.46185306e-01 -7.63154520e-01 6.30307263e-03 5.82342128e+02] [ 7.63121706e-01 -6.46216003e-01 -7.08086390e-03 -2.82159245e+02] [ 9.47693970e-03 2.34461339e-04 9.99955065e-01 -5.86711797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters 0.0522426162503445 Centerline is valid? [True, True] Translation: X:582.30, Y:-282.12, Z:-5.87 [[-6.47042725e-01 -7.62417002e-01 7.48504530e-03 5.82303595e+02] [ 7.62370703e-01 -6.47085963e-01 -8.40643470e-03 -2.82117033e+02] [ 1.12526765e-02 2.67056832e-04 9.99936651e-01 -5.86810545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters 0.052365109630768465 Centerline is valid? [True, True] Translation: X:582.26, Y:-282.08, Z:-5.87 [[-6.47745084e-01 -7.61817122e-01 7.80897018e-03 5.82264729e+02] [ 7.61766707e-01 -6.47792097e-01 -8.76832160e-03 -2.82076759e+02] [ 1.17384467e-02 2.68976285e-04 9.99931066e-01 -5.86994343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters 0.05156165722795805 Centerline is valid? [True, True] Translation: X:582.23, Y:-282.03, Z:-5.87 [[-6.49734271e-01 -7.60124082e-01 7.53370289e-03 5.82230957e+02] [ 7.60077069e-01 -6.49777905e-01 -8.45711731e-03 -2.82028836e+02] [ 1.13236922e-02 2.31315864e-04 9.99935858e-01 -5.86703733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters 0.05208906171677043 Centerline is valid? [True, True] Translation: X:582.19, Y:-281.99, Z:-5.87 [[-6.53183439e-01 -7.57175926e-01 6.00102160e-03 5.82194617e+02] [ 7.57145989e-01 -6.53210989e-01 -6.73460354e-03 -2.81985673e+02] [ 9.01921292e-03 1.44717937e-04 9.99959316e-01 -5.86652184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters 0.05245003130453353 Centerline is valid? [True, True] Translation: X:582.16, Y:-281.94, Z:-5.87 [[-6.54863351e-01 -7.55729169e-01 5.23590519e-03 5.82158497e+02] [ 7.55706343e-01 -6.54884273e-01 -5.87469099e-03 -2.81942852e+02] [ 7.86858731e-03 1.09686945e-04 9.99969036e-01 -5.86638095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters 0.05135230600248423 Centerline is valid? [True, True] Translation: X:582.12, Y:-281.90, Z:-5.87 [[-6.55889387e-01 -7.54837384e-01 5.44390925e-03 5.82123346e+02] [ 7.54812693e-01 -6.55911970e-01 -6.10616967e-03 -2.81898514e+02] [ 8.17989038e-03 1.04159924e-04 9.99966539e-01 -5.86623982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters 0.051746646485695706 Centerline is valid? [True, True] Translation: X:582.09, Y:-281.86, Z:-5.87 [[-6.56251293e-01 -7.54515529e-01 6.36847355e-03 5.82086066e+02] [ 7.54481745e-01 -6.56282182e-01 -7.14098464e-03 -2.81855647e+02] [ 9.56749952e-03 1.18616641e-04 9.99954223e-01 -5.86752464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters 0.051848907789185585 Centerline is valid? [True, True] Translation: X:582.05, Y:-281.81, Z:-5.87 [[-6.57237021e-01 -7.53658571e-01 6.18515707e-03 5.82050069e+02] [ 7.53626685e-01 -6.57266116e-01 -6.93339890e-03 -2.81811571e+02] [ 9.29070967e-03 1.04412975e-04 9.99956835e-01 -5.86560147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters 0.05214593235291779 Centerline is valid? [True, True] Translation: X:582.01, Y:-281.77, Z:-5.87 [[-6.58401763e-01 -7.52644099e-01 5.82909251e-03 5.82011386e+02] [ 7.52615757e-01 -6.58427561e-01 -6.53224656e-03 -2.81770516e+02] [ 8.75449199e-03 8.62242143e-05 9.99961675e-01 -5.86599822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters 0.05229588167655876 Centerline is valid? [True, True] Translation: X:581.97, Y:-281.73, Z:-5.86 [[-6.61305735e-01 -7.50099672e-01 5.02066169e-03 5.81974079e+02] [ 7.50078584e-01 -6.61324792e-01 -5.62476333e-03 -2.81727059e+02] [ 7.53942118e-03 4.62025599e-05 9.99971577e-01 -5.86449833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters 0.05179735169006002 Centerline is valid? [True, True] Translation: X:581.94, Y:-281.68, Z:-5.86 [[-6.63142206e-01 -7.48479359e-01 4.58948660e-03 5.81936227e+02] [ 7.48461709e-01 -6.63158087e-01 -5.14018036e-03 -2.81684506e+02] [ 6.89087406e-03 2.63844385e-05 9.99976257e-01 -5.86305726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters 0.0521463248705253 Centerline is valid? [True, True] Translation: X:581.90, Y:-281.64, Z:-5.86 [[-6.65481792e-01 -7.46400467e-01 4.50867419e-03 5.81897542e+02] [ 7.46383396e-01 -6.65497065e-01 -5.04809106e-03 -2.81644290e+02] [ 6.76840696e-03 5.78686554e-06 9.99977094e-01 -5.86126799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters 0.05260857341273677 Centerline is valid? [True, True] Translation: X:581.86, Y:-281.60, Z:-5.86 [[-6.67648968e-01 -7.44457499e-01 5.28079747e-03 5.81856797e+02] [ 7.44434031e-01 -6.67669852e-01 -5.91113284e-03 -2.81602803e+02] [ 7.92641644e-03 -1.53563876e-05 9.99968585e-01 -5.86346734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters 0.052877526521261785 Centerline is valid? [True, True] Translation: X:581.82, Y:-281.56, Z:-5.86 [[-6.69084215e-01 -7.43158760e-01 6.43200356e-03 5.81817311e+02] [ 7.43123893e-01 -6.69115129e-01 -7.19888175e-03 -2.81561661e+02] [ 9.65366293e-03 -3.68826127e-05 9.99953402e-01 -5.86452058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters 0.0528472533084901 Centerline is valid? [True, True] Translation: X:581.78, Y:-281.52, Z:-5.86 [[-6.69602256e-01 -7.42686859e-01 7.00340457e-03 5.81776891e+02] [ 7.42645519e-01 -6.69638878e-01 -7.83626669e-03 -2.81520356e+02] [ 1.05096443e-02 -4.61348298e-05 9.99944771e-01 -5.86320201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters 0.052809560861683466 Centerline is valid? [True, True] Translation: X:581.74, Y:-281.48, Z:-5.86 [[-6.69975709e-01 -7.42354904e-01 6.46112103e-03 5.81735854e+02] [ 7.42319714e-01 -6.70006862e-01 -7.22824043e-03 -2.81479565e+02] [ 9.69491515e-03 -4.65280001e-05 9.99953002e-01 -5.86225143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters 0.05327270903554991 Centerline is valid? [True, True] Translation: X:581.70, Y:-281.44, Z:-5.86 [[-6.69884350e-01 -7.42444779e-01 5.54139491e-03 5.81696631e+02] [ 7.42418909e-01 -6.69907268e-01 -6.19804653e-03 -2.81438319e+02] [ 8.31392801e-03 -3.79380061e-05 9.99965438e-01 -5.86442044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters 0.05341762485146579 Centerline is valid? [True, True] Translation: X:581.65, Y:-281.40, Z:-5.86 [[-6.69440997e-01 -7.42847618e-01 5.11548321e-03 5.81654648e+02] [ 7.42825595e-01 -6.69460541e-01 -5.72009134e-03 -2.81398439e+02] [ 7.67377038e-03 -2.93517876e-05 9.99970556e-01 -5.86293985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters 0.053789568555195184 Centerline is valid? [True, True] Translation: X:581.61, Y:-281.36, Z:-5.86 [[-6.68015778e-01 -7.44129604e-01 5.10420431e-03 5.81614008e+02] [ 7.44107730e-01 -6.68035278e-01 -5.70555156e-03 -2.81360919e+02] [ 7.65545837e-03 -1.33205803e-05 9.99970696e-01 -5.86394144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters 0.053211034920020335 Centerline is valid? [True, True] Translation: X:581.57, Y:-281.32, Z:-5.86 [[-6.66210099e-01 -7.45747184e-01 5.02410353e-03 5.81571690e+02] [ 7.45726049e-01 -6.66229043e-01 -5.61449586e-03 -2.81320583e+02] [ 7.53419817e-03 6.17102738e-06 9.99971618e-01 -5.86249789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters 0.05287906889733462 Centerline is valid? [True, True] Translation: X:581.53, Y:-281.28, Z:-5.86 [[-6.62778694e-01 -7.48793658e-01 5.69736826e-03 5.81529155e+02] [ 7.48766602e-01 -6.62803180e-01 -6.36561661e-03 -2.81282233e+02] [ 8.54276715e-03 4.70040002e-05 9.99963509e-01 -5.86366317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters 0.05332451008094125 Centerline is valid? [True, True] Translation: X:581.49, Y:-281.24, Z:-5.87 [[-6.59709520e-01 -7.51489918e-01 6.80091661e-03 5.81485639e+02] [ 7.51451527e-01 -6.59744567e-01 -7.59660395e-03 -2.81244901e+02] [ 1.01956391e-02 9.90072209e-05 9.99948018e-01 -5.86743585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters 0.053223378520631255 Centerline is valid? [True, True] Translation: X:581.45, Y:-281.20, Z:-5.87 [[-6.58778526e-01 -7.52304859e-01 6.94647736e-03 5.81446805e+02] [ 7.52264874e-01 -6.58815138e-01 -7.75714063e-03 -2.81202074e+02] [ 1.04121790e-02 1.15353248e-04 9.99945785e-01 -5.86610545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters 0.05349256030694375 Centerline is valid? [True, True] Translation: X:581.41, Y:-281.16, Z:-5.87 [[-6.59282876e-01 -7.51859162e-01 7.34097755e-03 5.81408298e+02] [ 7.51814500e-01 -6.59323734e-01 -8.19578204e-03 -2.81161268e+02] [ 1.10021546e-02 1.15714613e-04 9.99939468e-01 -5.86698975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters 0.05370739219398922 Centerline is valid? [True, True] Translation: X:581.37, Y:-281.12, Z:-5.87 [[-6.60751914e-01 -7.50569095e-01 7.27604750e-03 5.81371896e+02] [ 7.50525168e-01 -6.60791967e-01 -8.12086412e-03 -2.81117437e+02] [ 1.09032234e-02 9.49802518e-05 9.99940554e-01 -5.86523686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters 0.05330678211152787 Centerline is valid? [True, True] Translation: X:581.33, Y:-281.07, Z:-5.86 [[-6.61587587e-01 -7.49836798e-01 6.82944802e-03 5.81334006e+02] [ 7.49798080e-01 -6.61622831e-01 -7.62033709e-03 -2.81073296e+02] [ 1.02325279e-02 7.91865861e-05 9.99947643e-01 -5.86385965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters 0.05349062767101897 Centerline is valid? [True, True] Translation: X:581.30, Y:-281.03, Z:-5.86 [[-6.61896240e-01 -7.49574051e-01 5.66641826e-03 5.81296369e+02] [ 7.49547405e-01 -6.61920492e-01 -6.32058869e-03 -2.81031292e+02] [ 8.48846763e-03 6.36752116e-05 9.99963970e-01 -5.86372679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters 0.05353576749470273 Centerline is valid? [True, True] Translation: X:581.26, Y:-280.99, Z:-5.86 [[-6.61808179e-01 -7.49657345e-01 4.87846087e-03 5.81259469e+02] [ 7.49637609e-01 -6.61826157e-01 -5.44001798e-03 -2.80987775e+02] [ 7.30684245e-03 5.68293529e-05 9.99973303e-01 -5.86297264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters 0.053093266423648186 Centerline is valid? [True, True] Translation: X:581.22, Y:-280.95, Z:-5.86 [[-6.61253701e-01 -7.50143591e-01 5.30431698e-03 5.81221741e+02] [ 7.50120287e-01 -6.61274972e-01 -5.91322062e-03 -2.80945439e+02] [ 7.94337661e-03 6.87367502e-05 9.99968449e-01 -5.86411429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters 0.05353612590437909 Centerline is valid? [True, True] Translation: X:581.18, Y:-280.90, Z:-5.87 [[-6.60512856e-01 -7.50793295e-01 5.67408220e-03 5.81183162e+02] [ 7.50766669e-01 -6.60537222e-01 -6.32356312e-03 -2.80904872e+02] [ 8.49563128e-03 8.31170572e-05 9.99963908e-01 -5.86650656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters 0.05289628599925795 Centerline is valid? [True, True] Translation: X:581.15, Y:-280.86, Z:-5.87 [[-6.59138008e-01 -7.51997215e-01 6.10542076e-03 5.81146560e+02] [ 7.51966457e-01 -6.59166275e-01 -6.80219522e-03 -2.80862015e+02] [ 9.13971932e-03 1.07486212e-04 9.99958226e-01 -5.86653695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters 0.05257886401065964 Centerline is valid? [True, True] Translation: X:581.11, Y:-280.82, Z:-5.86 [[-6.57853843e-01 -7.53124799e-01 5.59977005e-03 5.81110721e+02] [ 7.53098980e-01 -6.57877666e-01 -6.23718636e-03 -2.80815798e+02] [ 8.38134338e-03 1.14024094e-04 9.99964869e-01 -5.86397305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters 0.05294533674882114 Centerline is valid? [True, True] Translation: X:581.07, Y:-280.77, Z:-5.86 [[-6.55492356e-01 -7.55180755e-01 5.63908944e-03 5.81072913e+02] [ 7.55154662e-01 -6.55516596e-01 -6.27931437e-03 -2.80772164e+02] [ 8.43853408e-03 1.42342116e-04 9.99964385e-01 -5.86441678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters 0.05256248973614207 Centerline is valid? [True, True] Translation: X:581.04, Y:-280.73, Z:-5.86 [[-6.53830626e-01 -7.56615305e-01 6.22839154e-03 5.81035898e+02] [ 7.56583555e-01 -6.53860267e-01 -6.93369217e-03 -2.80727242e+02] [ 9.31863537e-03 1.78838325e-04 9.99956565e-01 -5.86414748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters 0.05235678042724307 Centerline is valid? [True, True] Translation: X:581.00, Y:-280.68, Z:-5.86 [[-6.53299898e-01 -7.57075606e-01 5.98082997e-03 5.80999411e+02] [ 7.57046364e-01 -6.53327249e-01 -6.65641006e-03 -2.80681817e+02] [ 8.94684487e-03 1.79133577e-04 9.99959960e-01 -5.86282973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters 0.05294092780435432 Centerline is valid? [True, True] Translation: X:580.96, Y:-280.64, Z:-5.86 [[-6.53045417e-01 -7.57303477e-01 4.80894889e-03 5.80958412e+02] [ 7.57284589e-01 -6.53063107e-01 -5.35065739e-03 -2.80641820e+02] [ 7.19261855e-03 1.47520600e-04 9.99974122e-01 -5.86401790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters 0.0527808388919006 Centerline is valid? [True, True] Translation: X:580.92, Y:-280.60, Z:-5.86 [[-6.54397891e-01 -7.56141310e-01 3.70405555e-03 5.80923597e+02] [ 7.56130092e-01 -6.54408366e-01 -4.12005063e-03 -2.80597216e+02] [ 5.53930542e-03 1.04595426e-04 9.99984652e-01 -5.86257890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters 0.05268399944000383 Centerline is valid? [True, True] Translation: X:580.89, Y:-280.55, Z:-5.86 [[-6.56277053e-01 -7.54510167e-01 3.85195485e-03 5.80889013e+02] [ 7.54498014e-01 -6.56288350e-01 -4.28342569e-03 -2.80550824e+02] [ 5.75988132e-03 9.51782974e-05 9.99983407e-01 -5.86284225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters 0.05263455951360957 Centerline is valid? [True, True] Translation: X:580.86, Y:-280.50, Z:-5.86 [[-6.59841446e-01 -7.51391006e-01 4.56310441e-03 5.80856900e+02] [ 7.51373886e-01 -6.59857219e-01 -5.07286116e-03 -2.80502286e+02] [ 6.82269963e-03 8.13134485e-05 9.99976722e-01 -5.86296002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters 0.05284324151587614 Centerline is valid? [True, True] Translation: X:580.82, Y:-280.46, Z:-5.87 [[-6.61861819e-01 -7.49605700e-01 5.49788693e-03 5.80820677e+02] [ 7.49580801e-01 -6.61884649e-01 -6.11017886e-03 -2.80459164e+02] [ 8.21919186e-03 7.70163937e-05 9.99966219e-01 -5.86524059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters 0.05214810118562315 Centerline is valid? [True, True] Translation: X:580.79, Y:-280.41, Z:-5.86 [[-6.63811062e-01 -7.47880126e-01 5.49469122e-03 5.80786171e+02] [ 7.47855210e-01 -6.63833800e-01 -6.10502082e-03 -2.80412316e+02] [ 8.21338550e-03 5.66531042e-05 9.99966268e-01 -5.86358175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters 0.05169176552687153 Centerline is valid? [True, True] Translation: X:580.75, Y:-280.37, Z:-5.86 [[-6.66104538e-01 -7.45840308e-01 5.19419883e-03 5.80752401e+02] [ 7.45817991e-01 -6.66124789e-01 -5.76969682e-03 -2.80365157e+02] [ 7.76325705e-03 3.07057031e-05 9.99969865e-01 -5.86308998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters 0.05183292698717784 Centerline is valid? [True, True] Translation: X:580.72, Y:-280.32, Z:-5.86 [[-6.67233030e-01 -7.44833393e-01 4.82702346e-03 5.80717268e+02] [ 7.44814105e-01 -6.67250490e-01 -5.36021244e-03 -2.80320145e+02] [ 7.21329899e-03 1.87243741e-05 9.99973984e-01 -5.86306206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters 0.051411649785689295 Centerline is valid? [True, True] Translation: X:580.68, Y:-280.27, Z:-5.86 [[-6.68053873e-01 -7.44098342e-01 4.65624966e-03 5.80683683e+02] [ 7.44080389e-01 -6.68070099e-01 -5.16893079e-03 -2.80274663e+02] [ 6.95689400e-03 1.14998212e-05 9.99975800e-01 -5.86389688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters 0.051897565021585705 Centerline is valid? [True, True] Translation: X:580.65, Y:-280.23, Z:-5.86 [[-6.67259688e-01 -7.44811963e-01 4.43265609e-03 5.80648998e+02] [ 7.44795719e-01 -6.67274411e-01 -4.91905362e-03 -2.80230985e+02] [ 6.62156796e-03 1.91370957e-05 9.99978077e-01 -5.86438770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters 0.051415310222555764 Centerline is valid? [True, True] Translation: X:580.61, Y:-280.19, Z:-5.86 [[-6.65519138e-01 -7.46366528e-01 4.61328253e-03 5.80611611e+02] [ 7.46348981e-01 -6.65535126e-01 -5.11805321e-03 -2.80187476e+02] [ 6.89024518e-03 3.69563539e-05 9.99976261e-01 -5.86409483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters 0.05084388893584931 Centerline is valid? [True, True] Translation: X:580.57, Y:-280.15, Z:-5.87 [[-6.62449427e-01 -7.49092872e-01 4.54161844e-03 5.80574019e+02] [ 7.49075940e-01 -6.62464992e-01 -5.03689926e-03 -2.80146787e+02] [ 6.78176855e-03 6.53260813e-05 9.99977001e-01 -5.86533155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters 0.050662512976480625 Centerline is valid? [True, True] Translation: X:580.54, Y:-280.10, Z:-5.86 [[-6.61291970e-01 -7.50114911e-01 4.53328262e-03 5.80537803e+02] [ 7.50098075e-01 -6.61307504e-01 -5.02624754e-03 -2.80102187e+02] [ 6.76815704e-03 7.65894295e-05 9.99977093e-01 -5.86440001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters 0.050273010003245015 Centerline is valid? [True, True] Translation: X:580.50, Y:-280.05, Z:-5.86 [[-6.61252361e-01 -7.50150797e-01 4.37004597e-03 5.80504222e+02] [ 7.50135161e-01 -6.61266796e-01 -4.84396435e-03 -2.80054950e+02] [ 6.52347002e-03 7.50422746e-05 9.99978719e-01 -5.86275847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters 0.050838981739777654 Centerline is valid? [True, True] Translation: X:580.47, Y:-280.01, Z:-5.86 [[-6.61867292e-01 -7.49612450e-01 3.58638094e-03 5.80467173e+02] [ 7.49601915e-01 -6.61877006e-01 -3.97453790e-03 -2.80011671e+02] [ 5.35310618e-03 5.77413871e-05 9.99985670e-01 -5.86263392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters 0.05069431854408669 Centerline is valid? [True, True] Translation: X:580.43, Y:-279.97, Z:-5.86 [[-6.61080222e-01 -7.50306612e-01 3.59547828e-03 5.80427292e+02] [ 7.50296040e-01 -6.61089997e-01 -3.98351432e-03 -2.79970492e+02] [ 5.36579186e-03 6.42505793e-05 9.99985602e-01 -5.86373042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters 0.05090291525357143 Centerline is valid? [True, True] Translation: X:580.39, Y:-279.93, Z:-5.87 [[-6.61117715e-01 -7.50269658e-01 4.33659922e-03 5.80387981e+02] [ 7.50254287e-01 -6.61131934e-01 -4.80317250e-03 -2.79930528e+02] [ 6.47073882e-03 7.80897308e-05 9.99979062e-01 -5.86505839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters 0.050665863746191774 Centerline is valid? [True, True] Translation: X:580.35, Y:-279.89, Z:-5.87 [[-6.60734394e-01 -7.50606246e-01 4.50814972e-03 5.80349746e+02] [ 7.50589651e-01 -6.60749768e-01 -4.99194070e-03 -2.79890886e+02] [ 6.72574076e-03 8.54236145e-05 9.99977378e-01 -5.86634451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters 0.051308121285267835 Centerline is valid? [True, True] Translation: X:580.31, Y:-279.85, Z:-5.86 [[-6.60054603e-01 -7.51206804e-01 4.03218940e-03 5.80313078e+02] [ 7.51193547e-01 -6.60066914e-01 -4.46377279e-03 -2.79845464e+02] [ 6.01473130e-03 8.26208840e-05 9.99981908e-01 -5.86438852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters 0.050681137194076444 Centerline is valid? [True, True] Translation: X:580.27, Y:-279.81, Z:-5.87 [[-6.58941929e-01 -7.52181775e-01 4.25580386e-03 5.80271109e+02] [ 7.52167034e-01 -6.58955665e-01 -4.71015250e-03 -2.79805559e+02] [ 6.34727693e-03 9.73583909e-05 9.99979851e-01 -5.86552280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters 0.05081327174674071 Centerline is valid? [True, True] Translation: X:580.23, Y:-279.76, Z:-5.86 [[-6.58246625e-01 -7.52788775e-01 4.52110295e-03 5.80232579e+02] [ 7.52772162e-01 -6.58262142e-01 -5.00247830e-03 -2.79762142e+02] [ 6.74188042e-03 1.10495982e-04 9.99977267e-01 -5.86476372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters 0.05159426251292969 Centerline is valid? [True, True] Translation: X:580.19, Y:-279.72, Z:-5.87 [[-6.58103938e-01 -7.52914763e-01 4.30882409e-03 5.80190770e+02] [ 7.52899685e-01 -6.58118035e-01 -4.76614337e-03 -2.79724671e+02] [ 6.42421455e-03 1.07494579e-04 9.99979359e-01 -5.86582264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters 0.051440088811620835 Centerline is valid? [True, True] Translation: X:580.15, Y:-279.68, Z:-5.87 [[-6.58454839e-01 -7.52611989e-01 3.52399894e-03 5.80153512e+02] [ 7.52601906e-01 -6.58464264e-01 -3.89672328e-03 -2.79683245e+02] [ 5.25314802e-03 8.63520179e-05 9.99986198e-01 -5.86509191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters 0.050984918356682556 Centerline is valid? [True, True] Translation: X:580.12, Y:-279.64, Z:-5.86 [[-6.58463728e-01 -7.52606721e-01 2.93966634e-03 5.80118079e+02] [ 7.52599709e-01 -6.58470286e-01 -3.24965766e-03 -2.79638519e+02] [ 4.38139713e-03 7.26103287e-05 9.99990399e-01 -5.86381534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters 0.051271328267881354 Centerline is valid? [True, True] Translation: X:580.08, Y:-279.60, Z:-5.86 [[-6.58105358e-01 -7.52918791e-01 3.26069044e-03 5.80077405e+02] [ 7.52910171e-01 -6.58113430e-01 -3.60386695e-03 -2.79598146e+02] [ 4.85932332e-03 8.32828485e-05 9.99988190e-01 -5.86447644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters 0.051301229262292754 Centerline is valid? [True, True] Translation: X:580.04, Y:-279.56, Z:-5.87 [[-6.56962669e-01 -7.53913627e-01 3.78068123e-03 5.80038525e+02] [ 7.53902062e-01 -6.56973539e-01 -4.17732278e-03 -2.79557102e+02] [ 5.63314810e-03 1.05918255e-04 9.99984128e-01 -5.86594541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters 0.051357632777263636 Centerline is valid? [True, True] Translation: X:580.00, Y:-279.51, Z:-5.87 [[-6.56075185e-01 -7.54684002e-01 4.17251558e-03 5.80000641e+02] [ 7.54669938e-01 -6.56088441e-01 -4.60898881e-03 -2.79513750e+02] [ 6.21586935e-03 1.25028888e-04 9.99980673e-01 -5.86599605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters 0.05011126521301448 Centerline is valid? [True, True] Translation: X:579.96, Y:-279.47, Z:-5.86 [[-6.56046609e-01 -7.54708291e-01 4.27108136e-03 5.79964934e+02] [ 7.54693563e-01 -6.56060499e-01 -4.71665472e-03 -2.79468063e+02] [ 6.36178619e-03 1.29012278e-04 9.99979755e-01 -5.86463836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters 0.0515644137995585 Centerline is valid? [True, True] Translation: X:579.92, Y:-279.43, Z:-5.87 [[-6.57261167e-01 -7.53650200e-01 4.37429079e-03 5.79923494e+02] [ 7.53634734e-01 -6.57275711e-01 -4.82984150e-03 -2.79428166e+02] [ 6.51512611e-03 1.22150217e-04 9.99978769e-01 -5.86638927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters 0.05080216929761531 Centerline is valid? [True, True] Translation: X:579.89, Y:-279.38, Z:-5.86 [[-6.59375958e-01 -7.51804016e-01 3.75085749e-03 5.79889786e+02] [ 7.51792617e-01 -6.59386620e-01 -4.14082644e-03 -2.79379655e+02] [ 5.58635519e-03 8.95055733e-05 9.99984392e-01 -5.86421420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters 0.05086613987779 Centerline is valid? [True, True] Translation: X:579.85, Y:-279.34, Z:-5.86 [[-6.62626512e-01 -7.48942454e-01 3.36244898e-03 5.79852203e+02] [ 7.48933262e-01 -6.62635041e-01 -3.71097647e-03 -2.79336989e+02] [ 5.00738434e-03 5.92584883e-05 9.99987461e-01 -5.86482197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters 0.05086643572908613 Centerline is valid? [True, True] Translation: X:579.82, Y:-279.29, Z:-5.86 [[-6.65269497e-01 -7.46597113e-01 3.04080220e-03 5.79815388e+02] [ 7.46589574e-01 -6.65276445e-01 -3.35546496e-03 -2.79291104e+02] [ 4.52815453e-03 3.79427297e-05 9.99989747e-01 -5.86370631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters 0.050928942456165686 Centerline is valid? [True, True] Translation: X:579.78, Y:-279.25, Z:-5.86 [[-6.68656887e-01 -7.43562785e-01 3.51466064e-03 5.79778092e+02] [ 7.43552674e-01 -6.68666124e-01 -3.87770302e-03 -2.79247242e+02] [ 5.23345016e-03 2.04824835e-05 9.99986305e-01 -5.86255319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters 0.051397346986816986 Centerline is valid? [True, True] Translation: X:579.74, Y:-279.21, Z:-5.86 [[-6.71362038e-01 -7.41119042e-01 3.94710708e-03 5.79739898e+02] [ 7.41106253e-01 -6.71373641e-01 -4.35384186e-03 -2.79205212e+02] [ 5.87669876e-03 2.22158701e-06 9.99982732e-01 -5.86362501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters 0.05165875900130112 Centerline is valid? [True, True] Translation: X:579.70, Y:-279.16, Z:-5.86 [[-6.76040587e-01 -7.36853778e-01 3.95414863e-03 5.79700982e+02] [ 7.36840876e-01 -6.76052150e-01 -4.36055273e-03 -2.79161736e+02] [ 5.88630043e-03 -3.43322862e-05 9.99982675e-01 -5.86446450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters 0.05257812776775754 Centerline is valid? [True, True] Translation: X:579.66, Y:-279.12, Z:-5.86 [[-6.80608240e-01 -7.32635981e-01 4.11624048e-03 5.79663536e+02] [ 7.32621928e-01 -6.80620683e-01 -4.53839324e-03 -2.79119005e+02] [ 6.12658859e-03 -7.32197972e-05 9.99981230e-01 -5.86404492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters 0.05188906392466413 Centerline is valid? [True, True] Translation: X:579.63, Y:-279.08, Z:-5.87 [[-6.83907120e-01 -7.29558812e-01 3.87173689e-03 5.79626543e+02] [ 7.29546337e-01 -6.83918073e-01 -4.26751958e-03 -2.79076123e+02] [ 5.76135735e-03 -9.39755551e-05 9.99983399e-01 -5.86501041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters 0.052212032751900325 Centerline is valid? [True, True] Translation: X:579.59, Y:-279.03, Z:-5.86 [[-6.84468413e-01 -7.29031972e-01 3.92117570e-03 5.79586009e+02] [ 7.29019174e-01 -6.84479637e-01 -4.32081441e-03 -2.79034353e+02] [ 5.83397677e-03 -9.88487111e-05 9.99982977e-01 -5.86461235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters 0.05218775694476553 Centerline is valid? [True, True] Translation: X:579.54, Y:-279.00, Z:-5.86 [[-6.84448003e-01 -7.29050795e-01 3.98374455e-03 5.79542686e+02] [ 7.29037592e-01 -6.84459589e-01 -4.38870315e-03 -2.78998150e+02] [ 5.92629968e-03 -9.95395725e-05 9.99982434e-01 -5.86294212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters 0.05226980039349601 Centerline is valid? [True, True] Translation: X:579.50, Y:-278.96, Z:-5.86 [[-6.81654431e-01 -7.31662990e-01 4.06270235e-03 5.79504139e+02] [ 7.31649313e-01 -6.81666533e-01 -4.47443515e-03 -2.78955610e+02] [ 6.04318683e-03 -7.75451675e-05 9.99981737e-01 -5.86447252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters 0.05272554361902358 Centerline is valid? [True, True] Translation: X:579.46, Y:-278.92, Z:-5.86 [[-6.78332407e-01 -7.34741812e-01 4.42892143e-03 5.79461973e+02] [ 7.34725632e-01 -6.78346863e-01 -4.87639674e-03 -2.78915544e+02] [ 6.58723754e-03 -5.37758461e-05 9.99978302e-01 -5.86499755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters 0.052169277307209716 Centerline is valid? [True, True] Translation: X:579.42, Y:-278.88, Z:-5.87 [[-6.72140201e-01 -7.40408541e-01 4.76883875e-03 5.79418289e+02] [ 7.40389933e-01 -6.72157119e-01 -5.24928020e-03 -2.78878175e+02] [ 7.09202081e-03 2.54794845e-06 9.99974851e-01 -5.86618214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters 0.05196523129757488 Centerline is valid? [True, True] Translation: X:579.37, Y:-278.84, Z:-5.87 [[-6.65811857e-01 -7.46109157e-01 3.96198765e-03 5.79374045e+02] [ 7.46096419e-01 -6.65823643e-01 -4.36009590e-03 -2.78839698e+02] [ 5.89109253e-03 5.30212435e-05 9.99982646e-01 -5.86557996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters 0.05141988802359552 Centerline is valid? [True, True] Translation: X:579.33, Y:-278.80, Z:-5.87 [[-6.61927630e-01 -7.49559625e-01 3.49014262e-03 5.79333177e+02] [ 7.49549792e-01 -6.61936827e-01 -3.83997206e-03 -2.78799978e+02] [ 5.18854195e-03 7.42520693e-05 9.99986537e-01 -5.86509544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters 0.05083097922111621 Centerline is valid? [True, True] Translation: X:579.29, Y:-278.76, Z:-5.86 [[-6.57559963e-01 -7.53396133e-01 3.02679303e-03 5.79293116e+02] [ 7.53388783e-01 -6.57566923e-01 -3.32929360e-03 -2.78758046e+02] [ 4.49859590e-03 9.11417347e-05 9.99989877e-01 -5.86366495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters 0.051504485587590514 Centerline is valid? [True, True] Translation: X:579.25, Y:-278.72, Z:-5.86 [[-6.54532217e-01 -7.56024773e-01 3.75758165e-03 5.79251380e+02] [ 7.56013494e-01 -6.54542988e-01 -4.13204312e-03 -2.78717509e+02] [ 5.58342569e-03 1.36227092e-04 9.99984403e-01 -5.86492577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters 0.051457595134423995 Centerline is valid? [True, True] Translation: X:579.21, Y:-278.68, Z:-5.87 [[-6.53321154e-01 -7.57069408e-01 4.16920128e-03 5.79210643e+02] [ 7.57055550e-01 -6.53334437e-01 -4.58342100e-03 -2.78677416e+02] [ 6.19385059e-03 1.61871074e-04 9.99980805e-01 -5.86590842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters 0.05129996149214834 Centerline is valid? [True, True] Translation: X:579.17, Y:-278.64, Z:-5.87 [[-6.53561649e-01 -7.56858353e-01 4.75434351e-03 5.79172748e+02] [ 7.56840338e-01 -6.53578916e-01 -5.22521576e-03 -2.78635150e+02] [ 7.06208688e-03 1.83278324e-04 9.99975046e-01 -5.86640170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters 0.05127188512297767 Centerline is valid? [True, True] Translation: X:579.14, Y:-278.59, Z:-5.87 [[-6.57015215e-01 -7.53859992e-01 5.11071118e-03 5.79137020e+02] [ 7.53839094e-01 -6.57035072e-01 -5.61550446e-03 -2.78589444e+02] [ 7.59122064e-03 1.63182015e-04 9.99971173e-01 -5.86613065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters 0.05146634577297101 Centerline is valid? [True, True] Translation: X:579.10, Y:-278.54, Z:-5.87 [[-6.61703825e-01 -7.49749103e-01 4.93256756e-03 5.79100096e+02] [ 7.49729532e-01 -6.61722200e-01 -5.41832454e-03 -2.78544327e+02] [ 7.32637342e-03 1.12765492e-04 9.99973155e-01 -5.86591583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters 0.05150174600259009 Centerline is valid? [True, True] Translation: X:579.07, Y:-278.50, Z:-5.86 [[-6.72344416e-01 -7.40225549e-01 4.37296280e-03 5.79067666e+02] [ 7.40209968e-01 -6.72358637e-01 -4.80272721e-03 -2.78496325e+02] [ 6.49530069e-03 7.82383639e-06 9.99978905e-01 -5.86416276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters 0.05187184896035143 Centerline is valid? [True, True] Translation: X:579.04, Y:-278.45, Z:-5.86 [[-6.84099984e-01 -7.29380564e-01 3.34730038e-03 5.79035611e+02] [ 7.29371308e-01 -6.84108169e-01 -3.67523521e-03 -2.78447707e+02] [ 4.97056067e-03 -7.28034904e-05 9.99987644e-01 -5.86226636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters 0.05261104876823101 Centerline is valid? [True, True] Translation: X:579.00, Y:-278.41, Z:-5.86 [[-6.90324668e-01 -7.23492213e-01 3.29707157e-03 5.78999254e+02] [ 7.23483170e-01 -6.90332532e-01 -3.61899139e-03 -2.78405458e+02] [ 4.89438786e-03 -1.12903242e-04 9.99988016e-01 -5.86114470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters 0.053081715561336985 Centerline is valid? [True, True] Translation: X:578.96, Y:-278.36, Z:-5.86 [[-6.96798477e-01 -7.17258117e-01 3.56040653e-03 5.78959392e+02] [ 7.17247495e-01 -6.96807553e-01 -3.90707108e-03 -2.78362688e+02] [ 5.28329661e-03 -1.68748520e-04 9.99986029e-01 -5.86121193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters 0.053842057145776855 Centerline is valid? [True, True] Translation: X:578.92, Y:-278.32, Z:-5.86 [[-7.00179526e-01 -7.13955020e-01 4.10617040e-03 5.78919595e+02] [ 7.13940842e-01 -7.00191531e-01 -4.50484252e-03 -2.78319985e+02] [ 6.09136067e-03 -2.22635749e-04 9.99981423e-01 -5.86126169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters 0.053801568030299694 Centerline is valid? [True, True] Translation: X:578.88, Y:-278.28, Z:-5.86 [[-7.00920801e-01 -7.13226278e-01 4.27873390e-03 5.78877217e+02] [ 7.13210873e-01 -7.00933820e-01 -4.69360188e-03 -2.78281604e+02] [ 6.34670950e-03 -2.38203651e-04 9.99979831e-01 -5.86050466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters 0.0544015273013786 Centerline is valid? [True, True] Translation: X:578.84, Y:-278.24, Z:-5.86 [[-6.99793377e-01 -7.14332812e-01 4.22638956e-03 5.78841096e+02] [ 7.14317811e-01 -6.99806104e-01 -4.63493106e-03 -2.78236513e+02] [ 6.26853655e-03 -2.24508724e-04 9.99980327e-01 -5.86239062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters 0.0535351364906476 Centerline is valid? [True, True] Translation: X:578.79, Y:-278.20, Z:-5.86 [[-6.97549270e-01 -7.16527307e-01 3.69233226e-03 5.78791779e+02] [ 7.16515895e-01 -6.97559020e-01 -4.04803418e-03 -2.78203986e+02] [ 5.47614670e-03 -1.78088535e-04 9.99984990e-01 -5.86022341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters 0.054387613850464867 Centerline is valid? [True, True] Translation: X:578.75, Y:-278.16, Z:-5.86 [[-6.91412476e-01 -7.22453939e-01 3.01559167e-03 5.78752053e+02] [ 7.22446386e-01 -6.91419044e-01 -3.30521094e-03 -2.78161946e+02] [ 4.47290017e-03 -1.06660774e-04 9.99989991e-01 -5.86081097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters 0.053681787878156986 Centerline is valid? [True, True] Translation: X:578.71, Y:-278.13, Z:-5.86 [[-6.83371033e-01 -7.30066617e-01 2.60115678e-03 5.78707993e+02] [ 7.30061056e-01 -6.83375981e-01 -2.85012828e-03 -2.78125464e+02] [ 3.85835158e-03 -4.86918396e-05 9.99992555e-01 -5.86065791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters 0.05246840227651548 Centerline is valid? [True, True] Translation: X:578.66, Y:-278.09, Z:-5.86 [[-6.75227236e-01 -7.37605350e-01 2.55474697e-03 5.78659782e+02] [ 7.37600042e-01 -6.75232069e-01 -2.79844283e-03 -2.78091834e+02] [ 3.78919348e-03 -5.20334231e-06 9.99992821e-01 -5.86101691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters 0.05276633455922628 Centerline is valid? [True, True] Translation: X:578.62, Y:-278.05, Z:-5.86 [[-6.70857259e-01 -7.41583285e-01 2.18381495e-03 5.78615729e+02] [ 7.41579430e-01 -6.70860813e-01 -2.39139304e-03 -2.78054032e+02] [ 3.23845298e-03 1.51888698e-05 9.99994756e-01 -5.86071136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters 0.05324355400836918 Centerline is valid? [True, True] Translation: X:578.57, Y:-278.02, Z:-5.86 [[-6.66708560e-01 -7.45313430e-01 2.75426773e-03 5.78570155e+02] [ 7.45307332e-01 -6.66714248e-01 -3.01520515e-03 -2.78018453e+02] [ 4.08358243e-03 4.25128438e-05 9.99991661e-01 -5.86279280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters 0.0533843023057422 Centerline is valid? [True, True] Translation: X:578.53, Y:-277.98, Z:-5.86 [[-6.65588767e-01 -7.46308680e-01 3.86614929e-03 5.78531271e+02] [ 7.46296689e-01 -6.65599992e-01 -4.23116969e-03 -2.77977886e+02] [ 5.73106761e-03 6.90753923e-05 9.99983575e-01 -5.86269107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters 0.0531663755826171 Centerline is valid? [True, True] Translation: X:578.49, Y:-277.94, Z:-5.86 [[-6.65222232e-01 -7.46630329e-01 4.74704666e-03 5.78490248e+02] [ 7.46612268e-01 -6.65239163e-01 -5.19386660e-03 -2.77937470e+02] [ 7.03581968e-03 8.91277401e-05 9.99975244e-01 -5.86409425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters 0.053170121234212456 Centerline is valid? [True, True] Translation: X:578.45, Y:-277.90, Z:-5.86 [[-6.64950251e-01 -7.46864170e-01 5.92243762e-03 5.78452405e+02] [ 7.46836084e-01 -6.64976615e-01 -6.47807565e-03 -2.77895241e+02] [ 8.77652511e-03 1.15492092e-04 9.99961479e-01 -5.86392829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters 0.05357587054203712 Centerline is valid? [True, True] Translation: X:578.41, Y:-277.85, Z:-5.86 [[-6.64438177e-01 -7.47316074e-01 6.37140753e-03 5.78412605e+02] [ 7.47283604e-01 -6.64468711e-01 -6.96752992e-03 -2.77852733e+02] [ 9.44054805e-03 1.31755502e-04 9.99955428e-01 -5.86453605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters 0.05296624383243217 Centerline is valid? [True, True] Translation: X:578.38, Y:-277.81, Z:-5.86 [[-6.62888490e-01 -7.48691945e-01 6.26277019e-03 5.78375922e+02] [ 7.48660652e-01 -6.62918056e-01 -6.84678141e-03 -2.77808905e+02] [ 9.27783353e-03 1.50037024e-04 9.99956949e-01 -5.86325770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters 0.05387313262190644 Centerline is valid? [True, True] Translation: X:578.33, Y:-277.77, Z:-5.86 [[-6.62192656e-01 -7.49310008e-01 5.94963406e-03 5.78334897e+02] [ 7.49281805e-01 -6.62219366e-01 -6.50288636e-03 -2.77767527e+02] [ 8.81264072e-03 1.51788956e-04 9.99961156e-01 -5.86492416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters 0.05310647534553802 Centerline is valid? [True, True] Translation: X:578.30, Y:-277.73, Z:-5.86 [[-6.62149660e-01 -7.49348124e-01 5.93438897e-03 5.78297307e+02] [ 7.49320084e-01 -6.62176234e-01 -6.48434578e-03 -2.77725008e+02] [ 8.78864369e-03 1.53149493e-04 9.99961367e-01 -5.86429137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters 0.05282760265061313 Centerline is valid? [True, True] Translation: X:578.26, Y:-277.68, Z:-5.86 [[-6.60983141e-01 -7.50379903e-01 5.59359061e-03 5.78261099e+02] [ 7.50355042e-01 -6.61006789e-01 -6.11025115e-03 -2.77680017e+02] [ 8.28241104e-03 1.58405916e-04 9.99965688e-01 -5.86226411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters 0.05238760584707412 Centerline is valid? [True, True] Translation: X:578.22, Y:-277.64, Z:-5.86 [[-6.59079158e-01 -7.52054766e-01 5.31911420e-03 5.78223714e+02] [ 7.52032351e-01 -6.59100600e-01 -5.80884728e-03 -2.77635767e+02] [ 7.87440264e-03 1.71655786e-04 9.99968982e-01 -5.86097311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters 0.05273675033008741 Centerline is valid? [True, True] Translation: X:578.19, Y:-277.59, Z:-5.86 [[-6.56067949e-01 -7.54679425e-01 5.81474746e-03 5.78186676e+02] [ 7.54652749e-01 -6.56093679e-01 -6.34921356e-03 -2.77590256e+02] [ 8.60663989e-03 2.22599634e-04 9.99962937e-01 -5.86009588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters 0.05381367032845762 Centerline is valid? [True, True] Translation: X:578.14, Y:-277.55, Z:-5.86 [[-6.55448258e-01 -7.55216648e-01 5.94944874e-03 5.78141644e+02] [ 7.55188749e-01 -6.55475217e-01 -6.49563457e-03 -2.77553630e+02] [ 8.80532756e-03 2.35404385e-04 9.99961205e-01 -5.86381180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters 0.05367822112227236 Centerline is valid? [True, True] Translation: X:578.11, Y:-277.51, Z:-5.86 [[-6.57574293e-01 -7.53368002e-01 5.71869748e-03 5.78109498e+02] [ 7.53342170e-01 -6.57599128e-01 -6.24190930e-03 -2.77506912e+02] [ 8.46306521e-03 2.03616882e-04 9.99964167e-01 -5.86255774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters 0.05226438025261442 Centerline is valid? [True, True] Translation: X:578.08, Y:-277.45, Z:-5.86 [[-6.63534840e-01 -7.48128710e-01 4.99485037e-03 5.78083448e+02] [ 7.48108866e-01 -6.63553629e-01 -5.45035156e-03 -2.77452896e+02] [ 7.39191558e-03 1.20193692e-04 9.99972672e-01 -5.85839021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters 0.05301258401843828 Centerline is valid? [True, True] Translation: X:578.05, Y:-277.41, Z:-5.86 [[-6.68653218e-01 -7.43560251e-01 4.58558366e-03 5.78048773e+02] [ 7.43543425e-01 -6.68668939e-01 -5.00251981e-03 -2.77405966e+02] [ 6.78591224e-03 6.46296122e-05 9.99976973e-01 -5.85835841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters 0.0520148954316409 Centerline is valid? [True, True] Translation: X:578.02, Y:-277.36, Z:-5.86 [[-6.77237370e-01 -7.35747970e-01 4.94656067e-03 5.78017913e+02] [ 7.35728191e-01 -6.77255435e-01 -5.39487324e-03 -2.77356762e+02] [ 7.31935213e-03 -1.42856361e-05 9.99973213e-01 -5.85960925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters 0.05243951383100017 Centerline is valid? [True, True] Translation: X:577.99, Y:-277.31, Z:-5.86 [[-6.86800179e-01 -7.26826245e-01 5.39672953e-03 5.77987811e+02] [ 7.26802436e-01 -6.86821371e-01 -5.88417784e-03 -2.77306294e+02] [ 7.98336405e-03 -1.18898226e-04 9.99968125e-01 -5.85937894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters 0.05310327885536013 Centerline is valid? [True, True] Translation: X:577.95, Y:-277.26, Z:-5.86 [[-6.92926694e-01 -7.20986821e-01 5.53177777e-03 5.77952527e+02] [ 7.20961633e-01 -6.92948749e-01 -6.02949094e-03 -2.77262669e+02] [ 8.18042198e-03 -1.89795686e-04 9.99966522e-01 -5.85804937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters 0.05371107707177879 Centerline is valid? [True, True] Translation: X:577.92, Y:-277.21, Z:-5.86 [[-7.00326336e-01 -7.13802791e-01 5.34775205e-03 5.77922647e+02] [ 7.13779054e-01 -7.00346704e-01 -5.82723037e-03 -2.77212204e+02] [ 7.90477382e-03 -2.63849497e-04 9.99968722e-01 -5.86000036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters 0.05349765441488194 Centerline is valid? [True, True] Translation: X:577.88, Y:-277.18, Z:-5.86 [[-7.03465679e-01 -7.10707146e-01 5.60280911e-03 5.77876548e+02] [ 7.10681008e-01 -7.03487921e-01 -6.10325553e-03 -2.77176105e+02] [ 8.27913585e-03 -3.11620770e-04 9.99965679e-01 -5.85659422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters 0.0537926267236612 Centerline is valid? [True, True] Translation: X:577.85, Y:-277.12, Z:-5.86 [[-7.02622660e-01 -7.11539898e-01 5.68947034e-03 5.77846329e+02] [ 7.11512976e-01 -7.02645629e-01 -6.19726448e-03 -2.77124872e+02] [ 8.40728240e-03 -3.06206479e-04 9.99964611e-01 -5.85919669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters 0.05331774183464326 Centerline is valid? [True, True] Translation: X:577.81, Y:-277.08, Z:-5.86 [[-6.98395878e-01 -7.15693760e-01 5.06368306e-03 5.77812290e+02] [ 7.15672554e-01 -6.98414197e-01 -5.51404799e-03 -2.77078345e+02] [ 7.48291787e-03 -2.27049395e-04 9.99971977e-01 -5.86122340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters 0.05258193499689288 Centerline is valid? [True, True] Translation: X:577.77, Y:-277.04, Z:-5.86 [[-6.93858985e-01 -7.20094717e-01 4.82791721e-03 5.77770634e+02] [ 7.20075558e-01 -6.93875760e-01 -5.25558751e-03 -2.77039174e+02] [ 7.13449552e-03 -1.70171432e-04 9.99974535e-01 -5.86061599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters 0.052210199027498454 Centerline is valid? [True, True] Translation: X:577.73, Y:-277.00, Z:-5.86 [[-6.84877741e-01 -7.28643754e-01 4.55626928e-03 5.77729106e+02] [ 7.28626888e-01 -6.84892892e-01 -4.95833117e-03 -2.77001206e+02] [ 6.73341348e-03 -7.60303455e-05 9.99977327e-01 -5.86102831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters 0.05092361331078123 Centerline is valid? [True, True] Translation: X:577.69, Y:-276.96, Z:-5.86 [[-6.74211658e-01 -7.38528269e-01 3.82588833e-03 5.77685833e+02] [ 7.38516539e-01 -6.74222512e-01 -4.16233027e-03 -2.76963878e+02] [ 5.65349861e-03 1.91902207e-05 9.99984019e-01 -5.86142445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters 0.05051773075870065 Centerline is valid? [True, True] Translation: X:577.64, Y:-276.92, Z:-5.86 [[-6.66959449e-01 -7.45087650e-01 3.08028101e-03 5.77643636e+02] [ 7.45080120e-01 -6.66966559e-01 -3.35028494e-03 -2.76924876e+02] [ 4.55070036e-03 6.05519486e-05 9.99989644e-01 -5.86174708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters 0.0513459204487956 Centerline is valid? [True, True] Translation: X:577.60, Y:-276.89, Z:-5.86 [[-6.58691848e-01 -7.52408266e-01 2.61742309e-03 5.77600151e+02] [ 7.52402889e-01 -6.58697041e-01 -2.84604615e-03 -2.76887957e+02] [ 3.86547750e-03 9.46892938e-05 9.99992525e-01 -5.86198326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters 0.050688994483540015 Centerline is valid? [True, True] Translation: X:577.56, Y:-276.85, Z:-5.86 [[-6.54898866e-01 -7.55710449e-01 3.03193916e-03 5.77563727e+02] [ 7.55703274e-01 -6.54905870e-01 -3.29580698e-03 -2.76845794e+02] [ 4.47631053e-03 1.32826095e-04 9.99989972e-01 -5.86131136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters 0.050494935414237926 Centerline is valid? [True, True] Translation: X:577.53, Y:-276.80, Z:-5.86 [[-6.55803027e-01 -7.54919307e-01 4.38508805e-03 5.77526491e+02] [ 7.54904285e-01 -6.55817662e-01 -4.76603615e-03 -2.76801118e+02] [ 6.47379090e-03 1.84740823e-04 9.99979028e-01 -5.86272553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters 0.050758320196082674 Centerline is valid? [True, True] Translation: X:577.49, Y:-276.76, Z:-5.87 [[-6.57205664e-01 -7.53693188e-01 5.22430397e-03 5.77485928e+02] [ 7.53671835e-01 -6.57226396e-01 -5.67708923e-03 -2.76761143e+02] [ 7.71233395e-03 2.06395565e-04 9.99970238e-01 -5.86510519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters 0.05045964043931983 Centerline is valid? [True, True] Translation: X:577.45, Y:-276.71, Z:-5.86 [[-6.60518028e-01 -7.50785694e-01 6.06443860e-03 5.77452500e+02] [ 7.50756813e-01 -6.60545836e-01 -6.58827945e-03 -2.76713886e+02] [ 8.95222562e-03 2.01241249e-04 9.99959908e-01 -5.86477740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters 0.051256142874199315 Centerline is valid? [True, True] Translation: X:577.42, Y:-276.67, Z:-5.86 [[-6.65536856e-01 -7.46336085e-01 6.56818095e-03 5.77418999e+02] [ 7.46302001e-01 -6.65569248e-01 -7.13437031e-03 -2.76665859e+02] [ 9.69621727e-03 1.53660202e-04 9.99952979e-01 -5.86443465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters 0.05109984098324422 Centerline is valid? [True, True] Translation: X:577.38, Y:-276.62, Z:-5.86 [[-6.67456944e-01 -7.44629301e-01 5.33220439e-03 5.77380513e+02] [ 7.44606793e-01 -6.67478235e-01 -5.79046987e-03 -2.76624538e+02] [ 7.87088390e-03 1.05506285e-04 9.99969019e-01 -5.86411960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters 0.050176825455859796 Centerline is valid? [True, True] Translation: X:577.34, Y:-276.58, Z:-5.86 [[-6.68773631e-01 -7.43455438e-01 3.98021097e-03 5.77341438e+02] [ 7.43442883e-01 -6.68785472e-01 -4.32117651e-03 -2.76581820e+02] [ 5.87450944e-03 6.91706132e-05 9.99982743e-01 -5.86244328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters 0.05039277013798406 Centerline is valid? [True, True] Translation: X:577.30, Y:-276.54, Z:-5.86 [[-6.69908369e-01 -7.42438312e-01 2.85151142e-03 5.77301686e+02] [ 7.42431860e-01 -6.69914436e-01 -3.09537188e-03 -2.76538362e+02] [ 4.20839133e-03 4.34373985e-05 9.99991144e-01 -5.86073002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters 0.050874243304526875 Centerline is valid? [True, True] Translation: X:577.26, Y:-276.50, Z:-5.86 [[-6.71176165e-01 -7.41292035e-01 2.94523829e-03 5.77262271e+02] [ 7.41285146e-01 -6.71182626e-01 -3.19617631e-03 -2.76497556e+02] [ 4.34609281e-03 3.80640418e-05 9.99990555e-01 -5.86134683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters 0.050725826382759916 Centerline is valid? [True, True] Translation: X:577.22, Y:-276.45, Z:-5.86 [[-6.73706770e-01 -7.38991322e-01 3.31880344e-03 5.77222962e+02] [ 7.38982550e-01 -6.73714944e-01 -3.60074395e-03 -2.76454288e+02] [ 4.89684601e-03 2.66922488e-05 9.99988010e-01 -5.86214235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters 0.05122079991515717 Centerline is valid? [True, True] Translation: X:577.19, Y:-276.41, Z:-5.86 [[-6.76461875e-01 -7.36464229e-01 4.44660774e-03 5.77185154e+02] [ 7.36448437e-01 -6.76476489e-01 -4.82285410e-03 -2.76412349e+02] [ 6.55988512e-03 1.22203926e-05 9.99978484e-01 -5.86360180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters 0.05068384569198397 Centerline is valid? [True, True] Translation: X:577.15, Y:-276.37, Z:-5.86 [[-6.77452226e-01 -7.35550753e-01 4.85493895e-03 5.77146519e+02] [ 7.35531915e-01 -6.77469622e-01 -5.26426825e-03 -2.76370383e+02] [ 7.16121014e-03 4.67230347e-06 9.99974358e-01 -5.86431246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters 0.05158349328666045 Centerline is valid? [True, True] Translation: X:577.11, Y:-276.33, Z:-5.86 [[-6.80094415e-01 -7.33110475e-01 4.54071673e-03 5.77107359e+02] [ 7.33093951e-01 -6.80109573e-01 -4.92208874e-03 -2.76328248e+02] [ 6.69661973e-03 -1.87130986e-05 9.99977577e-01 -5.86453480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters 0.05195757629336295 Centerline is valid? [True, True] Translation: X:577.07, Y:-276.29, Z:-5.87 [[-6.81111853e-01 -7.32166399e-01 4.35980367e-03 5.77069735e+02] [ 7.32151154e-01 -6.81125806e-01 -4.72490597e-03 -2.76286722e+02] [ 6.42899218e-03 -2.61541815e-05 9.99979333e-01 -5.86528791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters 0.05121913237847706 Centerline is valid? [True, True] Translation: X:577.03, Y:-276.24, Z:-5.86 [[-6.81482221e-01 -7.31830209e-01 2.55505729e-03 5.77029941e+02] [ 7.31824973e-01 -6.81487011e-01 -2.76832084e-03 -2.76244213e+02] [ 3.76717918e-03 -1.67067025e-05 9.99992904e-01 -5.86299424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters 0.05060291931036977 Centerline is valid? [True, True] Translation: X:576.99, Y:-276.20, Z:-5.86 [[-6.79833662e-01 -7.33365533e-01 1.08915702e-03 5.76990776e+02] [ 7.33364584e-01 -6.79834535e-01 -1.17968389e-03 -2.76203408e+02] [ 1.60558606e-03 -3.23963588e-06 9.99998711e-01 -5.86278265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters 0.05051501262347865 Centerline is valid? [True, True] Translation: X:576.95, Y:-276.17, Z:-5.86 [[-6.75253110e-01 -7.37585961e-01 4.33816257e-04 5.76948895e+02] [ 7.37585811e-01 -6.75253249e-01 -4.69718208e-04 -2.76165370e+02] [ 6.39393393e-04 2.79803561e-06 9.99999796e-01 -5.86294292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters 0.05101532402437698 Centerline is valid? [True, True] Translation: X:576.91, Y:-276.13, Z:-5.86 [[-6.68608316e-01 -7.43614757e-01 1.16593791e-04 5.76905353e+02] [ 7.43614746e-01 -6.68608326e-01 -1.26210656e-04 -2.76129525e+02] [ 1.71807685e-04 2.31536771e-06 9.99999985e-01 -5.86409277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters 0.050835963198893046 Centerline is valid? [True, True] Translation: X:576.86, Y:-276.09, Z:-5.87 [[-6.64726450e-01 -7.47086374e-01 8.33781981e-04 5.76863368e+02] [ 7.47085830e-01 -6.64726973e-01 -9.02316835e-04 -2.76090304e+02] [ 1.22834598e-03 2.31128361e-05 9.99999245e-01 -5.86601183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters 0.05094939763705011 Centerline is valid? [True, True] Translation: X:576.82, Y:-276.05, Z:-5.87 [[-6.62090471e-01 -7.49420066e-01 2.40247209e-03 5.76821791e+02] [ 7.49415563e-01 -6.62094825e-01 -2.59919348e-03 -2.76052260e+02] [ 3.53855209e-03 7.95487390e-05 9.99993736e-01 -5.86843703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters 0.05008861563041231 Centerline is valid? [True, True] Translation: X:576.79, Y:-276.00, Z:-5.87 [[-6.62273007e-01 -7.49258375e-01 2.52037140e-03 5.76788456e+02] [ 7.49253420e-01 -6.62277798e-01 -2.72604571e-03 -2.76004111e+02] [ 3.71169860e-03 8.30103969e-05 9.99993108e-01 -5.86754132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters 0.05068717759517101 Centerline is valid? [True, True] Translation: X:576.75, Y:-275.96, Z:-5.87 [[-6.64866491e-01 -7.46958013e-01 2.50498014e-03 5.76750073e+02] [ 7.46953105e-01 -6.64871207e-01 -2.70871853e-03 -2.75960928e+02] [ 3.68878818e-03 7.01665079e-05 9.99993194e-01 -5.86800212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters 0.050793198042269914 Centerline is valid? [True, True] Translation: X:576.71, Y:-275.92, Z:-5.87 [[-6.68635013e-01 -7.43585786e-01 2.71978649e-03 5.76712774e+02] [ 7.43579975e-01 -6.68640543e-01 -2.94030315e-03 -2.75919033e+02] [ 4.00492714e-03 5.63891350e-05 9.99991979e-01 -5.86895738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters 0.05053680485044564 Centerline is valid? [True, True] Translation: X:576.68, Y:-275.87, Z:-5.87 [[-6.71096160e-01 -7.41366754e-01 2.29759612e-03 5.76677289e+02] [ 7.41362596e-01 -6.71100092e-01 -2.48328100e-03 -2.75872736e+02] [ 3.38293894e-03 3.68314837e-05 9.99994277e-01 -5.86849246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters 0.05042329479858003 Centerline is valid? [True, True] Translation: X:576.64, Y:-275.83, Z:-5.87 [[-6.73539145e-01 -7.39144687e-01 3.18634058e-03 5.76640755e+02] [ 7.39136669e-01 -6.73546680e-01 -3.44301688e-03 -2.75827629e+02] [ 4.69103675e-03 3.61345181e-05 9.99988996e-01 -5.86930194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters 0.050403514612031707 Centerline is valid? [True, True] Translation: X:576.60, Y:-275.78, Z:-5.87 [[-6.74028575e-01 -7.38694233e-01 4.03871622e-03 5.76604427e+02] [ 7.38681350e-01 -6.74040673e-01 -4.36277975e-03 -2.75783018e+02] [ 5.94501924e-03 4.26861354e-05 9.99982327e-01 -5.87056965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters 0.05032803408571913 Centerline is valid? [True, True] Translation: X:576.57, Y:-275.74, Z:-5.87 [[-6.73053552e-01 -7.39580968e-01 4.34831021e-03 5.76566989e+02] [ 7.39566061e-01 -6.73067596e-01 -4.69600082e-03 -2.75738851e+02] [ 6.39977954e-03 5.52026222e-05 9.99979520e-01 -5.87043232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters 0.050370871866478706 Centerline is valid? [True, True] Translation: X:576.53, Y:-275.70, Z:-5.87 [[-6.71135718e-01 -7.41324148e-01 3.91876494e-03 5.76528033e+02] [ 7.41312077e-01 -6.71147155e-01 -4.23094326e-03 -2.75696461e+02] [ 5.76656835e-03 6.54906394e-05 9.99983371e-01 -5.87023614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters 0.04959588154756678 Centerline is valid? [True, True] Translation: X:576.49, Y:-275.66, Z:-5.87 [[-6.67214121e-01 -7.44856590e-01 3.73868437e-03 5.76486904e+02] [ 7.44845664e-01 -6.67224589e-01 -4.03539587e-03 -2.75656788e+02] [ 5.50033335e-03 9.22697401e-05 9.99984869e-01 -5.87002516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters 0.05105008798996055 Centerline is valid? [True, True] Translation: X:576.45, Y:-275.62, Z:-5.87 [[-6.64299573e-01 -7.47459367e-01 3.25158618e-03 5.76445462e+02] [ 7.47451139e-01 -6.64307523e-01 -3.50853752e-03 -2.75619092e+02] [ 4.78254240e-03 9.96818146e-05 9.99988559e-01 -5.86912793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters 0.04990857687026131 Centerline is valid? [True, True] Translation: X:576.41, Y:-275.57, Z:-5.87 [[-6.63333217e-01 -7.48317166e-01 3.23457717e-03 5.76410012e+02] [ 7.48309038e-01 -6.63341095e-01 -3.48939497e-03 -2.75572115e+02] [ 4.75680211e-03 1.05831742e-04 9.99988681e-01 -5.86810402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters 0.04985072760292338 Centerline is valid? [True, True] Translation: X:576.37, Y:-275.53, Z:-5.87 [[-6.62900282e-01 -7.48698390e-01 3.73321645e-03 5.76366301e+02] [ 7.48687572e-01 -6.62910782e-01 -4.02677905e-03 -2.75533289e+02] [ 5.48963243e-03 1.25659792e-04 9.99984924e-01 -5.86956272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters 0.050405967482748705 Centerline is valid? [True, True] Translation: X:576.33, Y:-275.49, Z:-5.87 [[-6.63534075e-01 -7.48134793e-01 4.10647526e-03 5.76326535e+02] [ 7.48121700e-01 -6.63546768e-01 -4.42815122e-03 -2.75492194e+02] [ 6.03769238e-03 1.33914028e-04 9.99981764e-01 -5.86982259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters 0.049986605925658276 Centerline is valid? [True, True] Translation: X:576.29, Y:-275.45, Z:-5.87 [[-6.64746291e-01 -7.47054511e-01 4.68259945e-03 5.76287725e+02] [ 7.47037467e-01 -6.64762768e-01 -5.04825948e-03 -2.75447872e+02] [ 6.88414279e-03 1.42265470e-04 9.99976294e-01 -5.86920636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters 0.050480108605917645 Centerline is valid? [True, True] Translation: X:576.25, Y:-275.41, Z:-5.87 [[-6.67887153e-01 -7.44247325e-01 4.76137541e-03 5.76248976e+02] [ 7.44229638e-01 -6.67904115e-01 -5.13221378e-03 -2.75406744e+02] [ 6.99977860e-03 1.15817053e-04 9.99975495e-01 -5.86946096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters 0.050806902919201764 Centerline is valid? [True, True] Translation: X:576.21, Y:-275.36, Z:-5.87 [[-6.70969487e-01 -7.41473587e-01 4.10697600e-03 5.76212941e+02] [ 7.41460379e-01 -6.70982052e-01 -4.42626970e-03 -2.75359703e+02] [ 6.03766926e-03 7.52680795e-05 9.99981770e-01 -5.86709138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters 0.05034315832510839 Centerline is valid? [True, True] Translation: X:576.17, Y:-275.32, Z:-5.87 [[-6.75579674e-01 -7.37281804e-01 2.76519245e-03 5.76174814e+02] [ 7.37275784e-01 -6.75585332e-01 -2.97936987e-03 -2.75317257e+02] [ 4.06475865e-03 2.59077079e-05 9.99991739e-01 -5.86751311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters 0.05048328255706259 Centerline is valid? [True, True] Translation: X:576.14, Y:-275.27, Z:-5.87 [[-6.78602167e-01 -7.34504450e-01 1.52072537e-03 5.76137387e+02] [ 7.34502623e-01 -6.78603871e-01 -1.63812068e-03 -2.75271452e+02] [ 2.23517705e-03 5.34453203e-06 9.99997502e-01 -5.86631022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters 0.05111194968607801 Centerline is valid? [True, True] Translation: X:576.10, Y:-275.23, Z:-5.87 [[-6.79458326e-01 -7.33711679e-01 1.88551243e-03 5.76098528e+02] [ 7.33708869e-01 -6.79460942e-01 -2.03048188e-03 -2.75229597e+02] [ 2.77092032e-03 3.78937869e-06 9.99996161e-01 -5.86839509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters 0.050248721052969174 Centerline is valid? [True, True] Translation: X:576.06, Y:-275.19, Z:-5.87 [[-6.78821461e-01 -7.34298986e-01 2.53427897e-03 5.76060732e+02] [ 7.34293918e-01 -6.78826192e-01 -2.72821229e-03 -2.75189123e+02] [ 3.72365846e-03 8.93657795e-06 9.99993067e-01 -5.86871514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters 0.05095011574377153 Centerline is valid? [True, True] Translation: X:576.02, Y:-275.15, Z:-5.87 [[-6.75396569e-01 -7.37450913e-01 2.37191256e-03 5.76020515e+02] [ 7.37446494e-01 -6.75400734e-01 -2.55306573e-03 -2.75146841e+02] [ 3.48475213e-03 2.48267696e-05 9.99993928e-01 -5.86752990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters 0.0500817379901874 Centerline is valid? [True, True] Translation: X:575.98, Y:-275.11, Z:-5.87 [[-6.71407602e-01 -7.41083348e-01 2.70253323e-03 5.75978252e+02] [ 7.41077643e-01 -6.71413039e-01 -2.90813732e-03 -2.75108029e+02] [ 3.96968819e-03 5.02414520e-05 9.99992120e-01 -5.86871877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters 0.05030474535517063 Centerline is valid? [True, True] Translation: X:575.94, Y:-275.07, Z:-5.87 [[-6.69298019e-01 -7.42988373e-01 2.90505248e-03 5.75938232e+02] [ 7.42981803e-01 -6.69304320e-01 -3.12530760e-03 -2.75065216e+02] [ 4.26643139e-03 6.66389431e-05 9.99990897e-01 -5.86853331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters 0.050467320275382206 Centerline is valid? [True, True] Translation: X:575.90, Y:-275.03, Z:-5.87 [[-6.67943062e-01 -7.44207442e-01 2.71104203e-03 5.75895386e+02] [ 7.44201733e-01 -6.67948560e-01 -2.91578934e-03 -2.75026969e+02] [ 3.98078874e-03 6.99809137e-05 9.99992074e-01 -5.86941336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters 0.04989622247744407 Centerline is valid? [True, True] Translation: X:575.86, Y:-274.98, Z:-5.87 [[-6.67145027e-01 -7.44925689e-01 1.79783557e-03 5.75858800e+02] [ 7.44923182e-01 -6.67147447e-01 -1.93314465e-03 -2.74980680e+02] [ 2.63947053e-03 4.95615546e-05 9.99996515e-01 -5.86762149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters 0.04973484974053922 Centerline is valid? [True, True] Translation: X:575.82, Y:-274.94, Z:-5.87 [[-6.66782016e-01 -7.45252667e-01 4.53393114e-04 5.75817714e+02] [ 7.45252507e-01 -6.66782170e-01 -4.87381237e-04 -2.74941619e+02] [ 6.65536610e-04 1.29153110e-05 9.99999778e-01 -5.86661234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters 0.049976523846081984 Centerline is valid? [True, True] Translation: X:575.78, Y:-274.90, Z:-5.87 [[-6.67873406e-01 -7.44274210e-01 -1.00738792e-03 5.75776933e+02] [ 7.44273423e-01 -6.67874165e-01 1.08265102e-03 -2.74901711e+02] [-1.47859759e-03 -2.66982307e-05 9.99998907e-01 -5.86584457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters 0.05133203007482145 Centerline is valid? [True, True] Translation: X:575.74, Y:-274.86, Z:-5.87 [[-6.69104854e-01 -7.43167560e-01 -8.20330456e-04 5.75735919e+02] [ 7.43167037e-01 -6.69105356e-01 8.81361663e-04 -2.74863057e+02] [-1.20388690e-03 -1.99191883e-05 9.99999275e-01 -5.86611825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters 0.05071849326159508 Centerline is valid? [True, True] Translation: X:575.70, Y:-274.82, Z:-5.87 [[-6.71216386e-01 -7.41261439e-01 2.04899906e-04 5.75698344e+02] [ 7.41261406e-01 -6.71216417e-01 -2.20073117e-04 -2.74821221e+02] [ 3.00663896e-04 4.16771061e-06 9.99999955e-01 -5.86931229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters 0.050800733629916446 Centerline is valid? [True, True] Translation: X:575.66, Y:-274.78, Z:-5.87 [[-6.72894646e-01 -7.39737683e-01 9.77122564e-04 5.75659966e+02] [ 7.39736939e-01 -6.72895356e-01 -1.04921790e-03 -2.74778159e+02] [ 1.43364726e-03 1.68005444e-05 9.99998972e-01 -5.87040783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters 0.05078577503678578 Centerline is valid? [True, True] Translation: X:575.62, Y:-274.74, Z:-5.87 [[-6.75216822e-01 -7.37616383e-01 2.07733826e-03 5.75621093e+02] [ 7.37613012e-01 -6.75220017e-01 -2.22996097e-03 -2.74737650e+02] [ 3.04751612e-03 2.65645701e-05 9.99995356e-01 -5.87176665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters 0.050268589669862807 Centerline is valid? [True, True] Translation: X:575.59, Y:-274.69, Z:-5.87 [[-6.77711395e-01 -7.35323855e-01 2.46838531e-03 5.75585400e+02] [ 7.35319084e-01 -6.77715890e-01 -2.64906535e-03 -2.74691766e+02] [ 3.62078490e-03 1.97490493e-05 9.99993445e-01 -5.87111452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters 0.05037595609417478 Centerline is valid? [True, True] Translation: X:575.55, Y:-274.65, Z:-5.87 [[-6.80609112e-01 -7.32644883e-01 1.64655532e-03 5.75547577e+02] [ 7.32642754e-01 -6.80611104e-01 -1.76660221e-03 -2.74647974e+02] [ 2.41495590e-03 3.97126254e-06 9.99997084e-01 -5.87057887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters 0.050353872637936975 Centerline is valid? [True, True] Translation: X:575.51, Y:-274.61, Z:-5.87 [[-6.82651135e-01 -7.30743611e-01 1.09666035e-03 5.75510021e+02] [ 7.30742664e-01 -6.82652016e-01 -1.17629958e-03 -2.74605163e+02] [ 1.60821080e-03 -1.62573340e-06 9.99998707e-01 -5.87088215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters 0.050689831467279 Centerline is valid? [True, True] Translation: X:575.47, Y:-274.56, Z:-5.87 [[-6.85001332e-01 -7.28541810e-01 8.19892309e-05 5.75471664e+02] [ 7.28541805e-01 -6.85001337e-01 -8.79180336e-05 -2.74561860e+02] [ 1.20214696e-04 -4.91387832e-07 9.99999993e-01 -5.86966495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters 0.05061512048409635 Centerline is valid? [True, True] Translation: X:575.43, Y:-274.52, Z:-5.87 [[-6.85649652e-01 -7.27931606e-01 -3.61881656e-04 5.75434201e+02] [ 7.27931503e-01 -6.85649748e-01 3.87941460e-04 -2.74519437e+02] [-5.30518916e-04 2.56686962e-06 9.99999859e-01 -5.86899270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters 0.05102913369286867 Centerline is valid? [True, True] Translation: X:575.39, Y:-274.48, Z:-5.87 [[-6.85644044e-01 -7.27936973e-01 -8.79136359e-05 5.75393438e+02] [ 7.27936967e-01 -6.85644050e-01 9.42186198e-05 -2.74478625e+02] [-1.28862678e-04 6.04849997e-07 9.99999992e-01 -5.87008401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters 0.05111517280611658 Centerline is valid? [True, True] Translation: X:575.36, Y:-274.44, Z:-5.87 [[-6.85778078e-01 -7.27810708e-01 2.68792606e-05 5.75355067e+02] [ 7.27810708e-01 -6.85778079e-01 -2.87964490e-05 -2.74437181e+02] [ 3.93915714e-05 -1.84959779e-07 9.99999999e-01 -5.87155633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters 0.05067024877783463 Centerline is valid? [True, True] Translation: X:575.32, Y:-274.40, Z:-5.87 [[-6.85385728e-01 -7.28180137e-01 3.03984322e-04 5.75317219e+02] [ 7.28180064e-01 -6.85385795e-01 -3.25585181e-04 -2.74397204e+02] [ 4.45431197e-04 -1.79611282e-06 9.99999901e-01 -5.87222767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters 0.050211960685746376 Centerline is valid? [True, True] Translation: X:575.28, Y:-274.36, Z:-5.87 [[-6.84093605e-01 -7.29393979e-01 6.02785686e-04 5.75275812e+02] [ 7.29393693e-01 -6.84093870e-01 -6.45448502e-04 -2.74356971e+02] [ 8.83148244e-04 -1.87911496e-06 9.99999610e-01 -5.87289040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters 0.05051783965278819 Centerline is valid? [True, True] Translation: X:575.24, Y:-274.32, Z:-5.87 [[-6.82385921e-01 -7.30991565e-01 8.87196263e-04 5.75236269e+02] [ 7.30990947e-01 -6.82386498e-01 -9.49802229e-04 -2.74316207e+02] [ 1.29970817e-03 4.00767833e-07 9.99999155e-01 -5.87363137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters 0.049868615486763364 Centerline is valid? [True, True] Translation: X:575.20, Y:-274.27, Z:-5.87 [[-6.79277250e-01 -7.33881555e-01 5.30329843e-04 5.75195401e+02] [ 7.33881335e-01 -6.79277457e-01 -5.67605106e-04 -2.74274662e+02] [ 7.76796025e-04 3.63793755e-06 9.99999698e-01 -5.87303785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters 0.05006194308456821 Centerline is valid? [True, True] Translation: X:575.15, Y:-274.24, Z:-5.87 [[-6.74072880e-01 -7.38664840e-01 7.90694721e-05 5.75150971e+02] [ 7.38664836e-01 -6.74072884e-01 -8.46123926e-05 -2.74238263e+02] [ 1.15798786e-04 1.37091941e-06 9.99999993e-01 -5.87458059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters 0.04965079644327189 Centerline is valid? [True, True] Translation: X:575.11, Y:-274.20, Z:-5.87 [[-6.72993109e-01 -7.39648748e-01 -7.48613976e-05 5.75112760e+02] [ 7.39648744e-01 -6.72993113e-01 8.00924206e-05 -2.74195166e+02] [-1.09621464e-04 -1.46949157e-06 9.99999994e-01 -5.87473015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters 0.049974818693446575 Centerline is valid? [True, True] Translation: X:575.07, Y:-274.16, Z:-5.87 [[-6.70183350e-01 -7.42195409e-01 -5.02489687e-04 5.75071097e+02] [ 7.42195214e-01 -6.70183538e-01 5.37435487e-04 -2.74155861e+02] [-7.35642467e-04 -1.27651261e-05 9.99999729e-01 -5.87424911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters 0.049149906535232636 Centerline is valid? [True, True] Translation: X:575.03, Y:-274.11, Z:-5.87 [[-6.68293965e-01 -7.43897254e-01 -2.29433514e-04 5.75031756e+02] [ 7.43897213e-01 -6.68294004e-01 2.45322776e-04 -2.74114381e+02] [-3.35823981e-04 -6.72722170e-06 9.99999944e-01 -5.87475436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters 0.05004642090837347 Centerline is valid? [True, True] Translation: X:574.99, Y:-274.07, Z:-5.88 [[-6.67200807e-01 -7.44877873e-01 1.95457127e-04 5.74991252e+02] [ 7.44877843e-01 -6.67200835e-01 -2.08929232e-04 -2.74073544e+02] [ 2.86035920e-04 6.19393094e-06 9.99999959e-01 -5.87591011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters 0.049851064131901934 Centerline is valid? [True, True] Translation: X:574.95, Y:-274.04, Z:-5.88 [[-6.67605634e-01 -7.44514943e-01 4.66207666e-04 5.74950890e+02] [ 7.44514777e-01 -6.67605796e-01 -4.98224214e-04 -2.74035173e+02] [ 6.82178312e-04 1.44812043e-05 9.99999767e-01 -5.87606649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters 0.04962361236648436 Centerline is valid? [True, True] Translation: X:574.92, Y:-273.99, Z:-5.88 [[-6.69430363e-01 -7.42874716e-01 3.81630400e-04 5.74916129e+02] [ 7.42874604e-01 -6.69430472e-01 -4.07730859e-04 -2.73988698e+02] [ 5.58367965e-04 1.05561152e-05 9.99999844e-01 -5.87616421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters 0.049680531948209344 Centerline is valid? [True, True] Translation: X:574.88, Y:-273.95, Z:-5.88 [[-6.71568870e-01 -7.40941928e-01 5.58517063e-04 5.74876858e+02] [ 7.40941688e-01 -6.71569102e-01 -5.96586730e-04 -2.73948338e+02] [ 8.17118924e-04 1.31794998e-05 9.99999666e-01 -5.87684188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters 0.048858577922480315 Centerline is valid? [True, True] Translation: X:574.84, Y:-273.90, Z:-5.88 [[-6.73065525e-01 -7.39582609e-01 6.02714708e-04 5.74842688e+02] [ 7.39582329e-01 -6.73065795e-01 -6.43702196e-04 -2.73900558e+02] [ 8.81737604e-04 1.25033912e-05 9.99999611e-01 -5.87658149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters 0.049672341286117125 Centerline is valid? [True, True] Translation: X:574.80, Y:-273.86, Z:-5.88 [[-6.75348625e-01 -7.37497668e-01 1.19318365e-03 5.74802237e+02] [ 7.37496568e-01 -6.75349679e-01 -1.27408011e-03 -2.73860716e+02] [ 1.74544730e-03 1.95205947e-05 9.99998477e-01 -5.87758104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters 0.04951978658709775 Centerline is valid? [True, True] Translation: X:574.77, Y:-273.82, Z:-5.88 [[-6.77558232e-01 -7.35467768e-01 1.41597800e-03 5.74766075e+02] [ 7.35466215e-01 -6.77559711e-01 -1.51157899e-03 -2.73815493e+02] [ 2.07112727e-03 1.72211885e-05 9.99997855e-01 -5.87819231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters 0.04897672296420116 Centerline is valid? [True, True] Translation: X:574.73, Y:-273.77, Z:-5.88 [[-6.79087840e-01 -7.34053308e-01 2.33386305e-03 5.74729089e+02] [ 7.34049082e-01 -6.79091850e-01 -2.49082082e-03 -2.73774878e+02] [ 3.41330264e-03 2.16838996e-05 9.99994174e-01 -5.88030442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters 0.04914220175180286 Centerline is valid? [True, True] Translation: X:574.69, Y:-273.73, Z:-5.88 [[-6.79646241e-01 -7.33536770e-01 2.18967030e-03 5.74692027e+02] [ 7.33533049e-01 -6.79649768e-01 -2.33635936e-03 -2.73729494e+02] [ 3.20201441e-03 1.82976774e-05 9.99994873e-01 -5.87904163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters 0.048858682550857006 Centerline is valid? [True, True] Translation: X:574.65, Y:-273.69, Z:-5.88 [[-6.79801403e-01 -7.33394344e-01 1.66976619e-03 5.74653391e+02] [ 7.33392182e-01 -6.79803454e-01 -1.78109706e-03 -2.73686929e+02] [ 2.44135933e-03 1.38011918e-05 9.99997020e-01 -5.87847851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters 0.04832446707881523 Centerline is valid? [True, True] Translation: X:574.61, Y:-273.65, Z:-5.88 [[-6.79364081e-01 -7.33800835e-01 8.82815773e-04 5.74613302e+02] [ 7.33800231e-01 -6.79364655e-01 -9.41428965e-04 -2.73645322e+02] [ 1.29057519e-03 8.23739435e-06 9.99999167e-01 -5.87810226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters 0.04879974869215153 Centerline is valid? [True, True] Translation: X:574.57, Y:-273.61, Z:-5.88 [[-6.78381143e-01 -7.34709919e-01 -5.99196568e-04 5.74570600e+02] [ 7.34709641e-01 -6.78381408e-01 6.38807722e-04 -2.73606666e+02] [-8.75822181e-04 -6.88038310e-06 9.99999616e-01 -5.87691966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters 0.04842243643694903 Centerline is valid? [True, True] Translation: X:574.53, Y:-273.57, Z:-5.88 [[-6.76689133e-01 -7.36268197e-01 -9.79645244e-04 5.74528666e+02] [ 7.36267457e-01 -6.76689842e-01 1.04413450e-03 -2.73570870e+02] [-1.43167901e-03 -1.47264399e-05 9.99998975e-01 -5.87726653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters 0.04878064541590395 Centerline is valid? [True, True] Translation: X:574.49, Y:-273.53, Z:-5.88 [[-6.75544783e-01 -7.37318787e-01 -5.02559393e-04 5.74489898e+02] [ 7.37318593e-01 -6.75544970e-01 5.35505380e-04 -2.73527778e+02] [-7.34339647e-04 -8.78851796e-06 9.99999730e-01 -5.87935747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters 0.04915951527090572 Centerline is valid? [True, True] Translation: X:574.45, Y:-273.49, Z:-5.88 [[-6.73994638e-01 -7.38736080e-01 4.81455674e-04 5.74446390e+02] [ 7.38735902e-01 -6.73994810e-01 -5.12873073e-04 -2.73490065e+02] [ 7.03376469e-04 9.99489032e-06 9.99999753e-01 -5.88120811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters 0.0494046979692304 Centerline is valid? [True, True] Translation: X:574.41, Y:-273.45, Z:-5.88 [[-6.72888804e-01 -7.39743350e-01 6.58327882e-04 5.74405008e+02] [ 7.39743018e-01 -6.72889126e-01 -7.01076521e-04 -2.73451556e+02] [ 9.61598367e-04 1.52469123e-05 9.99999538e-01 -5.88236756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters 0.04936937791736934 Centerline is valid? [True, True] Translation: X:574.37, Y:-273.41, Z:-5.88 [[-6.73167804e-01 -7.39489733e-01 2.06840231e-04 5.74366008e+02] [ 7.39489700e-01 -6.73167835e-01 -2.20201839e-04 -2.73410815e+02] [ 3.02075189e-04 4.72343202e-06 9.99999954e-01 -5.88238301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters 0.04839353940186024 Centerline is valid? [True, True] Translation: X:574.33, Y:-273.37, Z:-5.88 [[-6.75303930e-01 -7.37539265e-01 -6.59383798e-04 5.74329952e+02] [ 7.37538931e-01 -6.75304252e-01 7.01811121e-04 -2.73365676e+02] [-9.62897941e-04 -1.23854137e-05 9.99999536e-01 -5.88146437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters 0.04847582277413287 Centerline is valid? [True, True] Translation: X:574.29, Y:-273.32, Z:-5.88 [[-6.77657338e-01 -7.35376929e-01 -1.14211870e-03 5.74290604e+02] [ 7.35375925e-01 -6.77658301e-01 1.21531121e-03 -2.73322300e+02] [-1.66767805e-03 -1.63220368e-05 9.99998609e-01 -5.88162513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters 0.049175303466239884 Centerline is valid? [True, True] Translation: X:574.25, Y:-273.28, Z:-5.88 [[-6.80903823e-01 -7.32371088e-01 -1.60443737e-03 5.74252553e+02] [ 7.32369099e-01 -6.80905713e-01 1.70676432e-03 -2.73279300e+02] [-2.34245541e-03 -1.28979989e-05 9.99997256e-01 -5.88214947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters 0.04869290594917533 Centerline is valid? [True, True] Translation: X:574.21, Y:-273.24, Z:-5.88 [[-6.82346354e-01 -7.31029025e-01 -1.33163857e-04 5.74214516e+02] [ 7.31029011e-01 -6.82346367e-01 1.41617640e-04 -2.73236393e+02] [-1.94390479e-04 -7.14362807e-07 9.99999981e-01 -5.88357413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters 0.04873272817777503 Centerline is valid? [True, True] Translation: X:574.17, Y:-273.20, Z:-5.89 [[-6.82423926e-01 -7.30955590e-01 1.22887852e-03 5.74174471e+02] [ 7.30954423e-01 -6.82425033e-01 -1.30644827e-03 -2.73197311e+02] [ 1.79357313e-03 6.70263156e-06 9.99998392e-01 -5.88560269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters 0.049265631882564 Centerline is valid? [True, True] Translation: X:574.13, Y:-273.16, Z:-5.89 [[-6.81467999e-01 -7.31844417e-01 2.26169480e-03 5.74134989e+02] [ 7.31840469e-01 -6.81471752e-01 -2.40382925e-03 -2.73155396e+02] [ 3.30051013e-03 1.70670779e-05 9.99994553e-01 -5.88677150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters 0.04910235654997862 Centerline is valid? [True, True] Translation: X:574.10, Y:-273.11, Z:-5.89 [[-6.81369290e-01 -7.31936813e-01 2.09585173e-03 5.74095053e+02] [ 7.31933425e-01 -6.81372513e-01 -2.22690642e-03 -2.73114085e+02] [ 3.05801055e-03 1.66782832e-05 9.99995324e-01 -5.88670438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters 0.04877364062145655 Centerline is valid? [True, True] Translation: X:574.06, Y:-273.07, Z:-5.89 [[-6.81421722e-01 -7.31889121e-01 1.65868597e-03 5.74056109e+02] [ 7.31887001e-01 -6.81423741e-01 -1.76185869e-03 -2.73073663e+02] [ 2.41975320e-03 1.34019194e-05 9.99997072e-01 -5.88665826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters 0.0491969077515436 Centerline is valid? [True, True] Translation: X:574.02, Y:-273.03, Z:-5.89 [[-6.81019674e-01 -7.32264910e-01 5.53150261e-04 5.74017205e+02] [ 7.32264674e-01 -6.81019898e-01 -5.87384649e-04 -2.73032113e+02] [ 8.06827501e-04 5.03189393e-06 9.99999675e-01 -5.88564405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters 0.04864710370482006 Centerline is valid? [True, True] Translation: X:573.98, Y:-272.99, Z:-5.89 [[-6.79998414e-01 -7.33213576e-01 -9.61248133e-05 5.73977201e+02] [ 7.33213569e-01 -6.79998420e-01 1.02051160e-04 -2.72989968e+02] [-1.40190017e-04 -1.08539060e-06 9.99999990e-01 -5.88517663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters 0.04917098291793931 Centerline is valid? [True, True] Translation: X:573.94, Y:-272.95, Z:-5.89 [[-6.78977680e-01 -7.34158910e-01 -7.81522985e-05 5.73936958e+02] [ 7.34158905e-01 -6.78977684e-01 8.29463933e-05 -2.72950368e+02] [-1.13959500e-04 -1.05745618e-06 9.99999994e-01 -5.88607110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters 0.04900629001502967 Centerline is valid? [True, True] Translation: X:573.90, Y:-272.91, Z:-5.89 [[-6.76969949e-01 -7.36010105e-01 9.02047973e-04 5.73896657e+02] [ 7.36009483e-01 -6.76970550e-01 -9.57078270e-04 -2.72909408e+02] [ 1.31507919e-03 1.60026341e-05 9.99999135e-01 -5.88783400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters 0.048992839194700405 Centerline is valid? [True, True] Translation: X:573.86, Y:-272.87, Z:-5.89 [[-6.76013366e-01 -7.36888720e-01 9.71534028e-04 5.73856164e+02] [ 7.36888000e-01 -6.76014063e-01 -1.03054059e-03 -2.72868394e+02] [ 1.41616440e-03 1.92525573e-05 9.99998997e-01 -5.88822564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters 0.04898709193807114 Centerline is valid? [True, True] Translation: X:573.82, Y:-272.83, Z:-5.89 [[-6.75823562e-01 -7.37062919e-01 8.75888568e-04 5.73815690e+02] [ 7.37062334e-01 -6.75824129e-01 -9.28843250e-04 -2.72826931e+02] [ 1.27656255e-03 1.78503186e-05 9.99999185e-01 -5.88911771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters 0.04979345176214384 Centerline is valid? [True, True] Translation: X:573.77, Y:-272.79, Z:-5.89 [[-6.76424106e-01 -7.36511743e-01 9.38670739e-04 5.73773474e+02] [ 7.36511071e-01 -6.76424757e-01 -9.95115313e-04 -2.72790097e+02] [ 1.36785424e-03 1.82214047e-05 9.99999064e-01 -5.89039173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters 0.04833207687819668 Centerline is valid? [True, True] Translation: X:573.74, Y:-272.75, Z:-5.89 [[-6.77183298e-01 -7.35814359e-01 -9.93980503e-05 5.73735837e+02] [ 7.35814352e-01 -6.77183305e-01 1.05350264e-04 -2.72746824e+02] [-1.44828938e-04 -1.79707264e-06 9.99999990e-01 -5.88990044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters 0.04895622230572436 Centerline is valid? [True, True] Translation: X:573.70, Y:-272.71, Z:-5.89 [[-6.77642994e-01 -7.35390602e-01 -7.97129256e-04 5.73696880e+02] [ 7.35390117e-01 -6.77643462e-01 8.44561113e-04 -2.72707253e+02] [-1.16125174e-03 -1.38900561e-05 9.99999326e-01 -5.88977900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters 0.04895925047733918 Centerline is valid? [True, True] Translation: X:573.66, Y:-272.67, Z:-5.89 [[-6.77824758e-01 -7.35223419e-01 3.48986241e-04 5.73656859e+02] [ 7.35223326e-01 -6.77824848e-01 -3.69640563e-04 -2.72665815e+02] [ 5.08319944e-04 6.03129973e-06 9.99999871e-01 -5.89213140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters 0.048829974907837366 Centerline is valid? [True, True] Translation: X:573.62, Y:-272.62, Z:-5.89 [[-6.77477757e-01 -7.35540529e-01 2.00486540e-03 5.73617920e+02] [ 7.35537466e-01 -6.77480722e-01 -2.12298205e-03 -2.72623201e+02] [ 2.91979700e-03 3.63805023e-05 9.99995737e-01 -5.89438243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters 0.048436711035924694 Centerline is valid? [True, True] Translation: X:573.58, Y:-272.58, Z:-5.90 [[-6.77000262e-01 -7.35977150e-01 2.87759924e-03 5.73578797e+02] [ 7.35970846e-01 -6.77006375e-01 -3.04657885e-03 -2.72582410e+02] [ 4.19036545e-03 5.52944707e-05 9.99991219e-01 -5.89518015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters 0.04895775416149276 Centerline is valid? [True, True] Translation: X:573.54, Y:-272.54, Z:-5.90 [[-6.76598371e-01 -7.36346821e-01 2.82912680e-03 5.73539960e+02] [ 7.36340735e-01 -6.76604283e-01 -2.99434536e-03 -2.72542396e+02] [ 4.11907600e-03 5.72321182e-05 9.99991515e-01 -5.89539361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters 0.049023241752321 Centerline is valid? [True, True] Translation: X:573.50, Y:-272.50, Z:-5.89 [[-6.77091893e-01 -7.35895085e-01 2.23416546e-03 5.73501525e+02] [ 7.35891290e-01 -6.77095578e-01 -2.36395113e-03 -2.72499922e+02] [ 3.25236357e-03 4.34907591e-05 9.99994710e-01 -5.89465223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters 0.04964072229369005 Centerline is valid? [True, True] Translation: X:573.46, Y:-272.46, Z:-5.89 [[-6.78331056e-01 -7.34755600e-01 1.08938263e-03 5.73461077e+02] [ 7.34754696e-01 -6.78331931e-01 -1.15244766e-03 -2.72459999e+02] [ 1.58573039e-03 1.86879657e-05 9.99998743e-01 -5.89358293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters 0.048840407543665226 Centerline is valid? [True, True] Translation: X:573.42, Y:-272.42, Z:-5.89 [[-6.78832882e-01 -7.34292589e-01 5.58218219e-04 5.73423421e+02] [ 7.34292352e-01 -6.78833112e-01 -5.90436494e-04 -2.72415035e+02] [ 8.12490152e-04 9.08766205e-06 9.99999670e-01 -5.89296253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters 0.048905467320984254 Centerline is valid? [True, True] Translation: X:573.38, Y:-272.37, Z:-5.89 [[-6.78768848e-01 -7.34351596e-01 7.64832400e-04 5.73383896e+02] [ 7.34351151e-01 -6.78769278e-01 -8.08734994e-04 -2.72373836e+02] [ 1.11304057e-03 1.27114333e-05 9.99999381e-01 -5.89326721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters 0.04886758406944657 Centerline is valid? [True, True] Translation: X:573.34, Y:-272.34, Z:-5.89 [[-6.77315219e-01 -7.35692245e-01 1.00740824e-03 5.73342096e+02] [ 7.35691475e-01 -6.77315967e-01 -1.06501151e-03 -2.72335438e+02] [ 1.46585439e-03 1.97931540e-05 9.99998925e-01 -5.89385140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters 0.04965296381963837 Centerline is valid? [True, True] Translation: X:573.30, Y:-272.30, Z:-5.89 [[-6.76059508e-01 -7.36845699e-01 1.39895747e-03 5.73298640e+02] [ 7.36844216e-01 -6.76060955e-01 -1.47850305e-03 -2.72299409e+02] [ 2.03520914e-03 3.12576786e-05 9.99997928e-01 -5.89452920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters 0.04837715913843985 Centerline is valid? [True, True] Translation: X:573.26, Y:-272.25, Z:-5.89 [[-6.75529107e-01 -7.37331490e-01 1.64310727e-03 5.73260756e+02] [ 7.37329447e-01 -6.75531104e-01 -1.73608419e-03 -2.72254782e+02] [ 2.39003961e-03 3.87359757e-05 9.99997143e-01 -5.89491490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters 0.048901698409362045 Centerline is valid? [True, True] Translation: X:573.22, Y:-272.21, Z:-5.90 [[-6.74788110e-01 -7.38006246e-01 2.79068653e-03 5.73220078e+02] [ 7.38000362e-01 -6.74793877e-01 -2.94783991e-03 -2.72213899e+02] [ 4.05866245e-03 7.03603450e-05 9.99991761e-01 -5.89622180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters 0.04933376793904635 Centerline is valid? [True, True] Translation: X:573.18, Y:-272.17, Z:-5.90 [[-6.74935155e-01 -7.37871946e-01 2.74364961e-03 5.73179878e+02] [ 7.37866261e-01 -6.74940728e-01 -2.89740372e-03 -2.72172110e+02] [ 3.98971379e-03 6.88868539e-05 9.99992039e-01 -5.89704801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters 0.04864319628387332 Centerline is valid? [True, True] Translation: X:573.14, Y:-272.13, Z:-5.90 [[-6.76221176e-01 -7.36695944e-01 2.00197952e-03 5.73140517e+02] [ 7.36692913e-01 -6.76224138e-01 -2.11363974e-03 -2.72128957e+02] [ 2.91089670e-03 4.55561767e-05 9.99995762e-01 -5.89690092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters 0.04885204287887963 Centerline is valid? [True, True] Translation: X:573.10, Y:-272.09, Z:-5.90 [[-6.77996826e-01 -7.35064216e-01 9.50012719e-04 5.73099079e+02] [ 7.35063532e-01 -6.77997492e-01 -1.00284427e-03 -2.72089936e+02] [ 1.38126117e-03 1.83944746e-05 9.99999046e-01 -5.89627572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters 0.04833871353640543 Centerline is valid? [True, True] Translation: X:573.06, Y:-272.05, Z:-5.90 [[-6.78690667e-01 -7.34423973e-01 6.38097629e-04 5.73062168e+02] [ 7.34423664e-01 -6.78690966e-01 -6.73370961e-04 -2.72047593e+02] [ 9.27610873e-04 1.16234130e-05 9.99999570e-01 -5.89539409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters 0.04859114024679972 Centerline is valid? [True, True] Translation: X:573.02, Y:-272.01, Z:-5.90 [[-6.78877186e-01 -7.34251205e-01 9.66580855e-04 5.73022882e+02] [ 7.34250497e-01 -6.78877874e-01 -1.01968262e-03 -2.72008863e+02] [ 1.40489355e-03 1.74732055e-05 9.99999013e-01 -5.89724306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters 0.04923916056041172 Centerline is valid? [True, True] Translation: X:572.98, Y:-271.97, Z:-5.90 [[-6.78649166e-01 -7.34459767e-01 2.03989121e-03 5.72983593e+02] [ 7.34456617e-01 -6.78652230e-01 -2.15135033e-03 -2.71967509e+02] [ 2.96445698e-03 3.81994946e-05 9.99995605e-01 -5.89937444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters 0.04887140731888966 Centerline is valid? [True, True] Translation: X:572.94, Y:-271.93, Z:-5.90 [[-6.78218546e-01 -7.34851565e-01 3.57506998e-03 5.72943869e+02] [ 7.34841901e-01 -6.78227965e-01 -3.76934204e-03 -2.71926219e+02] [ 5.19461934e-03 7.06735447e-05 9.99986505e-01 -5.90089041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters 0.0486407489344831 Centerline is valid? [True, True] Translation: X:572.91, Y:-271.88, Z:-5.90 [[-6.78250227e-01 -7.34823365e-01 3.35425959e-03 5.72905798e+02] [ 7.34814863e-01 -6.78258518e-01 -3.53550702e-03 -2.71884158e+02] [ 4.87302831e-03 6.68013579e-05 9.99988125e-01 -5.89977443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters 0.048623610531164346 Centerline is valid? [True, True] Translation: X:572.87, Y:-271.84, Z:-5.90 [[-6.78610366e-01 -7.34491665e-01 3.15682762e-03 5.72866475e+02] [ 7.34484135e-01 -6.78617706e-01 -3.32643989e-03 -2.71843220e+02] [ 4.58552149e-03 6.12832151e-05 9.99989485e-01 -5.89899835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters 0.04883211732599422 Centerline is valid? [True, True] Translation: X:572.83, Y:-271.80, Z:-5.90 [[-6.79067066e-01 -7.34071537e-01 2.62654623e-03 5.72826965e+02] [ 7.34066324e-01 -6.79072144e-01 -2.76697663e-03 -2.71800036e+02] [ 3.81477317e-03 4.90964322e-05 9.99992723e-01 -5.89820150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters 0.04912236581866612 Centerline is valid? [True, True] Translation: X:572.79, Y:-271.76, Z:-5.90 [[-6.79494886e-01 -7.33677078e-01 2.15515964e-03 5.72786130e+02] [ 7.33673568e-01 -6.79498303e-01 -2.26994689e-03 -2.71760197e+02] [ 3.12983532e-03 3.87663536e-05 9.99995101e-01 -5.89758771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters 0.04951212913728543 Centerline is valid? [True, True] Translation: X:572.75, Y:-271.72, Z:-5.90 [[-6.79758627e-01 -7.33433405e-01 1.91036594e-03 5.72746247e+02] [ 7.33430648e-01 -6.79761310e-01 -2.01153431e-03 -2.71719590e+02] [ 2.77391931e-03 3.37631268e-05 9.99996152e-01 -5.89678563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters 0.049685270751918816 Centerline is valid? [True, True] Translation: X:572.70, Y:-271.68, Z:-5.90 [[-6.79820188e-01 -7.33375737e-01 2.13083938e-03 5.72703868e+02] [ 7.33372308e-01 -6.79823526e-01 -2.24293242e-03 -2.71682851e+02] [ 3.09350696e-03 3.79078499e-05 9.99995214e-01 -5.89735172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters 0.048871962181753346 Centerline is valid? [True, True] Translation: X:572.67, Y:-271.64, Z:-5.90 [[-6.79817584e-01 -7.33375026e-01 3.02046662e-03 5.72666914e+02] [ 7.33368141e-01 -6.79824292e-01 -3.17842543e-03 -2.71639436e+02] [ 4.38436441e-03 5.43644926e-05 9.99990387e-01 -5.89652391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters 0.04926683132652896 Centerline is valid? [True, True] Translation: X:572.63, Y:-271.60, Z:-5.90 [[-6.79755522e-01 -7.33429503e-01 3.68697342e-03 5.72626473e+02] [ 7.33419251e-01 -6.79765518e-01 -3.87864770e-03 -2.71599055e+02] [ 5.35099205e-03 6.75650852e-05 9.99985681e-01 -5.89641320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters 0.04959456795611846 Centerline is valid? [True, True] Translation: X:572.59, Y:-271.56, Z:-5.90 [[-6.80386869e-01 -7.32842992e-01 3.85450933e-03 5.72586658e+02] [ 7.32831784e-01 -6.80397784e-01 -4.05370064e-03 -2.71558223e+02] [ 5.59332571e-03 6.66222596e-05 9.99984355e-01 -5.89664120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters 0.04983064988085445 Centerline is valid? [True, True] Translation: X:572.55, Y:-271.52, Z:-5.90 [[-6.82902267e-01 -7.30500172e-01 3.74079963e-03 5.72546411e+02] [ 7.30489585e-01 -6.82912511e-01 -3.93308425e-03 -2.71517157e+02] [ 5.42775758e-03 4.67030210e-05 9.99985269e-01 -5.89673663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters 0.04939073151960451 Centerline is valid? [True, True] Translation: X:572.51, Y:-271.47, Z:-5.89 [[-6.86447455e-01 -7.27173897e-01 2.83120230e-03 5.72508026e+02] [ 7.27167807e-01 -6.86453293e-01 -2.97600211e-03 -2.71473320e+02] [ 4.10755919e-03 1.58900983e-05 9.99991564e-01 -5.89484205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters 0.04981350109887929 Centerline is valid? [True, True] Translation: X:572.47, Y:-271.43, Z:-5.89 [[-6.89184184e-01 -7.24582701e-01 2.25178234e-03 5.72469501e+02] [ 7.24578837e-01 -6.89187862e-01 -2.36619161e-03 -2.71431969e+02] [ 3.26640256e-03 8.51998226e-07 9.99994665e-01 -5.89488808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters 0.04967775807139797 Centerline is valid? [True, True] Translation: X:572.43, Y:-271.39, Z:-5.90 [[-6.90671587e-01 -7.23165117e-01 2.22997655e-03 5.72430439e+02] [ 7.23161323e-01 -6.90675187e-01 -2.34254220e-03 -2.71392200e+02] [ 3.23423427e-03 -5.29454755e-06 9.99994770e-01 -5.89535136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters 0.05041277992045213 Centerline is valid? [True, True] Translation: X:572.39, Y:-271.35, Z:-5.90 [[-6.91224377e-01 -7.22634230e-01 2.93780685e-03 5.72389178e+02] [ 7.22627643e-01 -6.91230620e-01 -3.08536308e-03 -2.71351230e+02] [ 4.26029102e-03 -9.73773004e-06 9.99990925e-01 -5.89543838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters 0.05013416930031358 Centerline is valid? [True, True] Translation: X:572.35, Y:-271.31, Z:-5.90 [[-6.91738737e-01 -7.22136494e-01 4.05009482e-03 5.72349296e+02] [ 7.22123973e-01 -6.91750594e-01 -4.25252059e-03 -2.71310392e+02] [ 5.87255580e-03 -1.69626552e-05 9.99982756e-01 -5.89819107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters 0.050117865507652806 Centerline is valid? [True, True] Translation: X:572.31, Y:-271.27, Z:-5.90 [[-6.91943097e-01 -7.21936858e-01 4.68217130e-03 5.72309592e+02] [ 7.21920131e-01 -6.91958938e-01 -4.91456046e-03 -2.71271945e+02] [ 6.78787262e-03 -2.04424675e-05 9.99976962e-01 -5.89593923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters 0.05054762808965757 Centerline is valid? [True, True] Translation: X:572.27, Y:-271.23, Z:-5.90 [[-6.92021485e-01 -7.21858445e-01 5.16229249e-03 5.72268999e+02] [ 7.21838120e-01 -6.92040739e-01 -5.41698949e-03 -2.71231433e+02] [ 7.48281632e-03 -2.23336034e-05 9.99972003e-01 -5.89765479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters 0.05020495819329516 Centerline is valid? [True, True] Translation: X:572.23, Y:-271.19, Z:-5.90 [[-6.91967228e-01 -7.21908314e-01 5.45354992e-03 5.72228169e+02] [ 7.21885646e-01 -6.91988718e-01 -5.72090037e-03 -2.71191011e+02] [ 7.90376056e-03 -2.18361679e-05 9.99968765e-01 -5.89695727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters 0.050539733966056245 Centerline is valid? [True, True] Translation: X:572.19, Y:-271.15, Z:-5.90 [[-6.91879506e-01 -7.21997824e-01 4.67881688e-03 5.72188765e+02] [ 7.21981151e-01 -6.91895326e-01 -4.90666832e-03 -2.71151275e+02] [ 6.77985538e-03 -1.68056562e-05 9.99977016e-01 -5.89629217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters 0.0510330807978264 Centerline is valid? [True, True] Translation: X:572.15, Y:-271.11, Z:-5.90 [[-6.91799443e-01 -7.22075155e-01 4.58273769e-03 5.72148915e+02] [ 7.22059168e-01 -6.91814622e-01 -4.80491915e-03 -2.71109839e+02] [ 6.63991768e-03 -1.50326284e-05 9.99977955e-01 -5.89592060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters 0.05028469191759411 Centerline is valid? [True, True] Translation: X:572.11, Y:-271.07, Z:-5.90 [[-6.90841189e-01 -7.22993824e-01 4.28735022e-03 5.72108198e+02] [ 7.22979858e-01 -6.90854493e-01 -4.49385153e-03 -2.71069517e+02] [ 6.21096206e-03 -4.86987996e-06 9.99980712e-01 -5.89538549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters 0.05079047306431624 Centerline is valid? [True, True] Translation: X:572.07, Y:-271.03, Z:-5.90 [[-6.89389226e-01 -7.24379191e-01 4.15739992e-03 5.72067829e+02] [ 7.24366092e-01 -6.89401761e-01 -4.35625370e-03 -2.71029683e+02] [ 6.02169836e-03 8.32516954e-06 9.99981869e-01 -5.89530687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters 0.05017203762251324 Centerline is valid? [True, True] Translation: X:572.03, Y:-270.99, Z:-5.90 [[-6.88839471e-01 -7.24900338e-01 4.43664392e-03 5.72027388e+02] [ 7.24885440e-01 -6.88853758e-01 -4.64742043e-03 -2.70989704e+02] [ 6.42511548e-03 1.47319497e-05 9.99979359e-01 -5.89543656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters 0.05084287007435156 Centerline is valid? [True, True] Translation: X:571.99, Y:-270.95, Z:-5.89 [[-6.89241188e-01 -7.24515662e-01 4.86219247e-03 5.71988775e+02] [ 7.24497772e-01 -6.89258337e-01 -5.09144907e-03 -2.70950097e+02] [ 7.04014129e-03 1.34112073e-05 9.99975218e-01 -5.89458906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters 0.05098537098278478 Centerline is valid? [True, True] Translation: X:571.95, Y:-270.91, Z:-5.90 [[-6.91399473e-01 -7.22455689e-01 4.95439323e-03 5.71951358e+02] [ 7.22437073e-01 -6.91417224e-01 -5.18632397e-03 -2.70909359e+02] [ 7.17244207e-03 -6.58431156e-06 9.99974278e-01 -5.89765359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters 0.05097529695473539 Centerline is valid? [True, True] Translation: X:571.91, Y:-270.87, Z:-5.90 [[-6.93745645e-01 -7.20199006e-01 5.51104788e-03 5.71913355e+02] [ 7.20175914e-01 -6.93767534e-01 -5.76736118e-03 -2.70867140e+02] [ 7.97703388e-03 -3.21577629e-05 9.99968182e-01 -5.89571869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters 0.05061816161342863 Centerline is valid? [True, True] Translation: X:571.87, Y:-270.83, Z:-5.90 [[-6.95009140e-01 -7.18976094e-01 5.97251478e-03 5.71874187e+02] [ 7.18948943e-01 -6.95034800e-01 -6.24850888e-03 -2.70825460e+02] [ 8.64363413e-03 -4.88375885e-05 9.99962642e-01 -5.89651020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters 0.051178562419206534 Centerline is valid? [True, True] Translation: X:571.83, Y:-270.79, Z:-5.89 [[-6.94917302e-01 -7.19062416e-01 6.25975260e-03 5.71834607e+02] [ 7.19032614e-01 -6.94945494e-01 -6.54684816e-03 -2.70786827e+02] [ 9.05777931e-03 -4.85517902e-05 9.99958976e-01 -5.89474237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters 0.05034106132524781 Centerline is valid? [True, True] Translation: X:571.80, Y:-270.75, Z:-5.90 [[-6.93641405e-01 -7.20294062e-01 6.16965557e-03 5.71796176e+02] [ 7.20265178e-01 -6.93668842e-01 -6.45063478e-03 -2.70745323e+02] [ 8.92605176e-03 -3.06393079e-05 9.99960162e-01 -5.89736449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters 0.05074333430407037 Centerline is valid? [True, True] Translation: X:571.76, Y:-270.71, Z:-5.90 [[-6.91333638e-01 -7.22508458e-01 6.27121814e-03 5.71755115e+02] [ 7.22478724e-01 -6.91362081e-01 -6.55481705e-03 -2.70705394e+02] [ 9.07159319e-03 -7.43843897e-07 9.99958852e-01 -5.89581352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters 0.05091869620206481 Centerline is valid? [True, True] Translation: X:571.71, Y:-270.67, Z:-5.90 [[-6.88323185e-01 -7.25372539e-01 6.77291741e-03 5.71714397e+02] [ 7.25338015e-01 -6.88356505e-01 -7.07718037e-03 -2.70665617e+02] [ 9.79577405e-03 4.12671389e-05 9.99952019e-01 -5.89700643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters 0.05088789725690505 Centerline is valid? [True, True] Translation: X:571.67, Y:-270.63, Z:-5.90 [[-6.85712273e-01 -7.27847113e-01 6.10398716e-03 5.71674502e+02] [ 7.27819185e-01 -6.85739437e-01 -6.37640479e-03 -2.70626769e+02] [ 8.82679253e-03 7.02199350e-05 9.99961041e-01 -5.89691000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters 0.05052157511154083 Centerline is valid? [True, True] Translation: X:571.63, Y:-270.58, Z:-5.90 [[-6.83987208e-01 -7.29472295e-01 5.62769518e-03 5.71634272e+02] [ 7.29448622e-01 -6.84010354e-01 -5.87742813e-03 -2.70584684e+02] [ 8.13682275e-03 8.50288373e-05 9.99966892e-01 -5.89531584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters 0.05046774789600198 Centerline is valid? [True, True] Translation: X:571.59, Y:-270.54, Z:-5.89 [[-6.81622007e-01 -7.31684587e-01 5.39487496e-03 5.71594253e+02] [ 7.31662913e-01 -6.81643348e-01 -5.63279905e-03 -2.70542156e+02] [ 7.79881288e-03 1.07790136e-04 9.99969583e-01 -5.89435360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters 0.05031923129364562 Centerline is valid? [True, True] Translation: X:571.56, Y:-270.50, Z:-5.89 [[-6.79853643e-01 -7.33331953e-01 4.82398972e-03 5.71556310e+02] [ 7.33314673e-01 -6.79870748e-01 -5.03547860e-03 -2.70497195e+02] [ 6.97236686e-03 1.14113969e-04 9.99975686e-01 -5.89259054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters 0.05031434679799836 Centerline is valid? [True, True] Translation: X:571.51, Y:-270.46, Z:-5.89 [[-6.78446041e-01 -7.34636663e-01 4.46577068e-03 5.71514832e+02] [ 7.34621886e-01 -6.78460728e-01 -4.66102316e-03 -2.70457953e+02] [ 6.45400852e-03 1.18400166e-04 9.99979166e-01 -5.89402656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters 0.050987152839643037 Centerline is valid? [True, True] Translation: X:571.47, Y:-270.42, Z:-5.90 [[-6.76896579e-01 -7.36063112e-01 4.70277029e-03 5.71473866e+02] [ 7.36046770e-01 -6.76912901e-01 -4.90690009e-03 -2.70419913e+02] [ 6.79515403e-03 1.39994996e-04 9.99976903e-01 -5.89563220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters 0.04982368120017582 Centerline is valid? [True, True] Translation: X:571.44, Y:-270.37, Z:-5.89 [[-6.74802827e-01 -7.37979633e-01 5.21591635e-03 5.71440413e+02] [ 7.37959598e-01 -6.74822962e-01 -5.44080828e-03 -2.70372362e+02] [ 7.53502582e-03 1.77662726e-04 9.99971596e-01 -5.89363502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters 0.05083743679450799 Centerline is valid? [True, True] Translation: X:571.40, Y:-270.33, Z:-5.90 [[-6.73570921e-01 -7.39078270e-01 8.09474799e-03 5.71401123e+02] [ 7.39030113e-01 -6.73619494e-01 -8.44212400e-03 -2.70331136e+02] [ 1.16921704e-02 2.95893290e-04 9.99931600e-01 -5.89726636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters 0.05048505844652585 Centerline is valid? [True, True] Translation: X:571.37, Y:-270.29, Z:-5.90 [[-6.74171714e-01 -7.38522510e-01 8.77513294e-03 5.71366221e+02] [ 7.38465902e-01 -6.74228749e-01 -9.14909756e-03 -2.70285389e+02] [ 1.26732614e-02 3.12073682e-04 9.99919642e-01 -5.89660185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters 0.04988955475199962 Centerline is valid? [True, True] Translation: X:571.33, Y:-270.24, Z:-5.90 [[-6.78286252e-01 -7.34745317e-01 8.77949044e-03 5.71332160e+02] [ 7.34688358e-01 -6.78343026e-01 -9.15180719e-03 -2.70238567e+02] [ 1.26797536e-02 2.42644411e-04 9.99919579e-01 -5.89569666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters 0.04944444476438123 Centerline is valid? [True, True] Translation: X:571.30, Y:-270.19, Z:-5.90 [[-6.84390361e-01 -7.29071548e-01 8.03190513e-03 5.71298702e+02] [ 7.29023508e-01 -6.84437479e-01 -8.37029694e-03 -2.70191440e+02] [ 1.15998822e-02 1.26897106e-04 9.99932711e-01 -5.89524614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters 0.049739361364964624 Centerline is valid? [True, True] Translation: X:571.26, Y:-270.15, Z:-5.90 [[-6.86633200e-01 -7.26977056e-01 6.26163995e-03 5.71258995e+02] [ 7.26947789e-01 -6.86661747e-01 -6.52355738e-03 -2.70151383e+02] [ 9.04210517e-03 7.25942404e-05 9.99959117e-01 -5.89627820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters 0.04943127127589204 Centerline is valid? [True, True] Translation: X:571.22, Y:-270.11, Z:-5.89 [[-6.87733156e-01 -7.25946886e-01 4.92195758e-03 5.71220306e+02] [ 7.25928785e-01 -6.87750767e-01 -5.12658754e-03 -2.70107877e+02] [ 7.10671036e-03 4.72664632e-05 9.99974746e-01 -5.89249372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters 0.04910166933721268 Centerline is valid? [True, True] Translation: X:571.18, Y:-270.07, Z:-5.89 [[-6.87603442e-01 -7.26063966e-01 5.71169467e-03 5.71179813e+02] [ 7.26039608e-01 -6.87627162e-01 -5.94760013e-03 -2.70066182e+02] [ 8.24585454e-03 5.73262431e-05 9.99966001e-01 -5.89254254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters 0.0493773598565596 Centerline is valid? [True, True] Translation: X:571.14, Y:-270.03, Z:-5.90 [[-6.87378378e-01 -7.26269532e-01 6.59790262e-03 5.71139027e+02] [ 7.26237050e-01 -6.87410040e-01 -6.86910945e-03 -2.70025801e+02] [ 9.52428941e-03 6.99640195e-05 9.99954640e-01 -5.89535310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters 0.050018064135060276 Centerline is valid? [True, True] Translation: X:571.10, Y:-269.99, Z:-5.90 [[-6.87291121e-01 -7.26346787e-01 7.15960977e-03 5.71097901e+02] [ 7.26308567e-01 -6.87328407e-01 -7.45161305e-03 -2.69986698e+02] [ 1.03334584e-02 7.86584225e-05 9.99946605e-01 -5.89633766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters 0.050867851083068086 Centerline is valid? [True, True] Translation: X:571.06, Y:-269.95, Z:-5.90 [[-6.87657900e-01 -7.26001029e-01 7.00846178e-03 5.71057079e+02] [ 7.25964408e-01 -6.87693609e-01 -7.29230984e-03 -2.69946832e+02] [ 1.01138988e-02 7.32793369e-05 9.99948851e-01 -5.89538844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters 0.049727395014641046 Centerline is valid? [True, True] Translation: X:571.02, Y:-269.90, Z:-5.89 [[-6.88216576e-01 -7.25477065e-01 6.40101541e-03 5.71017799e+02] [ 7.25446512e-01 -6.88246340e-01 -6.65832206e-03 -2.69904913e+02] [ 9.23593537e-03 6.12266972e-05 9.99957346e-01 -5.89413031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters 0.04928195866435815 Centerline is valid? [True, True] Translation: X:570.98, Y:-269.86, Z:-5.89 [[-6.86887206e-01 -7.26753104e-01 3.98653259e-03 5.70977856e+02] [ 7.26741282e-01 -6.86898773e-01 -4.14556231e-03 -2.69863575e+02] [ 5.75114461e-03 4.96440892e-05 9.99983461e-01 -5.89209959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters 0.049917572328188164 Centerline is valid? [True, True] Translation: X:570.93, Y:-269.83, Z:-5.89 [[-6.83103849e-01 -7.30308066e-01 4.38864271e-03 5.70934671e+02] [ 7.30293819e-01 -6.83117941e-01 -4.56252402e-03 -2.69826900e+02] [ 6.33000866e-03 8.83209192e-05 9.99979961e-01 -5.89390446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters 0.050039864050020366 Centerline is valid? [True, True] Translation: X:570.90, Y:-269.78, Z:-5.89 [[-6.79783129e-01 -7.33395364e-01 5.11257654e-03 5.70895698e+02] [ 7.33376127e-01 -6.79802340e-01 -5.31365702e-03 -2.69784833e+02] [ 7.37255291e-03 1.37307185e-04 9.99972813e-01 -5.89348472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters 0.04950967122703986 Centerline is valid? [True, True] Translation: X:570.86, Y:-269.74, Z:-5.89 [[-6.74952447e-01 -7.37838476e-01 5.79453782e-03 5.70855075e+02] [ 7.37813938e-01 -6.74977287e-01 -6.02123579e-03 -2.69744377e+02] [ 8.35388086e-03 2.11242933e-04 9.99965083e-01 -5.89334671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters 0.04949209410956051 Centerline is valid? [True, True] Translation: X:570.81, Y:-269.71, Z:-5.89 [[-6.73445510e-01 -7.39210716e-01 6.21787507e-03 5.70813473e+02] [ 7.39182534e-01 -6.73474169e-01 -6.45948478e-03 -2.69705763e+02] [ 8.96249862e-03 2.46033628e-04 9.99959806e-01 -5.89422413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters 0.05077702006213563 Centerline is valid? [True, True] Translation: X:570.77, Y:-269.67, Z:-5.90 [[-6.70800336e-01 -7.41605437e-01 6.94869241e-03 5.70770693e+02] [ 7.41570390e-01 -6.70836253e-01 -7.21659469e-03 -2.69669481e+02] [ 1.00133006e-02 3.12050398e-04 9.99949817e-01 -5.89639007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters 0.05039069380049999 Centerline is valid? [True, True] Translation: X:570.73, Y:-269.63, Z:-5.90 [[-6.69083119e-01 -7.43145497e-01 7.90887087e-03 5.70732653e+02] [ 7.43100219e-01 -6.69129752e-01 -8.21222747e-03 -2.69626691e+02] [ 1.13949407e-02 3.82420895e-04 9.99935002e-01 -5.89583934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters 0.04998456878842953 Centerline is valid? [True, True] Translation: X:570.70, Y:-269.58, Z:-5.89 [[-6.69716243e-01 -7.42576889e-01 7.72771807e-03 5.70695270e+02] [ 7.42533645e-01 -6.69760726e-01 -8.02221148e-03 -2.69581825e+02] [ 1.11328309e-02 3.65485332e-04 9.99937961e-01 -5.89377434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters 0.04923789915472909 Centerline is valid? [True, True] Translation: X:570.66, Y:-269.54, Z:-5.89 [[-6.73455467e-01 -7.39193084e-01 7.16372588e-03 5.70656747e+02] [ 7.39155747e-01 -6.73493506e-01 -7.43501223e-03 -2.69538112e+02] [ 1.03206325e-02 2.87959520e-04 9.99946699e-01 -5.89320130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters 0.0495137338987811 Centerline is valid? [True, True] Translation: X:570.62, Y:-269.49, Z:-5.89 [[-6.79323023e-01 -7.33814165e-01 6.08297491e-03 5.70621997e+02] [ 7.33787040e-01 -6.79350234e-01 -6.31179768e-03 -2.69490771e+02] [ 8.76415697e-03 1.75858679e-04 9.99961579e-01 -5.89118881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters 0.049457336600535876 Centerline is valid? [True, True] Translation: X:570.59, Y:-269.44, Z:-5.89 [[-6.85780342e-01 -7.27779422e-01 6.51418242e-03 5.70585875e+02] [ 7.27748057e-01 -6.85811272e-01 -6.75756290e-03 -2.69444604e+02] [ 9.38551496e-03 1.06479799e-04 9.99955949e-01 -5.89081832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters 0.04969815293202962 Centerline is valid? [True, True] Translation: X:570.54, Y:-269.41, Z:-5.89 [[-6.89081753e-01 -7.24655425e-01 6.39165504e-03 5.70543694e+02] [ 7.24625109e-01 -6.89111393e-01 -6.62869587e-03 -2.69405844e+02] [ 9.20808273e-03 6.38403628e-05 9.99957603e-01 -5.89440664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters 0.05046960069634069 Centerline is valid? [True, True] Translation: X:570.51, Y:-269.36, Z:-5.89 [[-6.92382243e-01 -7.21497059e-01 6.98747017e-03 5.70506200e+02] [ 7.21460687e-01 -6.92417500e-01 -7.24456153e-03 -2.69361987e+02] [ 1.00651765e-02 2.51792707e-05 9.99949345e-01 -5.89134458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters 0.0502096258746068 Centerline is valid? [True, True] Translation: X:570.47, Y:-269.32, Z:-5.89 [[-6.96934508e-01 -7.17074677e-01 9.28434628e-03 5.70467051e+02] [ 7.17010102e-01 -6.96996345e-01 -9.62333674e-03 -2.69318671e+02] [ 1.33718065e-02 -4.98653772e-05 9.99910592e-01 -5.89181783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters 0.05091760072770523 Centerline is valid? [True, True] Translation: X:570.43, Y:-269.28, Z:-5.89 [[-7.06242427e-01 -7.07918004e-01 8.58685991e-03 5.70429210e+02] [ 7.07862115e-01 -7.06294597e-01 -8.89763384e-03 -2.69276904e+02] [ 1.23636479e-02 -2.05573697e-04 9.99923546e-01 -5.89313064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters 0.05133499230920179 Centerline is valid? [True, True] Translation: X:570.39, Y:-269.24, Z:-5.89 [[-7.10307609e-01 -7.03859567e-01 6.69406930e-03 5.70387967e+02] [ 7.03825436e-01 -7.10339119e-01 -6.93474782e-03 -2.69237770e+02] [ 9.63614788e-03 -2.14347900e-04 9.99953548e-01 -5.88872058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters 0.05165858237212342 Centerline is valid? [True, True] Translation: X:570.35, Y:-269.20, Z:-5.89 [[-7.10278184e-01 -7.03892246e-01 6.37237434e-03 5.70349622e+02] [ 7.03861338e-01 -7.10306740e-01 -6.59942484e-03 -2.69196904e+02] [ 9.17162442e-03 -2.02159556e-04 9.99957919e-01 -5.88894623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters 0.051066303822097224 Centerline is valid? [True, True] Translation: X:570.30, Y:-269.16, Z:-5.88 [[-7.09724103e-01 -7.04454250e-01 5.99226230e-03 5.70300816e+02] [ 7.04426953e-01 -7.09749376e-01 -6.20408604e-03 -2.69163132e+02] [ 8.62349920e-03 -1.82078330e-04 9.99962800e-01 -5.88472473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters 0.05162788747530587 Centerline is valid? [True, True] Translation: X:570.26, Y:-269.12, Z:-5.89 [[-7.07154603e-01 -7.07034874e-01 5.83565772e-03 5.70263011e+02] [ 7.07009088e-01 -7.07178666e-01 -6.04013140e-03 -2.69121404e+02] [ 8.39743619e-03 -1.45443678e-04 9.99964730e-01 -5.88767018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters 0.05146378989347773 Centerline is valid? [True, True] Translation: X:570.21, Y:-269.09, Z:-5.89 [[-7.01068991e-01 -7.13061471e-01 6.75336732e-03 5.70214349e+02] [ 7.13027235e-01 -7.01101513e-01 -6.98795848e-03 -2.69088953e+02] [ 9.71764000e-03 -8.37061799e-05 9.99952779e-01 -5.88769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters 0.051200870956298196 Centerline is valid? [True, True] Translation: X:570.17, Y:-269.05, Z:-5.89 [[-6.95652052e-01 -7.18352000e-01 6.21506822e-03 5.70167823e+02] [ 7.18323228e-01 -6.95679815e-01 -6.42929621e-03 -2.69053389e+02] [ 8.94219529e-03 -8.12523694e-06 9.99960018e-01 -5.88691523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters 0.05111383311100824 Centerline is valid? [True, True] Translation: X:570.12, Y:-269.02, Z:-5.89 [[-6.92421873e-01 -7.21469988e-01 5.74508301e-03 5.70123213e+02] [ 7.21445526e-01 -6.92445706e-01 -5.94119829e-03 -2.69017873e+02] [ 8.26455432e-03 3.09487804e-05 9.99965848e-01 -5.88804668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters 0.051318273206349456 Centerline is valid? [True, True] Translation: X:570.08, Y:-268.98, Z:-5.89 [[-6.86067909e-01 -7.27514627e-01 5.76989737e-03 5.70075738e+02] [ 7.27490180e-01 -6.86092163e-01 -5.96507648e-03 -2.68984238e+02] [ 8.29836176e-03 1.05096127e-04 9.99965562e-01 -5.88723391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters 0.052365280840777524 Centerline is valid? [True, True] Translation: X:570.03, Y:-268.95, Z:-5.89 [[-6.82523829e-01 -7.30841241e-01 5.68356556e-03 5.70028679e+02] [ 7.30817650e-01 -6.82547478e-01 -5.87400444e-03 -2.68951412e+02] [ 8.17226803e-03 1.44502023e-04 9.99966596e-01 -5.88832426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters 0.05198207153846434 Centerline is valid? [True, True] Translation: X:569.99, Y:-268.91, Z:-5.89 [[-6.79846600e-01 -7.33331105e-01 5.83876561e-03 5.69987055e+02] [ 7.33306312e-01 -6.79871648e-01 -6.03279787e-03 -2.68911341e+02] [ 8.39364953e-03 1.80226558e-04 9.99964756e-01 -5.88657922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters 0.051953569975569026 Centerline is valid? [True, True] Translation: X:569.94, Y:-268.87, Z:-5.89 [[-6.77803844e-01 -7.35191819e-01 8.65674982e-03 5.69944161e+02] [ 7.35137493e-01 -6.77859055e-01 -8.94246457e-03 -2.68873901e+02] [ 1.24424830e-02 3.02664507e-04 9.99922544e-01 -5.88935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters 0.0521856783701187 Centerline is valid? [True, True] Translation: X:569.90, Y:-268.83, Z:-5.89 [[-6.78404077e-01 -7.34627192e-01 9.52874203e-03 5.69902737e+02] [ 7.34561354e-01 -6.78470916e-01 -9.84039461e-03 -2.68834151e+02] [ 1.36939958e-02 3.23681830e-04 9.99906180e-01 -5.89052743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters 0.0521856783701187 Centerline is valid? [True, True] Translation: X:569.86, Y:-268.79, Z:-5.89 [[-6.78510332e-01 -7.34529037e-01 9.53016545e-03 5.69863294e+02] [ 7.34463208e-01 -6.78577180e-01 -9.83901607e-03 -2.68793404e+02] [ 1.36939958e-02 3.23681836e-04 9.99906180e-01 -5.89052834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters 0.05201180794550443 Centerline is valid? [True, True] Translation: X:569.83, Y:-268.75, Z:-5.89 [[-6.80334267e-01 -7.32841763e-01 9.39335601e-03 5.69825012e+02] [ 7.32777683e-01 -6.80399050e-01 -9.69537223e-03 -2.68748787e+02] [ 1.34964042e-02 2.87147690e-04 9.99908878e-01 -5.88857009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters 0.05176727083040264 Centerline is valid? [True, True] Translation: X:569.79, Y:-268.70, Z:-5.89 [[-6.84676626e-01 -7.28810125e-01 7.32932093e-03 5.69788096e+02] [ 7.28770903e-01 -6.84715835e-01 -7.56286401e-03 -2.68704134e+02] [ 1.05303940e-02 1.63279619e-04 9.99944541e-01 -5.88669307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters 0.05152465541165192 Centerline is valid? [True, True] Translation: X:569.75, Y:-268.66, Z:-5.89 [[-6.90589687e-01 -7.23217956e-01 6.45540271e-03 5.69751580e+02] [ 7.23187300e-01 -6.90619854e-01 -6.65928465e-03 -2.68659305e+02] [ 9.27434351e-03 6.96319565e-05 9.99956990e-01 -5.88614418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters 0.05119013480056926 Centerline is valid? [True, True] Translation: X:569.72, Y:-268.61, Z:-5.89 [[-6.96304678e-01 -7.17714031e-01 6.80922756e-03 5.69715634e+02] [ 7.17679675e-01 -6.96337971e-01 -7.02242619e-03 -2.68614531e+02] [ 9.78161751e-03 -2.90398279e-06 9.99952159e-01 -5.88681470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters 0.051499542989964675 Centerline is valid? [True, True] Translation: X:569.68, Y:-268.57, Z:-5.89 [[-6.98634352e-01 -7.15444416e-01 7.02352312e-03 5.69679763e+02] [ 7.15407773e-01 -6.98669655e-01 -7.24095668e-03 -2.68572239e+02] [ 1.00876245e-02 -3.40980437e-05 9.99949118e-01 -5.88747063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters 0.051717386709239706 Centerline is valid? [True, True] Translation: X:569.64, Y:-268.53, Z:-5.89 [[-6.99644018e-01 -7.14457577e-01 6.97275341e-03 5.69643170e+02] [ 7.14421433e-01 -6.99678761e-01 -7.18667637e-03 -2.68531297e+02] [ 1.00132629e-02 -4.66306542e-05 9.99949865e-01 -5.88853691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters 0.05146979976290115 Centerline is valid? [True, True] Translation: X:569.60, Y:-268.49, Z:-5.89 [[-6.99552841e-01 -7.14547773e-01 6.87771691e-03 5.69602919e+02] [ 7.14512632e-01 -6.99586648e-01 -7.08663250e-03 -2.68490408e+02] [ 9.87529639e-03 -4.32582845e-05 9.99951237e-01 -5.88637158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters 0.05142395220049627 Centerline is valid? [True, True] Translation: X:569.56, Y:-268.45, Z:-5.89 [[-6.98261312e-01 -7.15812009e-01 6.65638564e-03 5.69562679e+02] [ 7.15779169e-01 -6.98293038e-01 -6.85673243e-03 -2.68448341e+02] [ 9.55623917e-03 -2.32887979e-05 9.99954338e-01 -5.88505333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters 0.051634274586558504 Centerline is valid? [True, True] Translation: X:569.52, Y:-268.41, Z:-5.89 [[-6.96441782e-01 -7.17582648e-01 6.63226896e-03 5.69523809e+02] [ 7.17550146e-01 -6.96473361e-01 -6.82972246e-03 -2.68407953e+02] [ 9.52008898e-03 2.48148106e-06 9.99954683e-01 -5.88595877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters 0.05182421533178465 Centerline is valid? [True, True] Translation: X:569.48, Y:-268.37, Z:-5.89 [[-6.95074150e-01 -7.18913031e-01 5.99832684e-03 5.69483610e+02] [ 7.18886510e-01 -6.95100031e-01 -6.17512768e-03 -2.68366614e+02] [ 8.60881693e-03 1.99446286e-05 9.99962943e-01 -5.88519490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters 0.05176773479095374 Centerline is valid? [True, True] Translation: X:569.44, Y:-268.32, Z:-5.88 [[-6.93782179e-01 -7.20163640e-01 5.53348363e-03 5.69444095e+02] [ 7.20141123e-01 -6.93804245e-01 -5.69496723e-03 -2.68324242e+02] [ 7.94046276e-03 3.38223430e-05 9.99968473e-01 -5.88317483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters 0.0513954219347103 Centerline is valid? [True, True] Translation: X:569.41, Y:-268.28, Z:-5.88 [[-6.93475181e-01 -7.20463480e-01 4.95461539e-03 5.69406248e+02] [ 7.20445446e-01 -6.93492879e-01 -5.09770469e-03 -2.68281108e+02] [ 7.10870055e-03 3.43984131e-05 9.99974732e-01 -5.88407672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters 0.05131848370612844 Centerline is valid? [True, True] Translation: X:569.37, Y:-268.24, Z:-5.89 [[-6.94263490e-01 -7.19705117e-01 4.76975710e-03 5.69368360e+02] [ 7.19688394e-01 -6.94279874e-01 -4.90635671e-03 -2.68240034e+02] [ 6.84267640e-03 2.64344923e-05 9.99976588e-01 -5.88611574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters 0.05073244580483821 Centerline is valid? [True, True] Translation: X:569.33, Y:-268.20, Z:-5.89 [[-6.96121175e-01 -7.17912404e-01 4.13409153e-03 5.69334089e+02] [ 7.17899818e-01 -6.96133450e-01 -4.25095025e-03 -2.68197391e+02] [ 5.92968932e-03 8.68707364e-06 9.99982419e-01 -5.88661767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters 0.050986675399795234 Centerline is valid? [True, True] Translation: X:569.30, Y:-268.15, Z:-5.89 [[-6.96810422e-01 -7.17246705e-01 3.52129059e-03 5.69296112e+02] [ 7.17237571e-01 -6.96819319e-01 -3.61974161e-03 -2.68154055e+02] [ 5.04995105e-03 3.32823216e-06 9.99987249e-01 -5.88526575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters 0.05025701845818562 Centerline is valid? [True, True] Translation: X:569.26, Y:-268.11, Z:-5.89 [[-6.95289661e-01 -7.18719657e-01 3.78715255e-03 5.69258294e+02] [ 7.18709120e-01 -6.95299974e-01 -3.89186267e-03 -2.68111083e+02] [ 5.43036528e-03 1.58892031e-05 9.99985255e-01 -5.88558153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters 0.05053161840921885 Centerline is valid? [True, True] Translation: X:569.22, Y:-268.07, Z:-5.89 [[-6.92961013e-01 -7.20959109e-01 4.79568821e-03 5.69218353e+02] [ 7.20942275e-01 -6.92977606e-01 -4.92681738e-03 -2.68070055e+02] [ 6.87533841e-03 4.33220099e-05 9.99976364e-01 -5.88692406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters 0.05061909418867975 Centerline is valid? [True, True] Translation: X:569.18, Y:-268.03, Z:-5.89 [[-6.89780176e-01 -7.23994837e-01 5.89781167e-03 5.69177369e+02] [ 7.23969503e-01 -6.89805384e-01 -6.05736954e-03 -2.68029758e+02] [ 8.45384652e-03 9.15823545e-05 9.99964261e-01 -5.88838337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters 0.051097508860509955 Centerline is valid? [True, True] Translation: X:569.13, Y:-267.99, Z:-5.89 [[-6.84646931e-01 -7.28832991e-01 7.81349445e-03 5.69133862e+02] [ 7.28788867e-01 -6.84691486e-01 -8.02231355e-03 -2.67993470e+02] [ 1.11967599e-02 2.01935410e-04 9.99937294e-01 -5.89291654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters 0.051139898936363365 Centerline is valid? [True, True] Translation: X:569.10, Y:-267.95, Z:-5.89 [[-6.80268110e-01 -7.32921687e-01 7.81662302e-03 5.69096798e+02] [ 7.32877823e-01 -6.80312963e-01 -8.02298556e-03 -2.67951353e+02] [ 1.11979701e-02 2.70848446e-04 9.99937264e-01 -5.89228830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters 0.05038543767547694 Centerline is valid? [True, True] Translation: X:569.06, Y:-267.91, Z:-5.89 [[-6.77472119e-01 -7.35511763e-01 7.34675831e-03 5.69061298e+02] [ 7.35473188e-01 -6.77511889e-01 -7.53864788e-03 -2.67905764e+02] [ 1.05222803e-02 2.96120005e-04 9.99944595e-01 -5.88899836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters 0.04964099791094546 Centerline is valid? [True, True] Translation: X:569.02, Y:-267.86, Z:-5.89 [[-6.76176860e-01 -7.36712866e-01 6.24552982e-03 5.69024810e+02] [ 7.36685053e-01 -6.76205650e-01 -6.40714206e-03 -2.67859469e+02] [ 8.94348654e-03 2.68627265e-04 9.99959970e-01 -5.88683827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters 0.049718220663576285 Centerline is valid? [True, True] Translation: X:568.99, Y:-267.81, Z:-5.89 [[-6.74545840e-01 -7.38215913e-01 5.01739828e-03 5.68987424e+02] [ 7.38198015e-01 -6.74564460e-01 -5.14589982e-03 -2.67814796e+02] [ 7.18334370e-03 2.32688127e-04 9.99974172e-01 -5.88600590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters 0.04984508760349843 Centerline is valid? [True, True] Translation: X:568.95, Y:-267.77, Z:-5.89 [[-6.73723243e-01 -7.38963486e-01 5.47339351e-03 5.68948422e+02] [ 7.38942218e-01 -6.73745425e-01 -5.61256342e-03 -2.67772998e+02] [ 7.83515326e-03 2.63207112e-04 9.99969270e-01 -5.88642701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters 0.0496396334404941 Centerline is valid? [True, True] Translation: X:568.91, Y:-267.73, Z:-5.89 [[-6.73279523e-01 -7.39362276e-01 6.17319177e-03 5.68909652e+02] [ 7.39335254e-01 -6.73307755e-01 -6.32850107e-03 -2.67730227e+02] [ 8.83551285e-03 3.03208120e-04 9.99960920e-01 -5.88744402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters 0.05019363273987627 Centerline is valid? [True, True] Translation: X:568.87, Y:-267.69, Z:-5.89 [[-6.72411936e-01 -7.40137977e-01 7.61335726e-03 5.68870642e+02] [ 7.40096946e-01 -6.72454923e-01 -7.80295914e-03 -2.67687495e+02] [ 1.08949060e-02 3.87819597e-04 9.99940574e-01 -5.88894560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters 0.04935072737730085 Centerline is valid? [True, True] Translation: X:568.83, Y:-267.64, Z:-5.89 [[-6.72195342e-01 -7.40328126e-01 8.22723053e-03 5.68834183e+02] [ 7.40280249e-01 -6.72245555e-01 -8.43014876e-03 -2.67641915e+02] [ 1.17717954e-02 4.23749533e-04 9.99930620e-01 -5.88877612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters 0.049592401009210633 Centerline is valid? [True, True] Translation: X:568.80, Y:-267.60, Z:-5.89 [[-6.73912526e-01 -7.38758140e-01 8.84973668e-03 5.68795962e+02] [ 7.38702636e-01 -6.73970494e-01 -9.06580345e-03 -2.67598067e+02] [ 1.26618975e-02 4.27765311e-04 9.99919743e-01 -5.88904776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters 0.048937071870670215 Centerline is valid? [True, True] Translation: X:568.76, Y:-267.55, Z:-5.89 [[-6.77680319e-01 -7.35308297e-01 8.43170434e-03 5.68759586e+02] [ 7.35257670e-01 -6.77732682e-01 -8.63539837e-03 -2.67552597e+02] [ 1.20641217e-02 3.47435761e-04 9.99927165e-01 -5.88854503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters 0.048897745781263345 Centerline is valid? [True, True] Translation: X:568.72, Y:-267.51, Z:-5.89 [[-6.80283230e-01 -7.32907005e-01 7.87714147e-03 5.68721459e+02] [ 7.32862678e-01 -6.80328774e-01 -8.06563305e-03 -2.67507761e+02] [ 1.12704050e-02 2.85948088e-04 9.99936446e-01 -5.88730373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters 0.049138658499323654 Centerline is valid? [True, True] Translation: X:568.68, Y:-267.47, Z:-5.89 [[-6.83036707e-01 -7.30352371e-01 6.80235704e-03 5.68680585e+02] [ 7.30319207e-01 -6.83070545e-01 -6.96324293e-03 -2.67467660e+02] [ 9.73211071e-03 2.11741480e-04 9.99952619e-01 -5.88765160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters 0.049356816921286656 Centerline is valid? [True, True] Translation: X:568.64, Y:-267.43, Z:-5.89 [[-6.84748705e-01 -7.28755930e-01 5.83146699e-03 5.68640796e+02] [ 7.28731511e-01 -6.84773516e-01 -5.96794009e-03 -2.67425023e+02] [ 8.34240589e-03 1.63034502e-04 9.99965188e-01 -5.88598146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters 0.04958990191762303 Centerline is valid? [True, True] Translation: X:568.60, Y:-267.38, Z:-5.89 [[-6.85999896e-01 -7.27576146e-01 6.09057898e-03 5.68599778e+02] [ 7.27549471e-01 -6.86026915e-01 -6.23214124e-03 -2.67384821e+02] [ 8.71265841e-03 1.55949274e-04 9.99962032e-01 -5.88651405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters 0.049858004450334226 Centerline is valid? [True, True] Translation: X:568.56, Y:-267.34, Z:-5.89 [[-6.87357358e-01 -7.26294256e-01 6.04287744e-03 5.68560218e+02] [ 7.26267961e-01 -6.87383906e-01 -6.18178381e-03 -2.67341938e+02] [ 8.64357077e-03 1.39653692e-04 9.99962634e-01 -5.88591624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters 0.04897954449321955 Centerline is valid? [True, True] Translation: X:568.52, Y:-267.30, Z:-5.89 [[-6.89130235e-01 -7.24609500e-01 6.37122478e-03 5.68519212e+02] [ 7.24580207e-01 -6.89159674e-01 -6.51669062e-03 -2.67302275e+02] [ 9.11284712e-03 1.25614837e-04 9.99958469e-01 -5.88630991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters 0.049746727045497596 Centerline is valid? [True, True] Translation: X:568.48, Y:-267.26, Z:-5.89 [[-6.91947891e-01 -7.21924061e-01 5.81089674e-03 5.68478407e+02] [ 7.21899611e-01 -6.91972285e-01 -5.94210514e-03 -2.67260233e+02] [ 8.31072817e-03 8.32569753e-05 9.99965462e-01 -5.88568064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters 0.04983202348792228 Centerline is valid? [True, True] Translation: X:568.44, Y:-267.22, Z:-5.89 [[-6.94257302e-01 -7.19705662e-01 5.52806366e-03 5.68437892e+02] [ 7.19683474e-01 -6.94279308e-01 -5.65146124e-03 -2.67220017e+02] [ 7.90540886e-03 5.48878310e-05 9.99968750e-01 -5.88630583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters 0.049869926764719553 Centerline is valid? [True, True] Translation: X:568.40, Y:-267.18, Z:-5.89 [[-6.96164915e-01 -7.17863965e-01 5.07325352e-03 5.68397945e+02] [ 7.17845239e-01 -6.96183400e-01 -5.18517652e-03 -2.67177070e+02] [ 7.25416627e-03 3.20729152e-05 9.99973688e-01 -5.88520380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters 0.04965995595033318 Centerline is valid? [True, True] Translation: X:568.36, Y:-267.14, Z:-5.89 [[-6.97568239e-01 -7.16500749e-01 5.02278632e-03 5.68358234e+02] [ 7.16482370e-01 -6.97586321e-01 -5.13197929e-03 -2.67137893e+02] [ 7.18089404e-03 1.88320947e-05 9.99974217e-01 -5.88568584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters 0.049286369781251144 Centerline is valid? [True, True] Translation: X:568.32, Y:-267.10, Z:-5.89 [[-6.98681500e-01 -7.15415550e-01 4.97523153e-03 5.68316275e+02] [ 7.15397499e-01 -6.98699214e-01 -5.08203532e-03 -2.67097213e+02] [ 7.11195745e-03 8.54413615e-06 9.99974710e-01 -5.88539464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters 0.05002769571080332 Centerline is valid? [True, True] Translation: X:568.28, Y:-267.06, Z:-5.89 [[-6.99663305e-01 -7.14454685e-01 5.07578801e-03 5.68276633e+02] [ 7.14435884e-01 -6.99681716e-01 -5.18311130e-03 -2.67057006e+02] [ 7.25453422e-03 -1.07687625e-07 9.99973686e-01 -5.88577123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters 0.05052356080741957 Centerline is valid? [True, True] Translation: X:568.24, Y:-267.02, Z:-5.89 [[-7.01481097e-01 -7.12670236e-01 5.04034764e-03 5.68235910e+02] [ 7.12651661e-01 -7.01499205e-01 -5.14548895e-03 -2.67016741e+02] [ 7.20283668e-03 -1.74511095e-05 9.99974059e-01 -5.88679086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters 0.050059417510823566 Centerline is valid? [True, True] Translation: X:568.19, Y:-266.98, Z:-5.88 [[-7.02937746e-01 -7.11230903e-01 5.39702763e-03 5.68193365e+02] [ 7.11209576e-01 -7.02958464e-01 -5.50797437e-03 -2.66978289e+02] [ 7.71132783e-03 -3.33453546e-05 9.99970267e-01 -5.88308251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters 0.05004937147681322 Centerline is valid? [True, True] Translation: X:568.15, Y:-266.94, Z:-5.88 [[-7.03228796e-01 -7.10943554e-01 5.34075689e-03 5.68151579e+02] [ 7.10922666e-01 -7.03249075e-01 -5.44998594e-03 -2.66938783e+02] [ 7.63051472e-03 -3.57219234e-05 9.99970887e-01 -5.88396456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters 0.050630253059470165 Centerline is valid? [True, True] Translation: X:568.11, Y:-266.90, Z:-5.89 [[-7.02195475e-01 -7.11965116e-01 5.21430724e-03 5.68108895e+02] [ 7.11945235e-01 -7.02214834e-01 -5.32056881e-03 -2.66899965e+02] [ 7.44962328e-03 -2.37781456e-05 9.99972251e-01 -5.88541790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters 0.049938591355964464 Centerline is valid? [True, True] Translation: X:568.07, Y:-266.86, Z:-5.89 [[-7.00511521e-01 -7.13627883e-01 4.34206065e-03 5.68067519e+02] [ 7.13614138e-01 -7.00524978e-01 -4.42918959e-03 -2.66862123e+02] [ 6.20251513e-03 -4.14246144e-06 9.99980764e-01 -5.88612060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters 0.05047279456028187 Centerline is valid? [True, True] Translation: X:568.02, Y:-266.83, Z:-5.89 [[-6.96648163e-01 -7.17398948e-01 4.48172122e-03 5.68022709e+02] [ 7.17384391e-01 -6.96662578e-01 -4.57032379e-03 -2.66826106e+02] [ 6.40099294e-03 3.12091716e-05 9.99979513e-01 -5.88572670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters 0.050465541285901715 Centerline is valid? [True, True] Translation: X:567.98, Y:-266.79, Z:-5.89 [[-6.92655496e-01 -7.21242458e-01 6.13847686e-03 5.67977554e+02] [ 7.21215312e-01 -6.92682690e-01 -6.25817214e-03 -2.66788972e+02] [ 8.76567612e-03 9.24061820e-05 9.99961576e-01 -5.88691048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters 0.0510395780242738 Centerline is valid? [True, True] Translation: X:567.94, Y:-266.75, Z:-5.89 [[-6.90628767e-01 -7.23174223e-01 7.13791924e-03 5.67935522e+02] [ 7.23137642e-01 -6.90665639e-01 -7.27504385e-03 -2.66749534e+02] [ 1.01910397e-02 1.37343530e-04 9.99948061e-01 -5.88719880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters 0.05091768042165099 Centerline is valid? [True, True] Translation: X:567.89, Y:-266.71, Z:-5.89 [[-6.89736947e-01 -7.24020931e-01 7.52563548e-03 5.67892589e+02] [ 7.23980341e-01 -6.89777983e-01 -7.66807418e-03 -2.66711569e+02] [ 1.07428639e-02 1.59458073e-04 9.99942281e-01 -5.88790492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters 0.051218064324931034 Centerline is valid? [True, True] Translation: X:567.85, Y:-266.67, Z:-5.89 [[-6.90441387e-01 -7.23355961e-01 6.84426030e-03 5.67851564e+02] [ 7.23322374e-01 -6.90475296e-01 -6.97199385e-03 -2.66670165e+02] [ 9.76902597e-03 1.36853502e-04 9.99952273e-01 -5.88739021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters 0.05052437829914814 Centerline is valid? [True, True] Translation: X:567.81, Y:-266.63, Z:-5.89 [[-6.92708281e-01 -7.21191557e-01 6.16250854e-03 5.67812054e+02] [ 7.21164256e-01 -6.92735685e-01 -6.27585823e-03 -2.66627290e+02] [ 8.79508554e-03 9.68419201e-05 9.99961318e-01 -5.88535636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters 0.05064852146120502 Centerline is valid? [True, True] Translation: X:567.77, Y:-266.59, Z:-5.89 [[-6.95159184e-01 -7.18832188e-01 5.83056515e-03 5.67771892e+02] [ 7.18807679e-01 -6.95183632e-01 -5.93625060e-03 -2.66585108e+02] [ 8.32048146e-03 6.44158793e-05 9.99965382e-01 -5.88514781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters 0.05154529985476824 Centerline is valid? [True, True] Translation: X:567.73, Y:-266.55, Z:-5.89 [[-6.96233057e-01 -7.17790138e-01 6.07019629e-03 5.67730228e+02] [ 7.17763549e-01 -6.96259516e-01 -6.17848130e-03 -2.66545871e+02] [ 8.66128488e-03 5.53027036e-05 9.99962489e-01 -5.88795735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters 0.05078038965869489 Centerline is valid? [True, True] Translation: X:567.69, Y:-266.50, Z:-5.89 [[-6.96008586e-01 -7.17998592e-01 7.07594798e-03 5.67690122e+02] [ 7.17962492e-01 -6.96044551e-01 -7.20025201e-03 -2.66504509e+02] [ 1.00949458e-02 6.88280240e-05 9.99949042e-01 -5.88681178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters 0.05108358124508012 Centerline is valid? [True, True] Translation: X:567.65, Y:-266.47, Z:-5.89 [[-6.95404976e-01 -7.18557256e-01 9.34825196e-03 5.67647765e+02] [ 7.18494331e-01 -6.95467799e-01 -9.50981092e-03 -2.66465944e+02] [ 1.33347519e-02 1.03496211e-04 9.99911083e-01 -5.89214635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters 0.051696218110889314 Centerline is valid? [True, True] Translation: X:567.61, Y:-266.42, Z:-5.89 [[-6.96355275e-01 -7.17629494e-01 9.86105996e-03 5.67609267e+02] [ 7.17559429e-01 -6.96425087e-01 -1.00282288e-02 -2.66424180e+02] [ 1.40640423e-02 9.26865255e-05 9.99901092e-01 -5.88940329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters 0.051335584189615785 Centerline is valid? [True, True] Translation: X:567.57, Y:-266.38, Z:-5.89 [[-7.00612864e-01 -7.13476797e-01 9.61644796e-03 5.67571770e+02] [ 7.13409808e-01 -7.00678857e-01 -9.77677044e-03 -2.66381111e+02] [ 1.37135406e-02 1.07371527e-05 9.99905965e-01 -5.88797471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters 0.05145727352763041 Centerline is valid? [True, True] Translation: X:567.54, Y:-266.34, Z:-5.89 [[-7.05418167e-01 -7.08740941e-01 8.45508990e-03 5.67535192e+02] [ 7.08688847e-01 -7.05468833e-01 -8.59322889e-03 -2.66338144e+02] [ 1.20551755e-02 -6.97918565e-05 9.99927331e-01 -5.88678691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters 0.0516475459758855 Centerline is valid? [True, True] Translation: X:567.50, Y:-266.29, Z:-5.88 [[-7.13461685e-01 -7.00656579e-01 7.26510034e-03 5.67497246e+02] [ 7.00617713e-01 -7.13498652e-01 -7.38192411e-03 -2.66293673e+02] [ 1.03558330e-02 -1.76662026e-04 9.99946361e-01 -5.88285147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters 0.051875509278820175 Centerline is valid? [True, True] Translation: X:567.46, Y:-266.25, Z:-5.88 [[-7.19162728e-01 -6.94813458e-01 6.26326925e-03 5.67458487e+02] [ 6.94784367e-01 -7.19189967e-01 -6.36197366e-03 -2.66251815e+02] [ 8.92486533e-03 -2.23672771e-04 9.99960148e-01 -5.88120605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters 0.05232131092988143 Centerline is valid? [True, True] Translation: X:567.42, Y:-266.21, Z:-5.88 [[-7.20171909e-01 -6.93766097e-01 6.40497882e-03 5.67418222e+02] [ 6.93735649e-01 -7.20200350e-01 -6.50423017e-03 -2.66209883e+02] [ 9.12528237e-03 -2.40801725e-04 9.99958335e-01 -5.88131349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters 0.052515550123193186 Centerline is valid? [True, True] Translation: X:567.37, Y:-266.18, Z:-5.88 [[-7.18412556e-01 -6.95581322e-01 7.07278853e-03 5.67371416e+02] [ 6.95544303e-01 -7.18447331e-01 -7.18015334e-03 -2.66176591e+02] [ 1.00758066e-02 -2.38874540e-04 9.99949209e-01 -5.87966259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters 0.053031126114303634 Centerline is valid? [True, True] Translation: X:567.32, Y:-266.14, Z:-5.88 [[-7.15997640e-01 -6.98055648e-01 8.10508068e-03 5.67324156e+02] [ 6.98007213e-01 -7.16043475e-01 -8.22630186e-03 -2.66140284e+02] [ 1.15460066e-02 -2.32607934e-04 9.99933316e-01 -5.87887923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters 0.053244491383741925 Centerline is valid? [True, True] Translation: X:567.28, Y:-266.10, Z:-5.88 [[-7.15008960e-01 -6.99060456e-01 8.75595257e-03 5.67283515e+02] [ 6.99004033e-01 -7.15062532e-01 -8.88464120e-03 -2.66098778e+02] [ 1.24719549e-02 -2.32151903e-04 9.99922195e-01 -5.88110986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters 0.053628938196509615 Centerline is valid? [True, True] Translation: X:567.24, Y:-266.06, Z:-5.88 [[-7.14263774e-01 -6.99833685e-01 7.75078244e-03 5.67240426e+02] [ 6.99789541e-01 -7.14305801e-01 -7.86266598e-03 -2.66061067e+02] [ 1.10389874e-02 -1.92100988e-04 9.99939050e-01 -5.88081458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters 0.05291322989177096 Centerline is valid? [True, True] Translation: X:567.19, Y:-266.03, Z:-5.88 [[-7.13225878e-01 -7.00899866e-01 6.94448620e-03 5.67193413e+02] [ 7.00864497e-01 -7.13259668e-01 -7.04289898e-03 -2.66025861e+02] [ 9.88958887e-03 -1.56033976e-04 9.99951085e-01 -5.87886735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters 0.053021286461093185 Centerline is valid? [True, True] Translation: X:567.15, Y:-265.99, Z:-5.88 [[-7.12632488e-01 -7.01506102e-01 6.64275158e-03 5.67148101e+02] [ 7.01473787e-01 -7.12663434e-01 -6.73469273e-03 -2.65992175e+02] [ 9.45847419e-03 -1.39644734e-04 9.99955258e-01 -5.87596202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters 0.05348309267454272 Centerline is valid? [True, True] Translation: X:567.10, Y:-265.96, Z:-5.88 [[-7.10741846e-01 -7.03418382e-01 6.97188571e-03 5.67100594e+02] [ 7.03382892e-01 -7.10776030e-01 -7.06694695e-03 -2.65955880e+02] [ 9.92646964e-03 -1.18869787e-04 9.99950724e-01 -5.87555431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters 0.05410047785135447 Centerline is valid? [True, True] Translation: X:567.06, Y:-265.92, Z:-5.88 [[-7.09836900e-01 -7.04328101e-01 7.31454762e-03 5.67058369e+02] [ 7.04289090e-01 -7.09874576e-01 -7.41370537e-03 -2.65915784e+02] [ 1.04140924e-02 -1.10965545e-04 9.99945766e-01 -5.87606304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters 0.053882058090151834 Centerline is valid? [True, True] Translation: X:567.01, Y:-265.88, Z:-5.88 [[-7.05336009e-01 -7.08825777e-01 8.19345402e-03 5.67012865e+02] [ 7.08777158e-01 -7.05383595e-01 -8.30209260e-03 -2.65881682e+02] [ 1.16642653e-02 -4.84317999e-05 9.99931969e-01 -5.88160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters 0.05415764007897688 Centerline is valid? [True, True] Translation: X:566.97, Y:-265.85, Z:-5.88 [[-7.00548240e-01 -7.13550992e-01 8.78326472e-03 5.66966464e+02] [ 7.13495526e-01 -7.00603298e-01 -8.89686045e-03 -2.65848244e+02] [ 1.25019478e-02 3.41401507e-05 9.99921847e-01 -5.87724309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters 0.05388495401431875 Centerline is valid? [True, True] Translation: X:566.92, Y:-265.81, Z:-5.88 [[-6.98168080e-01 -7.15881445e-01 8.66539943e-03 5.66921965e+02] [ 7.15827659e-01 -6.98221850e-01 -8.77564134e-03 -2.65809829e+02] [ 1.23326900e-02 7.60599230e-05 9.99923947e-01 -5.87704330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters 0.05357676345188328 Centerline is valid? [True, True] Translation: X:566.88, Y:-265.77, Z:-5.88 [[-6.96204253e-01 -7.17793152e-01 8.52228100e-03 5.66877390e+02] [ 7.17741297e-01 -6.96256403e-01 -8.62857630e-03 -2.65772720e+02] [ 1.21272257e-02 1.09541499e-04 9.99926457e-01 -5.87912807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters 0.0541995186905735 Centerline is valid? [True, True] Translation: X:566.83, Y:-265.74, Z:-5.88 [[-6.93523405e-01 -7.20387996e-01 8.14989390e-03 5.66831706e+02] [ 7.20340776e-01 -6.93571274e-01 -8.24945984e-03 -2.65735809e+02] [ 1.15953441e-02 1.49507419e-04 9.99932761e-01 -5.87898886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters 0.05434701808932689 Centerline is valid? [True, True] Translation: X:566.79, Y:-265.70, Z:-5.88 [[-6.91002098e-01 -7.22804890e-01 8.31815747e-03 5.66788222e+02] [ 7.22755896e-01 -6.91052135e-01 -8.41791536e-03 -2.65699524e+02] [ 1.18327909e-02 1.95200176e-04 9.99929971e-01 -5.87889609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters 0.054856019684477196 Centerline is valid? [True, True] Translation: X:566.75, Y:-265.66, Z:-5.88 [[-6.89862074e-01 -7.23892238e-01 8.38731509e-03 5.66745504e+02] [ 7.23842534e-01 -6.89913024e-01 -8.48563394e-03 -2.65660243e+02] [ 1.19292025e-02 2.17178379e-04 9.99928821e-01 -5.87876035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters 0.054741334687563065 Centerline is valid? [True, True] Translation: X:566.70, Y:-265.62, Z:-5.88 [[-6.88937640e-01 -7.24760193e-01 9.35895117e-03 5.66704257e+02] [ 7.24698425e-01 -6.89001157e-01 -9.46566365e-03 -2.65622749e+02] [ 1.33086644e-02 2.61165200e-04 9.99911402e-01 -5.87902996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters 0.05468921891437456 Centerline is valid? [True, True] Translation: X:566.67, Y:-265.58, Z:-5.88 [[-6.89237167e-01 -7.24474209e-01 9.44710944e-03 5.66665126e+02] [ 7.24411281e-01 -6.89301859e-01 -9.55208117e-03 -2.65581139e+02] [ 1.34321465e-02 2.59943283e-04 9.99909751e-01 -5.87757748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters 0.05426340353490562 Centerline is valid? [True, True] Translation: X:566.63, Y:-265.54, Z:-5.88 [[-6.90139421e-01 -7.23617756e-01 9.21539234e-03 5.66625456e+02] [ 7.23557820e-01 -6.90200903e-01 -9.31631447e-03 -2.65538089e+02] [ 1.31019227e-02 2.38313323e-04 9.99914138e-01 -5.87632216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters 0.05422794623925372 Centerline is valid? [True, True] Translation: X:566.59, Y:-265.50, Z:-5.88 [[-6.92491199e-01 -7.21367916e-01 9.17978275e-03 5.66585965e+02] [ 7.21308270e-01 -6.92552013e-01 -9.27836692e-03 -2.65496969e+02] [ 1.30505932e-02 1.96265779e-04 9.99914818e-01 -5.87673669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters 0.054518925132823984 Centerline is valid? [True, True] Translation: X:566.55, Y:-265.46, Z:-5.88 [[-6.94539484e-01 -7.19400591e-01 8.81453942e-03 5.66546291e+02] [ 7.19345466e-01 -6.94595398e-01 -8.90698537e-03 -2.65455995e+02] [ 1.25302290e-02 1.54445942e-04 9.99921482e-01 -5.87845692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters 0.054468155300848226 Centerline is valid? [True, True] Translation: X:566.51, Y:-265.41, Z:-5.88 [[-6.98384328e-01 -7.15685420e-01 7.32862669e-03 5.66510868e+02] [ 7.15647134e-01 -6.98422776e-01 -7.40310456e-03 -2.65413518e+02] [ 1.04167738e-02 7.44984846e-05 9.99945741e-01 -5.87801286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters 0.054996310900398755 Centerline is valid? [True, True] Translation: X:566.48, Y:-265.37, Z:-5.87 [[-7.03190016e-01 -7.10973314e-01 6.38339632e-03 5.66475379e+02] [ 7.10944088e-01 -7.03218989e-01 -6.44649339e-03 -2.65366935e+02] [ 9.07221028e-03 5.12808286e-06 9.99958847e-01 -5.87198010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters 0.05457021096291627 Centerline is valid? [True, True] Translation: X:566.44, Y:-265.32, Z:-5.87 [[-7.09381012e-01 -7.04793904e-01 6.64317462e-03 5.66439712e+02] [ 7.04761985e-01 -7.09412113e-01 -6.70804002e-03 -2.65321912e+02] [ 9.44053426e-03 -7.66992869e-05 9.99955434e-01 -5.87273014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters 0.054557490397903634 Centerline is valid? [True, True] Translation: X:566.40, Y:-265.28, Z:-5.87 [[-7.13688491e-01 -7.00429610e-01 6.86292190e-03 5.66402731e+02] [ 7.00395356e-01 -7.13721474e-01 -6.92836654e-03 -2.65279376e+02] [ 9.75104780e-03 -1.37936830e-04 9.99952448e-01 -5.87244015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters 0.05514072917883247 Centerline is valid? [True, True] Translation: X:566.37, Y:-265.24, Z:-5.87 [[-7.18470454e-01 -6.95525572e-01 6.66223369e-03 5.66366484e+02] [ 6.95493098e-01 -7.18501315e-01 -6.72387837e-03 -2.65235723e+02] [ 9.46345302e-03 -1.97370397e-04 9.99955201e-01 -5.87313688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters 0.05502899984495006 Centerline is valid? [True, True] Translation: X:566.33, Y:-265.19, Z:-5.87 [[-7.20111958e-01 -6.93829562e-01 6.26953195e-03 5.66325621e+02] [ 6.93800749e-01 -7.20139220e-01 -6.32643733e-03 -2.65194853e+02] [ 8.90440508e-03 -2.05937208e-04 9.99960334e-01 -5.87253690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters 0.05535153897377708 Centerline is valid? [True, True] Translation: X:566.28, Y:-265.16, Z:-5.87 [[-7.19897278e-01 -6.94059347e-01 5.43430795e-03 5.66282545e+02] [ 6.94037718e-01 -7.19917768e-01 -5.48209452e-03 -2.65156563e+02] [ 7.71715379e-03 -1.74930239e-04 9.99970207e-01 -5.87175372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters 0.05485505402643239 Centerline is valid? [True, True] Translation: X:566.24, Y:-265.12, Z:-5.87 [[-7.18066316e-01 -6.95958814e-01 4.70054026e-03 5.66239816e+02] [ 6.95942681e-01 -7.18081688e-01 -4.74063992e-03 -2.65117718e+02] [ 6.67466202e-03 -1.32787252e-04 9.99977715e-01 -5.87133985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters 0.0559268916984242 Centerline is valid? [True, True] Translation: X:566.20, Y:-265.08, Z:-5.87 [[-7.15765035e-01 -6.98325047e-01 4.74809090e-03 5.66197555e+02] [ 6.98308644e-01 -7.15780774e-01 -4.78754946e-03 -2.65079756e+02] [ 6.74185788e-03 -1.11127581e-04 9.99977267e-01 -5.87136400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters 0.055269459421929644 Centerline is valid? [True, True] Translation: X:566.16, Y:-265.04, Z:-5.87 [[-7.13423634e-01 -7.00718782e-01 4.46181083e-03 5.66155046e+02] [ 7.00704352e-01 -7.13437581e-01 -4.49769282e-03 -2.65040617e+02] [ 6.33484136e-03 -8.23500902e-05 9.99979931e-01 -5.87188019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters 0.054420355822894555 Centerline is valid? [True, True] Translation: X:566.11, Y:-265.00, Z:-5.87 [[-7.09247053e-01 -7.04948128e-01 4.09315781e-03 5.66110809e+02] [ 7.04936061e-01 -7.09258863e-01 -4.12485635e-03 -2.65004447e+02] [ 5.81091822e-03 -4.01276622e-05 9.99983116e-01 -5.87229053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters 0.05415559953205866 Centerline is valid? [True, True] Translation: X:566.07, Y:-264.97, Z:-5.87 [[-7.06340825e-01 -7.07861304e-01 3.87458879e-03 5.66068886e+02] [ 7.07850542e-01 -7.06351452e-01 -3.90337936e-03 -2.64966173e+02] [ 5.49987262e-03 -1.44864229e-05 9.99984875e-01 -5.87408029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters 0.05443860933398292 Centerline is valid? [True, True] Translation: X:566.03, Y:-264.93, Z:-5.87 [[-7.01639214e-01 -7.12517942e-01 4.53815374e-03 5.66025112e+02] [ 7.12503284e-01 -7.01653890e-01 -4.57052671e-03 -2.64928474e+02] [ 6.44079551e-03 2.65886689e-05 9.99979258e-01 -5.87338175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters 0.054762264660078414 Centerline is valid? [True, True] Translation: X:565.98, Y:-264.89, Z:-5.88 [[-6.95986604e-01 -7.18035461e-01 5.26541842e-03 5.65979845e+02] [ 7.18015894e-01 -6.96006515e-01 -5.30169164e-03 -2.64891709e+02] [ 7.47156813e-03 9.07477498e-05 9.99972083e-01 -5.87621550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters 0.05434771997409033 Centerline is valid? [True, True] Translation: X:565.94, Y:-264.85, Z:-5.87 [[-6.90556098e-01 -7.23261600e-01 4.99328185e-03 5.65938631e+02] [ 7.23244148e-01 -6.90574137e-01 -5.02634516e-03 -2.64851790e+02] [ 7.08359374e-03 1.40388579e-04 9.99974901e-01 -5.87459167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters 0.054762183989572735 Centerline is valid? [True, True] Translation: X:565.90, Y:-264.81, Z:-5.88 [[-6.87982393e-01 -7.25711838e-01 4.74926418e-03 5.65897706e+02] [ 7.25696118e-01 -6.87998767e-01 -4.77930608e-03 -2.64812474e+02] [ 6.73588690e-03 1.58444146e-04 9.99977301e-01 -5.87500954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters 0.054502918977186635 Centerline is valid? [True, True] Translation: X:565.86, Y:-264.77, Z:-5.88 [[-6.85537740e-01 -7.28019952e-01 4.99562856e-03 5.65859149e+02] [ 7.28002630e-01 -6.85555915e-01 -5.02578101e-03 -2.64770221e+02] [ 7.08365156e-03 1.91468181e-04 9.99974892e-01 -5.87544860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters 0.05458155037521989 Centerline is valid? [True, True] Translation: X:565.82, Y:-264.73, Z:-5.88 [[-6.85816837e-01 -7.27747524e-01 6.22952580e-03 5.65820471e+02] [ 7.27720594e-01 -6.85845088e-01 -6.26518592e-03 -2.64728803e+02] [ 8.83196321e-03 2.36584217e-04 9.99960969e-01 -5.87691070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters 0.053387941912691216 Centerline is valid? [True, True] Translation: X:565.79, Y:-264.68, Z:-5.87 [[-6.87248317e-01 -7.26392063e-01 6.65741196e-03 5.65791476e+02] [ 7.26361260e-01 -6.87280521e-01 -6.69370665e-03 -2.64676319e+02] [ 9.43776495e-03 2.35447502e-04 9.99955436e-01 -5.87248276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters 0.054211919967192324 Centerline is valid? [True, True] Translation: X:565.75, Y:-264.64, Z:-5.88 [[-6.88501675e-01 -7.25203956e-01 6.68319268e-03 5.65746698e+02] [ 7.25172873e-01 -6.88534075e-01 -6.71796950e-03 -2.64639599e+02] [ 9.47350396e-03 2.21136785e-04 9.99955101e-01 -5.87580031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters 0.05397602251357436 Centerline is valid? [True, True] Translation: X:565.71, Y:-264.59, Z:-5.87 [[-6.93809164e-01 -7.20135043e-01 5.86213362e-03 5.65713566e+02] [ 7.20110955e-01 -6.93833916e-01 -5.89151044e-03 -2.64591503e+02] [ 8.31003025e-03 1.33802709e-04 9.99965462e-01 -5.87479790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters 0.05332518030526192 Centerline is valid? [True, True] Translation: X:565.68, Y:-264.54, Z:-5.87 [[-7.01573263e-01 -7.12581517e-01 4.74733959e-03 5.65682315e+02] [ 7.12565555e-01 -7.01589324e-01 -4.76971823e-03 -2.64541367e+02] [ 6.72949583e-03 3.64838871e-05 9.99977356e-01 -5.87398073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters 0.0534410666346552 Centerline is valid? [True, True] Translation: X:565.65, Y:-264.49, Z:-5.87 [[-7.10771062e-01 -7.03411036e-01 4.17268576e-03 5.65654315e+02] [ 7.03398552e-01 -7.10783309e-01 -4.19095171e-03 -2.64491508e+02] [ 5.91383708e-03 -4.37460820e-05 9.99982512e-01 -5.87397198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters 0.05399683326281963 Centerline is valid? [True, True] Translation: X:565.62, Y:-264.45, Z:-5.87 [[-7.15470000e-01 -6.98631249e-01 4.13000145e-03 5.65617750e+02] [ 6.98618946e-01 -7.15481916e-01 -4.14683689e-03 -2.64446934e+02] [ 5.85205119e-03 -8.16401328e-05 9.99982873e-01 -5.87283430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters 0.053806650629470945 Centerline is valid? [True, True] Translation: X:565.58, Y:-264.40, Z:-5.87 [[-7.18414667e-01 -6.95595765e-01 5.18628364e-03 5.65581539e+02] [ 6.95576297e-01 -7.18433375e-01 -5.20588002e-03 -2.64401541e+02] [ 7.34718735e-03 -1.32524589e-04 9.99973000e-01 -5.87279211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters 0.053388009598432914 Centerline is valid? [True, True] Translation: X:565.54, Y:-264.36, Z:-5.87 [[-7.17809720e-01 -6.96214348e-01 5.89818243e-03 5.65537768e+02] [ 6.96189203e-01 -7.17833937e-01 -5.91883037e-03 -2.64363659e+02] [ 8.35469014e-03 -1.42343049e-04 9.99965089e-01 -5.87034905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters 0.05371382827351855 Centerline is valid? [True, True] Translation: X:565.50, Y:-264.32, Z:-5.87 [[-7.14599201e-01 -6.99507879e-01 6.05880021e-03 5.65497951e+02] [ 6.99481467e-01 -7.14624878e-01 -6.07966012e-03 -2.64320706e+02] [ 8.58253952e-03 -1.06501803e-04 9.99963164e-01 -5.87121496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters 0.05279780929377884 Centerline is valid? [True, True] Translation: X:565.46, Y:-264.28, Z:-5.87 [[-7.11171362e-01 -7.02994835e-01 5.79279378e-03 5.65459468e+02] [ 7.02970817e-01 -7.11194951e-01 -5.81132344e-03 -2.64277844e+02] [ 8.20513605e-03 -6.06818252e-05 9.99966335e-01 -5.87421306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters 0.05329492263826479 Centerline is valid? [True, True] Translation: X:565.42, Y:-264.24, Z:-5.87 [[-7.08068700e-01 -7.06126504e-01 4.90680646e-03 5.65417123e+02] [ 7.06109354e-01 -7.08085701e-01 -4.92140606e-03 -2.64237205e+02] [ 6.94957474e-03 -1.99516523e-05 9.99975851e-01 -5.87241829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters 0.05315603749751405 Centerline is valid? [True, True] Translation: X:565.38, Y:-264.20, Z:-5.87 [[-7.05273438e-01 -7.08922916e-01 4.20423382e-03 5.65376705e+02] [ 7.08910383e-01 -7.05285969e-01 -4.21546188e-03 -2.64198523e+02] [ 5.95362466e-03 7.37171778e-06 9.99982277e-01 -5.87277158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters 0.05219448272746085 Centerline is valid? [True, True] Translation: X:565.34, Y:-264.16, Z:-5.87 [[-6.99270717e-01 -7.14851588e-01 2.76963871e-03 5.65335467e+02] [ 7.14846198e-01 -6.99276201e-01 -2.77615330e-03 -2.64159984e+02] [ 3.92128003e-03 3.85829938e-05 9.99992311e-01 -5.87106117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters 0.05250960650410133 Centerline is valid? [True, True] Translation: X:565.29, Y:-264.12, Z:-5.87 [[-6.92496648e-01 -7.21413162e-01 3.38266507e-03 5.65289376e+02] [ 7.21405204e-01 -6.92504904e-01 -3.38969900e-03 -2.64124805e+02] [ 4.78788562e-03 9.29169958e-05 9.99988534e-01 -5.87406948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters 0.052902536164459564 Centerline is valid? [True, True] Translation: X:565.25, Y:-264.08, Z:-5.88 [[-6.87117345e-01 -7.26529683e-01 4.93706041e-03 5.65249154e+02] [ 7.26512869e-01 -6.87135056e-01 -4.94628822e-03 -2.64083361e+02] [ 6.98605249e-03 1.88157495e-04 9.99975580e-01 -5.87501358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters 0.05284221211704657 Centerline is valid? [True, True] Translation: X:565.21, Y:-264.04, Z:-5.88 [[-6.85115305e-01 -7.28413533e-01 5.54471673e-03 5.65210233e+02] [ 7.28392400e-01 -6.85137702e-01 -5.55357383e-03 -2.64040253e+02] [ 7.84419281e-03 2.33891096e-04 9.99969207e-01 -5.87503309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters 0.05304057469496564 Centerline is valid? [True, True] Translation: X:565.17, Y:-264.00, Z:-5.88 [[-6.84272533e-01 -7.29204530e-01 5.64396914e-03 5.65169141e+02] [ 7.29182665e-01 -6.84295764e-01 -5.65234587e-03 -2.64000649e+02] [ 7.98386039e-03 2.47739434e-04 9.99968098e-01 -5.87595991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters 0.05214108065884378 Centerline is valid? [True, True] Translation: X:565.13, Y:-263.95, Z:-5.87 [[-6.85059395e-01 -7.28465001e-01 5.68924218e-03 5.65131934e+02] [ 7.28442765e-01 -6.85082976e-01 -5.69693316e-03 -2.63954587e+02] [ 8.04761938e-03 2.41549719e-04 9.99967588e-01 -5.87485273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters 0.05265933522041904 Centerline is valid? [True, True] Translation: X:565.10, Y:-263.91, Z:-5.88 [[-6.87636519e-01 -7.26023887e-01 6.73299965e-03 5.65096980e+02] [ 7.25992644e-01 -6.87669434e-01 -6.74023706e-03 -2.63908049e+02] [ 9.52365117e-03 2.53275066e-04 9.99954617e-01 -5.87507167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters 0.0523086818835607 Centerline is valid? [True, True] Translation: X:565.06, Y:-263.87, Z:-5.88 [[-6.89404804e-01 -7.24347084e-01 6.50517656e-03 5.65058862e+02] [ 7.24317861e-01 -6.89435458e-01 -6.51031835e-03 -2.63865662e+02] [ 9.20062949e-03 2.23570825e-04 9.99957648e-01 -5.87519917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters 0.05176061414510532 Centerline is valid? [True, True] Translation: X:565.02, Y:-263.82, Z:-5.87 [[-6.91241031e-01 -7.22597385e-01 6.23351041e-03 5.65023327e+02] [ 7.22570496e-01 -6.91269110e-01 -6.23668156e-03 -2.63819797e+02] [ 8.81564298e-03 1.93100515e-04 9.99961123e-01 -5.87493951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters 0.05163109857509119 Centerline is valid? [True, True] Translation: X:564.99, Y:-263.78, Z:-5.88 [[-6.93743435e-01 -7.20193095e-01 6.47703499e-03 5.64988897e+02] [ 7.20163976e-01 -6.93773649e-01 -6.47851285e-03 -2.63775116e+02] [ 9.15937642e-03 1.70101513e-04 9.99958038e-01 -5.87541473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters 0.05144637765722567 Centerline is valid? [True, True] Translation: X:564.96, Y:-263.73, Z:-5.87 [[-6.97166449e-01 -7.16882472e-01 6.20196621e-03 5.64956035e+02] [ 7.16855652e-01 -6.97194024e-01 -6.20218124e-03 -2.63726077e+02] [ 8.77020880e-03 1.21961864e-04 9.99961534e-01 -5.87411313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters 0.051405460928722196 Centerline is valid? [True, True] Translation: X:564.92, Y:-263.68, Z:-5.87 [[-6.99431549e-01 -7.14677809e-01 5.58007817e-03 5.64919482e+02] [ 7.14656038e-01 -6.99453803e-01 -5.57902765e-03 -2.63678508e+02] [ 7.89021415e-03 8.56885966e-05 9.99968868e-01 -5.87246555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters 0.05126921805289878 Centerline is valid? [True, True] Translation: X:564.81, Y:-263.67, Z:-5.87 [[-6.52708910e-01 -7.57590626e-01 5.24619469e-03 5.64812855e+02] [ 7.57566826e-01 -6.52729991e-01 -6.00525731e-03 -2.63673709e+02] [ 7.97387525e-03 5.46581038e-05 9.99968207e-01 -5.87317883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters 0.0508646898884382 Centerline is valid? [True, True] Translation: X:564.78, Y:-263.63, Z:-5.87 [[-6.54102772e-01 -7.56383021e-01 5.85559196e-03 5.64779240e+02] [ 7.56353354e-01 -6.54128980e-01 -6.69939027e-03 -2.63627939e+02] [ 8.89761745e-03 4.68068636e-05 9.99960414e-01 -5.87492647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters 0.05071139307784385 Centerline is valid? [True, True] Translation: X:564.75, Y:-263.58, Z:-5.88 [[-6.54419135e-01 -7.56107199e-01 6.12369587e-03 5.64747063e+02] [ 7.56074760e-01 -6.54447784e-01 -7.00396154e-03 -2.63581073e+02] [ 9.30338493e-03 4.64454283e-05 9.99956722e-01 -5.87568434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters 0.051161802863163 Centerline is valid? [True, True] Translation: X:564.71, Y:-263.54, Z:-5.88 [[-6.53124886e-01 -7.57230433e-01 5.47314161e-03 5.64711514e+02] [ 7.57204577e-01 -6.53147815e-01 -6.25780280e-03 -2.63539177e+02] [ 8.31336921e-03 5.71611365e-05 9.99965442e-01 -5.87755307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters 0.05057388207916228 Centerline is valid? [True, True] Translation: X:564.68, Y:-263.49, Z:-5.87 [[-6.51832964e-01 -7.58343960e-01 5.31268887e-03 5.64676757e+02] [ 7.58319649e-01 -6.51854610e-01 -6.07265190e-03 -2.63493132e+02] [ 8.06825963e-03 7.03616669e-05 9.99967449e-01 -5.87379263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters 0.050318928146808314 Centerline is valid? [True, True] Translation: X:564.64, Y:-263.45, Z:-5.87 [[-6.49040768e-01 -7.60732846e-01 5.62306892e-03 5.64638987e+02] [ 7.60705713e-01 -6.49065117e-01 -6.42590482e-03 -2.63447953e+02] [ 8.53813475e-03 1.06826458e-04 9.99963544e-01 -5.87243076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters 0.05077414602361685 Centerline is valid? [True, True] Translation: X:564.60, Y:-263.41, Z:-5.87 [[-6.46873708e-01 -7.62578747e-01 5.29726633e-03 5.64599381e+02] [ 7.62554738e-01 -6.46895385e-01 -6.05241999e-03 -2.63406794e+02] [ 8.04222400e-03 1.24304184e-04 9.99967653e-01 -5.87211379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters 0.05100275484100153 Centerline is valid? [True, True] Translation: X:564.56, Y:-263.36, Z:-5.87 [[-6.47126679e-01 -7.62364124e-01 5.29189828e-03 5.64560694e+02] [ 7.62340169e-01 -6.47148304e-01 -6.04475268e-03 -2.63363481e+02] [ 8.03294558e-03 1.22505909e-04 9.99967728e-01 -5.87096455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters 0.05062327516992762 Centerline is valid? [True, True] Translation: X:564.52, Y:-263.32, Z:-5.87 [[-6.50007206e-01 -7.59911836e-01 4.96323066e-03 5.64522528e+02] [ 7.59890704e-01 -6.50026149e-01 -5.66779309e-03 -2.63320525e+02] [ 7.53325276e-03 8.74064938e-05 9.99971621e-01 -5.87094868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters 0.050941318977392895 Centerline is valid? [True, True] Translation: X:564.48, Y:-263.28, Z:-5.87 [[-6.52365290e-01 -7.57892599e-01 4.28217079e-03 5.64484987e+02] [ 7.57876834e-01 -6.52379341e-01 -4.88876078e-03 -2.63275992e+02] [ 6.49875537e-03 5.61002023e-05 9.99978881e-01 -5.87063753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters 0.051000135295522685 Centerline is valid? [True, True] Translation: X:564.45, Y:-263.23, Z:-5.87 [[-6.54951452e-01 -7.55658597e-01 4.32213551e-03 5.64447442e+02] [ 7.55642495e-01 -6.54965712e-01 -4.93312594e-03 -2.63233049e+02] [ 6.55860959e-03 3.50312602e-05 9.99978491e-01 -5.87114321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters 0.05121645043490604 Centerline is valid? [True, True] Translation: X:564.41, Y:-263.19, Z:-5.87 [[-6.58632066e-01 -7.52445300e-01 5.46546442e-03 5.64409443e+02] [ 7.52419458e-01 -6.58654743e-01 -6.23616501e-03 -2.63191421e+02] [ 8.29222712e-03 4.98353459e-06 9.99965619e-01 -5.87386912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters 0.05043882764966251 Centerline is valid? [True, True] Translation: X:564.37, Y:-263.15, Z:-5.87 [[-6.58577948e-01 -7.52490216e-01 5.79312463e-03 5.64370872e+02] [ 7.52461202e-01 -6.58603427e-01 -6.60801386e-03 -2.63148666e+02] [ 8.78783751e-03 7.20930338e-06 9.99961386e-01 -5.87257301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters 0.05058258715759314 Centerline is valid? [True, True] Translation: X:564.33, Y:-263.11, Z:-5.87 [[-6.57149647e-01 -7.53737141e-01 5.88749346e-03 5.64331053e+02] [ 7.53707240e-01 -6.57176020e-01 -6.71384313e-03 -2.63106316e+02] [ 8.92959245e-03 2.54467980e-05 9.99960130e-01 -5.87232265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters 0.0508418247578354 Centerline is valid? [True, True] Translation: X:564.29, Y:-263.07, Z:-5.87 [[-6.52867237e-01 -7.57442692e-01 6.70360379e-03 5.64289147e+02] [ 7.57404141e-01 -6.52901647e-01 -7.64243571e-03 -2.63065708e+02] [ 1.01655010e-02 8.78413784e-05 9.99948326e-01 -5.87269119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters 0.05086155625226563 Centerline is valid? [True, True] Translation: X:564.25, Y:-263.02, Z:-5.87 [[-6.50151499e-01 -7.59770811e-01 7.16547136e-03 5.64249032e+02] [ 7.59726930e-01 -6.50190970e-01 -8.16664590e-03 -2.63024304e+02] [ 1.08637040e-02 1.34244488e-04 9.99940979e-01 -5.87309143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters 0.051003947690421984 Centerline is valid? [True, True] Translation: X:564.21, Y:-262.98, Z:-5.87 [[-6.47376712e-01 -7.62140750e-01 6.69858884e-03 5.64209141e+02] [ 7.62102548e-01 -6.47411346e-01 -7.63248434e-03 -2.62981984e+02] [ 1.01537698e-02 1.63919006e-04 9.99948436e-01 -5.87179663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters 0.051258165051078525 Centerline is valid? [True, True] Translation: X:564.17, Y:-262.94, Z:-5.87 [[-6.45832084e-01 -7.63457619e-01 5.77792699e-03 5.64170544e+02] [ 7.63429264e-01 -6.45857909e-01 -6.58182899e-03 -2.62939902e+02] [ 8.75666733e-03 1.60282215e-04 9.99961647e-01 -5.87014500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters 0.05144465210154665 Centerline is valid? [True, True] Translation: X:564.13, Y:-262.90, Z:-5.87 [[-6.45516493e-01 -7.63730757e-01 4.87730697e-03 5.64129570e+02] [ 7.63710572e-01 -6.45534903e-01 -5.55434822e-03 -2.62900048e+02] [ 7.39049846e-03 1.39427519e-04 9.99972680e-01 -5.87095904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters 0.05126006970762181 Centerline is valid? [True, True] Translation: X:564.10, Y:-262.85, Z:-5.87 [[-6.47272796e-01 -7.62243931e-01 4.70293865e-03 5.64096043e+02] [ 7.62225133e-01 -6.47289870e-01 -5.35444241e-03 -2.62851691e+02] [ 7.12555577e-03 1.18913124e-04 9.99974606e-01 -5.86787382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters 0.05110664613076661 Centerline is valid? [True, True] Translation: X:564.06, Y:-262.81, Z:-5.87 [[-6.49072805e-01 -7.60710753e-01 4.86252768e-03 5.64056629e+02] [ 7.60690625e-01 -6.49091010e-01 -5.53471733e-03 -2.62809528e+02] [ 7.36654199e-03 1.06444716e-04 9.99972861e-01 -5.86916999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters 0.051916383627752846 Centerline is valid? [True, True] Translation: X:564.02, Y:-262.76, Z:-5.87 [[-6.52051504e-01 -7.58153518e-01 5.66384303e-03 5.64020952e+02] [ 7.58126126e-01 -6.52076096e-01 -6.44532266e-03 -2.62762694e+02] [ 8.57980070e-03 9.12250360e-05 9.99963189e-01 -5.86794437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters 0.05105167060785558 Centerline is valid? [True, True] Translation: X:563.98, Y:-262.72, Z:-5.87 [[-6.55376021e-01 -7.55272549e-01 6.75629054e-03 5.63983821e+02] [ 7.55233431e-01 -6.55410843e-01 -7.68711047e-03 -2.62718710e+02] [ 1.02340096e-02 6.46286102e-05 9.99947629e-01 -5.87003612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters 0.051364724117382125 Centerline is valid? [True, True] Translation: X:563.95, Y:-262.68, Z:-5.87 [[-6.57495590e-01 -7.53420413e-01 7.56502538e-03 5.63947890e+02] [ 7.53371278e-01 -6.57539108e-01 -8.60452130e-03 -2.62675547e+02] [ 1.14571220e-02 4.18380350e-05 9.99934364e-01 -5.87226427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters 0.05156006284573991 Centerline is valid? [True, True] Translation: X:563.91, Y:-262.63, Z:-5.87 [[-6.59273529e-01 -7.51858096e-01 8.23507752e-03 5.63912198e+02] [ 7.51799786e-01 -6.59324960e-01 -9.36369768e-03 -2.62631414e+02] [ 1.24697641e-02 1.78914988e-05 9.99922249e-01 -5.87287640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters 0.05170666629185984 Centerline is valid? [True, True] Translation: X:563.88, Y:-262.59, Z:-5.87 [[-6.61218799e-01 -7.50151462e-01 7.90472911e-03 5.63878111e+02] [ 7.50097651e-01 -6.61266046e-01 -8.98495012e-03 -2.62588262e+02] [ 1.19672024e-02 -1.16991793e-05 9.99928390e-01 -5.87458363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters 0.052080319964600885 Centerline is valid? [True, True] Translation: X:563.84, Y:-262.54, Z:-5.87 [[-6.62188613e-01 -7.49312889e-01 6.03616373e-03 5.63840979e+02] [ 7.49281494e-01 -6.62216123e-01 -6.85919858e-03 -2.62543636e+02] [ 9.13693085e-03 -1.92974131e-05 9.99958257e-01 -5.87007073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters 0.05170103564023741 Centerline is valid? [True, True] Translation: X:563.80, Y:-262.50, Z:-5.87 [[-6.61902941e-01 -7.49569838e-01 5.43637729e-03 5.63804021e+02] [ 7.49544397e-01 -6.61925266e-01 -6.17573440e-03 -2.62500497e+02] [ 8.22761972e-03 -1.29306254e-05 9.99966152e-01 -5.86892824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters 0.05094532118614405 Centerline is valid? [True, True] Translation: X:563.77, Y:-262.46, Z:-5.87 [[-6.59464630e-01 -7.51717882e-01 5.16019008e-03 5.63767160e+02] [ 7.51695040e-01 -6.59484818e-01 -5.86009885e-03 -2.62458497e+02] [ 7.80820811e-03 1.43613726e-05 9.99969515e-01 -5.86995015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters 0.050898508486943446 Centerline is valid? [True, True] Translation: X:563.73, Y:-262.42, Z:-5.87 [[-6.54201665e-01 -7.56301702e-01 5.28367558e-03 5.63727435e+02] [ 7.56277913e-01 -6.54222998e-01 -5.99893661e-03 -2.62415964e+02] [ 7.99370804e-03 7.14128273e-05 9.99968047e-01 -5.86935931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters 0.0514382990129242 Centerline is valid? [True, True] Translation: X:563.69, Y:-262.37, Z:-5.87 [[-6.49157532e-01 -7.60631741e-01 5.81837246e-03 5.63688098e+02] [ 7.60603083e-01 -6.49183591e-01 -6.60419707e-03 -2.62373900e+02] [ 8.80055385e-03 1.38307758e-04 9.99961265e-01 -5.87003961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters 0.05121980928589972 Centerline is valid? [True, True] Translation: X:563.65, Y:-262.33, Z:-5.87 [[-6.46731871e-01 -7.62688549e-01 6.63808527e-03 5.63650208e+02] [ 7.62651374e-01 -6.46765909e-01 -7.53268807e-03 -2.62329303e+02] [ 1.00383822e-02 1.90915405e-04 9.99949596e-01 -5.86932097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters 0.05107216444911063 Centerline is valid? [True, True] Translation: X:563.61, Y:-262.29, Z:-5.87 [[-6.43906054e-01 -7.65078357e-01 6.33255118e-03 5.63612165e+02] [ 7.65044654e-01 -6.43937155e-01 -7.18456294e-03 -2.62286711e+02] [ 9.57451860e-03 2.18500854e-04 9.99954139e-01 -5.86933776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters 0.05035330642750252 Centerline is valid? [True, True] Translation: X:563.57, Y:-262.25, Z:-5.87 [[-6.42463074e-01 -7.66294617e-01 5.81027683e-03 5.63572139e+02] [ 7.66266308e-01 -6.42489309e-01 -6.59029922e-03 -2.62245278e+02] [ 8.78315156e-03 2.18195488e-04 9.99961404e-01 -5.86979276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters 0.05065001819466564 Centerline is valid? [True, True] Translation: X:563.53, Y:-262.20, Z:-5.87 [[-6.42004221e-01 -7.66676181e-01 6.18166616e-03 5.63533088e+02] [ 7.66644172e-01 -6.42033937e-01 -7.00984493e-03 -2.62201811e+02] [ 9.34312061e-03 2.38788297e-04 9.99956324e-01 -5.87045215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters 0.050440901027633725 Centerline is valid? [True, True] Translation: X:563.49, Y:-262.16, Z:-5.87 [[-6.42719021e-01 -7.66075186e-01 6.40863005e-03 5.63494624e+02] [ 7.66040771e-01 -6.42750926e-01 -7.26534486e-03 -2.62158584e+02] [ 9.68495331e-03 2.39696573e-04 9.99953071e-01 -5.87107366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters 0.05047793694065019 Centerline is valid? [True, True] Translation: X:563.46, Y:-262.11, Z:-5.87 [[-6.43420462e-01 -7.65489693e-01 5.96984766e-03 5.63457661e+02] [ 7.65459820e-01 -6.43448120e-01 -6.76620021e-03 -2.62112969e+02] [ 9.02074377e-03 2.16166846e-04 9.99959289e-01 -5.86963675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters 0.05080381190531485 Centerline is valid? [True, True] Translation: X:563.42, Y:-262.07, Z:-5.87 [[-6.44015792e-01 -7.64990666e-01 5.73942439e-03 5.63418207e+02] [ 7.64963049e-01 -6.44041334e-01 -6.50335293e-03 -2.62071624e+02] [ 8.67143083e-03 2.02185597e-04 9.99962382e-01 -5.87022354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters 0.05065452935508142 Centerline is valid? [True, True] Translation: X:563.38, Y:-262.03, Z:-5.87 [[-6.46506914e-01 -7.62880594e-01 6.48142700e-03 5.63381238e+02] [ 7.62845286e-01 -6.46539372e-01 -7.34230863e-03 -2.62026244e+02] [ 9.79180252e-03 1.97472740e-04 9.99952040e-01 -5.87032999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters 0.05080025268513142 Centerline is valid? [True, True] Translation: X:563.35, Y:-261.98, Z:-5.87 [[-6.50559626e-01 -7.59430325e-01 6.14441192e-03 5.63345748e+02] [ 7.59398454e-01 -6.50588627e-01 -6.95888497e-03 -2.61979616e+02] [ 9.28227280e-03 1.38887307e-04 9.99956909e-01 -5.86921916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters 0.050937869287994805 Centerline is valid? [True, True] Translation: X:563.31, Y:-261.94, Z:-5.87 [[-6.53624312e-01 -7.56802910e-01 4.96124222e-03 5.63308393e+02] [ 7.56782062e-01 -6.53643136e-01 -5.61795150e-03 -2.61937209e+02] [ 7.49456396e-03 8.25494347e-05 9.99971912e-01 -5.86925974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters 0.05092180281507593 Centerline is valid? [True, True] Translation: X:563.27, Y:-261.89, Z:-5.87 [[-6.54515582e-01 -7.56032729e-01 4.88521628e-03 5.63270058e+02] [ 7.56012505e-01 -6.54533809e-01 -5.53038191e-03 -2.61893851e+02] [ 7.37868895e-03 7.35634651e-05 9.99972774e-01 -5.86963488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters 0.05151148439968151 Centerline is valid? [True, True] Translation: X:563.23, Y:-261.85, Z:-5.87 [[-6.56461994e-01 -7.54343590e-01 4.83728532e-03 5.63232282e+02] [ 7.54323725e-01 -6.56479814e-01 -5.47470568e-03 -2.61849482e+02] [ 7.30538930e-03 5.49428749e-05 9.99973314e-01 -5.87020979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters 0.050971075716013024 Centerline is valid? [True, True] Translation: X:563.20, Y:-261.81, Z:-5.87 [[-6.57147183e-01 -7.53747047e-01 4.79257347e-03 5.63195529e+02] [ 7.53727541e-01 -6.57164657e-01 -5.42283332e-03 -2.61807528e+02] [ 7.23695450e-03 4.86949797e-05 9.99973812e-01 -5.87025771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters 0.050761173127345925 Centerline is valid? [True, True] Translation: X:563.16, Y:-261.76, Z:-5.87 [[-6.56914050e-01 -7.53951196e-01 4.63943055e-03 5.63156323e+02] [ 7.53932932e-01 -6.56930431e-01 -5.24814526e-03 -2.61764458e+02] [ 7.00462851e-03 5.02391236e-05 9.99975466e-01 -5.86955422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters 0.051344278614471245 Centerline is valid? [True, True] Translation: X:563.12, Y:-261.72, Z:-5.87 [[-6.56307284e-01 -7.54479125e-01 4.69026312e-03 5.63115983e+02] [ 7.54460482e-01 -6.56324041e-01 -5.30421592e-03 -2.61722093e+02] [ 7.08025263e-03 5.74226304e-05 9.99974933e-01 -5.86997717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters 0.05062672961230885 Centerline is valid? [True, True] Translation: X:563.08, Y:-261.68, Z:-5.87 [[-6.56683443e-01 -7.54153641e-01 4.37497105e-03 5.63076972e+02] [ 7.54137422e-01 -6.56698015e-01 -4.94632191e-03 -2.61678529e+02] [ 6.60332149e-03 5.11616889e-05 9.99978197e-01 -5.86947460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters 0.05097167298785349 Centerline is valid? [True, True] Translation: X:563.04, Y:-261.64, Z:-5.87 [[-6.59112880e-01 -7.52035324e-01 3.61714978e-03 5.63039379e+02] [ 7.52024210e-01 -6.59122805e-01 -4.08847090e-03 -2.61635763e+02] [ 5.45882045e-03 2.54203755e-05 9.99985100e-01 -5.86911183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters 0.05073920053676827 Centerline is valid? [True, True] Translation: X:563.00, Y:-261.59, Z:-5.87 [[-6.61410042e-01 -7.50018896e-01 2.90021537e-03 5.63002751e+02] [ 7.50011737e-01 -6.61416401e-01 -3.27700942e-03 -2.61593986e+02] [ 4.37606900e-03 7.74862777e-06 9.99990425e-01 -5.86950912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters 0.051411466476465544 Centerline is valid? [True, True] Translation: X:562.97, Y:-261.55, Z:-5.87 [[-6.65434704e-01 -7.46453190e-01 2.07117864e-03 5.62966040e+02] [ 7.46449524e-01 -6.65437927e-01 -2.33950112e-03 -2.61551365e+02] [ 3.12456890e-03 -1.07549225e-05 9.99995118e-01 -5.86858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters 0.05123084219979383 Centerline is valid? [True, True] Translation: X:562.93, Y:-261.51, Z:-5.87 [[-6.69005712e-01 -7.43254788e-01 1.91732650e-03 5.62927968e+02] [ 7.43251635e-01 -6.69008460e-01 -2.16517079e-03 -2.61507343e+02] [ 2.89198121e-03 -2.34555771e-05 9.99995818e-01 -5.86829641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters 0.051572278372099996 Centerline is valid? [True, True] Translation: X:562.89, Y:-261.46, Z:-5.87 [[-6.70682838e-01 -7.41738036e-01 3.03597378e-03 5.62891277e+02] [ 7.41730119e-01 -6.70689708e-01 -3.42732421e-03 -2.61464371e+02] [ 4.57837309e-03 -4.67743337e-05 9.99989518e-01 -5.87063401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters 0.052241467949216615 Centerline is valid? [True, True] Translation: X:562.85, Y:-261.43, Z:-5.87 [[-6.70045093e-01 -7.42311595e-01 3.61510203e-03 5.62849346e+02] [ 7.42300384e-01 -6.70054844e-01 -4.07992333e-03 -2.61425616e+02] [ 5.45089102e-03 -5.02409835e-05 9.99985143e-01 -5.87151303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters 0.05181402419130675 Centerline is valid? [True, True] Translation: X:562.81, Y:-261.39, Z:-5.87 [[-6.67410133e-01 -7.44676675e-01 4.51260339e-03 5.62809353e+02] [ 7.44659272e-01 -6.67425388e-01 -5.09117448e-03 -2.61385468e+02] [ 6.80310495e-03 -3.75494775e-05 9.99976858e-01 -5.87383573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters 0.05142932721614249 Centerline is valid? [True, True] Translation: X:562.77, Y:-261.34, Z:-5.87 [[-6.66695508e-01 -7.45314875e-01 4.77876849e-03 5.62769698e+02] [ 7.45295386e-01 -6.66712634e-01 -5.38988474e-03 -2.61344016e+02] [ 7.20322660e-03 -3.18178387e-05 9.99974056e-01 -5.87233010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters 0.05185617007765534 Centerline is valid? [True, True] Translation: X:562.73, Y:-261.30, Z:-5.87 [[-6.63911647e-01 -7.47794674e-01 4.94463957e-03 5.62729364e+02] [ 7.47773890e-01 -6.63930060e-01 -5.57536549e-03 -2.61303047e+02] [ 7.45212347e-03 -4.07772579e-06 9.99972233e-01 -5.87280858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters 0.05089643522607614 Centerline is valid? [True, True] Translation: X:562.69, Y:-261.26, Z:-5.87 [[-6.60458084e-01 -7.50850663e-01 4.28963779e-03 5.62689436e+02] [ 7.50835094e-01 -6.60472014e-01 -4.83532577e-03 -2.61262575e+02] [ 6.46379327e-03 2.72805927e-05 9.99979109e-01 -5.87187682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters 0.05122041539136932 Centerline is valid? [True, True] Translation: X:562.65, Y:-261.22, Z:-5.87 [[-6.56330249e-01 -7.54465150e-01 3.59760041e-03 5.62648691e+02] [ 7.54454258e-01 -6.56340106e-01 -4.05422320e-03 -2.61220577e+02] [ 5.42001955e-03 5.33156331e-05 9.99985310e-01 -5.87089812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters 0.05099831645321558 Centerline is valid? [True, True] Translation: X:562.61, Y:-261.18, Z:-5.87 [[-6.53399255e-01 -7.57007545e-01 2.99835693e-03 5.62609829e+02] [ 7.57000010e-01 -6.53406132e-01 -3.37813925e-03 -2.61177160e+02] [ 4.51642170e-03 6.24825622e-05 9.99989799e-01 -5.87037381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters 0.05151140553080042 Centerline is valid? [True, True] Translation: X:562.57, Y:-261.14, Z:-5.87 [[-6.49151765e-01 -7.60654429e-01 2.61253410e-03 5.62567267e+02] [ 7.60648740e-01 -6.49157017e-01 -2.94294377e-03 -2.61137928e+02] [ 3.93450806e-03 7.68036339e-05 9.99992257e-01 -5.87009190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters 0.05108765908951602 Centerline is valid? [True, True] Translation: X:562.53, Y:-261.09, Z:-5.87 [[-6.47145791e-01 -7.62360994e-01 2.83568148e-03 5.62529058e+02] [ 7.62354311e-01 -6.47151996e-01 -3.19351188e-03 -2.61093966e+02] [ 4.26972582e-03 9.51262283e-05 9.99990880e-01 -5.86990855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters 0.05110440356780731 Centerline is valid? [True, True] Translation: X:562.49, Y:-261.05, Z:-5.87 [[-6.44929659e-01 -7.64231484e-01 3.99675645e-03 5.62490812e+02] [ 7.64218251e-01 -6.44942025e-01 -4.49990197e-03 -2.61050437e+02] [ 6.01664296e-03 1.52273979e-04 9.99981888e-01 -5.87102112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters 0.05119701820580254 Centerline is valid? [True, True] Translation: X:562.45, Y:-261.00, Z:-5.87 [[-6.43855129e-01 -7.65130195e-01 5.13391331e-03 5.62454161e+02] [ 7.65108399e-01 -6.43875564e-01 -5.77888669e-03 -2.61004201e+02] [ 7.72720203e-03 2.07234354e-04 9.99970123e-01 -5.87117006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters 0.05127353879517527 Centerline is valid? [True, True] Translation: X:562.42, Y:-260.96, Z:-5.87 [[-6.43955721e-01 -7.65037149e-01 6.26025160e-03 5.62415031e+02] [ 7.65004746e-01 -6.43986101e-01 -7.04557857e-03 -2.60962017e+02] [ 9.42164436e-03 2.52081560e-04 9.99955584e-01 -5.87238149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters 0.05136625848901605 Centerline is valid? [True, True] Translation: X:562.38, Y:-260.92, Z:-5.87 [[-6.44675754e-01 -7.64429900e-01 6.33245942e-03 5.62377798e+02] [ 7.64396734e-01 -6.44706807e-01 -7.12505424e-03 -2.60919197e+02] [ 9.52918420e-03 2.47161585e-04 9.99954566e-01 -5.87267803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters 0.05119541507308559 Centerline is valid? [True, True] Translation: X:562.35, Y:-260.87, Z:-5.87 [[-6.46919789e-01 -7.62537432e-01 5.60820114e-03 5.62346021e+02] [ 7.62511360e-01 -6.46944068e-01 -6.30860020e-03 -2.60869456e+02] [ 8.43873626e-03 1.95158770e-04 9.99964374e-01 -5.86977391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters 0.05101106664281771 Centerline is valid? [True, True] Translation: X:562.31, Y:-260.82, Z:-5.87 [[-6.49382861e-01 -7.60443717e-01 5.22042315e-03 5.62309288e+02] [ 7.60421070e-01 -6.49403826e-01 -5.87094309e-03 -2.60824522e+02] [ 7.85468455e-03 1.57229936e-04 9.99969139e-01 -5.86919446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters 0.051468651207119714 Centerline is valid? [True, True] Translation: X:562.27, Y:-260.78, Z:-5.87 [[-6.52347039e-01 -7.57909432e-01 4.07844201e-03 5.62270574e+02] [ 7.57895567e-01 -6.52359781e-01 -4.58537758e-03 -2.60782588e+02] [ 6.13591245e-03 9.97756346e-05 9.99981170e-01 -5.86868846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters 0.051636797849081276 Centerline is valid? [True, True] Translation: X:562.24, Y:-260.74, Z:-5.87 [[-6.54896722e-01 -7.55708390e-01 3.88751761e-03 5.62237043e+02] [ 7.55695762e-01 -6.54908255e-01 -4.36955117e-03 -2.60735357e+02] [ 5.84807386e-03 7.61758448e-05 9.99982897e-01 -5.86665757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters 0.05188891069482653 Centerline is valid? [True, True] Translation: X:562.20, Y:-260.69, Z:-5.87 [[-6.57815021e-01 -7.53163360e-01 4.93465676e-03 5.62200481e+02] [ 7.53142949e-01 -6.57833526e-01 -5.54520976e-03 -2.60689721e+02] [ 7.42263147e-03 6.87796732e-05 9.99972450e-01 -5.86693070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters 0.05232032111563417 Centerline is valid? [True, True] Translation: X:562.16, Y:-260.64, Z:-5.86 [[-6.59889832e-01 -7.51343779e-01 5.28536678e-03 5.62164723e+02] [ 7.51320319e-01 -6.59910996e-01 -5.93772156e-03 -2.60644708e+02] [ 7.94914181e-03 5.27613723e-05 9.99968404e-01 -5.86492536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters 0.05172432028565816 Centerline is valid? [True, True] Translation: X:562.13, Y:-260.60, Z:-5.87 [[-6.64512702e-01 -7.47256047e-01 5.59185803e-03 5.62128033e+02] [ 7.47229657e-01 -6.64536229e-01 -6.28012447e-03 -2.60602348e+02] [ 8.40885324e-03 5.17967291e-06 9.99964645e-01 -5.86793135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters 0.05182750926575889 Centerline is valid? [True, True] Translation: X:562.09, Y:-260.56, Z:-5.87 [[-6.66408331e-01 -7.45569345e-01 5.12717813e-03 5.62092087e+02] [ 7.45547123e-01 -6.66428055e-01 -5.75639111e-03 -2.60559342e+02] [ 7.70868410e-03 -1.35540920e-05 9.99970288e-01 -5.86786373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters 0.05166377638565716 Centerline is valid? [True, True] Translation: X:562.06, Y:-260.51, Z:-5.87 [[-6.71336608e-01 -7.41136533e-01 4.87843382e-03 5.62056414e+02] [ 7.41116303e-01 -6.71354330e-01 -5.47621037e-03 -2.60513136e+02] [ 7.33377724e-03 -6.08936533e-05 9.99973106e-01 -5.86674428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters 0.05206937360964291 Centerline is valid? [True, True] Translation: X:562.02, Y:-260.47, Z:-5.86 [[-6.74334233e-01 -7.38412685e-01 4.47763228e-03 5.62017925e+02] [ 7.38395590e-01 -6.74349094e-01 -5.02512180e-03 -2.60472301e+02] [ 6.73010095e-03 -8.23477228e-05 9.99977349e-01 -5.86420811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters 0.0524366981035718 Centerline is valid? [True, True] Translation: X:561.99, Y:-260.43, Z:-5.87 [[-6.73835243e-01 -7.38871349e-01 3.89807391e-03 5.61985003e+02] [ 7.38858409e-01 -6.73846515e-01 -4.37327804e-03 -2.60427871e+02] [ 5.85799336e-03 -6.67441807e-05 9.99982840e-01 -5.86802383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters 0.05258133209034978 Centerline is valid? [True, True] Translation: X:561.94, Y:-260.39, Z:-5.87 [[-6.72858418e-01 -7.39761664e-01 3.77226956e-03 5.61941999e+02] [ 7.39749568e-01 -6.72868990e-01 -4.23070475e-03 -2.60391080e+02] [ 5.66795639e-03 -5.61305243e-05 9.99983935e-01 -5.86506757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters 0.052094071800167244 Centerline is valid? [True, True] Translation: X:561.90, Y:-260.35, Z:-5.87 [[-6.68540524e-01 -7.43667417e-01 3.51296049e-03 5.61900347e+02] [ 7.43656986e-01 -6.68549753e-01 -3.93887262e-03 -2.60350723e+02] [ 5.27780010e-03 -2.08583530e-05 9.99986072e-01 -5.86656142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters 0.05166601623618109 Centerline is valid? [True, True] Translation: X:561.86, Y:-260.31, Z:-5.86 [[-6.65600035e-01 -7.46298558e-01 3.88011809e-03 5.61859805e+02] [ 7.46285886e-01 -6.65611344e-01 -4.34915721e-03 -2.60311599e+02] [ 5.82842038e-03 8.78177099e-07 9.99983015e-01 -5.86461675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters 0.051568020469895094 Centerline is valid? [True, True] Translation: X:561.82, Y:-260.27, Z:-5.87 [[-6.61530977e-01 -7.49902589e-01 4.78271220e-03 5.61816422e+02] [ 7.49883437e-01 -6.61548264e-01 -5.35960410e-03 -2.60272078e+02] [ 7.18317594e-03 4.09325250e-05 9.99974200e-01 -5.86795564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters 0.0520287318690861 Centerline is valid? [True, True] Translation: X:561.78, Y:-260.23, Z:-5.87 [[-6.59642722e-01 -7.51565440e-01 4.56822942e-03 5.61775588e+02] [ 7.51548017e-01 -6.59658538e-01 -5.11778212e-03 -2.60231384e+02] [ 6.85981971e-03 5.73360359e-05 9.99976470e-01 -5.86805829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters 0.05249631798488052 Centerline is valid? [True, True] Translation: X:561.73, Y:-260.19, Z:-5.87 [[-6.58611866e-01 -7.52472376e-01 3.96656368e-03 5.61734101e+02] [ 7.52459264e-01 -6.58623808e-01 -4.44253910e-03 -2.60190565e+02] [ 5.95536123e-03 5.87686221e-05 9.99982265e-01 -5.86763428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters 0.05181123777692336 Centerline is valid? [True, True] Translation: X:561.70, Y:-260.15, Z:-5.87 [[-6.58975959e-01 -7.52151224e-01 4.38432404e-03 5.61695620e+02] [ 7.52135207e-01 -6.58990540e-01 -4.90902775e-03 -2.60148662e+02] [ 6.58155930e-03 6.26732070e-05 9.99978339e-01 -5.86665592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters 0.05158332862679288 Centerline is valid? [True, True] Translation: X:561.66, Y:-260.11, Z:-5.87 [[-6.61057241e-01 -7.50324063e-01 4.13809494e-03 5.61655466e+02] [ 7.50309766e-01 -6.61070192e-01 -4.63213111e-03 -2.60107578e+02] [ 6.21117065e-03 4.27492296e-05 9.99980710e-01 -5.86872405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters 0.05140697109622832 Centerline is valid? [True, True] Translation: X:561.62, Y:-260.06, Z:-5.87 [[-6.62600754e-01 -7.48959805e-01 4.41036048e-03 5.61616664e+02] [ 7.48943543e-01 -6.62615431e-01 -4.93556672e-03 -2.60064309e+02] [ 6.61891400e-03 3.28007665e-05 9.99978094e-01 -5.86931308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters 0.052910494032341514 Centerline is valid? [True, True] Translation: X:561.58, Y:-260.02, Z:-5.87 [[-6.63898258e-01 -7.47805858e-01 5.04990127e-03 5.61579088e+02] [ 7.47784519e-01 -6.63917463e-01 -5.64945655e-03 -2.60022838e+02] [ 7.57741435e-03 2.55736253e-05 9.99971291e-01 -5.86821930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters 0.05229854037796264 Centerline is valid? [True, True] Translation: X:561.54, Y:-259.98, Z:-5.87 [[-6.64263294e-01 -7.47478594e-01 5.47975152e-03 5.61540441e+02] [ 7.47453472e-01 -6.64285895e-01 -6.12837116e-03 -2.59982453e+02] [ 8.22094790e-03 2.50072856e-05 9.99966207e-01 -5.87217883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters 0.052273643768480545 Centerline is valid? [True, True] Translation: X:561.50, Y:-259.94, Z:-5.87 [[-6.64900707e-01 -7.46909840e-01 5.72191956e-03 5.61502433e+02] [ 7.46882444e-01 -6.64925327e-01 -6.39725633e-03 -2.59939939e+02] [ 8.58282294e-03 2.00610042e-05 9.99963167e-01 -5.87098167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters 0.052682183754621845 Centerline is valid? [True, True] Translation: X:561.47, Y:-259.90, Z:-5.87 [[-6.66865810e-01 -7.45158839e-01 5.31938904e-03 5.61465073e+02] [ 7.45135121e-01 -6.66887025e-01 -5.94530931e-03 -2.59897417e+02] [ 7.97763131e-03 -1.05991323e-06 9.99968178e-01 -5.87015755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters 0.05214978041251289 Centerline is valid? [True, True] Translation: X:561.43, Y:-259.85, Z:-5.87 [[-6.70239796e-01 -7.42134428e-01 3.88660877e-03 5.61428758e+02] [ 7.42121721e-01 -6.70251065e-01 -4.34302848e-03 -2.59853000e+02] [ 5.82811463e-03 -2.65337335e-05 9.99983016e-01 -5.86925892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters 0.05222535214606797 Centerline is valid? [True, True] Translation: X:561.39, Y:-259.81, Z:-5.87 [[-6.72848528e-01 -7.39772331e-01 3.42900356e-03 5.61391619e+02] [ 7.39762414e-01 -6.72857264e-01 -3.83052158e-03 -2.59808911e+02] [ 5.14094383e-03 -4.07128539e-05 9.99986784e-01 -5.86954044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters 0.05202911148590819 Centerline is valid? [True, True] Translation: X:561.35, Y:-259.76, Z:-5.87 [[-6.76989456e-01 -7.35981900e-01 3.98996821e-03 5.61354912e+02] [ 7.35968416e-01 -6.77001209e-01 -4.45581643e-03 -2.59764863e+02] [ 5.98061354e-03 -8.00501581e-05 9.99982113e-01 -5.87037669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters 0.053011273119031505 Centerline is valid? [True, True] Translation: X:561.32, Y:-259.72, Z:-5.87 [[-6.80902821e-01 -7.32362506e-01 4.06316359e-03 5.61319334e+02] [ 7.32348465e-01 -6.80914934e-01 -4.53627154e-03 -2.59721344e+02] [ 6.08886396e-03 -1.13108471e-04 9.99981456e-01 -5.87176701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters 0.0534364994929656 Centerline is valid? [True, True] Translation: X:561.28, Y:-259.68, Z:-5.87 [[-6.84287006e-01 -7.29204487e-01 3.47982199e-03 5.61284070e+02] [ 7.29194154e-01 -6.84295844e-01 -3.88383525e-03 -2.59676306e+02] [ 5.21333782e-03 -1.20192150e-04 9.99986403e-01 -5.87157545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters 0.053082344922032385 Centerline is valid? [True, True] Translation: X:561.25, Y:-259.63, Z:-5.87 [[-6.88922747e-01 -7.24828003e-01 3.13274369e-03 5.61247123e+02] [ 7.24819588e-01 -6.88929856e-01 -3.49534833e-03 -2.59634762e+02] [ 4.69176701e-03 -1.37350984e-04 9.99988984e-01 -5.87013489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters 0.05312173712835203 Centerline is valid? [True, True] Translation: X:561.20, Y:-259.59, Z:-5.87 [[-6.91767251e-01 -7.22117466e-01 2.10596180e-03 5.61204627e+02] [ 7.22113653e-01 -6.91770449e-01 -2.34914996e-03 -2.59594727e+02] [ 3.15320436e-03 -1.04321239e-04 9.99995023e-01 -5.87037504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters 0.05416534116826646 Centerline is valid? [True, True] Translation: X:561.17, Y:-259.55, Z:-5.87 [[-6.93159065e-01 -7.20782787e-01 1.63856592e-03 5.61171529e+02] [ 7.20780476e-01 -6.93160996e-01 -1.82726179e-03 -2.59548463e+02] [ 2.45284883e-03 -8.55367462e-05 9.99996988e-01 -5.87174590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters 0.05342717761933172 Centerline is valid? [True, True] Translation: X:561.13, Y:-259.51, Z:-5.87 [[-6.91001293e-01 -7.22851098e-01 1.87189705e-03 5.61125740e+02] [ 7.22848091e-01 -6.91003822e-01 -2.08683739e-03 -2.59512585e+02] [ 2.80196072e-03 -8.89101283e-05 9.99996071e-01 -5.87250458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters 0.05403312405217671 Centerline is valid? [True, True] Translation: X:561.09, Y:-259.47, Z:-5.87 [[-6.87922482e-01 -7.25781664e-01 1.90681823e-03 5.61086753e+02] [ 7.25778556e-01 -6.87925120e-01 -2.12533477e-03 -2.59470837e+02] [ 2.85427717e-03 -7.81377892e-05 9.99995924e-01 -5.87324216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters 0.05300216316841932 Centerline is valid? [True, True] Translation: X:561.04, Y:-259.43, Z:-5.87 [[-6.81490564e-01 -7.31820903e-01 2.96271920e-03 5.61041963e+02] [ 7.31813462e-01 -6.81496999e-01 -3.30115236e-03 -2.59434826e+02] [ 4.43493654e-03 -8.15463825e-05 9.99990162e-01 -5.87414116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters 0.052788543141979685 Centerline is valid? [True, True] Translation: X:561.00, Y:-259.40, Z:-5.87 [[-6.74112727e-01 -7.38620723e-01 3.38527441e-03 5.60996561e+02] [ 7.38611098e-01 -6.74121225e-01 -3.77077118e-03 -2.59399389e+02] [ 5.06725507e-03 -4.15235911e-05 9.99987161e-01 -5.87384955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters 0.05271373918834036 Centerline is valid? [True, True] Translation: X:560.95, Y:-259.36, Z:-5.87 [[-6.69236639e-01 -7.43043225e-01 3.01463540e-03 5.60954840e+02] [ 7.43035640e-01 -6.69243428e-01 -3.35735162e-03 -2.59359166e+02] [ 4.51218231e-03 -6.88116927e-06 9.99989820e-01 -5.87423125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters 0.05307595186792608 Centerline is valid? [True, True] Translation: X:560.91, Y:-259.32, Z:-5.87 [[-6.61679861e-01 -7.49783649e-01 2.05948439e-03 5.60909103e+02] [ 7.49780142e-01 -6.61683066e-01 -2.29315330e-03 -2.59323255e+02] [ 3.08209479e-03 2.68271385e-05 9.99995250e-01 -5.87443185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters 0.052694176241107435 Centerline is valid? [True, True] Translation: X:560.87, Y:-259.28, Z:-5.87 [[-6.55506413e-01 -7.55186118e-01 2.29535048e-03 5.60866837e+02] [ 7.55181798e-01 -6.55510430e-01 -2.55502907e-03 -2.59284151e+02] [ 3.43414866e-03 5.85689595e-05 9.99994102e-01 -5.87353064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters 0.052771355307999764 Centerline is valid? [True, True] Translation: X:560.83, Y:-259.24, Z:-5.87 [[-6.53991229e-01 -7.56498136e-01 2.45821715e-03 5.60827949e+02] [ 7.56493193e-01 -6.53995845e-01 -2.73555712e-03 -2.59241622e+02] [ 3.67710766e-03 7.05941799e-05 9.99993237e-01 -5.87380545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters 0.052817281699284416 Centerline is valid? [True, True] Translation: X:560.79, Y:-259.20, Z:-5.88 [[-6.50288872e-01 -7.59678569e-01 3.58540586e-03 5.60787390e+02] [ 7.59668108e-01 -6.50298743e-01 -3.98870475e-03 -2.59202291e+02] [ 5.36171844e-03 1.29908170e-04 9.99985617e-01 -5.87531374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters 0.052704414783501755 Centerline is valid? [True, True] Translation: X:560.75, Y:-259.16, Z:-5.88 [[-6.49077251e-01 -7.60708775e-01 4.56970201e-03 5.60749387e+02] [ 7.60691817e-01 -6.49093313e-01 -5.08239188e-03 -2.59158695e+02] [ 6.83238312e-03 1.77269979e-04 9.99976643e-01 -5.87521999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters 0.05168991323091527 Centerline is valid? [True, True] Translation: X:560.71, Y:-259.12, Z:-5.88 [[-6.49580862e-01 -7.60271434e-01 5.66133368e-03 5.60712462e+02] [ 7.60245406e-01 -6.49605496e-01 -6.29458235e-03 -2.59116952e+02] [ 8.46322462e-03 2.15162688e-04 9.99964163e-01 -5.87641740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters 0.05281959949158869 Centerline is valid? [True, True] Translation: X:560.68, Y:-259.07, Z:-5.88 [[-6.52894424e-01 -7.57428443e-01 5.56997723e-03 5.60677711e+02] [ 7.57403160e-01 -6.52918159e-01 -6.19119502e-03 -2.59072210e+02] [ 8.32612649e-03 1.76521646e-04 9.99965322e-01 -5.87679679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters 0.05193457324203675 Centerline is valid? [True, True] Translation: X:560.65, Y:-259.02, Z:-5.88 [[-6.57309972e-01 -7.53607008e-01 4.48083364e-03 5.60647292e+02] [ 7.53590566e-01 -6.57325237e-01 -4.97919391e-03 -2.59022755e+02] [ 6.69772046e-03 1.03840141e-04 9.99977565e-01 -5.87523901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters 0.052216530590308924 Centerline is valid? [True, True] Translation: X:560.61, Y:-258.98, Z:-5.88 [[-6.59737575e-01 -7.51484179e-01 4.22619559e-03 5.60612741e+02] [ 7.51469517e-01 -6.59751107e-01 -4.69496817e-03 -2.58976293e+02] [ 6.31643152e-03 7.84102394e-05 9.99980048e-01 -5.87518299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters 0.051920656185838854 Centerline is valid? [True, True] Translation: X:560.58, Y:-258.93, Z:-5.88 [[-6.61248168e-01 -7.50153169e-01 4.59162622e-03 5.60578712e+02] [ 7.50135840e-01 -6.61264106e-01 -5.09942195e-03 -2.58929673e+02] [ 6.86162515e-03 7.23599627e-05 9.99976456e-01 -5.87551788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters 0.05280611240047596 Centerline is valid? [True, True] Translation: X:560.54, Y:-258.89, Z:-5.88 [[-6.60153647e-01 -7.51109027e-01 5.69145194e-03 5.60540419e+02] [ 7.51082447e-01 -6.60178173e-01 -6.31967301e-03 -2.58887284e+02] [ 8.50413579e-03 1.02794467e-04 9.99963834e-01 -5.88008696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters 0.05238907342382482 Centerline is valid? [True, True] Translation: X:560.51, Y:-258.84, Z:-5.88 [[-6.58231478e-01 -7.52795572e-01 5.49073819e-03 5.60508880e+02] [ 7.52770905e-01 -6.58254368e-01 -6.09521264e-03 -2.58837722e+02] [ 8.20275148e-03 1.21207132e-04 9.99966350e-01 -5.87661193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters 0.05137839835267308 Centerline is valid? [True, True] Translation: X:560.47, Y:-258.79, Z:-5.88 [[-6.55733317e-01 -7.54976647e-01 4.90702881e-03 5.60472951e+02] [ 7.54957018e-01 -6.55751664e-01 -5.44581334e-03 -2.58791895e+02] [ 7.32925420e-03 1.33594588e-04 9.99973132e-01 -5.87567016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters 0.051239139273705 Centerline is valid? [True, True] Translation: X:560.44, Y:-258.75, Z:-5.88 [[-6.53679874e-01 -7.56756855e-01 4.65666884e-03 5.60435560e+02] [ 7.56739232e-01 -6.53696444e-01 -5.16661596e-03 -2.58747271e+02] [ 6.95391990e-03 1.46571129e-04 9.99975810e-01 -5.87582969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters 0.05113924459487934 Centerline is valid? [True, True] Translation: X:560.40, Y:-258.71, Z:-5.88 [[-6.50356830e-01 -7.59611931e-01 5.07025147e-03 5.60397307e+02] [ 7.59591134e-01 -6.50376565e-01 -5.62428100e-03 -2.58705570e+02] [ 7.56984369e-03 1.93528504e-04 9.99971330e-01 -5.87717701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters 0.05051525661778231 Centerline is valid? [True, True] Translation: X:560.36, Y:-258.66, Z:-5.88 [[-6.48332948e-01 -7.61337328e-01 5.46460855e-03 5.60363650e+02] [ 7.61313244e-01 -6.48355936e-01 -6.06008557e-03 -2.58658537e+02] [ 8.15678074e-03 2.31325717e-04 9.99966706e-01 -5.87670468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters 0.050707102921103094 Centerline is valid? [True, True] Translation: X:560.33, Y:-258.61, Z:-5.88 [[-6.47792546e-01 -7.61800171e-01 5.03163399e-03 5.60327634e+02] [ 7.61779777e-01 -6.47812050e-01 -5.57845731e-03 -2.58613628e+02] [ 7.50922286e-03 2.19313965e-04 9.99971781e-01 -5.87640244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters 0.05112134702530479 Centerline is valid? [True, True] Translation: X:560.29, Y:-258.57, Z:-5.88 [[-6.47446728e-01 -7.62100547e-01 3.93594169e-03 5.60291176e+02] [ 7.62088080e-01 -6.47458668e-01 -4.36248368e-03 -2.58568996e+02] [ 5.87301076e-03 1.75058460e-04 9.99982738e-01 -5.87516852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters 0.0507749273560292 Centerline is valid? [True, True] Translation: X:560.25, Y:-258.53, Z:-5.88 [[-6.49016797e-01 -7.60765532e-01 3.60595465e-03 5.60252969e+02] [ 7.60755054e-01 -6.49026797e-01 -3.99563980e-03 -2.58526879e+02] [ 5.38010623e-03 1.50010882e-04 9.99985516e-01 -5.87628936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters 0.050558364771898776 Centerline is valid? [True, True] Translation: X:560.22, Y:-258.48, Z:-5.88 [[-6.51641672e-01 -7.58518875e-01 3.49981569e-03 5.60218495e+02] [ 7.58508978e-01 -6.51651057e-01 -3.87689656e-03 -2.58481799e+02] [ 5.22135781e-03 1.28294270e-04 9.99986360e-01 -5.87621342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters 0.05021690372847963 Centerline is valid? [True, True] Translation: X:560.18, Y:-258.44, Z:-5.88 [[-6.54981312e-01 -7.55637841e-01 3.30655032e-03 5.60183005e+02] [ 7.55628975e-01 -6.54989651e-01 -3.66190357e-03 -2.58435666e+02] [ 4.93282915e-03 1.00046820e-04 9.99987829e-01 -5.87635737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters 0.05147381587394901 Centerline is valid? [True, True] Translation: X:560.14, Y:-258.40, Z:-5.88 [[-6.56224197e-01 -7.54557869e-01 3.49638287e-03 5.60139592e+02] [ 7.54547945e-01 -6.56233504e-01 -3.87116667e-03 -2.58397607e+02] [ 5.21546286e-03 9.78352721e-05 9.99986395e-01 -5.87811040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters 0.05108833750809748 Centerline is valid? [True, True] Translation: X:560.10, Y:-258.35, Z:-5.88 [[-6.56190676e-01 -7.54585810e-01 3.74846827e-03 5.60103673e+02] [ 7.54574411e-01 -6.56201374e-01 -4.14899172e-03 -2.58354299e+02] [ 5.59052031e-03 1.05968554e-04 9.99984367e-01 -5.87732937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters 0.04995676830562955 Centerline is valid? [True, True] Translation: X:560.07, Y:-258.31, Z:-5.88 [[-6.56609587e-01 -7.54220887e-01 3.83464988e-03 5.60068191e+02] [ 7.54208958e-01 -6.56620775e-01 -4.24326562e-03 -2.58308289e+02] [ 5.71827034e-03 1.05958406e-04 9.99983645e-01 -5.87624537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters 0.05071941109534197 Centerline is valid? [True, True] Translation: X:560.03, Y:-258.27, Z:-5.88 [[-6.57045944e-01 -7.53836554e-01 4.59107602e-03 5.60027642e+02] [ 7.53819454e-01 -6.57061972e-01 -5.07888364e-03 -2.58267560e+02] [ 6.84526960e-03 1.23782526e-04 9.99976563e-01 -5.87687497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters 0.050203065920117244 Centerline is valid? [True, True] Translation: X:559.99, Y:-258.22, Z:-5.87 [[-6.59655006e-01 -7.51554639e-01 4.57145613e-03 5.59990272e+02] [ 7.51537640e-01 -6.59670838e-01 -5.05576613e-03 -2.58223632e+02] [ 6.81534078e-03 1.00559914e-04 9.99976770e-01 -5.87494734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters 0.05042527414648889 Centerline is valid? [True, True] Translation: X:559.95, Y:-258.18, Z:-5.87 [[-6.62399636e-01 -7.49137406e-01 4.45745724e-03 5.59952931e+02] [ 7.49121197e-01 -6.62414630e-01 -4.92853350e-03 -2.58180711e+02] [ 6.64483369e-03 7.45169053e-05 9.99977920e-01 -5.87454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters 0.05120460635895673 Centerline is valid? [True, True] Translation: X:559.92, Y:-258.14, Z:-5.87 [[-6.67007639e-01 -7.45039876e-01 4.04888125e-03 5.59917062e+02] [ 7.45026433e-01 -6.67019927e-01 -4.47559111e-03 -2.58135416e+02] [ 6.03517832e-03 3.12700979e-05 9.99981788e-01 -5.87265001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters 0.05089017486637588 Centerline is valid? [True, True] Translation: X:559.88, Y:-258.09, Z:-5.87 [[-6.71758350e-01 -7.40760566e-01 3.80818708e-03 5.59880866e+02] [ 7.40748612e-01 -6.71769144e-01 -4.20835078e-03 -2.58091012e+02] [ 5.67560289e-03 -6.08548438e-06 9.99983894e-01 -5.87164693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters 0.05190194316489818 Centerline is valid? [True, True] Translation: X:559.85, Y:-258.05, Z:-5.87 [[-6.75610679e-01 -7.37251023e-01 3.33758475e-03 5.59846343e+02] [ 7.37241803e-01 -6.75618923e-01 -3.68714203e-03 -2.58046862e+02] [ 4.97328465e-03 -3.04655256e-05 9.99987633e-01 -5.87128650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters 0.05186310505360926 Centerline is valid? [True, True] Translation: X:559.81, Y:-258.00, Z:-5.87 [[-6.81705444e-01 -7.31622708e-01 2.42913074e-03 5.59811853e+02] [ 7.31617792e-01 -6.81709770e-01 -2.68274837e-03 -2.58001905e+02] [ 3.61872178e-03 -5.16489028e-05 9.99993451e-01 -5.86967086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters 0.05178347088209415 Centerline is valid? [True, True] Translation: X:559.77, Y:-257.96, Z:-5.87 [[-6.87328472e-01 -7.26343521e-01 2.15892073e-03 5.59773520e+02] [ 7.26339613e-01 -6.87331859e-01 -2.38371201e-03 -2.57962002e+02] [ 3.21528878e-03 -7.02834875e-05 9.99994828e-01 -5.86735984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters 0.05291733876587852 Centerline is valid? [True, True] Translation: X:559.74, Y:-257.92, Z:-5.87 [[-6.90171853e-01 -7.23638176e-01 3.25635365e-03 5.59735748e+02] [ 7.23629260e-01 -6.90179523e-01 -3.59446978e-03 -2.57918069e+02] [ 4.84856416e-03 -1.24409086e-04 9.99988238e-01 -5.86841704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters 0.05337781131495825 Centerline is valid? [True, True] Translation: X:559.70, Y:-257.88, Z:-5.87 [[-6.90584993e-01 -7.23238823e-01 4.23936590e-03 5.59696658e+02] [ 7.23223711e-01 -6.90597986e-01 -4.67825660e-03 -2.57876935e+02] [ 6.31119435e-03 -1.64723865e-04 9.99980071e-01 -5.86943122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters 0.052892980040262966 Centerline is valid? [True, True] Translation: X:559.65, Y:-257.84, Z:-5.87 [[-6.90392327e-01 -7.23424032e-01 4.01301845e-03 5.59651633e+02] [ 7.23410499e-01 -6.90403973e-01 -4.42759831e-03 -2.57837755e+02] [ 5.97363490e-03 -1.53720216e-04 9.99982146e-01 -5.86821935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters 0.052250464085021854 Centerline is valid? [True, True] Translation: X:559.61, Y:-257.79, Z:-5.87 [[-6.88235839e-01 -7.25479474e-01 3.31084066e-03 5.59614939e+02] [ 7.25470290e-01 -6.88243794e-01 -3.65215926e-03 -2.57793535e+02] [ 4.92823211e-03 -1.11630362e-04 9.99987850e-01 -5.86949774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters 0.05246674814002959 Centerline is valid? [True, True] Translation: X:559.57, Y:-257.76, Z:-5.87 [[-6.84369608e-01 -7.29129478e-01 2.90573855e-03 5.59572102e+02] [ 7.29122440e-01 -6.84375773e-01 -3.20443776e-03 -2.57757206e+02] [ 4.32506710e-03 -7.43806298e-05 9.99990644e-01 -5.86817462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters 0.051952234206376416 Centerline is valid? [True, True] Translation: X:559.53, Y:-257.72, Z:-5.87 [[-6.79354784e-01 -7.33805056e-01 2.68638251e-03 5.59528293e+02] [ 7.33799079e-01 -6.79360094e-01 -2.96206136e-03 -2.57719440e+02] [ 3.99859668e-03 -4.10255456e-05 9.99992005e-01 -5.86800295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters 0.0514375950103795 Centerline is valid? [True, True] Translation: X:559.49, Y:-257.68, Z:-5.87 [[-6.72670625e-01 -7.39937722e-01 2.52922312e-03 5.59485372e+02] [ 7.39932470e-01 -6.72675380e-01 -2.78807922e-03 -2.57681890e+02] [ 3.76435111e-03 -4.00467759e-06 9.99992915e-01 -5.86955788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters 0.05176101334521647 Centerline is valid? [True, True] Translation: X:559.44, Y:-257.65, Z:-5.87 [[-6.65500490e-01 -7.46390054e-01 3.31447958e-03 5.59438882e+02] [ 7.46381117e-01 -6.65508742e-01 -3.65271793e-03 -2.57649733e+02] [ 4.93216747e-03 4.29794027e-05 9.99987836e-01 -5.87266881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters 0.05197039441927176 Centerline is valid? [True, True] Translation: X:559.40, Y:-257.61, Z:-5.87 [[-6.61593018e-01 -7.49852305e-01 4.02489494e-03 5.59398823e+02] [ 7.49839199e-01 -6.61605255e-01 -4.43420369e-03 -2.57610965e+02] [ 5.98788950e-03 8.43857932e-05 9.99982069e-01 -5.87272938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters 0.051334368740744984 Centerline is valid? [True, True] Translation: X:559.36, Y:-257.56, Z:-5.87 [[-6.58984864e-01 -7.52143416e-01 4.38526057e-03 5.59363310e+02] [ 7.52127916e-01 -6.58999445e-01 -4.83006990e-03 -2.57563826e+02] [ 6.52278956e-03 1.15333933e-04 9.99978720e-01 -5.86925462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters 0.05231810460781802 Centerline is valid? [True, True] Translation: X:559.32, Y:-257.53, Z:-5.87 [[-6.58735375e-01 -7.52363877e-01 4.03765661e-03 5.59318977e+02] [ 7.52350747e-01 -6.58747740e-01 -4.44612595e-03 -2.57526781e+02] [ 6.00490172e-03 1.08913526e-04 9.99981965e-01 -5.87170653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters 0.051393629325362664 Centerline is valid? [True, True] Translation: X:559.28, Y:-257.48, Z:-5.87 [[-6.58854904e-01 -7.52255688e-01 4.64696206e-03 5.59282783e+02] [ 7.52238306e-01 -6.58871280e-01 -5.11548117e-03 -2.57483921e+02] [ 6.90989965e-03 1.25263006e-04 9.99976119e-01 -5.87176543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters 0.052039713352824486 Centerline is valid? [True, True] Translation: X:559.25, Y:-257.44, Z:-5.87 [[-6.59710364e-01 -7.51499238e-01 5.57950681e-03 5.59247355e+02] [ 7.51474166e-01 -6.59733942e-01 -6.14029107e-03 -2.57438784e+02] [ 8.29541409e-03 1.42041574e-04 9.99965582e-01 -5.87272372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters 0.05120676417537 Centerline is valid? [True, True] Translation: X:559.21, Y:-257.39, Z:-5.87 [[-6.61450349e-01 -7.49966278e-01 5.83246692e-03 5.59212717e+02] [ 7.49938836e-01 -6.61476050e-01 -6.41701076e-03 -2.57392210e+02] [ 8.67057886e-03 1.29459450e-04 9.99962401e-01 -5.87157108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters 0.05175709671347121 Centerline is valid? [True, True] Translation: X:559.18, Y:-257.35, Z:-5.87 [[-6.62814125e-01 -7.48763214e-01 5.57535237e-03 5.59175685e+02] [ 7.48738108e-01 -6.62837565e-01 -6.13252801e-03 -2.57347274e+02] [ 8.28736437e-03 1.09752602e-04 9.99965653e-01 -5.87095929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters 0.05114985584354382 Centerline is valid? [True, True] Translation: X:559.14, Y:-257.30, Z:-5.87 [[-6.64161043e-01 -7.47571447e-01 5.20009316e-03 5.59139662e+02] [ 7.47549582e-01 -6.64181394e-01 -5.71827241e-03 -2.57301177e+02] [ 7.72862231e-03 8.94737016e-05 9.99970130e-01 -5.87111577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters 0.05090819963258492 Centerline is valid? [True, True] Translation: X:559.10, Y:-257.26, Z:-5.87 [[-6.65016858e-01 -7.46809849e-01 5.25622025e-03 5.59103922e+02] [ 7.46787499e-01 -6.65037625e-01 -5.77829208e-03 -2.57255898e+02] [ 7.81086967e-03 8.26179319e-05 9.99969491e-01 -5.87051791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters 0.05135710563040132 Centerline is valid? [True, True] Translation: X:559.07, Y:-257.21, Z:-5.87 [[-6.66687498e-01 -7.45319917e-01 5.09916148e-03 5.59068493e+02] [ 7.45298851e-01 -6.66706995e-01 -5.60416834e-03 -2.57209290e+02] [ 7.57654491e-03 6.41702262e-05 9.99971296e-01 -5.87118145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters 0.0509213865325394 Centerline is valid? [True, True] Translation: X:559.03, Y:-257.16, Z:-5.87 [[-6.68100677e-01 -7.44053622e-01 5.06877960e-03 5.59033938e+02] [ 7.44032782e-01 -6.68119903e-01 -5.56913626e-03 -2.57163758e+02] [ 7.53028854e-03 5.05944735e-05 9.99971646e-01 -5.87057198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters 0.050853884875232874 Centerline is valid? [True, True] Translation: X:559.00, Y:-257.12, Z:-5.87 [[-6.68374956e-01 -7.43809800e-01 4.67973773e-03 5.58997449e+02] [ 7.43792040e-01 -6.68391337e-01 -5.14016464e-03 -2.57119011e+02] [ 6.95120099e-03 4.51943585e-05 9.99975839e-01 -5.86916727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters 0.05084668587281202 Centerline is valid? [True, True] Translation: X:558.96, Y:-257.07, Z:-5.87 [[-6.67392769e-01 -7.44694625e-01 4.09981334e-03 5.58960460e+02] [ 7.44681019e-01 -6.67405359e-01 -4.50185116e-03 -2.57074932e+02] [ 6.08874175e-03 4.85502620e-05 9.99981462e-01 -5.86805676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters 0.05087482992756128 Centerline is valid? [True, True] Translation: X:558.92, Y:-257.04, Z:-5.87 [[-6.64233076e-01 -7.47515119e-01 3.94561497e-03 5.58918592e+02] [ 7.47502574e-01 -6.64244790e-01 -4.33133784e-03 -2.57035634e+02] [ 5.85859472e-03 7.23394917e-05 9.99982836e-01 -5.86945036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters 0.050620617468728334 Centerline is valid? [True, True] Translation: X:558.88, Y:-256.99, Z:-5.87 [[-6.61143493e-01 -7.50243331e-01 4.92203613e-03 5.58880382e+02] [ 7.50223894e-01 -6.61161803e-01 -5.40170504e-03 -2.56993111e+02] [ 7.30685547e-03 1.21326976e-04 9.99973297e-01 -5.86909139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters 0.0513877034097783 Centerline is valid? [True, True] Translation: X:558.84, Y:-256.95, Z:-5.87 [[-6.59919313e-01 -7.51317589e-01 5.32743769e-03 5.58839852e+02] [ 7.51294866e-01 -6.59940800e-01 -5.84503418e-03 -2.56952499e+02] [ 7.90727047e-03 1.45225646e-04 9.99968727e-01 -5.86943932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters 0.05161963546819098 Centerline is valid? [True, True] Translation: X:558.80, Y:-256.92, Z:-5.87 [[-6.59641856e-01 -7.51561981e-01 5.21643959e-03 5.58796124e+02] [ 7.51540216e-01 -6.59662465e-01 -5.72155654e-03 -2.56916246e+02] [ 7.74119376e-03 1.46185962e-04 9.99970026e-01 -5.87152504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters 0.05056165906048785 Centerline is valid? [True, True] Translation: X:558.76, Y:-256.87, Z:-5.87 [[-6.60350911e-01 -7.50945058e-01 4.26539949e-03 5.58761471e+02] [ 7.50930500e-01 -6.60364677e-01 -4.67726629e-03 -2.56869329e+02] [ 6.32908916e-03 1.14381512e-04 9.99979965e-01 -5.86667857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters 0.051349511678627946 Centerline is valid? [True, True] Translation: X:558.72, Y:-256.83, Z:-5.87 [[-6.62211997e-01 -7.49306947e-01 3.79085477e-03 5.58722404e+02] [ 7.49295427e-01 -6.62222841e-01 -4.15588691e-03 -2.56825697e+02] [ 5.62442554e-03 8.83919745e-05 9.99984179e-01 -5.86646362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters 0.05130642663082902 Centerline is valid? [True, True] Translation: X:558.68, Y:-256.78, Z:-5.87 [[-6.63511159e-01 -7.48154711e-01 4.17970950e-03 5.58682539e+02] [ 7.48140691e-01 -6.63524318e-01 -4.58101353e-03 -2.56784630e+02] [ 6.20064575e-03 8.74571610e-05 9.99980772e-01 -5.86829518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters 0.05213900370759647 Centerline is valid? [True, True] Translation: X:558.64, Y:-256.74, Z:-5.87 [[-6.65582447e-01 -7.46306676e-01 5.13339511e-03 5.58644106e+02] [ 7.46285483e-01 -6.65602237e-01 -5.62493348e-03 -2.56741507e+02] [ 7.61472468e-03 8.71212649e-05 9.99971004e-01 -5.87045660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters 0.051894629008153385 Centerline is valid? [True, True] Translation: X:558.60, Y:-256.70, Z:-5.87 [[-6.65459300e-01 -7.46413375e-01 5.56721585e-03 5.58603842e+02] [ 7.46388466e-01 -6.65482580e-01 -6.09865751e-03 -2.56700435e+02] [ 8.25700470e-03 9.68973364e-05 9.99965906e-01 -5.87189723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters 0.05162192306380846 Centerline is valid? [True, True] Translation: X:558.57, Y:-256.66, Z:-5.87 [[-6.64292822e-01 -7.47448515e-01 5.98026932e-03 5.58565308e+02] [ 7.47419830e-01 -6.64319730e-01 -6.54934757e-03 -2.56657617e+02] [ 8.86811101e-03 1.19087293e-04 9.99960670e-01 -5.87071451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters 0.05159503961299867 Centerline is valid? [True, True] Translation: X:558.53, Y:-256.62, Z:-5.87 [[-6.61498305e-01 -7.49918380e-01 6.51269557e-03 5.58526220e+02] [ 7.49884497e-01 -6.61530344e-01 -7.13057034e-03 -2.56615291e+02] [ 9.65569149e-03 1.66909252e-04 9.99953369e-01 -5.87005223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters 0.050903168246733285 Centerline is valid? [True, True] Translation: X:558.49, Y:-256.57, Z:-5.87 [[-6.60198591e-01 -7.51065650e-01 6.18147760e-03 5.58488088e+02] [ 7.51035192e-01 -6.60227506e-01 -6.76617105e-03 -2.56571595e+02] [ 9.16302020e-03 1.75490622e-04 9.99958003e-01 -5.86913596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters 0.050700407917857314 Centerline is valid? [True, True] Translation: X:558.45, Y:-256.53, Z:-5.87 [[-6.60289726e-01 -7.50987792e-01 5.90043566e-03 5.58449842e+02] [ 7.50960052e-01 -6.60316067e-01 -6.45688976e-03 -2.56527907e+02] [ 8.74519785e-03 1.67573499e-04 9.99961746e-01 -5.86855062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters 0.0506996022003303 Centerline is valid? [True, True] Translation: X:558.41, Y:-256.48, Z:-5.87 [[-6.60766186e-01 -7.50572578e-01 5.37145282e-03 5.58411055e+02] [ 7.50549588e-01 -6.60788001e-01 -5.87650641e-03 -2.56484303e+02] [ 7.96013614e-03 1.48544974e-04 9.99968307e-01 -5.86825658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters 0.05080609249441111 Centerline is valid? [True, True] Translation: X:558.37, Y:-256.44, Z:-5.87 [[-6.60793869e-01 -7.50551026e-01 4.96185898e-03 5.58372599e+02] [ 7.50531418e-01 -6.60812484e-01 -5.42699480e-03 -2.56440967e+02] [ 7.35209487e-03 1.37906167e-04 9.99972963e-01 -5.86782814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters 0.05063379332608921 Centerline is valid? [True, True] Translation: X:558.33, Y:-256.40, Z:-5.87 [[-6.60746151e-01 -7.50591791e-01 5.14657924e-03 5.58332522e+02] [ 7.50570710e-01 -6.60766178e-01 -5.62730879e-03 -2.56402137e+02] [ 7.62449727e-03 1.44649011e-04 9.99970923e-01 -5.86920689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters 0.05103102586267934 Centerline is valid? [True, True] Translation: X:558.29, Y:-256.36, Z:-5.87 [[-6.60456751e-01 -7.50845894e-01 5.22719491e-03 5.58294339e+02] [ 7.50824167e-01 -6.60477419e-01 -5.71396484e-03 -2.56358649e+02] [ 7.74275124e-03 1.50877612e-04 9.99970013e-01 -5.86926677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters 0.051120892980525454 Centerline is valid? [True, True] Translation: X:558.25, Y:-256.32, Z:-5.87 [[-6.59304051e-01 -7.51862357e-01 4.60054844e-03 5.58252506e+02] [ 7.51845559e-01 -6.59320086e-01 -5.02793901e-03 -2.56320254e+02] [ 6.81355207e-03 1.43961352e-04 9.99976777e-01 -5.87058529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters 0.051177454103204324 Centerline is valid? [True, True] Translation: X:558.21, Y:-256.28, Z:-5.87 [[-6.58729883e-01 -7.52368295e-01 4.10974640e-03 5.58213382e+02] [ 7.52354907e-01 -6.58742689e-01 -4.49030587e-03 -2.56278221e+02] [ 6.08562917e-03 1.34089216e-04 9.99981473e-01 -5.87036932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters 0.05207643816039554 Centerline is valid? [True, True] Translation: X:558.17, Y:-256.24, Z:-5.87 [[-6.58158961e-01 -7.52867327e-01 4.19158567e-03 5.58172729e+02] [ 7.52853419e-01 -6.58172293e-01 -4.57840187e-03 -2.56238938e+02] [ 6.20571473e-03 1.42333386e-04 9.99980734e-01 -5.87157848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters 0.051541600849674823 Centerline is valid? [True, True] Translation: X:558.14, Y:-256.19, Z:-5.87 [[-6.58747885e-01 -7.52352091e-01 4.18995845e-03 5.58137352e+02] [ 7.52338192e-01 -6.58761195e-01 -4.57526054e-03 -2.56194743e+02] [ 6.20238887e-03 1.38322556e-04 9.99980755e-01 -5.87155368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters 0.05166206224537199 Centerline is valid? [True, True] Translation: X:558.10, Y:-256.15, Z:-5.87 [[-6.60013036e-01 -7.51243185e-01 4.05826263e-03 5.58097783e+02] [ 7.51230132e-01 -6.60025501e-01 -4.43013188e-03 -2.56154564e+02] [ 6.00666321e-03 1.24744379e-04 9.99981952e-01 -5.87269799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters 0.05219735814126581 Centerline is valid? [True, True] Translation: X:558.06, Y:-256.11, Z:-5.87 [[-6.61351857e-01 -7.50066776e-01 3.68140531e-03 5.58059612e+02] [ 7.50056023e-01 -6.61362095e-01 -4.01753785e-03 -2.56112789e+02] [ 5.44816359e-03 1.04254106e-04 9.99985153e-01 -5.87343792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters 0.05073129446758442 Centerline is valid? [True, True] Translation: X:558.03, Y:-256.07, Z:-5.87 [[-6.62762971e-01 -7.48819232e-01 3.87333152e-03 5.58025629e+02] [ 7.48807314e-01 -6.62774282e-01 -4.22585463e-03 -2.56066802e+02] [ 5.73154573e-03 9.96390069e-05 9.99983570e-01 -5.87208260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters 0.05019562879751235 Centerline is valid? [True, True] Translation: X:557.99, Y:-256.02, Z:-5.87 [[-6.64556025e-01 -7.47229253e-01 3.70599630e-03 5.57988806e+02] [ 7.47218321e-01 -6.64566353e-01 -4.04265010e-03 -2.56021142e+02] [ 5.48366686e-03 8.26208568e-05 9.99984961e-01 -5.87083469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters 0.051083131730846144 Centerline is valid? [True, True] Translation: X:557.95, Y:-255.98, Z:-5.87 [[-6.67724469e-01 -7.44399939e-01 3.57273407e-03 5.57951322e+02] [ 7.44389743e-01 -6.67734025e-01 -3.89640332e-03 -2.55978525e+02] [ 5.28611849e-03 5.77827626e-05 9.99986027e-01 -5.87080047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters 0.05078982593788781 Centerline is valid? [True, True] Translation: X:557.91, Y:-255.93, Z:-5.87 [[-6.72156835e-01 -7.40401077e-01 3.38158491e-03 5.57914977e+02] [ 7.40391895e-01 -6.72165340e-01 -3.68730495e-03 -2.55933529e+02] [ 5.00306873e-03 2.52508390e-05 9.99987484e-01 -5.87060437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters 0.05085109945594438 Centerline is valid? [True, True] Translation: X:557.88, Y:-255.89, Z:-5.87 [[-6.75450476e-01 -7.37398394e-01 3.20375219e-03 5.57878525e+02] [ 7.37390123e-01 -6.75458073e-01 -3.49258298e-03 -2.55890145e+02] [ 4.73942536e-03 3.34837953e-06 9.99988769e-01 -5.87090635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters 0.051169735112625334 Centerline is valid? [True, True] Translation: X:557.84, Y:-255.85, Z:-5.87 [[-6.77329171e-01 -7.35673616e-01 3.08625378e-03 5.57839821e+02] [ 7.35665926e-01 -6.77336202e-01 -3.36358759e-03 -2.55847327e+02] [ 4.56493406e-03 -7.80425010e-06 9.99989581e-01 -5.87053997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters 0.05036653533440924 Centerline is valid? [True, True] Translation: X:557.80, Y:-255.81, Z:-5.87 [[-6.76571054e-01 -7.36367973e-01 3.71717780e-03 5.57800339e+02] [ 7.36356836e-01 -6.76581265e-01 -4.04991935e-03 -2.55806677e+02] [ 5.49720376e-03 -2.88891950e-06 9.99984890e-01 -5.87113100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters 0.051498710160326526 Centerline is valid? [True, True] Translation: X:557.76, Y:-255.77, Z:-5.87 [[-6.75994265e-01 -7.36894956e-01 4.19241210e-03 5.57760044e+02] [ 7.36880808e-01 -6.76007266e-01 -4.56633674e-03 -2.55766453e+02] [ 6.19901155e-03 2.49056531e-06 9.99980786e-01 -5.87143247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters 0.05092117061486774 Centerline is valid? [True, True] Translation: X:557.72, Y:-255.73, Z:-5.87 [[-6.75731735e-01 -7.37137688e-01 3.82778378e-03 5.57720073e+02] [ 7.37125903e-01 -6.75742576e-01 -4.16823344e-03 -2.55726242e+02] [ 5.65915843e-03 4.95096186e-06 9.99983987e-01 -5.87308086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters 0.051175623548164864 Centerline is valid? [True, True] Translation: X:557.68, Y:-255.69, Z:-5.87 [[-6.74830172e-01 -7.37965372e-01 3.36871760e-03 5.57680156e+02] [ 7.37956261e-01 -6.74838580e-01 -3.66706716e-03 -2.55687384e+02] [ 4.97950918e-03 1.13186794e-05 9.99987602e-01 -5.87216836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters 0.050814496012421516 Centerline is valid? [True, True] Translation: X:557.64, Y:-255.65, Z:-5.87 [[-6.72108626e-01 -7.40445772e-01 3.17072720e-03 5.57639043e+02] [ 7.40437732e-01 -6.72116105e-01 -3.45063225e-03 -2.55646868e+02] [ 4.68610288e-03 2.85263563e-05 9.99989020e-01 -5.87068286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters 0.05089592720349337 Centerline is valid? [True, True] Translation: X:557.60, Y:-255.61, Z:-5.87 [[-6.69535122e-01 -7.42774446e-01 2.97367204e-03 5.57598671e+02] [ 7.42767401e-01 -6.69541724e-01 -3.23531083e-03 -2.55605613e+02] [ 4.39410372e-03 4.25924248e-05 9.99990345e-01 -5.87001563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters 0.05072966465585114 Centerline is valid? [True, True] Translation: X:557.55, Y:-255.57, Z:-5.87 [[-6.66247365e-01 -7.45722612e-01 3.49789470e-03 5.57554608e+02] [ 7.45712910e-01 -6.66256543e-01 -3.80457336e-03 -2.55568513e+02] [ 5.16765162e-03 7.36382607e-05 9.99986645e-01 -5.87235852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters 0.05116906469923481 Centerline is valid? [True, True] Translation: X:557.52, Y:-255.53, Z:-5.87 [[-6.64017971e-01 -7.47699343e-01 5.08202547e-03 5.57515756e+02] [ 7.47678933e-01 -6.64037405e-01 -5.52613937e-03 -2.55525490e+02] [ 7.50654579e-03 1.30267528e-04 9.99971817e-01 -5.87301998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters 0.05092307098177666 Centerline is valid? [True, True] Translation: X:557.48, Y:-255.48, Z:-5.87 [[-6.62772426e-01 -7.48795520e-01 6.16292824e-03 5.57476195e+02] [ 7.48765567e-01 -6.62801056e-01 -6.69977225e-03 -2.55483298e+02] [ 9.10155478e-03 1.74164148e-04 9.99958565e-01 -5.87392766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters 0.05061455100273276 Centerline is valid? [True, True] Translation: X:557.44, Y:-255.44, Z:-5.87 [[-6.63049651e-01 -7.48548450e-01 6.35436001e-03 5.57437896e+02] [ 7.48516615e-01 -6.63080075e-01 -6.90587260e-03 -2.55440300e+02] [ 9.38282974e-03 1.77407626e-04 9.99955965e-01 -5.87429448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters 0.05081235938731048 Centerline is valid? [True, True] Translation: X:557.40, Y:-255.40, Z:-5.87 [[-6.65620606e-01 -7.46262059e-01 6.49211768e-03 5.57401174e+02] [ 7.46228738e-01 -6.65652249e-01 -7.05362730e-03 -2.55396184e+02] [ 9.58534717e-03 1.49565109e-04 9.99954048e-01 -5.87391800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters 0.051383524059519604 Centerline is valid? [True, True] Translation: X:557.37, Y:-255.35, Z:-5.87 [[-6.70408492e-01 -7.41974972e-01 5.05915287e-03 5.57366499e+02] [ 7.41954626e-01 -6.70427577e-01 -5.49519065e-03 -2.55351658e+02] [ 7.46908953e-03 6.96393938e-05 9.99972104e-01 -5.87363117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters 0.0512574170599405 Centerline is valid? [True, True] Translation: X:557.33, Y:-255.30, Z:-5.87 [[-6.76029178e-01 -7.36863300e-01 4.12647931e-03 5.57332723e+02] [ 7.36849675e-01 -6.76041772e-01 -4.48092277e-03 -2.55304212e+02] [ 6.09149992e-03 1.13604081e-05 9.99981447e-01 -5.87296480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters 0.05120185319922234 Centerline is valid? [True, True] Translation: X:557.30, Y:-255.26, Z:-5.87 [[-6.80952124e-01 -7.32312392e-01 4.77132156e-03 5.57299860e+02] [ 7.32294074e-01 -6.80968839e-01 -5.17963491e-03 -2.55258276e+02] [ 7.04223213e-03 -3.30728874e-05 9.99975203e-01 -5.87482790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters 0.0513372740581428 Centerline is valid? [True, True] Translation: X:557.26, Y:-255.22, Z:-5.87 [[-6.81874409e-01 -7.31450323e-01 5.26446215e-03 5.57261056e+02] [ 7.31428012e-01 -6.81894730e-01 -5.71314840e-03 -2.55217045e+02] [ 7.76869324e-03 -4.50746065e-05 9.99969822e-01 -5.87438929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters 0.051485918770278305 Centerline is valid? [True, True] Translation: X:557.22, Y:-255.18, Z:-5.87 [[-6.81546894e-01 -7.31750620e-01 5.90445002e-03 5.57221032e+02] [ 7.31722582e-01 -6.81572468e-01 -6.40586038e-03 -2.55176336e+02] [ 8.71180287e-03 -4.54748331e-05 9.99962051e-01 -5.87390325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters 0.05168295070315194 Centerline is valid? [True, True] Translation: X:557.18, Y:-255.14, Z:-5.87 [[-6.81774876e-01 -7.31528462e-01 7.00914401e-03 5.57181560e+02] [ 7.31488961e-01 -6.81810902e-01 -7.60220312e-03 -2.55135104e+02] [ 1.03401388e-02 -5.58796161e-05 9.99946538e-01 -5.87188096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters 0.051801596839155924 Centerline is valid? [True, True] Translation: X:557.15, Y:-255.09, Z:-5.87 [[-6.84294637e-01 -7.29171275e-01 7.07829599e-03 5.57145247e+02] [ 7.29130884e-01 -6.84331239e-01 -7.67526550e-03 -2.55091207e+02] [ 1.04404822e-02 -9.11388042e-05 9.99945493e-01 -5.87393415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters 0.051456973857117665 Centerline is valid? [True, True] Translation: X:557.11, Y:-255.05, Z:-5.87 [[-6.86652014e-01 -7.26964597e-01 5.61121028e-03 5.57105187e+02] [ 7.26939154e-01 -6.86674934e-01 -6.08297537e-03 -2.55049806e+02] [ 8.27518519e-03 -9.78788411e-05 9.99965755e-01 -5.87128802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters 0.051703824107673636 Centerline is valid? [True, True] Translation: X:557.07, Y:-255.01, Z:-5.87 [[-6.87141990e-01 -7.26513373e-01 3.76877603e-03 5.57066214e+02] [ 7.26501893e-01 -6.87152322e-01 -4.08477550e-03 -2.55008099e+02] [ 5.55736723e-03 -6.87978503e-05 9.99984555e-01 -5.87013634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters 0.05155306127030253 Centerline is valid? [True, True] Translation: X:557.03, Y:-254.97, Z:-5.87 [[-6.86046886e-01 -7.27548746e-01 3.53435944e-03 5.57026531e+02] [ 7.27538669e-01 -6.86055988e-01 -3.82967396e-03 -2.54969891e+02] [ 5.21104294e-03 -5.59527326e-05 9.99986421e-01 -5.86906462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters 0.05139485759211802 Centerline is valid? [True, True] Translation: X:556.98, Y:-254.93, Z:-5.87 [[-6.82074110e-01 -7.31277354e-01 2.88790027e-03 5.56982725e+02] [ 7.31270662e-01 -6.82080223e-01 -3.12860235e-03 -2.54931927e+02] [ 4.25765571e-03 -2.21019225e-05 9.99990936e-01 -5.86941359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters 0.05112947170025414 Centerline is valid? [True, True] Translation: X:556.94, Y:-254.90, Z:-5.87 [[-6.77044456e-01 -7.35933501e-01 3.56183167e-03 5.56940381e+02] [ 7.35923392e-01 -6.77053825e-01 -3.85735167e-03 -2.54895712e+02] [ 5.25030608e-03 9.63668456e-06 9.99986217e-01 -5.87031312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters 0.05101260759104377 Centerline is valid? [True, True] Translation: X:556.90, Y:-254.86, Z:-5.87 [[-6.72553117e-01 -7.40044397e-01 2.56821330e-03 5.56897714e+02] [ 7.40039174e-01 -6.72558020e-01 -2.78053922e-03 -2.54856467e+02] [ 3.78499492e-03 3.05181253e-05 9.99992836e-01 -5.86847018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters 0.051867326029983424 Centerline is valid? [True, True] Translation: X:556.86, Y:-254.82, Z:-5.87 [[-6.70705065e-01 -7.41721277e-01 2.06463464e-03 5.56856097e+02] [ 7.41717912e-01 -6.70708242e-01 -2.23469001e-03 -2.54817718e+02] [ 3.04228459e-03 3.25585885e-05 9.99995372e-01 -5.86804393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters 0.05121350994943159 Centerline is valid? [True, True] Translation: X:556.82, Y:-254.77, Z:-5.87 [[-6.70658293e-01 -7.41764977e-01 1.47419086e-03 5.56816619e+02] [ 7.41763262e-01 -6.70659913e-01 -1.59518995e-03 -2.54774668e+02] [ 2.17193675e-03 2.36732556e-05 9.99997641e-01 -5.86753916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters 0.05091816953610984 Centerline is valid? [True, True] Translation: X:556.78, Y:-254.73, Z:-5.87 [[-6.71604981e-01 -7.40907119e-01 1.84130218e-03 5.56778021e+02] [ 7.40904442e-01 -6.71607505e-01 -1.99197378e-03 -2.54733529e+02] [ 2.71249991e-03 2.64094459e-05 9.99996321e-01 -5.86791119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters 0.0513260891456003 Centerline is valid? [True, True] Translation: X:556.74, Y:-254.69, Z:-5.87 [[-6.73683708e-01 -7.39013861e-01 2.96234417e-03 5.56739771e+02] [ 7.39006916e-01 -6.73690220e-01 -3.20394940e-03 -2.54689578e+02] [ 4.36346531e-03 3.07443134e-05 9.99990480e-01 -5.86897722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters 0.05166008993590873 Centerline is valid? [True, True] Translation: X:556.70, Y:-254.65, Z:-5.87 [[-6.74817198e-01 -7.37972125e-01 4.34657365e-03 5.56701357e+02] [ 7.37957161e-01 -6.74831195e-01 -4.69974300e-03 -2.54647848e+02] [ 6.40148282e-03 3.61177529e-05 9.99979510e-01 -5.87163912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters 0.051273158006821494 Centerline is valid? [True, True] Translation: X:556.66, Y:-254.60, Z:-5.87 [[-6.75193202e-01 -7.37624198e-01 4.96815561e-03 5.56664614e+02] [ 7.37604648e-01 -6.75211478e-01 -5.37049019e-03 -2.54603055e+02] [ 7.31595921e-03 3.84162051e-05 9.99973237e-01 -5.87055268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters 0.05098771543795133 Centerline is valid? [True, True] Translation: X:556.63, Y:-254.56, Z:-5.87 [[-6.75825394e-01 -7.37042999e-01 5.25872769e-03 5.56628674e+02] [ 7.37021091e-01 -6.75845853e-01 -5.68279519e-03 -2.54559128e+02] [ 7.74255370e-03 3.52159229e-05 9.99970025e-01 -5.87200184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters 0.05150591579162539 Centerline is valid? [True, True] Translation: X:556.59, Y:-254.51, Z:-5.87 [[-6.77035973e-01 -7.35936114e-01 4.50847427e-03 5.56593394e+02] [ 7.35919997e-01 -6.77050984e-01 -4.87059386e-03 -2.54513247e+02] [ 6.63691287e-03 2.03091153e-05 9.99977975e-01 -5.87125481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters 0.05111951601346761 Centerline is valid? [True, True] Translation: X:556.56, Y:-254.47, Z:-5.87 [[-6.79006760e-01 -7.34124004e-01 3.43023420e-03 5.56558810e+02] [ 7.34114656e-01 -6.79015425e-01 -3.70475222e-03 -2.54466079e+02] [ 5.04892946e-03 2.63339984e-06 9.99987254e-01 -5.87034779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters 0.05175164684184969 Centerline is valid? [True, True] Translation: X:556.52, Y:-254.42, Z:-5.87 [[-6.80142434e-01 -7.33073979e-01 2.96826750e-03 5.56523223e+02] [ 7.33066974e-01 -6.80148911e-01 -3.20479512e-03 -2.54421969e+02] [ 4.36821582e-03 -3.77828192e-06 9.99990459e-01 -5.87089509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters 0.05070390431918277 Centerline is valid? [True, True] Translation: X:556.49, Y:-254.38, Z:-5.87 [[-6.80621889e-01 -7.32625651e-01 3.67424124e-03 5.56486038e+02] [ 7.32614917e-01 -6.80631806e-01 -3.96595101e-03 -2.54377012e+02] [ 5.40636289e-03 -7.50913037e-06 9.99985386e-01 -5.86933585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters 0.051173023715965965 Centerline is valid? [True, True] Translation: X:556.45, Y:-254.33, Z:-5.87 [[-6.79937004e-01 -7.33258112e-01 4.26740815e-03 5.56448834e+02] [ 7.33243654e-01 -6.79950396e-01 -4.60473411e-03 -2.54334777e+02] [ 6.27808450e-03 -1.87916990e-06 9.99980293e-01 -5.86832293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters 0.05128040598811377 Centerline is valid? [True, True] Translation: X:556.41, Y:-254.29, Z:-5.87 [[-6.78244978e-01 -7.34824257e-01 4.13052377e-03 5.56410740e+02] [ 7.34810746e-01 -6.78257556e-01 -4.45601967e-03 -2.54290974e+02] [ 6.07595030e-03 1.28802855e-05 9.99981541e-01 -5.86848696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters 0.04990284109326427 Centerline is valid? [True, True] Translation: X:556.37, Y:-254.25, Z:-5.87 [[-6.76318303e-01 -7.36599833e-01 3.77347120e-03 5.56371036e+02] [ 7.36588591e-01 -6.76328829e-01 -4.06980774e-03 -2.54250715e+02] [ 5.54992706e-03 2.70103737e-05 9.99984599e-01 -5.86990590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters 0.051193107280785494 Centerline is valid? [True, True] Translation: X:556.33, Y:-254.21, Z:-5.87 [[-6.74225106e-01 -7.38513194e-01 4.33235732e-03 5.56331855e+02] [ 7.38498421e-01 -6.74239023e-01 -4.67135834e-03 -2.54208377e+02] [ 6.37090413e-03 4.98919723e-05 9.99979704e-01 -5.87032628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters 0.050762662334934955 Centerline is valid? [True, True] Translation: X:556.29, Y:-254.17, Z:-5.87 [[-6.71000508e-01 -7.41442059e-01 4.68943819e-03 5.56292229e+02] [ 7.41424832e-01 -6.71016889e-01 -5.05504412e-03 -2.54166275e+02] [ 6.89471455e-03 8.49287505e-05 9.99976228e-01 -5.87010580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters 0.05059126306279813 Centerline is valid? [True, True] Translation: X:556.25, Y:-254.13, Z:-5.87 [[-6.69601031e-01 -7.42707164e-01 4.53087761e-03 5.56250403e+02] [ 7.42691119e-01 -6.69616353e-01 -4.88278387e-03 -2.54126844e+02] [ 6.66042830e-03 9.55254504e-05 9.99977815e-01 -5.87160112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters 0.05044298503666536 Centerline is valid? [True, True] Translation: X:556.21, Y:-254.08, Z:-5.87 [[-6.69650288e-01 -7.42668340e-01 3.49709707e-03 5.56214668e+02] [ 7.42658786e-01 -6.69659415e-01 -3.76773864e-03 -2.54080689e+02] [ 5.14004418e-03 7.40825982e-05 9.99986787e-01 -5.86912176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters 0.05050060482369141 Centerline is valid? [True, True] Translation: X:556.17, Y:-254.04, Z:-5.87 [[-6.70290360e-01 -7.42092541e-01 3.08136951e-03 5.56174445e+02] [ 7.42085121e-01 -6.70297440e-01 -3.31897043e-03 -2.54040467e+02] [ 4.52841729e-03 6.19645797e-05 9.99989745e-01 -5.86899723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters 0.05017486897380394 Centerline is valid? [True, True] Translation: X:556.13, Y:-254.00, Z:-5.87 [[-6.70831499e-01 -7.41603304e-01 3.10466959e-03 5.56134486e+02] [ 7.41595772e-01 -6.70838681e-01 -3.34306349e-03 -2.54001288e+02] [ 4.56195938e-03 5.97775482e-05 9.99989592e-01 -5.86984822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters 0.05098375462309593 Centerline is valid? [True, True] Translation: X:556.09, Y:-253.96, Z:-5.87 [[-6.70788996e-01 -7.41641274e-01 3.21612115e-03 5.56093426e+02] [ 7.41633196e-01 -6.70796703e-01 -3.46195059e-03 -2.53964074e+02] [ 4.72488891e-03 6.29438487e-05 9.99988836e-01 -5.87167770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters 0.05105058913861428 Centerline is valid? [True, True] Translation: X:556.06, Y:-253.92, Z:-5.87 [[-6.70466376e-01 -7.41931402e-01 3.55437928e-03 5.56055026e+02] [ 7.41921545e-01 -6.70475794e-01 -3.82499521e-03 -2.53921615e+02] [ 5.22100932e-03 7.25398861e-05 9.99986368e-01 -5.87175555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters 0.05067188174968521 Centerline is valid? [True, True] Translation: X:556.02, Y:-253.88, Z:-5.87 [[-6.71248362e-01 -7.41214787e-01 5.12612721e-03 5.56017327e+02] [ 7.41194277e-01 -6.71267928e-01 -5.51484121e-03 -2.53879164e+02] [ 7.52868664e-03 9.76280223e-05 9.99971654e-01 -5.87255077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters 0.05109411482510731 Centerline is valid? [True, True] Translation: X:555.98, Y:-253.84, Z:-5.87 [[-6.71754861e-01 -7.40753306e-01 5.47236958e-03 5.55978534e+02] [ 7.40729928e-01 -6.71777143e-01 -5.88581707e-03 -2.53835742e+02] [ 8.03615125e-03 9.97216979e-05 9.99967705e-01 -5.87298134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters 0.051100358540776915 Centerline is valid? [True, True] Translation: X:555.94, Y:-253.79, Z:-5.87 [[-6.73580391e-01 -7.39089373e-01 6.02952595e-03 5.55940445e+02] [ 7.39060941e-01 -6.73607371e-01 -6.48338939e-03 -2.53792452e+02] [ 8.85333732e-03 8.91031615e-05 9.99960804e-01 -5.87296219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters 0.05053724978219148 Centerline is valid? [True, True] Translation: X:555.90, Y:-253.75, Z:-5.87 [[-6.74999522e-01 -7.37798111e-01 5.43992124e-03 5.55901917e+02] [ 7.37774935e-01 -6.75021439e-01 -5.84829493e-03 -2.53749899e+02] [ 7.98692441e-03 6.58412536e-05 9.99968102e-01 -5.87277541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters 0.05065710074215313 Centerline is valid? [True, True] Translation: X:555.87, Y:-253.71, Z:-5.87 [[-6.77299227e-01 -7.35696167e-01 4.11166829e-03 5.55865278e+02] [ 7.35682895e-01 -6.77311707e-01 -4.41918136e-03 -2.53705270e+02] [ 6.03605586e-03 3.17759112e-05 9.99981782e-01 -5.87058793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters 0.050462307438110754 Centerline is valid? [True, True] Translation: X:555.83, Y:-253.66, Z:-5.87 [[-6.78692492e-01 -7.34413612e-01 3.62599587e-03 5.55827552e+02] [ 7.34403278e-01 -6.78702178e-01 -3.89603421e-03 -2.53662575e+02] [ 5.32227185e-03 1.87340870e-05 9.99985836e-01 -5.87008245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters 0.05073609128285693 Centerline is valid? [True, True] Translation: X:555.79, Y:-253.62, Z:-5.87 [[-6.79492816e-01 -7.33674722e-01 3.30375906e-03 5.55788629e+02] [ 7.33666138e-01 -6.79500848e-01 -3.54898553e-03 -2.53622125e+02] [ 4.84870805e-03 1.23459815e-05 9.99988245e-01 -5.87104477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters 0.0506506105831018 Centerline is valid? [True, True] Translation: X:555.75, Y:-253.58, Z:-5.87 [[-6.79158917e-01 -7.33983504e-01 3.37351360e-03 5.55749140e+02] [ 7.33974564e-01 -6.79167295e-01 -3.62278369e-03 -2.53581434e+02] [ 4.95024357e-03 1.56273269e-05 9.99987747e-01 -5.87139315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters 0.05038609870906845 Centerline is valid? [True, True] Translation: X:555.71, Y:-253.54, Z:-5.87 [[-6.79038624e-01 -7.34093879e-01 3.56709668e-03 5.55710659e+02] [ 7.34083891e-01 -6.79047993e-01 -3.82941986e-03 -2.53541419e+02] [ 5.23338352e-03 1.82242202e-05 9.99986306e-01 -5.87211408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters 0.050674858673485076 Centerline is valid? [True, True] Translation: X:555.67, Y:-253.50, Z:-5.87 [[-6.79389320e-01 -7.33765654e-01 4.25636983e-03 5.55671255e+02] [ 7.33751435e-01 -6.79402652e-01 -4.56811682e-03 -2.53499745e+02] [ 6.24371618e-03 1.95876920e-05 9.99980508e-01 -5.87218133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters 0.05030810577011437 Centerline is valid? [True, True] Translation: X:555.63, Y:-253.46, Z:-5.87 [[-6.80220310e-01 -7.32995552e-01 4.22501351e-03 5.55631949e+02] [ 7.32981535e-01 -6.80233431e-01 -4.53313233e-03 -2.53458763e+02] [ 6.19676127e-03 1.33282072e-05 9.99980800e-01 -5.87322347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters 0.05018160023668312 Centerline is valid? [True, True] Translation: X:555.59, Y:-253.42, Z:-5.87 [[-6.81616656e-01 -7.31697548e-01 4.17525959e-03 5.55593847e+02] [ 7.31683843e-01 -6.81629444e-01 -4.47836421e-03 -2.53417796e+02] [ 6.12278798e-03 2.44234568e-06 9.99981256e-01 -5.87341089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters 0.051118400824301975 Centerline is valid? [True, True] Translation: X:555.56, Y:-253.38, Z:-5.87 [[-6.84218841e-01 -7.29266937e-01 3.78312706e-03 5.55555368e+02] [ 7.29255656e-01 -6.84229299e-01 -4.05646588e-03 -2.53376300e+02] [ 5.54677283e-03 -1.66435754e-05 9.99984616e-01 -5.87354584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters 0.05036576142034347 Centerline is valid? [True, True] Translation: X:555.52, Y:-253.34, Z:-5.87 [[-6.85664770e-01 -7.27909000e-01 3.50877863e-03 5.55516038e+02] [ 7.27899283e-01 -6.85673747e-01 -3.76115413e-03 -2.53335377e+02] [ 5.14365533e-03 -2.48534269e-05 9.99986771e-01 -5.87224600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters 0.05054262944433524 Centerline is valid? [True, True] Translation: X:555.48, Y:-253.29, Z:-5.87 [[-6.87886440e-01 -7.25811544e-01 3.13823080e-03 5.55477525e+02] [ 7.25803753e-01 -6.87893597e-01 -3.36305467e-03 -2.53293285e+02] [ 4.59971278e-03 -3.56600139e-05 9.99989421e-01 -5.87276697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters 0.05040362020709345 Centerline is valid? [True, True] Translation: X:555.44, Y:-253.25, Z:-5.87 [[-6.89052809e-01 -7.24706117e-01 2.69657577e-03 5.55439647e+02] [ 7.24700359e-01 -6.89058084e-01 -2.88900970e-03 -2.53253163e+02] [ 3.95178033e-03 -3.64708188e-05 9.99992191e-01 -5.87271105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters 0.05121965771018027 Centerline is valid? [True, True] Translation: X:555.40, Y:-253.22, Z:-5.87 [[-6.89472242e-01 -7.24307561e-01 2.56606654e-03 5.55397391e+02] [ 7.24302348e-01 -6.89477016e-01 -2.74823866e-03 -2.53216378e+02] [ 3.75981394e-03 -3.62262487e-05 9.99992931e-01 -5.87191062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters 0.05040923123533007 Centerline is valid? [True, True] Translation: X:555.36, Y:-253.18, Z:-5.87 [[-6.89022422e-01 -7.24735060e-01 2.68241678e-03 5.55357503e+02] [ 7.24729370e-01 -6.89027643e-01 -2.87204016e-03 -2.53175132e+02] [ 3.92972751e-03 -3.48738459e-05 9.99992278e-01 -5.87296761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters 0.051084935128051456 Centerline is valid? [True, True] Translation: X:555.32, Y:-253.13, Z:-5.87 [[-6.88311112e-01 -7.25410026e-01 2.84731815e-03 5.55319805e+02] [ 7.25403625e-01 -6.88317000e-01 -3.04753629e-03 -2.53134690e+02] [ 4.17057087e-03 -3.21981810e-05 9.99991303e-01 -5.87413697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters 0.051054325737640745 Centerline is valid? [True, True] Translation: X:555.28, Y:-253.10, Z:-5.87 [[-6.85949299e-01 -7.27640990e-01 3.48562951e-03 5.55277086e+02] [ 7.27631432e-01 -6.85958155e-01 -3.72960631e-03 -2.53096832e+02] [ 5.10481041e-03 -2.20672410e-05 9.99986970e-01 -5.87369263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters 0.05102442549877004 Centerline is valid? [True, True] Translation: X:555.24, Y:-253.06, Z:-5.88 [[-6.83536021e-01 -7.29905232e-01 4.10599361e-03 5.55235739e+02] [ 7.29892019e-01 -6.83548354e-01 -4.39200348e-03 -2.53058198e+02] [ 6.01239149e-03 -5.16062037e-06 9.99981925e-01 -5.87525298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters 0.05105204497522023 Centerline is valid? [True, True] Translation: X:555.20, Y:-253.02, Z:-5.88 [[-6.82215414e-01 -7.31140719e-01 3.92155089e-03 5.55195268e+02] [ 7.31128693e-01 -6.82226685e-01 -4.19340449e-03 -2.53018727e+02] [ 5.74135543e-03 6.35320072e-06 9.99983518e-01 -5.87746660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters 0.05058203874405995 Centerline is valid? [True, True] Translation: X:555.16, Y:-252.98, Z:-5.88 [[-6.82277007e-01 -7.31086344e-01 3.29287107e-03 5.55155977e+02] [ 7.31077869e-01 -6.82284954e-01 -3.52011493e-03 -2.52977006e+02] [ 4.82018434e-03 5.65168527e-06 9.99988383e-01 -5.87507677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters 0.050854493957254054 Centerline is valid? [True, True] Translation: X:555.12, Y:-252.94, Z:-5.87 [[-6.83005769e-01 -7.30408203e-01 2.64126405e-03 5.55116955e+02] [ 7.30402749e-01 -6.83010876e-01 -2.82269584e-03 -2.52935632e+02] [ 3.86573227e-03 1.26897930e-06 9.99992528e-01 -5.87474368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters 0.050536557328374566 Centerline is valid? [True, True] Translation: X:555.08, Y:-252.89, Z:-5.88 [[-6.84244314e-01 -7.29248417e-01 2.54270498e-03 5.55078858e+02] [ 7.29243357e-01 -6.84249039e-01 -2.71651327e-03 -2.52894238e+02] [ 3.72085644e-03 -4.50804170e-06 9.99993078e-01 -5.87500010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters 0.0508895381077493 Centerline is valid? [True, True] Translation: X:555.04, Y:-252.85, Z:-5.88 [[-6.84968304e-01 -7.28566927e-01 2.94210996e-03 5.55042122e+02] [ 7.28560151e-01 -6.84974622e-01 -3.14207663e-03 -2.52853712e+02] [ 4.30448377e-03 -8.71882447e-06 9.99990736e-01 -5.87620632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters 0.05098571506617711 Centerline is valid? [True, True] Translation: X:555.00, Y:-252.81, Z:-5.88 [[-6.84968155e-01 -7.28562677e-01 3.87961668e-03 5.55003230e+02] [ 7.28550903e-01 -6.84979142e-01 -4.14199191e-03 -2.52813399e+02] [ 5.67515722e-03 -1.06343216e-05 9.99983896e-01 -5.87729757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters 0.05074784955674186 Centerline is valid? [True, True] Translation: X:554.96, Y:-252.77, Z:-5.88 [[-6.84775685e-01 -7.28736416e-01 5.04941743e-03 5.54964217e+02] [ 7.28716489e-01 -6.84794302e-01 -5.38920596e-03 -2.52772306e+02] [ 7.38512292e-03 -1.08034622e-05 9.99972730e-01 -5.87911002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters 0.0509593412158687 Centerline is valid? [True, True] Translation: X:554.93, Y:-252.73, Z:-5.88 [[-6.85004290e-01 -7.28509097e-01 6.60435508e-03 5.54926634e+02] [ 7.28475017e-01 -6.85036127e-01 -7.04657736e-03 -2.52729889e+02] [ 9.65771753e-03 -1.58280374e-05 9.99953363e-01 -5.88130560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters 0.051405565506971874 Centerline is valid? [True, True] Translation: X:554.89, Y:-252.69, Z:-5.88 [[-6.85622713e-01 -7.27925058e-01 6.82682292e-03 5.54891325e+02] [ 7.27888636e-01 -6.85656699e-01 -7.28178800e-03 -2.52688013e+02] [ 9.98145283e-03 -2.33924143e-05 9.99950184e-01 -5.88055384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters 0.051056602816951 Centerline is valid? [True, True] Translation: X:554.86, Y:-252.65, Z:-5.88 [[-6.86064899e-01 -7.27516773e-01 5.85664372e-03 5.54855134e+02] [ 7.27489970e-01 -6.86089896e-01 -6.24484347e-03 -2.52646340e+02] [ 8.56141245e-03 -2.37183354e-05 9.99963350e-01 -5.87949319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters 0.05105568286200073 Centerline is valid? [True, True] Translation: X:554.82, Y:-252.60, Z:-5.87 [[-6.85691768e-01 -7.27881911e-01 3.83708938e-03 5.54816568e+02] [ 7.27870418e-01 -6.85702504e-01 -4.09034156e-03 -2.52603299e+02] [ 5.60838743e-03 -1.18096827e-05 9.99984273e-01 -5.87478656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters 0.050735104341830706 Centerline is valid? [True, True] Translation: X:554.78, Y:-252.56, Z:-5.88 [[-6.82417666e-01 -7.30953461e-01 3.62856218e-03 5.54776988e+02] [ 7.30943233e-01 -6.82427313e-01 -3.86683926e-03 -2.52563062e+02] [ 5.30270948e-03 1.34735460e-05 9.99985940e-01 -5.87600455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters 0.05086446575823179 Centerline is valid? [True, True] Translation: X:554.74, Y:-252.52, Z:-5.87 [[-6.80894720e-01 -7.32372395e-01 3.61313339e-03 5.54738311e+02] [ 7.32362281e-01 -6.80904306e-01 -3.84916064e-03 -2.52522658e+02] [ 5.27921708e-03 2.52494540e-05 9.99986065e-01 -5.87460388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters 0.05079831019072694 Centerline is valid? [True, True] Translation: X:554.70, Y:-252.48, Z:-5.88 [[-6.75419175e-01 -7.37419892e-01 4.56518278e-03 5.54696936e+02] [ 7.37403868e-01 -6.75434598e-01 -4.86202081e-03 -2.52482485e+02] [ 6.66883326e-03 8.24813598e-05 9.99977760e-01 -5.87527062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters 0.050327661958297736 Centerline is valid? [True, True] Translation: X:554.66, Y:-252.44, Z:-5.88 [[-6.71042912e-01 -7.41397434e-01 5.59072135e-03 5.54656705e+02] [ 7.41373552e-01 -6.71066184e-01 -5.95263643e-03 -2.52441389e+02] [ 8.16501342e-03 1.50338461e-04 9.99966654e-01 -5.87567724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters 0.05078425153209226 Centerline is valid? [True, True] Translation: X:554.62, Y:-252.40, Z:-5.88 [[-6.69149628e-01 -7.43102526e-01 6.11645853e-03 5.54616271e+02] [ 7.43074027e-01 -6.69177555e-01 -6.51078236e-03 -2.52399383e+02] [ 8.93117558e-03 1.88293870e-04 9.99960099e-01 -5.87628782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters 0.0509657067500078 Centerline is valid? [True, True] Translation: X:554.57, Y:-252.36, Z:-5.88 [[-6.68130212e-01 -7.44013396e-01 6.78866250e-03 5.54574107e+02] [ 7.43978347e-01 -6.68164663e-01 -7.22518066e-03 -2.52360304e+02] [ 9.91157559e-03 2.23256418e-04 9.99950854e-01 -5.87866587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters 0.04978928448997999 Centerline is valid? [True, True] Translation: X:554.54, Y:-252.31, Z:-5.88 [[-6.69313827e-01 -7.42950049e-01 6.65022524e-03 5.54537217e+02] [ 7.42916373e-01 -6.69346833e-01 -7.07670129e-03 -2.52314863e+02] [ 9.70894278e-03 2.04027192e-04 9.99952846e-01 -5.87702857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters 0.04972355797279258 Centerline is valid? [True, True] Translation: X:554.50, Y:-252.27, Z:-5.87 [[-6.73385816e-01 -7.39273842e-01 5.07243329e-03 5.54501482e+02] [ 7.39254155e-01 -6.73404910e-01 -5.39639247e-03 -2.52269227e+02] [ 7.40521328e-03 1.15963234e-04 9.99972574e-01 -5.87493728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters 0.04994743116622263 Centerline is valid? [True, True] Translation: X:554.46, Y:-252.23, Z:-5.88 [[-6.78898380e-01 -7.34221198e-01 4.02762529e-03 5.54463915e+02] [ 7.34208704e-01 -6.78910325e-01 -4.28365324e-03 -2.52227148e+02] [ 5.87954541e-03 4.89522905e-05 9.99982714e-01 -5.87582060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters 0.050550727155056964 Centerline is valid? [True, True] Translation: X:554.43, Y:-252.18, Z:-5.87 [[-6.83826102e-01 -7.29632945e-01 4.19864634e-03 5.54428734e+02] [ 7.29619287e-01 -6.83838991e-01 -4.46433275e-03 -2.52181313e+02] [ 6.12852233e-03 1.05860821e-05 9.99981220e-01 -5.87486682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters 0.05075124346828903 Centerline is valid? [True, True] Translation: X:554.39, Y:-252.14, Z:-5.88 [[-6.86382588e-01 -7.27222496e-01 5.13654821e-03 5.54391085e+02] [ 7.27201999e-01 -6.86401808e-01 -5.46000471e-03 -2.52138368e+02] [ 7.49637423e-03 -1.23440463e-05 9.99971902e-01 -5.87581572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters 0.051116231517204215 Centerline is valid? [True, True] Translation: X:554.35, Y:-252.10, Z:-5.88 [[-6.87560061e-01 -7.26105126e-01 5.70164395e-03 5.54350077e+02] [ 7.26079845e-01 -6.87583701e-01 -6.05909790e-03 -2.52097707e+02] [ 8.31989950e-03 -2.61449663e-05 9.99965389e-01 -5.87645774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters 0.05092772698025681 Centerline is valid? [True, True] Translation: X:554.31, Y:-252.06, Z:-5.88 [[-6.88291766e-01 -7.25406958e-01 6.26022281e-03 5.54310517e+02] [ 7.25376468e-01 -6.88320234e-01 -6.65094574e-03 -2.52055755e+02] [ 9.13368034e-03 -3.67728800e-05 9.99958286e-01 -5.87593016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters 0.05115362109322419 Centerline is valid? [True, True] Translation: X:554.27, Y:-252.02, Z:-5.88 [[-6.89709131e-01 -7.24058670e-01 6.35274584e-03 5.54271628e+02] [ 7.24027229e-01 -6.89738385e-01 -6.74769754e-03 -2.52015361e+02] [ 9.26746156e-03 -5.43876348e-05 9.99957055e-01 -5.87698274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters 0.051061245759899454 Centerline is valid? [True, True] Translation: X:554.23, Y:-251.98, Z:-5.88 [[-6.90617809e-01 -7.23193173e-01 6.21904182e-03 5.54230491e+02] [ 7.23163024e-01 -6.90645807e-01 -6.60379630e-03 -2.51975315e+02] [ 9.07097556e-03 -6.33182432e-05 9.99958856e-01 -5.87639983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters 0.051375802209044405 Centerline is valid? [True, True] Translation: X:554.19, Y:-251.94, Z:-5.88 [[-6.90948764e-01 -7.22880503e-01 5.79519006e-03 5.54190669e+02] [ 7.22854329e-01 -6.90973064e-01 -6.15175950e-03 -2.51935470e+02] [ 8.45130724e-03 -6.14723988e-05 9.99964285e-01 -5.87608547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters 0.05139463356647991 Centerline is valid? [True, True] Translation: X:554.15, Y:-251.90, Z:-5.88 [[-6.91036133e-01 -7.22799361e-01 5.49067170e-03 5.54151199e+02] [ 7.22775877e-01 -6.91057943e-01 -5.82665944e-03 -2.51895161e+02] [ 8.00587801e-03 -5.79071550e-05 9.99967951e-01 -5.87666985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters 0.051607193069867725 Centerline is valid? [True, True] Translation: X:554.11, Y:-251.86, Z:-5.88 [[-6.91267257e-01 -7.22580612e-01 5.18052846e-03 5.54110043e+02] [ 7.22559714e-01 -6.91286667e-01 -5.49585687e-03 -2.51855957e+02] [ 7.55242987e-03 -5.58647430e-05 9.99971478e-01 -5.87574445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters 0.05145194107426327 Centerline is valid? [True, True] Translation: X:554.07, Y:-251.82, Z:-5.88 [[-6.91411564e-01 -7.22449232e-01 4.14204837e-03 5.54069575e+02] [ 7.22435879e-01 -6.91423969e-01 -4.39275398e-03 -2.51816446e+02] [ 6.03745327e-03 -4.48365464e-05 9.99981773e-01 -5.87551802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters 0.05204851601357956 Centerline is valid? [True, True] Translation: X:554.03, Y:-251.78, Z:-5.88 [[-6.91846444e-01 -7.22034413e-01 3.84764085e-03 5.54031476e+02] [ 7.22022892e-01 -6.91857141e-01 -4.07909622e-03 -2.51776097e+02] [ 5.60726565e-03 -4.40234419e-05 9.99984278e-01 -5.87614166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters 0.05182337736375495 Centerline is valid? [True, True] Translation: X:553.99, Y:-251.74, Z:-5.87 [[-6.92265354e-01 -7.21632771e-01 3.85002780e-03 5.53990439e+02] [ 7.21621238e-01 -6.92276059e-01 -4.08014231e-03 -2.51739281e+02] [ 5.60964647e-03 -4.62793406e-05 9.99984265e-01 -5.87420738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters 0.05186915533924178 Centerline is valid? [True, True] Translation: X:553.95, Y:-251.70, Z:-5.87 [[-6.92517899e-01 -7.21388334e-01 4.22277439e-03 5.53950145e+02] [ 7.21374463e-01 -6.92530771e-01 -4.47387446e-03 -2.51698234e+02] [ 6.15180205e-03 -5.20365308e-05 9.99981076e-01 -5.87435015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters 0.05123268225360748 Centerline is valid? [True, True] Translation: X:553.91, Y:-251.66, Z:-5.88 [[-6.92040709e-01 -7.21841719e-01 4.91825236e-03 5.53909375e+02] [ 7.21822926e-01 -6.92058183e-01 -5.20902302e-03 -2.51659118e+02] [ 7.16380692e-03 -5.47486712e-05 9.99974338e-01 -5.87562040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters 0.05110232777417217 Centerline is valid? [True, True] Translation: X:553.87, Y:-251.62, Z:-5.88 [[-6.90786902e-01 -7.23037875e-01 5.44862110e-03 5.53868762e+02] [ 7.23014860e-01 -6.90808388e-01 -5.76912213e-03 -2.51618991e+02] [ 7.93524696e-03 -4.57999786e-05 9.99968514e-01 -5.87591288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters 0.05180449360096428 Centerline is valid? [True, True] Translation: X:553.83, Y:-251.58, Z:-5.87 [[-6.90012419e-01 -7.23778251e-01 5.28250131e-03 5.53827596e+02] [ 7.23756653e-01 -6.90032638e-01 -5.59154676e-03 -2.51578648e+02] [ 7.69213825e-03 -3.49912396e-05 9.99970414e-01 -5.87488185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters 0.05101217914293601 Centerline is valid? [True, True] Translation: X:553.79, Y:-251.54, Z:-5.88 [[-6.88141168e-01 -7.25557217e-01 5.33461589e-03 5.53787228e+02] [ 7.25535256e-01 -6.88161845e-01 -5.64511414e-03 -2.51537484e+02] [ 7.76693241e-03 -1.41835327e-05 9.99969837e-01 -5.87551977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters 0.05141084037982282 Centerline is valid? [True, True] Translation: X:553.75, Y:-251.50, Z:-5.87 [[-6.86076095e-01 -7.27516159e-01 4.45306592e-03 5.53746441e+02] [ 7.27500907e-01 -6.86090546e-01 -4.71082921e-03 -2.51497113e+02] [ 6.48241080e-03 7.62218784e-06 9.99978989e-01 -5.87428722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters 0.05141496270790235 Centerline is valid? [True, True] Translation: X:553.71, Y:-251.46, Z:-5.87 [[-6.84937113e-01 -7.28591069e-01 4.02555779e-03 5.53706251e+02] [ 7.28578631e-01 -6.84948942e-01 -4.25730451e-03 -2.51455882e+02] [ 5.85913560e-03 1.69495207e-05 9.99982835e-01 -5.87376640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters 0.05163612358977244 Centerline is valid? [True, True] Translation: X:553.67, Y:-251.42, Z:-5.87 [[-6.83845163e-01 -7.29620071e-01 3.21648681e-03 5.53666777e+02] [ 7.29612146e-01 -6.83852727e-01 -3.40058671e-03 -2.51416057e+02] [ 4.68073959e-03 2.13130778e-05 9.99989045e-01 -5.87448444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters 0.051220631408581976 Centerline is valid? [True, True] Translation: X:553.63, Y:-251.38, Z:-5.88 [[-6.82890332e-01 -7.30513858e-01 3.20900215e-03 5.53627697e+02] [ 7.30505986e-01 -6.82897871e-01 -3.39151981e-03 -2.51376752e+02] [ 4.66897295e-03 2.81591889e-05 9.99989100e-01 -5.87501644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters 0.051605458313142824 Centerline is valid? [True, True] Translation: X:553.59, Y:-251.34, Z:-5.87 [[-6.80441617e-01 -7.32795856e-01 3.07219712e-03 5.53586974e+02] [ 7.32788668e-01 -6.80448552e-01 -3.24601110e-03 -2.51336615e+02] [ 4.46913556e-03 4.25501911e-05 9.99990012e-01 -5.87452343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters 0.051281673712730014 Centerline is valid? [True, True] Translation: X:553.55, Y:-251.29, Z:-5.87 [[-6.78672391e-01 -7.34435541e-01 2.86746549e-03 5.53550630e+02] [ 7.34429297e-01 -6.78678446e-01 -3.02879851e-03 -2.51293572e+02] [ 4.17054430e-03 5.03887369e-05 9.99991302e-01 -5.87232911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters 0.05084165381557675 Centerline is valid? [True, True] Translation: X:553.51, Y:-251.25, Z:-5.87 [[-6.78606194e-01 -7.34497542e-01 2.64474557e-03 5.53508650e+02] [ 7.34492234e-01 -6.78611346e-01 -2.79279214e-03 -2.51253873e+02] [ 3.84605331e-03 4.73390419e-05 9.99992603e-01 -5.87374053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters 0.051182209710152186 Centerline is valid? [True, True] Translation: X:553.47, Y:-251.21, Z:-5.87 [[-6.79028601e-01 -7.34105901e-01 2.94708986e-03 5.53469578e+02] [ 7.34099309e-01 -6.79034995e-01 -3.11124517e-03 -2.51210774e+02] [ 4.28516058e-03 5.08321746e-05 9.99990817e-01 -5.87361653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters 0.05135543928046491 Centerline is valid? [True, True] Translation: X:553.43, Y:-251.17, Z:-5.88 [[-6.79675420e-01 -7.33503520e-01 3.72962443e-03 5.53429896e+02] [ 7.33492961e-01 -6.79685650e-01 -3.93614774e-03 -2.51171067e+02] [ 5.42215042e-03 6.03504006e-05 9.99985298e-01 -5.87545111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters 0.051918391498369694 Centerline is valid? [True, True] Translation: X:553.39, Y:-251.13, Z:-5.88 [[-6.80835364e-01 -7.32419508e-01 4.98702476e-03 5.53392041e+02] [ 7.32400612e-01 -6.80853625e-01 -5.26162134e-03 -2.51128262e+02] [ 7.24914800e-03 7.02020991e-05 9.99973722e-01 -5.87571103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters 0.052069248669934814 Centerline is valid? [True, True] Translation: X:553.35, Y:-251.09, Z:-5.88 [[-6.82516269e-01 -7.30851002e-01 5.32489133e-03 5.53353674e+02] [ 7.30829424e-01 -6.82537039e-01 -5.61634693e-03 -2.51087105e+02] [ 7.73914834e-03 5.83391079e-05 9.99970051e-01 -5.87760106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters 0.0515134502471344 Centerline is valid? [True, True] Translation: X:553.32, Y:-251.04, Z:-5.87 [[-6.83944523e-01 -7.29517255e-01 4.94611656e-03 5.53317108e+02] [ 7.29498613e-01 -6.83962406e-01 -5.21538249e-03 -2.51042477e+02] [ 7.18766930e-03 4.11528871e-05 9.99974168e-01 -5.87473529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters 0.0506802542966556 Centerline is valid? [True, True] Translation: X:553.28, Y:-251.00, Z:-5.87 [[-6.86238229e-01 -7.27365658e-01 4.03642490e-03 5.53279886e+02] [ 7.27353212e-01 -6.86250100e-01 -4.25504792e-03 -2.50998397e+02] [ 5.86497272e-03 1.59300696e-05 9.99982801e-01 -5.87426035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters 0.05094727040328654 Centerline is valid? [True, True] Translation: X:553.24, Y:-250.96, Z:-5.87 [[-6.87580264e-01 -7.26099480e-01 3.59507321e-03 5.53242677e+02] [ 7.26089597e-01 -6.87589663e-01 -3.78856405e-03 -2.50955852e+02] [ 5.22280956e-03 5.40338049e-06 9.99986361e-01 -5.87415448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters 0.05107292968268434 Centerline is valid? [True, True] Translation: X:553.21, Y:-250.91, Z:-5.87 [[-6.88945551e-01 -7.24803511e-01 3.72814231e-03 5.53205450e+02] [ 7.24792869e-01 -6.88955638e-01 -3.92761766e-03 -2.50912273e+02] [ 5.41527573e-03 -3.78375008e-06 9.99985337e-01 -5.87378722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters 0.05066607962273177 Centerline is valid? [True, True] Translation: X:553.17, Y:-250.87, Z:-5.88 [[-6.89622514e-01 -7.24154556e-01 4.57902549e-03 5.53169555e+02] [ 7.24138498e-01 -6.89637715e-01 -4.82251207e-03 -2.50869239e+02] [ 6.65011277e-03 -9.86425101e-06 9.99977888e-01 -5.87533345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters 0.050867535449046014 Centerline is valid? [True, True] Translation: X:553.13, Y:-250.83, Z:-5.88 [[-6.89602849e-01 -7.24169836e-01 5.09495747e-03 5.53132017e+02] [ 7.24149969e-01 -6.89621670e-01 -5.36411506e-03 -2.50826927e+02] [ 7.39812340e-03 -9.59573600e-06 9.99972633e-01 -5.87562492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters 0.05156825848662308 Centerline is valid? [True, True] Translation: X:553.10, Y:-250.78, Z:-5.87 [[-6.88625935e-01 -7.25095305e-01 5.57851500e-03 5.53095564e+02] [ 7.25071533e-01 -6.88648531e-01 -5.87143633e-03 -2.50784460e+02] [ 8.09898707e-03 1.59908391e-06 9.99967203e-01 -5.87402229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters 0.0512296584839676 Centerline is valid? [True, True] Translation: X:553.06, Y:-250.74, Z:-5.88 [[-6.87679883e-01 -7.25991545e-01 5.71438024e-03 5.53056968e+02] [ 7.25966642e-01 -6.87703625e-01 -6.01320344e-03 -2.50741786e+02] [ 8.29533486e-03 1.32903881e-05 9.99965593e-01 -5.87671961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters 0.05143993483879793 Centerline is valid? [True, True] Translation: X:553.02, Y:-250.70, Z:-5.88 [[-6.86609079e-01 -7.27008286e-01 5.18892659e-03 5.53020206e+02] [ 7.26987794e-01 -6.86628685e-01 -5.45861925e-03 -2.50697220e+02] [ 7.53132726e-03 2.43487578e-05 9.99971639e-01 -5.87569148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters 0.05114194784345081 Centerline is valid? [True, True] Translation: X:552.98, Y:-250.65, Z:-5.87 [[-6.85825071e-01 -7.27753100e-01 4.40430217e-03 5.52981547e+02] [ 7.27738360e-01 -6.85839212e-01 -4.63196930e-03 -2.50653685e+02] [ 6.39157315e-03 2.84589584e-05 9.99979573e-01 -5.87479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters 0.051074249096850516 Centerline is valid? [True, True] Translation: X:552.94, Y:-250.61, Z:-5.87 [[-6.82304582e-01 -7.31058634e-01 3.70549431e-03 5.52940077e+02] [ 7.31048255e-01 -6.82314642e-01 -3.89593528e-03 -2.50613986e+02] [ 5.37647015e-03 5.06806574e-05 9.99985545e-01 -5.87498684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters 0.05071052277437336 Centerline is valid? [True, True] Translation: X:552.90, Y:-250.57, Z:-5.87 [[-6.78984554e-01 -7.34144544e-01 3.42990343e-03 5.52901106e+02] [ 7.34135695e-01 -6.78993214e-01 -3.60516146e-03 -2.50571685e+02] [ 4.97559077e-03 7.01655925e-05 9.99987619e-01 -5.87432984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters 0.050596314366525307 Centerline is valid? [True, True] Translation: X:552.86, Y:-250.53, Z:-5.88 [[-6.78261657e-01 -7.34810162e-01 3.89235095e-03 5.52859295e+02] [ 7.34798784e-01 -6.78272820e-01 -4.09010375e-03 -2.50532777e+02] [ 5.64552566e-03 8.59341962e-05 9.99984060e-01 -5.87607745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters 0.05082456824315481 Centerline is valid? [True, True] Translation: X:552.82, Y:-250.49, Z:-5.88 [[-6.79005102e-01 -7.34121095e-01 4.27673503e-03 5.52820625e+02] [ 7.34107352e-01 -6.79018564e-01 -4.49272948e-03 -2.50490736e+02] [ 6.20218996e-03 8.89963926e-05 9.99980762e-01 -5.87610696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters 0.05108718274113388 Centerline is valid? [True, True] Translation: X:552.78, Y:-250.45, Z:-5.88 [[-6.80179413e-01 -7.33031539e-01 4.55289091e-03 5.52780174e+02] [ 7.33015949e-01 -6.80194646e-01 -4.78153875e-03 -2.50449536e+02] [ 6.60187073e-03 8.50374266e-05 9.99978204e-01 -5.87619308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters 0.05063620930092976 Centerline is valid? [True, True] Translation: X:552.74, Y:-250.41, Z:-5.88 [[-6.81176143e-01 -7.32106585e-01 4.36018955e-03 5.52741384e+02] [ 7.32092276e-01 -6.81190093e-01 -4.57782191e-03 -2.50407710e+02] [ 6.32157149e-03 7.37580230e-05 9.99980016e-01 -5.87552909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters 0.05024344744562388 Centerline is valid? [True, True] Translation: X:552.70, Y:-250.37, Z:-5.88 [[-6.83669130e-01 -7.29780838e-01 4.05586654e-03 5.52701825e+02] [ 7.29768422e-01 -6.83681158e-01 -4.25718972e-03 -2.50365264e+02] [ 5.87973502e-03 4.93341317e-05 9.99982713e-01 -5.87565621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters 0.05088472968645031 Centerline is valid? [True, True] Translation: X:552.66, Y:-250.32, Z:-5.88 [[-6.85800522e-01 -7.27774510e-01 4.68053925e-03 5.52662676e+02] [ 7.27757937e-01 -6.85816493e-01 -4.91150844e-03 -2.50322983e+02] [ 6.78446166e-03 3.79845378e-05 9.99976985e-01 -5.87646819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters 0.05068901393000702 Centerline is valid? [True, True] Translation: X:552.62, Y:-250.28, Z:-5.88 [[-6.88066859e-01 -7.25628696e-01 5.19537748e-03 5.52624397e+02] [ 7.25608229e-01 -6.88086473e-01 -5.45006341e-03 -2.50281841e+02] [ 7.52959137e-03 1.98006411e-05 9.99971652e-01 -5.87852541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters 0.05179789783575255 Centerline is valid? [True, True] Translation: X:552.58, Y:-250.24, Z:-5.88 [[-6.88262682e-01 -7.25440860e-01 5.48073837e-03 5.52584775e+02] [ 7.25418089e-01 -6.88284504e-01 -5.74788734e-03 -2.50240014e+02] [ 7.94205963e-03 1.97704015e-05 9.99968461e-01 -5.87680245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters 0.05100175938482776 Centerline is valid? [True, True] Translation: X:552.54, Y:-250.20, Z:-5.88 [[-6.87214157e-01 -7.26436914e-01 5.11004423e-03 5.52544951e+02] [ 7.26417159e-01 -6.87233155e-01 -5.35744092e-03 -2.50200038e+02] [ 7.40363467e-03 3.03145756e-05 9.99972592e-01 -5.87749572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters 0.05099985524591367 Centerline is valid? [True, True] Translation: X:552.50, Y:-250.16, Z:-5.88 [[-6.83572709e-01 -7.29869317e-01 4.37397566e-03 5.52503131e+02] [ 7.29854920e-01 -6.83586701e-01 -4.58452907e-03 -2.50159729e+02] [ 6.33609869e-03 5.85086969e-05 9.99979925e-01 -5.87674389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters 0.0510435575370535 Centerline is valid? [True, True] Translation: X:552.46, Y:-250.12, Z:-5.88 [[-6.81294052e-01 -7.31998788e-01 4.02353623e-03 5.52461382e+02] [ 7.31986650e-01 -6.81305929e-01 -4.21605688e-03 -2.50121099e+02] [ 5.82740762e-03 7.28003358e-05 9.99983018e-01 -5.87731028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters 0.050788579416159586 Centerline is valid? [True, True] Translation: X:552.42, Y:-250.08, Z:-5.88 [[-6.78486636e-01 -7.34606204e-01 3.09991060e-03 5.52420485e+02] [ 7.34599031e-01 -6.78493714e-01 -3.24731032e-03 -2.50081211e+02] [ 4.48876417e-03 7.39346651e-05 9.99989923e-01 -5.87668947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters 0.051044272315175165 Centerline is valid? [True, True] Translation: X:552.38, Y:-250.04, Z:-5.88 [[-6.76078172e-01 -7.36821914e-01 3.43101218e-03 5.52377569e+02] [ 7.36813159e-01 -6.76086871e-01 -3.59323167e-03 -2.50041874e+02] [ 4.96723413e-03 9.87094229e-05 9.99987658e-01 -5.87770562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters 0.0508198358531018 Centerline is valid? [True, True] Translation: X:552.34, Y:-250.00, Z:-5.88 [[-6.75165588e-01 -7.37654273e-01 4.19547012e-03 5.52337792e+02] [ 7.37641205e-01 -6.75178611e-01 -4.39269621e-03 -2.49999890e+02] [ 6.07298282e-03 1.28954318e-04 9.99981551e-01 -5.87822532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters 0.05038264692213466 Centerline is valid? [True, True] Translation: X:552.30, Y:-249.96, Z:-5.88 [[-6.74714866e-01 -7.38058705e-01 5.40353615e-03 5.52296160e+02] [ 7.38037049e-01 -6.74736481e-01 -5.65649101e-03 -2.49961188e+02] [ 7.82078540e-03 1.71491304e-04 9.99969403e-01 -5.87982230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters 0.0509506752376092 Centerline is valid? [True, True] Translation: X:552.26, Y:-249.92, Z:-5.88 [[-6.75127231e-01 -7.37680542e-01 5.53534027e-03 5.52255862e+02] [ 7.37657818e-01 -6.75149900e-01 -5.79275051e-03 -2.49922139e+02] [ 8.01038376e-03 1.72343416e-04 9.99967902e-01 -5.88116094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters 0.05071729359854842 Centerline is valid? [True, True] Translation: X:552.22, Y:-249.88, Z:-5.88 [[-6.78043361e-01 -7.35002028e-01 5.40551652e-03 5.52220307e+02] [ 7.34980283e-01 -6.78064893e-01 -5.65551044e-03 -2.49875749e+02] [ 7.82210263e-03 1.38266752e-04 9.99969397e-01 -5.87973168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters 0.05128861262869927 Centerline is valid? [True, True] Translation: X:552.18, Y:-249.83, Z:-5.88 [[-6.82203843e-01 -7.31143580e-01 5.19447059e-03 5.52181796e+02] [ 7.31123394e-01 -6.82223612e-01 -5.43377537e-03 -2.49832700e+02] [ 7.51666046e-03 9.08565300e-05 9.99971745e-01 -5.87976919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters 0.050812199680404554 Centerline is valid? [True, True] Translation: X:552.15, Y:-249.79, Z:-5.88 [[-6.91102785e-01 -7.22740926e-01 4.74293188e-03 5.52147757e+02] [ 7.22723903e-01 -6.91119059e-01 -4.96038798e-03 -2.49786980e+02] [ 6.86300602e-03 -3.07707484e-07 9.99976449e-01 -5.87989499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters 0.05055238213398119 Centerline is valid? [True, True] Translation: X:552.11, Y:-249.74, Z:-5.88 [[-6.97634334e-01 -7.16441601e-01 4.21515421e-03 5.52111619e+02] [ 7.16428047e-01 -6.97647066e-01 -4.40729372e-03 -2.49741163e+02] [ 6.09825854e-03 -5.48247198e-05 9.99981404e-01 -5.87888530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters 0.05078402091595541 Centerline is valid? [True, True] Translation: X:552.07, Y:-249.70, Z:-5.88 [[-7.03884561e-01 -7.10308407e-01 2.91405340e-03 5.52074071e+02] [ 7.10301880e-01 -7.03890589e-01 -3.04603143e-03 -2.49697814e+02] [ 4.21479650e-03 -7.41968880e-05 9.99991115e-01 -5.87809770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters 0.05117010978161815 Centerline is valid? [True, True] Translation: X:552.04, Y:-249.66, Z:-5.88 [[-7.05538848e-01 -7.08661243e-01 3.76506392e-03 5.52036757e+02] [ 7.08650329e-01 -7.05548886e-01 -3.93462548e-03 -2.49655347e+02] [ 5.44475324e-03 -1.07917346e-04 9.99985171e-01 -5.87898476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters 0.051368267161953876 Centerline is valid? [True, True] Translation: X:552.00, Y:-249.62, Z:-5.88 [[-7.05092062e-01 -7.09105122e-01 3.88715432e-03 5.51996610e+02] [ 7.09093502e-01 -7.05102769e-01 -4.06086491e-03 -2.49615913e+02] [ 5.62042339e-03 -1.06927741e-04 9.99984200e-01 -5.87916484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters 0.05129260472649767 Centerline is valid? [True, True] Translation: X:551.95, Y:-249.58, Z:-5.88 [[-7.02605607e-01 -7.11565736e-01 4.42318026e-03 5.51949970e+02] [ 7.11550747e-01 -7.02619523e-01 -4.61951462e-03 -2.49580770e+02] [ 6.39490113e-03 -9.83796534e-05 9.99979548e-01 -5.87851986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters 0.051677110058130436 Centerline is valid? [True, True] Translation: X:551.91, Y:-249.54, Z:-5.88 [[-6.99591006e-01 -7.14530762e-01 4.26782773e-03 5.51909625e+02] [ 7.14516870e-01 -6.99604020e-01 -4.45621841e-03 -2.49540128e+02] [ 6.16989458e-03 -6.80954106e-05 9.99980964e-01 -5.87994284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters 0.05037103143221959 Centerline is valid? [True, True] Translation: X:551.87, Y:-249.50, Z:-5.88 [[-6.92969159e-01 -7.20959504e-01 3.33745592e-03 5.51866020e+02] [ 7.20951087e-01 -6.92977196e-01 -3.48385837e-03 -2.49501920e+02] [ 4.82450164e-03 -8.06393628e-06 9.99988362e-01 -5.87978587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters 0.05047504119976196 Centerline is valid? [True, True] Translation: X:551.82, Y:-249.47, Z:-5.88 [[-6.84677358e-01 -7.28842821e-01 2.24879375e-03 5.51820825e+02] [ 7.28839043e-01 -6.84681051e-01 -2.34698100e-03 -2.49465665e+02] [ 3.25028672e-03 3.20839320e-05 9.99994717e-01 -5.87815039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters 0.05069658036101313 Centerline is valid? [True, True] Translation: X:551.78, Y:-249.43, Z:-5.88 [[-6.79832061e-01 -7.33365691e-01 1.76990055e-03 5.51775482e+02] [ 7.33363367e-01 -6.79834363e-01 -1.84666552e-03 -2.49430598e+02] [ 2.55752035e-03 4.25577978e-05 9.99996729e-01 -5.87880064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters 0.051251261367948636 Centerline is valid? [True, True] Translation: X:551.73, Y:-249.40, Z:-5.88 [[-6.75419291e-01 -7.37433376e-01 8.92791633e-04 5.51730234e+02] [ 7.37432789e-01 -6.75419880e-01 -9.31221193e-04 -2.49397226e+02] [ 1.28972281e-03 2.94090660e-05 9.99999168e-01 -5.87850857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters 0.052146004340706126 Centerline is valid? [True, True] Translation: X:551.69, Y:-249.36, Z:-5.88 [[-6.74109376e-01 -7.38631211e-01 6.95597303e-04 5.51688742e+02] [ 7.38630855e-01 -6.74109734e-01 -7.25320234e-04 -2.49358955e+02] [ 1.00465308e-03 2.48444598e-05 9.99999495e-01 -5.87813583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters 0.05159366574970636 Centerline is valid? [True, True] Translation: X:551.65, Y:-249.32, Z:-5.88 [[-6.74091831e-01 -7.38646350e-01 1.33159414e-03 5.51648136e+02] [ 7.38645048e-01 -6.74093144e-01 -1.38808044e-03 -2.49319241e+02] [ 1.92291903e-03 4.78817289e-05 9.99998150e-01 -5.87941870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters 0.05116079125926496 Centerline is valid? [True, True] Translation: X:551.61, Y:-249.28, Z:-5.88 [[-6.75441175e-01 -7.37408590e-01 2.79113219e-03 5.51610755e+02] [ 7.37402859e-01 -6.75446935e-01 -2.90882582e-03 -2.49275070e+02] [ 4.03025483e-03 9.34481309e-05 9.99991874e-01 -5.88152567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters 0.049908109387132325 Centerline is valid? [True, True] Translation: X:551.57, Y:-249.23, Z:-5.88 [[-6.78176185e-01 -7.34887689e-01 4.14088043e-03 5.51574553e+02] [ 7.34875034e-01 -6.78188816e-01 -4.31437620e-03 -2.49230175e+02] [ 5.97888076e-03 1.17122451e-04 9.99982119e-01 -5.88225041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters 0.05033255088988774 Centerline is valid? [True, True] Translation: X:551.54, Y:-249.19, Z:-5.88 [[-6.80671279e-01 -7.32572232e-01 4.95327094e-03 5.51535428e+02] [ 7.32554073e-01 -6.80689291e-01 -5.15941418e-03 -2.49188314e+02] [ 7.15128205e-03 1.16673749e-04 9.99974422e-01 -5.88381042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters 0.0503602374003859 Centerline is valid? [True, True] Translation: X:551.50, Y:-249.14, Z:-5.88 [[-6.85087285e-01 -7.28440297e-01 5.49046619e-03 5.51503654e+02] [ 7.28417865e-01 -6.85109281e-01 -5.71734903e-03 -2.49139414e+02] [ 7.92631676e-03 8.24705332e-05 9.99968583e-01 -5.88088432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters 0.05065900097075104 Centerline is valid? [True, True] Translation: X:551.46, Y:-249.10, Z:-5.88 [[-6.88303254e-01 -7.25401581e-01 5.58362343e-03 5.51464119e+02] [ 7.25378290e-01 -6.88325900e-01 -5.81307448e-03 -2.49096109e+02] [ 8.06016604e-03 4.90811394e-05 9.99967515e-01 -5.88289829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters 0.050619010389399935 Centerline is valid? [True, True] Translation: X:551.43, Y:-249.05, Z:-5.88 [[-6.93114899e-01 -7.20805193e-01 5.62231232e-03 5.51428613e+02] [ 7.20781439e-01 -6.93137702e-01 -5.85181571e-03 -2.49049434e+02] [ 8.11505579e-03 -3.52229125e-06 9.99967072e-01 -5.88255964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters 0.05011082730306742 Centerline is valid? [True, True] Translation: X:551.39, Y:-249.00, Z:-5.88 [[-6.96870080e-01 -7.17180082e-01 4.98209958e-03 5.51391712e+02] [ 7.17161343e-01 -6.96887888e-01 -5.18462101e-03 -2.49003913e+02] [ 7.19027178e-03 -4.00380378e-05 9.99974149e-01 -5.88239541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters 0.050638849897707436 Centerline is valid? [True, True] Translation: X:551.35, Y:-248.96, Z:-5.88 [[-6.98712478e-01 -7.15389552e-01 4.32007703e-03 5.51354534e+02] [ 7.15375435e-01 -6.98725831e-01 -4.49439912e-03 -2.48959958e+02] [ 6.23379558e-03 -4.98157623e-05 9.99980568e-01 -5.88251725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters 0.05039541622417661 Centerline is valid? [True, True] Translation: X:551.32, Y:-248.92, Z:-5.88 [[-6.99243878e-01 -7.14872859e-01 3.84645460e-03 5.51315788e+02] [ 7.14861667e-01 -6.99254456e-01 -4.00044017e-03 -2.48917387e+02] [ 5.54945661e-03 -4.76003510e-05 9.99984601e-01 -5.88174010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters 0.050292879747496584 Centerline is valid? [True, True] Translation: X:551.28, Y:-248.88, Z:-5.88 [[-6.97345369e-01 -7.16725268e-01 3.78507250e-03 5.51275420e+02] [ 7.16714464e-01 -6.97355640e-01 -3.93554923e-03 -2.48877461e+02] [ 5.46024924e-03 -3.16208206e-05 9.99985092e-01 -5.88203783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters 0.05057890942895043 Centerline is valid? [True, True] Translation: X:551.23, Y:-248.84, Z:-5.88 [[-6.95671951e-01 -7.18348966e-01 3.91140461e-03 5.51234583e+02] [ 7.18337458e-01 -6.95682947e-01 -4.06623692e-03 -2.48836775e+02] [ 5.64207458e-03 -1.90585292e-05 9.99984083e-01 -5.88185030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters 0.05089957068058172 Centerline is valid? [True, True] Translation: X:551.19, Y:-248.80, Z:-5.88 [[-6.93098967e-01 -7.20832414e-01 3.80179482e-03 5.51194630e+02] [ 7.20821585e-01 -6.93109393e-01 -3.95111132e-03 -2.48796916e+02] [ 5.48314881e-03 1.90459667e-06 9.99984967e-01 -5.88292257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters 0.05020533580129773 Centerline is valid? [True, True] Translation: X:551.15, Y:-248.76, Z:-5.88 [[-6.91319351e-01 -7.22538545e-01 3.95048635e-03 5.51153971e+02] [ 7.22526888e-01 -6.91330638e-01 -4.10437081e-03 -2.48757402e+02] [ 5.69665836e-03 1.69016402e-05 9.99983774e-01 -5.88404041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters 0.05023924845322576 Centerline is valid? [True, True] Translation: X:551.11, Y:-248.72, Z:-5.88 [[-6.88163393e-01 -7.25547264e-01 3.50886893e-03 5.51111933e+02] [ 7.25538112e-01 -6.88172338e-01 -3.64449556e-03 -2.48718247e+02] [ 5.05896031e-03 3.78097080e-05 9.99987203e-01 -5.88269427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters 0.049812823452848216 Centerline is valid? [True, True] Translation: X:551.07, Y:-248.68, Z:-5.88 [[-6.85267671e-01 -7.28284162e-01 3.22448325e-03 5.51070437e+02] [ 7.28276468e-01 -6.85275256e-01 -3.34824345e-03 -2.48677692e+02] [ 4.64813126e-03 5.38722746e-05 9.99989196e-01 -5.88181835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters 0.05003916933352438 Centerline is valid? [True, True] Translation: X:551.03, Y:-248.64, Z:-5.88 [[-6.84228957e-01 -7.29262377e-01 2.66819867e-03 5.51028850e+02] [ 7.29257118e-01 -6.84234158e-01 -2.77008246e-03 -2.48638772e+02] [ 3.84578960e-03 5.04322387e-05 9.99992604e-01 -5.88216053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters 0.04979139198688239 Centerline is valid? [True, True] Translation: X:550.99, Y:-248.60, Z:-5.88 [[-6.84095241e-01 -7.29388809e-01 2.38053348e-03 5.50989692e+02] [ 7.29384625e-01 -6.84099382e-01 -2.47070335e-03 -2.48597096e+02] [ 3.43062485e-03 4.61281151e-05 9.99994114e-01 -5.88162110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters 0.05116894353608412 Centerline is valid? [True, True] Translation: X:550.95, Y:-248.56, Z:-5.88 [[-6.84266393e-01 -7.29230246e-01 1.65887881e-03 5.50946366e+02] [ 7.29228215e-01 -6.84268403e-01 -1.72118154e-03 -2.48561337e+02] [ 2.39025599e-03 3.19545538e-05 9.99997143e-01 -5.88170953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters 0.04971088212661554 Centerline is valid? [True, True] Translation: X:550.91, Y:-248.52, Z:-5.88 [[-6.84793259e-01 -7.28735547e-01 1.64160368e-03 5.50908905e+02] [ 7.28733559e-01 -6.84795226e-01 -1.70268917e-03 -2.48520265e+02] [ 2.36497249e-03 3.03016317e-05 9.99997203e-01 -5.88177629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters 0.0500933112530286 Centerline is valid? [True, True] Translation: X:550.87, Y:-248.48, Z:-5.88 [[-6.85123862e-01 -7.28423990e-01 1.94534760e-03 5.50870319e+02] [ 7.28421198e-01 -6.85126623e-01 -2.01710984e-03 -2.48478674e+02] [ 2.80212063e-03 3.50623416e-05 9.99996073e-01 -5.88264973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters 0.0503134349682937 Centerline is valid? [True, True] Translation: X:550.83, Y:-248.43, Z:-5.88 [[-6.85748475e-01 -7.27831955e-01 3.11024391e-03 5.50832694e+02] [ 7.27824816e-01 -6.85755527e-01 -3.22404000e-03 -2.48434948e+02] [ 4.47942629e-03 5.28321850e-05 9.99989966e-01 -5.88385327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters 0.04976650391078773 Centerline is valid? [True, True] Translation: X:550.79, Y:-248.39, Z:-5.88 [[-6.87424314e-01 -7.26245486e-01 3.91248217e-03 5.50794468e+02] [ 7.26234170e-01 -6.87435445e-01 -4.05444616e-03 -2.48391793e+02] [ 5.63410215e-03 5.42533732e-05 9.99984127e-01 -5.88489235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters 0.049816069012899436 Centerline is valid? [True, True] Translation: X:550.76, Y:-248.34, Z:-5.88 [[-6.89316004e-01 -7.24449220e-01 4.09565206e-03 5.50760475e+02] [ 7.24436795e-01 -6.89328170e-01 -4.24315986e-03 -2.48344253e+02] [ 5.89720219e-03 4.21630492e-05 9.99982610e-01 -5.88049971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters 0.04975487122082366 Centerline is valid? [True, True] Translation: X:550.72, Y:-248.30, Z:-5.89 [[-6.93192119e-01 -7.20741654e-01 4.01910905e-03 5.50719995e+02] [ 7.20729632e-01 -6.93203771e-01 -4.16287266e-03 -2.48303775e+02] [ 5.78641727e-03 1.10204691e-05 9.99983259e-01 -5.88516200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters 0.04943764634062035 Centerline is valid? [True, True] Translation: X:550.68, Y:-248.26, Z:-5.88 [[-6.97034668e-01 -7.17032694e-01 2.60531669e-03 5.50683924e+02] [ 7.17027619e-01 -6.97039537e-01 -2.69770108e-03 -2.48260820e+02] [ 3.75034861e-03 -1.23071574e-05 9.99992967e-01 -5.88488596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters 0.04970606128710514 Centerline is valid? [True, True] Translation: X:550.64, Y:-248.22, Z:-5.88 [[-6.98321041e-01 -7.15783043e-01 1.53589141e-03 5.50644624e+02] [ 7.15781277e-01 -6.98322730e-01 -1.59002665e-03 -2.48219703e+02] [ 2.21066200e-03 -1.09867523e-05 9.99997556e-01 -5.88385337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters 0.049375216421205605 Centerline is valid? [True, True] Translation: X:550.60, Y:-248.18, Z:-5.88 [[-7.00630039e-01 -7.13523388e-01 1.38669159e-03 5.50603587e+02] [ 7.13521945e-01 -7.00631411e-01 -1.43523818e-03 -2.48180729e+02] [ 1.99563570e-03 -1.61361018e-05 9.99998009e-01 -5.88358636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters 0.04999161697848301 Centerline is valid? [True, True] Translation: X:550.57, Y:-248.13, Z:-5.89 [[-7.01941409e-01 -7.12233497e-01 1.30498765e-03 5.50569292e+02] [ 7.12232218e-01 -7.01942622e-01 -1.35030787e-03 -2.48134921e+02] [ 1.87776095e-03 -1.83827572e-05 9.99998237e-01 -5.88534584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters 0.05065115440194292 Centerline is valid? [True, True] Translation: X:550.53, Y:-248.10, Z:-5.89 [[-7.02716226e-01 -7.11468683e-01 1.48953477e-03 5.50528910e+02] [ 7.11467015e-01 -7.02717804e-01 -1.54077331e-03 -2.48095643e+02] [ 2.14293456e-03 -2.29715472e-05 9.99997704e-01 -5.88637767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters 0.04999269982271463 Centerline is valid? [True, True] Translation: X:550.49, Y:-248.06, Z:-5.89 [[-7.01900632e-01 -7.12274186e-01 9.93445484e-04 5.50486704e+02] [ 7.12273446e-01 -7.01901334e-01 -1.02729659e-03 -2.48057775e+02] [ 1.42901755e-03 -1.34552869e-05 9.99998979e-01 -5.88633820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters 0.05046215970778069 Centerline is valid? [True, True] Translation: X:550.45, Y:-248.02, Z:-5.89 [[-7.01329395e-01 -7.12836386e-01 1.16946324e-03 5.50447054e+02] [ 7.12835361e-01 -7.01330370e-01 -1.20889437e-03 -2.48019519e+02] [ 1.68192397e-03 -1.41984065e-05 9.99998585e-01 -5.88631392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters 0.050308204015142244 Centerline is valid? [True, True] Translation: X:550.40, Y:-247.98, Z:-5.89 [[-7.00930971e-01 -7.13228182e-01 1.15484359e-03 5.50403680e+02] [ 7.13227184e-01 -7.00931923e-01 -1.19350675e-03 -2.47981140e+02] [ 1.66070939e-03 -1.29000047e-05 9.99998621e-01 -5.88627100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters 0.05020345549696686 Centerline is valid? [True, True] Translation: X:550.37, Y:-247.94, Z:-5.89 [[-7.00188859e-01 -7.13956844e-01 1.08942567e-03 5.50366894e+02] [ 7.13955957e-01 -7.00189706e-01 -1.12554035e-03 -2.47939843e+02] [ 1.56639187e-03 -1.02888657e-05 9.99998773e-01 -5.88812624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters 0.049607714729247604 Centerline is valid? [True, True] Translation: X:550.33, Y:-247.90, Z:-5.89 [[-6.98942586e-01 -7.15177078e-01 1.00399380e-03 5.50325126e+02] [ 7.15176326e-01 -6.98943307e-01 -1.03693834e-03 -2.47901563e+02] [ 1.44332928e-03 -6.72776542e-06 9.99998958e-01 -5.88787653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters 0.049533102220860936 Centerline is valid? [True, True] Translation: X:550.28, Y:-247.86, Z:-5.89 [[-6.95482766e-01 -7.18542543e-01 5.79611465e-04 5.50283772e+02] [ 7.18542294e-01 -6.95483007e-01 -5.98426196e-04 -2.47864222e+02] [ 8.33104605e-04 2.80245759e-07 9.99999653e-01 -5.88755801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters 0.0491904142622362 Centerline is valid? [True, True] Translation: X:550.24, Y:-247.82, Z:-5.89 [[-6.92537653e-01 -7.21381718e-01 -1.29448887e-04 5.50242511e+02] [ 7.21381705e-01 -6.92537665e-01 1.33625751e-04 -2.47822913e+02] [-1.86043404e-04 -8.41194585e-07 9.99999983e-01 -5.88857254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters 0.04900220589773376 Centerline is valid? [True, True] Translation: X:550.20, Y:-247.79, Z:-5.89 [[-6.88934599e-01 -7.24823505e-01 -6.97810431e-05 5.50197628e+02] [ 7.24823501e-01 -6.88934603e-01 7.20163999e-05 -2.47785890e+02] [-1.00273755e-04 -9.64350431e-07 9.99999995e-01 -5.89004929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters 0.05001424675402087 Centerline is valid? [True, True] Translation: X:550.16, Y:-247.75, Z:-5.89 [[-6.86843944e-01 -7.26804728e-01 5.32741859e-04 5.50156434e+02] [ 7.26804520e-01 -6.86844151e-01 -5.49651708e-04 -2.47748363e+02] [ 7.65400090e-04 9.67424424e-06 9.99999707e-01 -5.89060099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters 0.04963818502893356 Centerline is valid? [True, True] Translation: X:550.12, Y:-247.71, Z:-5.89 [[-6.86163576e-01 -7.27447022e-01 6.14440253e-04 5.50117394e+02] [ 7.27446746e-01 -6.86163851e-01 -6.33765322e-04 -2.47706227e+02] [ 8.82637386e-04 1.21058830e-05 9.99999610e-01 -5.89076108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters 0.04983830703670619 Centerline is valid? [True, True] Translation: X:550.08, Y:-247.67, Z:-5.89 [[-6.85236526e-01 -7.28319150e-01 1.45580193e-03 5.50077517e+02] [ 7.28317603e-01 -6.85238072e-01 -1.50117379e-03 -2.47665081e+02] [ 2.09090452e-03 3.16270602e-05 9.99997814e-01 -5.89216979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters 0.049783834185990423 Centerline is valid? [True, True] Translation: X:550.04, Y:-247.62, Z:-5.89 [[-6.85205986e-01 -7.28344923e-01 2.53571473e-03 5.50040258e+02] [ 7.28340234e-01 -6.85210676e-01 -2.61398874e-03 -2.47621530e+02] [ 3.64138423e-03 5.57423231e-05 9.99993369e-01 -5.89328338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters 0.048900965598711384 Centerline is valid? [True, True] Translation: X:550.00, Y:-247.58, Z:-5.89 [[-6.86483092e-01 -7.27139687e-01 2.97322006e-03 5.50004164e+02] [ 7.27133233e-01 -6.86489528e-01 -3.06420359e-03 -2.47575738e+02] [ 4.26918847e-03 5.84031584e-05 9.99990885e-01 -5.89243211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters 0.048662415950118734 Centerline is valid? [True, True] Translation: X:549.97, Y:-247.53, Z:-5.89 [[-6.89768559e-01 -7.24025245e-01 2.60400152e-03 5.49966548e+02] [ 7.24020274e-01 -6.89773473e-01 -2.68306236e-03 -2.47530818e+02] [ 3.73877605e-03 3.46578405e-05 9.99993010e-01 -5.89175577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters 0.04933101220130938 Centerline is valid? [True, True] Translation: X:549.93, Y:-247.48, Z:-5.89 [[-6.94727292e-01 -7.19268989e-01 2.47224136e-03 5.49930690e+02] [ 7.19264479e-01 -6.94731691e-01 -2.54689788e-03 -2.47483964e+02] [ 3.54944908e-03 8.79592611e-06 9.99993701e-01 -5.89082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters 0.049674305905528286 Centerline is valid? [True, True] Translation: X:549.89, Y:-247.44, Z:-5.89 [[-6.96943854e-01 -7.17123503e-01 1.77367144e-03 5.49891467e+02] [ 7.17121176e-01 -6.96946111e-01 -1.82674857e-03 -2.47442742e+02] [ 2.54615775e-03 -1.20384287e-06 9.99996759e-01 -5.89184373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters 0.04909167904346438 Centerline is valid? [True, True] Translation: X:549.85, Y:-247.40, Z:-5.89 [[-6.97685992e-01 -7.16400346e-01 2.19123257e-03 5.49851380e+02] [ 7.16396793e-01 -6.97689433e-01 -2.25613878e-03 -2.47402563e+02] [ 3.14509841e-03 -4.28443827e-06 9.99995054e-01 -5.89153219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters 0.0493503753631472 Centerline is valid? [True, True] Translation: X:549.81, Y:-247.36, Z:-5.89 [[-6.98078558e-01 -7.16014939e-01 2.98894876e-03 5.49811747e+02] [ 7.16008329e-01 -6.98084957e-01 -3.07665491e-03 -2.47360997e+02] [ 4.28947104e-03 -7.63461823e-06 9.99990800e-01 -5.89194596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters 0.04936583607599292 Centerline is valid? [True, True] Translation: X:549.77, Y:-247.32, Z:-5.89 [[-7.00254276e-01 -7.13885095e-01 3.46703513e-03 5.49771932e+02] [ 7.13876180e-01 -7.00262858e-01 -3.56787415e-03 -2.47319221e+02] [ 4.97488811e-03 -2.33853321e-05 9.99987625e-01 -5.89241310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters 0.04950684189245113 Centerline is valid? [True, True] Translation: X:549.73, Y:-247.28, Z:-5.89 [[-7.01337482e-01 -7.12821386e-01 3.37744072e-03 5.49732245e+02] [ 7.12812919e-01 -7.01345614e-01 -3.47456703e-03 -2.47278863e+02] [ 4.84549892e-03 -2.93607102e-05 9.99988260e-01 -5.89243532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters 0.04938461532240102 Centerline is valid? [True, True] Translation: X:549.69, Y:-247.24, Z:-5.89 [[-7.04527113e-01 -7.09673446e-01 2.26882624e-03 5.49694101e+02] [ 7.09669611e-01 -7.04530765e-01 -2.33337811e-03 -2.47237758e+02] [ 3.25439437e-03 -3.38111088e-05 9.99994704e-01 -5.89175189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters 0.04991721318253424 Centerline is valid? [True, True] Translation: X:549.65, Y:-247.20, Z:-5.89 [[-7.06177467e-01 -7.08031177e-01 2.28846217e-03 5.49652712e+02] [ 7.08027269e-01 -7.06181174e-01 -2.35282351e-03 -2.47198820e+02] [ 3.28194130e-03 -4.12173230e-05 9.99994614e-01 -5.89040395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters 0.050221136865556223 Centerline is valid? [True, True] Translation: X:549.61, Y:-247.16, Z:-5.89 [[-7.05487085e-01 -7.08718731e-01 2.39435579e-03 5.49612927e+02] [ 7.08714459e-01 -7.05491147e-01 -2.46119106e-03 -2.47158444e+02] [ 3.43348902e-03 -3.94239388e-05 9.99994105e-01 -5.89138758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters 0.05041435573810819 Centerline is valid? [True, True] Translation: X:549.57, Y:-247.12, Z:-5.89 [[-7.01888454e-01 -7.12284057e-01 2.00488836e-03 5.49567360e+02] [ 7.12281077e-01 -7.01891317e-01 -2.06052606e-03 -2.47121122e+02] [ 2.87489359e-03 -1.82154079e-05 9.99995867e-01 -5.89172080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters 0.049771858708121446 Centerline is valid? [True, True] Translation: X:549.53, Y:-247.08, Z:-5.89 [[-6.98831543e-01 -7.15283257e-01 2.08239440e-03 5.49526692e+02] [ 7.15280057e-01 -6.98834646e-01 -2.13967244e-03 -2.47082735e+02] [ 2.98572123e-03 -5.77540886e-06 9.99995543e-01 -5.89157223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters 0.04987300107960933 Centerline is valid? [True, True] Translation: X:549.49, Y:-247.05, Z:-5.89 [[-6.94371898e-01 -7.19612765e-01 2.26598402e-03 5.49485122e+02] [ 7.19609001e-01 -6.94375596e-01 -2.32750228e-03 -2.47045963e+02] [ 3.24834435e-03 1.44703201e-05 9.99994724e-01 -5.89075414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters 0.04906846835506825 Centerline is valid? [True, True] Translation: X:549.44, Y:-247.01, Z:-5.89 [[-6.90321060e-01 -7.23500573e-01 1.93776296e-03 5.49442994e+02] [ 7.23497837e-01 -6.90323779e-01 -1.98984319e-03 -2.47005495e+02] [ 2.77733654e-03 2.83366483e-05 9.99996143e-01 -5.88997864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters 0.04977522499074306 Centerline is valid? [True, True] Translation: X:549.40, Y:-246.97, Z:-5.89 [[-6.87659475e-01 -7.26031437e-01 1.67296871e-03 5.49399817e+02] [ 7.26029407e-01 -6.87661509e-01 -1.71745557e-03 -2.46967828e+02] [ 2.39736292e-03 3.35998882e-05 9.99997126e-01 -5.89040998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters 0.05019873161311927 Centerline is valid? [True, True] Translation: X:549.36, Y:-246.93, Z:-5.89 [[-6.84821796e-01 -7.28708623e-01 1.68865819e-03 5.49357394e+02] [ 7.28706563e-01 -6.84823876e-01 -1.73302593e-03 -2.46931380e+02] [ 2.41930439e-03 4.37223793e-05 9.99997073e-01 -5.89110314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters 0.0497725594704718 Centerline is valid? [True, True] Translation: X:549.32, Y:-246.89, Z:-5.89 [[-6.84098578e-01 -7.29387033e-01 1.92108070e-03 5.49319323e+02] [ 7.29384372e-01 -6.84101274e-01 -1.97093388e-03 -2.46890456e+02] [ 2.75178737e-03 5.28931722e-05 9.99996212e-01 -5.89138223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters 0.04860220822853537 Centerline is valid? [True, True] Translation: X:549.28, Y:-246.84, Z:-5.89 [[-6.84945228e-01 -7.28589973e-01 2.58568574e-03 5.49284274e+02] [ 7.28585150e-01 -6.84950105e-01 -2.65203622e-03 -2.46844168e+02] [ 3.70331272e-03 6.73926794e-05 9.99993140e-01 -5.89134298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters 0.04845843609182102 Centerline is valid? [True, True] Translation: X:549.25, Y:-246.80, Z:-5.89 [[-6.88396766e-01 -7.25324779e-01 3.72253349e-03 5.49248736e+02] [ 7.25314739e-01 -6.88406827e-01 -3.81701514e-03 -2.46798401e+02] [ 5.33119314e-03 7.23875315e-05 9.99985786e-01 -5.89160802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters 0.04851845745860426 Centerline is valid? [True, True] Translation: X:549.21, Y:-246.75, Z:-5.89 [[-6.93891659e-01 -7.20067816e-01 4.08736209e-03 5.49212512e+02] [ 7.20055626e-01 -6.93903696e-01 -4.19001910e-03 -2.46753793e+02] [ 5.85333356e-03 3.57087626e-05 9.99982868e-01 -5.89265413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters 0.049267809784634506 Centerline is valid? [True, True] Translation: X:549.18, Y:-246.71, Z:-5.89 [[-6.98173964e-01 -7.15916834e-01 4.02539494e-03 5.49175774e+02] [ 7.15904947e-01 -6.98185568e-01 -4.12541179e-03 -2.46708793e+02] [ 5.76392440e-03 1.54505411e-06 9.99983388e-01 -5.89248765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters 0.048905967003259256 Centerline is valid? [True, True] Translation: X:549.14, Y:-246.66, Z:-5.89 [[-7.03524557e-01 -7.10662031e-01 3.56026527e-03 5.49140098e+02] [ 7.10652670e-01 -7.03533565e-01 -3.64764352e-03 -2.46664449e+02] [ 5.09700787e-03 -3.60947713e-05 9.99987010e-01 -5.89297184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters 0.04932928023802065 Centerline is valid? [True, True] Translation: X:549.10, Y:-246.63, Z:-5.89 [[-7.03241421e-01 -7.10941513e-01 3.69723448e-03 5.49100483e+02] [ 7.10931429e-01 -7.03251139e-01 -3.78672681e-03 -2.46625045e+02] [ 5.29222564e-03 -3.45029535e-05 9.99985995e-01 -5.89340776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters 0.049537111979959 Centerline is valid? [True, True] Translation: X:549.06, Y:-246.59, Z:-5.89 [[-7.02525459e-01 -7.11642411e-01 4.80183501e-03 5.49061555e+02] [ 7.11625430e-01 -7.02541868e-01 -4.91639824e-03 -2.46585702e+02] [ 6.87220764e-03 -3.67870329e-05 9.99976385e-01 -5.89397390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters 0.049594526724629856 Centerline is valid? [True, True] Translation: X:549.02, Y:-246.55, Z:-5.89 [[-7.00283598e-01 -7.13844236e-01 5.41198554e-03 5.49019030e+02] [ 7.13822738e-01 -7.00304510e-01 -5.54001222e-03 -2.46546628e+02] [ 7.74474367e-03 -1.63813559e-05 9.99970009e-01 -5.89382993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters 0.04945671666533147 Centerline is valid? [True, True] Translation: X:548.98, Y:-246.51, Z:-5.89 [[-6.97979416e-01 -7.16099079e-01 5.18110944e-03 5.48976919e+02] [ 7.16079451e-01 -6.97998646e-01 -5.30192815e-03 -2.46509636e+02] [ 7.41311324e-03 9.44928325e-06 9.99972522e-01 -5.89427276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters 0.049480769218976005 Centerline is valid? [True, True] Translation: X:548.93, Y:-246.47, Z:-5.89 [[-6.93925857e-01 -7.20030229e-01 4.83468326e-03 5.48933990e+02] [ 7.20013244e-01 -6.93942697e-01 -4.94589149e-03 -2.46472462e+02] [ 6.91618453e-03 4.89539855e-05 9.99976082e-01 -5.89347071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters 0.04946449766833869 Centerline is valid? [True, True] Translation: X:548.89, Y:-246.43, Z:-5.89 [[-6.91457848e-01 -7.22403286e-01 4.42012003e-03 5.48893040e+02] [ 7.22389145e-01 -6.91471972e-01 -4.52048727e-03 -2.46434714e+02] [ 6.32200397e-03 6.73203277e-05 9.99980014e-01 -5.89304496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters 0.0495631084870812 Centerline is valid? [True, True] Translation: X:548.85, Y:-246.40, Z:-5.89 [[-6.88429962e-01 -7.25294031e-01 3.57153247e-03 5.48850784e+02] [ 7.25284843e-01 -6.88439222e-01 -3.65161564e-03 -2.46396192e+02] [ 5.10727807e-03 7.64967494e-05 9.99986955e-01 -5.89207330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters 0.04985864942488905 Centerline is valid? [True, True] Translation: X:548.81, Y:-246.36, Z:-5.89 [[-6.87117943e-01 -7.26538778e-01 3.21501841e-03 5.48808351e+02] [ 7.26531350e-01 -6.87125460e-01 -3.28617505e-03 -2.46359882e+02] [ 4.59665461e-03 7.78218217e-05 9.99989432e-01 -5.89287082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters 0.04927847996326007 Centerline is valid? [True, True] Translation: X:548.77, Y:-246.32, Z:-5.89 [[-6.85640030e-01 -7.27934897e-01 2.92152315e-03 5.48769834e+02] [ 7.27928779e-01 -6.85646250e-01 -2.98535543e-03 -2.46317085e+02] [ 4.17627578e-03 7.97815913e-05 9.99991276e-01 -5.89078979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters 0.050077102024850745 Centerline is valid? [True, True] Translation: X:548.73, Y:-246.28, Z:-5.89 [[-6.84183484e-01 -7.29298716e-01 4.04260242e-03 5.48727262e+02] [ 7.29287034e-01 -6.84195417e-01 -4.12972351e-03 -2.46280164e+02] [ 5.77773210e-03 1.22728903e-04 9.99983301e-01 -5.89224671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters 0.04896933608917265 Centerline is valid? [True, True] Translation: X:548.69, Y:-246.23, Z:-5.89 [[-6.83620450e-01 -7.29819633e-01 5.13650366e-03 5.48690822e+02] [ 7.29800797e-01 -6.83639727e-01 -5.24590688e-03 -2.46234665e+02] [ 7.34008379e-03 1.62415246e-04 9.99973048e-01 -5.89173784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters 0.04863728228306388 Centerline is valid? [True, True] Translation: X:548.65, Y:-246.19, Z:-5.89 [[-6.84490739e-01 -7.28988883e-01 6.90197794e-03 5.48653062e+02] [ 7.28954849e-01 -6.84525504e-01 -7.04715827e-03 -2.46190916e+02] [ 9.86187996e-03 2.07515714e-04 9.99951349e-01 -5.89151099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters 0.049742950645431286 Centerline is valid? [True, True] Translation: X:548.62, Y:-246.15, Z:-5.89 [[-6.88249036e-01 -7.25434090e-01 7.65799169e-03 5.48615079e+02] [ 7.25391994e-01 -6.88291617e-01 -7.81693131e-03 -2.46148844e+02] [ 1.09415999e-02 1.75050426e-04 9.99940124e-01 -5.89217122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters 0.04922437957519248 Centerline is valid? [True, True] Translation: X:548.58, Y:-246.11, Z:-5.89 [[-6.91499085e-01 -7.22334557e-01 7.86144872e-03 5.48577148e+02] [ 7.22290010e-01 -6.91543759e-01 -8.02313900e-03 -2.46105033e+02] [ 1.12319264e-02 1.30252604e-04 9.99936911e-01 -5.89134386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters 0.04979722160870104 Centerline is valid? [True, True] Translation: X:548.54, Y:-246.06, Z:-5.89 [[-6.94328916e-01 -7.19614003e-01 7.93997254e-03 5.48536972e+02] [ 7.19568406e-01 -6.94374308e-01 -8.10120220e-03 -2.46062615e+02] [ 1.13430515e-02 8.84544448e-05 9.99935662e-01 -5.88968545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters 0.05006161098655992 Centerline is valid? [True, True] Translation: X:548.50, Y:-246.02, Z:-5.89 [[-6.98250200e-01 -7.15789567e-01 9.58924282e-03 5.48498732e+02] [ 7.15722737e-01 -6.98316042e-01 -9.78109360e-03 -2.46020966e+02] [ 1.36975268e-02 3.35885523e-05 9.99906184e-01 -5.89102583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters 0.05041882859486956 Centerline is valid? [True, True] Translation: X:548.46, Y:-245.98, Z:-5.89 [[-6.99329343e-01 -7.14734673e-01 9.63415669e-03 5.48459845e+02] [ 7.14667160e-01 -6.99395701e-01 -9.82358277e-03 -2.45981172e+02] [ 1.37593430e-02 1.52957141e-05 9.99905336e-01 -5.89234927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters 0.05013413074709419 Centerline is valid? [True, True] Translation: X:548.42, Y:-245.94, Z:-5.89 [[-7.01412558e-01 -7.12687657e-01 9.83501212e-03 5.48419961e+02] [ 7.12617140e-01 -7.01481506e-01 -1.00254070e-02 -2.45940306e+02] [ 1.40440629e-02 -2.33481554e-05 9.99901377e-01 -5.88689248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters 0.05061984755460131 Centerline is valid? [True, True] Translation: X:548.38, Y:-245.90, Z:-5.89 [[-7.05363547e-01 -7.08780748e-01 9.59785127e-03 5.48379641e+02] [ 7.08713264e-01 -7.05428836e-01 -9.78098075e-03 -2.45899781e+02] [ 1.37031719e-02 -9.70227810e-05 9.99906102e-01 -5.88502583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters 0.05072044628904635 Centerline is valid? [True, True] Translation: X:548.34, Y:-245.86, Z:-5.89 [[-7.09021115e-01 -7.05126026e-01 9.29221821e-03 5.48341185e+02] [ 7.05062483e-01 -7.09081985e-01 -9.46754424e-03 -2.45857676e+02] [ 1.32647564e-02 -1.61094337e-04 9.99912006e-01 -5.88667162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters 0.051469710302377736 Centerline is valid? [True, True] Translation: X:548.30, Y:-245.82, Z:-5.88 [[-7.09402345e-01 -7.04741747e-01 9.34791536e-03 5.48296085e+02] [ 7.04677446e-01 -7.09463912e-01 -9.52128034e-03 -2.45823336e+02] [ 1.33420523e-02 -1.67153478e-04 9.99910977e-01 -5.88227895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters 0.051294345701780035 Centerline is valid? [True, True] Translation: X:548.25, Y:-245.78, Z:-5.89 [[-7.06896144e-01 -7.07255702e-01 9.33875237e-03 5.48254889e+02] [ 7.07191777e-01 -7.06957819e-01 -9.50961430e-03 -2.45783057e+02] [ 1.33278329e-02 -1.18020800e-04 9.99911174e-01 -5.88541977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters 0.051325107334299847 Centerline is valid? [True, True] Translation: X:548.21, Y:-245.74, Z:-5.88 [[-7.03792605e-01 -7.10352667e-01 8.66363770e-03 5.48211719e+02] [ 7.10297913e-01 -7.03845925e-01 -8.81980520e-03 -2.45744720e+02] [ 1.23630382e-02 -5.35499000e-05 9.99923573e-01 -5.88321019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters 0.05070659412235786 Centerline is valid? [True, True] Translation: X:548.17, Y:-245.71, Z:-5.88 [[-6.97952989e-01 -7.16099301e-01 7.96338692e-03 5.48167868e+02] [ 7.16053439e-01 -6.97998416e-01 -8.10458736e-03 -2.45709326e+02] [ 1.13621208e-02 4.55896154e-05 9.99935448e-01 -5.88478862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters 0.05053138047561177 Centerline is valid? [True, True] Translation: X:548.12, Y:-245.67, Z:-5.88 [[-6.92320040e-01 -7.21557735e-01 6.88455551e-03 5.48122880e+02] [ 7.21523741e-01 -6.92354260e-01 -7.00506174e-03 -2.45673980e+02] [ 9.82110782e-03 1.17625627e-04 9.99951765e-01 -5.88483992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters 0.050833204308527426 Centerline is valid? [True, True] Translation: X:548.08, Y:-245.63, Z:-5.88 [[-6.89743994e-01 -7.24029303e-01 5.89845105e-03 5.48080764e+02] [ 7.24004454e-01 -6.89769201e-01 -5.99998543e-03 -2.45634810e+02] [ 8.41273514e-03 1.32050913e-04 9.99964604e-01 -5.88360165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters 0.050650689373449465 Centerline is valid? [True, True] Translation: X:548.04, Y:-245.59, Z:-5.88 [[-6.88369559e-01 -7.25347153e-01 4.34264109e-03 5.48038443e+02] [ 7.25333717e-01 -6.88383248e-01 -4.41627207e-03 -2.45594674e+02] [ 6.19273175e-03 1.09836745e-04 9.99980819e-01 -5.88266304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters 0.05026690225737837 Centerline is valid? [True, True] Translation: X:548.00, Y:-245.55, Z:-5.88 [[-6.88469990e-01 -7.25251208e-01 4.44513212e-03 5.47997879e+02] [ 7.25237136e-01 -6.88484330e-01 -4.51921483e-03 -2.45554321e+02] [ 6.33796982e-03 1.12431106e-04 9.99979909e-01 -5.88294140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters 0.050523901088712915 Centerline is valid? [True, True] Translation: X:547.96, Y:-245.52, Z:-5.89 [[-6.89462247e-01 -7.24300746e-01 5.49904465e-03 5.47957839e+02] [ 7.24279195e-01 -6.89484164e-01 -5.58884883e-03 -2.45516247e+02] [ 7.83951158e-03 1.29543366e-04 9.99969262e-01 -5.88603791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters 0.050406681787357695 Centerline is valid? [True, True] Translation: X:547.92, Y:-245.47, Z:-5.89 [[-6.91747772e-01 -7.22102991e-01 7.23125617e-03 5.47920766e+02] [ 7.22065622e-01 -6.91785553e-01 -7.34751743e-03 -2.45471006e+02] [ 1.03081429e-02 1.38812672e-04 9.99946860e-01 -5.88662824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters 0.050608052983033835 Centerline is valid? [True, True] Translation: X:547.88, Y:-245.43, Z:-5.89 [[-6.94882274e-01 -7.19073097e-01 8.51509959e-03 5.47881153e+02] [ 7.19021078e-01 -6.94934435e-01 -8.64988073e-03 -2.45429707e+02] [ 1.21373324e-02 1.11887293e-04 9.99926334e-01 -5.89035991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters 0.05127957943288738 Centerline is valid? [True, True] Translation: X:547.85, Y:-245.38, Z:-5.89 [[-7.02822957e-01 -7.11296741e-01 9.84058306e-03 5.47849479e+02] [ 7.11226544e-01 -7.02891845e-01 -9.99284063e-03 -2.45384070e+02] [ 1.40247406e-02 -2.43139233e-05 9.99901648e-01 -5.88647716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters 0.05124519761172729 Centerline is valid? [True, True] Translation: X:547.81, Y:-245.34, Z:-5.88 [[-7.14104085e-01 -6.99977429e-01 9.32489503e-03 5.47812527e+02] [ 6.99913442e-01 -7.14164928e-01 -9.46733705e-03 -2.45338173e+02] [ 1.32864352e-02 -2.34044686e-04 9.99911704e-01 -5.88414593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters 0.05109857415603529 Centerline is valid? [True, True] Translation: X:547.78, Y:-245.29, Z:-5.88 [[-7.22499872e-01 -6.91317247e-01 8.62550936e-03 5.47778421e+02] [ 6.91261902e-01 -7.22551267e-01 -8.75498093e-03 -2.45290201e+02] [ 1.22848420e-02 -3.62986591e-04 9.99924473e-01 -5.88473780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters 0.05264213409372839 Centerline is valid? [True, True] Translation: X:547.74, Y:-245.25, Z:-5.88 [[-7.33939315e-01 -6.79175349e-01 7.34345531e-03 5.47738083e+02] [ 6.79134636e-01 -7.33975893e-01 -7.45215592e-03 -2.45249234e+02] [ 1.04512398e-02 -4.82235372e-04 9.99945268e-01 -5.88087209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters 0.05275163635181632 Centerline is valid? [True, True] Translation: X:547.70, Y:-245.21, Z:-5.88 [[-7.39480995e-01 -6.73143853e-01 6.72401085e-03 5.47701159e+02] [ 6.73109484e-01 -7.39511382e-01 -6.82191398e-03 -2.45205151e+02] [ 9.56461202e-03 -5.18680259e-04 9.99954124e-01 -5.88060571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters 0.05295448402461758 Centerline is valid? [True, True] Translation: X:547.66, Y:-245.17, Z:-5.88 [[-7.43115943e-01 -6.69127213e-01 6.88961265e-03 5.47661020e+02] [ 6.69090971e-01 -7.43147651e-01 -6.98858154e-03 -2.45165021e+02] [ 9.79624955e-03 -5.83548743e-04 9.99951845e-01 -5.88106382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters 0.052927390681699625 Centerline is valid? [True, True] Translation: X:547.61, Y:-245.13, Z:-5.88 [[-7.41104907e-01 -6.71352566e-01 7.01773012e-03 5.47614377e+02] [ 6.71315080e-01 -7.41137919e-01 -7.11674928e-03 -2.45129271e+02] [ 9.97895378e-03 -5.63149758e-04 9.99950050e-01 -5.88061970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters 0.05258866000967446 Centerline is valid? [True, True] Translation: X:547.57, Y:-245.09, Z:-5.88 [[-7.36819776e-01 -6.76065084e-01 5.71140425e-03 5.47566685e+02] [ 6.76040400e-01 -7.36841800e-01 -5.79143662e-03 -2.45093712e+02] [ 8.12378946e-03 -4.06105022e-04 9.99966919e-01 -5.87999447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters 0.05302123412760311 Centerline is valid? [True, True] Translation: X:547.52, Y:-245.06, Z:-5.88 [[-7.28074078e-01 -6.85489002e-01 3.60070907e-03 5.47521777e+02] [ 6.85479307e-01 -7.28082957e-01 -3.65077441e-03 -2.45057248e+02] [ 5.12418061e-03 -1.89822655e-04 9.99986853e-01 -5.88002526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters 0.05226997763986485 Centerline is valid? [True, True] Translation: X:547.48, Y:-245.02, Z:-5.88 [[-7.17879477e-01 -6.96155214e-01 4.12015418e-03 5.47476820e+02] [ 6.96142695e-01 -7.17891288e-01 -4.17692004e-03 -2.45020512e+02] [ 5.86560746e-03 -1.30309936e-04 9.99982789e-01 -5.88177671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters 0.05155243232726919 Centerline is valid? [True, True] Translation: X:547.43, Y:-244.99, Z:-5.88 [[-7.08181230e-01 -7.06022160e-01 3.47204053e-03 5.47427370e+02] [ 7.06013389e-01 -7.08189740e-01 -3.51947491e-03 -2.44986841e+02] [ 4.94369075e-03 -4.11189726e-05 9.99987779e-01 -5.88174815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters 0.05136850667700574 Centerline is valid? [True, True] Translation: X:547.38, Y:-244.95, Z:-5.88 [[-7.01837432e-01 -7.12332663e-01 2.52906888e-03 5.47382366e+02] [ 7.12328052e-01 -7.01841989e-01 -2.56289665e-03 -2.44950753e+02] [ 3.60064172e-03 2.78990573e-06 9.99993518e-01 -5.88356965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters 0.051680647383879404 Centerline is valid? [True, True] Translation: X:547.33, Y:-244.92, Z:-5.88 [[-6.92969212e-01 -7.20966387e-01 1.06783963e-03 5.47334676e+02] [ 7.20965576e-01 -6.92970034e-01 -1.08180038e-03 -2.44917408e+02] [ 1.51992257e-03 2.02212539e-05 9.99998845e-01 -5.88340387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters 0.05193840121815906 Centerline is valid? [True, True] Translation: X:547.29, Y:-244.88, Z:-5.88 [[-6.86980374e-01 -7.26675414e-01 8.99196949e-04 5.47287420e+02] [ 7.26674843e-01 -6.86980962e-01 -9.10755954e-04 -2.44884955e+02] [ 1.27955514e-03 2.77523357e-05 9.99999181e-01 -5.88377339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters 0.0524217122059874 Centerline is valid? [True, True] Translation: X:547.25, Y:-244.85, Z:-5.88 [[-6.85547878e-01 -7.28027391e-01 4.74272630e-04 5.47245145e+02] [ 7.28027232e-01 -6.85548042e-01 -4.80233074e-04 -2.44846071e+02] [ 6.74759504e-04 1.60606251e-05 9.99999772e-01 -5.88407870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters 0.05268197986100875 Centerline is valid? [True, True] Translation: X:547.20, Y:-244.81, Z:-5.89 [[-6.86344719e-01 -7.27275428e-01 1.17467951e-03 5.47203158e+02] [ 7.27274456e-01 -6.86345723e-01 -1.18919143e-03 -2.44808864e+02] [ 1.67110597e-03 3.81191435e-05 9.99998603e-01 -5.88649072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters 0.05296235519950208 Centerline is valid? [True, True] Translation: X:547.16, Y:-244.77, Z:-5.89 [[-6.88029278e-01 -7.25681140e-01 1.61132018e-03 5.47164914e+02] [ 7.25679309e-01 -6.88031163e-01 -1.63072667e-03 -2.44767749e+02] [ 2.29202608e-03 4.73140224e-05 9.99997372e-01 -5.88775688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters 0.05180178710650953 Centerline is valid? [True, True] Translation: X:547.13, Y:-244.72, Z:-5.89 [[-6.89932217e-01 -7.23870807e-01 2.14271289e-03 5.47130631e+02] [ 7.23867563e-01 -6.89935542e-01 -2.16794371e-03 -2.44720756e+02] [ 3.04764494e-03 5.53061448e-05 9.99995354e-01 -5.88855083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters 0.05219766820357825 Centerline is valid? [True, True] Translation: X:547.09, Y:-244.68, Z:-5.89 [[-6.93470236e-01 -7.20470440e-01 4.62353608e-03 5.47094881e+02] [ 7.20455267e-01 -6.93485644e-01 -4.67661822e-03 -2.44676235e+02] [ 6.57572108e-03 8.79553825e-05 9.99978376e-01 -5.89158890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters 0.05122549249785167 Centerline is valid? [True, True] Translation: X:547.06, Y:-244.63, Z:-5.89 [[-6.96788295e-01 -7.17259559e-01 4.97976552e-03 5.47059834e+02] [ 7.17241885e-01 -6.96806086e-01 -5.03555046e-03 -2.44630001e+02] [ 7.08172763e-03 6.29837892e-05 9.99974922e-01 -5.89175630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters 0.051402665503781045 Centerline is valid? [True, True] Translation: X:547.02, Y:-244.59, Z:-5.89 [[-6.99112001e-01 -7.15000774e-01 4.03767490e-03 5.47022359e+02] [ 7.14989123e-01 -6.99123660e-01 -4.08184639e-03 -2.44585971e+02] [ 5.74135738e-03 3.32258328e-05 9.99983518e-01 -5.89121447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters 0.0511441140606336 Centerline is valid? [True, True] Translation: X:546.99, Y:-244.54, Z:-5.89 [[-7.01876012e-01 -7.12293646e-01 2.79738439e-03 5.46988340e+02] [ 7.12288035e-01 -7.01881587e-01 -2.82711435e-03 -2.44540762e+02] [ 3.97716818e-03 8.25968318e-06 9.99992091e-01 -5.88994699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters 0.051027401301613054 Centerline is valid? [True, True] Translation: X:546.95, Y:-244.50, Z:-5.89 [[-7.02887628e-01 -7.11297664e-01 2.14825895e-03 5.46952224e+02] [ 7.11294352e-01 -7.02890911e-01 -2.17046953e-03 -2.44495745e+02] [ 3.05384160e-03 2.44828003e-06 9.99995337e-01 -5.88987938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters 0.05070461572412128 Centerline is valid? [True, True] Translation: X:546.92, Y:-244.45, Z:-5.89 [[-7.00969532e-01 -7.13187981e-01 2.14897553e-03 5.46915513e+02] [ 7.13184679e-01 -7.00972826e-01 -2.17053420e-03 -2.44452262e+02] [ 3.05437236e-03 1.11380784e-05 9.99995335e-01 -5.88928664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters 0.050514506030450504 Centerline is valid? [True, True] Translation: X:546.88, Y:-244.41, Z:-5.89 [[-6.98719842e-01 -7.15392957e-01 1.87051693e-03 5.46878512e+02] [ 7.15390464e-01 -6.98722346e-01 -1.88875553e-03 -2.44408991e+02] [ 2.65817438e-03 1.84390142e-05 9.99996467e-01 -5.88804297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters 0.050772794669976314 Centerline is valid? [True, True] Translation: X:546.84, Y:-244.37, Z:-5.89 [[-6.97423661e-01 -7.16657134e-01 1.66999413e-03 5.46838868e+02] [ 7.16655151e-01 -6.97425660e-01 -1.68615269e-03 -2.44366180e+02] [ 2.37309012e-03 2.08471114e-05 9.99997184e-01 -5.88784409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters 0.05068067728488562 Centerline is valid? [True, True] Translation: X:546.79, Y:-244.33, Z:-5.89 [[-6.93495263e-01 -7.20458869e-01 1.82720123e-03 5.46794632e+02] [ 7.20456509e-01 -6.93497669e-01 -1.84441826e-03 -2.44329342e+02] [ 2.59598729e-03 3.73236961e-05 9.99996630e-01 -5.88947502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters 0.05067054625319317 Centerline is valid? [True, True] Translation: X:546.76, Y:-244.29, Z:-5.89 [[-6.90926590e-01 -7.22921365e-01 2.26865989e-03 5.46756587e+02] [ 7.22917743e-01 -6.90930312e-01 -2.28929722e-03 -2.44289080e+02] [ 3.22246776e-03 5.83181603e-05 9.99994806e-01 -5.89020495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters 0.05016099631116954 Centerline is valid? [True, True] Translation: X:546.72, Y:-244.25, Z:-5.89 [[-6.89507109e-01 -7.24276176e-01 1.99185071e-03 5.46719665e+02] [ 7.24273391e-01 -6.89509984e-01 -2.00942178e-03 -2.44245778e+02] [ 2.82877728e-03 5.71338636e-05 9.99995997e-01 -5.88989962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters 0.05001699343626465 Centerline is valid? [True, True] Translation: X:546.68, Y:-244.20, Z:-5.89 [[-6.89190846e-01 -7.24578670e-01 1.31522936e-03 5.46683617e+02] [ 7.24577456e-01 -6.89192100e-01 -1.32650540e-03 -2.44199756e+02] [ 1.86760321e-03 3.87701690e-05 9.99998255e-01 -5.88902934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters 0.05057507384032738 Centerline is valid? [True, True] Translation: X:546.64, Y:-244.16, Z:-5.89 [[-6.89804991e-01 -7.23993242e-01 1.69144631e-03 5.46641347e+02] [ 7.23991234e-01 -6.89807063e-01 -1.70556727e-03 -2.44162657e+02] [ 2.40159079e-03 4.80834857e-05 9.99997115e-01 -5.88958517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters 0.04878511270697304 Centerline is valid? [True, True] Translation: X:546.61, Y:-244.11, Z:-5.89 [[-6.91680545e-01 -7.22201821e-01 1.59782820e-03 5.46609800e+02] [ 7.22200026e-01 -6.91682389e-01 -1.61091015e-03 -2.44112167e+02] [ 2.26859187e-03 3.97163550e-05 9.99997426e-01 -5.88944070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters 0.048769528773678045 Centerline is valid? [True, True] Translation: X:546.57, Y:-244.07, Z:-5.89 [[-6.94584377e-01 -7.19408160e-01 2.10774405e-03 5.46572724e+02] [ 7.19405024e-01 -6.94587574e-01 -2.12456911e-03 -2.44068731e+02] [ 2.99244518e-03 4.06291506e-05 9.99995522e-01 -5.89007616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters 0.04865858255371746 Centerline is valid? [True, True] Translation: X:546.53, Y:-244.03, Z:-5.89 [[-6.96435332e-01 -7.17617019e-01 1.90843038e-03 5.46534318e+02] [ 7.17614443e-01 -6.96437946e-01 -1.92317770e-03 -2.44025222e+02] [ 2.70920838e-03 3.01483028e-05 9.99996330e-01 -5.88946509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters 0.049092350191839024 Centerline is valid? [True, True] Translation: X:546.49, Y:-243.99, Z:-5.89 [[-6.97304262e-01 -7.16773122e-01 1.74845481e-03 5.46493106e+02] [ 7.16770958e-01 -6.97306454e-01 -1.76149377e-03 -2.43985877e+02] [ 2.48180021e-03 2.49445157e-05 9.99996920e-01 -5.88995082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters 0.04835103315470363 Centerline is valid? [True, True] Translation: X:546.45, Y:-243.95, Z:-5.89 [[-6.97620087e-01 -7.16461701e-01 2.97412973e-03 5.46454650e+02] [ 7.16455441e-01 -6.97626425e-01 -2.99539300e-03 -2.43945245e+02] [ 4.22091586e-03 4.11851066e-05 9.99991091e-01 -5.88970267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters 0.049140701842706185 Centerline is valid? [True, True] Translation: X:546.41, Y:-243.91, Z:-5.89 [[-6.97727391e-01 -7.16355568e-01 3.34484284e-03 5.46412028e+02] [ 7.16347653e-01 -6.97735407e-01 -3.36783747e-03 -2.43906720e+02] [ 4.74638441e-03 4.62378672e-05 9.99988735e-01 -5.89183470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters 0.049310360824307745 Centerline is valid? [True, True] Translation: X:546.37, Y:-243.87, Z:-5.89 [[-6.98436316e-01 -7.15661199e-01 3.96988344e-03 5.46370733e+02] [ 7.15650044e-01 -6.98447597e-01 -3.99611771e-03 -2.43865407e+02] [ 5.63262194e-03 5.00135226e-05 9.99984135e-01 -5.89193067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters 0.04901501998907399 Centerline is valid? [True, True] Translation: X:546.33, Y:-243.83, Z:-5.89 [[-6.99831643e-01 -7.14294437e-01 4.37357370e-03 5.46329145e+02] [ 7.14280879e-01 -6.99845308e-01 -4.40131270e-03 -2.43825455e+02] [ 6.20465821e-03 4.37821697e-05 9.99980750e-01 -5.89250390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters 0.048983805976964945 Centerline is valid? [True, True] Translation: X:546.29, Y:-243.79, Z:-5.89 [[-7.00892860e-01 -7.13251297e-01 4.66743973e-03 5.46288374e+02] [ 7.13235841e-01 -7.00908400e-01 -4.69564108e-03 -2.43785415e+02] [ 6.62061980e-03 3.78439922e-05 9.99978083e-01 -5.89154242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters 0.04909109762159489 Centerline is valid? [True, True] Translation: X:546.25, Y:-243.75, Z:-5.89 [[-7.01733293e-01 -7.12424266e-01 4.69576524e-03 5.46247206e+02] [ 7.12408613e-01 -7.01749004e-01 -4.72266060e-03 -2.43747278e+02] [ 6.65978659e-03 3.12554308e-05 9.99977823e-01 -5.89087672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters 0.04915998836715795 Centerline is valid? [True, True] Translation: X:546.20, Y:-243.71, Z:-5.89 [[-7.01790382e-01 -7.12367395e-01 4.79108382e-03 5.46204904e+02] [ 7.12351109e-01 -7.01806735e-01 -4.81711645e-03 -2.43708399e+02] [ 6.79397159e-03 3.23278748e-05 9.99976920e-01 -5.89058014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters 0.04951103740495811 Centerline is valid? [True, True] Translation: X:546.16, Y:-243.67, Z:-5.89 [[-7.01335594e-01 -7.12814479e-01 4.88896041e-03 5.46164396e+02] [ 7.12797543e-01 -7.01352634e-01 -4.91385748e-03 -2.43671091e+02] [ 6.93155403e-03 3.85758122e-05 9.99975976e-01 -5.89140045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters 0.04920196588183544 Centerline is valid? [True, True] Translation: X:546.12, Y:-243.63, Z:-5.89 [[-6.99471603e-01 -7.14639600e-01 5.45152833e-03 5.46122161e+02] [ 7.14618609e-01 -6.99492844e-01 -5.47771918e-03 -2.43632636e+02] [ 7.72790010e-03 6.42545720e-05 9.99970137e-01 -5.89144085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters 0.04917132204492515 Centerline is valid? [True, True] Translation: X:546.08, Y:-243.59, Z:-5.89 [[-6.96188491e-01 -7.17834891e-01 5.88674012e-03 5.46081667e+02] [ 7.17810542e-01 -6.96213370e-01 -5.91344246e-03 -2.43591405e+02] [ 8.34330250e-03 1.08693527e-04 9.99965188e-01 -5.88928777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters 0.04896910719695819 Centerline is valid? [True, True] Translation: X:546.04, Y:-243.55, Z:-5.89 [[-6.93432734e-01 -7.20500805e-01 5.44359176e-03 5.46039368e+02] [ 7.20480076e-01 -6.93454088e-01 -5.46691974e-03 -2.43551380e+02] [ 7.71380103e-03 1.31058302e-04 9.99970240e-01 -5.88923239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters 0.048926651940757966 Centerline is valid? [True, True] Translation: X:546.00, Y:-243.51, Z:-5.89 [[-6.92429660e-01 -7.21469579e-01 4.77617466e-03 5.45998197e+02] [ 7.21453653e-01 -6.92446121e-01 -4.79545578e-03 -2.43509765e+02] [ 6.76701908e-03 1.25272835e-04 9.99977096e-01 -5.88829840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters 0.04986036676497192 Centerline is valid? [True, True] Translation: X:545.95, Y:-243.47, Z:-5.89 [[-6.91212160e-01 -7.22636464e-01 4.72137171e-03 5.45953993e+02] [ 7.22620936e-01 -6.91228271e-01 -4.73920430e-03 -2.43472524e+02] [ 6.68826744e-03 1.35966401e-04 9.99977624e-01 -5.89090617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters 0.04876307393959906 Centerline is valid? [True, True] Translation: X:545.92, Y:-243.43, Z:-5.89 [[-6.91172646e-01 -7.22671446e-01 5.13364125e-03 5.45917683e+02] [ 7.22653099e-01 -6.91191695e-01 -5.15159980e-03 -2.43427441e+02] [ 7.27124427e-03 1.49196889e-04 9.99973553e-01 -5.88958544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters 0.04938870578145263 Centerline is valid? [True, True] Translation: X:545.88, Y:-243.39, Z:-5.89 [[-6.91298594e-01 -7.22540735e-01 6.41397928e-03 5.45877106e+02] [ 7.22512104e-01 -6.91328324e-01 -6.43491660e-03 -2.43386991e+02] [ 9.08365491e-03 1.85728868e-04 9.99958726e-01 -5.89068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters 0.048540931258663135 Centerline is valid? [True, True] Translation: X:545.84, Y:-243.34, Z:-5.89 [[-6.92293577e-01 -7.21582936e-01 6.90430077e-03 5.45838405e+02] [ 7.21549732e-01 -6.92327979e-01 -6.92484715e-03 -2.43344390e+02] [ 9.77689214e-03 1.87769168e-04 9.99952187e-01 -5.89087425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters 0.048696552240007344 Centerline is valid? [True, True] Translation: X:545.80, Y:-243.30, Z:-5.89 [[-6.93746488e-01 -7.20186029e-01 6.92051061e-03 5.45800256e+02] [ 7.20152617e-01 -6.93780984e-01 -6.93933731e-03 -2.43299928e+02] [ 9.79893244e-03 1.69682936e-04 9.99951975e-01 -5.88959609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters 0.04857838976610885 Centerline is valid? [True, True] Translation: X:545.76, Y:-243.26, Z:-5.89 [[-6.94749671e-01 -7.19221382e-01 6.59533805e-03 5.45759096e+02] [ 7.19191003e-01 -6.94780960e-01 -6.61201312e-03 -2.43260496e+02] [ 9.33781651e-03 1.49613846e-04 9.99956390e-01 -5.89059371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters 0.04905720521592298 Centerline is valid? [True, True] Translation: X:545.72, Y:-243.22, Z:-5.89 [[-6.96282088e-01 -7.17735814e-01 6.82318179e-03 5.45717712e+02] [ 7.17703249e-01 -6.96315506e-01 -6.83840358e-03 -2.43222395e+02] [ 9.65925443e-03 1.35561817e-04 9.99953339e-01 -5.89272423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters 0.048800156798053454 Centerline is valid? [True, True] Translation: X:545.68, Y:-243.18, Z:-5.89 [[-6.97944908e-01 -7.16113280e-01 7.39432284e-03 5.45680345e+02] [ 7.16074962e-01 -6.97984065e-01 -7.40901728e-03 -2.43177588e+02] [ 1.04668152e-02 1.23803561e-04 9.99945214e-01 -5.88976354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters 0.04930079279232507 Centerline is valid? [True, True] Translation: X:545.64, Y:-243.14, Z:-5.89 [[-6.99624402e-01 -7.14474337e-01 7.21926692e-03 5.45639780e+02] [ 7.14437744e-01 -6.99661641e-01 -7.23171954e-03 -2.43135982e+02] [ 1.02179222e-02 9.82293183e-05 9.99947791e-01 -5.88945079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters 0.04875517337923775 Centerline is valid? [True, True] Translation: X:545.60, Y:-243.10, Z:-5.89 [[-7.00326299e-01 -7.13785341e-01 7.31862684e-03 5.45598771e+02] [ 7.13747720e-01 -7.00364533e-01 -7.32898051e-03 -2.43097389e+02] [ 1.03570255e-02 9.09754231e-05 9.99946360e-01 -5.88905626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters 0.049861230825896344 Centerline is valid? [True, True] Translation: X:545.56, Y:-243.06, Z:-5.89 [[-7.00625935e-01 -7.13490205e-01 7.41803503e-03 5.45557432e+02] [ 7.13451561e-01 -7.00665198e-01 -7.42637937e-03 -2.43058240e+02] [ 1.04962079e-02 8.92946794e-05 9.99944909e-01 -5.88902047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters 0.04909037738511065 Centerline is valid? [True, True] Translation: X:545.52, Y:-243.02, Z:-5.89 [[-7.01970654e-01 -7.12169043e-01 7.24257222e-03 5.45516751e+02] [ 7.12132156e-01 -7.02008012e-01 -7.24867517e-03 -2.43019831e+02] [ 1.02466258e-02 6.93113171e-05 9.99947500e-01 -5.88985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters 0.04955024459023233 Centerline is valid? [True, True] Translation: X:545.48, Y:-242.98, Z:-5.89 [[-7.04010318e-01 -7.10155154e-01 7.00930076e-03 5.45477008e+02] [ 7.10120522e-01 -7.04045209e-01 -7.01344969e-03 -2.42976949e+02] [ 9.91550206e-03 3.99073647e-05 9.99950839e-01 -5.88697066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters 0.04954473778733063 Centerline is valid? [True, True] Translation: X:545.44, Y:-242.94, Z:-5.89 [[-7.05470550e-01 -7.08713034e-01 6.09409222e-03 5.45436478e+02] [ 7.08686816e-01 -7.05496871e-01 -6.09606947e-03 -2.42936562e+02] [ 8.61972688e-03 1.82053309e-05 9.99962849e-01 -5.88769066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters 0.04934872136877128 Centerline is valid? [True, True] Translation: X:545.40, Y:-242.90, Z:-5.89 [[-7.06515224e-01 -7.07674353e-01 5.76614623e-03 5.45397352e+02] [ 7.07650862e-01 -7.06538754e-01 -5.76606036e-03 -2.42897779e+02] [ 8.15449881e-03 6.60891889e-06 9.99966752e-01 -5.88892671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters 0.049347481376560275 Centerline is valid? [True, True] Translation: X:544.74, Y:-243.16, Z:-4.87 [[-7.53480450e-01 6.57438843e-01 6.43275141e-03 5.44738960e+02] [ 6.57415149e-01 7.53507908e-01 -5.58162037e-03 -2.43155061e+02] [-8.51670310e-03 2.33464024e-05 -9.99963732e-01 -4.87312730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters 0.05015984676324995 Centerline is valid? [True, True] Translation: X:544.77, Y:-243.09, Z:-4.87 [[-7.95618850e-01 6.05762939e-01 6.47365519e-03 5.44766212e+02] [ 6.05743466e-01 7.95645184e-01 -4.85737579e-03 -2.43087494e+02] [-8.09315081e-03 5.67546002e-05 -9.99967248e-01 -4.87182010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters 0.04990520604347886 Centerline is valid? [True, True] Translation: X:544.80, Y:-243.03, Z:-4.87 [[-8.35462131e-01 5.49506329e-01 6.76916293e-03 5.44804704e+02] [ 5.49488998e-01 8.35489550e-01 -4.36490767e-03 -2.43025774e+02] [-8.05410929e-03 7.28654917e-05 -9.99967563e-01 -4.87276391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters 0.04994149271729776 Centerline is valid? [True, True] Translation: X:545.23, Y:-243.18, Z:-4.87 [[-8.74509891e-01 4.84958728e-01 6.89074005e-03 5.45228949e+02] [ 4.84944246e-01 8.74537036e-01 -3.74832588e-03 -2.43179130e+02] [-7.84399073e-03 6.36766843e-05 -9.99969233e-01 -4.87465362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters 0.04988184051833947 Centerline is valid? [True, True] Translation: X:544.60, Y:-242.77, Z:-4.87 [[-9.08121995e-01 4.18643024e-01 7.24297388e-03 5.44599684e+02] [ 4.18630024e-01 9.08150878e-01 -3.29928569e-03 -2.42770834e+02] [-7.95893602e-03 3.59724311e-05 -9.99968327e-01 -4.87326444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters 0.04984436253400924 Centerline is valid? [True, True] Translation: X:544.47, Y:-242.63, Z:-4.87 [[-9.37448944e-01 3.48027965e-01 8.12486277e-03 5.44473387e+02] [ 3.48014810e-01 9.37484152e-01 -3.02598401e-03 -2.42633584e+02] [-8.67005714e-03 -9.13293631e-06 -9.99962414e-01 -4.87407367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters 0.0498506501240414 Centerline is valid? [True, True] Translation: X:544.70, Y:-242.62, Z:-4.87 [[-9.61534772e-01 2.74541056e-01 8.83690522e-03 5.44696460e+02] [ 2.74528939e-01 9.61575377e-01 -2.57998013e-03 -2.42621321e+02] [-9.20566094e-03 -5.47543896e-05 -9.99957626e-01 -4.87064060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters 0.05013565559413151 Centerline is valid? [True, True] Translation: X:544.62, Y:-241.96, Z:-5.89 [[-9.34621061e-01 -3.55492580e-01 1.04162329e-02 5.44617781e+02] [ 3.55472813e-01 -9.34679083e-01 -3.75386809e-03 -2.41959584e+02] [ 1.10703072e-02 1.94243417e-04 9.99938703e-01 -5.88831807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters 0.05022451152893131 Centerline is valid? [True, True] Translation: X:544.40, Y:-242.52, Z:-4.87 [[-9.65436306e-01 2.60429434e-01 1.04522127e-02 5.44396612e+02] [ 2.60412119e-01 9.65492867e-01 -3.00854852e-03 -2.42523348e+02] [-1.08750514e-02 -1.82679100e-04 -9.99940848e-01 -4.87112110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters 0.05002164279712158 Centerline is valid? [True, True] Translation: X:544.43, Y:-242.45, Z:-4.87 [[-9.81998908e-01 1.88663170e-01 9.18437289e-03 5.44433749e+02] [ 1.88653187e-01 9.82041840e-01 -1.94930948e-03 -2.42452203e+02] [-9.38720135e-03 -1.81558567e-04 -9.99955923e-01 -4.87351674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters 0.05001841352339036 Centerline is valid? [True, True] Translation: X:544.38, Y:-242.37, Z:-4.88 [[-9.93037081e-01 1.17510840e-01 8.28001644e-03 5.44380530e+02] [ 1.17505331e-01 9.93071585e-01 -1.15045848e-03 -2.42366464e+02] [-8.35784039e-03 -1.69501864e-04 -9.99965058e-01 -4.87537040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters 0.04938723755465704 Centerline is valid? [True, True] Translation: X:544.32, Y:-242.28, Z:-4.88 [[-9.98832131e-01 4.76863609e-02 7.77079334e-03 5.44317014e+02] [ 4.76837486e-02 9.98862347e-01 -5.21206650e-04 -2.42282518e+02] [-7.78680732e-03 -1.50057393e-04 -9.99969671e-01 -4.87648024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters 0.050445076228942884 Centerline is valid? [True, True] Translation: X:544.24, Y:-242.20, Z:-4.87 [[-9.99752495e-01 -2.08160650e-02 7.85114720e-03 5.44237881e+02] [-2.08164515e-02 9.99783314e-01 3.24909402e-05 -2.42200413e+02] [-7.85012230e-03 -1.30950127e-04 -9.99969179e-01 -4.87481238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters 0.05020043940133052 Centerline is valid? [True, True] Translation: X:544.14, Y:-242.13, Z:-4.87 [[-9.96019630e-01 -8.86330475e-02 9.43817860e-03 5.44136100e+02] [-8.86302786e-02 9.96064339e-01 7.12057996e-04 -2.42130584e+02] [-9.46414500e-03 -1.27284658e-04 -9.99955206e-01 -4.87405908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters 0.050469769301568844 Centerline is valid? [True, True] Translation: X:544.04, Y:-242.07, Z:-4.87 [[-9.87771521e-01 -1.55461852e-01 1.17913355e-02 5.44044595e+02] [-1.55452155e-01 9.87841890e-01 1.74011741e-03 -2.42067686e+02] [-1.19184970e-02 -1.14150100e-04 -9.99928966e-01 -4.87327183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters 0.050022863962248566 Centerline is valid? [True, True] Translation: X:543.90, Y:-242.02, Z:-4.87 [[-9.75358034e-01 -2.20301336e-01 1.20011360e-02 5.43902529e+02] [-2.20285349e-01 9.75431862e-01 2.65457094e-03 -2.42021248e+02] [-1.22910960e-02 -5.45173510e-05 -9.99924460e-01 -4.87179397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters 0.05081193664679916 Centerline is valid? [True, True] Translation: X:543.89, Y:-241.95, Z:-4.87 [[-9.58334876e-01 -2.85341431e-01 1.32110838e-02 5.43894732e+02] [-2.85313992e-01 9.58425932e-01 3.95711284e-03 -2.41950573e+02] [-1.37909735e-02 2.29321848e-05 -9.99904900e-01 -4.87257106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters 0.05088766153375633 Centerline is valid? [True, True] Translation: X:543.77, Y:-241.92, Z:-4.87 [[-9.37115877e-01 -3.48787632e-01 1.26893551e-02 5.43765819e+02] [-3.48754470e-01 9.37201782e-01 4.81027149e-03 -2.41916730e+02] [-1.35702494e-02 8.23124752e-05 -9.99907917e-01 -4.87305968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters 0.050654294966619245 Centerline is valid? [True, True] Translation: X:543.65, Y:-241.89, Z:-4.88 [[-9.10792843e-01 -4.12691807e-01 1.19108556e-02 5.43645149e+02] [-4.12654909e-01 9.10870715e-01 5.51963393e-03 -2.41886233e+02] [-1.31271573e-02 1.12170048e-04 -9.99913829e-01 -4.87532757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters 0.05072017540865411 Centerline is valid? [True, True] Translation: X:543.53, Y:-241.86, Z:-4.88 [[-8.79383599e-01 -4.76001576e-01 1.03434170e-02 5.43525927e+02] [-4.75967056e-01 8.79444419e-01 5.73374102e-03 -2.41861755e+02] [-1.18257301e-02 1.19032047e-04 -9.99930067e-01 -4.87538620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters 0.05071445437397665 Centerline is valid? [True, True] Translation: X:543.33, Y:-241.89, Z:-4.87 [[-8.43709174e-01 -5.36715410e-01 9.56022780e-03 5.43327949e+02] [-5.36679271e-01 8.43763327e-01 6.22952627e-03 -2.41894517e+02] [-1.14100524e-02 1.25132369e-04 -9.99934895e-01 -4.87474611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters 0.050499229629389734 Centerline is valid? [True, True] Translation: X:543.19, Y:-241.90, Z:-4.88 [[-8.02090966e-01 -5.97143742e-01 8.33268271e-03 5.43193302e+02] [-5.97110039e-01 8.02134240e-01 6.34527355e-03 -2.41898087e+02] [-1.04729705e-02 1.13958086e-04 -9.99945150e-01 -4.87583987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters 0.05071475253177338 Centerline is valid? [True, True] Translation: X:542.60, Y:-241.53, Z:-5.89 [[-8.30196727e-01 5.57401735e-01 8.75789810e-03 5.42603085e+02] [-5.57372166e-01 -8.30242912e-01 5.74249061e-03 -2.41529206e+02] [ 1.04720571e-02 -1.14011724e-04 9.99945160e-01 -5.88565201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters 0.050179653704139356 Centerline is valid? [True, True] Translation: X:542.86, Y:-242.14, Z:-4.88 [[-7.94168651e-01 -6.07641821e-01 8.22019881e-03 5.42864859e+02] [-6.07608739e-01 7.94211191e-01 6.34070257e-03 -2.42137157e+02] [-1.03814499e-02 4.09225670e-05 -9.99946110e-01 -4.87505055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters 0.04953987793440676 Centerline is valid? [True, True] Translation: X:542.73, Y:-242.15, Z:-4.88 [[-7.43363494e-01 -6.68857342e-01 6.36961872e-03 5.42734099e+02] [-6.68833011e-01 7.43390783e-01 5.70504992e-03 -2.42146507e+02] [-8.55098037e-03 -1.92854176e-05 -9.99963440e-01 -4.87659668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters 0.04981938310796749 Centerline is valid? [True, True] Translation: X:542.57, Y:-242.19, Z:-4.88 [[-6.88135950e-01 -7.25566493e-01 4.70938678e-03 5.42573620e+02] [-7.25550049e-01 6.88152062e-01 4.88529485e-03 -2.42190953e+02] [-6.78538048e-03 -5.51487925e-05 -9.99976978e-01 -4.87669457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters 0.05013049917410982 Centerline is valid? [True, True] Translation: X:542.43, Y:-242.24, Z:-4.88 [[-6.29948260e-01 -7.76626134e-01 4.12778004e-03 5.42426410e+02] [-7.76610264e-01 6.29961779e-01 4.96541655e-03 -2.42239650e+02] [-6.45661591e-03 -7.77208280e-05 -9.99979153e-01 -4.87682180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters 0.049399219931918814 Centerline is valid? [True, True] Translation: X:542.27, Y:-242.32, Z:-4.88 [[-5.70828911e-01 -8.21059554e-01 3.94505575e-03 5.42268178e+02] [-8.21041016e-01 5.70842536e-01 5.51806461e-03 -2.42319527e+02] [-6.78266529e-03 -8.91817701e-05 -9.99976994e-01 -4.87720252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters 0.050234587563410746 Centerline is valid? [True, True] Translation: X:542.10, Y:-242.42, Z:-4.87 [[-5.08427958e-01 -8.61095933e-01 3.84781335e-03 5.42104803e+02] [-8.61072775e-01 5.08442508e-01 6.31603989e-03 -2.42420818e+02] [-7.39510813e-03 -1.01996051e-04 -9.99972651e-01 -4.87459967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters 0.050084619757910745 Centerline is valid? [True, True] Translation: X:541.94, Y:-242.56, Z:-4.87 [[-4.44688807e-01 -8.95676874e-01 3.84732576e-03 5.41942592e+02] [-8.95645430e-01 4.44705436e-01 7.50594055e-03 -2.42556168e+02] [-8.43382405e-03 -1.08031983e-04 -9.99964429e-01 -4.87204317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters 0.0499861921268155 Centerline is valid? [True, True] Translation: X:541.80, Y:-242.69, Z:-4.87 [[-3.76771672e-01 -9.26299503e-01 3.51249413e-03 5.41800675e+02] [-9.26262202e-01 3.76788025e-01 8.31368460e-03 -2.42687117e+02] [-9.02442764e-03 -1.21129695e-04 -9.99959272e-01 -4.87295498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters 0.05036450801143731 Centerline is valid? [True, True] Translation: X:541.65, Y:-242.85, Z:-4.87 [[-3.06916118e-01 -9.51731999e-01 2.94920340e-03 5.41653788e+02] [-9.51692009e-01 3.06930261e-01 8.72559260e-03 -2.42851873e+02] [-9.20962546e-03 -1.28708300e-04 -9.99957582e-01 -4.87154252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters 0.05020599857859473 Centerline is valid? [True, True] Translation: X:541.53, Y:-243.01, Z:-4.87 [[-2.34672946e-01 -9.72071155e-01 2.50554752e-03 5.41527383e+02] [-9.72022452e-01 2.34686272e-01 9.73174729e-03 -2.43010655e+02] [-1.00479684e-02 -1.51670635e-04 -9.99949506e-01 -4.87220595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters 0.049942543688654875 Centerline is valid? [True, True] Translation: X:541.40, Y:-243.21, Z:-4.87 [[-1.60529433e-01 -9.87029302e-01 1.85958230e-03 5.41404966e+02] [-9.86975240e-01 1.60540106e-01 1.03319708e-02 -2.43207876e+02] [-1.04964954e-02 -1.76776272e-04 -9.99944895e-01 -4.87240563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters 0.05012842200280726 Centerline is valid? [True, True] Translation: X:541.30, Y:-243.38, Z:-4.87 [[-8.48827826e-02 -9.96390513e-01 9.26609311e-04 5.41300894e+02] [-9.96350935e-01 8.48876713e-02 8.88237915e-03 -2.43382369e+02] [-8.92897603e-03 -1.69266996e-04 -9.99960122e-01 -4.87368561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters 0.0498936982903886 Centerline is valid? [True, True] Translation: X:541.21, Y:-243.58, Z:-4.87 [[-8.40657415e-03 -9.99964635e-01 2.42900561e-04 5.41206856e+02] [-9.99931558e-01 8.40827217e-03 8.13508455e-03 -2.43576533e+02] [-8.13683922e-03 -1.74495745e-04 -9.99966880e-01 -4.87409010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters 0.0501503624827242 Centerline is valid? [True, True] Translation: X:541.13, Y:-243.82, Z:-4.87 [[ 6.63657539e-02 -9.97795300e-01 -3.55084764e-04 5.41128303e+02] [-9.97762863e-01 -6.63664603e-02 8.04747153e-03 -2.43816121e+02] [-8.05329499e-03 -1.79786125e-04 -9.99967556e-01 -4.87387926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters 0.04976671293477115 Centerline is valid? [True, True] Translation: X:541.07, Y:-244.07, Z:-4.88 [[ 1.39902170e-01 -9.90164946e-01 -8.72870135e-04 5.41071736e+02] [-9.90137617e-01 -1.39904795e-01 7.35847351e-03 -2.44066099e+02] [-7.40822124e-03 -1.65204856e-04 -9.99972545e-01 -4.87534842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters 0.049633920684683024 Centerline is valid? [True, True] Translation: X:541.02, Y:-244.28, Z:-4.87 [[ 2.11157685e-01 -9.77451019e-01 -1.39214703e-03 5.41022367e+02] [-9.77424851e-01 -2.11162221e-01 7.15377383e-03 -2.44281789e+02] [-7.28643238e-03 -1.49855214e-04 -9.99973442e-01 -4.87476997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters 0.049834030353758704 Centerline is valid? [True, True] Translation: X:541.00, Y:-244.53, Z:-4.87 [[ 2.80795894e-01 -9.59764862e-01 -2.25302725e-03 5.41000521e+02] [-9.59729315e-01 -2.80804888e-01 8.26174883e-03 -2.44529300e+02] [-8.56199729e-03 -1.57568846e-04 -9.99963333e-01 -4.87349472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters 0.05056147284963007 Centerline is valid? [True, True] Translation: X:541.01, Y:-244.83, Z:-4.87 [[ 3.49429369e-01 -9.36955441e-01 -3.69021109e-03 5.41010446e+02] [-9.36897423e-01 -3.49448804e-01 1.04283818e-02 -2.44826982e+02] [-1.10604689e-02 -1.86633609e-04 -9.99938814e-01 -4.87106118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters 0.05003194252586705 Centerline is valid? [True, True] Translation: X:541.02, Y:-245.06, Z:-4.87 [[ 4.15666121e-01 -9.09505772e-01 -4.57452428e-03 5.41019385e+02] [-9.09446251e-01 -4.15691259e-01 1.04063858e-02 -2.45059231e+02] [-1.13662577e-02 -1.65298063e-04 -9.99935388e-01 -4.87158468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters 0.050285696785738986 Centerline is valid? [True, True] Translation: X:541.07, Y:-245.33, Z:-4.88 [[ 4.80436906e-01 -8.77016889e-01 -4.66431844e-03 5.41069402e+02] [-8.76972873e-01 -4.80459529e-01 8.78751664e-03 -2.45334218e+02] [-9.94781675e-03 -1.31366561e-04 -9.99950511e-01 -4.87668548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters 0.05005696541688693 Centerline is valid? [True, True] Translation: X:541.10, Y:-245.54, Z:-4.88 [[ 5.44158506e-01 -8.38966891e-01 -5.10653481e-03 5.41098949e+02] [-8.38927702e-01 -5.44182451e-01 8.10995988e-03 -2.45542714e+02] [-9.58287445e-03 -1.29090141e-04 -9.99954075e-01 -4.87708832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters 0.04977088082903056 Centerline is valid? [True, True] Translation: X:541.15, Y:-245.76, Z:-4.88 [[ 6.04809716e-01 -7.96344846e-01 -6.33195636e-03 5.41148956e+02] [-7.96298633e-01 -6.04842843e-01 8.58031615e-03 -2.45758349e+02] [-1.06627290e-02 -1.47330379e-04 -9.99943141e-01 -4.87528399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters 0.0495953333453603 Centerline is valid? [True, True] Translation: X:541.22, Y:-245.97, Z:-4.88 [[ 6.61998045e-01 -7.49472172e-01 -7.07477467e-03 5.41216806e+02] [-7.49426887e-01 -6.62035830e-01 8.24014531e-03 -2.45965308e+02] [-1.08595139e-02 -1.52933724e-04 -9.99941022e-01 -4.87748571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters 0.04999854747415538 Centerline is valid? [True, True] Translation: X:541.29, Y:-246.17, Z:-4.88 [[ 7.14538357e-01 -6.99558602e-01 -7.25937334e-03 5.41294176e+02] [-6.99520586e-01 -7.14575219e-01 7.29418182e-03 -2.46167623e+02] [-1.02900759e-02 -1.33891590e-04 -9.99947047e-01 -4.87701117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters 0.04939748275815505 Centerline is valid? [True, True] Translation: X:541.42, Y:-246.39, Z:-4.88 [[ 7.61726237e-01 -6.47855638e-01 -7.49750630e-03 5.41421695e+02] [-6.47823020e-01 -7.61763128e-01 6.50157463e-03 -2.46389682e+02] [-9.92340564e-03 -9.53628001e-05 -9.99950757e-01 -4.87965032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters 0.049844328284949425 Centerline is valid? [True, True] Translation: X:541.39, Y:-246.48, Z:-4.88 [[ 8.07671299e-01 -5.89576041e-01 -8.19534175e-03 5.41393326e+02] [-5.89544975e-01 -8.07712875e-01 6.05264923e-03 -2.46478977e+02] [-1.01879800e-02 -5.70285280e-05 -9.99948100e-01 -4.87999596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters 0.05012771184995579 Centerline is valid? [True, True] Translation: X:541.37, Y:-246.56, Z:-4.87 [[ 8.47036691e-01 -5.31470870e-01 -8.21941628e-03 5.41373858e+02] [-5.31446122e-01 -8.47076569e-01 5.12893694e-03 -2.46564443e+02] [-9.68835552e-03 2.37791340e-05 -9.99953067e-01 -4.87438098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters 0.05029013732493901 Centerline is valid? [True, True] Translation: X:541.36, Y:-246.66, Z:-4.88 [[ 8.83398190e-01 -4.68563505e-01 -7.47522449e-03 5.41358720e+02] [-4.68547375e-01 -8.83429814e-01 3.88854529e-03 -2.46658474e+02] [-8.42586659e-03 6.73629340e-05 -9.99964500e-01 -4.88015086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters 0.0511875242655401 Centerline is valid? [True, True] Translation: X:541.36, Y:-246.74, Z:-4.88 [[ 9.15770408e-01 -4.01627196e-01 -7.75595536e-03 5.41358785e+02] [-4.01613716e-01 -9.15803246e-01 3.29213741e-03 -2.46735531e+02] [-8.42514101e-03 1.00056030e-04 -9.99964503e-01 -4.87804256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters 0.05086088307682154 Centerline is valid? [True, True] Translation: X:541.37, Y:-246.81, Z:-4.88 [[ 9.43177770e-01 -3.32144250e-01 -9.79246030e-03 5.41365103e+02] [-3.32128098e-01 -9.43228590e-01 3.27939179e-03 -2.46810776e+02] [-1.03257596e-02 1.59301778e-04 -9.99946675e-01 -4.87798834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters 0.05081289320605186 Centerline is valid? [True, True] Translation: X:541.38, Y:-246.89, Z:-4.88 [[ 9.66284768e-01 -2.57203609e-01 -1.18342687e-02 5.41376366e+02] [-2.57186673e-01 -9.66357216e-01 2.95738627e-03 -2.46889681e+02] [-1.21967813e-02 1.85938884e-04 -9.99925599e-01 -4.87585213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters 0.051248471594226325 Centerline is valid? [True, True] Translation: X:541.39, Y:-246.98, Z:-4.88 [[ 9.84072377e-01 -1.77247251e-01 -1.36003534e-02 5.41391632e+02] [-1.77232563e-01 -9.84166341e-01 2.28736112e-03 -2.46976707e+02] [-1.37904386e-02 1.59496604e-04 -9.99904895e-01 -4.87728369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters 0.05104532317908716 Centerline is valid? [True, True] Translation: X:541.41, Y:-247.06, Z:-4.87 [[ 9.95272213e-01 -9.62141306e-02 -1.32688416e-02 5.41413630e+02] [-9.62070018e-02 -9.95360653e-01 1.17600888e-03 -2.47059485e+02] [-1.33204315e-02 1.06106506e-04 -9.99911274e-01 -4.87464620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters 0.05101463358471325 Centerline is valid? [True, True] Translation: X:541.44, Y:-247.13, Z:-4.87 [[ 9.99810569e-01 -1.52732498e-02 -1.20645737e-02 5.41438513e+02] [-1.52728964e-02 -9.99883355e-01 1.21432580e-04 -2.47130041e+02] [-1.20650211e-02 6.28514061e-05 -9.99927213e-01 -4.87480125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters 0.05072935399636613 Centerline is valid? [True, True] Translation: X:541.47, Y:-247.20, Z:-4.88 [[ 9.97604465e-01 6.83585949e-02 -1.06034578e-02 5.41468228e+02] [ 6.83547530e-02 -9.97660815e-01 -7.24736735e-04 -2.47198383e+02] [-1.06281963e-02 -1.79613250e-06 -9.99943519e-01 -4.87586950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters 0.05064659335000916 Centerline is valid? [True, True] Translation: X:541.51, Y:-247.28, Z:-4.88 [[ 9.88294341e-01 1.52295199e-01 -8.97042856e-03 5.41506199e+02] [ 1.52289454e-01 -9.88335049e-01 -1.32401595e-03 -2.47281787e+02] [-9.06743023e-03 -5.75842007e-05 -9.99958888e-01 -4.88033636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters 0.05014313371024391 Centerline is valid? [True, True] Translation: X:541.55, Y:-247.36, Z:-4.88 [[ 9.72238880e-01 2.33866359e-01 -7.62141987e-03 5.41549810e+02] [ 2.33859878e-01 -9.72268748e-01 -1.74319544e-03 -2.47361140e+02] [-7.81774313e-03 -8.75419383e-05 -9.99969437e-01 -4.88080634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters 0.05057761331033586 Centerline is valid? [True, True] Translation: X:541.60, Y:-247.43, Z:-4.88 [[ 9.49905153e-01 3.12449782e-01 -7.43870106e-03 5.41600281e+02] [ 3.12441139e-01 -9.49934272e-01 -2.32684619e-03 -2.47433502e+02] [-7.79329966e-03 -1.13873041e-04 -9.99969625e-01 -4.88058313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters 0.050572316629574586 Centerline is valid? [True, True] Translation: X:541.66, Y:-247.50, Z:-4.88 [[ 9.20962360e-01 3.89556480e-01 -8.60702687e-03 5.41656075e+02] [ 3.89541217e-01 -9.21002562e-01 -3.45266484e-03 -2.47501682e+02] [-9.27210176e-03 -1.73017365e-04 -9.99956998e-01 -4.87919507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters 0.05055253909827182 Centerline is valid? [True, True] Translation: X:541.72, Y:-247.57, Z:-4.88 [[ 8.86366374e-01 4.62893818e-01 -9.16318198e-03 5.41715558e+02] [ 4.62871626e-01 -8.86413710e-01 -4.53790455e-03 -2.47565583e+02] [-1.02229381e-02 -2.19130936e-04 -9.99947720e-01 -4.87811297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters 0.050874771896517984 Centerline is valid? [True, True] Translation: X:541.78, Y:-247.62, Z:-4.88 [[ 8.47165390e-01 5.31233916e-01 -1.00662080e-02 5.41778731e+02] [ 5.31199995e-01 -8.47225154e-01 -6.00868837e-03 -2.47621956e+02] [-1.17203636e-02 -2.56816790e-04 -9.99931281e-01 -4.87776528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters 0.050681422603464796 Centerline is valid? [True, True] Translation: X:541.85, Y:-247.67, Z:-4.88 [[ 8.07434719e-01 5.89885110e-01 -9.20495067e-03 5.41845807e+02] [ 5.89849071e-01 -8.07487170e-01 -6.52256252e-03 -2.47671664e+02] [-1.12804421e-02 -1.62988165e-04 -9.99936361e-01 -4.87967468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters 0.05058530052378072 Centerline is valid? [True, True] Translation: X:541.92, Y:-247.72, Z:-4.88 [[ 7.62502114e-01 6.46932207e-01 -8.32142575e-03 5.41918191e+02] [ 6.46895042e-01 -7.62547514e-01 -6.93496603e-03 -2.47717393e+02] [-1.08319354e-02 -9.51628053e-05 -9.99941328e-01 -4.88043750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters 0.04984560770805959 Centerline is valid? [True, True] Translation: X:541.99, Y:-247.76, Z:-4.88 [[ 7.13230882e-01 7.00888576e-01 -7.54403472e-03 5.41989943e+02] [ 7.00849926e-01 -7.13270778e-01 -7.36066353e-03 -2.47756147e+02] [-1.05399445e-02 -3.73836317e-05 -9.99944453e-01 -4.88041797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters 0.05041186530872691 Centerline is valid? [True, True] Translation: X:542.07, Y:-247.79, Z:-4.88 [[ 6.59793984e-01 7.51414161e-01 -6.97546527e-03 5.42065044e+02] [ 7.51371967e-01 -6.59830856e-01 -7.96297094e-03 -2.47788106e+02] [-1.05861164e-02 1.27512582e-05 -9.99943965e-01 -4.88066349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters 0.05031148238834998 Centerline is valid? [True, True] Translation: X:542.14, Y:-247.81, Z:-4.88 [[ 6.03062138e-01 7.97672471e-01 -5.88953893e-03 5.42136199e+02] [ 7.97633427e-01 -6.03090893e-01 -7.89246923e-03 -2.47810845e+02] [-9.84753273e-03 6.19562514e-05 -9.99951510e-01 -4.88028370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters 0.05135507045102352 Centerline is valid? [True, True] Translation: X:542.21, Y:-247.83, Z:-4.88 [[ 5.41014610e-01 8.40995741e-01 -5.41808886e-03 5.42206470e+02] [ 8.40951882e-01 -5.41041732e-01 -8.58932993e-03 -2.47826421e+02] [-1.01550021e-02 9.06009663e-05 -9.99948433e-01 -4.88249394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters 0.0512524483573075 Centerline is valid? [True, True] Translation: X:542.29, Y:-247.84, Z:-4.88 [[ 4.74947161e-01 8.79998544e-01 -5.26850539e-03 5.42289892e+02] [ 8.79941603e-01 -4.74976366e-01 -1.00113516e-02 -2.47842811e+02] [-1.13123903e-02 1.18885920e-04 -9.99936006e-01 -4.88120994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters 0.05126345196471533 Centerline is valid? [True, True] Translation: X:542.37, Y:-247.85, Z:-4.88 [[ 4.05068201e-01 9.14275300e-01 -4.51967335e-03 5.42369312e+02] [ 9.14214891e-01 -4.05093396e-01 -1.05106460e-02 -2.47851735e+02] [-1.14405139e-02 1.25575795e-04 -9.99934547e-01 -4.87954287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters 0.05039641221693322 Centerline is valid? [True, True] Translation: X:542.45, Y:-247.85, Z:-4.88 [[ 3.30682484e-01 9.43735922e-01 -3.40659722e-03 5.42451902e+02] [ 9.43682761e-01 -3.30700016e-01 -1.00173056e-02 -2.47854814e+02] [-1.05802529e-02 9.78004177e-05 -9.99944023e-01 -4.88053289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters 0.05046569051387893 Centerline is valid? [True, True] Translation: X:542.53, Y:-247.85, Z:-4.88 [[ 2.53426963e-01 9.67351296e-01 -2.49901832e-03 5.42529334e+02] [ 9.67301579e-01 -2.53439275e-01 -9.80760791e-03 -2.47849998e+02] [-1.01207516e-02 6.82079209e-05 -9.99948782e-01 -4.87921043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters 0.0501980935854211 Centerline is valid? [True, True] Translation: X:542.61, Y:-247.84, Z:-4.88 [[ 1.70916204e-01 9.85284372e-01 -1.53532878e-03 5.42614501e+02] [ 9.85244347e-01 -1.70923099e-01 -8.88093754e-03 -2.47840253e+02] [-9.01267212e-03 5.22213144e-06 -9.99959385e-01 -4.88242728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters 0.050397497621303536 Centerline is valid? [True, True] Translation: X:542.70, Y:-247.82, Z:-4.88 [[ 8.53876523e-02 9.96347471e-01 -8.15652791e-04 5.42702123e+02] [ 9.96308986e-01 -8.53915233e-02 -8.75741608e-03 -2.47823477e+02] [-8.79507920e-03 -6.48670052e-05 -9.99961320e-01 -4.88281409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters 0.05021918005246002 Centerline is valid? [True, True] Translation: X:542.79, Y:-247.80, Z:-4.88 [[ 6.93564016e-04 9.99999752e-01 -1.21932802e-04 5.42791880e+02] [ 9.99964773e-01 -6.94559698e-04 -8.36477893e-03 -2.47801350e+02] [-8.36486155e-03 -1.16126997e-04 -9.99965007e-01 -4.88163585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters 0.050156924045131376 Centerline is valid? [True, True] Translation: X:542.88, Y:-247.77, Z:-4.88 [[-7.99744656e-02 9.96796783e-01 5.08761283e-04 5.42876537e+02] [ 9.96764930e-01 7.99759777e-02 -7.96972838e-03 -2.47770865e+02] [-7.98488829e-03 -1.30259363e-04 -9.99968112e-01 -4.88260209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters 0.050303450525058836 Centerline is valid? [True, True] Translation: X:542.96, Y:-247.73, Z:-4.88 [[-1.58353287e-01 9.87381829e-01 1.16642703e-03 5.42964247e+02] [ 9.87348160e-01 1.58357522e-01 -8.15519858e-03 -2.47733533e+02] [-8.23700738e-03 -1.39732928e-04 -9.99966066e-01 -4.88321879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters 0.0503698009225146 Centerline is valid? [True, True] Translation: X:543.05, Y:-247.69, Z:-4.88 [[-2.34958782e-01 9.72003301e-01 1.98849259e-03 5.43048439e+02] [ 9.71962796e-01 2.34967147e-01 -8.87489956e-03 -2.47690182e+02] [-9.09366209e-03 -1.52494775e-04 -9.99958640e-01 -4.88187658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters 0.05049477870479343 Centerline is valid? [True, True] Translation: X:543.12, Y:-247.64, Z:-4.88 [[-3.08632068e-01 9.51175411e-01 3.40356359e-03 5.43123042e+02] [ 9.51111218e-01 3.08650786e-01 -1.10518139e-02 -2.47640311e+02] [-1.15627262e-02 -1.73776663e-04 -9.99933134e-01 -4.87957789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters 0.05014269119045386 Centerline is valid? [True, True] Translation: X:543.19, Y:-247.59, Z:-4.88 [[-3.79977264e-01 9.24983130e-01 4.84645323e-03 5.43193439e+02] [ 9.24902180e-01 3.80008133e-01 -1.22382954e-02 -2.47585331e+02] [-1.31619084e-02 -1.67778846e-04 -9.99913364e-01 -4.87948577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters 0.05049312906206983 Centerline is valid? [True, True] Translation: X:543.26, Y:-247.53, Z:-4.88 [[-4.48944603e-01 8.93540363e-01 5.86194944e-03 5.43258661e+02] [ 8.93460189e-01 4.48982851e-01 -1.19703834e-02 -2.47526558e+02] [-1.33279355e-02 -1.36620589e-04 -9.99911170e-01 -4.87839781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters 0.05004587934522045 Centerline is valid? [True, True] Translation: X:543.31, Y:-247.46, Z:-4.88 [[-5.15193570e-01 8.57053215e-01 5.94747338e-03 5.43314772e+02] [ 8.56994115e-01 5.15227891e-01 -1.00651479e-02 -2.47464144e+02] [-1.16906715e-02 -8.85497777e-05 -9.99931658e-01 -4.87981161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters 0.05017496884454454 Centerline is valid? [True, True] Translation: X:543.37, Y:-247.40, Z:-4.88 [[-5.80184750e-01 8.14465806e-01 5.57735297e-03 5.43366006e+02] [ 8.14427048e-01 5.80211553e-01 -7.94587181e-03 -2.47397464e+02] [-9.70768551e-03 -6.77265350e-05 -9.99952877e-01 -4.88185522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters 0.05025132285666215 Centerline is valid? [True, True] Translation: X:543.42, Y:-247.32, Z:-4.88 [[-6.42943538e-01 7.65892239e-01 5.71708675e-03 5.43415615e+02] [ 7.65860958e-01 6.42968952e-01 -6.92243204e-03 -2.47324460e+02] [-8.97774625e-03 -7.22394047e-05 -9.99959697e-01 -4.88288323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters 0.049778297244253686 Centerline is valid? [True, True] Translation: X:543.46, Y:-247.25, Z:-4.88 [[-7.02738898e-01 7.11420432e-01 6.24583254e-03 5.43459857e+02] [ 7.11391119e-01 7.02766646e-01 -6.45885310e-03 -2.47248511e+02] [-8.98432286e-03 -9.56575100e-05 -9.99959636e-01 -4.88245140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters 0.0500886633155798 Centerline is valid? [True, True] Translation: X:543.50, Y:-247.17, Z:-4.88 [[-7.59340281e-01 6.50651449e-01 7.41821838e-03 5.43496003e+02] [ 6.50618429e-01 7.59376500e-01 -6.55670322e-03 -2.47170881e+02] [-9.89934916e-03 -1.52339278e-04 -9.99950989e-01 -4.88183606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters 0.050685842565509606 Centerline is valid? [True, True] Translation: X:543.60, Y:-247.15, Z:-4.88 [[-8.07174858e-01 5.90240731e-01 9.19937353e-03 5.43598327e+02] [ 5.90198871e-01 8.07227241e-01 -7.03383524e-03 -2.47150180e+02] [-1.15776410e-02 -2.48075094e-04 -9.99932946e-01 -4.88123309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters 0.05105722410115051 Centerline is valid? [True, True] Translation: X:543.62, Y:-247.06, Z:-4.88 [[-8.48673078e-01 5.28822884e-01 1.00182159e-02 5.43618128e+02] [ 5.28781915e-01 8.48732155e-01 -6.58901942e-03 -2.47061780e+02] [-1.19872062e-02 -2.94472022e-04 -9.99928108e-01 -4.87969325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters 0.05038304729987725 Centerline is valid? [True, True] Translation: X:543.62, Y:-246.97, Z:-4.88 [[-8.84057496e-01 4.67287953e-01 9.18216330e-03 5.43615783e+02] [ 4.67259690e-01 8.84105142e-01 -5.14592483e-03 -2.46973457e+02] [-1.05226265e-02 -2.58838642e-04 -9.99944602e-01 -4.88279152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters 0.049828584406418394 Centerline is valid? [True, True] Translation: X:543.58, Y:-246.86, Z:-4.88 [[-9.14232506e-01 4.05115171e-01 7.78607544e-03 5.43575862e+02] [ 4.05098647e-01 9.14265640e-01 -3.66412683e-03 -2.46863189e+02] [-8.60293461e-03 -1.95735227e-04 -9.99962975e-01 -4.88359399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters 0.051069932076101256 Centerline is valid? [True, True] Translation: X:543.55, Y:-246.76, Z:-4.88 [[-9.39743293e-01 3.41808518e-01 7.03427265e-03 5.43551901e+02] [ 3.41797736e-01 9.39769607e-01 -2.71905242e-03 -2.46758284e+02] [-7.53999092e-03 -1.50912805e-04 -9.99971562e-01 -4.88084696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters 0.04972909065100698 Centerline is valid? [True, True] Translation: X:543.49, Y:-246.66, Z:-4.88 [[-9.61223845e-01 2.75676284e-01 7.16284282e-03 5.43491650e+02] [ 2.75667550e-01 9.61250523e-01 -2.19875300e-03 -2.46657955e+02] [-7.49143046e-03 -1.38930481e-04 -9.99971929e-01 -4.88259516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters 0.050819534284360576 Centerline is valid? [True, True] Translation: X:543.44, Y:-246.56, Z:-4.88 [[-9.78335185e-01 2.06855318e-01 8.43462245e-03 5.43441113e+02] [ 2.06846224e-01 9.78371531e-01 -1.94623280e-03 -2.46563764e+02] [-8.65478309e-03 -1.59398223e-04 -9.99962534e-01 -4.88215252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters 0.05031654754846168 Centerline is valid? [True, True] Translation: X:543.55, Y:-245.93, Z:-5.88 [[-9.51116373e-01 -3.08690063e-01 9.38564518e-03 5.43548883e+02] [ 3.08677672e-01 -9.51162646e-01 -2.77749994e-03 -2.45930804e+02] [ 9.78466174e-03 2.55413446e-04 9.99952096e-01 -5.88037332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters 0.04998195609665368 Centerline is valid? [True, True] Translation: X:543.33, Y:-246.54, Z:-4.88 [[-9.79658045e-01 2.00450670e-01 9.46808284e-03 5.43325251e+02] [ 2.00439269e-01 9.79703775e-01 -2.14776594e-03 -2.46535251e+02] [-9.70643762e-03 -2.06300574e-04 -9.99952870e-01 -4.88156266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters 0.050360027243274375 Centerline is valid? [True, True] Translation: X:543.28, Y:-246.45, Z:-4.88 [[-9.91675033e-01 1.28386181e-01 9.88019141e-03 5.43281124e+02] [ 1.28377469e-01 9.91724223e-01 -1.51355161e-03 -2.46446750e+02] [-9.99274426e-03 -2.32557373e-04 -9.99950044e-01 -4.88281998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters 0.04987100811290285 Centerline is valid? [True, True] Translation: X:543.41, Y:-245.83, Z:-5.88 [[-9.70273281e-01 -2.41803125e-01 1.00503687e-02 5.43407114e+02] [ 2.41792920e-01 -9.70325297e-01 -2.23664409e-03 -2.45825029e+02] [ 1.02929546e-02 2.59952008e-04 9.99946992e-01 -5.87719338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters 0.05019635785113162 Centerline is valid? [True, True] Translation: X:543.21, Y:-246.44, Z:-4.88 [[-9.92433519e-01 1.22350596e-01 1.02976747e-02 5.43207019e+02] [ 1.22341219e-01 9.92486907e-01 -1.53798625e-03 -2.46439508e+02] [-1.04084809e-02 -2.66519020e-04 -9.99945795e-01 -4.88409809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters 0.051016409751725736 Centerline is valid? [True, True] Translation: X:543.25, Y:-245.81, Z:-5.88 [[-9.71278209e-01 -2.37725120e-01 1.02668244e-02 5.43247868e+02] [ 2.37714823e-01 -9.71332431e-01 -2.22963843e-03 -2.45808473e+02] [ 1.05025406e-02 2.74977113e-04 9.99944809e-01 -5.87899933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters 0.05062372497225489 Centerline is valid? [True, True] Translation: X:543.04, Y:-246.41, Z:-4.88 [[-9.92446642e-01 1.22247960e-01 1.02518034e-02 5.43040819e+02] [ 1.22239066e-01 9.92499564e-01 -1.49209599e-03 -2.46414392e+02] [-1.03573161e-02 -2.27654775e-04 -9.99946336e-01 -4.88404874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters 0.049893738492353124 Centerline is valid? [True, True] Translation: X:542.86, Y:-246.32, Z:-4.89 [[-9.98265455e-01 5.80410721e-02 9.86484190e-03 5.42861007e+02] [ 5.80367238e-02 9.98314184e-01 -7.26721208e-04 -2.46317396e+02] [-9.89039127e-03 -1.52937573e-04 -9.99951077e-01 -4.88516278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters 0.05033935411482091 Centerline is valid? [True, True] Translation: X:542.84, Y:-245.67, Z:-5.88 [[-9.89262292e-01 -1.45874461e-01 8.98657522e-03 5.42841068e+02] [ 1.45869311e-01 -9.89303105e-01 -1.22941922e-03 -2.45670254e+02] [ 9.06978763e-03 9.46474546e-05 9.99958864e-01 -5.87632769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters 0.050613301832229285 Centerline is valid? [True, True] Translation: X:542.64, Y:-246.31, Z:-4.88 [[-9.97429964e-01 7.10562177e-02 9.19134031e-03 5.42640625e+02] [ 7.10533075e-02 9.97472312e-01 -6.43194364e-04 -2.46308077e+02] [-9.21381043e-03 1.15337976e-05 -9.99957552e-01 -4.88424487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters 0.05165518137862329 Centerline is valid? [True, True] Translation: X:542.47, Y:-246.23, Z:-4.88 [[-9.99920016e-01 8.96542277e-03 8.92094613e-03 5.42465931e+02] [ 8.96587178e-03 9.99959806e-01 1.03405787e-05 -2.46232510e+02] [-8.92049486e-03 9.03238108e-05 -9.99960208e-01 -4.88459621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters 0.05173364311217155 Centerline is valid? [True, True] Translation: X:542.50, Y:-246.16, Z:-4.88 [[-9.98254766e-01 -5.82417196e-02 9.76341676e-03 5.42503713e+02] [-5.82375092e-02 9.98302500e-01 7.15229883e-04 -2.46160710e+02] [-9.78849958e-03 1.45384566e-04 -9.99952081e-01 -4.88349557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters 0.05213564855665992 Centerline is valid? [True, True] Translation: X:542.54, Y:-246.07, Z:-4.89 [[-9.91331795e-01 -1.30947704e-01 1.06757067e-02 5.42540063e+02] [-1.30938416e-01 9.91389265e-01 1.56736452e-03 -2.46071721e+02] [-1.07890238e-02 1.55918154e-04 -9.99941785e-01 -4.88529054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters 0.05150279849493967 Centerline is valid? [True, True] Translation: X:542.25, Y:-245.45, Z:-5.88 [[-9.95754309e-01 9.13085681e-02 1.16662383e-02 5.42250455e+02] [-9.13035753e-02 -9.95822642e-01 9.60974616e-04 -2.45448883e+02] [ 1.17052494e-02 -1.08274647e-04 9.99931485e-01 -5.87679160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters 0.05218246858325569 Centerline is valid? [True, True] Translation: X:542.23, Y:-246.11, Z:-4.88 [[-9.90151077e-01 -1.39531633e-01 1.14790223e-02 5.42234315e+02] [-1.39520925e-01 9.90217608e-01 1.73239110e-03 -2.46111212e+02] [-1.16084533e-02 1.13765110e-04 -9.99932613e-01 -4.88299004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters 0.05159389231260531 Centerline is valid? [True, True] Translation: X:542.60, Y:-245.95, Z:-4.89 [[-9.75976629e-01 -2.17665952e-01 9.54743591e-03 5.42598336e+02] [-2.17654909e-01 9.76023324e-01 2.19344402e-03 -2.45949771e+02] [-9.79595822e-03 6.27037985e-05 -9.99952017e-01 -4.88743797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters 0.0509607486195915 Centerline is valid? [True, True] Translation: X:541.81, Y:-246.07, Z:-4.89 [[-9.57317333e-01 -2.88936400e-01 7.69933965e-03 5.41812125e+02] [-2.88926821e-01 9.57348294e-01 2.35297731e-03 -2.46074085e+02] [-8.05081047e-03 2.80002349e-05 -9.99967591e-01 -4.88726921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters 0.05143189869265201 Centerline is valid? [True, True] Translation: X:541.60, Y:-245.48, Z:-5.87 [[-9.74164059e-01 2.25745758e-01 6.57559130e-03 5.41603710e+02] [-2.25741436e-01 -9.74186244e-01 1.40201825e-03 -2.45481857e+02] [ 6.72235027e-03 -1.18587632e-04 9.99977398e-01 -5.87285271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters 0.05126291661111606 Centerline is valid? [True, True] Translation: X:541.67, Y:-246.11, Z:-4.89 [[-9.53594250e-01 -3.01013476e-01 6.99244996e-03 5.41669802e+02] [-3.01005662e-01 9.53619886e-01 2.16910587e-03 -2.46108971e+02] [-7.32106943e-03 -3.63201456e-05 -9.99973200e-01 -4.88631456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters 0.05133828752260882 Centerline is valid? [True, True] Translation: X:541.58, Y:-246.06, Z:-4.89 [[-9.28775837e-01 -3.70577829e-01 6.89323985e-03 5.41582867e+02] [-3.70568051e-01 9.28801416e-01 2.69258164e-03 -2.46056471e+02] [-7.40026199e-03 -5.36096920e-05 -9.99972616e-01 -4.88630825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters 0.050687842789175375 Centerline is valid? [True, True] Translation: X:541.49, Y:-246.01, Z:-4.89 [[-8.98671876e-01 -4.38575524e-01 6.35369345e-03 5.41489513e+02] [-4.38565084e-01 8.98694334e-01 3.02683454e-03 -2.46010000e+02] [-7.03752384e-03 -6.63770317e-05 -9.99975234e-01 -4.88741953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters 0.051328235521173805 Centerline is valid? [True, True] Translation: X:541.35, Y:-245.99, Z:-4.89 [[-8.64674804e-01 -5.02283031e-01 7.01705628e-03 5.41353718e+02] [-5.02267265e-01 8.64703273e-01 3.98059249e-03 -2.45992314e+02] [-8.06705559e-03 -8.25196312e-05 -9.99967457e-01 -4.88677853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters 0.05143051444342034 Centerline is valid? [True, True] Translation: X:541.22, Y:-245.99, Z:-4.89 [[-8.26421130e-01 -5.63011572e-01 6.78867742e-03 5.41217563e+02] [-5.62993373e-01 8.26449008e-01 4.52755388e-03 -2.45986392e+02] [-8.15956095e-03 -8.03142018e-05 -9.99966707e-01 -4.88792581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters 0.0515809334363943 Centerline is valid? [True, True] Translation: X:541.06, Y:-246.00, Z:-4.89 [[-7.84533624e-01 -6.20055116e-01 6.21668458e-03 5.41063730e+02] [-6.20036320e-01 7.84558251e-01 4.82836080e-03 -2.46003913e+02] [-7.87120099e-03 -6.65588338e-05 -9.99969019e-01 -4.88885567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters 0.051613337906159386 Centerline is valid? [True, True] Translation: X:541.15, Y:-245.83, Z:-4.89 [[-7.37350108e-01 -6.75484087e-01 6.00549462e-03 5.41149609e+02] [-6.75462192e-01 7.37374563e-01 5.43882867e-03 -2.45826265e+02] [-8.10214118e-03 -4.61636540e-05 -9.99967176e-01 -4.88948491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters 0.052344631940339906 Centerline is valid? [True, True] Translation: X:540.65, Y:-246.20, Z:-4.89 [[-6.89420014e-01 -7.24328723e-01 6.92425961e-03 5.40645749e+02] [-7.24292652e-01 6.89454785e-01 7.22869440e-03 -2.46204156e+02] [-1.00099149e-02 -3.15837616e-05 -9.99949899e-01 -4.88773512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters 0.05186146847865236 Centerline is valid? [True, True] Translation: X:540.55, Y:-246.20, Z:-4.89 [[-6.34698701e-01 -7.72727977e-01 7.00231649e-03 5.40549271e+02] [-7.72681338e-01 6.34737326e-01 8.48983535e-03 -2.46196727e+02] [-1.10049649e-02 -2.20718012e-05 -9.99939443e-01 -4.88774015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters 0.05221141003633949 Centerline is valid? [True, True] Translation: X:540.37, Y:-246.30, Z:-4.89 [[-5.76680673e-01 -8.16949678e-01 5.71175583e-03 5.40374212e+02] [-8.16909963e-01 5.76708958e-01 8.05545462e-03 -2.46297797e+02] [-9.87492182e-03 -2.05652438e-05 -9.99951242e-01 -4.88862035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters 0.052068910565878763 Centerline is valid? [True, True] Translation: X:540.17, Y:-246.47, Z:-4.89 [[-5.15505065e-01 -8.56875899e-01 4.26871239e-03 5.40169245e+02] [-8.56846924e-01 5.15522738e-01 7.04665620e-03 -2.46470288e+02] [-8.23872817e-03 -2.50461167e-05 -9.99966061e-01 -4.88959263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters 0.05203483350993969 Centerline is valid? [True, True] Translation: X:540.07, Y:-246.49, Z:-4.89 [[-4.49255401e-01 -8.93396189e-01 3.58255643e-03 5.40070810e+02] [-8.93368387e-01 4.49269683e-01 7.04822656e-03 -2.46489354e+02] [-7.90639274e-03 -3.40888072e-05 -9.99968743e-01 -4.89045907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters 0.051562875730199964 Centerline is valid? [True, True] Translation: X:539.88, Y:-246.71, Z:-4.89 [[-3.81776280e-01 -9.24249822e-01 3.02314265e-03 5.39884677e+02] [-9.24221833e-01 3.81788246e-01 7.19292911e-03 -2.46708318e+02] [-7.80226378e-03 -4.79647201e-05 -9.99969561e-01 -4.89033642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters 0.05234911498061274 Centerline is valid? [True, True] Translation: X:539.75, Y:-246.85, Z:-4.89 [[-3.09760674e-01 -9.50810658e-01 2.72344735e-03 5.39749394e+02] [-9.50776103e-01 3.09772637e-01 8.10654071e-03 -2.46848771e+02] [-8.55143477e-03 -7.83011395e-05 -9.99963433e-01 -4.88919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters 0.05223768795335924 Centerline is valid? [True, True] Translation: X:539.63, Y:-246.98, Z:-4.89 [[-2.35619886e-01 -9.71843006e-01 2.10715322e-03 5.39630802e+02] [-9.71808010e-01 2.35629285e-01 8.24810736e-03 -2.46977816e+02] [-8.51237246e-03 -1.04330255e-04 -9.99963764e-01 -4.88961306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters 0.051794343573089 Centerline is valid? [True, True] Translation: X:539.52, Y:-247.14, Z:-4.89 [[-1.62219467e-01 -9.86753460e-01 1.56643646e-03 5.39516869e+02] [-9.86714261e-01 1.62226987e-01 8.79610869e-03 -2.47142608e+02] [-8.93370895e-03 -1.18725129e-04 -9.99960087e-01 -4.88974568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters 0.051954892192553885 Centerline is valid? [True, True] Translation: X:539.41, Y:-247.39, Z:-4.89 [[-8.91797054e-02 -9.96015055e-01 9.94872452e-04 5.39406491e+02] [-9.95968360e-01 8.91851588e-02 9.64542225e-03 -2.47388977e+02] [-9.69571363e-03 -1.30685570e-04 -9.99952987e-01 -4.88931283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters 0.051826675119257266 Centerline is valid? [True, True] Translation: X:539.32, Y:-247.57, Z:-4.89 [[-1.48774765e-02 -9.99889290e-01 2.61732677e-04 5.39320536e+02] [-9.99847940e-01 1.48792418e-02 9.09427792e-03 -2.47568526e+02] [-9.09716548e-03 -1.26392972e-04 -9.99958612e-01 -4.88936963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters 0.05177400738306328 Centerline is valid? [True, True] Translation: X:539.24, Y:-247.76, Z:-4.89 [[ 5.95105813e-02 -9.98227594e-01 -4.02339879e-04 5.39242416e+02] [-9.98187925e-01 -5.95118036e-02 8.90012984e-03 -2.47763414e+02] [-8.90829916e-03 -1.28041091e-04 -9.99960312e-01 -4.88654936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters 0.05155921268992208 Centerline is valid? [True, True] Translation: X:539.19, Y:-247.98, Z:-4.89 [[ 1.34684090e-01 -9.90888077e-01 -1.00771872e-03 5.39191244e+02] [-9.90852319e-01 -1.34687792e-01 8.41912256e-03 -2.47979622e+02] [-8.47813557e-03 -1.35421435e-04 -9.99964051e-01 -4.88965109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters 0.05123703144148296 Centerline is valid? [True, True] Translation: X:539.15, Y:-248.17, Z:-4.89 [[ 2.09821303e-01 -9.77738094e-01 -1.79982253e-03 5.39145338e+02] [-9.77694838e-01 -2.09828953e-01 9.19856763e-03 -2.48169570e+02] [-9.37144487e-03 -1.70378250e-04 -9.99956073e-01 -4.88934624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters 0.05161765471741989 Centerline is valid? [True, True] Translation: X:539.11, Y:-248.32, Z:-4.89 [[ 2.82247679e-01 -9.59338252e-01 -2.52303041e-03 5.39105160e+02] [-9.59294055e-01 -2.82258899e-01 9.21034294e-03 -2.48322610e+02] [-9.54798209e-03 -1.79269851e-04 -9.99954401e-01 -4.88972468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters 0.051283357055694145 Centerline is valid? [True, True] Translation: X:539.12, Y:-248.62, Z:-4.89 [[ 3.51526571e-01 -9.36172733e-01 -3.11178948e-03 5.39117137e+02] [-9.36131696e-01 -3.51540303e-01 8.76717725e-03 -2.48615369e+02] [-9.30151171e-03 -1.68850992e-04 -9.99956726e-01 -4.89003074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters 0.05137830480577117 Centerline is valid? [True, True] Translation: X:539.14, Y:-248.86, Z:-4.89 [[ 4.18862115e-01 -9.08043433e-01 -3.41358153e-03 5.39135685e+02] [-9.08010362e-01 -4.18875999e-01 7.75114633e-03 -2.48862062e+02] [-8.46824489e-03 -1.47094148e-04 -9.99964133e-01 -4.89105273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters 0.05099953805098141 Centerline is valid? [True, True] Translation: X:539.15, Y:-249.06, Z:-4.89 [[ 4.84780524e-01 -8.74628039e-01 -3.69285226e-03 5.39147319e+02] [-8.74600489e-01 -4.84794569e-01 6.94339889e-03 -2.49056733e+02] [-7.86316607e-03 -1.36254161e-04 -9.99969076e-01 -4.89124293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters 0.051061501448500045 Centerline is valid? [True, True] Translation: X:539.19, Y:-249.28, Z:-4.89 [[ 5.47169585e-01 -8.37009664e-01 -4.50191352e-03 5.39191180e+02] [-8.36979216e-01 -5.47188087e-01 7.14068624e-03 -2.49282615e+02] [-8.44021683e-03 -1.39158279e-04 -9.99964371e-01 -4.89109804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters 0.050393568359144825 Centerline is valid? [True, True] Translation: X:539.28, Y:-249.54, Z:-4.89 [[ 6.05343766e-01 -7.95947282e-01 -5.18160813e-03 5.39276984e+02] [-7.95916379e-01 -6.05365930e-01 7.01491281e-03 -2.49536304e+02] [-8.72026981e-03 -1.22306960e-04 -9.99961970e-01 -4.89072587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters 0.050895981700867454 Centerline is valid? [True, True] Translation: X:539.36, Y:-249.75, Z:-4.89 [[ 6.59287724e-01 -7.51875227e-01 -4.83114602e-03 5.39356638e+02] [-7.51854213e-01 -6.59305420e-01 5.62190582e-03 -2.49749127e+02] [-7.41217247e-03 -7.41360005e-05 -9.99972527e-01 -4.89158968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters 0.05037664665994817 Centerline is valid? [True, True] Translation: X:539.44, Y:-249.95, Z:-4.89 [[ 7.10447659e-01 -7.03733858e-01 -4.77294508e-03 5.39443757e+02] [-7.03717552e-01 -7.10463690e-01 4.79086235e-03 -2.49949319e+02] [-6.76249622e-03 -4.48517092e-05 -9.99977133e-01 -4.89212278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters 0.051023949589135184 Centerline is valid? [True, True] Translation: X:539.58, Y:-250.17, Z:-4.89 [[ 7.56644939e-01 -6.53803292e-01 -5.44893635e-03 5.39582272e+02] [-6.53786254e-01 -7.56664559e-01 4.72004887e-03 -2.50173978e+02] [-7.20900051e-03 -8.96140053e-06 -9.99974015e-01 -4.89008060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters 0.05037592154626632 Centerline is valid? [True, True] Translation: X:539.56, Y:-250.25, Z:-4.89 [[ 8.02499136e-01 -5.96623591e-01 -5.95208808e-03 5.39563342e+02] [-5.96607432e-01 -8.02521208e-01 4.39111797e-03 -2.50250697e+02] [-7.39652149e-03 2.71916096e-05 -9.99972645e-01 -4.88995907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters 0.05095085413398381 Centerline is valid? [True, True] Translation: X:539.55, Y:-250.33, Z:-4.89 [[ 8.45320952e-01 -5.34219337e-01 -6.49526135e-03 5.39548190e+02] [-5.34203998e-01 -8.45345904e-01 4.04851798e-03 -2.50331003e+02] [-7.65353917e-03 4.74975116e-05 -9.99970710e-01 -4.88975227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters 0.05096696244188228 Centerline is valid? [True, True] Translation: X:539.54, Y:-250.41, Z:-4.89 [[ 8.84476448e-01 -4.66531819e-01 -7.03378356e-03 5.39537462e+02] [-4.66517512e-01 -8.84504414e-01 3.65398375e-03 -2.50413433e+02] [-7.92611230e-03 4.95206446e-05 -9.99968587e-01 -4.88989331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters 0.050920000720931 Centerline is valid? [True, True] Translation: X:539.53, Y:-250.50, Z:-4.89 [[ 9.19231275e-01 -3.93655102e-01 -7.03725392e-03 5.39533048e+02] [-3.93643804e-01 -9.19258212e-01 2.98259617e-03 -2.50495948e+02] [-7.64316765e-03 2.84757211e-05 -9.99970790e-01 -4.89222549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters 0.05087893119470808 Centerline is valid? [True, True] Translation: X:539.54, Y:-250.58, Z:-4.89 [[ 9.48198356e-01 -3.17604248e-01 -6.88620198e-03 5.39535675e+02] [-3.17595904e-01 -9.48223361e-01 2.30217319e-03 -2.50581350e+02] [-7.26083757e-03 4.11271139e-06 -9.99973640e-01 -4.88962790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters 0.05011873183947315 Centerline is valid? [True, True] Translation: X:539.55, Y:-250.66, Z:-4.89 [[ 9.71008301e-01 -2.38933729e-01 -7.31796069e-03 5.39545511e+02] [-2.38926761e-01 -9.71035876e-01 1.82488530e-03 -2.50664632e+02] [-7.54202902e-03 -2.35221303e-05 -9.99971558e-01 -4.88983835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters 0.04992475812717144 Centerline is valid? [True, True] Translation: X:539.56, Y:-250.75, Z:-4.89 [[ 9.86951428e-01 -1.60869627e-01 -6.91680964e-03 5.39560595e+02] [-1.60865449e-01 -9.86975664e-01 1.15986579e-03 -2.50750199e+02] [-7.01330997e-03 -3.20555123e-05 -9.99975406e-01 -4.89041301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters 0.04999185811563238 Centerline is valid? [True, True] Translation: X:539.58, Y:-250.84, Z:-4.89 [[ 9.96510250e-01 -8.32131608e-02 -6.54913452e-03 5.39582447e+02] [-8.32111643e-02 -9.96531770e-01 5.77227009e-04 -2.50836078e+02] [-6.57445350e-03 -3.02515223e-05 -9.99978388e-01 -4.89059372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters 0.05010075279969912 Centerline is valid? [True, True] Translation: X:539.61, Y:-250.92, Z:-4.89 [[ 9.99961499e-01 -6.13175893e-03 -6.27714566e-03 5.39607214e+02] [-6.13150160e-03 -9.99981200e-01 6.02385952e-05 -2.50917777e+02] [-6.27739702e-03 -2.17479473e-05 -9.99980297e-01 -4.89169586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters 0.05062254426963653 Centerline is valid? [True, True] Translation: X:539.64, Y:-251.00, Z:-4.89 [[ 9.97677151e-01 6.78745989e-02 -5.77426041e-03 5.39635921e+02] [ 6.78734362e-02 -9.97693860e-01 -3.97305176e-04 -2.50997595e+02] [-5.78791108e-03 4.46340064e-06 -9.99983250e-01 -4.89119928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters 0.05028259620813375 Centerline is valid? [True, True] Translation: X:539.67, Y:-251.06, Z:-4.89 [[ 9.90271921e-01 1.39052344e-01 -5.09588616e-03 5.39670166e+02] [ 1.39050302e-01 -9.90285032e-01 -7.54505282e-04 -2.51059377e+02] [-5.15129551e-03 3.85808844e-05 -9.99986731e-01 -4.89100296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters 0.050971409406577496 Centerline is valid? [True, True] Translation: X:539.71, Y:-251.12, Z:-4.89 [[ 9.77703004e-01 2.09927946e-01 -5.20524562e-03 5.39709213e+02] [ 2.09924568e-01 -9.77716857e-01 -1.19307072e-03 -2.51121378e+02] [-5.33971527e-03 7.37598849e-05 -9.99985741e-01 -4.89190784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters 0.05197098178893449 Centerline is valid? [True, True] Translation: X:539.75, Y:-251.18, Z:-4.89 [[ 9.60886309e-01 2.76881482e-01 -5.84355038e-03 5.39751548e+02] [ 2.76875464e-01 -9.60904067e-01 -1.83101597e-03 -2.51177504e+02] [-6.12206574e-03 1.41462458e-04 -9.99981250e-01 -4.89058039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters 0.052756442308083955 Centerline is valid? [True, True] Translation: X:539.80, Y:-251.24, Z:-4.89 [[ 9.38199026e-01 3.46023899e-01 -7.07449080e-03 5.39801013e+02] [ 3.46012297e-01 -9.38225673e-01 -2.84200028e-03 -2.51236099e+02] [-7.62086891e-03 2.18501088e-04 -9.99970937e-01 -4.89027291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters 0.0521683216987755 Centerline is valid? [True, True] Translation: X:539.86, Y:-251.30, Z:-4.89 [[ 9.08591882e-01 4.17609924e-01 -7.92103397e-03 5.39861136e+02] [ 4.17591536e-01 -9.08626372e-01 -3.92763236e-03 -2.51303304e+02] [-8.83747861e-03 2.60858134e-04 -9.99960915e-01 -4.88984142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters 0.0520994630723332 Centerline is valid? [True, True] Translation: X:539.93, Y:-251.37, Z:-4.89 [[ 8.72807407e-01 4.87990908e-01 -8.49147234e-03 5.39925710e+02] [ 4.87964605e-01 -8.72848665e-01 -5.07460870e-03 -2.51366555e+02] [-9.88813321e-03 2.85618111e-04 -9.99951070e-01 -4.89101239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters 0.052212297322875946 Centerline is valid? [True, True] Translation: X:539.99, Y:-251.42, Z:-4.89 [[ 8.30922709e-01 5.56343465e-01 -7.02849935e-03 5.39989829e+02] [ 5.56321176e-01 -8.30952402e-01 -4.98544756e-03 -2.51415345e+02] [-8.61396959e-03 2.32418573e-04 -9.99962872e-01 -4.88918776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters 0.05205773933224239 Centerline is valid? [True, True] Translation: X:540.06, Y:-251.46, Z:-4.89 [[ 7.83354711e-01 6.21553737e-01 -5.13320177e-03 5.40061836e+02] [ 6.21539009e-01 -7.83371512e-01 -4.28190374e-03 -2.51464163e+02] [-6.68263730e-03 1.63764319e-04 -9.99977658e-01 -4.89158123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters 0.052349314884307975 Centerline is valid? [True, True] Translation: X:540.12, Y:-251.49, Z:-4.89 [[ 7.27839736e-01 6.85737948e-01 -3.57564130e-03 5.40124640e+02] [ 6.85729065e-01 -7.27848514e-01 -3.49149354e-03 -2.51491935e+02] [-4.99677483e-03 8.93265711e-05 -9.99987512e-01 -4.88939216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters 0.05179836025651628 Centerline is valid? [True, True] Translation: X:540.19, Y:-251.52, Z:-4.89 [[ 6.67633576e-01 7.44483246e-01 -3.17874409e-03 5.40193949e+02] [ 7.44474391e-01 -6.67641140e-01 -3.63172096e-03 -2.51519509e+02] [-4.82601574e-03 5.81652800e-05 -9.99988353e-01 -4.88929466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters 0.05129894599432775 Centerline is valid? [True, True] Translation: X:540.28, Y:-251.55, Z:-4.89 [[ 5.98950454e-01 8.00780695e-01 -2.93821824e-03 5.40279132e+02] [ 8.00770998e-01 -5.98957660e-01 -3.94084558e-03 -2.51550813e+02] [-4.91562139e-03 7.53129856e-06 -9.99987918e-01 -4.88999430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters 0.051099035228662874 Centerline is valid? [True, True] Translation: X:540.36, Y:-251.57, Z:-4.89 [[ 5.24408956e-01 8.51462326e-01 -2.67474456e-03 5.40363042e+02] [ 8.51451749e-01 -5.24415775e-01 -4.24435695e-03 -2.51574549e+02] [-5.01658828e-03 -5.16371295e-05 -9.99987416e-01 -4.88759144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters 0.05108936997850084 Centerline is valid? [True, True] Translation: X:540.44, Y:-251.59, Z:-4.89 [[ 4.49995168e-01 8.93027100e-01 -2.63569976e-03 5.40441388e+02] [ 8.93013032e-01 -4.50002876e-01 -5.01366292e-03 -2.51585247e+02] [-5.66340933e-03 -9.75901485e-05 -9.99983958e-01 -4.88778106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters 0.05094439585952324 Centerline is valid? [True, True] Translation: X:540.53, Y:-251.59, Z:-4.89 [[ 3.72123432e-01 9.28179932e-01 -2.48294408e-03 5.40528002e+02] [ 9.28161941e-01 -3.72131683e-01 -5.78105798e-03 -2.51593204e+02] [-6.28984416e-03 -1.53307066e-04 -9.99980207e-01 -4.88707636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters 0.05059717421164411 Centerline is valid? [True, True] Translation: X:540.62, Y:-251.59, Z:-4.89 [[ 2.95539054e-01 9.55328359e-01 -2.09621164e-03 5.40615489e+02] [ 9.55308432e-01 -2.95546434e-01 -6.17293075e-03 -2.51594366e+02] [-6.51670368e-03 -1.78186543e-04 -9.99978750e-01 -4.88724193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters 0.05208026752490935 Centerline is valid? [True, True] Translation: X:540.71, Y:-251.59, Z:-4.89 [[ 2.18645326e-01 9.75803517e-01 -1.31093118e-03 5.40708853e+02] [ 9.75789919e-01 -2.18649203e-01 -5.15371585e-03 -2.51591287e+02] [-5.31564811e-03 -1.52357544e-04 -9.99985860e-01 -4.88724905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters 0.051227719801994094 Centerline is valid? [True, True] Translation: X:540.79, Y:-251.58, Z:-4.89 [[ 1.43910866e-01 9.89590092e-01 -1.05502886e-03 5.40791300e+02] [ 9.89571187e-01 -1.43914640e-01 -6.11905521e-03 -2.51577726e+02] [-6.20719051e-03 -1.63427626e-04 -9.99980722e-01 -4.88762344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters 0.05138637696534246 Centerline is valid? [True, True] Translation: X:540.88, Y:-251.56, Z:-4.89 [[ 6.91332973e-02 9.97607267e-01 -5.72185870e-04 5.40877930e+02] [ 9.97588179e-01 -6.91355150e-02 -6.17291283e-03 -2.51558800e+02] [-6.19770107e-03 -1.44052043e-04 -9.99980784e-01 -4.88662795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters 0.05078774122288314 Centerline is valid? [True, True] Translation: X:540.96, Y:-251.53, Z:-4.89 [[-1.11271781e-03 9.99999378e-01 -8.19122491e-05 5.40956887e+02] [ 9.99982601e-01 1.11222461e-03 -5.79321292e-03 -2.51533071e+02] [-5.79311821e-03 -8.83570351e-05 -9.99983216e-01 -4.88707787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters 0.051029040931713725 Centerline is valid? [True, True] Translation: X:541.03, Y:-251.50, Z:-4.89 [[-6.74804929e-02 9.97720530e-01 3.55568988e-04 5.41025720e+02] [ 9.97705186e-01 6.74814271e-02 -5.53336323e-03 -2.51503281e+02] [-5.54474440e-03 -1.86410547e-05 -9.99984628e-01 -4.88708615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters 0.05042562683045425 Centerline is valid? [True, True] Translation: X:541.10, Y:-251.47, Z:-4.89 [[-1.36092318e-01 9.90695902e-01 7.14202116e-04 5.41095014e+02] [ 9.90683394e-01 1.36094189e-01 -4.97850046e-03 -2.51467632e+02] [-5.02937876e-03 3.00125063e-05 -9.99987352e-01 -4.88778894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters 0.05197391924355322 Centerline is valid? [True, True] Translation: X:541.16, Y:-251.43, Z:-4.89 [[-1.98432085e-01 9.80114054e-01 1.07217819e-03 5.41157706e+02] [ 9.80102420e-01 1.98434955e-01 -4.77647876e-03 -2.51428686e+02] [-4.89425159e-03 1.03037796e-04 -9.99988018e-01 -4.88728159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters 0.05232786822526501 Centerline is valid? [True, True] Translation: X:541.25, Y:-251.38, Z:-4.89 [[-2.64893009e-01 9.64276701e-01 1.46181035e-03 5.41253731e+02] [ 9.64265062e-01 2.64896998e-01 -4.74034822e-03 -2.51375165e+02] [-4.95823652e-03 1.53887546e-04 -9.99987696e-01 -4.88760529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters 0.0518359225475178 Centerline is valid? [True, True] Translation: X:541.32, Y:-251.32, Z:-4.89 [[-3.28117711e-01 9.44634276e-01 2.20271550e-03 5.41322062e+02] [ 9.44617976e-01 3.28125003e-01 -5.55530880e-03 -2.51322179e+02] [-5.97050113e-03 2.57929450e-04 -9.99982143e-01 -4.88671286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters 0.053325170089268265 Centerline is valid? [True, True] Translation: X:541.38, Y:-251.27, Z:-4.89 [[-3.96779167e-01 9.17910125e-01 2.70093179e-03 5.41382313e+02] [ 9.17893637e-01 3.96788252e-01 -5.50957435e-03 -2.51266374e+02] [-6.12899208e-03 2.93083778e-04 -9.99981175e-01 -4.88632434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters 0.05263068692157525 Centerline is valid? [True, True] Translation: X:541.46, Y:-251.19, Z:-4.89 [[-4.65785531e-01 8.84892248e-01 3.08998817e-03 5.41460182e+02] [ 8.84876877e-01 4.65795683e-01 -5.22435016e-03 -2.51194339e+02] [-6.06229011e-03 3.00832375e-04 -9.99981579e-01 -4.88679402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters 0.05236962207611483 Centerline is valid? [True, True] Translation: X:541.54, Y:-251.11, Z:-4.89 [[-5.36455440e-01 8.43920518e-01 3.70417068e-03 5.41539344e+02] [ 8.43904101e-01 5.36468146e-01 -5.27224632e-03 -2.51110264e+02] [-6.43652642e-03 2.97639610e-04 -9.99979241e-01 -4.88697108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters 0.05219917979921138 Centerline is valid? [True, True] Translation: X:541.60, Y:-251.03, Z:-4.89 [[-6.05513811e-01 7.95824459e-01 4.05654870e-03 5.41602396e+02] [ 7.95809370e-01 6.05527344e-01 -4.90727247e-03 -2.51028520e+02] [-6.36167862e-03 2.56818214e-04 -9.99979731e-01 -4.88655816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters 0.05260027309734388 Centerline is valid? [True, True] Translation: X:541.64, Y:-250.95, Z:-4.88 [[-6.75097218e-01 7.37716533e-01 4.25019669e-03 5.41644246e+02] [ 7.37703483e-01 6.75110575e-01 -4.39118513e-03 -2.50953082e+02] [-6.10880260e-03 1.70908044e-04 -9.99981327e-01 -4.88485910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters 0.05242967092978529 Centerline is valid? [True, True] Translation: X:541.68, Y:-250.87, Z:-4.88 [[-7.40394703e-01 6.72153164e-01 5.08016262e-03 5.41684719e+02] [ 6.72138199e-01 7.40412126e-01 -4.48616379e-03 -2.50871960e+02] [-6.77680319e-03 9.30394453e-05 -9.99977033e-01 -4.88456723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters 0.050755300260483985 Centerline is valid? [True, True] Translation: X:541.66, Y:-249.98, Z:-5.88 [[-7.04062466e-01 -7.10125993e-01 4.13741508e-03 5.41658278e+02] [ 7.10112573e-01 -7.04074610e-01 -4.36774688e-03 -2.49982419e+02] [ 6.01469949e-03 -1.37136173e-04 9.99981902e-01 -5.87759385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters 0.050265115070466014 Centerline is valid? [True, True] Translation: X:541.61, Y:-249.95, Z:-5.88 [[-6.95517719e-01 -7.18502389e-01 3.06917867e-03 5.41612226e+02] [ 7.18495703e-01 -6.95524489e-01 -3.09998671e-03 -2.49948218e+02] [ 4.36203678e-03 4.90960032e-05 9.99990485e-01 -5.87741456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters 0.05092677265418569 Centerline is valid? [True, True] Translation: X:541.57, Y:-249.91, Z:-5.88 [[-6.94094415e-01 -7.19879134e-01 2.64109395e-03 5.41571266e+02] [ 7.19874196e-01 -6.94099438e-01 -2.66683817e-03 -2.49908754e+02] [ 3.75298298e-03 5.02179045e-05 9.99992956e-01 -5.87703727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters 0.05032889427441527 Centerline is valid? [True, True] Translation: X:541.53, Y:-249.87, Z:-5.88 [[-6.91717945e-01 -7.22163722e-01 2.41752618e-03 5.41530598e+02] [ 7.22159600e-01 -6.91722167e-01 -2.44044979e-03 -2.49867754e+02] [ 3.43466074e-03 5.77368271e-05 9.99994100e-01 -5.87606083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters 0.0504391216350546 Centerline is valid? [True, True] Translation: X:541.49, Y:-249.83, Z:-5.88 [[-6.89464994e-01 -7.24311092e-01 3.38571914e-03 5.41488490e+02] [ 7.24303039e-01 -6.89473301e-01 -3.41691913e-03 -2.49827691e+02] [ 4.80927538e-03 9.64405353e-05 9.99988431e-01 -5.87747824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters 0.05098379042147508 Centerline is valid? [True, True] Translation: X:541.45, Y:-249.79, Z:-5.88 [[-6.88024051e-01 -7.25674474e-01 4.41166789e-03 5.41446672e+02] [ 7.25660835e-01 -6.88038181e-01 -4.45125785e-03 -2.49789507e+02] [ 6.26556015e-03 1.38802153e-04 9.99980362e-01 -5.87927613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters 0.050800477289131236 Centerline is valid? [True, True] Translation: X:541.41, Y:-249.75, Z:-5.88 [[-6.86596592e-01 -7.27013288e-01 6.06620442e-03 5.41406998e+02] [ 7.26987568e-01 -6.86623358e-01 -6.11882343e-03 -2.49749205e+02] [ 8.61366359e-03 2.08891886e-04 9.99962880e-01 -5.88055516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters 0.05093880611265218 Centerline is valid? [True, True] Translation: X:541.37, Y:-249.71, Z:-5.88 [[-6.87815952e-01 -7.25849388e-01 7.20293519e-03 5.41368783e+02] [ 7.25813081e-01 -6.87853627e-01 -7.26350167e-03 -2.49705758e+02] [ 1.02267733e-02 2.32032269e-04 9.99947678e-01 -5.88093016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters 0.05020979962188266 Centerline is valid? [True, True] Translation: X:541.33, Y:-249.66, Z:-5.88 [[-6.90617506e-01 -7.23192137e-01 6.37132297e-03 5.41333258e+02] [ 7.23163633e-01 -6.90646873e-01 -6.42315749e-03 -2.49659824e+02] [ 9.04551128e-03 1.71564059e-04 9.99959074e-01 -5.87886411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters 0.05078356019445268 Centerline is valid? [True, True] Translation: X:541.30, Y:-249.61, Z:-5.88 [[-6.97003235e-01 -7.17052779e-01 4.66930038e-03 5.41298259e+02] [ 7.17037338e-01 -6.97018872e-01 -4.70618934e-03 -2.49612306e+02] [ 6.62917662e-03 6.78335242e-05 9.99978024e-01 -5.87659441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters 0.05033789427924236 Centerline is valid? [True, True] Translation: X:541.26, Y:-249.57, Z:-5.88 [[-7.01794799e-01 -7.12367762e-01 4.02885182e-03 5.41261165e+02] [ 7.12356194e-01 -7.01806363e-01 -4.05975001e-03 -2.49568832e+02] [ 5.71950887e-03 2.08661054e-05 9.99983643e-01 -5.87721368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters 0.05006704530987871 Centerline is valid? [True, True] Translation: X:541.23, Y:-249.52, Z:-5.87 [[-7.09056975e-01 -7.05146608e-01 2.54332518e-03 5.41227243e+02] [ 7.05141952e-01 -7.09061536e-01 -2.56239922e-03 -2.49520432e+02] [ 3.61024117e-03 -2.34817518e-05 9.99993483e-01 -5.87427062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters 0.050172331557204825 Centerline is valid? [True, True] Translation: X:541.19, Y:-249.48, Z:-5.87 [[-7.13269837e-01 -7.00886841e-01 1.94323254e-03 5.41191446e+02] [ 7.00884109e-01 -7.13272483e-01 -1.95727360e-03 -2.49475805e+02] [ 2.75788161e-03 -3.40834115e-05 9.99996196e-01 -5.87364731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters 0.05116571718274158 Centerline is valid? [True, True] Translation: X:541.15, Y:-249.43, Z:-5.87 [[-7.17201254e-01 -6.96862891e-01 2.11488646e-03 5.41153628e+02] [ 6.96859639e-01 -7.17204370e-01 -2.12963310e-03 -2.49434740e+02] [ 3.00086808e-03 -5.35965134e-05 9.99995496e-01 -5.87295929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters 0.05103366306667466 Centerline is valid? [True, True] Translation: X:541.11, Y:-249.39, Z:-5.87 [[-7.17645339e-01 -6.96403463e-01 2.71747074e-03 5.41110439e+02] [ 6.96398092e-01 -7.17650481e-01 -2.73587920e-03 -2.49394394e+02] [ 3.85546993e-03 -7.09495182e-05 9.99992565e-01 -5.87313832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters 0.05050834349940712 Centerline is valid? [True, True] Translation: X:541.07, Y:-249.35, Z:-5.87 [[-7.14811075e-01 -6.99311892e-01 2.82929444e-03 5.41073666e+02] [ 6.99306097e-01 -7.14816672e-01 -2.84763544e-03 -2.49350513e+02] [ 4.01381216e-03 -5.69784992e-05 9.99991943e-01 -5.87405231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters 0.04979696309661537 Centerline is valid? [True, True] Translation: X:541.03, Y:-249.31, Z:-5.87 [[-7.12082846e-01 -7.02090551e-01 2.62256061e-03 5.41033674e+02] [ 7.02085593e-01 -7.12087675e-01 -2.63872922e-03 -2.49310785e+02] [ 3.72011994e-03 -3.77317936e-05 9.99993080e-01 -5.87407870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters 0.050628174935762285 Centerline is valid? [True, True] Translation: X:540.99, Y:-249.27, Z:-5.87 [[-7.07650534e-01 -7.06559014e-01 2.25433874e-03 5.40990812e+02] [ 7.06555375e-01 -7.07654125e-01 -2.26756128e-03 -2.49273013e+02] [ 3.19745797e-03 -1.18257974e-05 9.99994888e-01 -5.87387843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters 0.050185905899935726 Centerline is valid? [True, True] Translation: X:540.95, Y:-249.24, Z:-5.88 [[-7.03145434e-01 -7.11042087e-01 2.37680743e-03 5.40949257e+02] [ 7.11038071e-01 -7.03149451e-01 -2.38992939e-03 -2.49236701e+02] [ 3.37059122e-03 9.53262956e-06 9.99994320e-01 -5.87521471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters 0.04951617187636249 Centerline is valid? [True, True] Translation: X:540.91, Y:-249.20, Z:-5.87 [[-7.00149878e-01 -7.13991430e-01 2.52708223e-03 5.40907160e+02] [ 7.13986911e-01 -7.00154439e-01 -2.54032039e-03 -2.49197799e+02] [ 3.58311483e-03 2.56986245e-05 9.99993580e-01 -5.87482676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters 0.049710900661230045 Centerline is valid? [True, True] Translation: X:540.87, Y:-249.16, Z:-5.87 [[-6.95855965e-01 -7.18178146e-01 2.15099470e-03 5.40865638e+02] [ 7.18174894e-01 -6.95859288e-01 -2.16165389e-03 -2.49158023e+02] [ 3.04924223e-03 4.05906357e-05 9.99995350e-01 -5.87386660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters 0.04992458733793208 Centerline is valid? [True, True] Translation: X:540.82, Y:-249.12, Z:-5.87 [[-6.93558714e-01 -7.20397723e-01 1.85233501e-03 5.40822862e+02] [ 7.20395320e-01 -6.93561186e-01 -1.86108009e-03 -2.49120918e+02] [ 2.62542553e-03 4.36451595e-05 9.99996553e-01 -5.87425690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters 0.04993578956929754 Centerline is valid? [True, True] Translation: X:540.78, Y:-249.08, Z:-5.88 [[-6.92037772e-01 -7.21857408e-01 2.36734636e-03 5.40782328e+02] [ 7.21853495e-01 -6.92041818e-01 -2.37782662e-03 -2.49081164e+02] [ 3.35475444e-03 6.33314088e-05 9.99994371e-01 -5.87514889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters 0.05038058351605396 Centerline is valid? [True, True] Translation: X:540.74, Y:-249.04, Z:-5.88 [[-6.92163864e-01 -7.21732856e-01 3.29700788e-03 5.40743220e+02] [ 7.21725269e-01 -6.92171711e-01 -3.31054256e-03 -2.49042369e+02] [ 4.67142292e-03 8.80959696e-05 9.99989085e-01 -5.87644323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters 0.050584842807332636 Centerline is valid? [True, True] Translation: X:540.70, Y:-249.01, Z:-5.88 [[-6.92487918e-01 -7.21419965e-01 3.70363059e-03 5.40701282e+02] [ 7.21410393e-01 -6.92497815e-01 -3.71761372e-03 -2.49005111e+02] [ 5.24671685e-03 9.74350177e-05 9.99986231e-01 -5.87817516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters 0.04987395698027082 Centerline is valid? [True, True] Translation: X:540.67, Y:-248.96, Z:-5.88 [[-6.92614156e-01 -7.21298823e-01 3.69297860e-03 5.40666394e+02] [ 7.21289310e-01 -6.92623995e-01 -3.70578629e-03 -2.48960892e+02] [ 5.23082488e-03 9.70259412e-05 9.99986314e-01 -5.87669565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters 0.05003632994465943 Centerline is valid? [True, True] Translation: X:540.63, Y:-248.92, Z:-5.88 [[-6.93083275e-01 -7.20839547e-01 5.09125139e-03 5.40628008e+02] [ 7.20821464e-01 -6.93101963e-01 -5.10747771e-03 -2.48918463e+02] [ 7.21042825e-03 1.29975898e-04 9.99973996e-01 -5.87698785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters 0.049895122691999215 Centerline is valid? [True, True] Translation: X:540.59, Y:-248.88, Z:-5.88 [[-6.94112442e-01 -7.19840988e-01 6.07203579e-03 5.40588313e+02] [ 7.19815243e-01 -6.94138985e-01 -6.08968620e-03 -2.48876910e+02] [ 8.59844250e-03 1.43816958e-04 9.99963022e-01 -5.87816176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters 0.04958837048329402 Centerline is valid? [True, True] Translation: X:540.55, Y:-248.83, Z:-5.88 [[-6.96448916e-01 -7.17583774e-01 5.69517992e-03 5.40551913e+02] [ 7.17561062e-01 -6.96472193e-01 -5.71022045e-03 -2.48831506e+02] [ 8.06409599e-03 1.09762517e-04 9.99967479e-01 -5.87616844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters 0.04939338237003333 Centerline is valid? [True, True] Translation: X:540.51, Y:-248.79, Z:-5.88 [[-6.99503381e-01 -7.14618969e-01 3.84036688e-03 5.40513617e+02] [ 7.14608603e-01 -6.99513922e-01 -3.84940631e-03 -2.48789717e+02] [ 5.43724886e-03 5.16864851e-05 9.99985217e-01 -5.87597140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters 0.049596639704819576 Centerline is valid? [True, True] Translation: X:540.48, Y:-248.75, Z:-5.88 [[-7.01669635e-01 -7.12495365e-01 3.17464577e-03 5.40475908e+02] [ 7.12488264e-01 -7.01676816e-01 -3.18117183e-03 -2.48748359e+02] [ 4.49414552e-03 2.97661806e-05 9.99989901e-01 -5.87529401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters 0.049548726369326335 Centerline is valid? [True, True] Translation: X:540.44, Y:-248.71, Z:-5.88 [[-7.02419632e-01 -7.11758047e-01 2.67254387e-03 5.40435772e+02] [ 7.11753012e-01 -7.02424716e-01 -2.67720701e-03 -2.48709207e+02] [ 3.78278451e-03 2.16683871e-05 9.99992845e-01 -5.87559084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters 0.049787733487477136 Centerline is valid? [True, True] Translation: X:540.40, Y:-248.67, Z:-5.88 [[-7.04037981e-01 -7.10145091e-01 4.94683180e-03 5.40397061e+02] [ 7.10127811e-01 -7.04055359e-01 -4.95415402e-03 -2.48666452e+02] [ 7.00101160e-03 2.49702451e-05 9.99975492e-01 -5.87639946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters 0.049734692798224664 Centerline is valid? [True, True] Translation: X:540.36, Y:-248.63, Z:-5.88 [[-7.05657617e-01 -7.08534338e-01 5.13998769e-03 5.40357746e+02] [ 7.08515649e-01 -7.05676336e-01 -5.14616091e-03 -2.48625269e+02] [ 7.27339939e-03 1.03340742e-05 9.99973548e-01 -5.87668440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters 0.050060620357543946 Centerline is valid? [True, True] Translation: X:540.32, Y:-248.59, Z:-5.88 [[-7.08303224e-01 -7.05892353e-01 4.74648177e-03 5.40317071e+02] [ 7.05876367e-01 -7.08319127e-01 -4.75071565e-03 -2.48586000e+02] [ 6.71551767e-03 -1.45179080e-05 9.99977451e-01 -5.87713717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters 0.04993209215268123 Centerline is valid? [True, True] Translation: X:540.28, Y:-248.55, Z:-5.88 [[-7.09792680e-01 -7.04398612e-01 4.11662883e-03 5.40275618e+02] [ 7.04386568e-01 -7.09804617e-01 -4.11926681e-03 -2.48545616e+02] [ 5.82360797e-03 -2.41273771e-05 9.99983042e-01 -5.87560396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters 0.05010550907689837 Centerline is valid? [True, True] Translation: X:540.23, Y:-248.51, Z:-5.87 [[-7.10599594e-01 -7.03583646e-01 4.27441002e-03 5.40234250e+02] [ 7.03570653e-01 -7.10612449e-01 -4.27599258e-03 -2.48505365e+02] [ 6.04596742e-03 -3.11691431e-05 9.99981723e-01 -5.87475906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters 0.05021385319205014 Centerline is valid? [True, True] Translation: X:540.19, Y:-248.47, Z:-5.87 [[-7.09496083e-01 -7.04697692e-01 4.05853478e-03 5.40191342e+02] [ 7.04686003e-01 -7.09507690e-01 -4.05894484e-03 -2.48466799e+02] [ 5.73989070e-03 -1.98128135e-05 9.99983527e-01 -5.87497228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters 0.04927428918156066 Centerline is valid? [True, True] Translation: X:540.15, Y:-248.43, Z:-5.88 [[-7.06638323e-01 -7.07566920e-01 3.36674295e-03 5.40147953e+02] [ 7.07558913e-01 -7.06646343e-01 -3.36600921e-03 -2.48431063e+02] [ 4.76077336e-03 3.61787995e-06 9.99988667e-01 -5.87624221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters 0.049980250858228235 Centerline is valid? [True, True] Translation: X:539.67, Y:-248.91, Z:-4.89 [[-7.59140952e-01 6.50919375e-01 2.99725548e-03 5.39672911e+02] [ 6.50914186e-01 7.59146868e-01 -2.59906836e-03 -2.48909732e+02] [-3.96714107e-03 -2.21031176e-05 -9.99992131e-01 -4.88631381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters 0.05007598334561898 Centerline is valid? [True, True] Translation: X:539.72, Y:-248.84, Z:-4.88 [[-8.05159986e-01 5.93047095e-01 3.54130860e-03 5.39715588e+02] [ 5.93041150e-01 8.05167773e-01 -2.65560509e-03 -2.48838073e+02] [-4.42624644e-03 -3.80452293e-05 -9.99990203e-01 -4.88495918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters 0.050449727403405364 Centerline is valid? [True, True] Translation: X:539.70, Y:-248.73, Z:-4.88 [[-8.46868675e-01 5.31787455e-01 3.94331484e-03 5.39697671e+02] [ 5.31781381e-01 8.46877854e-01 -2.54212231e-03 -2.48726583e+02] [-4.69137477e-03 -5.58623360e-05 -9.99988994e-01 -4.88402271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters 0.05080748917593336 Centerline is valid? [True, True] Translation: X:539.73, Y:-248.65, Z:-4.88 [[-8.82803980e-01 4.69725227e-01 3.91721803e-03 5.39726037e+02] [ 4.69720318e-01 8.82812669e-01 -2.14825501e-03 -2.48651752e+02] [-4.46725927e-03 -5.64911750e-05 -9.99990020e-01 -4.88410845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters 0.05016238473338499 Centerline is valid? [True, True] Translation: X:540.00, Y:-248.07, Z:-5.88 [[-8.35597312e-01 -5.49329294e-01 3.80266873e-03 5.40002577e+02] [ 5.49323930e-01 -8.35605962e-01 -2.42822192e-03 -2.48072270e+02] [ 4.51142609e-03 5.98812181e-05 9.99989822e-01 -5.87551710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters 0.05059822908075199 Centerline is valid? [True, True] Translation: X:539.63, Y:-248.61, Z:-4.89 [[-8.84877270e-01 4.65800527e-01 4.69963456e-03 5.39634489e+02] [ 4.65793525e-01 8.84889747e-01 -2.55491308e-03 -2.48607622e+02] [-5.34873829e-03 -7.17251585e-05 -9.99985693e-01 -4.88557007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters 0.04987670627697134 Centerline is valid? [True, True] Translation: X:539.94, Y:-248.04, Z:-5.88 [[-8.35505217e-01 -5.49438701e-01 6.93870497e-03 5.39937689e+02] [ 5.49422656e-01 -8.35533977e-01 -4.20937091e-03 -2.48042805e+02] [ 8.11031504e-03 2.95330354e-04 9.99967067e-01 -5.87615803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters 0.05054836314041082 Centerline is valid? [True, True] Translation: X:539.53, Y:-248.55, Z:-4.88 [[-8.89611969e-01 4.56647207e-01 7.99211138e-03 5.39533973e+02] [ 4.56626925e-01 8.89647849e-01 -4.30770791e-03 -2.48547542e+02] [-9.07726748e-03 -1.82775277e-04 -9.99958784e-01 -4.88248976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters 0.05047525414805063 Centerline is valid? [True, True] Translation: X:539.55, Y:-248.47, Z:-4.88 [[-9.20254948e-01 3.91229407e-01 8.38937924e-03 5.39546848e+02] [ 3.91211195e-01 9.20293167e-01 -3.78001921e-03 -2.48465454e+02] [-9.19954306e-03 -1.96562303e-04 -9.99957664e-01 -4.88281947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters 0.050462735317857395 Centerline is valid? [True, True] Translation: X:539.57, Y:-248.40, Z:-4.89 [[-9.45686807e-01 3.24974629e-01 8.24339371e-03 5.39566631e+02] [ 3.24960554e-01 9.45722716e-01 -3.03038958e-03 -2.48395436e+02] [-8.78076442e-03 -1.87021658e-04 -9.99961431e-01 -4.88580425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters 0.050378184327739 Centerline is valid? [True, True] Translation: X:539.75, Y:-247.78, Z:-5.88 [[-9.04675132e-01 -4.26040196e-01 7.25653880e-03 5.39750795e+02] [ 4.26027529e-01 -9.04704227e-01 -3.28738040e-03 -2.47781604e+02] [ 7.96557752e-03 1.17473994e-04 9.99968267e-01 -5.87503411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters 0.049933283806079753 Centerline is valid? [True, True] Translation: X:539.38, Y:-248.33, Z:-4.88 [[-9.46490802e-01 3.22651071e-01 7.17272447e-03 5.39384494e+02] [ 3.22640573e-01 9.46517968e-01 -2.60719466e-03 -2.48325150e+02] [-7.63032674e-03 -1.53473825e-04 -9.99970877e-01 -4.88375683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters 0.05033171504344234 Centerline is valid? [True, True] Translation: X:539.39, Y:-248.24, Z:-4.88 [[-9.66748282e-01 2.55628235e-01 7.20860316e-03 5.39387960e+02] [ 2.55620024e-01 9.66775147e-01 -2.05387962e-03 -2.48244502e+02] [-7.49412800e-03 -1.42921284e-04 -9.99971908e-01 -4.88351561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters 0.0503818563533299 Centerline is valid? [True, True] Translation: X:539.40, Y:-248.17, Z:-4.89 [[-9.82636371e-01 1.85426111e-01 6.55129469e-03 5.39402968e+02] [ 1.85421082e-01 9.82658201e-01 -1.37219745e-03 -2.48170976e+02] [-6.69212469e-03 -1.33622977e-04 -9.99977599e-01 -4.88567310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters 0.04972903147528826 Centerline is valid? [True, True] Translation: X:539.34, Y:-248.08, Z:-4.89 [[-9.93514523e-01 1.13478034e-01 7.18527592e-03 5.39343754e+02] [ 1.13473920e-01 9.93540493e-01 -9.79056027e-04 -2.48078288e+02] [-7.24996394e-03 -1.57364959e-04 -9.99973706e-01 -4.88518364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters 0.049059966737117565 Centerline is valid? [True, True] Translation: X:539.38, Y:-247.43, Z:-5.88 [[-9.74309670e-01 -2.25022920e-01 9.23868686e-03 5.39379375e+02] [ 2.25016199e-01 -9.74353408e-01 -1.77412196e-03 -2.47433083e+02] [ 9.40096413e-03 3.50310024e-04 9.99955749e-01 -5.87534783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters 0.049746260308257975 Centerline is valid? [True, True] Translation: X:539.25, Y:-248.07, Z:-4.88 [[-9.94338051e-01 1.05752710e-01 1.04021915e-02 5.39250200e+02] [ 1.05744090e-01 9.94392423e-01 -1.37683204e-03 -2.48071223e+02] [-1.04894641e-02 -2.69066215e-04 -9.99944948e-01 -4.88464216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters 0.04946399107253016 Centerline is valid? [True, True] Translation: X:539.29, Y:-247.43, Z:-5.88 [[-9.74899271e-01 -2.22431056e-01 9.78964538e-03 5.39291584e+02] [ 2.22422140e-01 -9.74948396e-01 -2.00412743e-03 -2.47425792e+02] [ 9.99017924e-03 2.23611504e-04 9.99950072e-01 -5.87633739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters 0.050540460077780416 Centerline is valid? [True, True] Translation: X:539.12, Y:-248.05, Z:-4.88 [[-9.94716377e-01 1.02268540e-01 8.97078507e-03 5.39117108e+02] [ 1.02262298e-01 9.94756801e-01 -1.15304496e-03 -2.48052796e+02] [-9.04166968e-03 -2.29579609e-04 -9.99959097e-01 -4.88419948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters 0.049906763708032174 Centerline is valid? [True, True] Translation: X:539.09, Y:-247.97, Z:-4.89 [[-9.99467858e-01 3.17465684e-02 7.49376311e-03 5.39091198e+02] [ 3.17442696e-02 9.99495933e-01 -4.25535548e-04 -2.47969771e+02] [-7.50349504e-03 -1.87425066e-04 -9.99971831e-01 -4.88514979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters 0.05051652550782263 Centerline is valid? [True, True] Translation: X:539.09, Y:-247.33, Z:-5.87 [[-9.88851332e-01 -1.48765844e-01 6.46274498e-03 5.39088716e+02] [ 1.48763311e-01 -9.88872446e-01 -8.73455884e-04 -2.47331316e+02] [ 6.52077084e-03 9.77013296e-05 9.99978735e-01 -5.87498722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters 0.04934262439350453 Centerline is valid? [True, True] Translation: X:538.91, Y:-247.96, Z:-4.89 [[-9.99624443e-01 2.66718363e-02 6.29176180e-03 5.38910395e+02] [ 2.66702647e-02 9.99644230e-01 -3.33577223e-04 -2.47961671e+02] [-6.29842050e-03 -1.65648993e-04 -9.99980151e-01 -4.88697317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters 0.05033176114046173 Centerline is valid? [True, True] Translation: X:538.82, Y:-247.88, Z:-4.89 [[-9.98967508e-01 -4.50005614e-02 6.23441484e-03 5.38823997e+02] [-4.50007309e-02 9.98986948e-01 1.13157514e-04 -2.47875897e+02] [-6.23319121e-03 -1.67512544e-04 -9.99980559e-01 -4.88571195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters 0.04954595996494994 Centerline is valid? [True, True] Translation: X:538.75, Y:-247.24, Z:-5.88 [[-9.97232221e-01 -7.40410407e-02 6.76924851e-03 5.38745268e+02] [ 7.40408066e-02 -9.97255172e-01 -2.85516726e-04 -2.47239342e+02] [ 6.77180804e-03 2.16474141e-04 9.99977048e-01 -5.87520875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters 0.04952805173908407 Centerline is valid? [True, True] Translation: X:538.68, Y:-247.88, Z:-4.89 [[-9.99040503e-01 -4.31973993e-02 7.21515950e-03 5.38678645e+02] [-4.31973756e-02 9.99066545e-01 1.59203661e-04 -2.47880889e+02] [-7.21530166e-03 -1.52625050e-04 -9.99973958e-01 -4.88512845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters 0.050371892263619 Centerline is valid? [True, True] Translation: X:538.55, Y:-247.81, Z:-4.88 [[-9.93869181e-01 -1.10334335e-01 7.09827549e-03 5.38550136e+02] [-1.10332411e-01 9.93894521e-01 6.63319029e-04 -2.47808256e+02] [-7.12812399e-03 -1.23917509e-04 -9.99974587e-01 -4.88465030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters 0.0504811389574039 Centerline is valid? [True, True] Translation: X:538.41, Y:-247.75, Z:-4.88 [[-9.84671367e-01 -1.74265548e-01 7.33600862e-03 5.38413064e+02] [-1.74261322e-01 9.84698691e-01 1.21627593e-03 -2.47748940e+02] [-7.43571308e-03 -8.07504776e-05 -9.99972351e-01 -4.88430061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters 0.04990731319426092 Centerline is valid? [True, True] Translation: X:538.20, Y:-247.13, Z:-5.88 [[-9.95757318e-01 9.16648442e-02 8.05726864e-03 5.38195006e+02] [-9.16608008e-02 -9.95789908e-01 8.70470044e-04 -2.47126669e+02] [ 8.10313830e-03 1.28241221e-04 9.99967161e-01 -5.87678261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters 0.04990750904639049 Centerline is valid? [True, True] Translation: X:538.16, Y:-247.79, Z:-4.88 [[-9.85327277e-01 -1.70453326e-01 8.70752539e-03 5.38162177e+02] [-1.70446917e-01 9.85365751e-01 1.47836349e-03 -2.47791963e+02] [-8.83208927e-03 -2.74989842e-05 -9.99960996e-01 -4.88316574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters 0.049930891240209614 Centerline is valid? [True, True] Translation: X:538.09, Y:-247.73, Z:-4.88 [[-9.70564759e-01 -2.40664091e-01 9.21111849e-03 5.38093231e+02] [-2.40653580e-01 9.70608466e-01 2.24948633e-03 -2.47728096e+02] [-9.48176017e-03 -3.34164821e-05 -9.99955047e-01 -4.88379830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters 0.050327228154481596 Centerline is valid? [True, True] Translation: X:538.01, Y:-247.67, Z:-4.88 [[-9.50488540e-01 -3.10601792e-01 9.90266688e-03 5.38009080e+02] [-3.10585490e-01 9.50540122e-01 3.18263565e-03 -2.47670935e+02] [-1.04014145e-02 -5.05659307e-05 -9.99945903e-01 -4.88238819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters 0.04975361969823956 Centerline is valid? [True, True] Translation: X:537.92, Y:-247.62, Z:-4.88 [[-9.25338013e-01 -3.79029213e-01 9.29609084e-03 5.37924840e+02] [-3.79010721e-01 9.25384705e-01 3.74448143e-03 -2.47620427e+02] [-1.00217281e-02 -5.84070755e-05 -9.99949780e-01 -4.88411883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters 0.0507160769214067 Centerline is valid? [True, True] Translation: X:537.81, Y:-247.58, Z:-4.88 [[-8.95546373e-01 -4.44906645e-01 7.40072652e-03 5.37812787e+02] [-4.44891935e-01 8.95576950e-01 3.61827240e-03 -2.47584127e+02] [-8.23771352e-03 -5.21928210e-05 -9.99966068e-01 -4.88421682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters 0.05029182929463867 Centerline is valid? [True, True] Translation: X:537.45, Y:-247.05, Z:-5.88 [[-9.28395273e-01 3.71539392e-01 6.37942045e-03 5.37454784e+02] [-3.71530988e-01 -9.28417190e-01 2.49941272e-03 -2.47047928e+02] [ 6.85139388e-03 -4.97094251e-05 9.99976528e-01 -5.87569479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters 0.05068306095000356 Centerline is valid? [True, True] Translation: X:537.59, Y:-247.69, Z:-4.89 [[-8.92950221e-01 -4.50114707e-01 6.05414672e-03 5.37585454e+02] [-4.50104748e-01 8.92970743e-01 2.99473283e-03 -2.47691637e+02] [-6.75414918e-03 -5.08528430e-05 -9.99977189e-01 -4.88528125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters 0.050069287617428196 Centerline is valid? [True, True] Translation: X:537.48, Y:-247.66, Z:-4.88 [[-8.57635136e-01 -5.14211844e-01 6.93927052e-03 5.37475437e+02] [-5.14195644e-01 8.57663206e-01 4.08225492e-03 -2.47661248e+02] [-8.05070083e-03 -6.70574199e-05 -9.99967590e-01 -4.88353952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters 0.0508532240354006 Centerline is valid? [True, True] Translation: X:537.32, Y:-247.66, Z:-4.88 [[-8.18714244e-01 -5.74145141e-01 8.02150046e-03 5.37322483e+02] [-5.74118482e-01 8.18753535e-01 5.53324408e-03 -2.47664586e+02] [-9.74451706e-03 -7.51459291e-05 -9.99952518e-01 -4.88154364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters 0.05101174150012359 Centerline is valid? [True, True] Translation: X:537.18, Y:-247.68, Z:-4.88 [[-7.75676622e-01 -6.31083797e-01 7.68241226e-03 5.37175445e+02] [-6.31053677e-01 7.75714662e-01 6.16606163e-03 -2.47677946e+02] [-9.85066141e-03 -6.51446472e-05 -9.99951479e-01 -4.88149353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters 0.05099662357039235 Centerline is valid? [True, True] Translation: X:536.99, Y:-247.74, Z:-4.88 [[-7.29508747e-01 -6.83936012e-01 6.96562986e-03 5.36988425e+02] [-6.83905425e-01 7.29542000e-01 6.46836191e-03 -2.47738025e+02] [-9.50566518e-03 -4.51054624e-05 -9.99954819e-01 -4.88256850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters 0.05105068470027946 Centerline is valid? [True, True] Translation: X:536.83, Y:-247.79, Z:-4.88 [[-6.77691973e-01 -7.35320983e-01 6.05325617e-03 5.36826094e+02] [-7.35292167e-01 6.77719006e-01 6.50979045e-03 -2.47790089e+02] [-8.88919227e-03 -3.92791146e-05 -9.99960490e-01 -4.88199419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters 0.05072958594056536 Centerline is valid? [True, True] Translation: X:536.66, Y:-247.87, Z:-4.88 [[-6.20648744e-01 -7.84061366e-01 6.55070764e-03 5.36655490e+02] [-7.84018781e-01 6.20683309e-01 8.17191194e-03 -2.47865227e+02] [-1.04731953e-02 -6.39909379e-05 -9.99945153e-01 -4.87944681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters 0.05097089633067695 Centerline is valid? [True, True] Translation: X:536.49, Y:-247.96, Z:-4.88 [[-5.59312087e-01 -8.28935730e-01 5.96198059e-03 5.36491790e+02] [-8.28890388e-01 5.59343854e-01 8.67048004e-03 -2.47955308e+02] [-1.05220679e-02 -9.23241155e-05 -9.99944637e-01 -4.88105162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters 0.05117986247132461 Centerline is valid? [True, True] Translation: X:536.34, Y:-248.05, Z:-4.88 [[-4.93375864e-01 -8.69800247e-01 5.27139838e-03 5.36337258e+02] [-8.69753467e-01 4.93404006e-01 9.02185887e-03 -2.48048305e+02] [-1.04481442e-02 -1.33649603e-04 -9.99945408e-01 -4.88114220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters 0.051579014056878716 Centerline is valid? [True, True] Translation: X:536.17, Y:-248.19, Z:-4.88 [[-4.26064156e-01 -9.04680961e-01 4.65772699e-03 5.36171741e+02] [-9.04630991e-01 4.26089583e-01 9.50982510e-03 -2.48187494e+02] [-1.05879667e-02 -1.61728581e-04 -9.99943933e-01 -4.88069734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters 0.05108356077557685 Centerline is valid? [True, True] Translation: X:536.04, Y:-248.30, Z:-4.88 [[-3.54366540e-01 -9.35096657e-01 4.31253046e-03 5.36035395e+02] [-9.35034913e-01 3.54392710e-01 1.07479661e-02 -2.48301306e+02] [-1.15787165e-02 -2.23646995e-04 -9.99932939e-01 -4.88198153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters 0.050988918650174526 Centerline is valid? [True, True] Translation: X:535.90, Y:-248.44, Z:-4.88 [[-2.82376252e-01 -9.59297411e-01 3.48285378e-03 5.35898668e+02] [-9.59234877e-01 2.82397622e-01 1.09560092e-02 -2.48443835e+02] [-1.14936208e-02 -2.47158011e-04 -9.99933916e-01 -4.88224143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters 0.051121049044963396 Centerline is valid? [True, True] Translation: X:535.76, Y:-248.63, Z:-4.88 [[-2.11880199e-01 -9.77293502e-01 2.04739623e-03 5.35764862e+02] [-9.77255849e-01 2.11890012e-01 8.58073695e-03 -2.48628913e+02] [-8.81972127e-03 -1.82741687e-04 -9.99961089e-01 -4.88378918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters 0.05102587566755151 Centerline is valid? [True, True] Translation: X:535.64, Y:-248.84, Z:-4.89 [[-1.41120443e-01 -9.89991844e-01 1.08176115e-03 5.35644143e+02] [-9.89969349e-01 1.41124530e-01 6.67500464e-03 -2.48841645e+02] [-6.76086318e-03 -1.28930769e-04 -9.99977137e-01 -4.88546980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters 0.05103015516079154 Centerline is valid? [True, True] Translation: X:535.54, Y:-249.04, Z:-4.89 [[-7.04581636e-02 -9.97514570e-01 5.75200804e-04 5.35542554e+02] [-9.97492810e-01 7.04604265e-02 6.58962170e-03 -2.49043397e+02] [-6.61377255e-03 -1.09466022e-04 -9.99978123e-01 -4.88552857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters 0.051014490957145074 Centerline is valid? [True, True] Translation: X:534.94, Y:-249.20, Z:-5.88 [[-1.67389325e-01 9.85890112e-01 1.22490971e-03 5.34937329e+02] [-9.85848125e-01 -1.67393508e-01 9.10432752e-03 -2.49199180e+02] [ 9.18090841e-03 3.16392294e-04 9.99957805e-01 -5.87619577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters 0.05123794836439195 Centerline is valid? [True, True] Translation: X:535.50, Y:-249.52, Z:-4.88 [[-6.78102233e-02 -9.97697942e-01 7.68793491e-04 5.35499194e+02] [-9.97652728e-01 6.78144699e-02 9.49902496e-03 -2.49522136e+02] [-9.52929297e-03 -1.22857921e-04 -9.99954588e-01 -4.88469700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters 0.05144268712861569 Centerline is valid? [True, True] Translation: X:535.41, Y:-249.75, Z:-4.88 [[ 1.63998876e-03 -9.99998653e-01 6.38239800e-05 5.35412194e+02] [-9.99955758e-01 -1.63932724e-03 9.26249500e-03 -2.49751817e+02] [-9.26237790e-03 -7.90115440e-05 -9.99957100e-01 -4.88254089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters 0.051460668981788 Centerline is valid? [True, True] Translation: X:535.35, Y:-250.03, Z:-4.89 [[ 6.87731000e-02 -9.97632178e-01 -5.45218889e-04 5.35350548e+02] [-9.97598894e-01 -6.87752592e-02 8.14921200e-03 -2.50033078e+02] [-8.16741369e-03 -1.65368110e-05 -9.99966646e-01 -4.88656061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters 0.05154636958315893 Centerline is valid? [True, True] Translation: X:534.76, Y:-250.31, Z:-5.88 [[ 1.79685914e-03 9.99998385e-01 -2.31204393e-05 5.34759041e+02] [-9.99966021e-01 1.79698700e-03 8.04536156e-03 -2.50309097e+02] [ 8.04539012e-03 8.66327220e-06 9.99967635e-01 -5.87508932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters 0.051962073831860266 Centerline is valid? [True, True] Translation: X:535.38, Y:-250.43, Z:-4.89 [[ 6.68518994e-02 -9.97762750e-01 -5.63723780e-04 5.35376592e+02] [-9.97733582e-01 -6.68542556e-02 7.62938739e-03 -2.50428467e+02] [-7.65000588e-03 5.24071076e-05 -9.99970737e-01 -4.88708971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters 0.05226126628985438 Centerline is valid? [True, True] Translation: X:535.33, Y:-250.67, Z:-4.89 [[ 1.38931920e-01 -9.90301367e-01 -1.05984829e-03 5.35327361e+02] [-9.90275757e-01 -1.38935950e-01 7.12227855e-03 -2.50671742e+02] [-7.20045322e-03 6.00302345e-05 -9.99974075e-01 -4.88663443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters 0.05238666285333285 Centerline is valid? [True, True] Translation: X:535.18, Y:-250.34, Z:-4.89 [[ 2.13996023e-01 -9.76833273e-01 -1.56806072e-03 5.35175092e+02] [-9.76808854e-01 -2.14001761e-01 6.90722662e-03 -2.50337275e+02] [-7.08277655e-03 5.35765669e-05 -9.99974915e-01 -4.88767555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters 0.051669055887894534 Centerline is valid? [True, True] Translation: X:534.73, Y:-251.09, Z:-5.87 [[ 1.58750437e-01 9.87317743e-01 -1.40486700e-03 5.34726451e+02] [-9.87281375e-01 1.58756648e-01 8.47426945e-03 -2.51093715e+02] [ 8.58982856e-03 4.17050376e-05 9.99963106e-01 -5.87415111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters 0.052580184880946804 Centerline is valid? [True, True] Translation: X:535.37, Y:-251.33, Z:-4.89 [[ 2.28806506e-01 -9.73469671e-01 -2.09355331e-03 5.35371653e+02] [-9.73428371e-01 -2.28816083e-01 8.96699314e-03 -2.51325163e+02] [-9.20813453e-03 -1.37821827e-05 -9.99957604e-01 -4.88586210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters 0.05162883996071049 Centerline is valid? [True, True] Translation: X:535.33, Y:-251.48, Z:-4.88 [[ 3.08877764e-01 -9.51098196e-01 -2.59766429e-03 5.35326206e+02] [-9.51062035e-01 -3.08888673e-01 8.29418338e-03 -2.51476176e+02] [-8.69097193e-03 -9.13489303e-05 -9.99962229e-01 -4.88491765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters 0.05262310164859234 Centerline is valid? [True, True] Translation: X:535.30, Y:-251.66, Z:-4.89 [[ 3.83747543e-01 -9.23433899e-01 -2.76728819e-03 5.35302413e+02] [-9.23407519e-01 -3.83757501e-01 6.98106303e-03 -2.51655714e+02] [-7.50851785e-03 -1.23631069e-04 -9.99971803e-01 -4.88545322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters 0.052466771307285234 Centerline is valid? [True, True] Translation: X:535.29, Y:-251.82, Z:-4.89 [[ 4.57045452e-01 -8.89439745e-01 -2.52885946e-03 5.35290461e+02] [-8.89424440e-01 -4.57052428e-01 5.21957997e-03 -2.51817148e+02] [-5.79832323e-03 -1.36355878e-04 -9.99983180e-01 -4.88934024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters 0.05365876397090383 Centerline is valid? [True, True] Translation: X:535.28, Y:-251.99, Z:-4.89 [[ 5.24908415e-01 -8.51154459e-01 -2.69116963e-03 5.35277416e+02] [-8.51141779e-01 -5.24915293e-01 4.64839638e-03 -2.51989163e+02] [-5.36913940e-03 -1.49415469e-04 -9.99985575e-01 -4.88768664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters 0.052396554368810466 Centerline is valid? [True, True] Translation: X:535.32, Y:-252.20, Z:-4.89 [[ 5.87504752e-01 -8.09213936e-01 -3.31253689e-03 5.35321832e+02] [-8.09199363e-01 -5.87514065e-01 4.85959169e-03 -2.52198129e+02] [-5.87861133e-03 -1.74530467e-04 -9.99982706e-01 -4.88876212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters 0.053930532353617854 Centerline is valid? [True, True] Translation: X:535.35, Y:-252.39, Z:-4.88 [[ 6.46915793e-01 -7.62545812e-01 -4.88285635e-03 5.35352184e+02] [-7.62521122e-01 -6.46934172e-01 6.14127448e-03 -2.52394496e+02] [-7.84188976e-03 -2.49606339e-04 -9.99969221e-01 -4.88475831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters 0.051713549391298554 Centerline is valid? [True, True] Translation: X:535.40, Y:-252.56, Z:-4.89 [[ 7.01769227e-01 -7.12368385e-01 -7.15800289e-03 5.35401775e+02] [-7.12326222e-01 -7.01805646e-01 7.75807815e-03 -2.52556586e+02] [-1.05501364e-02 -3.45547347e-04 -9.99944286e-01 -4.88637203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters 0.052241598192571785 Centerline is valid? [True, True] Translation: X:535.51, Y:-252.78, Z:-4.89 [[ 7.51485817e-01 -6.59698507e-01 -8.18210651e-03 5.35512718e+02] [-6.59654137e-01 -7.51530273e-01 7.65952537e-03 -2.52777403e+02] [-1.12020782e-02 -3.58664264e-04 -9.99937190e-01 -4.88692623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters 0.052729155577523945 Centerline is valid? [True, True] Translation: X:535.48, Y:-252.87, Z:-4.88 [[ 7.98535414e-01 -6.01888968e-01 -8.41804730e-03 5.35479307e+02] [-6.01851450e-01 -7.98579725e-01 6.72720199e-03 -2.52872795e+02] [-1.07715106e-02 -3.05495049e-04 -9.99941939e-01 -4.88455543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters 0.052074649225576766 Centerline is valid? [True, True] Translation: X:535.46, Y:-252.96, Z:-4.89 [[ 8.40155333e-01 -5.42282296e-01 -8.30232595e-03 5.35464997e+02] [-5.42253106e-01 -8.40196322e-01 5.63119772e-03 -2.52955607e+02] [-1.00292826e-02 -2.29118764e-04 -9.99949679e-01 -4.88628715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters 0.05186574602159636 Centerline is valid? [True, True] Translation: X:535.46, Y:-253.04, Z:-4.89 [[ 8.78593629e-01 -4.77491116e-01 -8.68734971e-03 5.35455106e+02] [-4.77465519e-01 -8.78636554e-01 4.94809704e-03 -2.53041937e+02] [-9.99569539e-03 -1.99456592e-04 -9.99950022e-01 -4.88666677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters 0.052406013432954535 Centerline is valid? [True, True] Translation: X:535.45, Y:-253.12, Z:-4.89 [[ 9.12497634e-01 -4.08966313e-01 -9.72739883e-03 5.35452680e+02] [-4.08940787e-01 -9.12549460e-01 4.57336443e-03 -2.53124555e+02] [-1.07470845e-02 -1.95254092e-04 -9.99942229e-01 -4.88537141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters 0.05157430021582076 Centerline is valid? [True, True] Translation: X:535.46, Y:-253.21, Z:-4.89 [[ 9.41986900e-01 -3.35492093e-01 -1.02828345e-02 5.35455342e+02] [-3.35469661e-01 -9.42042999e-01 3.88524398e-03 -2.53212537e+02] [-1.09903409e-02 -2.10269927e-04 -9.99939582e-01 -4.88651632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters 0.05159973401959759 Centerline is valid? [True, True] Translation: X:535.46, Y:-253.30, Z:-4.89 [[ 9.66348998e-01 -2.57028417e-01 -1.02959328e-02 5.35464289e+02] [-2.57011094e-01 -9.66403814e-01 2.99434524e-03 -2.53297571e+02] [-1.07196606e-02 -2.47413566e-04 -9.99942512e-01 -4.88743910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters 0.05197409792287311 Centerline is valid? [True, True] Translation: X:535.48, Y:-253.39, Z:-4.89 [[ 9.84180433e-01 -1.76933528e-01 -9.13249840e-03 5.35477154e+02] [-1.76923535e-01 -9.84222771e-01 1.89717870e-03 -2.53389051e+02] [-9.32408741e-03 -2.51412255e-04 -9.99956498e-01 -4.88681846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters 0.05177514684688048 Centerline is valid? [True, True] Translation: X:535.50, Y:-253.47, Z:-4.89 [[ 9.95221110e-01 -9.72420274e-02 -8.88427891e-03 5.35498078e+02] [-9.72358033e-02 -9.95260730e-01 1.13087419e-03 -2.53471825e+02] [-8.95214241e-03 -2.61599872e-04 -9.99959895e-01 -4.88625509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters 0.05064656361293415 Centerline is valid? [True, True] Translation: X:535.53, Y:-253.56, Z:-4.89 [[ 9.99803231e-01 -1.75091323e-02 -9.32363017e-03 5.35525744e+02] [-1.75056865e-02 -9.99846662e-01 4.51060292e-04 -2.53555338e+02] [-9.33009818e-03 -2.87754991e-04 -9.99956432e-01 -4.88814251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters 0.050921569498597614 Centerline is valid? [True, True] Translation: X:535.56, Y:-253.64, Z:-4.89 [[ 9.97913471e-01 6.38551320e-02 -9.55121321e-03 5.35557615e+02] [ 6.38553142e-02 -9.97959126e-01 -2.86186798e-04 -2.53643903e+02] [-9.54999488e-03 -3.24306060e-04 -9.99954345e-01 -4.88815673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters 0.05041714516552729 Centerline is valid? [True, True] Translation: X:535.59, Y:-253.73, Z:-4.89 [[ 9.89522648e-01 1.44055745e-01 -9.63701622e-03 5.35592891e+02] [ 1.44052364e-01 -9.89569512e-01 -1.04766537e-03 -2.53729796e+02] [-9.68741965e-03 -3.51546356e-04 -9.99953014e-01 -4.88911994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters 0.05199963393242467 Centerline is valid? [True, True] Translation: X:535.63, Y:-253.82, Z:-4.89 [[ 9.75076563e-01 2.21699568e-01 -8.66016342e-03 5.35634824e+02] [ 2.21693780e-01 -9.75114965e-01 -1.63482015e-03 -2.53822512e+02] [-8.80709388e-03 -3.25829550e-04 -9.99961164e-01 -4.88797839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters 0.05073779059734903 Centerline is valid? [True, True] Translation: X:535.68, Y:-253.90, Z:-4.89 [[ 9.54780684e-01 2.97235882e-01 -6.68396060e-03 5.35681419e+02] [ 2.97230465e-01 -9.54804045e-01 -1.81266325e-03 -2.53898159e+02] [-6.92066118e-03 -2.55980858e-04 -9.99976019e-01 -4.88994899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters 0.051418315312814385 Centerline is valid? [True, True] Translation: X:535.74, Y:-253.98, Z:-4.89 [[ 9.28974931e-01 3.70095126e-01 -5.93083548e-03 5.35735340e+02] [ 3.70089130e-01 -9.28993836e-01 -2.11876561e-03 -2.53977509e+02] [-6.29385443e-03 -2.26657612e-04 -9.99980168e-01 -4.88945284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters 0.051668038881667336 Centerline is valid? [True, True] Translation: X:535.79, Y:-254.04, Z:-4.89 [[ 8.98255435e-01 4.39431961e-01 -6.06021897e-03 5.35792557e+02] [ 4.39423618e-01 -8.98275850e-01 -2.71692852e-03 -2.54042294e+02] [-6.63765358e-03 -2.22507534e-04 -9.99977946e-01 -4.88846250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters 0.0505264260334336 Centerline is valid? [True, True] Translation: X:535.85, Y:-254.10, Z:-4.89 [[ 8.61489280e-01 5.07737420e-01 -6.23961232e-03 5.35854781e+02] [ 5.07726043e-01 -8.61511844e-01 -3.40697071e-03 -2.54102781e+02] [-7.10534644e-03 -2.32944928e-04 -9.99974730e-01 -4.88888528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters 0.05061110402504072 Centerline is valid? [True, True] Translation: X:535.92, Y:-254.16, Z:-4.89 [[ 8.19563968e-01 5.72950566e-01 -6.52308956e-03 5.35923785e+02] [ 5.72934811e-01 -8.19589889e-01 -4.25617053e-03 -2.54161752e+02] [-7.78483356e-03 -2.49101079e-04 -9.99969667e-01 -4.88887391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters 0.05023548661625774 Centerline is valid? [True, True] Translation: X:536.00, Y:-254.22, Z:-4.89 [[ 7.71243931e-01 6.36498426e-01 -7.24926177e-03 5.35999281e+02] [ 6.36473994e-01 -7.71277939e-01 -5.58526349e-03 -2.54218545e+02] [-9.14620710e-03 -3.06366023e-04 -9.99958126e-01 -4.88825457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters 0.050954763202429906 Centerline is valid? [True, True] Translation: X:536.08, Y:-254.28, Z:-4.89 [[ 7.18685047e-01 6.95290382e-01 -7.94281286e-03 5.36084165e+02] [ 6.95253431e-01 -7.18728845e-01 -7.17739247e-03 -2.54276606e+02] [-1.06991007e-02 -3.63983247e-04 -9.99942697e-01 -4.88537445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters 0.05122930710912875 Centerline is valid? [True, True] Translation: X:536.16, Y:-254.32, Z:-4.89 [[ 6.63192639e-01 7.48409917e-01 -7.62366908e-03 5.36162315e+02] [ 7.48366616e-01 -6.63236358e-01 -8.05862316e-03 -2.54315815e+02] [-1.10874480e-02 -3.60879875e-04 -9.99938467e-01 -4.88547566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters 0.04985947063094215 Centerline is valid? [True, True] Translation: X:536.25, Y:-254.35, Z:-4.89 [[ 6.03695237e-01 7.97190178e-01 -6.31517176e-03 5.36248284e+02] [ 7.97151890e-01 -6.03728185e-01 -7.81938144e-03 -2.54353655e+02] [-1.00461813e-02 -3.13627773e-04 -9.99949487e-01 -4.88907469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters 0.049342103224059075 Centerline is valid? [True, True] Translation: X:536.34, Y:-254.39, Z:-4.89 [[ 5.40998023e-01 8.41012478e-01 -4.37615625e-03 5.36343394e+02] [ 8.40988301e-01 -5.41015674e-01 -6.38115701e-03 -2.54389635e+02] [-7.73420180e-03 -2.28102887e-04 -9.99970065e-01 -4.89057098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters 0.04927261124611501 Centerline is valid? [True, True] Translation: X:536.44, Y:-254.42, Z:-4.89 [[ 4.74518096e-01 8.80237683e-01 -3.76801796e-03 5.36443252e+02] [ 8.80213426e-01 -4.74533008e-01 -6.53825448e-03 -2.54420592e+02] [-7.54326688e-03 -2.14139934e-04 -9.99971526e-01 -4.88939271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters 0.05088672923062552 Centerline is valid? [True, True] Translation: X:536.54, Y:-254.44, Z:-4.89 [[ 4.04479507e-01 9.14538869e-01 -3.87109846e-03 5.36539628e+02] [ 9.14502779e-01 -4.04497952e-01 -8.12863455e-03 -2.54440410e+02] [-8.99980365e-03 -2.52264200e-04 -9.99959469e-01 -4.88666341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters 0.049768287444630584 Centerline is valid? [True, True] Translation: X:536.63, Y:-254.45, Z:-4.89 [[ 3.30808424e-01 9.43689333e-01 -4.02855501e-03 5.36628630e+02] [ 9.43630877e-01 -3.30832793e-01 -1.05086557e-02 -2.54448414e+02] [-1.12496844e-02 -3.25117063e-04 -9.99936667e-01 -4.88851199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters 0.051347074965372254 Centerline is valid? [True, True] Translation: X:536.73, Y:-254.46, Z:-4.89 [[ 2.55303745e-01 9.66855536e-01 -3.22025002e-03 5.36733479e+02] [ 9.66794375e-01 -2.55323833e-01 -1.08800807e-02 -2.54455644e+02] [-1.13416729e-02 -3.35594244e-04 -9.99935625e-01 -4.88518447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters 0.05026708239180877 Centerline is valid? [True, True] Translation: X:536.83, Y:-254.45, Z:-4.89 [[ 1.77555771e-01 9.84108418e-01 -2.13775115e-03 5.36826323e+02] [ 9.84057099e-01 -1.77568354e-01 -1.00550796e-02 -2.54450417e+02] [-1.02748855e-02 -3.18331784e-04 -9.99947161e-01 -4.89135980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters 0.05007768122689583 Centerline is valid? [True, True] Translation: X:536.93, Y:-254.44, Z:-4.89 [[ 9.90651802e-02 9.95080211e-01 -1.21010075e-03 5.36931306e+02] [ 9.95037992e-01 -9.90721298e-02 -9.17101609e-03 -2.54441084e+02] [-9.24578388e-03 -2.95567864e-04 -9.99957213e-01 -4.89045118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters 0.04986127254333637 Centerline is valid? [True, True] Translation: X:537.03, Y:-254.42, Z:-4.89 [[ 2.09379471e-02 9.99780653e-01 -4.98246511e-04 5.37030291e+02] [ 9.99736365e-01 -2.09417117e-02 -9.41512653e-03 -2.54422643e+02] [-9.42349549e-03 -3.00981735e-04 -9.99955553e-01 -4.89112760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters 0.05101385334289652 Centerline is valid? [True, True] Translation: X:537.13, Y:-254.40, Z:-4.89 [[-5.74895554e-02 9.98346079e-01 2.41175064e-04 5.37129772e+02] [ 9.98301117e-01 5.74892563e-02 -9.47973447e-03 -2.54396446e+02] [-9.47792071e-03 -3.04220384e-04 -9.99955037e-01 -4.88974165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters 0.05039465349262715 Centerline is valid? [True, True] Translation: X:537.22, Y:-254.36, Z:-4.89 [[-1.36092399e-01 9.90695581e-01 1.06062049e-03 5.37219393e+02] [ 9.90643299e-01 1.36096120e-01 -1.01833856e-02 -2.54361711e+02] [-1.02329814e-02 -3.35184798e-04 -9.99947586e-01 -4.89004274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters 0.050414000939453085 Centerline is valid? [True, True] Translation: X:537.31, Y:-254.32, Z:-4.89 [[-2.13539267e-01 9.76932745e-01 1.84195767e-03 5.37306257e+02] [ 9.76881595e-01 2.13546945e-01 -1.00025747e-02 -2.54320342e+02] [-1.01651872e-02 -3.36567918e-04 -9.99948277e-01 -4.89026353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters 0.04982903812392322 Centerline is valid? [True, True] Translation: X:537.39, Y:-254.27, Z:-4.89 [[-2.88727175e-01 9.57408465e-01 2.37685377e-03 5.37393518e+02] [ 9.57366950e-01 2.88736802e-01 -8.92090595e-03 -2.54271219e+02] [-9.22723603e-03 -3.00186732e-04 -9.99957383e-01 -4.89116598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters 0.05100484378329892 Centerline is valid? [True, True] Translation: X:537.48, Y:-254.22, Z:-4.89 [[-3.58405650e-01 9.33561445e-01 2.90157504e-03 5.37482961e+02] [ 9.33525136e-01 3.58417312e-01 -8.23714352e-03 -2.54215014e+02] [-8.72985433e-03 -2.43545539e-04 -9.99961864e-01 -4.88915715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters 0.051025491737359686 Centerline is valid? [True, True] Translation: X:537.55, Y:-254.16, Z:-4.89 [[-4.26313817e-01 9.04570838e-01 2.85087736e-03 5.37551108e+02] [ 9.04547950e-01 4.26323317e-01 -6.43708881e-03 -2.54157096e+02] [-7.03819831e-03 -1.65464634e-04 -9.99975218e-01 -4.89123026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters 0.05032532019290374 Centerline is valid? [True, True] Translation: X:537.62, Y:-254.09, Z:-4.89 [[-4.90084110e-01 8.71670444e-01 2.86402166e-03 5.37618131e+02] [ 8.71654319e-01 4.90092468e-01 -5.30292116e-03 -2.54092133e+02] [-6.02603508e-03 -1.02440545e-04 -9.99981838e-01 -4.89279102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters 0.05104942711601939 Centerline is valid? [True, True] Translation: X:537.68, Y:-254.02, Z:-4.89 [[-5.53751788e-01 8.32673199e-01 3.78153168e-03 5.37682413e+02] [ 8.32652628e-01 5.53764692e-01 -5.85374605e-03 -2.54022166e+02] [-6.96833618e-03 -9.28200487e-05 -9.99975717e-01 -4.89004832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters 0.050626828457623285 Centerline is valid? [True, True] Translation: X:537.73, Y:-253.95, Z:-4.89 [[-6.13640796e-01 7.89569209e-01 5.04350974e-03 5.37728953e+02] [ 7.89541561e-01 6.13661518e-01 -6.60791858e-03 -2.53954458e+02] [-8.31241689e-03 -7.28278661e-05 -9.99965449e-01 -4.88939610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters 0.0512624373497225 Centerline is valid? [True, True] Translation: X:537.77, Y:-253.88, Z:-4.89 [[-6.70542977e-01 7.41848260e-01 5.76836456e-03 5.37771174e+02] [ 7.41820289e-01 6.70567787e-01 -6.44225096e-03 -2.53882719e+02] [-8.64725213e-03 -4.07162755e-05 -9.99962611e-01 -4.88964752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters 0.05122528849626267 Centerline is valid? [True, True] Translation: X:537.81, Y:-253.81, Z:-4.89 [[-7.23909485e-01 6.89869643e-01 5.91053084e-03 5.37807350e+02] [ 6.89846565e-01 7.23933613e-01 -5.64273387e-03 -2.53810264e+02] [-8.17158275e-03 -7.46917408e-06 -9.99966612e-01 -4.88895433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters 0.05159104748468658 Centerline is valid? [True, True] Translation: X:538.20, Y:-253.32, Z:-5.87 [[-6.76326496e-01 -7.36584893e-01 5.01656766e-03 5.38202228e+02] [ 7.36564228e-01 -6.76345100e-01 -5.51762548e-03 -2.53317527e+02] [ 7.45713053e-03 -3.66920198e-05 9.99972195e-01 -5.87047312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters 0.051455398391082534 Centerline is valid? [True, True] Translation: X:538.16, Y:-253.28, Z:-5.87 [[-6.77239981e-01 -7.35745100e-01 5.01561164e-03 5.38161802e+02] [ 7.35724733e-01 -6.77258553e-01 -5.47451095e-03 -2.53277493e+02] [ 7.42471049e-03 -1.74481564e-05 9.99972436e-01 -5.87014265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters 0.051704942378528476 Centerline is valid? [True, True] Translation: X:538.12, Y:-253.24, Z:-5.87 [[-6.76668750e-01 -7.36269642e-01 5.13968125e-03 5.38121063e+02] [ 7.36248283e-01 -6.76688269e-01 -5.60821704e-03 -2.53237659e+02] [ 7.60712196e-03 -1.08237278e-05 9.99971065e-01 -5.86961796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters 0.051861539339916544 Centerline is valid? [True, True] Translation: X:538.08, Y:-253.20, Z:-5.87 [[-6.74687245e-01 -7.38084776e-01 5.29016322e-03 5.38078757e+02] [ 7.38062215e-01 -6.74707984e-01 -5.77079255e-03 -2.53198524e+02] [ 7.82864948e-03 1.09894647e-05 9.99969356e-01 -5.86848122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters 0.05158393079109826 Centerline is valid? [True, True] Translation: X:538.04, Y:-253.16, Z:-5.87 [[-6.73680140e-01 -7.39007682e-01 4.76591897e-03 5.38036382e+02] [ 7.38989405e-01 -6.73696998e-01 -5.19759733e-03 -2.53158112e+02] [ 7.05184966e-03 2.04455251e-05 9.99975135e-01 -5.87083578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters 0.05141682741785603 Centerline is valid? [True, True] Translation: X:537.99, Y:-253.12, Z:-5.87 [[-6.73033421e-01 -7.39599616e-01 4.29211989e-03 5.37994785e+02] [ 7.39584813e-01 -6.73047106e-01 -4.67937367e-03 -2.53119576e+02] [ 6.34966183e-03 2.50118182e-05 9.99979840e-01 -5.87238750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters 0.051733775546658874 Centerline is valid? [True, True] Translation: X:537.96, Y:-253.08, Z:-5.87 [[-6.73095759e-01 -7.39546895e-01 3.53394872e-03 5.37955337e+02] [ 7.39536866e-01 -6.73105036e-01 -3.85155136e-03 -2.53079739e+02] [ 5.22712153e-03 2.10224782e-05 9.99986338e-01 -5.87127895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters 0.05107339284954979 Centerline is valid? [True, True] Translation: X:537.92, Y:-253.04, Z:-5.87 [[-6.73219948e-01 -7.39435609e-01 3.14352652e-03 5.37915864e+02] [ 7.39427676e-01 -6.73227287e-01 -3.42515882e-03 -2.53041243e+02] [ 4.64899223e-03 1.85252624e-05 9.99989193e-01 -5.87131042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters 0.05252584189824975 Centerline is valid? [True, True] Translation: X:537.87, Y:-253.00, Z:-5.87 [[-6.73629554e-01 -7.39063276e-01 2.94945595e-03 5.37874420e+02] [ 7.39056292e-01 -6.73636010e-01 -3.21282554e-03 -2.53000062e+02] [ 4.36134111e-03 1.55597435e-05 9.99990489e-01 -5.87016848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters 0.05255446702535842 Centerline is valid? [True, True] Translation: X:537.83, Y:-252.96, Z:-5.87 [[-6.74497142e-01 -7.38270470e-01 3.21222875e-03 5.37834813e+02] [ 7.38262183e-01 -6.74504791e-01 -3.49793141e-03 -2.52960626e+02] [ 4.74908315e-03 1.21222678e-05 9.99988723e-01 -5.87219065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters 0.05237084474777622 Centerline is valid? [True, True] Translation: X:537.79, Y:-252.92, Z:-5.87 [[-6.75434413e-01 -7.37407301e-01 4.33884040e-03 5.37794752e+02] [ 7.37392174e-01 -6.75448349e-01 -4.72333617e-03 -2.52919513e+02] [ 6.41368516e-03 9.12316106e-06 9.99979432e-01 -5.87299633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters 0.05260907583044327 Centerline is valid? [True, True] Translation: X:537.75, Y:-252.88, Z:-5.87 [[-6.75491220e-01 -7.37348023e-01 5.43175938e-03 5.37753204e+02] [ 7.37324325e-01 -6.75513059e-01 -5.91154950e-03 -2.52879005e+02] [ 8.02809373e-03 1.17685361e-05 9.99967774e-01 -5.87444193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters 0.05266711360990837 Centerline is valid? [True, True] Translation: X:537.71, Y:-252.84, Z:-5.87 [[-6.75005870e-01 -7.37790945e-01 5.62102858e-03 5.37713091e+02] [ 7.37765598e-01 -6.75029274e-01 -6.11574024e-03 -2.52838074e+02] [ 8.30649661e-03 1.88409463e-05 9.99965500e-01 -5.87405935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters 0.05266104023714261 Centerline is valid? [True, True] Translation: X:537.67, Y:-252.80, Z:-5.87 [[-6.73655473e-01 -7.39030714e-01 4.68061134e-03 5.37672473e+02] [ 7.39013177e-01 -6.73671733e-01 -5.09123823e-03 -2.52796100e+02] [ 6.91577697e-03 2.92929548e-05 9.99976085e-01 -5.87088444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters 0.05253956468470224 Centerline is valid? [True, True] Translation: X:537.63, Y:-252.76, Z:-5.87 [[-6.71552958e-01 -7.40950903e-01 2.89553377e-03 5.37629978e+02] [ 7.40944213e-01 -6.71559200e-01 -3.14866091e-03 -2.52758073e+02] [ 4.27752549e-03 3.09364480e-05 9.99990851e-01 -5.87249896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters 0.0522423754127585 Centerline is valid? [True, True] Translation: X:537.59, Y:-252.72, Z:-5.87 [[-6.69329169e-01 -7.42963077e-01 2.08076331e-03 5.37588895e+02] [ 7.42959634e-01 -6.69332403e-01 -2.26205222e-03 -2.52717423e+02] [ 3.07334358e-03 3.18656094e-05 9.99995277e-01 -5.87146365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters 0.05276679438419415 Centerline is valid? [True, True] Translation: X:537.55, Y:-252.68, Z:-5.87 [[-6.64068103e-01 -7.47670020e-01 1.75965252e-03 5.37546181e+02] [ 7.47667576e-01 -6.64070432e-01 -1.91233790e-03 -2.52680207e+02] [ 2.59833093e-03 4.57125363e-05 9.99996623e-01 -5.87166904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters 0.0537477467107779 Centerline is valid? [True, True] Translation: X:537.50, Y:-252.65, Z:-5.87 [[-6.57234610e-01 -7.53682752e-01 2.23075969e-03 5.37499439e+02] [ 7.53678861e-01 -6.57238390e-01 -2.42354045e-03 -2.52647517e+02] [ 3.29272154e-03 8.84417597e-05 9.99994575e-01 -5.87360072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters 0.052991323596046705 Centerline is valid? [True, True] Translation: X:537.46, Y:-252.60, Z:-5.87 [[-6.51505856e-01 -7.58638362e-01 2.82062845e-03 5.37461537e+02] [ 7.58632190e-01 -6.51511946e-01 -3.06351758e-03 -2.52604755e+02] [ 4.16177509e-03 1.43919896e-04 9.99991329e-01 -5.87412434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters 0.05409506147156178 Centerline is valid? [True, True] Translation: X:537.42, Y:-252.56, Z:-5.87 [[-6.49353673e-01 -7.60478181e-01 3.56999574e-03 5.37422327e+02] [ 7.60468325e-01 -6.49363456e-01 -3.87664049e-03 -2.52563203e+02] [ 5.26632527e-03 1.97557939e-04 9.99986113e-01 -5.87413093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters 0.052494978319887246 Centerline is valid? [True, True] Translation: X:537.39, Y:-252.52, Z:-5.87 [[-6.48390640e-01 -7.61298106e-01 3.84347395e-03 5.37387748e+02] [ 7.61286700e-01 -6.48401994e-01 -4.17304211e-03 -2.52515766e+02] [ 5.66904522e-03 2.20224159e-04 9.99983907e-01 -5.87342666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters 0.05318140315818889 Centerline is valid? [True, True] Translation: X:537.34, Y:-252.48, Z:-5.87 [[-6.49479092e-01 -7.60369859e-01 3.81926326e-03 5.37343315e+02] [ 7.60358583e-01 -6.49490287e-01 -4.14627844e-03 -2.52479218e+02] [ 5.63327955e-03 2.11088442e-04 9.99984111e-01 -5.87426378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters 0.054264301833680445 Centerline is valid? [True, True] Translation: X:537.30, Y:-252.44, Z:-5.87 [[-6.50996853e-01 -7.59072580e-01 3.45175032e-03 5.37304550e+02] [ 7.59063358e-01 -6.51005979e-01 -3.74616990e-03 -2.52438939e+02] [ 5.09072495e-03 1.81352366e-04 9.99987026e-01 -5.87439825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters 0.05174124095386441 Centerline is valid? [True, True] Translation: X:537.28, Y:-252.39, Z:-5.87 [[-6.53192505e-01 -7.57186220e-01 2.92910426e-03 5.37276288e+02] [ 7.57179563e-01 -6.53199057e-01 -3.17841441e-03 -2.52386139e+02] [ 4.31993973e-03 1.41741409e-04 9.99990659e-01 -5.87223158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters 0.05245783974561523 Centerline is valid? [True, True] Translation: X:537.24, Y:-252.34, Z:-5.87 [[-6.54495626e-01 -7.56060042e-01 2.94744544e-03 5.37239507e+02] [ 7.56053292e-01 -6.54502249e-01 -3.19780753e-03 -2.52340537e+02] [ 4.34684417e-03 1.35474790e-04 9.99990543e-01 -5.87193665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters 0.052515220047339974 Centerline is valid? [True, True] Translation: X:537.20, Y:-252.30, Z:-5.87 [[-6.54923172e-01 -7.55689448e-01 3.01617816e-03 5.37202567e+02] [ 7.55682379e-01 -6.54930103e-01 -3.27152609e-03 -2.52295516e+02] [ 4.44764362e-03 1.36674440e-04 9.99990100e-01 -5.87224742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters 0.051158108199371485 Centerline is valid? [True, True] Translation: X:537.17, Y:-252.25, Z:-5.87 [[-6.55582785e-01 -7.55118047e-01 2.81898053e-03 5.37167899e+02] [ 7.55111870e-01 -6.55588834e-01 -3.05692781e-03 -2.52247237e+02] [ 4.15643351e-03 1.24576415e-04 9.99991354e-01 -5.87172935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters 0.052224441193700004 Centerline is valid? [True, True] Translation: X:537.13, Y:-252.21, Z:-5.87 [[-6.56036597e-01 -7.54723344e-01 2.94238995e-03 5.37128573e+02] [ 7.54716614e-01 -6.56043183e-01 -3.18990094e-03 -2.52206263e+02] [ 4.33782758e-03 1.27978821e-04 9.99990583e-01 -5.87266318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters 0.05208666392498927 Centerline is valid? [True, True] Translation: X:537.09, Y:-252.16, Z:-5.87 [[-6.57202431e-01 -7.53708377e-01 2.94054774e-03 5.37090911e+02] [ 7.53701648e-01 -6.57208998e-01 -3.18708694e-03 -2.52162763e+02] [ 4.33468856e-03 1.21734398e-04 9.99990598e-01 -5.87307838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters 0.051696352834201625 Centerline is valid? [True, True] Translation: X:537.06, Y:-252.12, Z:-5.87 [[-6.59325860e-01 -7.51854637e-01 2.00371288e-03 5.37056639e+02] [ 7.51851506e-01 -6.59328901e-01 -2.17103734e-03 -2.52118375e+02] [ 2.95341030e-03 7.50734849e-05 9.99995636e-01 -5.87163829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters 0.05068157531372696 Centerline is valid? [True, True] Translation: X:537.03, Y:-252.07, Z:-5.87 [[-6.62324291e-01 -7.49216864e-01 7.90066042e-04 5.37026353e+02] [ 7.49216376e-01 -6.62324762e-01 -8.55828375e-04 -2.52067618e+02] [ 1.16448135e-03 2.50944945e-05 9.99999322e-01 -5.87027176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters 0.0514058993102528 Centerline is valid? [True, True] Translation: X:536.99, Y:-252.02, Z:-5.87 [[-6.64281698e-01 -7.47481785e-01 8.98391576e-04 5.36989800e+02] [ 7.47481152e-01 -6.64282305e-01 -9.72908303e-04 -2.52022284e+02] [ 1.32401686e-03 2.52455905e-05 9.99999123e-01 -5.87082377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters 0.05078554302521491 Centerline is valid? [True, True] Translation: X:536.95, Y:-251.98, Z:-5.87 [[-6.66060713e-01 -7.45895268e-01 1.83723047e-03 5.36952922e+02] [ 7.45892617e-01 -6.66063246e-01 -1.98910173e-03 -2.51978357e+02] [ 2.70737326e-03 4.55141283e-05 9.99996334e-01 -5.87233466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters 0.05098288800167774 Centerline is valid? [True, True] Translation: X:536.92, Y:-251.93, Z:-5.87 [[-6.67194353e-01 -7.44879311e-01 2.55111259e-03 5.36917847e+02] [ 7.44874195e-01 -6.67199228e-01 -2.76118831e-03 -2.51932442e+02] [ 3.75885239e-03 5.80086894e-05 9.99992934e-01 -5.87365653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters 0.05019800907399291 Centerline is valid? [True, True] Translation: X:536.88, Y:-251.89, Z:-5.87 [[-6.67931603e-01 -7.44218279e-01 2.55488046e-03 5.36882734e+02] [ 7.44213147e-01 -6.67936487e-01 -2.76444912e-03 -2.51886630e+02] [ 3.76385144e-03 5.49126942e-05 9.99992915e-01 -5.87438376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters 0.0503139285404079 Centerline is valid? [True, True] Translation: X:536.85, Y:-251.84, Z:-5.87 [[-6.68334572e-01 -7.43858043e-01 2.02752310e-03 5.36846291e+02] [ 7.43854811e-01 -6.68337646e-01 -2.19333461e-03 -2.51843728e+02] [ 2.98659961e-03 4.23014650e-05 9.99995539e-01 -5.87446911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters 0.05025864138576424 Centerline is valid? [True, True] Translation: X:536.81, Y:-251.80, Z:-5.87 [[-6.68112632e-01 -7.44059813e-01 7.10898208e-04 5.36809695e+02] [ 7.44059416e-01 -6.68113010e-01 -7.68862555e-04 -2.51801587e+02] [ 1.04704007e-03 1.52637195e-05 9.99999452e-01 -5.87398771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters 0.04985179532895897 Centerline is valid? [True, True] Translation: X:536.78, Y:-251.75, Z:-5.87 [[-6.66236762e-01 -7.45740050e-01 -5.96021554e-04 5.36775296e+02] [ 7.45739772e-01 -6.66237028e-01 6.44452944e-04 -2.51754865e+02] [-8.77686000e-04 -1.51187354e-05 9.99999615e-01 -5.87404286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters 0.04988618992450191 Centerline is valid? [True, True] Translation: X:536.74, Y:-251.71, Z:-5.87 [[-6.65147929e-01 -7.46711454e-01 -4.86169168e-04 5.36735013e+02] [ 7.46711269e-01 -6.65148107e-01 5.25533981e-04 -2.51714586e+02] [-7.15796745e-04 -1.34701573e-05 9.99999744e-01 -5.87424220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters 0.049425111296204124 Centerline is valid? [True, True] Translation: X:536.70, Y:-251.67, Z:-5.88 [[-6.60963395e-01 -7.50418026e-01 4.21181272e-04 5.36696776e+02] [ 7.50417888e-01 -6.60963529e-01 -4.55167709e-04 -2.51672555e+02] [ 6.19951513e-04 1.52127657e-05 9.99999808e-01 -5.87671703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters 0.05025445459871603 Centerline is valid? [True, True] Translation: X:536.66, Y:-251.63, Z:-5.88 [[-6.57155002e-01 -7.53753393e-01 1.76780536e-03 5.36656067e+02] [ 7.53750978e-01 -6.57157375e-01 -1.90993014e-03 -2.51634323e+02] [ 2.60134266e-03 7.73648673e-05 9.99996614e-01 -5.87911464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters 0.048843548010009244 Centerline is valid? [True, True] Translation: X:536.62, Y:-251.59, Z:-5.88 [[-6.58310008e-01 -7.52740267e-01 3.16601472e-03 5.36622369e+02] [ 7.52732510e-01 -6.58317608e-01 -3.41970149e-03 -2.51586539e+02] [ 4.65839025e-03 1.31938492e-04 9.99989141e-01 -5.88044876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters 0.04891043997853974 Centerline is valid? [True, True] Translation: X:536.58, Y:-251.54, Z:-5.88 [[-6.60773896e-01 -7.50579444e-01 2.89080118e-03 5.36584856e+02] [ 7.50572959e-01 -6.60780211e-01 -3.12183635e-03 -2.51542892e+02] [ 4.25337041e-03 1.06929226e-04 9.99990949e-01 -5.88063653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters 0.04849416250012662 Centerline is valid? [True, True] Translation: X:536.55, Y:-251.50, Z:-5.88 [[-6.65278250e-01 -7.46591113e-01 2.56124959e-03 5.36551042e+02] [ 7.46585995e-01 -6.65283176e-01 -2.76547966e-03 -2.51495490e+02] [ 3.76863880e-03 7.23796018e-05 9.99992896e-01 -5.88043732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters 0.049074469549927585 Centerline is valid? [True, True] Translation: X:536.51, Y:-251.45, Z:-5.88 [[-6.68657121e-01 -7.43565222e-01 2.90074560e-03 5.36513687e+02] [ 7.43558632e-01 -6.68663410e-01 -3.13124047e-03 -2.51450640e+02] [ 4.26790396e-03 6.31481885e-05 9.99990890e-01 -5.88063299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters 0.04859916699722953 Centerline is valid? [True, True] Translation: X:536.47, Y:-251.41, Z:-5.88 [[-6.70383414e-01 -7.42004797e-01 3.86777913e-03 5.36474612e+02] [ 7.41993060e-01 -6.70394567e-01 -4.17406252e-03 -2.51407548e+02] [ 5.69011253e-03 7.16429977e-05 9.99983809e-01 -5.88079901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters 0.04978121685298238 Centerline is valid? [True, True] Translation: X:536.43, Y:-251.37, Z:-5.88 [[-6.72052657e-01 -7.40490589e-01 4.34895050e-03 5.36434737e+02] [ 7.40475726e-01 -6.72066725e-01 -4.69216331e-03 -2.51365740e+02] [ 6.39728770e-03 6.69114597e-05 9.99979535e-01 -5.88146478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters 0.04919084249138593 Centerline is valid? [True, True] Translation: X:536.40, Y:-251.32, Z:-5.88 [[-6.73966826e-01 -7.38751122e-01 3.93656762e-03 5.36396169e+02] [ 7.38738921e-01 -6.73978321e-01 -4.24613991e-03 -2.51321894e+02] [ 5.79000186e-03 4.63382709e-05 9.99983237e-01 -5.88062592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters 0.04985013835998795 Centerline is valid? [True, True] Translation: X:536.36, Y:-251.28, Z:-5.88 [[-6.75358565e-01 -7.37481869e-01 3.36163381e-03 5.36357138e+02] [ 7.37472961e-01 -6.75366931e-01 -3.62493111e-03 -2.51280155e+02] [ 4.94365728e-03 3.09857661e-05 9.99987780e-01 -5.88018568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters 0.04974098000572279 Centerline is valid? [True, True] Translation: X:536.32, Y:-251.24, Z:-5.88 [[-6.76773215e-01 -7.36188090e-01 2.26096829e-03 5.36317697e+02] [ 7.36184055e-01 -6.76776991e-01 -2.43734652e-03 -2.51239481e+02] [ 3.32451680e-03 1.49579665e-05 9.99994474e-01 -5.88003907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters 0.04946870636267491 Centerline is valid? [True, True] Translation: X:536.28, Y:-251.20, Z:-5.88 [[-6.77011692e-01 -7.35967787e-01 2.56638419e-03 5.36278678e+02] [ 7.35962590e-01 -6.77016556e-01 -2.76577336e-03 -2.51198110e+02] [ 3.77300469e-03 1.63018528e-05 9.99992882e-01 -5.87997893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters 0.04967135790288085 Centerline is valid? [True, True] Translation: X:536.24, Y:-251.16, Z:-5.88 [[-6.76317359e-01 -7.36601578e-01 3.59786531e-03 5.36239286e+02] [ 7.36591378e-01 -6.76326928e-01 -3.87665579e-03 -2.51157427e+02] [ 5.28888397e-03 2.83069590e-05 9.99986013e-01 -5.88102331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters 0.05019724247802325 Centerline is valid? [True, True] Translation: X:536.20, Y:-251.12, Z:-5.88 [[-6.75717494e-01 -7.37149738e-01 4.01651174e-03 5.36200285e+02] [ 7.37137043e-01 -6.75729430e-01 -4.32641040e-03 -2.51117146e+02] [ 5.90328748e-03 3.72883910e-05 9.99982575e-01 -5.88185867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters 0.04936208160201112 Centerline is valid? [True, True] Translation: X:536.16, Y:-251.08, Z:-5.88 [[-6.75010337e-01 -7.37798111e-01 3.87203033e-03 5.36161191e+02] [ 7.37786330e-01 -6.75021441e-01 -4.16963905e-03 -2.51075289e+02] [ 5.69005531e-03 4.21815800e-05 9.99983811e-01 -5.88177798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters 0.04918509141712207 Centerline is valid? [True, True] Translation: X:536.12, Y:-251.03, Z:-5.88 [[-6.74347682e-01 -7.38408733e-01 2.78334146e-03 5.36122818e+02] [ 7.38402654e-01 -6.74353425e-01 -2.99647461e-03 -2.51031400e+02] [ 4.08957886e-03 3.45610128e-05 9.99991637e-01 -5.87996761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters 0.04920748734711086 Centerline is valid? [True, True] Translation: X:536.09, Y:-250.99, Z:-5.88 [[-6.73855770e-01 -7.38861564e-01 1.41080519e-03 5.36086384e+02] [ 7.38860004e-01 -6.73857247e-01 -1.51835816e-03 -2.50988677e+02] [ 2.07253779e-03 1.92331168e-05 9.99997852e-01 -5.87848762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters 0.04927085712833457 Centerline is valid? [True, True] Translation: X:536.05, Y:-250.95, Z:-5.88 [[-6.73427439e-01 -7.39253089e-01 5.95783464e-04 5.36045820e+02] [ 7.39252811e-01 -6.73427703e-01 -6.41010902e-04 -2.50948938e+02] [ 8.75086379e-04 8.76027003e-06 9.99999617e-01 -5.87895622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters 0.048622802644022085 Centerline is valid? [True, True] Translation: X:536.01, Y:-250.91, Z:-5.88 [[-6.73109312e-01 -7.39542225e-01 1.07336697e-03 5.36007448e+02] [ 7.39541324e-01 -6.73110168e-01 -1.15452194e-03 -2.50906285e+02] [ 1.57631195e-03 1.66797586e-05 9.99998758e-01 -5.87958974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters 0.04895157227035333 Centerline is valid? [True, True] Translation: X:535.97, Y:-250.86, Z:-5.88 [[-6.71672054e-01 -7.40843833e-01 2.65838089e-03 5.35966748e+02] [ 7.40838320e-01 -6.71677313e-01 -2.85865594e-03 -2.50864650e+02] [ 3.90339176e-03 4.93511228e-05 9.99992381e-01 -5.88167689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters 0.049146592342045034 Centerline is valid? [True, True] Translation: X:535.93, Y:-250.82, Z:-5.88 [[-6.70918954e-01 -7.41519257e-01 4.11695276e-03 5.35928343e+02] [ 7.41506053e-01 -6.70931580e-01 -4.42596630e-03 -2.50821441e+02] [ 6.04413286e-03 8.32807064e-05 9.99981731e-01 -5.88252061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters 0.04930883412228405 Centerline is valid? [True, True] Translation: X:535.89, Y:-250.78, Z:-5.88 [[-6.70497748e-01 -7.41899203e-01 4.28293139e-03 5.35889073e+02] [ 7.41884927e-01 -6.70511420e-01 -4.60327998e-03 -2.50777717e+02] [ 6.28692416e-03 9.09533882e-05 9.99980233e-01 -5.88175911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters 0.04944396617000081 Centerline is valid? [True, True] Translation: X:535.85, Y:-250.74, Z:-5.88 [[-6.70735287e-01 -7.41687453e-01 3.72779113e-03 5.35849903e+02] [ 7.41676642e-01 -6.70745641e-01 -4.00540417e-03 -2.50737144e+02] [ 5.47115767e-03 7.82496945e-05 9.99985030e-01 -5.88172382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters 0.04866243349357743 Centerline is valid? [True, True] Translation: X:535.81, Y:-250.69, Z:-5.88 [[-6.71647374e-01 -7.40866791e-01 2.49068748e-03 5.35812333e+02] [ 7.40861961e-01 -6.71651990e-01 -2.67547909e-03 -2.50692324e+02] [ 3.65504881e-03 4.82771042e-05 9.99993319e-01 -5.88023607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters 0.04938532600909267 Centerline is valid? [True, True] Translation: X:535.77, Y:-250.65, Z:-5.88 [[-6.71591488e-01 -7.40918827e-01 2.04097485e-03 5.35772128e+02] [ 7.40915586e-01 -6.71594588e-01 -2.19173166e-03 -2.50652506e+02] [ 2.99460291e-03 4.02417534e-05 9.99995515e-01 -5.88068209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters 0.04877903097418418 Centerline is valid? [True, True] Translation: X:535.73, Y:-250.61, Z:-5.88 [[-6.70898974e-01 -7.41542881e-01 2.95350626e-03 5.35733253e+02] [ 7.41536104e-01 -6.70905472e-01 -3.17086718e-03 -2.50609835e+02] [ 4.33285749e-03 6.27999843e-05 9.99990611e-01 -5.88077922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters 0.049265666408514826 Centerline is valid? [True, True] Translation: X:535.69, Y:-250.57, Z:-5.88 [[-6.69297117e-01 -7.42984741e-01 3.87867893e-03 5.35690993e+02] [ 7.42973084e-01 -6.69308349e-01 -4.16302024e-03 -2.50570571e+02] [ 5.68909270e-03 9.54566021e-05 9.99983812e-01 -5.88234296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters 0.0490237959444604 Centerline is valid? [True, True] Translation: X:535.65, Y:-250.53, Z:-5.88 [[-6.68351713e-01 -7.43834061e-01 4.10810897e-03 5.35650163e+02] [ 7.43821007e-01 -6.68364330e-01 -4.40816582e-03 -2.50529198e+02] [ 6.02465738e-03 1.09492571e-04 9.99981846e-01 -5.88240668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters 0.049848142919904546 Centerline is valid? [True, True] Translation: X:535.61, Y:-250.49, Z:-5.88 [[-6.68330270e-01 -7.43857169e-01 3.34097010e-03 5.35610527e+02] [ 7.43848541e-01 -6.68338615e-01 -3.58398077e-03 -2.50487668e+02] [ 4.89886912e-03 8.98928977e-05 9.99987996e-01 -5.88191257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters 0.04919647606345946 Centerline is valid? [True, True] Translation: X:535.57, Y:-250.45, Z:-5.88 [[-6.69887426e-01 -7.42455495e-01 3.26722431e-03 5.35570696e+02] [ 7.42447230e-01 -6.69895389e-01 -3.50404521e-03 -2.50445573e+02] [ 4.79029612e-03 7.84258075e-05 9.99988523e-01 -5.88238136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters 0.04936251971874765 Centerline is valid? [True, True] Translation: X:535.53, Y:-250.40, Z:-5.88 [[-6.74280712e-01 -7.38466500e-01 3.57071121e-03 5.35533674e+02] [ 7.38456577e-01 -6.74290164e-01 -3.82861023e-03 -2.50400602e+02] [ 5.23499584e-03 5.52571448e-05 9.99986296e-01 -5.88285033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters 0.049582320012051075 Centerline is valid? [True, True] Translation: X:535.49, Y:-250.36, Z:-5.88 [[-6.75394524e-01 -7.37447072e-01 3.74885365e-03 5.35494846e+02] [ 7.37436125e-01 -6.75404926e-01 -4.01845026e-03 -2.50359333e+02] [ 5.49538860e-03 5.05008116e-05 9.99984899e-01 -5.88341252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters 0.049728524557970465 Centerline is valid? [True, True] Translation: X:535.46, Y:-250.32, Z:-5.88 [[-6.77095722e-01 -7.35884959e-01 3.83540556e-03 5.35457150e+02] [ 7.35873482e-01 -6.77106584e-01 -4.11002813e-03 -2.50316431e+02] [ 5.62148624e-03 3.94907767e-05 9.99984199e-01 -5.88326322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters 0.04944802066799413 Centerline is valid? [True, True] Translation: X:535.42, Y:-250.27, Z:-5.88 [[-6.78248458e-01 -7.34823863e-01 3.59444717e-03 5.35418922e+02] [ 7.34813773e-01 -6.78257982e-01 -3.85094924e-03 -2.50274907e+02] [ 5.26773188e-03 2.93489033e-05 9.99986125e-01 -5.88375624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters 0.04915102299546508 Centerline is valid? [True, True] Translation: X:535.38, Y:-250.23, Z:-5.88 [[-6.78036552e-01 -7.35022786e-01 2.81759395e-03 5.35380065e+02] [ 7.35016591e-01 -6.78042406e-01 -3.01778705e-03 -2.50233057e+02] [ 4.12859042e-03 2.48083751e-05 9.99991477e-01 -5.88300102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters 0.04906280895914092 Centerline is valid? [True, True] Translation: X:535.34, Y:-250.19, Z:-5.88 [[-6.76047900e-01 -7.36850138e-01 3.33335554e-03 5.35339869e+02] [ 7.36841495e-01 -6.76056116e-01 -3.56917102e-03 -2.50192312e+02] [ 4.88347956e-03 4.32241081e-05 9.99988075e-01 -5.88353318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters 0.04912666826496967 Centerline is valid? [True, True] Translation: X:535.30, Y:-250.15, Z:-5.88 [[-6.74152689e-01 -7.38582024e-01 3.83999669e-03 5.35299884e+02] [ 7.38570588e-01 -6.74163622e-01 -4.11058178e-03 -2.50149921e+02] [ 5.62478789e-03 6.49488515e-05 9.99984179e-01 -5.88395939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters 0.0497362862297386 Centerline is valid? [True, True] Translation: X:535.26, Y:-250.11, Z:-5.88 [[-6.70671095e-01 -7.41742823e-01 4.22687891e-03 5.35257936e+02] [ 7.41729037e-01 -6.70684407e-01 -4.52350365e-03 -2.50111937e+02] [ 6.19017814e-03 1.01415673e-04 9.99980836e-01 -5.88422046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters 0.04850558067806991 Centerline is valid? [True, True] Translation: X:535.22, Y:-250.07, Z:-5.88 [[-6.67607306e-01 -7.44504051e-01 3.76874422e-03 5.35220107e+02] [ 7.44493140e-01 -6.67617934e-01 -4.03226968e-03 -2.50067626e+02] [ 5.51812233e-03 1.13831517e-04 9.99984769e-01 -5.88214914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters 0.049140045611174105 Centerline is valid? [True, True] Translation: X:535.18, Y:-250.03, Z:-5.88 [[-6.66166176e-01 -7.45792504e-01 4.02081826e-03 5.35177985e+02] [ 7.45780111e-01 -6.66178297e-01 -4.30145058e-03 -2.50028910e+02] [ 5.88657146e-03 1.33165401e-04 9.99982665e-01 -5.88304133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters 0.049271464830066135 Centerline is valid? [True, True] Translation: X:535.14, Y:-249.98, Z:-5.88 [[-6.66211391e-01 -7.45748235e-01 4.68536617e-03 5.35139978e+02] [ 7.45731415e-01 -6.66227848e-01 -5.01112434e-03 -2.49984245e+02] [ 6.85855856e-03 1.55556629e-04 9.99976468e-01 -5.88268270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters 0.04963051627206467 Centerline is valid? [True, True] Translation: X:535.10, Y:-249.95, Z:-5.88 [[-6.66925080e-01 -7.45108928e-01 4.86029534e-03 5.35097436e+02] [ 7.45090821e-01 -6.66942772e-01 -5.19687265e-03 -2.49945197e+02] [ 7.11377506e-03 1.55436731e-04 9.99974685e-01 -5.88417383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters 0.04945650137835299 Centerline is valid? [True, True] Translation: X:535.06, Y:-249.90, Z:-5.88 [[-6.68675673e-01 -7.43539096e-01 4.73888831e-03 5.35059257e+02] [ 7.43521853e-01 -6.68692451e-01 -5.06563530e-03 -2.49902953e+02] [ 6.93535673e-03 1.36199926e-04 9.99975941e-01 -5.88335982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters 0.04930965101391131 Centerline is valid? [True, True] Translation: X:535.02, Y:-249.86, Z:-5.88 [[-6.70455583e-01 -7.41936635e-01 4.39787386e-03 5.35023049e+02] [ 7.41921757e-01 -6.70469997e-01 -4.69988342e-03 -2.49857617e+02] [ 6.43565816e-03 1.11815222e-04 9.99979285e-01 -5.88154306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters 0.04997829274165533 Centerline is valid? [True, True] Translation: X:534.98, Y:-249.82, Z:-5.88 [[-6.73344928e-01 -7.39313538e-01 4.70111361e-03 5.34980832e+02] [ 7.39296482e-01 -6.73361333e-01 -5.02272725e-03 -2.49818312e+02] [ 6.87891838e-03 9.34888374e-05 9.99976336e-01 -5.88434501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters 0.04954104824584911 Centerline is valid? [True, True] Translation: X:534.95, Y:-249.77, Z:-5.88 [[-6.75112860e-01 -7.37699545e-01 4.69125624e-03 5.34945530e+02] [ 7.37682530e-01 -6.75129155e-01 -5.01092929e-03 -2.49771395e+02] [ 6.86376412e-03 7.77149623e-05 9.99976441e-01 -5.88185270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters 0.049884592519780786 Centerline is valid? [True, True] Translation: X:534.91, Y:-249.73, Z:-5.88 [[-6.75260027e-01 -7.37562274e-01 5.07826881e-03 5.34906420e+02] [ 7.37542343e-01 -6.75279117e-01 -5.42279359e-03 -2.49730170e+02] [ 7.42889684e-03 8.36425352e-05 9.99972402e-01 -5.88230034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters 0.049678171516628414 Centerline is valid? [True, True] Translation: X:534.87, Y:-249.69, Z:-5.88 [[-6.74686978e-01 -7.38081971e-01 5.69957409e-03 5.34865969e+02] [ 7.38056898e-01 -6.74711045e-01 -6.08459469e-03 -2.49689813e+02] [ 8.33649523e-03 1.01413166e-04 9.99965246e-01 -5.88393073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters 0.04964861589584461 Centerline is valid? [True, True] Translation: X:534.83, Y:-249.65, Z:-5.88 [[-6.74959522e-01 -7.37831632e-01 5.84177483e-03 5.34828460e+02] [ 7.37805299e-01 -6.74984794e-01 -6.23442689e-03 -2.49648132e+02] [ 8.54306655e-03 1.02106636e-04 9.99963502e-01 -5.88251539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters 0.049677760525854826 Centerline is valid? [True, True] Translation: X:534.79, Y:-249.61, Z:-5.88 [[-6.75699259e-01 -7.37153833e-01 5.89394868e-03 5.34793509e+02] [ 7.37127019e-01 -6.75724957e-01 -6.28804370e-03 -2.49605500e+02] [ 8.61794373e-03 9.57623519e-05 9.99962860e-01 -5.87905183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters 0.05010032462124601 Centerline is valid? [True, True] Translation: X:534.75, Y:-249.56, Z:-5.88 [[-6.77846048e-01 -7.35183345e-01 5.49402516e-03 5.34751531e+02] [ 7.35159992e-01 -6.77868310e-01 -5.86005909e-03 -2.49564796e+02] [ 8.03244339e-03 6.67696017e-05 9.99967737e-01 -5.88095003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters 0.050046069960498346 Centerline is valid? [True, True] Translation: X:534.71, Y:-249.52, Z:-5.88 [[-6.82888746e-01 -7.30503120e-01 5.30585428e-03 5.34712938e+02] [ 7.30481208e-01 -6.82909358e-01 -5.65798163e-03 -2.49520495e+02] [ 7.75659077e-03 1.20548627e-05 9.99969917e-01 -5.87921922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters 0.050575204768613956 Centerline is valid? [True, True] Translation: X:534.68, Y:-249.48, Z:-5.88 [[-6.89183035e-01 -7.24566579e-01 5.47871574e-03 5.34675061e+02] [ 7.24543037e-01 -6.89204809e-01 -5.84118147e-03 -2.49477364e+02] [ 8.00828211e-03 -5.60778334e-05 9.99967932e-01 -5.87730158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters 0.05094191823275571 Centerline is valid? [True, True] Translation: X:534.64, Y:-249.43, Z:-5.88 [[-6.92655892e-01 -7.21245450e-01 5.72853285e-03 5.34635756e+02] [ 7.21219608e-01 -6.92679573e-01 -6.10619533e-03 -2.49434614e+02] [ 8.37210329e-03 -9.79619598e-05 9.99964949e-01 -5.87757837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters 0.050624371061267326 Centerline is valid? [True, True] Translation: X:534.60, Y:-249.39, Z:-5.88 [[-6.95238739e-01 -7.18748383e-01 6.62255591e-03 5.34596908e+02] [ 7.18713749e-01 -6.95270265e-01 -7.05735193e-03 -2.49391718e+02] [ 9.67692649e-03 -1.46822470e-04 9.99953167e-01 -5.87863303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters 0.051972743567403154 Centerline is valid? [True, True] Translation: X:534.55, Y:-249.36, Z:-5.87 [[-6.94797604e-01 -7.19174470e-01 6.66117472e-03 5.34552177e+02] [ 7.19139475e-01 -6.94829520e-01 -7.09599091e-03 -2.49357388e+02] [ 9.73163633e-03 -1.39963788e-04 9.99952637e-01 -5.87475642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters 0.05117566303562725 Centerline is valid? [True, True] Translation: X:534.51, Y:-249.32, Z:-5.88 [[-6.93261076e-01 -7.20654837e-01 6.75919800e-03 5.34511453e+02] [ 7.20618880e-01 -6.93294016e-01 -7.19987966e-03 -2.49316004e+02] [ 9.87473962e-03 -1.20590631e-04 9.99951236e-01 -5.87528121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters 0.051373604683725024 Centerline is valid? [True, True] Translation: X:534.47, Y:-249.28, Z:-5.88 [[-6.89906981e-01 -7.23868233e-01 6.56800363e-03 5.34469236e+02] [ 7.23834433e-01 -6.89938241e-01 -6.99549822e-03 -2.49277397e+02] [ 9.59533581e-03 -7.20958776e-05 9.99953961e-01 -5.87644002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters 0.05158134379390316 Centerline is valid? [True, True] Translation: X:534.42, Y:-249.24, Z:-5.88 [[-6.85387140e-01 -7.28153249e-01 6.10856955e-03 5.34424829e+02] [ 7.28124197e-01 -6.85414361e-01 -6.50451370e-03 -2.49239644e+02] [ 8.92318408e-03 -1.03127399e-05 9.99960188e-01 -5.87602451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters 0.05065996494426326 Centerline is valid? [True, True] Translation: X:534.38, Y:-249.20, Z:-5.88 [[-6.80257095e-01 -7.32947235e-01 6.21570405e-03 5.34379192e+02] [ 7.32917370e-01 -6.80285490e-01 -6.61670039e-03 -2.49204037e+02] [ 9.07814553e-03 5.45400731e-05 9.99958791e-01 -5.87782934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters 0.052099235083917284 Centerline is valid? [True, True] Translation: X:534.33, Y:-249.17, Z:-5.88 [[-6.74352713e-01 -7.38388260e-01 5.58538779e-03 5.34330564e+02] [ 7.38364341e-01 -6.74375834e-01 -5.94429658e-03 -2.49173460e+02] [ 8.15584935e-03 1.15498648e-04 9.99966734e-01 -5.88038930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters 0.05157673993412753 Centerline is valid? [True, True] Translation: X:534.29, Y:-249.13, Z:-5.88 [[-6.70874842e-01 -7.41551069e-01 5.38121124e-03 5.34289426e+02] [ 7.41528983e-01 -6.70896407e-01 -5.72526391e-03 -2.49134702e+02] [ 7.85581086e-03 1.49388570e-04 9.99969132e-01 -5.87800055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters 0.05178911383868102 Centerline is valid? [True, True] Translation: X:534.25, Y:-249.10, Z:-5.88 [[-6.67272218e-01 -7.44793399e-01 5.52990266e-03 5.34248101e+02] [ 7.44770200e-01 -6.67295104e-01 -5.88169297e-03 -2.49095235e+02] [ 8.07072307e-03 1.93816386e-04 9.99967412e-01 -5.87672897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters 0.05288068577647255 Centerline is valid? [True, True] Translation: X:534.21, Y:-249.06, Z:-5.88 [[-6.66583500e-01 -7.45406946e-01 5.90952821e-03 5.34205263e+02] [ 7.45380492e-01 -6.66609660e-01 -6.28364320e-03 -2.49058177e+02] [ 8.62321987e-03 2.16274161e-04 9.99962796e-01 -5.87851718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters 0.051104336818711286 Centerline is valid? [True, True] Translation: X:534.17, Y:-249.01, Z:-5.88 [[-6.65956919e-01 -7.45965321e-01 6.09277193e-03 5.34170619e+02] [ 7.45937238e-01 -6.65984750e-01 -6.47692584e-03 -2.49010105e+02] [ 8.88925525e-03 2.31471880e-04 9.99960463e-01 -5.87541616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters 0.051493965098601345 Centerline is valid? [True, True] Translation: X:534.13, Y:-248.97, Z:-5.88 [[-6.66072481e-01 -7.45858183e-01 6.55906291e-03 5.34129980e+02] [ 7.45825649e-01 -6.66104729e-01 -6.97079911e-03 -2.48969203e+02] [ 9.56825038e-03 2.48859889e-04 9.99954192e-01 -5.87563472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters 0.05308792719864524 Centerline is valid? [True, True] Translation: X:534.08, Y:-248.93, Z:-5.88 [[-6.66877503e-01 -7.45127209e-01 7.73553298e-03 5.34084144e+02] [ 7.45081933e-01 -6.66922307e-01 -8.21889925e-03 -2.48933781e+02] [ 1.12831250e-02 2.82606847e-04 9.99936304e-01 -5.87983405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters 0.052598852506426146 Centerline is valid? [True, True] Translation: X:534.05, Y:-248.89, Z:-5.88 [[-6.69713592e-01 -7.42573101e-01 8.30025917e-03 5.34048139e+02] [ 7.42520809e-01 -6.69764976e-01 -8.81621688e-03 -2.48890273e+02] [ 1.21059084e-02 2.58774881e-04 9.99926687e-01 -5.87856916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters 0.05183959065410438 Centerline is valid? [True, True] Translation: X:534.01, Y:-248.84, Z:-5.87 [[-6.74013817e-01 -7.38685989e-01 6.95594231e-03 5.34013418e+02] [ 7.38649069e-01 -6.74049690e-01 -7.38703505e-03 -2.48843574e+02] [ 1.01453501e-02 1.59036624e-04 9.99948522e-01 -5.87414626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters 0.05185011987374193 Centerline is valid? [True, True] Translation: X:533.98, Y:-248.80, Z:-5.87 [[-6.77412235e-01 -7.35577382e-01 6.21119968e-03 5.33975856e+02] [ 7.35547827e-01 -6.77440702e-01 -6.59461783e-03 -2.48801817e+02] [ 9.05857119e-03 1.01359626e-04 9.99958965e-01 -5.87362642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters 0.05185880204380053 Centerline is valid? [True, True] Translation: X:533.94, Y:-248.76, Z:-5.87 [[-6.82783283e-01 -7.30600356e-01 5.48717926e-03 5.33939243e+02] [ 7.30577141e-01 -6.82805330e-01 -5.82427825e-03 -2.48757730e+02] [ 8.00189500e-03 3.20879122e-05 9.99967984e-01 -5.87307617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters 0.05219385278979754 Centerline is valid? [True, True] Translation: X:533.90, Y:-248.72, Z:-5.87 [[-6.87447304e-01 -7.26209462e-01 6.00181373e-03 5.33902400e+02] [ 7.26181538e-01 -6.87473502e-01 -6.36852703e-03 -2.48715309e+02] [ 8.75097249e-03 -1.96204081e-05 9.99961709e-01 -5.87338914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters 0.05295522722926814 Centerline is valid? [True, True] Translation: X:533.86, Y:-248.67, Z:-5.87 [[-6.89635732e-01 -7.24129518e-01 6.24496260e-03 5.33863321e+02] [ 7.24099215e-01 -6.89664005e-01 -6.62472826e-03 -2.48673121e+02] [ 9.10408719e-03 -4.66768011e-05 9.99958556e-01 -5.87159476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters 0.052426331692643276 Centerline is valid? [True, True] Translation: X:533.82, Y:-248.63, Z:-5.87 [[-6.90972974e-01 -7.22847007e-01 6.96799749e-03 5.33823224e+02] [ 7.22809235e-01 -6.91008103e-01 -7.38991650e-03 -2.48632511e+02] [ 1.01567218e-02 -6.96996461e-05 9.99948417e-01 -5.87220446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters 0.05236820063117094 Centerline is valid? [True, True] Translation: X:533.78, Y:-248.59, Z:-5.87 [[-6.90654360e-01 -7.23158225e-01 6.22391782e-03 5.33784125e+02] [ 7.23128121e-01 -6.90682400e-01 -6.59869951e-03 -2.48592831e+02] [ 9.07065433e-03 -5.67305885e-05 9.99958859e-01 -5.87444821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters 0.05207445097570985 Centerline is valid? [True, True] Translation: X:533.74, Y:-248.56, Z:-5.87 [[-6.89169127e-01 -7.24577063e-01 5.83048777e-03 5.33742057e+02] [ 7.24550712e-01 -6.89193789e-01 -6.17957988e-03 -2.48556217e+02] [ 8.49591780e-03 -3.42916071e-05 9.99963908e-01 -5.87290235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters 0.05231727898337068 Centerline is valid? [True, True] Translation: X:533.70, Y:-248.52, Z:-5.87 [[-6.86798806e-01 -7.26828802e-01 5.22428301e-03 5.33700176e+02] [ 7.26807721e-01 -6.86818675e-01 -5.53572541e-03 -2.48518088e+02] [ 7.61165980e-03 -4.88037476e-06 9.99971031e-01 -5.87298639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters 0.05204849665016668 Centerline is valid? [True, True] Translation: X:533.66, Y:-248.48, Z:-5.87 [[-6.84478161e-01 -7.29017993e-01 4.73415669e-03 5.33658991e+02] [ 7.29000743e-01 -6.84494533e-01 -5.01513996e-03 -2.48480704e+02] [ 6.89663163e-03 1.84499649e-05 9.99976218e-01 -5.87211645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters 0.0524474307704212 Centerline is valid? [True, True] Translation: X:533.61, Y:-248.45, Z:-5.87 [[-6.79639830e-01 -7.33538891e-01 3.22454010e-03 5.33613939e+02] [ 7.33530943e-01 -6.79647478e-01 -3.41500640e-03 -2.48445084e+02] [ 4.69659055e-03 4.43255697e-05 9.99988970e-01 -5.87153161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters 0.05262283697301837 Centerline is valid? [True, True] Translation: X:533.57, Y:-248.41, Z:-5.87 [[-6.75204902e-01 -7.37624322e-01 2.94957080e-03 5.33569750e+02] [ 7.37617715e-01 -6.75211341e-01 -3.12275851e-03 -2.48410749e+02] [ 4.29500629e-03 6.71538220e-05 9.99990774e-01 -5.87295888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters 0.0525892650043385 Centerline is valid? [True, True] Translation: X:533.53, Y:-248.37, Z:-5.87 [[-6.73561010e-01 -7.39124294e-01 3.29292947e-03 5.33531414e+02] [ 7.39116082e-01 -6.73569054e-01 -3.48525279e-03 -2.48368559e+02] [ 4.79405040e-03 8.63267412e-05 9.99988505e-01 -5.87297697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters 0.051887869200108926 Centerline is valid? [True, True] Translation: X:533.50, Y:-248.32, Z:-5.87 [[-6.72986948e-01 -7.39646210e-01 3.47154039e-03 5.33496838e+02] [ 7.39637096e-01 -6.72995895e-01 -3.67316345e-03 -2.48323486e+02] [ 5.05317386e-03 9.56889898e-05 9.99987228e-01 -5.87216322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters 0.052449462110839604 Centerline is valid? [True, True] Translation: X:533.45, Y:-248.29, Z:-5.87 [[-6.73753198e-01 -7.38948011e-01 3.53066936e-03 5.33451519e+02] [ 7.38938578e-01 -6.73762443e-01 -3.73475852e-03 -2.48286964e+02] [ 5.13862479e-03 9.26422995e-05 9.99986793e-01 -5.87414347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters 0.052798612965105955 Centerline is valid? [True, True] Translation: X:533.41, Y:-248.25, Z:-5.88 [[-6.73989371e-01 -7.38733514e-01 3.33517417e-03 5.33409480e+02] [ 7.38725100e-01 -6.73997617e-01 -3.52687455e-03 -2.48249822e+02] [ 4.85331987e-03 8.67009073e-05 9.99988219e-01 -5.87533311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters 0.053421393259608936 Centerline is valid? [True, True] Translation: X:533.37, Y:-248.21, Z:-5.88 [[-6.73258039e-01 -7.39398649e-01 3.64011770e-03 5.33369925e+02] [ 7.39388642e-01 -6.73267872e-01 -3.84811152e-03 -2.48210356e+02] [ 5.29606276e-03 1.00689670e-04 9.99985971e-01 -5.87636601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters 0.05235827654058929 Centerline is valid? [True, True] Translation: X:533.33, Y:-248.17, Z:-5.88 [[-6.72480848e-01 -7.40098874e-01 4.81313816e-03 5.33332687e+02] [ 7.40081405e-01 -6.72498057e-01 -5.08691662e-03 -2.48165380e+02] [ 7.00164733e-03 1.41260049e-04 9.99975478e-01 -5.87684588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters 0.05246641409093971 Centerline is valid? [True, True] Translation: X:533.29, Y:-248.12, Z:-5.88 [[-6.72536101e-01 -7.40043892e-01 5.49834617e-03 5.33294347e+02] [ 7.40021107e-01 -6.72558557e-01 -5.80938867e-03 -2.48122613e+02] [ 7.99716236e-03 1.61868619e-04 9.99968009e-01 -5.87775594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters 0.05270644785631552 Centerline is valid? [True, True] Translation: X:533.26, Y:-248.08, Z:-5.88 [[-6.73369862e-01 -7.39285550e-01 5.46844959e-03 5.33255973e+02] [ 7.39263000e-01 -6.73392049e-01 -5.77629040e-03 -2.48079602e+02] [ 7.95273850e-03 1.53042571e-04 9.99968365e-01 -5.87746035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters 0.052221949714472624 Centerline is valid? [True, True] Translation: X:533.22, Y:-248.03, Z:-5.88 [[-6.75483477e-01 -7.37364031e-01 4.04451067e-03 5.33220378e+02] [ 7.37351668e-01 -6.75495578e-01 -4.27100267e-03 -2.48033877e+02] [ 5.88133282e-03 9.72349546e-05 9.99982700e-01 -5.87594318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters 0.05159298455489549 Centerline is valid? [True, True] Translation: X:533.18, Y:-247.99, Z:-5.88 [[-6.77928144e-01 -7.35123596e-01 2.59420747e-03 5.33183095e+02] [ 7.35118496e-01 -6.77933106e-01 -2.73876544e-03 -2.47988879e+02] [ 3.77203023e-03 5.03637260e-05 9.99992885e-01 -5.87579177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters 0.052019736870090115 Centerline is valid? [True, True] Translation: X:533.15, Y:-247.95, Z:-5.88 [[-6.79613336e-01 -7.33566255e-01 2.50257158e-03 5.33146381e+02] [ 7.33561501e-01 -6.79617943e-01 -2.64133458e-03 -2.47945542e+02] [ 3.63838647e-03 4.07039598e-05 9.99993380e-01 -5.87584589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters 0.05173324857615097 Centerline is valid? [True, True] Translation: X:533.11, Y:-247.90, Z:-5.87 [[-6.80042535e-01 -7.33167598e-01 2.72462450e-03 5.33112587e+02] [ 7.33161963e-01 -6.80047992e-01 -2.87470470e-03 -2.47901336e+02] [ 3.96051575e-03 4.26695762e-05 9.99992156e-01 -5.87476827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters 0.05150758669548307 Centerline is valid? [True, True] Translation: X:533.07, Y:-247.86, Z:-5.88 [[-6.79424923e-01 -7.33740313e-01 2.63220872e-03 5.33071160e+02] [ 7.33735061e-01 -6.79430020e-01 -2.77642266e-03 -2.47861247e+02] [ 3.82557485e-03 4.49730728e-05 9.99992681e-01 -5.87666755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters 0.05164853702984052 Centerline is valid? [True, True] Translation: X:533.03, Y:-247.82, Z:-5.88 [[-6.77403563e-01 -7.35607479e-01 2.45964837e-03 5.33032434e+02] [ 7.35602908e-01 -6.77408027e-01 -2.59366606e-03 -2.47818621e+02] [ 3.57410569e-03 5.23658627e-05 9.99993612e-01 -5.87696268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters 0.0513625128121548 Centerline is valid? [True, True] Translation: X:532.99, Y:-247.78, Z:-5.88 [[-6.76982030e-01 -7.35994782e-01 2.64781840e-03 5.32992729e+02] [ 7.35989492e-01 -6.76987206e-01 -2.79129771e-03 -2.47777235e+02] [ 3.84691974e-03 5.91081267e-05 9.99992599e-01 -5.87742836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters 0.05182517132912848 Centerline is valid? [True, True] Translation: X:532.95, Y:-247.74, Z:-5.88 [[-6.76470665e-01 -7.36461490e-01 3.45151445e-03 5.32952536e+02] [ 7.36452511e-01 -6.76479466e-01 -3.63753320e-03 -2.47736739e+02] [ 5.01378177e-03 8.11919798e-05 9.99987428e-01 -5.87943325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters 0.05141923523474001 Centerline is valid? [True, True] Translation: X:532.92, Y:-247.69, Z:-5.88 [[-6.77865724e-01 -7.35180784e-01 2.69723284e-03 5.32918498e+02] [ 7.35175294e-01 -6.77871088e-01 -2.84187184e-03 -2.47688764e+02] [ 3.91766573e-03 5.65314333e-05 9.99992324e-01 -5.87761286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters 0.05085509147764803 Centerline is valid? [True, True] Translation: X:532.88, Y:-247.64, Z:-5.88 [[-6.79569192e-01 -7.33608788e-01 1.96460793e-03 5.32881082e+02] [ 7.33605870e-01 -6.79572031e-01 -2.06942811e-03 -2.47644165e+02] [ 2.85324325e-03 3.49283222e-05 9.99995929e-01 -5.87677573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters 0.05088672837927303 Centerline is valid? [True, True] Translation: X:532.84, Y:-247.60, Z:-5.88 [[-6.80278705e-01 -7.32951585e-01 1.69028133e-03 5.32843223e+02] [ 7.32949425e-01 -6.80280804e-01 -1.77989974e-03 -2.47602512e+02] [ 2.45444628e-03 2.80628388e-05 9.99996987e-01 -5.87728559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters 0.050613462995504475 Centerline is valid? [True, True] Translation: X:532.81, Y:-247.56, Z:-5.88 [[-6.81762946e-01 -7.31571332e-01 1.63483119e-03 5.32806266e+02] [ 7.31569307e-01 -6.81764905e-01 -1.72108444e-03 -2.47556478e+02] [ 2.37366657e-03 2.26207225e-05 9.99997183e-01 -5.87721284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters 0.05106597604027679 Centerline is valid? [True, True] Translation: X:532.77, Y:-247.51, Z:-5.88 [[-6.83783650e-01 -7.29681638e-01 2.15116368e-03 5.32768046e+02] [ 7.29678125e-01 -6.83787034e-01 -2.26404221e-03 -2.47514275e+02] [ 3.12296786e-03 2.15420344e-05 9.99995123e-01 -5.87901596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters 0.051359264794342475 Centerline is valid? [True, True] Translation: X:532.73, Y:-247.47, Z:-5.88 [[-6.84944382e-01 -7.28592262e-01 2.12340972e-03 5.32730114e+02] [ 7.28588837e-01 -6.84947673e-01 -2.23416442e-03 -2.47471221e+02] [ 3.08221946e-03 1.68142513e-05 9.99995250e-01 -5.87883540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters 0.05086824576376478 Centerline is valid? [True, True] Translation: X:532.69, Y:-247.43, Z:-5.88 [[-6.85119203e-01 -7.28427436e-01 2.26884495e-03 5.32692110e+02] [ 7.28423527e-01 -6.85122960e-01 -2.38647071e-03 -2.47428777e+02] [ 3.29280851e-03 1.76631317e-05 9.99994579e-01 -5.87851903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters 0.05043867682975567 Centerline is valid? [True, True] Translation: X:532.65, Y:-247.39, Z:-5.88 [[-6.83628532e-01 -7.29825796e-01 2.51747488e-03 5.32652786e+02] [ 7.29820995e-01 -6.83633167e-01 -2.64728774e-03 -2.47386000e+02] [ 3.65308820e-03 2.75445879e-05 9.99993327e-01 -5.87904340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters 0.050421395066234664 Centerline is valid? [True, True] Translation: X:532.61, Y:-247.35, Z:-5.88 [[-6.81999994e-01 -7.31344419e-01 3.36899627e-03 5.32612459e+02] [ 7.31335844e-01 -6.82008313e-01 -3.54173210e-03 -2.47345145e+02] [ 4.88790946e-03 4.84064650e-05 9.99988053e-01 -5.88042414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters 0.05014951129936442 Centerline is valid? [True, True] Translation: X:532.58, Y:-247.30, Z:-5.88 [[-6.79052136e-01 -7.34075486e-01 4.62355858e-03 5.32575650e+02] [ 7.34059409e-01 -6.79067870e-01 -4.85922226e-03 -2.47300533e+02] [ 6.70674602e-03 9.43014241e-05 9.99977505e-01 -5.88000789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters 0.05002682400913761 Centerline is valid? [True, True] Translation: X:532.54, Y:-247.26, Z:-5.88 [[-6.76612644e-01 -7.36322766e-01 4.91055497e-03 5.32537545e+02] [ 7.36304700e-01 -6.76630452e-01 -5.15955013e-03 -2.47258974e+02] [ 7.12172525e-03 1.24647845e-04 9.99974632e-01 -5.88078050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters 0.050190125035425776 Centerline is valid? [True, True] Translation: X:532.50, Y:-247.21, Z:-5.88 [[-6.75610121e-01 -7.37249005e-01 3.85614985e-03 5.32500804e+02] [ 7.37237885e-01 -6.75621117e-01 -4.05062341e-03 -2.47213387e+02] [ 5.59161435e-03 1.06257592e-04 9.99984361e-01 -5.87935827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters 0.049885853600306604 Centerline is valid? [True, True] Translation: X:532.46, Y:-247.17, Z:-5.88 [[-6.75370811e-01 -7.37473341e-01 2.70896524e-03 5.32463899e+02] [ 7.37467858e-01 -6.75376240e-01 -2.84475372e-03 -2.47169156e+02] [ 3.92750079e-03 7.65111640e-05 9.99992284e-01 -5.87900815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters 0.049686484176685836 Centerline is valid? [True, True] Translation: X:532.43, Y:-247.13, Z:-5.88 [[-6.75338509e-01 -7.37502903e-01 2.71419501e-03 5.32426599e+02] [ 7.37497402e-01 -6.75343959e-01 -2.84937560e-03 -2.47126900e+02] [ 3.93443798e-03 7.74186960e-05 9.99992257e-01 -5.87904866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters 0.04947339182949821 Centerline is valid? [True, True] Translation: X:532.39, Y:-247.08, Z:-5.88 [[-6.75495805e-01 -7.37356306e-01 3.33090744e-03 5.32390675e+02] [ 7.37348026e-01 -6.75504011e-01 -3.49575918e-03 -2.47084050e+02] [ 4.82766141e-03 9.46673668e-05 9.99988342e-01 -5.88030621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters 0.048904826313381305 Centerline is valid? [True, True] Translation: X:532.36, Y:-247.04, Z:-5.88 [[-6.74884043e-01 -7.37914344e-01 3.73496669e-03 5.32355526e+02] [ 7.37903947e-01 -6.74894369e-01 -3.91867478e-03 -2.47039154e+02] [ 5.41235432e-03 1.11395586e-04 9.99985347e-01 -5.88052942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters 0.050260450037512505 Centerline is valid? [True, True] Translation: X:532.32, Y:-247.00, Z:-5.88 [[-6.74002316e-01 -7.38717301e-01 4.19852759e-03 5.32315006e+02] [ 7.38704185e-01 -6.74015379e-01 -4.40403937e-03 -2.47000857e+02] [ 6.08321224e-03 1.33137165e-04 9.99981488e-01 -5.88276818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters 0.04908346549693132 Centerline is valid? [True, True] Translation: X:532.28, Y:-246.95, Z:-5.88 [[-6.72759909e-01 -7.39842649e-01 5.19228289e-03 5.32281138e+02] [ 7.39822633e-01 -6.72779922e-01 -5.44508341e-03 -2.46953242e+02] [ 7.52176861e-03 1.78134581e-04 9.99971695e-01 -5.88263661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters 0.049686649648848266 Centerline is valid? [True, True] Translation: X:532.24, Y:-246.91, Z:-5.88 [[-6.72540036e-01 -7.40038285e-01 5.76518032e-03 5.32244139e+02] [ 7.40013627e-01 -6.72564716e-01 -6.04443163e-03 -2.46908362e+02] [ 8.35056768e-03 2.01189734e-04 9.99965113e-01 -5.88129540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters 0.04905886825527194 Centerline is valid? [True, True] Translation: X:532.20, Y:-246.87, Z:-5.88 [[-6.74610159e-01 -7.38158127e-01 4.86957979e-03 5.32204607e+02] [ 7.38140495e-01 -6.74627717e-01 -5.10416254e-03 -2.46865760e+02] [ 7.05283256e-03 1.51114131e-04 9.99975117e-01 -5.87984653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters 0.049196537612251665 Centerline is valid? [True, True] Translation: X:532.16, Y:-246.83, Z:-5.88 [[-6.77198330e-01 -7.35790432e-01 3.85508086e-03 5.32163264e+02] [ 7.35779349e-01 -6.77209296e-01 -4.03976520e-03 -2.46825813e+02] [ 5.58311717e-03 1.00766634e-04 9.99984409e-01 -5.87948891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters 0.04922172035156101 Centerline is valid? [True, True] Translation: X:532.12, Y:-246.78, Z:-5.88 [[-6.78819352e-01 -7.34298091e-01 3.25597278e-03 5.32124157e+02] [ 7.34290172e-01 -6.78827156e-01 -3.41107835e-03 -2.46783111e+02] [ 4.71499106e-03 7.53228172e-05 9.99988882e-01 -5.87825464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters 0.04943766628450765 Centerline is valid? [True, True] Translation: X:532.09, Y:-246.74, Z:-5.88 [[-6.79899187e-01 -7.33296507e-01 3.65081921e-03 5.32085396e+02] [ 7.33286543e-01 -6.79908984e-01 -3.82356669e-03 -2.46742588e+02] [ 5.28603288e-03 7.74567096e-05 9.99986026e-01 -5.87958697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters 0.04950439599847749 Centerline is valid? [True, True] Translation: X:532.05, Y:-246.70, Z:-5.88 [[-6.80979509e-01 -7.32287017e-01 4.75739513e-03 5.32046630e+02] [ 7.32270081e-01 -6.80996120e-01 -4.98122502e-03 -2.46699877e+02] [ 6.88745404e-03 9.15859507e-05 9.99976277e-01 -5.88031213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters 0.04946577903241664 Centerline is valid? [True, True] Translation: X:532.01, Y:-246.66, Z:-5.88 [[-6.82175813e-01 -7.31169702e-01 5.19881817e-03 5.32007428e+02] [ 7.31149454e-01 -6.82195616e-01 -5.44207712e-03 -2.46656371e+02] [ 7.52569287e-03 8.86596885e-05 9.99971678e-01 -5.87914979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters 0.0495883029732418 Centerline is valid? [True, True] Translation: X:531.97, Y:-246.61, Z:-5.88 [[-6.82563211e-01 -7.30811083e-01 4.75643632e-03 5.31966886e+02] [ 7.30794135e-01 -6.82579779e-01 -4.97768964e-03 -2.46614602e+02] [ 6.88439800e-03 7.83879411e-05 9.99976299e-01 -5.87832505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters 0.04982404773957158 Centerline is valid? [True, True] Translation: X:531.92, Y:-246.58, Z:-5.88 [[-6.81873592e-01 -7.31450357e-01 5.36469114e-03 5.31924072e+02] [ 7.31428827e-01 -6.81894689e-01 -5.61289091e-03 -2.46576477e+02] [ 7.76370545e-03 9.66076561e-05 9.99969857e-01 -5.88134435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters 0.04930725227568547 Centerline is valid? [True, True] Translation: X:531.88, Y:-246.53, Z:-5.88 [[-6.80116176e-01 -7.33084320e-01 5.41901701e-03 5.31884676e+02] [ 7.33062416e-01 -6.80137755e-01 -5.66828706e-03 -2.46533839e+02] [ 7.84101043e-03 1.17383979e-04 9.99969252e-01 -5.88011405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters 0.049225642625407844 Centerline is valid? [True, True] Translation: X:531.84, Y:-246.49, Z:-5.88 [[-6.78425955e-01 -7.34652454e-01 4.89850684e-03 5.31844551e+02] [ 7.34634605e-01 -6.78443628e-01 -5.12257699e-03 -2.46490853e+02] [ 7.08667451e-03 1.23323454e-04 9.99974882e-01 -5.87801361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters 0.04954988381275616 Centerline is valid? [True, True] Translation: X:531.80, Y:-246.45, Z:-5.88 [[-6.77360349e-01 -7.35640534e-01 3.99528959e-03 5.31802592e+02] [ 7.35628684e-01 -6.77372122e-01 -4.17703952e-03 -2.46451124e+02] [ 5.77909738e-03 1.09688680e-04 9.99983295e-01 -5.87786253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters 0.049699452750089725 Centerline is valid? [True, True] Translation: X:531.76, Y:-246.41, Z:-5.88 [[-6.77165315e-01 -7.35821714e-01 3.67984396e-03 5.31763622e+02] [ 7.35811669e-01 -6.77175305e-01 -3.84624788e-03 -2.46408347e+02] [ 5.32205216e-03 1.03126474e-04 9.99985832e-01 -5.87726692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters 0.05090443522015982 Centerline is valid? [True, True] Translation: X:531.72, Y:-246.37, Z:-5.88 [[-6.75999387e-01 -7.36893981e-01 3.47689866e-03 5.31717207e+02] [ 7.36885030e-01 -6.76008320e-01 -3.63364264e-03 -2.46372944e+02] [ 5.02802181e-03 1.05734380e-04 9.99987354e-01 -5.87823931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters 0.05088066768084507 Centerline is valid? [True, True] Translation: X:531.67, Y:-246.33, Z:-5.88 [[-6.75392689e-01 -7.37445589e-01 4.32654686e-03 5.31674341e+02] [ 7.37431747e-01 -6.75406533e-01 -4.52038388e-03 -2.46334862e+02] [ 6.25571517e-03 1.37498784e-04 9.99980423e-01 -5.88006618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters 0.049931284330121714 Centerline is valid? [True, True] Translation: X:531.64, Y:-246.29, Z:-5.88 [[-6.75714778e-01 -7.37144735e-01 5.21333896e-03 5.31639874e+02] [ 7.37124639e-01 -6.75734869e-01 -5.44551377e-03 -2.46288117e+02] [ 7.53696672e-03 1.63266468e-04 9.99971583e-01 -5.87852183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters 0.05011093897220403 Centerline is valid? [True, True] Translation: X:531.60, Y:-246.25, Z:-5.88 [[-6.78198722e-01 -7.34860374e-01 5.16956350e-03 5.31599726e+02] [ 7.34840557e-01 -6.78218410e-01 -5.39852597e-03 -2.46245931e+02] [ 7.47325595e-03 1.37531503e-04 9.99972065e-01 -5.87845887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters 0.05011148352670936 Centerline is valid? [True, True] Translation: X:531.56, Y:-246.20, Z:-5.88 [[-6.80571538e-01 -7.32664431e-01 5.02123382e-03 5.31561626e+02] [ 7.32645685e-01 -6.80590052e-01 -5.24229063e-03 -2.46201918e+02] [ 7.25824166e-03 1.11031494e-04 9.99973652e-01 -5.87722112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters 0.04997710294392957 Centerline is valid? [True, True] Translation: X:531.52, Y:-246.16, Z:-5.88 [[-6.81795209e-01 -7.31519879e-01 5.82749288e-03 5.31519879e+02] [ 7.31494600e-01 -6.81820104e-01 -6.08247776e-03 -2.46161952e+02] [ 8.42275519e-03 1.15775379e-04 9.99964521e-01 -5.87865244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters 0.049864974746301735 Centerline is valid? [True, True] Translation: X:531.48, Y:-246.12, Z:-5.88 [[-6.82188953e-01 -7.31147882e-01 6.40368071e-03 5.31479577e+02] [ 7.31117359e-01 -6.82218996e-01 -6.68193656e-03 -2.46120841e+02] [ 9.25419639e-03 1.23498823e-04 9.99957171e-01 -5.87931816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters 0.04959488666802588 Centerline is valid? [True, True] Translation: X:531.44, Y:-246.08, Z:-5.88 [[-6.83389150e-01 -7.30026385e-01 6.38332561e-03 5.31440451e+02] [ 7.29996022e-01 -6.83418953e-01 -6.65901630e-03 -2.46077414e+02] [ 9.22374330e-03 1.09102810e-04 9.99957454e-01 -5.87829077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters 0.050111727017772785 Centerline is valid? [True, True] Translation: X:531.40, Y:-246.03, Z:-5.88 [[-6.85338339e-01 -7.28204552e-01 5.43064224e-03 5.31401275e+02] [ 7.28182530e-01 -6.85359851e-01 -5.66370466e-03 -2.46034398e+02] [ 7.84627967e-03 7.29448658e-05 9.99969215e-01 -5.87720125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters 0.04985902802928111 Centerline is valid? [True, True] Translation: X:531.36, Y:-245.99, Z:-5.88 [[-6.86951530e-01 -7.26685064e-01 5.13938578e-03 5.31361597e+02] [ 7.26665308e-01 -6.86970753e-01 -5.35861167e-03 -2.45991548e+02] [ 7.42463078e-03 5.35068675e-05 9.99972436e-01 -5.87698869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters 0.0496380050448456 Centerline is valid? [True, True] Translation: X:531.32, Y:-245.95, Z:-5.88 [[-6.88198509e-01 -7.25505321e-01 4.98409466e-03 5.31322003e+02] [ 7.25486722e-01 -6.88216555e-01 -5.19505252e-03 -2.45951090e+02] [ 7.19917470e-03 4.06671035e-05 9.99974085e-01 -5.87975335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters 0.05065748085767631 Centerline is valid? [True, True] Translation: X:531.28, Y:-245.91, Z:-5.88 [[-6.89509806e-01 -7.24257583e-01 5.21356014e-03 5.31283754e+02] [ 7.24237206e-01 -6.89529516e-01 -5.43288051e-03 -2.45907015e+02] [ 7.52970850e-03 2.98298471e-05 9.99971651e-01 -5.87739214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters 0.049914032081031075 Centerline is valid? [True, True] Translation: X:531.24, Y:-245.86, Z:-5.88 [[-6.90468190e-01 -7.23339628e-01 5.78465357e-03 5.31244306e+02] [ 7.23314524e-01 -6.90492420e-01 -6.02639412e-03 -2.45864644e+02] [ 8.35338913e-03 2.30905032e-05 9.99965110e-01 -5.87820462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters 0.05009337990259743 Centerline is valid? [True, True] Translation: X:531.20, Y:-245.82, Z:-5.88 [[-6.89591023e-01 -7.24172840e-01 6.15786384e-03 5.31204067e+02] [ 7.24144443e-01 -6.89618516e-01 -6.41317888e-03 -2.45824978e+02] [ 8.89082689e-03 3.67122956e-05 9.99960475e-01 -5.87963331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters 0.05003131315401565 Centerline is valid? [True, True] Translation: X:531.16, Y:-245.78, Z:-5.88 [[-6.88589212e-01 -7.25124109e-01 6.31851336e-03 5.31163155e+02] [ 7.25094266e-01 -6.88618199e-01 -6.57881614e-03 -2.45783648e+02] [ 9.12150148e-03 5.14159814e-05 9.99958397e-01 -5.87868614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters 0.05002019319477753 Centerline is valid? [True, True] Translation: X:531.12, Y:-245.74, Z:-5.88 [[-6.87709467e-01 -7.25960245e-01 6.11648319e-03 5.31122602e+02] [ 7.25932330e-01 -6.87736664e-01 -6.36656147e-03 -2.45743185e+02] [ 8.82840027e-03 6.18082997e-05 9.99961027e-01 -5.87786269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters 0.05036416847476065 Centerline is valid? [True, True] Translation: X:531.08, Y:-245.70, Z:-5.88 [[-6.87823321e-01 -7.25852225e-01 6.13406727e-03 5.31081777e+02] [ 7.25824162e-01 -6.87850670e-01 -6.38297928e-03 -2.45702848e+02] [ 8.85242199e-03 6.18922249e-05 9.99960815e-01 -5.87856195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters 0.05032712695763652 Centerline is valid? [True, True] Translation: X:531.04, Y:-245.66, Z:-5.88 [[-6.87835318e-01 -7.25844086e-01 5.73922769e-03 5.31042056e+02] [ 7.25819532e-01 -6.87859259e-01 -5.97052911e-03 -2.45660481e+02] [ 8.28145415e-03 5.89027628e-05 9.99965706e-01 -5.87732102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters 0.05011426682862412 Centerline is valid? [True, True] Translation: X:531.00, Y:-245.62, Z:-5.88 [[-6.87183335e-01 -7.26464702e-01 5.30106021e-03 5.31001051e+02] [ 7.26443784e-01 -6.87203779e-01 -5.51315759e-03 -2.45620110e+02] [ 7.64802299e-03 6.23722241e-05 9.99970752e-01 -5.87757977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters 0.050414508425595646 Centerline is valid? [True, True] Translation: X:530.96, Y:-245.58, Z:-5.88 [[-6.85397706e-01 -7.28155386e-01 4.44060771e-03 5.30960004e+02] [ 7.28140751e-01 -6.85412087e-01 -4.61706418e-03 -2.45579065e+02] [ 6.40558635e-03 6.88622355e-05 9.99979482e-01 -5.87629852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters 0.049812349035463346 Centerline is valid? [True, True] Translation: X:530.92, Y:-245.54, Z:-5.88 [[-6.83190501e-01 -7.30229071e-01 4.03040649e-03 5.30917137e+02] [ 7.30217056e-01 -6.83202384e-01 -4.18976497e-03 -2.45540782e+02] [ 5.81307151e-03 8.06639304e-05 9.99983101e-01 -5.87720360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters 0.05042888469884989 Centerline is valid? [True, True] Translation: X:530.88, Y:-245.50, Z:-5.88 [[-6.81345346e-01 -7.31948546e-01 4.45494411e-03 5.30875903e+02] [ 7.31933909e-01 -6.81359902e-01 -4.63008474e-03 -2.45502320e+02] [ 6.42440407e-03 1.06037974e-04 9.99979358e-01 -5.87843340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters 0.050061966214754464 Centerline is valid? [True, True] Translation: X:530.84, Y:-245.46, Z:-5.88 [[-6.80285505e-01 -7.32928538e-01 5.23356020e-03 5.30838924e+02] [ 7.32908377e-01 -6.80305622e-01 -5.43790619e-03 -2.45457600e+02] [ 7.54601706e-03 1.36391351e-04 9.99971519e-01 -5.87655973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters 0.04997198734931917 Centerline is valid? [True, True] Translation: X:530.80, Y:-245.42, Z:-5.88 [[-6.79189800e-01 -7.33942515e-01 5.44062443e-03 5.30797200e+02] [ 7.33920772e-01 -6.79211573e-01 -5.65152470e-03 -2.45418375e+02] [ 7.84322933e-03 1.54529345e-04 9.99969229e-01 -5.87688507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters 0.049497305500565504 Centerline is valid? [True, True] Translation: X:530.76, Y:-245.37, Z:-5.88 [[-6.79175374e-01 -7.33954592e-01 5.60966907e-03 5.30758956e+02] [ 7.33931489e-01 -6.79198521e-01 -5.82568336e-03 -2.45374952e+02] [ 8.08586599e-03 1.60452095e-04 9.99967296e-01 -5.87576937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters 0.050295474178630735 Centerline is valid? [True, True] Translation: X:530.72, Y:-245.34, Z:-5.88 [[-6.80107106e-01 -7.33094415e-01 5.18675029e-03 5.30717460e+02] [ 7.33074646e-01 -6.80126869e-01 -5.38561538e-03 -2.45335695e+02] [ 7.47581280e-03 1.39479841e-04 9.99972046e-01 -5.87600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters 0.04983711049499283 Centerline is valid? [True, True] Translation: X:530.68, Y:-245.29, Z:-5.87 [[-6.81958990e-01 -7.31377165e-01 4.40212410e-03 5.30681877e+02] [ 7.31362896e-01 -6.81973190e-01 -4.56972308e-03 -2.45289731e+02] [ 6.34432173e-03 1.03186496e-04 9.99979869e-01 -5.87322314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters 0.05005845046122509 Centerline is valid? [True, True] Translation: X:530.64, Y:-245.25, Z:-5.87 [[-6.83244638e-01 -7.30179379e-01 3.85203066e-03 5.30642541e+02] [ 7.30168440e-01 -6.83255492e-01 -3.99769291e-03 -2.45246672e+02] [ 5.55095403e-03 8.12289698e-05 9.99984590e-01 -5.87289760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters 0.05065190875328211 Centerline is valid? [True, True] Translation: X:530.60, Y:-245.21, Z:-5.87 [[-6.83890871e-01 -7.29576003e-01 3.48322526e-03 5.30601175e+02] [ 7.29567056e-01 -6.83899737e-01 -3.61383091e-03 -2.45207931e+02] [ 5.01874116e-03 6.97804317e-05 9.99987404e-01 -5.87492859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters 0.04994263181530965 Centerline is valid? [True, True] Translation: X:530.56, Y:-245.16, Z:-5.87 [[-6.82830257e-01 -7.30563684e-01 4.42084056e-03 5.30563800e+02] [ 7.30549300e-01 -6.82844561e-01 -4.58542787e-03 -2.45162974e+02] [ 6.36869401e-03 9.85730803e-05 9.99979715e-01 -5.87479585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters 0.049540918283740354 Centerline is valid? [True, True] Translation: X:530.52, Y:-245.12, Z:-5.88 [[-6.81080366e-01 -7.32182275e-01 6.21705253e-03 5.30524819e+02] [ 7.32153909e-01 -6.81108722e-01 -6.44689346e-03 -2.45119648e+02] [ 8.95478982e-03 1.60986751e-04 9.99959892e-01 -5.87581658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters 0.04969232625785597 Centerline is valid? [True, True] Translation: X:530.48, Y:-245.08, Z:-5.88 [[-6.80525739e-01 -7.32696190e-01 6.40404380e-03 5.30484787e+02] [ 7.32666130e-01 -6.80555849e-01 -6.63921479e-03 -2.45079023e+02] [ 9.22283685e-03 1.73869435e-04 9.99957454e-01 -5.87655486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters 0.05006010305601079 Centerline is valid? [True, True] Translation: X:530.45, Y:-245.04, Z:-5.88 [[-6.79014214e-01 -7.34098955e-01 6.19847184e-03 5.30445216e+02] [ 7.34070866e-01 -6.79042479e-01 -6.42455853e-03 -2.45036275e+02] [ 8.92528739e-03 1.87751028e-04 9.99960151e-01 -5.87639931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters 0.050049127390222714 Centerline is valid? [True, True] Translation: X:530.40, Y:-245.00, Z:-5.88 [[-6.78405605e-01 -7.34664726e-01 5.79448085e-03 5.30403029e+02] [ 7.34640213e-01 -6.78430326e-01 -6.00421162e-03 -2.44997554e+02] [ 8.34223401e-03 1.83567832e-04 9.99965186e-01 -5.87739938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters 0.04984657172809213 Centerline is valid? [True, True] Translation: X:530.37, Y:-244.95, Z:-5.88 [[-6.78518330e-01 -7.34562002e-01 5.61613719e-03 5.30367727e+02] [ 7.34538984e-01 -6.78541549e-01 -5.81791964e-03 -2.44950454e+02] [ 8.08440512e-03 1.77706586e-04 9.99967305e-01 -5.87519115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters 0.049463378542303336 Centerline is valid? [True, True] Translation: X:530.33, Y:-244.91, Z:-5.88 [[-6.80088142e-01 -7.33106511e-01 5.91288834e-03 5.30328031e+02] [ 7.33080952e-01 -6.80113825e-01 -6.12397937e-03 -2.44907388e+02] [ 8.51096625e-03 1.69780059e-04 9.99963767e-01 -5.87565960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters 0.04984428825380376 Centerline is valid? [True, True] Translation: X:530.29, Y:-244.86, Z:-5.88 [[-6.83585285e-01 -7.29853332e-01 5.02710207e-03 5.30289530e+02] [ 7.29834775e-01 -6.83603761e-01 -5.20566341e-03 -2.44864259e+02] [ 7.23591666e-03 1.10439002e-04 9.99973814e-01 -5.87508925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters 0.04979369012385334 Centerline is valid? [True, True] Translation: X:530.25, Y:-244.82, Z:-5.87 [[-6.85369825e-01 -7.28181211e-01 4.50859663e-03 5.30249446e+02] [ 7.28166253e-01 -6.85384649e-01 -4.66801458e-03 -2.44821533e+02] [ 6.48928343e-03 8.36915768e-05 9.99978941e-01 -5.87423038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters 0.049628932256506775 Centerline is valid? [True, True] Translation: X:530.21, Y:-244.78, Z:-5.88 [[-6.86756518e-01 -7.26873702e-01 4.48396416e-03 5.30208706e+02] [ 7.26858884e-01 -6.86771153e-01 -4.64180504e-03 -2.44779750e+02] [ 6.45346325e-03 7.14193141e-05 9.99979174e-01 -5.87500245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters 0.050223428755831155 Centerline is valid? [True, True] Translation: X:530.17, Y:-244.74, Z:-5.88 [[-6.88416669e-01 -7.25293775e-01 5.60612180e-03 5.30168525e+02] [ 7.25270571e-01 -6.88439492e-01 -5.80212931e-03 -2.44740341e+02] [ 8.06772392e-03 7.16726209e-05 9.99967453e-01 -5.87708551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters 0.050330309309409064 Centerline is valid? [True, True] Translation: X:530.13, Y:-244.70, Z:-5.88 [[-6.89748731e-01 -7.24019814e-01 6.48052424e-03 5.30128690e+02] [ 7.23988767e-01 -6.89779171e-01 -6.70533022e-03 -2.44698421e+02] [ 9.32492257e-03 6.68337387e-05 9.99956520e-01 -5.87631452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters 0.04999286359456902 Centerline is valid? [True, True] Translation: X:530.09, Y:-244.66, Z:-5.88 [[-6.90559273e-01 -7.23245539e-01 6.61674982e-03 5.30087603e+02] [ 7.23213154e-01 -6.90590970e-01 -6.84446707e-03 -2.44657385e+02] [ 9.51969795e-03 5.88103021e-05 9.99954685e-01 -5.87591156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters 0.05074224169783567 Centerline is valid? [True, True] Translation: X:530.05, Y:-244.62, Z:-5.88 [[-6.91446807e-01 -7.22395287e-01 6.80898657e-03 5.30047338e+02] [ 7.22360973e-01 -6.91480330e-01 -7.04111113e-03 -2.44618558e+02] [ 9.79474578e-03 4.99923545e-05 9.99952029e-01 -5.87584117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters 0.05004696614292856 Centerline is valid? [True, True] Translation: X:530.01, Y:-244.58, Z:-5.87 [[-6.92243349e-01 -7.21634063e-01 6.58974964e-03 5.30006808e+02] [ 7.21601906e-01 -6.92274713e-01 -6.81259368e-03 -2.44576753e+02] [ 9.47811669e-03 3.92032334e-05 9.99955081e-01 -5.87486392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters 0.05042289632024983 Centerline is valid? [True, True] Translation: X:529.97, Y:-244.54, Z:-5.87 [[-6.92532569e-01 -7.21364163e-01 5.69086577e-03 5.29965238e+02] [ 7.21340184e-01 -6.92555950e-01 -5.88174698e-03 -2.44535793e+02] [ 8.18412443e-03 3.17488224e-05 9.99966509e-01 -5.87447708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters 0.050015653322328456 Centerline is valid? [True, True] Translation: X:529.92, Y:-244.50, Z:-5.87 [[-6.91979271e-01 -7.21901953e-01 4.71785810e-03 5.29924082e+02] [ 7.21885496e-01 -6.91995353e-01 -4.87457178e-03 -2.44497587e+02] [ 6.78369877e-03 3.26507043e-05 9.99976990e-01 -5.87427512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters 0.05022023470935549 Centerline is valid? [True, True] Translation: X:529.88, Y:-244.46, Z:-5.87 [[-6.91373334e-01 -7.22486573e-01 4.00820013e-03 5.29883365e+02] [ 7.22474711e-01 -6.91384952e-01 -4.14011052e-03 -2.44457658e+02] [ 5.76238351e-03 3.34612223e-05 9.99983397e-01 -5.87334354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters 0.05082712562346256 Centerline is valid? [True, True] Translation: X:529.84, Y:-244.42, Z:-5.87 [[-6.89854451e-01 -7.23939869e-01 3.45000707e-03 5.29840323e+02] [ 7.23931104e-01 -6.89863077e-01 -3.56255566e-03 -2.44420555e+02] [ 4.95910857e-03 3.99225484e-05 9.99987703e-01 -5.87421702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters 0.05056305589814747 Centerline is valid? [True, True] Translation: X:529.80, Y:-244.38, Z:-5.87 [[-6.88612444e-01 -7.25122337e-01 3.24015293e-03 5.29799229e+02] [ 7.25114623e-01 -6.88620065e-01 -3.34512456e-03 -2.44381461e+02] [ 4.65685886e-03 4.59878728e-05 9.99989156e-01 -5.87401385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters 0.050860235021678496 Centerline is valid? [True, True] Translation: X:529.76, Y:-244.34, Z:-5.87 [[-6.86283575e-01 -7.27323200e-01 3.97713939e-03 5.29757585e+02] [ 7.27311620e-01 -6.86295095e-01 -4.10491164e-03 -2.44340973e+02] [ 5.71508872e-03 7.54862549e-05 9.99983666e-01 -5.87431672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters 0.050404943216077844 Centerline is valid? [True, True] Translation: X:529.72, Y:-244.30, Z:-5.88 [[-6.84228849e-01 -7.29250920e-01 4.89666400e-03 5.29715047e+02] [ 7.29233425e-01 -6.84246361e-01 -5.05265123e-03 -2.44301701e+02] [ 7.03517509e-03 1.13641318e-04 9.99975246e-01 -5.87558403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters 0.05104848399626174 Centerline is valid? [True, True] Translation: X:529.67, Y:-244.27, Z:-5.88 [[-6.82610179e-01 -7.30759160e-01 5.86460403e-03 5.29670154e+02] [ 7.30734129e-01 -6.82635354e-01 -6.05027740e-03 -2.44265796e+02] [ 8.42468168e-03 1.55485379e-04 9.99964500e-01 -5.87854300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters 0.050495869214499285 Centerline is valid? [True, True] Translation: X:529.63, Y:-244.22, Z:-5.88 [[-6.82085776e-01 -7.31247932e-01 5.95444993e-03 5.29633552e+02] [ 7.31222161e-01 -6.82111746e-01 -6.14144928e-03 -2.44220379e+02] [ 8.55252233e-03 1.65030539e-04 9.99963413e-01 -5.87553531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters 0.050549777455101606 Centerline is valid? [True, True] Translation: X:529.59, Y:-244.18, Z:-5.88 [[-6.81852582e-01 -7.31461738e-01 6.38608370e-03 5.29591755e+02] [ 7.31432119e-01 -6.81882463e-01 -6.58502274e-03 -2.44181542e+02] [ 9.17125066e-03 1.80971969e-04 9.99957927e-01 -5.87683966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters 0.050633086915620004 Centerline is valid? [True, True] Translation: X:529.55, Y:-244.14, Z:-5.88 [[-6.82739910e-01 -7.30635508e-01 6.16191307e-03 5.29551902e+02] [ 7.30607913e-01 -6.82767696e-01 -6.35223321e-03 -2.44138977e+02] [ 8.84832233e-03 1.65019321e-04 9.99960839e-01 -5.87598825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters 0.050386660938005416 Centerline is valid? [True, True] Translation: X:529.51, Y:-244.10, Z:-5.87 [[-6.84143504e-01 -7.29324737e-01 5.75267167e-03 5.29513265e+02] [ 7.29300652e-01 -6.84167675e-01 -5.92881563e-03 -2.44095184e+02] [ 8.25982390e-03 1.39266497e-04 9.99965877e-01 -5.87470747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters 0.050754193013021344 Centerline is valid? [True, True] Translation: X:529.47, Y:-244.06, Z:-5.88 [[-6.87203681e-01 -7.26446388e-01 5.17174888e-03 5.29472350e+02] [ 7.26426846e-01 -6.87223135e-01 -5.32920018e-03 -2.44055559e+02] [ 7.42552370e-03 9.46512491e-05 9.99972426e-01 -5.87590156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters 0.049947605739947595 Centerline is valid? [True, True] Translation: X:529.44, Y:-244.01, Z:-5.87 [[-6.90264179e-01 -7.23540205e-01 4.99362159e-03 5.29435960e+02] [ 7.23521918e-01 -6.90282238e-01 -5.14449830e-03 -2.44008753e+02] [ 7.16925964e-03 6.19317708e-05 9.99974299e-01 -5.87313304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters 0.0505761489437473 Centerline is valid? [True, True] Translation: X:529.40, Y:-243.97, Z:-5.87 [[-6.92345014e-01 -7.21551608e-01 4.65387634e-03 5.29396084e+02] [ 7.21535688e-01 -6.92360655e-01 -4.79324081e-03 -2.43967372e+02] [ 6.68073148e-03 3.93614877e-05 9.99977683e-01 -5.87398313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters 0.050386736788178045 Centerline is valid? [True, True] Translation: X:529.36, Y:-243.92, Z:-5.87 [[-6.93374360e-01 -7.20564240e-01 4.37871777e-03 5.29356159e+02] [ 7.20550135e-01 -6.93388185e-01 -4.50860478e-03 -2.43924792e+02] [ 6.28489054e-03 2.89347281e-05 9.99980249e-01 -5.87299536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters 0.05070366735060873 Centerline is valid? [True, True] Translation: X:529.32, Y:-243.88, Z:-5.88 [[-6.93958856e-01 -7.19993930e-01 5.46317527e-03 5.29315408e+02] [ 7.19971969e-01 -6.93980360e-01 -5.62362064e-03 -2.43884390e+02] [ 7.84030907e-03 3.07717046e-05 9.99969264e-01 -5.87707110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters 0.05052472670435941 Centerline is valid? [True, True] Translation: X:529.28, Y:-243.84, Z:-5.88 [[-6.94581678e-01 -7.19387377e-01 6.17212964e-03 5.29276226e+02] [ 7.19359336e-01 -6.94609100e-01 -6.35170881e-03 -2.43841623e+02] [ 8.85655655e-03 2.81985201e-05 9.99960780e-01 -5.87513718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters 0.050665183905839864 Centerline is valid? [True, True] Translation: X:529.24, Y:-243.80, Z:-5.88 [[-6.95448929e-01 -7.18547520e-01 6.34421908e-03 5.29237730e+02] [ 7.18517877e-01 -6.95477865e-01 -6.52675413e-03 -2.43800084e+02] [ 9.10204694e-03 1.94106646e-05 9.99958575e-01 -5.87592450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters 0.050537040942013764 Centerline is valid? [True, True] Translation: X:529.20, Y:-243.76, Z:-5.87 [[-6.95799899e-01 -7.18209173e-01 6.17118637e-03 5.29197870e+02] [ 7.18181128e-01 -6.95827265e-01 -6.34704392e-03 -2.43758154e+02] [ 8.85258490e-03 1.57570664e-05 9.99960815e-01 -5.87497013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters 0.05079628794818067 Centerline is valid? [True, True] Translation: X:529.16, Y:-243.72, Z:-5.87 [[-6.95962666e-01 -7.18060140e-01 5.05987539e-03 5.29158154e+02] [ 7.18041292e-01 -6.95981059e-01 -5.20266755e-03 -2.43716014e+02] [ 7.25740562e-03 1.23370838e-05 9.99973665e-01 -5.87477097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters 0.050368109476901575 Centerline is valid? [True, True] Translation: X:529.12, Y:-243.67, Z:-5.87 [[-6.95539883e-01 -7.18475771e-01 4.10332121e-03 5.29117683e+02] [ 7.18463390e-01 -6.95551986e-01 -4.21798566e-03 -2.43674346e+02] [ 5.88459372e-03 1.43088145e-05 9.99982686e-01 -5.87466961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters 0.050813159745533326 Centerline is valid? [True, True] Translation: X:529.08, Y:-243.63, Z:-5.87 [[-6.94246627e-01 -7.19730514e-01 3.09980325e-03 5.29077693e+02] [ 7.19723464e-01 -6.94253547e-01 -3.18554593e-03 -2.43632316e+02] [ 4.44478401e-03 1.94466162e-05 9.99990122e-01 -5.87363185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters 0.05032958459166679 Centerline is valid? [True, True] Translation: X:529.04, Y:-243.59, Z:-5.88 [[-6.91863953e-01 -7.22022157e-01 2.87668372e-03 5.29035469e+02] [ 7.22016108e-01 -6.91869933e-01 -2.95575521e-03 -2.43593700e+02] [ 4.12441173e-03 3.20314994e-05 9.99991494e-01 -5.87502809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters 0.04993357380594014 Centerline is valid? [True, True] Translation: X:529.00, Y:-243.55, Z:-5.87 [[-6.89848170e-01 -7.23948733e-01 2.78101404e-03 5.28996086e+02] [ 7.23943098e-01 -6.89853775e-01 -2.85670292e-03 -2.43551320e+02] [ 3.98659950e-03 4.26046369e-05 9.99992053e-01 -5.87432040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters 0.05008649326797506 Centerline is valid? [True, True] Translation: X:528.95, Y:-243.51, Z:-5.88 [[-6.86125077e-01 -7.27474421e-01 3.65314706e-03 5.28953753e+02] [ 7.27464751e-01 -6.86134797e-01 -3.75183591e-03 -2.43513164e+02] [ 5.23591597e-03 8.33070186e-05 9.99986289e-01 -5.87658529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters 0.05006554199201294 Centerline is valid? [True, True] Translation: X:528.91, Y:-243.47, Z:-5.88 [[-6.83974618e-01 -7.29487186e-01 5.21231096e-03 5.28913497e+02] [ 7.29467570e-01 -6.83994463e-01 -5.35152396e-03 -2.43472836e+02] [ 7.46905998e-03 1.41905255e-04 9.99972096e-01 -5.87859482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters 0.05017963034987158 Centerline is valid? [True, True] Translation: X:528.88, Y:-243.43, Z:-5.88 [[-6.85208600e-01 -7.28323349e-01 5.85436381e-03 5.28875790e+02] [ 7.28298573e-01 -6.85233593e-01 -6.00924803e-03 -2.43428145e+02] [ 8.38828240e-03 1.46136382e-04 9.99964807e-01 -5.87866073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters 0.050206368269382844 Centerline is valid? [True, True] Translation: X:528.84, Y:-243.38, Z:-5.88 [[-6.87990034e-01 -7.25699517e-01 5.47030470e-03 5.28837167e+02] [ 7.25677809e-01 -6.88011773e-01 -5.61407850e-03 -2.43384753e+02] [ 7.83776809e-03 1.07248673e-04 9.99969278e-01 -5.87872520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters 0.04990373201704989 Centerline is valid? [True, True] Translation: X:528.80, Y:-243.34, Z:-5.88 [[-6.93746857e-01 -7.20208349e-01 3.90298440e-03 5.28801659e+02] [ 7.20197217e-01 -6.93757835e-01 -4.00444670e-03 -2.43338946e+02] [ 5.59176195e-03 3.28461922e-05 9.99984365e-01 -5.87733344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters 0.049381489891435676 Centerline is valid? [True, True] Translation: X:528.76, Y:-243.29, Z:-5.88 [[-6.99447353e-01 -7.14677070e-01 3.17586445e-03 5.28764238e+02] [ 7.14669644e-01 -6.99454563e-01 -3.25796663e-03 -2.43293401e+02] [ 4.54976693e-03 -9.08221599e-06 9.99989650e-01 -5.87656029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters 0.04947627863304359 Centerline is valid? [True, True] Translation: X:528.73, Y:-243.25, Z:-5.88 [[-7.02003362e-01 -7.12167232e-01 3.01898503e-03 5.28725387e+02] [ 7.12160501e-01 -7.02009853e-01 -3.09627403e-03 -2.43251636e+02] [ 4.32442214e-03 -2.35928846e-05 9.99990649e-01 -5.87833798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters 0.05012573168156403 Centerline is valid? [True, True] Translation: X:528.68, Y:-243.21, Z:-5.88 [[-7.02517137e-01 -7.11657385e-01 3.66598494e-03 5.28684330e+02] [ 7.11647459e-01 -7.02526701e-01 -3.75869045e-03 -2.43211588e+02] [ 5.25035212e-03 -3.16555876e-05 9.99986216e-01 -5.87844014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters 0.04994651260676098 Centerline is valid? [True, True] Translation: X:528.64, Y:-243.17, Z:-5.88 [[-7.02812438e-01 -7.11363616e-01 4.05974933e-03 5.28644353e+02] [ 7.11351447e-01 -7.02824163e-01 -4.16114603e-03 -2.43170012e+02] [ 5.81337782e-03 -3.65966289e-05 9.99983102e-01 -5.87831425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters 0.05027276362528729 Centerline is valid? [True, True] Translation: X:528.60, Y:-243.13, Z:-5.88 [[-7.02906726e-01 -7.11272012e-01 3.77613817e-03 5.28604894e+02] [ 7.11261489e-01 -7.02916868e-01 -3.86922234e-03 -2.43130109e+02] [ 5.40638077e-03 -3.38807467e-05 9.99985385e-01 -5.87961321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters 0.05006076726371367 Centerline is valid? [True, True] Translation: X:528.56, Y:-243.09, Z:-5.88 [[-7.02668336e-01 -7.11508633e-01 3.56012886e-03 5.28564883e+02] [ 7.11499289e-01 -7.02677354e-01 -3.64668027e-03 -2.43091773e+02] [ 5.09626642e-03 -2.93776077e-05 9.99987014e-01 -5.87978637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters 0.05059263723047143 Centerline is valid? [True, True] Translation: X:528.52, Y:-243.06, Z:-5.88 [[-7.00933685e-01 -7.13214458e-01 4.13605680e-03 5.28523989e+02] [ 7.13201884e-01 -7.00945888e-01 -4.23507431e-03 -2.43055948e+02] [ 5.91966823e-03 -1.86627376e-05 9.99982478e-01 -5.88004531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters 0.04930123779917615 Centerline is valid? [True, True] Translation: X:528.48, Y:-243.02, Z:-5.88 [[-6.99126862e-01 -7.14985348e-01 4.19318893e-03 5.28481573e+02] [ 7.14972464e-01 -6.99139437e-01 -4.29232967e-03 -2.43018130e+02] [ 6.00057657e-03 -2.86835608e-06 9.99981996e-01 -5.88076525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters 0.050364915816661505 Centerline is valid? [True, True] Translation: X:528.44, Y:-242.98, Z:-5.88 [[-6.98380952e-01 -7.15711777e-01 4.54950496e-03 5.28440591e+02] [ 7.15696635e-01 -6.98395770e-01 -4.65565791e-03 -2.42979386e+02] [ 6.50946422e-03 4.64258315e-06 9.99978813e-01 -5.88132470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters 0.05002052082658957 Centerline is valid? [True, True] Translation: X:528.40, Y:-242.94, Z:-5.88 [[-6.98141267e-01 -7.15950337e-01 3.72648120e-03 5.28399852e+02] [ 7.15940187e-01 -6.98151213e-01 -3.81227347e-03 -2.42939425e+02] [ 5.33104584e-03 6.43221067e-06 9.99985790e-01 -5.88074049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters 0.04948357079112604 Centerline is valid? [True, True] Translation: X:528.36, Y:-242.90, Z:-5.88 [[-6.99427389e-01 -7.14695378e-01 3.44159493e-03 5.28360795e+02] [ 7.14686711e-01 -6.99435856e-01 -3.51971037e-03 -2.42899012e+02] [ 4.92269563e-03 -2.11967458e-06 9.99987883e-01 -5.87901325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters 0.05019808824050383 Centerline is valid? [True, True] Translation: X:528.32, Y:-242.86, Z:-5.88 [[-7.02540718e-01 -7.11639806e-01 2.30768702e-03 5.28321622e+02] [ 7.11635895e-01 -7.02544508e-01 -2.35938862e-03 -2.42856931e+02] [ 3.30028770e-03 -1.53336624e-05 9.99994554e-01 -5.88017928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters 0.05067624984184381 Centerline is valid? [True, True] Translation: X:528.28, Y:-242.81, Z:-5.88 [[-7.06534117e-01 -7.07675113e-01 2.33993418e-03 5.28282832e+02] [ 7.07671073e-01 -7.06537991e-01 -2.39170885e-03 -2.42814079e+02] [ 3.34580523e-03 -3.39201667e-05 9.99994402e-01 -5.88104108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters 0.0505962982953385 Centerline is valid? [True, True] Translation: X:528.25, Y:-242.77, Z:-5.88 [[-7.10190267e-01 -7.03999345e-01 3.83483314e-03 5.28247322e+02] [ 7.03988443e-01 -7.10200616e-01 -3.91875691e-03 -2.42770302e+02] [ 5.48230316e-03 -8.33848014e-05 9.99984969e-01 -5.88310416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters 0.05165974745713425 Centerline is valid? [True, True] Translation: X:528.20, Y:-242.73, Z:-5.88 [[-7.12273748e-01 -7.01886170e-01 4.68111643e-03 5.28202510e+02] [ 7.01869889e-01 -7.12289119e-01 -4.78212152e-03 -2.42734268e+02] [ 6.69081326e-03 -1.20644942e-04 9.99977609e-01 -5.88141602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters 0.051578871561599286 Centerline is valid? [True, True] Translation: X:528.17, Y:-242.69, Z:-5.89 [[-7.13528503e-01 -7.00603402e-01 5.65236479e-03 5.28169812e+02] [ 7.00579638e-01 -7.13550873e-01 -5.77264658e-03 -2.42687802e+02] [ 8.07758566e-03 -1.59016196e-04 9.99967363e-01 -5.88507464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters 0.05125064625439911 Centerline is valid? [True, True] Translation: X:528.13, Y:-242.65, Z:-5.88 [[-7.11652056e-01 -7.02510203e-01 5.54665596e-03 5.28128420e+02] [ 7.02487390e-01 -7.11673659e-01 -5.66296718e-03 -2.42648546e+02] [ 7.92570117e-03 -1.33606367e-04 9.99968582e-01 -5.88496967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters 0.05088122299071026 Centerline is valid? [True, True] Translation: X:528.08, Y:-242.61, Z:-5.88 [[-7.07438528e-01 -7.06759012e-01 4.73581324e-03 5.28084917e+02] [ 7.06742486e-01 -7.07454376e-01 -4.83367320e-03 -2.42610794e+02] [ 6.76661390e-03 -7.25262306e-05 9.99977104e-01 -5.88376971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters 0.050513199111415136 Centerline is valid? [True, True] Translation: X:528.04, Y:-242.57, Z:-5.88 [[-7.03541383e-01 -7.10641932e-01 4.19129427e-03 5.28042648e+02] [ 7.10629064e-01 -7.03553867e-01 -4.27663332e-03 -2.42572191e+02] [ 5.98795626e-03 -3.03329990e-05 9.99982072e-01 -5.88261675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters 0.04996531641497965 Centerline is valid? [True, True] Translation: X:528.00, Y:-242.53, Z:-5.88 [[-6.95752223e-01 -7.18272353e-01 3.69744795e-03 5.27999013e+02] [ 7.18262451e-01 -6.95762047e-01 -3.77170470e-03 -2.42533090e+02] [ 5.28165516e-03 3.15661012e-05 9.99986051e-01 -5.88069298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters 0.050381021358426085 Centerline is valid? [True, True] Translation: X:527.96, Y:-242.49, Z:-5.88 [[-6.92936195e-01 -7.20989375e-01 3.70821453e-03 5.27956646e+02] [ 7.20979459e-01 -6.92946115e-01 -3.78180296e-03 -2.42494015e+02] [ 5.29623261e-03 5.29983543e-05 9.99985973e-01 -5.88164153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters 0.04939757099662584 Centerline is valid? [True, True] Translation: X:527.91, Y:-242.45, Z:-5.88 [[-6.84681869e-01 -7.28831913e-01 3.84447013e-03 5.27914101e+02] [ 7.28821383e-01 -6.84692652e-01 -3.91972856e-03 -2.42454609e+02] [ 5.48910372e-03 1.18164957e-04 9.99984928e-01 -5.88118368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters 0.0498939401549138 Centerline is valid? [True, True] Translation: X:527.87, Y:-242.42, Z:-5.88 [[-6.79568959e-01 -7.33599612e-01 4.19988277e-03 5.27870878e+02] [ 7.33587139e-01 -6.79581915e-01 -4.28137101e-03 -2.42417853e+02] [ 5.99497649e-03 1.71493143e-04 9.99982015e-01 -5.88195249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters 0.05017211197649548 Centerline is valid? [True, True] Translation: X:527.83, Y:-242.37, Z:-5.88 [[-6.78465725e-01 -7.34620502e-01 4.12030534e-03 5.27832194e+02] [ 7.34608522e-01 -6.78478213e-01 -4.19924134e-03 -2.42374150e+02] [ 5.88038619e-03 1.77770096e-04 9.99982695e-01 -5.88153831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters 0.04964376472012695 Centerline is valid? [True, True] Translation: X:527.79, Y:-242.33, Z:-5.88 [[-6.79762492e-01 -7.33416980e-01 4.74222934e-03 5.27793182e+02] [ 7.33401089e-01 -6.79779006e-01 -4.83185363e-03 -2.42331083e+02] [ 6.76743144e-03 1.93443297e-04 9.99977082e-01 -5.88188304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters 0.04950031569144078 Centerline is valid? [True, True] Translation: X:527.76, Y:-242.29, Z:-5.88 [[-6.83713809e-01 -7.29733950e-01 4.87753030e-03 5.27756220e+02] [ 7.29717054e-01 -6.83731187e-01 -4.96843996e-03 -2.42285687e+02] [ 6.96055890e-03 1.62226026e-04 9.99975762e-01 -5.88140415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters 0.049131782986678786 Centerline is valid? [True, True] Translation: X:527.72, Y:-242.24, Z:-5.88 [[-6.88226962e-01 -7.25475128e-01 5.43021679e-03 5.27719045e+02] [ 7.25454060e-01 -6.88248371e-01 -5.53055848e-03 -2.42240382e+02] [ 7.74962049e-03 1.33093356e-04 9.99969962e-01 -5.88112952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters 0.04961865676208316 Centerline is valid? [True, True] Translation: X:527.68, Y:-242.20, Z:-5.88 [[-6.91279557e-01 -7.22566831e-01 5.45427486e-03 5.27681066e+02] [ 7.22545495e-01 -6.91301067e-01 -5.55367360e-03 -2.42195944e+02] [ 7.78344636e-03 1.01820699e-04 9.99969703e-01 -5.88077822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters 0.0495981701746528 Centerline is valid? [True, True] Translation: X:527.64, Y:-242.15, Z:-5.88 [[-6.95854065e-01 -7.18166183e-01 4.94501867e-03 5.27643596e+02] [ 7.18148539e-01 -6.95871634e-01 -5.03434480e-03 -2.42151092e+02] [ 7.05659441e-03 4.80886346e-05 9.99975101e-01 -5.88078024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters 0.04988943982660953 Centerline is valid? [True, True] Translation: X:527.60, Y:-242.11, Z:-5.88 [[-6.98794792e-01 -7.15311964e-01 3.82524075e-03 5.27603830e+02] [ 7.15301368e-01 -6.98805262e-01 -3.89341299e-03 -2.42107360e+02] [ 5.45810326e-03 1.55032203e-05 9.99985104e-01 -5.87848854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters 0.05015272633685563 Centerline is valid? [True, True] Translation: X:527.56, Y:-242.07, Z:-5.88 [[-6.99745998e-01 -7.14377092e-01 4.57259120e-03 5.27563842e+02] [ 7.14361940e-01 -6.99760938e-01 -4.65274672e-03 -2.42066269e+02] [ 6.52353638e-03 1.07442228e-05 9.99978721e-01 -5.87921557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters 0.049893798909327026 Centerline is valid? [True, True] Translation: X:527.52, Y:-242.02, Z:-5.88 [[-6.99665632e-01 -7.14453613e-01 4.90286907e-03 5.27523620e+02] [ 7.14436204e-01 -6.99682810e-01 -4.98757657e-03 -2.42024690e+02] [ 6.99384531e-03 1.31512586e-05 9.99975543e-01 -5.87873882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters 0.050712937933732945 Centerline is valid? [True, True] Translation: X:527.48, Y:-241.99, Z:-5.88 [[-6.98375754e-01 -7.15717116e-01 4.50744193e-03 5.27481928e+02] [ 7.15702437e-01 -6.98390299e-01 -4.58387302e-03 -2.41986940e+02] [ 6.42871009e-03 2.47213988e-05 9.99979335e-01 -5.87926554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters 0.050306623304175825 Centerline is valid? [True, True] Translation: X:527.44, Y:-241.95, Z:-5.88 [[-6.97069906e-01 -7.16992407e-01 3.92866183e-03 5.27440075e+02] [ 7.16981284e-01 -6.97080976e-01 -3.99403000e-03 -2.41949533e+02] [ 5.60228460e-03 3.26588863e-05 9.99984307e-01 -5.87848040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters 0.0504776142089622 Centerline is valid? [True, True] Translation: X:527.40, Y:-241.91, Z:-5.88 [[-6.94897539e-01 -7.19103482e-01 2.75538196e-03 5.27396356e+02] [ 7.19098030e-01 -6.94903001e-01 -2.80043923e-03 -2.41912512e+02] [ 3.92852879e-03 3.53714118e-05 9.99992283e-01 -5.87707539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters 0.04968088092200826 Centerline is valid? [True, True] Translation: X:527.35, Y:-241.87, Z:-5.87 [[-6.93473729e-01 -7.20479534e-01 1.85142147e-03 5.27354377e+02] [ 7.20477079e-01 -6.93476200e-01 -1.88114942e-03 -2.41873194e+02] [ 2.63924638e-03 2.93790262e-05 9.99996517e-01 -5.87475046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters 0.04960452721117133 Centerline is valid? [True, True] Translation: X:527.31, Y:-241.84, Z:-5.88 [[-6.93245873e-01 -7.20698880e-01 1.81208141e-03 5.27311711e+02] [ 7.20696530e-01 -6.93248241e-01 -1.84064766e-03 -2.41835171e+02] [ 2.58277496e-03 2.99393928e-05 9.99996664e-01 -5.87571692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters 0.050442637653512125 Centerline is valid? [True, True] Translation: X:527.27, Y:-241.80, Z:-5.88 [[-6.94316081e-01 -7.19666681e-01 2.24659545e-03 5.27270461e+02] [ 7.19663066e-01 -6.94319715e-01 -2.28135742e-03 -2.41796143e+02] [ 3.20167244e-03 3.28086230e-05 9.99994874e-01 -5.87727869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters 0.05013825649955758 Centerline is valid? [True, True] Translation: X:527.23, Y:-241.76, Z:-5.88 [[-6.96662530e-01 -7.17393237e-01 2.87454795e-03 5.27230250e+02] [ 7.17387302e-01 -6.96668460e-01 -2.91823494e-03 -2.41755762e+02] [ 4.09612890e-03 2.91392590e-05 9.99991610e-01 -5.87862739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters 0.05075186965946249 Centerline is valid? [True, True] Translation: X:527.19, Y:-241.72, Z:-5.88 [[-6.98975758e-01 -7.15137086e-01 3.44055912e-03 5.27190080e+02] [ 7.15128562e-01 -6.98984226e-01 -3.49167505e-03 -2.41717555e+02] [ 4.90192287e-03 1.98458799e-05 9.99987985e-01 -5.88073996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters 0.05091497049452902 Centerline is valid? [True, True] Translation: X:527.15, Y:-241.68, Z:-5.88 [[-7.00204871e-01 -7.13934897e-01 3.17836322e-03 5.27150146e+02] [ 7.13927615e-01 -7.00212084e-01 -3.22462397e-03 -2.41677079e+02] [ 4.52769991e-03 1.12238644e-05 9.99989750e-01 -5.88032007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters 0.050207092019144604 Centerline is valid? [True, True] Translation: X:527.11, Y:-241.64, Z:-5.88 [[-7.01619440e-01 -7.12545885e-01 2.91936219e-03 5.27109964e+02] [ 7.12539733e-01 -7.01625514e-01 -2.96097700e-03 -2.41637291e+02] [ 4.15813098e-03 2.68252870e-06 9.99991355e-01 -5.88066116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters 0.050464485619510925 Centerline is valid? [True, True] Translation: X:527.07, Y:-241.60, Z:-5.88 [[-7.01738248e-01 -7.12426347e-01 3.48314334e-03 5.27069933e+02] [ 7.12417593e-01 -7.01746892e-01 -3.53168924e-03 -2.41598033e+02] [ 4.96035348e-03 3.13117589e-06 9.99987697e-01 -5.87949334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters 0.05025783976505698 Centerline is valid? [True, True] Translation: X:527.03, Y:-241.56, Z:-5.88 [[-7.00635303e-01 -7.13507345e-01 4.17622076e-03 5.27028461e+02] [ 7.13494787e-01 -7.00647750e-01 -4.23317739e-03 -2.41559297e+02] [ 5.94646283e-03 1.37982152e-05 9.99982320e-01 -5.88184438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters 0.049880071827763606 Centerline is valid? [True, True] Translation: X:526.99, Y:-241.52, Z:-5.88 [[-6.98283011e-01 -7.15806393e-01 4.69515094e-03 5.26985700e+02] [ 7.15790581e-01 -6.98298795e-01 -4.75790287e-03 -2.41519598e+02] [ 6.68435553e-03 3.83820748e-05 9.99977659e-01 -5.88226955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters 0.050253108931466825 Centerline is valid? [True, True] Translation: X:526.94, Y:-241.48, Z:-5.88 [[-6.96922937e-01 -7.17127517e-01 5.15204099e-03 5.26944102e+02] [ 7.17108525e-01 -6.96941978e-01 -5.21949921e-03 -2.41478834e+02] [ 7.33372015e-03 5.69837949e-05 9.99973106e-01 -5.88239380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters 0.050320536241354824 Centerline is valid? [True, True] Translation: X:526.90, Y:-241.44, Z:-5.88 [[-6.94818360e-01 -7.19168081e-01 4.97164864e-03 5.26904239e+02] [ 7.19150457e-01 -6.94836143e-01 -5.03539143e-03 -2.41437166e+02] [ 7.07577396e-03 7.66809746e-05 9.99974963e-01 -5.88143362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters 0.050281390865620085 Centerline is valid? [True, True] Translation: X:526.87, Y:-241.40, Z:-5.88 [[-6.94118761e-01 -7.19846973e-01 4.41372935e-03 5.26865002e+02] [ 7.19833105e-01 -6.94132790e-01 -4.46890778e-03 -2.41396948e+02] [ 6.28064400e-03 7.51957662e-05 9.99980274e-01 -5.88150286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters 0.04940812935823867 Centerline is valid? [True, True] Translation: X:526.83, Y:-241.36, Z:-5.88 [[-6.92792776e-01 -7.21127853e-01 3.57628165e-03 5.26825392e+02] [ 7.21118769e-01 -6.92802003e-01 -3.62030389e-03 -2.41356700e+02] [ 5.08835706e-03 7.08034383e-05 9.99987052e-01 -5.88059752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters 0.04917051887002783 Centerline is valid? [True, True] Translation: X:526.79, Y:-241.31, Z:-5.88 [[-6.90935992e-01 -7.22909722e-01 2.99822551e-03 5.26786691e+02] [ 7.22903357e-01 -6.90942494e-01 -3.03433388e-03 -2.41313043e+02] [ 4.26515087e-03 7.08967913e-05 9.99990902e-01 -5.87961649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters 0.04969930046263044 Centerline is valid? [True, True] Translation: X:526.75, Y:-241.27, Z:-5.88 [[-6.89706820e-01 -7.24082943e-01 2.89728539e-03 5.26747407e+02] [ 7.24077013e-01 -6.89712901e-01 -2.93142208e-03 -2.41270407e+02] [ 4.12088783e-03 7.60359517e-05 9.99991506e-01 -5.87964669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters 0.04934396138187545 Centerline is valid? [True, True] Translation: X:526.71, Y:-241.23, Z:-5.88 [[-6.88434240e-01 -7.25286717e-01 4.18030041e-03 5.26708064e+02] [ 7.25274401e-01 -6.88446921e-01 -4.22844225e-03 -2.41228584e+02] [ 5.94474795e-03 1.20860456e-04 9.99982323e-01 -5.88095978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters 0.050411994620777376 Centerline is valid? [True, True] Translation: X:526.67, Y:-241.19, Z:-5.88 [[-6.88310899e-01 -7.25401205e-01 4.60414733e-03 5.26665339e+02] [ 7.25386273e-01 -6.88326284e-01 -4.65629403e-03 -2.41190674e+02] [ 6.54683693e-03 1.34807342e-04 9.99978560e-01 -5.88272201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters 0.04965268487860289 Centerline is valid? [True, True] Translation: X:526.63, Y:-241.15, Z:-5.88 [[-6.89129051e-01 -7.24619814e-01 5.22260084e-03 5.26629270e+02] [ 7.24600590e-01 -6.89148825e-01 -5.28026782e-03 -2.41145671e+02] [ 7.42533592e-03 1.45513697e-04 9.99972421e-01 -5.88217215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters 0.04947040438804656 Centerline is valid? [True, True] Translation: X:526.59, Y:-241.10, Z:-5.88 [[-6.92140661e-01 -7.21749097e-01 4.42119571e-03 5.26592286e+02] [ 7.21735267e-01 -6.92154774e-01 -4.46914009e-03 -2.41101377e+02] [ 6.28574954e-03 9.76592886e-05 9.99980240e-01 -5.88097846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters 0.0498016551069388 Centerline is valid? [True, True] Translation: X:526.56, Y:-241.06, Z:-5.88 [[-6.97195521e-01 -7.16871178e-01 3.75747303e-03 5.26556177e+02] [ 7.16861121e-01 -6.97205645e-01 -3.79754788e-03 -2.41055049e+02] [ 5.34208403e-03 4.59529576e-05 9.99985730e-01 -5.87926106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters 0.049393208489720015 Centerline is valid? [True, True] Translation: X:526.52, Y:-241.01, Z:-5.88 [[-7.00755967e-01 -7.13389634e-01 4.03804804e-03 5.26517587e+02] [ 7.13377966e-01 -7.00767601e-01 -4.08009769e-03 -2.41012581e+02] [ 5.74043263e-03 2.15016976e-05 9.99983523e-01 -5.88090276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters 0.04970097613080827 Centerline is valid? [True, True] Translation: X:526.48, Y:-240.97, Z:-5.88 [[-7.03041529e-01 -7.11138427e-01 3.84018364e-03 5.26477818e+02] [ 7.11127848e-01 -7.03052017e-01 -3.87893149e-03 -2.40972550e+02] [ 5.45830609e-03 3.81159714e-06 9.99985103e-01 -5.88039367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters 0.050510917095837944 Centerline is valid? [True, True] Translation: X:526.44, Y:-240.93, Z:-5.88 [[-7.04299966e-01 -7.09886570e-01 4.75568806e-03 5.26435897e+02] [ 7.09870325e-01 -7.04316022e-01 -4.80242187e-03 -2.40931971e+02] [ 6.75868208e-03 -6.42373292e-06 9.99977160e-01 -5.87668409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters 0.0500099296573309 Centerline is valid? [True, True] Translation: X:526.40, Y:-240.89, Z:-5.88 [[-7.05361878e-01 -7.08830367e-01 4.91242729e-03 5.26395738e+02] [ 7.08813018e-01 -7.05378984e-01 -4.95935687e-03 -2.40891265e+02] [ 6.98046572e-03 -1.61488675e-05 9.99975636e-01 -5.88026041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters 0.04982933281768582 Centerline is valid? [True, True] Translation: X:526.35, Y:-240.85, Z:-5.88 [[-7.05379437e-01 -7.08811828e-01 5.06386847e-03 5.26354271e+02] [ 7.08793403e-01 -7.05397613e-01 -5.11068900e-03 -2.40852387e+02] [ 7.19455754e-03 -1.57383642e-05 9.99974119e-01 -5.88107526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters 0.05039355680456298 Centerline is valid? [True, True] Translation: X:526.31, Y:-240.81, Z:-5.88 [[-7.03549971e-01 -7.10629371e-01 4.83058947e-03 5.26311262e+02] [ 7.10612658e-01 -7.03566554e-01 -4.87376885e-03 -2.40814389e+02] [ 6.86208448e-03 3.73809542e-06 9.99976456e-01 -5.88098741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters 0.05023053171180224 Centerline is valid? [True, True] Translation: X:526.27, Y:-240.78, Z:-5.88 [[-6.99836305e-01 -7.14291752e-01 4.05457978e-03 5.26267585e+02] [ 7.14280045e-01 -6.99848049e-01 -4.08972075e-03 -2.40776106e+02] [ 5.75884355e-03 3.39703645e-05 9.99983417e-01 -5.88050586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters 0.049659651131910953 Centerline is valid? [True, True] Translation: X:526.22, Y:-240.74, Z:-5.88 [[-6.96673205e-01 -7.17379489e-01 3.62149059e-03 5.26224989e+02] [ 7.17370195e-01 -6.96682615e-01 -3.65196010e-03 -2.40736011e+02] [ 5.14287081e-03 5.37266659e-05 9.99986774e-01 -5.87969110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters 0.04920941687518914 Centerline is valid? [True, True] Translation: X:526.18, Y:-240.70, Z:-5.88 [[-6.89935649e-01 -7.23864622e-01 2.96791043e-03 5.26179688e+02] [ 7.23858443e-01 -6.89942028e-01 -2.99227444e-03 -2.40700367e+02] [ 4.21368775e-03 8.38702178e-05 9.99991119e-01 -5.88107737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters 0.04927358065369644 Centerline is valid? [True, True] Translation: X:526.14, Y:-240.66, Z:-5.88 [[-6.88656269e-01 -7.25082014e-01 2.93527991e-03 5.26137920e+02] [ 7.25075984e-01 -6.88662518e-01 -2.95862442e-03 -2.40660359e+02] [ 4.16666261e-03 9.08257124e-05 9.99991315e-01 -5.88146516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters 0.050024755105418 Centerline is valid? [True, True] Translation: X:526.10, Y:-240.62, Z:-5.88 [[-6.85641281e-01 -7.27932776e-01 3.14777919e-03 5.26096560e+02] [ 7.27925874e-01 -6.85648496e-01 -3.17192369e-03 -2.40620992e+02] [ 4.46721728e-03 1.16548094e-04 9.99990015e-01 -5.88253059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters 0.049618646075222955 Centerline is valid? [True, True] Translation: X:526.05, Y:-240.58, Z:-5.88 [[-6.84518718e-01 -7.28989260e-01 2.96372632e-03 5.26054343e+02] [ 7.28983154e-01 -6.84525124e-01 -2.98591546e-03 -2.40582650e+02] [ 4.20544543e-03 1.16591541e-04 9.99991150e-01 -5.88355454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters 0.04969369154247362 Centerline is valid? [True, True] Translation: X:526.01, Y:-240.54, Z:-5.88 [[-6.84960100e-01 -7.28574007e-01 3.09494947e-03 5.26014476e+02] [ 7.28567348e-01 -6.84967081e-01 -3.11726671e-03 -2.40541654e+02] [ 4.39109800e-03 1.19675808e-04 9.99990352e-01 -5.88398622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters 0.049006734692670396 Centerline is valid? [True, True] Translation: X:525.98, Y:-240.49, Z:-5.88 [[-6.86698913e-01 -7.26933384e-01 3.52962137e-03 5.25980414e+02] [ 7.26924706e-01 -6.86707972e-01 -3.55419451e-03 -2.40493597e+02] [ 5.00748178e-03 1.25107473e-04 9.99987455e-01 -5.88359098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters 0.04884977133889789 Centerline is valid? [True, True] Translation: X:525.94, Y:-240.45, Z:-5.89 [[-6.89604873e-01 -7.24169623e-01 4.84515682e-03 5.25941053e+02] [ 7.24153211e-01 -6.89621879e-01 -4.87764787e-03 -2.40452102e+02] [ 6.87357057e-03 1.44986131e-04 9.99976366e-01 -5.88556724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters 0.049409648065105324 Centerline is valid? [True, True] Translation: X:525.90, Y:-240.41, Z:-5.89 [[-6.93535976e-01 -7.20398322e-01 5.84015373e-03 5.25903336e+02] [ 7.20374356e-01 -6.93560553e-01 -5.87761769e-03 -2.40409077e+02] [ 8.28472617e-03 1.30757653e-04 9.99965673e-01 -5.88707376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters 0.049196427774641116 Centerline is valid? [True, True] Translation: X:525.86, Y:-240.37, Z:-5.89 [[-6.95592786e-01 -7.18416074e-01 5.38698991e-03 5.25864279e+02] [ 7.18395635e-01 -6.95613639e-01 -5.42010310e-03 -2.40366254e+02] [ 7.64115284e-03 9.98054249e-05 9.99970801e-01 -5.88639911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters 0.049319853260103325 Centerline is valid? [True, True] Translation: X:525.82, Y:-240.33, Z:-5.89 [[-6.97494012e-01 -7.16574478e-01 4.80836939e-03 5.25822206e+02] [ 7.16558158e-01 -6.97510582e-01 -4.83665967e-03 -2.40326210e+02] [ 6.81971541e-03 7.19351597e-05 9.99976743e-01 -5.88629850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters 0.04973687674432714 Centerline is valid? [True, True] Translation: X:525.78, Y:-240.28, Z:-5.89 [[-7.01335600e-01 -7.12812632e-01 5.15062209e-03 5.25783676e+02] [ 7.12793812e-01 -7.01354511e-01 -5.17992158e-03 -2.40284186e+02] [ 7.30472557e-03 3.84681466e-05 9.99973319e-01 -5.88548863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters 0.0494195737615652 Centerline is valid? [True, True] Translation: X:525.75, Y:-240.24, Z:-5.89 [[-7.04614413e-01 -7.09574842e-01 4.69821064e-03 5.25746141e+02] [ 7.09559121e-01 -7.04630076e-01 -4.72340999e-03 -2.40242550e+02] [ 6.66211341e-03 5.47545620e-06 9.99977808e-01 -5.88557575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters 0.04943428646867613 Centerline is valid? [True, True] Translation: X:525.71, Y:-240.20, Z:-5.89 [[-7.08472568e-01 -7.05728430e-01 3.74205292e-03 5.25707236e+02] [ 7.05718409e-01 -7.08482450e-01 -3.76091064e-03 -2.40202741e+02] [ 5.30536039e-03 -2.36663884e-05 9.99985926e-01 -5.88542061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters 0.050418034650254066 Centerline is valid? [True, True] Translation: X:525.67, Y:-240.16, Z:-5.89 [[-7.10687358e-01 -7.03501514e-01 3.01646930e-03 5.25667177e+02] [ 7.03494986e-01 -7.10693759e-01 -3.03074307e-03 -2.40163553e+02] [ 4.27591825e-03 -3.18397573e-05 9.99990858e-01 -5.88554718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters 0.049412403567615594 Centerline is valid? [True, True] Translation: X:525.63, Y:-240.13, Z:-5.89 [[-7.09834411e-01 -7.04363642e-01 2.63983205e-03 5.25628597e+02] [ 7.04358652e-01 -7.09839319e-01 -2.65134491e-03 -2.40125193e+02] [ 3.74136754e-03 -2.26273054e-05 9.99993001e-01 -5.88524228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters 0.049231100523193835 Centerline is valid? [True, True] Translation: X:525.58, Y:-240.09, Z:-5.89 [[-7.05261985e-01 -7.08941934e-01 2.62040076e-03 5.25584333e+02] [ 7.08937052e-01 -7.05266854e-01 -2.63097242e-03 -2.40090571e+02] [ 3.71328847e-03 2.17435307e-06 9.99993106e-01 -5.88685221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters 0.04930215090623633 Centerline is valid? [True, True] Translation: X:525.54, Y:-240.05, Z:-5.89 [[-6.99242639e-01 -7.14879930e-01 2.53322270e-03 5.25538536e+02] [ 7.14875408e-01 -6.99247227e-01 -2.54277858e-03 -2.40054418e+02] [ 3.58913032e-03 3.29194094e-05 9.99993559e-01 -5.88771091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters 0.04954961565783986 Centerline is valid? [True, True] Translation: X:525.50, Y:-240.02, Z:-5.89 [[-6.96446975e-01 -7.17604620e-01 2.28501385e-03 5.25496214e+02] [ 7.17600957e-01 -6.96450722e-01 -2.29299906e-03 -2.40015577e+02] [ 3.23686626e-03 4.27758730e-05 9.99994760e-01 -5.88744383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters 0.04966507276248364 Centerline is valid? [True, True] Translation: X:525.45, Y:-239.98, Z:-5.89 [[-6.94456466e-01 -7.19534232e-01 8.39683280e-04 5.25451731e+02] [ 7.19533739e-01 -6.94456974e-01 -8.42384912e-04 -2.39978995e+02] [ 1.18924869e-03 1.91808016e-05 9.99999293e-01 -5.88577960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters 0.04975383640386174 Centerline is valid? [True, True] Translation: X:525.41, Y:-239.94, Z:-5.89 [[-6.93646937e-01 -7.20315051e-01 -3.92911276e-04 5.25411913e+02] [ 7.20314943e-01 -6.93647048e-01 3.94067089e-04 -2.39938517e+02] [-5.56394202e-04 -9.67643424e-06 9.99999845e-01 -5.88502595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters 0.04904942329229976 Centerline is valid? [True, True] Translation: X:525.37, Y:-239.90, Z:-5.89 [[-6.92639353e-01 -7.21283905e-01 -5.05785886e-04 5.25371143e+02] [ 7.21283726e-01 -6.92639538e-01 5.07141765e-04 -2.39897196e+02] [-7.16120495e-04 -1.35487843e-05 9.99999744e-01 -5.88552959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters 0.04981603086886302 Centerline is valid? [True, True] Translation: X:525.33, Y:-239.86, Z:-5.89 [[-6.92226380e-01 -7.21680070e-01 7.17883651e-04 5.25328911e+02] [ 7.21679711e-01 -6.92226752e-01 -7.19601170e-04 -2.39859183e+02] [ 1.01626009e-03 1.99551524e-05 9.99999483e-01 -5.88738642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters 0.04983136205655557 Centerline is valid? [True, True] Translation: X:525.29, Y:-239.82, Z:-5.89 [[-6.93493256e-01 -7.20456470e-01 3.09512657e-03 5.25289273e+02] [ 7.20449797e-01 -6.93500158e-01 -3.10168983e-03 -2.39818052e+02] [ 4.38110327e-03 7.88823305e-05 9.99990400e-01 -5.89021268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters 0.04943059036947823 Centerline is valid? [True, True] Translation: X:525.25, Y:-239.77, Z:-5.89 [[-6.95204193e-01 -7.18800962e-01 4.03812462e-03 5.25251731e+02] [ 7.18789583e-01 -6.95215915e-01 -4.04564227e-03 -2.39773133e+02] [ 5.71538006e-03 9.00144387e-05 9.99983663e-01 -5.89013105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters 0.0490485829623028 Centerline is valid? [True, True] Translation: X:525.21, Y:-239.73, Z:-5.89 [[-6.98945134e-01 -7.15159308e-01 4.78163698e-03 5.25213709e+02] [ 7.15143274e-01 -6.98961486e-01 -4.78943147e-03 -2.39728222e+02] [ 6.76738659e-03 7.20057065e-05 9.99977098e-01 -5.88972425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters 0.04914353959557172 Centerline is valid? [True, True] Translation: X:525.18, Y:-239.68, Z:-5.89 [[-7.06176264e-01 -7.08021673e-01 4.51614796e-03 5.25178332e+02] [ 7.08007230e-01 -7.06190704e-01 -4.52236104e-03 -2.39683679e+02] [ 6.39119134e-03 3.88138036e-06 9.99979576e-01 -5.88914838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters 0.04962295398498931 Centerline is valid? [True, True] Translation: X:525.14, Y:-239.64, Z:-5.89 [[-7.12171011e-01 -7.01991846e-01 4.46099253e-03 5.25142445e+02] [ 7.01977642e-01 -7.12184980e-01 -4.46587018e-03 -2.39638974e+02] [ 6.31205632e-03 -4.89462610e-05 9.99980078e-01 -5.89015262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters 0.04961537673540879 Centerline is valid? [True, True] Translation: X:525.10, Y:-239.60, Z:-5.89 [[-7.20440221e-01 -6.93499554e-01 4.92513894e-03 5.25103383e+02] [ 6.93482049e-01 -7.20457043e-01 -4.92930822e-03 -2.39596817e+02] [ 6.96682409e-03 -1.35776462e-04 9.99975722e-01 -5.88834213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters 0.050179772030726356 Centerline is valid? [True, True] Translation: X:525.07, Y:-239.55, Z:-5.89 [[-7.24628700e-01 -6.89122837e-01 4.79191239e-03 5.25068752e+02] [ 6.89106173e-01 -7.24644524e-01 -4.79545490e-03 -2.39550995e+02] [ 6.77709056e-03 -1.72787845e-04 9.99977020e-01 -5.88982359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters 0.05050377805868608 Centerline is valid? [True, True] Translation: X:525.03, Y:-239.51, Z:-5.89 [[-7.21891127e-01 -6.91990388e-01 4.74379017e-03 5.25025594e+02] [ 6.91974128e-01 -7.21906699e-01 -4.74591716e-03 -2.39513688e+02] [ 6.70870296e-03 -1.43455416e-04 9.99977486e-01 -5.89055529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters 0.05024317164693658 Centerline is valid? [True, True] Translation: X:524.98, Y:-239.48, Z:-5.89 [[-7.20277298e-01 -6.93668840e-01 4.91472576e-03 5.24978634e+02] [ 6.93651435e-01 -7.20294053e-01 -4.91565771e-03 -2.39478260e+02] [ 6.94988632e-03 -1.31530082e-04 9.99975841e-01 -5.88806379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters 0.05038831755928999 Centerline is valid? [True, True] Translation: X:524.94, Y:-239.44, Z:-5.89 [[-7.13873851e-01 -7.00255699e-01 5.10693686e-03 5.24940030e+02] [ 7.00237084e-01 -7.13892115e-01 -5.10634557e-03 -2.39437101e+02] [ 7.22154954e-03 -6.92200084e-05 9.99973922e-01 -5.89216746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters 0.049931603727596245 Centerline is valid? [True, True] Translation: X:524.54, Y:-239.95, Z:-4.87 [[-7.55321628e-01 6.55333235e-01 5.25256565e-03 5.24544462e+02] [ 6.55317394e-01 7.55339891e-01 -4.55652902e-03 -2.39946291e+02] [-6.95351727e-03 4.52719675e-07 -9.99975824e-01 -4.87156543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters 0.04914968735545374 Centerline is valid? [True, True] Translation: X:524.59, Y:-239.88, Z:-4.87 [[-8.04170459e-01 5.94375562e-01 5.25015945e-03 5.24588162e+02] [ 5.94362516e-01 8.04187596e-01 -3.93837148e-03 -2.39879003e+02] [-6.56298487e-03 -4.66240256e-05 -9.99978462e-01 -4.87223058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters 0.04905679214552806 Centerline is valid? [True, True] Translation: X:524.63, Y:-239.82, Z:-4.87 [[-8.46508600e-01 5.32346916e-01 5.47280626e-03 5.24634364e+02] [ 5.32335230e-01 8.46526288e-01 -3.52798276e-03 -2.39818550e+02] [-6.51098511e-03 -7.31001694e-05 -9.99978801e-01 -4.87367398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters 0.04928250056641992 Centerline is valid? [True, True] Translation: X:524.66, Y:-239.74, Z:-4.87 [[-8.84458345e-01 4.66583808e-01 5.74335721e-03 5.24662773e+02] [ 4.66573189e-01 8.84476986e-01 -3.14956380e-03 -2.39741586e+02] [-6.54940275e-03 -1.05961496e-04 -9.99978547e-01 -4.87288328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters 0.04919015008855831 Centerline is valid? [True, True] Translation: X:524.66, Y:-239.65, Z:-4.87 [[-9.16586212e-01 3.99799819e-01 5.46077823e-03 5.24658836e+02] [ 3.99791966e-01 9.16602472e-01 -2.50850734e-03 -2.39650146e+02] [-6.00826360e-03 -1.16087974e-04 -9.99981944e-01 -4.87275590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters 0.04874210643431851 Centerline is valid? [True, True] Translation: X:524.90, Y:-239.11, Z:-5.89 [[-8.69295286e-01 -4.94270856e-01 4.69328336e-03 5.24898813e+02] [ 4.94264035e-01 -8.69307953e-01 -2.59734063e-03 -2.39106658e+02] [ 5.36369832e-03 6.18652047e-05 9.99985613e-01 -5.88951859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters 0.04866859472787117 Centerline is valid? [True, True] Translation: X:524.56, Y:-239.60, Z:-4.87 [[-9.18170765e-01 3.96146232e-01 5.53248840e-03 5.24558603e+02] [ 3.96138255e-01 9.18187426e-01 -2.51674665e-03 -2.39604211e+02] [-6.07686099e-03 -1.19172898e-04 -9.99981529e-01 -4.87140528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters 0.04916313496928551 Centerline is valid? [True, True] Translation: X:524.57, Y:-239.52, Z:-4.87 [[-9.44672617e-01 3.27898268e-01 8.73919504e-03 5.24569938e+02] [ 3.27882251e-01 9.44713017e-01 -3.24716466e-03 -2.39524456e+02] [-9.32077099e-03 -2.02080586e-04 -9.99956540e-01 -4.86908507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters 0.04977907154219461 Centerline is valid? [True, True] Translation: X:524.57, Y:-239.44, Z:-4.87 [[-9.66320742e-01 2.57036268e-01 1.25132099e-02 5.24570346e+02] [ 2.57010397e-01 9.66401704e-01 -3.66093031e-03 -2.39439472e+02] [-1.30337792e-02 -3.21607858e-04 -9.99915005e-01 -4.86535236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters 0.049509759302127414 Centerline is valid? [True, True] Translation: X:524.58, Y:-239.36, Z:-4.87 [[-9.82175659e-01 1.87480807e-01 1.34878456e-02 5.24583989e+02] [ 1.87458321e-01 9.82268206e-01 -2.92380521e-03 -2.39364505e+02] [-1.37968392e-02 -3.43281420e-04 -9.99904760e-01 -4.86546005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters 0.049482687119976845 Centerline is valid? [True, True] Translation: X:524.65, Y:-239.30, Z:-4.87 [[-9.92483319e-01 1.21716677e-01 1.27244986e-02 5.24651601e+02] [ 1.21703322e-01 9.92564851e-01 -1.82157360e-03 -2.39301846e+02] [-1.28516060e-02 -2.59267654e-04 -9.99917381e-01 -4.86704681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters 0.049600128009537205 Centerline is valid? [True, True] Translation: X:524.46, Y:-238.65, Z:-5.89 [[-9.75173277e-01 -2.21187371e-01 1.06408163e-02 5.24461957e+02] [ 2.21175419e-01 -9.75231324e-01 -2.30194676e-03 -2.38650159e+02] [ 1.08864189e-02 1.08690029e-04 9.99940735e-01 -5.89209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters 0.049848138522678324 Centerline is valid? [True, True] Translation: X:524.65, Y:-239.32, Z:-4.87 [[-9.91138839e-01 1.32575882e-01 8.21198057e-03 5.24648001e+02] [ 1.32571234e-01 9.91172859e-01 -1.11019112e-03 -2.39321155e+02] [-8.28667683e-03 -1.16811384e-05 -9.99965665e-01 -4.86727544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters 0.04928534802198635 Centerline is valid? [True, True] Translation: X:523.90, Y:-238.54, Z:-5.89 [[-9.81761118e-01 -1.90032856e-01 5.71141003e-03 5.23900185e+02] [ 1.90029019e-01 -9.81777726e-01 -1.21199817e-03 -2.38539526e+02] [ 5.83765462e-03 -1.04559035e-04 9.99982955e-01 -5.88877735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters 0.04999675206293382 Centerline is valid? [True, True] Translation: X:524.15, Y:-239.25, Z:-4.88 [[-9.90065130e-01 1.40432971e-01 7.04405839e-03 5.24153120e+02] [ 1.40430185e-01 9.90090182e-01 -8.91046528e-04 -2.39248104e+02] [-7.09938537e-03 1.07004324e-04 -9.99974793e-01 -4.87693778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters 0.05000584102042828 Centerline is valid? [True, True] Translation: X:524.14, Y:-238.60, Z:-5.89 [[-9.84480401e-01 -1.75276716e-01 8.74143596e-03 5.24141461e+02] [ 1.75269619e-01 -9.84519209e-01 -1.57742709e-03 -2.38596929e+02] [ 8.88259785e-03 -2.08379034e-05 9.99960549e-01 -5.88652930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters 0.049740547750186215 Centerline is valid? [True, True] Translation: X:523.61, Y:-238.56, Z:-5.89 [[-9.70810867e-01 -2.39670309e-01 9.18709447e-03 5.23605587e+02] [ 2.39657865e-01 -9.70854321e-01 -2.44853033e-03 -2.38561208e+02] [ 9.50617038e-03 -1.75300403e-04 9.99954800e-01 -5.88870217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters 0.051202586359479 Centerline is valid? [True, True] Translation: X:523.13, Y:-239.14, Z:-4.87 [[-9.78168189e-01 2.07644237e-01 8.41812637e-03 5.23134055e+02] [ 2.07638018e-01 9.78204397e-01 -1.61580771e-03 -2.39136430e+02] [-8.57016139e-03 1.67391373e-04 -9.99963262e-01 -4.87244087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters 0.05109550583974831 Centerline is valid? [True, True] Translation: X:523.33, Y:-239.09, Z:-4.87 [[-9.90807166e-01 1.35086879e-01 7.25914087e-03 5.23328682e+02] [ 1.35084304e-01 9.90833747e-01 -8.46208600e-04 -2.39086016e+02] [-7.30691343e-03 1.42166447e-04 -9.99973294e-01 -4.87464040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters 0.050586084731337376 Centerline is valid? [True, True] Translation: X:523.02, Y:-238.98, Z:-4.88 [[-9.98039902e-01 6.23586253e-02 5.26830605e-03 5.23019934e+02] [ 6.23582343e-02 9.98053803e-01 -2.38618888e-04 -2.38983473e+02] [-5.27293283e-03 9.03710911e-05 -9.99986094e-01 -4.87542866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters 0.05020223182501517 Centerline is valid? [True, True] Translation: X:523.38, Y:-238.90, Z:-4.88 [[-9.99878073e-01 -1.48361402e-02 4.87119684e-03 5.23381278e+02] [-1.48355957e-02 9.99889936e-01 1.47894158e-04 -2.38899341e+02] [-4.87285488e-03 7.56090182e-05 -9.99988125e-01 -4.87693029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters 0.05015670484606082 Centerline is valid? [True, True] Translation: X:522.71, Y:-238.27, Z:-5.89 [[-9.99691921e-01 -2.44856882e-02 4.06376388e-03 5.22712007e+02] [ 2.44850216e-02 -9.99700174e-01 -2.13715049e-04 -2.38273546e+02] [ 4.06777842e-03 -1.14147861e-04 9.99991720e-01 -5.88779936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters 0.04966173946439966 Centerline is valid? [True, True] Translation: X:522.56, Y:-238.90, Z:-4.87 [[-9.99520257e-01 -3.07056080e-02 4.05236891e-03 5.22561004e+02] [-3.07052982e-02 9.99528472e-01 1.38655412e-04 -2.38900075e+02] [-4.05471560e-03 1.41596975e-05 -9.99991780e-01 -4.87483875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters 0.04993655947922867 Centerline is valid? [True, True] Translation: X:522.55, Y:-238.82, Z:-4.87 [[-9.93817760e-01 -1.10933873e-01 4.46496323e-03 5.22554195e+02] [-1.10932867e-01 9.93827789e-01 4.73179791e-04 -2.38818555e+02] [-4.48989621e-03 -2.50566933e-05 -9.99989920e-01 -4.87482512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters 0.05025057703968952 Centerline is valid? [True, True] Translation: X:522.54, Y:-238.74, Z:-4.87 [[-9.82345507e-01 -1.87013252e-01 4.83210773e-03 5.22543189e+02] [-1.87011259e-01 9.82357390e-01 8.65018480e-04 -2.38738031e+02] [-4.90862666e-03 -5.39115325e-05 -9.99987951e-01 -4.87312431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters 0.049961106629772004 Centerline is valid? [True, True] Translation: X:522.49, Y:-238.67, Z:-4.87 [[-9.65212703e-01 -2.61419356e-01 4.93543649e-03 5.22491475e+02] [-2.61416368e-01 9.65225318e-01 1.25270099e-03 -2.38669451e+02] [-5.09128854e-03 -8.10809754e-05 -9.99987036e-01 -4.87423506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters 0.05081252640240297 Centerline is valid? [True, True] Translation: X:522.43, Y:-238.60, Z:-4.87 [[-9.43096635e-01 -3.32486160e-01 4.65728629e-03 5.22433985e+02] [-3.32482585e-01 9.43108130e-01 1.54454229e-03 -2.38597856e+02] [-4.90586350e-03 -9.18139523e-05 -9.99987962e-01 -4.87308139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters 0.050682129442815596 Centerline is valid? [True, True] Translation: X:522.34, Y:-238.56, Z:-4.87 [[-9.16192325e-01 -4.00708264e-01 4.95085532e-03 5.22335117e+02] [-4.00703061e-01 9.16205695e-01 2.04496238e-03 -2.38555886e+02] [-5.35543517e-03 -1.10244045e-04 -9.99985654e-01 -4.87391777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters 0.05074302469015414 Centerline is valid? [True, True] Translation: X:522.24, Y:-238.51, Z:-4.87 [[-8.83433926e-01 -4.68500242e-01 7.21255804e-03 5.22242358e+02] [-4.68486377e-01 8.83463348e-01 3.60937350e-03 -2.38508238e+02] [-8.06302303e-03 -1.90342178e-04 -9.99967475e-01 -4.87122972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters 0.05081953071652721 Centerline is valid? [True, True] Translation: X:522.12, Y:-238.49, Z:-4.87 [[-8.47213574e-01 -5.31186829e-01 8.34944913e-03 5.22116937e+02] [-5.31163749e-01 8.47254683e-01 4.95724925e-03 -2.38488745e+02] [-9.70733538e-03 -2.35075846e-04 -9.99952855e-01 -4.87107568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters 0.050709523238039914 Centerline is valid? [True, True] Translation: X:521.98, Y:-238.49, Z:-4.87 [[-8.08889340e-01 -5.87911969e-01 7.58631798e-03 5.21975158e+02] [-5.87888333e-01 8.08924891e-01 5.27520875e-03 -2.38490361e+02] [-9.23811980e-03 -1.92847705e-04 -9.99957309e-01 -4.87240866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters 0.050568261787476136 Centerline is valid? [True, True] Translation: X:521.80, Y:-238.53, Z:-4.87 [[-7.68021396e-01 -6.40389853e-01 6.63104087e-03 5.21800208e+02] [-6.40367499e-01 7.68050010e-01 5.35243423e-03 -2.38530222e+02] [-8.52061557e-03 -1.35519051e-04 -9.99963690e-01 -4.87397402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters 0.05078945297354775 Centerline is valid? [True, True] Translation: X:521.61, Y:-238.60, Z:-4.87 [[-7.27653470e-01 -6.85915038e-01 6.40221058e-03 5.21613579e+02] [-6.85889030e-01 7.27681633e-01 5.97333913e-03 -2.38601283e+02] [-8.75597418e-03 -4.46850580e-05 -9.99961665e-01 -4.87373016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters 0.050667567012918725 Centerline is valid? [True, True] Translation: X:521.45, Y:-238.67, Z:-4.87 [[-6.82098244e-01 -7.31231995e-01 6.46183363e-03 5.21447241e+02] [-7.31198771e-01 6.82128850e-01 6.97058451e-03 -2.38671783e+02] [-9.50491756e-03 2.97386467e-05 -9.99954827e-01 -4.87180704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters 0.05147272859760163 Centerline is valid? [True, True] Translation: X:521.61, Y:-238.37, Z:-4.88 [[-6.32729918e-01 -7.74346505e-01 6.35147379e-03 5.21606249e+02] [-7.74305217e-01 6.32761780e-01 7.99757888e-03 -2.38368871e+02] [-1.02118671e-02 1.42328144e-04 -9.99947847e-01 -4.87618998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters 0.051302409370872375 Centerline is valid? [True, True] Translation: X:521.43, Y:-238.47, Z:-4.88 [[-5.80587084e-01 -8.14178850e-01 5.60693096e-03 5.21432489e+02] [-8.14137250e-01 5.80614118e-01 8.23311748e-03 -2.38467911e+02] [-9.95869340e-03 2.15230322e-04 -9.99950388e-01 -4.87532483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters 0.052039441664516135 Centerline is valid? [True, True] Translation: X:521.19, Y:-238.70, Z:-4.87 [[-5.24180862e-01 -8.51594875e-01 4.53799279e-03 5.21189102e+02] [-8.51559064e-01 5.24200454e-01 7.81309998e-03 -2.38696220e+02] [-9.03241378e-03 2.31108588e-04 -9.99959180e-01 -4.87496093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters 0.05167742679891253 Centerline is valid? [True, True] Translation: X:521.01, Y:-238.86, Z:-4.88 [[-4.60536874e-01 -8.87632951e-01 3.67856794e-03 5.21006271e+02] [-8.87600788e-01 4.60551514e-01 7.55941683e-03 -2.38855031e+02] [-8.40415751e-03 2.16290391e-04 -9.99964661e-01 -4.87541731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters 0.0513046835975543 Centerline is valid? [True, True] Translation: X:520.82, Y:-239.05, Z:-4.88 [[-3.90784371e-01 -9.20477162e-01 3.06099106e-03 5.20819694e+02] [-9.20445195e-01 3.90796317e-01 7.67336942e-03 -2.39047220e+02] [-8.25938534e-03 1.81158323e-04 -9.99965874e-01 -4.87803155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters 0.050831564858550934 Centerline is valid? [True, True] Translation: X:520.54, Y:-239.61, Z:-4.88 [[-3.20034833e-01 -9.47402822e-01 2.36628287e-03 5.20537962e+02] [-9.47373718e-01 3.20043552e-01 7.42715609e-03 -2.39614039e+02] [-7.79382221e-03 1.35194460e-04 -9.99969619e-01 -4.87549931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters 0.05087620432422197 Centerline is valid? [True, True] Translation: X:520.40, Y:-239.84, Z:-4.87 [[-2.40691833e-01 -9.70600285e-01 1.58983132e-03 5.20395849e+02] [-9.70577554e-01 2.40697077e-01 6.64298799e-03 -2.39838223e+02] [-6.83035379e-03 5.58583637e-05 -9.99976671e-01 -4.87485396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters 0.050554031630664076 Centerline is valid? [True, True] Translation: X:520.29, Y:-239.96, Z:-4.88 [[-1.59774918e-01 -9.87152704e-01 1.23061635e-03 5.20290263e+02] [-9.87123501e-01 1.59779658e-01 7.59303955e-03 -2.39957044e+02] [-7.69211698e-03 -1.59304192e-06 -9.99970415e-01 -4.87575294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters 0.050136436546501684 Centerline is valid? [True, True] Translation: X:520.19, Y:-240.13, Z:-4.87 [[-7.91221118e-02 -9.96864705e-01 6.71667728e-04 5.20186621e+02] [-9.96834690e-01 7.91249418e-02 7.73588230e-03 -2.40126403e+02] [-7.76477370e-03 -5.74623473e-05 -9.99969852e-01 -4.87403970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters 0.050999696372751036 Centerline is valid? [True, True] Translation: X:520.10, Y:-240.29, Z:-4.87 [[-3.53043784e-04 -9.99999933e-01 9.98448227e-05 5.20098965e+02] [-9.99969107e-01 3.53816921e-04 7.85237668e-03 -2.40286776e+02] [-7.85241148e-03 -9.70695055e-05 -9.99969165e-01 -4.87397077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters 0.05046457986250494 Centerline is valid? [True, True] Translation: X:520.03, Y:-240.47, Z:-4.88 [[ 7.58123733e-02 -9.97121961e-01 -5.28126951e-04 5.20030754e+02] [-9.97084901e-01 -7.58141094e-02 8.59775836e-03 -2.40472041e+02] [-8.61305315e-03 -1.25229059e-04 -9.99962899e-01 -4.87629467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters 0.050630367599779784 Centerline is valid? [True, True] Translation: X:519.97, Y:-240.68, Z:-4.88 [[ 1.50945725e-01 -9.88541198e-01 -1.29931665e-03 5.19972354e+02] [-9.88495097e-01 -1.50951236e-01 9.54817654e-03 -2.40675186e+02] [-9.63489933e-03 -1.56888296e-04 -9.99953571e-01 -4.87531858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters 0.050462321763522215 Centerline is valid? [True, True] Translation: X:519.93, Y:-240.86, Z:-4.87 [[ 2.23372625e-01 -9.74731148e-01 -1.96467050e-03 5.19925292e+02] [-9.74687070e-01 -2.23381211e-01 9.27089387e-03 -2.40863928e+02] [-9.47549950e-03 -1.55924969e-04 -9.99955094e-01 -4.87386453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters 0.050312419725568755 Centerline is valid? [True, True] Translation: X:519.90, Y:-241.08, Z:-4.88 [[ 2.94991279e-01 -9.55495842e-01 -2.80016808e-03 5.19904538e+02] [-9.55447222e-01 -2.95004521e-01 9.64050099e-03 -2.41080174e+02] [-1.00375209e-02 -1.68450910e-04 -9.99949609e-01 -4.87587307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters 0.05099764462953175 Centerline is valid? [True, True] Translation: X:519.89, Y:-241.28, Z:-4.87 [[ 3.66141321e-01 -9.30551892e-01 -3.70265114e-03 5.19890601e+02] [-9.30498839e-01 -3.66159992e-01 9.93833051e-03 -2.41280474e+02] [-1.06038950e-02 -1.93520882e-04 -9.99943758e-01 -4.87486775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters 0.05065392601879323 Centerline is valid? [True, True] Translation: X:519.90, Y:-241.51, Z:-4.87 [[ 4.35491349e-01 -9.00177990e-01 -5.18377670e-03 5.19904489e+02] [-9.00107179e-01 -4.35522127e-01 1.12935142e-02 -2.41511461e+02] [-1.24238224e-02 -2.52273125e-04 -9.99922790e-01 -4.87419917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters 0.049861637792021185 Centerline is valid? [True, True] Translation: X:519.91, Y:-241.68, Z:-4.88 [[ 5.02155414e-01 -8.64757304e-01 -5.89461390e-03 5.19905716e+02] [-8.64691364e-01 -5.02189939e-01 1.06822182e-02 -2.41677544e+02] [-1.21977420e-02 -2.67111974e-04 -9.99925569e-01 -4.87545018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters 0.05021714525557647 Centerline is valid? [True, True] Translation: X:519.94, Y:-241.88, Z:-4.88 [[ 5.64936213e-01 -8.25108807e-01 -6.52162449e-03 5.19939321e+02] [-8.25048262e-01 -5.64973791e-01 9.99902850e-03 -2.41884309e+02] [-1.19348334e-02 -2.68158342e-04 -9.99928741e-01 -4.87595748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters 0.05026081993399133 Centerline is valid? [True, True] Translation: X:520.00, Y:-242.10, Z:-4.88 [[ 6.24345350e-01 -7.81123332e-01 -6.26296679e-03 5.20000635e+02] [-7.81080195e-01 -6.24376717e-01 8.21240823e-03 -2.42099821e+02] [-1.03253543e-02 -2.35499561e-04 -9.99946664e-01 -4.87733109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters 0.05003429987105094 Centerline is valid? [True, True] Translation: X:520.08, Y:-242.32, Z:-4.88 [[ 6.78048649e-01 -7.34989693e-01 -6.33887974e-03 5.20082351e+02] [-7.34954876e-01 -6.78078250e-01 7.15659071e-03 -2.42320483e+02] [-9.55827690e-03 -1.93726087e-04 -9.99954300e-01 -4.87530139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters 0.049677090412957765 Centerline is valid? [True, True] Translation: X:520.18, Y:-242.52, Z:-4.88 [[ 7.28442787e-01 -6.85069960e-01 -7.08910241e-03 5.20179300e+02] [-6.85035155e-01 -7.28477260e-01 6.90777784e-03 -2.42524661e+02] [-9.89656099e-03 -1.75636569e-04 -9.99951012e-01 -4.87650500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters 0.04941299131826319 Centerline is valid? [True, True] Translation: X:520.15, Y:-242.61, Z:-4.88 [[ 7.79888344e-01 -6.25845631e-01 -9.56117474e-03 5.20151081e+02] [-6.25795066e-01 -7.79946919e-01 7.95863920e-03 -2.42607322e+02] [-1.24380884e-02 -2.23513978e-04 -9.99922619e-01 -4.87558697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters 0.04948616750232482 Centerline is valid? [True, True] Translation: X:520.13, Y:-242.69, Z:-4.88 [[ 8.27256943e-01 -5.61714331e-01 -1.10888106e-02 5.20128303e+02] [-5.61659554e-01 -8.27331216e-01 7.84884835e-03 -2.42693763e+02] [-1.35829298e-02 -2.64877863e-04 -9.99907713e-01 -4.87625506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters 0.04930323554136631 Centerline is valid? [True, True] Translation: X:520.11, Y:-242.78, Z:-4.88 [[ 8.68182357e-01 -4.96126688e-01 -1.08491523e-02 5.20110174e+02] [-4.96084559e-01 -8.68250111e-01 6.46958779e-03 -2.42781419e+02] [-1.26295129e-02 -2.34685036e-04 -9.99920217e-01 -4.87645987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters 0.048679699790594264 Centerline is valid? [True, True] Translation: X:520.10, Y:-242.87, Z:-4.88 [[ 9.02401610e-01 -4.30763903e-01 -1.06674200e-02 5.20100570e+02] [-4.30731597e-01 -9.02464643e-01 5.27824319e-03 -2.42870951e+02] [-1.19006460e-02 -1.68300314e-04 -9.99929171e-01 -4.87716927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters 0.04930885230577642 Centerline is valid? [True, True] Translation: X:520.10, Y:-242.96, Z:-4.88 [[ 9.31822020e-01 -3.62749093e-01 -1.09917792e-02 5.20097155e+02] [-3.62722351e-01 -9.31886839e-01 4.40622973e-03 -2.42959605e+02] [-1.18414502e-02 -1.18857908e-04 -9.99929881e-01 -4.87701749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters 0.04903365078876551 Centerline is valid? [True, True] Translation: X:520.10, Y:-243.05, Z:-4.88 [[ 9.56092548e-01 -2.92865503e-01 -1.08090836e-02 5.20101264e+02] [-2.92846012e-01 -9.56153645e-01 3.37942047e-03 -2.43046172e+02] [-1.13248604e-02 -6.56417103e-05 -9.99935870e-01 -4.87742239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters 0.04930422630186091 Centerline is valid? [True, True] Translation: X:520.11, Y:-243.13, Z:-4.88 [[ 9.75929530e-01 -2.17868074e-01 -9.74957370e-03 5.20112043e+02] [-2.17856675e-01 -9.75978227e-01 2.22929076e-03 -2.43132635e+02] [-1.00010629e-02 -5.16209774e-05 -9.99949987e-01 -4.87850688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters 0.048908175138341635 Centerline is valid? [True, True] Translation: X:520.13, Y:-243.22, Z:-4.88 [[ 9.90165955e-01 -1.39582538e-01 -9.38596819e-03 5.20129002e+02] [-1.39575673e-01 -9.90210438e-01 1.38571709e-03 -2.43219651e+02] [-9.48750558e-03 -6.20370659e-05 -9.99954991e-01 -4.87892491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters 0.04842362888126682 Centerline is valid? [True, True] Translation: X:520.15, Y:-243.31, Z:-4.88 [[ 9.98203881e-01 -5.92211582e-02 -9.04798426e-03 5.20151217e+02] [-5.92179779e-02 -9.98244884e-01 6.19235064e-04 -2.43306063e+02] [-9.06877581e-03 -8.23195125e-05 -9.99958874e-01 -4.87891053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters 0.04956814325003559 Centerline is valid? [True, True] Translation: X:520.18, Y:-243.39, Z:-4.88 [[ 9.99745781e-01 2.08946081e-02 -8.47282421e-03 5.20176142e+02] [ 2.08946403e-02 -9.99781680e-01 -8.47252094e-05 -2.43394784e+02] [-8.47274472e-03 -9.23329440e-05 -9.99964101e-01 -4.87542088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters 0.04892257371574658 Centerline is valid? [True, True] Translation: X:520.21, Y:-243.47, Z:-4.88 [[ 9.94854243e-01 1.00987803e-01 -8.15473447e-03 5.20207327e+02] [ 1.00985277e-01 -9.94887658e-01 -7.22052920e-04 -2.43466462e+02] [-8.18596322e-03 -1.05170706e-04 -9.99966489e-01 -4.87757258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters 0.04895605746768369 Centerline is valid? [True, True] Translation: X:520.24, Y:-243.54, Z:-4.88 [[ 9.83418824e-01 1.81131888e-01 -8.86881672e-03 5.20244334e+02] [ 1.81125797e-01 -9.83458804e-01 -1.49191430e-03 -2.43540023e+02] [-8.99234914e-03 -1.39194887e-04 -9.99959558e-01 -4.88355805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters 0.049404907529742755 Centerline is valid? [True, True] Translation: X:520.29, Y:-243.63, Z:-4.87 [[ 9.65663554e-01 2.59468551e-01 -1.30372925e-02 5.20291627e+02] [ 2.59448174e-01 -9.65751529e-01 -3.26020760e-03 -2.43634474e+02] [-1.34367065e-02 -2.34238083e-04 -9.99909696e-01 -4.87400784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters 0.0491126600752235 Centerline is valid? [True, True] Translation: X:520.34, Y:-243.70, Z:-4.87 [[ 9.42566671e-01 3.33724699e-01 -1.39963089e-02 5.20341568e+02] [ 3.33691829e-01 -9.42670549e-01 -4.69041379e-03 -2.43703470e+02] [-1.47592151e-02 -2.49426217e-04 -9.99891046e-01 -4.87431725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters 0.0491126600752235 Centerline is valid? [True, True] Translation: X:520.40, Y:-243.77, Z:-4.87 [[ 9.13573437e-01 4.06446778e-01 -1.35864278e-02 5.20396295e+02] [ 4.06405883e-01 -9.13674425e-01 -5.77094672e-03 -2.43770112e+02] [-1.47591543e-02 -2.49420557e-04 -9.99891047e-01 -4.87431842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters 0.048477073032294184 Centerline is valid? [True, True] Translation: X:520.46, Y:-243.84, Z:-4.88 [[ 8.79195464e-01 4.76287324e-01 -1.28732371e-02 5.20457861e+02] [ 4.76240230e-01 -8.79289672e-01 -6.70193775e-03 -2.43835221e+02] [-1.45113525e-02 -2.38440131e-04 -9.99894676e-01 -4.87558472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters 0.04947350776663928 Centerline is valid? [True, True] Translation: X:520.52, Y:-243.90, Z:-4.87 [[ 8.40445713e-01 5.41769518e-01 -1.16958378e-02 5.20523240e+02] [ 5.41720303e-01 -8.40527067e-01 -7.30497436e-03 -2.43895119e+02] [-1.37882807e-02 -1.96438407e-04 -9.99904918e-01 -4.87488227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters 0.048673936070249425 Centerline is valid? [True, True] Translation: X:520.59, Y:-243.95, Z:-4.88 [[ 7.97749044e-01 6.02894155e-01 -1.07285379e-02 5.20593850e+02] [ 6.02841996e-01 -7.97821170e-01 -7.93150549e-03 -2.43948961e+02] [-1.33413130e-02 -1.40262308e-04 -9.99910991e-01 -4.87786212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters 0.0495316578873199 Centerline is valid? [True, True] Translation: X:520.67, Y:-244.00, Z:-4.87 [[ 7.52823104e-01 6.58144395e-01 -1.01651443e-02 5.20666709e+02] [ 6.58085230e-01 -7.52891728e-01 -8.82473401e-03 -2.43997250e+02] [-1.34612023e-02 -4.60676661e-05 -9.99909393e-01 -4.87427939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters 0.04854697953668358 Centerline is valid? [True, True] Translation: X:520.73, Y:-244.03, Z:-4.88 [[ 7.01771316e-01 7.12350075e-01 -8.62503293e-03 5.20734775e+02] [ 7.12296198e-01 -7.01824316e-01 -8.76107510e-03 -2.44029627e+02] [-1.22942103e-02 4.69303395e-06 -9.99924423e-01 -4.87545507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters 0.049072383693412554 Centerline is valid? [True, True] Translation: X:520.81, Y:-244.06, Z:-4.88 [[ 6.45873647e-01 7.63404862e-01 -7.76202769e-03 5.20808019e+02] [ 7.63349073e-01 -6.45920286e-01 -9.22910685e-03 -2.44058751e+02] [-1.20591962e-02 3.57002548e-05 -9.99927285e-01 -4.87744813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters 0.04951852714771448 Centerline is valid? [True, True] Translation: X:520.89, Y:-244.08, Z:-4.88 [[ 5.87002718e-01 8.09555136e-01 -6.94915220e-03 5.20886292e+02] [ 8.09496850e-01 -5.87043844e-01 -9.71470024e-03 -2.44084325e+02] [-1.19440425e-02 7.72386292e-05 -9.99928664e-01 -4.87871134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters 0.049732047806102735 Centerline is valid? [True, True] Translation: X:520.97, Y:-244.10, Z:-4.88 [[ 5.22382320e-01 8.52687201e-01 -6.42261190e-03 5.20965463e+02] [ 8.52620676e-01 -5.22421793e-01 -1.06513835e-02 -2.44104794e+02] [-1.24376108e-02 8.80426932e-05 -9.99922646e-01 -4.87748376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters 0.05041410417427139 Centerline is valid? [True, True] Translation: X:521.05, Y:-244.12, Z:-4.88 [[ 4.53018471e-01 8.91480464e-01 -6.07020185e-03 5.21049320e+02] [ 8.91398060e-01 -4.53059131e-01 -1.21212044e-02 -2.44120125e+02] [-1.35559773e-02 8.01633139e-05 -9.99908110e-01 -4.88161669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters 0.05014659132232138 Centerline is valid? [True, True] Translation: X:521.14, Y:-244.13, Z:-4.88 [[ 3.81176612e-01 9.24488097e-01 -5.11357012e-03 5.21138116e+02] [ 9.24402441e-01 -3.81210904e-01 -1.25846900e-02 -2.44129416e+02] [-1.35837448e-02 6.99928169e-05 -9.99907734e-01 -4.87868709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters 0.050305688253901845 Centerline is valid? [True, True] Translation: X:521.22, Y:-244.13, Z:-4.88 [[ 3.06600490e-01 9.51831425e-01 -3.61645896e-03 5.21216362e+02] [ 9.51763374e-01 -3.06621814e-01 -1.13816720e-02 -2.44128373e+02] [-1.19423183e-02 4.76130216e-05 -9.99928687e-01 -4.87686623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters 0.05056675235696011 Centerline is valid? [True, True] Translation: X:521.29, Y:-244.12, Z:-4.88 [[ 2.30329051e-01 9.73109717e-01 -2.45108419e-03 5.21293962e+02] [ 9.73053073e-01 -2.30342090e-01 -1.04994758e-02 -2.44120609e+02] [-1.07817298e-02 3.32992920e-05 -9.99941875e-01 -4.87944323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters 0.050282110291259986 Centerline is valid? [True, True] Translation: X:521.38, Y:-244.11, Z:-4.88 [[ 1.50556323e-01 9.88600403e-01 -1.42695523e-03 5.21377040e+02] [ 9.88555955e-01 -1.50563085e-01 -9.37452748e-03 -2.44106868e+02] [-9.48250843e-03 7.69299366e-07 -9.99955040e-01 -4.88161679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters 0.05056811817259705 Centerline is valid? [True, True] Translation: X:521.46, Y:-244.09, Z:-4.88 [[ 6.95034389e-02 9.97581514e-01 -6.28739220e-04 5.21459684e+02] [ 9.97544218e-01 -6.95062772e-02 -8.62611519e-03 -2.44086602e+02] [-8.64895438e-03 -2.76505033e-05 -9.99962597e-01 -4.88216112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters 0.049939713725767866 Centerline is valid? [True, True] Translation: X:521.54, Y:-244.06, Z:-4.88 [[-1.24025303e-02 9.99923085e-01 4.43722232e-05 5.21541874e+02] [ 9.99890914e-01 1.24024872e-02 -8.02118512e-03 -2.44059444e+02] [-8.02111849e-03 -5.51156087e-05 -9.99967829e-01 -4.88308652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters 0.04996388082536715 Centerline is valid? [True, True] Translation: X:521.63, Y:-244.03, Z:-4.88 [[-9.56866387e-02 9.95411298e-01 6.44440258e-04 5.21625180e+02] [ 9.95381757e-01 9.56887642e-02 -7.66924667e-03 -2.44026100e+02] [-7.69572048e-03 -9.23803582e-05 -9.99970383e-01 -4.88216015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters 0.05057439564524943 Centerline is valid? [True, True] Translation: X:521.71, Y:-243.99, Z:-4.88 [[-1.76371144e-01 9.84322633e-01 1.47407758e-03 5.21705440e+02] [ 9.84281416e-01 1.76377250e-01 -9.00885943e-03 -2.43986563e+02] [-9.12761799e-03 -1.37995670e-04 -9.99958333e-01 -4.88057924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters 0.050580412804612326 Centerline is valid? [True, True] Translation: X:521.78, Y:-243.94, Z:-4.88 [[-2.55147319e-01 9.66898126e-01 2.80369715e-03 5.21779198e+02] [ 9.66830586e-01 2.55162640e-01 -1.14300018e-02 -2.43940568e+02] [-1.17670461e-02 -2.05634151e-04 -9.99930745e-01 -4.87809389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters 0.050607600786042484 Centerline is valid? [True, True] Translation: X:521.85, Y:-243.89, Z:-4.88 [[-3.27336964e-01 9.44899194e-01 4.00304654e-03 5.21847549e+02] [ 9.44821405e-01 3.27361387e-01 -1.21257816e-02 -2.43889177e+02] [-1.27680841e-02 -1.87052468e-04 -9.99918467e-01 -4.87863987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters 0.0508275393873389 Centerline is valid? [True, True] Translation: X:521.91, Y:-243.84, Z:-4.88 [[-3.91988264e-01 9.19958750e-01 4.59328162e-03 5.21905624e+02] [ 9.19893577e-01 3.92015169e-01 -1.09505568e-02 -2.43835909e+02] [-1.18746966e-02 -6.71595004e-05 -9.99929491e-01 -4.88062945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters 0.05072272092073006 Centerline is valid? [True, True] Translation: X:521.96, Y:-243.78, Z:-4.88 [[-4.52128069e-01 8.91943187e-01 4.19049261e-03 5.21963328e+02] [ 8.91906053e-01 4.52147484e-01 -8.13907901e-03 -2.43776020e+02] [-9.15431676e-03 5.76196449e-05 -9.99958097e-01 -4.88251581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters 0.05126650463857707 Centerline is valid? [True, True] Translation: X:522.01, Y:-243.72, Z:-4.88 [[-5.11106994e-01 8.59505659e-01 4.43426906e-03 5.22013258e+02] [ 8.59475749e-01 5.11126208e-01 -7.17194246e-03 -2.43715856e+02] [-8.43079627e-03 1.45516764e-04 -9.99964450e-01 -4.88176541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters 0.051376161864886645 Centerline is valid? [True, True] Translation: X:522.06, Y:-243.65, Z:-4.88 [[-5.71975880e-01 8.20256231e-01 4.82789179e-03 5.22059052e+02] [ 8.20229758e-01 5.71996224e-01 -6.59274360e-03 -2.43652197e+02] [-8.16927489e-03 1.89090187e-04 -9.99966613e-01 -4.88407429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters 0.0519964486472903 Centerline is valid? [True, True] Translation: X:522.12, Y:-243.56, Z:-4.89 [[-6.29851460e-01 7.76687799e-01 6.57278023e-03 5.22123352e+02] [ 7.76650276e-01 6.29885686e-01 -7.64009005e-03 -2.43564477e+02] [-1.00740649e-02 2.92629708e-04 -9.99949213e-01 -4.88608380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters 0.05248850046469284 Centerline is valid? [True, True] Translation: X:522.17, Y:-243.48, Z:-4.88 [[-6.87826577e-01 7.25835892e-01 7.54034736e-03 5.22174940e+02] [ 7.25797320e-01 6.87867832e-01 -7.48968597e-03 -2.43478704e+02] [-1.06230453e-02 3.21158841e-04 -9.99943522e-01 -4.88394300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters 0.052434540284543384 Centerline is valid? [True, True] Translation: X:522.19, Y:-243.38, Z:-4.88 [[-7.38713400e-01 6.73970659e-01 8.12797339e-03 5.22194220e+02] [ 6.73934363e-01 7.38758051e-01 -7.00122962e-03 -2.43383265e+02] [-1.07232291e-02 3.05818435e-04 -9.99942458e-01 -4.88380774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters 0.05252250500866206 Centerline is valid? [True, True] Translation: X:522.61, Y:-242.94, Z:-5.88 [[-7.28499687e-01 -6.85021038e-01 5.86378735e-03 5.22610805e+02] [ 6.84994333e-01 -7.28523176e-01 -6.06181398e-03 -2.42943867e+02] [ 8.42437509e-03 -3.99368480e-04 9.99964435e-01 -5.87726425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters 0.052446299385271275 Centerline is valid? [True, True] Translation: X:522.32, Y:-243.48, Z:-4.89 [[-7.53376806e-01 6.57563329e-01 5.81865712e-03 5.22322326e+02] [ 6.57544535e-01 7.53399271e-01 -4.97216941e-03 -2.43481551e+02] [-7.65328830e-03 8.01090905e-05 -9.99970710e-01 -4.88643458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters 0.05211485071147315 Centerline is valid? [True, True] Translation: X:522.69, Y:-243.06, Z:-5.87 [[-7.16179552e-01 -6.97891371e-01 5.87229759e-03 5.22688118e+02] [ 6.97867415e-01 -7.16203625e-01 -5.78266910e-03 -2.43057238e+02] [ 8.24143568e-03 -4.33442253e-05 9.99966038e-01 -5.87413350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters 0.05193389537036787 Centerline is valid? [True, True] Translation: X:521.70, Y:-242.91, Z:-4.89 [[-7.69230573e-01 6.38941260e-01 6.19614388e-03 5.21702049e+02] [ 6.38919625e-01 7.69255522e-01 -5.25867656e-03 -2.42909180e+02] [-8.12640333e-03 -8.62968584e-05 -9.99966977e-01 -4.88541780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters 0.0516129793775216 Centerline is valid? [True, True] Translation: X:521.80, Y:-242.88, Z:-4.89 [[-8.17726153e-01 5.75573500e-01 6.25186232e-03 5.21803066e+02] [ 5.75555264e-01 8.17750038e-01 -4.58411066e-03 -2.42883196e+02] [-7.75095326e-03 -1.50254899e-04 -9.99969950e-01 -4.88661561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters 0.051891707807202175 Centerline is valid? [True, True] Translation: X:521.82, Y:-242.80, Z:-4.89 [[-8.58279832e-01 5.13134905e-01 6.94980224e-03 5.21819168e+02] [ 5.13116304e-01 8.58307948e-01 -4.37321363e-03 -2.42800060e+02] [-8.20911906e-03 -1.87384224e-04 -9.99966287e-01 -4.88758734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters 0.05219314130443769 Centerline is valid? [True, True] Translation: X:521.82, Y:-242.70, Z:-4.89 [[-8.91474551e-01 4.53011777e-01 7.31127129e-03 5.21816679e+02] [ 4.52994971e-01 8.91504515e-01 -3.90584357e-03 -2.42704032e+02] [-8.28742451e-03 -1.69991012e-04 -9.99965644e-01 -4.88699930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters 0.05228033933588008 Centerline is valid? [True, True] Translation: X:521.75, Y:-242.59, Z:-4.89 [[-9.20583571e-01 3.90465988e-01 7.88675518e-03 5.21754227e+02] [ 3.90450165e-01 9.20617340e-01 -3.51891174e-03 -2.42590752e+02] [-8.63469893e-03 -1.60067482e-04 -9.99962708e-01 -4.88741521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters 0.05258153604329536 Centerline is valid? [True, True] Translation: X:521.72, Y:-242.49, Z:-4.89 [[-9.45444510e-01 3.25652981e-01 9.20950483e-03 5.21718400e+02] [ 3.25635817e-01 9.45489349e-01 -3.34761716e-03 -2.42494738e+02] [-9.79765023e-03 -1.66041641e-04 -9.99951988e-01 -4.88638919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters 0.052525601454545164 Centerline is valid? [True, True] Translation: X:522.11, Y:-242.54, Z:-4.89 [[-9.66798216e-01 2.55271765e-01 1.17275540e-02 5.22113357e+02] [ 2.55250629e-01 9.66869325e-01 -3.29022992e-03 -2.42544058e+02] [-1.21789150e-02 -1.87522878e-04 -9.99925817e-01 -4.89143213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters 0.05319294565076309 Centerline is valid? [True, True] Translation: X:521.36, Y:-242.27, Z:-4.88 [[-9.82348441e-01 1.86593979e-01 1.31995262e-02 5.21359980e+02] [ 1.86574352e-01 9.82437095e-01 -2.71392708e-03 -2.42268504e+02] [-1.34741066e-02 -2.03329001e-04 -9.99909199e-01 -4.88422294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters 0.05313772666582323 Centerline is valid? [True, True] Translation: X:521.30, Y:-242.18, Z:-4.88 [[-9.93069843e-01 1.16776351e-01 1.32503036e-02 5.21298118e+02] [ 1.16763322e-01 9.93158218e-01 -1.75535064e-03 -2.42184442e+02] [-1.33646314e-02 -1.96036311e-04 -9.99910670e-01 -4.88498008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters 0.052855605893728695 Centerline is valid? [True, True] Translation: X:521.25, Y:-242.11, Z:-4.89 [[-9.98797571e-01 4.74979220e-02 1.21391923e-02 5.21250975e+02] [ 4.74924808e-02 9.98871324e-01 -7.36272634e-04 -2.42108890e+02] [-1.21604625e-02 -1.58866960e-04 -9.99926046e-01 -4.88717721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters 0.052693572602208326 Centerline is valid? [True, True] Translation: X:521.13, Y:-242.04, Z:-4.89 [[-9.99820082e-01 -1.59346017e-02 1.02903431e-02 5.21131494e+02] [-1.59343360e-02 9.99873035e-01 1.07808116e-04 -2.42038827e+02] [-1.02907544e-02 -5.61810651e-05 -9.99947047e-01 -4.88666814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters 0.05214999778088904 Centerline is valid? [True, True] Translation: X:521.05, Y:-241.50, Z:-5.87 [[-9.98288904e-01 -5.75325951e-02 1.04530094e-02 5.21053090e+02] [ 5.75301527e-02 -9.98343626e-01 -5.34450270e-04 -2.41500577e+02] [ 1.04664436e-02 6.78274536e-05 9.99945223e-01 -5.87400314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters 0.05341997788092003 Centerline is valid? [True, True] Translation: X:521.35, Y:-242.05, Z:-4.89 [[-9.99862902e-01 -1.23459289e-02 1.10342489e-02 5.21349267e+02] [-1.23443902e-02 9.99923784e-01 2.07542175e-04 -2.42050944e+02] [-1.10359702e-02 7.13026474e-05 -9.99939099e-01 -4.89198923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters 0.05340123678979976 Centerline is valid? [True, True] Translation: X:521.23, Y:-241.51, Z:-5.87 [[-9.99331957e-01 -3.46780679e-02 1.15356736e-02 5.21227449e+02] [ 3.46752378e-02 -9.99398534e-01 -4.45315632e-04 -2.41511425e+02] [ 1.15441780e-02 -4.50159159e-05 9.99933363e-01 -5.87073553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters 0.053508204295408306 Centerline is valid? [True, True] Translation: X:521.01, Y:-242.07, Z:-4.89 [[-9.99929302e-01 -2.48919145e-03 1.16273193e-02 5.21009596e+02] [-2.48632248e-03 9.99996875e-01 2.61192522e-04 -2.42066092e+02] [-1.16279331e-02 2.32264791e-04 -9.99932366e-01 -4.89083704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters 0.05328086229160019 Centerline is valid? [True, True] Translation: X:520.98, Y:-241.99, Z:-4.89 [[-9.97411938e-01 -7.09579845e-02 1.15926832e-02 5.20977224e+02] [-7.09500987e-02 9.97479270e-01 1.09061119e-03 -2.41988725e+02] [-1.16408487e-02 2.65286603e-04 -9.99932208e-01 -4.89001691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters 0.05353185617611537 Centerline is valid? [True, True] Translation: X:520.79, Y:-241.43, Z:-5.87 [[-9.98692003e-01 4.98577783e-02 1.13350868e-02 5.20786723e+02] [-4.98577260e-02 -9.98756289e-01 2.87365538e-04 -2.41429045e+02] [ 1.13353166e-02 -2.78151987e-04 9.99935715e-01 -5.87223396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters 0.05319004280787101 Centerline is valid? [True, True] Translation: X:520.87, Y:-242.00, Z:-4.89 [[-9.96655688e-01 -8.09433158e-02 1.12080079e-02 5.20865713e+02] [-8.09357980e-02 9.96718684e-01 1.12346270e-03 -2.42002552e+02] [-1.12621677e-02 2.12576427e-04 -9.99936557e-01 -4.89114681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters 0.05206924648663117 Centerline is valid? [True, True] Translation: X:520.09, Y:-242.03, Z:-4.89 [[-9.87383669e-01 -1.57965685e-01 1.09696040e-02 5.20093874e+02] [-1.57954425e-01 9.87444593e-01 1.89082888e-03 -2.42028615e+02] [-1.11305623e-02 1.34276063e-04 -9.99938044e-01 -4.88779628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters 0.052697975573509005 Centerline is valid? [True, True] Translation: X:520.44, Y:-241.87, Z:-4.89 [[-9.68814095e-01 -2.47587145e-01 9.99278555e-03 5.20443096e+02] [-2.47574360e-01 9.68865628e-01 2.51634364e-03 -2.41866747e+02] [-1.03046808e-02 -3.60883055e-05 -9.99946905e-01 -4.89268382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters 0.051963008735589025 Centerline is valid? [True, True] Translation: X:519.83, Y:-241.95, Z:-4.89 [[-9.43898496e-01 -3.30086634e-01 9.92187878e-03 5.19833107e+02] [-3.30070586e-01 9.43950621e-01 3.26087420e-03 -2.41952185e+02] [-1.04421346e-02 -1.96986092e-04 -9.99945460e-01 -4.88971014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters 0.05183958885068035 Centerline is valid? [True, True] Translation: X:519.79, Y:-241.88, Z:-4.89 [[-9.13637234e-01 -4.06461075e-01 7.50995618e-03 5.19787698e+02] [-4.06449427e-01 9.13668069e-01 3.08596546e-03 -2.41882913e+02] [-8.11593200e-03 -2.32964439e-04 -9.99967038e-01 -4.89106162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters 0.052505602642524546 Centerline is valid? [True, True] Translation: X:519.70, Y:-241.83, Z:-4.89 [[-8.80772453e-01 -4.73494193e-01 6.56772545e-03 5.19697962e+02] [-4.73482952e-01 8.80796910e-01 3.27071113e-03 -2.41831424e+02] [-7.33349501e-03 -2.28953766e-04 -9.99973083e-01 -4.89057283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters 0.05180262326808614 Centerline is valid? [True, True] Translation: X:519.58, Y:-241.81, Z:-4.89 [[-8.44926649e-01 -5.34842381e-01 6.52576820e-03 5.19575168e+02] [-5.34828523e-01 8.44951817e-01 3.85708202e-03 -2.41814947e+02] [-7.57689064e-03 -2.31215585e-04 -9.99971268e-01 -4.89137197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters 0.051630845377561324 Centerline is valid? [True, True] Translation: X:519.43, Y:-241.82, Z:-4.89 [[-8.05892941e-01 -5.92011665e-01 7.66526585e-03 5.19428612e+02] [-5.91987920e-01 8.05929352e-01 5.30866053e-03 -2.41821076e+02] [-9.32045171e-03 -2.59532742e-04 -9.99956530e-01 -4.89067470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters 0.05128934798436423 Centerline is valid? [True, True] Translation: X:519.27, Y:-241.85, Z:-4.89 [[-7.63956155e-01 -6.45203395e-01 9.14178155e-03 5.19270804e+02] [-6.45161447e-01 7.64010801e-01 7.36228404e-03 -2.41848283e+02] [-1.17345905e-02 -2.73462811e-04 -9.99931110e-01 -4.88943517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters 0.050986280678410836 Centerline is valid? [True, True] Translation: X:519.07, Y:-241.94, Z:-4.89 [[-7.20310993e-01 -6.93585320e-01 9.56436312e-03 5.19065783e+02] [-6.93528230e-01 7.20374455e-01 8.90167105e-03 -2.41936546e+02] [-1.30639912e-02 -2.21184309e-04 -9.99914638e-01 -4.89041887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters 0.050491504437614354 Centerline is valid? [True, True] Translation: X:518.89, Y:-242.02, Z:-4.89 [[-6.73607626e-01 -7.39036487e-01 8.82249698e-03 5.18891813e+02] [-7.38975454e-01 6.73665389e-01 9.49852055e-03 -2.42015126e+02] [-1.29631641e-02 -1.21332827e-04 -9.99915967e-01 -4.89017642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters 0.05058169635102993 Centerline is valid? [True, True] Translation: X:518.71, Y:-242.12, Z:-4.89 [[-6.21774040e-01 -7.83156140e-01 7.96888468e-03 5.18705254e+02] [-7.83092989e-01 6.21825101e-01 9.94553717e-03 -2.42124749e+02] [-1.27441610e-02 -5.65008957e-05 -9.99918788e-01 -4.89025794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters 0.05082319933195929 Centerline is valid? [True, True] Translation: X:518.53, Y:-242.24, Z:-4.89 [[-5.67473760e-01 -8.23366118e-01 6.46283991e-03 5.18533683e+02] [-8.23312397e-01 5.67510560e-01 9.40539547e-03 -2.42243993e+02] [-1.14118139e-02 1.63789128e-05 -9.99934883e-01 -4.89092491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters 0.051096386681694306 Centerline is valid? [True, True] Translation: X:518.36, Y:-242.40, Z:-4.89 [[-5.06585314e-01 -8.62171599e-01 5.60838025e-03 5.18356110e+02] [-8.62118107e-01 5.06616358e-01 9.60394647e-03 -2.42395911e+02] [-1.11215471e-02 3.01320800e-05 -9.99938153e-01 -4.88816400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters 0.050832876764460334 Centerline is valid? [True, True] Translation: X:518.22, Y:-242.48, Z:-4.89 [[-4.34713732e-01 -9.00556629e-01 4.66154016e-03 5.18220673e+02] [-9.00506027e-01 4.34738722e-01 9.54671091e-03 -2.42479921e+02] [-1.06239058e-02 -4.76586842e-05 -9.99943564e-01 -4.88981865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters 0.0499917022843344 Centerline is valid? [True, True] Translation: X:518.08, Y:-242.60, Z:-4.89 [[-3.58844358e-01 -9.33389288e-01 3.89412695e-03 5.18079798e+02] [-9.33338389e-01 3.58865461e-01 9.74851317e-03 -2.42602163e+02] [-1.04966254e-02 -1.36339228e-04 -9.99944900e-01 -4.89203906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters 0.049679226281989175 Centerline is valid? [True, True] Translation: X:517.95, Y:-242.71, Z:-4.89 [[-2.81466963e-01 -9.59566081e-01 3.04706104e-03 5.17954456e+02] [-9.59517515e-01 2.81483381e-01 9.65633398e-03 -2.42710447e+02] [-1.01235876e-02 -2.05769430e-04 -9.99948734e-01 -4.89339235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters 0.05048956789251648 Centerline is valid? [True, True] Translation: X:517.82, Y:-242.88, Z:-4.89 [[-2.08222639e-01 -9.78078369e-01 2.45688831e-03 5.17819031e+02] [-9.78022920e-01 2.08237002e-01 1.04172383e-02 -2.42880748e+02] [-1.07004905e-02 -2.33788231e-04 -9.99942721e-01 -4.89188136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters 0.04970717797364271 Centerline is valid? [True, True] Translation: X:517.13, Y:-242.94, Z:-5.87 [[-3.15477429e-01 9.48927377e-01 3.29007519e-03 5.17132889e+02] [-9.48865935e-01 -3.15494455e-01 1.08021604e-02 -2.42936331e+02] [ 1.12884662e-02 2.85997515e-04 9.99936242e-01 -5.87111000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters 0.05033720433731414 Centerline is valid? [True, True] Translation: X:517.70, Y:-243.39, Z:-4.89 [[-2.04606010e-01 -9.78841655e-01 2.32295467e-03 5.17696400e+02] [-9.78789224e-01 2.04619098e-01 1.01330759e-02 -2.43387737e+02] [-1.03939976e-02 -2.00394787e-04 -9.99945961e-01 -4.89367755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters 0.05076180704052836 Centerline is valid? [True, True] Translation: X:517.57, Y:-243.63, Z:-4.89 [[-1.37655746e-01 -9.90479082e-01 1.44369356e-03 5.17567039e+02] [-9.90434018e-01 1.37663256e-01 9.44898556e-03 -2.43628191e+02] [-9.55776610e-03 -1.29176056e-04 -9.99954315e-01 -4.89067412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters 0.049900221376353596 Centerline is valid? [True, True] Translation: X:517.46, Y:-243.93, Z:-4.89 [[-6.99854779e-02 -9.97547723e-01 7.57787706e-04 5.17460783e+02] [-9.97500536e-01 6.99895382e-02 9.70280327e-03 -2.43927636e+02] [-9.73204651e-03 -7.68383195e-05 -9.99952640e-01 -4.89278166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters 0.05061039353597951 Centerline is valid? [True, True] Translation: X:517.38, Y:-244.20, Z:-4.89 [[-6.28354617e-03 -9.99980258e-01 4.07910006e-05 5.17379697e+02] [-9.99923394e-01 6.28362387e-03 1.06640949e-02 -2.44200264e+02] [-1.06641407e-02 2.62204569e-05 -9.99943136e-01 -4.88991220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters 0.050829056039961636 Centerline is valid? [True, True] Translation: X:517.32, Y:-244.48, Z:-4.89 [[ 6.24558728e-02 -9.98047456e-01 -7.35159740e-04 5.17316548e+02] [-9.97992929e-01 -6.24601454e-02 1.04328741e-02 -2.44481935e+02] [-1.04584217e-02 8.20899626e-05 -9.99945306e-01 -4.89218835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters 0.05181989308427566 Centerline is valid? [True, True] Translation: X:517.27, Y:-244.75, Z:-4.89 [[ 1.34042462e-01 -9.90974349e-01 -1.56797239e-03 5.17274411e+02] [-9.90915916e-01 -1.34051586e-01 1.07619709e-02 -2.44746386e+02] [-1.08750263e-02 1.11167722e-04 -9.99940859e-01 -4.88816482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters 0.050718767577789405 Centerline is valid? [True, True] Translation: X:517.19, Y:-244.75, Z:-4.89 [[ 2.08605167e-01 -9.77996438e-01 -2.61756969e-03 5.17194049e+02] [-9.77926121e-01 -2.08621558e-01 1.17280879e-02 -2.44751873e+02] [-1.20161097e-02 1.13250033e-04 -9.99927798e-01 -4.88975681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters 0.05088829119901155 Centerline is valid? [True, True] Translation: X:517.22, Y:-245.17, Z:-4.89 [[ 2.82588019e-01 -9.59235145e-01 -3.45655235e-03 5.17222043e+02] [-9.59166815e-01 -2.82609147e-01 1.14495169e-02 -2.45168567e+02] [-1.19596324e-02 7.99139986e-05 -9.99928478e-01 -4.88767010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters 0.05078636578269619 Centerline is valid? [True, True] Translation: X:517.20, Y:-245.35, Z:-4.89 [[ 3.57974029e-01 -9.33722195e-01 -4.17803791e-03 5.17200543e+02] [-9.33659159e-01 -3.57998410e-01 1.08495515e-02 -2.45353512e+02] [-1.16261980e-02 1.70056890e-05 -9.99932413e-01 -4.88719994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters 0.05083303577800589 Centerline is valid? [True, True] Translation: X:517.21, Y:-245.59, Z:-4.89 [[ 4.29791818e-01 -9.02915881e-01 -4.68019660e-03 5.17214864e+02] [-9.02861625e-01 -4.29817299e-01 9.89823624e-03 -2.45588073e+02] [-1.09489042e-02 -2.86110364e-05 -9.99940059e-01 -4.88909199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters 0.05048998974395997 Centerline is valid? [True, True] Translation: X:517.21, Y:-245.75, Z:-4.89 [[ 4.99991835e-01 -8.66016727e-01 -4.81586184e-03 5.17210695e+02] [-8.65975094e-01 -5.00015022e-01 8.49197727e-03 -2.45752234e+02] [-9.76219763e-03 -7.55028870e-05 -9.99952346e-01 -4.89149751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters 0.05018674571682038 Centerline is valid? [True, True] Translation: X:517.25, Y:-245.97, Z:-4.89 [[ 5.64885848e-01 -8.25158671e-01 -4.14073159e-03 5.17250226e+02] [-8.25135476e-01 -5.64901019e-01 6.18750716e-03 -2.45968583e+02] [-7.44477868e-03 -7.85706980e-05 -9.99972284e-01 -4.89201930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters 0.05032332428408467 Centerline is valid? [True, True] Translation: X:517.31, Y:-246.18, Z:-4.89 [[ 6.24432589e-01 -7.81066845e-01 -4.30419794e-03 5.17306196e+02] [-7.81047445e-01 -6.24447419e-01 5.50547283e-03 -2.46179079e+02] [-6.98788758e-03 -7.60138501e-05 -9.99975582e-01 -4.89164373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters 0.05081452058189804 Centerline is valid? [True, True] Translation: X:517.35, Y:-246.36, Z:-4.89 [[ 6.80035569e-01 -7.33169342e-01 -3.78688859e-03 5.17353265e+02] [-7.33157483e-01 -6.80046110e-01 4.17045425e-03 -2.46357493e+02] [-5.63290806e-03 -5.96715255e-05 -9.99984133e-01 -4.89178307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters 0.05112060599370201 Centerline is valid? [True, True] Translation: X:517.48, Y:-246.59, Z:-4.89 [[ 7.31036860e-01 -6.82327992e-01 -3.69067944e-03 5.17479158e+02] [-6.82318973e-01 -7.31046175e-01 3.50852558e-03 -2.46593999e+02] [-5.09202230e-03 -4.66409186e-05 -9.99987035e-01 -4.89288030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters 0.05031980031871291 Centerline is valid? [True, True] Translation: X:517.46, Y:-246.67, Z:-4.89 [[ 7.81220990e-01 -6.24231315e-01 -5.38795556e-03 5.17458151e+02] [-6.24215998e-01 -7.81239568e-01 4.37329813e-03 -2.46668304e+02] [-6.93923372e-03 -5.32642429e-05 -9.99975922e-01 -4.89131358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters 0.05042467169763927 Centerline is valid? [True, True] Translation: X:517.45, Y:-246.74, Z:-4.89 [[ 8.27484086e-01 -5.61437295e-01 -7.63227484e-03 5.17445387e+02] [-5.61412648e-01 -8.27519280e-01 5.26122435e-03 -2.46740714e+02] [-9.26970215e-03 -6.87237986e-05 -9.99957033e-01 -4.89299474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters 0.05031200653422319 Centerline is valid? [True, True] Translation: X:517.43, Y:-246.83, Z:-4.89 [[ 8.69244497e-01 -4.94311831e-01 -8.35565848e-03 5.17428925e+02] [-4.94288112e-01 -8.69284652e-01 4.84306802e-03 -2.46829492e+02] [-9.65743150e-03 -7.97075705e-05 -9.99953363e-01 -4.88904026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters 0.05090152672826548 Centerline is valid? [True, True] Translation: X:517.42, Y:-246.91, Z:-4.89 [[ 9.05375877e-01 -4.24526761e-01 -8.45874052e-03 5.17422544e+02] [-4.24507398e-01 -9.05415387e-01 4.05535898e-03 -2.46912649e+02] [-9.38028223e-03 -8.08262591e-05 -9.99956001e-01 -4.88905563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters 0.05067210889003829 Centerline is valid? [True, True] Translation: X:517.42, Y:-246.99, Z:-4.89 [[ 9.35801660e-01 -3.52425896e-01 -8.44043919e-03 5.17423684e+02] [-3.52410806e-01 -9.35839720e-01 3.26225898e-03 -2.46992536e+02] [-9.04860279e-03 -7.83253907e-05 -9.99959058e-01 -4.88832867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters 0.05055229128505194 Centerline is valid? [True, True] Translation: X:517.43, Y:-247.07, Z:-4.89 [[ 9.60519644e-01 -2.78085693e-01 -8.38819252e-03 5.17431927e+02] [-2.78074389e-01 -9.60556267e-01 2.50852961e-03 -2.47071664e+02] [-8.75491709e-03 -7.69504604e-05 -9.99961672e-01 -4.88810421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters 0.050113775862871066 Centerline is valid? [True, True] Translation: X:517.44, Y:-247.16, Z:-4.89 [[ 9.79364295e-01 -2.02004424e-01 -6.30800168e-03 5.17444027e+02] [-2.01999852e-01 -9.79384607e-01 1.36034868e-03 -2.47157934e+02] [-6.45275621e-03 -5.80615213e-05 -9.99979179e-01 -4.89227244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters 0.0500090110409151 Centerline is valid? [True, True] Translation: X:517.46, Y:-247.24, Z:-4.89 [[ 9.92176533e-01 -1.24668567e-01 -6.59363629e-03 5.17462256e+02] [-1.24665406e-01 -9.92198440e-01 8.89881548e-04 -2.47244920e+02] [-6.65313590e-03 -6.09212414e-05 -9.99977866e-01 -4.89120094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters 0.04973084931001149 Centerline is valid? [True, True] Translation: X:517.49, Y:-247.33, Z:-4.89 [[ 9.98868345e-01 -4.69810261e-02 -7.40357373e-03 5.17486029e+02] [-4.69792459e-02 -9.98895780e-01 4.14283147e-04 -2.47328889e+02] [-7.41486200e-03 -6.60000110e-05 -9.99972507e-01 -4.89019130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters 0.05021709700487024 Centerline is valid? [True, True] Translation: X:517.51, Y:-247.41, Z:-4.89 [[ 9.99460924e-01 3.18436282e-02 -7.99026180e-03 5.17512246e+02] [ 3.18432129e-02 -9.99492860e-01 -1.79225618e-04 -2.47409318e+02] [-7.99191681e-03 -7.53066053e-05 -9.99968061e-01 -4.89077786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters 0.050393628313682055 Centerline is valid? [True, True] Translation: X:517.54, Y:-247.49, Z:-4.89 [[ 9.93835471e-01 1.10585038e-01 -7.87441607e-03 5.17543129e+02] [ 1.10582203e-01 -9.93866663e-01 -7.95887915e-04 -2.47489792e+02] [-7.91413291e-03 -7.97886368e-05 -9.99968680e-01 -4.88944898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters 0.05007999033639825 Centerline is valid? [True, True] Translation: X:517.58, Y:-247.56, Z:-4.89 [[ 9.81835457e-01 1.89631545e-01 -6.24605246e-03 5.17581081e+02] [ 1.89628191e-01 -9.81855321e-01 -1.13023118e-03 -2.47559816e+02] [-6.34704733e-03 -7.47265877e-05 -9.99979855e-01 -4.89044302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters 0.050277968627432966 Centerline is valid? [True, True] Translation: X:517.63, Y:-247.63, Z:-4.89 [[ 9.63437508e-01 2.67878265e-01 -5.42248543e-03 5.17625517e+02] [ 2.67874476e-01 -9.63452764e-01 -1.42694045e-03 -2.47634711e+02] [-5.60655491e-03 -7.77774930e-05 -9.99984280e-01 -4.89230854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters 0.05002745329319688 Centerline is valid? [True, True] Translation: X:517.68, Y:-247.71, Z:-4.89 [[ 9.38426292e-01 3.45418998e-01 -6.46610242e-03 5.17678443e+02] [ 3.45411652e-01 -9.38448561e-01 -2.25582816e-03 -2.47714575e+02] [-6.84731042e-03 -1.16538661e-04 -9.99976550e-01 -4.89177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters 0.049985671975316726 Centerline is valid? [True, True] Translation: X:517.74, Y:-247.79, Z:-4.89 [[ 9.07256365e-01 4.20524488e-01 -6.71150079e-03 5.17736552e+02] [ 4.20514174e-01 -9.07281177e-01 -2.94891707e-03 -2.47791468e+02] [-7.32931017e-03 -1.46857428e-04 -9.99973129e-01 -4.89051750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters 0.04955912817886006 Centerline is valid? [True, True] Translation: X:517.80, Y:-247.86, Z:-4.89 [[ 8.70145780e-01 4.92755942e-01 -6.15656313e-03 5.17802767e+02] [ 4.92744905e-01 -8.70167545e-01 -3.30203573e-03 -2.47863642e+02] [-6.98433915e-03 -1.60362660e-04 -9.99975596e-01 -4.89142452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters 0.050302990521116114 Centerline is valid? [True, True] Translation: X:517.88, Y:-247.93, Z:-4.89 [[ 8.28368854e-01 5.60161537e-01 -4.90854305e-03 5.17875143e+02] [ 5.60152696e-01 -8.28383385e-01 -3.15031758e-03 -2.47934077e+02] [-5.83084224e-03 -1.39908655e-04 -9.99982991e-01 -4.89096810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters 0.05029903537160821 Centerline is valid? [True, True] Translation: X:517.95, Y:-247.99, Z:-4.89 [[ 7.82353388e-01 6.22819618e-01 -4.34737664e-03 5.17947656e+02] [ 6.22810904e-01 -7.82365456e-01 -3.29725109e-03 -2.47991247e+02] [-5.45482997e-03 -1.27978014e-04 -9.99985114e-01 -4.89041463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters 0.05000143184298877 Centerline is valid? [True, True] Translation: X:518.02, Y:-248.04, Z:-4.89 [[ 7.32173379e-01 6.81108671e-01 -3.62230061e-03 5.18022131e+02] [ 6.81101052e-01 -7.32182332e-01 -3.22325356e-03 -2.48037993e+02] [-4.84757046e-03 -1.07172304e-04 -9.99988245e-01 -4.89177579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters 0.050493200535197055 Centerline is valid? [True, True] Translation: X:518.10, Y:-248.08, Z:-4.89 [[ 6.75963118e-01 7.36927598e-01 -3.40260133e-03 5.18103618e+02] [ 7.36919094e-01 -6.75971673e-01 -3.54211235e-03 -2.48082742e+02] [-4.91034246e-03 -1.13104584e-04 -9.99987938e-01 -4.89136345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters 0.05087400498737302 Centerline is valid? [True, True] Translation: X:518.19, Y:-248.12, Z:-4.89 [[ 6.15026264e-01 7.88492183e-01 -4.77205383e-03 5.18189900e+02] [ 7.88470738e-01 -6.15044749e-01 -5.81828245e-03 -2.48123342e+02] [-7.52269689e-03 -1.84228287e-04 -9.99971687e-01 -4.88822639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters 0.05070238036657931 Centerline is valid? [True, True] Translation: X:518.27, Y:-248.15, Z:-4.89 [[ 5.51030101e-01 8.34474321e-01 -4.29373821e-03 5.18269951e+02] [ 8.34451593e-01 -5.51046797e-01 -6.16170014e-03 -2.48148089e+02] [-7.50783122e-03 -1.87634440e-04 -9.99971798e-01 -4.88896817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters 0.04971968805169079 Centerline is valid? [True, True] Translation: X:518.36, Y:-248.17, Z:-4.89 [[ 4.83192534e-01 8.75506082e-01 -3.75182389e-03 5.18358651e+02] [ 8.75482717e-01 -4.83207061e-01 -6.39914820e-03 -2.48172068e+02] [-7.41540096e-03 -1.92636334e-04 -9.99972487e-01 -4.89051176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters 0.0504217449480987 Centerline is valid? [True, True] Translation: X:518.45, Y:-248.19, Z:-4.89 [[ 4.12196157e-01 9.11089656e-01 -3.15710499e-03 5.18452489e+02] [ 9.11066469e-01 -4.12208201e-01 -6.50290086e-03 -2.48192182e+02] [-7.22611027e-03 -1.95861752e-04 -9.99973872e-01 -4.89039238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters 0.050151486857534164 Centerline is valid? [True, True] Translation: X:518.54, Y:-248.20, Z:-4.89 [[ 3.40738080e-01 9.40155897e-01 -2.10957263e-03 5.18544612e+02] [ 9.40140516e-01 -3.40744578e-01 -5.37990091e-03 -2.48202207e+02] [-5.77677100e-03 -1.50157596e-04 -9.99983303e-01 -4.89122141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters 0.04951686887742326 Centerline is valid? [True, True] Translation: X:518.64, Y:-248.21, Z:-4.89 [[ 2.67320169e-01 9.63606662e-01 -1.45922646e-03 5.18637938e+02] [ 9.63594738e-01 -2.67324122e-01 -4.79526551e-03 -2.48205474e+02] [-5.01083622e-03 -1.24231756e-04 -9.99987438e-01 -4.89227935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters 0.049908944819166544 Centerline is valid? [True, True] Translation: X:518.73, Y:-248.20, Z:-4.89 [[ 1.92429392e-01 9.81310141e-01 -1.15571278e-03 5.18734589e+02] [ 9.81296159e-01 -1.92432822e-01 -5.24006498e-03 -2.48201167e+02] [-5.36452597e-03 -1.25753993e-04 -9.99985603e-01 -4.89090315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters 0.05028942024607361 Centerline is valid? [True, True] Translation: X:518.83, Y:-248.19, Z:-4.89 [[ 1.16499053e-01 9.93190515e-01 -7.56649958e-04 5.18830289e+02] [ 9.93175747e-01 -1.16501448e-01 -5.41738388e-03 -2.48190722e+02] [-5.46864510e-03 -1.20366297e-04 -9.99985040e-01 -4.88996400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters 0.05039979087822821 Centerline is valid? [True, True] Translation: X:518.92, Y:-248.17, Z:-4.89 [[ 4.00663455e-02 9.99196992e-01 -2.44928089e-04 5.18916722e+02] [ 9.99188826e-01 -4.00670085e-02 -4.04045744e-03 -2.48170512e+02] [-4.04702646e-03 -8.28430460e-05 -9.99991807e-01 -4.89068088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters 0.05012354008772693 Centerline is valid? [True, True] Translation: X:519.00, Y:-248.15, Z:-4.89 [[-3.72674890e-02 9.99305323e-01 7.63572528e-05 5.19001424e+02] [ 9.99296105e-01 3.72674733e-02 -4.29303223e-03 -2.48145385e+02] [-4.29289560e-03 -8.36870262e-05 -9.99990782e-01 -4.89028720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters 0.05073874266869134 Centerline is valid? [True, True] Translation: X:519.07, Y:-248.11, Z:-4.89 [[-1.10501649e-01 9.93875834e-01 4.60430992e-04 5.19074864e+02] [ 9.93864364e-01 1.10502586e-01 -4.77541272e-03 -2.48113843e+02] [-4.79704611e-03 -7.00850248e-05 -9.99988492e-01 -4.88932888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters 0.05033633688259901 Centerline is valid? [True, True] Translation: X:519.14, Y:-248.08, Z:-4.89 [[-1.85792964e-01 9.82588562e-01 8.31944668e-04 5.19144981e+02] [ 9.82577223e-01 1.85794817e-01 -4.72100383e-03 -2.48076872e+02] [-4.79337538e-03 -5.96794130e-05 -9.99988510e-01 -4.88950985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters 0.05036984762686422 Centerline is valid? [True, True] Translation: X:519.21, Y:-248.04, Z:-4.89 [[-2.59260398e-01 9.65806881e-01 1.05549706e-03 5.19209060e+02] [ 9.65798233e-01 2.59262544e-01 -4.08737798e-03 -2.48036413e+02] [-4.22126863e-03 -4.02980495e-05 -9.99991090e-01 -4.89182678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters 0.05085714864953344 Centerline is valid? [True, True] Translation: X:519.28, Y:-247.99, Z:-4.89 [[-3.32066957e-01 9.43255239e-01 1.04420983e-03 5.19280450e+02] [ 9.43250343e-01 3.32068598e-01 -3.03918804e-03 -2.47986282e+02] [-3.21347934e-03 -2.42626390e-05 -9.99994836e-01 -4.89094904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters 0.05063921101821912 Centerline is valid? [True, True] Translation: X:519.35, Y:-247.93, Z:-4.89 [[-4.03166359e-01 9.15126092e-01 1.05917483e-03 5.19345989e+02] [ 9.15122834e-01 4.03167750e-01 -2.44222340e-03 -2.47931561e+02] [-2.66196749e-03 -1.53472430e-05 -9.99996457e-01 -4.89183673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters 0.05069964293251894 Centerline is valid? [True, True] Translation: X:519.41, Y:-247.87, Z:-4.89 [[-4.72463230e-01 8.81348794e-01 1.67320137e-03 5.19406337e+02] [ 8.81343148e-01 4.72466193e-01 -3.15484140e-03 -2.47873047e+02] [-3.57104674e-03 -1.58820023e-05 -9.99993624e-01 -4.89030313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters 0.05032842048704904 Centerline is valid? [True, True] Translation: X:519.46, Y:-247.81, Z:-4.89 [[-5.39667974e-01 8.41873518e-01 2.73087058e-03 5.19463488e+02] [ 8.41862549e-01 5.39674883e-01 -4.29765625e-03 -2.47807609e+02] [-5.09186524e-03 -2.02897761e-05 -9.99987036e-01 -4.88854598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters 0.05017205483670459 Centerline is valid? [True, True] Translation: X:519.51, Y:-247.74, Z:-4.89 [[-6.03882902e-01 7.97066902e-01 3.12962028e-03 5.19513264e+02] [ 7.97056020e-01 6.03891011e-01 -4.16498394e-03 -2.47739602e+02] [-5.20972040e-03 -2.06799041e-05 -9.99986429e-01 -4.88883440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters 0.050494053587466274 Centerline is valid? [True, True] Translation: X:519.56, Y:-247.67, Z:-4.89 [[-6.64311528e-01 7.47446844e-01 3.66200711e-03 5.19557279e+02] [ 7.47435310e-01 6.64321621e-01 -4.15230594e-03 -2.47669672e+02] [-5.53637847e-03 -2.13112813e-05 -9.99984674e-01 -4.89086134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters 0.05091139239364822 Centerline is valid? [True, True] Translation: X:519.63, Y:-247.57, Z:-4.89 [[-7.19687687e-01 6.94284628e-01 4.29990845e-03 5.19628652e+02] [ 6.94272122e-01 7.19700532e-01 -4.16724411e-03 -2.47565995e+02] [-5.98789992e-03 -1.38077127e-05 -9.99982072e-01 -4.88899764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters 0.05022879343021326 Centerline is valid? [True, True] Translation: X:519.60, Y:-247.42, Z:-4.89 [[-7.65436325e-01 6.43501687e-01 3.57936724e-03 5.19598685e+02] [ 6.43494658e-01 7.65444694e-01 -3.00760240e-03 -2.47415024e+02] [-4.67520488e-03 1.17556779e-06 -9.99989071e-01 -4.89000847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters 0.050726982202756836 Centerline is valid? [True, True] Translation: X:519.34, Y:-247.11, Z:-4.89 [[-8.07586579e-01 5.89740276e-01 3.21328189e-03 5.19337813e+02] [ 5.89735661e-01 8.07592971e-01 -2.33312369e-03 -2.47107092e+02] [-3.97096087e-03 1.07875378e-05 -9.99992116e-01 -4.89016347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters 0.050314733811613443 Centerline is valid? [True, True] Translation: X:519.28, Y:-246.98, Z:-4.89 [[-8.47001907e-01 5.31576794e-01 3.72582790e-03 5.19282802e+02] [ 5.31571728e-01 8.47010102e-01 -2.32068115e-03 -2.46975401e+02] [-4.38943411e-03 1.49234156e-05 -9.99990366e-01 -4.88821672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters 0.05029817224359589 Centerline is valid? [True, True] Translation: X:519.39, Y:-246.94, Z:-4.89 [[-8.81402106e-01 4.72354230e-01 3.43634928e-03 5.19391080e+02] [ 4.72350848e-01 8.81408804e-01 -1.78810288e-03 -2.46935807e+02] [-3.87344646e-03 4.71248528e-05 -9.99992497e-01 -4.88872560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters 0.05055509114656753 Centerline is valid? [True, True] Translation: X:519.10, Y:-246.71, Z:-4.89 [[-9.13294356e-01 4.07283424e-01 3.69207955e-03 5.19104969e+02] [ 4.07280107e-01 9.13301819e-01 -1.64388914e-03 -2.46708864e+02] [-4.04151176e-03 2.35587932e-06 -9.99991833e-01 -4.88852888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters 0.050660300326915805 Centerline is valid? [True, True] Translation: X:519.25, Y:-246.68, Z:-4.89 [[-9.41067827e-01 3.38176308e-01 5.30384338e-03 5.19251461e+02] [ 3.38170849e-01 9.41082773e-01 -1.92154698e-03 -2.46682438e+02] [-5.64117729e-03 -1.47008240e-05 -9.99984088e-01 -4.88650929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters 0.05018731053551865 Centerline is valid? [True, True] Translation: X:519.12, Y:-246.56, Z:-4.89 [[-9.63590269e-01 2.67331452e-01 5.26195763e-03 5.19121719e+02] [ 2.67327280e-01 9.63604636e-01 -1.49399665e-03 -2.46558620e+02] [-5.46983905e-03 -3.29358129e-05 -9.99985040e-01 -4.88781698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters 0.05042726430339519 Centerline is valid? [True, True] Translation: X:519.32, Y:-245.94, Z:-5.88 [[-9.38504326e-01 -3.45241400e-01 4.24337357e-03 5.19317085e+02] [ 3.45237695e-01 -9.38513918e-01 -1.59978921e-03 -2.45944806e+02] [ 4.53477862e-03 -3.64365843e-05 9.99989717e-01 -5.87578218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters 0.050859871759368874 Centerline is valid? [True, True] Translation: X:519.06, Y:-246.54, Z:-4.89 [[-9.65662621e-01 2.59764109e-01 4.27892915e-03 5.19060164e+02] [ 2.59761353e-01 9.65672100e-01 -1.19759384e-03 -2.46538841e+02] [-4.44313440e-03 -4.49711878e-05 -9.99990128e-01 -4.88692466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters 0.05056100796236973 Centerline is valid? [True, True] Translation: X:519.17, Y:-245.91, Z:-5.88 [[-9.38505493e-01 -3.45239929e-01 4.10264495e-03 5.19170171e+02] [ 3.45236809e-01 -9.38514459e-01 -1.46831445e-03 -2.45905633e+02] [ 4.35731238e-03 3.83628754e-05 9.99990506e-01 -5.87546365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters 0.05009117062054635 Centerline is valid? [True, True] Translation: X:518.94, Y:-246.51, Z:-4.89 [[-9.67638128e-01 2.52282667e-01 5.46889107e-03 5.18938108e+02] [ 2.52278172e-01 9.67653579e-01 -1.50821919e-03 -2.46508865e+02] [-5.67248958e-03 -7.97285513e-05 -9.99983908e-01 -4.88664137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters 0.04998767730187921 Centerline is valid? [True, True] Translation: X:518.87, Y:-246.42, Z:-4.89 [[-9.83041194e-01 1.83306680e-01 5.35461727e-03 5.18869611e+02] [ 1.83303545e-01 9.83055774e-01 -1.07467353e-03 -2.46416159e+02] [-5.46088226e-03 -7.49280249e-05 -9.99985086e-01 -4.88708247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters 0.05038084096237153 Centerline is valid? [True, True] Translation: X:518.99, Y:-245.78, Z:-5.88 [[-9.61927164e-01 -2.73278339e-01 3.88334938e-03 5.18991996e+02] [ 2.73275969e-01 -9.61935002e-01 -1.13859274e-03 -2.45782627e+02] [ 4.04668243e-03 -3.40172260e-05 9.99991812e-01 -5.87634158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters 0.04999630094255905 Centerline is valid? [True, True] Translation: X:518.73, Y:-246.40, Z:-4.89 [[-9.82934568e-01 1.83935776e-01 2.69528203e-03 5.18728007e+02] [ 1.83935012e-01 9.82938263e-01 -5.30567712e-04 -2.46395533e+02] [-2.74688622e-03 -2.57566109e-05 -9.99996227e-01 -4.88760381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters 0.04953086981618138 Centerline is valid? [True, True] Translation: X:518.85, Y:-245.75, Z:-5.88 [[-9.63728551e-01 -2.66873182e-01 2.44629340e-03 5.18848020e+02] [ 2.66872349e-01 -9.63731656e-01 -6.66926488e-04 -2.45748769e+02] [ 2.53555519e-03 1.01119683e-05 9.99996785e-01 -5.87589921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters 0.05014723643570013 Centerline is valid? [True, True] Translation: X:518.61, Y:-246.38, Z:-4.89 [[-9.83402277e-01 1.81406900e-01 3.39084948e-03 5.18614499e+02] [ 1.81405722e-01 9.83408123e-01 -6.54300720e-04 -2.46379849e+02] [-3.45328359e-03 -2.83213186e-05 -9.99994037e-01 -4.88577858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters 0.049530933661540176 Centerline is valid? [True, True] Translation: X:518.75, Y:-245.73, Z:-5.88 [[-9.64337720e-01 -2.64649344e-01 3.67254212e-03 5.18747805e+02] [ 2.64647638e-01 -9.64344711e-01 -9.51831854e-04 -2.45726274e+02] [ 3.79349825e-03 5.40422381e-05 9.99992803e-01 -5.87714045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters 0.049116287409265144 Centerline is valid? [True, True] Translation: X:518.53, Y:-246.37, Z:-4.89 [[-9.84850405e-01 1.73352686e-01 4.30412390e-03 5.18527217e+02] [ 1.73350785e-01 9.84859809e-01 -8.13879005e-04 -2.46370772e+02] [-4.38004675e-03 -5.54258119e-05 -9.99990406e-01 -4.88575307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters 0.04943175777460487 Centerline is valid? [True, True] Translation: X:518.64, Y:-245.71, Z:-5.88 [[-9.63736364e-01 -2.66803868e-01 5.28367231e-03 5.18638640e+02] [ 2.66800663e-01 -9.63750837e-01 -1.31544475e-03 -2.45709051e+02] [ 5.44310936e-03 1.41945331e-04 9.99985176e-01 -5.87784979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters 0.049403128901717844 Centerline is valid? [True, True] Translation: X:518.49, Y:-246.37, Z:-4.88 [[-9.86738702e-01 1.62190651e-01 6.39740469e-03 5.18488063e+02] [ 1.62186380e-01 9.86759432e-01 -1.18424098e-03 -2.46365738e+02] [-6.50477223e-03 -1.30964500e-04 -9.99978835e-01 -4.88439678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters 0.04962278949193337 Centerline is valid? [True, True] Translation: X:518.56, Y:-245.70, Z:-5.88 [[-9.63309981e-01 -2.68331209e-01 5.67837779e-03 5.18564384e+02] [ 2.68327013e-01 -9.63326713e-01 -1.50250170e-03 -2.45704761e+02] [ 5.87330111e-03 7.62872667e-05 9.99982749e-01 -5.87922433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters 0.04942915207476866 Centerline is valid? [True, True] Translation: X:518.35, Y:-246.34, Z:-4.89 [[-9.87348944e-01 1.58501710e-01 4.38985399e-03 5.18346245e+02] [ 1.58499739e-01 9.87358699e-01 -7.95567890e-04 -2.46344681e+02] [-4.46045940e-03 -8.97124039e-05 -9.99990048e-01 -4.88658015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters 0.049562791056000886 Centerline is valid? [True, True] Translation: X:518.27, Y:-246.25, Z:-4.89 [[-9.95639431e-01 9.32705565e-02 1.65132349e-03 5.18272239e+02] [ 9.32703868e-02 9.95640800e-01 -1.79625117e-04 -2.46254050e+02] [-1.66087877e-03 -2.48222690e-05 -9.99998620e-01 -4.88877086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters 0.049590352957582115 Centerline is valid? [True, True] Translation: X:518.13, Y:-246.17, Z:-4.89 [[-9.99628951e-01 2.72300335e-02 6.96566709e-04 5.18129901e+02] [ 2.72300218e-02 9.99629194e-01 -2.62106350e-05 -2.46166313e+02] [-6.97022134e-04 -7.23338286e-06 -9.99999757e-01 -4.88908212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters 0.050084029653138254 Centerline is valid? [True, True] Translation: X:518.05, Y:-246.09, Z:-4.89 [[-9.99112052e-01 -4.20640960e-02 2.39151010e-03 5.18048192e+02] [-4.20640223e-02 9.99114914e-01 8.11048829e-05 -2.46088733e+02] [-2.39280501e-03 -1.95636681e-05 -9.99997137e-01 -4.88714339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters 0.0503735290139613 Centerline is valid? [True, True] Translation: X:517.97, Y:-245.41, Z:-5.88 [[-9.99169879e-01 -4.06080465e-02 3.24652014e-03 5.17965839e+02] [ 4.06080986e-02 -9.99175150e-01 -4.98893034e-05 -2.45411397e+02] [ 3.24586815e-03 8.19871206e-05 9.99994729e-01 -5.87746690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters 0.05008523229133693 Centerline is valid? [True, True] Translation: X:517.89, Y:-246.09, Z:-4.89 [[-9.99014047e-01 -4.42455879e-02 3.64167177e-03 5.17887084e+02] [-4.42453804e-02 9.99020684e-01 1.37568670e-04 -2.46094396e+02] [-3.64419223e-03 -2.36941191e-05 -9.99993360e-01 -4.88537829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters 0.049917009647837345 Centerline is valid? [True, True] Translation: X:517.83, Y:-246.02, Z:-4.88 [[-9.93522944e-01 -1.13567448e-01 3.82037166e-03 5.17831331e+02] [-1.13566680e-01 9.93530289e-01 4.18045692e-04 -2.46020359e+02] [-3.84313134e-03 -1.85289391e-05 -9.99992615e-01 -4.88436734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters 0.05022360763681207 Centerline is valid? [True, True] Translation: X:517.72, Y:-245.96, Z:-4.88 [[-9.83333015e-01 -1.81766091e-01 4.15573927e-03 5.17721492e+02] [-1.81764514e-01 9.83341796e-01 7.57078666e-04 -2.45959304e+02] [-4.22412335e-03 -1.09054826e-05 -9.99991078e-01 -4.88354359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters 0.04991446095125486 Centerline is valid? [True, True] Translation: X:517.63, Y:-245.90, Z:-4.88 [[-9.68533741e-01 -2.48852636e-01 3.84159071e-03 5.17633344e+02] [-2.48850679e-01 9.68541360e-01 9.86983732e-04 -2.45901626e+02] [-3.96635299e-03 -5.54093861e-08 -9.99992134e-01 -4.88384589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters 0.049947426238677206 Centerline is valid? [True, True] Translation: X:517.51, Y:-245.86, Z:-4.88 [[-9.48995497e-01 -3.15265916e-01 3.86639389e-03 5.17505283e+02] [-3.15263265e-01 9.49003373e-01 1.29307697e-03 -2.45861076e+02] [-4.07688394e-03 8.19225955e-06 -9.99991689e-01 -4.88315893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters 0.050060724421679685 Centerline is valid? [True, True] Translation: X:517.38, Y:-245.83, Z:-4.88 [[-9.25379003e-01 -3.79033557e-01 2.69515454e-03 5.17380084e+02] [-3.79031900e-01 9.25382927e-01 1.12071190e-03 -2.45829882e+02] [-2.91883742e-03 1.55337098e-05 -9.99995740e-01 -4.88393032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters 0.04986704130743087 Centerline is valid? [True, True] Translation: X:517.25, Y:-245.81, Z:-4.88 [[-8.96773002e-01 -4.42487340e-01 1.77122321e-03 5.17251419e+02] [-4.42486445e-01 8.96774751e-01 8.89984570e-04 -2.45809832e+02] [-1.98219516e-03 1.43718719e-05 -9.99998035e-01 -4.88487159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters 0.050233442307894095 Centerline is valid? [True, True] Translation: X:517.11, Y:-245.80, Z:-4.89 [[-8.63558636e-01 -5.04245015e-01 1.85647401e-03 5.17107873e+02] [-5.04243801e-01 8.63560631e-01 1.10687478e-03 -2.45804572e+02] [-2.16131396e-03 1.97357630e-05 -9.99997664e-01 -4.88501505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters 0.049965179347822596 Centerline is valid? [True, True] Translation: X:516.97, Y:-245.80, Z:-4.88 [[-8.24103323e-01 -5.66432733e-01 2.76975413e-03 5.16971999e+02] [-5.66429415e-01 8.24107977e-01 1.93888248e-03 -2.45804487e+02] [-3.38082298e-03 2.89692791e-05 -9.99994285e-01 -4.88302184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters 0.050101551588938135 Centerline is valid? [True, True] Translation: X:516.83, Y:-245.82, Z:-4.88 [[-7.79867564e-01 -6.25937990e-01 2.86630105e-03 5.16828376e+02] [-6.25933642e-01 7.79872831e-01 2.33320455e-03 -2.45816837e+02] [-3.69579168e-03 2.54762874e-05 -9.99993170e-01 -4.88236017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters 0.050289469480761545 Centerline is valid? [True, True] Translation: X:516.66, Y:-245.86, Z:-4.88 [[-7.30943101e-01 -6.82433788e-01 2.51167736e-03 5.16656792e+02] [-6.82429678e-01 7.30947416e-01 2.36847579e-03 -2.45863934e+02] [-3.45223198e-03 1.71778648e-05 -9.99994041e-01 -4.88254953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters 0.04982928145335587 Centerline is valid? [True, True] Translation: X:516.50, Y:-245.91, Z:-4.88 [[-6.76055147e-01 -7.36846119e-01 2.68981316e-03 5.16499886e+02] [-7.36840260e-01 6.76060498e-01 2.93840407e-03 -2.45910911e+02] [-3.98362806e-03 4.56056337e-06 -9.99992065e-01 -4.88360837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters 0.050379499090090735 Centerline is valid? [True, True] Translation: X:516.34, Y:-245.98, Z:-4.88 [[-6.17529081e-01 -7.86543631e-01 2.63627035e-03 5.16341216e+02] [-7.86536525e-01 6.17534708e-01 3.34343670e-03 -2.45977721e+02] [-4.25774729e-03 -8.85352851e-06 -9.99990936e-01 -4.88280207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters 0.04948787626537422 Centerline is valid? [True, True] Translation: X:516.19, Y:-246.05, Z:-4.88 [[-5.53296269e-01 -8.32980415e-01 2.62052025e-03 5.16189091e+02] [-8.32971375e-01 5.53302474e-01 3.88089136e-03 -2.46051232e+02] [-4.68264683e-03 -3.55356433e-05 -9.99989036e-01 -4.88276903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters 0.05018846538429464 Centerline is valid? [True, True] Translation: X:516.04, Y:-246.14, Z:-4.88 [[-4.87090022e-01 -8.73348518e-01 2.38265294e-03 5.16043317e+02] [-8.73338605e-01 4.87095846e-01 4.16145451e-03 -2.46135316e+02] [-4.79498048e-03 -5.38598286e-05 -9.99988503e-01 -4.88259520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters 0.05059272888417394 Centerline is valid? [True, True] Translation: X:515.90, Y:-246.22, Z:-4.88 [[-4.17809706e-01 -9.08530883e-01 2.58541646e-03 5.15901782e+02] [-9.08514794e-01 4.17817696e-01 5.40761452e-03 -2.46222062e+02] [-5.99321754e-03 -8.95352736e-05 -9.99982037e-01 -4.88103899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters 0.049803273573183066 Centerline is valid? [True, True] Translation: X:515.74, Y:-246.40, Z:-4.88 [[-3.49731526e-01 -9.36847981e-01 1.92889658e-03 5.15743222e+02] [-9.36834979e-01 3.49736836e-01 4.93632061e-03 -2.46399244e+02] [-5.29918818e-03 -8.06708470e-05 -9.99985956e-01 -4.88281324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters 0.05061331089558894 Centerline is valid? [True, True] Translation: X:515.59, Y:-246.59, Z:-4.88 [[-2.82767308e-01 -9.59187617e-01 1.32817865e-03 5.15591009e+02] [-9.59177934e-01 2.82770422e-01 4.31040004e-03 -2.46587407e+02] [-4.51005198e-03 -5.51194396e-05 -9.99989828e-01 -4.88180421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters 0.05059496281819157 Centerline is valid? [True, True] Translation: X:515.45, Y:-246.85, Z:-4.88 [[-2.17067468e-01 -9.76156132e-01 9.59116522e-04 5.15446295e+02] [-9.76147181e-01 2.17069585e-01 4.18036608e-03 -2.46850219e+02] [-4.28888501e-03 -2.88174105e-05 -9.99990802e-01 -4.88287832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters 0.050532670723242495 Centerline is valid? [True, True] Translation: X:515.33, Y:-247.09, Z:-4.88 [[-1.48502762e-01 -9.88911689e-01 7.75291390e-04 5.15327963e+02] [-9.88898678e-01 1.48504785e-01 5.07276198e-03 -2.47086810e+02] [-5.13164810e-03 -1.33654664e-05 -9.99986833e-01 -4.88243471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters 0.050122322378198005 Centerline is valid? [True, True] Translation: X:515.23, Y:-247.32, Z:-4.88 [[-8.12288318e-02 -9.96695315e-01 5.70735370e-04 5.15230798e+02] [-9.96668240e-01 8.12308320e-02 7.34648904e-03 -2.47316458e+02] [-7.36857251e-03 2.79129050e-05 -9.99972851e-01 -4.88200287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters 0.050833416971580496 Centerline is valid? [True, True] Translation: X:515.15, Y:-247.58, Z:-4.88 [[-1.12676417e-02 -9.99936518e-01 2.90689688e-05 5.15149070e+02] [-9.99901422e-01 1.12674897e-02 8.37800393e-03 -2.47580952e+02] [-8.37779961e-03 6.53342429e-05 -9.99964904e-01 -4.88172329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters 0.051179615307369725 Centerline is valid? [True, True] Translation: X:515.06, Y:-247.27, Z:-4.88 [[ 6.02755396e-02 -9.98181576e-01 -6.32925618e-04 5.15061335e+02] [-9.98143449e-01 -6.02787696e-02 8.72498685e-03 -2.47266957e+02] [-8.74727311e-03 1.05847268e-04 -9.99961736e-01 -4.88294285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters 0.05086638499933594 Centerline is valid? [True, True] Translation: X:514.98, Y:-247.43, Z:-4.89 [[ 1.32833737e-01 -9.91137743e-01 -1.08267663e-03 5.14984337e+02] [-9.91110604e-01 -1.32838113e-01 7.33524862e-03 -2.47430086e+02] [-7.41406248e-03 9.86837982e-05 -9.99972511e-01 -4.88667238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters 0.050617288630563424 Centerline is valid? [True, True] Translation: X:514.99, Y:-247.95, Z:-4.88 [[ 2.05658281e-01 -9.78622909e-01 -1.36894974e-03 5.14993956e+02] [-9.78603625e-01 -2.05662823e-01 6.14402475e-03 -2.47946658e+02] [-6.29422544e-03 7.60896149e-05 -9.99980188e-01 -4.88440230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters 0.05048328922065237 Centerline is valid? [True, True] Translation: X:514.48, Y:-248.74, Z:-5.88 [[ 1.58240367e-01 9.87400321e-01 -7.69430399e-04 5.14482370e+02] [-9.87384762e-01 1.58242194e-01 5.54426138e-03 -2.48744010e+02] [ 5.59616182e-03 -1.17602106e-04 9.99984334e-01 -5.87908844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters 0.04988080722031058 Centerline is valid? [True, True] Translation: X:515.17, Y:-248.82, Z:-4.89 [[ 2.19914375e-01 -9.75518404e-01 -1.22960115e-03 5.15167453e+02] [-9.75503782e-01 -2.19917811e-01 5.34105179e-03 -2.48817453e+02] [-5.48070551e-03 2.49065100e-05 -9.99984981e-01 -4.88568598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters 0.04993850586740951 Centerline is valid? [True, True] Translation: X:515.12, Y:-248.96, Z:-4.88 [[ 3.01488881e-01 -9.53468225e-01 -1.67299781e-03 5.15120370e+02] [-9.53452964e-01 -3.01493521e-01 5.39459011e-03 -2.48960208e+02] [-5.64796825e-03 -3.12842093e-05 -9.99984050e-01 -4.88467108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters 0.050973918578238624 Centerline is valid? [True, True] Translation: X:515.11, Y:-249.18, Z:-4.88 [[ 3.77638243e-01 -9.25951048e-01 -2.00371057e-03 5.15110039e+02] [-9.25937040e-01 -3.77643552e-01 5.09374055e-03 -2.49180794e+02] [-5.47324278e-03 -6.82814003e-05 -9.99985019e-01 -4.88396456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters 0.05042714291995165 Centerline is valid? [True, True] Translation: X:515.08, Y:-249.31, Z:-4.88 [[ 4.52125250e-01 -8.91949628e-01 -2.93583859e-03 5.15079280e+02] [-8.91928821e-01 -4.52134761e-01 6.09393317e-03 -2.49314227e+02] [-6.76287610e-03 -1.36662008e-04 -9.99977122e-01 -4.88395800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters 0.050052751367542864 Centerline is valid? [True, True] Translation: X:515.12, Y:-249.56, Z:-4.88 [[ 5.18443642e-01 -8.55103435e-01 -3.78216401e-03 5.15120200e+02] [-8.55078230e-01 -5.18457410e-01 6.56772731e-03 -2.49559710e+02] [-7.57697714e-03 -1.70950364e-04 -9.99971280e-01 -4.88486093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters 0.051573996429002504 Centerline is valid? [True, True] Translation: X:515.12, Y:-249.73, Z:-4.88 [[ 5.79325947e-01 -8.15086825e-01 -3.86206274e-03 5.15124895e+02] [-8.15066977e-01 -5.79338801e-01 5.69006062e-03 -2.49731421e+02] [-6.87533624e-03 -1.48559954e-04 -9.99976354e-01 -4.88260805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters 0.050273782913173776 Centerline is valid? [True, True] Translation: X:515.24, Y:-250.01, Z:-4.89 [[ 6.35827691e-01 -7.71822709e-01 -3.58509242e-03 5.15239497e+02] [-7.71809441e-01 -6.35837788e-01 4.52695605e-03 -2.50008501e+02] [-5.77354472e-03 -1.11355832e-04 -9.99983327e-01 -4.88523355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters 0.050060427268266476 Centerline is valid? [True, True] Translation: X:515.31, Y:-250.20, Z:-4.88 [[ 6.89986688e-01 -7.23807449e-01 -4.59858189e-03 5.15307747e+02] [-7.23790174e-01 -6.90002001e-01 5.00221678e-03 -2.50204297e+02] [-6.79367247e-03 -1.23054604e-04 -9.99976915e-01 -4.88454486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters 0.05001685806232591 Centerline is valid? [True, True] Translation: X:515.38, Y:-250.39, Z:-4.88 [[ 7.41026731e-01 -6.71446884e-01 -6.20206957e-03 5.15376986e+02] [-6.71421648e-01 -7.41052670e-01 5.82334186e-03 -2.50387149e+02] [-8.50612496e-03 -1.51048211e-04 -9.99963811e-01 -4.88286091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters 0.049396689591681024 Centerline is valid? [True, True] Translation: X:515.35, Y:-250.47, Z:-4.88 [[ 7.90515207e-01 -6.12403798e-01 -6.87717042e-03 5.15351626e+02] [-6.12379005e-01 -7.90545108e-01 5.51243974e-03 -2.50469610e+02] [-8.81255246e-03 -1.46232662e-04 -9.99961158e-01 -4.88210493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters 0.049836452399621124 Centerline is valid? [True, True] Translation: X:515.33, Y:-250.56, Z:-4.88 [[ 8.33674555e-01 -5.52213439e-01 -6.85957441e-03 5.15329859e+02] [-5.52193726e-01 -8.33702769e-01 4.66711354e-03 -2.50556123e+02] [-8.29608900e-03 -1.03039850e-04 -9.99965582e-01 -4.88436364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters 0.04987062021307996 Centerline is valid? [True, True] Translation: X:515.31, Y:-250.64, Z:-4.88 [[ 8.72123224e-01 -4.89242300e-01 -6.56154539e-03 5.15313981e+02] [-4.89227931e-01 -8.72147905e-01 3.75006458e-03 -2.50644785e+02] [-7.55732828e-03 -6.04271383e-05 -9.99971441e-01 -4.88486057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters 0.049696220325146034 Centerline is valid? [True, True] Translation: X:515.31, Y:-250.73, Z:-4.88 [[ 9.04224998e-01 -4.27013615e-01 -6.04363604e-03 5.15306671e+02] [-4.27004087e-01 -9.04245195e-01 2.85253626e-03 -2.50727472e+02] [-6.68300067e-03 1.32270003e-06 -9.99977669e-01 -4.88380746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters 0.04960995744038658 Centerline is valid? [True, True] Translation: X:515.31, Y:-250.80, Z:-4.88 [[ 9.31978470e-01 -3.62477155e-01 -5.14227094e-03 5.15310469e+02] [-3.62471903e-01 -9.31992656e-01 1.95170297e-03 -2.50800938e+02] [-5.50000649e-03 4.49835883e-05 -9.99984874e-01 -4.88457374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters 0.050587010976217976 Centerline is valid? [True, True] Translation: X:515.32, Y:-250.88, Z:-4.89 [[ 9.56174149e-01 -2.92763575e-01 -4.52601884e-03 5.15316812e+02] [-2.92760590e-01 -9.56184859e-01 1.32352863e-03 -2.50881436e+02] [-4.71519166e-03 5.95160809e-05 -9.99988882e-01 -4.88881444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters 0.050440672378273155 Centerline is valid? [True, True] Translation: X:515.32, Y:-251.02, Z:-4.89 [[ 9.75399894e-01 -2.20401847e-01 -4.25109019e-03 5.15315742e+02] [-2.20400063e-01 -9.75409156e-01 8.89499029e-04 -2.51020113e+02] [-4.34259952e-03 6.93232866e-05 -9.99990568e-01 -4.88826439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters 0.05120060977715115 Centerline is valid? [True, True] Translation: X:515.32, Y:-251.17, Z:-4.89 [[ 9.89660013e-01 -1.43375554e-01 -4.06308128e-03 5.15324659e+02] [-1.43374615e-01 -9.89668352e-01 5.23021586e-04 -2.51166305e+02] [-4.09609146e-03 6.49291640e-05 -9.99991609e-01 -4.88795405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters 0.04975416477940306 Centerline is valid? [True, True] Translation: X:515.34, Y:-251.30, Z:-4.89 [[ 9.98025795e-01 -6.26899793e-02 -3.80522359e-03 5.15343512e+02] [-6.26897121e-02 -9.98033048e-01 1.89564689e-04 -2.51304354e+02] [-3.80962270e-03 4.93579216e-05 -9.99992742e-01 -4.88602624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters 0.049906736718874356 Centerline is valid? [True, True] Translation: X:515.37, Y:-251.44, Z:-4.89 [[ 9.99783195e-01 2.06443199e-02 -2.71574694e-03 5.15368880e+02] [ 2.06441856e-02 -9.99786883e-01 -7.74954799e-05 -2.51442961e+02] [-2.71676801e-03 2.14142948e-05 -9.99996309e-01 -4.88578641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters 0.049668948346134084 Centerline is valid? [True, True] Translation: X:515.40, Y:-251.51, Z:-4.88 [[ 9.94648801e-01 1.03303583e-01 -1.46035896e-03 5.15399363e+02] [ 1.03303465e-01 -9.94649873e-01 -1.56502582e-04 -2.51506602e+02] [-1.46871313e-03 4.80496563e-06 -9.99998921e-01 -4.88392136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters 0.04985017452365524 Centerline is valid? [True, True] Translation: X:515.44, Y:-251.58, Z:-4.88 [[ 9.81982709e-01 1.88964545e-01 -1.53632597e-03 5.15438443e+02] [ 1.88964326e-01 -9.81983911e-01 -2.87625729e-04 -2.51580439e+02] [-1.56299845e-03 -7.86730876e-06 -9.99998779e-01 -4.88367926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters 0.05004662417676915 Centerline is valid? [True, True] Translation: X:515.48, Y:-251.65, Z:-4.88 [[ 9.62666511e-01 2.70686283e-01 -1.45734315e-03 5.15482999e+02] [ 2.70685998e-01 -9.62667614e-01 -3.92964586e-04 -2.51653790e+02] [-1.50930718e-03 -1.61885396e-05 -9.99998861e-01 -4.88307853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters 0.05007276893850159 Centerline is valid? [True, True] Translation: X:515.53, Y:-251.72, Z:-4.88 [[ 9.36412839e-01 3.50899857e-01 -5.33795882e-04 5.15531840e+02] [ 3.50899806e-01 -9.36412991e-01 -1.89686362e-04 -2.51716892e+02] [-5.66414315e-04 -9.68412678e-06 -9.99999840e-01 -4.88251913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters 0.05017919553249345 Centerline is valid? [True, True] Translation: X:515.59, Y:-251.78, Z:-4.88 [[ 9.05122196e-01 4.25151406e-01 -3.04935792e-04 5.15586470e+02] [ 4.25151384e-01 -9.05122247e-01 -1.35982284e-04 -2.51776155e+02] [-3.33817229e-04 -6.56329042e-06 -9.99999944e-01 -4.88268017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters 0.048062516033072995 Centerline is valid? [True, True] Translation: X:515.64, Y:-251.82, Z:-4.88 [[ 8.68927555e-01 4.94939292e-01 -4.29851685e-05 5.15638737e+02] [ 4.94939291e-01 -8.68927556e-01 -2.31393424e-05 -2.51819714e+02] [-4.88035670e-05 -1.16863659e-06 -9.99999999e-01 -4.88244390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters 0.048852972418551716 Centerline is valid? [True, True] Translation: X:515.73, Y:-251.91, Z:-4.88 [[ 8.27350905e-01 5.61685340e-01 -2.43238462e-04 5.15727533e+02] [ 5.61685318e-01 -8.27350941e-01 -1.57972328e-04 -2.51914350e+02] [-2.89974311e-04 -5.92492382e-06 -9.99999958e-01 -4.88159966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters 0.049044620840888266 Centerline is valid? [True, True] Translation: X:515.82, Y:-252.00, Z:-4.88 [[ 7.80560563e-01 6.25078679e-01 -1.36108974e-03 5.15821767e+02] [ 6.25077806e-01 -7.80561749e-01 -1.04535849e-03 -2.51999392e+02] [-1.71584589e-03 -3.48213722e-05 -9.99998527e-01 -4.87999743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters 0.04873221405060101 Centerline is valid? [True, True] Translation: X:515.92, Y:-252.07, Z:-4.88 [[ 7.29371778e-01 6.84112750e-01 -2.56016432e-03 5.15919743e+02] [ 6.84108866e-01 -7.29376268e-01 -2.30642661e-03 -2.52074757e+02] [-3.44517895e-03 -6.91886343e-05 -9.99994063e-01 -4.87899119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters 0.04897135293108012 Centerline is valid? [True, True] Translation: X:516.02, Y:-252.14, Z:-4.88 [[ 6.74244721e-01 7.38502698e-01 -2.79680340e-03 5.16024327e+02] [ 7.38496820e-01 -6.74250517e-01 -2.94749865e-03 -2.52142333e+02] [-4.06248184e-03 -7.80950122e-05 -9.99991745e-01 -4.87951551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters 0.04841613441772312 Centerline is valid? [True, True] Translation: X:516.13, Y:-252.20, Z:-4.88 [[ 6.17443310e-01 7.86611685e-01 -2.41163852e-03 5.16133182e+02] [ 7.86606053e-01 -6.17448017e-01 -2.97703878e-03 -2.52201037e+02] [-3.83083492e-03 -5.88567789e-05 -9.99992661e-01 -4.88016417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters 0.04858693060085983 Centerline is valid? [True, True] Translation: X:516.24, Y:-252.25, Z:-4.88 [[ 5.57290598e-01 8.30315124e-01 -1.99597579e-03 5.16243969e+02] [ 8.30310055e-01 -5.57294171e-01 -2.90151783e-03 -2.52249955e+02] [-3.52151981e-03 -4.02901608e-05 -9.99993799e-01 -4.87988670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters 0.049289089733318914 Centerline is valid? [True, True] Translation: X:516.35, Y:-252.29, Z:-4.88 [[ 4.97721307e-01 8.67335934e-01 -1.37046834e-03 5.16351089e+02] [ 8.67332696e-01 -4.97723193e-01 -2.37002656e-03 -2.52285919e+02] [-2.73772308e-03 -9.03928739e-06 -9.99996252e-01 -4.87953043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters 0.04926639826847498 Centerline is valid? [True, True] Translation: X:516.46, Y:-252.31, Z:-4.88 [[ 4.33746486e-01 9.01034231e-01 -1.14013176e-03 5.16463873e+02] [ 9.01031076e-01 -4.33747984e-01 -2.38469854e-03 -2.52314601e+02] [-2.64322486e-03 7.06046796e-06 -9.99996507e-01 -4.88018111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters 0.048998505012251004 Centerline is valid? [True, True] Translation: X:516.58, Y:-252.33, Z:-4.88 [[ 3.66622942e-01 9.30368961e-01 -1.10217931e-03 5.16576282e+02] [ 9.30364561e-01 -3.66624598e-01 -2.86163726e-03 -2.52333926e+02] [-3.06646453e-03 2.37132968e-05 -9.99995298e-01 -4.88030742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters 0.04981526087058518 Centerline is valid? [True, True] Translation: X:516.68, Y:-252.34, Z:-4.88 [[ 2.96886357e-01 9.54912108e-01 -1.16512792e-03 5.16683662e+02] [ 9.54904087e-01 -2.96888639e-01 -3.91416602e-03 -2.52344056e+02] [-4.08359777e-03 4.94770743e-05 -9.99991661e-01 -4.87936361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters 0.049811639490713114 Centerline is valid? [True, True] Translation: X:516.80, Y:-252.35, Z:-4.88 [[ 2.20705609e-01 9.75340021e-01 -9.37438651e-04 5.16797617e+02] [ 9.75330201e-01 -2.20707593e-01 -4.37691410e-03 -2.52346151e+02] [-4.47587931e-03 5.16972616e-05 -9.99989982e-01 -4.87946875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters 0.04887048330070627 Centerline is valid? [True, True] Translation: X:516.90, Y:-252.34, Z:-4.88 [[ 1.42543708e-01 9.89788326e-01 -6.00034381e-04 5.16900525e+02] [ 9.89778118e-01 -1.42544963e-01 -4.49563839e-03 -2.52338223e+02] [-4.53526228e-03 4.69240673e-05 -9.99989715e-01 -4.87774501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters 0.04925344029972801 Centerline is valid? [True, True] Translation: X:516.99, Y:-252.32, Z:-4.88 [[ 6.11969632e-02 9.98125688e-01 -2.04833755e-04 5.16990912e+02] [ 9.98118597e-01 -6.11973006e-02 -3.76244609e-03 -2.52320818e+02] [-3.76792937e-03 2.58018947e-05 -9.99992901e-01 -4.87866793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters 0.04922998807148135 Centerline is valid? [True, True] Translation: X:517.08, Y:-252.30, Z:-4.88 [[-2.31972655e-02 9.99730906e-01 5.78936007e-05 5.17081981e+02] [ 9.99727969e-01 2.31973376e-02 -2.42320645e-03 -2.52295462e+02] [-2.42389735e-03 1.66608868e-06 -9.99997062e-01 -4.87909419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters 0.04902649347231744 Centerline is valid? [True, True] Translation: X:517.17, Y:-252.26, Z:-4.88 [[-1.06327316e-01 9.94331160e-01 2.12808593e-04 5.17173202e+02] [ 9.94328995e-01 1.06327529e-01 -2.07503181e-03 -2.52262395e+02] [-2.08589620e-03 -9.03080847e-06 -9.99997825e-01 -4.87935302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters 0.04870793636241995 Centerline is valid? [True, True] Translation: X:517.26, Y:-252.22, Z:-4.88 [[-1.86809921e-01 9.82396054e-01 2.13898551e-04 5.17262699e+02] [ 9.82395355e-01 1.86810043e-01 -1.17264065e-03 -2.52222026e+02] [-1.19195595e-03 -8.92796454e-06 -9.99999290e-01 -4.87942507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters 0.049263272763271325 Centerline is valid? [True, True] Translation: X:517.35, Y:-252.18, Z:-4.88 [[-2.63561125e-01 9.64642623e-01 3.77648828e-04 5.17345871e+02] [ 9.64641568e-01 2.63561396e-01 -1.42661918e-03 -2.52175800e+02] [-1.47571132e-03 -1.17055982e-05 -9.99998911e-01 -4.87882783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters 0.04932038397109767 Centerline is valid? [True, True] Translation: X:517.41, Y:-252.13, Z:-4.88 [[-3.36796889e-01 9.41577174e-01 5.30711056e-04 5.17409751e+02] [ 9.41575956e-01 3.36797307e-01 -1.51425270e-03 -2.52127466e+02] [-1.60452783e-03 -1.02908296e-05 -9.99998713e-01 -4.87834877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters 0.049107385739964225 Centerline is valid? [True, True] Translation: X:517.47, Y:-252.07, Z:-4.88 [[-4.06361873e-01 9.13712126e-01 4.21965323e-04 5.17468488e+02] [ 9.13711625e-01 4.06362093e-01 -9.56796557e-04 -2.52074493e+02] [-1.04570733e-03 -3.25101987e-06 -9.99999453e-01 -4.87839077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters 0.04948147613595415 Centerline is valid? [True, True] Translation: X:517.52, Y:-252.02, Z:-4.88 [[-4.74467910e-01 8.80272488e-01 7.41089014e-04 5.17521287e+02] [ 8.80271411e-01 4.74468488e-01 -1.37691815e-03 -2.52018301e+02] [-1.56368655e-03 -9.44002932e-07 -9.99998777e-01 -4.87824444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters 0.048535150876905804 Centerline is valid? [True, True] Translation: X:517.58, Y:-251.95, Z:-4.88 [[-5.39569724e-01 8.41939486e-01 1.55424377e-03 5.17578962e+02] [ 8.41936026e-01 5.39571962e-01 -2.41349663e-03 -2.51951859e+02] [-2.87064447e-03 6.32411313e-06 -9.99995880e-01 -4.87704180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters 0.04970197726392289 Centerline is valid? [True, True] Translation: X:517.63, Y:-251.88, Z:-4.88 [[-6.02999227e-01 7.97737380e-01 2.64666563e-03 5.17627129e+02] [ 7.97729798e-01 6.03005035e-01 -3.47802363e-03 -2.51884931e+02] [-4.37050216e-03 1.40784830e-05 -9.99990449e-01 -4.87506533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters 0.04988878340433169 Centerline is valid? [True, True] Translation: X:517.67, Y:-251.82, Z:-4.87 [[-6.63787486e-01 7.47911151e-01 3.88372995e-03 5.17667460e+02] [ 7.47898501e-01 6.63798847e-01 -4.35008779e-03 -2.51815966e+02] [-5.83149463e-03 1.71019661e-05 -9.99982997e-01 -4.87438722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters 0.04951326613838435 Centerline is valid? [True, True] Translation: X:517.70, Y:-251.74, Z:-4.87 [[-7.20744455e-01 6.93184576e-01 4.75114116e-03 5.17702280e+02] [ 6.93169652e-01 7.20760115e-01 -4.54879448e-03 -2.51744453e+02] [-6.57758722e-03 1.48284655e-05 -9.99978367e-01 -4.87373504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters 0.04944726017982364 Centerline is valid? [True, True] Translation: X:517.76, Y:-251.70, Z:-4.87 [[-7.69380491e-01 6.38775790e-01 4.37601247e-03 5.17762851e+02] [ 6.38765469e-01 7.69392936e-01 -3.63125632e-03 -2.51697942e+02] [-5.68643171e-03 1.42788693e-06 -9.99983832e-01 -4.87444707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters 0.0488040434009496 Centerline is valid? [True, True] Translation: X:517.79, Y:-251.62, Z:-4.88 [[-8.15637937e-01 5.78554532e-01 3.06755739e-03 5.17792134e+02] [ 5.78550352e-01 8.15643705e-01 -2.19947066e-03 -2.51622932e+02] [-3.77454760e-03 -1.92353013e-05 -9.99992876e-01 -4.87571445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters 0.048464940241750847 Centerline is valid? [True, True] Translation: X:517.83, Y:-251.56, Z:-4.88 [[-8.57669888e-01 5.14191293e-01 3.11099035e-03 5.17833475e+02] [ 5.14187740e-01 8.57675529e-01 -1.91185974e-03 -2.51558753e+02] [-3.65128192e-03 -4.01114360e-05 -9.99993333e-01 -4.87633302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters 0.04943283396878134 Centerline is valid? [True, True] Translation: X:518.18, Y:-251.03, Z:-5.89 [[-8.05766671e-01 -5.92222323e-01 3.57645078e-03 5.18179595e+02] [ 5.92217022e-01 -8.05774603e-01 -2.50775300e-03 -2.51033703e+02] [ 4.36696052e-03 9.73712438e-05 9.99990460e-01 -5.88858893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters 0.0496698964016407 Centerline is valid? [True, True] Translation: X:517.82, Y:-251.55, Z:-4.87 [[-8.63145007e-01 5.04936145e-01 4.49294737e-03 5.17819305e+02] [ 5.04928729e-01 8.63156695e-01 -2.73830968e-03 -2.51546546e+02] [-5.26078914e-03 -9.49401213e-05 -9.99986157e-01 -4.87326409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters 0.048887328203251916 Centerline is valid? [True, True] Translation: X:518.12, Y:-251.00, Z:-5.89 [[-8.05073846e-01 -5.93148495e-01 5.56467372e-03 5.18123431e+02] [ 5.93136199e-01 -8.05093047e-01 -3.82556081e-03 -2.51002146e+02] [ 6.74920576e-03 2.20750470e-04 9.99977200e-01 -5.88893555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters 0.04840854672300989 Centerline is valid? [True, True] Translation: X:517.71, Y:-251.49, Z:-4.87 [[-8.65876772e-01 5.00219706e-01 6.13685656e-03 5.17712737e+02] [ 5.00205968e-01 8.65898507e-01 -3.71007718e-03 -2.51494768e+02] [-7.16974865e-03 -1.42777381e-04 -9.99974287e-01 -4.87398021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters 0.04831802559936003 Centerline is valid? [True, True] Translation: X:517.70, Y:-251.40, Z:-4.87 [[-8.98120609e-01 4.39715236e-01 5.46654826e-03 5.17698922e+02] [ 4.39706336e-01 8.98137238e-01 -2.79989972e-03 -2.51398721e+02] [-6.14086912e-03 -1.10971741e-04 -9.99981139e-01 -4.87416395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters 0.048914063586681454 Centerline is valid? [True, True] Translation: X:517.69, Y:-251.31, Z:-4.87 [[-9.25695334e-01 3.78244786e-01 4.36226971e-03 5.17686167e+02] [ 3.78240237e-01 9.25705610e-01 -1.85646113e-03 -2.51305162e+02] [-4.74037429e-03 -6.85314777e-05 -9.99988762e-01 -4.87381772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters 0.04860855981399385 Centerline is valid? [True, True] Translation: X:517.63, Y:-251.21, Z:-4.88 [[-9.49592616e-01 3.13461306e-01 3.98427182e-03 5.17629045e+02] [ 3.13458312e-01 9.49600973e-01 -1.37087510e-03 -2.51205550e+02] [-4.21318469e-03 -5.28697483e-05 -9.99991123e-01 -4.87527288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters 0.04850975622090302 Centerline is valid? [True, True] Translation: X:517.57, Y:-251.11, Z:-4.87 [[-9.69355773e-01 2.45630336e-01 3.88886386e-03 5.17570284e+02] [ 2.45628156e-01 9.69363572e-01 -1.03612853e-03 -2.51105953e+02] [-4.02422757e-03 -4.91627139e-05 -9.99991902e-01 -4.87447216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters 0.04833696466173437 Centerline is valid? [True, True] Translation: X:517.55, Y:-251.02, Z:-4.87 [[-9.84639038e-01 1.74523189e-01 5.25559590e-03 5.17551084e+02] [ 1.74520301e-01 9.84653061e-01 -1.00673507e-03 -2.51018318e+02] [-5.35063721e-03 -7.40624675e-05 -9.99985683e-01 -4.87249893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters 0.04882529999048697 Centerline is valid? [True, True] Translation: X:517.69, Y:-250.96, Z:-4.87 [[-9.94970524e-01 9.98008450e-02 8.57013974e-03 5.17688813e+02] [ 9.97958685e-02 9.95007422e-01 -1.00743376e-03 -2.50958349e+02] [-8.62789539e-03 -1.47102358e-04 -9.99962768e-01 -4.87176284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters 0.04964874653731912 Centerline is valid? [True, True] Translation: X:517.41, Y:-250.85, Z:-4.87 [[-9.99591487e-01 2.71380648e-02 8.96577229e-03 5.17409346e+02] [ 2.71354487e-02 9.99631680e-01 -4.13333929e-04 -2.50848522e+02] [-8.97368711e-03 -1.69874823e-04 -9.99959721e-01 -4.86963447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters 0.04938017986867111 Centerline is valid? [True, True] Translation: X:517.36, Y:-250.77, Z:-4.87 [[-9.99009048e-01 -4.37267809e-02 8.30009016e-03 5.17364642e+02] [-4.37265615e-02 9.99043515e-01 2.07980176e-04 -2.50771232e+02] [-8.30124555e-03 -1.55160326e-04 -9.99965532e-01 -4.87054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters 0.04883452475755194 Centerline is valid? [True, True] Translation: X:517.28, Y:-250.70, Z:-4.87 [[-9.93670356e-01 -1.12181900e-01 5.86900550e-03 5.17278960e+02] [-1.12180513e-01 9.93687683e-01 5.66112498e-04 -2.50704335e+02] [-5.89546605e-03 -9.58588403e-05 -9.99982617e-01 -4.87416136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters 0.04868997644466123 Centerline is valid? [True, True] Translation: X:517.21, Y:-250.63, Z:-4.87 [[-9.83480707e-01 -1.80939522e-01 5.15646110e-03 5.17210331e+02] [-1.80937441e-01 9.83494221e-01 8.71285345e-04 -2.50634199e+02] [-5.22899965e-03 -7.61045465e-05 -9.99986326e-01 -4.87359418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters 0.04868082466218138 Centerline is valid? [True, True] Translation: X:517.14, Y:-250.58, Z:-4.88 [[-9.67915419e-01 -2.51225350e-01 5.05628529e-03 5.17135359e+02] [-2.51222349e-01 9.67928622e-01 1.23038900e-03 -2.50576255e+02] [-5.20322816e-03 -7.93393789e-05 -9.99986460e-01 -4.87518222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters 0.049825114776192836 Centerline is valid? [True, True] Translation: X:517.08, Y:-250.50, Z:-4.87 [[-9.46748265e-01 -3.21932277e-01 5.22801368e-03 5.17079943e+02] [-3.21927919e-01 9.46762695e-01 1.67767816e-03 -2.50501234e+02] [-5.48978707e-03 -9.47046808e-05 -9.99984927e-01 -4.87242446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters 0.04980060311738038 Centerline is valid? [True, True] Translation: X:517.00, Y:-250.45, Z:-4.87 [[-9.19975112e-01 -3.91932051e-01 5.92116400e-03 5.16995003e+02] [-3.91924846e-01 9.19994158e-01 2.38004586e-03 -2.50445441e+02] [-6.38025254e-03 -1.31068331e-04 -9.99979637e-01 -4.87244094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters 0.04914049614875366 Centerline is valid? [True, True] Translation: X:516.87, Y:-250.42, Z:-4.87 [[-8.89011709e-01 -4.57847468e-01 5.82032940e-03 5.16868533e+02] [-4.57838696e-01 8.89030751e-01 2.83783806e-03 -2.50416920e+02] [-6.47374879e-03 -1.41900759e-04 -9.99979035e-01 -4.87308013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters 0.04923472954318952 Centerline is valid? [True, True] Translation: X:516.76, Y:-250.38, Z:-4.87 [[-8.53420956e-01 -5.21195486e-01 5.28553599e-03 5.16758795e+02] [-5.21186469e-01 8.53437313e-01 3.06880719e-03 -2.50384192e+02] [-6.11032209e-03 -1.35765468e-04 -9.99981323e-01 -4.87363171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters 0.04871187594172432 Centerline is valid? [True, True] Translation: X:516.60, Y:-250.39, Z:-4.87 [[-8.14573792e-01 -5.80043221e-01 4.40452145e-03 5.16600748e+02] [-5.80035482e-01 8.14585692e-01 2.99828692e-03 -2.50390774e+02] [-5.32699615e-03 -1.12452779e-04 -9.99985805e-01 -4.87437981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters 0.04889212802101223 Centerline is valid? [True, True] Translation: X:516.44, Y:-250.41, Z:-4.87 [[-7.71434711e-01 -6.36301657e-01 2.94757895e-03 5.16440547e+02] [-6.36297379e-01 7.71440339e-01 2.33440514e-03 -2.50409913e+02] [-3.75926716e-03 -7.46956077e-05 -9.99992931e-01 -4.87418178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters 0.04842883489518422 Centerline is valid? [True, True] Translation: X:516.29, Y:-250.44, Z:-4.88 [[-7.24420334e-01 -6.89351537e-01 3.10451865e-03 5.16290085e+02] [-6.89345656e-01 7.24426983e-01 2.84833314e-03 -2.50442875e+02] [-4.21249990e-03 -7.66959975e-05 -9.99991124e-01 -4.87536527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters 0.04810332489567143 Centerline is valid? [True, True] Translation: X:516.12, Y:-250.50, Z:-4.87 [[-6.74431556e-01 -7.38324885e-01 4.29413032e-03 5.16116983e+02] [-7.38310833e-01 6.74445220e-01 4.55623043e-03 -2.50501263e+02] [-6.26013397e-03 -9.75373556e-05 -9.99980400e-01 -4.87301589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters 0.04842697229948601 Centerline is valid? [True, True] Translation: X:515.94, Y:-250.59, Z:-4.87 [[-6.21342296e-01 -7.83521855e-01 5.22061496e-03 5.15937531e+02] [-7.83495600e-01 6.21364219e-01 6.41502862e-03 -2.50592932e+02] [-8.27021846e-03 -1.04400237e-04 -9.99965796e-01 -4.87172926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters 0.048469004459117615 Centerline is valid? [True, True] Translation: X:515.75, Y:-250.71, Z:-4.87 [[-5.64546056e-01 -8.25386064e-01 5.05924347e-03 5.15754740e+02] [-8.25354375e-01 5.64568718e-01 7.23319884e-03 -2.50708384e+02] [-8.82647212e-03 -9.21948524e-05 -9.99961042e-01 -4.87099106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters 0.049064607875431 Centerline is valid? [True, True] Translation: X:515.58, Y:-250.83, Z:-4.87 [[-5.04885155e-01 -8.63174044e-01 4.64218447e-03 5.15584943e+02] [-8.63138823e-01 5.04906491e-01 7.79796176e-03 -2.50833393e+02] [-9.07486726e-03 -6.97745116e-05 -9.99958820e-01 -4.87085518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters 0.04893355641509923 Centerline is valid? [True, True] Translation: X:515.41, Y:-251.00, Z:-4.87 [[-4.45031184e-01 -8.95503881e-01 4.47713202e-03 5.15408753e+02] [-8.95459104e-01 4.45053704e-01 8.95506819e-03 -2.51003716e+02] [-1.00118625e-02 -2.38040237e-05 -9.99949880e-01 -4.87170300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters 0.049541040041676594 Centerline is valid? [True, True] Translation: X:515.31, Y:-251.04, Z:-4.87 [[-3.79649242e-01 -9.25123317e-01 3.64718278e-03 5.15307164e+02] [-9.25080502e-01 3.79666760e-01 8.90032647e-03 -2.51042540e+02] [-9.61861362e-03 5.06451587e-06 -9.99953740e-01 -4.87247069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters 0.049239897026051554 Centerline is valid? [True, True] Translation: X:515.14, Y:-251.29, Z:-4.87 [[-3.14554643e-01 -9.49236368e-01 2.38642331e-03 5.15135226e+02] [-9.49208258e-01 3.14563693e-01 7.30524550e-03 -2.51287246e+02] [-7.68508684e-03 3.26861812e-05 -9.99970469e-01 -4.87247783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters 0.04970040374284415 Centerline is valid? [True, True] Translation: X:515.10, Y:-251.10, Z:-4.87 [[-2.45186960e-01 -9.69474589e-01 1.54131586e-03 5.15104442e+02] [-9.69454188e-01 2.45191799e-01 6.28965123e-03 -2.51097575e+02] [-6.47557506e-03 4.79053474e-05 -9.99979032e-01 -4.87207178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters 0.0501599007996485 Centerline is valid? [True, True] Translation: X:514.26, Y:-251.74, Z:-5.89 [[-2.94876731e-01 9.55533665e-01 1.76903920e-03 5.14264466e+02] [-9.55518287e-01 -2.94882023e-01 5.42171672e-03 -2.51744703e+02] [ 5.70229071e-03 -9.16112033e-05 9.99983738e-01 -5.89197006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters 0.04917723668456539 Centerline is valid? [True, True] Translation: X:514.98, Y:-251.53, Z:-4.87 [[-2.34022132e-01 -9.72230551e-01 1.18186376e-03 5.14984150e+02] [-9.72217589e-01 2.34025115e-01 5.02054446e-03 -2.51525154e+02] [-5.15771251e-03 2.58897840e-05 -9.99986699e-01 -4.87283756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters 0.04981160409727548 Centerline is valid? [True, True] Translation: X:514.85, Y:-251.72, Z:-4.87 [[-1.58489692e-01 -9.87360244e-01 8.74920342e-04 5.14849478e+02] [-9.87344870e-01 1.58492107e-01 5.51003995e-03 -2.51718029e+02] [-5.57906236e-03 9.43642668e-06 -9.99984437e-01 -4.87211618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters 0.0491065779535615 Centerline is valid? [True, True] Translation: X:514.66, Y:-252.56, Z:-4.87 [[-8.30463748e-02 -9.96545575e-01 4.65680801e-04 5.14657272e+02] [-9.96531076e-01 8.30476786e-02 5.37572532e-03 -2.52561927e+02] [-5.39582899e-03 -1.76308897e-05 -9.99985442e-01 -4.86893508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters 0.04938229797550675 Centerline is valid? [True, True] Translation: X:514.57, Y:-252.79, Z:-4.87 [[-6.22130493e-03 -9.99980646e-01 5.91519825e-05 5.14569239e+02] [-9.99969307e-01 6.22151609e-03 4.76217602e-03 -2.52787512e+02] [-4.76245186e-03 -2.95232178e-05 -9.99988659e-01 -4.86985192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters 0.04967201835206897 Centerline is valid? [True, True] Translation: X:514.50, Y:-252.95, Z:-4.87 [[ 7.20680437e-02 -9.97399680e-01 -2.73255954e-04 5.14495243e+02] [-9.97389935e-01 -7.20685475e-02 4.40922642e-03 -2.52945003e+02] [-4.41745418e-03 -4.52215838e-05 -9.99990242e-01 -4.87060381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters 0.049005766772193864 Centerline is valid? [True, True] Translation: X:514.44, Y:-253.17, Z:-4.87 [[ 1.48001802e-01 -9.88986950e-01 -5.28949176e-04 5.14438845e+02] [-9.88979389e-01 -1.48002739e-01 3.86754733e-03 -2.53166753e+02] [-3.90323977e-03 -4.92841410e-05 -9.99992381e-01 -4.87076385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters 0.04891357655422252 Centerline is valid? [True, True] Translation: X:514.40, Y:-253.40, Z:-4.87 [[ 2.20765908e-01 -9.75326409e-01 -8.99799361e-04 5.14403550e+02] [-9.75317269e-01 -2.20767735e-01 4.22288715e-03 -2.53403170e+02] [-4.31734002e-03 -5.46796602e-05 -9.99990679e-01 -4.86958800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters 0.04889204632649812 Centerline is valid? [True, True] Translation: X:514.39, Y:-253.66, Z:-4.87 [[ 2.90824382e-01 -9.56775467e-01 -1.37298518e-03 5.14391362e+02] [-9.56763894e-01 -2.90827618e-01 4.70611771e-03 -2.53663783e+02] [-4.90199998e-03 -5.50311333e-05 -9.99987984e-01 -4.86818836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters 0.04933731359133038 Centerline is valid? [True, True] Translation: X:514.39, Y:-253.90, Z:-4.87 [[ 3.57698390e-01 -9.33835476e-01 -1.77944222e-03 5.14393686e+02] [-9.33823358e-01 -3.57702813e-01 4.75749880e-03 -2.53895161e+02] [-5.07923264e-03 -4.00649485e-05 -9.99987100e-01 -4.86772017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters 0.04929730254138572 Centerline is valid? [True, True] Translation: X:514.42, Y:-254.13, Z:-4.87 [[ 4.22464900e-01 -9.06375671e-01 -2.55967679e-03 5.14416419e+02] [-9.06358662e-01 -4.22472653e-01 5.55279765e-03 -2.54131960e+02] [-6.11431414e-03 -2.58768753e-05 -9.99981307e-01 -4.86732611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters 0.04944855863100995 Centerline is valid? [True, True] Translation: X:514.46, Y:-254.37, Z:-4.87 [[ 4.86306147e-01 -8.73781973e-01 -3.37564898e-03 5.14458529e+02] [-8.73760727e-01 -4.86317862e-01 6.09332083e-03 -2.54369450e+02] [-6.96587230e-03 -1.37098626e-05 -9.99975738e-01 -4.86813454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters 0.04895600050750239 Centerline is valid? [True, True] Translation: X:514.51, Y:-254.60, Z:-4.87 [[ 5.48754472e-01 -8.35974915e-01 -3.80405640e-03 5.14513111e+02] [-8.35954737e-01 -5.48767656e-01 5.80835265e-03 -2.54597876e+02] [-6.94318023e-03 -7.34051963e-06 -9.99975896e-01 -4.86808602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters 0.04917524983244835 Centerline is valid? [True, True] Translation: X:514.57, Y:-254.80, Z:-4.87 [[ 6.08955432e-01 -7.93194441e-01 -3.98261346e-03 5.14566480e+02] [-7.93177402e-01 -6.08968455e-01 5.19904823e-03 -2.54799569e+02] [-6.54914211e-03 -7.06966509e-06 -9.99978554e-01 -4.86840133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters 0.049630872767890695 Centerline is valid? [True, True] Translation: X:514.61, Y:-254.97, Z:-4.87 [[ 6.66411369e-01 -7.45573694e-01 -3.96919352e-03 5.14613382e+02] [-7.45560368e-01 -6.66423189e-01 4.45762278e-03 -2.54973878e+02] [-5.96864888e-03 -1.13371148e-05 -9.99982187e-01 -4.86745983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters 0.049728588131371876 Centerline is valid? [True, True] Translation: X:514.62, Y:-255.09, Z:-4.87 [[ 7.19943081e-01 -6.94021356e-01 -4.03956570e-03 5.14622099e+02] [-6.94010322e-01 -7.19954414e-01 3.91347113e-03 -2.55092500e+02] [-5.62433569e-03 -1.39761724e-05 -9.99984183e-01 -4.86833133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters 0.049091395426499075 Centerline is valid? [True, True] Translation: X:514.59, Y:-255.18, Z:-4.87 [[ 7.74347533e-01 -6.32749760e-01 -3.69317760e-03 5.14587462e+02] [-6.32742379e-01 -7.74356340e-01 3.05636826e-03 -2.55181640e+02] [-4.79375177e-03 -2.98612420e-05 -9.99988509e-01 -4.87095172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters 0.050032565427652866 Centerline is valid? [True, True] Translation: X:514.56, Y:-255.27, Z:-4.87 [[ 8.23150480e-01 -5.67809701e-01 -3.92811561e-03 5.14559587e+02] [-5.67802978e-01 -8.23159852e-01 2.76346589e-03 -2.55271725e+02] [-4.80258981e-03 -4.43525346e-05 -9.99988467e-01 -4.86970431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters 0.04981044728371034 Centerline is valid? [True, True] Translation: X:514.54, Y:-255.36, Z:-4.87 [[ 8.66750396e-01 -4.98729725e-01 -3.52310412e-03 5.14543483e+02] [-4.98725360e-01 -8.66757555e-01 2.08733783e-03 -2.55359866e+02] [-4.09469453e-03 -5.21395208e-05 -9.99991615e-01 -4.87046449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters 0.04991073939539542 Centerline is valid? [True, True] Translation: X:514.53, Y:-255.45, Z:-4.87 [[ 9.03474528e-01 -4.28629755e-01 -3.21110214e-03 5.14531019e+02] [-4.28626854e-01 -9.03480233e-01 1.57759592e-03 -2.55452800e+02] [-3.57737186e-03 -4.89531174e-05 -9.99993600e-01 -4.87024263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters 0.05017398567151373 Centerline is valid? [True, True] Translation: X:514.54, Y:-255.53, Z:-4.87 [[ 9.33947093e-01 -3.57399826e-01 -2.86225155e-03 5.14535612e+02] [-3.57398016e-01 -9.33951478e-01 1.13805280e-03 -2.55527882e+02] [-3.07994394e-03 -3.99180758e-05 -9.99995256e-01 -4.87008071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters 0.05050619279094905 Centerline is valid? [True, True] Translation: X:514.54, Y:-255.61, Z:-4.87 [[ 9.58356153e-01 -2.85558111e-01 -3.16999529e-03 5.14542085e+02] [-2.85556427e-01 -9.58361395e-01 9.81266097e-04 -2.55611504e+02] [-3.31820961e-03 -3.51898720e-05 -9.99994494e-01 -4.87150835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters 0.05012537595255326 Centerline is valid? [True, True] Translation: X:514.55, Y:-255.70, Z:-4.87 [[ 9.77200295e-01 -2.12291471e-01 -3.45183241e-03 5.14553144e+02] [-2.12290044e-01 -9.77206391e-01 7.78943005e-04 -2.55699247e+02] [-3.53851564e-03 -2.83936806e-05 -9.99993739e-01 -4.87078454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters 0.049961782951175426 Centerline is valid? [True, True] Translation: X:514.57, Y:-255.78, Z:-4.87 [[ 9.90641513e-01 -1.36433777e-01 -3.90082620e-03 5.14571872e+02] [-1.36432613e-01 -9.90649193e-01 5.64403919e-04 -2.55784126e+02] [-3.94135409e-03 -2.69220425e-05 -9.99992232e-01 -4.87051929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters 0.04997261608789858 Centerline is valid? [True, True] Translation: X:514.60, Y:-255.87, Z:-4.87 [[ 9.98233172e-01 -5.91577285e-02 -5.55852147e-03 5.14596742e+02] [-5.91566184e-02 -9.98248647e-01 3.64065010e-04 -2.55865754e+02] [-5.57032380e-03 -3.45984365e-05 -9.99984485e-01 -4.86897243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters 0.05048202144997578 Centerline is valid? [True, True] Translation: X:514.62, Y:-255.95, Z:-4.87 [[ 9.99777668e-01 2.01565141e-02 -6.19102415e-03 5.14624805e+02] [ 2.01564040e-02 -9.99796836e-01 -8.01748481e-05 -2.55945060e+02] [-6.19138240e-03 -4.46317615e-05 -9.99980832e-01 -4.86709826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters 0.050726669692539625 Centerline is valid? [True, True] Translation: X:514.66, Y:-256.02, Z:-4.87 [[ 9.94950074e-01 1.00211354e-01 -5.65989177e-03 5.14657441e+02] [ 1.00210030e-01 -9.94966171e-01 -5.17906411e-04 -2.56022047e+02] [-5.68330095e-03 -5.18868995e-05 -9.99983849e-01 -4.86882900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters 0.04939682253466728 Centerline is valid? [True, True] Translation: X:514.70, Y:-256.10, Z:-4.87 [[ 9.83261793e-01 1.82119241e-01 -5.36912529e-03 5.14696612e+02] [ 1.82116937e-01 -9.83276450e-01 -9.19151243e-04 -2.56098439e+02] [-5.44672958e-03 -7.40423525e-05 -9.99985164e-01 -4.86886258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters 0.05055655898288204 Centerline is valid? [True, True] Translation: X:514.74, Y:-256.17, Z:-4.87 [[ 9.65160210e-01 2.61602120e-01 -5.48624926e-03 5.14741670e+02] [ 2.61598452e-01 -9.65175798e-01 -1.38850860e-03 -2.56174835e+02] [-5.65843180e-03 -9.50610641e-05 -9.99983986e-01 -4.86767135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters 0.04968866491366548 Centerline is valid? [True, True] Translation: X:514.79, Y:-256.24, Z:-4.87 [[ 9.40420949e-01 3.39973485e-01 -5.14474230e-03 5.14792685e+02] [ 3.39969049e-01 -9.40435015e-01 -1.74030584e-03 -2.56243541e+02] [-5.42995364e-03 -1.12433075e-04 -9.99985251e-01 -4.87017972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters 0.05054899733094296 Centerline is valid? [True, True] Translation: X:514.85, Y:-256.32, Z:-4.87 [[ 9.10205586e-01 4.14125162e-01 -5.11286652e-03 5.14851241e+02] [ 4.14119396e-01 -9.10219938e-01 -2.18885358e-03 -2.56318638e+02] [-5.56029239e-03 -1.25030441e-04 -9.99984534e-01 -4.86913255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters 0.04958954021848798 Centerline is valid? [True, True] Translation: X:514.91, Y:-256.38, Z:-4.87 [[ 8.75010103e-01 4.84064433e-01 -6.24062065e-03 5.14912369e+02] [ 4.84053404e-01 -8.75032342e-01 -3.27144348e-03 -2.56378682e+02] [-7.04433434e-03 -1.58247574e-04 -9.99975176e-01 -4.86825975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters 0.0493360390048219 Centerline is valid? [True, True] Translation: X:514.98, Y:-256.43, Z:-4.87 [[ 8.36310055e-01 5.48224215e-01 -5.97501529e-03 5.14977664e+02] [ 5.48211367e-01 -8.36331389e-01 -3.75576615e-03 -2.56434142e+02] [-7.05609479e-03 -1.34586307e-04 -9.99975096e-01 -4.86989263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters 0.04940139841735797 Centerline is valid? [True, True] Translation: X:515.05, Y:-256.48, Z:-4.87 [[ 7.94251995e-01 6.07569393e-01 -4.81675914e-03 5.15045172e+02] [ 6.07558836e-01 -7.94266597e-01 -3.58249088e-03 -2.56484020e+02] [-6.00240270e-03 -8.10640495e-05 -9.99981982e-01 -4.87041870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters 0.04930262689063708 Centerline is valid? [True, True] Translation: X:515.12, Y:-256.53, Z:-4.87 [[ 7.47215230e-01 6.64567897e-01 -4.34870734e-03 5.15116238e+02] [ 6.64557050e-01 -7.47227882e-01 -3.79729396e-03 -2.56526635e+02] [-5.77303504e-03 -5.25682457e-05 -9.99983335e-01 -4.87036638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters 0.049267008333344554 Centerline is valid? [True, True] Translation: X:515.19, Y:-256.56, Z:-4.87 [[ 6.97297257e-01 7.16769811e-01 -4.19215261e-03 5.15191508e+02] [ 7.16757014e-01 -6.97309858e-01 -4.28310418e-03 -2.56563436e+02] [-5.99322911e-03 -1.81579949e-05 -9.99982040e-01 -4.87052969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters 0.04901000858654015 Centerline is valid? [True, True] Translation: X:515.27, Y:-256.60, Z:-4.87 [[ 6.41345380e-01 7.67241329e-01 -4.10447257e-03 5.15268486e+02] [ 7.67225621e-01 -6.41358514e-01 -4.90942981e-03 -2.56595599e+02] [-6.39915588e-03 -4.16385187e-07 -9.99979525e-01 -4.86932819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters 0.04882468989009608 Centerline is valid? [True, True] Translation: X:515.34, Y:-256.62, Z:-4.87 [[ 5.79610398e-01 8.14880819e-01 -4.58659563e-03 5.15338649e+02] [ 8.14855278e-01 -5.79628546e-01 -6.45182009e-03 -2.56615274e+02] [-7.91598619e-03 2.13035779e-06 -9.99968668e-01 -4.86881745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters 0.049250836796171586 Centerline is valid? [True, True] Translation: X:515.42, Y:-256.63, Z:-4.87 [[ 5.12821742e-01 8.58479555e-01 -5.16861490e-03 5.15416905e+02] [ 8.58436186e-01 -5.12847787e-01 -8.62910931e-03 -2.56633434e+02] [-1.00586266e-02 -1.17311922e-05 -9.99949411e-01 -4.86567921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters 0.050132001137534646 Centerline is valid? [True, True] Translation: X:515.51, Y:-256.65, Z:-4.87 [[ 4.43008645e-01 8.96507061e-01 -4.29301775e-03 5.15505822e+02] [ 8.96465471e-01 -4.43029445e-01 -8.63546889e-03 -2.56648973e+02] [-9.64369210e-03 -2.29548070e-05 -9.99953498e-01 -4.86799898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters 0.04935945496222137 Centerline is valid? [True, True] Translation: X:515.59, Y:-256.66, Z:-4.87 [[ 3.71961923e-01 9.28242874e-01 -3.08135563e-03 5.15593049e+02] [ 9.28211372e-01 -3.71974686e-01 -7.64734643e-03 -2.56655427e+02] [-8.24478111e-03 -1.56276482e-05 -9.99966011e-01 -4.86919891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters 0.04930561775953543 Centerline is valid? [True, True] Translation: X:515.68, Y:-256.66, Z:-4.87 [[ 2.99070486e-01 9.54229435e-01 -1.74066744e-03 5.15677767e+02] [ 9.54213386e-01 -2.99075552e-01 -5.53424375e-03 -2.56656070e+02] [-5.80152936e-03 -5.83920701e-06 -9.99983171e-01 -4.87026398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters 0.049194408513193004 Centerline is valid? [True, True] Translation: X:515.76, Y:-256.65, Z:-4.87 [[ 2.22597605e-01 9.74909931e-01 -9.65959596e-04 5.15761454e+02] [ 9.74900915e-01 -2.22599700e-01 -4.19285661e-03 -2.56648679e+02] [-4.30267987e-03 -8.39505411e-06 -9.99990743e-01 -4.87076460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters 0.04930392832410601 Centerline is valid? [True, True] Translation: X:515.84, Y:-256.63, Z:-4.87 [[ 1.43632346e-01 9.89630916e-01 -6.31254962e-04 5.15842409e+02] [ 9.89621875e-01 -1.43633732e-01 -4.23040111e-03 -2.56634664e+02] [-4.27720523e-03 -1.70812831e-05 -9.99990853e-01 -4.86962359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters 0.048988586052976325 Centerline is valid? [True, True] Translation: X:515.93, Y:-256.61, Z:-4.87 [[ 6.27190354e-02 9.98031163e-01 -3.46052823e-04 5.15925140e+02] [ 9.98018881e-01 -6.27199804e-02 -4.95146151e-03 -2.56614058e+02] [-4.96341731e-03 -3.48163615e-05 -9.99987682e-01 -4.86996275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters 0.049022817455336834 Centerline is valid? [True, True] Translation: X:516.01, Y:-256.59, Z:-4.87 [[-1.87781173e-02 9.99823674e-01 4.98962055e-05 5.16006787e+02] [ 9.99806639e-01 1.87780886e-02 -5.83670212e-03 -2.56587088e+02] [-5.83660992e-03 -5.97157194e-05 -9.99982965e-01 -4.86877577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters 0.049037617673930035 Centerline is valid? [True, True] Translation: X:516.09, Y:-256.55, Z:-4.87 [[-1.01106249e-01 9.94875506e-01 5.03054688e-04 5.16085695e+02] [ 9.94858746e-01 1.01107466e-01 -5.77551355e-03 -2.56553625e+02] [-5.79677955e-03 -8.34721575e-05 -9.99983195e-01 -4.86901010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters 0.04901979065053626 Centerline is valid? [True, True] Translation: X:516.16, Y:-256.51, Z:-4.87 [[-1.81580365e-01 9.83375669e-01 9.29948617e-04 5.16164208e+02] [ 9.83359856e-01 1.81582719e-01 -5.57759120e-03 -2.56514538e+02] [-5.65373008e-03 -9.83069069e-05 -9.99984013e-01 -4.86803905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters 0.048356223281134314 Centerline is valid? [True, True] Translation: X:516.23, Y:-256.47, Z:-4.87 [[-2.59188453e-01 9.65825909e-01 1.28846937e-03 5.16231961e+02] [ 9.65811989e-01 2.59191636e-01 -5.18622809e-03 -2.56469477e+02] [-5.34295394e-03 -9.97912647e-05 -9.99985721e-01 -4.86862157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters 0.048506012242278185 Centerline is valid? [True, True] Translation: X:516.30, Y:-256.42, Z:-4.87 [[-3.34976953e-01 9.42224952e-01 1.60630846e-03 5.16297935e+02] [ 9.42212642e-01 3.34980789e-01 -4.81749421e-03 -2.56419015e+02] [-5.07724573e-03 -1.00265393e-04 -9.99987106e-01 -4.86839070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters 0.04883794703891763 Centerline is valid? [True, True] Translation: X:516.37, Y:-256.36, Z:-4.87 [[-4.08257136e-01 9.12864219e-01 2.24243534e-03 5.16365302e+02] [ 9.12848834e-01 4.08263277e-01 -5.30129456e-03 -2.56361484e+02] [-5.75486612e-03 -1.17286844e-04 -9.99983434e-01 -4.86827803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters 0.04815107267805249 Centerline is valid? [True, True] Translation: X:516.43, Y:-256.30, Z:-4.87 [[-4.77289109e-01 8.78740828e-01 3.10859443e-03 5.16429302e+02] [ 8.78720400e-01 4.77299214e-01 -5.99319808e-03 -2.56299602e+02] [-6.75019753e-03 -1.28902829e-04 -9.99977209e-01 -4.86733675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters 0.0482897644079831 Centerline is valid? [True, True] Translation: X:516.49, Y:-256.23, Z:-4.87 [[-5.41611001e-01 8.40620581e-01 3.81600279e-03 5.16485827e+02] [ 8.40598237e-01 5.41624432e-01 -6.13009217e-03 -2.56233310e+02] [-7.21992199e-03 -1.12400138e-04 -9.99973930e-01 -4.86675667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters 0.048667799396583104 Centerline is valid? [True, True] Translation: X:516.54, Y:-256.16, Z:-4.87 [[-6.00913118e-01 7.99302078e-01 4.42853719e-03 5.16535797e+02] [ 7.99279494e-01 6.00929432e-01 -6.00906896e-03 -2.56163818e+02] [-7.46429965e-03 -7.12893994e-05 -9.99972139e-01 -4.86774195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters 0.047909237332784516 Centerline is valid? [True, True] Translation: X:516.58, Y:-256.09, Z:-4.87 [[-6.58402033e-01 7.52649454e-01 5.05596966e-03 5.16582814e+02] [ 7.52626787e-01 6.58421444e-01 -5.84133958e-03 -2.56089193e+02] [-7.72543990e-03 -4.06916536e-05 -9.99970158e-01 -4.86748298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters 0.0487779000229336 Centerline is valid? [True, True] Translation: X:516.62, Y:-256.01, Z:-4.87 [[-7.12408145e-01 7.01744991e-01 5.34816673e-03 5.16623858e+02] [ 7.01725124e-01 7.12428219e-01 -5.28045676e-03 -2.56011666e+02] [-7.51571898e-03 -8.89744294e-06 -9.99971757e-01 -4.86631253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters 0.048767626309916844 Centerline is valid? [True, True] Translation: X:516.62, Y:-255.91, Z:-4.87 [[-7.59310275e-01 6.50702436e-01 5.85206592e-03 5.16619053e+02] [ 6.50683144e-01 7.59332826e-01 -5.01059579e-03 -2.55906414e+02] [-7.70407263e-03 3.24378055e-06 -9.99970323e-01 -4.86674412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters 0.04832180116912993 Centerline is valid? [True, True] Translation: X:516.61, Y:-255.81, Z:-4.87 [[-8.04029432e-01 5.94563092e-01 5.60367582e-03 5.16613449e+02] [ 5.94548627e-01 8.04048960e-01 -4.14734006e-03 -2.55806282e+02] [-6.97148504e-03 -2.92570403e-06 -9.99975699e-01 -4.86788426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters 0.04873410951592168 Centerline is valid? [True, True] Translation: X:516.68, Y:-255.76, Z:-4.87 [[-8.44857594e-01 5.34968802e-01 4.90177137e-03 5.16676267e+02] [ 5.34959732e-01 8.44871813e-01 -3.11514706e-03 -2.55756824e+02] [-5.80787496e-03 -9.60535234e-06 -9.99983134e-01 -4.86774930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters 0.0480860705231627 Centerline is valid? [True, True] Translation: X:516.61, Y:-255.63, Z:-4.87 [[-8.81340497e-01 4.72461997e-01 4.31171216e-03 5.16612275e+02] [ 4.72456258e-01 8.81351043e-01 -2.32864116e-03 -2.55630193e+02] [-4.90032646e-03 -1.52303578e-05 -9.99987993e-01 -4.86862182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters 0.048000640423412864 Centerline is valid? [True, True] Translation: X:516.65, Y:-255.56, Z:-4.87 [[-9.12668922e-01 4.08679185e-01 4.09418431e-03 5.16645326e+02] [ 4.08675003e-01 9.12678105e-01 -1.84876988e-03 -2.55563560e+02] [-4.49222615e-03 -1.41240303e-05 -9.99989910e-01 -4.86898443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters 0.04834466149422364 Centerline is valid? [True, True] Translation: X:516.90, Y:-255.58, Z:-4.87 [[-9.39553409e-01 3.42378886e-01 4.01133182e-03 5.16895236e+02] [ 3.42375728e-01 9.39561971e-01 -1.47060233e-03 -2.55580659e+02] [-4.27239802e-03 -8.32678088e-06 -9.99990873e-01 -4.86928176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters 0.04925233475439954 Centerline is valid? [True, True] Translation: X:516.22, Y:-254.66, Z:-5.90 [[-9.13225571e-01 -4.07435251e-01 3.94619382e-03 5.16218215e+02] [ 4.07431499e-01 -9.13234097e-01 -1.74868213e-03 -2.54657501e+02] [ 4.31627349e-03 1.08624230e-05 9.99990685e-01 -5.89734176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters 0.04900447270581851 Centerline is valid? [True, True] Translation: X:516.05, Y:-255.25, Z:-4.87 [[-9.40722964e-01 3.39144759e-01 4.59762093e-03 5.16046791e+02] [ 3.39140674e-01 9.40734199e-01 -1.66470902e-03 -2.55250274e+02] [-4.88971658e-03 -6.78974519e-06 -9.99988045e-01 -4.86573648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters 0.04912240335637488 Centerline is valid? [True, True] Translation: X:516.23, Y:-255.23, Z:-4.87 [[-9.62698680e-01 2.70532772e-01 4.82389940e-03 5.16232426e+02] [ 2.70529336e-01 9.62710766e-01 -1.36350572e-03 -2.55226726e+02] [-5.01289287e-03 -7.63886000e-06 -9.99987435e-01 -4.86836511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters 0.04865357957092741 Centerline is valid? [True, True] Translation: X:515.91, Y:-255.06, Z:-4.87 [[-9.79536734e-01 2.01229838e-01 3.78680159e-03 5.15905221e+02] [ 2.01228304e-01 9.79544053e-01 -7.85880887e-04 -2.55063848e+02] [-3.86748166e-03 -7.78753699e-06 -9.99992521e-01 -4.86690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters 0.04881392059058976 Centerline is valid? [True, True] Translation: X:515.92, Y:-254.99, Z:-4.87 [[-9.91520472e-01 1.29903268e-01 3.50628476e-03 5.15924757e+02] [ 1.29902415e-01 9.91526672e-01 -4.70750122e-04 -2.54989396e+02] [-3.53772684e-03 -1.12835245e-05 -9.99993742e-01 -4.86762904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters 0.04878243102273693 Centerline is valid? [True, True] Translation: X:515.84, Y:-254.37, Z:-5.90 [[-9.78624163e-01 -2.05624470e-01 3.65034523e-03 5.15837606e+02] [ 2.05623133e-01 -9.78630971e-01 -7.42003726e-04 -2.54367439e+02] [ 3.72491501e-03 2.44526447e-05 9.99993062e-01 -5.89602632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters 0.048700691603543955 Centerline is valid? [True, True] Translation: X:515.72, Y:-254.96, Z:-4.87 [[-9.92794985e-01 1.19715680e-01 5.12578553e-03 5.15720596e+02] [ 1.19713828e-01 9.92808216e-01 -6.67603685e-04 -2.54957333e+02] [-5.16884462e-03 -4.91661814e-05 -9.99986640e-01 -4.86583926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters 0.04917479222185533 Centerline is valid? [True, True] Translation: X:515.80, Y:-254.37, Z:-5.90 [[-9.78238349e-01 -2.07372688e-01 6.80453618e-03 5.15804835e+02] [ 2.07368988e-01 -9.78261996e-01 -1.25260907e-03 -2.54372412e+02] [ 6.91637606e-03 1.85699555e-04 9.99976064e-01 -5.89889810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters 0.04868917222300504 Centerline is valid? [True, True] Translation: X:515.62, Y:-254.95, Z:-4.86 [[-9.93369043e-01 1.14670812e-01 8.27945985e-03 5.15616496e+02] [ 1.14666065e-01 9.93403542e-01 -1.04731620e-03 -2.54949820e+02] [-8.34494134e-03 -9.09984104e-05 -9.99965176e-01 -4.86395687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters 0.049126946936976654 Centerline is valid? [True, True] Translation: X:515.62, Y:-254.34, Z:-5.90 [[-9.80231710e-01 -1.97720140e-01 7.24852422e-03 5.15616220e+02] [ 1.97714909e-01 -9.80258510e-01 -1.43840111e-03 -2.54339646e+02] [ 7.38982842e-03 2.31749262e-05 9.99972695e-01 -5.89931705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters 0.04882181917765354 Centerline is valid? [True, True] Translation: X:515.39, Y:-254.93, Z:-4.86 [[-9.92887151e-01 1.18906296e-01 6.03316938e-03 5.15392801e+02] [ 1.18903991e-01 9.92905480e-01 -7.40651145e-04 -2.54930156e+02] [-6.07843503e-03 -1.80150891e-05 -9.99981526e-01 -4.86496735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters 0.048217217986293 Centerline is valid? [True, True] Translation: X:515.33, Y:-254.85, Z:-4.87 [[-9.98791013e-01 4.90002346e-02 3.93578154e-03 5.15329475e+02] [ 4.89998218e-02 9.98798767e-01 -2.01311125e-04 -2.54853206e+02] [-3.94091805e-03 -8.21514772e-06 -9.99992235e-01 -4.86655108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters 0.0479300737163816 Centerline is valid? [True, True] Translation: X:515.41, Y:-254.24, Z:-5.90 [[-9.92233099e-01 -1.24333596e-01 3.82555766e-03 5.15409301e+02] [ 1.24332679e-01 -9.92240473e-01 -4.77389157e-04 -2.54240905e+02] [ 3.85522865e-03 1.96051182e-06 9.99992569e-01 -5.89848315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters 0.04917361369420345 Centerline is valid? [True, True] Translation: X:515.37, Y:-254.85, Z:-4.86 [[-9.99335931e-01 3.57595913e-02 6.99635072e-03 5.15365414e+02] [ 3.57581655e-02 9.99360418e-01 -3.28820717e-04 -2.54849922e+02] [-7.00363448e-03 -7.84256909e-05 -9.99975471e-01 -4.86025959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters 0.048677597651095916 Centerline is valid? [True, True] Translation: X:515.35, Y:-254.25, Z:-5.90 [[-9.91270768e-01 -1.31533422e-01 9.01237460e-03 5.15348957e+02] [ 1.31530275e-01 -9.91311705e-01 -9.43670777e-04 -2.54250848e+02] [ 9.05819668e-03 2.49966850e-04 9.99958942e-01 -5.90282556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters 0.049127682504954105 Centerline is valid? [True, True] Translation: X:515.21, Y:-254.84, Z:-4.86 [[-9.99674554e-01 2.38131598e-02 9.14979943e-03 5.15210865e+02] [ 2.38105360e-02 9.99716411e-01 -3.95610775e-04 -2.54841031e+02] [-9.15662538e-03 -1.77620397e-04 -9.99958061e-01 -4.85921924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters 0.04914087316682728 Centerline is valid? [True, True] Translation: X:515.20, Y:-254.76, Z:-4.86 [[-9.98747007e-01 -4.91964074e-02 9.17226153e-03 5.15198054e+02] [-4.91961190e-02 9.98789105e-01 2.57202219e-04 -2.54764050e+02] [-9.17380831e-03 -1.94359723e-04 -9.99957901e-01 -4.86026051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters 0.04906654040242803 Centerline is valid? [True, True] Translation: X:515.11, Y:-254.17, Z:-5.90 [[-9.98244906e-01 -5.86445327e-02 8.24173631e-03 5.15113402e+02] [ 5.86434887e-02 -9.98278922e-01 -3.68500094e-04 -2.54171043e+02] [ 8.24916215e-03 1.15470828e-04 9.99965968e-01 -5.90279414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters 0.048891136124438114 Centerline is valid? [True, True] Translation: X:514.99, Y:-254.78, Z:-4.86 [[-9.98893806e-01 -4.64738767e-02 7.16538207e-03 5.14985545e+02] [-4.64734369e-02 9.98919500e-01 2.27961798e-04 -2.54775502e+02] [-7.16823414e-03 -1.05290303e-04 -9.99974302e-01 -4.86132135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters 0.04830857900918826 Centerline is valid? [True, True] Translation: X:514.98, Y:-254.70, Z:-4.86 [[-9.93625669e-01 -1.12491288e-01 7.33077503e-03 5.14979306e+02] [-1.12488749e-01 9.93652709e-01 7.59104598e-04 -2.54702337e+02] [-7.36963712e-03 -7.03638961e-05 -9.99972841e-01 -4.86130813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters 0.048713779702140185 Centerline is valid? [True, True] Translation: X:514.74, Y:-254.11, Z:-5.90 [[-9.99605102e-01 2.69281126e-02 8.03225470e-03 5.14738839e+02] [-2.69262804e-02 -9.99637365e-01 3.36171113e-04 -2.54108743e+02] [ 8.03839438e-03 1.19759618e-04 9.99967684e-01 -5.90303112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters 0.048775499735752084 Centerline is valid? [True, True] Translation: X:514.79, Y:-254.71, Z:-4.86 [[-9.92688902e-01 -1.20264776e-01 1.02532204e-02 5.14793898e+02] [-1.20259586e-01 9.92741845e-01 1.12343348e-03 -2.54714999e+02] [-1.03139104e-02 -1.17828095e-04 -9.99946803e-01 -4.85833623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters 0.04911349516738494 Centerline is valid? [True, True] Translation: X:514.56, Y:-254.14, Z:-5.91 [[-9.99515182e-01 2.89577701e-02 1.14389360e-02 5.14556125e+02] [-2.89535111e-02 -9.99580615e-01 5.37785925e-04 -2.54137516e+02] [ 1.14497118e-02 2.06327836e-04 9.99934429e-01 -5.90713208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters 0.04848743013700423 Centerline is valid? [True, True] Translation: X:514.59, Y:-254.73, Z:-4.86 [[-9.91805071e-01 -1.27245567e-01 1.14572142e-02 5.14592433e+02] [-1.27238885e-01 9.91871232e-01 1.31319343e-03 -2.54734364e+02] [-1.15311792e-02 -1.55371264e-04 -9.99933502e-01 -4.85814478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters 0.04889344873574565 Centerline is valid? [True, True] Translation: X:514.43, Y:-254.68, Z:-4.86 [[-9.80864354e-01 -1.94439390e-01 9.92185672e-03 5.14426312e+02] [-1.94430533e-01 9.80914529e-01 1.85882651e-03 -2.54680438e+02] [-1.00939225e-02 -1.05855227e-04 -9.99949049e-01 -4.85808008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters 0.048856371085487085 Centerline is valid? [True, True] Translation: X:514.36, Y:-254.62, Z:-4.86 [[-9.66391090e-01 -2.56953130e-01 7.95931635e-03 5.14359142e+02] [-2.56944647e-01 9.66423866e-01 2.08807699e-03 -2.54621320e+02] [-8.22861119e-03 -2.72047328e-05 -9.99966144e-01 -4.86070899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters 0.04889257193627471 Centerline is valid? [True, True] Translation: X:514.20, Y:-254.59, Z:-4.86 [[-9.47587246e-01 -3.19436052e-01 6.24664079e-03 5.14202624e+02] [-3.19428994e-01 9.47607835e-01 2.12351874e-03 -2.54590771e+02] [-6.59769420e-03 1.68610835e-05 -9.99978235e-01 -4.85987077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters 0.04901099921666215 Centerline is valid? [True, True] Translation: X:514.09, Y:-254.55, Z:-4.86 [[-9.22548940e-01 -3.85821862e-01 6.70410876e-03 5.14086575e+02] [-3.85811499e-01 9.22573298e-01 2.82780466e-03 -2.54550670e+02] [-7.27606059e-03 2.22659410e-05 -9.99973529e-01 -4.85863519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters 0.04901779459288043 Centerline is valid? [True, True] Translation: X:513.79, Y:-254.01, Z:-5.91 [[-9.44451868e-01 3.28537747e-01 8.58009957e-03 5.13786775e+02] [-3.28523274e-01 -9.44490836e-01 3.08523266e-03 -2.54011908e+02] [ 9.11744081e-03 9.50913533e-05 9.99958431e-01 -5.90598573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters 0.048933995850511426 Centerline is valid? [True, True] Translation: X:513.81, Y:-254.67, Z:-4.86 [[-9.20781984e-01 -3.89961855e-01 9.50209627e-03 5.13808984e+02] [-3.89940831e-01 9.20831011e-01 4.04934245e-03 -2.54665989e+02] [-1.03289140e-02 2.33062568e-05 -9.99946655e-01 -4.85648633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters 0.04946381934871897 Centerline is valid? [True, True] Translation: X:513.76, Y:-254.60, Z:-4.86 [[-8.89411537e-01 -4.57043753e-01 7.62405859e-03 5.13758593e+02] [-4.57026827e-01 8.89444213e-01 3.93338440e-03 -2.54602781e+02] [-8.57890356e-03 1.39981626e-05 -9.99963200e-01 -4.85791819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters 0.04850993413734636 Centerline is valid? [True, True] Translation: X:513.53, Y:-254.64, Z:-4.86 [[-8.53710189e-01 -5.20728953e-01 4.50229503e-03 5.13533201e+02] [-5.20721722e-01 8.53722061e-01 2.74425066e-03 -2.54640052e+02] [-5.27271937e-03 -1.64806969e-06 -9.99986099e-01 -4.86009533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters 0.048554864028665025 Centerline is valid? [True, True] Translation: X:513.39, Y:-254.64, Z:-4.86 [[-8.12664058e-01 -5.82722564e-01 3.39734713e-03 5.13391981e+02] [-5.82717526e-01 8.12671160e-01 2.42316184e-03 -2.54643847e+02] [-4.17295711e-03 -1.04771765e-05 -9.99991293e-01 -4.86167535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters 0.04897169093636743 Centerline is valid? [True, True] Translation: X:513.37, Y:-254.56, Z:-4.86 [[-7.65992231e-01 -6.42841345e-01 3.30276964e-03 5.13370915e+02] [-6.42835465e-01 7.65999351e-01 2.74936922e-03 -2.54560514e+02] [-4.29732761e-03 -1.71419907e-05 -9.99990766e-01 -4.86132182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters 0.04882462905040377 Centerline is valid? [True, True] Translation: X:513.16, Y:-254.64, Z:-4.86 [[-7.17645449e-01 -6.96402072e-01 3.02718432e-03 5.13163173e+02] [-6.96395990e-01 7.17651833e-01 2.91051308e-03 -2.54637990e+02] [-4.19935172e-03 -1.94025598e-05 -9.99991183e-01 -4.86058658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters 0.048728717048296614 Centerline is valid? [True, True] Translation: X:513.37, Y:-254.30, Z:-4.86 [[-6.62873603e-01 -7.48722637e-01 3.60537274e-03 5.13370948e+02] [-7.48711736e-01 6.62883407e-01 4.04036100e-03 -2.54302385e+02] [-5.41505151e-03 -2.11362299e-05 -9.99985338e-01 -4.86242874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters 0.04853349848207646 Centerline is valid? [True, True] Translation: X:513.16, Y:-254.41, Z:-4.86 [[-6.06161353e-01 -7.95333990e-01 3.50136869e-03 5.13160221e+02] [-7.95320992e-01 6.06171464e-01 4.54699173e-03 -2.54410911e+02] [-5.73880686e-03 -2.85013652e-05 -9.99983533e-01 -4.86281585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters 0.04880584082609485 Centerline is valid? [True, True] Translation: X:512.65, Y:-254.97, Z:-4.86 [[-5.46462388e-01 -8.37479649e-01 2.58769767e-03 5.12652370e+02] [-8.37470550e-01 5.46468514e-01 3.90406010e-03 -2.54970580e+02] [-4.68366618e-03 -3.36985898e-05 -9.99989031e-01 -4.86209891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters 0.04898303324672965 Centerline is valid? [True, True] Translation: X:512.48, Y:-255.10, Z:-4.86 [[-4.82015042e-01 -8.76160230e-01 2.17977544e-03 5.12477083e+02] [-8.76151647e-01 4.82019968e-01 3.87834574e-03 -2.55101238e+02] [-4.44874759e-03 -4.03928570e-05 -9.99990103e-01 -4.86186969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters 0.04870136394431612 Centerline is valid? [True, True] Translation: X:512.30, Y:-255.29, Z:-4.86 [[-4.18335104e-01 -9.08290983e-01 1.79747671e-03 5.12295313e+02] [-9.08282935e-01 4.18338965e-01 3.82375489e-03 -2.55292311e+02] [-4.22503663e-03 -3.30065203e-05 -9.99991074e-01 -4.86284218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters 0.04849626540306819 Centerline is valid? [True, True] Translation: X:512.13, Y:-255.51, Z:-4.86 [[-3.54623062e-01 -9.35007158e-01 2.02443724e-03 5.12125221e+02] [-9.34992245e-01 3.54628840e-01 5.28087201e-03 -2.55510888e+02] [-5.65557695e-03 -2.01141140e-05 -9.99984007e-01 -4.86156824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters 0.04882064361915099 Centerline is valid? [True, True] Translation: X:512.00, Y:-255.66, Z:-4.86 [[-2.88223799e-01 -9.57561157e-01 1.91626442e-03 5.11998193e+02] [-9.57539940e-01 2.88230169e-01 6.37444621e-03 -2.55663864e+02] [-6.65624730e-03 2.36738684e-06 -9.99977847e-01 -4.86099422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters 0.04943971100027029 Centerline is valid? [True, True] Translation: X:511.88, Y:-255.84, Z:-4.86 [[-2.22903059e-01 -9.74839325e-01 1.58620574e-03 5.11878733e+02] [-9.74813011e-01 2.22908697e-01 7.16283536e-03 -2.55837415e+02] [-7.33619264e-03 5.03639173e-05 -9.99973089e-01 -4.86254896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters 0.049929092623363855 Centerline is valid? [True, True] Translation: X:511.77, Y:-256.09, Z:-4.86 [[-1.56510558e-01 -9.87675644e-01 1.12585354e-03 5.11766707e+02] [-9.87645213e-01 1.56514574e-01 7.75381268e-03 -2.56085580e+02] [-7.83446442e-03 1.01609692e-04 -9.99969305e-01 -4.85982690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters 0.050665805019138 Centerline is valid? [True, True] Translation: X:511.68, Y:-256.26, Z:-4.86 [[-8.54968414e-02 -9.96338286e-01 5.57680262e-04 5.11675839e+02] [-9.96306396e-01 8.54985674e-02 7.97252103e-03 -2.56259072e+02] [-7.99100880e-03 1.26004955e-04 -9.99968063e-01 -4.85996055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters 0.04985978538325997 Centerline is valid? [True, True] Translation: X:511.59, Y:-256.56, Z:-4.86 [[-1.31535069e-02 -9.99913488e-01 -2.92178115e-05 5.11586300e+02] [-9.99884383e-01 1.31529010e-02 7.63031944e-03 -2.56561677e+02] [-7.62927503e-03 1.29579893e-04 -9.99970888e-01 -4.86405925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters 0.049658349043826336 Centerline is valid? [True, True] Translation: X:511.49, Y:-256.28, Z:-4.86 [[ 6.52765853e-02 -9.97867095e-01 -4.78320266e-04 5.11493639e+02] [-9.97849033e-01 -6.52782819e-02 6.00441154e-03 -2.56280245e+02] [-6.02282862e-03 8.53439330e-05 -9.99981859e-01 -4.86490215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters 0.04954946777741884 Centerline is valid? [True, True] Translation: X:511.52, Y:-257.18, Z:-4.86 [[ 1.37582446e-01 -9.90489962e-01 -8.40348085e-04 5.11516412e+02] [-9.90474497e-01 -1.37584994e-01 5.53527468e-03 -2.57183123e+02] [-5.59825330e-03 7.07867162e-05 -9.99984327e-01 -4.86448541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters 0.04957812537152719 Centerline is valid? [True, True] Translation: X:511.47, Y:-257.35, Z:-4.86 [[ 2.15716855e-01 -9.76455116e-01 -1.28272351e-03 5.11465266e+02] [-9.76439027e-01 -2.15720665e-01 5.60548315e-03 -2.57345356e+02] [-5.75021267e-03 4.33040956e-05 -9.99983466e-01 -4.86395248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters 0.04957481778661154 Centerline is valid? [True, True] Translation: X:511.43, Y:-257.52, Z:-4.86 [[ 2.90224577e-01 -9.56955901e-01 -2.25776937e-03 5.11429590e+02] [-9.56927916e-01 -2.90233357e-01 7.31862843e-03 -2.57518924e+02] [-7.65888465e-03 3.64766958e-05 -9.99970670e-01 -4.86360823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters 0.04965518053789545 Centerline is valid? [True, True] Translation: X:511.42, Y:-257.73, Z:-4.86 [[ 3.59483491e-01 -9.33145942e-01 -3.20468933e-03 5.11421718e+02] [-9.33110029e-01 -3.59497772e-01 8.18686182e-03 -2.57730988e+02] [-8.79161556e-03 4.72860800e-05 -9.99961352e-01 -4.86301439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters 0.04978544516569031 Centerline is valid? [True, True] Translation: X:511.36, Y:-257.78, Z:-4.86 [[ 4.23219542e-01 -9.06017053e-01 -4.28005132e-03 5.11355135e+02] [-9.05973161e-01 -4.23241171e-01 8.91868944e-03 -2.57776152e+02] [-9.89197866e-03 1.03047969e-04 -9.99951068e-01 -4.86323021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters 0.050322896226573266 Centerline is valid? [True, True] Translation: X:510.92, Y:-258.21, Z:-5.90 [[ 3.86708921e-01 9.22196670e-01 -3.08409566e-03 5.10919357e+02] [-9.22163588e-01 3.86721179e-01 7.81329479e-03 -2.58206075e+02] [ 8.39807954e-03 -1.77430086e-04 9.99964720e-01 -5.89913177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters 0.05045206221557486 Centerline is valid? [True, True] Translation: X:511.59, Y:-258.27, Z:-4.87 [[ 4.19798351e-01 -9.07613084e-01 -2.79907732e-03 5.11585012e+02] [-9.07594904e-01 -4.19807663e-01 5.74606682e-03 -2.58268799e+02] [-6.39027953e-03 1.28238934e-04 -9.99979574e-01 -4.86600945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters 0.05011564813055185 Centerline is valid? [True, True] Translation: X:511.47, Y:-258.24, Z:-4.87 [[ 4.86179934e-01 -8.73852873e-01 -3.19820932e-03 5.11474763e+02] [-8.73835636e-01 -4.86190436e-01 5.49004938e-03 -2.58236967e+02] [-6.35243421e-03 1.25557432e-04 -9.99979815e-01 -4.86580412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters 0.05080486477486617 Centerline is valid? [True, True] Translation: X:511.69, Y:-258.76, Z:-4.86 [[ 5.52065021e-01 -8.33791478e-01 -3.99803674e-03 5.11693312e+02] [-8.33770998e-01 -5.52079487e-01 5.84484361e-03 -2.58755631e+02] [-7.08061486e-03 1.06713376e-04 -9.99974926e-01 -4.86468406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters 0.049966313752255756 Centerline is valid? [True, True] Translation: X:511.80, Y:-259.06, Z:-4.87 [[ 6.16189784e-01 -7.87583375e-01 -4.75159319e-03 5.11804197e+02] [-7.87560832e-01 -6.16208101e-01 5.95922710e-03 -2.59056875e+02] [-7.62135840e-03 7.01538234e-05 -9.99970955e-01 -4.86531570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters 0.05031070697274578 Centerline is valid? [True, True] Translation: X:511.70, Y:-259.08, Z:-4.86 [[ 6.80281868e-01 -7.32926081e-01 -5.99498219e-03 5.11701956e+02] [-7.32897455e-01 -6.80308283e-01 6.47770170e-03 -2.59077775e+02] [-8.82611256e-03 -1.29558211e-05 -9.99961049e-01 -4.86425462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters 0.04965658869825511 Centerline is valid? [True, True] Translation: X:512.09, Y:-259.59, Z:-4.86 [[ 7.38163443e-01 -6.74587238e-01 -6.84033470e-03 5.12091753e+02] [-6.74556931e-01 -7.38195128e-01 6.39523187e-03 -2.59592578e+02] [-9.36364355e-03 -1.06531190e-04 -9.99956154e-01 -4.86372806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters 0.04988608989297158 Centerline is valid? [True, True] Translation: X:512.06, Y:-259.68, Z:-4.86 [[ 7.92132067e-01 -6.10314109e-01 -6.59367591e-03 5.12063445e+02] [-6.10291440e-01 -7.92159496e-01 5.26222466e-03 -2.59681331e+02] [-8.43485294e-03 -1.44312938e-04 -9.99964416e-01 -4.86255096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters 0.049958557834689075 Centerline is valid? [True, True] Translation: X:512.05, Y:-259.76, Z:-4.86 [[ 8.37535722e-01 -5.46339338e-01 -6.87335720e-03 5.12049351e+02] [-5.46319523e-01 -8.37563912e-01 4.65534384e-03 -2.59762113e+02] [-8.30027342e-03 -1.43967536e-04 -9.99965542e-01 -4.86289961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters 0.05010787257990857 Centerline is valid? [True, True] Translation: X:512.04, Y:-259.84, Z:-4.86 [[ 8.76774154e-01 -4.80863126e-01 -6.14303840e-03 5.12043772e+02] [-4.80850445e-01 -8.76795667e-01 3.49397064e-03 -2.59840892e+02] [-7.06631110e-03 -1.09540405e-04 -9.99975027e-01 -4.86242468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters 0.05005324757674042 Centerline is valid? [True, True] Translation: X:512.05, Y:-259.91, Z:-4.86 [[ 9.11305603e-01 -4.11686692e-01 -6.01380931e-03 5.12048260e+02] [-4.11677023e-01 -9.11325440e-01 2.82323873e-03 -2.59913941e+02] [-6.64282723e-03 -9.70861579e-05 -9.99977931e-01 -4.86311290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters 0.049146335326523335 Centerline is valid? [True, True] Translation: X:512.06, Y:-259.99, Z:-4.86 [[ 9.40738755e-01 -3.39054516e-01 -7.25459564e-03 5.12058120e+02] [-3.39043497e-01 -9.40766720e-01 2.73585097e-03 -2.59986926e+02] [-7.75248478e-03 -1.14097562e-04 -9.99969943e-01 -4.86308877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters 0.04935410856953081 Centerline is valid? [True, True] Translation: X:512.07, Y:-260.07, Z:-4.86 [[ 9.64014764e-01 -2.65704415e-01 -8.75782323e-03 5.12069640e+02] [-2.65692297e-01 -9.64054536e-01 2.54053671e-03 -2.60067295e+02] [-9.11805104e-03 -1.22228728e-04 -9.99958422e-01 -4.86356423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters 0.04907987680267643 Centerline is valid? [True, True] Translation: X:512.09, Y:-260.14, Z:-4.86 [[ 9.80836014e-01 -1.94594144e-01 -9.68677808e-03 5.12087724e+02] [-1.94583835e-01 -9.80883843e-01 2.00462211e-03 -2.60143250e+02] [-9.89169182e-03 -8.13151279e-05 -9.99951073e-01 -4.86285761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters 0.0484322189826856 Centerline is valid? [True, True] Translation: X:512.11, Y:-260.22, Z:-4.86 [[ 9.92443382e-01 -1.22315314e-01 -9.75177224e-03 5.12111621e+02] [-1.22309099e-01 -9.92491291e-01 1.23345710e-03 -2.60220081e+02] [-9.82941971e-03 -3.14058661e-05 -9.99951690e-01 -4.86426151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters 0.04980913236199162 Centerline is valid? [True, True] Translation: X:512.14, Y:-260.28, Z:-4.86 [[ 9.98479974e-01 -5.43326460e-02 -9.25769274e-03 5.12140677e+02] [-5.43308947e-02 -9.98522889e-01 4.40747704e-04 -2.60283814e+02] [-9.26796509e-03 6.29009740e-05 -9.99957050e-01 -4.86309908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters 0.04986618265914476 Centerline is valid? [True, True] Translation: X:512.17, Y:-260.34, Z:-4.87 [[ 9.99851463e-01 1.42445349e-02 -9.70282618e-03 5.12168139e+02] [ 1.42423090e-02 -9.99898529e-01 -2.98472693e-04 -2.60339827e+02] [-9.70609323e-03 1.60237710e-04 -9.99952882e-01 -4.86637961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters 0.04987357829283463 Centerline is valid? [True, True] Translation: X:512.20, Y:-260.41, Z:-4.87 [[ 9.95899278e-01 9.00206042e-02 -8.99552298e-03 5.12201903e+02] [ 9.00153782e-02 -9.95939889e-01 -9.84975559e-04 -2.60412596e+02] [-9.04766825e-03 1.71201044e-04 -9.99959054e-01 -4.86586429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters 0.04947959679932697 Centerline is valid? [True, True] Translation: X:512.24, Y:-260.48, Z:-4.86 [[ 9.85284581e-01 1.70653995e-01 -9.56600342e-03 5.12240201e+02] [ 1.70644424e-01 -9.85331005e-01 -1.81399753e-03 -2.60482687e+02] [-9.73524569e-03 1.54918658e-04 -9.99952599e-01 -4.86453065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters 0.049279925507345286 Centerline is valid? [True, True] Translation: X:512.28, Y:-260.55, Z:-4.86 [[ 9.67860300e-01 2.51256451e-01 -1.07997525e-02 5.12282956e+02] [ 2.51239290e-01 -9.67920543e-01 -2.93951196e-03 -2.60545561e+02] [-1.11918736e-02 1.31714787e-04 -9.99937360e-01 -4.86282196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters 0.04920370596556553 Centerline is valid? [True, True] Translation: X:512.33, Y:-260.61, Z:-4.86 [[ 9.44203825e-01 3.29202527e-01 -1.02387815e-02 5.12332672e+02] [ 3.29182098e-01 -9.44259333e-01 -3.66863282e-03 -2.60606821e+02] [-1.08757881e-02 9.35135859e-05 -9.99940853e-01 -4.86357401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters 0.049063945290327836 Centerline is valid? [True, True] Translation: X:512.39, Y:-260.67, Z:-4.87 [[ 9.13234613e-01 4.07348097e-01 -8.37074586e-03 5.12391257e+02] [ 4.07330729e-01 -9.13272975e-01 -3.76168143e-03 -2.60673451e+02] [-9.17708974e-03 2.56356700e-05 -9.99957889e-01 -4.86515530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters 0.04902126129738303 Centerline is valid? [True, True] Translation: X:512.45, Y:-260.73, Z:-4.87 [[ 8.76497004e-01 4.81357433e-01 -6.92991179e-03 5.12453315e+02] [ 4.81342502e-01 -8.76524399e-01 -3.79139234e-03 -2.60732588e+02] [-7.89925164e-03 -1.25170533e-05 -9.99968800e-01 -4.86643557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters 0.04859378699771809 Centerline is valid? [True, True] Translation: X:512.52, Y:-260.79, Z:-4.87 [[ 8.32425205e-01 5.54102063e-01 -6.25949830e-03 5.12518525e+02] [ 5.54086961e-01 -8.32448737e-01 -4.09141578e-03 -2.60785248e+02] [-7.47777338e-03 -6.25087735e-05 -9.99972039e-01 -4.86587515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters 0.04875860878338169 Centerline is valid? [True, True] Translation: X:512.59, Y:-260.83, Z:-4.86 [[ 7.82371482e-01 6.22780988e-01 -6.22132963e-03 5.12589603e+02] [ 6.22762493e-01 -7.82396209e-01 -4.80108478e-03 -2.60832934e+02] [-7.85756904e-03 -1.18178934e-04 -9.99969122e-01 -4.86459906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters 0.04800151986756462 Centerline is valid? [True, True] Translation: X:512.67, Y:-260.88, Z:-4.87 [[ 7.28879536e-01 6.84618165e-01 -5.70882673e-03 5.12665788e+02] [ 6.84598685e-01 -7.28901878e-01 -5.16648495e-03 -2.60876624e+02] [-7.69824397e-03 -1.42510118e-04 -9.99970358e-01 -4.86505604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters 0.05022312006357931 Centerline is valid? [True, True] Translation: X:512.75, Y:-260.92, Z:-4.86 [[ 6.70730894e-01 7.41683553e-01 -5.05723977e-03 5.12753474e+02] [ 7.41664245e-01 -6.70749940e-01 -5.35396378e-03 -2.60923739e+02] [-7.36309015e-03 -1.59705005e-04 -9.99972879e-01 -4.86248335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters 0.048263770916020084 Centerline is valid? [True, True] Translation: X:512.83, Y:-260.95, Z:-4.87 [[ 6.07426584e-01 7.94365854e-01 -3.97936176e-03 5.12834601e+02] [ 7.94350544e-01 -6.07439596e-01 -4.93459130e-03 -2.60953380e+02] [-6.33709273e-03 -1.63606240e-04 -9.99979907e-01 -4.86654918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters 0.04928242915273589 Centerline is valid? [True, True] Translation: X:512.93, Y:-260.99, Z:-4.86 [[ 5.41275994e-01 8.40837393e-01 -3.57442911e-03 5.12929777e+02] [ 8.40821204e-01 -5.41287766e-01 -5.22087164e-03 -2.60987606e+02] [-6.32469884e-03 -1.79523300e-04 -9.99979983e-01 -4.86415939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters 0.04854265191254522 Centerline is valid? [True, True] Translation: X:513.01, Y:-261.00, Z:-4.86 [[ 4.71296726e-01 8.81966326e-01 -3.84661360e-03 5.13011764e+02] [ 8.81941004e-01 -4.71312362e-01 -6.68761339e-03 -2.61002912e+02] [-7.71120635e-03 -2.40635967e-04 -9.99970239e-01 -4.86294230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters 0.049137405243672605 Centerline is valid? [True, True] Translation: X:513.10, Y:-261.02, Z:-4.86 [[ 4.00401126e-01 9.16332572e-01 -3.68187242e-03 5.13101741e+02] [ 9.16299860e-01 -4.00417962e-01 -7.74745829e-03 -2.61016583e+02] [-8.57353623e-03 -2.71608159e-04 -9.99963210e-01 -4.86118011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters 0.04834801990268567 Centerline is valid? [True, True] Translation: X:513.19, Y:-261.02, Z:-4.86 [[ 3.30284006e-01 9.43875028e-01 -3.52232829e-03 5.13186001e+02] [ 9.43830138e-01 -3.30302667e-01 -9.20973809e-03 -2.61019781e+02] [-9.85627622e-03 -2.82650397e-04 -9.99951386e-01 -4.86133590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters 0.048610800952840254 Centerline is valid? [True, True] Translation: X:513.27, Y:-261.02, Z:-4.86 [[ 2.60742788e-01 9.65403177e-01 -3.14701904e-03 5.13273060e+02] [ 9.65344307e-01 -2.60761652e-01 -1.06644336e-02 -2.61017628e+02] [-1.11161000e-02 -2.57282766e-04 -9.99938181e-01 -4.86133491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters 0.048428859283431484 Centerline is valid? [True, True] Translation: X:513.36, Y:-261.01, Z:-4.86 [[ 1.90558527e-01 9.81672716e-01 -2.47512843e-03 5.13359888e+02] [ 9.81603109e-01 -1.90574494e-01 -1.16918278e-02 -2.61009955e+02] [-1.19492447e-02 -2.01616285e-04 -9.99928585e-01 -4.85939663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters 0.0484914641761255 Centerline is valid? [True, True] Translation: X:513.45, Y:-261.00, Z:-4.86 [[ 1.14801352e-01 9.93387448e-01 -1.42408764e-03 5.13449589e+02] [ 9.93328036e-01 -1.14810063e-01 -1.08656885e-02 -2.60995534e+02] [-1.09573382e-02 -1.67190436e-04 -9.99939953e-01 -4.86012992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters 0.04868617737394737 Centerline is valid? [True, True] Translation: X:513.54, Y:-260.97, Z:-4.86 [[ 4.20900384e-02 9.99113674e-01 -5.43832505e-04 5.13537781e+02] [ 9.99059060e-01 -4.20934241e-02 -1.04468834e-02 -2.60974479e+02] [-1.04605158e-02 -1.03611068e-04 -9.99945282e-01 -4.86208626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters 0.048297780759223245 Centerline is valid? [True, True] Translation: X:513.62, Y:-260.95, Z:-4.86 [[-3.19260821e-02 9.99490205e-01 2.34076887e-04 5.13620658e+02] [ 9.99450529e-01 3.19269004e-02 -8.90574784e-03 -2.60947947e+02] [-8.90868109e-03 -5.03773684e-05 -9.99960316e-01 -4.86208066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters 0.04823102905055279 Centerline is valid? [True, True] Translation: X:513.69, Y:-260.92, Z:-4.86 [[-1.06009123e-01 9.94364839e-01 7.95245337e-04 5.13691524e+02] [ 9.94335971e-01 1.06012105e-01 -7.57694413e-03 -2.60915881e+02] [-7.61855246e-03 -1.24841569e-05 -9.99970978e-01 -4.86195186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters 0.048638991512708375 Centerline is valid? [True, True] Translation: X:513.76, Y:-260.88, Z:-4.86 [[-1.81656104e-01 9.83361164e-01 1.37164108e-03 5.13764050e+02] [ 9.83333200e-01 1.81661282e-01 -7.41598471e-03 -2.60876434e+02] [-7.54176543e-03 1.62132526e-06 -9.99971561e-01 -4.86180227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters 0.04855890507537082 Centerline is valid? [True, True] Translation: X:513.83, Y:-260.83, Z:-4.86 [[-2.58344785e-01 9.66050022e-01 2.30826035e-03 5.13832171e+02] [ 9.66011446e-01 2.58355096e-01 -8.63308263e-03 -2.60833017e+02] [-8.93634049e-03 -5.05954245e-07 -9.99960070e-01 -4.86046006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters 0.049063473704144385 Centerline is valid? [True, True] Translation: X:513.90, Y:-260.78, Z:-4.86 [[-3.34484106e-01 9.42396817e-01 2.93648869e-03 5.13899764e+02] [ 9.42360158e-01 3.34496995e-01 -8.31215131e-03 -2.60781205e+02] [-8.81559158e-03 -1.30525484e-05 -9.99961142e-01 -4.86164548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters 0.048729129600298286 Centerline is valid? [True, True] Translation: X:513.96, Y:-260.73, Z:-4.86 [[-4.09382789e-01 9.12356094e-01 3.47706324e-03 5.13960951e+02] [ 9.12322491e-01 4.09397553e-01 -7.83044081e-03 -2.60726239e+02] [-8.56765157e-03 -3.34446934e-05 -9.99963296e-01 -4.86037042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters 0.0489756514400898 Centerline is valid? [True, True] Translation: X:514.02, Y:-260.66, Z:-4.86 [[-4.79551784e-01 8.77502274e-01 4.45488597e-03 5.14020130e+02] [ 8.77463696e-01 4.79572475e-01 -8.22821163e-03 -2.60664067e+02] [-9.35671510e-03 -3.68528548e-05 -9.99956224e-01 -4.86151790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters 0.04932291870610718 Centerline is valid? [True, True] Translation: X:514.07, Y:-260.60, Z:-4.86 [[-5.44486090e-01 8.38758580e-01 4.35225318e-03 5.14073446e+02] [ 8.38731635e-01 5.44503484e-01 -6.72307977e-03 -2.60597809e+02] [-8.00885786e-03 -1.02509873e-05 -9.99967929e-01 -4.86432538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters 0.04875623179526223 Centerline is valid? [True, True] Translation: X:514.12, Y:-260.53, Z:-4.86 [[-6.06639197e-01 7.94967150e-01 4.01432370e-03 5.14121830e+02] [ 7.94949812e-01 6.06652479e-01 -5.25027272e-03 -2.60529070e+02] [-6.60909376e-03 6.16464129e-06 -9.99978160e-01 -4.86262636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters 0.048541062825194325 Centerline is valid? [True, True] Translation: X:514.16, Y:-260.46, Z:-4.86 [[-6.65347404e-01 7.46523258e-01 3.98202084e-03 5.14163578e+02] [ 7.46510055e-01 6.65359320e-01 -4.43999601e-03 -2.60456024e+02] [-5.96403496e-03 1.84787791e-05 -9.99982215e-01 -4.86301148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters 0.04962142844930626 Centerline is valid? [True, True] Translation: X:514.20, Y:-260.38, Z:-4.86 [[-7.20590045e-01 6.93339821e-01 5.46619987e-03 5.14198155e+02] [ 6.93320252e-01 7.20610777e-01 -5.20932840e-03 -2.60383794e+02] [-7.55083735e-03 3.60368829e-05 -9.99971491e-01 -4.86255435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters 0.0486150924571674 Centerline is valid? [True, True] Translation: X:514.17, Y:-260.25, Z:-4.86 [[-7.68553405e-01 6.39742300e-01 7.44672087e-03 5.14166358e+02] [ 6.39712734e-01 7.68589480e-01 -6.15052941e-03 -2.60246015e+02] [-9.65822515e-03 3.67518508e-05 -9.99953358e-01 -4.85949087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters 0.04907719924609713 Centerline is valid? [True, True] Translation: X:514.13, Y:-260.12, Z:-4.86 [[-8.13745179e-01 5.81148371e-01 9.23872647e-03 5.14132513e+02] [ 5.81111037e-01 8.13797623e-01 -6.58721679e-03 -2.60115180e+02] [-1.13466039e-02 8.41001280e-06 -9.99935625e-01 -4.85700126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters 0.04947704399091136 Centerline is valid? [True, True] Translation: X:514.54, Y:-260.28, Z:-4.86 [[-8.56441988e-01 5.16114985e-01 1.15083850e-02 5.14537540e+02] [ 5.16067792e-01 8.56519305e-01 -6.97949855e-03 -2.60276338e+02] [-1.34593777e-02 -3.84287780e-05 -9.99909418e-01 -4.86031729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters 0.04942705140731799 Centerline is valid? [True, True] Translation: X:513.82, Y:-259.78, Z:-4.86 [[-8.91566944e-01 4.52708518e-01 1.27821257e-02 5.13822715e+02] [ 4.52660922e-01 8.91658563e-01 -6.56477634e-03 -2.59778013e+02] [-1.43692220e-02 -6.69687527e-05 -9.99896755e-01 -4.85572633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters 0.0487039071430786 Centerline is valid? [True, True] Translation: X:513.91, Y:-259.74, Z:-4.86 [[-9.22121541e-01 3.86681512e-01 1.30104523e-02 5.13914963e+02] [ 3.86641663e-01 9.22213316e-01 -5.55190622e-03 -2.59736665e+02] [-1.41452318e-02 -8.91494128e-05 -9.99899947e-01 -4.85747447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters 0.04885237119694253 Centerline is valid? [True, True] Translation: X:513.98, Y:-259.11, Z:-5.91 [[-8.88218199e-01 -4.59268171e-01 1.18818581e-02 5.13981595e+02] [ 4.59227600e-01 -8.88297668e-01 -6.10451502e-03 -2.59112171e+02] [ 1.33582363e-02 3.43358307e-05 9.99910774e-01 -5.90850112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters 0.04856552885673618 Centerline is valid? [True, True] Translation: X:513.79, Y:-259.69, Z:-4.86 [[-9.23904174e-01 3.82452958e-01 1.14373419e-02 5.13785359e+02] [ 3.82422493e-01 9.23974961e-01 -4.82791177e-03 -2.59685062e+02] [-1.24142666e-02 -8.66310450e-05 -9.99922936e-01 -4.85937320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters 0.04902259994805665 Centerline is valid? [True, True] Translation: X:513.64, Y:-259.55, Z:-4.86 [[-9.48909359e-01 3.15364555e-01 1.07808411e-02 5.13638066e+02] [ 3.15343159e-01 9.48970595e-01 -3.67449152e-03 -2.59548110e+02] [-1.13895056e-02 -8.70949035e-05 -9.99935134e-01 -4.86019067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters 0.048735814002279394 Centerline is valid? [True, True] Translation: X:513.62, Y:-259.47, Z:-4.86 [[-9.69163447e-01 2.46199403e-01 1.03955447e-02 5.13623357e+02] [ 2.46184208e-01 9.69219194e-01 -2.73681703e-03 -2.59465288e+02] [-1.07493642e-02 -9.32040819e-05 -9.99942220e-01 -4.86030929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters 0.048556269332635 Centerline is valid? [True, True] Translation: X:513.73, Y:-258.87, Z:-5.90 [[-9.45092624e-01 -3.26645261e-01 1.01392687e-02 5.13725917e+02] [ 3.26627478e-01 -9.45147007e-01 -3.40960306e-03 -2.58866120e+02] [ 1.06968302e-02 8.93730691e-05 9.99942783e-01 -5.90384992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters 0.048706710406948406 Centerline is valid? [True, True] Translation: X:513.43, Y:-259.42, Z:-4.86 [[-9.68946827e-01 2.47027674e-01 1.09258362e-02 5.13431194e+02] [ 2.47011427e-01 9.69008424e-01 -2.83349558e-03 -2.59419630e+02] [-1.12871792e-02 -4.67001507e-05 -9.99936297e-01 -4.86076843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters 0.048572058143571996 Centerline is valid? [True, True] Translation: X:513.58, Y:-258.82, Z:-5.90 [[-9.48279395e-01 -3.17241570e-01 1.11344366e-02 5.13577163e+02] [ 3.17220637e-01 -9.48344758e-01 -3.64513324e-03 -2.58822276e+02] [ 1.17156724e-02 7.54683400e-05 9.99931366e-01 -5.90427450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters 0.049004781431534854 Centerline is valid? [True, True] Translation: X:513.22, Y:-259.37, Z:-4.86 [[-9.67335913e-01 2.53204379e-01 1.21972688e-02 5.13217634e+02] [ 2.53185214e-01 9.67412806e-01 -3.11617689e-03 -2.59373730e+02] [-1.25888237e-02 7.37783067e-05 -9.99920755e-01 -4.86070278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters 0.04951826034764687 Centerline is valid? [True, True] Translation: X:513.50, Y:-259.36, Z:-4.86 [[-9.81976815e-01 1.88592910e-01 1.24196749e-02 5.13499106e+02] [ 1.88580107e-01 9.82055336e-01 -2.20467456e-03 -2.59357785e+02] [-1.26125940e-02 1.77164307e-04 -9.99920442e-01 -4.86417889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters 0.049277218011900506 Centerline is valid? [True, True] Translation: X:513.27, Y:-259.25, Z:-4.87 [[-9.92134061e-01 1.24646183e-01 1.15470660e-02 5.13272642e+02] [ 1.24640497e-01 9.92201226e-01 -1.21359524e-03 -2.59247086e+02] [-1.16082830e-02 2.35182867e-04 -9.99932594e-01 -4.86584377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters 0.05044634845027421 Centerline is valid? [True, True] Translation: X:512.89, Y:-259.15, Z:-4.87 [[-9.97970785e-01 6.31130208e-02 8.42959278e-03 5.12893940e+02] [ 6.31128557e-02 9.98006356e-01 -2.85864158e-04 -2.59150028e+02] [-8.43082892e-03 2.46731595e-04 -9.99964430e-01 -4.86827823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters 0.050363529744332114 Centerline is valid? [True, True] Translation: X:512.61, Y:-258.47, Z:-5.89 [[-9.97715708e-01 -6.72734132e-02 6.13622679e-03 5.12607104e+02] [ 6.72702168e-02 -9.97734529e-01 -7.26059527e-04 -2.58470336e+02] [ 6.17116985e-03 -3.11615689e-04 9.99980910e-01 -5.89358113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters 0.05122577186379902 Centerline is valid? [True, True] Translation: X:512.60, Y:-259.13, Z:-4.87 [[-9.98212316e-01 5.94352651e-02 6.29455224e-03 5.12596960e+02] [ 5.94353016e-02 9.98232143e-01 -1.81430784e-04 -2.59131155e+02] [-6.29420777e-03 1.93012167e-04 -9.99980173e-01 -4.87044296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters 0.05086306064890684 Centerline is valid? [True, True] Translation: X:512.91, Y:-259.03, Z:-4.87 [[-9.99753095e-01 -2.10015027e-02 7.25853704e-03 5.12911265e+02] [-2.09995942e-02 9.99779427e-01 3.39064745e-04 -2.59034521e+02] [-7.26405687e-03 1.86554696e-04 -9.99973599e-01 -4.87319654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters 0.0506668557520387 Centerline is valid? [True, True] Translation: X:512.28, Y:-258.44, Z:-5.89 [[-9.99962764e-01 -3.16109600e-03 8.02987588e-03 5.12278593e+02] [ 3.15975940e-03 -9.99994992e-01 -1.79134892e-04 -2.58441298e+02] [ 8.03040193e-03 -1.53755746e-04 9.99967744e-01 -5.89274492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters 0.05035262871258559 Centerline is valid? [True, True] Translation: X:512.27, Y:-259.04, Z:-4.87 [[-9.99191516e-01 -3.94402343e-02 7.79624831e-03 5.12268316e+02] [-3.94383279e-02 9.99221927e-01 3.98178537e-04 -2.59039873e+02] [-7.80588651e-03 9.03856190e-05 -9.99969530e-01 -4.87275141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters 0.05058748862928813 Centerline is valid? [True, True] Translation: X:512.19, Y:-258.47, Z:-5.89 [[-9.99951996e-01 -6.74848798e-03 7.10371516e-03 5.12190849e+02] [ 6.74739397e-03 -9.99977220e-01 -1.77960937e-04 -2.58470300e+02] [ 7.10475431e-03 -1.30020829e-04 9.99974752e-01 -5.89004655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters 0.051371697800969195 Centerline is valid? [True, True] Translation: X:512.10, Y:-259.03, Z:-4.87 [[-9.98908262e-01 -4.62071885e-02 6.86882196e-03 5.12101315e+02] [-4.62056870e-02 9.98931876e-01 3.77216973e-04 -2.59034766e+02] [-6.87891534e-03 5.94265134e-05 -9.99976338e-01 -4.87279256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters 0.05104982355005098 Centerline is valid? [True, True] Translation: X:512.54, Y:-258.90, Z:-4.87 [[-9.92263249e-01 -1.24040061e-01 5.26384027e-03 5.12543910e+02] [-1.24038124e-01 9.92277210e-01 6.94226713e-04 -2.58902323e+02] [-5.30930066e-03 3.59387835e-05 -9.99985905e-01 -4.87355362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters 0.05109178129304697 Centerline is valid? [True, True] Translation: X:511.77, Y:-258.46, Z:-5.89 [[-9.97708594e-01 6.75073884e-02 4.50706828e-03 5.11768854e+02] [-6.75070648e-02 -9.97718771e-01 2.24060891e-04 -2.58461426e+02] [ 4.51191239e-03 -8.07114741e-05 9.99989818e-01 -5.89108151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters 0.05120555977967933 Centerline is valid? [True, True] Translation: X:511.76, Y:-258.97, Z:-4.87 [[-9.90242228e-01 -1.39273795e-01 4.81037598e-03 5.11762648e+02] [-1.39272258e-01 9.90253912e-01 6.54687628e-04 -2.58974014e+02] [-4.85467446e-03 -2.16525903e-05 -9.99988216e-01 -4.87355027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters 0.05193352721818549 Centerline is valid? [True, True] Translation: X:511.66, Y:-258.90, Z:-4.87 [[-9.76115071e-01 -2.17138295e-01 7.09424201e-03 5.11663100e+02] [-2.17133229e-01 9.76140847e-01 1.48602737e-03 -2.58901733e+02] [-7.24765285e-03 -8.98619627e-05 -9.99973731e-01 -4.87106224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters 0.05224737020895647 Centerline is valid? [True, True] Translation: X:511.39, Y:-258.48, Z:-5.89 [[-9.92397949e-01 1.22749778e-01 8.87704311e-03 5.11394093e+02] [-1.22742793e-01 -9.92437625e-01 1.32958195e-03 -2.58483243e+02] [ 8.97311746e-03 2.29881340e-04 9.99959714e-01 -5.89410950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters 0.05312066688670093 Centerline is valid? [True, True] Translation: X:511.44, Y:-258.93, Z:-4.87 [[-9.73718193e-01 -2.27463396e-01 1.15448775e-02 5.11440891e+02] [-2.27450054e-01 9.73786607e-01 2.47327809e-03 -2.58928807e+02] [-1.18048273e-02 -2.17607137e-04 -9.99930297e-01 -4.86503382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters 0.05266397479923015 Centerline is valid? [True, True] Translation: X:511.45, Y:-258.85, Z:-4.86 [[-9.55276272e-01 -2.95426334e-01 1.30585467e-02 5.11450343e+02] [-2.95401880e-01 9.55365497e-01 3.80746946e-03 -2.58847047e+02] [-1.36005117e-02 -2.20334021e-04 -9.99907485e-01 -4.86474384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters 0.05295355259814788 Centerline is valid? [True, True] Translation: X:511.22, Y:-258.47, Z:-5.89 [[-9.79524471e-01 2.00932861e-01 1.25616521e-02 5.11221274e+02] [-2.00914235e-01 -9.79605002e-01 2.74055552e-03 -2.58465587e+02] [ 1.28561249e-02 1.60626469e-04 9.99917344e-01 -5.89444096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters 0.052763256207830796 Centerline is valid? [True, True] Translation: X:511.08, Y:-258.96, Z:-4.87 [[-9.55635351e-01 -2.94388442e-01 9.82453909e-03 5.11083992e+02] [-2.94374143e-01 9.55685844e-01 2.90382453e-03 -2.58956143e+02] [-1.02440253e-02 -1.17092909e-04 -9.99947522e-01 -4.87222078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters 0.05286282445892463 Centerline is valid? [True, True] Translation: X:510.89, Y:-258.55, Z:-5.89 [[-9.78020595e-01 2.08349940e-01 8.12517761e-03 5.10890458e+02] [-2.08343021e-01 -9.78054345e-01 1.69818792e-03 -2.58554566e+02] [ 8.30068262e-03 -3.19612888e-05 9.99965548e-01 -5.89115546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters 0.05313310483615669 Centerline is valid? [True, True] Translation: X:511.22, Y:-258.92, Z:-4.87 [[-9.53845789e-01 -3.00224521e-01 6.59153534e-03 5.11218700e+02] [-3.00217819e-01 9.53868562e-01 2.00712900e-03 -2.58920711e+02] [-6.89004768e-03 -6.44048218e-05 -9.99976261e-01 -4.87414790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters 0.05237836267418133 Centerline is valid? [True, True] Translation: X:510.41, Y:-259.11, Z:-4.87 [[-9.30571742e-01 -3.66040355e-01 7.11984782e-03 5.10412310e+02] [-3.66030167e-01 9.30598976e-01 2.73174782e-03 -2.59110956e+02] [-7.62565303e-03 -6.39917573e-05 -9.99970922e-01 -4.87242311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters 0.05254158780154084 Centerline is valid? [True, True] Translation: X:510.74, Y:-258.89, Z:-4.87 [[-9.00313184e-01 -4.35161600e-01 8.39958118e-03 5.10735985e+02] [-4.35143397e-01 9.00352363e-01 3.98080317e-03 -2.58886730e+02] [-9.29487544e-03 -7.10527098e-05 -9.99956799e-01 -4.87289920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters 0.052704049483367627 Centerline is valid? [True, True] Translation: X:510.04, Y:-259.16, Z:-4.87 [[-8.67367979e-01 -4.97599377e-01 8.22492586e-03 5.10042335e+02] [-4.97577771e-01 8.67406972e-01 4.63748710e-03 -2.59157350e+02] [-9.44196872e-03 -7.01324658e-05 -9.99955421e-01 -4.87214437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters 0.0520779136072604 Centerline is valid? [True, True] Translation: X:510.29, Y:-258.91, Z:-4.87 [[-8.26797899e-01 -5.62442639e-01 7.96942923e-03 5.10293273e+02] [-5.62417379e-01 8.26836303e-01 5.33103944e-03 -2.58913800e+02] [-9.58781730e-03 -7.44532903e-05 -9.99954033e-01 -4.87476721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters 0.0525686720422287 Centerline is valid? [True, True] Translation: X:509.77, Y:-259.19, Z:-4.87 [[-7.84798895e-01 -6.19701187e-01 7.81876689e-03 5.09766204e+02] [-6.19671420e-01 7.84837838e-01 6.07444071e-03 -2.59193993e+02] [-9.90080223e-03 -7.78520255e-05 -9.99950983e-01 -4.87165227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters 0.05197485983392089 Centerline is valid? [True, True] Translation: X:509.60, Y:-259.23, Z:-4.87 [[-7.38233570e-01 -6.74502815e-01 7.55964426e-03 5.09603709e+02] [-6.74468618e-01 7.38272270e-01 6.79253485e-03 -2.59234745e+02] [-1.01626596e-02 -8.42655618e-05 -9.99948355e-01 -4.87111000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters 0.05222266345548465 Centerline is valid? [True, True] Translation: X:509.46, Y:-259.27, Z:-4.87 [[-6.85602052e-01 -7.27949452e-01 6.27868617e-03 5.09457510e+02] [-7.27920264e-01 6.85630793e-01 6.51954745e-03 -2.59274513e+02] [-9.05076157e-03 -1.00567787e-04 -9.99959036e-01 -4.87146348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters 0.05249392169642147 Centerline is valid? [True, True] Translation: X:509.31, Y:-259.33, Z:-4.87 [[-6.27086487e-01 -7.78937406e-01 4.36524809e-03 5.09310321e+02] [-7.78919767e-01 6.27101671e-01 5.24319339e-03 -2.59328824e+02] [-6.82157383e-03 -1.12242297e-04 -9.99976727e-01 -4.87234879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters 0.052296482505780006 Centerline is valid? [True, True] Translation: X:509.17, Y:-259.38, Z:-4.87 [[-5.66354959e-01 -8.24153364e-01 3.64598105e-03 5.09169423e+02] [-8.24137660e-01 5.66366681e-01 5.08921456e-03 -2.59382141e+02] [-6.25925549e-03 -1.22488387e-04 -9.99980403e-01 -4.87061376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters 0.052347128230229266 Centerline is valid? [True, True] Translation: X:509.04, Y:-259.45, Z:-4.87 [[-5.02814588e-01 -8.64387324e-01 3.47040937e-03 5.09036857e+02] [-8.64368665e-01 5.02826544e-01 5.68129561e-03 -2.59450125e+02] [-6.65585386e-03 -1.43074800e-04 -9.99977839e-01 -4.87042150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters 0.05198081360832777 Centerline is valid? [True, True] Translation: X:508.90, Y:-259.55, Z:-4.87 [[-4.37615993e-01 -8.99155872e-01 3.31084731e-03 5.08898994e+02] [-8.99132889e-01 4.37628487e-01 6.43077544e-03 -2.59554676e+02] [-7.23119059e-03 -1.62681531e-04 -9.99973841e-01 -4.87042228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters 0.05183501130746815 Centerline is valid? [True, True] Translation: X:508.76, Y:-259.68, Z:-4.87 [[-3.70081540e-01 -9.28994943e-01 2.83718866e-03 5.08763127e+02] [-9.28971022e-01 3.70092377e-01 6.66875651e-03 -2.59679858e+02] [-7.24526297e-03 -1.67682372e-04 -9.99973739e-01 -4.87054602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters 0.05193416514172486 Centerline is valid? [True, True] Translation: X:508.64, Y:-259.80, Z:-4.87 [[-3.01045513e-01 -9.53607405e-01 2.12539717e-03 5.08638687e+02] [-9.53587083e-01 3.01052977e-01 6.22744216e-03 -2.59797679e+02] [-6.57839211e-03 -1.52007772e-04 -9.99978351e-01 -4.87024924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters 0.051454382736931294 Centerline is valid? [True, True] Translation: X:508.51, Y:-259.99, Z:-4.87 [[-2.30774428e-01 -9.73006052e-01 1.54499857e-03 5.08510137e+02] [-9.72988175e-01 2.30779556e-01 5.89977285e-03 -2.59988639e+02] [-6.09706877e-03 -1.41748634e-04 -9.99981403e-01 -4.87045958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters 0.05140268138036633 Centerline is valid? [True, True] Translation: X:508.41, Y:-260.11, Z:-4.87 [[-1.57561852e-01 -9.87508511e-01 1.09738805e-03 5.08410009e+02] [-9.87490586e-01 1.57565606e-01 5.95159181e-03 -2.60112239e+02] [-6.05015817e-03 -1.45916537e-04 -9.99981687e-01 -4.86960389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters 0.050958478789325905 Centerline is valid? [True, True] Translation: X:508.32, Y:-260.26, Z:-4.87 [[-8.22262741e-02 -9.96613390e-01 7.68505037e-04 5.08315485e+02] [-9.96588493e-01 8.22296540e-02 7.04699652e-03 -2.60263592e+02] [-7.08632500e-03 -1.86435008e-04 -9.99974874e-01 -4.86824262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters 0.05065555067900475 Centerline is valid? [True, True] Translation: X:508.23, Y:-260.43, Z:-4.87 [[-6.85869356e-03 -9.99976445e-01 2.60800243e-04 5.08232589e+02] [-9.99948658e-01 6.86044795e-03 7.45753650e-03 -2.60429058e+02] [-7.45915004e-03 -2.09637895e-04 -9.99972158e-01 -4.86807007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters 0.050098966570840134 Centerline is valid? [True, True] Translation: X:508.16, Y:-260.59, Z:-4.87 [[ 6.87435479e-02 -9.97634298e-01 -3.62660730e-04 5.08159473e+02] [-9.97590915e-01 -6.87439421e-02 9.30787827e-03 -2.60588222e+02] [-9.31078934e-03 -2.78069527e-04 -9.99956615e-01 -4.86716857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters 0.05187559445773952 Centerline is valid? [True, True] Translation: X:508.09, Y:-260.77, Z:-4.86 [[ 1.42221320e-01 -9.89834092e-01 -1.25161843e-03 5.08090640e+02] [-9.89772371e-01 -1.42226436e-01 1.10586835e-02 -2.60765885e+02] [-1.11242752e-02 -3.33963232e-04 -9.99938068e-01 -4.86296547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters 0.05028828996851241 Centerline is valid? [True, True] Translation: X:508.07, Y:-261.05, Z:-4.87 [[ 2.13753406e-01 -9.76885910e-01 -1.84382632e-03 5.08069102e+02] [-9.76836866e-01 -2.13761158e-01 9.79304098e-03 -2.61051062e+02] [-9.96082220e-03 -2.92178341e-04 -9.99950347e-01 -4.86642569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters 0.04928449359765324 Centerline is valid? [True, True] Translation: X:508.04, Y:-261.25, Z:-4.87 [[ 2.83993086e-01 -9.58823640e-01 -2.27060942e-03 5.08040768e+02] [-9.58785675e-01 -2.84002055e-01 8.53595079e-03 -2.61251907e+02] [-8.82932914e-03 -2.47123222e-04 -9.99960990e-01 -4.86788592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters 0.04973264435722722 Centerline is valid? [True, True] Translation: X:508.06, Y:-261.54, Z:-4.87 [[ 3.51915516e-01 -9.36028981e-01 -2.28406794e-03 5.08056062e+02] [-9.36005790e-01 -3.51922881e-01 6.59138510e-03 -2.61541518e+02] [-6.97354325e-03 -1.81709871e-04 -9.99975668e-01 -4.86935315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters 0.049357185696918375 Centerline is valid? [True, True] Translation: X:508.03, Y:-261.68, Z:-4.87 [[ 4.20759225e-01 -9.07168805e-01 -2.53649630e-03 5.08034336e+02] [-9.07149810e-01 -4.20766836e-01 5.87303934e-03 -2.61679946e+02] [-6.39511160e-03 -1.70153347e-04 -9.99979537e-01 -4.86987194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters 0.0498395733107755 Centerline is valid? [True, True] Translation: X:508.04, Y:-261.88, Z:-4.87 [[ 4.88711343e-01 -8.72438699e-01 -3.45541965e-03 5.08037628e+02] [-8.72413665e-01 -4.88723510e-01 6.61264038e-03 -2.61878626e+02] [-7.45786818e-03 -2.17117041e-04 -9.99972166e-01 -4.86809337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters 0.04842461907472912 Centerline is valid? [True, True] Translation: X:508.05, Y:-262.04, Z:-4.87 [[ 5.56158394e-01 -8.31062747e-01 -4.74887223e-03 5.08049089e+02] [-8.31027562e-01 -5.56178582e-01 7.65349806e-03 -2.62040986e+02] [-9.00175815e-03 -3.10113481e-04 -9.99959435e-01 -4.86859697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters 0.047834525897826476 Centerline is valid? [True, True] Translation: X:508.08, Y:-262.23, Z:-4.87 [[ 6.18500727e-01 -7.85760112e-01 -6.15605324e-03 5.08080407e+02] [-7.85714671e-01 -6.18531236e-01 8.45963680e-03 -2.62225475e+02] [-1.04549564e-02 -3.95390165e-04 -9.99945267e-01 -4.86846342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters 0.048554372142241536 Centerline is valid? [True, True] Translation: X:508.13, Y:-262.42, Z:-4.87 [[ 6.73718259e-01 -7.38951603e-01 -7.36453838e-03 5.08129132e+02] [-7.38900548e-01 -6.73758380e-01 8.69627734e-03 -2.62420327e+02] [-1.13880475e-02 -4.17179384e-04 -9.99935067e-01 -4.86808481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters 0.0490007958503028 Centerline is valid? [True, True] Translation: X:508.25, Y:-262.67, Z:-4.87 [[ 7.21501325e-01 -6.92365631e-01 -8.10379950e-03 5.08249604e+02] [-6.92316474e-01 -7.21546750e-01 8.25758336e-03 -2.62666492e+02] [-1.15645371e-02 -3.47463440e-04 -9.99933068e-01 -4.86765386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters 0.04836339944268248 Centerline is valid? [True, True] Translation: X:508.39, Y:-262.91, Z:-4.87 [[ 7.66718640e-01 -6.41936467e-01 -7.75241220e-03 5.08392256e+02] [-6.41900293e-01 -7.66757790e-01 6.81945897e-03 -2.62907190e+02] [-1.03218818e-02 -2.52330640e-04 -9.99946696e-01 -4.86856695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters 0.048282941383326054 Centerline is valid? [True, True] Translation: X:508.36, Y:-263.00, Z:-4.87 [[ 8.13508437e-01 -5.81523435e-01 -5.87512001e-03 5.08363648e+02] [-5.81506784e-01 -8.13529635e-01 4.40381019e-03 -2.62996047e+02] [-7.34050306e-03 -1.66114600e-04 -9.99973044e-01 -4.87166150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters 0.04864857836477633 Centerline is valid? [True, True] Translation: X:508.33, Y:-263.09, Z:-4.87 [[ 8.56385573e-01 -5.16305120e-01 -5.72489535e-03 5.08334991e+02] [-5.16292388e-01 -8.56404694e-01 3.62907485e-03 -2.63094587e+02] [-6.77653718e-03 -1.52167457e-04 -9.99977027e-01 -4.86970630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters 0.04810824602098725 Centerline is valid? [True, True] Translation: X:508.32, Y:-263.18, Z:-4.87 [[ 8.94160335e-01 -4.47688140e-01 -7.25429624e-03 5.08322131e+02] [-4.47671719e-01 -8.94189742e-01 3.83889643e-03 -2.63183778e+02] [-8.20534569e-03 -1.85045656e-04 -9.99966318e-01 -4.86815662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters 0.04861941398361552 Centerline is valid? [True, True] Translation: X:508.31, Y:-263.27, Z:-4.87 [[ 9.26748093e-01 -3.75547831e-01 -1.00895723e-02 5.08314419e+02] [-3.75522529e-01 -9.26802978e-01 4.36697046e-03 -2.63275000e+02] [-1.09910519e-02 -2.58219847e-04 -9.99939563e-01 -4.86546879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters 0.048146621255108685 Centerline is valid? [True, True] Translation: X:508.32, Y:-263.37, Z:-4.87 [[ 9.53873453e-01 -3.00014595e-01 -1.08018173e-02 5.08315508e+02] [-2.99991885e-01 -9.53934567e-01 3.70283538e-03 -2.63367694e+02] [-1.14151315e-02 -2.91578847e-04 -9.99934803e-01 -4.86609820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters 0.0493348014078187 Centerline is valid? [True, True] Translation: X:508.32, Y:-263.46, Z:-4.87 [[ 9.75036907e-01 -2.21797168e-01 -1.04425439e-02 5.08322297e+02] [-2.21781079e-01 -9.75092776e-01 2.68897565e-03 -2.63463489e+02] [-1.07788563e-02 -3.05891849e-04 -9.99941860e-01 -4.86570025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters 0.048799180288638694 Centerline is valid? [True, True] Translation: X:508.34, Y:-263.55, Z:-4.87 [[ 9.89165874e-01 -1.46482094e-01 -9.68868247e-03 5.08338341e+02] [-1.46472456e-01 -9.89213287e-01 1.70083396e-03 -2.63553120e+02] [-9.83331515e-03 -2.63281788e-04 -9.99951617e-01 -4.86664074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters 0.04849518532563664 Centerline is valid? [True, True] Translation: X:508.36, Y:-263.64, Z:-4.87 [[ 9.97166984e-01 -7.46172434e-02 -9.50123240e-03 5.08361327e+02] [-7.46119550e-02 -9.97212228e-01 9.10339939e-04 -2.63637997e+02] [-9.54267219e-03 -1.98855406e-04 -9.99954448e-01 -4.86869139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters 0.04813992214029313 Centerline is valid? [True, True] Translation: X:508.39, Y:-263.72, Z:-4.87 [[ 9.99957025e-01 3.26916207e-04 -9.26505688e-03 5.08389855e+02] [ 3.28411560e-04 -9.99999933e-01 1.59875977e-04 -2.63723713e+02] [-9.26500399e-03 -1.62911859e-04 -9.99957066e-01 -4.86870662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters 0.04817237890813108 Centerline is valid? [True, True] Translation: X:508.42, Y:-263.81, Z:-4.87 [[ 9.97154827e-01 7.48143120e-02 -9.22335791e-03 5.08420122e+02] [ 7.48122968e-02 -9.97197474e-01 -5.63792488e-04 -2.63805023e+02] [-9.23968896e-03 -1.27832189e-04 -9.99957305e-01 -4.86839547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters 0.04850326084420183 Centerline is valid? [True, True] Translation: X:508.46, Y:-263.89, Z:-4.87 [[ 9.88559694e-01 1.50514712e-01 -9.74949719e-03 5.08455855e+02] [ 1.50508543e-01 -9.88607763e-01 -1.36759868e-03 -2.63885799e+02] [-9.84427232e-03 -1.15429681e-04 -9.99951537e-01 -4.86666965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters 0.04814575699760113 Centerline is valid? [True, True] Translation: X:508.50, Y:-263.96, Z:-4.87 [[ 9.74028220e-01 2.26174767e-01 -1.06771771e-02 5.08497681e+02] [ 2.26162466e-01 -9.74086732e-01 -2.36168232e-03 -2.63957511e+02] [-1.09346495e-02 -1.14431476e-04 -9.99940208e-01 -4.86799119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters 0.04881604105436357 Centerline is valid? [True, True] Translation: X:508.55, Y:-264.03, Z:-4.87 [[ 9.53556984e-01 3.01036216e-01 -1.03089358e-02 5.08545730e+02] [ 3.01019818e-01 -9.53612702e-01 -3.14378324e-03 -2.64028050e+02] [-1.07771247e-02 -1.05417514e-04 -9.99941920e-01 -4.86755433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters 0.04940343568544447 Centerline is valid? [True, True] Translation: X:508.60, Y:-264.09, Z:-4.87 [[ 9.27633348e-01 3.73379774e-01 -9.16053345e-03 5.08598169e+02] [ 3.73362441e-01 -9.27678574e-01 -3.59860476e-03 -2.64091445e+02] [-9.84167685e-03 -8.20133464e-05 -9.99951566e-01 -4.86739515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters 0.048832691184817145 Centerline is valid? [True, True] Translation: X:508.65, Y:-264.15, Z:-4.87 [[ 8.96757732e-01 4.42437539e-01 -8.63680898e-03 5.08653799e+02] [ 4.42417607e-01 -8.96799320e-01 -4.20002862e-03 -2.64150739e+02] [-9.60373475e-03 -5.46682184e-05 -9.99953882e-01 -4.86708671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters 0.049378659620204476 Centerline is valid? [True, True] Translation: X:508.71, Y:-264.20, Z:-4.87 [[ 8.61782584e-01 5.07205086e-01 -8.58942099e-03 5.08711200e+02] [ 5.07180009e-01 -8.61825389e-01 -5.04362750e-03 -2.64198713e+02] [-9.96073461e-03 -9.87226785e-06 -9.99950391e-01 -4.86708413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters 0.04859532490478871 Centerline is valid? [True, True] Translation: X:508.78, Y:-264.25, Z:-4.87 [[ 8.20480647e-01 5.71617987e-01 -8.02405783e-03 5.08776344e+02] [ 5.71590561e-01 -8.20519882e-01 -5.59938185e-03 -2.64247931e+02] [-9.78460637e-03 7.70872783e-06 -9.99952130e-01 -4.86887559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters 0.048843189939322434 Centerline is valid? [True, True] Translation: X:508.85, Y:-264.30, Z:-4.87 [[ 7.72745661e-01 6.34671246e-01 -7.52013932e-03 5.08845898e+02] [ 6.34641192e-01 -7.72782252e-01 -6.17640384e-03 -2.64295007e+02] [-9.73141613e-03 1.99085323e-07 -9.99952649e-01 -4.86676667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters 0.04918178068758968 Centerline is valid? [True, True] Translation: X:508.92, Y:-264.33, Z:-4.87 [[ 7.19506337e-01 6.94445003e-01 -7.53447565e-03 5.08916080e+02] [ 6.94407194e-01 -7.19545785e-01 -7.24649153e-03 -2.64332378e+02] [-1.04536900e-02 -1.80975211e-05 -9.99945359e-01 -4.86558834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters 0.04918437043170178 Centerline is valid? [True, True] Translation: X:508.99, Y:-264.36, Z:-4.87 [[ 6.61984205e-01 7.49482400e-01 -7.28313549e-03 5.08992252e+02] [ 7.49437601e-01 -6.62024267e-01 -8.19461041e-03 -2.64364358e+02] [-1.09633287e-02 -3.35529287e-05 -9.99939900e-01 -4.86678858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters 0.0498230105093255 Centerline is valid? [True, True] Translation: X:509.07, Y:-264.39, Z:-4.87 [[ 6.00552360e-01 7.99565361e-01 -5.66535900e-03 5.09066541e+02] [ 7.99530380e-01 -6.00579081e-01 -7.47928470e-03 -2.64388425e+02] [-9.38267307e-03 -3.79245464e-05 -9.99955981e-01 -4.86676289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters 0.049129319867480405 Centerline is valid? [True, True] Translation: X:509.15, Y:-264.41, Z:-4.87 [[ 5.35488460e-01 8.44530666e-01 -4.47935724e-03 5.09146120e+02] [ 8.44501747e-01 -5.35507193e-01 -6.98902741e-03 -2.64407896e+02] [-8.30117599e-03 -4.02814889e-05 -9.99965544e-01 -4.86946790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters 0.04931870834362206 Centerline is valid? [True, True] Translation: X:509.23, Y:-264.42, Z:-4.87 [[ 4.68283961e-01 8.83570204e-01 -3.71830625e-03 5.09229062e+02] [ 8.83542920e-01 -4.68298722e-01 -6.94375374e-03 -2.64422405e+02] [-7.87657197e-03 -3.36346539e-05 -9.99968979e-01 -4.87024284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters 0.04939211211600753 Centerline is valid? [True, True] Translation: X:509.31, Y:-264.43, Z:-4.87 [[ 3.99502316e-01 9.16725971e-01 -3.37549044e-03 5.09310689e+02] [ 9.16693661e-01 -3.99516575e-01 -7.69658568e-03 -2.64428641e+02] [-8.40422436e-03 -1.94868907e-05 -9.99964684e-01 -4.87004356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters 0.05012596873777753 Centerline is valid? [True, True] Translation: X:509.39, Y:-264.43, Z:-4.87 [[ 3.28218667e-01 9.44596656e-01 -3.10863813e-03 5.09389778e+02] [ 9.44554448e-01 -3.28233388e-01 -8.92957690e-03 -2.64429088e+02] [-9.45520730e-03 -5.42414480e-06 -9.99955299e-01 -4.86833494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters 0.04983664448542669 Centerline is valid? [True, True] Translation: X:509.47, Y:-264.42, Z:-4.87 [[ 2.53149778e-01 9.67423482e-01 -2.64498133e-03 5.09472826e+02] [ 9.67371004e-01 -2.53163596e-01 -1.00763849e-02 -2.64423079e+02] [-1.04177444e-02 -7.84363424e-06 -9.99945734e-01 -4.86976820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters 0.05002409711431665 Centerline is valid? [True, True] Translation: X:509.56, Y:-264.41, Z:-4.87 [[ 1.76252831e-01 9.84343069e-01 -1.91387398e-03 5.09562746e+02] [ 9.84285829e-01 -1.76263221e-01 -1.06152730e-02 -2.64412496e+02] [-1.07864160e-02 -1.28271106e-05 -9.99941825e-01 -4.86908387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters 0.05015662454644792 Centerline is valid? [True, True] Translation: X:509.65, Y:-264.39, Z:-4.87 [[ 9.74014800e-02 9.95244584e-01 -1.08142512e-03 5.09645382e+02] [ 9.95186297e-01 -9.74074795e-02 -1.07711551e-02 -2.64393226e+02] [-1.08252727e-02 -2.70930079e-05 -9.99941405e-01 -4.86782591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters 0.049931856026496226 Centerline is valid? [True, True] Translation: X:509.72, Y:-264.37, Z:-4.87 [[ 1.61588785e-02 9.99869407e-01 -2.45707569e-04 5.09722509e+02] [ 9.99805555e-01 -1.61606234e-02 -1.12998292e-02 -2.64367574e+02] [-1.13023243e-02 -6.30672261e-05 -9.99936125e-01 -4.86815929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters 0.04997901103587459 Centerline is valid? [True, True] Translation: X:509.80, Y:-264.34, Z:-4.87 [[-6.69248242e-02 9.97757789e-01 6.80371283e-04 5.09800240e+02] [ 9.97685502e-01 6.69281657e-02 -1.20107868e-02 -2.64336233e+02] [-1.20293921e-02 -1.25023231e-04 -9.99927636e-01 -4.86744630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters 0.04990927410551169 Centerline is valid? [True, True] Translation: X:509.87, Y:-264.30, Z:-4.87 [[-1.47052476e-01 9.89127499e-01 1.53608629e-03 5.09872987e+02] [ 9.89062766e-01 1.47060427e-01 -1.13170393e-02 -2.64299353e+02] [-1.14198923e-02 -1.44912890e-04 -9.99934780e-01 -4.86830681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters 0.05090797536613564 Centerline is valid? [True, True] Translation: X:509.95, Y:-264.25, Z:-4.87 [[-2.25475591e-01 9.74246288e-01 2.21990496e-03 5.09947723e+02] [ 9.74192355e-01 2.25486469e-01 -1.02522482e-02 -2.64254294e+02] [-1.04887732e-02 -1.49017271e-04 -9.99944980e-01 -4.87094563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters 0.05076680510946681 Centerline is valid? [True, True] Translation: X:510.02, Y:-264.21, Z:-4.87 [[-3.00744096e-01 9.53700794e-01 2.79015294e-03 5.10017157e+02] [ 9.53655481e-01 3.00757008e-01 -9.29762460e-03 -2.64205737e+02] [-9.70631000e-03 -1.35361062e-04 -9.99952884e-01 -4.87133153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters 0.050270885442411185 Centerline is valid? [True, True] Translation: X:510.08, Y:-264.15, Z:-4.87 [[-3.72181449e-01 9.28155023e-01 3.03698583e-03 5.10081652e+02] [ 9.28121969e-01 3.72193827e-01 -7.83371660e-03 -2.64150946e+02] [-8.40125078e-03 -9.68707262e-05 -9.99964704e-01 -4.87355323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters 0.050238825846443035 Centerline is valid? [True, True] Translation: X:510.14, Y:-264.09, Z:-4.87 [[-4.42229181e-01 8.96894854e-01 3.60181893e-03 5.10140804e+02] [ 8.96863570e-01 4.42243841e-01 -7.49145716e-03 -2.64093112e+02] [-8.31193161e-03 -8.26007828e-05 -9.99965452e-01 -4.87329303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters 0.05048383423719153 Centerline is valid? [True, True] Translation: X:510.20, Y:-264.03, Z:-4.87 [[-5.10457060e-01 8.59892171e-01 4.36383717e-03 5.10196843e+02] [ 8.59859393e-01 5.10475707e-01 -7.50845797e-03 -2.64028091e+02] [-8.68409709e-03 -8.04590074e-05 -9.99962289e-01 -4.87371276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters 0.050597239312692485 Centerline is valid? [True, True] Translation: X:510.25, Y:-263.96, Z:-4.87 [[-5.75779957e-01 8.17581462e-01 6.16401966e-03 5.10248020e+02] [ 8.17532829e-01 5.75812942e-01 -8.91789700e-03 -2.63959240e+02] [-1.08404296e-02 -9.54579165e-05 -9.99941236e-01 -4.87347439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters 0.05020901310179942 Centerline is valid? [True, True] Translation: X:510.29, Y:-263.89, Z:-4.87 [[-6.37845925e-01 7.70125134e-01 7.73655234e-03 5.10292692e+02] [ 7.70066465e-01 6.37892834e-01 -9.50642841e-03 -2.63888624e+02] [-1.22562307e-02 -1.05977111e-04 -9.99924884e-01 -4.87217144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters 0.05009530463388335 Centerline is valid? [True, True] Translation: X:510.33, Y:-263.82, Z:-4.87 [[-6.94376006e-01 7.19571087e-01 7.70797862e-03 5.10328556e+02] [ 7.19525648e-01 6.94418783e-01 -8.08675899e-03 -2.63817558e+02] [-1.11715631e-02 -6.91630942e-05 -9.99937594e-01 -4.87157451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters 0.050285174317285096 Centerline is valid? [True, True] Translation: X:510.36, Y:-263.75, Z:-4.87 [[-7.46277420e-01 6.65596142e-01 7.19644219e-03 5.10356975e+02] [ 6.65564853e-01 7.46312117e-01 -6.45378709e-03 -2.63745143e+02] [-9.66640778e-03 -2.66165933e-05 -9.99953279e-01 -4.87407589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters 0.05083352273135126 Centerline is valid? [True, True] Translation: X:510.34, Y:-263.64, Z:-4.87 [[-7.88427031e-01 6.15099785e-01 5.92211842e-03 5.10335462e+02] [ 6.15082604e-01 7.88449272e-01 -4.59737626e-03 -2.63636752e+02] [-7.49713510e-03 1.78963038e-05 -9.99971896e-01 -4.87474455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters 0.05069162973530695 Centerline is valid? [True, True] Translation: X:510.34, Y:-263.55, Z:-4.88 [[-8.28388098e-01 5.60123675e-01 5.88453898e-03 5.10341369e+02] [ 5.60109853e-01 8.28408998e-01 -3.93505135e-03 -2.63553757e+02] [-7.07892046e-03 3.62385619e-05 -9.99974943e-01 -4.87584476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters 0.05070104312456173 Centerline is valid? [True, True] Translation: X:510.33, Y:-263.46, Z:-4.88 [[-8.67182604e-01 4.97952301e-01 6.15115085e-03 5.10328786e+02] [ 4.97939938e-01 8.67204419e-01 -3.50906684e-03 -2.63457392e+02] [-7.08165311e-03 1.99019544e-05 -9.99974925e-01 -4.87576780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters 0.05107709219526201 Centerline is valid? [True, True] Translation: X:510.63, Y:-262.96, Z:-5.89 [[-8.32679941e-01 -5.53718288e-01 6.33825720e-03 5.10626338e+02] [ 5.53702378e-01 -8.32704063e-01 -4.19758348e-03 -2.62963339e+02] [ 7.60217127e-03 1.42645178e-05 9.99971103e-01 -5.88953491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters 0.05116355324895978 Centerline is valid? [True, True] Translation: X:510.78, Y:-263.72, Z:-4.88 [[-8.74384175e-01 4.85184877e-01 6.92455585e-03 5.10778456e+02] [ 4.85169413e-01 8.74411593e-01 -3.87385120e-03 -2.63720935e+02] [-7.93444593e-03 -2.76514901e-05 -9.99968521e-01 -4.87798642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters 0.05076687133300978 Centerline is valid? [True, True] Translation: X:510.53, Y:-262.92, Z:-5.89 [[-8.32494160e-01 -5.53980318e-01 7.69938992e-03 5.10530935e+02] [ 5.53957878e-01 -8.32529756e-01 -4.98747354e-03 -2.62922122e+02] [ 9.17293339e-03 1.13095103e-04 9.99957921e-01 -5.88868446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters 0.05100002202593861 Centerline is valid? [True, True] Translation: X:510.25, Y:-263.40, Z:-4.87 [[-8.81818687e-01 4.71499735e-01 9.15440658e-03 5.10249550e+02] [ 4.71472444e-01 8.81866189e-01 -5.07539208e-03 -2.63401278e+02] [-1.04660077e-02 -1.59525140e-04 -9.99945217e-01 -4.87459387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters 0.050934249802913674 Centerline is valid? [True, True] Translation: X:510.24, Y:-263.31, Z:-4.88 [[-9.14316754e-01 4.04882574e-01 9.74551955e-03 5.10241619e+02] [ 4.04857265e-01 9.14368669e-01 -4.53127059e-03 -2.63309938e+02] [-1.07456302e-02 -1.97472226e-04 -9.99942245e-01 -4.87553335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters 0.05139894477283576 Centerline is valid? [True, True] Translation: X:510.24, Y:-263.23, Z:-4.88 [[-9.40828482e-01 3.38762510e-01 9.04041262e-03 5.10244216e+02] [ 3.38745031e-01 9.40871898e-01 -3.44598835e-03 -2.63229097e+02] [-9.67324185e-03 -1.79689140e-04 -9.99953197e-01 -4.87753083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters 0.05149401886275592 Centerline is valid? [True, True] Translation: X:510.23, Y:-263.15, Z:-4.88 [[-9.62085287e-01 2.72601797e-01 8.95331730e-03 5.10231847e+02] [ 2.72588452e-01 9.62126933e-01 -2.70193231e-03 -2.63146304e+02] [-9.35077931e-03 -1.58918418e-04 -9.99956268e-01 -4.87860944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters 0.051333312244178315 Centerline is valid? [True, True] Translation: X:510.15, Y:-263.05, Z:-4.88 [[-9.78177097e-01 2.07561497e-01 9.36973259e-03 5.10146312e+02] [ 2.07550753e-01 9.78221963e-01 -2.11546132e-03 -2.63047450e+02] [-9.60476653e-03 -1.24600751e-04 -9.99953865e-01 -4.87852058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters 0.051500022892152386 Centerline is valid? [True, True] Translation: X:510.08, Y:-262.96, Z:-4.88 [[-9.90060278e-01 1.40316504e-01 9.58777724e-03 5.10082122e+02] [ 1.40308957e-01 9.90106696e-01 -1.45866646e-03 -2.62959999e+02] [-9.69759742e-03 -9.89166943e-05 -9.99952972e-01 -4.87754741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters 0.05121288579823786 Centerline is valid? [True, True] Translation: X:510.06, Y:-262.88, Z:-4.88 [[-9.97558865e-01 6.91668777e-02 9.60486669e-03 5.10060678e+02] [ 6.91626837e-02 9.97605099e-01 -7.68523889e-04 -2.62883389e+02] [-9.63502038e-03 -1.02349462e-04 -9.99953577e-01 -4.87806406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters 0.05095021587628261 Centerline is valid? [True, True] Translation: X:510.00, Y:-262.81, Z:-4.88 [[-9.99908987e-01 -5.86031108e-03 1.21521274e-02 5.10001139e+02] [-5.86202860e-03 9.99982813e-01 -1.05719997e-04 -2.62805275e+02] [-1.21512990e-02 -1.76946494e-04 -9.99926155e-01 -4.87707295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters 0.05117206772709763 Centerline is valid? [True, True] Translation: X:510.03, Y:-262.73, Z:-4.87 [[-9.96387104e-01 -8.36811480e-02 1.44984517e-02 5.10027557e+02] [-8.36767399e-02 9.96492535e-01 9.11464540e-04 -2.62725690e+02] [-1.45238713e-02 -3.05011661e-04 -9.99894477e-01 -4.87482376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters 0.05130320224445213 Centerline is valid? [True, True] Translation: X:509.98, Y:-262.65, Z:-4.87 [[-9.87410003e-01 -1.57498432e-01 1.46877440e-02 5.09983773e+02] [-1.57486384e-01 9.87519172e-01 1.98059213e-03 -2.62652011e+02] [-1.48163690e-02 -3.57463214e-04 -9.99890168e-01 -4.87466295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters 0.050951944777624575 Centerline is valid? [True, True] Translation: X:509.88, Y:-262.60, Z:-4.88 [[-9.73962388e-01 -2.26320937e-01 1.32702561e-02 5.09876952e+02] [-2.26304294e-01 9.74052738e-01 2.76239377e-03 -2.62596388e+02] [-1.35511168e-02 -3.12648298e-04 -9.99908131e-01 -4.87681454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters 0.05146907900942089 Centerline is valid? [True, True] Translation: X:509.77, Y:-262.55, Z:-4.88 [[-9.57410879e-01 -2.88509624e-01 1.12519330e-02 5.09769592e+02] [-2.88492021e-01 9.57476977e-01 3.19257987e-03 -2.62551658e+02] [-1.16945568e-02 -1.89482188e-04 -9.99931598e-01 -4.87894744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters 0.051068801208296405 Centerline is valid? [True, True] Translation: X:509.57, Y:-262.54, Z:-4.88 [[-9.37424701e-01 -3.48050307e-01 9.79351116e-03 5.09573904e+02] [-3.48032229e-01 9.37475854e-01 3.54832619e-03 -2.62542640e+02] [-1.04161763e-02 -8.21689023e-05 -9.99945747e-01 -4.87816571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters 0.050575487095138684 Centerline is valid? [True, True] Translation: X:509.47, Y:-262.51, Z:-4.88 [[-9.11910386e-01 -4.10286380e-01 9.19421617e-03 5.09473991e+02] [-4.10265917e-01 9.11956734e-01 4.09778927e-03 -2.62508963e+02] [-1.00659945e-02 -3.52569408e-05 -9.99949336e-01 -4.87941685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters 0.05081928852910283 Centerline is valid? [True, True] Translation: X:509.39, Y:-262.47, Z:-4.88 [[-8.81959021e-01 -4.71245653e-01 8.70741175e-03 5.09394494e+02] [-4.71222551e-01 8.82002003e-01 4.66616608e-03 -2.62471169e+02] [-9.87886509e-03 1.22384840e-05 -9.99951203e-01 -4.87956546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters 0.05080083020886005 Centerline is valid? [True, True] Translation: X:509.16, Y:-262.53, Z:-4.88 [[-8.47287786e-01 -5.31055866e-01 9.11453119e-03 5.09158756e+02] [-5.31024691e-01 8.47336808e-01 5.75423944e-03 -2.62528216e+02] [-1.07789004e-02 3.54556843e-05 -9.99941905e-01 -4.87782968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters 0.05051355039277587 Centerline is valid? [True, True] Translation: X:509.50, Y:-262.20, Z:-4.88 [[-8.03712051e-01 -5.94951361e-01 8.93402999e-03 5.09495738e+02] [-5.94914196e-01 8.03761704e-01 6.64991149e-03 -2.62199319e+02] [-1.11372051e-02 2.96327297e-05 -9.99937979e-01 -4.88167448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters 0.050431301690742635 Centerline is valid? [True, True] Translation: X:508.77, Y:-262.68, Z:-4.88 [[-7.58600071e-01 -6.51506748e-01 8.05537274e-03 5.08765666e+02] [-6.51469854e-01 7.58642839e-01 6.93340222e-03 -2.62681631e+02] [-1.06283092e-02 1.18469152e-05 -9.99943518e-01 -4.87710121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters 0.05043625895468552 Centerline is valid? [True, True] Translation: X:508.63, Y:-262.71, Z:-4.88 [[-7.06693606e-01 -7.07480511e-01 7.44811061e-03 5.08627130e+02] [-7.07441504e-01 7.06732853e-01 7.42914607e-03 -2.62710201e+02] [-1.05198005e-02 -1.89725456e-05 -9.99944665e-01 -4.87680790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters 0.05056269034312282 Centerline is valid? [True, True] Translation: X:508.48, Y:-262.76, Z:-4.88 [[-6.49238770e-01 -7.60554971e-01 6.71976252e-03 5.08479642e+02] [-7.60515310e-01 6.49273541e-01 7.76736577e-03 -2.62760133e+02] [-1.02704727e-02 -6.76072747e-05 -9.99947255e-01 -4.87945977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters 0.05033339118783604 Centerline is valid? [True, True] Translation: X:508.34, Y:-262.81, Z:-4.88 [[-5.86297987e-01 -8.10072801e-01 6.06034612e-03 5.08340118e+02] [-8.10031818e-01 5.86329293e-01 8.14948472e-03 -2.62811422e+02] [-1.01550344e-02 -1.31046694e-04 -9.99948428e-01 -4.88068023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters 0.050402977154290256 Centerline is valid? [True, True] Translation: X:508.21, Y:-262.85, Z:-4.88 [[-5.18396470e-01 -8.55124409e-01 5.22931528e-03 5.08205637e+02] [-8.55084716e-01 5.18422806e-01 8.24147980e-03 -2.62850741e+02] [-9.75848684e-03 -1.99153537e-04 -9.99952365e-01 -4.87633199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters 0.04923264913448201 Centerline is valid? [True, True] Translation: X:508.03, Y:-263.01, Z:-4.88 [[-4.50549608e-01 -8.92740443e-01 4.42175137e-03 5.08030153e+02] [-8.92702365e-01 4.50571246e-01 8.24868873e-03 -2.63009038e+02] [-9.35625205e-03 -2.30864432e-04 -9.99956203e-01 -4.88048540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters 0.0509873137469933 Centerline is valid? [True, True] Translation: X:507.89, Y:-263.10, Z:-4.88 [[-3.79708309e-01 -9.25099643e-01 3.50008994e-03 5.07889779e+02] [-9.25066131e-01 3.79724361e-01 7.87808398e-03 -2.63095655e+02] [-8.61708209e-03 -2.46440707e-04 -9.99962842e-01 -4.87790590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters 0.05106277692367299 Centerline is valid? [True, True] Translation: X:507.76, Y:-263.20, Z:-4.88 [[-3.08212692e-01 -9.51313131e-01 2.87452595e-03 5.07759525e+02] [-9.51279356e-01 3.08225985e-01 8.02056392e-03 -2.63200865e+02] [-8.51607136e-03 -2.62437600e-04 -9.99963703e-01 -4.87736997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters 0.04945776731648928 Centerline is valid? [True, True] Translation: X:507.62, Y:-263.41, Z:-4.88 [[-2.36237506e-01 -9.71691603e-01 2.69637698e-03 5.07620625e+02] [-9.71643044e-01 2.36252672e-01 9.71957963e-03 -2.63411226e+02] [-1.00814602e-02 -3.23786689e-04 -9.99949128e-01 -4.87947515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters 0.050418969058536184 Centerline is valid? [True, True] Translation: X:507.49, Y:-263.58, Z:-4.88 [[-1.63336618e-01 -9.86567598e-01 2.35013938e-03 5.07493366e+02] [-9.86497178e-01 1.63353054e-01 1.17939918e-02 -2.63580723e+02] [-1.20194726e-02 -3.92015130e-04 -9.99927687e-01 -4.87676216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters 0.04978746779022906 Centerline is valid? [True, True] Translation: X:507.38, Y:-263.78, Z:-4.88 [[-8.95764364e-02 -9.95978275e-01 1.82695646e-03 5.07378658e+02] [-9.95868393e-01 8.95937064e-02 1.48024491e-02 -2.63780392e+02] [-1.49066015e-02 -4.93457554e-04 -9.99888769e-01 -4.87515120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters 0.05013527538697928 Centerline is valid? [True, True] Translation: X:507.28, Y:-263.99, Z:-4.88 [[-1.67741523e-02 -9.99859021e-01 7.52118073e-04 5.07279749e+02] [-9.99740777e-01 1.67837412e-02 1.53845418e-02 -2.63990355e+02] [-1.53949962e-02 -4.93860461e-04 -9.99881368e-01 -4.87531567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters 0.05023286852555198 Centerline is valid? [True, True] Translation: X:507.20, Y:-264.22, Z:-4.88 [[ 5.60440145e-02 -9.98428230e-01 -3.71551103e-04 5.07196309e+02] [-9.98318665e-01 -5.60433712e-02 1.47981064e-02 -2.64217059e+02] [-1.47956702e-02 -4.58418890e-04 -9.99890433e-01 -4.87631779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters 0.049414185364560215 Centerline is valid? [True, True] Translation: X:507.14, Y:-264.50, Z:-4.88 [[ 1.24768439e-01 -9.92185154e-01 -1.20742035e-03 5.07137597e+02] [-9.92110502e-01 -1.24773867e-01 1.21751283e-02 -2.64502925e+02] [-1.22306360e-02 -3.21177332e-04 -9.99925151e-01 -4.87907861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters 0.04872772606213374 Centerline is valid? [True, True] Translation: X:507.10, Y:-264.80, Z:-4.88 [[ 1.93970220e-01 -9.81005655e-01 -1.85958373e-03 5.07100068e+02] [-9.80947757e-01 -1.93978981e-01 1.06608042e-02 -2.64799942e+02] [-1.08190293e-02 -2.43724047e-04 -9.99941443e-01 -4.88049980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters 0.048822811280134056 Centerline is valid? [True, True] Translation: X:507.07, Y:-265.04, Z:-4.88 [[ 2.65146589e-01 -9.64204455e-01 -2.65631581e-03 5.07070017e+02] [-9.64146813e-01 -2.65159790e-01 1.05455347e-02 -2.65040997e+02] [-1.08723996e-02 -2.35034123e-04 -9.99940866e-01 -4.88074491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters 0.048733512478550615 Centerline is valid? [True, True] Translation: X:507.05, Y:-265.27, Z:-4.88 [[ 3.36952267e-01 -9.41515577e-01 -3.40403145e-03 5.07050612e+02] [-9.41459752e-01 -3.36969368e-01 1.02557700e-02 -2.65266310e+02] [-1.08030216e-02 -2.50946363e-04 -9.99941614e-01 -4.88104936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters 0.04956638922329565 Centerline is valid? [True, True] Translation: X:507.04, Y:-265.50, Z:-4.88 [[ 4.09446804e-01 -9.12325596e-01 -3.91420734e-03 5.07042303e+02] [-9.12277181e-01 -4.09465418e-01 9.40296746e-03 -2.65498856e+02] [-1.01813004e-02 -2.79172936e-04 -9.99948130e-01 -4.87905721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters 0.04934386416845617 Centerline is valid? [True, True] Translation: X:507.05, Y:-265.71, Z:-4.88 [[ 4.78117173e-01 -8.78283887e-01 -4.62421045e-03 5.07053274e+02] [-8.78236392e-01 -4.78139435e-01 9.13896785e-03 -2.65709897e+02] [-1.02376256e-02 -3.08347572e-04 -9.99947547e-01 -4.88062271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters 0.04923405097684626 Centerline is valid? [True, True] Translation: X:507.08, Y:-265.93, Z:-4.88 [[ 5.42777845e-01 -8.39855824e-01 -5.86563174e-03 5.07079803e+02] [-8.39799468e-01 -5.42809420e-01 9.73584345e-03 -2.65931287e+02] [-1.13606250e-02 -3.58445713e-04 -9.99935402e-01 -4.87959950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters 0.04875153468451961 Centerline is valid? [True, True] Translation: X:507.14, Y:-266.17, Z:-4.88 [[ 6.02343692e-01 -7.98215046e-01 -5.90061092e-03 5.07138867e+02] [-7.98171570e-01 -6.02372512e-01 8.33672986e-03 -2.66170976e+02] [-1.02088690e-02 -3.11876759e-04 -9.99947840e-01 -4.88032593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters 0.049389556147511476 Centerline is valid? [True, True] Translation: X:507.21, Y:-266.41, Z:-4.88 [[ 6.57426551e-01 -7.53504824e-01 -4.56184743e-03 5.07213820e+02] [-7.53484539e-01 -6.57442348e-01 5.53252395e-03 -2.66406068e+02] [-7.16793517e-03 -1.99946635e-04 -9.99974290e-01 -4.88141405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters 0.05026545768249243 Centerline is valid? [True, True] Translation: X:507.29, Y:-266.62, Z:-4.88 [[ 7.09457494e-01 -7.04735079e-01 -4.30509382e-03 5.07292719e+02] [-7.04720714e-01 -7.09470537e-01 4.50247910e-03 -2.66622115e+02] [-6.22739219e-03 -1.60428752e-04 -9.99980597e-01 -4.88127054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters 0.048418787147552864 Centerline is valid? [True, True] Translation: X:507.45, Y:-266.87, Z:-4.88 [[ 7.57259265e-01 -6.53097375e-01 -4.71429772e-03 5.07450409e+02] [-6.53083516e-01 -7.57273926e-01 4.25713062e-03 -2.66874337e+02] [-6.35033557e-03 -1.44921482e-04 -9.99979826e-01 -4.88321966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters 0.049005088238911386 Centerline is valid? [True, True] Translation: X:507.42, Y:-266.96, Z:-4.88 [[ 8.04868729e-01 -5.93428688e-01 -5.35922824e-03 5.07419509e+02] [-5.93414353e-01 -8.04886559e-01 4.12716777e-03 -2.66964098e+02] [-6.76275053e-03 -1.41585320e-04 -9.99977122e-01 -4.88298721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters 0.04993149420349777 Centerline is valid? [True, True] Translation: X:507.39, Y:-267.06, Z:-4.88 [[ 8.47520904e-01 -5.30723215e-01 -6.41773509e-03 5.07392843e+02] [-5.30706722e-01 -8.47545190e-01 4.18638301e-03 -2.67057758e+02] [-7.66113115e-03 -1.42111955e-04 -9.99970643e-01 -4.88160237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters 0.0490698518921745 Centerline is valid? [True, True] Translation: X:507.38, Y:-267.15, Z:-4.88 [[ 8.85073347e-01 -4.65394197e-01 -7.30836961e-03 5.07378196e+02] [-4.65377109e-01 -8.85103511e-01 3.99020504e-03 -2.67148726e+02] [-8.32568187e-03 -1.30476214e-04 -9.99965332e-01 -4.88300297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters 0.05013437080783975 Centerline is valid? [True, True] Translation: X:507.37, Y:-267.24, Z:-4.88 [[ 9.16674529e-01 -3.99555147e-01 -7.96820887e-03 5.07369802e+02] [-3.99539184e-01 -9.16709156e-01 3.57271186e-03 -2.67240068e+02] [-8.73202544e-03 -9.14022904e-05 -9.99961871e-01 -4.88054185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters 0.04968048288162846 Centerline is valid? [True, True] Translation: X:507.37, Y:-267.32, Z:-4.88 [[ 9.43043176e-01 -3.32577351e-01 -7.86598119e-03 5.07373086e+02] [-3.32565470e-01 -9.43075980e-01 2.81137051e-03 -2.67320306e+02] [-8.35321608e-03 -3.52900447e-05 -9.99965111e-01 -4.88075709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters 0.0500838715793115 Centerline is valid? [True, True] Translation: X:507.38, Y:-267.40, Z:-4.88 [[ 9.64178923e-01 -2.65155516e-01 -7.18025585e-03 5.07382243e+02] [-2.65148355e-01 -9.64205659e-01 1.94886907e-03 -2.67403974e+02] [-7.43999671e-03 2.47745461e-05 -9.99972323e-01 -4.88263168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters 0.050166081431387045 Centerline is valid? [True, True] Translation: X:507.40, Y:-267.49, Z:-4.88 [[ 9.80933848e-01 -1.94174674e-01 -8.06119054e-03 5.07395881e+02] [-1.94168710e-01 -9.80966967e-01 1.52357853e-03 -2.67485253e+02] [-8.20360200e-03 7.07012109e-05 -9.99966347e-01 -4.88092585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters 0.05048337737128829 Centerline is valid? [True, True] Translation: X:507.42, Y:-267.56, Z:-4.88 [[ 9.92355897e-01 -1.23069961e-01 -9.14098008e-03 5.07417084e+02] [-1.23066004e-01 -9.92397988e-01 9.96311134e-04 -2.67559664e+02] [-9.19410621e-03 1.36248660e-04 -9.99957724e-01 -4.87984129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters 0.05039422261901646 Centerline is valid? [True, True] Translation: X:507.44, Y:-267.64, Z:-4.88 [[ 9.98831389e-01 -4.76183521e-02 -8.26736185e-03 5.07440339e+02] [-4.76179144e-02 -9.98865592e-01 2.49883658e-04 -2.67642110e+02] [-8.26988234e-03 1.44082888e-04 -9.99965794e-01 -4.88261728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters 0.05071482895427276 Centerline is valid? [True, True] Translation: X:507.47, Y:-267.72, Z:-4.88 [[ 9.99503284e-01 3.06726101e-02 -7.23714358e-03 5.07468560e+02] [ 3.06708919e-02 -9.99529477e-01 -3.48314361e-04 -2.67720988e+02] [-7.24442205e-03 1.26171699e-04 -9.99973751e-01 -4.88165400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters 0.050973808063616136 Centerline is valid? [True, True] Translation: X:507.50, Y:-267.80, Z:-4.88 [[ 9.93663113e-01 1.12179161e-01 -7.03228789e-03 5.07501821e+02] [ 1.12175645e-01 -9.93687992e-01 -8.93701883e-04 -2.67798746e+02] [-7.08815476e-03 9.91871627e-05 -9.99974874e-01 -4.88167002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters 0.050790328798979684 Centerline is valid? [True, True] Translation: X:507.54, Y:-267.88, Z:-4.88 [[ 9.80458192e-01 1.96595452e-01 -7.20842991e-03 5.07542573e+02] [ 1.96589762e-01 -9.80484689e-01 -1.49658917e-03 -2.67879522e+02] [-7.36197778e-03 5.02395975e-05 -9.99972899e-01 -4.88274524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters 0.05026063313930992 Centerline is valid? [True, True] Translation: X:507.59, Y:-267.96, Z:-4.88 [[ 9.60467095e-01 2.78322165e-01 -6.30329725e-03 5.07592808e+02] [ 2.78316128e-01 -9.60487778e-01 -1.83315237e-03 -2.67961531e+02] [-6.56444691e-03 6.37324788e-06 -9.99978454e-01 -4.88201884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters 0.049838818627716414 Centerline is valid? [True, True] Translation: X:507.65, Y:-268.04, Z:-4.88 [[ 9.32226436e-01 3.61831689e-01 -5.63032071e-03 5.07648457e+02] [ 3.61825436e-01 -9.32243437e-01 -2.12789679e-03 -2.68040674e+02] [-6.01877002e-03 -5.35115964e-05 -9.99981886e-01 -4.88144224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters 0.050697309616598026 Centerline is valid? [True, True] Translation: X:507.71, Y:-268.11, Z:-4.88 [[ 8.97157339e-01 4.41688699e-01 -4.44994437e-03 5.07709698e+02] [ 4.41683748e-01 -8.97168371e-01 -2.09311328e-03 -2.68108837e+02] [-4.91685382e-03 -8.76161656e-05 -9.99987908e-01 -4.88195334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters 0.05110804541285657 Centerline is valid? [True, True] Translation: X:507.78, Y:-268.17, Z:-4.88 [[ 8.56639021e-01 5.15898640e-01 -4.26395185e-03 5.07777100e+02] [ 5.15892930e-01 -8.56649625e-01 -2.42993007e-03 -2.68174208e+02] [-4.90631037e-03 -1.18169702e-04 -9.99987957e-01 -4.88085742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters 0.050113242786475436 Centerline is valid? [True, True] Translation: X:507.85, Y:-268.23, Z:-4.88 [[ 8.12346299e-01 5.83163017e-01 -3.79287345e-03 5.07846836e+02] [ 5.83157347e-01 -8.12355145e-01 -2.57426051e-03 -2.68228897e+02] [-4.58237378e-03 -1.20651024e-04 -9.99989494e-01 -4.88206173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters 0.05073079694815079 Centerline is valid? [True, True] Translation: X:507.92, Y:-268.28, Z:-4.88 [[ 7.64206595e-01 6.44959824e-01 -3.88646086e-03 5.07923289e+02] [ 6.44952347e-01 -7.64216467e-01 -3.10845294e-03 -2.68281325e+02] [-4.97492465e-03 -1.31081810e-04 -9.99987616e-01 -4.88134536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters 0.05087194513093719 Centerline is valid? [True, True] Translation: X:508.00, Y:-268.32, Z:-4.88 [[ 7.12621592e-01 7.01534386e-01 -4.46901902e-03 5.07999146e+02] [ 7.01521900e-01 -7.12635589e-01 -4.18812849e-03 -2.68321390e+02] [-6.12289815e-03 -1.50563925e-04 -9.99981244e-01 -4.88035229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters 0.05024795926435118 Centerline is valid? [True, True] Translation: X:508.08, Y:-268.36, Z:-4.88 [[ 6.57543206e-01 7.53398592e-01 -5.24344778e-03 5.08080575e+02] [ 7.53376682e-01 -6.57564090e-01 -5.74825305e-03 -2.68358421e+02] [-7.77862872e-03 -1.70566563e-04 -9.99969731e-01 -4.87907016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters 0.051116743867918785 Centerline is valid? [True, True] Translation: X:508.16, Y:-268.39, Z:-4.88 [[ 5.97473488e-01 8.01872944e-01 -5.02127253e-03 5.08164380e+02] [ 8.01846987e-01 -5.97494563e-01 -6.45409737e-03 -2.68388272e+02] [-8.17554909e-03 -1.70140184e-04 -9.99966565e-01 -4.87862340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters 0.05092699688326487 Centerline is valid? [True, True] Translation: X:508.25, Y:-268.41, Z:-4.88 [[ 5.36754928e-01 8.43727310e-01 -4.28654690e-03 5.08246254e+02] [ 8.43702267e-01 -5.36772029e-01 -6.50188731e-03 -2.68409123e+02] [-7.78671836e-03 -1.26649277e-04 -9.99969675e-01 -4.87968419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters 0.05152911164060179 Centerline is valid? [True, True] Translation: X:508.33, Y:-268.42, Z:-4.88 [[ 4.73109628e-01 8.80997082e-01 -3.37960455e-03 5.08328291e+02] [ 8.80975828e-01 -4.73121691e-01 -6.12008439e-03 -2.68422338e+02] [-6.99074071e-03 -8.18790709e-05 -9.99975561e-01 -4.88053873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters 0.05078905646825798 Centerline is valid? [True, True] Translation: X:508.40, Y:-268.43, Z:-4.88 [[ 4.10829353e-01 9.11708014e-01 -2.78215002e-03 5.08403330e+02] [ 9.11687423e-01 -4.10838773e-01 -6.12748072e-03 -2.68426954e+02] [-6.72948837e-03 -1.91022437e-05 -9.99977357e-01 -4.88054510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters 0.05084265605271159 Centerline is valid? [True, True] Translation: X:508.48, Y:-268.43, Z:-4.88 [[ 3.47321732e-01 9.37744051e-01 -1.92595247e-03 5.08478331e+02] [ 9.37729013e-01 -3.47327069e-01 -5.31077868e-03 -2.68426621e+02] [-5.64908654e-03 3.85273336e-05 -9.99984043e-01 -4.88233215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters 0.05130446488273761 Centerline is valid? [True, True] Translation: X:508.55, Y:-268.42, Z:-4.88 [[ 2.82108916e-01 9.59381686e-01 -1.15785144e-03 5.08549267e+02] [ 9.59372536e-01 -2.82111283e-01 -4.19062712e-03 -2.68418608e+02] [-4.34705387e-03 7.14023990e-05 -9.99990549e-01 -4.88194167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters 0.05096863632260343 Centerline is valid? [True, True] Translation: X:508.62, Y:-268.41, Z:-4.88 [[ 2.11492544e-01 9.77379265e-01 -8.22208891e-04 5.08624423e+02] [ 9.77370045e-01 -2.11494121e-01 -4.24632240e-03 -2.68407142e+02] [-4.32415982e-03 9.44631857e-05 -9.99990646e-01 -4.88349978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters 0.05231326253253967 Centerline is valid? [True, True] Translation: X:508.73, Y:-268.39, Z:-4.88 [[ 1.38738800e-01 9.90328929e-01 -3.96983823e-04 5.08730131e+02] [ 9.90322750e-01 -1.38739337e-01 -3.49954867e-03 -2.68393697e+02] [-3.52078156e-03 9.23810715e-05 -9.99993798e-01 -4.88344757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters 0.05103046321736528 Centerline is valid? [True, True] Translation: X:508.83, Y:-268.37, Z:-4.88 [[ 6.15715480e-02 9.98102665e-01 -1.23660361e-04 5.08830726e+02] [ 9.98096293e-01 -6.15715969e-02 -3.56779512e-03 -2.68372588e+02] [-3.56863978e-03 9.62497205e-05 -9.99993628e-01 -4.88345163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters 0.05186161971764339 Centerline is valid? [True, True] Translation: X:508.93, Y:-268.34, Z:-4.88 [[-2.16800094e-02 9.99764941e-01 1.98690538e-04 5.08934962e+02] [ 9.99754606e-01 2.16806890e-02 -4.54699336e-03 -2.68343009e+02] [-4.55023230e-03 1.00062921e-04 -9.99989643e-01 -4.88187111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters 0.05095096432499374 Centerline is valid? [True, True] Translation: X:509.03, Y:-268.31, Z:-4.88 [[-1.08755352e-01 9.94068476e-01 3.73331929e-04 5.09032287e+02] [ 9.94063811e-01 1.08755985e-01 -3.04548789e-03 -2.68306888e+02] [-3.06802559e-03 3.99026529e-05 -9.99995293e-01 -4.88229297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters 0.050433160515798346 Centerline is valid? [True, True] Translation: X:509.13, Y:-268.26, Z:-4.88 [[-1.95098521e-01 9.80783577e-01 3.77888128e-04 5.09129555e+02] [ 9.80781810e-01 1.95098887e-01 -1.86181851e-03 -2.68262513e+02] [-1.89976657e-03 7.38776329e-06 -9.99998195e-01 -4.88289729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters 0.05058521875817979 Centerline is valid? [True, True] Translation: X:509.19, Y:-268.22, Z:-4.88 [[-2.76604440e-01 9.60983803e-01 3.38224767e-04 5.09190278e+02] [ 9.60983075e-01 2.76604647e-01 -1.18277734e-03 -2.68217968e+02] [-1.23018441e-03 -2.13318660e-06 -9.99999243e-01 -4.88303300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters 0.0510194315819179 Centerline is valid? [True, True] Translation: X:509.25, Y:-268.17, Z:-4.88 [[-3.59210936e-01 9.33256307e-01 -4.11140819e-04 5.09247844e+02] [ 9.33255656e-01 3.59211171e-01 1.10190992e-03 -2.68169086e+02] [ 1.17605076e-03 1.21186006e-05 -9.99999308e-01 -4.88349918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters 0.05036218407670674 Centerline is valid? [True, True] Translation: X:509.31, Y:-268.11, Z:-4.88 [[-4.35904373e-01 8.99992804e-01 -5.75330091e-04 5.09307865e+02] [ 8.99991954e-01 4.35904752e-01 1.23668329e-03 -2.68111774e+02] [ 1.36379518e-03 2.12832004e-05 -9.99999070e-01 -4.88252463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters 0.050175604535754655 Centerline is valid? [True, True] Translation: X:509.37, Y:-268.05, Z:-4.88 [[-5.09809696e-01 8.60287101e-01 -4.20867179e-04 5.09367972e+02] [ 8.60286778e-01 5.09809869e-01 7.45671024e-04 -2.68046548e+02] [ 8.56053406e-04 1.80838485e-05 -9.99999633e-01 -4.88046616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters 0.050771088201719355 Centerline is valid? [True, True] Translation: X:509.43, Y:-267.97, Z:-4.88 [[-5.77297531e-01 8.16533870e-01 3.39483107e-05 5.09430487e+02] [ 8.16533868e-01 5.77297532e-01 -5.07696850e-05 -2.67972852e+02] [-6.10534432e-05 -1.58926833e-06 -9.99999998e-01 -4.88030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters 0.05027530996916257 Centerline is valid? [True, True] Translation: X:509.48, Y:-267.90, Z:-4.88 [[-6.41141139e-01 7.67422986e-01 2.98645094e-05 5.09476108e+02] [ 7.67422985e-01 6.41141139e-01 -3.79274558e-05 -2.67901079e+02] [-4.82537668e-05 -1.39814122e-06 -9.99999999e-01 -4.87915170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters 0.05114465418703415 Centerline is valid? [True, True] Translation: X:509.52, Y:-267.82, Z:-4.88 [[-7.01066485e-01 7.13094563e-01 1.38840297e-03 5.09524922e+02] [ 7.13092999e-01 7.01067858e-01 -1.49475392e-03 -2.67819795e+02] [-2.03926559e-03 -5.78614448e-05 -9.99997919e-01 -4.87708533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters 0.052453331613964524 Centerline is valid? [True, True] Translation: X:509.55, Y:-267.75, Z:-4.87 [[-7.55470165e-01 6.55178313e-01 2.49165523e-03 5.09554325e+02] [ 6.55174307e-01 7.55474267e-01 -2.29307334e-03 -2.67747105e+02] [-3.38475333e-03 -9.98800063e-05 -9.99994267e-01 -4.87468099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters 0.04958620628073652 Centerline is valid? [True, True] Translation: X:509.57, Y:-267.68, Z:-4.88 [[-7.98991691e-01 6.01333199e-01 3.26534970e-03 5.09573346e+02] [ 6.01327578e-01 7.98998355e-01 -2.60259480e-03 -2.67678644e+02] [-4.17403569e-03 -1.15906790e-04 -9.99991282e-01 -4.87500821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters 0.049557271655752584 Centerline is valid? [True, True] Translation: X:509.51, Y:-267.54, Z:-4.88 [[-8.38183243e-01 5.45373173e-01 4.11752306e-03 5.09507426e+02] [ 5.45365850e-01 8.38193347e-01 -2.82904461e-03 -2.67539646e+02] [-4.99416547e-03 -1.25701328e-04 -9.99987521e-01 -4.87518659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters 0.0491792406196053 Centerline is valid? [True, True] Translation: X:509.46, Y:-267.44, Z:-4.88 [[-8.69805864e-01 4.93386797e-01 2.68841767e-03 5.09464172e+02] [ 4.93384273e-01 8.69810017e-01 -1.57907441e-03 -2.67435883e+02] [-3.11750709e-03 -4.70651885e-05 -9.99995139e-01 -4.87693482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters 0.04864082026365562 Centerline is valid? [True, True] Translation: X:509.42, Y:-267.34, Z:-4.88 [[-8.99678458e-01 4.36548198e-01 2.08391002e-03 5.09420751e+02] [ 4.36546977e-01 8.99680872e-01 -1.03280475e-03 -2.67337963e+02] [-2.32572304e-03 -1.94675677e-05 -9.99997295e-01 -4.87717100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters 0.04864082026365562 Centerline is valid? [True, True] Translation: X:509.41, Y:-267.25, Z:-4.88 [[-9.28384370e-01 3.71615164e-01 2.15193179e-03 5.09407576e+02] [ 3.71614117e-01 9.28386864e-01 -8.82345208e-04 -2.67248164e+02] [-2.32571806e-03 -1.94672687e-05 -9.99997295e-01 -4.87717116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters 0.04853343275536584 Centerline is valid? [True, True] Translation: X:509.47, Y:-267.20, Z:-4.88 [[-9.51495415e-01 3.07654074e-01 2.33382816e-03 5.09474356e+02] [ 3.07653115e-01 9.51498277e-01 -7.68212394e-04 -2.67195749e+02] [-2.45697715e-03 -1.29410659e-05 -9.99996982e-01 -4.87723949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters 0.04876020641777089 Centerline is valid? [True, True] Translation: X:509.35, Y:-267.08, Z:-4.88 [[-9.71426759e-01 2.37333057e-01 1.75266822e-03 5.09353568e+02] [ 2.37332646e-01 9.71428340e-01 -4.41999966e-04 -2.67077857e+02] [-1.80749278e-03 -1.34052091e-05 -9.99998366e-01 -4.87713659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters 0.04874753975925403 Centerline is valid? [True, True] Translation: X:509.34, Y:-267.00, Z:-4.88 [[-9.86143907e-01 1.65869938e-01 2.71266891e-03 5.09342944e+02] [ 1.65869238e-01 9.86147638e-01 -4.82390788e-04 -2.66997204e+02] [-2.75510617e-03 -2.57584114e-05 -9.99996204e-01 -4.87656081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters 0.048438655094191985 Centerline is valid? [True, True] Translation: X:509.33, Y:-266.92, Z:-4.88 [[-9.95436917e-01 9.53835491e-02 2.70599556e-03 5.09327787e+02] [ 9.53831272e-02 9.95440595e-01 -2.84809820e-04 -2.66918006e+02] [-2.72082400e-03 -2.54038906e-05 -9.99996298e-01 -4.87616509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters 0.04855407424279405 Centerline is valid? [True, True] Translation: X:509.41, Y:-266.84, Z:-4.88 [[-9.99699210e-01 2.44295631e-02 2.16456512e-03 5.09413414e+02] [ 2.44294643e-02 9.99701554e-01 -7.20857735e-05 -2.66844104e+02] [-2.16568013e-03 -1.91849245e-05 -9.99997655e-01 -4.87609494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters 0.049092764886777385 Centerline is valid? [True, True] Translation: X:509.19, Y:-266.17, Z:-5.89 [[-9.94293103e-01 -1.06679702e-01 8.16065548e-04 5.09190136e+02] [ 1.06679604e-01 -9.94293435e-01 -1.62224669e-04 -2.66168222e+02] [ 8.28714696e-04 -7.42413201e-05 9.99999654e-01 -5.88733352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters 0.04885878676492009 Centerline is valid? [True, True] Translation: X:509.09, Y:-266.83, Z:-4.88 [[-9.99678375e-01 2.53590516e-02 2.55585990e-04 5.09088862e+02] [ 2.53590506e-02 9.99678408e-01 -7.25039282e-06 -2.66829050e+02] [-2.55687659e-04 -7.66642865e-07 -9.99999967e-01 -4.87746254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters 0.04901464039775129 Centerline is valid? [True, True] Translation: X:508.99, Y:-266.75, Z:-4.88 [[-9.99011594e-01 -4.44495279e-02 -2.72164407e-04 5.08985129e+02] [-4.44495265e-02 9.99011631e-01 -1.11347538e-05 -2.66753535e+02] [ 2.72390343e-04 9.73830902e-07 -9.99999963e-01 -4.87783990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters 0.04858499942029687 Centerline is valid? [True, True] Translation: X:509.37, Y:-266.64, Z:-4.88 [[-9.93212129e-01 -1.16312022e-01 -1.08634130e-03 5.09369365e+02] [-1.16311951e-01 9.93212723e-01 -1.28154108e-04 -2.66638791e+02] [ 1.09387387e-03 -9.29738198e-07 -9.99999402e-01 -4.87731208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters 0.04878150409774815 Centerline is valid? [True, True] Translation: X:508.49, Y:-266.69, Z:-4.88 [[-9.83039550e-01 -1.83392618e-01 -6.25339934e-04 5.08490480e+02] [-1.83392579e-01 9.83039749e-01 -1.18976713e-04 -2.66691871e+02] [ 6.36553462e-04 -2.27611133e-06 -9.99999797e-01 -4.87637531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters 0.04936346942065254 Centerline is valid? [True, True] Translation: X:508.36, Y:-266.65, Z:-4.88 [[-9.67784706e-01 -2.51778348e-01 -6.52974335e-04 5.08362453e+02] [-2.51778289e-01 9.67784926e-01 -1.73157833e-04 -2.66646469e+02] [ 6.75536112e-04 -3.17474203e-06 -9.99999772e-01 -4.87542739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters 0.04932737142942322 Centerline is valid? [True, True] Translation: X:508.17, Y:-266.01, Z:-5.89 [[-9.80722908e-01 1.95403538e-01 1.88055934e-04 5.08172441e+02] [-1.95403523e-01 -9.80722924e-01 9.62949197e-05 -2.66007868e+02] [ 2.03247134e-04 5.76918416e-05 9.99999978e-01 -5.88978532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters 0.04879048719962075 Centerline is valid? [True, True] Translation: X:508.23, Y:-266.68, Z:-4.87 [[-9.65778461e-01 -2.59368168e-01 3.44572297e-04 5.08225976e+02] [-2.59368151e-01 9.65778522e-01 9.29589384e-05 -2.66679262e+02] [-3.56891113e-04 4.06660957e-07 -9.99999936e-01 -4.87367589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters 0.04967254970706767 Centerline is valid? [True, True] Translation: X:508.16, Y:-266.62, Z:-4.87 [[-9.43455099e-01 -3.31497849e-01 1.28566537e-03 5.08160653e+02] [-3.31497546e-01 9.43455975e-01 4.48085825e-04 -2.66618197e+02] [-1.36150816e-03 -3.44605783e-06 -9.99999073e-01 -4.87241709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters 0.04904115409347099 Centerline is valid? [True, True] Translation: X:508.08, Y:-266.57, Z:-4.87 [[-9.14715071e-01 -4.04096049e-01 1.64980694e-03 5.08080167e+02] [-4.04095421e-01 9.14716559e-01 7.12356708e-04 -2.66565778e+02] [-1.79696626e-03 -1.50760143e-05 -9.99998385e-01 -4.87189183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters 0.04906957476635332 Centerline is valid? [True, True] Translation: X:507.97, Y:-266.53, Z:-4.87 [[-8.81252638e-01 -4.72642818e-01 1.59852077e-03 5.07968422e+02] [-4.72642087e-01 8.81254087e-01 8.31448868e-04 -2.66530993e+02] [-1.80168130e-03 -2.28116838e-05 -9.99998377e-01 -4.87131764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters 0.04945341458594128 Centerline is valid? [True, True] Translation: X:507.88, Y:-266.49, Z:-4.87 [[-8.43640288e-01 -5.36905933e-01 1.75580516e-03 5.07880274e+02] [-5.36904841e-01 8.43642115e-01 1.08351068e-03 -2.66487746e+02] [-2.06301449e-03 -2.86070227e-05 -9.99997872e-01 -4.87137517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters 0.048502642221750714 Centerline is valid? [True, True] Translation: X:507.70, Y:-266.52, Z:-4.87 [[-8.03314078e-01 -5.95554420e-01 1.19372083e-03 5.07702202e+02] [-5.95553799e-01 8.03314965e-01 8.60163723e-04 -2.66517828e+02] [-1.47120811e-03 -1.99433481e-05 -9.99998918e-01 -4.87168042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters 0.04869536143477519 Centerline is valid? [True, True] Translation: X:507.55, Y:-266.54, Z:-4.87 [[-7.58810358e-01 -6.51310351e-01 1.29168104e-03 5.07551815e+02] [-6.51309454e-01 7.58811457e-01 1.08111847e-03 -2.66537185e+02] [-1.68428602e-03 -2.09201849e-05 -9.99998581e-01 -4.87127279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters 0.04832260420105699 Centerline is valid? [True, True] Translation: X:507.39, Y:-266.59, Z:-4.87 [[-7.11493682e-01 -7.02692389e-01 3.83420904e-04 5.07386030e+02] [-7.02692291e-01 7.11493785e-01 3.71316772e-04 -2.66587608e+02] [-5.33723060e-04 -5.23737658e-06 -9.99999858e-01 -4.87127360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters 0.048987335084658815 Centerline is valid? [True, True] Translation: X:507.21, Y:-266.67, Z:-4.87 [[-6.59735362e-01 -7.51497998e-01 -1.09271965e-04 5.07206066e+02] [-7.51497988e-01 6.59735371e-01 -1.22471604e-04 -2.66669925e+02] [ 1.64127746e-04 1.31881387e-06 -9.99999987e-01 -4.87207572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters 0.04786403720440303 Centerline is valid? [True, True] Translation: X:507.08, Y:-266.70, Z:-4.87 [[-6.03247057e-01 -7.97554337e-01 -2.62122908e-04 5.07084736e+02] [-7.97554264e-01 6.03247113e-01 -3.41566370e-04 -2.66696347e+02] [ 4.30542628e-04 3.00833561e-06 -9.99999907e-01 -4.87213723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters 0.04907450939696704 Centerline is valid? [True, True] Translation: X:506.87, Y:-266.85, Z:-4.87 [[-5.43004389e-01 -8.39729560e-01 7.07691013e-04 5.06873620e+02] [-8.39728872e-01 5.43004850e-01 1.07475070e-03 -2.66854205e+02] [-1.28677958e-03 -1.06742285e-05 -9.99999172e-01 -4.87044805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters 0.04817434476863296 Centerline is valid? [True, True] Translation: X:506.71, Y:-266.97, Z:-4.87 [[-4.78092033e-01 -8.78309076e-01 1.08354741e-03 5.06712827e+02] [-8.78306926e-01 4.78093260e-01 1.94354728e-03 -2.66971558e+02] [-2.22507193e-03 -2.24927244e-05 -9.99997524e-01 -4.86969736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters 0.04850116217222434 Centerline is valid? [True, True] Translation: X:506.56, Y:-267.09, Z:-4.87 [[-4.08636811e-01 -9.12695669e-01 1.60373899e-03 5.06556597e+02] [-9.12689137e-01 4.08639955e-01 3.45352281e-03 -2.67093524e+02] [-3.80736714e-03 -5.24786022e-05 -9.99992751e-01 -4.86820444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters 0.0484709795463345 Centerline is valid? [True, True] Translation: X:506.42, Y:-267.22, Z:-4.87 [[-3.37604987e-01 -9.41287043e-01 1.25528222e-03 5.06416718e+02] [-9.41281164e-01 3.37607316e-01 3.32716842e-03 -2.67218218e+02] [-3.55561298e-03 -5.83048534e-05 -9.99993677e-01 -4.86821750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters 0.04858175897123949 Centerline is valid? [True, True] Translation: X:506.27, Y:-267.39, Z:-4.87 [[-2.64152334e-01 -9.64480653e-01 7.83758900e-04 5.06272895e+02] [-9.64476998e-01 2.64153491e-01 2.65571182e-03 -2.67388321e+02] [-2.76841532e-03 -5.44049547e-05 -9.99996166e-01 -4.86919874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters 0.04851990062970111 Centerline is valid? [True, True] Translation: X:506.15, Y:-267.57, Z:-4.87 [[-1.91390160e-01 -9.81513858e-01 5.94968132e-04 5.06148413e+02] [-9.81510007e-01 1.91391077e-01 2.75000994e-03 -2.67571011e+02] [-2.81304446e-03 -5.76423312e-05 -9.99996042e-01 -4.86976823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters 0.04927203209285684 Centerline is valid? [True, True] Translation: X:506.03, Y:-267.77, Z:-4.87 [[-1.18775550e-01 -9.92920991e-01 5.23883647e-04 5.06027693e+02] [-9.92913947e-01 1.18776681e-01 3.74076356e-03 -2.67765380e+02] [-3.77650783e-03 -7.58601309e-05 -9.99992866e-01 -4.86805546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters 0.04877504451924509 Centerline is valid? [True, True] Translation: X:505.92, Y:-268.01, Z:-4.87 [[-4.61842653e-02 -9.98932915e-01 2.13583357e-04 5.05924978e+02] [-9.98927594e-01 4.61847165e-02 3.26101686e-03 -2.68013496e+02] [-3.26740136e-03 -6.27466410e-05 -9.99994660e-01 -4.86866595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters 0.04885359224634837 Centerline is valid? [True, True] Translation: X:505.84, Y:-268.21, Z:-4.87 [[ 2.80237975e-02 -9.99607256e-01 -2.15838035e-05 5.05839628e+02] [-9.99604179e-01 -2.80237648e-02 2.48078253e-03 -2.68207680e+02] [-2.48041308e-03 -4.79456870e-05 -9.99996923e-01 -4.86924651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters 0.04950404843022638 Centerline is valid? [True, True] Translation: X:505.77, Y:-268.45, Z:-4.87 [[ 1.01760660e-01 -9.94808889e-01 -2.03539652e-04 5.05771996e+02] [-9.94805855e-01 -1.01760853e-01 2.45754984e-03 -2.68451299e+02] [-2.46550480e-03 -4.75994577e-05 -9.99996960e-01 -4.86873925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters 0.04874566548190758 Centerline is valid? [True, True] Translation: X:505.73, Y:-268.72, Z:-4.87 [[ 1.74325934e-01 -9.84687869e-01 -5.19427424e-04 5.05731108e+02] [-9.84682370e-01 -1.74326697e-01 3.29123143e-03 -2.68717834e+02] [-3.33138573e-03 -6.22759658e-05 -9.99994449e-01 -4.86806441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters 0.048424514777892294 Centerline is valid? [True, True] Translation: X:505.70, Y:-268.95, Z:-4.87 [[ 2.46475767e-01 -9.69148429e-01 -1.00945733e-03 5.05700071e+02] [-9.69138898e-01 -2.46477821e-01 4.29878850e-03 -2.68951035e+02] [-4.41497296e-03 -8.12428322e-05 -9.99990251e-01 -4.86780363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters 0.04855802086681065 Centerline is valid? [True, True] Translation: X:505.67, Y:-269.16, Z:-4.87 [[ 3.16884395e-01 -9.48463432e-01 -1.18259503e-03 5.05673412e+02] [-9.48455985e-01 -3.16886594e-01 3.75908834e-03 -2.69158380e+02] [-3.94010634e-03 -6.95571007e-05 -9.99992235e-01 -4.86673622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters 0.04824124739387395 Centerline is valid? [True, True] Translation: X:505.68, Y:-269.40, Z:-4.87 [[ 3.85415830e-01 -9.22742072e-01 -1.30623067e-03 5.05682619e+02] [-9.22736238e-01 -3.85418039e-01 3.28175592e-03 -2.69403699e+02] [-3.53165912e-03 -5.95343105e-05 -9.99993762e-01 -4.86804383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters 0.04822504903456555 Centerline is valid? [True, True] Translation: X:505.70, Y:-269.65, Z:-4.87 [[ 4.51117051e-01 -8.92463352e-01 -1.60394520e-03 5.05698610e+02] [-8.92457262e-01 -4.51119899e-01 3.29728315e-03 -2.69645705e+02] [-3.66627597e-03 -5.60081094e-05 -9.99993278e-01 -4.86610278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters 0.04865610222337442 Centerline is valid? [True, True] Translation: X:505.75, Y:-269.91, Z:-4.87 [[ 5.14838088e-01 -8.57285805e-01 -1.67103986e-03 5.05751955e+02] [-8.57280984e-01 -5.14840797e-01 2.87528863e-03 -2.69909318e+02] [-3.32526362e-03 -4.77573997e-05 -9.99994470e-01 -4.86593878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters 0.04868551755319376 Centerline is valid? [True, True] Translation: X:505.79, Y:-270.10, Z:-4.87 [[ 5.76481575e-01 -8.17107850e-01 -1.93761693e-03 5.05785735e+02] [-8.17102950e-01 -5.76484830e-01 2.83038834e-03 -2.70104619e+02] [-3.42973930e-03 -4.84342246e-05 -9.99994117e-01 -4.86650216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters 0.048037520533407735 Centerline is valid? [True, True] Translation: X:505.86, Y:-270.34, Z:-4.87 [[ 6.34251466e-01 -7.73123268e-01 -2.34303853e-03 5.05862549e+02] [-7.73117705e-01 -6.34255792e-01 2.93331212e-03 -2.70337786e+02] [-3.75389761e-03 -4.90129459e-05 -9.99992953e-01 -4.86621637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters 0.04861671639917642 Centerline is valid? [True, True] Translation: X:505.94, Y:-270.55, Z:-4.87 [[ 6.88252946e-01 -7.25462156e-01 -3.54158815e-03 5.05943835e+02] [-7.25452102e-01 -6.88262056e-01 3.81973930e-03 -2.70548608e+02] [-5.20861705e-03 -5.96942580e-05 -9.99986433e-01 -4.86516917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters 0.049268002883058354 Centerline is valid? [True, True] Translation: X:506.05, Y:-270.76, Z:-4.86 [[ 7.37024751e-01 -6.75845399e-01 -5.24533935e-03 5.06049378e+02] [-6.75827759e-01 -7.37043414e-01 4.88327722e-03 -2.70760837e+02] [-7.16638326e-03 -5.41502368e-05 -9.99974320e-01 -4.86390894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters 0.04899786902672143 Centerline is valid? [True, True] Translation: X:506.02, Y:-270.84, Z:-4.87 [[ 7.85053471e-01 -6.19400735e-01 -5.81186494e-03 5.06023965e+02] [-6.19383520e-01 -7.85074983e-01 4.61800449e-03 -2.70842996e+02] [-7.42314515e-03 -2.56070846e-05 -9.99972448e-01 -4.86501537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters 0.04857480869727442 Centerline is valid? [True, True] Translation: X:506.00, Y:-270.93, Z:-4.86 [[ 8.30116543e-01 -5.57566802e-01 -5.07813842e-03 5.06003112e+02] [-5.57556290e-01 -8.30132075e-01 3.42369652e-03 -2.70926598e+02] [-6.12446510e-03 -1.07190965e-05 -9.99981245e-01 -4.86424184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters 0.04881798260187835 Centerline is valid? [True, True] Translation: X:505.99, Y:-271.01, Z:-4.87 [[ 8.70284031e-01 -4.92533858e-01 -4.01308987e-03 5.05993033e+02] [-4.92528622e-01 -8.70293283e-01 2.27101217e-03 -2.71007526e+02] [-4.61111555e-03 1.35996027e-07 -9.99989369e-01 -4.86587195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters 0.04860060525483803 Centerline is valid? [True, True] Translation: X:505.99, Y:-271.09, Z:-4.87 [[ 9.05969805e-01 -4.23329917e-01 -3.23951902e-03 5.05986558e+02] [-4.23327216e-01 -9.05975596e-01 1.51216523e-03 -2.71094212e+02] [-3.57506996e-03 1.40052883e-06 -9.99993609e-01 -4.86742759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters 0.0494058951120505 Centerline is valid? [True, True] Translation: X:505.99, Y:-271.18, Z:-4.87 [[ 9.36873321e-01 -3.49657829e-01 -2.78993871e-03 5.05986827e+02] [-3.49656267e-01 -9.36877475e-01 1.04528250e-03 -2.71177925e+02] [-2.97932194e-03 -3.77773031e-06 -9.99995562e-01 -4.86817158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters 0.04905402157329409 Centerline is valid? [True, True] Translation: X:506.00, Y:-271.26, Z:-4.87 [[ 9.62270448e-01 -2.72065606e-01 -3.98633489e-03 5.05997290e+02] [-2.72063187e-01 -9.62278705e-01 1.14733378e-03 -2.71255750e+02] [-4.14811524e-03 -1.95104181e-05 -9.99991396e-01 -4.86525671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters 0.048885340601489295 Centerline is valid? [True, True] Translation: X:506.01, Y:-271.34, Z:-4.87 [[ 9.80889977e-01 -1.94502041e-01 -4.87955317e-03 5.06012698e+02] [-1.94499476e-01 -9.80902113e-01 9.99290928e-04 -2.71339462e+02] [-4.98072814e-03 -3.11239195e-05 -9.99987596e-01 -4.86576069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters 0.049156241934140435 Centerline is valid? [True, True] Translation: X:506.03, Y:-271.42, Z:-4.86 [[ 9.93136497e-01 -1.16833276e-01 -5.46663109e-03 5.06032496e+02] [-1.16831302e-01 -9.93151542e-01 6.80030306e-04 -2.71423108e+02] [-5.50864326e-03 -3.66892862e-05 -9.99984827e-01 -4.86465125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters 0.04841595051461575 Centerline is valid? [True, True] Translation: X:506.06, Y:-271.51, Z:-4.86 [[ 9.99235974e-01 -3.87330306e-02 -5.21734410e-03 5.06060355e+02] [-3.87323173e-02 -9.99249594e-01 2.37720116e-04 -2.71507806e+02] [-5.22263660e-03 -3.54586640e-05 -9.99986361e-01 -4.86461277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters 0.048657351630833505 Centerline is valid? [True, True] Translation: X:506.09, Y:-271.59, Z:-4.86 [[ 9.99221876e-01 3.91527513e-02 -4.76483398e-03 5.06087662e+02] [ 3.91524515e-02 -9.99233237e-01 -1.56212499e-04 -2.71587950e+02] [-4.76729663e-03 -3.04639854e-05 -9.99988636e-01 -4.86394252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters 0.04855615485027386 Centerline is valid? [True, True] Translation: X:506.12, Y:-271.67, Z:-4.86 [[ 9.93280628e-01 1.15614715e-01 -5.17999380e-03 5.06122408e+02] [ 1.15613274e-01 -9.93294134e-01 -5.77809189e-04 -2.71665310e+02] [-5.21206071e-03 -2.49493693e-05 -9.99986417e-01 -4.86323576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters 0.0490662957851185 Centerline is valid? [True, True] Translation: X:506.16, Y:-271.74, Z:-4.86 [[ 9.81320149e-01 1.92305867e-01 -5.40545551e-03 5.06162256e+02] [ 1.92303076e-01 -9.81335036e-01 -1.03630333e-03 -2.71737206e+02] [-5.50385009e-03 -2.25403841e-05 -9.99984853e-01 -4.86271994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters 0.048818590673082474 Centerline is valid? [True, True] Translation: X:506.21, Y:-271.81, Z:-4.86 [[ 9.62820240e-01 2.70101163e-01 -4.74837875e-03 5.06208837e+02] [ 2.70098024e-01 -9.62831948e-01 -1.30249058e-03 -2.71807646e+02] [-4.92369499e-03 -2.84634296e-05 -9.99987878e-01 -4.86255905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters 0.048801789739646224 Centerline is valid? [True, True] Translation: X:506.26, Y:-271.87, Z:-4.86 [[ 9.37489399e-01 3.47973897e-01 -5.27191785e-03 5.06259842e+02] [ 3.47968710e-01 -9.37504221e-01 -1.90076535e-03 -2.71872054e+02] [-5.60386196e-03 -5.25150875e-05 -9.99984297e-01 -4.86228162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters 0.04899387189698904 Centerline is valid? [True, True] Translation: X:506.32, Y:-271.93, Z:-4.86 [[ 9.06392513e-01 4.22366167e-01 -7.70934308e-03 5.06315023e+02] [ 4.22351815e-01 -9.06425293e-01 -3.48319874e-03 -2.71934400e+02] [-8.45912886e-03 -9.89097858e-05 -9.99964216e-01 -4.85987179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters 0.04903549290949082 Centerline is valid? [True, True] Translation: X:506.37, Y:-271.99, Z:-4.86 [[ 8.70599835e-01 4.91918858e-01 -8.47139679e-03 5.06373823e+02] [ 4.91896823e-01 -8.70641042e-01 -4.65735037e-03 -2.71987813e+02] [-9.66658420e-03 -1.12364697e-04 -9.99953271e-01 -4.86028397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters 0.049323645400786556 Centerline is valid? [True, True] Translation: X:506.44, Y:-272.04, Z:-4.86 [[ 8.30447944e-01 5.57044817e-01 -7.56867541e-03 5.06437762e+02] [ 5.57022657e-01 -8.30482429e-01 -4.96940097e-03 -2.72038533e+02] [-9.05383099e-03 -8.90948760e-05 -9.99959009e-01 -4.86118779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters 0.0490695614123682 Centerline is valid? [True, True] Translation: X:506.50, Y:-272.08, Z:-4.86 [[ 7.87491078e-01 6.16299076e-01 -5.76630456e-03 5.06504746e+02] [ 6.16282874e-01 -7.87512189e-01 -4.46895585e-03 -2.72082585e+02] [-7.29524849e-03 -3.44118918e-05 -9.99973389e-01 -4.86336089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters 0.049503857380007 Centerline is valid? [True, True] Translation: X:506.57, Y:-272.12, Z:-4.87 [[ 7.41570695e-01 6.70859736e-01 -4.48527877e-03 5.06570815e+02] [ 6.70847355e-01 -7.41584259e-01 -4.07588366e-03 -2.72118246e+02] [-6.06055837e-03 1.36184791e-05 -9.99981635e-01 -4.86626760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters 0.04975956196010181 Centerline is valid? [True, True] Translation: X:506.64, Y:-272.15, Z:-4.87 [[ 6.90348142e-01 7.23464787e-01 -4.25971385e-03 5.06640910e+02] [ 7.23450617e-01 -6.90361283e-01 -4.52809058e-03 -2.72148800e+02] [-6.21665560e-03 4.42663074e-05 -9.99980675e-01 -4.86626353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters 0.049841482154100294 Centerline is valid? [True, True] Translation: X:506.71, Y:-272.17, Z:-4.87 [[ 6.33584236e-01 7.73661178e-01 -4.40432643e-03 5.06711975e+02] [ 7.73641738e-01 -6.33599540e-01 -5.48494225e-03 -2.72173090e+02] [-7.03406608e-03 6.78021908e-05 -9.99975258e-01 -4.86622929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters 0.050142889686184765 Centerline is valid? [True, True] Translation: X:506.79, Y:-272.20, Z:-4.87 [[ 5.71960491e-01 8.20273414e-01 -3.56689232e-03 5.06790607e+02] [ 8.20256721e-01 -5.71971609e-01 -5.23360161e-03 -2.72196700e+02] [-6.33314540e-03 6.76459433e-05 -9.99979943e-01 -4.86701395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters 0.049989114627964126 Centerline is valid? [True, True] Translation: X:506.87, Y:-272.21, Z:-4.87 [[ 5.05732182e-01 8.62687338e-01 -2.34901249e-03 5.06871098e+02] [ 8.62677580e-01 -5.05737635e-01 -4.10333354e-03 -2.72213037e+02] [-4.72787791e-03 4.87474078e-05 -9.99988822e-01 -4.86730804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters 0.05005596829150545 Centerline is valid? [True, True] Translation: X:506.95, Y:-272.22, Z:-4.87 [[ 4.35085701e-01 9.00387194e-01 -1.82583312e-03 5.06948833e+02] [ 9.00378912e-01 -4.35089531e-01 -3.86205555e-03 -2.72221125e+02] [-4.27174623e-03 3.63835119e-05 -9.99990875e-01 -4.86711983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters 0.050492174253394785 Centerline is valid? [True, True] Translation: X:507.03, Y:-272.22, Z:-4.87 [[ 3.57373429e-01 9.33960111e-01 -1.65635073e-03 5.07032323e+02] [ 9.33949949e-01 -3.57377267e-01 -4.35682557e-03 -2.72224496e+02] [-4.66104339e-03 1.00650151e-05 -9.99989137e-01 -4.86842321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters 0.04974235258850947 Centerline is valid? [True, True] Translation: X:507.13, Y:-272.23, Z:-4.86 [[ 2.76265438e-01 9.61080219e-01 -1.49030507e-03 5.07128202e+02] [ 9.61066756e-01 -2.76269456e-01 -5.08701657e-03 -2.72225962e+02] [-5.30075677e-03 -2.69157967e-05 -9.99985951e-01 -4.86437525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters 0.049405890516650564 Centerline is valid? [True, True] Translation: X:507.22, Y:-272.22, Z:-4.87 [[ 1.88836828e-01 9.82007913e-01 -1.05468917e-03 5.07223536e+02] [ 9.81995033e-01 -1.88839753e-01 -5.03014837e-03 -2.72218369e+02] [-5.13881275e-03 -8.58222632e-05 -9.99986793e-01 -4.86533223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters 0.04995802350100995 Centerline is valid? [True, True] Translation: X:507.31, Y:-272.20, Z:-4.87 [[ 1.04986341e-01 9.94473558e-01 -4.58220641e-04 5.07314522e+02] [ 9.94467227e-01 -1.04987308e-01 -3.54962619e-03 -2.72203019e+02] [-3.57811674e-03 -8.30231446e-05 -9.99993595e-01 -4.86623695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters 0.049516668054089094 Centerline is valid? [True, True] Translation: X:507.40, Y:-272.18, Z:-4.87 [[ 2.62362167e-02 9.99655759e-01 -1.57390876e-04 5.07400346e+02] [ 9.99650828e-01 -2.62365818e-02 -3.14075558e-03 -2.72180551e+02] [-3.14380380e-03 -7.49343751e-05 -9.99995055e-01 -4.86642977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters 0.04965753507013304 Centerline is valid? [True, True] Translation: X:507.48, Y:-272.15, Z:-4.87 [[-5.25881215e-02 9.98616286e-01 5.92083363e-05 5.07484879e+02] [ 9.98614085e-01 5.25881299e-02 -2.09695160e-03 -2.72150523e+02] [-2.09716368e-03 -5.11484671e-05 -9.99997800e-01 -4.86731222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters 0.04942459289738159 Centerline is valid? [True, True] Translation: X:507.56, Y:-272.11, Z:-4.87 [[-1.30246689e-01 9.91481597e-01 2.06674148e-04 5.07561109e+02] [ 9.91479714e-01 1.30246845e-01 -1.93272423e-03 -2.72114790e+02] [-1.94317916e-03 -4.68177063e-05 -9.99998111e-01 -4.86708885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters 0.050091244730453295 Centerline is valid? [True, True] Translation: X:507.63, Y:-272.07, Z:-4.87 [[-2.05732948e-01 9.78607998e-01 5.83115470e-04 5.07634650e+02] [ 9.78603032e-01 2.05733762e-01 -3.11853290e-03 -2.72072926e+02] [-3.17178778e-03 -7.09464007e-05 -9.99994967e-01 -4.86586168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters 0.04840755069472988 Centerline is valid? [True, True] Translation: X:507.70, Y:-272.03, Z:-4.87 [[-2.79146505e-01 9.60247726e-01 1.23819873e-03 5.07704745e+02] [ 9.60236734e-01 2.79149235e-01 -4.59562257e-03 -2.72025367e+02] [-4.75857836e-03 -9.38880707e-05 -9.99988674e-01 -4.86549911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters 0.04923270407377073 Centerline is valid? [True, True] Translation: X:507.77, Y:-271.97, Z:-4.87 [[-3.50777643e-01 9.36456403e-01 2.10957417e-03 5.07774156e+02] [ 9.36437599e-01 3.50783970e-01 -5.93548642e-03 -2.71972051e+02] [-6.29832907e-03 -1.06551368e-04 -9.99980160e-01 -4.86545313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters 0.04956279077488296 Centerline is valid? [True, True] Translation: X:507.83, Y:-271.92, Z:-4.86 [[-4.17365117e-01 9.08732497e-01 3.40705729e-03 5.07832196e+02] [ 9.08700442e-01 4.17379013e-01 -7.63317187e-03 -2.71916271e+02] [-8.35854555e-03 -8.98252031e-05 -9.99965063e-01 -4.86396428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters 0.05002806758707097 Centerline is valid? [True, True] Translation: X:507.88, Y:-271.86, Z:-4.86 [[-4.79015457e-01 8.77794665e-01 4.55168573e-03 5.07878289e+02] [ 8.77754771e-01 4.79037082e-01 -8.36873991e-03 -2.71861979e+02] [-9.52646150e-03 -1.34919071e-05 -9.99954622e-01 -4.86326162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters 0.05042770977492678 Centerline is valid? [True, True] Translation: X:507.92, Y:-271.80, Z:-4.86 [[-5.39541464e-01 8.41942758e-01 5.23464910e-03 5.07923458e+02] [ 8.41904261e-01 5.39566853e-01 -8.05144875e-03 -2.71801452e+02] [-9.60330211e-03 6.29829425e-05 -9.99953885e-01 -4.86439044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters 0.05002651101518851 Centerline is valid? [True, True] Translation: X:507.96, Y:-271.74, Z:-4.87 [[-5.94349176e-01 8.04187244e-01 5.65103270e-03 5.07959244e+02] [ 8.04153583e-01 5.94376016e-01 -7.35981807e-03 -2.71741658e+02] [-9.27751011e-03 1.69996385e-04 -9.99956949e-01 -4.86501722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters 0.050243007391543505 Centerline is valid? [True, True] Translation: X:508.00, Y:-271.67, Z:-4.87 [[-6.48503749e-01 7.61193477e-01 5.23241772e-03 5.08003344e+02] [ 7.61171332e-01 6.48524822e-01 -5.81016527e-03 -2.71668278e+02] [-7.81601267e-03 2.14852410e-04 -9.99969431e-01 -4.86920042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters 0.0510303914060097 Centerline is valid? [True, True] Translation: X:508.04, Y:-271.60, Z:-4.87 [[-7.03996186e-01 7.10185640e-01 5.07220155e-03 5.08036159e+02] [ 7.10169352e-01 7.04014426e-01 -4.81453687e-03 -2.71596575e+02] [-6.99011801e-03 2.12706496e-04 -9.99975546e-01 -4.86824753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters 0.050259695901916084 Centerline is valid? [True, True] Translation: X:508.34, Y:-271.75, Z:-4.87 [[-7.53624451e-01 6.57287248e-01 4.86419375e-03 5.08339955e+02] [ 6.57275139e-01 7.53640125e-01 -3.99415465e-03 -2.71751033e+02] [-6.29115851e-03 1.87021018e-04 -9.99980193e-01 -4.86949503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters 0.05050258278636135 Centerline is valid? [True, True] Translation: X:507.87, Y:-271.30, Z:-4.87 [[-8.02079769e-01 5.97195549e-01 5.05170628e-03 5.07871833e+02] [ 5.97184826e-01 8.02095665e-01 -3.58174191e-03 -2.71302685e+02] [-6.19095203e-03 1.43959610e-04 -9.99980826e-01 -4.86736758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters 0.0503032169221035 Centerline is valid? [True, True] Translation: X:507.97, Y:-271.28, Z:-4.87 [[-8.45946224e-01 5.33243496e-01 5.13416766e-03 5.07973202e+02] [ 5.33234392e-01 8.45961798e-01 -3.11761668e-03 -2.71276682e+02] [-6.00575853e-03 1.00378709e-04 -9.99981960e-01 -4.86725583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters 0.049446353727326774 Centerline is valid? [True, True] Translation: X:508.01, Y:-271.21, Z:-4.87 [[-8.86581474e-01 4.62546788e-01 4.87422503e-03 5.08012884e+02] [ 4.62540001e-01 8.86594872e-01 -2.50597668e-03 -2.71206450e+02] [-5.48059438e-03 3.27715501e-05 -9.99984981e-01 -4.86789338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters 0.04874938892932265 Centerline is valid? [True, True] Translation: X:507.98, Y:-271.10, Z:-4.87 [[-9.21014588e-01 3.89501675e-01 4.53584415e-03 5.07984917e+02] [ 3.89496851e-01 9.21025757e-01 -1.93854533e-03 -2.71104802e+02] [-4.93269594e-03 -1.87315182e-05 -9.99987834e-01 -4.86773128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters 0.04898773085270559 Centerline is valid? [True, True] Translation: X:507.93, Y:-271.00, Z:-4.87 [[-9.48024629e-01 3.18171991e-01 3.98586323e-03 5.07927961e+02] [ 3.18169009e-01 9.48033007e-01 -1.37816393e-03 -2.71000757e+02] [-4.21722307e-03 -3.83551949e-05 -9.99991107e-01 -4.86876541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters 0.049937631598247864 Centerline is valid? [True, True] Translation: X:508.25, Y:-270.49, Z:-5.90 [[-9.14492112e-01 -4.04593279e-01 2.90800790e-03 5.08249253e+02] [ 4.04591073e-01 -9.14496734e-01 -1.33681546e-03 -2.70494898e+02] [ 3.20023027e-03 -4.59531631e-05 9.99994878e-01 -5.89629249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters 0.048851876769898 Centerline is valid? [True, True] Translation: X:507.96, Y:-271.01, Z:-4.87 [[-9.52433986e-01 3.04733063e-01 2.69489290e-03 5.07964436e+02] [ 3.04731678e-01 9.52437797e-01 -9.20354036e-04 -2.71011593e+02] [-2.84718016e-03 -5.53572267e-05 -9.99995945e-01 -4.86845727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters 0.05014637634024997 Centerline is valid? [True, True] Translation: X:507.95, Y:-270.92, Z:-4.87 [[-9.72450148e-01 2.33081208e-01 3.72295465e-03 5.07954104e+02] [ 2.33079154e-01 9.72457270e-01 -9.82619416e-04 -2.70922276e+02] [-3.84944443e-03 -8.78052792e-05 -9.99992587e-01 -4.86709535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters 0.04914830383921453 Centerline is valid? [True, True] Translation: X:507.95, Y:-270.85, Z:-4.87 [[-9.86716147e-01 1.62379674e-01 4.90778346e-03 5.07948168e+02] [ 1.62377063e-01 9.86728345e-01 -9.28493783e-04 -2.70847925e+02] [-4.99341757e-03 -1.19248343e-04 -9.99987526e-01 -4.86605097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters 0.049489108420231284 Centerline is valid? [True, True] Translation: X:507.92, Y:-270.76, Z:-4.86 [[-9.95726902e-01 9.20931384e-02 6.84040037e-03 5.07919566e+02] [ 9.20898404e-02 9.95750384e-01 -7.96218881e-04 -2.70764784e+02] [-6.88465759e-03 -1.62885181e-04 -9.99976287e-01 -4.86473622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters 0.04920460861552234 Centerline is valid? [True, True] Translation: X:507.84, Y:-270.68, Z:-4.86 [[-9.99683683e-01 2.30472640e-02 1.00676408e-02 5.07842674e+02] [ 2.30438879e-02 9.99734353e-01 -4.51223449e-04 -2.70683441e+02] [-1.00753658e-02 -2.19083132e-04 -9.99949218e-01 -4.86208908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters 0.049043637468356285 Centerline is valid? [True, True] Translation: X:507.77, Y:-270.61, Z:-4.86 [[-9.98975548e-01 -4.35454875e-02 1.23144273e-02 5.07769188e+02] [-4.35447962e-02 9.99051423e-01 3.24378059e-04 -2.70612991e+02] [-1.23168713e-02 -2.12183477e-04 -9.99924122e-01 -4.86131536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters 0.049719811742339706 Centerline is valid? [True, True] Translation: X:507.66, Y:-270.55, Z:-4.86 [[-9.93750447e-01 -1.10902889e-01 1.26727571e-02 5.07662843e+02] [-1.10896102e-01 9.93831233e-01 1.23919288e-03 -2.70546029e+02] [-1.27320119e-02 -1.73910890e-04 -9.99918930e-01 -4.85945059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters 0.04922780767577921 Centerline is valid? [True, True] Translation: X:507.69, Y:-270.47, Z:-4.86 [[-9.84293419e-01 -1.76177278e-01 1.13151206e-02 5.07691709e+02] [-1.76166611e-01 9.84358451e-01 1.94046753e-03 -2.70473361e+02] [-1.14800009e-02 -8.33570338e-05 -9.99934099e-01 -4.86208641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters 0.04941518048374562 Centerline is valid? [True, True] Translation: X:507.49, Y:-269.87, Z:-5.90 [[-9.95074689e-01 9.85625161e-02 1.05732257e-02 5.07494218e+02] [-9.85566986e-02 -9.95130861e-01 1.07112703e-03 -2.69871641e+02] [ 1.06273161e-02 2.37891787e-05 9.99943528e-01 -5.89901248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters 0.049258550109506395 Centerline is valid? [True, True] Translation: X:507.59, Y:-270.49, Z:-4.86 [[-9.84108833e-01 -1.77322195e-01 9.30827494e-03 5.07592806e+02] [-1.77314480e-01 9.84152853e-01 1.65427201e-03 -2.70491803e+02] [-9.45410449e-03 -2.25082350e-05 -9.99955309e-01 -4.86402650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters 0.04942700315225736 Centerline is valid? [True, True] Translation: X:507.00, Y:-269.95, Z:-5.90 [[-9.94148195e-01 1.07530363e-01 1.03241106e-02 5.07003228e+02] [-1.07523714e-01 -9.94201798e-01 1.19850273e-03 -2.69948806e+02] [ 1.03931248e-02 8.14026040e-05 9.99945987e-01 -5.89863215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters 0.04915191420774342 Centerline is valid? [True, True] Translation: X:507.09, Y:-270.57, Z:-4.87 [[-9.83554904e-01 -1.80302145e-01 1.05303036e-02 5.07087073e+02] [-1.80291748e-01 9.83611273e-01 1.93620903e-03 -2.70573580e+02] [-1.07068279e-02 5.84104824e-06 -9.99942680e-01 -4.86546120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters 0.04924087921097875 Centerline is valid? [True, True] Translation: X:506.95, Y:-270.52, Z:-4.86 [[-9.68820700e-01 -2.47509420e-01 1.12043548e-02 5.06950473e+02] [-2.47492465e-01 9.68885486e-01 2.89730621e-03 -2.70523211e+02] [-1.15728473e-02 3.39768478e-05 -9.99933032e-01 -4.86485494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters 0.049199203565771114 Centerline is valid? [True, True] Translation: X:506.87, Y:-270.47, Z:-4.86 [[-9.49079376e-01 -3.14849615e-01 1.08654608e-02 5.06865074e+02] [-3.14828398e-01 9.49141569e-01 3.65547610e-03 -2.70468597e+02] [-1.14637857e-02 4.85813751e-05 -9.99934287e-01 -4.86466960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters 0.049890943875077406 Centerline is valid? [True, True] Translation: X:506.74, Y:-270.44, Z:-4.87 [[-9.25655174e-01 -3.78246133e-01 9.61054616e-03 5.06737576e+02] [-3.78224809e-01 9.25705059e-01 4.01717168e-03 -2.70435990e+02] [-1.04160109e-02 8.35687622e-05 -9.99945748e-01 -4.86532490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters 0.04940917381038619 Centerline is valid? [True, True] Translation: X:506.43, Y:-269.89, Z:-5.90 [[-9.42790617e-01 3.33283642e-01 8.23817263e-03 5.06427546e+02] [-3.33272581e-01 -9.42826592e-01 2.72116223e-03 -2.69886355e+02] [ 8.67408708e-03 -1.80070838e-04 9.99962363e-01 -5.89715906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters 0.04964369710626013 Centerline is valid? [True, True] Translation: X:506.48, Y:-270.54, Z:-4.87 [[-9.25589462e-01 -3.78467557e-01 6.81592740e-03 5.06476925e+02] [-3.78456602e-01 9.25614553e-01 2.88079775e-03 -2.70543755e+02] [-7.39921008e-03 8.69033155e-05 -9.99972622e-01 -4.86685701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters 0.04955780677357192 Centerline is valid? [True, True] Translation: X:506.32, Y:-270.53, Z:-4.87 [[-8.95147249e-01 -4.45745160e-01 4.75964547e-03 5.06318453e+02] [-4.45738566e-01 8.95159902e-01 2.42501796e-03 -2.70534201e+02] [-5.34158380e-03 4.91906120e-05 -9.99985732e-01 -4.86874493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters 0.048813231266340976 Centerline is valid? [True, True] Translation: X:506.21, Y:-270.51, Z:-4.87 [[-8.57373267e-01 -5.14677639e-01 4.24367799e-03 5.06207246e+02] [-5.14671251e-01 8.57383769e-01 2.56442337e-03 -2.70509425e+02] [-4.95831199e-03 1.45689850e-05 -9.99987707e-01 -4.86668381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters 0.04912644514722785 Centerline is valid? [True, True] Translation: X:506.09, Y:-270.50, Z:-4.87 [[-8.15117008e-01 -5.79279477e-01 4.42158567e-03 5.06086510e+02] [-5.79271012e-01 8.15129000e-01 3.13169068e-03 -2.70496503e+02] [-5.41828684e-03 -8.60206665e-06 -9.99985321e-01 -4.86671557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters 0.04940385687421847 Centerline is valid? [True, True] Translation: X:505.97, Y:-270.48, Z:-4.87 [[-7.66220312e-01 -6.42559522e-01 4.86772920e-03 5.05972741e+02] [-6.42546985e-01 7.66235772e-01 4.01421775e-03 -2.70482841e+02] [-6.30920208e-03 -5.19695462e-05 -9.99980095e-01 -4.86574177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters 0.04906878837332972 Centerline is valid? [True, True] Translation: X:505.82, Y:-270.52, Z:-4.87 [[-7.16166734e-01 -6.97910918e-01 5.05556934e-03 5.05819184e+02] [-6.97894243e-01 7.16184575e-01 4.82500656e-03 -2.70521009e+02] [-6.98814553e-03 -7.27435465e-05 -9.99975580e-01 -4.86735434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters 0.04934508775006749 Centerline is valid? [True, True] Translation: X:505.66, Y:-270.57, Z:-4.87 [[-6.63655361e-01 -7.48016851e-01 5.68791785e-03 5.05662569e+02] [-7.47990432e-01 6.63679730e-01 6.28730649e-03 -2.70573944e+02] [-8.47796698e-03 -8.19034746e-05 -9.99964058e-01 -4.86558088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters 0.04904391501060834 Centerline is valid? [True, True] Translation: X:505.49, Y:-270.67, Z:-4.86 [[-6.10555082e-01 -7.91955446e-01 5.39096752e-03 5.05490092e+02] [-7.91925266e-01 6.10578880e-01 6.91404593e-03 -2.70667507e+02] [-8.76722724e-03 -4.78375104e-05 -9.99961566e-01 -4.86462903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters 0.04966485121143884 Centerline is valid? [True, True] Translation: X:505.34, Y:-270.75, Z:-4.86 [[-5.53519148e-01 -8.32821557e-01 4.98064689e-03 5.05344985e+02] [-8.32788126e-01 5.53541556e-01 7.46208234e-03 -2.70745194e+02] [-8.97157806e-03 -1.74181334e-05 -9.99959754e-01 -4.86448673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters 0.04948058048492171 Centerline is valid? [True, True] Translation: X:505.16, Y:-270.91, Z:-4.86 [[-4.94415628e-01 -8.69209129e-01 5.35508220e-03 5.05159512e+02] [-8.69157704e-01 4.94444628e-01 9.45490261e-03 -2.70910720e+02] [-1.08660793e-02 2.02406673e-05 -9.99940962e-01 -4.86396134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters 0.04927801557805522 Centerline is valid? [True, True] Translation: X:505.02, Y:-271.03, Z:-4.86 [[-4.30354629e-01 -9.02645486e-01 5.10101371e-03 5.05017168e+02] [-9.02580920e-01 4.30384857e-01 1.07962413e-02 -2.71026918e+02] [-1.19405776e-02 4.21347929e-05 -9.99928708e-01 -4.86256470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters 0.04911475197471218 Centerline is valid? [True, True] Translation: X:504.83, Y:-271.28, Z:-4.86 [[-3.63774978e-01 -9.31477173e-01 4.24743880e-03 5.04828867e+02] [-9.31412339e-01 3.63799771e-01 1.09900098e-02 -2.71276649e+02] [-1.17821605e-02 4.17736626e-05 -9.99930587e-01 -4.86379147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters 0.049574624086083256 Centerline is valid? [True, True] Translation: X:504.70, Y:-271.43, Z:-4.87 [[-2.92973442e-01 -9.56115635e-01 3.07499519e-03 5.04700497e+02] [-9.56061948e-01 2.92989577e-01 1.01320883e-02 -2.71425596e+02] [-1.05883896e-02 2.85468946e-05 -9.99943941e-01 -4.86530660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters 0.049359591394507504 Centerline is valid? [True, True] Translation: X:504.74, Y:-270.96, Z:-4.87 [[-2.18834633e-01 -9.75759610e-01 2.14185796e-03 5.04737452e+02] [-9.75711792e-01 2.18845113e-01 9.66002900e-03 -2.70956341e+02] [-9.89460127e-03 2.41128255e-05 -9.99951047e-01 -4.86977530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters 0.049359398104367576 Centerline is valid? [True, True] Translation: X:504.61, Y:-271.17, Z:-4.87 [[-1.48743915e-01 -9.88874701e-01 1.43976444e-03 5.04605160e+02] [-9.88825250e-01 1.48750875e-01 9.88945327e-03 -2.71174391e+02] [-9.99359637e-03 4.73205606e-05 -9.99950062e-01 -4.87089384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters 0.04894000408586586 Centerline is valid? [True, True] Translation: X:503.83, Y:-272.00, Z:-5.90 [[-2.04267350e-01 9.78912812e-01 2.13458339e-03 5.03826904e+02] [-9.78860828e-01 -2.04278501e-01 1.00882761e-02 -2.71999804e+02] [ 1.03115922e-02 -2.87546450e-05 9.99946834e-01 -5.89839955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters 0.04929436115197887 Centerline is valid? [True, True] Translation: X:504.44, Y:-272.21, Z:-4.87 [[-1.43730958e-01 -9.89616033e-01 1.23274528e-03 5.04436695e+02] [-9.89575646e-01 1.43736229e-01 8.94076859e-03 -2.72205606e+02] [-9.02511810e-03 6.51705208e-05 -9.99959271e-01 -4.86904811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters 0.049370213222810114 Centerline is valid? [True, True] Translation: X:504.38, Y:-271.87, Z:-4.87 [[-6.80429714e-02 -9.97682265e-01 5.02388138e-04 5.04384629e+02] [-9.97648462e-01 6.80448016e-02 8.21282382e-03 -2.71868148e+02] [-8.22797357e-03 5.76181822e-05 -9.99966148e-01 -4.87117540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters 0.0498975907507129 Centerline is valid? [True, True] Translation: X:504.28, Y:-272.19, Z:-4.87 [[ 6.93601572e-03 -9.99975940e-01 -1.10042994e-04 5.04284878e+02] [-9.99935182e-01 -6.93672656e-03 9.02851761e-03 -2.72189047e+02] [-9.02906372e-03 4.74139212e-05 -9.99959236e-01 -4.87159795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters 0.049498471518735196 Centerline is valid? [True, True] Translation: X:504.23, Y:-272.68, Z:-4.87 [[ 8.27912088e-02 -9.96566585e-01 -8.11249370e-04 5.04226413e+02] [-9.96519787e-01 -8.27951828e-02 9.65778683e-03 -2.72675819e+02] [-9.69179518e-03 8.84620330e-06 -9.99953033e-01 -4.87077459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters 0.0495711637891268 Centerline is valid? [True, True] Translation: X:504.18, Y:-272.95, Z:-4.87 [[ 1.63535702e-01 -9.86536186e-01 -1.55831944e-03 5.04178945e+02] [-9.86487481e-01 -1.63543113e-01 9.80306414e-03 -2.72952744e+02] [-9.92592992e-03 -6.58883540e-05 -9.99950735e-01 -4.86949538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters 0.04949747280693017 Centerline is valid? [True, True] Translation: X:504.13, Y:-273.10, Z:-4.87 [[ 2.42310043e-01 -9.70196354e-01 -2.20870165e-03 5.04126772e+02] [-9.70151315e-01 -2.42320078e-01 9.34906464e-03 -2.73098677e+02] [-9.60564118e-03 -1.22597439e-04 -9.99953857e-01 -4.86918841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters 0.04912929108528864 Centerline is valid? [True, True] Translation: X:504.09, Y:-273.26, Z:-4.87 [[ 3.21456171e-01 -9.46919330e-01 -3.11650241e-03 5.04087543e+02] [-9.46867865e-01 -3.21471200e-01 9.87485508e-03 -2.73262428e+02] [-1.03525569e-02 -2.23417121e-04 -9.99946386e-01 -4.86927746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters 0.04967289852228931 Centerline is valid? [True, True] Translation: X:504.05, Y:-273.41, Z:-4.87 [[ 3.95130906e-01 -9.18616083e-01 -4.00741924e-03 5.04053852e+02] [-9.18561271e-01 -3.95151124e-01 1.00389959e-02 -2.73414728e+02] [-1.08055193e-02 -2.85657432e-04 -9.99941578e-01 -4.86768482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters 0.049356406678296126 Centerline is valid? [True, True] Translation: X:504.07, Y:-273.66, Z:-4.87 [[ 4.62456766e-01 -8.86631169e-01 -4.34842628e-03 5.04073164e+02] [-8.86586320e-01 -4.62477131e-01 8.92190197e-03 -2.73655381e+02] [-9.92148408e-03 -2.70738682e-04 -9.99950744e-01 -4.86830685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters 0.049221434531343165 Centerline is valid? [True, True] Translation: X:504.11, Y:-273.90, Z:-4.87 [[ 5.25700115e-01 -8.50656820e-01 -4.72894767e-03 5.04114820e+02] [-8.50618064e-01 -5.25721326e-01 8.12383123e-03 -2.73899193e+02] [-9.39670108e-03 -2.48170701e-04 -9.99955819e-01 -4.86829400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters 0.04920187129343958 Centerline is valid? [True, True] Translation: X:504.14, Y:-274.09, Z:-4.87 [[ 5.85415657e-01 -8.10715374e-01 -5.39361440e-03 5.04143726e+02] [-8.10677218e-01 -5.85440456e-01 7.86890946e-03 -2.74091597e+02] [-9.53708595e-03 -2.34102490e-04 -9.99954494e-01 -4.86717473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters 0.048677803180014495 Centerline is valid? [True, True] Translation: X:504.20, Y:-274.29, Z:-4.87 [[ 6.42550662e-01 -7.66217374e-01 -6.29141453e-03 5.04203574e+02] [-7.66177012e-01 -6.42581419e-01 7.86804565e-03 -2.74292079e+02] [-1.00713794e-02 -2.35280751e-04 -9.99949255e-01 -4.86935279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters 0.04888974341769151 Centerline is valid? [True, True] Translation: X:504.29, Y:-274.52, Z:-4.87 [[ 6.96369810e-01 -7.17642569e-01 -7.63088661e-03 5.04293078e+02] [-7.17595473e-01 -6.96411574e-01 8.22543153e-03 -2.74519564e+02] [-1.12171576e-02 -2.52052513e-04 -9.99937054e-01 -4.86674755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters 0.049938741982688876 Centerline is valid? [True, True] Translation: X:504.36, Y:-274.70, Z:-4.86 [[ 7.46387116e-01 -6.65443406e-01 -9.55758270e-03 5.04361187e+02] [-6.65384019e-01 -7.46448254e-01 8.89450302e-03 -2.74700157e+02] [-1.30530293e-02 -2.79279674e-04 -9.99914767e-01 -4.86408845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters 0.049454240379738404 Centerline is valid? [True, True] Translation: X:504.34, Y:-274.78, Z:-4.86 [[ 7.95485608e-01 -6.05876692e-01 -1.07740950e-02 5.04336713e+02] [-6.05816323e-01 -7.95558518e-01 8.55729849e-03 -2.74781771e+02] [-1.37560907e-02 -2.80085174e-04 -9.99905341e-01 -4.86318978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters 0.04882788223818212 Centerline is valid? [True, True] Translation: X:504.32, Y:-274.87, Z:-4.87 [[ 8.39305591e-01 -5.43535938e-01 -1.16107165e-02 5.04319233e+02] [-5.43479680e-01 -8.39385858e-01 7.82422913e-03 -2.74865807e+02] [-1.39986210e-02 -2.56730750e-04 -9.99901982e-01 -4.86526503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters 0.04869455846206303 Centerline is valid? [True, True] Translation: X:504.30, Y:-274.96, Z:-4.86 [[ 8.77630319e-01 -4.79188327e-01 -1.19821215e-02 5.04303657e+02] [-4.79140447e-01 -8.77712085e-01 6.77693319e-03 -2.74957552e+02] [-1.37642802e-02 -2.06522961e-04 -9.99905247e-01 -4.86401619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters 0.04880409460642074 Centerline is valid? [True, True] Translation: X:504.30, Y:-275.04, Z:-4.86 [[ 9.09630364e-01 -4.15247356e-01 -1.19261920e-02 5.04299215e+02] [-4.15210099e-01 -9.09708536e-01 5.56349375e-03 -2.75040058e+02] [-1.31595848e-02 -1.08847461e-04 -9.99913403e-01 -4.86320924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters 0.048835681259415474 Centerline is valid? [True, True] Translation: X:504.31, Y:-275.11, Z:-4.87 [[ 9.37256193e-01 -3.48435659e-01 -1.19758273e-02 5.04305089e+02] [-3.48406812e-01 -9.37332700e-01 4.48359298e-03 -2.75113893e+02] [-1.27875782e-02 -2.98154718e-05 -9.99918235e-01 -4.86508292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters 0.04959931586672194 Centerline is valid? [True, True] Translation: X:504.31, Y:-275.21, Z:-4.87 [[ 9.59033236e-01 -2.83065271e-01 -1.13711894e-02 5.04308719e+02] [-2.83046398e-01 -9.59100644e-01 3.26971471e-03 -2.75214900e+02] [-1.18316578e-02 8.28091208e-05 -9.99930000e-01 -4.86746095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters 0.05003434626670336 Centerline is valid? [True, True] Translation: X:504.32, Y:-275.30, Z:-4.87 [[ 9.76708857e-01 -2.14260458e-01 -1.15006353e-02 5.04322593e+02] [-2.14247610e-01 -9.76776550e-01 2.35231741e-03 -2.75302324e+02] [-1.17375594e-02 1.66454367e-04 -9.99931099e-01 -4.86561242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters 0.0501414250760862 Centerline is valid? [True, True] Translation: X:504.34, Y:-275.39, Z:-4.87 [[ 9.90223248e-01 -1.39015113e-01 -1.15203060e-02 5.04342885e+02] [-1.39007879e-01 -9.90290242e-01 1.43016331e-03 -2.75391611e+02] [-1.16072610e-02 1.85232354e-04 -9.99932616e-01 -4.86806357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters 0.04997045160624969 Centerline is valid? [True, True] Translation: X:504.37, Y:-275.50, Z:-4.87 [[ 9.98156232e-01 -5.96694135e-02 -1.11219427e-02 5.04368304e+02] [-5.96675047e-02 -9.98218180e-01 5.03658857e-04 -2.75497856e+02] [-1.11321785e-02 1.60888343e-04 -9.99938022e-01 -4.86780217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters 0.04960535040635949 Centerline is valid? [True, True] Translation: X:504.40, Y:-275.60, Z:-4.87 [[ 9.99669912e-01 2.36931229e-02 -9.93496067e-03 5.04395572e+02] [ 2.36910284e-02 -9.99719274e-01 -3.28470632e-04 -2.75597713e+02] [-9.93995417e-03 9.29927717e-05 -9.99950593e-01 -4.86576998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters 0.049494619034773896 Centerline is valid? [True, True] Translation: X:504.43, Y:-275.70, Z:-4.87 [[ 9.93919035e-01 1.09816044e-01 -8.08633888e-03 5.04431431e+02] [ 1.09812322e-01 -9.93951929e-01 -9.04263005e-04 -2.75697243e+02] [-8.13673471e-03 1.07845682e-05 -9.99966896e-01 -4.86828743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters 0.049167693287081614 Centerline is valid? [True, True] Translation: X:504.47, Y:-275.78, Z:-4.87 [[ 9.80320676e-01 1.97329077e-01 -5.71030021e-03 5.04472962e+02] [ 1.97326038e-01 -9.80337306e-01 -1.09639357e-03 -2.75776830e+02] [-5.81437065e-03 -5.19736324e-05 -9.99983095e-01 -4.86870077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters 0.048997002368911385 Centerline is valid? [True, True] Translation: X:504.52, Y:-275.85, Z:-4.87 [[ 9.60139003e-01 2.79482215e-01 -4.77347831e-03 5.04519840e+02] [ 2.79479150e-01 -9.60150866e-01 -1.31100706e-03 -2.75847507e+02] [-4.94966249e-03 -7.53386446e-05 -9.99987748e-01 -4.86944358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters 0.04917557594267175 Centerline is valid? [True, True] Translation: X:504.57, Y:-275.91, Z:-4.87 [[ 9.33402423e-01 3.58800799e-01 -4.68007667e-03 5.04572544e+02] [ 3.58796838e-01 -9.33414150e-01 -1.68911886e-03 -2.75914323e+02] [-4.97450698e-03 -1.02569066e-04 -9.99987622e-01 -4.87022102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters 0.0489747993199332 Centerline is valid? [True, True] Translation: X:504.63, Y:-275.98, Z:-4.87 [[ 9.01627168e-01 4.32475986e-01 -5.74199830e-03 5.04631948e+02] [ 4.32468216e-01 -9.01645441e-01 -2.59632016e-03 -2.75981549e+02] [-6.30009271e-03 -1.42318969e-04 -9.99980144e-01 -4.86893180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters 0.04926512408997874 Centerline is valid? [True, True] Translation: X:504.69, Y:-276.04, Z:-4.87 [[ 8.65090256e-01 5.01578971e-01 -6.11430765e-03 5.04693831e+02] [ 5.01567715e-01 -8.65111849e-01 -3.36390417e-03 -2.76036638e+02] [-6.97682359e-03 -1.56658606e-04 -9.99975649e-01 -4.86837078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters 0.04898104300043534 Centerline is valid? [True, True] Translation: X:504.76, Y:-276.09, Z:-4.87 [[ 8.24540483e-01 5.65760145e-01 -6.96055391e-03 5.04758936e+02] [ 5.65741688e-01 -8.24569845e-01 -4.57302031e-03 -2.76086352e+02] [-8.32669549e-03 -1.67235143e-04 -9.99965319e-01 -4.86723337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters 0.04923820964378983 Centerline is valid? [True, True] Translation: X:504.83, Y:-276.13, Z:-4.87 [[ 7.79999309e-01 6.25724482e-01 -8.36365658e-03 5.04827799e+02] [ 6.25690899e-01 -7.80044128e-01 -6.48519031e-03 -2.76131420e+02] [-1.05819636e-02 -1.74619845e-04 -9.99943994e-01 -4.86631680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters 0.04920387120669954 Centerline is valid? [True, True] Translation: X:504.90, Y:-276.17, Z:-4.87 [[ 7.32128851e-01 6.81110881e-01 -8.67829006e-03 5.04900375e+02] [ 6.81065193e-01 -7.32180271e-01 -7.89010579e-03 -2.76172651e+02] [-1.17281097e-02 -1.33907207e-04 -9.99931214e-01 -4.86727359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters 0.04859325076352854 Centerline is valid? [True, True] Translation: X:504.97, Y:-276.21, Z:-4.87 [[ 6.82151138e-01 7.31174569e-01 -7.31938288e-03 5.04974704e+02] [ 7.31133132e-01 -6.82190404e-01 -7.78433036e-03 -2.76206438e+02] [-1.06849172e-02 -4.13535141e-05 -9.99942914e-01 -4.86788356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters 0.04955911749983451 Centerline is valid? [True, True] Translation: X:505.05, Y:-276.24, Z:-4.87 [[ 6.25536784e-01 7.80177441e-01 -5.18588706e-03 5.05051784e+02] [ 7.80150680e-01 -6.25558280e-01 -6.46181556e-03 -2.76236823e+02] [-8.28543731e-03 -3.66999572e-06 -9.99965675e-01 -4.86763457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters 0.04916312204196569 Centerline is valid? [True, True] Translation: X:505.13, Y:-276.26, Z:-4.87 [[ 5.65724033e-01 8.24580935e-01 -4.75389400e-03 5.05125280e+02] [ 8.24551402e-01 -5.65744006e-01 -6.97892997e-03 -2.76255275e+02] [-8.44417964e-03 2.83184491e-05 -9.99964347e-01 -4.86822902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters 0.049638287304136025 Centerline is valid? [True, True] Translation: X:505.20, Y:-276.27, Z:-4.87 [[ 5.04562500e-01 8.63361192e-01 -4.91276936e-03 5.05196092e+02] [ 8.63318495e-01 -5.04586408e-01 -8.58676134e-03 -2.76266507e+02] [-9.89239315e-03 9.12731116e-05 -9.99951065e-01 -4.86857032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters 0.05011234170924808 Centerline is valid? [True, True] Translation: X:505.28, Y:-276.28, Z:-4.87 [[ 4.41077075e-01 8.97455868e-01 -4.89687639e-03 5.05280855e+02] [ 8.97396034e-01 -4.41104221e-01 -1.03645544e-02 -2.76279528e+02] [-1.14617630e-02 1.77129894e-04 -9.99934296e-01 -4.87033298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters 0.050674373930655464 Centerline is valid? [True, True] Translation: X:505.39, Y:-276.30, Z:-4.87 [[ 3.72654285e-01 9.27960619e-01 -4.22773848e-03 5.05389731e+02] [ 9.27893920e-01 -3.72678199e-01 -1.11280586e-02 -2.76295973e+02] [-1.19019861e-02 2.24025878e-04 -9.99929144e-01 -4.86917010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters 0.051086517098886335 Centerline is valid? [True, True] Translation: X:505.49, Y:-276.30, Z:-4.87 [[ 3.02564643e-01 9.53122715e-01 -3.42450037e-03 5.05486879e+02] [ 9.53050956e-01 -3.02583896e-01 -1.16987991e-02 -2.76299110e+02] [-1.21865899e-02 2.75919635e-04 -9.99925703e-01 -4.87019722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters 0.05147852736844155 Centerline is valid? [True, True] Translation: X:505.57, Y:-276.29, Z:-4.87 [[ 2.28200328e-01 9.73611234e-01 -2.40332172e-03 5.05568256e+02] [ 9.73543640e-01 -2.28212813e-01 -1.14757440e-02 -2.76289709e+02] [-1.17213821e-02 2.79029965e-04 -9.99931263e-01 -4.86935245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters 0.05193983769199457 Centerline is valid? [True, True] Translation: X:505.64, Y:-276.27, Z:-4.87 [[ 1.48801956e-01 9.88866065e-01 -1.37210414e-03 5.05639730e+02] [ 9.88808738e-01 -1.48808107e-01 -1.06501905e-02 -2.76274398e+02] [-1.07357922e-02 2.28020613e-04 -9.99942344e-01 -4.86704132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters 0.05116239497571544 Centerline is valid? [True, True] Translation: X:505.71, Y:-276.25, Z:-4.87 [[ 6.75666494e-02 9.97714652e-01 -4.71003041e-04 5.05710430e+02] [ 9.97669911e-01 -6.75680807e-02 -9.45001909e-03 -2.76252326e+02] [-9.46024727e-03 1.68600564e-04 -9.99955237e-01 -4.87245089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters 0.0510348670466548 Centerline is valid? [True, True] Translation: X:505.79, Y:-276.22, Z:-4.87 [[-1.75260570e-02 9.99846377e-01 2.45874455e-04 5.05787727e+02] [ 9.99809250e-01 1.75275252e-02 -8.61683327e-03 -2.76223682e+02] [-8.61981909e-03 9.48084436e-05 -9.99962844e-01 -4.87216349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters 0.04973312396111278 Centerline is valid? [True, True] Translation: X:505.87, Y:-276.19, Z:-4.87 [[-1.03311864e-01 9.94648646e-01 8.54860718e-04 5.05865114e+02] [ 9.94616709e-01 1.03315397e-01 -7.97058397e-03 -2.76188912e+02] [-8.01625082e-03 2.68028706e-05 -9.99967869e-01 -4.87150123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters 0.049818969206251354 Centerline is valid? [True, True] Translation: X:505.94, Y:-276.15, Z:-4.87 [[-1.82912737e-01 9.83128086e-01 1.44831903e-03 5.05937934e+02] [ 9.83097676e-01 1.82918471e-01 -7.73254246e-03 -2.76147555e+02] [-7.86700397e-03 9.45856770e-06 -9.99969055e-01 -4.87307754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters 0.05057394135132126 Centerline is valid? [True, True] Translation: X:506.01, Y:-276.10, Z:-4.88 [[-2.62494032e-01 9.64931858e-01 1.84197142e-03 5.06014564e+02] [ 9.64907697e-01 2.62500494e-01 -6.82836830e-03 -2.76099624e+02] [-7.07242851e-03 -1.50735272e-05 -9.99974990e-01 -4.87510305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters 0.05059757978274217 Centerline is valid? [True, True] Translation: X:506.09, Y:-276.04, Z:-4.87 [[-3.36676673e-01 9.41617650e-01 2.24019893e-03 5.06092879e+02] [ 9.41596596e-01 3.36684126e-01 -6.29682378e-03 -2.76042965e+02] [-6.68343983e-03 -1.06299929e-05 -9.99977666e-01 -4.87417666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters 0.05053476374552799 Centerline is valid? [True, True] Translation: X:506.15, Y:-275.99, Z:-4.87 [[-4.05555411e-01 9.14065501e-01 3.01144241e-03 5.06149352e+02] [ 9.14040641e-01 4.05566591e-01 -6.74146490e-03 -2.75989426e+02] [-7.38348092e-03 1.85431744e-05 -9.99972742e-01 -4.87254471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters 0.050857899778456166 Centerline is valid? [True, True] Translation: X:506.20, Y:-275.93, Z:-4.87 [[-4.71736372e-01 8.81730355e-01 4.04675218e-03 5.06202382e+02] [ 8.81699007e-01 4.71753725e-01 -7.43534019e-03 -2.75929836e+02] [-8.46503557e-03 6.04969736e-05 -9.99964169e-01 -4.87320509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters 0.05137418797856239 Centerline is valid? [True, True] Translation: X:506.25, Y:-275.87, Z:-4.87 [[-5.33347370e-01 8.45873245e-01 6.24797240e-03 5.06246576e+02] [ 8.45818732e-01 5.33383940e-01 -9.60441491e-03 -2.75869958e+02] [-1.14566857e-02 1.62162672e-04 -9.99934357e-01 -4.86920433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters 0.0513962850902911 Centerline is valid? [True, True] Translation: X:506.29, Y:-275.81, Z:-4.87 [[-5.93717498e-01 8.04637626e-01 7.60412129e-03 5.06285526e+02] [ 8.04576782e-01 5.93766143e-01 -9.89793857e-03 -2.75807480e+02] [-1.24793236e-02 2.41520112e-04 -9.99922101e-01 -4.86922279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters 0.05143075624737895 Centerline is valid? [True, True] Translation: X:506.32, Y:-275.74, Z:-4.87 [[-6.52919096e-01 7.57379336e-01 8.55546174e-03 5.06316449e+02] [ 7.57319873e-01 6.52975086e-01 -9.49458218e-03 -2.75744018e+02] [-1.27775037e-02 2.80027193e-04 -9.99918325e-01 -4.87009952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters 0.050863158998838934 Centerline is valid? [True, True] Translation: X:506.34, Y:-275.68, Z:-4.87 [[-7.11669029e-01 7.02457911e-01 8.94855238e-03 5.06344608e+02] [ 7.02406661e-01 7.11725244e-01 -8.48879566e-03 -2.75678539e+02] [-1.23319323e-02 2.44309832e-04 -9.99923929e-01 -4.87302051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters 0.05077827667928354 Centerline is valid? [True, True] Translation: X:506.42, Y:-275.64, Z:-4.87 [[-7.61924488e-01 6.47608323e-01 8.63335065e-03 5.06424149e+02] [ 6.47569467e-01 7.61973376e-01 -7.09646396e-03 -2.75636953e+02] [-1.11741125e-02 1.83724609e-04 -9.99937551e-01 -4.87153491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters 0.051073579411912415 Centerline is valid? [True, True] Translation: X:505.80, Y:-275.06, Z:-4.87 [[-8.10221193e-01 5.86078444e-01 7.32634392e-03 5.05801437e+02] [ 5.86055376e-01 8.10254312e-01 -5.20050599e-03 -2.75057654e+02] [-8.98410622e-03 8.00830764e-05 -9.99959639e-01 -4.87201445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters 0.050676712900045016 Centerline is valid? [True, True] Translation: X:505.89, Y:-275.03, Z:-4.87 [[-8.54618841e-01 5.19210027e-01 6.89821277e-03 5.05891420e+02] [ 5.19193090e-01 8.54646680e-01 -4.19371139e-03 -2.75025656e+02] [-8.07295165e-03 -2.52036567e-06 -9.99967413e-01 -4.87321685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters 0.049967758488536095 Centerline is valid? [True, True] Translation: X:505.97, Y:-274.98, Z:-4.87 [[-8.92957668e-01 4.50076361e-01 7.60743597e-03 5.05969023e+02] [ 4.50059346e-01 8.92990070e-01 -3.91413983e-03 -2.74982067e+02] [-8.55502658e-03 -7.13635140e-05 -9.99963403e-01 -4.87401393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters 0.05008334920425751 Centerline is valid? [True, True] Translation: X:506.00, Y:-274.91, Z:-4.88 [[-9.24596311e-01 3.80857506e-01 8.31994812e-03 5.05998232e+02] [ 3.80840904e-01 9.24633736e-01 -3.55819688e-03 -2.74912925e+02] [-9.04807070e-03 -1.21319146e-04 -9.99959058e-01 -4.87509737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters 0.04936415155936348 Centerline is valid? [True, True] Translation: X:506.21, Y:-274.36, Z:-5.89 [[-8.83975183e-01 -4.67473291e-01 7.52310608e-03 5.06207185e+02] [ 4.67457087e-01 -8.84007192e-01 -3.89306388e-03 -2.74358324e+02] [ 8.47038327e-03 7.53573920e-05 9.99964123e-01 -5.88884128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters 0.050568498800515886 Centerline is valid? [True, True] Translation: X:505.92, Y:-274.89, Z:-4.87 [[-9.26431087e-01 3.76375663e-01 8.17326230e-03 5.05924346e+02] [ 3.76359789e-01 9.26467131e-01 -3.45911201e-03 -2.74886765e+02] [-8.87418445e-03 -1.28541622e-04 -9.99960615e-01 -4.87467138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters 0.050325418080779526 Centerline is valid? [True, True] Translation: X:505.89, Y:-274.80, Z:-4.87 [[-9.49977578e-01 3.12141242e-01 1.05093641e-02 5.05891110e+02] [ 3.12120602e-01 9.50035698e-01 -3.59200451e-03 -2.74797698e+02] [-1.11054838e-02 -1.32134690e-04 -9.99938324e-01 -4.87347572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters 0.049805042220896975 Centerline is valid? [True, True] Translation: X:505.83, Y:-274.70, Z:-4.87 [[-9.69568804e-01 2.44564783e-01 1.11535607e-02 5.05829241e+02] [ 2.44547058e-01 9.69632946e-01 -2.94726199e-03 -2.74702917e+02] [-1.15356564e-02 -1.30002836e-04 -9.99933454e-01 -4.87450802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters 0.04979427709610352 Centerline is valid? [True, True] Translation: X:505.80, Y:-274.62, Z:-4.87 [[-9.84482018e-01 1.75136150e-01 1.10672905e-02 5.05802425e+02] [ 1.75123641e-01 9.84544216e-01 -2.09702188e-03 -2.74621545e+02] [-1.12635011e-02 -1.26336132e-04 -9.99936557e-01 -4.87474718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters 0.049284506936661865 Centerline is valid? [True, True] Translation: X:505.90, Y:-274.01, Z:-5.89 [[-9.64386168e-01 -2.64263584e-01 1.11390067e-02 5.05900334e+02] [ 2.64247699e-01 -9.64450484e-01 -2.90117638e-03 -2.74006538e+02] [ 1.15096957e-02 1.45602520e-04 9.99933751e-01 -5.88953553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters 0.04959541927674479 Centerline is valid? [True, True] Translation: X:505.71, Y:-274.61, Z:-4.87 [[-9.85613377e-01 1.68643036e-01 1.12159352e-02 5.05705798e+02] [ 1.68630268e-01 9.85677179e-01 -2.08139923e-03 -2.74613031e+02] [-1.14063048e-02 -1.60108768e-04 -9.99934933e-01 -4.87334361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters 0.0491422436258576 Centerline is valid? [True, True] Translation: X:505.81, Y:-273.99, Z:-5.89 [[-9.64344569e-01 -2.64384612e-01 1.18460600e-02 5.05814598e+02] [ 2.64367552e-01 -9.64417298e-01 -3.01193792e-03 -2.73990168e+02] [ 1.22208552e-02 2.27167908e-04 9.99925297e-01 -5.89150534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters 0.0492422994056086 Centerline is valid? [True, True] Translation: X:505.68, Y:-274.62, Z:-4.88 [[-9.87329002e-01 1.58244690e-01 1.18346791e-02 5.05678573e+02] [ 1.58230296e-01 9.87399897e-01 -2.14876483e-03 -2.74617774e+02] [-1.20255915e-02 -2.48933058e-04 -9.99927659e-01 -4.87587012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters 0.04944017079781281 Centerline is valid? [True, True] Translation: X:505.65, Y:-274.53, Z:-4.88 [[-9.96386610e-01 8.41987581e-02 1.11486339e-02 5.05651995e+02] [ 8.41904389e-02 9.96448943e-01 -1.21427402e-03 -2.74526407e+02] [-1.12112849e-02 -2.71277992e-04 -9.99937115e-01 -4.87573380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters 0.05046270768215785 Centerline is valid? [True, True] Translation: X:505.60, Y:-274.44, Z:-4.87 [[-9.99855639e-01 1.26071213e-02 1.13913286e-02 5.05601962e+02] [ 1.26030888e-02 9.99920487e-01 -4.25720119e-04 -2.74435189e+02] [-1.13957900e-02 -2.82092735e-04 -9.99935026e-01 -4.87439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters 0.04979969419489377 Centerline is valid? [True, True] Translation: X:505.53, Y:-274.36, Z:-4.88 [[-9.98237734e-01 -5.83209774e-02 1.09585816e-02 5.05532753e+02] [-5.83204224e-02 9.98297847e-01 3.70481429e-04 -2.74359129e+02] [-1.09615352e-02 -2.69280565e-04 -9.99939884e-01 -4.87661433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters 0.05022817664551703 Centerline is valid? [True, True] Translation: X:505.47, Y:-273.75, Z:-5.89 [[-9.98300287e-01 -5.74173736e-02 9.98914824e-03 5.05468397e+02] [ 5.74163253e-02 -9.98350245e-01 -3.91925214e-04 -2.73750249e+02] [ 9.99517191e-03 1.82281132e-04 9.99950030e-01 -5.88980087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters 0.05001445980827737 Centerline is valid? [True, True] Translation: X:505.32, Y:-274.37, Z:-4.87 [[-9.98265951e-01 -5.77895095e-02 1.12010150e-02 5.05324890e+02] [-5.77884240e-02 9.98328764e-01 4.20812110e-04 -2.74367757e+02] [-1.12066140e-02 -2.27206605e-04 -9.99937178e-01 -4.87377363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters 0.04990923039111768 Centerline is valid? [True, True] Translation: X:505.21, Y:-273.75, Z:-5.89 [[-9.98839413e-01 -4.64052300e-02 1.28988778e-02 5.05209760e+02] [ 4.64060894e-02 -9.98922630e-01 -2.32832756e-04 -2.73752018e+02] [ 1.28957856e-02 3.66023944e-04 9.99916779e-01 -5.89428174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters 0.0502079526913316 Centerline is valid? [True, True] Translation: X:505.13, Y:-274.38, Z:-4.87 [[-9.98518994e-01 -5.26245178e-02 1.38013827e-02 5.05128078e+02] [-5.26216529e-02 9.98614358e-01 5.70890409e-04 -2.74381204e+02] [-1.38123018e-02 -1.56206654e-04 -9.99904593e-01 -4.86931618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters 0.04951244724787419 Centerline is valid? [True, True] Translation: X:505.04, Y:-273.75, Z:-5.89 [[-9.99283160e-01 -3.60340581e-02 1.16066117e-02 5.05039457e+02] [ 3.60315035e-02 -9.99350562e-01 -4.29196343e-04 -2.73749817e+02] [ 1.16145396e-02 -1.06850069e-05 9.99932549e-01 -5.88992553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters 0.04959476573903066 Centerline is valid? [True, True] Translation: X:504.94, Y:-274.40, Z:-4.88 [[-9.98483152e-01 -5.39852860e-02 1.08159164e-02 5.04936075e+02] [-5.39831524e-02 9.98541727e-01 4.89328879e-04 -2.74395583e+02] [-1.08265604e-02 -9.52906208e-05 -9.99941387e-01 -4.87644804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters 0.04981582033461646 Centerline is valid? [True, True] Translation: X:504.88, Y:-273.75, Z:-5.89 [[-9.99568939e-01 -2.80298960e-02 8.73273450e-03 5.04877039e+02] [ 2.80283428e-02 -9.99607084e-01 -3.00219020e-04 -2.73754632e+02] [ 8.73771837e-03 -5.53255313e-05 9.99961824e-01 -5.88689617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters 0.04985472256691584 Centerline is valid? [True, True] Translation: X:504.79, Y:-274.40, Z:-4.88 [[-9.98557840e-01 -5.31158033e-02 7.80715553e-03 5.04785440e+02] [-5.31144272e-02 9.98588359e-01 3.83639490e-04 -2.74404557e+02] [-7.81651195e-03 -3.15863736e-05 -9.99969450e-01 -4.87814827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters 0.04945075185263075 Centerline is valid? [True, True] Translation: X:504.68, Y:-273.77, Z:-5.89 [[-9.99718593e-01 -2.22283311e-02 8.28469273e-03 5.04681845e+02] [ 2.22281001e-02 -9.99752918e-01 -1.19965936e-04 -2.73766631e+02] [ 8.28531238e-03 6.42208027e-05 9.99965674e-01 -5.88646681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters 0.049566693215444144 Centerline is valid? [True, True] Translation: X:504.61, Y:-274.41, Z:-4.88 [[-9.98314302e-01 -5.73028575e-02 9.21614691e-03 5.04608668e+02] [-5.73007926e-02 9.98356840e-01 4.88164823e-04 -2.74408523e+02] [-9.22897655e-03 -4.07505982e-05 -9.99957411e-01 -4.87711984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters 0.050071275907702405 Centerline is valid? [True, True] Translation: X:504.57, Y:-274.34, Z:-4.88 [[-9.91742472e-01 -1.27845311e-01 1.01215322e-02 5.04571989e+02] [-1.27839073e-01 9.91794119e-01 1.26354053e-03 -2.74335488e+02] [-1.02000138e-02 -4.08204898e-05 -9.99947978e-01 -4.87670248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters 0.05012662584558076 Centerline is valid? [True, True] Translation: X:504.47, Y:-274.28, Z:-4.88 [[-9.80185736e-01 -1.97804432e-01 1.04560419e-02 5.04467116e+02] [-1.97793611e-01 9.80241503e-01 2.06937155e-03 -2.74276246e+02] [-1.06587771e-02 -3.97698172e-05 -9.99943193e-01 -4.87620708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters 0.04950024408632911 Centerline is valid? [True, True] Translation: X:504.39, Y:-274.22, Z:-4.87 [[-9.63364773e-01 -2.68021869e-01 9.62245667e-03 5.04391799e+02] [-2.68008974e-01 9.63412827e-01 2.62957159e-03 -2.74216298e+02] [-9.97518088e-03 -4.56680967e-05 -9.99950246e-01 -4.87479672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters 0.0499096427183311 Centerline is valid? [True, True] Translation: X:504.30, Y:-274.17, Z:-4.88 [[-9.41098468e-01 -3.38043341e-01 7.76999919e-03 5.04298757e+02] [-3.38032298e-01 9.41130542e-01 2.73280938e-03 -2.74166491e+02] [-8.23639156e-03 -5.46679624e-05 -9.99966079e-01 -4.87650739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters 0.04987101641696981 Centerline is valid? [True, True] Translation: X:504.08, Y:-273.58, Z:-5.89 [[-9.66120596e-01 2.57994718e-01 7.05124374e-03 5.04075065e+02] [-2.57987977e-01 -9.66146327e-01 1.86505802e-03 -2.73580905e+02] [ 7.29370836e-03 -1.72651439e-05 9.99973400e-01 -5.88672421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters 0.049330311662561466 Centerline is valid? [True, True] Translation: X:504.16, Y:-274.22, Z:-4.88 [[-9.36879253e-01 -3.49597378e-01 6.24001073e-03 5.04159357e+02] [-3.49590314e-01 9.36900029e-01 2.22464187e-03 -2.74217205e+02] [-6.62399520e-03 -9.72264926e-05 -9.99978056e-01 -4.87764325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters 0.04928684396874987 Centerline is valid? [True, True] Translation: X:504.10, Y:-274.16, Z:-4.88 [[-9.07191210e-01 -4.20665699e-01 6.66922340e-03 5.04100212e+02] [-4.20655462e-01 9.07215713e-01 2.93797555e-03 -2.74155636e+02] [-7.28632980e-03 -1.40139656e-04 -9.99973445e-01 -4.87712018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters 0.04925709747235469 Centerline is valid? [True, True] Translation: X:503.98, Y:-274.12, Z:-4.87 [[-8.72446179e-01 -4.88633723e-01 8.64578963e-03 5.03980951e+02] [-4.88612354e-01 8.72488986e-01 4.57564721e-03 -2.74122010e+02] [-9.77917175e-03 -2.32433700e-04 -9.99952156e-01 -4.87415074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters 0.050243841672255665 Centerline is valid? [True, True] Translation: X:503.87, Y:-274.09, Z:-4.87 [[-8.34890486e-01 -5.50333897e-01 9.51200959e-03 5.03872120e+02] [-5.50301774e-01 8.34944628e-01 5.95196476e-03 -2.74091311e+02] [-1.12175693e-02 -2.65237005e-04 -9.99937046e-01 -4.87139215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters 0.04962953624022653 Centerline is valid? [True, True] Translation: X:503.71, Y:-274.12, Z:-4.87 [[-7.96242529e-01 -6.04916884e-01 8.56730358e-03 5.03710084e+02] [-6.04884531e-01 7.96288594e-01 6.25938484e-03 -2.74117180e+02] [-1.06084537e-02 -1.98240991e-04 -9.99943709e-01 -4.87393949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters 0.048742823998402615 Centerline is valid? [True, True] Translation: X:503.50, Y:-274.19, Z:-4.87 [[-7.56212893e-01 -6.54287269e-01 7.08731962e-03 5.03499941e+02] [-6.54259773e-01 7.56246098e-01 5.99910193e-03 -2.74191147e+02] [-9.28489383e-03 -1.00349901e-04 -9.99956889e-01 -4.87490205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters 0.049629797060032205 Centerline is valid? [True, True] Translation: X:503.33, Y:-274.24, Z:-4.88 [[-7.09584838e-01 -7.04595033e-01 5.93269101e-03 5.03332367e+02] [-7.04571039e-01 7.09609637e-01 5.81501284e-03 -2.74242713e+02] [-8.30712388e-03 -5.37573237e-05 -9.99965494e-01 -4.87520117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters 0.04907030237006182 Centerline is valid? [True, True] Translation: X:503.15, Y:-274.33, Z:-4.88 [[-6.58762419e-01 -7.52330758e-01 5.52329107e-03 5.03148294e+02] [-7.52304676e-01 6.58785572e-01 6.26456913e-03 -2.74327020e+02] [-8.35169251e-03 -2.83349784e-05 -9.99965124e-01 -4.87565035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters 0.04919697216794255 Centerline is valid? [True, True] Translation: X:502.97, Y:-274.42, Z:-4.87 [[-6.03101922e-01 -7.97640907e-01 6.08733440e-03 5.02971216e+02] [-7.97600594e-01 6.03132642e-01 8.01923200e-03 -2.74423199e+02] [-1.00679376e-02 -1.88473046e-05 -9.99949317e-01 -4.87438933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters 0.04954591348883572 Centerline is valid? [True, True] Translation: X:502.78, Y:-274.56, Z:-4.87 [[-5.44673803e-01 -8.38623103e-01 6.46061082e-03 5.02781653e+02] [-8.38564098e-01 5.44712117e-01 9.94804014e-03 -2.74559271e+02] [-1.18618293e-02 8.00570412e-07 -9.99929646e-01 -4.87280825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters 0.04982704437125634 Centerline is valid? [True, True] Translation: X:502.60, Y:-274.71, Z:-4.87 [[-4.83624124e-01 -8.75258179e-01 5.55219851e-03 5.02604739e+02] [-8.75199886e-01 4.83655993e-01 1.01014579e-02 -2.74705895e+02] [-1.15267377e-02 2.60252275e-05 -9.99933565e-01 -4.87319540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters 0.04963919362173412 Centerline is valid? [True, True] Translation: X:502.45, Y:-274.84, Z:-4.87 [[-4.17663885e-01 -9.08589499e-01 4.69050704e-03 5.02450363e+02] [-9.08531543e-01 4.17690221e-01 1.02622791e-02 -2.74844665e+02] [-1.12833780e-02 2.47097618e-05 -9.99936340e-01 -4.87298762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters 0.04945140689159431 Centerline is valid? [True, True] Translation: X:502.30, Y:-275.00, Z:-4.87 [[-3.47744808e-01 -9.37580313e-01 4.08712161e-03 5.02302631e+02] [-9.37515409e-01 3.47768825e-01 1.10318968e-02 -2.74999127e+02] [-1.17646627e-02 4.54532913e-06 -9.99930794e-01 -4.87373793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters 0.04970500745434242 Centerline is valid? [True, True] Translation: X:502.17, Y:-275.16, Z:-4.87 [[-2.75234971e-01 -9.61370786e-01 3.45302988e-03 5.02167801e+02] [-9.61296242e-01 2.75256629e-01 1.19717469e-02 -2.75161754e+02] [-1.24597571e-02 -2.43412327e-05 -9.99922374e-01 -4.87316280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters 0.04926924384204511 Centerline is valid? [True, True] Translation: X:502.05, Y:-275.33, Z:-4.88 [[-2.02214255e-01 -9.79339105e-01 2.07660182e-03 5.02049408e+02] [-9.79289056e-01 2.02224915e-01 9.90096063e-03 -2.75326026e+02] [-1.01163386e-02 -3.14780503e-05 -9.99948828e-01 -4.87679071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters 0.050075048853409534 Centerline is valid? [True, True] Translation: X:501.94, Y:-275.52, Z:-4.88 [[-1.28459548e-01 -9.91714345e-01 8.95419629e-04 5.01940728e+02] [-9.91691613e-01 1.28462666e-01 6.71470251e-03 -2.75515816e+02] [-6.77409480e-03 -2.54124874e-05 -9.99977055e-01 -4.88015560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters 0.049839186931687166 Centerline is valid? [True, True] Translation: X:501.84, Y:-275.75, Z:-4.88 [[-5.36707006e-02 -9.98558645e-01 2.97485043e-04 5.01840888e+02] [-9.98545756e-01 5.36715193e-02 5.07355585e-03 -2.75754768e+02] [-5.08220953e-03 -2.47511301e-05 -9.99987085e-01 -4.87989851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters 0.049207975332051596 Centerline is valid? [True, True] Translation: X:501.76, Y:-275.94, Z:-4.88 [[ 2.31516181e-02 -9.99731963e-01 -7.24521236e-05 5.01761168e+02] [-9.99721361e-01 -2.31517063e-02 4.60415551e-03 -2.75940264e+02] [-4.60459881e-03 -3.41617146e-05 -9.99989398e-01 -4.88028319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters 0.04978093128790292 Centerline is valid? [True, True] Translation: X:501.69, Y:-276.10, Z:-4.88 [[ 1.01328401e-01 -9.94852860e-01 -5.85017451e-04 5.01686868e+02] [-9.94831755e-01 -1.01330063e-01 6.48050486e-03 -2.76098462e+02] [-6.50642865e-03 -7.46652588e-05 -9.99978830e-01 -4.87632455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters 0.04927886588106488 Centerline is valid? [True, True] Translation: X:501.64, Y:-276.30, Z:-4.88 [[ 1.77422940e-01 -9.84133840e-01 -1.29854466e-03 5.01636749e+02] [-9.84102483e-01 -1.77427654e-01 7.85686354e-03 -2.76303881e+02] [-7.96260301e-03 -1.16086802e-04 -9.99968291e-01 -4.87753636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters 0.0494281071005035 Centerline is valid? [True, True] Translation: X:501.60, Y:-276.52, Z:-4.88 [[ 2.53697163e-01 -9.67280912e-01 -2.32082457e-03 5.01600688e+02] [-9.67233566e-01 -2.53707712e-01 9.57213959e-03 -2.76520110e+02] [-9.84775900e-03 -1.83645230e-04 -9.99951493e-01 -4.87715201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters 0.04984320322211821 Centerline is valid? [True, True] Translation: X:501.58, Y:-276.73, Z:-4.88 [[ 3.23328380e-01 -9.46281029e-01 -3.31264035e-03 5.01577104e+02] [-9.46225278e-01 -3.23345295e-01 1.02734475e-02 -2.76729048e+02] [-1.07926951e-02 -1.87193084e-04 -9.99941740e-01 -4.87507212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters 0.04974370693012578 Centerline is valid? [True, True] Translation: X:501.60, Y:-277.01, Z:-4.88 [[ 3.90357477e-01 -9.20654186e-01 -4.11219331e-03 5.01599852e+02] [-9.20598512e-01 -3.90379100e-01 1.01260594e-02 -2.77009797e+02] [-1.09279133e-02 -1.67103971e-04 -9.99940275e-01 -4.87682056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters 0.04978956669102252 Centerline is valid? [True, True] Translation: X:501.64, Y:-277.27, Z:-4.88 [[ 4.48873122e-01 -8.93587521e-01 -3.77650981e-03 5.01638192e+02] [-8.93554967e-01 -4.48889005e-01 7.62775835e-03 -2.77268572e+02] [-8.51130341e-03 -4.93766070e-05 -9.99963777e-01 -4.87925855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters 0.049401387798260935 Centerline is valid? [True, True] Translation: X:501.73, Y:-277.59, Z:-4.88 [[ 5.06924097e-01 -8.61983437e-01 -3.53758462e-03 5.01733100e+02] [-8.61962627e-01 -5.06936440e-01 5.98967458e-03 -2.77592593e+02] [-6.95633083e-03 1.29553552e-05 -9.99975804e-01 -4.87925676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters 0.050485941007933945 Centerline is valid? [True, True] Translation: X:501.84, Y:-277.88, Z:-4.88 [[ 5.60421434e-01 -8.28200220e-01 -3.49457503e-03 5.01837052e+02] [-8.28184960e-01 -5.60432324e-01 5.02814525e-03 -2.77879238e+02] [-6.12278381e-03 7.62741141e-05 -9.99981253e-01 -4.88165283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters 0.0498267914095314 Centerline is valid? [True, True] Translation: X:501.95, Y:-278.15, Z:-4.88 [[ 6.15360828e-01 -7.88233627e-01 -4.33596749e-03 5.01952248e+02] [-7.88215489e-01 -6.15376091e-01 5.34879630e-03 -2.78147457e+02] [-6.88435183e-03 1.26237017e-04 -9.99976295e-01 -4.88146464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters 0.05108513545263357 Centerline is valid? [True, True] Translation: X:501.92, Y:-278.22, Z:-4.88 [[ 6.71261470e-01 -7.41199058e-01 -5.65641394e-03 5.01916415e+02] [-7.41174727e-01 -6.71285282e-01 6.00786294e-03 -2.78215561e+02] [-8.25008978e-03 1.59544149e-04 -9.99965955e-01 -4.87975062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters 0.05091244768759375 Centerline is valid? [True, True] Translation: X:501.53, Y:-277.97, Z:-4.88 [[ 7.25225255e-01 -6.88482569e-01 -6.33103962e-03 5.01534589e+02] [-6.88458175e-01 -7.25252872e-01 5.79759900e-03 -2.77969439e+02] [-8.58315052e-03 1.54090768e-04 -9.99963152e-01 -4.88355592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters 0.050350256061200714 Centerline is valid? [True, True] Translation: X:501.49, Y:-278.08, Z:-4.88 [[ 7.78506948e-01 -6.27603736e-01 -6.36250657e-03 5.01487326e+02] [-6.27584061e-01 -7.78532938e-01 4.97099645e-03 -2.78077998e+02] [-8.07323688e-03 1.23052435e-04 -9.99967403e-01 -4.88208152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters 0.050629713218030864 Centerline is valid? [True, True] Translation: X:501.45, Y:-278.18, Z:-4.88 [[ 8.26932448e-01 -5.62265956e-01 -6.30244328e-03 5.01452609e+02] [-5.62250470e-01 -8.26956459e-01 4.17404640e-03 -2.78182733e+02] [-7.55877037e-03 9.18972900e-05 -9.99971428e-01 -4.88189233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters 0.05023488066459694 Centerline is valid? [True, True] Translation: X:501.44, Y:-278.27, Z:-4.88 [[ 8.71674973e-01 -4.90046568e-01 -6.09122048e-03 5.01438081e+02] [-4.90034906e-01 -8.71696254e-01 3.38101023e-03 -2.78271467e+02] [-6.96654654e-03 3.77686537e-05 -9.99975733e-01 -4.88105794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters 0.05013561897995512 Centerline is valid? [True, True] Translation: X:501.43, Y:-278.36, Z:-4.88 [[ 9.10956634e-01 -4.12443053e-01 -6.98132286e-03 5.01431537e+02] [-4.12430724e-01 -9.10983385e-01 3.18912765e-03 -2.78359546e+02] [-7.67520268e-03 -2.58449438e-05 -9.99970545e-01 -4.88034698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters 0.049882137658041406 Centerline is valid? [True, True] Translation: X:501.43, Y:-278.45, Z:-4.88 [[ 9.42140754e-01 -3.35137673e-01 -7.31712236e-03 5.01432706e+02] [-3.35127018e-01 -9.42169165e-01 2.67311800e-03 -2.78447960e+02] [-7.78982961e-03 -6.62880116e-05 -9.99969657e-01 -4.88041084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters 0.05033848458347831 Centerline is valid? [True, True] Translation: X:501.44, Y:-278.54, Z:-4.88 [[ 9.66611726e-01 -2.56132207e-01 -7.61999883e-03 5.01439514e+02] [-2.56123408e-01 -9.66641755e-01 2.12559377e-03 -2.78540314e+02] [-7.91024206e-03 -1.02963798e-04 -9.99968708e-01 -4.88039769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters 0.05048775908443715 Centerline is valid? [True, True] Translation: X:501.45, Y:-278.63, Z:-4.88 [[ 9.83767357e-01 -1.79287115e-01 -7.61040524e-03 5.01453543e+02] [-1.79280924e-01 -9.83796788e-01 1.49354944e-03 -2.78629705e+02] [-7.75486639e-03 -1.04904694e-04 -9.99969925e-01 -4.87923532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters 0.05050826189886385 Centerline is valid? [True, True] Translation: X:501.48, Y:-278.71, Z:-4.88 [[ 9.94640358e-01 -1.03159428e-01 -6.97786837e-03 5.01476495e+02] [-1.03156286e-01 -9.94664831e-01 8.09704049e-04 -2.78711363e+02] [-7.02416887e-03 -8.55533429e-05 -9.99975327e-01 -4.88078706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters 0.05043489655901805 Centerline is valid? [True, True] Translation: X:501.51, Y:-278.79, Z:-4.88 [[ 9.99636899e-01 -2.57259326e-02 -8.01536213e-03 5.01505267e+02] [-2.57243597e-02 -9.99669029e-01 2.99294642e-04 -2.78791827e+02] [-8.02040892e-03 -9.29959095e-05 -9.99967832e-01 -4.87957381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters 0.0510783415002381 Centerline is valid? [True, True] Translation: X:501.54, Y:-278.87, Z:-4.88 [[ 9.98542221e-01 5.31054829e-02 -9.65613644e-03 5.01535769e+02] [ 5.31041367e-02 -9.98588901e-01 -3.95938783e-04 -2.78874442e+02] [-9.66353720e-03 -1.17419197e-04 -9.99953300e-01 -4.87915373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters 0.05039725172498775 Centerline is valid? [True, True] Translation: X:501.57, Y:-278.95, Z:-4.88 [[ 9.91216814e-01 1.31648380e-01 -1.25670834e-02 5.01571043e+02] [ 1.31639862e-01 -9.91296463e-01 -1.50620962e-03 -2.78952694e+02] [-1.26559954e-02 -1.61348833e-04 -9.99919897e-01 -4.87625616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters 0.05036716071014642 Centerline is valid? [True, True] Translation: X:501.61, Y:-279.02, Z:-4.88 [[ 9.78253251e-01 2.07018138e-01 -1.28088578e-02 5.01611717e+02] [ 2.07002304e-01 -9.78337094e-01 -2.56430826e-03 -2.79019542e+02] [-1.30622390e-02 -1.42920188e-04 -9.99914675e-01 -4.87557422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters 0.05051264894890584 Centerline is valid? [True, True] Translation: X:501.66, Y:-279.08, Z:-4.88 [[ 9.60657092e-01 2.77509050e-01 -1.12551653e-02 5.01657372e+02] [ 2.77490761e-01 -9.60723021e-01 -3.18656789e-03 -2.79083893e+02] [-1.16973978e-02 -6.20053407e-05 -9.99931581e-01 -4.87726486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters 0.050552104201575694 Centerline is valid? [True, True] Translation: X:501.71, Y:-279.14, Z:-4.88 [[ 9.38842113e-01 3.44204614e-01 -9.93329784e-03 5.01706154e+02] [ 3.44185010e-01 -9.38894660e-01 -3.67375056e-03 -2.79140430e+02] [-1.05908422e-02 3.01795257e-05 -9.99943915e-01 -4.87907421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters 0.050166115464561394 Centerline is valid? [True, True] Translation: X:501.76, Y:-279.20, Z:-4.88 [[ 9.11039110e-01 4.12224051e-01 -8.89227976e-03 5.01759946e+02] [ 4.12203611e-01 -9.11082502e-01 -4.10574901e-03 -2.79199226e+02] [-9.79408898e-03 7.50681045e-05 -9.99952034e-01 -4.87911617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters 0.050251902143190995 Centerline is valid? [True, True] Translation: X:501.82, Y:-279.26, Z:-4.88 [[ 8.77978649e-01 4.78637411e-01 -7.72790102e-03 5.01822465e+02] [ 4.78617820e-01 -8.78012653e-01 -4.33176382e-03 -2.79258815e+02] [-8.85853910e-03 1.04485007e-04 -9.99960757e-01 -4.88124873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters 0.049646404290502134 Centerline is valid? [True, True] Translation: X:501.89, Y:-279.31, Z:-4.88 [[ 8.37073153e-01 5.47044670e-01 -7.11799130e-03 5.01886378e+02] [ 5.47023986e-01 -8.37103411e-01 -4.75790372e-03 -2.79311710e+02] [-8.56128067e-03 8.90014868e-05 -9.99963348e-01 -4.88051340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters 0.05000286005019103 Centerline is valid? [True, True] Translation: X:501.95, Y:-279.36, Z:-4.88 [[ 7.89470839e-01 6.13749591e-01 -6.87270797e-03 5.01952737e+02] [ 6.13725684e-01 -7.89500751e-01 -5.41749966e-03 -2.79356584e+02] [-8.75099630e-03 5.90006018e-05 -9.99961708e-01 -4.88007448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters 0.04948291471788446 Centerline is valid? [True, True] Translation: X:502.02, Y:-279.40, Z:-4.88 [[ 7.33401526e-01 6.79754450e-01 -7.48928991e-03 5.02024959e+02] [ 6.79719233e-01 -7.33439764e-01 -6.91924592e-03 -2.79398739e+02] [-1.01963312e-02 -1.60288812e-05 -9.99948016e-01 -4.87992214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters 0.04977327114970263 Centerline is valid? [True, True] Translation: X:502.10, Y:-279.44, Z:-4.88 [[ 6.71520026e-01 7.40950972e-01 -7.24655744e-03 5.02102238e+02] [ 7.40909594e-01 -6.71559115e-01 -7.83125623e-03 -2.79436575e+02] [-1.06690686e-02 -1.10198542e-04 -9.99943078e-01 -4.88008796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters 0.049411367094591596 Centerline is valid? [True, True] Translation: X:502.18, Y:-279.47, Z:-4.88 [[ 6.07111930e-01 7.94593083e-01 -6.07754166e-03 5.02181914e+02] [ 7.94555812e-01 -6.07142330e-01 -7.69759813e-03 -2.79469508e+02] [-9.80639103e-03 -1.55642387e-04 -9.99951904e-01 -4.88166616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters 0.04913261743561943 Centerline is valid? [True, True] Translation: X:502.27, Y:-279.50, Z:-4.88 [[ 5.42367548e-01 8.40127465e-01 -4.82544160e-03 5.02267457e+02] [ 8.40096567e-01 -5.42388994e-01 -7.20674233e-03 -2.79497511e+02] [-8.67184858e-03 -1.45133758e-04 -9.99962388e-01 -4.88226751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters 0.0493472732598854 Centerline is valid? [True, True] Translation: X:502.36, Y:-279.52, Z:-4.88 [[ 4.78389251e-01 8.78139622e-01 -3.81165827e-03 5.02355119e+02] [ 8.78113395e-01 -4.78404426e-01 -6.78755948e-03 -2.79519233e+02] [-7.78393909e-03 -9.99726850e-05 -9.99969700e-01 -4.88251273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters 0.050118260257665796 Centerline is valid? [True, True] Translation: X:502.45, Y:-279.54, Z:-4.88 [[ 4.11938717e-01 9.11206294e-01 -3.09568071e-03 5.02447790e+02] [ 9.11181731e-01 -4.11950344e-01 -6.69083086e-03 -2.79535532e+02] [-7.37199393e-03 -6.45154277e-05 -9.99972824e-01 -4.88317173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters 0.04981235756898633 Centerline is valid? [True, True] Translation: X:502.54, Y:-279.54, Z:-4.88 [[ 3.40358869e-01 9.40292817e-01 -2.29302625e-03 5.02537762e+02] [ 9.40272472e-01 -3.40366590e-01 -6.18576761e-03 -2.79543449e+02] [-6.59690237e-03 -5.06885887e-05 -9.99978239e-01 -4.88261209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters 0.0494999589990001 Centerline is valid? [True, True] Translation: X:502.62, Y:-279.54, Z:-4.88 [[ 2.65838754e-01 9.64015698e-01 -1.86847853e-03 5.02620938e+02] [ 9.63993244e-01 -2.65845315e-01 -6.57983362e-03 -2.79541898e+02] [-6.83978916e-03 -5.20259125e-05 -9.99976607e-01 -4.88096653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters 0.04925102956963103 Centerline is valid? [True, True] Translation: X:502.71, Y:-279.53, Z:-4.88 [[ 1.90324062e-01 9.81720069e-01 -1.56750705e-03 5.02708076e+02] [ 9.81689108e-01 -1.90330508e-01 -7.79697203e-03 -2.79534548e+02] [-7.95278834e-03 -5.48532120e-05 -9.99968375e-01 -4.88172175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters 0.05029608014610403 Centerline is valid? [True, True] Translation: X:502.79, Y:-279.52, Z:-4.88 [[ 1.16718211e-01 9.93163952e-01 -1.49133169e-03 5.02792310e+02] [ 9.93087116e-01 -1.16727731e-01 -1.23538502e-02 -2.79521381e+02] [-1.24434784e-02 -3.91029942e-05 -9.99922576e-01 -4.87690804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters 0.04986414453028139 Centerline is valid? [True, True] Translation: X:502.87, Y:-279.50, Z:-4.88 [[ 3.97890240e-02 9.99207953e-01 -5.48557558e-04 5.02869560e+02] [ 9.99121976e-01 -3.97927964e-02 -1.31076380e-02 -2.79501446e+02] [-1.31190848e-02 -2.65357862e-05 -9.99913941e-01 -4.87543423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters 0.04997894883783167 Centerline is valid? [True, True] Translation: X:502.94, Y:-279.47, Z:-4.88 [[-3.80981257e-02 9.99273904e-01 4.43618497e-04 5.02942160e+02] [ 9.99200047e-01 3.81007033e-02 -1.21491380e-02 -2.79474663e+02] [-1.21572188e-02 -1.95957636e-05 -9.99926098e-01 -4.87859644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters 0.05023628789223368 Centerline is valid? [True, True] Translation: X:503.02, Y:-279.44, Z:-4.88 [[-1.14522429e-01 9.93420031e-01 1.12015426e-03 5.03022885e+02] [ 9.93372569e-01 1.14527907e-01 -9.71075227e-03 -2.79440547e+02] [-9.77514474e-03 6.31582250e-07 -9.99952222e-01 -4.88423946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters 0.049908733864859826 Centerline is valid? [True, True] Translation: X:503.10, Y:-279.40, Z:-4.88 [[-1.90354274e-01 9.81714217e-01 1.56442795e-03 5.03100251e+02] [ 9.81681643e-01 1.90360702e-01 -7.99725634e-03 -2.79400235e+02] [-8.14882584e-03 1.34582770e-05 -9.99966798e-01 -4.88216213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters 0.04976748570571378 Centerline is valid? [True, True] Translation: X:503.17, Y:-279.36, Z:-4.88 [[-2.65176218e-01 9.64197708e-01 2.08631770e-03 5.03171737e+02] [ 9.64168582e-01 2.65184424e-01 -7.49443642e-03 -2.79356230e+02] [-7.77937737e-03 2.42156772e-05 -9.99969740e-01 -4.88326896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters 0.04952013995212242 Centerline is valid? [True, True] Translation: X:503.24, Y:-279.31, Z:-4.88 [[-3.39919477e-01 9.40451150e-01 2.52647642e-03 5.03237164e+02] [ 9.40425656e-01 3.39928866e-01 -6.92475030e-03 -2.79307342e+02] [-7.37121164e-03 2.21057384e-05 -9.99972832e-01 -4.88012017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters 0.04921627183087371 Centerline is valid? [True, True] Translation: X:503.30, Y:-279.25, Z:-4.88 [[-4.12499099e-01 9.10952706e-01 3.10817710e-03 5.03304613e+02] [ 9.10927250e-01 4.12510808e-01 -6.81014818e-03 -2.79249816e+02] [-7.48587956e-03 2.21432276e-05 -9.99971980e-01 -4.88149999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters 0.050269577304612 Centerline is valid? [True, True] Translation: X:503.36, Y:-279.19, Z:-4.88 [[-4.82658223e-01 8.75800639e-01 3.77906415e-03 5.03362409e+02] [ 8.75774143e-01 4.82673016e-01 -6.81240835e-03 -2.79190971e+02] [-7.79036388e-03 2.15417628e-05 -9.99969654e-01 -4.88026854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters 0.05005940516013717 Centerline is valid? [True, True] Translation: X:503.41, Y:-279.13, Z:-4.88 [[-5.49622699e-01 8.35402160e-01 4.25674389e-03 5.03410316e+02] [ 8.35377416e-01 5.49639182e-01 -6.42974862e-03 -2.79129976e+02] [-7.71109911e-03 2.20519204e-05 -9.99970269e-01 -4.88095190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters 0.050571579187805506 Centerline is valid? [True, True] Translation: X:503.47, Y:-279.06, Z:-4.88 [[-6.12581127e-01 7.90392003e-01 4.98443079e-03 5.03465106e+02] [ 7.90366241e-01 6.12601405e-01 -6.38149365e-03 -2.79055760e+02] [-8.09735085e-03 3.03432488e-05 -9.99967215e-01 -4.88173482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters 0.05059438776651694 Centerline is valid? [True, True] Translation: X:503.51, Y:-278.99, Z:-4.88 [[-6.71933101e-01 7.40592374e-01 5.37059167e-03 5.03506119e+02] [ 7.40569150e-01 6.71954563e-01 -5.86517474e-03 -2.78986220e+02] [-7.95249726e-03 3.62894516e-05 -9.99968378e-01 -4.88048432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters 0.05043307024575739 Centerline is valid? [True, True] Translation: X:503.54, Y:-278.91, Z:-4.88 [[-7.28334795e-01 6.85198427e-01 5.61618465e-03 5.03542267e+02] [ 6.85178367e-01 7.28356448e-01 -5.24320728e-03 -2.78912030e+02] [-7.68322168e-03 2.92779302e-05 -9.99970483e-01 -4.88436797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters 0.05018591296088095 Centerline is valid? [True, True] Translation: X:503.05, Y:-278.38, Z:-4.88 [[-7.76366411e-01 6.30250766e-01 6.25833057e-03 5.03051448e+02] [ 6.30230386e-01 7.76391635e-01 -5.06841276e-03 -2.78376914e+02] [-8.05328653e-03 9.24466695e-06 -9.99967572e-01 -4.87949783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters 0.05023298422792552 Centerline is valid? [True, True] Translation: X:503.33, Y:-278.49, Z:-4.88 [[-8.19074563e-01 5.73651306e-01 6.40626503e-03 5.03328678e+02] [ 5.73633888e-01 8.19099615e-01 -4.47028489e-03 -2.78488163e+02] [-7.81175399e-03 1.33540744e-05 -9.99969488e-01 -4.88056893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters 0.049877653850940624 Centerline is valid? [True, True] Translation: X:502.99, Y:-278.18, Z:-4.88 [[-8.56349253e-01 5.16364073e-01 5.83962442e-03 5.02988598e+02] [ 5.16352293e-01 8.56369163e-01 -3.48801555e-03 -2.78178750e+02] [-6.80196019e-03 2.83439488e-05 -9.99976866e-01 -4.88095362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters 0.0498194081571283 Centerline is valid? [True, True] Translation: X:503.30, Y:-277.59, Z:-5.88 [[-8.25459678e-01 -5.64429120e-01 6.00731565e-03 5.03299353e+02] [ 5.64414166e-01 -8.25481537e-01 -4.10868412e-03 -2.77588119e+02] [ 7.27798912e-03 -9.39021095e-07 9.99973515e-01 -5.88364992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters 0.0500841088397244 Centerline is valid? [True, True] Translation: X:503.01, Y:-278.20, Z:-4.88 [[-8.57733201e-01 5.14050263e-01 6.78849689e-03 5.03005794e+02] [ 5.14034545e-01 8.57760063e-01 -4.02013358e-03 -2.78196998e+02] [-7.88945224e-03 4.13198692e-05 -9.99968877e-01 -4.87923953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters 0.0503546797215986 Centerline is valid? [True, True] Translation: X:502.89, Y:-278.05, Z:-4.88 [[-8.93438461e-01 4.49119373e-01 7.71399948e-03 5.02891601e+02] [ 4.49102801e-01 8.93471762e-01 -3.85813503e-03 -2.78045780e+02] [-8.62500389e-03 1.73725491e-05 -9.99962804e-01 -4.88020601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters 0.05006102434365376 Centerline is valid? [True, True] Translation: X:502.88, Y:-277.96, Z:-4.88 [[-9.23560089e-01 3.83368853e-01 8.06755259e-03 5.02879646e+02] [ 3.83354282e-01 9.23595324e-01 -3.34245005e-03 -2.77958952e+02] [-8.73254509e-03 5.77735919e-06 -9.99961871e-01 -4.88129442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters 0.0496460857288093 Centerline is valid? [True, True] Translation: X:502.87, Y:-277.87, Z:-4.88 [[-9.48762456e-01 3.15886183e-01 8.10690611e-03 5.02865013e+02] [ 3.15874625e-01 9.48797091e-01 -2.70229039e-03 -2.77872267e+02] [-8.54542513e-03 -3.06574253e-06 -9.99963487e-01 -4.88068235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters 0.049646402768706584 Centerline is valid? [True, True] Translation: X:503.06, Y:-277.24, Z:-5.88 [[-9.24484958e-01 -3.81141414e-01 7.66715793e-03 5.03059030e+02] [ 3.81128187e-01 -9.24516751e-01 -3.17534694e-03 -2.77244935e+02] [ 8.29867215e-03 -1.33904795e-05 9.99965565e-01 -5.88348424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters 0.04989906526682078 Centerline is valid? [True, True] Translation: X:502.82, Y:-277.86, Z:-4.88 [[-9.52088839e-01 3.05703227e-01 8.50764432e-03 5.02822248e+02] [ 3.05690411e-01 9.52126847e-01 -2.79994849e-03 -2.77858313e+02] [-8.95630985e-03 -6.50944136e-05 -9.99959889e-01 -4.88160787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters 0.05004485626599455 Centerline is valid? [True, True] Translation: X:502.81, Y:-277.77, Z:-4.88 [[-9.72148605e-01 2.34184895e-01 9.19376137e-03 5.02807461e+02] [ 2.34173454e-01 9.72192072e-01 -2.31704245e-03 -2.77771002e+02] [-9.48071826e-03 -9.95747379e-05 -9.99955052e-01 -4.87995543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters 0.05015028482685081 Centerline is valid? [True, True] Translation: X:502.82, Y:-277.69, Z:-4.88 [[-9.86918329e-01 1.60943661e-01 9.45251204e-03 5.02821848e+02] [ 1.60934962e-01 9.86963586e-01 -1.67880627e-03 -2.77693555e+02] [-9.59947841e-03 -1.35605010e-04 -9.99953915e-01 -4.88021902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters 0.04910807682183915 Centerline is valid? [True, True] Translation: X:502.80, Y:-277.61, Z:-4.88 [[-9.95940290e-01 8.94614860e-02 9.97908540e-03 5.02799937e+02] [ 8.94554755e-02 9.95990271e-01 -1.04793637e-03 -2.77613742e+02] [-1.00328219e-02 -1.50998222e-04 -9.99949659e-01 -4.88166050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters 0.049894334841341356 Centerline is valid? [True, True] Translation: X:502.77, Y:-276.96, Z:-5.88 [[-9.82477099e-01 -1.86103551e-01 1.02087633e-02 5.02773520e+02] [ 1.86095373e-01 -9.82530120e-01 -1.75358777e-03 -2.76964070e+02] [ 1.03567664e-02 1.76943795e-04 9.99946352e-01 -5.88305239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters 0.0490463102050518 Centerline is valid? [True, True] Translation: X:502.65, Y:-277.60, Z:-4.88 [[-9.96178483e-01 8.66542637e-02 1.09301928e-02 5.02650176e+02] [ 8.66473552e-02 9.96238433e-01 -1.10492600e-03 -2.77599182e+02] [-1.09848247e-02 -1.53631208e-04 -9.99939653e-01 -4.88025491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters 0.05016943526942535 Centerline is valid? [True, True] Translation: X:502.60, Y:-277.52, Z:-4.88 [[-9.99779917e-01 1.72167337e-02 1.19875701e-02 5.02604857e+02] [ 1.72137151e-02 9.99851770e-01 -3.54955769e-04 -2.77519072e+02] [-1.19919043e-02 -1.48527034e-04 -9.99928084e-01 -4.87878176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters 0.04975953872744844 Centerline is valid? [True, True] Translation: X:502.47, Y:-277.45, Z:-4.88 [[-9.98523939e-01 -5.30678376e-02 1.15649651e-02 5.02470132e+02] [-5.30658376e-02 9.98590901e-01 4.79946171e-04 -2.77445521e+02] [-1.15741387e-02 -1.34466821e-04 -9.99933008e-01 -4.88062137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters 0.049972700262890954 Centerline is valid? [True, True] Translation: X:502.43, Y:-277.37, Z:-4.88 [[-9.92604799e-01 -1.20884913e-01 1.10702984e-02 5.02428819e+02] [-1.20878452e-01 9.92666525e-01 1.25336120e-03 -2.77374742e+02] [-1.11406271e-02 -9.40681879e-05 -9.99937937e-01 -4.88100395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters 0.04996304585137843 Centerline is valid? [True, True] Translation: X:502.31, Y:-277.32, Z:-4.88 [[-9.82031519e-01 -1.88412592e-01 1.07140558e-02 5.02312822e+02] [-1.88402061e-01 9.82089961e-01 1.99295362e-03 -2.77317469e+02] [-1.08976642e-02 -6.14069304e-05 -9.99940617e-01 -4.88189090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters 0.049762190092647894 Centerline is valid? [True, True] Translation: X:502.19, Y:-277.27, Z:-4.88 [[-9.67452212e-01 -2.52814542e-01 1.10011092e-02 5.02192081e+02] [-2.52798260e-01 9.67514758e-01 2.86920938e-03 -2.77269212e+02] [-1.13691133e-02 -5.23830171e-06 -9.99935370e-01 -4.88232833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters 0.050404239086505855 Centerline is valid? [True, True] Translation: X:502.15, Y:-277.20, Z:-4.88 [[-9.48386847e-01 -3.16918477e-01 1.11833845e-02 5.02152885e+02] [-3.16895672e-01 9.48452779e-01 3.80241683e-03 -2.77201013e+02] [-1.18119683e-02 6.21959623e-05 -9.99930234e-01 -4.88286517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters 0.05005388319936368 Centerline is valid? [True, True] Translation: X:502.00, Y:-277.18, Z:-4.88 [[-9.25812952e-01 -3.77843447e-01 1.02326599e-02 5.02002042e+02] [-3.77818832e-01 9.25869490e-01 4.31473714e-03 -2.77177650e+02] [-1.11044028e-02 1.28547914e-04 -9.99938336e-01 -4.88287561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters 0.05062090063423147 Centerline is valid? [True, True] Translation: X:502.19, Y:-277.00, Z:-4.89 [[-8.97245358e-01 -4.41425145e-01 9.72676422e-03 5.02190561e+02] [-4.41396868e-01 8.97298058e-01 5.00007168e-03 -2.76995830e+02] [-1.09349640e-02 1.92927835e-04 -9.99940193e-01 -4.88532340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters 0.05146461652651256 Centerline is valid? [True, True] Translation: X:502.10, Y:-276.94, Z:-4.88 [[-8.63948840e-01 -5.03481492e-01 9.93933919e-03 5.02098586e+02] [-5.03444951e-01 8.64005978e-01 6.07054507e-03 -2.76943024e+02] [-1.16440556e-02 2.40730239e-04 -9.99932177e-01 -4.88413851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters 0.05143725060230037 Centerline is valid? [True, True] Translation: X:501.83, Y:-277.01, Z:-4.88 [[-8.27075374e-01 -5.62001006e-01 1.00595829e-02 5.01827696e+02] [-5.61955279e-01 8.27136500e-01 7.17452670e-03 -2.77009613e+02] [-1.23527394e-02 2.80838627e-04 -9.99923663e-01 -4.88493673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters 0.05199573972184612 Centerline is valid? [True, True] Translation: X:501.23, Y:-277.37, Z:-4.88 [[-7.84337684e-01 -6.20269892e-01 8.92517608e-03 5.01226491e+02] [-6.20226126e-01 7.84388424e-01 7.37241111e-03 -2.77370310e+02] [-1.15736894e-02 2.46832466e-04 -9.99932992e-01 -4.88176777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters 0.051426078641047396 Centerline is valid? [True, True] Translation: X:501.19, Y:-277.28, Z:-4.88 [[-7.32118954e-01 -6.81133679e-01 7.66472976e-03 5.01188819e+02] [-6.81093908e-01 7.32159056e-01 7.36243724e-03 -2.77284869e+02] [-1.06266053e-02 1.69779106e-04 -9.99943522e-01 -4.88378488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters 0.05136169651265011 Centerline is valid? [True, True] Translation: X:500.88, Y:-277.48, Z:-4.88 [[-6.75091421e-01 -7.37705215e-01 6.52610945e-03 5.00876674e+02] [-7.37669798e-01 6.75122961e-01 7.22891936e-03 -2.77483497e+02] [-9.73873785e-03 6.60675995e-05 -9.99952575e-01 -4.88417032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters 0.05088115607446397 Centerline is valid? [True, True] Translation: X:500.69, Y:-277.57, Z:-4.88 [[-6.13601033e-01 -7.89594995e-01 5.78937367e-03 5.00694458e+02] [-7.89559983e-01 6.13628343e-01 7.43564012e-03 -2.77572514e+02] [-9.42366800e-03 -8.54132420e-06 -9.99955596e-01 -4.88415553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters 0.050662636722947636 Centerline is valid? [True, True] Translation: X:500.56, Y:-277.61, Z:-4.89 [[-5.44444923e-01 -8.38782564e-01 4.85145978e-03 5.00560494e+02] [-8.38750952e-01 5.44466528e-01 7.28292573e-03 -2.77613048e+02] [-8.75024857e-03 -1.04014573e-04 -9.99961710e-01 -4.88532957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters 0.052509901496347905 Centerline is valid? [True, True] Translation: X:500.43, Y:-277.66, Z:-4.88 [[-4.74696095e-01 -8.80140265e-01 4.09044360e-03 5.00426350e+02] [-8.80110430e-01 4.74713692e-01 7.24862786e-03 -2.77655740e+02] [-8.32159882e-03 -1.59146731e-04 -9.99965362e-01 -4.88315481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters 0.05137234890175143 Centerline is valid? [True, True] Translation: X:500.27, Y:-277.80, Z:-4.89 [[-4.06696379e-01 -9.13557434e-01 3.29693623e-03 5.00269591e+02] [-9.13530667e-01 4.06709708e-01 6.99533430e-03 -2.77798112e+02] [-7.73153563e-03 -1.66875223e-04 -9.99970097e-01 -4.88716250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters 0.051348577239072386 Centerline is valid? [True, True] Translation: X:500.12, Y:-277.95, Z:-4.89 [[-3.36663726e-01 -9.41620646e-01 2.84498700e-03 5.00118915e+02] [-9.41591580e-01 3.36675694e-01 7.40085493e-03 -2.77945940e+02] [-7.92663578e-03 -1.87216409e-04 -9.99968566e-01 -4.88806950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters 0.05228734700404569 Centerline is valid? [True, True] Translation: X:499.99, Y:-278.07, Z:-4.89 [[-2.64432771e-01 -9.64399576e-01 2.96099132e-03 4.99986380e+02] [-9.64349750e-01 2.64449218e-01 9.80669052e-03 -2.78066265e+02] [-1.02406000e-02 -2.62220890e-04 -9.99947529e-01 -4.88507383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters 0.051770415638873815 Centerline is valid? [True, True] Translation: X:499.85, Y:-278.27, Z:-4.88 [[-1.92396896e-01 -9.81314217e-01 2.41708574e-03 4.99845899e+02] [-9.81254677e-01 1.92411858e-01 1.08136854e-02 -2.78270815e+02] [-1.10766992e-02 -2.91257176e-04 -9.99938609e-01 -4.88439333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters 0.052442812203006964 Centerline is valid? [True, True] Translation: X:499.73, Y:-278.45, Z:-4.89 [[-1.22076625e-01 -9.92519649e-01 1.42960147e-03 4.99732057e+02] [-9.92472259e-01 1.22084770e-01 9.70176078e-03 -2.78454871e+02] [-9.80372077e-03 -2.34481587e-04 -9.99951915e-01 -4.88634145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters 0.05213364852019671 Centerline is valid? [True, True] Translation: X:499.63, Y:-278.73, Z:-4.89 [[-5.63476413e-02 -9.98411070e-01 5.28336988e-04 4.99629406e+02] [-9.98384959e-01 5.63499892e-02 7.22163565e-03 -2.78732957e+02] [-7.23993276e-03 -1.20561567e-04 -9.99973784e-01 -4.88899862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters 0.05198098635989147 Centerline is valid? [True, True] Translation: X:499.55, Y:-278.98, Z:-4.89 [[ 1.00356072e-02 -9.99949642e-01 -3.73885088e-06 4.99547284e+02] [-9.99926450e-01 -1.00353999e-02 6.81067107e-03 -2.78980046e+02] [-6.81036562e-03 -6.46106438e-05 -9.99976807e-01 -4.88977404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters 0.05244965972740031 Centerline is valid? [True, True] Translation: X:498.99, Y:-279.27, Z:-5.87 [[-6.49087565e-02 9.97891132e-01 3.77219023e-04 4.98986699e+02] [-9.97874881e-01 -6.49098523e-02 5.69501873e-03 -2.79269186e+02] [ 5.70749392e-03 -6.76080346e-06 9.99983712e-01 -5.87495846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters 0.0525683580041554 Centerline is valid? [True, True] Translation: X:499.56, Y:-278.88, Z:-4.89 [[-3.65514058e-04 -9.99999932e-01 -5.83441206e-05 4.99559093e+02] [-9.99978898e-01 3.65127937e-04 6.48623434e-03 -2.78882574e+02] [-6.48621259e-03 6.07136992e-05 -9.99978962e-01 -4.88886181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters 0.05284723308750846 Centerline is valid? [True, True] Translation: X:499.00, Y:-279.23, Z:-5.87 [[-4.17399013e-02 9.99128456e-01 3.29500374e-04 4.98999014e+02] [-9.99105895e-01 -4.17411731e-02 6.71459280e-03 -2.79229451e+02] [ 6.72249447e-03 -4.89393250e-05 9.99977403e-01 -5.87494842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters 0.05316253225891425 Centerline is valid? [True, True] Translation: X:499.55, Y:-279.52, Z:-4.89 [[-5.56658852e-03 -9.99984501e-01 -1.04965045e-04 4.99553634e+02] [-9.99959778e-01 5.56571265e-03 7.03311971e-03 -2.79523648e+02] [-7.03242650e-03 1.44111306e-04 -9.99975262e-01 -4.89020616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters 0.053008056990717284 Centerline is valid? [True, True] Translation: X:499.51, Y:-280.19, Z:-4.89 [[ 6.70523628e-02 -9.97749245e-01 -6.52252556e-04 4.99514247e+02] [-9.97720720e-01 -6.70553788e-02 7.54587591e-03 -2.80186541e+02] [-7.57262904e-03 1.44797081e-04 -9.99971317e-01 -4.88631883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters 0.05278023609597498 Centerline is valid? [True, True] Translation: X:499.44, Y:-280.22, Z:-4.89 [[ 1.46203030e-01 -9.89253971e-01 -1.12013516e-03 4.99438927e+02] [-9.89229898e-01 -1.46207287e-01 6.90211424e-03 -2.80222602e+02] [-6.99171584e-03 9.89611774e-05 -9.99975553e-01 -4.88698515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters 0.054011620649681326 Centerline is valid? [True, True] Translation: X:499.41, Y:-280.50, Z:-4.89 [[ 2.23176315e-01 -9.74777080e-01 -1.40634292e-03 4.99413863e+02] [-9.74759306e-01 -2.23180738e-01 5.88668036e-03 -2.80495088e+02] [-6.05206974e-03 5.70782209e-05 -9.99981684e-01 -4.88766788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters 0.05331923128127745 Centerline is valid? [True, True] Translation: X:499.40, Y:-280.73, Z:-4.89 [[ 3.02816250e-01 -9.53047553e-01 -1.63725650e-03 4.99396662e+02] [-9.53033677e-01 -3.02820676e-01 5.14286394e-03 -2.80734121e+02] [-5.39718902e-03 3.01781405e-06 -9.99985435e-01 -4.88755266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters 0.05217289725045668 Centerline is valid? [True, True] Translation: X:499.11, Y:-280.19, Z:-4.89 [[ 3.82411138e-01 -9.23991314e-01 -1.33172439e-03 4.99110046e+02] [-9.23985427e-01 -3.82413455e-01 3.29831997e-03 -2.80193770e+02] [-3.55688833e-03 -3.08203591e-05 -9.99993674e-01 -4.89068541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters 0.052859743653416814 Centerline is valid? [True, True] Translation: X:498.95, Y:-281.21, Z:-5.88 [[ 2.97345268e-01 9.54769713e-01 -7.66292899e-04 4.98949472e+02] [-9.54766201e-01 2.97346253e-01 2.58971518e-03 -2.81211367e+02] [ 2.70043594e-03 -3.84089947e-05 9.99996353e-01 -5.87500892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters 0.05262065757734403 Centerline is valid? [True, True] Translation: X:499.49, Y:-281.23, Z:-4.89 [[ 3.95259413e-01 -9.18569200e-01 -7.87605923e-04 4.99491731e+02] [-9.18567206e-01 -3.95260197e-01 1.91432304e-03 -2.81227818e+02] [-2.06974746e-03 -3.31852312e-05 -9.99997858e-01 -4.88886842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters 0.05372459329104058 Centerline is valid? [True, True] Translation: X:499.48, Y:-281.40, Z:-4.89 [[ 4.65938798e-01 -8.84815315e-01 -1.70152693e-03 4.99477978e+02] [-8.84808777e-01 -4.65941898e-01 3.40233520e-03 -2.81399323e+02] [-3.80325098e-03 -7.97540165e-05 -9.99992764e-01 -4.88668073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters 0.05253172084212595 Centerline is valid? [True, True] Translation: X:499.51, Y:-281.60, Z:-4.89 [[ 5.30850272e-01 -8.47462377e-01 -2.34683064e-03 4.99505607e+02] [-8.47453222e-01 -5.30855450e-01 3.94059382e-03 -2.81600993e+02] [-4.58533284e-03 -1.03036111e-04 -9.99989482e-01 -4.88678229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters 0.053763788395492534 Centerline is valid? [True, True] Translation: X:499.54, Y:-281.80, Z:-4.89 [[ 5.91823826e-01 -8.06062641e-01 -2.75295692e-03 4.99537430e+02] [-8.06053043e-01 -5.91830218e-01 3.93495009e-03 -2.81800002e+02] [-4.80109935e-03 -1.09767914e-04 -9.99988469e-01 -4.88501618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters 0.05329820723894046 Centerline is valid? [True, True] Translation: X:499.58, Y:-281.98, Z:-4.88 [[ 6.48352791e-01 -7.61333185e-01 -3.23087876e-03 4.99578357e+02] [-7.61322871e-01 -6.48360832e-01 3.96448412e-03 -2.81977252e+02] [-5.11306857e-03 -1.10642451e-04 -9.99986922e-01 -4.88371632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters 0.05241131634115145 Centerline is valid? [True, True] Translation: X:499.72, Y:-282.24, Z:-4.88 [[ 6.99668340e-01 -7.14455395e-01 -4.20741942e-03 4.99721011e+02] [-7.14441519e-01 -6.99680982e-01 4.45422189e-03 -2.82240234e+02] [-6.12619421e-03 -1.10522915e-04 -9.99981229e-01 -4.88353543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters 0.05228703918644091 Centerline is valid? [True, True] Translation: X:499.79, Y:-282.41, Z:-4.88 [[ 7.47768320e-01 -6.63943210e-01 -4.68556519e-03 4.99794629e+02] [-6.63929400e-01 -7.47782994e-01 4.28317411e-03 -2.82406820e+02] [-6.34757033e-03 -9.19374202e-05 -9.99979850e-01 -4.88419367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters 0.05180742632480007 Centerline is valid? [True, True] Translation: X:499.78, Y:-282.49, Z:-4.88 [[ 7.93645500e-01 -6.08359060e-01 -5.10627043e-03 4.99776340e+02] [-6.08346031e-01 -7.93661925e-01 3.98190168e-03 -2.82486442e+02] [-6.47507838e-03 -5.38390070e-05 -9.99979035e-01 -4.88475931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters 0.05197085320990374 Centerline is valid? [True, True] Translation: X:499.76, Y:-282.57, Z:-4.89 [[ 8.36697804e-01 -5.47649569e-01 -4.09085161e-03 4.99764173e+02] [-5.47642895e-01 -8.36707804e-01 2.70382316e-03 -2.82568335e+02] [-4.90359506e-03 -2.19570793e-05 -9.99987977e-01 -4.88546442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters 0.05169500449118838 Centerline is valid? [True, True] Translation: X:499.76, Y:-282.65, Z:-4.88 [[ 8.74484299e-01 -4.85039661e-01 -3.70666374e-03 4.99760223e+02] [-4.85035317e-01 -8.74492154e-01 2.05278773e-03 -2.82645117e+02] [-4.23713182e-03 2.73218792e-06 -9.99991023e-01 -4.88485453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters 0.05225067561151723 Centerline is valid? [True, True] Translation: X:499.77, Y:-282.72, Z:-4.88 [[ 9.07749267e-01 -4.19491078e-01 -4.30151980e-03 4.99765540e+02] [-4.19486500e-01 -9.07759458e-01 1.96000344e-03 -2.82717936e+02] [-4.72694924e-03 2.52377990e-05 -9.99988828e-01 -4.88391247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters 0.051616105423781665 Centerline is valid? [True, True] Translation: X:499.77, Y:-282.79, Z:-4.88 [[ 9.37056361e-01 -3.49140524e-01 -5.12549891e-03 4.99774672e+02] [-3.49135534e-01 -9.37070378e-01 1.86705198e-03 -2.82790738e+02] [-5.45481671e-03 3.99608638e-05 -9.99985122e-01 -4.88421203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters 0.05216777693539356 Centerline is valid? [True, True] Translation: X:499.79, Y:-282.86, Z:-4.88 [[ 9.61343690e-01 -2.75287632e-01 -5.91856954e-03 4.99790477e+02] [-2.75282721e-01 -9.61361908e-01 1.64503674e-03 -2.82861164e+02] [-6.14274557e-03 4.78342390e-05 -9.99981132e-01 -4.88364509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters 0.051550982893452744 Centerline is valid? [True, True] Translation: X:499.81, Y:-282.94, Z:-4.88 [[ 9.80177240e-01 -1.98031326e-01 -6.01430251e-03 4.99809992e+02] [-1.98027847e-01 -9.80195691e-01 1.17448710e-03 -2.82937137e+02] [-6.12777864e-03 3.97938525e-05 -9.99981224e-01 -4.88474632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters 0.051358846430545196 Centerline is valid? [True, True] Translation: X:499.83, Y:-283.01, Z:-4.88 [[ 9.92772953e-01 -1.19860338e-01 -5.94668359e-03 4.99834865e+02] [-1.19858388e-01 -9.92790763e-01 6.84519765e-04 -2.83014701e+02] [-5.98585931e-03 3.31872012e-05 -9.99982084e-01 -4.88489059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters 0.05194368809260228 Centerline is valid? [True, True] Translation: X:499.86, Y:-283.09, Z:-4.88 [[ 9.99195100e-01 -3.97392930e-02 -5.47172824e-03 4.99864944e+02] [-3.97387994e-02 -9.99210082e-01 1.98935250e-04 -2.83090441e+02] [-5.47531157e-03 1.86647842e-05 -9.99985010e-01 -4.88406934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters 0.05171449615704894 Centerline is valid? [True, True] Translation: X:499.89, Y:-283.16, Z:-4.89 [[ 9.99103394e-01 4.19380146e-02 -5.79747995e-03 4.99894266e+02] [ 4.19373086e-02 -9.99120214e-01 -2.43342908e-04 -2.83158645e+02] [-5.80258473e-03 -5.98053424e-09 -9.99983165e-01 -4.88519071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters 0.05093461696569181 Centerline is valid? [True, True] Translation: X:499.93, Y:-283.23, Z:-4.88 [[ 9.92414094e-01 1.22835819e-01 -5.06244499e-03 4.99929673e+02] [ 1.22834296e-01 -9.92427006e-01 -6.11955804e-04 -2.83225508e+02] [-5.09927721e-03 -1.45283008e-05 -9.99986999e-01 -4.88467009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters 0.050046144370101985 Centerline is valid? [True, True] Translation: X:499.97, Y:-283.28, Z:-4.89 [[ 9.78682612e-01 2.05351252e-01 -3.34802004e-03 4.99968903e+02] [ 2.05350147e-01 -9.78688338e-01 -6.74151575e-04 -2.83284320e+02] [-3.41510604e-03 -2.77359834e-05 -9.99994168e-01 -4.88770938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters 0.05017792394667788 Centerline is valid? [True, True] Translation: X:500.02, Y:-283.36, Z:-4.89 [[ 9.58617978e-01 2.84676097e-01 -3.33047739e-03 5.00018349e+02] [ 2.84674525e-01 -9.58623763e-01 -9.46940621e-04 -2.83363447e+02] [-3.46224613e-03 -4.03477654e-05 -9.99994006e-01 -4.88707116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters 0.051342664858851375 Centerline is valid? [True, True] Translation: X:500.07, Y:-283.44, Z:-4.88 [[ 9.31992284e-01 3.62453129e-01 -4.25575409e-03 5.00073124e+02] [ 3.62449696e-01 -9.32001998e-01 -1.57900212e-03 -2.83437232e+02] [-4.53868557e-03 -7.08789866e-05 -9.99989698e-01 -4.88488746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters 0.05059451585081192 Centerline is valid? [True, True] Translation: X:500.13, Y:-283.49, Z:-4.88 [[ 9.00319191e-01 4.35193207e-01 -5.67692624e-03 5.00126371e+02] [ 4.35185284e-01 -9.00337082e-01 -2.62805771e-03 -2.83488509e+02] [-6.25486007e-03 -1.04423966e-04 -9.99980433e-01 -4.88415789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters 0.05100052877897795 Centerline is valid? [True, True] Translation: X:500.18, Y:-283.54, Z:-4.88 [[ 8.63589825e-01 5.04159866e-01 -5.95335806e-03 5.00183278e+02] [ 5.04148785e-01 -8.63610338e-01 -3.34460001e-03 -2.83537123e+02] [-6.82759467e-03 -1.13015691e-04 -9.99976685e-01 -4.88404626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters 0.05034519430961579 Centerline is valid? [True, True] Translation: X:500.25, Y:-283.58, Z:-4.89 [[ 8.21922319e-01 5.69561367e-01 -6.59927393e-03 5.00245040e+02] [ 5.69544231e-01 -8.21948802e-01 -4.42000538e-03 -2.83581281e+02] [-7.94172961e-03 -1.25677324e-04 -9.99968456e-01 -4.88525592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters 0.05021061652237155 Centerline is valid? [True, True] Translation: X:500.32, Y:-283.63, Z:-4.89 [[ 7.75094945e-01 6.31808347e-01 -6.78519364e-03 5.00317536e+02] [ 6.31785637e-01 -7.75124632e-01 -5.35855618e-03 -2.83631619e+02] [-8.64495125e-03 -1.33398081e-04 -9.99962623e-01 -4.88535452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters 0.04949003933864634 Centerline is valid? [True, True] Translation: X:500.39, Y:-283.67, Z:-4.88 [[ 7.24777387e-01 6.88957095e-01 -5.98831544e-03 5.00389944e+02] [ 6.88934808e-01 -7.24802117e-01 -5.54267003e-03 -2.83674194e+02] [-8.15900555e-03 -1.08357052e-04 -9.99966709e-01 -4.88426494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters 0.049758445471601055 Centerline is valid? [True, True] Translation: X:500.46, Y:-283.71, Z:-4.89 [[ 6.72212635e-01 7.40344933e-01 -4.42192792e-03 5.00460016e+02] [ 7.40329453e-01 -6.72227177e-01 -4.78786957e-03 -2.83706288e+02] [-6.51721510e-03 -5.52170597e-05 -9.99978761e-01 -4.88518828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters 0.04949054612110465 Centerline is valid? [True, True] Translation: X:500.54, Y:-283.74, Z:-4.89 [[ 6.14947960e-01 7.88559431e-01 -3.60976309e-03 5.00537808e+02] [ 7.88546125e-01 -6.14958554e-01 -4.58109935e-03 -2.83736801e+02] [-5.83232379e-03 -2.93269931e-05 -9.99982991e-01 -4.88681459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters 0.04980417431337222 Centerline is valid? [True, True] Translation: X:500.61, Y:-283.76, Z:-4.89 [[ 5.54296529e-01 8.32313847e-01 -3.00304626e-03 5.00613616e+02] [ 8.32301711e-01 -5.54304664e-01 -4.49452020e-03 -2.83760309e+02] [-5.40545394e-03 -8.14359915e-06 -9.99985390e-01 -4.88571079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters 0.04886848424818226 Centerline is valid? [True, True] Translation: X:500.69, Y:-283.78, Z:-4.89 [[ 4.87157854e-01 8.73311633e-01 -2.00410044e-03 5.00686087e+02] [ 8.73304306e-01 -4.87161976e-01 -3.57733400e-03 -2.83775156e+02] [-4.10044893e-03 -7.46318875e-06 -9.99991593e-01 -4.88540308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters 0.04891393928099457 Centerline is valid? [True, True] Translation: X:500.76, Y:-283.78, Z:-4.89 [[ 4.17228278e-01 9.08799512e-01 -2.00298856e-03 5.00760493e+02] [ 9.08789147e-01 -4.17233086e-01 -4.34036483e-03 -2.83782507e+02] [-4.78023454e-03 -9.37131687e-06 -9.99988575e-01 -4.88510852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters 0.04943469391716544 Centerline is valid? [True, True] Translation: X:500.84, Y:-283.79, Z:-4.89 [[ 3.45482511e-01 9.38422840e-01 -2.09945421e-03 5.00843956e+02] [ 9.38405653e-01 -3.45488890e-01 -5.67952071e-03 -2.83787899e+02] [-6.05513006e-03 -7.96462212e-06 -9.99981668e-01 -4.88564054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters 0.04975681082354367 Centerline is valid? [True, True] Translation: X:500.93, Y:-283.79, Z:-4.89 [[ 2.71201218e-01 9.62521122e-01 -1.72872475e-03 5.00931810e+02] [ 9.62501735e-01 -2.71206728e-01 -6.10901307e-03 -2.83788184e+02] [-6.34889590e-03 -7.12878768e-06 -9.99979846e-01 -4.88630953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters 0.0493762283351651 Centerline is valid? [True, True] Translation: X:501.02, Y:-283.78, Z:-4.88 [[ 1.95368475e-01 9.80729275e-01 -1.11683443e-03 5.01021247e+02] [ 9.80713384e-01 -1.95371667e-01 -5.58305444e-03 -2.83783258e+02] [-5.69366274e-03 -4.54164068e-06 -9.99983791e-01 -4.88445243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters 0.04928088878410145 Centerline is valid? [True, True] Translation: X:501.10, Y:-283.77, Z:-4.88 [[ 1.17987771e-01 9.93014792e-01 -7.13506753e-04 5.01103473e+02] [ 9.92996903e-01 -1.17989928e-01 -5.96052401e-03 -2.83768805e+02] [-6.00307512e-03 -5.24105477e-06 -9.99981981e-01 -4.88404712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters 0.04946100068511002 Centerline is valid? [True, True] Translation: X:501.19, Y:-283.75, Z:-4.88 [[ 3.90993008e-02 9.99235295e-01 -2.63373561e-04 5.01185093e+02] [ 9.99214513e-01 -3.91001862e-02 -6.44450692e-03 -2.83747926e+02] [-6.44987673e-03 -1.11909702e-05 -9.99979199e-01 -4.88360489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters 0.04959686648010932 Centerline is valid? [True, True] Translation: X:501.26, Y:-283.72, Z:-4.88 [[-4.27810308e-02 9.99084440e-01 2.55230732e-04 5.01264614e+02] [ 9.99061251e-01 4.27817768e-02 -6.80706288e-03 -2.83720221e+02] [-6.81174983e-03 -3.62220329e-05 -9.99976799e-01 -4.88379650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters 0.050181144646050634 Centerline is valid? [True, True] Translation: X:501.34, Y:-283.69, Z:-4.88 [[-1.27478740e-01 9.91841001e-01 7.73979448e-04 5.01343443e+02] [ 9.91818683e-01 1.27481064e-01 -6.65425668e-03 -2.83687317e+02] [-6.69863233e-03 -8.06289779e-05 -9.99977561e-01 -4.88378648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters 0.04936706421599303 Centerline is valid? [True, True] Translation: X:501.42, Y:-283.65, Z:-4.88 [[-2.09308714e-01 9.77848817e-01 1.24605279e-03 5.01420496e+02] [ 9.77828280e-01 2.09312395e-01 -6.33850647e-03 -2.83647290e+02] [-6.45891535e-03 -1.08278981e-04 -9.99979135e-01 -4.88415675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters 0.05060150770649915 Centerline is valid? [True, True] Translation: X:501.50, Y:-283.60, Z:-4.88 [[-2.90312698e-01 9.56930694e-01 1.47758056e-03 5.01499686e+02] [ 9.56916090e-01 2.90316433e-01 -5.28814808e-03 -2.83601066e+02] [-5.48935713e-03 -1.21295925e-04 -9.99984926e-01 -4.88416589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters 0.049621780604168365 Centerline is valid? [True, True] Translation: X:501.56, Y:-283.55, Z:-4.89 [[-3.66415318e-01 9.30450300e-01 1.43309246e-03 5.01562157e+02] [ 9.30442066e-01 3.66418106e-01 -3.91576307e-03 -2.83552160e+02] [-4.16853395e-03 -1.01386063e-04 -9.99991307e-01 -4.88575096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters 0.049911241866882734 Centerline is valid? [True, True] Translation: X:501.62, Y:-283.50, Z:-4.89 [[-4.38340908e-01 8.98808071e-01 1.14004712e-03 5.01624912e+02] [ 8.98804623e-01 4.38342385e-01 -2.49069330e-03 -2.83495925e+02] [-2.73838622e-03 -6.70931384e-05 -9.99996248e-01 -4.88708387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters 0.048714030703566745 Centerline is valid? [True, True] Translation: X:501.68, Y:-283.43, Z:-4.89 [[-5.04860948e-01 8.63199591e-01 1.37482248e-03 5.01684362e+02] [ 8.63196054e-01 5.04862816e-01 -2.47194698e-03 -2.83434444e+02] [-2.82788037e-03 -6.12481570e-05 -9.99996000e-01 -4.88691497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters 0.048604549242492204 Centerline is valid? [True, True] Translation: X:501.74, Y:-283.37, Z:-4.89 [[-5.65063450e-01 8.25044527e-01 2.19687171e-03 5.01740080e+02] [ 8.25037885e-01 5.65067717e-01 -3.31106472e-03 -2.83368276e+02] [-3.97315710e-03 -5.84592643e-05 -9.99992105e-01 -4.88625517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters 0.04861189892896464 Centerline is valid? [True, True] Translation: X:501.79, Y:-283.30, Z:-4.89 [[-6.21596822e-01 7.83331907e-01 2.91797725e-03 5.01788217e+02] [ 7.83323036e-01 6.21603670e-01 -3.72813918e-03 -2.83301298e+02] [-4.73419574e-03 -3.16806633e-05 -9.99988793e-01 -4.88570999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters 0.04940599196781064 Centerline is valid? [True, True] Translation: X:501.83, Y:-283.23, Z:-4.88 [[-6.76860493e-01 7.36102869e-01 3.52698547e-03 5.01828002e+02] [ 7.36092831e-01 6.76869682e-01 -3.84416386e-03 -2.83234459e+02] [-5.21700958e-03 -5.77392353e-06 -9.99986391e-01 -4.88363654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters 0.04956273216192691 Centerline is valid? [True, True] Translation: X:501.86, Y:-283.17, Z:-4.89 [[-7.28218166e-01 6.85332462e-01 4.20932040e-03 5.01855104e+02] [ 6.85321241e-01 7.28230331e-01 -3.92198561e-03 -2.83172788e+02] [-5.75321884e-03 2.86755155e-05 -9.99983450e-01 -4.88532645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters 0.05002904629809287 Centerline is valid? [True, True] Translation: X:501.24, Y:-282.54, Z:-4.89 [[-7.66714442e-01 6.41980977e-01 3.06422499e-03 5.01235595e+02] [ 6.41976212e-01 7.66720562e-01 -2.47448212e-03 -2.82539618e+02] [-3.93797476e-03 6.99383763e-05 -9.99992244e-01 -4.88500386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters 0.050490481426989364 Centerline is valid? [True, True] Translation: X:501.59, Y:-282.70, Z:-4.89 [[-8.03436132e-01 5.95385747e-01 2.48876664e-03 5.01592754e+02] [ 5.95383257e-01 8.03439981e-01 -1.72441881e-03 -2.82702154e+02] [-3.02626900e-03 9.63096114e-05 -9.99995416e-01 -4.88699016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters 0.05082731119848889 Centerline is valid? [True, True] Translation: X:501.54, Y:-282.57, Z:-4.89 [[-8.38652218e-01 5.44661777e-01 2.45063127e-03 5.01543531e+02] [ 5.44659853e-01 8.38655791e-01 -1.45226080e-03 -2.82571606e+02] [-2.84622705e-03 1.16818725e-04 -9.99995943e-01 -4.88681395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters 0.05257916129148166 Centerline is valid? [True, True] Translation: X:501.58, Y:-282.52, Z:-4.89 [[-8.71116736e-01 4.91068047e-01 2.79384687e-03 5.01583696e+02] [ 4.91066081e-01 8.71121203e-01 -1.39792639e-03 -2.82516036e+02] [-3.12025623e-03 1.54206357e-04 -9.99995120e-01 -4.88654180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters 0.05201521840471871 Centerline is valid? [True, True] Translation: X:501.69, Y:-282.44, Z:-4.89 [[-9.01067920e-01 4.33671989e-01 2.28259038e-03 5.01693655e+02] [ 4.33670980e-01 9.01070800e-01 -9.45663157e-04 -2.82443271e+02] [-2.46688316e-03 1.37786472e-04 -9.99996948e-01 -4.88691954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters 0.052830915384245995 Centerline is valid? [True, True] Translation: X:501.35, Y:-282.23, Z:-4.88 [[-9.31418025e-01 3.63948307e-01 1.44627530e-03 5.01352566e+02] [ 3.63947996e-01 9.31419145e-01 -4.82058083e-04 -2.82232844e+02] [-1.52253272e-03 7.73714084e-05 -9.99998838e-01 -4.88420312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters 0.051416629307326774 Centerline is valid? [True, True] Translation: X:501.56, Y:-282.19, Z:-4.88 [[-9.59444786e-01 2.81895477e-01 8.02134173e-04 5.01559756e+02] [ 2.81895405e-01 9.59445120e-01 -2.03857983e-04 -2.82190823e+02] [-8.27070362e-04 3.05274590e-05 -9.99999658e-01 -4.88313807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters 0.05153102102284505 Centerline is valid? [True, True] Translation: X:501.46, Y:-282.08, Z:-4.88 [[-9.79364693e-01 2.02096764e-01 1.30217495e-03 5.01459626e+02] [ 2.02096631e-01 9.79365558e-01 -2.34536675e-04 -2.82080168e+02] [-1.32270440e-03 3.34682317e-05 -9.99999125e-01 -4.88244985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters 0.05101049614165654 Centerline is valid? [True, True] Translation: X:501.67, Y:-281.52, Z:-5.88 [[-9.71889286e-01 -2.35433718e-01 1.47679303e-03 5.01666189e+02] [ 2.35433412e-01 -9.71890407e-01 -3.80139311e-04 -2.81524265e+02] [ 1.52477859e-03 -2.17669003e-05 9.99998837e-01 -5.88242764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters 0.05115405877263325 Centerline is valid? [True, True] Translation: X:500.99, Y:-281.44, Z:-5.88 [[-9.49483890e-01 -3.13814820e-01 7.74934732e-04 5.00992021e+02] [ 3.13814658e-01 -9.49484204e-01 -3.25772004e-04 -2.81435436e+02] [ 8.38020370e-04 -6.61293913e-05 9.99999647e-01 -5.88345854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters 0.05089075359996953 Centerline is valid? [True, True] Translation: X:501.36, Y:-282.11, Z:-4.88 [[-9.75091707e-01 2.21799962e-01 9.69823392e-04 5.01360588e+02] [ 2.21799840e-01 9.75092189e-01 -2.33123719e-04 -2.82107042e+02] [-9.97374046e-04 -1.22103326e-05 -9.99999503e-01 -4.87969745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters 0.052269796616277 Centerline is valid? [True, True] Translation: X:500.66, Y:-281.38, Z:-5.89 [[-9.47180017e-01 -3.20697533e-01 1.76301493e-03 5.00661876e+02] [ 3.20697133e-01 -9.47181654e-01 -5.13217556e-04 -2.81379768e+02] [ 1.83448300e-03 7.92844183e-05 9.99998314e-01 -5.88610948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters 0.05103061743102207 Centerline is valid? [True, True] Translation: X:500.50, Y:-281.87, Z:-4.88 [[-9.78996557e-01 2.03864221e-01 2.26286831e-03 5.00496125e+02] [ 2.03863525e-01 9.78999170e-01 -5.36562446e-04 -2.81867720e+02] [-2.32473208e-03 -6.39764764e-05 -9.99997296e-01 -4.87664451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters 0.05238627726386775 Centerline is valid? [True, True] Translation: X:500.47, Y:-281.78, Z:-4.87 [[-9.91264815e-01 1.31831784e-01 3.80107871e-03 5.00469409e+02] [ 1.31830372e-01 9.91272096e-01 -6.20644829e-04 -2.81776687e+02] [-3.84972397e-03 -1.14125761e-04 -9.99992583e-01 -4.87479962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters 0.05155340173262673 Centerline is valid? [True, True] Translation: X:500.42, Y:-281.70, Z:-4.87 [[-9.98119499e-01 6.09307104e-02 6.70183922e-03 5.00418628e+02] [ 6.09279833e-02 9.98141978e-01 -6.10520531e-04 -2.81698529e+02] [-6.72658650e-03 -2.01042899e-04 -9.99977356e-01 -4.87276935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters 0.0521869471337437 Centerline is valid? [True, True] Translation: X:500.39, Y:-281.18, Z:-5.89 [[-9.82758548e-01 -1.84702102e-01 8.41254151e-03 5.00387645e+02] [ 1.84698500e-01 -9.82794485e-01 -1.20980998e-03 -2.81183307e+02] [ 8.49125385e-03 3.64832697e-04 9.99963882e-01 -5.89385161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters 0.051012789314986914 Centerline is valid? [True, True] Translation: X:500.24, Y:-281.69, Z:-4.87 [[-9.98094638e-01 6.10504499e-02 8.94067306e-03 5.00243990e+02] [ 6.10458969e-02 9.98134654e-01 -7.81523980e-04 -2.81689222e+02] [-8.97170800e-03 -2.34243488e-04 -9.99959726e-01 -4.87061413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters 0.05130931251851 Centerline is valid? [True, True] Translation: X:500.23, Y:-281.16, Z:-5.89 [[-9.84598362e-01 -1.74550524e-01 9.90859482e-03 5.00232842e+02] [ 1.74544984e-01 -9.84648166e-01 -1.42786430e-03 -2.81156365e+02] [ 1.00057142e-02 3.23622673e-04 9.99949889e-01 -5.89268242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters 0.05055811739460225 Centerline is valid? [True, True] Translation: X:500.20, Y:-281.71, Z:-4.87 [[-9.97454984e-01 7.07930206e-02 8.47951798e-03 5.00204982e+02] [ 7.07895838e-02 9.97491021e-01 -7.05137219e-04 -2.81711858e+02] [-8.50816184e-03 -1.03081085e-04 -9.99963800e-01 -4.87337693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters 0.05074030140259935 Centerline is valid? [True, True] Translation: X:499.85, Y:-281.63, Z:-4.88 [[-9.99948446e-01 8.20337106e-03 5.98421950e-03 4.99851809e+02] [ 8.20308502e-03 9.99966352e-01 -7.23425403e-05 -2.81629993e+02] [-5.98461159e-03 -2.32497494e-05 -9.99982092e-01 -4.87673438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters 0.05055246163919964 Centerline is valid? [True, True] Translation: X:499.85, Y:-281.57, Z:-4.88 [[-9.98735776e-01 -5.01474426e-02 3.47628543e-03 4.99849934e+02] [-5.01470292e-02 9.98741825e-01 2.06044469e-04 -2.81571160e+02] [-3.48224426e-03 3.14585950e-05 -9.99993937e-01 -4.87929821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters 0.05055541303548132 Centerline is valid? [True, True] Translation: X:500.15, Y:-281.47, Z:-4.88 [[-9.92982265e-01 -1.18245907e-01 2.03167585e-03 5.00148469e+02] [-1.18245592e-01 9.92984342e-01 2.75318954e-04 -2.81467074e+02] [-2.04997765e-03 3.31501258e-05 -9.99997898e-01 -4.88071915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters 0.05052902184792721 Centerline is valid? [True, True] Translation: X:500.26, Y:-281.36, Z:-4.88 [[-9.82680936e-01 -1.85286747e-01 2.64561726e-03 5.00264309e+02] [-1.85285908e-01 9.82684495e-01 5.61081606e-04 -2.81361438e+02] [-2.70376805e-03 6.11686010e-05 -9.99996343e-01 -4.88058609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters 0.05059372288585435 Centerline is valid? [True, True] Translation: X:499.67, Y:-281.42, Z:-4.88 [[-9.67255626e-01 -2.53777561e-01 3.67457165e-03 4.99674316e+02] [-2.53775379e-01 9.67262602e-01 1.05630477e-03 -2.81420634e+02] [-3.82234218e-03 8.92009160e-05 -9.99992691e-01 -4.87912372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters 0.05003196334048442 Centerline is valid? [True, True] Translation: X:498.89, Y:-281.60, Z:-4.88 [[-9.45333402e-01 -3.26074090e-01 4.52182311e-03 4.98894652e+02] [-3.26069906e-01 9.45344212e-01 1.65419024e-03 -2.81597796e+02] [-4.81406788e-03 8.93308524e-05 -9.99988408e-01 -4.87729806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters 0.0500328926240494 Centerline is valid? [True, True] Translation: X:498.90, Y:-281.51, Z:-4.88 [[-9.16491891e-01 -4.00029711e-01 4.34099840e-03 4.98895212e+02] [-4.00024897e-01 9.16502169e-01 1.96361077e-03 -2.81514850e+02] [-4.76403710e-03 6.31259101e-05 -9.99988650e-01 -4.87787898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters 0.049365981537208135 Centerline is valid? [True, True] Translation: X:498.68, Y:-281.54, Z:-4.88 [[-8.81331473e-01 -4.72490928e-01 2.67554522e-03 4.98681529e+02] [-4.72488711e-01 8.81335534e-01 1.44762102e-03 -2.81535646e+02] [-3.04204087e-03 1.16690521e-05 -9.99995373e-01 -4.87859029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters 0.04905581200792818 Centerline is valid? [True, True] Translation: X:498.57, Y:-281.51, Z:-4.88 [[-8.40349319e-01 -5.42042800e-01 1.62027336e-03 4.98571259e+02] [-5.42041809e-01 8.40350881e-01 1.03666776e-03 -2.81511597e+02] [-1.92351644e-03 -7.09285744e-06 -9.99998150e-01 -4.87883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters 0.04834967532572134 Centerline is valid? [True, True] Translation: X:498.48, Y:-281.48, Z:-4.88 [[-7.90652199e-01 -6.12264829e-01 9.37998671e-04 4.98481071e+02] [-6.12264426e-01 7.90652755e-01 7.02356982e-04 -2.81477721e+02] [-1.17165971e-03 -1.89831253e-05 -9.99999313e-01 -4.87978461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters 0.049848021226263105 Centerline is valid? [True, True] Translation: X:498.38, Y:-281.44, Z:-4.88 [[-7.36511585e-01 -6.76423943e-01 1.15566264e-03 4.98381611e+02] [-6.76423195e-01 7.36512490e-01 1.00661971e-03 -2.81444028e+02] [-1.53206164e-03 -4.03299403e-05 -9.99998826e-01 -4.87948747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters 0.049486582444228135 Centerline is valid? [True, True] Translation: X:498.22, Y:-281.49, Z:-4.88 [[-6.85409104e-01 -7.28152834e-01 2.79461069e-03 4.98215481e+02] [-7.28147397e-01 6.85414794e-01 2.81574448e-03 -2.81488946e+02] [-3.96575983e-03 -1.04951598e-04 -9.99992131e-01 -4.87646665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters 0.04892339979128967 Centerline is valid? [True, True] Translation: X:498.03, Y:-281.58, Z:-4.88 [[-6.33358044e-01 -7.73849437e-01 3.82583046e-03 4.98028534e+02] [-7.73836608e-01 6.33369584e-01 4.45806444e-03 -2.81575467e+02] [-5.87303530e-03 -1.37016696e-04 -9.99982744e-01 -4.87522826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters 0.049334400703147936 Centerline is valid? [True, True] Translation: X:497.86, Y:-281.66, Z:-4.88 [[-5.74649964e-01 -8.18390300e-01 3.83874705e-03 4.97857330e+02] [-8.18373791e-01 5.74662765e-01 5.20036755e-03 -2.81659978e+02] [-6.46191535e-03 -1.53138948e-04 -9.99979110e-01 -4.87609261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters 0.049718733530880174 Centerline is valid? [True, True] Translation: X:497.69, Y:-281.76, Z:-4.88 [[-5.12113753e-01 -8.58908119e-01 4.04317375e-03 4.97691770e+02] [-8.58884194e-01 5.12129678e-01 6.41356696e-03 -2.81759523e+02] [-7.57929401e-03 -1.88142181e-04 -9.99971259e-01 -4.87511393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters 0.04893725593674209 Centerline is valid? [True, True] Translation: X:497.50, Y:-281.93, Z:-4.87 [[-4.49863032e-01 -8.93088029e-01 4.12616442e-03 4.97502326e+02] [-8.93054480e-01 4.49881910e-01 7.74362228e-03 -2.81930675e+02] [-8.77202309e-03 -2.01320223e-04 -9.99961505e-01 -4.87336147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters 0.049014789510132856 Centerline is valid? [True, True] Translation: X:497.35, Y:-282.07, Z:-4.87 [[-3.86079310e-01 -9.22458476e-01 3.62293277e-03 4.97350965e+02] [-9.22422007e-01 3.86096269e-01 8.20433474e-03 -2.82073554e+02] [-8.96695895e-03 -1.74349017e-04 -9.99959781e-01 -4.87494557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters 0.04879209918346722 Centerline is valid? [True, True] Translation: X:497.18, Y:-282.29, Z:-4.88 [[-3.21321605e-01 -9.46965875e-01 2.83849600e-03 4.97182799e+02] [-9.46932422e-01 3.21334116e-01 7.96080912e-03 -2.82291061e+02] [-8.45072018e-03 -1.29883928e-04 -9.99964284e-01 -4.87536393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters 0.049609190085510846 Centerline is valid? [True, True] Translation: X:497.05, Y:-282.46, Z:-4.88 [[-2.50990125e-01 -9.67986831e-01 2.33500181e-03 4.97046008e+02] [-9.67949649e-01 2.51000952e-01 8.48521981e-03 -2.82463594e+02] [-8.79966871e-03 -1.30457804e-04 -9.99961274e-01 -4.87531423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters 0.04859911895509007 Centerline is valid? [True, True] Translation: X:496.92, Y:-282.64, Z:-4.87 [[-1.77932383e-01 -9.84040664e-01 2.00949117e-03 4.96924056e+02] [-9.83987758e-01 1.77943657e-01 1.02052595e-02 -2.82636888e+02] [-1.03999665e-02 -1.61468570e-04 -9.99945906e-01 -4.87481243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters 0.04999518129531428 Centerline is valid? [True, True] Translation: X:496.81, Y:-282.87, Z:-4.87 [[-1.05761354e-01 -9.94390625e-01 1.34944928e-03 4.96808276e+02] [-9.94328203e-01 1.05769837e-01 1.11430330e-02 -2.82865105e+02] [-1.12232586e-02 -1.63293210e-04 -9.99937004e-01 -4.87457203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters 0.04954399569283157 Centerline is valid? [True, True] Translation: X:496.71, Y:-283.12, Z:-4.88 [[-3.64209978e-02 -9.99336411e-01 4.98042135e-04 4.96710236e+02] [-9.99279456e-01 3.64242396e-02 1.06697844e-02 -2.83122555e+02] [-1.06808449e-02 -1.09079079e-04 -9.99942952e-01 -4.87603812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters 0.049718826366167965 Centerline is valid? [True, True] Translation: X:496.63, Y:-283.38, Z:-4.88 [[ 3.25701635e-02 -9.99469418e-01 -2.60028722e-04 4.96633421e+02] [-9.99424323e-01 -3.25711641e-02 9.49425824e-03 -2.83375744e+02] [-9.49769020e-03 -4.93505132e-05 -9.99954895e-01 -4.87776593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters 0.04958792585692041 Centerline is valid? [True, True] Translation: X:496.54, Y:-283.20, Z:-4.88 [[ 9.95799699e-02 -9.95029350e-01 -6.49143518e-04 4.96542528e+02] [-9.95009464e-01 -9.95820838e-02 6.29086002e-03 -2.83197232e+02] [-6.32423342e-03 1.94602927e-05 -9.99980002e-01 -4.88201660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters 0.0502083973057743 Centerline is valid? [True, True] Translation: X:496.60, Y:-284.17, Z:-4.88 [[ 1.65531241e-01 -9.86204024e-01 -1.01513075e-03 4.96598953e+02] [-9.86187117e-01 -1.65534347e-01 5.77501191e-03 -2.84168774e+02] [-5.86337900e-03 4.51639761e-05 -9.99982809e-01 -4.87961894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters 0.05148688443985735 Centerline is valid? [True, True] Translation: X:496.58, Y:-284.42, Z:-4.88 [[ 2.35393616e-01 -9.71898951e-01 -1.50812625e-03 4.96580666e+02] [-9.71880736e-01 -2.35398438e-01 5.95074172e-03 -2.84424297e+02] [-6.13853020e-03 6.49522451e-05 -9.99981157e-01 -4.87914805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters 0.05026212873987365 Centerline is valid? [True, True] Translation: X:496.56, Y:-284.63, Z:-4.88 [[ 3.09568018e-01 -9.50875060e-01 -2.06468920e-03 4.96562653e+02] [-9.50854996e-01 -3.09574899e-01 6.17717609e-03 -2.84632553e+02] [-6.51289864e-03 5.09638840e-05 -9.99978790e-01 -4.87794960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters 0.050741798263648705 Centerline is valid? [True, True] Translation: X:496.56, Y:-284.86, Z:-4.88 [[ 3.83822260e-01 -9.23401701e-01 -3.12597795e-03 4.96563696e+02] [-9.23371555e-01 -3.83834989e-01 7.46140104e-03 -2.84864091e+02] [-8.08973012e-03 2.25873088e-05 -9.99967277e-01 -4.87784519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters 0.049754250774934776 Centerline is valid? [True, True] Translation: X:496.56, Y:-285.03, Z:-4.88 [[ 4.55023451e-01 -8.90471592e-01 -3.74212044e-03 4.96557227e+02] [-8.90441263e-01 -4.55038838e-01 7.34932306e-03 -2.85033658e+02] [-8.24717354e-03 -1.19758936e-05 -9.99965991e-01 -4.87788654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters 0.04967209473059001 Centerline is valid? [True, True] Translation: X:496.56, Y:-285.20, Z:-4.88 [[ 5.24929110e-01 -8.51138560e-01 -3.54702110e-03 4.96557816e+02] [-8.51118447e-01 -5.24941091e-01 5.85152385e-03 -2.85198343e+02] [-6.84243471e-03 -5.27001191e-05 -9.99976589e-01 -4.87916242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters 0.05017341191415466 Centerline is valid? [True, True] Translation: X:496.60, Y:-285.41, Z:-4.88 [[ 5.87979530e-01 -8.08867740e-01 -3.61268996e-03 4.96601593e+02] [-8.08851831e-01 -5.87990625e-01 5.07340449e-03 -2.85406892e+02] [-6.22794105e-03 -6.09270932e-05 -9.99980604e-01 -4.87953555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters 0.050382694954807745 Centerline is valid? [True, True] Translation: X:496.63, Y:-285.58, Z:-4.88 [[ 6.49943636e-01 -7.59973724e-01 -3.63440668e-03 4.96627627e+02] [-7.59961099e-01 -6.49953792e-01 4.38126386e-03 -2.85578903e+02] [-5.69184181e-03 -8.55668691e-05 -9.99983798e-01 -4.87791000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters 0.05012994182737607 Centerline is valid? [True, True] Translation: X:496.70, Y:-285.77, Z:-4.88 [[ 7.05524470e-01 -7.08668610e-01 -4.90125257e-03 4.96697166e+02] [-7.08650310e-01 -7.05541484e-01 5.09439106e-03 -2.85769364e+02] [-7.06827204e-03 -1.20943401e-04 -9.99975012e-01 -4.87833898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters 0.04969247476780936 Centerline is valid? [True, True] Translation: X:496.77, Y:-285.95, Z:-4.88 [[ 7.55415383e-01 -6.55219590e-01 -5.90666241e-03 4.96772651e+02] [-6.55198171e-01 -7.55438463e-01 5.29949844e-03 -2.85947742e+02] [-7.93445517e-03 -1.33288237e-04 -9.99968513e-01 -4.87863726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters 0.04994940052171575 Centerline is valid? [True, True] Translation: X:496.74, Y:-286.04, Z:-4.88 [[ 8.02641365e-01 -5.96412326e-01 -7.69262017e-03 4.96744223e+02] [-5.96383310e-01 -8.02678216e-01 5.88463793e-03 -2.86035285e+02] [-9.68436924e-03 -1.35503540e-04 -9.99953096e-01 -4.87776732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters 0.0494630968425286 Centerline is valid? [True, True] Translation: X:496.73, Y:-286.12, Z:-4.88 [[ 8.43661210e-01 -5.36799755e-01 -9.04355183e-03 4.96725733e+02] [-5.36767800e-01 -8.43709675e-01 5.85784701e-03 -2.86120530e+02] [-1.07746230e-02 -8.77508783e-05 -9.99941948e-01 -4.87709464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters 0.05051965400546127 Centerline is valid? [True, True] Translation: X:496.71, Y:-286.20, Z:-4.88 [[ 8.80445193e-01 -4.74047276e-01 -9.76943414e-03 4.96714676e+02] [-4.74017724e-01 -8.80499392e-01 5.29320280e-03 -2.86203080e+02] [-1.11112092e-02 -2.94900222e-05 -9.99938268e-01 -4.87620368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters 0.050618315733029606 Centerline is valid? [True, True] Translation: X:496.71, Y:-286.28, Z:-4.88 [[ 9.11187755e-01 -4.11883635e-01 -9.42053058e-03 4.96714846e+02] [-4.11862351e-01 -9.11236450e-01 4.18773220e-03 -2.86279122e+02] [-1.03091892e-02 6.41515709e-05 -9.99946857e-01 -4.87664021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters 0.04981173687425583 Centerline is valid? [True, True] Translation: X:496.72, Y:-286.35, Z:-4.88 [[ 9.39165983e-01 -3.43332338e-01 -9.49532687e-03 4.96719420e+02] [-3.43315916e-01 -9.39213977e-01 3.35964934e-03 -2.86352905e+02] [-1.00716200e-02 1.04628468e-04 -9.99949275e-01 -4.87663200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters 0.05021072513168144 Centerline is valid? [True, True] Translation: X:496.73, Y:-286.44, Z:-4.88 [[ 9.62723126e-01 -2.70311149e-01 -9.80130000e-03 4.96727767e+02] [-2.70298415e-01 -9.62773010e-01 2.62654420e-03 -2.86436726e+02] [-1.01464113e-02 1.20641014e-04 -9.99948517e-01 -4.87887287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters 0.05014782258430984 Centerline is valid? [True, True] Translation: X:496.75, Y:-286.50, Z:-4.87 [[ 9.81360491e-01 -1.91853370e-01 -1.11297872e-02 4.96745702e+02] [-1.91842269e-01 -9.81423595e-01 2.06653830e-03 -2.86503668e+02] [-1.13195081e-02 1.07144587e-04 -9.99935927e-01 -4.87306076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters 0.050318180936998164 Centerline is valid? [True, True] Translation: X:496.77, Y:-286.58, Z:-4.88 [[ 9.93679832e-01 -1.11623187e-01 -1.18598645e-02 4.96768261e+02] [-1.11616169e-01 -9.93750602e-01 1.25407194e-03 -2.86575511e+02] [-1.19257310e-02 7.76066435e-05 -9.99928883e-01 -4.87627330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters 0.04992388106926308 Centerline is valid? [True, True] Translation: X:496.80, Y:-286.66, Z:-4.88 [[ 9.99530435e-01 -2.82062221e-02 -1.19715458e-02 4.96795527e+02] [-2.82043625e-02 -9.99602125e-01 3.24168405e-04 -2.86658371e+02] [-1.19759262e-02 1.36336310e-05 -9.99928286e-01 -4.87507425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters 0.049749452058043854 Centerline is valid? [True, True] Translation: X:496.83, Y:-286.74, Z:-4.88 [[ 9.98469285e-01 5.40966988e-02 -1.15167251e-02 4.96825380e+02] [ 5.40934834e-02 -9.98535701e-01 -5.90737022e-04 -2.86737662e+02] [-1.15318181e-02 -3.31470056e-05 -9.99933506e-01 -4.87639074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters 0.05034629329677075 Centerline is valid? [True, True] Translation: X:496.86, Y:-286.81, Z:-4.88 [[ 9.91009503e-01 1.33332686e-01 -1.10707110e-02 4.96860391e+02] [ 1.33324891e-01 -9.91071336e-01 -1.44248522e-03 -2.86809993e+02] [-1.11641947e-02 -4.64847794e-05 -9.99937677e-01 -4.87733556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters 0.05000169835522496 Centerline is valid? [True, True] Translation: X:496.90, Y:-286.88, Z:-4.88 [[ 9.77448344e-01 2.10954301e-01 -9.64459373e-03 4.96902365e+02] [ 2.10944497e-01 -9.77495924e-01 -2.03437480e-03 -2.86881913e+02] [-9.85671117e-03 -4.59776899e-05 -9.99951420e-01 -4.87851118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters 0.049498984476000096 Centerline is valid? [True, True] Translation: X:496.95, Y:-286.95, Z:-4.88 [[ 9.57645411e-01 2.87842836e-01 -7.85923884e-03 4.96949033e+02] [ 2.87833548e-01 -9.57677659e-01 -2.31279154e-03 -2.86953040e+02] [-8.19233793e-03 -4.73183992e-05 -9.99966441e-01 -4.87669001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters 0.050264752136388945 Centerline is valid? [True, True] Translation: X:497.00, Y:-287.02, Z:-4.88 [[ 9.31857927e-01 3.62770231e-01 -6.20992910e-03 4.97001673e+02] [ 3.62762496e-01 -9.31878617e-01 -2.36938988e-03 -2.87017460e+02] [-6.64644425e-03 -4.47946376e-05 -9.99977911e-01 -4.88011096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters 0.04970681459975836 Centerline is valid? [True, True] Translation: X:497.06, Y:-287.08, Z:-4.88 [[ 9.00017328e-01 4.35820687e-01 -5.39803827e-03 4.97060721e+02] [ 4.35813171e-01 -9.00033514e-01 -2.55996681e-03 -2.87084339e+02] [-5.97410185e-03 -4.85216882e-05 -9.99982154e-01 -4.87826896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters 0.049525936084487666 Centerline is valid? [True, True] Translation: X:497.12, Y:-287.14, Z:-4.88 [[ 8.62747478e-01 5.05591578e-01 -6.62911743e-03 4.97124119e+02] [ 5.05577259e-01 -8.62772943e-01 -3.80568985e-03 -2.87142085e+02] [-7.64354790e-03 -6.81816942e-05 -9.99970785e-01 -4.87875124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters 0.05060854634786323 Centerline is valid? [True, True] Translation: X:497.19, Y:-287.19, Z:-4.88 [[ 8.20436016e-01 5.71685470e-01 -7.77603110e-03 4.97189392e+02] [ 5.71660780e-01 -8.20472861e-01 -5.31382889e-03 -2.87192773e+02] [-9.41786125e-03 -8.55954012e-05 -9.99955647e-01 -4.87674849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters 0.05000988127615767 Centerline is valid? [True, True] Translation: X:497.26, Y:-287.24, Z:-4.88 [[ 7.73849566e-01 6.33304752e-01 -9.05206521e-03 4.97258839e+02] [ 6.33262835e-01 -7.73902502e-01 -7.28693481e-03 -2.87236867e+02] [-1.16202664e-02 -9.33451300e-05 -9.99932478e-01 -4.87590323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters 0.050385699545044384 Centerline is valid? [True, True] Translation: X:497.33, Y:-287.27, Z:-4.88 [[ 7.22795766e-01 6.91005683e-01 -8.79930392e-03 4.97330094e+02] [ 6.90955859e-01 -7.22849320e-01 -8.29825570e-03 -2.87274870e+02] [-1.20947127e-02 -8.19865157e-05 -9.99926853e-01 -4.87555915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters 0.05049493477892916 Centerline is valid? [True, True] Translation: X:497.41, Y:-287.31, Z:-4.88 [[ 6.68428290e-01 7.43743033e-01 -7.06557437e-03 4.97407981e+02] [ 7.43702189e-01 -6.68465631e-01 -7.79452834e-03 -2.87310318e+02] [-1.05202198e-02 -4.45998812e-05 -9.99944660e-01 -4.87849127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters 0.05006789918418109 Centerline is valid? [True, True] Translation: X:497.49, Y:-287.34, Z:-4.88 [[ 6.10535746e-01 7.91968593e-01 -5.64365832e-03 4.97486898e+02] [ 7.91934938e-01 -6.10561830e-01 -7.30104586e-03 -2.87339305e+02] [-9.22800137e-03 -1.18607210e-05 -9.99957421e-01 -4.87939386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters 0.0504842129609436 Centerline is valid? [True, True] Translation: X:497.56, Y:-287.36, Z:-4.88 [[ 5.52242623e-01 8.33668130e-01 -5.05308383e-03 4.97561909e+02] [ 8.33632414e-01 -5.52265739e-01 -7.71705318e-03 -2.87359545e+02] [-9.22410636e-03 4.92712215e-05 -9.99957456e-01 -4.87849130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters 0.04986328726792164 Centerline is valid? [True, True] Translation: X:497.63, Y:-287.37, Z:-4.88 [[ 4.90280587e-01 8.71555114e-01 -4.07793355e-03 4.97632207e+02] [ 8.71523365e-01 -4.90297537e-01 -7.43975330e-03 -2.87369072e+02] [-8.48355581e-03 9.35522447e-05 -9.99964010e-01 -4.87853008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters 0.050401945363552594 Centerline is valid? [True, True] Translation: X:497.70, Y:-287.37, Z:-4.88 [[ 4.22417866e-01 9.06394044e-01 -3.60327900e-03 4.97701632e+02] [ 9.06358727e-01 -4.22433218e-01 -8.00209086e-03 -2.87374214e+02] [-8.77519224e-03 1.14362778e-04 -9.99961491e-01 -4.87956689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters 0.0508421591306119 Centerline is valid? [True, True] Translation: X:497.79, Y:-287.38, Z:-4.88 [[ 3.49344429e-01 9.36989092e-01 -3.14821475e-03 4.97787472e+02] [ 9.36948085e-01 -3.49358596e-01 -8.76683363e-03 -2.87378479e+02] [-9.31428337e-03 1.12930703e-04 -9.99956615e-01 -4.88125899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters 0.05026199528104725 Centerline is valid? [True, True] Translation: X:497.87, Y:-287.38, Z:-4.88 [[ 2.71742558e-01 9.62366415e-01 -2.62006236e-03 4.97867100e+02] [ 9.62318541e-01 -2.71755175e-01 -9.59954161e-03 -2.87375758e+02] [-9.95029195e-03 8.72694071e-05 -9.99950491e-01 -4.87685005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters 0.05022750255071576 Centerline is valid? [True, True] Translation: X:497.96, Y:-287.37, Z:-4.88 [[ 1.92308660e-01 9.81332875e-01 -1.78006699e-03 4.97958772e+02] [ 9.81288328e-01 -1.92316891e-01 -9.35042319e-03 -2.87368901e+02] [-9.51821461e-03 5.14083927e-05 -9.99954699e-01 -4.87887162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters 0.05008530380056158 Centerline is valid? [True, True] Translation: X:498.04, Y:-287.35, Z:-4.88 [[ 1.14119259e-01 9.93466552e-01 -1.00211488e-03 4.98040049e+02] [ 9.93424971e-01 -1.14123651e-01 -9.08947094e-03 -2.87352688e+02] [-9.14445036e-03 4.17577384e-05 -9.99958188e-01 -4.87802379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters 0.05032785666472243 Centerline is valid? [True, True] Translation: X:498.12, Y:-287.33, Z:-4.88 [[ 3.44321257e-02 9.99407006e-01 -2.55858362e-04 4.98115041e+02] [ 9.99373997e-01 -3.44330679e-02 -8.12263515e-03 -2.87331265e+02] [-8.12662846e-03 2.39814002e-05 -9.99966978e-01 -4.87865003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters 0.0501652984084286 Centerline is valid? [True, True] Translation: X:498.19, Y:-287.30, Z:-4.88 [[-4.52400925e-02 9.98976095e-01 3.10043163e-04 4.98186961e+02] [ 9.98954184e-01 4.52411537e-02 -6.61635230e-03 -2.87304007e+02] [-6.62360450e-03 1.03945251e-05 -9.99978064e-01 -4.87912354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters 0.04973128764693329 Centerline is valid? [True, True] Translation: X:498.26, Y:-287.27, Z:-4.88 [[-1.25480275e-01 9.92095722e-01 8.82942371e-04 4.98259140e+02] [ 9.92070903e-01 1.25483381e-01 -7.01747186e-03 -2.87270717e+02] [-7.07279840e-03 -4.61286335e-06 -9.99974987e-01 -4.87858360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters 0.050306585230606604 Centerline is valid? [True, True] Translation: X:498.34, Y:-287.23, Z:-4.88 [[-2.05135590e-01 9.78732561e-01 1.40108887e-03 4.98337470e+02] [ 9.78709010e-01 2.05140373e-01 -6.78976132e-03 -2.87229594e+02] [-6.93278038e-03 -2.15633914e-05 -9.99975968e-01 -4.87946811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters 0.05010086843352631 Centerline is valid? [True, True] Translation: X:498.41, Y:-287.18, Z:-4.88 [[-2.82190580e-01 9.59356097e-01 2.08709124e-03 4.98410132e+02] [ 9.59329013e-01 2.82198296e-01 -7.20876589e-03 -2.87183394e+02] [-7.50474710e-03 -3.20386476e-05 -9.99971839e-01 -4.87737901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters 0.050191389840939966 Centerline is valid? [True, True] Translation: X:498.47, Y:-287.13, Z:-4.88 [[-3.56390825e-01 9.34331362e-01 3.23827706e-03 4.98469968e+02] [ 9.34291791e-01 3.56405535e-01 -8.59909508e-03 -2.87134937e+02] [-9.18854408e-03 -3.91429237e-05 -9.99957784e-01 -4.87676815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters 0.050266765256920795 Centerline is valid? [True, True] Translation: X:498.53, Y:-287.08, Z:-4.88 [[-4.27911937e-01 9.03809306e-01 4.48464111e-03 4.98534174e+02] [ 9.03758707e-01 4.27935435e-01 -9.56362743e-03 -2.87076937e+02] [-1.05628323e-02 -3.93568828e-05 -9.99944211e-01 -4.87679278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters 0.050769754881896195 Centerline is valid? [True, True] Translation: X:498.60, Y:-287.01, Z:-4.88 [[-4.98005989e-01 8.67159464e-01 4.94966032e-03 4.98595052e+02] [ 8.67115727e-01 4.98030583e-01 -8.70939500e-03 -2.87013713e+02] [-1.00175165e-02 -4.54025570e-05 -9.99949822e-01 -4.87813638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters 0.05072075425337126 Centerline is valid? [True, True] Translation: X:498.65, Y:-286.95, Z:-4.88 [[-5.65574026e-01 8.24680287e-01 5.33348327e-03 4.98651696e+02] [ 8.24642653e-01 5.65599171e-01 -7.87861383e-03 -2.86945170e+02] [-9.51395122e-03 -5.77215511e-05 -9.99954740e-01 -4.87853779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters 0.050939274974861184 Centerline is valid? [True, True] Translation: X:498.70, Y:-286.87, Z:-4.88 [[-6.28724847e-01 7.77604109e-01 6.07581822e-03 4.98701786e+02] [ 7.77566820e-01 6.28754201e-01 -7.61546086e-03 -2.86874317e+02] [-9.74200989e-03 -6.36748197e-05 -9.99952543e-01 -4.87711780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters 0.04992845102611481 Centerline is valid? [True, True] Translation: X:498.74, Y:-286.80, Z:-4.88 [[-6.87806135e-01 7.25859623e-01 7.10827889e-03 4.98740953e+02] [ 7.25819799e-01 6.87842862e-01 -7.60377924e-03 -2.86804127e+02] [-1.04086552e-02 -7.05964608e-05 -9.99945826e-01 -4.87679189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters 0.049708963930940875 Centerline is valid? [True, True] Translation: X:498.78, Y:-286.73, Z:-4.88 [[-7.42691950e-01 6.69605151e-01 6.13262478e-03 4.98777194e+02] [ 6.69581671e-01 7.42717266e-01 -5.60790828e-03 -2.86727804e+02] [-8.30989059e-03 -5.86551929e-05 -9.99965471e-01 -4.87978719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters 0.05015151936393371 Centerline is valid? [True, True] Translation: X:498.79, Y:-286.64, Z:-4.88 [[-7.88480212e-01 6.15036655e-01 5.37293213e-03 4.98791839e+02] [ 6.15021940e-01 7.88498516e-01 -4.25482115e-03 -2.86640095e+02] [-6.85341999e-03 -5.03711396e-05 -9.99976514e-01 -4.88108437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters 0.049634165542723846 Centerline is valid? [True, True] Translation: X:498.83, Y:-286.57, Z:-4.88 [[-8.30307665e-01 5.57288508e-01 4.32433795e-03 4.98829143e+02] [ 5.57280697e-01 8.30318925e-01 -2.95085005e-03 -2.86572519e+02] [-5.23505446e-03 -4.02433486e-05 -9.99986296e-01 -4.88181069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters 0.050371183668161255 Centerline is valid? [True, True] Translation: X:498.82, Y:-286.48, Z:-4.88 [[-8.67925806e-01 4.96667955e-01 5.07324196e-03 4.98818778e+02] [ 4.96659150e-01 8.67940632e-01 -2.95766013e-03 -2.86477938e+02] [-5.87224784e-03 -4.73575131e-05 -9.99982757e-01 -4.88268066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters 0.0501274324300727 Centerline is valid? [True, True] Translation: X:498.83, Y:-286.40, Z:-4.88 [[-9.01008101e-01 4.33759925e-01 6.06046075e-03 4.98832156e+02] [ 4.33749701e-01 9.01028482e-01 -2.97865116e-03 -2.86396408e+02] [-6.75266725e-03 -5.50657869e-05 -9.99977199e-01 -4.88113082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters 0.050091337255087846 Centerline is valid? [True, True] Translation: X:499.06, Y:-285.81, Z:-5.88 [[-8.61790498e-01 -5.07219115e-01 6.77546137e-03 4.99058614e+02] [ 5.07204614e-01 -8.61817123e-01 -3.83760273e-03 -2.85808193e+02] [ 7.78571408e-03 1.29335700e-04 9.99969683e-01 -5.88319210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters 0.050060154258400616 Centerline is valid? [True, True] Translation: X:498.67, Y:-286.32, Z:-4.88 [[-9.02260257e-01 4.31125104e-01 7.58775198e-03 4.98668383e+02] [ 4.31109271e-01 9.02292159e-01 -3.69528717e-03 -2.86316908e+02] [-8.43950018e-03 -6.29605202e-05 -9.99964385e-01 -4.88038469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters 0.05049492614689671 Centerline is valid? [True, True] Translation: X:498.68, Y:-286.24, Z:-4.88 [[-9.30244662e-01 3.66856663e-01 7.81393353e-03 4.98680882e+02] [ 3.66843224e-01 9.30277478e-01 -3.14057980e-03 -2.86239847e+02] [-8.42126900e-03 -5.50190224e-05 -9.99964539e-01 -4.87994910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters 0.050101084112318416 Centerline is valid? [True, True] Translation: X:498.59, Y:-286.13, Z:-4.88 [[-9.53452195e-01 3.01456750e-01 7.26216719e-03 4.98587285e+02] [ 3.01447703e-01 9.53479851e-01 -2.33580592e-03 -2.86126693e+02] [-7.62847456e-03 -3.79156638e-05 -9.99970902e-01 -4.88107731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters 0.04996674622103029 Centerline is valid? [True, True] Translation: X:498.97, Y:-286.15, Z:-4.88 [[-9.73228786e-01 2.29732558e-01 6.97725047e-03 4.98972535e+02] [ 2.29726420e-01 9.73253796e-01 -1.67967535e-03 -2.86152373e+02] [-7.17651162e-03 -3.18496294e-05 -9.99974248e-01 -4.88477344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters 0.050263112935401415 Centerline is valid? [True, True] Translation: X:498.18, Y:-285.90, Z:-4.88 [[-9.87198996e-01 1.59403476e-01 5.35482429e-03 4.98184782e+02] [ 1.59400969e-01 9.87213518e-01 -8.94594116e-04 -2.85904778e+02] [-5.42895634e-03 -2.95782339e-05 -9.99985263e-01 -4.88313385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters 0.049904888870480515 Centerline is valid? [True, True] Translation: X:498.27, Y:-285.28, Z:-5.88 [[-9.71241017e-01 -2.38041916e-01 5.18979333e-03 4.98265656e+02] [ 2.38038644e-01 -9.71254882e-01 -1.24835128e-03 -2.85280585e+02] [ 5.33777204e-03 2.29214002e-05 9.99985754e-01 -5.88060293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters 0.04976102612238648 Centerline is valid? [True, True] Translation: X:498.10, Y:-285.89, Z:-4.88 [[-9.88325591e-01 1.52205854e-01 6.77531810e-03 4.98097731e+02] [ 1.52201854e-01 9.88348812e-01 -1.10520961e-03 -2.85889072e+02] [-6.86459697e-03 -6.10909661e-05 -9.99976437e-01 -4.88118974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters 0.05006914990642869 Centerline is valid? [True, True] Translation: X:498.17, Y:-285.27, Z:-5.88 [[-9.72119906e-01 -2.34335314e-01 8.35758110e-03 4.98167487e+02] [ 2.34328279e-01 -9.72155814e-01 -1.82502891e-03 -2.85265492e+02] [ 8.55253978e-03 1.84270670e-04 9.99963409e-01 -5.88142896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters 0.04988501203735312 Centerline is valid? [True, True] Translation: X:497.92, Y:-285.87, Z:-4.88 [[-9.88165750e-01 1.53206332e-01 7.50133954e-03 4.97916571e+02] [ 1.53201668e-01 9.88194221e-01 -1.19583288e-03 -2.85866598e+02] [-7.59598955e-03 -3.24633670e-05 -9.99971150e-01 -4.88202461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters 0.04982959915876057 Centerline is valid? [True, True] Translation: X:497.80, Y:-285.78, Z:-4.88 [[-9.96017329e-01 8.89358050e-02 6.31688422e-03 4.97804454e+02] [ 8.89340956e-02 9.96037360e-01 -5.51546104e-04 -2.85782883e+02] [-6.34090488e-03 1.24369086e-05 -9.99979896e-01 -4.88151039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters 0.049714489928928615 Centerline is valid? [True, True] Translation: X:497.79, Y:-285.13, Z:-5.88 [[-9.88992210e-01 -1.47821742e-01 6.56824250e-03 4.97788772e+02] [ 1.47818518e-01 -9.89014020e-01 -9.76353552e-04 -2.85125522e+02] [ 6.64041020e-03 5.30181433e-06 9.99977952e-01 -5.88317910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters 0.049918810801376924 Centerline is valid? [True, True] Translation: X:497.61, Y:-285.77, Z:-4.88 [[-9.95781966e-01 9.13492768e-02 8.57822611e-03 4.97607421e+02] [ 9.13464950e-02 9.95818912e-01 -7.16351358e-04 -2.85772657e+02] [-8.60779796e-03 7.02611247e-05 -9.99962950e-01 -4.88073062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters 0.04946159053315177 Centerline is valid? [True, True] Translation: X:497.64, Y:-285.11, Z:-5.88 [[-9.89753977e-01 -1.42487401e-01 9.18731154e-03 4.97644869e+02] [ 1.42480974e-01 -9.89796615e-01 -1.35362294e-03 -2.85111587e+02] [ 9.28644408e-03 -3.07365957e-05 9.99956880e-01 -5.88323610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters 0.04974473354352393 Centerline is valid? [True, True] Translation: X:497.52, Y:-285.77, Z:-4.88 [[-9.96271652e-01 8.58285852e-02 8.73210187e-03 4.97516645e+02] [ 8.58257854e-02 9.96309917e-01 -6.95550029e-04 -2.85767694e+02] [-8.75957776e-03 5.64827239e-05 -9.99961633e-01 -4.88092817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters 0.04980204393573861 Centerline is valid? [True, True] Translation: X:497.51, Y:-285.10, Z:-5.88 [[-9.90099219e-01 -1.40147775e-01 7.88276019e-03 4.97507653e+02] [ 1.40142506e-01 -9.90130593e-01 -1.21966357e-03 -2.85100817e+02] [ 7.97589516e-03 -1.02878182e-04 9.99968187e-01 -5.88448895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters 0.04988157018158422 Centerline is valid? [True, True] Translation: X:497.40, Y:-285.76, Z:-4.88 [[-9.96777603e-01 7.98601966e-02 7.53385436e-03 4.97395402e+02] [ 7.98581656e-02 9.96806073e-01 -5.70515586e-04 -2.85761577e+02] [-7.55535327e-03 3.29626299e-05 -9.99971457e-01 -4.87892524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters 0.04942928662355046 Centerline is valid? [True, True] Translation: X:497.45, Y:-285.10, Z:-5.88 [[-9.90298386e-01 -1.38739179e-01 7.78121855e-03 4.97450455e+02] [ 1.38734785e-01 -9.90328956e-01 -1.10420816e-03 -2.85102494e+02] [ 7.85916298e-03 -1.39698742e-05 9.99969116e-01 -5.88462266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters 0.049346028823775194 Centerline is valid? [True, True] Translation: X:497.22, Y:-285.75, Z:-4.88 [[-9.97161813e-01 7.48114436e-02 8.45976396e-03 4.97221987e+02] [ 7.48089661e-02 9.97197697e-01 -6.09358043e-04 -2.85748909e+02] [-8.48164409e-03 2.52376248e-05 -9.99964030e-01 -4.87935667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters 0.04965957898466504 Centerline is valid? [True, True] Translation: X:497.39, Y:-285.68, Z:-4.88 [[-9.99966095e-01 4.30191832e-04 8.22332538e-03 4.97388204e+02] [ 4.30338293e-04 9.99999907e-01 1.60410682e-05 -2.85677443e+02] [-8.22331771e-03 1.95793362e-05 -9.99966188e-01 -4.87917444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters 0.049913870306850475 Centerline is valid? [True, True] Translation: X:497.22, Y:-285.60, Z:-4.88 [[-9.97349459e-01 -7.23723142e-02 7.50366831e-03 4.97221237e+02] [-7.23702332e-02 9.97377686e-01 5.48830890e-04 -2.85602795e+02] [-7.52371150e-03 4.33396538e-06 -9.99971697e-01 -4.88020515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters 0.049175819985513354 Centerline is valid? [True, True] Translation: X:496.98, Y:-285.55, Z:-4.88 [[-9.89515666e-01 -1.44240441e-01 7.31040461e-03 4.96978067e+02] [-1.44236545e-01 9.89542670e-01 1.06008903e-03 -2.85551729e+02] [-7.38686501e-03 -5.45279985e-06 -9.99972717e-01 -4.88001694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters 0.04938518052362732 Centerline is valid? [True, True] Translation: X:496.94, Y:-285.48, Z:-4.88 [[-9.76381426e-01 -2.15945852e-01 6.83376863e-03 4.96936764e+02] [-2.15940675e-01 9.76405340e-01 1.49537151e-03 -2.85481316e+02] [-6.99544747e-03 -1.56356442e-05 -9.99975531e-01 -4.87743332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters 0.04905871779910718 Centerline is valid? [True, True] Translation: X:496.88, Y:-285.41, Z:-4.88 [[-9.57429312e-01 -2.88604715e-01 6.03578053e-03 4.96882521e+02] [-2.88599217e-01 9.57448337e-01 1.78188687e-03 -2.85413203e+02] [-6.29320898e-03 -3.58908097e-05 -9.99980197e-01 -4.87673153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters 0.04937531190967776 Centerline is valid? [True, True] Translation: X:496.79, Y:-285.36, Z:-4.88 [[-9.32741066e-01 -3.60514351e-01 4.84835724e-03 4.96790859e+02] [-3.60509779e-01 9.32753665e-01 1.81651562e-03 -2.85362882e+02] [-5.17720293e-03 -5.35414743e-05 -9.99986597e-01 -4.87881384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters 0.04944268585398756 Centerline is valid? [True, True] Translation: X:496.70, Y:-285.32, Z:-4.88 [[-9.03329999e-01 -4.28919144e-01 4.82494657e-03 4.96699853e+02] [-4.28913420e-01 9.03342883e-01 2.21695368e-03 -2.85317793e+02] [-5.30947502e-03 -6.68435649e-05 -9.99985902e-01 -4.87958470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters 0.04912034627494452 Centerline is valid? [True, True] Translation: X:496.57, Y:-285.30, Z:-4.88 [[-8.69257762e-01 -4.94325706e-01 5.74805390e-03 4.96566785e+02] [-4.94315625e-01 8.69276761e-01 3.15841927e-03 -2.85296114e+02] [-6.55793751e-03 -9.58723872e-05 -9.99978492e-01 -4.87801869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters 0.05017934973448638 Centerline is valid? [True, True] Translation: X:496.44, Y:-285.28, Z:-4.87 [[-8.31638258e-01 -5.55284097e-01 6.11389538e-03 4.96435322e+02] [-5.55269982e-01 8.31660725e-01 3.96051336e-03 -2.85278069e+02] [-7.28389675e-03 -1.01148144e-04 -9.99973467e-01 -4.87488014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters 0.04896526366472703 Centerline is valid? [True, True] Translation: X:496.34, Y:-285.26, Z:-4.88 [[-7.89778358e-01 -6.13373368e-01 4.82254471e-03 4.96339282e+02] [-6.13362493e-01 7.89793078e-01 3.65326535e-03 -2.85258213e+02] [-6.04962810e-03 -7.26981316e-05 -9.99981698e-01 -4.87856476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters 0.04855003085854511 Centerline is valid? [True, True] Translation: X:496.08, Y:-285.37, Z:-4.88 [[-7.46629003e-01 -6.65225632e-01 4.47101325e-03 4.96084670e+02] [-6.65214096e-01 7.46642388e-01 3.91791796e-03 -2.85366819e+02] [-5.94454746e-03 -4.89498567e-05 -9.99982330e-01 -4.87815218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters 0.04917072001996709 Centerline is valid? [True, True] Translation: X:495.91, Y:-285.43, Z:-4.88 [[-6.98887115e-01 -7.15219701e-01 4.19291224e-03 4.95909128e+02] [-7.15207073e-01 6.98899692e-01 4.25017506e-03 -2.85431528e+02] [-5.97023400e-03 -2.84079007e-05 -9.99982178e-01 -4.87869698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters 0.04931943120994735 Centerline is valid? [True, True] Translation: X:495.75, Y:-285.49, Z:-4.88 [[-6.45770720e-01 -7.63521912e-01 3.80361716e-03 4.95751440e+02] [-7.63508832e-01 6.45781921e-01 4.46923629e-03 -2.85491425e+02] [-5.86866703e-03 -1.79933587e-05 -9.99982779e-01 -4.87860553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters 0.04956480949543709 Centerline is valid? [True, True] Translation: X:495.57, Y:-285.60, Z:-4.88 [[-5.90656512e-01 -8.06914237e-01 3.78141542e-03 4.95568770e+02] [-8.06897693e-01 5.90668617e-01 5.16709070e-03 -2.85602062e+02] [-6.40296246e-03 7.60395657e-07 -9.99979501e-01 -4.87744993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters 0.05015552081323089 Centerline is valid? [True, True] Translation: X:495.37, Y:-285.76, Z:-4.88 [[-5.33836047e-01 -8.45579957e-01 3.68925390e-03 4.95373297e+02] [-8.45559336e-01 5.33848794e-01 5.90551554e-03 -2.85762318e+02] [-6.96308932e-03 3.30939931e-05 -9.99975757e-01 -4.87689801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters 0.0496333014063954 Centerline is valid? [True, True] Translation: X:495.49, Y:-285.38, Z:-4.88 [[-4.70572133e-01 -8.82355941e-01 3.14036426e-03 4.95492958e+02] [-8.82335514e-01 4.70582608e-01 6.00414846e-03 -2.85384870e+02] [-6.77559686e-03 5.45300340e-05 -9.99977044e-01 -4.87982914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters 0.050275687432881015 Centerline is valid? [True, True] Translation: X:494.55, Y:-285.71, Z:-5.89 [[-5.09570589e-01 8.60423577e-01 3.01371415e-03 4.94547345e+02] [-8.60409750e-01 -5.09579490e-01 4.87912851e-03 -2.85709587e+02] [ 5.73384413e-03 -1.06768649e-04 9.99983556e-01 -5.88605220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters 0.05030193521912964 Centerline is valid? [True, True] Translation: X:495.24, Y:-285.84, Z:-4.88 [[-4.73197352e-01 -8.80955093e-01 1.54606197e-03 4.95241975e+02] [-8.80949922e-01 4.73199873e-01 3.01914596e-03 -2.85841126e+02] [-3.39132834e-03 6.66487032e-05 -9.99994247e-01 -4.88092319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters 0.050129673158540125 Centerline is valid? [True, True] Translation: X:495.06, Y:-286.02, Z:-4.88 [[-4.09820334e-01 -9.12165968e-01 7.35859014e-04 4.95062225e+02] [-9.12164309e-01 4.09820992e-01 1.74027940e-03 -2.86020880e+02] [-1.88899412e-03 4.19775566e-05 -9.99998215e-01 -4.88120237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters 0.05011959652852721 Centerline is valid? [True, True] Translation: X:494.26, Y:-286.22, Z:-5.88 [[-4.30384261e-01 9.02645398e-01 8.21317607e-04 4.94256881e+02] [-9.02643950e-01 -4.30385042e-01 1.61714966e-03 -2.86218458e+02] [ 1.81319551e-03 -4.53616093e-05 9.99998355e-01 -5.88321190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters 0.05037989657014604 Centerline is valid? [True, True] Translation: X:494.77, Y:-286.67, Z:-4.88 [[-3.98645983e-01 -9.17103999e-01 1.27902534e-03 4.94769704e+02] [-9.17098814e-01 3.98648031e-01 3.08429123e-03 -2.86666509e+02] [-3.33849676e-03 5.65476848e-05 -9.99994426e-01 -4.87891105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters 0.05059058162469171 Centerline is valid? [True, True] Translation: X:494.53, Y:-287.06, Z:-4.88 [[-3.27812090e-01 -9.44742118e-01 1.25097690e-03 4.94526303e+02] [-9.44734668e-01 3.27814474e-01 3.75201430e-03 -2.87061449e+02] [-3.95477427e-03 4.81144022e-05 -9.99992179e-01 -4.87836588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters 0.049569008747732214 Centerline is valid? [True, True] Translation: X:494.41, Y:-287.15, Z:-4.88 [[-2.48959798e-01 -9.68512887e-01 1.34449313e-03 4.94407890e+02] [-9.68498257e-01 2.48963427e-01 5.32338918e-03 -2.87152608e+02] [-5.49050064e-03 2.31706385e-05 -9.99984927e-01 -4.87753450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters 0.05011985860485172 Centerline is valid? [True, True] Translation: X:494.24, Y:-287.50, Z:-4.88 [[-1.74152367e-01 -9.84718170e-01 1.03869356e-03 4.94243631e+02] [-9.84700646e-01 1.74155465e-01 5.87468860e-03 -2.87504982e+02] [-5.96580677e-03 2.88706156e-07 -9.99982204e-01 -4.87755746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters 0.05055151486826714 Centerline is valid? [True, True] Translation: X:494.20, Y:-287.19, Z:-4.88 [[-9.65743960e-02 -9.95325616e-01 5.51432501e-04 4.94195031e+02] [-9.95310195e-01 9.65759693e-02 5.54061677e-03 -2.87194417e+02] [-5.56797293e-03 -1.37646715e-05 -9.99984499e-01 -4.88008977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters 0.050131584917315127 Centerline is valid? [True, True] Translation: X:494.08, Y:-287.73, Z:-4.88 [[-2.64299901e-02 -9.99650662e-01 1.00191560e-04 4.94077347e+02] [-9.99644135e-01 2.64301796e-02 3.61233748e-03 -2.87731893e+02] [-3.61372363e-03 -4.68186192e-06 -9.99993470e-01 -4.88031914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters 0.05085964867513162 Centerline is valid? [True, True] Translation: X:494.00, Y:-287.99, Z:-4.88 [[ 4.50293606e-02 -9.98985659e-01 -9.95268140e-05 4.94001734e+02] [-9.98983290e-01 -4.50294706e-02 2.17548939e-03 -2.87987698e+02] [-2.17776435e-03 1.46472777e-06 -9.99997629e-01 -4.88022595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters 0.050021320368479484 Centerline is valid? [True, True] Translation: X:493.94, Y:-288.17, Z:-4.88 [[ 1.18478155e-01 -9.92956627e-01 -2.53702337e-04 4.93941168e+02] [-9.92954395e-01 -1.18478426e-01 2.10515090e-03 -2.88173164e+02] [-2.12038179e-03 2.50045630e-06 -9.99997752e-01 -4.88027686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters 0.049968363844345096 Centerline is valid? [True, True] Translation: X:493.91, Y:-288.48, Z:-4.88 [[ 1.91209362e-01 -9.81549135e-01 -5.24539311e-04 4.93912080e+02] [-9.81545494e-01 -1.91210082e-01 2.67366012e-03 -2.88483621e+02] [-2.72462598e-03 3.63035088e-06 -9.99996288e-01 -4.88011423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters 0.05029150008930731 Centerline is valid? [True, True] Translation: X:493.89, Y:-288.72, Z:-4.88 [[ 2.65158844e-01 -9.64203841e-01 -1.31968778e-03 4.93887170e+02] [-9.64191857e-01 -2.65162128e-01 4.80713520e-03 -2.88718643e+02] [-4.98498944e-03 -2.22219710e-06 -9.99987575e-01 -4.87850158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters 0.050715845172097485 Centerline is valid? [True, True] Translation: X:493.84, Y:-288.84, Z:-4.88 [[ 3.38592220e-01 -9.40929787e-01 -2.53844076e-03 4.93841336e+02] [-9.40902813e-01 -3.38601735e-01 7.12479292e-03 -2.88836367e+02] [-7.56345033e-03 -2.39734003e-05 -9.99971396e-01 -4.87722216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters 0.05065377874655663 Centerline is valid? [True, True] Translation: X:493.86, Y:-289.10, Z:-4.87 [[ 4.08212380e-01 -9.12877761e-01 -4.10439086e-03 4.93863368e+02] [-9.12830483e-01 -4.08233011e-01 9.29079369e-03 -2.89103643e+02] [-1.01569068e-02 -4.60039141e-05 -9.99948416e-01 -4.87208664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters 0.051388655225549244 Centerline is valid? [True, True] Translation: X:493.89, Y:-289.33, Z:-4.87 [[ 4.75149287e-01 -8.79889276e-01 -5.29310443e-03 4.93889805e+02] [-8.79833246e-01 -4.75178764e-01 9.92982874e-03 -2.89329942e+02] [-1.12523206e-02 -6.11017920e-05 -9.99936689e-01 -4.87219822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters 0.05078600824622165 Centerline is valid? [True, True] Translation: X:493.83, Y:-289.38, Z:-4.87 [[ 5.38425231e-01 -8.42659115e-01 -4.88740841e-03 4.93829847e+02] [-8.42623665e-01 -5.38447411e-01 7.72948761e-03 -2.89377718e+02] [-9.14493559e-03 -4.35051707e-05 -9.99958183e-01 -4.87419631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters 0.05083953519987768 Centerline is valid? [True, True] Translation: X:494.01, Y:-289.77, Z:-4.88 [[ 5.97931229e-01 -8.01536648e-01 -4.15307817e-03 4.94010486e+02] [-8.01516987e-01 -5.97945651e-01 5.61406389e-03 -2.89773565e+02] [-6.98319298e-03 -2.80614232e-05 -9.99975617e-01 -4.87622527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters 0.05042772349003136 Centerline is valid? [True, True] Translation: X:494.07, Y:-289.96, Z:-4.88 [[ 6.54141527e-01 -7.56363712e-01 -3.57745902e-03 4.94066295e+02] [-7.56352283e-01 -6.54151309e-01 4.15803783e-03 -2.89955387e+02] [-5.48518843e-03 -1.41259183e-05 -9.99984956e-01 -4.87858892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters 0.05090024135954391 Centerline is valid? [True, True] Translation: X:494.11, Y:-290.11, Z:-4.88 [[ 7.08185214e-01 -7.06012718e-01 -4.44347769e-03 4.94107704e+02] [-7.05998659e-01 -7.08199154e-01 4.45543913e-03 -2.90106973e+02] [-6.29246383e-03 -1.81868237e-05 -9.99980202e-01 -4.87759158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters 0.051219169119235644 Centerline is valid? [True, True] Translation: X:494.18, Y:-290.28, Z:-4.88 [[ 7.59435659e-01 -6.50557410e-01 -5.70412618e-03 4.94184941e+02] [-6.50538683e-01 -7.59457079e-01 4.93625422e-03 -2.90280756e+02] [-7.54335577e-03 -3.80127409e-05 -9.99971548e-01 -4.87622820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters 0.050755230229256376 Centerline is valid? [True, True] Translation: X:494.17, Y:-290.36, Z:-4.88 [[ 8.09293482e-01 -5.87366093e-01 -6.71803757e-03 4.94170588e+02] [-5.87345230e-01 -8.09321363e-01 4.95093135e-03 -2.90356494e+02] [-8.34506053e-03 -6.09491430e-05 -9.99965178e-01 -4.87616755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters 0.05071570561963967 Centerline is valid? [True, True] Translation: X:494.16, Y:-290.44, Z:-4.88 [[ 8.54806881e-01 -5.18880714e-01 -8.24624603e-03 4.94159193e+02] [-5.18855329e-01 -8.54846648e-01 5.13375771e-03 -2.90437339e+02] [-9.71308365e-03 -1.09762726e-04 -9.99952821e-01 -4.87670926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters 0.05153572945080382 Centerline is valid? [True, True] Translation: X:494.15, Y:-290.52, Z:-4.87 [[ 8.93714794e-01 -4.48536624e-01 -9.42144678e-03 4.94150032e+02] [-4.48510010e-01 -8.93764441e-01 4.88815719e-03 -2.90524579e+02] [-1.06130716e-02 -1.43005201e-04 -9.99943670e-01 -4.87284226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters 0.0510719534032693 Centerline is valid? [True, True] Translation: X:494.15, Y:-290.61, Z:-4.88 [[ 9.26683059e-01 -3.75730503e-01 -9.22480459e-03 4.94150727e+02] [-3.75710250e-01 -9.26728960e-01 3.90409046e-03 -2.90608167e+02] [-1.00157794e-02 -1.52000850e-04 -9.99949829e-01 -4.87751257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters 0.049998697202532444 Centerline is valid? [True, True] Translation: X:494.16, Y:-290.69, Z:-4.88 [[ 9.53408422e-01 -3.01574050e-01 -8.09157253e-03 4.94156635e+02] [-3.01561989e-01 -9.53442748e-01 2.70052453e-03 -2.90692441e+02] [-8.52925927e-03 -1.34592123e-04 -9.99963616e-01 -4.87988006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters 0.05082922530183464 Centerline is valid? [True, True] Translation: X:494.17, Y:-290.78, Z:-4.88 [[ 9.74078808e-01 -2.26097469e-01 -7.10007594e-03 4.94167611e+02] [-2.26090595e-01 -9.74104677e-01 1.76682469e-03 -2.90780163e+02] [-7.31569177e-03 -1.15766096e-04 -9.99973233e-01 -4.87882028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters 0.05045161170934402 Centerline is valid? [True, True] Translation: X:494.19, Y:-290.85, Z:-4.88 [[ 9.88737741e-01 -1.49486934e-01 -7.16492888e-03 4.94188793e+02] [-1.49482178e-01 -9.88763695e-01 1.19785811e-03 -2.90853594e+02] [-7.26348569e-03 -1.13338345e-04 -9.99973614e-01 -4.87874309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters 0.05041539610873245 Centerline is valid? [True, True] Translation: X:494.21, Y:-290.93, Z:-4.88 [[ 9.97315504e-01 -7.28131168e-02 -7.74823086e-03 4.94214716e+02] [-7.28100388e-02 -9.97345596e-01 6.78957438e-04 -2.90929641e+02] [-7.77710093e-03 -1.12985790e-04 -9.99969752e-01 -4.88003264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters 0.05016517418424106 Centerline is valid? [True, True] Translation: X:494.25, Y:-291.01, Z:-4.88 [[ 9.99954782e-01 4.54153988e-03 -8.35515929e-03 4.94245172e+02] [ 4.54233462e-03 -9.99989681e-01 7.61457142e-05 -2.91010806e+02] [-8.35472725e-03 -1.14094200e-04 -9.99965092e-01 -4.88171315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters 0.05036940521713155 Centerline is valid? [True, True] Translation: X:494.28, Y:-291.09, Z:-4.88 [[ 9.96481167e-01 8.31190246e-02 -1.07940712e-02 4.94275727e+02] [ 8.31157922e-02 -9.96539615e-01 -7.48487662e-04 -2.91094342e+02] [-1.08189331e-02 -1.51303922e-04 -9.99941462e-01 -4.87953647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters 0.050196536950482956 Centerline is valid? [True, True] Translation: X:494.31, Y:-291.17, Z:-4.88 [[ 9.86868893e-01 1.61078955e-01 -1.19731996e-02 4.94313139e+02] [ 1.61069218e-01 -9.86941508e-01 -1.77950504e-03 -2.91172145e+02] [-1.21034885e-02 -1.72375724e-04 -9.99926735e-01 -4.87616429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters 0.05074289367856416 Centerline is valid? [True, True] Translation: X:494.35, Y:-291.23, Z:-4.88 [[ 9.71339852e-01 2.37405247e-01 -1.17320488e-02 4.94354526e+02] [ 2.37389998e-01 -9.71410686e-01 -2.69582266e-03 -2.91233645e+02] [-1.20366401e-02 -1.66511072e-04 -9.99927543e-01 -4.87682702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters 0.050083399360426266 Centerline is valid? [True, True] Translation: X:494.40, Y:-291.30, Z:-4.88 [[ 9.50197840e-01 3.11494318e-01 -9.76501606e-03 4.94402152e+02] [ 3.11479262e-01 -9.50248006e-01 -3.06528836e-03 -2.91299139e+02] [-1.02340069e-02 -1.28969625e-04 -9.99947623e-01 -4.88082232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters 0.04958561440745409 Centerline is valid? [True, True] Translation: X:494.45, Y:-291.36, Z:-4.88 [[ 9.24130926e-01 3.81981694e-01 -8.48632787e-03 4.94454144e+02] [ 3.81966448e-01 -9.24169886e-01 -3.41390124e-03 -2.91361627e+02] [-9.14685643e-03 -8.66007990e-05 -9.99958163e-01 -4.88100932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters 0.04922461906160777 Centerline is valid? [True, True] Translation: X:494.51, Y:-291.42, Z:-4.88 [[ 8.92699437e-01 4.50576438e-01 -8.28179422e-03 4.94513046e+02] [ 4.50557684e-01 -8.92737851e-01 -4.11138861e-03 -2.91424124e+02] [-9.24596601e-03 -6.11917234e-05 -9.99957253e-01 -4.88249755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters 0.049526837688327566 Centerline is valid? [True, True] Translation: X:494.57, Y:-291.48, Z:-4.88 [[ 8.56614841e-01 5.15894396e-01 -7.99910940e-03 4.94573208e+02] [ 5.15872202e-01 -8.56652188e-01 -4.78534144e-03 -2.91478817e+02] [-9.32118540e-03 -2.73236853e-05 -9.99956556e-01 -4.88209441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters 0.04974253500435147 Centerline is valid? [True, True] Translation: X:494.64, Y:-291.53, Z:-4.88 [[ 8.14478957e-01 5.80132959e-01 -8.35338562e-03 4.94636709e+02] [ 5.80102636e-01 -8.14521792e-01 -5.93144755e-03 -2.91526962e+02] [-1.02450428e-02 -1.47818039e-05 -9.99947518e-01 -4.88043859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters 0.04955028536806476 Centerline is valid? [True, True] Translation: X:494.70, Y:-291.57, Z:-4.88 [[ 7.67219921e-01 6.41331499e-01 -8.21590027e-03 4.94703453e+02] [ 6.41294797e-01 -7.67263911e-01 -6.86111274e-03 -2.91567691e+02] [-1.07040115e-02 -4.83171676e-06 -9.99942710e-01 -4.88113910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters 0.04942115908584434 Centerline is valid? [True, True] Translation: X:494.77, Y:-291.60, Z:-4.88 [[ 7.13929039e-01 7.00180669e-01 -7.23587653e-03 4.94772891e+02] [ 7.00144934e-01 -7.13965707e-01 -7.07399985e-03 -2.91604115e+02] [-1.01192457e-02 -1.58283790e-05 -9.99948799e-01 -4.88192770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters 0.049634879081864855 Centerline is valid? [True, True] Translation: X:494.85, Y:-291.64, Z:-4.88 [[ 6.54729459e-01 7.55836405e-01 -6.37689205e-03 4.94845783e+02] [ 7.55801211e-01 -6.54760511e-01 -7.29402705e-03 -2.91637582e+02] [-9.68842828e-03 -4.40483484e-05 -9.99953065e-01 -4.88176494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters 0.04966385139881831 Centerline is valid? [True, True] Translation: X:494.92, Y:-291.66, Z:-4.88 [[ 5.91382984e-01 8.06369652e-01 -5.84380771e-03 4.94919794e+02] [ 8.06331472e-01 -5.91411852e-01 -7.84720843e-03 -2.91664285e+02] [-9.78384787e-03 -7.13405396e-05 -9.99952135e-01 -4.88125362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters 0.04979135898943701 Centerline is valid? [True, True] Translation: X:495.00, Y:-291.69, Z:-4.88 [[ 5.25402476e-01 8.50837988e-01 -5.19193947e-03 4.94997989e+02] [ 8.50798006e-01 -5.25428122e-01 -8.24871282e-03 -2.91685552e+02] [-9.74630922e-03 -8.33976077e-05 -9.99952500e-01 -4.88140792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters 0.04972295836478324 Centerline is valid? [True, True] Translation: X:495.08, Y:-291.70, Z:-4.88 [[ 4.54449464e-01 8.90760644e-01 -4.59984880e-03 4.95076923e+02] [ 8.90717564e-01 -4.54472729e-01 -8.76130160e-03 -2.91701666e+02] [-9.89472850e-03 -1.15597295e-04 -9.99951039e-01 -4.88153227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters 0.049171604273138575 Centerline is valid? [True, True] Translation: X:495.16, Y:-291.71, Z:-4.88 [[ 3.83374109e-01 9.23585552e-01 -3.74444589e-03 4.95157217e+02] [ 9.23544293e-01 -3.83392378e-01 -8.73060037e-03 -2.91709687e+02] [-9.49904838e-03 -1.11075497e-04 -9.99954877e-01 -4.88156667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters 0.049194489608250534 Centerline is valid? [True, True] Translation: X:495.23, Y:-291.71, Z:-4.88 [[ 3.12043575e-01 9.50063892e-01 -2.72169720e-03 4.95233164e+02] [ 9.50029978e-01 -3.12055434e-01 -8.02787916e-03 -2.91711433e+02] [-8.47631852e-03 -8.06458208e-05 -9.99964072e-01 -4.88215773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters 0.04936554328317519 Centerline is valid? [True, True] Translation: X:495.32, Y:-291.71, Z:-4.88 [[ 2.40212953e-01 9.70718507e-01 -1.82130351e-03 4.95317545e+02] [ 9.70691986e-01 -2.40219853e-01 -7.17567986e-03 -2.91708676e+02] [-7.40307850e-03 -4.42334706e-05 -9.99972596e-01 -4.88425282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters 0.04842590169410662 Centerline is valid? [True, True] Translation: X:495.40, Y:-291.70, Z:-4.88 [[ 1.66169773e-01 9.86096415e-01 -1.21108069e-03 4.95401165e+02] [ 9.86071250e-01 -1.66174185e-01 -7.04486862e-03 -2.91698835e+02] [-7.14817003e-03 -2.35676286e-05 -9.99974451e-01 -4.88396720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters 0.04896360231714712 Centerline is valid? [True, True] Translation: X:495.49, Y:-291.68, Z:-4.88 [[ 9.05290299e-02 9.95893657e-01 -5.64076909e-04 4.95485464e+02] [ 9.95874878e-01 -9.05307868e-02 -6.11582007e-03 -2.91683079e+02] [-6.14177274e-03 -8.09076591e-06 -9.99981139e-01 -4.88478995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters 0.04962272606127507 Centerline is valid? [True, True] Translation: X:495.56, Y:-291.66, Z:-4.88 [[ 1.31384772e-02 9.99913682e-01 -9.39772119e-05 4.95564470e+02] [ 9.99889895e-01 -1.31388129e-02 -6.89700223e-03 -2.91661499e+02] [-6.89764164e-03 -3.35075772e-06 -9.99976211e-01 -4.88340027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters 0.05010658871189098 Centerline is valid? [True, True] Translation: X:495.64, Y:-291.63, Z:-4.88 [[-6.59569475e-02 9.97822364e-01 4.59700439e-04 4.95640136e+02] [ 9.97797134e-01 6.59585488e-02 -7.09572874e-03 -2.91633891e+02] [-7.11059800e-03 -9.32482786e-06 -9.99974719e-01 -4.88308679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters 0.049359549878399016 Centerline is valid? [True, True] Translation: X:495.72, Y:-291.60, Z:-4.88 [[-1.46227343e-01 9.89250350e-01 1.14406646e-03 4.95716376e+02] [ 9.89218447e-01 1.46231815e-01 -7.94488878e-03 -2.91598985e+02] [-8.02678292e-03 -3.00283242e-05 -9.99967784e-01 -4.88213339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters 0.050089830335263846 Centerline is valid? [True, True] Translation: X:495.79, Y:-291.56, Z:-4.88 [[-2.25163511e-01 9.74319575e-01 1.66086549e-03 4.95792546e+02] [ 9.74291615e-01 2.25169632e-01 -7.38141582e-03 -2.91557505e+02] [-7.56583440e-03 -4.38581841e-05 -9.99971378e-01 -4.88351602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters 0.04970988509195462 Centerline is valid? [True, True] Translation: X:495.86, Y:-291.51, Z:-4.88 [[-3.01730645e-01 9.53390977e-01 2.06462394e-03 4.95862931e+02] [ 9.53367554e-01 3.01737705e-01 -6.68322057e-03 -2.91511201e+02] [-6.99469708e-03 -4.81869750e-05 -9.99975536e-01 -4.88423546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters 0.050281374345971894 Centerline is valid? [True, True] Translation: X:495.93, Y:-291.46, Z:-4.88 [[-3.76652929e-01 9.26352245e-01 2.02239630e-03 4.95932084e+02] [ 9.26338238e-01 3.76658355e-01 -5.09430850e-03 -2.91459567e+02] [-5.48087658e-03 -4.53631920e-05 -9.99984979e-01 -4.88417503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters 0.05064445770508777 Centerline is valid? [True, True] Translation: X:495.99, Y:-291.41, Z:-4.88 [[-4.49161792e-01 8.93446968e-01 2.48997475e-03 4.95986675e+02] [ 8.93432564e-01 4.49168690e-01 -5.07352313e-03 -2.91406117e+02] [-5.65134255e-03 -5.42082170e-05 -9.99984030e-01 -4.88357286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters 0.04969612943178326 Centerline is valid? [True, True] Translation: X:496.03, Y:-291.35, Z:-4.88 [[-5.18382543e-01 8.55143494e-01 3.02385546e-03 4.96034325e+02] [ 8.55128247e-01 5.18391359e-01 -5.10686735e-03 -2.91350592e+02] [-5.93464493e-03 -6.15266624e-05 -9.99982388e-01 -4.88380858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters 0.049232111131834344 Centerline is valid? [True, True] Translation: X:496.08, Y:-291.29, Z:-4.88 [[-5.84695641e-01 8.11245419e-01 3.44632279e-03 4.96082002e+02] [ 8.11230622e-01 5.84705793e-01 -4.90029718e-03 -2.91287694e+02] [-5.99042854e-03 -6.94198203e-05 -9.99982055e-01 -4.88458201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters 0.049818725803160234 Centerline is valid? [True, True] Translation: X:496.13, Y:-291.22, Z:-4.88 [[-6.46486110e-01 7.62913803e-01 4.27079767e-03 4.96128462e+02] [ 7.62896349e-01 6.46500212e-01 -5.16114976e-03 -2.91217210e+02] [-6.69858399e-03 -7.84356831e-05 -9.99977561e-01 -4.88488521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters 0.050413608435950795 Centerline is valid? [True, True] Translation: X:496.17, Y:-291.14, Z:-4.88 [[-7.04343569e-01 7.09838874e-01 5.37676522e-03 4.96170504e+02] [ 7.09817189e-01 7.04364085e-01 -5.54924376e-03 -2.91143334e+02] [-7.72626926e-03 -9.20537776e-05 -9.99970148e-01 -4.88410242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters 0.049699619179343096 Centerline is valid? [True, True] Translation: X:496.21, Y:-291.07, Z:-4.88 [[-7.57507735e-01 6.52797074e-01 6.16532785e-03 4.96207539e+02] [ 6.52774424e-01 7.57532818e-01 -5.43877510e-03 -2.91065008e+02] [-8.22085466e-03 -9.53458709e-05 -9.99966204e-01 -4.88389061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters 0.04906971602177168 Centerline is valid? [True, True] Translation: X:496.24, Y:-290.99, Z:-4.88 [[-8.00730689e-01 5.98996316e-01 5.81180158e-03 4.96241430e+02] [ 5.98979898e-01 8.00751777e-01 -4.43557573e-03 -2.90994252e+02] [-7.31070396e-03 -7.05492954e-05 -9.99973274e-01 -4.88360184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters 0.04978344628357638 Centerline is valid? [True, True] Translation: X:496.21, Y:-290.88, Z:-4.89 [[-8.40325674e-01 5.42065996e-01 4.14930015e-03 4.96210954e+02] [ 5.42059151e-01 8.40335917e-01 -2.72449390e-03 -2.90880771e+02] [-4.96366145e-03 -4.02960549e-05 -9.99987680e-01 -4.88556519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters 0.049023360091650224 Centerline is valid? [True, True] Translation: X:496.22, Y:-290.79, Z:-4.88 [[-8.77193765e-01 4.80117819e-01 4.24008419e-03 4.96216171e+02] [ 4.80111961e-01 8.77204011e-01 -2.37226152e-03 -2.90793108e+02] [-4.85838389e-03 -4.52178783e-05 -9.99988197e-01 -4.88497652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters 0.049040154216632874 Centerline is valid? [True, True] Translation: X:496.22, Y:-290.71, Z:-4.88 [[-9.10027822e-01 4.14511438e-01 5.44345235e-03 4.96224514e+02] [ 4.14503562e-01 9.10044099e-01 -2.55633656e-03 -2.90712034e+02] [-6.01341244e-03 -7.00070081e-05 -9.99981917e-01 -4.88467104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters 0.04905956646834395 Centerline is valid? [True, True] Translation: X:496.24, Y:-290.63, Z:-4.88 [[-9.37707285e-01 3.47373878e-01 6.03628420e-03 4.96235223e+02] [ 3.47366092e-01 9.37726710e-01 -2.32733085e-03 -2.90632214e+02] [-6.46883887e-03 -8.55546368e-05 -9.99979073e-01 -4.88483059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters 0.04996115109574088 Centerline is valid? [True, True] Translation: X:496.27, Y:-290.56, Z:-4.88 [[-9.60508954e-01 2.78168096e-01 6.71262068e-03 4.96270379e+02] [ 2.78160536e-01 9.60532404e-01 -2.05345838e-03 -2.90558132e+02] [-7.01889629e-03 -1.05178992e-04 -9.99975362e-01 -4.88315158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters 0.04903773762204572 Centerline is valid? [True, True] Translation: X:496.22, Y:-290.47, Z:-4.88 [[-9.77772070e-01 2.09555201e-01 6.95680454e-03 4.96221120e+02] [ 2.09549132e-01 9.77796813e-01 -1.59828882e-03 -2.90468281e+02] [-7.13727104e-03 -1.04969817e-04 -9.99974524e-01 -4.88421792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters 0.04905073051202484 Centerline is valid? [True, True] Translation: X:496.15, Y:-290.38, Z:-4.89 [[-9.89860678e-01 1.41884854e-01 6.67278045e-03 4.96151938e+02] [ 1.41881059e-01 9.89883165e-01 -1.04107210e-03 -2.90378904e+02] [-6.75298539e-03 -8.37751713e-05 -9.99977195e-01 -4.88509343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters 0.04928580737950355 Centerline is valid? [True, True] Translation: X:496.05, Y:-290.29, Z:-4.88 [[-9.97274775e-01 7.35405151e-02 5.90042673e-03 4.96046274e+02] [ 7.35388718e-02 9.97292229e-01 -4.95284246e-04 -2.90288657e+02] [-5.92087318e-03 -6.00237611e-05 -9.99982470e-01 -4.88400919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters 0.048899437723636786 Centerline is valid? [True, True] Translation: X:495.97, Y:-290.21, Z:-4.88 [[-9.99965268e-01 7.63720208e-03 3.33715105e-03 4.95968113e+02] [ 7.63709835e-03 9.99970836e-01 -4.38255530e-05 -2.90211191e+02] [-3.33738843e-03 -1.83378801e-05 -9.99994431e-01 -4.88436697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters 0.04899469540143549 Centerline is valid? [True, True] Translation: X:496.25, Y:-290.13, Z:-4.89 [[-9.98013891e-01 -6.29179871e-02 3.09848240e-03 4.96248356e+02] [-6.29176934e-02 9.98018701e-01 1.92289373e-04 -2.90125611e+02] [-3.10444184e-03 -3.04190008e-06 -9.99995181e-01 -4.88551597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters 0.04963497636252602 Centerline is valid? [True, True] Translation: X:495.35, Y:-289.48, Z:-5.88 [[-9.99982559e-01 -4.37021494e-03 3.97272491e-03 4.95347225e+02] [ 4.37039188e-03 -9.99990449e-01 3.58570903e-05 -2.89480254e+02] [ 3.97253027e-03 5.32188296e-05 9.99992108e-01 -5.88122103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters 0.050075392901715525 Centerline is valid? [True, True] Translation: X:495.30, Y:-290.17, Z:-4.88 [[-9.97814754e-01 -6.58489864e-02 5.44319376e-03 4.95297106e+02] [-6.58479999e-02 9.97829600e-01 3.60441472e-04 -2.90167317e+02] [-5.45511456e-03 1.23039658e-06 -9.99985121e-01 -4.88125378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters 0.04924548817705458 Centerline is valid? [True, True] Translation: X:495.25, Y:-290.10, Z:-4.88 [[-9.90568205e-01 -1.36910398e-01 5.49317602e-03 4.95246779e+02] [-1.36908291e-01 9.90583436e-01 7.59522089e-04 -2.90096546e+02] [-5.54543565e-03 2.97088580e-07 -9.99984624e-01 -4.88171812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters 0.049973718947082045 Centerline is valid? [True, True] Translation: X:495.09, Y:-289.43, Z:-5.88 [[-9.97600654e-01 6.89370180e-02 6.37362391e-03 4.95092204e+02] [-6.89352465e-02 -9.97621012e-01 4.97477489e-04 -2.89432664e+02] [ 6.39275575e-03 5.69165326e-05 9.99979565e-01 -5.88320687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters 0.04876065756663001 Centerline is valid? [True, True] Translation: X:495.11, Y:-290.12, Z:-4.88 [[-9.89404080e-01 -1.45073013e-01 5.77818974e-03 4.95113197e+02] [-1.45070672e-01 9.89420952e-01 8.24463056e-04 -2.90115076e+02] [-5.83666934e-03 -2.25187564e-05 -9.99982966e-01 -4.88252073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters 0.04924602545252586 Centerline is valid? [True, True] Translation: X:495.28, Y:-290.00, Z:-4.88 [[-9.74995559e-01 -2.22144804e-01 5.94516950e-03 4.95282752e+02] [-2.22140959e-01 9.75013684e-01 1.30778272e-03 -2.89998925e+02] [-6.08713875e-03 -4.55833146e-05 -9.99981472e-01 -4.88150217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters 0.0489194963133641 Centerline is valid? [True, True] Translation: X:494.53, Y:-289.47, Z:-5.88 [[-9.90249857e-01 1.39172088e-01 6.02916934e-03 4.94534562e+02] [-1.39169225e-01 -9.90268210e-01 8.93925282e-04 -2.89467539e+02] [ 6.09490418e-03 4.61345592e-05 9.99981425e-01 -5.88284742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters 0.048814251815055935 Centerline is valid? [True, True] Translation: X:494.58, Y:-290.14, Z:-4.88 [[-9.72723312e-01 -2.31898016e-01 5.71569163e-03 4.94577835e+02] [-2.31894479e-01 9.72740101e-01 1.28309570e-03 -2.90138781e+02] [-5.85742980e-03 -7.73402336e-05 -9.99982842e-01 -4.88116390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters 0.049578629993225314 Centerline is valid? [True, True] Translation: X:494.53, Y:-290.07, Z:-4.88 [[-9.52573840e-01 -3.04274698e-01 4.47082993e-03 4.94530363e+02] [-3.04271728e-01 9.52584328e-01 1.34660635e-03 -2.90065628e+02] [-4.66858077e-03 -7.76051700e-05 -9.99989099e-01 -4.88123400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters 0.049442251463085216 Centerline is valid? [True, True] Translation: X:494.45, Y:-290.01, Z:-4.88 [[-9.27285722e-01 -3.74330949e-01 4.18682861e-03 4.94453577e+02] [-3.74327555e-01 9.27295170e-01 1.59647267e-03 -2.90006139e+02] [-4.48003508e-03 -8.68590014e-05 -9.99989961e-01 -4.88150358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters 0.04858572617858636 Centerline is valid? [True, True] Translation: X:494.34, Y:-289.97, Z:-4.88 [[-8.97525026e-01 -4.40940482e-01 4.50763621e-03 4.94344705e+02] [-4.40935493e-01 8.97536339e-01 2.10006789e-03 -2.89969228e+02] [-4.97177225e-03 -1.02713304e-04 -9.99987635e-01 -4.88247635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters 0.048764910816542766 Centerline is valid? [True, True] Translation: X:494.22, Y:-289.94, Z:-4.88 [[-8.62024574e-01 -5.06837318e-01 5.43755466e-03 4.94224220e+02] [-5.06828287e-01 8.62041711e-01 3.02903123e-03 -2.89938431e+02] [-6.22262499e-03 -1.44807158e-04 -9.99980629e-01 -4.88135190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters 0.04862016442966922 Centerline is valid? [True, True] Translation: X:494.08, Y:-289.93, Z:-4.88 [[-8.22358095e-01 -5.68935544e-01 6.28576260e-03 4.94079929e+02] [-5.68920646e-01 8.22382096e-01 4.12148182e-03 -2.89932804e+02] [-7.51415612e-03 -1.86766182e-04 -9.99971751e-01 -4.88117117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters 0.052649674032249766 Centerline is valid? [True, True] Translation: X:493.94, Y:-289.92, Z:-4.87 [[-7.79092601e-01 -6.26858693e-01 7.93084763e-03 4.93935664e+02] [-6.26829383e-01 7.79132928e-01 6.06672916e-03 -2.89916798e+02] [-9.98216645e-03 -2.44744519e-04 -9.99950147e-01 -4.87344957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters 0.04916081396554432 Centerline is valid? [True, True] Translation: X:493.76, Y:-289.98, Z:-4.88 [[-7.32714085e-01 -6.80499322e-01 7.12338972e-03 4.93757773e+02] [-6.80470080e-01 7.32748677e-01 6.31248199e-03 -2.89980508e+02] [-9.51529411e-03 -2.22009108e-04 -9.99954704e-01 -4.87868453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters 0.048403605515713315 Centerline is valid? [True, True] Translation: X:493.59, Y:-290.04, Z:-4.88 [[-6.82125831e-01 -7.31210412e-01 5.97360074e-03 4.93586220e+02] [-7.31184780e-01 6.82151960e-01 6.12536754e-03 -2.90037775e+02] [-8.55383598e-03 -1.89534518e-04 -9.99963397e-01 -4.87996689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters 0.048642840129754304 Centerline is valid? [True, True] Translation: X:493.40, Y:-290.13, Z:-4.88 [[-6.29360171e-01 -7.77103127e-01 4.06275906e-03 4.93400752e+02] [-7.77088189e-01 6.29373272e-01 4.81988184e-03 -2.90127126e+02] [-6.30253721e-03 -1.23680429e-04 -9.99980131e-01 -4.88096435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters 0.04902702202998487 Centerline is valid? [True, True] Translation: X:493.22, Y:-290.23, Z:-4.88 [[-5.73830349e-01 -8.18966975e-01 3.43851089e-03 4.93221271e+02] [-8.18953232e-01 5.73840644e-01 4.74538910e-03 -2.90225164e+02] [-5.85947426e-03 -9.29313294e-05 -9.99982829e-01 -4.87985110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters 0.048633115065119636 Centerline is valid? [True, True] Translation: X:493.03, Y:-290.37, Z:-4.88 [[-5.15593808e-01 -8.56825894e-01 3.52323197e-03 4.93029688e+02] [-8.56806949e-01 5.15605839e-01 5.69838466e-03 -2.90372725e+02] [-6.69912250e-03 -8.06777891e-05 -9.99977557e-01 -4.87814319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters 0.04842512047694872 Centerline is valid? [True, True] Translation: X:492.93, Y:-290.38, Z:-4.88 [[-4.51710042e-01 -8.92157454e-01 3.62139773e-03 4.92932731e+02] [-8.92130205e-01 4.51724551e-01 6.97332234e-03 -2.90384689e+02] [-7.85717577e-03 -8.08385687e-05 -9.99969129e-01 -4.87843191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters 0.049159315712905216 Centerline is valid? [True, True] Translation: X:492.70, Y:-290.69, Z:-4.88 [[-3.87308650e-01 -9.21943870e-01 3.39274650e-03 4.92700871e+02] [-9.21910303e-01 3.87323502e-01 7.86751568e-03 -2.90692219e+02] [-8.56749831e-03 -8.06510725e-05 -9.99963295e-01 -4.87975131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters 0.04935256132362118 Centerline is valid? [True, True] Translation: X:492.56, Y:-290.84, Z:-4.88 [[-3.20006500e-01 -9.47410608e-01 2.99658111e-03 4.92559427e+02] [-9.47370988e-01 3.20020523e-01 8.66459861e-03 -2.90835464e+02] [-9.16790009e-03 -6.61461369e-05 -9.99957972e-01 -4.87761231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters 0.050124768327064126 Centerline is valid? [True, True] Translation: X:492.41, Y:-291.07, Z:-4.88 [[-2.52088904e-01 -9.67702061e-01 1.97610808e-03 4.92407642e+02] [-9.67673405e-01 2.52096647e-01 7.44730661e-03 -2.91073073e+02] [-7.70494418e-03 -3.48438692e-05 -9.99970316e-01 -4.88056215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters 0.04880228918275947 Centerline is valid? [True, True] Translation: X:492.29, Y:-291.26, Z:-4.88 [[-1.81191061e-01 -9.83447249e-01 1.14380887e-03 4.92286119e+02] [-9.83428322e-01 1.81194670e-01 6.10137557e-03 -2.91259793e+02] [-6.20763309e-03 -1.93393240e-05 -9.99980732e-01 -4.88017844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters 0.049643816485875306 Centerline is valid? [True, True] Translation: X:492.17, Y:-291.48, Z:-4.88 [[-1.07348648e-01 -9.94221215e-01 6.66370882e-04 4.92174820e+02] [-9.94203299e-01 1.07350714e-01 5.96869294e-03 -2.91477240e+02] [-6.00573654e-03 -2.17770087e-05 -9.99981965e-01 -4.88058641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters 0.049430392640479506 Centerline is valid? [True, True] Translation: X:492.08, Y:-291.66, Z:-4.88 [[-2.87929127e-02 -9.99585369e-01 2.42072599e-04 4.92079488e+02] [-9.99563777e-01 2.87938819e-02 6.57025801e-03 -2.91660370e+02] [-6.57450399e-03 -5.27901360e-05 -9.99978386e-01 -4.87988678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters 0.04881818302689509 Centerline is valid? [True, True] Translation: X:492.00, Y:-291.89, Z:-4.88 [[ 5.23718466e-02 -9.98627610e-01 -2.94336212e-04 4.91997742e+02] [-9.98596500e-01 -5.23725386e-02 7.88342170e-03 -2.91890236e+02] [-7.88801770e-03 -1.18946241e-04 -9.99968882e-01 -4.87975616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters 0.050797175936436276 Centerline is valid? [True, True] Translation: X:491.37, Y:-292.00, Z:-5.88 [[-5.08277530e-02 9.98707389e-01 3.01053019e-04 4.91372462e+02] [-9.98680218e-01 -5.08285909e-02 7.36720848e-03 -2.92000404e+02] [ 7.37298765e-03 7.38029580e-05 9.99972816e-01 -5.88487973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters 0.04969486844125879 Centerline is valid? [True, True] Translation: X:492.00, Y:-292.23, Z:-4.88 [[ 6.80314636e-02 -9.97683141e-01 -2.65356059e-04 4.92002573e+02] [-9.97664876e-01 -6.80318243e-02 6.03868906e-03 -2.92227494e+02] [-6.04275092e-03 -1.46084435e-04 -9.99981732e-01 -4.88113774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters 0.049745307801146325 Centerline is valid? [True, True] Translation: X:491.94, Y:-292.47, Z:-4.88 [[ 1.42875224e-01 -9.89740436e-01 -7.34065617e-04 4.91938109e+02] [-9.89721038e-01 -1.42877021e-01 6.19871509e-03 -2.92467197e+02] [-6.24000009e-03 -1.59122623e-04 -9.99980518e-01 -4.88061730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters 0.05137930173234415 Centerline is valid? [True, True] Translation: X:491.89, Y:-292.72, Z:-4.88 [[ 2.15084697e-01 -9.76594616e-01 -1.23675502e-03 4.91892519e+02] [-9.76573858e-01 -2.15088191e-01 6.36940389e-03 -2.92717868e+02] [-6.48633694e-03 -1.62178679e-04 -9.99978950e-01 -4.87944665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters 0.05003011215101827 Centerline is valid? [True, True] Translation: X:491.87, Y:-292.98, Z:-4.88 [[ 2.84413496e-01 -9.58700056e-01 -1.77910074e-03 4.91874091e+02] [-9.58677782e-01 -2.84419019e-01 6.53704868e-03 -2.92977040e+02] [-6.77307902e-03 -1.53640520e-04 -9.99977051e-01 -4.87932713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters 0.049351997183325766 Centerline is valid? [True, True] Translation: X:491.88, Y:-293.23, Z:-4.88 [[ 3.50835402e-01 -9.36433063e-01 -2.76406238e-03 4.91878092e+02] [-9.36400410e-01 -3.50846256e-01 7.82152087e-03 -2.93233105e+02] [-8.29409168e-03 -1.55797270e-04 -9.99965591e-01 -4.88033159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters 0.049307569922146514 Centerline is valid? [True, True] Translation: X:491.90, Y:-293.50, Z:-4.88 [[ 4.15773031e-01 -9.09461092e-01 -3.64825526e-03 4.91901163e+02] [-9.09423114e-01 -4.15789014e-01 8.31234356e-03 -2.93504399e+02] [-9.07665750e-03 -1.38240615e-04 -9.99958797e-01 -4.87915831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters 0.04967887905561459 Centerline is valid? [True, True] Translation: X:491.95, Y:-293.78, Z:-4.88 [[ 4.77345594e-01 -8.78704969e-01 -4.33149210e-03 4.91949841e+02] [-8.78666986e-01 -4.77365237e-01 8.17060649e-03 -2.93776102e+02] [-9.24725627e-03 -9.42639098e-05 -9.99957239e-01 -4.87859202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters 0.049502390398714256 Centerline is valid? [True, True] Translation: X:492.03, Y:-294.06, Z:-4.88 [[ 5.32674419e-01 -8.46305947e-01 -4.92011245e-03 4.92034948e+02] [-8.46269772e-01 -5.32697141e-01 7.82486076e-03 -2.94060114e+02] [-9.24315603e-03 -4.36071739e-06 -9.99957281e-01 -4.87847278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters 0.04970224954974816 Centerline is valid? [True, True] Translation: X:492.15, Y:-294.36, Z:-4.88 [[ 5.88057433e-01 -8.08799721e-01 -5.60962500e-03 4.92153615e+02] [-8.08763902e-01 -5.88084185e-01 7.61195288e-03 -2.94356318e+02] [-9.45547711e-03 6.05967427e-05 -9.99955294e-01 -4.87866716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters 0.05002821335592179 Centerline is valid? [True, True] Translation: X:491.80, Y:-294.04, Z:-4.88 [[ 6.40763485e-01 -7.67711351e-01 -6.43720610e-03 4.91796098e+02] [-7.67674806e-01 -6.40795803e-01 7.49208117e-03 -2.94036668e+02] [-9.87669041e-03 1.41028902e-04 -9.99951214e-01 -4.88387809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters 0.05037570029559646 Centerline is valid? [True, True] Translation: X:492.30, Y:-294.69, Z:-4.88 [[ 6.93334548e-01 -7.20588732e-01 -6.25165635e-03 4.92298494e+02] [-7.20561279e-01 -6.93362718e-01 6.29158539e-03 -2.94690100e+02] [-8.86831098e-03 1.42527981e-04 -9.99960666e-01 -4.88122116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters 0.05038684369595409 Centerline is valid? [True, True] Translation: X:492.11, Y:-294.63, Z:-4.88 [[ 7.46364078e-01 -6.65500415e-01 -7.06120533e-03 4.92114731e+02] [-6.65472231e-01 -7.46397469e-01 6.12605306e-03 -2.94626646e+02] [-9.34735664e-03 1.26770118e-04 -9.99956305e-01 -4.88197115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters 0.04998525143335532 Centerline is valid? [True, True] Translation: X:492.09, Y:-294.71, Z:-4.88 [[ 7.99173014e-01 -6.01041603e-01 -8.45489323e-03 4.92086958e+02] [-6.01009139e-01 -7.99217733e-01 6.24742682e-03 -2.94710439e+02] [-1.05122640e-02 8.86931815e-05 -9.99944741e-01 -4.87740659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters 0.05017537995030388 Centerline is valid? [True, True] Translation: X:492.07, Y:-294.80, Z:-4.88 [[ 8.45527492e-01 -5.33854845e-01 -9.07003098e-03 4.92068613e+02] [-5.33824810e-01 -8.45576136e-01 5.66309443e-03 -2.94795735e+02] [-1.06926721e-02 5.35055349e-05 -9.99942830e-01 -4.87883393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters 0.04998917052710672 Centerline is valid? [True, True] Translation: X:492.06, Y:-294.88, Z:-4.88 [[ 8.86898447e-01 -4.61884842e-01 -8.57537906e-03 4.92059115e+02] [-4.61863275e-01 -8.86939903e-01 4.46352946e-03 -2.94879245e+02] [-9.66748248e-03 1.95530590e-06 -9.99953269e-01 -4.88001849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters 0.05021590184981053 Centerline is valid? [True, True] Translation: X:492.06, Y:-294.96, Z:-4.88 [[ 9.21506216e-01 -3.88301150e-01 -6.96499448e-03 4.92056038e+02] [-3.88289877e-01 -9.21532537e-01 2.95887395e-03 -2.94964471e+02] [-7.56740319e-03 -2.21838884e-05 -9.99971367e-01 -4.88163298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters 0.049183183451404135 Centerline is valid? [True, True] Translation: X:492.06, Y:-295.05, Z:-4.88 [[ 9.48919013e-01 -3.15447533e-01 -6.74986801e-03 4.92058424e+02] [-3.15439415e-01 -9.48943019e-01 2.26311204e-03 -2.95048233e+02] [-7.11913324e-03 -1.83356298e-05 -9.99974659e-01 -4.88072650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters 0.049572903947314347 Centerline is valid? [True, True] Translation: X:492.07, Y:-295.13, Z:-4.88 [[ 9.69960344e-01 -2.43178156e-01 -6.42771133e-03 4.92070496e+02] [-2.43172834e-01 -9.69981641e-01 1.60889427e-03 -2.95126356e+02] [-6.62600992e-03 2.48113755e-06 -9.99978048e-01 -4.88039330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters 0.04983191790169143 Centerline is valid? [True, True] Translation: X:492.09, Y:-295.21, Z:-4.88 [[ 9.85459102e-01 -1.69782378e-01 -6.65606028e-03 4.92087149e+02] [-1.69778671e-01 -9.85481579e-01 1.12229656e-03 -2.95212269e+02] [-6.74997098e-03 2.40797041e-05 -9.99977218e-01 -4.88048326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters 0.04960150144445468 Centerline is valid? [True, True] Translation: X:492.11, Y:-295.29, Z:-4.88 [[ 9.95478924e-01 -9.46184589e-02 -8.31017729e-03 4.92110766e+02] [-9.46155800e-02 -9.95513609e-01 7.39768216e-04 -2.95291668e+02] [-8.34289031e-03 4.98485764e-05 -9.99965196e-01 -4.87935027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters 0.04993361385589638 Centerline is valid? [True, True] Translation: X:492.14, Y:-295.37, Z:-4.88 [[ 9.99823827e-01 -1.66737143e-02 -8.61982084e-03 4.92135770e+02] [-1.66735557e-02 -9.99860983e-01 9.02652147e-05 -2.95367239e+02] [-8.62012759e-03 5.34737505e-05 -9.99962845e-01 -4.87975699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters 0.049799656690419684 Centerline is valid? [True, True] Translation: X:492.17, Y:-295.45, Z:-4.88 [[ 9.98018170e-01 6.21304751e-02 -9.97680276e-03 4.92165254e+02] [ 6.21268011e-02 -9.98068034e-01 -6.78051271e-04 -2.95450429e+02] [-9.99965557e-03 5.68806480e-05 -9.99950001e-01 -4.87708015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters 0.05008556538663621 Centerline is valid? [True, True] Translation: X:492.20, Y:-295.52, Z:-4.88 [[ 9.90104448e-01 1.39958008e-01 -1.02438991e-02 4.92200229e+02] [ 1.39949895e-01 -9.90157438e-01 -1.50811797e-03 -2.95520897e+02] [-1.03541461e-02 5.95617033e-05 -9.99946393e-01 -4.87849027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters 0.049756955217608256 Centerline is valid? [True, True] Translation: X:492.24, Y:-295.60, Z:-4.88 [[ 9.75749698e-01 2.18707501e-01 -8.91935705e-03 4.92242574e+02] [ 2.18698021e-01 -9.75790463e-01 -2.03663342e-03 -2.95595119e+02] [-9.14885055e-03 3.65987055e-05 -9.99958148e-01 -4.87921506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters 0.04970261605968044 Centerline is valid? [True, True] Translation: X:492.29, Y:-295.66, Z:-4.88 [[ 9.54955457e-01 2.96635379e-01 -8.21752796e-03 4.92289008e+02] [ 2.96624272e-01 -9.54990812e-01 -2.56703165e-03 -2.95662426e+02] [-8.60913611e-03 1.38826262e-05 -9.99962941e-01 -4.87868867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters 0.04973996510962156 Centerline is valid? [True, True] Translation: X:492.34, Y:-295.72, Z:-4.88 [[ 9.27300945e-01 3.74248477e-01 -7.14392824e-03 4.92339529e+02] [ 3.74237530e-01 -9.27328463e-01 -2.86239993e-03 -2.95722904e+02] [-7.69601680e-03 -1.92199006e-05 -9.99970385e-01 -4.87794719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters 0.04973212478961124 Centerline is valid? [True, True] Translation: X:492.39, Y:-295.77, Z:-4.88 [[ 8.94284937e-01 4.47459145e-01 -5.89618218e-03 4.92392628e+02] [ 4.47449639e-01 -8.94304374e-01 -2.91673150e-03 -2.95772241e+02] [-6.57809969e-03 -2.98555437e-05 -9.99978364e-01 -4.87900022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters 0.04894170929217048 Centerline is valid? [True, True] Translation: X:492.46, Y:-295.83, Z:-4.88 [[ 8.56661820e-01 5.15852585e-01 -5.16104532e-03 4.92456582e+02] [ 5.15843405e-01 -8.56677366e-01 -3.07758398e-03 -2.95829018e+02] [-6.00893037e-03 -2.58424986e-05 -9.99981946e-01 -4.88051737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters 0.04932760946797033 Centerline is valid? [True, True] Translation: X:492.52, Y:-295.88, Z:-4.88 [[ 8.13435950e-01 5.81630398e-01 -5.29482875e-03 4.92522843e+02] [ 5.81618320e-01 -8.13453182e-01 -3.74840321e-03 -2.95881387e+02] [-6.48728054e-03 -3.04834739e-05 -9.99978957e-01 -4.87940750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters 0.04956463523265777 Centerline is valid? [True, True] Translation: X:492.59, Y:-295.92, Z:-4.88 [[ 7.64781330e-01 6.44271171e-01 -4.91688686e-03 4.92587772e+02] [ 6.44258165e-01 -7.64797134e-01 -4.09401435e-03 -2.95921633e+02] [-6.39807640e-03 -3.67187665e-05 -9.99979531e-01 -4.88064179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters 0.04931276916416218 Centerline is valid? [True, True] Translation: X:492.67, Y:-295.97, Z:-4.88 [[ 7.09952230e-01 7.04238190e-01 -4.04999739e-03 4.92665405e+02] [ 7.04227126e-01 -7.09963780e-01 -3.94793135e-03 -2.95965167e+02] [-5.65563548e-03 -4.92753580e-05 -9.99984006e-01 -4.88005240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters 0.04985510034475901 Centerline is valid? [True, True] Translation: X:492.74, Y:-296.00, Z:-4.88 [[ 6.50450285e-01 7.59534630e-01 -4.64467967e-03 4.92741919e+02] [ 7.59516158e-01 -6.50466863e-01 -5.29766482e-03 -2.95999320e+02] [-7.04497010e-03 -8.18416676e-05 -9.99975181e-01 -4.87966621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters 0.04955892583869869 Centerline is valid? [True, True] Translation: X:492.82, Y:-296.03, Z:-4.88 [[ 5.87453657e-01 8.09246735e-01 -4.23358957e-03 4.92821927e+02] [ 8.09226889e-01 -5.87468904e-01 -5.66824174e-03 -2.96027277e+02] [-7.07410835e-03 -9.61051767e-05 -9.99974974e-01 -4.87987238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters 0.048631734105239126 Centerline is valid? [True, True] Translation: X:492.91, Y:-296.05, Z:-4.88 [[ 5.22914909e-01 8.52379202e-01 -3.11360817e-03 4.92905187e+02] [ 8.52364943e-01 -5.22924173e-01 -4.93085630e-03 -2.96050461e+02] [-5.83114033e-03 -7.55121754e-05 -9.99982996e-01 -4.88115852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters 0.049219429593740455 Centerline is valid? [True, True] Translation: X:492.99, Y:-296.07, Z:-4.88 [[ 4.56148762e-01 8.89900657e-01 -2.26423499e-03 4.92990481e+02] [ 8.89890284e-01 -4.56154378e-01 -4.29709111e-03 -2.96067910e+02] [-4.85682491e-03 -5.48079295e-05 -9.99988204e-01 -4.88053044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters 0.04904627648997897 Centerline is valid? [True, True] Translation: X:493.06, Y:-296.07, Z:-4.88 [[ 3.89729982e-01 9.20927790e-01 -1.59559277e-03 4.93058184e+02] [ 9.20920339e-01 -3.89733248e-01 -3.70469212e-03 -2.96069856e+02] [-4.03360948e-03 -2.55842399e-05 -9.99991865e-01 -4.88160883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters 0.048610000937944375 Centerline is valid? [True, True] Translation: X:493.13, Y:-296.07, Z:-4.88 [[ 3.21511082e-01 9.46904666e-01 -1.47561324e-03 4.93133066e+02] [ 9.46894760e-01 -3.21514468e-01 -4.33133982e-03 -2.96069560e+02] [-4.57579689e-03 -4.67669708e-06 -9.99989531e-01 -4.88086689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters 0.0500982261166442 Centerline is valid? [True, True] Translation: X:493.22, Y:-296.07, Z:-4.88 [[ 2.47687825e-01 9.68839188e-01 -1.17040326e-03 4.93215723e+02] [ 9.68828348e-01 -2.47690590e-01 -4.58297890e-03 -2.96065825e+02] [-4.73006743e-03 1.22821805e-06 -9.99988813e-01 -4.88090935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters 0.04906195623177142 Centerline is valid? [True, True] Translation: X:493.30, Y:-296.06, Z:-4.88 [[ 1.71628977e-01 9.85161391e-01 -7.26036440e-04 4.93296566e+02] [ 9.85152499e-01 -1.71630513e-01 -4.18571362e-03 -2.96056876e+02] [-4.24821346e-03 3.13313265e-06 -9.99990976e-01 -4.88147885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters 0.04954667981227739 Centerline is valid? [True, True] Translation: X:493.39, Y:-296.04, Z:-4.88 [[ 9.08809200e-02 9.95861681e-01 -4.14013925e-04 4.93386144e+02] [ 9.95851877e-01 -9.08818624e-02 -4.41886197e-03 -2.96042385e+02] [-4.43820167e-03 -1.07063028e-05 -9.99990151e-01 -4.88093150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters 0.04961389034690365 Centerline is valid? [True, True] Translation: X:493.47, Y:-296.02, Z:-4.88 [[ 9.99150697e-03 9.99950080e-01 -8.26886656e-05 4.93469737e+02] [ 9.99935008e-01 -9.99181038e-03 -5.49038654e-03 -2.96020670e+02] [-5.49093867e-03 -2.78260561e-05 -9.99984924e-01 -4.88032857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters 0.04859599270713008 Centerline is valid? [True, True] Translation: X:493.55, Y:-295.99, Z:-4.88 [[-7.16869436e-02 9.97427087e-01 4.33396277e-04 4.93553040e+02] [ 9.97403638e-01 7.16882302e-02 -6.83968890e-03 -2.95991995e+02] [-6.85316038e-03 -5.80453694e-05 -9.99976515e-01 -4.87881123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters 0.048942893158831505 Centerline is valid? [True, True] Translation: X:493.64, Y:-295.96, Z:-4.88 [[-1.51304617e-01 9.88486642e-01 1.03486882e-03 4.93636853e+02] [ 9.88459991e-01 1.51308138e-01 -7.25907873e-03 -2.95955627e+02] [-7.33208644e-03 -7.54057063e-05 -9.99973117e-01 -4.87897826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters 0.048874578846039976 Centerline is valid? [True, True] Translation: X:493.72, Y:-295.91, Z:-4.88 [[-2.28869088e-01 9.73456026e-01 1.51847144e-03 4.93717518e+02] [ 9.73432326e-01 2.28874112e-01 -6.79324568e-03 -2.95914413e+02] [-6.96046475e-03 -7.66347618e-05 -9.99975773e-01 -4.87965625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters 0.049350157863854445 Centerline is valid? [True, True] Translation: X:493.79, Y:-295.87, Z:-4.88 [[-3.04855728e-01 9.52396817e-01 1.81327629e-03 4.93793736e+02] [ 9.52378548e-01 3.04861113e-01 -5.89945529e-03 -2.95866143e+02] [-6.17141987e-03 -7.15573039e-05 -9.99980954e-01 -4.88006003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters 0.0493018096534883 Centerline is valid? [True, True] Translation: X:493.87, Y:-295.81, Z:-4.88 [[-3.79247633e-01 9.25293089e-01 1.98290317e-03 4.93869644e+02] [ 9.25279499e-01 3.79252811e-01 -5.01529508e-03 -2.95811743e+02] [-5.39263948e-03 -6.72991350e-05 -9.99985457e-01 -4.88005393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters 0.04899945230352344 Centerline is valid? [True, True] Translation: X:493.94, Y:-295.75, Z:-4.88 [[-4.50352961e-01 8.92848147e-01 2.09703185e-03 4.93936216e+02] [ 8.92837850e-01 4.50357839e-01 -4.28847498e-03 -2.95752515e+02] [-4.77337167e-03 -5.90179975e-05 -9.99988606e-01 -4.88112127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters 0.049307894288845786 Centerline is valid? [True, True] Translation: X:494.00, Y:-295.69, Z:-4.88 [[-5.17465555e-01 8.55699835e-01 2.68185361e-03 4.93999477e+02] [ 8.55687769e-01 5.17472501e-01 -4.54443566e-03 -2.95687628e+02] [-5.27645834e-03 -5.67595890e-05 -9.99986078e-01 -4.88103685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters 0.04927446745848417 Centerline is valid? [True, True] Translation: X:494.05, Y:-295.62, Z:-4.88 [[-5.82191266e-01 8.13044166e-01 3.53751907e-03 4.94053789e+02] [ 8.13028513e-01 5.82202010e-01 -5.04545839e-03 -2.95621450e+02] [-6.16173122e-03 -6.13179435e-05 -9.99981015e-01 -4.88023625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters 0.04943567567780016 Centerline is valid? [True, True] Translation: X:494.11, Y:-295.55, Z:-4.88 [[-6.43751361e-01 7.65217176e-01 5.18261651e-03 4.94106316e+02] [ 7.65191397e-01 6.43772218e-01 -6.28157926e-03 -2.95547610e+02] [-8.14319687e-03 -7.80816300e-05 -9.99966841e-01 -4.87852894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters 0.04961538900010234 Centerline is valid? [True, True] Translation: X:494.15, Y:-295.47, Z:-4.88 [[-7.01087638e-01 7.13040046e-01 7.07225311e-03 4.94149512e+02] [ 7.13002475e-01 7.01123303e-01 -7.32023655e-03 -2.95472938e+02] [-1.01781433e-02 -8.95933879e-05 -9.99948197e-01 -4.87817459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters 0.049488393511420495 Centerline is valid? [True, True] Translation: X:494.19, Y:-295.40, Z:-4.88 [[-7.53596527e-01 6.57294801e-01 7.47124680e-03 4.94185456e+02] [ 6.57261565e-01 7.53633558e-01 -6.61027023e-03 -2.95395672e+02] [-9.97547857e-03 -7.09133188e-05 -9.99950241e-01 -4.87940939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters 0.04994864006401202 Centerline is valid? [True, True] Translation: X:494.52, Y:-295.57, Z:-4.88 [[-7.97444126e-01 6.03354742e-01 6.77652043e-03 4.94517967e+02] [ 6.03332565e-01 7.97472918e-01 -5.17314157e-03 -2.95567057e+02] [-8.52533102e-03 -3.67959034e-05 -9.99963658e-01 -4.88230046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters 0.04990972847343543 Centerline is valid? [True, True] Translation: X:494.06, Y:-295.14, Z:-4.88 [[-8.37525450e-01 5.46367006e-01 5.84943998e-03 4.94059707e+02] [ 5.46353476e-01 8.37545876e-01 -3.84503900e-03 -2.95141913e+02] [-6.99997678e-03 -2.44561494e-05 -9.99975500e-01 -4.88190578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters 0.04995485645409491 Centerline is valid? [True, True] Translation: X:494.07, Y:-295.06, Z:-4.88 [[-8.75029056e-01 4.84040571e-01 5.37373600e-03 4.94074914e+02] [ 4.84031215e-01 8.75045556e-01 -3.00971434e-03 -2.95059998e+02] [-6.15908765e-03 -3.25315330e-05 -9.99981032e-01 -4.88128059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters 0.04930335435585977 Centerline is valid? [True, True] Translation: X:494.08, Y:-294.97, Z:-4.88 [[-9.07869199e-01 4.19209404e-01 6.08216252e-03 4.94076771e+02] [ 4.19199651e-01 9.07889571e-01 -2.85995893e-03 -2.94974180e+02] [-6.72085361e-03 -4.68282186e-05 -9.99977414e-01 -4.88127139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters 0.04954142130747336 Centerline is valid? [True, True] Translation: X:494.11, Y:-294.90, Z:-4.88 [[-9.36693212e-01 3.50073084e-01 7.39346094e-03 4.94112535e+02] [ 3.50061455e-01 9.36722386e-01 -2.85468322e-03 -2.94902293e+02] [-7.92496813e-03 -8.57966997e-05 -9.99968593e-01 -4.88018841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters 0.049527417996263604 Centerline is valid? [True, True] Translation: X:494.32, Y:-294.27, Z:-5.88 [[-9.00465536e-01 -4.34848560e-01 8.27945633e-03 4.94317186e+02] [ 4.34831997e-01 -9.00503580e-01 -3.79946450e-03 -2.94272675e+02] [ 9.10787174e-03 1.78885694e-04 9.99958507e-01 -5.88449533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters 0.05018433284220128 Centerline is valid? [True, True] Translation: X:494.04, Y:-294.88, Z:-4.88 [[-9.39204299e-01 3.43259166e-01 8.27217554e-03 4.94042953e+02] [ 3.43244658e-01 9.39240719e-01 -3.15853819e-03 -2.94876603e+02] [-8.85376129e-03 -1.27132590e-04 -9.99960797e-01 -4.87877361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters 0.04897420494058767 Centerline is valid? [True, True] Translation: X:493.97, Y:-294.77, Z:-4.88 [[-9.60717150e-01 2.77438029e-01 7.12028884e-03 4.93969979e+02] [ 2.77429684e-01 9.60743530e-01 -2.15397927e-03 -2.94771837e+02] [-7.43836720e-03 -9.39853454e-05 -9.99972331e-01 -4.88095408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters 0.04972619050354745 Centerline is valid? [True, True] Translation: X:493.92, Y:-294.68, Z:-4.88 [[-9.77075344e-01 2.12793786e-01 6.52513122e-03 4.93919652e+02] [ 2.12788662e-01 9.77097130e-01 -1.47786167e-03 -2.94678564e+02] [-6.69016677e-03 -5.55082594e-05 -9.99977619e-01 -4.88113475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters 0.049548914186895415 Centerline is valid? [True, True] Translation: X:493.78, Y:-294.58, Z:-4.88 [[-9.88920457e-01 1.48312929e-01 6.29316741e-03 4.93783480e+02] [ 1.48309808e-01 9.88940481e-01 -9.62319872e-04 -2.94578681e+02] [-6.36629249e-03 -1.83193544e-05 -9.99979735e-01 -4.88167725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters 0.04965609088836658 Centerline is valid? [True, True] Translation: X:493.74, Y:-294.50, Z:-4.88 [[-9.96689123e-01 8.10479332e-02 6.48262211e-03 4.93740217e+02] [ 8.10462410e-02 9.96710205e-01 -5.23755971e-04 -2.94500138e+02] [-6.50374495e-03 3.37027386e-06 -9.99978850e-01 -4.88211946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters 0.049662159463066326 Centerline is valid? [True, True] Translation: X:493.68, Y:-294.42, Z:-4.88 [[-9.99888010e-01 1.31163243e-02 7.20625209e-03 4.93675668e+02] [ 1.31161647e-02 9.99913977e-01 -6.94067185e-05 -2.94424235e+02] [-7.20654255e-03 2.51194438e-05 -9.99974032e-01 -4.88083135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters 0.049902577765196555 Centerline is valid? [True, True] Translation: X:493.61, Y:-294.35, Z:-4.88 [[-9.98312921e-01 -5.74749372e-02 8.24281040e-03 4.93607396e+02] [-5.74727019e-02 9.98346949e-01 5.07992301e-04 -2.94349598e+02] [-8.25838144e-03 3.33986923e-05 -9.99965898e-01 -4.88071275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters 0.050318149470825094 Centerline is valid? [True, True] Translation: X:493.64, Y:-294.27, Z:-4.88 [[-9.91449761e-01 -1.30205765e-01 8.59249452e-03 4.93636771e+02] [-1.30200622e-01 9.91486993e-01 1.15760390e-03 -2.94269023e+02] [-8.67007326e-03 2.89579752e-05 -9.99962414e-01 -4.88091241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters 0.04919494820411587 Centerline is valid? [True, True] Translation: X:493.40, Y:-293.62, Z:-5.88 [[-9.97672308e-01 6.75627364e-02 9.23273661e-03 4.93397635e+02] [-6.75597634e-02 -9.97715028e-01 6.33871433e-04 -2.93617785e+02] [ 9.25446615e-03 8.63447441e-06 9.99957177e-01 -5.88253698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters 0.04939060478328721 Centerline is valid? [True, True] Translation: X:493.40, Y:-294.30, Z:-4.88 [[-9.90074568e-01 -1.40248091e-01 9.10066408e-03 4.93396231e+02] [-1.40242397e-01 9.90116393e-01 1.26395777e-03 -2.94297219e+02] [-9.18798436e-03 -2.48864999e-05 -9.99957789e-01 -4.88128205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters 0.04938455855357315 Centerline is valid? [True, True] Translation: X:493.33, Y:-294.23, Z:-4.88 [[-9.76509346e-01 -2.15291725e-01 8.88656500e-03 4.93331181e+02] [-2.15283460e-01 9.76549778e-01 1.88780354e-03 -2.94228484e+02] [-9.08460155e-03 -6.96726581e-05 -9.99958732e-01 -4.88218631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters 0.04976606762023493 Centerline is valid? [True, True] Translation: X:493.20, Y:-293.59, Z:-5.88 [[-9.91699816e-01 1.28226910e-01 9.45170590e-03 4.93197721e+02] [-1.28220063e-01 -9.91744850e-01 1.32936862e-03 -2.93585944e+02] [ 9.54414148e-03 1.06436286e-04 9.99954448e-01 -5.88183641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters 0.04909086212317379 Centerline is valid? [True, True] Translation: X:493.23, Y:-294.25, Z:-4.88 [[-9.73901984e-01 -2.26762302e-01 9.68424424e-03 4.93233424e+02] [-2.26752647e-01 9.73950119e-01 2.09811766e-03 -2.94246122e+02] [-9.90774483e-03 -1.52567063e-04 -9.99950905e-01 -4.88078581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters 0.049216369794157055 Centerline is valid? [True, True] Translation: X:493.17, Y:-294.18, Z:-4.88 [[-9.54080712e-01 -2.99395363e-01 9.61309760e-03 4.93172920e+02] [-2.99382191e-01 9.54129121e-01 2.81501815e-03 -2.94179873e+02] [-1.00149397e-02 -1.92235700e-04 -9.99949831e-01 -4.88192886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters 0.049403980268753526 Centerline is valid? [True, True] Translation: X:492.97, Y:-293.57, Z:-5.88 [[-9.81319347e-01 1.92159718e-01 9.32638192e-03 4.92974182e+02] [-1.92149601e-01 -9.81363654e-01 1.97741952e-03 -2.93569783e+02] [ 9.53255261e-03 1.48419469e-04 9.99954553e-01 -5.88103130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters 0.051165891565677926 Centerline is valid? [True, True] Translation: X:493.06, Y:-294.21, Z:-4.88 [[-9.50279304e-01 -3.11291057e-01 8.19282810e-03 4.93056749e+02] [-3.11281586e-01 9.50314592e-01 2.43927630e-03 -2.94207786e+02] [-8.54508899e-03 -2.32282746e-04 -9.99963463e-01 -4.88246353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters 0.051333382030867396 Centerline is valid? [True, True] Translation: X:492.97, Y:-294.14, Z:-4.88 [[-9.25359850e-01 -3.79016249e-01 7.47203935e-03 4.92973863e+02] [-3.79005848e-01 9.25389989e-01 2.81691997e-03 -2.94143314e+02] [-7.98220885e-03 -2.25281968e-04 -9.99968116e-01 -4.88101683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters 0.04924881835529561 Centerline is valid? [True, True] Translation: X:492.88, Y:-294.11, Z:-4.88 [[-8.95396092e-01 -4.45197295e-01 8.07500679e-03 4.92879546e+02] [-4.45181758e-01 8.95432467e-01 3.72823105e-03 -2.94106333e+02] [-8.89042163e-03 -2.56602211e-04 -9.99960447e-01 -4.88347398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters 0.04993324566373042 Centerline is valid? [True, True] Translation: X:492.74, Y:-294.08, Z:-4.88 [[-8.61979240e-01 -5.06859586e-01 9.22764585e-03 4.92736280e+02] [-5.06834107e-01 8.62028582e-01 5.09032399e-03 -2.94082827e+02] [-1.05345740e-02 -2.89132031e-04 -9.99944468e-01 -4.88003403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters 0.04998167248575052 Centerline is valid? [True, True] Translation: X:492.58, Y:-294.09, Z:-4.88 [[-8.25432278e-01 -5.64419936e-01 9.57555887e-03 4.92581792e+02] [-5.64385764e-01 8.25487772e-01 6.21671904e-03 -2.94085829e+02] [-1.14133469e-02 -2.72828554e-04 -9.99934828e-01 -4.87988186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters 0.049642559628382946 Centerline is valid? [True, True] Translation: X:492.41, Y:-294.12, Z:-4.88 [[-7.85874375e-01 -6.18334114e-01 8.02435378e-03 4.92413015e+02] [-6.18304320e-01 7.85915319e-01 6.07293269e-03 -2.94116860e+02] [-1.00615640e-02 -1.88930420e-04 -9.99949363e-01 -4.88358941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters 0.04921328979206258 Centerline is valid? [True, True] Translation: X:492.21, Y:-294.18, Z:-4.88 [[-7.42407892e-01 -6.69916435e-01 6.51860781e-03 4.92212015e+02] [-6.69892096e-01 7.42436498e-01 5.71185776e-03 -2.94180025e+02] [-8.66611975e-03 -1.26235571e-04 -9.99962441e-01 -4.88295979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters 0.04918357248180486 Centerline is valid? [True, True] Translation: X:492.04, Y:-294.24, Z:-4.88 [[-6.96937554e-01 -7.17112130e-01 5.31397846e-03 4.92037427e+02] [-7.17091871e-01 6.96957811e-01 5.39068437e-03 -2.94244756e+02] [-7.56934394e-03 -5.36403751e-05 -9.99971351e-01 -4.88348725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters 0.04951440264155888 Centerline is valid? [True, True] Translation: X:491.98, Y:-294.19, Z:-4.88 [[-6.46210023e-01 -7.63145842e-01 4.58576414e-03 4.91983872e+02] [-7.63126685e-01 6.46226294e-01 5.40730708e-03 -2.94188472e+02] [-7.09000528e-03 -5.26295366e-06 -9.99974866e-01 -4.88418756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters 0.04923341810589044 Centerline is valid? [True, True] Translation: X:491.64, Y:-294.50, Z:-4.88 [[-5.93571986e-01 -8.04769491e-01 4.28519241e-03 4.91641658e+02] [-8.04748228e-01 5.93587454e-01 5.85018719e-03 -2.94495100e+02] [-7.25168862e-03 2.40062304e-05 -9.99973706e-01 -4.88360152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters 0.04943706089726962 Centerline is valid? [True, True] Translation: X:491.46, Y:-294.63, Z:-4.88 [[-5.35638163e-01 -8.44439300e-01 3.74536412e-03 4.91457551e+02] [-8.44418060e-01 5.35651255e-01 5.98944436e-03 -2.94633911e+02] [-7.06393119e-03 4.55218635e-05 -9.99975049e-01 -4.88477207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters 0.0508136688324231 Centerline is valid? [True, True] Translation: X:491.56, Y:-294.29, Z:-4.89 [[-4.73755715e-01 -8.80649267e-01 3.52010333e-03 4.91556407e+02] [-8.80623619e-01 4.73768784e-01 6.72162472e-03 -2.94291580e+02] [-7.58710896e-03 8.45219854e-05 -9.99971214e-01 -4.88603422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters 0.050650710607264574 Centerline is valid? [True, True] Translation: X:491.21, Y:-294.83, Z:-4.88 [[-4.14524948e-01 -9.10033492e-01 2.84782050e-03 4.91210554e+02] [-9.10010083e-01 4.14534715e-01 6.52837498e-03 -2.94833725e+02] [-7.12156034e-03 1.14628930e-04 -9.99974635e-01 -4.88434391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters 0.051661426680141655 Centerline is valid? [True, True] Translation: X:491.23, Y:-294.57, Z:-4.88 [[-3.48044307e-01 -9.37475037e-01 2.39066870e-03 4.91231051e+02] [-9.37449925e-01 3.48052487e-01 6.86330880e-03 -2.94569854e+02] [-7.26625886e-03 1.47603369e-04 -9.99973590e-01 -4.88392564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters 0.05153852253121392 Centerline is valid? [True, True] Translation: X:490.88, Y:-295.45, Z:-4.88 [[-2.83361625e-01 -9.59011743e-01 1.63295093e-03 4.90875568e+02] [-9.58992908e-01 2.83366296e-01 6.01209821e-03 -2.95446763e+02] [-6.22839603e-03 1.37609559e-04 -9.99980594e-01 -4.88441580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters 0.05169978691151752 Centerline is valid? [True, True] Translation: X:490.89, Y:-294.97, Z:-4.89 [[-2.08088217e-01 -9.78109556e-01 9.95174031e-04 4.90894312e+02] [-9.78095683e-01 2.08090568e-01 5.21065911e-03 -2.94971255e+02] [-5.30368179e-03 1.10901341e-04 -9.99985929e-01 -4.88624219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters 0.05115943731830494 Centerline is valid? [True, True] Translation: X:490.77, Y:-295.19, Z:-4.89 [[-1.31984167e-01 -9.91251690e-01 5.15964883e-04 4.90766368e+02] [-9.91241623e-01 1.31985152e-01 4.46806666e-03 -2.95190948e+02] [-4.49707833e-03 7.82681874e-05 -9.99989885e-01 -4.88562509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters 0.0513614651959785 Centerline is valid? [True, True] Translation: X:490.06, Y:-295.72, Z:-5.88 [[-1.72378523e-01 9.85030446e-01 8.15869850e-04 4.90055305e+02] [-9.85021905e-01 -1.72380427e-01 4.10307014e-03 -2.95715205e+02] [ 4.18228900e-03 -9.63685046e-05 9.99991250e-01 -5.87987139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters 0.05024926536336612 Centerline is valid? [True, True] Translation: X:490.63, Y:-296.07, Z:-4.88 [[-1.04932274e-01 -9.94479229e-01 5.29744756e-04 4.90628910e+02] [-9.94467307e-01 1.04933610e-01 4.86965963e-03 -2.96067086e+02] [-4.89836339e-03 -1.58293842e-05 -9.99988003e-01 -4.88187965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters 0.05065635729297972 Centerline is valid? [True, True] Translation: X:490.53, Y:-296.25, Z:-4.88 [[-2.25666609e-02 -9.99745321e-01 1.95807510e-04 4.90531143e+02] [-9.99729029e-01 2.25674111e-02 5.70794874e-03 -2.96249467e+02] [-5.71091392e-03 -6.69451083e-05 -9.99983690e-01 -4.88168827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters 0.05008708205962637 Centerline is valid? [True, True] Translation: X:490.45, Y:-296.41, Z:-4.88 [[ 6.07095645e-02 -9.98155448e-01 -2.26864855e-04 4.90450651e+02] [-9.98139217e-01 -6.07098714e-02 5.69349120e-03 -2.96408158e+02] [-5.69676220e-03 -1.19206662e-04 -9.99983766e-01 -4.88341615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters 0.052366973790352475 Centerline is valid? [True, True] Translation: X:490.36, Y:-296.52, Z:-4.88 [[ 1.38765832e-01 -9.90324910e-01 -7.84955236e-04 4.90364787e+02] [-9.90301223e-01 -1.38767943e-01 6.85172344e-03 -2.96520890e+02] [-6.89435902e-03 -1.73442971e-04 -9.99976219e-01 -4.88032541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters 0.050714267291007926 Centerline is valid? [True, True] Translation: X:490.33, Y:-296.78, Z:-4.88 [[ 2.11411320e-01 -9.77396075e-01 -1.47156223e-03 4.90330140e+02] [-9.77365331e-01 -2.11416346e-01 7.75496191e-03 -2.96779186e+02] [-7.89078165e-03 -2.01232831e-04 -9.99968847e-01 -4.88176791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters 0.050555707274616536 Centerline is valid? [True, True] Translation: X:490.30, Y:-297.02, Z:-4.88 [[ 2.81667211e-01 -9.59508800e-01 -2.53866473e-03 4.90303115e+02] [-9.59461843e-01 -2.81678550e-01 9.49555461e-03 -2.97019837e+02] [-9.82615561e-03 -2.38834439e-04 -9.99951694e-01 -4.88054232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters 0.052953328304252624 Centerline is valid? [True, True] Translation: X:490.22, Y:-297.05, Z:-4.87 [[ 3.51023664e-01 -9.36357931e-01 -4.02649514e-03 4.90215330e+02] [-9.36286771e-01 -3.51046642e-01 1.15471559e-02 -2.97047030e+02] [-1.22257586e-02 -2.83370819e-04 -9.99925222e-01 -4.87419168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters 0.05168049217064295 Centerline is valid? [True, True] Translation: X:490.32, Y:-297.51, Z:-4.88 [[ 4.13281400e-01 -9.10588812e-01 -5.14790312e-03 4.90319928e+02] [-9.10510995e-01 -4.13313394e-01 1.19065969e-02 -2.97505901e+02] [-1.29697113e-02 -2.33552659e-04 -9.99915863e-01 -4.87786965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters 0.051423199918152473 Centerline is valid? [True, True] Translation: X:490.35, Y:-297.74, Z:-4.88 [[ 4.75962455e-01 -8.79445788e-01 -5.90313496e-03 4.90348534e+02] [-8.79373325e-01 -4.75999025e-01 1.12908338e-02 -2.97741321e+02] [-1.27395627e-02 -1.82953554e-04 -9.99918832e-01 -4.87697250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters 0.05122682890837877 Centerline is valid? [True, True] Translation: X:490.43, Y:-298.02, Z:-4.88 [[ 5.36122930e-01 -8.44116535e-01 -6.28327467e-03 4.90425811e+02] [-8.44055776e-01 -5.36159734e-01 1.01285601e-02 -2.98017819e+02] [-1.19185240e-02 -1.26719076e-04 -9.99928964e-01 -4.87971328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters 0.051705008180653066 Centerline is valid? [True, True] Translation: X:490.46, Y:-298.19, Z:-4.88 [[ 5.93740245e-01 -8.04627052e-01 -6.91584976e-03 4.90457134e+02] [-8.04570880e-01 -5.93780516e-01 9.50776207e-03 -2.98194596e+02] [-1.17566994e-02 -8.08496511e-05 -9.99930884e-01 -4.87752178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters 0.0511657600933806 Centerline is valid? [True, True] Translation: X:490.55, Y:-298.42, Z:-4.88 [[ 6.48680923e-01 -7.61026462e-01 -7.19613162e-03 4.90548264e+02] [-7.60978965e-01 -6.48720836e-01 8.50248165e-03 -2.98423822e+02] [-1.11388940e-02 -3.92928507e-05 -9.99937960e-01 -4.88061324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters 0.05109304618422327 Centerline is valid? [True, True] Translation: X:490.63, Y:-298.62, Z:-4.88 [[ 7.00443339e-01 -7.13666008e-01 -7.74322560e-03 4.90633930e+02] [-7.13622361e-01 -7.00486138e-01 7.89285605e-03 -2.98620557e+02] [-1.10568853e-02 -2.75951355e-06 -9.99938871e-01 -4.87992714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters 0.050943767857980986 Centerline is valid? [True, True] Translation: X:490.74, Y:-298.81, Z:-4.88 [[ 7.49840956e-01 -6.61572318e-01 -7.78518739e-03 4.90735830e+02] [-6.61536856e-01 -7.49881369e-01 6.84983536e-03 -2.98813734e+02] [-1.03696284e-02 1.39012906e-05 -9.99946234e-01 -4.88044100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters 0.05043222420960752 Centerline is valid? [True, True] Translation: X:490.72, Y:-298.89, Z:-4.88 [[ 8.00260811e-01 -5.99598038e-01 -8.05152124e-03 4.90718186e+02] [-5.99567653e-01 -8.00301314e-01 6.03632070e-03 -2.98888980e+02] [-1.00630091e-02 -3.19920670e-06 -9.99949367e-01 -4.87935819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters 0.050160337437196015 Centerline is valid? [True, True] Translation: X:490.70, Y:-298.97, Z:-4.88 [[ 8.46121230e-01 -5.32928616e-01 -8.12125783e-03 4.90702513e+02] [-5.32903738e-01 -8.46160203e-01 5.14937536e-03 -2.98972647e+02] [-9.61613466e-03 -2.91471541e-05 -9.99953764e-01 -4.88109891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters 0.050523811771116305 Centerline is valid? [True, True] Translation: X:490.69, Y:-299.06, Z:-4.88 [[ 8.86253411e-01 -4.63113908e-01 -8.96652990e-03 4.90692578e+02] [-4.63089588e-01 -8.86298767e-01 4.74645049e-03 -2.99057626e+02] [-1.01451716e-02 -5.42513037e-05 -9.99948535e-01 -4.87999676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters 0.05044547035968547 Centerline is valid? [True, True] Translation: X:490.69, Y:-299.14, Z:-4.88 [[ 9.20738501e-01 -3.90055509e-01 -9.86476967e-03 4.90691851e+02] [-3.90032131e-01 -9.20791341e-01 4.27125732e-03 -2.99140773e+02] [-1.07494219e-02 -8.51339214e-05 -9.99942220e-01 -4.88084463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters 0.05044358153091907 Centerline is valid? [True, True] Translation: X:490.70, Y:-299.22, Z:-4.88 [[ 9.48671202e-01 -3.16142501e-01 -8.76752425e-03 4.90695510e+02] [-3.16128212e-01 -9.48711712e-01 3.00678539e-03 -2.99224574e+02] [-9.26842560e-03 -8.07889401e-05 -9.99957044e-01 -4.88186290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters 0.05039502507510236 Centerline is valid? [True, True] Translation: X:490.71, Y:-299.31, Z:-4.89 [[ 9.69898141e-01 -2.43404380e-01 -7.20444839e-03 4.90706745e+02] [-2.43397308e-01 -9.69924897e-01 1.85609509e-03 -2.99308608e+02] [-7.43955553e-03 -4.66798363e-05 -9.99972325e-01 -4.88541258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters 0.04991565346670018 Centerline is valid? [True, True] Translation: X:490.72, Y:-299.39, Z:-4.89 [[ 9.85343361e-01 -1.70483812e-01 -5.80778600e-03 4.90722381e+02] [-1.70480758e-01 -9.85360477e-01 1.02045744e-03 -2.99394977e+02] [-5.89673426e-03 -1.53852002e-05 -9.99982614e-01 -4.88597100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters 0.04979135122296866 Centerline is valid? [True, True] Translation: X:490.74, Y:-299.47, Z:-4.89 [[ 9.94895130e-01 -1.00836324e-01 -3.96432041e-03 4.90744978e+02] [-1.00835608e-01 -9.94903028e-01 3.80613713e-04 -2.99470057e+02] [-3.98249407e-03 2.10739287e-05 -9.99992070e-01 -4.88652407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters 0.0501355135784704 Centerline is valid? [True, True] Translation: X:490.77, Y:-299.53, Z:-4.89 [[ 9.99552801e-01 -2.97772855e-02 -2.74058953e-03 4.90770075e+02] [-2.97772668e-02 -9.99556558e-01 4.76304880e-05 -2.99534165e+02] [-2.74079255e-03 3.39980780e-05 -9.99996243e-01 -4.88679022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters 0.05042321736797067 Centerline is valid? [True, True] Translation: X:490.80, Y:-299.61, Z:-4.89 [[ 9.98996575e-01 4.46754852e-02 -3.15335476e-03 4.90798501e+02] [ 4.46751004e-02 -9.99001551e-01 -1.92420658e-04 -2.99605541e+02] [-3.15880278e-03 5.13511380e-05 -9.99995010e-01 -4.88711815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters 0.05083181605928567 Centerline is valid? [True, True] Translation: X:490.83, Y:-299.67, Z:-4.89 [[ 9.92947629e-01 1.18444083e-01 -5.09962013e-03 4.90831393e+02] [ 1.18441973e-01 -9.92960718e-01 -7.14925237e-04 -2.99669014e+02] [-5.14840113e-03 1.05874249e-04 -9.99986741e-01 -4.88538867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters 0.051275476932558774 Centerline is valid? [True, True] Translation: X:490.87, Y:-299.74, Z:-4.89 [[ 9.81255082e-01 1.92615377e-01 -6.14661624e-03 4.90871020e+02] [ 1.92610640e-01 -9.81274322e-01 -1.35919006e-03 -2.99735852e+02] [-6.29331758e-03 1.49808468e-04 -9.99980186e-01 -4.88513405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters 0.05093467960834602 Centerline is valid? [True, True] Translation: X:490.92, Y:-299.80, Z:-4.89 [[ 9.63472007e-01 2.67739071e-01 -6.12218820e-03 4.90915794e+02] [ 2.67732612e-01 -9.63491445e-01 -1.86652686e-03 -2.99799838e+02] [-6.39841812e-03 1.59236944e-04 -9.99979517e-01 -4.88522583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters 0.05106028414326516 Centerline is valid? [True, True] Translation: X:490.97, Y:-299.87, Z:-4.89 [[ 9.39352150e-01 3.42905971e-01 -5.74746114e-03 4.90968118e+02] [ 3.42898573e-01 -9.39369721e-01 -2.25729809e-03 -2.99868974e+02] [-6.17303196e-03 1.49601592e-04 -9.99980935e-01 -4.88724638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters 0.05045408344695277 Centerline is valid? [True, True] Translation: X:491.04, Y:-299.96, Z:-4.89 [[ 9.08925216e-01 4.16923249e-01 -5.47325546e-03 4.91035211e+02] [ 4.16914779e-01 -9.08941684e-01 -2.66117472e-03 -2.99955844e+02] [-6.08437564e-03 1.36927715e-04 -9.99981481e-01 -4.88827814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters 0.050749803001180885 Centerline is valid? [True, True] Translation: X:491.10, Y:-300.01, Z:-4.89 [[ 8.71715311e-01 4.89985240e-01 -5.18468619e-03 4.91097820e+02] [ 4.89975799e-01 -8.71730722e-01 -3.04391187e-03 -3.00013696e+02] [-6.01112212e-03 1.13053825e-04 -9.99981927e-01 -4.88666992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters 0.051553039626310866 Centerline is valid? [True, True] Translation: X:491.17, Y:-300.07, Z:-4.89 [[ 8.27011556e-01 5.62161994e-01 -5.07728478e-03 4.91165917e+02] [ 5.62150836e-01 -8.27027138e-01 -3.54259452e-03 -3.00067201e+02] [-6.19056430e-03 7.55667249e-05 -9.99980835e-01 -4.88592398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters 0.05089233647934012 Centerline is valid? [True, True] Translation: X:491.23, Y:-300.11, Z:-4.89 [[ 7.77205838e-01 6.29228569e-01 -4.74269395e-03 4.91233910e+02] [ 6.29216518e-01 -7.77220307e-01 -3.89458126e-03 -3.00111362e+02] [-6.13669985e-03 4.27099198e-05 -9.99981169e-01 -4.88558696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters 0.051331150412592626 Centerline is valid? [True, True] Translation: X:491.31, Y:-300.15, Z:-4.89 [[ 7.17829809e-01 6.96211959e-01 -3.04532303e-03 4.91310126e+02] [ 6.96205800e-01 -7.17836268e-01 -2.92842156e-03 -3.00152879e+02] [-4.22484543e-03 -1.80632682e-05 -9.99991075e-01 -4.88682287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters 0.050559638156556286 Centerline is valid? [True, True] Translation: X:491.39, Y:-300.19, Z:-4.89 [[ 6.57322599e-01 7.53605404e-01 -2.42811704e-03 4.91389878e+02] [ 7.53600455e-01 -6.57327082e-01 -2.73159427e-03 -3.00189026e+02] [-3.65461129e-03 -3.42914650e-05 -9.99993321e-01 -4.88767040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters 0.05041842308231334 Centerline is valid? [True, True] Translation: X:491.48, Y:-300.22, Z:-4.89 [[ 5.91264922e-01 8.06473456e-01 -2.52110252e-03 4.91476251e+02] [ 8.06466593e-01 -5.91270293e-01 -3.32784984e-03 -3.00221103e+02] [-4.17447559e-03 -6.55440859e-05 -9.99991285e-01 -4.88735553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters 0.051059127737268034 Centerline is valid? [True, True] Translation: X:491.56, Y:-300.25, Z:-4.89 [[ 5.22870586e-01 8.52406378e-01 -3.11733211e-03 4.91564148e+02] [ 8.52392511e-01 -5.22879866e-01 -4.86342608e-03 -3.00245551e+02] [-5.77560560e-03 -1.14248108e-04 -9.99983315e-01 -4.88580035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters 0.050343709458754826 Centerline is valid? [True, True] Translation: X:491.65, Y:-300.26, Z:-4.88 [[ 4.50936300e-01 8.92545297e-01 -4.39853947e-03 4.91654514e+02] [ 8.92507536e-01 -4.50957697e-01 -8.21301450e-03 -3.00264899e+02] [-9.31404269e-03 -2.22183251e-04 -9.99956599e-01 -4.88426855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters 0.05023660793120738 Centerline is valid? [True, True] Translation: X:491.74, Y:-300.28, Z:-4.88 [[ 3.81002691e-01 9.24562683e-01 -4.56015655e-03 4.91744292e+02] [ 9.24504270e-01 -3.81029895e-01 -1.03959061e-02 -3.00275265e+02] [-1.13492228e-02 -2.55015999e-04 -9.99935563e-01 -4.88368346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters 0.05028935269561956 Centerline is valid? [True, True] Translation: X:491.83, Y:-300.28, Z:-4.88 [[ 3.11858323e-01 9.50121835e-01 -3.58944364e-03 4.91831015e+02] [ 9.50065932e-01 -3.11878918e-01 -1.03085312e-02 -3.00276948e+02] [-1.09138324e-02 -1.95406851e-04 -9.99940423e-01 -4.88384784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters 0.04992829204498159 Centerline is valid? [True, True] Translation: X:491.91, Y:-300.27, Z:-4.89 [[ 2.48140576e-01 9.68721486e-01 -2.22191222e-03 4.91911717e+02] [ 9.68684526e-01 -2.48150518e-01 -8.46225879e-03 -3.00270945e+02] [-8.74894058e-03 -5.25022239e-05 -9.99961726e-01 -4.88635091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters 0.05067082914738849 Centerline is valid? [True, True] Translation: X:491.99, Y:-300.26, Z:-4.89 [[ 1.86983792e-01 9.82362362e-01 -1.11893032e-03 4.91986210e+02] [ 9.82342781e-01 -1.86987130e-01 -6.20273106e-03 -3.00257648e+02] [-6.30255510e-03 6.06370442e-05 -9.99980137e-01 -4.88839188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters 0.051459965219825224 Centerline is valid? [True, True] Translation: X:492.06, Y:-300.24, Z:-4.89 [[ 1.22873333e-01 9.92422199e-01 -5.68476797e-04 4.92060611e+02] [ 9.92406082e-01 -1.22874578e-01 -5.65737844e-03 -3.00240584e+02] [-5.68435930e-03 1.30981116e-04 -9.99983835e-01 -4.89012523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters 0.05070434003247202 Centerline is valid? [True, True] Translation: X:492.15, Y:-300.22, Z:-4.89 [[ 4.76747156e-02 9.98862905e-01 -1.34363967e-04 4.92149559e+02] [ 9.98843927e-01 -4.76746384e-02 -6.15935147e-03 -3.00218482e+02] [-6.15875346e-03 1.59436697e-04 -9.99981022e-01 -4.88945667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters 0.05067381263279986 Centerline is valid? [True, True] Translation: X:492.23, Y:-300.19, Z:-4.89 [[-2.86706772e-02 9.99588824e-01 4.19606664e-04 4.92233812e+02] [ 9.99561315e-01 2.86730023e-02 -7.41864658e-03 -3.00190605e+02] [-7.42762759e-03 2.06724968e-04 -9.99972393e-01 -4.88882287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters 0.051511339940581824 Centerline is valid? [True, True] Translation: X:492.32, Y:-300.16, Z:-4.89 [[-1.10166588e-01 9.93912594e-01 1.03816767e-03 4.92321570e+02] [ 9.93883142e-01 1.10171318e-01 -7.65374541e-03 -3.00156113e+02] [-7.72153026e-03 1.88630331e-04 -9.99970171e-01 -4.88977069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters 0.05070238923613497 Centerline is valid? [True, True] Translation: X:492.44, Y:-300.11, Z:-4.89 [[-1.96747765e-01 9.80453049e-01 1.46126847e-03 4.92436460e+02] [ 9.80429805e-01 1.96753163e-01 -6.75204297e-03 -3.00108003e+02] [-6.90757032e-03 1.04221802e-04 -9.99976137e-01 -4.89049289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters 0.05040372152752987 Centerline is valid? [True, True] Translation: X:492.52, Y:-300.06, Z:-4.89 [[-2.83356933e-01 9.59012999e-01 1.70748798e-03 4.92516447e+02] [ 9.58996108e-01 2.83362077e-01 -5.69194369e-03 -3.00060070e+02] [-5.94248533e-03 2.46226133e-05 -9.99982343e-01 -4.88634235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters 0.04986944202169195 Centerline is valid? [True, True] Translation: X:492.59, Y:-300.01, Z:-4.89 [[-3.66601372e-01 9.30375476e-01 2.21543245e-03 4.92587982e+02] [ 9.30357917e-01 3.66608065e-01 -5.71610069e-03 -3.00007298e+02] [-6.13031531e-03 -3.43852385e-05 -9.99981209e-01 -4.88790529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters 0.04908344051101936 Centerline is valid? [True, True] Translation: X:492.66, Y:-299.95, Z:-4.89 [[-4.45794109e-01 8.95131463e-01 2.69763342e-03 4.92656109e+02] [ 8.95113874e-01 4.45802262e-01 -5.61208791e-03 -2.99947456e+02] [-6.22616754e-03 -8.71466222e-05 -9.99980613e-01 -4.88813193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters 0.04972958308426532 Centerline is valid? [True, True] Translation: X:492.73, Y:-299.88, Z:-4.89 [[-5.18406151e-01 8.55127707e-01 3.41567627e-03 4.92728374e+02] [ 8.55107514e-01 5.18417388e-01 -5.87797392e-03 -2.99878806e+02] [-6.79716433e-03 -1.26407395e-04 -9.99976891e-01 -4.88535665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters 0.04880116228584841 Centerline is valid? [True, True] Translation: X:492.78, Y:-299.81, Z:-4.89 [[-5.86562437e-01 8.09897025e-01 3.36400914e-03 4.92782535e+02] [ 8.09882406e-01 5.86572069e-01 -4.86792064e-03 -2.99810370e+02] [-5.91574824e-03 -1.30887578e-04 -9.99982493e-01 -4.88840836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters 0.04880993297870791 Centerline is valid? [True, True] Translation: X:492.84, Y:-299.73, Z:-4.89 [[-6.48423195e-01 7.61273821e-01 3.08697847e-03 4.92839490e+02] [ 7.61264375e-01 6.48430534e-01 -3.79394487e-03 -2.99734345e+02] [-4.88992200e-03 -1.10075116e-04 -9.99988038e-01 -4.88851744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters 0.049277984768702314 Centerline is valid? [True, True] Translation: X:492.89, Y:-299.66, Z:-4.89 [[-7.04850691e-01 7.09346251e-01 3.66050350e-03 4.92888346e+02] [ 7.09335860e-01 7.04860187e-01 -3.84112174e-03 -2.99655986e+02] [-5.30482849e-03 -1.10890909e-04 -9.99985923e-01 -4.88825375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters 0.04924452301342987 Centerline is valid? [True, True] Translation: X:492.93, Y:-299.58, Z:-4.89 [[-7.57125871e-01 6.53250628e-01 4.90227468e-03 4.92926502e+02] [ 6.53235840e-01 7.57141731e-01 -4.39723263e-03 -2.99576873e+02] [-6.58421171e-03 -1.26917066e-04 -9.99978316e-01 -4.88588168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters 0.04944665443379017 Centerline is valid? [True, True] Translation: X:492.92, Y:-299.48, Z:-4.89 [[-7.99311947e-01 6.00870328e-01 7.43374169e-03 4.92921916e+02] [ 6.00842584e-01 7.99346500e-01 -5.77601102e-03 -2.99476396e+02] [-9.41276903e-03 -1.50326049e-04 -9.99955688e-01 -4.88529857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters 0.049855944572909615 Centerline is valid? [True, True] Translation: X:493.32, Y:-298.96, Z:-5.88 [[-7.35817360e-01 -6.77130759e-01 8.16999958e-03 4.93324520e+02] [ 6.77092992e-01 -7.35862667e-01 -7.15649014e-03 -2.98959357e+02] [ 1.08578773e-02 2.65979778e-04 9.99941016e-01 -5.88089004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters 0.04969073346189357 Centerline is valid? [True, True] Translation: X:492.83, Y:-299.41, Z:-4.88 [[-8.01774503e-01 5.97560052e-01 8.92362001e-03 4.92830784e+02] [ 5.97520441e-01 8.01824139e-01 -6.88279964e-03 -2.99409583e+02] [-1.12680600e-02 -1.86407892e-04 -9.99936496e-01 -4.88365579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters 0.04960387782072976 Centerline is valid? [True, True] Translation: X:492.82, Y:-299.30, Z:-4.89 [[-8.41657347e-01 5.39939372e-01 8.85353608e-03 4.92817545e+02] [ 5.39907407e-01 8.41703895e-01 -5.87755595e-03 -2.99304386e+02] [-1.06255797e-02 -1.66798443e-04 -9.99943533e-01 -4.88507974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters 0.049778597360682936 Centerline is valid? [True, True] Translation: X:493.08, Y:-298.68, Z:-5.88 [[-7.85016612e-01 -6.19435620e-01 6.95918733e-03 4.93083024e+02] [ 6.19411601e-01 -7.85047458e-01 -5.45505264e-03 -2.98681213e+02] [ 8.84234624e-03 2.82944216e-05 9.99960905e-01 -5.87825749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters 0.04970067725438003 Centerline is valid? [True, True] Translation: X:492.66, Y:-299.20, Z:-4.89 [[-8.42475833e-01 5.38702046e-01 5.88019965e-03 4.92655795e+02] [ 5.38688136e-01 8.42496349e-01 -3.87232086e-03 -2.99195444e+02] [-7.04007390e-03 -9.47429590e-05 -9.99975214e-01 -4.88674329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters 0.049698268934342725 Centerline is valid? [True, True] Translation: X:492.69, Y:-299.12, Z:-4.89 [[-8.78132672e-01 4.78380466e-01 5.92789543e-03 4.92692144e+02] [ 4.78368909e-01 8.78152676e-01 -3.32638041e-03 -2.99122345e+02] [-6.79687264e-03 -8.52824475e-05 -9.99976897e-01 -4.88505438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters 0.04941590392132339 Centerline is valid? [True, True] Translation: X:492.68, Y:-299.03, Z:-4.89 [[-9.09584991e-01 4.15456794e-01 7.12713166e-03 4.92683153e+02] [ 4.15443230e-01 9.09612909e-01 -3.35850338e-03 -2.99030873e+02] [-7.87824400e-03 -9.39256714e-05 -9.99968962e-01 -4.88540336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters 0.049632679679046984 Centerline is valid? [True, True] Translation: X:492.57, Y:-298.90, Z:-4.89 [[-9.36519664e-01 3.50505273e-01 8.77334665e-03 4.92573342e+02] [ 3.50488828e-01 9.36560752e-01 -3.39698443e-03 -2.98901911e+02] [-9.40743309e-03 -1.06382737e-04 -9.99955743e-01 -4.88666606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters 0.04955280387944552 Centerline is valid? [True, True] Translation: X:492.61, Y:-298.83, Z:-4.89 [[-9.58449711e-01 2.85115489e-01 9.12744746e-03 4.92612712e+02] [ 2.85101655e-01 9.58493166e-01 -2.81013950e-03 -2.98833359e+02] [-9.54981032e-03 -9.11270158e-05 -9.99954395e-01 -4.88669441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters 0.04906285835891774 Centerline is valid? [True, True] Translation: X:492.52, Y:-298.73, Z:-4.89 [[-9.75538093e-01 2.19655470e-01 8.76943913e-03 4.92515950e+02] [ 2.19646079e-01 9.75577507e-01 -2.03187410e-03 -2.98728756e+02] [-9.00157982e-03 -5.59976678e-05 -9.99959483e-01 -4.88799643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters 0.04920403930297031 Centerline is valid? [True, True] Translation: X:492.65, Y:-298.08, Z:-5.88 [[-9.55708408e-01 -2.94225075e-01 7.28314182e-03 4.92653606e+02] [ 2.94216225e-01 -9.55736158e-01 -2.28227822e-03 -2.98079504e+02] [ 7.63226547e-03 -3.83739873e-05 9.99970873e-01 -5.87702819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters 0.04963274990287122 Centerline is valid? [True, True] Translation: X:492.37, Y:-298.70, Z:-4.89 [[-9.75191785e-01 2.21281310e-01 5.96362379e-03 4.92366119e+02] [ 2.21277141e-01 9.75210019e-01 -1.35836330e-03 -2.98698834e+02] [-6.11636609e-03 -5.05111128e-06 -9.99981295e-01 -4.88760688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters 0.04932954414593636 Centerline is valid? [True, True] Translation: X:492.32, Y:-298.61, Z:-4.89 [[-9.88448522e-01 1.51447761e-01 5.75283888e-03 4.92321300e+02] [ 1.51445167e-01 9.88465263e-01 -8.86458636e-04 -2.98612659e+02] [-5.82073357e-03 -4.97908628e-06 -9.99983059e-01 -4.88675727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters 0.04970233301134298 Centerline is valid? [True, True] Translation: X:492.77, Y:-298.58, Z:-4.89 [[-9.97218129e-01 7.42949781e-02 6.02163820e-03 4.92773193e+02] [ 7.42935226e-02 9.97236309e-01 -4.65350289e-04 -2.98579621e+02] [-6.03956944e-03 -1.66870305e-05 -9.99981762e-01 -4.88788904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters 0.04921735700628538 Centerline is valid? [True, True] Translation: X:492.23, Y:-297.86, Z:-5.88 [[-9.88595111e-01 -1.50438713e-01 6.92104477e-03 4.92227591e+02] [ 1.50435592e-01 -9.88619334e-01 -9.72243004e-04 -2.97858473e+02] [ 6.98854165e-03 8.00167883e-05 9.99975577e-01 -5.87945871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters 0.04891838830233803 Centerline is valid? [True, True] Translation: X:492.10, Y:-298.51, Z:-4.88 [[-9.97959049e-01 6.34202899e-02 7.45671904e-03 4.92100294e+02] [ 6.34179731e-02 9.97986905e-01 -5.46979812e-04 -2.98513796e+02] [-7.47639757e-03 -7.29734452e-05 -9.99972049e-01 -4.88428033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters 0.049689006198824937 Centerline is valid? [True, True] Translation: X:492.07, Y:-298.44, Z:-4.88 [[-9.99940957e-01 -8.93860311e-03 6.17937965e-03 4.92071362e+02] [-8.93885190e-03 9.99960048e-01 -1.26435345e-05 -2.98435294e+02] [-6.17901975e-03 -6.78793475e-05 -9.99980907e-01 -4.88452267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters 0.049141866887033994 Centerline is valid? [True, True] Translation: X:492.00, Y:-297.78, Z:-5.88 [[-9.96631646e-01 -8.18661112e-02 4.82726001e-03 4.92003498e+02] [ 8.18649747e-02 -9.96643336e-01 -4.32901834e-04 -2.97779098e+02] [ 4.84649651e-03 -3.62601485e-05 9.99988255e-01 -5.88040424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters 0.048836545649549125 Centerline is valid? [True, True] Translation: X:491.97, Y:-298.43, Z:-4.88 [[-9.99865688e-01 -1.55852060e-02 5.07024722e-03 4.91966656e+02] [-1.55853520e-02 9.99878541e-01 1.07131803e-05 -2.98434170e+02] [-5.06979836e-03 -6.83098463e-05 -9.99987146e-01 -4.88389232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters 0.049155480122777095 Centerline is valid? [True, True] Translation: X:491.86, Y:-298.36, Z:-4.88 [[-9.96021556e-01 -8.89526920e-02 5.33658750e-03 4.91860064e+02] [-8.89518711e-02 9.96035848e-01 3.91446999e-04 -2.98361814e+02] [-5.35025272e-03 -8.48097940e-05 -9.99985684e-01 -4.88382197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters 0.04891800476397793 Centerline is valid? [True, True] Translation: X:491.85, Y:-298.28, Z:-4.88 [[-9.86677344e-01 -1.62557383e-01 6.55101406e-03 4.91852846e+02] [-1.62554630e-01 9.86699084e-01 9.54043365e-04 -2.98284453e+02] [-6.61896636e-03 -1.23564693e-04 -9.99978087e-01 -4.88252725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters 0.048965763141120555 Centerline is valid? [True, True] Translation: X:491.78, Y:-298.22, Z:-4.88 [[-9.72516708e-01 -2.32722283e-01 7.18276378e-03 4.91776019e+02] [-2.32716994e-01 9.72543222e-01 1.57518507e-03 -2.98217231e+02] [-7.35212890e-03 -1.39657397e-04 -9.99972963e-01 -4.88086405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters 0.04882330140565492 Centerline is valid? [True, True] Translation: X:491.71, Y:-298.15, Z:-4.88 [[-9.54026736e-01 -2.99659485e-01 6.09763208e-03 4.91711481e+02] [-2.99654085e-01 9.54046216e-01 1.80214113e-03 -2.98153931e+02] [-6.35745149e-03 -1.07889538e-04 -9.99979785e-01 -4.88116364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters 0.04907593427366199 Centerline is valid? [True, True] Translation: X:491.59, Y:-298.11, Z:-4.88 [[-9.31111354e-01 -3.64707647e-01 4.46987235e-03 4.91588230e+02] [-3.64703803e-01 9.31122080e-01 1.67582946e-03 -2.98111220e+02] [-4.77318466e-03 -6.97956135e-05 -9.99988606e-01 -4.88131892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters 0.04865634943847684 Centerline is valid? [True, True] Translation: X:491.46, Y:-298.08, Z:-4.88 [[-9.04384415e-01 -4.26704352e-01 3.49646962e-03 4.91456036e+02] [-4.26701339e-01 9.04391173e-01 1.60412850e-03 -2.98082453e+02] [-3.84666488e-03 -4.11994540e-05 -9.99992601e-01 -4.88132506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters 0.04900586325372948 Centerline is valid? [True, True] Translation: X:491.31, Y:-298.07, Z:-4.88 [[-8.72750942e-01 -4.88155496e-01 3.16308969e-03 4.91312230e+02] [-4.88152415e-01 8.72756673e-01 1.73483925e-03 -2.98069609e+02] [-3.60747895e-03 -2.99872873e-05 -9.99993493e-01 -4.88079825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters 0.04879288893660182 Centerline is valid? [True, True] Translation: X:491.17, Y:-298.07, Z:-4.88 [[-8.36762185e-01 -5.47557957e-01 3.05441763e-03 4.91167901e+02] [-5.47554397e-01 8.36767759e-01 1.97470253e-03 -2.98068387e+02] [-3.63710228e-03 -2.01033995e-05 -9.99993386e-01 -4.88027210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters 0.049918152601973846 Centerline is valid? [True, True] Translation: X:491.01, Y:-298.08, Z:-4.88 [[-7.95505273e-01 -6.05929141e-01 4.60846073e-03 4.91010409e+02] [-6.05919170e-01 7.95518621e-01 3.47616345e-03 -2.98084729e+02] [-5.77242505e-03 -2.70483515e-05 -9.99983339e-01 -4.87847763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters 0.049020612736580156 Centerline is valid? [True, True] Translation: X:491.28, Y:-297.75, Z:-4.88 [[-7.45327206e-01 -6.66672452e-01 5.93278932e-03 4.91282382e+02] [-6.66651914e-01 7.45350816e-01 5.23314931e-03 -2.97752326e+02] [-7.91080584e-03 -5.46968074e-05 -9.99968708e-01 -4.88042153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters 0.049193125542330345 Centerline is valid? [True, True] Translation: X:490.50, Y:-297.55, Z:-5.89 [[-7.98817517e-01 6.01547700e-01 5.56230282e-03 4.90500427e+02] [-6.01533267e-01 -7.98836882e-01 4.16709191e-03 -2.97550410e+02] [ 6.95007720e-03 -1.71641723e-05 9.99975848e-01 -5.88560750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters 0.048992198001189556 Centerline is valid? [True, True] Translation: X:490.76, Y:-298.19, Z:-4.88 [[-7.39366251e-01 -6.73289462e-01 4.34128006e-03 4.90761963e+02] [-6.73278320e-01 7.39378994e-01 3.87400673e-03 -2.98186737e+02] [-5.81817919e-03 -5.85799158e-05 -9.99983073e-01 -4.87930581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters 0.04945246041285354 Centerline is valid? [True, True] Translation: X:490.58, Y:-298.25, Z:-4.88 [[-6.90122567e-01 -7.23683727e-01 3.56437508e-03 4.90583470e+02] [-7.23674377e-01 6.90131771e-01 3.67892332e-03 -2.98249385e+02] [-5.12226542e-03 -4.05389127e-05 -9.99986880e-01 -4.87915239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters 0.0497569934470437 Centerline is valid? [True, True] Translation: X:490.40, Y:-298.34, Z:-4.88 [[-6.37659057e-01 -7.70314059e-01 2.67906864e-03 4.90400840e+02] [-7.70307395e-01 6.37664685e-01 3.20422163e-03 -2.98341719e+02] [-4.17660443e-03 -2.05054427e-05 -9.99991278e-01 -4.88129856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters 0.04986714534632788 Centerline is valid? [True, True] Translation: X:490.21, Y:-298.46, Z:-4.88 [[-5.80996459e-01 -8.13902705e-01 2.34564209e-03 4.90208253e+02] [-8.13896161e-01 5.81001193e-01 3.26373159e-03 -2.98461560e+02] [-4.01918082e-03 -1.28925992e-05 -9.99991923e-01 -4.88023821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters 0.04961502667796218 Centerline is valid? [True, True] Translation: X:490.04, Y:-298.58, Z:-4.88 [[-5.20029714e-01 -8.54145310e-01 2.21024240e-03 4.90038632e+02] [-8.54137690e-01 5.20034411e-01 3.60800666e-03 -2.98576635e+02] [-4.23116408e-03 -1.15806676e-05 -9.99991049e-01 -4.88015921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters 0.04917540895730737 Centerline is valid? [True, True] Translation: X:489.87, Y:-298.73, Z:-4.88 [[-4.57374162e-01 -8.89270728e-01 2.53942492e-03 4.89866246e+02] [-8.89257095e-01 4.57381212e-01 4.92394318e-03 -2.98725784e+02] [-5.54020378e-03 -6.11724134e-06 -9.99984653e-01 -4.87930957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters 0.0500100258624822 Centerline is valid? [True, True] Translation: X:489.70, Y:-298.91, Z:-4.88 [[-3.92823878e-01 -9.19609898e-01 2.65255208e-03 4.89697500e+02] [-9.19588818e-01 3.92832833e-01 6.22659500e-03 -2.98905712e+02] [-6.76804794e-03 6.69795665e-06 -9.99977097e-01 -4.87815826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters 0.05057875872485866 Centerline is valid? [True, True] Translation: X:489.55, Y:-299.07, Z:-4.88 [[-3.24691354e-01 -9.45817095e-01 2.35533141e-03 4.89551250e+02] [-9.45791902e-01 3.24699897e-01 6.90328684e-03 -2.99073731e+02] [-7.29402257e-03 1.37841785e-05 -9.99973398e-01 -4.87816988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters 0.04989021759707295 Centerline is valid? [True, True] Translation: X:489.44, Y:-299.18, Z:-4.88 [[-2.54755287e-01 -9.67004360e-01 1.52050577e-03 4.89439290e+02] [-9.66986670e-01 2.54759824e-01 5.84905382e-03 -2.99180573e+02] [-6.04342433e-03 1.97685706e-05 -9.99981738e-01 -4.87886816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters 0.0499989722693802 Centerline is valid? [True, True] Translation: X:489.30, Y:-299.47, Z:-4.88 [[-1.83501520e-01 -9.83018795e-01 1.11389667e-03 4.89298763e+02] [-9.82999950e-01 1.83504899e-01 6.08686894e-03 -2.99468220e+02] [-6.18791206e-03 2.19893279e-05 -9.99980854e-01 -4.87758242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters 0.049646866080289676 Centerline is valid? [True, True] Translation: X:489.24, Y:-299.29, Z:-4.88 [[-1.08859085e-01 -9.94056994e-01 6.27085470e-04 4.89242611e+02] [-9.94039305e-01 1.08860889e-01 5.93024365e-03 -2.99291213e+02] [-5.96326525e-03 2.22132915e-05 -9.99982219e-01 -4.87950326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters 0.05003517388932743 Centerline is valid? [True, True] Translation: X:489.12, Y:-299.86, Z:-4.88 [[-3.73636083e-02 -9.99301720e-01 1.81636738e-04 4.89121740e+02] [-9.99287361e-01 3.73640451e-02 5.35714032e-03 -2.99864913e+02] [-5.36018622e-03 1.86547961e-05 -9.99985634e-01 -4.87923181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters 0.0504347816664915 Centerline is valid? [True, True] Translation: X:489.04, Y:-299.87, Z:-4.88 [[ 3.80440704e-02 -9.99276043e-01 -1.95762202e-04 4.89041902e+02] [-9.99264582e-01 -3.80445717e-02 4.78604679e-03 -2.99869587e+02] [-4.79002959e-03 1.35375339e-05 -9.99988528e-01 -4.88185956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters 0.05043200107300997 Centerline is valid? [True, True] Translation: X:488.98, Y:-300.14, Z:-4.88 [[ 1.12779626e-01 -9.93619860e-01 -5.74494214e-04 4.88980119e+02] [-9.93607349e-01 -1.12781089e-01 4.98614896e-03 -3.00138506e+02] [-5.01912871e-03 8.48565973e-06 -9.99987404e-01 -4.88060143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters 0.05013936231741162 Centerline is valid? [True, True] Translation: X:488.93, Y:-300.36, Z:-4.88 [[ 1.87051179e-01 -9.82349673e-01 -9.87855343e-04 4.88931703e+02] [-9.82336014e-01 -1.87053788e-01 5.18037375e-03 -3.00361982e+02] [-5.27372054e-03 1.41086090e-06 -9.99986094e-01 -4.88041243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters 0.05056053209781773 Centerline is valid? [True, True] Translation: X:488.91, Y:-300.62, Z:-4.88 [[ 2.61721563e-01 -9.65142360e-01 -1.43121466e-03 4.88905747e+02] [-9.65127636e-01 -2.61725476e-01 5.33109996e-03 -3.00617007e+02] [-5.51985574e-03 -1.39589900e-05 -9.99984765e-01 -4.88113200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters 0.05056995913801789 Centerline is valid? [True, True] Translation: X:488.92, Y:-300.93, Z:-4.88 [[ 3.34727258e-01 -9.42313134e-01 -1.90284283e-03 4.88915434e+02] [-9.42297369e-01 -3.34732665e-01 5.45075875e-03 -3.00925204e+02] [-5.77326521e-03 -3.14737410e-05 -9.99983334e-01 -4.88124238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters 0.05081364033605653 Centerline is valid? [True, True] Translation: X:488.92, Y:-301.16, Z:-4.88 [[ 4.06166788e-01 -9.13795263e-01 -2.59967695e-03 4.88923637e+02] [-9.13775640e-01 -4.06175103e-01 5.98871980e-03 -3.01164701e+02] [-6.52838784e-03 -5.68976194e-05 -9.99978688e-01 -4.88140082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters 0.05118711085861518 Centerline is valid? [True, True] Translation: X:488.92, Y:-301.34, Z:-4.88 [[ 4.74031237e-01 -8.80503111e-01 -2.94251259e-03 4.88923021e+02] [-8.80485276e-01 -4.74040365e-01 5.60462272e-03 -3.01342464e+02] [-6.32975749e-03 -6.59272343e-05 -9.99979965e-01 -4.88150230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters 0.05128856392987914 Centerline is valid? [True, True] Translation: X:488.93, Y:-301.52, Z:-4.88 [[ 5.38844113e-01 -8.42402854e-01 -2.11003686e-03 4.88931580e+02] [-8.42396052e-01 -5.38848243e-01 3.38568501e-03 -3.01517071e+02] [-3.98910037e-03 -4.68697206e-05 -9.99992042e-01 -4.88258668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters 0.051075270580107524 Centerline is valid? [True, True] Translation: X:488.98, Y:-301.74, Z:-4.88 [[ 5.99934389e-01 -8.00045606e-01 -2.39933648e-03 4.88983082e+02] [-8.00038862e-01 -5.99939185e-01 3.28539859e-03 -3.01739754e+02] [-4.06792468e-03 -5.14611736e-05 -9.99991725e-01 -4.88169746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters 0.05152003059450637 Centerline is valid? [True, True] Translation: X:489.03, Y:-301.93, Z:-4.88 [[ 6.57420350e-01 -7.53517662e-01 -3.10098533e-03 4.89033829e+02] [-7.53508823e-01 -6.57427661e-01 3.65033258e-03 -3.01927074e+02] [-4.78926360e-03 -6.31831169e-05 -9.99988529e-01 -4.88165274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters 0.05121311750116898 Centerline is valid? [True, True] Translation: X:489.09, Y:-302.10, Z:-4.88 [[ 7.11155924e-01 -7.03023480e-01 -3.90361962e-03 4.89087696e+02] [-7.03012300e-01 -7.11166634e-01 3.96554378e-03 -3.02102799e+02] [-5.56399441e-03 -7.58273496e-05 -9.99984518e-01 -4.88055716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters 0.05122733415719872 Centerline is valid? [True, True] Translation: X:489.17, Y:-302.28, Z:-4.88 [[ 7.61781192e-01 -6.47819175e-01 -4.44219163e-03 4.89168791e+02] [-6.47807468e-01 -7.61794138e-01 3.89555366e-03 -3.02279547e+02] [-5.90764990e-03 -8.98745916e-05 -9.99982546e-01 -4.88175073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters 0.05191862424420927 Centerline is valid? [True, True] Translation: X:489.14, Y:-302.37, Z:-4.88 [[ 8.11712582e-01 -5.84031587e-01 -5.45802486e-03 4.89144572e+02] [-5.84017361e-01 -8.11730922e-01 4.07819811e-03 -3.02368003e+02] [-6.81224406e-03 -1.22743439e-04 -9.99976789e-01 -4.88017580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters 0.05121075437650416 Centerline is valid? [True, True] Translation: X:489.13, Y:-302.45, Z:-4.88 [[ 8.55918111e-01 -5.17081348e-01 -5.57374063e-03 4.89131134e+02] [-5.17069375e-01 -8.55936249e-01 3.52126920e-03 -3.02454566e+02] [-6.59154927e-03 -1.31907495e-04 -9.99978267e-01 -4.88002527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters 0.05175747074267747 Centerline is valid? [True, True] Translation: X:489.12, Y:-302.54, Z:-4.88 [[ 8.93439011e-01 -4.49154429e-01 -5.19939748e-03 4.89122000e+02] [-4.49146079e-01 -8.93454132e-01 2.74112993e-03 -3.02542939e+02] [-5.87661381e-03 -1.13743423e-04 -9.99982726e-01 -4.87992041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters 0.0509974301512657 Centerline is valid? [True, True] Translation: X:489.13, Y:-302.62, Z:-4.88 [[ 9.24820371e-01 -3.80384373e-01 -3.87440716e-03 4.89125278e+02] [-3.80380715e-01 -9.24828484e-01 1.66956394e-03 -3.02622830e+02] [-4.21823813e-03 -7.02969744e-05 -9.99991101e-01 -4.88269611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters 0.05143673411664191 Centerline is valid? [True, True] Translation: X:489.13, Y:-302.70, Z:-4.88 [[ 9.50093314e-01 -3.11951038e-01 -3.04068726e-03 4.89133448e+02] [-3.11949317e-01 -9.50098179e-01 1.03660892e-03 -3.02702270e+02] [-3.21232265e-03 -3.63348900e-05 -9.99994840e-01 -4.88368624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters 0.05050003866233468 Centerline is valid? [True, True] Translation: X:489.15, Y:-302.78, Z:-4.88 [[ 9.70606922e-01 -2.40640385e-01 -3.79589384e-03 4.89148248e+02] [-2.40638429e-01 -9.70614344e-01 9.70681310e-04 -3.02781902e+02] [-3.91793414e-03 -2.87120675e-05 -9.99992324e-01 -4.88307548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters 0.050964393671296716 Centerline is valid? [True, True] Translation: X:489.17, Y:-302.86, Z:-4.88 [[ 9.85616006e-01 -1.68881870e-01 -6.32479735e-03 4.89168421e+02] [-1.68878288e-01 -9.85636299e-01 1.10012791e-03 -3.02855504e+02] [-6.41974151e-03 -1.61827289e-05 -9.99979393e-01 -4.87914552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters 0.05081524047991766 Centerline is valid? [True, True] Translation: X:489.20, Y:-302.93, Z:-4.88 [[ 9.95418763e-01 -9.54762815e-02 -5.07596891e-03 4.89195074e+02] [-9.54750838e-02 -9.95431705e-01 4.78310261e-04 -3.02928357e+02] [-5.09844768e-03 8.50954875e-06 -9.99987003e-01 -4.88240151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters 0.05070771313572869 Centerline is valid? [True, True] Translation: X:489.23, Y:-303.01, Z:-4.88 [[ 9.99830048e-01 -1.79970576e-02 -3.99775088e-03 4.89225052e+02] [-1.79969520e-02 -9.99838040e-01 6.23893728e-05 -3.03006756e+02] [-3.99822623e-03 9.56856102e-06 -9.99992007e-01 -4.88345322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters 0.051254884965560424 Centerline is valid? [True, True] Translation: X:489.26, Y:-303.08, Z:-4.88 [[ 9.98110007e-01 6.12610470e-02 -4.84755987e-03 4.89257479e+02] [ 6.12602924e-02 -9.98121778e-01 -3.04124607e-04 -3.03080657e+02] [-4.85708607e-03 6.58687792e-06 -9.99988204e-01 -4.88283840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters 0.05064841941743072 Centerline is valid? [True, True] Translation: X:489.29, Y:-303.15, Z:-4.88 [[ 9.89583331e-01 1.43848748e-01 -5.68929192e-03 4.89293970e+02] [ 1.43846485e-01 -9.89599685e-01 -8.07195224e-04 -3.03148230e+02] [-5.74623551e-03 -1.95977055e-05 -9.99983490e-01 -4.88375312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters 0.050130071297857 Centerline is valid? [True, True] Translation: X:489.34, Y:-303.23, Z:-4.88 [[ 9.74239670e-01 2.25433266e-01 -6.07523044e-03 4.89339034e+02] [ 2.25429207e-01 -9.74258610e-01 -1.35383117e-03 -3.03226371e+02] [-6.22404415e-03 -5.05783428e-05 -9.99980629e-01 -4.88118951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters 0.05058950190095474 Centerline is valid? [True, True] Translation: X:489.39, Y:-303.30, Z:-4.88 [[ 9.51491309e-01 3.07623134e-01 -5.68308858e-03 4.89386953e+02] [ 3.07618209e-01 -9.51508276e-01 -1.74288402e-03 -3.03295503e+02] [-5.94365726e-03 -8.98825334e-05 -9.99982332e-01 -4.88069652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters 0.05083976757775598 Centerline is valid? [True, True] Translation: X:489.44, Y:-303.36, Z:-4.88 [[ 9.23079489e-01 3.84592706e-01 -3.56477500e-03 4.89439387e+02] [ 3.84590139e-01 -9.23086369e-01 -1.40714219e-03 -3.03359195e+02] [-3.83177183e-03 -7.20732194e-05 -9.99992656e-01 -4.88138356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters 0.050002203273607056 Centerline is valid? [True, True] Translation: X:489.50, Y:-303.41, Z:-4.88 [[ 8.90045229e-01 4.55865237e-01 -2.52512929e-03 4.89495966e+02] [ 4.55863572e-01 -8.90048809e-01 -1.23332137e-03 -3.03412562e+02] [-2.80971666e-03 -5.34026579e-05 -9.99996051e-01 -4.88232288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters 0.05091704464838585 Centerline is valid? [True, True] Translation: X:489.56, Y:-303.47, Z:-4.88 [[ 8.51462307e-01 5.24408789e-01 -2.71325301e-03 4.89557054e+02] [ 5.24406354e-01 -8.51466628e-01 -1.59930027e-03 -3.03465019e+02] [-3.14893151e-03 -6.11032198e-05 -9.99995040e-01 -4.88054805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters 0.04984724808667356 Centerline is valid? [True, True] Translation: X:489.62, Y:-303.51, Z:-4.88 [[ 8.07095722e-01 5.90415442e-01 -2.47016455e-03 4.89620690e+02] [ 5.90412911e-01 -8.07099500e-01 -1.72996466e-03 -3.03509157e+02] [-3.01506642e-03 -6.21699615e-05 -9.99995453e-01 -4.87948531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters 0.04989347340660936 Centerline is valid? [True, True] Translation: X:489.69, Y:-303.55, Z:-4.88 [[ 7.56490770e-01 6.53993946e-01 -3.69224792e-03 4.89687516e+02] [ 6.53986880e-01 -7.56499772e-01 -3.04226112e-03 -3.03548798e+02] [-4.78280507e-03 -1.13239234e-04 -9.99988556e-01 -4.87796896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters 0.049582696286158114 Centerline is valid? [True, True] Translation: X:489.76, Y:-303.59, Z:-4.88 [[ 7.00717528e-01 7.13419200e-01 -5.29073479e-03 4.89760997e+02] [ 7.13400971e-01 -7.00737473e-01 -5.10378143e-03 -3.03586804e+02] [-7.34855179e-03 -1.98106226e-04 -9.99972979e-01 -4.87621503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters 0.04901829413014942 Centerline is valid? [True, True] Translation: X:489.84, Y:-303.62, Z:-4.88 [[ 6.41436544e-01 7.67153016e-01 -5.95075680e-03 4.89840781e+02] [ 7.67123664e-01 -6.41464095e-01 -6.71557213e-03 -3.03622976e+02] [-8.96906823e-03 -2.57352990e-04 -9.99959744e-01 -4.87712109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters 0.04900040208690905 Centerline is valid? [True, True] Translation: X:489.93, Y:-303.66, Z:-4.88 [[ 5.81453632e-01 8.13563490e-01 -5.11092467e-03 4.89925469e+02] [ 8.13535365e-01 -5.81476051e-01 -6.76847804e-03 -3.03655688e+02] [-8.47846691e-03 -2.22361830e-04 -9.99964032e-01 -4.87756387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters 0.049610910888967415 Centerline is valid? [True, True] Translation: X:490.01, Y:-303.68, Z:-4.88 [[ 5.19336668e-01 8.54561863e-01 -3.66699547e-03 4.90008698e+02] [ 8.54542592e-01 -5.19349592e-01 -5.74100956e-03 -3.03680753e+02] [-6.81050043e-03 -1.52087036e-04 -9.99976797e-01 -4.87811703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters 0.0487625799366644 Centerline is valid? [True, True] Translation: X:490.09, Y:-303.70, Z:-4.88 [[ 4.59062422e-01 8.88399980e-01 -2.67735634e-03 4.90088432e+02] [ 8.88385808e-01 -4.59070223e-01 -5.01862563e-03 -3.03695590e+02] [-5.68764148e-03 -7.46629342e-05 -9.99983822e-01 -4.87891833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters 0.0488032723690371 Centerline is valid? [True, True] Translation: X:490.18, Y:-303.71, Z:-4.88 [[ 3.89567910e-01 9.20993654e-01 -2.74475821e-03 4.90177327e+02] [ 9.20972216e-01 -3.89577571e-01 -6.28440432e-03 -3.03707555e+02] [-6.85719273e-03 -7.96437899e-05 -9.99976486e-01 -4.87846952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters 0.049048111544270113 Centerline is valid? [True, True] Translation: X:490.27, Y:-303.71, Z:-4.88 [[ 3.15881969e-01 9.48794811e-01 -2.64346541e-03 4.90268108e+02] [ 9.48764134e-01 -3.15893014e-01 -7.63029368e-03 -3.03713620e+02] [-8.07463531e-03 -9.77529841e-05 -9.99967395e-01 -4.87805549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters 0.049085410894228736 Centerline is valid? [True, True] Translation: X:490.36, Y:-303.71, Z:-4.88 [[ 2.39071483e-01 9.70999774e-01 -2.06526452e-03 4.90355865e+02] [ 9.70967504e-01 -2.39080377e-01 -7.91700242e-03 -3.03712852e+02] [-8.18117178e-03 -1.12575230e-04 -9.99966527e-01 -4.87695365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters 0.0484941235804162 Centerline is valid? [True, True] Translation: X:490.44, Y:-303.70, Z:-4.88 [[ 1.60081063e-01 9.87102912e-01 -1.37610410e-03 4.90444199e+02] [ 9.87072894e-01 -1.60086928e-01 -7.69923741e-03 -3.03703837e+02] [-7.82023595e-03 -1.25812946e-04 -9.99969414e-01 -4.87737419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters 0.04902784484844972 Centerline is valid? [True, True] Translation: X:490.53, Y:-303.69, Z:-4.88 [[ 7.90128796e-02 9.96873312e-01 -7.51292224e-04 4.90533305e+02] [ 9.96844363e-01 -7.90163117e-02 -7.59852418e-03 -3.03689287e+02] [-7.63413031e-03 -1.48540143e-04 -9.99970849e-01 -4.87628043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters 0.049244911660675746 Centerline is valid? [True, True] Translation: X:490.62, Y:-303.67, Z:-4.88 [[ 4.63175463e-05 9.99999988e-01 -1.50274370e-04 4.90620499e+02] [ 9.99972449e-01 -4.74317323e-05 -7.42282828e-03 -3.03666656e+02] [-7.42283532e-03 -1.49926423e-04 -9.99972439e-01 -4.87707864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters 0.04897181999872303 Centerline is valid? [True, True] Translation: X:490.71, Y:-303.64, Z:-4.88 [[-7.94118914e-02 9.96841803e-01 4.13906766e-04 4.90707665e+02] [ 9.96816377e-01 7.94128228e-02 -7.12142354e-03 -3.03637469e+02] [-7.13180219e-03 -1.52936669e-04 -9.99974557e-01 -4.87756059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters 0.04936069470394005 Centerline is valid? [True, True] Translation: X:490.79, Y:-303.60, Z:-4.88 [[-1.58395669e-01 9.87375299e-01 9.11231702e-04 4.90791382e+02] [ 9.87352982e-01 1.58398217e-01 -6.64038425e-03 -3.03602530e+02] [-6.70088886e-03 -1.52100764e-04 -9.99977537e-01 -4.87742155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters 0.049830474005296624 Centerline is valid? [True, True] Translation: X:490.87, Y:-303.56, Z:-4.88 [[-2.35908758e-01 9.71774385e-01 1.26609578e-03 4.90870195e+02] [ 9.71757050e-01 2.35912114e-01 -5.80609943e-03 -3.03560577e+02] [-5.94090603e-03 -1.39372203e-04 -9.99982343e-01 -4.87757526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters 0.04953090804065986 Centerline is valid? [True, True] Translation: X:490.94, Y:-303.51, Z:-4.88 [[-3.11121466e-01 9.50368338e-01 1.85888719e-03 4.90942342e+02] [ 9.50348377e-01 3.11126983e-01 -6.16140817e-03 -3.03513107e+02] [-6.43395721e-03 -1.50355926e-04 -9.99979291e-01 -4.87688514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters 0.0489016149748559 Centerline is valid? [True, True] Translation: X:491.01, Y:-303.46, Z:-4.88 [[-3.84127390e-01 9.23276727e-01 2.49674503e-03 4.91009984e+02] [ 9.23254474e-01 3.84135472e-01 -6.41221997e-03 -3.03460214e+02] [-6.87934179e-03 -1.57978299e-04 -9.99976325e-01 -4.87716035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters 0.05019125858660519 Centerline is valid? [True, True] Translation: X:491.08, Y:-303.40, Z:-4.88 [[-4.55824790e-01 8.90064936e-01 2.85850325e-03 4.91077798e+02] [ 8.90045241e-01 4.55833726e-01 -5.92309214e-03 -3.03400899e+02] [-6.57493881e-03 -1.55695014e-04 -9.99978373e-01 -4.87646838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters 0.04909159789997992 Centerline is valid? [True, True] Translation: X:491.14, Y:-303.34, Z:-4.88 [[-5.24278928e-01 8.51540229e-01 3.29299451e-03 4.91136696e+02] [ 8.51521521e-01 5.24289247e-01 -5.64675940e-03 -3.03337258e+02] [-6.53492440e-03 -1.56421272e-04 -9.99978635e-01 -4.87745779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters 0.04925591899376811 Centerline is valid? [True, True] Translation: X:491.20, Y:-303.27, Z:-4.88 [[-5.88695919e-01 8.08344956e-01 3.94298676e-03 4.91195159e+02] [ 8.08324967e-01 5.88709102e-01 -5.68689572e-03 -3.03266067e+02] [-6.91824566e-03 -1.60637659e-04 -9.99976056e-01 -4.87747898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters 0.04907847757598092 Centerline is valid? [True, True] Translation: X:491.25, Y:-303.19, Z:-4.88 [[-6.49177563e-01 7.60623640e-01 4.49096188e-03 4.91249177e+02] [ 7.60603756e-01 6.49193079e-01 -5.50214878e-03 -3.03191509e+02] [-7.10056580e-03 -1.56029061e-04 -9.99974779e-01 -4.87704640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters 0.04918326094758208 Centerline is valid? [True, True] Translation: X:491.29, Y:-303.12, Z:-4.88 [[-7.05591290e-01 7.08603100e-01 4.75167754e-03 4.91292440e+02] [ 7.08585680e-01 7.05607276e-01 -4.97063577e-03 -3.03117851e+02] [-6.87502616e-03 -1.40266643e-04 -9.99976357e-01 -4.87583726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters 0.04893009050123686 Centerline is valid? [True, True] Translation: X:491.33, Y:-303.04, Z:-4.88 [[-7.58170849e-01 6.52032766e-01 5.49868647e-03 4.91331998e+02] [ 6.52014242e-01 7.58190775e-01 -4.91692459e-03 -3.03035803e+02] [-7.37504930e-03 -1.42646993e-04 -9.99972794e-01 -4.87709839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters 0.04921542328458731 Centerline is valid? [True, True] Translation: X:491.29, Y:-302.90, Z:-4.88 [[-8.01247184e-01 5.98305125e-01 5.82472597e-03 4.91291081e+02] [ 5.98288152e-01 8.01268345e-01 -4.50845018e-03 -3.02900105e+02] [-7.36459739e-03 -1.27518473e-04 -9.99972873e-01 -4.87646105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters 0.04912378168482982 Centerline is valid? [True, True] Translation: X:491.28, Y:-302.79, Z:-4.87 [[-8.39188048e-01 5.43806055e-01 6.19638187e-03 4.91277844e+02] [ 5.43790391e-01 8.39210918e-01 -4.12862577e-03 -3.02792459e+02] [-7.44524301e-03 -9.51604771e-05 -9.99972279e-01 -4.87423068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters 0.04953871440115694 Centerline is valid? [True, True] Translation: X:491.25, Y:-302.69, Z:-4.88 [[-8.73648859e-01 4.86522196e-01 5.81585992e-03 4.91248005e+02] [ 4.86510968e-01 8.73668215e-01 -3.30589630e-03 -3.02688914e+02] [-6.68952388e-03 -5.87128940e-05 -9.99977623e-01 -4.87505105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters 0.04915634849744873 Centerline is valid? [True, True] Translation: X:491.17, Y:-302.57, Z:-4.88 [[-9.02794054e-01 4.30040407e-01 5.30519659e-03 4.91174106e+02] [ 4.30032928e-01 9.02809641e-01 -2.53613564e-03 -3.02572691e+02] [-5.88022343e-03 -8.19894967e-06 -9.99982711e-01 -4.87815338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters 0.049363445470230805 Centerline is valid? [True, True] Translation: X:491.11, Y:-302.47, Z:-4.88 [[-9.28557581e-01 3.71140143e-01 5.98443549e-03 4.91107016e+02] [ 3.71132671e-01 9.28576864e-01 -2.35535569e-03 -3.02465695e+02] [-6.43117539e-03 3.39361448e-05 -9.99979319e-01 -4.87812511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters 0.04950917874457988 Centerline is valid? [True, True] Translation: X:491.22, Y:-302.43, Z:-4.88 [[-9.51691457e-01 3.06983110e-01 6.68882922e-03 4.91222695e+02] [ 3.06975955e-01 9.51714961e-01 -2.09669930e-03 -3.02427983e+02] [-7.00951011e-03 5.78989213e-05 -9.99975431e-01 -4.87708152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters 0.05010624555800633 Centerline is valid? [True, True] Translation: X:491.59, Y:-302.44, Z:-4.88 [[-9.71531187e-01 2.36809110e-01 6.97127048e-03 4.91592465e+02] [ 2.36803551e-01 9.71556195e-01 -1.62432680e-03 -3.02439010e+02] [-7.15763641e-03 7.27374638e-05 -9.99974381e-01 -4.87977357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters 0.05020565961896478 Centerline is valid? [True, True] Translation: X:491.10, Y:-301.63, Z:-5.89 [[-9.59125414e-01 -2.82895897e-01 6.95359677e-03 4.91103887e+02] [ 2.82887954e-01 -9.59150617e-01 -2.12095465e-03 -3.01630664e+02] [ 7.26955600e-03 -6.71727405e-05 9.99973574e-01 -5.88715253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters 0.05017409149964554 Centerline is valid? [True, True] Translation: X:491.22, Y:-302.34, Z:-4.88 [[-9.73951753e-01 2.26623838e-01 7.72136801e-03 4.91220086e+02] [ 2.26617193e-01 9.73982358e-01 -1.73637733e-03 -3.02340205e+02] [-7.91398071e-03 5.86470010e-05 -9.99968682e-01 -4.87821849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters 0.05013239567094485 Centerline is valid? [True, True] Translation: X:490.83, Y:-301.58, Z:-5.89 [[-9.59389497e-01 -2.81978499e-01 7.74078268e-03 4.90832723e+02] [ 2.81968909e-01 -9.59420723e-01 -2.32608716e-03 -3.01575190e+02] [ 8.08257388e-03 -4.89635407e-05 9.99967334e-01 -5.88884314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters 0.050018672063908955 Centerline is valid? [True, True] Translation: X:490.71, Y:-302.21, Z:-4.88 [[-9.76603042e-01 2.14944523e-01 6.73433668e-03 4.90711315e+02] [ 2.14939390e-01 9.76626260e-01 -1.48549780e-03 -3.02211506e+02] [-6.89622967e-03 -3.26745086e-06 -9.99976221e-01 -4.87529038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters 0.05029643589942424 Centerline is valid? [True, True] Translation: X:490.81, Y:-302.14, Z:-4.88 [[-9.90124943e-01 1.40094600e-01 5.10876806e-03 4.90809064e+02] [ 1.40092596e-01 9.90138123e-01 -7.49941084e-04 -3.02142185e+02] [-5.16344872e-03 -2.68347955e-05 -9.99986669e-01 -4.87571781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters 0.05034071821027913 Centerline is valid? [True, True] Translation: X:490.45, Y:-302.02, Z:-4.88 [[-9.97776940e-01 6.64593242e-02 4.93310238e-03 4.90450926e+02] [ 6.64583066e-02 9.97789134e-01 -3.70087464e-04 -3.02021800e+02] [-4.94679171e-03 -4.14191076e-05 -9.99987764e-01 -4.87632353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters 0.04967822974663751 Centerline is valid? [True, True] Translation: X:490.51, Y:-301.41, Z:-5.89 [[-9.87920261e-01 -1.54871269e-01 5.33370656e-03 4.90514909e+02] [ 1.54869429e-01 -9.87934656e-01 -7.58833210e-04 -3.01406295e+02] [ 5.38687502e-03 7.63613880e-05 9.99985488e-01 -5.88810902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters 0.04970491597866096 Centerline is valid? [True, True] Translation: X:490.40, Y:-302.01, Z:-4.87 [[-9.98445053e-01 5.53180135e-02 6.88429262e-03 4.90395414e+02] [ 5.53159465e-02 9.98468780e-01 -4.90436502e-04 -3.02011394e+02] [-6.90088123e-03 -1.08862738e-04 -9.99976183e-01 -4.87375978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters 0.049515941851714824 Centerline is valid? [True, True] Translation: X:490.38, Y:-301.40, Z:-5.89 [[-9.87936966e-01 -1.54657130e-01 7.85647409e-03 4.90383046e+02] [ 1.54653789e-01 -9.87968185e-01 -1.03469002e-03 -3.01404198e+02] [ 7.92196863e-03 1.92824967e-04 9.99968602e-01 -5.88980160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters 0.04984054433653821 Centerline is valid? [True, True] Translation: X:490.26, Y:-302.00, Z:-4.87 [[-9.98690144e-01 5.04192610e-02 8.71170498e-03 4.90264760e+02] [ 5.04160536e-02 9.98728129e-01 -5.87530421e-04 -3.02002233e+02] [-8.73024767e-03 -1.47551056e-04 -9.99961880e-01 -4.87344162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters 0.050094457065982874 Centerline is valid? [True, True] Translation: X:490.20, Y:-301.92, Z:-4.87 [[-9.99740286e-01 -2.05817832e-02 9.78521016e-03 4.90199875e+02] [-2.05824055e-02 9.99788159e-01 3.71149720e-05 -3.01923112e+02] [-9.78390114e-03 -1.64297831e-04 -9.99952123e-01 -4.87302785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters 0.050007456017018996 Centerline is valid? [True, True] Translation: X:490.15, Y:-301.32, Z:-5.89 [[-9.96717869e-01 -8.02804377e-02 1.04182589e-02 4.90152845e+02] [ 8.02783378e-02 -9.96772293e-01 -6.20272351e-04 -3.01324234e+02] [ 1.04344276e-02 2.18123973e-04 9.99945536e-01 -5.89111235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters 0.04994240976769704 Centerline is valid? [True, True] Translation: X:490.06, Y:-301.93, Z:-4.87 [[-9.99667363e-01 -2.39140523e-02 9.65819033e-03 4.90059437e+02] [-2.39144568e-02 9.99714006e-01 7.36159218e-05 -3.01927493e+02] [-9.65718860e-03 -1.57378941e-04 -9.99953356e-01 -4.87410598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters 0.049597957682251496 Centerline is valid? [True, True] Translation: X:489.97, Y:-301.86, Z:-4.88 [[-9.95521353e-01 -9.41782866e-02 8.22718545e-03 4.89970544e+02] [-9.41761347e-02 9.95555339e-01 6.49443599e-04 -3.01856275e+02] [-8.25178189e-03 -1.28269555e-04 -9.99965945e-01 -4.87545533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters 0.04970130005170289 Centerline is valid? [True, True] Translation: X:489.85, Y:-301.25, Z:-5.89 [[-9.99969941e-01 -3.04945077e-03 7.12872282e-03 4.89853640e+02] [ 3.04964415e-03 -9.99995350e-01 1.62569618e-05 -3.01254466e+02] [ 7.12864009e-03 3.79965410e-05 9.99974590e-01 -5.88751517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters 0.049911518198748624 Centerline is valid? [True, True] Translation: X:489.84, Y:-301.87, Z:-4.88 [[-9.95421162e-01 -9.53307202e-02 6.98310809e-03 4.89835482e+02] [-9.53289983e-02 9.95445652e-01 5.79783234e-04 -3.01873645e+02] [-7.00657574e-03 -8.85641989e-05 -9.99975450e-01 -4.87733347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters 0.049850496620187 Centerline is valid? [True, True] Translation: X:489.72, Y:-301.81, Z:-4.88 [[-9.86682143e-01 -1.62470612e-01 7.85166374e-03 4.89718117e+02] [-1.62466059e-01 9.86713380e-01 1.21860661e-03 -3.01813899e+02] [-7.94532943e-03 -7.32514826e-05 -9.99968433e-01 -4.87652125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters 0.049406133831159424 Centerline is valid? [True, True] Translation: X:489.63, Y:-301.76, Z:-4.88 [[-9.73223377e-01 -2.29694621e-01 8.75439225e-03 4.89632381e+02] [-2.29685869e-01 9.73262749e-01 2.00586834e-03 -3.01755215e+02] [-8.98106103e-03 -5.86022376e-05 -9.99959668e-01 -4.87530512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters 0.04977067272948182 Centerline is valid? [True, True] Translation: X:489.58, Y:-301.69, Z:-4.88 [[-9.54594902e-01 -2.97796332e-01 8.11900230e-03 4.89578822e+02] [-2.97785970e-01 9.54629427e-01 2.48472822e-03 -3.01692884e+02] [-8.49058146e-03 -4.58160792e-05 -9.99963953e-01 -4.87616037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters 0.04921158227670513 Centerline is valid? [True, True] Translation: X:489.29, Y:-301.12, Z:-5.89 [[-9.74769701e-01 2.23032284e-01 8.97940819e-03 4.89286688e+02] [-2.23021888e-01 -9.74811054e-01 2.15558716e-03 -3.01123856e+02] [ 9.23399188e-03 9.85964853e-05 9.99957361e-01 -5.88919839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters 0.05014354929334865 Centerline is valid? [True, True] Translation: X:489.41, Y:-301.75, Z:-4.88 [[-9.53705671e-01 -3.00615653e-01 8.70187540e-03 4.89408085e+02] [-3.00603355e-01 9.53745369e-01 2.71924090e-03 -3.01748554e+02] [-9.11681974e-03 -2.24574791e-05 -9.99958441e-01 -4.87723741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters 0.050193870677843117 Centerline is valid? [True, True] Translation: X:489.60, Y:-301.59, Z:-4.88 [[-9.29211880e-01 -3.69461259e-01 7.97867053e-03 4.89601240e+02] [-3.69447659e-01 9.29246134e-01 3.17009863e-03 -3.01594783e+02] [-8.58537738e-03 -2.00783681e-06 -9.99963145e-01 -4.88036703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters 0.04975077793789054 Centerline is valid? [True, True] Translation: X:488.83, Y:-301.85, Z:-4.88 [[-9.01075455e-01 -4.33598181e-01 7.45937171e-03 4.88831188e+02] [-4.33583285e-01 9.01106330e-01 3.59403783e-03 -3.01845549e+02] [-8.28005533e-03 4.24038093e-06 -9.99965720e-01 -4.87839102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters 0.04984525738215409 Centerline is valid? [True, True] Translation: X:488.81, Y:-301.77, Z:-4.88 [[-8.65922329e-01 -5.00128757e-01 7.05312851e-03 4.88809321e+02] [-5.00112218e-01 8.65951053e-01 4.06728931e-03 -3.01771717e+02] [-8.14183240e-03 -5.39911082e-06 -9.99966855e-01 -4.87906581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters 0.04985004066105468 Centerline is valid? [True, True] Translation: X:488.59, Y:-301.82, Z:-4.88 [[-8.25993003e-01 -5.63646077e-01 6.21768251e-03 4.88590197e+02] [-5.63630412e-01 8.26016404e-01 4.20232575e-03 -3.01817050e+02] [-7.50453217e-03 -3.33832916e-05 -9.99971840e-01 -4.87883813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters 0.050332766126933735 Centerline is valid? [True, True] Translation: X:488.45, Y:-301.83, Z:-4.88 [[-7.81199558e-01 -6.24254974e-01 5.74260291e-03 4.88445767e+02] [-6.24238616e-01 7.81220663e-01 4.51948522e-03 -3.01829769e+02] [-7.30755118e-03 -5.41346382e-05 -9.99973298e-01 -4.88060783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters 0.04973324866300402 Centerline is valid? [True, True] Translation: X:488.30, Y:-301.85, Z:-4.88 [[-7.31252662e-01 -6.82085432e-01 5.38587880e-03 4.88303650e+02] [-6.82067700e-01 7.31272492e-01 4.91885782e-03 -3.01849061e+02] [-7.29362628e-03 -7.66060945e-05 -9.99973398e-01 -4.88044308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters 0.04970866721286345 Centerline is valid? [True, True] Translation: X:488.14, Y:-301.91, Z:-4.88 [[-6.76608611e-01 -7.36328876e-01 4.53585502e-03 4.88136033e+02] [-7.36313258e-01 6.76623808e-01 4.79673903e-03 -3.01905926e+02] [-6.60104495e-03 -9.42952500e-05 -9.99978208e-01 -4.88178430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters 0.0505262504227724 Centerline is valid? [True, True] Translation: X:487.96, Y:-301.98, Z:-4.88 [[-6.19372876e-01 -7.85083557e-01 4.58780245e-03 4.87962338e+02] [-7.85063422e-01 6.19389856e-01 5.62398871e-03 -3.01978409e+02] [-7.25693936e-03 -1.18369826e-04 -9.99973661e-01 -4.87950299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters 0.04962008473565855 Centerline is valid? [True, True] Translation: X:487.82, Y:-302.04, Z:-4.88 [[-5.57101659e-01 -8.30431695e-01 4.57632152e-03 4.87823271e+02] [-8.30405948e-01 5.57120433e-01 6.54107412e-03 -3.02043334e+02] [-7.98147749e-03 -1.56161367e-04 -9.99968135e-01 -4.88210940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters 0.049857575699583316 Centerline is valid? [True, True] Translation: X:487.65, Y:-302.16, Z:-4.88 [[-4.92941966e-01 -8.70052400e-01 4.12790025e-03 4.87652384e+02] [-8.70024797e-01 4.92959218e-01 6.93260067e-03 -3.02158755e+02] [-8.06661233e-03 -1.74005777e-04 -9.99967449e-01 -4.88216473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters 0.049965268529727457 Centerline is valid? [True, True] Translation: X:487.49, Y:-302.28, Z:-4.88 [[-4.25688300e-01 -9.04863856e-01 3.29739331e-03 4.87491100e+02] [-9.04839811e-01 4.25701035e-01 6.59889470e-03 -3.02276419e+02] [-7.37480505e-03 -1.74540473e-04 -9.99972791e-01 -4.88194162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters 0.05125045896513052 Centerline is valid? [True, True] Translation: X:487.37, Y:-302.34, Z:-4.88 [[-3.57040622e-01 -9.34084749e-01 2.77077108e-03 4.87367873e+02] [-9.34060324e-01 3.57051329e-01 6.75722980e-03 -3.02342153e+02] [-7.30113280e-03 -1.75461804e-04 -9.99973331e-01 -4.88082489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters 0.049948187361544556 Centerline is valid? [True, True] Translation: X:487.20, Y:-302.59, Z:-4.88 [[-2.89133047e-01 -9.57285724e-01 2.47467802e-03 4.87199650e+02] [-9.57255806e-01 2.89143581e-01 7.57040644e-03 -3.02586938e+02] [-7.96257927e-03 -1.80045228e-04 -9.99968282e-01 -4.88326043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters 0.049934552535498375 Centerline is valid? [True, True] Translation: X:487.05, Y:-302.82, Z:-4.88 [[-2.20814970e-01 -9.75313862e-01 1.90266936e-03 4.87054480e+02] [-9.75283521e-01 2.20823112e-01 7.69461153e-03 -3.02822790e+02] [-7.92481465e-03 -1.56556655e-04 -9.99968586e-01 -4.88470184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters 0.05031685714565853 Centerline is valid? [True, True] Translation: X:486.93, Y:-303.06, Z:-4.88 [[-1.55687048e-01 -9.87805547e-01 1.32052055e-03 4.86925418e+02] [-9.87775123e-01 1.55692617e-01 7.75343419e-03 -3.03057543e+02] [-7.86448060e-03 -9.72680689e-05 -9.99969070e-01 -4.88414385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters 0.05011019862450558 Centerline is valid? [True, True] Translation: X:486.82, Y:-303.29, Z:-4.88 [[-8.88422627e-02 -9.96045467e-01 6.92309157e-04 4.86817456e+02] [-9.96018838e-01 8.88449500e-02 7.28354867e-03 -3.03294845e+02] [-7.31625381e-03 -4.24660173e-05 -9.99973235e-01 -4.88259560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters 0.050539236948884764 Centerline is valid? [True, True] Translation: X:486.73, Y:-303.53, Z:-4.88 [[-2.20873323e-02 -9.99756036e-01 1.37486422e-04 4.86731501e+02] [-9.99733940e-01 2.20877582e-02 6.64683623e-03 -3.03534836e+02] [-6.64825141e-03 9.36103795e-06 -9.99977900e-01 -4.88369200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters 0.051259718522948666 Centerline is valid? [True, True] Translation: X:486.64, Y:-303.25, Z:-4.89 [[ 4.39273922e-02 -9.99034649e-01 -3.93853712e-04 4.86644126e+02] [-9.99009099e-01 -4.39290857e-02 7.14534207e-03 -3.03247405e+02] [-7.15574594e-03 7.95871982e-05 -9.99974394e-01 -4.88779471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters 0.05130813806145657 Centerline is valid? [True, True] Translation: X:486.58, Y:-303.54, Z:-4.89 [[ 1.12383126e-01 -9.93664438e-01 -1.00867314e-03 4.86583651e+02] [-9.93633905e-01 -1.12387581e-01 7.79071492e-03 -3.03540947e+02] [-7.85471869e-03 1.26706935e-04 -9.99969143e-01 -4.88695375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters 0.05149341469854036 Centerline is valid? [True, True] Translation: X:486.54, Y:-303.83, Z:-4.89 [[ 1.81445604e-01 -9.83399768e-01 -1.54560735e-03 4.86542685e+02] [-9.83370961e-01 -1.81452122e-01 7.52865783e-03 -3.03833944e+02] [-7.68413410e-03 1.53863511e-04 -9.99970465e-01 -4.88646757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters 0.0513668143722847 Centerline is valid? [True, True] Translation: X:486.50, Y:-304.05, Z:-4.89 [[ 2.53332359e-01 -9.67377035e-01 -2.09478581e-03 4.86500635e+02] [-9.67348865e-01 -2.53340972e-01 7.38417599e-03 -3.04054230e+02] [-7.67397735e-03 1.55737956e-04 -9.99970543e-01 -4.88724165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters 0.052072700699428404 Centerline is valid? [True, True] Translation: X:486.52, Y:-304.39, Z:-4.89 [[ 3.25558687e-01 -9.45518127e-01 -2.64828564e-03 4.86517828e+02] [-9.45490297e-01 -3.25569427e-01 7.25582908e-03 -3.04389282e+02] [-7.72271876e-03 1.41730188e-04 -9.99970169e-01 -4.88660468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters 0.05164604328186836 Centerline is valid? [True, True] Translation: X:486.70, Y:-305.04, Z:-4.88 [[ 3.96306205e-01 -9.18111868e-01 -3.46262333e-03 4.86697331e+02] [-9.18079543e-01 -3.96321311e-01 7.70522573e-03 -3.05037021e+02] [-8.44657061e-03 1.25334879e-04 -9.99964319e-01 -4.88349357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters 0.05147235526970826 Centerline is valid? [True, True] Translation: X:486.79, Y:-305.41, Z:-4.88 [[ 4.66566502e-01 -8.84476486e-01 -4.12852860e-03 4.86792940e+02] [-8.84443582e-01 -4.66584758e-01 7.62977084e-03 -3.05406861e+02] [-8.67466142e-03 9.16551336e-05 -9.99962370e-01 -4.88341157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters 0.05125452021584048 Centerline is valid? [True, True] Translation: X:486.81, Y:-305.58, Z:-4.88 [[ 5.34569421e-01 -8.45113588e-01 -4.30793990e-03 4.86805982e+02] [-8.45086878e-01 -5.34586776e-01 6.71916499e-03 -3.05579060e+02] [-7.98142533e-03 4.87233415e-05 -9.99968147e-01 -4.88481913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters 0.051260434895398124 Centerline is valid? [True, True] Translation: X:486.83, Y:-305.75, Z:-4.89 [[ 5.99668631e-01 -8.00240083e-01 -3.65268568e-03 4.86834107e+02] [-8.00225299e-01 -5.99679756e-01 4.86434643e-03 -3.05752957e+02] [-6.08308665e-03 5.97552181e-06 -9.99981498e-01 -4.88553038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters 0.05052679035756755 Centerline is valid? [True, True] Translation: X:486.84, Y:-305.89, Z:-4.89 [[ 6.61235381e-01 -7.50172229e-01 -3.06570043e-03 4.86844400e+02] [-7.50164018e-01 -6.61242487e-01 3.50987946e-03 -3.05891927e+02] [-4.66018548e-03 -2.10783312e-05 -9.99989141e-01 -4.88555020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters 0.05067287150857801 Centerline is valid? [True, True] Translation: X:486.90, Y:-306.07, Z:-4.89 [[ 7.18275563e-01 -6.95752168e-01 -3.02279095e-03 4.86897241e+02] [-6.95745761e-01 -7.18281922e-01 2.98602718e-03 -3.06066845e+02] [-4.24875098e-03 -4.16963627e-05 -9.99990973e-01 -4.88524579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters 0.05089036164505786 Centerline is valid? [True, True] Translation: X:486.87, Y:-306.15, Z:-4.88 [[ 7.74583564e-01 -6.32459485e-01 -3.91177154e-03 4.86872035e+02] [-6.32450871e-01 -7.74593437e-01 3.30190195e-03 -3.06146316e+02] [-5.11835176e-03 -8.35956633e-05 -9.99986898e-01 -4.88419922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters 0.052339182648757226 Centerline is valid? [True, True] Translation: X:486.85, Y:-306.23, Z:-4.88 [[ 8.23673047e-01 -5.67043628e-01 -4.92297391e-03 4.86852639e+02] [-5.67032619e-01 -8.23687750e-01 3.53550543e-03 -3.06228662e+02] [-6.05977913e-03 -1.20613746e-04 -9.99981632e-01 -4.88371926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters 0.052044102568663875 Centerline is valid? [True, True] Translation: X:486.84, Y:-306.31, Z:-4.88 [[ 8.67081809e-01 -4.98129922e-01 -5.97640211e-03 4.86839528e+02] [-4.98116796e-01 -8.67102390e-01 3.61978634e-03 -3.06314381e+02] [-6.98527644e-03 -1.61704620e-04 -9.99975590e-01 -4.88388979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters 0.05065550322866178 Centerline is valid? [True, True] Translation: X:486.83, Y:-306.40, Z:-4.88 [[ 9.03872759e-01 -4.27750817e-01 -6.57831121e-03 4.86833000e+02] [-4.27738038e-01 -9.03896679e-01 3.31132563e-03 -3.06401389e+02] [-7.36253590e-03 -1.79223098e-04 -9.99972880e-01 -4.88461750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters 0.050860665182262385 Centerline is valid? [True, True] Translation: X:486.83, Y:-306.49, Z:-4.89 [[ 9.34473339e-01 -3.55943714e-01 -7.97823018e-03 4.86830550e+02] [-3.55928828e-01 -9.34507372e-01 3.26196218e-03 -3.06494370e+02] [-8.61678985e-03 -2.08534572e-04 -9.99962853e-01 -4.88510994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters 0.0513769504164819 Centerline is valid? [True, True] Translation: X:486.83, Y:-306.59, Z:-4.88 [[ 9.58518525e-01 -2.84860761e-01 -9.82775401e-03 4.86832347e+02] [-2.84843462e-01 -9.58568881e-01 3.14673607e-03 -3.06590859e+02] [-1.03169608e-02 -2.16833333e-04 -9.99946755e-01 -4.88253429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters 0.051024396167900284 Centerline is valid? [True, True] Translation: X:486.85, Y:-306.68, Z:-4.89 [[ 9.76554149e-01 -2.15110309e-01 -8.33965008e-03 4.86845327e+02] [-2.15101354e-01 -9.76589749e-01 1.96694432e-03 -3.06678569e+02] [-8.56752678e-03 -1.26957611e-04 -9.99963290e-01 -4.88603948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters 0.051232487243052946 Centerline is valid? [True, True] Translation: X:486.86, Y:-306.77, Z:-4.88 [[ 9.90124017e-01 -1.39966724e-01 -7.98420255e-03 4.86862550e+02] [-1.39961320e-01 -9.90156202e-01 1.23432710e-03 -3.06769770e+02] [-8.07837240e-03 -1.04657379e-04 -9.99967364e-01 -4.88466129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters 0.051238851837914955 Centerline is valid? [True, True] Translation: X:486.89, Y:-306.84, Z:-4.88 [[ 9.97726494e-01 -6.70346019e-02 -6.94296269e-03 4.86889111e+02] [-6.70325881e-02 -9.97750650e-01 5.22614807e-04 -3.06839845e+02] [-6.96237881e-03 -5.60218808e-05 -9.99975761e-01 -4.88473916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters 0.05085252755158125 Centerline is valid? [True, True] Translation: X:486.92, Y:-306.91, Z:-4.89 [[ 9.99930139e-01 9.46190280e-03 -7.08439003e-03 4.86920283e+02] [ 9.46198184e-03 -9.99955234e-01 -2.23606070e-05 -3.06908157e+02] [-7.08428447e-03 -4.46733250e-05 -9.99974905e-01 -4.88541363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters 0.050889529248240445 Centerline is valid? [True, True] Translation: X:486.95, Y:-306.97, Z:-4.89 [[ 9.96216591e-01 8.64793115e-02 -8.59262121e-03 4.86951262e+02] [ 8.64764780e-02 -9.96253646e-01 -7.01453878e-04 -3.06971239e+02] [-8.62109146e-03 -4.42596288e-05 -9.99962837e-01 -4.88737282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters 0.05103616667703221 Centerline is valid? [True, True] Translation: X:486.99, Y:-307.05, Z:-4.89 [[ 9.86489251e-01 1.63588286e-01 -8.82214362e-03 4.86990174e+02] [ 1.63582113e-01 -9.86528698e-01 -1.42166485e-03 -3.07047409e+02] [-8.93586557e-03 -4.06878093e-05 -9.99960074e-01 -4.88539947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters 0.05101511651761828 Centerline is valid? [True, True] Translation: X:487.03, Y:-307.11, Z:-4.88 [[ 9.70767079e-01 2.39834466e-01 -9.52406783e-03 4.87033079e+02] [ 2.39823330e-01 -9.70813796e-01 -2.31150818e-03 -3.07114890e+02] [-9.80047577e-03 -4.01576215e-05 -9.99951973e-01 -4.88420399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters 0.05183286159667158 Centerline is valid? [True, True] Translation: X:487.08, Y:-307.19, Z:-4.89 [[ 9.49174290e-01 3.14607586e-01 -9.49917424e-03 4.87083939e+02] [ 3.14592215e-01 -9.49221821e-01 -3.11007113e-03 -3.07186089e+02] [-9.99527544e-03 -3.63667120e-05 -9.99950045e-01 -4.88592447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters 0.0509645286497218 Centerline is valid? [True, True] Translation: X:487.14, Y:-307.25, Z:-4.89 [[ 9.21465159e-01 3.88361379e-01 -8.79777662e-03 4.87140912e+02] [ 3.88344087e-01 -9.21507156e-01 -3.66501586e-03 -3.07253228e+02] [-9.53056472e-03 -3.93801101e-05 -9.99954582e-01 -4.88656075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters 0.051092117289296635 Centerline is valid? [True, True] Translation: X:487.20, Y:-307.31, Z:-4.89 [[ 8.87584253e-01 4.60591588e-01 -7.04150105e-03 4.87200702e+02] [ 4.60577490e-01 -8.87612183e-01 -3.60389327e-03 -3.07314045e+02] [-7.91004504e-03 -4.43979618e-05 -9.99968714e-01 -4.88616414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters 0.05072656314384022 Centerline is valid? [True, True] Translation: X:487.26, Y:-307.36, Z:-4.89 [[ 8.48447626e-01 5.29243358e-01 -6.17211384e-03 4.87259760e+02] [ 5.29229747e-01 -8.48470074e-01 -3.79588415e-03 -3.07360336e+02] [-7.24580036e-03 -4.58573562e-05 -9.99973748e-01 -4.88926813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters 0.050977471786325605 Centerline is valid? [True, True] Translation: X:487.33, Y:-307.41, Z:-4.89 [[ 8.04552682e-01 5.93857486e-01 -5.31686185e-03 4.87328105e+02] [ 5.93844850e-01 -8.04570249e-01 -3.87416450e-03 -3.07409651e+02] [-6.57849045e-03 -4.04215958e-05 -9.99978361e-01 -4.88685487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters 0.05101517616924154 Centerline is valid? [True, True] Translation: X:487.40, Y:-307.45, Z:-4.89 [[ 7.56202251e-01 6.54320182e-01 -4.82224657e-03 4.87395653e+02] [ 6.54307160e-01 -7.56217626e-01 -4.12832883e-03 -3.07448057e+02] [-6.34791672e-03 -3.33788996e-05 -9.99979851e-01 -4.88620775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters 0.05086136410597313 Centerline is valid? [True, True] Translation: X:487.47, Y:-307.48, Z:-4.89 [[ 7.03344978e-01 7.10834505e-01 -4.48866866e-03 4.87466066e+02] [ 7.10820281e-01 -7.03359300e-01 -4.49701906e-03 -3.07480234e+02] [-6.35378317e-03 -2.76809408e-05 -9.99979814e-01 -4.88669900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters 0.05052151005029922 Centerline is valid? [True, True] Translation: X:487.54, Y:-307.51, Z:-4.89 [[ 6.47365219e-01 7.62167481e-01 -4.35934982e-03 4.87537167e+02] [ 7.62150343e-01 -6.47379896e-01 -5.11128506e-03 -3.07505937e+02] [-6.71781070e-03 -1.36117860e-05 -9.99977435e-01 -4.88636731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters 0.05075470142531523 Centerline is valid? [True, True] Translation: X:487.61, Y:-307.53, Z:-4.89 [[ 5.88968145e-01 8.08146489e-01 -3.97207841e-03 4.87607150e+02] [ 8.08127959e-01 -5.88981538e-01 -5.47253479e-03 -3.07525666e+02] [-6.76209063e-03 1.32010423e-05 -9.99977137e-01 -4.88546496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters 0.051315725529029625 Centerline is valid? [True, True] Translation: X:487.68, Y:-307.54, Z:-4.89 [[ 5.26691836e-01 8.50046954e-01 -3.98581827e-03 4.87682522e+02] [ 8.50022043e-01 -5.26706916e-01 -6.50780379e-03 -3.07541606e+02] [-7.63129684e-03 3.95737322e-05 -9.99970880e-01 -4.88579837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters 0.05145566607262669 Centerline is valid? [True, True] Translation: X:487.76, Y:-307.55, Z:-4.89 [[ 4.61026111e-01 8.87378338e-01 -3.82238408e-03 4.87760183e+02] [ 8.87346626e-01 -4.61041951e-01 -7.50228088e-03 -3.07551105e+02] [-8.41964096e-03 6.69677570e-05 -9.99964552e-01 -4.88592932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters 0.051682747211938745 Centerline is valid? [True, True] Translation: X:487.84, Y:-307.56, Z:-4.89 [[ 3.91623845e-01 9.20119347e-01 -3.33941119e-03 4.87838567e+02] [ 9.20084072e-01 -3.91638074e-01 -8.05730173e-03 -3.07555830e+02] [-8.72151977e-03 8.28924376e-05 -9.99961963e-01 -4.88634831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters 0.05136362223715834 Centerline is valid? [True, True] Translation: X:487.92, Y:-307.55, Z:-4.89 [[ 3.17590388e-01 9.48224052e-01 -2.73724659e-03 4.87915406e+02] [ 9.48186739e-01 -3.17602174e-01 -8.41233905e-03 -3.07554521e+02] [-8.84613769e-03 7.62571027e-05 -9.99960869e-01 -4.88609505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters 0.05139779773638756 Centerline is valid? [True, True] Translation: X:488.00, Y:-307.55, Z:-4.89 [[ 2.40591342e-01 9.70624194e-01 -2.11641184e-03 4.87999983e+02] [ 9.70584386e-01 -2.40600643e-01 -8.79086243e-03 -3.07548446e+02] [-9.04183382e-03 6.08491024e-05 -9.99959120e-01 -4.88734850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters 0.050817672267269604 Centerline is valid? [True, True] Translation: X:488.08, Y:-307.54, Z:-4.89 [[ 1.61375928e-01 9.86891843e-01 -1.51678038e-03 4.88078859e+02] [ 9.86845898e-01 -1.61383051e-01 -9.52286709e-03 -3.07535463e+02] [-9.64282249e-03 3.99330205e-05 -9.99953506e-01 -4.88539282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters 0.051036404813019305 Centerline is valid? [True, True] Translation: X:488.15, Y:-307.52, Z:-4.88 [[ 8.25187198e-02 9.96589219e-01 -7.67481242e-04 4.88150456e+02] [ 9.96542797e-01 -8.25222837e-02 -9.61905844e-03 -3.07515677e+02] [-9.64958425e-03 2.89244841e-05 -9.99953441e-01 -4.88489391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters 0.05068388722866845 Centerline is valid? [True, True] Translation: X:488.23, Y:-307.49, Z:-4.89 [[ 1.06855215e-03 9.99999429e-01 -1.19127012e-05 4.88228559e+02] [ 9.99957760e-01 -1.06861638e-03 -9.12887065e-03 -3.07489386e+02] [-9.12887817e-03 -2.15752363e-06 -9.99958331e-01 -4.88725201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters 0.05157454889469057 Centerline is valid? [True, True] Translation: X:488.30, Y:-307.46, Z:-4.89 [[-7.93858555e-02 9.96843788e-01 5.90606117e-04 4.88304206e+02] [ 9.96814404e-01 7.93880502e-02 -7.65380877e-03 -3.07458841e+02] [-7.67653879e-03 -1.88794718e-05 -9.99970535e-01 -4.89055283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters 0.050975522892485664 Centerline is valid? [True, True] Translation: X:488.38, Y:-307.42, Z:-4.89 [[-1.58725153e-01 9.87322365e-01 9.34263804e-04 4.88384121e+02] [ 9.87304344e-01 1.58727901e-01 -5.96531387e-03 -3.07420800e+02] [-6.03798153e-03 -2.44426451e-05 -9.99981771e-01 -4.88786580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters 0.050557153116599016 Centerline is valid? [True, True] Translation: X:488.45, Y:-307.38, Z:-4.89 [[-2.35360634e-01 9.71907302e-01 1.25252253e-03 4.88454317e+02] [ 9.71893055e-01 2.35363966e-01 -5.26240705e-03 -3.07378951e+02] [-5.40937051e-03 -2.12455071e-05 -9.99985369e-01 -4.88641876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters 0.0501425224771421 Centerline is valid? [True, True] Translation: X:488.52, Y:-307.33, Z:-4.89 [[-3.09516414e-01 9.50892660e-01 1.65502356e-03 4.88521035e+02] [ 9.50878812e-01 3.09520839e-01 -5.13171037e-03 -3.07330196e+02] [-5.39197000e-03 -1.46217575e-05 -9.99985463e-01 -4.88735942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters 0.05030688736374044 Centerline is valid? [True, True] Translation: X:488.59, Y:-307.28, Z:-4.89 [[-3.81740995e-01 9.24266779e-01 2.17585923e-03 4.88586325e+02] [ 9.24251647e-01 3.81747196e-01 -5.28878733e-03 -3.07275910e+02] [-5.71887859e-03 -7.90545992e-06 -9.99983647e-01 -4.88678347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters 0.05021400331871951 Centerline is valid? [True, True] Translation: X:488.64, Y:-307.22, Z:-4.89 [[-4.51883233e-01 8.92073156e-01 2.65101797e-03 4.88644266e+02] [ 8.92057784e-01 4.51891009e-01 -5.23699664e-03 -3.07218678e+02] [-5.86975531e-03 -1.64976310e-06 -9.99982773e-01 -4.88596132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters 0.050627528029227174 Centerline is valid? [True, True] Translation: X:488.70, Y:-307.16, Z:-4.89 [[-5.19950250e-01 8.54189194e-01 3.54394170e-03 4.88695189e+02] [ 8.54169362e-01 5.19962327e-01 -5.82056075e-03 -3.07158392e+02] [-6.81457627e-03 7.24411695e-07 -9.99976781e-01 -4.88522860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters 0.05051876443375389 Centerline is valid? [True, True] Translation: X:488.74, Y:-307.09, Z:-4.89 [[-5.85370699e-01 8.10753836e-01 4.40019067e-03 4.88744875e+02] [ 8.10730920e-01 5.85387237e-01 -6.09575600e-03 -3.07091899e+02] [-7.51797302e-03 -9.06318050e-07 -9.99971740e-01 -4.88528198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters 0.050439147588994565 Centerline is valid? [True, True] Translation: X:488.79, Y:-307.02, Z:-4.88 [[-6.47330911e-01 7.62190767e-01 5.28451101e-03 4.88788793e+02] [ 7.62165316e-01 6.47352481e-01 -6.22869240e-03 -3.07022570e+02] [-8.16839315e-03 -4.35412219e-06 -9.99966638e-01 -4.88410381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters 0.050814328514855456 Centerline is valid? [True, True] Translation: X:488.83, Y:-306.95, Z:-4.88 [[-7.05412369e-01 7.08773516e-01 5.78729974e-03 4.88827229e+02] [ 7.08749554e-01 7.05436108e-01 -5.82812609e-03 -3.06948885e+02] [-8.21339163e-03 -9.48612296e-06 -9.99966270e-01 -4.88478497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters 0.049770437701097126 Centerline is valid? [True, True] Translation: X:488.86, Y:-306.88, Z:-4.88 [[-7.59291394e-01 6.50722568e-01 6.05963631e-03 4.88858388e+02] [ 6.50701673e-01 7.59315573e-01 -5.21472931e-03 -3.06875846e+02] [-7.99451826e-03 -1.64835993e-05 -9.99968043e-01 -4.88420878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters 0.050371080814631645 Centerline is valid? [True, True] Translation: X:488.87, Y:-306.79, Z:-4.89 [[-8.03978408e-01 5.94629246e-01 5.89732228e-03 4.88872446e+02] [ 5.94613060e-01 8.04000037e-01 -4.38747074e-03 -3.06791593e+02] [-7.35036575e-03 -2.08068957e-05 -9.99972986e-01 -4.88695134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters 0.050644960198156966 Centerline is valid? [True, True] Translation: X:488.92, Y:-306.73, Z:-4.89 [[-8.46299230e-01 5.32673374e-01 6.05729600e-03 4.88915307e+02] [ 5.32659311e-01 8.46320905e-01 -3.87091859e-03 -3.06727445e+02] [-7.18835150e-03 -4.94803079e-05 -9.99974162e-01 -4.88645877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters 0.050227159340751226 Centerline is valid? [True, True] Translation: X:488.93, Y:-306.65, Z:-4.89 [[-8.83145930e-01 4.69054284e-01 6.43008618e-03 4.88927896e+02] [ 4.69041281e-01 8.83169335e-01 -3.49320258e-03 -3.06646255e+02] [-7.31735657e-03 -6.90317774e-05 -9.99973225e-01 -4.88682722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters 0.0510843146432088 Centerline is valid? [True, True] Translation: X:488.95, Y:-306.57, Z:-4.88 [[-9.14772267e-01 4.03907512e-01 7.10077675e-03 4.88949915e+02] [ 4.03894625e-01 9.14799822e-01 -3.22764001e-03 -3.06565025e+02] [-7.79945735e-03 -8.45900037e-05 -9.99969580e-01 -4.88294160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters 0.050392851633612464 Centerline is valid? [True, True] Translation: X:488.90, Y:-306.47, Z:-4.89 [[-9.41173727e-01 3.37862612e-01 6.39302929e-03 4.88896926e+02] [ 3.37854277e-01 9.41195436e-01 -2.37449504e-03 -3.06467718e+02] [-6.81934309e-03 -7.49000604e-05 -9.99976745e-01 -4.88694237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters 0.04955944937965873 Centerline is valid? [True, True] Translation: X:488.91, Y:-306.39, Z:-4.89 [[-9.62767745e-01 2.70253368e-01 6.43318543e-03 4.88905712e+02] [ 2.70246827e-01 9.62789235e-01 -1.88165758e-03 -3.06391355e+02] [-6.70232598e-03 -7.30512741e-05 -9.99977537e-01 -4.88645824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters 0.04938108351557394 Centerline is valid? [True, True] Translation: X:488.89, Y:-306.31, Z:-4.89 [[-9.79696271e-01 2.00351243e-01 7.38889715e-03 4.88892040e+02] [ 2.00344859e-01 9.79724130e-01 -1.60176730e-03 -3.06309090e+02] [-7.55999690e-03 -8.89178957e-05 -9.99971419e-01 -4.88595984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters 0.04971911654329419 Centerline is valid? [True, True] Translation: X:488.96, Y:-305.65, Z:-5.88 [[-9.57111654e-01 -2.89611188e-01 7.91459485e-03 4.88960750e+02] [ 2.89602499e-01 -9.57144367e-01 -2.24778423e-03 -3.05652440e+02] [ 8.22639335e-03 1.40705966e-04 9.99966153e-01 -5.87960669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters 0.05044587011436781 Centerline is valid? [True, True] Translation: X:488.77, Y:-306.28, Z:-4.88 [[-9.80883729e-01 1.94397646e-01 8.75583036e-03 4.88773596e+02] [ 1.94388756e-01 9.80922800e-01 -1.86337777e-03 -3.06282448e+02] [-8.95102989e-03 -1.25721962e-04 -9.99959931e-01 -4.88198542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters 0.049625502514293166 Centerline is valid? [True, True] Translation: X:488.69, Y:-306.19, Z:-4.88 [[-9.92241529e-01 1.23982009e-01 9.23086140e-03 4.88689062e+02] [ 1.23975390e-01 9.92284457e-01 -1.28807526e-03 -3.06190809e+02] [-9.31933845e-03 -1.33682120e-04 -9.99956565e-01 -4.88190315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters 0.04991199125646212 Centerline is valid? [True, True] Translation: X:488.79, Y:-305.54, Z:-5.88 [[-9.75890054e-01 -2.18126932e-01 7.69707539e-03 4.88793219e+02] [ 2.18120300e-01 -9.75920407e-01 -1.70100136e-03 -3.05543490e+02] [ 7.88276716e-03 1.88980840e-05 9.99968930e-01 -5.87919632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters 0.049387763075201645 Centerline is valid? [True, True] Translation: X:488.59, Y:-306.18, Z:-4.89 [[-9.92437827e-01 1.22600912e-01 6.01459226e-03 4.88587437e+02] [ 1.22598218e-01 9.92456050e-01 -8.16076055e-04 -3.06184340e+02] [-6.06927015e-03 -7.25264550e-05 -9.99981579e-01 -4.88570311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters 0.049339751461822096 Centerline is valid? [True, True] Translation: X:488.51, Y:-306.10, Z:-4.89 [[-9.98516819e-01 5.42197457e-02 4.93775623e-03 4.88507764e+02] [ 5.42188494e-02 9.98529027e-01 -3.15304790e-04 -3.06098745e+02] [-4.94758867e-03 -4.71176742e-05 -9.99987760e-01 -4.88542893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters 0.04908466371927951 Centerline is valid? [True, True] Translation: X:488.45, Y:-306.02, Z:-4.89 [[-9.99889359e-01 -1.41669489e-02 4.53516886e-03 4.88445072e+02] [-1.41669448e-02 9.99899643e-01 3.30443731e-05 -3.06020576e+02] [-4.53518187e-03 -3.12087698e-05 -9.99989716e-01 -4.88560198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters 0.049514096512569626 Centerline is valid? [True, True] Translation: X:488.34, Y:-305.95, Z:-4.89 [[-9.96624312e-01 -8.20407466e-02 3.04893544e-03 4.88340267e+02] [-8.20403972e-02 9.96628976e-01 2.39703326e-04 -3.05946574e+02] [-3.05832284e-03 -1.12417122e-05 -9.99995323e-01 -4.88517723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters 0.04960009929254281 Centerline is valid? [True, True] Translation: X:488.23, Y:-305.29, Z:-5.88 [[-9.99950216e-01 9.38170924e-03 3.39844307e-03 4.88228121e+02] [-9.38153862e-03 -9.99955990e-01 6.61432717e-05 -3.05287455e+02] [ 3.39891404e-03 3.42573539e-05 9.99994223e-01 -5.87942533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters 0.05004386476854745 Centerline is valid? [True, True] Translation: X:488.12, Y:-305.97, Z:-4.88 [[-9.96741921e-01 -8.05757380e-02 3.61856380e-03 4.88119606e+02] [-8.05751872e-02 9.96748489e-01 2.97989793e-04 -3.05966827e+02] [-3.63080875e-03 5.45246271e-06 -9.99993409e-01 -4.88447182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters 0.05027996754856371 Centerline is valid? [True, True] Translation: X:488.57, Y:-305.83, Z:-4.88 [[-9.88083559e-01 -1.53865903e-01 4.02046134e-03 4.88573398e+02] [-1.53864562e-01 9.88091739e-01 6.42534983e-04 -3.05827883e+02] [-4.07144886e-03 1.62717311e-05 -9.99991712e-01 -4.88482996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters 0.04984569549159648 Centerline is valid? [True, True] Translation: X:487.87, Y:-305.88, Z:-4.88 [[-9.75061570e-01 -2.21906597e-01 3.52102876e-03 4.87870634e+02] [-2.21905076e-01 9.75067927e-01 8.21796855e-04 -3.05883562e+02] [-3.61560435e-03 1.99683779e-05 -9.99993464e-01 -4.88438855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters 0.05010376253554616 Centerline is valid? [True, True] Translation: X:487.72, Y:-305.85, Z:-4.88 [[-9.57049698e-01 -2.89906083e-01 3.21533624e-03 4.87723080e+02] [-2.89904371e-01 9.57055099e-01 9.96391481e-04 -3.05847580e+02] [-3.36611389e-03 2.14561366e-05 -9.99994334e-01 -4.88357199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters 0.04970208388184641 Centerline is valid? [True, True] Translation: X:488.20, Y:-305.59, Z:-4.88 [[-9.32081845e-01 -3.62235009e-01 3.03851500e-03 4.88199692e+02] [-3.62233007e-01 9.32086797e-01 1.20434712e-03 -3.05589038e+02] [-3.26841641e-03 2.18996624e-05 -9.99994659e-01 -4.88462697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters 0.049494989930164296 Centerline is valid? [True, True] Translation: X:487.23, Y:-305.93, Z:-4.88 [[-9.03932933e-01 -4.27667057e-01 2.47792699e-03 4.87227789e+02] [-4.27665399e-01 9.03936330e-01 1.19121965e-03 -3.05925166e+02] [-2.74933363e-03 1.70590419e-05 -9.99996220e-01 -4.88270233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters 0.049748999527381446 Centerline is valid? [True, True] Translation: X:487.11, Y:-305.90, Z:-4.88 [[-8.69935121e-01 -4.93164163e-01 1.41190428e-03 4.87107418e+02] [-4.93163499e-01 8.69936267e-01 8.09394609e-04 -3.05901575e+02] [-1.62743115e-03 7.82114314e-06 -9.99998676e-01 -4.88414802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters 0.049371656918673255 Centerline is valid? [True, True] Translation: X:486.99, Y:-305.88, Z:-4.88 [[-8.29884339e-01 -5.57934146e-01 1.21314682e-03 4.86986552e+02] [-5.57933546e-01 8.29885226e-01 8.18107910e-04 -3.05884585e+02] [-1.46322296e-03 2.07963427e-06 -9.99998930e-01 -4.88344477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters 0.0495735627785694 Centerline is valid? [True, True] Translation: X:486.84, Y:-305.89, Z:-4.88 [[-7.85757893e-01 -6.18533264e-01 1.06527464e-03 4.86840998e+02] [-6.18532697e-01 7.85758615e-01 8.37038923e-04 -3.05892945e+02] [-1.35478514e-03 -1.19725661e-06 -9.99999082e-01 -4.88278614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters 0.04899992962156808 Centerline is valid? [True, True] Translation: X:486.68, Y:-305.93, Z:-4.88 [[-7.37393733e-01 -6.75462488e-01 9.53564847e-04 4.86679384e+02] [-6.75461930e-01 7.37394350e-01 8.68321593e-04 -3.05927655e+02] [-1.28967199e-03 -3.80185091e-06 -9.99999168e-01 -4.88285876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters 0.049420584219563586 Centerline is valid? [True, True] Translation: X:486.51, Y:-305.98, Z:-4.88 [[-6.84238900e-01 -7.29256136e-01 1.61726723e-03 4.86508209e+02] [-7.29254146e-01 6.84240811e-01 1.70382309e-03 -3.05983609e+02] [-2.34912369e-03 -1.35767943e-05 -9.99997241e-01 -4.88208277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters 0.04964529734118991 Centerline is valid? [True, True] Translation: X:486.36, Y:-306.03, Z:-4.88 [[-6.27318562e-01 -7.78761248e-01 1.53012190e-03 4.86362406e+02] [-7.78759002e-01 6.27320428e-01 1.87016911e-03 -3.06026487e+02] [-2.41629195e-03 -1.84044038e-05 -9.99997081e-01 -4.88163005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters 0.04929357798172278 Centerline is valid? [True, True] Translation: X:486.19, Y:-306.12, Z:-4.88 [[-5.66642420e-01 -8.23962557e-01 1.43961803e-03 4.86194812e+02] [-8.23960009e-01 5.66644248e-01 2.04932366e-03 -3.06118965e+02] [-2.50431724e-03 -2.49539699e-05 -9.99996864e-01 -4.88160530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters 0.049571381343221026 Centerline is valid? [True, True] Translation: X:486.02, Y:-306.24, Z:-4.88 [[-5.04556130e-01 -8.63374986e-01 2.59693431e-03 4.86022387e+02] [-8.63364075e-01 5.04562811e-01 4.34094503e-03 -3.06236568e+02] [-5.05817983e-03 -5.18493606e-05 -9.99987206e-01 -4.87965681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters 0.04963315143931378 Centerline is valid? [True, True] Translation: X:485.86, Y:-306.37, Z:-4.88 [[-4.40354033e-01 -8.97819429e-01 2.93237552e-03 4.85863381e+02] [-8.97800457e-01 4.40363792e-01 5.83700080e-03 -3.06368526e+02] [-6.53188473e-03 -6.23412337e-05 -9.99978665e-01 -4.87957610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters 0.05021180012574188 Centerline is valid? [True, True] Translation: X:485.71, Y:-306.52, Z:-4.88 [[-3.74555184e-01 -9.27201173e-01 2.52969484e-03 4.85709613e+02] [-9.27180966e-01 3.74563723e-01 6.12160676e-03 -3.06521451e+02] [-6.62349289e-03 -5.26053589e-05 -9.99978063e-01 -4.87955339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters 0.04934777676099573 Centerline is valid? [True, True] Translation: X:485.55, Y:-306.75, Z:-4.88 [[-3.10871064e-01 -9.50450776e-01 1.58263029e-03 4.85546628e+02] [-9.50438657e-01 3.10875093e-01 4.79950900e-03 -3.06751672e+02] [-5.05369739e-03 -1.21645395e-05 -9.99987230e-01 -4.88049668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters 0.0499931246623002 Centerline is valid? [True, True] Translation: X:485.44, Y:-306.87, Z:-4.88 [[-2.44620825e-01 -9.69618492e-01 7.94902679e-04 4.85438206e+02] [-9.69613238e-01 2.44622116e-01 3.19215457e-03 -3.06867228e+02] [-3.28962287e-03 1.01193242e-05 -9.99994589e-01 -4.88175500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters 0.050306218236690806 Centerline is valid? [True, True] Translation: X:485.29, Y:-307.24, Z:-4.88 [[-1.80780290e-01 -9.83523486e-01 1.99196126e-04 4.85289415e+02] [-9.83522811e-01 1.80780399e-01 1.15210876e-03 -3.07236357e+02] [-1.16913678e-03 1.23646216e-05 -9.99999317e-01 -4.88315045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters 0.050646295293094355 Centerline is valid? [True, True] Translation: X:485.26, Y:-306.82, Z:-4.88 [[-1.09059063e-01 -9.94035265e-01 1.10916138e-04 4.85261994e+02] [-9.94034582e-01 1.09059118e-01 1.16515852e-03 -3.06820945e+02] [-1.17030508e-03 1.68166203e-05 -9.99999315e-01 -4.88321392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters 0.050615237321877754 Centerline is valid? [True, True] Translation: X:485.15, Y:-307.23, Z:-4.88 [[-3.91105938e-02 -9.99234887e-01 4.53965314e-05 4.85151181e+02] [-9.99232801e-01 3.91106049e-02 2.04183293e-03 -3.07231895e+02] [-2.04204619e-03 3.44955951e-05 -9.99997914e-01 -4.88184082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters 0.05053602156312955 Centerline is valid? [True, True] Translation: X:485.07, Y:-307.77, Z:-4.88 [[ 3.21750536e-02 -9.99482236e-01 -1.63716104e-04 4.85073138e+02] [-9.99476876e-01 -3.21754173e-02 3.27362362e-03 -3.07770467e+02] [-3.27719629e-03 5.83014450e-05 -9.99994628e-01 -4.88116339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters 0.05057269329560279 Centerline is valid? [True, True] Translation: X:485.05, Y:-308.30, Z:-4.88 [[ 1.04997818e-01 -9.94472369e-01 -4.05846379e-04 4.85046078e+02] [-9.94466904e-01 -1.04998587e-01 3.29739888e-03 -3.08303113e+02] [-3.32178537e-03 5.73811052e-05 -9.99994481e-01 -4.87973492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters 0.050528283627834146 Centerline is valid? [True, True] Translation: X:484.88, Y:-307.82, Z:-4.88 [[ 1.81373966e-01 -9.83413640e-01 -1.04772153e-03 4.84880294e+02] [-9.83399778e-01 -1.81376973e-01 5.22201657e-03 -3.07819560e+02] [-5.32543488e-03 8.31912622e-05 -9.99985816e-01 -4.88077747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters 0.05029785966294926 Centerline is valid? [True, True] Translation: X:484.85, Y:-308.07, Z:-4.88 [[ 2.55017017e-01 -9.66935361e-01 -1.52634846e-03 4.84847899e+02] [-9.66919856e-01 -2.55021572e-01 5.47625453e-03 -3.08069280e+02] [-5.68443593e-03 7.93185428e-05 -9.99983840e-01 -4.88075177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters 0.04983631185731842 Centerline is valid? [True, True] Translation: X:485.00, Y:-308.79, Z:-4.88 [[ 3.26904375e-01 -9.45055978e-01 -1.65162258e-03 4.84996267e+02] [-9.45044716e-01 -3.26908543e-01 4.61407271e-03 -3.08791565e+02] [-4.90048653e-03 5.24966343e-05 -9.99987991e-01 -4.87978645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters 0.05000195113764928 Centerline is valid? [True, True] Translation: X:485.01, Y:-309.02, Z:-4.88 [[ 3.98231475e-01 -9.17283295e-01 -1.74591155e-03 4.85010294e+02] [-9.17274870e-01 -3.98235301e-01 3.93163121e-03 -3.09024081e+02] [-4.30170324e-03 3.57814897e-05 -9.99990747e-01 -4.88046962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters 0.050425324106586046 Centerline is valid? [True, True] Translation: X:485.00, Y:-309.16, Z:-4.88 [[ 4.67964707e-01 -8.83745295e-01 -1.81300708e-03 4.84996240e+02] [-8.83738829e-01 -4.67968219e-01 3.38060662e-03 -3.09159911e+02] [-3.83602489e-03 2.02201668e-05 -9.99992642e-01 -4.87995134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters 0.050353922513238766 Centerline is valid? [True, True] Translation: X:485.02, Y:-309.35, Z:-4.88 [[ 5.35515833e-01 -8.44522629e-01 -2.07899283e-03 4.85020733e+02] [-8.44516297e-01 -5.35519868e-01 3.27021676e-03 -3.09354604e+02] [-3.87511402e-03 4.49047698e-06 -9.99992492e-01 -4.88088662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters 0.050436059609465796 Centerline is valid? [True, True] Translation: X:485.07, Y:-309.56, Z:-4.88 [[ 5.98895831e-01 -8.00824553e-01 -1.95432183e-03 4.85070972e+02] [-8.00820255e-01 -5.98899019e-01 2.62385462e-03 -3.09562091e+02] [-3.27168863e-03 -6.35508331e-06 -9.99994648e-01 -4.88235147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters 0.05033367741761977 Centerline is valid? [True, True] Translation: X:485.12, Y:-309.75, Z:-4.88 [[ 6.58792216e-01 -7.52323561e-01 -1.44075482e-03 4.85117981e+02] [-7.52321723e-01 -6.58793792e-01 1.66286122e-03 -3.09745298e+02] [-2.20017000e-03 -1.15688808e-05 -9.99997580e-01 -4.88200203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters 0.049316327271642445 Centerline is valid? [True, True] Translation: X:485.18, Y:-309.92, Z:-4.88 [[ 7.13174571e-01 -7.00984563e-01 -1.63502740e-03 4.85182562e+02] [-7.00982673e-01 -7.13176445e-01 1.62824555e-03 -3.09924177e+02] [-2.30743802e-03 -1.50974459e-05 -9.99997338e-01 -4.88271782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters 0.04987623152027133 Centerline is valid? [True, True] Translation: X:485.15, Y:-310.01, Z:-4.88 [[ 7.66452403e-01 -6.42297849e-01 -2.04616774e-03 4.85151458e+02] [-6.42295489e-01 -7.66455134e-01 1.74139030e-03 -3.10007621e+02] [-2.68678701e-03 -2.04484689e-05 -9.99996390e-01 -4.88100514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters 0.050314662900513465 Centerline is valid? [True, True] Translation: X:485.13, Y:-310.09, Z:-4.88 [[ 8.15110876e-01 -5.79298434e-01 -2.75405948e-03 4.85128883e+02] [-5.79294999e-01 -8.15115528e-01 1.99494294e-03 -3.10091414e+02] [-3.40054397e-03 -3.06867987e-05 -9.99994218e-01 -4.88107140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters 0.049916024362110345 Centerline is valid? [True, True] Translation: X:485.11, Y:-310.18, Z:-4.88 [[ 8.58330578e-01 -5.13083452e-01 -3.74045325e-03 4.85112010e+02] [-5.13078359e-01 -8.58338727e-01 2.28645276e-03 -3.10178737e+02] [-4.38371695e-03 -4.33867022e-05 -9.99990391e-01 -4.88096677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters 0.049908688548929124 Centerline is valid? [True, True] Translation: X:485.10, Y:-310.27, Z:-4.88 [[ 8.97343743e-01 -4.41284632e-01 -6.48700031e-03 4.85100470e+02] [-4.41272312e-01 -8.97367185e-01 3.29888217e-03 -3.10267358e+02] [-7.27696721e-03 -9.76976504e-05 -9.99973518e-01 -4.87854422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters 0.050443490683825296 Centerline is valid? [True, True] Translation: X:485.10, Y:-310.35, Z:-4.88 [[ 9.29941763e-01 -3.67610349e-01 -8.42310755e-03 4.85097223e+02] [-3.67593864e-01 -9.29979898e-01 3.48428317e-03 -3.10354995e+02] [-9.11417925e-03 -1.43897778e-04 -9.99958455e-01 -4.87594798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters 0.05096883661279914 Centerline is valid? [True, True] Translation: X:485.10, Y:-310.43, Z:-4.88 [[ 9.55804783e-01 -2.93904680e-01 -7.56676494e-03 4.85104494e+02] [-2.93894436e-01 -9.55834726e-01 2.45707372e-03 -3.10434932e+02] [-7.95472216e-03 -1.24652699e-04 -9.99968353e-01 -4.87590753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters 0.05037076241292596 Centerline is valid? [True, True] Translation: X:485.12, Y:-310.52, Z:-4.88 [[ 9.75529541e-01 -2.19779393e-01 -6.25570538e-03 4.85117330e+02] [-2.19774276e-01 -9.75549594e-01 1.50247678e-03 -3.10515506e+02] [-6.43296428e-03 -9.08673674e-05 -9.99979304e-01 -4.87920603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters 0.04955050409014538 Centerline is valid? [True, True] Translation: X:485.14, Y:-310.59, Z:-4.88 [[ 9.89014534e-01 -1.47740932e-01 -4.78219947e-03 4.85135136e+02] [-1.47738988e-01 -9.89026094e-01 7.59227806e-04 -3.10593654e+02] [-4.84188909e-03 -4.43700225e-05 -9.99988277e-01 -4.88098250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters 0.050056911902577286 Centerline is valid? [True, True] Translation: X:485.16, Y:-310.68, Z:-4.88 [[ 9.97252653e-01 -7.39722861e-02 -3.90475973e-03 4.85159743e+02] [-7.39716399e-02 -9.97260297e-01 3.09857624e-04 -3.10676148e+02] [-3.91698272e-03 -2.01648570e-05 -9.99992328e-01 -4.88181892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters 0.04970861456487185 Centerline is valid? [True, True] Translation: X:485.19, Y:-310.75, Z:-4.88 [[ 9.99991344e-01 3.96031188e-04 -4.14194482e-03 4.85186571e+02] [ 3.96048889e-04 -9.99999922e-01 3.45305843e-06 -3.10753325e+02] [-4.14194313e-03 -5.09344118e-06 -9.99991422e-01 -4.88198880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters 0.049718821874169414 Centerline is valid? [True, True] Translation: X:485.22, Y:-310.83, Z:-4.88 [[ 9.97249239e-01 7.38891932e-02 -5.86026124e-03 4.85217999e+02] [ 7.38877960e-02 -9.97266457e-01 -4.54873652e-04 -3.10825178e+02] [-5.87785221e-03 2.06206162e-05 -9.99982725e-01 -4.88098037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters 0.04957924154328224 Centerline is valid? [True, True] Translation: X:485.25, Y:-310.89, Z:-4.88 [[ 9.88550956e-01 1.50770542e-01 -5.93731155e-03 4.85252697e+02] [ 1.50767661e-01 -9.88568785e-01 -9.32573716e-04 -3.10892766e+02] [-6.01004551e-03 2.67420662e-05 -9.99981939e-01 -4.87999731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters 0.05057604991381919 Centerline is valid? [True, True] Translation: X:485.29, Y:-310.96, Z:-4.88 [[ 9.73451933e-01 2.28814624e-01 -5.93312912e-03 4.85292505e+02] [ 2.28810250e-01 -9.73470014e-01 -1.41490226e-03 -3.10955233e+02] [-6.09947362e-03 1.97785859e-05 -9.99981398e-01 -4.87900942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters 0.049649934646996984 Centerline is valid? [True, True] Translation: X:485.34, Y:-311.02, Z:-4.88 [[ 9.51725834e-01 3.06850964e-01 -7.77322725e-03 4.85340915e+02] [ 3.06840693e-01 -9.51757577e-01 -2.51064814e-03 -3.11024578e+02] [-8.16862273e-03 4.30626125e-06 -9.99966636e-01 -4.87984838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters 0.05016288983171273 Centerline is valid? [True, True] Translation: X:485.39, Y:-311.09, Z:-4.88 [[ 9.23918489e-01 3.82492750e-01 -8.59777204e-03 4.85394728e+02] [ 3.82476354e-01 -9.23958492e-01 -3.54162841e-03 -3.11090226e+02] [-9.29863168e-03 -1.62685344e-05 -9.99956767e-01 -4.87899875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters 0.049680671318150425 Centerline is valid? [True, True] Translation: X:485.45, Y:-311.15, Z:-4.88 [[ 8.89531340e-01 4.56816053e-01 -7.28623395e-03 4.85454563e+02] [ 4.56801131e-01 -8.89561179e-01 -3.69262896e-03 -3.11152962e+02] [-8.16840305e-03 -4.36507187e-05 -9.99966637e-01 -4.87924157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters 0.0497731940131091 Centerline is valid? [True, True] Translation: X:485.52, Y:-311.21, Z:-4.88 [[ 8.49746279e-01 5.27157315e-01 -6.03543398e-03 4.85518634e+02] [ 5.27144482e-01 -8.49767711e-01 -3.67876642e-03 -3.11212571e+02] [-7.06800555e-03 -5.55276391e-05 -9.99975020e-01 -4.87947164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters 0.04991388781822881 Centerline is valid? [True, True] Translation: X:485.59, Y:-311.27, Z:-4.88 [[ 8.03860181e-01 5.94802035e-01 -4.39870191e-03 4.85587016e+02] [ 5.94793546e-01 -8.03872213e-01 -3.17845877e-03 -3.11265598e+02] [-5.42654798e-03 -6.12830597e-05 -9.99985274e-01 -4.88019328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters 0.04970535578980257 Centerline is valid? [True, True] Translation: X:485.66, Y:-311.31, Z:-4.88 [[ 7.54004971e-01 6.56855845e-01 -4.11135309e-03 4.85656454e+02] [ 6.56846569e-01 -7.54016176e-01 -3.49154305e-03 -3.11310079e+02] [-5.39346720e-03 -6.78873569e-05 -9.99985453e-01 -4.88044139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters 0.05014100126491768 Centerline is valid? [True, True] Translation: X:485.73, Y:-311.35, Z:-4.88 [[ 6.99989266e-01 7.14141205e-01 -4.16740281e-03 4.85727927e+02] [ 7.14129196e-01 -7.00001667e-01 -4.14216394e-03 -3.11347051e+02] [-5.87527886e-03 -7.65937261e-05 -9.99982737e-01 -4.87973725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters 0.049513759990136214 Centerline is valid? [True, True] Translation: X:485.79, Y:-311.37, Z:-4.88 [[ 6.42870301e-01 7.65960408e-01 -4.73598169e-03 4.85794253e+02] [ 7.65940604e-01 -6.42887740e-01 -5.50856789e-03 -3.11370104e+02] [-7.26404947e-03 -8.61859773e-05 -9.99973613e-01 -4.88173484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters 0.0498406025762371 Centerline is valid? [True, True] Translation: X:485.88, Y:-311.40, Z:-4.88 [[ 5.82278447e-01 8.12975467e-01 -4.76459054e-03 4.85880514e+02] [ 8.12949407e-01 -5.82297934e-01 -6.50977290e-03 -3.11401871e+02] [-8.06669689e-03 -8.28706053e-05 -9.99967460e-01 -4.87955817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters 0.049427963802225444 Centerline is valid? [True, True] Translation: X:485.97, Y:-311.42, Z:-4.88 [[ 5.19069839e-01 8.54721497e-01 -4.20287629e-03 4.85966030e+02] [ 8.54694436e-01 -5.19086850e-01 -6.80164948e-03 -3.11424210e+02] [-7.99517385e-03 -6.16438792e-05 -9.99968036e-01 -4.88085266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters 0.04998285439424193 Centerline is valid? [True, True] Translation: X:486.05, Y:-311.44, Z:-4.88 [[ 4.52112140e-01 8.91953968e-01 -3.56831755e-03 4.86052642e+02] [ 8.91927003e-01 -4.52126219e-01 -6.93570436e-03 -3.11439980e+02] [-7.79965894e-03 -4.69626341e-05 -9.99969581e-01 -4.88188718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters 0.04973705101180717 Centerline is valid? [True, True] Translation: X:486.14, Y:-311.45, Z:-4.88 [[ 3.82173880e-01 9.24085178e-01 -3.11591977e-03 4.86140147e+02] [ 9.24055270e-01 -3.82186581e-01 -7.43474335e-03 -3.11449861e+02] [-8.06119885e-03 -3.79173685e-05 -9.99967507e-01 -4.88040393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters 0.049969831829811184 Centerline is valid? [True, True] Translation: X:486.22, Y:-311.45, Z:-4.88 [[ 3.09447205e-01 9.50912879e-01 -2.66891798e-03 4.86223135e+02] [ 9.50878442e-01 -3.09458713e-01 -8.09278117e-03 -3.11450560e+02] [-8.52144977e-03 -3.35280583e-05 -9.99963691e-01 -4.87987186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters 0.04987677545676487 Centerline is valid? [True, True] Translation: X:486.31, Y:-311.45, Z:-4.88 [[ 2.33235915e-01 9.72418025e-01 -2.04765981e-03 4.86309468e+02] [ 9.72382102e-01 -2.33244900e-01 -8.35853842e-03 -3.11445657e+02] [-8.60559963e-03 -4.15963916e-05 -9.99962970e-01 -4.88145801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters 0.04978632054444309 Centerline is valid? [True, True] Translation: X:486.40, Y:-311.44, Z:-4.88 [[ 1.54959275e-01 9.87919767e-01 -1.46881215e-03 4.86395484e+02] [ 9.87878849e-01 -1.54966225e-01 -8.99159338e-03 -3.11435373e+02] [-9.11058911e-03 -5.76776658e-05 -9.99958496e-01 -4.88079484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters 0.050042551937734846 Centerline is valid? [True, True] Translation: X:486.48, Y:-311.42, Z:-4.88 [[ 7.47657988e-02 9.97200830e-01 -7.61916830e-04 4.86479129e+02] [ 9.97159407e-01 -7.47696380e-02 -9.08951318e-03 -3.11417655e+02] [-9.12103833e-03 -8.01678201e-05 -9.99958399e-01 -4.87999319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters 0.04959987743919417 Centerline is valid? [True, True] Translation: X:486.57, Y:-311.39, Z:-4.88 [[-6.86080087e-03 9.99976463e-01 -4.55553675e-05 4.86565360e+02] [ 9.99939513e-01 6.86015571e-03 -8.59698067e-03 -3.11393349e+02] [-8.59646581e-03 -1.04534784e-04 -9.99963044e-01 -4.88245004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters 0.04982231368740392 Centerline is valid? [True, True] Translation: X:486.65, Y:-311.36, Z:-4.88 [[-9.04625096e-02 9.95899647e-01 6.54267732e-04 4.86654107e+02] [ 9.95859499e-01 9.04647385e-02 -8.94369112e-03 -3.11362806e+02] [-8.96620698e-03 -1.57510008e-04 -9.99959790e-01 -4.88185998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters 0.04964382664600336 Centerline is valid? [True, True] Translation: X:486.74, Y:-311.32, Z:-4.88 [[-1.70179929e-01 9.85412027e-01 1.38871190e-03 4.86737809e+02] [ 9.85369973e-01 1.70185498e-01 -9.10563898e-03 -3.11323969e+02] [-9.20914479e-03 -1.81201986e-04 -9.99957579e-01 -4.88321619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters 0.05048655039598059 Centerline is valid? [True, True] Translation: X:486.82, Y:-311.28, Z:-4.88 [[-2.46882228e-01 9.69043243e-01 2.08781446e-03 4.86821704e+02] [ 9.69002105e-01 2.46890989e-01 -8.93086875e-03 -3.11279216e+02] [-9.16986059e-03 -1.81776171e-04 -9.99957939e-01 -4.88161935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters 0.05092223053697313 Centerline is valid? [True, True] Translation: X:486.90, Y:-311.23, Z:-4.88 [[-3.21706148e-01 9.46835346e-01 2.82539505e-03 4.86897238e+02] [ 9.46793695e-01 3.21718503e-01 -8.88275716e-03 -3.11228691e+02] [-9.31949030e-03 -1.82571371e-04 -9.99956556e-01 -4.88212494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters 0.049402576990205546 Centerline is valid? [True, True] Translation: X:486.97, Y:-311.17, Z:-4.88 [[-3.93959338e-01 9.19120865e-01 3.58829484e-03 4.86965478e+02] [ 9.19078537e-01 3.93975639e-01 -8.82261031e-03 -3.11174298e+02] [-9.52274597e-03 -1.77824945e-04 -9.99954642e-01 -4.88200702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters 0.049576951784936804 Centerline is valid? [True, True] Translation: X:487.03, Y:-311.11, Z:-4.88 [[-4.64725274e-01 8.85443101e-01 4.57548247e-03 4.87029254e+02] [ 8.85396060e-01 4.64747758e-01 -9.12900231e-03 -3.11114161e+02] [-1.02096573e-02 -1.91363945e-04 -9.99947862e-01 -4.88217024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters 0.05012720171356665 Centerline is valid? [True, True] Translation: X:487.09, Y:-311.05, Z:-4.88 [[-5.31354646e-01 8.47127585e-01 6.09047855e-03 4.87087432e+02] [ 8.47067478e-01 5.31389511e-01 -1.00933511e-02 -3.11049209e+02] [-1.17867725e-02 -2.04102681e-04 -9.99930513e-01 -4.88286826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters 0.04990863594197944 Centerline is valid? [True, True] Translation: X:487.14, Y:-310.98, Z:-4.88 [[-5.94914847e-01 8.03761148e-01 6.65892675e-03 4.87141892e+02] [ 8.03707330e-01 5.94952085e-01 -9.30294134e-03 -3.10979459e+02] [-1.14390852e-02 -1.82629680e-04 -9.99934555e-01 -4.88283618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters 0.05020260521858693 Centerline is valid? [True, True] Translation: X:487.19, Y:-310.91, Z:-4.88 [[-6.54398479e-01 7.56119085e-01 6.82352921e-03 4.87187802e+02] [ 7.56075622e-01 6.54434036e-01 -8.10835719e-03 -3.10907701e+02] [-1.05964334e-02 -1.46992517e-04 -9.99943845e-01 -4.88411742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters 0.0503774459648798 Centerline is valid? [True, True] Translation: X:487.23, Y:-310.83, Z:-4.88 [[-7.09736752e-01 7.04430764e-01 7.14439327e-03 4.87228271e+02] [ 7.04393437e-01 7.09772700e-01 -7.25257978e-03 -3.10831910e+02] [-1.01798356e-02 -1.14958677e-04 -9.99948178e-01 -4.88435774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters 0.0503071947968124 Centerline is valid? [True, True] Translation: X:487.26, Y:-310.76, Z:-4.88 [[-7.62215646e-01 6.47276451e-01 7.77853386e-03 4.87262716e+02] [ 6.47241284e-01 7.62255327e-01 -6.74804750e-03 -3.10755993e+02] [-1.02970811e-02 -1.08879137e-04 -9.99946978e-01 -4.88441240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters 0.05043014728293804 Centerline is valid? [True, True] Translation: X:487.32, Y:-310.70, Z:-4.88 [[-8.06404870e-01 5.91302136e-01 8.54222210e-03 4.87322686e+02] [ 5.91267281e-01 8.06450103e-01 -6.42137855e-03 -3.10702232e+02] [-1.06858507e-02 -1.27494509e-04 -9.99942897e-01 -4.88453238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters 0.05024704231968846 Centerline is valid? [True, True] Translation: X:487.32, Y:-310.60, Z:-4.88 [[-8.46950451e-01 5.31592215e-01 9.20059723e-03 4.87319841e+02] [ 5.31558947e-01 8.47000410e-01 -5.94903661e-03 -3.10604368e+02] [-1.09553712e-02 -1.47879469e-04 -9.99939977e-01 -4.88403506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters 0.050617545238967526 Centerline is valid? [True, True] Translation: X:487.67, Y:-310.10, Z:-5.88 [[-7.92155273e-01 -6.10259444e-01 8.56938999e-03 4.87674910e+02] [ 6.10225492e-01 -7.92201612e-01 -6.43849550e-03 -3.10095898e+02] [ 1.07178372e-02 1.28972063e-04 9.99942554e-01 -5.88179396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters 0.050664858400085486 Centerline is valid? [True, True] Translation: X:487.24, Y:-310.56, Z:-4.89 [[-8.50255581e-01 5.26300834e-01 8.53691318e-03 4.87239737e+02] [ 5.26272371e-01 8.50298422e-01 -5.47593418e-03 -3.10555560e+02] [-1.01409125e-02 -1.63202064e-04 -9.99948566e-01 -4.88608663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters 0.05047374806099499 Centerline is valid? [True, True] Translation: X:487.57, Y:-310.03, Z:-5.88 [[-7.93074204e-01 -6.09073090e-01 7.95472673e-03 4.87567608e+02] [ 6.09044278e-01 -7.93114084e-01 -5.92593124e-03 -3.10027122e+02] [ 9.91833106e-03 1.45077598e-04 9.99950802e-01 -5.87708986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters 0.050441103316630764 Centerline is valid? [True, True] Translation: X:487.45, Y:-310.71, Z:-4.89 [[-8.53997851e-01 5.20203666e-01 8.70728055e-03 4.87447193e+02] [ 5.20174494e-01 8.54042220e-01 -5.51193875e-03 -3.10705256e+02] [-1.03037160e-02 -1.77878586e-04 -9.99946900e-01 -4.89160802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters 0.05115505017257262 Centerline is valid? [True, True] Translation: X:486.83, Y:-310.23, Z:-4.89 [[-8.87952031e-01 4.59851721e-01 8.80827123e-03 4.86828346e+02] [ 4.59827326e-01 8.87995704e-01 -4.73920645e-03 -3.10232195e+02] [-1.00010393e-02 -1.57904185e-04 -9.99949976e-01 -4.88586373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters 0.050363401044155244 Centerline is valid? [True, True] Translation: X:486.83, Y:-310.14, Z:-4.89 [[-9.15980293e-01 4.01137023e-01 8.31816834e-03 4.86826962e+02] [ 4.01119596e-01 9.16018057e-01 -3.74021631e-03 -3.10139687e+02] [-9.11993163e-03 -8.93841088e-05 -9.99958409e-01 -4.88687066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters 0.050095532032901784 Centerline is valid? [True, True] Translation: X:486.75, Y:-310.03, Z:-4.89 [[-9.40826728e-01 3.38794547e-01 7.95756950e-03 4.86747257e+02] [ 3.38781689e-01 9.40860377e-01 -2.95279976e-03 -3.10026088e+02] [-8.48735430e-03 -8.21941013e-05 -9.99963978e-01 -4.88781753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters 0.05069534084955642 Centerline is valid? [True, True] Translation: X:486.68, Y:-309.92, Z:-4.89 [[-9.60625311e-01 2.77773695e-01 6.38643860e-03 4.86675262e+02] [ 2.77767426e-01 9.60646540e-01 -1.86623637e-03 -3.09923545e+02] [-6.65350151e-03 -1.88092827e-05 -9.99977865e-01 -4.88627410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters 0.05079685804342844 Centerline is valid? [True, True] Translation: X:486.75, Y:-309.29, Z:-5.88 [[-9.40468187e-01 -3.39826262e-01 6.14015302e-03 4.86754754e+02] [ 3.39819098e-01 -9.40488230e-01 -2.20671914e-03 -3.09292240e+02] [ 6.52464277e-03 1.11921140e-05 9.99978714e-01 -5.87840957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters 0.051617755444830986 Centerline is valid? [True, True] Translation: X:486.94, Y:-310.01, Z:-4.89 [[-9.59197128e-01 2.82678797e-01 5.79375675e-03 4.86944532e+02] [ 2.82674039e-01 9.59214624e-01 -1.64132068e-03 -3.10012507e+02] [-6.02142276e-03 6.33945369e-05 -9.99981869e-01 -4.88534337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters 0.05183898407687871 Centerline is valid? [True, True] Translation: X:486.34, Y:-309.78, Z:-4.89 [[-9.75548104e-01 2.19731456e-01 4.89728368e-03 4.86336542e+02] [ 2.19729104e-01 9.75560393e-01 -1.01987240e-03 -3.09783943e+02] [-5.00169404e-03 8.11411702e-05 -9.99987488e-01 -4.88570131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters 0.05172161361916468 Centerline is valid? [True, True] Translation: X:486.25, Y:-309.70, Z:-4.89 [[-9.87950797e-01 1.54693376e-01 4.81471761e-03 4.86249649e+02] [ 1.54692043e-01 9.87962524e-01 -6.50334336e-04 -3.09699661e+02] [-4.85736298e-03 1.02300179e-04 -9.99988198e-01 -4.88549359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters 0.05190811081549794 Centerline is valid? [True, True] Translation: X:486.68, Y:-309.66, Z:-4.89 [[-9.96521819e-01 8.31422424e-02 5.62430158e-03 4.86680881e+02] [ 8.31417122e-02 9.96537680e-01 -3.28418270e-04 -3.09662235e+02] [-5.63213388e-03 1.40338091e-04 -9.99984130e-01 -4.88577655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters 0.052431909661162936 Centerline is valid? [True, True] Translation: X:487.00, Y:-309.57, Z:-4.89 [[-9.99921854e-01 1.07254270e-02 6.42267367e-03 4.87000003e+02] [ 1.07263430e-02 9.99942465e-01 1.08182835e-04 -3.09572327e+02] [-6.42114383e-03 1.77066181e-04 -9.99979369e-01 -4.88570732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters 0.05253984834591958 Centerline is valid? [True, True] Translation: X:486.28, Y:-308.96, Z:-5.88 [[-9.99685956e-01 -2.45940726e-02 4.80835122e-03 4.86280763e+02] [ 2.45926717e-02 -9.99697493e-01 -3.50275531e-04 -3.08961946e+02] [ 4.81551136e-03 -2.31915326e-04 9.99988378e-01 -5.87778846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters 0.05329234002447486 Centerline is valid? [True, True] Translation: X:486.28, Y:-309.57, Z:-4.89 [[-9.99984612e-01 2.83968006e-03 4.76570822e-03 4.86275196e+02] [ 2.84020811e-03 9.99995961e-01 1.04038674e-04 -3.09567686e+02] [-4.76539354e-03 1.17572676e-04 -9.99988639e-01 -4.88537335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters 0.052827228635759386 Centerline is valid? [True, True] Translation: X:485.53, Y:-309.52, Z:-4.89 [[-9.97213503e-01 -7.44519700e-02 4.70457890e-03 4.85528744e+02] [-7.44507376e-02 9.97224597e-01 4.36787486e-04 -3.09518523e+02] [-4.72404148e-03 8.53110102e-05 -9.99988838e-01 -4.88527531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters 0.05221169984496482 Centerline is valid? [True, True] Translation: X:485.42, Y:-309.45, Z:-4.88 [[-9.87966539e-01 -1.54563608e-01 5.67537121e-03 4.85420750e+02] [-1.54560773e-01 9.87982838e-01 9.37462843e-04 -3.09446425e+02] [-5.75206699e-03 4.89921600e-05 -9.99983456e-01 -4.88386655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters 0.052073128715640564 Centerline is valid? [True, True] Translation: X:485.38, Y:-309.37, Z:-4.88 [[-9.72872000e-01 -2.31272653e-01 5.74726558e-03 4.85383907e+02] [-2.31268552e-01 9.72888976e-01 1.37723294e-03 -3.09372853e+02] [-5.90996764e-03 1.07095711e-05 -9.99982536e-01 -4.88435038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters 0.05275912058557959 Centerline is valid? [True, True] Translation: X:485.39, Y:-309.29, Z:-4.88 [[-9.51205292e-01 -3.08498143e-01 6.11458617e-03 4.85389581e+02] [-3.08491989e-01 9.51224944e-01 1.94889949e-03 -3.09286397e+02] [-6.41757876e-03 -3.24973403e-05 -9.99979407e-01 -4.88304087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters 0.05261855580578283 Centerline is valid? [True, True] Translation: X:485.25, Y:-309.24, Z:-4.88 [[-9.23520693e-01 -3.83504612e-01 5.80872661e-03 4.85251337e+02] [-3.83497613e-01 9.23538957e-01 2.31855275e-03 -3.09241849e+02] [-6.25376099e-03 -8.64013426e-05 -9.99980441e-01 -4.88210721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters 0.05274965971200606 Centerline is valid? [True, True] Translation: X:485.16, Y:-309.20, Z:-4.88 [[-8.91851475e-01 -4.52302267e-01 4.85864349e-03 4.85160871e+02] [-4.52296143e-01 8.91864704e-01 2.35568971e-03 -3.09198331e+02] [-5.39873644e-03 -9.66203695e-05 -9.99985422e-01 -4.88382687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters 0.053642055448910424 Centerline is valid? [True, True] Translation: X:485.06, Y:-309.16, Z:-4.88 [[-8.56237984e-01 -5.16556742e-01 5.06434176e-03 4.85061450e+02] [-5.16548480e-01 8.56252953e-01 2.92366646e-03 -3.09158742e+02] [-5.84659721e-03 -1.12623765e-04 -9.99982902e-01 -4.88261582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters 0.05230434613867279 Centerline is valid? [True, True] Translation: X:485.47, Y:-308.81, Z:-4.89 [[-8.12767304e-01 -5.82566232e-01 5.08880861e-03 4.85468309e+02] [-5.82555829e-01 8.12783223e-01 3.48399338e-03 -3.08808582e+02] [-6.16575516e-03 -1.32839209e-04 -9.99980983e-01 -4.88559691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters 0.053109941103783094 Centerline is valid? [True, True] Translation: X:484.74, Y:-309.23, Z:-4.88 [[-7.68660876e-01 -6.39636632e-01 5.04357671e-03 4.84738373e+02] [-6.39624108e-01 7.68677408e-01 4.00533105e-03 -3.09233135e+02] [-6.43883993e-03 -1.47251981e-04 -9.99979260e-01 -4.88328790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters 0.05361340736558461 Centerline is valid? [True, True] Translation: X:484.59, Y:-309.25, Z:-4.88 [[-7.19279444e-01 -6.94702056e-01 5.11218480e-03 4.84588760e+02] [-6.94686200e-01 7.19297590e-01 4.69681235e-03 -3.09254311e+02] [-6.94006740e-03 -1.73043660e-04 -9.99975903e-01 -4.88184837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters 0.05309392334240342 Centerline is valid? [True, True] Translation: X:484.46, Y:-309.28, Z:-4.88 [[-6.64297929e-01 -7.47446621e-01 5.64001488e-03 4.84460887e+02] [-7.47422628e-01 6.64321830e-01 5.99348264e-03 -3.09275311e+02] [-8.22659335e-03 -2.34016632e-04 -9.99966134e-01 -4.88217068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters 0.05305254392692963 Centerline is valid? [True, True] Translation: X:484.32, Y:-309.32, Z:-4.88 [[-6.06998029e-01 -7.94683646e-01 5.59433448e-03 4.84321709e+02] [-7.94653871e-01 6.07023749e-01 6.88428604e-03 -3.09318646e+02] [-8.86672342e-03 -2.66811493e-04 -9.99960654e-01 -4.88209231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters 0.05318506501215233 Centerline is valid? [True, True] Translation: X:484.18, Y:-309.39, Z:-4.88 [[-5.47571508e-01 -8.36744654e-01 4.88139544e-03 4.84176621e+02] [-8.36715524e-01 5.47593205e-01 6.98675489e-03 -3.09385432e+02] [-8.51914878e-03 -2.58591430e-04 -9.99963678e-01 -4.88269802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters 0.05216562386599543 Centerline is valid? [True, True] Translation: X:484.32, Y:-309.01, Z:-4.88 [[-4.83450968e-01 -8.75364764e-01 3.41932561e-03 4.84322005e+02] [-8.75345648e-01 4.83463021e-01 5.78826370e-03 -3.09014470e+02] [-6.71995957e-03 -1.94750103e-04 -9.99977402e-01 -4.88486074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters 0.05403061372701127 Centerline is valid? [True, True] Translation: X:483.36, Y:-309.67, Z:-5.88 [[-5.88199706e-01 8.08709175e-01 3.25197221e-03 4.83357055e+02] [-8.08695855e-01 -5.88208687e-01 4.64264861e-03 -3.09669757e+02] [ 5.66739083e-03 1.00948102e-04 9.99983935e-01 -5.88027111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters 0.052576287833802755 Centerline is valid? [True, True] Translation: X:483.66, Y:-310.10, Z:-4.88 [[-4.80091812e-01 -8.77214876e-01 2.43170291e-03 4.83655703e+02] [-8.77204966e-01 4.80097953e-01 4.17175833e-03 -3.10101816e+02] [-4.82698405e-03 -1.30274853e-04 -9.99988342e-01 -4.88464551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters 0.05270008358231507 Centerline is valid? [True, True] Translation: X:483.50, Y:-310.23, Z:-4.88 [[-4.14267600e-01 -9.10151689e-01 2.50186621e-03 4.83502609e+02] [-9.10137320e-01 4.14275125e-01 5.11664591e-03 -3.10226657e+02] [-5.69338485e-03 -1.57381183e-04 -9.99983780e-01 -4.88357033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters 0.05360267455601223 Centerline is valid? [True, True] Translation: X:483.37, Y:-310.34, Z:-4.88 [[-3.44627067e-01 -9.38737039e-01 2.22633322e-03 4.83368464e+02] [-9.38720640e-01 3.44634212e-01 5.55146963e-03 -3.10335113e+02] [-5.97864076e-03 -1.76718252e-04 -9.99982112e-01 -4.88208531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters 0.052055114138596176 Centerline is valid? [True, True] Translation: X:483.27, Y:-310.41, Z:-4.88 [[-2.69772845e-01 -9.62921858e-01 2.02679626e-03 4.83267938e+02] [-9.62900728e-01 2.69780361e-01 6.38318838e-03 -3.10411338e+02] [-6.69330144e-03 -2.29592702e-04 -9.99977573e-01 -4.88264730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters 0.05391207982502174 Centerline is valid? [True, True] Translation: X:483.14, Y:-310.55, Z:-4.88 [[-1.94981026e-01 -9.80805534e-01 1.70391849e-03 4.83138955e+02] [-9.80779526e-01 1.94988274e-01 7.14805128e-03 -3.10550936e+02] [-7.34309238e-03 -2.77433995e-04 -9.99973001e-01 -4.88046689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters 0.05119706791747696 Centerline is valid? [True, True] Translation: X:483.03, Y:-310.73, Z:-4.88 [[-1.19851889e-01 -9.92790961e-01 1.27802982e-03 4.83034658e+02] [-9.92759644e-01 1.19858268e-01 7.89202872e-03 -3.10729821e+02] [-7.98831721e-03 -3.22901875e-04 -9.99968041e-01 -4.88254805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters 0.0505529209735062 Centerline is valid? [True, True] Translation: X:482.94, Y:-310.88, Z:-4.88 [[-4.45504715e-02 -9.99006874e-01 7.22270825e-04 4.82939475e+02] [-9.98972566e-01 4.45549328e-02 8.28676175e-03 -3.10876413e+02] [-8.31071268e-03 -3.52349596e-04 -9.99965403e-01 -4.88231972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters 0.05029038759218442 Centerline is valid? [True, True] Translation: X:482.85, Y:-311.09, Z:-4.88 [[ 2.90782076e-02 -9.99577134e-01 1.07236945e-04 4.82850174e+02] [-9.99544984e-01 -2.90764115e-02 8.02416413e-03 -3.11086970e+02] [-8.01765291e-03 -3.40516461e-04 -9.99967800e-01 -4.88271017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters 0.05026269565093944 Centerline is valid? [True, True] Translation: X:482.78, Y:-311.29, Z:-4.88 [[ 1.02127102e-01 -9.94771262e-01 -4.37970634e-04 4.82776897e+02] [-9.94744881e-01 -1.02127586e-01 7.25107451e-03 -3.11289612e+02] [-7.25788942e-03 -3.04862178e-04 -9.99973615e-01 -4.88356318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters 0.04986417719707326 Centerline is valid? [True, True] Translation: X:482.72, Y:-311.53, Z:-4.88 [[ 1.74102663e-01 -9.84727073e-01 -9.24274883e-04 4.82724392e+02] [-9.84703228e-01 -1.74104885e-01 6.85876217e-03 -3.11533402e+02] [-6.91492956e-03 -2.83992296e-04 -9.99976051e-01 -4.88449752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters 0.05030136071151051 Centerline is valid? [True, True] Translation: X:482.69, Y:-311.81, Z:-4.88 [[ 2.43001793e-01 -9.70025055e-01 -1.23379342e-03 4.82690066e+02] [-9.70007379e-01 -2.43004819e-01 5.86024684e-03 -3.11809745e+02] [-5.98440400e-03 -2.27261773e-04 -9.99982068e-01 -4.88344069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters 0.05090820690231744 Centerline is valid? [True, True] Translation: X:482.68, Y:-312.08, Z:-4.88 [[ 3.10020860e-01 -9.50728616e-01 -1.47165370e-03 4.82675873e+02] [-9.50714973e-01 -3.10024300e-01 5.09652948e-03 -3.12081598e+02] [-5.30166482e-03 -1.80907246e-04 -9.99985930e-01 -4.88278965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters 0.05224141745349653 Centerline is valid? [True, True] Translation: X:482.67, Y:-312.31, Z:-4.88 [[ 3.74754078e-01 -9.27122235e-01 -1.93475205e-03 4.82666562e+02] [-9.27107545e-01 -3.74759037e-01 5.22148734e-03 -3.12307558e+02] [-5.56602282e-03 -1.63050453e-04 -9.99984496e-01 -4.88124153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters 0.050025495621997144 Centerline is valid? [True, True] Translation: X:482.72, Y:-312.58, Z:-4.88 [[ 4.34834418e-01 -9.00505970e-01 -2.83308806e-03 4.82716366e+02] [-9.00484631e-01 -4.34843623e-01 6.20097676e-03 -3.12583559e+02] [-6.81596687e-03 -1.45245860e-04 -9.99976761e-01 -4.88202438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters 0.04944918699878839 Centerline is valid? [True, True] Translation: X:482.78, Y:-312.87, Z:-4.88 [[ 4.95908165e-01 -8.68368221e-01 -3.42406583e-03 4.82779160e+02] [-8.68345853e-01 -4.95919971e-01 6.23384035e-03 -3.12869497e+02] [-7.11133149e-03 -1.18138966e-04 -9.99974707e-01 -4.88168592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters 0.0502221133771847 Centerline is valid? [True, True] Translation: X:482.83, Y:-313.10, Z:-4.88 [[ 5.56062903e-01 -8.31131360e-01 -3.83535899e-03 4.82834255e+02] [-8.31110396e-01 -5.56076121e-01 5.90406306e-03 -3.13104034e+02] [-7.03980351e-03 -9.54237147e-05 -9.99975216e-01 -4.88113705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters 0.0492113081850126 Centerline is valid? [True, True] Translation: X:482.89, Y:-313.31, Z:-4.88 [[ 6.13336223e-01 -7.89808472e-01 -4.61024920e-03 4.82890693e+02] [-7.89785189e-01 -6.13353545e-01 6.06502251e-03 -3.13307743e+02] [-7.61791885e-03 -7.87914675e-05 -9.99970980e-01 -4.88033967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters 0.04983851480575608 Centerline is valid? [True, True] Translation: X:482.99, Y:-313.54, Z:-4.88 [[ 6.68265506e-01 -7.43904791e-01 -5.18426074e-03 4.82992074e+02] [-7.43881649e-01 -6.68285611e-01 5.86802028e-03 -3.13544000e+02] [-7.82981526e-03 -6.49191116e-05 -9.99969344e-01 -4.88128767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters 0.049902922818023346 Centerline is valid? [True, True] Translation: X:483.08, Y:-313.75, Z:-4.88 [[ 7.19464560e-01 -6.94506804e-01 -5.57200836e-03 4.83082672e+02] [-6.94485485e-01 -7.19486135e-01 5.44186039e-03 -3.13745568e+02] [-7.78839182e-03 -4.55467609e-05 -9.99969669e-01 -4.88015874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters 0.04937909039152562 Centerline is valid? [True, True] Translation: X:483.05, Y:-313.83, Z:-4.88 [[ 7.70916269e-01 -6.36917305e-01 -4.94496486e-03 4.83052812e+02] [-6.36903945e-01 -7.70932128e-01 4.12540734e-03 -3.13827634e+02] [-6.43977560e-03 -3.08760030e-05 -9.99979264e-01 -4.88253140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters 0.04944890027141679 Centerline is valid? [True, True] Translation: X:483.03, Y:-313.91, Z:-4.88 [[ 8.19004122e-01 -5.73761093e-01 -5.51865508e-03 4.83027100e+02] [-5.73747735e-01 -8.19022714e-01 3.91545790e-03 -3.13913432e+02] [-6.76644126e-03 -4.04603098e-05 -9.99977107e-01 -4.88152683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters 0.04905302695591332 Centerline is valid? [True, True] Translation: X:483.01, Y:-314.00, Z:-4.88 [[ 8.62802739e-01 -5.05502878e-01 -6.18655134e-03 4.83008823e+02] [-5.05489350e-01 -8.62824916e-01 3.69879862e-03 -3.14000765e+02] [-7.20766399e-03 -6.40977644e-05 -9.99974022e-01 -4.88148894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters 0.04916782258256721 Centerline is valid? [True, True] Translation: X:483.00, Y:-314.09, Z:-4.88 [[ 9.00168697e-01 -4.35495776e-01 -6.30438283e-03 4.82996926e+02] [-4.35484545e-01 -9.00190771e-01 3.12842662e-03 -3.14091056e+02] [-7.03756382e-03 -7.06504287e-05 -9.99975234e-01 -4.88219130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters 0.04917429504156651 Centerline is valid? [True, True] Translation: X:482.99, Y:-314.18, Z:-4.88 [[ 9.31465846e-01 -3.63773606e-01 -6.33577589e-03 4.82990376e+02] [-3.63764688e-01 -9.31487391e-01 2.54808208e-03 -3.14184496e+02] [-6.82862036e-03 -6.87198939e-05 -9.99976682e-01 -4.88022800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters 0.04885257516426263 Centerline is valid? [True, True] Translation: X:483.00, Y:-314.26, Z:-4.88 [[ 9.56992229e-01 -2.90052487e-01 -5.95216394e-03 4.82996874e+02] [-2.90046477e-01 -9.57010737e-01 1.86815431e-03 -3.14263591e+02] [-6.23814761e-03 -6.14049729e-05 -9.99980541e-01 -4.88135993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters 0.04929795744677606 Centerline is valid? [True, True] Translation: X:483.01, Y:-314.35, Z:-4.88 [[ 9.76781493e-01 -2.14149326e-01 -6.16281014e-03 4.83006381e+02] [-2.14144652e-01 -9.76800933e-01 1.41630892e-03 -3.14351196e+02] [-6.32314029e-03 -6.36915079e-05 -9.99980007e-01 -4.88034376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters 0.04875744898934207 Centerline is valid? [True, True] Translation: X:483.02, Y:-314.44, Z:-4.88 [[ 9.90677363e-01 -1.36093796e-01 -6.06976374e-03 4.83023341e+02] [-1.36090819e-01 -9.90695954e-01 9.02750241e-04 -3.14439053e+02] [-6.13614909e-03 -6.82951086e-05 -9.99981171e-01 -4.88101402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters 0.04876456865093899 Centerline is valid? [True, True] Translation: X:483.05, Y:-314.52, Z:-4.88 [[ 9.98339673e-01 -5.72515297e-02 -6.33712441e-03 4.83046904e+02] [-5.72498860e-02 -9.98359783e-01 4.40626854e-04 -3.14521866e+02] [-6.35195671e-03 -7.70956190e-05 -9.99979823e-01 -4.88117025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters 0.04909164418793204 Centerline is valid? [True, True] Translation: X:483.07, Y:-314.61, Z:-4.88 [[ 9.99724058e-01 2.25528874e-02 -6.57081772e-03 4.83074112e+02] [ 2.25529885e-02 -9.99745647e-01 -5.87245706e-05 -3.14610272e+02] [-6.57047082e-03 -8.94832103e-05 -9.99978410e-01 -4.88201513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters 0.049281277380680874 Centerline is valid? [True, True] Translation: X:483.11, Y:-314.70, Z:-4.88 [[ 9.94858266e-01 1.01013973e-01 -7.29436755e-03 4.83105644e+02] [ 1.01012009e-01 -9.94885002e-01 -6.38124486e-04 -3.14699456e+02] [-7.32151636e-03 -1.01975303e-04 -9.99973192e-01 -4.88036325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters 0.0495557695398493 Centerline is valid? [True, True] Translation: X:483.14, Y:-314.78, Z:-4.88 [[ 9.83941871e-01 1.78314885e-01 -7.88641405e-03 4.83144737e+02] [ 1.78310050e-01 -9.83973470e-01 -1.31775488e-03 -3.14779805e+02] [-7.99499751e-03 -1.09632675e-04 -9.99968034e-01 -4.88140475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters 0.049739347971930185 Centerline is valid? [True, True] Translation: X:483.19, Y:-314.86, Z:-4.88 [[ 9.67130534e-01 2.54145602e-01 -8.27902664e-03 4.83189140e+02] [ 2.54137278e-01 -9.67165963e-01 -2.06000070e-03 -3.14859276e+02] [-8.53073289e-03 -1.11719710e-04 -9.99963606e-01 -4.87914102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters 0.0493556629047921 Centerline is valid? [True, True] Translation: X:483.24, Y:-314.93, Z:-4.88 [[ 9.44293586e-01 3.29014451e-01 -7.68862085e-03 4.83238826e+02] [ 3.29004456e-01 -9.44324880e-01 -2.56670186e-03 -3.14928026e+02] [-8.10503797e-03 -1.05870422e-04 -9.99967148e-01 -4.88135099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters 0.049772974999688115 Centerline is valid? [True, True] Translation: X:483.29, Y:-314.99, Z:-4.88 [[ 9.15390814e-01 4.02506570e-01 -6.93683700e-03 4.83294083e+02] [ 4.02495867e-01 -9.15417091e-01 -2.93703014e-03 -3.14994781e+02] [-7.53227307e-03 -1.03517813e-04 -9.99971627e-01 -4.88201206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters 0.049709218345011984 Centerline is valid? [True, True] Translation: X:483.35, Y:-315.06, Z:-4.88 [[ 8.80849838e-01 4.73347867e-01 -6.73496084e-03 4.83354652e+02] [ 4.73334968e-01 -8.80875579e-01 -3.49613560e-03 -3.15059171e+02] [-7.58755085e-03 -1.08321994e-04 -9.99971208e-01 -4.88021862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters 0.04944581233229984 Centerline is valid? [True, True] Translation: X:483.42, Y:-315.12, Z:-4.88 [[ 8.40540972e-01 5.41696885e-01 -7.44040004e-03 4.83420313e+02] [ 5.41677073e-01 -8.40573891e-01 -4.63491581e-03 -3.15116296e+02] [-8.76492547e-03 -1.34457476e-04 -9.99961578e-01 -4.88138800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters 0.04950956070733238 Centerline is valid? [True, True] Translation: X:483.49, Y:-315.17, Z:-4.88 [[ 7.95422301e-01 6.06006296e-01 -7.72870159e-03 4.83490326e+02] [ 6.05979511e-01 -7.95459834e-01 -5.69961696e-03 -3.15169801e+02] [-9.60187545e-03 -1.49832375e-04 -9.99953890e-01 -4.88150072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters 0.049579721733291136 Centerline is valid? [True, True] Translation: X:483.57, Y:-315.22, Z:-4.88 [[ 7.45116265e-01 6.66902497e-01 -6.54295534e-03 4.83565743e+02] [ 6.66878436e-01 -7.45144979e-01 -5.66671525e-03 -3.15219726e+02] [-8.65459687e-03 -1.40994127e-04 -9.99962538e-01 -4.88206636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters 0.04941974663444165 Centerline is valid? [True, True] Translation: X:483.64, Y:-315.26, Z:-4.88 [[ 6.90351269e-01 7.23455428e-01 -5.23149175e-03 4.83644606e+02] [ 7.23436012e-01 -6.90371080e-01 -5.30175440e-03 -3.15264311e+02] [-7.44725361e-03 -1.24576652e-04 -9.99972261e-01 -4.88216315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters 0.0498473530158467 Centerline is valid? [True, True] Translation: X:483.72, Y:-315.30, Z:-4.88 [[ 6.31390932e-01 7.75448271e-01 -5.04671398e-03 4.83724506e+02] [ 7.75425173e-01 -6.31411087e-01 -5.98669503e-03 -3.15299860e+02] [-7.82892348e-03 -1.33404106e-04 -9.99969345e-01 -4.88319364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters 0.04967466006570064 Centerline is valid? [True, True] Translation: X:483.81, Y:-315.33, Z:-4.88 [[ 5.68347717e-01 8.22772799e-01 -5.07880719e-03 4.83809486e+02] [ 8.22742328e-01 -5.68370388e-01 -7.08261015e-03 -3.15332097e+02] [-8.71402259e-03 -1.53164344e-04 -9.99962020e-01 -4.88112417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters 0.04958399571582807 Centerline is valid? [True, True] Translation: X:483.89, Y:-315.35, Z:-4.88 [[ 5.02058345e-01 8.64822159e-01 -4.47789328e-03 4.83892779e+02] [ 8.64790458e-01 -5.02078290e-01 -7.40642038e-03 -3.15353353e+02] [-8.65348946e-03 -1.53984216e-04 -9.99962546e-01 -4.88226291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters 0.04953773873280352 Centerline is valid? [True, True] Translation: X:483.98, Y:-315.37, Z:-4.88 [[ 4.32926005e-01 9.01422085e-01 -3.64671103e-03 4.83981294e+02] [ 9.01392857e-01 -4.32941340e-01 -7.26038813e-03 -3.15370765e+02] [-8.12348617e-03 -1.43908444e-04 -9.99966994e-01 -4.88292788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters 0.049282854718171065 Centerline is valid? [True, True] Translation: X:484.07, Y:-315.38, Z:-4.88 [[ 3.61169657e-01 9.32495581e-01 -2.91047749e-03 4.84071678e+02] [ 9.32468264e-01 -3.61181358e-01 -7.13888344e-03 -3.15383408e+02] [-7.70818747e-03 -1.35579809e-04 -9.99970282e-01 -4.88184471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters 0.04966276907515841 Centerline is valid? [True, True] Translation: X:484.16, Y:-315.39, Z:-4.88 [[ 2.88187816e-01 9.57570748e-01 -2.45887084e-03 4.84159837e+02] [ 9.57539735e-01 -2.88198275e-01 -7.70779747e-03 -3.15385493e+02] [-8.08940372e-03 -1.33173210e-04 -9.99967271e-01 -4.88093950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters 0.04939212124160483 Centerline is valid? [True, True] Translation: X:484.25, Y:-315.38, Z:-4.88 [[ 2.13738842e-01 9.76889141e-01 -1.82020970e-03 4.84245209e+02] [ 9.76858348e-01 -2.13746559e-01 -7.75738402e-03 -3.15379896e+02] [-7.96716778e-03 -1.20032759e-04 -9.99968254e-01 -4.88129427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters 0.04960721482745393 Centerline is valid? [True, True] Translation: X:484.33, Y:-315.37, Z:-4.88 [[ 1.39396252e-01 9.90236015e-01 -1.14893862e-03 4.84329819e+02] [ 9.90207667e-01 -1.39400956e-01 -7.49326664e-03 -3.15369133e+02] [-7.58026564e-03 -9.31545429e-05 -9.99971265e-01 -4.88072955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters 0.04911519879511681 Centerline is valid? [True, True] Translation: X:484.41, Y:-315.35, Z:-4.88 [[ 6.29921909e-02 9.98013867e-01 -5.51910373e-04 4.84407874e+02] [ 9.97985968e-01 -6.29945570e-02 -7.46276529e-03 -3.15350865e+02] [-7.48271059e-03 -8.07028720e-05 -9.99972001e-01 -4.88116104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters 0.049122095951680135 Centerline is valid? [True, True] Translation: X:484.49, Y:-315.33, Z:-4.88 [[-1.45472432e-02 9.99894183e-01 3.10416421e-05 4.84486483e+02] [ 9.99870576e-01 1.45471130e-02 -6.87113027e-03 -3.15326692e+02] [-6.87085475e-03 -6.89183783e-05 -9.99976393e-01 -4.88224300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters 0.04964175036490324 Centerline is valid? [True, True] Translation: X:484.56, Y:-315.30, Z:-4.88 [[-9.22528062e-02 9.95735468e-01 5.45365589e-04 4.84562883e+02] [ 9.95713814e-01 9.22543968e-02 -6.56715983e-03 -3.15297563e+02] [-6.58946634e-03 -6.28108726e-05 -9.99978287e-01 -4.88234758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters 0.04936458168282341 Centerline is valid? [True, True] Translation: X:484.64, Y:-315.26, Z:-4.88 [[-1.69507849e-01 9.85528170e-01 1.14659869e-03 4.84637208e+02] [ 9.85502932e-01 1.69511714e-01 -7.05339632e-03 -3.15262679e+02] [-7.14568268e-03 -6.56296678e-05 -9.99974467e-01 -4.88025667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters 0.04937844086608811 Centerline is valid? [True, True] Translation: X:484.70, Y:-315.22, Z:-4.88 [[-2.45166146e-01 9.69479531e-01 1.73209040e-03 4.84701609e+02] [ 9.69453579e-01 2.45172257e-01 -7.09387331e-03 -3.15222182e+02] [-7.30202549e-03 -5.99963403e-05 -9.99973338e-01 -4.88104341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters 0.04921499589034276 Centerline is valid? [True, True] Translation: X:484.76, Y:-315.18, Z:-4.88 [[-3.17331400e-01 9.48312207e-01 2.17742787e-03 4.84761703e+02] [ 9.48289110e-01 3.17338868e-01 -6.61871830e-03 -3.15176936e+02] [-6.96759385e-03 -3.54960033e-05 -9.99975725e-01 -4.88148957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters 0.04947189164508617 Centerline is valid? [True, True] Translation: X:484.81, Y:-315.13, Z:-4.88 [[-3.86210523e-01 9.22407795e-01 2.30053631e-03 4.84813313e+02] [ 9.22391398e-01 3.86217375e-01 -5.49989725e-03 -3.15130667e+02] [-5.96165518e-03 -2.12328777e-06 -9.99982229e-01 -4.88175966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters 0.049627971590178156 Centerline is valid? [True, True] Translation: X:484.86, Y:-315.08, Z:-4.88 [[-4.53813627e-01 8.91092680e-01 2.65085721e-03 4.84858034e+02] [ 8.91077736e-01 4.53821369e-01 -5.16081809e-03 -3.15081789e+02] [-5.80178287e-03 2.00702681e-05 -9.99983169e-01 -4.88112459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters 0.049756186940818396 Centerline is valid? [True, True] Translation: X:484.90, Y:-315.03, Z:-4.88 [[-5.20423288e-01 8.53902662e-01 3.13750350e-03 4.84895899e+02] [ 8.53887522e-01 5.20432745e-01 -5.08506929e-03 -3.15031122e+02] [-5.97501376e-03 3.26866127e-05 -9.99982149e-01 -4.88079623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters 0.05051006771799933 Centerline is valid? [True, True] Translation: X:484.93, Y:-314.98, Z:-4.88 [[-5.82120978e-01 8.13094955e-01 3.42937284e-03 4.84928599e+02] [ 8.13081419e-01 5.82131077e-01 -4.69206985e-03 -3.14979207e+02] [-5.81144283e-03 5.70070445e-05 -9.99983112e-01 -4.88075573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters 0.05119308060254982 Centerline is valid? [True, True] Translation: X:484.95, Y:-314.93, Z:-4.88 [[-6.40146652e-01 7.68245702e-01 3.28697065e-03 4.84954817e+02] [ 7.68236170e-01 6.40155087e-01 -3.82788537e-03 -3.14926698e+02] [-5.04492747e-03 7.47617353e-05 -9.99987272e-01 -4.88086517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters 0.0506119865858434 Centerline is valid? [True, True] Translation: X:484.98, Y:-314.87, Z:-4.88 [[-6.97408800e-01 7.16666583e-01 3.15815411e-03 4.84982458e+02] [ 7.16659697e-01 6.97415947e-01 -3.14246370e-03 -3.14867016e+02] [-4.45464576e-03 7.17399346e-05 -9.99990075e-01 -4.88257375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters 0.051002917046712365 Centerline is valid? [True, True] Translation: X:484.48, Y:-314.29, Z:-4.88 [[-7.46926246e-01 6.64897881e-01 3.46270086e-03 4.84478405e+02] [ 6.64891161e-01 7.46934269e-01 -2.99023440e-03 -3.14293576e+02] [-4.57461045e-03 6.88346375e-05 -9.99989534e-01 -4.88131321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters 0.05041063786149068 Centerline is valid? [True, True] Translation: X:484.74, Y:-314.40, Z:-4.88 [[-7.93616930e-01 6.08404700e-01 3.98628732e-03 4.84737121e+02] [ 6.08397420e-01 7.93626939e-01 -2.97691792e-03 -3.14395778e+02] [-4.97479586e-03 6.27144583e-05 -9.99987624e-01 -4.88179461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters 0.05028117764029606 Centerline is valid? [True, True] Translation: X:485.06, Y:-314.50, Z:-4.89 [[-8.38343999e-01 5.45123165e-01 4.48041163e-03 4.85063930e+02] [ 5.45115633e-01 8.38355971e-01 -2.86577738e-03 -3.14502393e+02] [-5.31838147e-03 3.98351562e-05 -9.99985857e-01 -4.88514646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters 0.049787667726126694 Centerline is valid? [True, True] Translation: X:484.55, Y:-314.11, Z:-4.88 [[-8.76230741e-01 4.81866264e-01 4.95907608e-03 4.84552106e+02] [ 4.81858710e-01 8.76244774e-01 -2.69823605e-03 -3.14106391e+02] [-5.64555342e-03 2.52966258e-05 -9.99984063e-01 -4.88308604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters 0.05024320580755848 Centerline is valid? [True, True] Translation: X:484.54, Y:-314.02, Z:-4.88 [[-9.09143653e-01 4.16450714e-01 5.15954044e-03 4.84540403e+02] [ 4.16444087e-01 9.09158293e-01 -2.34946188e-03 -3.14016423e+02] [-5.66927406e-03 1.26617500e-05 -9.99983929e-01 -4.88312596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters 0.04995213086911566 Centerline is valid? [True, True] Translation: X:484.81, Y:-313.45, Z:-5.88 [[-8.79802599e-01 -4.75320540e-01 4.21565391e-03 4.84812618e+02] [ 4.75314714e-01 -8.79812696e-01 -2.35433407e-03 -3.13449273e+02] [ 4.82804917e-03 -6.75868968e-05 9.99988343e-01 -5.87872027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters 0.04999935300952709 Centerline is valid? [True, True] Translation: X:484.47, Y:-313.98, Z:-4.88 [[-9.12611471e-01 4.08812441e-01 3.56252890e-03 4.84469894e+02] [ 4.08809287e-01 9.12618424e-01 -1.60589514e-03 -3.13981194e+02] [-3.90773942e-03 -9.16342426e-06 -9.99992365e-01 -4.88496652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters 0.05047734166370234 Centerline is valid? [True, True] Translation: X:484.50, Y:-313.90, Z:-4.88 [[-9.40795693e-01 3.38955043e-01 3.59766070e-03 4.84497205e+02] [ 3.38952461e-01 9.40802571e-01 -1.32314240e-03 -3.13902082e+02] [-3.83317423e-03 -2.53707223e-05 -9.99992653e-01 -4.88176834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters 0.050637933415201994 Centerline is valid? [True, True] Translation: X:484.55, Y:-313.83, Z:-4.88 [[-9.63264128e-01 2.68528904e-01 3.80102782e-03 4.84546225e+02] [ 2.68526660e-01 9.63271626e-01 -1.09840885e-03 -3.13833916e+02] [-3.95637678e-03 -3.73805365e-05 -9.99992173e-01 -4.88138674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters 0.050816497051345395 Centerline is valid? [True, True] Translation: X:484.53, Y:-313.75, Z:-4.88 [[-9.80683592e-01 1.95541282e-01 4.82689321e-03 4.84531255e+02] [ 1.95538579e-01 9.80695469e-01 -1.03030775e-03 -3.13752248e+02] [-4.93518000e-03 -6.65620696e-05 -9.99987820e-01 -4.88240880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters 0.05248175832908398 Centerline is valid? [True, True] Translation: X:484.61, Y:-313.18, Z:-5.89 [[-9.57092902e-01 -2.89724598e-01 5.73018317e-03 4.84612064e+02] [ 2.89720330e-01 -9.57110044e-01 -1.57952868e-03 -3.13175731e+02] [ 5.94204417e-03 1.48394875e-04 9.99982335e-01 -5.88510541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters 0.05311565991942243 Centerline is valid? [True, True] Translation: X:484.42, Y:-313.72, Z:-4.88 [[-9.82339273e-01 1.86975400e-01 7.05349301e-03 4.84423941e+02] [ 1.86969602e-01 9.82364587e-01 -1.47855344e-03 -3.13717782e+02] [-7.20555486e-03 -1.33652334e-04 -9.99974031e-01 -4.87726525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters 0.050967957076578904 Centerline is valid? [True, True] Translation: X:484.47, Y:-313.14, Z:-5.88 [[-9.56604526e-01 -2.91267130e-01 8.44037913e-03 4.84469531e+02] [ 2.91258237e-01 -9.56641724e-01 -2.29152512e-03 -3.13136433e+02] [ 8.74186479e-03 2.66246649e-04 9.99961754e-01 -5.88177034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters 0.050420265103044884 Centerline is valid? [True, True] Translation: X:484.34, Y:-313.72, Z:-4.88 [[-9.83603750e-01 1.80126649e-01 8.83482926e-03 4.84335717e+02] [ 1.80117593e-01 9.83643407e-01 -1.81674368e-03 -3.13717487e+02] [-9.01756550e-03 -1.95647718e-04 -9.99959322e-01 -4.88220442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters 0.050317177380224905 Centerline is valid? [True, True] Translation: X:484.41, Y:-313.13, Z:-5.88 [[-9.58221877e-01 -2.85912591e-01 8.05140808e-03 4.84414658e+02] [ 2.85903721e-01 -9.58255692e-01 -2.25641369e-03 -3.13126725e+02] [ 8.36044471e-03 1.39782569e-04 9.99965041e-01 -5.88124168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters 0.05042248634982854 Centerline is valid? [True, True] Translation: X:484.12, Y:-313.68, Z:-4.88 [[-9.82850510e-01 1.84300024e-01 6.19488584e-03 4.84121653e+02] [ 1.84295805e-01 9.82870029e-01 -1.25008219e-03 -3.13682013e+02] [-6.31915780e-03 -8.69524507e-05 -9.99980030e-01 -4.88396648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters 0.05035688919355294 Centerline is valid? [True, True] Translation: X:484.20, Y:-313.07, Z:-5.88 [[-9.62282014e-01 -2.72016073e-01 4.53670792e-03 4.84202393e+02] [ 2.72012896e-01 -9.62292708e-01 -1.31492150e-03 -3.13073587e+02] [ 4.72332073e-03 -3.12822434e-05 9.99988845e-01 -5.87957533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters 0.050323853549306526 Centerline is valid? [True, True] Translation: X:483.93, Y:-313.65, Z:-4.88 [[-9.81791559e-01 1.89913136e-01 4.28200618e-03 4.83933286e+02] [ 1.89911247e-01 9.81800897e-01 -8.47164731e-04 -3.13649868e+02] [-4.36496522e-03 -1.85380487e-05 -9.99990473e-01 -4.88263630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters 0.04992656959748209 Centerline is valid? [True, True] Translation: X:484.05, Y:-313.04, Z:-5.88 [[-9.65800913e-01 -2.59223074e-01 5.65643574e-03 4.84054036e+02] [ 2.59219314e-01 -9.65817470e-01 -1.40074126e-03 -3.13037251e+02] [ 5.82618891e-03 1.13420210e-04 9.99983021e-01 -5.88100824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters 0.05029511750551747 Centerline is valid? [True, True] Translation: X:483.80, Y:-313.63, Z:-4.88 [[-9.80930762e-01 1.94212602e-01 7.50362905e-03 4.83797171e+02] [ 1.94207138e-01 9.80959461e-01 -1.45710960e-03 -3.13633848e+02] [-7.64374496e-03 2.79346878e-05 -9.99970786e-01 -4.88072262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters 0.05017146209288106 Centerline is valid? [True, True] Translation: X:483.80, Y:-312.98, Z:-5.88 [[-9.67654141e-01 -2.52156362e-01 7.91412025e-03 4.83800767e+02] [ 2.52147963e-01 -9.67686504e-01 -2.05807337e-03 -3.12979033e+02] [ 8.17734365e-03 4.02608312e-06 9.99966565e-01 -5.88409452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters 0.050480308203926266 Centerline is valid? [True, True] Translation: X:484.05, Y:-313.69, Z:-4.88 [[-9.82467678e-01 1.86261652e-01 7.99118382e-03 4.84047156e+02] [ 1.86255759e-01 9.82500176e-01 -1.48199305e-03 -3.13689131e+02] [-8.12737798e-03 3.23937384e-05 -9.99966972e-01 -4.88381555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters 0.05017549253272081 Centerline is valid? [True, True] Translation: X:483.37, Y:-312.89, Z:-5.88 [[-9.68905029e-01 -2.47353738e-01 6.25879752e-03 4.83374093e+02] [ 2.47347734e-01 -9.68925236e-01 -1.72798837e-03 -3.12892971e+02] [ 6.49173124e-03 -1.26157239e-04 9.99978921e-01 -5.88203380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters 0.04958728006832346 Centerline is valid? [True, True] Translation: X:483.20, Y:-313.52, Z:-4.88 [[-9.84458767e-01 1.75527204e-01 5.58000011e-03 4.83201613e+02] [ 1.75524290e-01 9.84474581e-01 -1.01152841e-03 -3.13516663e+02] [-5.67091902e-03 -1.63824550e-05 -9.99983920e-01 -4.88131038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters 0.04954980476069837 Centerline is valid? [True, True] Translation: X:483.25, Y:-313.45, Z:-4.88 [[-9.95128603e-01 9.84611117e-02 4.94699268e-03 4.83251888e+02] [ 9.84596596e-02 9.95140898e-01 -5.36810404e-04 -3.13446467e+02] [-4.97580969e-03 -4.71161722e-05 -9.99987620e-01 -4.88276436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters 0.04934975137096152 Centerline is valid? [True, True] Translation: X:483.30, Y:-312.82, Z:-5.88 [[-9.81976918e-01 -1.88936810e-01 4.92081545e-03 4.83302126e+02] [ 1.88934689e-01 -9.81989246e-01 -8.96687867e-04 -3.12817971e+02] [ 5.00160520e-03 4.91859483e-05 9.99987491e-01 -5.88177452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters 0.05014536945939728 Centerline is valid? [True, True] Translation: X:483.24, Y:-313.44, Z:-4.88 [[-9.96561268e-01 8.27398834e-02 4.44423876e-03 4.83235541e+02] [ 8.27386366e-02 9.96571173e-01 -4.63996268e-04 -3.13439832e+02] [-4.46739123e-03 -9.46904534e-05 -9.99990017e-01 -4.88165778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters 0.04972014162491849 Centerline is valid? [True, True] Translation: X:483.25, Y:-312.82, Z:-5.88 [[-9.81057384e-01 -1.93678664e-01 3.87100267e-03 4.83252733e+02] [ 1.93677347e-01 -9.81065020e-01 -7.15786804e-04 -3.12818965e+02] [ 3.93633794e-03 4.74975996e-05 9.99992251e-01 -5.88042707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters 0.04920855349165582 Centerline is valid? [True, True] Translation: X:483.14, Y:-313.44, Z:-4.88 [[-9.97253659e-01 7.39742831e-02 3.59786148e-03 4.83143375e+02] [ 7.39734612e-02 9.97260145e-01 -3.61166760e-04 -3.13442023e+02] [-3.61472091e-03 -9.40286069e-05 -9.99993462e-01 -4.88425817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters 0.04842833407783884 Centerline is valid? [True, True] Translation: X:483.14, Y:-313.36, Z:-4.88 [[-9.99992848e-01 3.16978548e-04 3.76864128e-03 4.83136965e+02] [ 3.16570477e-04 9.99999944e-01 -1.08876305e-04 -3.13358421e+02] [-3.76867558e-03 -1.07682485e-04 -9.99992893e-01 -4.88342341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters 0.05030632542248058 Centerline is valid? [True, True] Translation: X:483.08, Y:-313.27, Z:-4.88 [[-9.97450902e-01 -7.12190094e-02 4.42159272e-03 4.83075719e+02] [-7.12188799e-02 9.97460694e-01 1.86920631e-04 -3.13268833e+02] [-4.42367725e-03 -1.28456730e-04 -9.99990207e-01 -4.88142381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters 0.04848300030778228 Centerline is valid? [True, True] Translation: X:483.01, Y:-313.20, Z:-4.88 [[-9.89790679e-01 -1.42436086e-01 5.13546873e-03 4.83012248e+02] [-1.42434966e-01 9.89803990e-01 5.85024437e-04 -3.13204990e+02] [-5.16643603e-03 -1.52418579e-04 -9.99986642e-01 -4.88217253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters 0.049049119221202524 Centerline is valid? [True, True] Translation: X:482.95, Y:-313.13, Z:-4.88 [[-9.76993135e-01 -2.13171138e-01 6.51761979e-03 4.82945832e+02] [-2.13167757e-01 9.77014854e-01 1.21716670e-03 -3.13132151e+02] [-6.62727617e-03 -2.00182881e-04 -9.99978019e-01 -4.88089683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters 0.04847641677616707 Centerline is valid? [True, True] Translation: X:482.74, Y:-312.52, Z:-5.88 [[-9.96193310e-01 8.68450689e-02 7.53808363e-03 4.82735503e+02] [-8.68403519e-02 -9.96221787e-01 9.51448700e-04 -3.12524047e+02] [ 7.59223177e-03 2.93216995e-04 9.99971136e-01 -5.88346850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters 0.049360824442323016 Centerline is valid? [True, True] Translation: X:482.75, Y:-313.16, Z:-4.88 [[-9.76523535e-01 -2.15250044e-01 8.31887497e-03 4.82754573e+02] [-2.15244324e-01 9.76558939e-01 1.58758345e-03 -3.13164596e+02] [-8.46559912e-03 -2.40278012e-04 -9.99964137e-01 -4.87843154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters 0.04937504283797627 Centerline is valid? [True, True] Translation: X:482.65, Y:-313.11, Z:-4.88 [[-9.59097971e-01 -2.82974322e-01 7.52428223e-03 4.82653672e+02] [-2.82967331e-01 9.59127462e-01 2.00021003e-03 -3.13108620e+02] [-7.78275380e-03 -2.10728678e-04 -9.99969692e-01 -4.87936139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters 0.04850740259923285 Centerline is valid? [True, True] Translation: X:482.54, Y:-313.06, Z:-4.88 [[-9.37191993e-01 -3.48748394e-01 6.76217900e-03 4.82542247e+02] [-3.48740691e-01 9.37216371e-01 2.32480657e-03 -3.13064514e+02] [-7.14839741e-03 -1.79456874e-04 -9.99974434e-01 -4.88147914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters 0.04924106494859017 Centerline is valid? [True, True] Translation: X:482.43, Y:-313.02, Z:-4.88 [[-9.11502108e-01 -4.11262338e-01 5.21492768e-03 4.82432591e+02] [-4.11256357e-01 9.11517018e-01 2.22136104e-03 -3.13016601e+02] [-5.66705747e-03 -1.19896882e-04 -9.99983935e-01 -4.88101232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters 0.04946907545838366 Centerline is valid? [True, True] Translation: X:482.27, Y:-313.00, Z:-4.88 [[-8.81024328e-01 -4.73044812e-01 4.97384140e-03 4.82271679e+02] [-4.73037941e-01 8.81038362e-01 2.55180112e-03 -3.13003479e+02] [-5.58926136e-03 -1.04616830e-04 -9.99984375e-01 -4.88084143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters 0.048946587709656084 Centerline is valid? [True, True] Translation: X:482.13, Y:-313.00, Z:-4.88 [[-8.46034538e-01 -5.33104323e-01 5.03409448e-03 4.82130790e+02] [-5.33095558e-01 8.46049509e-01 3.05854224e-03 -3.12997255e+02] [-5.88961525e-03 -9.60210323e-05 -9.99982651e-01 -4.88138729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters 0.048675735658338916 Centerline is valid? [True, True] Translation: X:481.99, Y:-312.99, Z:-4.88 [[-8.07229979e-01 -5.90212903e-01 5.33750821e-03 4.81993849e+02] [-5.90200727e-01 8.07247620e-01 3.79229488e-03 -3.12991006e+02] [-6.54695217e-03 -8.89471092e-05 -9.99978565e-01 -4.87991287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters 0.04926240660365195 Centerline is valid? [True, True] Translation: X:481.83, Y:-313.02, Z:-4.88 [[-7.62901304e-01 -6.46502620e-01 3.99549098e-03 4.81832038e+02] [-6.46494210e-01 7.62911763e-01 3.29819425e-03 -3.13021050e+02] [-5.18049830e-03 -6.68650916e-05 -9.99986579e-01 -4.88293611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters 0.0483689950307012 Centerline is valid? [True, True] Translation: X:481.66, Y:-313.06, Z:-4.88 [[-7.13628861e-01 -7.00516188e-01 3.30449600e-03 4.81664083e+02] [-7.00509069e-01 7.13636509e-01 3.15879993e-03 -3.13063454e+02] [-4.57099947e-03 -6.06186203e-05 -9.99989551e-01 -4.88349575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters 0.04887332794120808 Centerline is valid? [True, True] Translation: X:481.49, Y:-313.13, Z:-4.88 [[-6.59966955e-01 -7.51285111e-01 3.78160574e-03 4.81485046e+02] [-7.51273459e-01 6.59977784e-01 4.18499960e-03 -3.13131974e+02] [-5.63990366e-03 -7.90585846e-05 -9.99984093e-01 -4.88262524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters 0.04948079030549366 Centerline is valid? [True, True] Translation: X:481.32, Y:-313.20, Z:-4.88 [[-6.02680254e-01 -7.97972064e-01 4.13463790e-03 4.81315254e+02] [-7.97954394e-01 6.02694429e-01 5.31141420e-03 -3.13204755e+02] [-6.73028339e-03 -9.81680187e-05 -9.99977347e-01 -4.88013481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters 0.048980260120864136 Centerline is valid? [True, True] Translation: X:481.17, Y:-313.28, Z:-4.88 [[-5.42437261e-01 -8.40085188e-01 4.32370781e-03 4.81166609e+02] [-8.40060123e-01 5.42454481e-01 6.49043782e-03 -3.13280342e+02] [-7.79793536e-03 -1.11519203e-04 -9.99969589e-01 -4.88198720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters 0.049202400608088816 Centerline is valid? [True, True] Translation: X:480.96, Y:-313.45, Z:-4.88 [[-4.80441223e-01 -8.77019352e-01 3.64526423e-03 4.80964672e+02] [-8.76995709e-01 4.80455041e-01 6.44047829e-03 -3.13453512e+02] [-7.39980967e-03 -1.02609827e-04 -9.99972616e-01 -4.88165213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters 0.049567176030932074 Centerline is valid? [True, True] Translation: X:480.79, Y:-313.61, Z:-4.88 [[-4.16806776e-01 -9.08991745e-01 2.47365873e-03 4.80790172e+02] [-9.08976692e-01 4.16814110e-01 5.23168304e-03 -3.13608984e+02] [-5.78661256e-03 -6.78971954e-05 -9.99983255e-01 -4.88058740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters 0.04942948077227633 Centerline is valid? [True, True] Translation: X:480.64, Y:-313.76, Z:-4.88 [[-3.51472273e-01 -9.36196657e-01 1.74961370e-03 4.80640207e+02] [-9.36185648e-01 3.51476625e-01 4.54023167e-03 -3.13762055e+02] [-4.86549803e-03 -4.21976856e-05 -9.99988163e-01 -4.88096360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters 0.04921152408485841 Centerline is valid? [True, True] Translation: X:480.49, Y:-313.97, Z:-4.88 [[-2.85716808e-01 -9.58313310e-01 1.22677946e-03 4.80489882e+02] [-9.58304759e-01 2.85719441e-01 4.04849569e-03 -3.13968490e+02] [-4.23024204e-03 -1.89053275e-05 -9.99991052e-01 -4.88210577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters 0.04957674499475464 Centerline is valid? [True, True] Translation: X:480.33, Y:-314.27, Z:-4.88 [[-2.21460707e-01 -9.75169089e-01 6.34325864e-04 4.80334856e+02] [-9.75164994e-01 2.21461615e-01 2.82603834e-03 -3.14268605e+02] [-2.89634406e-03 7.28407133e-06 -9.99995806e-01 -4.88380197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters 0.04996560273325314 Centerline is valid? [True, True] Translation: X:480.22, Y:-314.46, Z:-4.88 [[-1.52121876e-01 -9.88361676e-01 3.63401821e-04 4.80224744e+02] [-9.88358610e-01 1.52122310e-01 2.46206498e-03 -3.14461957e+02] [-2.48869219e-03 1.53626255e-05 -9.99996903e-01 -4.88323172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters 0.0496688970336637 Centerline is valid? [True, True] Translation: X:480.12, Y:-314.71, Z:-4.88 [[-8.08923971e-02 -9.96722814e-01 2.28058823e-04 4.80122180e+02] [-9.96717883e-01 8.08927143e-02 3.13533196e-03 -3.14710613e+02] [-3.14350519e-03 2.63142104e-05 -9.99995059e-01 -4.88288766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters 0.05068831066371707 Centerline is valid? [True, True] Translation: X:480.05, Y:-314.21, Z:-4.88 [[-5.33781498e-03 -9.99985754e-01 -1.77025962e-05 4.80052456e+02] [-9.99973852e-01 5.33766508e-03 4.87902535e-03 -3.14205497e+02] [-4.87886135e-03 4.37454679e-05 -9.99988097e-01 -4.88344600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters 0.05000842216887201 Centerline is valid? [True, True] Translation: X:479.40, Y:-315.14, Z:-5.88 [[-5.55781530e-02 9.98454290e-01 3.14549653e-04 4.79396501e+02] [-9.98441436e-01 -5.55790336e-02 5.06653659e-03 -3.15137323e+02] [ 5.07618756e-03 -3.24706619e-05 9.99987116e-01 -5.88299059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters 0.0501848756860295 Centerline is valid? [True, True] Translation: X:480.03, Y:-315.40, Z:-4.88 [[ 3.10212664e-03 -9.99995187e-01 -5.68425635e-05 4.80031041e+02] [-9.99980765e-01 -3.10238718e-03 5.37067774e-03 -3.15398367e+02] [-5.37082823e-03 4.01809477e-05 -9.99985576e-01 -4.87987410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters 0.0507696625456475 Centerline is valid? [True, True] Translation: X:479.97, Y:-315.63, Z:-4.88 [[ 7.83954918e-02 -9.96922184e-01 -5.53950088e-04 4.79965577e+02] [-9.96900864e-01 -7.83974381e-02 6.51992817e-03 -3.15626239e+02] [-6.54328930e-03 4.11003455e-05 -9.99978592e-01 -4.87939114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters 0.05008228233058018 Centerline is valid? [True, True] Translation: X:479.91, Y:-315.82, Z:-4.88 [[ 1.53358312e-01 -9.88169930e-01 -1.19096772e-03 4.79914535e+02] [-9.88142049e-01 -1.53362931e-01 7.42315678e-03 -3.15819268e+02] [-7.51799062e-03 3.84424895e-05 -9.99971739e-01 -4.87875615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters 0.0505225641064259 Centerline is valid? [True, True] Translation: X:479.80, Y:-315.68, Z:-4.88 [[ 2.28996308e-01 -9.73425657e-01 -1.78382551e-03 4.79803490e+02] [-9.73396954e-01 -2.29003254e-01 7.47524646e-03 -3.15681294e+02] [-7.68509854e-03 2.45664752e-05 -9.99970469e-01 -4.88096762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters 0.049975976710834674 Centerline is valid? [True, True] Translation: X:479.87, Y:-316.21, Z:-4.88 [[ 3.03036418e-01 -9.52976968e-01 -1.95637878e-03 4.79865424e+02] [-9.52956936e-01 -3.03042733e-01 6.17903803e-03 -3.16213198e+02] [-6.48134730e-03 -8.12882276e-06 -9.99978996e-01 -4.87955119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters 0.04949540128843559 Centerline is valid? [True, True] Translation: X:479.87, Y:-316.45, Z:-4.88 [[ 3.74105080e-01 -9.27383415e-01 -2.32177159e-03 4.79869289e+02] [-9.27365266e-01 -3.74112284e-01 5.80197959e-03 -3.16448322e+02] [-6.24926292e-03 -1.74197109e-05 -9.99980473e-01 -4.87975785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters 0.05015476505447818 Centerline is valid? [True, True] Translation: X:479.87, Y:-316.64, Z:-4.88 [[ 4.44497563e-01 -8.95776267e-01 -2.60687233e-03 4.79867901e+02] [-8.95760396e-01 -4.44505206e-01 5.33240244e-03 -3.16636132e+02] [-5.93540787e-03 -3.51068963e-05 -9.99982385e-01 -4.87914785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters 0.049905302413752295 Centerline is valid? [True, True] Translation: X:479.89, Y:-316.84, Z:-4.88 [[ 5.13063005e-01 -8.58344705e-01 -3.27425085e-03 4.79888415e+02] [-8.58326392e-01 -5.13073448e-01 5.60726086e-03 -3.16842372e+02] [-6.49289384e-03 -6.65021938e-05 -9.99978919e-01 -4.87897184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters 0.05077551859695558 Centerline is valid? [True, True] Translation: X:479.91, Y:-317.03, Z:-4.88 [[ 5.76932315e-01 -8.16783243e-01 -3.77337046e-03 4.79911976e+02] [-8.16764805e-01 -5.76944648e-01 5.48868182e-03 -3.17026444e+02] [-6.66008923e-03 -8.46417181e-05 -9.99977818e-01 -4.87780299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters 0.0504957382192147 Centerline is valid? [True, True] Translation: X:479.94, Y:-317.19, Z:-4.88 [[ 6.36538460e-01 -7.71229632e-01 -4.86258411e-03 4.79935884e+02] [-7.71205806e-01 -6.36557023e-01 6.06307456e-03 -3.17190852e+02] [-7.77133482e-03 -1.09327035e-04 -9.99969797e-01 -4.87681812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters 0.05024436421287485 Centerline is valid? [True, True] Translation: X:480.01, Y:-317.39, Z:-4.88 [[ 6.91988952e-01 -7.21882113e-01 -6.12411687e-03 4.80008032e+02] [-7.21852125e-01 -6.92016038e-01 6.58129358e-03 -3.17389961e+02] [-8.98890521e-03 -1.33475670e-04 -9.99959590e-01 -4.87735430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters 0.0505595026948223 Centerline is valid? [True, True] Translation: X:480.07, Y:-317.56, Z:-4.88 [[ 7.43338070e-01 -6.68879723e-01 -6.95920365e-03 4.80068940e+02] [-6.68848575e-01 -7.43370631e-01 6.45669634e-03 -3.17558408e+02] [-9.49202087e-03 -1.44854753e-04 -9.99954939e-01 -4.87775480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters 0.05047686173761273 Centerline is valid? [True, True] Translation: X:480.04, Y:-317.65, Z:-4.88 [[ 7.93198390e-01 -6.08913503e-01 -7.78843574e-03 4.80041786e+02] [-6.08882291e-01 -7.93236612e-01 6.16703766e-03 -3.17646226e+02] [-9.93326489e-03 -1.49443752e-04 -9.99950653e-01 -4.87826148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters 0.050028720559790435 Centerline is valid? [True, True] Translation: X:480.02, Y:-317.73, Z:-4.88 [[ 8.37270436e-01 -5.46718113e-01 -8.80458883e-03 4.80023405e+02] [-5.46686140e-01 -8.37316717e-01 5.91427600e-03 -3.17732417e+02] [-1.06056712e-02 -1.38501759e-04 -9.99943749e-01 -4.87883213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters 0.050651027279888676 Centerline is valid? [True, True] Translation: X:480.01, Y:-317.82, Z:-4.88 [[ 8.76693692e-01 -4.80976600e-01 -8.34753552e-03 4.80011001e+02] [-4.80953600e-01 -8.76733425e-01 4.70488705e-03 -3.17817868e+02] [-9.58150398e-03 -1.09967530e-04 -9.99954090e-01 -4.87895489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters 0.05033267206940435 Centerline is valid? [True, True] Translation: X:480.01, Y:-317.90, Z:-4.88 [[ 9.11276818e-01 -4.11713037e-01 -8.18148901e-03 4.80007368e+02] [-4.11695495e-01 -9.11313539e-01 3.80181296e-03 -3.17902370e+02] [-9.02115766e-03 -9.62218491e-05 -9.99959304e-01 -4.87967874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters 0.050264441633084044 Centerline is valid? [True, True] Translation: X:480.01, Y:-317.99, Z:-4.88 [[ 9.40604284e-01 -3.39398334e-01 -8.50593061e-03 4.80008321e+02] [-3.39383542e-01 -9.40642739e-01 3.17013967e-03 -3.17989688e+02] [-9.07698199e-03 -9.50740910e-05 -9.99958799e-01 -4.88037763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters 0.050196186156009244 Centerline is valid? [True, True] Translation: X:480.02, Y:-318.07, Z:-4.88 [[ 9.64477151e-01 -2.64014225e-01 -8.96177740e-03 4.80017956e+02] [-2.64001810e-01 -9.64518780e-01 2.56260511e-03 -3.18069524e+02] [-9.32036681e-03 -1.05648630e-04 -9.99956559e-01 -4.88472243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters 0.050452274443823796 Centerline is valid? [True, True] Translation: X:480.03, Y:-318.16, Z:-4.88 [[ 9.82326253e-01 -1.86918206e-01 -9.83448285e-03 4.80030634e+02] [-1.86907585e-01 -9.82375473e-01 1.99644073e-03 -3.18162291e+02] [-1.00343259e-02 -1.23016702e-04 -9.99949647e-01 -4.88024141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters 0.05001952566086651 Centerline is valid? [True, True] Translation: X:480.05, Y:-318.25, Z:-4.88 [[ 9.94070532e-01 -1.08249890e-01 -1.02829644e-02 4.80052643e+02] [-1.08242633e-01 -9.94123705e-01 1.26134926e-03 -3.18245546e+02] [-1.03590796e-02 -1.40814990e-04 -9.99946333e-01 -4.88027771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters 0.050541206308510764 Centerline is valid? [True, True] Translation: X:480.08, Y:-318.33, Z:-4.88 [[ 9.99573919e-01 -2.76397304e-02 -9.38222942e-03 4.80079863e+02] [-2.76370880e-02 -9.99617938e-01 4.11202251e-04 -3.18326273e+02] [-9.39001035e-03 -1.51729545e-04 -9.99955901e-01 -4.88147995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters 0.04996557790454992 Centerline is valid? [True, True] Translation: X:480.11, Y:-318.41, Z:-4.88 [[ 9.98574796e-01 5.27005231e-02 -8.42804138e-03 4.80108367e+02] [ 5.26999428e-02 -9.98610350e-01 -2.91073621e-04 -3.18409767e+02] [-8.43166909e-03 -1.53498517e-04 -9.99964441e-01 -4.88186365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters 0.05074985509921738 Centerline is valid? [True, True] Translation: X:480.14, Y:-318.49, Z:-4.88 [[ 9.91215871e-01 1.32015173e-01 -7.94302314e-03 4.80142505e+02] [ 1.32012197e-01 -9.91247683e-01 -9.00187201e-04 -3.18489943e+02] [-7.99234165e-03 -1.56296094e-04 -9.99968049e-01 -4.88059335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters 0.04907947054169994 Centerline is valid? [True, True] Translation: X:480.18, Y:-318.56, Z:-4.88 [[ 9.77492495e-01 2.10840873e-01 -7.38564693e-03 4.80183078e+02] [ 2.10836089e-01 -9.77520384e-01 -1.42930163e-03 -3.18563096e+02] [-7.52097563e-03 -1.60029293e-04 -9.99971704e-01 -4.88313133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters 0.0505510809543493 Centerline is valid? [True, True] Translation: X:480.23, Y:-318.64, Z:-4.88 [[ 9.57419943e-01 2.88604001e-01 -7.40160212e-03 4.80229626e+02] [ 2.88596816e-01 -9.57448536e-01 -2.04430875e-03 -3.18642284e+02] [-7.67664880e-03 -1.78816837e-04 -9.99970518e-01 -4.88200791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters 0.048759724940849195 Centerline is valid? [True, True] Translation: X:480.28, Y:-318.71, Z:-4.88 [[ 9.31317876e-01 3.64130529e-01 -7.48146501e-03 4.80282583e+02] [ 3.64120481e-01 -9.31347904e-01 -2.71228498e-03 -3.18713237e+02] [-7.95547252e-03 -1.98155156e-04 -9.99968335e-01 -4.88454216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters 0.04936592417573998 Centerline is valid? [True, True] Translation: X:480.34, Y:-318.79, Z:-4.88 [[ 8.99592494e-01 4.36670099e-01 -7.25053182e-03 4.80342850e+02] [ 4.36657744e-01 -8.99621689e-01 -3.29116309e-03 -3.18788484e+02] [-7.95988819e-03 -2.05295259e-04 -9.99968299e-01 -4.88352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters 0.05026427076523312 Centerline is valid? [True, True] Translation: X:480.41, Y:-318.85, Z:-4.88 [[ 8.62733417e-01 5.05625428e-01 -5.82904349e-03 4.80405105e+02] [ 5.05615215e-01 -8.62753092e-01 -3.21817915e-03 -3.18852144e+02] [-6.65621850e-03 -1.70822382e-04 -9.99977833e-01 -4.88257544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters 0.05035873816273717 Centerline is valid? [True, True] Translation: X:480.47, Y:-318.90, Z:-4.88 [[ 8.21136803e-01 5.70711969e-01 -4.71167046e-03 4.80468627e+02] [ 5.70703535e-01 -8.21150309e-01 -3.10576722e-03 -3.18902156e+02] [-5.64148818e-03 -1.38707219e-04 -9.99984077e-01 -4.88367458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters 0.048874612856416734 Centerline is valid? [True, True] Translation: X:480.54, Y:-318.95, Z:-4.89 [[ 7.75431478e-01 6.31423598e-01 -3.20359644e-03 4.80538496e+02] [ 6.31418686e-01 -7.75438090e-01 -2.49221683e-03 -3.18951171e+02] [-4.05783523e-03 -9.02672759e-05 -9.99991763e-01 -4.88592100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters 0.04880913160588425 Centerline is valid? [True, True] Translation: X:480.61, Y:-319.00, Z:-4.89 [[ 7.26323355e-01 6.87348913e-01 -2.41988301e-03 4.80614755e+02] [ 6.87345371e-01 -7.26327384e-01 -2.20739070e-03 -3.18999600e+02] [-3.27487490e-03 -6.00159641e-05 -9.99994636e-01 -4.88662589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters 0.049490961246863724 Centerline is valid? [True, True] Translation: X:480.69, Y:-319.04, Z:-4.89 [[ 6.71300228e-01 7.41181448e-01 -2.46260475e-03 4.80694252e+02] [ 7.41176793e-01 -6.71304743e-01 -2.62759263e-03 -3.19042662e+02] [-3.60068116e-03 -6.13219563e-05 -9.99993516e-01 -4.88604305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters 0.049467807632922876 Centerline is valid? [True, True] Translation: X:480.77, Y:-319.08, Z:-4.88 [[ 6.11833094e-01 7.90982578e-01 -2.61294909e-03 4.80773491e+02] [ 7.90975836e-01 -6.11838669e-01 -3.26645571e-03 -3.19075464e+02] [-4.18241285e-03 -6.82538912e-05 -9.99991251e-01 -4.88461662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters 0.049265149395222224 Centerline is valid? [True, True] Translation: X:480.86, Y:-319.10, Z:-4.88 [[ 5.48812300e-01 8.35940456e-01 -2.93500200e-03 4.80855782e+02] [ 8.35929280e-01 -5.48820142e-01 -4.32316801e-03 -3.19101695e+02] [-5.22469925e-03 -8.08463302e-05 -9.99986348e-01 -4.88429787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters 0.04912608098561799 Centerline is valid? [True, True] Translation: X:480.94, Y:-319.12, Z:-4.88 [[ 4.83549404e-01 8.75310889e-01 -3.28963786e-03 4.80944243e+02] [ 8.75291872e-01 -4.83560586e-01 -5.77053703e-03 -3.19123574e+02] [-6.64175311e-03 -8.90535387e-05 -9.99977939e-01 -4.88368118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters 0.04912349463563018 Centerline is valid? [True, True] Translation: X:481.03, Y:-319.14, Z:-4.88 [[ 4.16111193e-01 9.09308292e-01 -3.14723771e-03 4.81030968e+02] [ 9.09283695e-01 -4.16123087e-01 -6.68867486e-03 -3.19137894e+02] [-7.39170578e-03 -7.84994637e-05 -9.99972678e-01 -4.88379979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters 0.049235957566750095 Centerline is valid? [True, True] Translation: X:481.12, Y:-319.15, Z:-4.88 [[ 3.45448870e-01 9.38433766e-01 -2.67308075e-03 4.81116909e+02] [ 9.38407136e-01 -3.45459206e-01 -7.06999858e-03 -3.19145069e+02] [-7.55816574e-03 -6.61150250e-05 -9.99971435e-01 -4.88245947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters 0.049807493176361635 Centerline is valid? [True, True] Translation: X:481.20, Y:-319.14, Z:-4.88 [[ 2.75584736e-01 9.61274677e-01 -2.01229489e-03 4.81203831e+02] [ 9.61249798e-01 -2.75592081e-01 -6.91596171e-03 -3.19144218e+02] [-7.20271139e-03 -2.83845713e-05 -9.99974060e-01 -4.88458486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters 0.049744732191177164 Centerline is valid? [True, True] Translation: X:481.29, Y:-319.14, Z:-4.88 [[ 2.01715156e-01 9.79443259e-01 -1.37798997e-03 4.81288433e+02] [ 9.79420793e-01 -2.01719862e-01 -6.63388919e-03 -3.19138155e+02] [-6.77548600e-03 -1.14760367e-05 -9.99977046e-01 -4.88409299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters 0.049846127826651786 Centerline is valid? [True, True] Translation: X:481.37, Y:-319.12, Z:-4.88 [[ 1.25772723e-01 9.92058726e-01 -8.40349303e-04 4.81368268e+02] [ 9.92036719e-01 -1.25775530e-01 -6.60786658e-03 -3.19124204e+02] [-6.66108708e-03 -2.56799583e-06 -9.99977815e-01 -4.88241037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters 0.04929305534133537 Centerline is valid? [True, True] Translation: X:481.45, Y:-319.10, Z:-4.88 [[ 4.75472050e-02 9.98868959e-01 -2.55473177e-04 4.81450753e+02] [ 9.98854891e-01 -4.75478913e-02 -5.30142578e-03 -3.19103168e+02] [-5.30757686e-03 -3.11265359e-06 -9.99985915e-01 -4.88499837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters 0.04967005116196123 Centerline is valid? [True, True] Translation: X:481.53, Y:-319.08, Z:-4.89 [[-3.20161075e-02 9.99487340e-01 1.58499785e-04 4.81530881e+02] [ 9.99473530e-01 3.20164983e-02 -5.25418265e-03 -3.19075837e+02] [-5.25656365e-03 -9.80213649e-06 -9.99986184e-01 -4.88510742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters 0.04971135436615116 Centerline is valid? [True, True] Translation: X:481.61, Y:-319.04, Z:-4.88 [[-1.13322936e-01 9.93558010e-01 6.26374584e-04 4.81613469e+02] [ 9.93541358e-01 1.13324663e-01 -5.75245181e-03 -3.19041816e+02] [-5.78637826e-03 -2.95556709e-05 -9.99983258e-01 -4.88449939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters 0.0495798528239921 Centerline is valid? [True, True] Translation: X:481.69, Y:-319.00, Z:-4.88 [[-1.92426446e-01 9.81310764e-01 1.11715604e-03 4.81691997e+02] [ 9.81292957e-01 1.92429685e-01 -5.91177547e-03 -3.19001320e+02] [-6.01626289e-03 -4.13245906e-05 -9.99981901e-01 -4.88399934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters 0.0494033330155021 Centerline is valid? [True, True] Translation: X:481.77, Y:-318.96, Z:-4.88 [[-2.70015419e-01 9.62854490e-01 1.70453124e-03 4.81766117e+02] [ 9.62834020e-01 2.70020794e-01 -6.27861820e-03 -3.18956454e+02] [-6.50565460e-03 -5.41430592e-05 -9.99978837e-01 -4.88271551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters 0.04951330494289602 Centerline is valid? [True, True] Translation: X:481.83, Y:-318.91, Z:-4.88 [[-3.45978711e-01 9.38239922e-01 2.14011633e-03 4.81831635e+02] [ 9.38220836e-01 3.45985325e-01 -5.98478761e-03 -3.18906411e+02] [-6.35561550e-03 -6.27073658e-05 -9.99979801e-01 -4.88320595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters 0.04950590794784877 Centerline is valid? [True, True] Translation: X:481.90, Y:-318.85, Z:-4.88 [[-4.21211556e-01 9.06958572e-01 2.64091203e-03 4.81897835e+02] [ 9.06939474e-01 4.21219827e-01 -5.88633719e-03 -3.18849051e+02] [-6.45106848e-03 -8.42458772e-05 -9.99979188e-01 -4.88348019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters 0.04948819876395478 Centerline is valid? [True, True] Translation: X:481.96, Y:-318.79, Z:-4.88 [[-4.93544290e-01 8.69713085e-01 3.63079940e-03 4.81960166e+02] [ 8.69687705e-01 4.93557630e-01 -6.64543817e-03 -3.18786396e+02] [-7.57163328e-03 -1.22156468e-04 -9.99971327e-01 -4.88254846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters 0.04926126996576011 Centerline is valid? [True, True] Translation: X:482.02, Y:-318.72, Z:-4.88 [[-5.62664279e-01 8.26672647e-01 4.60906789e-03 4.82018395e+02] [ 8.26642510e-01 5.62683133e-01 -7.06061553e-03 -3.18718093e+02] [-8.43026249e-03 -1.62704694e-04 -9.99964452e-01 -4.88224904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters 0.04958531062673455 Centerline is valid? [True, True] Translation: X:482.07, Y:-318.65, Z:-4.88 [[-6.27820116e-01 7.78341759e-01 5.09978862e-03 4.82071702e+02] [ 7.78313658e-01 6.27840802e-01 -6.61649500e-03 -3.18645407e+02] [-8.35174973e-03 -1.84733527e-04 -9.99965106e-01 -4.88377010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters 0.049362653162705945 Centerline is valid? [True, True] Translation: X:482.12, Y:-318.57, Z:-4.88 [[-6.87036010e-01 7.26603890e-01 5.32046599e-03 4.82121860e+02] [ 7.26580072e-01 6.87056588e-01 -5.88594391e-03 -3.18568371e+02] [-7.93221095e-03 -1.78110865e-04 -9.99968524e-01 -4.88348678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters 0.04986688179111455 Centerline is valid? [True, True] Translation: X:482.17, Y:-318.49, Z:-4.88 [[-7.40649028e-01 6.71869096e-01 5.56198116e-03 4.82165172e+02] [ 6.71848525e-01 7.40669895e-01 -5.25986903e-03 -3.18486880e+02] [-7.65353545e-03 -1.58908047e-04 -9.99970699e-01 -4.88464907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters 0.04896293387282386 Centerline is valid? [True, True] Translation: X:482.13, Y:-318.35, Z:-4.89 [[-7.83563924e-01 6.21287901e-01 5.37790394e-03 4.82128137e+02] [ 6.21272275e-01 7.83582371e-01 -4.40769484e-03 -3.18353004e+02] [-6.95247820e-03 -1.12568048e-04 -9.99975825e-01 -4.88558484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters 0.04938029423450411 Centerline is valid? [True, True] Translation: X:482.10, Y:-318.24, Z:-4.89 [[-8.23717481e-01 5.66976317e-01 5.23145387e-03 4.82100925e+02] [ 5.66964247e-01 8.23734089e-01 -3.70045366e-03 -3.18236482e+02] [-6.40739647e-03 -8.20810598e-05 -9.99979469e-01 -4.88605730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters 0.04972070367131286 Centerline is valid? [True, True] Translation: X:482.08, Y:-318.13, Z:-4.88 [[-8.60615609e-01 5.09230254e-01 5.03205155e-03 4.82077347e+02] [ 5.09221133e-01 8.60630318e-01 -3.04851462e-03 -3.18126611e+02] [-5.88313200e-03 -6.11722764e-05 -9.99982692e-01 -4.88426053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters 0.04946925781828705 Centerline is valid? [True, True] Translation: X:482.37, Y:-317.54, Z:-5.88 [[-8.13242779e-01 -5.81899720e-01 5.37563200e-03 4.82365304e+02] [ 5.81887883e-01 -8.13260539e-01 -3.71313538e-03 -3.17539399e+02] [ 6.53246181e-03 1.08334586e-04 9.99978657e-01 -5.87905736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters 0.0496800278042792 Centerline is valid? [True, True] Translation: X:481.94, Y:-318.05, Z:-4.88 [[-8.61551183e-01 5.07623759e-01 6.90504662e-03 4.81936044e+02] [ 5.07606804e-01 8.61578850e-01 -4.14942284e-03 -3.18048918e+02] [-8.05558774e-03 -6.98915098e-05 -9.99967551e-01 -4.88443650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters 0.04942008580719501 Centerline is valid? [True, True] Translation: X:482.11, Y:-318.06, Z:-4.88 [[-8.95111929e-01 4.45758336e-01 8.61050750e-03 4.82111416e+02] [ 4.45736860e-01 8.95153339e-01 -4.37623951e-03 -3.18057179e+02] [-9.65846978e-03 -7.92036086e-05 -9.99953353e-01 -4.88399002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters 0.04963118180661599 Centerline is valid? [True, True] Translation: X:481.93, Y:-317.89, Z:-4.88 [[-9.23730566e-01 3.82940089e-01 8.87300902e-03 4.81925536e+02] [ 3.82921786e-01 9.23773178e-01 -3.74447649e-03 -3.17885239e+02] [-9.63055790e-03 -6.12189230e-05 -9.99953623e-01 -4.88405870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters 0.04961716000073074 Centerline is valid? [True, True] Translation: X:481.89, Y:-317.79, Z:-4.88 [[-9.47589215e-01 3.19389436e-01 8.06647053e-03 4.81891964e+02] [ 3.19377617e-01 9.47623547e-01 -2.74782601e-03 -3.17792631e+02] [-8.52160402e-03 -2.75601614e-05 -9.99963690e-01 -4.88409659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters 0.04882402374430119 Centerline is valid? [True, True] Translation: X:481.80, Y:-317.69, Z:-4.89 [[-9.66461365e-01 2.56760964e-01 5.12220491e-03 4.81801306e+02] [ 2.56757415e-01 9.66474939e-01 -1.35010121e-03 -3.17690212e+02] [-5.29713596e-03 1.03434328e-05 -9.99985970e-01 -4.88571349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters 0.04932600449848114 Centerline is valid? [True, True] Translation: X:481.77, Y:-317.61, Z:-4.89 [[-9.81893594e-01 1.89402289e-01 3.42683028e-03 4.81766414e+02] [ 1.89401184e-01 9.81899574e-01 -6.47081519e-04 -3.17606385e+02] [-3.48736192e-03 1.36805155e-05 -9.99993919e-01 -4.88687028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters 0.049120935156983556 Centerline is valid? [True, True] Translation: X:481.84, Y:-316.93, Z:-5.88 [[-9.68817446e-01 -2.47755126e-01 3.18654148e-03 4.81842179e+02] [ 2.47753699e-01 -9.68822686e-01 -8.41125777e-04 -3.16934677e+02] [ 3.29558690e-03 -2.54198872e-05 9.99994569e-01 -5.87619975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters 0.04982884797041906 Centerline is valid? [True, True] Translation: X:481.65, Y:-317.58, Z:-4.88 [[-9.82840425e-01 1.84390740e-01 4.97531454e-03 4.81652310e+02] [ 1.84388445e-01 9.82853018e-01 -9.20069028e-04 -3.17583397e+02] [-5.05965512e-03 1.31094772e-05 -9.99987200e-01 -4.88455662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters 0.04977433356241911 Centerline is valid? [True, True] Translation: X:482.15, Y:-317.57, Z:-4.89 [[-9.94137869e-01 1.07943873e-01 6.16591917e-03 4.82146856e+02] [ 1.07941845e-01 9.94156990e-01 -6.61748161e-04 -3.17568308e+02] [-6.20132330e-03 7.69178660e-06 -9.99980772e-01 -4.88683317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters 0.04946485119569846 Centerline is valid? [True, True] Translation: X:481.36, Y:-316.80, Z:-5.88 [[-9.84757760e-01 -1.73807123e-01 6.57564178e-03 4.81361121e+02] [ 1.73803383e-01 -9.84779713e-01 -1.14034933e-03 -3.16801414e+02] [ 6.67375946e-03 1.99009398e-05 9.99977730e-01 -5.88101779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters 0.04962653333255403 Centerline is valid? [True, True] Translation: X:481.21, Y:-317.45, Z:-4.88 [[-9.94900137e-01 1.00692280e-01 5.89770571e-03 4.81213157e+02] [ 1.00690435e-01 9.94917617e-01 -6.09652832e-04 -3.17445979e+02] [-5.92911865e-03 -1.27011311e-05 -9.99982423e-01 -4.88179332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters 0.049659286809759055 Centerline is valid? [True, True] Translation: X:481.12, Y:-317.36, Z:-4.88 [[-9.99554145e-01 2.93894074e-02 5.27015435e-03 4.81119810e+02] [ 2.93889285e-02 9.99568038e-01 -1.68303216e-04 -3.17362989e+02] [-5.27282418e-03 -1.33439882e-05 -9.99986099e-01 -4.88220545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters 0.04930188138651327 Centerline is valid? [True, True] Translation: X:481.08, Y:-317.29, Z:-4.88 [[-9.99117822e-01 -4.16572863e-02 5.31500515e-03 4.81084157e+02] [-4.16567644e-02 9.99131958e-01 2.08895953e-04 -3.17288016e+02] [-5.31909354e-03 -1.26942482e-05 -9.99985853e-01 -4.88314849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters 0.049821289898077076 Centerline is valid? [True, True] Translation: X:481.12, Y:-317.21, Z:-4.88 [[-9.93615812e-01 -1.12712126e-01 4.85736875e-03 4.81115747e+02] [-1.12710818e-01 9.93627685e-01 5.43042765e-04 -3.17207359e+02] [-4.88762357e-03 -7.90212472e-06 -9.99988055e-01 -4.88209576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters 0.049012394650781416 Centerline is valid? [True, True] Translation: X:480.83, Y:-317.17, Z:-4.88 [[-9.83272113e-01 -1.82103893e-01 3.75815001e-03 4.80830997e+02] [-1.82102574e-01 9.83279295e-01 6.92977721e-04 -3.17172126e+02] [-3.82150503e-03 -2.98312430e-06 -9.99992698e-01 -4.88242342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters 0.04949009055995181 Centerline is valid? [True, True] Translation: X:480.79, Y:-317.11, Z:-4.88 [[-9.67684432e-01 -2.52128597e-01 4.24393081e-03 4.80788458e+02] [-2.52126191e-01 9.67693738e-01 1.10141763e-03 -3.17105418e+02] [-4.38452415e-03 -4.18142025e-06 -9.99990388e-01 -4.88124493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters 0.04967542098302956 Centerline is valid? [True, True] Translation: X:481.27, Y:-316.87, Z:-4.88 [[-9.45133512e-01 -3.26645045e-01 5.06551877e-03 4.81265946e+02] [-3.26640418e-01 9.45147086e-01 1.73862486e-03 -3.16872659e+02] [-5.35557350e-03 -1.13705545e-05 -9.99985659e-01 -4.88188702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters 0.0491809339630114 Centerline is valid? [True, True] Translation: X:480.40, Y:-317.11, Z:-4.88 [[-9.18327577e-01 -3.95786481e-01 5.24626905e-03 4.80400808e+02] [-3.95780219e-01 9.18342562e-01 2.22655046e-03 -3.17109072e+02] [-5.69911073e-03 -3.16668240e-05 -9.99983759e-01 -4.87899734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters 0.04959492883649343 Centerline is valid? [True, True] Translation: X:480.29, Y:-317.08, Z:-4.88 [[-8.85973073e-01 -4.63704300e-01 5.48056650e-03 4.80285935e+02] [-4.63695809e-01 8.85990022e-01 2.80660689e-03 -3.17075176e+02] [-6.15716291e-03 -5.47375904e-05 -9.99981043e-01 -4.87869472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters 0.048981458553039495 Centerline is valid? [True, True] Translation: X:480.15, Y:-317.07, Z:-4.88 [[-8.48733675e-01 -5.28799112e-01 4.75906276e-03 4.80149492e+02] [-5.28791239e-01 8.48747015e-01 2.88625140e-03 -3.17067700e+02] [-5.56548749e-03 -6.68919426e-05 -9.99984510e-01 -4.88091376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters 0.05004992266265599 Centerline is valid? [True, True] Translation: X:480.03, Y:-317.05, Z:-4.88 [[-8.06248197e-01 -5.91563146e-01 4.10969339e-03 4.80027161e+02] [-5.91555943e-01 8.06258667e-01 2.92020244e-03 -3.17051159e+02] [-5.04096006e-03 -7.67055998e-05 -9.99987291e-01 -4.88039497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters 0.04940678515652403 Centerline is valid? [True, True] Translation: X:479.88, Y:-317.07, Z:-4.88 [[-7.60377322e-01 -6.49471724e-01 3.57881000e-03 4.79882899e+02] [-6.49465004e-01 7.60385740e-01 2.95552633e-03 -3.17066982e+02] [-4.64080687e-03 -7.69966597e-05 -9.99989228e-01 -4.88150276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters 0.04976838759711792 Centerline is valid? [True, True] Translation: X:479.74, Y:-317.08, Z:-4.88 [[-7.09885535e-01 -7.04307357e-01 3.69785000e-03 4.79740853e+02] [-7.04298465e-01 7.09895161e-01 3.54020154e-03 -3.17082934e+02] [-5.11847581e-03 -9.12522091e-05 -9.99986896e-01 -4.88038064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters 0.04951559797036825 Centerline is valid? [True, True] Translation: X:479.55, Y:-317.16, Z:-4.88 [[-6.56171910e-01 -7.54599235e-01 4.29168741e-03 4.79552695e+02] [-7.54584301e-01 6.56185933e-01 4.74907516e-03 -3.17162091e+02] [-6.39979339e-03 -1.22230231e-04 -9.99979514e-01 -4.87805591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters 0.05053768463003276 Centerline is valid? [True, True] Translation: X:479.41, Y:-317.21, Z:-4.87 [[-5.98921560e-01 -8.00793309e-01 4.80012303e-03 4.79407606e+02] [-8.00769560e-01 5.98940776e-01 6.16911633e-03 -3.17206268e+02] [-7.81517650e-03 -1.48975635e-04 -9.99969450e-01 -4.87485550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters 0.049150720998801245 Centerline is valid? [True, True] Translation: X:479.24, Y:-317.33, Z:-4.88 [[-5.39690014e-01 -8.41853715e-01 4.12454873e-03 4.79235762e+02] [-8.41830982e-01 5.39705759e-01 6.18810351e-03 -3.17329473e+02] [-7.43552063e-03 -1.32515234e-04 -9.99972347e-01 -4.87919596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters 0.049316579751300285 Centerline is valid? [True, True] Translation: X:479.04, Y:-317.50, Z:-4.88 [[-4.79654339e-01 -8.77453028e-01 2.81052620e-03 4.79043349e+02] [-8.77438985e-01 4.79662565e-01 4.96494367e-03 -3.17495340e+02] [-5.70460907e-03 -8.46084869e-05 -9.99983725e-01 -4.88015741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters 0.04892374295586346 Centerline is valid? [True, True] Translation: X:478.90, Y:-317.62, Z:-4.88 [[-4.15827426e-01 -9.09441515e-01 1.91882902e-03 4.78895605e+02] [-9.09432446e-01 4.15831850e-01 4.06185906e-03 -3.17618831e+02] [-4.49193348e-03 -5.60129673e-05 -9.99989910e-01 -4.88139181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters 0.0488655860527056 Centerline is valid? [True, True] Translation: X:478.74, Y:-317.80, Z:-4.88 [[-3.49701201e-01 -9.36860217e-01 1.41546374e-03 4.78737148e+02] [-9.36853014e-01 3.49704063e-01 3.67392982e-03 -3.17797140e+02] [-3.93695211e-03 -4.13037991e-05 -9.99992249e-01 -4.88135039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters 0.049043749932207864 Centerline is valid? [True, True] Translation: X:478.59, Y:-318.01, Z:-4.88 [[-2.80919545e-01 -9.59730124e-01 1.51576733e-03 4.78585201e+02] [-9.59717089e-01 2.80923630e-01 5.00230765e-03 -3.18005980e+02] [-5.22668021e-03 -4.94618214e-05 -9.99986340e-01 -4.87980749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters 0.04896358085020002 Centerline is valid? [True, True] Translation: X:478.46, Y:-318.20, Z:-4.88 [[-2.09153416e-01 -9.77881927e-01 1.33631530e-03 4.78455709e+02] [-9.77863714e-01 2.09157676e-01 5.96857336e-03 -3.18202484e+02] [-6.11606062e-03 -5.83867419e-05 -9.99981295e-01 -4.87965301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters 0.04948552696401667 Centerline is valid? [True, True] Translation: X:478.35, Y:-318.36, Z:-4.88 [[-1.35564192e-01 -9.90768024e-01 1.03573432e-03 4.78346666e+02] [-9.90742968e-01 1.35568130e-01 7.04646733e-03 -3.18356516e+02] [-7.12182708e-03 -7.08978369e-05 -9.99974637e-01 -4.87778039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters 0.0493213666292218 Centerline is valid? [True, True] Translation: X:478.25, Y:-318.59, Z:-4.88 [[-6.09787373e-02 -9.98138906e-01 5.63536137e-04 4.78245099e+02] [-9.98108314e-01 6.09812807e-02 7.81516341e-03 -3.18590651e+02] [-7.83498381e-03 -8.59113069e-05 -9.99969302e-01 -4.87866014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters 0.04945801026776407 Centerline is valid? [True, True] Translation: X:478.16, Y:-318.79, Z:-4.88 [[ 1.36037875e-02 -9.99907464e-01 -1.87151396e-05 4.78161497e+02] [-9.99873129e-01 -1.36034755e-02 8.28687479e-03 -3.18788310e+02] [-8.28636254e-03 -9.40201185e-05 -9.99965663e-01 -4.87816577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters 0.049481361225636504 Centerline is valid? [True, True] Translation: X:477.52, Y:-318.98, Z:-5.89 [[-7.66037794e-02 9.97061466e-01 5.41414918e-04 4.77521010e+02] [-9.97029423e-01 -7.66056583e-02 7.99387184e-03 -3.18980423e+02] [ 8.01185702e-03 7.25541908e-05 9.99967902e-01 -5.88597511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters 0.04922427958057595 Centerline is valid? [True, True] Translation: X:478.16, Y:-319.27, Z:-4.88 [[ 1.99151958e-02 -9.99801671e-01 -6.20553814e-05 4.78159497e+02] [-9.99776794e-01 -1.99151381e-02 7.05326433e-03 -3.19273037e+02] [-7.05310130e-03 -7.84256100e-05 -9.99975124e-01 -4.87908818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters 0.05001423502000592 Centerline is valid? [True, True] Translation: X:478.09, Y:-319.50, Z:-4.88 [[ 9.36489451e-02 -9.95605112e-01 -5.80065797e-04 4.78090045e+02] [-9.95580692e-01 -9.36507111e-02 6.97359491e-03 -3.19495739e+02] [-6.99727032e-03 -7.55674995e-05 -9.99975516e-01 -4.87793250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters 0.04958457223753627 Centerline is valid? [True, True] Translation: X:478.04, Y:-319.73, Z:-4.88 [[ 1.65270294e-01 -9.86247565e-01 -1.21283116e-03 4.78043285e+02] [-9.86217764e-01 -1.65274729e-01 7.66721599e-03 -3.19731025e+02] [-7.76222344e-03 -7.10474046e-05 -9.99969871e-01 -4.87808085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters 0.04969354396334034 Centerline is valid? [True, True] Translation: X:478.02, Y:-319.99, Z:-4.88 [[ 2.35913698e-01 -9.71772220e-01 -1.86541317e-03 4.78016552e+02] [-9.71739843e-01 -2.35921066e-01 7.93271986e-03 -3.19992809e+02] [-8.14888705e-03 -5.87409817e-05 -9.99966796e-01 -4.87682632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters 0.04935232498318046 Centerline is valid? [True, True] Translation: X:478.00, Y:-320.21, Z:-4.88 [[ 3.06901186e-01 -9.51738219e-01 -2.45465159e-03 4.77996539e+02] [-9.51706324e-01 -3.06910998e-01 7.79187760e-03 -3.20208617e+02] [-8.16918727e-03 -5.52290412e-05 -9.99966630e-01 -4.87705450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters 0.049310896673379165 Centerline is valid? [True, True] Translation: X:478.01, Y:-320.48, Z:-4.88 [[ 3.75600773e-01 -9.26777761e-01 -2.65359249e-03 4.78010252e+02] [-9.26753839e-01 -3.75610144e-01 6.65893365e-03 -3.20476520e+02] [-7.16806787e-03 -4.18736004e-05 -9.99974308e-01 -4.87766500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters 0.04945648071340025 Centerline is valid? [True, True] Translation: X:478.03, Y:-320.70, Z:-4.88 [[ 4.42615121e-01 -8.96707350e-01 -2.78982381e-03 4.78027788e+02] [-8.96689059e-01 -4.42623912e-01 5.72748886e-03 -3.20704742e+02] [-6.37072409e-03 -3.34686845e-05 -9.99979706e-01 -4.87787254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters 0.04991922402747203 Centerline is valid? [True, True] Translation: X:478.07, Y:-320.94, Z:-4.88 [[ 5.07580585e-01 -8.61597771e-01 -3.35120726e-03 4.78067508e+02] [-8.61578547e-01 -5.07591647e-01 5.75566428e-03 -3.20940600e+02] [-6.66011232e-03 -3.41351645e-05 -9.99977821e-01 -4.87786953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters 0.04974323971958235 Centerline is valid? [True, True] Translation: X:477.88, Y:-320.80, Z:-4.88 [[ 5.70625053e-01 -8.21201111e-01 -3.97294552e-03 4.77881300e+02] [-8.21180743e-01 -5.70638882e-01 5.78390134e-03 -3.20796516e+02] [-7.01686339e-03 -3.79326540e-05 -9.99975381e-01 -4.87906930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters 0.050156659090185934 Centerline is valid? [True, True] Translation: X:478.27, Y:-321.46, Z:-4.88 [[ 6.28840148e-01 -7.77521072e-01 -4.58816597e-03 4.78271740e+02] [-7.77499879e-01 -6.28856884e-01 5.74090731e-03 -3.21464428e+02] [-7.34897617e-03 -4.28145159e-05 -9.99972995e-01 -4.87785886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters 0.05006412389999884 Centerline is valid? [True, True] Translation: X:478.34, Y:-321.67, Z:-4.88 [[ 6.84930805e-01 -7.28591134e-01 -4.97522079e-03 4.78343622e+02] [-7.28571397e-01 -6.84948872e-01 5.36300881e-03 -3.21668646e+02] [-7.31521254e-03 -4.84863742e-05 -9.99973242e-01 -4.87640778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters 0.04940056439589074 Centerline is valid? [True, True] Translation: X:478.42, Y:-321.85, Z:-4.88 [[ 7.37081811e-01 -6.75782800e-01 -5.29263458e-03 4.78416873e+02] [-6.75764863e-01 -7.37100811e-01 4.92389979e-03 -3.21849364e+02] [-7.22869202e-03 -5.27404942e-05 -9.99973871e-01 -4.87872697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters 0.0497711989931965 Centerline is valid? [True, True] Translation: X:478.39, Y:-321.94, Z:-4.88 [[ 7.87532786e-01 -6.16245272e-01 -5.82030771e-03 4.78387742e+02] [-6.16227946e-01 -7.87554292e-01 4.62136882e-03 -3.21935324e+02] [-7.43170500e-03 -5.28431960e-05 -9.99972383e-01 -4.87909786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters 0.049600526464019065 Centerline is valid? [True, True] Translation: X:478.36, Y:-322.02, Z:-4.88 [[ 8.32715991e-01 -5.53660151e-01 -6.67195056e-03 4.78364272e+02] [-5.53641907e-01 -8.32742718e-01 4.49486981e-03 -3.22023815e+02] [-8.04464854e-03 -4.90785383e-05 -9.99967640e-01 -4.87911294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters 0.05037352801880248 Centerline is valid? [True, True] Translation: X:478.35, Y:-322.11, Z:-4.88 [[ 8.71794663e-01 -4.89826825e-01 -6.61410902e-03 4.78350703e+02] [-4.89812549e-01 -8.71819753e-01 3.73978212e-03 -3.22111098e+02] [-7.59815649e-03 -2.06484997e-05 -9.99971133e-01 -4.87979573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters 0.049462846772390746 Centerline is valid? [True, True] Translation: X:478.35, Y:-322.20, Z:-4.88 [[ 9.06276597e-01 -4.22650932e-01 -5.37765635e-03 4.78345637e+02] [-4.22643493e-01 -9.06292552e-01 2.50773838e-03 -3.22195308e+02] [-5.93362786e-03 1.26859565e-07 -9.99982396e-01 -4.88105220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters 0.049416713196087654 Centerline is valid? [True, True] Translation: X:478.35, Y:-322.28, Z:-4.88 [[ 9.35858429e-01 -3.52351308e-01 -4.19001995e-03 4.78348021e+02] [-3.52347819e-01 -9.35867809e-01 1.56795228e-03 -3.22275768e+02] [-4.47377483e-03 8.96303125e-06 -9.99989993e-01 -4.88227589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters 0.049908674315811696 Centerline is valid? [True, True] Translation: X:478.35, Y:-322.37, Z:-4.88 [[ 9.60300001e-01 -2.78930795e-01 -4.63897768e-03 4.78354399e+02] [-2.78927609e-01 -9.60311206e-01 1.33320290e-03 -3.22365337e+02] [-4.82673359e-03 1.36642033e-05 -9.99988351e-01 -4.88299009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters 0.05023609267729263 Centerline is valid? [True, True] Translation: X:478.37, Y:-322.45, Z:-4.88 [[ 9.79263946e-01 -2.02512399e-01 -5.55452637e-03 4.78366966e+02] [-2.02509217e-01 -9.79279699e-01 1.13540428e-03 -3.22453821e+02] [-5.66936836e-03 1.29823077e-05 -9.99983929e-01 -4.87925871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters 0.05058920246725871 Centerline is valid? [True, True] Translation: X:478.39, Y:-322.54, Z:-4.88 [[ 9.92208060e-01 -1.24453316e-01 -5.87686725e-03 4.78386698e+02] [-1.24451182e-01 -9.92225464e-01 7.28829899e-04 -3.22541697e+02] [-5.92188263e-03 8.23217819e-06 -9.99982465e-01 -4.88155381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters 0.050358762606275004 Centerline is valid? [True, True] Translation: X:478.41, Y:-322.62, Z:-4.88 [[ 9.99001249e-01 -4.42539412e-02 -6.17200018e-03 4.78413131e+02] [-4.42530631e-02 -9.99020314e-01 2.78838838e-04 -3.22623531e+02] [-6.17829328e-03 -5.43043403e-06 -9.99980914e-01 -4.88208224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters 0.05053396313886871 Centerline is valid? [True, True] Translation: X:478.44, Y:-322.71, Z:-4.88 [[ 9.99356219e-01 3.53803005e-02 -5.94821399e-03 4.78441216e+02] [ 3.53797519e-02 -9.99373921e-01 -1.97458785e-04 -3.22708420e+02] [-5.95147609e-03 -1.31146706e-05 -9.99982290e-01 -4.88185325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters 0.04980666513276836 Centerline is valid? [True, True] Translation: X:478.47, Y:-322.79, Z:-4.88 [[ 9.93372526e-01 1.14780489e-01 -6.03852761e-03 4.78474989e+02] [ 1.14778499e-01 -9.93390879e-01 -6.76205048e-04 -3.22786503e+02] [-6.07623340e-03 -2.13696204e-05 -9.99981539e-01 -4.88099305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters 0.050976115476536736 Centerline is valid? [True, True] Translation: X:478.52, Y:-322.86, Z:-4.88 [[ 9.80942674e-01 1.94225308e-01 -5.29142300e-03 4.78515592e+02] [ 1.94222649e-01 -9.80956945e-01 -1.01674633e-03 -3.22859086e+02] [-5.38813601e-03 -3.03443337e-05 -9.99985483e-01 -4.88279403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters 0.0511765918503462 Centerline is valid? [True, True] Translation: X:478.56, Y:-322.93, Z:-4.88 [[ 9.62279726e-01 2.72022841e-01 -4.61554339e-03 4.78562828e+02] [ 2.72019887e-01 -9.62290794e-01 -1.26834534e-03 -3.22931240e+02] [-4.78651382e-03 -3.50165807e-05 -9.99988544e-01 -4.88321010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters 0.05022685081465911 Centerline is valid? [True, True] Translation: X:478.62, Y:-323.00, Z:-4.88 [[ 9.37001715e-01 3.49296246e-01 -4.46305643e-03 4.78617120e+02] [ 3.49292532e-01 -9.37012343e-01 -1.61143731e-03 -3.23002423e+02] [-4.74480796e-03 -4.89927555e-05 -9.99988742e-01 -4.88319633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters 0.050998821167438306 Centerline is valid? [True, True] Translation: X:478.68, Y:-323.07, Z:-4.88 [[ 9.06005800e-01 4.23237986e-01 -4.80593544e-03 4.78676262e+02] [ 4.23232408e-01 -9.06018544e-01 -2.17392536e-03 -3.23067354e+02] [-5.27435442e-03 -6.44386425e-05 -9.99986088e-01 -4.88391971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters 0.05098245792043886 Centerline is valid? [True, True] Translation: X:478.74, Y:-323.13, Z:-4.88 [[ 8.69507119e-01 4.93899695e-01 -4.52338805e-03 4.78738705e+02] [ 4.93893427e-01 -8.69518882e-01 -2.48938066e-03 -3.23127951e+02] [-5.16267567e-03 -6.95374218e-05 -9.99986671e-01 -4.88371354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters 0.05101636749135133 Centerline is valid? [True, True] Translation: X:478.81, Y:-323.18, Z:-4.88 [[ 8.28465263e-01 5.60026784e-01 -3.91270369e-03 4.78808409e+02] [ 5.60020883e-01 -8.28474500e-01 -2.57148105e-03 -3.23183821e+02] [-4.68167350e-03 -6.08130560e-05 -9.99989039e-01 -4.88381321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters 0.0513820329011083 Centerline is valid? [True, True] Translation: X:478.88, Y:-323.23, Z:-4.88 [[ 7.83305634e-01 6.21626133e-01 -3.63787230e-03 4.78880609e+02] [ 6.21619731e-01 -7.83314080e-01 -2.82175393e-03 -3.23233982e+02] [-4.60367258e-03 -5.10774442e-05 -9.99989402e-01 -4.88216565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters 0.0507327208564265 Centerline is valid? [True, True] Translation: X:478.95, Y:-323.27, Z:-4.88 [[ 7.35288413e-01 6.77747110e-01 -3.13126284e-03 4.78953609e+02] [ 6.77741127e-01 -7.35295080e-01 -2.84798863e-03 -3.23274166e+02] [-4.23261822e-03 -2.80925682e-05 -9.99991042e-01 -4.88338659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters 0.050755911058895514 Centerline is valid? [True, True] Translation: X:479.03, Y:-323.31, Z:-4.88 [[ 6.81627581e-01 7.31691051e-01 -3.47074309e-03 4.79030032e+02] [ 7.31681734e-01 -6.81636417e-01 -3.69259984e-03 -3.23308812e+02] [-5.06762714e-03 -2.25014195e-05 -9.99987159e-01 -4.88260693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters 0.05087945406786479 Centerline is valid? [True, True] Translation: X:479.11, Y:-323.33, Z:-4.88 [[ 6.23187006e-01 7.82063906e-01 -3.74187257e-03 4.79105912e+02] [ 7.82049999e-01 -6.23198240e-01 -4.66406077e-03 -3.23334909e+02] [-5.97952199e-03 -1.97493732e-05 -9.99982122e-01 -4.88087940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters 0.051113423588963126 Centerline is valid? [True, True] Translation: X:479.18, Y:-323.35, Z:-4.88 [[ 5.59850030e-01 8.28585083e-01 -3.83465060e-03 4.79182222e+02] [ 8.28565947e-01 -5.59863162e-01 -5.63131684e-03 -3.23354408e+02] [-6.81290474e-03 -2.45680001e-05 -9.99976792e-01 -4.87986829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters 0.051143699869103124 Centerline is valid? [True, True] Translation: X:479.27, Y:-323.37, Z:-4.88 [[ 4.92110914e-01 8.70526205e-01 -3.31292223e-03 4.79266834e+02] [ 8.70506933e-01 -4.92122064e-01 -5.79260521e-03 -3.23370992e+02] [-6.67297676e-03 -3.33175287e-05 -9.99977735e-01 -4.88059943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters 0.051364165586231914 Centerline is valid? [True, True] Translation: X:479.35, Y:-323.38, Z:-4.88 [[ 4.20999542e-01 9.07056284e-01 -2.87807969e-03 4.79349710e+02] [ 9.07035811e-01 -4.21009377e-01 -6.09438043e-03 -3.23380229e+02] [-6.73964460e-03 -4.47899818e-05 -9.99977287e-01 -4.87933064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters 0.05100838771866515 Centerline is valid? [True, True] Translation: X:479.44, Y:-323.38, Z:-4.88 [[ 3.47119521e-01 9.37818385e-01 -2.17129294e-03 4.79435997e+02] [ 9.37800952e-01 -3.47126308e-01 -5.71848553e-03 -3.23383473e+02] [-6.11661377e-03 -5.12426299e-05 -9.99981292e-01 -4.88123341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters 0.05153797409616131 Centerline is valid? [True, True] Translation: X:479.52, Y:-323.38, Z:-4.88 [[ 2.72771687e-01 9.62077597e-01 -1.51812689e-03 4.79522534e+02] [ 9.62063599e-01 -2.72775908e-01 -5.19002098e-03 -3.23379474e+02] [-5.40731135e-03 -4.48438429e-05 -9.99985379e-01 -4.88238750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters 0.05099791812034911 Centerline is valid? [True, True] Translation: X:479.61, Y:-323.37, Z:-4.88 [[ 1.98287798e-01 9.80143580e-01 -7.15512872e-04 4.79605766e+02] [ 9.80137612e-01 -1.98289088e-01 -3.42030898e-03 -3.23369046e+02] [-3.49427229e-03 -2.30955410e-05 -9.99993895e-01 -4.88333641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters 0.05094751323678635 Centerline is valid? [True, True] Translation: X:479.69, Y:-323.35, Z:-4.88 [[ 1.21936105e-01 9.92537890e-01 -3.50410159e-04 4.79694497e+02] [ 9.92534149e-01 -1.21936607e-01 -2.72527094e-03 -3.23352512e+02] [-2.74766249e-03 -1.54851262e-05 -9.99996225e-01 -4.88441205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters 0.05117210011174884 Centerline is valid? [True, True] Translation: X:479.78, Y:-323.33, Z:-4.88 [[ 4.42571169e-02 9.99020165e-01 -1.35054567e-04 4.79779250e+02] [ 9.99016453e-01 -4.42573206e-02 -2.72315172e-03 -3.23329409e+02] [-2.72646063e-03 -1.44028905e-05 -9.99996283e-01 -4.88318880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters 0.05166187401772115 Centerline is valid? [True, True] Translation: X:479.86, Y:-323.30, Z:-4.88 [[-3.27073787e-02 9.99464965e-01 1.00963836e-04 4.79857667e+02] [ 9.99458783e-01 3.27075315e-02 -3.51546875e-03 -3.23298278e+02] [-3.51689014e-03 -1.40725749e-05 -9.99993816e-01 -4.88253243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters 0.05126254797133049 Centerline is valid? [True, True] Translation: X:479.93, Y:-323.26, Z:-4.88 [[-1.09388751e-01 9.93998930e-01 4.78620145e-04 4.79928260e+02] [ 9.93988943e-01 1.09389797e-01 -4.45568779e-03 -3.23262590e+02] [-4.48130505e-03 -1.16589878e-05 -9.99989959e-01 -4.88145728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters 0.051932890317085666 Centerline is valid? [True, True] Translation: X:479.99, Y:-323.22, Z:-4.88 [[-1.84963770e-01 9.82744872e-01 9.59080707e-04 4.79987920e+02] [ 9.82731557e-01 1.84966257e-01 -5.11571816e-03 -3.23224107e+02] [-5.20484336e-03 -3.70364170e-06 -9.99986455e-01 -4.88172850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters 0.051391871400347865 Centerline is valid? [True, True] Translation: X:480.05, Y:-323.18, Z:-4.88 [[-2.59165849e-01 9.65831658e-01 1.50670365e-03 4.80048703e+02] [ 9.65815530e-01 2.59170229e-01 -5.58156716e-03 -3.23178818e+02] [-5.78134700e-03 8.64619035e-06 -9.99983288e-01 -4.88118704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters 0.05185712948228557 Centerline is valid? [True, True] Translation: X:480.10, Y:-323.13, Z:-4.88 [[-3.35237392e-01 9.42131608e-01 1.98099659e-03 4.80103192e+02] [ 9.42115170e-01 3.35243245e-01 -5.56526080e-03 -3.23130287e+02] [-5.90732384e-03 6.43424902e-07 -9.99982552e-01 -4.87939803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters 0.05181369719915499 Centerline is valid? [True, True] Translation: X:480.17, Y:-323.07, Z:-4.88 [[-4.10524252e-01 9.11846294e-01 2.48492603e-03 4.80171944e+02] [ 9.11829344e-01 4.10531772e-01 -5.55982319e-03 -3.23068435e+02] [-6.08984526e-03 -1.66137854e-05 -9.99981457e-01 -4.88180116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters 0.051846234294215574 Centerline is valid? [True, True] Translation: X:480.23, Y:-323.00, Z:-4.88 [[-4.84329028e-01 8.74879486e-01 3.35814978e-03 4.80233539e+02] [ 8.74857751e-01 4.84340667e-01 -6.16719199e-03 -3.23002620e+02] [-7.02203826e-03 -4.90467410e-05 -9.99975344e-01 -4.88096241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters 0.05204651844429438 Centerline is valid? [True, True] Translation: X:480.29, Y:-322.93, Z:-4.88 [[-5.56957359e-01 8.30531427e-01 4.00611168e-03 4.80287322e+02] [ 8.30508622e-01 5.56971757e-01 -6.15558238e-03 -3.22933524e+02] [-7.34369568e-03 -1.01286618e-04 -9.99973030e-01 -4.88099718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters 0.05185341181820654 Centerline is valid? [True, True] Translation: X:480.34, Y:-322.86, Z:-4.88 [[-6.23008340e-01 7.82206303e-01 3.72932422e-03 4.80335772e+02] [ 7.82191259e-01 6.23019493e-01 -4.85236548e-03 -3.22860293e+02] [-6.11899254e-03 -1.06019353e-04 -9.99981273e-01 -4.88146121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters 0.051696980702974474 Centerline is valid? [True, True] Translation: X:480.38, Y:-322.78, Z:-4.88 [[-6.84077854e-01 7.29402045e-01 3.18526822e-03 4.80378013e+02] [ 7.29393492e-01 6.84085264e-01 -3.53346277e-03 -3.22784042e+02] [-4.75631002e-03 -9.38497216e-05 -9.99988684e-01 -4.88183244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters 0.051787530156537843 Centerline is valid? [True, True] Translation: X:480.41, Y:-322.71, Z:-4.88 [[-7.39612456e-01 6.73029727e-01 2.09799490e-03 4.80407262e+02] [ 6.73026790e-01 7.39615429e-01 -1.98924605e-03 -3.22710489e+02] [-2.89053113e-03 -5.92643830e-05 -9.99995821e-01 -4.88226612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters 0.052743920796349236 Centerline is valid? [True, True] Translation: X:480.45, Y:-322.65, Z:-4.88 [[-7.85361495e-01 6.19032397e-01 2.49274560e-03 4.80454090e+02] [ 6.19029012e-01 7.85365448e-01 -2.04824698e-03 -3.22645701e+02] [-3.22564750e-03 -6.55324633e-05 -9.99994795e-01 -4.88114504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters 0.05151812939569674 Centerline is valid? [True, True] Translation: X:480.42, Y:-322.54, Z:-4.88 [[-8.26800487e-01 5.62484247e-01 3.52521765e-03 4.80422897e+02] [ 5.62478697e-01 8.26807998e-01 -2.50016415e-03 -3.22538095e+02] [-4.32098109e-03 -8.42771022e-05 -9.99990661e-01 -4.88142596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters 0.05117419032709664 Centerline is valid? [True, True] Translation: X:480.41, Y:-322.44, Z:-4.88 [[-8.64436729e-01 5.02724333e-01 4.16971822e-03 4.80412109e+02] [ 5.02717960e-01 8.64446780e-01 -2.53318902e-03 -3.22441649e+02] [-4.87799525e-03 -9.35893930e-05 -9.99988098e-01 -4.88087992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters 0.051265724991931196 Centerline is valid? [True, True] Translation: X:480.44, Y:-322.37, Z:-4.88 [[-8.97960456e-01 4.40039220e-01 5.70121004e-03 4.80438201e+02] [ 4.40029473e-01 8.97978546e-01 -2.93131881e-03 -3.22372006e+02] [-6.40945955e-03 -1.23507927e-04 -9.99979452e-01 -4.87959339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters 0.0510228809422342 Centerline is valid? [True, True] Translation: X:480.40, Y:-322.27, Z:-4.88 [[-9.27059666e-01 3.74850363e-01 6.89796994e-03 4.80400740e+02] [ 3.74838797e-01 9.27085316e-01 -2.94829442e-03 -3.22271459e+02] [-7.50017588e-03 -1.47618077e-04 -9.99971862e-01 -4.87824955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters 0.05104062964231025 Centerline is valid? [True, True] Translation: X:480.40, Y:-322.19, Z:-4.88 [[-9.51556815e-01 3.07373451e-01 7.82239529e-03 4.80401392e+02] [ 3.07361601e-01 9.51588952e-01 -2.70430660e-03 -3.22192729e+02] [-8.27493699e-03 -1.68997441e-04 -9.99965748e-01 -4.87791670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters 0.05034708954541572 Centerline is valid? [True, True] Translation: X:480.38, Y:-322.11, Z:-4.88 [[-9.71108373e-01 2.38489615e-01 8.43989876e-03 4.80375966e+02] [ 2.38478938e-01 9.71145030e-01 -2.26428643e-03 -3.22111032e+02] [-8.73637453e-03 -1.86129416e-04 -9.99961820e-01 -4.87829162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters 0.0502197966793265 Centerline is valid? [True, True] Translation: X:480.36, Y:-322.03, Z:-4.88 [[-9.85701066e-01 1.68300055e-01 8.27646961e-03 4.80363850e+02] [ 1.68292546e-01 9.85735795e-01 -1.60048998e-03 -3.22031776e+02] [-8.42777490e-03 -1.84736537e-04 -9.99964469e-01 -4.87843408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters 0.05041972155958204 Centerline is valid? [True, True] Translation: X:480.47, Y:-321.47, Z:-5.88 [[-9.60571236e-01 -2.77959857e-01 6.42023122e-03 4.80467953e+02] [ 2.77953849e-01 -9.60592691e-01 -1.82775716e-03 -3.21465297e+02] [ 6.67527030e-03 2.88370180e-05 9.99977720e-01 -5.88309540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters 0.05070203997217428 Centerline is valid? [True, True] Translation: X:480.32, Y:-322.03, Z:-4.88 [[-9.86773966e-01 1.62020047e-01 5.16183939e-03 4.80317318e+02] [ 1.62017152e-01 9.86787458e-01 -9.76906299e-04 -3.22030868e+02] [-5.25191678e-03 -1.27679185e-04 -9.99986200e-01 -4.87999776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters 0.050413673369578894 Centerline is valid? [True, True] Translation: X:480.38, Y:-321.45, Z:-5.88 [[-9.60761358e-01 -2.77349037e-01 3.88900415e-03 4.80379269e+02] [ 2.77346835e-01 -9.60769229e-01 -1.10521581e-03 -3.21450707e+02] [ 4.04296606e-03 1.67543519e-05 9.99991827e-01 -5.88236147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters 0.05145869609171351 Centerline is valid? [True, True] Translation: X:480.23, Y:-322.02, Z:-4.88 [[-9.88310517e-01 1.52396861e-01 4.18556584e-03 4.80233917e+02] [ 1.52394945e-01 9.88319372e-01 -7.74890996e-04 -3.22020359e+02] [-4.25476676e-03 -1.27973846e-04 -9.99990940e-01 -4.87927456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters 0.04937830492735767 Centerline is valid? [True, True] Translation: X:480.27, Y:-321.96, Z:-4.88 [[-9.96998390e-01 7.72060368e-02 5.78258423e-03 4.80274672e+02] [ 7.72035641e-02 9.97015139e-01 -6.49948409e-04 -3.21959286e+02] [-5.81550396e-03 -2.01561405e-04 -9.99983070e-01 -4.88033962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters 0.04913891880081991 Centerline is valid? [True, True] Translation: X:480.21, Y:-321.87, Z:-4.88 [[-9.99972362e-01 3.18447001e-03 6.71827182e-03 4.80209978e+02] [ 3.18269735e-03 9.99994898e-01 -2.74531504e-04 -3.21874078e+02] [-6.71911178e-03 -2.53141690e-04 -9.99977395e-01 -4.87937178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters 0.04967626079155568 Centerline is valid? [True, True] Translation: X:480.14, Y:-321.79, Z:-4.88 [[-9.97543442e-01 -6.96547903e-02 7.43584316e-03 4.80142779e+02] [-6.96550442e-02 9.97571112e-01 2.25149293e-04 -3.21788815e+02] [-7.43346506e-03 -2.93347783e-04 -9.99972328e-01 -4.87806484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters 0.0491875972917312 Centerline is valid? [True, True] Translation: X:480.12, Y:-321.71, Z:-4.88 [[-9.90295343e-01 -1.38758445e-01 7.82482058e-03 4.80118554e+02] [-1.38756470e-01 9.90326212e-01 7.97316145e-04 -3.21713163e+02] [-7.85975927e-03 -2.96166016e-04 -9.99969068e-01 -4.87850913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters 0.051015197058730144 Centerline is valid? [True, True] Translation: X:479.99, Y:-321.11, Z:-5.89 [[-9.99969636e-01 -1.99906938e-04 7.79026062e-03 4.79986876e+02] [ 2.02153632e-04 -9.99999938e-01 2.87611310e-04 -3.21110759e+02] [ 7.79020264e-03 2.89177407e-04 9.99969614e-01 -5.88701327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters 0.04837321731613815 Centerline is valid? [True, True] Translation: X:479.88, Y:-321.75, Z:-4.88 [[-9.91067859e-01 -1.33108758e-01 8.15828447e-03 4.79879939e+02] [-1.33106167e-01 9.91101410e-01 8.62120134e-04 -3.21749673e+02] [-8.20044298e-03 -2.31498420e-04 -9.99966349e-01 -4.87981512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters 0.048184960815383523 Centerline is valid? [True, True] Translation: X:479.76, Y:-321.11, Z:-5.88 [[-9.99895314e-01 1.18066734e-02 8.36439364e-03 4.79760713e+02] [-1.18041939e-02 -9.99930268e-01 3.45738749e-04 -3.21113933e+02] [ 8.36789240e-03 2.46967630e-04 9.99964958e-01 -5.88450519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters 0.04831340431900314 Centerline is valid? [True, True] Translation: X:479.65, Y:-321.78, Z:-4.88 [[-9.91310541e-01 -1.31270179e-01 8.45879196e-03 4.79653285e+02] [-1.31267056e-01 9.91346611e-01 9.25764774e-04 -3.21776462e+02] [-8.50712005e-03 -1.92640341e-04 -9.99963795e-01 -4.87871888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters 0.04914894161463912 Centerline is valid? [True, True] Translation: X:479.53, Y:-321.14, Z:-5.89 [[-9.99762883e-01 1.98239961e-02 9.01033931e-03 4.79534277e+02] [-1.98210492e-02 -9.99803457e-01 4.16248103e-04 -3.21135495e+02] [ 9.01682009e-03 2.37555025e-04 9.99959319e-01 -5.88598087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters 0.049364977133144215 Centerline is valid? [True, True] Translation: X:479.48, Y:-321.80, Z:-4.88 [[-9.91167665e-01 -1.32314387e-01 8.91980307e-03 4.79478700e+02] [-1.32310647e-01 9.91207784e-01 1.01070118e-03 -3.21797701e+02] [-8.97510854e-03 -1.78410585e-04 -9.99959707e-01 -4.87752403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters 0.048630688749830495 Centerline is valid? [True, True] Translation: X:479.38, Y:-321.73, Z:-4.88 [[-9.79151251e-01 -2.02948252e-01 8.65068774e-03 4.79377504e+02] [-2.02941943e-01 9.79189448e-01 1.61021545e-03 -3.21733468e+02] [-8.79745256e-03 -1.78942910e-04 -9.99961286e-01 -4.87847129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters 0.048825578691894266 Centerline is valid? [True, True] Translation: X:479.32, Y:-321.66, Z:-4.88 [[-9.61880459e-01 -2.73339439e-01 8.45779338e-03 4.79323528e+02] [-2.73330577e-01 9.61917624e-01 2.20901274e-03 -3.21663405e+02] [-8.73951082e-03 -1.86967357e-04 -9.99961792e-01 -4.87854457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters 0.048966223861042296 Centerline is valid? [True, True] Translation: X:479.21, Y:-321.62, Z:-4.88 [[-9.39404713e-01 -3.42714530e-01 8.09549592e-03 4.79205201e+02] [-3.42703605e-01 9.39439573e-01 2.74350745e-03 -3.21615631e+02] [-8.54546910e-03 -1.97091810e-04 -9.99963467e-01 -4.87833576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters 0.04841111227790331 Centerline is valid? [True, True] Translation: X:479.13, Y:-321.56, Z:-4.88 [[-9.11810287e-01 -4.10541061e-01 7.61831674e-03 4.79128256e+02] [-4.10528538e-01 9.11842091e-01 3.21263625e-03 -3.21557926e+02] [-8.26562096e-03 -1.98221661e-04 -9.99965820e-01 -4.87844371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters 0.04844331674083639 Centerline is valid? [True, True] Translation: X:479.00, Y:-321.53, Z:-4.88 [[-8.79601177e-01 -4.75652058e-01 7.54242282e-03 4.78996939e+02] [-4.75636644e-01 8.79633488e-01 3.83532819e-03 -3.21527900e+02] [-8.45884944e-03 -2.13893484e-04 -9.99964200e-01 -4.87818289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters 0.048569102016179554 Centerline is valid? [True, True] Translation: X:478.89, Y:-321.49, Z:-4.88 [[-8.41709478e-01 -5.39880249e-01 7.38052787e-03 4.78891147e+02] [-5.39861920e-01 8.41741802e-01 4.45478033e-03 -3.21492366e+02] [-8.61754675e-03 -2.34835129e-04 -9.99962841e-01 -4.87813352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters 0.04895005483414462 Centerline is valid? [True, True] Translation: X:478.74, Y:-321.49, Z:-4.88 [[-7.99597133e-01 -6.00499590e-01 6.68340730e-03 4.78740371e+02] [-6.00481059e-01 7.99625029e-01 4.72339384e-03 -3.21490288e+02] [-8.18061582e-03 -2.36447324e-04 -9.99966510e-01 -4.87770009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters 0.04871551296214792 Centerline is valid? [True, True] Translation: X:478.59, Y:-321.50, Z:-4.88 [[-7.52375005e-01 -6.58705702e-01 6.21695233e-03 4.78585778e+02] [-6.58685959e-01 7.52400647e-01 5.10628530e-03 -3.21501680e+02] [-8.04117820e-03 -2.53177775e-04 -9.99967637e-01 -4.87817613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters 0.04855411875482348 Centerline is valid? [True, True] Translation: X:478.43, Y:-321.53, Z:-4.88 [[-7.01886642e-01 -7.12266838e-01 5.57612491e-03 4.78430295e+02] [-7.12247145e-01 7.01908747e-01 5.30239776e-03 -3.21526626e+02] [-7.69065294e-03 -2.49896895e-04 -9.99970395e-01 -4.87792976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters 0.04869333113562406 Centerline is valid? [True, True] Translation: X:478.26, Y:-321.58, Z:-4.88 [[-6.48009599e-01 -7.61613594e-01 5.31914647e-03 4.78257936e+02] [-7.61591170e-01 6.48031378e-01 5.85012839e-03 -3.21584083e+02] [-7.90251112e-03 -2.60075628e-04 -9.99968741e-01 -4.87803846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters 0.048662482682293604 Centerline is valid? [True, True] Translation: X:478.07, Y:-321.68, Z:-4.88 [[-5.91848978e-01 -8.06032632e-01 5.11703487e-03 4.78074856e+02] [-8.06006281e-01 5.91871039e-01 6.52286271e-03 -3.21676047e+02] [-8.28626494e-03 -2.63812622e-04 -9.99965634e-01 -4.87888633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters 0.051557401615873626 Centerline is valid? [True, True] Translation: X:477.96, Y:-321.66, Z:-4.87 [[-5.33580306e-01 -8.45730878e-01 5.59811257e-03 4.77963297e+02] [-8.45689757e-01 5.33609598e-01 8.34458096e-03 -3.21659917e+02] [-1.00444764e-02 -2.81762392e-04 -9.99949513e-01 -4.87325448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters 0.04967426179807399 Centerline is valid? [True, True] Translation: X:477.62, Y:-322.08, Z:-4.88 [[-4.75745643e-01 -8.79568587e-01 5.01840610e-03 4.77619524e+02] [-8.79524913e-01 4.75772049e-01 8.76844581e-03 -3.22077692e+02] [-1.01000668e-02 -2.42263299e-04 -9.99948964e-01 -4.87714300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters 0.04966179237471081 Centerline is valid? [True, True] Translation: X:477.42, Y:-322.29, Z:-4.88 [[-4.18179136e-01 -9.08355145e-01 4.14017781e-03 4.77420325e+02] [-9.08314187e-01 4.18199603e-01 8.62731375e-03 -3.22292102e+02] [-9.56808554e-03 -1.52819635e-04 -9.99954213e-01 -4.87689440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters 0.04993371275706483 Centerline is valid? [True, True] Translation: X:477.26, Y:-322.46, Z:-4.88 [[-3.55746254e-01 -9.34576774e-01 3.29504813e-03 4.77264374e+02] [-9.34539023e-01 3.55761502e-01 8.40053126e-03 -3.22464339e+02] [-9.02319267e-03 -9.08935297e-05 -9.99959286e-01 -4.87791070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters 0.049707617438647995 Centerline is valid? [True, True] Translation: X:477.11, Y:-322.70, Z:-4.88 [[-2.94221686e-01 -9.55734352e-01 2.33429802e-03 4.77105543e+02] [-9.55704640e-01 2.94230945e-01 7.53599877e-03 -3.22699573e+02] [-7.88923561e-03 -1.36451877e-05 -9.99968879e-01 -4.87883534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters 0.04954008163252223 Centerline is valid? [True, True] Translation: X:477.01, Y:-322.78, Z:-4.88 [[-2.25845550e-01 -9.74161756e-01 1.63117516e-03 4.77007028e+02] [-9.74135851e-01 2.25851440e-01 7.10428194e-03 -3.22777470e+02] [-7.28912303e-03 1.54842541e-05 -9.99973434e-01 -4.87925650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters 0.04943320845462784 Centerline is valid? [True, True] Translation: X:476.89, Y:-322.99, Z:-4.88 [[-1.55437079e-01 -9.87845177e-01 1.10520401e-03 4.76887427e+02] [-9.87818751e-01 1.55441005e-01 7.22560603e-03 -3.22993670e+02] [-7.30957409e-03 3.13858508e-05 -9.99973284e-01 -4.87893352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters 0.05048742172600843 Centerline is valid? [True, True] Translation: X:476.77, Y:-323.32, Z:-4.88 [[-8.21519669e-02 -9.96619597e-01 6.57500399e-04 4.76772202e+02] [-9.96584516e-01 8.21545919e-02 8.36213534e-03 -3.23323930e+02] [-8.38788464e-03 3.17111490e-05 -9.99964821e-01 -4.87630101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters 0.050542637960443886 Centerline is valid? [True, True] Translation: X:476.69, Y:-323.39, Z:-4.88 [[-5.68360353e-03 -9.99983848e-01 3.13373643e-05 4.76690728e+02] [-9.99946966e-01 5.68366304e-03 8.58848921e-03 -3.23387980e+02] [-8.58852859e-03 1.74778652e-05 -9.99963118e-01 -4.87809100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters 0.051010369852992274 Centerline is valid? [True, True] Translation: X:476.62, Y:-323.72, Z:-4.88 [[ 7.26626187e-02 -9.97356429e-01 -5.45114665e-04 4.76621868e+02] [-9.97326037e-01 -7.26646600e-02 7.78603901e-03 -3.23724354e+02] [-7.80506663e-03 -2.20969352e-05 -9.99969540e-01 -4.87833749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters 0.0504347842807519 Centerline is valid? [True, True] Translation: X:476.56, Y:-323.90, Z:-4.88 [[ 1.50845158e-01 -9.88556985e-01 -9.08470984e-04 4.76561899e+02] [-9.88537098e-01 -1.50847886e-01 6.27066195e-03 -3.23903271e+02] [-6.33594760e-03 -4.78417250e-05 -9.99979927e-01 -4.87967488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters 0.05037082560401483 Centerline is valid? [True, True] Translation: X:476.51, Y:-324.09, Z:-4.88 [[ 2.29927782e-01 -9.73207342e-01 -8.27827674e-04 4.76509391e+02] [-9.73200181e-01 -2.29929266e-01 3.73371719e-03 -3.24085299e+02] [-3.82402279e-03 -5.28432683e-05 -9.99992687e-01 -4.88085026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters 0.050318725495964285 Centerline is valid? [True, True] Translation: X:476.48, Y:-324.29, Z:-4.88 [[ 3.04751719e-01 -9.52431380e-01 -9.25324791e-04 4.76478103e+02] [-9.52426415e-01 -3.04753119e-01 3.07585261e-03 -3.24293905e+02] [-3.21153417e-03 -5.60675991e-05 -9.99994841e-01 -4.88148137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters 0.05045487698723024 Centerline is valid? [True, True] Translation: X:476.46, Y:-324.50, Z:-4.88 [[ 3.77638404e-01 -9.25952457e-01 -1.13264238e-03 4.76460621e+02] [-9.25947749e-01 -3.77640096e-01 2.95366639e-03 -3.24500468e+02] [-3.16268583e-03 -6.66501966e-05 -9.99994997e-01 -4.88151028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters 0.05057884919270597 Centerline is valid? [True, True] Translation: X:476.45, Y:-324.69, Z:-4.88 [[ 4.45901161e-01 -8.95080887e-01 -1.53642081e-03 4.76454827e+02] [-8.95074942e-01 -4.45903801e-01 3.26316120e-03 -3.24694309e+02] [-3.60588910e-03 -7.98356028e-05 -9.99993496e-01 -4.88115927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters 0.050921773639073215 Centerline is valid? [True, True] Translation: X:476.50, Y:-324.97, Z:-4.88 [[ 5.09432955e-01 -8.60506801e-01 -2.47186321e-03 4.76504807e+02] [-8.60495647e-01 -5.09438941e-01 4.38268996e-03 -3.24969534e+02] [-5.03059790e-03 -1.05659167e-04 -9.99987341e-01 -4.88022791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters 0.051295539571357136 Centerline is valid? [True, True] Translation: X:476.55, Y:-325.18, Z:-4.88 [[ 5.68903923e-01 -8.22398697e-01 -2.95099826e-03 4.76545760e+02] [-8.22386745e-01 -5.68911569e-01 4.43482517e-03 -3.25184301e+02] [-5.32605149e-03 -9.61275800e-05 -9.99985812e-01 -4.88002620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters 0.05059513673611282 Centerline is valid? [True, True] Translation: X:476.66, Y:-325.47, Z:-4.88 [[ 6.21825982e-01 -7.83150953e-01 -2.65195140e-03 4.76664015e+02] [-7.83143518e-01 -6.21831636e-01 3.41270562e-03 -3.25471098e+02] [-4.32173093e-03 -4.52504741e-05 -9.99990660e-01 -4.88282449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters 0.050698128943681406 Centerline is valid? [True, True] Translation: X:476.78, Y:-325.72, Z:-4.88 [[ 6.72705434e-01 -7.39905056e-01 -2.81175191e-03 4.76775456e+02] [-7.39898493e-01 -6.72711310e-01 3.11645092e-03 -3.25719522e+02] [-4.19737511e-03 -1.60424672e-05 -9.99991191e-01 -4.88298322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters 0.05103093685297157 Centerline is valid? [True, True] Translation: X:476.83, Y:-325.88, Z:-4.88 [[ 7.22751067e-01 -6.91101785e-01 -3.03598135e-03 4.76827831e+02] [-6.91095683e-01 -7.22757444e-01 2.90418594e-03 -3.25878396e+02] [-4.20136621e-03 -8.49876913e-07 -9.99991174e-01 -4.88257911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters 0.051793375769424825 Centerline is valid? [True, True] Translation: X:476.81, Y:-325.95, Z:-4.88 [[ 7.68681316e-01 -6.39616791e-01 -4.40408551e-03 4.76810030e+02] [-6.39606672e-01 -7.68693930e-01 3.59808236e-03 -3.25952570e+02] [-5.68678769e-03 5.11037961e-05 -9.99983829e-01 -4.88381237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters 0.0517349054321373 Centerline is valid? [True, True] Translation: X:476.78, Y:-326.06, Z:-4.88 [[ 8.13866453e-01 -5.81027513e-01 -5.33157285e-03 4.76776755e+02] [-5.81015731e-01 -8.13883912e-01 3.70101462e-03 -3.26055624e+02] [-6.48967268e-03 8.55960568e-05 -9.99978938e-01 -4.88408430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters 0.053008449037264906 Centerline is valid? [True, True] Translation: X:476.75, Y:-326.17, Z:-4.89 [[ 8.55235812e-01 -5.18209840e-01 -5.50159094e-03 4.76747178e+02] [-5.18199891e-01 -8.55253501e-01 3.21283510e-03 -3.26168454e+02] [-6.37017767e-03 1.03192184e-04 -9.99979705e-01 -4.88561934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters 0.05229808810517728 Centerline is valid? [True, True] Translation: X:476.73, Y:-326.28, Z:-4.89 [[ 8.93107796e-01 -4.49811016e-01 -5.33998134e-03 4.76729547e+02] [-4.49803618e-01 -8.93123755e-01 2.58151023e-03 -3.26275492e+02] [-5.93045592e-03 9.63760122e-05 -9.99982410e-01 -4.88500138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters 0.05206341241219581 Centerline is valid? [True, True] Translation: X:476.72, Y:-326.39, Z:-4.89 [[ 9.26810465e-01 -3.75489587e-01 -5.47104137e-03 4.76719923e+02] [-3.75483525e-01 -9.26826610e-01 2.13499031e-03 -3.26390119e+02] [-5.87237336e-03 7.55545395e-05 -9.99982755e-01 -4.88594960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters 0.05222169533969633 Centerline is valid? [True, True] Translation: X:476.73, Y:-326.48, Z:-4.88 [[ 9.55622782e-01 -2.94520129e-01 -6.55684575e-03 4.76728660e+02] [-2.94513448e-01 -9.55645276e-01 1.98403282e-03 -3.26477324e+02] [-6.85035626e-03 3.50922879e-05 -9.99976535e-01 -4.88319527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters 0.051885635341546985 Centerline is valid? [True, True] Translation: X:476.74, Y:-326.57, Z:-4.88 [[ 9.77278346e-01 -2.11833275e-01 -7.32786601e-03 4.76744091e+02] [-2.11827195e-01 -9.77305819e-01 1.60495682e-03 -3.26566804e+02] [-7.50154935e-03 -1.62482402e-05 -9.99971863e-01 -4.88335055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters 0.05301343924211911 Centerline is valid? [True, True] Translation: X:476.77, Y:-326.66, Z:-4.88 [[ 9.91886562e-01 -1.26896076e-01 -7.64417080e-03 4.76767373e+02] [-1.26891698e-01 -9.91916014e-01 1.05697118e-03 -3.26656875e+02] [-7.71650093e-03 -7.84136920e-05 -9.99970224e-01 -4.88330655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters 0.05291356024416177 Centerline is valid? [True, True] Translation: X:476.80, Y:-326.74, Z:-4.88 [[ 9.99205464e-01 -3.88642026e-02 -8.83258563e-03 4.76797093e+02] [-3.88610951e-02 -9.99244485e-01 5.23231546e-04 -3.26742756e+02] [-8.84624746e-03 -1.79571869e-04 -9.99960855e-01 -4.88172775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters 0.05250308572984723 Centerline is valid? [True, True] Translation: X:476.83, Y:-326.83, Z:-4.88 [[ 9.99013860e-01 4.35295889e-02 -8.74539914e-03 4.76833796e+02] [ 4.35297941e-02 -9.99052115e-01 -1.66979454e-04 -3.26825042e+02] [-8.74437805e-03 -2.13870635e-04 -9.99961744e-01 -4.88360215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters 0.052540504652545277 Centerline is valid? [True, True] Translation: X:476.87, Y:-326.91, Z:-4.88 [[ 9.92302463e-01 1.23633370e-01 -7.11415614e-03 4.76871201e+02] [ 1.23631560e-01 -9.92327947e-01 -6.95281193e-04 -3.26910520e+02] [-7.14553591e-03 -1.89604983e-04 -9.99974452e-01 -4.88454969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters 0.05287251279463542 Centerline is valid? [True, True] Translation: X:476.91, Y:-326.99, Z:-4.88 [[ 9.79655989e-01 2.00612086e-01 -5.37898707e-03 4.76914881e+02] [ 2.00609862e-01 -9.79670746e-01 -9.55456695e-04 -3.26989716e+02] [-5.46131243e-03 -1.43058978e-04 -9.99985077e-01 -4.88492033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters 0.05373418179050857 Centerline is valid? [True, True] Translation: X:476.97, Y:-327.06, Z:-4.88 [[ 9.61143613e-01 2.75997712e-01 -5.31207890e-03 4.76965025e+02] [ 2.75994299e-01 -9.61158282e-01 -1.37966721e-03 -3.27062129e+02] [-5.48653363e-03 -1.40045162e-04 -9.99984939e-01 -4.88357982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters 0.05454180517202539 Centerline is valid? [True, True] Translation: X:477.02, Y:-327.12, Z:-4.88 [[ 9.36686478e-01 3.50113875e-01 -6.22233681e-03 4.77018152e+02] [ 3.50107325e-01 -9.36707130e-01 -2.14800921e-03 -3.27120911e+02] [-6.58055508e-03 -1.66474515e-04 -9.99978334e-01 -4.88094166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters 0.053335127445002635 Centerline is valid? [True, True] Translation: X:477.07, Y:-327.17, Z:-4.88 [[ 9.06595551e-01 4.21929970e-01 -7.72061729e-03 4.77073481e+02] [ 4.21916628e-01 -9.06628400e-01 -3.36187553e-03 -3.27167476e+02] [-8.41820694e-03 -2.09595416e-04 -9.99964544e-01 -4.88009150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters 0.05230170851912233 Centerline is valid? [True, True] Translation: X:477.14, Y:-327.22, Z:-4.88 [[ 8.71356208e-01 4.90584608e-01 -8.06847425e-03 4.77136201e+02] [ 4.90565872e-01 -8.71393536e-01 -4.29306351e-03 -3.27218223e+02] [-9.13692719e-03 -2.17330562e-04 -9.99958234e-01 -4.88164010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters 0.05178947810803147 Centerline is valid? [True, True] Translation: X:477.20, Y:-327.27, Z:-4.88 [[ 8.31789069e-01 5.55038783e-01 -7.67426549e-03 4.77203675e+02] [ 5.55017277e-01 -8.31824448e-01 -4.88978873e-03 -3.27267556e+02] [-9.09766404e-03 -1.92077123e-04 -9.99958597e-01 -4.88272382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters 0.05190440711065654 Centerline is valid? [True, True] Translation: X:477.28, Y:-327.32, Z:-4.88 [[ 7.87629653e-01 6.16112318e-01 -6.71867699e-03 4.77277834e+02] [ 6.16091546e-01 -7.87658294e-01 -5.06149522e-03 -3.27315369e+02] [-8.41047121e-03 -1.52736373e-04 -9.99964620e-01 -4.88325297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters 0.051572795146472866 Centerline is valid? [True, True] Translation: X:477.35, Y:-327.36, Z:-4.88 [[ 7.40572185e-01 6.71954540e-01 -5.47122905e-03 4.77352097e+02] [ 6.71937136e-01 -7.40592389e-01 -4.83721743e-03 -3.27355309e+02] [-7.30234081e-03 -9.40132916e-05 -9.99973333e-01 -4.88280021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters 0.05208003615267265 Centerline is valid? [True, True] Translation: X:477.42, Y:-327.38, Z:-4.88 [[ 6.87824053e-01 7.25864099e-01 -4.40248696e-03 4.77422483e+02] [ 7.25849817e-01 -6.87838139e-01 -4.55380534e-03 -3.27382160e+02] [-6.33364225e-03 -6.33275047e-05 -9.99979940e-01 -4.88393731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters 0.05188204530703786 Centerline is valid? [True, True] Translation: X:477.50, Y:-327.41, Z:-4.89 [[ 6.29767905e-01 7.76776458e-01 -3.27418786e-03 4.77499539e+02] [ 7.76766335e-01 -6.29776415e-01 -3.96596944e-03 -3.27407907e+02] [-5.14267798e-03 -4.56386333e-05 -9.99986775e-01 -4.88554820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters 0.05139549902029628 Centerline is valid? [True, True] Translation: X:477.58, Y:-327.43, Z:-4.89 [[ 5.65399796e-01 8.24812134e-01 -2.83091434e-03 4.77577115e+02] [ 8.24802267e-01 -5.65406880e-01 -4.03493258e-03 -3.27427404e+02] [-4.92867979e-03 -5.35945073e-05 -9.99987853e-01 -4.88553513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters 0.05144801675087712 Centerline is valid? [True, True] Translation: X:477.66, Y:-327.45, Z:-4.88 [[ 4.94277770e-01 8.69297701e-01 -3.31559456e-03 4.77662518e+02] [ 8.69279585e-01 -4.94288879e-01 -5.61309953e-03 -3.27445911e+02] [-6.51831603e-03 -1.07748351e-04 -9.99978750e-01 -4.88239921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters 0.05190480056447718 Centerline is valid? [True, True] Translation: X:477.74, Y:-327.45, Z:-4.88 [[ 4.18156223e-01 9.08366369e-01 -3.98898276e-03 4.77742441e+02] [ 9.08329854e-01 -4.18175193e-01 -8.14769160e-03 -3.27451969e+02] [-9.06918267e-03 -2.16304183e-04 -9.99958851e-01 -4.88199114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters 0.05195692716723437 Centerline is valid? [True, True] Translation: X:477.83, Y:-327.45, Z:-4.88 [[ 3.42466165e-01 9.39523027e-01 -3.66161030e-03 4.77827813e+02] [ 9.39477544e-01 -3.42485631e-01 -9.24862487e-03 -3.27454571e+02] [-9.94334495e-03 -2.72659554e-04 -9.99950527e-01 -4.88154769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters 0.05268428828849609 Centerline is valid? [True, True] Translation: X:477.92, Y:-327.45, Z:-4.88 [[ 2.66347097e-01 9.63873074e-01 -2.81447184e-03 4.77915569e+02] [ 9.63829760e-01 -2.66361822e-01 -9.14184811e-03 -3.27452956e+02] [-9.56124909e-03 -2.77767015e-04 -9.99954252e-01 -4.88088537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters 0.051562872947032434 Centerline is valid? [True, True] Translation: X:478.00, Y:-327.44, Z:-4.88 [[ 1.90336524e-01 9.81717317e-01 -1.76577988e-03 4.77999978e+02] [ 9.81685682e-01 -1.90344573e-01 -7.88449712e-03 -3.27442019e+02] [-8.07645398e-03 -2.32733051e-04 -9.99967358e-01 -4.88299585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters 0.05194850713720158 Centerline is valid? [True, True] Translation: X:478.08, Y:-327.43, Z:-4.88 [[ 1.17350769e-01 9.93090079e-01 -9.44546026e-04 4.78081970e+02] [ 9.93068107e-01 -1.17354458e-01 -6.60810415e-03 -3.27426254e+02] [-6.67328936e-03 -1.62532428e-04 -9.99977720e-01 -4.88291951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters 0.05148377217468536 Centerline is valid? [True, True] Translation: X:478.15, Y:-327.40, Z:-4.88 [[ 4.38868772e-02 9.99036438e-01 -3.71174825e-04 4.78152669e+02] [ 9.99019464e-01 -4.38882956e-02 -5.82477285e-03 -3.27402857e+02] [-5.83545055e-03 -1.15179784e-04 -9.99982967e-01 -4.88316367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters 0.05025815712052709 Centerline is valid? [True, True] Translation: X:478.23, Y:-327.37, Z:-4.88 [[-2.76522456e-02 9.99617600e-01 8.15449947e-05 4.78228586e+02] [ 9.99602180e-01 2.76522720e-02 -5.55272593e-03 -3.27373726e+02] [-5.55285747e-03 -7.20327865e-05 -9.99984580e-01 -4.88459843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters 0.05122802500761736 Centerline is valid? [True, True] Translation: X:478.31, Y:-327.34, Z:-4.88 [[-1.03942521e-01 9.94583130e-01 5.91028887e-04 4.78312019e+02] [ 9.94562939e-01 1.03944177e-01 -6.33789977e-03 -3.27340705e+02] [-6.36500220e-03 -7.09618530e-05 -9.99979741e-01 -4.88270646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters 0.05061828447003936 Centerline is valid? [True, True] Translation: X:478.38, Y:-327.30, Z:-4.88 [[-1.76851335e-01 9.84236421e-01 1.50746087e-03 4.78379014e+02] [ 9.84197826e-01 1.76857750e-01 -8.71638073e-03 -3.27302034e+02] [-8.84558552e-03 -5.78638580e-05 -9.99960875e-01 -4.88147497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters 0.05033529091726002 Centerline is valid? [True, True] Translation: X:478.44, Y:-327.26, Z:-4.88 [[-2.50298682e-01 9.68165050e-01 2.64669881e-03 4.78442660e+02] [ 9.68109351e-01 2.50312672e-01 -1.03851286e-02 -3.27258637e+02] [-1.07170208e-02 -3.70901317e-05 -9.99942570e-01 -4.88026302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters 0.04991136169565967 Centerline is valid? [True, True] Translation: X:478.50, Y:-327.21, Z:-4.88 [[-3.20141035e-01 9.47362637e-01 3.70819012e-03 4.78496547e+02] [ 9.47299910e-01 3.20162510e-01 -1.09017412e-02 -3.27213826e+02] [-1.15151257e-02 2.26734615e-05 -9.99933699e-01 -4.87906660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters 0.05057048997386673 Centerline is valid? [True, True] Translation: X:478.55, Y:-327.16, Z:-4.88 [[-3.89985630e-01 9.20811933e-01 4.07327500e-03 4.78553842e+02] [ 9.20763236e-01 3.90006897e-01 -9.47010838e-03 -3.27161669e+02] [-1.03087942e-02 5.73156875e-05 -9.99946861e-01 -4.88120244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters 0.050435286949522616 Centerline is valid? [True, True] Translation: X:478.60, Y:-327.11, Z:-4.88 [[-4.58925264e-01 8.88466282e-01 3.90746897e-03 4.78602391e+02] [ 8.88435275e-01 4.58941894e-01 -7.42294362e-03 -3.27109606e+02] [-8.38833633e-03 6.49569032e-05 -9.99964815e-01 -4.88167467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters 0.04987275424688028 Centerline is valid? [True, True] Translation: X:478.65, Y:-327.05, Z:-4.88 [[-5.28489983e-01 8.48931394e-01 3.71833136e-03 4.78650178e+02] [ 8.48910942e-01 5.28503061e-01 -5.89293125e-03 -3.27051220e+02] [-6.96784385e-03 4.21770426e-05 -9.99975723e-01 -4.88277813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters 0.04993605581808722 Centerline is valid? [True, True] Translation: X:478.69, Y:-326.99, Z:-4.88 [[-5.96626803e-01 8.02508480e-01 4.07398896e-03 4.78694473e+02] [ 8.02489918e-01 5.96640712e-01 -5.45813061e-03 -3.26989514e+02] [-6.81090377e-03 1.28680466e-05 -9.99976805e-01 -4.88178331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters 0.04945593692309881 Centerline is valid? [True, True] Translation: X:478.74, Y:-326.92, Z:-4.88 [[-6.64290270e-01 7.47459597e-01 4.75264214e-03 4.78735108e+02] [ 7.47439919e-01 6.64307269e-01 -5.42405468e-03 -3.26923152e+02] [-7.21147645e-03 -5.08322939e-05 -9.99973996e-01 -4.88224936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters 0.049188803252826846 Centerline is valid? [True, True] Translation: X:478.77, Y:-326.85, Z:-4.88 [[-7.25381784e-01 6.88324826e-01 5.49564324e-03 4.78774456e+02] [ 6.88303958e-01 7.25402594e-01 -5.36074261e-03 -3.26848291e+02] [-7.67648608e-03 -1.05912046e-04 -9.99970530e-01 -4.88252344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters 0.04915866431714198 Centerline is valid? [True, True] Translation: X:478.83, Y:-326.79, Z:-4.88 [[-7.78168091e-01 6.28028586e-01 5.87512701e-03 4.78827635e+02] [ 6.28008950e-01 7.78190249e-01 -4.96939116e-03 -3.26786096e+02] [-7.69288626e-03 -1.77389284e-04 -9.99970394e-01 -4.88168458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters 0.04892346243569253 Centerline is valid? [True, True] Translation: X:478.87, Y:-326.72, Z:-4.88 [[-8.21207617e-01 5.70589954e-01 6.71968194e-03 4.78867920e+02] [ 5.70568856e-01 8.21235085e-01 -4.91086426e-03 -3.26719611e+02] [-8.32052838e-03 -1.98797904e-04 -9.99965364e-01 -4.88186560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters 0.049106808534199305 Centerline is valid? [True, True] Translation: X:478.90, Y:-326.65, Z:-4.88 [[-8.58414122e-01 5.12915909e-01 6.51661089e-03 4.78900717e+02] [ 5.12899635e-01 8.58438840e-01 -4.08933051e-03 -3.26646060e+02] [-7.69159457e-03 -1.67971715e-04 -9.99970405e-01 -4.88241225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters 0.0492743739544881 Centerline is valid? [True, True] Translation: X:478.80, Y:-326.49, Z:-4.88 [[-8.91157980e-01 4.53663271e-01 5.20491001e-03 4.78799544e+02] [ 4.53654812e-01 8.91173173e-01 -2.77252620e-03 -3.26493715e+02] [-5.89626947e-03 -1.09526383e-04 -9.99982611e-01 -4.88308945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters 0.04978701492241962 Centerline is valid? [True, True] Translation: X:478.82, Y:-326.41, Z:-4.88 [[-9.20939234e-01 3.89676308e-01 4.82722046e-03 4.78822681e+02] [ 3.89670408e-01 9.20951881e-01 -2.14641130e-03 -3.26413825e+02] [-5.28204339e-03 -9.56894123e-05 -9.99986045e-01 -4.88271790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters 0.051196736822846055 Centerline is valid? [True, True] Translation: X:478.86, Y:-326.34, Z:-4.88 [[-9.47130116e-01 3.20789586e-01 6.21171610e-03 4.78859935e+02] [ 3.20781733e-01 9.47150475e-01 -2.24882009e-03 -3.26337107e+02] [-6.60482792e-03 -1.37320181e-04 -9.99978178e-01 -4.88056623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters 0.04954126249776381 Centerline is valid? [True, True] Translation: X:478.83, Y:-326.25, Z:-4.88 [[-9.68086044e-01 2.50510416e-01 7.34457179e-03 4.78831211e+02] [ 2.50501820e-01 9.68113888e-01 -2.08282451e-03 -3.26248326e+02] [-7.63215118e-03 -1.76524741e-04 -9.99970859e-01 -4.88158759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters 0.04920445326912583 Centerline is valid? [True, True] Translation: X:478.82, Y:-326.16, Z:-4.88 [[-9.83811310e-01 1.79005269e-01 8.50998403e-03 4.78823449e+02] [ 1.78996636e-01 9.83848091e-01 -1.77176774e-03 -3.26164908e+02] [-8.68968729e-03 -2.19826630e-04 -9.99962220e-01 -4.88247686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters 0.04906475240980433 Centerline is valid? [True, True] Translation: X:478.79, Y:-326.08, Z:-4.88 [[-9.94160413e-01 1.07540115e-01 8.95529804e-03 4.78787065e+02] [ 1.07533586e-01 9.94200717e-01 -1.20888472e-03 -3.26075842e+02] [-9.03336734e-03 -2.38830021e-04 -9.99959170e-01 -4.88266892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters 0.04944197553051033 Centerline is valid? [True, True] Translation: X:478.74, Y:-325.99, Z:-4.88 [[-9.99217875e-01 3.86782631e-02 8.22377684e-03 4.78739453e+02] [ 3.86752989e-02 9.99251696e-01 -5.19216555e-04 -3.25989079e+02] [-8.23770535e-03 -2.00753435e-04 -9.99966049e-01 -4.88269345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters 0.04920850019479187 Centerline is valid? [True, True] Translation: X:478.71, Y:-325.33, Z:-5.88 [[-9.88404537e-01 -1.51657265e-01 7.51972236e-03 4.78706838e+02] [ 1.51653982e-01 -9.88433130e-01 -1.00818048e-03 -3.25329349e+02] [ 7.58564061e-03 1.43905676e-04 9.99971218e-01 -5.87901928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters 0.04940962772613726 Centerline is valid? [True, True] Translation: X:478.54, Y:-325.98, Z:-4.88 [[-9.99129260e-01 4.10034684e-02 7.70956474e-03 4.78538059e+02] [ 4.10011588e-02 9.99158994e-01 -4.57460783e-04 -3.25981991e+02] [-7.72183843e-03 -1.40961365e-04 -9.99970176e-01 -4.88301651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters 0.04880342810014081 Centerline is valid? [True, True] Translation: X:478.40, Y:-325.90, Z:-4.88 [[-9.99653404e-01 -2.54856575e-02 6.59949637e-03 4.78404654e+02] [-2.54856981e-02 9.99675184e-01 7.79586891e-05 -3.25902970e+02] [-6.59933957e-03 -9.02611034e-05 -9.99978220e-01 -4.88366065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters 0.048912106914523606 Centerline is valid? [True, True] Translation: X:478.34, Y:-325.83, Z:-4.89 [[-9.95433141e-01 -9.52364207e-02 6.54875123e-03 4.78344431e+02] [-9.52348970e-02 9.95454679e-01 5.44827128e-04 -3.25829743e+02] [-6.57087244e-03 -8.13306698e-05 -9.99978408e-01 -4.88548739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters 0.04934698901738237 Centerline is valid? [True, True] Translation: X:478.23, Y:-325.17, Z:-5.88 [[-9.99971583e-01 3.03561833e-03 6.90065319e-03 4.78227150e+02] [-3.03480579e-03 -9.99995387e-01 1.28215665e-04 -3.25168425e+02] [ 6.90101057e-03 1.07269879e-04 9.99976182e-01 -5.87852058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters 0.049283314034296984 Centerline is valid? [True, True] Translation: X:478.18, Y:-325.84, Z:-4.88 [[-9.95029585e-01 -9.93129757e-02 7.28412323e-03 4.78175268e+02] [-9.93109915e-02 9.95056242e-01 6.34491261e-04 -3.25839990e+02] [-7.31112550e-03 -9.20559244e-05 -9.99973269e-01 -4.88428335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters 0.04921401463865614 Centerline is valid? [True, True] Translation: X:478.09, Y:-325.19, Z:-5.88 [[-9.99949114e-01 6.11299956e-03 8.02499602e-03 4.78085963e+02] [-6.11160614e-03 -9.99981304e-01 1.98146883e-04 -3.25185124e+02] [ 8.02605726e-03 1.49091185e-04 9.99967780e-01 -5.87866644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters 0.049970469210958574 Centerline is valid? [True, True] Translation: X:478.01, Y:-325.85, Z:-4.88 [[-9.94581244e-01 -1.03646976e-01 8.09038630e-03 4.78005767e+02] [-1.03644422e-01 9.94614143e-01 7.35414246e-04 -3.25851443e+02] [-8.12303610e-03 -1.07094199e-04 -9.99967002e-01 -4.88281049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters 0.05059116508688697 Centerline is valid? [True, True] Translation: X:477.94, Y:-325.78, Z:-4.88 [[-9.84789016e-01 -1.73585199e-01 7.66630265e-03 4.77941895e+02] [-1.73580711e-01 9.84818851e-01 1.25204390e-03 -3.25783222e+02] [-7.76725565e-03 -9.77231878e-05 -9.99969830e-01 -4.88405194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters 0.0495017717105924 Centerline is valid? [True, True] Translation: X:477.79, Y:-325.14, Z:-5.88 [[-9.96573042e-01 8.24194693e-02 7.01449071e-03 4.77786911e+02] [-8.24171397e-02 -9.96597727e-01 6.21012161e-04 -3.25143293e+02] [ 7.04180899e-03 4.07697172e-05 9.99975205e-01 -5.87781268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters 0.04932560697269344 Centerline is valid? [True, True] Translation: X:477.76, Y:-325.81, Z:-4.88 [[-9.84208720e-01 -1.76928696e-01 5.42515954e-03 4.77755471e+02] [-1.76926378e-01 9.84223670e-01 9.07982152e-04 -3.25812698e+02] [-5.50021853e-03 -6.62098774e-05 -9.99984872e-01 -4.88495500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters 0.04992449942810103 Centerline is valid? [True, True] Translation: X:477.70, Y:-325.75, Z:-4.89 [[-9.68863546e-01 -2.47545989e-01 4.94089654e-03 4.77702032e+02] [-2.47543115e-01 9.68876142e-01 1.19458371e-03 -3.25745968e+02] [-5.08283119e-03 -6.56963110e-05 -9.99987080e-01 -4.88570969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters 0.04943043923428623 Centerline is valid? [True, True] Translation: X:477.64, Y:-325.68, Z:-4.88 [[-9.48531096e-01 -3.16645706e-01 4.92513884e-03 4.77638653e+02] [-3.16641815e-01 9.48543880e-01 1.57135781e-03 -3.25679583e+02] [-5.16927401e-03 -6.90231512e-05 -9.99986637e-01 -4.88448650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters 0.04962958835850408 Centerline is valid? [True, True] Translation: X:477.55, Y:-325.63, Z:-4.89 [[-9.22953865e-01 -3.84875932e-01 5.16532066e-03 4.77545665e+02] [-3.84870398e-01 9.22968315e-01 2.06542011e-03 -3.25631367e+02] [-5.56235779e-03 -8.16915464e-05 -9.99984527e-01 -4.88527741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters 0.04985781424590266 Centerline is valid? [True, True] Translation: X:477.43, Y:-325.59, Z:-4.88 [[-8.92861641e-01 -4.50301063e-01 5.20032140e-03 4.77426400e+02] [-4.50293994e-01 8.92876780e-01 2.52473212e-03 -3.25594747e+02] [-5.78013578e-03 -8.74370300e-05 -9.99983291e-01 -4.88443587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters 0.049548245895950284 Centerline is valid? [True, True] Translation: X:477.30, Y:-325.57, Z:-4.89 [[-8.57936968e-01 -5.13740997e-01 3.78777456e-03 4.77303709e+02] [-5.13736334e-01 8.57945326e-01 2.18988341e-03 -3.25572274e+02] [-4.37473637e-03 -6.71354873e-05 -9.99990429e-01 -4.88617303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters 0.049391316104813454 Centerline is valid? [True, True] Translation: X:477.15, Y:-325.57, Z:-4.89 [[-8.18954268e-01 -5.73850265e-01 3.12729578e-03 4.77154215e+02] [-5.73846342e-01 8.18960237e-01 2.12268914e-03 -3.25571009e+02] [-3.77923662e-03 -5.62019183e-05 -9.99992857e-01 -4.88596195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters 0.049349724864348986 Centerline is valid? [True, True] Translation: X:476.98, Y:-325.60, Z:-4.89 [[-7.76229641e-01 -6.30443748e-01 2.86790727e-03 4.76981529e+02] [-6.30439684e-01 7.76234937e-01 2.26426407e-03 -3.25602812e+02] [-3.65366095e-03 -5.04536612e-05 -9.99993324e-01 -4.88553290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters 0.049505100050377976 Centerline is valid? [True, True] Translation: X:476.82, Y:-325.64, Z:-4.88 [[-7.30152115e-01 -6.83274278e-01 3.76173180e-03 4.76822529e+02] [-6.83265604e-01 7.30161803e-01 3.44330765e-03 -3.25639172e+02] [-5.09939642e-03 -5.61235831e-05 -9.99986996e-01 -4.88487822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters 0.04958116636739747 Centerline is valid? [True, True] Translation: X:476.91, Y:-325.44, Z:-4.89 [[-6.77854146e-01 -7.35184627e-01 4.16185263e-03 4.76906608e+02] [-7.35171260e-01 6.77866920e-01 4.43357788e-03 -3.25443651e+02] [-6.08068052e-03 -5.43552933e-05 -9.99981511e-01 -4.88649375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters 0.049933917393252585 Centerline is valid? [True, True] Translation: X:476.51, Y:-325.77, Z:-4.88 [[-6.26143550e-01 -7.79695850e-01 4.31689410e-03 4.76511430e+02] [-7.79677782e-01 6.26158430e-01 5.30820799e-03 -3.25770616e+02] [-6.84184737e-03 -4.20862198e-05 -9.99976593e-01 -4.88411908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters 0.050252460491368105 Centerline is valid? [True, True] Translation: X:476.34, Y:-325.87, Z:-4.88 [[-5.69192098e-01 -8.22195310e-01 3.90233283e-03 4.76343125e+02] [-8.22176304e-01 5.69205474e-01 5.59043877e-03 -3.25870108e+02] [-6.81766175e-03 -2.63720158e-05 -9.99976759e-01 -4.88407331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters 0.04973777987041645 Centerline is valid? [True, True] Translation: X:476.16, Y:-326.02, Z:-4.88 [[-5.10481191e-01 -8.59883625e-01 3.01734047e-03 4.76162231e+02] [-8.59868625e-01 5.10490109e-01 5.07900799e-03 -3.26015503e+02] [-5.90767827e-03 -1.77834989e-06 -9.99982550e-01 -4.88449004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters 0.050246046510561096 Centerline is valid? [True, True] Translation: X:476.00, Y:-326.15, Z:-4.89 [[-4.47246981e-01 -8.94407176e-01 2.43750684e-03 4.76004732e+02] [-8.94393813e-01 4.47253623e-01 4.88923850e-03 -3.26149362e+02] [-5.46315376e-03 6.60612657e-06 -9.99985077e-01 -4.88513717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters 0.05017677856470884 Centerline is valid? [True, True] Translation: X:475.85, Y:-326.32, Z:-4.88 [[-3.80477036e-01 -9.24788571e-01 1.82319065e-03 4.75846273e+02] [-9.24777858e-01 3.80481404e-01 4.45135996e-03 -3.26318582e+02] [-4.81025695e-03 7.59390365e-06 -9.99988431e-01 -4.88432719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters 0.04917412588139322 Centerline is valid? [True, True] Translation: X:475.71, Y:-326.47, Z:-4.88 [[-3.09272623e-01 -9.50972580e-01 1.26358975e-03 4.75710101e+02] [-9.50964650e-01 3.09275204e-01 3.88358473e-03 -3.26472352e+02] [-4.08397957e-03 -5.42751665e-07 -9.99991661e-01 -4.88481304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters 0.04974190166609623 Centerline is valid? [True, True] Translation: X:475.58, Y:-326.64, Z:-4.88 [[-2.35209116e-01 -9.71944323e-01 9.51280096e-04 4.75584638e+02] [-9.71936574e-01 2.35211040e-01 3.88103661e-03 -3.26635941e+02] [-3.99590308e-03 -1.17287270e-05 -9.99992016e-01 -4.88469982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters 0.04909578961497892 Centerline is valid? [True, True] Translation: X:475.47, Y:-326.80, Z:-4.88 [[-1.56616809e-01 -9.87659162e-01 7.45293010e-04 4.75470465e+02] [-9.87649159e-01 1.56618578e-01 4.44518911e-03 -3.26802323e+02] [-4.50705848e-03 -3.98966793e-05 -9.99989842e-01 -4.88401375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters 0.04964454239794076 Centerline is valid? [True, True] Translation: X:475.37, Y:-326.96, Z:-4.88 [[-7.85519390e-02 -9.96909941e-01 4.03770577e-04 4.75371457e+02] [-9.96900275e-01 7.85529556e-02 4.39029702e-03 -3.26956072e+02] [-4.40844812e-03 -5.76526555e-05 -9.99990281e-01 -4.88326969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters 0.04998367838106379 Centerline is valid? [True, True] Translation: X:475.28, Y:-327.11, Z:-4.88 [[ 1.20855846e-04 -9.99999991e-01 6.45341732e-05 4.75276305e+02] [-9.99993077e-01 -1.20614999e-04 3.71913503e-03 -3.27110865e+02] [-3.71912721e-03 -6.49832056e-05 -9.99993082e-01 -4.88216838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters 0.049439666962362495 Centerline is valid? [True, True] Translation: X:475.21, Y:-327.35, Z:-4.88 [[ 7.53050776e-02 -9.97160535e-01 -1.09925910e-04 4.75205844e+02] [-9.97158664e-01 -7.53051493e-02 1.93233417e-03 -3.27349664e+02] [-1.93512537e-03 -3.59010015e-05 -9.99998127e-01 -4.88417690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters 0.050616646777939076 Centerline is valid? [True, True] Translation: X:474.59, Y:-327.61, Z:-5.88 [[-2.99825701e-02 9.99550405e-01 1.84589841e-04 4.74585220e+02] [-9.99549943e-01 -2.99823746e-02 -9.84087292e-04 -3.27608748e+02] [-9.78110410e-04 -2.14012232e-04 9.99999499e-01 -5.87636750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters 0.048994048722004045 Centerline is valid? [True, True] Translation: X:475.23, Y:-327.84, Z:-4.89 [[ 8.07419119e-02 -9.96735037e-01 9.81804754e-05 4.75232011e+02] [-9.96733784e-01 -8.07419661e-02 -1.58059327e-03 -3.27838390e+02] [ 1.58335998e-03 2.97603260e-05 -9.99998746e-01 -4.88580718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters 0.04900973956491837 Centerline is valid? [True, True] Translation: X:475.18, Y:-328.10, Z:-4.89 [[ 1.52214265e-01 -9.88347508e-01 1.47261715e-04 4.75180897e+02] [-9.88346918e-01 -1.52214335e-01 -1.07949045e-03 -3.28104723e+02] [ 1.08932704e-03 1.87681829e-05 -9.99999407e-01 -4.88518066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters 0.0486317229773831 Centerline is valid? [True, True] Translation: X:475.15, Y:-328.36, Z:-4.88 [[ 2.20464428e-01 -9.75395010e-01 -1.05016431e-04 4.75148914e+02] [-9.75394891e-01 -2.20464453e-01 4.81662811e-04 -3.28356501e+02] [-4.92963892e-04 -3.75702565e-06 -9.99999879e-01 -4.88383355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters 0.04908991027101127 Centerline is valid? [True, True] Translation: X:475.14, Y:-328.64, Z:-4.88 [[ 2.87976859e-01 -9.57637318e-01 -3.08733236e-04 4.75144170e+02] [-9.57636746e-01 -2.87977025e-01 1.04659696e-03 -3.28640923e+02] [-1.09116838e-03 -5.74141324e-06 -9.99999405e-01 -4.88379813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters 0.04926930282667701 Centerline is valid? [True, True] Translation: X:475.17, Y:-328.95, Z:-4.88 [[ 3.49943936e-01 -9.36770439e-01 -6.21765284e-04 4.75172905e+02] [-9.36768985e-01 -3.49944489e-01 1.65020640e-03 -3.28945921e+02] [-1.76344791e-03 4.97070926e-06 -9.99998445e-01 -4.88350413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters 0.049545129702574145 Centerline is valid? [True, True] Translation: X:475.22, Y:-329.25, Z:-4.88 [[ 4.12258060e-01 -9.11066779e-01 -7.85440667e-04 4.75222708e+02] [-9.11065205e-01 -4.12258808e-01 1.69312978e-03 -3.29247265e+02] [-1.86635913e-03 1.75812636e-05 -9.99998258e-01 -4.88329799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters 0.04972116244200247 Centerline is valid? [True, True] Translation: X:474.93, Y:-328.86, Z:-4.88 [[ 4.76352447e-01 -8.79254187e-01 -6.49391924e-04 4.74929099e+02] [-8.79253421e-01 -4.76352889e-01 1.16086053e-03 -3.28855573e+02] [-1.33003120e-03 1.80013189e-05 -9.99999115e-01 -4.88397690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters 0.049774844383713025 Centerline is valid? [True, True] Translation: X:474.92, Y:-329.01, Z:-4.88 [[ 5.36707601e-01 -8.43767948e-01 -7.75419688e-04 4.74917678e+02] [-8.43767132e-01 -5.36708160e-01 1.17390997e-03 -3.29012642e+02] [-1.40668168e-03 2.42272398e-05 -9.99999010e-01 -4.88312865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters 0.049766405428908304 Centerline is valid? [True, True] Translation: X:475.15, Y:-329.50, Z:-4.88 [[ 5.96549172e-01 -8.02576058e-01 -8.70044835e-04 4.75152355e+02] [-8.02575265e-01 -5.96549806e-01 1.12845764e-03 -3.29500667e+02] [-1.42469816e-03 2.50959938e-05 -9.99998985e-01 -4.88298839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters 0.04955603276846801 Centerline is valid? [True, True] Translation: X:475.20, Y:-329.69, Z:-4.88 [[ 6.54144221e-01 -7.56368295e-01 -1.52953394e-03 4.75195103e+02] [-7.56366365e-01 -6.54146008e-01 1.70921958e-03 -3.29687207e+02] [-2.29333802e-03 3.88119187e-05 -9.99997370e-01 -4.88140123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters 0.049683714322160726 Centerline is valid? [True, True] Translation: X:475.75, Y:-330.38, Z:-4.88 [[ 7.08850453e-01 -7.05354339e-01 -2.50846091e-03 4.75747094e+02] [-7.05350168e-01 -7.08854889e-01 2.42608301e-03 -3.30384496e+02] [-3.48938296e-03 4.96132898e-05 -9.99993911e-01 -4.87921813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters 0.04967116552915684 Centerline is valid? [True, True] Translation: X:475.72, Y:-330.46, Z:-4.88 [[ 7.63605875e-01 -6.45674171e-01 -3.30657811e-03 4.75721405e+02] [-6.45668393e-01 -7.63613032e-01 2.73191161e-03 -3.30462446e+02] [-4.28887090e-03 4.88492227e-05 -9.99990802e-01 -4.87865299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters 0.04959375866654622 Centerline is valid? [True, True] Translation: X:475.70, Y:-330.54, Z:-4.88 [[ 8.13697470e-01 -5.81274616e-01 -4.03093256e-03 4.75701752e+02] [-5.81267722e-01 -8.13707453e-01 2.83134522e-03 -3.30540225e+02] [-4.92578897e-03 3.91925468e-05 -9.99987867e-01 -4.87737544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters 0.04953487788099427 Centerline is valid? [True, True] Translation: X:475.68, Y:-330.63, Z:-4.88 [[ 8.58695030e-01 -5.12463009e-01 -4.95076755e-03 4.75684239e+02] [-5.12454642e-01 -8.58709301e-01 2.92842733e-03 -3.30628552e+02] [-5.75198082e-03 2.24178156e-05 -9.99983457e-01 -4.87785023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters 0.050012815288528766 Centerline is valid? [True, True] Translation: X:475.67, Y:-330.72, Z:-4.88 [[ 8.98038578e-01 -4.39870816e-01 -6.35437528e-03 4.75674361e+02] [-4.39859777e-01 -8.98061059e-01 3.11633967e-03 -3.30715368e+02] [-7.07740386e-03 -3.55915324e-06 -9.99974955e-01 -4.87592805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters 0.04997942350058056 Centerline is valid? [True, True] Translation: X:475.67, Y:-330.81, Z:-4.87 [[ 9.32015141e-01 -3.62339489e-01 -7.60734462e-03 4.75670073e+02] [-3.62326918e-01 -9.32046185e-01 3.01877034e-03 -3.30809254e+02] [-8.18421623e-03 -5.71939352e-05 -9.99966507e-01 -4.87477117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters 0.05022829230155705 Centerline is valid? [True, True] Translation: X:475.67, Y:-330.90, Z:-4.87 [[ 9.58712740e-01 -2.84246102e-01 -8.60442622e-03 4.75674708e+02] [-2.84233697e-01 -9.58751346e-01 2.65745191e-03 -3.30902290e+02] [-9.00487557e-03 -1.02065126e-04 -9.99959450e-01 -4.87399738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters 0.0501435083330463 Centerline is valid? [True, True] Translation: X:475.69, Y:-330.99, Z:-4.87 [[ 9.78996688e-01 -2.03696272e-01 -8.56240967e-03 4.75685822e+02] [-2.03687210e-01 -9.79034120e-01 1.92660702e-03 -3.30993820e+02] [-8.77533389e-03 -1.42088556e-04 -9.99961486e-01 -4.87345396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters 0.05083977401120499 Centerline is valid? [True, True] Translation: X:475.70, Y:-331.09, Z:-4.87 [[ 9.92770008e-01 -1.19742448e-01 -8.33406080e-03 4.75704577e+02] [-1.19736587e-01 -9.92804970e-01 1.20052066e-03 -3.31085726e+02] [-8.41785027e-03 -1.93948910e-04 -9.99964550e-01 -4.87389680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters 0.050180881575937086 Centerline is valid? [True, True] Translation: X:475.73, Y:-331.18, Z:-4.87 [[ 9.99262617e-01 -3.74259865e-02 -8.57429518e-03 4.75730833e+02] [-3.74225856e-02 -9.99299375e-01 5.56796956e-04 -3.31177184e+02] [-8.58912649e-03 -2.35514089e-04 -9.99963085e-01 -4.87425158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters 0.05149494742673062 Centerline is valid? [True, True] Translation: X:475.76, Y:-331.28, Z:-4.87 [[ 9.98957890e-01 4.45341583e-02 -9.99208899e-03 4.75762860e+02] [ 4.45350478e-02 -9.99007814e-01 -1.33573785e-04 -3.31281671e+02] [-9.98812357e-03 -3.11563575e-04 -9.99950069e-01 -4.87149871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters 0.050240715459358556 Centerline is valid? [True, True] Translation: X:475.80, Y:-331.36, Z:-4.87 [[ 9.92066445e-01 1.25289647e-01 -1.03282801e-02 4.75798818e+02] [ 1.25286544e-01 -9.92120144e-01 -9.49515533e-04 -3.31364897e+02] [-1.03658592e-02 -3.52012019e-04 -9.99946211e-01 -4.87414457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters 0.053155182775011835 Centerline is valid? [True, True] Translation: X:475.84, Y:-331.46, Z:-4.87 [[ 9.79310949e-01 2.02069149e-01 -1.08684838e-02 4.75842523e+02] [ 2.02060878e-01 -9.79371187e-01 -1.86520532e-03 -3.31464519e+02] [-1.10211803e-02 -3.69479383e-04 -9.99939197e-01 -4.87025335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters 0.04987202133120071 Centerline is valid? [True, True] Translation: X:475.89, Y:-331.53, Z:-4.87 [[ 9.60953546e-01 2.76531230e-01 -9.93786107e-03 4.75890461e+02] [ 2.76519946e-01 -9.61004876e-01 -2.51943643e-03 -3.31534825e+02] [-1.02470358e-02 -3.26955434e-04 -9.99947444e-01 -4.87471639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters 0.05040904128519899 Centerline is valid? [True, True] Translation: X:475.94, Y:-331.61, Z:-4.87 [[ 9.37823413e-01 3.46969543e-01 -9.96912165e-03 4.75943988e+02] [ 3.46953233e-01 -9.37876352e-01 -3.37683727e-03 -3.31609799e+02] [-1.05214631e-02 -2.91941931e-04 -9.99944605e-01 -4.87483260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters 0.05025594318661589 Centerline is valid? [True, True] Translation: X:476.00, Y:-331.67, Z:-4.88 [[ 9.09432967e-01 4.15745700e-01 -9.33766639e-03 4.76001494e+02] [ 4.15726507e-01 -9.09480871e-01 -4.00214439e-03 -3.31673937e+02] [-1.01563033e-02 -2.42233384e-04 -9.99948394e-01 -4.87506127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters 0.050280758533857814 Centerline is valid? [True, True] Translation: X:476.06, Y:-331.73, Z:-4.87 [[ 8.76260032e-01 4.81764839e-01 -8.42594235e-03 4.76061596e+02] [ 4.81744584e-01 -8.76300523e-01 -4.42148345e-03 -3.31730298e+02] [-9.51377295e-03 -1.84782865e-04 -9.99954726e-01 -4.87417845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters 0.04945442856908275 Centerline is valid? [True, True] Translation: X:476.13, Y:-331.78, Z:-4.88 [[ 8.38000038e-01 5.45628539e-01 -6.74046707e-03 4.76126734e+02] [ 5.45612071e-01 -8.38027137e-01 -4.24099684e-03 -3.31782656e+02] [-7.96270323e-03 -1.23724675e-04 -9.99968290e-01 -4.87821638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters 0.05013415830068552 Centerline is valid? [True, True] Translation: X:476.20, Y:-331.83, Z:-4.88 [[ 7.94043601e-01 6.07840621e-01 -4.95374440e-03 4.76197495e+02] [ 6.07829437e-01 -7.94059049e-01 -3.68825487e-03 -3.31832970e+02] [-6.17543670e-03 -8.23964969e-05 -9.99980928e-01 -4.87930483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters 0.04975069611601197 Centerline is valid? [True, True] Translation: X:476.28, Y:-331.88, Z:-4.88 [[ 7.42791521e-01 6.69504463e-01 -4.95284186e-03 4.76275286e+02] [ 6.69490475e-01 -7.42808026e-01 -4.32889944e-03 -3.31882364e+02] [-6.57722818e-03 -1.00410655e-04 -9.99978365e-01 -4.87763784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters 0.04953223145650874 Centerline is valid? [True, True] Translation: X:476.35, Y:-331.92, Z:-4.88 [[ 6.85890678e-01 7.27686486e-01 -5.13384974e-03 4.76354167e+02] [ 7.27667560e-01 -6.85909878e-01 -5.24992817e-03 -3.31921799e+02] [-7.34166003e-03 -1.34859115e-04 -9.99973041e-01 -4.87738953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters 0.050357487820631236 Centerline is valid? [True, True] Translation: X:476.44, Y:-331.96, Z:-4.88 [[ 6.23674542e-01 7.81668014e-01 -5.01809998e-03 4.76437148e+02] [ 7.81644951e-01 -6.23694705e-01 -6.00712920e-03 -3.31958097e+02] [-7.82534314e-03 -1.75878964e-04 -9.99969366e-01 -4.87599061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters 0.04999451886309241 Centerline is valid? [True, True] Translation: X:476.52, Y:-331.98, Z:-4.88 [[ 5.59726271e-01 8.28666641e-01 -4.25447589e-03 4.76517632e+02] [ 8.28645010e-01 -5.59742413e-01 -5.98982512e-03 -3.31981468e+02] [-7.34497886e-03 -1.72787742e-04 -9.99973010e-01 -4.87577761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters 0.051162553697779695 Centerline is valid? [True, True] Translation: X:476.60, Y:-332.00, Z:-4.88 [[ 4.93142525e-01 8.69941749e-01 -3.43559757e-03 4.76598269e+02] [ 8.69922820e-01 -4.93154467e-01 -5.74095875e-03 -3.31998789e+02] [-6.68857998e-03 -1.57593834e-04 -9.99977619e-01 -4.87551525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters 0.04930222892141832 Centerline is valid? [True, True] Translation: X:476.68, Y:-332.01, Z:-4.88 [[ 4.24407257e-01 9.05469321e-01 -1.94641512e-03 4.76678301e+02] [ 9.05460839e-01 -4.24411709e-01 -3.92042041e-03 -3.32008499e+02] [-4.37590177e-03 -9.85477939e-05 -9.99990421e-01 -4.87832686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters 0.04941403165238472 Centerline is valid? [True, True] Translation: X:476.76, Y:-332.01, Z:-4.88 [[ 3.53057733e-01 9.35600235e-01 -1.56146873e-03 4.76762865e+02] [ 9.35592188e-01 -3.53061174e-01 -3.88131236e-03 -3.32013834e+02] [-4.18265074e-03 -9.05706041e-05 -9.99991249e-01 -4.87814208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters 0.05051048315330412 Centerline is valid? [True, True] Translation: X:476.85, Y:-332.02, Z:-4.88 [[ 2.80144841e-01 9.59956828e-01 -1.32524027e-03 4.76853767e+02] [ 9.59947552e-01 -2.80147961e-01 -4.22114707e-03 -3.32016060e+02] [-4.42338231e-03 -8.96285737e-05 -9.99990213e-01 -4.87580280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters 0.0494069512232311 Centerline is valid? [True, True] Translation: X:476.93, Y:-332.01, Z:-4.88 [[ 2.06554104e-01 9.78434620e-01 -1.04690727e-03 4.76932330e+02] [ 9.78424022e-01 -2.06556740e-01 -4.55490125e-03 -3.32007459e+02] [-4.67291883e-03 -8.34856790e-05 -9.99989078e-01 -4.87525549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters 0.0495116781808252 Centerline is valid? [True, True] Translation: X:477.02, Y:-331.99, Z:-4.88 [[ 1.31349387e-01 9.91335917e-01 -6.61947830e-04 4.77015940e+02] [ 9.91325923e-01 -1.31351036e-01 -4.45190516e-03 -3.31993612e+02] [-4.50028101e-03 -7.14510304e-05 -9.99989871e-01 -4.87500862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters 0.04909537931159911 Centerline is valid? [True, True] Translation: X:477.10, Y:-331.97, Z:-4.88 [[ 5.48676259e-02 9.98493592e-01 -3.01502794e-04 4.77096310e+02] [ 9.98484136e-01 -5.48684186e-02 -4.34583888e-03 -3.31973943e+02] [-4.35583525e-03 -6.25998949e-05 -9.99990511e-01 -4.87579277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters 0.048797764460496246 Centerline is valid? [True, True] Translation: X:477.18, Y:-331.95, Z:-4.88 [[-2.30174932e-02 9.99735062e-01 3.79747464e-05 4.77176215e+02] [ 9.99726270e-01 2.30174501e-02 -4.19298565e-03 -3.31948389e+02] [-4.19274885e-03 -5.85476672e-05 -9.99991209e-01 -4.87525614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters 0.048868965094204284 Centerline is valid? [True, True] Translation: X:477.26, Y:-331.92, Z:-4.87 [[-1.01303359e-01 9.94855477e-01 4.58236080e-04 4.77259384e+02] [ 9.94841701e-01 1.01304368e-01 -5.23596890e-03 -3.31916235e+02] [-5.25545365e-03 -7.45488773e-05 -9.99986187e-01 -4.87397918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters 0.048774666505128614 Centerline is valid? [True, True] Translation: X:477.34, Y:-331.88, Z:-4.87 [[-1.78912948e-01 9.83864394e-01 1.00595874e-03 4.77337854e+02] [ 9.83845976e-01 1.78915755e-01 -6.02057217e-03 -3.31878371e+02] [-6.10340845e-03 -8.74498566e-05 -9.99981370e-01 -4.87341423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters 0.04909835120048444 Centerline is valid? [True, True] Translation: X:477.41, Y:-331.83, Z:-4.87 [[-2.54667138e-01 9.67027727e-01 1.42299979e-03 4.77414085e+02] [ 9.67010822e-01 2.54671101e-01 -5.71847814e-03 -3.31834856e+02] [-5.89232384e-03 -8.02522679e-05 -9.99982637e-01 -4.87312901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters 0.05003265201619252 Centerline is valid? [True, True] Translation: X:477.48, Y:-331.79, Z:-4.87 [[-3.28338596e-01 9.44558002e-01 1.98691907e-03 4.77483169e+02] [ 9.44539253e-01 3.28344598e-01 -5.95188614e-03 -3.31786965e+02] [-6.27429583e-03 -7.75108858e-05 -9.99980313e-01 -4.87215809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters 0.04923643818358357 Centerline is valid? [True, True] Translation: X:477.54, Y:-331.73, Z:-4.87 [[-3.99292550e-01 9.16820684e-01 2.30066415e-03 4.77542225e+02] [ 9.16804586e-01 3.99299174e-01 -5.43338289e-03 -3.31734996e+02] [-5.90009111e-03 -6.02498666e-05 -9.99982593e-01 -4.87455540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters 0.04836529177732253 Centerline is valid? [True, True] Translation: X:477.60, Y:-331.68, Z:-4.87 [[-4.66832355e-01 8.84342132e-01 2.55836925e-03 4.77600542e+02] [ 8.84328405e-01 4.66839364e-01 -4.92762028e-03 -3.31676631e+02] [-5.55204970e-03 -3.79339826e-05 -9.99984587e-01 -4.87481022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters 0.048594827941628865 Centerline is valid? [True, True] Translation: X:477.65, Y:-331.62, Z:-4.87 [[-5.27615125e-01 8.49477474e-01 3.20951066e-03 4.77651154e+02] [ 8.49461854e-01 5.27624886e-01 -5.15151041e-03 -3.31617916e+02] [-6.06950974e-03 8.34206657e-06 -9.99981580e-01 -4.87421970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters 0.04932764820405041 Centerline is valid? [True, True] Translation: X:477.69, Y:-331.56, Z:-4.87 [[-5.86746412e-01 8.09762242e-01 3.70935497e-03 4.77691517e+02] [ 8.09746627e-01 5.86758135e-01 -5.02906536e-03 -3.31558247e+02] [-6.24884144e-03 5.28516122e-05 -9.99980474e-01 -4.87424519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters 0.050038348904873735 Centerline is valid? [True, True] Translation: X:477.72, Y:-331.50, Z:-4.87 [[-6.42837913e-01 7.65988619e-01 4.56648804e-03 4.77722086e+02] [ 7.65970484e-01 6.42854123e-01 -5.27205798e-03 -3.31500876e+02] [-6.97392207e-03 1.08716307e-04 -9.99975676e-01 -4.87345074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters 0.050625821912811 Centerline is valid? [True, True] Translation: X:477.75, Y:-331.43, Z:-4.87 [[-6.95680966e-01 7.18331802e-01 5.23596465e-03 4.77754509e+02] [ 7.18313246e-01 6.95700650e-01 -5.16592365e-03 -3.31434146e+02] [-7.35351125e-03 1.67228006e-04 -9.99972949e-01 -4.87450146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters 0.05111494633249436 Centerline is valid? [True, True] Translation: X:478.25, Y:-330.97, Z:-5.89 [[-6.81199328e-01 -7.32081990e-01 4.84104000e-03 4.78253864e+02] [ 7.32061711e-01 -6.81216508e-01 -5.45166535e-03 -3.30974051e+02] [ 7.28886238e-03 -1.69730748e-04 9.99973422e-01 -5.88696833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters 0.050956481582555405 Centerline is valid? [True, True] Translation: X:478.21, Y:-330.94, Z:-5.88 [[-6.81392809e-01 -7.31901706e-01 4.87173241e-03 4.78209751e+02] [ 7.31881050e-01 -6.81410199e-01 -5.50177956e-03 -3.30937900e+02] [ 7.34641000e-03 -1.83344395e-04 9.99972998e-01 -5.88413451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters 0.05063366464807042 Centerline is valid? [True, True] Translation: X:478.17, Y:-330.90, Z:-5.89 [[-6.78685916e-01 -7.34414106e-01 4.62037106e-03 4.78169654e+02] [ 7.34395591e-01 -6.78701627e-01 -5.21697581e-03 -3.30896678e+02] [ 6.96727398e-03 -1.47507873e-04 9.99975717e-01 -5.88544031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters 0.050482122322138646 Centerline is valid? [True, True] Translation: X:478.13, Y:-330.86, Z:-5.89 [[-6.74993550e-01 -7.37808333e-01 4.75099617e-03 4.78126912e+02] [ 7.37788848e-01 -6.75010260e-01 -5.36330654e-03 -3.30856406e+02] [ 7.16406342e-03 -1.14965335e-04 9.99974331e-01 -5.88527584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters 0.05036393020736564 Centerline is valid? [True, True] Translation: X:478.09, Y:-330.81, Z:-5.89 [[-6.70468953e-01 -7.41922887e-01 4.67045696e-03 4.78088236e+02] [ 7.41904166e-01 -6.70485216e-01 -5.27093426e-03 -3.30814163e+02] [ 7.04209911e-03 -6.89663006e-05 9.99975202e-01 -5.88749556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters 0.049629442188098144 Centerline is valid? [True, True] Translation: X:478.04, Y:-330.78, Z:-5.89 [[-6.62497581e-01 -7.49047452e-01 4.98695030e-03 4.78044551e+02] [ 7.49026321e-01 -6.62516350e-01 -5.62631283e-03 -3.30777717e+02] [ 7.51831141e-03 7.93839851e-06 9.99971737e-01 -5.88822635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters 0.05006235713010979 Centerline is valid? [True, True] Translation: X:478.00, Y:-330.74, Z:-5.89 [[-6.57104281e-01 -7.53781293e-01 5.26554735e-03 4.78001925e+02] [ 7.53757898e-01 -6.57125374e-01 -5.93919531e-03 -3.30741022e+02] [ 7.93697909e-03 6.62772375e-05 9.99968500e-01 -5.88878709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters 0.04975691503128099 Centerline is valid? [True, True] Translation: X:477.96, Y:-330.70, Z:-5.89 [[-6.52400479e-01 -7.57856835e-01 5.16068817e-03 4.77959826e+02] [ 7.57834499e-01 -6.52420880e-01 -5.81960447e-03 -3.30702279e+02] [ 7.77736774e-03 1.14234787e-04 9.99969749e-01 -5.88760174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters 0.04993745034008637 Centerline is valid? [True, True] Translation: X:477.92, Y:-330.66, Z:-5.89 [[-6.48015233e-01 -7.61612983e-01 4.68212013e-03 4.77918580e+02] [ 7.61594705e-01 -6.48032131e-01 -5.27842185e-03 -3.30661747e+02] [ 7.05427890e-03 1.45380135e-04 9.99975108e-01 -5.88580450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters 0.05059315767084241 Centerline is valid? [True, True] Translation: X:477.88, Y:-330.62, Z:-5.89 [[-6.47060567e-01 -7.62426592e-01 4.27960740e-03 4.77878382e+02] [ 7.62411348e-01 -6.47074704e-01 -4.82332271e-03 -3.30621222e+02] [ 6.44665519e-03 1.41839321e-04 9.99979210e-01 -5.88602490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters 0.04981701578403554 Centerline is valid? [True, True] Translation: X:477.84, Y:-330.58, Z:-5.88 [[-6.47181968e-01 -7.62324483e-01 4.10886088e-03 4.77840972e+02] [ 7.62310437e-01 -6.47194996e-01 -4.62974977e-03 -3.30576188e+02] [ 6.18860581e-03 1.35936967e-04 9.99980841e-01 -5.88449087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters 0.050240665633516944 Centerline is valid? [True, True] Translation: X:477.80, Y:-330.54, Z:-5.89 [[-6.47265600e-01 -7.62252582e-01 4.27146546e-03 4.77798026e+02] [ 7.62237409e-01 -6.47279678e-01 -4.81149016e-03 -3.30539034e+02] [ 6.43240358e-03 1.41558698e-04 9.99979302e-01 -5.88654195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters 0.04984438341585165 Centerline is valid? [True, True] Translation: X:477.76, Y:-330.49, Z:-5.89 [[-6.47058382e-01 -7.62420139e-01 5.56623213e-03 4.77763773e+02] [ 7.62394394e-01 -6.47082295e-01 -6.26832824e-03 -3.30492092e+02] [ 8.38090995e-03 1.87689841e-04 9.99964862e-01 -5.88590439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters 0.05055981494517302 Centerline is valid? [True, True] Translation: X:477.72, Y:-330.45, Z:-5.89 [[-6.47188787e-01 -7.62300211e-01 6.71284693e-03 4.77724256e+02] [ 7.62262781e-01 -6.47223560e-01 -7.55750899e-03 -3.30450862e+02] [ 1.01058034e-02 2.25818294e-04 9.99948910e-01 -5.88786230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters 0.050321426866747294 Centerline is valid? [True, True] Translation: X:477.69, Y:-330.41, Z:-5.89 [[-6.49765388e-01 -7.60102555e-01 7.00334546e-03 4.77688727e+02] [ 7.60061709e-01 -6.49803097e-01 -7.88245142e-03 -3.30405604e+02] [ 1.05422670e-02 2.01230618e-04 9.99944409e-01 -5.88742159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters 0.05074963529393964 Centerline is valid? [True, True] Translation: X:477.66, Y:-330.36, Z:-5.88 [[-6.56255265e-01 -7.54518473e-01 5.55899400e-03 4.77656060e+02] [ 7.54492546e-01 -6.56278803e-01 -6.25552247e-03 -3.30357836e+02] [ 8.36815719e-03 8.89999811e-05 9.99964982e-01 -5.88486558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters 0.049682666029584495 Centerline is valid? [True, True] Translation: X:477.62, Y:-330.31, Z:-5.88 [[-6.59094360e-01 -7.52042828e-01 5.11952265e-03 4.77620605e+02] [ 7.52020775e-01 -6.59114241e-01 -5.75945496e-03 -3.30311972e+02] [ 7.70570708e-03 5.39631091e-05 9.99970309e-01 -5.88309051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters 0.05066312684972904 Centerline is valid? [True, True] Translation: X:477.59, Y:-330.26, Z:-5.88 [[-6.65325052e-01 -7.46541422e-01 4.29892965e-03 4.77587065e+02] [ 7.46525765e-01 -6.65338940e-01 -4.83501834e-03 -3.30264805e+02] [ 6.46978676e-03 -7.59708110e-06 9.99979071e-01 -5.88272515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters 0.051219436239579405 Centerline is valid? [True, True] Translation: X:477.56, Y:-330.22, Z:-5.88 [[-6.74903901e-01 -7.37893275e-01 4.27067792e-03 4.77557610e+02] [ 7.37877657e-01 -6.74917407e-01 -4.80180962e-03 -3.30215369e+02] [ 6.42557790e-03 -8.95222326e-05 9.99979352e-01 -5.88186708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters 0.05208491781216111 Centerline is valid? [True, True] Translation: X:477.52, Y:-330.17, Z:-5.88 [[-6.80590382e-01 -7.32646576e-01 5.07211474e-03 4.77521344e+02] [ 7.32624410e-01 -6.80609262e-01 -5.70142575e-03 -3.30173535e+02] [ 7.62925832e-03 -1.64380465e-04 9.99970883e-01 -5.87947618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters 0.05330705549093107 Centerline is valid? [True, True] Translation: X:477.48, Y:-330.13, Z:-5.88 [[-6.86380343e-01 -7.27214218e-01 6.44256239e-03 4.77484869e+02] [ 7.27178233e-01 -6.86410519e-01 -7.23993516e-03 -3.30130603e+02] [ 9.68722638e-03 -2.84458041e-04 9.99953037e-01 -5.87863878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters 0.05182844803692161 Centerline is valid? [True, True] Translation: X:477.44, Y:-330.09, Z:-5.88 [[-6.88204474e-01 -7.25482471e-01 7.05595448e-03 4.77444616e+02] [ 7.25439226e-01 -6.88240562e-01 -7.92831221e-03 -3.30087756e+02] [ 1.06080456e-02 -3.37633775e-04 9.99943676e-01 -5.87628896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters 0.05297302060031703 Centerline is valid? [True, True] Translation: X:477.41, Y:-330.04, Z:-5.88 [[-6.87473775e-01 -7.26182044e-01 6.28078882e-03 4.77408915e+02] [ 7.26147819e-01 -6.87502404e-01 -7.05619888e-03 -3.30042824e+02] [ 9.44214234e-03 -2.90170578e-04 9.99955380e-01 -5.87601040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters 0.05278039463282463 Centerline is valid? [True, True] Translation: X:477.37, Y:-330.00, Z:-5.88 [[-6.85441550e-01 -7.28106371e-01 5.56721781e-03 4.77374043e+02] [ 7.28079552e-01 -6.85464119e-01 -6.25358948e-03 -3.29997045e+02] [ 8.36940639e-03 -2.33092617e-04 9.99964949e-01 -5.87677341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters 0.05229866172904892 Centerline is valid? [True, True] Translation: X:477.33, Y:-329.96, Z:-5.87 [[-6.84262693e-01 -7.29215380e-01 5.43116708e-03 4.77330058e+02] [ 7.29189902e-01 -6.84284214e-01 -6.09938703e-03 -3.29958493e+02] [ 8.16422872e-03 -2.13230805e-04 9.99966649e-01 -5.87429438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters 0.053068971438993785 Centerline is valid? [True, True] Translation: X:477.29, Y:-329.92, Z:-5.87 [[-6.79936841e-01 -7.33257035e-01 4.47356892e-03 4.77287169e+02] [ 7.33239844e-01 -6.79951544e-01 -5.02278278e-03 -3.29919087e+02] [ 6.72480090e-03 -1.34976080e-04 9.99977379e-01 -5.87243285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters 0.053252926759622114 Centerline is valid? [True, True] Translation: X:477.25, Y:-329.88, Z:-5.87 [[-6.78187909e-01 -7.34874763e-01 4.49920762e-03 4.77246938e+02] [ 7.34857419e-01 -6.78202823e-01 -5.05031894e-03 -3.29878190e+02] [ 6.76272724e-03 -1.18789139e-04 9.99977125e-01 -5.87149617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters 0.05154399541932224 Centerline is valid? [True, True] Translation: X:477.20, Y:-329.84, Z:-5.87 [[-6.72037923e-01 -7.40501097e-01 4.81203473e-03 4.77203867e+02] [ 7.40481405e-01 -6.72055148e-01 -5.40063221e-03 -3.29839316e+02] [ 7.23312679e-03 -6.62074133e-05 9.99973838e-01 -5.87153948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters 0.051405001982300406 Centerline is valid? [True, True] Translation: X:477.16, Y:-329.80, Z:-5.88 [[-6.67934300e-01 -7.44202758e-01 5.10166268e-03 4.77162867e+02] [ 7.44180743e-01 -6.67953782e-01 -5.72420609e-03 -3.29800039e+02] [ 7.66764484e-03 -2.68344618e-05 9.99970603e-01 -5.87527958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters 0.051617644597512516 Centerline is valid? [True, True] Translation: X:477.12, Y:-329.76, Z:-5.88 [[-6.64455873e-01 -7.47309600e-01 5.17248630e-03 4.77120138e+02] [ 7.47287077e-01 -6.64476006e-01 -5.80192620e-03 -3.29762920e+02] [ 7.77282818e-03 1.02082254e-05 9.99969791e-01 -5.87592780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters 0.05133987186246646 Centerline is valid? [True, True] Translation: X:477.08, Y:-329.73, Z:-5.88 [[-6.60106016e-01 -7.51153368e-01 5.35395677e-03 4.77076580e+02] [ 7.51129376e-01 -6.60127726e-01 -6.00385776e-03 -3.29725183e+02] [ 8.04411328e-03 5.83315870e-05 9.99967644e-01 -5.87556357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters 0.05141176706120497 Centerline is valid? [True, True] Translation: X:477.04, Y:-329.69, Z:-5.88 [[-6.57681512e-01 -7.53277209e-01 5.33621348e-03 4.77035838e+02] [ 7.53253460e-01 -6.57703154e-01 -5.98215460e-03 -3.29686672e+02] [ 8.01586516e-03 8.51687857e-05 9.99967869e-01 -5.87658727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters 0.051815334690977474 Centerline is valid? [True, True] Translation: X:476.99, Y:-329.65, Z:-5.88 [[-6.55407479e-01 -7.55259269e-01 4.94694943e-03 4.76994614e+02] [ 7.55238926e-01 -6.55426140e-01 -5.54431725e-03 -3.29645264e+02] [ 7.42975696e-03 1.02341779e-04 9.99972394e-01 -5.87631324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters 0.051159528473124556 Centerline is valid? [True, True] Translation: X:476.95, Y:-329.60, Z:-5.88 [[-6.54456465e-01 -7.56085337e-01 4.65818757e-03 4.76954752e+02] [ 7.56067330e-01 -6.54473034e-01 -5.21930857e-03 -3.29602656e+02] [ 6.99490083e-03 1.06093209e-04 9.99975530e-01 -5.87614822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters 0.05208662033175289 Centerline is valid? [True, True] Translation: X:476.91, Y:-329.56, Z:-5.88 [[-6.52759114e-01 -7.57549790e-01 4.88410978e-03 4.76911375e+02] [ 7.57530046e-01 -6.52777373e-01 -5.47092227e-03 -3.29564854e+02] [ 7.33273237e-03 1.28665533e-04 9.99973107e-01 -5.87986758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters 0.05186146244202818 Centerline is valid? [True, True] Translation: X:476.87, Y:-329.52, Z:-5.88 [[-6.51883692e-01 -7.58302648e-01 4.97463715e-03 4.76874496e+02] [ 7.58282199e-01 -6.51902658e-01 -5.57058077e-03 -3.29522435e+02] [ 7.46716533e-03 1.40808042e-04 9.99972110e-01 -5.88001166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters 0.05173822440711332 Centerline is valid? [True, True] Translation: X:476.84, Y:-329.48, Z:-5.88 [[-6.51919754e-01 -7.58272124e-01 4.90102032e-03 4.76838335e+02] [ 7.58252288e-01 -6.51938162e-01 -5.48640381e-03 -3.29479210e+02] [ 7.35534925e-03 1.39514847e-04 9.99972939e-01 -5.87997314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters 0.051458154824254074 Centerline is valid? [True, True] Translation: X:476.80, Y:-329.43, Z:-5.88 [[-6.54493656e-01 -7.56052316e-01 4.79060228e-03 4.76804000e+02] [ 7.56033316e-01 -6.54511178e-01 -5.36119192e-03 -3.29434856e+02] [ 7.18884431e-03 1.12988830e-04 9.99974154e-01 -5.87988317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters 0.050642116804203816 Centerline is valid? [True, True] Translation: X:476.77, Y:-329.39, Z:-5.88 [[-6.58647363e-01 -7.52439886e-01 4.22724692e-03 4.76770457e+02] [ 7.52425025e-01 -6.58660925e-01 -4.72940557e-03 -3.29388144e+02] [ 6.34291575e-03 6.56758663e-05 9.99979881e-01 -5.87885355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters 0.0510290240837084 Centerline is valid? [True, True] Translation: X:476.74, Y:-329.34, Z:-5.88 [[-6.63857961e-01 -7.47850532e-01 3.49127654e-03 4.76736210e+02] [ 7.47840338e-01 -6.63867141e-01 -3.90482714e-03 -3.29343395e+02] [ 5.23797083e-03 1.86668406e-05 9.99986282e-01 -5.87938528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters 0.050588197021375916 Centerline is valid? [True, True] Translation: X:476.71, Y:-329.30, Z:-5.88 [[-6.72608775e-01 -7.39994369e-01 2.40204766e-03 4.76705400e+02] [ 7.39989496e-01 -6.72613064e-01 -2.68568802e-03 -3.29296413e+02] [ 3.60304264e-03 -2.89272952e-05 9.99993509e-01 -5.87738437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters 0.05145184360705772 Centerline is valid? [True, True] Translation: X:476.67, Y:-329.25, Z:-5.88 [[-6.77892575e-01 -7.35156063e-01 2.68701622e-03 4.76670152e+02] [ 7.35149929e-01 -6.77897898e-01 -3.00355072e-03 -3.29251142e+02] [ 4.02960117e-03 -6.07249509e-05 9.99991879e-01 -5.87751572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters 0.05191227489893343 Centerline is valid? [True, True] Translation: X:476.63, Y:-329.21, Z:-5.88 [[-6.82411849e-01 -7.30962853e-01 2.71576596e-03 4.76634332e+02] [ 7.30956558e-01 -6.82417248e-01 -3.03492467e-03 -3.29206097e+02] [ 4.07170272e-03 -8.59616176e-05 9.99991707e-01 -5.87928186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters 0.051667174530756046 Centerline is valid? [True, True] Translation: X:476.60, Y:-329.16, Z:-5.88 [[-6.86167092e-01 -7.27435528e-01 3.50345118e-03 4.76597675e+02] [ 7.27425011e-01 -6.86176022e-01 -3.91402348e-03 -3.29163144e+02] [ 5.25118393e-03 -1.37176101e-04 9.99986203e-01 -5.87963863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters 0.05180277360412706 Centerline is valid? [True, True] Translation: X:476.56, Y:-329.12, Z:-5.88 [[-6.86379719e-01 -7.27235031e-01 3.47739941e-03 4.76556110e+02] [ 7.27224671e-01 -6.86388514e-01 -3.88402483e-03 -3.29121974e+02] [ 5.21144593e-03 -1.37065226e-04 9.99986411e-01 -5.87912904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters 0.05164254661063704 Centerline is valid? [True, True] Translation: X:476.52, Y:-329.08, Z:-5.88 [[-6.85384037e-01 -7.28175337e-01 3.06595057e-03 4.76517389e+02] [ 7.28167298e-01 -6.85390885e-01 -3.42368321e-03 -3.29078358e+02] [ 4.59441625e-03 -1.14012880e-04 9.99989439e-01 -5.87998186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters 0.05158235160853849 Centerline is valid? [True, True] Translation: X:476.48, Y:-329.04, Z:-5.88 [[-6.81652579e-01 -7.31671404e-01 2.59193012e-03 4.76478296e+02] [ 7.31665685e-01 -6.81657502e-01 -2.89411028e-03 -3.29035284e+02] [ 3.88434634e-03 -7.63514133e-05 9.99992453e-01 -5.88090722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters 0.05118218529341478 Centerline is valid? [True, True] Translation: X:476.44, Y:-328.99, Z:-5.88 [[-6.78036193e-01 -7.35023061e-01 2.83217238e-03 4.76441266e+02] [ 7.35016263e-01 -6.78042105e-01 -3.16172587e-03 -3.28991130e+02] [ 4.24427355e-03 -6.20718091e-05 9.99990991e-01 -5.88183324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters 0.050631198076593234 Centerline is valid? [True, True] Translation: X:476.40, Y:-328.95, Z:-5.88 [[-6.73906960e-01 -7.38812908e-01 2.21277180e-03 4.76401706e+02] [ 7.38808781e-01 -6.73910592e-01 -2.46957364e-03 -3.28949391e+02] [ 3.31576324e-03 -2.94476266e-05 9.99994502e-01 -5.88313978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters 0.050415352453618556 Centerline is valid? [True, True] Translation: X:476.36, Y:-328.91, Z:-5.88 [[-6.66269238e-01 -7.45708150e-01 2.15815970e-03 4.76359607e+02] [ 7.45704262e-01 -6.66272733e-01 -2.40787735e-03 -3.28910165e+02] [ 3.23349673e-03 5.05427901e-06 9.99994772e-01 -5.88289538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters 0.04973695155080071 Centerline is valid? [True, True] Translation: X:476.32, Y:-328.87, Z:-5.88 [[-6.60756620e-01 -7.50598322e-01 1.68794362e-03 4.76319014e+02] [ 7.50595961e-01 -6.60758775e-01 -1.88271488e-03 -3.28870008e+02] [ 2.52848619e-03 2.29473496e-05 9.99996803e-01 -5.88243637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters 0.05013004554544151 Centerline is valid? [True, True] Translation: X:476.28, Y:-328.83, Z:-5.88 [[-6.55177615e-01 -7.55472546e-01 1.87757585e-03 4.76277215e+02] [ 7.55469646e-01 -6.55180303e-01 -2.09374677e-03 -3.28831862e+02] [ 2.81191892e-03 4.66755443e-05 9.99996045e-01 -5.88358609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters 0.05011673158673161 Centerline is valid? [True, True] Translation: X:476.24, Y:-328.79, Z:-5.88 [[-6.49739612e-01 -7.60153213e-01 2.35161392e-03 4.76240290e+02] [ 7.60148697e-01 -6.49743862e-01 -2.62160105e-03 -3.28787654e+02] [ 3.52076517e-03 8.42182115e-05 9.99993799e-01 -5.88399225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters 0.051665511604996654 Centerline is valid? [True, True] Translation: X:476.20, Y:-328.75, Z:-5.88 [[-6.48446488e-01 -7.61256335e-01 2.43815701e-03 4.76197886e+02] [ 7.61251490e-01 -6.48451065e-01 -2.71746649e-03 -3.28749616e+02] [ 3.64971409e-03 9.39190533e-05 9.99993335e-01 -5.88484504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters 0.05073412639902505 Centerline is valid? [True, True] Translation: X:476.16, Y:-328.71, Z:-5.88 [[-6.48704682e-01 -7.61037089e-01 2.18723374e-03 4.76164140e+02] [ 7.61033192e-01 -6.48708364e-01 -2.43698922e-03 -3.28705666e+02] [ 3.27351601e-03 8.36711585e-05 9.99994639e-01 -5.88469150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters 0.04847595427305907 Centerline is valid? [True, True] Translation: X:476.14, Y:-328.65, Z:-5.88 [[-6.50434225e-01 -7.59558848e-01 2.38219118e-03 4.76138406e+02] [ 7.59554218e-01 -6.50438582e-01 -2.65350684e-03 -3.28650505e+02] [ 3.56496365e-03 8.34716930e-05 9.99993642e-01 -5.88418037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters 0.04984864062885735 Centerline is valid? [True, True] Translation: X:476.10, Y:-328.61, Z:-5.88 [[-6.50800454e-01 -7.59243705e-01 2.78667562e-03 4.76100691e+02] [ 7.59237368e-01 -6.50806413e-01 -3.10345837e-03 -3.28608039e+02] [ 4.16986760e-03 9.60161442e-05 9.99991301e-01 -5.88485485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters 0.04843839034964165 Centerline is valid? [True, True] Translation: X:476.07, Y:-328.56, Z:-5.89 [[-6.51185827e-01 -7.58906185e-01 4.29186995e-03 4.76066725e+02] [ 7.58891155e-01 -6.51199955e-01 -4.77845170e-03 -3.28561849e+02] [ 6.42126207e-03 1.45402125e-04 9.99979373e-01 -5.88678189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters 0.04872374432710886 Centerline is valid? [True, True] Translation: X:476.03, Y:-328.52, Z:-5.89 [[-6.51435342e-01 -7.58687135e-01 5.08191605e-03 4.76032255e+02] [ 7.58666068e-01 -6.51455142e-01 -5.65642057e-03 -3.28516477e+02] [ 7.60209386e-03 1.70685001e-04 9.99971089e-01 -5.88726039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters 0.04866731074938055 Centerline is valid? [True, True] Translation: X:476.00, Y:-328.47, Z:-5.89 [[-6.51924817e-01 -7.58265180e-01 5.28681123e-03 4.75997632e+02] [ 7.58242380e-01 -6.51946230e-01 -5.88269974e-03 -3.28472528e+02] [ 7.90736303e-03 1.73606383e-04 9.99968721e-01 -5.88779809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters 0.048357990110998665 Centerline is valid? [True, True] Translation: X:475.97, Y:-328.42, Z:-5.89 [[-6.52907652e-01 -7.57425402e-01 4.28467795e-03 4.75966235e+02] [ 7.57410416e-01 -6.52921697e-01 -4.76647506e-03 -3.28421820e+02] [ 6.40780849e-03 1.33191674e-04 9.99979461e-01 -5.88527701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters 0.0484456572746118 Centerline is valid? [True, True] Translation: X:475.93, Y:-328.38, Z:-5.89 [[-6.53356098e-01 -7.57041831e-01 3.67083541e-03 4.75926264e+02] [ 7.57030831e-01 -6.53366401e-01 -4.08254444e-03 -3.28381397e+02] [ 5.48905744e-03 1.11580276e-04 9.99984929e-01 -5.88572671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters 0.04803090006866927 Centerline is valid? [True, True] Translation: X:475.89, Y:-328.34, Z:-5.89 [[-6.54313477e-01 -7.56215577e-01 3.44600001e-03 4.75887068e+02] [ 7.56205876e-01 -6.54322544e-01 -3.83155159e-03 -3.28337822e+02] [ 5.15227449e-03 9.88496123e-05 9.99986722e-01 -5.88517487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters 0.04901048004376347 Centerline is valid? [True, True] Translation: X:475.85, Y:-328.30, Z:-5.89 [[-6.56749010e-01 -7.54098439e-01 4.03504980e-03 4.75845985e+02] [ 7.54085106e-01 -6.56761399e-01 -4.48539037e-03 -3.28296427e+02] [ 6.03249083e-03 9.69952620e-05 9.99981800e-01 -5.88643674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters 0.04911682708150388 Centerline is valid? [True, True] Translation: X:475.81, Y:-328.25, Z:-5.89 [[-6.58059782e-01 -7.52955365e-01 3.94236837e-03 4.75807820e+02] [ 7.52942623e-01 -6.58071585e-01 -4.38123696e-03 -3.28252218e+02] [ 5.89323648e-03 8.52613386e-05 9.99982631e-01 -5.88559890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters 0.04926111503917364 Centerline is valid? [True, True] Translation: X:475.77, Y:-328.21, Z:-5.89 [[-6.58798955e-01 -7.52311625e-01 3.33985467e-03 4.75768779e+02] [ 7.52302478e-01 -6.58807418e-01 -3.71058404e-03 -3.28211125e+02] [ 4.99183654e-03 6.80520532e-05 9.99987538e-01 -5.88582145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters 0.04893231753954779 Centerline is valid? [True, True] Translation: X:475.73, Y:-328.16, Z:-5.89 [[-6.59400653e-01 -7.51782585e-01 3.70444220e-03 4.75734399e+02] [ 7.51771329e-01 -6.59411055e-01 -4.11455693e-03 -3.28164604e+02] [ 5.53600239e-03 7.17519139e-05 9.99984674e-01 -5.88510628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters 0.0489932141879796 Centerline is valid? [True, True] Translation: X:475.70, Y:-328.12, Z:-5.89 [[-6.60139415e-01 -7.51133295e-01 3.83737917e-03 4.75695563e+02] [ 7.51121213e-01 -6.60150565e-01 -4.26088206e-03 -3.28123825e+02] [ 5.73373841e-03 6.95607056e-05 9.99983560e-01 -5.88677949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters 0.0491856027548656 Centerline is valid? [True, True] Translation: X:475.66, Y:-328.08, Z:-5.89 [[-6.62216637e-01 -7.49301949e-01 3.96430303e-03 4.75658623e+02] [ 7.49289028e-01 -6.62228500e-01 -4.40069493e-03 -3.28078755e+02] [ 5.92272373e-03 5.61953682e-05 9.99982459e-01 -5.88569291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters 0.048985918878800085 Centerline is valid? [True, True] Translation: X:475.62, Y:-328.04, Z:-5.89 [[-6.63364181e-01 -7.48290223e-01 3.11548642e-03 4.75620243e+02] [ 7.48282236e-01 -6.63371496e-01 -3.45753611e-03 -3.28036965e+02] [ 4.65396535e-03 3.76575376e-05 9.99989170e-01 -5.88604175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters 0.04943697607248608 Centerline is valid? [True, True] Translation: X:475.58, Y:-327.99, Z:-5.88 [[-6.63661078e-01 -7.48030933e-01 1.92293484e-03 4.75583525e+02] [ 7.48027891e-01 -6.63663863e-01 -2.13348678e-03 -3.27991729e+02] [ 2.87209647e-03 2.24967504e-05 9.99995875e-01 -5.88372466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters 0.048842235496936295 Centerline is valid? [True, True] Translation: X:475.54, Y:-327.95, Z:-5.89 [[-6.62634042e-01 -7.48940720e-01 1.98107968e-03 4.75541935e+02] [ 7.48937497e-01 -6.62637003e-01 -2.19737805e-03 -3.27952307e+02] [ 2.95844260e-03 2.76473636e-05 9.99995623e-01 -5.88578239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters 0.04925879313761471 Centerline is valid? [True, True] Translation: X:475.50, Y:-327.91, Z:-5.89 [[-6.62054983e-01 -7.49450437e-01 2.69086490e-03 4.75503970e+02] [ 7.49444498e-01 -6.62060451e-01 -2.98390704e-03 -3.27907523e+02] [ 4.01780566e-03 4.11433637e-05 9.99991928e-01 -5.88648076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters 0.049075387079008825 Centerline is valid? [True, True] Translation: X:475.46, Y:-327.87, Z:-5.89 [[-6.61661266e-01 -7.49792758e-01 3.89748676e-03 4.75463353e+02] [ 7.49780311e-01 -6.61672741e-01 -4.32071578e-03 -3.27866764e+02] [ 5.81850215e-03 6.34085617e-05 9.99983070e-01 -5.88761210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters 0.04863608370337327 Centerline is valid? [True, True] Translation: X:475.43, Y:-327.82, Z:-5.89 [[-6.61368057e-01 -7.50055811e-01 2.92810008e-03 4.75425099e+02] [ 7.50048793e-01 -6.61374537e-01 -3.24512293e-03 -3.27823830e+02] [ 4.37059415e-03 4.99972799e-05 9.99990448e-01 -5.88571601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters 0.04846659234083635 Centerline is valid? [True, True] Translation: X:475.39, Y:-327.78, Z:-5.88 [[-6.61210986e-01 -7.50197281e-01 2.01793804e-03 4.75386226e+02] [ 7.50193950e-01 -6.61214064e-01 -2.23582313e-03 -3.27781098e+02] [ 3.01159744e-03 3.54940945e-05 9.99995465e-01 -5.88470099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters 0.04912903212024804 Centerline is valid? [True, True] Translation: X:475.35, Y:-327.74, Z:-5.89 [[-6.61099615e-01 -7.50295329e-01 2.05402627e-03 4.75346303e+02] [ 7.50291880e-01 -6.61102804e-01 -2.27516590e-03 -3.27740003e+02] [ 3.06496887e-03 3.70079385e-05 9.99995302e-01 -5.88548517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters 0.04903750720601767 Centerline is valid? [True, True] Translation: X:475.31, Y:-327.70, Z:-5.89 [[-6.61352929e-01 -7.50067905e-01 3.23130352e-03 4.75308515e+02] [ 7.50059373e-01 -6.61360820e-01 -3.57809610e-03 -3.27698791e+02] [ 4.82087259e-03 5.72851530e-05 9.99988378e-01 -5.88692934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters 0.048972634636616705 Centerline is valid? [True, True] Translation: X:475.27, Y:-327.66, Z:-5.89 [[-6.61317242e-01 -7.50096595e-01 3.82156640e-03 4.75270989e+02] [ 7.50084668e-01 -6.61328280e-01 -4.23047286e-03 -3.27655947e+02] [ 5.70057322e-03 6.88137145e-05 9.99983749e-01 -5.88739391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters 0.04878057189431214 Centerline is valid? [True, True] Translation: X:475.23, Y:-327.61, Z:-5.89 [[-6.61360862e-01 -7.50055878e-01 4.24140624e-03 4.75232733e+02] [ 7.50041195e-01 -6.61374458e-01 -4.69386405e-03 -3.27613844e+02] [ 6.32581807e-03 7.68914341e-05 9.99979989e-01 -5.88751940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters 0.048840849228709855 Centerline is valid? [True, True] Translation: X:475.19, Y:-327.57, Z:-5.89 [[-6.61443549e-01 -7.49980224e-01 4.70047377e-03 4.75194062e+02] [ 7.49962200e-01 -6.61460245e-01 -5.20030469e-03 -3.27572602e+02] [ 7.00930221e-03 8.54696542e-05 9.99975431e-01 -5.88820458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters 0.049115344783244086 Centerline is valid? [True, True] Translation: X:475.16, Y:-327.53, Z:-5.89 [[-6.62033361e-01 -7.49458880e-01 4.81833276e-03 4.75157087e+02] [ 7.49439937e-01 -6.62050890e-01 -5.32914535e-03 -3.27529179e+02] [ 7.18395680e-03 8.29789910e-05 9.99974192e-01 -5.88758154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters 0.04907907681399003 Centerline is valid? [True, True] Translation: X:475.12, Y:-327.48, Z:-5.89 [[-6.63521699e-01 -7.48142031e-01 4.73879176e-03 4.75119833e+02] [ 7.48123684e-01 -6.63538618e-01 -5.23983835e-03 -3.27483905e+02] [ 7.06451463e-03 6.84559065e-05 9.99975044e-01 -5.88673600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters 0.04932553962162204 Centerline is valid? [True, True] Translation: X:475.08, Y:-327.44, Z:-5.89 [[-6.66546606e-01 -7.45447450e-01 4.87033490e-03 4.75082453e+02] [ 7.45428007e-01 -6.66564398e-01 -5.38424080e-03 -3.27440569e+02] [ 7.26006043e-03 4.16366068e-05 9.99973645e-01 -5.88816685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters 0.04885564487545349 Centerline is valid? [True, True] Translation: X:475.04, Y:-327.40, Z:-5.89 [[-6.67852720e-01 -7.44280503e-01 4.39056697e-03 4.75043916e+02] [ 7.44264685e-01 -6.67867151e-01 -4.85255169e-03 -3.27396799e+02] [ 6.54397507e-03 2.69540999e-05 9.99978588e-01 -5.88667111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters 0.04810328799340917 Centerline is valid? [True, True] Translation: X:475.01, Y:-327.35, Z:-5.89 [[-6.69056746e-01 -7.43200920e-01 3.93237669e-03 4.75006027e+02] [ 7.43188220e-01 -6.69068302e-01 -4.34477755e-03 -3.27354683e+02] [ 5.86007126e-03 1.55933065e-05 9.99982830e-01 -5.88685657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters 0.049168892207996855 Centerline is valid? [True, True] Translation: X:474.97, Y:-327.31, Z:-5.89 [[-6.71672763e-01 -7.40836328e-01 4.15143768e-03 4.74968421e+02] [ 7.40822136e-01 -6.71685592e-01 -4.58555669e-03 -3.27310063e+02] [ 6.18560785e-03 -4.51660092e-06 9.99980869e-01 -5.88539343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters 0.048935054327421346 Centerline is valid? [True, True] Translation: X:474.93, Y:-327.27, Z:-5.89 [[-6.71421270e-01 -7.41064326e-01 4.14036683e-03 4.74927931e+02] [ 7.41050222e-01 -6.71434036e-01 -4.57200345e-03 -3.27269795e+02] [ 6.16813186e-03 -1.52060477e-06 9.99980977e-01 -5.88757743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters 0.048916708803208954 Centerline is valid? [True, True] Translation: X:474.89, Y:-327.23, Z:-5.89 [[-6.70969907e-01 -7.41470207e-01 4.61703990e-03 4.74889824e+02] [ 7.41452690e-01 -6.70985792e-01 -5.09665926e-03 -3.27229974e+02] [ 6.87698917e-03 3.61166661e-06 9.99976353e-01 -5.88744490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters 0.04860400194331046 Centerline is valid? [True, True] Translation: X:474.85, Y:-327.19, Z:-5.89 [[-6.69810841e-01 -7.42511350e-01 5.50748394e-03 4.74849483e+02] [ 7.42486473e-01 -6.69833483e-01 -6.07806682e-03 -3.27188613e+02] [ 8.20213075e-03 1.80772849e-05 9.99966362e-01 -5.88861192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters 0.04918148102085595 Centerline is valid? [True, True] Translation: X:474.81, Y:-327.15, Z:-5.89 [[-6.67519346e-01 -7.44565913e-01 6.28682090e-03 4.74809327e+02] [ 7.44533606e-01 -6.67548949e-01 -6.93615995e-03 -3.27147983e+02] [ 9.36118895e-03 5.07284814e-05 9.99956182e-01 -5.89012716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters 0.049314764015653864 Centerline is valid? [True, True] Translation: X:474.77, Y:-327.11, Z:-5.89 [[-6.65470372e-01 -7.46399106e-01 6.12856343e-03 4.74768067e+02] [ 7.46368499e-01 -6.65498587e-01 -6.75975377e-03 -3.27106767e+02] [ 9.12402447e-03 7.57508376e-05 9.99958372e-01 -5.89002577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters 0.04886726734081302 Centerline is valid? [True, True] Translation: X:474.73, Y:-327.07, Z:-5.89 [[-6.63485099e-01 -7.48168378e-01 5.62152252e-03 4.74726435e+02] [ 7.48142704e-01 -6.63508907e-01 -6.19884361e-03 -3.27065705e+02] [ 8.36770903e-03 9.28606900e-05 9.99964986e-01 -5.88917681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters 0.04873838723946961 Centerline is valid? [True, True] Translation: X:474.69, Y:-327.02, Z:-5.89 [[-6.62104740e-01 -7.49398795e-01 4.33113564e-03 4.74685680e+02] [ 7.49383589e-01 -6.62118900e-01 -4.77471948e-03 -3.27023755e+02] [ 6.44589579e-03 8.43175724e-05 9.99979221e-01 -5.88788547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters 0.04914191395156462 Centerline is valid? [True, True] Translation: X:474.65, Y:-326.98, Z:-5.89 [[-6.63072489e-01 -7.48543316e-01 4.21638505e-03 4.74646415e+02] [ 7.48528895e-01 -6.63085891e-01 -4.64698130e-03 -3.26981815e+02] [ 6.27429223e-03 7.48005850e-05 9.99980314e-01 -5.88735606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters 0.04910304675579584 Centerline is valid? [True, True] Translation: X:474.61, Y:-326.94, Z:-5.89 [[-6.65016944e-01 -7.46819287e-01 3.66287391e-03 4.74607465e+02] [ 7.46808383e-01 -6.65027030e-01 -4.03590796e-03 -3.26938578e+02] [ 5.45000406e-03 5.15177626e-05 9.99985147e-01 -5.88653852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters 0.0488879549749487 Centerline is valid? [True, True] Translation: X:474.57, Y:-326.90, Z:-5.89 [[-6.67233939e-01 -7.44839991e-01 3.50123850e-03 4.74567586e+02] [ 7.44830007e-01 -6.67243124e-01 -3.85680979e-03 -3.26897607e+02] [ 5.20888349e-03 3.44331120e-05 9.99986433e-01 -5.88754866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters 0.04907908963518989 Centerline is valid? [True, True] Translation: X:474.53, Y:-326.86, Z:-5.89 [[-6.68822208e-01 -7.43412984e-01 3.74012573e-03 4.74529202e+02] [ 7.43401575e-01 -6.68832665e-01 -4.11867365e-03 -3.26856034e+02] [ 5.56339373e-03 2.57549526e-05 9.99984524e-01 -5.88864440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters 0.04934862597683063 Centerline is valid? [True, True] Translation: X:474.49, Y:-326.81, Z:-5.89 [[-6.70627109e-01 -7.41779037e-01 4.81060114e-03 4.74491687e+02] [ 7.41760130e-01 -6.70644362e-01 -5.29606760e-03 -3.26811805e+02] [ 7.15471445e-03 1.66256227e-05 9.99974405e-01 -5.88759135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters 0.04954416556093116 Centerline is valid? [True, True] Translation: X:474.46, Y:-326.77, Z:-5.89 [[-6.72365538e-01 -7.40197872e-01 5.62982415e-03 4.74455024e+02] [ 7.40171939e-01 -6.72389107e-01 -6.19599212e-03 -3.26769872e+02] [ 8.37169261e-03 1.06628183e-06 9.99964957e-01 -5.88961950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters 0.04927082352124446 Centerline is valid? [True, True] Translation: X:474.42, Y:-326.73, Z:-5.89 [[-6.73371203e-01 -7.39282758e-01 5.67681037e-03 4.74417396e+02] [ 7.39256374e-01 -6.73395132e-01 -6.24580131e-03 -3.26726791e+02] [ 8.44014968e-03 -9.12449119e-06 9.99964381e-01 -5.88824610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters 0.049183437770636426 Centerline is valid? [True, True] Translation: X:474.38, Y:-326.68, Z:-5.89 [[-6.74615216e-01 -7.38148501e-01 5.57674666e-03 4.74381211e+02] [ 7.38123016e-01 -6.74638266e-01 -6.13386192e-03 -3.26683446e+02] [ 8.28998768e-03 -2.16715167e-05 9.99965637e-01 -5.88924532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters 0.049191050594489485 Centerline is valid? [True, True] Translation: X:474.35, Y:-326.64, Z:-5.89 [[-6.77250710e-01 -7.35737347e-01 4.69391819e-03 4.74345483e+02] [ 7.35719244e-01 -6.77266975e-01 -5.16128239e-03 -3.26639198e+02] [ 6.97638398e-03 -4.20762228e-05 9.99975664e-01 -5.88730712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters 0.04908105667119051 Centerline is valid? [True, True] Translation: X:474.31, Y:-326.59, Z:-5.89 [[-6.79403409e-01 -7.33754458e-01 3.92474188e-03 4.74309844e+02] [ 7.33741777e-01 -6.79414743e-01 -4.31422259e-03 -3.26594884e+02] [ 5.83210755e-03 -5.13504520e-05 9.99982992e-01 -5.88766205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters 0.04899971659139296 Centerline is valid? [True, True] Translation: X:474.27, Y:-326.55, Z:-5.89 [[-6.81111145e-01 -7.32172073e-01 3.41513297e-03 4.74273639e+02] [ 7.32162457e-01 -6.81119704e-01 -3.75291051e-03 -3.26549974e+02] [ 5.07389063e-03 -5.57170220e-05 9.99987126e-01 -5.88790091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters 0.04867998419719437 Centerline is valid? [True, True] Translation: X:474.24, Y:-326.51, Z:-5.89 [[-6.82052134e-01 -7.31295145e-01 3.50679253e-03 4.74237893e+02] [ 7.31284998e-01 -6.82061147e-01 -3.85273543e-03 -3.26506497e+02] [ 5.20933365e-03 -6.33016501e-05 9.99986429e-01 -5.88716849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters 0.04938961784871886 Centerline is valid? [True, True] Translation: X:474.20, Y:-326.47, Z:-5.89 [[-6.81306877e-01 -7.31987336e-01 3.93439499e-03 4.74200558e+02] [ 7.31974585e-01 -6.81318234e-01 -4.32111361e-03 -3.26465023e+02] [ 5.84357549e-03 -6.41272789e-05 9.99982924e-01 -5.88810502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters 0.04869064759621284 Centerline is valid? [True, True] Translation: X:474.16, Y:-326.43, Z:-5.89 [[-6.78077913e-01 -7.34976697e-01 4.42703752e-03 4.74159546e+02] [ 7.34960624e-01 -6.78092364e-01 -4.86091603e-03 -3.26425393e+02] [ 6.57460034e-03 -4.23815373e-05 9.99978386e-01 -5.88904334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters 0.04886068487905069 Centerline is valid? [True, True] Translation: X:474.12, Y:-326.39, Z:-5.89 [[-6.75329548e-01 -7.37500861e-01 4.74150258e-03 4.74120972e+02] [ 7.37482496e-01 -6.75346193e-01 -5.20454864e-03 -3.26385783e+02] [ 7.04051481e-03 -1.80103211e-05 9.99975215e-01 -5.88965666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters 0.04857218722959931 Centerline is valid? [True, True] Translation: X:474.08, Y:-326.35, Z:-5.89 [[-6.72646646e-01 -7.39947134e-01 4.97274771e-03 4.74081227e+02] [ 7.39927014e-01 -6.72665027e-01 -5.45662894e-03 -3.26345791e+02] [ 7.38261042e-03 9.08720688e-06 9.99972748e-01 -5.88983213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters 0.0491259811227998 Centerline is valid? [True, True] Translation: X:474.04, Y:-326.30, Z:-5.89 [[-6.70491431e-01 -7.41901396e-01 4.85392932e-03 4.74042028e+02] [ 7.41882289e-01 -6.70508999e-01 -5.32464527e-03 -3.26304148e+02] [ 7.20496505e-03 3.09151682e-05 9.99974043e-01 -5.88734509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters 0.04912658955781664 Centerline is valid? [True, True] Translation: X:474.00, Y:-326.26, Z:-5.89 [[-6.68901385e-01 -7.43341267e-01 3.83374693e-03 4.74002742e+02] [ 7.43329379e-01 -6.68912370e-01 -4.20421379e-03 -3.26263992e+02] [ 5.68960635e-03 3.75322916e-05 9.99983813e-01 -5.88651910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters 0.04949399181594803 Centerline is valid? [True, True] Translation: X:473.96, Y:-326.22, Z:-5.89 [[-6.68904123e-01 -7.43340766e-01 3.43213644e-03 4.73963103e+02] [ 7.43331244e-01 -6.68912927e-01 -3.76263226e-03 -3.26224209e+02] [ 5.09271838e-03 3.43740169e-05 9.99987031e-01 -5.88740940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters 0.04953214921337132 Centerline is valid? [True, True] Translation: X:473.93, Y:-326.18, Z:-5.89 [[-6.69836048e-01 -7.42501475e-01 3.35074359e-03 4.73925678e+02] [ 7.42492395e-01 -6.69844429e-01 -3.67222300e-03 -3.26182468e+02] [ 4.97110792e-03 2.81142891e-05 9.99987644e-01 -5.88747789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters 0.04913139809104401 Centerline is valid? [True, True] Translation: X:473.89, Y:-326.14, Z:-5.89 [[-6.72967636e-01 -7.39662605e-01 3.71362588e-03 4.73889546e+02] [ 7.39651413e-01 -6.72977882e-01 -4.06906559e-03 -3.26137929e+02] [ 5.50892374e-03 8.43917775e-06 9.99984826e-01 -5.88558414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters 0.04963479849719024 Centerline is valid? [True, True] Translation: X:473.85, Y:-326.10, Z:-5.89 [[-6.75206156e-01 -7.37619686e-01 3.72108157e-03 4.73851277e+02] [ 7.37608424e-01 -6.75216409e-01 -4.07598390e-03 -3.26095137e+02] [ 5.51906130e-03 -7.42830901e-06 9.99984770e-01 -5.88582399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters 0.04936016231954599 Centerline is valid? [True, True] Translation: X:473.81, Y:-326.05, Z:-5.89 [[-6.76983206e-01 -7.35986125e-01 4.26178433e-03 4.73814149e+02] [ 7.35971329e-01 -6.76996620e-01 -4.66691511e-03 -3.26052391e+02] [ 6.31999835e-03 -2.28720808e-05 9.99980028e-01 -5.88899811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters 0.0494906072772577 Centerline is valid? [True, True] Translation: X:473.77, Y:-326.01, Z:-5.89 [[-6.78314050e-01 -7.34750572e-01 5.62550709e-03 4.73774876e+02] [ 7.34724764e-01 -6.78337376e-01 -6.15838683e-03 -3.26011670e+02] [ 8.34086997e-03 -4.41209442e-05 9.99965213e-01 -5.88808079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters 0.049509300952567094 Centerline is valid? [True, True] Translation: X:473.74, Y:-325.97, Z:-5.89 [[-6.78271922e-01 -7.34785653e-01 6.10271087e-03 4.73735274e+02] [ 7.34755299e-01 -6.78299375e-01 -6.67905023e-03 -3.25970182e+02] [ 9.04713526e-03 -4.62130922e-05 9.99959073e-01 -5.88800694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters 0.04902367119178803 Centerline is valid? [True, True] Translation: X:473.70, Y:-325.93, Z:-5.89 [[-6.77353309e-01 -7.35630001e-01 6.40278350e-03 4.73695679e+02] [ 7.35596645e-01 -6.77383569e-01 -7.00548914e-03 -3.25928297e+02] [ 9.49058833e-03 -3.53251915e-05 9.99954963e-01 -5.88939448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters 0.04971385772131232 Centerline is valid? [True, True] Translation: X:473.66, Y:-325.89, Z:-5.89 [[-6.75888781e-01 -7.36970710e-01 6.96623163e-03 4.73656570e+02] [ 7.36931321e-01 -6.75924679e-01 -7.61944198e-03 -3.25887835e+02] [ 1.03239535e-02 -1.62610685e-05 9.99946706e-01 -5.88893964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters 0.04992480045744634 Centerline is valid? [True, True] Translation: X:473.62, Y:-325.85, Z:-5.89 [[-6.74880421e-01 -7.37892570e-01 7.13953283e-03 4.73616879e+02] [ 7.37851270e-01 -6.74918184e-01 -7.80691998e-03 -3.25845970e+02] [ 1.05792688e-02 -8.24079987e-07 9.99944038e-01 -5.88826273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters 0.04990054758355551 Centerline is valid? [True, True] Translation: X:473.58, Y:-325.81, Z:-5.89 [[-6.70957053e-01 -7.41462943e-01 7.02410560e-03 4.73576231e+02] [ 7.41423184e-01 -6.70993816e-01 -7.67855948e-03 -3.25805906e+02] [ 1.04064987e-02 5.58511024e-05 9.99945849e-01 -5.88891512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters 0.04984829805967728 Centerline is valid? [True, True] Translation: X:473.54, Y:-325.76, Z:-5.89 [[-6.68684466e-01 -7.43521415e-01 6.08195032e-03 4.73536968e+02] [ 7.43491708e-01 -6.68712120e-01 -6.64685544e-03 -3.25763462e+02] [ 9.00915326e-03 7.72306564e-05 9.99959414e-01 -5.88683046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters 0.049910693506653635 Centerline is valid? [True, True] Translation: X:473.50, Y:-325.72, Z:-5.89 [[-6.66817997e-01 -7.45203674e-01 5.02424804e-03 4.73496127e+02] [ 7.45183457e-01 -6.66836920e-01 -5.48984200e-03 -3.25723803e+02] [ 7.44140452e-03 8.32610742e-05 9.99972309e-01 -5.88756689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters 0.04880092076686845 Centerline is valid? [True, True] Translation: X:473.46, Y:-325.68, Z:-5.89 [[-6.64902559e-01 -7.46920790e-01 3.73105847e-03 4.73457911e+02] [ 7.46909674e-01 -6.64913022e-01 -4.07575318e-03 -3.25679768e+02] [ 5.52509415e-03 7.67849507e-05 9.99984734e-01 -5.88596050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters 0.04869021919943587 Centerline is valid? [True, True] Translation: X:473.42, Y:-325.64, Z:-5.88 [[-6.64168264e-01 -7.47573542e-01 3.78366823e-03 4.73420026e+02] [ 7.47562126e-01 -6.64179037e-01 -4.13213333e-03 -3.25636222e+02] [ 5.60210667e-03 8.40952423e-05 9.99984305e-01 -5.88481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters 0.04896915583630135 Centerline is valid? [True, True] Translation: X:473.38, Y:-325.59, Z:-5.89 [[-6.63527826e-01 -7.48141475e-01 3.89323197e-03 4.73380463e+02] [ 7.48129405e-01 -6.63539241e-01 -4.25068000e-03 -3.25593897e+02] [ 5.76342220e-03 9.21968588e-05 9.99983387e-01 -5.88524449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters 0.0494545972029304 Centerline is valid? [True, True] Translation: X:473.34, Y:-325.55, Z:-5.89 [[-6.62975630e-01 -7.48624419e-01 4.97933432e-03 4.73340736e+02] [ 7.48604700e-01 -6.62994317e-01 -5.43500354e-03 -3.25552834e+02] [ 7.37004673e-03 1.24278180e-04 9.99972833e-01 -5.88710372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters 0.04961212416914792 Centerline is valid? [True, True] Translation: X:473.30, Y:-325.51, Z:-5.89 [[-6.62782703e-01 -7.48788711e-01 5.87837988e-03 4.73304140e+02] [ 7.48761249e-01 -6.62808754e-01 -6.41471743e-03 -3.25506790e+02] [ 8.69950964e-03 1.49939300e-04 9.99962147e-01 -5.88645128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters 0.0496097362459802 Centerline is valid? [True, True] Translation: X:473.27, Y:-325.46, Z:-5.89 [[-6.63988561e-01 -7.47712869e-01 6.68261109e-03 4.73266502e+02] [ 7.47677342e-01 -6.64022170e-01 -7.29041969e-03 -3.25464539e+02] [ 9.88854253e-03 1.55681620e-04 9.99951095e-01 -5.88724486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters 0.04902490799115858 Centerline is valid? [True, True] Translation: X:473.23, Y:-325.42, Z:-5.89 [[-6.66557279e-01 -7.45427088e-01 6.31271139e-03 4.73229739e+02] [ 7.45395299e-01 -6.66587161e-01 -6.88516441e-03 -3.25418992e+02] [ 9.34036042e-03 1.16108939e-04 9.99956371e-01 -5.88571635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters 0.04969460838557309 Centerline is valid? [True, True] Translation: X:473.19, Y:-325.38, Z:-5.89 [[-6.70282941e-01 -7.42080422e-01 6.11777116e-03 4.73193497e+02] [ 7.42050440e-01 -6.70310856e-01 -6.67093304e-03 -3.25375000e+02] [ 9.05117722e-03 6.82821680e-05 9.99959035e-01 -5.88626901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters 0.04912867424426095 Centerline is valid? [True, True] Translation: X:473.16, Y:-325.33, Z:-5.88 [[-6.77630844e-01 -7.35380204e-01 5.69172365e-03 4.73159410e+02] [ 7.35354026e-01 -6.77654747e-01 -6.20485088e-03 -3.25326887e+02] [ 8.41994805e-03 -1.91664391e-05 9.99964551e-01 -5.88436588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters 0.04937173972589783 Centerline is valid? [True, True] Translation: X:473.13, Y:-325.28, Z:-5.89 [[-6.82499923e-01 -7.30865234e-01 5.46482691e-03 4.73125419e+02] [ 7.30840971e-01 -6.82521798e-01 -5.95576212e-03 -3.25281431e+02] [ 8.08272297e-03 -7.08877842e-05 9.99967332e-01 -5.88593777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters 0.04908487525261807 Centerline is valid? [True, True] Translation: X:473.09, Y:-325.24, Z:-5.89 [[-6.85801788e-01 -7.27772628e-01 4.78646304e-03 4.73090451e+02] [ 7.27753950e-01 -6.85818484e-01 -5.21480595e-03 -3.25237398e+02] [ 7.07783786e-03 -9.29558628e-05 9.99974948e-01 -5.88673732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters 0.049590334139899016 Centerline is valid? [True, True] Translation: X:473.05, Y:-325.20, Z:-5.88 [[-6.88599497e-01 -7.25122509e-01 5.29904398e-03 4.73049067e+02] [ 7.25099551e-01 -6.88619873e-01 -5.77164508e-03 -3.25199541e+02] [ 7.83417676e-03 -1.32017490e-04 9.99969304e-01 -5.88450688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters 0.04984994739503148 Centerline is valid? [True, True] Translation: X:473.01, Y:-325.16, Z:-5.88 [[-6.89626057e-01 -7.24140074e-01 6.08725594e-03 4.73007023e+02] [ 7.24109746e-01 -6.89652903e-01 -6.62938270e-03 -3.25158723e+02] [ 8.99869541e-03 -1.63953702e-04 9.99959498e-01 -5.88265243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters 0.04951267891057683 Centerline is valid? [True, True] Translation: X:472.97, Y:-325.12, Z:-5.88 [[-6.89593942e-01 -7.24169426e-01 6.23193354e-03 4.72967288e+02] [ 7.24137652e-01 -6.89622081e-01 -6.78580808e-03 -3.25117214e+02] [ 9.21175372e-03 -1.66674427e-04 9.99957557e-01 -5.88380002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters 0.04977370165596517 Centerline is valid? [True, True] Translation: X:472.93, Y:-325.07, Z:-5.89 [[-6.88438277e-01 -7.25268170e-01 6.23058414e-03 4.72927845e+02] [ 7.25236464e-01 -6.88466454e-01 -6.78323418e-03 -3.25074260e+02] [ 9.20921201e-03 -1.51191240e-04 9.99957583e-01 -5.88676657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters 0.049951988014166206 Centerline is valid? [True, True] Translation: X:472.89, Y:-325.03, Z:-5.89 [[-6.86722542e-01 -7.26897363e-01 5.68980759e-03 4.72886253e+02] [ 7.26870991e-01 -6.86746103e-01 -6.19287352e-03 -3.25034261e+02] [ 8.40903662e-03 -1.17029762e-04 9.99964637e-01 -5.88631957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters 0.04996213908487243 Centerline is valid? [True, True] Translation: X:472.84, Y:-325.00, Z:-5.88 [[-6.82618831e-01 -7.30758077e-01 4.91579455e-03 4.72843696e+02] [ 7.30738504e-01 -6.82636528e-01 -5.34868856e-03 -3.24997772e+02] [ 7.26429830e-03 -5.89551730e-05 9.99973613e-01 -5.88477053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters 0.049404481248093386 Centerline is valid? [True, True] Translation: X:472.80, Y:-324.96, Z:-5.89 [[-6.78497534e-01 -7.34587310e-01 4.75175685e-03 4.72800512e+02] [ 7.34569121e-01 -6.78514173e-01 -5.16941649e-03 -3.24958117e+02] [ 7.02152213e-03 -1.69424906e-05 9.99975349e-01 -5.88523464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters 0.04893322824193705 Centerline is valid? [True, True] Translation: X:472.76, Y:-324.92, Z:-5.89 [[-6.73914687e-01 -7.38789814e-01 5.34835733e-03 4.72757006e+02] [ 7.38766911e-01 -6.73935909e-01 -5.81729740e-03 -3.24920257e+02] [ 7.90221013e-03 3.08272675e-05 9.99968777e-01 -5.88659281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters 0.049041709719312286 Centerline is valid? [True, True] Translation: X:472.71, Y:-324.88, Z:-5.89 [[-6.67873904e-01 -7.44256316e-01 5.19459383e-03 4.72712451e+02] [ 7.44234887e-01 -6.67894099e-01 -5.64854025e-03 -3.24882588e+02] [ 7.67340032e-03 9.34853214e-05 9.99970555e-01 -5.88645632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters 0.04975490057128553 Centerline is valid? [True, True] Translation: X:472.67, Y:-324.84, Z:-5.89 [[-6.65469216e-01 -7.46412051e-01 4.44662534e-03 4.72671025e+02] [ 7.46396405e-01 -6.65484064e-01 -4.83393640e-03 -3.24841516e+02] [ 6.56726669e-03 1.02109308e-04 9.99978430e-01 -5.88524580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters 0.049995963799491276 Centerline is valid? [True, True] Translation: X:472.63, Y:-324.80, Z:-5.89 [[-6.64339965e-01 -7.47420571e-01 3.86024054e-03 4.72627755e+02] [ 7.47408803e-01 -6.64351173e-01 -4.19531894e-03 -3.24803480e+02] [ 5.70022301e-03 9.80597256e-05 9.99983749e-01 -5.88598459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters 0.05010159234200463 Centerline is valid? [True, True] Translation: X:472.59, Y:-324.76, Z:-5.89 [[-6.63948635e-01 -7.47770400e-01 3.41169031e-03 4.72590098e+02] [ 7.47761217e-01 -6.63957394e-01 -3.70684797e-03 -3.24758972e+02] [ 5.03708820e-03 8.99730530e-05 9.99987310e-01 -5.88505584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters 0.05086879109855241 Centerline is valid? [True, True] Translation: X:472.55, Y:-324.72, Z:-5.89 [[-6.63799326e-01 -7.47902411e-01 3.52693541e-03 4.72545339e+02] [ 7.47892605e-01 -6.63808688e-01 -3.83098684e-03 -3.24722144e+02] [ 5.20641467e-03 9.47624309e-05 9.99986442e-01 -5.88695730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters 0.050422861434656574 Centerline is valid? [True, True] Translation: X:472.51, Y:-324.68, Z:-5.89 [[-6.63606198e-01 -7.48070748e-01 4.11948388e-03 4.72506476e+02] [ 7.48057382e-01 -6.63618975e-01 -4.47326127e-03 -3.24681197e+02] [ 6.08008358e-03 1.13126419e-04 9.99981510e-01 -5.88735884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters 0.0498258781010434 Centerline is valid? [True, True] Translation: X:472.47, Y:-324.64, Z:-5.89 [[-6.64032440e-01 -7.47684197e-01 5.40930646e-03 4.72468613e+02] [ 7.47661152e-01 -6.64054457e-01 -5.87203726e-03 -3.24639962e+02] [ 7.98250353e-03 1.45105067e-04 9.99968129e-01 -5.88929013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters 0.04936696432141677 Centerline is valid? [True, True] Translation: X:472.43, Y:-324.59, Z:-5.89 [[-6.64788918e-01 -7.47004882e-01 6.27703995e-03 4.72433214e+02] [ 7.46973838e-01 -6.64818533e-01 -6.81200780e-03 -3.24594649e+02] [ 9.26169557e-03 1.60237334e-04 9.99957097e-01 -5.88823580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters 0.049770058539696585 Centerline is valid? [True, True] Translation: X:472.40, Y:-324.55, Z:-5.89 [[-6.65465217e-01 -7.46399510e-01 6.61936824e-03 4.72395257e+02] [ 7.46364978e-01 -6.65498118e-01 -7.18161373e-03 -3.24551026e+02] [ 9.76553008e-03 1.61350488e-04 9.99952303e-01 -5.88789671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters 0.05026090691263735 Centerline is valid? [True, True] Translation: X:472.36, Y:-324.51, Z:-5.89 [[-6.67992383e-01 -7.44134072e-01 7.11750666e-03 4.72357563e+02] [ 7.44094038e-01 -6.68030287e-01 -7.71999372e-03 -3.24507629e+02] [ 1.04994204e-02 1.39197270e-04 9.99944870e-01 -5.88832768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters 0.049840922899883136 Centerline is valid? [True, True] Translation: X:472.32, Y:-324.46, Z:-5.89 [[-6.72239969e-01 -7.40301365e-01 6.87847222e-03 4.72321681e+02] [ 7.40263795e-01 -6.72275154e-01 -7.45857453e-03 -3.24463158e+02] [ 1.01458189e-02 7.79320449e-05 9.99948527e-01 -5.88805863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters 0.050115766167702275 Centerline is valid? [True, True] Translation: X:472.29, Y:-324.42, Z:-5.89 [[-6.80995087e-01 -7.32262484e-01 6.11125486e-03 4.72289464e+02] [ 7.32232517e-01 -6.81022506e-01 -6.62478698e-03 -3.24415162e+02] [ 9.01298507e-03 -3.65878533e-05 9.99959382e-01 -5.88775032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters 0.05010087732546261 Centerline is valid? [True, True] Translation: X:472.26, Y:-324.37, Z:-5.89 [[-6.87569684e-01 -7.26100612e-01 5.08252497e-03 4.72258289e+02] [ 7.26079728e-01 -6.87588462e-01 -5.50780865e-03 -3.24368250e+02] [ 7.49390876e-03 -9.66839020e-05 9.99971916e-01 -5.88662008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters 0.050538396474926396 Centerline is valid? [True, True] Translation: X:472.22, Y:-324.32, Z:-5.88 [[-6.93519291e-01 -7.20425214e-01 4.30166653e-03 4.72221483e+02] [ 7.20410153e-01 -6.93532619e-01 -4.66032547e-03 -3.24324279e+02] [ 6.34076203e-03 -1.33061371e-04 9.99979888e-01 -5.88477722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters 0.05123551577693952 Centerline is valid? [True, True] Translation: X:472.19, Y:-324.28, Z:-5.89 [[-6.99681940e-01 -7.14441568e-01 4.29286837e-03 4.72187719e+02] [ 7.14426461e-01 -6.99695084e-01 -4.64977356e-03 -3.24278070e+02] [ 6.32569041e-03 -1.86423824e-04 9.99979975e-01 -5.88527132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters 0.05046966859848234 Centerline is valid? [True, True] Translation: X:472.15, Y:-324.24, Z:-5.88 [[-7.01029981e-01 -7.13114963e-01 4.90051713e-03 4.72145581e+02] [ 7.13095253e-01 -7.01047073e-01 -5.30670907e-03 -3.24238138e+02] [ 7.21978684e-03 -2.25626655e-04 9.99973912e-01 -5.88492295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters 0.05086329343839492 Centerline is valid? [True, True] Translation: X:472.10, Y:-324.20, Z:-5.89 [[-6.98937696e-01 -7.15157478e-01 5.98988761e-03 4.72104285e+02] [ 7.15128117e-01 -6.98963318e-01 -6.48511642e-03 -3.24195830e+02] [ 8.82459122e-03 -2.49155284e-04 9.99961032e-01 -5.88557933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters 0.05060451523057151 Centerline is valid? [True, True] Translation: X:472.07, Y:-324.15, Z:-5.89 [[-6.95524987e-01 -7.18471261e-01 6.63623826e-03 4.72070289e+02] [ 7.18435392e-01 -6.95556608e-01 -7.18283049e-03 -3.24150264e+02] [ 9.77653666e-03 -2.28129648e-04 9.99952183e-01 -5.88905372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters 0.05099514076182602 Centerline is valid? [True, True] Translation: X:472.03, Y:-324.11, Z:-5.89 [[-6.91356851e-01 -7.22475525e-01 7.40403100e-03 4.72026606e+02] [ 7.22431131e-01 -6.91396471e-01 -8.01136687e-03 -3.24114093e+02] [ 1.09071374e-02 -1.89810887e-04 9.99940497e-01 -5.88628555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters 0.050097209136638336 Centerline is valid? [True, True] Translation: X:471.99, Y:-324.07, Z:-5.89 [[-6.85022293e-01 -7.28491286e-01 6.70107180e-03 4.71989645e+02] [ 7.28455222e-01 -6.85055063e-01 -7.24913638e-03 -3.24070331e+02] [ 9.87153585e-03 -8.43892775e-05 9.99951272e-01 -5.89006023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters 0.0494713262587335 Centerline is valid? [True, True] Translation: X:471.95, Y:-324.03, Z:-5.89 [[-6.79353885e-01 -7.33788221e-01 5.75732165e-03 4.71948333e+02] [ 7.33761805e-01 -6.79378280e-01 -6.22629281e-03 -3.24030714e+02] [ 8.48017960e-03 -5.35347938e-06 9.99964043e-01 -5.88644127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters 0.04929578822887018 Centerline is valid? [True, True] Translation: X:471.91, Y:-323.99, Z:-5.89 [[-6.77716053e-01 -7.35307766e-01 4.84151805e-03 4.71908881e+02] [ 7.35289135e-01 -6.77733347e-01 -5.23431911e-03 -3.23989961e+02] [ 7.13009372e-03 1.25335307e-05 9.99974581e-01 -5.88634706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters 0.04900272468899809 Centerline is valid? [True, True] Translation: X:471.87, Y:-323.95, Z:-5.89 [[-6.73513399e-01 -7.39163570e-01 4.11322016e-03 4.71867186e+02] [ 7.39150201e-01 -6.73525957e-01 -4.44576007e-03 -3.23949495e+02] [ 6.05650443e-03 4.60085303e-05 9.99981658e-01 -5.88629022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters 0.04888137990524573 Centerline is valid? [True, True] Translation: X:471.83, Y:-323.91, Z:-5.89 [[-6.71419734e-01 -7.41066447e-01 4.00770095e-03 4.71826548e+02] [ 7.41053794e-01 -6.71431692e-01 -4.33088409e-03 -3.23909729e+02] [ 5.90037032e-03 6.20809497e-05 9.99982591e-01 -5.88772728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters 0.04917411457618928 Centerline is valid? [True, True] Translation: X:471.79, Y:-323.87, Z:-5.89 [[-6.68787302e-01 -7.43439734e-01 4.57235590e-03 4.71785281e+02] [ 7.43423327e-01 -6.68802926e-01 -4.93998393e-03 -3.23871473e+02] [ 6.73058534e-03 9.53975108e-05 9.99977345e-01 -5.89018232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters 0.049086928611926525 Centerline is valid? [True, True] Translation: X:471.75, Y:-323.83, Z:-5.89 [[-6.67837243e-01 -7.44288559e-01 5.28755835e-03 4.71749034e+02] [ 7.44266656e-01 -6.67858163e-01 -5.71127884e-03 -3.23825718e+02] [ 7.78217851e-03 1.21148660e-04 9.99969711e-01 -5.88875246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters 0.04924706956252004 Centerline is valid? [True, True] Translation: X:471.71, Y:-323.79, Z:-5.89 [[-6.67600540e-01 -7.44484659e-01 7.21886920e-03 4.71709096e+02] [ 7.44443860e-01 -6.67639547e-01 -7.79585273e-03 -3.23785180e+02] [ 1.06234953e-02 1.69527355e-04 9.99943555e-01 -5.89199519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters 0.04928961046370407 Centerline is valid? [True, True] Translation: X:471.67, Y:-323.74, Z:-5.89 [[-6.67930201e-01 -7.44183424e-01 7.76390983e-03 4.71672571e+02] [ 7.44136236e-01 -6.67975299e-01 -8.38227175e-03 -3.23739292e+02] [ 1.14240477e-02 1.78634178e-04 9.99934728e-01 -5.89049893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters 0.04965953941540559 Centerline is valid? [True, True] Translation: X:471.63, Y:-323.70, Z:-5.89 [[-6.68740134e-01 -7.43452019e-01 8.10732777e-03 4.71633742e+02] [ 7.43400542e-01 -6.68789253e-01 -8.75035278e-03 -3.23698843e+02] [ 1.19275611e-02 1.75279778e-04 9.99928849e-01 -5.89331696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters 0.04890685335888572 Centerline is valid? [True, True] Translation: X:471.60, Y:-323.65, Z:-5.89 [[-6.71429231e-01 -7.41028306e-01 7.73546871e-03 4.71600203e+02] [ 7.40981309e-01 -6.71473778e-01 -8.34658964e-03 -3.23652246e+02] [ 1.13792236e-02 1.27693464e-04 9.99935246e-01 -5.89158268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters 0.048453035945938916 Centerline is valid? [True, True] Translation: X:471.56, Y:-323.61, Z:-5.89 [[-6.74046517e-01 -7.38656659e-01 6.90163594e-03 4.71564342e+02] [ 7.38619141e-01 -6.74081845e-01 -7.44517248e-03 -3.23605888e+02] [ 1.01516937e-02 7.92878381e-05 9.99948467e-01 -5.88893088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters 0.04909333502084778 Centerline is valid? [True, True] Translation: X:471.53, Y:-323.56, Z:-5.89 [[-6.76941580e-01 -7.36016345e-01 5.48062107e-03 4.71528219e+02] [ 7.35992612e-01 -6.76963765e-01 -5.91065102e-03 -3.23560825e+02] [ 8.06051763e-03 3.25311684e-05 9.99967513e-01 -5.88664679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters 0.049022477173115635 Centerline is valid? [True, True] Translation: X:471.49, Y:-323.52, Z:-5.89 [[-6.81095844e-01 -7.32181578e-01 4.31148947e-03 4.71491591e+02] [ 7.32166821e-01 -6.81109490e-01 -4.64860860e-03 -3.23515183e+02] [ 6.34022197e-03 -9.41845935e-06 9.99979901e-01 -5.88603096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters 0.04883219293205019 Centerline is valid? [True, True] Translation: X:471.45, Y:-323.47, Z:-5.89 [[-6.84076385e-01 -7.29400190e-01 3.85507804e-03 4.71454773e+02] [ 7.29388355e-01 -6.84087247e-01 -4.15531779e-03 -3.23471087e+02] [ 5.66809931e-03 -3.07057475e-05 9.99983936e-01 -5.88648512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters 0.04845796557380535 Centerline is valid? [True, True] Translation: X:471.42, Y:-323.43, Z:-5.89 [[-6.87098735e-01 -7.26553614e-01 3.89544141e-03 4.71416895e+02] [ 7.26541490e-01 -6.87109775e-01 -4.19766420e-03 -3.23428052e+02] [ 5.72642397e-03 -5.40099488e-05 9.99983602e-01 -5.88555865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters 0.04960718117293901 Centerline is valid? [True, True] Translation: X:471.38, Y:-323.38, Z:-5.89 [[-6.92377053e-01 -7.21523866e-01 4.16261104e-03 4.71381819e+02] [ 7.21509937e-01 -6.92389559e-01 -4.48446280e-03 -3.23383828e+02] [ 6.11779536e-03 -1.01573910e-04 9.99981281e-01 -5.88687153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters 0.050161417445280965 Centerline is valid? [True, True] Translation: X:471.34, Y:-323.34, Z:-5.89 [[-6.95748779e-01 -7.18272388e-01 4.29116878e-03 4.71344989e+02] [ 7.18257531e-01 -6.95761999e-01 -4.62158453e-03 -3.23340609e+02] [ 6.30518872e-03 -1.33297494e-04 9.99980113e-01 -5.88746870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters 0.049947893602095846 Centerline is valid? [True, True] Translation: X:471.30, Y:-323.30, Z:-5.89 [[-6.98488884e-01 -7.15608031e-01 4.29242590e-03 4.71303051e+02] [ 7.15593125e-01 -6.98502056e-01 -4.62148485e-03 -3.23302776e+02] [ 6.30543999e-03 -1.56425334e-04 9.99980108e-01 -5.88560910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters 0.050051259128745314 Centerline is valid? [True, True] Translation: X:471.26, Y:-323.26, Z:-5.88 [[-7.00256281e-01 -7.13879635e-01 4.12407321e-03 4.71262495e+02] [ 7.13865850e-01 -7.00268405e-01 -4.43943620e-03 -3.23262657e+02] [ 6.05718126e-03 -1.64708058e-04 9.99981642e-01 -5.88445801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters 0.04936344425696399 Centerline is valid? [True, True] Translation: X:471.22, Y:-323.22, Z:-5.88 [[-7.00157162e-01 -7.13978291e-01 3.86644514e-03 4.71217560e+02] [ 7.13966179e-01 -7.00167820e-01 -4.16155497e-03 -3.23223374e+02] [ 5.67842037e-03 -1.53231457e-04 9.99983866e-01 -5.88347280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters 0.04973631157652359 Centerline is valid? [True, True] Translation: X:471.18, Y:-323.18, Z:-5.88 [[-6.97570991e-01 -7.16505979e-01 3.72755163e-03 4.71176836e+02] [ 7.16494763e-01 -6.97580938e-01 -4.01123131e-03 -3.23182138e+02] [ 5.47434018e-03 -1.27347379e-04 9.99985008e-01 -5.88403457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters 0.050126303339619094 Centerline is valid? [True, True] Translation: X:471.13, Y:-323.14, Z:-5.88 [[-6.94122709e-01 -7.19849931e-01 3.12120257e-03 4.71132383e+02] [ 7.19842104e-01 -6.94129721e-01 -3.35793091e-03 -3.23143536e+02] [ 4.58372580e-03 -8.40430757e-05 9.99989491e-01 -5.88331880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters 0.04990998582025658 Centerline is valid? [True, True] Translation: X:471.09, Y:-323.10, Z:-5.88 [[-6.90019034e-01 -7.23786184e-01 2.70036159e-03 4.71092814e+02] [ 7.23780358e-01 -6.90024316e-01 -2.90445270e-03 -3.23103130e+02] [ 3.96551790e-03 -4.96589681e-05 9.99992136e-01 -5.88441288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters 0.04987582114189325 Centerline is valid? [True, True] Translation: X:471.05, Y:-323.07, Z:-5.89 [[-6.84230320e-01 -7.29259752e-01 3.01381591e-03 4.71046135e+02] [ 7.29252553e-01 -6.84236957e-01 -3.24050540e-03 -3.23070542e+02] [ 4.42533439e-03 -1.94190953e-05 9.99990208e-01 -5.88521289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters 0.05036438306659293 Centerline is valid? [True, True] Translation: X:471.00, Y:-323.04, Z:-5.88 [[-6.81470387e-01 -7.31837936e-01 3.36838880e-03 4.71003590e+02] [ 7.31828981e-01 -6.81478712e-01 -3.62043028e-03 -3.23035669e+02] [ 4.94505349e-03 -2.13148358e-06 9.99987773e-01 -5.88378652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters 0.050876327806541985 Centerline is valid? [True, True] Translation: X:470.96, Y:-323.00, Z:-5.88 [[-6.80097789e-01 -7.33113547e-01 3.39483672e-03 4.70960905e+02] [ 7.33104470e-01 -6.80106262e-01 -3.64808932e-03 -3.22997471e+02] [ 4.98331341e-03 7.71249224e-06 9.99987583e-01 -5.88437413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters 0.05043893806529361 Centerline is valid? [True, True] Translation: X:470.92, Y:-322.96, Z:-5.88 [[-6.79646326e-01 -7.33531986e-01 3.42000984e-03 4.70917864e+02] [ 7.33522784e-01 -6.79654931e-01 -3.67427807e-03 -3.22960385e+02] [ 5.01962704e-03 1.14455419e-05 9.99987402e-01 -5.88432324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters 0.05067744899088705 Centerline is valid? [True, True] Translation: X:470.88, Y:-322.92, Z:-5.88 [[-6.79879357e-01 -7.33315014e-01 3.62629735e-03 4.70877099e+02] [ 7.33304672e-01 -6.79889028e-01 -3.89467453e-03 -3.22921388e+02] [ 5.32150308e-03 1.12719718e-05 9.99985841e-01 -5.88414940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters 0.05099830998751386 Centerline is valid? [True, True] Translation: X:470.84, Y:-322.88, Z:-5.88 [[-6.80069818e-01 -7.33132425e-01 4.67870652e-03 4.70835503e+02] [ 7.33115213e-01 -6.80085912e-01 -5.02374391e-03 -3.22882632e+02] [ 6.86499194e-03 1.35343203e-05 9.99976436e-01 -5.88481977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters 0.0513194878595124 Centerline is valid? [True, True] Translation: X:470.79, Y:-322.84, Z:-5.88 [[-6.79865372e-01 -7.33318149e-01 5.25057393e-03 4.70794848e+02] [ 7.33296490e-01 -6.79885646e-01 -5.63619690e-03 -3.22842659e+02] [ 7.70291533e-03 1.83723317e-05 9.99970332e-01 -5.88477926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters 0.051397764880179206 Centerline is valid? [True, True] Translation: X:470.75, Y:-322.80, Z:-5.89 [[-6.78952896e-01 -7.34159580e-01 5.71634142e-03 4.70753760e+02] [ 7.34133952e-01 -6.78976959e-01 -6.13433647e-03 -3.22803369e+02] [ 8.38484600e-03 3.16348079e-05 9.99964846e-01 -5.88554900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters 0.05146374971750709 Centerline is valid? [True, True] Translation: X:470.71, Y:-322.76, Z:-5.89 [[-6.77426883e-01 -7.35559621e-01 6.69794968e-03 4.70712012e+02] [ 7.35524523e-01 -6.77459992e-01 -7.18577009e-03 -3.22763387e+02] [ 9.82315526e-03 5.86724197e-05 9.99951750e-01 -5.88559315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters 0.051352965557320544 Centerline is valid? [True, True] Translation: X:470.67, Y:-322.72, Z:-5.89 [[-6.76718257e-01 -7.36203630e-01 7.52437945e-03 4.70671543e+02] [ 7.36159400e-01 -6.76760083e-01 -8.07020356e-03 -3.22721685e+02] [ 1.10335128e-02 7.78885730e-05 9.99939126e-01 -5.88574484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters 0.05145690538985047 Centerline is valid? [True, True] Translation: X:470.63, Y:-322.68, Z:-5.89 [[-6.76413948e-01 -7.36479074e-01 7.92113078e-03 4.70632195e+02] [ 7.36430104e-01 -6.76460321e-01 -8.49331579e-03 -3.22680380e+02] [ 1.16134800e-02 8.83618971e-05 9.99932557e-01 -5.88673206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters 0.050852596533183754 Centerline is valid? [True, True] Translation: X:470.59, Y:-322.64, Z:-5.88 [[-6.76279879e-01 -7.36605023e-01 7.65279657e-03 4.70593619e+02] [ 7.36559351e-01 -6.76323171e-01 -8.20310737e-03 -3.22637638e+02] [ 1.12182137e-02 8.91424177e-05 9.99937070e-01 -5.88498696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters 0.05098120267664779 Centerline is valid? [True, True] Translation: X:470.56, Y:-322.60, Z:-5.88 [[-6.76468717e-01 -7.36439763e-01 6.82278240e-03 4.70555295e+02] [ 7.36403476e-01 -6.76503118e-01 -7.31108211e-03 -3.22596388e+02] [ 9.99980515e-03 7.86023365e-05 9.99949998e-01 -5.88489809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters 0.051902946893577884 Centerline is valid? [True, True] Translation: X:470.52, Y:-322.55, Z:-5.88 [[-6.77396888e-01 -7.35594055e-01 5.90275572e-03 4.70517737e+02] [ 7.35566877e-01 -6.77422602e-01 -6.32353393e-03 -3.22552339e+02] [ 8.65021411e-03 5.83293908e-05 9.99962585e-01 -5.88334168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters 0.05096655724803908 Centerline is valid? [True, True] Translation: X:470.48, Y:-322.51, Z:-5.88 [[-6.78149734e-01 -7.34905138e-01 5.23228034e-03 4.70480537e+02] [ 7.34883775e-01 -6.78169917e-01 -5.60364992e-03 -3.22508195e+02] [ 7.66652624e-03 4.50042236e-05 9.99970611e-01 -5.88192984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters 0.050940403936858836 Centerline is valid? [True, True] Translation: X:470.44, Y:-322.47, Z:-5.88 [[-6.79083130e-01 -7.34042406e-01 5.27714792e-03 4.70442775e+02] [ 7.34020663e-01 -6.79103633e-01 -5.64989220e-03 -3.22466556e+02] [ 7.73099079e-03 3.67891333e-05 9.99970115e-01 -5.88404334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters 0.05058768784981813 Centerline is valid? [True, True] Translation: X:470.41, Y:-322.42, Z:-5.88 [[-6.79222486e-01 -7.33909201e-01 5.83947925e-03 4.70407248e+02] [ 7.33882590e-01 -6.79247586e-01 -6.24986537e-03 -3.22423324e+02] [ 8.55328588e-03 4.04430669e-05 9.99963419e-01 -5.88147060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters 0.05066431003114986 Centerline is valid? [True, True] Translation: X:470.37, Y:-322.38, Z:-5.88 [[-6.78868044e-01 -7.34236241e-01 5.94323606e-03 4.70368121e+02] [ 7.34208705e-01 -6.78894057e-01 -6.35900437e-03 -3.22383408e+02] [ 8.70383911e-03 4.66507950e-05 9.99962120e-01 -5.88490726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters 0.05063265419432856 Centerline is valid? [True, True] Translation: X:470.33, Y:-322.34, Z:-5.88 [[-6.77861197e-01 -7.35162879e-01 6.30386375e-03 4.70331528e+02] [ 7.35131959e-01 -6.77890506e-01 -6.74279533e-03 -3.22341035e+02] [ 9.23038221e-03 6.34923883e-05 9.99957397e-01 -5.88295872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters 0.05041357812225454 Centerline is valid? [True, True] Translation: X:470.29, Y:-322.30, Z:-5.88 [[-6.76868540e-01 -7.36069369e-01 7.13191973e-03 4.70291879e+02] [ 7.36029862e-01 -6.76906106e-01 -7.62663259e-03 -3.22298948e+02] [ 1.04413707e-02 8.70782342e-05 9.99945484e-01 -5.88461746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters 0.051179982188732175 Centerline is valid? [True, True] Translation: X:470.26, Y:-322.25, Z:-5.88 [[-6.75935295e-01 -7.36926499e-01 7.12829379e-03 4.70256601e+02] [ 7.36887104e-01 -6.75972873e-01 -7.62038418e-03 -3.22254465e+02] [ 1.04341963e-02 1.01861140e-04 9.99945557e-01 -5.88120847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters 0.05033434158607265 Centerline is valid? [True, True] Translation: X:470.22, Y:-322.21, Z:-5.88 [[-6.74614928e-01 -7.38137608e-01 6.89713925e-03 4.70217009e+02] [ 7.38100809e-01 -6.74650174e-01 -7.37147236e-03 -3.22212480e+02] [ 1.00943172e-02 1.17878767e-04 9.99949044e-01 -5.88367330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters 0.05065802468186463 Centerline is valid? [True, True] Translation: X:470.18, Y:-322.17, Z:-5.89 [[-6.73145670e-01 -7.39485051e-01 6.06347459e-03 4.70176636e+02] [ 7.39456681e-01 -6.73172967e-01 -6.47868316e-03 -3.22172082e+02] [ 8.87265653e-03 1.22579282e-04 9.99960630e-01 -5.88517092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters 0.05033851129616497 Centerline is valid? [True, True] Translation: X:470.14, Y:-322.13, Z:-5.88 [[-6.71298537e-01 -7.41169678e-01 5.07769084e-03 4.70138411e+02] [ 7.41149843e-01 -6.71317729e-01 -5.42374673e-03 -3.22131011e+02] [ 7.42866050e-03 1.22376523e-04 9.99972400e-01 -5.88451543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters 0.04931542784782912 Centerline is valid? [True, True] Translation: X:470.10, Y:-322.09, Z:-5.88 [[-6.68317986e-01 -7.43859846e-01 4.85802511e-03 4.70103880e+02] [ 7.43841771e-01 -6.68335626e-01 -5.18752902e-03 -3.22085361e+02] [ 7.10558579e-03 1.46683058e-04 9.99974744e-01 -5.88257392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters 0.049820070853115926 Centerline is valid? [True, True] Translation: X:470.07, Y:-322.04, Z:-5.88 [[-6.66716498e-01 -7.45293565e-01 5.15873253e-03 4.70065074e+02] [ 7.45273240e-01 -6.66736433e-01 -5.50696960e-03 -3.22044652e+02] [ 7.54382393e-03 1.73077823e-04 9.99971530e-01 -5.88300867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters 0.05062605357029251 Centerline is valid? [True, True] Translation: X:470.03, Y:-322.00, Z:-5.88 [[-6.64460808e-01 -7.47304650e-01 5.25312164e-03 4.70028030e+02] [ 7.47283648e-01 -6.64481543e-01 -5.60618152e-03 -3.22001088e+02] [ 7.68012789e-03 2.00483996e-04 9.99970487e-01 -5.88313313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters 0.05065810829365791 Centerline is valid? [True, True] Translation: X:469.99, Y:-321.96, Z:-5.89 [[-6.63401740e-01 -7.48241882e-01 5.67613427e-03 4.69987935e+02] [ 7.48217410e-01 -6.63425982e-01 -6.05588838e-03 -3.21961590e+02] [ 8.29696427e-03 2.29495591e-04 9.99965553e-01 -5.88506443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters 0.049547949539307815 Centerline is valid? [True, True] Translation: X:469.95, Y:-321.91, Z:-5.88 [[-6.63320178e-01 -7.48310096e-01 6.19211226e-03 4.69953188e+02] [ 7.48280990e-01 -6.63349031e-01 -6.60474119e-03 -3.21914028e+02] [ 9.04992618e-03 2.52381798e-04 9.99959017e-01 -5.88353794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters 0.04908394338489284 Centerline is valid? [True, True] Translation: X:469.92, Y:-321.86, Z:-5.88 [[-6.64297829e-01 -7.47439579e-01 6.51687496e-03 4.69919390e+02] [ 7.47407312e-01 -6.64329746e-01 -6.94968032e-03 -3.21864222e+02] [ 9.52382002e-03 2.54102446e-04 9.99954615e-01 -5.88253531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters 0.04929761281423547 Centerline is valid? [True, True] Translation: X:469.88, Y:-321.82, Z:-5.88 [[-6.65644440e-01 -7.46245397e-01 5.94029759e-03 4.69879538e+02] [ 7.46218554e-01 -6.65670910e-01 -6.33318077e-03 -3.21822719e+02] [ 8.68039030e-03 2.17113709e-04 9.99962301e-01 -5.88386828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters 0.04887937689044605 Centerline is valid? [True, True] Translation: X:469.85, Y:-321.78, Z:-5.88 [[-6.68034127e-01 -7.44113265e-01 5.08472515e-03 4.69845204e+02] [ 7.44093546e-01 -6.68053458e-01 -5.41963157e-03 -3.21775139e+02] [ 7.42968796e-03 1.63012323e-04 9.99972386e-01 -5.88322729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters 0.05025239111196061 Centerline is valid? [True, True] Translation: X:469.80, Y:-321.74, Z:-5.89 [[-6.69341727e-01 -7.42935310e-01 5.36452956e-03 4.69803012e+02] [ 7.42913334e-01 -6.69363205e-01 -5.71647123e-03 -3.21736607e+02] [ 7.83778702e-03 1.59107814e-04 9.99969271e-01 -5.88664491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters 0.048773615469692014 Centerline is valid? [True, True] Translation: X:469.77, Y:-321.69, Z:-5.89 [[-6.71234580e-01 -7.41221237e-01 5.93432660e-03 4.69771006e+02] [ 7.41194291e-01 -6.71260795e-01 -6.32204363e-03 -3.21687672e+02] [ 8.66951378e-03 1.54914699e-04 9.99962407e-01 -5.88555764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters 0.048785088962073925 Centerline is valid? [True, True] Translation: X:469.73, Y:-321.64, Z:-5.88 [[-6.70810902e-01 -7.41602715e-01 6.17629910e-03 4.69731011e+02] [ 7.41573558e-01 -6.70839314e-01 -6.57820129e-03 -3.21644994e+02] [ 9.02171619e-03 1.67450957e-04 9.99959290e-01 -5.88491014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters 0.049704891472144415 Centerline is valid? [True, True] Translation: X:469.69, Y:-321.61, Z:-5.89 [[-6.70590220e-01 -7.41796207e-01 6.86610524e-03 4.69686503e+02] [ 7.41760201e-01 -6.70625343e-01 -7.31115761e-03 -3.21608055e+02] [ 1.00279732e-02 1.90212810e-04 9.99949701e-01 -5.88819734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters 0.04946574752267339 Centerline is valid? [True, True] Translation: X:469.65, Y:-321.57, Z:-5.89 [[-6.71263834e-01 -7.41185525e-01 6.99166464e-03 4.69645441e+02] [ 7.41148180e-01 -6.71300219e-01 -7.44253127e-03 -3.21569043e+02] [ 1.02098024e-02 1.85957454e-04 9.99947861e-01 -5.88876176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters 0.04895775034746683 Centerline is valid? [True, True] Translation: X:469.61, Y:-321.52, Z:-5.89 [[-6.71906431e-01 -7.40607779e-01 6.47040549e-03 4.69608901e+02] [ 7.40575785e-01 -6.71937565e-01 -6.88587961e-03 -3.21523220e+02] [ 9.44744451e-03 1.65158833e-04 9.99955358e-01 -5.88623222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters 0.04883156471334546 Centerline is valid? [True, True] Translation: X:469.57, Y:-321.48, Z:-5.89 [[-6.72417277e-01 -7.40151357e-01 5.56551376e-03 4.69570196e+02] [ 7.40127683e-01 -6.72440295e-01 -5.92135843e-03 -3.21479796e+02] [ 8.12517719e-03 1.37567088e-04 9.99966981e-01 -5.88591987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters 0.049267711345722484 Centerline is valid? [True, True] Translation: X:469.53, Y:-321.44, Z:-5.89 [[-6.73096006e-01 -7.39535423e-01 5.39678874e-03 4.69531436e+02] [ 7.39513154e-01 -6.73117629e-01 -5.74043076e-03 -3.21436785e+02] [ 7.87792553e-03 1.27135244e-04 9.99968961e-01 -5.88649056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters 0.04885362888335599 Centerline is valid? [True, True] Translation: X:469.49, Y:-321.40, Z:-5.89 [[-6.74425321e-01 -7.38320910e-01 5.72022722e-03 4.69491485e+02] [ 7.38295861e-01 -6.74449568e-01 -6.08288990e-03 -3.21396105e+02] [ 8.34912958e-03 1.20765106e-04 9.99965138e-01 -5.88839983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters 0.049311999990115554 Centerline is valid? [True, True] Translation: X:469.45, Y:-321.35, Z:-5.89 [[-6.76538936e-01 -7.36386655e-01 5.45546464e-03 4.69453789e+02] [ 7.36363822e-01 -6.76560925e-01 -5.79962358e-03 -3.21354011e+02] [ 7.96171961e-03 9.35356235e-05 9.99968301e-01 -5.88941732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters 0.04954889372813459 Centerline is valid? [True, True] Translation: X:469.42, Y:-321.31, Z:-5.89 [[-6.77162112e-01 -7.35820084e-01 4.50311867e-03 4.69415244e+02] [ 7.35804523e-01 -6.77177081e-01 -4.78586022e-03 -3.21313047e+02] [ 6.57094082e-03 7.26118694e-05 9.99978409e-01 -5.88891781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters 0.048215790582650644 Centerline is valid? [True, True] Translation: X:469.38, Y:-321.27, Z:-5.89 [[-6.76507784e-01 -7.36427334e-01 3.46411332e-03 4.69378169e+02] [ 7.36418139e-01 -6.76516651e-01 -3.68056493e-03 -3.21270001e+02] [ 5.05399896e-03 6.11050556e-05 9.99987227e-01 -5.88675848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters 0.048434081285666335 Centerline is valid? [True, True] Translation: X:469.34, Y:-321.23, Z:-5.89 [[-6.74682639e-01 -7.38098547e-01 3.72448811e-03 4.69338900e+02] [ 7.38087949e-01 -6.74692914e-01 -3.95616041e-03 -3.21227423e+02] [ 5.43292198e-03 7.98470492e-05 9.99985238e-01 -5.88684350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters 0.0487169227716912 Centerline is valid? [True, True] Translation: X:469.30, Y:-321.19, Z:-5.89 [[-6.74739946e-01 -7.38044473e-01 4.04489574e-03 4.69298884e+02] [ 7.38031979e-01 -6.74752065e-01 -4.29529927e-03 -3.21187261e+02] [ 5.89942364e-03 8.70524079e-05 9.99982594e-01 -5.88791192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters 0.04897831424434585 Centerline is valid? [True, True] Translation: X:469.26, Y:-321.15, Z:-5.89 [[-6.75560526e-01 -7.37293200e-01 4.08824500e-03 4.69257386e+02] [ 7.37280431e-01 -6.75572891e-01 -4.34000427e-03 -3.21149262e+02] [ 5.96176313e-03 8.22474727e-05 9.99982225e-01 -5.88977313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters 0.04870367772288902 Centerline is valid? [True, True] Translation: X:469.22, Y:-321.11, Z:-5.89 [[-6.76454798e-01 -7.36476781e-01 3.29498235e-03 4.69219165e+02] [ 7.36468482e-01 -6.76462820e-01 -3.49683048e-03 -3.21107695e+02] [ 4.80426751e-03 6.12028959e-05 9.99988458e-01 -5.88912407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters 0.0488424573716408 Centerline is valid? [True, True] Translation: X:469.18, Y:-321.07, Z:-5.89 [[-6.77325016e-01 -7.35677670e-01 3.03126787e-03 4.69181871e+02] [ 7.35670643e-01 -6.77331797e-01 -3.21596083e-03 -3.21065856e+02] [ 4.41908468e-03 5.17640625e-05 9.99990234e-01 -5.88965095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters 0.04975289712740351 Centerline is valid? [True, True] Translation: X:469.14, Y:-321.02, Z:-5.89 [[-6.78258256e-01 -7.34814322e-01 3.69468199e-03 4.69144620e+02] [ 7.34803876e-01 -6.78268316e-01 -3.91854884e-03 -3.21023396e+02] [ 5.38539154e-03 5.70785432e-05 9.99985497e-01 -5.89028746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters 0.04904563365617561 Centerline is valid? [True, True] Translation: X:469.11, Y:-320.98, Z:-5.89 [[-6.78947206e-01 -7.34174748e-01 4.25807214e-03 4.69106287e+02] [ 7.34160869e-01 -6.78960556e-01 -4.51464372e-03 -3.20982196e+02] [ 6.20560044e-03 6.09052073e-05 9.99980743e-01 -5.89223841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters 0.04894768562972469 Centerline is valid? [True, True] Translation: X:469.07, Y:-320.94, Z:-5.89 [[-6.78844678e-01 -7.34270632e-01 4.06717924e-03 4.69070572e+02] [ 7.34257980e-01 -6.78856859e-01 -4.31082806e-03 -3.20939438e+02] [ 5.92634697e-03 5.99761255e-05 9.99982437e-01 -5.89057699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters 0.04867607977902783 Centerline is valid? [True, True] Translation: X:469.03, Y:-320.90, Z:-5.89 [[-6.78586211e-01 -7.34511654e-01 3.65861098e-03 4.69029189e+02] [ 7.34501424e-01 -6.78596071e-01 -3.87699582e-03 -3.20900230e+02] [ 5.33041765e-03 5.63790750e-05 9.99985792e-01 -5.89172574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters 0.04870634651454656 Centerline is valid? [True, True] Translation: X:468.99, Y:-320.86, Z:-5.89 [[-6.79274514e-01 -7.33874714e-01 3.74692564e-03 4.68990420e+02] [ 7.33863979e-01 -6.79284846e-01 -3.96968113e-03 -3.20859761e+02] [ 5.45847841e-03 5.32305357e-05 9.99985101e-01 -5.89218279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters 0.04913635564301756 Centerline is valid? [True, True] Translation: X:468.95, Y:-320.82, Z:-5.89 [[-6.81694033e-01 -7.31628256e-01 3.65250439e-03 4.68952138e+02] [ 7.31618029e-01 -6.81703817e-01 -3.86864003e-03 -3.20816396e+02] [ 5.32033254e-03 3.50092408e-05 9.99985846e-01 -5.89145839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters 0.04964247016618088 Centerline is valid? [True, True] Translation: X:468.91, Y:-320.78, Z:-5.89 [[-6.83672998e-01 -7.29777372e-01 4.02733131e-03 4.68913424e+02] [ 7.29764913e-01 -6.83684860e-01 -4.26433927e-03 -3.20775197e+02] [ 5.86544375e-03 2.35914708e-05 9.99982798e-01 -5.89255771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters 0.048503386235728876 Centerline is valid? [True, True] Translation: X:468.88, Y:-320.73, Z:-5.89 [[-6.85887286e-01 -7.27696486e-01 4.05647521e-03 4.68875266e+02] [ 7.27683817e-01 -6.85899282e-01 -4.29393257e-03 -3.20733070e+02] [ 5.90701307e-03 6.67760051e-06 9.99982553e-01 -5.89230522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters 0.048779666503950735 Centerline is valid? [True, True] Translation: X:468.84, Y:-320.69, Z:-5.89 [[-6.86699066e-01 -7.26929775e-01 4.18268781e-03 4.68835831e+02] [ 7.26916300e-01 -6.86711804e-01 -4.42621118e-03 -3.20691204e+02] [ 6.08984579e-03 9.88856642e-07 9.99981457e-01 -5.89254803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters 0.049204702851686405 Centerline is valid? [True, True] Translation: X:468.80, Y:-320.65, Z:-5.89 [[-6.86848261e-01 -7.26784406e-01 4.88809592e-03 4.68796382e+02] [ 7.26766010e-01 -6.86865655e-01 -5.17106320e-03 -3.20650582e+02] [ 7.11571330e-03 7.66197614e-07 9.99974683e-01 -5.89313954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters 0.04891797682458761 Centerline is valid? [True, True] Translation: X:468.76, Y:-320.61, Z:-5.89 [[-6.86110152e-01 -7.27479783e-01 5.10144330e-03 4.68756156e+02] [ 7.27459776e-01 -6.86129117e-01 -5.39526600e-03 -3.20610237e+02] [ 7.42519573e-03 9.34801956e-06 9.99972433e-01 -5.89350938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters 0.04904156838668782 Centerline is valid? [True, True] Translation: X:468.72, Y:-320.57, Z:-5.89 [[-6.85701360e-01 -7.27862564e-01 5.45278220e-03 4.68717442e+02] [ 7.27839734e-01 -6.85723040e-01 -5.76486801e-03 -3.20570561e+02] [ 7.93513000e-03 1.57737159e-05 9.99968516e-01 -5.89385788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters 0.04929013395942516 Centerline is valid? [True, True] Translation: X:468.68, Y:-320.53, Z:-5.89 [[-6.83169163e-01 -7.30236626e-01 5.86211659e-03 4.68677489e+02] [ 7.30210341e-01 -6.83194312e-01 -6.19604592e-03 -3.20528926e+02] [ 8.52954438e-03 4.76306438e-05 9.99963622e-01 -5.89017284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters 0.04874847133341593 Centerline is valid? [True, True] Translation: X:468.63, Y:-320.49, Z:-5.90 [[-6.81004336e-01 -7.32250155e-01 6.54245453e-03 4.68634146e+02] [ 7.32217523e-01 -6.81035758e-01 -6.91346756e-03 -3.20490356e+02] [ 9.51803317e-03 8.23984597e-05 9.99954699e-01 -5.89500091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters 0.04889635667118198 Centerline is valid? [True, True] Translation: X:468.59, Y:-320.45, Z:-5.89 [[-6.79193995e-01 -7.33929239e-01 6.58706715e-03 4.68594990e+02] [ 7.33896258e-01 -6.79225928e-01 -6.95856581e-03 -3.20450702e+02] [ 9.58120170e-03 1.08007821e-04 9.99954093e-01 -5.89485041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters 0.048588266937756974 Centerline is valid? [True, True] Translation: X:468.55, Y:-320.41, Z:-5.89 [[-6.77251579e-01 -7.35729133e-01 5.73945811e-03 4.68554293e+02] [ 7.35704170e-01 -6.77275889e-01 -6.06169593e-03 -3.20409330e+02] [ 8.34696288e-03 1.17250126e-04 9.99965157e-01 -5.89422653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters 0.04904635439610551 Centerline is valid? [True, True] Translation: X:468.51, Y:-320.37, Z:-5.89 [[-6.75804795e-01 -7.37062438e-01 5.18095795e-03 4.68514941e+02] [ 7.37042145e-01 -6.75824643e-01 -5.47069913e-03 -3.20368742e+02] [ 7.53366590e-03 1.21459655e-04 9.99971614e-01 -5.89371750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters 0.049212554620589335 Centerline is valid? [True, True] Translation: X:468.47, Y:-320.33, Z:-5.89 [[-6.73035522e-01 -7.39593473e-01 4.96797610e-03 4.68473584e+02] [ 7.39574894e-01 -6.73053842e-01 -5.24433954e-03 -3.20329561e+02] [ 7.22239469e-03 1.44563594e-04 9.99973908e-01 -5.89452008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters 0.048674805872178206 Centerline is valid? [True, True] Translation: X:468.44, Y:-320.29, Z:-5.89 [[-6.71534413e-01 -7.40955900e-01 5.08784221e-03 4.68435829e+02] [ 7.40936462e-01 -6.71553667e-01 -5.36955225e-03 -3.20285033e+02] [ 7.39536052e-03 1.63928685e-04 9.99972641e-01 -5.89373683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters 0.048431854136954555 Centerline is valid? [True, True] Translation: X:468.40, Y:-320.24, Z:-5.89 [[-6.69821785e-01 -7.42502426e-01 5.37805920e-03 4.68395254e+02] [ 7.42480769e-01 -6.69843348e-01 -5.67433845e-03 -3.20244176e+02] [ 7.81566725e-03 1.92310018e-04 9.99969439e-01 -5.89407916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters 0.04894753504508945 Centerline is valid? [True, True] Translation: X:468.36, Y:-320.20, Z:-5.89 [[-6.69343034e-01 -7.42936705e-01 4.99555248e-03 4.68355819e+02] [ 7.42918041e-01 -6.69361650e-01 -5.26934938e-03 -3.20203160e+02] [ 7.25862432e-03 1.84283757e-04 9.99973639e-01 -5.89429894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters 0.04867443845160696 Centerline is valid? [True, True] Translation: X:468.32, Y:-320.16, Z:-5.89 [[-6.69501482e-01 -7.42796719e-01 4.56068535e-03 4.68318136e+02] [ 7.42781169e-01 -6.69516995e-01 -4.80930329e-03 -3.20160539e+02] [ 6.62579105e-03 1.67755516e-04 9.99978035e-01 -5.89338749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters 0.04821773520254718 Centerline is valid? [True, True] Translation: X:468.28, Y:-320.11, Z:-5.89 [[-6.70676968e-01 -7.41738739e-01 4.00583067e-03 4.68283363e+02] [ 7.41726730e-01 -6.70688917e-01 -4.22311022e-03 -3.20113479e+02] [ 5.81911068e-03 1.38888922e-04 9.99983059e-01 -5.89174920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters 0.04828168284818843 Centerline is valid? [True, True] Translation: X:468.24, Y:-320.07, Z:-5.89 [[-6.71515963e-01 -7.40977252e-01 4.36157013e-03 4.68241089e+02] [ 7.40963004e-01 -6.71530112e-01 -4.59736899e-03 -3.20074305e+02] [ 6.33547152e-03 1.44555438e-04 9.99979920e-01 -5.89353237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters 0.04857161220149623 Centerline is valid? [True, True] Translation: X:468.20, Y:-320.03, Z:-5.89 [[-6.73229860e-01 -7.39414997e-01 5.19778976e-03 4.68204185e+02] [ 7.39394726e-01 -6.73249907e-01 -5.47738452e-03 -3.20029466e+02] [ 7.54947173e-03 1.55679527e-04 9.99971490e-01 -5.89365295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters 0.04911333609485572 Centerline is valid? [True, True] Translation: X:468.16, Y:-319.99, Z:-5.90 [[-6.74653890e-01 -7.38115661e-01 5.23448986e-03 4.68163184e+02] [ 7.38095073e-01 -6.74674181e-01 -5.51473672e-03 -3.19989428e+02] [ 7.60208870e-03 1.43012593e-04 9.99971094e-01 -5.89546653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters 0.04951528016076985 Centerline is valid? [True, True] Translation: X:468.13, Y:-319.94, Z:-5.89 [[-6.76528936e-01 -7.36405694e-01 3.90539525e-03 4.68128536e+02] [ 7.36394211e-01 -6.76540202e-01 -4.11347937e-03 -3.19942601e+02] [ 5.67134652e-03 9.30226355e-05 9.99983913e-01 -5.89231931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters 0.04842832622318022 Centerline is valid? [True, True] Translation: X:468.09, Y:-319.90, Z:-5.89 [[-6.76751943e-01 -7.36202875e-01 3.48346866e-03 4.68088390e+02] [ 7.36193742e-01 -6.76760903e-01 -3.66793662e-03 -3.19902885e+02] [ 5.05782088e-03 8.22245894e-05 9.99987206e-01 -5.89191717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters 0.048268757815088034 Centerline is valid? [True, True] Translation: X:468.05, Y:-319.86, Z:-5.89 [[-6.76660342e-01 -7.36288127e-01 3.25197949e-03 4.68050764e+02] [ 7.36280174e-01 -6.76668152e-01 -3.42319631e-03 -3.19860276e+02] [ 4.72096975e-03 7.80268380e-05 9.99988853e-01 -5.89088453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters 0.048778870665921785 Centerline is valid? [True, True] Translation: X:468.01, Y:-319.82, Z:-5.89 [[-6.76022466e-01 -7.36871014e-01 3.83857785e-03 4.68009623e+02] [ 7.36859947e-01 -6.76033357e-01 -4.03963575e-03 -3.19818825e+02] [ 5.57169716e-03 9.76097480e-05 9.99984473e-01 -5.89200741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters 0.04916882097897074 Centerline is valid? [True, True] Translation: X:467.97, Y:-319.78, Z:-5.89 [[-6.75889790e-01 -7.36992030e-01 3.96729029e-03 4.67969201e+02] [ 7.36980218e-01 -6.75901426e-01 -4.17382061e-03 -3.19780039e+02] [ 5.75756969e-03 1.02771721e-04 9.99983420e-01 -5.89214950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters 0.04822732947969908 Centerline is valid? [True, True] Translation: X:467.93, Y:-319.74, Z:-5.89 [[-6.76024402e-01 -7.36875049e-01 2.48404032e-03 4.67931765e+02] [ 7.36870420e-01 -6.76028962e-01 -2.61259606e-03 -3.19736958e+02] [ 3.60444005e-03 6.42371431e-05 9.99993502e-01 -5.88911548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters 0.04892905132742439 Centerline is valid? [True, True] Translation: X:467.89, Y:-319.70, Z:-5.89 [[-6.76767204e-01 -7.36196130e-01 1.18718777e-03 4.67889119e+02] [ 7.36195072e-01 -6.76768245e-01 -1.24830788e-03 -3.19698139e+02] [ 1.72245041e-03 2.91879525e-05 9.99998516e-01 -5.88826967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters 0.04908609823823284 Centerline is valid? [True, True] Translation: X:467.85, Y:-319.66, Z:-5.89 [[-6.78661243e-01 -7.34451439e-01 2.81442611e-05 4.67850655e+02] [ 7.34451438e-01 -6.78661244e-01 -2.95893108e-05 -3.19657082e+02] [ 4.08323311e-05 5.89474562e-07 9.99999999e-01 -5.88707351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters 0.04837100590324234 Centerline is valid? [True, True] Translation: X:467.82, Y:-319.61, Z:-5.89 [[-6.80253569e-01 -7.32976839e-01 -1.87308407e-04 4.67816377e+02] [ 7.32976813e-01 -6.80253595e-01 1.96848141e-04 -3.19609952e+02] [-2.71702346e-04 -3.38606856e-06 9.99999963e-01 -5.88805479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters 0.04952280894315838 Centerline is valid? [True, True] Translation: X:467.77, Y:-319.57, Z:-5.89 [[-6.83308353e-01 -7.30129732e-01 5.19456818e-04 4.67773934e+02] [ 7.30129528e-01 -6.83308550e-01 -5.45782854e-04 -3.19571736e+02] [ 7.53441574e-04 6.33277827e-06 9.99999716e-01 -5.88864752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters 0.049600196039998524 Centerline is valid? [True, True] Translation: X:467.74, Y:-319.53, Z:-5.89 [[-6.85145399e-01 -7.28405300e-01 1.22499607e-03 4.67737568e+02] [ 7.28404164e-01 -6.85146495e-01 -1.28665571e-03 -3.19530284e+02] [ 1.77650861e-03 1.07459988e-05 9.99998422e-01 -5.88910925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters 0.049055522556808284 Centerline is valid? [True, True] Translation: X:467.70, Y:-319.49, Z:-5.89 [[-6.86418672e-01 -7.27203313e-01 2.17880689e-03 4.67696977e+02] [ 7.27199715e-01 -6.86422130e-01 -2.28786465e-03 -3.19490426e+02] [ 3.15932402e-03 1.39947314e-05 9.99995009e-01 -5.89148780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters 0.05002283770371903 Centerline is valid? [True, True] Translation: X:467.66, Y:-319.45, Z:-5.89 [[-6.87443948e-01 -7.26226269e-01 4.02794632e-03 4.67657853e+02] [ 7.26213960e-01 -6.87455748e-01 -4.22831689e-03 -3.19449040e+02] [ 5.83974965e-03 1.84199916e-05 9.99982948e-01 -5.89246383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters 0.05000308668173606 Centerline is valid? [True, True] Translation: X:467.62, Y:-319.41, Z:-5.89 [[-6.88372499e-01 -7.25343897e-01 4.41962774e-03 4.67620058e+02] [ 7.25329069e-01 -6.88386687e-01 -4.63789811e-03 -3.19408701e+02] [ 6.40648399e-03 1.30829614e-05 9.99979478e-01 -5.89126577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters 0.04937560878474262 Centerline is valid? [True, True] Translation: X:467.58, Y:-319.37, Z:-5.89 [[-6.89529289e-01 -7.24246304e-01 4.08047402e-03 4.67579874e+02] [ 7.24233653e-01 -6.89541363e-01 -4.28077428e-03 -3.19367577e+02] [ 5.91399057e-03 3.49735675e-06 9.99982512e-01 -5.89202796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters 0.0497173518385682 Centerline is valid? [True, True] Translation: X:467.54, Y:-319.33, Z:-5.89 [[-6.90662346e-01 -7.23169908e-01 3.28769913e-03 4.67541336e+02] [ 7.23161688e-01 -6.90670171e-01 -3.44798678e-03 -3.19326647e+02] [ 4.76419600e-03 -3.85658411e-06 9.99988651e-01 -5.89198713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters 0.04913815821493624 Centerline is valid? [True, True] Translation: X:467.50, Y:-319.29, Z:-5.89 [[-6.91428297e-01 -7.22440306e-01 2.62968466e-03 4.67503356e+02] [ 7.22435045e-01 -6.91433298e-01 -2.75694345e-03 -3.19286344e+02] [ 3.80997860e-03 -6.45235472e-06 9.99992742e-01 -5.89111588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters 0.04920313959488662 Centerline is valid? [True, True] Translation: X:467.46, Y:-319.24, Z:-5.89 [[-6.94188549e-01 -7.19790948e-01 1.80265328e-03 4.67464835e+02] [ 7.19788469e-01 -6.94190889e-01 -1.88929356e-03 -3.19244697e+02] [ 2.61128189e-03 -1.39969077e-05 9.99996591e-01 -5.88848375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters 0.04963876488549859 Centerline is valid? [True, True] Translation: X:467.43, Y:-319.20, Z:-5.89 [[-6.95787452e-01 -7.18243673e-01 2.41825330e-03 4.67427039e+02] [ 7.18239205e-01 -6.95791654e-01 -2.53372097e-03 -3.19203273e+02] [ 3.50242952e-03 -2.60469300e-05 9.99993866e-01 -5.88944392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters 0.04948972143409868 Centerline is valid? [True, True] Translation: X:467.39, Y:-319.16, Z:-5.89 [[-6.96836668e-01 -7.17221668e-01 3.42603439e-03 4.67386798e+02] [ 7.17212692e-01 -6.96845088e-01 -3.58856303e-03 -3.19162311e+02] [ 4.96121040e-03 -4.34469589e-05 9.99987692e-01 -5.89065842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters 0.04919132407259229 Centerline is valid? [True, True] Translation: X:467.34, Y:-319.13, Z:-5.89 [[-6.98074774e-01 -7.16014661e-01 3.82310630e-03 4.67343317e+02] [ 7.16003472e-01 -6.98085240e-01 -4.00329662e-03 -3.19125258e+02] [ 5.53527315e-03 -5.72430026e-05 9.99984679e-01 -5.88914172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters 0.05022738463055316 Centerline is valid? [True, True] Translation: X:467.30, Y:-319.08, Z:-5.89 [[-6.99395672e-01 -7.14727640e-01 3.17715681e-03 4.67301208e+02] [ 7.14719903e-01 -6.99402886e-01 -3.32616304e-03 -3.19084062e+02] [ 4.59941330e-03 -5.55268224e-05 9.99989421e-01 -5.88891866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters 0.04957978087974988 Centerline is valid? [True, True] Translation: X:467.26, Y:-319.04, Z:-5.89 [[-7.00159767e-01 -7.13981093e-01 2.70177363e-03 4.67262571e+02] [ 7.13975496e-01 -7.00164977e-01 -2.82768330e-03 -3.19041726e+02] [ 3.91059969e-03 -5.08299149e-05 9.99992352e-01 -5.88900120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters 0.04947845193857347 Centerline is valid? [True, True] Translation: X:467.22, Y:-319.00, Z:-5.89 [[-6.99594251e-01 -7.14535665e-01 2.58219601e-03 4.67221609e+02] [ 7.14530559e-01 -6.99599015e-01 -2.70167634e-03 -3.19003402e+02] [ 3.73694588e-03 -4.50192785e-05 9.99993017e-01 -5.88970941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters 0.049916081314374534 Centerline is valid? [True, True] Translation: X:467.18, Y:-318.97, Z:-5.89 [[-6.97735625e-01 -7.16349286e-01 2.94918624e-03 4.67176679e+02] [ 7.16342645e-01 -6.97741857e-01 -3.08485505e-03 -3.18965747e+02] [ 4.26760439e-03 -3.97853922e-05 9.99990893e-01 -5.88929173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters 0.04974330068168436 Centerline is valid? [True, True] Translation: X:467.14, Y:-318.93, Z:-5.89 [[-6.95473919e-01 -7.18545952e-01 2.78247035e-03 4.67135099e+02] [ 7.18540061e-01 -6.95479485e-01 -2.90972505e-03 -3.18925655e+02] [ 4.02592220e-03 -2.43214663e-05 9.99991896e-01 -5.89066123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters 0.04967394267502023 Centerline is valid? [True, True] Translation: X:467.09, Y:-318.89, Z:-5.89 [[-6.91904764e-01 -7.21980477e-01 3.46234210e-03 4.67090085e+02] [ 7.21971404e-01 -6.91913427e-01 -3.61956837e-03 -3.18888965e+02] [ 5.00889868e-03 -4.68461387e-06 9.99987455e-01 -5.89089768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters 0.05002439145377827 Centerline is valid? [True, True] Translation: X:467.05, Y:-318.85, Z:-5.89 [[-6.89851576e-01 -7.23940794e-01 3.81172618e-03 4.67047459e+02] [ 7.23929833e-01 -6.89862107e-01 -3.98374882e-03 -3.18850078e+02] [ 5.51356374e-03 1.12268877e-05 9.99984800e-01 -5.89103223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters 0.050143087771137865 Centerline is valid? [True, True] Translation: X:467.00, Y:-318.81, Z:-5.89 [[-6.87382368e-01 -7.26287821e-01 3.38829312e-03 4.67003378e+02] [ 7.26279193e-01 -6.87390719e-01 -3.54026552e-03 -3.18813024e+02] [ 4.90033297e-03 2.73306977e-05 9.99987993e-01 -5.89211950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters 0.04988884637232156 Centerline is valid? [True, True] Translation: X:466.96, Y:-318.77, Z:-5.89 [[-6.85779628e-01 -7.27802369e-01 3.16432626e-03 4.66963127e+02] [ 7.27794865e-01 -6.85786927e-01 -3.30524609e-03 -3.18773191e+02] [ 4.57561952e-03 3.63099686e-05 9.99989531e-01 -5.89118132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters 0.050269217023433274 Centerline is valid? [True, True] Translation: X:466.92, Y:-318.73, Z:-5.89 [[-6.84436040e-01 -7.29067876e-01 2.70910475e-03 4.66920901e+02] [ 7.29062388e-01 -6.84441400e-01 -2.82908322e-03 -3.18732180e+02] [ 3.91681714e-03 3.87798645e-05 9.99992329e-01 -5.89119365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters 0.05031719597435228 Centerline is valid? [True, True] Translation: X:466.88, Y:-318.69, Z:-5.89 [[-6.82707928e-01 -7.30687425e-01 2.40256619e-03 4.66877665e+02] [ 7.30683121e-01 -6.82712154e-01 -2.50825579e-03 -3.18694350e+02] [ 3.47301210e-03 4.31084457e-05 9.99993968e-01 -5.89136347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters 0.0502508308389366 Centerline is valid? [True, True] Translation: X:466.84, Y:-318.65, Z:-5.89 [[-6.81840034e-01 -7.31496527e-01 2.64561028e-03 4.66837789e+02] [ 7.31491317e-01 -6.81845165e-01 -2.76126602e-03 -3.18652412e+02] [ 3.82375307e-03 5.24992289e-05 9.99992688e-01 -5.89170412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters 0.050011476123157615 Centerline is valid? [True, True] Translation: X:466.80, Y:-318.61, Z:-5.89 [[-6.80855568e-01 -7.32407828e-01 3.80390399e-03 4.66796817e+02] [ 7.32397078e-01 -6.80866188e-01 -3.96909377e-03 -3.18612732e+02] [ 5.49694496e-03 8.35885788e-05 9.99984888e-01 -5.89351776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters 0.05032562479987422 Centerline is valid? [True, True] Translation: X:466.76, Y:-318.57, Z:-5.89 [[-6.81299627e-01 -7.31991642e-01 4.36525767e-03 4.66758750e+02] [ 7.31977485e-01 -6.81313605e-01 -4.55337117e-03 -3.18571590e+02] [ 6.30713908e-03 9.30602555e-05 9.99980106e-01 -5.89384138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters 0.049699760424599435 Centerline is valid? [True, True] Translation: X:466.72, Y:-318.53, Z:-5.89 [[-6.82960075e-01 -7.30439002e-01 4.93979359e-03 4.66720301e+02] [ 7.30420840e-01 -6.82977933e-01 -5.15160387e-03 -3.18529614e+02] [ 7.13670240e-03 8.97884163e-05 9.99974529e-01 -5.89479102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters 0.04994566487962949 Centerline is valid? [True, True] Translation: X:466.69, Y:-318.48, Z:-5.89 [[-6.87389105e-01 -7.26265747e-01 5.85514127e-03 4.66685141e+02] [ 7.26240095e-01 -6.87414039e-01 -6.10439255e-03 -3.18483998e+02] [ 8.45831753e-03 5.61454245e-05 9.99964226e-01 -5.89399717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters 0.050057930864414825 Centerline is valid? [True, True] Translation: X:466.65, Y:-318.44, Z:-5.89 [[-6.91228990e-01 -7.22614927e-01 5.49107866e-03 4.66647287e+02] [ 7.22592261e-01 -6.91250800e-01 -5.72339133e-03 -3.18439421e+02] [ 7.93152052e-03 1.16369329e-05 9.99968545e-01 -5.89275476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters 0.04974298094351545 Centerline is valid? [True, True] Translation: X:466.61, Y:-318.39, Z:-5.89 [[-6.97092264e-01 -7.16962869e-01 5.15955184e-03 4.66611616e+02] [ 7.16942711e-01 -6.97111356e-01 -5.37642339e-03 -3.18394547e+02] [ 7.45147812e-03 -4.87600659e-05 9.99972236e-01 -5.89302314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters 0.04996602248549469 Centerline is valid? [True, True] Translation: X:466.57, Y:-318.35, Z:-5.89 [[-7.00951172e-01 -7.13195200e-01 4.47902475e-03 4.66574572e+02] [ 7.13179941e-01 -7.00965478e-01 -4.66586179e-03 -3.18352827e+02] [ 6.46731196e-03 -7.61906842e-05 9.99979084e-01 -5.89187997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters 0.04994879393144565 Centerline is valid? [True, True] Translation: X:466.54, Y:-318.31, Z:-5.89 [[-7.05551085e-01 -7.08648361e-01 3.89460769e-03 4.66542268e+02] [ 7.08636761e-01 -7.05561826e-01 -4.05589437e-03 -3.18305206e+02] [ 5.62208941e-03 -1.01778498e-04 9.99984191e-01 -5.89288325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters 0.05014361312977641 Centerline is valid? [True, True] Translation: X:466.50, Y:-318.26, Z:-5.89 [[-7.06967365e-01 -7.07235820e-01 3.82625285e-03 4.66503986e+02] [ 7.07224608e-01 -7.06977710e-01 -3.98381213e-03 -3.18263722e+02] [ 5.52257012e-03 -1.10404992e-04 9.99984744e-01 -5.89248846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters 0.05040445123567201 Centerline is valid? [True, True] Translation: X:466.46, Y:-318.22, Z:-5.89 [[-7.06522183e-01 -7.07680759e-01 3.78786076e-03 4.66463277e+02] [ 7.07669783e-01 -7.06532329e-01 -3.94285393e-03 -3.18223600e+02] [ 5.46652795e-03 -1.05159167e-04 9.99985053e-01 -5.89238537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters 0.04986778083819357 Centerline is valid? [True, True] Translation: X:466.42, Y:-318.18, Z:-5.89 [[-7.04692684e-01 -7.09500954e-01 4.07645381e-03 4.66421575e+02] [ 7.09488276e-01 -7.04704468e-01 -4.24256135e-03 -3.18182936e+02] [ 5.88279654e-03 -9.75057628e-05 9.99982691e-01 -5.89179674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters 0.05041408504661986 Centerline is valid? [True, True] Translation: X:466.38, Y:-318.14, Z:-5.89 [[-7.02354275e-01 -7.11812949e-01 4.56049343e-03 4.66382656e+02] [ 7.11797139e-01 -7.02369075e-01 -4.74509609e-03 -3.18140698e+02] [ 6.58077040e-03 -8.65923481e-05 9.99978343e-01 -5.89308584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters 0.04967842117199391 Centerline is valid? [True, True] Translation: X:466.34, Y:-318.10, Z:-5.89 [[-6.98671830e-01 -7.15429899e-01 4.21117486e-03 4.66340175e+02] [ 7.15416490e-01 -6.98684520e-01 -4.38034885e-03 -3.18101837e+02] [ 6.07611522e-03 -4.76824098e-05 9.99981539e-01 -5.89273901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters 0.050012296838822023 Centerline is valid? [True, True] Translation: X:466.30, Y:-318.06, Z:-5.89 [[-6.96612435e-01 -7.17437801e-01 3.75728324e-03 4.66299301e+02] [ 7.17427162e-01 -6.96622567e-01 -3.90719352e-03 -3.18062494e+02] [ 5.42057662e-03 -2.62225405e-05 9.99985308e-01 -5.89162829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters 0.049103530073192875 Centerline is valid? [True, True] Translation: X:466.26, Y:-318.02, Z:-5.89 [[-6.94940472e-01 -7.19059767e-01 3.28516396e-03 4.66258813e+02] [ 7.19051656e-01 -6.94948236e-01 -3.41536095e-03 -3.18021020e+02] [ 4.73886755e-03 -1.12699641e-05 9.99988771e-01 -5.89207288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters 0.0493778500550699 Centerline is valid? [True, True] Translation: X:466.22, Y:-317.98, Z:-5.89 [[-6.93559746e-01 -7.20391479e-01 3.31612629e-03 4.66219460e+02] [ 7.20383234e-01 -6.93567674e-01 -3.44643004e-03 -3.17981126e+02] [ 4.78273683e-03 -1.42335639e-06 9.99988563e-01 -5.89214253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters 0.04967419096470508 Centerline is valid? [True, True] Translation: X:466.18, Y:-317.94, Z:-5.89 [[-6.92119199e-01 -7.21777402e-01 2.89762702e-03 4.66179819e+02] [ 7.21771124e-01 -6.92125265e-01 -3.01047689e-03 -3.17941693e+02] [ 4.17841506e-03 7.81464899e-06 9.99991270e-01 -5.89201527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters 0.049345664874518046 Centerline is valid? [True, True] Translation: X:466.14, Y:-317.90, Z:-5.89 [[-6.89525348e-01 -7.24255866e-01 2.86975551e-03 4.66140665e+02] [ 7.24249733e-01 -6.89531320e-01 -2.98058213e-03 -3.17900761e+02] [ 4.13749039e-03 2.32327307e-05 9.99991440e-01 -5.89096993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters 0.04896600363182411 Centerline is valid? [True, True] Translation: X:466.10, Y:-317.86, Z:-5.89 [[-6.88046157e-01 -7.25660221e-01 3.11935053e-03 4.66098821e+02] [ 7.25652993e-01 -6.88053227e-01 -3.23901718e-03 -3.17860809e+02] [ 4.49670512e-03 3.49727315e-05 9.99989889e-01 -5.89320568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters 0.04946828105315971 Centerline is valid? [True, True] Translation: X:466.06, Y:-317.82, Z:-5.89 [[-6.86518824e-01 -7.27100073e-01 4.16988675e-03 4.66059743e+02] [ 7.27087191e-01 -6.86531486e-01 -4.32855306e-03 -3.17821193e+02] [ 6.01004979e-03 6.02380856e-05 9.99981938e-01 -5.89495366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters 0.04896910404588407 Centerline is valid? [True, True] Translation: X:466.02, Y:-317.78, Z:-5.90 [[-6.83267413e-01 -7.30147928e-01 5.44483363e-03 4.66020617e+02] [ 7.30126074e-01 -6.83289097e-01 -5.65027736e-03 -3.17779875e+02] [ 7.84593376e-03 1.14764610e-04 9.99969214e-01 -5.89611437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters 0.04956817902567031 Centerline is valid? [True, True] Translation: X:465.98, Y:-317.74, Z:-5.90 [[-6.81057633e-01 -7.32200982e-01 6.49779555e-03 4.65980248e+02] [ 7.32169972e-01 -6.81088609e-01 -6.74082110e-03 -3.17741655e+02] [ 9.36121036e-03 1.66603119e-04 9.99956169e-01 -5.89808196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters 0.04961508368111968 Centerline is valid? [True, True] Translation: X:465.94, Y:-317.70, Z:-5.90 [[-6.78490374e-01 -7.34579904e-01 6.57095713e-03 4.65943761e+02] [ 7.34548320e-01 -6.78522162e-01 -6.81481797e-03 -3.17697017e+02] [ 9.46456836e-03 2.02897129e-04 9.99955189e-01 -5.89589392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters 0.049386429505847276 Centerline is valid? [True, True] Translation: X:465.91, Y:-317.66, Z:-5.90 [[-6.78067969e-01 -7.34975820e-01 5.86293757e-03 4.65906364e+02] [ 7.34950706e-01 -6.78093290e-01 -6.07868534e-03 -3.17655496e+02] [ 8.44330536e-03 1.87208289e-04 9.99964337e-01 -5.89561685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters 0.04896372410919211 Centerline is valid? [True, True] Translation: X:465.87, Y:-317.61, Z:-5.90 [[-6.78849795e-01 -7.34254896e-01 5.71872440e-03 4.65869723e+02] [ 7.34230991e-01 -6.78873860e-01 -5.92749100e-03 -3.17611501e+02] [ 8.23458180e-03 1.74988631e-04 9.99966080e-01 -5.89513663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters 0.0488694670053916 Centerline is valid? [True, True] Translation: X:465.83, Y:-317.57, Z:-5.90 [[-6.79526597e-01 -7.33630484e-01 5.46964682e-03 4.65832031e+02] [ 7.33608609e-01 -6.79548590e-01 -5.66759489e-03 -3.17570125e+02] [ 7.87481117e-03 1.61298527e-04 9.99968980e-01 -5.89565756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters 0.04818853155797253 Centerline is valid? [True, True] Translation: X:465.80, Y:-317.52, Z:-5.89 [[-6.79086592e-01 -7.34032657e-01 6.12037630e-03 4.65797707e+02] [ 7.34005297e-01 -6.79114146e-01 -6.34039469e-03 -3.17521101e+02] [ 8.81049088e-03 1.86711603e-04 9.99961169e-01 -5.89422429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters 0.048271735788272895 Centerline is valid? [True, True] Translation: X:465.76, Y:-317.48, Z:-5.90 [[-6.78120750e-01 -7.34920501e-01 6.64120358e-03 4.65757414e+02] [ 7.34888346e-01 -6.78153235e-01 -6.87813850e-03 -3.17480054e+02] [ 9.55863868e-03 2.16334677e-04 9.99954292e-01 -5.89591243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters 0.04844801965702413 Centerline is valid? [True, True] Translation: X:465.72, Y:-317.44, Z:-5.90 [[-6.76637258e-01 -7.36277713e-01 7.55974233e-03 4.65720278e+02] [ 7.36236156e-01 -6.76679434e-01 -7.82731150e-03 -3.17436339e+02] [ 1.08785972e-02 2.69505032e-04 9.99940790e-01 -5.89614735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters 0.048172442456837015 Centerline is valid? [True, True] Translation: X:465.68, Y:-317.39, Z:-5.90 [[-6.77096141e-01 -7.35851448e-01 7.96627735e-03 4.65680368e+02] [ 7.35805295e-01 -6.77142946e-01 -8.24615690e-03 -3.17394230e+02] [ 1.14622550e-02 2.78188042e-04 9.99934268e-01 -5.89656783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters 0.04838960561081412 Centerline is valid? [True, True] Translation: X:465.64, Y:-317.35, Z:-5.90 [[-6.80024846e-01 -7.33147372e-01 7.81926874e-03 4.65640474e+02] [ 7.33102751e-01 -6.80069760e-01 -8.09179896e-03 -3.17352197e+02] [ 1.12501294e-02 2.29703089e-04 9.99936689e-01 -5.89731955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters 0.04816196720611918 Centerline is valid? [True, True] Translation: X:465.60, Y:-317.31, Z:-5.90 [[-6.81823159e-01 -7.31482389e-01 7.12003490e-03 4.65600668e+02] [ 7.31445322e-01 -6.81860309e-01 -7.36616804e-03 -3.17310631e+02] [ 1.02430914e-02 1.85492256e-04 9.99947521e-01 -5.89690089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters 0.048664544532795 Centerline is valid? [True, True] Translation: X:465.56, Y:-317.27, Z:-5.90 [[-6.82342675e-01 -7.31000715e-01 6.81383698e-03 4.65561303e+02] [ 7.30966762e-01 -6.82376674e-01 -7.04755204e-03 -3.17268017e+02] [ 9.80136900e-03 1.71842840e-04 9.99951951e-01 -5.89511514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters 0.04860679286243513 Centerline is valid? [True, True] Translation: X:465.52, Y:-317.23, Z:-5.90 [[-6.79917088e-01 -7.33260924e-01 6.41648743e-03 4.65518232e+02] [ 7.33230931e-01 -6.79947336e-01 -6.63492639e-03 -3.17228549e+02] [ 9.22800579e-03 1.93567220e-04 9.99957402e-01 -5.89540443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters 0.04932362832504161 Centerline is valid? [True, True] Translation: X:465.47, Y:-317.20, Z:-5.90 [[-6.76444936e-01 -7.36461585e-01 6.82517805e-03 4.65470631e+02] [ 7.36427831e-01 -6.76479319e-01 -7.05551121e-03 -3.17195705e+02] [ 9.81320477e-03 2.53586237e-04 9.99951817e-01 -5.89839750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters 0.04922385232746082 Centerline is valid? [True, True] Translation: X:465.43, Y:-317.15, Z:-5.90 [[-6.75198338e-01 -7.37603051e-01 6.99598064e-03 4.65432000e+02] [ 7.37567667e-01 -6.75234523e-01 -7.23012139e-03 -3.17153538e+02] [ 1.00568872e-02 2.78243180e-04 9.99949390e-01 -5.89700777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters 0.04878318804803772 Centerline is valid? [True, True] Translation: X:465.39, Y:-317.11, Z:-5.90 [[-6.74689138e-01 -7.38074224e-01 6.40366636e-03 4.65393559e+02] [ 7.38044615e-01 -6.74719475e-01 -6.61635853e-03 -3.17110554e+02] [ 9.20404210e-03 2.62206242e-04 9.99957608e-01 -5.89531424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters 0.04787047052241672 Centerline is valid? [True, True] Translation: X:465.36, Y:-317.07, Z:-5.89 [[-6.74327016e-01 -7.38414258e-01 5.24007648e-03 4.65355899e+02] [ 7.38394452e-01 -6.74347340e-01 -5.41274204e-03 -3.17066040e+02] [ 7.53047753e-03 2.19285212e-04 9.99971622e-01 -5.89342213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters 0.04774185146403315 Centerline is valid? [True, True] Translation: X:465.31, Y:-317.03, Z:-5.89 [[-6.74330385e-01 -7.38415429e-01 4.60286465e-03 4.65314218e+02] [ 7.38400155e-01 -6.74346066e-01 -4.75324170e-03 -3.17026364e+02] [ 6.61379068e-03 1.93500667e-04 9.99978110e-01 -5.89318116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters 0.04880439557413071 Centerline is valid? [True, True] Translation: X:465.27, Y:-316.99, Z:-5.89 [[-6.74047692e-01 -7.38672458e-01 4.76530727e-03 4.65270200e+02] [ 7.38656100e-01 -6.74064506e-01 -4.92009385e-03 -3.16989838e+02] [ 6.84646231e-03 2.03545378e-04 9.99976542e-01 -5.89428893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters 0.04884925999179174 Centerline is valid? [True, True] Translation: X:465.23, Y:-316.95, Z:-5.89 [[-6.74424488e-01 -7.38320462e-01 5.87415858e-03 4.65232746e+02] [ 7.38295606e-01 -6.74450024e-01 -6.06327677e-03 -3.16946868e+02] [ 8.43846770e-03 2.47643140e-04 9.99964365e-01 -5.89450364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters 0.04810914598548584 Centerline is valid? [True, True] Translation: X:465.20, Y:-316.90, Z:-5.89 [[-6.76070026e-01 -7.36808577e-01 6.51468590e-03 4.65195129e+02] [ 7.36777950e-01 -6.76101365e-01 -6.72288762e-03 -3.16901682e+02] [ 9.35806929e-03 2.54734109e-04 9.99956180e-01 -5.89376816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters 0.048636397334176226 Centerline is valid? [True, True] Translation: X:465.16, Y:-316.86, Z:-5.89 [[-6.80416326e-01 -7.32798383e-01 6.33669828e-03 4.65156229e+02] [ 7.32769246e-01 -6.80445804e-01 -6.53753700e-03 -3.16858477e+02] [ 9.10247630e-03 1.95090717e-04 9.99958553e-01 -5.89417989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters 0.048442003311828796 Centerline is valid? [True, True] Translation: X:465.12, Y:-316.81, Z:-5.89 [[-6.84460057e-01 -7.29025964e-01 5.96444550e-03 4.65118077e+02] [ 7.29000020e-01 -6.84486030e-01 -6.15189920e-03 -3.16814237e+02] [ 8.56747386e-03 1.37351617e-04 9.99963289e-01 -5.89379817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters 0.048309898906193346 Centerline is valid? [True, True] Translation: X:465.08, Y:-316.77, Z:-5.89 [[-6.91285950e-01 -7.22561431e-01 5.35859698e-03 4.65081433e+02] [ 7.22540300e-01 -6.91306716e-01 -5.52616100e-03 -3.16768183e+02] [ 7.69742488e-03 5.16448199e-05 9.99970373e-01 -5.89292292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters 0.048414324308170574 Centerline is valid? [True, True] Translation: X:465.04, Y:-316.73, Z:-5.89 [[-6.94884690e-01 -7.19106132e-01 4.65168141e-03 4.65043001e+02] [ 7.19090140e-01 -6.94900259e-01 -4.79590006e-03 -3.16725854e+02] [ 6.68121576e-03 1.23807138e-05 9.99977680e-01 -5.89338110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters 0.04922782935925784 Centerline is valid? [True, True] Translation: X:465.00, Y:-316.68, Z:-5.89 [[-6.96425302e-01 -7.17614268e-01 4.64347354e-03 4.65004104e+02] [ 7.17598308e-01 -6.96440782e-01 -4.78598235e-03 -3.16684382e+02] [ 6.66839356e-03 -9.30446812e-07 9.99977766e-01 -5.89285358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters 0.04867400568740811 Centerline is valid? [True, True] Translation: X:464.96, Y:-316.64, Z:-5.89 [[-6.95153410e-01 -7.18840297e-01 5.51033919e-03 4.64962644e+02] [ 7.18817871e-01 -6.95175249e-01 -5.67812595e-03 -3.16644320e+02] [ 7.91231716e-03 1.37616705e-05 9.99968697e-01 -5.89436644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters 0.04901753166615555 Centerline is valid? [True, True] Translation: X:464.92, Y:-316.61, Z:-5.90 [[-6.93353662e-01 -7.20569247e-01 6.37644093e-03 4.64921258e+02] [ 7.20539307e-01 -6.93382981e-01 -6.56880828e-03 -3.16605027e+02] [ 9.15459686e-03 3.99690490e-05 9.99958095e-01 -5.89749031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters 0.04867851215030106 Centerline is valid? [True, True] Translation: X:464.88, Y:-316.56, Z:-5.90 [[-6.89880769e-01 -7.23892208e-01 6.67798636e-03 4.64879265e+02] [ 7.23859538e-01 -6.89913084e-01 -6.87787799e-03 -3.16563945e+02] [ 9.58607245e-03 8.90083667e-05 9.99954049e-01 -5.89541080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters 0.048514815223544124 Centerline is valid? [True, True] Translation: X:464.84, Y:-316.52, Z:-5.89 [[-6.88418026e-01 -7.25285575e-01 6.43865492e-03 4.64836862e+02] [ 7.25255281e-01 -6.88448127e-01 -6.62972730e-03 -3.16523573e+02] [ 9.24112550e-03 1.05644709e-04 9.99957294e-01 -5.89492962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters 0.048328319941740985 Centerline is valid? [True, True] Translation: X:464.79, Y:-316.48, Z:-5.89 [[-6.87995557e-01 -7.25700901e-01 4.50727837e-03 4.64794842e+02] [ 7.25686073e-01 -6.88010317e-01 -4.63979889e-03 -3.16482880e+02] [ 6.46816026e-03 7.87081205e-05 9.99979078e-01 -5.89328352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters 0.04840332710102321 Centerline is valid? [True, True] Translation: X:464.75, Y:-316.44, Z:-5.89 [[-6.88714115e-01 -7.25025556e-01 3.28795983e-03 4.64754170e+02] [ 7.25017662e-01 -6.88721961e-01 -3.38374542e-03 -3.16443466e+02] [ 4.71779204e-03 5.33957178e-05 9.99988870e-01 -5.89212160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters 0.04846084763825255 Centerline is valid? [True, True] Translation: X:464.71, Y:-316.40, Z:-5.89 [[-6.89718577e-01 -7.24072278e-01 2.76061992e-03 4.64714663e+02] [ 7.24066708e-01 -6.89724101e-01 -2.84031981e-03 -3.16404961e+02] [ 3.96066293e-03 3.98516383e-05 9.99992156e-01 -5.89160891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters 0.04853983932309028 Centerline is valid? [True, True] Translation: X:464.68, Y:-316.36, Z:-5.89 [[-6.90340428e-01 -7.23477913e-01 3.13102083e-03 4.64675189e+02] [ 7.23470746e-01 -6.90347527e-01 -3.22046651e-03 -3.16364060e+02] [ 4.49142887e-03 4.19837410e-05 9.99989913e-01 -5.89179583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters 0.04889978323093523 Centerline is valid? [True, True] Translation: X:464.63, Y:-316.33, Z:-5.89 [[-6.90734722e-01 -7.23096555e-01 4.11277777e-03 4.64632111e+02] [ 7.23084191e-01 -6.90746964e-01 -4.22895941e-03 -3.16327720e+02] [ 5.89883474e-03 5.27954859e-05 9.99982600e-01 -5.89484520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters 0.04934698630353392 Centerline is valid? [True, True] Translation: X:464.59, Y:-316.29, Z:-5.89 [[-6.91285174e-01 -7.22566805e-01 4.69268135e-03 4.64592714e+02] [ 7.22550706e-01 -6.91301099e-01 -4.82371522e-03 -3.16288041e+02] [ 6.72951227e-03 5.61374058e-05 9.99977355e-01 -5.89490266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters 0.04900347640362803 Centerline is valid? [True, True] Translation: X:464.55, Y:-316.25, Z:-5.89 [[-6.92328951e-01 -7.21563474e-01 5.17462393e-03 4.64552946e+02] [ 7.21543881e-01 -6.92348287e-01 -5.31769633e-03 -3.16246024e+02] [ 7.41969745e-03 5.21231063e-05 9.99972472e-01 -5.89398859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters 0.04896372170094054 Centerline is valid? [True, True] Translation: X:464.51, Y:-316.21, Z:-5.90 [[-6.94059022e-01 -7.19891725e-01 6.16261836e-03 4.64512958e+02] [ 7.19863887e-01 -6.94086380e-01 -6.33101843e-03 -3.16206888e+02] [ 8.83503724e-03 4.21459492e-05 9.99960969e-01 -5.89597358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters 0.04937318455623424 Centerline is valid? [True, True] Translation: X:464.47, Y:-316.17, Z:-5.90 [[-6.95321869e-01 -7.18666897e-01 6.73716119e-03 4.64473010e+02] [ 7.18633587e-01 -6.95354507e-01 -6.91934900e-03 -3.16165964e+02] [ 9.65742247e-03 3.03756276e-05 9.99953366e-01 -5.89667363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters 0.04854677608199802 Centerline is valid? [True, True] Translation: X:464.44, Y:-316.12, Z:-5.90 [[-6.97126750e-01 -7.16918781e-01 6.46186310e-03 4.64435779e+02] [ 7.16888083e-01 -6.97156698e-01 -6.63434258e-03 -3.16124663e+02] [ 9.26121593e-03 7.45497080e-06 9.99957114e-01 -5.89521872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters 0.04953671868596724 Centerline is valid? [True, True] Translation: X:464.40, Y:-316.08, Z:-5.89 [[-6.96982326e-01 -7.17069579e-01 5.18222769e-03 4.64396047e+02] [ 7.17049852e-01 -6.97001591e-01 -5.31903182e-03 -3.16083670e+02] [ 7.42613685e-03 8.64442233e-06 9.99972426e-01 -5.89280534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters 0.04884867676490713 Centerline is valid? [True, True] Translation: X:464.35, Y:-316.04, Z:-5.89 [[-6.93307303e-01 -7.20620339e-01 5.59563516e-03 4.64354308e+02] [ 7.20597465e-01 -6.93329882e-01 -5.74179956e-03 -3.16043327e+02] [ 8.01727860e-03 5.13689484e-05 9.99967860e-01 -5.89323442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters 0.04884867676490713 Centerline is valid? [True, True] Translation: X:464.31, Y:-316.00, Z:-5.89 [[-6.93415483e-01 -7.20516237e-01 5.59649694e-03 4.64314747e+02] [ 7.20493367e-01 -6.93438065e-01 -5.74095958e-03 -3.16002705e+02] [ 8.01727861e-03 5.13686659e-05 9.99967860e-01 -5.89323335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters 0.04925442005730635 Centerline is valid? [True, True] Translation: X:464.28, Y:-315.96, Z:-5.89 [[-6.91592463e-01 -7.22264657e-01 5.79923253e-03 4.64275055e+02] [ 7.22240170e-01 -6.91616773e-01 -5.94776979e-03 -3.15961847e+02] [ 8.30671039e-03 7.50059273e-05 9.99965496e-01 -5.89389353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters 0.048456951653145446 Centerline is valid? [True, True] Translation: X:464.23, Y:-315.92, Z:-5.89 [[-6.90018136e-01 -7.23769289e-01 5.74356241e-03 4.64234617e+02] [ 7.23745335e-01 -6.90042033e-01 -5.88913283e-03 -3.15920237e+02] [ 8.22567296e-03 9.32680474e-05 9.99966164e-01 -5.89409241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters 0.0485460979828313 Centerline is valid? [True, True] Translation: X:464.19, Y:-315.88, Z:-5.89 [[-6.88133381e-01 -7.25568679e-01 4.74780221e-03 4.64194956e+02] [ 7.25552363e-01 -6.88149753e-01 -4.86686387e-03 -3.15877376e+02] [ 6.79844290e-03 9.57276223e-05 9.99976886e-01 -5.89278715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters 0.04928876946349003 Centerline is valid? [True, True] Translation: X:464.16, Y:-315.84, Z:-5.89 [[-6.87759431e-01 -7.25923734e-01 4.65809199e-03 4.64155359e+02] [ 7.25908046e-01 -6.87775198e-01 -4.77344635e-03 -3.15837227e+02] [ 6.66887814e-03 9.83637131e-05 9.99977758e-01 -5.89365891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters 0.04889457176226159 Centerline is valid? [True, True] Translation: X:464.12, Y:-315.79, Z:-5.89 [[-6.89085422e-01 -7.24667221e-01 4.32433413e-03 4.64119062e+02] [ 7.24653683e-01 -6.89098986e-01 -4.43034592e-03 -3.15790812e+02] [ 6.19042073e-03 8.07578717e-05 9.99980836e-01 -5.89320277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters 0.048554781058985926 Centerline is valid? [True, True] Translation: X:464.08, Y:-315.75, Z:-5.89 [[-6.90824560e-01 -7.23010693e-01 4.11878523e-03 4.64079909e+02] [ 7.22998388e-01 -6.90836836e-01 -4.21871383e-03 -3.15749100e+02] [ 5.89558376e-03 6.34839545e-05 9.99982619e-01 -5.89418902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters 0.049046361852050094 Centerline is valid? [True, True] Translation: X:464.04, Y:-315.71, Z:-5.89 [[-6.93503550e-01 -7.20443876e-01 3.66719156e-03 4.64044506e+02] [ 7.20434091e-01 -6.93513245e-01 -3.75502315e-03 -3.15705926e+02] [ 5.24852935e-03 3.78479298e-05 9.99986226e-01 -5.89420851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters 0.0489231552285705 Centerline is valid? [True, True] Translation: X:464.01, Y:-315.66, Z:-5.89 [[-6.94458487e-01 -7.19525855e-01 3.15491657e-03 4.64007873e+02] [ 7.19518608e-01 -6.94465653e-01 -3.22945273e-03 -3.15662634e+02] [ 4.51465593e-03 2.73003162e-05 9.99989809e-01 -5.89283063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters 0.04898500848030038 Centerline is valid? [True, True] Translation: X:463.97, Y:-315.62, Z:-5.89 [[-6.94408790e-01 -7.19574914e-01 2.89391463e-03 4.63968985e+02] [ 7.19568822e-01 -6.94414820e-01 -2.96130246e-03 -3.15622842e+02] [ 4.14045617e-03 2.60162786e-05 9.99991428e-01 -5.89366904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters 0.04895837214878987 Centerline is valid? [True, True] Translation: X:463.93, Y:-315.58, Z:-5.90 [[-6.93468337e-01 -7.20474174e-01 4.31634115e-03 4.63927764e+02] [ 7.20460644e-01 -6.93481768e-01 -4.41570093e-03 -3.15582364e+02] [ 6.17470237e-03 4.76051482e-05 9.99980935e-01 -5.89526587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters 0.04893751264706168 Centerline is valid? [True, True] Translation: X:463.89, Y:-315.54, Z:-5.90 [[-6.92397118e-01 -7.21495546e-01 5.51435449e-03 4.63886829e+02] [ 7.21473508e-01 -6.92419072e-01 -5.63970173e-03 -3.15541948e+02] [ 7.88726390e-03 7.35474563e-05 9.99968892e-01 -5.89620472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters 0.048680548315593646 Centerline is valid? [True, True] Translation: X:463.85, Y:-315.50, Z:-5.90 [[-6.91437257e-01 -7.22412114e-01 5.93774713e-03 4.63845982e+02] [ 7.22386610e-01 -6.91462746e-01 -6.07102481e-03 -3.15501898e+02] [ 8.49151281e-03 9.16162785e-05 9.99963942e-01 -5.89710495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters 0.04862193565707239 Centerline is valid? [True, True] Translation: X:463.81, Y:-315.46, Z:-5.90 [[-6.91678777e-01 -7.22182526e-01 5.73314493e-03 4.63805588e+02] [ 7.22158755e-01 -6.91702531e-01 -5.86013033e-03 -3.15461347e+02] [ 8.19771458e-03 8.69130222e-05 9.99966394e-01 -5.89655468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters 0.04785091276459815 Centerline is valid? [True, True] Translation: X:463.76, Y:-315.42, Z:-5.90 [[-6.92676376e-01 -7.21230018e-01 5.16716842e-03 4.63764801e+02] [ 7.21210692e-01 -6.92695645e-01 -5.28025133e-03 -3.15419600e+02] [ 7.38755082e-03 6.91117521e-05 9.99972709e-01 -5.89618928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters 0.04840995475322046 Centerline is valid? [True, True] Translation: X:463.73, Y:-315.38, Z:-5.90 [[-6.94653273e-01 -7.19331620e-01 4.34173037e-03 4.63725734e+02] [ 7.19317944e-01 -6.94666840e-01 -4.43590489e-03 -3.15378529e+02] [ 6.20694276e-03 4.16687096e-05 9.99980736e-01 -5.89568663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters 0.0486192120724254 Centerline is valid? [True, True] Translation: X:463.69, Y:-315.34, Z:-5.90 [[-6.95278334e-01 -7.18727300e-01 4.37119991e-03 4.63687497e+02] [ 7.18713434e-01 -6.95292073e-01 -4.46453421e-03 -3.15338484e+02] [ 6.24804326e-03 3.75461984e-05 9.99980480e-01 -5.89527651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters 0.04849267010650868 Centerline is valid? [True, True] Translation: X:463.65, Y:-315.30, Z:-5.90 [[-6.97433687e-01 -7.16633965e-01 4.69171816e-03 4.63648653e+02] [ 7.16617954e-01 -6.97449467e-01 -4.79046134e-03 -3.15297558e+02] [ 6.70524363e-03 2.11403516e-05 9.99977519e-01 -5.89557646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters 0.04884172397238096 Centerline is valid? [True, True] Translation: X:463.61, Y:-315.26, Z:-5.89 [[-6.98619847e-01 -7.15478151e-01 4.61793871e-03 4.63608654e+02] [ 7.15462623e-01 -6.98635109e-01 -4.71372841e-03 -3.15256209e+02] [ 6.59882380e-03 1.08583218e-05 9.99978228e-01 -5.89459375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters 0.0485576827734718 Centerline is valid? [True, True] Translation: X:463.57, Y:-315.22, Z:-5.90 [[-6.99184646e-01 -7.14928070e-01 4.32273268e-03 4.63569761e+02] [ 7.14914462e-01 -6.99198008e-01 -4.41102064e-03 -3.15216062e+02] [ 6.17600855e-03 6.26620342e-06 9.99980928e-01 -5.89604023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters 0.04917894198891828 Centerline is valid? [True, True] Translation: X:463.53, Y:-315.18, Z:-5.89 [[-6.98681650e-01 -7.15419550e-01 4.33807465e-03 4.63529359e+02] [ 7.15405863e-01 -6.98695118e-01 -4.42544988e-03 -3.15175682e+02] [ 6.19704493e-03 1.15034107e-05 9.99980798e-01 -5.89446159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters 0.04834670931142681 Centerline is valid? [True, True] Translation: X:463.49, Y:-315.14, Z:-5.89 [[-6.97551382e-01 -7.16517728e-01 4.94112816e-03 4.63488498e+02] [ 7.16500007e-01 -6.97568882e-01 -5.03933161e-03 -3.15135033e+02] [ 7.05754768e-03 2.51256321e-05 9.99975095e-01 -5.89497021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters 0.048738639907094795 Centerline is valid? [True, True] Translation: X:463.45, Y:-315.10, Z:-5.90 [[-6.95854366e-01 -7.18157790e-01 6.00749364e-03 4.63447196e+02] [ 7.18131672e-01 -6.95880296e-01 -6.12500375e-03 -3.15096698e+02] [ 8.57921561e-03 5.20608443e-05 9.99963197e-01 -5.89722954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters 0.04888865740321462 Centerline is valid? [True, True] Translation: X:463.41, Y:-315.06, Z:-5.90 [[-6.94928458e-01 -7.19050492e-01 6.38967201e-03 4.63406184e+02] [ 7.19020998e-01 -6.94957830e-01 -6.51296786e-03 -3.15055025e+02] [ 9.12370534e-03 6.82616302e-05 9.99958376e-01 -5.89577038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters 0.04896615667545939 Centerline is valid? [True, True] Translation: X:463.37, Y:-315.02, Z:-5.90 [[-6.94774746e-01 -7.19195882e-01 6.73311909e-03 4.63365620e+02] [ 7.19163160e-01 -6.94807367e-01 -6.86092345e-03 -3.15015384e+02] [ 9.61256865e-03 7.54148540e-05 9.99953795e-01 -5.89644206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters 0.04897453904465406 Centerline is valid? [True, True] Translation: X:463.33, Y:-314.97, Z:-5.90 [[-6.96585399e-01 -7.17449315e-01 5.93820684e-03 4.63325882e+02] [ 7.17423813e-01 -6.96610707e-01 -6.04933554e-03 -3.14973061e+02] [ 8.47671011e-03 4.63321884e-05 9.99964071e-01 -5.89505261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters 0.04886466213790576 Centerline is valid? [True, True] Translation: X:463.29, Y:-314.93, Z:-5.90 [[-6.99079790e-01 -7.15017559e-01 6.11047540e-03 4.63287396e+02] [ 7.14990479e-01 -6.99106494e-01 -6.22290568e-03 -3.14932238e+02] [ 8.72135987e-03 1.86241369e-05 9.99961968e-01 -5.89625854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters 0.0493813186886817 Centerline is valid? [True, True] Translation: X:463.25, Y:-314.89, Z:-5.89 [[-7.03283223e-01 -7.10884740e-01 5.96610398e-03 4.63250018e+02] [ 7.10858790e-01 -7.03308528e-01 -6.07419855e-03 -3.14889099e+02] [ 8.51406687e-03 -3.08244828e-05 9.99963754e-01 -5.89460802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters 0.04923115651847557 Centerline is valid? [True, True] Translation: X:463.21, Y:-314.85, Z:-5.89 [[-7.05739357e-01 -7.08449071e-01 5.64566735e-03 4.63209835e+02] [ 7.08425769e-01 -7.05761937e-01 -5.74618138e-03 -3.14849856e+02] [ 8.05537398e-03 -5.57701139e-05 9.99967553e-01 -5.89154598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters 0.04916231444246626 Centerline is valid? [True, True] Translation: X:463.17, Y:-314.81, Z:-5.89 [[-7.07779845e-01 -7.06415147e-01 5.03296978e-03 4.63171312e+02] [ 7.06396583e-01 -7.07797736e-01 -5.12171198e-03 -3.14806861e+02] [ 7.18037954e-03 -6.97718566e-05 9.99974218e-01 -5.89419930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters 0.049741710931649114 Centerline is valid? [True, True] Translation: X:463.13, Y:-314.77, Z:-5.89 [[-7.06843452e-01 -7.07353986e-01 4.76160402e-03 4.63132812e+02] [ 7.07337400e-01 -7.06859488e-01 -4.84425522e-03 -3.14767587e+02] [ 6.79238822e-03 -5.60694755e-05 9.99976930e-01 -5.89375488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters 0.049318246993002246 Centerline is valid? [True, True] Translation: X:463.09, Y:-314.73, Z:-5.90 [[-7.04558953e-01 -7.09626856e-01 5.13879367e-03 4.63091623e+02] [ 7.09607610e-01 -7.04577692e-01 -5.22644262e-03 -3.14729445e+02] [ 7.32950343e-03 -3.58098497e-05 9.99973138e-01 -5.89566362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters 0.04892774910533793 Centerline is valid? [True, True] Translation: X:463.05, Y:-314.69, Z:-5.89 [[-6.99859338e-01 -7.14265659e-01 4.63424497e-03 4.63047512e+02] [ 7.14250117e-01 -6.99874681e-01 -4.71185349e-03 -3.14693125e+02] [ 6.60890586e-03 1.23753503e-05 9.99978161e-01 -5.89342197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters 0.04876667045144513 Centerline is valid? [True, True] Translation: X:463.01, Y:-314.65, Z:-5.89 [[-6.97018379e-01 -7.17040279e-01 4.31495930e-03 4.63005180e+02] [ 7.17026865e-01 -6.97031734e-01 -4.38604257e-03 -3.14653378e+02] [ 6.15263275e-03 3.67894626e-05 9.99981072e-01 -5.89325342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters 0.04878545262723334 Centerline is valid? [True, True] Translation: X:462.96, Y:-314.61, Z:-5.89 [[-6.94902830e-01 -7.19090813e-01 4.29645337e-03 4.62963484e+02] [ 7.19077561e-01 -6.94916109e-01 -4.36606748e-03 -3.14612832e+02] [ 6.12527367e-03 5.54905614e-05 9.99981239e-01 -5.89325802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters 0.04837046957101231 Centerline is valid? [True, True] Translation: X:462.92, Y:-314.57, Z:-5.89 [[-6.93793118e-01 -7.20164153e-01 3.83432197e-03 4.62922161e+02] [ 7.20153620e-01 -6.93803711e-01 -3.89546546e-03 -3.14570973e+02] [ 5.46564139e-03 5.86537196e-05 9.99985062e-01 -5.89253846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters 0.04852321714680828 Centerline is valid? [True, True] Translation: X:462.88, Y:-314.53, Z:-5.89 [[-6.93403436e-01 -7.20539497e-01 3.80896818e-03 4.62881933e+02] [ 7.20529112e-01 -6.93413895e-01 -3.86895841e-03 -3.14530820e+02] [ 5.42892881e-03 6.17234054e-05 9.99985261e-01 -5.89205305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters 0.049062757710962586 Centerline is valid? [True, True] Translation: X:462.84, Y:-314.49, Z:-5.89 [[-6.93145103e-01 -7.20786950e-01 4.00503758e-03 4.62841654e+02] [ 7.20775479e-01 -6.93156670e-01 -4.06686584e-03 -3.14490884e+02] [ 5.70746233e-03 6.78047452e-05 9.99983710e-01 -5.89241303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters 0.04843579590825235 Centerline is valid? [True, True] Translation: X:462.80, Y:-314.45, Z:-5.89 [[-6.92818144e-01 -7.21094089e-01 5.13170322e-03 4.62800938e+02] [ 7.21075274e-01 -6.92837143e-01 -5.20983645e-03 -3.14451728e+02] [ 7.31221687e-03 9.08750793e-05 9.99973261e-01 -5.89367112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters 0.04876851882210423 Centerline is valid? [True, True] Translation: X:462.76, Y:-314.41, Z:-5.89 [[-6.93427624e-01 -7.20506326e-01 5.36321611e-03 4.62762145e+02] [ 7.20485770e-01 -6.93448358e-01 -5.44331354e-03 -3.14410032e+02] [ 7.64105525e-03 8.95769109e-05 9.99970803e-01 -5.89434532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters 0.04901407310554596 Centerline is valid? [True, True] Translation: X:462.72, Y:-314.37, Z:-5.89 [[-6.95273558e-01 -7.18721220e-01 5.87265054e-03 4.62724066e+02] [ 7.18696522e-01 -6.95298355e-01 -5.95881866e-03 -3.14366144e+02] [ 8.36597367e-03 7.76444689e-05 9.99965002e-01 -5.89333840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters 0.04893011277779353 Centerline is valid? [True, True] Translation: X:462.69, Y:-314.32, Z:-5.89 [[-6.96504557e-01 -7.17528883e-01 5.80558475e-03 4.62686401e+02] [ 7.17504718e-01 -6.96528749e-01 -5.88905072e-03 -3.14322811e+02] [ 8.26932066e-03 6.37837889e-05 9.99965807e-01 -5.89101075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters 0.04888412212837201 Centerline is valid? [True, True] Translation: X:462.65, Y:-314.28, Z:-5.89 [[-6.97753900e-01 -7.16314930e-01 5.69349311e-03 4.62646152e+02] [ 7.16291662e-01 -6.97777127e-01 -5.77368630e-03 -3.14283122e+02] [ 8.10856696e-03 4.95895063e-05 9.99967124e-01 -5.89354022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters 0.04918524651224657 Centerline is valid? [True, True] Translation: X:462.61, Y:-314.24, Z:-5.89 [[-6.99559897e-01 -7.14554230e-01 5.31072098e-03 4.62608361e+02] [ 7.14533946e-01 -6.99580054e-01 -5.38409197e-03 -3.14238365e+02] [ 7.56250016e-03 2.81955930e-05 9.99971404e-01 -5.89182851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters 0.0480285571306303 Centerline is valid? [True, True] Translation: X:462.57, Y:-314.20, Z:-5.89 [[-7.00641448e-01 -7.13490043e-01 5.78965845e-03 4.62570079e+02] [ 7.13465914e-01 -7.00665368e-01 -5.86788627e-03 -3.14195499e+02] [ 8.24329160e-03 1.94396292e-05 9.99966023e-01 -5.89319507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters 0.0487441391491919 Centerline is valid? [True, True] Translation: X:462.53, Y:-314.15, Z:-5.89 [[-7.00506797e-01 -7.13616956e-01 6.40835803e-03 4.62531917e+02] [ 7.13587416e-01 -7.00536108e-01 -6.49313308e-03 -3.14154888e+02] [ 9.12289607e-03 2.44397914e-05 9.99958385e-01 -5.89409605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters 0.04855856917717809 Centerline is valid? [True, True] Translation: X:462.49, Y:-314.11, Z:-5.89 [[-6.99682398e-01 -7.14424260e-01 6.52066906e-03 4.62492000e+02] [ 7.14393727e-01 -6.99712781e-01 -6.60512340e-03 -3.14114398e+02] [ 9.28145588e-03 3.68364964e-05 9.99956926e-01 -5.89492688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters 0.04837487352719699 Centerline is valid? [True, True] Translation: X:462.45, Y:-314.07, Z:-5.89 [[-6.97057721e-01 -7.16989577e-01 6.03990370e-03 4.62450107e+02] [ 7.16963490e-01 -6.97083885e-01 -6.11654400e-03 -3.14074023e+02] [ 8.59581783e-03 6.68062133e-05 9.99963053e-01 -5.89447426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters 0.04898671019777177 Centerline is valid? [True, True] Translation: X:462.41, Y:-314.03, Z:-5.89 [[-6.96001916e-01 -7.18016230e-01 5.83328180e-03 4.62408692e+02] [ 7.17991946e-01 -6.96026356e-01 -5.90576568e-03 -3.14033348e+02] [ 8.30055348e-03 7.78251291e-05 9.99965547e-01 -5.89428250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters 0.04863717268983129 Centerline is valid? [True, True] Translation: X:462.37, Y:-313.99, Z:-5.89 [[-6.92883977e-01 -7.21024135e-01 5.99918426e-03 4.62367425e+02] [ 7.20998576e-01 -6.92909938e-01 -6.07213978e-03 -3.13992648e+02] [ 8.53505373e-03 1.18114948e-04 9.99963569e-01 -5.89411379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters 0.049228762526926186 Centerline is valid? [True, True] Translation: X:462.33, Y:-313.95, Z:-5.89 [[-6.91462590e-01 -7.22382149e-01 6.59684671e-03 4.62327189e+02] [ 7.22351317e-01 -6.91494041e-01 -6.67581228e-03 -3.13951531e+02] [ 9.38416781e-03 1.49166464e-04 9.99955957e-01 -5.89399613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters 0.04823434969590841 Centerline is valid? [True, True] Translation: X:462.29, Y:-313.91, Z:-5.89 [[-6.90227442e-01 -7.23561073e-01 6.74178945e-03 4.62286150e+02] [ 7.23528944e-01 -6.90260345e-01 -6.82074544e-03 -3.13910328e+02] [ 9.58881581e-03 1.70014122e-04 9.99954012e-01 -5.89396430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters 0.04862982930475802 Centerline is valid? [True, True] Translation: X:462.24, Y:-313.87, Z:-5.89 [[-6.88800771e-01 -7.24929286e-01 5.57022465e-03 4.62243527e+02] [ 7.24907410e-01 -6.88823276e-01 -5.63394331e-03 -3.13872085e+02] [ 7.92111089e-03 1.57232624e-04 9.99968615e-01 -5.89390362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters 0.04849855286033995 Centerline is valid? [True, True] Translation: X:462.20, Y:-313.83, Z:-5.89 [[-6.88764276e-01 -7.24973951e-01 4.06724705e-03 4.62204496e+02] [ 7.24962294e-01 -6.88776275e-01 -4.11271731e-03 -3.13829042e+02] [ 5.78303619e-03 1.15907984e-04 9.99983271e-01 -5.89149960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters 0.04924338491911219 Centerline is valid? [True, True] Translation: X:462.16, Y:-313.79, Z:-5.89 [[-6.90469254e-01 -7.23346065e-01 4.76221936e-03 4.62164296e+02] [ 7.23330055e-01 -6.90485666e-01 -4.81421313e-03 -3.13787715e+02] [ 6.77058634e-03 1.20590239e-04 9.99977072e-01 -5.89224805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters 0.048683988419253504 Centerline is valid? [True, True] Translation: X:462.12, Y:-313.75, Z:-5.89 [[-6.92420018e-01 -7.21476958e-01 5.05161627e-03 4.62124286e+02] [ 7.21458901e-01 -6.92438436e-01 -5.10554777e-03 -3.13747103e+02] [ 7.18146834e-03 1.09350041e-04 9.99974207e-01 -5.89380706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters 0.048879107254903006 Centerline is valid? [True, True] Translation: X:462.08, Y:-313.70, Z:-5.89 [[-6.94598044e-01 -7.19382752e-01 4.69187959e-03 4.62084797e+02] [ 7.19367136e-01 -6.94613885e-01 -4.74081261e-03 -3.13704283e+02] [ 6.66950354e-03 8.22248206e-05 9.99977755e-01 -5.89303858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters 0.048396164756596 Centerline is valid? [True, True] Translation: X:462.05, Y:-313.66, Z:-5.89 [[-6.97735189e-01 -7.16339593e-01 4.81601841e-03 4.62045564e+02] [ 7.16323075e-01 -6.97751807e-01 -4.86492734e-03 -3.13662206e+02] [ 6.84532562e-03 5.53941152e-05 9.99976569e-01 -5.89291243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters 0.048368531160520666 Centerline is valid? [True, True] Translation: X:462.01, Y:-313.62, Z:-5.89 [[-6.99716320e-01 -7.14402051e-01 5.17503274e-03 4.62007983e+02] [ 7.14382939e-01 -6.99735455e-01 -5.22584932e-03 -3.13621386e+02] [ 7.35451137e-03 4.03430436e-05 9.99972954e-01 -5.89282566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters 0.04900031130311538 Centerline is valid? [True, True] Translation: X:461.97, Y:-313.58, Z:-5.89 [[-7.02086530e-01 -7.12061100e-01 6.59502598e-03 4.61967933e+02] [ 7.12029974e-01 -7.02117504e-01 -6.65785146e-03 -3.13580283e+02] [ 9.37128021e-03 2.14683431e-05 9.99956088e-01 -5.89459176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters 0.048890082727216545 Centerline is valid? [True, True] Translation: X:461.93, Y:-313.54, Z:-5.89 [[-7.04004372e-01 -7.10167934e-01 6.27298828e-03 4.61927845e+02] [ 7.10139714e-01 -7.04032319e-01 -6.33090035e-03 -3.13539595e+02] [ 8.91238890e-03 -2.28341883e-06 9.99960284e-01 -5.89441071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters 0.048464873670142565 Centerline is valid? [True, True] Translation: X:461.89, Y:-313.50, Z:-5.89 [[-7.06143565e-01 -7.08051451e-01 4.94052381e-03 4.61888020e+02] [ 7.08033905e-01 -7.06160847e-01 -4.98467162e-03 -3.13499107e+02] [ 7.01820845e-03 -2.18354211e-05 9.99975372e-01 -5.89339326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters 0.048747640859852975 Centerline is valid? [True, True] Translation: X:461.85, Y:-313.46, Z:-5.89 [[-7.09162105e-01 -7.05033358e-01 4.13194140e-03 4.61848727e+02] [ 7.05021041e-01 -7.09174141e-01 -4.16770159e-03 -3.13457353e+02] [ 5.86863465e-03 -4.24704064e-05 9.99982779e-01 -5.89195447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters 0.049352306745925986 Centerline is valid? [True, True] Translation: X:461.81, Y:-313.42, Z:-5.89 [[-7.13889499e-01 -7.00253028e-01 2.73486633e-03 4.61807953e+02] [ 7.00247599e-01 -7.13894736e-01 -2.75785695e-03 -3.13419349e+02] [ 3.88360436e-03 -5.37215362e-05 9.99992457e-01 -5.88928369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters 0.04965000609784967 Centerline is valid? [True, True] Translation: X:461.77, Y:-313.38, Z:-5.89 [[-7.16095225e-01 -6.97999614e-01 2.04144423e-03 4.61770837e+02] [ 6.97996582e-01 -7.16098134e-01 -2.05802143e-03 -3.13375742e+02] [ 2.89837257e-03 -4.88182306e-05 9.99995799e-01 -5.88999576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters 0.049283272420795755 Centerline is valid? [True, True] Translation: X:461.73, Y:-313.34, Z:-5.89 [[-7.16944981e-01 -6.97126749e-01 2.04689998e-03 4.61725768e+02] [ 6.97123699e-01 -7.16947902e-01 -2.06286564e-03 -3.13340985e+02] [ 2.90559947e-03 -5.20186850e-05 9.99995777e-01 -5.88911575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters 0.04911239971657863 Centerline is valid? [True, True] Translation: X:461.68, Y:-313.30, Z:-5.89 [[-7.15029182e-01 -6.99090503e-01 2.39556819e-03 4.61678712e+02] [ 6.99086337e-01 -7.15033193e-01 -2.41377183e-03 -3.13304209e+02] [ 3.40035573e-03 -5.12083014e-05 9.99994218e-01 -5.88946163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters 0.049480689115730274 Centerline is valid? [True, True] Translation: X:461.64, Y:-313.27, Z:-5.89 [[-7.10705599e-01 -7.03487242e-01 1.80319131e-03 4.61635974e+02] [ 7.03484897e-01 -7.10707886e-01 -1.81672167e-03 -3.13265763e+02] [ 2.55958281e-03 -2.26364125e-05 9.99996724e-01 -5.88973828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters 0.04879470162742904 Centerline is valid? [True, True] Translation: X:461.59, Y:-313.23, Z:-5.89 [[-7.04283775e-01 -7.09917591e-01 1.17429835e-03 4.61587585e+02] [ 7.09916605e-01 -7.04284754e-01 -1.18286654e-03 -3.13233023e+02] [ 1.66677819e-03 5.80187096e-07 9.99998611e-01 -5.88848550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters 0.04919231271595855 Centerline is valid? [True, True] Translation: X:461.54, Y:-313.20, Z:-5.89 [[-6.96356143e-01 -7.17694838e-01 1.49705483e-03 4.61538122e+02] [ 7.17693255e-01 -6.96357752e-01 -1.50761069e-03 -3.13203679e+02] [ 2.12449015e-03 2.45921924e-05 9.99997743e-01 -5.88981652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters 0.04957976143872316 Centerline is valid? [True, True] Translation: X:461.49, Y:-313.17, Z:-5.89 [[-6.91778883e-01 -7.22107400e-01 1.69691595e-03 4.61493616e+02] [ 7.22105381e-01 -6.91780963e-01 -1.70837080e-03 -3.13168212e+02] [ 2.40752134e-03 4.35372942e-05 9.99997101e-01 -5.89051103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters 0.05058552370299487 Centerline is valid? [True, True] Translation: X:461.44, Y:-313.14, Z:-5.89 [[-6.87947624e-01 -7.25757153e-01 2.14982448e-03 4.61444892e+02] [ 7.25753932e-01 -6.87950979e-01 -2.16367413e-03 -3.13137579e+02] [ 3.04927583e-03 7.17490913e-05 9.99995348e-01 -5.89155282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters 0.050138741696207904 Centerline is valid? [True, True] Translation: X:461.41, Y:-313.09, Z:-5.89 [[-6.87649895e-01 -7.26039524e-01 2.05730154e-03 4.61407626e+02] [ 7.26036576e-01 -6.87652969e-01 -2.07007556e-03 -3.13092108e+02] [ 2.91766618e-03 7.01889240e-05 9.99995741e-01 -5.89076719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters 0.050707696382557496 Centerline is valid? [True, True] Translation: X:461.36, Y:-313.06, Z:-5.89 [[-6.90022399e-01 -7.23785281e-01 1.98903284e-03 4.61360853e+02] [ 7.23782518e-01 -6.90025263e-01 -2.00083433e-03 -3.13058136e+02] [ 2.82065735e-03 5.90066894e-05 9.99996020e-01 -5.89117620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters 0.05041226880496341 Centerline is valid? [True, True] Translation: X:461.32, Y:-313.02, Z:-5.89 [[-6.91934369e-01 -7.21957583e-01 2.01936665e-03 4.61321197e+02] [ 7.21954728e-01 -6.91937314e-01 -2.03080563e-03 -3.13016376e+02] [ 2.86343066e-03 5.27070913e-05 9.99995899e-01 -5.89212571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters 0.050551109658864925 Centerline is valid? [True, True] Translation: X:461.28, Y:-312.98, Z:-5.89 [[-6.92764779e-01 -7.21159335e-01 2.48476321e-03 4.61277036e+02] [ 7.21155010e-01 -6.92769233e-01 -2.49826849e-03 -3.12980731e+02] [ 3.52301715e-03 6.11870220e-05 9.99993792e-01 -5.89408258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters 0.05058217738550861 Centerline is valid? [True, True] Translation: X:461.24, Y:-312.94, Z:-5.90 [[-6.95125528e-01 -7.18877039e-01 4.03765920e-03 4.61237781e+02] [ 7.18865588e-01 -6.95137250e-01 -4.05844471e-03 -3.12938995e+02] [ 5.72425003e-03 8.14057319e-05 9.99983613e-01 -5.89613184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters 0.05075669112115423 Centerline is valid? [True, True] Translation: X:461.20, Y:-312.90, Z:-5.90 [[-6.98088595e-01 -7.15990448e-01 5.47646011e-03 4.61198657e+02] [ 7.15969304e-01 -6.98110071e-01 -5.50304079e-03 -3.12897345e+02] [ 7.76329660e-03 7.93673272e-05 9.99969862e-01 -5.89736831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters 0.05020047241418707 Centerline is valid? [True, True] Translation: X:461.16, Y:-312.85, Z:-5.90 [[-7.00947946e-01 -7.13182518e-01 6.53244357e-03 4.61159691e+02] [ 7.13152329e-01 -7.00978382e-01 -6.56228057e-03 -3.12854763e+02] [ 9.25920551e-03 5.88102564e-05 9.99957131e-01 -5.89745541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters 0.05020047241418707 Centerline is valid? [True, True] Translation: X:461.12, Y:-312.81, Z:-5.90 [[-7.01055473e-01 -7.13076810e-01 6.53343290e-03 4.61119700e+02] [ 7.13046626e-01 -7.01085914e-01 -6.56129559e-03 -3.12814572e+02] [ 9.25920551e-03 5.88100967e-05 9.99957131e-01 -5.89745435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters 0.050406356445528336 Centerline is valid? [True, True] Translation: X:461.08, Y:-312.77, Z:-5.90 [[-7.02835606e-01 -7.11321831e-01 6.58510010e-03 4.61080255e+02] [ 7.11291110e-01 -7.02866453e-01 -6.61109415e-03 -3.12773921e+02] [ 9.33106155e-03 3.74107943e-05 9.99956464e-01 -5.89840923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters 0.050321777882527514 Centerline is valid? [True, True] Translation: X:461.04, Y:-312.73, Z:-5.90 [[-7.03046306e-01 -7.11118960e-01 5.97631143e-03 4.61040498e+02] [ 7.11093659e-01 -7.03071706e-01 -5.99869176e-03 -3.12733345e+02] [ 8.46755892e-03 3.23590816e-05 9.99964149e-01 -5.89711663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters 0.050980519546318104 Centerline is valid? [True, True] Translation: X:461.00, Y:-312.69, Z:-5.90 [[-7.02877694e-01 -7.11290015e-01 5.42795201e-03 4.61000513e+02] [ 7.11269161e-01 -7.02898651e-01 -5.44666559e-03 -3.12692449e+02] [ 7.68945899e-03 3.23951259e-05 9.99970435e-01 -5.89636541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters 0.04987228607770095 Centerline is valid? [True, True] Translation: X:460.96, Y:-312.65, Z:-5.90 [[-7.01522800e-01 -7.12624952e-01 5.60710100e-03 4.60959524e+02] [ 7.12602754e-01 -7.01545206e-01 -5.62492957e-03 -3.12651147e+02] [ 7.94209999e-03 4.96192754e-05 9.99968460e-01 -5.89540384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters 0.05035837490968678 Centerline is valid? [True, True] Translation: X:460.92, Y:-312.61, Z:-5.90 [[-6.99573706e-01 -7.14538696e-01 5.57506514e-03 4.60918297e+02] [ 7.14516823e-01 -6.99595917e-01 -5.59130594e-03 -3.12612232e+02] [ 7.89549726e-03 7.19472202e-05 9.99968828e-01 -5.89656266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters 0.04968589880359192 Centerline is valid? [True, True] Translation: X:460.88, Y:-312.57, Z:-5.89 [[-6.97727458e-01 -7.16343054e-01 5.38732319e-03 4.60880719e+02] [ 7.16322696e-01 -6.97748251e-01 -5.40134230e-03 -3.12569794e+02] [ 7.62820937e-03 9.03970383e-05 9.99970901e-01 -5.89290881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters 0.05038051052159821 Centerline is valid? [True, True] Translation: X:460.84, Y:-312.53, Z:-5.89 [[-6.96860342e-01 -7.17191779e-01 4.64927601e-03 4.60838213e+02] [ 7.17176641e-01 -6.96875846e-01 -4.66059978e-03 -3.12530424e+02] [ 6.58251199e-03 8.65649920e-05 9.99978331e-01 -5.89418971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters 0.050084671761463584 Centerline is valid? [True, True] Translation: X:460.80, Y:-312.49, Z:-5.90 [[-6.96468833e-01 -7.17573336e-01 4.43532239e-03 4.60796307e+02] [ 7.17559573e-01 -6.96482951e-01 -4.44509113e-03 -3.12492992e+02] [ 6.27880530e-03 8.67406034e-05 9.99980284e-01 -5.89563113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters 0.050591940418113865 Centerline is valid? [True, True] Translation: X:460.76, Y:-312.45, Z:-5.90 [[-6.96456070e-01 -7.17578762e-01 5.44635578e-03 4.60758070e+02] [ 7.17558024e-01 -6.96477356e-01 -5.45657538e-03 -3.12452233e+02] [ 7.70878609e-03 1.07811250e-04 9.99970281e-01 -5.89638816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters 0.05049953472758094 Centerline is valid? [True, True] Translation: X:460.72, Y:-312.41, Z:-5.90 [[-6.97167578e-01 -7.16880920e-01 6.25421881e-03 4.60720472e+02] [ 7.16853561e-01 -6.97195620e-01 -6.26407420e-03 -3.12409770e+02] [ 8.85100923e-03 1.16249594e-04 9.99960822e-01 -5.89644475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters 0.050093322225683884 Centerline is valid? [True, True] Translation: X:460.68, Y:-312.37, Z:-5.89 [[-6.97737103e-01 -7.16329062e-01 5.96737082e-03 4.60683100e+02] [ 7.16304149e-01 -6.97762613e-01 -5.97518417e-03 -3.12365083e+02] [ 8.44400633e-03 1.05344778e-04 9.99964343e-01 -5.89417349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters 0.049651536261408814 Centerline is valid? [True, True] Translation: X:460.64, Y:-312.32, Z:-5.89 [[-6.98049381e-01 -7.16037587e-01 4.15165495e-03 4.60644171e+02] [ 7.16025529e-01 -6.98061723e-01 -4.15599201e-03 -3.12323524e+02] [ 5.87395790e-03 7.16032857e-05 9.99982746e-01 -5.89308458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters 0.0496528449411677 Centerline is valid? [True, True] Translation: X:460.61, Y:-312.28, Z:-5.89 [[-6.97892142e-01 -7.16195390e-01 3.27448727e-03 4.60605104e+02] [ 7.16187894e-01 -6.97899821e-01 -3.27715106e-03 -3.12282700e+02] [ 4.63234456e-03 5.80501656e-05 9.99989269e-01 -5.89356252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters 0.04973512357625038 Centerline is valid? [True, True] Translation: X:460.57, Y:-312.24, Z:-5.89 [[-6.98198478e-01 -7.15899516e-01 2.60165947e-03 4.60566736e+02] [ 7.15894786e-01 -6.98203323e-01 -2.60290573e-03 -3.12242493e+02] [ 3.67990624e-03 4.51696253e-05 9.99993228e-01 -5.89332066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters 0.04888896124048259 Centerline is valid? [True, True] Translation: X:460.53, Y:-312.20, Z:-5.89 [[-6.98768126e-01 -7.15344611e-01 2.27898557e-03 4.60533130e+02] [ 7.15340981e-01 -6.98771841e-01 -2.27935901e-03 -3.12196087e+02] [ 3.22301813e-03 3.75083532e-05 9.99994805e-01 -5.89107794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters 0.04906710948034193 Centerline is valid? [True, True] Translation: X:460.49, Y:-312.15, Z:-5.89 [[-6.98929572e-01 -7.15187013e-01 2.23374830e-03 4.60494471e+02] [ 7.15183526e-01 -6.98933141e-01 -2.23360668e-03 -3.12153120e+02] [ 3.15868721e-03 3.64062234e-05 9.99995011e-01 -5.89181166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters 0.04946241579693129 Centerline is valid? [True, True] Translation: X:459.43, Y:-311.94, Z:-4.87 [[-7.63020732e-01 6.46368674e-01 2.62657923e-03 4.59428006e+02] [ 6.46364662e-01 7.63025252e-01 -2.27776124e-03 -3.11935824e+02] [-3.47641979e-03 -4.02510505e-05 -9.99993956e-01 -4.86903122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters 0.04924889871939509 Centerline is valid? [True, True] Translation: X:459.44, Y:-311.85, Z:-4.87 [[-8.07073812e-01 5.90441635e-01 3.24613194e-03 4.59439718e+02] [ 5.90436618e-01 8.07080339e-01 -2.43451252e-03 -3.11852578e+02] [-4.05732682e-03 -4.81961377e-05 -9.99991768e-01 -4.86844288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters 0.04937844792941822 Centerline is valid? [True, True] Translation: X:459.43, Y:-311.76, Z:-4.87 [[-8.47074282e-01 5.31452196e-01 4.87082163e-03 4.59431650e+02] [ 5.31442925e-01 8.47088283e-01 -3.13991329e-03 -3.11756889e+02] [-5.79472974e-03 -7.11760977e-05 -9.99983208e-01 -4.86574411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters 0.04934245677970103 Centerline is valid? [True, True] Translation: X:459.42, Y:-311.67, Z:-4.87 [[-8.82746073e-01 4.69811451e-01 6.04734348e-03 4.59420372e+02] [ 4.69799752e-01 8.82766783e-01 -3.31664362e-03 -3.11668047e+02] [-6.89659110e-03 -8.67136598e-05 -9.99976215e-01 -4.86596657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters 0.04906361253109474 Centerline is valid? [True, True] Translation: X:459.41, Y:-311.58, Z:-4.87 [[-9.13799342e-01 4.06124276e-01 5.81687224e-03 4.59410583e+02] [ 4.06115492e-01 9.13817852e-01 -2.67220489e-03 -3.11583492e+02] [-6.40080896e-03 -7.95371341e-05 -9.99979511e-01 -4.86624494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters 0.04879125584489525 Centerline is valid? [True, True] Translation: X:459.42, Y:-311.51, Z:-4.87 [[-9.40322523e-01 3.40242712e-01 5.33385662e-03 4.59423843e+02] [ 3.40236813e-01 9.40337648e-01 -2.00488626e-03 -3.11507270e+02] [-5.69777413e-03 -7.04653355e-05 -9.99983765e-01 -4.86614637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters 0.048100683882923816 Centerline is valid? [True, True] Translation: X:459.43, Y:-311.43, Z:-4.87 [[-9.62505928e-01 2.71210046e-01 5.23921876e-03 4.59426848e+02] [ 2.71205599e-01 9.62520184e-01 -1.55488727e-03 -3.11433165e+02] [-5.46455486e-03 -7.56827524e-05 -9.99985066e-01 -4.86711322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters 0.04867499595160564 Centerline is valid? [True, True] Translation: X:459.49, Y:-311.37, Z:-4.86 [[-9.79744982e-01 2.00122747e-01 7.11728366e-03 4.59489824e+02] [ 2.00116606e-01 9.79770827e-01 -1.57203953e-03 -3.11367907e+02] [-7.28790777e-03 -1.15911194e-04 -9.99973436e-01 -4.86397789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters 0.048491986330993574 Centerline is valid? [True, True] Translation: X:459.53, Y:-310.75, Z:-5.90 [[-9.53930553e-01 -2.99893086e-01 8.97979732e-03 4.59529776e+02] [ 2.99882622e-01 -9.53972774e-01 -2.52164886e-03 -3.10754598e+02] [ 9.32270722e-03 2.87407269e-04 9.99956501e-01 -5.89711332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters 0.04797458756295683 Centerline is valid? [True, True] Translation: X:459.31, Y:-311.34, Z:-4.86 [[-9.81420143e-01 1.91658028e-01 9.03901687e-03 4.59305554e+02] [ 1.91648085e-01 9.81461748e-01 -1.96173997e-03 -3.11336449e+02] [-9.24743251e-03 -1.92980848e-04 -9.99957223e-01 -4.86399192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters 0.04820969078309713 Centerline is valid? [True, True] Translation: X:459.28, Y:-311.26, Z:-4.86 [[-9.92554995e-01 1.21498917e-01 8.52027039e-03 4.59280064e+02] [ 1.21492889e-01 9.92591548e-01 -1.22346570e-03 -3.11257106e+02] [-8.60579813e-03 -1.79204728e-04 -9.99962953e-01 -4.86420426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters 0.0473315305077867 Centerline is valid? [True, True] Translation: X:459.24, Y:-311.18, Z:-4.87 [[-9.98618710e-01 5.20486853e-02 7.18377540e-03 4.59241338e+02] [ 5.20463319e-02 9.98644539e-01 -5.14283761e-04 -3.11180372e+02] [-7.20080586e-03 -1.39684228e-04 -9.99974064e-01 -4.86552883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters 0.047812635083890706 Centerline is valid? [True, True] Translation: X:459.25, Y:-310.54, Z:-5.90 [[-9.87721466e-01 -1.56101125e-01 6.22453924e-03 4.59249039e+02] [ 1.56098431e-01 -9.87741077e-01 -9.19188939e-04 -3.10540876e+02] [ 6.29171952e-03 6.37381664e-05 9.99980205e-01 -5.89570234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters 0.04772379278637172 Centerline is valid? [True, True] Translation: X:459.11, Y:-311.18, Z:-4.87 [[-9.98648884e-01 5.15663336e-02 6.42800593e-03 4.59109670e+02] [ 5.15645994e-02 9.98669566e-01 -4.35350595e-04 -3.11179401e+02] [-6.44190333e-03 -1.03304835e-04 -9.99979245e-01 -4.86579967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters 0.047766320166499635 Centerline is valid? [True, True] Translation: X:459.07, Y:-310.53, Z:-5.90 [[-9.88715511e-01 -1.49639086e-01 7.05559176e-03 4.59066966e+02] [ 1.49636408e-01 -9.88740673e-01 -9.08936542e-04 -3.10526498e+02] [ 7.11216298e-03 1.57093748e-04 9.99974696e-01 -5.89681449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters 0.048482334330288056 Centerline is valid? [True, True] Translation: X:458.94, Y:-311.16, Z:-4.86 [[-9.98760444e-01 4.92226439e-02 7.39643774e-03 4.58935337e+02] [ 4.92204909e-02 9.98787825e-01 -4.72942203e-04 -3.11164882e+02] [-7.41075142e-03 -1.08299668e-04 -9.99972534e-01 -4.86336065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters 0.04786248587799875 Centerline is valid? [True, True] Translation: X:458.86, Y:-311.08, Z:-4.86 [[-9.99696576e-01 -2.26628161e-02 9.65153733e-03 4.58860619e+02] [-2.26631959e-02 9.99743154e-01 7.00368018e-05 -3.11082120e+02] [-9.65064560e-03 -1.48719130e-04 -9.99953420e-01 -4.86273458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters 0.04817115741656474 Centerline is valid? [True, True] Translation: X:458.81, Y:-311.00, Z:-4.86 [[-9.95360321e-01 -9.56465936e-02 1.04670936e-02 4.58807633e+02] [-9.56432262e-02 9.95415338e-01 8.22957701e-04 -3.11004783e+02] [-1.04978186e-02 -1.81967160e-04 -9.99944880e-01 -4.86281612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters 0.04827014907902591 Centerline is valid? [True, True] Translation: X:458.79, Y:-310.93, Z:-4.86 [[-9.85491486e-01 -1.69401597e-01 1.04704235e-02 4.58785914e+02] [-1.69394359e-01 9.85547083e-01 1.58074122e-03 -3.10927004e+02] [-1.05868754e-02 -2.15823667e-04 -9.99943934e-01 -4.86372590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters 0.047960785324745944 Centerline is valid? [True, True] Translation: X:458.70, Y:-310.86, Z:-4.86 [[-9.71064390e-01 -2.38634196e-01 9.36330677e-03 4.58703466e+02] [-2.38624991e-01 9.71109512e-01 2.10466115e-03 -3.10861476e+02] [-9.59504038e-03 -1.90557501e-04 -9.99953948e-01 -4.86439844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters 0.04802316870920628 Centerline is valid? [True, True] Translation: X:458.60, Y:-310.81, Z:-4.86 [[-9.52616722e-01 -3.04054016e-01 8.51679078e-03 4.58597867e+02] [-3.04043242e-01 9.52654782e-01 2.56382962e-03 -3.10809943e+02] [-8.89310416e-03 -1.47125707e-04 -9.99960445e-01 -4.86472285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters 0.04782560388486121 Centerline is valid? [True, True] Translation: X:458.45, Y:-310.79, Z:-4.87 [[-9.31157855e-01 -3.64538297e-01 7.54188512e-03 4.58447694e+02] [-3.64527004e-01 9.31188394e-01 2.87040314e-03 -3.10785793e+02] [-8.06928776e-03 -7.64223564e-05 -9.99967440e-01 -4.86677694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters 0.04813846962531933 Centerline is valid? [True, True] Translation: X:458.30, Y:-310.77, Z:-4.87 [[-9.05245291e-01 -4.24837032e-01 6.66782561e-03 4.58304096e+02] [-4.24825733e-01 9.05269847e-01 3.09857379e-03 -3.10767845e+02] [-7.35257036e-03 -2.76945778e-05 -9.99972969e-01 -4.86615665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters 0.047782287275646915 Centerline is valid? [True, True] Translation: X:458.56, Y:-310.55, Z:-4.87 [[-8.71419072e-01 -4.90488100e-01 7.08697704e-03 4.58560388e+02] [-4.90471993e-01 8.71447889e-01 3.97502351e-03 -3.10545454e+02] [-8.12563291e-03 -1.20524566e-05 -9.99966986e-01 -4.86868790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters 0.04832027355428785 Centerline is valid? [True, True] Translation: X:457.82, Y:-310.20, Z:-5.90 [[-9.03704455e-01 4.28090039e-01 7.56158735e-03 4.57817580e+02] [-4.28074789e-01 -9.03736089e-01 3.61347290e-03 -3.10203365e+02] [ 8.38057113e-03 2.85866478e-05 9.99964882e-01 -5.89544656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters 0.04801593396031526 Centerline is valid? [True, True] Translation: X:458.22, Y:-310.73, Z:-4.87 [[-8.67195994e-01 -4.97900840e-01 8.11557402e-03 4.58220003e+02] [-4.97879233e-01 8.67233967e-01 4.63855217e-03 -3.10726931e+02] [-9.34764047e-03 -1.80419112e-05 -9.99956310e-01 -4.86942008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters 0.048172321942703905 Centerline is valid? [True, True] Translation: X:457.41, Y:-311.13, Z:-4.87 [[-8.29394755e-01 -5.58623508e-01 6.64206419e-03 4.57411643e+02] [-5.58605806e-01 8.29421350e-01 4.44729947e-03 -3.11125991e+02] [-7.99343588e-03 -2.17287666e-05 -9.99968052e-01 -4.86628130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters 0.047752828250341176 Centerline is valid? [True, True] Translation: X:457.24, Y:-311.15, Z:-4.87 [[-7.86660783e-01 -6.17350730e-01 6.54900513e-03 4.57243771e+02] [-6.17329612e-01 7.86688042e-01 5.10626176e-03 -3.11153446e+02] [-8.30437845e-03 -2.59989315e-05 -9.99965518e-01 -4.86644478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters 0.04827274734326398 Centerline is valid? [True, True] Translation: X:457.09, Y:-311.18, Z:-4.87 [[-7.37813598e-01 -6.74975757e-01 6.23076172e-03 4.57090247e+02] [-6.74952204e-01 7.37839905e-01 5.63895494e-03 -3.11181309e+02] [-8.40346251e-03 -4.49687217e-05 -9.99964689e-01 -4.86641075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters 0.048509309613663495 Centerline is valid? [True, True] Translation: X:456.92, Y:-311.24, Z:-4.86 [[-6.85216118e-01 -7.28311271e-01 6.44701277e-03 4.56920609e+02] [-7.28279988e-01 6.85246443e-01 6.75069815e-03 -3.11235755e+02] [-9.33440212e-03 -6.95431963e-05 -9.99956431e-01 -4.86351494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters 0.04839029333958886 Centerline is valid? [True, True] Translation: X:456.76, Y:-311.30, Z:-4.87 [[-6.28375999e-01 -7.77885215e-01 6.18036175e-03 4.56763423e+02] [-7.77849035e-01 6.28406385e-01 7.50296633e-03 -3.11297850e+02] [-9.72022536e-03 -9.27044552e-05 -9.99952753e-01 -4.86506933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters 0.04853639717094616 Centerline is valid? [True, True] Translation: X:456.62, Y:-311.36, Z:-4.87 [[-5.67737052e-01 -8.23187114e-01 6.13309400e-03 4.56618667e+02] [-8.23141409e-01 5.67770164e-01 8.67534633e-03 -3.11357613e+02] [-1.06236211e-02 -1.23088087e-04 -9.99943560e-01 -4.86511833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters 0.048324818649798616 Centerline is valid? [True, True] Translation: X:456.44, Y:-311.50, Z:-4.87 [[-5.06636342e-01 -8.62142650e-01 5.44677106e-03 4.56435676e+02] [-8.62095213e-01 5.06665607e-01 9.04470461e-03 -3.11497027e+02] [-1.05575172e-02 -1.13259200e-04 -9.99944261e-01 -4.86513238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters 0.048201623052941345 Centerline is valid? [True, True] Translation: X:456.26, Y:-311.67, Z:-4.87 [[-4.43857589e-01 -8.96086277e-01 4.45240692e-03 4.56255339e+02] [-8.96043135e-01 4.43879912e-01 8.79339420e-03 -3.11670485e+02] [-9.85597386e-03 -8.65339113e-05 -9.99951425e-01 -4.86685928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters 0.04798111030924837 Centerline is valid? [True, True] Translation: X:456.10, Y:-311.83, Z:-4.87 [[-3.79195940e-01 -9.25310596e-01 3.27722015e-03 4.56098980e+02] [-9.25277208e-01 3.79210098e-01 7.86062389e-03 -3.11831304e+02] [-8.51627355e-03 -5.16204440e-05 -9.99963735e-01 -4.86765743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters 0.04881754408953353 Centerline is valid? [True, True] Translation: X:455.99, Y:-311.91, Z:-4.87 [[-3.10766207e-01 -9.50482667e-01 2.65769451e-03 4.55987043e+02] [-9.50448950e-01 3.10777569e-01 8.00596285e-03 -3.11909548e+02] [-8.43548076e-03 -3.80202461e-05 -9.99964420e-01 -4.86571953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters 0.0488135826889856 Centerline is valid? [True, True] Translation: X:455.82, Y:-312.20, Z:-4.87 [[-2.40603317e-01 -9.70620969e-01 2.23126087e-03 4.55823097e+02] [-9.70580755e-01 2.40613659e-01 8.83543794e-03 -3.12200427e+02] [-9.11273317e-03 -3.97831853e-05 -9.99958477e-01 -4.86586172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters 0.04906307023855969 Centerline is valid? [True, True] Translation: X:455.73, Y:-312.30, Z:-4.87 [[-1.67041101e-01 -9.85948070e-01 1.91654965e-03 4.55725083e+02] [-9.85886896e-01 1.67052086e-01 1.09831603e-02 -3.12296955e+02] [-1.11489893e-02 -5.48619982e-05 -9.99937847e-01 -4.86624033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters 0.04833667614419128 Centerline is valid? [True, True] Translation: X:455.62, Y:-312.46, Z:-4.86 [[-9.26434010e-02 -9.95698594e-01 1.22899904e-03 4.55621465e+02] [-9.95620953e-01 9.26515248e-02 1.24343697e-02 -3.12461352e+02] [-1.24947531e-02 -7.16548937e-05 -9.99921935e-01 -4.86202904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters 0.048695750700046156 Centerline is valid? [True, True] Translation: X:455.53, Y:-312.70, Z:-4.86 [[-1.84880929e-02 -9.99829036e-01 3.00094852e-04 4.55527435e+02] [-9.99754735e-01 1.84903775e-02 1.21891520e-02 -3.12703540e+02] [-1.21926169e-02 -7.46670763e-05 -9.99925665e-01 -4.86170770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters 0.048882940570143536 Centerline is valid? [True, True] Translation: X:455.45, Y:-312.89, Z:-4.87 [[ 5.55739951e-02 -9.98454459e-01 -4.74279276e-04 4.55454053e+02] [-9.98408805e-01 -5.55759895e-02 9.54820121e-03 -3.12887413e+02] [-9.55980261e-03 -5.71070822e-05 -9.99954302e-01 -4.86632368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters 0.048579577884864715 Centerline is valid? [True, True] Translation: X:455.35, Y:-312.68, Z:-4.87 [[ 1.29204095e-01 -9.91617361e-01 -1.14524673e-03 4.55352773e+02] [-9.91575494e-01 -1.29209164e-01 9.11218947e-03 -3.12682821e+02] [-9.18378164e-03 -4.17336073e-05 -9.99957827e-01 -4.86840594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters 0.04849516825818029 Centerline is valid? [True, True] Translation: X:455.39, Y:-313.37, Z:-4.87 [[ 1.96827366e-01 -9.80436684e-01 -1.70211573e-03 4.55385045e+02] [-9.80399477e-01 -1.96834725e-01 8.54149865e-03 -3.13371626e+02] [-8.70943409e-03 -1.24473053e-05 -9.99962072e-01 -4.86785385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters 0.049006401096037946 Centerline is valid? [True, True] Translation: X:455.37, Y:-313.62, Z:-4.87 [[ 2.67901884e-01 -9.63443591e-01 -2.24237760e-03 4.55369313e+02] [-9.63409727e-01 -2.67911269e-01 8.07769568e-03 -3.13618039e+02] [-8.38316235e-03 -3.70150592e-06 -9.99964861e-01 -4.86827965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters 0.04879193368246107 Centerline is valid? [True, True] Translation: X:455.35, Y:-313.82, Z:-4.87 [[ 3.38434541e-01 -9.40985618e-01 -2.85104629e-03 4.55354166e+02] [-9.40952195e-01 -3.38446550e-01 7.93096581e-03 -3.13815544e+02] [-8.42785154e-03 -1.41450776e-06 -9.99964485e-01 -4.86830879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters 0.04853918425893946 Centerline is valid? [True, True] Translation: X:455.24, Y:-313.74, Z:-4.87 [[ 4.08281405e-01 -9.12848394e-01 -3.75555463e-03 4.55240391e+02] [-9.12809636e-01 -4.08298677e-01 8.41181635e-03 -3.13744492e+02] [-9.21210103e-03 -6.28173808e-06 -9.99957568e-01 -4.86587247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters 0.04855450617509477 Centerline is valid? [True, True] Translation: X:455.41, Y:-314.27, Z:-4.87 [[ 4.74817202e-01 -8.80074033e-01 -4.28029442e-03 4.55410547e+02] [-8.80037967e-01 -4.74836494e-01 7.96753487e-03 -3.14272183e+02] [-9.04446054e-03 -1.63010134e-05 -9.99959098e-01 -4.86624797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters 0.04825355408830181 Centerline is valid? [True, True] Translation: X:455.38, Y:-314.37, Z:-4.87 [[ 5.39186042e-01 -8.42172001e-01 -4.97328962e-03 4.55380944e+02] [-8.42135819e-01 -5.39208977e-01 7.80647530e-03 -3.14373426e+02] [-9.25603733e-03 -2.09571915e-05 -9.99957162e-01 -4.86614694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters 0.04895063991575718 Centerline is valid? [True, True] Translation: X:455.42, Y:-314.57, Z:-4.87 [[ 6.00585312e-01 -7.99544671e-01 -5.05976555e-03 4.55419395e+02] [-7.99515918e-01 -6.00606625e-01 6.78073356e-03 -3.14569035e+02] [-8.46042810e-03 -2.70458815e-05 -9.99964210e-01 -4.86861547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters 0.04871677440493566 Centerline is valid? [True, True] Translation: X:455.59, Y:-314.91, Z:-4.87 [[ 6.57641203e-01 -7.53313912e-01 -5.11838017e-03 4.55594422e+02] [-7.53290794e-01 -6.57661120e-01 5.90179322e-03 -3.14910171e+02] [-7.81206257e-03 -2.56337330e-05 -9.99969485e-01 -4.86793435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters 0.049151442712383635 Centerline is valid? [True, True] Translation: X:455.58, Y:-315.01, Z:-4.87 [[ 7.11480002e-01 -7.02688516e-01 -5.00572261e-03 4.55581844e+02] [-7.02670887e-01 -7.11497610e-01 4.97741192e-03 -3.15008500e+02] [-7.05912986e-03 -2.39534949e-05 -9.99975084e-01 -4.86803323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters 0.049071745784250075 Centerline is valid? [True, True] Translation: X:455.56, Y:-315.08, Z:-4.87 [[ 7.64939709e-01 -6.44086291e-01 -4.48229345e-03 4.55558346e+02] [-6.44075032e-01 -7.64952841e-01 3.80846738e-03 -3.15082429e+02] [-5.88172474e-03 -2.63146374e-05 -9.99982702e-01 -4.86931378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters 0.04908127357378896 Centerline is valid? [True, True] Translation: X:455.51, Y:-315.20, Z:-4.87 [[ 8.14021787e-01 -5.80817953e-01 -4.36290135e-03 4.55509764e+02] [-5.80809387e-01 -8.14033478e-01 3.15477178e-03 -3.15201324e+02] [-5.38389585e-03 -3.40389080e-05 -9.99985506e-01 -4.87086733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters 0.0492326135596632 Centerline is valid? [True, True] Translation: X:455.49, Y:-315.29, Z:-4.87 [[ 8.58136339e-01 -5.13398987e-01 -4.84805299e-03 4.55490080e+02] [-5.13390468e-01 -8.58150033e-01 2.95783304e-03 -3.15290760e+02] [-5.67890531e-03 -4.92798232e-05 -9.99983874e-01 -4.86698555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters 0.04904354126169716 Centerline is valid? [True, True] Translation: X:455.48, Y:-315.37, Z:-4.87 [[ 8.97495721e-01 -4.41007264e-01 -3.74471511e-03 4.55483701e+02] [-4.41003175e-01 -8.97503532e-01 1.89996553e-03 -3.15372015e+02] [-4.19879364e-03 -5.37796774e-05 -9.99991184e-01 -4.86829926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters 0.04877682605160978 Centerline is valid? [True, True] Translation: X:455.48, Y:-315.46, Z:-4.87 [[ 9.30392559e-01 -3.66556755e-01 -2.41471526e-03 4.55482030e+02] [-3.66555404e-01 -9.30395692e-01 9.95941792e-04 -3.15456086e+02] [-2.61170987e-03 -4.14899029e-05 -9.99996589e-01 -4.86916775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters 0.048733899505027704 Centerline is valid? [True, True] Translation: X:455.49, Y:-315.55, Z:-4.87 [[ 9.57452163e-01 -2.88578642e-01 -2.77885670e-03 4.55485397e+02] [-2.88577247e-01 -9.57456194e-01 8.99284743e-04 -3.15548501e+02] [-2.92014793e-03 -5.91073051e-05 -9.99995735e-01 -4.86890318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters 0.04806056760540449 Centerline is valid? [True, True] Translation: X:455.50, Y:-315.63, Z:-4.87 [[ 9.77472944e-01 -2.11032671e-01 -3.44330076e-03 4.55498360e+02] [-2.11031078e-01 -9.77479005e-01 8.23554245e-04 -3.15627559e+02] [-3.53955105e-03 -7.83585192e-05 -9.99993733e-01 -4.86848168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters 0.047975633383115765 Centerline is valid? [True, True] Translation: X:455.52, Y:-315.72, Z:-4.87 [[ 9.91140959e-01 -1.32745692e-01 -4.26389356e-03 4.55515373e+02] [-1.32744024e-01 -9.91150125e-01 6.73042873e-04 -3.15722971e+02] [-4.31550218e-03 -1.01073968e-04 -9.99990683e-01 -4.86686362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters 0.049370993731224805 Centerline is valid? [True, True] Translation: X:455.54, Y:-315.81, Z:-4.86 [[ 9.98436592e-01 -5.56350294e-02 -5.39590119e-03 4.55539530e+02] [-5.56335522e-02 -9.98451165e-01 4.23598633e-04 -3.15814666e+02] [-5.41111075e-03 -1.22743225e-04 -9.99985352e-01 -4.86499734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters 0.04904362238512564 Centerline is valid? [True, True] Translation: X:455.57, Y:-315.89, Z:-4.86 [[ 9.99767301e-01 2.07991624e-02 -5.72184338e-03 4.55572423e+02] [ 2.07995065e-02 -9.99783667e-01 6.28215121e-07 -3.15887683e+02] [-5.72059248e-03 -1.19639587e-04 -9.99983630e-01 -4.86449529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters 0.048266930453901964 Centerline is valid? [True, True] Translation: X:455.61, Y:-315.96, Z:-4.87 [[ 9.95412213e-01 9.55511191e-02 -4.95080921e-03 4.55605193e+02] [ 9.55503702e-02 -9.95424521e-01 -3.88101671e-04 -3.15962342e+02] [-4.96524043e-03 -8.67305094e-05 -9.99987669e-01 -4.86604482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters 0.04837674755816653 Centerline is valid? [True, True] Translation: X:455.64, Y:-316.04, Z:-4.87 [[ 9.85346659e-01 1.70490901e-01 -4.98140735e-03 4.55643131e+02] [ 1.70489105e-01 -9.85359248e-01 -7.86230463e-04 -3.16036415e+02] [-5.04252094e-03 -7.45661197e-05 -9.99987284e-01 -4.86658387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters 0.04856690972004973 Centerline is valid? [True, True] Translation: X:455.69, Y:-316.11, Z:-4.87 [[ 9.69779926e-01 2.43938418e-01 -4.57647979e-03 4.55688566e+02] [ 2.43935966e-01 -9.69790722e-01 -1.09509244e-03 -3.16111377e+02] [-4.70536276e-03 -5.43693554e-05 -9.99988928e-01 -4.86742429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters 0.04923588771164656 Centerline is valid? [True, True] Translation: X:455.74, Y:-316.18, Z:-4.87 [[ 9.48731196e-01 3.16045882e-01 -4.91110961e-03 4.55737035e+02] [ 3.16041883e-01 -9.48743906e-01 -1.59042596e-03 -3.16180465e+02] [-5.16203289e-03 -4.32296062e-05 -9.99986676e-01 -4.86793211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters 0.048809969302170984 Centerline is valid? [True, True] Translation: X:455.79, Y:-316.24, Z:-4.86 [[ 9.21450906e-01 3.88452384e-01 -5.74219748e-03 4.55788664e+02] [ 3.88445155e-01 -9.21468797e-01 -2.37026515e-03 -3.16236613e+02] [-6.21199095e-03 -4.64458224e-05 -9.99980704e-01 -4.86476906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters 0.04845649703756065 Centerline is valid? [True, True] Translation: X:455.84, Y:-316.29, Z:-4.86 [[ 8.88213528e-01 4.59380720e-01 -6.78845374e-03 4.55844230e+02] [ 4.59367796e-01 -8.88239467e-01 -3.44636755e-03 -3.16286091e+02] [-7.61296734e-03 -5.72867536e-05 -9.99971019e-01 -4.86479180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters 0.04848648045670391 Centerline is valid? [True, True] Translation: X:455.91, Y:-316.34, Z:-4.87 [[ 8.49196790e-01 5.28019493e-01 -7.76055961e-03 4.55905092e+02] [ 5.27998244e-01 -8.49232247e-01 -4.73756298e-03 -3.16337309e+02] [-9.09204308e-03 -7.44385687e-05 -9.99958664e-01 -4.86699634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters 0.04914352110428381 Centerline is valid? [True, True] Translation: X:455.97, Y:-316.39, Z:-4.86 [[ 8.05477087e-01 5.92581579e-01 -7.33037160e-03 4.55974422e+02] [ 5.92557841e-01 -8.05510439e-01 -5.30444616e-03 -3.16388071e+02] [-9.04800793e-03 -7.10593348e-05 -9.99959063e-01 -4.86463791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters 0.049100074368692535 Centerline is valid? [True, True] Translation: X:456.04, Y:-316.43, Z:-4.87 [[ 7.57617521e-01 6.52664004e-01 -6.73721805e-03 4.56040564e+02] [ 6.52638857e-01 -7.57647474e-01 -5.72951118e-03 -3.16426147e+02] [-8.84388194e-03 -5.61922261e-05 -9.99960891e-01 -4.86862261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters 0.048846678692436495 Centerline is valid? [True, True] Translation: X:456.11, Y:-316.46, Z:-4.87 [[ 7.06117618e-01 7.08075131e-01 -5.24572800e-03 4.56114100e+02] [ 7.08055880e-01 -7.06137103e-01 -5.22139297e-03 -3.16462732e+02] [-7.40134169e-03 -2.73509925e-05 -9.99972609e-01 -4.86624073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters 0.048787054048530384 Centerline is valid? [True, True] Translation: X:456.19, Y:-316.49, Z:-4.87 [[ 6.50625133e-01 7.59387532e-01 -4.18481115e-03 4.56185184e+02] [ 7.59371885e-01 -6.50638591e-01 -4.87478230e-03 -3.16489154e+02] [-6.42464853e-03 -6.17205175e-06 -9.99979362e-01 -4.86640941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters 0.048892157278047514 Centerline is valid? [True, True] Translation: X:456.25, Y:-316.51, Z:-4.87 [[ 5.92275531e-01 8.05730388e-01 -2.86985906e-03 4.56254204e+02] [ 8.05720816e-01 -5.92282484e-01 -3.92751234e-03 -3.16507482e+02] [-4.86428330e-03 1.38642759e-05 -9.99988169e-01 -4.86980235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters 0.04970750731463324 Centerline is valid? [True, True] Translation: X:456.37, Y:-316.55, Z:-4.87 [[ 5.28947007e-01 8.48652076e-01 -2.17200859e-03 4.56367574e+02] [ 8.48644771e-01 -5.28951466e-01 -3.52117580e-03 -3.16548353e+02] [-4.13714028e-03 1.92516635e-05 -9.99991442e-01 -4.86932752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters 0.049367348399483355 Centerline is valid? [True, True] Translation: X:456.44, Y:-316.56, Z:-4.87 [[ 4.60435003e-01 8.87690702e-01 -2.19654890e-03 4.56441011e+02] [ 8.87680398e-01 -4.60440242e-01 -4.27718917e-03 -3.16556021e+02] [-4.80820056e-03 1.95342038e-05 -9.99988440e-01 -4.86680731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters 0.04931004893807788 Centerline is valid? [True, True] Translation: X:456.51, Y:-316.56, Z:-4.87 [[ 3.87400630e-01 9.21908691e-01 -2.26226844e-03 4.56513452e+02] [ 9.21892824e-01 -3.87407235e-01 -5.40883802e-03 -3.16557544e+02] [-5.86287394e-03 9.81821281e-06 -9.99982813e-01 -4.86749579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters 0.048914843658002825 Centerline is valid? [True, True] Translation: X:456.64, Y:-316.57, Z:-4.87 [[ 3.11037644e-01 9.50395429e-01 -2.02808181e-03 4.56637313e+02] [ 9.50375435e-01 -3.11044256e-01 -6.16471332e-03 -3.16572123e+02] [-6.48973856e-03 -9.98122751e-06 -9.99978941e-01 -4.86797878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters 0.04956528291646091 Centerline is valid? [True, True] Translation: X:456.73, Y:-316.57, Z:-4.86 [[ 2.30648644e-01 9.73035126e-01 -1.96126752e-03 4.56727292e+02] [ 9.73001990e-01 -2.30656976e-01 -8.03041735e-03 -3.16567453e+02] [-8.26625819e-03 -5.61123181e-05 -9.99965832e-01 -4.86419910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters 0.049143052275193236 Centerline is valid? [True, True] Translation: X:456.81, Y:-316.55, Z:-4.86 [[ 1.52400369e-01 9.88317861e-01 -1.39035713e-03 4.56806430e+02] [ 9.88280891e-01 -1.52406694e-01 -8.54874024e-03 -3.16552475e+02] [-8.66077240e-03 -7.12322172e-05 -9.99962492e-01 -4.86433639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters 0.04904485316337685 Centerline is valid? [True, True] Translation: X:456.89, Y:-316.53, Z:-4.87 [[ 7.33918453e-02 9.97302929e-01 -7.11122100e-04 4.56887698e+02] [ 9.97266218e-01 -7.33952456e-02 -8.55738423e-03 -3.16531524e+02] [-8.58649733e-03 -8.11358271e-05 -9.99963132e-01 -4.86518407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters 0.049136305009186 Centerline is valid? [True, True] Translation: X:456.96, Y:-316.51, Z:-4.87 [[-3.39360556e-03 9.99994241e-01 -3.65426009e-05 4.56961643e+02] [ 9.99962292e-01 3.39320502e-03 -7.99379900e-03 -3.16505153e+02] [-7.99362897e-03 -6.36690237e-05 -9.99968048e-01 -4.86947223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters 0.04906937828754124 Centerline is valid? [True, True] Translation: X:457.04, Y:-316.47, Z:-4.87 [[-7.93100573e-02 9.96849872e-01 4.98140594e-04 4.57039389e+02] [ 9.96827073e-01 7.93116125e-02 -6.74203490e-03 -3.16472011e+02] [-6.76030496e-03 -3.81511441e-05 -9.99977148e-01 -4.86703839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters 0.0487747164215208 Centerline is valid? [True, True] Translation: X:457.11, Y:-316.44, Z:-4.87 [[-1.54198114e-01 9.88039593e-01 8.39281267e-04 4.57106495e+02] [ 9.88024419e-01 1.54200398e-01 -5.47585338e-03 -3.16435426e+02] [-5.53977745e-03 -1.51358802e-05 -9.99984655e-01 -4.86707937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters 0.04912015758278643 Centerline is valid? [True, True] Translation: X:457.17, Y:-316.39, Z:-4.87 [[-2.29653931e-01 9.73271538e-01 1.25873943e-03 4.57173972e+02] [ 9.73256744e-01 2.29657380e-01 -5.36644254e-03 -3.16391326e+02] [-5.51208459e-03 -7.34798349e-06 -9.99984808e-01 -4.86836818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters 0.04953514088365905 Centerline is valid? [True, True] Translation: X:457.24, Y:-316.34, Z:-4.87 [[-3.04452290e-01 9.52524804e-01 2.30252780e-03 4.57236043e+02] [ 9.52497435e-01 3.04460996e-01 -7.22068683e-03 -3.16344359e+02] [-7.57891321e-03 -5.20280960e-06 -9.99971280e-01 -4.86891583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters 0.04949074613841631 Centerline is valid? [True, True] Translation: X:457.33, Y:-316.28, Z:-4.87 [[-3.78132824e-01 9.25744758e-01 3.49447824e-03 4.57329769e+02] [ 9.25705043e-01 3.78148970e-01 -8.57495255e-03 -3.16278302e+02] [-9.25965072e-03 -7.61489421e-06 -9.99957129e-01 -4.86828091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters 0.049278058324916135 Centerline is valid? [True, True] Translation: X:457.40, Y:-316.21, Z:-4.87 [[-4.49361798e-01 8.93338032e-01 4.59724334e-03 4.57397035e+02] [ 8.93291099e-01 4.49385314e-01 -9.15704925e-03 -3.16214754e+02] [-1.02462740e-02 -8.15156056e-06 -9.99947506e-01 -4.86571334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters 0.049159012404691664 Centerline is valid? [True, True] Translation: X:457.45, Y:-316.15, Z:-4.87 [[-5.18150454e-01 8.55274295e-01 5.09768069e-03 4.57453464e+02] [ 8.55232699e-01 5.18175530e-01 -8.43508310e-03 -3.16150617e+02] [-9.85580315e-03 -1.09389240e-05 -9.99951430e-01 -4.86530088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters 0.049368497711325704 Centerline is valid? [True, True] Translation: X:457.50, Y:-316.08, Z:-4.87 [[-5.83936331e-01 8.11780732e-01 5.51405366e-03 4.57500341e+02] [ 8.11744285e-01 5.83962365e-01 -7.69233019e-03 -3.16084968e+02] [-9.46448525e-03 -1.58295219e-05 -9.99955211e-01 -4.86517843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters 0.048722841257279666 Centerline is valid? [True, True] Translation: X:457.54, Y:-316.02, Z:-4.87 [[-6.46523807e-01 7.62868510e-01 6.21326743e-03 4.57539635e+02] [ 7.62832884e-01 6.46553661e-01 -7.37261149e-03 -3.16019863e+02] [-9.64154394e-03 -2.68841342e-05 -9.99953519e-01 -4.86522044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters 0.04901109180544462 Centerline is valid? [True, True] Translation: X:457.58, Y:-315.94, Z:-4.87 [[-7.06376628e-01 7.07806083e-01 6.52750579e-03 4.57579038e+02] [ 7.07775155e-01 7.06406785e-01 -6.61688670e-03 -3.15944340e+02] [-9.29454704e-03 -5.40076902e-05 -9.99956803e-01 -4.86563530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters 0.048665272620156456 Centerline is valid? [True, True] Translation: X:457.61, Y:-315.87, Z:-4.86 [[-7.61262668e-01 6.48408608e-01 6.73995427e-03 4.57612994e+02] [ 6.48382325e-01 7.61292500e-01 -5.83862915e-03 -3.15867134e+02] [-8.91689404e-03 -7.46631836e-05 -9.99960241e-01 -4.86364415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters 0.04835671847389033 Centerline is valid? [True, True] Translation: X:457.66, Y:-315.81, Z:-4.87 [[-8.07636237e-01 5.89646302e-01 6.39901100e-03 4.57659447e+02] [ 5.89626829e-01 8.07661581e-01 -4.79310871e-03 -3.15811028e+02] [-7.99447417e-03 -9.80597210e-05 -9.99968039e-01 -4.86680792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters 0.048224725559878445 Centerline is valid? [True, True] Translation: X:458.06, Y:-315.33, Z:-5.89 [[-7.48197125e-01 -6.63455186e-01 5.31775068e-03 4.58059982e+02] [ 6.63438674e-01 -7.48216022e-01 -4.68093412e-03 -3.15329237e+02] [ 7.08441628e-03 2.57400080e-05 9.99974905e-01 -5.89283056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters 0.048604521806328425 Centerline is valid? [True, True] Translation: X:457.63, Y:-315.79, Z:-4.87 [[-8.12945529e-01 5.82314044e-01 5.46993405e-03 4.57632775e+02] [ 5.82299864e-01 8.12963923e-01 -4.06558654e-03 -3.15790203e+02] [-6.81430718e-03 -1.19958547e-04 -9.99976775e-01 -4.86673886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters 0.04805382455242602 Centerline is valid? [True, True] Translation: X:457.99, Y:-315.29, Z:-5.89 [[-7.47961807e-01 -6.63711700e-01 6.31786331e-03 4.57990950e+02] [ 6.63690679e-01 -7.47988451e-01 -5.28769379e-03 -3.15286946e+02] [ 8.23519303e-03 2.38113987e-04 9.99966062e-01 -5.89458645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters 0.04850903436464399 Centerline is valid? [True, True] Translation: X:457.92, Y:-315.33, Z:-5.89 [[-7.01365501e-01 -7.12768983e-01 6.84186405e-03 4.57916848e+02] [ 7.12737638e-01 -7.01398846e-01 -6.68713243e-03 -3.15332244e+02] [ 9.56525614e-03 1.86330036e-04 9.99954235e-01 -5.89446952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters 0.0491958938354515 Centerline is valid? [True, True] Translation: X:457.46, Y:-315.76, Z:-4.87 [[-7.75322371e-01 6.31524610e-01 7.20329600e-03 4.57458008e+02] [ 6.31495138e-01 7.75355811e-01 -6.10390823e-03 -3.15759281e+02] [-9.43988568e-03 -1.83650203e-04 -9.99955426e-01 -4.86534885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters 0.04846396879602906 Centerline is valid? [True, True] Translation: X:457.81, Y:-315.25, Z:-5.90 [[-7.03805720e-01 -7.10360628e-01 6.72951030e-03 4.57811978e+02] [ 7.10330563e-01 -7.03837869e-01 -6.53794194e-03 -3.15252023e+02] [ 9.38078074e-03 1.78735910e-04 9.99955984e-01 -5.89508426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters 0.04875863376979391 Centerline is valid? [True, True] Translation: X:457.33, Y:-315.65, Z:-4.87 [[-7.77166649e-01 6.29256672e-01 6.93112756e-03 4.57330647e+02] [ 6.29229684e-01 7.77197537e-01 -5.83033349e-03 -3.15652447e+02] [-9.05563152e-03 -1.69869530e-04 -9.99958983e-01 -4.86619585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters 0.04789196786140645 Centerline is valid? [True, True] Translation: X:457.32, Y:-315.54, Z:-4.87 [[-8.18461427e-01 5.74515162e-01 7.29528456e-03 4.57315172e+02] [ 5.74490722e-01 8.18493926e-01 -5.30125397e-03 -3.15542212e+02] [-9.01679688e-03 -1.47798589e-04 -9.99959337e-01 -4.86612833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters 0.04916010327356131 Centerline is valid? [True, True] Translation: X:457.28, Y:-315.43, Z:-4.87 [[-8.53625440e-01 5.20838510e-01 7.13124134e-03 4.57277192e+02] [ 5.20819544e-01 8.53655223e-01 -4.44547092e-03 -3.15428703e+02] [-8.40299386e-03 -8.06772068e-05 -9.99964691e-01 -4.86753993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters 0.04881274303869124 Centerline is valid? [True, True] Translation: X:457.54, Y:-315.49, Z:-4.87 [[-8.85868992e-01 4.63879466e-01 7.20906756e-03 4.57540236e+02] [ 4.63863879e-01 8.85898324e-01 -3.80279604e-03 -3.15489460e+02] [-8.15053987e-03 -2.47530456e-05 -9.99966784e-01 -4.86871456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters 0.04946914707749976 Centerline is valid? [True, True] Translation: X:457.01, Y:-315.15, Z:-4.87 [[-9.12059487e-01 4.10013603e-01 6.02812174e-03 4.57012050e+02] [ 4.10005021e-01 9.12079406e-01 -2.65329654e-03 -3.15151986e+02] [-6.58601337e-03 5.15958995e-05 -9.99978311e-01 -4.86967576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters 0.0490921483441889 Centerline is valid? [True, True] Translation: X:457.40, Y:-315.22, Z:-4.87 [[-9.38100217e-01 3.46314626e-01 5.84483247e-03 4.57399697e+02] [ 3.46308471e-01 9.38118421e-01 -2.06646327e-03 -3.15219715e+02] [-6.19879147e-03 8.55653543e-05 -9.99980784e-01 -4.87142405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters 0.049803130368442645 Centerline is valid? [True, True] Translation: X:457.58, Y:-315.18, Z:-4.87 [[-9.59457059e-01 2.81786133e-01 6.22315092e-03 4.57581400e+02] [ 2.81780980e-01 9.59477234e-01 -1.70799008e-03 -3.15181104e+02] [-6.45225955e-03 1.14822419e-04 -9.99979177e-01 -4.87150001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters 0.04976637924096824 Centerline is valid? [True, True] Translation: X:457.06, Y:-314.97, Z:-4.87 [[-9.76553797e-01 2.15140801e-01 7.55756512e-03 4.57058432e+02] [ 2.15135564e-01 9.76583029e-01 -1.50881864e-03 -3.14971075e+02] [-7.70519828e-03 1.52458463e-04 -9.99970303e-01 -4.86970246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters 0.04970542100548503 Centerline is valid? [True, True] Translation: X:456.93, Y:-314.29, Z:-5.89 [[-9.69826259e-01 -2.43657018e-01 8.26343742e-03 4.56931899e+02] [ 2.43647163e-01 -9.69861456e-01 -2.19449736e-03 -3.14289608e+02] [ 8.54909413e-03 -1.14918078e-04 9.99963449e-01 -5.89273993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters 0.0504315204359065 Centerline is valid? [True, True] Translation: X:457.13, Y:-314.98, Z:-4.87 [[-9.79550177e-01 2.00983430e-01 9.33336158e-03 4.57126417e+02] [ 2.00975550e-01 9.79594633e-01 -1.78430872e-03 -3.14977374e+02] [-9.50152740e-03 1.27957548e-04 -9.99954851e-01 -4.87333545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters 0.05027352618617316 Centerline is valid? [True, True] Translation: X:456.61, Y:-314.23, Z:-5.89 [[-9.69316246e-01 -2.45622331e-01 9.78187542e-03 4.56611257e+02] [ 2.45608820e-01 -9.69365597e-01 -2.57807135e-03 -3.14232155e+02] [ 1.01154454e-02 -9.64515666e-05 9.99948833e-01 -5.89096831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters 0.04969142545260713 Centerline is valid? [True, True] Translation: X:456.76, Y:-314.90, Z:-4.87 [[-9.82682253e-01 1.85049463e-01 9.60653457e-03 4.56763220e+02] [ 1.85041116e-01 9.82729207e-01 -1.75833494e-03 -3.14897835e+02] [-9.76600104e-03 4.97193322e-05 -9.99952310e-01 -4.87394216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters 0.049466980694363345 Centerline is valid? [True, True] Translation: X:456.30, Y:-314.74, Z:-4.87 [[-9.94059360e-01 1.08459660e-01 9.08245951e-03 4.56297313e+02] [ 1.08455008e-01 9.94100851e-01 -1.00470360e-03 -3.14743419e+02] [-9.13785054e-03 -1.36968039e-05 -9.99958249e-01 -4.87152820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters 0.04958816778810409 Centerline is valid? [True, True] Translation: X:456.21, Y:-314.13, Z:-5.89 [[-9.82344071e-01 -1.86944877e-01 7.19296745e-03 4.56210703e+02] [ 1.86938968e-01 -9.82370398e-01 -1.49119459e-03 -3.14127431e+02] [ 7.34492948e-03 -1.20220252e-04 9.99973018e-01 -5.89067015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters 0.049835121513927924 Centerline is valid? [True, True] Translation: X:456.12, Y:-314.71, Z:-4.87 [[-9.95806807e-01 9.12610347e-02 6.34251331e-03 4.56116757e+02] [ 9.12585839e-02 9.95827000e-01 -6.75344236e-04 -3.14713116e+02] [-6.37767862e-03 -9.37036035e-05 -9.99979658e-01 -4.87256474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters 0.05046458120906697 Centerline is valid? [True, True] Translation: X:456.17, Y:-314.14, Z:-5.89 [[-9.81698248e-01 -1.90346284e-01 6.06984594e-03 4.56172253e+02] [ 1.90343124e-01 -9.81717009e-01 -1.09934103e-03 -3.14139099e+02] [ 6.16812648e-03 7.61322794e-05 9.99980974e-01 -5.88949337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters 0.04946359217018882 Centerline is valid? [True, True] Translation: X:456.01, Y:-314.70, Z:-4.87 [[-9.96665004e-01 8.12425144e-02 7.65001812e-03 4.56009156e+02] [ 8.12388764e-02 9.96694350e-01 -7.85609362e-04 -3.14697578e+02] [-7.68855472e-03 -1.61510482e-04 -9.99970430e-01 -4.87335348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters 0.049944384138497784 Centerline is valid? [True, True] Translation: X:456.05, Y:-314.13, Z:-5.89 [[-9.81521188e-01 -1.91112382e-01 9.60281924e-03 4.56051885e+02] [ 1.91106621e-01 -9.81568103e-01 -1.52255668e-03 -3.14131950e+02] [ 9.71680050e-03 3.40740696e-04 9.99952733e-01 -5.88879362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters 0.05055887970466166 Centerline is valid? [True, True] Translation: X:455.93, Y:-314.69, Z:-4.87 [[-9.96972430e-01 7.68961344e-02 1.15307427e-02 4.55932562e+02] [ 7.68880797e-02 9.97039077e-01 -1.14088694e-03 -3.14688159e+02] [-1.15843309e-02 -2.50856159e-04 -9.99932868e-01 -4.87101959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters 0.050681756268523656 Centerline is valid? [True, True] Translation: X:455.90, Y:-314.11, Z:-5.89 [[-9.82974632e-01 -1.83256585e-01 1.33377717e-02 4.55895872e+02] [ 1.83245358e-01 -9.83065031e-01 -2.06949779e-03 -3.14114887e+02] [ 1.34911460e-02 4.09820922e-04 9.99908906e-01 -5.88921385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters 0.05082011169326486 Centerline is valid? [True, True] Translation: X:455.68, Y:-314.67, Z:-4.87 [[-9.96706305e-01 7.97961030e-02 1.44611301e-02 4.55680276e+02] [ 7.97845095e-02 9.96811183e-01 -1.37777344e-03 -3.14670425e+02] [-1.45249571e-02 -2.19461300e-04 -9.99894483e-01 -4.87272757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters 0.05002063451314454 Centerline is valid? [True, True] Translation: X:455.77, Y:-314.60, Z:-4.87 [[-9.99805547e-01 1.28956126e-02 1.49188136e-02 4.55765930e+02] [ 1.28919760e-02 9.99916837e-01 -3.39911395e-04 -3.14601083e+02] [-1.49219563e-02 -1.47512311e-04 -9.99888651e-01 -4.87162098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters 0.05040859782385472 Centerline is valid? [True, True] Translation: X:455.73, Y:-314.01, Z:-5.88 [[-9.95236408e-01 -9.63940132e-02 1.45837945e-02 4.55728668e+02] [ 9.63855360e-02 -9.95343246e-01 -1.28467396e-03 -3.14013787e+02] [ 1.46397163e-02 1.27112558e-04 9.99892826e-01 -5.88463147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters 0.050323516742926545 Centerline is valid? [True, True] Translation: X:455.52, Y:-314.60, Z:-4.88 [[-9.99783588e-01 1.54000527e-02 1.39862682e-02 4.55521336e+02] [ 1.53978161e-02 9.99881411e-01 -2.67591694e-04 -3.14604518e+02] [-1.39887305e-02 -5.21757980e-05 -9.99902152e-01 -4.87783385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters 0.049941670472809466 Centerline is valid? [True, True] Translation: X:455.48, Y:-314.00, Z:-5.88 [[-9.96038129e-01 -8.80679654e-02 1.23320118e-02 4.55479293e+02] [ 8.80605197e-02 -9.96114467e-01 -1.14653819e-03 -3.14000773e+02] [ 1.23850687e-02 -5.60323850e-05 9.99923301e-01 -5.88492700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters 0.04957476967857412 Centerline is valid? [True, True] Translation: X:455.46, Y:-314.61, Z:-4.88 [[-9.99842508e-01 1.33868365e-02 1.16512536e-02 4.55457319e+02] [ 1.33857457e-02 9.99910392e-01 -1.71608665e-04 -3.14610158e+02] [-1.16525069e-02 -1.56209198e-05 -9.99932107e-01 -4.87910691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters 0.050476035182071576 Centerline is valid? [True, True] Translation: X:455.21, Y:-313.99, Z:-5.89 [[-9.96411436e-01 -8.37483258e-02 1.22665677e-02 4.55209974e+02] [ 8.37426994e-02 -9.96486936e-01 -9.72502320e-04 -3.13990485e+02] [ 1.23049199e-02 5.82230561e-05 9.99924290e-01 -5.88758146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters 0.050301230050435186 Centerline is valid? [True, True] Translation: X:455.09, Y:-314.60, Z:-4.88 [[-9.99881049e-01 8.16152470e-03 1.30872929e-02 4.55092951e+02] [ 8.16035766e-03 9.99966694e-01 -1.42572451e-04 -3.14603766e+02] [-1.30880206e-02 -3.57585007e-05 -9.99914348e-01 -4.87523658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters 0.050081980145569874 Centerline is valid? [True, True] Translation: X:455.06, Y:-313.99, Z:-5.89 [[-9.96405150e-01 -8.38300404e-02 1.22188666e-02 4.55062168e+02] [ 8.38234519e-02 -9.96480067e-01 -1.05125575e-03 -3.13988783e+02] [ 1.22639838e-02 -2.32490723e-05 9.99924794e-01 -5.88532496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters 0.04979509787434512 Centerline is valid? [True, True] Translation: X:454.96, Y:-314.61, Z:-4.88 [[-9.99937435e-01 -5.13030779e-04 1.11742270e-02 4.54962687e+02] [-5.13939508e-04 9.99999865e-01 -7.84522694e-05 -3.14605280e+02] [-1.11741852e-02 -8.41902377e-05 -9.99937563e-01 -4.87869708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters 0.050025336924721185 Centerline is valid? [True, True] Translation: X:454.92, Y:-314.53, Z:-4.88 [[-9.97260481e-01 -7.32666691e-02 1.01748823e-02 4.54916139e+02] [-7.32638340e-02 9.97312381e-01 6.51593683e-04 -3.14533691e+02] [-1.01952762e-02 -9.56422568e-05 -9.99948022e-01 -4.88079072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters 0.05011910235558341 Centerline is valid? [True, True] Translation: X:454.88, Y:-314.46, Z:-4.88 [[-9.89478563e-01 -1.44372478e-01 9.42133446e-03 4.54879073e+02] [-1.44366815e-01 9.89523410e-01 1.28195301e-03 -3.14461031e+02] [-9.50770974e-03 -9.16630265e-05 -9.99954797e-01 -4.87874150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters 0.04925009709526646 Centerline is valid? [True, True] Translation: X:454.83, Y:-314.39, Z:-4.88 [[-9.76720029e-01 -2.14338619e-01 8.77161417e-03 4.54834893e+02] [-2.14330748e-01 9.76759412e-01 1.83878001e-03 -3.14393456e+02] [-8.96187827e-03 -8.40533589e-05 -9.99959838e-01 -4.88005813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters 0.04951490581271033 Centerline is valid? [True, True] Translation: X:454.63, Y:-313.80, Z:-5.88 [[-9.91505465e-01 1.29891430e-01 6.71788318e-03 4.54625299e+02] [-1.29889004e-01 -9.91528219e-01 7.98029706e-04 -3.13797122e+02] [ 6.76462797e-03 -8.13283413e-05 9.99977116e-01 -5.87973108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters 0.05004933962361868 Centerline is valid? [True, True] Translation: X:454.65, Y:-314.44, Z:-4.88 [[-9.76105786e-01 -2.17212989e-01 6.00103740e-03 4.54649446e+02] [-2.17209199e-01 9.76124231e-01 1.28421063e-03 -3.14436418e+02] [-6.13670524e-03 -4.99550985e-05 -9.99981169e-01 -4.88189548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters 0.0494887695959928 Centerline is valid? [True, True] Translation: X:454.45, Y:-313.83, Z:-5.88 [[-9.90831830e-01 1.34934037e-01 6.71498616e-03 4.54452909e+02] [-1.34930263e-01 -9.90854579e-01 1.01396357e-03 -3.13834188e+02] [ 6.79039298e-03 9.86125335e-05 9.99976940e-01 -5.88197613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters 0.04865412486266447 Centerline is valid? [True, True] Translation: X:454.48, Y:-314.47, Z:-4.88 [[-9.75839919e-01 -2.18397551e-01 6.24197609e-03 4.54484877e+02] [-2.18393305e-01 9.75859882e-01 1.36228064e-03 -3.14473287e+02] [-6.38881280e-03 -3.38379607e-05 -9.99979591e-01 -4.87879422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters 0.04926667417315742 Centerline is valid? [True, True] Translation: X:454.28, Y:-313.87, Z:-5.88 [[-9.89655803e-01 1.43321313e-01 6.35553022e-03 4.54276168e+02] [-1.43318121e-01 -9.89676210e-01 9.57283173e-04 -3.13869052e+02] [ 6.42711614e-03 3.65181998e-05 9.99979345e-01 -5.88253664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters 0.049159558893875556 Centerline is valid? [True, True] Translation: X:454.28, Y:-314.52, Z:-4.88 [[-9.75819152e-01 -2.18508872e-01 5.55484348e-03 4.54281826e+02] [-2.18505381e-01 9.75834962e-01 1.23533028e-03 -3.14520589e+02] [-5.69054110e-03 -8.30423753e-06 -9.99983809e-01 -4.87882151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters 0.04890345379490915 Centerline is valid? [True, True] Translation: X:454.22, Y:-314.46, Z:-4.88 [[-9.58137310e-01 -2.86269734e-01 4.74711082e-03 4.54222321e+02] [-2.86266219e-01 9.58149069e-01 1.41869662e-03 -3.14460241e+02] [-4.95456972e-03 3.68695955e-07 -9.99987726e-01 -4.87918192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters 0.04940625575408224 Centerline is valid? [True, True] Translation: X:453.94, Y:-313.87, Z:-5.88 [[-9.75176653e-01 2.21371336e-01 5.02267834e-03 4.53943742e+02] [-2.21368333e-01 -9.75189587e-01 1.15326136e-03 -3.13871873e+02] [ 5.15336263e-03 1.27716229e-05 9.99986721e-01 -5.88316998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters 0.050003911770472836 Centerline is valid? [True, True] Translation: X:454.01, Y:-314.52, Z:-4.88 [[-9.56535501e-01 -2.91560066e-01 5.70639875e-03 4.54008390e+02] [-2.91554924e-01 9.56552522e-01 1.73168397e-03 -3.14521975e+02] [-5.96336001e-03 -7.31146055e-06 -9.99982219e-01 -4.87722206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters 0.04908637360970061 Centerline is valid? [True, True] Translation: X:453.92, Y:-314.47, Z:-4.88 [[-9.32124168e-01 -3.62087822e-01 6.07818705e-03 4.53922542e+02] [-3.62080320e-01 9.32143985e-01 2.33091764e-03 -3.14470567e+02] [-6.50974239e-03 -2.80872514e-05 -9.99978811e-01 -4.87656681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters 0.049021036260128964 Centerline is valid? [True, True] Translation: X:453.65, Y:-313.90, Z:-5.88 [[-9.57655305e-01 2.87851921e-01 6.13098523e-03 4.53647289e+02] [-2.87845884e-01 -9.57674930e-01 1.86437328e-03 -3.13898525e+02] [ 6.40815428e-03 2.06480969e-05 9.99979467e-01 -5.88424156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters 0.04988744135517402 Centerline is valid? [True, True] Translation: X:453.78, Y:-314.51, Z:-4.87 [[-9.27152411e-01 -3.74620786e-01 6.90453283e-03 4.53781865e+02] [-3.74611117e-01 9.27178116e-01 2.69310790e-03 -3.14511900e+02] [-7.41062594e-03 -8.95932676e-05 -9.99972537e-01 -4.87217270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters 0.04922028148353693 Centerline is valid? [True, True] Translation: X:453.51, Y:-313.96, Z:-5.89 [[-9.58607190e-01 2.84658025e-01 6.48570257e-03 4.53514023e+02] [-2.84651246e-01 -9.58629129e-01 1.96485434e-03 -3.13962419e+02] [ 6.77669496e-03 3.73601780e-05 9.99977037e-01 -5.88573863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters 0.049542174580528765 Centerline is valid? [True, True] Translation: X:453.62, Y:-314.57, Z:-4.88 [[-9.22745393e-01 -3.85371927e-01 5.42384337e-03 4.53624102e+02] [-3.85365968e-01 9.22761326e-01 2.14600738e-03 -3.14573314e+02] [-5.83192390e-03 -1.09946230e-04 -9.99982988e-01 -4.87563289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters 0.0482880570225539 Centerline is valid? [True, True] Translation: X:453.49, Y:-314.55, Z:-4.88 [[-8.90735270e-01 -4.54494652e-01 5.02902869e-03 4.53486049e+02] [-4.54488241e-01 8.90749456e-01 2.41755156e-03 -3.14554031e+02] [-5.57836883e-03 -1.32235964e-04 -9.99984432e-01 -4.87712784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters 0.04892185456604394 Centerline is valid? [True, True] Translation: X:453.41, Y:-314.51, Z:-4.88 [[-8.53878957e-01 -5.20444278e-01 5.33666215e-03 4.53406784e+02] [-5.20435276e-01 8.53895619e-01 3.06526957e-03 -3.14506932e+02] [-6.15225444e-03 -1.60018059e-04 -9.99981062e-01 -4.87659945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters 0.0485534060907225 Centerline is valid? [True, True] Translation: X:453.26, Y:-314.50, Z:-4.88 [[-8.14117832e-01 -5.80668879e-01 5.98396513e-03 4.53262594e+02] [-5.80654883e-01 8.14139802e-01 4.03603639e-03 -3.14499797e+02] [-7.21538492e-03 -1.88809379e-04 -9.99973951e-01 -4.87502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters 0.049856645458313247 Centerline is valid? [True, True] Translation: X:453.12, Y:-314.50, Z:-4.87 [[-7.70849972e-01 -6.36990894e-01 5.73771263e-03 4.53119831e+02] [-6.36974979e-01 7.70871305e-01 4.50641700e-03 -3.14498278e+02] [-7.29358461e-03 -1.81007960e-04 -9.99973385e-01 -4.87328749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters 0.048279931287653996 Centerline is valid? [True, True] Translation: X:452.94, Y:-314.56, Z:-4.88 [[-7.25552194e-01 -6.88156858e-01 3.76197516e-03 4.52936992e+02] [-6.88148374e-01 7.25561939e-01 3.41892849e-03 -3.14563525e+02] [-5.08230508e-03 -1.08186025e-04 -9.99987079e-01 -4.87671924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters 0.048553685508985964 Centerline is valid? [True, True] Translation: X:452.77, Y:-314.62, Z:-4.88 [[-6.75795365e-01 -7.37080415e-01 3.61761196e-03 4.52766481e+02] [-7.37070617e-01 6.75805040e-01 3.80161335e-03 -3.14622769e+02] [-5.24689514e-03 -9.73227962e-05 -9.99986230e-01 -4.87582763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters 0.04810051783629062 Centerline is valid? [True, True] Translation: X:452.58, Y:-314.72, Z:-4.88 [[-6.22850682e-01 -7.82331722e-01 3.75571243e-03 4.52584307e+02] [-7.82318393e-01 6.22861998e-01 4.56770114e-03 -3.14717726e+02] [-5.91274804e-03 -9.31671420e-05 -9.99982515e-01 -4.87579548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters 0.048174755790714556 Centerline is valid? [True, True] Translation: X:452.42, Y:-314.80, Z:-4.87 [[-5.66391193e-01 -8.24127638e-01 3.82790495e-03 4.52421813e+02] [-8.24109803e-01 5.66404122e-01 5.42246041e-03 -3.14804034e+02] [-6.63694063e-03 -8.33801795e-05 -9.99977972e-01 -4.87399656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters 0.04936382380185575 Centerline is valid? [True, True] Translation: X:452.24, Y:-314.95, Z:-4.87 [[-5.07986451e-01 -8.61358566e-01 3.34451861e-03 4.52239679e+02] [-8.61340608e-01 5.07997458e-01 5.56240081e-03 -3.14950499e+02] [-6.49022854e-03 -5.51454480e-05 -9.99978937e-01 -4.87449485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters 0.04870740663629136 Centerline is valid? [True, True] Translation: X:452.07, Y:-315.09, Z:-4.87 [[-4.43512783e-01 -8.96264342e-01 2.57702307e-03 4.52074890e+02] [-8.96249823e-01 4.43520267e-01 5.10167512e-03 -3.15088462e+02] [-5.71541145e-03 -4.69983444e-05 -9.99983666e-01 -4.87466375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters 0.04840659946660879 Centerline is valid? [True, True] Translation: X:451.91, Y:-315.26, Z:-4.88 [[-3.75888121e-01 -9.26662646e-01 2.11220959e-03 4.51910697e+02] [-9.26648735e-01 3.75894052e-01 5.07774351e-03 -3.15262719e+02] [-5.49932225e-03 -4.86128761e-05 -9.99984877e-01 -4.87502298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters 0.04762833213193793 Centerline is valid? [True, True] Translation: X:451.78, Y:-315.41, Z:-4.88 [[-3.05551552e-01 -9.52173750e-01 1.84334908e-03 4.51776840e+02] [-9.52157519e-01 3.05557108e-01 5.55989675e-03 -3.15405095e+02] [-5.85723616e-03 -5.63236001e-05 -9.99982845e-01 -4.87605057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters 0.0483476012696485 Centerline is valid? [True, True] Translation: X:451.64, Y:-315.61, Z:-4.87 [[-2.34567609e-01 -9.72098744e-01 1.43831670e-03 4.51636900e+02] [-9.72081926e-01 2.34572012e-01 5.71838184e-03 -3.15606850e+02] [-5.89622064e-03 -5.68145135e-05 -9.99982616e-01 -4.87474342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters 0.0478111531561432 Centerline is valid? [True, True] Translation: X:451.52, Y:-315.79, Z:-4.87 [[-1.60571151e-01 -9.87023736e-01 1.02526614e-03 4.51517223e+02] [-9.87006172e-01 1.60574410e-01 5.88854570e-03 -3.15793127e+02] [-5.97676588e-03 -6.64134455e-05 -9.99982137e-01 -4.87437118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters 0.048888264775844126 Centerline is valid? [True, True] Translation: X:451.41, Y:-315.97, Z:-4.87 [[-8.53215051e-02 -9.96353328e-01 5.35955888e-04 4.51413773e+02] [-9.96338473e-01 8.53231599e-02 5.44111660e-03 -3.15969074e+02] [-5.46700409e-03 -6.97492129e-05 -9.99985053e-01 -4.87439281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters 0.04899009925763725 Centerline is valid? [True, True] Translation: X:451.32, Y:-316.19, Z:-4.87 [[-9.82761806e-03 -9.99951701e-01 1.18829653e-04 4.51319677e+02] [-9.99939607e-01 9.82808369e-03 4.91853994e-03 -3.16187466e+02] [-4.91947025e-03 -7.04849444e-05 -9.99987897e-01 -4.87493888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters 0.04934858631347431 Centerline is valid? [True, True] Translation: X:451.24, Y:-316.37, Z:-4.88 [[ 6.49767810e-02 -9.97886749e-01 -2.33338106e-04 4.51240580e+02] [-9.97875894e-01 -6.49771627e-02 4.65502797e-03 -3.16369902e+02] [-4.66035238e-03 -6.96262623e-05 -9.99989138e-01 -4.87507017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters 0.04977802214857725 Centerline is valid? [True, True] Translation: X:450.64, Y:-316.61, Z:-5.89 [[-3.15281115e-02 9.99502857e-01 1.32068341e-04 4.50643019e+02] [-9.99496579e-01 -3.15283815e-02 3.54255470e-03 -3.16610226e+02] [ 3.54495745e-03 -2.03117950e-05 9.99993716e-01 -5.88604299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters 0.04880438965341088 Centerline is valid? [True, True] Translation: X:451.26, Y:-316.91, Z:-4.88 [[ 6.66287608e-02 -9.97777828e-01 -1.16462661e-04 4.51264144e+02] [-9.97775731e-01 -6.66288596e-02 2.04569221e-03 -3.16913813e+02] [-2.04890610e-03 -2.00983198e-05 -9.99997901e-01 -4.87568121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters 0.04840979385890352 Centerline is valid? [True, True] Translation: X:451.15, Y:-316.51, Z:-4.88 [[ 1.33686974e-01 -9.91023605e-01 -8.56659282e-05 4.51146412e+02] [-9.91023403e-01 -1.33687002e-01 6.32361492e-04 -3.16514832e+02] [-6.38137587e-04 3.58445096e-07 -9.99999796e-01 -4.87654344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters 0.048718505123024704 Centerline is valid? [True, True] Translation: X:451.23, Y:-317.51, Z:-4.88 [[ 1.96599389e-01 -9.80483901e-01 2.55923628e-05 4.51234323e+02] [-9.80483892e-01 -1.96599391e-01 -1.32550891e-04 -3.17509512e+02] [ 1.34995458e-04 9.66524776e-07 -9.99999991e-01 -4.87682636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters 0.04964825089876663 Centerline is valid? [True, True] Translation: X:451.22, Y:-317.72, Z:-4.87 [[ 2.58013907e-01 -9.66141195e-01 -1.27327997e-04 4.51217884e+02] [-9.66141094e-01 -2.58013938e-01 4.41099925e-04 -3.17715898e+02] [-4.59017206e-04 9.20689554e-06 -9.99999895e-01 -4.87478319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters 0.049794245189270316 Centerline is valid? [True, True] Translation: X:451.07, Y:-317.52, Z:-4.87 [[ 3.23024889e-01 -9.46390286e-01 -5.90545129e-04 4.51065140e+02] [-9.46388933e-01 -3.23025426e-01 1.60060368e-03 -3.17519724e+02] [-1.70555687e-03 4.18505492e-05 -9.99998545e-01 -4.87308929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters 0.050981897909314816 Centerline is valid? [True, True] Translation: X:451.28, Y:-318.24, Z:-4.87 [[ 3.84536933e-01 -9.23108877e-01 -1.16146102e-03 4.51282469e+02] [-9.23105319e-01 -3.84538677e-01 2.56433141e-03 -3.18241851e+02] [-2.81378377e-03 8.60707102e-05 -9.99996038e-01 -4.87063905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters 0.050583680164551385 Centerline is valid? [True, True] Translation: X:451.32, Y:-318.48, Z:-4.87 [[ 4.47676291e-01 -8.94193945e-01 -1.76813964e-03 4.51322510e+02] [-8.94188078e-01 -4.47679764e-01 3.24190914e-03 -3.18478903e+02] [-3.69045586e-03 1.29723524e-04 -9.99993182e-01 -4.87009588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters 0.050369204478232225 Centerline is valid? [True, True] Translation: X:451.09, Y:-318.25, Z:-4.87 [[ 5.12936448e-01 -8.58423155e-01 -2.42639179e-03 4.51088128e+02] [-8.58414971e-01 -5.12942162e-01 3.75187844e-03 -3.18249919e+02] [-4.46529798e-03 1.58375835e-04 -9.99990018e-01 -4.87149492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters 0.050295697590623877 Centerline is valid? [True, True] Translation: X:451.07, Y:-318.37, Z:-4.87 [[ 5.77793915e-01 -8.16176754e-01 -3.11419933e-03 4.51069794e+02] [-8.16166393e-01 -5.77802284e-01 4.11572054e-03 -3.18373470e+02] [-5.15854692e-03 1.63666549e-04 -9.99986681e-01 -4.87156059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters 0.050594868241660367 Centerline is valid? [True, True] Translation: X:451.30, Y:-318.79, Z:-4.87 [[ 6.39327951e-01 -7.68926445e-01 -3.44861030e-03 4.51297567e+02] [-7.68916429e-01 -6.39337237e-01 3.92727727e-03 -3.18789767e+02] [-5.22461233e-03 1.40874981e-04 -9.99986342e-01 -4.87120866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters 0.049887070903009686 Centerline is valid? [True, True] Translation: X:451.23, Y:-318.85, Z:-4.87 [[ 6.97627566e-01 -7.16451344e-01 -3.64011596e-03 4.51234646e+02] [-7.16442423e-01 -6.97637054e-01 3.57712198e-03 -3.18853409e+02] [-5.10231363e-03 1.12434597e-04 -9.99986977e-01 -4.87137650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters 0.050411913756658586 Centerline is valid? [True, True] Translation: X:451.21, Y:-318.94, Z:-4.87 [[ 7.54306881e-01 -6.56513016e-01 -3.43353805e-03 4.51205929e+02] [-6.56506693e-01 -7.54314691e-01 2.88249549e-03 -3.18936235e+02] [-4.48236400e-03 7.98545254e-05 -9.99989951e-01 -4.87143207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters 0.049678329123737264 Centerline is valid? [True, True] Translation: X:451.18, Y:-319.02, Z:-4.87 [[ 8.05544957e-01 -5.92530597e-01 -2.19411147e-03 4.51184984e+02] [-5.92528528e-01 -8.05547944e-01 1.56596627e-03 -3.19018716e+02] [-2.69534491e-03 3.86174130e-05 -9.99996367e-01 -4.87261627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters 0.04981777876932503 Centerline is valid? [True, True] Translation: X:451.17, Y:-319.11, Z:-4.87 [[ 8.51476947e-01 -5.24390071e-01 -1.43583902e-03 4.51168569e+02] [-5.24389361e-01 -8.51478158e-01 8.63128858e-04 -3.19106480e+02] [-1.67520177e-03 1.80043810e-05 -9.99998597e-01 -4.87382150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters 0.04948041936839357 Centerline is valid? [True, True] Translation: X:451.17, Y:-319.18, Z:-4.87 [[ 8.90773029e-01 -4.54447520e-01 -9.28745174e-04 4.51167659e+02] [-4.54447284e-01 -8.90773513e-01 4.62874486e-04 -3.19181598e+02] [-1.03765376e-03 9.74961431e-06 -9.99999462e-01 -4.87377766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters 0.049810373964421985 Centerline is valid? [True, True] Translation: X:451.17, Y:-319.26, Z:-4.87 [[ 9.24628940e-01 -3.80869158e-01 8.34972355e-05 4.51171906e+02] [-3.80869156e-01 -9.24628944e-01 -3.58188465e-05 -3.19257737e+02] [ 9.08462547e-05 1.31762045e-06 -9.99999996e-01 -4.87433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters 0.04944779381039705 Centerline is valid? [True, True] Translation: X:451.18, Y:-319.33, Z:-4.87 [[ 9.51986884e-01 -3.06138684e-01 2.79529979e-04 4.51183595e+02] [-3.06138671e-01 -9.51986925e-01 -9.06465397e-05 -3.19330557e+02] [ 2.93859298e-04 7.19380526e-07 -9.99999957e-01 -4.87353928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters 0.0499960993778364 Centerline is valid? [True, True] Translation: X:451.19, Y:-319.44, Z:-4.87 [[ 9.73257950e-01 -2.29713481e-01 -8.24228100e-04 4.51190954e+02] [-2.29713401e-01 -9.73258299e-01 1.90645910e-04 -3.19437659e+02] [-8.45980774e-04 3.78859319e-06 -9.99999642e-01 -4.87215512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters 0.04949498401684998 Centerline is valid? [True, True] Translation: X:451.21, Y:-319.51, Z:-4.87 [[ 9.88454278e-01 -1.51497075e-01 -2.60329107e-03 4.51214856e+02] [-1.51496561e-01 -9.88457706e-01 3.94721880e-04 -3.19508376e+02] [-2.63304232e-03 4.22511226e-06 -9.99996534e-01 -4.87003223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters 0.049703656193414464 Centerline is valid? [True, True] Translation: X:451.24, Y:-319.58, Z:-4.87 [[ 9.97307555e-01 -7.32592918e-02 -3.27361636e-03 4.51243566e+02] [-7.32589072e-02 -9.97312928e-01 2.37383327e-04 -3.19581412e+02] [-3.28221045e-03 3.07737138e-06 -9.99994614e-01 -4.86998758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters 0.04961289286008924 Centerline is valid? [True, True] Translation: X:451.28, Y:-319.65, Z:-4.87 [[ 9.99976732e-01 5.40544652e-03 -4.16133855e-03 4.51276566e+02] [ 5.40539295e-03 -9.99985391e-01 -2.41217828e-05 -3.19647226e+02] [-4.16140814e-03 1.62755145e-06 -9.99991341e-01 -4.86950937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters 0.04956763818526532 Centerline is valid? [True, True] Translation: X:451.31, Y:-319.71, Z:-4.87 [[ 9.96513014e-01 8.32547577e-02 -5.51883429e-03 4.51308903e+02] [ 8.32534602e-02 -9.96528296e-01 -4.64811441e-04 -3.19705603e+02] [-5.53837229e-03 3.72859933e-06 -9.99984663e-01 -4.86813484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters 0.049755841591386206 Centerline is valid? [True, True] Translation: X:451.35, Y:-319.78, Z:-4.87 [[ 9.87142584e-01 1.59717968e-01 -6.29994711e-03 4.51349422e+02] [ 1.59714637e-01 -9.87162687e-01 -1.03167270e-03 -3.19775892e+02] [-6.38384938e-03 1.22142871e-05 -9.99979623e-01 -4.86840243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters 0.04926649395923865 Centerline is valid? [True, True] Translation: X:451.39, Y:-319.84, Z:-4.87 [[ 9.72087430e-01 2.34521298e-01 -6.76685139e-03 4.51392421e+02] [ 2.34515422e-01 -9.72110981e-01 -1.66030124e-03 -3.19837224e+02] [-6.96750654e-03 2.70269545e-05 -9.99975726e-01 -4.86707553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters 0.049932310380978936 Centerline is valid? [True, True] Translation: X:451.44, Y:-319.90, Z:-4.87 [[ 9.51488358e-01 3.07625898e-01 -6.01761673e-03 4.51443055e+02] [ 3.07619483e-01 -9.51507386e-01 -1.98708295e-03 -3.19900731e+02] [-6.33708494e-03 3.95501436e-05 -9.99979920e-01 -4.86916946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters 0.0498137758997641 Centerline is valid? [True, True] Translation: X:451.50, Y:-319.96, Z:-4.87 [[ 9.24466079e-01 3.81224612e-01 -5.50131312e-03 4.51496510e+02] [ 3.81217626e-01 -9.24482446e-01 -2.30822657e-03 -3.19959071e+02] [-5.96582020e-03 3.66796378e-05 -9.99982204e-01 -4.87180939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters 0.04914688612324056 Centerline is valid? [True, True] Translation: X:451.55, Y:-320.01, Z:-4.87 [[ 8.89957225e-01 4.56011167e-01 -5.47292848e-03 4.51553075e+02] [ 4.56002456e-01 -8.89974053e-01 -2.81856838e-03 -3.20011743e+02] [-6.15606299e-03 1.27364636e-05 -9.99981051e-01 -4.86868328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters 0.04913411720493508 Centerline is valid? [True, True] Translation: X:451.61, Y:-320.06, Z:-4.87 [[ 8.47728953e-01 5.30403697e-01 -5.24780577e-03 4.51613323e+02] [ 5.30393768e-01 -8.47745196e-01 -3.24570896e-03 -3.20056933e+02] [-6.17033816e-03 -3.19220133e-05 -9.99980963e-01 -4.86926141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters 0.049955752339719765 Centerline is valid? [True, True] Translation: X:451.68, Y:-320.10, Z:-4.87 [[ 8.02111907e-01 5.97152477e-01 -5.04068158e-03 4.51679637e+02] [ 5.97141063e-01 -8.02127744e-01 -3.69241523e-03 -3.20102465e+02] [-6.24820544e-03 -4.82677363e-05 -9.99980479e-01 -4.86786352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters 0.049474044746781895 Centerline is valid? [True, True] Translation: X:451.75, Y:-320.14, Z:-4.87 [[ 7.48642380e-01 6.62951772e-01 -5.43460057e-03 4.51748752e+02] [ 6.62935290e-01 -7.48662098e-01 -4.67593020e-03 -3.20141023e+02] [-7.16859568e-03 -1.02188988e-04 -9.99974300e-01 -4.86893244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters 0.04900655945393581 Centerline is valid? [True, True] Translation: X:451.83, Y:-320.18, Z:-4.87 [[ 6.92363798e-01 7.21531043e-01 -5.03247302e-03 4.51825348e+02] [ 7.21513262e-01 -6.92382076e-01 -5.06696429e-03 -3.20181155e+02] [-7.14036615e-03 -1.22813384e-04 -9.99974500e-01 -4.86656770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters 0.04859731414773025 Centerline is valid? [True, True] Translation: X:451.90, Y:-320.21, Z:-4.87 [[ 6.32514111e-01 7.74536767e-01 -4.32384650e-03 4.51904401e+02] [ 7.74520015e-01 -6.32528877e-01 -5.09562563e-03 -3.20213360e+02] [-6.68170718e-03 -1.25850545e-04 -9.99977669e-01 -4.86869200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters 0.048969633594410006 Centerline is valid? [True, True] Translation: X:451.98, Y:-320.24, Z:-4.87 [[ 5.68454396e-01 8.22709885e-01 -2.83653988e-03 4.51984237e+02] [ 8.22700506e-01 -5.68461464e-01 -3.92959480e-03 -3.20240571e+02] [-4.84538010e-03 -9.98273598e-05 -9.99988256e-01 -4.86898072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters 0.04880564920486539 Centerline is valid? [True, True] Translation: X:452.07, Y:-320.26, Z:-4.87 [[ 5.01674279e-01 8.65053417e-01 -2.34602622e-03 4.52065143e+02] [ 8.65044840e-01 -5.01679755e-01 -3.85322132e-03 -3.20259852e+02] [-4.51019613e-03 -9.63558485e-05 -9.99989824e-01 -4.86769955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters 0.04802958151852177 Centerline is valid? [True, True] Translation: X:452.15, Y:-320.27, Z:-4.87 [[ 4.31896993e-01 9.01920874e-01 -1.92977257e-03 4.52148803e+02] [ 9.01912821e-01 -4.31901294e-01 -3.81249078e-03 -3.20273344e+02] [-4.27203629e-03 -9.38833197e-05 -9.99990870e-01 -4.86684157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters 0.04856280620602431 Centerline is valid? [True, True] Translation: X:452.24, Y:-320.28, Z:-4.87 [[ 3.59565941e-01 9.33117401e-01 -2.06177817e-03 4.52237084e+02] [ 9.33103954e-01 -3.59571831e-01 -5.01084691e-03 -3.20282424e+02] [-5.41706579e-03 -1.22123483e-04 -9.99985320e-01 -4.86586457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters 0.04842026283122905 Centerline is valid? [True, True] Translation: X:452.33, Y:-320.29, Z:-4.86 [[ 2.84180886e-01 9.58768786e-01 -1.90760277e-03 4.52330790e+02] [ 9.58750563e-01 -2.84187250e-01 -5.91306802e-03 -3.20286025e+02] [-6.21138143e-03 -1.48534325e-04 -9.99980698e-01 -4.86465830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters 0.0478029965756307 Centerline is valid? [True, True] Translation: X:452.43, Y:-320.28, Z:-4.86 [[ 2.05970201e-01 9.78556595e-01 -1.80732751e-03 4.52426215e+02] [ 9.78527193e-01 -2.05978027e-01 -7.58850793e-03 -3.20282499e+02] [-7.79805424e-03 -2.05512611e-04 -9.99969574e-01 -4.86312877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters 0.04793177202647778 Centerline is valid? [True, True] Translation: X:452.52, Y:-320.27, Z:-4.86 [[ 1.28832138e-01 9.91665709e-01 -1.18372246e-03 4.52520899e+02] [ 9.91636975e-01 -1.28837420e-01 -7.55171991e-03 -3.20270831e+02] [-7.64128943e-03 -2.00918730e-04 -9.99970785e-01 -4.86271850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters 0.047953351886289096 Centerline is valid? [True, True] Translation: X:452.61, Y:-320.25, Z:-4.86 [[ 5.36104909e-02 9.98561814e-01 -4.67983407e-04 4.52609450e+02] [ 9.98543448e-01 -5.36123440e-02 -6.05799240e-03 -3.20251930e+02] [-6.07436957e-03 -1.42529818e-04 -9.99981541e-01 -4.86349695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters 0.047638763015415676 Centerline is valid? [True, True] Translation: X:452.70, Y:-320.23, Z:-4.86 [[-2.20234025e-02 9.99757455e-01 6.83624564e-06 4.52696134e+02] [ 9.99742714e-01 2.20231148e-02 -5.43032253e-03 -3.20225826e+02] [-5.42915599e-03 -1.12759692e-04 -9.99985256e-01 -4.86311850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters 0.04768385487449083 Centerline is valid? [True, True] Translation: X:452.78, Y:-320.19, Z:-4.86 [[-9.73818554e-02 9.95247030e-01 3.50260123e-04 4.52777906e+02] [ 9.95237356e-01 9.73824534e-02 -4.38887625e-03 -3.20193088e+02] [-4.40212524e-03 -7.88049531e-05 -9.99990308e-01 -4.86301965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters 0.04786083185941396 Centerline is valid? [True, True] Translation: X:452.86, Y:-320.16, Z:-4.86 [[-1.73893837e-01 9.84764171e-01 6.79449928e-04 4.52855539e+02] [ 9.84754934e-01 1.73895150e-01 -4.26573380e-03 -3.20155371e+02] [-4.31889485e-03 -7.26931502e-05 -9.99990671e-01 -4.86213921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters 0.047732275259096034 Centerline is valid? [True, True] Translation: X:452.93, Y:-320.11, Z:-4.86 [[-2.48945643e-01 9.68517069e-01 8.68387300e-04 4.52926387e+02] [ 9.68510359e-01 2.48947152e-01 -3.60560662e-03 -3.20112484e+02] [-3.70827410e-03 -5.65579656e-05 -9.99993123e-01 -4.86237093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters 0.04862773208374725 Centerline is valid? [True, True] Translation: X:453.00, Y:-320.06, Z:-4.86 [[-3.25158818e-01 9.45658199e-01 1.52079709e-03 4.52995775e+02] [ 9.45646650e-01 3.25162364e-01 -4.67437838e-03 -3.20064687e+02] [-4.91487022e-03 -8.17786770e-05 -9.99987919e-01 -4.86064699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters 0.0476365362365766 Centerline is valid? [True, True] Translation: X:453.06, Y:-320.01, Z:-4.86 [[-4.00379767e-01 9.16347403e-01 1.86502848e-03 4.53061516e+02] [ 9.16336357e-01 4.00384100e-01 -4.50041370e-03 -3.20009428e+02] [-4.87067015e-03 -9.28811886e-05 -9.99988134e-01 -4.86164812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters 0.0475982995272921 Centerline is valid? [True, True] Translation: X:453.12, Y:-319.95, Z:-4.86 [[-4.74028722e-01 8.80506266e-01 2.34232282e-03 4.53124289e+02] [ 8.80494269e-01 4.74034495e-01 -4.59777519e-03 -3.19948434e+02] [-5.15871168e-03 -1.17075678e-04 -9.99986687e-01 -4.86124552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters 0.04701958284508952 Centerline is valid? [True, True] Translation: X:453.19, Y:-319.88, Z:-4.86 [[-5.42360061e-01 8.40141206e-01 2.88426931e-03 4.53186751e+02] [ 8.40128013e-01 5.42367714e-01 -4.71000771e-03 -3.19879498e+02] [-5.52140611e-03 -1.31364624e-04 -9.99984748e-01 -4.86113116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters 0.04782109234418543 Centerline is valid? [True, True] Translation: X:453.24, Y:-319.81, Z:-4.86 [[-6.05723180e-01 7.95672267e-01 2.25236178e-03 4.53244960e+02] [ 7.95666222e-01 6.05727362e-01 -3.10272062e-03 -3.19805174e+02] [-3.83306591e-03 -8.72616152e-05 -9.99992650e-01 -4.86158656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters 0.048281498963083605 Centerline is valid? [True, True] Translation: X:453.30, Y:-319.73, Z:-4.86 [[-6.62944243e-01 7.48668374e-01 7.73063818e-04 4.53299645e+02] [ 7.48667827e-01 6.62944693e-01 -9.04591093e-04 -3.19725890e+02] [-1.18973730e-03 -2.09254484e-05 -9.99999292e-01 -4.86300804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters 0.04764073693746657 Centerline is valid? [True, True] Translation: X:453.33, Y:-319.66, Z:-4.86 [[-7.17452981e-01 6.96606933e-01 1.01437121e-05 4.53333241e+02] [ 6.96606933e-01 7.17452981e-01 -7.92500527e-06 -3.19656541e+02] [-1.27982501e-05 1.38036151e-06 -1.00000000e+00 -4.86417184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters 0.047658947892536614 Centerline is valid? [True, True] Translation: X:453.36, Y:-319.58, Z:-4.86 [[-7.68304307e-01 6.40084746e-01 -9.63980400e-05 4.53363696e+02] [ 6.40084741e-01 7.68304313e-01 8.46566837e-05 -3.19583376e+02] [ 1.28250482e-04 3.33918028e-06 -9.99999992e-01 -4.86451787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters 0.04732153003262863 Centerline is valid? [True, True] Translation: X:453.35, Y:-319.48, Z:-4.86 [[-8.11682141e-01 5.84099354e-01 2.13183213e-04 4.53354578e+02] [ 5.84099334e-01 8.11682169e-01 -1.56079658e-04 -3.19480161e+02] [-2.64203041e-04 -2.16689809e-06 -9.99999965e-01 -4.86391237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters 0.04739621377652942 Centerline is valid? [True, True] Translation: X:453.36, Y:-319.39, Z:-4.86 [[-8.51268258e-01 5.24729998e-01 8.84154927e-04 4.53360633e+02] [ 5.24729699e-01 8.51268717e-01 -5.60535903e-04 -3.19392518e+02] [-1.04678343e-03 -1.32240728e-05 -9.99999452e-01 -4.86324515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters 0.04824720603223026 Centerline is valid? [True, True] Translation: X:453.35, Y:-319.29, Z:-4.86 [[-8.86449294e-01 4.62823404e-01 1.46517769e-03 4.53348647e+02] [ 4.62822730e-01 8.86450504e-01 -7.90122902e-04 -3.19289909e+02] [-1.66449487e-03 -2.22863520e-05 -9.99998615e-01 -4.86241106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters 0.04743528740038875 Centerline is valid? [True, True] Translation: X:453.34, Y:-319.20, Z:-4.86 [[-9.17088072e-01 3.98683651e-01 9.02826696e-04 4.53343088e+02] [ 3.98683444e-01 9.17088516e-01 -4.06411264e-04 -3.19204226e+02] [-9.90001521e-04 -1.27728666e-05 -9.99999510e-01 -4.86329539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters 0.04790762292372348 Centerline is valid? [True, True] Translation: X:453.32, Y:-319.11, Z:-4.86 [[-9.42920901e-01 3.33016630e-01 3.13235598e-04 4.53315667e+02] [ 3.33016611e-01 9.42920953e-01 -1.14039511e-04 -3.19109575e+02] [-3.33333462e-04 -3.21758091e-06 -9.99999944e-01 -4.86417673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters 0.047663808528128356 Centerline is valid? [True, True] Translation: X:453.30, Y:-319.02, Z:-4.86 [[-9.64038453e-01 2.65762654e-01 2.70640847e-04 4.53296669e+02] [ 2.65762643e-01 9.64038491e-01 -7.70474369e-05 -3.19019575e+02] [-2.81384525e-04 -2.35046496e-06 -9.99999960e-01 -4.86376967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters 0.04763759165242354 Centerline is valid? [True, True] Translation: X:453.25, Y:-318.93, Z:-4.86 [[-9.80261106e-01 1.97707055e-01 -2.91464957e-04 4.53251758e+02] [ 1.97707045e-01 9.80261149e-01 6.39625111e-05 -3.18930217e+02] [ 2.98357614e-04 5.07528648e-06 -9.99999956e-01 -4.86308504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters 0.04730598634272681 Centerline is valid? [True, True] Translation: X:453.33, Y:-318.32, Z:-5.90 [[-9.58068582e-01 -2.86538839e-01 2.93908861e-04 4.53330312e+02] [ 2.86538838e-01 -9.58068626e-01 -4.55788115e-05 -3.18318457e+02] [ 2.94644958e-04 4.05486762e-05 9.99999956e-01 -5.89859892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters 0.04724502410176474 Centerline is valid? [True, True] Translation: X:453.10, Y:-318.90, Z:-4.86 [[-9.80811025e-01 1.94957839e-01 1.08382420e-03 4.53102965e+02] [ 1.94957707e-01 9.80811624e-01 -2.27012803e-04 -3.18898582e+02] [-1.10728530e-03 -1.13567790e-05 -9.99999387e-01 -4.86140432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters 0.048073910023188435 Centerline is valid? [True, True] Translation: X:453.63, Y:-318.91, Z:-4.86 [[-9.92526544e-01 1.21994653e-01 2.89215768e-03 4.53633911e+02] [ 1.21994060e-01 9.92530757e-01 -3.81291860e-04 -3.18906516e+02] [-2.91707102e-03 -2.56162334e-05 -9.99995745e-01 -4.86130720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters 0.04756100493521564 Centerline is valid? [True, True] Translation: X:452.88, Y:-318.75, Z:-4.86 [[-9.98510202e-01 5.44442196e-02 3.63352939e-03 4.52875136e+02] [ 5.44437802e-02 9.98516813e-01 -2.19801744e-04 -3.18747367e+02] [-3.64010712e-03 -2.16512085e-05 -9.99993375e-01 -4.86065299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters 0.04747443516264918 Centerline is valid? [True, True] Translation: X:452.78, Y:-318.11, Z:-5.90 [[-9.91948361e-01 -1.26605251e-01 3.09189066e-03 4.52775382e+02] [ 1.26604600e-01 -9.91953179e-01 -4.06168641e-04 -3.18112236e+02] [ 3.11843386e-03 -1.14507356e-05 9.99995138e-01 -5.89955028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters 0.04767404628176181 Centerline is valid? [True, True] Translation: X:452.90, Y:-318.76, Z:-4.86 [[-9.98170500e-01 6.03962096e-02 2.81955645e-03 4.52899379e+02] [ 6.03960273e-02 9.98174482e-01 -1.49822740e-04 -3.18758515e+02] [-2.82345803e-03 2.07413688e-05 -9.99996014e-01 -4.86164090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters 0.04818472344781574 Centerline is valid? [True, True] Translation: X:452.83, Y:-318.67, Z:-4.86 [[-9.99977938e-01 -6.42980903e-03 1.66755524e-03 4.52827209e+02] [-6.42976684e-03 9.99979328e-01 3.06612447e-05 -3.18666409e+02] [-1.66771791e-03 1.99385769e-05 -9.99998609e-01 -4.86232229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters 0.0488327940849714 Centerline is valid? [True, True] Translation: X:452.68, Y:-318.05, Z:-5.90 [[-9.99375607e-01 -3.52833706e-02 1.86539978e-03 4.52678284e+02] [ 3.52832908e-02 -9.99377348e-01 -7.56915228e-05 -3.18046608e+02] [ 1.86690894e-03 -9.82681868e-06 9.99998257e-01 -5.89914950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters 0.047755881345810956 Centerline is valid? [True, True] Translation: X:452.53, Y:-318.67, Z:-4.86 [[-9.99971214e-01 -6.88344236e-03 3.19196002e-03 4.52531016e+02] [-6.88325531e-03 9.99976308e-01 6.95809945e-05 -3.18673450e+02] [-3.19236335e-03 4.76079158e-05 -9.99994903e-01 -4.86137020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters 0.04823336246947942 Centerline is valid? [True, True] Translation: X:452.48, Y:-318.58, Z:-4.86 [[-9.96875273e-01 -7.89230934e-02 3.29185939e-03 4.52480297e+02] [-7.89225092e-02 9.96880707e-01 3.07184102e-04 -3.18584401e+02] [-3.30583504e-03 4.64224317e-05 -9.99994535e-01 -4.86128978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters 0.04864616333720559 Centerline is valid? [True, True] Translation: X:451.68, Y:-318.61, Z:-4.86 [[-9.88526160e-01 -1.51003406e-01 3.74208527e-03 4.51675228e+02] [-1.51002148e-01 9.88533241e-01 6.18251985e-04 -3.18610393e+02] [-3.79253384e-03 4.60953471e-05 -9.99992807e-01 -4.85892173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters 0.048152845186045914 Centerline is valid? [True, True] Translation: X:451.94, Y:-318.47, Z:-4.86 [[-9.73586868e-01 -2.28248839e-01 5.57471762e-03 4.51938253e+02] [-2.28244792e-01 9.73602827e-01 1.36014376e-03 -3.18469706e+02] [-5.73801207e-03 5.18178379e-05 -9.99983536e-01 -4.85830252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters 0.04814225348257115 Centerline is valid? [True, True] Translation: X:451.84, Y:-318.41, Z:-4.86 [[-9.54238431e-01 -2.98972959e-01 6.64736037e-03 4.51838683e+02] [-2.98965348e-01 9.54261582e-01 2.13394895e-03 -3.18410156e+02] [-6.98131365e-03 4.89656940e-05 -9.99975629e-01 -4.85728585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters 0.04888614755060132 Centerline is valid? [True, True] Translation: X:451.27, Y:-317.94, Z:-5.90 [[-9.69251244e-01 2.45982864e-01 6.66754554e-03 4.51265653e+02] [-2.45977439e-01 -9.69274176e-01 1.63461314e-03 -3.17943943e+02] [ 6.86476652e-03 -5.57149511e-05 9.99976436e-01 -5.90358823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters 0.04839478764673975 Centerline is valid? [True, True] Translation: X:451.28, Y:-318.58, Z:-4.86 [[-9.52408259e-01 -3.04759979e-01 6.31374503e-03 4.51280322e+02] [-3.04753055e-01 9.52429186e-01 2.05455203e-03 -3.18578656e+02] [-6.63954027e-03 3.26392331e-05 -9.99977958e-01 -4.85845581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters 0.04803516146780297 Centerline is valid? [True, True] Translation: X:451.30, Y:-318.48, Z:-4.86 [[-9.26221265e-01 -3.76959457e-01 3.96687558e-03 4.51303925e+02] [-3.76955955e-01 9.26229760e-01 1.62499880e-03 -3.18483976e+02] [-4.28679688e-03 9.77107562e-06 -9.99990812e-01 -4.86113597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters 0.047773836487677995 Centerline is valid? [True, True] Translation: X:450.92, Y:-318.57, Z:-4.86 [[-8.96690838e-01 -4.42650802e-01 2.41019314e-03 4.50921178e+02] [-4.42649200e-01 8.96694077e-01 1.19083808e-03 -3.18568957e+02] [-2.68833135e-03 9.43530787e-07 -9.99996386e-01 -4.86138353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters 0.04807385549294454 Centerline is valid? [True, True] Translation: X:450.82, Y:-318.54, Z:-4.86 [[-8.61337658e-01 -5.08028430e-01 2.13361458e-03 4.50822446e+02] [-5.08026883e-01 8.61340301e-01 1.25385766e-03 -3.18536766e+02] [-2.47476356e-03 -3.93874733e-06 -9.99996938e-01 -4.86104831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters 0.048696004517808665 Centerline is valid? [True, True] Translation: X:451.18, Y:-318.20, Z:-4.86 [[-8.18368715e-01 -5.74688995e-01 2.28152233e-03 4.51183396e+02] [-5.74686802e-01 8.18371895e-01 1.58784967e-03 -3.18204196e+02] [-2.77965348e-03 -1.17142787e-05 -9.99996137e-01 -4.86152492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters 0.04852425204993391 Centerline is valid? [True, True] Translation: X:450.65, Y:-318.50, Z:-4.86 [[-7.74346753e-01 -6.32755526e-01 2.74788450e-03 4.50647010e+02] [-6.32751643e-01 7.74351628e-01 2.21674387e-03 -3.18503007e+02] [-3.53048578e-03 -2.22000159e-05 -9.99993768e-01 -4.86124278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters 0.048407829913152955 Centerline is valid? [True, True] Translation: X:450.77, Y:-318.29, Z:-4.86 [[-7.23669624e-01 -6.90139828e-01 3.04848790e-03 4.50765535e+02] [-6.90133878e-01 7.23676044e-01 2.86604768e-03 -3.18292903e+02] [-4.18409132e-03 -2.97931340e-05 -9.99991246e-01 -4.86181979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters 0.04840670551127946 Centerline is valid? [True, True] Translation: X:450.24, Y:-318.71, Z:-4.86 [[-6.72722224e-01 -7.39885714e-01 3.73359692e-03 4.50240684e+02] [-7.39874658e-01 6.72732583e-01 4.04501858e-03 -3.18706709e+02] [-5.50456376e-03 -4.12198473e-05 -9.99984849e-01 -4.86069723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters 0.04891350522207535 Centerline is valid? [True, True] Translation: X:450.07, Y:-318.80, Z:-4.86 [[-6.18704879e-01 -7.85615001e-01 3.65289900e-03 4.50067220e+02] [-7.85601631e-01 6.18715661e-01 4.58341401e-03 -3.18797038e+02] [-5.86090462e-03 -3.39427985e-05 -9.99982824e-01 -4.85965328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters 0.04854800891154206 Centerline is valid? [True, True] Translation: X:449.92, Y:-318.88, Z:-4.86 [[-5.61167429e-01 -8.27696904e-01 2.99195655e-03 4.49919205e+02] [-8.27685321e-01 5.61175404e-01 4.37895031e-03 -3.18877061e+02] [-5.30345604e-03 -1.90742343e-05 -9.99985936e-01 -4.85969125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters 0.04886037538825123 Centerline is valid? [True, True] Translation: X:449.74, Y:-319.02, Z:-4.86 [[-5.02036874e-01 -8.64842239e-01 2.62263594e-03 4.49744257e+02] [-8.64830449e-01 5.02043725e-01 4.51582834e-03 -3.19024786e+02] [-5.22215701e-03 -1.02307313e-06 -9.99986364e-01 -4.85971839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters 0.04906078058676431 Centerline is valid? [True, True] Translation: X:449.65, Y:-319.04, Z:-4.86 [[-4.36912039e-01 -8.99501566e-01 2.19168033e-03 4.49651822e+02] [-8.99490211e-01 4.36917536e-01 4.51964597e-03 -3.19044861e+02] [-5.02301220e-03 3.29273127e-06 -9.99987385e-01 -4.86053161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters 0.04832305938939076 Centerline is valid? [True, True] Translation: X:449.50, Y:-319.20, Z:-4.86 [[-3.68746501e-01 -9.29528047e-01 1.90491324e-03 4.49501059e+02] [-9.29515663e-01 3.68751421e-01 4.79800492e-03 -3.19199975e+02] [-5.16231961e-03 -1.39916394e-06 -9.99986675e-01 -4.85939927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters 0.04845705668509326 Centerline is valid? [True, True] Translation: X:449.38, Y:-319.30, Z:-4.86 [[-2.94877447e-01 -9.55533726e-01 1.60939194e-03 4.49382252e+02] [-9.55519933e-01 2.94881838e-01 5.13422088e-03 -3.19301958e+02] [-5.38050166e-03 -2.38401389e-05 -9.99985525e-01 -4.85852175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters 0.04772370751673037 Centerline is valid? [True, True] Translation: X:449.24, Y:-319.53, Z:-4.86 [[-2.20410389e-01 -9.75406305e-01 1.34204627e-03 4.49240006e+02] [-9.75389525e-01 2.20414469e-01 5.72162286e-03 -3.19527562e+02] [-5.87671343e-03 -4.79127528e-05 -9.99982731e-01 -4.85864372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters 0.0484154487537337 Centerline is valid? [True, True] Translation: X:449.12, Y:-319.74, Z:-4.86 [[-1.44181218e-01 -9.89550863e-01 9.31017985e-04 4.49119138e+02] [-9.89533343e-01 1.44184205e-01 5.88876298e-03 -3.19744992e+02] [-5.96146858e-03 -7.22243225e-05 -9.99982228e-01 -4.85819625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters 0.04778053371175461 Centerline is valid? [True, True] Translation: X:449.03, Y:-319.89, Z:-4.86 [[-6.54776643e-02 -9.97853937e-01 4.42681539e-04 4.49026226e+02] [-9.97839596e-01 6.54790970e-02 5.35062144e-03 -3.19890997e+02] [-5.36812505e-03 -9.13789738e-05 -9.99985587e-01 -4.85908065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters 0.04836940605932789 Centerline is valid? [True, True] Translation: X:448.94, Y:-320.12, Z:-4.86 [[ 1.06008389e-02 -9.99943809e-01 3.80153489e-05 4.48939417e+02] [-9.99934111e-01 -1.06005686e-02 4.40482534e-03 -3.20124171e+02] [-4.40417484e-03 -8.47076879e-05 -9.99990298e-01 -4.85969924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters 0.048430412553734536 Centerline is valid? [True, True] Translation: X:448.86, Y:-320.29, Z:-4.86 [[ 8.76481276e-02 -9.96151462e-01 -2.67484425e-04 4.48864239e+02] [-9.96143147e-01 -8.76484892e-02 4.07088722e-03 -3.20288464e+02] [-4.07866485e-03 -9.03528650e-05 -9.99991678e-01 -4.85916377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters 0.047847217655535804 Centerline is valid? [True, True] Translation: X:448.81, Y:-320.53, Z:-4.86 [[ 1.62951234e-01 -9.86634027e-01 -4.38488047e-04 4.48812985e+02] [-9.86629097e-01 -1.62951807e-01 3.11995815e-03 -3.20528232e+02] [-3.14970929e-03 -7.57759654e-05 -9.99995037e-01 -4.85916914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters 0.04692808376906426 Centerline is valid? [True, True] Translation: X:448.67, Y:-320.19, Z:-4.86 [[ 2.36919779e-01 -9.71529015e-01 -6.25902163e-04 4.48671741e+02] [-9.71524799e-01 -2.36920596e-01 2.86297790e-03 -3.20185463e+02] [-2.92975521e-03 -7.02166193e-05 -9.99995706e-01 -4.85963978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters 0.0473134364467645 Centerline is valid? [True, True] Translation: X:448.77, Y:-320.91, Z:-4.86 [[ 3.03805809e-01 -9.52733662e-01 -7.74971061e-04 4.48766138e+02] [-9.52730040e-01 -3.03806792e-01 2.62759060e-03 -3.20909760e+02] [-2.73883548e-03 -5.99390764e-05 -9.99996248e-01 -4.85884488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters 0.04736857551029399 Centerline is valid? [True, True] Translation: X:448.78, Y:-321.19, Z:-4.86 [[ 3.72212971e-01 -9.28146580e-01 -1.19571487e-03 4.48777987e+02] [-9.28141165e-01 -3.72214885e-01 3.17129962e-03 -3.21188527e+02] [-3.38849377e-03 -7.06066566e-05 -9.99994257e-01 -4.85859721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters 0.04743391931937925 Centerline is valid? [True, True] Translation: X:448.78, Y:-321.39, Z:-4.86 [[ 4.40758961e-01 -8.97624198e-01 -1.52911693e-03 4.48776093e+02] [-8.97618155e-01 -4.40761606e-01 3.29449227e-03 -3.21391566e+02] [-3.63119202e-03 -7.95138754e-05 -9.99993404e-01 -4.85760743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters 0.04767875181755072 Centerline is valid? [True, True] Translation: X:448.81, Y:-321.64, Z:-4.86 [[ 5.07543504e-01 -8.61623482e-01 -2.13679675e-03 4.48806223e+02] [-8.61614952e-01 -5.07547991e-01 3.83559071e-03 -3.21635394e+02] [-4.38936193e-03 -1.05633119e-04 -9.99990361e-01 -4.85641479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters 0.04751817499469264 Centerline is valid? [True, True] Translation: X:448.84, Y:-321.85, Z:-4.86 [[ 5.71318914e-01 -8.20721208e-01 -3.37603856e-03 4.48841566e+02] [-8.20705187e-01 -5.71328866e-01 5.13056523e-03 -3.21846425e+02] [-6.13959197e-03 -1.60456601e-04 -9.99981140e-01 -4.85538940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters 0.04861296336423911 Centerline is valid? [True, True] Translation: X:448.90, Y:-322.07, Z:-4.85 [[ 6.29352036e-01 -7.77107312e-01 -4.49900594e-03 4.48901068e+02] [-7.77085314e-01 -6.29368089e-01 5.85004931e-03 -3.22071188e+02] [-7.37764686e-03 -1.85628996e-04 -9.99972768e-01 -4.85403597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters 0.0481364728934957 Centerline is valid? [True, True] Translation: X:449.02, Y:-322.33, Z:-4.85 [[ 6.82748168e-01 -7.30635840e-01 -5.11944315e-03 4.49017928e+02] [-7.30613379e-01 -6.82767339e-01 5.73159889e-03 -3.22329879e+02] [-7.68310014e-03 -1.72904983e-04 -9.99970470e-01 -4.85474377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters 0.04796598824555132 Centerline is valid? [True, True] Translation: X:449.09, Y:-322.52, Z:-4.85 [[ 7.31196680e-01 -6.82153427e-01 -4.25643769e-03 4.49091972e+02] [-6.82141036e-01 -7.31209062e-01 4.11290117e-03 -3.22520505e+02] [-5.91797543e-03 -1.03848870e-04 -9.99982483e-01 -4.85453136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters 0.047975165865254854 Centerline is valid? [True, True] Translation: X:449.07, Y:-322.60, Z:-4.86 [[ 7.80277223e-01 -6.25425569e-01 -3.21133025e-03 4.49071149e+02] [-6.25419958e-01 -7.80283829e-01 2.64986271e-03 -3.22595435e+02] [-4.16304096e-03 -5.91974897e-05 -9.99991333e-01 -4.85559584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters 0.047748939985312024 Centerline is valid? [True, True] Translation: X:449.05, Y:-322.68, Z:-4.86 [[ 8.25141192e-01 -5.64920099e-01 -2.70078708e-03 4.49050860e+02] [-5.64916926e-01 -8.25145611e-01 1.89394341e-03 -3.22678253e+02] [-3.29846931e-03 -3.70503922e-05 -9.99994559e-01 -4.85713668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters 0.047988431133799955 Centerline is valid? [True, True] Translation: X:449.03, Y:-322.76, Z:-4.86 [[ 8.65146032e-01 -5.01510454e-01 -3.09970237e-03 4.49034803e+02] [-5.01507115e-01 -8.65151584e-01 1.83019996e-03 -3.22764114e+02] [-3.59957683e-03 -2.88674398e-05 -9.99993521e-01 -4.85582799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters 0.04771226826418787 Centerline is valid? [True, True] Translation: X:449.03, Y:-322.85, Z:-4.86 [[ 9.01445428e-01 -4.32877637e-01 -3.61829127e-03 4.49027908e+02] [-4.32874015e-01 -9.01452689e-01 1.77094953e-03 -3.22847448e+02] [-4.02832285e-03 -3.01500857e-05 -9.99991886e-01 -4.85531921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters 0.047772483815210404 Centerline is valid? [True, True] Translation: X:449.03, Y:-322.93, Z:-4.85 [[ 9.32777624e-01 -3.60427780e-01 -4.20948541e-03 4.49027119e+02] [-3.60423929e-01 -9.32787122e-01 1.66649590e-03 -3.22931062e+02] [-4.52720520e-03 -3.72708128e-05 -9.99989751e-01 -4.85429364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters 0.047467143789957866 Centerline is valid? [True, True] Translation: X:449.03, Y:-323.02, Z:-4.86 [[ 9.58395566e-01 -2.85407496e-01 -4.52772903e-03 4.49031707e+02] [-2.85404093e-01 -9.58406260e-01 1.39436293e-03 -3.23021935e+02] [-4.73736548e-03 -4.41188571e-05 -9.99988778e-01 -4.85541124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters 0.047548791713771 Centerline is valid? [True, True] Translation: X:449.04, Y:-323.11, Z:-4.85 [[ 9.77853734e-01 -2.09219063e-01 -5.42760046e-03 4.49042303e+02] [-2.09215531e-01 -9.77868795e-01 1.21693317e-03 -3.23111836e+02] [-5.56208674e-03 -5.44443286e-05 -9.99984530e-01 -4.85483656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters 0.047351941102501904 Centerline is valid? [True, True] Translation: X:449.06, Y:-323.20, Z:-4.85 [[ 9.90963442e-01 -1.33968802e-01 -6.61942032e-03 4.49061406e+02] [-1.33965454e-01 -9.90985548e-01 9.48724222e-04 -3.23196946e+02] [-6.68684932e-03 -5.33773757e-05 -9.99977641e-01 -4.85439638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters 0.04769908383003963 Centerline is valid? [True, True] Translation: X:449.09, Y:-323.28, Z:-4.85 [[ 9.98222893e-01 -5.92365698e-02 -6.48725682e-03 4.49087241e+02] [-5.92351137e-02 -9.98243972e-01 4.16529760e-04 -3.23277631e+02] [-6.50053881e-03 -3.15161462e-05 -9.99978871e-01 -4.85494164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters 0.04721985991007762 Centerline is valid? [True, True] Translation: X:449.11, Y:-323.36, Z:-4.85 [[ 9.99868571e-01 1.50278634e-02 -6.08310081e-03 4.49113435e+02] [ 1.50276153e-02 -9.99887075e-01 -8.64974008e-05 -3.23355110e+02] [-6.08371375e-03 -4.92846619e-06 -9.99981494e-01 -4.85435246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters 0.04738908663345211 Centerline is valid? [True, True] Translation: X:449.15, Y:-323.42, Z:-4.85 [[ 9.96164071e-01 8.73242197e-02 -5.62358780e-03 4.49146471e+02] [ 8.73226643e-02 -9.96179944e-01 -5.22012382e-04 -3.23424674e+02] [-5.64768970e-03 2.89433103e-05 -9.99984051e-01 -4.85499442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters 0.048147582891938406 Centerline is valid? [True, True] Translation: X:449.18, Y:-323.50, Z:-4.86 [[ 9.86723721e-01 1.62315501e-01 -5.47499638e-03 4.49184449e+02] [ 1.62312758e-01 -9.86738910e-01 -9.44743981e-04 -3.23495051e+02] [-5.55573855e-03 4.35395356e-05 -9.99984566e-01 -4.85610156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters 0.048669136421232266 Centerline is valid? [True, True] Translation: X:449.23, Y:-323.59, Z:-4.86 [[ 9.71204605e-01 2.38119747e-01 -7.78469880e-03 4.49234514e+02] [ 2.38111521e-01 -9.71235801e-01 -1.98051674e-03 -3.23592303e+02] [-8.03237832e-03 6.98605084e-05 -9.99967738e-01 -4.85546582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters 0.04799599616560259 Centerline is valid? [True, True] Translation: X:449.29, Y:-323.68, Z:-4.85 [[ 9.49357970e-01 3.14060828e-01 -9.23258152e-03 4.49289916e+02] [ 3.14045183e-01 -9.49402860e-01 -3.13576367e-03 -3.23681419e+02] [-9.75025984e-03 7.75144815e-05 -9.99952462e-01 -4.85353740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters 0.04810997712647717 Centerline is valid? [True, True] Translation: X:449.34, Y:-323.74, Z:-4.85 [[ 9.21399972e-01 3.88488208e-01 -9.95009362e-03 4.49344899e+02] [ 3.88464704e-01 -9.21453692e-01 -4.27403346e-03 -3.23744125e+02] [-1.08289621e-02 7.28341396e-05 -9.99941362e-01 -4.85157400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters 0.04861985159752092 Centerline is valid? [True, True] Translation: X:449.40, Y:-323.80, Z:-4.85 [[ 8.87548811e-01 4.60618451e-01 -9.36755061e-03 4.49404234e+02] [ 4.60592123e-01 -8.87598242e-01 -4.92518453e-03 -3.23800398e+02] [-1.05832523e-02 5.67216512e-05 -9.99943994e-01 -4.85065695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters 0.04859756248722658 Centerline is valid? [True, True] Translation: X:449.46, Y:-323.85, Z:-4.85 [[ 8.48196449e-01 5.29615214e-01 -8.39699564e-03 4.49464283e+02] [ 5.29588770e-01 -8.48238011e-01 -5.29258956e-03 -3.23846978e+02] [-9.92568683e-03 4.22010851e-05 -9.99950738e-01 -4.85410475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters 0.04803830644348566 Centerline is valid? [True, True] Translation: X:449.53, Y:-323.89, Z:-4.85 [[ 8.03221202e-01 5.95638435e-01 -7.11021606e-03 4.49529677e+02] [ 5.95614838e-01 -8.03252672e-01 -5.30190855e-03 -3.23890428e+02] [-8.86932056e-03 2.36551670e-05 -9.99960667e-01 -4.85293753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters 0.047979879162930256 Centerline is valid? [True, True] Translation: X:449.60, Y:-323.93, Z:-4.85 [[ 7.51061187e-01 6.60208717e-01 -5.61635423e-03 4.49597156e+02] [ 6.60190409e-01 -7.51082186e-01 -4.91674331e-03 -3.23928199e+02] [-7.46442040e-03 -1.50881240e-05 -9.99972141e-01 -4.85336471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters 0.04807058897457217 Centerline is valid? [True, True] Translation: X:449.67, Y:-323.96, Z:-4.85 [[ 6.93795647e-01 7.20156484e-01 -4.71579794e-03 4.49670270e+02] [ 7.20140285e-01 -6.93811673e-01 -4.83039227e-03 -3.23961247e+02] [-6.75051397e-03 -4.47309435e-05 -9.99977214e-01 -4.85335837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters 0.047542083674421996 Centerline is valid? [True, True] Translation: X:449.75, Y:-323.99, Z:-4.85 [[ 6.31369430e-01 7.75468491e-01 -4.61118065e-03 4.49746807e+02] [ 7.75448781e-01 -6.31386263e-01 -5.52949872e-03 -3.23989555e+02] [-7.19938814e-03 -8.45779550e-05 -9.99974081e-01 -4.85321826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters 0.0478030077457606 Centerline is valid? [True, True] Translation: X:449.83, Y:-324.01, Z:-4.85 [[ 5.63480776e-01 8.26112082e-01 -5.31438321e-03 4.49828441e+02] [ 8.26078104e-01 -5.63505812e-01 -7.49443461e-03 -3.24013410e+02] [-9.18592880e-03 -1.67125780e-04 -9.99957795e-01 -4.85185847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters 0.04785409849062099 Centerline is valid? [True, True] Translation: X:449.91, Y:-324.03, Z:-4.85 [[ 4.93828647e-01 8.69543389e-01 -5.25003188e-03 4.49912112e+02] [ 8.69499011e-01 -4.93856502e-01 -8.78782966e-03 -3.24031431e+02] [-1.02341616e-02 -2.25215493e-04 -9.99947604e-01 -4.85175038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters 0.04820826024638736 Centerline is valid? [True, True] Translation: X:450.00, Y:-324.04, Z:-4.85 [[ 4.24258246e-01 9.05530958e-01 -4.31578306e-03 4.49997652e+02] [ 9.05489129e-01 -4.24280142e-01 -8.70626141e-03 -3.24043408e+02] [-9.71489028e-03 -2.14191450e-04 -9.99952786e-01 -4.85265445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters 0.04793135590679146 Centerline is valid? [True, True] Translation: X:450.08, Y:-324.05, Z:-4.85 [[ 3.54076376e-01 9.35210885e-01 -3.24355613e-03 4.50082781e+02] [ 9.35176022e-01 -3.54091190e-01 -8.07702515e-03 -3.24047953e+02] [-8.70223649e-03 -1.73412124e-04 -9.99962120e-01 -4.85380894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters 0.04738590396672522 Centerline is valid? [True, True] Translation: X:450.17, Y:-324.05, Z:-4.86 [[ 2.86328681e-01 9.58129398e-01 -1.98560273e-03 4.50166630e+02] [ 9.58108424e-01 -2.86335553e-01 -6.34034139e-03 -3.24045412e+02] [-6.64341613e-03 -8.70011130e-05 -9.99977929e-01 -4.85562105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters 0.04762068683069672 Centerline is valid? [True, True] Translation: X:450.25, Y:-324.04, Z:-4.86 [[ 2.15382814e-01 9.76528664e-01 -1.41833826e-03 4.50250328e+02] [ 9.76509032e-01 -2.15387478e-01 -6.19231550e-03 -3.24037100e+02] [-6.35246588e-03 -5.13017821e-05 -9.99979822e-01 -4.85598159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters 0.04772567043410215 Centerline is valid? [True, True] Translation: X:450.33, Y:-324.02, Z:-4.86 [[ 1.42255515e-01 9.89829564e-01 -8.96054040e-04 4.50329839e+02] [ 9.89811024e-01 -1.42258334e-01 -6.05835007e-03 -3.24022320e+02] [-6.12420517e-03 -2.50904594e-05 -9.99981247e-01 -4.85635738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters 0.048370964119542496 Centerline is valid? [True, True] Translation: X:450.41, Y:-324.00, Z:-4.86 [[ 6.59119187e-02 9.97825348e-01 -4.41323258e-04 4.50408108e+02] [ 9.97804633e-01 -6.59133941e-02 -6.42952361e-03 -3.24001580e+02] [-6.44463075e-03 -1.65721538e-05 -9.99979233e-01 -4.85727413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters 0.04785095892134699 Centerline is valid? [True, True] Translation: X:450.50, Y:-323.98, Z:-4.86 [[-1.37569363e-02 9.99905367e-01 6.04037207e-05 4.50495250e+02] [ 9.99886348e-01 1.37570472e-02 -6.16730028e-03 -3.23975432e+02] [-6.16754763e-03 -2.44463013e-05 -9.99980980e-01 -4.85680204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters 0.04773957236643003 Centerline is valid? [True, True] Translation: X:450.58, Y:-323.94, Z:-4.86 [[-9.39092018e-02 9.95580585e-01 6.00759085e-04 4.50577157e+02] [ 9.95557356e-01 9.39111146e-02 -6.80106033e-03 -3.23942857e+02] [-6.82742158e-03 -4.05920208e-05 -9.99976692e-01 -4.85683370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters 0.04780728923222568 Centerline is valid? [True, True] Translation: X:450.66, Y:-323.90, Z:-4.85 [[-1.73374563e-01 9.84855105e-01 1.29775163e-03 4.50657921e+02] [ 9.84824794e-01 1.73379409e-01 -7.72691031e-03 -3.23903887e+02] [-7.83489047e-03 -6.15917157e-05 -9.99969305e-01 -4.85468165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters 0.04792195872666286 Centerline is valid? [True, True] Translation: X:450.73, Y:-323.86, Z:-4.86 [[-2.49722246e-01 9.68315648e-01 1.89878270e-03 4.50732739e+02] [ 9.68285798e-01 2.49729458e-01 -7.60338725e-03 -3.23857965e+02] [-7.83666083e-03 -6.01706223e-05 -9.99969291e-01 -4.85698653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters 0.04763844869004912 Centerline is valid? [True, True] Translation: X:450.80, Y:-323.81, Z:-4.86 [[-3.23563771e-01 9.46203910e-01 2.15562529e-03 4.50804289e+02] [ 9.46182002e-01 3.23570949e-01 -6.43902466e-03 -3.23806962e+02] [-6.79012802e-03 -4.38212501e-05 -9.99976946e-01 -4.85723370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters 0.047848230620433835 Centerline is valid? [True, True] Translation: X:450.87, Y:-323.75, Z:-4.86 [[-3.95268500e-01 9.18562412e-01 2.43058084e-03 4.50867745e+02] [ 9.18544561e-01 3.95275972e-01 -5.72668244e-03 -3.23752560e+02] [-6.22106544e-03 -3.09803713e-05 -9.99980649e-01 -4.85789914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters 0.04765986411051903 Centerline is valid? [True, True] Translation: X:450.93, Y:-323.69, Z:-4.86 [[-4.64010557e-01 8.85826190e-01 2.48261827e-03 4.50928612e+02] [ 8.85813337e-01 4.64017199e-01 -4.77186322e-03 -3.23691771e+02] [-5.37901899e-03 -1.50585402e-05 -9.99985533e-01 -4.85892755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters 0.048259712943591895 Centerline is valid? [True, True] Translation: X:450.98, Y:-323.63, Z:-4.86 [[-5.29475000e-01 8.48321556e-01 2.60025854e-03 4.50984115e+02] [ 8.48311329e-01 5.29481385e-01 -4.16557232e-03 -3.23627615e+02] [-4.91053329e-03 2.62377360e-07 -9.99987943e-01 -4.85827139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters 0.047805512633754876 Centerline is valid? [True, True] Translation: X:451.03, Y:-323.56, Z:-4.86 [[-5.91917037e-01 8.05994625e-01 2.62413343e-03 4.51033538e+02] [ 8.05986802e-01 5.91922853e-01 -3.55124916e-03 -3.23558624e+02] [-4.41557228e-03 1.29720341e-05 -9.99990251e-01 -4.85995542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters 0.04896806671084558 Centerline is valid? [True, True] Translation: X:451.08, Y:-323.49, Z:-4.86 [[-6.52053252e-01 7.58170090e-01 2.16134303e-03 4.51076004e+02] [ 7.58166000e-01 6.52056834e-01 -2.49028020e-03 -3.23489379e+02] [-3.29737446e-03 1.48614945e-05 -9.99994564e-01 -4.86033873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters 0.04767742731581329 Centerline is valid? [True, True] Translation: X:451.11, Y:-323.42, Z:-4.86 [[-7.09800540e-01 7.04398302e-01 2.49507403e-03 4.51113055e+02] [ 7.04394017e-01 7.09804925e-01 -2.45694288e-03 -3.23415970e+02] [-3.50168222e-03 1.35758371e-05 -9.99993869e-01 -4.86089833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters 0.04815318356106395 Centerline is valid? [True, True] Translation: X:451.13, Y:-323.33, Z:-4.86 [[-7.58804717e-01 6.51308331e-01 3.58603374e-03 4.51131785e+02] [ 6.51301130e-01 7.58813191e-01 -3.06275706e-03 -3.23330699e+02] [-4.71592889e-03 1.15533166e-05 -9.99988880e-01 -4.86042688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters 0.048594505277712294 Centerline is valid? [True, True] Translation: X:451.24, Y:-323.31, Z:-4.86 [[-8.04705176e-01 5.93654499e-01 4.89032300e-03 4.51237386e+02] [ 5.93643524e-01 8.04720035e-01 -3.60985226e-03 -3.23314826e+02] [-6.07834593e-03 -1.75821824e-06 -9.99981527e-01 -4.85915305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters 0.048473285942555 Centerline is valid? [True, True] Translation: X:451.18, Y:-323.18, Z:-4.86 [[-8.45990886e-01 5.33169658e-01 5.43484623e-03 4.51182778e+02] [ 5.33158528e-01 8.46008343e-01 -3.44496451e-03 -3.23182330e+02] [-6.43467580e-03 -1.67739627e-05 -9.99979297e-01 -4.85799736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters 0.048881092177655225 Centerline is valid? [True, True] Translation: X:451.49, Y:-322.66, Z:-5.90 [[-8.03414903e-01 -5.95394100e-01 5.51001497e-03 4.51489775e+02] [ 5.95380472e-01 -8.03433796e-01 -4.02863130e-03 -3.22662293e+02] [ 6.82555554e-03 4.38928896e-05 9.99976705e-01 -5.90239596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters 0.04917086533571733 Centerline is valid? [True, True] Translation: X:451.24, Y:-323.22, Z:-4.86 [[-8.50927858e-01 5.25234430e-01 7.11163750e-03 4.51240399e+02] [ 5.25215415e-01 8.50957572e-01 -4.46974274e-03 -3.23219064e+02] [-8.39936456e-03 -6.82869714e-05 -9.99964722e-01 -4.85881703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters 0.04909782485843493 Centerline is valid? [True, True] Translation: X:451.23, Y:-323.12, Z:-4.86 [[-8.86591834e-01 4.62490713e-01 7.56701267e-03 4.51231119e+02] [ 4.62473097e-01 8.86624122e-01 -4.03736043e-03 -3.23122096e+02] [-8.57633767e-03 -7.99510056e-05 -9.99963219e-01 -4.85866516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters 0.049326304423027885 Centerline is valid? [True, True] Translation: X:451.38, Y:-322.54, Z:-5.91 [[-8.42672514e-01 -5.38379219e-01 7.13094047e-03 4.51378221e+02] [ 5.38360627e-01 -8.42702683e-01 -4.47478108e-03 -3.22535052e+02] [ 8.41839181e-03 6.82425575e-05 9.99964562e-01 -5.90575888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters 0.048317657821525334 Centerline is valid? [True, True] Translation: X:451.05, Y:-323.02, Z:-4.86 [[-8.89573205e-01 4.56753561e-01 5.97469685e-03 4.51046990e+02] [ 4.56742644e-01 8.89593266e-01 -3.15892398e-03 -3.23019365e+02] [-6.75789986e-03 -8.11952907e-05 -9.99977162e-01 -4.85908326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters 0.04952311182600976 Centerline is valid? [True, True] Translation: X:451.30, Y:-322.50, Z:-5.90 [[-8.43807912e-01 -5.36626825e-01 4.45627590e-03 4.51297831e+02] [ 5.36619147e-01 -8.43819679e-01 -2.87074209e-03 -3.22497889e+02] [ 5.30081051e-03 -3.10319190e-05 9.99985950e-01 -5.90153774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters 0.049782935549984336 Centerline is valid? [True, True] Translation: X:451.03, Y:-323.01, Z:-4.86 [[-8.91440422e-01 4.53115996e-01 4.45745466e-03 4.51032955e+02] [ 4.53109986e-01 8.91451564e-01 -2.33446892e-03 -3.23013769e+02] [-5.03139014e-03 -6.13227370e-05 -9.99987341e-01 -4.85965715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters 0.04896037337672526 Centerline is valid? [True, True] Translation: X:450.90, Y:-322.86, Z:-4.86 [[-9.21091817e-01 3.89305051e-01 5.60730334e-03 4.50895827e+02] [ 3.89297364e-01 9.21108882e-01 -2.44756991e-03 -3.22864608e+02] [-6.11778824e-03 -7.15282077e-05 -9.99981284e-01 -4.85982537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters 0.048949839539976156 Centerline is valid? [True, True] Translation: X:451.12, Y:-322.33, Z:-5.90 [[-8.81925035e-01 -4.71353246e-01 5.86090441e-03 4.51117796e+02] [ 4.71343644e-01 -8.81944503e-01 -3.01046740e-03 -3.22332215e+02] [ 6.58798600e-03 1.07493479e-04 9.99978293e-01 -5.90290471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters 0.04882582440330194 Centerline is valid? [True, True] Translation: X:451.27, Y:-323.04, Z:-4.86 [[-9.23339628e-01 3.83930308e-01 6.43822745e-03 4.51274477e+02] [ 3.83920473e-01 9.23362071e-01 -2.74885242e-03 -3.23042869e+02] [-7.00018279e-03 -6.63570409e-05 -9.99975496e-01 -4.85938188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters 0.04881156423911395 Centerline is valid? [True, True] Translation: X:450.46, Y:-322.64, Z:-4.86 [[-9.47529168e-01 3.19595542e-01 6.86763050e-03 4.50462673e+02] [ 3.19586728e-01 9.47554055e-01 -2.37423607e-03 -3.22639810e+02] [-7.26624639e-03 -5.48543728e-05 -9.99973599e-01 -4.85803440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters 0.04916836563984984 Centerline is valid? [True, True] Translation: X:450.93, Y:-322.70, Z:-4.86 [[-9.68213300e-01 2.50028612e-01 6.97842122e-03 4.50932605e+02] [ 2.50021872e-01 9.68238448e-01 -1.83616785e-03 -3.22698675e+02] [-7.21587024e-03 -3.30442037e-05 -9.99973965e-01 -4.85924201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters 0.04901697485113216 Centerline is valid? [True, True] Translation: X:450.43, Y:-322.51, Z:-4.86 [[-9.82443201e-01 1.86424386e-01 7.16269050e-03 4.50426227e+02] [ 1.86419488e-01 9.82469312e-01 -1.35143698e-03 -3.22507890e+02] [-7.28906441e-03 7.55502078e-06 -9.99973434e-01 -4.85900554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters 0.04932771791318617 Centerline is valid? [True, True] Translation: X:450.68, Y:-322.47, Z:-4.86 [[-9.93172618e-01 1.16412686e-01 7.49919504e-03 4.50679519e+02] [ 1.16409630e-01 9.93200929e-01 -8.44205433e-04 -3.22468609e+02] [-7.54648370e-03 3.45367987e-05 -9.99971524e-01 -4.86171147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters 0.04957987515463543 Centerline is valid? [True, True] Translation: X:450.61, Y:-321.86, Z:-5.90 [[-9.85250471e-01 -1.70960947e-01 7.33921199e-03 4.50613020e+02] [ 1.70955904e-01 -9.85277805e-01 -1.31376795e-03 -3.21862137e+02] [ 7.45576570e-03 -3.97088710e-05 9.99972205e-01 -5.90020206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters 0.04903851869007475 Centerline is valid? [True, True] Translation: X:449.92, Y:-322.38, Z:-4.86 [[-9.93069988e-01 1.17280599e-01 7.56703778e-03 4.49920144e+02] [ 1.17277712e-01 9.93098815e-01 -8.25628517e-04 -3.22380164e+02] [-7.61164646e-03 6.75379764e-05 -9.99971029e-01 -4.86040019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters 0.04920791843056312 Centerline is valid? [True, True] Translation: X:449.98, Y:-321.77, Z:-5.90 [[-9.85575335e-01 -1.69045000e-01 8.06519723e-03 4.49979924e+02] [ 1.69039064e-01 -9.85608334e-01 -1.41698468e-03 -3.21771201e+02] [ 8.18865977e-03 -3.32117605e-05 9.99966472e-01 -5.90036489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters 0.049094370228453345 Centerline is valid? [True, True] Translation: X:449.94, Y:-322.38, Z:-4.86 [[-9.94203639e-01 1.07154890e-01 8.77238410e-03 4.49937758e+02] [ 1.07150969e-01 9.94242339e-01 -9.17064556e-04 -3.22384754e+02] [-8.82014364e-03 2.82205435e-05 -9.99961101e-01 -4.86014971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters 0.048740885856488586 Centerline is valid? [True, True] Translation: X:449.88, Y:-321.77, Z:-5.90 [[-9.84940159e-01 -1.72682894e-01 8.57330819e-03 4.49882547e+02] [ 1.72676038e-01 -9.84977470e-01 -1.53910794e-03 -3.21768847e+02] [ 8.71029302e-03 -3.55243227e-05 9.99962064e-01 -5.90166827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters 0.04879888109664403 Centerline is valid? [True, True] Translation: X:449.96, Y:-322.38, Z:-4.86 [[-9.96207536e-01 8.67519355e-02 6.68186242e-03 4.49959843e+02] [ 8.67495122e-02 9.96229942e-01 -6.52199814e-04 -3.22382458e+02] [-6.71325100e-03 -7.00780641e-05 -9.99977463e-01 -4.86052982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters 0.048725007014448464 Centerline is valid? [True, True] Translation: X:449.65, Y:-322.28, Z:-4.86 [[-9.99921638e-01 1.08380331e-02 6.26540893e-03 4.49652426e+02] [ 1.08372105e-02 9.99941262e-01 -1.65234691e-04 -3.22282075e+02] [-6.26683173e-03 -9.73221870e-05 -9.99980359e-01 -4.86102671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters 0.04996408496367663 Centerline is valid? [True, True] Translation: X:449.61, Y:-322.20, Z:-4.86 [[-9.97938991e-01 -6.38203005e-02 6.68874435e-03 4.49609879e+02] [-6.38197230e-02 9.97961399e-01 2.99955406e-04 -3.22196936e+02] [-6.69425191e-03 -1.27536616e-04 -9.99977585e-01 -4.85809299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters 0.047719509461753094 Centerline is valid? [True, True] Translation: X:449.59, Y:-322.13, Z:-4.86 [[-9.90483454e-01 -1.37402761e-01 7.93780912e-03 4.49591736e+02] [-1.37399754e-01 9.90515245e-01 9.25639769e-04 -3.22130186e+02] [-7.98970640e-03 -1.73822141e-04 -9.99968067e-01 -4.86074001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters 0.04821828328525501 Centerline is valid? [True, True] Translation: X:449.50, Y:-322.06, Z:-4.86 [[-9.78076371e-01 -2.08080232e-01 8.32039581e-03 4.49496157e+02] [-2.08074343e-01 9.78111743e-01 1.57675062e-03 -3.22063368e+02] [-8.46636748e-03 -1.89078376e-04 -9.99964142e-01 -4.85943522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters 0.04857258746900525 Centerline is valid? [True, True] Translation: X:449.44, Y:-321.99, Z:-4.86 [[-9.60397031e-01 -2.78489834e-01 8.99754253e-03 4.49439979e+02] [-2.78479742e-01 9.60439152e-01 2.38101681e-03 -3.21993884e+02] [-9.30468109e-03 -2.18911850e-04 -9.99956687e-01 -4.85742504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters 0.04821327184827704 Centerline is valid? [True, True] Translation: X:449.35, Y:-321.94, Z:-4.86 [[-9.38506726e-01 -3.45151675e-01 8.68597690e-03 4.49351709e+02] [-3.45138906e-01 9.38546898e-01 2.97594836e-03 -3.21944866e+02] [-9.17935023e-03 -2.04921012e-04 -9.99957848e-01 -4.85960715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters 0.0483551562754493 Centerline is valid? [True, True] Translation: X:449.06, Y:-321.42, Z:-5.90 [[-9.70708505e-01 2.40136891e-01 7.69881190e-03 4.49056806e+02] [-2.40128529e-01 -9.70739030e-01 2.00635733e-03 -3.21415860e+02] [ 7.95533760e-03 9.88837500e-05 9.99968351e-01 -5.90061481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters 0.04787015831902992 Centerline is valid? [True, True] Translation: X:449.36, Y:-321.95, Z:-4.86 [[-9.38540735e-01 -3.45100585e-01 6.84647446e-03 4.49363753e+02] [-3.45092217e-01 9.38565701e-01 2.40552106e-03 -3.21952847e+02] [-7.25601283e-03 -1.04985542e-04 -9.99973669e-01 -4.86138614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters 0.04789808543106476 Centerline is valid? [True, True] Translation: X:448.68, Y:-322.13, Z:-4.86 [[-9.13252377e-01 -4.07337192e-01 6.81970202e-03 4.48683534e+02] [-4.07326492e-01 9.13277836e-01 2.95355997e-03 -3.22130529e+02] [-7.43137753e-03 -8.04996435e-05 -9.99972384e-01 -4.85952301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters 0.04758630381187642 Centerline is valid? [True, True] Translation: X:448.54, Y:-322.12, Z:-4.86 [[-8.83287399e-01 -4.68776179e-01 7.22940264e-03 4.48542822e+02] [-4.68761065e-01 8.83316981e-01 3.76492493e-03 -3.22117867e+02] [-8.15076124e-03 -6.33517228e-05 -9.99966780e-01 -4.85953115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters 0.048234327957116505 Centerline is valid? [True, True] Translation: X:448.42, Y:-322.11, Z:-4.86 [[-8.48343099e-01 -5.29373404e-01 8.81960645e-03 4.48417870e+02] [-5.29345486e-01 8.48388941e-01 5.43703805e-03 -3.22105417e+02] [-1.03606799e-02 -5.61451531e-05 -9.99946325e-01 -4.85666450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters 0.047725255971549974 Centerline is valid? [True, True] Translation: X:448.27, Y:-322.12, Z:-4.86 [[-8.08271859e-01 -5.88730435e-01 9.64767900e-03 4.48270767e+02] [-5.88689325e-01 8.08329433e-01 6.95746920e-03 -3.22115753e+02] [-1.18945768e-02 -5.59590787e-05 -9.99929255e-01 -4.85718124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters 0.04842734725079969 Centerline is valid? [True, True] Translation: X:448.16, Y:-322.11, Z:-4.86 [[-7.63000774e-01 -6.46320012e-01 1.00130624e-02 4.48158211e+02] [-6.46265347e-01 7.63066471e-01 8.40607663e-03 -3.22106682e+02] [-1.30736477e-02 -5.72522564e-05 -9.99914535e-01 -4.85520960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters 0.04823635391961021 Centerline is valid? [True, True] Translation: X:447.95, Y:-322.19, Z:-4.86 [[-7.14502941e-01 -6.99574061e-01 9.03774108e-03 4.47951710e+02] [-6.99519149e-01 7.14560096e-01 8.76531408e-03 -3.22191903e+02] [-1.25899955e-02 -5.92302528e-05 -9.99920741e-01 -4.85783906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters 0.047784403869677514 Centerline is valid? [True, True] Translation: X:447.78, Y:-322.26, Z:-4.86 [[-6.60844749e-01 -7.50487776e-01 7.23298044e-03 4.47777842e+02] [-7.50443800e-01 6.60884328e-01 8.12456762e-03 -3.22263664e+02] [-1.08775521e-02 -5.88674730e-05 -9.99940836e-01 -4.85927761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters 0.047822626613768245 Centerline is valid? [True, True] Translation: X:447.61, Y:-322.35, Z:-4.86 [[-6.02758892e-01 -7.97905608e-01 5.32538558e-03 4.47607067e+02] [-7.97875367e-01 6.02782413e-01 6.94701297e-03 -3.22346447e+02] [-8.75310938e-03 -6.16201343e-05 -9.99961689e-01 -4.85871755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters 0.04829909614501875 Centerline is valid? [True, True] Translation: X:447.47, Y:-322.40, Z:-4.86 [[-5.40683461e-01 -8.41212480e-01 4.79155145e-03 4.47474232e+02] [-8.41180686e-01 5.40704687e-01 7.31397905e-03 -3.22395689e+02] [-8.74342478e-03 -7.60130305e-05 -9.99961773e-01 -4.85653429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters 0.04758246724791515 Centerline is valid? [True, True] Translation: X:447.29, Y:-322.55, Z:-4.86 [[-4.74488148e-01 -8.80248319e-01 4.88822567e-03 4.47292405e+02] [-8.80204260e-01 4.74513311e-01 8.80789663e-03 -3.22549395e+02] [-1.00726643e-02 -1.23394492e-04 -9.99949262e-01 -4.85855904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters 0.04838269811395269 Centerline is valid? [True, True] Translation: X:447.14, Y:-322.68, Z:-4.86 [[-4.05438342e-01 -9.14110779e-01 4.60820739e-03 4.47135669e+02] [-9.14056441e-01 4.05464493e-01 9.96831302e-03 -3.22678470e+02] [-1.09806068e-02 -1.70625345e-04 -9.99939697e-01 -4.85677660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters 0.04826751438632518 Centerline is valid? [True, True] Translation: X:446.99, Y:-322.83, Z:-4.86 [[-3.34065336e-01 -9.42541170e-01 4.06132773e-03 4.46987873e+02] [-9.42479152e-01 3.34089954e-01 1.08144081e-02 -3.22828361e+02] [-1.15498736e-02 -2.14997841e-04 -9.99933275e-01 -4.85756041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters 0.048473128537026115 Centerline is valid? [True, True] Translation: X:446.84, Y:-323.03, Z:-4.86 [[-2.62383187e-01 -9.64958119e-01 3.30023288e-03 4.46837061e+02] [-9.64892755e-01 2.62403834e-01 1.12338109e-02 -3.23027442e+02] [-1.17061508e-02 -2.36807684e-04 -9.99931453e-01 -4.85708547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters 0.0476055535681628 Centerline is valid? [True, True] Translation: X:446.72, Y:-323.17, Z:-4.86 [[-1.91470289e-01 -9.81495737e-01 2.29043466e-03 4.46721333e+02] [-9.81437866e-01 1.91483876e-01 1.06602028e-02 -3.23173833e+02] [-1.09015249e-02 -2.06807191e-04 -9.99940555e-01 -4.85807516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters 0.04832439413311745 Centerline is valid? [True, True] Translation: X:446.63, Y:-323.23, Z:-4.86 [[-1.20058685e-01 -9.92765861e-01 1.36276943e-03 4.46630935e+02] [-9.92716643e-01 1.20066305e-01 9.88684023e-03 -3.23233312e+02] [-9.97894014e-03 -1.65842858e-04 -9.99950195e-01 -4.85853245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters 0.0474226114384363 Centerline is valid? [True, True] Translation: X:446.51, Y:-323.64, Z:-4.86 [[-5.16953768e-02 -9.98662728e-01 5.86294309e-04 4.46512565e+02] [-9.98621583e-01 5.16985694e-02 9.06601632e-03 -3.23642836e+02] [-9.08420317e-03 -1.16815021e-04 -9.99958731e-01 -4.85854389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters 0.048585212916215655 Centerline is valid? [True, True] Translation: X:446.44, Y:-323.44, Z:-4.86 [[ 2.15693626e-02 -9.99767349e-01 -1.06091926e-04 4.46439359e+02] [-9.99720778e-01 -2.15693819e-02 9.65028754e-03 -3.23440186e+02] [-9.65033073e-03 -1.02088249e-04 -9.99953429e-01 -4.86009785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters 0.047793114413961335 Centerline is valid? [True, True] Translation: X:446.39, Y:-324.20, Z:-4.86 [[ 9.08653185e-02 -9.95862870e-01 -7.98861316e-04 4.46388966e+02] [-9.95815724e-01 -9.08687903e-02 9.69053719e-03 -3.24195367e+02] [-9.72303773e-03 -8.50150874e-05 -9.99952727e-01 -4.85710297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters 0.04862127907726891 Centerline is valid? [True, True] Translation: X:445.78, Y:-324.47, Z:-5.90 [[ 8.27576185e-03 9.99965716e-01 -2.80457344e-04 4.45779907e+02] [-9.99903747e-01 8.27837171e-03 1.11339592e-02 -3.24469449e+02] [ 1.11358992e-02 1.88288354e-04 9.99937976e-01 -5.90483411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters 0.04766202512034196 Centerline is valid? [True, True] Translation: X:446.43, Y:-324.71, Z:-4.86 [[ 9.27271064e-02 -9.95690977e-01 -1.07762052e-03 4.46429814e+02] [-9.95617270e-01 -9.27333541e-02 1.21151183e-02 -3.24714267e+02] [-1.21628453e-02 -5.05022590e-05 -9.99926029e-01 -4.85552710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters 0.048119574652968844 Centerline is valid? [True, True] Translation: X:446.39, Y:-325.01, Z:-4.85 [[ 1.61767302e-01 -9.86826722e-01 -2.08840548e-03 4.46394422e+02] [-9.86744678e-01 -1.61780782e-01 1.27247120e-02 -3.25008663e+02] [-1.28949497e-02 2.28066559e-06 -9.99916857e-01 -4.85438549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters 0.049819584081910395 Centerline is valid? [True, True] Translation: X:446.21, Y:-324.52, Z:-4.86 [[ 2.32549773e-01 -9.72579753e-01 -3.03749371e-03 4.46210859e+02] [-9.72499545e-01 -2.32569605e-01 1.24905341e-02 -3.24518482e+02] [-1.28544693e-02 4.92903831e-05 -9.99917377e-01 -4.86031429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters 0.049529283271835145 Centerline is valid? [True, True] Translation: X:446.21, Y:-324.84, Z:-4.86 [[ 2.99341254e-01 -9.54139694e-01 -3.50106957e-03 4.46208870e+02] [-9.54077999e-01 -2.99361714e-01 1.08506558e-02 -3.24840815e+02] [-1.14011276e-02 9.22445145e-05 -9.99935001e-01 -4.86109010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters 0.0488292771791035 Centerline is valid? [True, True] Translation: X:446.21, Y:-325.10, Z:-4.86 [[ 3.67877696e-01 -9.29865200e-01 -4.08787874e-03 4.46208898e+02] [-9.29810723e-01 -3.67900394e-01 1.00657604e-02 -3.25104277e+02] [-1.08637325e-02 9.79847425e-05 -9.99940983e-01 -4.86083391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters 0.04884990648852672 Centerline is valid? [True, True] Translation: X:446.24, Y:-325.39, Z:-4.86 [[ 4.35701676e-01 -9.00080187e-01 -4.43924749e-03 4.46237692e+02] [-9.00035432e-01 -4.35724282e-01 8.97611449e-03 -3.25393889e+02] [-1.00135107e-02 8.45719061e-05 -9.99949860e-01 -4.86141097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters 0.048705711965982224 Centerline is valid? [True, True] Translation: X:446.29, Y:-325.67, Z:-4.86 [[ 5.02897948e-01 -8.64331568e-01 -4.95933591e-03 4.46287663e+02] [-8.64290639e-01 -5.02922397e-01 8.41152265e-03 -3.25674907e+02] [-9.76450566e-03 5.61701208e-05 -9.99952325e-01 -4.85962310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters 0.04840330425327019 Centerline is valid? [True, True] Translation: X:446.67, Y:-326.43, Z:-4.86 [[ 5.66351944e-01 -8.24142729e-01 -5.85138428e-03 4.46674561e+02] [-8.24099247e-01 -5.66382170e-01 8.46578616e-03 -3.26432456e+02] [-1.02911358e-02 2.75069369e-05 -9.99947045e-01 -4.85512087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters 0.0483339727887374 Centerline is valid? [True, True] Translation: X:446.70, Y:-326.59, Z:-4.86 [[ 6.27105582e-01 -7.78904418e-01 -6.81888972e-03 4.46699216e+02] [-7.78858532e-01 -6.27142654e-01 8.45455664e-03 -3.26591879e+02] [-1.08617081e-02 9.05077357e-06 -9.99941010e-01 -4.85717539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters 0.04850192657201722 Centerline is valid? [True, True] Translation: X:446.61, Y:-326.61, Z:-4.85 [[ 6.87651792e-01 -7.26004321e-01 -7.26214881e-03 4.46605313e+02] [-7.25962910e-01 -6.87690136e-01 7.75435949e-03 -3.26613774e+02] [-1.06238066e-02 -6.02485153e-05 -9.99943564e-01 -4.85482425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters 0.04936287440954549 Centerline is valid? [True, True] Translation: X:446.79, Y:-326.91, Z:-4.86 [[ 7.41875180e-01 -6.70498257e-01 -7.30094589e-03 4.46786594e+02] [-6.70464473e-01 -7.41911098e-01 6.73147098e-03 -3.26905684e+02] [-9.93009235e-03 -9.88864078e-05 -9.99950691e-01 -4.85912957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters 0.048913320347746904 Centerline is valid? [True, True] Translation: X:446.76, Y:-326.99, Z:-4.86 [[ 7.95019292e-01 -6.06529744e-01 -8.12371677e-03 4.46761274e+02] [-6.06496089e-01 -7.95060781e-01 6.39131381e-03 -3.26990545e+02] [-1.03353705e-02 -1.54215328e-04 -9.99946577e-01 -4.85983675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters 0.04891403794264027 Centerline is valid? [True, True] Translation: X:446.74, Y:-327.08, Z:-4.86 [[ 8.41188323e-01 -5.40690240e-01 -7.50132776e-03 4.46740408e+02] [-5.40667098e-01 -8.41221755e-01 5.00482752e-03 -3.27079734e+02] [-9.01634149e-03 -1.54281352e-04 -9.99959340e-01 -4.86172529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters 0.04893877874218517 Centerline is valid? [True, True] Translation: X:446.72, Y:-327.17, Z:-4.86 [[ 8.81726395e-01 -4.71714222e-01 -6.65261566e-03 4.46724701e+02] [-4.71699559e-01 -8.81751480e-01 3.72213688e-03 -3.27172117e+02] [-7.62173861e-03 -1.43870463e-04 -9.99970944e-01 -4.86163129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters 0.04951469060176563 Centerline is valid? [True, True] Translation: X:446.72, Y:-327.26, Z:-4.86 [[ 9.16352579e-01 -4.00311870e-01 -6.95396594e-03 4.46720129e+02] [-4.00299069e-01 -9.16378952e-01 3.20494545e-03 -3.27261737e+02] [-7.65544573e-03 -1.53193933e-04 -9.99970685e-01 -4.86316502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters 0.04928448337259899 Centerline is valid? [True, True] Translation: X:446.72, Y:-327.35, Z:-4.86 [[ 9.44940220e-01 -3.27152992e-01 -7.67468045e-03 4.46722246e+02] [-3.27140766e-01 -9.44971371e-01 2.83319920e-03 -3.27351786e+02] [-8.17924291e-03 -1.66503036e-04 -9.99966536e-01 -4.86373482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters 0.04946967241727643 Centerline is valid? [True, True] Translation: X:446.73, Y:-327.44, Z:-4.86 [[ 9.67661137e-01 -2.52102686e-01 -8.72695034e-03 4.46729913e+02] [-2.52090693e-01 -9.67700471e-01 2.46606359e-03 -3.27442344e+02] [-9.06677521e-03 -1.86330933e-04 -9.99958879e-01 -4.86205572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters 0.05024302568339196 Centerline is valid? [True, True] Translation: X:446.75, Y:-327.53, Z:-4.86 [[ 9.84261791e-01 -1.76392969e-01 -1.06886290e-02 4.46747055e+02] [-1.76380175e-01 -9.84319803e-01 2.13540642e-03 -3.27527533e+02] [-1.08976999e-02 -2.16536689e-04 -9.99940595e-01 -4.86042604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters 0.050068642629041676 Centerline is valid? [True, True] Translation: X:446.77, Y:-327.61, Z:-4.86 [[ 9.94889201e-01 -1.00259328e-01 -1.19810277e-02 4.46770200e+02] [-1.00249353e-01 -9.94961314e-01 1.43179077e-03 -3.27612739e+02] [-1.20642095e-02 -2.23382896e-04 -9.99927200e-01 -4.86207467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters 0.049382750258228386 Centerline is valid? [True, True] Translation: X:446.80, Y:-327.69, Z:-4.86 [[ 9.99581534e-01 -2.54109298e-02 -1.38217844e-02 4.46799440e+02] [-2.54055760e-02 -9.99677068e-01 5.62820847e-04 -3.27693353e+02] [-1.38316227e-02 -2.11434930e-04 -9.99904316e-01 -4.86170288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters 0.049377000851894046 Centerline is valid? [True, True] Translation: X:446.83, Y:-327.77, Z:-4.86 [[ 9.98653047e-01 5.00784884e-02 -1.35733807e-02 4.46830091e+02] [ 5.00761707e-02 -9.98745271e-01 -5.10782195e-04 -3.27774916e+02] [-1.35819290e-02 -1.69608735e-04 -9.99907747e-01 -4.86423350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters 0.0506216081360859 Centerline is valid? [True, True] Translation: X:446.87, Y:-327.85, Z:-4.87 [[ 9.92369153e-01 1.22787856e-01 -1.12519487e-02 4.46867248e+02] [ 1.22780889e-01 -9.92432938e-01 -1.31050171e-03 -3.27852206e+02] [-1.13277182e-02 -8.10227960e-05 -9.99935836e-01 -4.86708242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters 0.04968866291794685 Centerline is valid? [True, True] Translation: X:446.91, Y:-327.93, Z:-4.87 [[ 9.80337189e-01 1.97083523e-01 -9.85298641e-03 4.46908846e+02] [ 1.97073993e-01 -9.80386701e-01 -1.93857590e-03 -3.27926216e+02] [-1.00417982e-02 -4.13093277e-05 -9.99949579e-01 -4.86780136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters 0.04954114405888071 Centerline is valid? [True, True] Translation: X:446.96, Y:-327.99, Z:-4.87 [[ 9.62445751e-01 2.71330760e-01 -8.82012920e-03 4.46956022e+02] [ 2.71319557e-01 -9.62486165e-01 -2.46570185e-03 -3.27993177e+02] [-9.15827308e-03 -1.99692736e-05 -9.99958062e-01 -4.86831734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters 0.04977124033271345 Centerline is valid? [True, True] Translation: X:447.01, Y:-328.06, Z:-4.87 [[ 9.38131682e-01 3.46198780e-01 -7.43987273e-03 4.47008103e+02] [ 3.46188068e-01 -9.38161182e-01 -2.72355657e-03 -3.28058725e+02] [-7.92269176e-03 -2.05404583e-05 -9.99968615e-01 -4.86723594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters 0.050370661448546954 Centerline is valid? [True, True] Translation: X:447.06, Y:-328.11, Z:-4.87 [[ 9.07109761e-01 4.20830874e-01 -7.29780528e-03 4.47060724e+02] [ 4.20817621e-01 -9.07139115e-01 -3.34006891e-03 -3.28107789e+02] [-8.02572874e-03 -4.12359437e-05 -9.99967793e-01 -4.86669830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters 0.05064617933081011 Centerline is valid? [True, True] Translation: X:447.12, Y:-328.15, Z:-4.87 [[ 8.69913105e-01 4.93148692e-01 -7.45365019e-03 4.47119167e+02] [ 4.93131276e-01 -8.69945034e-01 -4.14513293e-03 -3.28154538e+02] [-8.52843286e-03 -6.97225653e-05 -9.99963630e-01 -4.86691285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters 0.05055909954707225 Centerline is valid? [True, True] Translation: X:447.18, Y:-328.20, Z:-4.87 [[ 8.25723234e-01 5.64007482e-01 -8.75789255e-03 4.47182305e+02] [ 5.63977565e-01 -8.25769665e-01 -5.81082576e-03 -3.28197203e+02] [-1.05093512e-02 -1.41121075e-04 -9.99944765e-01 -4.86639780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters 0.0500682573312942 Centerline is valid? [True, True] Translation: X:447.26, Y:-328.25, Z:-4.87 [[ 7.77500021e-01 6.28814499e-01 -9.27600687e-03 4.47258234e+02] [ 6.28772611e-01 -7.77555330e-01 -7.26033176e-03 -3.28248143e+02] [-1.17780105e-02 -1.87590966e-04 -9.99930619e-01 -4.86789304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters 0.05116206615503046 Centerline is valid? [True, True] Translation: X:447.34, Y:-328.29, Z:-4.87 [[ 7.24936824e-01 6.88761751e-01 -8.59371606e-03 4.47336287e+02] [ 6.88716644e-01 -7.24987731e-01 -7.88506632e-03 -3.28292377e+02] [-1.16612708e-02 -2.02460355e-04 -9.99931985e-01 -4.86780720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters 0.05075852069754644 Centerline is valid? [True, True] Translation: X:447.42, Y:-328.33, Z:-4.87 [[ 6.68956616e-01 7.43268831e-01 -6.96356323e-03 4.47415866e+02] [ 7.43231269e-01 -6.68992836e-01 -7.47436262e-03 -3.28326416e+02] [-1.02140347e-02 -1.75513619e-04 -9.99947820e-01 -4.86893511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters 0.05078208751725061 Centerline is valid? [True, True] Translation: X:447.50, Y:-328.36, Z:-4.87 [[ 6.09738437e-01 7.92585818e-01 -5.17296243e-03 4.47501483e+02] [ 7.92559119e-01 -6.09760365e-01 -6.50684617e-03 -3.28357697e+02] [-8.31150145e-03 -1.32404338e-04 -9.99965450e-01 -4.87170695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters 0.050814718796757405 Centerline is valid? [True, True] Translation: X:447.59, Y:-328.38, Z:-4.87 [[ 5.47415640e-01 8.36850593e-01 -4.14750770e-03 4.47590154e+02] [ 8.36828004e-01 -5.47431342e-01 -6.14955602e-03 -3.28383395e+02] [-7.41673530e-03 -1.04387442e-04 -9.99972490e-01 -4.87054212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters 0.051585758765970484 Centerline is valid? [True, True] Translation: X:447.67, Y:-328.40, Z:-4.87 [[ 4.82428387e-01 8.75926756e-01 -3.89487035e-03 4.47673304e+02] [ 8.75899734e-01 -4.82444101e-01 -6.88084674e-03 -3.28397776e+02] [-7.90617498e-03 -9.20001074e-05 -9.99968742e-01 -4.86855538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters 0.05113420585895522 Centerline is valid? [True, True] Translation: X:447.75, Y:-328.40, Z:-4.87 [[ 4.15191809e-01 9.09726618e-01 -3.63901649e-03 4.47753933e+02] [ 9.09693224e-01 -4.15207750e-01 -7.79502663e-03 -3.28402908e+02] [-8.60229106e-03 -7.39574324e-05 -9.99962997e-01 -4.86990021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters 0.05107537232065613 Centerline is valid? [True, True] Translation: X:447.84, Y:-328.40, Z:-4.87 [[ 3.42530651e-01 9.39500387e-01 -3.43170389e-03 4.47836357e+02] [ 9.39455742e-01 -3.42547830e-01 -9.15929358e-03 -3.28402565e+02] [-9.78068258e-03 -8.65951400e-05 -9.99952164e-01 -4.87067837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters 0.051245978579485166 Centerline is valid? [True, True] Translation: X:447.93, Y:-328.40, Z:-4.87 [[ 2.65900633e-01 9.63994544e-01 -3.37236383e-03 4.47931702e+02] [ 9.63923310e-01 -2.65921984e-01 -1.17196572e-02 -3.28400461e+02] [-1.21944713e-02 -1.34435839e-04 -9.99925636e-01 -4.86832228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters 0.05117757258407088 Centerline is valid? [True, True] Translation: X:448.02, Y:-328.39, Z:-4.87 [[ 1.87910120e-01 9.82182985e-01 -2.52403591e-03 4.48020259e+02] [ 9.82105577e-01 -1.87927001e-01 -1.23320066e-02 -3.28388606e+02] [-1.25866215e-02 -1.61560911e-04 -9.99920772e-01 -4.86841899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters 0.05133602903217355 Centerline is valid? [True, True] Translation: X:448.11, Y:-328.37, Z:-4.87 [[ 1.09351041e-01 9.94002025e-01 -1.52455145e-03 4.48106403e+02] [ 9.93926254e-01 -1.09361531e-01 -1.22742391e-02 -3.28371144e+02] [-1.23673458e-02 -1.73090893e-04 -9.99923507e-01 -4.86723739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters 0.05067417259269134 Centerline is valid? [True, True] Translation: X:448.18, Y:-328.35, Z:-4.87 [[ 3.06394082e-02 9.99530369e-01 -5.18710277e-04 4.48182111e+02] [ 9.99464709e-01 -3.06433415e-02 -1.14577630e-02 -3.28345428e+02] [-1.14682771e-02 -1.67373538e-04 -9.99934223e-01 -4.86732946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters 0.05073058676025322 Centerline is valid? [True, True] Translation: X:448.26, Y:-328.31, Z:-4.87 [[-4.76383661e-02 9.98864579e-01 3.71780106e-04 4.48259468e+02] [ 9.98801324e-01 4.76395338e-02 -1.12423419e-02 -3.28313334e+02] [-1.12472885e-02 -1.64232337e-04 -9.99936734e-01 -4.86773155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters 0.051278002772605906 Centerline is valid? [True, True] Translation: X:448.33, Y:-328.28, Z:-4.87 [[-1.25558430e-01 9.92085618e-01 1.09846931e-03 4.48334306e+02] [ 9.92037022e-01 1.25563153e-01 -9.82043265e-03 -3.28276730e+02] [-9.88063727e-03 -1.43315874e-04 -9.99951175e-01 -4.86544705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters 0.050645715539745825 Centerline is valid? [True, True] Translation: X:448.40, Y:-328.24, Z:-4.87 [[-2.03315794e-01 9.79111750e-01 1.69402098e-03 4.48399423e+02] [ 9.79072009e-01 2.03322806e-01 -8.82252250e-03 -3.28235092e+02] [-8.98266854e-03 -1.35189647e-04 -9.99959646e-01 -4.87073121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters 0.05036584650725575 Centerline is valid? [True, True] Translation: X:448.47, Y:-328.19, Z:-4.87 [[-2.81105884e-01 9.59674146e-01 2.23941155e-03 4.48470342e+02] [ 9.59639517e-01 2.81114767e-01 -8.15386913e-03 -3.28185994e+02] [-8.45458906e-03 -1.43072769e-04 -9.99964249e-01 -4.87076707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters 0.051996896417824734 Centerline is valid? [True, True] Translation: X:448.54, Y:-328.13, Z:-4.87 [[-3.58501892e-01 9.33523645e-01 3.16186818e-03 4.48539064e+02] [ 9.33482550e-01 3.58515786e-01 -8.76128589e-03 -3.28132752e+02] [-9.31244719e-03 -1.89388798e-04 -9.99956620e-01 -4.86810304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters 0.05011005562926972 Centerline is valid? [True, True] Translation: X:448.60, Y:-328.08, Z:-4.87 [[-4.32004017e-01 9.01859530e-01 4.68166131e-03 4.48596176e+02] [ 9.01800126e-01 4.32029311e-01 -1.03541173e-02 -3.28076398e+02] [-1.13605743e-02 -2.51097519e-04 -9.99935435e-01 -4.86805181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters 0.04998903788505558 Centerline is valid? [True, True] Translation: X:448.65, Y:-328.01, Z:-4.87 [[-5.00087215e-01 8.65955933e-01 5.75315748e-03 4.48651731e+02] [ 8.65892821e-01 5.00120246e-01 -1.04576607e-02 -3.28013633e+02] [-1.19331439e-02 -2.48124679e-04 -9.99928767e-01 -4.86923201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters 0.04971066589380606 Centerline is valid? [True, True] Translation: X:448.70, Y:-327.95, Z:-4.87 [[-5.63178664e-01 8.26309267e-01 6.54128704e-03 4.48701775e+02] [ 8.26249308e-01 5.63216614e-01 -9.95622655e-03 -3.27949320e+02] [-1.19110838e-02 -2.02400473e-04 -9.99929040e-01 -4.86925280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters 0.04969510798549673 Centerline is valid? [True, True] Translation: X:448.74, Y:-327.88, Z:-4.87 [[-6.18881529e-01 7.85452720e-01 7.04814905e-03 4.48744443e+02] [ 7.85400137e-01 6.18921656e-01 -9.08898259e-03 -3.27882189e+02] [-1.15012182e-02 -8.93862192e-05 -9.99933855e-01 -4.87113278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters 0.049672727970816795 Centerline is valid? [True, True] Translation: X:448.78, Y:-327.81, Z:-4.87 [[-6.73069903e-01 7.39542651e-01 7.31936033e-03 4.48782148e+02] [ 7.39498845e-01 6.73109699e-01 -8.04932908e-03 -3.27814242e+02] [-1.08795546e-02 -5.10263244e-06 -9.99940816e-01 -4.87094044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters 0.050184985228405886 Centerline is valid? [True, True] Translation: X:448.80, Y:-327.75, Z:-4.87 [[-7.21861293e-01 6.92001527e-01 7.08239365e-03 4.48804027e+02] [ 6.91969505e-01 7.21896030e-01 -6.65785154e-03 -3.27753809e+02] [-9.71999529e-03 9.47551007e-05 -9.99952755e-01 -4.87058633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters 0.050032512125707966 Centerline is valid? [True, True] Translation: X:448.79, Y:-327.65, Z:-4.87 [[-7.66051812e-01 6.42736509e-01 7.37569541e-03 4.48788156e+02] [ 6.42708438e-01 7.66087306e-01 -6.00852101e-03 -3.27653176e+02] [-9.51232245e-03 1.37583268e-04 -9.99954747e-01 -4.87092814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters 0.05099105587981263 Centerline is valid? [True, True] Translation: X:449.29, Y:-327.22, Z:-5.89 [[-7.39013506e-01 -6.73665334e-01 5.83571222e-03 4.49291763e+02] [ 6.73642030e-01 -7.39036516e-01 -5.60746278e-03 -3.27218203e+02] [ 8.09035772e-03 -2.12809706e-04 9.99967250e-01 -5.88936922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters 0.049576251066223646 Centerline is valid? [True, True] Translation: X:448.90, Y:-327.75, Z:-4.87 [[-7.73399792e-01 6.33876170e-01 7.33223549e-03 4.48900828e+02] [ 6.33848459e-01 7.73434546e-01 -5.92742231e-03 -3.27750225e+02] [-9.42825598e-03 6.32589876e-05 -9.99955551e-01 -4.86987716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters 0.049893321293794785 Centerline is valid? [True, True] Translation: X:448.82, Y:-327.59, Z:-4.87 [[-8.19638037e-01 5.72809040e-01 9.12644694e-03 4.48819855e+02] [ 5.72773642e-01 8.19688845e-01 -6.36800025e-03 -3.27591407e+02] [-1.11284949e-02 7.93303183e-06 -9.99938076e-01 -4.86887720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters 0.049922112020119716 Centerline is valid? [True, True] Translation: X:449.04, Y:-327.64, Z:-4.87 [[-8.62112008e-01 5.06611708e-01 1.03664452e-02 4.49042063e+02] [ 5.06573960e-01 8.62174328e-01 -6.18485016e-03 -3.27638371e+02] [-1.20710004e-02 -8.06624236e-05 -9.99927140e-01 -4.87087088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters 0.049308162445212356 Centerline is valid? [True, True] Translation: X:448.93, Y:-327.48, Z:-4.87 [[-8.97223360e-01 4.41466560e-01 9.87519652e-03 4.48925679e+02] [ 4.41438496e-01 8.97277697e-01 -4.97887350e-03 -3.27482518e+02] [-1.10587997e-02 -1.07869705e-04 -9.99938844e-01 -4.87161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters 0.049606595606528 Centerline is valid? [True, True] Translation: X:449.22, Y:-327.53, Z:-4.87 [[-9.27616821e-01 3.73419925e-01 9.19744307e-03 4.49220312e+02] [ 3.73400401e-01 9.27662410e-01 -3.82009720e-03 -3.27528028e+02] [-9.95862262e-03 -1.09257491e-04 -9.99950406e-01 -4.87318408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters 0.04939375939744579 Centerline is valid? [True, True] Translation: X:448.74, Y:-327.26, Z:-4.87 [[-9.51634287e-01 3.07111690e-01 8.63674586e-03 4.48736254e+02] [ 3.07098112e-01 9.51673474e-01 -2.88952978e-03 -3.27259410e+02] [-9.10677030e-03 -9.74472682e-05 -9.99958528e-01 -4.87325824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters 0.049953262764899316 Centerline is valid? [True, True] Translation: X:448.70, Y:-327.17, Z:-4.87 [[-9.70841381e-01 2.39581652e-01 8.22467001e-03 4.48701321e+02] [ 2.39572322e-01 9.70876215e-01 -2.11598868e-03 -3.27169398e+02] [-8.49208855e-03 -8.38860757e-05 -9.99963938e-01 -4.87307440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters 0.04942194002397698 Centerline is valid? [True, True] Translation: X:448.85, Y:-326.56, Z:-5.89 [[-9.46601046e-01 -3.22339503e-01 6.61088229e-03 4.48852273e+02] [ 3.22331441e-01 -9.46624130e-01 -2.27997065e-03 -3.26559040e+02] [ 6.99294530e-03 -2.73273850e-05 9.99975549e-01 -5.88545256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters 0.04964045454841203 Centerline is valid? [True, True] Translation: X:448.58, Y:-327.14, Z:-4.87 [[-9.71455927e-01 2.37130533e-01 6.51863051e-03 4.48578435e+02] [ 2.37124794e-01 9.71477795e-01 -1.65073732e-03 -3.27137918e+02] [-6.72414502e-03 -5.78896355e-05 -9.99977391e-01 -4.87245392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters 0.04929187234495694 Centerline is valid? [True, True] Translation: X:448.72, Y:-326.53, Z:-5.89 [[-9.47427035e-01 -3.19892706e-01 7.11829194e-03 4.48720401e+02] [ 3.19884582e-01 -9.47453769e-01 -2.28267966e-03 -3.26530268e+02] [ 7.47446510e-03 1.14359419e-04 9.99972059e-01 -5.88769536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters 0.04927632002544256 Centerline is valid? [True, True] Translation: X:448.47, Y:-327.11, Z:-4.87 [[-9.72867171e-01 2.31201272e-01 8.68561401e-03 4.48470025e+02] [ 2.31191145e-01 9.72905937e-01 -2.16612116e-03 -3.27113449e+02] [-8.95109540e-03 -9.93111183e-05 -9.99959933e-01 -4.87122709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters 0.049233353052232025 Centerline is valid? [True, True] Translation: X:448.63, Y:-326.51, Z:-5.89 [[-9.47504842e-01 -3.19603718e-01 9.38290482e-03 4.48625701e+02] [ 3.19589818e-01 -9.47551283e-01 -2.98557976e-03 -3.26508627e+02] [ 9.84498590e-03 1.69829559e-04 9.99951523e-01 -5.88910420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters 0.04936336487769211 Centerline is valid? [True, True] Translation: X:448.38, Y:-327.10, Z:-4.87 [[-9.74408409e-01 2.24547658e-01 1.03247886e-02 4.48383401e+02] [ 2.24533404e-01 9.74463097e-01 -2.53456714e-03 -3.27099524e+02] [-1.06302566e-02 -1.51443600e-04 -9.99943486e-01 -4.87228206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters 0.04944675347307421 Centerline is valid? [True, True] Translation: X:448.46, Y:-326.47, Z:-5.89 [[-9.47985849e-01 -3.18144345e-01 1.03443407e-02 4.48463943e+02] [ 3.18127351e-01 -9.48042271e-01 -3.29264840e-03 -3.26468050e+02] [ 1.08544097e-02 1.69433596e-04 9.99941075e-01 -5.88976386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters 0.04948551616155695 Centerline is valid? [True, True] Translation: X:448.23, Y:-327.06, Z:-4.87 [[-9.75478319e-01 2.19860987e-01 1.01585602e-02 4.48232549e+02] [ 2.19847357e-01 9.75531199e-01 -2.45331820e-03 -3.27064466e+02] [-1.04493814e-02 -1.59826100e-04 -9.99945391e-01 -4.87062879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters 0.04993831414866699 Centerline is valid? [True, True] Translation: X:448.32, Y:-326.43, Z:-5.89 [[-9.49635300e-01 -3.13210545e-01 9.58915407e-03 4.48317274e+02] [ 3.13195944e-01 -9.49683704e-01 -3.02703362e-03 -3.26429376e+02] [ 1.00547622e-02 1.28706184e-04 9.99949441e-01 -5.88807503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters 0.04978122208932452 Centerline is valid? [True, True] Translation: X:448.13, Y:-327.05, Z:-4.87 [[-9.75753220e-01 2.18673512e-01 9.35675319e-03 4.48125438e+02] [ 2.18662259e-01 9.75798074e-01 -2.22175471e-03 -3.27045436e+02] [-9.61614064e-03 -1.21915530e-04 -9.99953756e-01 -4.87283420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters 0.049523988615645546 Centerline is valid? [True, True] Translation: X:448.07, Y:-326.96, Z:-4.87 [[-9.88740614e-01 1.49382790e-01 8.76240318e-03 4.48070029e+02] [ 1.49375959e-01 9.88779435e-01 -1.43258653e-03 -3.26955293e+02] [-8.87808784e-03 -1.07564106e-04 -9.99960583e-01 -4.87303388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters 0.049516974664991956 Centerline is valid? [True, True] Translation: X:448.04, Y:-326.87, Z:-4.87 [[-9.96797973e-01 7.95783401e-02 7.81593229e-03 4.48041215e+02] [ 7.95751936e-02 9.96828611e-01 -7.13224755e-04 -3.26873485e+02] [-7.84790217e-03 -8.89866648e-05 -9.99969201e-01 -4.87357223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters 0.04909354006769113 Centerline is valid? [True, True] Translation: X:448.01, Y:-326.22, Z:-5.89 [[-9.85544583e-01 -1.69236146e-01 7.81038605e-03 4.48006767e+02] [ 1.69231584e-01 -9.85575526e-01 -1.24614605e-03 -3.26223261e+02] [ 7.90861829e-03 9.36315199e-05 9.99968722e-01 -5.88629516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters 0.04922967004572236 Centerline is valid? [True, True] Translation: X:448.11, Y:-326.89, Z:-4.88 [[-9.97297437e-01 7.29453131e-02 8.76376056e-03 4.48113537e+02] [ 7.29416511e-02 9.97335937e-01 -7.37187093e-04 -3.26887633e+02] [-8.79418769e-03 -9.59516335e-05 -9.99961326e-01 -4.87672029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters 0.04930956924543499 Centerline is valid? [True, True] Translation: X:447.39, Y:-326.76, Z:-4.87 [[-9.99961850e-01 3.45590074e-03 8.02214515e-03 4.47392834e+02] [ 3.45516704e-03 9.99994025e-01 -1.05316369e-04 -3.26764424e+02] [-8.02246118e-03 -7.75944994e-05 -9.99967817e-01 -4.87352952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters 0.04948920205291022 Centerline is valid? [True, True] Translation: X:447.36, Y:-326.69, Z:-4.87 [[-9.97805799e-01 -6.57428022e-02 7.84037069e-03 4.47358067e+02] [-6.57412480e-02 9.97836600e-01 4.56068434e-04 -3.26690053e+02] [-7.85339205e-03 -6.03680259e-05 -9.99969160e-01 -4.87457568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters 0.049492402259515005 Centerline is valid? [True, True] Translation: X:447.23, Y:-326.63, Z:-4.88 [[-9.91169359e-01 -1.32422417e-01 6.89968433e-03 4.47231038e+02] [-1.32419392e-01 9.91193373e-01 8.95406273e-04 -3.26627844e+02] [-6.95749324e-03 -2.61527441e-05 -9.99975796e-01 -4.87518252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters 0.04954541403589148 Centerline is valid? [True, True] Translation: X:447.14, Y:-326.57, Z:-4.88 [[-9.80224046e-01 -1.97817905e-01 5.37545110e-03 4.47143256e+02] [-1.97814894e-01 9.80238785e-01 1.09158909e-03 -3.26568275e+02] [-5.48516152e-03 6.65758339e-06 -9.99984956e-01 -4.87527787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters 0.04909306147661528 Centerline is valid? [True, True] Translation: X:446.97, Y:-326.53, Z:-4.88 [[-9.64872904e-01 -2.62688274e-01 3.89219296e-03 4.46970384e+02] [-2.62686039e-01 9.64880754e-01 1.08386324e-03 -3.26534103e+02] [-4.04022024e-03 2.33655240e-05 -9.99991838e-01 -4.87643268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters 0.05052332438640736 Centerline is valid? [True, True] Translation: X:447.23, Y:-326.37, Z:-4.88 [[-9.42724350e-01 -3.33538964e-01 4.74968799e-03 4.47227980e+02] [-3.33534532e-01 9.42736314e-01 1.71977233e-03 -3.26368674e+02] [-5.05131443e-03 3.70862950e-05 -9.99987241e-01 -4.87667114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters 0.04979316200076245 Centerline is valid? [True, True] Translation: X:446.42, Y:-326.61, Z:-4.88 [[-9.17590091e-01 -3.97497097e-01 4.94809947e-03 4.46419743e+02] [-3.97491019e-01 9.17603430e-01 2.19873793e-03 -3.26606378e+02] [-5.41438499e-03 5.07150339e-05 -9.99985341e-01 -4.87505249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters 0.049638591925811146 Centerline is valid? [True, True] Translation: X:446.32, Y:-326.57, Z:-4.88 [[-8.86378062e-01 -4.62935244e-01 4.98897085e-03 4.46324397e+02] [-4.62927566e-01 8.86392101e-01 2.66678561e-03 -3.26569221e+02] [-5.65673340e-03 5.42481290e-05 -9.99983999e-01 -4.87525306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters 0.049790406606016836 Centerline is valid? [True, True] Translation: X:446.14, Y:-326.59, Z:-4.87 [[-8.49991465e-01 -5.26779541e-01 4.22190375e-03 4.46136209e+02] [-5.26772825e-01 8.50001950e-01 2.66013756e-03 -3.26587898e+02] [-4.98993246e-03 3.71100625e-05 -9.99987550e-01 -4.87445260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters 0.04999795532606076 Centerline is valid? [True, True] Translation: X:446.04, Y:-326.56, Z:-4.87 [[-8.07026202e-01 -5.90498063e-01 4.55486628e-03 4.46037775e+02] [-5.90488495e-01 8.07039055e-01 3.36156554e-03 -3.26563162e+02] [-5.66095292e-03 2.32753365e-05 -9.99983976e-01 -4.87370984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters 0.04994246696224838 Centerline is valid? [True, True] Translation: X:445.97, Y:-326.51, Z:-4.87 [[-7.56852563e-01 -6.53567580e-01 4.85969536e-03 4.45966716e+02] [-6.53554236e-01 7.56868164e-01 4.17653484e-03 -3.26513430e+02] [-6.40779648e-03 -1.50533953e-05 -9.99979470e-01 -4.87441449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters 0.05045441383067084 Centerline is valid? [True, True] Translation: X:445.73, Y:-326.62, Z:-4.87 [[-7.05001433e-01 -7.09188468e-01 4.96951216e-03 4.45728610e+02] [-7.09171345e-01 7.05018946e-01 4.92835302e-03 -3.26623302e+02] [-6.99873136e-03 -4.97396855e-05 -9.99975507e-01 -4.87453945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters 0.050285157822276556 Centerline is valid? [True, True] Translation: X:445.57, Y:-326.67, Z:-4.87 [[-6.48058496e-01 -7.61576324e-01 4.65711226e-03 4.45574348e+02] [-7.61557533e-01 6.48075224e-01 5.35047010e-03 -3.26669567e+02] [-7.09295042e-03 -7.92413212e-05 -9.99974842e-01 -4.87341097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters 0.05047437828929897 Centerline is valid? [True, True] Translation: X:445.40, Y:-326.76, Z:-4.87 [[-5.87453679e-01 -8.09247335e-01 4.11410356e-03 4.45400791e+02] [-8.09228716e-01 5.87468076e-01 5.49036632e-03 -3.26757669e+02] [-6.85996882e-03 -1.03914853e-04 -9.99976465e-01 -4.87398416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters 0.050305988720221774 Centerline is valid? [True, True] Translation: X:445.28, Y:-326.78, Z:-4.87 [[-5.25832501e-01 -8.50579902e-01 3.74308215e-03 4.45284219e+02] [-8.50559770e-01 5.25845813e-01 5.85310679e-03 -3.26784474e+02] [-6.94681907e-03 -1.05961306e-04 -9.99975865e-01 -4.87297815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters 0.05042226273870893 Centerline is valid? [True, True] Translation: X:445.10, Y:-326.94, Z:-4.87 [[-4.63080354e-01 -8.86310600e-01 3.17902668e-03 4.45099864e+02] [-8.86291171e-01 4.63091255e-01 5.86943083e-03 -3.26944449e+02] [-6.67431822e-03 -9.95251701e-05 -9.99977722e-01 -4.87358242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters 0.049601393867606425 Centerline is valid? [True, True] Translation: X:444.95, Y:-327.08, Z:-4.88 [[-3.96824053e-01 -9.17891961e-01 2.24040849e-03 4.44947793e+02] [-9.17878464e-01 3.96830369e-01 4.97839715e-03 -3.27079613e+02] [-5.45869285e-03 -8.08749711e-05 -9.99985098e-01 -4.87514261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters 0.05086649288639065 Centerline is valid? [True, True] Translation: X:444.83, Y:-327.15, Z:-4.87 [[-3.27403867e-01 -9.44882604e-01 1.89010633e-03 4.44832858e+02] [-9.44868301e-01 3.27409312e-01 5.19965040e-03 -3.27148832e+02] [-5.53189762e-03 -8.35159100e-05 -9.99984695e-01 -4.87488579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters 0.050161475913722005 Centerline is valid? [True, True] Translation: X:444.67, Y:-327.39, Z:-4.87 [[-2.56469679e-01 -9.66550857e-01 1.65669085e-03 4.44672230e+02] [-9.66533148e-01 2.56475010e-01 5.85183934e-03 -3.27390645e+02] [-6.08100013e-03 -1.00427267e-04 -9.99981506e-01 -4.87421734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters 0.04972784359795398 Centerline is valid? [True, True] Translation: X:444.54, Y:-327.59, Z:-4.87 [[-1.83773470e-01 -9.82967718e-01 1.33314286e-03 4.44544082e+02] [-9.82946272e-01 1.83778268e-01 6.49426198e-03 -3.27590691e+02] [-6.62865256e-03 -1.16934751e-04 -9.99978023e-01 -4.87350326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters 0.04998989618249098 Centerline is valid? [True, True] Translation: X:444.46, Y:-327.61, Z:-4.87 [[-1.08485491e-01 -9.94097614e-01 9.12746050e-04 4.44463690e+02] [-9.94072268e-01 1.08489244e-01 7.09994889e-03 -3.27607436e+02] [-7.15706538e-03 -1.37094097e-04 -9.99974379e-01 -4.87336470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters 0.050313532281708574 Centerline is valid? [True, True] Translation: X:444.35, Y:-327.93, Z:-4.87 [[-3.51652394e-02 -9.99381457e-01 3.30543574e-04 4.44354533e+02] [-9.99363238e-01 3.51665947e-02 6.03560835e-03 -3.27932629e+02] [-6.04349916e-03 -1.18089483e-04 -9.99981731e-01 -4.87315751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters 0.0504277716319993 Centerline is valid? [True, True] Translation: X:444.27, Y:-328.14, Z:-4.87 [[ 3.87187463e-02 -9.99250145e-01 -8.24177464e-05 4.44274916e+02] [-9.99241027e-01 -3.87187451e-02 4.26950398e-03 -3.28142137e+02] [-4.26949359e-03 -8.29546479e-05 -9.99990882e-01 -4.87422377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters 0.05051086437553299 Centerline is valid? [True, True] Translation: X:444.21, Y:-328.39, Z:-4.87 [[ 1.11568883e-01 -9.93756644e-01 -3.40959869e-04 4.44211314e+02] [-9.93749938e-01 -1.11569383e-01 3.65145775e-03 -3.28393900e+02] [-3.66670108e-03 -6.85602126e-05 -9.99993275e-01 -4.87394105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters 0.05047759784722216 Centerline is valid? [True, True] Translation: X:444.16, Y:-328.59, Z:-4.87 [[ 1.83836117e-01 -9.82956785e-01 -4.90106889e-04 4.44161840e+02] [-9.82952499e-01 -1.83836763e-01 2.90319702e-03 -3.28589563e+02] [-2.94381687e-03 -5.19606753e-05 -9.99995666e-01 -4.87421647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters 0.05003528627196239 Centerline is valid? [True, True] Translation: X:444.13, Y:-328.83, Z:-4.87 [[ 2.55738489e-01 -9.66745730e-01 -7.20632165e-04 4.44132240e+02] [-9.66741289e-01 -2.55739499e-01 2.93067076e-03 -3.28831693e+02] [-3.01750756e-03 -5.28204462e-05 -9.99995446e-01 -4.87389089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters 0.04922133974805914 Centerline is valid? [True, True] Translation: X:444.11, Y:-329.03, Z:-4.87 [[ 3.26980463e-01 -9.45030509e-01 -1.05574513e-03 4.44111214e+02] [-9.45024961e-01 -3.26982161e-01 3.23865730e-03 -3.29030397e+02] [-3.40583978e-03 -6.12721591e-05 -9.99994198e-01 -4.87338296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters 0.04966559318700889 Centerline is valid? [True, True] Translation: X:444.13, Y:-329.29, Z:-4.87 [[ 3.97196654e-01 -9.17732511e-01 -1.36286115e-03 4.44126076e+02] [-9.17726487e-01 -3.97198986e-01 3.32579147e-03 -3.29289579e+02] [-3.59351402e-03 -7.02594729e-05 -9.99993541e-01 -4.87290892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters 0.04924192284709502 Centerline is valid? [True, True] Translation: X:444.13, Y:-329.49, Z:-4.87 [[ 4.64282185e-01 -8.85685950e-01 -1.56574936e-03 4.44134533e+02] [-8.85680394e-01 -4.64284820e-01 3.13780163e-03 -3.29491799e+02] [-3.50606047e-03 -7.00718885e-05 -9.99993851e-01 -4.87309088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters 0.050564558144121335 Centerline is valid? [True, True] Translation: X:444.15, Y:-329.69, Z:-4.87 [[ 5.27151779e-01 -8.49769226e-01 -1.80663493e-03 4.44152512e+02] [-8.49763803e-01 -5.27154871e-01 3.03672922e-03 -3.29691555e+02] [-3.53289544e-03 -6.56042407e-05 -9.99993757e-01 -4.87285533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters 0.04985498979103572 Centerline is valid? [True, True] Translation: X:444.23, Y:-329.95, Z:-4.87 [[ 5.87206443e-01 -8.09435691e-01 -1.56705656e-03 4.44231037e+02] [-8.09432593e-01 -5.87208532e-01 2.24008349e-03 -3.29951281e+02] [-2.73339251e-03 -4.69647982e-05 -9.99996263e-01 -4.87311552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters 0.04962601643544753 Centerline is valid? [True, True] Translation: X:444.28, Y:-330.13, Z:-4.87 [[ 6.42630122e-01 -7.66175512e-01 -1.26891485e-03 4.44277315e+02] [-7.66173934e-01 -6.42631374e-01 1.55539524e-03 -3.30134799e+02] [-2.00715024e-03 -2.73343438e-05 -9.99997985e-01 -4.87397482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters 0.04933114653952402 Centerline is valid? [True, True] Translation: X:444.40, Y:-330.38, Z:-4.87 [[ 6.92614264e-01 -7.21307267e-01 -1.14376094e-03 4.44395205e+02] [-7.21306255e-01 -6.92615208e-01 1.20824313e-03 -3.30377980e+02] [-1.66370077e-03 -1.18445022e-05 -9.99998616e-01 -4.87373761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters 0.049178431523844886 Centerline is valid? [True, True] Translation: X:444.52, Y:-330.60, Z:-4.87 [[ 7.41091232e-01 -6.71403057e-01 -1.31182732e-03 4.44518141e+02] [-6.71401991e-01 -7.41092393e-01 1.19636593e-03 -3.30598772e+02] [-1.77542899e-03 -5.85282446e-06 -9.99998424e-01 -4.87440034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters 0.04852396738027468 Centerline is valid? [True, True] Translation: X:444.50, Y:-330.67, Z:-4.87 [[ 7.89291414e-01 -6.14017023e-01 -1.46938941e-03 4.44498359e+02] [-6.14015959e-01 -7.89292782e-01 1.14313369e-03 -3.30674417e+02] [-1.86168200e-03 -3.70596787e-08 -9.99998267e-01 -4.87397999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters 0.04882179562290961 Centerline is valid? [True, True] Translation: X:444.49, Y:-330.75, Z:-4.87 [[ 8.32976791e-01 -5.53304971e-01 -1.80960781e-03 4.44486320e+02] [-5.53303684e-01 -8.32978756e-01 1.19349032e-03 -3.30747406e+02] [-2.16772899e-03 7.11293056e-06 -9.99997650e-01 -4.87337092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters 0.04976721617556033 Centerline is valid? [True, True] Translation: X:444.47, Y:-330.83, Z:-4.87 [[ 8.73209009e-01 -4.87342935e-01 -1.70017800e-03 4.44473016e+02] [-4.87342030e-01 -8.73210664e-01 9.39266721e-04 -3.30833829e+02] [-1.94235856e-03 8.39203491e-06 -9.99998114e-01 -4.87228823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters 0.048987951596555716 Centerline is valid? [True, True] Translation: X:444.47, Y:-330.92, Z:-4.87 [[ 9.09451612e-01 -4.15801018e-01 -2.69793412e-03 4.44466950e+02] [-4.15799209e-01 -9.09455614e-01 1.22672947e-03 -3.30916312e+02] [-2.96372669e-03 6.14778003e-06 -9.99995608e-01 -4.87052734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters 0.04850453920721149 Centerline is valid? [True, True] Translation: X:444.47, Y:-331.00, Z:-4.87 [[ 9.40443193e-01 -3.39933592e-01 -3.42841538e-03 4.44469427e+02] [-3.39931308e-01 -9.40449442e-01 1.24615372e-03 -3.30998326e+02] [-3.64786084e-03 -6.51106550e-06 -9.99993347e-01 -4.86953426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters 0.04845682651400492 Centerline is valid? [True, True] Translation: X:444.48, Y:-331.08, Z:-4.87 [[ 9.65478606e-01 -2.60454033e-01 -3.84157782e-03 4.44477338e+02] [-2.60451857e-01 -9.65486249e-01 1.06502772e-03 -3.31082645e+02] [-3.98638133e-03 -2.77154054e-05 -9.99992054e-01 -4.86912922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters 0.04862396370262302 Centerline is valid? [True, True] Translation: X:444.49, Y:-331.17, Z:-4.87 [[ 9.84280117e-01 -1.76545596e-01 -4.92993702e-03 4.44490622e+02] [-1.76543002e-01 -9.84292460e-01 9.59878387e-04 -3.31170534e+02] [-5.02196214e-03 -7.44433268e-05 -9.99987387e-01 -4.86831508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters 0.04870954374753733 Centerline is valid? [True, True] Translation: X:444.51, Y:-331.26, Z:-4.87 [[ 9.95392726e-01 -9.57043796e-02 -5.83034143e-03 4.44509998e+02] [-9.57021074e-02 -9.95409795e-01 6.68123086e-04 -3.31261148e+02] [-5.86752127e-03 -1.07068898e-04 -9.99982780e-01 -4.86936563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters 0.04868872800609488 Centerline is valid? [True, True] Translation: X:444.54, Y:-331.35, Z:-4.87 [[ 9.99774917e-01 -2.03691040e-02 -5.93413936e-03 4.44535269e+02] [-2.03681990e-02 -9.99792524e-01 2.12908163e-04 -3.31354613e+02] [-5.93724492e-03 -9.19925093e-05 -9.99982370e-01 -4.86801678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters 0.04851660796235013 Centerline is valid? [True, True] Translation: X:444.56, Y:-331.44, Z:-4.87 [[ 9.98495138e-01 5.47379827e-02 -3.34865530e-03 4.44563831e+02] [ 5.47378111e-02 -9.98500752e-01 -1.42943221e-04 -3.31436410e+02] [-3.35145926e-03 -4.05699503e-05 -9.99994383e-01 -4.86913817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters 0.04785249344109593 Centerline is valid? [True, True] Translation: X:444.60, Y:-331.51, Z:-4.87 [[ 9.91547232e-01 1.29743942e-01 -7.72530315e-04 4.44597276e+02] [ 1.29743907e-01 -9.91547533e-01 -9.50808707e-05 -3.31509395e+02] [-7.78336695e-04 -5.95392743e-06 -9.99999697e-01 -4.87119688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters 0.048112037042720567 Centerline is valid? [True, True] Translation: X:444.64, Y:-331.59, Z:-4.87 [[ 9.78601291e-01 2.05761003e-01 -1.38642131e-03 4.44638468e+02] [ 2.05760811e-01 -9.78602273e-01 -2.80911809e-04 -3.31587465e+02] [-1.41455574e-03 -1.03705137e-05 -9.99999000e-01 -4.87013555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters 0.048808685146221546 Centerline is valid? [True, True] Translation: X:444.69, Y:-331.66, Z:-4.87 [[ 9.59950278e-01 2.80161766e-01 -2.20212646e-03 4.44685224e+02] [ 2.80161062e-01 -9.59952803e-01 -6.28006868e-04 -3.31660796e+02] [-2.28988098e-03 -1.40947210e-05 -9.99997378e-01 -4.86813554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters 0.048969857729272155 Centerline is valid? [True, True] Translation: X:444.74, Y:-331.73, Z:-4.87 [[ 9.36374969e-01 3.50992151e-01 -2.53530054e-03 4.44735324e+02] [ 3.50990884e-01 -9.36378401e-01 -9.42828740e-04 -3.31728544e+02] [-2.70492615e-03 -7.02614449e-06 -9.99996342e-01 -4.86714244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters 0.04836702713016815 Centerline is valid? [True, True] Translation: X:444.79, Y:-331.79, Z:-4.87 [[ 9.07300533e-01 4.20472764e-01 -2.89783662e-03 4.44789497e+02] [ 4.20470616e-01 -9.07305161e-01 -1.34395201e-03 -3.31786514e+02] [-3.19431733e-03 9.13229966e-07 -9.99994898e-01 -4.86707010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters 0.04823356180111114 Centerline is valid? [True, True] Translation: X:444.85, Y:-331.84, Z:-4.87 [[ 8.73413605e-01 4.86957835e-01 -4.55435471e-03 4.44846277e+02] [ 4.86951097e-01 -8.73425478e-01 -2.56177722e-03 -3.31838032e+02] [-5.22536693e-03 1.97430532e-05 -9.99986348e-01 -4.86527572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters 0.048638513851160574 Centerline is valid? [True, True] Translation: X:444.91, Y:-331.89, Z:-4.87 [[ 8.33747933e-01 5.52129425e-01 -4.18110816e-03 4.44909530e+02] [ 5.52122307e-01 -8.33758416e-01 -2.80376047e-03 -3.31886777e+02] [-5.03407278e-03 2.91464142e-05 -9.99987329e-01 -4.86617555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters 0.04899804837033312 Centerline is valid? [True, True] Translation: X:444.97, Y:-331.92, Z:-4.87 [[ 7.91144636e-01 6.11620071e-01 -3.32461524e-03 4.44969394e+02] [ 6.11614423e-01 -7.91151621e-01 -2.62888230e-03 -3.31920825e+02] [-4.23815191e-03 4.64434960e-05 -9.99991018e-01 -4.86520384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters 0.04904576963276811 Centerline is valid? [True, True] Translation: X:445.04, Y:-331.96, Z:-4.87 [[ 7.42889102e-01 6.69410588e-01 -2.29062568e-03 4.45039345e+02] [ 6.69407222e-01 -7.42892632e-01 -2.12324541e-03 -3.31958873e+02] [-3.12301190e-03 4.39745081e-05 -9.99995122e-01 -4.86644773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters 0.04953067052172706 Centerline is valid? [True, True] Translation: X:445.11, Y:-331.99, Z:-4.87 [[ 6.89343737e-01 7.24432014e-01 -1.86233134e-03 4.45108369e+02] [ 7.24429201e-01 -6.89346252e-01 -2.01947598e-03 -3.31989892e+02] [-2.74676418e-03 4.29859172e-05 -9.99996227e-01 -4.86667355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters 0.04960044017757146 Centerline is valid? [True, True] Translation: X:445.18, Y:-332.02, Z:-4.87 [[ 6.29102835e-01 7.77321632e-01 -8.38502888e-04 4.45184306e+02] [ 7.77320900e-01 -6.29103393e-01 -1.06693651e-03 -3.32019570e+02] [-1.35685784e-03 1.94269601e-05 -9.99999079e-01 -4.86764344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters 0.04918037506906241 Centerline is valid? [True, True] Translation: X:445.28, Y:-332.05, Z:-4.87 [[ 5.63177576e-01 8.26335773e-01 -4.56142238e-04 4.45278610e+02] [ 8.26335489e-01 -5.63177761e-01 -6.85582551e-04 -3.32053388e+02] [-8.23410552e-04 9.17820010e-06 -9.99999661e-01 -4.86802041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters 0.04946661803270847 Centerline is valid? [True, True] Translation: X:445.37, Y:-332.07, Z:-4.87 [[ 4.89582962e-01 8.71956666e-01 -3.09316189e-04 4.45365160e+02] [ 8.71956489e-01 -4.89583060e-01 -5.55286937e-04 -3.32072435e+02] [-6.35622113e-04 2.14876538e-06 -9.99999798e-01 -4.86703594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters 0.04859905460593362 Centerline is valid? [True, True] Translation: X:445.45, Y:-332.08, Z:-4.87 [[ 4.14465697e-01 9.10064934e-01 -3.48266327e-05 4.45449163e+02] [ 9.10064931e-01 -4.14465699e-01 -7.89372915e-05 -3.32082394e+02] [-8.62725056e-05 1.02230254e-06 -9.99999996e-01 -4.86676785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters 0.04923246150392992 Centerline is valid? [True, True] Translation: X:445.53, Y:-332.08, Z:-4.87 [[ 3.37597182e-01 9.41290659e-01 1.95032570e-04 4.45529473e+02] [ 9.41290513e-01 -3.37597238e-01 5.23792924e-04 -3.32084487e+02] [ 5.58883843e-04 6.75129271e-06 -9.99999844e-01 -4.86714140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters 0.04913422050155891 Centerline is valid? [True, True] Translation: X:445.62, Y:-332.08, Z:-4.87 [[ 2.58312612e-01 9.66061318e-01 3.52881801e-04 4.45616348e+02] [ 9.66060519e-01 -2.58312853e-01 1.24273543e-03 -3.32081894e+02] [ 1.29171253e-03 1.98909420e-05 -9.99999166e-01 -4.86840227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters 0.048864917883261964 Centerline is valid? [True, True] Translation: X:445.69, Y:-332.07, Z:-4.87 [[ 1.79966771e-01 9.83672633e-01 3.34219764e-04 4.45692723e+02] [ 9.83671224e-01 -1.79967079e-01 1.66514546e-03 -3.32069657e+02] [ 1.69810657e-03 2.90915127e-05 -9.99998558e-01 -4.86785414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters 0.049206351975282385 Centerline is valid? [True, True] Translation: X:445.77, Y:-332.05, Z:-4.87 [[ 1.01641963e-01 9.94821025e-01 1.96845294e-04 4.45771271e+02] [ 9.94819682e-01 -1.01642149e-01 1.63544425e-03 -3.32050801e+02] [ 1.64698210e-03 2.95958091e-05 -9.99998643e-01 -4.86720394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters 0.0486548084707313 Centerline is valid? [True, True] Translation: X:445.86, Y:-332.03, Z:-4.87 [[ 2.02523136e-02 9.99794900e-01 4.40949020e-05 4.45855688e+02] [ 9.99794349e-01 -2.02523487e-02 1.05004456e-03 -3.32026323e+02] [ 1.05072222e-03 2.28200022e-05 -9.99999448e-01 -4.86545578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters 0.049699942458141265 Centerline is valid? [True, True] Translation: X:445.94, Y:-332.00, Z:-4.86 [[-5.99535586e-02 9.98201167e-01 3.95715960e-05 4.45940236e+02] [ 9.98200654e-01 5.99535679e-02 -1.01203167e-03 -3.31996710e+02] [-1.01258365e-03 -2.11745069e-05 -9.99999487e-01 -4.86385296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters 0.049806818474368436 Centerline is valid? [True, True] Translation: X:446.01, Y:-331.96, Z:-4.86 [[-1.37632688e-01 9.90483305e-01 2.56993048e-04 4.46012271e+02] [ 9.90480878e-01 1.37632920e-01 -2.19297059e-03 -3.31960528e+02] [-2.20747146e-03 -4.72777366e-05 -9.99997562e-01 -4.86221290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters 0.04914135631142152 Centerline is valid? [True, True] Translation: X:446.08, Y:-331.92, Z:-4.86 [[-2.12958504e-01 9.77060987e-01 7.09977082e-04 4.46083642e+02] [ 9.77054356e-01 2.12959675e-01 -3.60019395e-03 -3.31917676e+02] [-3.66880554e-03 -7.30057173e-05 -9.99993267e-01 -4.86113245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters 0.04871256491498004 Centerline is valid? [True, True] Translation: X:446.15, Y:-331.87, Z:-4.86 [[-2.84707116e-01 9.58613568e-01 1.37328455e-03 4.46152736e+02] [ 9.58601016e-01 2.84710417e-01 -4.90613119e-03 -3.31869552e+02] [-5.09407234e-03 -8.03784959e-05 -9.99987022e-01 -4.86042478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters 0.04922593257893297 Centerline is valid? [True, True] Translation: X:446.22, Y:-331.82, Z:-4.86 [[-3.56100131e-01 9.34446190e-01 1.73621372e-03 4.46219304e+02] [ 9.34434179e-01 3.56104358e-01 -4.73821449e-03 -3.31817061e+02] [-5.04587975e-03 -6.49013615e-05 -9.99987267e-01 -4.85995528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters 0.04888187050552275 Centerline is valid? [True, True] Translation: X:446.28, Y:-331.76, Z:-4.86 [[-4.23606547e-01 9.05844402e-01 1.84723190e-03 4.46281478e+02] [ 9.05835429e-01 4.23610573e-01 -4.03207486e-03 -3.31757993e+02] [-4.43493940e-03 -3.47252053e-05 -9.99990165e-01 -4.86162303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters 0.04858798124948308 Centerline is valid? [True, True] Translation: X:446.34, Y:-331.70, Z:-4.86 [[-4.90360070e-01 8.71517073e-01 2.23468419e-03 4.46339182e+02] [ 8.71507826e-01 4.90365162e-01 -4.01468535e-03 -3.31695975e+02] [-4.59467809e-03 -2.10966260e-05 -9.99989444e-01 -4.86159718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters 0.04883064342290305 Centerline is valid? [True, True] Translation: X:446.38, Y:-331.63, Z:-4.86 [[-5.54349270e-01 8.32279373e-01 2.81624182e-03 4.46383103e+02] [ 8.32268569e-01 5.54356424e-01 -4.24078634e-03 -3.31634293e+02] [-5.09072074e-03 -7.00726391e-06 -9.99987042e-01 -4.86137740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters 0.0488734180497353 Centerline is valid? [True, True] Translation: X:446.42, Y:-331.57, Z:-4.86 [[-6.17439959e-01 7.86611809e-01 3.12393021e-03 4.46424247e+02] [ 7.86601702e-01 6.17447862e-01 -3.98759293e-03 -3.31568429e+02] [-5.06555172e-03 -4.81040055e-06 -9.99987170e-01 -4.86163508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters 0.048771197846936676 Centerline is valid? [True, True] Translation: X:446.47, Y:-331.50, Z:-4.86 [[-6.77786459e-01 7.35251414e-01 3.29759233e-03 4.46465162e+02] [ 7.35242646e-01 6.77794481e-01 -3.59072940e-03 -3.31495385e+02] [-4.87517875e-03 -9.21725684e-06 -9.99988116e-01 -4.86217196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters 0.04859724113202893 Centerline is valid? [True, True] Translation: X:446.50, Y:-331.42, Z:-4.86 [[-7.34687033e-01 6.78397681e-01 3.39848044e-03 4.46499386e+02] [ 6.78390306e-01 7.34694893e-01 -3.16339735e-03 -3.31421035e+02] [-4.64288765e-03 -1.86108256e-05 -9.99989222e-01 -4.86192684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters 0.04869323604236864 Centerline is valid? [True, True] Translation: X:446.58, Y:-331.39, Z:-4.86 [[-7.83387721e-01 6.21521590e-01 3.81992276e-03 4.46575074e+02] [ 6.21513957e-01 7.83397033e-01 -3.08039888e-03 -3.31387615e+02] [-4.90705057e-03 -3.90113450e-05 -9.99987960e-01 -4.86137240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters 0.04939708771508576 Centerline is valid? [True, True] Translation: X:446.63, Y:-331.34, Z:-4.86 [[-8.27503808e-01 5.61446239e-01 3.94561648e-03 4.46632231e+02] [ 5.61439538e-01 8.27513213e-01 -2.74358620e-03 -3.31337155e+02] [-4.80542592e-03 -5.51029409e-05 -9.99988452e-01 -4.86183625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters 0.04843389831162229 Centerline is valid? [True, True] Translation: X:446.95, Y:-330.82, Z:-5.90 [[-7.72309911e-01 -6.35235912e-01 3.56881102e-03 4.46949674e+02] [ 6.35229360e-01 -7.72318156e-01 -2.88556330e-03 -3.30818374e+02] [ 4.58927099e-03 3.84644031e-05 9.99989469e-01 -5.89783116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters 0.04875233294305901 Centerline is valid? [True, True] Translation: X:446.55, Y:-331.28, Z:-4.86 [[-8.30730920e-01 5.56661230e-01 3.79662908e-03 4.46546335e+02] [ 5.56655072e-01 8.30739593e-01 -2.61910486e-03 -3.31282044e+02] [-4.61196423e-03 -6.23585546e-05 -9.99989363e-01 -4.86183163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters 0.04828474864436739 Centerline is valid? [True, True] Translation: X:446.52, Y:-331.18, Z:-4.86 [[-8.67930754e-01 4.96673800e-01 3.36799363e-03 4.46515247e+02] [ 4.96669830e-01 8.67937287e-01 -1.98636597e-03 -3.31176705e+02] [-3.90978319e-03 -5.12472953e-05 -9.99992355e-01 -4.86307495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters 0.04856136871222455 Centerline is valid? [True, True] Translation: X:446.52, Y:-331.09, Z:-4.86 [[-9.00745477e-01 4.34338826e-01 2.71488386e-03 4.46519097e+02] [ 4.34336726e-01 9.00749567e-01 -1.35109070e-03 -3.31092521e+02] [-3.03226161e-03 -3.78150661e-05 -9.99995402e-01 -4.86296806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters 0.0481827064602198 Centerline is valid? [True, True] Translation: X:446.49, Y:-330.99, Z:-4.86 [[-9.29209141e-01 3.69534832e-01 3.79206539e-03 4.46487703e+02] [ 3.69531532e-01 9.29216877e-01 -1.56274898e-03 -3.30993071e+02] [-4.10114134e-03 -5.08329024e-05 -9.99991589e-01 -4.86182781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters 0.0481719256506592 Centerline is valid? [True, True] Translation: X:446.47, Y:-330.91, Z:-4.86 [[-9.52955291e-01 3.03071156e-01 4.90799428e-03 4.46472808e+02] [ 3.03066800e-01 9.52967927e-01 -1.62607580e-03 -3.30908129e+02] [-5.16997781e-03 -6.21274152e-05 -9.99986634e-01 -4.86152366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters 0.04844623508317173 Centerline is valid? [True, True] Translation: X:446.45, Y:-330.82, Z:-4.86 [[-9.71889558e-01 2.35357472e-01 6.12756618e-03 4.46447003e+02] [ 2.35352329e-01 9.71908872e-01 -1.55762930e-03 -3.30820604e+02] [-6.32203563e-03 -7.17066840e-05 -9.99980013e-01 -4.86105800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters 0.048719781097808744 Centerline is valid? [True, True] Translation: X:446.42, Y:-330.74, Z:-4.86 [[-9.85869775e-01 1.67395375e-01 6.29081957e-03 4.46420679e+02] [ 1.67391567e-01 9.85889844e-01 -1.13073330e-03 -3.30738677e+02] [-6.39133464e-03 -6.17256357e-05 -9.99979573e-01 -4.86150226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters 0.0485848569172161 Centerline is valid? [True, True] Translation: X:446.45, Y:-330.11, Z:-5.90 [[-9.68166381e-01 -2.50208240e-01 7.04954929e-03 4.46445308e+02] [ 2.50202535e-01 -9.68192038e-01 -1.69407656e-03 -3.30105261e+02] [ 7.24918941e-03 1.23667137e-04 9.99973717e-01 -5.89779927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters 0.04888177986697458 Centerline is valid? [True, True] Translation: X:446.36, Y:-330.73, Z:-4.86 [[-9.85818023e-01 1.67600423e-01 8.53957758e-03 4.46356586e+02] [ 1.67593720e-01 9.85855008e-01 -1.49967197e-03 -3.30734362e+02] [-8.67013098e-03 -4.72240802e-05 -9.99962413e-01 -4.86194132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters 0.049070501990033516 Centerline is valid? [True, True] Translation: X:446.30, Y:-330.08, Z:-5.90 [[-9.70016478e-01 -2.42860277e-01 9.32297031e-03 4.46302373e+02] [ 2.42850142e-01 -9.70061273e-01 -2.22143848e-03 -3.30079613e+02] [ 9.58335161e-03 1.09252727e-04 9.99954073e-01 -5.89921314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters 0.049258317236098616 Centerline is valid? [True, True] Translation: X:446.05, Y:-330.68, Z:-4.86 [[-9.85987427e-01 1.66514546e-01 1.00846186e-02 4.46050689e+02] [ 1.66505532e-01 9.86038998e-01 -1.73280061e-03 -3.30679643e+02] [-1.02323637e-02 -2.93748383e-05 -9.99947648e-01 -4.86163917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters 0.04900528888720566 Centerline is valid? [True, True] Translation: X:446.22, Y:-330.07, Z:-5.90 [[-9.71268211e-01 -2.37821905e-01 8.87716236e-03 4.46220449e+02] [ 2.37811546e-01 -9.71308777e-01 -2.22016351e-03 -3.30069522e+02] [ 9.15046923e-03 -4.52825369e-05 9.99958133e-01 -5.89794517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters 0.04882812996606042 Centerline is valid? [True, True] Translation: X:446.00, Y:-330.67, Z:-4.86 [[-9.86465082e-01 1.63823645e-01 6.96105814e-03 4.45996559e+02] [ 1.63819474e-01 9.86489642e-01 -1.16911012e-03 -3.30674183e+02] [-7.05853963e-03 -1.29294251e-05 -9.99975088e-01 -4.86397248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters 0.04879398254229971 Centerline is valid? [True, True] Translation: X:446.15, Y:-330.61, Z:-4.87 [[-9.95754202e-01 9.17874799e-02 6.97329606e-03 4.46145095e+02] [ 9.17851352e-02 9.95778619e-01 -6.56201739e-04 -3.30612884e+02] [-7.00409022e-03 -1.33707182e-05 -9.99975471e-01 -4.86709158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters 0.04876255163863861 Centerline is valid? [True, True] Translation: X:445.86, Y:-330.51, Z:-4.87 [[-9.99766725e-01 2.03326077e-02 7.28561489e-03 4.45855082e+02] [ 2.03319314e-02 9.99793271e-01 -1.66893725e-04 -3.30513700e+02] [-7.28750213e-03 -1.87241707e-05 -9.99973446e-01 -4.86509709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters 0.04850876560725265 Centerline is valid? [True, True] Translation: X:445.65, Y:-330.44, Z:-4.86 [[-9.98637715e-01 -5.15280469e-02 8.22040729e-03 4.45645797e+02] [-5.15265373e-02 9.98671547e-01 3.95468445e-04 -3.30437784e+02] [-8.22986459e-03 -2.86394187e-05 -9.99966134e-01 -4.86423371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters 0.048577615114728495 Centerline is valid? [True, True] Translation: X:445.56, Y:-330.37, Z:-4.86 [[-9.92429747e-01 -1.22518904e-01 8.50386342e-03 4.45559563e+02] [-1.22514672e-01 9.92466179e-01 1.01871719e-03 -3.30370407e+02] [-8.56460895e-03 -3.08427943e-05 -9.99963323e-01 -4.86411876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters 0.04880135728408061 Centerline is valid? [True, True] Translation: X:445.58, Y:-330.29, Z:-4.86 [[-9.80976478e-01 -1.93914712e-01 9.06834941e-03 4.45583978e+02] [-1.93906712e-01 9.81018391e-01 1.76168317e-03 -3.30289530e+02] [-9.23783384e-03 -3.02440689e-05 -9.99957330e-01 -4.86442932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters 0.0491044213588209 Centerline is valid? [True, True] Translation: X:445.51, Y:-330.23, Z:-4.86 [[-9.65260756e-01 -2.61117089e-01 9.46253607e-03 4.45505529e+02] [-2.61104639e-01 9.65307135e-01 2.54987993e-03 -3.30227707e+02] [-9.80007081e-03 -9.41303793e-06 -9.99951978e-01 -4.86251044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters 0.04993159226238996 Centerline is valid? [True, True] Translation: X:445.75, Y:-330.06, Z:-4.87 [[-9.43958063e-01 -3.29941533e-01 9.04218663e-03 4.45753874e+02] [-3.29926135e-01 9.44001369e-01 3.18765072e-03 -3.30063223e+02] [-9.58757492e-03 2.57549043e-05 -9.99954038e-01 -4.86659384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters 0.050086504819853724 Centerline is valid? [True, True] Translation: X:445.31, Y:-329.56, Z:-5.89 [[-9.60594341e-01 2.77825382e-01 8.45989697e-03 4.45306737e+02] [-2.77815249e-01 -9.60631590e-01 2.37392151e-03 -3.29561520e+02] [ 8.78637993e-03 -6.99128162e-05 9.99961397e-01 -5.89370595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters 0.050176271999206136 Centerline is valid? [True, True] Translation: X:445.47, Y:-330.17, Z:-4.87 [[-9.45956580e-01 -3.24226158e-01 6.59899433e-03 4.45465911e+02] [-3.24217494e-01 9.45979591e-01 2.37261276e-03 -3.30166491e+02] [-7.01177708e-03 1.04879245e-04 -9.99975412e-01 -4.86690250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters 0.04980415853393561 Centerline is valid? [True, True] Translation: X:445.36, Y:-330.12, Z:-4.87 [[-9.21706031e-01 -3.87862641e-01 4.53472911e-03 4.45356326e+02] [-3.87857448e-01 9.21717182e-01 2.00923425e-03 -3.30121047e+02] [-4.95904464e-03 9.30948680e-05 -9.99987700e-01 -4.86632089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters 0.04956827894072058 Centerline is valid? [True, True] Translation: X:444.41, Y:-329.82, Z:-5.89 [[-9.33213243e-01 3.59299070e-01 4.14984943e-03 4.44408004e+02] [-3.59296072e-01 -9.33222462e-01 1.47245946e-03 -3.29821554e+02] [ 4.40178601e-03 -1.16905932e-04 9.99990305e-01 -5.89338979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters 0.04995544232780906 Centerline is valid? [True, True] Translation: X:444.66, Y:-330.40, Z:-4.87 [[-9.17286096e-01 -3.98193646e-01 5.29517823e-03 4.44659137e+02] [-3.98186471e-01 9.17301375e-01 2.39194584e-03 -3.30404302e+02] [-5.80973191e-03 8.56303270e-05 -9.99983120e-01 -4.86648054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters 0.04944033567519731 Centerline is valid? [True, True] Translation: X:444.78, Y:-330.24, Z:-4.87 [[-8.80779428e-01 -4.73457519e-01 8.09791264e-03 4.44779841e+02] [-4.73436900e-01 8.80816652e-01 4.41902615e-03 -3.30240400e+02] [-9.22499745e-03 5.83366726e-05 -9.99957447e-01 -4.86602382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters 0.050046327761017126 Centerline is valid? [True, True] Translation: X:444.63, Y:-330.22, Z:-4.87 [[-8.41219704e-01 -5.40624410e-01 8.64039994e-03 4.44631901e+02] [-5.40595822e-01 8.41264077e-01 5.55963469e-03 -3.30218361e+02] [-1.02745323e-02 5.91014321e-06 -9.99947216e-01 -4.86615999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters 0.04946841504780998 Centerline is valid? [True, True] Translation: X:444.05, Y:-330.52, Z:-4.86 [[-7.97824394e-01 -6.02828825e-01 8.58159347e-03 4.44049253e+02] [-6.02794591e-01 7.97870544e-01 6.42462898e-03 -3.30516464e+02] [-1.07199522e-02 -4.72123961e-05 -9.99942539e-01 -4.86319298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters 0.04922464045912615 Centerline is valid? [True, True] Translation: X:443.86, Y:-330.57, Z:-4.86 [[-7.48991118e-01 -6.62537124e-01 7.54084433e-03 4.43856137e+02] [-6.62504910e-01 7.49029071e-01 6.53418375e-03 -3.30570395e+02] [-9.97745093e-03 -1.01800801e-04 -9.99950219e-01 -4.86475625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters 0.04855877993253627 Centerline is valid? [True, True] Translation: X:443.70, Y:-330.61, Z:-4.87 [[-6.96835750e-01 -7.17209537e-01 5.51517031e-03 4.43701115e+02] [-7.17188214e-01 6.96857568e-01 5.53140285e-03 -3.30608656e+02] [-7.81046305e-03 -1.00935881e-04 -9.99969493e-01 -4.86559420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters 0.04929657613738597 Centerline is valid? [True, True] Translation: X:443.54, Y:-330.66, Z:-4.87 [[-6.39990883e-01 -7.68377120e-01 2.87594180e-03 4.43541499e+02] [-7.68369854e-01 6.39997341e-01 3.34230299e-03 -3.30658645e+02] [-4.40874426e-03 -7.07435363e-05 -9.99990279e-01 -4.86630121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters 0.049717740529547035 Centerline is valid? [True, True] Translation: X:443.38, Y:-330.73, Z:-4.87 [[-5.80829905e-01 -8.14022495e-01 1.99992827e-03 4.43380499e+02] [-8.14018012e-01 5.80833345e-01 2.70221699e-03 -3.30732316e+02] [-3.36129044e-03 -5.84492021e-05 -9.99994349e-01 -4.86751273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters 0.04998280421500855 Centerline is valid? [True, True] Translation: X:443.23, Y:-330.82, Z:-4.87 [[-5.17680929e-01 -8.55572612e-01 1.40092347e-03 4.43226424e+02] [-8.55569743e-01 5.17682822e-01 2.21612275e-03 -3.30818351e+02] [-2.62128794e-03 -5.13432499e-05 -9.99996563e-01 -4.86863959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters 0.04949253449802263 Centerline is valid? [True, True] Translation: X:443.06, Y:-330.95, Z:-4.87 [[-4.51995215e-01 -8.92018413e-01 1.86447286e-03 4.43055561e+02] [-8.92011588e-01 4.51999052e-01 3.49056319e-03 -3.30952574e+02] [-3.95638661e-03 -8.54135384e-05 -9.99992170e-01 -4.86724268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters 0.05090548892715214 Centerline is valid? [True, True] Translation: X:442.91, Y:-331.06, Z:-4.86 [[-3.83692289e-01 -9.23457704e-01 2.46925691e-03 4.42906604e+02] [-9.23440904e-01 3.83700208e-01 5.57193820e-03 -3.31061733e+02] [-6.09290364e-03 -1.42303113e-04 -9.99981428e-01 -4.86346956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters 0.04905478448975784 Centerline is valid? [True, True] Translation: X:442.76, Y:-331.24, Z:-4.86 [[-3.15110296e-01 -9.49050368e-01 2.98333180e-03 4.42758514e+02] [-9.49013825e-01 3.15124351e-01 8.33091640e-03 -3.31241644e+02] [-8.84657977e-03 -2.06065582e-04 -9.99960847e-01 -4.86384498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters 0.049491483441063716 Centerline is valid? [True, True] Translation: X:442.61, Y:-331.44, Z:-4.86 [[-2.47737394e-01 -9.68824256e-01 2.39671818e-03 4.42614809e+02] [-9.68785729e-01 2.47748921e-01 8.64193165e-03 -3.31439328e+02] [-8.96629734e-03 -1.80976752e-04 -9.99959786e-01 -4.86416114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters 0.049188683797889154 Centerline is valid? [True, True] Translation: X:442.48, Y:-331.67, Z:-4.87 [[-1.80907579e-01 -9.83498731e-01 1.64122228e-03 4.42483937e+02] [-9.83464425e-01 1.80914978e-01 8.21559330e-03 -3.31669325e+02] [-8.37694728e-03 -1.27820633e-04 -9.99964905e-01 -4.86500638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters 0.04913359650696868 Centerline is valid? [True, True] Translation: X:442.38, Y:-331.86, Z:-4.86 [[-1.17808849e-01 -9.93035952e-01 8.20618871e-04 4.42380793e+02] [-9.93013855e-01 1.17811702e-01 6.62466066e-03 -3.31856472e+02] [-6.67520471e-03 -3.44422604e-05 -9.99977720e-01 -4.86349691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters 0.04964841639563772 Centerline is valid? [True, True] Translation: X:442.32, Y:-331.70, Z:-4.87 [[-4.96610167e-02 -9.98766089e-01 2.87845670e-04 4.42319446e+02] [-9.98748045e-01 4.96618497e-02 6.00365951e-03 -3.31698632e+02] [-6.01054648e-03 1.06625356e-05 -9.99981936e-01 -4.86601741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters 0.049691969562385294 Centerline is valid? [True, True] Translation: X:442.24, Y:-332.34, Z:-4.86 [[ 1.50171376e-02 -9.99887224e-01 -1.55279603e-04 4.42237414e+02] [-9.99865183e-01 -1.50178377e-02 6.63937527e-03 -3.32344429e+02] [-6.64095847e-03 5.55542562e-05 -9.99977947e-01 -4.86421581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters 0.05044287570162554 Centerline is valid? [True, True] Translation: X:442.11, Y:-331.68, Z:-4.87 [[ 8.28708336e-02 -9.96559976e-01 -7.99011885e-04 4.42112138e+02] [-9.96527976e-01 -8.28745766e-02 7.98739368e-03 -3.31677434e+02] [-8.02613463e-03 1.34315724e-04 -9.99967781e-01 -4.86624246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters 0.051040598995253796 Centerline is valid? [True, True] Translation: X:442.17, Y:-332.63, Z:-4.86 [[ 1.48903321e-01 -9.88850785e-01 -1.38750651e-03 4.42165672e+02] [-9.88818102e-01 -1.48909683e-01 8.04161890e-03 -3.32632204e+02] [-8.15857432e-03 1.74567795e-04 -9.99966703e-01 -4.86474073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters 0.05015412667759805 Centerline is valid? [True, True] Translation: X:442.04, Y:-332.41, Z:-4.87 [[ 2.19474876e-01 -9.75616020e-01 -2.03990905e-03 4.42036728e+02] [-9.75582257e-01 -2.19484257e-01 8.11913542e-03 -3.32411552e+02] [-8.36888650e-03 2.08152842e-04 -9.99964959e-01 -4.86660007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters 0.051088005568246254 Centerline is valid? [True, True] Translation: X:442.01, Y:-332.63, Z:-4.87 [[ 2.88103120e-01 -9.57595618e-01 -2.68801049e-03 4.42009240e+02] [-9.57561274e-01 -2.88115562e-01 8.11357625e-03 -3.32628172e+02] [-8.54398271e-03 2.36388121e-04 -9.99963472e-01 -4.86736294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters 0.0517740053189461 Centerline is valid? [True, True] Translation: X:442.14, Y:-333.18, Z:-4.87 [[ 3.56483409e-01 -9.34295453e-01 -3.40376013e-03 4.42135933e+02] [-9.34259278e-01 -3.56499573e-01 8.22530476e-03 -3.33178933e+02] [-8.89830387e-03 2.47809803e-04 -9.99960379e-01 -4.86502966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters 0.05131763043280309 Centerline is valid? [True, True] Translation: X:441.89, Y:-332.86, Z:-4.87 [[ 4.27219266e-01 -9.04139095e-01 -4.02432779e-03 4.41888354e+02] [-9.04103954e-01 -4.27238157e-01 7.97479616e-03 -3.32860400e+02] [-8.92967138e-03 2.31424109e-04 -9.99960103e-01 -4.86814953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters 0.05105734403442769 Centerline is valid? [True, True] Translation: X:442.00, Y:-333.24, Z:-4.87 [[ 4.96562717e-01 -8.67991406e-01 -4.04812192e-03 4.41995315e+02] [-8.67965202e-01 -4.96579190e-01 6.74657341e-03 -3.33235855e+02] [-7.86618084e-03 1.63532135e-04 -9.99969048e-01 -4.86758147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters 0.050953709915437156 Centerline is valid? [True, True] Translation: X:442.33, Y:-333.89, Z:-4.86 [[ 5.59529555e-01 -8.28799147e-01 -4.31881793e-03 4.42331609e+02] [-8.28776384e-01 -5.59546204e-01 6.14418950e-03 -3.33887853e+02] [-7.50887719e-03 1.41478689e-04 -9.99971798e-01 -4.86494443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters 0.05053781467495025 Centerline is valid? [True, True] Translation: X:442.11, Y:-333.73, Z:-4.87 [[ 6.23652988e-01 -7.81686390e-01 -4.83108960e-03 4.42109536e+02] [-7.81664205e-01 -6.23671691e-01 5.89005841e-03 -3.33731359e+02] [-7.61719231e-03 1.02937290e-04 -9.99970984e-01 -4.86517857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters 0.05040424031763547 Centerline is valid? [True, True] Translation: X:441.91, Y:-333.65, Z:-4.87 [[ 6.83985859e-01 -7.29475161e-01 -5.41600204e-03 4.41907081e+02] [-7.29452963e-01 -6.84007299e-01 5.69110850e-03 -3.33649413e+02] [-7.85610722e-03 5.80809947e-05 -9.99969139e-01 -4.86877418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters 0.04986413820492664 Centerline is valid? [True, True] Translation: X:442.08, Y:-333.95, Z:-4.87 [[ 7.39350403e-01 -6.73301117e-01 -5.15628982e-03 4.42082922e+02] [-6.73284810e-01 -7.39368383e-01 4.68602027e-03 -3.33953332e+02] [-6.96750035e-03 7.04063628e-06 -9.99975727e-01 -4.86691017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters 0.04981841849619621 Centerline is valid? [True, True] Translation: X:442.05, Y:-334.05, Z:-4.87 [[ 7.94811619e-01 -6.06843757e-01 -3.89150934e-03 4.42050233e+02] [-6.06836263e-01 -7.94821145e-01 3.01618034e-03 -3.34050978e+02] [-4.92340412e-03 -3.57861977e-05 -9.99987879e-01 -4.86809806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters 0.050418242901729485 Centerline is valid? [True, True] Translation: X:442.03, Y:-334.14, Z:-4.87 [[ 8.41798881e-01 -5.39777002e-01 -3.92841971e-03 4.42032225e+02] [-5.39770838e-01 -8.41808045e-01 2.58006468e-03 -3.34141592e+02] [-4.69963490e-03 -5.14491567e-05 -9.99988955e-01 -4.86707006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters 0.04989049758800201 Centerline is valid? [True, True] Translation: X:442.03, Y:-334.23, Z:-4.87 [[ 8.82581038e-01 -4.70139114e-01 -4.46372806e-03 4.42025806e+02] [-4.70132708e-01 -8.82592323e-01 2.45536612e-03 -3.34227628e+02] [-5.09401577e-03 -6.85150235e-05 -9.99987023e-01 -4.86750881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters 0.050354727127687175 Centerline is valid? [True, True] Translation: X:442.02, Y:-334.32, Z:-4.87 [[ 9.17753651e-01 -3.97103359e-01 -6.09567595e-03 4.42024959e+02] [-3.97093807e-01 -9.17773888e-01 2.75654733e-03 -3.34317326e+02] [-6.68908642e-03 -1.09276209e-04 -9.99977622e-01 -4.86566824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters 0.05144032650813445 Centerline is valid? [True, True] Translation: X:442.03, Y:-334.41, Z:-4.86 [[ 9.46458728e-01 -3.22739962e-01 -7.40217519e-03 4.42030158e+02] [-3.22728927e-01 -9.46487663e-01 2.67264875e-03 -3.34406713e+02] [-7.86863805e-03 -1.40655681e-04 -9.99969032e-01 -4.86236093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters 0.050887812954782646 Centerline is valid? [True, True] Translation: X:442.05, Y:-334.49, Z:-4.86 [[ 9.69063542e-01 -2.46666221e-01 -8.46327075e-03 4.42046733e+02] [-2.46655306e-01 -9.69100484e-01 2.32654716e-03 -3.34486634e+02] [-8.77564038e-03 -1.67061393e-04 -9.99961479e-01 -4.86402690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters 0.05092402539347284 Centerline is valid? [True, True] Translation: X:442.07, Y:-334.57, Z:-4.86 [[ 9.85404454e-01 -1.69921251e-01 -1.02386819e-02 4.42068370e+02] [-1.69909953e-01 -9.85457624e-01 1.96978659e-03 -3.34569566e+02] [-1.04244957e-02 -2.01382522e-04 -9.99945643e-01 -4.86239354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters 0.05092625643609269 Centerline is valid? [True, True] Translation: X:442.10, Y:-334.65, Z:-4.86 [[ 9.95619261e-01 -9.28651584e-02 -1.08788815e-02 4.42096139e+02] [-9.28573525e-02 -9.95678673e-01 1.22154034e-03 -3.34648245e+02] [-1.09453088e-02 -2.06004956e-04 -9.99940077e-01 -4.86200848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters 0.05123737928534203 Centerline is valid? [True, True] Translation: X:442.13, Y:-334.72, Z:-4.86 [[ 9.99820410e-01 -1.57975810e-02 -1.04682822e-02 4.42130517e+02] [-1.57947649e-02 -9.99875193e-01 3.51637146e-04 -3.34720565e+02] [-1.04725307e-02 -1.86229940e-04 -9.99945144e-01 -4.86339053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters 0.05032727347980967 Centerline is valid? [True, True] Translation: X:442.17, Y:-334.79, Z:-4.87 [[ 9.98120177e-01 6.06103094e-02 -9.08306905e-03 4.42165164e+02] [ 6.06091144e-02 -9.98161495e-01 -4.07032071e-04 -3.34792754e+02] [-9.09104012e-03 -1.44249849e-04 -9.99958665e-01 -4.86501967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters 0.049971400810900415 Centerline is valid? [True, True] Translation: X:442.20, Y:-334.85, Z:-4.87 [[ 9.90473628e-01 1.37445461e-01 -8.41058458e-03 4.42203629e+02] [ 1.37441578e-01 -9.90509328e-01 -1.04064699e-03 -3.34854257e+02] [-8.47379469e-03 -1.25230615e-04 -9.99964089e-01 -4.86925703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters 0.050150107167867095 Centerline is valid? [True, True] Translation: X:442.25, Y:-334.97, Z:-4.87 [[ 9.76822196e-01 2.13890642e-01 -8.31814459e-03 4.42254670e+02] [ 2.13883932e-01 -9.76857604e-01 -1.69845966e-03 -3.34967036e+02] [-8.48892742e-03 -1.20024370e-04 -9.99963961e-01 -4.86930046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters 0.049858924576009864 Centerline is valid? [True, True] Translation: X:442.31, Y:-335.04, Z:-4.87 [[ 9.57332017e-01 2.88860382e-01 -8.66543044e-03 4.42305589e+02] [ 2.88849682e-01 -9.57371226e-01 -2.48918593e-03 -3.35037667e+02] [-9.01506097e-03 -1.20029449e-04 -9.99959356e-01 -4.86518550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters 0.05002136502105375 Centerline is valid? [True, True] Translation: X:442.36, Y:-335.09, Z:-4.87 [[ 9.32260539e-01 3.61686699e-01 -8.54508365e-03 4.42358592e+02] [ 3.61672584e-01 -9.32299694e-01 -3.19733301e-03 -3.35094497e+02] [-9.12301169e-03 -1.09775083e-04 -9.99958378e-01 -4.86584323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters 0.04956225628413991 Centerline is valid? [True, True] Translation: X:442.42, Y:-335.15, Z:-4.87 [[ 9.02317969e-01 4.31008863e-01 -7.32413925e-03 4.42415184e+02] [ 4.30995336e-01 -9.02347690e-01 -3.41563536e-03 -3.35147922e+02] [-8.08108925e-03 -7.46806896e-05 -9.99967345e-01 -4.86531644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters 0.049639218744037567 Centerline is valid? [True, True] Translation: X:442.48, Y:-335.20, Z:-4.87 [[ 8.66339683e-01 4.99408151e-01 -6.85946338e-03 4.42477961e+02] [ 4.99393088e-01 -8.66366836e-01 -3.87930483e-03 -3.35199689e+02] [-7.88016804e-03 -6.47728829e-05 -9.99968949e-01 -4.86684362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters 0.049705912423413184 Centerline is valid? [True, True] Translation: X:442.54, Y:-335.25, Z:-4.87 [[ 8.24956033e-01 5.65154987e-01 -6.88357774e-03 4.42542063e+02] [ 5.65135950e-01 -8.24984749e-01 -4.63909720e-03 -3.35245336e+02] [-8.30065557e-03 -6.31060218e-05 -9.99965547e-01 -4.86547055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters 0.04986705731098414 Centerline is valid? [True, True] Translation: X:442.61, Y:-335.29, Z:-4.87 [[ 7.78663534e-01 6.27401968e-01 -7.06195637e-03 4.42612311e+02] [ 6.27376890e-01 -7.78695554e-01 -5.60995527e-03 -3.35287712e+02] [-9.01881101e-03 -6.22406358e-05 -9.99959328e-01 -4.86531030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters 0.04976733592794177 Centerline is valid? [True, True] Translation: X:442.68, Y:-335.32, Z:-4.87 [[ 7.28520741e-01 6.84987332e-01 -7.06300099e-03 4.42679939e+02] [ 6.84955779e-01 -7.28554976e-01 -6.57476641e-03 -3.35319052e+02] [-9.64941622e-03 -4.79896549e-05 -9.99953442e-01 -4.86925116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters 0.04931618989467551 Centerline is valid? [True, True] Translation: X:442.75, Y:-335.35, Z:-4.86 [[ 6.73474060e-01 7.39183135e-01 -6.40185844e-03 4.42753248e+02] [ 7.39150263e-01 -6.73504486e-01 -6.97113042e-03 -3.35351390e+02] [-9.46462241e-03 -3.70598372e-05 -9.99955209e-01 -4.86448117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters 0.049075890041371646 Centerline is valid? [True, True] Translation: X:442.83, Y:-335.38, Z:-4.87 [[ 6.13248743e-01 7.89871257e-01 -5.42004454e-03 4.42829251e+02] [ 7.89840957e-01 -6.13272693e-01 -6.91853194e-03 -3.35376368e+02] [-8.78871483e-03 -3.81921455e-05 -9.99961378e-01 -4.86594458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters 0.04857570239854042 Centerline is valid? [True, True] Translation: X:442.91, Y:-335.40, Z:-4.87 [[ 5.48769245e-01 8.35962045e-01 -4.44682536e-03 4.42909133e+02] [ 8.35935227e-01 -5.48787260e-01 -6.69622382e-03 -3.35397678e+02] [-8.03815007e-03 -4.25762716e-05 -9.99967693e-01 -4.86674178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters 0.04901574931767871 Centerline is valid? [True, True] Translation: X:442.99, Y:-335.41, Z:-4.87 [[ 4.81216411e-01 8.76594235e-01 -3.64880071e-03 4.42987610e+02] [ 8.76569720e-01 -4.81230242e-01 -6.55596782e-03 -3.35412096e+02] [-7.50283684e-03 -4.35889106e-05 -9.99971852e-01 -4.86694097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters 0.04805397555746384 Centerline is valid? [True, True] Translation: X:443.07, Y:-335.42, Z:-4.87 [[ 4.11005689e-01 9.11627986e-01 -2.95626392e-03 4.43068569e+02] [ 9.11605141e-01 -4.11016318e-01 -6.45385054e-03 -3.35419631e+02] [-7.09858348e-03 -4.23761076e-05 -9.99974804e-01 -4.86813365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters 0.048330258715572116 Centerline is valid? [True, True] Translation: X:443.15, Y:-335.42, Z:-4.87 [[ 3.38051708e-01 9.41124962e-01 -2.20181676e-03 4.43152973e+02] [ 9.41105777e-01 -3.38058876e-01 -6.00938851e-03 -3.35423197e+02] [-6.39992924e-03 -4.06584246e-05 -9.99979519e-01 -4.86811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters 0.04845243067451665 Centerline is valid? [True, True] Translation: X:443.24, Y:-335.42, Z:-4.87 [[ 2.62675518e-01 9.64882470e-01 -1.84150610e-03 4.43237002e+02] [ 9.64860035e-01 -2.62681968e-01 -6.57993393e-03 -3.35420551e+02] [-6.83259335e-03 -4.84080889e-05 -9.99976656e-01 -4.86596985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters 0.04839689319741395 Centerline is valid? [True, True] Translation: X:443.32, Y:-335.41, Z:-4.87 [[ 1.84671371e-01 9.82799336e-01 -1.39637221e-03 4.43315186e+02] [ 9.82773800e-01 -1.84676639e-01 -7.08495779e-03 -3.35409265e+02] [-7.22096913e-03 -6.39291537e-05 -9.99973926e-01 -4.86659358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters 0.04864716494734073 Centerline is valid? [True, True] Translation: X:443.39, Y:-335.39, Z:-4.87 [[ 1.04690629e-01 9.94504447e-01 -8.81548445e-04 4.43394598e+02] [ 9.94475817e-01 -1.04694305e-01 -7.54662081e-03 -3.35392939e+02] [-7.59744106e-03 -8.66181302e-05 -9.99971135e-01 -4.86571572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters 0.048252361819392464 Centerline is valid? [True, True] Translation: X:443.48, Y:-335.37, Z:-4.87 [[ 2.44228933e-02 9.99701676e-01 -2.86812436e-04 4.43478051e+02] [ 9.99673161e-01 -2.44243631e-02 -7.55129777e-03 -3.35370239e+02] [-7.55605024e-03 -1.02294155e-04 -9.99971447e-01 -4.86823130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters 0.04861205979694385 Centerline is valid? [True, True] Translation: X:443.56, Y:-335.34, Z:-4.87 [[-5.49937959e-02 9.98486649e-01 3.07980259e-04 4.43564471e+02] [ 9.98457526e-01 5.49945444e-02 -7.62680353e-03 -3.35341368e+02] [-7.63219873e-03 -1.11921669e-04 -9.99970868e-01 -4.86675724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters 0.048596929132060804 Centerline is valid? [True, True] Translation: X:443.64, Y:-335.31, Z:-4.87 [[-1.34159435e-01 9.90959362e-01 8.88002281e-04 4.43640949e+02] [ 9.90931377e-01 1.34162321e-01 -7.44830816e-03 -3.35307328e+02] [-7.50010715e-03 -1.19311489e-04 -9.99971867e-01 -4.86593920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters 0.048326989801204805 Centerline is valid? [True, True] Translation: X:443.72, Y:-335.27, Z:-4.87 [[-2.12141955e-01 9.77237654e-01 1.53547013e-03 4.43715780e+02] [ 9.77207371e-01 2.12147471e-01 -7.69445842e-03 -3.35265092e+02] [-7.84506060e-03 -1.31844722e-04 -9.99969218e-01 -4.86711954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters 0.04856973552646541 Centerline is valid? [True, True] Translation: X:443.79, Y:-335.22, Z:-4.87 [[-2.88856244e-01 9.57369992e-01 2.18360031e-03 4.43790555e+02] [ 9.57338790e-01 2.88864462e-01 -7.73070015e-03 -3.35217482e+02] [-8.03190487e-03 -1.42615734e-04 -9.99967734e-01 -4.86643596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters 0.04868968342632638 Centerline is valid? [True, True] Translation: X:443.86, Y:-335.16, Z:-4.87 [[-3.63566261e-01 9.31564995e-01 2.49672757e-03 4.43862135e+02] [ 9.31540449e-01 3.63574810e-01 -6.76390942e-03 -3.35162518e+02] [-7.20876850e-03 -1.33326533e-04 -9.99974008e-01 -4.86802798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters 0.04863549228891059 Centerline is valid? [True, True] Translation: X:443.93, Y:-335.10, Z:-4.87 [[-4.35267921e-01 9.00296028e-01 2.98318327e-03 4.43929389e+02] [ 9.00272775e-01 4.35278124e-01 -6.47188184e-03 -3.35103217e+02] [-7.12512393e-03 -1.31323867e-04 -9.99974607e-01 -4.86730162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters 0.04941052891058275 Centerline is valid? [True, True] Translation: X:443.99, Y:-335.04, Z:-4.87 [[-5.03677472e-01 8.63882845e-01 3.92875146e-03 4.43988609e+02] [ 8.63854335e-01 5.03692774e-01 -7.01974230e-03 -3.35040883e+02] [-8.04311867e-03 -1.41817075e-04 -9.99967644e-01 -4.86617116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters 0.04921617870309453 Centerline is valid? [True, True] Translation: X:444.04, Y:-334.98, Z:-4.86 [[-5.68567538e-01 8.22620166e-01 5.19780819e-03 4.44038647e+02] [ 8.22583318e-01 5.68591276e-01 -7.78753294e-03 -3.34977308e+02] [-9.36161003e-03 -1.52108126e-04 -9.99956168e-01 -4.86344891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters 0.0485505936822777 Centerline is valid? [True, True] Translation: X:444.08, Y:-334.91, Z:-4.87 [[-6.30652199e-01 7.76043893e-01 5.80341539e-03 4.44083474e+02] [ 7.76008887e-01 6.30678884e-01 -7.37243487e-03 -3.34907597e+02] [-9.38142460e-03 -1.45940350e-04 -9.99955983e-01 -4.86580339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters 0.04887127015156478 Centerline is valid? [True, True] Translation: X:444.12, Y:-334.83, Z:-4.87 [[-6.88733570e-01 7.24985907e-01 6.44234747e-03 4.44123683e+02] [ 7.24952295e-01 6.88763686e-01 -6.98242734e-03 -3.34834596e+02] [-9.49941641e-03 -1.38637526e-04 -9.99954870e-01 -4.86587268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters 0.04819754032822546 Centerline is valid? [True, True] Translation: X:444.16, Y:-334.76, Z:-4.87 [[-7.42401981e-01 6.69921750e-01 6.64434129e-03 4.44161184e+02] [ 6.69893475e-01 7.42431703e-01 -6.15619684e-03 -3.34755727e+02] [-9.05713978e-03 -1.19371852e-04 -9.99958976e-01 -4.86610105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters 0.04874312274695451 Centerline is valid? [True, True] Translation: X:444.57, Y:-334.30, Z:-5.89 [[-6.76888408e-01 -7.36060126e-01 6.12977306e-03 4.44568726e+02] [ 7.36031410e-01 -6.76916154e-01 -6.50268088e-03 -3.34302744e+02] [ 8.93570650e-03 1.10116194e-04 9.99960070e-01 -5.89231513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters 0.048804373917426654 Centerline is valid? [True, True] Translation: X:444.53, Y:-334.26, Z:-5.90 [[-6.77223690e-01 -7.35749937e-01 6.33283975e-03 4.44526720e+02] [ 7.35719314e-01 -6.77253290e-01 -6.71367689e-03 -3.34264607e+02] [ 9.22852390e-03 1.12531482e-04 9.99957410e-01 -5.89659242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters 0.04841666687270566 Centerline is valid? [True, True] Translation: X:444.49, Y:-334.22, Z:-5.89 [[-6.77866539e-01 -7.35161203e-01 5.91269476e-03 4.44491854e+02] [ 7.35134503e-01 -6.77892318e-01 -6.26641483e-03 -3.34219330e+02] [ 8.61499542e-03 9.88329853e-05 9.99962885e-01 -5.89316994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters 0.0490540663071335 Centerline is valid? [True, True] Translation: X:444.45, Y:-334.18, Z:-5.89 [[-6.78465607e-01 -7.34605665e-01 6.23990986e-03 4.44453589e+02] [ 7.34575919e-01 -6.78494294e-01 -6.61146468e-03 -3.34176034e+02] [ 9.09056265e-03 9.80361254e-05 9.99958675e-01 -5.89299497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters 0.048431200828037056 Centerline is valid? [True, True] Translation: X:444.42, Y:-334.13, Z:-5.89 [[-6.78992852e-01 -7.34115373e-01 6.58226680e-03 4.44415244e+02] [ 7.34082272e-01 -6.79024749e-01 -6.97203247e-03 -3.34134306e+02] [ 9.58779828e-03 9.79651580e-05 9.99954031e-01 -5.89382397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters 0.047953091428073656 Centerline is valid? [True, True] Translation: X:444.38, Y:-334.09, Z:-5.89 [[-6.78975596e-01 -7.34130252e-01 6.70180263e-03 4.44377483e+02] [ 7.34095958e-01 -6.79008662e-01 -7.09653427e-03 -3.34091245e+02] [ 9.76036253e-03 1.01392644e-04 9.99952361e-01 -5.89318654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters 0.048395860044170735 Centerline is valid? [True, True] Translation: X:444.34, Y:-334.05, Z:-5.89 [[-6.79421628e-01 -7.33714179e-01 7.05370376e-03 4.44338646e+02] [ 7.33676191e-01 -6.79458235e-01 -7.46684725e-03 -3.34050054e+02] [ 1.02712288e-02 1.01996992e-04 9.99947244e-01 -5.89478525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters 0.04876302951532519 Centerline is valid? [True, True] Translation: X:444.30, Y:-334.01, Z:-5.89 [[-6.80556291e-01 -7.32663627e-01 6.86618565e-03 4.44300691e+02] [ 7.32627600e-01 -6.80590921e-01 -7.26619696e-03 -3.34006637e+02] [ 9.99674184e-03 8.53010673e-05 9.99950028e-01 -5.89414076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters 0.04872885976447235 Centerline is valid? [True, True] Translation: X:444.26, Y:-333.97, Z:-5.89 [[-6.81283897e-01 -7.31994391e-01 6.03844047e-03 4.44261368e+02] [ 7.31966517e-01 -6.81310654e-01 -6.38833251e-03 -3.33965348e+02] [ 8.79027739e-03 6.76681738e-05 9.99961363e-01 -5.89416776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters 0.04842287716131437 Centerline is valid? [True, True] Translation: X:444.22, Y:-333.92, Z:-5.89 [[-6.82282064e-01 -7.31069419e-01 5.35632014e-03 4.44223442e+02] [ 7.31047472e-01 -6.82303087e-01 -5.66492854e-03 -3.33923869e+02] [ 7.79608978e-03 5.06451550e-05 9.99969609e-01 -5.89284159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters 0.04816448335300768 Centerline is valid? [True, True] Translation: X:444.18, Y:-333.88, Z:-5.89 [[-6.84289735e-01 -7.29196708e-01 4.44061430e-03 4.44184321e+02] [ 7.29181592e-01 -6.84304143e-01 -4.69534213e-03 -3.33881036e+02] [ 6.46255879e-03 2.50397824e-05 9.99979117e-01 -5.89171056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters 0.0492440054234423 Centerline is valid? [True, True] Translation: X:444.15, Y:-333.84, Z:-5.89 [[-6.86349578e-01 -7.27260232e-01 4.10035838e-03 4.44145547e+02] [ 7.27247316e-01 -6.86361825e-01 -4.33431789e-03 -3.33839309e+02] [ 5.96650650e-03 7.11737192e-06 9.99982200e-01 -5.89160740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters 0.04900954003367294 Centerline is valid? [True, True] Translation: X:444.11, Y:-333.80, Z:-5.89 [[-6.88762883e-01 -7.24974167e-01 4.26015080e-03 4.44105965e+02] [ 7.24960188e-01 -6.88776058e-01 -4.50204212e-03 -3.33797469e+02] [ 6.19815411e-03 -1.23997898e-05 9.99980791e-01 -5.89178620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters 0.04922403793396391 Centerline is valid? [True, True] Translation: X:444.07, Y:-333.76, Z:-5.89 [[-6.91470951e-01 -7.22390147e-01 4.51660591e-03 4.44067296e+02] [ 7.22374388e-01 -6.91485701e-01 -4.77172541e-03 -3.33755199e+02] [ 6.57021582e-03 -3.68290740e-05 9.99978415e-01 -5.89178985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters 0.049623865913545916 Centerline is valid? [True, True] Translation: X:444.03, Y:-333.71, Z:-5.89 [[-6.95445928e-01 -7.18564310e-01 4.50478660e-03 4.44029595e+02] [ 7.18548560e-01 -6.95460515e-01 -4.75806613e-03 -3.33712587e+02] [ 6.55187771e-03 -7.20697916e-05 9.99978534e-01 -5.89074881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters 0.04913648893509453 Centerline is valid? [True, True] Translation: X:443.99, Y:-333.67, Z:-5.89 [[-6.97620971e-01 -7.16454830e-01 4.17820455e-03 4.43987351e+02] [ 7.16441249e-01 -6.97633478e-01 -4.41224935e-03 -3.33671535e+02] [ 6.07603273e-03 -8.46395878e-05 9.99981537e-01 -5.88910401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters 0.04984913978485559 Centerline is valid? [True, True] Translation: X:443.95, Y:-333.63, Z:-5.89 [[-6.99140034e-01 -7.14974021e-01 3.91947823e-03 4.43947851e+02] [ 7.14962050e-01 -6.99151015e-01 -4.13832282e-03 -3.33628900e+02] [ 5.69910049e-03 -9.09889684e-05 9.99983756e-01 -5.89043783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters 0.04962562373125762 Centerline is valid? [True, True] Translation: X:443.91, Y:-333.58, Z:-5.89 [[-7.00304928e-01 -7.13832435e-01 4.03281557e-03 4.43910600e+02] [ 7.13819749e-01 -7.00316532e-01 -4.25683928e-03 -3.33584847e+02] [ 5.86291736e-03 -1.02382124e-04 9.99982808e-01 -5.89136553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters 0.04986603925311061 Centerline is valid? [True, True] Translation: X:443.87, Y:-333.55, Z:-5.89 [[-6.99961055e-01 -7.14170612e-01 3.85458086e-03 4.43869108e+02] [ 7.14159036e-01 -6.99971662e-01 -4.06740060e-03 -3.33546195e+02] [ 5.60291535e-03 -9.42382689e-05 9.99984299e-01 -5.89066347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters 0.051089152501944284 Centerline is valid? [True, True] Translation: X:443.83, Y:-333.51, Z:-5.89 [[-6.99233383e-01 -7.14882418e-01 3.97554380e-03 4.43827426e+02] [ 7.14870123e-01 -6.99244679e-01 -4.19367244e-03 -3.33509268e+02] [ 5.77786054e-03 -9.03582799e-05 9.99983304e-01 -5.88942039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters 0.04989560989650285 Centerline is valid? [True, True] Translation: X:443.79, Y:-333.47, Z:-5.89 [[-6.94619147e-01 -7.19365596e-01 4.16891225e-03 4.43786882e+02] [ 7.19352164e-01 -6.94631655e-01 -4.39631810e-03 -3.33470112e+02] [ 6.05841840e-03 -5.48506828e-05 9.99981646e-01 -5.89209477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters 0.04908081284453597 Centerline is valid? [True, True] Translation: X:443.74, Y:-333.43, Z:-5.89 [[-6.89999422e-01 -7.23797216e-01 4.28811403e-03 4.43743117e+02] [ 7.23783096e-01 -6.90012746e-01 -4.52106298e-03 -3.33433224e+02] [ 6.23118613e-03 -1.58663934e-05 9.99980586e-01 -5.89195143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters 0.04974452670856391 Centerline is valid? [True, True] Translation: X:443.70, Y:-333.40, Z:-5.89 [[-6.85047367e-01 -7.28484667e-01 4.49398998e-03 4.43700051e+02] [ 7.28469268e-01 -6.85062107e-01 -4.73667600e-03 -3.33395815e+02] [ 6.52925808e-03 2.88861684e-05 9.99978684e-01 -5.89125671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters 0.049658914895520045 Centerline is valid? [True, True] Translation: X:443.65, Y:-333.36, Z:-5.89 [[-6.79101701e-01 -7.34032181e-01 4.19957540e-03 4.43654949e+02] [ 7.34018846e-01 -6.79114682e-01 -4.42514982e-03 -3.33361033e+02] [ 6.10019569e-03 7.74407213e-05 9.99981391e-01 -5.89216761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters 0.04991795941713353 Centerline is valid? [True, True] Translation: X:443.61, Y:-333.32, Z:-5.89 [[-6.76961761e-01 -7.36008555e-01 3.76575078e-03 4.43614899e+02] [ 7.35997870e-01 -6.76972230e-01 -3.96682704e-03 -3.33321040e+02] [ 5.46892734e-03 8.61943345e-05 9.99985042e-01 -5.89077999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters 0.049750696581591335 Centerline is valid? [True, True] Translation: X:443.57, Y:-333.28, Z:-5.89 [[-6.75975929e-01 -7.36916726e-01 3.20653539e-03 4.43574771e+02] [ 7.36908993e-01 -6.75983529e-01 -3.37694986e-03 -3.33282329e+02] [ 4.65609595e-03 8.01879430e-05 9.99989157e-01 -5.89026425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters 0.04960604000637864 Centerline is valid? [True, True] Translation: X:443.54, Y:-333.24, Z:-5.89 [[-6.76030708e-01 -7.36863305e-01 3.86667895e-03 4.43537646e+02] [ 7.36852066e-01 -6.76041759e-01 -4.07098722e-03 -3.33238991e+02] [ 5.61379753e-03 9.70579994e-05 9.99984238e-01 -5.88951201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters 0.05004516496201777 Centerline is valid? [True, True] Translation: X:443.50, Y:-333.20, Z:-5.89 [[-6.76723595e-01 -7.36221762e-01 4.76377651e-03 4.43497600e+02] [ 7.36204697e-01 -6.76740352e-01 -5.01394860e-03 -3.33199767e+02] [ 6.91521787e-03 1.14057330e-04 9.99976083e-01 -5.89142339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters 0.05111416960598241 Centerline is valid? [True, True] Translation: X:443.46, Y:-333.16, Z:-5.89 [[-6.77825452e-01 -7.35199311e-01 5.88467821e-03 4.43460505e+02] [ 7.35173248e-01 -6.77850984e-01 -6.19185757e-03 -3.33156985e+02] [ 8.54118433e-03 1.29259337e-04 9.99963515e-01 -5.89139737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters 0.050029925372163365 Centerline is valid? [True, True] Translation: X:443.42, Y:-333.11, Z:-5.89 [[-6.79518334e-01 -7.33627208e-01 6.77885538e-03 4.43424404e+02] [ 7.33592565e-01 -6.79552134e-01 -7.13062292e-03 -3.33111958e+02] [ 9.83780463e-03 1.27528899e-04 9.99951600e-01 -5.89059423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters 0.049458997619772085 Centerline is valid? [True, True] Translation: X:443.39, Y:-333.07, Z:-5.89 [[-6.80777384e-01 -7.32456774e-01 7.01624059e-03 4.43386940e+02] [ 7.32419618e-01 -6.80813529e-01 -7.37849221e-03 -3.33066755e+02] [ 1.01811781e-02 1.15721620e-04 9.99948164e-01 -5.88943113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters 0.04955898781474502 Centerline is valid? [True, True] Translation: X:443.35, Y:-333.02, Z:-5.89 [[-6.82323860e-01 -7.31022638e-01 6.32880111e-03 4.43350022e+02] [ 7.30992361e-01 -6.82353204e-01 -6.65381047e-03 -3.33022519e+02] [ 9.18256380e-03 8.62516189e-05 9.99957836e-01 -5.88916463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters 0.04954747975253932 Centerline is valid? [True, True] Translation: X:443.31, Y:-332.98, Z:-5.89 [[-6.83289041e-01 -7.30126566e-01 5.59320063e-03 4.43312950e+02] [ 7.30102903e-01 -6.83311930e-01 -5.87866673e-03 -3.32980380e+02] [ 8.11407147e-03 6.67834580e-05 9.99967078e-01 -5.88916080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters 0.0497547397227751 Centerline is valid? [True, True] Translation: X:443.28, Y:-332.94, Z:-5.89 [[-6.84103473e-01 -7.29362536e-01 5.72099786e-03 4.43276217e+02] [ 7.29337766e-01 -6.84127391e-01 -6.01122183e-03 -3.32936453e+02] [ 8.29825134e-03 6.02420719e-05 9.99965567e-01 -5.88767012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters 0.04944022968697267 Centerline is valid? [True, True] Translation: X:443.24, Y:-332.89, Z:-5.89 [[-6.84545014e-01 -7.28947919e-01 5.74941606e-03 4.43239197e+02] [ 7.28922904e-01 -6.84569155e-01 -6.03922645e-03 -3.32893865e+02] [ 8.33815444e-03 5.67586949e-05 9.99965235e-01 -5.88833228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters 0.049074308795686666 Centerline is valid? [True, True] Translation: X:443.20, Y:-332.85, Z:-5.89 [[-6.85098103e-01 -7.28423480e-01 6.31049828e-03 4.43204745e+02] [ 7.28393342e-01 -6.85127164e-01 -6.62638144e-03 -3.32850168e+02] [ 9.15030562e-03 5.68035730e-05 9.99958134e-01 -5.88825727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters 0.04939969023983205 Centerline is valid? [True, True] Translation: X:443.17, Y:-332.81, Z:-5.89 [[-6.84754622e-01 -7.28748593e-01 6.04942341e-03 4.43166890e+02] [ 7.28720927e-01 -6.84781340e-01 -6.35030867e-03 -3.32808578e+02] [ 8.77031078e-03 5.99382218e-05 9.99961538e-01 -5.88913144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters 0.04932470357742906 Centerline is valid? [True, True] Translation: X:443.13, Y:-332.76, Z:-5.89 [[-6.83793119e-01 -7.29654800e-01 5.55371853e-03 4.43129617e+02] [ 7.29631521e-01 -6.83815669e-01 -5.82876827e-03 -3.32764606e+02] [ 8.05070850e-03 6.64964699e-05 9.99967590e-01 -5.88748506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters 0.04888852496509822 Centerline is valid? [True, True] Translation: X:443.09, Y:-332.73, Z:-5.89 [[-6.82737991e-01 -7.30645948e-01 5.03331808e-03 4.43089299e+02] [ 7.30626863e-01 -6.82756541e-01 -5.28140204e-03 -3.32725385e+02] [ 7.29536584e-03 7.16635806e-05 9.99973386e-01 -5.88938028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters 0.04883628546817072 Centerline is valid? [True, True] Translation: X:443.05, Y:-332.68, Z:-5.89 [[-6.81827905e-01 -7.31498082e-01 4.61137431e-03 4.43053028e+02] [ 7.31482091e-01 -6.81843494e-01 -4.83727436e-03 -3.32681194e+02] [ 6.68269249e-03 7.49490854e-05 9.99977668e-01 -5.88644213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters 0.048851604925892855 Centerline is valid? [True, True] Translation: X:443.01, Y:-332.64, Z:-5.89 [[-6.80127909e-01 -7.33079102e-01 4.58881547e-03 4.43011040e+02] [ 7.33063313e-01 -6.80143383e-01 -4.81218406e-03 -3.32644164e+02] [ 6.64876405e-03 9.09915918e-05 9.99977893e-01 -5.88948612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters 0.0495671658595352 Centerline is valid? [True, True] Translation: X:442.97, Y:-332.60, Z:-5.89 [[-6.79386652e-01 -7.33762833e-01 5.08757562e-03 4.42972182e+02] [ 7.33743452e-01 -6.79405692e-01 -5.33407279e-03 -3.32602757e+02] [ 7.37047219e-03 1.09077449e-04 9.99972832e-01 -5.88987584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters 0.049048359312840024 Centerline is valid? [True, True] Translation: X:442.93, Y:-332.56, Z:-5.89 [[-6.78612098e-01 -7.34476183e-01 5.50978726e-03 4.42933083e+02] [ 7.34453488e-01 -6.78634453e-01 -5.77525188e-03 -3.32559463e+02] [ 7.98091642e-03 1.27526675e-04 9.99968144e-01 -5.88928074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters 0.048605436178402364 Centerline is valid? [True, True] Translation: X:442.89, Y:-332.52, Z:-5.89 [[-6.78101636e-01 -7.34946262e-01 5.67129750e-03 4.42891632e+02] [ 7.34922246e-01 -6.78125337e-01 -5.94301215e-03 -3.32519029e+02] [ 8.21364509e-03 1.37996434e-04 9.99966258e-01 -5.88893501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters 0.04889247246261977 Centerline is valid? [True, True] Translation: X:442.85, Y:-332.48, Z:-5.89 [[-6.78560469e-01 -7.34525058e-01 5.35059734e-03 4.42851133e+02] [ 7.34503682e-01 -6.78581552e-01 -5.60524828e-03 -3.32479835e+02] [ 7.74801197e-03 1.26533544e-04 9.99969976e-01 -5.88955802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters 0.048871854291993214 Centerline is valid? [True, True] Translation: X:442.81, Y:-332.44, Z:-5.89 [[-6.80990778e-01 -7.32278765e-01 4.40125639e-03 4.42812619e+02] [ 7.32264261e-01 -6.81004996e-01 -4.60948804e-03 -3.32437709e+02] [ 6.37270780e-03 8.38639125e-05 9.99979691e-01 -5.88878703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters 0.04989986461423333 Centerline is valid? [True, True] Translation: X:442.78, Y:-332.40, Z:-5.89 [[-6.83598888e-01 -7.29848584e-01 3.68843976e-03 4.42776154e+02] [ 7.29838369e-01 -6.83608837e-01 -3.86180641e-03 -3.32395116e+02] [ 5.33998395e-03 5.20382915e-05 9.99985741e-01 -5.88768953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters 0.04960928873029664 Centerline is valid? [True, True] Translation: X:442.74, Y:-332.35, Z:-5.89 [[-6.86307858e-01 -7.27303673e-01 3.30019113e-03 4.42736974e+02] [ 7.27295471e-01 -6.86315792e-01 -3.45437658e-03 -3.32353677e+02] [ 4.77735406e-03 2.94482756e-05 9.99988588e-01 -5.88870282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters 0.04938899274693484 Centerline is valid? [True, True] Translation: X:442.70, Y:-332.31, Z:-5.89 [[-6.89113183e-01 -7.24643096e-01 3.92486921e-03 4.42698794e+02] [ 7.24631458e-01 -6.89124360e-01 -4.10691888e-03 -3.32311844e+02] [ 5.68077339e-03 1.39517608e-05 9.99983864e-01 -5.88918469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters 0.04894722280280848 Centerline is valid? [True, True] Translation: X:442.66, Y:-332.27, Z:-5.89 [[-6.89946402e-01 -7.23843253e-01 4.99067869e-03 4.42660417e+02] [ 7.23824428e-01 -6.89964452e-01 -5.22049800e-03 -3.32271842e+02] [ 7.22221314e-03 1.05113321e-05 9.99973919e-01 -5.89115371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters 0.049143534299335066 Centerline is valid? [True, True] Translation: X:442.62, Y:-332.23, Z:-5.89 [[-6.90168470e-01 -7.23626403e-01 5.68443541e-03 4.42620819e+02] [ 7.23601987e-01 -6.90191879e-01 -5.94428809e-03 -3.32231083e+02] [ 8.22479496e-03 1.07085460e-05 9.99966176e-01 -5.89075592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters 0.04905597874386841 Centerline is valid? [True, True] Translation: X:442.58, Y:-332.19, Z:-5.89 [[-6.90013296e-01 -7.23772756e-01 5.88631315e-03 4.42581082e+02] [ 7.23746596e-01 -6.90038403e-01 -6.15360182e-03 -3.32190508e+02] [ 8.51559148e-03 1.41320304e-05 9.99963742e-01 -5.88990286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters 0.049269604384582645 Centerline is valid? [True, True] Translation: X:442.54, Y:-332.15, Z:-5.89 [[-6.88416472e-01 -7.25290321e-01 6.05896392e-03 4.42538534e+02] [ 7.25262676e-01 -6.88443134e-01 -6.33255765e-03 -3.32150264e+02] [ 8.76419488e-03 3.49033956e-05 9.99961593e-01 -5.89089135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters 0.04964515300177049 Centerline is valid? [True, True] Translation: X:442.50, Y:-332.11, Z:-5.89 [[-6.87351115e-01 -7.26298564e-01 6.23229184e-03 4.42497130e+02] [ 7.26269372e-01 -6.87379367e-01 -6.51200285e-03 -3.32111095e+02] [ 9.01360714e-03 5.02902625e-05 9.99959375e-01 -5.89439572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters 0.04907390214372785 Centerline is valid? [True, True] Translation: X:442.46, Y:-332.07, Z:-5.89 [[-6.86362325e-01 -7.27234151e-01 6.10321635e-03 4.42459018e+02] [ 7.27206210e-01 -6.86389457e-01 -6.37509179e-03 -3.32069998e+02] [ 8.82536781e-03 6.26740071e-05 9.99961054e-01 -5.89181931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters 0.0488880536221523 Centerline is valid? [True, True] Translation: X:442.42, Y:-332.03, Z:-5.89 [[-6.84404818e-01 -7.29081600e-01 5.48324724e-03 4.42419221e+02] [ 7.29059119e-01 -6.84426778e-01 -5.72600672e-03 -3.32028187e+02] [ 7.92760738e-03 7.87048142e-05 9.99968573e-01 -5.88938983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters 0.04777520951047251 Centerline is valid? [True, True] Translation: X:442.38, Y:-331.99, Z:-5.89 [[-6.83020710e-01 -7.30381369e-01 5.07590667e-03 4.42378316e+02] [ 7.30362150e-01 -6.83039566e-01 -5.29916474e-03 -3.31988138e+02] [ 7.33745629e-03 8.78108460e-05 9.99973077e-01 -5.88941642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters 0.04927481370708627 Centerline is valid? [True, True] Translation: X:442.34, Y:-331.95, Z:-5.89 [[-6.81255535e-01 -7.32033285e-01 4.26220007e-03 4.42338097e+02] [ 7.32019774e-01 -6.81268862e-01 -4.44845367e-03 -3.31948179e+02] [ 6.16012034e-03 8.94810533e-05 9.99981022e-01 -5.88982855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters 0.04871289596305428 Centerline is valid? [True, True] Translation: X:442.30, Y:-331.90, Z:-5.89 [[-6.81011758e-01 -7.32258606e-01 4.50772501e-03 4.42302691e+02] [ 7.32243508e-01 -6.81026669e-01 -4.70329020e-03 -3.31904121e+02] [ 6.51390567e-03 9.77564525e-05 9.99978780e-01 -5.88831602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters 0.04854250944280277 Centerline is valid? [True, True] Translation: X:442.26, Y:-331.87, Z:-5.89 [[-6.81795498e-01 -7.31524722e-01 5.14578598e-03 4.42261062e+02] [ 7.31505038e-01 -6.81814909e-01 -5.36749957e-03 -3.31865676e+02] [ 7.43493223e-03 1.04631323e-04 9.99972355e-01 -5.89150319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters 0.04929381606058885 Centerline is valid? [True, True] Translation: X:442.22, Y:-331.83, Z:-5.89 [[-6.82328024e-01 -7.31027054e-01 5.28343230e-03 4.42220875e+02] [ 7.31006300e-01 -6.82348471e-01 -5.50941609e-03 -3.31828113e+02] [ 7.63267416e-03 1.02993305e-04 9.99970865e-01 -5.89369659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters 0.04876609155451358 Centerline is valid? [True, True] Translation: X:442.19, Y:-331.78, Z:-5.89 [[-6.82849380e-01 -7.30545720e-01 4.43574793e-03 4.42186438e+02] [ 7.30531090e-01 -6.82863782e-01 -4.62413405e-03 -3.31782236e+02] [ 6.40715295e-03 8.28646949e-05 9.99979471e-01 -5.89021296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters 0.049492661272214945 Centerline is valid? [True, True] Translation: X:442.15, Y:-331.74, Z:-5.89 [[-6.83592273e-01 -7.29854017e-01 3.83628425e-03 4.42146776e+02] [ 7.29843070e-01 -6.83603035e-01 -3.99798929e-03 -3.31742559e+02] [ 5.54044410e-03 6.68908904e-05 9.99984649e-01 -5.89150485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters 0.04801900616875968 Centerline is valid? [True, True] Translation: X:442.11, Y:-331.70, Z:-5.89 [[-6.84216001e-01 -7.29271182e-01 3.46493881e-03 4.42109440e+02] [ 7.29262250e-01 -6.84224772e-01 -3.60984466e-03 -3.31699711e+02] [ 5.00335265e-03 5.69355954e-05 9.99987482e-01 -5.89093211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters 0.04844760136645951 Centerline is valid? [True, True] Translation: X:442.07, Y:-331.66, Z:-5.89 [[-6.83188285e-01 -7.30237538e-01 2.62759642e-03 4.42067969e+02] [ 7.30232412e-01 -6.83193337e-01 -2.73677488e-03 -3.31659049e+02] [ 3.79365211e-03 4.90235292e-05 9.99992803e-01 -5.89030477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters 0.048239420975110664 Centerline is valid? [True, True] Translation: X:442.03, Y:-331.62, Z:-5.89 [[-6.82474709e-01 -7.30901281e-01 3.40413595e-03 4.42026991e+02] [ 7.30892689e-01 -6.82483196e-01 -3.54466242e-03 -3.31617903e+02] [ 4.91406389e-03 6.89156237e-05 9.99987924e-01 -5.89105983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters 0.048331805009904645 Centerline is valid? [True, True] Translation: X:441.99, Y:-331.58, Z:-5.89 [[-6.81962911e-01 -7.31378119e-01 3.55475239e-03 4.41986810e+02] [ 7.31368761e-01 -6.81972171e-01 -3.70053294e-03 -3.31576408e+02] [ 5.13073103e-03 7.62086348e-05 9.99986835e-01 -5.89244597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters 0.04912382216363652 Centerline is valid? [True, True] Translation: X:441.95, Y:-331.53, Z:-5.89 [[-6.81675815e-01 -7.31645360e-01 3.62624742e-03 4.41947353e+02] [ 7.31635632e-01 -6.81685456e-01 -3.77385799e-03 -3.31534801e+02] [ 5.23308581e-03 8.05441016e-05 9.99986304e-01 -5.89181085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters 0.04885316181241617 Centerline is valid? [True, True] Translation: X:441.91, Y:-331.50, Z:-5.89 [[-6.80966804e-01 -7.32307273e-01 3.20468581e-03 4.41905995e+02] [ 7.32299687e-01 -6.80974340e-01 -3.33422525e-03 -3.31495911e+02] [ 4.62398621e-03 7.62937046e-05 9.99989306e-01 -5.89308893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters 0.04847929007222187 Centerline is valid? [True, True] Translation: X:441.87, Y:-331.45, Z:-5.89 [[-6.80736453e-01 -7.32518535e-01 3.80497765e-03 4.41866298e+02] [ 7.32507849e-01 -6.80747080e-01 -3.95776181e-03 -3.31453218e+02] [ 5.48936131e-03 9.29832584e-05 9.99984929e-01 -5.89308578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters 0.048635152665883606 Centerline is valid? [True, True] Translation: X:441.82, Y:-331.42, Z:-5.89 [[-6.81630831e-01 -7.31688268e-01 3.41893184e-03 4.41823742e+02] [ 7.31679634e-01 -6.81639401e-01 -3.55531864e-03 -3.31415189e+02] [ 4.93186359e-03 7.81479993e-05 9.99987835e-01 -5.89385521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters 0.04853761304306728 Centerline is valid? [True, True] Translation: X:441.79, Y:-331.37, Z:-5.89 [[-6.82162648e-01 -7.31196512e-01 2.40476412e-03 4.41785630e+02] [ 7.31192240e-01 -6.82166884e-01 -2.50001456e-03 -3.31371939e+02] [ 3.46845238e-03 5.29283149e-05 9.99993984e-01 -5.89207303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters 0.04853761304306728 Centerline is valid? [True, True] Translation: X:441.75, Y:-331.33, Z:-5.89 [[-6.82268675e-01 -7.31097579e-01 2.40512656e-03 4.41746328e+02] [ 7.31093308e-01 -6.82272912e-01 -2.49966588e-03 -3.31331063e+02] [ 3.46845238e-03 5.29282042e-05 9.99993984e-01 -5.89207234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters 0.049179361279975915 Centerline is valid? [True, True] Translation: X:441.70, Y:-331.29, Z:-5.89 [[-6.82254158e-01 -7.31111063e-01 2.42435130e-03 4.41704356e+02] [ 7.31106726e-01 -6.82258463e-01 -2.51888012e-03 -3.31293395e+02] [ 3.49561532e-03 5.39431062e-05 9.99993889e-01 -5.89278484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters 0.048784886256495734 Centerline is valid? [True, True] Translation: X:441.66, Y:-331.25, Z:-5.89 [[-6.81972020e-01 -7.31372639e-01 2.86803152e-03 4.41664419e+02] [ 7.31366576e-01 -6.81978048e-01 -2.97895810e-03 -3.31253199e+02] [ 4.13466298e-03 6.60163179e-05 9.99991450e-01 -5.89350120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters 0.048339674582020827 Centerline is valid? [True, True] Translation: X:441.63, Y:-331.21, Z:-5.89 [[-6.82269901e-01 -7.31093282e-01 3.22410694e-03 4.41627243e+02] [ 7.31085621e-01 -6.82277515e-01 -3.34775913e-03 -3.31211421e+02] [ 4.64725988e-03 7.30229297e-05 9.99989199e-01 -5.89403373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters 0.04891104295078899 Centerline is valid? [True, True] Translation: X:441.59, Y:-331.17, Z:-5.89 [[-6.83286548e-01 -7.30142713e-01 3.33357453e-03 4.41589321e+02] [ 7.30134517e-01 -6.83294676e-01 -3.46033183e-03 -3.31169618e+02] [ 4.80434980e-03 6.95596390e-05 9.99988457e-01 -5.89446776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters 0.04845449140738476 Centerline is valid? [True, True] Translation: X:441.55, Y:-331.13, Z:-5.90 [[-6.84794243e-01 -7.28728609e-01 3.38520850e-03 4.41551440e+02] [ 7.28720144e-01 -6.84802607e-01 -3.51288159e-03 -3.31127920e+02] [ 4.87813692e-03 6.12685361e-05 9.99988100e-01 -5.89500081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters 0.048363000871874645 Centerline is valid? [True, True] Translation: X:441.52, Y:-331.08, Z:-5.89 [[-6.86274199e-01 -7.27334874e-01 3.42113650e-03 4.41515248e+02] [ 7.27326216e-01 -6.86282724e-01 -3.54928983e-03 -3.31082719e+02] [ 4.92938915e-03 5.24962345e-05 9.99987849e-01 -5.89423532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters 0.04820757446643996 Centerline is valid? [True, True] Translation: X:441.48, Y:-331.04, Z:-5.89 [[-6.86968306e-01 -7.26678964e-01 3.49706849e-03 4.41476001e+02] [ 7.26669914e-01 -6.86977205e-01 -3.62707778e-03 -3.31041629e+02] [ 5.03812746e-03 4.95269761e-05 9.99987307e-01 -5.89491850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters 0.04842474335537266 Centerline is valid? [True, True] Translation: X:441.44, Y:-331.00, Z:-5.90 [[-6.86785965e-01 -7.26852625e-01 3.20922280e-03 4.41435834e+02] [ 7.26845009e-01 -6.86793462e-01 -3.32770441e-03 -3.31000190e+02] [ 4.62282392e-03 4.71868935e-05 9.99989314e-01 -5.89522126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters 0.0483871299420996 Centerline is valid? [True, True] Translation: X:441.40, Y:-330.96, Z:-5.90 [[-6.86285892e-01 -7.27325290e-01 3.09789242e-03 4.41396145e+02] [ 7.27318202e-01 -6.86292883e-01 -3.21125367e-03 -3.30960347e+02] [ 4.46168752e-03 4.93154551e-05 9.99990045e-01 -5.89533623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters 0.04824653454520546 Centerline is valid? [True, True] Translation: X:441.36, Y:-330.92, Z:-5.90 [[-6.86252319e-01 -7.27356777e-01 3.14219836e-03 4.41356212e+02] [ 7.27349490e-01 -6.86259511e-01 -3.25623188e-03 -3.30919585e+02] [ 4.52480584e-03 5.08796997e-05 9.99989762e-01 -5.89523272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters 0.048114734776985704 Centerline is valid? [True, True] Translation: X:441.32, Y:-330.88, Z:-5.90 [[-6.87001563e-01 -7.26648500e-01 3.28775562e-03 4.41315639e+02] [ 7.26640519e-01 -6.87009428e-01 -3.40602749e-03 -3.30880067e+02] [ 4.73370388e-03 4.90702438e-05 9.99988795e-01 -5.89565631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters 0.048092140480363435 Centerline is valid? [True, True] Translation: X:441.28, Y:-330.84, Z:-5.89 [[-6.88089558e-01 -7.25616909e-01 3.58617477e-03 4.41277445e+02] [ 7.25607404e-01 -6.88098902e-01 -3.71426316e-03 -3.30836821e+02] [ 5.16277508e-03 4.64092672e-05 9.99986672e-01 -5.89478436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters 0.04871214407131153 Centerline is valid? [True, True] Translation: X:441.24, Y:-330.80, Z:-5.90 [[-6.89885573e-01 -7.23900592e-01 5.08221165e-03 4.41238411e+02] [ 7.23881468e-01 -6.89904291e-01 -5.26208615e-03 -3.30796724e+02] [ 7.31546690e-03 4.86815093e-05 9.99973240e-01 -5.89616668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters 0.04865109668707885 Centerline is valid? [True, True] Translation: X:441.20, Y:-330.75, Z:-5.90 [[-6.91449857e-01 -7.22400358e-01 5.90073018e-03 4.41199312e+02] [ 7.22374538e-01 -6.91475033e-01 -6.10779820e-03 -3.30754983e+02] [ 8.49248320e-03 3.93010449e-05 9.99963937e-01 -5.89672702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters 0.04829359152805249 Centerline is valid? [True, True] Translation: X:441.16, Y:-330.71, Z:-5.90 [[-6.93222178e-01 -7.20696474e-01 6.29321771e-03 4.41161814e+02] [ 7.20667054e-01 -6.93250743e-01 -6.51185622e-03 -3.30714696e+02] [ 9.05584967e-03 2.11515169e-05 9.99958995e-01 -5.89816012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters 0.04897339267116452 Centerline is valid? [True, True] Translation: X:441.12, Y:-330.67, Z:-5.89 [[-6.95271849e-01 -7.18723702e-01 5.77027375e-03 4.41124368e+02] [ 7.18698917e-01 -6.95295793e-01 -5.96877789e-03 -3.30673760e+02] [ 8.30194920e-03 -2.83373783e-06 9.99965538e-01 -5.89492854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters 0.04874315894334004 Centerline is valid? [True, True] Translation: X:441.08, Y:-330.63, Z:-5.89 [[-6.95700676e-01 -7.18313249e-01 5.16203580e-03 4.41084089e+02] [ 7.18293412e-01 -6.95719826e-01 -5.33831212e-03 -3.30631422e+02] [ 7.42591098e-03 -6.01104252e-06 9.99972428e-01 -5.89475298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters 0.04841369569822492 Centerline is valid? [True, True] Translation: X:441.04, Y:-330.59, Z:-5.90 [[-6.93789104e-01 -7.20162458e-01 4.76591367e-03 4.41043970e+02] [ 7.20145602e-01 -6.93805473e-01 -4.92728232e-03 -3.30590827e+02] [ 6.85506073e-03 1.36569813e-05 9.99976504e-01 -5.89509510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters 0.04856142062607299 Centerline is valid? [True, True] Translation: X:441.00, Y:-330.55, Z:-5.90 [[-6.91698638e-01 -7.22173069e-01 4.36506551e-03 4.41003298e+02] [ 7.22158977e-01 -6.91712410e-01 -4.51149445e-03 -3.30552236e+02] [ 6.27744978e-03 3.16766839e-05 9.99980296e-01 -5.89574498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters 0.04870246731263525 Centerline is valid? [True, True] Translation: X:440.96, Y:-330.52, Z:-5.90 [[-6.88222571e-01 -7.25487359e-01 4.21729715e-03 4.40959135e+02] [ 7.25474275e-01 -6.88235489e-01 -4.35749949e-03 -3.30516798e+02] [ 6.06380436e-03 6.06110886e-05 9.99981613e-01 -5.89708545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters 0.04860307648271927 Centerline is valid? [True, True] Translation: X:440.92, Y:-330.48, Z:-5.90 [[-6.85769975e-01 -7.27804200e-01 4.53740142e-03 4.40918303e+02] [ 7.27789114e-01 -6.85784980e-01 -4.68695083e-03 -3.30476302e+02] [ 6.52286424e-03 8.81012091e-05 9.99978722e-01 -5.89694737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters 0.048682341196139026 Centerline is valid? [True, True] Translation: X:440.88, Y:-330.44, Z:-5.90 [[-6.82741748e-01 -7.30643004e-01 4.95037688e-03 4.40876770e+02] [ 7.30625131e-01 -6.82759683e-01 -5.11210578e-03 -3.30436844e+02] [ 7.11504207e-03 1.26621718e-04 9.99974680e-01 -5.89668929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters 0.04839958716818742 Centerline is valid? [True, True] Translation: X:440.84, Y:-330.39, Z:-5.90 [[-6.82102204e-01 -7.31239410e-01 5.05061691e-03 4.40836366e+02] [ 7.31220831e-01 -6.82120889e-01 -5.21432712e-03 -3.30394119e+02] [ 7.25805278e-03 1.36412270e-04 9.99973651e-01 -5.89593546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters 0.04846775160289817 Centerline is valid? [True, True] Translation: X:440.80, Y:-330.35, Z:-5.90 [[-6.83367960e-01 -7.30052240e-01 5.65310149e-03 4.40795295e+02] [ 7.30028936e-01 -6.83391328e-01 -5.83484666e-03 -3.30354100e+02] [ 8.12302341e-03 1.39580404e-04 9.99966998e-01 -5.89723242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters 0.04858041061145296 Centerline is valid? [True, True] Translation: X:440.76, Y:-330.31, Z:-5.90 [[-6.84670167e-01 -7.28834747e-01 5.16468666e-03 4.40756451e+02] [ 7.28815271e-01 -6.84689637e-01 -5.32935368e-03 -3.30311121e+02] [ 7.42042557e-03 1.15253036e-04 9.99972462e-01 -5.89642408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters 0.04829492130599141 Centerline is valid? [True, True] Translation: X:440.72, Y:-330.27, Z:-5.89 [[-6.87636951e-01 -7.26043066e-01 4.10975107e-03 4.40719643e+02] [ 7.26030691e-01 -6.87649229e-01 -4.23961786e-03 -3.30266551e+02] [ 5.90421230e-03 6.84875102e-05 9.99982568e-01 -5.89453357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters 0.04873520577175204 Centerline is valid? [True, True] Translation: X:440.68, Y:-330.22, Z:-5.89 [[-6.89774148e-01 -7.24016365e-01 3.45374134e-03 4.40680820e+02] [ 7.24007604e-01 -6.89782793e-01 -3.56199584e-03 -3.30223628e+02] [ 4.96127462e-03 4.35623449e-05 9.99987692e-01 -5.89457667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters 0.047901986414616154 Centerline is valid? [True, True] Translation: X:440.64, Y:-330.18, Z:-5.89 [[-6.91496315e-01 -7.22374046e-01 2.92977905e-03 4.40642276e+02] [ 7.22367730e-01 -6.91502521e-01 -3.02082047e-03 -3.30179534e+02] [ 4.20811191e-03 2.74916234e-05 9.99991146e-01 -5.89369754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters 0.04765440162377924 Centerline is valid? [True, True] Translation: X:440.60, Y:-330.14, Z:-5.89 [[-6.92438478e-01 -7.21473504e-01 2.22184621e-03 4.40604395e+02] [ 7.21469869e-01 -6.92442043e-01 -2.29025466e-03 -3.30136633e+02] [ 3.19085779e-03 1.71346416e-05 9.99994909e-01 -5.89281729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters 0.04785738443090804 Centerline is valid? [True, True] Translation: X:440.56, Y:-330.10, Z:-5.89 [[-6.91517125e-01 -7.22357387e-01 1.96765114e-03 4.40563913e+02] [ 7.22354541e-01 -6.91519924e-01 -2.02776224e-03 -3.30097657e+02] [ 2.82543900e-03 1.91094258e-05 9.99996008e-01 -5.89384540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters 0.0483425549361219 Centerline is valid? [True, True] Translation: X:440.52, Y:-330.06, Z:-5.89 [[-6.88841554e-01 -7.24909977e-01 1.68506295e-03 4.40521565e+02] [ 7.24907899e-01 -6.88843614e-01 -1.73599615e-03 -3.30060118e+02] [ 2.41918578e-03 2.56891556e-05 9.99997073e-01 -5.89394521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters 0.04824216167592199 Centerline is valid? [True, True] Translation: X:440.48, Y:-330.02, Z:-5.89 [[-6.86999930e-01 -7.26655973e-01 1.48068205e-03 4.40480219e+02] [ 7.26654374e-01 -6.87001525e-01 -1.52498569e-03 -3.30021301e+02] [ 2.12537079e-03 2.82790188e-05 9.99997741e-01 -5.89358766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters 0.048630055687012765 Centerline is valid? [True, True] Translation: X:440.44, Y:-329.98, Z:-5.89 [[-6.85263257e-01 -7.28292545e-01 2.05843471e-03 4.40438201e+02] [ 7.28289463e-01 -6.85266347e-01 -2.11933635e-03 -3.29984622e+02] [ 2.95407290e-03 4.68329751e-05 9.99995636e-01 -5.89458077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters 0.048556236306943425 Centerline is valid? [True, True] Translation: X:440.40, Y:-329.94, Z:-5.90 [[-6.85109873e-01 -7.28434856e-01 2.66882288e-03 4.40399281e+02] [ 7.28429679e-01 -6.85115069e-01 -2.74695007e-03 -3.29943854e+02] [ 3.82942495e-03 6.20871732e-05 9.99992666e-01 -5.89516565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters 0.04798307088018985 Centerline is valid? [True, True] Translation: X:440.36, Y:-329.90, Z:-5.90 [[-6.85595651e-01 -7.27975859e-01 3.12290544e-03 4.40360641e+02] [ 7.27968771e-01 -6.85602760e-01 -3.21326339e-03 -3.29903766e+02] [ 4.48025077e-03 7.03782325e-05 9.99989961e-01 -5.89570964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters 0.04818910654161961 Centerline is valid? [True, True] Translation: X:440.32, Y:-329.86, Z:-5.89 [[-6.86178786e-01 -7.27428219e-01 2.61915308e-03 4.40322906e+02] [ 7.27423232e-01 -6.86183782e-01 -2.69410648e-03 -3.29861832e+02] [ 3.75698945e-03 5.65940843e-05 9.99992941e-01 -5.89453701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters 0.04831893046647999 Centerline is valid? [True, True] Translation: X:440.28, Y:-329.82, Z:-5.89 [[-6.87114627e-01 -7.26547802e-01 1.33406882e-03 4.40284445e+02] [ 7.26546508e-01 -6.87115922e-01 -1.37189900e-03 -3.29818236e+02] [ 1.91341013e-03 2.66111711e-05 9.99998169e-01 -5.89272200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters 0.04841709327700339 Centerline is valid? [True, True] Translation: X:440.24, Y:-329.78, Z:-5.89 [[-6.87018018e-01 -7.26640242e-01 4.48973028e-04 4.40244069e+02] [ 7.26640096e-01 -6.87018165e-01 -4.61589489e-04 -3.29780958e+02] [ 6.43862124e-04 9.12150778e-06 9.99999793e-01 -5.89203133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters 0.04898916399828737 Centerline is valid? [True, True] Translation: X:440.20, Y:-329.74, Z:-5.89 [[-6.85477633e-01 -7.28093553e-01 4.38752052e-04 4.40201185e+02] [ 7.28093414e-01 -6.85477773e-01 -4.50945282e-04 -3.29743885e+02] [ 6.29085132e-04 1.03395750e-05 9.99999802e-01 -5.89181219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters 0.049005336853040087 Centerline is valid? [True, True] Translation: X:440.16, Y:-329.70, Z:-5.89 [[-6.83449929e-01 -7.29996474e-01 1.15895628e-03 4.40162052e+02] [ 7.29995503e-01 -6.83450911e-01 -1.19093537e-03 -3.29701759e+02] [ 1.66146835e-03 3.20881794e-05 9.99998619e-01 -5.89260128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters 0.049542490482606796 Centerline is valid? [True, True] Translation: X:440.12, Y:-329.67, Z:-5.89 [[-6.81559511e-01 -7.31759143e-01 2.27833289e-03 4.40117596e+02] [ 7.31755403e-01 -6.81563315e-01 -2.34049614e-03 -3.29666606e+02] [ 3.26550756e-03 7.19949959e-05 9.99994666e-01 -5.89413564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters 0.04868952851604538 Centerline is valid? [True, True] Translation: X:440.08, Y:-329.62, Z:-5.89 [[-6.80717439e-01 -7.32534300e-01 4.15553162e-03 4.40080301e+02] [ 7.32521881e-01 -6.80730108e-01 -4.26774923e-03 -3.29622808e+02] [ 5.95506818e-03 1.38886516e-04 9.99982259e-01 -5.89426552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters 0.049469557294406837 Centerline is valid? [True, True] Translation: X:440.04, Y:-329.59, Z:-5.90 [[-6.81268585e-01 -7.32020285e-01 4.40651883e-03 4.40036618e+02] [ 7.32006319e-01 -6.81282820e-01 -4.52414557e-03 -3.29587221e+02] [ 6.31385191e-03 1.43441375e-04 9.99980057e-01 -5.89603730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters 0.049336233275400605 Centerline is valid? [True, True] Translation: X:440.00, Y:-329.54, Z:-5.89 [[-6.85050275e-01 -7.28483129e-01 4.29550221e-03 4.40002082e+02] [ 7.28469796e-01 -6.85063733e-01 -4.40888740e-03 -3.29541414e+02] [ 6.15449287e-03 1.08834092e-04 9.99981055e-01 -5.89471112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters 0.04894820379148717 Centerline is valid? [True, True] Translation: X:439.96, Y:-329.50, Z:-5.89 [[-6.88920012e-01 -7.24826039e-01 4.05338813e-03 4.39964391e+02] [ 7.24814109e-01 -6.88931933e-01 -4.15930712e-03 -3.29497240e+02] [ 5.80728262e-03 7.25229976e-05 9.99983135e-01 -5.89385315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters 0.04895421738518401 Centerline is valid? [True, True] Translation: X:439.93, Y:-329.45, Z:-5.89 [[-6.95570513e-01 -7.18449977e-01 3.36043935e-03 4.39927653e+02] [ 7.18441706e-01 -6.95578630e-01 -3.44739849e-03 -3.29451811e+02] [ 4.81423317e-03 1.63710458e-05 9.99988411e-01 -5.89226885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters 0.04829527107742822 Centerline is valid? [True, True] Translation: X:439.89, Y:-329.41, Z:-5.89 [[-6.99417228e-01 -7.14706312e-01 3.22946872e-03 4.39888806e+02] [ 7.14698637e-01 -6.99424684e-01 -3.31220684e-03 -3.29408452e+02] [ 4.62602528e-03 -8.51763507e-06 9.99989300e-01 -5.89213185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters 0.04899647713878406 Centerline is valid? [True, True] Translation: X:439.85, Y:-329.37, Z:-5.89 [[-7.02341179e-01 -7.11831737e-01 3.52797076e-03 4.39850660e+02] [ 7.11822546e-01 -7.02350039e-01 -3.61738645e-03 -3.29366139e+02] [ 5.05284088e-03 -2.93503356e-05 9.99987234e-01 -5.89309588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters 0.048465342586592165 Centerline is valid? [True, True] Translation: X:439.81, Y:-329.33, Z:-5.90 [[-7.04191966e-01 -7.09993454e-01 4.79284368e-03 4.39811652e+02] [ 7.09976459e-01 -7.04208274e-01 -4.91276992e-03 -3.29325619e+02] [ 6.86319465e-03 -5.67269210e-05 9.99976446e-01 -5.89565629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters 0.0492917389224427 Centerline is valid? [True, True] Translation: X:439.77, Y:-329.29, Z:-5.90 [[-7.03892701e-01 -7.10281048e-01 5.99142082e-03 4.39771777e+02] [ 7.10254519e-01 -7.03918197e-01 -6.13922500e-03 -3.29287312e+02] [ 8.57804531e-03 -6.59219588e-05 9.99963206e-01 -5.89661649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters 0.04901730450817716 Centerline is valid? [True, True] Translation: X:439.73, Y:-329.25, Z:-5.90 [[-7.02153565e-01 -7.11990634e-01 7.05040873e-03 4.39731728e+02] [ 7.11954007e-01 -7.02188959e-01 -7.22201743e-03 -3.29249555e+02] [ 1.00927279e-02 -5.13985268e-05 9.99949066e-01 -5.89846069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters 0.04938459620234038 Centerline is valid? [True, True] Translation: X:439.69, Y:-329.21, Z:-5.90 [[-7.00595267e-01 -7.13521960e-01 7.25838661e-03 4.39689330e+02] [ 7.13483245e-01 -7.00632865e-01 -7.43279942e-03 -3.29211178e+02] [ 1.03889298e-02 -2.86468633e-05 9.99946033e-01 -5.89526392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters 0.0485121085272547 Centerline is valid? [True, True] Translation: X:439.65, Y:-329.17, Z:-5.90 [[-6.98533779e-01 -7.15549416e-01 6.29229350e-03 4.39648444e+02] [ 7.15520422e-01 -6.98562118e-01 -6.44148808e-03 -3.29172165e+02] [ 9.00476091e-03 2.66748982e-06 9.99959456e-01 -5.89662169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters 0.04861510610796086 Centerline is valid? [True, True] Translation: X:439.61, Y:-329.13, Z:-5.89 [[-6.97086244e-01 -7.16970763e-01 4.86762765e-03 4.39607828e+02] [ 7.16953457e-01 -6.97103238e-01 -4.98146775e-03 -3.29132451e+02] [ 6.96480573e-03 1.73498323e-05 9.99975745e-01 -5.89367444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters 0.04846277374393603 Centerline is valid? [True, True] Translation: X:439.57, Y:-329.10, Z:-5.89 [[-6.93799759e-01 -7.20163432e-01 2.55440704e-03 4.39566476e+02] [ 7.20158691e-01 -6.93804461e-01 -2.61328661e-03 -3.29095619e+02] [ 3.65425245e-03 2.64808110e-05 9.99993323e-01 -5.89177877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters 0.04967464312547316 Centerline is valid? [True, True] Translation: X:439.52, Y:-329.06, Z:-5.89 [[-6.90925950e-01 -7.22921589e-01 2.38894754e-03 4.39523911e+02] [ 7.22917462e-01 -6.90930079e-01 -2.44317583e-03 -3.29060653e+02] [ 3.41682027e-03 3.89583142e-05 9.99994162e-01 -5.89237265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters 0.04936417018740547 Centerline is valid? [True, True] Translation: X:439.48, Y:-329.02, Z:-5.89 [[-6.85912228e-01 -7.27677502e-01 3.14132142e-03 4.39481317e+02] [ 7.27670419e-01 -6.85919417e-01 -3.21165195e-03 -3.29023019e+02] [ 4.49174022e-03 8.29353273e-05 9.99989909e-01 -5.89250851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters 0.04855812454975084 Centerline is valid? [True, True] Translation: X:439.44, Y:-328.98, Z:-5.89 [[-6.83553882e-01 -7.29888386e-01 4.12729603e-03 4.39440934e+02] [ 7.29876207e-01 -6.83566330e-01 -4.21843232e-03 -3.28983531e+02] [ 5.90026536e-03 1.28889378e-04 9.99982585e-01 -5.89321789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters 0.04872208005936808 Centerline is valid? [True, True] Translation: X:439.40, Y:-328.94, Z:-5.89 [[-6.81719310e-01 -7.31590702e-01 5.81615284e-03 4.39401166e+02] [ 7.31566588e-01 -6.81744090e-01 -5.94341966e-03 -3.28942252e+02] [ 8.31327839e-03 2.03159140e-04 9.99965424e-01 -5.89399176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters 0.04915375211399569 Centerline is valid? [True, True] Translation: X:439.36, Y:-328.90, Z:-5.89 [[-6.82055728e-01 -7.31268911e-01 6.76496492e-03 4.39360571e+02] [ 7.31236290e-01 -6.82089236e-01 -6.91101734e-03 -3.28902562e+02] [ 9.66812188e-03 2.33088892e-04 9.99953235e-01 -5.89494644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters 0.049381860744372515 Centerline is valid? [True, True] Translation: X:439.32, Y:-328.86, Z:-5.90 [[-6.85281215e-01 -7.28255276e-01 5.82312713e-03 4.39322313e+02] [ 7.28231012e-01 -6.85305935e-01 -5.94709637e-03 -3.28860547e+02] [ 8.32162790e-03 1.65148335e-04 9.99965361e-01 -5.89536089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters 0.049001786943912405 Centerline is valid? [True, True] Translation: X:439.29, Y:-328.81, Z:-5.89 [[-6.89290788e-01 -7.24471123e-01 4.44997656e-03 4.39287652e+02] [ 7.24456881e-01 -6.89305146e-01 -4.54344275e-03 -3.28814023e+02] [ 6.35898481e-03 9.20629082e-05 9.99979777e-01 -5.89310173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters 0.048776077597407624 Centerline is valid? [True, True] Translation: X:439.25, Y:-328.77, Z:-5.89 [[-6.93884780e-01 -7.20077921e-01 3.42057997e-03 4.39249627e+02] [ 7.20069457e-01 -6.93893210e-01 -3.49145524e-03 -3.28771113e+02] [ 4.88763704e-03 4.03875074e-05 9.99988055e-01 -5.89415487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters 0.0485416125932467 Centerline is valid? [True, True] Translation: X:439.22, Y:-328.72, Z:-5.89 [[-6.99838507e-01 -7.14297865e-01 2.15032168e-03 4.39216030e+02] [ 7.14294494e-01 -6.99841811e-01 -2.19450862e-03 -3.28722233e+02] [ 3.07241784e-03 1.61297541e-07 9.99995280e-01 -5.89249791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters 0.04857086953743498 Centerline is valid? [True, True] Translation: X:439.18, Y:-328.68, Z:-5.89 [[-7.02810382e-01 -7.11372117e-01 2.69775723e-03 4.39178522e+02] [ 7.11366793e-01 -7.02815560e-01 -2.75241126e-03 -3.28678381e+02] [ 3.85401438e-03 -1.53282976e-05 9.99992573e-01 -5.89358492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters 0.049058536373235206 Centerline is valid? [True, True] Translation: X:439.14, Y:-328.64, Z:-5.89 [[-7.03000285e-01 -7.11179987e-01 3.69137802e-03 4.39139265e+02] [ 7.11170021e-01 -7.03009976e-01 -3.76497217e-03 -3.28638480e+02] [ 5.27264843e-03 -2.15791177e-05 9.99986099e-01 -5.89486814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters 0.049013549372908485 Centerline is valid? [True, True] Translation: X:439.10, Y:-328.60, Z:-5.90 [[-7.00714320e-01 -7.13421923e-01 5.34801877e-03 4.39095859e+02] [ 7.13401075e-01 -7.00734729e-01 -5.45400323e-03 -3.28598384e+02] [ 7.63854795e-03 -6.41582670e-06 9.99970826e-01 -5.89503872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters 0.04912081741607197 Centerline is valid? [True, True] Translation: X:439.05, Y:-328.56, Z:-5.90 [[-6.99535653e-01 -7.14570740e-01 6.20707975e-03 4.39054449e+02] [ 7.14542717e-01 -6.99563191e-01 -6.32834643e-03 -3.28558598e+02] [ 8.86429570e-03 8.31967008e-06 9.99960711e-01 -5.89768585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters 0.0482925453461096 Centerline is valid? [True, True] Translation: X:439.01, Y:-328.52, Z:-5.90 [[-6.98905445e-01 -7.15191498e-01 5.68320602e-03 4.39013296e+02] [ 7.15168041e-01 -6.98928552e-01 -5.79250037e-03 -3.28518743e+02] [ 8.11490197e-03 1.60372640e-05 9.99967074e-01 -5.89696871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters 0.04894611735557059 Centerline is valid? [True, True] Translation: X:438.97, Y:-328.48, Z:-5.90 [[-6.99037440e-01 -7.15068119e-01 4.92370403e-03 4.38971561e+02] [ 7.15050518e-01 -6.99054780e-01 -5.01703865e-03 -3.28478319e+02] [ 7.02946323e-03 1.35992617e-05 9.99975293e-01 -5.89534348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters 0.048285745905376445 Centerline is valid? [True, True] Translation: X:438.93, Y:-328.44, Z:-5.90 [[-6.99528916e-01 -7.14592979e-01 4.02127093e-03 4.38930950e+02] [ 7.14581238e-01 -6.99540474e-01 -4.09638614e-03 -3.28438246e+02] [ 5.74029055e-03 7.98419693e-06 9.99983524e-01 -5.89560106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters 0.04834872912880352 Centerline is valid? [True, True] Translation: X:438.89, Y:-328.40, Z:-5.89 [[-6.99537078e-01 -7.14590387e-01 2.90788153e-03 4.38891900e+02] [ 7.14584251e-01 -6.99543122e-01 -2.96123735e-03 -3.28399152e+02] [ 4.15026027e-03 6.43102422e-06 9.99991388e-01 -5.89450257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters 0.04841173650187476 Centerline is valid? [True, True] Translation: X:438.85, Y:-328.36, Z:-5.89 [[-6.99180144e-01 -7.14941565e-01 2.38419954e-03 4.38851807e+02] [ 7.14937445e-01 -6.99184209e-01 -2.42720654e-03 -3.28358535e+02] [ 3.40230551e-03 7.49891134e-06 9.99994212e-01 -5.89243155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters 0.04845633073915153 Centerline is valid? [True, True] Translation: X:438.81, Y:-328.32, Z:-5.89 [[-6.99109601e-01 -7.15010386e-01 2.43184094e-03 4.38810779e+02] [ 7.15006102e-01 -6.99113831e-01 -2.47503615e-03 -3.28317421e+02] [ 3.46981019e-03 8.45957978e-06 9.99993980e-01 -5.89214507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters 0.0486981463923502 Centerline is valid? [True, True] Translation: X:438.77, Y:-328.28, Z:-5.89 [[-6.97900521e-01 -7.16187967e-01 3.10777914e-03 4.38768386e+02] [ 7.16180987e-01 -6.97907440e-01 -3.16212820e-03 -3.28277555e+02] [ 4.43362035e-03 1.88814120e-05 9.99990171e-01 -5.89247796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters 0.04830315291245597 Centerline is valid? [True, True] Translation: X:438.73, Y:-328.24, Z:-5.89 [[-6.96805219e-01 -7.17250616e-01 3.74699033e-03 4.38728794e+02] [ 7.17240488e-01 -6.96815293e-01 -3.81176536e-03 -3.28236839e+02] [ 5.34495122e-03 3.14351707e-05 9.99985715e-01 -5.89061712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters 0.049050455588692275 Centerline is valid? [True, True] Translation: X:438.69, Y:-328.20, Z:-5.89 [[-6.96468811e-01 -7.17576185e-01 3.95152146e-03 4.38686048e+02] [ 7.17564933e-01 -6.96480019e-01 -4.01867067e-03 -3.28199434e+02] [ 5.63585811e-03 3.65944480e-05 9.99984118e-01 -5.89271302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters 0.04837067237134655 Centerline is valid? [True, True] Translation: X:438.65, Y:-328.16, Z:-5.89 [[-6.97054542e-01 -7.17006157e-01 4.13947044e-03 4.38646466e+02] [ 7.16993807e-01 -6.97066833e-01 -4.20846305e-03 -3.28159652e+02] [ 5.90298147e-03 3.44463887e-05 9.99982577e-01 -5.89261340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters 0.0486066985379399 Centerline is valid? [True, True] Translation: X:438.61, Y:-328.12, Z:-5.89 [[-6.98456574e-01 -7.15638125e-01 4.52639160e-03 4.38607541e+02] [ 7.15623340e-01 -6.98471240e-01 -4.60028856e-03 -3.28120634e+02] [ 6.45369624e-03 2.60896866e-05 9.99979174e-01 -5.89421043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters 0.04917509490810318 Centerline is valid? [True, True] Translation: X:438.57, Y:-328.08, Z:-5.89 [[-7.01071339e-01 -7.13074555e-01 4.86390098e-03 4.38569727e+02] [ 7.13057431e-01 -7.01088211e-01 -4.94174267e-03 -3.28079422e+02] [ 6.93385459e-03 3.72659056e-06 9.99975961e-01 -5.89244473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters 0.049743454100825736 Centerline is valid? [True, True] Translation: X:438.53, Y:-328.04, Z:-5.89 [[-7.03479770e-01 -7.10696201e-01 5.20793551e-03 4.38530999e+02] [ 7.10676515e-01 -7.03499047e-01 -5.28979368e-03 -3.28037850e+02] [ 7.42321394e-03 -2.01053886e-05 9.99972447e-01 -5.89304905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters 0.04907086173444201 Centerline is valid? [True, True] Translation: X:438.49, Y:-328.00, Z:-5.89 [[-7.04933512e-01 -7.09251307e-01 5.59712042e-03 4.38491531e+02] [ 7.09228536e-01 -7.04955731e-01 -5.68339330e-03 -3.27996968e+02] [ 7.97667624e-03 -3.67768762e-05 9.99968185e-01 -5.89344181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters 0.048918085054764845 Centerline is valid? [True, True] Translation: X:438.45, Y:-327.95, Z:-5.89 [[-7.06550820e-01 -7.07640317e-01 5.57863982e-03 4.38451597e+02] [ 7.07617658e-01 -7.06572840e-01 -5.66311909e-03 -3.27954539e+02] [ 7.94916677e-03 -5.37373939e-05 9.99968403e-01 -5.89325943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters 0.04930576207107944 Centerline is valid? [True, True] Translation: X:438.41, Y:-327.91, Z:-5.89 [[-7.07689815e-01 -7.06500632e-01 5.65531519e-03 4.38412372e+02] [ 7.06477321e-01 -7.07712408e-01 -5.73962472e-03 -3.27913920e+02] [ 8.05738523e-03 -6.65220312e-05 9.99967537e-01 -5.89383430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters 0.04948444277282119 Centerline is valid? [True, True] Translation: X:438.37, Y:-327.87, Z:-5.89 [[-7.08759842e-01 -7.05425838e-01 5.82013621e-03 4.38372578e+02] [ 7.05401125e-01 -7.08783733e-01 -5.90523903e-03 -3.27872247e+02] [ 8.29092606e-03 -7.98656535e-05 9.99965627e-01 -5.89417509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters 0.04973497345416578 Centerline is valid? [True, True] Translation: X:438.33, Y:-327.84, Z:-5.89 [[-7.09665886e-01 -7.04520064e-01 5.08038394e-03 4.38329818e+02] [ 7.04501223e-01 -7.09684066e-01 -5.15295112e-03 -3.27835755e+02] [ 7.23582498e-03 -7.77369291e-05 9.99973818e-01 -5.89061415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters 0.04976630355267866 Centerline is valid? [True, True] Translation: X:438.29, Y:-327.79, Z:-5.89 [[-7.09620311e-01 -7.04567740e-01 4.82852772e-03 4.38288970e+02] [ 7.04550730e-01 -7.09636734e-01 -4.89630511e-03 -3.27794877e+02] [ 6.87627927e-03 -7.25748231e-05 9.99976356e-01 -5.89081063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters 0.04914104476884416 Centerline is valid? [True, True] Translation: X:438.25, Y:-327.76, Z:-5.89 [[-7.08526481e-01 -7.05668029e-01 4.78112944e-03 4.38246576e+02] [ 7.05651382e-01 -7.08542609e-01 -4.84742835e-03 -3.27756268e+02] [ 6.80830914e-03 -6.07207500e-05 9.99976821e-01 -5.89146306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters 0.049176279584230924 Centerline is valid? [True, True] Translation: X:438.20, Y:-327.72, Z:-5.89 [[-7.07211787e-01 -7.06986740e-01 4.60846925e-03 4.38204121e+02] [ 7.06971309e-01 -7.07226801e-01 -4.67130378e-03 -3.27716735e+02] [ 6.56178279e-03 -4.55455516e-05 9.99978470e-01 -5.89160126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters 0.048977209344267886 Centerline is valid? [True, True] Translation: X:438.16, Y:-327.68, Z:-5.89 [[-7.04451482e-01 -7.09742730e-01 3.65618986e-03 4.38162037e+02] [ 7.09733058e-01 -7.04460969e-01 -3.70529131e-03 -3.27678335e+02] [ 5.20544662e-03 -1.52791456e-05 9.99986451e-01 -5.89310368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters 0.048948340333963 Centerline is valid? [True, True] Translation: X:438.12, Y:-327.64, Z:-5.89 [[-7.02026516e-01 -7.12139885e-01 3.94403169e-03 4.38119964e+02] [ 7.12128675e-01 -7.02037595e-01 -3.99572797e-03 -3.27641356e+02] [ 5.61437578e-03 3.55107698e-06 9.99984239e-01 -5.89363711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters 0.04945525859818925 Centerline is valid? [True, True] Translation: X:438.08, Y:-327.61, Z:-5.90 [[-6.96732737e-01 -7.17310838e-01 5.35292079e-03 4.38075276e+02] [ 7.17290353e-01 -6.96753297e-01 -5.42148791e-03 -3.27605470e+02] [ 7.61855725e-03 6.22703300e-05 9.99970976e-01 -5.89568272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters 0.049139723851688556 Centerline is valid? [True, True] Translation: X:438.03, Y:-327.57, Z:-5.90 [[-6.92941922e-01 -7.20964583e-01 6.44691626e-03 4.38033278e+02] [ 7.20935039e-01 -6.92971901e-01 -6.52799963e-03 -3.27567373e+02] [ 9.17398835e-03 1.24283214e-04 9.99957910e-01 -5.89608549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters 0.04910410622993599 Centerline is valid? [True, True] Translation: X:437.99, Y:-327.53, Z:-5.90 [[-6.89670044e-01 -7.24095097e-01 6.44368700e-03 4.37991582e+02] [ 7.24065735e-01 -6.89700125e-01 -6.52292375e-03 -3.27527696e+02] [ 9.16742884e-03 1.66987851e-04 9.99957964e-01 -5.89571989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters 0.04860145682153711 Centerline is valid? [True, True] Translation: X:437.95, Y:-327.49, Z:-5.89 [[-6.89829055e-01 -7.23943719e-01 6.43167625e-03 4.37952294e+02] [ 7.23914477e-01 -6.89859018e-01 -6.50889744e-03 -3.27486204e+02] [ 9.14902528e-03 1.65956976e-04 9.99958133e-01 -5.89489862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters 0.049305846684556794 Centerline is valid? [True, True] Translation: X:437.91, Y:-327.44, Z:-5.89 [[-6.91259986e-01 -7.22576612e-01 6.53239554e-03 4.37913243e+02] [ 7.22546401e-01 -6.91290834e-01 -6.60918259e-03 -3.27442364e+02] [ 9.29142592e-03 1.51295424e-04 9.99956822e-01 -5.89430789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters 0.0488080925688566 Centerline is valid? [True, True] Translation: X:437.87, Y:-327.40, Z:-5.90 [[-6.94094267e-01 -7.19851846e-01 6.81670534e-03 4.37873855e+02] [ 7.19818832e-01 -6.94127729e-01 -6.89528606e-03 -3.27401629e+02] [ 9.69524860e-03 1.20814342e-04 9.99952993e-01 -5.89736285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters 0.048470483086979085 Centerline is valid? [True, True] Translation: X:437.84, Y:-327.36, Z:-5.89 [[-6.96035750e-01 -7.17972028e-01 7.09937973e-03 4.37837937e+02] [ 7.17936140e-01 -6.96071948e-01 -7.17933772e-03 -3.27355072e+02] [ 1.00962427e-02 9.98255608e-05 9.99949027e-01 -5.89435006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters 0.04964043464751939 Centerline is valid? [True, True] Translation: X:437.80, Y:-327.31, Z:-5.90 [[-6.97725306e-01 -7.16326054e-01 7.50874514e-03 4.37798674e+02] [ 7.16285835e-01 -6.97765704e-01 -7.59108093e-03 -3.27314715e+02] [ 1.06770339e-02 8.19185189e-05 9.99942996e-01 -5.89885975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters 0.04913624015366588 Centerline is valid? [True, True] Translation: X:437.76, Y:-327.27, Z:-5.89 [[-6.97328790e-01 -7.16713360e-01 7.38365276e-03 4.37762332e+02] [ 7.16674515e-01 -6.97367874e-01 -7.46238853e-03 -3.27270150e+02] [ 1.04975158e-02 8.79374001e-05 9.99944896e-01 -5.89469652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters 0.04925534840653478 Centerline is valid? [True, True] Translation: X:437.72, Y:-327.23, Z:-5.90 [[-6.95181045e-01 -7.18798747e-01 7.18852546e-03 4.37720279e+02] [ 7.18762055e-01 -6.95218201e-01 -7.26365328e-03 -3.27232350e+02] [ 1.02186986e-02 1.17285254e-04 9.99947781e-01 -5.89683304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters 0.04877358687615991 Centerline is valid? [True, True] Translation: X:437.68, Y:-327.19, Z:-5.89 [[-6.92018346e-01 -7.21846751e-01 6.91927293e-03 4.37681154e+02] [ 7.21812927e-01 -6.92052919e-01 -6.98967102e-03 -3.27190209e+02] [ 9.83397435e-03 1.57440068e-04 9.99951633e-01 -5.89402990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters 0.0482004873144705 Centerline is valid? [True, True] Translation: X:437.64, Y:-327.15, Z:-5.89 [[-6.91379935e-01 -7.22451510e-01 7.58951646e-03 4.37641552e+02] [ 7.22410873e-01 -6.91421566e-01 -7.66477504e-03 -3.27148158e+02] [ 1.07849837e-02 1.83477544e-04 9.99941824e-01 -5.89408888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters 0.049077533627288374 Centerline is valid? [True, True] Translation: X:437.60, Y:-327.11, Z:-5.90 [[-6.92295350e-01 -7.21570092e-01 7.98442853e-03 4.37601997e+02] [ 7.21525087e-01 -6.92341368e-01 -8.06091947e-03 -3.27109160e+02] [ 1.13444686e-02 1.80428430e-04 9.99935633e-01 -5.89659009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters 0.048064082421807104 Centerline is valid? [True, True] Translation: X:437.57, Y:-327.06, Z:-5.89 [[-6.96827358e-01 -7.17197357e-01 7.71904982e-03 4.37567532e+02] [ 7.17155040e-01 -6.96870102e-01 -7.79162829e-03 -3.27062659e+02] [ 1.09673103e-02 1.06335725e-04 9.99939852e-01 -5.89403675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters 0.0490067435888913 Centerline is valid? [True, True] Translation: X:437.53, Y:-327.02, Z:-5.89 [[-6.99087691e-01 -7.15001170e-01 7.05172562e-03 4.37529439e+02] [ 7.14965759e-01 -6.99123253e-01 -7.11623624e-03 -3.27018807e+02] [ 1.00181426e-02 6.68691925e-05 9.99949815e-01 -5.89147319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters 0.048590655700251825 Centerline is valid? [True, True] Translation: X:437.49, Y:-326.97, Z:-5.89 [[-7.06132464e-01 -7.08063306e-01 4.82685399e-03 4.37494483e+02] [ 7.08046558e-01 -7.06148960e-01 -4.87006002e-03 -3.26973645e+02] [ 6.85678873e-03 -2.12701279e-05 9.99976492e-01 -5.89064204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters 0.04902231712005348 Centerline is valid? [True, True] Translation: X:437.46, Y:-326.93, Z:-5.89 [[-7.10127092e-01 -7.04064824e-01 3.49812517e-03 4.37456984e+02] [ 7.04055985e-01 -7.10135706e-01 -3.52831560e-03 -3.26932443e+02] [ 4.96830649e-03 -4.26765315e-05 9.99987657e-01 -5.88809910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters 0.04882259305569758 Centerline is valid? [True, True] Translation: X:437.42, Y:-326.89, Z:-5.89 [[-7.12769242e-01 -7.01392550e-01 2.91517154e-03 4.37418976e+02] [ 7.01386391e-01 -7.12775202e-01 -2.93969799e-03 -3.26887954e+02] [ 4.13974425e-03 -5.06646662e-05 9.99991430e-01 -5.88868216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters 0.04907613100401378 Centerline is valid? [True, True] Translation: X:437.38, Y:-326.85, Z:-5.89 [[-7.11956555e-01 -7.02215812e-01 3.28897234e-03 4.37375667e+02] [ 7.02207985e-01 -7.11964150e-01 -3.31585226e-03 -3.26849106e+02] [ 4.67007428e-03 -5.12001138e-05 9.99989094e-01 -5.88844253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters 0.04935073987227568 Centerline is valid? [True, True] Translation: X:437.33, Y:-326.81, Z:-5.89 [[-7.09343271e-01 -7.04854245e-01 3.55226093e-03 4.37333449e+02] [ 7.04845151e-01 -7.09352164e-01 -3.58058549e-03 -3.26808307e+02] [ 5.04359486e-03 -3.60703351e-05 9.99987280e-01 -5.88896528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters 0.048485082098000086 Centerline is valid? [True, True] Translation: X:437.29, Y:-326.77, Z:-5.89 [[-7.04535339e-01 -7.09662160e-01 3.09418199e-03 4.37290468e+02] [ 7.09655310e-01 -7.04542134e-01 -3.11809690e-03 -3.26769590e+02] [ 4.39277696e-03 -1.00677898e-06 9.99990352e-01 -5.88961080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters 0.04866754667924979 Centerline is valid? [True, True] Translation: X:437.25, Y:-326.73, Z:-5.89 [[-7.01565443e-01 -7.12601648e-01 2.19575281e-03 4.37247833e+02] [ 7.12598214e-01 -7.01568879e-01 -2.21213427e-03 -3.26730215e+02] [ 3.11684236e-03 1.27325709e-05 9.99995143e-01 -5.88884604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters 0.04819096391008648 Centerline is valid? [True, True] Translation: X:437.21, Y:-326.69, Z:-5.89 [[-6.99594250e-01 -7.14538349e-01 1.68339347e-03 4.37205840e+02] [ 7.14536337e-01 -6.99596275e-01 -1.69562145e-03 -3.26691968e+02] [ 2.38928235e-03 1.65987825e-05 9.99997146e-01 -5.88905883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters 0.04853265695670018 Centerline is valid? [True, True] Translation: X:437.16, Y:-326.66, Z:-5.89 [[-6.99077841e-01 -7.15045276e-01 6.52741565e-04 4.37163711e+02] [ 7.15044974e-01 -6.99078145e-01 -6.57265540e-04 -3.26655817e+02] [ 9.26291982e-04 7.25980148e-06 9.99999571e-01 -5.89027725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters 0.048517142116697796 Centerline is valid? [True, True] Translation: X:437.13, Y:-326.62, Z:-5.89 [[-6.99697829e-01 -7.14438859e-01 -2.55500830e-04 4.37125116e+02] [ 7.14438813e-01 -6.99697875e-01 2.57180503e-04 -3.26616399e+02] [-3.62513133e-04 -2.59107014e-06 9.99999934e-01 -5.88939216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters 0.048466740384377996 Centerline is valid? [True, True] Translation: X:437.09, Y:-326.58, Z:-5.89 [[-7.00223711e-01 -7.13922935e-01 -8.92923790e-04 4.37085892e+02] [ 7.13922370e-01 -7.00224280e-01 8.98511950e-04 -3.26575813e+02] [-1.26671521e-03 -8.31889641e-06 9.99999198e-01 -5.88871123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters 0.04903045500865639 Centerline is valid? [True, True] Translation: X:437.04, Y:-326.54, Z:-5.89 [[-6.99352135e-01 -7.14777250e-01 2.72023893e-04 4.37043379e+02] [ 7.14777198e-01 -6.99352188e-01 -2.73650096e-04 -3.26537527e+02] [ 3.85839368e-04 3.05869669e-06 9.99999926e-01 -5.89127624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters 0.047990528464754434 Centerline is valid? [True, True] Translation: X:437.00, Y:-326.50, Z:-5.89 [[-6.97908958e-01 -7.16184094e-01 1.85206403e-03 4.37003124e+02] [ 7.16181672e-01 -6.97911415e-01 -1.86255828e-03 -3.26497730e+02] [ 2.62651124e-03 2.65182047e-05 9.99996550e-01 -5.89333485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters 0.048151059793105015 Centerline is valid? [True, True] Translation: X:436.96, Y:-326.46, Z:-5.90 [[-6.95900343e-01 -7.18132304e-01 2.95058410e-03 4.36959170e+02] [ 7.18126179e-01 -6.95906596e-01 -2.96664415e-03 -3.26458554e+02] [ 4.18377394e-03 5.44030072e-05 9.99991247e-01 -5.89655012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters 0.04837537075576964 Centerline is valid? [True, True] Translation: X:436.92, Y:-326.42, Z:-5.90 [[-6.95678765e-01 -7.18346607e-01 3.03443753e-03 4.36917299e+02] [ 7.18340134e-01 -6.95685381e-01 -3.05017192e-03 -3.26417729e+02] [ 4.30209448e-03 5.78184228e-05 9.99990744e-01 -5.89681009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters 0.04842188117996116 Centerline is valid? [True, True] Translation: X:436.88, Y:-326.38, Z:-5.90 [[-6.95553446e-01 -7.18468894e-01 2.80200025e-03 4.36876575e+02] [ 7.18463379e-01 -6.95559088e-01 -2.81571826e-03 -3.26378504e+02] [ 3.97196272e-03 5.46520335e-05 9.99992110e-01 -5.89697715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters 0.04836691157648906 Centerline is valid? [True, True] Translation: X:436.84, Y:-326.33, Z:-5.90 [[-6.96352095e-01 -7.17698489e-01 1.62437440e-03 4.36840259e+02] [ 7.17696635e-01 -6.96353989e-01 -1.63183423e-03 -3.26334489e+02] [ 2.30230455e-03 2.94768513e-05 9.99997349e-01 -5.89507908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters 0.04823878166784912 Centerline is valid? [True, True] Translation: X:436.80, Y:-326.29, Z:-5.89 [[-6.96862983e-01 -7.17203753e-01 8.71177393e-04 4.36799368e+02] [ 7.17203219e-01 -6.96863528e-01 -8.74968124e-04 -3.26292788e+02] [ 1.23462217e-03 1.50783340e-05 9.99999238e-01 -5.89492034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters 0.04791246516477046 Centerline is valid? [True, True] Translation: X:436.76, Y:-326.25, Z:-5.90 [[-6.97149091e-01 -7.16925050e-01 1.27241697e-03 4.36758739e+02] [ 7.16923911e-01 -6.97150251e-01 -1.27766218e-03 -3.26251655e+02] [ 1.80305383e-03 2.15051232e-05 9.99998374e-01 -5.89579346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters 0.047571867860582207 Centerline is valid? [True, True] Translation: X:436.72, Y:-326.21, Z:-5.90 [[-6.97341463e-01 -7.16736409e-01 1.95046332e-03 4.36718396e+02] [ 7.16733735e-01 -6.97344190e-01 -1.95804517e-03 -3.26209380e+02] [ 2.76354653e-03 3.25367822e-05 9.99996181e-01 -5.89645845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters 0.0479598819502447 Centerline is valid? [True, True] Translation: X:436.68, Y:-326.17, Z:-5.90 [[-6.98058238e-01 -7.16037753e-01 2.15247644e-03 4.36676944e+02] [ 7.16034495e-01 -6.98061555e-01 -2.16028882e-03 -3.26170389e+02] [ 3.04940941e-03 3.32399796e-05 9.99995350e-01 -5.89759724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters 0.04737203123632372 Centerline is valid? [True, True] Translation: X:436.64, Y:-326.13, Z:-5.90 [[-7.00033443e-01 -7.14108841e-01 1.31933030e-03 4.36638897e+02] [ 7.14107615e-01 -7.00034687e-01 -1.32384190e-03 -3.26125138e+02] [ 1.86894418e-03 1.54102103e-05 9.99998253e-01 -5.89754894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters 0.04792425199581081 Centerline is valid? [True, True] Translation: X:436.60, Y:-326.08, Z:-5.90 [[-7.01772182e-01 -7.12400506e-01 1.15088586e-03 4.36599441e+02] [ 7.12399570e-01 -7.01773126e-01 -1.15452368e-03 -3.26084261e+02] [ 1.63014402e-03 9.67798723e-06 9.99998671e-01 -5.89803101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters 0.04829237390106512 Centerline is valid? [True, True] Translation: X:436.56, Y:-326.04, Z:-5.90 [[-7.03888586e-01 -7.10310161e-01 5.77467842e-04 4.36561150e+02] [ 7.10309925e-01 -7.03888823e-01 -5.79151315e-04 -3.26040293e+02] [ 8.17850224e-04 2.52313955e-06 9.99999666e-01 -5.89773725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters 0.048584608010121134 Centerline is valid? [True, True] Translation: X:436.52, Y:-326.00, Z:-5.90 [[-7.06422448e-01 -7.07790401e-01 2.69137081e-04 4.36522965e+02] [ 7.07790350e-01 -7.06422500e-01 -2.69848577e-04 -3.25997682e+02] [ 3.81120722e-04 -1.34463660e-07 9.99999927e-01 -5.89779392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters 0.04806856594684779 Centerline is valid? [True, True] Translation: X:436.48, Y:-325.96, Z:-5.90 [[-7.08230574e-01 -7.05981180e-01 1.67679152e-04 4.36484469e+02] [ 7.05981160e-01 -7.08230593e-01 -1.68070063e-04 -3.25955916e+02] [ 2.37409807e-04 -6.54035511e-07 9.99999972e-01 -5.89770695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters 0.04813967121183646 Centerline is valid? [True, True] Translation: X:436.44, Y:-325.91, Z:-5.90 [[-7.09720520e-01 -7.04483342e-01 6.51630120e-05 4.36444831e+02] [ 7.04483339e-01 -7.09720523e-01 -6.53020527e-05 -3.25914566e+02] [ 9.22517353e-05 -4.39950523e-07 9.99999996e-01 -5.89816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters 0.04823402554909949 Centerline is valid? [True, True] Translation: X:436.41, Y:-325.87, Z:-5.90 [[-7.11032467e-01 -7.03158404e-01 1.04416946e-03 4.36407094e+02] [ 7.03157626e-01 -7.11033234e-01 -1.04612794e-03 -3.25872785e+02] [ 1.47803284e-03 -9.61521146e-06 9.99998908e-01 -5.89873540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters 0.04786218983335504 Centerline is valid? [True, True] Translation: X:436.37, Y:-325.83, Z:-5.90 [[-7.11175513e-01 -7.03014394e-01 3.88949233e-04 4.36366584e+02] [ 7.03014286e-01 -7.11175620e-01 -3.89558889e-04 -3.25833875e+02] [ 5.50476718e-04 -3.60787609e-06 9.99999849e-01 -5.89833972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters 0.04847779231326432 Centerline is valid? [True, True] Translation: X:436.33, Y:-325.80, Z:-5.90 [[-7.09692764e-01 -7.04510293e-01 -1.19473237e-03 4.36325480e+02] [ 7.04509277e-01 -7.09693770e-01 1.19618023e-03 -3.25796827e+02] [-1.69061540e-03 7.22041692e-06 9.99998571e-01 -5.89738274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters 0.047510423319265485 Centerline is valid? [True, True] Translation: X:436.28, Y:-325.76, Z:-5.90 [[-7.07297838e-01 -7.06913870e-01 -1.59627182e-03 4.36284903e+02] [ 7.06912065e-01 -7.07299639e-01 1.59769942e-03 -3.25758468e+02] [-2.25847836e-03 1.62553251e-06 9.99997450e-01 -5.89621723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters 0.04795011082732346 Centerline is valid? [True, True] Translation: X:436.24, Y:-325.72, Z:-5.90 [[-7.05799212e-01 -7.08409832e-01 -1.72668906e-03 4.36244571e+02] [ 7.08407726e-01 -7.05801325e-01 1.72763268e-03 -3.25720045e+02] [-2.44257140e-03 -3.83808721e-06 9.99997017e-01 -5.89759916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters 0.04793295107369903 Centerline is valid? [True, True] Translation: X:436.20, Y:-325.68, Z:-5.90 [[-7.02078387e-01 -7.12097857e-01 -1.60635778e-03 4.36201829e+02] [ 7.12096044e-01 -7.02080225e-01 1.60673304e-03 -3.25683857e+02] [-2.27194318e-03 -1.58284819e-05 9.99997419e-01 -5.89694380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters 0.04764170479210331 Centerline is valid? [True, True] Translation: X:436.16, Y:-325.65, Z:-5.90 [[-6.96064163e-01 -7.17978686e-01 -1.13484541e-03 4.36158201e+02] [ 7.17977789e-01 -6.96065088e-01 1.13473899e-03 -3.25648536e+02] [-1.60464467e-03 -2.49426525e-05 9.99998712e-01 -5.89795942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters 0.04859457733459586 Centerline is valid? [True, True] Translation: X:435.75, Y:-326.08, Z:-4.86 [[-7.69116330e-01 6.39108612e-01 -5.03352425e-04 4.35747004e+02] [ 6.39108462e-01 7.69116495e-01 4.37597904e-04 -3.26081125e+02] [ 6.66809241e-04 1.48669000e-05 -9.99999778e-01 -4.86034773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters 0.04783329561575077 Centerline is valid? [True, True] Translation: X:435.75, Y:-325.99, Z:-4.86 [[-8.15072637e-01 5.79358667e-01 3.63400705e-04 4.35747067e+02] [ 5.79358604e-01 8.15072717e-01 -2.71391361e-04 -3.25985529e+02] [-4.53430937e-04 -1.06643468e-05 -9.99999897e-01 -4.85948058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters 0.048640520561189976 Centerline is valid? [True, True] Translation: X:435.81, Y:-325.92, Z:-4.86 [[-8.55367073e-01 5.18020225e-01 1.48861039e-03 4.35805186e+02] [ 5.18019342e-01 8.55368367e-01 -9.58037844e-04 -3.25922407e+02] [-1.76959322e-03 -4.83450505e-05 -9.99998433e-01 -4.85778635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters 0.04775924875851155 Centerline is valid? [True, True] Translation: X:435.78, Y:-325.82, Z:-4.86 [[-8.89391661e-01 4.57145073e-01 9.24833205e-04 4.35782226e+02] [ 4.57144794e-01 8.89392142e-01 -5.05885829e-04 -3.25824351e+02] [-1.05380260e-03 -2.71479531e-05 -9.99999444e-01 -4.85766028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters 0.048535286184992504 Centerline is valid? [True, True] Translation: X:435.74, Y:-325.71, Z:-4.86 [[-9.18550239e-01 3.95303557e-01 -7.46109412e-04 4.35742521e+02] [ 3.95303408e-01 9.18550542e-01 3.43463311e-04 -3.25710653e+02] [ 8.21111473e-04 2.05487127e-05 -9.99999663e-01 -4.85839162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters 0.047921341859404235 Centerline is valid? [True, True] Translation: X:435.73, Y:-325.63, Z:-4.86 [[-9.43100387e-01 3.32498008e-01 -2.59512751e-03 4.35733357e+02] [ 3.32496581e-01 9.43103956e-01 9.75796141e-04 -3.25628920e+02] [ 2.77192529e-03 5.74026935e-05 -9.99996157e-01 -4.85974790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters 0.04730844834114203 Centerline is valid? [True, True] Translation: X:435.81, Y:-325.02, Z:-5.90 [[-9.03293785e-01 -4.29007294e-01 -3.61665410e-03 4.35811331e+02] [ 4.29004516e-01 -9.03301013e-01 1.55102664e-03 -3.25016360e+02] [-3.93232905e-03 -1.50528216e-04 9.99992257e-01 -5.89919113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters 0.04724647635466778 Centerline is valid? [True, True] Translation: X:435.48, Y:-325.54, Z:-4.86 [[-9.41595371e-01 3.36732422e-01 -3.07127326e-03 4.35479855e+02] [ 3.36730487e-01 9.41600379e-01 1.14232387e-03 -3.25540547e+02] [ 3.27656955e-03 4.14155281e-05 -9.99994631e-01 -4.85809393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters 0.04668778746097175 Centerline is valid? [True, True] Translation: X:435.47, Y:-325.46, Z:-4.86 [[-9.62556850e-01 2.71078130e-01 -9.79245234e-04 4.35466096e+02] [ 2.71077977e-01 9.62557348e-01 2.87818976e-04 -3.25458442e+02] [ 1.02060112e-03 1.15903091e-05 -9.99999479e-01 -4.85524482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters 0.04695136383842017 Centerline is valid? [True, True] Translation: X:435.44, Y:-325.38, Z:-4.85 [[-9.79116250e-01 2.03293742e-01 1.73857753e-03 4.35443025e+02] [ 2.03293396e-01 9.79117794e-01 -3.75756703e-04 -3.25375132e+02] [-1.77866118e-03 -1.44681655e-05 -9.99998418e-01 -4.85276979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters 0.04741314963111815 Centerline is valid? [True, True] Translation: X:435.44, Y:-325.30, Z:-4.85 [[-9.90831086e-01 1.35004230e-01 5.25515861e-03 4.35437866e+02] [ 1.35002138e-01 9.90845022e-01 -7.52381074e-04 -3.25296107e+02] [-5.30862238e-03 -3.60249081e-05 -9.99985909e-01 -4.84984937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters 0.048085522163548215 Centerline is valid? [True, True] Translation: X:435.32, Y:-325.21, Z:-4.85 [[-9.97845402e-01 6.53993828e-02 5.24156273e-03 4.35320121e+02] [ 6.53983224e-02 9.97859168e-01 -3.73631007e-04 -3.25205992e+02] [-5.25477666e-03 -3.00365734e-05 -9.99986193e-01 -4.85052474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters 0.04735430327203351 Centerline is valid? [True, True] Translation: X:435.73, Y:-325.14, Z:-4.85 [[-9.99946505e-01 -9.58963849e-03 3.87633827e-03 4.35727735e+02] [-9.58963990e-03 9.99954018e-01 1.82225805e-05 -3.25137467e+02] [-3.87633477e-03 -1.89510824e-05 -9.99992487e-01 -4.85287460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters 0.04707756795305751 Centerline is valid? [True, True] Translation: X:435.76, Y:-325.05, Z:-4.85 [[-9.96754150e-01 -8.04797669e-02 2.04228333e-03 4.35762411e+02] [-8.04796142e-02 9.96756243e-01 1.56964268e-04 -3.25046760e+02] [-2.04829111e-03 -7.90738894e-06 -9.99997902e-01 -4.85354831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters 0.04780695217149255 Centerline is valid? [True, True] Translation: X:434.84, Y:-324.49, Z:-5.91 [[-9.99988862e-01 4.68351052e-03 5.83521187e-04 4.34837620e+02] [-4.68355834e-03 -9.99989029e-01 -8.06189354e-05 -3.24487146e+02] [ 5.83137205e-04 -8.33509930e-05 9.99999827e-01 -5.90626951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters 0.04744449790291787 Centerline is valid? [True, True] Translation: X:434.82, Y:-325.09, Z:-4.85 [[-9.96342709e-01 -8.54460456e-02 4.23190431e-04 4.34820466e+02] [-8.54460382e-02 9.96342799e-01 3.56857206e-05 -3.25094533e+02] [-4.24691943e-04 -6.04738252e-07 -9.99999910e-01 -4.85267232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters 0.04777514458640615 Centerline is valid? [True, True] Translation: X:434.74, Y:-324.50, Z:-5.91 [[-9.99989473e-01 4.57773160e-03 3.15129781e-04 4.34735502e+02] [-4.57773376e-03 -9.99989522e-01 -6.11901631e-06 -3.24502950e+02] [ 3.15098468e-04 -7.56153213e-06 9.99999950e-01 -5.90689997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters 0.04745126733136525 Centerline is valid? [True, True] Translation: X:434.70, Y:-325.10, Z:-4.85 [[-9.95342899e-01 -9.63962803e-02 5.20396174e-04 4.34697420e+02] [-9.63962696e-02 9.95343035e-01 4.55958694e-05 -3.25100783e+02] [-5.22367980e-04 -4.78072512e-06 -9.99999864e-01 -4.85258551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters 0.04738750241731618 Centerline is valid? [True, True] Translation: X:434.75, Y:-325.01, Z:-4.85 [[-9.84766814e-01 -1.73871126e-01 1.77572758e-03 4.34747247e+02] [-1.73870901e-01 9.84768415e-01 2.81541000e-04 -3.25013218e+02] [-1.79763229e-03 -3.14951203e-05 -9.99998384e-01 -4.85225521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters 0.04739514275628796 Centerline is valid? [True, True] Translation: X:435.11, Y:-324.85, Z:-4.85 [[-9.68312410e-01 -2.49734604e-01 1.92451350e-03 4.35110994e+02] [-2.49734189e-01 9.68314322e-01 4.57051083e-04 -3.24854576e+02] [-1.97767545e-03 -3.80485818e-05 -9.99998044e-01 -4.85219564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters 0.04755425952137862 Centerline is valid? [True, True] Translation: X:434.22, Y:-325.01, Z:-4.85 [[-9.48452637e-01 -3.16916788e-01 1.15944614e-03 4.34218010e+02] [-3.16916580e-01 9.48453346e-01 3.64264097e-04 -3.25006836e+02] [-1.21512198e-03 -2.19604610e-05 -9.99999262e-01 -4.85149669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters 0.04715859958672145 Centerline is valid? [True, True] Translation: X:434.09, Y:-324.98, Z:-4.85 [[-9.25652380e-01 -3.78375024e-01 1.10216955e-04 4.34092702e+02] [-3.78375021e-01 9.25652387e-01 4.51122713e-05 -3.24976898e+02] [-1.19091944e-04 5.49386459e-08 -9.99999993e-01 -4.85246682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters 0.04722797838606552 Centerline is valid? [True, True] Translation: X:433.99, Y:-324.94, Z:-4.85 [[-8.98681769e-01 -4.38600724e-01 -6.95048169e-04 4.33989649e+02] [-4.38600600e-01 8.98682038e-01 -3.30407312e-04 -3.24944221e+02] [ 7.69544191e-04 7.91751593e-06 -9.99999704e-01 -4.85290140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters 0.047061711871489664 Centerline is valid? [True, True] Translation: X:433.81, Y:-324.96, Z:-4.85 [[-8.68000090e-01 -4.96563483e-01 -7.42102498e-04 4.33810367e+02] [-4.96563306e-01 8.68000407e-01 -4.20236450e-04 -3.24959636e+02] [ 8.52819346e-04 3.73559344e-06 -9.99999636e-01 -4.85241612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters 0.047292941536852824 Centerline is valid? [True, True] Translation: X:433.70, Y:-324.95, Z:-4.85 [[-8.32980379e-01 -5.53301791e-01 9.03855913e-04 4.33695139e+02] [-5.53301458e-01 8.32980869e-01 6.07022320e-04 -3.24948174e+02] [-1.08876122e-03 5.53288732e-06 -9.99999407e-01 -4.84936424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters 0.04774016406299176 Centerline is valid? [True, True] Translation: X:433.69, Y:-324.85, Z:-4.85 [[-7.90605370e-01 -6.12319908e-01 2.73465887e-03 4.33694961e+02] [-6.12316153e-01 7.90610100e-01 2.14457740e-03 -3.24854293e+02] [-3.47521636e-03 2.10386126e-05 -9.99993961e-01 -4.84788793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters 0.0478226681839439 Centerline is valid? [True, True] Translation: X:433.70, Y:-324.74, Z:-4.85 [[-7.44030098e-01 -6.68124994e-01 5.31090110e-03 4.33703139e+02] [-6.68107415e-01 7.44049050e-01 4.84692933e-03 -3.24736651e+02] [-7.18992555e-03 5.80088983e-05 -9.99974151e-01 -4.84662019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters 0.04843427954213432 Centerline is valid? [True, True] Translation: X:433.51, Y:-324.80, Z:-4.85 [[-6.94492789e-01 -7.19474560e-01 6.01026715e-03 4.33511592e+02] [-7.19446631e-01 6.94518791e-01 6.33991392e-03 -3.24801781e+02] [-8.73565025e-03 7.89580453e-05 -9.99961840e-01 -4.84560138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters 0.04807980415434519 Centerline is valid? [True, True] Translation: X:433.31, Y:-324.90, Z:-4.85 [[-6.40902164e-01 -7.67600643e-01 5.80245839e-03 4.33305573e+02] [-7.67567972e-01 6.40928425e-01 7.08254368e-03 -3.24903573e+02] [-9.15552560e-03 8.54363547e-05 -9.99958084e-01 -4.84584964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters 0.04786939800250322 Centerline is valid? [True, True] Translation: X:432.94, Y:-325.26, Z:-4.84 [[-5.84885019e-01 -8.11101759e-01 4.84263002e-03 4.32936281e+02] [-8.11072825e-01 5.84905060e-01 6.85143117e-03 -3.25260735e+02] [-8.38968668e-03 7.95738300e-05 -9.99964803e-01 -4.84400258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters 0.04803014592955401 Centerline is valid? [True, True] Translation: X:432.70, Y:-325.49, Z:-4.85 [[-5.24975847e-01 -8.51110697e-01 3.30800033e-03 4.32695695e+02] [-8.51093111e-01 5.24986266e-01 5.47158003e-03 -3.25492621e+02] [-6.39357503e-03 5.70310643e-05 -9.99979559e-01 -4.84568784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters 0.047805332157922924 Centerline is valid? [True, True] Translation: X:432.80, Y:-325.12, Z:-4.85 [[-4.55914210e-01 -8.90021795e-01 1.85408579e-03 4.32804929e+02] [-8.90014204e-01 4.55917979e-01 3.67594079e-03 -3.25123296e+02] [-4.11697846e-03 2.57509533e-05 -9.99991525e-01 -4.84802468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters 0.04765343635616834 Centerline is valid? [True, True] Translation: X:431.98, Y:-325.40, Z:-5.91 [[-5.07255358e-01 8.61793973e-01 1.77493288e-03 4.31983837e+02] [-8.61789182e-01 -5.07258458e-01 2.87433975e-03 -3.25396053e+02] [ 3.37743839e-03 -7.15937170e-05 9.99994294e-01 -5.91221511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters 0.047340355392252786 Centerline is valid? [True, True] Translation: X:432.68, Y:-325.34, Z:-4.85 [[-4.40549838e-01 -8.97727236e-01 1.28448109e-03 4.32683709e+02] [-8.97723450e-01 4.40551710e-01 2.60713837e-03 -3.25339067e+02] [-2.90637947e-03 -4.53440457e-06 -9.99995777e-01 -4.84767409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters 0.04736011486501611 Centerline is valid? [True, True] Translation: X:432.33, Y:-325.91, Z:-4.85 [[-3.72046699e-01 -9.28213403e-01 1.06408636e-03 4.32329601e+02] [-9.28209726e-01 3.72048220e-01 2.61272590e-03 -3.25911611e+02] [-2.82105863e-03 -1.56392607e-05 -9.99996021e-01 -4.84657861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters 0.04787004496766825 Centerline is valid? [True, True] Translation: X:432.17, Y:-326.13, Z:-4.85 [[-2.99142845e-01 -9.54207929e-01 8.87106876e-04 4.32165244e+02] [-9.54204006e-01 2.99144159e-01 2.73620926e-03 -3.26126479e+02] [-2.87628541e-03 -2.79635125e-05 -9.99995863e-01 -4.84626537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters 0.04757224442661108 Centerline is valid? [True, True] Translation: X:432.02, Y:-326.35, Z:-4.85 [[-2.23594832e-01 -9.74681886e-01 7.56369565e-04 4.32017034e+02] [-9.74676997e-01 2.23596106e-01 3.08757915e-03 -3.26353899e+02] [-3.17852876e-03 -4.68492746e-05 -9.99994947e-01 -4.84500682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters 0.04702836634770273 Centerline is valid? [True, True] Translation: X:431.92, Y:-326.44, Z:-4.85 [[-1.48545789e-01 -9.88905428e-01 4.50253228e-04 4.31920977e+02] [-9.88901768e-01 1.48546464e-01 2.69103986e-03 -3.26439687e+02] [-2.72806745e-03 -4.55135744e-05 -9.99996278e-01 -4.84502037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters 0.048954410654989546 Centerline is valid? [True, True] Translation: X:431.82, Y:-326.63, Z:-4.85 [[-7.45968752e-02 -9.97213728e-01 2.95833532e-04 4.31817770e+02] [-9.97208586e-01 7.45974407e-02 3.20283370e-03 -3.26630054e+02] [-3.21597816e-03 -5.60863520e-05 -9.99994827e-01 -4.84509651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters 0.048021115221868665 Centerline is valid? [True, True] Translation: X:431.72, Y:-326.89, Z:-4.84 [[-1.97182175e-03 -9.99998052e-01 8.67680543e-05 4.31724659e+02] [-9.99987452e-01 1.97220042e-03 4.60504914e-03 -3.26890256e+02] [-4.60521130e-03 -7.76866294e-05 -9.99989393e-01 -4.84379023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters 0.047270799667650076 Centerline is valid? [True, True] Translation: X:431.66, Y:-327.01, Z:-4.84 [[ 7.03601043e-02 -9.97521611e-01 -3.03751746e-04 4.31656132e+02] [-9.97506261e-01 -7.03607069e-02 5.53450273e-03 -3.27007378e+02] [-5.54215826e-03 -8.64139212e-05 -9.99984638e-01 -4.84457620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters 0.04773428059628646 Centerline is valid? [True, True] Translation: X:431.60, Y:-327.21, Z:-4.84 [[ 1.41474311e-01 -9.89941563e-01 -8.48919594e-04 4.31599053e+02] [-9.89919843e-01 -1.41476831e-01 6.55825921e-03 -3.27214741e+02] [-6.61239583e-03 -8.74628511e-05 -9.99978134e-01 -4.84447812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters 0.04778856265216635 Centerline is valid? [True, True] Translation: X:431.57, Y:-327.51, Z:-4.84 [[ 2.08532536e-01 -9.78014626e-01 -1.25414685e-03 4.31573870e+02] [-9.77995523e-01 -2.08536302e-01 6.11296998e-03 -3.27510154e+02] [-6.24010920e-03 -4.82031247e-05 -9.99980529e-01 -4.84451560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters 0.0478052629060917 Centerline is valid? [True, True] Translation: X:431.58, Y:-327.83, Z:-4.84 [[ 2.75297614e-01 -9.61357837e-01 -1.52775182e-03 4.31578680e+02] [-9.61342701e-01 -2.75301853e-01 5.39452455e-03 -3.27834242e+02] [-5.60666135e-03 -1.64066756e-05 -9.99984282e-01 -4.84425653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters 0.04793495638567289 Centerline is valid? [True, True] Translation: X:431.54, Y:-327.96, Z:-4.85 [[ 3.40678024e-01 -9.40178605e-01 -1.63552121e-03 4.31544709e+02] [-9.40167953e-01 -3.40681950e-01 4.47539791e-03 -3.27958224e+02] [-4.76486592e-03 1.29949096e-05 -9.99988648e-01 -4.84506145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters 0.04786532179060955 Centerline is valid? [True, True] Translation: X:431.39, Y:-327.79, Z:-4.85 [[ 4.03167429e-01 -9.15123979e-01 -2.03159511e-03 4.31392433e+02] [-9.15112981e-01 -4.03172545e-01 4.48668279e-03 -3.27789411e+02] [-4.92495438e-03 5.02546957e-05 -9.99987871e-01 -4.84607784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters 0.047641455420318786 Centerline is valid? [True, True] Translation: X:431.62, Y:-328.43, Z:-4.85 [[ 4.67642059e-01 -8.83915123e-01 -2.22685250e-03 4.31624458e+02] [-8.83905616e-01 -4.67647359e-01 4.09999986e-03 -3.28434600e+02] [-4.66543357e-03 5.09950585e-05 -9.99989116e-01 -4.84541131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters 0.04821551311379259 Centerline is valid? [True, True] Translation: X:431.62, Y:-328.58, Z:-4.84 [[ 5.32870998e-01 -8.46190305e-01 -3.23518182e-03 4.31622938e+02] [-8.46175355e-01 -5.32880816e-01 5.03044728e-03 -3.28578164e+02] [-5.98068205e-03 5.69516618e-05 -9.99982114e-01 -4.84488972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters 0.0495470072735605 Centerline is valid? [True, True] Translation: X:431.37, Y:-328.36, Z:-4.85 [[ 5.95899658e-01 -8.03046640e-01 -4.43764899e-03 4.31370435e+02] [-8.03025064e-01 -5.95916178e-01 5.88681302e-03 -3.28363437e+02] [-7.37185224e-03 5.55935077e-05 -9.99972826e-01 -4.84640842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters 0.04757911234791893 Centerline is valid? [True, True] Translation: X:431.72, Y:-328.93, Z:-4.85 [[ 6.55459776e-01 -7.55211816e-01 -5.25305556e-03 4.31718526e+02] [-7.55187903e-01 -6.55480825e-01 6.00994382e-03 -3.28925028e+02] [-7.98205778e-03 2.77675792e-05 -9.99968143e-01 -4.84556581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters 0.0481638696494196 Centerline is valid? [True, True] Translation: X:431.77, Y:-329.10, Z:-4.84 [[ 7.11120476e-01 -7.03052864e-01 -4.93347037e-03 4.31774610e+02] [-7.03035989e-01 -7.11137589e-01 4.87115082e-03 -3.29102965e+02] [-6.93305276e-03 4.43212590e-06 -9.99975966e-01 -4.84470609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters 0.048582325757734704 Centerline is valid? [True, True] Translation: X:431.75, Y:-329.19, Z:-4.85 [[ 7.65426995e-01 -6.43511231e-01 -3.84847889e-03 4.31746558e+02] [-6.43503045e-01 -7.65436670e-01 3.24594305e-03 -3.29188107e+02] [-5.03456767e-03 -8.02455076e-06 -9.99987326e-01 -4.84657048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters 0.04836982398417249 Centerline is valid? [True, True] Translation: X:431.72, Y:-329.27, Z:-4.85 [[ 8.14995417e-01 -5.79464720e-01 -1.76324270e-03 4.31724350e+02] [-5.79463342e-01 -8.14997324e-01 1.26385131e-03 -3.29273572e+02] [-2.16939533e-03 -8.29851779e-06 -9.99997647e-01 -4.84925380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters 0.04825334631644214 Centerline is valid? [True, True] Translation: X:431.71, Y:-329.36, Z:-4.85 [[ 8.58511766e-01 -5.12793737e-01 -3.62897398e-04 4.31712524e+02] [-5.12793690e-01 -8.58511843e-01 2.17445189e-04 -3.29355130e+02] [-4.23056244e-04 -5.87757190e-07 -9.99999911e-01 -4.85077028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters 0.04806985692028259 Centerline is valid? [True, True] Translation: X:431.71, Y:-329.44, Z:-4.85 [[ 8.96093041e-01 -4.43864049e-01 1.40267204e-03 4.31705627e+02] [-4.43863484e-01 -8.96094139e-01 -7.08352827e-04 -3.29443256e+02] [ 1.57133855e-03 1.21551402e-05 -9.99998765e-01 -4.85198864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters 0.04817864675307374 Centerline is valid? [True, True] Translation: X:431.71, Y:-329.52, Z:-4.85 [[ 9.27369793e-01 -3.74142518e-01 1.62569706e-03 4.31709206e+02] [-3.74141924e-01 -9.27371218e-01 -6.66864857e-04 -3.29522825e+02] [ 1.75712716e-03 1.01888998e-05 -9.99998456e-01 -4.85219553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters 0.048425408029361544 Centerline is valid? [True, True] Translation: X:431.72, Y:-329.59, Z:-4.85 [[ 9.52703959e-01 -3.03899469e-01 5.29094567e-04 4.31721201e+02] [-3.03899421e-01 -9.52704106e-01 -1.71514768e-04 -3.29594181e+02] [ 5.56193813e-04 2.61126575e-06 -9.99999845e-01 -4.85146466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters 0.04916181584841654 Centerline is valid? [True, True] Translation: X:431.74, Y:-329.68, Z:-4.85 [[ 9.72003855e-01 -2.34960117e-01 -1.49952284e-03 4.31736533e+02] [-2.34959854e-01 -9.72005012e-01 3.51694611e-04 -3.29676766e+02] [-1.54017792e-03 1.04791507e-05 -9.99998814e-01 -4.85031841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters 0.04882810598674304 Centerline is valid? [True, True] Translation: X:431.76, Y:-329.76, Z:-4.85 [[ 9.86827968e-01 -1.61755361e-01 -2.40095283e-03 4.31758850e+02] [-1.61754941e-01 -9.86830889e-01 3.69313541e-04 -3.29758290e+02] [-2.42907286e-03 2.39170513e-05 -9.99997050e-01 -4.84950399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters 0.04899406991217132 Centerline is valid? [True, True] Translation: X:431.79, Y:-329.83, Z:-4.85 [[ 9.96228112e-01 -8.67271512e-02 -2.81948922e-03 4.31786520e+02] [-8.67269028e-02 -9.96232102e-01 2.10460492e-04 -3.29834742e+02] [-2.82711831e-03 3.48589093e-05 -9.99996003e-01 -4.84973256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters 0.04903119270271537 Centerline is valid? [True, True] Translation: X:431.82, Y:-329.93, Z:-4.85 [[ 9.99952954e-01 -8.92610380e-03 -3.79658707e-03 4.31818213e+02] [-8.92622091e-03 -9.99960160e-01 -1.39039154e-05 -3.29932014e+02] [-3.79631171e-03 4.77924362e-05 -9.99992793e-01 -4.84895319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters 0.049293860170131085 Centerline is valid? [True, True] Translation: X:431.85, Y:-330.03, Z:-4.85 [[ 9.97515853e-01 7.03383555e-02 -3.82616353e-03 4.31854528e+02] [ 7.03376673e-02 -9.97523190e-01 -3.14295502e-04 -3.30025124e+02] [-3.83879388e-03 4.43913286e-05 -9.99992631e-01 -4.84880776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters 0.049627704517831606 Centerline is valid? [True, True] Translation: X:431.90, Y:-330.13, Z:-4.85 [[ 9.88318144e-01 1.52335658e-01 -4.59280111e-03 4.31898484e+02] [ 1.52333855e-01 -9.88328815e-01 -7.42009915e-04 -3.30127569e+02] [-4.65223224e-03 3.37027640e-05 -9.99989178e-01 -4.84861785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters 0.04867916033727906 Centerline is valid? [True, True] Translation: X:431.95, Y:-330.20, Z:-4.85 [[ 9.70899746e-01 2.39410268e-01 -6.03386944e-03 4.31946403e+02] [ 2.39405779e-01 -9.70918495e-01 -1.46634094e-03 -3.30197945e+02] [-6.20945251e-03 -2.08731681e-05 -9.99980721e-01 -4.84672961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters 0.049071637144622475 Centerline is valid? [True, True] Translation: X:432.00, Y:-330.26, Z:-4.85 [[ 9.46761540e-01 3.21867514e-01 -6.62497888e-03 4.31998568e+02] [ 3.21860201e-01 -9.46784716e-01 -2.17108425e-03 -3.30260842e+02] [-6.97123023e-03 -7.68179599e-05 -9.99975698e-01 -4.84672784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters 0.04912135204757734 Centerline is valid? [True, True] Translation: X:432.05, Y:-330.32, Z:-4.85 [[ 9.16227073e-01 4.00601038e-01 -6.83814169e-03 4.32054800e+02] [ 4.00590914e-01 -9.16252581e-01 -2.85084291e-03 -3.30316017e+02] [-7.40751560e-03 -1.27277980e-04 -9.99972556e-01 -4.84695628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters 0.04896577874425744 Centerline is valid? [True, True] Translation: X:432.12, Y:-330.37, Z:-4.85 [[ 8.80096789e-01 4.74754884e-01 -6.11899347e-03 4.32117214e+02] [ 4.74744563e-01 -8.80118048e-01 -3.13393122e-03 -3.30369474e+02] [-6.87328574e-03 -1.46796075e-04 -9.99976368e-01 -4.84817228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters 0.048766832661349964 Centerline is valid? [True, True] Translation: X:432.18, Y:-330.42, Z:-4.85 [[ 8.40153984e-01 5.42319196e-01 -5.58333234e-03 4.32183954e+02] [ 5.42308329e-01 -8.40172524e-01 -3.43596490e-03 -3.30421883e+02] [-6.55435214e-03 -1.41148034e-04 -9.99978510e-01 -4.84781397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters 0.04961609162268552 Centerline is valid? [True, True] Translation: X:432.25, Y:-330.46, Z:-4.85 [[ 7.95549500e-01 6.05865725e-01 -5.26464050e-03 4.32253190e+02] [ 6.05853582e-01 -7.95566908e-01 -3.83821936e-03 -3.30464496e+02] [-6.51381932e-03 -1.36107810e-04 -9.99978776e-01 -4.84766784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters 0.04984368512949732 Centerline is valid? [True, True] Translation: X:432.32, Y:-330.50, Z:-4.85 [[ 7.46251535e-01 6.65642332e-01 -5.37892794e-03 4.32323388e+02] [ 6.65626403e-01 -7.46270907e-01 -4.60713186e-03 -3.30499491e+02] [-7.08083943e-03 -1.42277234e-04 -9.99974920e-01 -4.84825206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters 0.04850322393267244 Centerline is valid? [True, True] Translation: X:432.40, Y:-330.53, Z:-4.85 [[ 6.92044136e-01 7.21842473e-01 -4.28462975e-03 4.32397752e+02] [ 7.21829705e-01 -6.92057389e-01 -4.29506823e-03 -3.30533297e+02] [-6.06557235e-03 -1.20396246e-04 -9.99981597e-01 -4.84788686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters 0.04849699880521627 Centerline is valid? [True, True] Translation: X:432.47, Y:-330.56, Z:-4.85 [[ 6.34332978e-01 7.73052442e-01 -3.40524773e-03 4.32472658e+02] [ 7.73042123e-01 -6.34342110e-01 -3.99536253e-03 -3.30557198e+02] [-5.24871679e-03 -9.80097252e-05 -9.99986221e-01 -4.84963612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters 0.04903092701168579 Centerline is valid? [True, True] Translation: X:432.55, Y:-330.58, Z:-4.85 [[ 5.73533838e-01 8.19175902e-01 -3.12713252e-03 4.32550962e+02] [ 8.19164561e-01 -5.73542356e-01 -4.31129253e-03 -3.30578157e+02] [-5.32524990e-03 -8.89639867e-05 -9.99985817e-01 -4.84849883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters 0.04882648995345095 Centerline is valid? [True, True] Translation: X:432.62, Y:-330.59, Z:-4.85 [[ 5.10678398e-01 8.59767745e-01 -2.64546296e-03 4.32616903e+02] [ 8.59756880e-01 -5.10685246e-01 -4.32276365e-03 -3.30585534e+02] [-5.06757165e-03 -6.69129610e-05 -9.99987158e-01 -4.84782347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters 0.04785859541618912 Centerline is valid? [True, True] Translation: X:432.67, Y:-330.58, Z:-4.85 [[ 4.49123319e-01 8.93466098e-01 -2.56429066e-03 4.32673940e+02] [ 8.93451901e-01 -4.49130639e-01 -5.03686088e-03 -3.30581954e+02] [-5.65196594e-03 -2.88986906e-05 -9.99984027e-01 -4.84924817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters 0.048207808178769546 Centerline is valid? [True, True] Translation: X:432.79, Y:-330.60, Z:-4.85 [[ 3.83781268e-01 9.23420637e-01 -2.50320170e-03 4.32786167e+02] [ 9.23400855e-01 -3.83789431e-01 -6.04425327e-03 -3.30600117e+02] [-6.54209056e-03 8.21259064e-06 -9.99978600e-01 -4.85097989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters 0.04818135965183765 Centerline is valid? [True, True] Translation: X:432.90, Y:-330.61, Z:-4.85 [[ 3.15209928e-01 9.49020063e-01 -1.90294536e-03 4.32897042e+02] [ 9.49002010e-01 -3.15215670e-01 -5.85372496e-03 -3.30609865e+02] [-6.15514063e-03 3.92532545e-05 -9.99981056e-01 -4.84815799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters 0.048004248842086025 Centerline is valid? [True, True] Translation: X:433.00, Y:-330.61, Z:-4.85 [[ 2.40399290e-01 9.70672357e-01 -1.83230935e-03 4.32998257e+02] [ 9.70642471e-01 -2.40406267e-01 -7.61708237e-03 -3.30607909e+02] [-7.83418994e-03 5.26239187e-05 -9.99969311e-01 -4.84714350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters 0.04738890790633964 Centerline is valid? [True, True] Translation: X:433.07, Y:-330.59, Z:-4.85 [[ 1.63263043e-01 9.86581376e-01 -1.53893078e-03 4.33072453e+02] [ 9.86533974e-01 -1.63270284e-01 -9.67119938e-03 -3.30591966e+02] [-9.79268685e-03 6.07419397e-05 -9.99952049e-01 -4.84503573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters 0.048187801107448115 Centerline is valid? [True, True] Translation: X:433.14, Y:-330.57, Z:-4.85 [[ 8.35818145e-02 9.96500597e-01 -8.00214408e-04 4.33141848e+02] [ 9.96449942e-01 -8.35856343e-02 -1.00476701e-02 -3.30571613e+02] [-1.00793956e-02 4.24288961e-05 -9.99949201e-01 -4.84500880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters 0.04833853556174465 Centerline is valid? [True, True] Translation: X:433.22, Y:-330.55, Z:-4.85 [[ 3.92264002e-03 9.99992306e-01 -1.17168062e-05 4.33219302e+02] [ 9.99941333e-01 -3.92255837e-03 -1.00967384e-02 -3.30545042e+02] [-1.00967067e-02 2.78897513e-05 -9.99949027e-01 -4.84529230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters 0.04852741705956155 Centerline is valid? [True, True] Translation: X:433.30, Y:-330.51, Z:-4.85 [[-7.59536541e-02 9.97111093e-01 7.14379758e-04 4.33303398e+02] [ 9.97068291e-01 7.59570129e-02 -9.23882084e-03 -3.30511147e+02] [-9.26639290e-03 1.05632018e-05 -9.99957066e-01 -4.85055158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters 0.04791554762656854 Centerline is valid? [True, True] Translation: X:433.38, Y:-330.47, Z:-4.85 [[-1.59227558e-01 9.87241338e-01 1.06046638e-03 4.33383826e+02] [ 9.87218182e-01 1.59231087e-01 -6.76181645e-03 -3.30472058e+02] [-6.84440394e-03 -2.97558328e-05 -9.99976576e-01 -4.84829868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters 0.0479045170978659 Centerline is valid? [True, True] Translation: X:433.45, Y:-330.43, Z:-4.85 [[-2.41673533e-01 9.70356827e-01 1.23775799e-03 4.33450721e+02] [ 9.70342929e-01 2.41676697e-01 -5.19373454e-03 -3.30428757e+02] [-5.33891303e-03 -5.41384610e-05 -9.99985746e-01 -4.84943393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters 0.047510821336147376 Centerline is valid? [True, True] Translation: X:433.52, Y:-330.38, Z:-4.85 [[-3.22336753e-01 9.46623997e-01 1.42332789e-03 4.33517554e+02] [ 9.46613738e-01 3.22339887e-01 -4.40782914e-03 -3.30378243e+02] [-4.63135219e-03 -7.34635951e-05 -9.99989273e-01 -4.85061477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters 0.04879537134485864 Centerline is valid? [True, True] Translation: X:433.58, Y:-330.32, Z:-4.85 [[-4.00195605e-01 9.16427811e-01 1.88310237e-03 4.33583583e+02] [ 9.16416407e-01 4.00200021e-01 -4.57292664e-03 -3.30321568e+02] [-4.94437476e-03 -1.04359233e-04 -9.99987771e-01 -4.84923571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters 0.048405484485255994 Centerline is valid? [True, True] Translation: X:433.63, Y:-330.26, Z:-4.85 [[-4.71282422e-01 8.81979656e-01 2.18312273e-03 4.33633746e+02] [ 8.81969136e-01 4.71287467e-01 -4.30888750e-03 -3.30264745e+02] [-4.82922949e-03 -1.05256067e-04 -9.99988334e-01 -4.84947037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters 0.04836462583183821 Centerline is valid? [True, True] Translation: X:433.68, Y:-330.20, Z:-4.85 [[-5.38313277e-01 8.42741435e-01 2.38519685e-03 4.33679306e+02] [ 8.42732351e-01 5.38318552e-01 -3.91413011e-03 -3.30203733e+02] [-4.58259534e-03 -9.69456558e-05 -9.99989495e-01 -4.84915683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters 0.04857930656944917 Centerline is valid? [True, True] Translation: X:433.72, Y:-330.14, Z:-4.85 [[-6.01988233e-01 7.98500087e-01 2.78896033e-03 4.33720193e+02] [ 7.98490759e-01 6.01994686e-01 -3.86077419e-03 -3.30141681e+02] [-4.76176782e-03 -9.71815777e-05 -9.99988658e-01 -4.84841482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters 0.04911403322648709 Centerline is valid? [True, True] Translation: X:433.75, Y:-330.08, Z:-4.85 [[-6.62815681e-01 7.48774606e-01 3.45868861e-03 4.33754155e+02] [ 7.48763530e-01 6.62824696e-01 -4.07405864e-03 -3.30076125e+02] [-5.34305587e-03 -1.10610060e-04 -9.99985720e-01 -4.84745842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters 0.04854787455188053 Centerline is valid? [True, True] Translation: X:433.78, Y:-330.01, Z:-4.85 [[-7.19592549e-01 6.94380816e-01 4.67395462e-03 4.33782503e+02] [ 6.94364894e-01 7.19607714e-01 -4.70445782e-03 -3.30008711e+02] [-6.63009906e-03 -1.39862788e-04 -9.99978011e-01 -4.84549741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters 0.04858155164505829 Centerline is valid? [True, True] Translation: X:433.81, Y:-329.94, Z:-4.84 [[-7.71328805e-01 6.36405108e-01 6.35710346e-03 4.33808010e+02] [ 6.36381637e-01 7.71354982e-01 -5.46837307e-03 -3.29936497e+02] [-8.38368399e-03 -1.72369760e-04 -9.99964841e-01 -4.84311479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters 0.048586502622686066 Centerline is valid? [True, True] Translation: X:433.82, Y:-329.85, Z:-4.84 [[-8.14271802e-01 5.80436141e-01 7.43764550e-03 4.33817289e+02] [ 5.80409817e-01 8.14305748e-01 -5.53106291e-03 -3.29848851e+02] [-9.26694629e-03 -1.86906102e-04 -9.99957044e-01 -4.84282253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters 0.0483605013926864 Centerline is valid? [True, True] Translation: X:433.79, Y:-329.74, Z:-4.84 [[-8.51991112e-01 5.23447543e-01 1.06683556e-02 4.33787512e+02] [ 5.23403214e-01 8.52057873e-01 -6.81585722e-03 -3.29740253e+02] [-1.26578001e-02 -2.23198141e-04 -9.99919862e-01 -4.84237570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters 0.04840844701145691 Centerline is valid? [True, True] Translation: X:433.93, Y:-329.73, Z:-4.84 [[-8.86278453e-01 4.62999681e-01 1.19079124e-02 4.33931746e+02] [ 4.62954602e-01 8.86358420e-01 -6.46436224e-03 -3.29733364e+02] [-1.35476760e-02 -2.16402136e-04 -9.99908203e-01 -4.84153598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters 0.04804889993202289 Centerline is valid? [True, True] Translation: X:433.70, Y:-329.54, Z:-4.84 [[-9.14593373e-01 4.04158613e-01 1.32203318e-02 4.33704568e+02] [ 4.04114000e-01 9.14688905e-01 -6.00687084e-03 -3.29535417e+02] [-1.45202194e-02 -1.51323113e-04 -9.99894565e-01 -4.84140094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters 0.048193137934384685 Centerline is valid? [True, True] Translation: X:433.79, Y:-329.49, Z:-4.84 [[-9.38965631e-01 3.43740133e-01 1.36478807e-02 4.33793609e+02] [ 3.43702837e-01 9.39064810e-01 -5.06394302e-03 -3.29494268e+02] [-1.45569249e-02 -6.40531527e-05 -9.99894040e-01 -4.84294125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters 0.04812220352384016 Centerline is valid? [True, True] Translation: X:433.79, Y:-329.41, Z:-4.84 [[-9.59039115e-01 2.82922175e-01 1.41074254e-02 4.33786106e+02] [ 2.82892159e-01 9.59142868e-01 -4.12127242e-03 -3.29413923e+02] [-1.46970358e-02 3.84185652e-05 -9.99891992e-01 -4.84492257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters 0.048282810983037626 Centerline is valid? [True, True] Translation: X:433.72, Y:-329.32, Z:-4.85 [[-9.74634979e-01 2.23438800e-01 1.27184943e-02 4.33715793e+02] [ 2.23421894e-01 9.74717948e-01 -2.75314727e-03 -3.29319055e+02] [-1.30121046e-02 1.58276439e-04 -9.99915327e-01 -4.84566705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters 0.04943591830231869 Centerline is valid? [True, True] Translation: X:434.00, Y:-329.28, Z:-4.85 [[-9.87972368e-01 1.54195060e-01 1.15967306e-02 4.33999574e+02] [ 1.54186691e-01 9.88040408e-01 -1.61768108e-03 -3.29284031e+02] [-1.17074769e-02 1.89837311e-04 -9.99931447e-01 -4.84792629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters 0.04914147653823359 Centerline is valid? [True, True] Translation: X:434.10, Y:-329.21, Z:-4.85 [[-9.96471311e-01 8.33416244e-02 9.95489575e-03 4.34095645e+02] [ 8.33391686e-02 9.96521021e-01 -6.61985737e-04 -3.29206943e+02] [-9.97543384e-03 1.69982939e-04 -9.99950230e-01 -4.84513403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters 0.04858411317683581 Centerline is valid? [True, True] Translation: X:433.25, Y:-328.53, Z:-5.91 [[-9.92644250e-01 -1.20755726e-01 8.68601152e-03 4.33250868e+02] [ 1.20749128e-01 -9.92682227e-01 -1.28194844e-03 -3.28530686e+02] [ 8.77725187e-03 -2.23690436e-04 9.99961454e-01 -5.91150110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters 0.048569328987308466 Centerline is valid? [True, True] Translation: X:433.59, Y:-329.15, Z:-4.85 [[-9.97848098e-01 6.50130300e-02 8.51342720e-03 4.33585060e+02] [ 6.50112152e-02 9.97884413e-01 -4.90025146e-04 -3.29147885e+02] [-8.52727433e-03 6.44975883e-05 -9.99963640e-01 -4.85117006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters 0.04774110737516541 Centerline is valid? [True, True] Translation: X:433.47, Y:-328.58, Z:-5.91 [[-9.92271303e-01 -1.23786694e-01 8.63229736e-03 4.33474903e+02] [ 1.23781545e-01 -9.92308849e-01 -1.13034815e-03 -3.28575800e+02] [ 8.70582712e-03 -5.30929282e-05 9.99962102e-01 -5.90970690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters 0.04830541496641725 Centerline is valid? [True, True] Translation: X:432.79, Y:-328.56, Z:-5.91 [[-9.80313178e-01 -1.97296631e-01 7.75326666e-03 4.32787497e+02] [ 1.97289622e-01 -9.80343832e-01 -1.66626598e-03 -3.28557338e+02] [ 7.92961581e-03 -1.03823451e-04 9.99968555e-01 -5.91028119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters 0.04755733539392589 Centerline is valid? [True, True] Translation: X:433.01, Y:-329.17, Z:-4.85 [[-9.94130028e-01 1.07959514e-01 7.08741571e-03 4.33013789e+02] [ 1.07956345e-01 9.94155290e-01 -8.29315244e-04 -3.29165899e+02] [-7.13552429e-03 -5.93156908e-05 -9.99974540e-01 -4.85192525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters 0.048409069608516556 Centerline is valid? [True, True] Translation: X:432.17, Y:-329.01, Z:-4.85 [[-9.99344057e-01 3.56427531e-02 6.40707043e-03 4.32169892e+02] [ 3.56416039e-02 9.99364593e-01 -2.93492886e-04 -3.29007023e+02] [-6.41346023e-03 -6.49421047e-05 -9.99979431e-01 -4.84753337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters 0.04826854031086093 Centerline is valid? [True, True] Translation: X:432.32, Y:-328.93, Z:-4.85 [[-9.99231811e-01 -3.85776350e-02 6.89595989e-03 4.32318747e+02] [-3.85772207e-02 9.99255603e-01 1.93130270e-04 -3.28933426e+02] [-6.89827707e-03 -7.30450568e-05 -9.99976204e-01 -4.84843068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters 0.04825627041528021 Centerline is valid? [True, True] Translation: X:431.92, Y:-328.88, Z:-4.85 [[-9.93971955e-01 -1.09408257e-01 7.04179178e-03 4.31918557e+02] [-1.09406054e-01 9.93996895e-01 6.98446519e-04 -3.28881184e+02] [-7.07593498e-03 -7.61783994e-05 -9.99974962e-01 -4.84844237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters 0.0476846348278007 Centerline is valid? [True, True] Translation: X:432.20, Y:-328.76, Z:-4.85 [[-9.82946623e-01 -1.83728834e-01 7.72349186e-03 4.32196264e+02] [-1.83723821e-01 9.82976963e-01 1.35964218e-03 -3.28763758e+02] [-7.84182004e-03 -8.25337503e-05 -9.99969249e-01 -4.84875798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters 0.04795925086168794 Centerline is valid? [True, True] Translation: X:432.24, Y:-328.67, Z:-4.85 [[-9.67119198e-01 -2.54183851e-01 8.42778501e-03 4.32237988e+02] [-2.54174931e-01 9.67155915e-01 2.13105050e-03 -3.28666521e+02] [-8.69266074e-03 -8.11518188e-05 -9.99962215e-01 -4.85074081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters 0.04788277332843553 Centerline is valid? [True, True] Translation: X:432.11, Y:-328.61, Z:-4.85 [[-9.47463485e-01 -3.19715730e-01 9.73637060e-03 4.32107711e+02] [-3.19699576e-01 9.47513508e-01 3.21454284e-03 -3.28614188e+02] [-1.02530826e-02 -6.70515965e-05 -9.99947434e-01 -4.84969110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters 0.048918398234131424 Centerline is valid? [True, True] Translation: X:431.95, Y:-328.58, Z:-4.85 [[-9.25053356e-01 -3.79650291e-01 1.19140676e-02 4.31954321e+02] [-3.79618678e-01 9.25130076e-01 4.89922302e-03 -3.28580656e+02] [-1.28820537e-02 9.24011033e-06 -9.99917023e-01 -4.84861903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters 0.04838092119032091 Centerline is valid? [True, True] Translation: X:431.25, Y:-328.81, Z:-4.84 [[-8.98815908e-01 -4.38172340e-01 1.16173683e-02 4.31254663e+02] [-4.38134358e-01 8.98890978e-01 5.77000257e-03 -3.28811774e+02] [-1.29710031e-02 9.62018980e-05 -9.99915868e-01 -4.84346409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters 0.0491048061178759 Centerline is valid? [True, True] Translation: X:431.12, Y:-328.80, Z:-4.84 [[-8.68437563e-01 -4.95695536e-01 1.01061736e-02 4.31122922e+02] [-4.95659677e-01 8.68496348e-01 5.96473773e-03 -3.28801318e+02] [-1.17338688e-02 1.70779533e-04 -9.99931141e-01 -4.84498407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters 0.048740311716860184 Centerline is valid? [True, True] Translation: X:431.11, Y:-328.71, Z:-4.85 [[-8.33333304e-01 -5.52729051e-01 6.79706781e-03 4.31110443e+02] [-5.52708854e-01 8.33361004e-01 4.72868584e-03 -3.28714217e+02] [-8.27809329e-03 1.83771833e-04 -9.99965719e-01 -4.84815077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters 0.0496787097959994 Centerline is valid? [True, True] Translation: X:430.99, Y:-328.70, Z:-4.85 [[-7.91633492e-01 -6.10962968e-01 6.37694890e-03 4.30989939e+02] [-6.10941129e-01 7.91659152e-01 5.16950044e-03 -3.28695559e+02] [-8.20674330e-03 1.96409329e-04 -9.99966305e-01 -4.85011022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters 0.04851003277779431 Centerline is valid? [True, True] Translation: X:430.81, Y:-328.74, Z:-4.85 [[-7.44525707e-01 -6.67560814e-01 6.63564744e-03 4.30812565e+02] [-6.67531812e-01 7.44555248e-01 6.22589634e-03 -3.28740384e+02] [-9.09677055e-03 2.05834111e-04 -9.99958602e-01 -4.84800424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters 0.048270382646051116 Centerline is valid? [True, True] Translation: X:430.61, Y:-328.81, Z:-4.85 [[-6.89776871e-01 -7.23987874e-01 7.03041711e-03 4.30608867e+02] [-7.23947757e-01 6.89812677e-01 7.62335464e-03 -3.28813287e+02] [-1.03688872e-02 1.68759013e-04 -9.99946227e-01 -4.84835314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters 0.048000731042522074 Centerline is valid? [True, True] Translation: X:430.50, Y:-328.80, Z:-4.85 [[-6.28763847e-01 -7.77568798e-01 6.54140506e-03 4.30502108e+02] [-7.77525125e-01 6.28797866e-01 8.24158046e-03 -3.28798925e+02] [-1.05216174e-02 9.59010415e-05 -9.99944642e-01 -4.84606276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters 0.04828390226260334 Centerline is valid? [True, True] Translation: X:429.83, Y:-329.56, Z:-4.84 [[-5.65534231e-01 -8.24708099e-01 5.25206470e-03 4.29827865e+02] [-8.24672369e-01 5.65558618e-01 7.67674347e-03 -3.29563399e+02] [-9.30142297e-03 1.02285796e-05 -9.99956741e-01 -4.84442013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters 0.04878531781389245 Centerline is valid? [True, True] Translation: X:429.72, Y:-329.58, Z:-4.85 [[-4.93435351e-01 -8.69772258e-01 4.21594816e-03 4.29717114e+02] [-8.69741912e-01 4.93453355e-01 7.26589050e-03 -3.29582268e+02] [-8.40004374e-03 -8.15395850e-05 -9.99964716e-01 -4.84614764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters 0.04793817301128146 Centerline is valid? [True, True] Translation: X:429.87, Y:-329.11, Z:-4.85 [[-4.21274778e-01 -9.06927452e-01 3.18723926e-03 4.29872912e+02] [-9.06903344e-01 4.21286822e-01 6.61355222e-03 -3.29113039e+02] [-7.34075396e-03 -1.04395199e-04 -9.99973051e-01 -4.85015877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters 0.0483398151692247 Centerline is valid? [True, True] Translation: X:429.48, Y:-329.79, Z:-4.85 [[-3.53297915e-01 -9.35508137e-01 2.26047987e-03 4.29478006e+02] [-9.35490829e-01 3.53305131e-01 5.69159026e-03 -3.29787889e+02] [-6.12316814e-03 -1.03831211e-04 -9.99981248e-01 -4.84821917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters 0.04837027229557392 Centerline is valid? [True, True] Translation: X:429.34, Y:-329.94, Z:-4.85 [[-2.82252288e-01 -9.59338792e-01 1.65187379e-03 4.29338243e+02] [-9.59324404e-01 2.82257103e-01 5.25509739e-03 -3.29944925e+02] [-5.50767189e-03 -1.01419575e-04 -9.99984828e-01 -4.84769208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters 0.04893434328192869 Centerline is valid? [True, True] Translation: X:429.24, Y:-330.02, Z:-4.85 [[-2.09768776e-01 -9.77750287e-01 1.19879214e-03 4.29235144e+02] [-9.77736926e-01 2.09772178e-01 5.11239805e-03 -3.30015164e+02] [-5.25012190e-03 -9.96818618e-05 -9.99986213e-01 -4.84649076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters 0.0487168691005175 Centerline is valid? [True, True] Translation: X:429.11, Y:-330.29, Z:-4.85 [[-1.38383053e-01 -9.90378534e-01 7.00674320e-04 4.29106095e+02] [-9.90368725e-01 1.38384801e-01 4.40867244e-03 -3.30288678e+02] [-4.46321722e-03 -8.38403829e-05 -9.99990036e-01 -4.84770594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters 0.04901852039727959 Centerline is valid? [True, True] Translation: X:429.03, Y:-330.29, Z:-4.85 [[-6.49361815e-02 -9.97889345e-01 3.84503801e-04 4.29025332e+02] [-9.97878638e-01 6.49372662e-02 4.62324332e-03 -3.30293303e+02] [-4.63845388e-03 -8.34723614e-05 -9.99989239e-01 -4.84690232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters 0.048965005288436336 Centerline is valid? [True, True] Translation: X:428.93, Y:-330.57, Z:-4.85 [[ 6.85648612e-03 -9.99976493e-01 3.65726808e-05 4.28934546e+02] [-9.99969126e-01 -6.85629520e-03 3.83904978e-03 -3.30574693e+02] [-3.83870878e-03 -6.28939432e-05 -9.99992630e-01 -4.84698740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters 0.04807021051810256 Centerline is valid? [True, True] Translation: X:428.87, Y:-330.81, Z:-4.85 [[ 7.82863030e-02 -9.96930900e-01 -1.88120250e-04 4.28869144e+02] [-9.96926623e-01 -7.82865183e-02 2.92047277e-03 -3.30807844e+02] [-2.92623682e-03 -4.10909300e-05 -9.99995718e-01 -4.84761239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters 0.04773364897498874 Centerline is valid? [True, True] Translation: X:428.83, Y:-331.09, Z:-4.85 [[ 1.47684369e-01 -9.89034469e-01 -3.81588931e-04 4.28827084e+02] [-9.89030647e-01 -1.47684860e-01 2.74973605e-03 -3.31093271e+02] [-2.77593865e-03 -2.86898875e-05 -9.99996147e-01 -4.84743421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters 0.048302364026791195 Centerline is valid? [True, True] Translation: X:428.79, Y:-331.31, Z:-4.85 [[ 2.18237931e-01 -9.75895357e-01 -6.76124642e-04 4.28790012e+02] [-9.75890283e-01 -2.18238977e-01 3.14702873e-03 -3.31310292e+02] [-3.21872748e-03 -2.69775713e-05 -9.99994820e-01 -4.84598176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters 0.04754693640888304 Centerline is valid? [True, True] Translation: X:428.59, Y:-330.83, Z:-4.85 [[ 2.89964690e-01 -9.57036374e-01 -1.36315470e-03 4.28586350e+02] [-9.57025226e-01 -2.89967892e-01 4.61934300e-03 -3.30826914e+02] [-4.81615036e-03 -3.48729261e-05 -9.99988402e-01 -4.84674127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters 0.047851888413219704 Centerline is valid? [True, True] Translation: X:428.57, Y:-331.04, Z:-4.85 [[ 3.58650762e-01 -9.33468427e-01 -2.51522125e-03 4.28568912e+02] [-9.33444566e-01 -3.58659578e-01 6.67450686e-03 -3.31041306e+02] [-7.13254961e-03 -4.59973624e-05 -9.99974562e-01 -4.84763151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters 0.04782897086244291 Centerline is valid? [True, True] Translation: X:428.81, Y:-331.85, Z:-4.84 [[ 4.24269294e-01 -9.05529703e-01 -3.39472516e-03 4.28813769e+02] [-9.05499733e-01 -4.24282872e-01 7.36738209e-03 -3.31846814e+02] [-8.11170705e-03 -5.18312729e-05 -9.99967098e-01 -4.84388674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters 0.04744586246834608 Centerline is valid? [True, True] Translation: X:428.86, Y:-332.11, Z:-4.84 [[ 4.90157091e-01 -8.71625034e-01 -3.97818059e-03 4.28862958e+02] [-8.71595399e-01 -4.90173232e-01 7.18777782e-03 -3.32107847e+02] [-8.21504473e-03 -5.57763721e-05 -9.99966254e-01 -4.84477509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters 0.04754678887831374 Centerline is valid? [True, True] Translation: X:428.85, Y:-332.24, Z:-4.85 [[ 5.53129124e-01 -8.33089530e-01 -3.16325699e-03 4.28851325e+02] [-8.33075519e-01 -5.53138168e-01 4.83183978e-03 -3.32235066e+02] [-5.77507331e-03 -3.73993514e-05 -9.99983323e-01 -4.84595270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters 0.04720616776381048 Centerline is valid? [True, True] Translation: X:428.51, Y:-331.90, Z:-4.85 [[ 6.13788718e-01 -7.89466952e-01 -2.31107195e-03 4.28512203e+02] [-7.89461208e-01 -6.13793069e-01 3.01162121e-03 -3.31896933e+02] [-3.79609536e-03 -2.39974628e-05 -9.99992795e-01 -4.84889199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters 0.04748331796293072 Centerline is valid? [True, True] Translation: X:429.07, Y:-332.70, Z:-4.85 [[ 6.69274446e-01 -7.43013090e-01 -1.80685221e-03 4.29067829e+02] [-7.43010308e-01 -6.69276884e-01 2.03311478e-03 -3.32703226e+02] [-2.71991531e-03 -1.82019537e-05 -9.99996301e-01 -4.84860149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters 0.04731146140539244 Centerline is valid? [True, True] Translation: X:429.10, Y:-332.85, Z:-4.85 [[ 7.23765725e-01 -6.90042637e-01 -2.08168145e-03 4.29104083e+02] [-6.90039677e-01 -7.23768719e-01 2.02145041e-03 -3.32851749e+02] [-2.90154289e-03 -2.66137296e-05 -9.99995790e-01 -4.84731111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters 0.04688464401069543 Centerline is valid? [True, True] Translation: X:429.09, Y:-332.92, Z:-4.85 [[ 7.77072674e-01 -6.29405494e-01 -2.60446705e-03 4.29088445e+02] [-6.29401786e-01 -7.77077038e-01 2.16089638e-03 -3.32922202e+02] [-3.38395159e-03 -3.99173124e-05 -9.99994274e-01 -4.84805465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters 0.04730688438893783 Centerline is valid? [True, True] Translation: X:429.07, Y:-333.01, Z:-4.85 [[ 8.25226808e-01 -5.64790296e-01 -3.55501453e-03 4.29068234e+02] [-5.64784727e-01 -8.25234463e-01 2.50887348e-03 -3.33006673e+02] [-4.35070790e-03 -6.25717414e-05 -9.99990534e-01 -4.84681576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters 0.046302938061140234 Centerline is valid? [True, True] Translation: X:429.05, Y:-333.10, Z:-4.85 [[ 8.67139905e-01 -4.98037763e-01 -5.17414668e-03 4.29050389e+02] [-4.98028266e-01 -8.67155337e-01 3.07701896e-03 -3.33098219e+02] [-6.01926054e-03 -9.13346284e-05 -9.99981880e-01 -4.84622917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters 0.04703859725807375 Centerline is valid? [True, True] Translation: X:429.04, Y:-333.19, Z:-4.85 [[ 9.02838134e-01 -4.29939326e-01 -5.95642672e-03 4.29040959e+02] [-4.29929293e-01 -9.02857778e-01 2.93862262e-03 -3.33190890e+02] [-6.64123562e-03 -9.22582378e-05 -9.99977943e-01 -4.84565103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters 0.046922233562040186 Centerline is valid? [True, True] Translation: X:429.04, Y:-333.28, Z:-4.85 [[ 9.32936549e-01 -3.60005544e-01 -5.04012276e-03 4.29040083e+02] [-3.59999923e-01 -9.32950162e-01 2.01289962e-03 -3.33277867e+02] [-5.42683837e-03 -6.34638190e-05 -9.99985273e-01 -4.84611905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters 0.047082820627798054 Centerline is valid? [True, True] Translation: X:429.05, Y:-333.36, Z:-4.85 [[ 9.57094437e-01 -2.89765705e-01 -2.46474080e-03 4.29047122e+02] [-2.89764695e-01 -9.57097610e-01 7.65455862e-04 -3.33360953e+02] [-2.58080039e-03 -1.84186806e-05 -9.99996670e-01 -4.84813984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters 0.046979763709799095 Centerline is valid? [True, True] Translation: X:429.06, Y:-333.43, Z:-4.85 [[ 9.76194057e-01 -2.16896404e-01 -1.05543286e-03 4.29063880e+02] [-2.16896274e-01 -9.76194627e-01 2.37433778e-04 -3.33434186e+02] [-1.08180642e-03 -2.86198840e-06 -9.99999415e-01 -4.84883710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters 0.04673372907071722 Centerline is valid? [True, True] Translation: X:429.09, Y:-333.50, Z:-4.85 [[ 9.89837376e-01 -1.42202443e-01 -6.58638516e-04 4.29085403e+02] [-1.42202412e-01 -9.89837595e-01 9.36995570e-05 -3.33503554e+02] [-6.65269471e-04 9.12661963e-07 -9.99999779e-01 -4.84775461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters 0.0465403010908686 Centerline is valid? [True, True] Translation: X:429.11, Y:-333.57, Z:-4.85 [[ 9.97903554e-01 -6.46950182e-02 -1.74697549e-03 4.29113973e+02] [-6.46949155e-02 -9.97905083e-01 1.15246723e-04 -3.33568792e+02] [-1.75077161e-03 -1.98468229e-06 -9.99998467e-01 -4.84601420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters 0.04669130386634027 Centerline is valid? [True, True] Translation: X:429.15, Y:-333.63, Z:-4.84 [[ 9.99872974e-01 1.54293945e-02 -3.99612928e-03 4.29146041e+02] [ 1.54293348e-02 -9.99880960e-01 -4.57641875e-05 -3.33630855e+02] [-3.99635969e-03 -1.58992425e-05 -9.99992014e-01 -4.84375274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters 0.04751722299735812 Centerline is valid? [True, True] Translation: X:429.18, Y:-333.71, Z:-4.84 [[ 9.95304390e-01 9.65994505e-02 -6.14150981e-03 4.29180082e+02] [ 9.65978879e-02 -9.95323337e-01 -5.51263662e-04 -3.33712205e+02] [-6.16603981e-03 -4.45817339e-05 -9.99980989e-01 -4.84177494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters 0.04725284499306911 Centerline is valid? [True, True] Translation: X:429.22, Y:-333.79, Z:-4.84 [[ 9.84194963e-01 1.76898136e-01 -8.20512937e-03 4.29220658e+02] [ 1.76892701e-01 -9.84229162e-01 -1.38928657e-03 -3.33787935e+02] [-8.32148980e-03 -8.40986514e-05 -9.99965372e-01 -4.83983615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters 0.0469747493516318 Centerline is valid? [True, True] Translation: X:429.27, Y:-333.86, Z:-4.84 [[ 9.66998949e-01 2.54634130e-01 -8.63096226e-03 4.29266187e+02] [ 2.54624926e-01 -9.67037460e-01 -2.16739105e-03 -3.33856247e+02] [-8.89835556e-03 -1.01793254e-04 -9.99960404e-01 -4.84052356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters 0.047582509028326773 Centerline is valid? [True, True] Translation: X:429.32, Y:-333.93, Z:-4.84 [[ 9.44825874e-01 3.27479889e-01 -7.80955169e-03 4.29317849e+02] [ 3.27469369e-01 -9.44858146e-01 -2.62608933e-03 -3.33925356e+02] [-8.23890998e-03 -7.61918142e-05 -9.99966057e-01 -4.84207295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters 0.04682344633332727 Centerline is valid? [True, True] Translation: X:429.37, Y:-333.99, Z:-4.84 [[ 9.18064737e-01 3.96381601e-01 -6.22615382e-03 4.29373323e+02] [ 3.96372725e-01 -9.18085849e-01 -2.65283556e-03 -3.33986155e+02] [-6.76767892e-03 -3.24027772e-05 -9.99977099e-01 -4.84279885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters 0.046977633730495544 Centerline is valid? [True, True] Translation: X:429.43, Y:-334.04, Z:-4.84 [[ 8.87069818e-01 4.61621966e-01 -3.50690771e-03 4.29429765e+02] [ 4.61618331e-01 -8.87076750e-01 -1.83199815e-03 -3.34036985e+02] [-3.95658688e-03 6.25737670e-06 -9.99992173e-01 -4.84384958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters 0.04711408110835512 Centerline is valid? [True, True] Translation: X:429.49, Y:-334.08, Z:-4.84 [[ 8.49027318e-01 5.28340556e-01 -2.97830228e-03 4.29487433e+02] [ 5.28337259e-01 -8.49032542e-01 -1.86643763e-03 -3.34079113e+02] [-3.51479025e-03 1.11084671e-05 -9.99993823e-01 -4.84354757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters 0.0469554813550111 Centerline is valid? [True, True] Translation: X:429.54, Y:-334.11, Z:-4.84 [[ 8.06130615e-01 5.91731965e-01 -2.59082010e-03 4.29542577e+02] [ 5.91728845e-01 -8.06134779e-01 -1.92174049e-03 -3.34107938e+02] [-3.22570546e-03 1.61108541e-05 -9.99994797e-01 -4.84415326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters 0.04734172555364889 Centerline is valid? [True, True] Translation: X:429.60, Y:-334.14, Z:-4.84 [[ 7.55932936e-01 6.54643365e-01 -2.73132148e-03 4.29603870e+02] [ 6.54639045e-01 -7.55937870e-01 -2.37835139e-03 -3.34136715e+02] [-3.62168130e-03 9.84445987e-06 -9.99993442e-01 -4.84461408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters 0.04723137604938091 Centerline is valid? [True, True] Translation: X:429.68, Y:-334.17, Z:-4.84 [[ 6.99307731e-01 7.14814529e-01 -2.98106556e-03 4.29681225e+02] [ 7.14808079e-01 -6.99314085e-01 -3.03665442e-03 -3.34174947e+02] [-4.25534583e-03 -7.33383177e-06 -9.99990946e-01 -4.84322843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters 0.04757311663928118 Centerline is valid? [True, True] Translation: X:429.76, Y:-334.20, Z:-4.84 [[ 6.36070277e-01 7.71618833e-01 -4.35655337e-03 4.29756887e+02] [ 7.71601364e-01 -6.36085194e-01 -5.19246740e-03 -3.34204304e+02] [-6.77774473e-03 -5.87483410e-05 -9.99977029e-01 -4.84174187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters 0.04698027078514154 Centerline is valid? [True, True] Translation: X:429.84, Y:-334.23, Z:-4.84 [[ 5.72359122e-01 8.19991110e-01 -4.42887444e-03 4.29844227e+02] [ 8.19967627e-01 -5.72376251e-01 -6.20628811e-03 -3.34234485e+02] [-7.62408363e-03 -7.93080525e-05 -9.99970933e-01 -4.84053562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters 0.047138739339426756 Centerline is valid? [True, True] Translation: X:429.93, Y:-334.26, Z:-4.84 [[ 5.07018790e-01 8.61928065e-01 -3.45803824e-03 4.29930961e+02] [ 8.61908885e-01 -5.07030578e-01 -5.75043695e-03 -3.34255642e+02] [-6.70979412e-03 -6.49343041e-05 -9.99977487e-01 -4.84125693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters 0.047088658724279274 Centerline is valid? [True, True] Translation: X:430.01, Y:-334.27, Z:-4.84 [[ 4.39864094e-01 8.98062125e-01 -1.99946768e-03 4.30014955e+02] [ 8.98053188e-01 -4.39868638e-01 -4.00663265e-03 -3.34268383e+02] [-4.47770815e-03 -3.32544819e-05 -9.99989975e-01 -4.84098940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters 0.04725080292343899 Centerline is valid? [True, True] Translation: X:430.09, Y:-334.27, Z:-4.84 [[ 3.69399190e-01 9.29270208e-01 -1.05823860e-03 4.30087744e+02] [ 9.29266521e-01 -3.69400705e-01 -2.61764476e-03 -3.34267688e+02] [-2.82341337e-03 -1.64298513e-05 -9.99996014e-01 -4.84287407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters 0.04693237480862559 Centerline is valid? [True, True] Translation: X:430.17, Y:-334.26, Z:-4.84 [[ 2.95731546e-01 9.55270904e-01 -5.94482331e-04 4.30166141e+02] [ 9.55269043e-01 -2.95732143e-01 -1.88542266e-03 -3.34263653e+02] [-1.97689694e-03 -1.03116104e-05 -9.99998046e-01 -4.84330797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters 0.046809483149314206 Centerline is valid? [True, True] Translation: X:430.25, Y:-334.26, Z:-4.84 [[ 2.18465797e-01 9.75844296e-01 -7.77834348e-04 4.30253216e+02] [ 9.75838525e-01 -2.18467180e-01 -3.35616837e-03 -3.34255185e+02] [-3.44502904e-03 -2.58327258e-05 -9.99994066e-01 -4.84188890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters 0.047043390866831764 Centerline is valid? [True, True] Translation: X:430.34, Y:-334.24, Z:-4.84 [[ 1.39979795e-01 9.90154048e-01 -7.86112571e-04 4.30338597e+02] [ 9.90140334e-01 -1.39981994e-01 -5.21151480e-03 -3.34241564e+02] [-5.27024408e-03 -4.88549914e-05 -9.99986111e-01 -4.83900565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters 0.047550702943035324 Centerline is valid? [True, True] Translation: X:430.42, Y:-334.22, Z:-4.84 [[ 6.10350944e-02 9.98135490e-01 -5.10692715e-04 4.30416380e+02] [ 9.98110063e-01 -6.10371850e-02 -7.12489553e-03 -3.34219259e+02] [-7.14278234e-03 -7.48588666e-05 -9.99974487e-01 -4.83846821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters 0.047309991353331325 Centerline is valid? [True, True] Translation: X:430.49, Y:-334.19, Z:-4.84 [[-1.69502971e-02 9.99856332e-01 5.84945185e-05 4.30491399e+02] [ 9.99818166e-01 1.69501612e-02 -8.73649230e-03 -3.34192110e+02] [-8.73622864e-03 -8.96022579e-05 -9.99961834e-01 -4.83687185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters 0.048171185284417536 Centerline is valid? [True, True] Translation: X:430.56, Y:-334.16, Z:-4.84 [[-9.10070075e-02 9.95849922e-01 8.10839344e-04 4.30560641e+02] [ 9.95804457e-01 9.10106007e-02 -9.51594134e-03 -3.34157998e+02] [-9.55024442e-03 -5.85799114e-05 -9.99954394e-01 -4.83852356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters 0.04676023817273555 Centerline is valid? [True, True] Translation: X:430.64, Y:-334.12, Z:-4.84 [[-1.63132955e-01 9.86602994e-01 1.47364965e-03 4.30636700e+02] [ 9.86562477e-01 1.63139611e-01 -8.94126163e-03 -3.34117990e+02] [-9.06188612e-03 -4.76698840e-06 -9.99958940e-01 -4.84055987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters 0.04711824850736419 Centerline is valid? [True, True] Translation: X:430.70, Y:-334.07, Z:-4.84 [[-2.30643219e-01 9.73036658e-01 1.83533872e-03 4.30701898e+02] [ 9.73008186e-01 2.30650511e-01 -7.44390894e-03 -3.34074030e+02] [-7.66651809e-03 6.89124771e-05 -9.99970609e-01 -4.83924212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters 0.047734363036862584 Centerline is valid? [True, True] Translation: X:430.76, Y:-334.03, Z:-4.84 [[-3.03817680e-01 9.52729111e-01 1.43464411e-03 4.30763931e+02] [ 9.52719297e-01 3.03821063e-01 -4.32462178e-03 -3.34025176e+02] [-4.55606816e-03 5.29165755e-05 -9.99989620e-01 -4.84074491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters 0.04734343332385311 Centerline is valid? [True, True] Translation: X:430.82, Y:-333.97, Z:-4.84 [[-3.76372082e-01 9.26467272e-01 1.56522795e-03 4.30816868e+02] [ 9.26459823e-01 3.76375333e-01 -3.71546926e-03 -3.33974948e+02] [-4.03137386e-03 5.17219121e-05 -9.99991873e-01 -4.84172895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters 0.04737111514590177 Centerline is valid? [True, True] Translation: X:430.87, Y:-333.92, Z:-4.84 [[-4.47485519e-01 8.94285831e-01 3.09251316e-03 4.30866813e+02] [ 8.94265791e-01 4.47496197e-01 -5.98740229e-03 -3.33918904e+02] [-6.73833691e-03 8.62529066e-05 -9.99977293e-01 -4.83889589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters 0.047501741184624816 Centerline is valid? [True, True] Translation: X:430.92, Y:-333.85, Z:-4.84 [[-5.17996498e-01 8.55369060e-01 4.83739731e-03 4.30919074e+02] [ 8.55333474e-01 5.18019076e-01 -7.80289970e-03 -3.33854749e+02] [-9.18022306e-03 9.57131281e-05 -9.99957856e-01 -4.83815815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters 0.04782501191636891 Centerline is valid? [True, True] Translation: X:430.97, Y:-333.79, Z:-4.84 [[-5.85517844e-01 8.10625655e-01 7.40966097e-03 4.30967512e+02] [ 8.10562804e-01 5.85564718e-01 -1.00946647e-02 -3.33786265e+02] [-1.25218302e-02 9.53892495e-05 -9.99921594e-01 -4.83710757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters 0.04773623310725144 Centerline is valid? [True, True] Translation: X:431.01, Y:-333.71, Z:-4.83 [[-6.48833972e-01 7.60877554e-01 8.93450573e-03 4.31009186e+02] [ 7.60806978e-01 6.48895479e-01 -1.03633369e-02 -3.33714509e+02] [-1.36827908e-02 7.33492297e-05 -9.99906384e-01 -4.83104268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters 0.04842912542310001 Centerline is valid? [True, True] Translation: X:431.04, Y:-333.64, Z:-4.83 [[-7.06180470e-01 7.07979283e-01 8.63012125e-03 4.31041449e+02] [ 7.07927613e-01 7.06233198e-01 -8.55361601e-03 -3.33643170e+02] [-1.21506611e-02 6.91045651e-05 -9.99926176e-01 -4.83365869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters 0.04792836347505055 Centerline is valid? [True, True] Translation: X:430.86, Y:-333.38, Z:-4.84 [[-7.53765397e-01 6.57101836e-01 7.40968385e-03 4.30862604e+02] [ 6.57070966e-01 7.53801812e-01 -6.36974486e-03 -3.33375400e+02] [-9.77100416e-03 6.73948638e-05 -9.99952260e-01 -4.83637090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters 0.047721359673091726 Centerline is valid? [True, True] Translation: X:431.28, Y:-333.60, Z:-4.84 [[-8.00843212e-01 5.98852168e-01 5.12149074e-03 4.31278449e+02] [ 5.98840254e-01 8.00859587e-01 -3.77781494e-03 -3.33600322e+02] [-6.36394763e-03 4.15173577e-05 -9.99979749e-01 -4.84188422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters 0.04772895630944951 Centerline is valid? [True, True] Translation: X:431.25, Y:-333.48, Z:-4.84 [[-8.42727839e-01 5.38322611e-01 4.30762333e-03 4.31254695e+02] [ 5.38315702e-01 8.42738848e-01 -2.72749831e-03 -3.33476680e+02] [-5.09847553e-03 2.03225183e-05 -9.99987003e-01 -4.84187581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters 0.047379538552038976 Centerline is valid? [True, True] Translation: X:430.62, Y:-333.01, Z:-4.84 [[-8.80579792e-01 4.73877370e-01 4.41227273e-03 4.30620538e+02] [ 4.73871420e-01 8.80590846e-01 -2.37464752e-03 -3.33009834e+02] [-5.01069870e-03 -2.16683290e-07 -9.99987446e-01 -4.84050522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters 0.047676239575066934 Centerline is valid? [True, True] Translation: X:431.07, Y:-333.14, Z:-4.84 [[-9.16472264e-01 4.00060576e-01 5.48861594e-03 4.31067441e+02] [ 4.00053124e-01 9.16488698e-01 -2.44213634e-03 -3.33135677e+02] [-6.00725695e-03 -4.24122673e-05 -9.99981955e-01 -4.84006722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters 0.047730582953244706 Centerline is valid? [True, True] Translation: X:430.36, Y:-332.76, Z:-4.84 [[-9.43686576e-01 3.30766905e-01 6.99286516e-03 4.30359922e+02] [ 3.30757186e-01 9.43712482e-01 -2.53691437e-03 -3.32758598e+02] [-7.43838145e-03 -8.11116310e-05 -9.99972332e-01 -4.83835494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters 0.04790129461166058 Centerline is valid? [True, True] Translation: X:430.45, Y:-332.71, Z:-4.84 [[-9.65415387e-01 2.60589406e-01 8.14195167e-03 4.30446639e+02] [ 2.60579162e-01 9.65449713e-01 -2.31330027e-03 -3.32707050e+02] [-8.46346644e-03 -1.11672730e-04 -9.99964178e-01 -4.83831318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters 0.047599087625325075 Centerline is valid? [True, True] Translation: X:430.35, Y:-332.61, Z:-4.84 [[-9.81501409e-01 1.91257654e-01 8.68877507e-03 4.30353916e+02] [ 1.91249088e-01 9.81539859e-01 -1.81411306e-03 -3.32608374e+02] [-8.87534207e-03 -1.18834221e-04 -9.99960606e-01 -4.83952338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters 0.04799284146154016 Centerline is valid? [True, True] Translation: X:430.45, Y:-332.09, Z:-5.92 [[-9.59438286e-01 -2.81780675e-01 8.82195420e-03 4.30446012e+02] [ 2.81770107e-01 -9.59478833e-01 -2.44447192e-03 -3.32088052e+02] [ 9.15328327e-03 1.40443033e-04 9.99958098e-01 -5.91884176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters 0.047963354179811034 Centerline is valid? [True, True] Translation: X:430.19, Y:-332.58, Z:-4.84 [[-9.81253648e-01 1.92520376e-01 8.78534689e-03 4.30187815e+02] [ 1.92511967e-01 9.81292973e-01 -1.80095799e-03 -3.32576584e+02] [-8.96772027e-03 -7.59121897e-05 -9.99959786e-01 -4.83881432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters 0.04794571246491496 Centerline is valid? [True, True] Translation: X:430.14, Y:-332.50, Z:-4.84 [[-9.91456011e-01 1.30151586e-01 8.69152520e-03 4.30136649e+02] [ 1.30146541e-01 9.91494107e-01 -1.14596079e-03 -3.32498994e+02] [-8.76674464e-03 -4.99777267e-06 -9.99961571e-01 -4.83977717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters 0.048271445761725776 Centerline is valid? [True, True] Translation: X:430.02, Y:-332.42, Z:-4.84 [[-9.97838576e-01 6.50982314e-02 8.96645239e-03 4.30023538e+02] [ 6.50960156e-02 9.97878860e-01 -5.39049013e-04 -3.32420171e+02] [-8.98252443e-03 4.57964257e-05 -9.99959655e-01 -4.83827890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters 0.04742872871594672 Centerline is valid? [True, True] Translation: X:430.05, Y:-332.35, Z:-4.84 [[-9.99952188e-01 -1.50126117e-03 9.66268116e-03 4.30045294e+02] [-1.50027845e-03 9.99998869e-01 1.08950567e-04 -3.32352477e+02] [-9.66283379e-03 9.44486452e-05 -9.99953309e-01 -4.83873069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters 0.04852645130998141 Centerline is valid? [True, True] Translation: X:430.39, Y:-332.25, Z:-4.84 [[-9.97240801e-01 -7.33485564e-02 1.14356158e-02 4.30389650e+02] [-7.33419440e-02 9.97306355e-01 9.97091911e-04 -3.32253259e+02] [-1.14779476e-02 1.55630440e-04 -9.99934114e-01 -4.84122904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters 0.04852037212775056 Centerline is valid? [True, True] Translation: X:430.42, Y:-332.16, Z:-4.84 [[-9.89377592e-01 -1.44827491e-01 1.25291118e-02 4.30415364e+02] [-1.44813598e-01 9.89456905e-01 2.01387566e-03 -3.32158472e+02] [-1.26886807e-02 1.78097695e-04 -9.99919480e-01 -4.84205841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters 0.04866690667080213 Centerline is valid? [True, True] Translation: X:430.29, Y:-331.63, Z:-5.92 [[-9.94336111e-01 1.05442011e-01 1.33296683e-02 4.30290521e+02] [-1.05434439e-01 -9.94425443e-01 1.27148290e-03 -3.31629884e+02] [ 1.33894290e-02 -1.41124736e-04 9.99910348e-01 -5.91732933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters 0.04883813629328058 Centerline is valid? [True, True] Translation: X:430.09, Y:-332.22, Z:-4.84 [[-9.88780044e-01 -1.48876979e-01 1.22339781e-02 4.30094373e+02] [-1.48863478e-01 9.88855711e-01 2.01200593e-03 -3.32219950e+02] [-1.23971805e-02 1.68238787e-04 -9.99923138e-01 -4.84130230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters 0.04880293105563619 Centerline is valid? [True, True] Translation: X:430.01, Y:-332.15, Z:-4.84 [[-9.75460723e-01 -2.19889695e-01 1.11758522e-02 4.30011497e+02] [-2.19873557e-01 9.75524731e-01 2.66794168e-03 -3.32151958e+02] [-1.14889731e-02 1.45197946e-04 -9.99933989e-01 -4.84030783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters 0.04827016683488273 Centerline is valid? [True, True] Translation: X:429.20, Y:-332.30, Z:-4.84 [[-9.56986760e-01 -2.89980941e-01 9.34848403e-03 4.29199503e+02] [-2.89966013e-01 9.57032414e-01 2.94435189e-03 -3.32297505e+02] [-9.80060818e-03 1.06963137e-04 -9.99951967e-01 -4.83858657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters 0.04805493183494757 Centerline is valid? [True, True] Translation: X:429.48, Y:-332.11, Z:-4.84 [[-9.30707360e-01 -3.65664966e-01 8.54067828e-03 4.29475699e+02] [-3.65648949e-01 9.30746544e-01 3.42308879e-03 -3.32112716e+02] [-9.20091044e-03 6.30038923e-05 -9.99957669e-01 -4.84220497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters 0.04788701994760963 Centerline is valid? [True, True] Translation: X:429.48, Y:-332.01, Z:-4.84 [[-8.99871583e-01 -4.36082461e-01 7.95115233e-03 4.29480971e+02] [-4.36065094e-01 8.99906710e-01 3.89206192e-03 -3.32014018e+02] [-8.85255527e-03 3.51359402e-05 -9.99960815e-01 -4.84297557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters 0.04809148076075706 Centerline is valid? [True, True] Translation: X:429.34, Y:-331.99, Z:-4.84 [[-8.64984839e-01 -5.01753229e-01 6.70261418e-03 4.29335668e+02] [-5.01738081e-01 8.65010808e-01 3.89881516e-03 -3.31988669e+02] [-7.75407680e-03 9.45922356e-06 -9.99969937e-01 -4.84458529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters 0.04789284521734948 Centerline is valid? [True, True] Translation: X:428.44, Y:-331.84, Z:-5.91 [[-8.97648467e-01 4.40670940e-01 6.02924241e-03 4.28438541e+02] [-4.40661587e-01 -8.97668712e-01 2.87225582e-03 -3.31844522e+02] [ 6.67798194e-03 -7.85794947e-05 9.99977699e-01 -5.91478345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters 0.04792892800307636 Centerline is valid? [True, True] Translation: X:428.58, Y:-332.41, Z:-4.84 [[-8.59367486e-01 -5.11320447e-01 6.23901083e-03 4.28577335e+02] [-5.11307278e-01 8.59390132e-01 3.66988550e-03 -3.32406222e+02] [-7.23823184e-03 -3.62713646e-05 -9.99973803e-01 -4.84248055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters 0.04866082765446826 Centerline is valid? [True, True] Translation: X:428.49, Y:-332.37, Z:-4.84 [[-8.18502810e-01 -5.74465686e-01 6.50575729e-03 4.28494261e+02] [-5.74448069e-01 8.18528663e-01 4.49931088e-03 -3.32370442e+02] [-7.90984852e-03 -5.45211127e-05 -9.99968715e-01 -4.84234908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters 0.04860109616389466 Centerline is valid? [True, True] Translation: X:428.36, Y:-332.38, Z:-4.84 [[-7.73894897e-01 -6.33280803e-01 6.48946350e-03 4.28355523e+02] [-6.33259292e-01 7.73922102e-01 5.22014153e-03 -3.32379398e+02] [-8.32815465e-03 -6.96721678e-05 -9.99965318e-01 -4.84284347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters 0.04768057845787642 Centerline is valid? [True, True] Translation: X:428.18, Y:-332.43, Z:-4.84 [[-7.25807102e-01 -6.87879793e-01 5.04402835e-03 4.28181358e+02] [-6.87863788e-01 7.25824626e-01 4.69282120e-03 -3.32427608e+02] [-6.88917686e-03 -6.35214881e-05 -9.99976267e-01 -4.84185778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters 0.047665756727893915 Centerline is valid? [True, True] Translation: X:428.21, Y:-332.28, Z:-4.84 [[-6.71147119e-01 -7.41314474e-01 3.79413630e-03 4.28210092e+02] [-7.41303111e-01 6.71157841e-01 4.10476041e-03 -3.32284145e+02] [-5.58938263e-03 -5.77069228e-05 -9.99984378e-01 -4.84208737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters 0.04806371437671439 Centerline is valid? [True, True] Translation: X:427.85, Y:-332.58, Z:-4.84 [[-6.15808934e-01 -7.87890082e-01 2.92858595e-03 4.27854907e+02] [-7.87881587e-01 6.15815895e-01 3.65906453e-03 -3.32579025e+02] [-4.68641043e-03 -5.40943234e-05 -9.99989017e-01 -4.84397435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters 0.0478447716919021 Centerline is valid? [True, True] Translation: X:427.69, Y:-332.68, Z:-4.84 [[-5.55248932e-01 -8.31679509e-01 2.79590462e-03 4.27689620e+02] [-8.31669554e-01 5.55255968e-01 4.06981988e-03 -3.32676709e+02] [-4.93722853e-03 -6.55056075e-05 -9.99987810e-01 -4.84353140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters 0.04842507813951183 Centerline is valid? [True, True] Translation: X:427.55, Y:-332.74, Z:-4.84 [[-4.91253955e-01 -8.71012077e-01 2.74108123e-03 4.27551969e+02] [-8.70999419e-01 4.91261596e-01 4.69644242e-03 -3.32741275e+02] [-5.43724601e-03 -8.03342440e-05 -9.99985215e-01 -4.84140060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters 0.04782780919818507 Centerline is valid? [True, True] Translation: X:427.39, Y:-332.89, Z:-4.84 [[-4.24415215e-01 -9.05464485e-01 2.40654500e-03 4.27391490e+02] [-9.05451139e-01 4.24422027e-01 4.91712003e-03 -3.32887333e+02] [-5.47366827e-03 -9.21083546e-05 -9.99985015e-01 -4.84240479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters 0.04860857570553766 Centerline is valid? [True, True] Translation: X:427.26, Y:-332.99, Z:-4.84 [[-3.54856477e-01 -9.34917855e-01 2.34204133e-03 4.27258380e+02] [-9.34899630e-01 3.54864186e-01 5.83885320e-03 -3.32992395e+02] [-6.28995470e-03 -1.17618697e-04 -9.99980211e-01 -4.84077528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters 0.047783703436127305 Centerline is valid? [True, True] Translation: X:427.12, Y:-333.17, Z:-4.84 [[-2.85007314e-01 -9.58523131e-01 2.05891378e-03 4.27117841e+02] [-9.58501307e-01 2.85014721e-01 6.46938500e-03 -3.33166134e+02] [-6.78787590e-03 -1.29649508e-04 -9.99976954e-01 -4.84102591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters 0.04743268071748658 Centerline is valid? [True, True] Translation: X:427.01, Y:-333.28, Z:-4.84 [[-2.14681948e-01 -9.76682611e-01 1.65461162e-03 4.27005381e+02] [-9.76657995e-01 2.14688287e-01 6.93539205e-03 -3.33284038e+02] [-7.12890256e-03 -1.27086193e-04 -9.99974581e-01 -4.84097113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters 0.047548021891597674 Centerline is valid? [True, True] Translation: X:426.88, Y:-333.55, Z:-4.84 [[-1.48545918e-01 -9.88905076e-01 9.28317585e-04 4.26878549e+02] [-9.88888559e-01 1.48548803e-01 5.71586741e-03 -3.33546471e+02] [-5.79035076e-03 -6.89338641e-05 -9.99983233e-01 -4.84229155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters 0.04812958968744477 Centerline is valid? [True, True] Translation: X:426.77, Y:-333.81, Z:-4.84 [[-8.09301609e-02 -9.96719693e-01 4.02527459e-04 4.26772785e+02] [-9.96709129e-01 8.09311565e-02 4.58913521e-03 -3.33805670e+02] [-4.60665845e-03 -2.98033418e-05 -9.99989389e-01 -4.84239215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters 0.04751831976392203 Centerline is valid? [True, True] Translation: X:426.69, Y:-334.07, Z:-4.84 [[-1.25164873e-02 -9.99921664e-01 6.61225693e-05 4.26688502e+02] [-9.99910382e-01 1.25166601e-02 4.74992115e-03 -3.34071160e+02] [-4.75037670e-03 -6.66431590e-06 -9.99988717e-01 -4.84168798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters 0.04765100308496633 Centerline is valid? [True, True] Translation: X:426.62, Y:-334.24, Z:-4.84 [[ 5.78273417e-02 -9.98326553e-01 -3.05083282e-04 4.26621516e+02] [-9.98313757e-01 -5.78281452e-02 5.05454432e-03 -3.34242719e+02] [-5.06372821e-03 1.22779756e-05 -9.99987179e-01 -4.84183053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters 0.047873880400343814 Centerline is valid? [True, True] Translation: X:426.57, Y:-334.51, Z:-4.84 [[ 1.31108466e-01 -9.91367746e-01 -7.50360036e-04 4.26573863e+02] [-9.91352123e-01 -1.31110613e-01 5.56554675e-03 -3.34513032e+02] [-5.61588370e-03 1.41807167e-05 -9.99984231e-01 -4.84179093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters 0.047943960901145416 Centerline is valid? [True, True] Translation: X:426.45, Y:-334.27, Z:-4.84 [[ 2.05984560e-01 -9.78553969e-01 -1.57805906e-03 4.26450615e+02] [-9.78525743e-01 -2.05990604e-01 7.43250653e-03 -3.34265079e+02] [-7.59817411e-03 1.31898242e-05 -9.99971133e-01 -4.84296738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters 0.04817372470525992 Centerline is valid? [True, True] Translation: X:426.52, Y:-334.90, Z:-4.84 [[ 2.77682509e-01 -9.60669194e-01 -2.66925180e-03 4.26522973e+02] [-9.60624645e-01 -2.77695338e-01 9.25153645e-03 -3.34899086e+02] [-9.62890484e-03 -4.84079399e-06 -9.99953641e-01 -4.84019519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters 0.04755635606287521 Centerline is valid? [True, True] Translation: X:426.54, Y:-335.21, Z:-4.84 [[ 3.50999564e-01 -9.36369544e-01 -3.37383637e-03 4.26540485e+02] [-9.36325154e-01 -3.51015776e-01 9.11760734e-03 -3.35207140e+02] [-9.72171962e-03 -4.12683321e-05 -9.99952742e-01 -4.84006092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters 0.047745617867246494 Centerline is valid? [True, True] Translation: X:426.55, Y:-335.43, Z:-4.84 [[ 4.20911377e-01 -9.07095051e-01 -3.49009976e-03 4.26546895e+02] [-9.07062835e-01 -4.20925844e-01 7.64506453e-03 -3.35425017e+02] [-8.40387339e-03 -5.21548565e-05 -9.99964686e-01 -4.84064046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters 0.04805195897803351 Centerline is valid? [True, True] Translation: X:426.61, Y:-335.71, Z:-4.84 [[ 4.87664624e-01 -8.73023869e-01 -3.54115321e-03 4.26608182e+02] [-8.73000012e-01 -4.87677477e-01 6.45426450e-03 -3.35714070e+02] [-7.36166763e-03 -5.60896773e-05 -9.99972901e-01 -4.84153020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters 0.04782906121050574 Centerline is valid? [True, True] Translation: X:426.62, Y:-335.89, Z:-4.84 [[ 5.51381135e-01 -8.34245777e-01 -3.58152215e-03 4.26623914e+02] [-8.34227527e-01 -5.51392764e-01 5.51849627e-03 -3.35888806e+02] [-6.57860761e-03 -5.49903696e-05 -9.99978359e-01 -4.84070699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters 0.04794957071152038 Centerline is valid? [True, True] Translation: X:426.63, Y:-336.03, Z:-4.84 [[ 6.11383246e-01 -7.91327136e-01 -3.44815663e-03 4.26629439e+02] [-7.91314107e-01 -6.11392968e-01 4.54128297e-03 -3.36027301e+02] [-5.70181916e-03 -4.78893381e-05 -9.99983743e-01 -4.84214100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters 0.048243216557601436 Centerline is valid? [True, True] Translation: X:426.71, Y:-336.24, Z:-4.84 [[ 6.68063468e-01 -7.44097398e-01 -3.20384967e-03 4.26706049e+02] [-7.44088536e-01 -6.68071149e-01 3.63186719e-03 -3.36242241e+02] [-4.84286245e-03 -4.23699828e-05 -9.99988272e-01 -4.84274197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters 0.04726133341819629 Centerline is valid? [True, True] Translation: X:426.18, Y:-335.81, Z:-4.84 [[ 7.22822705e-01 -6.91017806e-01 -4.66135992e-03 4.26180376e+02] [-6.91002805e-01 -7.22837732e-01 4.55389743e-03 -3.35809776e+02] [-6.51623104e-03 -7.06476826e-05 -9.99978767e-01 -4.84327116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters 0.04761868123883058 Centerline is valid? [True, True] Translation: X:426.15, Y:-335.90, Z:-4.84 [[ 7.75901963e-01 -6.30822054e-01 -6.29917652e-03 4.26152881e+02] [-6.30800148e-01 -7.75927525e-01 5.25816375e-03 -3.35895191e+02] [-8.20467011e-03 -1.06298099e-04 -9.99966336e-01 -4.84104228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters 0.047655861575155244 Centerline is valid? [True, True] Translation: X:426.14, Y:-335.98, Z:-4.84 [[ 8.23412289e-01 -5.67390518e-01 -7.75899008e-03 4.26135691e+02] [-5.67363795e-01 -8.23448834e-01 5.50839367e-03 -3.35978439e+02] [-9.51454167e-03 -1.33508989e-04 -9.99954727e-01 -4.83933446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters 0.047458690085294006 Centerline is valid? [True, True] Translation: X:426.13, Y:-336.06, Z:-4.84 [[ 8.64416157e-01 -5.02710067e-01 -8.20338961e-03 4.26127863e+02] [-5.02686125e-01 -8.64455073e-01 4.90777086e-03 -3.36056827e+02] [-9.55864759e-03 -1.18626299e-04 -9.99954308e-01 -4.83924261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters 0.04755315297381822 Centerline is valid? [True, True] Translation: X:426.12, Y:-336.14, Z:-4.84 [[ 9.00039910e-01 -4.35738509e-01 -7.75315578e-03 4.26123041e+02] [-4.35721512e-01 -9.00073299e-01 3.84971657e-03 -3.36141906e+02] [-8.65587826e-03 -8.66818008e-05 -9.99962533e-01 -4.84089356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters 0.047559618423689214 Centerline is valid? [True, True] Translation: X:426.12, Y:-336.23, Z:-4.84 [[ 9.30594978e-01 -3.65981718e-01 -7.09712157e-03 4.26124681e+02] [-3.65970578e-01 -9.30622039e-01 2.85609675e-03 -3.36226138e+02] [-7.65001694e-03 -6.05316158e-05 -9.99970736e-01 -4.83870844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters 0.04688953440394534 Centerline is valid? [True, True] Translation: X:426.13, Y:-336.31, Z:-4.84 [[ 9.56136220e-01 -2.92837224e-01 -7.06328568e-03 4.26134093e+02] [-2.92828824e-01 -9.56162307e-01 2.21861574e-03 -3.36306656e+02] [-7.40334080e-03 -5.29652298e-05 -9.99972594e-01 -4.83983883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters 0.04716514726719094 Centerline is valid? [True, True] Translation: X:426.15, Y:-336.39, Z:-4.84 [[ 9.76336440e-01 -2.16119992e-01 -7.70097195e-03 4.26150192e+02] [-2.16112740e-01 -9.76366809e-01 1.77166877e-03 -3.36385046e+02] [-7.90186644e-03 -6.54666362e-05 -9.99968778e-01 -4.83895851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters 0.04702116645306141 Centerline is valid? [True, True] Translation: X:426.17, Y:-336.47, Z:-4.84 [[ 9.90479139e-01 -1.37340030e-01 -9.42293779e-03 4.26172360e+02] [-1.37332884e-01 -9.90523956e-01 1.40436410e-03 -3.36466098e+02] [-9.52652102e-03 -9.69141164e-05 -9.99954617e-01 -4.83937979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters 0.04785372869840203 Centerline is valid? [True, True] Translation: X:426.20, Y:-336.55, Z:-4.84 [[ 9.98310458e-01 -5.69013795e-02 -1.17670153e-02 4.26200653e+02] [-5.68956388e-02 -9.98379793e-01 8.22322325e-04 -3.36545235e+02] [-1.17947416e-02 -1.51441122e-04 -9.99930428e-01 -4.83919485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters 0.046990169638677956 Centerline is valid? [True, True] Translation: X:426.23, Y:-336.63, Z:-4.84 [[ 9.99685941e-01 2.16114382e-02 -1.26871840e-02 4.26231232e+02] [ 2.16118077e-02 -9.99766432e-01 -1.07988655e-04 -3.36630002e+02] [-1.26865545e-02 -1.66238241e-04 -9.99919509e-01 -4.83749667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters 0.047474151156693775 Centerline is valid? [True, True] Translation: X:426.27, Y:-336.71, Z:-4.84 [[ 9.95096264e-01 9.80655367e-02 -1.29064517e-02 4.26266032e+02] [ 9.80592150e-02 -9.95179948e-01 -1.12324982e-03 -3.36709801e+02] [-1.29543940e-02 -1.47854821e-04 -9.99916077e-01 -4.83845270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters 0.04767792222571505 Centerline is valid? [True, True] Translation: X:426.31, Y:-336.78, Z:-4.84 [[ 9.85138018e-01 1.71369856e-01 -1.16386588e-02 4.26306323e+02] [ 1.71358898e-01 -9.85206763e-01 -1.93974983e-03 -3.36779552e+02] [-1.17989000e-02 -8.34664395e-05 -9.99930387e-01 -4.83796692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters 0.047344083695778055 Centerline is valid? [True, True] Translation: X:426.35, Y:-336.84, Z:-4.84 [[ 9.69494251e-01 2.44865108e-01 -1.10442962e-02 4.26350014e+02] [ 2.44849744e-01 -9.69557155e-01 -2.74326916e-03 -3.36842322e+02] [-1.13798073e-02 -4.46094256e-05 -9.99935247e-01 -4.83840926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters 0.04712429355358822 Centerline is valid? [True, True] Translation: X:426.40, Y:-336.90, Z:-4.84 [[ 9.48145032e-01 3.17666074e-01 -1.04529239e-02 4.26398917e+02] [ 3.17646963e-01 -9.48202650e-01 -3.48450059e-03 -3.36900172e+02] [-1.10183978e-02 -1.65276176e-05 -9.99939296e-01 -4.83925623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters 0.046920532498991446 Centerline is valid? [True, True] Translation: X:426.45, Y:-336.96, Z:-4.84 [[ 9.20358103e-01 3.90961703e-01 -9.48201875e-03 4.26453470e+02] [ 3.90941138e-01 -9.20406946e-01 -4.00991517e-03 -3.36958991e+02] [-1.02950392e-02 -1.63532810e-05 -9.99947005e-01 -4.84105471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters 0.04796254901844271 Centerline is valid? [True, True] Translation: X:426.52, Y:-337.02, Z:-4.84 [[ 8.85416470e-01 4.64715143e-01 -8.80406789e-03 4.26515651e+02] [ 4.64692716e-01 -8.85460238e-01 -4.56578566e-03 -3.37022230e+02] [-9.91744179e-03 -4.85643940e-05 -9.99950820e-01 -4.84014634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters 0.04806574144459531 Centerline is valid? [True, True] Translation: X:426.58, Y:-337.08, Z:-4.84 [[ 8.44168550e-01 5.35994912e-01 -9.42938873e-03 4.26584548e+02] [ 5.35962794e-01 -8.44221206e-01 -5.86848650e-03 -3.37081871e+02] [-1.11059688e-02 -9.98097895e-05 -9.99938322e-01 -4.84080342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters 0.047680432532292 Centerline is valid? [True, True] Translation: X:426.66, Y:-337.14, Z:-4.84 [[ 7.97379243e-01 6.03389720e-01 -1.03531613e-02 4.26659415e+02] [ 6.03341523e-01 -7.97446436e-01 -7.62807798e-03 -3.37139110e+02] [-1.28587954e-02 -1.64021075e-04 -9.99917309e-01 -4.83937113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters 0.0482051492504729 Centerline is valid? [True, True] Translation: X:426.74, Y:-337.18, Z:-4.84 [[ 7.47695445e-01 6.63965599e-01 -1.00600429e-02 4.26735392e+02] [ 6.63908558e-01 -7.47763100e-01 -8.70475553e-03 -3.37183861e+02] [-1.33021871e-02 -1.70442524e-04 -9.99911508e-01 -4.83959100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters 0.047750844223845686 Centerline is valid? [True, True] Translation: X:426.82, Y:-337.23, Z:-4.84 [[ 6.95634426e-01 7.18353974e-01 -7.76623946e-03 4.26817798e+02] [ 7.18310935e-01 -6.95677768e-01 -7.86403047e-03 -3.37226636e+02] [-1.10519577e-02 -1.08084409e-04 -9.99938919e-01 -4.84320709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters 0.0472141742403475 Centerline is valid? [True, True] Translation: X:426.90, Y:-337.26, Z:-4.84 [[ 6.39256471e-01 7.68968279e-01 -6.24100497e-03 4.26899055e+02] [ 7.68932700e-01 -6.39286932e-01 -7.39745248e-03 -3.37257804e+02] [-9.67819922e-03 -7.00434356e-05 -9.99953163e-01 -4.84351880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters 0.04780379134808316 Centerline is valid? [True, True] Translation: X:426.98, Y:-337.28, Z:-4.84 [[ 5.78932658e-01 8.15359014e-01 -5.16295404e-03 4.26976431e+02] [ 8.15327276e-01 -5.78955677e-01 -7.19421683e-03 -3.37279629e+02] [-8.85499109e-03 -4.45301869e-05 -9.99960793e-01 -4.84448384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters 0.04818689145201484 Centerline is valid? [True, True] Translation: X:427.06, Y:-337.30, Z:-4.85 [[ 5.14152186e-01 8.57687097e-01 -4.51362863e-03 4.27058860e+02] [ 8.57654659e-01 -5.14171996e-01 -7.45948671e-03 -3.37298255e+02] [-8.71868695e-03 -3.58232260e-05 -9.99961991e-01 -4.84601373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters 0.048055630569918815 Centerline is valid? [True, True] Translation: X:427.15, Y:-337.31, Z:-4.84 [[ 4.46205785e-01 8.94921359e-01 -4.01970708e-03 4.27147101e+02] [ 8.94885640e-01 -4.46223890e-01 -7.99571295e-03 -3.37311145e+02] [-8.94922363e-03 -2.94447632e-05 -9.99959955e-01 -4.84408798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters 0.04837479369383068 Centerline is valid? [True, True] Translation: X:427.23, Y:-337.32, Z:-4.84 [[ 3.73607362e-01 9.27578123e-01 -4.04536955e-03 4.27232016e+02] [ 9.27525185e-01 -3.73629259e-01 -9.90996369e-03 -3.37316667e+02] [-1.07037339e-02 -4.97467514e-05 -9.99942712e-01 -4.84110349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters 0.048123624220351546 Centerline is valid? [True, True] Translation: X:427.32, Y:-337.31, Z:-4.84 [[ 2.97965096e-01 9.54569289e-01 -3.77818559e-03 4.27315759e+02] [ 9.54496060e-01 -2.97989037e-01 -1.18239266e-02 -3.37313916e+02] [-1.24126151e-02 -8.31458264e-05 -9.99922957e-01 -4.84113517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters 0.04818630572963621 Centerline is valid? [True, True] Translation: X:427.39, Y:-337.30, Z:-4.84 [[ 2.19216287e-01 9.75671214e-01 -3.14661637e-03 4.27394681e+02] [ 9.75579485e-01 -2.19238827e-01 -1.33792656e-02 -3.37304172e+02] [-1.37436248e-02 -1.36821443e-04 -9.99905543e-01 -4.84107064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters 0.0481429349853467 Centerline is valid? [True, True] Translation: X:427.48, Y:-337.29, Z:-4.84 [[ 1.40048533e-01 9.90142157e-01 -2.21751766e-03 4.27476968e+02] [ 9.90037319e-01 -1.40065975e-01 -1.44093489e-02 -3.37288572e+02] [-1.45779026e-02 -1.77417056e-04 -9.99893721e-01 -4.84181722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters 0.048635664592847336 Centerline is valid? [True, True] Translation: X:427.57, Y:-337.27, Z:-4.84 [[ 6.08446368e-02 9.98146675e-01 -1.06996575e-03 4.27565965e+02] [ 9.98043374e-01 -6.08537344e-02 -1.43612895e-02 -3.37267226e+02] [-1.43997847e-02 -1.94064790e-04 -9.99896299e-01 -4.84247874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters 0.04927664083568754 Centerline is valid? [True, True] Translation: X:427.64, Y:-337.24, Z:-4.84 [[-1.53858670e-02 9.99881629e-01 5.36812310e-05 4.27643608e+02] [ 9.99789750e-01 1.53851810e-02 -1.35554950e-02 -3.37238339e+02] [-1.35547163e-02 -1.54893099e-04 -9.99908119e-01 -4.84313799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters 0.048191108593034535 Centerline is valid? [True, True] Translation: X:427.71, Y:-337.20, Z:-4.85 [[-8.81287073e-02 9.96108685e-01 9.05198595e-04 4.27711632e+02] [ 9.96048279e-01 8.81333319e-02 -1.09700625e-02 -3.37203991e+02] [-1.10071526e-02 -6.51559204e-05 -9.99939417e-01 -4.84693374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters 0.04848964193698346 Centerline is valid? [True, True] Translation: X:427.78, Y:-337.16, Z:-4.85 [[-1.61958005e-01 9.86796426e-01 1.55490317e-03 4.27782541e+02] [ 9.86749790e-01 1.61965468e-01 -9.59365521e-03 -3.37163764e+02] [-9.71882529e-03 -1.94688850e-05 -9.99952771e-01 -4.84760753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters 0.04937520345461858 Centerline is valid? [True, True] Translation: X:427.85, Y:-337.12, Z:-4.85 [[-2.35321833e-01 9.71914859e-01 2.26740415e-03 4.27846304e+02] [ 9.71870308e-01 2.35332756e-01 -9.30584122e-03 -3.37120397e+02] [-9.57807983e-03 1.37551513e-05 -9.99954129e-01 -4.84705417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters 0.04902800346411486 Centerline is valid? [True, True] Translation: X:427.90, Y:-337.07, Z:-4.85 [[-3.08070812e-01 9.51357395e-01 3.38854680e-03 4.27904594e+02] [ 9.51301435e-01 3.08089443e-01 -1.03186474e-02 -3.37072721e+02] [-1.08606970e-02 4.46553657e-05 -9.99941020e-01 -4.84749282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters 0.049065342968000615 Centerline is valid? [True, True] Translation: X:428.00, Y:-337.01, Z:-4.85 [[-3.81765156e-01 9.24247634e-01 4.65592394e-03 4.27997639e+02] [ 9.24180386e-01 3.81793543e-01 -1.11491546e-02 -3.37005144e+02] [-1.20821815e-02 4.65548492e-05 -9.99927007e-01 -4.85070981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters 0.049483710852523705 Centerline is valid? [True, True] Translation: X:428.08, Y:-336.93, Z:-4.85 [[-4.54262789e-01 8.90848535e-01 5.84870049e-03 4.28081543e+02] [ 8.90775536e-01 4.54300438e-01 -1.14042833e-02 -3.36932557e+02] [-1.28165563e-02 2.93377563e-05 -9.99917864e-01 -4.84933144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters 0.04890113318718361 Centerline is valid? [True, True] Translation: X:428.13, Y:-336.87, Z:-4.85 [[-5.24518463e-01 8.51376857e-01 6.15057679e-03 4.28129240e+02] [ 8.51318334e-01 5.24554523e-01 -9.98231631e-03 -3.36870203e+02] [-1.17250260e-02 1.89573568e-07 -9.99931260e-01 -4.84663208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters 0.048463698751883555 Centerline is valid? [True, True] Translation: X:428.18, Y:-336.80, Z:-4.85 [[-5.93416065e-01 8.04876635e-01 5.56554209e-03 4.28176903e+02] [ 8.04840527e-01 5.93442162e-01 -7.62409693e-03 -3.36800816e+02] [-9.43928481e-03 -4.48877707e-05 -9.99955448e-01 -4.84897992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters 0.049316085127472375 Centerline is valid? [True, True] Translation: X:428.22, Y:-336.73, Z:-4.85 [[-6.57565354e-01 7.53377283e-01 5.52041268e-03 4.28216122e+02] [ 7.53349791e-01 6.57588522e-01 -6.43643863e-03 -3.36730853e+02] [-8.47922666e-03 -7.35773067e-05 -9.99964048e-01 -4.84933073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters 0.048926801668499956 Centerline is valid? [True, True] Translation: X:428.25, Y:-336.66, Z:-4.85 [[-7.18670200e-01 6.95321114e-01 6.45690399e-03 4.28247741e+02] [ 6.95291367e-01 7.18699193e-01 -6.43316453e-03 -3.36658330e+02] [-9.11368681e-03 -1.33894043e-04 -9.99958461e-01 -4.85425942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters 0.04901509431465459 Centerline is valid? [True, True] Translation: X:427.73, Y:-336.05, Z:-4.85 [[-7.68212071e-01 6.40154111e-01 7.27516093e-03 4.27726101e+02] [ 6.40123238e-01 7.68246499e-01 -6.28945585e-03 -3.36045772e+02] [-9.61533794e-03 -1.74636327e-04 -9.99953756e-01 -4.84960561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters 0.049388491935821344 Centerline is valid? [True, True] Translation: X:427.71, Y:-335.93, Z:-4.85 [[-8.12879897e-01 5.82381649e-01 7.60848899e-03 4.27709372e+02] [ 5.82353910e-01 8.12915481e-01 -5.68726474e-03 -3.35934429e+02] [-9.49721710e-03 -1.92229867e-04 -9.99954882e-01 -4.85030984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters 0.04958051329728925 Centerline is valid? [True, True] Translation: X:427.74, Y:-335.86, Z:-4.85 [[-8.53284398e-01 5.21374782e-01 8.60650467e-03 4.27742268e+02] [ 5.21345534e-01 8.53327770e-01 -5.52729084e-03 -3.35861213e+02] [-1.02259595e-02 -2.29388270e-04 -9.99947687e-01 -4.84937172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters 0.048744149145732336 Centerline is valid? [True, True] Translation: X:428.04, Y:-335.44, Z:-5.91 [[-7.88757459e-01 -6.14643236e-01 8.68127733e-03 4.28040883e+02] [ 6.14609866e-01 -7.88805182e-01 -6.41071588e-03 -3.35437097e+02] [ 1.07881397e-02 2.79098735e-04 9.99941767e-01 -5.90768370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters 0.0495040552575415 Centerline is valid? [True, True] Translation: X:427.67, Y:-335.82, Z:-4.85 [[-8.55698575e-01 5.17386376e-01 9.55436965e-03 4.27667370e+02] [ 5.17350629e-01 8.55751872e-01 -6.08769868e-03 -3.35815852e+02] [-1.13258621e-02 -2.66275944e-04 -9.99935825e-01 -4.85004464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters 0.04935400441655826 Centerline is valid? [True, True] Translation: X:427.62, Y:-335.70, Z:-4.85 [[-8.89536973e-01 4.56744191e-01 1.04267934e-02 4.27623888e+02] [ 4.56709359e-01 8.89598042e-01 -5.64668183e-03 -3.35697593e+02] [-1.18547441e-02 -2.60918132e-04 -9.99929696e-01 -4.84822396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters 0.0493214387460044 Centerline is valid? [True, True] Translation: X:427.70, Y:-335.65, Z:-4.85 [[-9.18834333e-01 3.94515005e-01 1.00687614e-02 4.27697176e+02] [ 3.94488720e-01 9.18889473e-01 -4.55919401e-03 -3.35651854e+02] [-1.10507493e-02 -2.17131177e-04 -9.99938915e-01 -4.84976478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters 0.04938522021195481 Centerline is valid? [True, True] Translation: X:427.66, Y:-335.55, Z:-4.85 [[-9.43819026e-01 3.30302534e-01 1.02899370e-02 4.27663679e+02] [ 3.30280676e-01 9.43875097e-01 -3.80472790e-03 -3.35552719e+02] [-1.09691266e-02 -1.92407225e-04 -9.99939819e-01 -4.84890574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters 0.04897396518503038 Centerline is valid? [True, True] Translation: X:427.56, Y:-335.44, Z:-4.85 [[-9.63983914e-01 2.65676648e-01 1.22854659e-02 4.27564513e+02] [ 2.65652656e-01 9.64062179e-01 -3.57510593e-03 -3.35443302e+02] [-1.27937752e-02 -1.82677955e-04 -9.99918140e-01 -4.84959226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters 0.04898740337892261 Centerline is valid? [True, True] Translation: X:427.88, Y:-335.44, Z:-4.85 [[-9.80785398e-01 1.94653716e-01 1.30358365e-02 4.27884969e+02] [ 1.94634249e-01 9.80872011e-01 -2.75795139e-03 -3.35443440e+02] [-1.33233327e-02 -1.67738195e-04 -9.99911226e-01 -4.85295060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters 0.04937252430228246 Centerline is valid? [True, True] Translation: X:427.72, Y:-335.32, Z:-4.85 [[-9.91845267e-01 1.26676184e-01 1.40039272e-02 4.27720750e+02] [ 1.26661454e-01 9.91944113e-01 -1.93744557e-03 -3.35322409e+02] [-1.41365414e-02 -1.47888441e-04 -9.99900063e-01 -4.85233073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters 0.0494580963118715 Centerline is valid? [True, True] Translation: X:427.22, Y:-334.71, Z:-5.91 [[-9.76939246e-01 -2.13021497e-01 1.45448426e-02 4.27220880e+02] [ 2.13000897e-01 -9.77047493e-01 -2.96896610e-03 -3.34709176e+02] [ 1.48434556e-02 1.97565029e-04 9.99889810e-01 -5.90896517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters 0.04914601797959538 Centerline is valid? [True, True] Translation: X:426.99, Y:-335.21, Z:-4.85 [[-9.92157446e-01 1.24040443e-01 1.54133675e-02 4.26993438e+02] [ 1.24023192e-01 9.92277152e-01 -2.07381342e-03 -3.35209131e+02] [-1.55515692e-02 -1.45934388e-04 -9.99879056e-01 -4.84722881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters 0.04890556961182584 Centerline is valid? [True, True] Translation: X:427.05, Y:-335.14, Z:-4.85 [[-9.98464693e-01 5.30364459e-02 1.59809980e-02 4.27045541e+02] [ 5.30272650e-02 9.98592566e-01 -9.97985965e-04 -3.35137431e+02] [-1.60114355e-02 -1.49025133e-04 -9.99871798e-01 -4.84827985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters 0.05005146251319906 Centerline is valid? [True, True] Translation: X:426.99, Y:-334.60, Z:-5.91 [[-9.90194668e-01 -1.38816275e-01 1.56384560e-02 4.26991251e+02] [ 1.38801057e-01 -9.90318143e-01 -2.05964737e-03 -3.34602521e+02] [ 1.57729592e-02 1.31182366e-04 9.99875591e-01 -5.91258511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters 0.04966099045331934 Centerline is valid? [True, True] Translation: X:427.03, Y:-335.14, Z:-4.85 [[-9.98771077e-01 4.77402360e-02 1.33118709e-02 4.27029643e+02] [ 4.77344603e-02 9.98859778e-01 -7.51455685e-04 -3.35143857e+02] [-1.33325671e-02 -1.15097232e-04 -9.99911111e-01 -4.84951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters 0.049434217515567966 Centerline is valid? [True, True] Translation: X:427.13, Y:-335.06, Z:-4.85 [[-9.99635724e-01 -2.43127728e-02 1.17178482e-02 4.27126589e+02] [-2.43121628e-02 9.99704397e-01 1.94528718e-04 -3.35062796e+02] [-1.17191139e-02 -9.04283762e-05 -9.99931325e-01 -4.85283451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters 0.04895778929378323 Centerline is valid? [True, True] Translation: X:426.28, Y:-335.03, Z:-4.85 [[-9.95467445e-01 -9.45151114e-02 1.05574586e-02 4.26281745e+02] [-9.45106217e-02 9.95523424e-01 9.24485835e-04 -3.35025145e+02] [-1.05975752e-02 -7.74964226e-05 -9.99943841e-01 -4.85200690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters 0.04930948748976299 Centerline is valid? [True, True] Translation: X:426.14, Y:-334.47, Z:-5.90 [[-9.99878750e-01 1.21949356e-02 9.68341294e-03 4.26143303e+02] [-1.21942619e-02 -9.99925639e-01 1.28616461e-04 -3.34473357e+02] [ 9.68426134e-03 1.05187933e-05 9.99953106e-01 -5.90419841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters 0.048895084588516505 Centerline is valid? [True, True] Translation: X:426.12, Y:-335.04, Z:-4.85 [[-9.94923504e-01 -1.00216600e-01 9.15721427e-03 4.26120308e+02] [-1.00213122e-01 9.94965641e-01 8.39039027e-04 -3.35044205e+02] [-9.19519921e-03 -8.28933804e-05 -9.99957720e-01 -4.85409634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters 0.04871624001904203 Centerline is valid? [True, True] Translation: X:426.00, Y:-334.49, Z:-5.90 [[-9.99865150e-01 1.36159612e-02 9.18079448e-03 4.26001215e+02] [-1.36146347e-02 -9.99907295e-01 2.06967269e-04 -3.34486008e+02] [ 9.18276143e-03 8.19461965e-05 9.99957834e-01 -5.90360771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters 0.04898743257674775 Centerline is valid? [True, True] Translation: X:426.00, Y:-335.06, Z:-4.85 [[-9.94390943e-01 -1.05396486e-01 8.84498817e-03 4.25999978e+02] [-1.05393121e-01 9.94430275e-01 8.47058106e-04 -3.35059820e+02] [-8.88500097e-03 -8.98939972e-05 -9.99960524e-01 -4.85474745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters 0.04860598624763587 Centerline is valid? [True, True] Translation: X:425.89, Y:-334.50, Z:-5.90 [[-9.99822629e-01 1.68746645e-02 8.36393330e-03 4.25892014e+02] [-1.68736572e-02 -9.99857612e-01 1.90995181e-04 -3.34495219e+02] [ 8.36596535e-03 4.98311604e-05 9.99965004e-01 -5.90121719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters 0.04865661405268464 Centerline is valid? [True, True] Translation: X:425.94, Y:-335.07, Z:-4.86 [[-9.93564298e-01 -1.12953921e-01 8.44969427e-03 4.25940054e+02] [-1.12950759e-01 9.93600222e-01 8.51999528e-04 -3.35069797e+02] [-8.49185479e-03 -1.07883070e-04 -9.99963938e-01 -4.85622186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters 0.04872927511299311 Centerline is valid? [True, True] Translation: X:425.78, Y:-335.01, Z:-4.86 [[-9.82293917e-01 -1.87173273e-01 8.05151898e-03 4.25782344e+02] [-1.87168122e-01 9.82326905e-01 1.39530909e-03 -3.35011748e+02] [-8.17038828e-03 -1.36384052e-04 -9.99966613e-01 -4.85606381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters 0.049060663300869625 Centerline is valid? [True, True] Translation: X:425.74, Y:-334.94, Z:-4.85 [[-9.65826443e-01 -2.59067571e-01 7.95458192e-03 4.25739232e+02] [-2.59060110e-01 9.65859187e-01 1.97241208e-03 -3.34940092e+02] [-8.19399403e-03 -1.55707123e-04 -9.99966417e-01 -4.85496355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters 0.04869017527743164 Centerline is valid? [True, True] Translation: X:425.67, Y:-334.89, Z:-4.86 [[-9.44162047e-01 -3.29388233e-01 7.83720225e-03 4.25671717e+02] [-3.29378411e-01 9.44194557e-01 2.54969383e-03 -3.34886067e+02] [-8.23968285e-03 -1.74081080e-04 -9.99966038e-01 -4.85788513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters 0.04849072974455547 Centerline is valid? [True, True] Translation: X:425.60, Y:-334.83, Z:-4.86 [[-9.16402373e-01 -4.00149417e-01 9.33455920e-03 4.25598574e+02] [-4.00131481e-01 9.16449878e-01 3.79726677e-03 -3.34833298e+02] [-1.00741297e-02 -2.55226714e-04 -9.99949222e-01 -4.85853354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters 0.04880108446133724 Centerline is valid? [True, True] Translation: X:425.48, Y:-334.80, Z:-4.86 [[-8.84450014e-01 -4.66543583e-01 9.23353792e-03 4.25476985e+02] [-4.66521486e-01 8.84498165e-01 4.54957255e-03 -3.34797453e+02] [-1.02896212e-02 -2.83774329e-04 -9.99947020e-01 -4.85738685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters 0.04796831540873635 Centerline is valid? [True, True] Translation: X:425.39, Y:-334.77, Z:-4.86 [[-8.47632575e-01 -5.30510501e-01 8.81052899e-03 4.25389928e+02] [-5.30485395e-01 8.47678313e-01 5.16942473e-03 -3.34768030e+02] [-1.02109285e-02 -2.92084155e-04 -9.99947824e-01 -4.86235918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters 0.05067503762160633 Centerline is valid? [True, True] Translation: X:425.24, Y:-334.75, Z:-4.86 [[-8.07850664e-01 -5.89338891e-01 7.54827483e-03 4.25240588e+02] [-5.89316080e-01 8.07885887e-01 5.19145896e-03 -3.34751578e+02] [-9.15767338e-03 -2.54396159e-04 -9.99958035e-01 -4.85845512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters 0.04841678531517629 Centerline is valid? [True, True] Translation: X:425.07, Y:-334.79, Z:-4.86 [[-7.64809883e-01 -6.44218977e-01 6.91027560e-03 4.25071700e+02] [-6.44195356e-01 7.64841067e-01 5.52139258e-03 -3.34791111e+02] [-8.84224844e-03 -2.28751837e-04 -9.99960880e-01 -4.86193895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters 0.04872977827507925 Centerline is valid? [True, True] Translation: X:424.89, Y:-334.84, Z:-4.86 [[-7.18183059e-01 -6.95818625e-01 7.03810372e-03 4.24891268e+02] [-6.95788242e-01 7.18217509e-01 6.50627299e-03 -3.34841986e+02] [-9.58207525e-03 -2.24334771e-04 -9.99954066e-01 -4.85924324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters 0.048499547172728454 Centerline is valid? [True, True] Translation: X:424.74, Y:-334.89, Z:-4.86 [[-6.66264381e-01 -7.45676420e-01 7.64537097e-03 4.24743528e+02] [-7.45631540e-01 6.66308199e-01 8.18478025e-03 -3.34887171e+02] [-1.11973710e-02 -2.47402189e-04 -9.99937277e-01 -4.86042315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters 0.0485451054579226 Centerline is valid? [True, True] Translation: X:424.58, Y:-334.95, Z:-4.86 [[-6.09688270e-01 -7.92597229e-01 8.35737492e-03 4.24580777e+02] [-7.92529361e-01 6.09745475e-01 1.03762700e-02 -3.34952854e+02] [-1.33200744e-02 -2.97174874e-04 -9.99911240e-01 -4.85936696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters 0.049173087059118416 Centerline is valid? [True, True] Translation: X:424.40, Y:-335.05, Z:-4.86 [[-5.47427429e-01 -8.36805363e-01 8.94394386e-03 4.24399487e+02] [-8.36705432e-01 5.47500341e-01 1.29381829e-02 -3.35050437e+02] [-1.57235531e-02 -4.00730214e-04 -9.99876297e-01 -4.85599143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters 0.05010467434770215 Centerline is valid? [True, True] Translation: X:424.25, Y:-335.12, Z:-4.86 [[-4.81025076e-01 -8.76665581e-01 8.50504986e-03 4.24249809e+02] [-8.76546216e-01 4.81100007e-01 1.44746103e-02 -3.35123754e+02] [-1.67811722e-02 -4.92418759e-04 -9.99859065e-01 -4.85515960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters 0.048922727408087875 Centerline is valid? [True, True] Translation: X:424.10, Y:-335.24, Z:-4.86 [[-4.15005068e-01 -9.09787968e-01 7.52638572e-03 4.24101590e+02] [-9.09659818e-01 4.15073002e-01 1.52780456e-02 -3.35243359e+02] [-1.70237816e-02 -5.05984306e-04 -9.99854957e-01 -4.86018162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters 0.049455602917820966 Centerline is valid? [True, True] Translation: X:423.93, Y:-335.42, Z:-4.86 [[-3.49488948e-01 -9.36923165e-01 5.69717296e-03 4.23927474e+02] [-9.36817431e-01 3.49535134e-01 1.40816156e-02 -3.35424248e+02] [-1.51847539e-02 -4.15841926e-04 -9.99884619e-01 -4.85885590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters 0.04859436447026898 Centerline is valid? [True, True] Translation: X:423.76, Y:-335.67, Z:-4.86 [[-2.83113858e-01 -9.59077534e-01 4.10214087e-03 4.23762663e+02] [-9.58993055e-01 2.83143385e-01 1.27336062e-02 -3.35669337e+02] [-1.33740096e-02 -3.28864234e-04 -9.99910510e-01 -4.86378380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters 0.048622711565874256 Centerline is valid? [True, True] Translation: X:423.63, Y:-335.84, Z:-4.86 [[-2.14772289e-01 -9.76659901e-01 2.88123317e-03 4.23629942e+02] [-9.76587651e-01 2.14791455e-01 1.18823685e-02 -3.35844641e+02] [-1.22238971e-02 -2.61773254e-04 -9.99925251e-01 -4.86294365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters 0.04889062292629911 Centerline is valid? [True, True] Translation: X:423.51, Y:-336.06, Z:-4.86 [[-1.47199653e-01 -9.89104924e-01 1.92659383e-03 4.23509227e+02] [-9.89036634e-01 1.47212132e-01 1.16243018e-02 -3.36064178e+02] [-1.17812721e-02 -1.94378692e-04 -9.99930580e-01 -4.86352700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters 0.04864116138439334 Centerline is valid? [True, True] Translation: X:423.41, Y:-336.29, Z:-4.87 [[-7.61907449e-02 -9.97092653e-01 1.10101820e-03 4.23407726e+02] [-9.97018670e-01 7.61985051e-02 1.21474044e-02 -3.36287718e+02] [-1.21959836e-02 -1.72215915e-04 -9.99925611e-01 -4.86607808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters 0.04881712344961089 Centerline is valid? [True, True] Translation: X:423.32, Y:-336.50, Z:-4.86 [[-4.64657276e-03 -9.99989184e-01 2.00882765e-04 4.23320339e+02] [-9.99914446e-01 4.64868162e-03 1.22265925e-02 -3.36502407e+02] [-1.22273941e-02 -1.44053828e-04 -9.99925232e-01 -4.86482990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters 0.04843674113782977 Centerline is valid? [True, True] Translation: X:423.25, Y:-336.71, Z:-4.87 [[ 6.81063511e-02 -9.97677797e-01 -7.33706422e-04 4.23249499e+02] [-9.97596925e-01 -6.81101728e-02 1.27035047e-02 -3.36707611e+02] [-1.27239775e-02 -1.33246081e-04 -9.99919038e-01 -4.86547033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters 0.04907856539766182 Centerline is valid? [True, True] Translation: X:423.19, Y:-336.91, Z:-4.86 [[ 1.41255740e-01 -9.89971655e-01 -1.71415358e-03 4.23189422e+02] [-9.89887292e-01 -1.41266081e-01 1.29245263e-02 -3.36906017e+02] [-1.30370664e-02 -1.28844678e-04 -9.99915006e-01 -4.86362988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters 0.04909208808564363 Centerline is valid? [True, True] Translation: X:423.17, Y:-337.22, Z:-4.86 [[ 2.13989475e-01 -9.76832621e-01 -2.55645281e-03 4.23165429e+02] [-9.76755632e-01 -2.14004707e-01 1.22646270e-02 -3.37224168e+02] [-1.25275806e-02 -1.27471411e-04 -9.99921519e-01 -4.86345176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters 0.04838813030028932 Centerline is valid? [True, True] Translation: X:423.14, Y:-337.43, Z:-4.86 [[ 2.85648037e-01 -9.58330815e-01 -2.69232455e-03 4.23136010e+02] [-9.58284968e-01 -2.85660708e-01 9.37439667e-03 -3.37427772e+02] [-9.75286453e-03 -9.77638572e-05 -9.99952435e-01 -4.86364836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters 0.04844764964318383 Centerline is valid? [True, True] Translation: X:423.13, Y:-337.65, Z:-4.87 [[ 3.55742154e-01 -9.34579991e-01 -2.78554288e-03 4.23132588e+02] [-9.34549552e-01 -3.55753051e-01 7.54335725e-03 -3.37654850e+02] [-8.04083614e-03 -8.02623065e-05 -9.99967669e-01 -4.86669861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters 0.04845167479752464 Centerline is valid? [True, True] Translation: X:423.14, Y:-337.89, Z:-4.86 [[ 4.24281780e-01 -9.05525668e-01 -2.86996392e-03 4.23142665e+02] [-9.05503781e-01 -4.24291480e-01 6.29622279e-03 -3.37892292e+02] [-6.91909258e-03 -7.26094292e-05 -9.99976060e-01 -4.86445159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters 0.04817667712857842 Centerline is valid? [True, True] Translation: X:423.15, Y:-338.09, Z:-4.86 [[ 4.90547086e-01 -8.71409781e-01 -2.92391874e-03 4.23153382e+02] [-8.71393479e-01 -4.90555795e-01 5.33076335e-03 -3.38088471e+02] [-6.07962461e-03 -6.71067049e-05 -9.99981517e-01 -4.86459750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters 0.04775787674428471 Centerline is valid? [True, True] Translation: X:423.20, Y:-338.32, Z:-4.86 [[ 5.54719468e-01 -8.32029255e-01 -3.69192847e-03 4.23200690e+02] [-8.32009790e-01 -5.54731747e-01 5.69198295e-03 -3.38316996e+02] [-6.78392627e-03 -8.57331194e-05 -9.99976985e-01 -4.86440323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters 0.048787042523210956 Centerline is valid? [True, True] Translation: X:423.20, Y:-338.45, Z:-4.86 [[ 6.16034089e-01 -7.87704576e-01 -4.84790809e-03 4.23197072e+02] [-7.87678681e-01 -6.16053153e-01 6.38812929e-03 -3.38454873e+02] [-8.01852774e-03 -1.16711553e-04 -9.99967844e-01 -4.86182978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters 0.04799844206769024 Centerline is valid? [True, True] Translation: X:423.31, Y:-338.71, Z:-4.86 [[ 6.73600112e-01 -7.39075910e-01 -5.44882370e-03 4.23308493e+02] [-7.39050082e-01 -6.73622136e-01 6.18022169e-03 -3.38710069e+02] [-8.23810122e-03 -1.36044416e-04 -9.99966057e-01 -4.86316072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters 0.04887618557833028 Centerline is valid? [True, True] Translation: X:423.36, Y:-338.88, Z:-4.86 [[ 7.27494901e-01 -6.86085096e-01 -6.19754154e-03 4.23362315e+02] [-6.86058290e-01 -7.27521281e-01 6.06694548e-03 -3.38883852e+02] [-8.67128423e-03 -1.61797147e-04 -9.99962391e-01 -4.86150268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters 0.04908487457038877 Centerline is valid? [True, True] Translation: X:423.34, Y:-338.97, Z:-4.86 [[ 7.79178046e-01 -6.26765247e-01 -6.84814652e-03 4.23335394e+02] [-6.26739102e-01 -7.79208121e-01 5.72732259e-03 -3.38965388e+02] [-8.92581814e-03 -1.70602823e-04 -9.99960150e-01 -4.86043820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters 0.049628635139485 Centerline is valid? [True, True] Translation: X:423.32, Y:-339.04, Z:-4.86 [[ 8.25568914e-01 -5.64255768e-01 -7.16919171e-03 4.23319724e+02] [-5.64232749e-01 -8.25600025e-01 5.09941103e-03 -3.39043385e+02] [-8.79625694e-03 -1.64822481e-04 -9.99961299e-01 -4.86095901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters 0.048438305797200806 Centerline is valid? [True, True] Translation: X:423.31, Y:-339.12, Z:-4.86 [[ 8.66811045e-01 -4.98573272e-01 -7.95645964e-03 4.23309919e+02] [-4.98550484e-01 -8.66847544e-01 4.76977162e-03 -3.39123654e+02] [-9.27511814e-03 -1.67793912e-04 -9.99956971e-01 -4.85984915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters 0.04800829376990468 Centerline is valid? [True, True] Translation: X:423.31, Y:-339.20, Z:-4.86 [[ 9.03036379e-01 -4.29488638e-01 -8.05032332e-03 4.23306258e+02] [-4.29469981e-01 -9.03072248e-01 4.00637874e-03 -3.39203887e+02] [-8.99071772e-03 -1.60533542e-04 -9.99959570e-01 -4.86081079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters 0.04783045319630955 Centerline is valid? [True, True] Translation: X:423.31, Y:-339.29, Z:-4.86 [[ 9.33788753e-01 -3.57732071e-01 -8.14433468e-03 4.23308481e+02] [-3.57717009e-01 -9.33824256e-01 3.28641625e-03 -3.39286823e+02] [-8.78103376e-03 -1.55451493e-04 -9.99961434e-01 -4.86170596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters 0.0478685198824193 Centerline is valid? [True, True] Translation: X:423.31, Y:-339.38, Z:-4.86 [[ 9.58818577e-01 -2.83891102e-01 -8.53108745e-03 4.23312552e+02] [-2.83878412e-01 -9.58856516e-01 2.68875443e-03 -3.39378697e+02] [-8.94340225e-03 -1.56236137e-04 -9.99959995e-01 -4.86176441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters 0.0479420423775793 Centerline is valid? [True, True] Translation: X:423.32, Y:-339.47, Z:-4.86 [[ 9.78039985e-01 -2.08247920e-01 -8.40188621e-03 4.23323940e+02] [-2.08238924e-01 -9.78076061e-01 1.94137881e-03 -3.39468983e+02] [-8.62197187e-03 -1.49146357e-04 -9.99962819e-01 -4.86139434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters 0.047607436170611875 Centerline is valid? [True, True] Translation: X:423.34, Y:-339.55, Z:-4.86 [[ 9.91281686e-01 -1.31466744e-01 -8.78146549e-03 4.23343895e+02] [-1.31460235e-01 -9.91320570e-01 1.31694919e-03 -3.39554401e+02] [-8.87838239e-03 -1.51054101e-04 -9.99960575e-01 -4.86108578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters 0.048331607393420954 Centerline is valid? [True, True] Translation: X:423.37, Y:-339.64, Z:-4.86 [[ 9.98530497e-01 -5.33470840e-02 -9.53595473e-03 4.23369693e+02] [-5.33430733e-02 -9.98576017e-01 6.74614989e-04 -3.39638875e+02] [-9.55836444e-03 -1.64946508e-04 -9.99954304e-01 -4.85809562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters 0.047988093389853825 Centerline is valid? [True, True] Translation: X:423.40, Y:-339.72, Z:-4.86 [[ 9.99662340e-01 2.42369226e-02 -9.36901655e-03 4.23400695e+02] [ 2.42373126e-02 -9.99706231e-01 -7.19380078e-05 -3.39718069e+02] [-9.36800778e-03 -1.55166065e-04 -9.99956107e-01 -4.86000108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters 0.047527358307947944 Centerline is valid? [True, True] Translation: X:423.43, Y:-339.80, Z:-4.86 [[ 9.94911595e-01 1.00270002e-01 -9.84093833e-03 4.23434567e+02] [ 1.00266515e-01 -9.94960254e-01 -8.48229149e-04 -3.39797039e+02] [-9.87639444e-03 -1.42803578e-04 -9.99951217e-01 -4.86088320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters 0.048090087028130585 Centerline is valid? [True, True] Translation: X:423.48, Y:-339.88, Z:-4.86 [[ 9.84245904e-01 1.76535102e-01 -9.76513517e-03 4.23475401e+02] [ 1.76527727e-01 -9.84294336e-01 -1.61897432e-03 -3.39876357e+02] [-9.89757304e-03 -1.30348264e-04 -9.99951009e-01 -4.86069391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters 0.048415967847207926 Centerline is valid? [True, True] Translation: X:423.52, Y:-339.95, Z:-4.86 [[ 9.67494935e-01 2.52735262e-01 -8.85647737e-03 4.23521819e+02] [ 2.52725784e-01 -9.67535464e-01 -2.19191884e-03 -3.39950627e+02] [-9.12293112e-03 -1.17589807e-04 -9.99958378e-01 -4.86107761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters 0.04794761460034692 Centerline is valid? [True, True] Translation: X:423.57, Y:-340.02, Z:-4.86 [[ 9.44778974e-01 3.27623377e-01 -7.45736449e-03 4.23573187e+02] [ 3.27614011e-01 -9.44808400e-01 -2.47941214e-03 -3.40023250e+02] [-7.85809399e-03 -1.00640631e-04 -9.99969120e-01 -4.85996723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters 0.047394104948221195 Centerline is valid? [True, True] Translation: X:423.63, Y:-340.09, Z:-4.86 [[ 9.16570196e-01 3.99855916e-01 -3.78458764e-03 4.23628513e+02] [ 3.99852725e-01 -9.16578008e-01 -1.59814704e-03 -3.40085269e+02] [-4.10789835e-03 -4.84637304e-05 -9.99991561e-01 -4.86365579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters 0.04807568984029962 Centerline is valid? [True, True] Translation: X:423.69, Y:-340.15, Z:-4.86 [[ 8.82942592e-01 4.69471423e-01 -2.99362334e-03 4.23689841e+02] [ 4.69468863e-01 -8.82947666e-01 -1.55092654e-03 -3.40146939e+02] [-3.37132843e-03 -3.60338474e-05 -9.99994316e-01 -4.86334144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters 0.048161446843452124 Centerline is valid? [True, True] Translation: X:423.75, Y:-340.19, Z:-4.86 [[ 8.44661668e-01 5.35288737e-01 -3.55464211e-03 4.23747345e+02] [ 5.35284177e-01 -8.44669146e-01 -2.20975448e-03 -3.40188659e+02] [-4.18535320e-03 -3.62487767e-05 -9.99991241e-01 -4.86252464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters 0.04769288947574884 Centerline is valid? [True, True] Translation: X:423.81, Y:-340.23, Z:-4.86 [[ 8.01618262e-01 5.97823003e-01 -3.97731480e-03 4.23811901e+02] [ 5.97815838e-01 -8.01628129e-01 -2.92697222e-03 -3.40231285e+02] [-4.93813874e-03 -3.13873984e-05 -9.99987807e-01 -4.86146482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters 0.048242150948459975 Centerline is valid? [True, True] Translation: X:423.88, Y:-340.27, Z:-4.86 [[ 7.55650734e-01 6.54958433e-01 -4.62817213e-03 4.23879950e+02] [ 6.54946221e-01 -7.55664907e-01 -3.99959759e-03 -3.40269322e+02] [-6.11691743e-03 -8.90499636e-06 -9.99981291e-01 -4.86009546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters 0.04813774191784661 Centerline is valid? [True, True] Translation: X:423.95, Y:-340.30, Z:-4.86 [[ 7.04386601e-01 7.09802556e-01 -4.45516108e-03 4.23952190e+02] [ 7.09788258e-01 -7.04400690e-01 -4.50519834e-03 -3.40303714e+02] [-6.33601984e-03 1.11803240e-05 -9.99979927e-01 -4.86009658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters 0.04785200123855495 Centerline is valid? [True, True] Translation: X:424.02, Y:-340.33, Z:-4.86 [[ 6.49119924e-01 7.60674821e-01 -4.14013634e-03 4.24024905e+02] [ 7.60659037e-01 -6.49133126e-01 -4.90045271e-03 -3.40331471e+02] [-6.41515063e-03 3.17493671e-05 -9.99979422e-01 -4.86073145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters 0.04846140297547395 Centerline is valid? [True, True] Translation: X:424.10, Y:-340.36, Z:-4.86 [[ 5.90189143e-01 8.07256899e-01 -3.61599956e-03 4.24103539e+02] [ 8.07241220e-01 -5.90200218e-01 -5.03143890e-03 -3.40355788e+02] [-6.19582749e-03 5.05167115e-05 -9.99980804e-01 -4.86064075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters 0.04806600807242166 Centerline is valid? [True, True] Translation: X:424.18, Y:-340.37, Z:-4.86 [[ 5.25436645e-01 8.50826670e-01 -3.21086237e-03 4.24179751e+02] [ 8.50810176e-01 -5.25446453e-01 -5.29796252e-03 -3.40371931e+02] [-6.19478405e-03 5.19092746e-05 -9.99980811e-01 -4.85995727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters 0.048457008218989996 Centerline is valid? [True, True] Translation: X:424.26, Y:-340.38, Z:-4.86 [[ 4.56821940e-01 8.89553454e-01 -2.89270690e-03 4.24258905e+02] [ 8.89534914e-01 -4.56831096e-01 -5.74342692e-03 -3.40382990e+02] [-6.43056372e-03 5.05596416e-05 -9.99979322e-01 -4.86142295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters 0.04848236016563564 Centerline is valid? [True, True] Translation: X:424.33, Y:-340.39, Z:-4.86 [[ 3.84875525e-01 9.22966425e-01 -1.95180555e-03 4.24334069e+02] [ 9.22954083e-01 -3.84880472e-01 -4.77309874e-03 -3.40386199e+02] [-5.15662172e-03 3.56219827e-05 -9.99986704e-01 -4.85876393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters 0.04870169504612181 Centerline is valid? [True, True] Translation: X:424.41, Y:-340.38, Z:-4.86 [[ 3.09525565e-01 9.50890281e-01 -1.26421758e-03 4.24414378e+02] [ 9.50882077e-01 -3.09528146e-01 -3.95005676e-03 -3.40383404e+02] [-4.14738151e-03 2.05217175e-05 -9.99991399e-01 -4.86119745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters 0.04877068031583537 Centerline is valid? [True, True] Translation: X:424.50, Y:-340.37, Z:-4.86 [[ 2.30137656e-01 9.73157554e-01 -1.01724600e-03 4.24495183e+02] [ 9.73147982e-01 -2.30139904e-01 -4.31624118e-03 -3.40373687e+02] [-4.43449160e-03 3.39873885e-06 -9.99990168e-01 -4.85905680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters 0.04837642241232592 Centerline is valid? [True, True] Translation: X:424.57, Y:-340.36, Z:-4.86 [[ 1.49750216e-01 9.88723473e-01 -8.75941498e-04 4.24572289e+02] [ 9.88707211e-01 -1.49752777e-01 -5.67078008e-03 -3.40357709e+02] [-5.73800805e-03 -1.68491319e-05 -9.99983537e-01 -4.85856268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters 0.048233288901832545 Centerline is valid? [True, True] Translation: X:424.65, Y:-340.34, Z:-4.86 [[ 6.60920585e-02 9.97813394e-01 -5.20771387e-04 4.24648841e+02] [ 9.97789330e-01 -6.60940814e-02 -6.93004987e-03 -3.40336750e+02] [-6.94931648e-03 -6.15988726e-05 -9.99975851e-01 -4.85979578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters 0.04823242153956866 Centerline is valid? [True, True] Translation: X:424.74, Y:-340.31, Z:-4.86 [[-1.63711642e-02 9.99865983e-01 1.99054856e-05 4.24740746e+02] [ 9.99848433e-01 1.63709948e-02 -5.92466947e-03 -3.40309345e+02] [-5.92420134e-03 -7.70912680e-05 -9.99982449e-01 -4.85818273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters 0.04832700129457595 Centerline is valid? [True, True] Translation: X:424.82, Y:-340.28, Z:-4.86 [[-9.54717786e-02 9.95432031e-01 4.59029108e-04 4.24822155e+02] [ 9.95416253e-01 9.54728501e-02 -5.60519625e-03 -3.40275429e+02] [-5.62341670e-03 -7.82130207e-05 -9.99984185e-01 -4.85781048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters 0.048179236829530424 Centerline is valid? [True, True] Translation: X:424.90, Y:-340.24, Z:-4.86 [[-1.73736868e-01 9.84791718e-01 8.78594298e-04 4.24896581e+02] [ 9.84776680e-01 1.73739071e-01 -5.44288807e-03 -3.40235660e+02] [-5.51275725e-03 -8.04111501e-05 -9.99984801e-01 -4.85803414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters 0.04787288535528428 Centerline is valid? [True, True] Translation: X:424.96, Y:-340.19, Z:-4.86 [[-2.51038413e-01 9.67976240e-01 1.30895265e-03 4.24962910e+02] [ 9.67961253e-01 2.51041811e-01 -5.38720096e-03 -3.40190843e+02] [-5.54328437e-03 -8.53789292e-05 -9.99984632e-01 -4.85789563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters 0.04777079735658017 Centerline is valid? [True, True] Translation: X:425.04, Y:-340.14, Z:-4.86 [[-3.26785789e-01 9.45096825e-01 1.74339937e-03 4.25039664e+02] [ 9.45081854e-01 3.26790427e-01 -5.32025482e-03 -3.40137021e+02] [-5.59788217e-03 -9.09285612e-05 -9.99984328e-01 -4.85747385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters 0.04721935758501163 Centerline is valid? [True, True] Translation: X:425.11, Y:-340.08, Z:-4.86 [[-4.00091352e-01 9.16472918e-01 2.07410916e-03 4.25110382e+02] [ 9.16459418e-01 4.00096718e-01 -4.97502269e-03 -3.40079320e+02] [-5.38931782e-03 -8.96266799e-05 -9.99985474e-01 -4.85582581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters 0.04809801872031726 Centerline is valid? [True, True] Translation: X:425.17, Y:-340.02, Z:-4.85 [[-4.70523938e-01 8.82380325e-01 3.49080162e-03 4.25167782e+02] [ 8.82353993e-01 4.70536870e-01 -6.81804726e-03 -3.40019033e+02] [-7.65866163e-03 -1.27931698e-04 -9.99970664e-01 -4.85354684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters 0.04807102199086027 Centerline is valid? [True, True] Translation: X:425.22, Y:-339.96, Z:-4.85 [[-5.38379976e-01 8.42686663e-01 5.11751114e-03 4.25216567e+02] [ 8.42645607e-01 5.38404272e-01 -8.31996132e-03 -3.39957139e+02] [-9.76641030e-03 -1.67052302e-04 -9.99952294e-01 -4.85187338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters 0.04794130238585992 Centerline is valid? [True, True] Translation: X:425.27, Y:-339.89, Z:-4.85 [[-6.04101439e-01 7.96883191e-01 6.21532431e-03 4.25267813e+02] [ 7.96837574e-01 6.04133379e-01 -8.52886728e-03 -3.39888370e+02] [-1.05513959e-02 -1.99697055e-04 -9.99944313e-01 -4.84959856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters 0.04827607361456516 Centerline is valid? [True, True] Translation: X:425.31, Y:-339.82, Z:-4.85 [[-6.64872170e-01 7.46919510e-01 7.49954256e-03 4.25310390e+02] [ 7.46868179e-01 6.64914428e-01 -8.75940386e-03 -3.39817452e+02] [-1.15291237e-02 -2.22714163e-04 -9.99933513e-01 -4.84886644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters 0.04802749094611599 Centerline is valid? [True, True] Translation: X:425.35, Y:-339.74, Z:-4.85 [[-7.19075716e-01 6.94901922e-01 6.43682554e-03 4.25349506e+02] [ 6.94872247e-01 7.19104510e-01 -6.42367838e-03 -3.39740049e+02] [-9.09257673e-03 -1.46339704e-04 -9.99958651e-01 -4.85158077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters 0.04781222518967653 Centerline is valid? [True, True] Translation: X:425.30, Y:-339.59, Z:-4.85 [[-7.63065410e-01 6.46304388e-01 4.67101835e-03 4.25295985e+02] [ 6.46291749e-01 7.63079703e-01 -4.04248209e-03 -3.39587164e+02] [-6.17703321e-03 -6.58376320e-05 -9.99980920e-01 -4.85277019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters 0.04772385842544368 Centerline is valid? [True, True] Translation: X:425.38, Y:-339.56, Z:-4.85 [[-8.01379503e-01 5.98148280e-01 3.08666725e-03 4.25379733e+02] [ 5.98143825e-01 8.01385448e-01 -2.30856721e-03 -3.39561812e+02] [-3.85447572e-03 -3.76749013e-06 -9.99992572e-01 -4.85378106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters 0.04806149437270395 Centerline is valid? [True, True] Translation: X:425.71, Y:-339.69, Z:-4.85 [[-8.37619981e-01 5.46242426e-01 3.46118587e-03 4.25711082e+02] [ 5.46237944e-01 8.37627131e-01 -2.21297396e-03 -3.39692613e+02] [-4.10800346e-03 3.69998484e-05 -9.99991561e-01 -4.85206024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters 0.048881649999046706 Centerline is valid? [True, True] Translation: X:426.00, Y:-339.18, Z:-5.90 [[-8.12502713e-01 -5.82949278e-01 3.07909129e-03 4.26003775e+02] [ 5.82944853e-01 -8.12508545e-01 -2.27204725e-03 -3.39179005e+02] [ 3.82627629e-03 -5.11041346e-05 9.99992679e-01 -5.90447650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters 0.04842306090351339 Centerline is valid? [True, True] Translation: X:425.11, Y:-339.30, Z:-4.85 [[-8.34017582e-01 5.51722413e-01 4.12942670e-03 4.25108293e+02] [ 5.51716194e-01 8.34027800e-01 -2.62112847e-03 -3.39297738e+02] [-4.89019199e-03 9.22043574e-05 -9.99988039e-01 -4.85010507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters 0.048530848325976456 Centerline is valid? [True, True] Translation: X:425.42, Y:-339.38, Z:-4.85 [[-8.71383248e-01 4.90575606e-01 5.17784702e-03 4.25416648e+02] [ 4.90567760e-01 8.71398623e-01 -2.77713212e-03 -3.39380846e+02] [-5.87436203e-03 1.20138409e-04 -9.99982739e-01 -4.85106869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters 0.04887587930150953 Centerline is valid? [True, True] Translation: X:424.87, Y:-339.03, Z:-4.85 [[-9.04335198e-01 4.26796890e-01 4.71857833e-03 4.24868062e+02] [ 4.26791657e-01 9.04347502e-01 -2.11585154e-03 -3.39026584e+02] [-5.17027338e-03 1.00410845e-04 -9.99986629e-01 -4.84979139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters 0.0490073796369227 Centerline is valid? [True, True] Translation: X:425.23, Y:-339.08, Z:-4.85 [[-9.34190273e-01 3.56754641e-01 3.82873134e-03 4.25229007e+02] [ 3.56751965e-01 9.34198116e-01 -1.38380427e-03 -3.39083297e+02] [-4.07047220e-03 7.31709364e-05 -9.99991713e-01 -4.85236909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters 0.048540700927549356 Centerline is valid? [True, True] Translation: X:425.07, Y:-338.40, Z:-5.90 [[-9.21968546e-01 -3.87258626e-01 2.18117837e-03 4.25069275e+02] [ 3.87257161e-01 -9.21971114e-01 -1.07515120e-03 -3.38397362e+02] [ 2.42734503e-03 -1.46578647e-04 9.99997043e-01 -5.90255362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters 0.04851873416101234 Centerline is valid? [True, True] Translation: X:424.90, Y:-338.96, Z:-4.86 [[-9.36501373e-01 3.50663846e-01 2.12242224e-04 4.24902719e+02] [ 3.50663838e-01 9.36501397e-01 -7.34331207e-05 -3.38957555e+02] [-2.24515480e-04 5.65545453e-06 -9.99999975e-01 -4.85530241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters 0.048426201970734016 Centerline is valid? [True, True] Translation: X:424.94, Y:-338.87, Z:-4.86 [[-9.60732511e-01 2.77468931e-01 -2.00864248e-03 4.24936096e+02] [ 2.77468360e-01 9.60734611e-01 5.63081058e-04 -3.38873013e+02] [ 2.08600985e-03 -1.63644553e-05 -9.99997824e-01 -4.85662474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters 0.04894250123279743 Centerline is valid? [True, True] Translation: X:425.12, Y:-338.82, Z:-4.86 [[-9.79316256e-01 2.02333241e-01 -9.65070929e-04 4.25120572e+02] [ 2.02333144e-01 9.79316731e-01 1.97817861e-04 -3.38820910e+02] [ 9.85135236e-04 -1.53958787e-06 -9.99999515e-01 -4.85643624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters 0.04976786757436192 Centerline is valid? [True, True] Translation: X:424.86, Y:-338.68, Z:-4.85 [[-9.92073176e-01 1.25654367e-01 1.33926850e-03 4.24858829e+02] [ 1.25654250e-01 9.92074080e-01 -1.71241876e-04 -3.38678225e+02] [-1.35017086e-03 -1.59969202e-06 -9.99999089e-01 -4.85443747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters 0.04882348797081254 Centerline is valid? [True, True] Translation: X:424.92, Y:-338.59, Z:-4.85 [[-9.98770509e-01 4.95332474e-02 1.98210994e-03 4.24917783e+02] [ 4.95331233e-02 9.98772475e-01 -1.11676681e-04 -3.38587222e+02] [-1.98520856e-03 -1.33592795e-05 -9.99998029e-01 -4.85339533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters 0.049116428881089816 Centerline is valid? [True, True] Translation: X:424.18, Y:-338.49, Z:-4.85 [[-9.99740573e-01 -2.27280628e-02 1.49080014e-03 4.24180078e+02] [-2.27280550e-02 9.99741684e-01 2.21535353e-05 -3.38485616e+02] [-1.49091855e-03 -1.17351994e-05 -9.99998889e-01 -4.85310463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters 0.049608291920788944 Centerline is valid? [True, True] Translation: X:424.14, Y:-337.97, Z:-5.90 [[-9.97834372e-01 -6.57757678e-02 -3.39762013e-04 4.24141106e+02] [ 6.57758078e-02 -9.97834421e-01 -1.08053727e-04 -3.37968864e+02] [-3.31918914e-04 -1.30167844e-04 9.99999936e-01 -5.90166315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters 0.049489622219398295 Centerline is valid? [True, True] Translation: X:424.08, Y:-338.48, Z:-4.86 [[-9.99515958e-01 -3.10398177e-02 -2.09280132e-03 4.24080342e+02] [-3.10398163e-02 9.99518148e-01 -3.31448553e-05 -3.38479872e+02] [ 2.09282172e-03 3.18313569e-05 -9.99997810e-01 -4.85610980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters 0.04962126571634531 Centerline is valid? [True, True] Translation: X:424.04, Y:-338.41, Z:-4.86 [[-9.94736782e-01 -1.02433204e-01 -2.48473471e-03 4.24044908e+02] [-1.02432980e-01 9.94739884e-01 -2.17436740e-04 -3.38405800e+02] [ 2.49393746e-03 3.82264594e-05 -9.99996889e-01 -4.85563998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters 0.05037332324835529 Centerline is valid? [True, True] Translation: X:423.92, Y:-338.34, Z:-4.85 [[-9.85005469e-01 -1.72515913e-01 -1.57648218e-03 4.23919859e+02] [-1.72515733e-01 9.85006730e-01 -2.50827674e-04 -3.38341797e+02] [ 1.59611732e-03 2.49013467e-05 -9.99998726e-01 -4.85478118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters 0.04920528059466868 Centerline is valid? [True, True] Translation: X:424.44, Y:-338.16, Z:-4.85 [[-9.68836868e-01 -2.47698557e-01 -7.39685978e-04 4.24443673e+02] [-2.47698496e-01 9.68837151e-01 -1.74937990e-04 -3.38157520e+02] [ 7.59967143e-04 1.37327300e-05 -9.99999711e-01 -4.85341324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters 0.04994064276019295 Centerline is valid? [True, True] Translation: X:423.68, Y:-338.28, Z:-4.85 [[-9.48508061e-01 -3.16743632e-01 2.43518910e-03 4.23677684e+02] [-3.16742686e-01 9.48511186e-01 7.75179429e-04 -3.38280262e+02] [-2.55533725e-03 -3.60644003e-05 -9.99996735e-01 -4.85086450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters 0.04923518005849037 Centerline is valid? [True, True] Translation: X:423.64, Y:-338.21, Z:-4.85 [[-9.23460532e-01 -3.83676312e-01 3.62407197e-03 4.23643826e+02] [-3.83673582e-01 9.23467642e-01 1.44829354e-03 -3.38213623e+02] [-3.90238912e-03 -5.30187527e-05 -9.99992384e-01 -4.85001715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters 0.04964788667229352 Centerline is valid? [True, True] Translation: X:423.47, Y:-338.21, Z:-4.85 [[-8.95681194e-01 -4.44668457e-01 5.01613246e-03 4.23467512e+02] [-4.44661819e-01 8.95695238e-01 2.43038517e-03 -3.38209660e+02] [-5.57364158e-03 -5.36322912e-05 -9.99984466e-01 -4.84900493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters 0.049598005970233984 Centerline is valid? [True, True] Translation: X:423.43, Y:-338.15, Z:-4.85 [[-8.63221706e-01 -5.04799571e-01 5.06738210e-03 4.23428016e+02] [-5.04791050e-01 8.63236579e-01 2.93331008e-03 -3.38147520e+02] [-5.85508326e-03 -2.58722006e-05 -9.99982859e-01 -4.84990460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters 0.0508307554143526 Centerline is valid? [True, True] Translation: X:423.45, Y:-338.04, Z:-4.85 [[-8.29178927e-01 -5.58964324e-01 4.60341660e-03 4.23451144e+02] [-5.58955478e-01 8.29191705e-01 3.14499864e-03 -3.38041361e+02] [-5.57505690e-03 3.46616725e-05 -9.99984459e-01 -4.85202009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters 0.05011456451860492 Centerline is valid? [True, True] Translation: X:423.39, Y:-337.98, Z:-4.85 [[-7.90108423e-01 -6.12957219e-01 3.48245968e-03 4.23385111e+02] [-6.12950930e-01 7.90116095e-01 2.77732477e-03 -3.37981151e+02] [-4.45392871e-03 5.98107930e-05 -9.99990079e-01 -4.85371405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters 0.05143685274074226 Centerline is valid? [True, True] Translation: X:422.97, Y:-337.67, Z:-5.90 [[-8.11596758e-01 5.84208296e-01 3.37183827e-03 4.22965939e+02] [-5.84203645e-01 -8.11603759e-01 2.33249083e-03 -3.37669549e+02] [ 4.09925711e-03 -7.67982055e-05 9.99991595e-01 -5.90215702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters 0.05019109582995341 Centerline is valid? [True, True] Translation: X:423.16, Y:-338.16, Z:-4.85 [[-7.93421133e-01 -6.08668020e-01 2.47962307e-03 4.23164827e+02] [-6.08664734e-01 7.93425003e-01 2.00153544e-03 -3.38161335e+02] [-3.18566556e-03 7.88013935e-05 -9.99994923e-01 -4.85489648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters 0.05082752259610043 Centerline is valid? [True, True] Translation: X:422.37, Y:-338.11, Z:-5.90 [[-8.05138618e-01 5.93081335e-01 2.51710766e-03 4.22367432e+02] [-5.93078758e-01 -8.05142548e-01 1.75044265e-03 -3.38112465e+02] [ 3.06478534e-03 -8.34941121e-05 9.99995300e-01 -5.90182993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters 0.05089944412974522 Centerline is valid? [True, True] Translation: X:422.74, Y:-338.49, Z:-4.85 [[-7.86452399e-01 -6.17642212e-01 3.27461946e-03 4.22742947e+02] [-6.17636383e-01 7.86459211e-01 2.68472201e-03 -3.38486942e+02] [-4.23355228e-03 8.88819452e-05 -9.99991035e-01 -4.85459205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters 0.05073183828566763 Centerline is valid? [True, True] Translation: X:422.69, Y:-338.42, Z:-4.86 [[-7.35462478e-01 -6.77556241e-01 3.53324795e-03 4.22687956e+02] [-6.77547895e-01 7.35470961e-01 3.36383402e-03 -3.38418987e+02] [-4.87778800e-03 8.00289964e-05 -9.99988100e-01 -4.85567547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters 0.050668040890450156 Centerline is valid? [True, True] Translation: X:422.50, Y:-338.49, Z:-4.86 [[-6.79229469e-01 -7.33921383e-01 2.59467702e-03 4.22500301e+02] [-7.33915838e-01 6.79234424e-01 2.85306844e-03 -3.38486392e+02] [-3.85632189e-03 3.36135996e-05 -9.99992564e-01 -4.85574232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters 0.050751371558472175 Centerline is valid? [True, True] Translation: X:422.34, Y:-338.54, Z:-4.86 [[-6.20437454e-01 -7.84252852e-01 2.19767606e-03 4.22341340e+02] [-7.84247852e-01 6.20441346e-01 2.80042355e-03 -3.38538378e+02] [-3.55976925e-03 1.39649263e-05 -9.99993664e-01 -4.85592239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters 0.051072591334454354 Centerline is valid? [True, True] Translation: X:422.19, Y:-338.59, Z:-4.86 [[-5.58108053e-01 -8.29765967e-01 1.95985988e-03 4.22193837e+02] [-8.29760850e-01 5.58111494e-01 2.91410034e-03 -3.38592303e+02] [-3.51184162e-03 1.67869518e-07 -9.99993834e-01 -4.85585381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters 0.049830476351401365 Centerline is valid? [True, True] Translation: X:421.38, Y:-338.89, Z:-5.90 [[-6.16468533e-01 7.87378138e-01 1.48831213e-03 4.21382212e+02] [-7.87376153e-01 -6.16470324e-01 1.76990117e-03 -3.38890551e+02] [ 2.31108175e-03 -8.07731039e-05 9.99997326e-01 -5.89961285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters 0.050093945231903 Centerline is valid? [True, True] Translation: X:422.02, Y:-338.83, Z:-4.86 [[-5.44644955e-01 -8.38666006e-01 1.09679703e-03 4.22020039e+02] [-8.38664349e-01 5.44646060e-01 1.66702975e-03 -3.38830995e+02] [-1.99544737e-03 -1.19052217e-05 -9.99998009e-01 -4.85654258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters 0.05032187255586223 Centerline is valid? [True, True] Translation: X:421.85, Y:-338.94, Z:-4.86 [[-4.79228327e-01 -8.77689656e-01 1.03866718e-03 4.21850263e+02] [-8.77687689e-01 4.79229452e-01 1.85803372e-03 -3.38937859e+02] [-2.12853687e-03 -2.12030042e-05 -9.99997734e-01 -4.85638605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters 0.050205784599657036 Centerline is valid? [True, True] Translation: X:421.72, Y:-339.00, Z:-4.86 [[-4.09948042e-01 -9.12108388e-01 9.44047978e-04 4.21719004e+02] [-9.12106141e-01 4.09949128e-01 2.02471975e-03 -3.38995158e+02] [-2.23377551e-03 -3.10420607e-05 -9.99997505e-01 -4.85660339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters 0.05013982592532267 Centerline is valid? [True, True] Translation: X:421.00, Y:-339.36, Z:-5.90 [[-5.02769828e-01 8.64419185e-01 1.40482790e-03 4.21001338e+02] [-8.64415279e-01 -5.02771782e-01 2.60033844e-03 -3.39360605e+02] [ 2.95409026e-03 9.30170049e-05 9.99995632e-01 -5.90031740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters 0.05057309624301015 Centerline is valid? [True, True] Translation: X:421.37, Y:-339.70, Z:-4.85 [[-3.95007168e-01 -9.18676655e-01 1.59390032e-03 4.21372340e+02] [-9.18670103e-01 3.95010373e-01 3.47092773e-03 -3.39699639e+02] [-3.81826743e-03 -9.32272371e-05 -9.99992706e-01 -4.85453873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters 0.04998821021558237 Centerline is valid? [True, True] Translation: X:421.25, Y:-339.81, Z:-4.85 [[-3.23133472e-01 -9.46352284e-01 1.45354104e-03 4.21246000e+02] [-9.46344274e-01 3.23136720e-01 3.89544233e-03 -3.39814052e+02] [-4.15615323e-03 -1.16802432e-04 -9.99991356e-01 -4.85389090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters 0.05072120242364431 Centerline is valid? [True, True] Translation: X:421.12, Y:-339.93, Z:-4.85 [[-2.52311836e-01 -9.67645079e-01 1.31834369e-03 4.21124153e+02] [-9.67634521e-01 2.52315245e-01 4.52221170e-03 -3.39932195e+02] [-4.70853410e-03 -1.34667325e-04 -9.99988906e-01 -4.85303266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters 0.04970075367562164 Centerline is valid? [True, True] Translation: X:421.03, Y:-340.00, Z:-4.85 [[-1.80486608e-01 -9.83576701e-01 1.20695631e-03 4.21034926e+02] [-9.83560370e-01 1.80490569e-01 5.67040377e-03 -3.40000351e+02] [-5.79512127e-03 -1.63682455e-04 -9.99983195e-01 -4.85323826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters 0.0508257099850039 Centerline is valid? [True, True] Translation: X:420.92, Y:-340.19, Z:-4.85 [[-1.09603409e-01 -9.93975045e-01 8.38051680e-04 4.20921923e+02] [-9.93956307e-01 1.09606490e-01 6.10547424e-03 -3.40186055e+02] [-6.16054494e-03 -1.63805966e-04 -9.99981010e-01 -4.85167085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters 0.04883354381527574 Centerline is valid? [True, True] Translation: X:420.83, Y:-340.45, Z:-4.85 [[-3.83764911e-02 -9.99263256e-01 4.35167281e-04 4.20828973e+02] [-9.99239569e-01 3.83785787e-02 6.88247082e-03 -3.40445320e+02] [-6.89410131e-03 -1.70711286e-04 -9.99976221e-01 -4.85343302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters 0.049188963544461124 Centerline is valid? [True, True] Translation: X:420.75, Y:-340.62, Z:-4.85 [[ 3.18309266e-02 -9.99493264e-01 -8.10990279e-05 4.20750299e+02] [-9.99464500e-01 -3.18306260e-02 7.58443345e-03 -3.40621494e+02] [-7.58317158e-03 -1.60363945e-04 -9.99971235e-01 -4.85294027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters 0.048845872881918204 Centerline is valid? [True, True] Translation: X:420.69, Y:-340.97, Z:-4.85 [[ 1.03274225e-01 -9.94652723e-01 -6.29000269e-04 4.20691910e+02] [-9.94624565e-01 -1.03276035e-01 7.48573362e-03 -3.40971349e+02] [-7.51066598e-03 -1.47464218e-04 -9.99971784e-01 -4.85302056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters 0.04860521592064087 Centerline is valid? [True, True] Translation: X:420.65, Y:-341.22, Z:-4.85 [[ 1.72917577e-01 -9.84935576e-01 -1.19316277e-03 4.20650501e+02] [-9.84906964e-01 -1.72921650e-01 7.50831131e-03 -3.41216094e+02] [-7.60152659e-03 -1.23164677e-04 -9.99971100e-01 -4.85284416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters 0.04823673494194213 Centerline is valid? [True, True] Translation: X:420.60, Y:-341.32, Z:-4.85 [[ 2.41173407e-01 -9.70480115e-01 -1.93232322e-03 4.20601559e+02] [-9.70445636e-01 -2.41181128e-01 8.18116858e-03 -3.41321887e+02] [-8.40570132e-03 -9.78656609e-05 -9.99964667e-01 -4.85224636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters 0.04839975481778964 Centerline is valid? [True, True] Translation: X:420.61, Y:-341.62, Z:-4.85 [[ 3.09564165e-01 -9.50874090e-01 -2.91413568e-03 4.20612401e+02] [-9.50829219e-01 -3.09577868e-01 9.23792474e-03 -3.41622396e+02] [-9.68625520e-03 -8.88851045e-05 -9.99953083e-01 -4.85273125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters 0.04845535418205775 Centerline is valid? [True, True] Translation: X:420.62, Y:-341.87, Z:-4.85 [[ 3.80592077e-01 -9.24735734e-01 -3.67325055e-03 4.20619922e+02] [-9.24689858e-01 -3.80609787e-01 9.21172601e-03 -3.41869496e+02] [-9.91648733e-03 -1.09292404e-04 -9.99950825e-01 -4.85253118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters 0.04763320308358378 Centerline is valid? [True, True] Translation: X:420.63, Y:-342.10, Z:-4.85 [[ 4.51329968e-01 -8.92346988e-01 -4.25592160e-03 4.20633951e+02] [-8.92304232e-01 -4.51350010e-01 8.73650693e-03 -3.42097149e+02] [-9.71690590e-03 -1.45470537e-04 -9.99952779e-01 -4.85265763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters 0.048192377653259295 Centerline is valid? [True, True] Translation: X:420.67, Y:-342.32, Z:-4.85 [[ 5.17917992e-01 -8.55419710e-01 -4.25128816e-03 4.20665635e+02] [-8.55388541e-01 -5.17935420e-01 7.30381180e-03 -3.42323232e+02] [-8.44971729e-03 -1.46272369e-04 -9.99964290e-01 -4.85363301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters 0.04790704994790431 Centerline is valid? [True, True] Translation: X:420.72, Y:-342.55, Z:-4.86 [[ 5.78628578e-01 -8.15581521e-01 -3.96882682e-03 4.20718301e+02] [-8.15560977e-01 -5.78642177e-01 5.78997092e-03 -3.42547633e+02] [-7.01872389e-03 -1.13422362e-04 -9.99975362e-01 -4.85514067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters 0.04780248853595632 Centerline is valid? [True, True] Translation: X:420.76, Y:-342.73, Z:-4.86 [[ 6.34974429e-01 -7.72528091e-01 -2.79695261e-03 4.20755263e+02] [-7.72520186e-01 -6.34980586e-01 3.49534271e-03 -3.42731459e+02] [-4.47626104e-03 -5.87508875e-05 -9.99989980e-01 -4.85515426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters 0.047253568584311054 Centerline is valid? [True, True] Translation: X:420.88, Y:-342.99, Z:-4.86 [[ 6.89456642e-01 -7.24322634e-01 -2.50231691e-03 4.20881671e+02] [-7.24317623e-01 -6.89461181e-01 2.69450615e-03 -3.42989747e+02] [-3.67694216e-03 -4.52729227e-05 -9.99993239e-01 -4.85634352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters 0.04760854660825858 Centerline is valid? [True, True] Translation: X:420.96, Y:-343.18, Z:-4.86 [[ 7.41061764e-01 -6.71433683e-01 -2.06645935e-03 4.20957028e+02] [-6.71430940e-01 -7.41064645e-01 1.91990424e-03 -3.43175391e+02] [-2.82046834e-03 -3.52828815e-05 -9.99996022e-01 -4.85561537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters 0.04805233513595063 Centerline is valid? [True, True] Translation: X:420.94, Y:-343.25, Z:-4.85 [[ 7.91726772e-01 -6.10871624e-01 -2.13943707e-03 4.20935824e+02] [-6.10869271e-01 -7.91729662e-01 1.69600908e-03 -3.43254029e+02] [-2.72989961e-03 -3.58594288e-05 -9.99996273e-01 -4.85490295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters 0.047981572230970396 Centerline is valid? [True, True] Translation: X:420.92, Y:-343.34, Z:-4.85 [[ 8.37393131e-01 -5.46595420e-01 -2.48809445e-03 4.20920085e+02] [-5.46592859e-01 -8.37396827e-01 1.67377919e-03 -3.43335147e+02] [-2.99840244e-03 -4.16365390e-05 -9.99995504e-01 -4.85457900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters 0.04741140423488152 Centerline is valid? [True, True] Translation: X:420.91, Y:-343.42, Z:-4.85 [[ 8.78102323e-01 -4.78460511e-01 -3.44247421e-03 4.20910958e+02] [-4.78456563e-01 -8.78109068e-01 1.94465622e-03 -3.43417201e+02] [-3.95330903e-03 -6.05327618e-05 -9.99992184e-01 -4.85324938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters 0.047969343780262255 Centerline is valid? [True, True] Translation: X:420.91, Y:-343.50, Z:-4.85 [[ 9.13061191e-01 -4.07803106e-01 -3.98586776e-03 4.20905726e+02] [-4.07798883e-01 -9.13069889e-01 1.85726843e-03 -3.43504331e+02] [-4.39677567e-03 -7.03673082e-05 -9.99990332e-01 -4.85272501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters 0.047853121023192724 Centerline is valid? [True, True] Translation: X:420.91, Y:-343.59, Z:-4.85 [[ 9.41903166e-01 -3.35846445e-01 -5.05883437e-03 4.20907049e+02] [-3.35841124e-01 -9.41916747e-01 1.89229241e-03 -3.43590458e+02] [-5.40052049e-03 -8.33915915e-05 -9.99985414e-01 -4.85099138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters 0.04804485247457304 Centerline is valid? [True, True] Translation: X:420.92, Y:-343.68, Z:-4.85 [[ 9.64900582e-01 -2.62554780e-01 -5.64393822e-03 4.20915992e+02] [-2.62549787e-01 -9.64917085e-01 1.62143948e-03 -3.43676532e+02] [-5.87164910e-03 -8.27131217e-05 -9.99982758e-01 -4.85078691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters 0.04823356364949719 Centerline is valid? [True, True] Translation: X:420.93, Y:-343.76, Z:-4.85 [[ 9.82027631e-01 -1.88657429e-01 -5.48690355e-03 4.20930630e+02] [-1.88654111e-01 -9.82042957e-01 1.12077625e-03 -3.43760047e+02] [-5.59981775e-03 -6.55063342e-05 -9.99984319e-01 -4.84980236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters 0.04856504276630813 Centerline is valid? [True, True] Translation: X:420.95, Y:-343.84, Z:-4.85 [[ 9.93360295e-01 -1.14951809e-01 -4.62655554e-03 4.20953013e+02] [-1.14950389e-01 -9.93371069e-01 5.72578086e-04 -3.43837410e+02] [-4.66170531e-03 -3.69519767e-05 -9.99989134e-01 -4.84970237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters 0.04764002090189281 Centerline is valid? [True, True] Translation: X:420.98, Y:-343.92, Z:-4.85 [[ 9.99253151e-01 -3.82933505e-02 -5.17302793e-03 4.20981282e+02] [-3.82926584e-02 -9.99266540e-01 2.32795349e-04 -3.43924608e+02] [-5.17814824e-03 -3.45324944e-05 -9.99986593e-01 -4.85214968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters 0.04830823041346722 Centerline is valid? [True, True] Translation: X:421.01, Y:-344.01, Z:-4.85 [[ 9.99250205e-01 3.78051346e-02 -8.35457685e-03 4.21009471e+02] [ 3.78041406e-02 -9.99285130e-01 -2.76917938e-04 -3.44007168e+02] [-8.35907333e-03 -3.91272912e-05 -9.99965062e-01 -4.84696965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters 0.04775356469783309 Centerline is valid? [True, True] Translation: X:421.04, Y:-344.08, Z:-4.85 [[ 9.93405478e-01 1.14201306e-01 -1.01792504e-02 4.21044933e+02] [ 1.14195635e-01 -9.93457629e-01 -1.13855459e-03 -3.44079060e+02] [-1.02426784e-02 -3.13795960e-05 -9.99947542e-01 -4.84632784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters 0.04815222390398497 Centerline is valid? [True, True] Translation: X:421.09, Y:-344.15, Z:-4.85 [[ 9.82031807e-01 1.88415094e-01 -1.06434566e-02 4.21085521e+02] [ 1.88404013e-01 -9.82089483e-01 -2.04344659e-03 -3.44151284e+02] [-1.08378430e-02 1.45960928e-06 -9.99941269e-01 -4.84759260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters 0.048716918007000246 Centerline is valid? [True, True] Translation: X:421.13, Y:-344.22, Z:-4.85 [[ 9.64631920e-01 2.63421278e-01 -9.72054276e-03 4.21131165e+02] [ 2.63407750e-01 -9.64680896e-01 -2.66963021e-03 -3.44215261e+02] [-1.00804593e-02 1.47442182e-05 -9.99949191e-01 -4.84562591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters 0.04803297405728239 Centerline is valid? [True, True] Translation: X:421.18, Y:-344.27, Z:-4.85 [[ 9.40754948e-01 3.38989553e-01 -8.13703163e-03 4.21179856e+02] [ 3.38976830e-01 -9.40790138e-01 -2.93690979e-03 -3.44272447e+02] [-8.65082084e-03 4.64722906e-06 -9.99962581e-01 -4.84702268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters 0.0476100302542888 Centerline is valid? [True, True] Translation: X:421.23, Y:-344.33, Z:-4.85 [[ 9.10698921e-01 4.13011354e-01 -7.00695515e-03 4.21234389e+02] [ 4.12999195e-01 -9.10725876e-01 -3.16913993e-03 -3.44326037e+02] [-7.69030614e-03 -7.73452546e-06 -9.99970429e-01 -4.84760967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters 0.04820814340346893 Centerline is valid? [True, True] Translation: X:421.30, Y:-344.38, Z:-4.85 [[ 8.74238389e-01 4.85466212e-01 -5.45864521e-03 4.21295879e+02] [ 4.85456914e-01 -8.74255430e-01 -3.00462264e-03 -3.44380183e+02] [-6.23089299e-03 -2.31806034e-05 -9.99980588e-01 -4.84912838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters 0.04739058597772405 Centerline is valid? [True, True] Translation: X:421.36, Y:-344.43, Z:-4.85 [[ 8.32303290e-01 5.54303194e-01 -4.38217784e-03 4.21360458e+02] [ 5.54295708e-01 -8.32314826e-01 -2.88091078e-03 -3.44429320e+02] [-5.24424963e-03 -3.12308466e-05 -9.99986248e-01 -4.84835303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters 0.04788437609323979 Centerline is valid? [True, True] Translation: X:421.42, Y:-344.46, Z:-4.85 [[ 7.84374750e-01 6.20277452e-01 -3.48337699e-03 4.21421328e+02] [ 6.20271562e-01 -7.84382484e-01 -2.70350000e-03 -3.44464319e+02] [-4.40921999e-03 -4.00825484e-05 -9.99990279e-01 -4.85053366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters 0.04816539213362404 Centerline is valid? [True, True] Translation: X:421.50, Y:-344.51, Z:-4.85 [[ 7.28999939e-01 6.84498671e-01 -4.54520922e-03 4.21500178e+02] [ 6.84486190e-01 -7.29014102e-01 -4.13466252e-03 -3.44510673e+02] [-6.14369262e-03 -9.69642178e-05 -9.99981123e-01 -4.84757799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters 0.047998607446695346 Centerline is valid? [True, True] Translation: X:421.58, Y:-344.55, Z:-4.85 [[ 6.70780607e-01 7.41637443e-01 -5.22310793e-03 4.21580268e+02] [ 7.41616637e-01 -6.70800926e-01 -5.55710078e-03 -3.44547145e+02] [-7.62501964e-03 -1.45948306e-04 -9.99970919e-01 -4.84730931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters 0.048395725356446366 Centerline is valid? [True, True] Translation: X:421.67, Y:-344.58, Z:-4.85 [[ 6.09778644e-01 7.92554714e-01 -5.19909056e-03 4.21666415e+02] [ 7.92528240e-01 -6.09800784e-01 -6.48019666e-03 -3.44581478e+02] [-8.30631991e-03 -1.68940561e-04 -9.99965488e-01 -4.84591666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters 0.04826498527075132 Centerline is valid? [True, True] Translation: X:421.75, Y:-344.61, Z:-4.85 [[ 5.45932438e-01 8.37815564e-01 -4.78056445e-03 4.21752203e+02] [ 8.37786171e-01 -5.45953341e-01 -7.02010071e-03 -3.44605749e+02] [-8.49151477e-03 -1.72590084e-04 -9.99963932e-01 -4.84656570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters 0.04795263486166409 Centerline is valid? [True, True] Translation: X:421.84, Y:-344.62, Z:-4.85 [[ 4.80792145e-01 8.76824887e-01 -4.12684323e-03 4.21840665e+02] [ 8.76795210e-01 -4.80809832e-01 -7.21565441e-03 -3.44623401e+02] [-8.31109216e-03 -1.49166416e-04 -9.99965451e-01 -4.84705585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters 0.04798425400270785 Centerline is valid? [True, True] Translation: X:421.93, Y:-344.63, Z:-4.85 [[ 4.13723533e-01 9.10395420e-01 -3.60800289e-03 4.21926751e+02] [ 9.10363375e-01 -4.13739246e-01 -7.63949132e-03 -3.44634189e+02] [-8.44773030e-03 -1.23956349e-04 -9.99964310e-01 -4.84643425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters 0.04840722157700391 Centerline is valid? [True, True] Translation: X:422.01, Y:-344.63, Z:-4.84 [[ 3.46510274e-01 9.38039565e-01 -3.52205534e-03 4.22005147e+02] [ 9.37993733e-01 -3.46528161e-01 -9.27305811e-03 -3.44633448e+02] [-9.91898675e-03 -9.04559300e-05 -9.99950802e-01 -4.84461464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters 0.04794303895711201 Centerline is valid? [True, True] Translation: X:422.08, Y:-344.63, Z:-4.84 [[ 2.75188441e-01 9.61384894e-01 -3.22603990e-03 4.22079720e+02] [ 9.61321702e-01 -2.75207341e-01 -1.10229574e-02 -3.44625299e+02] [-1.14851346e-02 -6.78716944e-05 -9.99934041e-01 -4.84396254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters 0.047771648303178184 Centerline is valid? [True, True] Translation: X:422.15, Y:-344.61, Z:-4.84 [[ 2.01761555e-01 9.79431499e-01 -2.49271539e-03 4.22152217e+02] [ 9.79359156e-01 -2.01776949e-01 -1.19040205e-02 -3.44612965e+02] [-1.21621451e-02 -3.94899610e-05 -9.99926038e-01 -4.84311845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters 0.04783813472976763 Centerline is valid? [True, True] Translation: X:422.23, Y:-344.60, Z:-4.85 [[ 1.24546406e-01 9.92212750e-01 -1.43263772e-03 4.22234496e+02] [ 9.92150390e-01 -1.24554640e-01 -1.11241080e-02 -3.44595817e+02] [-1.12159235e-02 -3.59244003e-05 -9.99937099e-01 -4.84820290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters 0.048188498184245206 Centerline is valid? [True, True] Translation: X:422.36, Y:-344.58, Z:-4.85 [[ 4.56822480e-02 9.98955887e-01 -5.16871434e-04 4.22356676e+02] [ 9.98901935e-01 -4.56851527e-02 -1.03822851e-02 -3.44576637e+02] [-1.03950582e-02 -4.20177520e-05 -9.99945969e-01 -4.84847985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters 0.04786261661581482 Centerline is valid? [True, True] Translation: X:422.45, Y:-344.55, Z:-4.84 [[-3.56840968e-02 9.99363083e-01 2.71224144e-04 4.22445943e+02] [ 9.99318180e-01 3.56850646e-02 -9.47373598e-03 -3.44548693e+02] [-9.47738064e-03 -6.70224940e-05 -9.99955086e-01 -4.84356946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters 0.047669282565099856 Centerline is valid? [True, True] Translation: X:422.53, Y:-344.51, Z:-4.85 [[-1.18590741e-01 9.92942860e-01 8.44908512e-04 4.22525405e+02] [ 9.92911692e-01 1.18593713e-01 -7.86779942e-03 -3.44512927e+02] [-7.91247609e-03 -9.41286229e-05 -9.99968691e-01 -4.84802373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters 0.04802113400476993 Centerline is valid? [True, True] Translation: X:422.61, Y:-344.47, Z:-4.85 [[-1.97198344e-01 9.80362586e-01 1.41864383e-03 4.22606527e+02] [ 9.80333385e-01 1.97203421e-01 -7.56736449e-03 -3.44470823e+02] [-7.69852244e-03 -1.01527839e-04 -9.99970361e-01 -4.84841134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters 0.04752388426715592 Centerline is valid? [True, True] Translation: X:422.68, Y:-344.42, Z:-4.85 [[-2.74332247e-01 9.61632723e-01 2.07953943e-03 4.22681134e+02] [ 9.61601862e-01 2.74340105e-01 -7.70492708e-03 -3.44423184e+02] [-7.97981108e-03 -1.14020970e-04 -9.99968154e-01 -4.84852359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters 0.04748526073896695 Centerline is valid? [True, True] Translation: X:422.74, Y:-344.37, Z:-4.85 [[-3.44110889e-01 9.38926418e-01 2.20861689e-03 4.22740803e+02] [ 9.38905923e-01 3.44117971e-01 -6.20404818e-03 -3.44374016e+02] [-6.58516950e-03 -6.11970544e-05 -9.99978316e-01 -4.85072812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters 0.04801591156600825 Centerline is valid? [True, True] Translation: X:422.80, Y:-344.32, Z:-4.85 [[-4.12632593e-01 9.10893703e-01 2.64679218e-03 4.22803791e+02] [ 9.10874455e-01 4.12641080e-01 -5.92174152e-03 -3.44316667e+02] [-6.48625225e-03 -3.26081757e-05 -9.99978964e-01 -4.84857580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters 0.04775101845103718 Centerline is valid? [True, True] Translation: X:422.86, Y:-344.26, Z:-4.85 [[-4.79862453e-01 8.77338988e-01 2.88556650e-03 4.22856060e+02] [ 8.77322988e-01 4.79871129e-01 -5.29848501e-03 -3.44258763e+02] [-6.03326753e-03 -1.09701879e-05 -9.99981800e-01 -4.84908248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters 0.047859259620473375 Centerline is valid? [True, True] Translation: X:422.91, Y:-344.19, Z:-4.85 [[-5.45118274e-01 8.38354632e-01 2.75281267e-03 4.22914675e+02] [ 8.38343969e-01 5.45125224e-01 -4.22845761e-03 -3.44190464e+02] [-5.04557465e-03 2.79438218e-06 -9.99987271e-01 -4.85037711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters 0.04771613838252978 Centerline is valid? [True, True] Translation: X:422.95, Y:-344.13, Z:-4.85 [[-6.08711095e-01 7.93388212e-01 2.43885587e-03 4.22954933e+02] [ 7.93381874e-01 6.08715981e-01 -3.17122710e-03 -3.44126442e+02] [-4.00058474e-03 4.58292091e-06 -9.99991998e-01 -4.84951506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters 0.047872149686669564 Centerline is valid? [True, True] Translation: X:422.99, Y:-344.06, Z:-4.85 [[-6.70509582e-01 7.41899314e-01 1.51911875e-03 4.22987902e+02] [ 7.41897407e-01 6.70511303e-01 -1.68233476e-03 -3.44063255e+02] [-2.26670930e-03 -9.91309758e-07 -9.99997431e-01 -4.85160637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters 0.04770170922797885 Centerline is valid? [True, True] Translation: X:423.02, Y:-344.00, Z:-4.85 [[-7.28538738e-01 6.85003260e-01 1.35727080e-03 4.23016214e+02] [ 6.85002056e-01 7.28540002e-01 -1.28417407e-03 -3.43995697e+02] [-1.86848949e-03 -5.83726728e-06 -9.99998254e-01 -4.85082677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters 0.04754914693278632 Centerline is valid? [True, True] Translation: X:423.35, Y:-344.18, Z:-4.85 [[-7.79147189e-01 6.26836636e-01 2.34314444e-03 4.23350723e+02] [ 6.26833703e-01 7.79150712e-01 -1.91753883e-03 -3.44179535e+02] [-3.02764624e-03 -2.52830814e-05 -9.99995416e-01 -4.84947846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters 0.04840585741452465 Centerline is valid? [True, True] Translation: X:423.06, Y:-343.86, Z:-4.85 [[-8.22442092e-01 5.68840931e-01 3.00013018e-03 4.23062973e+02] [ 5.68836981e-01 8.22447563e-01 -2.12012842e-03 -3.43855540e+02] [-3.67346558e-03 -3.70978539e-05 -9.99993252e-01 -4.84826004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters 0.047199026093669466 Centerline is valid? [True, True] Translation: X:423.53, Y:-344.07, Z:-4.85 [[-8.62409092e-01 5.06196921e-01 3.90322193e-03 4.23534363e+02] [ 5.06191506e-01 8.62417924e-01 -2.34177926e-03 -3.44067667e+02] [-4.55161000e-03 -4.37939373e-05 -9.99989640e-01 -4.85001977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters 0.04823338291824607 Centerline is valid? [True, True] Translation: X:422.89, Y:-343.62, Z:-4.85 [[-8.93896662e-01 4.48252943e-01 4.24920040e-03 4.22894937e+02] [ 4.48247754e-01 8.93906762e-01 -2.15701289e-03 -3.43620714e+02] [-4.76527635e-03 -2.34520901e-05 -9.99988646e-01 -4.84990000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters 0.04823917418192504 Centerline is valid? [True, True] Translation: X:423.07, Y:-343.62, Z:-4.85 [[-9.21486365e-01 3.88402423e-01 2.53714730e-03 4.23067632e+02] [ 3.88400957e-01 9.21489858e-01 -1.06684298e-03 -3.43619215e+02] [-2.75231990e-03 2.34917977e-06 -9.99996212e-01 -4.85161451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters 0.047625421666868874 Centerline is valid? [True, True] Translation: X:423.28, Y:-343.62, Z:-4.85 [[-9.45290470e-01 3.26225409e-01 1.70567566e-03 4.23283092e+02] [ 3.26224903e-01 9.45292009e-01 -5.75002227e-04 -3.43615191e+02] [-1.79994191e-03 1.28897503e-05 -9.99998380e-01 -4.85291282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters 0.048494096070563 Centerline is valid? [True, True] Translation: X:423.15, Y:-343.48, Z:-4.85 [[-9.64488532e-01 2.64081936e-01 4.75423512e-03 4.23153761e+02] [ 2.64079033e-01 9.64500248e-01 -1.23962203e-03 -3.43483997e+02] [-4.91282274e-03 5.98925814e-05 -9.99987930e-01 -4.85150291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters 0.04865758026087105 Centerline is valid? [True, True] Translation: X:422.57, Y:-343.27, Z:-4.85 [[-9.80481899e-01 1.96503939e-01 6.43803110e-03 4.22569055e+02] [ 1.96500289e-01 9.80503031e-01 -1.20087382e-03 -3.43269699e+02] [-6.54848545e-03 8.76399232e-05 -9.99978555e-01 -4.85030026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters 0.04912513812034856 Centerline is valid? [True, True] Translation: X:422.87, Y:-343.23, Z:-4.85 [[-9.92536534e-01 1.21742430e-01 7.07174137e-03 4.22869789e+02] [ 1.21739975e-01 9.92561723e-01 -7.78204775e-04 -3.43227551e+02] [-7.11388034e-03 8.85169444e-05 -9.99974692e-01 -4.85076194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters 0.048959693399319826 Centerline is valid? [True, True] Translation: X:422.33, Y:-343.11, Z:-4.85 [[-9.98838275e-01 4.78766562e-02 5.47041551e-03 4.22329103e+02] [ 4.78762144e-02 9.98853254e-01 -2.11760845e-04 -3.43105566e+02] [-5.47428073e-03 5.03879486e-05 -9.99985015e-01 -4.85195020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters 0.04881114166839269 Centerline is valid? [True, True] Translation: X:422.58, Y:-343.02, Z:-4.85 [[-9.99510152e-01 -3.11116784e-02 3.39395643e-03 4.22582749e+02] [-3.11114420e-02 9.99515914e-01 1.22438442e-04 -3.43021952e+02] [-3.39612273e-03 1.67875873e-05 -9.99994233e-01 -4.85293666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters 0.04887148773152154 Centerline is valid? [True, True] Translation: X:421.90, Y:-342.99, Z:-4.85 [[-9.94472965e-01 -1.04961260e-01 2.58002458e-03 4.21901289e+02] [-1.04960894e-01 9.94476311e-01 2.77197654e-04 -3.42987108e+02] [-2.59486834e-03 4.86388599e-06 -9.99996633e-01 -4.85272118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters 0.04843027758538718 Centerline is valid? [True, True] Translation: X:421.81, Y:-342.92, Z:-4.85 [[-9.84158925e-01 -1.77274331e-01 2.24089952e-03 4.21811144e+02] [-1.77273870e-01 9.84161477e-01 4.03998963e-04 -3.42924422e+02] [-2.27702563e-03 3.46254525e-07 -9.99997408e-01 -4.85217674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters 0.04940344489620125 Centerline is valid? [True, True] Translation: X:421.88, Y:-342.82, Z:-4.85 [[-9.67078843e-01 -2.54460408e-01 2.90038208e-03 4.21879546e+02] [-2.54459320e-01 9.67083192e-01 7.44556848e-04 -3.42824479e+02] [-2.99437100e-03 -1.79840760e-05 -9.99995517e-01 -4.85199954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters 0.04920496079519329 Centerline is valid? [True, True] Translation: X:421.62, Y:-342.81, Z:-4.85 [[-9.45489613e-01 -3.25631546e-01 3.67267501e-03 4.21622237e+02] [-3.25629242e-01 9.45496745e-01 1.22572742e-03 -3.42813746e+02] [-3.87163778e-03 -3.70178329e-05 -9.99992505e-01 -4.85047603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters 0.04988254646113557 Centerline is valid? [True, True] Translation: X:421.59, Y:-342.74, Z:-4.85 [[-9.18544380e-01 -3.95301254e-01 3.62509080e-03 4.21586689e+02] [-3.95298366e-01 9.18551532e-01 1.51157128e-03 -3.42743356e+02] [-3.92735873e-03 -4.45471673e-05 -9.99992287e-01 -4.85075805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters 0.049095028438425295 Centerline is valid? [True, True] Translation: X:421.26, Y:-342.32, Z:-5.91 [[-9.50829268e-01 3.09673628e-01 5.09390409e-03 4.21256764e+02] [-3.09668274e-01 -9.50842899e-01 1.82806898e-03 -3.42322046e+02] [ 5.40960729e-03 1.60760998e-04 9.99985355e-01 -5.90587134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters 0.04977327943560663 Centerline is valid? [True, True] Translation: X:421.30, Y:-342.86, Z:-4.85 [[-9.17198076e-01 -3.98387296e-01 5.93724332e-03 4.21303997e+02] [-3.98379452e-01 9.17217290e-01 2.50103510e-03 -3.42856634e+02] [-6.44212283e-03 -7.13311577e-05 -9.99979247e-01 -4.84899575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters 0.04949441394831767 Centerline is valid? [True, True] Translation: X:421.19, Y:-342.83, Z:-4.85 [[-8.87526141e-01 -4.60721047e-01 5.78499869e-03 4.21194402e+02] [-4.60711669e-01 8.87544992e-01 2.94008757e-03 -3.42825704e+02] [-6.48900684e-03 -5.58118350e-05 -9.99978945e-01 -4.84870008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters 0.04993426565325398 Centerline is valid? [True, True] Translation: X:421.23, Y:-342.72, Z:-4.85 [[-8.51913832e-01 -5.23661063e-01 4.68120768e-03 4.21229448e+02] [-5.23653378e-01 8.51926693e-01 2.83724693e-03 -3.42718923e+02] [-5.47380152e-03 -3.42403086e-05 -9.99985018e-01 -4.84971403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters 0.04953609741086474 Centerline is valid? [True, True] Translation: X:421.26, Y:-342.60, Z:-4.85 [[-8.12226366e-01 -5.83333497e-01 3.21891259e-03 4.21260601e+02] [-5.83328977e-01 8.12232744e-01 2.29646793e-03 -3.42598538e+02] [-3.95411287e-03 -1.24331841e-05 -9.99992182e-01 -4.85212700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters 0.048989695034879564 Centerline is valid? [True, True] Translation: X:420.33, Y:-342.61, Z:-5.90 [[-8.53067009e-01 5.21790893e-01 3.30790101e-03 4.20327894e+02] [-5.21786934e-01 -8.53073422e-01 2.03251339e-03 -3.42614006e+02] [ 3.88242941e-03 7.85059327e-06 9.99992463e-01 -5.90438571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters 0.04967370569836281 Centerline is valid? [True, True] Translation: X:420.68, Y:-342.99, Z:-4.85 [[-8.07705208e-01 -5.89574033e-01 3.84140208e-03 4.20678937e+02] [-5.89567454e-01 8.07714343e-01 2.78529992e-03 -3.42991058e+02] [-4.74489606e-03 -1.50643902e-05 -9.99988743e-01 -4.85001455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters 0.04955239052788971 Centerline is valid? [True, True] Translation: X:420.70, Y:-342.86, Z:-4.85 [[-7.59548231e-01 -6.50432339e-01 4.92508918e-03 4.20701388e+02] [-6.50419001e-01 7.59564198e-01 4.16559709e-03 -3.42863194e+02] [-6.45036048e-03 -3.93996822e-05 -9.99979195e-01 -4.85124748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters 0.049768587940946685 Centerline is valid? [True, True] Translation: X:420.55, Y:-342.88, Z:-4.85 [[-7.08451670e-01 -7.05739273e-01 5.32061334e-03 4.20551424e+02] [-7.05720083e-01 7.08471646e-01 5.20484012e-03 -3.42878996e+02] [-7.44276377e-03 -6.74860147e-05 -9.99972300e-01 -4.85150191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters 0.04945558857345303 Centerline is valid? [True, True] Translation: X:419.98, Y:-343.34, Z:-4.85 [[-6.53492565e-01 -7.56910872e-01 5.77922265e-03 4.19984600e+02] [-7.56882835e-01 6.53518108e-01 6.51583288e-03 -3.43344769e+02] [-8.70873140e-03 -1.16146083e-04 -9.99962072e-01 -4.84631711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters 0.0496673460151458 Centerline is valid? [True, True] Translation: X:419.82, Y:-343.43, Z:-4.85 [[-5.95720900e-01 -8.03169885e-01 5.89450962e-03 4.19817029e+02] [-8.03132981e-01 5.95750043e-01 7.70075134e-03 -3.43431960e+02] [-9.69666593e-03 -1.46576569e-04 -9.99952976e-01 -4.84649030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters 0.050100463146739396 Centerline is valid? [True, True] Translation: X:419.76, Y:-343.38, Z:-4.85 [[-5.33659131e-01 -8.45682200e-01 5.43589582e-03 4.19761745e+02] [-8.45641292e-01 5.33686793e-01 8.31941473e-03 -3.43380890e+02] [-9.93664676e-03 -1.57086328e-04 -9.99950618e-01 -4.84768487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters 0.049529401034813327 Centerline is valid? [True, True] Translation: X:419.52, Y:-343.63, Z:-4.85 [[-4.72893549e-01 -8.81111511e-01 3.76788251e-03 4.19522707e+02] [-8.81085463e-01 4.72908545e-01 6.77605294e-03 -3.43634472e+02] [-7.75232208e-03 -1.15474780e-04 -9.99969944e-01 -4.84918506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters 0.048900601491414085 Centerline is valid? [True, True] Translation: X:419.37, Y:-343.77, Z:-4.85 [[-4.09079118e-01 -9.12496046e-01 2.28935883e-03 4.19372955e+02] [-9.12482703e-01 4.09085518e-01 4.93516625e-03 -3.43771505e+02] [-5.43986324e-03 -7.01268776e-05 -9.99985201e-01 -4.85072406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters 0.0494247878482854 Centerline is valid? [True, True] Translation: X:419.25, Y:-343.89, Z:-4.85 [[-3.43669511e-01 -9.39089840e-01 1.24125002e-03 4.19248636e+02] [-9.39084070e-01 3.43671751e-01 3.29207611e-03 -3.43886131e+02] [-3.51813779e-03 -3.42519403e-05 -9.99993811e-01 -4.85157888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters 0.04931738945559602 Centerline is valid? [True, True] Translation: X:419.11, Y:-344.07, Z:-4.85 [[-2.75373906e-01 -9.61336684e-01 9.95884833e-04 4.19113657e+02] [-9.61330774e-01 2.75375706e-01 3.37100235e-03 -3.44067178e+02] [-3.51491071e-03 -2.90886516e-05 -9.99993822e-01 -4.85146165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters 0.049352325572318 Centerline is valid? [True, True] Translation: X:419.01, Y:-344.21, Z:-4.85 [[-2.03511643e-01 -9.79072106e-01 9.06694795e-04 4.19005043e+02] [-9.79063183e-01 2.03513660e-01 4.18031187e-03 -3.44207266e+02] [-4.27735152e-03 -3.69693538e-05 -9.99990851e-01 -4.85073852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters 0.04904686370551771 Centerline is valid? [True, True] Translation: X:418.91, Y:-344.32, Z:-4.85 [[-1.28115804e-01 -9.91758812e-01 8.94229504e-04 4.18911395e+02] [-9.91738416e-01 1.28118904e-01 6.36079777e-03 -3.44322215e+02] [-6.42294494e-03 -7.19230355e-05 -9.99979370e-01 -4.85018713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters 0.04909981116146362 Centerline is valid? [True, True] Translation: X:418.81, Y:-344.60, Z:-4.85 [[-5.39131326e-02 -9.98545534e-01 4.36935407e-04 4.18807353e+02] [-9.98524142e-01 5.39148379e-02 6.53674647e-03 -3.44602328e+02] [-6.55079629e-03 -8.38740731e-05 -9.99978540e-01 -4.84844367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters 0.04930369753386716 Centerline is valid? [True, True] Translation: X:418.73, Y:-344.75, Z:-4.85 [[ 2.01434349e-02 -9.99797099e-01 -5.32738691e-05 4.18734448e+02] [-9.99770375e-01 -2.01432860e-02 7.31060551e-03 -3.44753139e+02] [-7.31019529e-03 -9.39990699e-05 -9.99973276e-01 -4.84927947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters 0.04869720616740578 Centerline is valid? [True, True] Translation: X:418.67, Y:-344.90, Z:-4.85 [[ 9.38162635e-02 -9.95589323e-01 -6.39256189e-04 4.18667916e+02] [-9.95558447e-01 -9.38183889e-02 7.84152823e-03 -3.44895642e+02] [-7.86691576e-03 -9.92459807e-05 -9.99969050e-01 -4.84936020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters 0.04809419839067909 Centerline is valid? [True, True] Translation: X:418.56, Y:-344.65, Z:-4.85 [[ 1.65701744e-01 -9.86175085e-01 -1.27796051e-03 4.18564509e+02] [-9.86141889e-01 -1.65706653e-01 8.09199744e-03 -3.44648107e+02] [-8.19189282e-03 -8.06076969e-05 -9.99966443e-01 -4.85091308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters 0.04799353341243438 Centerline is valid? [True, True] Translation: X:418.66, Y:-345.57, Z:-4.85 [[ 2.31259474e-01 -9.72890931e-01 -1.51407434e-03 4.18662681e+02] [-9.72869017e-01 -2.31264427e-01 6.52999855e-03 -3.45570468e+02] [-6.70312790e-03 -3.71280163e-05 -9.99977533e-01 -4.84851884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters 0.04878478680298742 Centerline is valid? [True, True] Translation: X:418.58, Y:-345.54, Z:-4.85 [[ 3.01062812e-01 -9.53602838e-01 -1.67674257e-03 4.18580442e+02] [-9.53587711e-01 -3.01067481e-01 5.37113167e-03 -3.45537897e+02] [-5.62673906e-03 -1.81268918e-05 -9.99984170e-01 -4.85085562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters 0.04826309454329101 Centerline is valid? [True, True] Translation: X:418.45, Y:-345.42, Z:-4.85 [[ 3.69381426e-01 -9.29276365e-01 -1.67341143e-03 4.18451012e+02] [-9.29266770e-01 -3.69385217e-01 4.22270829e-03 -3.45415314e+02] [-4.54219646e-03 -4.74437522e-06 -9.99989684e-01 -4.85177880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters 0.048048371484538215 Centerline is valid? [True, True] Translation: X:418.49, Y:-345.72, Z:-4.85 [[ 4.33871147e-01 -9.00972092e-01 -2.26205574e-03 4.18492837e+02] [-9.00959956e-01 -4.33877044e-01 4.67636410e-03 -3.45719887e+02] [-5.19472760e-03 9.08218966e-06 -9.99986507e-01 -4.85260928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters 0.048215441323955964 Centerline is valid? [True, True] Translation: X:418.78, Y:-346.41, Z:-4.85 [[ 4.96112381e-01 -8.68251922e-01 -3.33246724e-03 4.18776310e+02] [-8.68232639e-01 -4.96123572e-01 5.78668642e-03 -3.46414268e+02] [-6.67761716e-03 2.25100536e-05 -9.99977704e-01 -4.85015154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters 0.04779419941978496 Centerline is valid? [True, True] Translation: X:418.52, Y:-346.14, Z:-4.85 [[ 5.58521976e-01 -8.29474698e-01 -4.99284481e-03 4.18516702e+02] [-8.29442205e-01 -5.58544290e-01 7.34200874e-03 -3.46140849e+02] [-8.87873544e-03 4.06029757e-05 -9.99960582e-01 -4.85037002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters 0.04804784105309679 Centerline is valid? [True, True] Translation: X:418.87, Y:-346.75, Z:-4.85 [[ 6.16800374e-01 -7.87096364e-01 -6.05081689e-03 4.18866427e+02] [-7.87059244e-01 -6.16830051e-01 7.64430066e-03 -3.46750539e+02] [-9.74912694e-03 4.73438625e-05 -9.99952475e-01 -4.84815397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters 0.048305662707233514 Centerline is valid? [True, True] Translation: X:418.59, Y:-346.55, Z:-4.85 [[ 6.72634780e-01 -7.39927836e-01 -8.32171257e-03 4.18594138e+02] [-7.39872543e-01 -6.72686251e-01 9.04585330e-03 -3.46554526e+02] [-1.22911803e-02 7.24511028e-05 -9.99924458e-01 -4.84932646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters 0.0481229447460381 Centerline is valid? [True, True] Translation: X:418.67, Y:-346.75, Z:-4.85 [[ 7.24463674e-01 -6.89240273e-01 -1.00115494e-02 4.18667550e+02] [-6.89176206e-01 -7.24532841e-01 9.39777765e-03 -3.46748098e+02] [-1.37310232e-02 9.13731093e-05 -9.99905721e-01 -4.84791492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters 0.04869135777337447 Centerline is valid? [True, True] Translation: X:418.63, Y:-346.85, Z:-4.85 [[ 7.76809114e-01 -6.29661723e-01 -9.68068591e-03 4.18627822e+02] [-6.29613944e-01 -7.76869429e-01 7.75701264e-03 -3.46847136e+02] [-1.24049229e-02 6.93767322e-05 -9.99923054e-01 -4.85044612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters 0.04842701355613921 Centerline is valid? [True, True] Translation: X:418.59, Y:-346.95, Z:-4.85 [[ 8.26226311e-01 -5.63279570e-01 -8.13697023e-03 4.18591191e+02] [-5.63252384e-01 -8.26266377e-01 5.53399850e-03 -3.46953723e+02] [-9.84049321e-03 1.08327223e-05 -9.99951581e-01 -4.85065639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters 0.04760374919014792 Centerline is valid? [True, True] Translation: X:418.57, Y:-347.05, Z:-4.85 [[ 8.72513052e-01 -4.88530692e-01 -7.66404538e-03 4.18574551e+02] [-4.88511082e-01 -8.72546708e-01 4.37780858e-03 -3.47046240e+02] [-8.82593142e-03 -7.57240290e-05 -9.99961048e-01 -4.84910963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters 0.04786591543538842 Centerline is valid? [True, True] Translation: X:418.57, Y:-347.14, Z:-4.85 [[ 9.10812448e-01 -4.12749786e-01 -7.63544608e-03 4.18566696e+02] [-4.12734092e-01 -9.10844442e-01 3.60154052e-03 -3.47138628e+02] [-8.44123870e-03 -1.28919031e-04 -9.99964364e-01 -4.84975042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters 0.04750102077982908 Centerline is valid? [True, True] Translation: X:418.57, Y:-347.23, Z:-4.85 [[ 9.42342962e-01 -3.34516070e-01 -9.42021173e-03 4.18566823e+02] [-3.34497054e-01 -9.42390021e-01 3.57334186e-03 -3.47228794e+02] [-1.00728538e-02 -2.16280476e-04 -9.99949244e-01 -4.84895537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters 0.04728567894470241 Centerline is valid? [True, True] Translation: X:418.57, Y:-347.32, Z:-4.85 [[ 9.66209335e-01 -2.57544028e-01 -1.05163579e-02 4.18574624e+02] [-2.57525823e-01 -9.66266529e-01 3.07335303e-03 -3.47317936e+02] [-1.09531283e-02 -2.61268682e-04 -9.99939979e-01 -4.84820432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters 0.047642990433057565 Centerline is valid? [True, True] Translation: X:418.59, Y:-347.41, Z:-4.85 [[ 9.83613973e-01 -1.79986213e-01 -1.04170912e-02 4.18588302e+02] [-1.79973234e-01 -9.83669097e-01 2.17789636e-03 -3.47407587e+02] [-1.06389620e-02 -2.67411695e-04 -9.99943369e-01 -4.84634973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters 0.04728901561073346 Centerline is valid? [True, True] Translation: X:418.61, Y:-347.49, Z:-4.85 [[ 9.94589482e-01 -1.03256484e-01 -1.13956654e-02 4.18610558e+02] [-1.03246472e-01 -9.94654724e-01 1.46499177e-03 -3.47491634e+02] [-1.14860224e-02 -2.80503157e-04 -9.99933994e-01 -4.84627772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters 0.04774286513667619 Centerline is valid? [True, True] Translation: X:418.64, Y:-347.57, Z:-4.85 [[ 9.99537598e-01 -2.80825114e-02 -1.16603131e-02 4.18639511e+02] [-2.80776658e-02 -9.99605577e-01 5.79095799e-04 -3.47574027e+02] [-1.16719765e-02 -2.51433649e-04 -9.99931849e-01 -4.84681671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters 0.047819965741028 Centerline is valid? [True, True] Translation: X:418.67, Y:-347.65, Z:-4.85 [[ 9.98952072e-01 4.44029083e-02 -1.10968457e-02 4.18668325e+02] [ 4.44021057e-02 -9.99013689e-01 -3.18802187e-04 -3.47653505e+02] [-1.11000565e-02 -1.74255213e-04 -9.99938377e-01 -4.84698346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters 0.04788794497000336 Centerline is valid? [True, True] Translation: X:418.70, Y:-347.74, Z:-4.85 [[ 9.92902652e-01 1.18475072e-01 -1.03913578e-02 4.18704471e+02] [ 1.18469874e-01 -9.92957019e-01 -1.11652583e-03 -3.47735283e+02] [-1.04504522e-02 -1.22461400e-04 -9.99945385e-01 -4.84762816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters 0.04702101463247775 Centerline is valid? [True, True] Translation: X:418.74, Y:-347.81, Z:-4.85 [[ 9.81920624e-01 1.89064784e-01 -9.29490611e-03 4.18743903e+02] [ 1.89056754e-01 -9.81964615e-01 -1.74314461e-03 -3.47807935e+02] [-9.45683616e-03 -4.56351348e-05 -9.99955282e-01 -4.85113341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters 0.04714010594523997 Centerline is valid? [True, True] Translation: X:418.79, Y:-347.88, Z:-4.85 [[ 9.65131237e-01 2.61606730e-01 -9.14406729e-03 4.18790290e+02] [ 2.61595080e-01 -9.65174554e-01 -2.46888718e-03 -3.47880949e+02] [-9.47149857e-03 -9.24287426e-06 -9.99955144e-01 -4.84743653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters 0.047824786658261974 Centerline is valid? [True, True] Translation: X:418.84, Y:-347.95, Z:-4.85 [[ 9.42104850e-01 3.35168852e-01 -1.00145911e-02 4.18841604e+02] [ 3.35149891e-01 -9.42158076e-01 -3.56510536e-03 -3.47948022e+02] [-1.06302401e-02 2.31394357e-06 -9.99943497e-01 -4.84623141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters 0.04813914689401761 Centerline is valid? [True, True] Translation: X:418.90, Y:-348.01, Z:-4.84 [[ 9.13310553e-01 4.07075025e-01 -1.23998937e-02 4.18896843e+02] [ 4.07037304e-01 -9.13394725e-01 -5.54155867e-03 -3.48007280e+02] [-1.35818276e-02 1.39447187e-05 -9.99907763e-01 -4.84433256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters 0.04848788366979072 Centerline is valid? [True, True] Translation: X:418.96, Y:-348.06, Z:-4.84 [[ 8.79561179e-01 4.75588551e-01 -1.36990023e-02 4.18956313e+02] [ 4.75530066e-01 -8.79667851e-01 -7.45844573e-03 -3.48064646e+02] [-1.55977233e-02 4.58718418e-05 -9.99878347e-01 -4.84169504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters 0.048192160326090736 Centerline is valid? [True, True] Translation: X:419.02, Y:-348.12, Z:-4.84 [[ 8.40298480e-01 5.41979303e-01 -1.25259618e-02 4.19020974e+02] [ 5.41918006e-01 -8.40391832e-01 -8.15128520e-03 -3.48116686e+02] [-1.49445439e-02 6.14683059e-05 -9.99888322e-01 -4.84402095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters 0.04826731057434715 Centerline is valid? [True, True] Translation: X:419.09, Y:-348.16, Z:-4.85 [[ 7.95734197e-01 6.05544393e-01 -1.10939641e-02 4.19090607e+02] [ 6.05484377e-01 -7.95811525e-01 -8.52559418e-03 -3.48163806e+02] [-1.39913303e-02 6.68848770e-05 -9.99902114e-01 -4.84914345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters 0.0487088992312339 Centerline is valid? [True, True] Translation: X:419.18, Y:-348.23, Z:-4.85 [[ 7.45117158e-01 6.66877757e-01 -8.63009793e-03 4.19181875e+02] [ 6.66832385e-01 -7.45167133e-01 -7.77907812e-03 -3.48229143e+02] [-1.16185595e-02 4.14957937e-05 -9.99932501e-01 -4.84985278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters 0.04796441960597703 Centerline is valid? [True, True] Translation: X:419.26, Y:-348.26, Z:-4.85 [[ 6.89203163e-01 7.24525179e-01 -7.89080177e-03 4.19258004e+02] [ 7.24477398e-01 -6.89248333e-01 -8.32078115e-03 -3.48263936e+02] [-1.14673374e-02 1.80011591e-05 -9.99934248e-01 -4.84768113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters 0.048157950514292155 Centerline is valid? [True, True] Translation: X:419.33, Y:-348.29, Z:-4.85 [[ 6.27168270e-01 7.78851027e-01 -7.14415352e-03 4.19334510e+02] [ 7.78801039e-01 -6.27208958e-01 -8.82408663e-03 -3.48289954e+02] [-1.13535260e-02 -2.96870348e-05 -9.99935546e-01 -4.84832891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters 0.04798041533196104 Centerline is valid? [True, True] Translation: X:419.42, Y:-348.32, Z:-4.85 [[ 5.57650479e-01 8.30059961e-01 -5.13857924e-03 4.19420731e+02] [ 8.30026306e-01 -5.57674145e-01 -7.47524754e-03 -3.48317461e+02] [-9.07055647e-03 -9.65805748e-05 -9.99958857e-01 -4.84820548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters 0.048287322777872455 Centerline is valid? [True, True] Translation: X:419.51, Y:-348.33, Z:-4.85 [[ 4.86334867e-01 8.73764958e-01 -3.63243440e-03 4.19505145e+02] [ 8.73742340e-01 -4.86348418e-01 -6.28796649e-03 -3.48334597e+02] [-7.26083351e-03 -1.15754383e-04 -9.99973633e-01 -4.84956232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters 0.04785019097955975 Centerline is valid? [True, True] Translation: X:419.58, Y:-348.34, Z:-4.85 [[ 4.13001488e-01 9.10724805e-01 -3.17806607e-03 4.19581937e+02] [ 9.10700502e-01 -4.13013690e-01 -6.65492527e-03 -3.48340806e+02] [-7.37339032e-03 -1.45772328e-04 -9.99972806e-01 -4.85198361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters 0.04775578436437115 Centerline is valid? [True, True] Translation: X:419.68, Y:-348.35, Z:-4.85 [[ 3.37661653e-01 9.41263333e-01 -2.81874657e-03 4.19678516e+02] [ 9.41234831e-01 -3.37673371e-01 -7.32723093e-03 -3.48348865e+02] [-7.84866946e-03 -1.78977546e-04 -9.99969183e-01 -4.84948415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters 0.04809331111974329 Centerline is valid? [True, True] Translation: X:419.77, Y:-348.35, Z:-4.85 [[ 2.63371736e-01 9.64691111e-01 -2.52777779e-03 4.19766627e+02] [ 9.64653657e-01 -2.63383791e-01 -8.50292887e-03 -3.48346662e+02] [-8.86847559e-03 -1.98998953e-04 -9.99960655e-01 -4.84776684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters 0.048387893353045386 Centerline is valid? [True, True] Translation: X:419.85, Y:-348.33, Z:-4.85 [[ 1.92207592e-01 9.81352263e-01 -1.99415979e-03 4.19848070e+02] [ 9.81307961e-01 -1.92217866e-01 -9.32613190e-03 -3.48334978e+02] [-9.53553379e-03 -1.64331519e-04 -9.99954522e-01 -4.84753170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters 0.04797682723410932 Centerline is valid? [True, True] Translation: X:419.92, Y:-348.32, Z:-4.85 [[ 1.19777323e-01 9.92799974e-01 -1.26670670e-03 4.19924092e+02] [ 9.92754379e-01 -1.19783963e-01 -9.51549431e-03 -3.48316778e+02] [-9.59871365e-03 -1.17788186e-04 -9.99953924e-01 -4.84804385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters 0.047537810826630646 Centerline is valid? [True, True] Translation: X:420.00, Y:-348.29, Z:-4.85 [[ 4.41799875e-02 9.99023454e-01 -5.17235595e-04 4.19999629e+02] [ 9.98977697e-01 -4.41829146e-02 -9.56195970e-03 -3.48292681e+02] [-9.57547498e-03 -9.42595636e-05 -9.99954150e-01 -4.84793084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters 0.04797785523918914 Centerline is valid? [True, True] Translation: X:420.07, Y:-348.26, Z:-4.85 [[-2.67841468e-02 9.99641214e-01 2.30680969e-04 4.20070391e+02] [ 9.99596117e-01 2.67851297e-02 -9.49527669e-03 -3.48263644e+02] [-9.49804874e-03 -2.37350838e-05 -9.99954892e-01 -4.84864437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters 0.048137286611932895 Centerline is valid? [True, True] Translation: X:420.14, Y:-348.23, Z:-4.85 [[-1.00843463e-01 9.94901716e-01 1.08240060e-03 4.20136718e+02] [ 9.94846178e-01 1.00849270e-01 -1.05122301e-02 -3.48230241e+02] [-1.05677951e-02 1.67324165e-05 -9.99944159e-01 -4.84697651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters 0.04828202950249648 Centerline is valid? [True, True] Translation: X:420.21, Y:-348.19, Z:-4.85 [[-1.73802087e-01 9.84778352e-01 2.10524198e-03 4.20210312e+02] [ 9.84711094e-01 1.73814822e-01 -1.15095131e-02 -3.48190080e+02] [-1.17002416e-02 7.26777431e-05 -9.99931547e-01 -4.85178064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters 0.04878260769796657 Centerline is valid? [True, True] Translation: X:420.31, Y:-348.14, Z:-4.85 [[-2.48601646e-01 9.68600462e-01 3.21974497e-03 4.20307988e+02] [ 9.68524366e-01 2.48622476e-01 -1.21415176e-02 -3.48139676e+02] [-1.25607805e-02 1.00000187e-04 -9.99921105e-01 -4.84947944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters 0.048704628292916795 Centerline is valid? [True, True] Translation: X:420.37, Y:-348.09, Z:-4.85 [[-3.24479745e-01 9.45883017e-01 4.26765805e-03 4.20366275e+02] [ 9.45804866e-01 3.24507796e-01 -1.21591687e-02 -3.48092334e+02] [-1.28860395e-02 9.09677831e-05 -9.99916967e-01 -4.84637124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters 0.04865835357566924 Centerline is valid? [True, True] Translation: X:420.43, Y:-348.04, Z:-4.85 [[-4.01385303e-01 9.15897590e-01 4.63062183e-03 4.20427369e+02] [ 9.15837572e-01 4.01412011e-01 -1.04851462e-02 -3.48037443e+02] [-1.14621074e-02 3.23138657e-05 -9.99934307e-01 -4.85079531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters 0.04854406404559639 Centerline is valid? [True, True] Translation: X:420.48, Y:-347.98, Z:-4.85 [[-4.75387334e-01 8.79762648e-01 4.95642243e-03 4.20480168e+02] [ 8.79714558e-01 4.75413171e-01 -9.19860455e-03 -3.47980431e+02] [-1.04489372e-02 -1.26631240e-05 -9.99945408e-01 -4.85124013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters 0.0483262021465141 Centerline is valid? [True, True] Translation: X:420.54, Y:-347.91, Z:-4.85 [[-5.47792252e-01 8.36603708e-01 4.22908050e-03 4.20536911e+02] [ 8.36577988e-01 5.47808574e-01 -6.56027230e-03 -3.47911949e+02] [-7.80507469e-03 -5.57106888e-05 -9.99969538e-01 -4.85475271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters 0.04799005522347987 Centerline is valid? [True, True] Translation: X:420.58, Y:-347.84, Z:-4.86 [[-6.14475232e-01 7.88927855e-01 3.60954423e-03 4.20584112e+02] [ 7.88913629e-01 6.14485830e-01 -4.73821464e-03 -3.47843745e+02] [-5.95612330e-03 -6.38968989e-05 -9.99982260e-01 -4.85527980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters 0.04784252659406565 Centerline is valid? [True, True] Translation: X:420.62, Y:-347.78, Z:-4.86 [[-6.76789787e-01 7.36170871e-01 2.83427549e-03 4.20620188e+02] [ 7.36164046e-01 6.76795719e-01 -3.17044649e-03 -3.47776637e+02] [-4.25221587e-03 -5.92340868e-05 -9.99990958e-01 -4.85772245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters 0.04797638339703001 Centerline is valid? [True, True] Translation: X:420.68, Y:-347.68, Z:-4.86 [[-7.33294955e-01 6.79904732e-01 2.83979514e-03 4.20679889e+02] [ 6.79899313e-01 7.33300451e-01 -2.71519868e-03 -3.47676608e+02] [-3.92849949e-03 -6.02667282e-05 -9.99992282e-01 -4.85771764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters 0.04835327504883621 Centerline is valid? [True, True] Translation: X:420.65, Y:-347.52, Z:-4.86 [[-7.80359670e-01 6.25322364e-01 3.27509627e-03 4.20645806e+02] [ 6.25316476e-01 7.80366540e-01 -2.71466707e-03 -3.47518394e+02] [-4.25331758e-03 -7.04450444e-05 -9.99990952e-01 -4.85723461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters 0.048378126811664084 Centerline is valid? [True, True] Translation: X:420.60, Y:-347.36, Z:-4.85 [[-8.23080434e-01 5.67897658e-01 5.55428236e-03 4.20595292e+02] [ 5.67883750e-01 8.23099165e-01 -3.97629884e-03 -3.47358142e+02] [-6.82985597e-03 -1.18627077e-04 -9.99976669e-01 -4.85489248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters 0.04826843764289747 Centerline is valid? [True, True] Translation: X:420.60, Y:-347.26, Z:-4.86 [[-8.60557698e-01 5.09308361e-01 6.74105996e-03 4.20603014e+02] [ 5.09291582e-01 8.60584091e-01 -4.13614176e-03 -3.47261328e+02] [-7.90782054e-03 -1.26223539e-04 -9.99968725e-01 -4.85636063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters 0.0483469843956084 Centerline is valid? [True, True] Translation: X:420.55, Y:-347.12, Z:-4.85 [[-8.92242476e-01 4.51482407e-01 8.18534069e-03 4.20548547e+02] [ 4.51462367e-01 8.92280016e-01 -4.25496402e-03 -3.47124423e+02] [-9.22465731e-03 -1.01086349e-04 -9.99957447e-01 -4.85350373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters 0.048569855494282575 Centerline is valid? [True, True] Translation: X:420.49, Y:-347.00, Z:-4.85 [[-9.19168342e-01 3.93742429e-01 9.82136875e-03 4.20490126e+02] [ 3.93719493e-01 9.19220811e-01 -4.24996966e-03 -3.47004068e+02] [-1.07013999e-02 -3.95732390e-05 -9.99942738e-01 -4.85348481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters 0.04937829570126556 Centerline is valid? [True, True] Translation: X:420.63, Y:-346.45, Z:-5.90 [[-8.88742045e-01 -4.58290223e-01 1.03754426e-02 4.20630735e+02] [ 4.58260293e-01 -8.88802600e-01 -5.23846775e-03 -3.46448834e+02] [ 1.16224589e-02 9.90068258e-05 9.99932452e-01 -5.90212523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters 0.04959489193047839 Centerline is valid? [True, True] Translation: X:420.24, Y:-346.90, Z:-4.86 [[-9.18434955e-01 3.95450008e-01 9.82473202e-03 4.20244988e+02] [ 3.95427604e-01 9.18487502e-01 -4.20933329e-03 -3.46902327e+02] [-1.06884744e-02 1.89714117e-05 -9.99942876e-01 -4.85545031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters 0.049225295587703194 Centerline is valid? [True, True] Translation: X:420.16, Y:-346.78, Z:-4.86 [[-9.44678937e-01 3.27831339e-01 1.04076364e-02 4.20162269e+02] [ 3.27811475e-01 9.44736267e-01 -3.60884747e-03 -3.46782009e+02] [-1.10155648e-02 2.54042956e-06 -9.99939327e-01 -4.85517131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters 0.04884617093033201 Centerline is valid? [True, True] Translation: X:420.28, Y:-346.21, Z:-5.90 [[-9.19526402e-01 -3.92878552e-01 1.08461962e-02 4.20278692e+02] [ 3.92851844e-01 -9.19590366e-01 -4.58128189e-03 -3.46211214e+02] [ 1.17739449e-02 4.83385198e-05 9.99930684e-01 -5.90058520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters 0.048324346667450835 Centerline is valid? [True, True] Translation: X:419.95, Y:-346.71, Z:-4.86 [[-9.48030006e-01 3.18006489e-01 1.05347719e-02 4.19950401e+02] [ 3.17986006e-01 9.48088534e-01 -3.60998720e-03 -3.46710900e+02] [-1.11358958e-02 -7.24661395e-05 -9.99937991e-01 -4.85520898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters 0.048254697334274385 Centerline is valid? [True, True] Translation: X:420.14, Y:-346.68, Z:-4.86 [[-9.69357377e-01 2.45471691e-01 9.48283854e-03 4.20140391e+02] [ 2.45458977e-01 9.69403755e-01 -2.50015112e-03 -3.46682312e+02] [-9.80641561e-03 -9.58920832e-05 -9.99951911e-01 -4.85798926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters 0.04843878563333642 Centerline is valid? [True, True] Translation: X:419.46, Y:-346.43, Z:-4.85 [[-9.85094366e-01 1.71726444e-01 9.95582768e-03 4.19459096e+02] [ 1.71716171e-01 9.85144663e-01 -1.88407472e-03 -3.46434868e+02] [-1.01314760e-02 -1.46414792e-04 -9.99948665e-01 -4.85371610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters 0.04823679531551404 Centerline is valid? [True, True] Translation: X:419.45, Y:-345.84, Z:-5.90 [[-9.63473623e-01 -2.67609689e-01 1.01800265e-02 4.19451455e+02] [ 2.67596695e-01 -9.63527386e-01 -2.64314764e-03 -3.45840877e+02] [ 1.05160663e-02 1.77538424e-04 9.99944689e-01 -5.90057917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters 0.04881565384526776 Centerline is valid? [True, True] Translation: X:419.19, Y:-346.38, Z:-4.85 [[-9.86054266e-01 1.66121538e-01 1.00309439e-02 4.19187606e+02] [ 1.66111211e-01 9.86105272e-01 -1.85989758e-03 -3.46384773e+02] [-1.02005357e-02 -1.67707707e-04 -9.99947959e-01 -4.85449841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters 0.048818211194584994 Centerline is valid? [True, True] Translation: X:419.30, Y:-345.81, Z:-5.90 [[-9.64831694e-01 -2.62700936e-01 9.38192401e-03 4.19298645e+02] [ 2.62689788e-01 -9.64877299e-01 -2.42341286e-03 -3.45810450e+02] [ 9.68903832e-03 1.26350093e-04 9.99953052e-01 -5.90082601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters 0.049258141336951444 Centerline is valid? [True, True] Translation: X:419.01, Y:-346.36, Z:-4.85 [[-9.85711755e-01 1.68247791e-01 8.06336892e-03 4.19013554e+02] [ 1.68241440e-01 9.85744730e-01 -1.46445393e-03 -3.46357554e+02] [-8.19481456e-03 -8.69366568e-05 -9.99966418e-01 -4.85347305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters 0.048155869530507996 Centerline is valid? [True, True] Translation: X:419.00, Y:-346.28, Z:-4.85 [[-9.94867156e-01 1.00901445e-01 7.63157129e-03 4.18998496e+02] [ 1.00898036e-01 9.94896424e-01 -8.31370369e-04 -3.46284881e+02] [-7.67650946e-03 -5.70925227e-05 -9.99970534e-01 -4.85469202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters 0.04815069322320999 Centerline is valid? [True, True] Translation: X:418.88, Y:-346.21, Z:-4.85 [[-9.99428528e-01 3.27979336e-02 8.18005438e-03 4.18876830e+02] [ 3.27965220e-02 9.99462002e-01 -3.06682541e-04 -3.46205110e+02] [-8.18571209e-03 -3.82299461e-05 -9.99966496e-01 -4.85477617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters 0.048241577968085377 Centerline is valid? [True, True] Translation: X:419.40, Y:-346.12, Z:-4.86 [[-9.98957877e-01 -4.43491192e-02 1.07849860e-02 4.19399726e+02] [-4.43471739e-02 9.99016092e-01 4.19574033e-04 -3.46123004e+02] [-1.07929823e-02 -5.91468644e-05 -9.99941752e-01 -4.85637484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters 0.04771227244427728 Centerline is valid? [True, True] Translation: X:418.53, Y:-346.10, Z:-4.85 [[-9.93045011e-01 -1.17171789e-01 1.15055358e-02 4.18533323e+02] [-1.17164981e-01 9.93111657e-01 1.26634710e-03 -3.46100267e+02] [-1.15746619e-02 -9.05062229e-05 -9.99933007e-01 -4.85149107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters 0.047850111362775644 Centerline is valid? [True, True] Translation: X:418.57, Y:-346.02, Z:-4.85 [[-9.81176053e-01 -1.92767502e-01 1.15863201e-02 4.18573335e+02] [-1.92755627e-01 9.81244451e-01 2.14361469e-03 -3.46016261e+02] [-1.17822316e-02 -1.30064998e-04 -9.99930579e-01 -4.85472410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters 0.04852289721871813 Centerline is valid? [True, True] Translation: X:418.39, Y:-345.97, Z:-4.85 [[-9.64679952e-01 -2.63202823e-01 1.08104237e-02 4.18391718e+02] [-2.63187888e-01 9.64740512e-01 2.80722239e-03 -3.45972710e+02] [-1.11681225e-02 -1.37101420e-04 -9.99937625e-01 -4.85324625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters 0.04864412325754748 Centerline is valid? [True, True] Translation: X:418.24, Y:-345.94, Z:-4.86 [[-9.43401104e-01 -3.31515937e-01 9.56772777e-03 4.18236589e+02] [-3.31500260e-01 9.43449610e-01 3.22651660e-03 -3.45940231e+02] [-1.00963107e-02 -1.27804926e-04 -9.99949023e-01 -4.85572943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters 0.04874452605295619 Centerline is valid? [True, True] Translation: X:418.02, Y:-345.39, Z:-5.90 [[-9.70399726e-01 2.41359795e-01 8.35595999e-03 4.18016596e+02] [-2.41350775e-01 -9.70435701e-01 2.08663919e-03 -3.45386693e+02] [ 8.61255269e-03 8.15667640e-06 9.99962911e-01 -5.90037657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters 0.048462648481602436 Centerline is valid? [True, True] Translation: X:418.11, Y:-345.97, Z:-4.85 [[-9.41188416e-01 -3.37797366e-01 7.57000223e-03 4.18114005e+02] [-3.37787418e-01 9.41218852e-01 2.59492435e-03 -3.45974726e+02] [-8.00158742e-03 -1.14738773e-04 -9.99967980e-01 -4.85459884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters 0.04928255501871544 Centerline is valid? [True, True] Translation: X:418.00, Y:-345.93, Z:-4.85 [[-9.14565734e-01 -4.04367142e-01 7.53209815e-03 4.18001319e+02] [-4.04354505e-01 9.14596742e-01 3.19904286e-03 -3.45933128e+02] [-8.18242025e-03 -1.19902839e-04 -9.99966516e-01 -4.85314424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters 0.04842218811966809 Centerline is valid? [True, True] Translation: X:417.88, Y:-345.91, Z:-4.86 [[-8.83861999e-01 -4.67670474e-01 8.50261662e-03 4.17884525e+02] [-4.67650225e-01 8.83902886e-01 4.35380106e-03 -3.45910191e+02] [-9.55163158e-03 -1.28091269e-04 -9.99954374e-01 -4.85513638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters 0.04929106831457288 Centerline is valid? [True, True] Translation: X:417.74, Y:-345.90, Z:-4.85 [[-8.49017597e-01 -5.28284165e-01 9.21743008e-03 4.17743067e+02] [-5.28254647e-01 8.49067621e-01 5.58591807e-03 -3.45903002e+02] [-1.07771735e-02 -1.26607537e-04 -9.99941917e-01 -4.85405721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters 0.0484455111045341 Centerline is valid? [True, True] Translation: X:417.59, Y:-345.91, Z:-4.85 [[-8.10200878e-01 -5.86069494e-01 9.85316507e-03 4.17591379e+02] [-5.86027845e-01 8.10260782e-01 6.98785428e-03 -3.45913443e+02] [-1.20790015e-02 -1.12663413e-04 -9.99927040e-01 -4.85339923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters 0.04840023988038801 Centerline is valid? [True, True] Translation: X:417.45, Y:-345.93, Z:-4.85 [[-7.65996815e-01 -6.42769130e-01 9.83489540e-03 4.17449128e+02] [-6.42717985e-01 7.66059941e-01 8.10914158e-03 -3.45926695e+02] [-1.27464253e-02 -1.09487530e-04 -9.99918755e-01 -4.85215264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters 0.04854009759523177 Centerline is valid? [True, True] Translation: X:417.28, Y:-345.97, Z:-4.85 [[-7.17801198e-01 -6.96185690e-01 9.32336960e-03 4.17284413e+02] [-6.96128876e-01 7.17861737e-01 8.89459680e-03 -3.45973428e+02] [-1.28851813e-02 -1.05714564e-04 -9.99916977e-01 -4.85241798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters 0.048228566412100514 Centerline is valid? [True, True] Translation: X:417.12, Y:-346.04, Z:-4.85 [[-6.65677451e-01 -7.46207133e-01 6.96030129e-03 4.17118471e+02] [-7.46167633e-01 6.65713833e-01 7.67827075e-03 -3.46037022e+02] [-1.03631493e-02 -8.22998357e-05 -9.99946298e-01 -4.85352000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters 0.047689751647209996 Centerline is valid? [True, True] Translation: X:416.96, Y:-346.11, Z:-4.85 [[-6.09301778e-01 -7.92920973e-01 5.26066765e-03 4.16955240e+02] [-7.92892359e-01 6.09324484e-01 6.73652467e-03 -3.46114637e+02] [-8.54698530e-03 -6.65667251e-05 -9.99963472e-01 -4.85469583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters 0.048468239266123224 Centerline is valid? [True, True] Translation: X:416.79, Y:-346.22, Z:-4.86 [[-5.48982824e-01 -8.35823600e-01 4.09485228e-03 4.16787467e+02] [-8.35801191e-01 5.48998092e-01 6.12078615e-03 -3.46219024e+02] [-7.36396361e-03 -6.22759437e-05 -9.99972884e-01 -4.85515932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters 0.04780415938739408 Centerline is valid? [True, True] Translation: X:416.63, Y:-346.32, Z:-4.85 [[-4.84687841e-01 -8.74671509e-01 5.23903031e-03 4.16632191e+02] [-8.74622773e-01 4.84716143e-01 9.23396444e-03 -3.46323895e+02] [-1.06161282e-02 -1.06584927e-04 -9.99943642e-01 -4.85179500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters 0.04801517424312709 Centerline is valid? [True, True] Translation: X:416.48, Y:-346.45, Z:-4.85 [[-4.18429665e-01 -9.08236937e-01 4.72031104e-03 4.16480199e+02] [-9.08182296e-01 4.18456273e-01 9.96317234e-03 -3.46453330e+02] [-1.10241649e-02 -1.18016045e-04 -9.99939225e-01 -4.85219358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters 0.048734402795951814 Centerline is valid? [True, True] Translation: X:416.35, Y:-346.56, Z:-4.85 [[-3.47575482e-01 -9.37638959e-01 4.94648365e-03 4.16349231e+02] [-9.37551479e-01 3.47610628e-01 1.28091701e-02 -3.46556278e+02] [-1.37298272e-02 -1.85429580e-04 -9.99905724e-01 -4.84934346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters 0.048574164337634756 Centerline is valid? [True, True] Translation: X:416.25, Y:-346.59, Z:-4.85 [[-2.74222961e-01 -9.61656686e-01 4.26457633e-03 4.16250435e+02] [-9.61553536e-01 2.74256016e-01 1.40867315e-02 -3.46586073e+02] [-1.47161852e-02 -2.37713231e-04 -9.99891683e-01 -4.84735326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters 0.047982437223606074 Centerline is valid? [True, True] Translation: X:416.08, Y:-346.92, Z:-4.85 [[-2.04096408e-01 -9.78946347e-01 2.95045786e-03 4.16083710e+02] [-9.78858867e-01 2.04117618e-01 1.30888255e-02 -3.46917948e+02] [-1.34154983e-02 -2.16699565e-04 -9.99909985e-01 -4.85072678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters 0.048217381080458345 Centerline is valid? [True, True] Translation: X:415.97, Y:-347.12, Z:-4.85 [[-1.34083891e-01 -9.90968842e-01 1.50450702e-03 4.15972252e+02] [-9.90917371e-01 1.34092262e-01 1.01009714e-02 -3.47115470e+02] [-1.02114907e-02 -1.36464594e-04 -9.99947852e-01 -4.85410220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters 0.04833479410780698 Centerline is valid? [True, True] Translation: X:415.87, Y:-347.33, Z:-4.85 [[-6.30557398e-02 -9.98009846e-01 5.67174263e-04 4.15872926e+02] [-9.97980510e-01 6.30582353e-02 7.65249272e-03 -3.47333272e+02] [-7.67302809e-03 -8.34952701e-05 -9.99970558e-01 -4.85417613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters 0.048752775959505876 Centerline is valid? [True, True] Translation: X:415.81, Y:-346.98, Z:-4.86 [[ 9.33066361e-03 -9.99956468e-01 -1.10689687e-05 4.15806544e+02] [-9.99940689e-01 -9.33057856e-03 5.61770779e-03 -3.46977291e+02] [-5.61756652e-03 -4.13486295e-05 -9.99984221e-01 -4.85645791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters 0.0482344366659204 Centerline is valid? [True, True] Translation: X:415.76, Y:-347.94, Z:-4.85 [[ 7.95675058e-02 -9.96829384e-01 -4.37713325e-04 4.15756159e+02] [-9.96811427e-01 -7.95686999e-02 5.98334539e-03 -3.47940200e+02] [-5.99920278e-03 -3.97622246e-05 -9.99982004e-01 -4.85337680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters 0.04865507964172447 Centerline is valid? [True, True] Translation: X:415.70, Y:-348.14, Z:-4.85 [[ 1.54156517e-01 -9.88045707e-01 -1.20419051e-03 4.15704223e+02] [-9.88012300e-01 -1.54161208e-01 8.12510694e-03 -3.48141709e+02] [-8.21361649e-03 -6.27831512e-05 -9.99966266e-01 -4.85379153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters 0.04849789570148609 Centerline is valid? [True, True] Translation: X:415.64, Y:-348.21, Z:-4.85 [[ 2.29397495e-01 -9.73329933e-01 -2.37295299e-03 4.15637923e+02] [-9.73272991e-01 -2.29409743e-01 1.05287530e-02 -3.48210765e+02] [-1.07923290e-02 -1.05738508e-04 -9.99941756e-01 -4.85361898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters 0.049158357233738396 Centerline is valid? [True, True] Translation: X:415.64, Y:-348.54, Z:-4.85 [[ 3.01054478e-01 -9.53601915e-01 -3.09666185e-03 4.15643768e+02] [-9.53547551e-01 -3.01070383e-01 1.01829294e-02 -3.48542065e+02] [-1.06427741e-02 -1.12802172e-04 -9.99943358e-01 -4.85291517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters 0.04875895221525232 Centerline is valid? [True, True] Translation: X:415.65, Y:-348.80, Z:-4.85 [[ 3.69665466e-01 -9.29158897e-01 -3.34461076e-03 4.15653024e+02] [-9.29118610e-01 -3.69680585e-01 8.65293686e-03 -3.48803613e+02] [-9.27639094e-03 -9.11518397e-05 -9.99956969e-01 -4.85360936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters 0.04803166325881739 Centerline is valid? [True, True] Translation: X:415.67, Y:-349.03, Z:-4.85 [[ 4.36517541e-01 -8.99687735e-01 -3.79686844e-03 4.15669499e+02] [-8.99652109e-01 -4.36534046e-01 8.00682604e-03 -3.49029018e+02] [-8.86110553e-03 -7.92593113e-05 -9.99960737e-01 -4.85458052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters 0.04812575198913569 Centerline is valid? [True, True] Translation: X:415.70, Y:-349.25, Z:-4.85 [[ 5.01690208e-01 -8.65037255e-01 -4.18123996e-03 4.15696754e+02] [-8.65005953e-01 -5.01707626e-01 7.35930350e-03 -3.49247089e+02] [-8.46383167e-03 -7.52930569e-05 -9.99964178e-01 -4.85334444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters 0.048668755467408606 Centerline is valid? [True, True] Translation: X:415.75, Y:-349.47, Z:-4.85 [[ 5.65380177e-01 -8.24818237e-01 -4.48684574e-03 4.15746638e+02] [-8.24791067e-01 -5.65397975e-01 6.69526220e-03 -3.49472283e+02] [-8.05922786e-03 -8.46582472e-05 -9.99967520e-01 -4.85295391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters 0.04827117103345247 Centerline is valid? [True, True] Translation: X:415.73, Y:-349.59, Z:-4.85 [[ 6.27764176e-01 -7.78382772e-01 -5.69211971e-03 4.15734791e+02] [-7.78348830e-01 -6.27789967e-01 7.27014754e-03 -3.49587570e+02] [-9.23241324e-03 -1.33483457e-04 -9.99957372e-01 -4.85322330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters 0.04805546801358096 Centerline is valid? [True, True] Translation: X:415.82, Y:-349.81, Z:-4.85 [[ 6.85178009e-01 -7.28339733e-01 -7.23389808e-03 4.15820400e+02] [-7.28296263e-01 -6.85216169e-01 7.95957481e-03 -3.49814209e+02] [-1.07540585e-02 -1.85304679e-04 -9.99942156e-01 -4.85158722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters 0.04907946217326303 Centerline is valid? [True, True] Translation: X:415.89, Y:-350.00, Z:-4.85 [[ 7.38318753e-01 -6.74397305e-01 -8.58451426e-03 4.15892940e+02] [-6.74348032e-01 -7.38368622e-01 8.15535004e-03 -3.50004533e+02] [-1.18384821e-02 -2.32297573e-04 -9.99929896e-01 -4.84937541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters 0.04880095806663546 Centerline is valid? [True, True] Translation: X:415.87, Y:-350.09, Z:-4.85 [[ 7.89895681e-01 -6.13169421e-01 -9.38477945e-03 4.15868559e+02] [-6.13122216e-01 -7.89951387e-01 7.61272538e-03 -3.50085984e+02] [-1.20814100e-02 -2.59242121e-04 -9.99926984e-01 -4.85110625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters 0.048838992433591404 Centerline is valid? [True, True] Translation: X:415.85, Y:-350.17, Z:-4.85 [[ 8.35206265e-01 -5.49858571e-01 -9.27614321e-03 4.15849821e+02] [-5.49821484e-01 -8.35257742e-01 6.39068454e-03 -3.50168702e+02] [-1.12619431e-02 -2.37316942e-04 -9.99936554e-01 -4.85097237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters 0.047936201062505776 Centerline is valid? [True, True] Translation: X:415.84, Y:-350.25, Z:-4.85 [[ 8.74158010e-01 -4.85565981e-01 -8.57034809e-03 4.15838230e+02] [-4.85540636e-01 -8.74200004e-01 4.96431320e-03 -3.50253673e+02] [-9.90269994e-03 -1.78341888e-04 -9.99950951e-01 -4.85349264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters 0.04845332373726188 Centerline is valid? [True, True] Translation: X:415.83, Y:-350.34, Z:-4.85 [[ 9.09110655e-01 -4.16464794e-01 -8.65405089e-03 4.15830586e+02] [-4.16444189e-01 -9.09151829e-01 4.14601439e-03 -3.50343567e+02] [-9.59451522e-03 -1.65256659e-04 -9.99953958e-01 -4.85425413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters 0.04811235159939716 Centerline is valid? [True, True] Translation: X:415.83, Y:-350.43, Z:-4.85 [[ 9.38249203e-01 -3.45839010e-01 -9.15496576e-03 4.15829860e+02] [-3.45820970e-01 -9.38293854e-01 3.53551607e-03 -3.50434913e+02] [-9.81276748e-03 -1.51215990e-04 -9.99951842e-01 -4.85436730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters 0.04838640563223649 Centerline is valid? [True, True] Translation: X:415.83, Y:-350.53, Z:-4.85 [[ 9.62038882e-01 -2.72664475e-01 -1.16307280e-02 4.15834218e+02] [-2.72642383e-01 -9.62109170e-01 3.47515515e-03 -3.50527368e+02] [-1.21375814e-02 -1.72204995e-04 -9.99926322e-01 -4.85168841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters 0.04869442365212365 Centerline is valid? [True, True] Translation: X:415.85, Y:-350.61, Z:-4.85 [[ 9.80336349e-01 -1.96861282e-01 -1.36483660e-02 4.15847042e+02] [-1.96839433e-01 -9.80431333e-01 2.93932660e-03 -3.50614663e+02] [-1.39599252e-02 -1.94992078e-04 -9.99902537e-01 -4.84901950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters 0.04839183269602018 Centerline is valid? [True, True] Translation: X:415.87, Y:-350.70, Z:-4.85 [[ 9.92984864e-01 -1.17399070e-01 -1.40896569e-02 4.15868987e+02] [-1.17383954e-01 -9.93084793e-01 1.89793548e-03 -3.50697995e+02] [-1.42150398e-02 -2.30721568e-04 -9.99898935e-01 -4.84861368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters 0.05086252298864949 Centerline is valid? [True, True] Translation: X:415.90, Y:-350.78, Z:-4.84 [[ 9.99163365e-01 -3.82594317e-02 -1.44494181e-02 4.15895799e+02] [-3.82517895e-02 -9.99267808e-01 8.04998352e-04 -3.50784005e+02] [-1.44696372e-02 -2.51608762e-04 -9.99895278e-01 -4.84482425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters 0.04805900022063581 Centerline is valid? [True, True] Translation: X:415.92, Y:-350.86, Z:-4.85 [[ 9.99149157e-01 3.92483367e-02 -1.26700552e-02 4.15924843e+02] [ 3.92478378e-02 -9.99229465e-01 -2.88115726e-04 -3.50861315e+02] [-1.26716005e-02 -2.09401686e-04 -9.99919690e-01 -4.85268468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters 0.04780238238755257 Centerline is valid? [True, True] Translation: X:415.96, Y:-350.94, Z:-4.85 [[ 9.93309844e-01 1.14880317e-01 -1.17501998e-02 4.15959760e+02] [ 1.14874257e-01 -9.93379326e-01 -1.19162761e-03 -3.50943704e+02] [-1.18093001e-02 -1.66140036e-04 -9.99930254e-01 -4.85384583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters 0.04851768550525891 Centerline is valid? [True, True] Translation: X:416.00, Y:-351.02, Z:-4.86 [[ 9.82387269e-01 1.86619699e-01 -9.39899280e-03 4.15999583e+02] [ 1.86611930e-01 -9.82432227e-01 -1.70476488e-03 -3.51018251e+02] [-9.55201615e-03 -7.92248665e-05 -9.99954375e-01 -4.85503420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters 0.04837910813712882 Centerline is valid? [True, True] Translation: X:416.04, Y:-351.09, Z:-4.85 [[ 9.65906877e-01 2.58743725e-01 -8.69425253e-03 4.16044551e+02] [ 2.58733578e-01 -9.65946004e-01 -2.29182993e-03 -3.51085228e+02] [-8.99117511e-03 -3.58007743e-05 -9.99959578e-01 -4.85466696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters 0.049022189316231014 Centerline is valid? [True, True] Translation: X:416.09, Y:-351.14, Z:-4.85 [[ 9.43818584e-01 3.30358913e-01 -8.33478172e-03 4.16092952e+02] [ 3.30346084e-01 -9.43855386e-01 -2.91137323e-03 -3.51143790e+02] [-8.82862671e-03 -5.55434688e-06 -9.99961027e-01 -4.85462571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters 0.04770464261481707 Centerline is valid? [True, True] Translation: X:416.14, Y:-351.20, Z:-4.85 [[ 9.15951111e-01 4.01223806e-01 -7.28146585e-03 4.16144450e+02] [ 4.01211024e-01 -9.15980053e-01 -3.20271322e-03 -3.51197505e+02] [-7.95468226e-03 1.21243653e-05 -9.99968361e-01 -4.85464147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters 0.04863475727101648 Centerline is valid? [True, True] Translation: X:416.21, Y:-351.26, Z:-4.86 [[ 8.82281846e-01 4.70687986e-01 -5.61824433e-03 4.16206484e+02] [ 4.70678320e-01 -8.82299734e-01 -3.01641745e-03 -3.51257988e+02] [-6.37676693e-03 1.69445518e-05 -9.99979668e-01 -4.85659793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters 0.048805128534932685 Centerline is valid? [True, True] Translation: X:416.27, Y:-351.31, Z:-4.86 [[ 8.43743970e-01 5.36727658e-01 -4.41977699e-03 4.16269371e+02] [ 5.36720147e-01 -8.43755545e-01 -2.83973191e-03 -3.51308831e+02] [-5.25337400e-03 2.38233227e-05 -9.99986201e-01 -4.85867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters 0.04848145856032225 Centerline is valid? [True, True] Translation: X:416.33, Y:-351.35, Z:-4.86 [[ 7.99477277e-01 6.00685791e-01 -3.55869591e-03 4.16334357e+02] [ 6.00679713e-01 -7.99485197e-01 -2.70232397e-03 -3.51351004e+02] [-4.46837231e-03 2.28101775e-05 -9.99990017e-01 -4.85702799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters 0.04834714701938854 Centerline is valid? [True, True] Translation: X:416.41, Y:-351.40, Z:-4.86 [[ 7.49469325e-01 6.62033625e-01 -2.68507407e-03 4.16408632e+02] [ 6.62029302e-01 -7.49474135e-01 -2.39270609e-03 -3.51395960e+02] [-3.59644545e-03 1.56621076e-05 -9.99993533e-01 -4.85792948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters 0.04809702754076668 Centerline is valid? [True, True] Translation: X:416.49, Y:-351.44, Z:-4.86 [[ 6.92483607e-01 7.21427090e-01 -3.06710665e-03 4.16485707e+02] [ 7.21420006e-01 -6.92490400e-01 -3.19696880e-03 -3.51435041e+02] [-4.43032181e-03 1.17638515e-06 -9.99990186e-01 -4.85527449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters 0.048388457439480705 Centerline is valid? [True, True] Translation: X:416.56, Y:-351.46, Z:-4.86 [[ 6.31088596e-01 7.75703584e-01 -3.33669394e-03 4.16556307e+02] [ 7.75692895e-01 -6.31097417e-01 -4.07236364e-03 -3.51458233e+02] [-5.26472600e-03 -1.82275313e-05 -9.99986141e-01 -4.85696368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters 0.048709449400343274 Centerline is valid? [True, True] Translation: X:416.64, Y:-351.48, Z:-4.86 [[ 5.66098516e-01 8.24331792e-01 -3.09304687e-03 4.16638964e+02] [ 8.24319819e-01 -5.66106965e-01 -4.44305727e-03 -3.51482748e+02] [-5.41354874e-03 -3.44517123e-05 -9.99985346e-01 -4.85515088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters 0.04870007460406475 Centerline is valid? [True, True] Translation: X:416.72, Y:-351.50, Z:-4.86 [[ 4.98759556e-01 8.66733971e-01 -3.33600286e-03 4.16721939e+02] [ 8.66715259e-01 -4.98770710e-01 -5.69547716e-03 -3.51499631e+02] [-6.60036405e-03 -5.06909253e-05 -9.99978216e-01 -4.85528459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters 0.048921402648556975 Centerline is valid? [True, True] Translation: X:416.81, Y:-351.51, Z:-4.85 [[ 4.30371718e-01 9.02647429e-01 -2.79335157e-03 4.16808123e+02] [ 9.02629051e-01 -4.30380781e-01 -5.76011522e-03 -3.51512440e+02] [-6.40155803e-03 -4.23695975e-05 -9.99979509e-01 -4.85264195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters 0.04806343146252342 Centerline is valid? [True, True] Translation: X:416.89, Y:-351.51, Z:-4.86 [[ 3.60405800e-01 9.32792691e-01 -2.33568823e-03 4.16885696e+02] [ 9.32773619e-01 -3.60413367e-01 -5.96490020e-03 -3.51513142e+02] [-6.40582857e-03 -2.88837343e-05 -9.99979482e-01 -4.85525635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters 0.04842639236690013 Centerline is valid? [True, True] Translation: X:416.97, Y:-351.51, Z:-4.86 [[ 2.86843432e-01 9.57975187e-01 -2.09465283e-03 4.16974890e+02] [ 9.57950372e-01 -2.86851078e-01 -6.89522106e-03 -3.51511933e+02] [-7.20630410e-03 -2.87245840e-05 -9.99974034e-01 -4.85555668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters 0.048070388704360534 Centerline is valid? [True, True] Translation: X:417.06, Y:-351.50, Z:-4.86 [[ 2.11199194e-01 9.77441658e-01 -1.64517487e-03 4.17058105e+02] [ 9.77413071e-01 -2.11205600e-01 -7.47553377e-03 -3.51503719e+02] [-7.65436826e-03 -2.91887138e-05 -9.99970705e-01 -4.85839204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters 0.049150048979279146 Centerline is valid? [True, True] Translation: X:417.14, Y:-351.49, Z:-4.86 [[ 1.34471530e-01 9.90916907e-01 -1.04433234e-03 4.17144504e+02] [ 9.90888505e-01 -1.34475583e-01 -7.50253111e-03 -3.51488358e+02] [-7.57482212e-03 -2.59400782e-05 -9.99971310e-01 -4.85533560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters 0.04838072382200456 Centerline is valid? [True, True] Translation: X:417.22, Y:-351.47, Z:-4.85 [[ 5.67693801e-02 9.98387200e-01 -4.86124748e-04 4.17222711e+02] [ 9.98354422e-01 -5.67714555e-02 -8.09016190e-03 -3.51465681e+02] [-8.10471210e-03 -2.60513153e-05 -9.99967156e-01 -4.85485908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters 0.04865798308873338 Centerline is valid? [True, True] Translation: X:417.30, Y:-351.44, Z:-4.86 [[-2.06850843e-02 9.99786027e-01 1.66533213e-04 4.17300344e+02] [ 9.99744625e-01 2.06857433e-02 -9.09861826e-03 -3.51437611e+02] [-9.10011626e-03 -2.17150008e-05 -9.99958593e-01 -4.85544556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters 0.04849605382328347 Centerline is valid? [True, True] Translation: X:417.38, Y:-351.40, Z:-4.85 [[-9.78912592e-02 9.95196714e-01 8.94943595e-04 4.17375738e+02] [ 9.95153871e-01 9.78953491e-02 -9.23441737e-03 -3.51404134e+02] [-9.27767264e-03 -1.33621616e-05 -9.99956961e-01 -4.85451079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters 0.04825813068969522 Centerline is valid? [True, True] Translation: X:417.44, Y:-351.36, Z:-4.85 [[-1.74731033e-01 9.84614881e-01 1.61313556e-03 4.17444143e+02] [ 9.84572573e-01 1.74738479e-01 -9.12762519e-03 -3.51364810e+02] [-9.26907245e-03 -6.63035097e-06 -9.99957041e-01 -4.85454199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters 0.04856601908995716 Centerline is valid? [True, True] Translation: X:417.51, Y:-351.32, Z:-4.85 [[-2.48827042e-01 9.68545041e-01 2.36789138e-03 4.17507580e+02] [ 9.68501816e-01 2.48838308e-01 -9.15030325e-03 -3.51320807e+02] [-9.45170292e-03 1.64642076e-05 -9.99955332e-01 -4.85442167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters 0.049186381754419424 Centerline is valid? [True, True] Translation: X:417.57, Y:-351.27, Z:-4.85 [[-3.23188189e-01 9.46329105e-01 3.25860259e-03 4.17568450e+02] [ 9.46281762e-01 3.23204616e-01 -9.46594098e-03 -3.51272476e+02] [-1.00110909e-02 2.42758695e-05 -9.99949888e-01 -4.85442367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters 0.04863133202498014 Centerline is valid? [True, True] Translation: X:417.63, Y:-351.22, Z:-4.85 [[-3.97265924e-01 9.17695836e-01 3.76023059e-03 4.17625883e+02] [ 9.17655027e-01 3.97283719e-01 -8.65436496e-03 -3.51219717e+02] [-9.43595308e-03 1.25102152e-05 -9.99955480e-01 -4.85405274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters 0.04875122478382535 Centerline is valid? [True, True] Translation: X:417.69, Y:-351.15, Z:-4.86 [[-4.70172041e-01 8.82566159e-01 3.90208112e-03 4.17693160e+02] [ 8.82535579e-01 4.70188233e-01 -7.34696878e-03 -3.51154426e+02] [-8.31889865e-03 -1.06138887e-05 -9.99965397e-01 -4.85565864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters 0.0485112306439857 Centerline is valid? [True, True] Translation: X:417.75, Y:-351.09, Z:-4.85 [[-5.38646436e-01 8.42520600e-01 4.36534141e-03 4.17748321e+02] [ 8.42492650e-01 5.38664124e-01 -6.86271068e-03 -3.51089986e+02] [-8.13342793e-03 -1.88065920e-05 -9.99966923e-01 -4.85462679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters 0.04859548764046493 Centerline is valid? [True, True] Translation: X:417.79, Y:-351.02, Z:-4.86 [[-6.06391695e-01 7.95152999e-01 4.56287045e-03 4.17793168e+02] [ 7.95129861e-01 6.06408860e-01 -6.06618751e-03 -3.51023825e+02] [-7.59051226e-03 -5.04111780e-05 -9.99971190e-01 -4.85515219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters 0.04748588022157705 Centerline is valid? [True, True] Translation: X:417.84, Y:-350.95, Z:-4.85 [[-6.69276572e-01 7.42996567e-01 4.99707708e-03 4.17837354e+02] [ 7.42975007e-01 6.69295223e-01 -5.66072584e-03 -3.50951072e+02] [-7.55041969e-03 -7.58878123e-05 -9.99971492e-01 -4.85434045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters 0.0490209703326417 Centerline is valid? [True, True] Translation: X:417.87, Y:-350.88, Z:-4.85 [[-7.27565302e-01 6.86019651e-01 5.07645833e-03 4.17872795e+02] [ 6.86002049e-01 7.27583006e-01 -4.91512322e-03 -3.50877282e+02] [-7.06541592e-03 -9.36122920e-05 -9.99975035e-01 -4.85446373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters 0.04844921992601994 Centerline is valid? [True, True] Translation: X:418.32, Y:-350.48, Z:-5.90 [[-6.57476730e-01 -7.53446429e-01 6.54433436e-03 4.18319169e+02] [ 7.53413557e-01 -6.57509232e-01 -7.04427873e-03 -3.50482309e+02] [ 9.61044690e-03 2.99140885e-04 9.99953774e-01 -5.90243847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters 0.04864129886220665 Centerline is valid? [True, True] Translation: X:418.28, Y:-350.44, Z:-5.90 [[-6.57408893e-01 -7.53505550e-01 6.55235817e-03 4.18282729e+02] [ 7.53470577e-01 -6.57441525e-01 -7.26155421e-03 -3.50437029e+02] [ 9.77941375e-03 1.63198781e-04 9.99952167e-01 -5.90099326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters 0.04884428314743618 Centerline is valid? [True, True] Translation: X:418.24, Y:-350.39, Z:-5.90 [[-6.58345141e-01 -7.52690548e-01 6.21409186e-03 4.18244594e+02] [ 7.52659068e-01 -6.58374452e-01 -6.88534888e-03 -3.50394634e+02] [ 9.27373634e-03 1.44156609e-04 9.99956988e-01 -5.90035720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters 0.048131440074121214 Centerline is valid? [True, True] Translation: X:418.21, Y:-350.35, Z:-5.90 [[-6.61201284e-01 -7.50192216e-01 4.94988448e-03 4.18207657e+02] [ 7.50172183e-01 -6.61219806e-01 -5.48306775e-03 -3.50350595e+02] [ 7.38631640e-03 8.78542198e-05 9.99972717e-01 -5.89920882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters 0.04818552590098608 Centerline is valid? [True, True] Translation: X:418.17, Y:-350.31, Z:-5.90 [[-6.64754358e-01 -7.47053949e-01 3.46994780e-03 4.18171311e+02] [ 7.47044067e-01 -6.64763414e-01 -3.84262511e-03 -3.50305722e+02] [ 5.17734261e-03 3.78021327e-05 9.99986597e-01 -5.89818461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters 0.0477941564042257 Centerline is valid? [True, True] Translation: X:418.13, Y:-350.26, Z:-5.90 [[-6.66194762e-01 -7.45773338e-01 2.58234936e-03 4.18134601e+02] [ 7.45767858e-01 -6.66199766e-01 -2.85881521e-03 -3.50263687e+02] [ 3.85238870e-03 2.13054341e-05 9.99992579e-01 -5.89733020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters 0.04821273452291144 Centerline is valid? [True, True] Translation: X:418.10, Y:-350.22, Z:-5.90 [[-6.65782491e-01 -7.46141495e-01 2.55812960e-03 4.18095213e+02] [ 7.46136124e-01 -6.65787405e-01 -2.83127564e-03 -3.50224082e+02] [ 3.81570271e-03 2.36991517e-05 9.99992720e-01 -5.89807373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters 0.048513623077285586 Centerline is valid? [True, True] Translation: X:418.05, Y:-350.18, Z:-5.90 [[-6.62635950e-01 -7.48933070e-01 3.58530103e-03 4.18054152e+02] [ 7.48922566e-01 -6.62645647e-01 -3.96689018e-03 -3.50184781e+02] [ 5.34671937e-03 5.65088071e-05 9.99985705e-01 -5.89961896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters 0.047583853034805744 Centerline is valid? [True, True] Translation: X:418.02, Y:-350.14, Z:-5.90 [[-6.60315703e-01 -7.50974274e-01 4.56193363e-03 4.18015163e+02] [ 7.50957326e-01 -6.60331455e-01 -5.04614198e-03 -3.50141710e+02] [ 6.80191108e-03 9.37706978e-05 9.99976862e-01 -5.89985200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters 0.04818397290097006 Centerline is valid? [True, True] Translation: X:417.97, Y:-350.10, Z:-5.90 [[-6.57679162e-01 -7.53275503e-01 5.84259472e-03 4.17974542e+02] [ 7.53247809e-01 -6.57705096e-01 -6.46102278e-03 -3.50100502e+02] [ 8.70963450e-03 1.51641620e-04 9.99962059e-01 -5.90136780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters 0.048536561688557196 Centerline is valid? [True, True] Translation: X:417.93, Y:-350.06, Z:-5.90 [[-6.57304409e-01 -7.53600184e-01 6.13805236e-03 4.17934805e+02] [ 7.53569649e-01 -6.57333047e-01 -6.78590788e-03 -3.50060011e+02] [ 9.14860609e-03 1.65042791e-04 9.99958137e-01 -5.90201852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters 0.048846177221542324 Centerline is valid? [True, True] Translation: X:417.90, Y:-350.02, Z:-5.90 [[-6.57657021e-01 -7.53300046e-01 5.12678603e-03 4.17897511e+02] [ 7.53278747e-01 -6.57676990e-01 -5.66626248e-03 -3.50016545e+02] [ 7.64016499e-03 1.35441654e-04 9.99970804e-01 -5.89976743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters 0.04804040452821827 Centerline is valid? [True, True] Translation: X:417.86, Y:-349.98, Z:-5.90 [[-6.59135759e-01 -7.52019156e-01 2.69083512e-03 4.17859309e+02] [ 7.52013282e-01 -6.59141248e-01 -2.97311301e-03 -3.49975644e+02] [ 4.00947836e-03 6.38586504e-05 9.99991960e-01 -5.89729385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters 0.048477843571879065 Centerline is valid? [True, True] Translation: X:417.82, Y:-349.94, Z:-5.90 [[-6.60245962e-01 -7.51047946e-01 1.50098692e-03 4.17819827e+02] [ 7.51046116e-01 -6.60247667e-01 -1.65796613e-03 -3.49935997e+02] [ 2.23623516e-03 3.26449547e-05 9.99997499e-01 -5.89646189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters 0.048143806141958144 Centerline is valid? [True, True] Translation: X:417.78, Y:-349.90, Z:-5.90 [[-6.61086033e-01 -7.50308759e-01 1.42259031e-03 4.17781516e+02] [ 7.50307115e-01 -6.61087563e-01 -1.57088439e-03 -3.49895094e+02] [ 2.11910507e-03 2.88899050e-05 9.99997754e-01 -5.89780007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters 0.04918466161839339 Centerline is valid? [True, True] Translation: X:417.74, Y:-349.86, Z:-5.90 [[-6.61671133e-01 -7.49788545e-01 2.90672209e-03 4.17742990e+02] [ 7.49781682e-01 -6.61677515e-01 -3.20864891e-03 -3.49855717e+02] [ 4.32912085e-03 5.63366169e-05 9.99990628e-01 -5.90107144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters 0.047750186634956227 Centerline is valid? [True, True] Translation: X:417.71, Y:-349.81, Z:-5.90 [[-6.62557805e-01 -7.49001198e-01 3.78950963e-03 4.17708025e+02] [ 7.48989527e-01 -6.62568639e-01 -4.18180514e-03 -3.49811418e+02] [ 5.64298730e-03 6.76153920e-05 9.99984076e-01 -5.90132692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters 0.04762794668789085 Centerline is valid? [True, True] Translation: X:417.67, Y:-349.77, Z:-5.90 [[-6.63000178e-01 -7.48605782e-01 4.48851164e-03 4.17670523e+02] [ 7.48589408e-01 -6.63015367e-01 -4.95184866e-03 -3.49766556e+02] [ 6.68293473e-03 7.69757290e-05 9.99977666e-01 -5.90081872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters 0.04899101050776702 Centerline is valid? [True, True] Translation: X:417.63, Y:-349.73, Z:-5.90 [[-6.64135469e-01 -7.47590011e-01 5.76666596e-03 4.17632042e+02] [ 7.47562958e-01 -6.64160499e-01 -6.36046588e-03 -3.49725681e+02] [ 8.58501250e-03 8.67348725e-05 9.99963144e-01 -5.90335620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters 0.04801267942823087 Centerline is valid? [True, True] Translation: X:417.60, Y:-349.68, Z:-5.90 [[-6.67441436e-01 -7.44632758e-01 6.63217028e-03 4.17595646e+02] [ 7.44596848e-01 -6.67474384e-01 -7.31310118e-03 -3.49681256e+02] [ 9.87237847e-03 5.72263373e-05 9.99951265e-01 -5.90496722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters 0.048207676851466104 Centerline is valid? [True, True] Translation: X:417.56, Y:-349.64, Z:-5.91 [[-6.71057564e-01 -7.41375502e-01 6.64161945e-03 4.17559186e+02] [ 7.41339350e-01 -6.71090430e-01 -7.32140135e-03 -3.49636666e+02] [ 9.88503485e-03 1.06120936e-05 9.99951142e-01 -5.90530668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters 0.047984181405571105 Centerline is valid? [True, True] Translation: X:417.53, Y:-349.59, Z:-5.90 [[-6.75733279e-01 -7.37125548e-01 5.51926417e-03 4.17525317e+02] [ 7.37100456e-01 -6.75755818e-01 -6.08212769e-03 -3.49592388e+02] [ 8.21296658e-03 -4.16439538e-05 9.99966272e-01 -5.90435596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters 0.0482902842978735 Centerline is valid? [True, True] Translation: X:417.49, Y:-349.55, Z:-5.90 [[-6.80088381e-01 -7.33121860e-01 3.48330169e-03 4.17488331e+02] [ 7.33111818e-01 -6.80097299e-01 -3.83755398e-03 -3.49547532e+02] [ 5.18237878e-03 -5.62262387e-05 9.99986570e-01 -5.90230949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters 0.04825977224945562 Centerline is valid? [True, True] Translation: X:417.45, Y:-349.50, Z:-5.90 [[-6.82910638e-01 -7.30497580e-01 2.51913453e-03 4.17449955e+02] [ 7.30492313e-01 -6.82915282e-01 -2.77450594e-03 -3.49504497e+02] [ 3.74712534e-03 -5.45312142e-05 9.99992978e-01 -5.90185011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters 0.04904471824352371 Centerline is valid? [True, True] Translation: X:417.41, Y:-349.46, Z:-5.90 [[-6.83730936e-01 -7.29728908e-01 2.77994507e-03 4.17413558e+02] [ 7.29722490e-01 -6.83736585e-01 -3.06106383e-03 -3.49461246e+02] [ 4.13449692e-03 -6.43555969e-05 9.99991451e-01 -5.90271270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters 0.048591818886794785 Centerline is valid? [True, True] Translation: X:417.37, Y:-349.42, Z:-5.90 [[-6.81935169e-01 -7.31398661e-01 4.51932141e-03 4.17369420e+02] [ 7.31381747e-01 -6.81950138e-01 -4.97484443e-03 -3.49423711e+02] [ 6.72054642e-03 -8.71721875e-05 9.99977413e-01 -5.90297816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters 0.04896290118341567 Centerline is valid? [True, True] Translation: X:417.33, Y:-349.38, Z:-5.90 [[-6.78723392e-01 -7.34369416e-01 6.00990819e-03 4.17327063e+02] [ 7.34339633e-01 -6.78749995e-01 -6.61425735e-03 -3.49382630e+02] [ 8.93653346e-03 -7.59374094e-05 9.99960066e-01 -5.90288172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters 0.04856175818496908 Centerline is valid? [True, True] Translation: X:417.29, Y:-349.34, Z:-5.91 [[-6.76965106e-01 -7.35988870e-01 6.21520195e-03 4.17288691e+02] [ 7.35957103e-01 -6.76993634e-01 -6.83826178e-03 -3.49339740e+02] [ 9.24053671e-03 -5.51425937e-05 9.99957304e-01 -5.90526998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters 0.048513102778276924 Centerline is valid? [True, True] Translation: X:417.25, Y:-349.30, Z:-5.90 [[-6.75880734e-01 -7.36988084e-01 5.81363257e-03 4.17249623e+02] [ 7.36960346e-01 -6.75905735e-01 -6.39420202e-03 -3.49300000e+02] [ 8.64191829e-03 -3.73012873e-05 9.99962657e-01 -5.90377946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters 0.049147840014219055 Centerline is valid? [True, True] Translation: X:417.21, Y:-349.26, Z:-5.90 [[-6.73937754e-01 -7.38771015e-01 5.02893760e-03 4.17209424e+02] [ 7.38750318e-01 -6.73956517e-01 -5.52999209e-03 -3.49259817e+02] [ 7.47468314e-03 -1.17411999e-05 9.99972064e-01 -5.90226768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters 0.04925539320080829 Centerline is valid? [True, True] Translation: X:417.17, Y:-349.22, Z:-5.90 [[-6.72326736e-01 -7.40239780e-01 4.67207816e-03 4.17169338e+02] [ 7.40221960e-01 -6.72342969e-01 -5.13636551e-03 -3.49220322e+02] [ 6.94338098e-03 5.05898688e-06 9.99975894e-01 -5.90251752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters 0.04881017448853172 Centerline is valid? [True, True] Translation: X:417.13, Y:-349.18, Z:-5.90 [[-6.69923181e-01 -7.42413690e-01 4.98444683e-03 4.17127374e+02] [ 7.42393478e-01 -6.69941723e-01 -5.47833558e-03 -3.49179632e+02] [ 7.40648023e-03 3.03568277e-05 9.99972571e-01 -5.90100587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters 0.04890910709282791 Centerline is valid? [True, True] Translation: X:417.09, Y:-349.14, Z:-5.90 [[-6.68864269e-01 -7.43371140e-01 4.46515535e-03 4.17087283e+02] [ 7.43354951e-01 -6.68879172e-01 -4.90610236e-03 -3.49138697e+02] [ 6.63370431e-03 3.76787657e-05 9.99977996e-01 -5.90058192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters 0.04868075384656661 Centerline is valid? [True, True] Translation: X:417.05, Y:-349.10, Z:-5.90 [[-6.67751315e-01 -7.44367061e-01 5.08534320e-03 4.17046501e+02] [ 7.44346100e-01 -6.67770676e-01 -5.58643656e-03 -3.49098752e+02] [ 7.55420243e-03 5.49050151e-05 9.99971465e-01 -5.90075758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters 0.04855813878031192 Centerline is valid? [True, True] Translation: X:417.01, Y:-349.06, Z:-5.90 [[-6.67365072e-01 -7.44710506e-01 5.48837912e-03 4.17006568e+02] [ 7.44686116e-01 -6.67387637e-01 -6.02756571e-03 -3.49056771e+02] [ 8.15166788e-03 6.45329032e-05 9.99966773e-01 -5.89938664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters 0.04834356859858756 Centerline is valid? [True, True] Translation: X:416.97, Y:-349.02, Z:-5.90 [[-6.67639250e-01 -7.44458864e-01 6.23146124e-03 4.16966071e+02] [ 7.44427431e-01 -6.67668327e-01 -6.84149227e-03 -3.49018020e+02] [ 9.25375886e-03 7.12219100e-05 9.99957181e-01 -5.90141019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters 0.04948785879217811 Centerline is valid? [True, True] Translation: X:416.93, Y:-348.98, Z:-5.90 [[-6.68226861e-01 -7.43927434e-01 6.69585569e-03 4.16928180e+02] [ 7.43891136e-01 -6.68260404e-01 -7.34914222e-03 -3.48975659e+02] [ 9.94180375e-03 7.00934620e-05 9.99950577e-01 -5.90001986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters 0.049279129366295034 Centerline is valid? [True, True] Translation: X:416.89, Y:-348.93, Z:-5.90 [[-6.69378264e-01 -7.42885883e-01 7.30105665e-03 4.16887284e+02] [ 7.42842688e-01 -6.69418077e-01 -8.01121585e-03 -3.48933997e+02] [ 1.08388785e-02 6.10027867e-05 9.99941256e-01 -5.89990174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters 0.04951553278288579 Centerline is valid? [True, True] Translation: X:416.85, Y:-348.89, Z:-5.90 [[-6.69821789e-01 -7.42486710e-01 7.22892694e-03 4.16848025e+02] [ 7.42444368e-01 -6.69860794e-01 -7.92953671e-03 -3.48893285e+02] [ 1.07299504e-02 5.56996322e-05 9.99942431e-01 -5.89973237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters 0.04924399167138566 Centerline is valid? [True, True] Translation: X:416.81, Y:-348.85, Z:-5.90 [[-6.69738106e-01 -7.42558757e-01 7.57370715e-03 4.16807880e+02] [ 7.42512314e-01 -6.69780926e-01 -8.30510708e-03 -3.48854374e+02] [ 1.12397546e-02 6.13241372e-05 9.99936830e-01 -5.89977039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters 0.05016821416355832 Centerline is valid? [True, True] Translation: X:416.77, Y:-348.82, Z:-5.90 [[-6.69617183e-01 -7.42659548e-01 8.34414663e-03 4.16765659e+02] [ 7.42603217e-01 -6.69669165e-01 -9.14723686e-03 -3.48815194e+02] [ 1.23811005e-02 7.12431523e-05 9.99923349e-01 -5.90062471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters 0.049707032239845156 Centerline is valid? [True, True] Translation: X:416.73, Y:-348.77, Z:-5.90 [[-6.70075008e-01 -7.42242304e-01 8.70894856e-03 4.16725973e+02] [ 7.42180945e-01 -6.70131597e-01 -9.54401071e-03 -3.48774886e+02] [ 1.29201101e-02 6.84126209e-05 9.99916530e-01 -5.89963461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters 0.050183469871002376 Centerline is valid? [True, True] Translation: X:416.69, Y:-348.73, Z:-5.90 [[-6.70661672e-01 -7.41713296e-01 8.62027561e-03 4.16685692e+02] [ 7.41653165e-01 -6.70717067e-01 -9.44451581e-03 -3.48732993e+02] [ 1.27868889e-02 5.91799310e-05 9.99918243e-01 -5.89882301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters 0.05059561976041319 Centerline is valid? [True, True] Translation: X:416.65, Y:-348.69, Z:-5.90 [[-6.72497698e-01 -7.40058432e-01 7.76937404e-03 4.16645515e+02] [ 7.40009506e-01 -6.72542576e-01 -8.50972258e-03 -3.48693403e+02] [ 1.15229268e-02 2.66417953e-05 9.99933609e-01 -5.89850746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters 0.05084392659559718 Centerline is valid? [True, True] Translation: X:416.61, Y:-348.65, Z:-5.89 [[-6.73892733e-01 -7.38784312e-01 8.14401244e-03 4.16607180e+02] [ 7.38730497e-01 -6.73941942e-01 -8.91698545e-03 -3.48652935e+02] [ 1.20763205e-02 7.13865414e-06 9.99927079e-01 -5.89398169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters 0.050750257601394774 Centerline is valid? [True, True] Translation: X:416.57, Y:-348.61, Z:-5.89 [[-6.74810820e-01 -7.37939300e-01 8.71469524e-03 4.16565236e+02] [ 7.37877631e-01 -6.74867090e-01 -9.54002957e-03 -3.48611303e+02] [ 1.29212238e-02 -7.33649568e-06 9.99916518e-01 -5.89414226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters 0.05131124160635603 Centerline is valid? [True, True] Translation: X:416.52, Y:-348.57, Z:-5.89 [[-6.74787544e-01 -7.37959936e-01 8.76950036e-03 4.16523872e+02] [ 7.37897521e-01 -6.74844525e-01 -9.59768268e-03 -3.48570869e+02] [ 1.30007546e-02 -5.40414593e-06 9.99915487e-01 -5.89190525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters 0.051340209777171984 Centerline is valid? [True, True] Translation: X:416.48, Y:-348.53, Z:-5.89 [[-6.73987397e-01 -7.38689460e-01 8.88089898e-03 4.16482934e+02] [ 7.38625534e-01 -6.74045905e-01 -9.71797780e-03 -3.48530528e+02] [ 1.31647014e-02 9.86418019e-06 9.99913342e-01 -5.89370157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters 0.0510511390546377 Centerline is valid? [True, True] Translation: X:416.44, Y:-348.49, Z:-5.90 [[-6.72595288e-01 -7.39954283e-01 9.12343746e-03 4.16441602e+02] [ 7.39886976e-01 -6.72657162e-01 -9.98026502e-03 -3.48492440e+02] [ 1.35218854e-02 3.76333187e-05 9.99908574e-01 -5.89657184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters 0.05173499423292391 Centerline is valid? [True, True] Translation: X:416.40, Y:-348.45, Z:-5.90 [[-6.72283960e-01 -7.40244607e-01 8.49702044e-03 4.16402255e+02] [ 7.40186287e-01 -6.72337653e-01 -9.29194295e-03 -3.48452512e+02] [ 1.25911774e-02 4.25538079e-05 9.99920727e-01 -5.89503132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters 0.05259848493004219 Centerline is valid? [True, True] Translation: X:416.36, Y:-348.41, Z:-5.89 [[-6.72089610e-01 -7.40427142e-01 7.95001521e-03 4.16362921e+02] [ 7.40376138e-01 -6.72136627e-01 -8.69078238e-03 -3.48413791e+02] [ 1.17783876e-02 4.50170163e-05 9.99930631e-01 -5.89416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters 0.05116932587462394 Centerline is valid? [True, True] Translation: X:416.32, Y:-348.38, Z:-5.89 [[-6.70311660e-01 -7.42044055e-01 7.27318741e-03 4.16320206e+02] [ 7.42001479e-01 -6.70351114e-01 -7.94921714e-03 -3.48375697e+02] [ 1.07742586e-02 6.82628782e-05 9.99941954e-01 -5.89329594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters 0.0517493761098804 Centerline is valid? [True, True] Translation: X:416.28, Y:-348.34, Z:-5.89 [[-6.68326436e-01 -7.43840073e-01 6.45923774e-03 4.16278453e+02] [ 7.43806595e-01 -6.68357643e-01 -7.05768194e-03 -3.48335544e+02] [ 9.56686756e-03 8.75882123e-05 9.99954233e-01 -5.89181301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters 0.05171845357781997 Centerline is valid? [True, True] Translation: X:416.24, Y:-348.30, Z:-5.89 [[-6.66023959e-01 -7.45897168e-01 7.03572382e-03 4.16235036e+02] [ 7.45857584e-01 -6.66061107e-01 -7.68537294e-03 -3.48297718e+02] [ 1.04187199e-02 1.29005456e-04 9.99945715e-01 -5.89307721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters 0.05120091541524864 Centerline is valid? [True, True] Translation: X:416.20, Y:-348.26, Z:-5.89 [[-6.65497928e-01 -7.46360242e-01 7.67442588e-03 4.16195531e+02] [ 7.46313203e-01 -6.65542160e-01 -8.38077784e-03 -3.48255025e+02] [ 1.13627334e-02 1.50135075e-04 9.99935431e-01 -5.89255307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters 0.0521271365068555 Centerline is valid? [True, True] Translation: X:416.15, Y:-348.22, Z:-5.90 [[-6.63621506e-01 -7.48019296e-01 8.58078391e-03 4.16152937e+02] [ 7.47960653e-01 -6.63676949e-01 -9.36849215e-03 -3.48217371e+02] [ 1.27026814e-02 2.00955870e-04 9.99919298e-01 -5.89533486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters 0.052200226883295016 Centerline is valid? [True, True] Translation: X:416.11, Y:-348.18, Z:-5.89 [[-6.62484964e-01 -7.49031406e-01 8.10097026e-03 4.16114891e+02] [ 7.48979248e-01 -6.62534459e-01 -8.84180916e-03 -3.48176846e+02] [ 1.19899647e-02 2.09892995e-04 9.99928096e-01 -5.89369228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters 0.05223003482411901 Centerline is valid? [True, True] Translation: X:416.07, Y:-348.14, Z:-5.89 [[-6.61434496e-01 -7.49967292e-01 7.31224098e-03 4.16074231e+02] [ 7.49924874e-01 -6.61474881e-01 -7.97899220e-03 -3.48135831e+02] [ 1.08208469e-02 2.06050718e-04 9.99941432e-01 -5.89247517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters 0.0521478148386461 Centerline is valid? [True, True] Translation: X:416.04, Y:-348.10, Z:-5.89 [[-6.61152553e-01 -7.50230053e-01 5.67182586e-03 4.16035169e+02] [ 7.50204560e-01 -6.61176861e-01 -6.18687489e-03 -3.48096574e+02] [ 8.39165949e-03 1.64561493e-04 9.99964776e-01 -5.89196120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters 0.05209411443529666 Centerline is valid? [True, True] Translation: X:416.00, Y:-348.06, Z:-5.89 [[-6.60835060e-01 -7.50515676e-01 4.82110912e-03 4.15996717e+02] [ 7.50497274e-01 -6.60852630e-01 -5.25756019e-03 -3.48057243e+02] [ 7.13192398e-03 1.43849149e-04 9.99974557e-01 -5.89225767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters 0.051677021796512346 Centerline is valid? [True, True] Translation: X:415.96, Y:-348.01, Z:-5.89 [[-6.60335308e-01 -7.50953973e-01 5.04098393e-03 4.15964592e+02] [ 7.50933881e-01 -6.60354531e-01 -5.49553254e-03 -3.48012076e+02] [ 7.45572857e-03 1.56551456e-04 9.99972193e-01 -5.89027318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters 0.051325323333849635 Centerline is valid? [True, True] Translation: X:415.93, Y:-347.96, Z:-5.89 [[-6.59182109e-01 -7.51972207e-01 4.09232965e-03 4.15929489e+02] [ 7.51958991e-01 -6.59194797e-01 -4.46040808e-03 -3.47964498e+02] [ 6.05174532e-03 1.37042865e-04 9.99981679e-01 -5.88888251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters 0.05166672843226234 Centerline is valid? [True, True] Translation: X:415.89, Y:-347.92, Z:-5.89 [[-6.57160442e-01 -7.53739765e-01 4.06448547e-03 4.15887007e+02] [ 7.53726763e-01 -6.57172993e-01 -4.42979553e-03 -3.47924173e+02] [ 6.00998313e-03 1.52425088e-04 9.99981928e-01 -5.89021199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters 0.05114234626511467 Centerline is valid? [True, True] Translation: X:415.85, Y:-347.88, Z:-5.89 [[-6.57080053e-01 -7.53807665e-01 4.45062617e-03 4.15846308e+02] [ 7.53792085e-01 -6.57095104e-01 -4.84943151e-03 -3.47883335e+02] [ 6.58002331e-03 1.68382070e-04 9.99978337e-01 -5.89148487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters 0.05158408198156829 Centerline is valid? [True, True] Translation: X:415.82, Y:-347.83, Z:-5.89 [[-6.58445587e-01 -7.52612551e-01 4.87403970e-03 4.15815263e+02] [ 7.52593843e-01 -6.58463604e-01 -5.30944221e-03 -3.47834204e+02] [ 7.20533060e-03 1.72193475e-04 9.99974026e-01 -5.89026747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters 0.05101892880160299 Centerline is valid? [True, True] Translation: X:415.78, Y:-347.79, Z:-5.89 [[-6.59388936e-01 -7.51785287e-01 5.01142350e-03 4.15776214e+02] [ 7.51765493e-01 -6.59407958e-01 -5.45799784e-03 -3.47789736e+02] [ 7.40781501e-03 1.68471870e-04 9.99972548e-01 -5.89081180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters 0.05073962289782576 Centerline is valid? [True, True] Translation: X:415.74, Y:-347.75, Z:-5.89 [[-6.60913756e-01 -7.50445322e-01 4.98256220e-03 4.15735453e+02] [ 7.50425723e-01 -6.60932520e-01 -5.42570143e-03 -3.47747857e+02] [ 7.36482965e-03 1.53122126e-04 9.99972868e-01 -5.89250221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters 0.050725686798503145 Centerline is valid? [True, True] Translation: X:415.70, Y:-347.71, Z:-5.89 [[-6.61981940e-01 -7.49505333e-01 4.65468901e-03 4.15696385e+02] [ 7.49488213e-01 -6.61998291e-01 -5.06762643e-03 -3.47705614e+02] [ 6.87960921e-03 1.33957372e-04 9.99976326e-01 -5.89347243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters 0.05072019556233598 Centerline is valid? [True, True] Translation: X:415.66, Y:-347.66, Z:-5.89 [[-6.62783483e-01 -7.48797390e-01 4.53031829e-03 4.15658502e+02] [ 7.48781165e-01 -6.62798954e-01 -4.93085364e-03 -3.47662553e+02] [ 6.69490056e-03 1.24128660e-04 9.99977581e-01 -5.89385041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters 0.05063318001164254 Centerline is valid? [True, True] Translation: X:415.62, Y:-347.62, Z:-5.89 [[-6.62707536e-01 -7.48862947e-01 4.79680517e-03 4.15622978e+02] [ 7.48844770e-01 -6.62724882e-01 -5.21928132e-03 -3.47619499e+02] [ 7.08748853e-03 1.33205400e-04 9.99974875e-01 -5.89351099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters 0.05064807139444341 Centerline is valid? [True, True] Translation: X:415.59, Y:-347.57, Z:-5.89 [[-6.62117500e-01 -7.49386308e-01 4.53620197e-03 4.15585680e+02] [ 7.49370072e-01 -6.62133026e-01 -4.93468771e-03 -3.47574817e+02] [ 6.70155654e-03 1.31950910e-04 9.99977536e-01 -5.89273684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters 0.0508292205695063 Centerline is valid? [True, True] Translation: X:415.55, Y:-347.53, Z:-5.89 [[-6.61888333e-01 -7.49588771e-01 4.52873211e-03 4.15546365e+02] [ 7.49572602e-01 -6.61903812e-01 -4.92519395e-03 -3.47533520e+02] [ 6.68945513e-03 1.34685101e-04 9.99977616e-01 -5.89426693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters 0.051679003312471335 Centerline is valid? [True, True] Translation: X:415.51, Y:-347.49, Z:-5.89 [[-6.64066032e-01 -7.47654015e-01 5.45705081e-03 4.15512444e+02] [ 7.47630486e-01 -6.64088439e-01 -5.93316293e-03 -3.47486152e+02] [ 8.05991744e-03 1.39845591e-04 9.99967509e-01 -5.89439098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters 0.05041755327756138 Centerline is valid? [True, True] Translation: X:415.48, Y:-347.44, Z:-5.89 [[-6.66734449e-01 -7.45278450e-01 5.02063381e-03 4.15478641e+02] [ 7.45258478e-01 -6.66753343e-01 -5.45709484e-03 -3.47439639e+02] [ 7.41457956e-03 1.03236791e-04 9.99972506e-01 -5.89251591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters 0.05042199060380851 Centerline is valid? [True, True] Translation: X:415.44, Y:-347.40, Z:-5.89 [[-6.69652162e-01 -7.42658958e-01 4.86362197e-03 4.15440605e+02] [ 7.42640156e-01 -6.69669820e-01 -5.28507040e-03 -3.47395886e+02] [ 7.18202572e-03 7.27621624e-05 9.99974206e-01 -5.89433282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters 0.050794500368896864 Centerline is valid? [True, True] Translation: X:415.41, Y:-347.35, Z:-5.89 [[-6.73673271e-01 -7.39012805e-01 4.93944870e-03 4.15407854e+02] [ 7.38993323e-01 -6.73691378e-01 -5.36610124e-03 -3.47348519e+02] [ 7.29328153e-03 3.52206337e-05 9.99973403e-01 -5.89221863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters 0.0512695484809658 Centerline is valid? [True, True] Translation: X:415.37, Y:-347.30, Z:-5.89 [[-6.75977389e-01 -7.36909212e-01 4.40258099e-03 4.15370733e+02] [ 7.36893699e-01 -6.75991726e-01 -4.78153282e-03 -3.47304443e+02] [ 6.49966390e-03 1.20261195e-05 9.99978877e-01 -5.89446260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters 0.05129810189501616 Centerline is valid? [True, True] Translation: X:415.33, Y:-347.26, Z:-5.89 [[-6.78177773e-01 -7.34885801e-01 4.21514316e-03 4.15334823e+02] [ 7.34871551e-01 -6.78190872e-01 -4.57654048e-03 -3.47260729e+02] [ 6.22190623e-03 -6.11924773e-06 9.99980644e-01 -5.89283772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters 0.05114389283422761 Centerline is valid? [True, True] Translation: X:415.30, Y:-347.21, Z:-5.89 [[-6.81654224e-01 -7.31664096e-01 3.89478902e-03 4.15300976e+02] [ 7.31651882e-01 -6.81665350e-01 -4.22781335e-03 -3.47213811e+02] [ 5.74828195e-03 -3.22771130e-05 9.99983478e-01 -5.89453978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters 0.05038227607181833 Centerline is valid? [True, True] Translation: X:415.27, Y:-347.17, Z:-5.89 [[-6.84354442e-01 -7.29143599e-01 2.93418838e-03 4.15265700e+02] [ 7.29136648e-01 -6.84360731e-01 -3.18412070e-03 -3.47169146e+02] [ 4.32972453e-03 -3.96428672e-05 9.99990626e-01 -5.89318054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters 0.050264425787569844 Centerline is valid? [True, True] Translation: X:415.23, Y:-347.13, Z:-5.89 [[-6.87140482e-01 -7.26519539e-01 2.70504755e-03 4.15227980e+02] [ 7.26513615e-01 -6.87145804e-01 -2.93452160e-03 -3.47126631e+02] [ 3.99074935e-03 -5.11747123e-05 9.99992036e-01 -5.89208680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters 0.05141387684266959 Centerline is valid? [True, True] Translation: X:415.19, Y:-347.08, Z:-5.89 [[-6.87738807e-01 -7.25951388e-01 3.14886180e-03 4.15188382e+02] [ 7.25943358e-01 -6.87746013e-01 -3.41522099e-03 -3.47083509e+02] [ 4.64490157e-03 -6.28847059e-05 9.99989210e-01 -5.89255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters 0.05032294748892808 Centerline is valid? [True, True] Translation: X:415.15, Y:-347.04, Z:-5.89 [[-6.86533998e-01 -7.27085228e-01 4.25923840e-03 4.15148605e+02] [ 7.27070563e-01 -6.86547206e-01 -4.61849132e-03 -3.47039754e+02] [ 6.28220504e-03 -7.39844404e-05 9.99980264e-01 -5.89309775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters 0.050110072614878425 Centerline is valid? [True, True] Translation: X:415.11, Y:-347.00, Z:-5.89 [[-6.84659995e-01 -7.28850747e-01 4.15681272e-03 4.15110414e+02] [ 7.28836814e-01 -6.84672612e-01 -4.50707831e-03 -3.46996094e+02] [ 6.13104321e-03 -5.61780801e-05 9.99981203e-01 -5.89421126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters 0.050575908457011216 Centerline is valid? [True, True] Translation: X:415.07, Y:-346.95, Z:-5.89 [[-6.81815862e-01 -7.31516239e-01 3.33488282e-03 4.15072530e+02] [ 7.31507307e-01 -6.81824018e-01 -3.61511868e-03 -3.46953477e+02] [ 4.91832123e-03 -2.53541097e-05 9.99987905e-01 -5.89479443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters 0.049823088665646116 Centerline is valid? [True, True] Translation: X:415.03, Y:-346.91, Z:-5.89 [[-6.76018041e-01 -7.36881954e-01 2.14366368e-03 4.15030777e+02] [ 7.36878292e-01 -6.76021439e-01 -2.32308325e-03 -3.46914427e+02] [ 3.16100073e-03 9.17304978e-06 9.99995004e-01 -5.89329141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters 0.04951072337326698 Centerline is valid? [True, True] Translation: X:414.99, Y:-346.87, Z:-5.89 [[-6.73812678e-01 -7.38899697e-01 1.92690516e-03 4.14990962e+02] [ 7.38896749e-01 -6.73815432e-01 -2.08758011e-03 -3.46874160e+02] [ 2.84089075e-03 1.71460171e-05 9.99995965e-01 -5.89348969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters 0.04969078645711233 Centerline is valid? [True, True] Translation: X:414.95, Y:-346.84, Z:-5.90 [[-6.68950981e-01 -7.43301817e-01 2.64454701e-03 4.14948001e+02] [ 7.43296301e-01 -6.68956206e-01 -2.86411313e-03 -3.46837888e+02] [ 3.89798663e-03 4.97307246e-05 9.99992402e-01 -5.89532145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters 0.04862948187015664 Centerline is valid? [True, True] Translation: X:414.91, Y:-346.79, Z:-5.90 [[-6.62185191e-01 -7.49329990e-01 3.91661685e-03 4.14912361e+02] [ 7.49318001e-01 -6.62196761e-01 -4.24058346e-03 -3.46792347e+02] [ 5.77116735e-03 1.26739943e-04 9.99983339e-01 -5.89571032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters 0.050066063331489274 Centerline is valid? [True, True] Translation: X:414.87, Y:-346.75, Z:-5.90 [[-6.59508707e-01 -7.51684128e-01 4.38604394e-03 4.14870908e+02] [ 7.51669152e-01 -6.59523270e-01 -4.74788764e-03 -3.46753724e+02] [ 6.46160982e-03 1.65580690e-04 9.99979110e-01 -5.89753528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters 0.04975676378917985 Centerline is valid? [True, True] Translation: X:414.84, Y:-346.71, Z:-5.90 [[-6.57079598e-01 -7.53807339e-01 4.57143557e-03 4.14836009e+02] [ 7.53791130e-01 -6.57095471e-01 -4.94718586e-03 -3.46707440e+02] [ 6.73309462e-03 1.95212693e-04 9.99977313e-01 -5.89667643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters 0.04974567721912551 Centerline is valid? [True, True] Translation: X:414.80, Y:-346.67, Z:-5.90 [[-6.56132221e-01 -7.54629967e-01 4.91133330e-03 4.14797512e+02] [ 7.54611291e-01 -6.56150566e-01 -5.31358061e-03 -3.46665561e+02] [ 7.23236128e-03 2.19736116e-04 9.99973822e-01 -5.89758186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters 0.050881515323599316 Centerline is valid? [True, True] Translation: X:414.76, Y:-346.63, Z:-5.90 [[-6.55932001e-01 -7.54801519e-01 5.27989869e-03 4.14756545e+02] [ 7.54779953e-01 -6.55953207e-01 -5.71065173e-03 -3.46627057e+02] [ 7.77377508e-03 2.39362471e-04 9.99969755e-01 -5.89956931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters 0.05027441095218208 Centerline is valid? [True, True] Translation: X:414.72, Y:-346.58, Z:-5.90 [[-6.56620373e-01 -7.54199239e-01 5.76142021e-03 4.14724140e+02] [ 7.54173553e-01 -6.56645599e-01 -6.22966532e-03 -3.46579160e+02] [ 8.48162007e-03 2.54585583e-04 9.99963998e-01 -5.89967422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters 0.048710818660588115 Centerline is valid? [True, True] Translation: X:414.70, Y:-346.53, Z:-5.90 [[-6.60877657e-01 -7.50469853e-01 5.97676005e-03 4.14695595e+02] [ 7.50442074e-01 -6.60904648e-01 -6.46068089e-03 -3.46528204e+02] [ 8.79861473e-03 2.15492556e-04 9.99961268e-01 -5.89915142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters 0.04776146782925777 Centerline is valid? [True, True] Translation: X:414.66, Y:-346.48, Z:-5.90 [[-6.65055998e-01 -7.46773210e-01 5.50389527e-03 4.14664632e+02] [ 7.46749538e-01 -6.65078754e-01 -5.94797975e-03 -3.46479035e+02] [ 8.10231574e-03 1.54291637e-04 9.99967164e-01 -5.89766874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters 0.0480385615901574 Centerline is valid? [True, True] Translation: X:414.63, Y:-346.43, Z:-5.90 [[-6.70885939e-01 -7.41543713e-01 4.99791450e-03 4.14634260e+02] [ 7.41524054e-01 -6.70904550e-01 -5.40016494e-03 -3.46428417e+02] [ 7.35758193e-03 8.31790981e-05 9.99972929e-01 -5.89665725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters 0.04792285047293096 Centerline is valid? [True, True] Translation: X:414.60, Y:-346.38, Z:-5.90 [[-6.73460160e-01 -7.39204490e-01 5.30424333e-03 4.14599362e+02] [ 7.39182285e-01 -6.73481046e-01 -5.72985242e-03 -3.46383949e+02] [ 7.80783998e-03 6.19753794e-05 9.99969516e-01 -5.89718069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters 0.048646906925150446 Centerline is valid? [True, True] Translation: X:414.56, Y:-346.34, Z:-5.90 [[-6.72711257e-01 -7.39887629e-01 5.08534260e-03 4.14560661e+02] [ 7.39867250e-01 -6.72730475e-01 -5.49180883e-03 -3.46341850e+02] [ 7.48438635e-03 6.80768216e-05 9.99971989e-01 -5.89637091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters 0.048059695885143645 Centerline is valid? [True, True] Translation: X:414.52, Y:-346.30, Z:-5.90 [[-6.70941177e-01 -7.41485219e-01 6.13240280e-03 4.14518752e+02] [ 7.41455666e-01 -6.70969194e-01 -6.62096141e-03 -3.46301483e+02] [ 9.02399839e-03 1.04629160e-04 9.99959277e-01 -5.89716253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters 0.048147768860701656 Centerline is valid? [True, True] Translation: X:414.48, Y:-346.26, Z:-5.90 [[-6.71573327e-01 -7.40912501e-01 6.15887458e-03 4.14479854e+02] [ 7.40882685e-01 -6.71601560e-01 -6.64760809e-03 -3.46259802e+02] [ 9.06160571e-03 9.86472554e-05 9.99958938e-01 -5.89648192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters 0.04917806296440479 Centerline is valid? [True, True] Translation: X:414.44, Y:-346.22, Z:-5.90 [[-6.73839169e-01 -7.38858826e-01 5.33005848e-03 4.14441400e+02] [ 7.38836442e-01 -6.73860246e-01 -5.75151240e-03 -3.46216689e+02] [ 7.84127022e-03 6.24471059e-05 9.99969255e-01 -5.89527902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters 0.04800649423843528 Centerline is valid? [True, True] Translation: X:414.41, Y:-346.17, Z:-5.89 [[-6.80049033e-01 -7.33157080e-01 3.74286238e-03 4.14405483e+02] [ 7.33145962e-01 -6.80059332e-01 -4.03764147e-03 -3.46172934e+02] [ 5.50559392e-03 -1.72974008e-06 9.99984844e-01 -5.89153620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters 0.04895271070287057 Centerline is valid? [True, True] Translation: X:414.37, Y:-346.13, Z:-5.89 [[-6.86677623e-01 -7.26955339e-01 3.12690580e-03 4.14367023e+02] [ 7.26947516e-01 -6.86684741e-01 -3.37281280e-03 -3.46129831e+02] [ 4.59908277e-03 -4.29386672e-05 9.99989423e-01 -5.89140027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters 0.049049820127672346 Centerline is valid? [True, True] Translation: X:414.33, Y:-346.09, Z:-5.89 [[-6.89645012e-01 -7.24140727e-01 3.15688789e-03 4.14329664e+02] [ 7.24132727e-01 -6.89652234e-01 -3.40426886e-03 -3.46086108e+02] [ 4.64232451e-03 -6.17312006e-05 9.99989222e-01 -5.89202940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters 0.04860347918294996 Centerline is valid? [True, True] Translation: X:414.29, Y:-346.05, Z:-5.89 [[-6.90473587e-01 -7.23350146e-01 3.28511759e-03 4.14286014e+02] [ 7.23341478e-01 -6.90481399e-01 -3.54174167e-03 -3.46049966e+02] [ 4.83023194e-03 -6.92172646e-05 9.99988332e-01 -5.89074184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters 0.04871385002219703 Centerline is valid? [True, True] Translation: X:414.24, Y:-346.01, Z:-5.89 [[-6.88911943e-01 -7.24839955e-01 2.71579386e-03 4.14243565e+02] [ 7.24834045e-01 -6.88917294e-01 -2.92736707e-03 -3.46008721e+02] [ 3.99282997e-03 -4.81982827e-05 9.99992028e-01 -5.89147630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters 0.04909573913638156 Centerline is valid? [True, True] Translation: X:414.20, Y:-345.97, Z:-5.89 [[-6.85691611e-01 -7.27885197e-01 3.18659869e-03 4.14203367e+02] [ 7.27877095e-01 -6.85699015e-01 -3.43458840e-03 -3.45967372e+02] [ 4.68503364e-03 -3.56162537e-05 9.99989025e-01 -5.89236523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters 0.04895562808857079 Centerline is valid? [True, True] Translation: X:414.16, Y:-345.93, Z:-5.89 [[-6.83220489e-01 -7.30204472e-01 3.34545534e-03 4.14162016e+02] [ 7.30195575e-01 -6.83228679e-01 -3.60477895e-03 -3.45927548e+02] [ 4.91793675e-03 -2.00221502e-05 9.99987907e-01 -5.89294697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters 0.04905061230844259 Centerline is valid? [True, True] Translation: X:414.12, Y:-345.89, Z:-5.89 [[-6.80376437e-01 -7.32855747e-01 3.21837843e-03 4.14119985e+02] [ 7.32847547e-01 -6.80384049e-01 -3.46680273e-03 -3.45889181e+02] [ 4.73039965e-03 -1.50152615e-07 9.99988812e-01 -5.89432822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters 0.048300210732438044 Centerline is valid? [True, True] Translation: X:414.08, Y:-345.85, Z:-5.89 [[-6.77053158e-01 -7.35927215e-01 3.18677585e-03 4.14077692e+02] [ 7.35919214e-01 -6.77060657e-01 -3.43175795e-03 -3.45850383e+02] [ 4.68316462e-03 2.17270245e-05 9.99989034e-01 -5.89379104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters 0.04922371789459321 Centerline is valid? [True, True] Translation: X:414.04, Y:-345.81, Z:-5.89 [[-6.71322563e-01 -7.41160576e-01 2.64907765e-03 4.14036990e+02] [ 7.41155091e-01 -6.71327788e-01 -2.85186730e-03 -3.45811329e+02] [ 3.89209105e-03 4.88545193e-05 9.99992425e-01 -5.89185040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters 0.04973752956409924 Centerline is valid? [True, True] Translation: X:413.99, Y:-345.77, Z:-5.89 [[-6.68594879e-01 -7.43625143e-01 1.59198427e-03 4.13992457e+02] [ 7.43623170e-01 -6.68596774e-01 -1.71339973e-03 -3.45774214e+02] [ 2.33852267e-03 3.82661028e-05 9.99997265e-01 -5.89217343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters 0.04926770013917759 Centerline is valid? [True, True] Translation: X:413.95, Y:-345.73, Z:-5.89 [[-6.66573400e-01 -7.45437000e-01 1.89250906e-03 4.13952021e+02] [ 7.45434221e-01 -6.66576085e-01 -2.03620707e-03 -3.45734743e+02] [ 2.77936537e-03 5.34595442e-05 9.99996136e-01 -5.89249444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters 0.04961469403015807 Centerline is valid? [True, True] Translation: X:413.91, Y:-345.70, Z:-5.89 [[-6.65068005e-01 -7.46778547e-01 2.52008895e-03 4.13911236e+02] [ 7.46773632e-01 -6.65072775e-01 -2.71051685e-03 -3.45697754e+02] [ 3.70019838e-03 7.92579434e-05 9.99993151e-01 -5.89412965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters 0.050134852009349626 Centerline is valid? [True, True] Translation: X:413.87, Y:-345.66, Z:-5.90 [[-6.64459619e-01 -7.47310795e-01 4.47100117e-03 4.13871915e+02] [ 7.47295347e-01 -6.64474645e-01 -4.80739034e-03 -3.45657604e+02] [ 6.56348162e-03 1.46841613e-04 9.99978449e-01 -5.89658280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters 0.048775404266345246 Centerline is valid? [True, True] Translation: X:413.84, Y:-345.61, Z:-5.90 [[-6.65040317e-01 -7.46783595e-01 5.96987724e-03 4.13837965e+02] [ 7.46756047e-01 -6.65067084e-01 -6.41717098e-03 -3.45610870e+02] [ 8.76260686e-03 1.90364505e-04 9.99961590e-01 -5.89637516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters 0.04916267316789816 Centerline is valid? [True, True] Translation: X:413.80, Y:-345.57, Z:-5.90 [[-6.67045578e-01 -7.44982480e-01 7.16254525e-03 4.13801725e+02] [ 7.44942742e-01 -6.67084001e-01 -7.69717171e-03 -3.45565788e+02] [ 1.05122774e-02 2.01321745e-04 9.99944724e-01 -5.89672128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters 0.04923756468623807 Centerline is valid? [True, True] Translation: X:413.76, Y:-345.52, Z:-5.90 [[-6.68488142e-01 -7.43691159e-01 6.86032280e-03 4.13763449e+02] [ 7.43654650e-01 -6.68523320e-01 -7.37095496e-03 -3.45523404e+02] [ 1.00679998e-02 1.74314965e-04 9.99949301e-01 -5.89673083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters 0.04916571776638685 Centerline is valid? [True, True] Translation: X:413.73, Y:-345.48, Z:-5.89 [[-6.71970229e-01 -7.40553325e-01 6.06496552e-03 4.13728436e+02] [ 7.40524679e-01 -6.71997589e-01 -6.51458618e-03 -3.45477137e+02] [ 8.90004067e-03 1.13648683e-04 9.99960387e-01 -5.89463957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters 0.04951076212791355 Centerline is valid? [True, True] Translation: X:413.69, Y:-345.43, Z:-5.89 [[-6.78009745e-01 -7.35032353e-01 5.49776164e-03 4.13694489e+02] [ 7.35008646e-01 -6.78032033e-01 -5.90357420e-03 -3.45430534e+02] [ 8.06697654e-03 3.82215057e-05 9.99967461e-01 -5.89326291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters 0.04900912910154048 Centerline is valid? [True, True] Translation: X:413.66, Y:-345.39, Z:-5.89 [[-6.81758749e-01 -7.31560112e-01 4.98099469e-03 4.13659041e+02] [ 7.31540570e-01 -6.81776945e-01 -5.34709129e-03 -3.45387043e+02] [ 7.30764605e-03 -1.62657348e-06 9.99973299e-01 -5.89366665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters 0.04882877356062219 Centerline is valid? [True, True] Translation: X:413.62, Y:-345.34, Z:-5.89 [[-6.85182515e-01 -7.28356572e-01 4.65029643e-03 4.13622730e+02] [ 7.28339475e-01 -6.85198295e-01 -4.99062302e-03 -3.45342460e+02] [ 6.82132826e-03 -3.24931726e-05 9.99976734e-01 -5.89266958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters 0.049441463295071576 Centerline is valid? [True, True] Translation: X:413.59, Y:-345.30, Z:-5.89 [[-6.89375017e-01 -7.24386727e-01 5.09463616e-03 4.13585406e+02] [ 7.24366109e-01 -6.89393837e-01 -5.46592883e-03 -3.45298550e+02] [ 7.47165707e-03 -7.76930042e-05 9.99972084e-01 -5.89193387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters 0.04939923194168351 Centerline is valid? [True, True] Translation: X:413.55, Y:-345.25, Z:-5.89 [[-6.90683230e-01 -7.23129198e-01 6.39046895e-03 4.13549272e+02] [ 7.23096720e-01 -6.90712784e-01 -6.85443895e-03 -3.45254053e+02] [ 9.37062354e-03 -1.13318899e-04 9.99956088e-01 -5.89364167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters 0.04942947258960704 Centerline is valid? [True, True] Translation: X:413.51, Y:-345.21, Z:-5.89 [[-6.90359343e-01 -7.23435697e-01 6.69104167e-03 4.13508026e+02] [ 7.23400124e-01 -6.90391758e-01 -7.17509642e-03 -3.45212806e+02] [ 9.81016090e-03 -1.13094477e-04 9.99951873e-01 -5.89172193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters 0.049632791936568645 Centerline is valid? [True, True] Translation: X:413.47, Y:-345.17, Z:-5.89 [[-6.87618523e-01 -7.26041436e-01 6.67837314e-03 4.13469921e+02] [ 7.26006132e-01 -6.87650949e-01 -7.16015564e-03 -3.45169538e+02] [ 9.79095931e-03 -7.49157893e-05 9.99952065e-01 -5.89421441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters 0.049661015960227727 Centerline is valid? [True, True] Translation: X:413.43, Y:-345.13, Z:-5.89 [[-6.85171630e-01 -7.28353171e-01 6.44169074e-03 4.13430582e+02] [ 7.28320448e-01 -6.85201909e-01 -6.90427216e-03 -3.45129000e+02] [ 9.44260732e-03 -3.89963223e-05 9.99955417e-01 -5.89443515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters 0.04930493763240899 Centerline is valid? [True, True] Translation: X:413.39, Y:-345.09, Z:-5.89 [[-6.79904758e-01 -7.33283597e-01 4.96852866e-03 4.13388520e+02] [ 7.33264270e-01 -6.79922912e-01 -5.32393611e-03 -3.45088508e+02] [ 7.28217150e-03 2.34750542e-05 9.99973484e-01 -5.88931052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters 0.04869294867973842 Centerline is valid? [True, True] Translation: X:413.35, Y:-345.05, Z:-5.89 [[-6.74958766e-01 -7.37846032e-01 3.72791231e-03 4.13346178e+02] [ 7.37835226e-01 -6.74969059e-01 -3.99360902e-03 -3.45048804e+02] [ 5.46289403e-03 5.50636070e-05 9.99985077e-01 -5.89102228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters 0.048200259028387184 Centerline is valid? [True, True] Translation: X:413.30, Y:-345.01, Z:-5.89 [[-6.67584352e-01 -7.44524758e-01 3.74420740e-03 4.13304801e+02] [ 7.44513966e-01 -6.67594842e-01 -4.01019709e-03 -3.45009382e+02] [ 5.48530456e-03 1.10469882e-04 9.99984950e-01 -5.89016555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters 0.04931548076890606 Centerline is valid? [True, True] Translation: X:413.26, Y:-344.97, Z:-5.89 [[-6.64445789e-01 -7.47326042e-01 3.94719323e-03 4.13263824e+02] [ 7.47314104e-01 -6.64457499e-01 -4.22643962e-03 -3.44970299e+02] [ 5.78127053e-03 1.41553164e-04 9.99983278e-01 -5.89066834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters 0.049662463945644254 Centerline is valid? [True, True] Translation: X:413.22, Y:-344.93, Z:-5.89 [[-6.63071696e-01 -7.48543670e-01 4.27779222e-03 4.13222130e+02] [ 7.48529681e-01 -6.63085475e-01 -4.57928289e-03 -3.44931488e+02] [ 6.26433510e-03 1.65661576e-04 9.99980365e-01 -5.89210431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters 0.048629229441630256 Centerline is valid? [True, True] Translation: X:413.19, Y:-344.88, Z:-5.89 [[-6.63970721e-01 -7.47747065e-01 4.14829198e-03 4.13189309e+02] [ 7.47733902e-01 -6.63983662e-01 -4.43954262e-03 -3.44882627e+02] [ 6.07405307e-03 1.54092235e-04 9.99981541e-01 -5.89043900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters 0.04808747328187252 Centerline is valid? [True, True] Translation: X:413.15, Y:-344.84, Z:-5.89 [[-6.66169136e-01 -7.45791099e-01 3.78402261e-03 4.13151223e+02] [ 7.45780118e-01 -6.66179872e-01 -4.04900081e-03 -3.44838926e+02] [ 5.54054846e-03 1.24729459e-04 9.99984643e-01 -5.89044582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters 0.04802211253318248 Centerline is valid? [True, True] Translation: X:413.11, Y:-344.80, Z:-5.89 [[-6.69078922e-01 -7.43181626e-01 3.80341067e-03 4.13113862e+02] [ 7.43170497e-01 -6.69089724e-01 -4.06862493e-03 -3.44795765e+02] [ 5.56855029e-03 1.04351408e-04 9.99984490e-01 -5.89033766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters 0.048431853031202864 Centerline is valid? [True, True] Translation: X:413.08, Y:-344.75, Z:-5.89 [[-6.73275557e-01 -7.39383072e-01 3.56329544e-03 4.13080016e+02] [ 7.39373255e-01 -6.73284983e-01 -3.81075307e-03 -3.44748414e+02] [ 5.21671962e-03 6.89184524e-05 9.99986390e-01 -5.88998133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters 0.04852519509267153 Centerline is valid? [True, True] Translation: X:413.04, Y:-344.70, Z:-5.89 [[-6.75419372e-01 -7.37423412e-01 3.92207400e-03 4.13042554e+02] [ 7.37411492e-01 -6.75430757e-01 -4.19338679e-03 -3.44703392e+02] [ 5.74139101e-03 5.98877689e-05 9.99983516e-01 -5.89002228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters 0.04760345638027774 Centerline is valid? [True, True] Translation: X:413.01, Y:-344.66, Z:-5.89 [[-6.76531378e-01 -7.36398138e-01 4.80385309e-03 4.13005350e+02] [ 7.36380238e-01 -6.76548430e-01 -5.13480217e-03 -3.44658728e+02] [ 7.03129802e-03 6.36076916e-05 9.99975278e-01 -5.89045180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters 0.04840869307626842 Centerline is valid? [True, True] Translation: X:412.97, Y:-344.62, Z:-5.89 [[-6.75821457e-01 -7.37042979e-01 5.74502425e-03 4.12965865e+02] [ 7.37017412e-01 -6.75845870e-01 -6.13962713e-03 -3.44617917e+02] [ 8.40791998e-03 8.48911539e-05 9.99964649e-01 -5.89199929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters 0.049316229065940465 Centerline is valid? [True, True] Translation: X:412.92, Y:-344.58, Z:-5.89 [[-6.73890703e-01 -7.38803882e-01 6.33590745e-03 4.12924057e+02] [ 7.38772879e-01 -6.73920477e-01 -6.76935838e-03 -3.44577519e+02] [ 9.27112603e-03 1.18988909e-04 9.99957015e-01 -5.89185268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters 0.049247445420780474 Centerline is valid? [True, True] Translation: X:412.88, Y:-344.54, Z:-5.89 [[-6.72894654e-01 -7.39713017e-01 6.11852570e-03 4.12882473e+02] [ 7.39684156e-01 -6.72922459e-01 -6.53553458e-03 -3.44536845e+02] [ 8.95171336e-03 1.28050234e-04 9.99959924e-01 -5.89137836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters 0.049071243106526066 Centerline is valid? [True, True] Translation: X:412.84, Y:-344.50, Z:-5.89 [[-6.72499520e-01 -7.40077658e-01 5.42735041e-03 4.12842740e+02] [ 7.40054975e-01 -6.72521409e-01 -5.79556211e-03 -3.44495362e+02] [ 7.93917538e-03 1.19024937e-04 9.99968477e-01 -5.89010828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters 0.04948952155986927 Centerline is valid? [True, True] Translation: X:412.80, Y:-344.45, Z:-5.89 [[-6.72355387e-01 -7.40214315e-01 4.58274252e-03 4.12803878e+02] [ 7.40198155e-01 -6.72370996e-01 -4.89222787e-03 -3.44453028e+02] [ 6.70260026e-03 1.02821797e-04 9.99977532e-01 -5.88834260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters 0.04871670579652749 Centerline is valid? [True, True] Translation: X:412.76, Y:-344.41, Z:-5.89 [[-6.72561265e-01 -7.40028937e-01 4.30310660e-03 4.12764123e+02] [ 7.40014694e-01 -6.72575024e-01 -4.59230878e-03 -3.44413350e+02] [ 6.29260341e-03 9.57531079e-05 9.99980197e-01 -5.88944972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters 0.049425937137788874 Centerline is valid? [True, True] Translation: X:412.73, Y:-344.37, Z:-5.89 [[-6.73156857e-01 -7.39487179e-01 4.30782132e-03 4.12725895e+02] [ 7.39472903e-01 -6.73170635e-01 -4.59588613e-03 -3.44371508e+02] [ 6.29849768e-03 9.17648700e-05 9.99980160e-01 -5.88865981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters 0.049180466666609336 Centerline is valid? [True, True] Translation: X:412.69, Y:-344.33, Z:-5.89 [[-6.73639841e-01 -7.39046875e-01 4.36806239e-03 4.12686241e+02] [ 7.39032198e-01 -6.73653997e-01 -4.65861847e-03 -3.44332895e+02] [ 6.38550011e-03 8.99077418e-05 9.99979608e-01 -5.88939438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters 0.04902142849130902 Centerline is valid? [True, True] Translation: X:412.65, Y:-344.29, Z:-5.89 [[-6.73291179e-01 -7.39365494e-01 4.20165122e-03 4.12649705e+02] [ 7.39351928e-01 -6.73304283e-01 -4.47982571e-03 -3.44288129e+02] [ 6.14121831e-03 9.02717938e-05 9.99981139e-01 -5.88730588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters 0.048935804000149206 Centerline is valid? [True, True] Translation: X:412.61, Y:-344.25, Z:-5.89 [[-6.72290128e-01 -7.40277175e-01 3.96071477e-03 4.12608215e+02] [ 7.40265143e-01 -6.72301789e-01 -4.22177344e-03 -3.44249104e+02] [ 5.78807814e-03 9.37224755e-05 9.99983245e-01 -5.88818136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters 0.04932967909851066 Centerline is valid? [True, True] Translation: X:412.57, Y:-344.21, Z:-5.89 [[-6.72102163e-01 -7.40448398e-01 3.85389217e-03 4.12568974e+02] [ 7.40437016e-01 -6.72113206e-01 -4.10658575e-03 -3.44210047e+02] [ 5.63096666e-03 9.35192545e-05 9.99984142e-01 -5.88884618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters 0.0482812805356563 Centerline is valid? [True, True] Translation: X:412.53, Y:-344.16, Z:-5.89 [[-6.71901173e-01 -7.40632331e-01 3.54452352e-03 4.12533681e+02] [ 7.40622711e-01 -6.71910517e-01 -3.77582813e-03 -3.44164239e+02] [ 5.17810302e-03 8.81712731e-05 9.99986590e-01 -5.88769578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters 0.04873113406323663 Centerline is valid? [True, True] Translation: X:412.49, Y:-344.12, Z:-5.89 [[-6.72706139e-01 -7.39900174e-01 3.76615628e-03 4.12494091e+02] [ 7.39889308e-01 -6.72716675e-01 -4.01082204e-03 -3.44122313e+02] [ 5.50116406e-03 8.84341549e-05 9.99984865e-01 -5.88871192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters 0.048618726990191395 Centerline is valid? [True, True] Translation: X:412.45, Y:-344.08, Z:-5.89 [[-6.73944039e-01 -7.38770200e-01 4.24532476e-03 4.12453361e+02] [ 7.38756380e-01 -6.73957404e-01 -4.51977067e-03 -3.44083819e+02] [ 6.20023994e-03 9.01882486e-05 9.99980774e-01 -5.89078613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters 0.048871230830353905 Centerline is valid? [True, True] Translation: X:412.42, Y:-344.04, Z:-5.89 [[-6.75811142e-01 -7.37059121e-01 4.81162134e-03 4.12415722e+02] [ 7.37041332e-01 -6.75828265e-01 -5.12162923e-03 -3.44040099e+02] [ 7.02677324e-03 8.51097055e-05 9.99975308e-01 -5.89078038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters 0.04829357133351393 Centerline is valid? [True, True] Translation: X:412.38, Y:-344.00, Z:-5.89 [[-6.77872640e-01 -7.35165172e-01 4.56672827e-03 4.12377452e+02] [ 7.35149112e-01 -6.77888019e-01 -4.85969348e-03 -3.43996092e+02] [ 6.66840777e-03 6.29729792e-05 9.99977764e-01 -5.88926726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters 0.049262708697046374 Centerline is valid? [True, True] Translation: X:412.34, Y:-343.95, Z:-5.89 [[-6.82553057e-01 -7.30824003e-01 4.19534841e-03 4.12339697e+02] [ 7.30810373e-01 -6.82565950e-01 -4.46342648e-03 -3.43953499e+02] [ 6.12558118e-03 1.94787440e-05 9.99981238e-01 -5.88962224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters 0.04837145977851489 Centerline is valid? [True, True] Translation: X:412.30, Y:-343.91, Z:-5.89 [[-6.86137197e-01 -7.27460573e-01 4.10618780e-03 4.12303727e+02] [ 7.27447465e-01 -6.86149484e-01 -4.36711470e-03 -3.43910817e+02] [ 5.99436240e-03 -9.40393805e-06 9.99982034e-01 -5.89086700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters 0.04910874261495563 Centerline is valid? [True, True] Translation: X:412.27, Y:-343.87, Z:-5.89 [[-6.88685882e-01 -7.25050847e-01 3.60895380e-03 4.12265435e+02] [ 7.25040695e-01 -6.88695338e-01 -3.83695787e-03 -3.43871016e+02] [ 5.26745921e-03 -2.58203432e-05 9.99986127e-01 -5.88801802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters 0.04880083233707669 Centerline is valid? [True, True] Translation: X:412.23, Y:-343.83, Z:-5.89 [[-6.91086965e-01 -7.22758582e-01 4.34036106e-03 4.12225806e+02] [ 7.22743857e-01 -6.91100593e-01 -4.61379327e-03 -3.43829084e+02] [ 6.33428478e-03 -5.15630950e-05 9.99979937e-01 -5.88980298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters 0.048952631753368454 Centerline is valid? [True, True] Translation: X:412.19, Y:-343.79, Z:-5.89 [[-6.91810652e-01 -7.22058443e-01 5.44296810e-03 4.12185851e+02] [ 7.22035275e-01 -6.91832060e-01 -5.78471354e-03 -3.43788850e+02] [ 7.94252109e-03 -7.19114760e-05 9.99968455e-01 -5.89123464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters 0.05014816476649008 Centerline is valid? [True, True] Translation: X:412.14, Y:-343.75, Z:-5.89 [[-6.91866516e-01 -7.21995625e-01 6.56061721e-03 4.12144116e+02] [ 7.21961983e-01 -6.91897615e-01 -6.97034159e-03 -3.43750433e+02] [ 9.57183154e-03 -8.60297368e-05 9.99954185e-01 -5.88946042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters 0.04937434521253662 Centerline is valid? [True, True] Translation: X:412.11, Y:-343.71, Z:-5.89 [[-6.90980337e-01 -7.22836737e-01 7.29560191e-03 4.12105406e+02] [ 7.22795208e-01 -6.91018846e-01 -7.74873521e-03 -3.43710856e+02] [ 1.06424689e-02 -8.09975677e-05 9.99943364e-01 -5.89440842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters 0.04980301591352649 Centerline is valid? [True, True] Translation: X:412.06, Y:-343.67, Z:-5.89 [[-6.91340080e-01 -7.22501100e-01 6.40745986e-03 4.12062920e+02] [ 7.22469070e-01 -6.91369768e-01 -6.80347647e-03 -3.43672355e+02] [ 9.34544326e-03 -7.43243944e-05 9.99956328e-01 -5.89170075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters 0.049768300925626334 Centerline is valid? [True, True] Translation: X:412.02, Y:-343.63, Z:-5.89 [[-6.91811890e-01 -7.22060359e-01 5.01466866e-03 4.12022454e+02] [ 7.22040741e-01 -6.91830062e-01 -5.32289501e-03 -3.43632786e+02] [ 7.31275001e-03 -6.16469827e-05 9.99973260e-01 -5.88968251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters 0.04955920562894718 Centerline is valid? [True, True] Translation: X:411.98, Y:-343.59, Z:-5.89 [[-6.91638709e-01 -7.22237191e-01 3.05551234e-03 4.11982355e+02] [ 7.22229913e-01 -6.91645457e-01 -3.24253796e-03 -3.43591559e+02] [ 4.45521274e-03 -3.58823571e-05 9.99990075e-01 -5.88806308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters 0.0488671202715912 Centerline is valid? [True, True] Translation: X:411.94, Y:-343.55, Z:-5.89 [[-6.88173598e-01 -7.25544999e-01 1.24651499e-03 4.11939036e+02] [ 7.25543794e-01 -6.88174727e-01 -1.32243961e-03 -3.43553955e+02] [ 1.81730956e-03 -5.66681327e-06 9.99998349e-01 -5.88749894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters 0.04902091175546136 Centerline is valid? [True, True] Translation: X:411.90, Y:-343.52, Z:-5.89 [[-6.83962175e-01 -7.29516924e-01 8.95004092e-04 4.11895281e+02] [ 7.29516307e-01 -6.83962760e-01 -9.49229322e-04 -3.43516227e+02] [ 1.30462832e-03 3.68312830e-06 9.99999149e-01 -5.88754671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters 0.04956684943095781 Centerline is valid? [True, True] Translation: X:411.85, Y:-343.48, Z:-5.89 [[-6.76844078e-01 -7.36124927e-01 1.47817093e-03 4.11849157e+02] [ 7.36123259e-01 -6.76845692e-01 -1.56741939e-03 -3.43481757e+02] [ 2.15431011e-03 2.72174652e-05 9.99997679e-01 -5.88914788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters 0.04914440632759869 Centerline is valid? [True, True] Translation: X:411.81, Y:-343.45, Z:-5.89 [[-6.73077083e-01 -7.39568479e-01 2.38843610e-03 4.11805309e+02] [ 7.39564148e-01 -6.73081318e-01 -2.53195440e-03 -3.43446025e+02] [ 3.48016538e-03 6.22012323e-05 9.99993942e-01 -5.89116415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters 0.04949553625187132 Centerline is valid? [True, True] Translation: X:411.76, Y:-343.41, Z:-5.89 [[-6.70873454e-01 -7.41564566e-01 3.28681814e-03 4.11764368e+02] [ 7.41556391e-01 -6.70881498e-01 -3.48337351e-03 -3.43405846e+02] [ 4.78821184e-03 1.00458177e-04 9.99988531e-01 -5.89186212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters 0.049486222734382614 Centerline is valid? [True, True] Translation: X:411.72, Y:-343.37, Z:-5.89 [[-6.71570137e-01 -7.40930047e-01 4.02704290e-03 4.11724285e+02] [ 7.40917772e-01 -6.71582200e-01 -4.26646106e-03 -3.43367471e+02] [ 5.86563953e-03 1.18479815e-04 9.99982790e-01 -5.89367434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters 0.04885675843839805 Centerline is valid? [True, True] Translation: X:411.69, Y:-343.32, Z:-5.89 [[-6.74002864e-01 -7.38716157e-01 4.31036158e-03 4.11688086e+02] [ 7.38702058e-01 -6.74016638e-01 -4.56528785e-03 -3.43323376e+02] [ 6.27770732e-03 1.07055888e-04 9.99980289e-01 -5.89310024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters 0.04922900169681272 Centerline is valid? [True, True] Translation: X:411.65, Y:-343.28, Z:-5.89 [[-6.77414380e-01 -7.35589792e-01 4.17325017e-03 4.11651419e+02] [ 7.35576524e-01 -6.77427230e-01 -4.41881441e-03 -3.43279159e+02] [ 6.07750808e-03 7.63764313e-05 9.99981529e-01 -5.89377373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters 0.04871187827583902 Centerline is valid? [True, True] Translation: X:411.61, Y:-343.24, Z:-5.89 [[-6.79428354e-01 -7.33727630e-01 4.56919032e-03 4.11613978e+02] [ 7.33711691e-01 -6.79443714e-01 -4.83666900e-03 -3.43235980e+02] [ 6.65330532e-03 6.62983025e-05 9.99977864e-01 -5.89463717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters 0.0484315494316448 Centerline is valid? [True, True] Translation: X:411.58, Y:-343.19, Z:-5.89 [[-6.81319095e-01 -7.31971287e-01 4.72495451e-03 4.11577954e+02] [ 7.31954210e-01 -6.81335477e-01 -5.00021516e-03 -3.43190533e+02] [ 6.87929306e-03 5.17082805e-05 9.99976336e-01 -5.89384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters 0.049061353669180734 Centerline is valid? [True, True] Translation: X:411.54, Y:-343.14, Z:-5.89 [[-6.83766364e-01 -7.29683357e-01 5.07516336e-03 4.11542491e+02] [ 7.29663602e-01 -6.83785198e-01 -5.36935781e-03 -3.43143854e+02] [ 7.38825261e-03 3.17757123e-05 9.99972706e-01 -5.89351711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters 0.049540639367411925 Centerline is valid? [True, True] Translation: X:411.51, Y:-343.10, Z:-5.89 [[-6.85932593e-01 -7.27648359e-01 4.93391989e-03 4.11506225e+02] [ 7.27629646e-01 -6.85950337e-01 -5.21849329e-03 -3.43097954e+02] [ 7.18165210e-03 1.05317516e-05 9.99974212e-01 -5.89347963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters 0.048758457090106115 Centerline is valid? [True, True] Translation: X:411.47, Y:-343.05, Z:-5.89 [[-6.87439481e-01 -7.26225779e-01 4.80392226e-03 4.11468580e+02] [ 7.26208014e-01 -6.87456266e-01 -5.07960044e-03 -3.43053141e+02] [ 6.99142324e-03 -3.27104338e-06 9.99975560e-01 -5.89374264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters 0.04960077740300989 Centerline is valid? [True, True] Translation: X:411.43, Y:-343.01, Z:-5.89 [[-6.89274944e-01 -7.24482047e-01 5.08081665e-03 4.11433031e+02] [ 7.24462140e-01 -6.89293669e-01 -5.37083129e-03 -3.43008394e+02] [ 7.39324560e-03 -2.11201406e-05 9.99972669e-01 -5.89401957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters 0.04857816908120394 Centerline is valid? [True, True] Translation: X:411.40, Y:-342.96, Z:-5.89 [[-6.90872321e-01 -7.22960591e-01 4.83937370e-03 4.11398902e+02] [ 7.22942505e-01 -6.90889269e-01 -5.11400617e-03 -3.42963698e+02] [ 7.04069628e-03 -3.45363671e-05 9.99975213e-01 -5.89221897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters 0.04842770924774165 Centerline is valid? [True, True] Translation: X:411.36, Y:-342.92, Z:-5.89 [[-6.89203363e-01 -7.24560221e-01 3.34810074e-03 4.11357610e+02] [ 7.24551587e-01 -6.89211496e-01 -3.53728412e-03 -3.42922177e+02] [ 4.87052488e-03 -1.20364019e-05 9.99988139e-01 -5.89322814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters 0.04854772396200738 Centerline is valid? [True, True] Translation: X:411.32, Y:-342.88, Z:-5.89 [[-6.85832371e-01 -7.27756567e-01 2.08300978e-03 4.11315804e+02] [ 7.27753241e-01 -6.85835534e-01 -2.20001826e-03 -3.42884796e+02] [ 3.02967986e-03 7.07337483e-06 9.99995411e-01 -5.89357298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters 0.04814650171888838 Centerline is valid? [True, True] Translation: X:411.28, Y:-342.84, Z:-5.89 [[-6.85386736e-01 -7.28176827e-01 1.87886989e-03 4.11276332e+02] [ 7.28174125e-01 -6.85389311e-01 -1.98400240e-03 -3.42843166e+02] [ 2.73246192e-03 8.33550951e-06 9.99996267e-01 -5.89308148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters 0.04802386295086439 Centerline is valid? [True, True] Translation: X:411.24, Y:-342.80, Z:-5.89 [[-6.85546020e-01 -7.28027309e-01 1.70033242e-03 4.11237662e+02] [ 7.28025096e-01 -6.85548129e-01 -1.79494165e-03 -3.42801047e+02] [ 2.47242625e-03 7.36957133e-06 9.99996944e-01 -5.89208778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters 0.0486799983506439 Centerline is valid? [True, True] Translation: X:411.20, Y:-342.76, Z:-5.89 [[-6.85832869e-01 -7.27758042e-01 1.22813970e-03 4.11198532e+02] [ 7.27756888e-01 -6.85833968e-01 -1.29602891e-03 -3.42762140e+02] [ 1.78549539e-03 4.92790332e-06 9.99998406e-01 -5.89274939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters 0.04864581212264784 Centerline is valid? [True, True] Translation: X:411.16, Y:-342.72, Z:-5.89 [[-6.85415140e-01 -7.28151485e-01 1.22461705e-03 4.11157380e+02] [ 7.28150339e-01 -6.85416234e-01 -1.29189358e-03 -3.42723731e+02] [ 1.78006664e-03 6.22190365e-06 9.99998416e-01 -5.89341095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters 0.049082971348821405 Centerline is valid? [True, True] Translation: X:411.12, Y:-342.69, Z:-5.89 [[-6.84857275e-01 -7.28675971e-01 1.35767498e-03 4.11115866e+02] [ 7.28674564e-01 -6.84858620e-01 -1.43179770e-03 -3.42685244e+02] [ 1.97313199e-03 8.72615273e-06 9.99998053e-01 -5.89421681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters 0.048421330245834074 Centerline is valid? [True, True] Translation: X:411.08, Y:-342.65, Z:-5.90 [[-6.85568209e-01 -7.28005749e-01 1.96467736e-03 4.11076802e+02] [ 7.28002803e-01 -6.85571024e-01 -2.07124251e-03 -3.42645902e+02] [ 2.85480233e-03 1.03126110e-05 9.99995925e-01 -5.89518864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters 0.04835566845079409 Centerline is valid? [True, True] Translation: X:411.04, Y:-342.60, Z:-5.89 [[-6.86903714e-01 -7.26746390e-01 1.72414153e-03 4.11038154e+02] [ 7.26744118e-01 -6.86905877e-01 -1.81714882e-03 -3.42603438e+02] [ 2.50492930e-03 4.80344609e-06 9.99996863e-01 -5.89453814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters 0.04922209225535423 Centerline is valid? [True, True] Translation: X:411.00, Y:-342.56, Z:-5.90 [[-6.87917240e-01 -7.25787063e-01 1.73500181e-03 4.10998609e+02] [ 7.25784761e-01 -6.87919428e-01 -1.82796022e-03 -3.42564002e+02] [ 2.52025133e-03 1.75252442e-06 9.99996824e-01 -5.89539710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters 0.05021565510143142 Centerline is valid? [True, True] Translation: X:410.96, Y:-342.53, Z:-5.90 [[-6.87435820e-01 -7.26242486e-01 1.96084883e-03 4.10958927e+02] [ 7.26239549e-01 -6.87438617e-01 -2.06519715e-03 -3.42525237e+02] [ 2.84779711e-03 4.35547301e-06 9.99995945e-01 -5.89564160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters 0.0488635388746843 Centerline is valid? [True, True] Translation: X:410.92, Y:-342.49, Z:-5.90 [[-6.85673263e-01 -7.27908241e-01 1.33020891e-03 4.10919381e+02] [ 7.27906893e-01 -6.85674553e-01 -1.40049834e-03 -3.42487440e+02] [ 1.93152469e-03 7.98396651e-06 9.99998135e-01 -5.89528172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters 0.049008801612819286 Centerline is valid? [True, True] Translation: X:410.88, Y:-342.45, Z:-5.89 [[-6.84273395e-01 -7.29225363e-01 5.39030113e-04 4.10880064e+02] [ 7.29225143e-01 -6.84273607e-01 -5.67341502e-04 -3.42446911e+02] [ 7.82563893e-04 4.85761491e-06 9.99999694e-01 -5.89385806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters 0.04886402198951591 Centerline is valid? [True, True] Translation: X:410.84, Y:-342.41, Z:-5.89 [[-6.81598667e-01 -7.31726066e-01 -4.69267965e-04 4.10838595e+02] [ 7.31725900e-01 -6.81598829e-01 4.93764749e-04 -3.42409571e+02] [-6.81153033e-04 -6.82612937e-06 9.99999768e-01 -5.89387483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters 0.04829832414100876 Centerline is valid? [True, True] Translation: X:410.80, Y:-342.37, Z:-5.90 [[-6.79882976e-01 -7.33320522e-01 3.89667794e-04 4.10798561e+02] [ 7.33320407e-01 -6.79883087e-01 -4.09878289e-04 -3.42371139e+02] [ 5.65500703e-04 7.08207446e-06 9.99999840e-01 -5.89592727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters 0.048627240876223866 Centerline is valid? [True, True] Translation: X:410.76, Y:-342.33, Z:-5.90 [[-6.78925750e-01 -7.34204221e-01 1.99702929e-03 4.10759543e+02] [ 7.34201219e-01 -6.78928685e-01 -2.09991088e-03 -3.42331060e+02] [ 2.89760390e-03 4.05377690e-05 9.99995801e-01 -5.89951868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters 0.04873596345548052 Centerline is valid? [True, True] Translation: X:410.72, Y:-342.29, Z:-5.90 [[-6.79900994e-01 -7.33299772e-01 2.46620117e-03 4.10724019e+02] [ 7.33295191e-01 -6.79905465e-01 -2.59248744e-03 -3.42286337e+02] [ 3.57785411e-03 4.58186727e-05 9.99993598e-01 -5.89997666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters 0.048241803735089184 Centerline is valid? [True, True] Translation: X:410.69, Y:-342.24, Z:-5.90 [[-6.82709301e-01 -7.30685888e-01 2.47860452e-03 4.10687992e+02] [ 7.30681246e-01 -6.82713799e-01 -2.60486974e-03 -3.42239993e+02] [ 3.59551907e-03 3.27010404e-05 9.99993536e-01 -5.89956372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters 0.048362735969431414 Centerline is valid? [True, True] Translation: X:410.65, Y:-342.20, Z:-5.90 [[-6.84850462e-01 -7.28679967e-01 2.31310893e-03 4.10649870e+02] [ 7.28675915e-01 -6.84854367e-01 -2.43030432e-03 -3.42196766e+02] [ 3.35505682e-03 2.11117303e-05 9.99994372e-01 -5.89996997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters 0.048099510155180825 Centerline is valid? [True, True] Translation: X:410.61, Y:-342.15, Z:-5.90 [[-6.86116517e-01 -7.27488898e-01 2.00725373e-03 4.10612821e+02] [ 7.27485843e-01 -6.86119453e-01 -2.10837026e-03 -3.42153596e+02] [ 2.91103179e-03 1.36610098e-05 9.99995763e-01 -5.90004109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters 0.04777977721087534 Centerline is valid? [True, True] Translation: X:410.57, Y:-342.11, Z:-5.90 [[-6.85499351e-01 -7.28068251e-01 2.69474295e-03 4.10573808e+02] [ 7.28062753e-01 -6.85504647e-01 -2.82966047e-03 -3.42111852e+02] [ 3.90744476e-03 2.22115565e-05 9.99992366e-01 -5.90123680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters 0.04866119854669251 Centerline is valid? [True, True] Translation: X:410.53, Y:-342.07, Z:-5.90 [[-6.83523008e-01 -7.29920004e-01 3.61728782e-03 4.10532107e+02] [ 7.29910127e-01 -6.83532578e-01 -3.79747079e-03 -3.42071333e+02] [ 5.24438396e-03 4.46363510e-05 9.99986247e-01 -5.90239334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters 0.04827475263320921 Centerline is valid? [True, True] Translation: X:410.49, Y:-342.03, Z:-5.90 [[-6.79861324e-01 -7.33325106e-01 4.78205013e-03 4.10492237e+02] [ 7.33307939e-01 -6.79878136e-01 -5.01870698e-03 -3.42031642e+02] [ 6.93155516e-03 9.46905553e-05 9.99975972e-01 -5.90284811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters 0.04800351629907193 Centerline is valid? [True, True] Translation: X:410.45, Y:-341.99, Z:-5.90 [[-6.78204463e-01 -7.34859096e-01 4.56236813e-03 4.10451538e+02] [ 7.34843512e-01 -6.78219800e-01 -4.78693005e-03 -3.41991056e+02] [ 6.61200749e-03 1.06109300e-04 9.99978135e-01 -5.90311142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters 0.04833363253914103 Centerline is valid? [True, True] Translation: X:410.41, Y:-341.95, Z:-5.90 [[-6.77113415e-01 -7.35863928e-01 4.65865016e-03 4.10411055e+02] [ 7.35847712e-01 -6.77129430e-01 -4.88667383e-03 -3.41949083e+02] [ 6.75043613e-03 1.19224660e-04 9.99977208e-01 -5.90343975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters 0.048706662868986055 Centerline is valid? [True, True] Translation: X:410.37, Y:-341.91, Z:-5.90 [[-6.76733802e-01 -7.36210138e-01 5.09840132e-03 4.10371068e+02] [ 7.36190734e-01 -6.76752993e-01 -5.34692833e-03 -3.41908377e+02] [ 7.38682120e-03 1.34948669e-04 9.99972708e-01 -5.90378395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters 0.04834537475832977 Centerline is valid? [True, True] Translation: X:410.33, Y:-341.87, Z:-5.90 [[-6.78028489e-01 -7.35011316e-01 5.97775177e-03 4.10333301e+02] [ 7.34984609e-01 -6.78054825e-01 -6.26736190e-03 -3.41865921e+02] [ 8.65982534e-03 1.44105624e-04 9.99962493e-01 -5.90419513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters 0.048856696160640874 Centerline is valid? [True, True] Translation: X:410.29, Y:-341.82, Z:-5.90 [[-6.79439606e-01 -7.33709164e-01 5.71697840e-03 4.10292686e+02] [ 7.33684698e-01 -6.79463647e-01 -5.99299786e-03 -3.41824358e+02] [ 8.28159644e-03 1.22579470e-04 9.99965700e-01 -5.90474478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters 0.04865327704915589 Centerline is valid? [True, True] Translation: X:410.25, Y:-341.78, Z:-5.90 [[-6.81183620e-01 -7.32094732e-01 5.11663126e-03 4.10252610e+02] [ 7.32075098e-01 -6.81202830e-01 -5.36246657e-03 -3.41784613e+02] [ 7.41129721e-03 9.29339437e-05 9.99972532e-01 -5.90485931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters 0.048137431370608885 Centerline is valid? [True, True] Translation: X:410.21, Y:-341.74, Z:-5.90 [[-6.82478844e-01 -7.30887064e-01 5.16983818e-03 4.10213005e+02] [ 7.30866996e-01 -6.82498420e-01 -5.41667024e-03 -3.41743233e+02] [ 7.48738060e-03 8.17012576e-05 9.99971966e-01 -5.90495922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters 0.0484109064355987 Centerline is valid? [True, True] Translation: X:410.17, Y:-341.70, Z:-5.90 [[-6.83911772e-01 -7.29545774e-01 5.25859631e-03 4.10174648e+02] [ 7.29524982e-01 -6.83931985e-01 -5.50822889e-03 -3.41699813e+02] [ 7.61502732e-03 6.91348016e-05 9.99971003e-01 -5.90425922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters 0.04785642636743165 Centerline is valid? [True, True] Translation: X:410.14, Y:-341.66, Z:-5.91 [[-6.86334181e-01 -7.27271769e-01 4.60063835e-03 4.10136138e+02] [ 7.27255812e-01 -6.86349600e-01 -4.81786770e-03 -3.41657244e+02] [ 6.66154545e-03 3.91736965e-05 9.99977811e-01 -5.90560343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters 0.047545552552568836 Centerline is valid? [True, True] Translation: X:410.10, Y:-341.61, Z:-5.90 [[-6.87592435e-01 -7.26086212e-01 3.93137118e-03 4.10097705e+02] [ 7.26074547e-01 -6.87603673e-01 -4.11581262e-03 -3.41614590e+02] [ 5.69166006e-03 2.44669285e-05 9.99983802e-01 -5.90453361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters 0.04807342020827599 Centerline is valid? [True, True] Translation: X:410.06, Y:-341.58, Z:-5.90 [[-6.88007331e-01 -7.25695129e-01 3.53433872e-03 4.10058896e+02] [ 7.25685703e-01 -6.88016409e-01 -3.69892056e-03 -3.41575079e+02] [ 5.11597167e-03 1.99346179e-05 9.99986913e-01 -5.90475673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters 0.04807502387806397 Centerline is valid? [True, True] Translation: X:410.02, Y:-341.53, Z:-5.91 [[-6.87754208e-01 -7.25937575e-01 2.96417887e-03 4.10018732e+02] [ 7.25930951e-01 -6.87760596e-01 -3.10125164e-03 -3.41534977e+02] [ 4.28996052e-03 1.88903161e-05 9.99990798e-01 -5.90548389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters 0.04860135466102446 Centerline is valid? [True, True] Translation: X:409.98, Y:-341.49, Z:-5.91 [[-6.86826326e-01 -7.26813292e-01 3.46936136e-03 4.09979477e+02] [ 7.26804234e-01 -6.86835088e-01 -3.62872751e-03 -3.41493682e+02] [ 5.02028650e-03 2.92409461e-05 9.99987398e-01 -5.90564802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters 0.048315686311618394 Centerline is valid? [True, True] Translation: X:409.94, Y:-341.46, Z:-5.91 [[-6.83813901e-01 -7.29638900e-01 5.06215557e-03 4.09936508e+02] [ 7.29619704e-01 -6.83832634e-01 -5.29306859e-03 -3.41456577e+02] [ 7.32369591e-03 7.39745699e-05 9.99973179e-01 -5.90904858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters 0.04848687208064399 Centerline is valid? [True, True] Translation: X:409.90, Y:-341.42, Z:-5.91 [[-6.82301128e-01 -7.31049016e-01 5.70152116e-03 4.09897018e+02] [ 7.31024728e-01 -6.82324942e-01 -5.95993124e-03 -3.41416006e+02] [ 8.24729196e-03 1.01485148e-04 9.99965985e-01 -5.90871784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters 0.0479642830145243 Centerline is valid? [True, True] Translation: X:409.86, Y:-341.37, Z:-5.91 [[-6.83156844e-01 -7.30254757e-01 4.97161721e-03 4.09857866e+02] [ 7.30236280e-01 -6.83174929e-01 -5.19540092e-03 -3.41374924e+02] [ 7.19045047e-03 8.11815653e-05 9.99974145e-01 -5.90838141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters 0.04792045669275811 Centerline is valid? [True, True] Translation: X:409.82, Y:-341.33, Z:-5.91 [[-6.85262489e-01 -7.28284765e-01 4.07720217e-03 4.09821104e+02] [ 7.28272310e-01 -6.85274616e-01 -4.25947334e-03 -3.41330991e+02] [ 5.89611269e-03 5.04561448e-05 9.99982617e-01 -5.90535879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters 0.047956852692774735 Centerline is valid? [True, True] Translation: X:409.78, Y:-341.29, Z:-5.90 [[-6.88846442e-01 -7.24904129e-01 2.14085313e-03 4.09783447e+02] [ 7.24900681e-01 -6.88849768e-01 -2.23594566e-03 -3.41288546e+02] [ 3.09557242e-03 1.16826777e-05 9.99995209e-01 -5.90361009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters 0.04730406272337641 Centerline is valid? [True, True] Translation: X:409.75, Y:-341.25, Z:-5.90 [[-6.90589967e-01 -7.23245860e-01 9.60918542e-04 4.09745441e+02] [ 7.23245165e-01 -6.90590635e-01 -1.00326073e-03 -3.41247690e+02] [ 1.38920552e-03 2.13789382e-06 9.99999035e-01 -5.90191688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters 0.04758434162779845 Centerline is valid? [True, True] Translation: X:409.71, Y:-341.21, Z:-5.90 [[-6.90902249e-01 -7.22948102e-01 3.50906425e-04 4.09706668e+02] [ 7.22948010e-01 -6.90902338e-01 -3.66245613e-04 -3.41207503e+02] [ 5.07218640e-04 6.47183626e-07 9.99999871e-01 -5.90105461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters 0.04712876260511013 Centerline is valid? [True, True] Translation: X:409.67, Y:-341.17, Z:-5.90 [[-6.89226887e-01 -7.24545514e-01 -3.10393599e-04 4.09666029e+02] [ 7.24545442e-01 -6.89226957e-01 3.23859415e-04 -3.41169881e+02] [-4.48582522e-04 -1.68165099e-06 9.99999899e-01 -5.90012810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters 0.047834413915403676 Centerline is valid? [True, True] Translation: X:409.62, Y:-341.13, Z:-5.90 [[-6.87089487e-01 -7.26572447e-01 -7.18217596e-04 4.09623921e+02] [ 7.26572061e-01 -6.87089863e-01 7.49148587e-04 -3.41131991e+02] [-1.03779075e-03 -7.10471982e-06 9.99999462e-01 -5.89987555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters 0.04862332943861756 Centerline is valid? [True, True] Translation: X:409.58, Y:-341.10, Z:-5.90 [[-6.83628173e-01 -7.29830369e-01 3.91870506e-04 4.09580513e+02] [ 7.29830255e-01 -6.83628285e-01 -4.08625215e-04 -3.41095542e+02] [ 5.66120853e-04 6.65124183e-06 9.99999840e-01 -5.90152643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters 0.04857356355801965 Centerline is valid? [True, True] Translation: X:409.54, Y:-341.06, Z:-5.90 [[-6.82316782e-01 -7.31054097e-01 1.92798697e-03 4.09539452e+02] [ 7.31051335e-01 -6.82319505e-01 -2.00979771e-03 -3.41056827e+02] [ 2.78477397e-03 3.81387432e-05 9.99996122e-01 -5.90381644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters 0.04840607142618098 Centerline is valid? [True, True] Translation: X:409.50, Y:-341.02, Z:-5.91 [[-6.82445919e-01 -7.30930740e-01 2.79656766e-03 4.09500501e+02] [ 7.30924932e-01 -6.82451647e-01 -2.91425455e-03 -3.41016647e+02] [ 4.03864044e-03 5.52599056e-05 9.99991843e-01 -5.90551837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters 0.04822374950878919 Centerline is valid? [True, True] Translation: X:409.47, Y:-340.97, Z:-5.90 [[-6.85739147e-01 -7.27842615e-01 2.63627508e-03 4.09465545e+02] [ 7.27837433e-01 -6.85744214e-01 -2.74664759e-03 -3.40971340e+02] [ 3.80693755e-03 3.52959144e-05 9.99992753e-01 -5.90380010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters 0.04842694272466196 Centerline is valid? [True, True] Translation: X:409.43, Y:-340.93, Z:-5.90 [[-6.89163082e-01 -7.24602372e-01 2.37684244e-03 4.09429397e+02] [ 7.24598143e-01 -6.89167180e-01 -2.47570202e-03 -3.40926106e+02] [ 3.43194135e-03 1.60931818e-05 9.99994111e-01 -5.90268064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters 0.04828506988331832 Centerline is valid? [True, True] Translation: X:409.39, Y:-340.88, Z:-5.90 [[-6.92456250e-01 -7.21456671e-01 2.14799751e-03 4.09392017e+02] [ 7.21453204e-01 -6.92459581e-01 -2.23676308e-03 -3.40882687e+02] [ 3.10112911e-03 8.19110270e-07 9.99995192e-01 -5.90202192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters 0.04822739381290231 Centerline is valid? [True, True] Translation: X:409.36, Y:-340.84, Z:-5.90 [[-6.95987631e-01 -7.18050423e-01 2.19240588e-03 4.09355365e+02] [ 7.18046796e-01 -6.95991084e-01 -2.28240279e-03 -3.40839176e+02] [ 3.16477523e-03 -1.42740883e-05 9.99994992e-01 -5.90279077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters 0.04796851805625799 Centerline is valid? [True, True] Translation: X:409.32, Y:-340.80, Z:-5.90 [[-6.97361997e-01 -7.16713949e-01 2.71304092e-03 4.09315296e+02] [ 7.16708387e-01 -6.97367274e-01 -2.82369836e-03 -3.40796935e+02] [ 3.91576996e-03 -2.46807406e-05 9.99992333e-01 -5.90298205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters 0.04846932706029395 Centerline is valid? [True, True] Translation: X:409.28, Y:-340.76, Z:-5.90 [[-6.98090544e-01 -7.16001696e-01 3.34132603e-03 4.09276052e+02] [ 7.15993256e-01 -6.98098539e-01 -3.47661752e-03 -3.40756173e+02] [ 4.82183886e-03 -3.46269099e-05 9.99988374e-01 -5.90439845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters 0.048364919545451475 Centerline is valid? [True, True] Translation: X:409.24, Y:-340.72, Z:-5.90 [[-6.97723890e-01 -7.16354372e-01 4.21757651e-03 4.09235056e+02] [ 7.16340939e-01 -6.97736636e-01 -4.38702453e-03 -3.40716294e+02] [ 6.08542184e-03 -3.97091033e-05 9.99981483e-01 -5.90314144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters 0.048069407356217474 Centerline is valid? [True, True] Translation: X:409.20, Y:-340.68, Z:-5.90 [[-6.96729370e-01 -7.17318856e-01 4.67371352e-03 4.09195723e+02] [ 7.17302390e-01 -6.96745045e-01 -4.86043268e-03 -3.40675081e+02] [ 6.74286675e-03 -3.39403162e-05 9.99977266e-01 -5.90312543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters 0.04912052178136037 Centerline is valid? [True, True] Translation: X:409.16, Y:-340.63, Z:-5.90 [[-6.95368313e-01 -7.18634626e-01 5.21375569e-03 4.09155087e+02] [ 7.18614182e-01 -6.95387858e-01 -5.42076671e-03 -3.40633828e+02] [ 7.52113306e-03 -2.27506243e-05 9.99971716e-01 -5.90302190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters 0.0480164280229148 Centerline is valid? [True, True] Translation: X:409.12, Y:-340.59, Z:-5.90 [[-6.95296460e-01 -7.18707449e-01 4.73668184e-03 4.09115829e+02] [ 7.18690583e-01 -6.95312594e-01 -4.92372027e-03 -3.40591937e+02] [ 6.83218897e-03 -1.92366417e-05 9.99976660e-01 -5.90429183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters 0.04824803556009753 Centerline is valid? [True, True] Translation: X:409.08, Y:-340.55, Z:-5.90 [[-6.95745038e-01 -7.18283799e-01 2.68810800e-03 4.09076955e+02] [ 7.18278367e-01 -6.95750231e-01 -2.79359887e-03 -3.40551350e+02] [ 3.87684858e-03 -1.28227312e-05 9.99992485e-01 -5.90053014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters 0.04863965705362425 Centerline is valid? [True, True] Translation: X:409.04, Y:-340.51, Z:-5.90 [[-6.95650607e-01 -7.18378735e-01 1.49197835e-03 4.09037759e+02] [ 7.18377062e-01 -6.95652207e-01 -1.55017148e-03 -3.40509279e+02] [ 2.15150825e-03 -6.57471124e-06 9.99997686e-01 -5.90025215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters 0.04789696493153324 Centerline is valid? [True, True] Translation: X:409.00, Y:-340.47, Z:-5.90 [[-6.93819023e-01 -7.20148757e-01 9.64870295e-04 4.08996767e+02] [ 7.20148059e-01 -6.93819694e-01 -1.00224797e-03 -3.40468961e+02] [ 1.39121364e-03 -5.29236208e-07 9.99999032e-01 -5.90005698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters 0.048398194002031276 Centerline is valid? [True, True] Translation: X:408.96, Y:-340.43, Z:-5.90 [[-6.91824012e-01 -7.22064878e-01 1.35923910e-03 4.08956206e+02] [ 7.22063499e-01 -6.91825348e-01 -1.41147685e-03 -3.40429864e+02] [ 1.95953392e-03 4.96336933e-06 9.99998080e-01 -5.90121934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters 0.04770071271298266 Centerline is valid? [True, True] Translation: X:408.91, Y:-340.39, Z:-5.90 [[-6.89623310e-01 -7.24165445e-01 2.02457430e-03 4.08914954e+02] [ 7.24162395e-01 -6.89626281e-01 -2.10177419e-03 -3.40389982e+02] [ 2.91823189e-03 1.66881047e-05 9.99995742e-01 -5.90157540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters 0.04844020751519281 Centerline is valid? [True, True] Translation: X:408.87, Y:-340.35, Z:-5.90 [[-6.86668075e-01 -7.26962496e-01 3.53335882e-03 4.08873112e+02] [ 7.26953249e-01 -6.86677164e-01 -3.66697742e-03 -3.40351895e+02] [ 5.09203187e-03 5.05903445e-05 9.99987034e-01 -5.90326890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters 0.04831091166720544 Centerline is valid? [True, True] Translation: X:408.83, Y:-340.31, Z:-5.90 [[-6.85332331e-01 -7.28219462e-01 4.00136050e-03 4.08833341e+02] [ 7.28207631e-01 -6.85344009e-01 -4.15160144e-03 -3.40309728e+02] [ 5.76558541e-03 6.85945580e-05 9.99983377e-01 -5.90325216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters 0.048070604779633014 Centerline is valid? [True, True] Translation: X:408.79, Y:-340.27, Z:-5.90 [[-6.84930102e-01 -7.28598177e-01 3.93097656e-03 4.08792212e+02] [ 7.28586771e-01 -6.84941378e-01 -4.07732721e-03 -3.40271414e+02] [ 5.66322167e-03 7.13733796e-05 9.99983961e-01 -5.90430434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters 0.048152426334536765 Centerline is valid? [True, True] Translation: X:408.75, Y:-340.23, Z:-5.90 [[-6.84776821e-01 -7.28741274e-01 4.10627277e-03 4.08754099e+02] [ 7.28728839e-01 -6.84789128e-01 -4.25790439e-03 -3.40228475e+02] [ 5.91484161e-03 7.66451548e-05 9.99982504e-01 -5.90362353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters 0.047816946212589785 Centerline is valid? [True, True] Translation: X:408.72, Y:-340.19, Z:-5.90 [[-6.85326776e-01 -7.28221121e-01 4.60531443e-03 4.08715446e+02] [ 7.28205477e-01 -6.85342245e-01 -4.77396822e-03 -3.40186240e+02] [ 6.63272101e-03 8.18869412e-05 9.99978000e-01 -5.90399790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters 0.047275024309772117 Centerline is valid? [True, True] Translation: X:408.68, Y:-340.14, Z:-5.90 [[-6.87487747e-01 -7.26181632e-01 4.56446187e-03 4.08677446e+02] [ 7.26166228e-01 -6.87502897e-01 -4.73038867e-03 -3.40142093e+02] [ 6.57320212e-03 6.24738106e-05 9.99978394e-01 -5.90373085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters 0.048079381398178564 Centerline is valid? [True, True] Translation: X:408.64, Y:-340.10, Z:-5.90 [[-6.89403991e-01 -7.24365899e-01 4.02267065e-03 4.08639453e+02] [ 7.24353911e-01 -6.89415726e-01 -4.16761949e-03 -3.40100991e+02] [ 5.79217384e-03 4.06637125e-05 9.99983224e-01 -5.90443196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters 0.04786356302674527 Centerline is valid? [True, True] Translation: X:408.61, Y:-340.06, Z:-5.90 [[-6.91551826e-01 -7.22319135e-01 3.33754916e-03 4.08605057e+02] [ 7.22310864e-01 -6.91559880e-01 -3.45672621e-03 -3.40056231e+02] [ 4.80497458e-03 2.02426898e-05 9.99988456e-01 -5.90122428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters 0.0477346178111699 Centerline is valid? [True, True] Translation: X:408.57, Y:-340.02, Z:-5.90 [[-6.92391746e-01 -7.21513599e-01 3.43470859e-03 4.08566083e+02] [ 7.21504833e-01 -6.92400265e-01 -3.55650141e-03 -3.40015231e+02] [ 4.94425727e-03 1.56666236e-05 9.99987777e-01 -5.90306902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters 0.04766351117459259 Centerline is valid? [True, True] Translation: X:408.53, Y:-339.97, Z:-5.90 [[-6.92374292e-01 -7.21528684e-01 3.76803789e-03 4.08526519e+02] [ 7.21518141e-01 -6.92384545e-01 -3.90047690e-03 -3.39974587e+02] [ 5.42323717e-03 1.81177578e-05 9.99985294e-01 -5.90348215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters 0.04808853993341585 Centerline is valid? [True, True] Translation: X:408.48, Y:-339.94, Z:-5.90 [[-6.90039134e-01 -7.23756046e-01 4.81448104e-03 4.08482870e+02] [ 7.23738897e-01 -6.90055928e-01 -4.98239730e-03 -3.39935724e+02] [ 6.92830135e-03 4.63780808e-05 9.99975998e-01 -5.90385672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters 0.04827589412824081 Centerline is valid? [True, True] Translation: X:408.44, Y:-339.90, Z:-5.90 [[-6.88286922e-01 -7.25419726e-01 5.22816574e-03 4.08439102e+02] [ 7.25399561e-01 -6.88306775e-01 -5.40926348e-03 -3.39896207e+02] [ 7.52256833e-03 6.93838266e-05 9.99971703e-01 -5.90417994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters 0.04805441662371316 Centerline is valid? [True, True] Translation: X:408.40, Y:-339.86, Z:-5.91 [[-6.87342145e-01 -7.26313339e-01 5.45059694e-03 4.08396612e+02] [ 7.26291463e-01 -6.87363751e-01 -5.63782109e-03 -3.39858255e+02] [ 7.84136742e-03 8.36099845e-05 9.99969253e-01 -5.90542947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters 0.0484003842619194 Centerline is valid? [True, True] Translation: X:408.36, Y:-339.82, Z:-5.90 [[-6.88009482e-01 -7.25688897e-01 4.31010320e-03 4.08356879e+02] [ 7.25675213e-01 -6.88022980e-01 -4.45691905e-03 -3.39816484e+02] [ 6.19978671e-03 6.13324895e-05 9.99980779e-01 -5.90195062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters 0.04824344466869405 Centerline is valid? [True, True] Translation: X:408.32, Y:-339.78, Z:-5.90 [[-6.89581540e-01 -7.24201495e-01 3.08116264e-03 4.08315709e+02] [ 7.24194491e-01 -6.89588423e-01 -3.18533567e-03 -3.39775433e+02] [ 4.43155894e-03 3.48123327e-05 9.99990180e-01 -5.90137324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters 0.04781246779248036 Centerline is valid? [True, True] Translation: X:408.28, Y:-339.74, Z:-5.90 [[-6.93202754e-01 -7.20738440e-01 2.45832293e-03 4.08276569e+02] [ 7.20733962e-01 -6.93207112e-01 -2.54064886e-03 -3.39735537e+02] [ 3.53527024e-03 1.06120423e-05 9.99993751e-01 -5.90228314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters 0.048914044738812265 Centerline is valid? [True, True] Translation: X:408.24, Y:-339.69, Z:-5.90 [[-6.96097913e-01 -7.17943447e-01 2.21410967e-03 4.08238491e+02] [ 7.17939802e-01 -6.96101434e-01 -2.28766809e-03 -3.39693301e+02] [ 3.18366123e-03 -2.84352692e-06 9.99994932e-01 -5.90239340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters 0.04886809961144278 Centerline is valid? [True, True] Translation: X:408.20, Y:-339.65, Z:-5.90 [[-6.99143598e-01 -7.14978782e-01 1.88934809e-03 4.08201231e+02] [ 7.14976119e-01 -6.99146151e-01 -1.95158491e-03 -3.39652987e+02] [ 2.71627224e-03 -1.35993283e-05 9.99996311e-01 -5.90132609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters 0.049035020061971885 Centerline is valid? [True, True] Translation: X:408.16, Y:-339.61, Z:-5.90 [[-7.02497118e-01 -7.11683409e-01 2.12700815e-03 4.08162911e+02] [ 7.11680020e-01 -7.02500338e-01 -2.19658849e-03 -3.39610485e+02] [ 3.05749952e-03 -2.93478799e-05 9.99995325e-01 -5.90280473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters 0.04857096400705375 Centerline is valid? [True, True] Translation: X:408.12, Y:-339.57, Z:-5.90 [[-7.03319796e-01 -7.10867617e-01 2.91471216e-03 4.08122774e+02] [ 7.10861248e-01 -7.03325834e-01 -3.00935720e-03 -3.39570724e+02] [ 4.18924694e-03 -4.45845675e-05 9.99991224e-01 -5.90335795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters 0.05012780508843013 Centerline is valid? [True, True] Translation: X:408.08, Y:-339.53, Z:-5.90 [[-7.02442260e-01 -7.11729134e-01 4.06343093e-03 4.08078831e+02] [ 7.11716777e-01 -7.02454010e-01 -4.19438289e-03 -3.39532383e+02] [ 5.83963785e-03 -5.42998288e-05 9.99982948e-01 -5.90350660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters 0.04921164862762787 Centerline is valid? [True, True] Translation: X:408.04, Y:-339.49, Z:-5.90 [[-7.01344525e-01 -7.12808599e-01 4.44505697e-03 4.08036215e+02] [ 7.12793839e-01 -7.01358609e-01 -4.58740527e-03 -3.39491899e+02] [ 6.38752090e-03 -4.89423504e-05 9.99979598e-01 -5.90378288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters 0.048522832612968414 Centerline is valid? [True, True] Translation: X:408.00, Y:-339.45, Z:-5.91 [[-7.00663303e-01 -7.13481078e-01 3.96084159e-03 4.07997339e+02] [ 7.13469373e-01 -7.00674497e-01 -4.08695001e-03 -3.39449974e+02] [ 5.69122218e-03 -3.76367243e-05 9.99983804e-01 -5.90535532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters 0.04884820894135469 Centerline is valid? [True, True] Translation: X:407.96, Y:-339.41, Z:-5.91 [[-7.01150302e-01 -7.13007882e-01 2.83097379e-03 4.07958711e+02] [ 7.13001903e-01 -7.01156016e-01 -2.92018563e-03 -3.39409363e+02] [ 4.06706968e-03 -2.89993379e-05 9.99991729e-01 -5.90574072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters 0.04848300920334187 Centerline is valid? [True, True] Translation: X:407.92, Y:-339.37, Z:-5.91 [[-7.02224895e-01 -7.11949736e-01 2.78750519e-03 4.07920189e+02] [ 7.11943934e-01 -7.02230427e-01 -2.87443321e-03 -3.39368757e+02] [ 4.00392293e-03 -3.39511460e-05 9.99991984e-01 -5.90612436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters 0.048837025004857086 Centerline is valid? [True, True] Translation: X:407.88, Y:-339.33, Z:-5.90 [[-7.02900872e-01 -7.11279658e-01 3.40767001e-03 4.07877408e+02] [ 7.11270985e-01 -7.02909131e-01 -3.51276790e-03 -3.39332541e+02] [ 4.89384272e-03 -4.53508194e-05 9.99988024e-01 -5.90407751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters 0.048838087673555644 Centerline is valid? [True, True] Translation: X:407.84, Y:-339.29, Z:-5.91 [[-7.02953703e-01 -7.11227147e-01 3.46955693e-03 4.07839081e+02] [ 7.11218158e-01 -7.02962264e-01 -3.57592594e-03 -3.39290395e+02] [ 4.98226320e-03 -4.60984930e-05 9.99987587e-01 -5.90562016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters 0.0490881219379604 Centerline is valid? [True, True] Translation: X:407.80, Y:-339.25, Z:-5.90 [[-7.03131601e-01 -7.11054380e-01 2.76059421e-03 4.07798368e+02] [ 7.11048691e-01 -7.03137019e-01 -2.84448586e-03 -3.39250602e+02] [ 3.96366011e-03 -3.71309952e-05 9.99992144e-01 -5.90409066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters 0.048631343989050606 Centerline is valid? [True, True] Translation: X:407.76, Y:-339.21, Z:-5.90 [[-7.03020906e-01 -7.11164086e-01 2.69245517e-03 4.07756542e+02] [ 7.11158678e-01 -7.03026061e-01 -2.77362905e-03 -3.39210947e+02] [ 3.86537152e-03 -3.51563504e-05 9.99992529e-01 -5.90442963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters 0.048699136458840143 Centerline is valid? [True, True] Translation: X:407.72, Y:-339.17, Z:-5.91 [[-7.02646056e-01 -7.11532836e-01 3.08926109e-03 4.07716561e+02] [ 7.11525724e-01 -7.02652846e-01 -3.18152718e-03 -3.39170951e+02] [ 4.43443915e-03 -3.73987898e-05 9.99990167e-01 -5.90504685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters 0.04828953707949308 Centerline is valid? [True, True] Translation: X:407.68, Y:-339.13, Z:-5.91 [[-7.01987175e-01 -7.12181596e-01 3.37335725e-03 4.07676164e+02] [ 7.12173128e-01 -7.01995280e-01 -3.47324105e-03 -3.39130470e+02] [ 4.84165922e-03 -3.57562886e-05 9.99988279e-01 -5.90606565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters 0.04849353915546392 Centerline is valid? [True, True] Translation: X:407.63, Y:-339.09, Z:-5.91 [[-7.00481759e-01 -7.13660860e-01 3.67176916e-03 4.07633857e+02] [ 7.13650852e-01 -7.00491382e-01 -3.77957888e-03 -3.39091209e+02] [ 5.26938017e-03 -2.71648681e-05 9.99986116e-01 -5.90596510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters 0.04796684759386961 Centerline is valid? [True, True] Translation: X:407.59, Y:-339.05, Z:-5.91 [[-6.98829122e-01 -7.15278174e-01 3.87202585e-03 4.07592936e+02] [ 7.15267074e-01 -6.98839849e-01 -3.98473796e-03 -3.39051921e+02] [ 5.55612205e-03 -1.51183279e-05 9.99984565e-01 -5.90754229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters 0.04997178245135505 Centerline is valid? [True, True] Translation: X:407.55, Y:-339.01, Z:-5.91 [[-6.97080108e-01 -7.16982319e-01 3.95949514e-03 4.07550797e+02] [ 7.16970746e-01 -6.97091353e-01 -4.07381409e-03 -3.39012276e+02] [ 5.68098250e-03 -9.32582197e-07 9.99983863e-01 -5.90602180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters 0.0487890653800769 Centerline is valid? [True, True] Translation: X:407.51, Y:-338.97, Z:-5.91 [[-6.95259515e-01 -7.18748825e-01 3.78600040e-03 4.07508788e+02] [ 7.18738276e-01 -6.95269823e-01 -3.89419275e-03 -3.38972745e+02] [ 5.43123830e-03 1.36688377e-05 9.99985251e-01 -5.90829166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters 0.04822708157141446 Centerline is valid? [True, True] Translation: X:407.47, Y:-338.93, Z:-5.91 [[-6.94259959e-01 -7.19710691e-01 4.43067574e-03 4.07468200e+02] [ 7.19696272e-01 -6.94274096e-01 -4.55582890e-03 -3.38933576e+02] [ 6.35498216e-03 2.58112278e-05 9.99979807e-01 -5.90978889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters 0.04862613468855105 Centerline is valid? [True, True] Translation: X:407.43, Y:-338.89, Z:-5.91 [[-6.94922701e-01 -7.19069275e-01 4.67092911e-03 4.07429281e+02] [ 7.19053245e-01 -6.94938398e-01 -4.80149229e-03 -3.38891756e+02] [ 6.69861357e-03 2.19807404e-05 9.99977564e-01 -5.90966043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters 0.048212587201732215 Centerline is valid? [True, True] Translation: X:407.39, Y:-338.85, Z:-5.91 [[-6.96617971e-01 -7.17426778e-01 4.71390326e-03 4.07390386e+02] [ 7.17410423e-01 -6.96633920e-01 -4.84418639e-03 -3.38849741e+02] [ 6.75921395e-03 7.25603978e-06 9.99977156e-01 -5.91025488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters 0.048579188710113075 Centerline is valid? [True, True] Translation: X:407.35, Y:-338.81, Z:-5.91 [[-6.97682857e-01 -7.16382344e-01 5.91335550e-03 4.07352663e+02] [ 7.16356587e-01 -6.97707917e-01 -6.07484063e-03 -3.38808314e+02] [ 8.47770352e-03 -2.24100457e-06 9.99964064e-01 -5.91101204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters 0.048342666415291585 Centerline is valid? [True, True] Translation: X:407.31, Y:-338.77, Z:-5.91 [[-6.97352004e-01 -7.16699708e-01 6.45845539e-03 4.07313858e+02] [ 7.16669015e-01 -6.97381911e-01 -6.63277067e-03 -3.38768005e+02] [ 9.25771476e-03 3.19894534e-06 9.99957146e-01 -5.91305330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters 0.04797462168197661 Centerline is valid? [True, True] Translation: X:407.28, Y:-338.73, Z:-5.91 [[-6.96681247e-01 -7.17344481e-01 7.22057447e-03 4.07275289e+02] [ 7.17306175e-01 -6.96718663e-01 -7.41319023e-03 -3.38727648e+02] [ 1.03485201e-02 1.47320438e-05 9.99946453e-01 -5.91456412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters 0.048176642984146235 Centerline is valid? [True, True] Translation: X:407.24, Y:-338.69, Z:-5.91 [[-6.95452033e-01 -7.18522215e-01 8.50269519e-03 4.07237160e+02] [ 7.18469216e-01 -6.95504008e-01 -8.72705349e-03 -3.38685639e+02] [ 1.21842404e-02 3.96776510e-05 9.99925769e-01 -5.91358311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters 0.04861697091475625 Centerline is valid? [True, True] Translation: X:407.20, Y:-338.64, Z:-5.91 [[-6.94488495e-01 -7.19444471e-01 9.24029456e-03 4.07198200e+02] [ 7.19381987e-01 -6.94549961e-01 -9.48196287e-03 -3.38643046e+02] [ 1.32395920e-02 6.21873384e-05 9.99912351e-01 -5.91464460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters 0.048701532888092064 Centerline is valid? [True, True] Translation: X:407.16, Y:-338.60, Z:-5.92 [[-6.93511383e-01 -7.20378424e-01 9.84318477e-03 4.07159571e+02] [ 7.20307651e-01 -6.93581227e-01 -1.00979637e-02 -3.38600954e+02] [ 1.41014034e-02 8.70685297e-05 9.99900567e-01 -5.91695179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters 0.047908814705915105 Centerline is valid? [True, True] Translation: X:407.12, Y:-338.56, Z:-5.92 [[-6.92163854e-01 -7.21666479e-01 1.03291680e-02 4.07123428e+02] [ 7.21588732e-01 -6.92240911e-01 -1.05935581e-02 -3.38555829e+02] [ 1.47952885e-02 1.20933235e-04 9.99890536e-01 -5.91554339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters 0.047583373899196 Centerline is valid? [True, True] Translation: X:407.08, Y:-338.52, Z:-5.92 [[-6.88977637e-01 -7.24720323e-01 9.50102001e-03 4.07082684e+02] [ 7.24654867e-01 -6.89043122e-01 -9.74165375e-03 -3.38515936e+02] [ 1.36065869e-02 1.73178810e-04 9.99907411e-01 -5.91611948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters 0.04914903910571246 Centerline is valid? [True, True] Translation: X:407.04, Y:-338.48, Z:-5.92 [[-6.86851007e-01 -7.26736119e-01 9.50299178e-03 4.07044155e+02] [ 7.26670874e-01 -6.86916710e-01 -9.74036257e-03 -3.38476766e+02] [ 1.36064371e-02 2.15369507e-04 9.99907405e-01 -5.91586694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters 0.047888389234738274 Centerline is valid? [True, True] Translation: X:407.01, Y:-338.43, Z:-5.91 [[-6.84538873e-01 -7.28916687e-01 9.32712545e-03 4.07006197e+02] [ 7.28854073e-01 -6.84602365e-01 -9.55731096e-03 -3.38434240e+02] [ 1.33518556e-02 2.55762506e-04 9.99910827e-01 -5.91300121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters 0.04837711919303617 Centerline is valid? [True, True] Translation: X:406.96, Y:-338.40, Z:-5.91 [[-6.81088185e-01 -7.32143746e-01 9.18803654e-03 4.06962912e+02] [ 7.32083311e-01 -6.81150083e-01 -9.41226273e-03 -3.38396339e+02] [ 1.31495611e-02 3.15827272e-04 9.99913491e-01 -5.91368569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters 0.048418861173961915 Centerline is valid? [True, True] Translation: X:406.92, Y:-338.36, Z:-5.91 [[-6.78957934e-01 -7.34118949e-01 9.24622124e-03 4.06921104e+02] [ 7.34057963e-01 -6.79020795e-01 -9.46924853e-03 -3.38357301e+02] [ 1.32299313e-02 3.58040911e-04 9.99912417e-01 -5.91393233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters 0.04881471223032522 Centerline is valid? [True, True] Translation: X:406.88, Y:-338.32, Z:-5.91 [[-6.77899050e-01 -7.35098411e-01 9.12165277e-03 4.06879958e+02] [ 7.35039177e-01 -6.77960313e-01 -9.33923900e-03 -3.38317116e+02] [ 1.30493783e-02 3.73710903e-04 9.99914783e-01 -5.91371459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters 0.04753227156157607 Centerline is valid? [True, True] Translation: X:406.84, Y:-338.27, Z:-5.91 [[-6.78618297e-01 -7.34445036e-01 8.22772631e-03 4.06842862e+02] [ 7.34396812e-01 -6.78668094e-01 -8.42261826e-03 -3.38271506e+02] [ 1.17698455e-02 3.26673111e-04 9.99930680e-01 -5.91081487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters 0.047644232769102304 Centerline is valid? [True, True] Translation: X:406.81, Y:-338.23, Z:-5.91 [[-6.81049749e-01 -7.32207644e-01 6.57312314e-03 4.06805250e+02] [ 7.32176777e-01 -6.81081429e-01 -6.72716097e-03 -3.38226886e+02] [ 9.40251079e-03 2.31156823e-04 9.99955769e-01 -5.90858509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters 0.04779000579483304 Centerline is valid? [True, True] Translation: X:406.77, Y:-338.18, Z:-5.91 [[-6.83069542e-01 -7.30331314e-01 5.67213650e-03 4.06766456e+02] [ 7.30308277e-01 -6.83093068e-01 -5.80347313e-03 -3.38184102e+02] [ 8.11305528e-03 1.78232504e-04 9.99967073e-01 -5.90776823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters 0.0467675580728119 Centerline is valid? [True, True] Translation: X:406.73, Y:-338.14, Z:-5.91 [[-6.85502357e-01 -7.28047539e-01 5.77052883e-03 4.06728530e+02] [ 7.28023627e-01 -6.85526628e-01 -5.90264747e-03 -3.38139690e+02] [ 8.25325914e-03 1.54802573e-04 9.99965929e-01 -5.90738087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters 0.04752835181597786 Centerline is valid? [True, True] Translation: X:406.69, Y:-338.10, Z:-5.91 [[-6.89053705e-01 -7.24674427e-01 7.20871555e-03 4.06690793e+02] [ 7.24636946e-01 -6.89091397e-01 -7.37174119e-03 -3.38096411e+02] [ 1.03095762e-02 1.44176042e-04 9.99946845e-01 -5.90895065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters 0.04716910395043684 Centerline is valid? [True, True] Translation: X:406.65, Y:-338.05, Z:-5.91 [[-6.91181630e-01 -7.22644504e-01 7.27153843e-03 4.06651216e+02] [ 7.22606274e-01 -6.91219869e-01 -7.43415388e-03 -3.38053219e+02] [ 1.03984823e-02 1.16108699e-04 9.99945928e-01 -5.90938513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters 0.047886186181575544 Centerline is valid? [True, True] Translation: X:406.61, Y:-338.01, Z:-5.91 [[-6.91580887e-01 -7.22261473e-01 7.36491076e-03 4.06611061e+02] [ 7.22222257e-01 -6.91620092e-01 -7.52729104e-03 -3.38014145e+02] [ 1.05303926e-02 1.13371853e-04 9.99944548e-01 -5.91099403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters 0.04761075189973982 Centerline is valid? [True, True] Translation: X:406.57, Y:-337.97, Z:-5.91 [[-6.91129241e-01 -7.22698391e-01 6.88534439e-03 4.06571341e+02] [ 7.22664156e-01 -6.91163528e-01 -7.03528027e-03 -3.37972286e+02] [ 9.84328465e-03 1.13503674e-04 9.99951547e-01 -5.90747317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters 0.04761962909607626 Centerline is valid? [True, True] Translation: X:406.53, Y:-337.93, Z:-5.91 [[-6.90369104e-01 -7.23434509e-01 5.74561265e-03 4.06529216e+02] [ 7.23410708e-01 -6.90393005e-01 -5.86908121e-03 -3.37933164e+02] [ 8.21262666e-03 1.04605382e-04 9.99966270e-01 -5.90590810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters 0.04780480775658216 Centerline is valid? [True, True] Translation: X:406.49, Y:-337.90, Z:-5.91 [[-6.90486187e-01 -7.23325543e-01 5.38371745e-03 4.06486390e+02] [ 7.23304655e-01 -6.90507168e-01 -5.49790880e-03 -3.37895007e+02] [ 7.69427336e-03 9.78378065e-05 9.99970394e-01 -5.90682004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters 0.047682258912492934 Centerline is valid? [True, True] Translation: X:406.45, Y:-337.85, Z:-5.90 [[-6.91728517e-01 -7.22143030e-01 4.59386918e-03 4.06447314e+02] [ 7.22127803e-01 -6.91743767e-01 -4.69009408e-03 -3.37852156e+02] [ 6.56469912e-03 7.30888396e-05 9.99978450e-01 -5.90471315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters 0.04780888469811246 Centerline is valid? [True, True] Translation: X:406.41, Y:-337.81, Z:-5.90 [[-6.95531116e-01 -7.18492683e-01 2.17501181e-03 4.06407836e+02] [ 7.18489254e-01 -6.95534517e-01 -2.21999521e-03 -3.37809685e+02] [ 3.10784610e-03 1.86468663e-05 9.99995171e-01 -5.90288757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters 0.04715396216827147 Centerline is valid? [True, True] Translation: X:406.37, Y:-337.77, Z:-5.90 [[-6.99041989e-01 -7.15076967e-01 2.28684330e-03 4.06368760e+02] [ 7.15073159e-01 -6.99045729e-01 -2.33351118e-03 -3.37767254e+02] [ 3.26724813e-03 4.03796743e-06 9.99994663e-01 -5.90285804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters 0.04813328336382537 Centerline is valid? [True, True] Translation: X:406.33, Y:-337.72, Z:-5.90 [[-7.04646347e-01 -7.09549298e-01 3.64963080e-03 4.06331553e+02] [ 7.09539531e-01 -7.04655798e-01 -3.72304310e-03 -3.37723926e+02] [ 5.21341612e-03 -3.38713926e-05 9.99986410e-01 -5.90446043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters 0.0475399825616544 Centerline is valid? [True, True] Translation: X:406.29, Y:-337.68, Z:-5.91 [[-7.06285269e-01 -7.07916408e-01 3.93416797e-03 4.06291520e+02] [ 7.07905039e-01 -7.06296224e-01 -4.01230031e-03 -3.37681353e+02] [ 5.61906121e-03 -4.88112725e-05 9.99984212e-01 -5.90545986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters 0.04869672952183087 Centerline is valid? [True, True] Translation: X:406.25, Y:-337.64, Z:-5.91 [[-7.08596728e-01 -7.05601377e-01 4.16819979e-03 4.06251512e+02] [ 7.05588581e-01 -7.08608984e-01 -4.24989229e-03 -3.37638877e+02] [ 5.95235367e-03 -7.04255914e-05 9.99982282e-01 -5.90677537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters 0.049010609012496834 Centerline is valid? [True, True] Translation: X:406.21, Y:-337.60, Z:-5.91 [[-7.09913417e-01 -7.04277428e-01 4.03061392e-03 4.06211881e+02] [ 7.04265449e-01 -7.09924855e-01 -4.10827432e-03 -3.37598263e+02] [ 5.75479787e-03 -7.78969370e-05 9.99983438e-01 -5.90671492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters 0.049469121021148775 Centerline is valid? [True, True] Translation: X:406.17, Y:-337.56, Z:-5.91 [[-7.10371729e-01 -7.03817515e-01 3.59320532e-03 4.06169312e+02] [ 7.03807996e-01 -7.10380813e-01 -3.66128497e-03 -3.37559229e+02] [ 5.12942061e-03 -7.19467024e-05 9.99986842e-01 -5.90507551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters 0.04856834323231769 Centerline is valid? [True, True] Translation: X:406.13, Y:-337.52, Z:-5.91 [[-7.09096592e-01 -7.05102111e-01 3.61049961e-03 4.06129932e+02] [ 7.05092522e-01 -7.09105781e-01 -3.67792256e-03 -3.37518304e+02] [ 5.15353711e-03 -6.22660845e-05 9.99986719e-01 -5.90553524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters 0.04797401210781001 Centerline is valid? [True, True] Translation: X:406.08, Y:-337.48, Z:-5.91 [[-7.04398361e-01 -7.09792058e-01 4.26419180e-03 4.06084248e+02] [ 7.09778775e-01 -7.04411267e-01 -4.34252378e-03 -3.37483749e+02] [ 6.08603364e-03 -3.22337999e-05 9.99981479e-01 -5.90509036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters 0.04948330185685657 Centerline is valid? [True, True] Translation: X:406.04, Y:-337.45, Z:-5.90 [[-6.99670597e-01 -7.14445809e-01 5.31432241e-03 4.06039762e+02] [ 7.14425321e-01 -6.99690779e-01 -5.41061044e-03 -3.37446337e+02] [ 7.58397034e-03 1.10414602e-05 9.99971241e-01 -5.90485263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters 0.04900591096889762 Centerline is valid? [True, True] Translation: X:405.99, Y:-337.41, Z:-5.91 [[-6.92663309e-01 -7.21238813e-01 5.66696432e-03 4.05993675e+02] [ 7.21215753e-01 -6.92686485e-01 -5.76818208e-03 -3.37410437e+02] [ 8.08566639e-03 9.16958452e-05 9.99967306e-01 -5.90767194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters 0.04898565398937678 Centerline is valid? [True, True] Translation: X:405.95, Y:-337.37, Z:-5.91 [[-6.89034669e-01 -7.24712141e-01 4.85157184e-03 4.05951052e+02] [ 7.24695335e-01 -6.89051740e-01 -4.93681550e-03 -3.37372278e+02] [ 6.92075415e-03 1.14274449e-04 9.99976045e-01 -5.90710660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters 0.04919555874517783 Centerline is valid? [True, True] Translation: X:405.91, Y:-337.34, Z:-5.91 [[-6.85794242e-01 -7.27784896e-01 3.92453061e-03 4.05906571e+02] [ 7.27773955e-01 -6.85805461e-01 -3.99238839e-03 -3.37337018e+02] [ 5.59706450e-03 1.18214197e-04 9.99984329e-01 -5.90705174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters 0.04834196023572057 Centerline is valid? [True, True] Translation: X:405.87, Y:-337.29, Z:-5.91 [[-6.85576644e-01 -7.27988080e-01 4.24508848e-03 4.05868168e+02] [ 7.27975289e-01 -6.85589774e-01 -4.31737266e-03 -3.37293679e+02] [ 6.05338508e-03 1.30429656e-04 9.99981670e-01 -5.90680309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters 0.04852102977317748 Centerline is valid? [True, True] Translation: X:405.83, Y:-337.25, Z:-5.91 [[-6.86907991e-01 -7.26737679e-01 3.12384589e-03 4.05829321e+02] [ 7.26730743e-01 -6.86915088e-01 -3.17619721e-03 -3.37250086e+02] [ 4.45407906e-03 8.84396040e-05 9.99990077e-01 -5.90587279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters 0.04769100358725242 Centerline is valid? [True, True] Translation: X:405.79, Y:-337.21, Z:-5.91 [[-6.87785936e-01 -7.25908943e-01 2.59099029e-03 4.05788988e+02] [ 7.25904168e-01 -6.87790813e-01 -2.63373228e-03 -3.37210258e+02] [ 3.69390913e-03 6.93666303e-05 9.99993175e-01 -5.90592656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters 0.04766409286098465 Centerline is valid? [True, True] Translation: X:405.75, Y:-337.17, Z:-5.91 [[-6.88593864e-01 -7.25142977e-01 2.48052006e-03 4.05752331e+02] [ 7.25138599e-01 -6.88598329e-01 -2.52070654e-03 -3.37166878e+02] [ 3.53595461e-03 6.29777807e-05 9.99993747e-01 -5.90575648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters 0.048489644509015516 Centerline is valid? [True, True] Translation: X:405.71, Y:-337.13, Z:-5.91 [[-6.90791843e-01 -7.23045158e-01 3.51123167e-03 4.05710170e+02] [ 7.23036362e-01 -6.90800763e-01 -3.56724085e-03 -3.37126976e+02] [ 5.00483773e-03 7.45272925e-05 9.99987473e-01 -5.90796340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters 0.04788523155303151 Centerline is valid? [True, True] Translation: X:405.67, Y:-337.08, Z:-5.91 [[-6.92971757e-01 -7.20952073e-01 4.27230023e-03 4.05670687e+02] [ 7.20939014e-01 -6.92984923e-01 -4.33981569e-03 -3.37083839e+02] [ 6.08943877e-03 7.26982073e-05 9.99981457e-01 -5.90844207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters 0.04826518432540324 Centerline is valid? [True, True] Translation: X:405.63, Y:-337.04, Z:-5.91 [[-6.95708825e-01 -7.18308800e-01 4.65818352e-03 4.05631965e+02] [ 7.18293224e-01 -6.95724418e-01 -4.73061531e-03 -3.37040871e+02] [ 6.63885462e-03 5.48108399e-05 9.99977961e-01 -5.90861906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters 0.04895010119338586 Centerline is valid? [True, True] Translation: X:405.59, Y:-337.00, Z:-5.91 [[-7.00195536e-01 -7.13927335e-01 5.82863061e-03 4.05594201e+02] [ 7.13902809e-01 -7.00219795e-01 -5.91767975e-03 -3.36996713e+02] [ 8.30611586e-03 1.75428230e-05 9.99965504e-01 -5.91012202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters 0.04871636555069002 Centerline is valid? [True, True] Translation: X:405.56, Y:-336.95, Z:-5.91 [[-7.03236402e-01 -7.10929524e-01 6.14606234e-03 4.05557737e+02] [ 7.10902156e-01 -7.03263259e-01 -6.23800115e-03 -3.36953679e+02] [ 8.75707902e-03 -1.75405210e-05 9.99961656e-01 -5.91073309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters 0.04817606586231398 Centerline is valid? [True, True] Translation: X:405.52, Y:-336.91, Z:-5.91 [[-7.06159751e-01 -7.08022479e-01 6.52500644e-03 4.05522321e+02] [ 7.07991526e-01 -7.06189894e-01 -6.62057631e-03 -3.36909040e+02] [ 9.29541046e-03 -5.55352461e-05 9.99956795e-01 -5.91070193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters 0.04808693555859464 Centerline is valid? [True, True] Translation: X:405.48, Y:-336.87, Z:-5.91 [[-7.06344662e-01 -7.07842885e-01 5.97226786e-03 4.05483231e+02] [ 7.07816965e-01 -7.06369908e-01 -6.05776773e-03 -3.36868205e+02] [ 8.50657809e-03 -5.15993825e-05 9.99963817e-01 -5.90700802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters 0.04799010876633717 Centerline is valid? [True, True] Translation: X:405.44, Y:-336.83, Z:-5.91 [[-7.05313723e-01 -7.08874882e-01 5.38088101e-03 4.05444434e+02] [ 7.08853883e-01 -7.05334247e-01 -5.45640642e-03 -3.36826654e+02] [ 7.66322912e-03 -3.42199263e-05 9.99970636e-01 -5.90882928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters 0.04769967440377157 Centerline is valid? [True, True] Translation: X:405.41, Y:-336.79, Z:-5.91 [[-7.01201555e-01 -7.12945793e-01 4.96739433e-03 4.05405705e+02] [ 7.12928011e-01 -7.01219150e-01 -5.03546874e-03 -3.36787546e+02] [ 7.07324828e-03 1.05160461e-05 9.99974984e-01 -5.90931321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters 0.04826324252949197 Centerline is valid? [True, True] Translation: X:405.36, Y:-336.75, Z:-5.91 [[-6.96956158e-01 -7.17098810e-01 4.62720160e-03 4.05364157e+02] [ 7.17083479e-01 -6.96971516e-01 -4.68932602e-03 -3.36746725e+02] [ 6.58773782e-03 4.98351768e-05 9.99978299e-01 -5.90713698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters 0.04791455648167756 Centerline is valid? [True, True] Translation: X:405.32, Y:-336.71, Z:-5.91 [[-6.90312665e-01 -7.23495427e-01 4.77415563e-03 4.05321521e+02] [ 7.23479268e-01 -6.90329164e-01 -4.83674407e-03 -3.36710014e+02] [ 6.79510107e-03 1.15136933e-04 9.99976906e-01 -5.90785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters 0.04787036597320933 Centerline is valid? [True, True] Translation: X:405.28, Y:-336.67, Z:-5.91 [[-6.86811635e-01 -7.26819793e-01 4.77130641e-03 4.05280036e+02] [ 7.26803743e-01 -6.86828192e-01 -4.83249256e-03 -3.36670799e+02] [ 6.78941900e-03 1.48791241e-04 9.99976941e-01 -5.90750219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters 0.0474303638646238 Centerline is valid? [True, True] Translation: X:405.24, Y:-336.63, Z:-5.91 [[-6.83768925e-01 -7.29688414e-01 3.85682480e-03 4.05241252e+02] [ 7.29677978e-01 -6.83779787e-01 -3.90523137e-03 -3.36628154e+02] [ 5.48682092e-03 1.43964265e-04 9.99984937e-01 -5.90602144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters 0.047898334363538145 Centerline is valid? [True, True] Translation: X:405.20, Y:-336.59, Z:-5.91 [[-6.84200645e-01 -7.29286510e-01 3.26562502e-03 4.05199251e+02] [ 7.29279026e-01 -6.84208428e-01 -3.30597575e-03 -3.36589325e+02] [ 4.64537167e-03 1.19601093e-04 9.99989203e-01 -5.90563324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters 0.0475434476642125 Centerline is valid? [True, True] Translation: X:405.16, Y:-336.55, Z:-5.91 [[-6.86475824e-01 -7.27147116e-01 2.83102203e-03 4.05160773e+02] [ 7.27141477e-01 -6.86481655e-01 -2.86522002e-03 -3.36545954e+02] [ 4.02688117e-03 9.16492658e-05 9.99991888e-01 -5.90529846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters 0.04764038687502541 Centerline is valid? [True, True] Translation: X:405.12, Y:-336.50, Z:-5.91 [[-6.91227727e-01 -7.22627713e-01 3.66305697e-03 4.05122461e+02] [ 7.22618214e-01 -6.91237427e-01 -3.70631330e-03 -3.36502939e+02] [ 5.21032678e-03 8.50851677e-05 9.99986423e-01 -5.90748005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters 0.04758787512221847 Centerline is valid? [True, True] Translation: X:405.08, Y:-336.46, Z:-5.91 [[-6.94225176e-01 -7.19744014e-01 4.46754816e-03 4.05083971e+02] [ 7.19729831e-01 -6.94239547e-01 -4.51908882e-03 -3.36459022e+02] [ 6.35413574e-03 7.81624469e-05 9.99979809e-01 -5.90780799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters 0.04745909102833519 Centerline is valid? [True, True] Translation: X:405.04, Y:-336.42, Z:-5.91 [[-6.97508627e-01 -7.16557215e-01 5.24140692e-03 4.05044801e+02] [ 7.16537613e-01 -6.97528318e-01 -5.30047924e-03 -3.36416959e+02] [ 7.45412639e-03 5.85352032e-05 9.99972216e-01 -5.90937139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters 0.04780171839959963 Centerline is valid? [True, True] Translation: X:405.01, Y:-336.38, Z:-5.91 [[-6.98510717e-01 -7.15580093e-01 5.28285784e-03 4.05005523e+02] [ 7.15560165e-01 -6.98530692e-01 -5.34057960e-03 -3.36377734e+02] [ 7.51185079e-03 4.97505395e-05 9.99971784e-01 -5.91048059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters 0.04712933103227018 Centerline is valid? [True, True] Translation: X:404.97, Y:-336.34, Z:-5.91 [[-6.99773224e-01 -7.14349507e-01 4.71345802e-03 4.04965857e+02] [ 7.14333623e-01 -6.99789098e-01 -4.76374786e-03 -3.36335691e+02] [ 6.70140747e-03 3.34383521e-05 9.99977545e-01 -5.90829659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters 0.04720912332449786 Centerline is valid? [True, True] Translation: X:404.92, Y:-336.30, Z:-5.91 [[-7.00700308e-01 -7.13442470e-01 4.34977862e-03 4.04923514e+02] [ 7.13428934e-01 -7.00713809e-01 -4.39477393e-03 -3.36299169e+02] [ 6.18336831e-03 2.38384831e-05 9.99980883e-01 -5.91111528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters 0.04744006824014588 Centerline is valid? [True, True] Translation: X:404.88, Y:-336.26, Z:-5.91 [[-7.00769585e-01 -7.13371527e-01 4.80134119e-03 4.04882733e+02] [ 7.13355043e-01 -7.00786033e-01 -4.84962941e-03 -3.36258934e+02] [ 6.82430038e-03 2.65881660e-05 9.99976714e-01 -5.91029717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters 0.04720724954934195 Centerline is valid? [True, True] Translation: X:404.84, Y:-336.22, Z:-5.91 [[-7.00249867e-01 -7.13867209e-01 6.61293582e-03 4.04841153e+02] [ 7.13835979e-01 -7.00281090e-01 -6.67754548e-03 -3.36219811e+02] [ 9.39779466e-03 4.46011763e-05 9.99955839e-01 -5.91264602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters 0.0474121974589071 Centerline is valid? [True, True] Translation: X:404.80, Y:-336.18, Z:-5.91 [[-7.00392579e-01 -7.13725818e-01 6.75959743e-03 4.04800800e+02] [ 7.13693199e-01 -7.00425195e-01 -6.82375111e-03 -3.36179592e+02] [ 9.60487970e-03 4.49740763e-05 9.99953871e-01 -5.91152749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters 0.047671122686525715 Centerline is valid? [True, True] Translation: X:404.76, Y:-336.14, Z:-5.91 [[-7.00995747e-01 -7.13135305e-01 6.55737070e-03 4.04758660e+02] [ 7.13104599e-01 -7.01026416e-01 -6.61774169e-03 -3.36140250e+02] [ 9.31623532e-03 3.70824309e-05 9.99956602e-01 -5.91194264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters 0.04733449068349216 Centerline is valid? [True, True] Translation: X:404.72, Y:-336.10, Z:-5.91 [[-7.01447656e-01 -7.12693581e-01 6.24865406e-03 4.04716554e+02] [ 7.12665699e-01 -7.01475487e-01 -6.30424478e-03 -3.36101227e+02] [ 8.87627244e-03 3.11036948e-05 9.99960605e-01 -5.90997603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters 0.04760472970463283 Centerline is valid? [True, True] Translation: X:404.68, Y:-336.06, Z:-5.91 [[-7.01884062e-01 -7.12271416e-01 5.30968291e-03 4.04676568e+02] [ 7.12251282e-01 -7.01904145e-01 -5.35565206e-03 -3.36061596e+02] [ 7.54156633e-03 2.27816344e-05 9.99971562e-01 -5.90911713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters 0.04695925490957525 Centerline is valid? [True, True] Translation: X:404.64, Y:-336.02, Z:-5.91 [[-7.03019447e-01 -7.11157682e-01 4.29049944e-03 4.04637714e+02] [ 7.11144523e-01 -7.03032539e-01 -4.32626779e-03 -3.36020813e+02] [ 6.09301929e-03 9.71478199e-06 9.99981437e-01 -5.90823378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters 0.04791467514317782 Centerline is valid? [True, True] Translation: X:404.60, Y:-335.98, Z:-5.91 [[-7.04555866e-01 -7.09639439e-01 3.59142693e-03 4.04598140e+02] [ 7.09630204e-01 -7.04565019e-01 -3.62043967e-03 -3.35981724e+02] [ 5.09960056e-03 -2.21698637e-06 9.99986997e-01 -5.90720227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters 0.04800158884125464 Centerline is valid? [True, True] Translation: X:404.56, Y:-335.94, Z:-5.91 [[-7.05206537e-01 -7.08991695e-01 3.81009360e-03 4.04559129e+02] [ 7.08981297e-01 -7.05216830e-01 -3.83970038e-03 -3.35942613e+02] [ 5.40925781e-03 -6.49670600e-06 9.99985370e-01 -5.90998996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters 0.04818017781606075 Centerline is valid? [True, True] Translation: X:404.52, Y:-335.90, Z:-5.91 [[-7.04831287e-01 -7.09358645e-01 4.81339107e-03 4.04518671e+02] [ 7.09342070e-01 -7.04847723e-01 -4.84930006e-03 -3.35902470e+02] [ 6.83260066e-03 -3.59761200e-06 9.99976658e-01 -5.90842428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters 0.047844358638528546 Centerline is valid? [True, True] Translation: X:404.48, Y:-335.86, Z:-5.91 [[-7.03489972e-01 -7.10679747e-01 6.01306631e-03 4.04477211e+02] [ 7.10653942e-01 -7.03515670e-01 -6.05616846e-03 -3.35863134e+02] [ 8.53428264e-03 1.27554960e-05 9.99963582e-01 -5.90939463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters 0.047942578187361744 Centerline is valid? [True, True] Translation: X:404.44, Y:-335.82, Z:-5.91 [[-7.01698280e-01 -7.12444886e-01 6.46601736e-03 4.04435229e+02] [ 7.12415139e-01 -7.01728070e-01 -6.51041867e-03 -3.35824182e+02] [ 9.17570036e-03 3.81390750e-05 9.99957902e-01 -5.90914515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters 0.048229908014530976 Centerline is valid? [True, True] Translation: X:404.39, Y:-335.79, Z:-5.91 [[-6.98680765e-01 -7.15397595e-01 7.17433792e-03 4.04390912e+02] [ 7.15361148e-01 -6.98717593e-01 -7.22170036e-03 -3.35786021e+02] [ 1.01792232e-02 8.65794874e-05 9.99948187e-01 -5.91005437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters 0.04816088145100149 Centerline is valid? [True, True] Translation: X:404.35, Y:-335.75, Z:-5.91 [[-6.97519466e-01 -7.16526930e-01 7.46674085e-03 4.04349361e+02] [ 7.16487537e-01 -6.97559421e-01 -7.51416883e-03 -3.35746061e+02] [ 1.05925998e-02 1.08547725e-04 9.99943891e-01 -5.91089543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters 0.04781273552050766 Centerline is valid? [True, True] Translation: X:404.31, Y:-335.70, Z:-5.91 [[-6.98667583e-01 -7.15409170e-01 7.30263814e-03 4.04310733e+02] [ 7.15371451e-01 -6.98705740e-01 -7.34677975e-03 -3.35703583e+02] [ 1.03583488e-02 9.11419947e-05 9.99946347e-01 -5.90885227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters 0.04815726069533413 Centerline is valid? [True, True] Translation: X:404.27, Y:-335.66, Z:-5.91 [[-7.00024245e-01 -7.14083027e-01 7.17545921e-03 4.04271238e+02] [ 7.14046563e-01 -7.00061016e-01 -7.21665839e-03 -3.35664129e+02] [ 1.01765525e-02 7.17761508e-05 9.99948215e-01 -5.91059476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters 0.047778621068269515 Centerline is valid? [True, True] Translation: X:404.23, Y:-335.62, Z:-5.91 [[-7.01636695e-01 -7.12488511e-01 8.12833691e-03 4.04232479e+02] [ 7.12441641e-01 -7.01683774e-01 -8.17252534e-03 -3.35622091e+02] [ 1.15263525e-02 5.68220134e-05 9.99933568e-01 -5.91070428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters 0.04910928183448277 Centerline is valid? [True, True] Translation: X:404.19, Y:-335.58, Z:-5.91 [[-7.02698294e-01 -7.11430189e-01 9.06615221e-03 4.04192846e+02] [ 7.11371824e-01 -7.02756775e-01 -9.11282925e-03 -3.35580685e+02] [ 1.28544417e-02 4.58356739e-05 9.99917377e-01 -5.91159467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters 0.04843029187468999 Centerline is valid? [True, True] Translation: X:404.16, Y:-335.54, Z:-5.92 [[-7.04385242e-01 -7.09750080e-01 9.81092399e-03 4.04155619e+02] [ 7.09681616e-01 -7.04453564e-01 -9.85805237e-03 -3.35540207e+02] [ 1.39080938e-02 1.87657890e-05 9.99903278e-01 -5.91514418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters 0.04799274915322949 Centerline is valid? [True, True] Translation: X:404.12, Y:-335.50, Z:-5.91 [[-7.05369469e-01 -7.08777243e-01 9.41977752e-03 4.04116715e+02] [ 7.08714077e-01 -7.05432364e-01 -9.46236353e-03 -3.35498581e+02] [ 1.33517239e-02 1.46659016e-06 9.99910862e-01 -5.91164441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters 0.04773395221613719 Centerline is valid? [True, True] Translation: X:404.08, Y:-335.46, Z:-5.91 [[-7.05945115e-01 -7.08209531e-01 8.98636879e-03 4.04078937e+02] [ 7.08152039e-01 -7.06002309e-01 -9.02385735e-03 -3.35458693e+02] [ 1.27351789e-02 -6.63263651e-06 9.99918904e-01 -5.91031981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters 0.04854754240466617 Centerline is valid? [True, True] Translation: X:404.04, Y:-335.42, Z:-5.91 [[-7.05727219e-01 -7.08441324e-01 7.74479239e-03 4.04038268e+02] [ 7.08398660e-01 -7.05769715e-01 -7.77488314e-03 -3.35418505e+02] [ 1.09740884e-02 -5.46107454e-07 9.99939783e-01 -5.90916973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters 0.0484394404478739 Centerline is valid? [True, True] Translation: X:404.00, Y:-335.38, Z:-5.91 [[-7.05050931e-01 -7.09115675e-01 7.62517771e-03 4.03998426e+02] [ 7.09074386e-01 -7.05092164e-01 -7.65223194e-03 -3.35378023e+02] [ 1.08027707e-02 1.16049457e-05 9.99941648e-01 -5.90788382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters 0.04779382482992028 Centerline is valid? [True, True] Translation: X:403.96, Y:-335.34, Z:-5.91 [[-7.03150233e-01 -7.11009150e-01 6.76295961e-03 4.03957027e+02] [ 7.10976776e-01 -7.03182755e-01 -6.78511536e-03 -3.35337062e+02] [ 9.57987568e-03 3.73517664e-05 9.99954111e-01 -5.90584970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters 0.04780829245585401 Centerline is valid? [True, True] Translation: X:403.92, Y:-335.30, Z:-5.91 [[-7.01722295e-01 -7.12419508e-01 6.65317355e-03 4.03915804e+02] [ 7.12388256e-01 -7.01753832e-01 -6.67316808e-03 -3.35296280e+02] [ 9.42298516e-03 5.69318829e-05 9.99955601e-01 -5.90588381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters 0.048609453852957146 Centerline is valid? [True, True] Translation: X:403.87, Y:-335.26, Z:-5.91 [[-7.00680070e-01 -7.13440969e-01 7.03013076e-03 4.03874452e+02] [ 7.13406146e-01 -7.00715333e-01 -7.04935544e-03 -3.35256944e+02] [ 9.95541940e-03 7.59956263e-05 9.99950441e-01 -5.90824791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters 0.04780563923251585 Centerline is valid? [True, True] Translation: X:403.84, Y:-335.22, Z:-5.91 [[-6.99920966e-01 -7.14171272e-01 8.36870443e-03 4.03835622e+02] [ 7.14122008e-01 -6.99970988e-01 -8.38892622e-03 -3.35215632e+02] [ 1.18489804e-02 1.04690670e-04 9.99929793e-01 -5.90688003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters 0.04844118499986065 Centerline is valid? [True, True] Translation: X:403.80, Y:-335.18, Z:-5.91 [[-6.99565693e-01 -7.14509080e-01 9.19864209e-03 4.03795352e+02] [ 7.14449622e-01 -6.99626157e-01 -9.21834709e-03 -3.35175333e+02] [ 1.30222033e-02 1.23126993e-04 9.99915200e-01 -5.90794862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters 0.04828874504811121 Centerline is valid? [True, True] Translation: X:403.75, Y:-335.13, Z:-5.91 [[-6.98922979e-01 -7.15129051e-01 9.85443440e-03 4.03754629e+02] [ 7.15060909e-01 -6.98992431e-01 -9.87304262e-03 -3.35133645e+02] [ 1.39486747e-02 1.46024458e-04 9.99902702e-01 -5.90866485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters 0.04870844362617467 Centerline is valid? [True, True] Translation: X:403.71, Y:-335.09, Z:-5.91 [[-6.98887007e-01 -7.15165449e-01 9.76377818e-03 4.03714942e+02] [ 7.15098598e-01 -6.98955191e-01 -9.77936892e-03 -3.35092668e+02] [ 1.38183102e-02 1.47390211e-04 9.99904512e-01 -5.90768007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters 0.04807953985939848 Centerline is valid? [True, True] Translation: X:403.67, Y:-335.05, Z:-5.91 [[-6.98698877e-01 -7.15358299e-01 9.07653071e-03 4.03673781e+02] [ 7.15300578e-01 -6.98757815e-01 -9.08835306e-03 -3.35053825e+02] [ 1.28437256e-02 1.42425583e-04 9.99917506e-01 -5.90917453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters 0.04818726227304543 Centerline is valid? [True, True] Translation: X:403.63, Y:-335.01, Z:-5.91 [[-6.98656705e-01 -7.15414833e-01 7.77330590e-03 4.03634867e+02] [ 7.15372524e-01 -6.98699936e-01 -7.78146722e-03 -3.35012320e+02] [ 1.09981854e-02 1.24235207e-04 9.99939510e-01 -5.90678854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters 0.04771035999585548 Centerline is valid? [True, True] Translation: X:403.60, Y:-334.97, Z:-5.90 [[-6.99384363e-01 -7.14706603e-01 7.48224801e-03 4.03596932e+02] [ 7.14667384e-01 -6.99424377e-01 -7.48807011e-03 -3.34968586e+02] [ 1.05850398e-02 1.10279464e-04 9.99943971e-01 -5.90440998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters 0.04760512192644149 Centerline is valid? [True, True] Translation: X:403.56, Y:-334.93, Z:-5.91 [[-7.00602299e-01 -7.13513013e-01 7.45649642e-03 4.03557780e+02] [ 7.13474021e-01 -7.00641971e-01 -7.45991055e-03 -3.34928045e+02] [ 1.05470776e-02 9.35860043e-05 9.99944374e-01 -5.90570931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters 0.04807545487455805 Centerline is valid? [True, True] Translation: X:403.52, Y:-334.88, Z:-5.90 [[-7.03009335e-01 -7.11137261e-01 7.85313829e-03 4.03518709e+02] [ 7.11093884e-01 -7.03053193e-01 -7.85461203e-03 -3.34884603e+02] [ 1.11068812e-02 6.24530307e-05 9.99938315e-01 -5.90438514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters 0.04777379507558988 Centerline is valid? [True, True] Translation: X:403.48, Y:-334.84, Z:-5.90 [[-7.06767531e-01 -7.07405092e-01 7.59563994e-03 4.03479638e+02] [ 7.07364318e-01 -7.06808345e-01 -7.59514509e-03 -3.34842774e+02] [ 1.07415060e-02 4.88272443e-06 9.99942308e-01 -5.90498643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters 0.04845806588982714 Centerline is valid? [True, True] Translation: X:403.02, Y:-335.24, Z:-4.85 [[-7.54645695e-01 6.56085985e-01 7.81379496e-03 4.03020286e+02] [ 6.56051001e-01 7.54686147e-01 -6.77524649e-03 -3.35236487e+02] [-1.03421071e-02 1.33374024e-05 -9.99946519e-01 -4.84804368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters 0.04879715192420324 Centerline is valid? [True, True] Translation: X:403.35, Y:-335.39, Z:-4.85 [[-7.99413425e-01 6.00715410e-01 8.89788247e-03 4.03346444e+02] [ 6.00678642e-01 7.99462941e-01 -6.64633953e-03 -3.35389886e+02] [-1.11060859e-02 3.15949163e-05 -9.99938325e-01 -4.85151270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters 0.04842868326411709 Centerline is valid? [True, True] Translation: X:403.67, Y:-334.91, Z:-5.90 [[-7.61711496e-01 -6.47855361e-01 8.88977357e-03 4.03671399e+02] [ 6.47811278e-01 -7.61763370e-01 -7.55759053e-03 -3.34912127e+02] [ 1.16681294e-02 2.19198669e-06 9.99931925e-01 -5.90216120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters 0.04833525553023881 Centerline is valid? [True, True] Translation: X:402.74, Y:-334.93, Z:-4.85 [[-7.99823736e-01 6.00167655e-01 8.98762076e-03 4.02743171e+02] [ 6.00130635e-01 7.99874229e-01 -6.66630746e-03 -3.34925781e+02] [-1.11898683e-02 6.18756110e-05 -9.99937390e-01 -4.84857260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters 0.049519886556645375 Centerline is valid? [True, True] Translation: X:403.07, Y:-334.44, Z:-5.91 [[-7.64571128e-01 -6.44506416e-01 6.51685333e-03 4.03066553e+02] [ 6.44480666e-01 -7.64598873e-01 -5.76495540e-03 -3.34435520e+02] [ 8.69832945e-03 -2.07732483e-04 9.99962147e-01 -5.90512420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters 0.04857536247003965 Centerline is valid? [True, True] Translation: X:402.75, Y:-334.92, Z:-4.85 [[-8.03935165e-01 5.94683473e-01 6.31010573e-03 4.02746519e+02] [ 5.94665353e-01 8.03959928e-01 -4.64234291e-03 -3.34922888e+02] [-7.83379675e-03 2.02585436e-05 -9.99969315e-01 -4.84902439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters 0.048602140212689306 Centerline is valid? [True, True] Translation: X:402.68, Y:-334.78, Z:-4.85 [[-8.47945699e-01 5.30046316e-01 6.24459094e-03 4.02675147e+02] [ 5.30031643e-01 8.47968691e-01 -3.94414492e-03 -3.34775388e+02] [-7.38579709e-03 -3.45899285e-05 -9.99972724e-01 -4.85037225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters 0.04879848576337272 Centerline is valid? [True, True] Translation: X:402.62, Y:-334.65, Z:-4.85 [[-8.85946658e-01 4.63752110e-01 5.70083659e-03 4.02624862e+02] [ 4.63742033e-01 8.85964997e-01 -3.05797555e-03 -3.34652598e+02] [-6.46888429e-03 -6.54856736e-05 -9.99979074e-01 -4.85010692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters 0.049886767437170486 Centerline is valid? [True, True] Translation: X:402.70, Y:-334.59, Z:-4.85 [[-9.19358662e-01 3.93385343e-01 5.25569734e-03 4.02699596e+02] [ 3.93378307e-01 9.19373680e-01 -2.35483845e-03 -3.34592198e+02] [-5.75830873e-03 -9.74638062e-05 -9.99983416e-01 -4.84922062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters 0.04954759685141857 Centerline is valid? [True, True] Translation: X:402.72, Y:-334.51, Z:-4.85 [[-9.46528765e-01 3.22583943e-01 4.78497082e-03 4.02717131e+02] [ 3.22579230e-01 9.46540854e-01 -1.74728608e-03 -3.34511705e+02] [-5.09281680e-03 -1.10324332e-04 -9.99987025e-01 -4.85026954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters 0.04941589550313033 Centerline is valid? [True, True] Translation: X:402.85, Y:-334.03, Z:-5.90 [[-9.04535565e-01 -4.26372252e-01 4.70273426e-03 4.02849667e+02] [ 4.26367146e-01 -9.04547782e-01 -2.08969865e-03 -3.34029628e+02] [ 5.14483736e-03 1.14884634e-04 9.99986759e-01 -5.90348805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters 0.04969582338461005 Centerline is valid? [True, True] Translation: X:402.59, Y:-334.46, Z:-4.85 [[-9.47573687e-01 3.19501126e-01 4.81024107e-03 4.02585223e+02] [ 3.19496426e-01 9.47585890e-01 -1.73639036e-03 -3.34464051e+02] [-5.11289523e-03 -1.08502981e-04 -9.99986923e-01 -4.85162456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters 0.04921403326267015 Centerline is valid? [True, True] Translation: X:402.66, Y:-334.41, Z:-4.85 [[-9.66064931e-01 2.58261923e-01 4.39629255e-03 4.02658932e+02] [ 2.58258948e-01 9.66074932e-01 -1.24130581e-03 -3.34407479e+02] [-4.56773006e-03 -6.38001189e-05 -9.99989566e-01 -4.85129118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters 0.049351938896458364 Centerline is valid? [True, True] Translation: X:402.40, Y:-334.27, Z:-4.85 [[-9.80772874e-01 1.95108088e-01 4.17169487e-03 4.02398744e+02] [ 1.95106178e-01 9.80781746e-01 -8.64160827e-04 -3.34267944e+02] [-4.26012694e-03 -3.36220585e-05 -9.99990925e-01 -4.85119065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters 0.04935163501833027 Centerline is valid? [True, True] Translation: X:402.84, Y:-334.26, Z:-4.85 [[-9.92018613e-01 1.26041517e-01 3.55061686e-03 4.02837134e+02] [ 1.26040684e-01 9.92024967e-01 -4.58424507e-04 -3.34261634e+02] [-3.58008110e-03 -7.24346719e-06 -9.99993592e-01 -4.85199421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters 0.049393502325128756 Centerline is valid? [True, True] Translation: X:401.99, Y:-334.10, Z:-4.85 [[-9.98039537e-01 6.23388547e-02 5.56332384e-03 4.01988876e+02] [ 6.23380271e-02 9.98055042e-01 -3.22209810e-04 -3.34102353e+02] [-5.57258959e-03 2.52285024e-05 -9.99984473e-01 -4.84961653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters 0.05021401882156377 Centerline is valid? [True, True] Translation: X:402.41, Y:-334.03, Z:-4.85 [[-9.99912810e-01 -1.05467545e-02 7.94601563e-03 4.02412998e+02] [-1.05459429e-02 9.99944380e-01 1.44033608e-04 -3.34028211e+02] [-7.94709276e-03 6.02228228e-05 -9.99968420e-01 -4.85010099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters 0.050523615127326116 Centerline is valid? [True, True] Translation: X:402.37, Y:-333.94, Z:-4.85 [[-9.97005943e-01 -7.65771950e-02 1.07276265e-02 4.02369307e+02] [-7.65712865e-02 9.97063646e-01 9.61025500e-04 -3.33942282e+02] [-1.07697191e-02 1.36719971e-04 -9.99941996e-01 -4.84780867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters 0.05023679206120729 Centerline is valid? [True, True] Translation: X:402.05, Y:-333.48, Z:-5.91 [[-9.99218031e-01 3.77707458e-02 1.16917665e-02 4.02049637e+02] [-3.77692384e-02 -9.99286427e-01 3.49783180e-04 -3.33475008e+02] [ 1.16966351e-02 -9.20794547e-05 9.99931588e-01 -5.90659379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters 0.05070447238031277 Centerline is valid? [True, True] Translation: X:401.98, Y:-333.98, Z:-4.85 [[-9.97152667e-01 -7.46541574e-02 1.06449900e-02 4.01975031e+02] [-7.46477893e-02 9.97209465e-01 9.94847949e-04 -3.33977098e+02] [-1.06895544e-02 1.97390311e-04 -9.99942846e-01 -4.84860529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters 0.05065852015630998 Centerline is valid? [True, True] Translation: X:401.82, Y:-333.49, Z:-5.91 [[-9.99018676e-01 4.32496858e-02 9.54722508e-03 4.01820856e+02] [-4.32501249e-02 -9.99064263e-01 1.60569915e-04 -3.33490578e+02] [ 9.54523598e-03 -2.52506333e-04 9.99954411e-01 -5.90599904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters 0.05041014262888449 Centerline is valid? [True, True] Translation: X:401.78, Y:-334.00, Z:-4.85 [[-9.96652986e-01 -8.13358455e-02 8.20403160e-03 4.01782277e+02] [-8.13320174e-02 9.96686743e-01 7.99720940e-04 -3.33995040e+02] [-8.24189551e-03 1.29793822e-04 -9.99966027e-01 -4.84990126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters 0.05052673161041709 Centerline is valid? [True, True] Translation: X:401.86, Y:-333.51, Z:-5.90 [[-9.99120400e-01 4.14124302e-02 6.59064275e-03 4.01861565e+02] [-4.14129827e-02 -9.99142113e-01 5.26730488e-05 -3.33505786e+02] [ 6.58717004e-03 -2.20311457e-04 9.99978280e-01 -5.90367248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters 0.050108626570397115 Centerline is valid? [True, True] Translation: X:401.80, Y:-334.00, Z:-4.85 [[-9.95683798e-01 -9.27591945e-02 3.08335577e-03 4.01799772e+02] [-9.27586686e-02 9.95688571e-01 3.13419271e-04 -3.34003952e+02] [-3.09913462e-03 2.60585143e-05 -9.99995197e-01 -4.85247711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters 0.04973904957976533 Centerline is valid? [True, True] Translation: X:401.72, Y:-333.93, Z:-4.85 [[-9.86364624e-01 -1.64548814e-01 2.91833445e-03 4.01717634e+02] [-1.64548029e-01 9.86368941e-01 5.08603087e-04 -3.33931943e+02] [-2.96224450e-03 2.14619095e-05 -9.99995612e-01 -4.85261108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters 0.050189925567406785 Centerline is valid? [True, True] Translation: X:401.56, Y:-333.88, Z:-4.85 [[-9.71798507e-01 -2.35801150e-01 2.34078579e-03 4.01563768e+02] [-2.35800432e-01 9.71801326e-01 5.82406628e-04 -3.33878547e+02] [-2.41211089e-03 1.40235931e-05 -9.99997091e-01 -4.85150603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters 0.05015607879662076 Centerline is valid? [True, True] Translation: X:400.93, Y:-333.52, Z:-5.91 [[-9.83956486e-01 1.78365564e-01 3.91900801e-03 4.00933435e+02] [-1.78363833e-01 -9.83964288e-01 7.89672954e-04 -3.33517563e+02] [ 3.99701438e-03 7.79945368e-05 9.99992009e-01 -5.90518807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters 0.05015158190510576 Centerline is valid? [True, True] Translation: X:400.89, Y:-334.03, Z:-4.85 [[-9.70213183e-01 -2.42184435e-01 5.75142524e-03 4.00885590e+02] [-2.42180086e-01 9.70230230e-01 1.45144364e-03 -3.34033389e+02] [-5.93172369e-03 1.53290981e-05 -9.99982407e-01 -4.84801530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters 0.050231496301793105 Centerline is valid? [True, True] Translation: X:401.18, Y:-333.86, Z:-4.85 [[-9.47900743e-01 -3.18492989e-01 6.81160923e-03 4.01184408e+02] [-3.18484825e-01 9.47925216e-01 2.28040852e-03 -3.33862043e+02] [-7.18319028e-03 -7.79324347e-06 -9.99974201e-01 -4.84733961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters 0.05108184502187949 Centerline is valid? [True, True] Translation: X:401.07, Y:-333.81, Z:-4.85 [[-9.21750485e-01 -3.87731533e-01 6.34843818e-03 4.01072867e+02] [-3.87722527e-01 9.21772346e-01 2.64269471e-03 -3.33812382e+02] [-6.87647082e-03 -2.55273696e-05 -9.99976357e-01 -4.84609485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters 0.049892748590898456 Centerline is valid? [True, True] Translation: X:400.81, Y:-333.41, Z:-5.91 [[-9.49318636e-01 3.14246853e-01 6.56075289e-03 4.00809461e+02] [-3.14239139e-01 -9.49341306e-01 2.20201542e-03 -3.33410666e+02] [ 6.92037013e-03 2.87689338e-05 9.99976054e-01 -5.90676663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters 0.04972413176771681 Centerline is valid? [True, True] Translation: X:400.95, Y:-333.87, Z:-4.85 [[-9.17729484e-01 -3.97141927e-01 7.13322520e-03 4.00949101e+02] [-3.97130461e-01 9.17757204e-01 3.01851063e-03 -3.33869382e+02] [-7.74534595e-03 -6.26448057e-05 -9.99970002e-01 -4.84856043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters 0.04953920748758053 Centerline is valid? [True, True] Translation: X:400.83, Y:-333.83, Z:-4.85 [[-8.86899298e-01 -4.61907262e-01 7.16357431e-03 4.00827131e+02] [-4.61892805e-01 8.86928226e-01 3.65510799e-03 -3.33832794e+02] [-8.04189718e-03 -6.70907187e-05 -9.99967661e-01 -4.84892886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters 0.049634646163054276 Centerline is valid? [True, True] Translation: X:400.65, Y:-333.83, Z:-4.85 [[-8.51805613e-01 -5.23816053e-01 6.62872283e-03 4.00652730e+02] [-5.23800772e-01 8.51831403e-01 4.00156767e-03 -3.33827475e+02] [-7.74263965e-03 -6.35723347e-05 -9.99970023e-01 -4.84637603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters 0.04997489564400313 Centerline is valid? [True, True] Translation: X:400.51, Y:-333.82, Z:-4.85 [[-8.12565594e-01 -5.82837559e-01 6.12660395e-03 4.00507508e+02] [-5.82821505e-01 8.12588689e-01 4.32613611e-03 -3.33823732e+02] [-7.49984368e-03 -5.54471783e-05 -9.99971874e-01 -4.84871114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters 0.04907594535533097 Centerline is valid? [True, True] Translation: X:399.96, Y:-334.14, Z:-4.85 [[-7.70832072e-01 -6.37006957e-01 6.32880634e-03 3.99962603e+02] [-6.36985945e-01 7.70858051e-01 5.17414741e-03 -3.34141422e+02] [-8.17457922e-03 -4.29619152e-05 -9.99966587e-01 -4.84810762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters 0.05010145156082469 Centerline is valid? [True, True] Translation: X:399.83, Y:-334.16, Z:-4.85 [[-7.23054862e-01 -6.90757444e-01 6.76909652e-03 3.99830368e+02] [-6.90727692e-01 7.23086546e-01 6.41122979e-03 -3.34161015e+02] [-9.32324732e-03 -3.99315432e-05 -9.99956537e-01 -4.84600858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters 0.049058544041789366 Centerline is valid? [True, True] Translation: X:400.07, Y:-333.80, Z:-4.85 [[-6.68542385e-01 -7.43644598e-01 6.61755362e-03 4.00073174e+02] [-7.43608721e-01 6.68575135e-01 7.30470664e-03 -3.33802004e+02] [-9.85643743e-03 -3.73645934e-05 -9.99951423e-01 -4.85024551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters 0.04911284729752569 Centerline is valid? [True, True] Translation: X:399.49, Y:-334.37, Z:-4.85 [[-6.14636785e-01 -7.88788025e-01 5.92235836e-03 3.99491273e+02] [-7.88751893e-01 6.14665316e-01 7.54988917e-03 -3.34367594e+02] [-9.59553044e-03 -3.08317583e-05 -9.99953961e-01 -4.84793927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters 0.04920084109760179 Centerline is valid? [True, True] Translation: X:399.29, Y:-334.53, Z:-4.85 [[-5.57600314e-01 -8.30092902e-01 5.25966079e-03 3.99291004e+02] [-8.30056260e-01 5.57625120e-01 7.79941563e-03 -3.34528664e+02] [-9.40715853e-03 -1.68577581e-05 -9.99955752e-01 -4.84728137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters 0.049658050327452234 Centerline is valid? [True, True] Translation: X:399.21, Y:-334.53, Z:-4.85 [[-4.94374904e-01 -8.69235961e-01 4.72211332e-03 3.99206889e+02] [-8.69196614e-01 4.94397456e-01 8.27057746e-03 -3.34530159e+02] [-9.52368416e-03 -1.56789689e-05 -9.99954649e-01 -4.84958712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters 0.04826237314024822 Centerline is valid? [True, True] Translation: X:399.00, Y:-334.77, Z:-4.85 [[-4.28425315e-01 -9.03566779e-01 4.33876752e-03 3.99002164e+02] [-9.03521427e-01 4.28447282e-01 9.05298369e-03 -3.34768567e+02] [-1.00389085e-02 -4.16420295e-05 -9.99949608e-01 -4.84845749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters 0.04815943874329916 Centerline is valid? [True, True] Translation: X:398.88, Y:-334.87, Z:-4.85 [[-3.57634331e-01 -9.33854779e-01 3.59673220e-03 3.98878638e+02] [-9.33809511e-01 3.57652410e-01 9.19517220e-03 -3.34874221e+02] [-9.87333545e-03 -7.01534780e-05 -9.99951255e-01 -4.84877144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters 0.048326870480433014 Centerline is valid? [True, True] Translation: X:398.76, Y:-335.00, Z:-4.85 [[-2.85839853e-01 -9.58273449e-01 2.75231018e-03 3.98756955e+02] [-9.58231800e-01 2.85853092e-01 8.93465102e-03 -3.35000200e+02] [-9.34859522e-03 -8.34718024e-05 -9.99956297e-01 -4.84784974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters 0.04807859685191255 Centerline is valid? [True, True] Translation: X:398.65, Y:-335.12, Z:-4.85 [[-2.13410437e-01 -9.76960183e-01 2.18769523e-03 3.98651758e+02] [-9.76913257e-01 2.13421629e-01 9.57587536e-03 -3.35123140e+02] [-9.82215043e-03 -9.35967291e-05 -9.99951757e-01 -4.84923321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters 0.04808147800183516 Centerline is valid? [True, True] Translation: X:398.53, Y:-335.35, Z:-4.85 [[-1.36118796e-01 -9.90691337e-01 1.53238446e-03 3.98526674e+02] [-9.90640189e-01 1.36127341e-01 1.00679236e-02 -3.35354573e+02] [-1.01828041e-02 -1.47607993e-04 -9.99948143e-01 -4.84826650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters 0.04802538846565727 Centerline is valid? [True, True] Translation: X:398.43, Y:-335.51, Z:-4.85 [[-5.78823220e-02 -9.98323070e-01 8.27830603e-04 3.98427076e+02] [-9.98265309e-01 5.78878796e-02 1.07408782e-02 -3.35513510e+02] [-1.07707879e-02 -2.04687600e-04 -9.99941972e-01 -4.84739422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters 0.048163680617512326 Centerline is valid? [True, True] Translation: X:397.85, Y:-335.50, Z:-5.91 [[-1.66562966e-01 9.86029492e-01 1.61873825e-03 3.97850090e+02] [-9.85968236e-01 -1.66570665e-01 1.09932421e-02 -3.35499417e+02] [ 1.11092952e-02 2.35042509e-04 9.99938262e-01 -5.90521900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters 0.0486368423857602 Centerline is valid? [True, True] Translation: X:398.39, Y:-335.98, Z:-4.85 [[-4.95471602e-02 -9.98771540e-01 7.00029120e-04 3.98387504e+02] [-9.98724322e-01 4.95516263e-02 9.71419223e-03 -3.35983498e+02] [-9.73694632e-03 -2.17825470e-04 -9.99952571e-01 -4.84868198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters 0.04803621498185204 Centerline is valid? [True, True] Translation: X:398.30, Y:-336.21, Z:-4.85 [[ 2.27713315e-02 -9.99740700e-01 -1.56282162e-05 3.98304136e+02] [-9.99708380e-01 -2.27707211e-02 8.04050035e-03 -3.36209248e+02] [-8.03877131e-03 -1.67469241e-04 -9.99967675e-01 -4.85000654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters 0.047842224081383875 Centerline is valid? [True, True] Translation: X:398.23, Y:-336.41, Z:-4.85 [[ 9.39911051e-02 -9.95572899e-01 -5.25290834e-04 3.98233679e+02] [-9.95548996e-01 -9.39924890e-02 6.89983601e-03 -3.36411898e+02] [-6.91866313e-03 -1.25570449e-04 -9.99976058e-01 -4.84976716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters 0.04805344154947374 Centerline is valid? [True, True] Translation: X:398.18, Y:-336.62, Z:-4.85 [[ 1.64877974e-01 -9.86313137e-01 -1.28416714e-03 3.98184272e+02] [-9.86276548e-01 -1.64882920e-01 8.49664611e-03 -3.36618175e+02] [-8.59209091e-03 -1.34365863e-04 -9.99963078e-01 -4.85035957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters 0.049126416204479426 Centerline is valid? [True, True] Translation: X:398.12, Y:-336.73, Z:-4.85 [[ 2.36214507e-01 -9.71698344e-01 -2.24371986e-03 3.98122608e+02] [-9.71648587e-01 -2.36225120e-01 9.83445827e-03 -3.36734931e+02] [-1.00861498e-02 -1.42934479e-04 -9.99949123e-01 -4.84633367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters 0.04850309931425563 Centerline is valid? [True, True] Translation: X:398.14, Y:-337.11, Z:-4.85 [[ 3.05036574e-01 -9.52334498e-01 -3.41949918e-03 3.98143674e+02] [-9.52269262e-01 -3.05055706e-01 1.11475877e-02 -3.37108439e+02] [-1.16593701e-02 -1.44138005e-04 -9.99932017e-01 -4.84570602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters 0.04812860457932633 Centerline is valid? [True, True] Translation: X:398.16, Y:-337.36, Z:-4.85 [[ 3.70835197e-01 -9.28689697e-01 -4.08700008e-03 3.98155531e+02] [-9.28630454e-01 -3.70857706e-01 1.04900757e-02 -3.37356867e+02] [-1.12577207e-02 -9.47765470e-05 -9.99936625e-01 -4.84816660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters 0.04880467315360853 Centerline is valid? [True, True] Translation: X:398.15, Y:-337.53, Z:-4.85 [[ 4.36943055e-01 -8.99476283e-01 -4.81497990e-03 3.98148923e+02] [-8.99419796e-01 -4.36969577e-01 1.00806211e-02 -3.37529963e+02] [-1.11712794e-02 -7.39691500e-05 -9.99937597e-01 -4.84973609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters 0.048532061532695146 Centerline is valid? [True, True] Translation: X:398.23, Y:-337.85, Z:-4.85 [[ 5.02805633e-01 -8.64384399e-01 -5.10943721e-03 3.98229299e+02] [-8.64338157e-01 -5.02831586e-01 8.94131108e-03 -3.37853037e+02] [-1.02979162e-02 -7.94600372e-05 -9.99946972e-01 -4.84986912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters 0.04820699236421645 Centerline is valid? [True, True] Translation: X:398.22, Y:-337.98, Z:-4.85 [[ 5.66481296e-01 -8.24057154e-01 -5.36168831e-03 3.98218941e+02] [-8.24018772e-01 -5.66506663e-01 7.95384268e-03 -3.37979859e+02] [-9.59185311e-03 -8.75712929e-05 -9.99953993e-01 -4.85286571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters 0.04790657291488717 Centerline is valid? [True, True] Translation: X:398.29, Y:-338.21, Z:-4.85 [[ 6.27819873e-01 -7.78344265e-01 -4.73411035e-03 3.98287045e+02] [-7.78321023e-01 -6.27837715e-01 6.01577006e-03 -3.38210195e+02] [-7.65459316e-03 -9.21623827e-05 -9.99970699e-01 -4.85322976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters 0.04834976655649245 Centerline is valid? [True, True] Translation: X:398.37, Y:-338.43, Z:-4.85 [[ 6.84732496e-01 -7.28783542e-01 -3.99471642e-03 3.98373261e+02] [-7.28770431e-01 -6.84744143e-01 4.37236659e-03 -3.38433802e+02] [-5.92186748e-03 -8.26702815e-05 -9.99982462e-01 -4.85437882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters 0.048174075594998915 Centerline is valid? [True, True] Translation: X:398.45, Y:-338.62, Z:-4.85 [[ 7.36318802e-01 -6.76622596e-01 -4.06009987e-03 3.98448644e+02] [-6.76611726e-01 -7.36329991e-01 3.83608322e-03 -3.38619727e+02] [-5.58515389e-03 -7.74690165e-05 -9.99984400e-01 -4.85480581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters 0.04892707592847986 Centerline is valid? [True, True] Translation: X:398.42, Y:-338.70, Z:-4.85 [[ 7.85947611e-01 -6.18259891e-01 -6.40785348e-03 3.98424047e+02] [-6.18238284e-01 -7.85973725e-01 5.16983782e-03 -3.38700466e+02] [-8.23270784e-03 -1.01641344e-04 -9.99966106e-01 -4.85256767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters 0.0492143420443631 Centerline is valid? [True, True] Translation: X:398.41, Y:-338.79, Z:-4.85 [[ 8.30378433e-01 -5.57130530e-01 -8.78810071e-03 3.98406036e+02] [-5.57098004e-01 -8.30424929e-01 6.02097802e-03 -3.38785015e+02] [-1.06523286e-02 -1.03856936e-04 -9.99943257e-01 -4.85142090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters 0.04837092185219752 Centerline is valid? [True, True] Translation: X:398.40, Y:-338.87, Z:-4.85 [[ 8.68590697e-01 -4.95402476e-01 -1.12510902e-02 3.98395048e+02] [-4.95360115e-01 -8.68663562e-01 6.47862283e-03 -3.38866483e+02] [-1.29829379e-02 -5.39301984e-05 -9.99915717e-01 -4.84853844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters 0.04873751375071085 Centerline is valid? [True, True] Translation: X:398.39, Y:-338.95, Z:-4.85 [[ 9.02685341e-01 -4.30154873e-01 -1.12232214e-02 3.98392591e+02] [-4.30121705e-01 -9.02755108e-01 5.34167241e-03 -3.38945743e+02] [-1.24295668e-02 5.50173557e-06 -9.99922750e-01 -4.85054273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters 0.04861934463990621 Centerline is valid? [True, True] Translation: X:398.40, Y:-339.02, Z:-4.85 [[ 9.31272184e-01 -3.64230368e-01 -8.26789428e-03 3.98396910e+02] [-3.64216595e-01 -9.31308883e-01 3.16809610e-03 -3.39024326e+02] [-8.85388020e-03 6.09445303e-05 -9.99960802e-01 -4.85172213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters 0.04801890596408274 Centerline is valid? [True, True] Translation: X:398.41, Y:-339.10, Z:-4.85 [[ 9.56146804e-01 -2.92805923e-01 -6.92674534e-03 3.98406429e+02] [-2.92798761e-01 -9.56171892e-01 2.04915070e-03 -3.39100681e+02] [-7.22316266e-03 6.88535545e-05 -9.99973910e-01 -4.85316215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters 0.048548246556980784 Centerline is valid? [True, True] Translation: X:398.42, Y:-339.19, Z:-4.85 [[ 9.76070016e-01 -2.17364712e-01 -6.31714039e-03 3.98418893e+02] [-2.17360577e-01 -9.76090456e-01 1.34232753e-03 -3.39189545e+02] [-6.45787508e-03 6.28916251e-05 -9.99979146e-01 -4.85417225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters 0.04831774220066166 Centerline is valid? [True, True] Translation: X:398.44, Y:-339.28, Z:-4.85 [[ 9.90593111e-01 -1.36661156e-01 -7.00123167e-03 3.98438429e+02] [-1.36658043e-01 -9.90617851e-01 9.23456693e-04 -3.39277617e+02] [-7.06174573e-03 4.20047799e-05 -9.99975065e-01 -4.85303730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters 0.04828487794484714 Centerline is valid? [True, True] Translation: X:398.46, Y:-339.36, Z:-4.85 [[ 9.98448826e-01 -5.51175925e-02 -7.87357713e-03 3.98464789e+02] [-5.51160169e-02 -9.98479870e-01 4.17123948e-04 -3.39361838e+02] [-7.88459914e-03 1.74832942e-05 -9.99968916e-01 -4.85094716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters 0.048339519236836 Centerline is valid? [True, True] Translation: X:398.49, Y:-339.44, Z:-4.85 [[ 9.99556421e-01 2.81028273e-02 -9.85866589e-03 3.98492127e+02] [ 2.81017279e-02 -9.99605037e-01 -2.50044907e-04 -3.39437550e+02] [-9.86179906e-03 -2.71115541e-05 -9.99951371e-01 -4.84940865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters 0.04824249477901307 Centerline is valid? [True, True] Translation: X:398.53, Y:-339.51, Z:-4.85 [[ 9.94135783e-01 1.07553589e-01 -1.12370325e-02 3.98526352e+02] [ 1.07547246e-01 -9.94199288e-01 -1.16896992e-03 -3.39509177e+02] [-1.12975766e-02 -4.63970683e-05 -9.99936179e-01 -4.85088647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters 0.04797386805645872 Centerline is valid? [True, True] Translation: X:398.57, Y:-339.59, Z:-4.85 [[ 9.82868835e-01 1.83913389e-01 -1.20299244e-02 3.98567449e+02] [ 1.83900071e-01 -9.82942452e-01 -2.21361218e-03 -3.39590680e+02] [-1.22318363e-02 -3.66135159e-05 -9.99925188e-01 -4.84643119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters 0.048618071217643506 Centerline is valid? [True, True] Translation: X:398.61, Y:-339.65, Z:-4.85 [[ 9.66909474e-01 2.54948341e-01 -9.34942322e-03 3.98612063e+02] [ 2.54936180e-01 -9.66954675e-01 -2.49031922e-03 -3.39653246e+02] [-9.67537124e-03 2.44070109e-05 -9.99953192e-01 -4.85081196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters 0.04864062031121183 Centerline is valid? [True, True] Translation: X:398.66, Y:-339.72, Z:-4.86 [[ 9.45833471e-01 3.24615951e-01 -4.85076458e-03 3.98663273e+02] [ 3.24611453e-01 -9.45845909e-01 -1.70928649e-03 -3.39718315e+02] [-5.14293749e-03 4.20866369e-05 -9.99986774e-01 -4.85533525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters 0.0479409466009116 Centerline is valid? [True, True] Translation: X:398.72, Y:-339.78, Z:-4.86 [[ 9.18185609e-01 3.96138791e-01 -3.04073417e-03 3.98716721e+02] [ 3.96136499e-01 -9.18190643e-01 -1.34787801e-03 -3.39776323e+02] [-3.32592043e-03 3.30564085e-05 -9.99994469e-01 -4.85597823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters 0.04780326079663174 Centerline is valid? [True, True] Translation: X:398.78, Y:-339.83, Z:-4.86 [[ 8.83017322e-01 4.69335138e-01 -2.22197402e-03 3.98777004e+02] [ 4.69333600e-01 -8.83020118e-01 -1.20153845e-03 -3.39831670e+02] [-2.52597198e-03 1.81321930e-05 -9.99996810e-01 -4.85541674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters 0.04753289644569503 Centerline is valid? [True, True] Translation: X:398.84, Y:-339.88, Z:-4.85 [[ 8.40475481e-01 5.41842544e-01 -2.76105073e-03 3.98843188e+02] [ 5.41839604e-01 -8.40480016e-01 -1.78495473e-03 -3.39884630e+02] [-3.28777237e-03 4.16405417e-06 -9.99994595e-01 -4.85432950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters 0.04787265966945175 Centerline is valid? [True, True] Translation: X:398.91, Y:-339.93, Z:-4.85 [[ 7.91304297e-01 6.11412274e-01 -3.54134593e-03 3.98913473e+02] [ 6.11406296e-01 -7.91312221e-01 -2.70376573e-03 -3.39933233e+02] [-4.45542586e-03 -2.56997620e-05 -9.99990074e-01 -4.85366432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters 0.0478376412286249 Centerline is valid? [True, True] Translation: X:398.99, Y:-339.98, Z:-4.85 [[ 7.35743831e-01 6.77250361e-01 -3.60051441e-03 3.98988968e+02] [ 6.77242688e-01 -7.35752638e-01 -3.22447586e-03 -3.39979075e+02] [-4.83286541e-03 -6.60338343e-05 -9.99988320e-01 -4.85236534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters 0.04793574360769509 Centerline is valid? [True, True] Translation: X:399.07, Y:-340.02, Z:-4.85 [[ 6.78951297e-01 7.34175086e-01 -3.47554742e-03 3.99067949e+02] [ 7.34166061e-01 -6.78960188e-01 -3.64107526e-03 -3.40017609e+02] [-5.03294507e-03 -7.95161867e-05 -9.99987332e-01 -4.85306348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters 0.04775452659959059 Centerline is valid? [True, True] Translation: X:399.15, Y:-340.05, Z:-4.85 [[ 6.19196077e-01 7.85229878e-01 -3.20263813e-03 3.99148884e+02] [ 7.85220050e-01 -6.19204354e-01 -3.92957767e-03 -3.40050001e+02] [-5.06870927e-03 -8.15965895e-05 -9.99987151e-01 -4.85272392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters 0.048062797193591376 Centerline is valid? [True, True] Translation: X:399.23, Y:-340.07, Z:-4.85 [[ 5.56840702e-01 8.30616675e-01 -2.09065949e-03 3.99231296e+02] [ 8.30611184e-01 -5.56844624e-01 -3.02075600e-03 -3.40074650e+02] [-3.67326281e-03 -5.44452664e-05 -9.99993252e-01 -4.85312173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters 0.048361350457877934 Centerline is valid? [True, True] Translation: X:399.31, Y:-340.09, Z:-4.85 [[ 4.91070986e-01 8.71118925e-01 -1.05096547e-03 3.99310093e+02] [ 8.71117051e-01 -4.91072110e-01 -1.80702344e-03 -3.40090094e+02] [-2.09023215e-03 -2.81371591e-05 -9.99997815e-01 -4.85377791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters 0.047576705393220294 Centerline is valid? [True, True] Translation: X:399.39, Y:-340.10, Z:-4.85 [[ 4.21361218e-01 9.06892771e-01 -4.76066622e-04 3.99394091e+02] [ 9.06892229e-01 -4.21361486e-01 -9.91082782e-04 -3.40100638e+02] [-1.09940195e-03 -1.41372725e-05 -9.99999396e-01 -4.85395920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters 0.047233148057696246 Centerline is valid? [True, True] Translation: X:399.48, Y:-340.11, Z:-4.85 [[ 3.46979637e-01 9.37872578e-01 -3.97971762e-04 3.99483715e+02] [ 9.37872016e-01 -3.46979865e-01 -1.02764221e-03 -3.40106988e+02] [-1.10188563e-03 -1.66756580e-05 -9.99999393e-01 -4.85332199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters 0.04730152162038891 Centerline is valid? [True, True] Translation: X:399.58, Y:-340.11, Z:-4.85 [[ 2.69194832e-01 9.63085496e-01 -6.85117590e-04 3.99576438e+02] [ 9.63082798e-01 -2.69195700e-01 -2.28004624e-03 -3.40108506e+02] [-2.38031018e-03 -4.60483009e-05 -9.99997166e-01 -4.85187760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters 0.04745145498586513 Centerline is valid? [True, True] Translation: X:399.67, Y:-340.10, Z:-4.85 [[ 1.92305406e-01 9.81334906e-01 -6.58510543e-04 3.99669635e+02] [ 9.81330217e-01 -1.92306523e-01 -3.03408754e-03 -3.40101870e+02] [-3.10409188e-03 -6.27448581e-05 -9.99995180e-01 -4.85073230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters 0.04813163047288798 Centerline is valid? [True, True] Translation: X:399.76, Y:-340.09, Z:-4.85 [[ 1.15591427e-01 9.93296723e-01 -4.92448740e-04 3.99758020e+02] [ 9.93290155e-01 -1.15592454e-01 -3.61279983e-03 -3.40086399e+02] [-3.64550559e-03 -7.15357973e-05 -9.99993353e-01 -4.85031233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters 0.0479677537476194 Centerline is valid? [True, True] Translation: X:399.84, Y:-340.07, Z:-4.85 [[ 4.25844830e-02 9.99092847e-01 -2.14318648e-04 3.99841728e+02] [ 9.99085832e-01 -4.25849872e-02 -3.74412884e-03 -3.40065345e+02] [-3.74985910e-03 -5.46809341e-05 -9.99992968e-01 -4.84967365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters 0.04759191716131229 Centerline is valid? [True, True] Translation: X:399.92, Y:-340.04, Z:-4.85 [[-3.00536278e-02 9.99548285e-01 7.12795398e-05 3.99917171e+02] [ 9.99542629e-01 3.00536976e-02 -3.36262417e-03 -3.40037862e+02] [-3.36324744e-03 -2.98121168e-05 -9.99994344e-01 -4.84892379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters 0.04772158251360973 Centerline is valid? [True, True] Translation: X:399.99, Y:-340.01, Z:-4.85 [[-1.07740270e-01 9.94179047e-01 2.36459841e-04 3.99986193e+02] [ 9.94176236e-01 1.07740527e-01 -2.36442922e-03 -3.40005090e+02] [-2.37614229e-03 -1.96614872e-05 -9.99997177e-01 -4.84914753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters 0.04729589294547834 Centerline is valid? [True, True] Translation: X:400.06, Y:-339.97, Z:-4.85 [[-1.86605997e-01 9.82434727e-01 4.56714380e-04 4.00060882e+02] [ 9.82431446e-01 1.86606554e-01 -2.53925448e-03 -3.39965501e+02] [-2.57987768e-03 -2.51495446e-05 -9.99996672e-01 -4.84903383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters 0.04680214665970009 Centerline is valid? [True, True] Translation: X:400.13, Y:-339.92, Z:-4.85 [[-2.63120477e-01 9.64762765e-01 6.49847416e-04 4.00129691e+02] [ 9.64759578e-01 2.63121278e-01 -2.47984833e-03 -3.39921566e+02] [-2.56345402e-03 -2.55523562e-05 -9.99996714e-01 -4.84968240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters 0.0470637365857867 Centerline is valid? [True, True] Translation: X:400.20, Y:-339.87, Z:-4.85 [[-3.37466128e-01 9.41337519e-01 5.35541365e-04 4.00204158e+02] [ 9.41336262e-01 3.37466553e-01 -1.53873616e-03 -3.39868226e+02] [-1.62919738e-03 -1.51468276e-05 -9.99998673e-01 -4.84972945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters 0.04679091318218306 Centerline is valid? [True, True] Translation: X:400.27, Y:-339.81, Z:-4.85 [[-4.09977046e-01 9.12095724e-01 4.59545857e-04 4.00272826e+02] [ 9.12095124e-01 4.09977304e-01 -1.04688760e-03 -3.39811201e+02] [-1.14326507e-03 -1.00503504e-05 -9.99999346e-01 -4.84897651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters 0.04721321248498508 Centerline is valid? [True, True] Translation: X:400.33, Y:-339.75, Z:-4.85 [[-4.80269247e-01 8.77120496e-01 1.04199269e-03 4.00333302e+02] [ 8.77118335e-01 4.80270376e-01 -1.94720997e-03 -3.39749431e+02] [-2.20837600e-03 -2.12341737e-05 -9.99997561e-01 -4.84835012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters 0.04713722192880581 Centerline is valid? [True, True] Translation: X:400.39, Y:-339.68, Z:-4.85 [[-5.46800228e-01 8.37258766e-01 2.69619309e-03 4.00386335e+02] [ 8.37248168e-01 5.46806874e-01 -4.21288864e-03 -3.39684271e+02] [-5.00157486e-03 -4.62257426e-05 -9.99987491e-01 -4.84573017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters 0.0474083785202559 Centerline is valid? [True, True] Translation: X:400.43, Y:-339.62, Z:-4.84 [[-6.09165281e-01 7.93033322e-01 3.97632482e-03 4.00433565e+02] [ 7.93015898e-01 6.09178256e-01 -5.25711080e-03 -3.39615403e+02] [-6.59135466e-03 -4.91605822e-05 -9.99978276e-01 -4.84494130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters 0.047232827741674886 Centerline is valid? [True, True] Translation: X:400.48, Y:-339.54, Z:-4.85 [[-6.67264546e-01 7.44806026e-01 4.69149847e-03 4.00478317e+02] [ 7.44787268e-01 6.67281038e-01 -5.28609835e-03 -3.39540193e+02] [-7.06766587e-03 -3.30576824e-05 -9.99975023e-01 -4.84507728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters 0.048050909851247145 Centerline is valid? [True, True] Translation: X:400.52, Y:-339.46, Z:-4.85 [[-7.21087768e-01 6.92836563e-01 3.15086597e-03 4.00516956e+02] [ 6.92829920e-01 7.21094652e-01 -3.03390481e-03 -3.39463827e+02] [-4.37407278e-03 -4.69742679e-06 -9.99990434e-01 -4.84604819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters 0.04712476737904571 Centerline is valid? [True, True] Translation: X:400.53, Y:-339.37, Z:-4.85 [[-7.67972120e-01 6.40480527e-01 1.87572290e-03 4.00532404e+02] [ 6.40478615e-01 7.67974410e-01 -1.56502786e-03 -3.39374671e+02] [-2.44287705e-03 -5.37354526e-07 -9.99997016e-01 -4.84669686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters 0.04760946033084099 Centerline is valid? [True, True] Translation: X:400.44, Y:-339.20, Z:-4.85 [[-8.12471281e-01 5.83000818e-01 6.80926637e-04 4.00439187e+02] [ 5.83000613e-01 8.12471566e-01 -4.89664010e-04 -3.39204516e+02] [-8.38708049e-04 -8.57298588e-07 -9.99999648e-01 -4.84649842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters 0.04682770358237786 Centerline is valid? [True, True] Translation: X:400.49, Y:-339.14, Z:-4.85 [[-8.53126410e-01 5.21704180e-01 2.78510966e-04 4.00486098e+02] [ 5.21704152e-01 8.53126455e-01 -1.70767082e-04 -3.39144926e+02] [-3.26694974e-04 -3.85579618e-07 -9.99999947e-01 -4.84659178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters 0.046819249205229445 Centerline is valid? [True, True] Translation: X:400.88, Y:-339.27, Z:-4.85 [[-8.90765412e-01 4.54463398e-01 3.82007339e-05 4.00882386e+02] [ 4.54463398e-01 8.90765412e-01 -1.83591655e-05 -3.39274826e+02] [-4.23714613e-05 1.00712577e-06 -9.99999999e-01 -4.84620394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters 0.04773580516064681 Centerline is valid? [True, True] Translation: X:400.14, Y:-338.82, Z:-4.84 [[-9.22190851e-01 3.86730482e-01 1.88905609e-03 4.00135294e+02] [ 3.86729619e-01 9.22192786e-01 -8.17389965e-04 -3.38818865e+02] [-2.05818351e-03 -2.32356052e-05 -9.99997882e-01 -4.84360512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters 0.04696203179337521 Centerline is valid? [True, True] Translation: X:400.35, Y:-338.27, Z:-5.91 [[-8.82144228e-01 -4.70961454e-01 4.10720275e-03 4.00353543e+02] [ 4.70957488e-01 -8.82153763e-01 -1.94505552e-03 -3.38266103e+02] [ 4.53923053e-03 2.18498390e-04 9.99989674e-01 -5.91088259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters 0.04687895437122222 Centerline is valid? [True, True] Translation: X:400.05, Y:-338.79, Z:-4.84 [[-9.24383347e-01 3.81431681e-01 5.03001715e-03 4.00051836e+02] [ 3.81425588e-01 9.24397029e-01 -2.15734425e-03 -3.38789245e+02] [-5.47261235e-03 -7.56358542e-05 -9.99985022e-01 -4.84277667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters 0.047294199010031325 Centerline is valid? [True, True] Translation: X:400.24, Y:-338.22, Z:-5.91 [[-8.85666480e-01 -4.64306598e-01 3.77758137e-03 4.00240957e+02] [ 4.64302307e-01 -8.85674536e-01 -1.99605225e-03 -3.38220713e+02] [ 4.27248786e-03 -1.38968190e-05 9.99990873e-01 -5.91190741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters 0.04745490080776062 Centerline is valid? [True, True] Translation: X:399.85, Y:-338.71, Z:-4.84 [[-9.22138240e-01 3.86845780e-01 3.37778792e-03 3.99852775e+02] [ 3.86843123e-01 9.22144426e-01 -1.43376691e-03 -3.38708167e+02] [-3.66945498e-03 -1.54572664e-05 -9.99993267e-01 -4.84225546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters 0.047221108461131554 Centerline is valid? [True, True] Translation: X:399.95, Y:-338.08, Z:-5.91 [[-8.93195538e-01 -4.49663761e-01 2.05725377e-03 3.99946348e+02] [ 4.49662399e-01 -8.93197905e-01 -1.10851516e-03 -3.38076069e+02] [ 2.33599385e-03 -6.50511288e-05 9.99997269e-01 -5.90976468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters 0.04748731877235503 Centerline is valid? [True, True] Translation: X:400.03, Y:-338.80, Z:-4.85 [[-9.19446199e-01 3.93214365e-01 -1.07288702e-03 4.00031144e+02] [ 3.93214111e-01 9.19446825e-01 4.47107707e-04 -3.38800929e+02] [ 1.16227173e-03 -1.07828327e-05 -9.99999325e-01 -4.84639429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters 0.04751226211402162 Centerline is valid? [True, True] Translation: X:399.55, Y:-337.90, Z:-5.91 [[-9.00644475e-01 -4.34555832e-01 -8.70865922e-04 3.99550174e+02] [ 4.34555608e-01 -9.00644896e-01 4.41644894e-04 -3.37895796e+02] [-9.76260312e-04 1.93253633e-05 9.99999523e-01 -5.90708833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters 0.04736716240802793 Centerline is valid? [True, True] Translation: X:399.29, Y:-338.47, Z:-4.84 [[-9.21671041e-01 3.87965574e-01 2.28143485e-03 3.99285586e+02] [ 3.87964444e-01 9.21673865e-01 -9.36690002e-04 -3.38474475e+02] [-2.46614235e-03 2.17955547e-05 -9.99996959e-01 -4.84438497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters 0.047222523797495634 Centerline is valid? [True, True] Translation: X:399.35, Y:-338.42, Z:-4.84 [[-9.47958320e-01 3.18354955e-01 5.01454745e-03 3.99349451e+02] [ 3.18350657e-01 9.47971583e-01 -1.65438270e-03 -3.38415235e+02] [-5.28032942e-03 2.80986339e-05 -9.99986059e-01 -4.84190681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters 0.04768054205415172 Centerline is valid? [True, True] Translation: X:399.48, Y:-338.37, Z:-4.84 [[-9.69188053e-01 2.46206573e-01 7.53934995e-03 3.99482344e+02] [ 2.46199172e-01 9.69217377e-01 -1.90898884e-03 -3.38367600e+02] [-7.77727458e-03 6.01253579e-06 -9.99969757e-01 -4.83944880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters 0.04728259188448856 Centerline is valid? [True, True] Translation: X:399.38, Y:-338.27, Z:-4.84 [[-9.84552846e-01 1.74933879e-01 7.33696286e-03 3.99384893e+02] [ 1.74928959e-01 9.84580184e-01 -1.31210527e-03 -3.38266228e+02] [-7.45335990e-03 -8.38970702e-06 -9.99972223e-01 -4.84102381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters 0.04779327619256615 Centerline is valid? [True, True] Translation: X:399.21, Y:-338.17, Z:-4.84 [[-9.94705255e-01 1.02622863e-01 5.47750624e-03 3.99210714e+02] [ 1.02621212e-01 9.94720336e-01 -5.82437877e-04 -3.38165127e+02] [-5.50835830e-03 -1.72456878e-05 -9.99984829e-01 -4.84310849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters 0.04761514901044922 Centerline is valid? [True, True] Translation: X:399.27, Y:-337.57, Z:-5.91 [[-9.84123104e-01 -1.77449074e-01 3.67991854e-03 3.99274287e+02] [ 1.77447427e-01 -9.84129979e-01 -7.72004873e-04 -3.37572142e+02] [ 3.75850971e-03 -1.06755757e-04 9.99992931e-01 -5.90985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters 0.047626753357518786 Centerline is valid? [True, True] Translation: X:399.10, Y:-338.15, Z:-4.84 [[-9.95496413e-01 9.47949398e-02 9.00664184e-04 3.99096200e+02] [ 9.47948964e-02 9.95496820e-01 -9.08783803e-05 -3.38148543e+02] [-9.05223142e-04 -5.09073360e-06 -9.99999590e-01 -4.84452746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters 0.047332527641022186 Centerline is valid? [True, True] Translation: X:399.14, Y:-337.56, Z:-5.91 [[-9.84143879e-01 -1.77371785e-01 2.76007042e-04 3.99136732e+02] [ 1.77371767e-01 -9.84143916e-01 -9.11883128e-05 -3.37561762e+02] [ 2.87804885e-04 -4.07865632e-05 9.99999958e-01 -5.90855331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters 0.047049168340793486 Centerline is valid? [True, True] Translation: X:399.04, Y:-338.15, Z:-4.85 [[-9.96178394e-01 8.73415571e-02 2.43895806e-04 3.99044647e+02] [ 8.73415543e-02 9.96178424e-01 -2.22302202e-05 -3.38147276e+02] [-2.44905362e-04 -8.43026314e-07 -9.99999970e-01 -4.84548800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters 0.04719195763042257 Centerline is valid? [True, True] Translation: X:399.06, Y:-337.56, Z:-5.91 [[-9.83849242e-01 -1.78989763e-01 1.82585921e-03 3.99056966e+02] [ 1.78989693e-01 -9.83850928e-01 -2.02818094e-04 -3.37560884e+02] [ 1.83267564e-03 1.27267551e-04 9.99998313e-01 -5.90934496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters 0.047308879841613485 Centerline is valid? [True, True] Translation: X:398.94, Y:-338.14, Z:-4.84 [[-9.97127659e-01 7.55729147e-02 5.01658300e-03 3.98943978e+02] [ 7.55714818e-02 9.97140274e-01 -4.74853118e-04 -3.38135750e+02] [-5.03812298e-03 -9.43785665e-05 -9.99987304e-01 -4.84188550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters 0.04771485723255622 Centerline is valid? [True, True] Translation: X:398.94, Y:-338.06, Z:-4.84 [[-9.99979757e-01 2.33411315e-03 5.91932102e-03 3.98940772e+02] [ 2.33334134e-03 9.99997268e-01 -1.37290080e-04 -3.38056384e+02] [-5.91962530e-03 -1.23475504e-04 -9.99982471e-01 -4.84076189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters 0.0476428544875398 Centerline is valid? [True, True] Translation: X:398.96, Y:-337.98, Z:-4.84 [[-9.97595855e-01 -6.90750476e-02 5.58104254e-03 3.98964715e+02] [-6.90746217e-02 9.97611460e-01 2.69263744e-04 -3.37976832e+02] [-5.58631140e-03 -1.16892007e-04 -9.99984390e-01 -4.84086997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters 0.04680216730432624 Centerline is valid? [True, True] Translation: X:398.73, Y:-337.41, Z:-5.91 [[-9.99346341e-01 -3.59862465e-02 3.44690907e-03 3.98732315e+02] [ 3.59858392e-02 -9.99352284e-01 -1.80127929e-04 -3.37407686e+02] [ 3.45115857e-03 -5.59702714e-05 9.99994043e-01 -5.91183934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters 0.04730339793370841 Centerline is valid? [True, True] Translation: X:398.63, Y:-338.00, Z:-4.84 [[-9.97972699e-01 -6.36074339e-02 2.14154649e-03 3.98633330e+02] [-6.36073380e-02 9.97974997e-01 1.12933684e-04 -3.37995421e+02] [-2.14439327e-03 -2.35133379e-05 -9.99997701e-01 -4.84178675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters 0.04688974443144052 Centerline is valid? [True, True] Translation: X:398.68, Y:-337.92, Z:-4.84 [[-9.91555268e-01 -1.29670612e-01 1.91929270e-03 3.98684012e+02] [-1.29670388e-01 9.91557125e-01 2.41525223e-04 -3.37920753e+02] [-1.93440708e-03 -9.38982159e-06 -9.99998129e-01 -4.84184150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters 0.0469587457365778 Centerline is valid? [True, True] Translation: X:398.40, Y:-337.35, Z:-5.91 [[-9.98655574e-01 5.17066105e-02 3.67031100e-03 3.98403620e+02] [-5.17057780e-02 -9.98662310e-01 3.21412961e-04 -3.37349015e+02] [ 3.68202044e-03 1.31204560e-04 9.99993213e-01 -5.91277085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters 0.046399052068343404 Centerline is valid? [True, True] Translation: X:398.32, Y:-337.96, Z:-4.84 [[-9.90501950e-01 -1.37298400e-01 7.41872318e-03 3.98317476e+02] [-1.37295089e-01 9.90529729e-01 9.56128553e-04 -3.37957593e+02] [-7.47974078e-03 -7.15070653e-05 -9.99972024e-01 -4.83718941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters 0.047363719504078895 Centerline is valid? [True, True] Translation: X:398.71, Y:-337.81, Z:-4.84 [[-9.76677117e-01 -2.14480157e-01 1.00035776e-02 3.98705589e+02] [-2.14470181e-01 9.76728339e-01 2.07218374e-03 -3.37810665e+02] [-1.02152201e-02 -1.21614669e-04 -9.99947816e-01 -4.84007156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters 0.04768282920130202 Centerline is valid? [True, True] Translation: X:397.78, Y:-337.38, Z:-5.92 [[-9.92043458e-01 1.25433019e-01 1.07858418e-02 3.97784394e+02] [-1.25423749e-01 -9.92102076e-01 1.53433730e-03 -3.37384463e+02] [ 1.08931126e-02 1.69328566e-04 9.99940654e-01 -5.91760116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters 0.04760183460512837 Centerline is valid? [True, True] Translation: X:397.77, Y:-337.98, Z:-4.84 [[-9.76806857e-01 -2.13957755e-01 8.39304982e-03 3.97767649e+02] [-2.13950414e-01 9.76842912e-01 1.77349822e-03 -3.37982993e+02] [-8.57814492e-03 -6.33312639e-05 -9.99963205e-01 -4.83846292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters 0.0468396571503154 Centerline is valid? [True, True] Translation: X:397.62, Y:-337.95, Z:-4.84 [[-9.61386025e-01 -2.75170087e-01 4.28190956e-03 3.97616646e+02] [-2.75167342e-01 9.61395560e-01 1.22909868e-03 -3.37946300e+02] [-4.45482003e-03 3.39662283e-06 -9.99990077e-01 -4.84116906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters 0.048058826037504936 Centerline is valid? [True, True] Translation: X:398.01, Y:-337.73, Z:-4.84 [[-9.39021111e-01 -3.43842197e-01 3.44910015e-03 3.98010646e+02] [-3.43839805e-01 9.39027445e-01 1.28280034e-03 -3.37731019e+02] [-3.67988059e-03 1.86386738e-05 -9.99993229e-01 -4.84327230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters 0.04824994960448367 Centerline is valid? [True, True] Translation: X:397.83, Y:-337.71, Z:-4.84 [[-9.12840877e-01 -4.08281347e-01 5.27965882e-03 3.97827419e+02] [-4.08274275e-01 9.12856144e-01 2.40347229e-03 -3.37710362e+02] [-5.80086189e-03 3.84388763e-05 -9.99983174e-01 -4.84318805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters 0.04818443840686786 Centerline is valid? [True, True] Translation: X:397.65, Y:-337.70, Z:-4.84 [[-8.80620416e-01 -4.73772281e-01 6.89257709e-03 3.97651643e+02] [-4.73757426e-01 8.80647389e-01 3.75197980e-03 -3.37697670e+02] [-7.84751404e-03 3.86604363e-05 -9.99969207e-01 -4.84233004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters 0.048275799751064524 Centerline is valid? [True, True] Translation: X:397.60, Y:-337.62, Z:-4.84 [[-8.42134274e-01 -5.39210561e-01 7.86349774e-03 3.97600482e+02] [-5.39186767e-01 8.42170986e-01 5.06565198e-03 -3.37622690e+02] [-9.35386270e-03 2.60652331e-05 -9.99956251e-01 -4.84307777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters 0.04855880957014655 Centerline is valid? [True, True] Translation: X:397.59, Y:-337.51, Z:-4.85 [[-7.98502772e-01 -6.01942514e-01 7.65075778e-03 3.97594509e+02] [-6.01914791e-01 7.98539423e-01 5.77702445e-03 -3.37512550e+02] [-9.58686832e-03 7.86576088e-06 -9.99954045e-01 -4.84585689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters 0.048554426819572304 Centerline is valid? [True, True] Translation: X:397.21, Y:-337.71, Z:-4.84 [[-7.52970834e-01 -6.58012767e-01 7.35677958e-03 3.97205814e+02] [-6.57981408e-01 7.53006772e-01 6.42406619e-03 -3.37710640e+02] [-9.76682241e-03 -3.48970926e-06 -9.99952303e-01 -4.84474041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters 0.04770085613476555 Centerline is valid? [True, True] Translation: X:397.08, Y:-337.70, Z:-4.85 [[-7.01701558e-01 -7.12451675e-01 5.24730746e-03 3.97081170e+02] [-7.12431897e-01 7.01721177e-01 5.30871026e-03 -3.37701495e+02] [-7.46434629e-03 -1.32189473e-05 -9.99972141e-01 -4.84686355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters 0.047699707962331826 Centerline is valid? [True, True] Translation: X:396.85, Y:-337.81, Z:-4.85 [[-6.47649452e-01 -7.61929608e-01 3.66880337e-03 3.96853643e+02] [-7.61917560e-01 6.47659843e-01 4.28474173e-03 -3.37811421e+02] [-5.64080820e-03 -2.03150835e-05 -9.99984090e-01 -4.84623697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters 0.04796937903193588 Centerline is valid? [True, True] Translation: X:396.65, Y:-337.92, Z:-4.85 [[-5.88047685e-01 -8.08820102e-01 3.15638469e-03 3.96649877e+02] [-8.08808798e-01 5.88056155e-01 4.27636852e-03 -3.37915261e+02] [-5.31494426e-03 -3.82030933e-05 -9.99985875e-01 -4.84625672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters 0.04801744412052401 Centerline is valid? [True, True] Translation: X:396.47, Y:-338.02, Z:-4.85 [[-5.24593967e-01 -8.51343312e-01 3.96690505e-03 3.96470193e+02] [-8.51320089e-01 5.24608959e-01 6.28852418e-03 -3.38019489e+02] [-7.43476692e-03 -7.81841183e-05 -9.99972359e-01 -4.84724173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters 0.048684935642148874 Centerline is valid? [True, True] Translation: X:396.01, Y:-338.62, Z:-4.84 [[-4.59919368e-01 -8.87946335e-01 5.04786100e-03 3.96014608e+02] [-8.87896360e-01 4.59947045e-01 9.42180547e-03 -3.38615878e+02] [-1.06878064e-02 -1.48706580e-04 -9.99942873e-01 -4.83949442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters 0.048136172134343735 Centerline is valid? [True, True] Translation: X:395.87, Y:-338.73, Z:-4.84 [[-3.90194044e-01 -9.20717142e-01 5.34335801e-03 3.95873402e+02] [-9.20638703e-01 3.90230562e-01 1.20202818e-02 -3.38731786e+02] [-1.31524211e-02 -2.29059802e-04 -9.99913477e-01 -4.84132780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters 0.04812743969578394 Centerline is valid? [True, True] Translation: X:395.74, Y:-338.85, Z:-4.84 [[-3.21490618e-01 -9.46901350e-01 4.64930400e-03 3.95742130e+02] [-9.46812754e-01 3.21524148e-01 1.29549571e-02 -3.38847085e+02] [-1.37619299e-02 -2.37123144e-04 -9.99905272e-01 -4.84057618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters 0.04841648486732134 Centerline is valid? [True, True] Translation: X:395.69, Y:-338.76, Z:-4.84 [[-2.53091346e-01 -9.67434406e-01 3.92934844e-03 3.95688678e+02] [-9.67329803e-01 2.53121768e-01 1.42275213e-02 -3.38758358e+02] [-1.47587973e-02 -2.00113331e-04 -9.99891063e-01 -4.84091220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters 0.04819870698415156 Centerline is valid? [True, True] Translation: X:395.49, Y:-339.26, Z:-4.84 [[-1.87285783e-01 -9.82301458e-01 2.80733212e-03 3.95491138e+02] [-9.82202035e-01 1.87306770e-01 1.39763068e-02 -3.39257844e+02] [-1.42547788e-02 -1.39803760e-04 -9.99898386e-01 -4.84204013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters 0.048025073178196265 Centerline is valid? [True, True] Translation: X:395.38, Y:-339.54, Z:-4.84 [[-1.20325626e-01 -9.92733263e-01 1.55345571e-03 3.95375441e+02] [-9.92656113e-01 1.20335641e-01 1.23763808e-02 -3.39539828e+02] [-1.24733810e-02 -5.28515443e-05 -9.99922203e-01 -4.84312021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters 0.04758828784030885 Centerline is valid? [True, True] Translation: X:395.30, Y:-339.62, Z:-4.84 [[-4.75646121e-02 -9.98867974e-01 6.15279396e-04 3.95295394e+02] [-9.98793103e-01 4.75685801e-02 1.22297990e-02 -3.39617771e+02] [-1.22452225e-02 -3.28311717e-05 -9.99925024e-01 -4.84450572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters 0.04826406161437593 Centerline is valid? [True, True] Translation: X:395.22, Y:-339.29, Z:-4.85 [[ 2.49046437e-02 -9.99689788e-01 -2.92637147e-04 3.95219958e+02] [-9.99623548e-01 -2.49063622e-02 1.15080741e-02 -3.39292391e+02] [-1.15117927e-02 5.92249797e-06 -9.99933737e-01 -4.84646332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters 0.047984621402985185 Centerline is valid? [True, True] Translation: X:395.18, Y:-340.05, Z:-4.84 [[ 9.60475255e-02 -9.95376063e-01 -1.16912255e-03 3.95184500e+02] [-9.95303023e-01 -9.60546405e-02 1.20581487e-02 -3.40049299e+02] [-1.21146922e-02 5.47586300e-06 -9.99926614e-01 -4.84443233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters 0.04807020005980242 Centerline is valid? [True, True] Translation: X:395.14, Y:-340.26, Z:-4.84 [[ 1.71046137e-01 -9.85260467e-01 -2.24289506e-03 3.95136136e+02] [-9.85174520e-01 -1.71060841e-01 1.30136219e-02 -3.40264580e+02] [-1.32054787e-02 -1.62866911e-05 -9.99912804e-01 -4.84340009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters 0.04810853501884413 Centerline is valid? [True, True] Translation: X:395.09, Y:-340.42, Z:-4.84 [[ 2.46627902e-01 -9.69104288e-01 -3.39943837e-03 3.95089115e+02] [-9.69008787e-01 -2.46651322e-01 1.36049980e-02 -3.40420708e+02] [-1.40231379e-02 -6.12864580e-05 -9.99901669e-01 -4.84456938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters 0.047822035038861455 Centerline is valid? [True, True] Translation: X:395.07, Y:-340.63, Z:-4.84 [[ 3.17980941e-01 -9.48087431e-01 -4.28291235e-03 3.95065897e+02] [-9.47998595e-01 -3.18009776e-01 1.29787111e-02 -3.40628018e+02] [-1.36669608e-02 -6.67878644e-05 -9.99906601e-01 -4.84121281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters 0.048181687712003984 Centerline is valid? [True, True] Translation: X:394.99, Y:-340.66, Z:-4.85 [[ 3.85260194e-01 -9.22795759e-01 -4.75069596e-03 3.94992711e+02] [-9.22724635e-01 -3.85289483e-01 1.14570173e-02 -3.40656429e+02] [-1.24028801e-02 -3.03485030e-05 -9.99923081e-01 -4.84624957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters 0.047999477642947 Centerline is valid? [True, True] Translation: X:394.91, Y:-340.69, Z:-4.85 [[ 4.50668634e-01 -8.92674234e-01 -5.52212358e-03 3.94913083e+02] [-8.92607115e-01 -4.50702464e-01 1.09465966e-02 -3.40689148e+02] [-1.22605795e-02 -4.20094193e-06 -9.99924836e-01 -4.84564464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters 0.04793273903643723 Centerline is valid? [True, True] Translation: X:395.29, Y:-341.54, Z:-4.84 [[ 5.10097794e-01 -8.60095389e-01 -6.01352802e-03 3.95294236e+02] [-8.60036538e-01 -5.10133238e-01 1.00614569e-02 -3.41542684e+02] [-1.17215132e-02 3.95268598e-05 -9.99931300e-01 -4.84238077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters 0.047948956954237086 Centerline is valid? [True, True] Translation: X:394.83, Y:-340.99, Z:-4.85 [[ 5.71123375e-01 -8.20836355e-01 -6.76527644e-03 3.94832496e+02] [-8.20780196e-01 -5.71163439e-01 9.60186216e-03 -3.40988767e+02] [-1.17456361e-02 6.89570014e-05 -9.99931015e-01 -4.84885196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters 0.048418854639926935 Centerline is valid? [True, True] Translation: X:395.37, Y:-341.83, Z:-4.85 [[ 6.27040043e-01 -7.78959078e-01 -6.59841303e-03 3.95374498e+02] [-7.78917285e-01 -6.27074755e-01 8.06931487e-03 -3.41834896e+02] [-1.04233643e-02 7.98344167e-05 -9.99945672e-01 -4.84527540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters 0.048600243535083174 Centerline is valid? [True, True] Translation: X:395.37, Y:-341.95, Z:-4.85 [[ 6.82216106e-01 -7.31123523e-01 -6.29118826e-03 3.95374591e+02] [-7.31093462e-01 -6.82245109e-01 6.63033627e-03 -3.41952439e+02] [-9.13972723e-03 7.61244098e-05 -9.99958229e-01 -4.84805264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters 0.048900265008233065 Centerline is valid? [True, True] Translation: X:395.52, Y:-342.20, Z:-4.85 [[ 7.34362495e-01 -6.78732107e-01 -5.86965518e-03 3.95516258e+02] [-6.78711096e-01 -7.34385950e-01 5.34096343e-03 -3.42197548e+02] [-7.93567566e-03 6.15968679e-05 -9.99968510e-01 -4.84750794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters 0.048437711463964264 Centerline is valid? [True, True] Translation: X:395.49, Y:-342.28, Z:-4.85 [[ 7.86126752e-01 -6.18042818e-01 -5.27309933e-03 3.95494241e+02] [-6.18029271e-01 -7.86144436e-01 4.09233776e-03 -3.42280431e+02] [-6.67465766e-03 4.18335462e-05 -9.99977723e-01 -4.84947788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters 0.04825570305412088 Centerline is valid? [True, True] Translation: X:395.46, Y:-342.39, Z:-4.85 [[ 8.33215421e-01 -5.52925806e-01 -5.01154443e-03 3.95460365e+02] [-5.52915985e-01 -8.33230492e-01 3.29576950e-03 -3.42388956e+02] [-5.99808764e-03 2.48770563e-05 -9.99982011e-01 -4.84791720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters 0.048970674135135776 Centerline is valid? [True, True] Translation: X:395.46, Y:-342.47, Z:-4.85 [[ 8.75818753e-01 -4.82624735e-01 -3.85717602e-03 3.95456249e+02] [-4.82620060e-01 -8.75827246e-01 2.12428021e-03 -3.42466294e+02] [-4.40345002e-03 1.06607789e-06 -9.99990305e-01 -4.84740304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters 0.048409133295312844 Centerline is valid? [True, True] Translation: X:395.46, Y:-342.55, Z:-4.85 [[ 9.13698174e-01 -4.06384379e-01 -2.71729646e-03 3.95456221e+02] [-4.06382519e-01 -9.13702214e-01 1.22998406e-03 -3.42549533e+02] [-2.98264610e-03 -1.95724115e-05 -9.99995552e-01 -4.84834250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters 0.04905021833515848 Centerline is valid? [True, True] Translation: X:395.46, Y:-342.63, Z:-4.85 [[ 9.43727382e-01 -3.30713489e-01 -2.68643595e-03 3.95464374e+02] [-3.30712065e-01 -9.43731205e-01 9.70866255e-04 -3.42628647e+02] [-2.85635200e-03 -2.77962894e-05 -9.99995920e-01 -4.84698955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters 0.04869033242820346 Centerline is valid? [True, True] Translation: X:395.48, Y:-342.71, Z:-4.85 [[ 9.66678934e-01 -2.55972436e-01 -3.15444081e-03 3.95479419e+02] [-2.55970965e-01 -9.66684080e-01 8.68272250e-04 -3.42707600e+02] [-3.27160148e-03 -3.18952342e-05 -9.99994648e-01 -4.84638058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters 0.048494534735916354 Centerline is valid? [True, True] Translation: X:395.50, Y:-342.79, Z:-4.85 [[ 9.83346536e-01 -1.81718370e-01 -2.83259488e-03 3.95499992e+02] [-1.81717552e-01 -9.83350616e-01 5.45704296e-04 -3.42785290e+02] [-2.88459842e-03 -2.18842216e-05 -9.99995839e-01 -4.84670708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters 0.04879831700026333 Centerline is valid? [True, True] Translation: X:395.53, Y:-342.86, Z:-4.85 [[ 9.94279634e-01 -1.06784179e-01 -2.26921257e-03 3.95525338e+02] [-1.06783874e-01 -9.94282223e-01 2.55158776e-04 -3.42860997e+02] [-2.28348463e-03 -1.13838651e-05 -9.99997393e-01 -4.84559517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters 0.04899049240319439 Centerline is valid? [True, True] Translation: X:395.56, Y:-342.92, Z:-4.85 [[ 9.99505426e-01 -3.14136282e-02 -1.44475101e-03 3.95559726e+02] [-3.14135911e-02 -9.99506470e-01 4.83685389e-05 -3.42918783e+02] [-1.44555741e-03 -2.95979957e-06 -9.99998955e-01 -4.84601494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters 0.04898711492775649 Centerline is valid? [True, True] Translation: X:395.59, Y:-342.99, Z:-4.84 [[ 9.98978222e-01 4.51590819e-02 -1.78007945e-03 3.95593842e+02] [ 4.51590117e-02 -9.98979808e-01 -7.96509462e-05 -3.42986806e+02] [-1.78186039e-03 -8.17067911e-07 -9.99998413e-01 -4.84492241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters 0.04937142367915598 Centerline is valid? [True, True] Translation: X:395.63, Y:-343.05, Z:-4.84 [[ 9.92798863e-01 1.19737178e-01 -3.66416228e-03 3.95632409e+02] [ 1.19736325e-01 -9.92805625e-01 -4.51912561e-04 -3.43047074e+02] [-3.69191166e-03 9.92494948e-06 -9.99993185e-01 -4.84464007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters 0.04933787876268399 Centerline is valid? [True, True] Translation: X:395.68, Y:-343.12, Z:-4.84 [[ 9.80897415e-01 1.94481908e-01 -4.12905000e-03 3.95676857e+02] [ 1.94480090e-01 -9.80906105e-01 -8.41243598e-04 -3.43115026e+02] [-4.21381701e-03 2.21556538e-05 -9.99991122e-01 -4.84315757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters 0.04964884644398425 Centerline is valid? [True, True] Translation: X:395.73, Y:-343.18, Z:-4.84 [[ 9.63308240e-01 2.68368873e-01 -3.92197681e-03 3.95726388e+02] [ 2.68366518e-01 -9.63316224e-01 -1.12483293e-03 -3.43180875e+02] [-4.07997403e-03 3.10335735e-05 -9.99991676e-01 -4.84432806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters 0.04976957452861828 Centerline is valid? [True, True] Translation: X:395.78, Y:-343.25, Z:-4.84 [[ 9.40161235e-01 3.40711430e-01 -3.54592579e-03 3.95784238e+02] [ 3.40708855e-01 -9.40167921e-01 -1.32512159e-03 -3.43253351e+02] [-3.78524975e-03 3.76996326e-05 -9.99992835e-01 -4.84421066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters 0.05032630906031447 Centerline is valid? [True, True] Translation: X:395.85, Y:-343.33, Z:-4.85 [[ 9.11361590e-01 4.11591508e-01 -3.53295764e-03 3.95853617e+02] [ 4.11588220e-01 -9.11368437e-01 -1.64581136e-03 -3.43334229e+02] [-3.89722806e-03 4.58055084e-05 -9.99992405e-01 -4.84518947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters 0.049179112250953165 Centerline is valid? [True, True] Translation: X:395.93, Y:-343.41, Z:-4.85 [[ 8.77560880e-01 4.79455209e-01 -3.09904473e-03 3.95927446e+02] [ 4.79452015e-01 -8.77566351e-01 -1.75094614e-03 -3.43406337e+02] [-3.55911763e-03 5.07185980e-05 -9.99993665e-01 -4.84534756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters 0.05018750026737441 Centerline is valid? [True, True] Translation: X:396.01, Y:-343.47, Z:-4.85 [[ 8.37653826e-01 5.46190699e-01 -3.43336889e-03 3.96006827e+02] [ 5.46185811e-01 -8.37660860e-01 -2.31152830e-03 -3.43471551e+02] [-4.13853399e-03 6.10031518e-05 -9.99991434e-01 -4.84556247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters 0.049918247233976705 Centerline is valid? [True, True] Translation: X:396.09, Y:-343.54, Z:-4.84 [[ 7.91272768e-01 6.11442293e-01 -5.07230113e-03 3.96094638e+02] [ 6.11429051e-01 -7.91289021e-01 -4.02494338e-03 -3.43536764e+02] [-6.47467680e-03 8.34758214e-05 -9.99979036e-01 -4.84253485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters 0.05038308207931992 Centerline is valid? [True, True] Translation: X:396.19, Y:-343.59, Z:-4.84 [[ 7.40045608e-01 6.72534001e-01 -5.52406858e-03 3.96186052e+02] [ 6.72514392e-01 -7.40066220e-01 -5.13644571e-03 -3.43592350e+02] [-7.54261094e-03 8.61884688e-05 -9.99971550e-01 -4.84384065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters 0.05067876471895231 Centerline is valid? [True, True] Translation: X:396.28, Y:-343.64, Z:-4.85 [[ 6.84811699e-01 7.28698469e-01 -5.61054364e-03 3.96279466e+02] [ 7.28672924e-01 -6.84834676e-01 -6.10218209e-03 -3.43638290e+02] [-8.28894558e-03 9.05944443e-05 -9.99965642e-01 -4.84538904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters 0.05041064930286502 Centerline is valid? [True, True] Translation: X:396.38, Y:-343.68, Z:-4.85 [[ 6.24982700e-01 7.80619971e-01 -5.39312823e-03 3.96375687e+02] [ 7.80589693e-01 -6.25005963e-01 -6.87586126e-03 -3.43677918e+02] [-8.73817191e-03 8.74740254e-05 -9.99961818e-01 -4.84566954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters 0.0509528322023989 Centerline is valid? [True, True] Translation: X:396.47, Y:-343.71, Z:-4.85 [[ 5.61491543e-01 8.27471242e-01 -4.31169977e-03 3.96472782e+02] [ 8.27445838e-01 -5.61508093e-01 -6.48431464e-03 -3.43707729e+02] [-7.78663820e-03 7.31897992e-05 -9.99969681e-01 -4.84631615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters 0.05008223998922477 Centerline is valid? [True, True] Translation: X:396.57, Y:-343.73, Z:-4.85 [[ 4.94343983e-01 8.69261669e-01 -2.85978971e-03 3.96566984e+02] [ 8.69246524e-01 -4.94352252e-01 -5.13138565e-03 -3.43727348e+02] [-5.87426034e-03 5.08073509e-05 -9.99982745e-01 -4.84645344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters 0.050404322431738285 Centerline is valid? [True, True] Translation: X:396.66, Y:-343.74, Z:-4.85 [[ 4.23752379e-01 9.05776316e-01 -1.78512893e-03 3.96661669e+02] [ 9.05767957e-01 -4.23756138e-01 -3.89153959e-03 -3.43736979e+02] [-4.28132373e-03 3.21365721e-05 -9.99990835e-01 -4.84755636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters 0.04993247239307581 Centerline is valid? [True, True] Translation: X:396.77, Y:-343.74, Z:-4.85 [[ 3.48461526e-01 9.37322468e-01 -1.07488150e-03 3.96767079e+02] [ 9.37317891e-01 -3.48463184e-01 -2.92934624e-03 -3.43743434e+02] [-3.12029868e-03 1.32588012e-05 -9.99995132e-01 -4.84946160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters 0.05025453466194682 Centerline is valid? [True, True] Translation: X:396.87, Y:-343.74, Z:-4.85 [[ 2.68371443e-01 9.63315036e-01 -9.53518960e-04 3.96872273e+02] [ 9.63309035e-01 -2.68373137e-01 -3.40028105e-03 -3.43742920e+02] [-3.53144073e-03 -5.99509872e-06 -9.99993764e-01 -4.84958465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters 0.04889711657787997 Centerline is valid? [True, True] Translation: X:396.98, Y:-343.74, Z:-4.85 [[ 1.87419041e-01 9.82279699e-01 -8.34448759e-04 3.96982926e+02] [ 9.82270628e-01 -1.87420896e-01 -4.22155993e-03 -3.43735112e+02] [-4.30314575e-03 -2.84537922e-05 -9.99990741e-01 -4.84809326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters 0.049374721049202396 Centerline is valid? [True, True] Translation: X:397.07, Y:-343.71, Z:-4.85 [[ 1.04522738e-01 9.94522294e-01 -6.35541902e-04 3.97069660e+02] [ 9.94507564e-01 -1.04524650e-01 -5.41319769e-03 -3.43713038e+02] [-5.44997557e-03 -6.62489826e-05 -9.99985147e-01 -4.84733844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters 0.049530153898134935 Centerline is valid? [True, True] Translation: X:397.15, Y:-343.69, Z:-4.84 [[ 1.93507813e-02 9.99812709e-01 -3.08089233e-04 3.97152588e+02] [ 9.99780930e-01 -1.93526231e-02 -7.97297610e-03 -3.43685264e+02] [-7.97744517e-03 -1.53738423e-04 -9.99968168e-01 -4.84483862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters 0.04945038591177536 Centerline is valid? [True, True] Translation: X:397.22, Y:-343.65, Z:-4.85 [[-6.22983979e-02 9.98057509e-01 3.45066129e-04 3.97224514e+02] [ 9.98019674e-01 6.22990416e-02 -8.69247228e-03 -3.43649929e+02] [-8.69708452e-03 -1.97144310e-04 -9.99962160e-01 -4.84509217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters 0.05011314423697708 Centerline is valid? [True, True] Translation: X:397.30, Y:-343.61, Z:-4.84 [[-1.42816617e-01 9.89748665e-01 9.97403005e-04 3.97299297e+02] [ 9.89712918e-01 1.42819938e-01 -8.41459266e-03 -3.43610023e+02] [-8.47078088e-03 -2.14601018e-04 -9.99964099e-01 -4.84304148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters 0.05039839091866518 Centerline is valid? [True, True] Translation: X:397.36, Y:-343.57, Z:-4.84 [[-2.20122279e-01 9.75471000e-01 1.58464799e-03 3.97358867e+02] [ 9.75438474e-01 2.20127884e-01 -7.96853600e-03 -3.43565892e+02] [-8.12190099e-03 -2.08325682e-04 -9.99966995e-01 -4.84344433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters 0.04940648358994329 Centerline is valid? [True, True] Translation: X:397.41, Y:-343.52, Z:-4.84 [[-2.95086181e-01 9.55468181e-01 2.16827174e-03 3.97411619e+02] [ 9.55437208e-01 2.95094080e-01 -7.69585785e-03 -3.43518031e+02] [-7.99299145e-03 -1.99293801e-04 -9.99968036e-01 -4.84448423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters 0.04847605887104047 Centerline is valid? [True, True] Translation: X:397.46, Y:-343.47, Z:-4.84 [[-3.66234213e-01 9.30516866e-01 3.29581008e-03 3.97462333e+02] [ 9.30473868e-01 3.66248982e-01 -8.94783509e-03 -3.43466448e+02] [-9.53319856e-03 -2.10338191e-04 -9.99954536e-01 -4.84485791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters 0.04765888758415671 Centerline is valid? [True, True] Translation: X:397.51, Y:-343.41, Z:-4.84 [[-4.35259888e-01 9.00292860e-01 4.64712733e-03 3.97514359e+02] [ 9.00236224e-01 4.35284644e-01 -1.01005098e-02 -3.43408910e+02] [-1.11162400e-02 -2.12834405e-04 -9.99938190e-01 -4.84340754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters 0.0477624535216331 Centerline is valid? [True, True] Translation: X:397.56, Y:-343.35, Z:-4.84 [[-5.01799895e-01 8.64965899e-01 5.55512233e-03 3.97561597e+02] [ 8.64908780e-01 5.01830609e-01 -9.94191448e-03 -3.43349017e+02] [-1.13871474e-02 -1.84177566e-04 -9.99935147e-01 -4.84347223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters 0.04735262113050687 Centerline is valid? [True, True] Translation: X:397.60, Y:-343.29, Z:-4.85 [[-5.64622151e-01 8.25319290e-01 7.06373147e-03 3.97596052e+02] [ 8.25251250e-01 5.64666313e-01 -1.05985552e-02 -3.43292281e+02] [-1.27358433e-02 -1.54825825e-04 -9.99918884e-01 -4.84620117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters 0.04746028771164825 Centerline is valid? [True, True] Translation: X:397.64, Y:-343.22, Z:-4.84 [[-6.26064780e-01 7.79723729e-01 8.59056088e-03 3.97643339e+02] [ 7.79647151e-01 6.26123699e-01 -1.09285724e-02 -3.43219990e+02] [-1.39000210e-02 -1.44387986e-04 -9.99903380e-01 -4.84300611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters 0.047445857981924286 Centerline is valid? [True, True] Translation: X:397.69, Y:-343.14, Z:-4.84 [[-6.86824363e-01 7.26779530e-01 7.98805153e-03 3.97686562e+02] [ 7.26727840e-01 6.86870798e-01 -8.66917510e-03 -3.43143037e+02] [-1.17873383e-02 -1.49061235e-04 -9.99930516e-01 -4.84424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters 0.04778716894230263 Centerline is valid? [True, True] Translation: X:397.72, Y:-343.07, Z:-4.84 [[-7.43313971e-01 6.68892649e-01 8.18319949e-03 3.97722889e+02] [ 6.68849582e-01 7.43358995e-01 -7.59220121e-03 -3.43065204e+02] [-1.11614225e-02 -1.70059675e-04 -9.99937695e-01 -4.84325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters 0.04729113058943862 Centerline is valid? [True, True] Translation: X:397.60, Y:-342.86, Z:-4.85 [[-7.89054386e-01 6.14275597e-01 7.65946112e-03 3.97600103e+02] [ 6.14244759e-01 7.89091546e-01 -6.15692352e-03 -3.42862607e+02] [-9.82606389e-03 -1.53363657e-04 -9.99951711e-01 -4.84756936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters 0.047150251399546504 Centerline is valid? [True, True] Translation: X:397.59, Y:-342.76, Z:-4.85 [[-8.28917534e-01 5.59318377e-01 7.66001564e-03 3.97585434e+02] [ 5.59293188e-01 8.28952918e-01 -5.30943139e-03 -3.42758774e+02] [-9.31945486e-03 -1.16886207e-04 -9.99956566e-01 -4.84741238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters 0.04728134304117278 Centerline is valid? [True, True] Translation: X:397.63, Y:-342.70, Z:-4.85 [[-8.65481296e-01 5.00866350e-01 8.66175462e-03 3.97628473e+02] [ 5.00840046e-01 8.65524632e-01 -5.13418410e-03 -3.42696729e+02] [-1.00685020e-02 -1.05386729e-04 -9.99949306e-01 -4.84623764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters 0.04731772574332695 Centerline is valid? [True, True] Translation: X:397.55, Y:-342.57, Z:-4.85 [[-8.98678606e-01 4.38519526e-01 8.79701342e-03 3.97546772e+02] [ 4.38497425e-01 8.98721656e-01 -4.40376955e-03 -3.42565749e+02] [-9.83720541e-03 -1.00105745e-04 -9.99951609e-01 -4.84627945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters 0.04757954245585285 Centerline is valid? [True, True] Translation: X:397.63, Y:-342.52, Z:-4.85 [[-9.28216939e-01 3.71915650e-01 9.59501898e-03 3.97633993e+02] [ 3.71894400e-01 9.28266521e-01 -3.97754106e-03 -3.42521358e+02] [-1.03860447e-02 -1.23687156e-04 -9.99946056e-01 -4.84762773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters 0.047427629611376705 Centerline is valid? [True, True] Translation: X:397.87, Y:-342.52, Z:-4.85 [[-9.52986558e-01 3.02845393e-01 1.00642293e-02 3.97866880e+02] [ 3.02827025e-01 9.53039690e-01 -3.33806416e-03 -3.42523442e+02] [-1.06025273e-02 -1.33409648e-04 -9.99943783e-01 -4.85001129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters 0.04790446023740589 Centerline is valid? [True, True] Translation: X:397.10, Y:-342.21, Z:-4.85 [[-9.71959667e-01 2.34925687e-01 1.02140243e-02 3.97098538e+02] [ 2.34911302e-01 9.72013325e-01 -2.60301579e-03 -3.42205736e+02] [-1.05396830e-02 -1.30636601e-04 -9.99944448e-01 -4.84559156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters 0.04783993214707762 Centerline is valid? [True, True] Translation: X:397.10, Y:-341.61, Z:-5.91 [[-9.46504032e-01 -3.22577252e-01 8.60426363e-03 3.97102032e+02] [ 3.22564124e-01 -9.46543140e-01 -2.91021061e-03 -3.41612531e+02] [ 9.08307446e-03 2.09006839e-05 9.99958748e-01 -5.90643459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters 0.04759591867601582 Centerline is valid? [True, True] Translation: X:396.99, Y:-342.18, Z:-4.85 [[-9.72671372e-01 2.32064095e-01 7.52712722e-03 3.96986637e+02] [ 2.32056450e-01 9.72700493e-01 -1.88576113e-03 -3.42181197e+02] [-7.75925780e-03 -8.75074470e-05 -9.99969893e-01 -4.84806806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters 0.04713683568439576 Centerline is valid? [True, True] Translation: X:397.25, Y:-342.16, Z:-4.85 [[-9.87253229e-01 1.58996761e-01 7.14786248e-03 3.97249770e+02] [ 1.58991975e-01 9.87279101e-01 -1.23657125e-03 -3.42155999e+02] [-7.25354607e-03 -8.43561871e-05 -9.99973689e-01 -4.84969698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters 0.047084564203065726 Centerline is valid? [True, True] Translation: X:396.72, Y:-341.47, Z:-5.91 [[-9.68239215e-01 -2.49944706e-01 6.36127647e-03 3.96718541e+02] [ 2.49939539e-01 -9.68260111e-01 -1.60748372e-03 -3.41468039e+02] [ 6.56115231e-03 3.35057343e-05 9.99978475e-01 -5.90601807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters 0.04735374829642975 Centerline is valid? [True, True] Translation: X:396.61, Y:-342.03, Z:-4.85 [[-9.88281984e-01 1.52492881e-01 6.68141903e-03 3.96612966e+02] [ 1.52488739e-01 9.88304564e-01 -1.12799459e-03 -3.42032795e+02] [-6.77528807e-03 -9.59355697e-05 -9.99977043e-01 -4.84739786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters 0.04740589507696021 Centerline is valid? [True, True] Translation: X:396.67, Y:-341.46, Z:-5.91 [[-9.69066168e-01 -2.46698355e-01 7.11917701e-03 3.96669649e+02] [ 2.46692747e-01 -9.69092308e-01 -1.66917816e-03 -3.41462957e+02] [ 7.31092319e-03 1.38705257e-04 9.99973265e-01 -5.90618836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters 0.04720866605251839 Centerline is valid? [True, True] Translation: X:396.77, Y:-342.07, Z:-4.85 [[-9.89191133e-01 1.46431290e-01 7.66683358e-03 3.96768190e+02] [ 1.46426085e-01 9.89220838e-01 -1.23894414e-03 -3.42072097e+02] [-7.76561173e-03 -1.02928135e-04 -9.99969842e-01 -4.84898619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters 0.04717434716799029 Centerline is valid? [True, True] Translation: X:396.27, Y:-341.39, Z:-5.91 [[-9.71184612e-01 -2.38192667e-01 8.04382834e-03 3.96266441e+02] [ 2.38185672e-01 -9.71217913e-01 -1.83065552e-03 -3.41386195e+02] [ 8.24835890e-03 1.38020186e-04 9.99965972e-01 -5.90683083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters 0.04754507026722659 Centerline is valid? [True, True] Translation: X:396.12, Y:-341.95, Z:-4.85 [[-9.89823634e-01 1.42038776e-01 8.61164539e-03 3.96123105e+02] [ 1.42032339e-01 9.89861087e-01 -1.35758202e-03 -3.41951791e+02] [-8.71716195e-03 -1.20634631e-04 -9.99961998e-01 -4.84551752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters 0.04788259762979949 Centerline is valid? [True, True] Translation: X:396.27, Y:-341.40, Z:-5.91 [[-9.71517509e-01 -2.36787210e-01 9.24916912e-03 3.96272064e+02] [ 2.36778266e-01 -9.71561518e-01 -2.06617982e-03 -3.41400165e+02] [ 9.47538175e-03 1.82672352e-04 9.99955091e-01 -5.90835742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters 0.04797177926279235 Centerline is valid? [True, True] Translation: X:396.16, Y:-341.95, Z:-4.84 [[-9.90591222e-01 1.36562212e-01 8.93269542e-03 3.96159955e+02] [ 1.36555380e-01 9.90631487e-01 -1.37326287e-03 -3.41954563e+02] [-9.03654516e-03 -1.40534533e-04 -9.99959160e-01 -4.84192044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters 0.047793801676822144 Centerline is valid? [True, True] Translation: X:395.93, Y:-341.85, Z:-4.84 [[-9.97690974e-01 6.74070859e-02 8.30690745e-03 3.95932963e+02] [ 6.74037685e-02 9.97725549e-01 -6.78990058e-04 -3.41853318e+02] [-8.33378254e-03 -1.17505385e-04 -9.99965267e-01 -4.84398306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters 0.04758678747063238 Centerline is valid? [True, True] Translation: X:395.97, Y:-341.29, Z:-5.91 [[-9.87056427e-01 -1.60178433e-01 7.90435067e-03 3.95968670e+02] [ 1.60174035e-01 -9.87088072e-01 -1.19051526e-03 -3.41289016e+02] [ 7.99298513e-03 9.09659965e-05 9.99968051e-01 -5.90891515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters 0.04718643441888254 Centerline is valid? [True, True] Translation: X:395.87, Y:-341.86, Z:-4.84 [[-9.97622514e-01 6.83675012e-02 8.67204154e-03 3.95870272e+02] [ 6.83642171e-02 9.97660202e-01 -6.74910285e-04 -3.41856261e+02] [-8.69789264e-03 -8.04483649e-05 -9.99962169e-01 -4.84370228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters 0.04775980733161872 Centerline is valid? [True, True] Translation: X:395.89, Y:-341.28, Z:-5.91 [[-9.88463002e-01 -1.51047695e-01 1.12021538e-02 3.95887121e+02] [ 1.51041064e-01 -9.88526440e-01 -1.44044317e-03 -3.41284016e+02] [ 1.12912008e-02 2.68160456e-04 9.99936216e-01 -5.91228395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters 0.0480041073169551 Centerline is valid? [True, True] Translation: X:396.07, Y:-341.88, Z:-4.84 [[-9.97833155e-01 6.46264549e-02 1.23456804e-02 3.96074300e+02] [ 6.46206714e-02 9.97909523e-01 -8.67217954e-04 -3.41881346e+02] [-1.23759172e-02 -6.75526721e-05 -9.99923413e-01 -4.84113765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters 0.04738787202901228 Centerline is valid? [True, True] Translation: X:395.39, Y:-341.77, Z:-4.84 [[-9.99915520e-01 -5.94732021e-03 1.15577758e-02 3.95385445e+02] [-5.94762986e-03 9.99982313e-01 7.58020029e-06 -3.41771950e+02] [-1.15576165e-02 -6.11618126e-05 -9.99933207e-01 -4.83881889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters 0.047506219233707105 Centerline is valid? [True, True] Translation: X:395.25, Y:-341.70, Z:-4.84 [[-9.96993279e-01 -7.68536778e-02 9.89517678e-03 3.95250717e+02] [-7.68504041e-02 9.97042381e-01 7.11213006e-04 -3.41700888e+02] [-9.92056995e-03 -5.13737471e-05 -9.99950789e-01 -4.84214962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters 0.04820049615277548 Centerline is valid? [True, True] Translation: X:395.21, Y:-341.63, Z:-4.84 [[-9.89102259e-01 -1.46978238e-01 8.60927713e-03 3.95210591e+02] [-1.46973012e-01 9.89139725e-01 1.23999069e-03 -3.41628353e+02] [-8.69802966e-03 -3.88538028e-05 -9.99962171e-01 -4.84302479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters 0.047688809616802004 Centerline is valid? [True, True] Translation: X:394.93, Y:-341.60, Z:-4.84 [[-9.76503492e-01 -2.15413237e-01 6.16989878e-03 3.94928875e+02] [-2.15409063e-01 9.76522983e-01 1.34114888e-03 -3.41602406e+02] [-6.31394918e-03 -1.94155494e-05 -9.99980067e-01 -4.84350635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters 0.048002972551293155 Centerline is valid? [True, True] Translation: X:394.84, Y:-341.55, Z:-4.84 [[-9.59020710e-01 -2.83257335e-01 6.67539381e-03 3.94842231e+02] [-2.83250565e-01 9.59043942e-01 1.95839141e-03 -3.41549508e+02] [-6.95672472e-03 -1.26711530e-05 -9.99975802e-01 -4.84294671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters 0.04766363139629623 Centerline is valid? [True, True] Translation: X:394.81, Y:-341.48, Z:-4.84 [[-9.36338689e-01 -3.51019569e-01 7.42444540e-03 3.94811461e+02] [-3.51008559e-01 9.36368123e-01 2.78026842e-03 -3.41481576e+02] [-7.92794262e-03 -2.77099459e-06 -9.99968573e-01 -4.84213028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters 0.04893219526721731 Centerline is valid? [True, True] Translation: X:395.20, Y:-341.23, Z:-4.85 [[-9.08052275e-01 -4.18766748e-01 8.68779339e-03 3.95200632e+02] [-4.18747303e-01 9.08093833e-01 4.03558455e-03 -3.41225140e+02] [-9.57930022e-03 2.65316768e-05 -9.99954117e-01 -4.84543488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters 0.0486515288435786 Centerline is valid? [True, True] Translation: X:394.72, Y:-340.82, Z:-5.91 [[-9.31573350e-01 3.63396569e-01 1.06783632e-02 3.94722377e+02] [-3.63371581e-01 -9.31634545e-01 4.26251011e-03 -3.40823063e+02] [ 1.14973136e-02 9.06270844e-05 9.99933900e-01 -5.90969996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters 0.04845829683060504 Centerline is valid? [True, True] Translation: X:394.77, Y:-341.42, Z:-4.84 [[-9.08295068e-01 -4.18178379e-01 1.12655526e-02 3.94766051e+02] [-4.18144973e-01 9.08364924e-01 5.28641702e-03 -3.41419558e+02] [-1.24438981e-02 9.09923206e-05 -9.99922568e-01 -4.84319384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters 0.049323535737191684 Centerline is valid? [True, True] Translation: X:394.64, Y:-341.39, Z:-4.84 [[-8.76494576e-01 -4.81307574e-01 1.00139213e-02 3.94640083e+02] [-4.81274855e-01 8.76551772e-01 5.61291625e-03 -3.41387165e+02] [-1.14792596e-02 1.00242121e-04 -9.99934106e-01 -4.84447860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters 0.049115781584079574 Centerline is valid? [True, True] Translation: X:394.49, Y:-341.38, Z:-4.84 [[-8.39546506e-01 -5.43226086e-01 8.19053534e-03 3.94486986e+02] [-5.43199257e-01 8.39586454e-01 5.39946163e-03 -3.41379929e+02] [-9.80979093e-03 8.40064330e-05 -9.99951879e-01 -4.84339434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters 0.04919461126385238 Centerline is valid? [True, True] Translation: X:393.58, Y:-341.26, Z:-5.91 [[-8.66963750e-01 4.98321440e-01 7.04269809e-03 3.93584469e+02] [-4.98306709e-01 -8.66992335e-01 3.83594988e-03 -3.41264316e+02] [ 8.01750133e-03 -1.83794217e-04 9.99967842e-01 -5.90991983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters 0.04819513326157364 Centerline is valid? [True, True] Translation: X:393.74, Y:-341.85, Z:-4.84 [[-8.31530017e-01 -5.55463867e-01 4.20994057e-03 3.93735977e+02] [-5.55456795e-01 8.31540674e-01 2.80287142e-03 -3.41849204e+02] [-5.05763062e-03 -7.76837257e-06 -9.99987210e-01 -4.84456423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters 0.04792143243151905 Centerline is valid? [True, True] Translation: X:393.65, Y:-341.82, Z:-4.85 [[-7.84909903e-01 -6.19601546e-01 3.21986285e-03 3.93646754e+02] [-6.19596488e-01 7.84916507e-01 2.50375349e-03 -3.41818570e+02] [-4.07865303e-03 -2.97948059e-05 -9.99991682e-01 -4.84561732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters 0.04808367622928675 Centerline is valid? [True, True] Translation: X:393.49, Y:-341.85, Z:-4.85 [[-7.34753451e-01 -6.78327379e-01 3.05503203e-03 3.93486591e+02] [-6.78321800e-01 7.34759800e-01 2.75163064e-03 -3.41851287e+02] [-4.11122112e-03 -5.05247239e-05 -9.99991548e-01 -4.84564723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters 0.048578894687490076 Centerline is valid? [True, True] Translation: X:393.34, Y:-341.89, Z:-4.84 [[-6.80302176e-01 -7.32924052e-01 3.35907060e-03 3.93338360e+02] [-7.32915695e-01 6.80310464e-01 3.50083098e-03 -3.41887170e+02] [-4.85105411e-03 -8.02926298e-05 -9.99988230e-01 -4.84429739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters 0.04809418018469178 Centerline is valid? [True, True] Translation: X:393.18, Y:-341.95, Z:-4.84 [[-6.24728764e-01 -7.80834922e-01 3.28584544e-03 3.93181050e+02] [-7.80824857e-01 6.24737399e-01 3.96559025e-03 -3.41948953e+02] [-5.14926189e-03 -8.82515029e-05 -9.99986739e-01 -4.84339233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters 0.04859496648809085 Centerline is valid? [True, True] Translation: X:393.02, Y:-342.04, Z:-4.84 [[-5.66115050e-01 -8.24318897e-01 3.47931385e-03 3.93019902e+02] [-8.24304416e-01 5.66125733e-01 4.88708094e-03 -3.42037803e+02] [-5.99824227e-03 -1.01363702e-04 -9.99982005e-01 -4.84258170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters 0.0482393456286063 Centerline is valid? [True, True] Translation: X:392.93, Y:-342.05, Z:-4.84 [[-5.05590316e-01 -8.62764235e-01 4.03822907e-03 3.92927028e+02] [-8.62738466e-01 5.05606430e-01 6.66911372e-03 -3.42049018e+02] [-7.79562738e-03 -1.12096241e-04 -9.99969607e-01 -4.84250231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters 0.048670907600300024 Centerline is valid? [True, True] Translation: X:392.30, Y:-341.98, Z:-5.91 [[-5.84586357e-01 8.11321821e-01 3.96142555e-03 3.92297892e+02] [-8.11302784e-01 -5.84599778e-01 5.55804819e-03 -3.41981169e+02] [ 6.82521428e-03 3.52435656e-05 9.99976707e-01 -5.91097303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters 0.04820544962628203 Centerline is valid? [True, True] Translation: X:392.71, Y:-342.41, Z:-4.84 [[-5.02234940e-01 -8.64724351e-01 3.44408630e-03 3.92709665e+02] [-8.64705070e-01 5.02246742e-01 5.77511280e-03 -3.42406249e+02] [-6.72366179e-03 -7.76554539e-05 -9.99977393e-01 -4.84297690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters 0.047156214555119154 Centerline is valid? [True, True] Translation: X:392.82, Y:-342.04, Z:-4.85 [[-4.36166768e-01 -8.99863039e-01 2.24977652e-03 3.92821763e+02] [-8.99851666e-01 4.36172567e-01 4.52445024e-03 -3.42038218e+02] [-5.05267634e-03 -5.10503174e-05 -9.99987234e-01 -4.84663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters 0.047564347879386515 Centerline is valid? [True, True] Translation: X:392.36, Y:-342.85, Z:-4.85 [[-3.71437897e-01 -9.28456934e-01 1.26899019e-03 3.92359980e+02] [-9.28451817e-01 3.71440063e-01 3.08274487e-03 -3.42847365e+02] [-3.33354965e-03 -3.31479743e-05 -9.99994443e-01 -4.84672387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters 0.047474676644982804 Centerline is valid? [True, True] Translation: X:392.23, Y:-342.98, Z:-4.85 [[-3.01129241e-01 -9.53582827e-01 9.86341343e-04 3.92228716e+02] [-9.53578075e-01 3.01130855e-01 3.01042456e-03 -3.42983816e+02] [-3.16770697e-03 -3.40266148e-05 -9.99994982e-01 -4.84715424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters 0.04802200208839892 Centerline is valid? [True, True] Translation: X:392.10, Y:-343.14, Z:-4.85 [[-2.27968545e-01 -9.73667969e-01 1.01404301e-03 3.92101956e+02] [-9.73659370e-01 2.27970794e-01 4.09240461e-03 -3.43137525e+02] [-4.21581548e-03 -5.43929533e-05 -9.99991112e-01 -4.84527837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters 0.047431636467902154 Centerline is valid? [True, True] Translation: X:392.00, Y:-343.27, Z:-4.85 [[-1.52237330e-01 -9.88343462e-01 9.98509694e-04 3.92000066e+02] [-9.88326086e-01 1.52240575e-01 5.86136620e-03 -3.43274395e+02] [-5.94505665e-03 -9.45344397e-05 -9.99982324e-01 -4.84650409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters 0.04772648103953193 Centerline is valid? [True, True] Translation: X:391.89, Y:-343.49, Z:-4.84 [[-7.69004344e-02 -9.97038411e-01 8.54672260e-04 3.91887807e+02] [-9.96998134e-01 7.69050113e-02 8.96321665e-03 -3.43493041e+02] [-9.00239986e-03 -1.62831394e-04 -9.99959464e-01 -4.84483864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters 0.047623062815712415 Centerline is valid? [True, True] Translation: X:391.80, Y:-343.66, Z:-4.84 [[-3.50430956e-03 -9.99993839e-01 2.03352597e-04 3.91799511e+02] [-9.99946756e-01 3.50611817e-03 9.70524333e-03 -3.43657483e+02] [-9.70589651e-03 -1.69331593e-04 -9.99952882e-01 -4.84499580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters 0.04805904974596337 Centerline is valid? [True, True] Translation: X:391.72, Y:-343.89, Z:-4.84 [[ 6.74103310e-02 -9.97725225e-01 -4.71258897e-04 3.91720966e+02] [-9.97685365e-01 -6.74118508e-02 8.91933733e-03 -3.43894516e+02] [-8.93081628e-03 -1.31087378e-04 -9.99960111e-01 -4.84294568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters 0.04757742856889624 Centerline is valid? [True, True] Translation: X:391.68, Y:-344.19, Z:-4.85 [[ 1.34956085e-01 -9.90851275e-01 -7.78255131e-04 3.91678678e+02] [-9.90832350e-01 -1.34958317e-01 6.12424367e-03 -3.44190081e+02] [-6.17324665e-03 -5.53835861e-05 -9.99980944e-01 -4.84765195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters 0.04758424032248303 Centerline is valid? [True, True] Translation: X:391.66, Y:-344.52, Z:-4.84 [[ 2.03566538e-01 -9.79060591e-01 -1.01140151e-03 3.91655039e+02] [-9.79047870e-01 -2.03569049e-01 4.99107944e-03 -3.44521614e+02] [-5.09245923e-03 -2.58062741e-05 -9.99987033e-01 -4.84415530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters 0.047437067081652726 Centerline is valid? [True, True] Translation: X:391.63, Y:-344.72, Z:-4.85 [[ 2.72835887e-01 -9.62059520e-01 -1.43464704e-03 3.91631034e+02] [-9.62045989e-01 -2.72839658e-01 5.10253864e-03 -3.44716570e+02] [-5.30037449e-03 -1.19592266e-05 -9.99985953e-01 -4.84791770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters 0.047261836559994434 Centerline is valid? [True, True] Translation: X:391.61, Y:-344.92, Z:-4.84 [[ 3.43731998e-01 -9.39065817e-01 -1.92467509e-03 3.91613306e+02] [-9.39050845e-01 -3.43737386e-01 5.30283979e-03 -3.44916133e+02] [-5.64129837e-03 -1.53879482e-05 -9.99984088e-01 -4.84281769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters 0.04772710662216882 Centerline is valid? [True, True] Translation: X:391.60, Y:-345.09, Z:-4.84 [[ 4.14853188e-01 -9.09883918e-01 -2.84407495e-03 3.91598371e+02] [-9.09861887e-01 -4.14862935e-01 6.33183896e-03 -3.45092911e+02] [-6.94113972e-03 -3.90681779e-05 -9.99975909e-01 -4.84168288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters 0.04793397096934074 Centerline is valid? [True, True] Translation: X:391.65, Y:-345.37, Z:-4.85 [[ 4.83898852e-01 -8.75114756e-01 -4.00814086e-03 3.91654122e+02] [-8.75083381e-01 -4.83915445e-01 7.41072361e-03 -3.45373007e+02] [-8.42483485e-03 -7.85831932e-05 -9.99964507e-01 -4.84641181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters 0.0478795713879582 Centerline is valid? [True, True] Translation: X:391.67, Y:-345.55, Z:-4.84 [[ 5.49333049e-01 -8.35580653e-01 -6.17849551e-03 3.91666229e+02] [-8.35524978e-01 -5.49367776e-01 9.64666157e-03 -3.45549650e+02] [-1.14548301e-02 -1.36942692e-04 -9.99934382e-01 -4.84399021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters 0.04819357826604628 Centerline is valid? [True, True] Translation: X:391.73, Y:-345.78, Z:-4.84 [[ 6.08546440e-01 -7.93485208e-01 -7.24261372e-03 3.91734446e+02] [-7.93426385e-01 -6.08589522e-01 9.66251670e-03 -3.45780463e+02] [-1.20748429e-02 -1.33609311e-04 -9.99927088e-01 -4.84294918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters 0.04872890506346339 Centerline is valid? [True, True] Translation: X:391.71, Y:-345.88, Z:-4.84 [[ 6.63233134e-01 -7.48375795e-01 -7.44847768e-03 3.91714989e+02] [-7.48327018e-01 -6.63274951e-01 8.54477498e-03 -3.45876563e+02] [-1.13350914e-02 -9.32807998e-05 -9.99935751e-01 -4.84227038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters 0.048400300722767076 Centerline is valid? [True, True] Translation: X:391.38, Y:-345.63, Z:-4.85 [[ 7.12817552e-01 -7.01328884e-01 -5.37897480e-03 3.91376916e+02] [-7.01308716e-01 -7.12837847e-01 5.31873390e-03 -3.45631370e+02] [-7.56451853e-03 -1.89649633e-05 -9.99971388e-01 -4.85119054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters 0.047554703509169245 Centerline is valid? [True, True] Translation: X:391.35, Y:-345.72, Z:-4.85 [[ 7.63505225e-01 -6.45789376e-01 -3.98156708e-03 3.91347062e+02] [-6.45780615e-01 -7.63515607e-01 3.36381833e-03 -3.45715699e+02] [-5.21230674e-03 2.92596921e-06 -9.99986416e-01 -4.84749056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters 0.047936994524131187 Centerline is valid? [True, True] Translation: X:391.34, Y:-345.79, Z:-4.85 [[ 8.11101590e-01 -5.84897076e-01 -3.10189018e-03 3.91336227e+02] [-5.84892826e-01 -8.11107521e-01 2.22966062e-03 -3.45787305e+02] [-3.82008843e-03 5.79204020e-06 -9.99992703e-01 -4.84963257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters 0.04796927687946064 Centerline is valid? [True, True] Translation: X:391.33, Y:-345.87, Z:-4.85 [[ 8.56017286e-01 -5.16935069e-01 -3.54131844e-03 3.91325390e+02] [-5.16930611e-01 -8.56024611e-01 2.14689843e-03 -3.45868374e+02] [-4.14126283e-03 -7.16626524e-06 -9.99991425e-01 -4.84817688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters 0.04793603403485356 Centerline is valid? [True, True] Translation: X:391.32, Y:-345.95, Z:-4.85 [[ 8.95835459e-01 -4.44357942e-01 -4.98491587e-03 3.91321685e+02] [-4.44350843e-01 -8.95849328e-01 2.51191995e-03 -3.45946638e+02] [-5.58192511e-03 -3.52153929e-05 -9.99984420e-01 -4.84588347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters 0.04748740711690381 Centerline is valid? [True, True] Translation: X:391.32, Y:-346.03, Z:-4.84 [[ 9.29428216e-01 -3.68931088e-01 -7.28311020e-03 3.91322211e+02] [-3.68919050e-01 -9.29456747e-01 2.98144286e-03 -3.46031976e+02] [-7.86928287e-03 -8.41590245e-05 -9.99969033e-01 -4.84498108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters 0.04755035529744151 Centerline is valid? [True, True] Translation: X:391.33, Y:-346.12, Z:-4.84 [[ 9.56730724e-01 -2.90822122e-01 -9.42419222e-03 3.91330649e+02] [-2.90806457e-01 -9.56777127e-01 3.02222914e-03 -3.46115548e+02] [-9.89578265e-03 -1.50843522e-04 -9.99951024e-01 -4.84482052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters 0.04750327633248197 Centerline is valid? [True, True] Translation: X:391.34, Y:-346.21, Z:-4.85 [[ 9.76835388e-01 -2.13799153e-01 -9.08548489e-03 3.91343184e+02] [-2.13788425e-01 -9.76877627e-01 2.14744900e-03 -3.46205976e+02] [-9.33452969e-03 -1.55332680e-04 -9.99956420e-01 -4.84693179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters 0.04684835987866869 Centerline is valid? [True, True] Translation: X:391.36, Y:-346.30, Z:-4.85 [[ 9.90586952e-01 -1.36659416e-01 -7.85459018e-03 3.91360733e+02] [-1.36654052e-01 -9.90618083e-01 1.21817364e-03 -3.46298979e+02] [-7.94737396e-03 -1.33345344e-04 -9.99968410e-01 -4.84675005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters 0.047798261664031526 Centerline is valid? [True, True] Translation: X:391.39, Y:-346.38, Z:-4.85 [[ 9.98069875e-01 -6.18619973e-02 -5.44216337e-03 3.91388097e+02] [-6.18606688e-02 -9.98084710e-01 4.12275536e-04 -3.46379170e+02] [-5.45724423e-03 -7.48239272e-05 -9.99985106e-01 -4.84770130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters 0.047811232432859244 Centerline is valid? [True, True] Translation: X:391.42, Y:-346.45, Z:-4.85 [[ 9.99901632e-01 1.33609797e-02 -4.26735753e-03 3.91419536e+02] [ 1.33610524e-02 -9.99910737e-01 -1.14594965e-05 -3.46451564e+02] [-4.26712972e-03 -4.55580185e-05 -9.99990895e-01 -4.84849258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters 0.04750494088389843 Centerline is valid? [True, True] Translation: X:391.45, Y:-346.52, Z:-4.85 [[ 9.96005924e-01 8.91917214e-02 -4.12753254e-03 3.91451850e+02] [ 8.91910986e-02 -9.96014476e-01 -3.35088725e-04 -3.46522234e+02] [-4.14096929e-03 -3.43888065e-05 -9.99991426e-01 -4.84779515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters 0.04734619847663694 Centerline is valid? [True, True] Translation: X:391.49, Y:-346.59, Z:-4.85 [[ 9.85975156e-01 1.66822736e-01 -4.81307048e-03 3.91490908e+02] [ 1.66820949e-01 -9.85986903e-01 -7.73275433e-04 -3.46591182e+02] [-4.87462438e-03 -4.04906179e-05 -9.99988118e-01 -4.84786798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters 0.04667163822619739 Centerline is valid? [True, True] Translation: X:391.53, Y:-346.66, Z:-4.85 [[ 9.69584524e-01 2.44696094e-01 -5.44719496e-03 3.91534863e+02] [ 2.44692544e-01 -9.69599824e-01 -1.31917858e-03 -3.46657338e+02] [-5.60439712e-03 -5.38328539e-05 -9.99984294e-01 -4.84738621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters 0.0473212873861116 Centerline is valid? [True, True] Translation: X:391.59, Y:-346.73, Z:-4.85 [[ 9.46251656e-01 3.23348528e-01 -7.31665534e-03 3.91587450e+02] [ 3.23339700e-01 -9.46279937e-01 -2.39150956e-03 -3.46730097e+02] [-7.69689525e-03 -1.02795266e-04 -9.99970373e-01 -4.84536553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters 0.047359254377557 Centerline is valid? [True, True] Translation: X:391.64, Y:-346.79, Z:-4.84 [[ 9.17106631e-01 3.98528281e-01 -9.52031998e-03 3.91644070e+02] [ 3.98508634e-01 -9.17156030e-01 -3.96051281e-03 -3.46793549e+02] [-1.03099952e-02 -1.61717145e-04 -9.99946838e-01 -4.84380991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters 0.04773978845664043 Centerline is valid? [True, True] Translation: X:391.70, Y:-346.85, Z:-4.84 [[ 8.84123480e-01 4.67162832e-01 -9.19574780e-03 3.91704198e+02] [ 4.67139204e-01 -8.84171290e-01 -4.70047096e-03 -3.46851757e+02] [-1.03265015e-02 -1.39897575e-04 -9.99946671e-01 -4.84194126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters 0.047532506032280236 Centerline is valid? [True, True] Translation: X:391.77, Y:-346.91, Z:-4.85 [[ 8.47348160e-01 5.30994674e-01 -6.76400303e-03 3.91769928e+02] [ 5.30978421e-01 -8.47375154e-01 -4.15514090e-03 -3.46906611e+02] [-7.93800580e-03 -7.06886505e-05 -9.99968491e-01 -4.84660207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters 0.04772122032485988 Centerline is valid? [True, True] Translation: X:391.83, Y:-346.95, Z:-4.85 [[ 8.07894161e-01 5.89313823e-01 -4.03019529e-03 3.91834332e+02] [ 5.89306522e-01 -8.07904213e-01 -2.93355080e-03 -3.46950387e+02] [-4.98479379e-03 -5.02181036e-06 -9.99987576e-01 -4.84586448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters 0.04704376640410189 Centerline is valid? [True, True] Translation: X:391.90, Y:-346.98, Z:-4.85 [[ 7.62127406e-01 6.47419440e-01 -3.14424919e-03 3.91895201e+02] [ 6.47413856e-01 -7.62133892e-01 -2.68900150e-03 -3.46978740e+02] [-4.13725072e-03 1.37312499e-05 -9.99991441e-01 -4.84834840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters 0.047762763841180264 Centerline is valid? [True, True] Translation: X:391.96, Y:-347.01, Z:-4.85 [[ 7.10808577e-01 7.03381093e-01 -2.49094407e-03 3.91964882e+02] [ 7.03376675e-01 -7.10812941e-01 -2.49320214e-03 -3.47010379e+02] [-3.52426653e-03 2.01175126e-05 -9.99993790e-01 -4.84732013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters 0.04750294393025128 Centerline is valid? [True, True] Translation: X:392.04, Y:-347.04, Z:-4.85 [[ 6.52120818e-01 7.58110376e-01 -2.66400098e-03 3.92037690e+02] [ 7.58103953e-01 -6.52126259e-01 -3.12061454e-03 -3.47038149e+02] [-4.10303525e-03 1.54280388e-05 -9.99991582e-01 -4.84770035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters 0.047398597730676194 Centerline is valid? [True, True] Translation: X:392.12, Y:-347.07, Z:-4.84 [[ 5.87019354e-01 8.09565375e-01 -3.49008189e-03 3.92120423e+02] [ 8.09551125e-01 -5.87029729e-01 -4.80350396e-03 -3.47065079e+02] [-5.93753231e-03 -5.64992604e-06 -9.99982373e-01 -4.84453874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters 0.04784764354020751 Centerline is valid? [True, True] Translation: X:392.20, Y:-347.08, Z:-4.84 [[ 5.16858947e-01 8.56059375e-01 -4.37903938e-03 3.92201969e+02] [ 8.56029586e-01 -5.16877494e-01 -7.14171697e-03 -3.47084501e+02] [-8.37716067e-03 -5.73269555e-05 -9.99964909e-01 -4.84245216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters 0.047652682139117136 Centerline is valid? [True, True] Translation: X:392.29, Y:-347.10, Z:-4.84 [[ 4.41642597e-01 8.97178364e-01 -4.77484116e-03 3.92288923e+02] [ 8.97129556e-01 -4.41668382e-01 -9.35946438e-03 -3.47098104e+02] [-1.05060053e-02 -1.50112972e-04 -9.99944799e-01 -4.84201242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters 0.04800274607611027 Centerline is valid? [True, True] Translation: X:392.38, Y:-347.10, Z:-4.84 [[ 3.67714335e-01 9.29932204e-01 -3.50190961e-03 3.92375328e+02] [ 9.29893942e-01 -3.67730978e-01 -8.43709627e-03 -3.47103200e+02] [-9.13368817e-03 -1.53963288e-04 -9.99958275e-01 -4.84361122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters 0.04768079534007325 Centerline is valid? [True, True] Translation: X:392.46, Y:-347.10, Z:-4.85 [[ 2.93859019e-01 9.55846579e-01 -2.04825005e-03 3.92463651e+02] [ 9.55825928e-01 -2.93866136e-01 -6.28399974e-03 -3.47102079e+02] [-6.60845098e-03 -1.11160508e-04 -9.99978158e-01 -4.84520669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters 0.04751024083409858 Centerline is valid? [True, True] Translation: X:392.55, Y:-347.09, Z:-4.85 [[ 2.20549725e-01 9.75375374e-01 -8.36266200e-04 3.92545569e+02] [ 9.75369215e-01 -2.20551305e-01 -3.46641969e-03 -3.47093697e+02] [-3.56550001e-03 -5.11503955e-05 -9.99993642e-01 -4.84665986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters 0.04768318854465362 Centerline is valid? [True, True] Translation: X:392.62, Y:-347.08, Z:-4.85 [[ 1.47477577e-01 9.89065365e-01 -2.59542866e-04 3.92618240e+02] [ 9.89064029e-01 -1.47477804e-01 -1.62583311e-03 -3.47077922e+02] [-1.64633203e-03 -1.69305861e-05 -9.99998645e-01 -4.84753356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters 0.0477086927705766 Centerline is valid? [True, True] Translation: X:392.68, Y:-347.06, Z:-4.85 [[ 7.10592585e-02 9.97472084e-01 -1.50236250e-04 3.92684219e+02] [ 9.97470325e-01 -7.10594154e-02 -1.87365959e-03 -3.47055535e+02] [-1.87959884e-03 -1.67153396e-05 -9.99998233e-01 -4.84678014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters 0.0471129266795734 Centerline is valid? [True, True] Translation: X:392.75, Y:-347.03, Z:-4.85 [[-7.08780862e-03 9.99974881e-01 -3.11686696e-06 3.92747906e+02] [ 9.99973146e-01 7.08779052e-03 -1.86268919e-03 -3.47027379e+02] [-1.86262031e-03 -1.63191677e-05 -9.99998265e-01 -4.84613312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters 0.04734475223740691 Centerline is valid? [True, True] Translation: X:392.81, Y:-347.00, Z:-4.84 [[-8.70236259e-02 9.96206229e-01 1.96977459e-04 3.92809062e+02] [ 9.96202924e-01 8.70238446e-02 -2.56625327e-03 -3.46995800e+02] [-2.57365923e-03 -2.70951438e-05 -9.99996688e-01 -4.84456164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters 0.04671511809539297 Centerline is valid? [True, True] Translation: X:392.88, Y:-346.96, Z:-4.84 [[-1.66418144e-01 9.86055072e-01 6.28919587e-04 3.92880041e+02] [ 9.86046847e-01 1.66419325e-01 -4.02783656e-03 -3.46956657e+02] [-4.07633305e-03 -5.01609085e-05 -9.99991691e-01 -4.84463341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters 0.04680353744802916 Centerline is valid? [True, True] Translation: X:392.95, Y:-346.91, Z:-4.84 [[-2.44406351e-01 9.69671854e-01 1.42531928e-03 3.92953905e+02] [ 9.69653284e-01 2.44410492e-01 -6.00166020e-03 -3.46911146e+02] [-6.16800396e-03 -8.47783480e-05 -9.99980974e-01 -4.84206285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters 0.047303459418153844 Centerline is valid? [True, True] Translation: X:393.02, Y:-346.86, Z:-4.84 [[-3.18774626e-01 9.47827628e-01 2.35064983e-03 3.93022628e+02] [ 9.47799510e-01 3.18783278e-01 -7.30138769e-03 -3.46860600e+02] [-7.66980483e-03 -9.95523725e-05 -9.99970582e-01 -4.84083048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters 0.047581397551763674 Centerline is valid? [True, True] Translation: X:393.09, Y:-346.81, Z:-4.84 [[-3.89191221e-01 9.21153614e-01 2.49255157e-03 3.93085564e+02] [ 9.21133632e-01 3.89199198e-01 -6.06760557e-03 -3.46805290e+02] [-6.55929587e-03 -6.54857415e-05 -9.99978485e-01 -4.84117266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters 0.04768527415858694 Centerline is valid? [True, True] Translation: X:393.14, Y:-346.75, Z:-4.84 [[-4.57192743e-01 8.89364711e-01 2.28176841e-03 3.93143263e+02] [ 8.89353261e-01 4.57198435e-01 -4.51311269e-03 -3.46746049e+02] [-5.05702412e-03 -3.40641937e-05 -9.99987213e-01 -4.84219154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters 0.04754692226201553 Centerline is valid? [True, True] Translation: X:393.20, Y:-346.68, Z:-4.84 [[-5.22916315e-01 8.52381429e-01 2.10400360e-03 3.93195586e+02] [ 8.52374409e-01 5.22920548e-01 -3.45935852e-03 -3.46682739e+02] [-4.04891967e-03 -1.55561800e-05 -9.99991803e-01 -4.84181960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters 0.04729263301691728 Centerline is valid? [True, True] Translation: X:393.24, Y:-346.62, Z:-4.84 [[-5.88219311e-01 8.08696213e-01 2.91162454e-03 3.93239159e+02] [ 8.08686132e-01 5.88226517e-01 -4.03789548e-03 -3.46618764e+02] [-4.97812554e-03 -2.05777050e-05 -9.99987609e-01 -4.84211450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters 0.04690536845896708 Centerline is valid? [True, True] Translation: X:393.28, Y:-346.55, Z:-4.84 [[-6.50615778e-01 7.59395907e-01 4.11883112e-03 3.93280942e+02] [ 7.59380356e-01 6.50628815e-01 -4.86004863e-03 -3.46548344e+02] [-6.37053125e-03 -3.42648763e-05 -9.99979707e-01 -4.83861897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters 0.046770833508461805 Centerline is valid? [True, True] Translation: X:393.31, Y:-346.48, Z:-4.84 [[-7.10372814e-01 7.03795098e-01 6.55164659e-03 3.93312685e+02] [ 7.03764110e-01 7.10403022e-01 -6.60490550e-03 -3.46479804e+02] [-9.30280965e-03 -8.11315851e-05 -9.99956725e-01 -4.83823084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters 0.04742788841907132 Centerline is valid? [True, True] Translation: X:393.34, Y:-346.40, Z:-4.84 [[-7.65143486e-01 6.43815803e-01 7.52714310e-03 3.93344907e+02] [ 6.43783154e-01 7.65180500e-01 -6.48477138e-03 -3.46400956e+02] [-9.93462142e-03 -1.15932645e-04 -9.99950644e-01 -4.83534345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters 0.04722023162033676 Centerline is valid? [True, True] Translation: X:393.50, Y:-346.42, Z:-4.83 [[-8.10430579e-01 5.85782172e-01 7.84374817e-03 3.93495844e+02] [ 5.85753073e-01 8.10468524e-01 -5.84034806e-03 -3.46420632e+02] [-9.77828277e-03 -1.38697072e-04 -9.99952182e-01 -4.83496867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters 0.04733758843976897 Centerline is valid? [True, True] Translation: X:393.40, Y:-346.26, Z:-4.84 [[-8.51005159e-01 5.25107331e-01 7.24636971e-03 3.93397047e+02] [ 5.25086886e-01 8.51035999e-01 -4.63577665e-03 -3.46260937e+02] [-8.60120179e-03 -1.40096142e-04 -9.99962999e-01 -4.83677579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters 0.0477361954753793 Centerline is valid? [True, True] Translation: X:393.38, Y:-346.16, Z:-4.84 [[-8.86655703e-01 4.62382171e-01 6.66276748e-03 3.93378043e+02] [ 4.62367991e-01 8.86680726e-01 -3.62365995e-03 -3.46163613e+02] [-7.58326326e-03 -1.32288348e-04 -9.99971238e-01 -4.83732908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters 0.047404196040491856 Centerline is valid? [True, True] Translation: X:393.48, Y:-346.13, Z:-4.84 [[-9.17628665e-01 3.97397767e-01 5.71380609e-03 3.93482149e+02] [ 3.97389281e-01 9.17646447e-01 -2.59959900e-03 -3.46130504e+02] [-6.27632869e-03 -1.14861266e-04 -9.99980297e-01 -4.83784938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters 0.04735410193680902 Centerline is valid? [True, True] Translation: X:393.32, Y:-345.98, Z:-4.84 [[-9.43562515e-01 3.31157523e-01 4.94715904e-03 3.93317157e+02] [ 3.31152427e-01 9.43575479e-01 -1.83986173e-03 -3.45980083e+02] [-5.27730201e-03 -9.77608382e-05 -9.99986070e-01 -4.83791691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters 0.04687251481329641 Centerline is valid? [True, True] Translation: X:393.52, Y:-345.45, Z:-5.92 [[-9.03925996e-01 -4.27663338e-01 4.67574335e-03 3.93523936e+02] [ 4.27658104e-01 -9.03938085e-01 -2.11743695e-03 -3.45446679e+02] [ 5.13213264e-03 8.56132373e-05 9.99986827e-01 -5.91590771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters 0.046896745871992995 Centerline is valid? [True, True] Translation: X:393.24, Y:-345.96, Z:-4.84 [[-9.44756292e-01 3.27714492e-01 6.22572649e-03 3.93241369e+02] [ 3.27706519e-01 9.44776797e-01 -2.28937291e-03 -3.45959300e+02] [-6.63218261e-03 -1.22688310e-04 -9.99977999e-01 -4.83553311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters 0.046910657705578514 Centerline is valid? [True, True] Translation: X:393.45, Y:-345.42, Z:-5.92 [[-9.04570031e-01 -4.26268633e-01 6.93626185e-03 3.93445119e+02] [ 4.26257815e-01 -9.04596601e-01 -3.04374057e-03 -3.45420690e+02] [ 7.57197003e-03 2.03359313e-04 9.99971312e-01 -5.91858593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters 0.04761170078627501 Centerline is valid? [True, True] Translation: X:393.15, Y:-345.92, Z:-4.83 [[-9.47220396e-01 3.20458556e-01 8.93502779e-03 3.93152090e+02] [ 3.20442159e-01 9.47262513e-01 -3.24883604e-03 -3.45922890e+02] [-9.50493418e-03 -2.14204170e-04 -9.99954804e-01 -4.83203550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters 0.04798026360483885 Centerline is valid? [True, True] Translation: X:393.14, Y:-345.83, Z:-4.83 [[-9.67601081e-01 2.52235667e-01 1.11944366e-02 3.93143905e+02] [ 2.52215623e-01 9.67665799e-01 -3.19076798e-03 -3.45833063e+02] [-1.16372989e-02 -2.63978739e-04 -9.99932250e-01 -4.83004179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters 0.04781844304409835 Centerline is valid? [True, True] Translation: X:393.05, Y:-345.73, Z:-4.83 [[-9.82627922e-01 1.85204824e-01 1.18970888e-02 3.93049900e+02] [ 1.85188195e-01 9.82699909e-01 -2.49408939e-03 -3.45728968e+02] [-1.21531855e-02 -2.47561462e-04 -9.99926117e-01 -4.82966606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters 0.047946984855902396 Centerline is valid? [True, True] Translation: X:393.10, Y:-345.17, Z:-5.92 [[-9.58288469e-01 -2.85564541e-01 1.16663303e-02 3.93103340e+02] [ 2.85546463e-01 -9.58359449e-01 -3.22235841e-03 -3.45172943e+02] [ 1.21007292e-02 2.43330462e-04 9.99926754e-01 -5.92364729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters 0.047457421930776414 Centerline is valid? [True, True] Translation: X:393.08, Y:-345.75, Z:-4.83 [[-9.80764524e-01 1.94808660e-01 1.22692203e-02 3.93082234e+02] [ 1.94792649e-01 9.80841263e-01 -2.49828417e-03 -3.45751939e+02] [-1.25208449e-02 -6.02745621e-05 -9.99921609e-01 -4.83240960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters 0.04803067523434778 Centerline is valid? [True, True] Translation: X:393.36, Y:-345.71, Z:-4.84 [[-9.91633006e-01 1.28520924e-01 1.20976608e-02 3.93361693e+02] [ 1.28511734e-01 9.91706797e-01 -1.53726535e-03 -3.45711291e+02] [-1.21949032e-02 3.02883051e-05 -9.99925639e-01 -4.83731135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters 0.04771696963504135 Centerline is valid? [True, True] Translation: X:392.65, Y:-345.56, Z:-4.83 [[-9.98027349e-01 6.17331039e-02 1.14208361e-02 3.92652747e+02] [ 6.17298738e-02 9.98092691e-01 -6.35459330e-04 -3.45556396e+02] [-1.14382819e-02 7.08009776e-05 -9.99934578e-01 -4.83200064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters 0.04699401135225998 Centerline is valid? [True, True] Translation: X:391.93, Y:-345.46, Z:-4.83 [[-9.99887374e-01 -1.12952312e-02 9.88219308e-03 3.91932867e+02] [-1.12942997e-02 9.99936206e-01 1.50067678e-04 -3.45459723e+02] [-9.88325771e-03 3.84383261e-05 -9.99951159e-01 -4.83208997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters 0.047184959005215445 Centerline is valid? [True, True] Translation: X:392.02, Y:-345.38, Z:-4.83 [[-9.96045860e-01 -8.82393474e-02 1.03180597e-02 3.92018842e+02] [-8.82345952e-02 9.96099301e-01 9.15775224e-04 -3.45377974e+02] [-1.03586195e-02 1.74429637e-06 -9.99946348e-01 -4.83305132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters 0.04723636704810235 Centerline is valid? [True, True] Translation: X:391.84, Y:-345.32, Z:-4.83 [[-9.86523210e-01 -1.63358336e-01 9.27412547e-03 3.91836736e+02] [-1.63351520e-01 9.86566801e-01 1.49281979e-03 -3.45321436e+02] [-9.39340885e-03 -4.22411193e-05 -9.99955880e-01 -4.83391296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters 0.047790586157512055 Centerline is valid? [True, True] Translation: X:391.56, Y:-344.77, Z:-5.92 [[-9.96137607e-01 8.75275604e-02 6.98527234e-03 3.91560219e+02] [-8.75262802e-02 -9.96162091e-01 4.89343593e-04 -3.44772444e+02] [ 7.00129454e-03 -1.23941348e-04 9.99975483e-01 -5.91778507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters 0.0471475915311925 Centerline is valid? [True, True] Translation: X:391.51, Y:-345.37, Z:-4.84 [[-9.86291045e-01 -1.64999299e-01 2.28175400e-03 3.91509980e+02] [-1.64998869e-01 9.86293684e-01 3.76978625e-04 -3.45372380e+02] [-2.31268076e-03 -4.67618556e-06 -9.99997326e-01 -4.83916618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters 0.04686445077882484 Centerline is valid? [True, True] Translation: X:391.35, Y:-344.80, Z:-5.91 [[-9.95397078e-01 9.58308364e-02 1.05273555e-03 3.91351970e+02] [-9.58308666e-02 -9.95397631e-01 2.18182060e-05 -3.44800971e+02] [ 1.04998133e-03 -7.91667816e-05 9.99999446e-01 -5.91180520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters 0.04686337824735243 Centerline is valid? [True, True] Translation: X:391.40, Y:-345.39, Z:-4.84 [[-9.86186133e-01 -1.65640527e-01 3.56265819e-04 3.91402386e+02] [-1.65640515e-01 9.86186197e-01 6.15667614e-05 -3.45394056e+02] [-3.61542384e-04 1.70423256e-06 -9.99999935e-01 -4.84198076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters 0.04709316155726686 Centerline is valid? [True, True] Translation: X:391.20, Y:-344.83, Z:-5.91 [[-9.94584029e-01 1.03922190e-01 1.66991505e-03 3.91200681e+02] [-1.03921906e-01 -9.94585427e-01 2.56415006e-04 -3.44831243e+02] [ 1.68752038e-03 8.14855148e-05 9.99998573e-01 -5.91319987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters 0.04709460266170037 Centerline is valid? [True, True] Translation: X:391.18, Y:-345.43, Z:-4.84 [[-9.85746791e-01 -1.68203154e-01 3.31097193e-03 3.91175972e+02] [-1.68202165e-01 9.85752352e-01 5.76703693e-04 -3.45427550e+02] [-3.36080175e-03 1.15711668e-05 -9.99994352e-01 -4.83875686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters 0.047069026292778565 Centerline is valid? [True, True] Translation: X:391.58, Y:-345.26, Z:-4.84 [[-9.69981442e-01 -2.43139379e-01 4.38682281e-03 3.91579099e+02] [-2.43136825e-01 9.69991362e-01 1.11441675e-03 -3.45256265e+02] [-4.52613883e-03 1.43653974e-05 -9.99989757e-01 -4.84044776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters 0.04760086173042768 Centerline is valid? [True, True] Translation: X:391.55, Y:-345.17, Z:-4.84 [[-9.49535664e-01 -3.13628184e-01 4.40280557e-03 3.91554113e+02] [-3.13624759e-01 9.49545872e-01 1.46579331e-03 -3.45170490e+02] [-4.64037994e-03 1.09941893e-05 -9.99989233e-01 -4.84227480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters 0.04819483661729914 Centerline is valid? [True, True] Translation: X:390.75, Y:-344.82, Z:-5.91 [[-9.67711643e-01 2.52039994e-01 3.16512250e-03 3.90747635e+02] [-2.52038964e-01 -9.67716814e-01 7.26769218e-04 -3.44822349e+02] [ 3.24611717e-03 -9.44311643e-05 9.99994727e-01 -5.91190985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters 0.04786131029711077 Centerline is valid? [True, True] Translation: X:390.82, Y:-345.39, Z:-4.84 [[-9.46808961e-01 -3.21788484e-01 2.22765120e-03 3.90824897e+02] [-3.21787602e-01 9.46811582e-01 7.53439770e-04 -3.45393216e+02] [-2.35161420e-03 -3.46701218e-06 -9.99997235e-01 -4.84111812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters 0.04793164937008607 Centerline is valid? [True, True] Translation: X:390.75, Y:-345.34, Z:-4.84 [[-9.20410229e-01 -3.90947009e-01 2.33376233e-03 3.90751500e+02] [-3.90945777e-01 9.20413188e-01 9.81530791e-04 -3.45341860e+02] [-2.53175215e-03 -8.96354730e-06 -9.99996795e-01 -4.84142638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters 0.0482778547825811 Centerline is valid? [True, True] Translation: X:390.66, Y:-345.30, Z:-4.84 [[-8.88935979e-01 -4.58027622e-01 1.87694835e-03 3.90657316e+02] [-4.58026628e-01 8.88937960e-01 9.54048716e-04 -3.45300526e+02] [-2.10547130e-03 -1.16040938e-05 -9.99997783e-01 -4.84201940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters 0.04847624209034088 Centerline is valid? [True, True] Translation: X:390.66, Y:-345.20, Z:-4.84 [[-8.51330598e-01 -5.24624721e-01 2.26170083e-03 3.90663869e+02] [-5.24622934e-01 8.51333602e-01 1.36959710e-03 -3.45202079e+02] [-2.64398641e-03 -2.05602088e-05 -9.99996505e-01 -4.84162775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters 0.048791466229251935 Centerline is valid? [True, True] Translation: X:390.30, Y:-345.35, Z:-4.84 [[-8.11050117e-01 -5.84953852e-01 5.16702238e-03 3.90297668e+02] [-5.84942454e-01 8.11066574e-01 3.65217233e-03 -3.45346189e+02] [-6.32715141e-03 -6.03159562e-05 -9.99979982e-01 -4.83968772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters 0.04881962309938682 Centerline is valid? [True, True] Translation: X:390.18, Y:-345.34, Z:-4.84 [[-7.66588980e-01 -6.42105253e-01 6.49461481e-03 3.90178592e+02] [-6.42083048e-01 7.66616487e-01 5.34059794e-03 -3.45343608e+02] [-8.40810478e-03 -7.60385491e-05 -9.99964648e-01 -4.83903934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters 0.04900237688524211 Centerline is valid? [True, True] Translation: X:390.07, Y:-345.34, Z:-4.84 [[-7.18855418e-01 -6.95127726e-01 6.65829320e-03 3.90071677e+02] [-6.95098736e-01 7.18886250e-01 6.34871462e-03 -3.45336130e+02] [-9.19972299e-03 -6.43632894e-05 -9.99957680e-01 -4.83914268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters 0.048831884349388024 Centerline is valid? [True, True] Translation: X:390.18, Y:-345.11, Z:-4.84 [[-6.68002123e-01 -7.44140164e-01 5.34597221e-03 3.90176384e+02] [-7.44116516e-01 6.68023514e-01 5.93248038e-03 -3.45107037e+02] [-7.98583207e-03 -1.51167337e-05 -9.99968113e-01 -4.84071325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters 0.04887268052380418 Centerline is valid? [True, True] Translation: X:390.07, Y:-345.10, Z:-4.84 [[-6.12632058e-01 -7.90354201e-01 4.71164719e-03 3.90067463e+02] [-7.90330855e-01 6.12650176e-01 6.07466429e-03 -3.45096082e+02] [-7.68772791e-03 -2.22607106e-06 -9.99970449e-01 -4.83961984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters 0.04916692822575912 Centerline is valid? [True, True] Translation: X:389.88, Y:-345.21, Z:-4.84 [[-5.56060701e-01 -8.31133043e-01 3.78957189e-03 3.89876558e+02] [-8.31113554e-01 5.56073614e-01 5.69170100e-03 -3.45213486e+02] [-6.83784171e-03 1.53666895e-05 -9.99976622e-01 -4.84342382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters 0.04918652017340189 Centerline is valid? [True, True] Translation: X:389.73, Y:-345.29, Z:-4.84 [[-4.93547328e-01 -8.69714218e-01 2.86610191e-03 3.89725054e+02] [-8.69699410e-01 4.93555650e-01 5.07511020e-03 -3.45293718e+02] [-5.82847629e-03 1.21599349e-05 -9.99983014e-01 -4.84313414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters 0.04861172282216896 Centerline is valid? [True, True] Translation: X:389.57, Y:-345.40, Z:-4.84 [[-4.26192881e-01 -9.04629195e-01 2.37648716e-03 3.89565593e+02] [-9.04615167e-01 4.26199507e-01 5.03781098e-03 -3.45402917e+02] [-5.57020855e-03 -2.72715168e-06 -9.99984486e-01 -4.84218757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters 0.04888362377681149 Centerline is valid? [True, True] Translation: X:389.33, Y:-345.74, Z:-4.84 [[-3.56628176e-01 -9.34243322e-01 2.40011807e-03 3.89326525e+02] [-9.34222772e-01 3.56636250e-01 6.19647821e-03 -3.45742367e+02] [-6.64498749e-03 -3.24062375e-05 -9.99977921e-01 -4.84142342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters 0.04892918414181006 Centerline is valid? [True, True] Translation: X:389.18, Y:-345.91, Z:-4.84 [[-2.82709844e-01 -9.59202480e-01 2.39724377e-03 3.89180828e+02] [-9.59170356e-01 2.82719996e-01 7.85067228e-03 -3.45913399e+02] [-8.20813307e-03 -7.99028266e-05 -9.99966310e-01 -4.84053649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters 0.049728508419685194 Centerline is valid? [True, True] Translation: X:389.03, Y:-346.15, Z:-4.84 [[-2.08467286e-01 -9.78026398e-01 2.39905480e-03 3.89033864e+02] [-9.77969737e-01 2.08481035e-01 1.05286272e-02 -3.46146743e+02] [-1.07974328e-02 -1.51328643e-04 -9.99941695e-01 -4.83796390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters 0.04899763212606151 Centerline is valid? [True, True] Translation: X:388.92, Y:-346.32, Z:-4.84 [[-1.36389631e-01 -9.90653874e-01 1.66480376e-03 3.88923477e+02] [-9.90593148e-01 1.36399705e-01 1.09697825e-02 -3.46321266e+02] [-1.10943363e-02 -1.52978612e-04 -9.99938444e-01 -4.83923917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters 0.04934511334436766 Centerline is valid? [True, True] Translation: X:388.82, Y:-346.58, Z:-4.84 [[-6.74175457e-02 -9.97724627e-01 6.65578416e-04 3.88819976e+02] [-9.97688007e-01 6.74207741e-02 8.54872073e-03 -3.46580768e+02] [-8.57414301e-03 -8.77058324e-05 -9.99963238e-01 -4.84182947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters 0.048739492362152255 Centerline is valid? [True, True] Translation: X:388.74, Y:-346.85, Z:-4.84 [[ 2.49588438e-03 -9.99996885e-01 2.51630763e-05 3.88737085e+02] [-9.99979890e-01 -2.49569526e-03 5.83022999e-03 -3.46847584e+02] [-5.83014902e-03 -3.97141502e-05 -9.99983004e-01 -4.84364817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters 0.04843899201534224 Centerline is valid? [True, True] Translation: X:388.65, Y:-346.48, Z:-4.85 [[ 7.53518765e-02 -9.97156966e-01 -2.82541707e-04 3.88647215e+02] [-9.97149146e-01 -7.53524045e-02 3.94923478e-03 -3.46483675e+02] [-3.95929716e-03 -1.58460293e-05 -9.99992162e-01 -4.84546940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters 0.04835636612020389 Centerline is valid? [True, True] Translation: X:388.67, Y:-347.43, Z:-4.84 [[ 1.44328396e-01 -9.89529686e-01 -5.60498552e-04 3.88666064e+02] [-9.89521973e-01 -1.44329484e-01 3.90698803e-03 -3.47426308e+02] [-3.94697711e-03 -9.26368207e-06 -9.99992211e-01 -4.84215134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters 0.049037585016689325 Centerline is valid? [True, True] Translation: X:388.63, Y:-347.64, Z:-4.84 [[ 2.18195743e-01 -9.75904331e-01 -1.16380492e-03 3.88633034e+02] [-9.75889937e-01 -2.18198846e-01 5.30041248e-03 -3.47641980e+02] [-5.42663638e-03 -2.07819287e-05 -9.99985276e-01 -4.84152029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters 0.04867421631804272 Centerline is valid? [True, True] Translation: X:388.59, Y:-347.78, Z:-4.84 [[ 2.92078354e-01 -9.56391723e-01 -2.25999766e-03 3.88594514e+02] [-9.56361752e-01 -2.92087093e-01 7.57163560e-03 -3.47781037e+02] [-7.90156577e-03 -5.01355386e-05 -9.99968781e-01 -4.84014506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters 0.04926632875981384 Centerline is valid? [True, True] Translation: X:388.56, Y:-347.90, Z:-4.84 [[ 3.64499424e-01 -9.31196717e-01 -3.58375913e-03 3.88556221e+02] [-9.31149157e-01 -3.64517029e-01 9.41185170e-03 -3.47900268e+02] [-1.00706266e-02 -9.36002292e-05 -9.99949286e-01 -4.83838406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters 0.04910729334499058 Centerline is valid? [True, True] Translation: X:388.53, Y:-348.03, Z:-4.84 [[ 4.35088185e-01 -9.00373031e-01 -5.16496642e-03 3.88531866e+02] [-9.00305355e-01 -4.35118813e-01 1.10401614e-02 -3.48033723e+02] [-1.21876376e-02 -1.53396858e-04 -9.99925716e-01 -4.83803286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters 0.049403922051003836 Centerline is valid? [True, True] Translation: X:388.62, Y:-348.36, Z:-4.84 [[ 5.00098517e-01 -8.65950655e-01 -5.56207401e-03 3.88616102e+02] [-8.65893791e-01 -5.00129425e-01 9.92479101e-03 -3.48360484e+02] [-1.13761361e-02 -1.47207907e-04 -9.99935279e-01 -4.83782157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters 0.04899161626017212 Centerline is valid? [True, True] Translation: X:388.38, Y:-348.11, Z:-4.84 [[ 5.62293696e-01 -8.26919860e-01 -5.41706896e-03 3.88378880e+02] [-8.26879477e-01 -5.62319777e-01 8.17302313e-03 -3.48112972e+02] [-9.80456015e-03 -1.16376233e-04 -9.99951927e-01 -4.84181355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters 0.04860115452010833 Centerline is valid? [True, True] Translation: X:388.67, Y:-348.65, Z:-4.84 [[ 6.18408758e-01 -7.85848612e-01 -3.54498714e-03 3.88669935e+02] [-7.85835208e-01 -6.18418916e-01 4.59025951e-03 -3.48651206e+02] [-5.79953618e-03 -5.28809733e-05 -9.99983181e-01 -4.84392712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters 0.04814898795027066 Centerline is valid? [True, True] Translation: X:388.79, Y:-348.91, Z:-4.84 [[ 6.73576730e-01 -7.39112916e-01 -2.54678259e-03 3.88791036e+02] [-7.39107460e-01 -6.73581544e-01 2.83996424e-03 -3.48909500e+02] [-3.81452000e-03 -3.05878170e-05 -9.99992724e-01 -4.84467082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters 0.04812887897406098 Centerline is valid? [True, True] Translation: X:388.88, Y:-349.11, Z:-4.84 [[ 7.26130341e-01 -6.87554646e-01 -1.82660081e-03 3.88880318e+02] [-6.87552398e-01 -7.26132639e-01 1.75812716e-03 -3.49106522e+02] [-2.53516296e-03 -2.07457069e-05 -9.99996786e-01 -4.84442608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters 0.047647018028532204 Centerline is valid? [True, True] Translation: X:388.87, Y:-349.18, Z:-4.84 [[ 7.80363193e-01 -6.25323754e-01 -1.86784966e-03 3.88868811e+02] [-6.25321870e-01 -7.80365428e-01 1.53534102e-03 -3.49175063e+02] [-2.41769051e-03 -3.01163785e-05 -9.99997077e-01 -4.84438464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters 0.04839380225791018 Centerline is valid? [True, True] Translation: X:388.85, Y:-349.26, Z:-4.84 [[ 8.29113501e-01 -5.59073420e-01 -2.77723013e-03 3.88852394e+02] [-5.59070055e-01 -8.29118151e-01 1.94058224e-03 -3.49260682e+02] [-3.38757986e-03 -5.62967393e-05 -9.99994261e-01 -4.84298091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters 0.04827574480642751 Centerline is valid? [True, True] Translation: X:388.84, Y:-349.35, Z:-4.84 [[ 8.72000966e-01 -4.89482740e-01 -4.57846677e-03 3.88843626e+02] [-4.89475341e-01 -8.72012979e-01 2.69342837e-03 -3.49345860e+02] [-5.31086914e-03 -1.07625560e-04 -9.99985891e-01 -4.84189561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters 0.04867925579156798 Centerline is valid? [True, True] Translation: X:388.84, Y:-349.43, Z:-4.84 [[ 9.07747574e-01 -4.19431844e-01 -8.44213344e-03 3.88839957e+02] [-4.19411697e-01 -9.07786809e-01 4.11567208e-03 -3.49430418e+02] [-9.38990131e-03 -1.95261834e-04 -9.99955895e-01 -4.83826781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters 0.04756458481222631 Centerline is valid? [True, True] Translation: X:388.84, Y:-349.52, Z:-4.84 [[ 9.36145568e-01 -3.51472464e-01 -9.92892810e-03 3.88843758e+02] [-3.51450728e-01 -9.36198204e-01 3.91258870e-03 -3.49515755e+02] [-1.06706118e-02 -1.73223560e-04 -9.99943052e-01 -4.83932030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters 0.04789915239537176 Centerline is valid? [True, True] Translation: X:388.85, Y:-349.61, Z:-4.84 [[ 9.58668932e-01 -2.84375623e-01 -9.18607469e-03 3.88852365e+02] [-2.84361725e-01 -9.58712938e-01 2.81272648e-03 -3.49605136e+02] [-9.60667950e-03 -8.43054449e-05 -9.99953851e-01 -4.84085914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters 0.047546295970329035 Centerline is valid? [True, True] Translation: X:388.87, Y:-349.68, Z:-4.84 [[ 9.75370926e-01 -2.20466886e-01 -6.77565927e-03 3.88869838e+02] [-2.20461737e-01 -9.75394460e-01 1.50699409e-03 -3.49679845e+02] [-6.94118280e-03 2.38953867e-05 -9.99975909e-01 -4.84053864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters 0.04752799550610864 Centerline is valid? [True, True] Translation: X:388.89, Y:-349.75, Z:-4.84 [[ 9.88846159e-01 -1.48846058e-01 -5.30333634e-03 3.88892293e+02] [-1.48844174e-01 -9.88860379e-01 7.50521301e-04 -3.49753755e+02] [-5.35597132e-03 4.72206097e-05 -9.99985656e-01 -4.84173417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters 0.04735333377283428 Centerline is valid? [True, True] Translation: X:388.92, Y:-349.84, Z:-4.84 [[ 9.97569153e-01 -6.96048201e-02 -3.30962033e-03 3.88918526e+02] [-6.96045190e-02 -9.97574643e-01 2.06206848e-04 -3.49837631e+02] [-3.31594631e-03 2.46589409e-05 -9.99994502e-01 -4.84264684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters 0.04762128195635614 Centerline is valid? [True, True] Translation: X:388.95, Y:-349.92, Z:-4.84 [[ 9.99808618e-01 1.89967676e-02 -4.67453236e-03 3.88949632e+02] [ 1.89966247e-02 -9.99819545e-01 -7.49650539e-05 -3.49916948e+02] [-4.67511291e-03 -1.38496300e-05 -9.99989072e-01 -4.83938585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters 0.04723247718576691 Centerline is valid? [True, True] Translation: X:388.98, Y:-349.99, Z:-4.84 [[ 9.94498546e-01 1.04526362e-01 -6.84697128e-03 3.88984348e+02] [ 1.04524381e-01 -9.94522114e-01 -6.47513054e-04 -3.49993935e+02] [-6.87714654e-03 -7.17246460e-05 -9.99976350e-01 -4.83877074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters 0.047550536418152635 Centerline is valid? [True, True] Translation: X:389.02, Y:-350.06, Z:-4.84 [[ 9.82727858e-01 1.84895027e-01 -7.73210613e-03 3.89024668e+02] [ 1.84890143e-01 -9.82758270e-01 -1.34793604e-03 -3.50064095e+02] [-7.84801791e-03 -1.04935906e-04 -9.99969198e-01 -4.83750953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters 0.047329609439268915 Centerline is valid? [True, True] Translation: X:389.07, Y:-350.13, Z:-4.83 [[ 9.64041502e-01 2.65536947e-01 -1.06823362e-02 3.89070237e+02] [ 2.65522909e-01 -9.64100664e-01 -2.73751477e-03 -3.50132261e+02] [-1.10257587e-02 -1.97327137e-04 -9.99939195e-01 -4.83471545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters 0.04787127953937014 Centerline is valid? [True, True] Translation: X:389.12, Y:-350.20, Z:-4.83 [[ 9.40563802e-01 3.39441463e-01 -1.09191386e-02 3.89122570e+02] [ 3.39421024e-01 -9.40627160e-01 -3.73015019e-03 -3.50198107e+02] [-1.15370060e-02 -1.97740982e-04 -9.99933427e-01 -4.83392436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters 0.048058313756139746 Centerline is valid? [True, True] Translation: X:389.18, Y:-350.25, Z:-4.83 [[ 9.12152055e-01 4.09737734e-01 -9.67562551e-03 3.89177721e+02] [ 4.09716475e-01 -9.12203358e-01 -4.17668901e-03 -3.50254070e+02] [-1.05374852e-02 -1.54487708e-04 -9.99944467e-01 -4.83471505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters 0.0471308357249382 Centerline is valid? [True, True] Translation: X:389.24, Y:-350.31, Z:-4.84 [[ 8.79686733e-01 4.75491885e-01 -7.66286102e-03 3.89235491e+02] [ 4.75474674e-01 -8.79720103e-01 -4.04650455e-03 -3.50305454e+02] [-8.66525296e-03 -8.38399740e-05 -9.99962453e-01 -4.83528084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters 0.04694217851153398 Centerline is valid? [True, True] Translation: X:389.29, Y:-350.35, Z:-4.84 [[ 8.41655707e-01 5.39978375e-01 -6.24701911e-03 3.89294327e+02] [ 5.39963906e-01 -8.41678889e-01 -3.95317978e-03 -3.50347160e+02] [-7.39261570e-03 -4.59485184e-05 -9.99972673e-01 -4.83618998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters 0.047927920285388496 Centerline is valid? [True, True] Translation: X:389.35, Y:-350.38, Z:-4.84 [[ 7.99058857e-01 6.01231039e-01 -5.11671019e-03 3.89352448e+02] [ 6.01218842e-01 -7.99075239e-01 -3.82962280e-03 -3.50378283e+02] [-6.39112451e-03 -1.61685566e-05 -9.99979576e-01 -4.83600661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters 0.047519960001513595 Centerline is valid? [True, True] Translation: X:389.41, Y:-350.40, Z:-4.84 [[ 7.51849042e-01 6.59327995e-01 -3.10056991e-03 3.89409992e+02] [ 6.59322366e-01 -7.51855435e-01 -2.72431479e-03 -3.50402515e+02] [-4.12739734e-03 3.99837808e-06 -9.99991482e-01 -4.83739921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters 0.048061043712034124 Centerline is valid? [True, True] Translation: X:389.48, Y:-350.43, Z:-4.84 [[ 6.97361121e-01 7.16712313e-01 -3.30551304e-03 3.89476997e+02] [ 7.16704259e-01 -6.97368955e-01 -3.39780050e-03 -3.50428412e+02] [-4.74040764e-03 4.18692357e-07 -9.99988764e-01 -4.83665517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters 0.04662652813746305 Centerline is valid? [True, True] Translation: X:389.54, Y:-350.45, Z:-4.83 [[ 6.37818501e-01 7.70175201e-01 -4.20945960e-03 3.89544202e+02] [ 7.70158543e-01 -6.37832391e-01 -5.06548361e-03 -3.50448709e+02] [-6.58623954e-03 -1.10921136e-05 -9.99978310e-01 -4.83398173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters 0.048111000020927476 Centerline is valid? [True, True] Translation: X:389.61, Y:-350.46, Z:-4.83 [[ 5.72901634e-01 8.19601214e-01 -6.12925069e-03 3.89611391e+02] [ 8.19555309e-01 -5.72934417e-01 -8.67461674e-03 -3.50460977e+02] [-1.06213851e-02 -5.35578430e-05 -9.99943590e-01 -4.82978554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters 0.04802541707383028 Centerline is valid? [True, True] Translation: X:389.68, Y:-350.47, Z:-4.83 [[ 5.05572088e-01 8.62764726e-01 -5.82164417e-03 3.89683843e+02] [ 8.62709268e-01 -5.05605599e-01 -9.78248567e-03 -3.50471611e+02] [-1.13834395e-02 -7.66346799e-05 -9.99935204e-01 -4.82769479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters 0.04815984705952988 Centerline is valid? [True, True] Translation: X:389.75, Y:-350.47, Z:-4.83 [[ 4.36348295e-01 8.99762173e-01 -5.31019327e-03 3.89751750e+02] [ 8.99697862e-01 -4.36380597e-01 -1.07578993e-02 -3.50472934e+02] [-1.19968162e-02 -8.33785111e-05 -9.99928032e-01 -4.82841431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters 0.04819294045708275 Centerline is valid? [True, True] Translation: X:389.83, Y:-350.47, Z:-4.83 [[ 3.66116867e-01 9.30560196e-01 -4.02025545e-03 3.89826951e+02] [ 9.30505819e-01 -3.66138934e-01 -1.00599012e-02 -3.50471962e+02] [-1.08333156e-02 -5.77715908e-05 -9.99941316e-01 -4.82910319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters 0.04780396477289799 Centerline is valid? [True, True] Translation: X:389.90, Y:-350.46, Z:-4.83 [[ 2.93152603e-01 9.56060202e-01 -3.23140221e-03 3.89896784e+02] [ 9.56003879e-01 -2.93170409e-01 -1.03775801e-02 -3.50463923e+02] [-1.08689429e-02 -4.70184178e-05 -9.99940930e-01 -4.82985339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters 0.047530337566740376 Centerline is valid? [True, True] Translation: X:389.97, Y:-350.45, Z:-4.83 [[ 2.17866464e-01 9.75975577e-01 -2.42440001e-03 3.89969494e+02] [ 9.75917316e-01 -2.17879949e-01 -1.06639435e-02 -3.50451399e+02] [-1.09359766e-02 -4.26982740e-05 -9.99940200e-01 -4.82978494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters 0.0476242746304574 Centerline is valid? [True, True] Translation: X:390.04, Y:-350.43, Z:-4.83 [[ 1.38489278e-01 9.90362698e-01 -1.56401560e-03 3.90041181e+02] [ 9.90304973e-01 -1.38498093e-01 -1.06929144e-02 -3.50433314e+02] [-1.08064767e-02 -6.79984265e-05 -9.99941606e-01 -4.83008191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters 0.047744548362610016 Centerline is valid? [True, True] Translation: X:390.12, Y:-350.41, Z:-4.83 [[ 5.64950596e-02 9.98402552e-01 -8.08362059e-04 3.90120809e+02] [ 9.98329719e-01 -5.65007027e-02 -1.20599952e-02 -3.50410248e+02] [-1.20864030e-02 -1.25681718e-04 -9.99926949e-01 -4.83353907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters 0.048339613048303656 Centerline is valid? [True, True] Translation: X:390.20, Y:-350.38, Z:-4.83 [[-2.81939286e-02 9.99602457e-01 1.71676619e-04 3.90201750e+02] [ 9.99488346e-01 2.81933044e-02 -1.51057589e-02 -3.50381917e+02] [-1.51045938e-02 -2.54301908e-04 -9.99885887e-01 -4.82873846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters 0.048783193194986134 Centerline is valid? [True, True] Translation: X:390.27, Y:-350.35, Z:-4.83 [[-1.09088059e-01 9.94031040e-01 1.44442137e-03 3.90265607e+02] [ 9.93901265e-01 1.09097161e-01 -1.60650104e-02 -3.50348140e+02] [-1.61267012e-02 -3.16888562e-04 -9.99869906e-01 -4.82806390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters 0.04868044150417449 Centerline is valid? [True, True] Translation: X:390.33, Y:-350.31, Z:-4.83 [[-1.89606788e-01 9.81856330e-01 2.72293723e-03 3.90328774e+02] [ 9.81725118e-01 1.89625976e-01 -1.60555797e-02 -3.50308153e+02] [-1.62806122e-02 -3.71071025e-04 -9.99867393e-01 -4.83129202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters 0.048887348326876794 Centerline is valid? [True, True] Translation: X:390.40, Y:-350.26, Z:-4.83 [[-2.67043098e-01 9.63677371e-01 3.72941674e-03 3.90398387e+02] [ 9.63563267e-01 2.67068885e-01 -1.48337842e-02 -3.50261631e+02] [-1.52909933e-02 -3.67730699e-04 -9.99883018e-01 -4.83042819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters 0.04930093026528588 Centerline is valid? [True, True] Translation: X:390.46, Y:-350.21, Z:-4.83 [[-3.41885254e-01 9.39730359e-01 4.61793484e-03 3.90457595e+02] [ 9.39630226e-01 3.41916259e-01 -1.37226587e-02 -3.50211141e+02] [-1.44745460e-02 -3.52423503e-04 -9.99895176e-01 -4.83098042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters 0.04893725132740236 Centerline is valid? [True, True] Translation: X:390.51, Y:-350.16, Z:-4.83 [[-4.12953987e-01 9.10734551e-01 5.61984615e-03 3.90513109e+02] [ 9.10639177e-01 4.12992096e-01 -1.31840264e-02 -3.50155728e+02] [-1.43281004e-02 -3.26744215e-04 -9.99897294e-01 -4.83188226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters 0.048831761272319786 Centerline is valid? [True, True] Translation: X:390.56, Y:-350.10, Z:-4.83 [[-4.81267690e-01 8.76548563e-01 6.63529763e-03 3.90561589e+02] [ 8.76456518e-01 4.81313335e-01 -1.27061245e-02 -3.50099017e+02] [-1.43311924e-02 -2.99497341e-04 -9.99897258e-01 -4.83173069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters 0.0480682201874801 Centerline is valid? [True, True] Translation: X:390.61, Y:-350.04, Z:-4.83 [[-5.45977527e-01 8.37764477e-01 7.69555050e-03 3.90607468e+02] [ 8.37674417e-01 5.46031696e-01 -1.22865022e-02 -3.50036969e+02] [-1.44952096e-02 -2.61788300e-04 -9.99894905e-01 -4.83241128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters 0.048620930761870726 Centerline is valid? [True, True] Translation: X:390.65, Y:-349.97, Z:-4.83 [[-6.08213601e-01 7.93719899e-01 9.21614701e-03 3.90649955e+02] [ 7.93622555e-01 6.08283371e-01 -1.24330208e-02 -3.49971969e+02] [-1.54743650e-02 -2.47790225e-04 -9.99880234e-01 -4.82866005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters 0.04782376084133754 Centerline is valid? [True, True] Translation: X:390.69, Y:-349.90, Z:-4.83 [[-6.66724402e-01 7.45234825e-01 1.01798002e-02 3.90687420e+02] [ 7.45143069e-01 6.66802078e-01 -1.16959936e-02 -3.49902560e+02] [-1.55041736e-02 -2.12596787e-04 -9.99879781e-01 -4.83221779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters 0.04837213187807842 Centerline is valid? [True, True] Translation: X:390.72, Y:-349.83, Z:-4.83 [[-7.21164334e-01 6.92702185e-01 9.25664814e-03 3.90720448e+02] [ 6.92642571e-01 7.21223725e-01 -9.08880084e-03 -3.49829627e+02] [-1.29719465e-02 -1.42970432e-04 -9.99915851e-01 -4.83496491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters 0.04759540136135725 Centerline is valid? [True, True] Translation: X:390.72, Y:-349.72, Z:-4.84 [[-7.67584230e-01 6.40891658e-01 8.50488764e-03 3.90721299e+02] [ 6.40850712e-01 7.67631338e-01 -7.24529669e-03 -3.49722577e+02] [-1.11720685e-02 -1.11012183e-04 -9.99937584e-01 -4.83680385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters 0.04767463400544594 Centerline is valid? [True, True] Translation: X:391.00, Y:-349.22, Z:-5.92 [[-7.08953886e-01 -7.05219025e-01 7.10736421e-03 3.91004236e+02] [ 7.05183949e-01 -7.08989511e-01 -7.03364799e-03 -3.49222070e+02] [ 9.99930905e-03 2.54670868e-05 9.99950005e-01 -5.91526462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters 0.04809252345484458 Centerline is valid? [True, True] Translation: X:390.54, Y:-349.56, Z:-4.83 [[-7.69767138e-01 6.38279149e-01 7.63422847e-03 3.90539275e+02] [ 6.38246507e-01 7.69804988e-01 -6.45578005e-03 -3.49560889e+02] [-9.99745695e-03 -9.69276775e-05 -9.99950020e-01 -4.83469330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters 0.047619320058882884 Centerline is valid? [True, True] Translation: X:390.56, Y:-349.48, Z:-4.84 [[-8.13234844e-01 5.81879824e-01 8.05975635e-03 3.90561463e+02] [ 5.81850040e-01 8.13274776e-01 -5.88812387e-03 -3.49483034e+02] [-9.98097701e-03 -9.88579378e-05 -9.99950184e-01 -4.83783184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters 0.04766596509438371 Centerline is valid? [True, True] Translation: X:390.47, Y:-349.33, Z:-4.84 [[-8.52310921e-01 5.22957122e-01 9.05217529e-03 3.90466379e+02] [ 5.22926308e-01 8.52358984e-01 -5.67797385e-03 -3.49326203e+02] [-1.06850398e-02 -1.05778515e-04 -9.99942908e-01 -4.83776185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters 0.047962826028413084 Centerline is valid? [True, True] Translation: X:390.59, Y:-349.31, Z:-4.84 [[-8.86600611e-01 4.62441103e-01 9.35861271e-03 3.90593819e+02] [ 4.62414291e-01 8.86649998e-01 -4.98047033e-03 -3.49311106e+02] [-1.06009881e-02 -8.81317766e-05 -9.99943804e-01 -4.83779712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters 0.04795785999216757 Centerline is valid? [True, True] Translation: X:390.51, Y:-349.18, Z:-4.84 [[-9.16603752e-01 3.99706597e-01 8.49694394e-03 3.90505093e+02] [ 3.99688775e-01 9.16643133e-01 -3.77499269e-03 -3.49184280e+02] [-9.29755479e-03 -6.40393461e-05 -9.99956775e-01 -4.84182491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters 0.04789768710305459 Centerline is valid? [True, True] Translation: X:390.45, Y:-349.08, Z:-4.84 [[-9.42386269e-01 3.34478245e-01 5.69417348e-03 3.90450948e+02] [ 3.34471908e-01 9.42403471e-01 -2.05924753e-03 -3.49078913e+02] [-6.05498235e-03 -3.60655334e-05 -9.99981668e-01 -4.84391705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters 0.0481084505724488 Centerline is valid? [True, True] Translation: X:390.54, Y:-348.50, Z:-5.91 [[-9.12924692e-01 -4.08114844e-01 3.28349222e-03 3.90538002e+02] [ 4.08111683e-01 -9.12930587e-01 -1.61163545e-03 -3.48504456e+02] [ 3.65533283e-03 -1.31270266e-04 9.99993311e-01 -5.90712066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters 0.048228914058997076 Centerline is valid? [True, True] Translation: X:390.69, Y:-349.17, Z:-4.85 [[-9.45024396e-01 3.26999814e-01 -1.10340894e-04 3.90687031e+02] [ 3.26999811e-01 9.45024403e-01 4.10395079e-05 -3.49167654e+02] [ 1.17694748e-04 2.70188484e-06 -9.99999993e-01 -4.84847517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters 0.04831337945011637 Centerline is valid? [True, True] Translation: X:389.92, Y:-348.84, Z:-4.85 [[-9.66085173e-01 2.58223064e-01 -5.36646280e-04 3.89924274e+02] [ 2.58223021e-01 9.66085322e-01 1.49618792e-04 -3.48836711e+02] [ 5.57081117e-04 5.97007273e-06 -9.99999845e-01 -4.84877662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters 0.04867594219361274 Centerline is valid? [True, True] Translation: X:390.04, Y:-348.30, Z:-5.90 [[-9.40692976e-01 -3.39259082e-01 1.99658757e-05 3.90035109e+02] [ 3.39259082e-01 -9.40692976e-01 3.16086066e-05 -3.48296386e+02] [ 8.05825221e-06 3.65075988e-05 9.99999999e-01 -5.90443038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters 0.048737020274921085 Centerline is valid? [True, True] Translation: X:389.85, Y:-348.81, Z:-4.85 [[-9.68223663e-01 2.50082499e-01 1.29727004e-03 3.89851874e+02] [ 2.50082255e-01 9.68224532e-01 -3.50018665e-04 -3.48814496e+02] [-1.34358222e-03 -1.44721375e-05 -9.99999097e-01 -4.84742703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters 0.049311955859674704 Centerline is valid? [True, True] Translation: X:389.83, Y:-348.72, Z:-4.85 [[-9.83791986e-01 1.79297345e-01 2.40632113e-03 3.89825957e+02] [ 1.79296731e-01 9.83794928e-01 -4.70285473e-04 -3.48721371e+02] [-2.45164746e-03 -3.12175671e-05 -9.99996994e-01 -4.84568602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters 0.04840965861787765 Centerline is valid? [True, True] Translation: X:389.80, Y:-348.64, Z:-4.85 [[-9.94032312e-01 1.09058441e-01 2.45339038e-03 3.89796337e+02] [ 1.09058031e-01 9.94035339e-01 -3.00569393e-04 -3.48644909e+02] [-2.47153637e-03 -3.12137637e-05 -9.99996945e-01 -4.84666083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters 0.049195389856355166 Centerline is valid? [True, True] Translation: X:389.80, Y:-348.12, Z:-5.90 [[-9.79658710e-01 -2.00670667e-01 3.08495267e-04 3.89800909e+02] [ 2.00670612e-01 -9.79658750e-01 -1.99543610e-04 -3.48117984e+02] [ 3.42262637e-04 -1.33578702e-04 9.99999933e-01 -5.90471356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters 0.048405601488494765 Centerline is valid? [True, True] Translation: X:390.18, Y:-348.70, Z:-4.85 [[-9.94751413e-01 1.02316302e-01 -9.99928453e-04 3.90179456e+02] [ 1.02316236e-01 9.94751916e-01 1.16792616e-04 -3.48699633e+02] [ 1.00663053e-03 1.38707039e-05 -9.99999493e-01 -4.84893204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters 0.04948163404272801 Centerline is valid? [True, True] Translation: X:389.26, Y:-348.05, Z:-5.90 [[-9.81655265e-01 -1.90663361e-01 -6.50167317e-04 3.89263292e+02] [ 1.90663313e-01 -9.81655481e-01 1.35774289e-04 -3.48046994e+02] [-6.64127492e-04 9.32049088e-06 9.99999779e-01 -5.90436547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters 0.04911339138681245 Centerline is valid? [True, True] Translation: X:389.23, Y:-348.57, Z:-4.85 [[-9.95162068e-01 9.82344695e-02 1.56434029e-03 3.89227589e+02] [ 9.82343241e-02 9.95163298e-01 -1.69671166e-04 -3.48566607e+02] [-1.57344159e-03 -1.51783975e-05 -9.99998762e-01 -4.84706025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters 0.0497552630973217 Centerline is valid? [True, True] Translation: X:389.14, Y:-348.04, Z:-5.91 [[-9.82425890e-01 -1.86616217e-01 3.70932240e-03 3.89139331e+02] [ 1.86615569e-01 -9.82432876e-01 -5.23063694e-04 -3.48038765e+02] [ 3.74177244e-03 1.78345997e-04 9.99992984e-01 -5.90761461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters 0.04872593765557869 Centerline is valid? [True, True] Translation: X:389.02, Y:-348.54, Z:-4.84 [[-9.95409181e-01 9.55878094e-02 4.85116201e-03 3.89021104e+02] [ 9.55864456e-02 9.95421001e-01 -5.12753169e-04 -3.48536919e+02] [-4.87796149e-03 -4.66938785e-05 -9.99988102e-01 -4.84435271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters 0.049883534891974564 Centerline is valid? [True, True] Translation: X:389.02, Y:-348.46, Z:-4.84 [[-9.99635999e-01 2.65537934e-02 4.77130606e-03 3.89020169e+02] [ 2.65533199e-02 9.99647385e-01 -1.62571883e-04 -3.48462786e+02] [-4.77394053e-03 -3.58186910e-05 -9.99988604e-01 -4.84440226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters 0.04981874492557679 Centerline is valid? [True, True] Translation: X:389.34, Y:-348.38, Z:-4.85 [[-9.99017400e-01 -4.40337932e-02 5.02593719e-03 3.89335910e+02] [-4.40333046e-02 9.99030042e-01 2.07873305e-04 -3.48380513e+02] [-5.03021570e-03 -1.36395750e-05 -9.99987348e-01 -4.84527345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters 0.049725787257335945 Centerline is valid? [True, True] Translation: X:389.29, Y:-348.29, Z:-4.85 [[-9.93779670e-01 -1.11260759e-01 4.79707844e-03 3.89288690e+02] [-1.11259437e-01 9.93791247e-01 5.42461237e-04 -3.48294742e+02] [-4.82764922e-03 5.36670265e-06 -9.99988347e-01 -4.84610172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters 0.0490334064558118 Centerline is valid? [True, True] Translation: X:389.15, Y:-347.82, Z:-5.91 [[-9.98796459e-01 4.89193855e-02 3.53947163e-03 3.89146017e+02] [-4.89193805e-02 -9.98802727e-01 8.80348395e-05 -3.47820462e+02] [ 3.53954053e-03 -8.52198735e-05 9.99993732e-01 -5.90592460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters 0.04986929912979531 Centerline is valid? [True, True] Translation: X:389.04, Y:-348.32, Z:-4.85 [[-9.94004039e-01 -1.09289467e-01 3.43268733e-03 3.89040502e+02] [-1.09288730e-01 9.94009966e-01 4.02092188e-04 -3.48319133e+02] [-3.45606985e-03 2.45272200e-05 -9.99994028e-01 -4.84711797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters 0.05026579846190496 Centerline is valid? [True, True] Translation: X:388.83, Y:-347.86, Z:-5.91 [[-9.98488850e-01 5.47296370e-02 4.96829820e-03 3.88825225e+02] [-5.47286323e-02 -9.98501208e-01 3.38051026e-04 -3.47858914e+02] [ 4.97935316e-03 6.56320141e-05 9.99987601e-01 -5.90830779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters 0.0506805727069316 Centerline is valid? [True, True] Translation: X:388.73, Y:-348.35, Z:-4.84 [[-9.93373098e-01 -1.14646196e-01 8.13247447e-03 3.88731032e+02] [-1.14642007e-01 9.93406386e-01 9.80856058e-04 -3.48347975e+02] [-8.19130349e-03 4.20328236e-05 -9.99966450e-01 -4.84372009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters 0.050483257253606875 Centerline is valid? [True, True] Translation: X:388.66, Y:-348.27, Z:-4.84 [[-9.82705677e-01 -1.84971027e-01 8.67595274e-03 3.88660686e+02] [-1.84963400e-01 9.82743973e-01 1.68042025e-03 -3.48272597e+02] [-8.83706933e-03 4.66248008e-05 -9.99960951e-01 -4.84239921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters 0.05046343769016251 Centerline is valid? [True, True] Translation: X:388.47, Y:-348.23, Z:-4.84 [[-9.67249852e-01 -2.53722913e-01 7.23935528e-03 3.88467632e+02] [-2.53715463e-01 9.67276942e-01 1.94477895e-03 -3.48229427e+02] [-7.49589641e-03 4.43507715e-05 -9.99971904e-01 -4.84302842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters 0.05000804388231712 Centerline is valid? [True, True] Translation: X:388.15, Y:-348.24, Z:-4.84 [[-9.47117697e-01 -3.20852288e-01 4.67724858e-03 3.88150953e+02] [-3.20848197e-01 9.47129246e-01 1.62071003e-03 -3.48242498e+02] [-4.94996744e-03 3.43163771e-05 -9.99987748e-01 -4.84381168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters 0.04970761428183212 Centerline is valid? [True, True] Translation: X:388.04, Y:-348.20, Z:-4.85 [[-9.22352802e-01 -3.86343136e-01 2.07112102e-03 3.88044788e+02] [-3.86342114e-01 9.22355128e-01 8.88628946e-04 -3.48204383e+02] [-2.25362479e-03 1.94681247e-05 -9.99997460e-01 -4.84532183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters 0.04971419404130407 Centerline is valid? [True, True] Translation: X:388.20, Y:-348.03, Z:-4.85 [[-8.89978579e-01 -4.55997182e-01 2.16791573e-03 3.88204819e+02] [-4.55995781e-01 8.89981219e-01 1.13050322e-03 -3.48033496e+02] [-2.44491057e-03 1.75632227e-05 -9.99997011e-01 -4.84502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters 0.04986267784434886 Centerline is valid? [True, True] Translation: X:388.02, Y:-348.04, Z:-4.84 [[-8.51335964e-01 -5.24611156e-01 3.19556315e-03 3.88016231e+02] [-5.24607469e-01 8.51341962e-01 1.96668664e-03 -3.48035251e+02] [-3.75226275e-03 -2.10522908e-06 -9.99992960e-01 -4.84372036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters 0.050119145419205514 Centerline is valid? [True, True] Translation: X:387.91, Y:-348.00, Z:-4.84 [[-8.09179927e-01 -5.87549170e-01 3.71738210e-03 3.87912443e+02] [-5.87543074e-01 8.09188466e-01 2.67648715e-03 -3.47998815e+02] [-4.58063052e-03 -1.83624283e-05 -9.99989509e-01 -4.84268512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters 0.050725157499704444 Centerline is valid? [True, True] Translation: X:387.19, Y:-348.44, Z:-4.84 [[-7.58448419e-01 -6.51715531e-01 4.78156326e-03 3.87192717e+02] [-6.51703355e-01 7.58463485e-01 3.98484668e-03 -3.48442650e+02] [-6.22362761e-03 -9.38601530e-05 -9.99980629e-01 -4.84034864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters 0.050134419029798934 Centerline is valid? [True, True] Translation: X:387.45, Y:-348.11, Z:-4.84 [[-7.02102668e-01 -7.12053475e-01 5.62964064e-03 3.87447406e+02] [-7.12032474e-01 7.02125217e-01 5.47132856e-03 -3.48110156e+02] [-7.84859117e-03 -1.67052572e-04 -9.99969185e-01 -4.84228598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters 0.05148652735906559 Centerline is valid? [True, True] Translation: X:386.54, Y:-348.90, Z:-4.84 [[-6.47334078e-01 -7.62192365e-01 4.62503383e-03 3.86544819e+02] [-7.62174784e-01 6.47350577e-01 5.17969555e-03 -3.48902322e+02] [-6.94194272e-03 -1.72090719e-04 -9.99975890e-01 -4.83782683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters 0.05061996809549216 Centerline is valid? [True, True] Translation: X:386.40, Y:-348.97, Z:-4.84 [[-5.91128460e-01 -8.06573710e-01 2.44822121e-03 3.86397293e+02] [-8.06567459e-01 5.91133522e-01 3.17710297e-03 -3.48974668e+02] [-4.00979336e-03 -9.65795757e-05 -9.99991956e-01 -4.84134957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters 0.05061147463639276 Centerline is valid? [True, True] Translation: X:386.24, Y:-349.08, Z:-4.84 [[-5.32901346e-01 -8.46175485e-01 1.78997636e-03 3.86236240e+02] [-8.46171162e-01 5.32904347e-01 2.70584236e-03 -3.49079848e+02] [-3.24350366e-03 -7.26793426e-05 -9.99994737e-01 -4.84170112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters 0.049490570586912225 Centerline is valid? [True, True] Translation: X:386.10, Y:-349.18, Z:-4.84 [[-4.69351038e-01 -8.83009993e-01 1.71913798e-03 3.86104937e+02] [-8.83004676e-01 4.69354180e-01 3.06532976e-03 -3.49175512e+02] [-3.51360141e-03 -7.92911667e-05 -9.99993824e-01 -4.84163770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters 0.04931875116648605 Centerline is valid? [True, True] Translation: X:385.99, Y:-349.24, Z:-4.84 [[-4.01676621e-01 -9.15780118e-01 1.63309513e-03 3.85991720e+02] [-9.15773467e-01 4.01679930e-01 3.49151565e-03 -3.49241205e+02] [-3.85344215e-03 -9.30849841e-05 -9.99992571e-01 -4.84193092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters 0.048615264665694054 Centerline is valid? [True, True] Translation: X:385.87, Y:-349.33, Z:-4.84 [[-3.28860665e-01 -9.44376972e-01 1.67268511e-03 3.85873897e+02] [-9.44366774e-01 3.28864891e-01 4.39087400e-03 -3.49332100e+02] [-4.69672770e-03 -1.35642495e-04 -9.99988961e-01 -4.84060942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters 0.049526920759545914 Centerline is valid? [True, True] Translation: X:385.81, Y:-349.26, Z:-4.84 [[-2.55250523e-01 -9.66873637e-01 1.59381247e-03 3.85812259e+02] [-9.66858818e-01 2.55255440e-01 5.35594582e-03 -3.49256239e+02] [-5.58535212e-03 -1.73883668e-04 -9.99984387e-01 -4.83954500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters 0.048929421681922686 Centerline is valid? [True, True] Translation: X:385.23, Y:-349.50, Z:-5.91 [[-3.78789879e-01 9.25481014e-01 1.76633748e-03 3.85225218e+02] [-9.25469567e-01 -3.78793982e-01 4.60429758e-03 -3.49501005e+02] [ 4.93026800e-03 1.09369740e-04 9.99987840e-01 -5.91285527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters 0.05031687376411417 Centerline is valid? [True, True] Translation: X:385.64, Y:-349.82, Z:-4.84 [[-2.51946606e-01 -9.67740010e-01 1.47660119e-03 3.85642992e+02] [-9.67726684e-01 2.51950889e-01 5.08076832e-03 -3.49823141e+02] [-5.28889377e-03 -1.48864032e-04 -9.99986003e-01 -4.83833405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters 0.04726107364169246 Centerline is valid? [True, True] Translation: X:385.52, Y:-350.09, Z:-4.84 [[-1.85488426e-01 -9.82645594e-01 1.29615144e-03 3.85518318e+02] [-9.82626849e-01 1.85492896e-01 6.07131060e-03 -3.50094333e+02] [-6.20637350e-03 -1.47475361e-04 -9.99980729e-01 -4.83937776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters 0.047537541080698964 Centerline is valid? [True, True] Translation: X:385.42, Y:-350.23, Z:-4.84 [[-1.15001322e-01 -9.93364916e-01 9.16647464e-04 3.85424108e+02] [-9.93342418e-01 1.15004888e-01 6.68697659e-03 -3.50228783e+02] [-6.74802687e-03 -1.41533663e-04 -9.99977222e-01 -4.83889326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters 0.04720058645217276 Centerline is valid? [True, True] Translation: X:385.34, Y:-350.40, Z:-4.84 [[-4.43900837e-02 -9.99014193e-01 4.03658655e-04 3.85336041e+02] [-9.98993364e-01 4.43917652e-02 6.45206103e-03 -3.50401960e+02] [-6.46361966e-03 -1.16844789e-04 -9.99979104e-01 -4.83936546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters 0.047173100826363314 Centerline is valid? [True, True] Translation: X:385.26, Y:-350.65, Z:-4.84 [[ 2.34284118e-02 -9.99725515e-01 -6.65405884e-05 3.85260740e+02] [-9.99708089e-01 -2.34283963e-02 5.90317406e-03 -3.50650663e+02] [-5.90311267e-03 -7.17808284e-05 -9.99982574e-01 -4.83908533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters 0.04670514409274368 Centerline is valid? [True, True] Translation: X:385.20, Y:-350.88, Z:-4.84 [[ 9.38050136e-02 -9.95590460e-01 -5.04570014e-04 3.85198099e+02] [-9.95572951e-01 -9.38063564e-02 5.90477885e-03 -3.50875218e+02] [-5.92607337e-03 -5.15616024e-05 -9.99982439e-01 -4.83892192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters 0.0476927543397444 Centerline is valid? [True, True] Translation: X:385.15, Y:-351.13, Z:-4.84 [[ 1.67845659e-01 -9.85812869e-01 -9.06820353e-04 3.85146662e+02] [-9.85796656e-01 -1.67848100e-01 5.65409612e-03 -3.51134684e+02] [-5.72608879e-03 -5.50750196e-05 -9.99983604e-01 -4.83671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters 0.04707085414655333 Centerline is valid? [True, True] Translation: X:385.10, Y:-351.29, Z:-4.84 [[ 2.40732037e-01 -9.70590110e-01 -1.71021694e-03 3.85099885e+02] [-9.70563382e-01 -2.40738100e-01 7.20332884e-03 -3.51293819e+02] [-7.40319411e-03 -7.41980870e-05 -9.99972593e-01 -4.83682532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters 0.04696633020399046 Centerline is valid? [True, True] Translation: X:385.09, Y:-351.54, Z:-4.84 [[ 3.09331383e-01 -9.50951295e-01 -2.39358483e-03 3.85090467e+02] [-9.50921313e-01 -3.09340638e-01 7.55160184e-03 -3.51539664e+02] [-7.92163861e-03 -5.98366161e-05 -9.99968622e-01 -4.83728600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters 0.04673315271935718 Centerline is valid? [True, True] Translation: X:385.14, Y:-351.89, Z:-4.84 [[ 3.75325418e-01 -9.26888972e-01 -2.76849684e-03 3.85136904e+02] [-9.26863116e-01 -3.75335627e-01 6.92329732e-03 -3.51892044e+02] [-7.45624343e-03 -3.24718526e-05 -9.99972201e-01 -4.83769095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters 0.04671608344269764 Centerline is valid? [True, True] Translation: X:385.14, Y:-352.08, Z:-4.84 [[ 4.39617985e-01 -8.98180299e-01 -2.85984317e-03 3.85138302e+02] [-8.98161219e-01 -4.39627287e-01 5.85436222e-03 -3.52078904e+02] [-6.51553790e-03 -5.08269084e-06 -9.99978774e-01 -4.83766500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters 0.04704519266109294 Centerline is valid? [True, True] Translation: X:384.90, Y:-351.81, Z:-4.84 [[ 5.01397516e-01 -8.65212975e-01 -2.65323981e-03 3.84901949e+02] [-8.65201085e-01 -5.01404535e-01 4.53594212e-03 -3.51810437e+02] [-5.25490245e-03 2.12758452e-05 -9.99986193e-01 -4.84025911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters 0.04837628289175132 Centerline is valid? [True, True] Translation: X:385.12, Y:-352.31, Z:-4.84 [[ 5.60032388e-01 -8.28469595e-01 -1.36211087e-03 3.85124232e+02] [-8.28467225e-01 -5.60034044e-01 1.98141079e-03 -3.52313393e+02] [-2.40436705e-03 1.88100013e-05 -9.99997109e-01 -4.84155780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters 0.04808300319365641 Centerline is valid? [True, True] Translation: X:384.97, Y:-352.24, Z:-4.84 [[ 6.19377580e-01 -7.85092525e-01 -1.06806719e-03 3.84968481e+02] [-7.85091398e-01 -6.19378501e-01 1.33027464e-03 -3.52241620e+02] [-1.70592653e-03 1.45880744e-05 -9.99998545e-01 -4.84111525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters 0.047466723214066975 Centerline is valid? [True, True] Translation: X:385.06, Y:-352.49, Z:-4.84 [[ 6.76714652e-01 -7.36243097e-01 -1.83906211e-03 3.85063578e+02] [-7.36240445e-01 -6.76717150e-01 1.97643351e-03 -3.52489917e+02] [-2.69966040e-03 1.65103942e-05 -9.99996356e-01 -4.83919917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters 0.047741577858743944 Centerline is valid? [True, True] Translation: X:385.62, Y:-353.16, Z:-4.84 [[ 7.29090361e-01 -6.84410161e-01 -3.15871209e-03 3.85620784e+02] [-6.84403848e-01 -7.29097203e-01 2.93965620e-03 -3.53162204e+02] [-4.31493873e-03 1.85597051e-05 -9.99990690e-01 -4.83662262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters 0.047260041168471156 Centerline is valid? [True, True] Translation: X:385.60, Y:-353.24, Z:-4.84 [[ 7.81441112e-01 -6.23959562e-01 -4.92485883e-03 3.85604483e+02] [-6.23947295e-01 -7.81456630e-01 3.91252193e-03 -3.53236016e+02] [-6.28981906e-03 1.54468678e-05 -9.99980219e-01 -4.83787935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters 0.04763465305846377 Centerline is valid? [True, True] Translation: X:385.57, Y:-353.34, Z:-4.84 [[ 8.29813792e-01 -5.58009151e-01 -5.90409767e-03 3.85574378e+02] [-5.57994957e-01 -8.29834795e-01 3.98003367e-03 -3.53338964e+02] [-7.12032089e-03 -8.23011228e-06 -9.99974650e-01 -4.83638419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters 0.047396747306627504 Centerline is valid? [True, True] Translation: X:385.56, Y:-353.43, Z:-4.84 [[ 8.72538682e-01 -4.88510058e-01 -5.84560879e-03 3.85562734e+02] [-4.88498862e-01 -8.72558263e-01 3.30744780e-03 -3.53427040e+02] [-6.71635577e-03 -3.03029043e-05 -9.99977445e-01 -4.83540449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters 0.04717782449508252 Centerline is valid? [True, True] Translation: X:385.56, Y:-353.51, Z:-4.83 [[ 9.09670884e-01 -4.15280556e-01 -6.39859708e-03 3.85559903e+02] [-4.15269823e-01 -9.09693386e-01 2.98636540e-03 -3.53513366e+02] [-7.06094093e-03 -5.94653825e-05 -9.99975070e-01 -4.83487316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters 0.04736120724715316 Centerline is valid? [True, True] Translation: X:385.56, Y:-353.60, Z:-4.83 [[ 9.40013623e-01 -3.41046446e-01 -7.85554039e-03 3.85564362e+02] [-3.41033758e-01 -9.40046443e-01 2.94310633e-03 -3.53595997e+02] [-8.38830875e-03 -8.75555837e-05 -9.99964814e-01 -4.83186860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters 0.0473304168413411 Centerline is valid? [True, True] Translation: X:385.58, Y:-353.68, Z:-4.83 [[ 9.64161842e-01 -2.65152919e-01 -9.26674352e-03 3.85575162e+02] [-2.65139529e-01 -9.64206366e-01 2.66720455e-03 -3.53680766e+02] [-9.64227017e-03 -1.14636841e-04 -9.99953506e-01 -4.83177241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters 0.04714477376948323 Centerline is valid? [True, True] Translation: X:385.59, Y:-353.77, Z:-4.83 [[ 9.82321810e-01 -1.86837453e-01 -1.16459281e-02 3.85591673e+02] [-1.86822300e-01 -9.82390828e-01 2.38537322e-03 -3.53766631e+02] [-1.18865300e-02 -1.67485072e-04 -9.99929339e-01 -4.82990618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters 0.047646582928356405 Centerline is valid? [True, True] Translation: X:385.61, Y:-353.85, Z:-4.83 [[ 9.94225833e-01 -1.06491078e-01 -1.32152552e-02 3.85613850e+02] [-1.06478626e-01 -9.94313632e-01 1.64432948e-03 -3.53852519e+02] [-1.33152148e-02 -2.27692635e-04 -9.99911323e-01 -4.82674667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters 0.04808351292882694 Centerline is valid? [True, True] Translation: X:385.64, Y:-353.93, Z:-4.83 [[ 9.99601023e-01 -2.44867734e-02 -1.40781022e-02 3.85644463e+02] [-2.44801602e-02 -9.99700110e-01 6.41911831e-04 -3.53926463e+02] [-1.40895987e-02 -2.97021526e-04 -9.99900693e-01 -4.82605987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters 0.04914532573583201 Centerline is valid? [True, True] Translation: X:385.68, Y:-354.00, Z:-4.82 [[ 9.98413331e-01 5.46183239e-02 -1.36988762e-02 3.85676619e+02] [ 5.46172962e-02 -9.98507260e-01 -4.49400983e-04 -3.53996290e+02] [-1.37029729e-02 -2.99507646e-04 -9.99906065e-01 -4.82493843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters 0.04747535478620861 Centerline is valid? [True, True] Translation: X:385.71, Y:-354.07, Z:-4.83 [[ 9.91422369e-01 1.30061827e-01 -1.28688257e-02 3.85713109e+02] [ 1.30054140e-01 -9.91505854e-01 -1.43592880e-03 -3.54068503e+02] [-1.29462756e-02 -2.50032135e-04 -9.99916162e-01 -4.83210274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters 0.04737541198653522 Centerline is valid? [True, True] Translation: X:385.75, Y:-354.14, Z:-4.83 [[ 9.79140910e-01 2.02872892e-01 -1.12101649e-02 3.85753831e+02] [ 2.02861573e-01 -9.79205066e-01 -2.14968456e-03 -3.54140420e+02] [-1.14131630e-02 -1.69267585e-04 -9.99934853e-01 -4.83048033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters 0.047036228788809205 Centerline is valid? [True, True] Translation: X:385.80, Y:-354.20, Z:-4.83 [[ 9.62740729e-01 2.70299462e-01 -8.27583818e-03 3.85798874e+02] [ 2.70289925e-01 -9.62776297e-01 -2.27111067e-03 -3.54196936e+02] [-8.58166083e-03 -5.03849405e-05 -9.99963176e-01 -4.83353548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters 0.04717924573796698 Centerline is valid? [True, True] Translation: X:385.85, Y:-354.27, Z:-4.84 [[ 9.40767106e-01 3.38994224e-01 -6.33785119e-03 3.85852205e+02] [ 3.38986514e-01 -9.40788455e-01 -2.28624813e-03 -3.54265263e+02] [-6.73760213e-03 2.38095654e-06 -9.99977302e-01 -4.83607316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters 0.04663499576454943 Centerline is valid? [True, True] Translation: X:385.91, Y:-354.32, Z:-4.84 [[ 9.13988602e-01 4.05699555e-01 -5.71904515e-03 3.85906209e+02] [ 4.05691320e-01 -9.14006493e-01 -2.58516969e-03 -3.54318047e+02] [-6.27604660e-03 4.26486482e-05 -9.99980305e-01 -4.83507530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters 0.04706387263545608 Centerline is valid? [True, True] Translation: X:385.96, Y:-354.37, Z:-4.83 [[ 8.79572430e-01 4.75712200e-01 -7.08830368e-03 3.85962976e+02] [ 4.75696231e-01 -8.79600989e-01 -3.89826615e-03 -3.54366788e+02] [-8.08933169e-03 5.69280842e-05 -9.99967279e-01 -4.83315756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters 0.04782831516513504 Centerline is valid? [True, True] Translation: X:386.03, Y:-354.41, Z:-4.83 [[ 8.37120075e-01 5.46934421e-01 -9.62907633e-03 3.86026607e+02] [ 5.46897864e-01 -8.37175453e-01 -6.32353995e-03 -3.54414949e+02] [-1.15197880e-02 2.74409559e-05 -9.99933645e-01 -4.82954558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters 0.04785102323334683 Centerline is valid? [True, True] Translation: X:386.10, Y:-354.46, Z:-4.83 [[ 7.89701369e-01 6.13404064e-01 -1.03538293e-02 3.86096077e+02] [ 6.13351562e-01 -7.89769241e-01 -8.02544959e-03 -3.54459144e+02] [-1.30999793e-02 -1.28288650e-05 -9.99914192e-01 -4.83069448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters 0.04834227058394686 Centerline is valid? [True, True] Translation: X:386.17, Y:-354.50, Z:-4.83 [[ 7.37245493e-01 6.75544882e-01 -1.04017014e-02 3.86173319e+02] [ 6.75478735e-01 -7.37318865e-01 -9.45353496e-03 -3.54502921e+02] [-1.40556578e-02 -5.65520368e-05 -9.99901213e-01 -4.82997881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters 0.04800219033078084 Centerline is valid? [True, True] Translation: X:386.25, Y:-354.54, Z:-4.83 [[ 6.82230486e-01 7.31083351e-01 -8.87117809e-03 3.86247647e+02] [ 7.31022513e-01 -6.82288159e-01 -9.43155858e-03 -3.54535245e+02] [-1.29479552e-02 -5.05341024e-05 -9.99916170e-01 -4.83010997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters 0.04778987903714661 Centerline is valid? [True, True] Translation: X:386.33, Y:-354.56, Z:-4.84 [[ 6.24578881e-01 7.80939959e-01 -5.83111391e-03 3.86327511e+02] [ 7.80906177e-01 -6.24606100e-01 -7.26373976e-03 -3.54563017e+02] [-9.31469395e-03 -1.67744167e-05 -9.99956617e-01 -4.83606923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters 0.047951169037644015 Centerline is valid? [True, True] Translation: X:386.41, Y:-354.58, Z:-4.84 [[ 5.62099619e-01 8.27062398e-01 -3.43627718e-03 3.86406102e+02] [ 8.27047015e-01 -5.62110123e-01 -5.04424146e-03 -3.54583329e+02] [-6.10346862e-03 -6.59657951e-06 -9.99981374e-01 -4.83930918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters 0.04793397578026492 Centerline is valid? [True, True] Translation: X:386.48, Y:-354.59, Z:-4.84 [[ 4.94648620e-01 8.69092773e-01 -7.03457350e-04 3.86478173e+02] [ 8.69091900e-01 -4.94649120e-01 -1.23194050e-03 -3.54591012e+02] [-1.41863515e-03 -1.99141732e-06 -9.99998994e-01 -4.84269415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters 0.04823184506031192 Centerline is valid? [True, True] Translation: X:386.55, Y:-354.59, Z:-4.84 [[ 4.22467661e-01 9.06377919e-01 -3.78900486e-04 3.86552036e+02] [ 9.06377561e-01 -4.22467831e-01 -8.05118709e-04 -3.54594172e+02] [-8.89815087e-04 -3.29028011e-06 -9.99999604e-01 -4.84378868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters 0.048010239805034015 Centerline is valid? [True, True] Translation: X:386.63, Y:-354.59, Z:-4.84 [[ 3.44966300e-01 9.38615045e-01 -2.23277758e-04 3.86631314e+02] [ 9.38614858e-01 -3.44966372e-01 -5.91731712e-04 -3.54593493e+02] [-6.32431606e-04 -5.44432197e-06 -9.99999800e-01 -4.84339105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters 0.048496442872536065 Centerline is valid? [True, True] Translation: X:386.71, Y:-354.59, Z:-4.84 [[ 2.68355707e-01 9.63319695e-01 -6.16877662e-04 3.86707104e+02] [ 9.63317382e-01 -2.68356414e-01 -2.11112710e-03 -3.54585613e+02] [-2.19923339e-03 -2.77159699e-05 -9.99997581e-01 -4.84230944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters 0.04829007830413619 Centerline is valid? [True, True] Translation: X:386.78, Y:-354.57, Z:-4.84 [[ 1.94620571e-01 9.80878247e-01 -8.35472591e-04 3.86776795e+02] [ 9.80870126e-01 -1.94622360e-01 -3.99172935e-03 -3.54570166e+02] [-4.07800213e-03 -4.26174596e-05 -9.99991684e-01 -4.84119392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters 0.047965058426397596 Centerline is valid? [True, True] Translation: X:386.85, Y:-354.55, Z:-4.84 [[ 1.21406746e-01 9.92602604e-01 -6.87796367e-04 3.86850778e+02] [ 9.92588242e-01 -1.21408689e-01 -5.33959095e-03 -3.54550267e+02] [-5.38359634e-03 -3.44362244e-05 -9.99985508e-01 -4.84130570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters 0.047722508855049646 Centerline is valid? [True, True] Translation: X:386.92, Y:-354.53, Z:-4.84 [[ 5.11748876e-02 9.98689654e-01 -3.26852121e-04 3.86922928e+02] [ 9.98668168e-01 -5.11759306e-02 -6.55089269e-03 -3.54526167e+02] [-6.55903571e-03 8.82438811e-06 -9.99978489e-01 -4.83988470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters 0.04833212027804122 Centerline is valid? [True, True] Translation: X:386.99, Y:-354.50, Z:-4.84 [[-2.24088422e-02 9.99748875e-01 1.74382604e-04 3.86989795e+02] [ 9.99730139e-01 2.24094898e-02 -6.12073550e-03 -3.54495971e+02] [-6.12310625e-03 3.71769490e-05 -9.99981253e-01 -4.84244933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters 0.04864473212796541 Centerline is valid? [True, True] Translation: X:387.07, Y:-354.46, Z:-4.84 [[-9.81997073e-02 9.95166568e-01 5.65880100e-04 3.87066744e+02] [ 9.95152583e-01 9.82013275e-02 -5.27588224e-03 -3.54459813e+02] [-5.30595179e-03 4.50469516e-05 -9.99985922e-01 -4.84168663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters 0.04891075328529189 Centerline is valid? [True, True] Translation: X:387.15, Y:-354.42, Z:-4.84 [[-1.77160530e-01 9.84181529e-01 9.30063765e-04 3.87153384e+02] [ 9.84169006e-01 1.77162967e-01 -4.96502958e-03 -3.54415499e+02] [-5.05126326e-03 3.57326603e-05 -9.99987242e-01 -4.84378680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters 0.04844820878990727 Centerline is valid? [True, True] Translation: X:387.22, Y:-354.37, Z:-4.84 [[-2.59899493e-01 9.65634545e-01 1.47648026e-03 3.87224735e+02] [ 9.65619029e-01 2.59903687e-01 -5.47398747e-03 -3.54367870e+02] [-5.66961406e-03 3.03086957e-06 -9.99983928e-01 -4.84101420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters 0.04774161124124749 Centerline is valid? [True, True] Translation: X:387.28, Y:-354.32, Z:-4.84 [[-3.40865893e-01 9.40109091e-01 2.31084877e-03 3.87284570e+02] [ 9.40086645e-01 3.40873723e-01 -6.49658021e-03 -3.54316726e+02] [-6.89520174e-03 -4.20645460e-05 -9.99976227e-01 -4.83950349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters 0.04790561820150381 Centerline is valid? [True, True] Translation: X:387.34, Y:-354.26, Z:-4.84 [[-4.19380881e-01 9.07804128e-01 3.36770801e-03 3.87341237e+02] [ 9.07772815e-01 4.19394389e-01 -7.54072242e-03 -3.54259981e+02] [-8.25789679e-03 -1.05321033e-04 -9.99965897e-01 -4.83973762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters 0.04886502402768038 Centerline is valid? [True, True] Translation: X:387.40, Y:-354.19, Z:-4.84 [[-4.93907150e-01 8.69501751e-01 4.73629783e-03 3.87404921e+02] [ 8.69458196e-01 4.93929826e-01 -8.70474445e-03 -3.54194691e+02] [-9.90818930e-03 -1.81322558e-04 -9.99950896e-01 -4.83587760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters 0.048128590138280386 Centerline is valid? [True, True] Translation: X:387.46, Y:-354.13, Z:-4.84 [[-5.59503192e-01 8.28810138e-01 5.47116264e-03 3.87456287e+02] [ 8.28767463e-01 5.59529915e-01 -8.41233305e-03 -3.54127012e+02] [-1.00335061e-02 -1.72405618e-04 -9.99949648e-01 -4.83991680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters 0.048155888797010646 Centerline is valid? [True, True] Translation: X:387.50, Y:-354.05, Z:-4.84 [[-6.21551181e-01 7.83354327e-01 5.48878457e-03 3.87504254e+02] [ 7.83321745e-01 6.21575400e-01 -7.14601832e-03 -3.54054466e+02] [-9.00955783e-03 -1.42131818e-04 -9.99959403e-01 -4.83999417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters 0.04864790839535196 Centerline is valid? [True, True] Translation: X:387.54, Y:-353.98, Z:-4.84 [[-6.78076209e-01 7.34978639e-01 4.36507602e-03 3.87542324e+02] [ 7.34962677e-01 6.78090255e-01 -4.84458426e-03 -3.53982925e+02] [-6.52058146e-03 -7.68293728e-05 -9.99978738e-01 -4.84060309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters 0.048267074247762255 Centerline is valid? [True, True] Translation: X:387.57, Y:-353.92, Z:-4.84 [[-7.29012180e-01 6.84495331e-01 2.71712889e-03 3.87566473e+02] [ 6.84490481e-01 7.29017244e-01 -2.57685214e-03 -3.53918472e+02] [-3.74467707e-03 -1.87077422e-05 -9.99992989e-01 -4.84259852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters 0.047679393473739846 Centerline is valid? [True, True] Translation: X:387.62, Y:-353.85, Z:-4.84 [[-7.74200934e-01 6.32934059e-01 2.71861970e-03 3.87621258e+02] [ 6.32930116e-01 7.74205707e-01 -2.23418959e-03 -3.53853384e+02] [-3.51886557e-03 -9.01538712e-06 -9.99993809e-01 -4.84370980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters 0.04787219686193673 Centerline is valid? [True, True] Translation: X:387.90, Y:-353.35, Z:-5.91 [[-7.25110222e-01 -6.88626007e-01 3.06406870e-03 3.87901577e+02] [ 6.88620168e-01 -7.25116694e-01 -2.83627168e-03 -3.53352474e+02] [ 4.17493780e-03 5.33699153e-05 9.99991284e-01 -5.91124932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters 0.047687595522827024 Centerline is valid? [True, True] Translation: X:387.22, Y:-353.51, Z:-4.84 [[-7.78923045e-01 6.27102966e-01 4.55631514e-03 3.87221794e+02] [ 6.27091938e-01 7.78936370e-01 -3.71934981e-03 -3.53514619e+02] [-5.88149487e-03 -3.98587835e-05 -9.99982703e-01 -4.83892639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters 0.04784693165027506 Centerline is valid? [True, True] Translation: X:387.14, Y:-353.35, Z:-4.84 [[-8.24228887e-01 5.66207578e-01 7.46457793e-03 3.87139274e+02] [ 5.66183166e-01 8.24262681e-01 -5.25887402e-03 -3.53348713e+02] [-9.13038734e-03 -1.08197517e-04 -9.99958311e-01 -4.83727331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters 0.04800870628945386 Centerline is valid? [True, True] Translation: X:387.13, Y:-353.24, Z:-4.84 [[-8.63473084e-01 5.04324265e-01 8.44206004e-03 3.87128472e+02] [ 5.04298574e-01 8.63514341e-01 -5.09236039e-03 -3.53244678e+02] [-9.85804082e-03 -1.39797295e-04 -9.99951399e-01 -4.83658589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters 0.04786096876122969 Centerline is valid? [True, True] Translation: X:387.11, Y:-353.15, Z:-4.84 [[-8.97161474e-01 4.41612564e-01 8.92372242e-03 3.87114106e+02] [ 4.41589117e-01 8.97205842e-01 -4.55293296e-03 -3.53145221e+02] [-1.00170483e-02 -1.44097344e-04 -9.99949818e-01 -4.83696833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters 0.048585022880700164 Centerline is valid? [True, True] Translation: X:387.33, Y:-352.63, Z:-5.91 [[-8.52646778e-01 -5.22432139e-01 7.62440449e-03 3.87331528e+02] [ 5.22411890e-01 -8.52680864e-01 -4.60017600e-03 -3.52628395e+02] [ 8.90446360e-03 6.07543136e-05 9.99960353e-01 -5.91420214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters 0.04784028590374964 Centerline is valid? [True, True] Translation: X:386.81, Y:-352.99, Z:-4.84 [[-8.94858842e-01 4.46297532e-01 6.79454493e-03 3.86809396e+02] [ 4.46284308e-01 8.94884636e-01 -3.43584991e-03 -3.52991471e+02] [-7.61374519e-03 -4.23018899e-05 -9.99971014e-01 -4.83813013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters 0.04837746180217629 Centerline is valid? [True, True] Translation: X:387.03, Y:-352.46, Z:-5.91 [[-8.59991075e-01 -5.10280618e-01 5.38910890e-03 3.87033063e+02] [ 5.10270290e-01 -8.60007959e-01 -3.24691390e-03 -3.52462594e+02] [ 6.29151378e-03 -4.24148106e-05 9.99980207e-01 -5.91311223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters 0.04862735453021996 Centerline is valid? [True, True] Translation: X:386.88, Y:-353.04, Z:-4.84 [[-8.93430177e-01 4.49170590e-01 5.31979386e-03 3.86879837e+02] [ 4.49162700e-01 8.93446014e-01 -2.66240846e-03 -3.53037653e+02] [-5.94882420e-03 1.07769083e-05 -9.99982306e-01 -4.83902435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters 0.0486120242743782 Centerline is valid? [True, True] Translation: X:386.70, Y:-352.87, Z:-4.84 [[-9.23207165e-01 3.84241933e-01 6.83142929e-03 3.86700770e+02] [ 3.84231475e-01 9.23232439e-01 -2.83489462e-03 -3.52869211e+02] [-7.39628252e-03 7.65512595e-06 -9.99972647e-01 -4.83786040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters 0.0482220848152122 Centerline is valid? [True, True] Translation: X:387.06, Y:-352.92, Z:-4.84 [[-9.49758249e-01 3.12871774e-01 8.39774153e-03 3.87063129e+02] [ 3.12859502e-01 9.49795374e-01 -2.77111841e-03 -3.52916193e+02] [-8.84314079e-03 -4.57933339e-06 -9.99960899e-01 -4.83898738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters 0.04810020381029354 Centerline is valid? [True, True] Translation: X:386.60, Y:-352.15, Z:-5.91 [[-9.25339461e-01 -3.79043884e-01 8.52154303e-03 3.86595508e+02] [ 3.79028075e-01 -9.25378697e-01 -3.46199701e-03 -3.52147729e+02] [ 9.19790318e-03 2.63816017e-05 9.99957698e-01 -5.91475063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters 0.047205282709752674 Centerline is valid? [True, True] Translation: X:386.36, Y:-352.67, Z:-4.84 [[-9.52107821e-01 3.05654527e-01 8.12445899e-03 3.86363521e+02] [ 3.05643071e-01 9.52142483e-01 -2.64664318e-03 -3.52667057e+02] [-8.54460102e-03 -3.67050785e-05 -9.99963494e-01 -4.83703157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters 0.04738949982811351 Centerline is valid? [True, True] Translation: X:386.23, Y:-352.55, Z:-4.84 [[-9.71786019e-01 2.35734233e-01 7.82975090e-03 3.86231865e+02] [ 2.35726182e-01 9.71817560e-01 -1.94887131e-03 -3.52551917e+02] [-8.06850510e-03 -4.82086106e-05 -9.99967448e-01 -4.83662301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters 0.0478236203578898 Centerline is valid? [True, True] Translation: X:386.32, Y:-352.49, Z:-4.84 [[-9.86316110e-01 1.64686434e-01 7.67523316e-03 3.86317877e+02] [ 1.64681005e-01 9.86345971e-01 -1.33836809e-03 -3.52493621e+02] [-7.79084637e-03 -5.60888987e-05 -9.99969649e-01 -4.83595399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters 0.04833458069279368 Centerline is valid? [True, True] Translation: X:386.29, Y:-352.42, Z:-4.84 [[-9.95679404e-01 9.25821269e-02 7.14659316e-03 3.86285242e+02] [ 9.25792860e-02 9.95705050e-01 -7.28027261e-04 -3.52415057e+02] [-7.18330121e-03 -6.32552571e-05 -9.99974198e-01 -4.83877855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters 0.047713000200958956 Centerline is valid? [True, True] Translation: X:386.47, Y:-352.35, Z:-4.84 [[-9.99834319e-01 1.64661749e-02 7.75887776e-03 3.86474499e+02] [ 1.64650128e-02 9.99864420e-01 -2.13630864e-04 -3.52346827e+02] [-7.76134349e-03 -8.58454479e-05 -9.99969877e-01 -4.83901710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters 0.04848975284555137 Centerline is valid? [True, True] Translation: X:386.12, Y:-351.78, Z:-5.92 [[-9.93776974e-01 -1.11000864e-01 9.28080703e-03 3.86121644e+02] [ 1.10997978e-01 -9.93820288e-01 -8.27062156e-04 -3.51776926e+02] [ 9.31525893e-03 2.08235488e-04 9.99956590e-01 -5.91771137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters 0.047835631612897556 Centerline is valid? [True, True] Translation: X:386.04, Y:-352.33, Z:-4.84 [[-9.99936713e-01 4.66427497e-03 1.02378984e-02 3.86035257e+02] [ 4.66203513e-03 9.99989103e-01 -2.42633951e-04 -3.52326074e+02] [-1.02389186e-02 -1.94889153e-04 -9.99947562e-01 -4.83691157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters 0.04743016400752274 Centerline is valid? [True, True] Translation: X:386.07, Y:-352.24, Z:-4.84 [[-9.97551124e-01 -6.91675705e-02 1.03731501e-02 3.86070032e+02] [-6.91661490e-02 9.97605031e-01 4.96145085e-04 -3.52244529e+02] [-1.03826238e-02 -2.22540756e-04 -9.99946074e-01 -4.83707903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters 0.04755055378621332 Centerline is valid? [True, True] Translation: X:385.80, Y:-351.71, Z:-5.92 [[-9.99012196e-01 -4.33460865e-02 9.78516565e-03 3.85798714e+02] [ 4.33456764e-02 -9.99060102e-01 -2.54091307e-04 -3.51706397e+02] [ 9.78698245e-03 1.70304309e-04 9.99952092e-01 -5.91569059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters 0.04769817032495874 Centerline is valid? [True, True] Translation: X:385.72, Y:-352.25, Z:-4.84 [[-9.97395597e-01 -7.15184204e-02 9.33485104e-03 3.85718463e+02] [-7.15170293e-02 9.97439262e-01 4.83175791e-04 -3.52254121e+02] [-9.34550290e-03 -1.85683409e-04 -9.99956313e-01 -4.83727927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters 0.047899936869145274 Centerline is valid? [True, True] Translation: X:385.85, Y:-352.17, Z:-4.84 [[-9.90112218e-01 -1.40006095e-01 8.72292147e-03 3.85848252e+02] [-1.40001810e-01 9.90150633e-01 1.10299929e-03 -3.52167258e+02] [-8.79143284e-03 -1.29131717e-04 -9.99961346e-01 -4.83879815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters 0.04718492831369923 Centerline is valid? [True, True] Translation: X:385.77, Y:-352.10, Z:-4.84 [[-9.78672320e-01 -2.05244589e-01 8.66889322e-03 3.85769697e+02] [-2.05237310e-01 9.78710709e-01 1.73066054e-03 -3.52098198e+02] [-8.83954734e-03 -8.54307590e-05 -9.99960927e-01 -4.83860006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters 0.0475810888785837 Centerline is valid? [True, True] Translation: X:385.50, Y:-351.59, Z:-5.92 [[-9.92407232e-01 1.22705692e-01 8.43792671e-03 3.85499626e+02] [-1.22700729e-01 -9.92443101e-01 1.10542586e-03 -3.51585737e+02] [ 8.50980420e-03 6.16928612e-05 9.99963789e-01 -5.91612606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters 0.049109093598825086 Centerline is valid? [True, True] Translation: X:385.16, Y:-352.21, Z:-4.83 [[-9.79480622e-01 -2.01181185e-01 1.19934089e-02 3.85160211e+02] [-2.01166414e-01 9.79554047e-01 2.43793611e-03 -3.52207208e+02] [-1.22386590e-02 -2.47598803e-05 -9.99925105e-01 -4.83252885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters 0.048513824594570196 Centerline is valid? [True, True] Translation: X:385.20, Y:-352.12, Z:-4.83 [[-9.62957665e-01 -2.69338071e-01 1.30206762e-02 3.85204472e+02] [-2.69313143e-01 9.63045691e-01 3.66447223e-03 -3.52119573e+02] [-1.35264880e-02 2.20924054e-05 -9.99908513e-01 -4.83327797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters 0.048228605431302286 Centerline is valid? [True, True] Translation: X:384.95, Y:-351.61, Z:-5.92 [[-9.77929410e-01 2.08518277e-01 1.31983852e-02 3.84950265e+02] [-2.08499625e-01 -9.78018470e-01 2.78900580e-03 -3.51610956e+02] [ 1.34898232e-02 -2.44075751e-05 9.99909008e-01 -5.91711724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters 0.048361477826297856 Centerline is valid? [True, True] Translation: X:385.31, Y:-352.09, Z:-4.84 [[-9.62542933e-01 -2.70939513e-01 1.01430845e-02 3.85305071e+02] [-2.70923530e-01 9.62596371e-01 2.94417069e-03 -3.52093334e+02] [-1.05613885e-02 8.58904477e-05 -9.99944223e-01 -4.83956558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters 0.04905370097765582 Centerline is valid? [True, True] Translation: X:384.53, Y:-351.73, Z:-5.91 [[-9.74718790e-01 2.23262067e-01 8.79379083e-03 3.84532257e+02] [-2.23254520e-01 -9.74758443e-01 1.84328570e-03 -3.51726656e+02] [ 8.98335763e-03 -1.66568339e-04 9.99959635e-01 -5.91389286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters 0.04885585960325167 Centerline is valid? [True, True] Translation: X:384.77, Y:-352.23, Z:-4.84 [[-9.61092417e-01 -2.76131540e-01 7.26212082e-03 3.84772789e+02] [-2.76123046e-01 9.61119850e-01 2.16724372e-03 -3.52231005e+02] [-7.57821282e-03 7.76825799e-05 -9.99971282e-01 -4.84008214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters 0.04970551595258306 Centerline is valid? [True, True] Translation: X:384.56, Y:-352.21, Z:-4.84 [[-9.38130186e-01 -3.46217675e-01 6.71384984e-03 3.84562572e+02] [-3.46208391e-01 9.38154208e-01 2.53604605e-03 -3.52211032e+02] [-7.17665045e-03 5.47501988e-05 -9.99974246e-01 -4.83969711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters 0.048357434736358916 Centerline is valid? [True, True] Translation: X:383.98, Y:-352.37, Z:-4.84 [[-9.09025427e-01 -4.16677739e-01 7.24116882e-03 3.83977182e+02] [-4.16664366e-01 9.09054268e-01 3.33837980e-03 -3.52367774e+02] [-7.97364397e-03 1.75351123e-05 -9.99968210e-01 -4.83654614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters 0.0481134433095183 Centerline is valid? [True, True] Translation: X:383.88, Y:-352.33, Z:-4.84 [[-8.74572401e-01 -4.84840557e-01 7.26292186e-03 3.83883672e+02] [-4.84823989e-01 8.74602558e-01 4.00825373e-03 -3.52330052e+02] [-8.29553401e-03 -1.57306616e-05 -9.99965591e-01 -4.83675727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters 0.04831733064144486 Centerline is valid? [True, True] Translation: X:384.13, Y:-352.08, Z:-4.84 [[-8.33372068e-01 -5.52675409e-01 6.39448381e-03 3.84132855e+02] [-5.52659497e-01 8.33396599e-01 4.19395742e-03 -3.52083767e+02] [-7.64703819e-03 -3.88452352e-05 -9.99970760e-01 -4.84009417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters 0.04867660243492951 Centerline is valid? [True, True] Translation: X:383.48, Y:-352.44, Z:-4.84 [[-7.90864405e-01 -6.11976680e-01 4.24690945e-03 3.83475502e+02] [-6.11968114e-01 7.90875807e-01 3.23810685e-03 -3.52444179e+02] [-5.34042381e-03 -3.80697201e-05 -9.99985739e-01 -4.83915207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters 0.04846596149591214 Centerline is valid? [True, True] Translation: X:383.45, Y:-352.37, Z:-4.84 [[-7.44170506e-01 -6.67985402e-01 2.40001697e-03 3.83448431e+02] [-6.67982002e-01 7.44174376e-01 2.13124358e-03 -3.52367914e+02] [-3.20967073e-03 -1.71595257e-05 -9.99994849e-01 -4.84121198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters 0.04794431579485326 Centerline is valid? [True, True] Translation: X:382.78, Y:-352.24, Z:-5.91 [[-7.93081448e-01 6.09112386e-01 1.97911249e-03 3.82779049e+02] [-6.09110593e-01 -7.93083917e-01 1.47828718e-03 -3.52235802e+02] [ 2.47004532e-03 -3.30962502e-05 9.99996949e-01 -5.91136364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters 0.04821882611561873 Centerline is valid? [True, True] Translation: X:383.16, Y:-352.62, Z:-4.84 [[-7.42985897e-01 -6.69303415e-01 2.21265520e-03 3.83157898e+02] [-6.69300439e-01 7.42989192e-01 1.99584684e-03 -3.52621270e+02] [-2.97980600e-03 1.95495227e-06 -9.99995560e-01 -4.84013847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters 0.048645864877855334 Centerline is valid? [True, True] Translation: X:382.89, Y:-352.78, Z:-4.84 [[-6.96657072e-01 -7.17398860e-01 2.79282028e-03 3.82892428e+02] [-7.17392982e-01 6.96662669e-01 2.90418146e-03 -3.52775729e+02] [-4.02911010e-03 1.96688854e-05 -9.99991883e-01 -4.83887256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters 0.047765769239391444 Centerline is valid? [True, True] Translation: X:382.74, Y:-352.84, Z:-4.84 [[-6.43240227e-01 -7.65656984e-01 3.37541353e-03 3.82741848e+02] [-7.65646178e-01 6.43249082e-01 4.06804985e-03 -3.52835710e+02] [-5.28596244e-03 3.23608412e-05 -9.99986029e-01 -4.83684831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters 0.04833255331039485 Centerline is valid? [True, True] Translation: X:382.80, Y:-352.63, Z:-4.84 [[-5.83136870e-01 -8.12365435e-01 3.71355208e-03 3.82796250e+02] [-8.12348569e-01 5.83148693e-01 5.23489054e-03 -3.52632343e+02] [-6.41819718e-03 3.59589666e-05 -9.99979403e-01 -4.83715493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters 0.0490555421872259 Centerline is valid? [True, True] Translation: X:382.40, Y:-353.09, Z:-4.83 [[-5.23012655e-01 -8.52315666e-01 3.97085613e-03 3.82399100e+02] [-8.52290618e-01 5.23027728e-01 6.53435046e-03 -3.53090218e+02] [-7.64619713e-03 3.32245519e-05 -9.99970767e-01 -4.83434202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters 0.04792503505558862 Centerline is valid? [True, True] Translation: X:382.38, Y:-352.96, Z:-4.83 [[-4.55302296e-01 -8.90327922e-01 4.00131096e-03 3.82382222e+02] [-8.90293205e-01 4.55319877e-01 7.86249935e-03 -3.52960688e+02] [-8.82207912e-03 1.74740418e-05 -9.99961085e-01 -4.83435291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters 0.047636366796746946 Centerline is valid? [True, True] Translation: X:382.24, Y:-353.08, Z:-4.83 [[-3.87783041e-01 -9.21743793e-01 3.56271970e-03 3.82236183e+02] [-9.21704664e-01 3.87799406e-01 8.49313168e-03 -3.53078820e+02] [-9.21011200e-03 9.71706466e-06 -9.99957586e-01 -4.83335954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters 0.04803501336417986 Centerline is valid? [True, True] Translation: X:382.12, Y:-353.14, Z:-4.83 [[-3.15719978e-01 -9.48847984e-01 2.89797096e-03 3.82120548e+02] [-9.48808512e-01 3.15733278e-01 8.65481225e-03 -3.53140629e+02] [-9.12708703e-03 -1.71223786e-05 -9.99958347e-01 -4.83285674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters 0.047940949882786604 Centerline is valid? [True, True] Translation: X:382.03, Y:-353.12, Z:-4.83 [[-2.41666438e-01 -9.70356822e-01 2.22943442e-03 3.82031205e+02] [-9.70317072e-01 2.41676718e-01 8.78317252e-03 -3.53123220e+02] [-9.06161377e-03 -4.06602551e-05 -9.99958942e-01 -4.83463911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters 0.04744168733632695 Centerline is valid? [True, True] Translation: X:381.34, Y:-353.55, Z:-5.92 [[-3.18607543e-01 9.47883080e-01 2.62692476e-03 3.81338301e+02] [-9.47851518e-01 -3.18618371e-01 7.73523620e-03 -3.53552104e+02] [ 8.16908600e-03 -2.54300168e-05 9.99966632e-01 -5.91824636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters 0.047088958737478134 Centerline is valid? [True, True] Translation: X:381.81, Y:-353.93, Z:-4.83 [[-2.30927146e-01 -9.72968802e-01 2.08889777e-03 3.81808336e+02] [-9.72932064e-01 2.30936580e-01 8.45546157e-03 -3.53931959e+02] [-8.70930322e-03 -7.97600106e-05 -9.99962070e-01 -4.83239379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters 0.04738983040201974 Centerline is valid? [True, True] Translation: X:381.71, Y:-354.05, Z:-4.83 [[-1.56484042e-01 -9.87679462e-01 1.42335373e-03 3.81705879e+02] [-9.87643838e-01 1.56490488e-01 8.38912658e-03 -3.54046092e+02] [-8.50850934e-03 -9.30021035e-05 -9.99963798e-01 -4.83348002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters 0.04816023717390589 Centerline is valid? [True, True] Translation: X:381.59, Y:-354.30, Z:-4.83 [[-8.25502383e-02 -9.96586631e-01 7.38231860e-04 3.81591921e+02] [-9.96556336e-01 8.25534854e-02 7.77114925e-03 -3.54296306e+02] [-7.80556707e-03 -9.41794149e-05 -9.99969532e-01 -4.83339471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters 0.04687770554309103 Centerline is valid? [True, True] Translation: X:381.50, Y:-354.47, Z:-4.83 [[-8.06884683e-03 -9.99967437e-01 1.37674752e-04 3.81503259e+02] [-9.99945956e-01 8.06957597e-03 6.55489424e-03 -3.54467105e+02] [-6.55579177e-03 -8.47768738e-05 -9.99978507e-01 -4.83425952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters 0.04668014619129142 Centerline is valid? [True, True] Translation: X:381.43, Y:-354.67, Z:-4.84 [[ 6.56389951e-02 -9.97843398e-01 -2.76314303e-04 3.81429148e+02] [-9.97829752e-01 -6.56395426e-02 5.21881077e-03 -3.54674487e+02] [-5.22569301e-03 -6.68428620e-05 -9.99986344e-01 -4.83536161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters 0.04680832679859575 Centerline is valid? [True, True] Translation: X:381.38, Y:-355.01, Z:-4.84 [[ 1.37198901e-01 -9.90543352e-01 -5.73151678e-04 3.81383689e+02] [-9.90533061e-01 -1.37200089e-01 4.51561545e-03 -3.55012415e+02] [-4.55154932e-03 -5.18117918e-05 -9.99989640e-01 -4.83606307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters 0.04750752314154989 Centerline is valid? [True, True] Translation: X:381.37, Y:-355.37, Z:-4.84 [[ 2.07185411e-01 -9.78301270e-01 -9.11384336e-04 3.81367027e+02] [-9.78290894e-01 -2.07187411e-01 4.50591012e-03 -3.55368481e+02] [-4.59696496e-03 -4.19598436e-05 -9.99989433e-01 -4.83586526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters 0.04829148023853068 Centerline is valid? [True, True] Translation: X:381.34, Y:-355.55, Z:-4.84 [[ 2.76195396e-01 -9.61100910e-01 -1.06952240e-03 3.81337773e+02] [-9.61093365e-01 -2.76197465e-01 3.80844316e-03 -3.55553701e+02] [-3.95569756e-03 -2.39635779e-05 -9.99992176e-01 -4.83665481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters 0.04681272759829504 Centerline is valid? [True, True] Translation: X:381.22, Y:-355.44, Z:-4.84 [[ 3.43078202e-01 -9.39305941e-01 -1.30283339e-03 3.81219768e+02] [-9.39299103e-01 -3.43080676e-01 3.58407930e-03 -3.55440952e+02] [-3.81352394e-03 -5.86924177e-06 -9.99992729e-01 -4.83796052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters 0.04743940611479774 Centerline is valid? [True, True] Translation: X:381.39, Y:-356.07, Z:-4.84 [[ 4.07107607e-01 -9.13379246e-01 -1.32263481e-03 3.81392977e+02] [-9.13374465e-01 -4.07109755e-01 2.95537912e-03 -3.56071706e+02] [-3.23783949e-03 4.90354216e-06 -9.99994758e-01 -4.83798447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters 0.04770514759209718 Centerline is valid? [True, True] Translation: X:381.37, Y:-356.19, Z:-4.84 [[ 4.70438015e-01 -8.82432286e-01 -1.15542014e-03 3.81367949e+02] [-8.82429693e-01 -4.70439433e-01 2.13922545e-03 -3.56185890e+02] [-2.43127680e-03 1.32040682e-05 -9.99997044e-01 -4.83838706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters 0.047197422952892205 Centerline is valid? [True, True] Translation: X:381.33, Y:-356.27, Z:-4.84 [[ 5.33451829e-01 -8.45828749e-01 -1.69528438e-03 3.81331392e+02] [-8.45824596e-01 -5.33454522e-01 2.65053718e-03 -3.56273051e+02] [-3.14625766e-03 1.99793192e-05 -9.99995050e-01 -4.83679154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters 0.04693533591804297 Centerline is valid? [True, True] Translation: X:381.49, Y:-356.64, Z:-4.84 [[ 5.93845703e-01 -8.04576351e-01 -2.04369272e-03 3.81493436e+02] [-8.04571714e-01 -5.93849219e-01 2.73174529e-03 -3.56643161e+02] [-3.41154298e-03 2.20621502e-05 -9.99994180e-01 -4.83593813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters 0.048719458053148534 Centerline is valid? [True, True] Translation: X:381.17, Y:-356.37, Z:-4.84 [[ 6.52004749e-01 -7.58212158e-01 -2.03272288e-03 3.81169323e+02] [-7.58208569e-01 -6.52007917e-01 2.33299455e-03 -3.56372261e+02] [-3.09425624e-03 2.01043841e-05 -9.99995213e-01 -4.83596933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters 0.04774087223570217 Centerline is valid? [True, True] Translation: X:381.53, Y:-356.87, Z:-4.84 [[ 7.04383711e-01 -7.09818431e-01 -1.17585505e-03 3.81526336e+02] [-7.09817474e-01 -7.04384693e-01 1.16572835e-03 -3.56868202e+02] [-1.65570977e-03 1.35223982e-05 -9.99998629e-01 -4.83728194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters 0.047581788850688395 Centerline is valid? [True, True] Translation: X:381.50, Y:-356.95, Z:-4.84 [[ 7.57140374e-01 -6.53251989e-01 -5.41467095e-04 3.81496576e+02] [-6.53251830e-01 -7.57140567e-01 4.56752274e-04 -3.56954615e+02] [-7.08341035e-04 7.88878345e-06 -9.99999749e-01 -4.83747786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters 0.04758630958704034 Centerline is valid? [True, True] Translation: X:381.48, Y:-357.04, Z:-4.84 [[ 8.05095644e-01 -5.93143831e-01 1.18350629e-03 3.81475033e+02] [-5.93143209e-01 -8.05096513e-01 -8.58586281e-04 -3.57039619e+02] [ 1.46210195e-03 -1.07446468e-05 -9.99998931e-01 -4.83898698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters 0.047593903263242955 Centerline is valid? [True, True] Translation: X:381.45, Y:-357.14, Z:-4.84 [[ 8.48609848e-01 -5.29012690e-01 2.62661379e-03 3.81453114e+02] [-5.29010257e-01 -8.48613913e-01 -1.60493207e-03 -3.57139627e+02] [ 3.07801044e-03 -2.75444719e-05 -9.99995263e-01 -4.83894887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters 0.04743841599899409 Centerline is valid? [True, True] Translation: X:381.46, Y:-357.21, Z:-4.84 [[ 8.86544655e-01 -4.62621582e-01 4.45489528e-03 3.81456611e+02] [-4.62616052e-01 -8.86555846e-01 -2.26267362e-03 -3.57210856e+02] [ 4.99627510e-03 -5.49448567e-05 -9.99987517e-01 -4.84116384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters 0.04812984463477781 Centerline is valid? [True, True] Translation: X:381.46, Y:-357.28, Z:-4.84 [[ 9.19508410e-01 -3.93032440e-01 5.45758052e-03 3.81463035e+02] [-3.93025984e-01 -9.19524603e-01 -2.25378196e-03 -3.57282074e+02] [ 5.90418898e-03 -7.25994901e-05 -9.99982568e-01 -4.84045371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters 0.047941615146531155 Centerline is valid? [True, True] Translation: X:381.47, Y:-357.38, Z:-4.84 [[ 9.47574834e-01 -3.19518246e-01 3.16620252e-03 3.81465577e+02] [-3.19516597e-01 -9.47580123e-01 -1.02718086e-03 -3.57379497e+02] [ 3.32843360e-03 -3.83235219e-05 -9.99994460e-01 -4.83878267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters 0.04832349550020381 Centerline is valid? [True, True] Translation: X:381.47, Y:-357.49, Z:-4.84 [[ 9.70292415e-01 -2.41933073e-01 1.00900655e-03 3.81474912e+02] [-2.41932950e-01 -9.70292939e-01 -2.43767680e-04 -3.57486073e+02] [ 1.03800740e-03 -7.58600089e-06 -9.99999461e-01 -4.83725743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters 0.048216839733883264 Centerline is valid? [True, True] Translation: X:381.49, Y:-357.59, Z:-4.83 [[ 9.87072357e-01 -1.60258291e-01 -2.33306415e-03 3.81493223e+02] [-1.60257874e-01 -9.87075114e-01 3.65698379e-04 -3.57592671e+02] [-2.36151575e-03 1.29211387e-05 -9.99997212e-01 -4.83426036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters 0.04827467248551341 Centerline is valid? [True, True] Translation: X:381.52, Y:-357.71, Z:-4.83 [[ 9.96822264e-01 -7.96198983e-02 -2.45893638e-03 3.81518923e+02] [-7.96196707e-02 -9.96825297e-01 1.90436230e-04 -3.57705410e+02] [-2.46629250e-03 5.94863085e-06 -9.99996959e-01 -4.83397467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters 0.04847097658872376 Centerline is valid? [True, True] Translation: X:381.55, Y:-357.79, Z:-4.83 [[ 9.99997550e-01 9.21163853e-04 -2.01297182e-03 3.81552690e+02] [ 9.21160911e-04 -9.99999576e-01 -2.38876320e-06 -3.57791624e+02] [-2.01297317e-03 5.34486391e-07 -9.99997974e-01 -4.83315224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters 0.04770660863260801 Centerline is valid? [True, True] Translation: X:381.59, Y:-357.87, Z:-4.83 [[ 9.96723798e-01 8.08802700e-02 -2.30346501e-04 3.81588748e+02] [ 8.08802674e-02 -9.96723824e-01 -2.04537226e-05 -3.57868773e+02] [-2.31246148e-04 1.75622553e-06 -9.99999973e-01 -4.83475475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters 0.047978976387908295 Centerline is valid? [True, True] Translation: X:381.63, Y:-357.94, Z:-4.83 [[ 9.87312845e-01 1.58787086e-01 8.66098332e-05 3.81629532e+02] [ 1.58787085e-01 -9.87312849e-01 1.12870909e-05 -3.57939348e+02] [ 8.73032453e-05 2.60863318e-06 -9.99999996e-01 -4.83457514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters 0.048105461104212925 Centerline is valid? [True, True] Translation: X:381.68, Y:-358.02, Z:-4.83 [[ 9.72307956e-01 2.33703283e-01 -1.22448171e-04 3.81679809e+02] [ 2.33703281e-01 -9.72307963e-01 -3.17350264e-05 -3.58022865e+02] [-1.26473912e-04 2.23967923e-06 -9.99999992e-01 -4.83380235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters 0.047984812756736966 Centerline is valid? [True, True] Translation: X:381.73, Y:-358.09, Z:-4.83 [[ 9.51621257e-01 3.07273404e-01 1.95764928e-04 3.81732386e+02] [ 3.07273398e-01 -9.51621277e-01 6.09546090e-05 -3.58093078e+02] [ 2.05023801e-04 2.14765314e-06 -9.99999979e-01 -4.83449007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters 0.04819630284861595 Centerline is valid? [True, True] Translation: X:381.79, Y:-358.15, Z:-4.83 [[ 9.25776738e-01 3.78070527e-01 3.30384660e-04 3.81787690e+02] [ 3.78070503e-01 -9.25776796e-01 1.33900785e-04 -3.58149236e+02] [ 3.56486392e-04 9.46463015e-07 -9.99999937e-01 -4.83297682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters 0.04774980259786182 Centerline is valid? [True, True] Translation: X:381.86, Y:-358.22, Z:-4.83 [[ 8.93865946e-01 4.48333941e-01 -5.89865666e-04 3.81856010e+02] [ 4.48333839e-01 -8.93866141e-01 -3.02201742e-04 -3.58217365e+02] [-6.62748244e-04 5.67110711e-06 -9.99999780e-01 -4.83229644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters 0.047269203585001196 Centerline is valid? [True, True] Translation: X:381.92, Y:-358.28, Z:-4.83 [[ 8.56459793e-01 5.16210860e-01 -1.72363016e-03 3.81924857e+02] [ 5.16209782e-01 -8.56461527e-01 -1.05536756e-03 -3.58275979e+02] [-2.02101512e-03 1.41251360e-05 -9.99997958e-01 -4.83135054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters 0.04817338981328634 Centerline is valid? [True, True] Translation: X:381.99, Y:-358.32, Z:-4.83 [[ 8.13776539e-01 5.81166730e-01 -3.60229850e-03 3.81988468e+02] [ 5.81160868e-01 -8.13784512e-01 -2.61048835e-03 -3.58315600e+02] [-4.44862370e-03 3.08392495e-05 -9.99990104e-01 -4.82903165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters 0.04734503364857016 Centerline is valid? [True, True] Translation: X:382.05, Y:-358.35, Z:-4.83 [[ 7.65649297e-01 6.43247297e-01 -3.75085917e-03 3.82052053e+02] [ 6.43239368e-01 -7.65658484e-01 -3.19391316e-03 -3.58346549e+02] [-4.92635315e-03 3.27170872e-05 -9.99987865e-01 -4.82783366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters 0.047680141086149874 Centerline is valid? [True, True] Translation: X:382.12, Y:-358.38, Z:-4.83 [[ 7.12440871e-01 7.01726684e-01 -2.76863213e-03 3.82123399e+02] [ 7.01721258e-01 -7.12446250e-01 -2.75989831e-03 -3.58376473e+02] [-3.90919587e-03 2.34563370e-05 -9.99992359e-01 -4.82992991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters 0.047641516053174175 Centerline is valid? [True, True] Translation: X:382.22, Y:-358.42, Z:-4.83 [[ 6.54156592e-01 7.56356523e-01 -1.99106549e-03 3.82217708e+02] [ 7.56352954e-01 -6.54159622e-01 -2.32339607e-03 -3.58420624e+02] [-3.05979042e-03 1.39165886e-05 -9.99995319e-01 -4.82966918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters 0.047186319620100815 Centerline is valid? [True, True] Translation: X:382.30, Y:-358.45, Z:-4.83 [[ 5.91488841e-01 8.06311074e-01 -1.84482216e-03 3.82300856e+02] [ 8.06307108e-01 -5.91491718e-01 -2.52903345e-03 -3.58446807e+02] [-3.13038470e-03 8.40183836e-06 -9.99995100e-01 -4.82936313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters 0.04781000210090532 Centerline is valid? [True, True] Translation: X:382.38, Y:-358.46, Z:-4.83 [[ 5.22791601e-01 8.52459596e-01 -1.25626591e-03 3.82378553e+02] [ 8.52457152e-01 -5.22793111e-01 -2.04132790e-03 -3.58461340e+02] [-2.39691672e-03 -3.72377614e-06 -9.99997127e-01 -4.82913544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters 0.046858422577330916 Centerline is valid? [True, True] Translation: X:382.45, Y:-358.47, Z:-4.83 [[ 4.51902460e-01 8.92067121e-01 -6.46303498e-04 3.82453965e+02] [ 8.92066226e-01 -4.51902922e-01 -1.26383130e-03 -3.58468167e+02] [-1.41948879e-03 -5.41705106e-06 -9.99998993e-01 -4.83013110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters 0.04638446603657735 Centerline is valid? [True, True] Translation: X:382.54, Y:-358.47, Z:-4.83 [[ 3.78347998e-01 9.25663371e-01 -3.40512217e-04 3.82536577e+02] [ 9.25663008e-01 -3.78348151e-01 -8.20337716e-04 -3.58472030e+02] [-8.88188743e-04 -4.82643046e-06 -9.99999606e-01 -4.82990919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters 0.046738423526640205 Centerline is valid? [True, True] Translation: X:382.62, Y:-358.47, Z:-4.83 [[ 3.00695166e-01 9.53720257e-01 -2.96385886e-04 3.82624043e+02] [ 9.53719825e-01 -3.00695312e-01 -9.08542111e-04 -3.58471688e+02] [-9.55616863e-04 -9.47487437e-06 -9.99999543e-01 -4.82961492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters 0.04615261731748188 Centerline is valid? [True, True] Translation: X:382.71, Y:-358.46, Z:-4.83 [[ 2.24597098e-01 9.74451692e-01 -2.07938672e-04 3.82706491e+02] [ 9.74451311e-01 -2.24597194e-01 -8.61486936e-04 -3.58462765e+02] [-8.86179845e-04 -9.13864588e-06 -9.99999607e-01 -4.82983670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters 0.04676347549145984 Centerline is valid? [True, True] Translation: X:382.79, Y:-358.45, Z:-4.83 [[ 1.48945678e-01 9.88845371e-01 -1.29455082e-04 3.82790826e+02] [ 9.88845039e-01 -1.48945734e-01 -8.10734218e-04 -3.58449586e+02] [-8.20972561e-04 -7.25565777e-06 -9.99999663e-01 -4.82988883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters 0.046721945395226096 Centerline is valid? [True, True] Translation: X:382.87, Y:-358.43, Z:-4.83 [[ 7.24159645e-02 9.97374516e-01 -6.26528300e-05 3.82869927e+02] [ 9.97374209e-01 -7.24159914e-02 -7.82355391e-04 -3.58428145e+02] [-7.84838396e-04 -5.83329643e-06 -9.99999692e-01 -4.82970560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters 0.04618382720173671 Centerline is valid? [True, True] Translation: X:382.94, Y:-358.40, Z:-4.83 [[-4.87023774e-04 9.99999881e-01 2.64033318e-06 3.82943133e+02] [ 9.99999877e-01 4.87023531e-04 9.11986443e-05 -3.58401065e+02] [ 9.11973475e-05 2.68474877e-06 -9.99999996e-01 -4.82985567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters 0.04669770618179898 Centerline is valid? [True, True] Translation: X:383.03, Y:-358.37, Z:-4.83 [[-7.53945301e-02 9.97153781e-01 -3.86035829e-05 3.83030015e+02] [ 9.97153629e-01 7.53945399e-02 5.51837023e-04 -3.58368449e+02] [ 5.53176873e-04 3.11179027e-06 -9.99999847e-01 -4.82975965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters 0.04750575347997587 Centerline is valid? [True, True] Translation: X:383.11, Y:-358.33, Z:-4.83 [[-1.50117491e-01 9.88668164e-01 -2.31914325e-05 3.83106389e+02] [ 9.88668150e-01 1.50117492e-01 1.65847810e-04 -3.58328483e+02] [ 1.67449890e-04 1.96802649e-06 -9.99999986e-01 -4.82860707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters 0.04604714622682749 Centerline is valid? [True, True] Translation: X:383.17, Y:-358.29, Z:-4.83 [[-2.26047139e-01 9.74116347e-01 1.82915898e-04 3.83174581e+02] [ 9.74116043e-01 2.26047213e-01 -7.69722955e-04 -3.58285530e+02] [-7.91147342e-04 4.18763910e-06 -9.99999687e-01 -4.82830211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters 0.04752666848657369 Centerline is valid? [True, True] Translation: X:383.24, Y:-358.24, Z:-4.83 [[-3.03588879e-01 9.52802903e-01 6.47864192e-04 3.83237207e+02] [ 9.52800755e-01 3.03589570e-01 -2.02333741e-03 -3.58236986e+02] [-2.12452657e-03 3.02275356e-06 -9.99997743e-01 -4.82742937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters 0.046205531546068136 Centerline is valid? [True, True] Translation: X:383.31, Y:-358.18, Z:-4.83 [[-3.80421754e-01 9.24812655e-01 9.17943010e-04 3.83309928e+02] [ 9.24809929e-01 3.80422861e-01 -2.24559849e-03 -3.58177675e+02] [-2.42596440e-03 -5.35170550e-06 -9.99997057e-01 -4.82734285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters 0.046502124005354264 Centerline is valid? [True, True] Translation: X:383.37, Y:-358.11, Z:-4.83 [[-4.54991519e-01 8.90494812e-01 1.30717479e-03 3.83374836e+02] [ 8.90491023e-01 4.54993396e-01 -2.59773016e-03 -3.58114685e+02] [-2.90802112e-03 -1.79177760e-05 -9.99995772e-01 -4.82645551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters 0.04721290714971645 Centerline is valid? [True, True] Translation: X:383.44, Y:-358.05, Z:-4.83 [[-5.25603106e-01 8.50727880e-01 1.85721281e-03 3.83436356e+02] [ 8.50722350e-01 5.25606386e-01 -3.06768023e-03 -3.58045624e+02] [-3.58592401e-03 -3.24098131e-05 -9.99993570e-01 -4.82575117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters 0.046823929350378386 Centerline is valid? [True, True] Translation: X:383.49, Y:-357.97, Z:-4.83 [[-5.89852996e-01 8.07507864e-01 2.11961792e-03 3.83489353e+02] [ 8.07502468e-01 5.89856804e-01 -2.95209870e-03 -3.57973022e+02] [-3.63411396e-03 -2.97075585e-05 -9.99993396e-01 -4.82642137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters 0.046690890990135084 Centerline is valid? [True, True] Translation: X:383.53, Y:-357.90, Z:-4.83 [[-6.48056352e-01 7.61588553e-01 2.41649087e-03 3.83533154e+02] [ 7.61583172e-01 6.48060858e-01 -2.86308494e-03 -3.57900475e+02] [-3.74652587e-03 -1.50816006e-05 -9.99992982e-01 -4.82569759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters 0.04632113601740959 Centerline is valid? [True, True] Translation: X:383.56, Y:-357.83, Z:-4.83 [[-7.04768649e-01 7.09433262e-01 2.36601399e-03 3.83563063e+02] [ 7.09429221e-01 7.04772621e-01 -2.39457790e-03 -3.57833847e+02] [-3.36629509e-03 -9.10397165e-06 -9.99994334e-01 -4.82692571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters 0.04612212610800325 Centerline is valid? [True, True] Translation: X:383.59, Y:-357.76, Z:-4.83 [[-7.58609304e-01 6.51543812e-01 1.60775391e-03 3.83594814e+02] [ 6.51542331e-01 7.58611008e-01 -1.38949532e-03 -3.57755879e+02] [-2.12497689e-03 -6.56435146e-06 -9.99997742e-01 -4.82667406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters 0.04653148386312428 Centerline is valid? [True, True] Translation: X:383.48, Y:-357.56, Z:-4.83 [[-8.03669303e-01 5.95072292e-01 2.14934058e-03 3.83475940e+02] [ 5.95070121e-01 8.03672177e-01 -1.60729605e-03 -3.57561825e+02] [-2.68382257e-03 -1.27261375e-05 -9.99996399e-01 -4.82514860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters 0.0456077724635765 Centerline is valid? [True, True] Translation: X:383.61, Y:-357.56, Z:-4.82 [[-8.45610027e-01 5.33785007e-01 4.15318213e-03 3.83613164e+02] [ 5.33778332e-01 8.45620225e-01 -2.66966563e-03 -3.57564459e+02] [-4.93704230e-03 -4.06173947e-05 -9.99987812e-01 -4.82408217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters 0.046962089953079676 Centerline is valid? [True, True] Translation: X:383.52, Y:-357.42, Z:-4.82 [[-8.82501157e-01 4.70281690e-01 5.18071521e-03 3.83518577e+02] [ 4.70273154e-01 8.82516362e-01 -2.83409177e-03 -3.57417500e+02] [-5.90488740e-03 -6.47379834e-05 -9.99982564e-01 -4.82367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters 0.046302149881867816 Centerline is valid? [True, True] Translation: X:383.68, Y:-357.41, Z:-4.82 [[-9.14719911e-01 4.04046588e-01 5.81713766e-03 3.83679274e+02] [ 4.04037819e-01 9.14738404e-01 -2.66338541e-03 -3.57409381e+02] [-6.39729101e-03 -8.59080535e-05 -9.99979533e-01 -4.82339714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters 0.0463153171203696 Centerline is valid? [True, True] Translation: X:383.62, Y:-357.30, Z:-4.82 [[-9.41541981e-01 3.36846670e-01 5.74620685e-03 3.83624788e+02] [ 3.36839792e-01 9.41559511e-01 -2.15463860e-03 -3.57296768e+02] [-6.13617855e-03 -9.31315755e-05 -9.99981169e-01 -4.82300284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters 0.04636682279105203 Centerline is valid? [True, True] Translation: X:383.56, Y:-357.19, Z:-4.82 [[-9.62750777e-01 2.70346335e-01 4.87860878e-03 3.83560274e+02] [ 2.70342492e-01 9.62763135e-01 -1.44335667e-03 -3.57194295e+02] [-5.08715087e-03 -7.06974993e-05 -9.99987058e-01 -4.82369171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters 0.04658836785980446 Centerline is valid? [True, True] Translation: X:383.45, Y:-357.09, Z:-4.82 [[-9.78415356e-01 2.06613347e-01 3.78370174e-03 3.83451033e+02] [ 2.06611665e-01 9.78422671e-01 -8.34192907e-04 -3.57091415e+02] [-3.87441495e-03 -3.44302320e-05 -9.99992494e-01 -4.82440156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters 0.046636313718666576 Centerline is valid? [True, True] Translation: X:383.51, Y:-356.53, Z:-5.93 [[-9.57851179e-01 -2.87243649e-01 3.49372107e-03 3.83512851e+02] [ 2.87241806e-01 -9.57857550e-01 -1.02907832e-03 -3.56533918e+02] [ 3.64208331e-03 1.78388669e-05 9.99993367e-01 -5.92927424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters 0.04585281161338416 Centerline is valid? [True, True] Translation: X:383.26, Y:-357.05, Z:-4.82 [[-9.78591794e-01 2.05775088e-01 3.83579058e-03 3.83255218e+02] [ 2.05773412e-01 9.78599312e-01 -8.30869550e-04 -3.57050128e+02] [-3.92467427e-03 -2.37784101e-05 -9.99992298e-01 -4.82304336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters 0.04682870658087178 Centerline is valid? [True, True] Translation: X:383.41, Y:-356.52, Z:-5.93 [[-9.57584688e-01 -2.88056228e-01 7.42803534e-03 3.83406295e+02] [ 2.88050073e-01 -9.57613446e-01 -1.90868308e-03 -3.56515148e+02] [ 7.66299457e-03 3.11920426e-04 9.99970590e-01 -5.93080898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters 0.04757753039013944 Centerline is valid? [True, True] Translation: X:383.30, Y:-357.06, Z:-4.82 [[-9.80659934e-01 1.95493207e-01 9.40746774e-03 3.83295831e+02] [ 1.95482983e-01 9.80705048e-01 -2.00323661e-03 -3.57055340e+02] [-9.61757024e-03 -1.25494027e-04 -9.99953742e-01 -4.81706361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters 0.04684457185004038 Centerline is valid? [True, True] Translation: X:383.27, Y:-356.49, Z:-5.93 [[-9.57810516e-01 -2.87223092e-01 1.00950509e-02 3.83266764e+02] [ 2.87209258e-01 -9.57863695e-01 -2.82556864e-03 -3.56493252e+02] [ 1.04812513e-02 1.93032705e-04 9.99945052e-01 -5.93372551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters 0.04717013338508667 Centerline is valid? [True, True] Translation: X:383.17, Y:-357.03, Z:-4.82 [[-9.81266527e-01 1.92423312e-01 9.44838097e-03 3.83173227e+02] [ 1.92413236e-01 9.81312007e-01 -1.97271066e-03 -3.57029555e+02] [-9.65140521e-03 -1.17761383e-04 -9.99953417e-01 -4.81766851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters 0.047707232709434236 Centerline is valid? [True, True] Translation: X:383.00, Y:-356.93, Z:-4.82 [[-9.92038242e-01 1.25632578e-01 8.75113238e-03 3.83000910e+02] [ 1.25626991e-01 9.92076836e-01 -1.18740428e-03 -3.56925619e+02] [-8.83097239e-03 -7.85720277e-05 -9.99961003e-01 -4.81952326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters 0.04687024676994715 Centerline is valid? [True, True] Translation: X:383.07, Y:-356.86, Z:-4.82 [[-9.98181799e-01 5.97382447e-02 8.02735851e-03 3.83074870e+02] [ 5.97360805e-02 9.98214076e-01 -5.09309389e-04 -3.56859040e+02] [-8.04344751e-03 -2.88604279e-05 -9.99967651e-01 -4.81905370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters 0.04672720753626075 Centerline is valid? [True, True] Translation: X:383.03, Y:-356.31, Z:-5.93 [[-9.91192892e-01 -1.32187124e-01 7.95080783e-03 3.83032332e+02] [ 1.32183091e-01 -9.91224780e-01 -1.03293578e-03 -3.56305590e+02] [ 8.01757855e-03 2.71237523e-05 9.99967858e-01 -5.93081843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters 0.04669285964481039 Centerline is valid? [True, True] Translation: X:382.93, Y:-356.85, Z:-4.82 [[-9.98283679e-01 5.78876058e-02 8.87255026e-03 3.82929396e+02] [ 5.78851925e-02 9.98323107e-01 -5.28773410e-04 -3.56853955e+02] [-8.88828136e-03 -1.42765856e-05 -9.99960498e-01 -4.81692820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters 0.04666438056258346 Centerline is valid? [True, True] Translation: X:382.85, Y:-356.30, Z:-5.93 [[-9.91563142e-01 -1.29228239e-01 1.01291018e-02 3.82846844e+02] [ 1.29222557e-01 -9.91614871e-01 -1.21614526e-03 -3.56295578e+02] [ 1.02013283e-02 1.03023617e-04 9.99947960e-01 -5.93458796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters 0.04662530700625105 Centerline is valid? [True, True] Translation: X:382.68, Y:-356.84, Z:-4.82 [[-9.98597264e-01 5.18177434e-02 1.08823914e-02 3.82676235e+02] [ 5.18141942e-02 9.98656557e-01 -6.08016996e-04 -3.56836653e+02] [-1.08992776e-02 -4.33017664e-05 -9.99940600e-01 -4.81690970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters 0.04656517095061275 Centerline is valid? [True, True] Translation: X:382.66, Y:-356.28, Z:-5.94 [[-9.91823825e-01 -1.27114530e-01 1.12870316e-02 3.82657738e+02] [ 1.27107173e-01 -9.91888043e-01 -1.36966032e-03 -3.56284937e+02] [ 1.13695755e-02 7.62009463e-05 9.99935361e-01 -5.93573689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters 0.0477156872428089 Centerline is valid? [True, True] Translation: X:382.54, Y:-356.83, Z:-4.82 [[-9.98674842e-01 4.99648987e-02 1.23316265e-02 3.82542100e+02] [ 4.99607847e-02 9.98750974e-01 -6.41639263e-04 -3.56832410e+02] [-1.23482834e-02 -2.46912548e-05 -9.99923757e-01 -4.81551186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters 0.04680152527496339 Centerline is valid? [True, True] Translation: X:382.53, Y:-356.76, Z:-4.82 [[-9.99769517e-01 -1.75935635e-02 1.23036744e-02 3.82529525e+02] [-1.75919760e-02 9.99845221e-01 2.37249866e-04 -3.56759098e+02] [-1.23059441e-02 2.07492397e-05 -9.99924279e-01 -4.81700378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters 0.04655746296262203 Centerline is valid? [True, True] Translation: X:382.34, Y:-356.20, Z:-5.93 [[-9.99082443e-01 -4.15356402e-02 1.04432952e-02 3.82337545e+02] [ 4.15320348e-02 -9.99137015e-01 -5.61962523e-04 -3.56197895e+02] [ 1.04576242e-02 -1.27715592e-04 9.99945309e-01 -5.93339347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters 0.04772032109775066 Centerline is valid? [True, True] Translation: X:382.23, Y:-356.77, Z:-4.82 [[-9.99924975e-01 -9.33609296e-03 7.92982613e-03 3.82227082e+02] [-9.33492926e-03 9.99956412e-01 1.83751126e-04 -3.56769115e+02] [-7.93119600e-03 1.09712974e-04 -9.99968542e-01 -4.82062370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters 0.04721575082876987 Centerline is valid? [True, True] Translation: X:382.20, Y:-356.70, Z:-4.82 [[-9.96906865e-01 -7.82515799e-02 7.30705436e-03 3.82203898e+02] [-7.82486069e-02 9.96933637e-01 6.92310544e-04 -3.56697414e+02] [-7.33882267e-03 1.18402309e-04 -9.99973064e-01 -4.82204228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters 0.04674237389790645 Centerline is valid? [True, True] Translation: X:382.46, Y:-356.58, Z:-4.82 [[-9.88130100e-01 -1.53413053e-01 7.95864085e-03 3.82456726e+02] [-1.53407036e-01 9.88162142e-01 1.36479843e-03 -3.56580652e+02] [-8.07380549e-03 1.27686907e-04 -9.99967398e-01 -4.82264792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters 0.048063270870321126 Centerline is valid? [True, True] Translation: X:382.27, Y:-356.53, Z:-4.82 [[-9.74302866e-01 -2.25064470e-01 8.93927075e-03 3.82270545e+02] [-2.25053784e-01 9.74343865e-01 2.19684076e-03 -3.56533760e+02] [-9.20435441e-03 1.28571538e-04 -9.99957631e-01 -4.82141717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters 0.04797197286818834 Centerline is valid? [True, True] Translation: X:382.24, Y:-356.45, Z:-4.82 [[-9.54425187e-01 -2.98261938e-01 1.06008924e-02 3.82241067e+02] [-2.98242159e-01 9.54484050e-01 3.43695184e-03 -3.56447621e+02] [-1.11434947e-02 1.18680357e-04 -9.99937902e-01 -4.82274892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters 0.0467653952933766 Centerline is valid? [True, True] Translation: X:382.18, Y:-356.37, Z:-4.82 [[-9.27528680e-01 -3.73557049e-01 1.20697788e-02 3.82180367e+02] [-3.73524862e-01 9.27607206e-01 4.90389830e-03 -3.56373717e+02] [-1.30278996e-02 4.01438552e-05 -9.99915133e-01 -4.82097693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters 0.046766005030151436 Centerline is valid? [True, True] Translation: X:381.30, Y:-356.12, Z:-5.94 [[-9.50297512e-01 3.11101426e-01 1.22695062e-02 3.81295234e+02] [-3.11076158e-01 -9.50376715e-01 3.96526435e-03 -3.56123722e+02] [ 1.28942524e-02 -4.85699955e-05 9.99916865e-01 -5.93636370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters 0.04718915792890071 Centerline is valid? [True, True] Translation: X:381.73, Y:-356.54, Z:-4.82 [[-9.20572838e-01 -3.90404958e-01 1.13850245e-02 3.81733621e+02] [-3.90376186e-01 9.20643233e-01 4.74036787e-03 -3.56538786e+02] [-1.23322089e-02 -8.05885337e-05 -9.99923952e-01 -4.82166086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters 0.04681859969414351 Centerline is valid? [True, True] Translation: X:381.09, Y:-356.74, Z:-4.82 [[-8.88762250e-01 -4.58271216e-01 9.44225981e-03 3.81093008e+02] [-4.58246697e-01 8.88812399e-01 4.74182549e-03 -3.56735296e+02] [-1.05654397e-02 -1.12528879e-04 -9.99944178e-01 -4.81986612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters 0.04674708685552186 Centerline is valid? [True, True] Translation: X:380.92, Y:-356.74, Z:-4.82 [[-8.53553084e-01 -5.20950916e-01 7.56812432e-03 3.80917825e+02] [-5.20931466e-01 8.53586629e-01 4.50275179e-03 -3.56742547e+02] [-8.80576240e-03 -9.91364155e-05 -9.99961224e-01 -4.82032306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters 0.04660993287886646 Centerline is valid? [True, True] Translation: X:380.77, Y:-356.75, Z:-4.82 [[-8.15099861e-01 -5.79280308e-01 6.82210505e-03 3.80770677e+02] [-5.79260828e-01 8.15128406e-01 4.75133722e-03 -3.56750208e+02] [-8.31324770e-03 -7.89639126e-05 -9.99965441e-01 -4.82172770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters 0.047682063633394396 Centerline is valid? [True, True] Translation: X:380.73, Y:-356.69, Z:-4.82 [[-7.72728692e-01 -6.34698534e-01 6.93824667e-03 3.80733183e+02] [-6.34673466e-01 7.72759839e-01 5.64120409e-03 -3.56685957e+02] [-8.94206235e-03 -4.44008036e-05 -9.99960018e-01 -4.82228209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters 0.04719530362468351 Centerline is valid? [True, True] Translation: X:380.49, Y:-356.80, Z:-4.82 [[-7.26606607e-01 -6.87016132e-01 7.18831918e-03 3.80488791e+02] [-6.86982983e-01 7.26642163e-01 6.74900230e-03 -3.56797907e+02] [-9.86000925e-03 -3.43832845e-05 -9.99951388e-01 -4.82154912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters 0.04702293302480245 Centerline is valid? [True, True] Translation: X:380.36, Y:-356.82, Z:-4.82 [[-6.74345885e-01 -7.38374935e-01 7.75132419e-03 3.80357761e+02] [-7.38326810e-01 6.74390432e-01 8.43015375e-03 -3.56819505e+02] [-1.14520331e-02 -3.81709724e-05 -9.99934423e-01 -4.81849566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters 0.04722776301735756 Centerline is valid? [True, True] Translation: X:380.20, Y:-356.89, Z:-4.82 [[-6.19724635e-01 -7.84771510e-01 8.66335119e-03 3.80200563e+02] [-7.84695368e-01 6.19785186e-01 1.09317288e-02 -3.56885119e+02] [-1.39483261e-02 -2.34299006e-05 -9.99902717e-01 -4.81706121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters 0.04725137588700047 Centerline is valid? [True, True] Translation: X:379.73, Y:-356.60, Z:-5.93 [[-6.71825981e-01 7.40649262e-01 9.40855605e-03 3.79729445e+02] [-7.40576035e-01 -6.71891858e-01 1.04147495e-02 -3.56595761e+02] [ 1.40352087e-02 2.91481471e-05 9.99901501e-01 -5.93254477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters 0.0470063496500662 Centerline is valid? [True, True] Translation: X:379.93, Y:-357.24, Z:-4.82 [[-6.21187158e-01 -7.83622808e-01 7.86192927e-03 3.79929028e+02] [-7.83559054e-01 6.21236906e-01 9.99581083e-03 -3.57239823e+02] [-1.27170660e-02 4.89834630e-05 -9.99919134e-01 -4.82013628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters 0.04672210029627464 Centerline is valid? [True, True] Translation: X:379.87, Y:-357.19, Z:-4.82 [[-5.62966325e-01 -8.26462618e-01 5.33461105e-03 3.79872373e+02] [-8.26424494e-01 5.62991597e-01 7.93842846e-03 -3.57187858e+02] [-9.56415556e-03 6.04146626e-05 -9.99954261e-01 -4.82211123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters 0.04666230663842452 Centerline is valid? [True, True] Translation: X:379.58, Y:-357.52, Z:-4.82 [[-5.02943379e-01 -8.64312694e-01 3.39481103e-03 3.79576380e+02] [-8.64292404e-01 5.02954834e-01 5.92248846e-03 -3.57520000e+02] [-6.82631858e-03 4.45669759e-05 -9.99976699e-01 -4.82380012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters 0.04680599544568969 Centerline is valid? [True, True] Translation: X:379.41, Y:-357.68, Z:-4.83 [[-4.37376279e-01 -8.99276473e-01 1.95326857e-03 3.79407418e+02] [-8.99267246e-01 4.37380640e-01 4.07374435e-03 -3.57679628e+02] [-4.51774430e-03 2.52486957e-05 -9.99989795e-01 -4.82748826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters 0.046613831171438844 Centerline is valid? [True, True] Translation: X:379.28, Y:-357.78, Z:-4.83 [[-3.66542012e-01 -9.30400389e-01 1.43840128e-03 3.79279115e+02] [-9.30393135e-01 3.66544834e-01 3.67417406e-03 -3.57781668e+02] [-3.94569153e-03 8.46047540e-06 -9.99992216e-01 -4.82833431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters 0.04755761850672141 Centerline is valid? [True, True] Translation: X:379.12, Y:-358.01, Z:-4.83 [[-2.94805552e-01 -9.55556234e-01 1.40384057e-03 3.79117090e+02] [-9.55545471e-01 2.94808895e-01 4.53516861e-03 -3.58012742e+02] [-4.74747333e-03 -4.44060842e-06 -9.99988731e-01 -4.82779943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters 0.047023301230300116 Centerline is valid? [True, True] Translation: X:379.00, Y:-358.15, Z:-4.83 [[-2.21023585e-01 -9.75267416e-01 1.42902825e-03 3.79001683e+02] [-9.75247643e-01 2.21028204e-01 6.21035911e-03 -3.58151229e+02] [-6.37261643e-03 -2.10205949e-05 -9.99979695e-01 -4.82682650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters 0.04678476957637416 Centerline is valid? [True, True] Translation: X:378.89, Y:-358.33, Z:-4.83 [[-1.48868954e-01 -9.88856102e-01 1.28203576e-03 3.78890784e+02] [-9.88820847e-01 1.48874472e-01 8.35012049e-03 -3.58334088e+02] [-8.44793000e-03 -2.46299853e-05 -9.99964315e-01 -4.82583998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters 0.04684361379685303 Centerline is valid? [True, True] Translation: X:378.80, Y:-358.50, Z:-4.82 [[-7.78372763e-02 -9.96965832e-01 6.98323689e-04 3.78797403e+02] [-9.96926112e-01 7.78404087e-02 8.89932237e-03 -3.58501276e+02] [-8.92667814e-03 -3.47810555e-06 -9.99960156e-01 -4.82497382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters 0.04691014480526128 Centerline is valid? [True, True] Translation: X:378.73, Y:-358.24, Z:-4.83 [[-6.76823869e-03 -9.99977095e-01 1.80481076e-05 3.78727309e+02] [-9.99954415e-01 6.76820674e-03 6.73500733e-03 -3.58235268e+02] [-6.73497522e-03 2.75368524e-05 -9.99977319e-01 -4.83088606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters 0.04766324397850065 Centerline is valid? [True, True] Translation: X:378.67, Y:-358.91, Z:-4.83 [[ 6.17185392e-02 -9.98093554e-01 -2.80344268e-04 3.78670634e+02] [-9.98085223e-01 -6.17191695e-02 4.07828333e-03 -3.58905536e+02] [-4.08781092e-03 2.81017820e-05 -9.99991645e-01 -4.83130713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters 0.04743442529051351 Centerline is valid? [True, True] Translation: X:378.54, Y:-358.45, Z:-4.83 [[ 1.36137713e-01 -9.90689831e-01 -4.25949733e-04 3.78537054e+02] [-9.90685506e-01 -1.36138377e-01 2.92759750e-03 -3.58453704e+02] [-2.95832917e-03 2.34257992e-05 -9.99995624e-01 -4.83304275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters 0.047337084523758996 Centerline is valid? [True, True] Translation: X:378.54, Y:-358.95, Z:-4.83 [[ 2.07016151e-01 -9.78337399e-01 -4.97370032e-04 3.78535373e+02] [-9.78334794e-01 -2.07016748e-01 2.25779134e-03 -3.58945569e+02] [-2.31184563e-03 1.91951353e-05 -9.99997328e-01 -4.83327333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters 0.04781218490113776 Centerline is valid? [True, True] Translation: X:378.63, Y:-359.63, Z:-4.83 [[ 2.80120303e-01 -9.59963961e-01 -1.34553493e-03 3.78628778e+02] [-9.59953231e-01 -2.80123534e-01 4.53869720e-03 -3.59629466e+02] [-4.73390174e-03 2.02693716e-05 -9.99988795e-01 -4.83180730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters 0.04698136123223449 Centerline is valid? [True, True] Translation: X:378.45, Y:-359.35, Z:-4.83 [[ 3.55853780e-01 -9.34539579e-01 -1.96540666e-03 3.78446777e+02] [-9.34525282e-01 -3.55859207e-01 5.16929181e-03 -3.59349727e+02] [-5.53031585e-03 -2.78981305e-06 -9.99984708e-01 -4.83190817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters 0.04761708316386603 Centerline is valid? [True, True] Translation: X:378.44, Y:-359.58, Z:-4.83 [[ 4.29242730e-01 -9.03183921e-01 -3.07966767e-03 3.78436418e+02] [-9.03159812e-01 -4.29253774e-01 6.59928669e-03 -3.59576154e+02] [-7.28232860e-03 -5.12637589e-05 -9.99973482e-01 -4.82997739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters 0.047970546814332264 Centerline is valid? [True, True] Translation: X:378.62, Y:-360.12, Z:-4.83 [[ 4.94585089e-01 -8.69120728e-01 -3.84063493e-03 3.78618287e+02] [-8.69093457e-01 -4.94599996e-01 6.88532975e-03 -3.60119859e+02] [-7.88376083e-03 -6.75107415e-05 -9.99968920e-01 -4.83074023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters 0.047556145320433306 Centerline is valid? [True, True] Translation: X:378.76, Y:-360.50, Z:-4.83 [[ 5.55114376e-01 -8.31765577e-01 -3.74884258e-03 3.78757039e+02] [-8.31746030e-01 -5.55127032e-01 5.70257622e-03 -3.60501151e+02] [-6.82429046e-03 -4.74971004e-05 -9.99976713e-01 -4.83065304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters 0.04826898505183404 Centerline is valid? [True, True] Translation: X:378.45, Y:-360.22, Z:-4.83 [[ 6.11110369e-01 -7.91540539e-01 -2.77352154e-03 3.78453016e+02] [-7.91532335e-01 -6.11116662e-01 3.60376731e-03 -3.60215030e+02] [-4.54747315e-03 -6.96758583e-06 -9.99989660e-01 -4.83179960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters 0.04781233530814331 Centerline is valid? [True, True] Translation: X:378.89, Y:-360.88, Z:-4.83 [[ 6.63099263e-01 -7.48527458e-01 -2.45186193e-03 3.78892069e+02] [-7.48522398e-01 -6.63103796e-01 2.75244091e-03 -3.60879488e+02] [-3.68611655e-03 1.01320355e-05 -9.99993206e-01 -4.83117298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters 0.048118449635116904 Centerline is valid? [True, True] Translation: X:378.68, Y:-360.78, Z:-4.83 [[ 7.14002297e-01 -7.00140160e-01 -2.11557964e-03 3.78676634e+02] [-7.00137162e-01 -7.14005431e-01 2.04926480e-03 -3.60777209e+02] [-2.94530794e-03 1.80161448e-05 -9.99995662e-01 -4.83154701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters 0.04861349410379544 Centerline is valid? [True, True] Translation: X:378.64, Y:-360.88, Z:-4.83 [[ 7.64699617e-01 -6.44381189e-01 -2.71660313e-03 3.78641048e+02] [-6.44377269e-01 -7.64704441e-01 2.24789791e-03 -3.60876373e+02] [-3.52590161e-03 3.15506320e-05 -9.99993784e-01 -4.83081172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters 0.048775232625137506 Centerline is valid? [True, True] Translation: X:378.62, Y:-360.97, Z:-4.83 [[ 8.13074894e-01 -5.82138492e-01 -4.89820248e-03 3.78616054e+02] [-5.82128295e-01 -8.13089647e-01 3.44603837e-03 -3.60972891e+02] [-5.98874931e-03 4.94949795e-05 -9.99982066e-01 -4.82870546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters 0.04855221942028653 Centerline is valid? [True, True] Translation: X:378.59, Y:-361.08, Z:-4.83 [[ 8.57264702e-01 -5.14827258e-01 -7.07992524e-03 3.78592583e+02] [-5.14810171e-01 -8.57293936e-01 4.19475164e-03 -3.61082407e+02] [-8.22914945e-03 4.88050055e-05 -9.99966139e-01 -4.82757730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters 0.049411560780124715 Centerline is valid? [True, True] Translation: X:378.58, Y:-361.19, Z:-4.83 [[ 8.96135548e-01 -4.43673050e-01 -9.76242140e-03 3.78579390e+02] [-4.43647125e-01 -8.96188721e-01 4.79636064e-03 -3.61191187e+02] [-1.08769879e-02 3.28809138e-05 -9.99940843e-01 -4.82639752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters 0.04972012557123693 Centerline is valid? [True, True] Translation: X:378.58, Y:-361.30, Z:-4.83 [[ 9.28402451e-01 -3.71418781e-01 -1.08156384e-02 3.78578058e+02] [-3.71393884e-01 -9.28465448e-01 4.30048711e-03 -3.61295152e+02] [-1.16392282e-02 2.42791788e-05 -9.99932262e-01 -4.82614526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters 0.04992384835097248 Centerline is valid? [True, True] Translation: X:378.59, Y:-361.39, Z:-4.83 [[ 9.54930559e-01 -2.96679979e-01 -9.41367767e-03 3.78587215e+02] [-2.96665667e-01 -9.54976958e-01 2.91409887e-03 -3.61392590e+02] [-9.85440006e-03 9.95289417e-06 -9.99951444e-01 -4.82693545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters 0.050043082687819554 Centerline is valid? [True, True] Translation: X:378.60, Y:-361.49, Z:-4.83 [[ 9.75492257e-01 -2.19887581e-01 -8.01930457e-03 3.78604915e+02] [-2.19880133e-01 -9.75525218e-01 1.80979125e-03 -3.61485675e+02] [-8.22098446e-03 -2.15159487e-06 -9.99966207e-01 -4.82936994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters 0.04960069980842586 Centerline is valid? [True, True] Translation: X:378.63, Y:-361.59, Z:-4.83 [[ 9.89999123e-01 -1.40898560e-01 -7.02363159e-03 3.78627255e+02] [-1.40894895e-01 -9.90024038e-01 1.01635558e-03 -3.61587702e+02] [-7.09676714e-03 -1.65972930e-05 -9.99974818e-01 -4.82824994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters 0.04905457826142508 Centerline is valid? [True, True] Translation: X:378.66, Y:-361.69, Z:-4.83 [[ 9.98291388e-01 -5.80098488e-02 -7.01159892e-03 3.78659286e+02] [-5.80080506e-02 -9.98316009e-01 4.59731349e-04 -3.61690298e+02] [-7.02646040e-03 -5.22166613e-05 -9.99975313e-01 -4.82823787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters 0.048850178046268414 Centerline is valid? [True, True] Translation: X:378.70, Y:-361.77, Z:-4.83 [[ 9.99666653e-01 2.47321266e-02 -7.40981507e-03 3.78699786e+02] [ 2.47321043e-02 -9.99694110e-01 -9.46431278e-05 -3.61772153e+02] [-7.40988921e-03 -8.86487408e-05 -9.99972543e-01 -4.82780520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters 0.04922662534084245 Centerline is valid? [True, True] Translation: X:378.74, Y:-361.85, Z:-4.83 [[ 9.94025110e-01 1.08802130e-01 -8.72800005e-03 3.78740260e+02] [ 1.08799322e-01 -9.94063414e-01 -7.97290377e-04 -3.61848847e+02] [-8.76293242e-03 -1.57073836e-04 -9.99961592e-01 -4.82640394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters 0.0490223702704646 Centerline is valid? [True, True] Translation: X:378.78, Y:-361.91, Z:-4.83 [[ 9.80652728e-01 1.95503640e-01 -9.92740443e-03 3.78784486e+02] [ 1.95496459e-01 -9.80702937e-01 -1.69816752e-03 -3.61906353e+02] [-1.00678326e-02 -2.75459802e-04 -9.99949280e-01 -4.82996149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters 0.050184328459587764 Centerline is valid? [True, True] Translation: X:378.84, Y:-361.99, Z:-4.83 [[ 9.61462971e-01 2.74755188e-01 -9.92680419e-03 3.78839645e+02] [ 2.74743894e-01 -9.61514165e-01 -2.51076987e-03 -3.61989760e+02] [-1.02346099e-02 -3.13316579e-04 -9.99947576e-01 -4.82707646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters 0.05017268867439703 Centerline is valid? [True, True] Translation: X:378.90, Y:-362.05, Z:-4.83 [[ 9.36930589e-01 3.49369460e-01 -1.01020891e-02 3.78897466e+02] [ 3.49352918e-01 -9.36984990e-01 -3.41565020e-03 -3.62050945e+02] [-1.06588297e-02 -3.28967144e-04 -9.99943139e-01 -4.82593299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters 0.049219727982389785 Centerline is valid? [True, True] Translation: X:378.95, Y:-362.09, Z:-4.83 [[ 9.08362268e-01 4.18082864e-01 -9.20378189e-03 3.78954480e+02] [ 4.18064397e-01 -9.08408854e-01 -3.93873221e-03 -3.62094339e+02] [-1.00075134e-02 -2.69977804e-04 -9.99949887e-01 -4.82691294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters 0.04872300555106448 Centerline is valid? [True, True] Translation: X:379.02, Y:-362.14, Z:-4.83 [[ 8.75684974e-01 4.82839068e-01 -6.50086464e-03 3.79018205e+02] [ 4.82827074e-01 -8.75709090e-01 -3.40679781e-03 -3.62143522e+02] [-7.33780134e-03 -1.55511802e-04 -9.99973066e-01 -4.82867696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters 0.049072848228518276 Centerline is valid? [True, True] Translation: X:379.09, Y:-362.19, Z:-4.83 [[ 8.36261645e-01 5.48296528e-01 -6.11384693e-03 3.79087962e+02] [ 5.48283087e-01 -8.36283982e-01 -3.84168889e-03 -3.62194206e+02] [-7.21929694e-03 -1.39461794e-04 -9.99973931e-01 -4.82642071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters 0.04798188959829252 Centerline is valid? [True, True] Translation: X:379.15, Y:-362.23, Z:-4.83 [[ 7.90176813e-01 6.12840670e-01 -6.84965317e-03 3.79153004e+02] [ 6.12819536e-01 -7.90206482e-01 -5.09243571e-03 -3.62225794e+02] [-8.53349204e-03 -1.73676659e-04 -9.99963574e-01 -4.82649839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters 0.047987762304999196 Centerline is valid? [True, True] Translation: X:379.23, Y:-362.27, Z:-4.82 [[ 7.36575198e-01 6.76302394e-01 -8.48817504e-03 3.79229851e+02] [ 6.76261872e-01 -7.36624050e-01 -7.40873437e-03 -3.62265122e+02] [-1.12631387e-02 -2.83139151e-04 -9.99936529e-01 -4.82473318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters 0.04744342425235416 Centerline is valid? [True, True] Translation: X:379.31, Y:-362.30, Z:-4.82 [[ 6.78986971e-01 7.34096655e-01 -8.87660195e-03 3.79307457e+02] [ 7.34040767e-01 -6.79044896e-01 -9.06539076e-03 -3.62299052e+02] [-1.26824843e-02 -3.60505492e-04 -9.99919509e-01 -4.82331755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters 0.04866252935935569 Centerline is valid? [True, True] Translation: X:379.39, Y:-362.33, Z:-4.82 [[ 6.17566330e-01 7.86473591e-01 -8.43322074e-03 3.79392678e+02] [ 7.86409067e-01 -6.17623774e-01 -1.00822655e-02 -3.62331825e+02] [-1.31379932e-02 -4.05493533e-04 -9.99913611e-01 -4.82122131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters 0.04815861428883375 Centerline is valid? [True, True] Translation: X:379.47, Y:-362.35, Z:-4.82 [[ 5.53688528e-01 8.32693799e-01 -7.07475464e-03 3.79471460e+02] [ 8.32634478e-01 -5.53733592e-01 -9.94659999e-03 -3.62350630e+02] [-1.22000014e-02 -3.83366332e-04 -9.99925504e-01 -4.82225987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters 0.04735324357911148 Centerline is valid? [True, True] Translation: X:379.55, Y:-362.36, Z:-4.82 [[ 4.88045752e-01 8.72800587e-01 -5.52078400e-03 3.79548312e+02] [ 8.72752035e-01 -4.88076870e-01 -9.21164294e-03 -3.62361483e+02] [-1.07344943e-02 -3.22572262e-04 -9.99942332e-01 -4.82437103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters 0.046575241245014255 Centerline is valid? [True, True] Translation: X:379.63, Y:-362.37, Z:-4.83 [[ 4.19903706e-01 9.07559721e-01 -4.02878683e-03 3.79633227e+02] [ 9.07523618e-01 -4.19922955e-01 -8.09900875e-03 -3.62370196e+02] [-9.04211419e-03 -2.55415418e-04 -9.99959087e-01 -4.82578751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters 0.04642578092969683 Centerline is valid? [True, True] Translation: X:379.73, Y:-362.38, Z:-4.83 [[ 3.50090802e-01 9.36708652e-01 -3.65119795e-03 3.79726404e+02] [ 9.36664920e-01 -3.50109752e-01 -9.05482472e-03 -3.62375941e+02] [-9.76005267e-03 -2.49938192e-04 -9.99952338e-01 -4.82566348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters 0.047114617432248505 Centerline is valid? [True, True] Translation: X:379.83, Y:-362.38, Z:-4.82 [[ 2.79702365e-01 9.60079887e-01 -3.63275015e-03 3.79826556e+02] [ 9.60010575e-01 -2.79725834e-01 -1.15392331e-02 -3.62378504e+02] [-1.20947597e-02 -2.59927773e-04 -9.99926822e-01 -4.81966705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters 0.04718498236064847 Centerline is valid? [True, True] Translation: X:379.91, Y:-362.37, Z:-4.82 [[ 2.05212945e-01 9.78713696e-01 -2.67355197e-03 3.79907982e+02] [ 9.78645086e-01 -2.05230223e-01 -1.15910326e-02 -3.62366646e+02] [-1.18929960e-02 -2.37828561e-04 -9.99929248e-01 -4.82151587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters 0.04718830390424888 Centerline is valid? [True, True] Translation: X:379.98, Y:-362.35, Z:-4.83 [[ 1.28447734e-01 9.91715222e-01 -1.44825584e-03 3.79982958e+02] [ 9.91667903e-01 -1.28455756e-01 -9.68966745e-03 -3.62347865e+02] [-9.79542751e-03 -1.91573004e-04 -9.99952005e-01 -4.82813034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters 0.04650071054168293 Centerline is valid? [True, True] Translation: X:380.11, Y:-362.33, Z:-4.83 [[ 5.20919357e-02 9.98642076e-01 -6.58756028e-04 3.80112304e+02] [ 9.98597951e-01 -5.20958276e-02 -9.38920557e-03 -3.62330350e+02] [-9.41077418e-03 -1.68730527e-04 -9.99955704e-01 -4.82640962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters 0.04735958006359701 Centerline is valid? [True, True] Translation: X:380.19, Y:-362.30, Z:-4.82 [[-2.36380051e-02 9.99720580e-01 8.46014759e-05 3.80191907e+02] [ 9.99668074e-01 2.36376308e-02 -1.02471250e-02 -3.62300096e+02] [-1.02462615e-02 -1.57648199e-04 -9.99947493e-01 -4.82157518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters 0.04713241749815478 Centerline is valid? [True, True] Translation: X:380.26, Y:-362.26, Z:-4.83 [[-9.86103333e-02 9.95125625e-01 9.96189937e-04 3.80262106e+02] [ 9.95059454e-01 9.86152651e-02 -1.14766463e-02 -3.62264737e+02] [-1.15189443e-02 -1.40447700e-04 -9.99933645e-01 -4.82798858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters 0.047989731364892874 Centerline is valid? [True, True] Translation: X:380.34, Y:-362.22, Z:-4.82 [[-1.72481799e-01 9.85011378e-01 1.61713892e-03 3.80344688e+02] [ 9.84963446e-01 1.72489359e-01 -9.71753386e-03 -3.62222266e+02] [-9.85082067e-03 -8.32749912e-05 -9.99951476e-01 -4.82444827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters 0.047039313560522725 Centerline is valid? [True, True] Translation: X:380.41, Y:-362.18, Z:-4.83 [[-2.45231563e-01 9.69462778e-01 1.84462722e-03 3.80412459e+02] [ 9.69434283e-01 2.45238498e-01 -7.43307366e-03 -3.62175867e+02] [-7.65846185e-03 -3.45794041e-05 -9.99970673e-01 -4.82813995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters 0.047114668483434936 Centerline is valid? [True, True] Translation: X:380.51, Y:-362.12, Z:-4.83 [[-3.17909228e-01 9.48118338e-01 2.31066525e-03 3.80506997e+02] [ 9.48092963e-01 3.17917625e-01 -6.93661050e-03 -3.62115480e+02] [-7.31132883e-03 -1.44870301e-05 -9.99973272e-01 -4.82929323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters 0.04717527608406861 Centerline is valid? [True, True] Translation: X:380.57, Y:-362.06, Z:-4.83 [[-3.90162706e-01 9.20741518e-01 2.84956512e-03 3.80567389e+02] [ 9.20716832e-01 3.90173112e-01 -6.74229237e-03 -3.62057975e+02] [-7.31973220e-03 -6.94846664e-06 -9.99973210e-01 -4.82801638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters 0.047755600808873463 Centerline is valid? [True, True] Translation: X:380.62, Y:-362.00, Z:-4.83 [[-4.61529384e-01 8.87117423e-01 3.64768817e-03 3.80620634e+02] [ 8.87089508e-01 4.61543799e-01 -7.03754578e-03 -3.61998578e+02] [-7.92669733e-03 -1.22082747e-05 -9.99968583e-01 -4.82802404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters 0.04719978551885126 Centerline is valid? [True, True] Translation: X:380.69, Y:-361.92, Z:-4.83 [[-5.31727615e-01 8.46906452e-01 3.89936934e-03 3.80690376e+02] [ 8.46883256e-01 5.31741912e-01 -6.26812779e-03 -3.61922764e+02] [-7.38197597e-03 -3.06260318e-05 -9.99972752e-01 -4.82814077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters 0.04719257553373844 Centerline is valid? [True, True] Translation: X:380.74, Y:-361.85, Z:-4.83 [[-5.99298620e-01 8.00518647e-01 3.32581813e-03 3.80735648e+02] [ 8.00505914e-01 5.99307846e-01 -4.51525794e-03 -3.61853695e+02] [-5.60773708e-03 -4.36507698e-05 -9.99984276e-01 -4.82690932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters 0.0470415396742717 Centerline is valid? [True, True] Translation: X:380.77, Y:-361.79, Z:-4.83 [[-6.63402939e-01 7.48257130e-01 2.79441542e-03 3.80769162e+02] [ 7.48250159e-01 6.63408822e-01 -3.23008292e-03 -3.61787303e+02] [-4.27077242e-03 -5.19247205e-05 -9.99990879e-01 -4.82850801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters 0.046829491562106404 Centerline is valid? [True, True] Translation: X:380.80, Y:-361.71, Z:-4.83 [[-7.20930670e-01 6.93000155e-01 3.12329100e-03 3.80802632e+02] [ 6.92993289e-01 7.20937433e-01 -3.08523323e-03 -3.61711433e+02] [-4.38976450e-03 -5.98195537e-05 -9.99990363e-01 -4.82779648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters 0.04712080231975546 Centerline is valid? [True, True] Translation: X:380.84, Y:-361.64, Z:-4.83 [[-7.69289596e-01 6.38885956e-01 4.27232821e-03 3.80835845e+02] [ 6.38875481e-01 7.69301454e-01 -3.65960420e-03 -3.61642800e+02] [-5.62477804e-03 -8.58096962e-05 -9.99984177e-01 -4.82582890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters 0.046532478317717146 Centerline is valid? [True, True] Translation: X:381.15, Y:-361.79, Z:-4.82 [[-8.14972147e-01 5.79463764e-01 6.49196462e-03 3.81149205e+02] [ 5.79444028e-01 8.14997992e-01 -4.78444828e-03 -3.61792282e+02] [-8.06335254e-03 -1.37461952e-04 -9.99967481e-01 -4.82348957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters 0.047162300806916864 Centerline is valid? [True, True] Translation: X:380.81, Y:-361.46, Z:-4.82 [[-8.53831046e-01 5.20496508e-01 7.47864387e-03 3.80812865e+02] [ 5.20475003e-01 8.53863785e-01 -4.73378525e-03 -3.61463845e+02] [-8.84966185e-03 -1.49405621e-04 -9.99960830e-01 -4.82160280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters 0.04689971307284284 Centerline is valid? [True, True] Translation: X:380.79, Y:-361.37, Z:-4.82 [[-8.87844384e-01 4.60066578e-01 8.43170273e-03 3.80793631e+02] [ 4.60044266e-01 8.87884409e-01 -4.53324456e-03 -3.61366932e+02] [-9.57197170e-03 -1.45859236e-04 -9.99954177e-01 -4.82079459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters 0.04647717426218997 Centerline is valid? [True, True] Translation: X:381.06, Y:-361.41, Z:-4.82 [[-9.18690147e-01 3.94871746e-01 9.20420674e-03 3.81060440e+02] [ 3.94850381e-01 9.18736243e-01 -4.11010193e-03 -3.61411496e+02] [-1.00792014e-02 -1.41625611e-04 -9.99949194e-01 -4.82188513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters 0.046805861416764724 Centerline is valid? [True, True] Translation: X:381.24, Y:-360.92, Z:-5.93 [[-8.76864809e-01 -4.80654622e-01 8.90179209e-03 3.81240743e+02] [ 4.80631484e-01 -8.76909981e-01 -4.71825605e-03 -3.60915412e+02] [ 1.00739219e-02 1.41208856e-04 9.99949247e-01 -5.92961407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters 0.047355052226267416 Centerline is valid? [True, True] Translation: X:380.57, Y:-361.18, Z:-4.82 [[-9.20067802e-01 3.91634610e-01 9.87783275e-03 3.80569157e+02] [ 3.91610254e-01 9.20120812e-01 -4.37030410e-03 -3.61180241e+02] [-1.08003618e-02 -1.52715491e-04 -9.99941663e-01 -4.81979978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters 0.04706037176467258 Centerline is valid? [True, True] Translation: X:380.81, Y:-361.19, Z:-4.82 [[-9.46106503e-01 3.23647169e-01 1.16187191e-02 3.80807906e+02] [ 3.23620579e-01 9.46177828e-01 -4.15206336e-03 -3.61188917e+02] [-1.23371779e-02 -1.68237560e-04 -9.99923880e-01 -4.81993673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters 0.0472063949512742 Centerline is valid? [True, True] Translation: X:380.92, Y:-360.68, Z:-5.93 [[-9.11692418e-01 -4.10694435e-01 1.21249786e-02 3.80924992e+02] [ 4.10661527e-01 -9.11773012e-01 -5.20425067e-03 -3.60681070e+02] [ 1.31925850e-02 2.34586336e-04 9.99912947e-01 -5.93280661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters 0.047639673290905335 Centerline is valid? [True, True] Translation: X:380.23, Y:-360.97, Z:-4.81 [[-9.46675840e-01 3.21792749e-01 1.59461743e-02 3.80230644e+02] [ 3.21743437e-01 9.46810110e-01 -5.63700917e-03 -3.60971367e+02] [-1.69119477e-02 -2.05843456e-04 -9.99856962e-01 -4.81436994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters 0.0476646106205845 Centerline is valid? [True, True] Translation: X:380.72, Y:-361.04, Z:-4.82 [[-9.68816991e-01 2.47051441e-01 1.89531920e-02 3.80719957e+02] [ 2.46998457e-01 9.69002325e-01 -5.12414622e-03 -3.61039915e+02] [-1.96316148e-02 -2.82950757e-04 -9.99807241e-01 -4.82192890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters 0.047775122750976 Centerline is valid? [True, True] Translation: X:379.88, Y:-360.75, Z:-4.81 [[-9.84348721e-01 1.75216756e-01 1.88860777e-02 3.79884210e+02] [ 1.75178055e-01 9.84529826e-01 -3.69731995e-03 -3.60748971e+02] [-1.92417392e-02 -3.31025810e-04 -9.99814806e-01 -4.81105894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters 0.04863207255593762 Centerline is valid? [True, True] Translation: X:380.00, Y:-360.69, Z:-4.81 [[-9.94659551e-01 1.01554843e-01 1.84117188e-02 3.79998240e+02] [ 1.01530703e-01 9.94829876e-01 -2.24356996e-03 -3.60685824e+02] [-1.85443733e-02 -3.62233535e-04 -9.99827973e-01 -4.81085073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters 0.048879870208538956 Centerline is valid? [True, True] Translation: X:379.98, Y:-360.18, Z:-5.93 [[-9.77875112e-01 -2.08717717e-01 1.40420483e-02 3.79984704e+02] [ 2.08696174e-01 -9.77975927e-01 -2.99871207e-03 -3.60177856e+02] [ 1.43586696e-02 -1.84414535e-06 9.99896909e-01 -5.93377112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters 0.04748863455377451 Centerline is valid? [True, True] Translation: X:379.95, Y:-360.69, Z:-4.82 [[-9.95340689e-01 9.53836569e-02 1.41021351e-02 3.79952264e+02] [ 9.53697755e-02 9.95440539e-01 -1.65512205e-03 -3.60692323e+02] [-1.41957085e-02 -3.02492871e-04 -9.99899190e-01 -4.82070727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters 0.047547494346888056 Centerline is valid? [True, True] Translation: X:380.24, Y:-360.63, Z:-4.82 [[-9.99683788e-01 2.08952208e-02 1.39897470e-02 3.80241326e+02] [ 2.08890386e-02 9.99781627e-01 -5.87900603e-04 -3.60630328e+02] [-1.39989764e-02 -2.95482336e-04 -9.99901966e-01 -4.82150128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters 0.04755405381681886 Centerline is valid? [True, True] Translation: X:379.34, Y:-360.05, Z:-5.93 [[-9.91385111e-01 -1.30341030e-01 1.29142253e-02 3.79344052e+02] [ 1.30332809e-01 -9.91469197e-01 -1.47981324e-03 -3.60049419e+02] [ 1.29969369e-02 2.16082432e-04 9.99915513e-01 -5.93282887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters 0.048179707767364494 Centerline is valid? [True, True] Translation: X:379.23, Y:-360.57, Z:-4.82 [[-9.99797651e-01 1.54272650e-02 1.29095292e-02 3.79232285e+02] [ 1.54222043e-02 9.99880950e-01 -4.91475746e-04 -3.60570617e+02] [-1.29155745e-02 -2.92282899e-04 -9.99916548e-01 -4.81914493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters 0.04724603763885532 Centerline is valid? [True, True] Translation: X:379.28, Y:-360.50, Z:-4.82 [[-9.98253029e-01 -5.77277047e-02 1.25857944e-02 3.79283609e+02] [-5.77269552e-02 9.98332319e-01 4.23129223e-04 -3.60498315e+02] [-1.25892316e-02 -3.04149559e-04 -9.99920706e-01 -4.82263184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters 0.047604106789250034 Centerline is valid? [True, True] Translation: X:379.64, Y:-360.38, Z:-4.82 [[-9.90656521e-01 -1.35829358e-01 1.22491822e-02 3.79638536e+02] [-1.35823113e-01 9.90732192e-01 1.34413199e-03 -3.60382934e+02] [-1.23182317e-02 -3.32148936e-04 -9.99924073e-01 -4.82238188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters 0.046552670540569094 Centerline is valid? [True, True] Translation: X:379.67, Y:-360.29, Z:-4.83 [[-9.78048673e-01 -2.08064122e-01 1.14067739e-02 3.79672383e+02] [-2.08053800e-01 9.78115135e-01 2.09728118e-03 -3.60293731e+02] [-1.15935071e-02 -3.21979575e-04 -9.99932741e-01 -4.82823283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters 0.04694442265521253 Centerline is valid? [True, True] Translation: X:379.05, Y:-360.34, Z:-4.83 [[-9.61431929e-01 -2.74880509e-01 9.45256349e-03 3.79050310e+02] [-2.74869787e-01 9.61478363e-01 2.44083802e-03 -3.60338271e+02] [-9.75937406e-03 -2.51524514e-04 -9.99952345e-01 -4.82642441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters 0.046491827018237675 Centerline is valid? [True, True] Translation: X:378.94, Y:-360.30, Z:-4.83 [[-9.41747527e-01 -3.36233721e-01 7.64723046e-03 3.78935117e+02] [-3.36223947e-01 9.41778563e-01 2.56824591e-03 -3.60297750e+02] [-8.06552859e-03 -1.52542776e-04 -9.99967462e-01 -4.82849557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters 0.046617173580202446 Centerline is valid? [True, True] Translation: X:378.72, Y:-360.30, Z:-4.83 [[-9.17280536e-01 -3.98179609e-01 7.02978115e-03 3.78724726e+02] [-3.98168828e-01 9.17307466e-01 2.93219808e-03 -3.60298954e+02] [-7.61601222e-03 -1.09391495e-04 -9.99970992e-01 -4.82723192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters 0.04647507016743399 Centerline is valid? [True, True] Translation: X:378.61, Y:-360.27, Z:-4.83 [[-8.86857000e-01 -4.61983281e-01 7.49070434e-03 3.78610178e+02] [-4.61967883e-01 8.86888626e-01 3.77356352e-03 -3.60269854e+02] [-8.38674373e-03 -1.13853609e-04 -9.99964824e-01 -4.82736667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters 0.047129732419992514 Centerline is valid? [True, True] Translation: X:378.78, Y:-360.09, Z:-4.83 [[-8.49921002e-01 -5.26827057e-01 9.35641062e-03 3.78775492e+02] [-5.26796908e-01 8.49972490e-01 5.63775829e-03 -3.60092335e+02] [-1.09228152e-02 -1.37279014e-04 -9.99940335e-01 -4.83009250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters 0.047539551532705344 Centerline is valid? [True, True] Translation: X:378.59, Y:-360.10, Z:-4.83 [[-8.11435004e-01 -5.84355372e-01 1.01012036e-02 3.78594426e+02] [-5.84312046e-01 8.11497864e-01 7.11683871e-03 -3.60100461e+02] [-1.23558680e-02 -1.27402879e-04 -9.99923655e-01 -4.82907810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters 0.04734620075908506 Centerline is valid? [True, True] Translation: X:378.17, Y:-359.73, Z:-5.92 [[-8.57302175e-01 5.14716772e-01 9.98122381e-03 3.78168664e+02] [-5.14680813e-01 -8.57360273e-01 6.08461301e-03 -3.59727529e+02] [ 1.16893571e-02 7.92075823e-05 9.99931674e-01 -5.92037889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters 0.047563682386829516 Centerline is valid? [True, True] Translation: X:378.32, Y:-360.29, Z:-4.83 [[-8.13402897e-01 -5.81635124e-01 8.73548559e-03 3.78324112e+02] [-5.81601919e-01 8.13449803e-01 6.21497285e-03 -3.60286801e+02] [-1.07207255e-02 -2.52982605e-05 -9.99942531e-01 -4.83143558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters 0.04803820767704366 Centerline is valid? [True, True] Translation: X:378.14, Y:-360.32, Z:-4.83 [[-7.72742173e-01 -6.34672260e-01 7.78823858e-03 3.78138090e+02] [-6.34639698e-01 7.72781419e-01 6.42898413e-03 -3.60318568e+02] [-1.00989040e-02 2.52217760e-05 -9.99949005e-01 -4.83454978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters 0.047814290191891956 Centerline is valid? [True, True] Translation: X:377.95, Y:-360.37, Z:-4.83 [[-7.27617549e-01 -6.85937090e-01 7.93798457e-03 3.77946215e+02] [-6.85895258e-01 7.27660844e-01 7.57566709e-03 -3.60372376e+02] [-1.09725916e-02 6.75623424e-05 -9.99939797e-01 -4.83430533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters 0.04845838490964533 Centerline is valid? [True, True] Translation: X:377.76, Y:-360.45, Z:-4.83 [[-6.78711538e-01 -7.34363435e-01 7.80977646e-03 3.77755637e+02] [-7.34312910e-01 6.78756460e-01 8.61496881e-03 -3.60445439e+02] [-1.16274543e-02 1.12259054e-04 -9.99932393e-01 -4.83199892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters 0.04864095700281099 Centerline is valid? [True, True] Translation: X:377.55, Y:-360.56, Z:-4.83 [[-6.26462544e-01 -7.79413550e-01 7.69410715e-03 3.77548293e+02] [-7.79351627e-01 6.26509771e-01 9.82594458e-03 -3.60557627e+02] [-1.24789077e-02 1.59171312e-04 -9.99922123e-01 -4.83224315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters 0.048466174508388506 Centerline is valid? [True, True] Translation: X:377.49, Y:-360.49, Z:-4.83 [[-5.66117618e-01 -8.24297890e-01 6.62055320e-03 3.77485072e+02] [-8.24238509e-01 5.66156310e-01 9.89507673e-03 -3.60494747e+02] [-1.19047588e-02 1.44862370e-04 -9.99929125e-01 -4.83406514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters 0.048232884725792964 Centerline is valid? [True, True] Translation: X:376.99, Y:-361.14, Z:-4.83 [[-5.03766335e-01 -8.63823348e-01 5.35756352e-03 3.76990615e+02] [-8.63772373e-01 5.03794813e-01 9.38476371e-03 -3.61139975e+02] [-1.08058907e-02 1.00012666e-04 -9.99941610e-01 -4.83204371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters 0.04842731486168945 Centerline is valid? [True, True] Translation: X:377.06, Y:-360.81, Z:-4.84 [[-4.28752528e-01 -9.03413374e-01 3.94279291e-03 3.77062575e+02] [-9.03375063e-01 4.28770657e-01 8.31976667e-03 -3.60806397e+02] [-9.20674238e-03 5.30020424e-06 -9.99957617e-01 -4.83500019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters 0.048535123598147545 Centerline is valid? [True, True] Translation: X:376.94, Y:-360.84, Z:-4.83 [[-3.54167085e-01 -9.35177593e-01 2.92336035e-03 3.76944467e+02] [-9.35146953e-01 3.54179145e-01 7.57027717e-03 -3.60839035e+02] [-8.11494685e-03 -5.26285262e-05 -9.99967072e-01 -4.83276265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters 0.04801933517822118 Centerline is valid? [True, True] Translation: X:376.77, Y:-361.06, Z:-4.83 [[-2.81164477e-01 -9.59656736e-01 2.34221555e-03 3.76771669e+02] [-9.59626031e-01 2.81174218e-01 7.67722804e-03 -3.61056145e+02] [-8.02607423e-03 -8.90872061e-05 -9.99967787e-01 -4.83484727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters 0.04867455370412512 Centerline is valid? [True, True] Translation: X:376.05, Y:-361.59, Z:-5.92 [[-3.68380443e-01 9.29670332e-01 2.98720009e-03 3.76050489e+02] [-9.29637099e-01 -3.68392535e-01 7.86152497e-03 -3.61590344e+02] [ 8.40908874e-03 1.19020017e-04 9.99964636e-01 -5.91803996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters 0.048381774352351345 Centerline is valid? [True, True] Translation: X:376.45, Y:-362.01, Z:-4.83 [[-2.73815073e-01 -9.61778771e-01 2.62687332e-03 3.76452141e+02] [-9.61738536e-01 2.73827649e-01 8.79813657e-03 -3.62014954e+02] [-9.18117153e-03 -1.17302892e-04 -9.99957845e-01 -4.83238757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters 0.04838243751225652 Centerline is valid? [True, True] Translation: X:376.35, Y:-362.11, Z:-4.83 [[-2.03625797e-01 -9.79045461e-01 2.55365259e-03 3.76351410e+02] [-9.78976344e-01 2.03641767e-01 1.16339700e-02 -3.62114562e+02] [-1.19102159e-02 -1.30989060e-04 -9.99929062e-01 -4.83070084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters 0.04841054421134211 Centerline is valid? [True, True] Translation: X:376.35, Y:-361.72, Z:-4.84 [[-1.30420587e-01 -9.91457074e-01 1.82777855e-03 3.76345489e+02] [-9.91372359e-01 1.30433337e-01 1.29611102e-02 -3.61724296e+02] [-1.30887877e-02 -1.21613534e-04 -9.99914331e-01 -4.83793777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters 0.04892721632697569 Centerline is valid? [True, True] Translation: X:376.22, Y:-362.06, Z:-4.83 [[-6.02821914e-02 -9.98180894e-01 9.79663857e-04 3.76215895e+02] [-9.98076529e-01 6.02900552e-02 1.44344041e-02 -3.62063176e+02] [-1.44672103e-02 -1.07641994e-04 -9.99895339e-01 -4.83298063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters 0.04863063613220651 Centerline is valid? [True, True] Translation: X:376.12, Y:-362.34, Z:-4.83 [[ 9.56840721e-03 -9.99954218e-01 -8.60423983e-05 3.76120161e+02] [-9.99830655e-01 -9.56857746e-03 1.57195541e-02 -3.62336068e+02] [-1.57196578e-02 -6.43832678e-05 -9.99876437e-01 -4.83049391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters 0.04867771213049312 Centerline is valid? [True, True] Translation: X:376.03, Y:-362.34, Z:-4.83 [[ 8.04162987e-02 -9.96760604e-01 -1.23203484e-03 3.76032633e+02] [-9.96641368e-01 -8.04257351e-02 1.54170091e-02 -3.62343160e+02] [-1.54661546e-02 -1.18819276e-05 -9.99880392e-01 -4.83353322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters 0.04948223628553998 Centerline is valid? [True, True] Translation: X:375.98, Y:-362.64, Z:-4.83 [[ 1.48553449e-01 -9.88901740e-01 -2.28492314e-03 3.75977347e+02] [-9.88790688e-01 -1.48571009e-01 1.48199720e-02 -3.62643310e+02] [-1.49949695e-02 5.77527648e-05 -9.99887568e-01 -4.83472886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters 0.04937147638194433 Centerline is valid? [True, True] Translation: X:375.94, Y:-362.90, Z:-4.84 [[ 2.15715275e-01 -9.76450649e-01 -3.32429491e-03 3.75935062e+02] [-9.76343867e-01 -2.15740848e-01 1.44409174e-02 -3.62895353e+02] [-1.48180293e-02 1.30528498e-04 -9.99890199e-01 -4.83522922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters 0.04906737981401152 Centerline is valid? [True, True] Translation: X:375.93, Y:-363.19, Z:-4.83 [[ 2.82292178e-01 -9.59319320e-01 -4.19155425e-03 3.75927198e+02] [-9.59222869e-01 -2.82323237e-01 1.36042976e-02 -3.63193660e+02] [-1.42342387e-02 1.80247895e-04 -9.99898672e-01 -4.83371156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters 0.049088721459235964 Centerline is valid? [True, True] Translation: X:376.12, Y:-363.99, Z:-4.83 [[ 3.50310921e-01 -9.36619712e-01 -5.07688558e-03 3.76121670e+02] [-9.36528386e-01 -3.50347665e-01 1.30803466e-02 -3.63988775e+02] [-1.40299855e-02 1.72459202e-04 -9.99901560e-01 -4.83069306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters 0.04876538516619788 Centerline is valid? [True, True] Translation: X:375.87, Y:-363.61, Z:-4.83 [[ 4.21912387e-01 -9.06613822e-01 -6.42769257e-03 3.75868232e+02] [-9.06513801e-01 -4.21961322e-01 1.34674453e-02 -3.63614687e+02] [-1.49220097e-02 1.44710032e-04 -9.99888650e-01 -4.83300950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters 0.048701191701349726 Centerline is valid? [True, True] Translation: X:375.91, Y:-363.89, Z:-4.83 [[ 4.92224232e-01 -8.70431810e-01 -7.98558162e-03 3.75912808e+02] [-8.70319331e-01 -4.92289001e-01 1.39928957e-02 -3.63892700e+02] [-1.61110756e-02 6.23636905e-05 -9.99870206e-01 -4.83285860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters 0.04863652686294839 Centerline is valid? [True, True] Translation: X:375.96, Y:-364.14, Z:-4.83 [[ 5.58142263e-01 -8.29703331e-01 -8.34249282e-03 3.75958941e+02] [-8.29610543e-01 -5.58204607e-01 1.24082274e-02 -3.64135593e+02] [-1.49519655e-02 -4.53613136e-06 -9.99888213e-01 -4.83453250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters 0.04810556568138765 Centerline is valid? [True, True] Translation: X:376.36, Y:-364.83, Z:-4.83 [[ 6.18298020e-01 -7.85905155e-01 -7.78749601e-03 3.76362718e+02] [-7.85842087e-01 -6.18347059e-01 9.95632315e-03 -3.64830740e+02] [-1.26401009e-02 -3.62327715e-05 -9.99920110e-01 -4.83232601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters 0.04874341679690166 Centerline is valid? [True, True] Translation: X:376.43, Y:-365.02, Z:-4.84 [[ 6.75866070e-01 -7.36993997e-01 -6.70107143e-03 3.76432889e+02] [-7.36957057e-01 -6.75899287e-01 7.37906180e-03 -3.65023734e+02] [-9.96757365e-03 -4.88556221e-05 -9.99950321e-01 -4.83852846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters 0.04791747750273735 Centerline is valid? [True, True] Translation: X:376.45, Y:-365.15, Z:-4.84 [[ 7.28827970e-01 -6.84667779e-01 -6.31050695e-03 3.76452991e+02] [-6.84641499e-01 -7.28855287e-01 5.99898684e-03 -3.65151880e+02] [-8.70675935e-03 -5.17944679e-05 -9.99962094e-01 -4.83620554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters 0.04788976392483118 Centerline is valid? [True, True] Translation: X:376.44, Y:-365.22, Z:-4.84 [[ 7.80835890e-01 -6.24699664e-01 -6.75603747e-03 3.76438150e+02] [-6.24675594e-01 -7.80865114e-01 5.48412538e-03 -3.65223411e+02] [-8.70148525e-03 -6.18701957e-05 -9.99962139e-01 -4.83630396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters 0.04803156400439322 Centerline is valid? [True, True] Translation: X:376.42, Y:-365.31, Z:-4.84 [[ 8.29110690e-01 -5.59024983e-01 -8.15668020e-03 3.76421421e+02] [-5.58996701e-01 -8.29150805e-01 5.62410217e-03 -3.65307478e+02] [-9.90713158e-03 -1.03445910e-04 -9.99950918e-01 -4.83678886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters 0.04778152115458088 Centerline is valid? [True, True] Translation: X:376.41, Y:-365.39, Z:-4.84 [[ 8.71554305e-01 -4.90205866e-01 -9.55525564e-03 3.76411877e+02] [-4.90174582e-01 -8.71606670e-01 5.53994617e-03 -3.65391250e+02] [-1.10441387e-02 -1.44620483e-04 -9.99939001e-01 -4.83635282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters 0.04766730146002775 Centerline is valid? [True, True] Translation: X:376.41, Y:-365.48, Z:-4.84 [[ 9.08121127e-01 -4.18549457e-01 -1.15052641e-02 3.76408477e+02] [-4.18513128e-01 -9.08193985e-01 5.51795605e-03 -3.65477238e+02] [-1.27585491e-02 -1.95868407e-04 -9.99918587e-01 -4.83510202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters 0.048024611889643014 Centerline is valid? [True, True] Translation: X:376.41, Y:-365.56, Z:-4.83 [[ 9.38633650e-01 -3.44701050e-01 -1.21678825e-02 3.76412258e+02] [-3.44669008e-01 -9.38712489e-01 4.70512624e-03 -3.65560373e+02] [-1.30440052e-02 -2.22497809e-04 -9.99914899e-01 -4.83396086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters 0.04754363429544847 Centerline is valid? [True, True] Translation: X:376.42, Y:-365.65, Z:-4.83 [[ 9.62735458e-01 -2.70172804e-01 -1.21282060e-02 3.76421692e+02] [-2.70148519e-01 -9.62811824e-01 3.62885862e-03 -3.65646044e+02] [-1.26575991e-02 -2.17213977e-04 -9.99919866e-01 -4.83489204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters 0.04754920416064136 Centerline is valid? [True, True] Translation: X:376.44, Y:-365.73, Z:-4.84 [[ 9.80779162e-01 -1.94733209e-01 -1.22968687e-02 3.76438295e+02] [-1.94715246e-01 -9.80856225e-01 2.65308122e-03 -3.65729479e+02] [-1.25781032e-02 -2.07698967e-04 -9.99920871e-01 -4.83587978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters 0.047580490345311366 Centerline is valid? [True, True] Translation: X:376.46, Y:-365.81, Z:-4.84 [[ 9.92901341e-01 -1.18212976e-01 -1.31384989e-02 3.76459516e+02] [-1.18199837e-01 -9.92988242e-01 1.77485409e-03 -3.65810818e+02] [-1.32561857e-02 -2.09286583e-04 -9.99912111e-01 -4.83916041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters 0.04754707035332047 Centerline is valid? [True, True] Translation: X:376.48, Y:-365.94, Z:-4.84 [[ 9.99074192e-01 -4.08997150e-02 -1.33406299e-02 3.76483600e+02] [-4.08933689e-02 -9.99163236e-01 7.48248662e-04 -3.65935823e+02] [-1.33600701e-02 -2.02012627e-04 -9.99910730e-01 -4.84017558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters 0.04749170889006541 Centerline is valid? [True, True] Translation: X:376.51, Y:-366.06, Z:-4.84 [[ 9.99249270e-01 3.63265273e-02 -1.34640115e-02 3.76513094e+02] [ 3.63257791e-02 -9.99339956e-01 -3.00205045e-04 -3.66056627e+02] [-1.34660301e-02 -1.89111037e-04 -9.99909311e-01 -4.83869095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters 0.04791202017358936 Centerline is valid? [True, True] Translation: X:376.55, Y:-366.15, Z:-4.84 [[ 9.93705237e-01 1.11341867e-01 -1.23649206e-02 3.76549969e+02] [ 1.11334952e-01 -9.93782154e-01 -1.24834669e-03 -3.66149299e+02] [-1.24270306e-02 -1.36159192e-04 -9.99922772e-01 -4.83747169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters 0.04797499986408915 Centerline is valid? [True, True] Translation: X:376.59, Y:-366.23, Z:-4.84 [[ 9.82516291e-01 1.85819470e-01 -1.15266138e-02 3.76592528e+02] [ 1.85807797e-01 -9.82583898e-01 -2.08487240e-03 -3.66234137e+02] [-1.17132750e-02 -9.33136275e-05 -9.99931393e-01 -4.83750930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters 0.04779921674201705 Centerline is valid? [True, True] Translation: X:376.64, Y:-366.32, Z:-4.84 [[ 9.65897544e-01 2.58678084e-01 -1.12952894e-02 3.76641971e+02] [ 2.58661022e-01 -9.65963584e-01 -2.97145976e-03 -3.66317044e+02] [-1.16794898e-02 -5.15254311e-05 -9.99931791e-01 -4.83632610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters 0.04769237406411987 Centerline is valid? [True, True] Translation: X:376.69, Y:-366.38, Z:-4.84 [[ 9.45350779e-01 3.25795707e-01 -1.30023806e-02 3.76694155e+02] [ 3.25764157e-01 -9.45440191e-01 -4.53422156e-03 -3.66383452e+02] [-1.37702031e-02 5.07203325e-05 -9.99905185e-01 -4.83579126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters 0.048247398755849207 Centerline is valid? [True, True] Translation: X:376.76, Y:-366.45, Z:-4.84 [[ 9.18976869e-01 3.94096718e-01 -1.30112071e-02 3.76755197e+02] [ 3.94055304e-01 -9.19068964e-01 -5.71453675e-03 -3.66454541e+02] [-1.42102768e-02 1.24391913e-04 -9.99899021e-01 -4.83858308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters 0.049129363098792206 Centerline is valid? [True, True] Translation: X:376.83, Y:-366.53, Z:-4.84 [[ 8.87437444e-01 4.60748586e-01 -1.28656188e-02 3.76827565e+02] [ 4.60696990e-01 -8.87530677e-01 -6.89785702e-03 -3.66532672e+02] [-1.45968092e-02 1.94264756e-04 -9.99893442e-01 -4.83788757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters 0.049532205689247 Centerline is valid? [True, True] Translation: X:376.91, Y:-366.61, Z:-4.84 [[ 8.49776903e-01 5.27015184e-01 -1.15849106e-02 3.76906356e+02] [ 5.26962808e-01 -8.49855841e-01 -7.43292831e-03 -3.66606560e+02] [-1.37627700e-02 2.11513787e-04 -9.99905266e-01 -4.83844519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters 0.04920027120210496 Centerline is valid? [True, True] Translation: X:376.98, Y:-366.65, Z:-4.84 [[ 8.03228327e-01 5.95590726e-01 -9.79503624e-03 3.76976324e+02] [ 5.95544428e-01 -8.03288037e-01 -7.42725648e-03 -3.66654895e+02] [-1.22918405e-02 1.32403537e-04 -9.99924444e-01 -4.83740805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters 0.048316750176985244 Centerline is valid? [True, True] Translation: X:377.06, Y:-366.71, Z:-4.84 [[ 7.50589649e-01 6.60731808e-01 -6.97540893e-03 3.77058801e+02] [ 6.60702658e-01 -7.50622059e-01 -6.20663142e-03 -3.66705037e+02] [-9.33681461e-03 4.99620746e-05 -9.99956410e-01 -4.84070467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters 0.04841316348460149 Centerline is valid? [True, True] Translation: X:377.14, Y:-366.74, Z:-4.84 [[ 6.92043190e-01 7.21836735e-01 -5.28685337e-03 3.77138764e+02] [ 7.21815753e-01 -6.92063384e-01 -5.50380769e-03 -3.66744664e+02] [-7.63168821e-03 -7.26141848e-06 -9.99970878e-01 -4.83999967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters 0.0476394744232823 Centerline is valid? [True, True] Translation: X:377.22, Y:-366.77, Z:-4.84 [[ 6.26932272e-01 7.79062578e-01 -4.17443988e-03 3.77215110e+02] [ 7.79045956e-01 -6.26946167e-01 -5.08941583e-03 -3.66770444e+02] [-6.58212249e-03 -6.13614764e-05 -9.99978336e-01 -4.84042686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters 0.04781093592466405 Centerline is valid? [True, True] Translation: X:377.30, Y:-366.79, Z:-4.84 [[ 5.60737315e-01 8.27985629e-01 -3.66905686e-03 3.77298655e+02] [ 8.27968894e-01 -5.60749312e-01 -5.26496327e-03 -3.66793051e+02] [-6.41673503e-03 -8.56035833e-05 -9.99979409e-01 -4.84119917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters 0.048127418152917614 Centerline is valid? [True, True] Translation: X:377.38, Y:-366.81, Z:-4.84 [[ 4.92985158e-01 8.70030723e-01 -3.48911970e-03 3.77381143e+02] [ 8.70010380e-01 -4.92997495e-01 -5.95055429e-03 -3.66807199e+02] [-6.89729232e-03 -1.02035412e-04 -9.99976208e-01 -4.84083143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters 0.0486526274589386 Centerline is valid? [True, True] Translation: X:377.47, Y:-366.82, Z:-4.84 [[ 4.21990878e-01 9.06593082e-01 -3.56117132e-03 3.77465226e+02] [ 9.06563431e-01 -4.22005883e-01 -7.33354233e-03 -3.66815244e+02] [-8.15137399e-03 -1.33739719e-04 -9.99966768e-01 -4.83981811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters 0.048652406622561824 Centerline is valid? [True, True] Translation: X:377.55, Y:-366.82, Z:-4.84 [[ 3.49839947e-01 9.36803161e-01 -3.44231664e-03 3.77551029e+02] [ 9.36762054e-01 -3.49856848e-01 -8.77727084e-03 -3.66818770e+02] [-9.42689312e-03 -1.53991641e-04 -9.99955554e-01 -4.83872901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters 0.04847515146615044 Centerline is valid? [True, True] Translation: X:377.63, Y:-366.81, Z:-4.84 [[ 2.78210906e-01 9.60516422e-01 -2.62583146e-03 3.77633879e+02] [ 9.60477676e-01 -2.78223271e-01 -8.62816687e-03 -3.66812857e+02] [-9.01806339e-03 -1.21602376e-04 -9.99959329e-01 -4.84055728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters 0.04822938049899593 Centerline is valid? [True, True] Translation: X:377.71, Y:-366.80, Z:-4.84 [[ 2.07068946e-01 9.78324440e-01 -1.93433236e-03 3.77712718e+02] [ 9.78285147e-01 -2.07077966e-01 -8.76848395e-03 -3.66800483e+02] [-8.97897976e-03 -7.66478892e-05 -9.99959685e-01 -4.84093685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters 0.04845948361506487 Centerline is valid? [True, True] Translation: X:377.79, Y:-366.78, Z:-4.84 [[ 1.39069347e-01 9.90282059e-01 -1.07694749e-03 3.77791966e+02] [ 9.90252037e-01 -1.39073517e-01 -7.71110508e-03 -3.66783625e+02] [-7.78594389e-03 5.92890316e-06 -9.99969689e-01 -4.84077687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters 0.048702572986937 Centerline is valid? [True, True] Translation: X:377.87, Y:-366.76, Z:-4.84 [[ 6.71793989e-02 9.97740809e-01 -4.54585686e-04 3.77865447e+02] [ 9.97712532e-01 -6.71809175e-02 -7.51181763e-03 -3.66759471e+02] [-7.52538648e-03 5.10935575e-05 -9.99971683e-01 -4.84040652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters 0.048226359909043226 Centerline is valid? [True, True] Translation: X:377.94, Y:-366.73, Z:-4.84 [[-6.69243213e-03 9.99977597e-01 1.33854908e-04 3.77937506e+02] [ 9.99949597e-01 6.69324648e-03 -7.48355712e-03 -3.66731164e+02] [-7.48428538e-03 8.37649630e-05 -9.99971989e-01 -4.84143627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters 0.04876846547941526 Centerline is valid? [True, True] Translation: X:378.04, Y:-366.69, Z:-4.84 [[-8.30901682e-02 9.96541580e-01 9.50669512e-04 3.78036427e+02] [ 9.96492819e-01 8.30955077e-02 -9.85890173e-03 -3.66694561e+02] [-9.90380187e-03 1.28157539e-04 -9.99950948e-01 -4.83973929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters 0.04893062596916904 Centerline is valid? [True, True] Translation: X:378.13, Y:-366.65, Z:-4.84 [[-1.62943135e-01 9.86633550e-01 1.94218589e-03 3.78131479e+02] [ 9.86572000e-01 1.62954665e-01 -1.10211650e-02 -3.66651723e+02] [-1.11903394e-02 1.20283042e-04 -9.99937379e-01 -4.83760166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters 0.04965039478881852 Centerline is valid? [True, True] Translation: X:378.22, Y:-366.60, Z:-4.84 [[-2.43037983e-01 9.70012104e-01 3.00937661e-03 3.78218639e+02] [ 9.69942120e-01 2.43056599e-01 -1.16522219e-02 -3.66600742e+02] [-1.20342451e-02 8.69886255e-05 -9.99927582e-01 -4.83740221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters 0.0482970377338762 Centerline is valid? [True, True] Translation: X:378.30, Y:-366.54, Z:-4.84 [[-3.22825285e-01 9.46450086e-01 4.00876863e-03 3.78303101e+02] [ 9.46378218e-01 3.22850173e-01 -1.16633965e-02 -3.66542443e+02] [-1.23330542e-02 2.85720235e-05 -9.99923945e-01 -4.83778260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters 0.04833894041314409 Centerline is valid? [True, True] Translation: X:378.38, Y:-366.48, Z:-4.84 [[-3.99647005e-01 9.16657283e-01 4.65802190e-03 3.78375519e+02] [ 9.16594417e-01 3.99674149e-01 -1.07354246e-02 -3.66480563e+02] [-1.17023961e-02 -2.08634221e-05 -9.99931524e-01 -4.83793924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters 0.04830010609028906 Centerline is valid? [True, True] Translation: X:378.44, Y:-366.42, Z:-4.84 [[-4.73572334e-01 8.80740285e-01 5.07890031e-03 3.78438361e+02] [ 8.80688238e-01 4.73599564e-01 -9.57498637e-03 -3.66416913e+02] [-1.08384412e-02 -6.15208838e-05 -9.99941261e-01 -4.83750156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters 0.048280423808074825 Centerline is valid? [True, True] Translation: X:378.49, Y:-366.35, Z:-4.84 [[-5.44634421e-01 8.38658536e-01 5.02064515e-03 3.78491517e+02] [ 8.38621318e-01 5.44657554e-01 -7.90156312e-03 -3.66350141e+02] [-9.36124567e-03 -9.30432030e-05 -9.99956178e-01 -4.83961704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters 0.0478839670417507 Centerline is valid? [True, True] Translation: X:378.54, Y:-366.28, Z:-4.84 [[-6.10571307e-01 7.91945443e-01 5.00954253e-03 3.78539764e+02] [ 7.91917383e-01 6.10591848e-01 -6.66727400e-03 -3.66278575e+02] [-8.33890309e-03 -1.03702384e-04 -9.99965225e-01 -4.84097984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters 0.04789258814204267 Centerline is valid? [True, True] Translation: X:378.58, Y:-366.21, Z:-4.84 [[-6.72143864e-01 7.40404183e-01 4.92667306e-03 3.78579075e+02] [ 7.40383114e-01 6.72161911e-01 -5.58660390e-03 -3.66205936e+02] [-7.44786688e-03 -1.07375996e-04 -9.99972259e-01 -4.84270829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters 0.04807941768066436 Centerline is valid? [True, True] Translation: X:378.61, Y:-366.13, Z:-4.84 [[-7.28986271e-01 6.84516351e-01 4.04747250e-03 3.78613856e+02] [ 6.84505118e-01 7.28997502e-01 -3.92249778e-03 -3.66129066e+02] [-5.63561121e-03 -8.89313907e-05 -9.99984116e-01 -4.84418883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters 0.048312130445925576 Centerline is valid? [True, True] Translation: X:378.58, Y:-366.00, Z:-4.84 [[-7.75635653e-01 6.31171176e-01 3.50437293e-03 3.78584202e+02] [ 6.31164313e-01 7.75643566e-01 -2.94431986e-03 -3.66002218e+02] [-4.57651415e-03 -7.18843225e-05 -9.99989525e-01 -4.84441224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters 0.04787058364049497 Centerline is valid? [True, True] Translation: X:378.74, Y:-366.02, Z:-4.84 [[-8.18356480e-01 5.74695832e-01 4.16793114e-03 3.78735890e+02] [ 5.74687882e-01 8.18367090e-01 -3.02397107e-03 -3.66017863e+02] [-5.14876125e-03 -7.94268080e-05 -9.99986742e-01 -4.84303671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters 0.04827609808102089 Centerline is valid? [True, True] Translation: X:378.68, Y:-365.89, Z:-4.84 [[-8.53302059e-01 5.21394501e-01 4.83444212e-03 3.78680991e+02] [ 5.21385305e-01 8.53315744e-01 -3.09914442e-03 -3.65885058e+02] [-5.74118243e-03 -1.23899238e-04 -9.99983512e-01 -4.84372461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters 0.04766008155335732 Centerline is valid? [True, True] Translation: X:378.51, Y:-365.71, Z:-4.84 [[-8.85463598e-01 4.64682137e-01 4.97273177e-03 3.78509821e+02] [ 4.64674589e-01 8.85477561e-01 -2.64868520e-03 -3.65705595e+02] [-5.63403910e-03 -3.46122362e-05 -9.99984128e-01 -4.84473912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters 0.047702256962271004 Centerline is valid? [True, True] Translation: X:378.59, Y:-365.67, Z:-4.85 [[-9.14591481e-01 4.04360203e-01 3.90490558e-03 3.78593957e+02] [ 4.04356479e-01 9.14599818e-01 -1.73542136e-03 -3.65667494e+02] [-4.27316126e-03 -8.22771658e-06 -9.99990870e-01 -4.84509936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters 0.047785289707714125 Centerline is valid? [True, True] Translation: X:378.73, Y:-365.07, Z:-5.91 [[-8.84769664e-01 -4.66019941e-01 2.83830796e-03 3.78732356e+02] [ 4.66017338e-01 -8.84774215e-01 -1.55872864e-03 -3.65074807e+02] [ 3.23766033e-03 -5.64150976e-05 9.99994757e-01 -5.90519785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters 0.04768447140387222 Centerline is valid? [True, True] Translation: X:378.59, Y:-365.08, Z:-5.90 [[-8.52696197e-01 -5.22399482e-01 2.82428715e-03 3.78591278e+02] [ 5.22396577e-01 -8.52700874e-01 -1.74225478e-03 -3.65081626e+02] [ 3.31842512e-03 -1.02160875e-05 9.99994494e-01 -5.90323024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters 0.0474737943301143 Centerline is valid? [True, True] Translation: X:378.23, Y:-365.58, Z:-4.85 [[-8.85002665e-01 4.65574975e-01 3.19777484e-03 3.78225882e+02] [ 4.65571973e-01 8.85008442e-01 -1.67180503e-03 -3.65581969e+02] [-3.60840832e-03 9.24243512e-06 -9.99993490e-01 -4.84658622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters 0.04844614367575819 Centerline is valid? [True, True] Translation: X:378.21, Y:-365.49, Z:-4.85 [[-9.17148350e-01 3.98529561e-01 3.61853589e-03 3.78205494e+02] [ 3.98526444e-01 9.17155488e-01 -1.57612598e-03 -3.65489684e+02] [-3.94689284e-03 -3.45910326e-06 -9.99992211e-01 -4.84614695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters 0.04790150165922905 Centerline is valid? [True, True] Translation: X:378.72, Y:-365.60, Z:-4.85 [[-9.46760370e-01 3.21914998e-01 3.94156894e-03 3.78716918e+02] [ 3.21912072e-01 9.46768574e-01 -1.37290689e-03 -3.65596758e+02] [-4.17371293e-03 -3.09752148e-05 -9.99991290e-01 -4.84632318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters 0.04793523131017831 Centerline is valid? [True, True] Translation: X:378.37, Y:-364.83, Z:-5.90 [[-9.15314286e-01 -4.02719236e-01 4.12006020e-03 3.78368169e+02] [ 4.02715415e-01 -9.15323557e-01 -1.75521895e-03 -3.64832915e+02] [ 4.47804860e-03 5.26347731e-05 9.99989972e-01 -5.90359150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters 0.04716096679799254 Centerline is valid? [True, True] Translation: X:378.24, Y:-365.42, Z:-4.85 [[-9.49973539e-01 3.12310718e-01 3.50570818e-03 3.78236895e+02] [ 3.12308397e-01 9.49980007e-01 -1.20498015e-03 -3.65417343e+02] [-3.70668090e-03 -4.98371540e-05 -9.99993129e-01 -4.84815865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters 0.04751049897990286 Centerline is valid? [True, True] Translation: X:378.24, Y:-364.80, Z:-5.90 [[-9.16023593e-01 -4.01116597e-01 2.50071013e-03 3.78242870e+02] [ 4.01115029e-01 -9.16027006e-01 -1.12171434e-03 -3.64795382e+02] [ 2.74065625e-03 -2.44443790e-05 9.99996244e-01 -5.90105275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters 0.04796229580132002 Centerline is valid? [True, True] Translation: X:377.96, Y:-365.32, Z:-4.85 [[-9.49806308e-01 3.12835625e-01 1.35958631e-03 3.77959834e+02] [ 3.12835287e-01 9.49807281e-01 -4.60134525e-04 -3.65318085e+02] [-1.43529144e-03 -1.17121018e-05 -9.99998970e-01 -4.85003965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters 0.04797970391629927 Centerline is valid? [True, True] Translation: X:378.11, Y:-364.75, Z:-5.90 [[-9.19927337e-01 -3.92087560e-01 1.02012262e-03 3.78110757e+02] [ 3.92087305e-01 -9.19927902e-01 -4.47348824e-04 -3.64752507e+02] [ 1.11383917e-03 -1.15512834e-05 9.99999380e-01 -5.90136697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters 0.047575001277522976 Centerline is valid? [True, True] Translation: X:377.82, Y:-365.28, Z:-4.85 [[-9.48119893e-01 3.17912908e-01 -2.25076267e-04 3.77823369e+02] [ 3.17912899e-01 9.48119920e-01 7.80727058e-05 -3.65276808e+02] [ 2.38219613e-04 2.46763707e-06 -9.99999972e-01 -4.84964960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters 0.048221543981400924 Centerline is valid? [True, True] Translation: X:377.75, Y:-365.18, Z:-4.85 [[-9.67071984e-01 2.54497570e-01 -1.66288382e-03 3.77750316e+02] [ 2.54497201e-01 9.67073413e-01 4.33624248e-04 -3.65178694e+02] [ 1.71848705e-03 -3.85341531e-06 -9.99998523e-01 -4.85042634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters 0.04850778704294578 Centerline is valid? [True, True] Translation: X:377.91, Y:-364.61, Z:-5.90 [[-9.50687277e-01 -3.10144318e-01 -2.05035078e-03 3.77911789e+02] [ 3.10143647e-01 -9.50689487e-01 6.45853773e-04 -3.64611163e+02] [-2.14955481e-03 -2.18983048e-05 9.99997690e-01 -5.90039482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters 0.04813846613635181 Centerline is valid? [True, True] Translation: X:377.82, Y:-365.20, Z:-4.85 [[-9.67763418e-01 2.51854742e-01 -1.77632444e-03 3.77818591e+02] [ 2.51854330e-01 9.67765048e-01 4.55490191e-04 -3.65199707e+02] [ 1.83378207e-03 -6.56825779e-06 -9.99998319e-01 -4.85071327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters 0.04787139444357718 Centerline is valid? [True, True] Translation: X:377.98, Y:-364.65, Z:-5.90 [[-9.49712193e-01 -3.13121556e-01 -1.28153763e-03 3.77980474e+02] [ 3.13121216e-01 -9.49713057e-01 4.62823863e-04 -3.64652294e+02] [-1.36201315e-03 3.82728451e-05 9.99999072e-01 -5.90209839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters 0.047679577894786704 Centerline is valid? [True, True] Translation: X:378.04, Y:-365.25, Z:-4.85 [[-9.72197875e-01 2.34160457e-01 -4.14273236e-04 3.78044570e+02] [ 2.34160434e-01 9.72197964e-01 1.05066122e-04 -3.65251866e+02] [ 4.27357927e-04 5.13866044e-06 -9.99999909e-01 -4.84775499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters 0.04758765845008583 Centerline is valid? [True, True] Translation: X:377.98, Y:-365.14, Z:-4.85 [[-9.87153163e-01 1.59776704e-01 -1.95320084e-04 3.77981600e+02] [ 1.59776700e-01 9.87153182e-01 3.61782841e-05 -3.65143492e+02] [ 1.98591290e-04 4.50590908e-06 -9.99999980e-01 -4.84737045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters 0.04857000854314681 Centerline is valid? [True, True] Translation: X:377.23, Y:-364.95, Z:-4.85 [[-9.96056738e-01 8.87160224e-02 -6.65523048e-04 3.77227312e+02] [ 8.87159957e-02 9.96056960e-01 6.96946505e-05 -3.64953000e+02] [ 6.69081896e-04 1.03772864e-05 -9.99999776e-01 -4.84832575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters 0.04864741813918613 Centerline is valid? [True, True] Translation: X:377.30, Y:-364.42, Z:-5.90 [[-9.83674163e-01 -1.79958716e-01 -2.83896165e-05 3.77304410e+02] [ 1.79958714e-01 -9.83674163e-01 4.54452405e-05 -3.64420032e+02] [-3.61043993e-05 3.95943500e-05 9.99999999e-01 -5.90352154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters 0.04812737021068876 Centerline is valid? [True, True] Translation: X:377.08, Y:-364.93, Z:-4.85 [[-9.96381736e-01 8.49819665e-02 1.22572275e-03 3.77077594e+02] [ 8.49818861e-02 9.96382489e-01 -1.17602305e-04 -3.64934586e+02] [-1.23128276e-03 -1.30125574e-05 -9.99999242e-01 -4.84607035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters 0.04846903089197676 Centerline is valid? [True, True] Translation: X:377.25, Y:-364.87, Z:-4.85 [[-9.99895985e-01 1.42120058e-02 2.45720275e-03 3.77246971e+02] [ 1.42119118e-02 9.99899004e-01 -5.57079441e-05 -3.64868917e+02] [-2.45774631e-03 -2.07806009e-05 -9.99996980e-01 -4.84507428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters 0.0482054920141531 Centerline is valid? [True, True] Translation: X:377.11, Y:-364.79, Z:-4.85 [[-9.98599807e-01 -5.28197341e-02 2.91580822e-03 3.77106041e+02] [-5.28195481e-02 9.98604063e-01 1.40813886e-04 -3.64792075e+02] [-2.91917568e-03 -1.33949535e-05 -9.99995739e-01 -4.84560318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters 0.04966601563301895 Centerline is valid? [True, True] Translation: X:377.16, Y:-364.71, Z:-4.84 [[-9.92749950e-01 -1.20151902e-01 3.32525898e-03 3.77164226e+02] [-1.20151217e-01 9.92755519e-01 4.05855256e-04 -3.64705564e+02] [-3.34993348e-03 3.37887264e-06 -9.99994389e-01 -4.84495152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters 0.048724233317338855 Centerline is valid? [True, True] Translation: X:376.64, Y:-364.21, Z:-5.91 [[-9.97932910e-01 6.41972108e-02 2.93705087e-03 3.76644409e+02] [-6.41970048e-02 -9.97937231e-01 1.64447753e-04 -3.64208602e+02] [ 2.94154950e-03 -2.44420446e-05 9.99995673e-01 -5.90635671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters 0.04909870296146333 Centerline is valid? [True, True] Translation: X:376.70, Y:-364.76, Z:-4.84 [[-9.93886116e-01 -1.10341149e-01 3.90129883e-03 3.76701887e+02] [-1.10340039e-01 9.93893770e-01 4.99148507e-04 -3.64763568e+02] [-3.93255322e-03 6.56273048e-05 -9.99992265e-01 -4.84314560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters 0.048836231287702855 Centerline is valid? [True, True] Translation: X:376.50, Y:-364.23, Z:-5.91 [[-9.96905514e-01 7.84592421e-02 4.85210890e-03 3.76504442e+02] [-7.84584217e-02 -9.96917322e-01 3.59485213e-04 -3.64227421e+02] [ 4.86535635e-03 -2.23160144e-05 9.99988164e-01 -5.90708798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters 0.04894768434585884 Centerline is valid? [True, True] Translation: X:376.25, Y:-364.82, Z:-4.84 [[-9.93756729e-01 -1.11454100e-01 5.05448631e-03 3.76246845e+02] [-1.11452163e-01 9.93769578e-01 6.64182589e-04 -3.64815287e+02] [-5.09702060e-03 9.67024847e-05 -9.99987005e-01 -4.84287970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters 0.04967974858480284 Centerline is valid? [True, True] Translation: X:376.33, Y:-364.72, Z:-4.84 [[-9.82496741e-01 -1.86219485e-01 4.73882047e-03 3.76326331e+02] [-1.86216909e-01 9.82508166e-01 9.83139003e-04 -3.64716427e+02] [-4.83900944e-03 8.34823681e-05 -9.99988288e-01 -4.84305347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters 0.049281823286295504 Centerline is valid? [True, True] Translation: X:375.88, Y:-364.24, Z:-5.91 [[-9.88348740e-01 1.52153426e-01 4.01279302e-03 3.75879263e+02] [-1.52152671e-01 -9.88356879e-01 4.94690104e-04 -3.64239333e+02] [ 4.04134038e-03 -1.21630835e-04 9.99991826e-01 -5.90848086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters 0.0485581160896231 Centerline is valid? [True, True] Translation: X:375.93, Y:-364.80, Z:-4.84 [[-9.81077104e-01 -1.93597713e-01 2.76422249e-03 3.75933476e+02] [-1.93596823e-01 9.81080998e-01 5.88720885e-04 -3.64795934e+02] [-2.82590118e-03 4.24358894e-05 -9.99996006e-01 -4.84295273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters 0.04938636547200387 Centerline is valid? [True, True] Translation: X:375.91, Y:-364.71, Z:-4.84 [[-9.63839303e-01 -2.66475253e-01 2.17674652e-03 3.75912785e+02] [-2.66474506e-01 9.63841760e-01 6.31310754e-04 -3.64707744e+02] [-2.26626789e-03 2.84346625e-05 -9.99997432e-01 -4.84332278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters 0.04836529953893137 Centerline is valid? [True, True] Translation: X:375.54, Y:-364.25, Z:-5.91 [[-9.75578003e-01 2.19652733e-01 4.86666201e-04 3.75540777e+02] [-2.19652771e-01 -9.75578116e-01 -2.57697281e-05 -3.64246424e+02] [ 4.69120505e-04 -1.32037959e-04 9.99999881e-01 -5.90843133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters 0.04825681471477305 Centerline is valid? [True, True] Translation: X:375.38, Y:-364.85, Z:-4.84 [[-9.59459436e-01 -2.81841453e-01 -1.72789787e-03 3.75379052e+02] [-2.81841003e-01 9.59460992e-01 -5.03691249e-04 -3.64849978e+02] [ 1.79981168e-03 3.72114752e-06 -9.99998380e-01 -4.84358325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters 0.0478978081406283 Centerline is valid? [True, True] Translation: X:375.50, Y:-364.72, Z:-4.84 [[-9.34067089e-01 -3.57090279e-01 -2.28163604e-03 3.75500080e+02] [-3.57089254e-01 9.34069876e-01 -8.55542534e-04 -3.64719319e+02] [ 2.43671342e-03 1.56135892e-05 -9.99997031e-01 -4.84409957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters 0.04854024439300114 Centerline is valid? [True, True] Translation: X:374.76, Y:-364.94, Z:-4.84 [[-9.05013530e-01 -4.25377315e-01 -2.15628332e-03 3.74755301e+02] [-4.25376169e-01 9.05016099e-01 -9.87779687e-04 -3.64938573e+02] [ 2.37165019e-03 2.32775548e-05 -9.99997187e-01 -4.84462493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters 0.04830545943945871 Centerline is valid? [True, True] Translation: X:374.92, Y:-364.77, Z:-4.84 [[-8.69469797e-01 -4.93983651e-01 -1.55688007e-03 3.74915404e+02] [-4.93982903e-01 8.69471191e-01 -8.59963721e-04 -3.64772049e+02] [ 1.77847039e-03 2.13596572e-05 -9.99998418e-01 -4.84303788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters 0.04762369818746067 Centerline is valid? [True, True] Translation: X:374.74, Y:-364.78, Z:-4.84 [[-8.32714944e-01 -5.53701348e-01 -8.00235868e-04 3.74735645e+02] [-5.53701105e-01 8.32715328e-01 -5.18397995e-04 -3.64784297e+02] [ 9.53406342e-04 1.14137277e-05 -9.99999545e-01 -4.84255368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters 0.047651983498887114 Centerline is valid? [True, True] Translation: X:374.56, Y:-364.81, Z:-4.84 [[-7.92363069e-01 -6.10049771e-01 -2.08034931e-04 3.74563405e+02] [-6.10049752e-01 7.92363096e-01 -1.54624970e-04 -3.64809064e+02] [ 2.59168130e-04 4.39254239e-06 -9.99999966e-01 -4.84272996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters 0.048623524719283856 Centerline is valid? [True, True] Translation: X:374.59, Y:-364.68, Z:-4.84 [[-7.46664542e-01 -6.65200506e-01 5.90751533e-04 3.74592745e+02] [-6.65200298e-01 7.46664776e-01 5.25824620e-04 -3.64679574e+02] [-7.90872164e-04 -3.53496921e-07 -9.99999687e-01 -4.84196509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters 0.047714872026200277 Centerline is valid? [True, True] Translation: X:374.23, Y:-364.91, Z:-4.84 [[-6.98426530e-01 -7.15681590e-01 4.93951995e-04 3.74231025e+02] [-7.15681410e-01 6.98426705e-01 5.07143797e-04 -3.64913456e+02] [-7.07942744e-04 6.90422244e-07 -9.99999749e-01 -4.84169822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters 0.04811459034550086 Centerline is valid? [True, True] Translation: X:374.06, Y:-364.99, Z:-4.84 [[-6.45389691e-01 -7.63853485e-01 3.65882114e-05 3.74055837e+02] [-7.63853483e-01 6.45389692e-01 4.70816881e-05 -3.64992910e+02] [-5.95771660e-05 2.43800337e-06 -9.99999998e-01 -4.84211529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters 0.0485043311355678 Centerline is valid? [True, True] Translation: X:374.08, Y:-364.83, Z:-4.84 [[-5.86356580e-01 -8.10052898e-01 -5.13228957e-04 3.74077576e+02] [-8.10052593e-01 5.86356805e-01 -7.02300684e-04 -3.64834659e+02] [ 8.69835995e-04 3.94381996e-06 -9.99999622e-01 -4.84227259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters 0.04770430436076605 Centerline is valid? [True, True] Translation: X:373.67, Y:-365.28, Z:-4.84 [[-5.31004448e-01 -8.47368467e-01 -9.78409376e-04 3.73669766e+02] [-8.47367235e-01 5.31005345e-01 -1.44626308e-03 -3.65284963e+02] [ 1.74505834e-03 6.10999220e-05 -9.99998476e-01 -4.84218046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters 0.04759839044947168 Centerline is valid? [True, True] Translation: X:373.73, Y:-365.02, Z:-4.84 [[-4.65229275e-01 -8.85189942e-01 -6.98562551e-04 3.73729850e+02] [-8.85188956e-01 4.65229800e-01 -1.32139268e-03 -3.65021448e+02] [ 1.49467563e-03 3.60929563e-06 -9.99998883e-01 -4.84086012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters 0.04702730541953659 Centerline is valid? [True, True] Translation: X:373.56, Y:-365.18, Z:-4.84 [[-3.97853263e-01 -9.17449061e-01 -2.54346724e-05 3.73560714e+02] [-9.17449060e-01 3.97853264e-01 -5.26063984e-05 -3.65175783e+02] [ 5.83829582e-05 2.40538903e-06 -9.99999998e-01 -4.83819906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters 0.04688941048699653 Centerline is valid? [True, True] Translation: X:373.25, Y:-365.75, Z:-4.84 [[-3.29068795e-01 -9.44305914e-01 2.63367564e-04 3.73246503e+02] [-9.44305616e-01 3.29068900e-01 7.50196471e-04 -3.65750335e+02] [-7.95081039e-04 -1.83322162e-06 -9.99999684e-01 -4.83638956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters 0.04757230726243997 Centerline is valid? [True, True] Translation: X:373.20, Y:-365.61, Z:-4.83 [[-2.53397789e-01 -9.67361988e-01 5.87701299e-04 3.73201733e+02] [-9.67359545e-01 2.53398470e-01 2.17417888e-03 -3.65609770e+02] [-2.25214061e-03 -1.75863408e-05 -9.99997464e-01 -4.83448208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters 0.04754968177570573 Centerline is valid? [True, True] Translation: X:373.13, Y:-365.51, Z:-4.83 [[-1.73883668e-01 -9.84766040e-01 5.62238284e-04 3.73131753e+02] [-9.84761669e-01 1.73884571e-01 2.93459924e-03 -3.65507299e+02] [-2.98765823e-03 -4.33918322e-05 -9.99995536e-01 -4.83458381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters 0.04754788378784476 Centerline is valid? [True, True] Translation: X:373.02, Y:-365.64, Z:-4.83 [[-9.85372184e-02 -9.95133312e-01 3.27169092e-04 3.73017955e+02] [-9.95129317e-01 9.85377501e-02 2.82034876e-03 -3.65643847e+02] [-2.83886151e-03 -4.76662324e-05 -9.99995969e-01 -4.83420019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters 0.04675002692485532 Centerline is valid? [True, True] Translation: X:372.88, Y:-366.25, Z:-4.83 [[-2.76290056e-02 -9.99618244e-01 7.09333969e-05 3.72881735e+02] [-9.99616928e-01 2.76290843e-02 1.62215878e-03 -3.66250582e+02] [-1.62349933e-03 -2.60875904e-05 -9.99998682e-01 -4.83306003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters 0.04665576076412218 Centerline is valid? [True, True] Translation: X:372.81, Y:-366.48, Z:-4.83 [[ 4.08081350e-02 -9.99167001e-01 1.86031465e-05 3.72809524e+02] [-9.99166737e-01 -4.08081377e-02 -7.26869835e-04 -3.66482520e+02] [ 7.27023513e-04 1.10745572e-05 -9.99999736e-01 -4.83352650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters 0.04643242704865982 Centerline is valid? [True, True] Translation: X:372.75, Y:-366.72, Z:-4.83 [[ 1.10773189e-01 -9.93845707e-01 1.09291719e-04 3.72750895e+02] [-9.93845114e-01 -1.10773243e-01 -1.08515920e-03 -3.66724395e+02] [ 1.09058741e-03 1.15875046e-05 -9.99999405e-01 -4.83325216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters 0.04692169254344113 Centerline is valid? [True, True] Translation: X:372.72, Y:-366.98, Z:-4.83 [[ 1.81111510e-01 -9.83462517e-01 3.14258679e-04 3.72715144e+02] [-9.83460910e-01 -1.81111783e-01 -1.77788825e-03 -3.66981245e+02] [ 1.80540241e-03 1.29349006e-05 -9.99998370e-01 -4.83229221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters 0.04639928254224917 Centerline is valid? [True, True] Translation: X:372.67, Y:-367.13, Z:-4.83 [[ 2.52808135e-01 -9.67516249e-01 5.94983947e-04 3.72673106e+02] [-9.67513431e-01 -2.52808835e-01 -2.33522680e-03 -3.67130664e+02] [ 2.40978708e-03 1.47093725e-05 -9.99997096e-01 -4.83311030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters 0.046444797871013584 Centerline is valid? [True, True] Translation: X:372.66, Y:-367.34, Z:-4.83 [[ 3.23643459e-01 -9.46178950e-01 5.53820990e-04 3.72655096e+02] [-9.46177502e-01 -3.23643933e-01 -1.65503628e-03 -3.67337201e+02] [ 1.74520129e-03 1.16287053e-05 -9.99998477e-01 -4.83290107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters 0.04685527880193312 Centerline is valid? [True, True] Translation: X:372.67, Y:-367.59, Z:-4.83 [[ 3.91581268e-01 -9.20143461e-01 3.48891833e-04 3.72670220e+02] [-9.20143082e-01 -3.91581423e-01 -8.35663310e-04 -3.67587005e+02] [ 9.05549691e-04 6.19969137e-06 -9.99999590e-01 -4.83101960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters 0.047348870838785584 Centerline is valid? [True, True] Translation: X:372.68, Y:-367.79, Z:-4.83 [[ 4.57153724e-01 -8.89387683e-01 1.50179478e-04 3.72680707e+02] [-8.89387632e-01 -4.57153749e-01 -2.99213814e-04 -3.67790302e+02] [ 3.34772192e-04 3.21893904e-06 -9.99999944e-01 -4.82995894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters 0.046455390986394916 Centerline is valid? [True, True] Translation: X:372.59, Y:-367.78, Z:-4.83 [[ 5.20338704e-01 -8.53959722e-01 6.52735378e-04 3.72586758e+02] [-8.53959041e-01 -5.20339113e-01 -1.07844593e-03 -3.67780122e+02] [ 1.26059313e-03 3.74787709e-06 -9.99999205e-01 -4.83037792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters 0.04666833737416368 Centerline is valid? [True, True] Translation: X:372.80, Y:-368.25, Z:-4.83 [[ 5.80187178e-01 -8.14481624e-01 1.58849424e-03 3.72803100e+02] [-8.14478557e-01 -5.80189353e-01 -2.23498390e-03 -3.68250119e+02] [ 2.74198076e-03 2.91451104e-06 -9.99996241e-01 -4.83019038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters 0.046774804676118116 Centerline is valid? [True, True] Translation: X:372.50, Y:-367.99, Z:-4.83 [[ 6.38734531e-01 -7.69425030e-01 1.82276097e-03 3.72503516e+02] [-7.69421889e-01 -6.38737132e-01 -2.19867627e-03 -3.67994910e+02] [ 2.85598167e-03 1.89826834e-06 -9.99995922e-01 -4.82944582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters 0.046479551829449996 Centerline is valid? [True, True] Translation: X:372.79, Y:-368.45, Z:-4.83 [[ 6.93353295e-01 -7.20593636e-01 2.45358987e-03 3.72793436e+02] [-7.20589098e-01 -6.93357637e-01 -2.55711218e-03 -3.68449943e+02] [ 3.54385404e-03 4.95204519e-06 -9.99993721e-01 -4.82887025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters 0.046529858475729734 Centerline is valid? [True, True] Translation: X:372.64, Y:-368.41, Z:-4.83 [[ 7.44295642e-01 -6.67848947e-01 1.33455370e-03 3.72635782e+02] [-6.67847865e-01 -7.44296839e-01 -1.20193281e-03 -3.68414070e+02] [ 1.79601366e-03 3.31450906e-06 -9.99998387e-01 -4.82796148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters 0.04691508491063123 Centerline is valid? [True, True] Translation: X:372.62, Y:-368.49, Z:-4.83 [[ 7.93472965e-01 -6.08605446e-01 2.55877315e-04 3.72621686e+02] [-6.08605413e-01 -7.93473006e-01 -1.98927548e-04 -3.68491005e+02] [ 3.24100131e-04 2.11531255e-06 -9.99999948e-01 -4.82674672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters 0.047132239792630364 Centerline is valid? [True, True] Translation: X:372.61, Y:-368.58, Z:-4.82 [[ 8.37442114e-01 -5.46526024e-01 -1.04834846e-04 3.72608347e+02] [-5.46526020e-01 -8.37442121e-01 6.52623801e-05 -3.68576106e+02] [-1.23460705e-04 2.64150554e-06 -9.99999992e-01 -4.82483457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters 0.04651192661984209 Centerline is valid? [True, True] Translation: X:372.60, Y:-368.66, Z:-4.83 [[ 8.76610348e-01 -4.81200563e-01 5.62625606e-04 3.72602040e+02] [-4.81200465e-01 -8.76610528e-01 -3.07960416e-04 -3.68660591e+02] [ 6.41394255e-04 -7.74415672e-07 -9.99999794e-01 -4.82509257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters 0.04694380668744832 Centerline is valid? [True, True] Translation: X:372.60, Y:-368.74, Z:-4.83 [[ 9.10154433e-01 -4.14266740e-01 1.40596502e-03 3.72604185e+02] [-4.14266263e-01 -9.10155519e-01 -6.28700214e-04 -3.68740888e+02] [ 1.54009641e-03 -1.02295901e-05 -9.99998814e-01 -4.82573064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters 0.046820955073246934 Centerline is valid? [True, True] Translation: X:372.61, Y:-368.82, Z:-4.83 [[ 9.38515700e-01 -3.45223318e-01 3.02336717e-03 3.72613206e+02] [-3.45221648e-01 -9.38520570e-01 -1.07448354e-03 -3.68820746e+02] [ 3.20842905e-03 -3.53121260e-05 -9.99994852e-01 -4.82558232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters 0.046912702805638806 Centerline is valid? [True, True] Translation: X:372.62, Y:-368.91, Z:-4.83 [[ 9.62808818e-01 -2.70161910e-01 3.42369058e-03 3.72623330e+02] [-2.70160338e-01 -9.62814905e-01 -9.22373869e-04 -3.68914068e+02] [ 3.54557061e-03 -3.68757094e-05 -9.99993714e-01 -4.82546714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters 0.04744280673020009 Centerline is valid? [True, True] Translation: X:372.64, Y:-369.00, Z:-4.82 [[ 9.81817371e-01 -1.89810940e-01 2.54117935e-03 3.72642654e+02] [-1.89810344e-01 -9.81820659e-01 -4.75979388e-04 -3.69002765e+02] [ 2.58532848e-03 -1.50172960e-05 -9.99996658e-01 -4.82404337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters 0.04711250286236069 Centerline is valid? [True, True] Translation: X:372.67, Y:-369.08, Z:-4.82 [[ 9.93903497e-01 -1.10252214e-01 5.37163024e-04 3.72668210e+02] [-1.10252198e-01 -9.93903642e-01 -5.94432858e-05 -3.69083157e+02] [ 5.40442040e-04 -1.42514658e-07 -9.99999854e-01 -4.82219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters 0.04790178450716524 Centerline is valid? [True, True] Translation: X:372.70, Y:-369.18, Z:-4.82 [[ 9.99437969e-01 -3.35158552e-02 -6.58904749e-04 3.72700540e+02] [-3.35158519e-02 -9.99438186e-01 1.60649023e-05 -3.69180583e+02] [-6.59072996e-04 6.02788065e-06 -9.99999783e-01 -4.82132842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters 0.046872985433491554 Centerline is valid? [True, True] Translation: X:372.73, Y:-369.26, Z:-4.82 [[ 9.99222941e-01 3.94069038e-02 -7.81544031e-04 3.72734367e+02] [ 3.94068832e-02 -9.99223246e-01 -4.17677381e-05 -3.69260207e+02] [-7.82582901e-04 1.09370678e-05 -9.99999694e-01 -4.81990490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters 0.047399602714329477 Centerline is valid? [True, True] Translation: X:372.77, Y:-369.33, Z:-4.82 [[ 9.93400773e-01 1.14692871e-01 -6.70774818e-04 3.72772738e+02] [ 1.14692837e-01 -9.93400999e-01 -8.91680506e-05 -3.69334822e+02] [-6.76575314e-04 1.16465436e-05 -9.99999771e-01 -4.82036944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters 0.04727694182509828 Centerline is valid? [True, True] Translation: X:372.82, Y:-369.42, Z:-4.82 [[ 9.81545711e-01 1.91227397e-01 3.16321642e-04 3.72820575e+02] [ 1.91227386e-01 -9.81545762e-01 6.41989018e-05 -3.69419152e+02] [ 3.22760756e-04 -2.52479592e-06 -9.99999948e-01 -4.82049534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters 0.04829513884232553 Centerline is valid? [True, True] Translation: X:372.87, Y:-369.49, Z:-4.82 [[ 9.63903687e-01 2.66250551e-01 5.71019684e-04 3.72872252e+02] [ 2.66250500e-01 -9.63903856e-01 1.65275606e-04 -3.69493796e+02] [ 5.94412797e-04 -7.27548912e-06 -9.99999823e-01 -4.81971888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters 0.047245290111780434 Centerline is valid? [True, True] Translation: X:372.93, Y:-369.56, Z:-4.82 [[ 9.39255256e-01 3.43219393e-01 1.09888544e-04 3.72930212e+02] [ 3.43219391e-01 -9.39255263e-01 3.94629622e-05 -3.69563221e+02] [ 1.16757847e-04 6.50084298e-07 -9.99999993e-01 -4.81900549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters 0.04734018622235803 Centerline is valid? [True, True] Translation: X:373.00, Y:-369.64, Z:-4.82 [[ 9.07170527e-01 4.20763147e-01 -9.48967047e-05 3.72997118e+02] [ 4.20763144e-01 -9.07170532e-01 -4.73749220e-05 -3.69635686e+02] [-1.06021115e-04 3.04809714e-06 -9.99999994e-01 -4.81816794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters 0.04722736252641731 Centerline is valid? [True, True] Translation: X:373.07, Y:-369.70, Z:-4.82 [[ 8.66968256e-01 4.98362908e-01 -6.74343032e-04 3.73068544e+02] [ 4.98362756e-01 -8.66968518e-01 -3.89044596e-04 -3.69702431e+02] [-7.78519576e-04 1.22186258e-06 -9.99999697e-01 -4.81695528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters 0.0467497280791217 Centerline is valid? [True, True] Translation: X:373.14, Y:-369.76, Z:-4.82 [[ 8.23217693e-01 5.67723426e-01 -1.65582236e-03 3.73140719e+02] [ 5.67722297e-01 -8.23219358e-01 -1.13246216e-03 -3.69755900e+02] [-2.00603032e-03 -7.78438868e-06 -9.99997988e-01 -4.81625853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters 0.046813435574277876 Centerline is valid? [True, True] Translation: X:373.21, Y:-369.80, Z:-4.82 [[ 7.75926194e-01 6.30818400e-01 -2.58609890e-03 3.73211328e+02] [ 6.30814965e-01 -7.75930504e-01 -2.08158555e-03 -3.69795463e+02] [-3.31973549e-03 -1.61931334e-05 -9.99994490e-01 -4.81765611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters 0.04655623197731553 Centerline is valid? [True, True] Translation: X:373.30, Y:-369.85, Z:-4.82 [[ 7.27580477e-01 6.86016820e-01 -2.75173460e-03 3.73299376e+02] [ 6.86011914e-01 -7.27585681e-01 -2.59429269e-03 -3.69845166e+02] [-3.78185112e-03 -1.66007237e-07 -9.99992849e-01 -4.81759881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters 0.04727035376982833 Centerline is valid? [True, True] Translation: X:373.39, Y:-369.89, Z:-4.82 [[ 6.75765578e-01 7.37112937e-01 -2.32427146e-03 3.73389118e+02] [ 7.37108479e-01 -6.75769575e-01 -2.56365883e-03 -3.69886380e+02] [-3.46037802e-03 1.91921872e-05 -9.99994013e-01 -4.81755140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters 0.04710439250011 Centerline is valid? [True, True] Translation: X:373.47, Y:-369.91, Z:-4.82 [[ 6.19929338e-01 7.84657387e-01 -6.33609537e-04 3.73470700e+02] [ 7.84656957e-01 -6.19929661e-01 -8.21996464e-04 -3.69912891e+02] [-1.03777894e-03 1.24135930e-05 -9.99999461e-01 -4.81894922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters 0.04662761927649649 Centerline is valid? [True, True] Translation: X:373.56, Y:-369.94, Z:-4.82 [[ 5.59399378e-01 8.28897976e-01 6.94115494e-04 3.73559052e+02] [ 8.28897306e-01 -5.59399808e-01 1.05438618e-03 -3.69936283e+02] [ 1.26226664e-03 -1.44725077e-05 -9.99999203e-01 -4.82155429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters 0.04685684990864159 Centerline is valid? [True, True] Translation: X:373.67, Y:-369.96, Z:-4.82 [[ 4.92020502e-01 8.70582473e-01 1.40820934e-03 3.73669978e+02] [ 8.70578710e-01 -4.92022516e-01 2.55989427e-03 -3.69964352e+02] [ 2.92146979e-03 -3.35633861e-05 -9.99995732e-01 -4.82241381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters 0.046926521562071236 Centerline is valid? [True, True] Translation: X:373.77, Y:-369.98, Z:-4.82 [[ 4.17672848e-01 9.08595417e-01 1.93933857e-03 3.73773706e+02] [ 9.08585277e-01 -4.17677349e-01 4.29263403e-03 -3.69978859e+02] [ 4.71028540e-03 -3.08622063e-05 -9.99988906e-01 -4.82280737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters 0.046725102886890614 Centerline is valid? [True, True] Translation: X:373.86, Y:-369.98, Z:-4.82 [[ 3.41353059e-01 9.39934295e-01 1.26906364e-03 3.73859891e+02] [ 9.39927708e-01 -3.41355418e-01 3.51893032e-03 -3.69977853e+02] [ 3.74076503e-03 -8.36954802e-06 -9.99993003e-01 -4.82157311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters 0.046249117562695584 Centerline is valid? [True, True] Translation: X:373.94, Y:-369.97, Z:-4.82 [[ 2.64851344e-01 9.64289052e-01 6.24936426e-04 3.73938839e+02] [ 9.64286369e-01 -2.64852082e-01 2.27459395e-03 -3.69969018e+02] [ 2.35888176e-03 1.88410433e-07 -9.99997218e-01 -4.81968499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters 0.04659250901889475 Centerline is valid? [True, True] Translation: X:374.04, Y:-369.96, Z:-4.82 [[ 1.90734595e-01 9.81641480e-01 5.64397920e-04 3.74040586e+02] [ 9.81637075e-01 -1.90735430e-01 2.94090541e-03 -3.69958746e+02] [ 2.99456542e-03 -6.89847930e-06 -9.99995516e-01 -4.81916584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters 0.0467099535565948 Centerline is valid? [True, True] Translation: X:374.14, Y:-369.94, Z:-4.82 [[ 1.15580075e-01 9.93298103e-01 3.53255019e-04 3.74144382e+02] [ 9.93293070e-01 -1.15580613e-01 3.16196830e-03 -3.69942386e+02] [ 3.18160655e-03 -1.45747693e-05 -9.99994939e-01 -4.82091132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters 0.04620925015979436 Centerline is valid? [True, True] Translation: X:374.22, Y:-369.92, Z:-4.82 [[ 3.85122165e-02 9.99258125e-01 8.95006829e-05 3.74223177e+02] [ 9.99254464e-01 -3.85123177e-02 2.70524609e-03 -3.69915829e+02] [ 2.70668602e-03 -1.47510665e-05 -9.99996337e-01 -4.82049548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters 0.04681042049970712 Centerline is valid? [True, True] Translation: X:374.30, Y:-369.88, Z:-4.82 [[-4.02342212e-02 9.99190269e-01 -1.16363093e-04 3.74301440e+02] [ 9.99186960e-01 4.02343874e-02 2.57155261e-03 -3.69883471e+02] [ 2.57415214e-03 -1.28040686e-05 -9.99996687e-01 -4.82026124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters 0.046226323920927105 Centerline is valid? [True, True] Translation: X:374.40, Y:-369.84, Z:-4.82 [[-1.19071663e-01 9.92885572e-01 -4.24035158e-04 3.74396281e+02] [ 9.92879721e-01 1.19072417e-01 3.40882714e-03 -3.69844640e+02] [ 3.43506617e-03 -1.51211924e-05 -9.99994100e-01 -4.82172568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters 0.04757349723795364 Centerline is valid? [True, True] Translation: X:374.48, Y:-369.80, Z:-4.82 [[-1.94425599e-01 9.80916840e-01 -9.16532357e-04 3.74483608e+02] [ 9.80906655e-01 1.94427757e-01 4.46999912e-03 -3.69798810e+02] [ 4.56289675e-03 -2.99504304e-05 -9.99989590e-01 -4.82087853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters 0.04718662319210362 Centerline is valid? [True, True] Translation: X:374.57, Y:-369.74, Z:-4.82 [[-2.66877284e-01 9.63729437e-01 -1.44463841e-03 3.74572813e+02] [ 9.63716404e-01 2.66881189e-01 5.01228462e-03 -3.69744943e+02] [ 5.21603305e-03 -5.45568228e-05 -9.99986395e-01 -4.82136297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters 0.04629663690477163 Centerline is valid? [True, True] Translation: X:374.66, Y:-369.68, Z:-4.82 [[-3.40293629e-01 9.40317913e-01 -1.57128192e-03 3.74659866e+02] [ 9.40308585e-01 3.40297252e-01 4.18878060e-03 -3.69682584e+02] [ 4.47348836e-03 -5.20745308e-05 -9.99989993e-01 -4.82114107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters 0.04660994853060294 Centerline is valid? [True, True] Translation: X:374.74, Y:-369.62, Z:-4.82 [[-4.14648766e-01 9.09981425e-01 -4.55293090e-04 3.74735927e+02] [ 9.09980899e-01 4.14649016e-01 9.77964016e-04 -3.69616013e+02] [ 1.07871592e-03 -8.79644249e-06 -9.99999418e-01 -4.81811420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters 0.04623307505333446 Centerline is valid? [True, True] Translation: X:374.81, Y:-369.54, Z:-4.82 [[-4.87466103e-01 8.73141721e-01 5.77120730e-04 3.74805953e+02] [ 8.73141133e-01 4.87466445e-01 -1.01327779e-03 -3.69543916e+02] [-1.16606210e-03 9.96927411e-06 -9.99999320e-01 -4.81613356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters 0.04607403761551791 Centerline is valid? [True, True] Translation: X:374.88, Y:-369.46, Z:-4.82 [[-5.57425548e-01 8.30226700e-01 6.20983473e-04 3.74876304e+02] [ 8.30226195e-01 5.57425894e-01 -9.15273805e-04 -3.69462542e+02] [-1.10603702e-03 5.35974362e-06 -9.99999388e-01 -4.81602676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters 0.0459065673246317 Centerline is valid? [True, True] Translation: X:374.92, Y:-369.39, Z:-4.82 [[-6.20570764e-01 7.84150167e-01 -6.65133105e-04 3.74917400e+02] [ 7.84149718e-01 6.20571121e-01 8.38453931e-04 -3.69392416e+02] [ 1.07023619e-03 -1.24394035e-06 -9.99999427e-01 -4.81722820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters 0.046198027862169935 Centerline is valid? [True, True] Translation: X:374.95, Y:-369.32, Z:-4.82 [[-6.78448029e-01 7.34646358e-01 -1.73243534e-03 3.74949518e+02] [ 7.34644005e-01 6.78450241e-01 1.85932049e-03 -3.69324261e+02] [ 2.54131420e-03 -1.12709162e-05 -9.99996771e-01 -4.81805122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters 0.04614843620597785 Centerline is valid? [True, True] Translation: X:374.99, Y:-369.24, Z:-4.82 [[-7.32585565e-01 6.80663432e-01 -3.96022168e-03 3.74992379e+02] [ 6.80653752e-01 7.32596268e-01 3.63024451e-03 -3.69236817e+02] [ 5.37221831e-03 -3.60750192e-05 -9.99985569e-01 -4.81924826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters 0.0458419571481165 Centerline is valid? [True, True] Translation: X:375.28, Y:-368.76, Z:-5.93 [[-6.96615515e-01 -7.17427022e-01 -5.02921782e-03 3.75277750e+02] [ 7.17408955e-01 -6.96633666e-01 5.09171390e-03 -3.68762637e+02] [-7.15645559e-03 -6.10390033e-05 9.99974390e-01 -5.92969938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters 0.0460932160137128 Centerline is valid? [True, True] Translation: X:375.24, Y:-368.72, Z:-5.93 [[-6.96726568e-01 -7.17319720e-01 -4.95066204e-03 3.75240148e+02] [ 7.17300964e-01 -6.96744154e-01 5.18758397e-03 -3.68720327e+02] [-7.17050111e-03 6.32129212e-05 9.99974290e-01 -5.92996714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters 0.04703023776346536 Centerline is valid? [True, True] Translation: X:375.20, Y:-368.68, Z:-5.93 [[-6.96776616e-01 -7.17271808e-01 -4.84785641e-03 3.75201651e+02] [ 7.17253833e-01 -6.96793478e-01 5.07830441e-03 -3.68679549e+02] [-7.02047931e-03 6.13001731e-05 9.99975354e-01 -5.93025120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters 0.04620846753086629 Centerline is valid? [True, True] Translation: X:375.16, Y:-368.64, Z:-5.93 [[-6.96001212e-01 -7.18027658e-01 -4.31226130e-03 3.75161568e+02] [ 7.18013455e-01 -6.96014569e-01 4.51638305e-03 -3.68639174e+02] [-6.24428463e-03 4.71464393e-05 9.99980503e-01 -5.93102269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters 0.04642814205122773 Centerline is valid? [True, True] Translation: X:375.12, Y:-368.60, Z:-5.93 [[-6.95036667e-01 -7.18965015e-01 -3.65229161e-03 3.75121227e+02] [ 7.18954844e-01 -6.95046262e-01 3.82434155e-03 -3.68599978e+02] [-5.28807941e-03 3.22248591e-05 9.99986018e-01 -5.93144110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters 0.04652542662347948 Centerline is valid? [True, True] Translation: X:375.08, Y:-368.56, Z:-5.93 [[-6.93313741e-01 -7.20631980e-01 -2.36770690e-03 3.75078016e+02] [ 7.20627718e-01 -6.93317783e-01 2.47855431e-03 -3.68562176e+02] [-3.42769880e-03 1.21805351e-05 9.99994125e-01 -5.93412903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters 0.046135149153092386 Centerline is valid? [True, True] Translation: X:375.04, Y:-368.52, Z:-5.93 [[-6.93169522e-01 -7.20772485e-01 -1.74354804e-03 3.75038784e+02] [ 7.20770175e-01 -6.93171714e-01 1.82462473e-03 -3.68522332e+02] [-2.52371748e-03 8.07682800e-06 9.99996815e-01 -5.93379000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters 0.045636205729703054 Centerline is valid? [True, True] Translation: X:375.00, Y:-368.48, Z:-5.93 [[-6.93531845e-01 -7.20424433e-01 -1.48898254e-03 3.75000170e+02] [ 7.20422749e-01 -6.93533443e-01 1.55772701e-03 -3.68482769e+02] [-2.15488378e-03 7.63639574e-06 9.99997678e-01 -5.93376655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters 0.04670723765440542 Centerline is valid? [True, True] Translation: X:374.96, Y:-368.44, Z:-5.93 [[-6.94840169e-01 -7.19161838e-01 -1.84118624e-03 3.74959789e+02] [ 7.19159260e-01 -6.94842609e-01 1.92562381e-03 -3.68441663e+02] [-2.66416981e-03 1.38946453e-05 9.99996451e-01 -5.93449104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters 0.045817100328370365 Centerline is valid? [True, True] Translation: X:374.92, Y:-368.40, Z:-5.93 [[-6.95839447e-01 -7.18194384e-01 -2.07134792e-03 3.74924740e+02] [ 7.18191120e-01 -6.95842530e-01 2.16562353e-03 -3.68397931e+02] [-2.99667063e-03 1.93025993e-05 9.99995510e-01 -5.93298824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters 0.04585057512020316 Centerline is valid? [True, True] Translation: X:374.89, Y:-368.36, Z:-5.93 [[-6.96430162e-01 -7.17623153e-01 -1.42803780e-03 3.74887056e+02] [ 7.17621601e-01 -6.96431626e-01 1.49249099e-03 -3.68356843e+02] [-2.06557678e-03 1.46249696e-05 9.99997867e-01 -5.93423293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters 0.0465280762101046 Centerline is valid? [True, True] Translation: X:374.85, Y:-368.32, Z:-5.94 [[-6.95502623e-01 -7.18523302e-01 -6.04624594e-04 3.74846395e+02] [ 7.18523024e-01 -6.95502886e-01 6.31696654e-04 -3.68317689e+02] [-8.74406916e-04 4.90998843e-06 9.99999618e-01 -5.93581088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters 0.04580697143140984 Centerline is valid? [True, True] Translation: X:374.81, Y:-368.28, Z:-5.94 [[-6.94125786e-01 -7.19853460e-01 -6.23625427e-04 3.74805359e+02] [ 7.19853166e-01 -6.94126066e-01 6.51352050e-04 -3.68278923e+02] [-9.01752691e-04 3.20151594e-06 9.99999593e-01 -5.93561759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters 0.04598917497865882 Centerline is valid? [True, True] Translation: X:374.76, Y:-368.24, Z:-5.94 [[-6.93770029e-01 -7.20195248e-01 -1.39714119e-03 3.74762130e+02] [ 7.20193770e-01 -6.93771435e-01 1.45904676e-03 -3.68239605e+02] [-2.02009520e-03 6.03053217e-06 9.99997960e-01 -5.93558941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters 0.04662673858456508 Centerline is valid? [True, True] Translation: X:374.72, Y:-368.20, Z:-5.93 [[-6.94421398e-01 -7.19563140e-01 -2.79460531e-03 3.74722893e+02] [ 7.19557226e-01 -6.94427021e-01 2.91745807e-03 -3.68200249e+02] [-4.03994473e-03 1.50668658e-05 9.99991839e-01 -5.93306329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters 0.045841714246216685 Centerline is valid? [True, True] Translation: X:374.68, Y:-368.16, Z:-5.93 [[-6.96077699e-01 -7.17954804e-01 -4.09109669e-03 3.74684811e+02] [ 7.17942110e-01 -6.96089720e-01 4.26946992e-03 -3.68160144e+02] [-5.91305679e-03 3.47122049e-05 9.99982517e-01 -5.93270017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters 0.04548027062235091 Centerline is valid? [True, True] Translation: X:374.65, Y:-368.12, Z:-5.93 [[-6.96790082e-01 -7.17262627e-01 -4.23155589e-03 3.74646983e+02] [ 7.17249042e-01 -6.96802929e-01 4.41472619e-03 -3.68117844e+02] [-6.11507865e-03 4.10580206e-05 9.99981302e-01 -5.93324984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters 0.04534406013362416 Centerline is valid? [True, True] Translation: X:374.61, Y:-368.08, Z:-5.94 [[-6.95574239e-01 -7.18446899e-01 -3.24512788e-03 3.74607023e+02] [ 7.18438928e-01 -6.95581808e-01 3.38447063e-03 -3.68080040e+02] [-4.68881435e-03 2.27243884e-05 9.99989007e-01 -5.93646199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters 0.04573187933648997 Centerline is valid? [True, True] Translation: X:374.57, Y:-368.04, Z:-5.94 [[-6.94494743e-01 -7.19492495e-01 -2.75715814e-03 3.74568309e+02] [ 7.19486753e-01 -6.94500216e-01 2.87458259e-03 -3.68040137e+02] [-3.98308752e-03 1.26437437e-05 9.99992067e-01 -5.93653451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters 0.04536212015018375 Centerline is valid? [True, True] Translation: X:374.53, Y:-368.00, Z:-5.94 [[-6.94074997e-01 -7.19897668e-01 -2.69187443e-03 3.74530170e+02] [ 7.19892202e-01 -6.94080217e-01 2.80549700e-03 -3.67999969e+02] [-3.88804754e-03 9.36591010e-06 9.99992442e-01 -5.93807667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters 0.046226803728684984 Centerline is valid? [True, True] Translation: X:374.49, Y:-367.96, Z:-5.94 [[-6.93510213e-01 -7.20439680e-01 -3.20204124e-03 3.74491221e+02] [ 7.20431953e-01 -6.93517605e-01 3.33655192e-03 -3.67957839e+02] [-4.62445637e-03 7.08000501e-06 9.99989307e-01 -5.93676001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters 0.04589146266671471 Centerline is valid? [True, True] Translation: X:374.45, Y:-367.92, Z:-5.94 [[-6.93366099e-01 -7.20573000e-01 -4.24327646e-03 3.74449403e+02] [ 7.20559442e-01 -6.93379083e-01 4.42027633e-03 -3.67918148e+02] [-6.12733091e-03 7.33683862e-06 9.99981228e-01 -5.93802197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters 0.04579502514109686 Centerline is valid? [True, True] Translation: X:374.41, Y:-367.88, Z:-5.94 [[-6.93513842e-01 -7.20430015e-01 -4.37548793e-03 3.74407487e+02] [ 7.20415602e-01 -6.93527644e-01 4.55710542e-03 -3.67879102e+02] [-6.31759736e-03 8.24591757e-06 9.99980044e-01 -5.93757013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters 0.04518613333997269 Centerline is valid? [True, True] Translation: X:374.37, Y:-367.84, Z:-5.94 [[-6.94498664e-01 -7.19480821e-01 -4.35370013e-03 3.74369524e+02] [ 7.19466541e-01 -6.94512310e-01 4.53298030e-03 -3.67838597e+02] [-6.28509072e-03 1.58071883e-05 9.99980249e-01 -5.93724628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters 0.045583059272111044 Centerline is valid? [True, True] Translation: X:374.33, Y:-367.80, Z:-5.94 [[-6.95828327e-01 -7.18192569e-01 -4.72996911e-03 3.74330942e+02] [ 7.18175694e-01 -6.95844403e-01 4.92332527e-03 -3.67796724e+02] [-6.82721815e-03 2.88403374e-05 9.99976694e-01 -5.93911630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters 0.044585604034856834 Centerline is valid? [True, True] Translation: X:374.29, Y:-367.75, Z:-5.94 [[-6.96305741e-01 -7.17731009e-01 -4.52920826e-03 3.74291118e+02] [ 7.17715533e-01 -6.96320471e-01 4.71325417e-03 -3.67754408e+02] [-6.53662910e-03 3.11828176e-05 9.99978636e-01 -5.94029451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters 0.044736400361008725 Centerline is valid? [True, True] Translation: X:374.25, Y:-367.71, Z:-5.94 [[-6.94876159e-01 -7.19121688e-01 -3.33485214e-03 3.74250165e+02] [ 7.19113319e-01 -6.94884161e-01 3.46949962e-03 -3.67714119e+02] [-4.81232835e-03 1.27359813e-05 9.99988421e-01 -5.94161859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters 0.04499009098645367 Centerline is valid? [True, True] Translation: X:374.21, Y:-367.67, Z:-5.95 [[-6.91154144e-01 -7.22707153e-01 -5.66083916e-04 3.74208267e+02] [ 7.22706913e-01 -6.91154376e-01 5.88794747e-04 -3.67673801e+02] [-8.16777551e-04 -2.16483023e-06 9.99999666e-01 -5.94507069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters 0.04548633324055469 Centerline is valid? [True, True] Translation: X:374.17, Y:-367.63, Z:-5.95 [[-6.89344985e-01 -7.24433220e-01 -3.76305250e-05 3.74166088e+02] [ 7.24433219e-01 -6.89344986e-01 3.91245003e-05 -3.67634089e+02] [-5.42835015e-05 -2.90524263e-07 9.99999999e-01 -5.94620918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters 0.04571159705547879 Centerline is valid? [True, True] Translation: X:374.12, Y:-367.60, Z:-5.95 [[-6.88189955e-01 -7.25530280e-01 6.31701886e-04 3.74124030e+02] [ 7.25529983e-01 -6.88190245e-01 -6.56706116e-04 -3.67595224e+02] [ 9.11191247e-04 6.38010604e-06 9.99999585e-01 -5.94652456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters 0.045513016804175736 Centerline is valid? [True, True] Translation: X:374.08, Y:-367.55, Z:-5.95 [[-6.88676678e-01 -7.25068384e-01 5.21496354e-04 3.74084803e+02] [ 7.25068181e-01 -6.88676876e-01 -5.42001323e-04 -3.67554585e+02] [ 7.52130504e-04 4.85674226e-06 9.99999717e-01 -5.94565059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters 0.04599990380164032 Centerline is valid? [True, True] Translation: X:374.05, Y:-367.52, Z:-5.95 [[-6.90266923e-01 -7.23554725e-01 -3.67659914e-04 3.74045525e+02] [ 7.23554624e-01 -6.90267020e-01 3.82008770e-04 -3.67515474e+02] [-5.30187765e-04 -2.33401297e-06 9.99999860e-01 -5.94502133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters 0.04522656747925489 Centerline is valid? [True, True] Translation: X:374.01, Y:-367.47, Z:-5.95 [[-6.92633677e-01 -7.21289268e-01 -6.17145342e-04 3.74008265e+02] [ 7.21288983e-01 -6.92633952e-01 6.41043180e-04 -3.67473393e+02] [-8.89833383e-04 -1.13204184e-06 9.99999604e-01 -5.94524480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters 0.04527314007118251 Centerline is valid? [True, True] Translation: X:373.97, Y:-367.43, Z:-5.95 [[-6.96489885e-01 -7.17566531e-01 -3.37221106e-04 3.73970005e+02] [ 7.17566446e-01 -6.96489967e-01 3.50174732e-04 -3.67430788e+02] [-4.86144785e-04 1.91460811e-06 9.99999882e-01 -5.94610494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters 0.044815674550514745 Centerline is valid? [True, True] Translation: X:373.93, Y:-367.39, Z:-5.95 [[-6.97455133e-01 -7.16628421e-01 2.08211835e-04 3.73932316e+02] [ 7.16628389e-01 -6.97455164e-01 -2.16159633e-04 -3.67389440e+02] [ 3.00124556e-04 -1.55113359e-06 9.99999955e-01 -5.94648611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters 0.0460019876196717 Centerline is valid? [True, True] Translation: X:373.89, Y:-367.35, Z:-5.95 [[-6.98844925e-01 -7.15272106e-01 1.25936572e-03 3.73889189e+02] [ 7.15270912e-01 -6.98846059e-01 -1.30706430e-03 -3.67349914e+02] [ 1.81500940e-03 -1.26475850e-05 9.99998353e-01 -5.94765072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters 0.045531401764758485 Centerline is valid? [True, True] Translation: X:373.85, Y:-367.31, Z:-5.95 [[-7.00505536e-01 -7.13641065e-01 2.90259284e-03 3.73849111e+02] [ 7.13634711e-01 -7.00511548e-01 -3.01180953e-03 -3.67308078e+02] [ 4.18265077e-03 -3.83982487e-05 9.99991252e-01 -5.94972943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters 0.045390037235694444 Centerline is valid? [True, True] Translation: X:373.81, Y:-367.27, Z:-5.95 [[-7.05174994e-01 -7.09020128e-01 4.32271149e-03 3.73808072e+02] [ 7.09005953e-01 -7.05188237e-01 -4.48434404e-03 -3.67265921e+02] [ 6.22781547e-03 -9.74190990e-05 9.99980602e-01 -5.95174106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters 0.04648263582665299 Centerline is valid? [True, True] Translation: X:373.77, Y:-367.22, Z:-5.95 [[-7.07870072e-01 -7.06318546e-01 5.83720984e-03 3.73770112e+02] [ 7.06292616e-01 -7.07894120e-01 -6.05431290e-03 -3.67223404e+02] [ 8.40840001e-03 -1.62888701e-04 9.99964636e-01 -5.95298901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters 0.04678661988288297 Centerline is valid? [True, True] Translation: X:373.73, Y:-367.18, Z:-5.95 [[-7.06947422e-01 -7.07235410e-01 6.58914612e-03 3.73730674e+02] [ 7.07202427e-01 -7.06978108e-01 -6.83237112e-03 -3.67182651e+02] [ 9.49047685e-03 -1.70267022e-04 9.99954950e-01 -5.95494696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters 0.04676621303134471 Centerline is valid? [True, True] Translation: X:373.69, Y:-367.15, Z:-5.96 [[-7.04349693e-01 -7.09817848e-01 7.08042036e-03 3.73687706e+02] [ 7.09779914e-01 -7.04385265e-01 -7.33975043e-03 -3.67145131e+02] [ 1.01972296e-02 -1.44210811e-04 9.99947997e-01 -5.95574099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters 0.046299789840320356 Centerline is valid? [True, True] Translation: X:373.64, Y:-367.11, Z:-5.96 [[-7.01245391e-01 -7.12882649e-01 7.29591197e-03 3.73643385e+02] [ 7.12842548e-01 -7.01283337e-01 -7.56194975e-03 -3.67107008e+02] [ 1.05072843e-02 -1.01945931e-04 9.99944792e-01 -5.95631859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters 0.045935171485878244 Centerline is valid? [True, True] Translation: X:373.60, Y:-367.06, Z:-5.96 [[-7.00347149e-01 -7.13775257e-01 6.22526360e-03 3.73604536e+02] [ 7.13746111e-01 -7.00374812e-01 -6.45078636e-03 -3.67063958e+02] [ 8.96442951e-03 -7.45321522e-05 9.99959816e-01 -5.95530305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters 0.045827187917624704 Centerline is valid? [True, True] Translation: X:373.57, Y:-367.02, Z:-5.96 [[-6.97903794e-01 -7.16165621e-01 6.09078267e-03 3.73568996e+02] [ 7.16137824e-01 -6.97930370e-01 -6.30998336e-03 -3.67018865e+02] [ 8.76993535e-03 -4.19214773e-05 9.99961543e-01 -5.95803659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters 0.04585643074396119 Centerline is valid? [True, True] Translation: X:373.53, Y:-366.98, Z:-5.95 [[-6.95603611e-01 -7.18404609e-01 5.51662094e-03 3.73526711e+02] [ 7.18381888e-01 -6.95625486e-01 -5.71372953e-03 -3.66980031e+02] [ 7.94227176e-03 -1.14503315e-05 9.99968460e-01 -5.95460945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters 0.04521304400822836 Centerline is valid? [True, True] Translation: X:373.49, Y:-366.94, Z:-5.96 [[-6.92339842e-01 -7.21555740e-01 4.78087006e-03 3.73486685e+02] [ 7.21538760e-01 -6.92356349e-01 -4.95018963e-03 -3.66941623e+02] [ 6.88190348e-03 2.23695481e-05 9.99976319e-01 -5.95637357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters 0.04523495736544053 Centerline is valid? [True, True] Translation: X:373.45, Y:-366.90, Z:-5.96 [[-6.92167379e-01 -7.21724013e-01 4.33227678e-03 3.73449182e+02] [ 7.21710082e-01 -6.92180937e-01 -4.48420971e-03 -3.66899979e+02] [ 6.23508123e-03 2.28241475e-05 9.99980561e-01 -5.95550328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters 0.04524105517170626 Centerline is valid? [True, True] Translation: X:373.41, Y:-366.86, Z:-5.96 [[-6.93554838e-01 -7.20389066e-01 4.61314900e-03 3.73412314e+02] [ 7.20373251e-01 -6.93570179e-01 -4.77334513e-03 -3.66858347e+02] [ 6.63820822e-03 1.26125447e-05 9.99977967e-01 -5.95657094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters 0.044936937544441856 Centerline is valid? [True, True] Translation: X:373.37, Y:-366.82, Z:-5.96 [[-6.92913100e-01 -7.20998161e-01 5.75216027e-03 3.73371128e+02] [ 7.20973609e-01 -6.92936975e-01 -5.95010456e-03 -3.66820115e+02] [ 8.27589899e-03 2.42503551e-05 9.99965754e-01 -5.95765283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters 0.04538320120135374 Centerline is valid? [True, True] Translation: X:373.33, Y:-366.78, Z:-5.96 [[-6.91419505e-01 -7.22428529e-01 6.00741481e-03 3.73325295e+02] [ 7.22401813e-01 -6.91445601e-01 -6.21298275e-03 -3.66782721e+02] [ 8.64223653e-03 4.39898949e-05 9.99962654e-01 -5.95877746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters 0.045970891797704964 Centerline is valid? [True, True] Translation: X:373.28, Y:-366.74, Z:-5.96 [[-6.92504581e-01 -7.21390178e-01 5.79796596e-03 3.73284678e+02] [ 7.21365271e-01 -6.92528851e-01 -5.99464673e-03 -3.66742446e+02] [ 8.33973798e-03 3.11309693e-05 9.99965223e-01 -5.95785677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters 0.04590395912904912 Centerline is valid? [True, True] Translation: X:373.25, Y:-366.70, Z:-5.96 [[-6.96417731e-01 -7.17600866e-01 7.16526987e-03 3.73248862e+02] [ 7.17562649e-01 -6.96454591e-01 -7.40595292e-03 -3.66698489e+02] [ 1.03048033e-02 -1.61069045e-05 9.99946904e-01 -5.96079192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters 0.04565912147477576 Centerline is valid? [True, True] Translation: X:373.21, Y:-366.65, Z:-5.96 [[-6.99033047e-01 -7.15049784e-01 7.52362315e-03 3.73211538e+02] [ 7.15007518e-01 -6.99073532e-01 -7.77468405e-03 -3.66653553e+02] [ 1.08188520e-02 -5.53139665e-05 9.99941473e-01 -5.95955296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters 0.04553595351959767 Centerline is valid? [True, True] Translation: X:373.17, Y:-366.61, Z:-5.96 [[-7.00226710e-01 -7.13871741e-01 8.34820403e-03 3.73170501e+02] [ 7.13819641e-01 -7.00276468e-01 -8.62487373e-03 -3.66612728e+02] [ 1.20031045e-02 -8.02549573e-05 9.99927957e-01 -5.95735041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters 0.0463030270094741 Centerline is valid? [True, True] Translation: X:373.13, Y:-366.58, Z:-5.96 [[-6.98219927e-01 -7.15834328e-01 8.37546064e-03 3.73126040e+02] [ 7.15782052e-01 -6.98270158e-01 -8.65109852e-03 -3.66575571e+02] [ 1.20410875e-02 -4.53649764e-05 9.99927503e-01 -5.95840179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters 0.046128279763326736 Centerline is valid? [True, True] Translation: X:373.08, Y:-366.53, Z:-5.96 [[-6.95965890e-01 -7.18033714e-01 7.68533532e-03 3.73083350e+02] [ 7.17989851e-01 -6.96008323e-01 -7.93655627e-03 -3.66534961e+02] [ 1.10477723e-02 -5.57969389e-06 9.99938972e-01 -5.95594475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters 0.04567870996408928 Centerline is valid? [True, True] Translation: X:373.04, Y:-366.49, Z:-5.96 [[-6.96259086e-01 -7.17758386e-01 6.79585174e-03 3.73044611e+02] [ 7.17724093e-01 -6.96292251e-01 -7.01626092e-03 -3.66492637e+02] [ 9.76787902e-03 -7.58889066e-06 9.99952293e-01 -5.95717313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters 0.046052893420770714 Centerline is valid? [True, True] Translation: X:373.01, Y:-366.45, Z:-5.96 [[-6.98920105e-01 -7.15166858e-01 6.85945857e-03 3.73006008e+02] [ 7.15131807e-01 -6.98953764e-01 -7.08061065e-03 -3.66448079e+02] [ 9.85826246e-03 -4.33641413e-05 9.99951405e-01 -5.95572621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters 0.04605930317370959 Centerline is valid? [True, True] Translation: X:372.97, Y:-366.41, Z:-5.95 [[-7.01248979e-01 -7.12873536e-01 7.82245113e-03 3.72967596e+02] [ 7.12827832e-01 -7.01292602e-01 -8.07269879e-03 -3.66405173e+02] [ 1.12406404e-02 -8.49109026e-05 9.99936818e-01 -5.95388175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters 0.046185058565744654 Centerline is valid? [True, True] Translation: X:372.93, Y:-366.36, Z:-5.95 [[-7.00131850e-01 -7.13974495e-01 7.47091053e-03 3.72927420e+02] [ 7.13932889e-01 -7.00171706e-01 -7.70799276e-03 -3.66363908e+02] [ 1.07342304e-02 -6.28824917e-05 9.99942385e-01 -5.95178033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters 0.04650045836269487 Centerline is valid? [True, True] Translation: X:372.89, Y:-366.32, Z:-5.95 [[-6.94930829e-01 -7.19054377e-01 5.65207396e-03 3.72886875e+02] [ 7.19030741e-01 -6.94953814e-01 -5.83007833e-03 -3.66322036e+02] [ 8.12007369e-03 1.25137666e-05 9.99967032e-01 -5.95079251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters 0.046552519569400354 Centerline is valid? [True, True] Translation: X:372.84, Y:-366.29, Z:-5.95 [[-6.88568327e-01 -7.25158581e-01 4.32342471e-03 3.72840213e+02] [ 7.25144879e-01 -6.88581897e-01 -4.45819995e-03 -3.66288711e+02] [ 6.20993394e-03 6.53340072e-05 9.99980716e-01 -5.95162531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters 0.04698857589981126 Centerline is valid? [True, True] Translation: X:372.80, Y:-366.25, Z:-5.95 [[-6.86644367e-01 -7.26987224e-01 3.01501078e-03 3.72798164e+02] [ 7.26980580e-01 -6.86650984e-01 -3.10841903e-03 -3.66246992e+02] [ 4.33004104e-03 5.74758664e-05 9.99990624e-01 -5.94877326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters 0.046137506804916295 Centerline is valid? [True, True] Translation: X:372.76, Y:-366.20, Z:-5.94 [[-6.88129596e-01 -7.25586576e-01 1.33376248e-03 3.72762866e+02] [ 7.25585274e-01 -6.88130889e-01 -1.37501006e-03 -3.66199127e+02] [ 1.91549201e-03 2.15732978e-05 9.99998165e-01 -5.94389965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters 0.04571703315496905 Centerline is valid? [True, True] Translation: X:372.73, Y:-366.16, Z:-5.94 [[-6.92033120e-01 -7.21865610e-01 4.49932556e-04 3.72725932e+02] [ 7.21865461e-01 -6.92033266e-01 -4.63721886e-04 -3.66155756e+02] [ 6.46113178e-04 3.87986897e-06 9.99999791e-01 -5.94244214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters 0.045478529514013086 Centerline is valid? [True, True] Translation: X:372.69, Y:-366.11, Z:-5.94 [[-6.96748315e-01 -7.17315628e-01 -2.75743582e-04 3.72688374e+02] [ 7.17315571e-01 -6.96748370e-01 2.84086833e-04 -3.66114342e+02] [-3.95903816e-04 1.41857474e-07 9.99999922e-01 -5.94053841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters 0.04584641950187749 Centerline is valid? [True, True] Translation: X:372.65, Y:-366.07, Z:-5.94 [[-6.98983439e-01 -7.15137586e-01 -6.20650183e-04 3.72649623e+02] [ 7.15137300e-01 -6.98983714e-01 6.39234976e-04 -3.66073122e+02] [-8.90965328e-04 2.96456533e-06 9.99999603e-01 -5.93997015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters 0.046840961836801344 Centerline is valid? [True, True] Translation: X:372.61, Y:-366.03, Z:-5.94 [[-7.01621434e-01 -7.12547836e-01 -1.71622032e-03 3.72611776e+02] [ 7.12545645e-01 -7.01623532e-01 1.76705787e-03 -3.66031728e+02] [-2.46325383e-03 1.69203595e-05 9.99996966e-01 -5.93683345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters 0.046076540687819564 Centerline is valid? [True, True] Translation: X:372.57, Y:-365.99, Z:-5.94 [[-7.00358785e-01 -7.13788337e-01 -1.94465385e-03 3.72567197e+02] [ 7.13785530e-01 -7.00361485e-01 2.00188463e-03 -3.65992867e+02] [-2.79088255e-03 1.39717069e-05 9.99996105e-01 -5.93674648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters 0.046218816277814 Centerline is valid? [True, True] Translation: X:372.52, Y:-365.96, Z:-5.94 [[-6.98224410e-01 -7.15877867e-01 -1.24601557e-03 3.72521722e+02] [ 7.15876719e-01 -6.98225522e-01 1.28236983e-03 -3.65956104e+02] [-1.78802005e-03 3.38838615e-06 9.99998402e-01 -5.94019343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters 0.04605510162949105 Centerline is valid? [True, True] Translation: X:372.48, Y:-365.92, Z:-5.94 [[-6.95829235e-01 -7.18207264e-01 -4.44294159e-05 3.72480131e+02] [ 7.18207263e-01 -6.95829236e-01 4.57055025e-05 -3.65917513e+02] [-6.37413103e-05 -1.06304339e-07 9.99999998e-01 -5.94166919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters 0.04682263885107777 Centerline is valid? [True, True] Translation: X:372.44, Y:-365.88, Z:-5.94 [[-6.95414005e-01 -7.18606064e-01 2.16473252e-03 3.72438647e+02] [ 7.18602614e-01 -6.95417374e-01 -2.22682055e-03 -3.65877103e+02] [ 3.10559936e-03 7.02024947e-06 9.99995178e-01 -5.94297463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters 0.0464705891273738 Centerline is valid? [True, True] Translation: X:372.40, Y:-365.83, Z:-5.94 [[-6.97204190e-01 -7.16866454e-01 2.96707660e-03 3.72399422e+02] [ 7.16859960e-01 -6.97210504e-01 -3.05149386e-03 -3.65834218e+02] [ 4.25619056e-03 -5.35898197e-07 9.99990942e-01 -5.94243500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters 0.04663884070514376 Centerline is valid? [True, True] Translation: X:372.36, Y:-365.79, Z:-5.94 [[-7.00715724e-01 -7.13434902e-01 2.84869777e-03 3.72359550e+02] [ 7.13428888e-01 -7.00721514e-01 -2.92940431e-03 -3.65791016e+02] [ 4.08608310e-03 -2.03363800e-05 9.99991652e-01 -5.94215266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters 0.046647567123583346 Centerline is valid? [True, True] Translation: X:372.32, Y:-365.75, Z:-5.94 [[-7.02092244e-01 -7.12080968e-01 2.67885945e-03 3.72319830e+02] [ 7.12075642e-01 -7.02097354e-01 -2.75406601e-03 -3.65749418e+02] [ 3.84193812e-03 -2.60578229e-05 9.99992619e-01 -5.94322884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters 0.046293989417300396 Centerline is valid? [True, True] Translation: X:372.28, Y:-365.71, Z:-5.94 [[-7.01828698e-01 -7.12343148e-01 1.92802285e-03 3.72281848e+02] [ 7.12340392e-01 -7.01831346e-01 -1.98159294e-03 -3.65707281e+02] [ 2.76472103e-03 -1.73302442e-05 9.99996178e-01 -5.94377666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters 0.04645780067639528 Centerline is valid? [True, True] Translation: X:372.24, Y:-365.67, Z:-5.94 [[-7.00901235e-01 -7.13255545e-01 1.99682183e-03 3.72240084e+02] [ 7.13252594e-01 -7.00904079e-01 -2.05180109e-03 -3.65668351e+02] [ 2.86303907e-03 -1.38715683e-05 9.99995901e-01 -5.94304573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters 0.04617189819183058 Centerline is valid? [True, True] Translation: X:372.20, Y:-365.63, Z:-5.94 [[-6.97989763e-01 -7.16100040e-01 3.32002403e-03 3.72197658e+02] [ 7.16091919e-01 -6.97997659e-01 -3.41054585e-03 -3.65629866e+02] [ 4.75966102e-03 -3.08371922e-06 9.99988673e-01 -5.94424975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters 0.0457126192255797 Centerline is valid? [True, True] Translation: X:372.15, Y:-365.59, Z:-5.95 [[-6.95323794e-01 -7.18688122e-01 3.49354001e-03 3.72154872e+02] [ 7.18679166e-01 -6.95332570e-01 -3.58786100e-03 -3.65591098e+02] [ 5.00772524e-03 1.60092984e-05 9.99987461e-01 -5.94574195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters 0.046455470012565 Centerline is valid? [True, True] Translation: X:372.11, Y:-365.55, Z:-5.95 [[-6.93711366e-01 -7.20244437e-01 3.53429896e-03 3.72112029e+02] [ 7.20235295e-01 -6.93720369e-01 -3.62903392e-03 -3.65551163e+02] [ 5.06560667e-03 2.80247736e-05 9.99987169e-01 -5.94623222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters 0.04665699188490451 Centerline is valid? [True, True] Translation: X:372.07, Y:-365.51, Z:-5.94 [[-6.96218191e-01 -7.17821081e-01 3.62303206e-03 3.72074569e+02] [ 7.17811445e-01 -6.96227618e-01 -3.71945315e-03 -3.65505885e+02] [ 5.19235686e-03 1.11029314e-05 9.99986520e-01 -5.94453235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters 0.04672611087112308 Centerline is valid? [True, True] Translation: X:372.04, Y:-365.46, Z:-5.94 [[-7.02130453e-01 -7.12039179e-01 3.61041216e-03 3.72037689e+02] [ 7.12029537e-01 -7.02139735e-01 -3.70558211e-03 -3.65461181e+02] [ 5.17353347e-03 -3.10819486e-05 9.99986617e-01 -5.94350834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters 0.0467732811086589 Centerline is valid? [True, True] Translation: X:372.00, Y:-365.42, Z:-5.94 [[-7.05783561e-01 -7.08421129e-01 3.01137512e-03 3.72001084e+02] [ 7.08414393e-01 -7.05789984e-01 -3.08978853e-03 -3.65418125e+02] [ 4.31426988e-03 -4.74204730e-05 9.99990692e-01 -5.94304472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters 0.046806982339428024 Centerline is valid? [True, True] Translation: X:371.96, Y:-365.37, Z:-5.94 [[-7.08308094e-01 -7.05900680e-01 1.96816563e-03 3.71964319e+02] [ 7.05897794e-01 -7.08310828e-01 -2.01887827e-03 -3.65373928e+02] [ 2.81920057e-03 -4.06640407e-05 9.99996025e-01 -5.94206092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters 0.0471967905534153 Centerline is valid? [True, True] Translation: X:371.93, Y:-365.33, Z:-5.94 [[-7.08245863e-01 -7.05963969e-01 1.63476051e-03 3.71925920e+02] [ 7.05961979e-01 -7.08247748e-01 -1.67644383e-03 -3.65331269e+02] [ 2.34132439e-03 -3.32556448e-05 9.99997259e-01 -5.94214527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters 0.046318071854149205 Centerline is valid? [True, True] Translation: X:371.88, Y:-365.29, Z:-5.94 [[-7.06276361e-01 -7.07935864e-01 7.16916554e-04 3.71883320e+02] [ 7.07935483e-01 -7.06276725e-01 -7.35005918e-04 -3.65292054e+02] [ 1.02667853e-03 -1.15866389e-05 9.99999473e-01 -5.94075002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters 0.04647718838125327 Centerline is valid? [True, True] Translation: X:371.85, Y:-365.25, Z:-5.94 [[-7.04644564e-01 -7.09559916e-01 8.74140466e-04 3.71845185e+02] [ 7.09559350e-01 -7.04645106e-01 -8.95941853e-04 -3.65251082e+02] [ 1.25168323e-03 -1.10660154e-05 9.99999217e-01 -5.94143365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters 0.045902646419698406 Centerline is valid? [True, True] Translation: X:371.80, Y:-365.21, Z:-5.94 [[-7.02056206e-01 -7.12118906e-01 1.93610372e-03 3.71803382e+02] [ 7.12116143e-01 -7.02058875e-01 -1.98376509e-03 -3.65213237e+02] [ 2.77193543e-03 -1.39838809e-05 9.99996158e-01 -5.94190400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters 0.045833605775157334 Centerline is valid? [True, True] Translation: X:371.76, Y:-365.17, Z:-5.94 [[-7.00096033e-01 -7.14044323e-01 2.49980291e-03 3.71763704e+02] [ 7.14039732e-01 -7.00100496e-01 -2.56055295e-03 -3.65174795e+02] [ 3.57846156e-03 -7.67436375e-06 9.99993597e-01 -5.94373025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters 0.04603130946101218 Centerline is valid? [True, True] Translation: X:371.72, Y:-365.14, Z:-5.95 [[-6.97891314e-01 -7.16195832e-01 3.35329059e-03 3.71717967e+02] [ 7.16187598e-01 -6.97899370e-01 -3.43413734e-03 -3.65136735e+02] [ 4.79977424e-03 4.93050912e-06 9.99988481e-01 -5.94569511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters 0.046169922175563906 Centerline is valid? [True, True] Translation: X:371.67, Y:-365.10, Z:-5.95 [[-6.96826375e-01 -7.17230842e-01 3.59478481e-03 3.71673091e+02] [ 7.17221397e-01 -6.96835648e-01 -3.68076859e-03 -3.65097770e+02] [ 5.14493495e-03 1.33999541e-05 9.99986765e-01 -5.94796026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters 0.045858804794499976 Centerline is valid? [True, True] Translation: X:371.63, Y:-365.06, Z:-5.95 [[-6.96121464e-01 -7.17910955e-01 4.33226976e-03 3.71630561e+02] [ 7.17897256e-01 -6.96134944e-01 -4.43510744e-03 -3.65057110e+02] [ 6.19985659e-03 2.27510898e-05 9.99980780e-01 -5.94982147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters 0.0466382924795961 Centerline is valid? [True, True] Translation: X:371.59, Y:-365.01, Z:-5.95 [[-6.96691237e-01 -7.17346128e-01 5.98776770e-03 3.71591756e+02] [ 7.17319947e-01 -6.96716967e-01 -6.12872615e-03 -3.65012859e+02] [ 8.56819733e-03 2.53154077e-05 9.99963292e-01 -5.95087045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters 0.04620072667366287 Centerline is valid? [True, True] Translation: X:371.55, Y:-364.97, Z:-5.95 [[-6.97905405e-01 -7.16156838e-01 6.88695111e-03 3.71553058e+02] [ 7.16122158e-01 -6.97939384e-01 -7.04776474e-03 -3.64968965e+02] [ 9.85397933e-03 1.32251903e-05 9.99951448e-01 -5.95310749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters 0.04627442026973618 Centerline is valid? [True, True] Translation: X:371.52, Y:-364.92, Z:-5.95 [[-7.00948314e-01 -7.13168357e-01 7.89650554e-03 3.71516108e+02] [ 7.13122592e-01 -7.00992791e-01 -8.07938825e-03 -3.64922888e+02] [ 1.12973575e-02 -3.20570766e-05 9.99936182e-01 -5.95304874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters 0.046017487278161934 Centerline is valid? [True, True] Translation: X:371.48, Y:-364.88, Z:-5.96 [[-7.02534336e-01 -7.11602413e-01 8.21660640e-03 3.71479102e+02] [ 7.11552771e-01 -7.02582381e-01 -8.40544438e-03 -3.64877318e+02] [ 1.17541774e-02 -5.85642299e-05 9.99930916e-01 -5.95533003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters 0.04701653783504257 Centerline is valid? [True, True] Translation: X:371.44, Y:-364.83, Z:-5.95 [[-7.02486893e-01 -7.11646600e-01 8.44281223e-03 3.71440362e+02] [ 7.11594213e-01 -7.02537624e-01 -8.63499475e-03 -3.64834550e+02] [ 1.20764579e-02 -5.81143144e-05 9.99927075e-01 -5.95250624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters 0.046260862622822016 Centerline is valid? [True, True] Translation: X:371.40, Y:-364.79, Z:-5.95 [[-6.99657421e-01 -7.14438928e-01 7.51749040e-03 3.71396960e+02] [ 7.14397570e-01 -6.99697805e-01 -7.68717890e-03 -3.64794289e+02] [ 1.07519914e-02 -7.91488208e-06 9.99942196e-01 -5.95094072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters 0.04661415631360755 Centerline is valid? [True, True] Translation: X:371.35, Y:-364.75, Z:-5.95 [[-6.98590006e-01 -7.15485296e-01 7.26600396e-03 3.71354912e+02] [ 7.15446733e-01 -6.98627791e-01 -7.42843595e-03 -3.64754443e+02] [ 1.03911690e-02 9.00768508e-06 9.99946010e-01 -5.95249347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters 0.046336125107555734 Centerline is valid? [True, True] Translation: X:371.31, Y:-364.72, Z:-5.95 [[-6.96896275e-01 -7.17137974e-01 6.97916130e-03 3.71311984e+02] [ 7.17102493e-01 -6.96931220e-01 -7.13371777e-03 -3.64715950e+02] [ 9.97985531e-03 3.33126243e-05 9.99950200e-01 -5.95334471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters 0.04603626461391279 Centerline is valid? [True, True] Translation: X:371.27, Y:-364.67, Z:-5.95 [[-6.95991434e-01 -7.18018284e-01 6.75782890e-03 3.71271382e+02] [ 7.17985068e-01 -6.96024240e-01 -6.90654941e-03 -3.64674086e+02] [ 9.66264147e-03 4.51210111e-05 9.99953315e-01 -5.94978257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters 0.046080682958398775 Centerline is valid? [True, True] Translation: X:371.23, Y:-364.63, Z:-5.95 [[-6.95560627e-01 -7.18446343e-01 5.50145445e-03 3.71229922e+02] [ 7.18424353e-01 -6.95582382e-01 -5.62132293e-03 -3.64632651e+02] [ 7.86533370e-03 4.24079455e-05 9.99969067e-01 -5.94912493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters 0.04620605925457395 Centerline is valid? [True, True] Translation: X:371.19, Y:-364.59, Z:-5.95 [[-6.96733244e-01 -7.17309478e-01 5.46808087e-03 3.71191803e+02] [ 7.17287723e-01 -6.96754700e-01 -5.58664358e-03 -3.64588258e+02] [ 7.81726343e-03 2.97869735e-05 9.99969444e-01 -5.94841626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters 0.04573184950760058 Centerline is valid? [True, True] Translation: X:371.15, Y:-364.54, Z:-5.95 [[-6.98968868e-01 -7.15124957e-01 6.23040536e-03 3.71153919e+02] [ 7.15096638e-01 -6.98996635e-01 -6.36411638e-03 -3.64543563e+02] [ 8.90617084e-03 7.02270878e-06 9.99960339e-01 -5.94946352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters 0.04630231224213528 Centerline is valid? [True, True] Translation: X:371.11, Y:-364.50, Z:-5.95 [[-6.99661783e-01 -7.14431577e-01 7.80458274e-03 3.71113496e+02] [ 7.14387113e-01 -6.99705311e-01 -7.97059148e-03 -3.64500697e+02] [ 1.11553502e-02 -1.22490905e-06 9.99937777e-01 -5.95100049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters 0.04600085907329168 Centerline is valid? [True, True] Translation: X:371.07, Y:-364.46, Z:-5.95 [[-7.00552660e-01 -7.13544196e-01 8.98056169e-03 3.71073084e+02] [ 7.13485272e-01 -7.00610219e-01 -9.16987659e-03 -3.64457400e+02] [ 1.28349855e-02 -1.64829318e-05 9.99917628e-01 -5.95338223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters 0.04544805951620981 Centerline is valid? [True, True] Translation: X:371.04, Y:-364.41, Z:-5.95 [[-7.01868925e-01 -7.12240084e-01 9.69921916e-03 3.71035087e+02] [ 7.12171252e-01 -7.01935938e-01 -9.90184009e-03 -3.64412118e+02] [ 1.38607179e-02 -4.22888083e-05 9.99903935e-01 -5.95431037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters 0.046058396737179146 Centerline is valid? [True, True] Translation: X:370.99, Y:-364.37, Z:-5.95 [[-7.01618966e-01 -7.12494309e-01 9.09322803e-03 3.70993052e+02] [ 7.12433853e-01 -7.01677888e-01 -9.28146207e-03 -3.64370623e+02] [ 1.29935059e-02 -3.37263317e-05 9.99915580e-01 -5.95122880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters 0.0465999414732962 Centerline is valid? [True, True] Translation: X:370.95, Y:-364.33, Z:-5.95 [[-7.00343452e-01 -7.13748481e-01 9.06388993e-03 3.70949472e+02] [ 7.13688546e-01 -7.00402102e-01 -9.24954888e-03 -3.64331833e+02] [ 1.29502190e-02 -9.06657006e-06 9.99916142e-01 -5.95277526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters 0.04589609695441266 Centerline is valid? [True, True] Translation: X:370.90, Y:-364.30, Z:-5.95 [[-6.98170573e-01 -7.15877640e-01 8.77818746e-03 3.70904074e+02] [ 7.15821614e-01 -6.98225755e-01 -8.95617944e-03 -3.64295065e+02] [ 1.25406852e-02 3.06753828e-05 9.99921362e-01 -5.95290123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters 0.046230594912011626 Centerline is valid? [True, True] Translation: X:370.86, Y:-364.25, Z:-5.95 [[-6.97902095e-01 -7.16135170e-01 9.11505819e-03 3.70863285e+02] [ 7.16074806e-01 -6.97961616e-01 -9.29811140e-03 -3.64253223e+02] [ 1.30206653e-02 3.78921082e-05 9.99915227e-01 -5.95455079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters 0.04610778753600198 Centerline is valid? [True, True] Translation: X:370.82, Y:-364.21, Z:-5.95 [[-7.00859318e-01 -7.13246323e-01 8.71203455e-03 3.70824629e+02] [ 7.13190975e-01 -7.00913463e-01 -8.88542665e-03 -3.64208091e+02] [ 1.24438802e-02 -1.40896493e-05 9.99922572e-01 -5.95180162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters 0.04681937380821453 Centerline is valid? [True, True] Translation: X:370.78, Y:-364.17, Z:-5.95 [[-7.03849218e-01 -7.10296586e-01 8.66243339e-03 3.70784373e+02] [ 7.10241662e-01 -7.03902519e-01 -8.83319441e-03 -3.64165115e+02] [ 1.23716965e-02 -6.48158910e-05 9.99923466e-01 -5.95251119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters 0.04617535301110237 Centerline is valid? [True, True] Translation: X:370.75, Y:-364.12, Z:-5.95 [[-7.09051369e-01 -7.05107761e-01 8.31872971e-03 3.70747349e+02] [ 7.05056756e-01 -7.09100150e-01 -8.48222068e-03 -3.64118100e+02] [ 1.18796921e-02 -1.49153602e-04 9.99929423e-01 -5.95153996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters 0.04704469146134142 Centerline is valid? [True, True] Translation: X:370.71, Y:-364.07, Z:-5.95 [[-7.12292415e-01 -7.01835992e-01 8.10896950e-03 3.70707823e+02] [ 7.01787319e-01 -7.12338544e-01 -8.26786409e-03 -3.64073974e+02] [ 1.15790161e-02 -1.98364915e-04 9.99932941e-01 -5.95019495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters 0.04683320519668185 Centerline is valid? [True, True] Translation: X:370.66, Y:-364.03, Z:-5.95 [[-7.14936648e-01 -6.99139824e-01 8.31238487e-03 3.70664864e+02] [ 6.99088499e-01 -7.14984927e-01 -8.47495251e-03 -3.64033364e+02] [ 1.18684067e-02 -2.47961482e-04 9.99929537e-01 -5.94723559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters 0.04865095511393433 Centerline is valid? [True, True] Translation: X:370.63, Y:-363.99, Z:-5.95 [[-7.13634988e-01 -7.00458991e-01 9.07225997e-03 3.70627366e+02] [ 7.00397982e-01 -7.13692611e-01 -9.24797024e-03 -3.63987415e+02] [ 1.29526288e-02 -2.45482557e-04 9.99916081e-01 -5.95327063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters 0.04755717820988731 Centerline is valid? [True, True] Translation: X:370.58, Y:-363.95, Z:-5.96 [[-7.07153439e-01 -7.06977637e-01 1.07997308e-02 3.70578521e+02] [ 7.06891963e-01 -7.07235886e-01 -1.10070600e-02 -3.63951525e+02] [ 1.54197024e-02 -1.49437399e-04 9.99881098e-01 -5.95816869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters 0.04686542753676836 Centerline is valid? [True, True] Translation: X:370.53, Y:-363.92, Z:-5.95 [[-7.02585372e-01 -7.11528493e-01 1.00497990e-02 3.70531039e+02] [ 7.11454774e-01 -7.02657243e-01 -1.02422295e-02 -3.63915860e+02] [ 1.43492022e-02 -4.60631897e-05 9.99897044e-01 -5.95067446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters 0.047008536784879575 Centerline is valid? [True, True] Translation: X:370.49, Y:-363.88, Z:-5.95 [[-7.00147332e-01 -7.13950059e-01 8.30816536e-03 3.70489053e+02] [ 7.13899870e-01 -7.00196624e-01 -8.46539560e-03 -3.63875602e+02] [ 1.18612190e-02 4.17401682e-06 9.99929653e-01 -5.94782991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters 0.04621186163546671 Centerline is valid? [True, True] Translation: X:370.45, Y:-363.83, Z:-5.95 [[-7.00267960e-01 -7.13855808e-01 5.88805470e-03 3.70451222e+02] [ 7.13830610e-01 -7.00292714e-01 -5.99792952e-03 -3.63832398e+02] [ 8.40501863e-03 2.91581056e-06 9.99964677e-01 -5.94752282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters 0.04660596210243102 Centerline is valid? [True, True] Translation: X:370.41, Y:-363.79, Z:-5.94 [[-7.01501573e-01 -7.12652080e-01 4.74933403e-03 3.70414057e+02] [ 7.12635667e-01 -7.01517650e-01 -4.83672206e-03 -3.63788235e+02] [ 6.77864168e-03 -8.42331177e-06 9.99977025e-01 -5.94478566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters 0.045924303607591734 Centerline is valid? [True, True] Translation: X:370.37, Y:-363.75, Z:-5.94 [[-7.01725271e-01 -7.12437431e-01 3.81458159e-03 3.70374188e+02] [ 7.12426843e-01 -7.01735639e-01 -3.88398370e-03 -3.63746378e+02] [ 5.44392322e-03 -7.87919263e-06 9.99985182e-01 -5.94332686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters 0.04646442922305564 Centerline is valid? [True, True] Translation: X:370.33, Y:-363.71, Z:-5.94 [[-7.01859546e-01 -7.12305233e-01 3.79908738e-03 3.70332833e+02] [ 7.12294735e-01 -7.01869828e-01 -3.86734403e-03 -3.63705766e+02] [ 5.42119420e-03 -8.26238537e-06 9.99985305e-01 -5.94366364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters 0.04649253591620867 Centerline is valid? [True, True] Translation: X:370.29, Y:-363.66, Z:-5.94 [[-7.02513857e-01 -7.11655423e-01 4.56514980e-03 3.70293574e+02] [ 7.11640256e-01 -7.02528689e-01 -4.64619679e-03 -3.63663424e+02] [ 6.51363985e-03 -1.52732503e-05 9.99978786e-01 -5.94404571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters 0.04609915703946807 Centerline is valid? [True, True] Translation: X:370.25, Y:-363.62, Z:-5.94 [[-7.03073363e-01 -7.11101171e-01 4.79280769e-03 3.70254423e+02] [ 7.11084449e-01 -7.03089699e-01 -4.87670880e-03 -3.63622087e+02] [ 6.83760705e-03 -2.05930435e-05 9.99976623e-01 -5.94063300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters 0.04631621023279112 Centerline is valid? [True, True] Translation: X:370.22, Y:-363.58, Z:-5.94 [[-7.03723281e-01 -7.10458985e-01 4.64483615e-03 3.70216717e+02] [ 7.10443274e-01 -7.03738609e-01 -4.72492040e-03 -3.63579058e+02] [ 6.62561269e-03 -2.51438889e-05 9.99978050e-01 -5.94267480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters 0.04639002063671115 Centerline is valid? [True, True] Translation: X:370.18, Y:-363.54, Z:-5.94 [[-7.05274499e-01 -7.08924273e-01 3.77580473e-03 3.70177483e+02] [ 7.08913873e-01 -7.05284605e-01 -3.84006075e-03 -3.63536349e+02] [ 5.38532922e-03 -3.15765630e-05 9.99985499e-01 -5.94313703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters 0.0466016482664905 Centerline is valid? [True, True] Translation: X:370.13, Y:-363.50, Z:-5.94 [[-7.05607620e-01 -7.08593452e-01 3.63407510e-03 3.70133926e+02] [ 7.08583818e-01 -7.05616977e-01 -3.69511916e-03 -3.63497634e+02] [ 5.18260233e-03 -3.22574246e-05 9.99986570e-01 -5.93940905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters 0.04625514754603678 Centerline is valid? [True, True] Translation: X:370.10, Y:-363.45, Z:-5.94 [[-7.05042508e-01 -7.09152001e-01 4.30140886e-03 3.70095760e+02] [ 7.09138520e-01 -7.05055628e-01 -4.37277010e-03 -3.63453795e+02] [ 6.13369119e-03 -3.26940856e-05 9.99981188e-01 -5.94210715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters 0.046225586601871614 Centerline is valid? [True, True] Translation: X:370.05, Y:-363.41, Z:-5.94 [[-7.04060550e-01 -7.10122767e-01 4.93942846e-03 3.70053726e+02] [ 7.10105021e-01 -7.04077876e-01 -5.02027586e-03 -3.63413738e+02] [ 7.04275448e-03 -2.70652349e-05 9.99975199e-01 -5.94101255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters 0.04649734158906575 Centerline is valid? [True, True] Translation: X:370.01, Y:-363.37, Z:-5.94 [[-7.02996651e-01 -7.11178328e-01 4.59289282e-03 3.70011772e+02] [ 7.11163012e-01 -7.03011654e-01 -4.66741577e-03 -3.63373020e+02] [ 6.54822212e-03 -1.48821682e-05 9.99978560e-01 -5.94067159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters 0.04547847731768012 Centerline is valid? [True, True] Translation: X:369.97, Y:-363.33, Z:-5.94 [[-7.01823497e-01 -7.12333369e-01 4.99512216e-03 3.69970677e+02] [ 7.12315290e-01 -7.01841272e-01 -5.07503202e-03 -3.63331526e+02] [ 7.12089755e-03 -3.67482084e-06 9.99974646e-01 -5.94159077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters 0.04590304435159081 Centerline is valid? [True, True] Translation: X:369.93, Y:-363.29, Z:-5.94 [[-7.00523505e-01 -7.13614579e-01 4.58830732e-03 3.69931382e+02] [ 7.13599359e-01 -7.00538531e-01 -4.66066389e-03 -3.63288411e+02] [ 6.54020377e-03 9.30855696e-06 9.99978613e-01 -5.94027876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters 0.04597573969836597 Centerline is valid? [True, True] Translation: X:369.89, Y:-363.25, Z:-5.94 [[-6.99621848e-01 -7.14501818e-01 4.05239917e-03 3.69890446e+02] [ 7.14489966e-01 -6.99633584e-01 -4.11536103e-03 -3.63246976e+02] [ 5.77562750e-03 1.62020583e-05 9.99983321e-01 -5.93936890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters 0.04608520149781549 Centerline is valid? [True, True] Translation: X:369.85, Y:-363.21, Z:-5.94 [[-6.97982590e-01 -7.16106296e-01 3.47521823e-03 3.69848916e+02] [ 7.16097604e-01 -6.97991241e-01 -3.52833574e-03 -3.63206796e+02] [ 4.95233532e-03 2.58785300e-05 9.99987737e-01 -5.94060279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters 0.04572943563288351 Centerline is valid? [True, True] Translation: X:369.81, Y:-363.17, Z:-5.94 [[-6.97915422e-01 -7.16173974e-01 2.98386526e-03 3.69810473e+02] [ 7.16167571e-01 -6.97921800e-01 -3.02855758e-03 -3.63166366e+02] [ 4.25147873e-03 2.32704967e-05 9.99990962e-01 -5.93969540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters 0.04598737878894804 Centerline is valid? [True, True] Translation: X:369.78, Y:-363.12, Z:-5.94 [[-7.01418986e-01 -7.12742693e-01 3.04314241e-03 3.69775663e+02] [ 7.12736005e-01 -7.01425587e-01 -3.08764356e-03 -3.63123194e+02] [ 4.33523334e-03 3.22535000e-06 9.99990603e-01 -5.93835907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters 0.04599236472446792 Centerline is valid? [True, True] Translation: X:369.74, Y:-363.08, Z:-5.94 [[-7.05136230e-01 -7.09065891e-01 2.90851700e-03 3.69740623e+02] [ 7.09059754e-01 -7.05142229e-01 -2.95010996e-03 -3.63080276e+02] [ 4.14274051e-03 -1.79170712e-05 9.99991419e-01 -5.93788018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters 0.04619254877460051 Centerline is valid? [True, True] Translation: X:369.70, Y:-363.04, Z:-5.94 [[-7.08941646e-01 -7.05260189e-01 3.13189964e-03 3.69702580e+02] [ 7.05253040e-01 -7.08948562e-01 -3.17571937e-03 -3.63038769e+02] [ 4.46006419e-03 -4.26179699e-05 9.99990053e-01 -5.93667734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters 0.046641866943508116 Centerline is valid? [True, True] Translation: X:369.66, Y:-363.00, Z:-5.94 [[-7.10512557e-01 -7.03680453e-01 2.39297431e-03 3.69662297e+02] [ 7.03676272e-01 -7.10516586e-01 -2.42614935e-03 -3.62996557e+02] [ 3.40748181e-03 -3.99303400e-05 9.99994194e-01 -5.93697637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters 0.04696643535355731 Centerline is valid? [True, True] Translation: X:369.62, Y:-362.95, Z:-5.94 [[-7.10489233e-01 -7.03705689e-01 1.83134487e-03 3.69622710e+02] [ 7.03703241e-01 -7.10491592e-01 -1.85632945e-03 -3.62954446e+02] [ 2.60746472e-03 -3.01787662e-05 9.99996600e-01 -5.93661007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters 0.047454838096660186 Centerline is valid? [True, True] Translation: X:369.59, Y:-362.91, Z:-5.94 [[-7.09160619e-01 -7.05046075e-01 1.11721062e-03 3.69585162e+02] [ 7.05045166e-01 -7.09161499e-01 -1.13212181e-03 -3.62912150e+02] [ 1.59048080e-03 -1.51722561e-05 9.99998735e-01 -5.93545884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters 0.04610924492409013 Centerline is valid? [True, True] Translation: X:369.54, Y:-362.88, Z:-5.93 [[-7.08397069e-01 -7.05813870e-01 6.11202205e-04 3.69544133e+02] [ 7.05813598e-01 -7.08397333e-01 -6.19154468e-04 -3.62875114e+02] [ 8.69981823e-04 -7.21238302e-06 9.99999622e-01 -5.93425012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters 0.04696062909463714 Centerline is valid? [True, True] Translation: X:369.50, Y:-362.83, Z:-5.93 [[-7.08823432e-01 -7.05385944e-01 -1.08054710e-04 3.69503879e+02] [ 7.05385936e-01 -7.08823441e-01 1.09424709e-04 -3.62833964e+02] [-1.53778363e-04 1.34252511e-06 9.99999988e-01 -5.93287516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters 0.04658382383142042 Centerline is valid? [True, True] Translation: X:369.46, Y:-362.79, Z:-5.93 [[-7.09414622e-01 -7.04791305e-01 -3.32830585e-04 3.69462671e+02] [ 7.04791224e-01 -7.09414700e-01 3.36989388e-04 -3.62793738e+02] [-4.73622100e-04 4.48912387e-06 9.99999888e-01 -5.93286116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters 0.04694022190141429 Centerline is valid? [True, True] Translation: X:369.42, Y:-362.75, Z:-5.93 [[-7.10887089e-01 -7.03306147e-01 1.02347379e-04 3.69422614e+02] [ 7.03306139e-01 -7.10887096e-01 -1.03607870e-04 -3.62753181e+02] [ 1.45625483e-04 -1.67195771e-06 9.99999989e-01 -5.93393302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters 0.04720570989238481 Centerline is valid? [True, True] Translation: X:369.38, Y:-362.71, Z:-5.93 [[-7.12221451e-01 -7.01954806e-01 -2.34909403e-04 3.69382434e+02] [ 7.01954766e-01 -7.12221489e-01 2.37713751e-04 -3.62713495e+02] [-3.34171835e-04 4.40905754e-06 9.99999944e-01 -5.93312890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters 0.04706807668600591 Centerline is valid? [True, True] Translation: X:369.34, Y:-362.67, Z:-5.93 [[-7.12848208e-01 -7.01318150e-01 -5.34158663e-04 3.69343112e+02] [ 7.01317942e-01 -7.12848408e-01 5.40431067e-04 -3.62670077e+02] [-7.59788268e-04 1.06302642e-05 9.99999711e-01 -5.93229091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters 0.04728524475307799 Centerline is valid? [True, True] Translation: X:369.30, Y:-362.63, Z:-5.93 [[-7.11014039e-01 -7.03177757e-01 -2.80518192e-04 3.69296804e+02] [ 7.03177700e-01 -7.11014094e-01 2.83755338e-04 -3.62633736e+02] [-3.98982830e-04 4.49989191e-06 9.99999920e-01 -5.93268172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters 0.0467359985445891 Centerline is valid? [True, True] Translation: X:369.25, Y:-362.60, Z:-5.93 [[-7.08186597e-01 -7.06024825e-01 8.31274872e-04 3.69250479e+02] [ 7.06024324e-01 -7.08187085e-01 -8.40790632e-04 -3.62596192e+02] [ 1.18231719e-03 -8.53637658e-06 9.99999301e-01 -5.93420450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters 0.0464220322520921 Centerline is valid? [True, True] Translation: X:369.21, Y:-362.56, Z:-5.94 [[-7.04538113e-01 -7.09658886e-01 3.21135410e-03 3.69206679e+02] [ 7.09651456e-01 -7.04545432e-01 -3.24738394e-03 -3.62557408e+02] [ 4.56707973e-03 -8.96364094e-06 9.99989571e-01 -5.93834845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters 0.04662800327069404 Centerline is valid? [True, True] Translation: X:369.17, Y:-362.52, Z:-5.94 [[-7.04454288e-01 -7.09736818e-01 4.21970039e-03 3.69165096e+02] [ 7.09723996e-01 -7.04466926e-01 -4.26607908e-03 -3.62516633e+02] [ 6.00043275e-03 -1.04350753e-05 9.99981997e-01 -5.93933466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters 0.04708756391452751 Centerline is valid? [True, True] Translation: X:369.13, Y:-362.47, Z:-5.94 [[-7.06884673e-01 -7.07307463e-01 5.49648048e-03 3.69125438e+02] [ 7.07285645e-01 -7.06906041e-01 -5.55561579e-03 -3.62472855e+02] [ 7.81502376e-03 -3.95979093e-05 9.99969462e-01 -5.93902172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters 0.047522604670249144 Centerline is valid? [True, True] Translation: X:369.09, Y:-362.43, Z:-5.94 [[-7.08749022e-01 -7.05436078e-01 5.89607834e-03 3.69089515e+02] [ 7.05410917e-01 -7.08773544e-01 -5.95832060e-03 -3.62428765e+02] [ 8.38219865e-03 -6.37958653e-05 9.99964867e-01 -5.94107974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters 0.04800256234398619 Centerline is valid? [True, True] Translation: X:369.05, Y:-362.39, Z:-5.94 [[-7.09584530e-01 -7.04594170e-01 6.07048813e-03 3.69047906e+02] [ 7.04567483e-01 -7.09610492e-01 -6.13290790e-03 -3.62388086e+02] [ 8.62889322e-03 -7.47480237e-05 9.99962768e-01 -5.93840505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters 0.04718286554583548 Centerline is valid? [True, True] Translation: X:369.01, Y:-362.35, Z:-5.94 [[-7.08453369e-01 -7.05740959e-01 4.85002540e-03 3.69007753e+02] [ 7.05723955e-01 -7.08469968e-01 -4.89930537e-03 -3.62345320e+02] [ 6.89373781e-03 -4.81502868e-05 9.99976237e-01 -5.93870252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters 0.045644234019542526 Centerline is valid? [True, True] Translation: X:368.97, Y:-362.30, Z:-5.94 [[-7.07013501e-01 -7.07189395e-01 3.88186853e-03 3.68968877e+02] [ 7.07178530e-01 -7.07024157e-01 -3.92030508e-03 -3.62302996e+02] [ 5.51697301e-03 -2.65345404e-05 9.99984781e-01 -5.93959858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters 0.045956624758654356 Centerline is valid? [True, True] Translation: X:368.93, Y:-362.26, Z:-5.94 [[-7.05122854e-01 -7.09077242e-01 3.35033940e-03 3.68929920e+02] [ 7.09069174e-01 -7.05130814e-01 -3.38273575e-03 -3.62258893e+02] [ 4.76104849e-03 -9.62189838e-06 9.99988666e-01 -5.93978176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters 0.04511138277460996 Centerline is valid? [True, True] Translation: X:368.89, Y:-362.21, Z:-5.94 [[-7.04344029e-01 -7.09849933e-01 3.54423641e-03 3.68893242e+02] [ 7.09840918e-01 -7.04352946e-01 -3.57746907e-03 -3.62214693e+02] [ 5.03585954e-03 -3.92494368e-06 9.99987320e-01 -5.93973258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters 0.04630246219940158 Centerline is valid? [True, True] Translation: X:368.85, Y:-362.18, Z:-5.94 [[-6.99529261e-01 -7.14597489e-01 3.04005439e-03 3.68851368e+02] [ 7.14590905e-01 -6.99535866e-01 -3.06769784e-03 -3.62176327e+02] [ 4.31879626e-03 2.64508131e-05 9.99990674e-01 -5.94077087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters 0.04607875578601167 Centerline is valid? [True, True] Translation: X:368.81, Y:-362.13, Z:-5.94 [[-6.98432266e-01 -7.15667191e-01 3.58355116e-03 3.68810989e+02] [ 7.15658061e-01 -6.98441458e-01 -3.61520038e-03 -3.62133525e+02] [ 5.09018100e-03 3.96246842e-05 9.99987044e-01 -5.93970646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters 0.04577126318867393 Centerline is valid? [True, True] Translation: X:368.77, Y:-362.10, Z:-5.94 [[-6.99597892e-01 -7.14514299e-01 5.66619683e-03 3.68768491e+02] [ 7.14491448e-01 -6.99620836e-01 -5.71466980e-03 -3.62095848e+02] [ 8.04740265e-03 5.04782299e-05 9.99967618e-01 -5.94260677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters 0.046447408822838376 Centerline is valid? [True, True] Translation: X:368.73, Y:-362.05, Z:-5.94 [[-7.03786622e-01 -7.10391799e-01 5.28033273e-03 3.68730542e+02] [ 7.10371845e-01 -7.03806431e-01 -5.32443238e-03 -3.62052769e+02] [ 7.49876522e-03 3.73542480e-06 9.99971884e-01 -5.94187996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters 0.04638408892417896 Centerline is valid? [True, True] Translation: X:368.69, Y:-362.01, Z:-5.94 [[-7.06349176e-01 -7.07850351e-01 4.32680918e-03 3.68691937e+02] [ 7.07836914e-01 -7.06362428e-01 -4.36155663e-03 -3.62012232e+02] [ 6.14362483e-03 -1.81066784e-05 9.99981128e-01 -5.94158285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters 0.04607981238835553 Centerline is valid? [True, True] Translation: X:368.65, Y:-361.97, Z:-5.94 [[-7.08185201e-01 -7.06017760e-01 3.55586244e-03 3.68651633e+02] [ 7.06008667e-01 -7.08194127e-01 -3.58331858e-03 -3.61972353e+02] [ 5.04812746e-03 -2.71834879e-05 9.99987258e-01 -5.94158959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters 0.04756228856457037 Centerline is valid? [True, True] Translation: X:368.61, Y:-361.93, Z:-5.94 [[-7.08298915e-01 -7.05901458e-01 3.97222837e-03 3.68610972e+02] [ 7.05890117e-01 -7.08310052e-01 -4.00160077e-03 -3.61933488e+02] [ 5.63830510e-03 -3.03727316e-05 9.99984104e-01 -5.94144930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters 0.045918675502539336 Centerline is valid? [True, True] Translation: X:368.57, Y:-361.89, Z:-5.94 [[-7.07433497e-01 -7.06766192e-01 4.40431844e-03 3.68569843e+02] [ 7.06752272e-01 -7.07447206e-01 -4.43585950e-03 -3.61892847e+02] [ 6.25093830e-03 -2.53135329e-05 9.99980462e-01 -5.93948862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters 0.04620769399639423 Centerline is valid? [True, True] Translation: X:368.53, Y:-361.85, Z:-5.94 [[-7.07842817e-01 -7.06351864e-01 5.05879174e-03 3.68530567e+02] [ 7.06333498e-01 -7.07860893e-01 -5.09371219e-03 -3.61850486e+02] [ 7.17887393e-03 -3.23535206e-05 9.99974231e-01 -5.94158348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters 0.04718489583342679 Centerline is valid? [True, True] Translation: X:368.49, Y:-361.81, Z:-5.94 [[-7.09308546e-01 -7.04881713e-01 4.81218789e-03 3.68489255e+02] [ 7.04865071e-01 -7.09324868e-01 -4.84383251e-03 -3.61812109e+02] [ 6.82773350e-03 -4.38286327e-05 9.99976690e-01 -5.93907089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters 0.04749617572457999 Centerline is valid? [True, True] Translation: X:368.45, Y:-361.77, Z:-5.94 [[-7.08559829e-01 -7.05636254e-01 4.52172722e-03 3.68449544e+02] [ 7.05621583e-01 -7.08574256e-01 -4.55033067e-03 -3.61770150e+02] [ 6.41485779e-03 -3.35532065e-05 9.99979424e-01 -5.94207302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters 0.0468857198916225 Centerline is valid? [True, True] Translation: X:368.41, Y:-361.73, Z:-5.94 [[-7.07335675e-01 -7.06867618e-01 3.79656006e-03 3.68409014e+02] [ 7.06857298e-01 -7.07345864e-01 -3.81952287e-03 -3.61730010e+02] [ 5.38537809e-03 -1.80586051e-05 9.99985499e-01 -5.93936471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters 0.04736962353839166 Centerline is valid? [True, True] Translation: X:368.37, Y:-361.69, Z:-5.94 [[-7.07623231e-01 -7.06585011e-01 2.64294169e-03 3.68370371e+02] [ 7.06580011e-01 -7.07628166e-01 -2.65814843e-03 -3.61687682e+02] [ 3.74842782e-03 -1.35178095e-05 9.99992975e-01 -5.94129156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters 0.04674718508656607 Centerline is valid? [True, True] Translation: X:368.33, Y:-361.65, Z:-5.94 [[-7.07866879e-01 -7.06337352e-01 3.46810260e-03 3.68332218e+02] [ 7.06328746e-01 -7.07875374e-01 -3.48679027e-03 -3.61646953e+02] [ 4.91783463e-03 -1.85627847e-05 9.99987907e-01 -5.94073521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters 0.04677213121053905 Centerline is valid? [True, True] Translation: X:368.29, Y:-361.61, Z:-5.94 [[-7.06356781e-01 -7.07846529e-01 3.65910388e-03 3.68290896e+02] [ 7.07836974e-01 -7.06366258e-01 -3.67797246e-03 -3.61605692e+02] [ 5.18810756e-03 -7.91177453e-06 9.99986542e-01 -5.94109682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters 0.04686250977606884 Centerline is valid? [True, True] Translation: X:368.25, Y:-361.57, Z:-5.94 [[-7.02921855e-01 -7.11256960e-01 3.79507745e-03 3.68247703e+02] [ 7.11246736e-01 -7.02932100e-01 -3.81364876e-03 -3.61567521e+02] [ 5.38016598e-03 1.85393843e-05 9.99985527e-01 -5.94086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters 0.04637166277908588 Centerline is valid? [True, True] Translation: X:368.21, Y:-361.53, Z:-5.94 [[-7.02057175e-01 -7.12110336e-01 3.82017155e-03 3.68205138e+02] [ 7.12099993e-01 -7.02067567e-01 -3.83806532e-03 -3.61526333e+02] [ 5.41514453e-03 2.58028400e-05 9.99985338e-01 -5.94072807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters 0.047399900722289834 Centerline is valid? [True, True] Translation: X:368.17, Y:-361.49, Z:-5.94 [[-7.05318353e-01 -7.08885182e-01 2.79637037e-03 3.68165006e+02] [ 7.08879618e-01 -7.05323896e-01 -2.80883726e-03 -3.61485007e+02] [ 3.96348996e-03 1.16548996e-06 9.99992145e-01 -5.94088841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters 0.04669203783863524 Centerline is valid? [True, True] Translation: X:368.13, Y:-361.44, Z:-5.94 [[-7.07315088e-01 -7.06892985e-01 2.77004693e-03 3.68126170e+02] [ 7.06887512e-01 -7.07320513e-01 -2.78165556e-03 -3.61443505e+02] [ 3.92564382e-03 -9.39536680e-06 9.99992295e-01 -5.94033123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters 0.04697388629655954 Centerline is valid? [True, True] Translation: X:368.09, Y:-361.40, Z:-5.94 [[-7.07603832e-01 -7.06603691e-01 2.83555323e-03 3.68086734e+02] [ 7.06597957e-01 -7.07609514e-01 -2.84655810e-03 -3.61402889e+02] [ 4.01785290e-03 -1.06393032e-05 9.99991928e-01 -5.94204368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters 0.04676370724190248 Centerline is valid? [True, True] Translation: X:368.04, Y:-361.37, Z:-5.94 [[-7.05553633e-01 -7.08645691e-01 3.91869055e-03 3.68043891e+02] [ 7.08634779e-01 -7.05564515e-01 -3.93255442e-03 -3.61366790e+02] [ 5.55167674e-03 2.29235867e-06 9.99984589e-01 -5.94488833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters 0.04707507027363602 Centerline is valid? [True, True] Translation: X:368.00, Y:-361.33, Z:-5.95 [[-7.04889587e-01 -7.09298825e-01 5.08398758e-03 3.68002649e+02] [ 7.09280486e-01 -7.04907921e-01 -5.10049842e-03 -3.61327657e+02] [ 7.20152065e-03 1.06849584e-05 9.99974069e-01 -5.94628021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters 0.0476569988055178 Centerline is valid? [True, True] Translation: X:367.96, Y:-361.29, Z:-5.94 [[-7.04525941e-01 -7.09651051e-01 6.21162043e-03 3.67962130e+02] [ 7.09623703e-01 -7.04553323e-01 -6.23011263e-03 -3.61286355e+02] [ 8.79762379e-03 1.86371323e-05 9.99961300e-01 -5.94301786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters 0.04723065092848673 Centerline is valid? [True, True] Translation: X:367.92, Y:-361.25, Z:-5.94 [[-7.04034327e-01 -7.10133005e-01 6.83971723e-03 3.67919640e+02] [ 7.10099886e-01 -7.04067550e-01 -6.85838639e-03 -3.61247110e+02] [ 9.68598948e-03 2.83429746e-05 9.99953089e-01 -5.94494642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters 0.047684643949441115 Centerline is valid? [True, True] Translation: X:367.88, Y:-361.21, Z:-5.95 [[-7.03787051e-01 -7.10382160e-01 6.40110219e-03 3.67875183e+02] [ 7.10353175e-01 -7.03816160e-01 -6.41720416e-03 -3.61210097e+02] [ 9.06386651e-03 3.06980751e-05 9.99958922e-01 -5.94695036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters 0.04825341428662122 Centerline is valid? [True, True] Translation: X:367.84, Y:-361.17, Z:-5.95 [[-7.04819949e-01 -7.09355462e-01 6.60814647e-03 3.67837076e+02] [ 7.09324544e-01 -7.04850926e-01 -6.62296194e-03 -3.61170467e+02] [ 9.35579239e-03 1.93247769e-05 9.99956233e-01 -5.94562005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters 0.047270078987536594 Centerline is valid? [True, True] Translation: X:367.80, Y:-361.13, Z:-5.95 [[-7.05717189e-01 -7.08457142e-01 7.19221297e-03 3.67797300e+02] [ 7.08420482e-01 -7.05753837e-01 -7.20712342e-03 -3.61128197e+02] [ 1.01818700e-02 8.92009881e-06 9.99948163e-01 -5.94585393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters 0.04732681847286003 Centerline is valid? [True, True] Translation: X:367.76, Y:-361.09, Z:-5.94 [[-7.05850656e-01 -7.08313520e-01 8.17366913e-03 3.67756983e+02] [ 7.08266186e-01 -7.05897980e-01 -8.18851168e-03 -3.61085526e+02] [ 1.15698101e-02 9.26711611e-06 9.99933068e-01 -5.94415691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters 0.04747819195473226 Centerline is valid? [True, True] Translation: X:367.72, Y:-361.04, Z:-5.95 [[-7.06400117e-01 -7.07749997e-01 9.42424674e-03 3.67717114e+02] [ 7.07687038e-01 -7.06462980e-01 -9.44004371e-03 -3.61044296e+02] [ 1.33390723e-02 9.69287214e-07 9.99911031e-01 -5.94630137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters 0.047756082401774105 Centerline is valid? [True, True] Translation: X:367.68, Y:-361.00, Z:-5.94 [[-7.07748998e-01 -7.06406192e-01 9.03594284e-03 3.67676492e+02] [ 7.06348233e-01 -7.07806677e-01 -9.04887556e-03 -3.61003178e+02] [ 1.27878824e-02 -2.18103599e-05 9.99918232e-01 -5.94487908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters 0.04762799300351037 Centerline is valid? [True, True] Translation: X:367.64, Y:-360.96, Z:-5.95 [[-7.09132410e-01 -7.05028569e-01 8.12046041e-03 3.67636453e+02] [ 7.04981696e-01 -7.09178902e-01 -8.12980092e-03 -3.60962609e+02] [ 1.14906011e-02 -4.03293676e-05 9.99933980e-01 -5.94550277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters 0.04679973305605332 Centerline is valid? [True, True] Translation: X:367.60, Y:-360.92, Z:-5.95 [[-7.09437587e-01 -7.04727875e-01 7.54539305e-03 3.67596346e+02] [ 7.04687414e-01 -7.09477710e-01 -7.55170240e-03 -3.60923091e+02] [ 1.06751834e-02 -4.03180159e-05 9.99943018e-01 -5.94542072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters 0.04723772113638642 Centerline is valid? [True, True] Translation: X:367.55, Y:-360.88, Z:-5.95 [[-7.09124484e-01 -7.05035801e-01 8.18444541e-03 3.67554936e+02] [ 7.04988245e-01 -7.09171713e-01 -8.18883358e-03 -3.60883574e+02] [ 1.15775980e-02 -3.69645903e-05 9.99932977e-01 -5.94546453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters 0.04738246286908972 Centerline is valid? [True, True] Translation: X:367.51, Y:-360.84, Z:-5.95 [[-7.09012447e-01 -7.05146301e-01 8.36925949e-03 3.67514454e+02] [ 7.05096609e-01 -7.09061840e-01 -8.37138055e-03 -3.60843118e+02] [ 1.18373706e-02 -3.42765172e-05 9.99929935e-01 -5.94703117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters 0.0471517427057439 Centerline is valid? [True, True] Translation: X:367.48, Y:-360.80, Z:-5.94 [[-7.08608566e-01 -7.05555318e-01 8.09901268e-03 3.67476089e+02] [ 7.05508837e-01 -7.08654848e-01 -8.09864266e-03 -3.60801298e+02] [ 1.14534450e-02 -2.48425450e-05 9.99934407e-01 -5.94459340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters 0.04781623681836023 Centerline is valid? [True, True] Translation: X:366.73, Y:-360.80, Z:-4.80 [[-7.56159253e-01 6.54348318e-01 7.17367039e-03 3.66730957e+02] [ 6.54318752e-01 7.56193281e-01 -6.22030047e-03 -3.60803223e+02] [-9.49492450e-03 -9.67069729e-06 -9.99954922e-01 -4.80493415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters 0.046892097212369734 Centerline is valid? [True, True] Translation: X:366.93, Y:-360.30, Z:-5.94 [[-7.06149863e-01 -7.08036469e-01 6.06049131e-03 3.66928380e+02] [ 7.08009804e-01 -7.06175868e-01 -6.14500997e-03 -3.60295384e+02] [ 8.63066388e-03 -4.84106823e-05 9.99962754e-01 -5.94490946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters 0.04728726459857401 Centerline is valid? [True, True] Translation: X:366.52, Y:-360.61, Z:-4.81 [[-7.62189322e-01 6.47330605e-01 5.52503929e-03 3.66519187e+02] [ 6.47313142e-01 7.62209345e-01 -4.75501665e-03 -3.60613299e+02] [-7.28930438e-03 -4.77923739e-05 -9.99973432e-01 -4.80542436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters 0.04754266403278389 Centerline is valid? [True, True] Translation: X:366.82, Y:-360.76, Z:-4.81 [[-8.06424005e-01 5.91311015e-01 5.62201860e-03 3.66819259e+02] [ 5.91296360e-01 8.06443601e-01 -4.16319752e-03 -3.60759400e+02] [-6.99558548e-03 -3.30232857e-05 -9.99975530e-01 -4.80693973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters 0.046560029944635054 Centerline is valid? [True, True] Translation: X:366.81, Y:-360.66, Z:-4.81 [[-8.44800225e-01 5.35060941e-01 4.72961063e-03 3.66809649e+02] [ 5.35052492e-01 8.44813464e-01 -3.00699535e-03 -3.60655293e+02] [-5.60456450e-03 -9.72039439e-06 -9.99984294e-01 -4.80595923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters 0.04728536178410065 Centerline is valid? [True, True] Translation: X:366.64, Y:-359.92, Z:-5.95 [[-8.04048464e-01 -5.94548156e-01 4.30791438e-03 3.66635383e+02] [ 5.94539586e-01 -8.04060005e-01 -3.19208249e-03 -3.59918667e+02] [ 5.36166842e-03 -5.36339015e-06 9.99985626e-01 -5.94520293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters 0.047310952685138276 Centerline is valid? [True, True] Translation: X:366.31, Y:-360.32, Z:-4.80 [[-8.49029411e-01 5.28311829e-01 5.97248628e-03 3.66307442e+02] [ 5.28298404e-01 8.49050416e-01 -3.76659617e-03 -3.60320991e+02] [-7.06087927e-03 -4.26959576e-05 -9.99975071e-01 -4.80342574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters 0.04718138308931181 Centerline is valid? [True, True] Translation: X:366.18, Y:-360.16, Z:-4.80 [[-8.85811213e-01 4.63986994e-01 7.38673931e-03 3.66183214e+02] [ 4.63970125e-01 8.85842008e-01 -3.95717417e-03 -3.60162896e+02] [-8.37956133e-03 -7.80828864e-05 -9.99964888e-01 -4.80127824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters 0.04719170960601923 Centerline is valid? [True, True] Translation: X:366.60, Y:-360.28, Z:-4.80 [[-9.18344721e-01 3.95656152e-01 9.95909037e-03 3.66595648e+02] [ 3.95631596e-01 9.18398714e-01 -4.40939098e-03 -3.60277739e+02] [-1.08910185e-02 -1.09210109e-04 -9.99940685e-01 -4.79951487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters 0.047366606294754594 Centerline is valid? [True, True] Translation: X:366.16, Y:-360.02, Z:-4.80 [[-9.41985515e-01 3.35475439e-01 1.09325415e-02 3.66161881e+02] [ 3.35452284e-01 9.42048952e-01 -3.94172868e-03 -3.60021640e+02] [-1.16213425e-02 -4.57052900e-05 -9.99932469e-01 -4.79697794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters 0.04724848137346194 Centerline is valid? [True, True] Translation: X:366.50, Y:-360.05, Z:-4.80 [[-9.63404833e-01 2.67799035e-01 1.16105860e-02 3.66496046e+02] [ 2.67779557e-01 9.63474793e-01 -3.22987466e-03 -3.60048241e+02] [-1.20514643e-02 -2.59928475e-06 -9.99927379e-01 -4.80212999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters 0.04709472141131189 Centerline is valid? [True, True] Translation: X:366.43, Y:-359.50, Z:-5.95 [[-9.42512230e-01 -3.33972463e-01 1.15364935e-02 3.66426275e+02] [ 3.33947637e-01 -9.42582831e-01 -4.07210992e-03 -3.59504525e+02] [ 1.22340733e-02 1.45713489e-05 9.99925161e-01 -5.94905511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters 0.047600417333897 Centerline is valid? [True, True] Translation: X:366.21, Y:-359.52, Z:-5.95 [[-9.15937551e-01 -4.01155695e-01 1.15113725e-02 3.66205569e+02] [ 4.01125168e-01 -9.16009880e-01 -4.94960563e-03 -3.59519799e+02] [ 1.25300935e-02 8.39715874e-05 9.99921492e-01 -5.95049474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters 0.04643121735391777 Centerline is valid? [True, True] Translation: X:366.13, Y:-360.01, Z:-4.80 [[-9.48086081e-01 3.17807152e-01 1.14628786e-02 3.66126393e+02] [ 3.17782227e-01 9.48155365e-01 -3.98246332e-03 -3.60013745e+02] [-1.21342451e-02 -1.33018969e-04 -9.99926369e-01 -4.79994764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters 0.047231678522822375 Centerline is valid? [True, True] Translation: X:366.25, Y:-359.55, Z:-5.95 [[-9.15071247e-01 -4.03138585e-01 1.11307524e-02 3.66250565e+02] [ 4.03110499e-01 -9.15138931e-01 -4.76046909e-03 -3.59550561e+02] [ 1.21053136e-02 1.30754756e-04 9.99926720e-01 -5.94801342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters 0.04712092919849966 Centerline is valid? [True, True] Translation: X:365.68, Y:-359.86, Z:-4.80 [[-9.48823761e-01 3.15599212e-01 1.14283992e-02 3.65681330e+02] [ 3.15574819e-01 9.48892577e-01 -3.92561348e-03 -3.59856094e+02] [-1.20832437e-02 -1.18200340e-04 -9.99926988e-01 -4.79935427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters 0.04725148383114623 Centerline is valid? [True, True] Translation: X:365.87, Y:-359.83, Z:-4.80 [[-9.67382952e-01 2.52997617e-01 1.27447904e-02 3.65866277e+02] [ 2.52975202e-01 9.67466901e-01 -3.36784845e-03 -3.59834821e+02] [-1.31822205e-02 -3.38832375e-05 -9.99913110e-01 -4.80103787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters 0.04695151220325293 Centerline is valid? [True, True] Translation: X:365.81, Y:-359.74, Z:-4.80 [[-9.82417468e-01 1.86287387e-01 1.23663810e-02 3.65806691e+02] [ 1.86272651e-01 9.82495298e-01 -2.34307676e-03 -3.59736952e+02] [-1.25863969e-02 1.63904448e-06 -9.99920788e-01 -4.80043858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters 0.046488612615328814 Centerline is valid? [True, True] Translation: X:365.36, Y:-359.12, Z:-5.95 [[-9.67451072e-01 -2.52865531e-01 9.87149127e-03 3.65357970e+02] [ 2.52850840e-01 -9.67501422e-01 -2.72959689e-03 -3.59120535e+02] [ 1.02409028e-02 -1.44736580e-04 9.99947550e-01 -5.94777054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters 0.04683949690635961 Centerline is valid? [True, True] Translation: X:365.32, Y:-359.63, Z:-4.80 [[-9.83964738e-01 1.78101341e-01 9.65949551e-03 3.65320576e+02] [ 1.78092441e-01 9.84012150e-01 -1.78084132e-03 -3.59633546e+02] [-9.82223117e-03 -3.20019310e-05 -9.99951760e-01 -4.80318460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters 0.04686264388549883 Centerline is valid? [True, True] Translation: X:365.45, Y:-359.57, Z:-4.80 [[-9.94445738e-01 1.04926550e-01 8.25190977e-03 3.65446154e+02] [ 1.04922608e-01 9.94479973e-01 -9.10390961e-04 -3.59569825e+02] [-8.30188319e-03 -3.95225147e-05 -9.99965538e-01 -4.80473476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters 0.04645139379356181 Centerline is valid? [True, True] Translation: X:364.97, Y:-359.46, Z:-4.80 [[-9.99421556e-01 3.34662925e-02 6.04657064e-03 3.64970560e+02] [ 3.34654820e-02 9.99439846e-01 -2.35192350e-04 -3.59456741e+02] [-6.05105464e-03 -3.27049031e-05 -9.99981692e-01 -4.80380948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters 0.04680812836701513 Centerline is valid? [True, True] Translation: X:364.81, Y:-358.94, Z:-5.95 [[-9.93707311e-01 -1.11888258e-01 5.17669806e-03 3.64808205e+02] [ 1.11886606e-01 -9.93720794e-01 -6.08491568e-04 -3.58937928e+02] [ 5.21227557e-03 -2.54593421e-05 9.99986416e-01 -5.94541000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters 0.04705310842413047 Centerline is valid? [True, True] Translation: X:365.03, Y:-359.46, Z:-4.80 [[-9.99705015e-01 2.38321008e-02 4.68122587e-03 3.65033904e+02] [ 2.38316910e-02 9.99715975e-01 -1.43301080e-04 -3.59464385e+02] [-4.68331145e-03 -3.16972797e-05 -9.99989033e-01 -4.80473392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters 0.04700164776870396 Centerline is valid? [True, True] Translation: X:364.56, Y:-358.94, Z:-5.95 [[-9.94160192e-01 -1.07760465e-01 5.76145358e-03 3.64558474e+02] [ 1.07759292e-01 -9.94176881e-01 -5.14558990e-04 -3.58940478e+02] [ 5.78335307e-03 1.09296097e-04 9.99983270e-01 -5.94830270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters 0.047325044618516166 Centerline is valid? [True, True] Translation: X:364.70, Y:-359.44, Z:-4.80 [[-9.99852633e-01 1.56749980e-02 7.00044012e-03 3.64696169e+02] [ 1.56742138e-02 9.99877138e-01 -1.66875628e-04 -3.59442028e+02] [-7.00219581e-03 -5.71246409e-05 -9.99975483e-01 -4.80258928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters 0.04722009673060757 Centerline is valid? [True, True] Translation: X:364.70, Y:-359.35, Z:-4.80 [[-9.98682336e-01 -5.07750475e-02 7.44895924e-03 3.64695422e+02] [-5.07738207e-02 9.98710115e-01 3.53837102e-04 -3.59354227e+02] [-7.45731703e-03 -2.48412572e-05 -9.99972194e-01 -4.80066927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters 0.047388736905612815 Centerline is valid? [True, True] Translation: X:364.49, Y:-359.28, Z:-4.80 [[-9.93088882e-01 -1.17136685e-01 7.31230390e-03 3.64493796e+02] [-1.17133448e-01 9.93115802e-01 8.70916898e-04 -3.59284427e+02] [-7.36398087e-03 8.38252124e-06 -9.99972886e-01 -4.79881330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters 0.04730190199257737 Centerline is valid? [True, True] Translation: X:364.43, Y:-359.20, Z:-4.80 [[-9.82517145e-01 -1.86074989e-01 6.01325695e-03 3.64429872e+02] [-1.86071397e-01 9.82535546e-01 1.15624109e-03 -3.59201149e+02] [-6.12338625e-03 1.71315730e-05 -9.99981252e-01 -4.79612603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters 0.04647879616565726 Centerline is valid? [True, True] Translation: X:364.41, Y:-359.11, Z:-4.79 [[-9.66388107e-01 -2.56997746e-01 6.79604852e-03 3.64406850e+02] [-2.56991277e-01 9.66412003e-01 1.82341914e-03 -3.59114161e+02] [-7.03639747e-03 1.56053817e-05 -9.99975244e-01 -4.79431417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters 0.04614736951305662 Centerline is valid? [True, True] Translation: X:364.15, Y:-359.10, Z:-4.79 [[-9.45590109e-01 -3.25280199e-01 7.22071369e-03 3.64154941e+02] [-3.25270601e-01 9.45617678e-01 2.49872272e-03 -3.59100592e+02] [-7.64081953e-03 1.40816051e-05 -9.99970808e-01 -4.79225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters 0.04617857772405487 Centerline is valid? [True, True] Translation: X:363.99, Y:-359.07, Z:-4.79 [[-9.19853407e-01 -3.92169867e-01 8.51500588e-03 3.63987515e+02] [-3.92152943e-01 9.19892817e-01 3.64343403e-03 -3.59073495e+02] [-9.26173778e-03 1.22405905e-05 -9.99957109e-01 -4.78976383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters 0.04499535037966322 Centerline is valid? [True, True] Translation: X:363.90, Y:-359.02, Z:-4.79 [[-8.88689906e-01 -4.58428907e-01 8.55500180e-03 3.63897603e+02] [-4.58407623e-01 8.88731083e-01 4.41741801e-03 -3.59021282e+02] [-9.62816812e-03 4.03675474e-06 -9.99953648e-01 -4.78814622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters 0.046252907496780724 Centerline is valid? [True, True] Translation: X:363.50, Y:-358.70, Z:-5.97 [[-9.17942074e-01 3.96571204e-01 1.06597173e-02 3.63501670e+02] [-3.96542782e-01 -9.18003956e-01 4.74966885e-03 -3.58696585e+02] [ 1.16692445e-02 1.32886919e-04 9.99931903e-01 -5.96527452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters 0.04683698382721381 Centerline is valid? [True, True] Translation: X:363.66, Y:-359.14, Z:-4.78 [[-8.84040862e-01 -4.67282711e-01 1.08913741e-02 3.63663984e+02] [-4.67247891e-01 8.84107949e-01 5.70457626e-03 -3.59140050e+02] [-1.22948002e-02 -4.58930434e-05 -9.99924415e-01 -4.78384619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters 0.04588747855302191 Centerline is valid? [True, True] Translation: X:363.53, Y:-359.11, Z:-4.78 [[-8.46119647e-01 -5.32913466e-01 9.20763553e-03 3.63532372e+02] [-5.32883003e-01 8.46169741e-01 5.69861168e-03 -3.59113729e+02] [-1.08280895e-02 -8.48851645e-05 -9.99941371e-01 -4.78429547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters 0.04560606109048132 Centerline is valid? [True, True] Translation: X:363.15, Y:-359.27, Z:-4.78 [[-8.04627275e-01 -5.93744745e-01 6.49047160e-03 3.63145500e+02] [-5.93726259e-01 8.04653448e-01 4.68592271e-03 -3.59266173e+02] [-8.00482234e-03 -8.31422084e-05 -9.99967957e-01 -4.78351499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters 0.045344982225557065 Centerline is valid? [True, True] Translation: X:362.96, Y:-359.30, Z:-4.78 [[-7.58207792e-01 -6.52005473e-01 3.13169050e-03 3.62964438e+02] [-6.52000203e-01 7.58214257e-01 2.62208646e-03 -3.59303567e+02] [-4.08410711e-03 -5.37764595e-05 -9.99991659e-01 -4.78432795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters 0.04444771252107915 Centerline is valid? [True, True] Translation: X:362.81, Y:-359.34, Z:-4.78 [[-7.08890925e-01 -7.05314200e-01 2.35276519e-03 3.62810707e+02] [-7.05310521e-01 7.08894828e-01 2.27842106e-03 -3.59337826e+02] [-3.27486581e-03 -4.42780305e-05 -9.99994637e-01 -4.78361904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters 0.04480000529793325 Centerline is valid? [True, True] Translation: X:362.63, Y:-359.42, Z:-4.78 [[-6.59248058e-01 -7.51920754e-01 2.67893610e-03 3.62632276e+02] [-7.51914795e-01 6.59253500e-01 2.99385543e-03 -3.59417478e+02] [-4.01724003e-03 -4.06383101e-05 -9.99991930e-01 -4.78240531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters 0.044781980316977124 Centerline is valid? [True, True] Translation: X:362.53, Y:-359.43, Z:-4.78 [[-6.06286958e-01 -7.95240234e-01 3.01581065e-03 3.62532585e+02] [-7.95230593e-01 6.06294458e-01 3.91593277e-03 -3.59425719e+02] [-4.94257658e-03 -2.40859252e-05 -9.99987785e-01 -4.78280131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters 0.044547510456584276 Centerline is valid? [True, True] Translation: X:362.27, Y:-359.67, Z:-4.78 [[-5.50217719e-01 -8.35015317e-01 3.14357591e-03 3.62269854e+02] [-8.35001838e-01 5.50226699e-01 4.74447076e-03 -3.59665135e+02] [-5.69138515e-03 -1.43997806e-05 -9.99983804e-01 -4.78187838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters 0.04393564656331935 Centerline is valid? [True, True] Translation: X:362.19, Y:-359.65, Z:-4.78 [[-4.87255360e-01 -8.73257569e-01 1.85274477e-03 3.62187264e+02] [-8.73251302e-01 4.87258882e-01 3.30840640e-03 -3.59654660e+02] [-3.79185728e-03 -5.87302819e-06 -9.99992811e-01 -4.78365839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters 0.04570536235265054 Centerline is valid? [True, True] Translation: X:362.02, Y:-359.81, Z:-4.78 [[-4.22511383e-01 -9.06357420e-01 5.99646349e-04 3.62015638e+02] [-9.06356509e-01 4.22511808e-01 1.28448327e-03 -3.59805181e+02] [-1.41755861e-03 -7.84568760e-07 -9.99998995e-01 -4.78341255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters 0.044378387497722965 Centerline is valid? [True, True] Translation: X:361.84, Y:-360.03, Z:-4.78 [[-3.56456392e-01 -9.34311960e-01 -4.44487548e-05 3.61838528e+02] [-9.34311954e-01 3.56456394e-01 -1.07116169e-04 -3.60025785e+02] [ 1.15923961e-04 3.34675969e-06 -9.99999993e-01 -4.78429496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters 0.045629941000226534 Centerline is valid? [True, True] Translation: X:361.72, Y:-360.15, Z:-4.79 [[-2.88896480e-01 -9.57360311e-01 -2.43843397e-04 3.61716952e+02] [-9.57359979e-01 2.88896583e-01 -7.96785315e-04 -3.60151605e+02] [ 8.33256161e-04 3.25743686e-06 -9.99999653e-01 -4.78522178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters 0.04456392526590958 Centerline is valid? [True, True] Translation: X:361.63, Y:-360.19, Z:-4.79 [[-2.18539148e-01 -9.75828149e-01 -2.54913517e-04 3.61627375e+02] [-9.75827493e-01 2.18539297e-01 -1.13150109e-03 -3.60188774e+02] [ 1.15985923e-03 1.47433327e-06 -9.99999327e-01 -4.78559731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters 0.044891583172544054 Centerline is valid? [True, True] Translation: X:361.51, Y:-360.35, Z:-4.78 [[-1.48675501e-01 -9.88886036e-01 5.83670282e-05 3.61513217e+02] [-9.88885947e-01 1.48675512e-01 4.20238049e-04 -3.60351917e+02] [-4.24245286e-04 4.76076836e-06 -9.99999910e-01 -4.78404876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters 0.044557494115466 Centerline is valid? [True, True] Translation: X:361.42, Y:-360.52, Z:-4.78 [[-7.85502433e-02 -9.96910068e-01 4.20182606e-04 3.61415438e+02] [-9.96892624e-01 7.85513545e-02 5.89759703e-03 -3.60521399e+02] [-5.91237977e-03 4.43807411e-05 -9.99982521e-01 -4.78222862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters 0.044485282708276515 Centerline is valid? [True, True] Translation: X:361.33, Y:-360.90, Z:-4.78 [[-8.81706026e-03 -9.99961129e-01 -9.07227212e-06 3.61325584e+02] [-9.99926710e-01 8.81668150e-03 8.29703937e-03 -3.60901207e+02] [-8.29663687e-03 8.22271033e-05 -9.99965579e-01 -4.77938272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters 0.045015051847376676 Centerline is valid? [True, True] Translation: X:361.25, Y:-361.03, Z:-4.78 [[ 6.43037383e-02 -9.97929981e-01 -8.84816433e-04 3.61250773e+02] [-9.97860491e-01 -6.43097028e-02 1.17771830e-02 -3.61031175e+02] [-1.18097062e-02 1.25606470e-04 -9.99930255e-01 -4.78026082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters 0.044844092305625936 Centerline is valid? [True, True] Translation: X:361.19, Y:-361.24, Z:-4.78 [[ 1.40267615e-01 -9.90112210e-01 -1.67574780e-03 3.61192456e+02] [-9.90048870e-01 -1.40277596e-01 1.11996436e-02 -3.61242137e+02] [-1.13239738e-02 8.81249225e-05 -9.99935878e-01 -4.77847912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters 0.04530658692192137 Centerline is valid? [True, True] Translation: X:361.14, Y:-361.43, Z:-4.78 [[ 2.14767113e-01 -9.76662520e-01 -2.32589939e-03 3.61144987e+02] [-9.76608248e-01 -2.14779699e-01 1.02961938e-02 -3.61430400e+02] [-1.05554626e-02 6.02086961e-05 -9.99944288e-01 -4.77929712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters 0.04570641063200888 Centerline is valid? [True, True] Translation: X:361.15, Y:-361.76, Z:-4.78 [[ 2.86562279e-01 -9.58057102e-01 -2.94117966e-03 3.61154212e+02] [-9.58008318e-01 -2.86577368e-01 9.66826421e-03 -3.61761008e+02] [-1.01056247e-02 4.71147530e-05 -9.99948936e-01 -4.78008149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters 0.04533633578027755 Centerline is valid? [True, True] Translation: X:361.16, Y:-361.99, Z:-4.78 [[ 3.55702688e-01 -9.34589765e-01 -4.19143598e-03 3.61161091e+02] [-9.34526830e-01 -3.55727378e-01 1.08460946e-02 -3.61994358e+02] [-1.16276575e-02 5.90243896e-05 -9.99932395e-01 -4.78015131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters 0.045603807891527355 Centerline is valid? [True, True] Translation: X:361.19, Y:-362.25, Z:-4.78 [[ 4.23663965e-01 -9.05802147e-01 -5.59599222e-03 3.61190954e+02] [-9.05725043e-01 -4.23700916e-01 1.18186136e-02 -3.62245273e+02] [-1.30763526e-02 6.13095976e-05 -9.99914499e-01 -4.77960708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters 0.04551312740539485 Centerline is valid? [True, True] Translation: X:361.21, Y:-362.45, Z:-4.78 [[ 4.91857539e-01 -8.70654912e-01 -6.01548985e-03 3.61212528e+02] [-8.70590259e-01 -4.91894322e-01 1.06102612e-02 -3.62449586e+02] [-1.21968614e-02 1.82898869e-05 -9.99925615e-01 -4.77939716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters 0.04557668312038892 Centerline is valid? [True, True] Translation: X:361.23, Y:-362.63, Z:-4.78 [[ 5.57088949e-01 -8.30433127e-01 -5.72054356e-03 3.61230647e+02] [-8.30389036e-01 -5.57118319e-01 8.55728166e-03 -3.62628890e+02] [-1.02932698e-02 -1.68903990e-05 -9.99947023e-01 -4.78343649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters 0.045451584128218286 Centerline is valid? [True, True] Translation: X:361.18, Y:-362.69, Z:-4.79 [[ 6.17026572e-01 -7.86921171e-01 -5.76892875e-03 3.61183411e+02] [-7.86886484e-01 -6.17053539e-01 7.38857488e-03 -3.62694728e+02] [-9.37396390e-03 -1.94549712e-05 -9.99956063e-01 -4.78543032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters 0.04535387522757278 Centerline is valid? [True, True] Translation: X:361.30, Y:-362.95, Z:-4.79 [[ 6.72433825e-01 -7.40131768e-01 -6.14140485e-03 3.61302228e+02] [-7.40100717e-01 -6.72461869e-01 6.77968758e-03 -3.62950501e+02] [-9.14772274e-03 -1.36331187e-05 -9.99958159e-01 -4.78741282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters 0.045380212923214674 Centerline is valid? [True, True] Translation: X:361.37, Y:-363.13, Z:-4.79 [[ 7.24858093e-01 -6.88856969e-01 -7.53800423e-03 3.61371685e+02] [-6.88819488e-01 -7.24897286e-01 7.18593093e-03 -3.63127606e+02] [-1.04143574e-02 -1.64559785e-05 -9.99945769e-01 -4.78756938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters 0.04520668882316641 Centerline is valid? [True, True] Translation: X:361.35, Y:-363.21, Z:-4.79 [[ 7.76603625e-01 -6.29931534e-01 -8.54829006e-03 3.61347442e+02] [-6.29893098e-01 -7.76650670e-01 6.95866516e-03 -3.63212658e+02] [-1.10225178e-02 -1.96156749e-05 -9.99939250e-01 -4.78673712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters 0.04553490977544027 Centerline is valid? [True, True] Translation: X:361.33, Y:-363.30, Z:-4.79 [[ 8.23629482e-01 -5.67056603e-01 -9.01587434e-03 3.61332917e+02] [-5.67022327e-01 -8.23678826e-01 6.23475069e-03 -3.63295919e+02] [-1.09616413e-02 -2.29224371e-05 -9.99939919e-01 -4.78629281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters 0.04567981758606351 Centerline is valid? [True, True] Translation: X:361.33, Y:-363.38, Z:-4.79 [[ 8.65014135e-01 -5.01671621e-01 -8.72533416e-03 3.61327478e+02] [-5.01645956e-01 -8.65058140e-01 5.07444977e-03 -3.63375006e+02] [-1.00936288e-02 -1.24421817e-05 -9.99949058e-01 -4.78697360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters 0.04601515586216656 Centerline is valid? [True, True] Translation: X:361.33, Y:-363.46, Z:-4.79 [[ 8.99874147e-01 -4.36043377e-01 -9.62774245e-03 3.61326320e+02] [-4.36018758e-01 -8.99925648e-01 4.63359565e-03 -3.63459153e+02] [-1.06847011e-02 2.82233727e-05 -9.99942917e-01 -4.79028916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters 0.04655620118700851 Centerline is valid? [True, True] Translation: X:361.33, Y:-363.55, Z:-4.79 [[ 9.29122282e-01 -3.69652261e-01 -9.43353422e-03 3.61328808e+02] [-3.69634129e-01 -9.29170167e-01 3.66223778e-03 -3.63550126e+02] [-1.01191130e-02 8.42894857e-05 -9.99948797e-01 -4.79063413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters 0.04710588224497053 Centerline is valid? [True, True] Translation: X:361.33, Y:-363.66, Z:-4.80 [[ 9.52453241e-01 -3.04546368e-01 -9.18328134e-03 3.61331806e+02] [-3.04533898e-01 -9.52497497e-01 2.76099731e-03 -3.63659023e+02] [-9.58790419e-03 1.66899626e-04 -9.99954021e-01 -4.79607073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters 0.04759183524383685 Centerline is valid? [True, True] Translation: X:361.34, Y:-363.79, Z:-4.80 [[ 9.72350106e-01 -2.33415140e-01 -7.25560286e-03 3.61336875e+02] [-2.33409884e-01 -9.72377163e-01 1.57474699e-03 -3.63789616e+02] [-7.42275231e-03 1.62324015e-04 -9.99972438e-01 -4.79726765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters 0.04692541698161899 Centerline is valid? [True, True] Translation: X:361.35, Y:-363.92, Z:-4.80 [[ 9.87685579e-01 -1.56333170e-01 -6.09403693e-03 3.61352451e+02] [-1.56331022e-01 -9.87704370e-01 8.30224424e-04 -3.63921882e+02] [-6.14889852e-03 1.32686331e-04 -9.99981087e-01 -4.79763464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters 0.047971282292031105 Centerline is valid? [True, True] Translation: X:361.38, Y:-364.04, Z:-4.80 [[ 9.97002541e-01 -7.72374100e-02 -4.50736486e-03 3.61378220e+02] [-7.72370368e-02 -9.97012725e-01 2.57062844e-04 -3.64041517e+02] [-4.51375499e-03 9.18431968e-05 -9.99989809e-01 -4.79645044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters 0.04775727018965817 Centerline is valid? [True, True] Translation: X:361.41, Y:-364.17, Z:-4.80 [[ 9.99984892e-01 1.78784076e-03 -5.19795762e-03 3.61409432e+02] [ 1.78729023e-03 -9.99998397e-01 -1.10556586e-04 -3.64168663e+02] [-5.19814694e-03 1.01264657e-04 -9.99986484e-01 -4.79890332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters 0.04740275458644858 Centerline is valid? [True, True] Translation: X:361.45, Y:-364.28, Z:-4.80 [[ 9.96768521e-01 8.00913028e-02 -6.15613457e-03 3.61448931e+02] [ 8.00890346e-02 -9.96787525e-01 -6.14480766e-04 -3.64282910e+02] [-6.18557271e-03 1.19456210e-04 -9.99980862e-01 -4.79828570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters 0.048050293085484516 Centerline is valid? [True, True] Translation: X:361.50, Y:-364.40, Z:-4.80 [[ 9.87468123e-01 1.57656269e-01 -7.15590981e-03 3.61499320e+02] [ 1.57651092e-01 -9.87494041e-01 -1.28542683e-03 -3.64397076e+02] [-7.26907390e-03 1.41181023e-04 -9.99973570e-01 -4.80061640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters 0.04856962607232376 Centerline is valid? [True, True] Translation: X:361.56, Y:-364.50, Z:-4.80 [[ 9.72239704e-01 2.33904217e-01 -6.22698710e-03 3.61558102e+02] [ 2.33898569e-01 -9.72259636e-01 -1.63056869e-03 -3.64503600e+02] [-6.43564511e-03 1.28820242e-04 -9.99979283e-01 -4.80221739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters 0.04840210333432116 Centerline is valid? [True, True] Translation: X:361.62, Y:-364.61, Z:-4.80 [[ 9.51128633e-01 3.08755391e-01 -4.94286699e-03 3.61624326e+02] [ 3.08750630e-01 -9.51141470e-01 -1.71808660e-03 -3.64605071e+02] [-5.23183428e-03 1.08008066e-04 -9.99986308e-01 -4.80212537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters 0.049050039627470614 Centerline is valid? [True, True] Translation: X:361.70, Y:-364.70, Z:-4.80 [[ 9.24045712e-01 3.82255819e-01 -4.47337052e-03 3.61699077e+02] [ 3.82250809e-01 -9.24056534e-01 -1.95961304e-03 -3.64697044e+02] [-4.88272074e-03 1.00822528e-04 -9.99988074e-01 -4.80355042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters 0.0497656894043282 Centerline is valid? [True, True] Translation: X:361.78, Y:-364.78, Z:-4.80 [[ 8.90780486e-01 4.54404375e-01 -5.17591008e-03 3.61780573e+02] [ 4.54395959e-01 -8.90795516e-01 -2.76798549e-03 -3.64780877e+02] [-5.86846221e-03 1.13754838e-04 -9.99982774e-01 -4.80394533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters 0.050025745977799185 Centerline is valid? [True, True] Translation: X:361.86, Y:-364.85, Z:-4.80 [[ 8.52387608e-01 5.22893337e-01 -4.23360048e-03 3.61860998e+02] [ 5.22886320e-01 -8.52398117e-01 -2.71053210e-03 -3.64847499e+02] [-5.02603225e-03 9.67322005e-05 -9.99987365e-01 -4.80430918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters 0.05044834722993708 Centerline is valid? [True, True] Translation: X:361.95, Y:-364.91, Z:-4.81 [[ 8.09608082e-01 5.86964407e-01 -2.74545999e-03 3.61952605e+02] [ 5.86960731e-01 -8.09612734e-01 -2.07881193e-03 -3.64912856e+02] [-3.44294798e-03 7.15457400e-05 -9.99994071e-01 -4.80801284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters 0.05143540739472197 Centerline is valid? [True, True] Translation: X:362.07, Y:-364.99, Z:-4.81 [[ 7.62707468e-01 6.46740232e-01 -2.09549623e-03 3.62066133e+02] [ 6.46737553e-01 -7.62710344e-01 -1.86251551e-03 -3.64989805e+02] [-2.80282036e-03 6.53183840e-05 -9.99996070e-01 -4.81026684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters 0.05249087156891288 Centerline is valid? [True, True] Translation: X:362.18, Y:-365.05, Z:-4.81 [[ 7.12900553e-01 7.01264014e-01 -1.25892349e-03 3.62178651e+02] [ 7.01262791e-01 -7.12901662e-01 -1.31057329e-03 -3.65049045e+02] [-1.81654653e-03 5.14722185e-05 -9.99998349e-01 -4.81102156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters 0.05231846189896198 Centerline is valid? [True, True] Translation: X:362.29, Y:-365.09, Z:-4.81 [[ 6.58148767e-01 7.52887663e-01 -6.05369367e-04 3.62288450e+02] [ 7.52887300e-01 -6.58149045e-01 -7.40231556e-04 -3.65092440e+02] [-9.55734477e-04 3.14075782e-05 -9.99999543e-01 -4.81067481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters 0.05326490583555242 Centerline is valid? [True, True] Translation: X:362.41, Y:-365.13, Z:-4.81 [[ 5.98931180e-01 8.00800389e-01 4.23442143e-04 3.62406619e+02] [ 8.00800164e-01 -5.98931329e-01 6.00216475e-04 -3.65130082e+02] [ 7.34266352e-04 -2.03958240e-05 -9.99999730e-01 -4.81140443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters 0.05368137963161218 Centerline is valid? [True, True] Translation: X:362.52, Y:-365.15, Z:-4.81 [[ 5.33606762e-01 8.45732343e-01 7.92379433e-04 3.62522636e+02] [ 8.45731282e-01 -5.33607349e-01 1.34025275e-03 -3.65152524e+02] [ 1.55631458e-03 -4.50278543e-05 -9.99998788e-01 -4.81193651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters 0.053861127301093555 Centerline is valid? [True, True] Translation: X:362.65, Y:-365.17, Z:-4.81 [[ 4.62520257e-01 8.86607564e-01 1.42828222e-03 3.62646025e+02] [ 8.86602752e-01 -4.62522454e-01 2.92217036e-03 -3.65167237e+02] [ 3.25143094e-03 -8.52440355e-05 -9.99994711e-01 -4.81152214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters 0.05435878210055009 Centerline is valid? [True, True] Translation: X:362.78, Y:-365.18, Z:-4.81 [[ 3.88867432e-01 9.21292983e-01 1.16605125e-03 3.62780288e+02] [ 9.21288261e-01 -3.88869173e-01 2.95067309e-03 -3.65175215e+02] [ 3.17187580e-03 -7.31513373e-05 -9.99994967e-01 -4.80986271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters 0.054161381113200055 Centerline is valid? [True, True] Translation: X:362.91, Y:-365.17, Z:-4.81 [[ 3.17372366e-01 9.48300915e-01 3.95798338e-04 3.62913023e+02] [ 9.48300048e-01 -3.17372612e-01 1.28270848e-03 -3.65171349e+02] [ 1.34200918e-03 -3.17606434e-05 -9.99999099e-01 -4.80908504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters 0.05471776047657918 Centerline is valid? [True, True] Translation: X:363.04, Y:-365.15, Z:-4.81 [[ 2.46109913e-01 9.69241748e-01 -5.86654957e-04 3.63041567e+02] [ 9.69238124e-01 -2.46110597e-01 -2.65194423e-03 -3.65153515e+02] [-2.71475706e-03 8.40614129e-05 -9.99996312e-01 -4.80738085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters 0.05480898821268414 Centerline is valid? [True, True] Translation: X:363.16, Y:-365.12, Z:-4.81 [[ 1.77703769e-01 9.84083580e-01 -9.37098168e-04 3.63156964e+02] [ 9.84061161e-01 -1.77706051e-01 -6.64761876e-03 -3.65122188e+02] [-6.70834048e-03 2.59144997e-04 -9.99977465e-01 -4.80567405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters 0.05511379284059979 Centerline is valid? [True, True] Translation: X:363.28, Y:-365.08, Z:-4.80 [[ 1.02922986e-01 9.94689162e-01 -5.75208135e-04 3.63278120e+02] [ 9.94645862e-01 -1.02923878e-01 -9.28895299e-03 -3.65080628e+02] [-9.29882351e-03 3.83918389e-04 -9.99956691e-01 -4.80414516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters 0.05485420980965532 Centerline is valid? [True, True] Translation: X:363.40, Y:-365.03, Z:-4.80 [[ 1.87000917e-02 9.99825124e-01 1.67208256e-04 3.63398220e+02] [ 9.99773398e-01 -1.86974223e-02 -1.01764405e-02 -3.65028708e+02] [-1.01715345e-02 3.57470735e-04 -9.99948205e-01 -4.80384105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters 0.055170166943812673 Centerline is valid? [True, True] Translation: X:363.52, Y:-364.96, Z:-4.80 [[-6.54141829e-02 9.97857706e-01 9.91841866e-04 3.63519516e+02] [ 9.97803144e-01 6.54209826e-02 -1.04394333e-02 -3.64963930e+02] [-1.04819562e-02 3.06775935e-04 -9.99945016e-01 -4.80484523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters 0.05499925172459528 Centerline is valid? [True, True] Translation: X:363.45, Y:-364.91, Z:-5.94 [[-1.16278251e-01 -9.93216087e-01 1.08326397e-03 3.63446962e+02] [ 9.93150294e-01 -1.16283020e-01 -1.14347139e-02 -3.64910583e+02] [ 1.14831070e-02 -2.53764614e-04 9.99934035e-01 -5.94247582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters 0.055510607377999135 Centerline is valid? [True, True] Translation: X:363.43, Y:-364.85, Z:-5.94 [[-1.14888874e-01 -9.93377732e-01 1.10843963e-03 3.63433667e+02] [ 9.93308696e-01 -1.14893960e-01 -1.17137602e-02 -3.64849422e+02] [ 1.17635415e-02 -2.44757992e-04 9.99930777e-01 -5.94209103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters 0.0550743985620114 Centerline is valid? [True, True] Translation: X:363.42, Y:-364.79, Z:-5.94 [[-1.13664785e-01 -9.93518622e-01 1.03170941e-03 3.63416206e+02] [ 9.93458683e-01 -1.13669262e-01 -1.09153229e-02 -3.64789089e+02] [ 1.09618502e-02 -2.15727157e-04 9.99939894e-01 -5.94289678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters 0.05414658469248111 Centerline is valid? [True, True] Translation: X:363.39, Y:-364.73, Z:-5.94 [[-1.15869941e-01 -9.93264181e-01 6.50648066e-04 3.63388164e+02] [ 9.93240318e-01 -1.15871669e-01 -6.88672357e-03 -3.64728902e+02] [ 6.91572752e-03 -1.51714364e-04 9.99976075e-01 -5.93890983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters 0.05349561195260197 Centerline is valid? [True, True] Translation: X:363.37, Y:-364.67, Z:-5.94 [[-1.20947893e-01 -9.92658804e-01 3.25025588e-04 3.63365132e+02] [ 9.92652847e-01 -1.20948294e-01 -3.44032187e-03 -3.64670591e+02] [ 3.45437708e-03 -9.34621069e-05 9.99994029e-01 -5.93802197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters 0.05331451305555532 Centerline is valid? [True, True] Translation: X:363.34, Y:-364.61, Z:-5.94 [[-1.22952288e-01 -9.92412573e-01 1.40036640e-04 3.63343712e+02] [ 9.92411466e-01 -1.22952360e-01 -1.48275783e-03 -3.64610620e+02] [ 1.48872535e-03 -4.33344999e-05 9.99998891e-01 -5.93857190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters 0.05310868587850013 Centerline is valid? [True, True] Translation: X:363.33, Y:-364.55, Z:-5.94 [[-1.21169553e-01 -9.92631813e-01 1.55499718e-04 3.63327168e+02] [ 9.92630448e-01 -1.21169644e-01 -1.64678350e-03 -3.64550868e+02] [ 1.65349153e-03 -4.51862653e-05 9.99998632e-01 -5.93823095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters 0.05289376257988631 Centerline is valid? [True, True] Translation: X:363.30, Y:-364.49, Z:-5.94 [[-1.16662806e-01 -9.93171552e-01 2.39930708e-04 3.63303902e+02] [ 9.93168303e-01 -1.16663039e-01 -2.54106052e-03 -3.64492159e+02] [ 2.55170007e-03 -5.81556775e-05 9.99996743e-01 -5.93827987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters 0.05260385838820298 Centerline is valid? [True, True] Translation: X:363.28, Y:-364.43, Z:-5.94 [[-1.14830726e-01 -9.93385067e-01 1.14057117e-04 3.63283970e+02] [ 9.93384331e-01 -1.14830779e-01 -1.20941920e-03 -3.64431848e+02] [ 1.21451624e-03 -2.55759311e-05 9.99999262e-01 -5.93785732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters 0.05220457511443856 Centerline is valid? [True, True] Translation: X:363.26, Y:-364.37, Z:-5.94 [[-1.15677938e-01 -9.93286759e-01 -1.73235457e-04 3.63260662e+02] [ 9.93285056e-01 -1.15678061e-01 1.83940298e-03 -3.64371906e+02] [-1.84709416e-03 4.07061532e-05 9.99998293e-01 -5.93712293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters 0.052494615676688505 Centerline is valid? [True, True] Translation: X:363.24, Y:-364.31, Z:-5.94 [[-1.16505707e-01 -9.93190004e-01 -1.88571361e-04 3.63244549e+02] [ 9.93187986e-01 -1.16505850e-01 2.00308851e-03 -3.64312440e+02] [-2.01141716e-03 4.60844328e-05 9.99997976e-01 -5.93654941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters 0.05181829782779643 Centerline is valid? [True, True] Translation: X:363.22, Y:-364.25, Z:-5.94 [[-1.14122067e-01 -9.93466607e-01 -5.05121924e-04 3.63217234e+02] [ 9.93452096e-01 -1.14123131e-01 5.37062363e-03 -3.64253323e+02] [-5.39318133e-03 1.11092235e-04 9.99985451e-01 -5.93819670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters 0.05167949828914943 Centerline is valid? [True, True] Translation: X:363.20, Y:-364.19, Z:-5.94 [[-1.14072460e-01 -9.93472304e-01 -5.04465576e-04 3.63197391e+02] [ 9.93457797e-01 -1.14073521e-01 5.37007665e-03 -3.64193251e+02] [-5.39256858e-03 1.11412592e-04 9.99985454e-01 -5.93803705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters 0.050958549528293935 Centerline is valid? [True, True] Translation: X:363.18, Y:-364.13, Z:-5.94 [[-1.15839255e-01 -9.93267820e-01 -5.52705225e-04 3.63177199e+02] [ 9.93250363e-01 -1.15840496e-01 5.89039889e-03 -3.64132230e+02] [-5.91476931e-03 1.33364752e-04 9.99982499e-01 -5.93849790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters 0.05085055089355626 Centerline is valid? [True, True] Translation: X:363.15, Y:-364.07, Z:-5.94 [[-1.20620399e-01 -9.92698406e-01 -7.70441248e-04 3.63149831e+02] [ 9.92664392e-01 -1.20622646e-01 8.22088732e-03 -3.64071698e+02] [-8.25379440e-03 2.26817114e-04 9.99965911e-01 -5.93923856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters 0.05008041683635179 Centerline is valid? [True, True] Translation: X:363.13, Y:-364.01, Z:-5.94 [[-1.26302006e-01 -9.91991288e-01 -1.04314438e-03 3.63126060e+02] [ 9.91928745e-01 -1.26305763e-01 1.11453251e-02 -3.64010236e+02] [-1.11878205e-02 3.72952020e-04 9.99937345e-01 -5.94120569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters 0.04943168337690281 Centerline is valid? [True, True] Translation: X:363.11, Y:-363.95, Z:-5.94 [[-1.29690828e-01 -9.91553680e-01 -1.26065711e-03 3.63107811e+02] [ 9.91462042e-01 -1.29695992e-01 1.34895602e-02 -3.63947488e+02] [-1.35391252e-02 4.99578552e-04 9.99908217e-01 -5.94197694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters 0.04797943149243688 Centerline is valid? [True, True] Translation: X:363.08, Y:-363.89, Z:-5.94 [[-1.34539128e-01 -9.90907530e-01 -1.22076917e-03 3.63081680e+02] [ 9.90821366e-01 -1.34543542e-01 1.30788545e-02 -3.63887241e+02] [-1.31241820e-02 5.50053507e-04 9.99913723e-01 -5.93962865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters 0.04813195743579637 Centerline is valid? [True, True] Translation: X:363.07, Y:-363.82, Z:-5.94 [[-1.26330883e-01 -9.91987718e-01 -9.36025676e-04 3.63069528e+02] [ 9.91936974e-01 -1.26333894e-01 1.00392594e-02 -3.63824074e+02] [-1.00770737e-02 3.39790021e-04 9.99949167e-01 -5.94448967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters 0.048154699224716414 Centerline is valid? [True, True] Translation: X:363.07, Y:-363.76, Z:-5.94 [[-1.21053719e-01 -9.92645802e-01 -5.56445417e-04 3.63065527e+02] [ 9.92627829e-01 -1.21054877e-01 5.97574604e-03 -3.63761941e+02] [-5.99915965e-03 1.71043076e-04 9.99981990e-01 -5.94483353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters 0.04778105409080654 Centerline is valid? [True, True] Translation: X:363.07, Y:-363.70, Z:-5.94 [[-1.23380663e-01 -9.92359370e-01 -3.03434579e-04 3.63065949e+02] [ 9.92354022e-01 -1.23380994e-01 3.25965077e-03 -3.63700166e+02] [-3.27218305e-03 1.01063348e-04 9.99994641e-01 -5.94421772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters 0.049085617056471 Centerline is valid? [True, True] Translation: X:363.05, Y:-363.64, Z:-5.95 [[-1.32758461e-01 -9.91148399e-01 -2.06559582e-04 3.63052162e+02] [ 9.91145917e-01 -1.32758591e-01 2.21977412e-03 -3.63639150e+02] [-2.22754812e-03 8.99631085e-05 9.99997515e-01 -5.94790714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters 0.04840402595905457 Centerline is valid? [True, True] Translation: X:363.06, Y:-363.58, Z:-5.95 [[-1.33369986e-01 -9.91066304e-01 -1.65074522e-04 3.63059945e+02] [ 9.91064715e-01 -1.33370068e-01 1.77621492e-03 -3.63575995e+02] [-1.78236276e-03 7.32942245e-05 9.99998409e-01 -5.95008352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters 0.04885311353517971 Centerline is valid? [True, True] Translation: X:363.05, Y:-363.52, Z:-5.95 [[-1.30889089e-01 -9.91397008e-01 -1.40436290e-04 3.63045552e+02] [ 9.91395855e-01 -1.30889151e-01 1.51287661e-03 -3.63515298e+02] [-1.51824293e-03 5.87910850e-05 9.99998846e-01 -5.94927793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters 0.048544598910049294 Centerline is valid? [True, True] Translation: X:363.05, Y:-363.45, Z:-5.95 [[-1.28917862e-01 -9.91655188e-01 -4.15114329e-04 3.63045938e+02] [ 9.91645097e-01 -1.28918425e-01 4.47666540e-03 -3.63454727e+02] [-4.49282435e-03 1.65476045e-04 9.99989894e-01 -5.94787865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters 0.048934238387980465 Centerline is valid? [True, True] Translation: X:363.03, Y:-363.40, Z:-5.95 [[-1.26626645e-01 -9.91950046e-01 -8.93341456e-04 3.63032161e+02] [ 9.91903303e-01 -1.26629356e-01 9.63559783e-03 -3.63395076e+02] [-9.67115497e-03 3.34015088e-04 9.99953178e-01 -5.94827244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters 0.04931271417856811 Centerline is valid? [True, True] Translation: X:363.03, Y:-363.33, Z:-5.95 [[-1.22298994e-01 -9.92492387e-01 -1.34814603e-03 3.63025491e+02] [ 9.92385642e-01 -1.22305622e-01 1.45627112e-02 -3.63332106e+02] [-1.46182658e-02 4.43124169e-04 9.99893049e-01 -5.94897560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters 0.04982759767569985 Centerline is valid? [True, True] Translation: X:363.02, Y:-363.27, Z:-5.95 [[-1.21683688e-01 -9.92567863e-01 -1.45506065e-03 3.63020328e+02] [ 9.92443202e-01 -1.21691476e-01 1.57376970e-02 -3.63270039e+02] [-1.57978007e-02 4.70955961e-04 9.99875096e-01 -5.95229245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters 0.04934925291500284 Centerline is valid? [True, True] Translation: X:363.02, Y:-363.21, Z:-5.95 [[-1.23573946e-01 -9.92334058e-01 -1.61141853e-03 3.63022085e+02] [ 9.92180990e-01 -1.23583201e-01 1.74377652e-02 -3.63206782e+02] [-1.75032326e-02 5.56034624e-04 9.99846652e-01 -5.94870598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters 0.049131733319781344 Centerline is valid? [True, True] Translation: X:363.02, Y:-363.15, Z:-5.95 [[-1.26337354e-01 -9.91985793e-01 -1.74924187e-03 3.63019488e+02] [ 9.91805020e-01 -1.26347745e-01 1.89485915e-02 -3.63145774e+02] [-1.90177463e-02 6.59008036e-04 9.99818929e-01 -5.94613087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters 0.0491993379667388 Centerline is valid? [True, True] Translation: X:363.01, Y:-363.08, Z:-5.95 [[-1.27986692e-01 -9.91774478e-01 -1.67074150e-03 3.63014714e+02] [ 9.91609432e-01 -1.27995892e-01 1.81048581e-02 -3.63084159e+02] [-1.81697843e-02 6.60457864e-04 9.99834698e-01 -5.94708637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters 0.04968148168418262 Centerline is valid? [True, True] Translation: X:363.01, Y:-363.02, Z:-5.95 [[-1.29627669e-01 -9.91561412e-01 -1.62288289e-03 3.63010258e+02] [ 9.91405473e-01 -1.29636085e-01 1.75975269e-02 -3.63023752e+02] [-1.76594128e-02 6.72191420e-04 9.99843835e-01 -5.94978771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters 0.049950042498538086 Centerline is valid? [True, True] Translation: X:363.00, Y:-362.96, Z:-5.95 [[-1.29636906e-01 -9.91560173e-01 -1.64218050e-03 3.63001629e+02] [ 9.91400288e-01 -1.29645513e-01 1.78187961e-02 -3.62963250e+02] [-1.78813099e-02 6.81915377e-04 9.99839884e-01 -5.95106770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters 0.05259651878128863 Centerline is valid? [True, True] Translation: X:362.98, Y:-362.90, Z:-5.96 [[-1.29728088e-01 -9.91548159e-01 -1.69431013e-03 3.62979806e+02] [ 9.91377748e-01 -1.29737227e-01 1.83960223e-02 -3.62903657e+02] [-1.84603571e-02 7.06779437e-04 9.99829343e-01 -5.95901644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters 0.05023464983617063 Centerline is valid? [True, True] Translation: X:362.99, Y:-362.84, Z:-5.95 [[-1.32371472e-01 -9.91198423e-01 -1.86522375e-03 3.62990684e+02] [ 9.90991646e-01 -1.32381987e-01 2.02624790e-02 -3.62839863e+02] [-2.03310593e-02 8.33753017e-04 9.99792955e-01 -5.95135464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters 0.04927545189288545 Centerline is valid? [True, True] Translation: X:362.99, Y:-362.78, Z:-5.95 [[-1.35459108e-01 -9.90780692e-01 -2.10980653e-03 3.62992988e+02] [ 9.90515898e-01 -1.35471728e-01 2.29274094e-02 -3.62777568e+02] [-2.30018537e-02 1.01592952e-03 9.99734906e-01 -5.94813100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters 0.05044096579023475 Centerline is valid? [True, True] Translation: X:362.98, Y:-362.72, Z:-5.95 [[-1.38142153e-01 -9.90410372e-01 -2.01037490e-03 3.62984962e+02] [ 9.90169727e-01 -1.38152952e-01 2.18557396e-02 -3.62718313e+02] [-2.19238904e-02 1.02858655e-03 9.99759114e-01 -5.94877783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters 0.05093347254636188 Centerline is valid? [True, True] Translation: X:362.97, Y:-362.66, Z:-5.95 [[-1.36879150e-01 -9.90585931e-01 -1.90052081e-03 3.62972556e+02] [ 9.90370775e-01 -1.36889070e-01 2.06666452e-02 -3.62659177e+02] [-2.07322485e-02 9.46612545e-04 9.99784616e-01 -5.95328100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters 0.054037368666666016 Centerline is valid? [True, True] Translation: X:362.95, Y:-362.60, Z:-5.96 [[-1.38595119e-01 -9.90347469e-01 -1.81210824e-03 3.62951611e+02] [ 9.90151392e-01 -1.38603778e-01 1.97284936e-02 -3.62598794e+02] [-1.97892287e-02 9.40011427e-04 9.99803732e-01 -5.95991713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters 0.0561080524589539 Centerline is valid? [True, True] Translation: X:362.94, Y:-362.54, Z:-5.96 [[-1.46860410e-01 -9.89156032e-01 -1.53797683e-03 3.62939198e+02] [ 9.89014331e-01 -1.46865444e-01 1.67688581e-02 -3.62535370e+02] [-1.68128928e-02 9.41600245e-04 9.99858210e-01 -5.96202611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters 0.05306730064498959 Centerline is valid? [True, True] Translation: X:362.95, Y:-362.47, Z:-5.96 [[-1.55394032e-01 -9.87851876e-01 -1.16836736e-03 3.62947997e+02] [ 9.87769907e-01 -1.55396220e-01 1.27524913e-02 -3.62471661e+02] [-1.27791324e-02 8.27582931e-04 9.99918001e-01 -5.95930277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters 0.050770152463885256 Centerline is valid? [True, True] Translation: X:362.97, Y:-362.41, Z:-5.96 [[-1.65488865e-01 -9.86211139e-01 -1.01211386e-03 3.62972164e+02] [ 9.86149597e-01 -1.65489876e-01 1.10486666e-02 -3.62408125e+02] [-1.10638126e-02 8.30335613e-04 9.99938449e-01 -5.95716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters 0.0505947882022952 Centerline is valid? [True, True] Translation: X:362.95, Y:-362.35, Z:-5.96 [[-1.71941044e-01 -9.85106834e-01 -8.95612135e-04 3.62954614e+02] [ 9.85058627e-01 -1.71941520e-01 9.77826813e-03 -3.62348087e+02] [-9.78663168e-03 7.99055171e-04 9.99951791e-01 -5.95989492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters 0.05130631108819657 Centerline is valid? [True, True] Translation: X:362.96, Y:-362.29, Z:-5.96 [[-1.68781544e-01 -9.85653322e-01 -5.64635516e-04 3.62962605e+02] [ 9.85634161e-01 -1.68781794e-01 6.16493241e-03 -3.62287264e+02] [-6.17178631e-03 4.84002756e-04 9.99980837e-01 -5.96193633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters 0.05063805418470563 Centerline is valid? [True, True] Translation: X:362.95, Y:-362.23, Z:-5.96 [[-1.64728692e-01 -9.86338750e-01 -5.73770913e-04 3.62951183e+02] [ 9.86318968e-01 -1.64729032e-01 6.26409294e-03 -3.62227645e+02] [-6.27303433e-03 4.65954703e-04 9.99980216e-01 -5.96393060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters 0.05583279387147989 Centerline is valid? [True, True] Translation: X:362.91, Y:-362.17, Z:-5.97 [[-1.52934005e-01 -9.88236260e-01 -5.32682493e-04 3.62909055e+02] [ 9.88219211e-01 -1.52934502e-01 5.81631973e-03 -3.62171043e+02] [-5.82936359e-03 3.63105999e-04 9.99982943e-01 -5.96626100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters 0.05392947724521915 Centerline is valid? [True, True] Translation: X:362.91, Y:-362.11, Z:-5.96 [[-1.42781355e-01 -9.89754011e-01 -6.94793437e-04 3.62908390e+02] [ 9.89724959e-01 -1.42782494e-01 7.59376178e-03 -3.62108143e+02] [-7.61516052e-03 3.96593189e-04 9.99970926e-01 -5.96487160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters 0.05354870636163852 Centerline is valid? [True, True] Translation: X:362.91, Y:-362.05, Z:-5.96 [[-1.39759086e-01 -9.90185227e-01 -7.83988071e-04 3.62906103e+02] [ 9.90148157e-01 -1.39760645e-01 8.57845497e-03 -3.62045853e+02] [-8.60383005e-03 4.22652679e-04 9.99962897e-01 -5.96474525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters 0.05271574494552026 Centerline is valid? [True, True] Translation: X:362.90, Y:-361.98, Z:-5.97 [[-1.31084152e-01 -9.91370930e-01 -7.89947896e-04 3.62904615e+02] [ 9.91333252e-01 -1.31086063e-01 8.65034710e-03 -3.61983180e+02] [-8.67925381e-03 3.50821799e-04 9.99962273e-01 -5.96675017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters 0.05268259978405246 Centerline is valid? [True, True] Translation: X:362.90, Y:-361.92, Z:-5.97 [[-1.24593111e-01 -9.92207705e-01 -6.53956821e-04 3.62900759e+02] [ 9.92181859e-01 -1.24594588e-01 7.16573228e-03 -3.61920744e+02] [-7.19137426e-03 2.43956781e-04 9.99974112e-01 -5.96681952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters 0.05216432909690947 Centerline is valid? [True, True] Translation: X:362.90, Y:-361.86, Z:-5.97 [[-1.20662365e-01 -9.92693440e-01 -5.73161809e-04 3.62897386e+02] [ 9.92673551e-01 -1.20663577e-01 6.28671377e-03 -3.61859128e+02] [-6.30993927e-03 1.89607183e-04 9.99980074e-01 -5.96503300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters 0.05266323921322069 Centerline is valid? [True, True] Translation: X:362.89, Y:-361.80, Z:-5.96 [[-1.19966628e-01 -9.92777764e-01 -5.64989114e-04 3.62888966e+02] [ 9.92758399e-01 -1.19967818e-01 6.20351728e-03 -3.61797615e+02] [-6.22649453e-03 1.83317361e-04 9.99980598e-01 -5.96397544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters 0.051820469266165126 Centerline is valid? [True, True] Translation: X:362.88, Y:-361.74, Z:-5.96 [[-1.21015860e-01 -9.92650268e-01 -7.78825324e-04 3.62881952e+02] [ 9.92613398e-01 -1.21018081e-01 8.55959532e-03 -3.61735984e+02] [-8.59093654e-03 2.62774343e-04 9.99963063e-01 -5.96380504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters 0.052745405227598734 Centerline is valid? [True, True] Translation: X:362.87, Y:-361.68, Z:-5.97 [[-1.22345184e-01 -9.92487320e-01 -7.58771883e-04 3.62872253e+02] [ 9.92452264e-01 -1.22347243e-01 8.34595725e-03 -3.61675736e+02] [-8.37609039e-03 2.68042801e-04 9.99964884e-01 -5.96520280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters 0.05199242874893626 Centerline is valid? [True, True] Translation: X:362.87, Y:-361.61, Z:-5.97 [[-1.21904895e-01 -9.92541301e-01 -9.80629498e-04 3.62865546e+02] [ 9.92482629e-01 -1.21908356e-01 1.07973836e-02 -3.61613566e+02] [-1.08363961e-02 3.42996166e-04 9.99941226e-01 -5.96564062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters 0.05255611609292419 Centerline is valid? [True, True] Translation: X:362.86, Y:-361.55, Z:-5.96 [[-1.24593940e-01 -9.92207013e-01 -1.26195038e-03 3.62857985e+02] [ 9.92109640e-01 -1.24599403e-01 1.39086722e-02 -3.61551981e+02] [-1.39575204e-02 4.80943145e-04 9.99902473e-01 -5.96496978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters 0.051486652576386016 Centerline is valid? [True, True] Translation: X:362.85, Y:-361.49, Z:-5.96 [[-1.25862978e-01 -9.92046349e-01 -1.59768535e-03 3.62851434e+02] [ 9.91889949e-01 -1.25871523e-01 1.76263720e-02 -3.61490634e+02] [-1.76872811e-02 6.33779639e-04 9.99843367e-01 -5.96309120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters 0.05085390283604693 Centerline is valid? [True, True] Translation: X:362.85, Y:-361.43, Z:-5.96 [[-1.26413727e-01 -9.91976080e-01 -1.73981686e-03 3.62845137e+02] [ 9.91790458e-01 -1.26423750e-01 1.92021469e-02 -3.61428988e+02] [-1.92680246e-02 7.01881193e-04 9.99814108e-01 -5.96223327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters 0.051089387764647075 Centerline is valid? [True, True] Translation: X:362.84, Y:-361.37, Z:-5.97 [[-1.23443641e-01 -9.92349897e-01 -1.83024555e-03 3.62843706e+02] [ 9.92144112e-01 -1.23455335e-01 2.02198447e-02 -3.61367094e+02] [-2.02911144e-02 6.80143896e-04 9.99793883e-01 -5.96541874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters 0.05069106510869747 Centerline is valid? [True, True] Translation: X:362.84, Y:-361.31, Z:-5.97 [[-1.16505655e-01 -9.93188672e-01 -1.64167962e-03 3.62838948e+02] [ 9.93022865e-01 -1.16516213e-01 1.81538376e-02 -3.61305396e+02] [-1.82214681e-02 4.84799342e-04 9.99833858e-01 -5.96700696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters 0.05200855109337895 Centerline is valid? [True, True] Translation: X:362.83, Y:-361.24, Z:-5.97 [[-1.15340123e-01 -9.93325077e-01 -1.39532372e-03 3.62834269e+02] [ 9.93205099e-01 -1.15347885e-01 1.54433605e-02 -3.61243483e+02] [-1.55012249e-02 3.95396476e-04 9.99879771e-01 -5.96798420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters 0.05082711543215233 Centerline is valid? [True, True] Translation: X:362.83, Y:-361.18, Z:-5.97 [[-1.12666802e-01 -9.93632005e-01 -1.27690306e-03 3.62832108e+02] [ 9.93531470e-01 -1.12673571e-01 1.41380305e-02 -3.61181492e+02] [-1.41918728e-02 3.24243309e-04 9.99899238e-01 -5.96757575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters 0.05153455495616642 Centerline is valid? [True, True] Translation: X:362.83, Y:-361.12, Z:-5.97 [[-1.11896839e-01 -9.93719039e-01 -1.25294520e-03 3.62828447e+02] [ 9.93622175e-01 -1.11903430e-01 1.38779202e-02 -3.61118961e+02] [-1.39309624e-02 3.07941270e-04 9.99902912e-01 -5.96920671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters 0.052458513747830636 Centerline is valid? [True, True] Translation: X:362.82, Y:-361.06, Z:-5.97 [[-1.12229056e-01 -9.93681717e-01 -1.13318647e-03 3.62823212e+02] [ 9.93602319e-01 -1.12234417e-01 1.25645297e-02 -3.61056949e+02] [-1.26123260e-02 2.84168601e-04 9.99920421e-01 -5.97015663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters 0.05136620566489184 Centerline is valid? [True, True] Translation: X:362.82, Y:-361.00, Z:-5.97 [[-1.07441047e-01 -9.94210902e-01 -1.05100031e-03 3.62816078e+02] [ 9.94142492e-01 -1.07445985e-01 1.16647098e-02 -3.60995285e+02] [-1.17101075e-02 2.08424572e-04 9.99931413e-01 -5.97047533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters 0.05141640385919864 Centerline is valid? [True, True] Translation: X:362.81, Y:-360.93, Z:-5.97 [[-1.05689122e-01 -9.94398615e-01 -1.09681576e-03 3.62810626e+02] [ 9.94323966e-01 -1.05694629e-01 1.21858927e-02 -3.60933282e+02] [-1.22335623e-02 1.97326109e-04 9.99925148e-01 -5.97074616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters 0.050483345887163314 Centerline is valid? [True, True] Translation: X:362.81, Y:-360.87, Z:-5.97 [[-1.06590627e-01 -9.94302364e-01 -1.11656220e-03 3.62805771e+02] [ 9.94224836e-01 -1.06596261e-01 1.24182254e-02 -3.60870870e+02] [-1.24664922e-02 2.13552559e-04 9.99922268e-01 -5.96952447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters 0.049891899106993556 Centerline is valid? [True, True] Translation: X:362.80, Y:-360.81, Z:-5.97 [[-1.09895943e-01 -9.93942293e-01 -1.26523140e-03 3.62801602e+02] [ 9.93842527e-01 -1.09902842e-01 1.40853428e-02 -3.60809441e+02] [-1.41390704e-02 2.90481253e-04 9.99899996e-01 -5.96801035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters 0.05002430708195487 Centerline is valid? [True, True] Translation: X:362.80, Y:-360.75, Z:-5.97 [[-1.10949759e-01 -9.93824989e-01 -1.42926698e-03 3.62795750e+02] [ 9.93697422e-01 -1.10958423e-01 1.59267764e-02 -3.60747825e+02] [-1.59870176e-02 3.46813093e-04 9.99872139e-01 -5.96754706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters 0.05002748317717379 Centerline is valid? [True, True] Translation: X:362.79, Y:-360.69, Z:-5.97 [[-1.08061705e-01 -9.94142754e-01 -1.68874433e-03 3.62788638e+02] [ 9.93964324e-01 -1.08074310e-01 1.88379088e-02 -3.60686239e+02] [-1.89100804e-02 3.57104931e-04 9.99821125e-01 -5.96769608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters 0.04986243687624498 Centerline is valid? [True, True] Translation: X:362.78, Y:-360.63, Z:-5.97 [[-1.02714486e-01 -9.94709467e-01 -1.67652403e-03 3.62779958e+02] [ 9.94533333e-01 -1.02727849e-01 1.87200294e-02 -3.60625323e+02] [-1.87932162e-02 2.55459160e-04 9.99823359e-01 -5.96646965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters 0.05009285726641464 Centerline is valid? [True, True] Translation: X:362.77, Y:-360.56, Z:-5.97 [[-1.01282872e-01 -9.94856216e-01 -1.69960877e-03 3.62774167e+02] [ 9.94674838e-01 -1.01296862e-01 1.89976988e-02 -3.60563056e+02] [-1.90721438e-02 2.33583419e-04 9.99818083e-01 -5.96584510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters 0.04992041443983315 Centerline is valid? [True, True] Translation: X:362.76, Y:-360.50, Z:-5.98 [[-9.85523817e-02 -9.95130324e-01 -1.75132733e-03 3.62763340e+02] [ 9.94937333e-01 -9.85677602e-02 1.95984878e-02 -3.60500826e+02] [-1.96756739e-02 1.89016708e-04 9.99806397e-01 -5.97832383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters 0.05085569160634823 Centerline is valid? [True, True] Translation: X:362.76, Y:-360.44, Z:-5.98 [[-9.39883835e-02 -9.95571582e-01 -1.84607833e-03 3.62760686e+02] [ 9.95356722e-01 -9.40064515e-02 2.06829203e-02 -3.60438382e+02] [-2.07648710e-02 1.06447771e-04 9.99784381e-01 -5.97967767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters 0.0509086515400868 Centerline is valid? [True, True] Translation: X:362.75, Y:-360.38, Z:-5.98 [[-8.38966067e-02 -9.96472671e-01 -1.89061978e-03 3.62754969e+02] [ 9.96247072e-01 -8.39178414e-02 2.12029902e-02 -3.60377087e+02] [-2.12868571e-02 -1.04665485e-04 9.99773404e-01 -5.97746635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters 0.051291174979869465 Centerline is valid? [True, True] Translation: X:362.75, Y:-360.32, Z:-5.98 [[-7.88209267e-02 -9.96886937e-01 -1.92284597e-03 3.62751239e+02] [ 9.96653234e-01 -7.88440841e-02 2.15856864e-02 -3.60315508e+02] [-2.16700939e-02 -2.15006841e-04 9.99765153e-01 -5.97706238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters 0.05194005112130737 Centerline is valid? [True, True] Translation: X:362.75, Y:-360.25, Z:-5.97 [[-7.42645813e-02 -9.97236576e-01 -1.99612848e-03 3.62747210e+02] [ 9.96984366e-01 -7.42906947e-02 2.24291563e-02 -3.60254993e+02] [-2.25154688e-02 -3.24416987e-04 9.99746442e-01 -5.97461012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters 0.05133997791740987 Centerline is valid? [True, True] Translation: X:362.74, Y:-360.19, Z:-5.97 [[-7.27328302e-02 -9.97349326e-01 -2.06348800e-03 3.62743717e+02] [ 9.97079319e-01 -7.27611579e-02 2.32087602e-02 -3.60193327e+02] [-2.32973831e-02 -3.69422394e-04 9.99728511e-01 -5.97286388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters 0.05036821954610959 Centerline is valid? [True, True] Translation: X:362.74, Y:-360.13, Z:-5.97 [[-7.72836055e-02 -9.97006794e-01 -2.16707267e-03 3.62740903e+02] [ 9.96708264e-01 -7.73134956e-02 2.43979680e-02 -3.60131618e+02] [-2.44924838e-02 -2.74376300e-04 9.99699977e-01 -5.97026274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters 0.051573009059511406 Centerline is valid? [True, True] Translation: X:362.74, Y:-360.07, Z:-5.97 [[-8.29063372e-02 -9.96554923e-01 -2.19666853e-03 3.62737821e+02] [ 9.96247442e-01 -8.29353215e-02 2.47541208e-02 -3.60070375e+02] [-2.48510223e-02 -1.36151918e-04 9.99691156e-01 -5.97135564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters 0.05092405753445712 Centerline is valid? [True, True] Translation: X:362.74, Y:-360.01, Z:-5.97 [[-8.89788752e-02 -9.96030985e-01 -2.24420236e-03 3.62735482e+02] [ 9.95709093e-01 -8.90071702e-02 2.53204442e-02 -3.60007168e+02] [-2.54196971e-02 1.84119515e-05 9.99676867e-01 -5.97268684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters 0.05266145062339353 Centerline is valid? [True, True] Translation: X:362.73, Y:-359.94, Z:-5.97 [[-9.40491968e-02 -9.95565041e-01 -2.23566650e-03 3.62731726e+02] [ 9.95244777e-01 -9.40756461e-02 2.52508571e-02 -3.59944815e+02] [-2.53491923e-02 1.49787421e-04 9.99678646e-01 -5.96660152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters 0.05234818278002826 Centerline is valid? [True, True] Translation: X:362.73, Y:-359.88, Z:-5.97 [[-1.00024121e-01 -9.94982721e-01 -2.13561081e-03 3.62728205e+02] [ 9.94689771e-01 -1.00046495e-01 2.41445280e-02 -3.59883231e+02] [-2.42370485e-02 2.90764958e-04 9.99706197e-01 -5.96977683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters 0.05202409277308214 Centerline is valid? [True, True] Translation: X:362.72, Y:-359.82, Z:-5.97 [[-1.04826650e-01 -9.94488412e-01 -2.04269870e-03 3.62723642e+02] [ 9.94220144e-01 -1.04845823e-01 2.31010359e-02 -3.59821033e+02] [-2.31878809e-02 3.90712021e-04 9.99731049e-01 -5.96952959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters 0.0526511606348459 Centerline is valid? [True, True] Translation: X:362.72, Y:-359.76, Z:-5.97 [[-1.09997022e-01 -9.93930115e-01 -1.89232430e-03 3.62715736e+02] [ 9.93699307e-01 -1.10012267e-01 2.14240078e-02 -3.59758609e+02] [-2.15021454e-02 4.76175702e-04 9.99768689e-01 -5.97398800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters 0.052720304290542766 Centerline is valid? [True, True] Translation: X:362.71, Y:-359.70, Z:-5.97 [[-1.08801246e-01 -9.94062047e-01 -1.71354686e-03 3.62711681e+02] [ 9.93872416e-01 -1.08813967e-01 1.94201282e-02 -3.59697503e+02] [-1.94912702e-02 4.09887185e-04 9.99809943e-01 -5.96836563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters 0.053954946163854586 Centerline is valid? [True, True] Translation: X:362.70, Y:-359.64, Z:-5.97 [[-1.01493068e-01 -9.94835357e-01 -1.33016512e-03 3.62696249e+02] [ 9.94720923e-01 -1.01501570e-01 1.50902805e-02 -3.59637058e+02] [-1.51473584e-02 2.08415782e-04 9.99885251e-01 -5.96637150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters 0.05379634534251013 Centerline is valid? [True, True] Translation: X:362.69, Y:-359.58, Z:-5.97 [[-9.72554045e-02 -9.95258791e-01 -1.15165190e-03 3.62685946e+02] [ 9.95172869e-01 -9.72621415e-02 1.30780775e-02 -3.59575834e+02] [-1.31280837e-02 1.25820991e-04 9.99913815e-01 -5.96515336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters 0.0525772340663948 Centerline is valid? [True, True] Translation: X:362.67, Y:-359.51, Z:-5.97 [[-9.60005373e-02 -9.95380582e-01 -1.18095199e-03 3.62673753e+02] [ 9.95290014e-01 -9.60077335e-02 1.34277086e-02 -3.59513368e+02] [-1.34790610e-02 1.13677520e-04 9.99909147e-01 -5.96826854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters 0.052303044356058856 Centerline is valid? [True, True] Translation: X:362.67, Y:-359.45, Z:-5.97 [[-9.59100304e-02 -9.95389200e-01 -1.26735027e-03 3.62665485e+02] [ 9.95284632e-01 -9.59183252e-02 1.44283257e-02 -3.59450764e+02] [-1.44833617e-02 1.22446909e-04 9.99895103e-01 -5.96652241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters 0.05400183577780777 Centerline is valid? [True, True] Translation: X:362.66, Y:-359.39, Z:-5.96 [[-9.64044508e-02 -9.95341326e-01 -1.35129414e-03 3.62660499e+02] [ 9.95222268e-01 -9.64138202e-02 1.53952336e-02 -3.59389552e+02] [-1.54537957e-02 1.39331026e-04 9.99880573e-01 -5.96316630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters 0.0530611571225017 Centerline is valid? [True, True] Translation: X:362.65, Y:-359.33, Z:-5.96 [[-9.74645919e-02 -9.95237934e-01 -1.45172041e-03 3.62649892e+02] [ 9.95100193e-01 -9.74752560e-02 1.65583831e-02 -3.59327814e+02] [-1.66210378e-02 1.69248790e-04 9.99861847e-01 -5.96141777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters 0.05346797784290573 Centerline is valid? [True, True] Translation: X:362.64, Y:-359.27, Z:-5.96 [[-9.96089361e-02 -9.95025376e-01 -1.60010959e-03 3.62644779e+02] [ 9.94857664e-01 -9.96215265e-02 1.82696320e-02 -3.59266602e+02] [-1.83381529e-02 2.27937319e-04 9.99831816e-01 -5.95802144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters 0.05443700672067783 Centerline is valid? [True, True] Translation: X:362.64, Y:-359.20, Z:-5.96 [[-9.97990243e-02 -9.95006507e-01 -1.48517355e-03 3.62638867e+02] [ 9.94861713e-01 -9.98098396e-02 1.69755053e-02 -3.59204735e+02] [-1.70389732e-02 2.16596560e-04 9.99854803e-01 -5.95725452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters 0.05231022461431507 Centerline is valid? [True, True] Translation: X:362.63, Y:-359.14, Z:-5.96 [[-9.46305450e-02 -9.95511700e-01 -1.23123995e-03 3.62631426e+02] [ 9.95411947e-01 -9.46384928e-02 1.40929869e-02 -3.59141068e+02] [-1.41462561e-02 1.08036081e-04 9.99899931e-01 -5.95860481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters 0.05350041988417863 Centerline is valid? [True, True] Translation: X:362.62, Y:-359.08, Z:-5.95 [[-9.00938332e-02 -9.95932451e-01 -1.28594672e-03 3.62624537e+02] [ 9.95823416e-01 -9.01029979e-02 1.47368137e-02 -3.59079722e+02] [-1.47927386e-02 4.71201805e-05 9.99890580e-01 -5.95399264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters 0.05441708111080086 Centerline is valid? [True, True] Translation: X:362.62, Y:-359.02, Z:-5.95 [[-8.30571880e-02 -9.96543118e-01 -1.82157728e-03 3.62618460e+02] [ 9.96324190e-01 -8.30771222e-02 2.08877934e-02 -3.59019117e+02] [-2.09669182e-02 -8.00001215e-05 9.99780167e-01 -5.94998473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters 0.055369470474179665 Centerline is valid? [True, True] Translation: X:362.61, Y:-358.96, Z:-5.95 [[-8.06698305e-02 -9.96739056e-01 -1.90592863e-03 3.62613527e+02] [ 9.96498979e-01 -8.06922302e-02 2.18757747e-02 -3.58956947e+02] [-2.19582326e-02 -1.34540901e-04 9.99758880e-01 -5.94920469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters 0.05446343207105917 Centerline is valid? [True, True] Translation: X:362.61, Y:-358.89, Z:-5.95 [[-7.46780968e-02 -9.97205471e-01 -2.10503604e-03 3.62609476e+02] [ 9.96912167e-01 -7.47071874e-02 2.41860831e-02 -3.58894909e+02] [-2.42757557e-02 -2.92365378e-04 9.99705258e-01 -5.94984396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters 0.0544291488810547 Centerline is valid? [True, True] Translation: X:362.60, Y:-358.83, Z:-5.95 [[-7.52669467e-02 -9.97161263e-01 -2.07409722e-03 3.62602650e+02] [ 9.96875888e-01 -7.52950274e-02 2.38563150e-02 -3.58832659e+02] [-2.39447625e-02 -2.72025515e-04 9.99713246e-01 -5.94774147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters 0.055201740377609505 Centerline is valid? [True, True] Translation: X:362.60, Y:-358.77, Z:-5.94 [[-7.83308778e-02 -9.96925703e-01 -1.84840362e-03 3.62596062e+02] [ 9.96698520e-01 -7.83524876e-02 2.12825800e-02 -3.58770837e+02] [-2.13619780e-02 -1.75217981e-04 9.99771792e-01 -5.94286208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters 0.05463913986432886 Centerline is valid? [True, True] Translation: X:362.59, Y:-358.71, Z:-5.95 [[-7.44177684e-02 -9.97225915e-01 -1.57158744e-03 3.62594924e+02] [ 9.97061395e-01 -7.44340394e-02 1.81148728e-02 -3.58708211e+02] [-1.81816003e-02 -2.18900754e-04 9.99834677e-01 -5.94807736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters 0.05529238004053065 Centerline is valid? [True, True] Translation: X:362.59, Y:-358.65, Z:-5.94 [[-7.51700248e-02 -9.97169552e-01 -1.53386742e-03 3.62587287e+02] [ 9.97012483e-01 -7.51854098e-02 1.76992194e-02 -3.58646796e+02] [-1.77644472e-02 -1.98834202e-04 9.99842180e-01 -5.94482842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters 0.05588213883235376 Centerline is valid? [True, True] Translation: X:362.58, Y:-358.59, Z:-5.94 [[-7.43825613e-02 -9.97228739e-01 -1.44108931e-03 3.62580035e+02] [ 9.97089808e-01 -7.43962546e-02 1.66466664e-02 -3.58585202e+02] [-1.67077458e-02 -1.98673776e-04 9.99860396e-01 -5.94301862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters 0.054651505835060295 Centerline is valid? [True, True] Translation: X:362.58, Y:-358.52, Z:-5.94 [[-6.81583290e-02 -9.97673654e-01 -1.31204021e-03 3.62579275e+02] [ 9.97558334e-01 -6.81704024e-02 1.51712196e-02 -3.58523442e+02] [-1.52253685e-02 -2.74791671e-04 9.99884050e-01 -5.94475448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters 0.05478936360745823 Centerline is valid? [True, True] Translation: X:362.57, Y:-358.46, Z:-5.94 [[-6.57262911e-02 -9.97836600e-01 -1.47437039e-03 3.62573869e+02] [ 9.97690890e-01 -6.57418940e-02 1.70555628e-02 -3.58461649e+02] [-1.71155927e-02 -3.49967021e-04 9.99853456e-01 -5.94486238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters 0.053452301855464776 Centerline is valid? [True, True] Translation: X:362.58, Y:-358.40, Z:-5.95 [[-5.85818741e-02 -9.98281190e-01 -1.68247598e-03 3.62578002e+02] [ 9.98091199e-01 -5.86035608e-02 1.94828440e-02 -3.58397453e+02] [-1.95479558e-02 -5.37922955e-04 9.99808776e-01 -5.94852945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters 0.05546179115105163 Centerline is valid? [True, True] Translation: X:362.56, Y:-358.34, Z:-5.94 [[-5.93769705e-02 -9.98234019e-01 -1.79397278e-03 3.62562617e+02] [ 9.98017464e-01 -5.94014685e-02 2.07991927e-02 -3.58336573e+02] [-2.08690263e-02 -5.55423114e-04 9.99782064e-01 -5.94397632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters 0.054134400494667494 Centerline is valid? [True, True] Translation: X:362.56, Y:-358.28, Z:-5.94 [[-5.85478708e-02 -9.98282859e-01 -1.86568862e-03 3.62557486e+02] [ 9.98048189e-01 -5.85745741e-02 2.16525121e-02 -3.58275118e+02] [-2.17246136e-02 -5.94338668e-04 9.99763816e-01 -5.94357391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters 0.052144008214174385 Centerline is valid? [True, True] Translation: X:362.56, Y:-358.21, Z:-5.95 [[-6.02059844e-02 -9.98183976e-01 -1.99717802e-03 3.62558565e+02] [ 9.97914206e-01 -6.02361579e-02 2.32129678e-02 -3.58210605e+02] [-2.32911148e-02 -5.95452746e-04 9.99728548e-01 -5.94975196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters 0.05528119666912881 Centerline is valid? [True, True] Translation: X:362.54, Y:-358.15, Z:-5.94 [[-6.61450722e-02 -9.97807575e-01 -2.20724230e-03 3.62538717e+02] [ 9.97476928e-01 -6.61799826e-02 2.56902281e-02 -3.58149337e+02] [-2.57799795e-02 -5.02391272e-04 9.99667515e-01 -5.93845725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters 0.052439444417488094 Centerline is valid? [True, True] Translation: X:362.54, Y:-358.09, Z:-5.94 [[-6.65158091e-02 -9.97782959e-01 -2.19419616e-03 3.62536925e+02] [ 9.97455474e-01 -6.65502004e-02 2.55665313e-02 -3.58086783e+02] [-2.56558735e-02 -4.88034455e-04 9.99670715e-01 -5.94326151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters 0.051785730147817115 Centerline is valid? [True, True] Translation: X:362.54, Y:-358.02, Z:-5.95 [[-6.73033102e-02 -9.97730066e-01 -2.23149658e-03 3.62537736e+02] [ 9.97390182e-01 -6.73386340e-02 2.60448517e-02 -3.58021541e+02] [-2.61359975e-02 -4.72768047e-04 9.99658285e-01 -5.95158997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters 0.05246416395510451 Centerline is valid? [True, True] Translation: X:362.53, Y:-357.96, Z:-5.95 [[-6.48194312e-02 -9.97894542e-01 -2.21894854e-03 3.62534102e+02] [ 9.97557661e-01 -6.48552138e-02 2.59328649e-02 -3.57958416e+02] [-2.60221748e-02 -5.32575560e-04 9.99661224e-01 -5.95182499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters 0.05383076240605235 Centerline is valid? [True, True] Translation: X:362.52, Y:-357.90, Z:-5.94 [[-6.20382928e-02 -9.98070873e-01 -2.40488140e-03 3.62520764e+02] [ 9.97674526e-01 -6.20814426e-02 2.81324496e-02 -3.57896938e+02] [-2.82274770e-02 -6.53999761e-04 9.99601311e-01 -5.94127070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters 0.05374201495740843 Centerline is valid? [True, True] Translation: X:362.52, Y:-357.84, Z:-5.94 [[-5.65271377e-02 -9.98398085e-01 -2.43871687e-03 3.62516739e+02] [ 9.97989935e-01 -5.65737831e-02 2.85569054e-02 -3.57835415e+02] [-2.86491271e-02 -8.19574768e-04 9.99589194e-01 -5.94105190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters 0.055199735957881 Centerline is valid? [True, True] Translation: X:362.51, Y:-357.77, Z:-5.94 [[-5.58760625e-02 -9.98434793e-01 -2.41441346e-03 3.62510626e+02] [ 9.98033887e-01 -5.59220696e-02 2.83033989e-02 -3.57773239e+02] [-2.83941173e-02 -8.28183961e-04 9.99596463e-01 -5.94005177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters 0.05387089888620144 Centerline is valid? [True, True] Translation: X:362.51, Y:-357.71, Z:-5.94 [[-5.44996706e-02 -9.98511216e-01 -2.26664191e-03 3.62510991e+02] [ 9.98157167e-01 -5.45407296e-02 2.66003623e-02 -3.57710464e+02] [-2.66843844e-02 -8.12753884e-04 9.99643578e-01 -5.94412880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters 0.0535138799823156 Centerline is valid? [True, True] Translation: X:362.53, Y:-357.64, Z:-5.96 [[-5.09525652e-02 -9.98698933e-01 -2.06813461e-03 3.62528185e+02] [ 9.98403249e-01 -5.09878309e-02 2.43144819e-02 -3.57643708e+02] [-2.43882968e-02 -8.25947093e-04 9.99702220e-01 -5.95889067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters 0.05363381620064599 Centerline is valid? [True, True] Translation: X:362.52, Y:-357.58, Z:-5.95 [[-4.83111374e-02 -9.98830428e-01 -1.95219714e-03 3.62520070e+02] [ 9.98566168e-01 -4.83432891e-02 2.29898926e-02 -3.57580117e+02] [-2.30573799e-02 -8.38730157e-04 9.99733792e-01 -5.95437093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters 0.054261771830367046 Centerline is valid? [True, True] Translation: X:362.51, Y:-357.52, Z:-5.95 [[-4.99107910e-02 -9.98751672e-01 -2.00283305e-03 3.62511221e+02] [ 9.98472819e-01 -4.99442092e-02 2.36136905e-02 -3.57519196e+02] [-2.36842427e-02 -8.21196390e-04 9.99719152e-01 -5.95117777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters 0.053724926882327335 Centerline is valid? [True, True] Translation: X:362.51, Y:-357.46, Z:-5.95 [[-5.22503689e-02 -9.98631870e-01 -2.07042884e-03 3.62509324e+02] [ 9.98333110e-01 -5.22854046e-02 2.44384684e-02 -3.57457067e+02] [-2.45132867e-02 -7.90058673e-04 9.99699192e-01 -5.95156619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters 0.05357759944805056 Centerline is valid? [True, True] Translation: X:362.50, Y:-357.40, Z:-5.95 [[-5.56231341e-02 -9.98449594e-01 -2.11528476e-03 3.62503316e+02] [ 9.98136916e-01 -5.56586711e-02 2.49961866e-02 -3.57395626e+02] [-2.50751663e-02 -7.20977573e-04 9.99685309e-01 -5.94997991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters 0.0529229624061418 Centerline is valid? [True, True] Translation: X:362.51, Y:-357.33, Z:-5.96 [[-6.13870816e-02 -9.98111785e-01 -2.11940452e-03 3.62505236e+02] [ 9.97796728e-01 -6.14209661e-02 2.50829684e-02 -3.57331469e+02] [-2.51657822e-02 -5.74964673e-04 9.99683126e-01 -5.95611216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters 0.05313909393746594 Centerline is valid? [True, True] Translation: X:362.49, Y:-357.27, Z:-5.95 [[-6.84708170e-02 -9.97650767e-01 -2.16643882e-03 3.62494752e+02] [ 9.97320410e-01 -6.85038986e-02 2.56751812e-02 -3.57269177e+02] [-2.57632737e-02 -4.02633018e-04 9.99667991e-01 -5.95094819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters 0.05320237937191024 Centerline is valid? [True, True] Translation: X:362.49, Y:-357.21, Z:-5.95 [[-8.12928204e-02 -9.96688109e-01 -2.07144384e-03 3.62488455e+02] [ 9.96385321e-01 -8.13191800e-02 2.45658963e-02 -3.57207247e+02] [-2.46529849e-02 -6.69252408e-05 9.99696067e-01 -5.95201554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters 0.05287898264285093 Centerline is valid? [True, True] Translation: X:362.48, Y:-357.14, Z:-5.95 [[-8.71144550e-02 -9.96196198e-01 -2.05090142e-03 3.62484219e+02] [ 9.95898573e-01 -8.71385578e-02 2.43496381e-02 -3.57144785e+02] [-2.44357295e-02 7.87156580e-05 9.99701400e-01 -5.95435333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters 0.0537495056787264 Centerline is valid? [True, True] Translation: X:362.48, Y:-357.08, Z:-5.95 [[-9.38810150e-02 -9.95581606e-01 -1.90295287e-03 3.62478015e+02] [ 9.95324710e-01 -9.39000196e-02 2.26165646e-02 -3.57083417e+02] [-2.26953230e-02 2.29210020e-04 9.99742402e-01 -5.95269038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters 0.05388117835047161 Centerline is valid? [True, True] Translation: X:362.47, Y:-357.02, Z:-5.95 [[-9.69637420e-02 -9.95286372e-01 -1.75243147e-03 3.62472573e+02] [ 9.95067908e-01 -9.69791772e-02 2.08541873e-02 -3.57020133e+02] [-2.09258378e-02 2.78311719e-04 9.99780992e-01 -5.95304206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters 0.05345990795900942 Centerline is valid? [True, True] Translation: X:362.47, Y:-356.96, Z:-5.96 [[-9.61455843e-02 -9.95365799e-01 -1.71846314e-03 3.62467164e+02] [ 9.95155216e-01 -9.61605932e-02 2.04752521e-02 -3.56957327e+02] [-2.05456141e-02 2.58467516e-04 9.99788883e-01 -5.95726344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters 0.05538621440645799 Centerline is valid? [True, True] Translation: X:362.47, Y:-356.90, Z:-5.95 [[-9.61094994e-02 -9.95369071e-01 -1.83731773e-03 3.62466403e+02] [ 9.95127807e-01 -9.61266578e-02 2.19160432e-02 -3.56895726e+02] [-2.19911668e-02 2.77973974e-04 9.99758126e-01 -5.94796921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters 0.053530760960578384 Centerline is valid? [True, True] Translation: X:362.45, Y:-356.83, Z:-5.95 [[-8.78775436e-02 -9.96130053e-01 -1.56706164e-03 3.62454212e+02] [ 9.95954428e-01 -8.78914755e-02 1.87046817e-02 -3.56833975e+02] [-1.87700269e-02 8.29995047e-05 9.99823824e-01 -5.95485519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters 0.05379480127023586 Centerline is valid? [True, True] Translation: X:362.46, Y:-356.77, Z:-5.96 [[-7.33491392e-02 -9.97305631e-01 -1.17532224e-03 3.62455545e+02] [ 9.97206722e-01 -7.33584181e-02 1.40461826e-02 -3.56771382e+02] [-1.40945568e-02 -1.41763833e-04 9.99900657e-01 -5.95849821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters 0.05581157097079774 Centerline is valid? [True, True] Translation: X:362.45, Y:-356.71, Z:-5.96 [[-6.73715838e-02 -9.97727414e-01 -1.03825516e-03 3.62451545e+02] [ 9.97650160e-01 -6.73792890e-02 1.24172847e-02 -3.56710027e+02] [-1.24590222e-02 -1.99243296e-04 9.99922364e-01 -5.95804276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters 0.055075078660147665 Centerline is valid? [True, True] Translation: X:362.45, Y:-356.65, Z:-5.96 [[-6.13571166e-02 -9.98115323e-01 -1.05205802e-03 3.62447559e+02] [ 9.98035804e-01 -6.13655113e-02 1.26018735e-02 -3.56646519e+02] [-1.26426831e-02 -2.76776952e-04 9.99920040e-01 -5.95611646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters 0.05412048287311832 Centerline is valid? [True, True] Translation: X:362.44, Y:-356.58, Z:-5.95 [[-5.71100417e-02 -9.98367347e-01 -1.04134576e-03 3.62436142e+02] [ 9.98289257e-01 -5.71186034e-02 1.24909497e-02 -3.56584422e+02] [-1.25300365e-02 -3.26205622e-04 9.99921443e-01 -5.95205034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters 0.05529255183523077 Centerline is valid? [True, True] Translation: X:362.43, Y:-356.52, Z:-5.95 [[-5.25852489e-02 -9.98615802e-01 -1.12811612e-03 3.62431958e+02] [ 9.98524104e-01 -5.25957150e-02 1.35389842e-02 -3.56524106e+02] [-1.35795777e-02 -4.14500286e-04 9.99907707e-01 -5.95410678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters 0.05451982614186164 Centerline is valid? [True, True] Translation: X:362.42, Y:-356.46, Z:-5.95 [[-5.40261362e-02 -9.98538829e-01 -1.17608971e-03 3.62422727e+02] [ 9.98438932e-01 -5.40373739e-02 1.41301463e-02 -3.56462810e+02] [-1.41730525e-02 -4.10856543e-04 9.99899473e-01 -5.95087642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters 0.05434971956655193 Centerline is valid? [True, True] Translation: X:362.42, Y:-356.40, Z:-5.95 [[-5.71104427e-02 -9.98367152e-01 -1.19492752e-03 3.62419334e+02] [ 9.98263685e-01 -5.71217326e-02 1.43778413e-02 -3.56398768e+02] [-1.44226208e-02 -3.71727864e-04 9.99895920e-01 -5.95228578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters 0.05443117819863745 Centerline is valid? [True, True] Translation: X:362.41, Y:-356.33, Z:-5.95 [[-5.97872740e-02 -9.98210320e-01 -1.28052430e-03 3.62413667e+02] [ 9.98091050e-01 -5.97999301e-02 1.54345282e-02 -3.56334149e+02] [-1.54834806e-02 -3.55291476e-04 9.99880061e-01 -5.95303418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters 0.055120704553324656 Centerline is valid? [True, True] Translation: X:362.40, Y:-356.27, Z:-5.95 [[-6.24996766e-02 -9.98044009e-01 -1.39541452e-03 3.62397506e+02] [ 9.97901893e-01 -6.25143295e-02 1.68454737e-02 -3.56272052e+02] [-1.68997575e-02 -3.39650135e-04 9.99857131e-01 -5.94720314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters 0.05411917173770938 Centerline is valid? [True, True] Translation: X:362.39, Y:-356.21, Z:-5.95 [[-6.43840949e-02 -9.97923921e-01 -1.59279307e-03 3.62391847e+02] [ 9.97738148e-01 -6.44028466e-02 1.92577391e-02 -3.56208242e+02] [-1.93203389e-02 -3.49298311e-04 9.99813284e-01 -5.94975267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters 0.05636212510144592 Centerline is valid? [True, True] Translation: X:362.38, Y:-356.15, Z:-5.94 [[-7.04923699e-02 -9.97510764e-01 -1.76125182e-03 3.62375852e+02] [ 9.97282889e-01 -7.05139135e-02 2.13220009e-02 -3.56147484e+02] [-2.13931182e-02 -2.53427930e-04 9.99771109e-01 -5.93762583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters 0.05829699682120792 Centerline is valid? [True, True] Translation: X:362.37, Y:-356.09, Z:-5.93 [[-7.60490295e-02 -9.97102367e-01 -1.84801661e-03 3.62367291e+02] [ 9.96850786e-01 -7.60713532e-02 2.23977760e-02 -3.56085975e+02] [-2.24734566e-02 -1.38867678e-04 9.99747430e-01 -5.92734571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters 0.057905125836702424 Centerline is valid? [True, True] Translation: X:362.36, Y:-356.02, Z:-5.93 [[-8.11163251e-02 -9.96702739e-01 -1.94710590e-03 3.62363943e+02] [ 9.96422694e-01 -8.11396873e-02 2.36255428e-02 -3.56023509e+02] [-2.37056308e-02 -2.37232978e-05 9.99718982e-01 -5.92716082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters 0.0573118798663698 Centerline is valid? [True, True] Translation: X:362.36, Y:-355.96, Z:-5.93 [[-8.36899177e-02 -9.96490165e-01 -1.82991910e-03 3.62362702e+02] [ 9.96242203e-01 -8.37099131e-02 2.22288968e-02 -3.55961338e+02] [-2.23040594e-02 3.72919077e-05 9.99751233e-01 -5.93222365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters 0.05666416542361356 Centerline is valid? [True, True] Translation: X:362.36, Y:-355.90, Z:-5.94 [[-8.21353617e-02 -9.96619770e-01 -1.67844676e-03 3.62360670e+02] [ 9.96410779e-01 -8.21525095e-02 2.04089594e-02 -3.55899778e+02] [-2.04778610e-02 3.87482160e-06 9.99790307e-01 -5.93709421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters 0.060269487896378315 Centerline is valid? [True, True] Translation: X:362.35, Y:-355.84, Z:-5.93 [[-8.06961793e-02 -9.96737386e-01 -1.64627845e-03 3.62353340e+02] [ 9.96535895e-01 -8.07129670e-02 2.00406324e-02 -3.55838150e+02] [-2.01081236e-02 -2.33731055e-05 9.99797811e-01 -5.92775035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters 0.05521900836131139 Centerline is valid? [True, True] Translation: X:362.35, Y:-355.78, Z:-5.95 [[-6.79895066e-02 -9.97684596e-01 -1.69530091e-03 3.62352988e+02] [ 9.97470675e-01 -6.80100368e-02 2.06612340e-02 -3.55775750e+02] [-2.07286924e-02 -2.86265839e-04 9.99785097e-01 -5.94621587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters 0.05509965684744788 Centerline is valid? [True, True] Translation: X:362.35, Y:-355.72, Z:-5.94 [[-6.42611207e-02 -9.97931739e-01 -1.65903273e-03 3.62347701e+02] [ 9.97726714e-01 -6.42815514e-02 2.02308100e-02 -3.55715216e+02] [-2.02956126e-02 -3.55206744e-04 9.99793960e-01 -5.94406163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters 0.05520334606997302 Centerline is valid? [True, True] Translation: X:362.34, Y:-355.65, Z:-5.94 [[-6.01998005e-02 -9.98185016e-01 -1.63061046e-03 3.62341460e+02] [ 9.97986616e-01 -6.02203521e-02 1.99053507e-02 -3.55654052e+02] [-1.99674187e-02 -4.29029272e-04 9.99800539e-01 -5.94167219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters 0.05519512074348811 Centerline is valid? [True, True] Translation: X:362.34, Y:-355.59, Z:-5.94 [[-5.91442112e-02 -9.98248195e-01 -1.58248654e-03 3.62335540e+02] [ 9.98060926e-01 -5.91637749e-02 1.93400059e-02 -3.55592288e+02] [-1.93997519e-02 -4.35568592e-04 9.99811712e-01 -5.94170720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters 0.05560939003327563 Centerline is valid? [True, True] Translation: X:362.34, Y:-355.53, Z:-5.95 [[-6.06665091e-02 -9.98157180e-01 -1.34843691e-03 3.62337226e+02] [ 9.98021074e-01 -6.06805091e-02 1.64867397e-02 -3.55529859e+02] [-1.65381814e-02 -3.45575507e-04 9.99863175e-01 -5.94625312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters 0.05659220941723356 Centerline is valid? [True, True] Translation: X:362.33, Y:-355.47, Z:-5.95 [[-6.19650527e-02 -9.98077554e-01 -1.23643522e-03 3.62332420e+02] [ 9.97963048e-01 -6.19766759e-02 1.51210550e-02 -3.55468389e+02] [-1.51686158e-02 -2.96939693e-04 9.99884906e-01 -5.94529499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters 0.0555058927599802 Centerline is valid? [True, True] Translation: X:362.32, Y:-355.41, Z:-5.94 [[-5.76235472e-02 -9.98337620e-01 -1.23411825e-03 3.62324482e+02] [ 9.98223519e-01 -5.76356247e-02 1.50976934e-02 -3.55406560e+02] [-1.51437244e-02 -3.61943218e-04 9.99885262e-01 -5.94342947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters 0.054888767842825543 Centerline is valid? [True, True] Translation: X:362.32, Y:-355.34, Z:-5.95 [[-5.56483306e-02 -9.98449747e-01 -1.16864736e-03 3.62323981e+02] [ 9.98347234e-01 -5.56593688e-02 1.43120773e-02 -3.55344575e+02] [-1.43549361e-02 -3.70272653e-04 9.99896894e-01 -5.94532567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters 0.055063038840596414 Centerline is valid? [True, True] Translation: X:362.32, Y:-355.28, Z:-5.95 [[-5.64023838e-02 -9.98407602e-01 -1.01552745e-03 3.62318368e+02] [ 9.98330149e-01 -5.64106615e-02 1.24399004e-02 -3.55283073e+02] [-1.24773777e-02 -3.12191637e-04 9.99922106e-01 -5.94581304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters 0.055802701460208215 Centerline is valid? [True, True] Translation: X:362.31, Y:-355.22, Z:-5.95 [[-5.96531915e-02 -9.98218626e-01 -1.03487689e-03 3.62310878e+02] [ 9.98138006e-01 -5.96615292e-02 1.26894940e-02 -3.55221323e+02] [-1.27286316e-02 -2.75981139e-04 9.99918950e-01 -5.94509053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters 0.05443277178443333 Centerline is valid? [True, True] Translation: X:362.31, Y:-355.16, Z:-5.95 [[-6.07192323e-02 -9.98154347e-01 -1.03643181e-03 3.62307438e+02] [ 9.98073289e-01 -6.07275125e-02 1.27231771e-02 -3.55159001e+02] [-1.27626344e-02 -2.61893363e-04 9.99918520e-01 -5.94541611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters 0.05565955045679106 Centerline is valid? [True, True] Translation: X:362.29, Y:-355.10, Z:-5.94 [[-6.44997766e-02 -9.97916717e-01 -1.41618822e-03 3.62293616e+02] [ 9.97764913e-01 -6.45146693e-02 1.74079194e-02 -3.55097164e+02] [-1.74630187e-02 -2.90216006e-04 9.99847468e-01 -5.93962735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters 0.054508093546607295 Centerline is valid? [True, True] Translation: X:362.29, Y:-355.04, Z:-5.94 [[-6.53282305e-02 -9.97862685e-01 -1.51143741e-03 3.62291524e+02] [ 9.97689360e-01 -6.53450564e-02 1.86001323e-02 -3.55035079e+02] [-1.86591429e-02 -2.92831292e-04 9.99825860e-01 -5.94357576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters 0.05142250757252596 Centerline is valid? [True, True] Translation: X:362.28, Y:-354.97, Z:-5.95 [[-7.40926484e-02 -9.97249849e-01 -1.73735241e-03 3.62284977e+02] [ 9.97019737e-01 -7.41128730e-02 2.14225601e-02 -3.54969961e+02] [-2.14924050e-02 -1.44920425e-04 9.99769001e-01 -5.95222154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters 0.05184180207665491 Centerline is valid? [True, True] Translation: X:362.28, Y:-354.91, Z:-5.95 [[-7.75717334e-02 -9.96985776e-01 -1.40997886e-03 3.62282593e+02] [ 9.96833633e-01 -7.75845275e-02 1.74169514e-02 -3.54905810e+02] [-1.74738453e-02 -5.44512369e-05 9.99847319e-01 -5.95285774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters 0.054133022052641706 Centerline is valid? [True, True] Translation: X:362.28, Y:-354.84, Z:-5.95 [[-7.69146940e-02 -9.97036857e-01 -1.27931857e-03 3.62282374e+02] [ 9.96911330e-01 -7.69253104e-02 1.58207927e-02 -3.54842444e+02] [-1.58723254e-02 -5.85157516e-05 9.99874025e-01 -5.95399825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters 0.054339474778832414 Centerline is valid? [True, True] Translation: X:362.28, Y:-354.78, Z:-5.95 [[-7.33667269e-02 -9.97304134e-01 -1.33710449e-03 3.62278075e+02] [ 9.97166682e-01 -7.33788145e-02 1.65577039e-02 -3.54779927e+02] [-1.66111816e-02 -1.18531510e-04 9.99862018e-01 -5.95448154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters 0.0552650846014239 Centerline is valid? [True, True] Translation: X:362.27, Y:-354.72, Z:-5.95 [[-7.08499318e-02 -9.97486039e-01 -1.37421121e-03 3.62270486e+02] [ 9.97340550e-01 -7.08630691e-02 1.70367852e-02 -3.54718923e+02] [-1.70913363e-02 -1.63501492e-04 9.99853919e-01 -5.94790683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters 0.05504274545762325 Centerline is valid? [True, True] Translation: X:362.27, Y:-354.66, Z:-5.95 [[-6.78892898e-02 -9.97691937e-01 -1.35783051e-03 3.62269781e+02] [ 9.97549627e-01 -6.79025411e-02 1.68519179e-02 -3.54656965e+02] [-1.69052228e-02 -2.10438578e-04 9.99857074e-01 -5.95076544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters 0.05780887469316321 Centerline is valid? [True, True] Translation: X:362.26, Y:-354.59, Z:-5.95 [[-6.79045845e-02 -9.97690871e-01 -1.37619272e-03 3.62261361e+02] [ 9.97544295e-01 -6.79181992e-02 1.71025470e-02 -3.54594035e+02] [-1.71565235e-02 -2.11471850e-04 9.99852794e-01 -5.94535396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters 0.05518792861943996 Centerline is valid? [True, True] Translation: X:362.27, Y:-354.53, Z:-5.95 [[-6.59578460e-02 -9.97821149e-01 -1.58636530e-03 3.62265275e+02] [ 9.97625837e-01 -6.59763246e-02 1.97436954e-02 -3.54529812e+02] [-1.98053394e-02 -2.80347392e-04 9.99803816e-01 -5.95484403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters 0.05376152491624418 Centerline is valid? [True, True] Translation: X:362.26, Y:-354.46, Z:-5.96 [[-6.61450799e-02 -9.97808369e-01 -1.81300804e-03 3.62260722e+02] [ 9.97552255e-01 -6.61691812e-02 2.26083721e-02 -3.54464592e+02] [-2.26787881e-02 -3.13137679e-04 9.99742754e-01 -5.95546041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters 0.053845682786937084 Centerline is valid? [True, True] Translation: X:362.25, Y:-354.40, Z:-5.94 [[-6.72579335e-02 -9.97733432e-01 -2.09017896e-03 3.62247912e+02] [ 9.97392695e-01 -6.72895901e-02 2.60753449e-02 -3.54403766e+02] [-2.61568906e-02 -3.30955416e-04 9.99657795e-01 -5.94002231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters 0.05393562608422421 Centerline is valid? [True, True] Translation: X:362.25, Y:-354.34, Z:-5.95 [[-7.21919182e-02 -9.97388268e-01 -2.22949732e-03 3.62248672e+02] [ 9.96999187e-01 -7.22260263e-02 2.78571873e-02 -3.54341384e+02] [-2.79454595e-02 -2.11743227e-04 9.99609427e-01 -5.95386310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters 0.05323783485621067 Centerline is valid? [True, True] Translation: X:362.24, Y:-354.28, Z:-5.95 [[-7.60913520e-02 -9.97098446e-01 -2.19002158e-03 3.62243585e+02] [ 9.96721692e-01 -7.61227993e-02 2.74078123e-02 -3.54277504e+02] [-2.74949976e-02 -9.73445204e-05 9.99621936e-01 -5.95462527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters 0.05402038931635597 Centerline is valid? [True, True] Translation: X:362.24, Y:-354.21, Z:-5.95 [[-8.36918664e-02 -9.96489139e-01 -2.25124271e-03 3.62236691e+02] [ 9.96089581e-01 -8.37220546e-02 2.82163806e-02 -3.54214989e+02] [-2.83057955e-02 1.19042146e-04 9.99599304e-01 -5.95269843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters 0.053637471220738024 Centerline is valid? [True, True] Translation: X:362.24, Y:-354.15, Z:-5.95 [[-8.65812742e-02 -9.96242262e-01 -2.24470258e-03 3.62235072e+02] [ 9.95844577e-01 -8.66101326e-02 2.81471719e-02 -3.54152652e+02] [-2.82358161e-02 2.01643116e-04 9.99601270e-01 -5.94587812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters 0.053927015909483185 Centerline is valid? [True, True] Translation: X:362.23, Y:-354.09, Z:-5.95 [[-8.51154372e-02 -9.96368806e-01 -2.13633370e-03 3.62232333e+02] [ 9.96008250e-01 -8.51421048e-02 2.68027607e-02 -3.54090278e+02] [-2.68873266e-02 1.53522702e-04 9.99638459e-01 -5.95065940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters 0.05387857963475513 Centerline is valid? [True, True] Translation: X:362.23, Y:-354.03, Z:-5.96 [[-8.00273667e-02 -9.96790488e-01 -2.08394372e-03 3.62226863e+02] [ 9.96446689e-01 -8.00544933e-02 2.61777285e-02 -3.54029662e+02] [-2.62605398e-02 1.83958520e-05 9.99655132e-01 -5.96058384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters 0.05382284002685567 Centerline is valid? [True, True] Translation: X:362.22, Y:-353.97, Z:-5.97 [[-5.58400445e-02 -9.98437928e-01 -1.89560299e-03 3.62221417e+02] [ 9.98153013e-01 -5.58694047e-02 2.38573215e-02 -3.53965254e+02] [-2.39259608e-02 -5.59907939e-04 9.99713576e-01 -5.96591493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters 0.05432009650544865 Centerline is valid? [True, True] Translation: X:362.21, Y:-353.90, Z:-5.96 [[-4.83441487e-02 -9.98828708e-01 -2.01364869e-03 3.62205485e+02] [ 9.98506319e-01 -4.83797266e-02 2.53876711e-02 -3.53902333e+02] [-2.54553545e-02 -7.83295595e-04 9.99675653e-01 -5.95855838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters 0.05581065119380896 Centerline is valid? [True, True] Translation: X:362.22, Y:-353.83, Z:-5.98 [[-4.16042967e-02 -9.99131662e-01 -2.23701792e-03 3.62222029e+02] [ 9.98732342e-01 -4.16509530e-02 2.82649417e-02 -3.53834563e+02] [-2.83335721e-02 -1.05823912e-03 9.99597964e-01 -5.97586826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters 0.0551433775735849 Centerline is valid? [True, True] Translation: X:362.19, Y:-353.77, Z:-5.96 [[-4.80672240e-02 -9.98841667e-01 -2.20597892e-03 3.62192129e+02] [ 9.98451465e-01 -4.81101309e-02 2.79300616e-02 -3.53772022e+02] [-2.80038392e-02 -8.60042360e-04 9.99607446e-01 -5.96217747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters 0.05317885981737821 Centerline is valid? [True, True] Translation: X:362.18, Y:-353.71, Z:-5.96 [[-4.60689980e-02 -9.98935738e-01 -2.24455330e-03 3.62183499e+02] [ 9.98530613e-01 -4.61142671e-02 2.84620580e-02 -3.53710261e+02] [-2.85352728e-02 -9.30036690e-04 9.99592354e-01 -5.95891034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters 0.05380554812155883 Centerline is valid? [True, True] Translation: X:362.19, Y:-353.65, Z:-5.97 [[-4.97064722e-02 -9.98761571e-01 -2.14250167e-03 3.62188116e+02] [ 9.98391341e-01 -4.97464022e-02 2.72034015e-02 -3.53648718e+02] [-2.72762938e-02 -7.86869998e-04 9.99627623e-01 -5.96946812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters 0.05599879572424181 Centerline is valid? [True, True] Translation: X:362.20, Y:-353.58, Z:-5.98 [[-4.10355262e-02 -9.99155280e-01 -2.19362591e-03 3.62197265e+02] [ 9.98765493e-01 -4.10808283e-02 2.79259045e-02 -3.53580157e+02] [-2.79924309e-02 -1.04496368e-03 9.99607589e-01 -5.97854594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters 0.0545920300399141 Centerline is valid? [True, True] Translation: X:362.18, Y:-353.51, Z:-5.97 [[-4.33220901e-02 -9.99058566e-01 -2.27574770e-03 3.62179680e+02] [ 9.98636905e-01 -4.33699579e-02 2.90409872e-02 -3.53514857e+02] [-2.91123461e-02 -1.01452937e-03 9.99575631e-01 -5.97037453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters 0.05373508108094932 Centerline is valid? [True, True] Translation: X:362.17, Y:-353.45, Z:-5.97 [[-4.47195394e-02 -9.98996698e-01 -2.39996460e-03 3.62173750e+02] [ 9.98525932e-01 -4.47721767e-02 3.06825002e-02 -3.53450028e+02] [-3.07591680e-02 -1.02431961e-03 9.99526300e-01 -5.97114645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters 0.05393303130642154 Centerline is valid? [True, True] Translation: X:362.16, Y:-353.39, Z:-5.97 [[-4.83945374e-02 -9.98825451e-01 -2.38496547e-03 3.62161098e+02] [ 9.98358817e-01 -4.84448538e-02 3.05412475e-02 -3.53387668e+02] [-3.06209146e-02 -9.03021762e-04 9.99530662e-01 -5.96657280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters 0.05321001610340889 Centerline is valid? [True, True] Translation: X:362.16, Y:-353.32, Z:-5.97 [[-4.85806044e-02 -9.98816423e-01 -2.38277437e-03 3.62161164e+02] [ 9.98348725e-01 -4.86307975e-02 3.05756207e-02 -3.53321605e+02] [-3.06553083e-02 -8.93457621e-04 9.99529616e-01 -5.96981150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters 0.05330697665963695 Centerline is valid? [True, True] Translation: X:362.15, Y:-353.26, Z:-5.96 [[-5.20963825e-02 -9.98639669e-01 -2.18613033e-03 3.62147583e+02] [ 9.98244410e-01 -5.21372843e-02 2.81034089e-02 -3.53258380e+02] [-2.81791578e-02 -7.18206440e-04 9.99602631e-01 -5.96071511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters 0.05327024430677201 Centerline is valid? [True, True] Translation: X:362.16, Y:-353.19, Z:-5.97 [[-4.99150733e-02 -9.98751702e-01 -1.87731271e-03 3.62158419e+02] [ 9.98459088e-01 -4.99459065e-02 2.41838001e-02 -3.53191850e+02] [-2.42473755e-02 -6.67283786e-04 9.99705767e-01 -5.97230234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters 0.053476688574388 Centerline is valid? [True, True] Translation: X:362.15, Y:-353.13, Z:-5.97 [[-5.01127936e-02 -9.98742259e-01 -1.61480381e-03 3.62152639e+02] [ 9.98524943e-01 -5.01355866e-02 2.08413263e-02 -3.53127606e+02] [-2.08960724e-02 -5.68004799e-04 9.99781492e-01 -5.96934646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters 0.054587136779252296 Centerline is valid? [True, True] Translation: X:362.14, Y:-353.07, Z:-5.96 [[-4.85572463e-02 -9.98819149e-01 -1.58155078e-03 3.62142883e+02] [ 9.98610037e-01 -4.85794547e-02 2.04458082e-02 -3.53065193e+02] [-2.04984956e-02 -5.86560336e-04 9.99789712e-01 -5.96409464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters 0.05433414671560305 Centerline is valid? [True, True] Translation: X:362.15, Y:-353.00, Z:-5.97 [[-4.13297190e-02 -9.99144431e-01 -1.50338704e-03 3.62147052e+02] [ 9.98955079e-01 -4.13511728e-02 1.94635861e-02 -3.53000039e+02] [-1.95091005e-02 -6.97391572e-04 9.99809436e-01 -5.96904334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters 0.056332976060169626 Centerline is valid? [True, True] Translation: X:362.16, Y:-352.93, Z:-5.97 [[-2.32619537e-02 -9.99728453e-01 -1.37929938e-03 3.62159547e+02] [ 9.99568575e-01 -2.32829359e-02 1.79044296e-02 -3.52931666e+02] [-1.79316819e-02 -9.62212305e-04 9.99838752e-01 -5.97130311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters 0.055097155721784995 Centerline is valid? [True, True] Translation: X:362.14, Y:-352.87, Z:-5.97 [[-1.68787474e-02 -9.99856596e-01 -1.37656969e-03 3.62139082e+02] [ 9.99696680e-01 -1.69007113e-02 1.79140908e-02 -3.52867088e+02] [-1.79347869e-02 -1.07378473e-03 9.99838582e-01 -5.96514321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters 0.054856558728051445 Centerline is valid? [True, True] Translation: X:362.13, Y:-352.81, Z:-5.96 [[-2.99600115e-03 -9.99994282e-01 -1.56853092e-03 3.62129638e+02] [ 9.99786661e-01 -3.02742754e-03 2.04320123e-02 -3.52805615e+02] [-2.04366441e-02 -1.50698196e-03 9.99790014e-01 -5.96267572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters 0.058517375068770555 Centerline is valid? [True, True] Translation: X:362.15, Y:-352.74, Z:-5.97 [[ 3.92776804e-03 -9.99990942e-01 -1.63974515e-03 3.62149395e+02] [ 9.99763438e-01 3.89178500e-03 2.13991372e-02 -3.52739019e+02] [-2.13925618e-02 -1.72340810e-03 9.99769668e-01 -5.96841516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters 0.05978224142467422 Centerline is valid? [True, True] Translation: X:362.15, Y:-352.67, Z:-5.97 [[ 5.78606794e-03 -9.99982120e-01 -1.51004579e-03 3.62152937e+02] [ 9.99788374e-01 5.75512206e-03 1.97505867e-02 -3.52672842e+02] [-1.97415431e-02 -1.62400446e-03 9.99803798e-01 -5.97079835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters 0.05822285240106344 Centerline is valid? [True, True] Translation: X:362.14, Y:-352.61, Z:-5.97 [[ 1.27718890e-03 -9.99998393e-01 -1.25814874e-03 3.62143448e+02] [ 9.99863275e-01 1.25627195e-03 1.64879845e-02 -3.52608059e+02] [-1.64863774e-02 -1.27903499e-03 9.99863272e-01 -5.96851942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters 0.0577750782865698 Centerline is valid? [True, True] Translation: X:362.14, Y:-352.54, Z:-5.97 [[-3.95723023e-04 -9.99999336e-01 -1.08232124e-03 3.62138906e+02] [ 9.99898953e-01 -4.11062754e-04 1.42096856e-02 -3.52543061e+02] [-1.42101211e-02 -1.07658877e-03 9.99898452e-01 -5.96972069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters 0.0626115156227991 Centerline is valid? [True, True] Translation: X:362.15, Y:-352.47, Z:-5.97 [[-2.78166030e-03 -9.99995636e-01 -9.95546655e-04 3.62147314e+02] [ 9.99910177e-01 -2.79447259e-03 1.31083339e-02 -3.52473874e+02] [-1.31110587e-02 -9.58994301e-04 9.99913587e-01 -5.97170204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters 0.05495152666892567 Centerline is valid? [True, True] Translation: X:362.12, Y:-352.41, Z:-5.97 [[-6.26763745e-03 -9.99979905e-01 -9.52062073e-04 3.62115044e+02] [ 9.99901173e-01 -6.27911968e-03 1.25784450e-02 -3.52409338e+02] [-1.25841703e-02 -8.73130851e-04 9.99920435e-01 -5.96694531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters 0.06054409551282772 Centerline is valid? [True, True] Translation: X:362.13, Y:-352.34, Z:-5.97 [[-6.17674307e-03 -9.99980501e-01 -9.20074208e-04 3.62130748e+02] [ 9.99906575e-01 -6.18750087e-03 1.21883737e-02 -3.52340298e+02] [-1.21938290e-02 -8.44703798e-04 9.99925296e-01 -5.96996909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters 0.059719323877501916 Centerline is valid? [True, True] Translation: X:362.12, Y:-352.27, Z:-5.97 [[-1.23905849e-02 -9.99922744e-01 -9.89275190e-04 3.62122261e+02] [ 9.99836666e-01 -1.24025244e-02 1.31460911e-02 -3.52272555e+02] [-1.31573450e-02 -8.26225849e-04 9.99913097e-01 -5.96995110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters 0.05215581638125776 Centerline is valid? [True, True] Translation: X:362.09, Y:-352.21, Z:-5.97 [[-2.60400165e-02 -9.99660484e-01 -9.13268758e-04 3.62094341e+02] [ 9.99586524e-01 -2.60492123e-02 1.21745687e-02 -3.52207706e+02] [-1.21942251e-02 -5.95865174e-04 9.99925470e-01 -5.96629667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters 0.05542316259856407 Centerline is valid? [True, True] Translation: X:362.10, Y:-352.14, Z:-5.97 [[-3.02943987e-02 -9.99540601e-01 -9.14219342e-04 3.62102288e+02] [ 9.99465909e-01 -3.03033221e-02 1.22313424e-02 -3.52137439e+02] [-1.22534272e-02 -5.43189902e-04 9.99924776e-01 -5.97117931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters 0.05459559677688408 Centerline is valid? [True, True] Translation: X:362.10, Y:-352.07, Z:-5.97 [[-3.46433686e-02 -9.99399260e-01 -9.77564067e-04 3.62095742e+02] [ 9.99313185e-01 -3.46532249e-02 1.31267719e-02 -3.52068242e+02] [-1.31527618e-02 -5.22137065e-04 9.99913362e-01 -5.97241417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters 0.052702561996604995 Centerline is valid? [True, True] Translation: X:362.08, Y:-352.00, Z:-5.97 [[-3.84563896e-02 -9.99259841e-01 -9.35675461e-04 3.62081379e+02] [ 9.99180335e-01 -3.84651403e-02 1.26131446e-02 -3.52001723e+02] [-1.26397998e-02 -4.49852518e-04 9.99920013e-01 -5.96891340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters 0.05052820102306875 Centerline is valid? [True, True] Translation: X:362.06, Y:-351.94, Z:-5.96 [[-4.10785918e-02 -9.99155562e-01 -8.44503037e-04 3.62057882e+02] [ 9.99090567e-01 -4.10855572e-02 1.14024563e-02 -3.51941297e+02] [-1.14275245e-02 -3.75338169e-04 9.99934633e-01 -5.96216737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters 0.05124413688468418 Centerline is valid? [True, True] Translation: X:362.06, Y:-351.88, Z:-5.96 [[-4.27762497e-02 -9.99084424e-01 -7.10881296e-04 3.62056722e+02] [ 9.99038300e-01 -4.27811090e-02 9.60476071e-03 -3.51878754e+02] [-9.62637911e-03 -2.99341999e-04 9.99953621e-01 -5.96351355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters 0.05367936539232851 Centerline is valid? [True, True] Translation: X:362.07, Y:-351.82, Z:-5.97 [[-4.40791070e-02 -9.99027909e-01 -5.19186740e-04 3.62068306e+02] [ 9.99003241e-01 -4.40816687e-02 7.02354850e-03 -3.51817068e+02] [-7.03960759e-03 -2.09077490e-04 9.99975200e-01 -5.96834253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters 0.05415792577004695 Centerline is valid? [True, True] Translation: X:362.07, Y:-351.75, Z:-5.97 [[-4.18138112e-02 -9.99125322e-01 -4.42720310e-04 3.62066651e+02] [ 9.99107318e-01 -4.18157169e-02 6.00101101e-03 -3.51752364e+02] [-6.01427473e-03 -1.91399960e-04 9.99981896e-01 -5.96800094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters 0.05495813193523228 Centerline is valid? [True, True] Translation: X:362.06, Y:-351.69, Z:-5.97 [[-3.92159581e-02 -9.99230683e-01 -3.87355896e-04 3.62062134e+02] [ 9.99216864e-01 -3.92174542e-02 5.25836752e-03 -3.51688905e+02] [-5.26951328e-03 -1.80840623e-04 9.99986100e-01 -5.96741997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters 0.05456890465483451 Centerline is valid? [True, True] Translation: X:362.06, Y:-351.62, Z:-5.97 [[-3.84109467e-02 -9.99262007e-01 -2.00774427e-04 3.62064980e+02] [ 9.99258276e-01 -3.84113523e-02 2.73222698e-03 -3.51622091e+02] [-2.73792263e-03 -9.56780832e-05 9.99996247e-01 -5.96732352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters 0.057382249234224476 Centerline is valid? [True, True] Translation: X:362.07, Y:-351.55, Z:-5.97 [[-3.48448852e-02 -9.99392732e-01 4.72668845e-05 3.62069587e+02] [ 9.99392523e-01 -3.48449085e-02 -6.45716293e-04 -3.51553087e+02] [ 6.46971180e-04 2.47382608e-05 9.99999790e-01 -5.96520374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters 0.05899251090614297 Centerline is valid? [True, True] Translation: X:362.07, Y:-351.48, Z:-5.96 [[-2.97457809e-02 -9.99557485e-01 1.49287719e-04 3.62069136e+02] [ 9.99555393e-01 -2.97460244e-02 -2.04713742e-03 -3.51484684e+02] [ 2.05067225e-03 8.83276436e-05 9.99997894e-01 -5.96438028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters 0.0602458734824003 Centerline is valid? [True, True] Translation: X:362.07, Y:-351.42, Z:-5.96 [[-1.75246231e-02 -9.99846397e-01 2.66381108e-04 3.62068199e+02] [ 9.99839703e-01 -1.75254819e-02 -3.66411077e-03 -3.51417586e+02] [ 3.66821641e-03 2.02126247e-04 9.99993252e-01 -5.96374399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters 0.057935490792293674 Centerline is valid? [True, True] Translation: X:362.05, Y:-351.35, Z:-5.96 [[-1.11490024e-02 -9.99937843e-01 9.58281071e-05 3.62054587e+02] [ 9.99936974e-01 -1.11491193e-02 -1.32098491e-03 -3.51353154e+02] [ 1.32197120e-03 8.10944035e-05 9.99999123e-01 -5.96462034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters 0.06340392823696477 Centerline is valid? [True, True] Translation: X:362.06, Y:-351.29, Z:-5.96 [[-2.20662776e-03 -9.99997537e-01 -2.38677887e-04 3.62063303e+02] [ 9.99992126e-01 -2.20740293e-03 3.29777238e-03 -3.51286658e+02] [-3.29829112e-03 -2.31399051e-04 9.99994534e-01 -5.96163255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters 0.061550138204190204 Centerline is valid? [True, True] Translation: X:362.05, Y:-351.22, Z:-5.96 [[-1.32438688e-03 -9.99998994e-01 -5.07668508e-04 3.62052521e+02] [ 9.99974412e-01 -1.32792288e-03 7.02930061e-03 -3.51222572e+02] [-7.02996769e-03 -4.98346004e-04 9.99975165e-01 -5.96060372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters 0.062125606856958004 Centerline is valid? [True, True] Translation: X:362.05, Y:-351.16, Z:-5.96 [[-3.50829178e-03 -9.99993677e-01 -5.82172977e-04 3.62047912e+02] [ 9.99961194e-01 -3.51288120e-03 8.07895827e-03 -3.51157414e+02] [-8.08095228e-03 -5.53807042e-04 9.99967195e-01 -5.96074737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters 0.06135568107545255 Centerline is valid? [True, True] Translation: X:362.04, Y:-351.09, Z:-5.96 [[-1.08656105e-02 -9.99940787e-01 -6.00145749e-04 3.62041073e+02] [ 9.99906042e-01 -1.08702453e-02 8.35138322e-03 -3.51090488e+02] [-8.35741244e-03 -5.09346483e-04 9.99964947e-01 -5.96067633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters 0.05945680921868114 Centerline is valid? [True, True] Translation: X:362.03, Y:-351.02, Z:-5.96 [[-1.74901316e-02 -9.99846876e-01 -5.64840441e-04 3.62029530e+02] [ 9.99815898e-01 -1.74940425e-02 7.88211344e-03 -3.51024030e+02] [-7.89078784e-03 -4.26877251e-04 9.99968776e-01 -5.95970490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters 0.05288465129626894 Centerline is valid? [True, True] Translation: X:361.98, Y:-350.97, Z:-5.95 [[-2.15266850e-02 -9.99768129e-01 -5.38446937e-04 3.61978011e+02] [ 9.99739950e-01 -2.15301260e-02 7.51570019e-03 -3.50966153e+02] [-7.52555034e-03 -3.76518803e-04 9.99971612e-01 -5.95207708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters 0.05334780772335704 Centerline is valid? [True, True] Translation: X:361.98, Y:-350.90, Z:-5.95 [[-2.08096778e-02 -9.99783304e-01 -5.50751915e-04 3.61975684e+02] [ 9.99753802e-01 -2.08133002e-02 7.69044400e-03 -3.50904602e+02] [-7.70024047e-03 -3.90580659e-04 9.99970276e-01 -5.95284192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters 0.05399632614300741 Centerline is valid? [True, True] Translation: X:361.97, Y:-350.85, Z:-5.95 [[-1.48053950e-02 -9.99890224e-01 -5.82551766e-04 3.61970396e+02] [ 9.99857205e-01 -1.48096481e-02 8.13908302e-03 -3.50845207e+02] [-8.14681693e-03 -4.61966241e-04 9.99966707e-01 -5.95230712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters 0.05421045581501571 Centerline is valid? [True, True] Translation: X:361.97, Y:-350.78, Z:-5.95 [[-9.08399171e-03 -9.99958623e-01 -4.83620028e-04 3.61970665e+02] [ 9.99935810e-01 -9.08705755e-03 6.76759698e-03 -3.50783064e+02] [-6.77171164e-03 -4.22112190e-04 9.99976983e-01 -5.95213069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters 0.05505854193166246 Centerline is valid? [True, True] Translation: X:361.97, Y:-350.72, Z:-5.96 [[-4.85903498e-03 -9.99988150e-01 -2.98314690e-04 3.61971731e+02] [ 9.99979463e-01 -4.86023903e-03 4.17763680e-03 -3.50721985e+02] [-4.17903717e-03 -2.78009280e-04 9.99991229e-01 -5.95522720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters 0.05529255774126663 Centerline is valid? [True, True] Translation: X:361.97, Y:-350.66, Z:-5.96 [[-6.76224091e-05 -9.99999989e-01 -1.29879289e-04 3.61967589e+02] [ 9.99998342e-01 -6.78586812e-05 1.82002078e-03 -3.50659956e+02] [-1.82002957e-03 -1.29755999e-04 9.99998335e-01 -5.95576794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters 0.05656646199358805 Centerline is valid? [True, True] Translation: X:361.95, Y:-350.60, Z:-5.96 [[ 6.76200762e-03 -9.99977137e-01 -2.40967168e-05 3.61954379e+02] [ 9.99977080e-01 6.76199910e-03 3.37912949e-04 -3.50599692e+02] [-3.37742281e-04 -2.63811345e-05 9.99999943e-01 -5.95566980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters 0.0707364596139331 Centerline is valid? [True, True] Translation: X:362.01, Y:-350.53, Z:-5.96 [[ 7.27702375e-03 -9.99973520e-01 -5.83633575e-05 3.62010764e+02] [ 9.99973187e-01 7.27697348e-03 8.19714766e-04 -3.50534094e+02] [-8.19268352e-04 -6.43268764e-05 9.99999662e-01 -5.95553154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters 0.07273005803513084 Centerline is valid? [True, True] Translation: X:362.01, Y:-350.47, Z:-5.95 [[ 7.07141123e-03 -9.99974995e-01 7.40161870e-05 3.62010617e+02] [ 9.99974455e-01 7.07133030e-03 -1.04180533e-03 -3.50468708e+02] [ 1.04125589e-03 8.13813302e-05 9.99999455e-01 -5.95474344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters 0.07210691347300466 Centerline is valid? [True, True] Translation: X:362.01, Y:-350.40, Z:-5.95 [[ 7.53881945e-03 -9.99971578e-01 9.59894338e-05 3.62005508e+02] [ 9.99970667e-01 7.53868256e-03 -1.35440473e-03 -3.50402557e+02] [ 1.35364260e-03 1.06197231e-04 9.99999078e-01 -5.95360200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters 0.05611089969365393 Centerline is valid? [True, True] Translation: X:361.93, Y:-350.35, Z:-5.95 [[ 8.31644145e-03 -9.99965413e-01 -9.80820711e-05 3.61931317e+02] [ 9.99964460e-01 8.31629768e-03 1.38494904e-03 -3.50345145e+02] [-1.38408545e-03 -1.09596433e-04 9.99999036e-01 -5.95180940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters 0.05877636083259477 Centerline is valid? [True, True] Translation: X:361.96, Y:-350.28, Z:-5.95 [[ 6.33364232e-03 -9.99979847e-01 -4.36690376e-04 3.61956614e+02] [ 9.99960950e-01 6.33082999e-03 6.16588752e-03 -3.50283592e+02] [-6.16299864e-03 -4.75725850e-04 9.99980895e-01 -5.95401765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 17060.21 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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46073it [04:44, 121.04it/s] 46086it [04:45, 123.29it/s] 46094it [04:45, 161.69it/s] Writing Lidar 2D slices PTD file in binary format... Completed! Making a constant density centerline ... Completed! Writing the SLAM model ...